in this example i need to find:

transfer characteristic, Bode's diagram, Niquest criteria, root godograph transient response

Figure $3.19(3)$

A fragment of an industrial robot

$q,$

$q,$

This example is taken from book "modern control systems" by Robert bishop

$.3\mathrm{.}19(3)$

$$

$3-3\mathrm{.}19.,.3\mathrm{.}19(3).,,.kb.x_1={}_1-{}_2{x}_2=\frac{{}_1}{{}_0},{}_0^2=k\frac{J_1+J_2}{J_1{J}_2}.--,x_3=\frac{{}_2}{{}_0}.$

in this example i need to find:

transfer characteristic, Bode's diagram, Niquest criteria, root godograph transient response

Figure $3.19(3)$

A fragment of an industrial robot

$q,$

$q,$

This example is taken from book "modern control systems" by Robert bishop