Design a PID controller applied to the motor torque T to
Chapter , Problem 11.21(choose chapter or problem)
Design a PID controller applied to the motor torque T to control the robot arm angle \(\theta\) shown in Figure P11.21. Consider the specific plant
\(G_p(s)=\frac{\Theta(s)}{T(s)}=\frac{4}{3 s^2+3}\)
The dominant closed-loop roots must have \(\zeta=0.5\) and a time constant of 1 .
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