A certain dc motor has the following parameter values: L = 2 10-3 HR = 0.6 KT = 0.04 N m/Ac =

A certain dc motor has the following parameter values:
L = 2 × 10-3 HR = 0.6 Ω
KT = 0.04 N · m/Ac = 0
I = 6 × 10-5 kg · m2
Figure P11.61

Figure P11.61 shows an integral controller using state-variable feedback to control the motor's angular position.
a. Compute the gains to give a dominant time constant of 0.5 s. The secondary roots should have a time constant of 0.05 s and a damping ratio of ( = 0.707. The fourth root should be s = -20.
b. Construct a Simulink model of the system and use it to plot the response of the system to a step disturbance of magnitude 0.1.
Suppose the motor current is limited to ± 2 A. Modify the Simulink model to include this saturation, and use the model to obtain plots of the responses to a unit-step command and a step disturbance of magnitude 0.1. Discuss the results.

Ts(s) TAS 0(s) (s) Is T(s) Os) K2