Using the transfer function of the 1-DOF system determined in Question 5 of Lab Report 1, identify the closed-loop transfer function 1(s)/R(s) for a
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 Using the transfer function of the 1-DOF system determined in Question 5 of Lab Report 1, identify the

closed-loop transfer function Θ1(s)/R(s) for a generic controller K(s) based on the block diagram Figure 1.6 (from Lab 1). Use the following values: J1 =0 .0106kg·m2, c1 =0 .007kg·m2/s, andkhw = 17 .58N ·m/rad. Note that the values you determined from Lab 1 may be slightly different due to differences between the experimental systems

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