Q2 Consider a one link rigid robotic given by a nonlinear state space equation as: d’q +Gla)= r.

Q2 Consider a one link rigid robotic given by a nonlinear state space equation as: d'q +Gla)= r. (dq r.=-K, And let a control mechanism as given by K,q+NG where (K, and K,) are diagonal matrices with nonzero diagonal elements. A resulting linear system would be as follows: 0 1 Use the LYAPUNOV method to find the values of (K, and ,) stabilize this robotics system.

 

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