MTE 484 Lab 3

Outer loop sampling time

$${\omega }_0=\frac{2\pi }{7}=0.897597901$$ $${\omega }_{bw}=\text{max}(\text{Re}(p_i))=59.5291$$ $$\begin{array}{rl}{\omega }_s& >5\times \text{max}\{{\omega }_{bw},{\omega }_0\}\\ & >5\times 59.5291\\ & >297.6455\end{array}$$ $$T>\frac{2\pi }{297.6455}>0.02110962641=22\text{ ms}$$

Plant:

$$K_2\cdot \frac{K_3}{s^2}=\frac{-0.293675}{s^2}$$

Discrete form:

$$-0.293675\cdot \frac{z+1}{(z-1{)}^2}$$