Task 3 (Processing encoder output) The data will be collected from the actual de motor system shown in Figure 2. The file contains data points of the time in msec versus the angular displacement in number of edge. Using Matlab do the following: 1) Load the data points in a variable 2x matrix. 2) Extract the time and change the unit to sec. 3) Extract the angular displacement and change the unit to revolution. 4) Plot the displacement versus time. 5) Numerically differentiate the displacement using the backward difference method (for the first point use the forward difference method) to obtain the angular velocity 6) Use a numerical differentiator with a first order low pass filter to obtain the angular velocity. Use a time constant of 20 msec for the low pass filter. 7) Change the time constant to 70 and 120 mscc and repeat the calculation. 8) Plot the results of steps 5 to 7 in one figure. Comment on the result. Task 3 (Processing encoder output) The data will be collected from the actual de motor system shown in Figure 2. The file contains data points of the time in msec versus the angular displacement in number of edge. Using Matlab do the following: 1) Load the data points in a variable 2x matrix. 2) Extract the time and change the unit to sec. 3) Extract the angular displacement and change the unit to revolution. 4) Plot the displacement versus time. 5) Numerically differentiate the displacement using the backward difference method (for the first point use the forward difference method) to obtain the angular velocity 6) Use a numerical differentiator with a first order low pass filter to obtain the angular velocity. Use a time constant of 20 msec for the low pass filter. 7) Change the time constant to 70 and 120 mscc and repeat the calculation. 8) Plot the results of steps 5 to 7 in one figure. Comment on the result