An automatically guided vehicle is shown in Figure P12.4(a) and its control system is

Chapter 0, Problem P12.4

(choose chapter or problem)

An automatically guided vehicle is shown in Figure P12.4(a) and its control system is shown in Figure P12.4(b). The goal is to track the guide wire accurately, to be insensitive to changes in the gain K^, and to reduce the effect of the disturbance [15, 22]. The gain K] is normally equal to 1 and T\ - 1/25 second. (a) Select a compensator Gc{s) so that the percent overshoot to a step input is less than or equal to 10%, the settling time (with a 2% criterion) is less than 100 ms, and the velocity constant Kv for a ramp input is 100. (b) For the compensator selected in part (a), determine the sensitivity of the system to small changes in Kx by determining Sr Ki or Sj^. (c) If # i changes to 2 while Gc(s) of part (a) remains unchanged, find the step response of the system and compare selected performance figures with those obtained in part (a).