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Bode Diagram Gm = Inf dB (at Inf rad/sec) , Pm = 73.8 deg (at 34.1 rad/sec) 400

Magnitude (dB)

300 200 100 0 -100 -315

Phase (deg)

-360 -405 -450 -495 -540 -1

10

0

1

10

2

10

3

10

10

4

10

Frequency (rad/sec)

step w ith [Mp,k] = 9.9573885

5216.6667

1.4

1.2

Amplitude

1

0.8

0.6

0.4

0.2

0

0

0.5

1

1.5 Time (sec)

2

2.5

3

Solution for Take Home Exam 1  

, a) Design feedback assuming you have access to all the state elements. Place the closed- loop system poles at s = [-1 +- 1j, -0.5 +- 5j]....