1. In z-domain, determine the closed loop transfer function of the discrete time system.

2. Decide the system’s input signal and choose a suitable sampling time. Justify the choice on the sampling time.

  

R(s) E(s) Cs) 68659.20S + 243740.165 |S3+ 68743.75S2 + 246675,168+ 46120 Controller Fig.4 Block diagram of myoelectric hand prosthesis with controller