Problem $10\mathrm{.}2$

a$)$ Find the transfer function between output $$ and input $$ for the block diagram shown below.

b$)$ Plot the poles and zeros and determine the stability type.

Partial answer: b$)$ stable

$00\mathrm{.}10\mathrm{.}20\mathrm{.}30\mathrm{.}40\mathrm{.}50\mathrm{.}60\mathrm{.}70\mathrm{.}80\mathrm{.}91$

Time $($s$)$

$-10$

$-8$

$-6$

$-4$

$-2$

$0$

$2$

$4$

$6$

$8$

$10$

$12$

$14$

$16$

$18$

$20$

$22$

$24$

$26$

$28$

$30$

Ankle Angle $($deg$)$ Problem $10\mathrm{.}2$

a$)$ Find the transfer function between output $\backslash ($ X $\backslash )$ and input $\backslash ($ Z $\backslash )$ for the block diagram shown below.

b$)$ Plot the poles and zeros and determine the stability type.

Partial answer: b$)$ stable