A differentially driven robot is to be controlled to follow the reference trajectory specified as follows: 2t 4rt 30 Xref = 1.1 +0.7 sin (*) and Yref = 0.9 +0.7 sin (7). The sampling time is ts = 0.033 s. The initial pose is [xo, Yo, 6.] = [1.1,0.8,0]]. Implement a control algorithm that would realize this. Experiment with the control gains and plot the results. A differentially driven robot is to be controlled to follow the reference trajectory specified as follows: 2t 4rt 30 Xref = 1.1 +0.7 sin (*) and Yref = 0.9 +0.7 sin (7). The sampling time is ts = 0.033 s. The initial pose is [xo, Yo, 6.] = [1.1,0.8,0]]. Implement a control algorithm that would realize this. Experiment with the control gains and plot the results