Problem: Two robots are shown in Figure 14 cooperating with each other to manipulate a long shaft, before they insert it into the hole in the block resting on the table. Long-part insertion is a good example of a task that can benefit from cooperative control. The feedback control system of one robot joint of the from shown in Figure 15 and

G(s) = 8/s(2s + 1)

The specifications require a steady-state error for a unit ramp input of 0.0125 (i.e., KV = 1/0.0125 = 80, see Ogata 5^th), and the step response has an overshoot of less than 25% with a 2% settling time of less than 2 seconds. Determine a lag-lead compensator that will meet the specification, and plot the compensated and uncompensated response for the ramp and step inputs.