Lab 5 Grading Prelab, out of 40 (A) Finding K and tau for motor transfer function 4 points each 8 (B) Finding poles for 3 sets of gains 2 points each set of poles 6 (C) Picking gains Finding potentiometer gains to get Mp and tr specs 4 points each 8 (D) Root Locus Plots Using Root Locus for P1 5 Using Root Locus for P2 5 (E) Drawing the Patch Panel setup for the analog computer 8 Lab Report ----------------- PART I: Theoretical Mp, tr, ts, zeta, omega_n: 8 Experimental values from parts I, II, III: 12 Compare, discuss Analog Computer vs WinCon: 8 Compare, discuss PD with vs without fric comp: 8 Contribution of Friction: 8 PART II: Performance, compared to specs: 10 Discuss unmodeled dynamics: 8 Part III: Theoretical and measured Ess (table): 8 How to adjust gain to improve Ess: 8 PART IV: Experimental friction values: 6 Comparison with lab 4 values: 6 ----- Total Report: 90 Prelab: 40 Checkout: 20 ----- Lab total: 150