A robot-joint position controller's dominant closed-loop pole pair sits at
PHYSICS · Multi-part · Fermi University Physics · Electronics, Instrumentation & Communication · Feedback, operational amplifiers and analogue signal processing · Signals, systems, control and digital signal processing
Electronics for Measurement, Ch Transfer functions, poles and the stability of a loop
Problem
A robot-joint position controller's dominant closed-loop pole pair sits at s=−1200±j1600s−1. Treat the closed loop as the standard second-order low-pass set by this pair, with no zero near it.
((a)) State the envelope time constant and the ringing frequency (in hertz) that these poles predict for a step response.
((b)) Give f0, Q, and the height in decibels of any resonant peak in the Bode magnitude above the low-frequency gain.
((c)) The joint is driven by a proportional-only loop with a zero-frequency loop gain Tdc=6. Give the fraction of a commanded position step left as steady-state error.