(a) Develop a complete bond graph model of the plant for the control input Ke. (b) Set up state equations and provide a transfer function for the plant v(x)/kex where

V(s) is a rectilinear motion V(s)velocity of the table. (c) Construct a closed loop block diagram for x(s)/Vr(S)where X(s) is displacement of the table and provide transfer function. (d) Design the controller K to make the steady state error ess(t) = 0.