Chapter 3, Problem 25P

Experiments to identify precision grip dynamics between the index finger and thumb have been performed using a ball-drop experiment. A subject holds a device with a small receptacle into which an object is dropped, and the response is measured (Fagergren, 2000). Assuming a step input, it has been found that the response of the motor subsystem together with the sensory system is of the form

$G\left(s\right)=\frac{Y\left(s\right)}{R\left(s\right)}=\frac{s+c}{\left(s^2+as+b\right)\left(s+d\right)}$

Convert this transfer function to a state-space representation.