A suspended, mobile, remote-controlled system to bring three-dimensional mobility to professional NFL football is shown. The camera can be moved over the field as well as up and down. The motor control on each pulley is represented with

We wish to achieve a phase margin of 45° using Gc(s). Select a suitable crossover frequency and sampling period to obtain D(z). Use the Gc(s)-to-D(z) conversion method.

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10 s(s1)(s/10 1)