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Question: tu t k 5 nmrad c for the mechanical system...

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TU) θ(t) K 5 N-m/rad (C). For the mechanical system, consider a feedback control shown as follows. Please apply Routh table to show the stability condition (i.e., the closed-loop must be stable). (5%) Mechanical System Plant Y(s) Controller G (s (D). For the above system, whereJ 1 (kg-m2), D 2(N-m-s/rad) and K 5(N-m/rad) are considered. Now consider a proportional-derivative (PD) controller in a feedback loop shown as follows. Please design Kp & Kd such that the closed-loop system can reach 5% overshoot and a settling time of 0.5 seconds. (MATLAB simulation result must be given!) (10%)
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