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Problem 6.48PP
The inverted pendulum has a transfer function given by Eq., which is similar to
(a) Use Bode plot sketches to design a lead compensator to achieve a PM of 30®. Then verify 
and refine your design by using Matlab.
(b) Sketch a root locus and correlate it with the Bode plot of the system.
(c) Could you obtain the frequency response of this system experimentally? 
Eq.,
yuu uuieiii i m e iiev^uetiuy ledpui u iis syaiei 11 eApei iiiiei iieiiiy r
Eq..
0'{j) _ Mpl
U(s) ~ ( ( / + mpp)(mt + nip) - m jP )s^ - mpgl{mt + nip) *
Step-by-step solution
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