A robot is used to steer a motorcycle Robot a) Discuss whether the system is open-loop or closed-loop control system and why, sketch the block diagram. b) It is known that the system dynamics between input to robots and motorcycle velocity is G(S)is the system stable? What's the physical meaning of stability? c) Assume initial v(0)1, what's v(t) if input to robot is r(t)- d) It's known that the controller is chosen as C(Consid s2-9 sin(t) +t tE [0,5 sin(t) t E (5,10] 1.35(s+2) the system is a unity negative feedback system, is the system stable? Consider it's a unity negative feedback system, find the output velocity profile v(t) if the closed-loop system input (desired velocity) is 2u(t) +0.1sin(t)? Assume zero initial conditio. e) f Consider negative unity feedback system, what's the steady-state error when the closed- loop system input (desired velocity) is r(t)3u(t) and r2(t)2 sin(t), respectively? Consider system is a non-unity negative feedback system, and the feedback block H(s) 1 + Kis + K2s2, find the ranges of K1 and K2 such that the closed-loop system is stable g) h) Design a new controller C(s) such that the feedback system (G(s) s2-9 0.2s2) is stable, estep (oo)