For the system in Problem 77 part (a), create a Simulink model that has a current limiter of ±10 A. Run the simulation for a step-command input of 104.7 rad/s (1000 rpm). Plot the current and the speed.
In Problem 77(a)
Kb = 0.199 V-sec/rad
Ra = 0.43 ft Ω
KT = 0.141b-ft/A
ce = 3.6 x 10-4 Ib-ft-sec/rad
le = 2.08 x 10-3 slug-ft2
La = 2.1 x 10-3 H
N = 1
Run the simulation using a unit-step command starting at t = 0 and a unit-step disturbance starting at t = 4 sec. Plot the speed and the motor current versus time.