Refer to Figure 10.3.9, which shows a speed control system using an armature-controlled dc motor. The motor has the following parameter values. Create a Simulink model by modifying Figure 10.3.9 to use PI control instead of P control. Use the PI control gains computed in Problem 10.50 part (b).
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
a. 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.
b. Run the simulation for 0 ≤ t ≤ 2 sec using a unit-ramp command. Plot the speed error and the motor current versus time.