What is an interrupt? define and explain how Transfer of Control via Interrupts?

Design a PID controller for this system.

Using geometrical relations derive the forward and inverse kinematics of the manipulator.

5. Study the ladder logic program in Figure 7-34 on page 198, and answer the questions that follow: a. What is the purpose of interconnecting the two timers? b. How much time must elapse before output PL is energized? c. What two conditions must be satisfied for timer T4:2 to start timing? d. Assume that output PL is on and power to the system is lost. When power is restored, what will the status of this output be? e. When input PB2 is on, what will happen? f. When input PB1 is on, how much accumulated time must elapse before rung 3 will be true? Ladder logic program L1 Inputs FIGURE 7-34 PB1 PB2 PB2 1 36 PB1 2 3 E 3 PB1 T4:2 DN T4:1 DN -RTO RETENTIVE TIMER ON Timer T4:1 Time base 1.0 Preset 2900 Accumulated RTO RETENTIVE TIMER ON Timer Time base Preset Accumulated T4:1 (RES) T4:2 (RES) (EN) 0 (DN) a. The input is true, and EN is 1, TT is 1, and DN is 0. b. The input is true, and EN is 1, TT is 1, and DN is 1. c. The input is false, and EN is 0, TT is 0, and DN is 0. d. The input is…