A BLDC is used with an encoder sensor feedback to rotate a robot arm. A microcontroller with a PWM signal is used to control the speed of the system. Its characteristic is given as follows: PWM Frequency: 440 Hz PWM Resolution: 8 bits 1. 10 points - The encoder has a resolution of 8 bits. a. Give the angular resolution in rad. How many count is performed by the encoder of the rotation of 346? 2. 15 points - The BLDC rotates at a speed of 1100 RPM with a voltage of 12V. a. Calculate the average voltage and the duty cycle to rotate the motor at 650 RPM. b. Draw the PWM signal and indicates the value for ton and toff. 3. 15 points - Answer the following questions: a. How many count per second is performed by the encoder for the aforementioned angular speed? b. Can a microcontroller with a data acquisition frequency of 100kHz read the count of the encoder? c. Supposing that the microcontroller cannot read the count from the encoder, give two solutions to cope with this problem.