# A robot gripper shown in part (a) of Figure P4.17, is to be controlled so that it

## Question:

(a) Determine the response Î¸(t) of the system to a step change in Î¸d(t) when K = 20.

(b) Assuming Î¸d(t) = 0, find the effect of a load disturbance Td(s) = A/s.

(c) Determine the steady-state error ess when the input is r(t) = t, t > 0. (Assume that Td(s) = 0.)

Figure P4.17

Robot gripper control.

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## Step by Step Answer:

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