Problem 3, ult] = x(p(t) + kie(t) + Kpe(t) + k ( ^e(c)dz What is the order for a system if its PID control system is governed by the above equation? If originally Kp was set at 1.5 and the UAV followed the red route in the below figure when we changed the altitude. Then, we tried to increase Kp to 2.1 and found that the route did not change. Please provide the reason for this phenomenon and what we can do to change the route curve to produce a certain level of overshot (black curve). Required route Original route t L 4 1 2 Forward (north) 3 Right (east) Backward left Problem 1, A quadrotor has a maximum thrust of 12N and a mass of 0.8kg, 1, While keeping the roll, pitch and yaw all 0 degree, if the drone starts from the altitude of 60m with a velocity of 0m/s and stop at the altitude of 100m with a velocity of 0m/s, if in an ideal case without any error, what is the shortest time? 2, While keeping the roll, pitch and yaw all 0 degree, if the drone starts from the altitude of 60m with a velocity of 0m/s and stops at the altitude of 20 m with a velocity of 0m/s, if in an ideal case without any error, what is the shortest time? 3, If ignoring the transient states, while keeping the altitude, what is the shortest time for a drone to stop from a horizontal velocity of 8m/s? 4, At time t=0, a quadrotor hovering in the air without a yaw is shown below, facing north. Then the drone (1) moves 20 meters up, (2) 200 meters along the backward left direction, (3) yaw 270 degrees to face east. Please provide the sequence of motions that the drone needs to perform on adjustment of rotors' speed.