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2 - For the position control of a robot arm a digital PID controller has been used. The gain values of ? P I D

2- For the position control of a robot arm a digital
PID controller has been used. The gain values of
?PID controller are; KI=0.01,Kp=1,Kd=0.05.
Determine the output of each part at time 1ms,2ms
and 3ms. The position error of robot arm with
respect to time is given in figure [28P].
E1=0.3m(errorat time 1)
E2=0.4m(errorat time 2)
E3=0.46m(errorat time 3)
T=1ms(time between the samples)
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