The block diagram model of an armature-currentcontrolled DC motor is shown in Figure
Chapter 0, Problem AP5.6(choose chapter or problem)
The block diagram model of an armature-currentcontrolled DC motor is shown in Figure AP5.6. (a) Determine the steady-state tracking error to a ramp input r(/) = t,t > 0, in terms of K, Kh, and (b) Let Km = 10 and / = 0.05, and select K so that steady-state tracking error is equal to 1. (c) Plot the response to a unit step input and a unit ramp input for 20 seconds. Are the responses acceptable?
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