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A cart carries an inverted pendulum of length 20 cm. PI control G(s) = K1 +K2/s...

  1. A cart carries an inverted pendulum of length 20 cm. PI control G(s) = K1 +K2/s with K1 =40 cm/rad is used. Compute K2 in cm·s−1/rad so that its impulse response is critically damped.
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