The standing angle, ${}_L(t)$ is controlled by a closed$-$loop system. The

input $($reference$)$ to the system is the desired standing angle, the

output is the actual angle of the person with exoskeleton. A

controller uses the difference between the desired angle and

the actual angle to drive the motor,

resulting in a motor torque applied to the exoskeleton.

Identify the components of a control system $(8$ points$)$

$($a$)$ Plant $(2$ point$)$

$($b$)$ Actuator $(2$ point$)$

$($c$)$ Sensor $(2$ point$)$

$($d$)$ Controller $(2$ point$)$

Identify the signals of a feedback control system $(4$ points$)$

$($a$)$ Reference $(2$ point$)$

$($b$)$ Disturbance or Noise $(2$ point$)$

Draw a functional block diagram $(8$ points$)$