Question: Design a PID controller applied to the motor torque T to control the robot arm angle ( Shon in Figure P11.21 Consider the specific plant

Design a PID controller applied to the motor torque T to control the robot arm angle ( Shon in Figure P11.21 Consider the specific plant
Gp (s) = ( (s) / T (s) = 4 / 3s2 + 3
The dominant closed-loop roots must have ( = 0.5 and a time constant of 1.

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