A robotic manipulator together with a cascade PI controller has a transfer function (Low, 2005)
Assume the robot’s joint will be controlled in the configuration shown in Figure P8.3.
a. Find the value of KI that will result in ess = 2% for a parabolic input.
b. Using the value of KI found in Part a, plot the root locus of the system as a function of KP.
c. Find the value of KP that will result in a real pole at -1. Find the location of the other two poles.
