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