Question: A robot-arm drive system for one joint can be represented by the differential equation [8] where v(t) = velocity, y(t) = position, and i(t) is

A robot-arm drive system for one joint can be represented by the differential equation [8]

where v(t) = velocity, y(t) = position, and i(t) is the control-motor current. Put the equations in state variable form and set up the matrix form for k1 = k2 = 1.

dv(t)

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