Arc welding is one of the most important areas of application for industrial robots. In most manufacturing welding situations, uncertainties in dimensions of the part, geometry of the joint, and the welding process itself require the use of sensors for maintaining weld quality. Several systems use a vision system to measure the geometry of the puddle of melted metal, as shown in Figure below. This system uses a constant rate of feeding the wire to be melted. (a) Calculate the maximum value for K for the system that will result in a stable system and demonstrate the results in a plot for a step function. (b) For half of the maximum value of K found in part (a), determine the roots of the characteristic equation. (c) Estimate the overshoot of the system of part (b) when it is subjected to a step input. (d) Using any additional controller to reduce the overshoot to less than 20% and the error to less than 5%. Note: Please include the script (.m) and the model (.slx). Also include the "publish" file (.pdf). Note: for part (b), you can access transfer function data using tfdata . CODE MATLAB, SCRIPT