this is a robotics question I wanna know why KclKp10 in this

this is a robotics question, I wanna know why K_cl=K_{p=10 in this question, isn\'t that for close loop stiffness} K_cl=K+K_{P ?}

_{AND can you explain to me what is the difference between closed loop and open loop?}

solution:

Give the nonlinear control equations for an , -partitioned controller for the system: = 5 + 29-1393 + 5 Choose gains so that this system is always critically damped with a stiffiess of Q4. [7 points CL

Solution

let The original system is: 4¨x + 20 x + 25x = f

So, the closed loop equation is: 4¨x + 20 x + 25x = kvx kpx 4¨x + (20 + kv) x + (25 + kp)x = 0

This closed loop system behaves just like the natural dissipative system . So, we first compare to Equation

4¨x + (20 + kv) x + (25 + kp)x = mx¨ + bx + kx = 0

The closed loop stiffness is given by k, the coefficient of the positional term, so: k = 25 + kp = kCL = 36

Difference between open and closed Loop:

An open-loop control system takes input under the consideration and doesn’t react on the feedback to obtain the output. This is why it is also called a non-feedback control system.

There are no disturbances or variations in this system and works on fix conditions.

A closed loop system is also referred as a feedback control system. These systems record the output instead of input and modify it according to the need. It generates preferred condition of the output as compared to the original one. It doesn’t encounter any external or internal disturbances.