Question: A robot with an extended arm has a heavy load, whose effect is a disturbance, as shown in Figure P10.15 [22]. Let R(s) = 0

A robot with an extended arm has a heavy load, whose effect is a disturbance, as shown in Figure P10.15 [22]. Let R(s) = 0 and design Gc(s) so that the effect of the disturbance is less than 20% of the open loop system effect.

Disturbance 100 s 25s 100 Pon

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