The model is shown below mathematics of a pendulum actuated by a motor. This pendulum models the dynamics of a simple optical arm.\\
$\ddot{\theta} + \frac{3g}{2l}sin(\theta) = \frac{3}{ml^2}T$\\
You want to bring the position of the pendulum at the equilibrium point $(\theta, \omega) = (0,0)^T$ by means of a PID controller:\
$C(s) = K_p + \frac{K_I}{s} + K_Ds$\
a) Find the values of the parameters $(K_P, K_I, K_D)$ PID controller that allows to bring the pendulum to the desired position.\
b) Is the PID controller capable of returning the pendulum to the equilibrium point $(\theta, \omega) = (0,0)$ if the initial condition is $(\theta, \omega) = (\pi/2,0)^T$? Justify the answer.\
Values\
Pendulum mass=1Kg\
Pendulum length=1m\
Gravity acceleration=g=9.81m/s^2