Driverless vehicles can be used in warehouses, airports, and many other applications. These vehicles follow a wire embedded in the floor and adjust the steerable front wheels in order to maintain proper direction, as shown in Figure P8.7 (a) [10]. The sensing coils, mounted on the front wheel assembly, detect an error in the direction of travel and adjust the steering. The overall control system is shown in Figure P8.7 (b). The loop transfer function is

We want the bandwidth of the closed-loop system to exceed 2π rad/s. (a) Set K_v = 2π and sketch the Bode diagram, (b) Using the Bode diagram, obtain the logarithmic-magnitude versus phase angle curve.