if d#0, design PI-D controller for lumped model of a single link with actuator/gear train (equation 7.12) with (Km=2, Bm=0.08 Nms/rad, Jm=0.005 Nms/rad, R=5 ohm, K,Km =6), connect the system without...

Extracted text: if d#0, design PI-D controller for lumped model of a single link with actuator/gear train (equation 7.12) with (Km=2, Bm=0.08 Nms/rad, Jm=0.005 Nms/rad, R=5 ohm, K,Km =6), connect the system without and with controlleri the input is r(t)=2. Calculate Mp, tp, ts, ess for both connection. Calculate Ess(s) theoretically for both systems (system without controller and system with controller)