Question

Given the derivative gain K_v = 18K

v

​

=18, find the proportional gain K_pK

p

​

value such that the rise time is less than 1s and overshoot is less than 5%.

Answer 1

Answer:

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Explanation:

Since no details about the robot, and only the proportional gain kp can be tuned, form the trial-and-error approach, you can initially set kp = 18 (= kv) and then gradually increase the gain until the desired performance is obtained, or kp = 81, where kv = 9×2 and kp = 92.

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