Closed$-$loop Velocity $($angular velocity$)$ control:

$K_m=10$

$R_n=1$

$J=2$

$b=0\mathrm{.}5$

In$-$class exercise $(300pts)$: Assume $T_d(s)=0,$ Use MATLAB to reduce the block diagram in Figure $($c$)$ into a single input$-$

output block $($relating ${}_d(s)$ to $(s)).$

In$-$class exercise $($bonus $300$ pts$)$: Assume ${}_d(s)=0,$ Use MATLAB to find the transfer function for the input $)$ to the

output $((s))$

Note: Develop your both codes in one MATLAB LiveScript a

Open$-$loop Position $($Angular position$)$ control: