The Manutec robot has large inertia and arm length resulting in a challenging control
Chapter 0, Problem AP10.8(choose chapter or problem)
The Manutec robot has large inertia and arm length resulting in a challenging control problem, as shown in Figure AP10.8(a). The block diagram model 10 s(s+ 1)(5-+ 10) * Y(s) of the system is shown in Figure AP10.8(b).The plant dynamics are represented by 250 G(s) s(s + 2)(s + 40)(5 + 45)' The percentage overshoot for a step input should be less than 20% with a rise time less than \ second and a settling time (with a 2% criterion) less than 1.2 seconds. Also, we desire that for a ramp input K ^ 10. Determine a suitable lead compensator.
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