Question
  1. from the given equation 6.4.1, Determine the closed-loop disturbance to position transfer function, , assuming zero reference input, in terms of Jeq, K, τ, kp, ki and kd.   Assume a simulated disturbance voltage, Vsd, where the voltage applied to the motor is: second screenshot 
Tetwo-uagiee ur iCCaonIT
Compelsauor with sUL pomt wCigntng Is.
r()
y(t)
sp
[6.4.1]
d
sd

Image Transcription

Tetwo-uagiee ur iCCaonIT Compelsauor with sUL pomt wCigntng Is. r() y(t) sp [6.4.1] d sd

V(s)u+
'eq

Image Transcription

V(s)u+ 'eq

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