Question: 1.A pendulum control system is shown below. Suppose the desired angle is r and actual angle is y. Disturbance torque is d. Controller is

1.A pendulum control system is shown below. Suppose the desired angle is r and actual angle is y. Disturbance torque is d. Controller is represented by a gain of 5, motor is represented by a gain of 2, and pendulum system is represented by a gain of 10, optical encoder is represented by a gain of 1. (a). Find the expression of y in terms of r and d. (b). Find the tracking error e. Disturbance torque Desired angle Error Controller Measured angle Voltage Actualor Motor Measurement Optical encoder Motor torque Process Pendulum

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