A motor and generator are set up to drive a load as shown in Figure P5.19. If the generator output voltage is e_g(t) = K_f i_f (t), where if (t) is the generator’s field current, find the transfer function G(s) = θ_o (s)/E_i(s). For the generator, K_f = 2Ω. For the motor, K_t = 2 N-m/A, and K_b = 2 V-s/rad.

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Generator Motor 12 e Ja=0.75 kg-m2 1H 10 20 4 kg-m?HE 4 N-m-s/rad FIGURE P5.19 lell