As shown in Fig. P9.6, an armature controlled DC servo motor drives a load with moment of

Question:

As shown in Fig. P9.6, an armature controlled DC servo motor drives a load with moment of inertia $\mathrm{J}_{\mathrm{L}}$. The torque developed by motor is $\mathrm{T}$. The moment of inertia of motor rotor is $\mathrm{J}_{m}$. The angular displacement of motor rotor and load element are $\theta_{m}$ and $\theta_{0}$, respectively. The gear ratio is $n=\theta_{0} / \theta_{m}$. Develop transfer function model $\theta_{0}(s) / V_{c}(s)$.

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