$2-$ For the position control of a robot arm a digital

PID controller has been used. The gain values of

$\frac{?}{PI}D$ controller are; $KI=0\mathrm{.}01,Kp=1,Kd=0\mathrm{.}05.$

Determine the output of each part at time $1ms,2ms$

and $3ms.$ The position error of robot arm with

respect to time is given in figure $[28$P$].$

$E1=0\mathrm{.}3m(errorat$ time $1)$

$E2=0\mathrm{.}4m(errorat$ time $2)$

$E3=0\mathrm{.}46m(errorat$ time $3)$

$T=1ms(time$ between the samples$)$