1. (30 pts total) Your company wants to develop an improved 3-D printer with market-leading print ou have been asked to design the control system for the linear motor that is positioning the print head carriage on the cross arm (see Figure 1). Another team is the handling control design for the other acces Some key facts: The 3D print head mass is 2.2 kg . The structure that raises and lowers the head has a mass of 0.8 kg (including its drive motor) The cross arm has a mass of 4 kg. . The design uses an air bearing slide on the cross arm. You may assume the slide is frictionless The carriage position is measured by a linear encoder that can be modeled as a continuous sensor . The team has selected an actuator with a constant ratio between force and voltage: 200 . A unity gain amplifier drives the motor and can generate voltages between-24 V and 24 V . The print head has a range of motion of 0 mm on the left side to 600 mm on the right side. Some key specifications: Your market research team has shown that being competitive with your target customers requires the following characteristics: Print head must to be settled at a desired position within 1 second of a step command . Print head must be able to track constant velocity commands (i.e. ramp inputs) in steady state * Print head must maintain less than 10% overshoot when provided with step command Print head (not shown) this bracket Structure for raising and lowering the print head Prilt head carriage Linear encoder on cross arm gives position of print head carriage Cross arm containing the linear motor to move the print head carriage. You are controlling this linear motor Figure 1: 3D printer system description for Problem 1