3. Consider a system of four periodic tasks T₁ = (8, 1), T₂ = (15, 3), T₃ = (20, 4), and T₄ = (22, 6) that are to be scheduled and executed according to a structured cyclic schedule with fixed frame size. What is an appropriate frame size?

4. In the digital control system, we always need to convert from analog data to digital data using data sampling. Explain the procedures of the analog-to-digital conversion for the control law computation