A robot force control system with unity feedback has a loop transfer function [6] Us) = KG(s) K(s + 2.5) (s2 + 2s + 2){s2 + 4s + 5) (a) Find the gain A' that results in dominant roots with a damping ratio of 0.707. Sketch the root locus. (b) Find the actual percent overshoot and peak time for the gain K of part (a).

MODULE 4 ARTICLE I. INFERENCE FOR POPULATION MEANS 1) Confidence Intervals a. We can find confidence intervals of two differencesample means 2) Known Population Variances a. Let X and Y be to independent binomial random variables. b. A 100(1-α)% CI for the difference of the two meansfrom each random variable is: 3) Unknown population variance a. t-value is used 4) Large sample confidence intervals for two population proportions a. Let X and Y be to independent binomial random variables. b. Proportion p is the number of successes/n ̃ c. Let n =nx+2x d. Let p =(x+1)/ n x e. The CI is the