Question: The ability to balance actively is a key ingredient in the mobility of a device that hops and runs on one springy leg. The control

The ability to balance actively is a key ingredient in the mobility of a device that hops and runs on one springy leg. The control of the attitude of the device uses a gyroscope and a feedback such that u = Kx, where

and

where

Determine a value for k so that the response of each hop is critically damped.

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