Mr SS | Llase ie) + 4 = 0.545 , Alp 2,05 T. | | — 27. G= ogee |e Wren T= To i T, = OATS B= Sen ay Ze Hl t ° |= =(Ce.92) e,ey Ved ad 8 “coming of Eine, _sTeeT_ wis oe || __ Be No ORVPING “ACS, =the _Canveauce WL vere pes @uem Te OS ener Sree fat | eT meer & = 0.2. ‘The equation of motion for the piteh angle @ of satellite is: Mt) B whore B= 1 kgm? and the torque M(t) = Mc(#) + Ma(é) is the sum of the control torque from thrusters M,(t) and the disturbance torque My(t). A controller of the form pe) = 040 (+4) where 7 > 0 will be used to stabilize the satelite. (a) What kind of a controller is D(s)-P, PI, PD or PID? Draw a block diagram of the tunity feedback system showing the controller, the plant and the torques. (b) Write tho input 6, to output @ transfer function. (6) Sketch the root locus of the system as 7 varies from zero to oo. (@) For what values of 7 is the closed loop system you sketched in part (a) stable? (©) With this controller D(a) what quantities are being sensed and/or being used for feedback control of the satelite? Give specific examples of the sensors that might be used for sensing each of the quantities that is being used in this feedback controller.por = Caty )Us+$), Pp CONTEC. Ary ar +) (far G+) cee ee & L+ 4a (ety + Ure et (oe se °) A= Seler)s+ Law) =o. Dg = ee (eT 2 | | Los a ety) -— Veer) a (ot I - = A foie ~ verre) | z= S2 + r (Gav ) -{ GH Va+r) | | Wien S00, $= av (-aadic) = -2448 i 20-268 ! L Bxe Ss, = 2-43 = 73.43IL ‘ 2 ts tos Sy. fp “wie IGA Niele ee Secmc. _ em _ ms PRCT OF Post Lacs As ____ RUNS TR THE Leer DF pn cop 4F be me {een —— a Since THE. __ssT Locus ts | Lepr tame PURE ts is 4 = — e) | PD cottraut—» 8 mp 6 le Beis | sexceo les TIMeren. _ - Ruins Sis tHe STE Ft ML XO. — - & 5 IMU @ _—-» _IMv_, Grime ThrereR , GPS.