For the designs obtained in part (a) of Problem 10.26, use a computer method to plot the actuator torque versus time. Compare the peak torque values for each case. Problem 10.26 Suppose that I = c = 4...

For the designs obtained in part (a) of Problem 10.26, use a computer method to plot the actuator torque versus time. Compare the peak torque values for each case.

Problem 10.26

Suppose that I = c = 4 for the I controller with internal feedback shown in Figure 10.6.6. The performance specifications require that τ = 0.2.

(a) Compute the required gain values for each of the following cases.

1. ζ = 0.707

2. ζ = 1

3. A root separation factor of 10

(b) Use a computer method to plot the unit-step command responses for each of the cases in part (a). Compare the performance of each case.