## Compute the loop transfer function L(s) (Product of all three blocks), and sketch the Bode plots when K=5. What are the gain and phase margin and is the system stable?

Instructions

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Questions

Solve the following problems:

1. For the given system

where  and H(s) = 1,

• Determine the phase margin when K = 0.16 (you may use the function margin in MATLAB. Note: you need to use the open-loop transfer function, not closed-loop).
• Use the phase margin to estimate the damping ratio and predict the overshoot.
• (c) Calculate the actual damping ratio and the overshoot, and compare with the part (b) estimate.

1. Consider the system below:

Compute the loop transfer function L(s) (Product of all three blocks), and sketch the Bode plots when K=5. What are the gain and phase margin and is the system stable?

1. Consider the flexible robot arm system below:

Select K (trial and error) so that the system has the maximum phase margin.