CONTROL SYSTEMS ENGINEERING
CONTROL SYSTEMS ENGINEERING
7th Edition
ISBN: 9781119185666
Author: NISE
Publisher: WILEY
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Chapter 3, Problem

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 s = Y s R s = s + c s 2 + a s + b s + d

Convert this transfer function to a state-space representation.

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CONTROL SYSTEMS ENGINEERING

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