Problem 7: Answer the following conceptual questions: (No calculations necessary) a. What are two of the benefits of using quaternions when simulating systems? b. Given a system with a PD controller whose response is currently underdamped, what would be the simplest way to change it to an over damped response. c. Given a system with a P Controller whose steady state error at t = ∞o is not equal to 0, what are two possible ways to decrease the steady state error. d. You recently put a I controller on a system. Before the controller was added, the system was stable; however, when the I controller was added, the system went unstable. Describe one reason why this may have happened, and without adding any additional terms to the controller, how should you adjust the I controller to make the entire system stable again?

Problem 7: Answer the following conceptual questions: (No calculations necessary) a. What are two of the benefits of using quaternions when simulating systems? b. Given a system with a PD controller whose response is currently underdamped, what would be the simplest way to change it to an over damped response. c. Given a system with a P Controller whose steady state error at t = ∞o is not equal to 0, what are two possible ways to decrease the steady state error. d. You recently put a I controller on a system. Before the controller was added, the system was stable; however, when the I controller was added, the system went unstable. Describe one reason why this may have happened, and without adding any additional terms to the controller, how should you adjust the I controller to make the entire system stable again?

Understanding Motor Controls

4th Edition

ISBN:9781337798686

Author:Stephen L. Herman

Publisher:Stephen L. Herman

Chapter54: The Operational Amplifier

Section: Chapter Questions

Problem 7RQ: Name two effects of negative feedback.

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