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5. A robotic arm is described by the first order transfer function G(s)A where Kp-1, however it may change with respect to the arms position. (a) Design a control system that will reject a disturbance signal d(t)=3+3cos(t-r) without steady-state error. All desired closed-loop poles are positioned at-λ where-λ= 1. (b) In order to guarantee the closed-loop stability for the variation of Kp the maximum and minimum values of Kp 1 need to be determined. Use Routh- Hurwitz stability criterion to determine the maximum and minimum values of Kp allowed for the closed-loop control system.

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