Question

For the following system, answer the 4 questions listed in the 2nd problem. (a) Calculate the sensitivity of the closed-loop transfer function to changes in K 3. b) Is it possible for you to select a value for Kj to minimize the effects of external disturbances, Td(s) (c) What is the steady-state error when R(s)s and Td(s) 0? (d) Calculate the sensitivity of Td(s) with respect to K2 and K3. Load disturbance T(s) R(s) Controller Ms) Actual joint angle Desired+ oint angle

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