I Consider a DC motor system below utilized for speed control which is implemented with voltage and current feedbacks. Current feedbock H{s) TL K, B+ Js H(s) Voltage feedback -Motor and load (a) Draw signal flow graph for the feedback control system. 2(s) Or(s) (b) Find the transfer function [with TL(s) = 0] using Mason's gain formula. 2(s) [with r(s) = 0] using Mason's gain formula. T,(s) (c) Find the transfer function (d) Let K, be a very high gain of the amplifier. Show that when H;(s)/H.(s) = -(Ra + sLa), the motor velocity Om(t) is totally independent of the load disturbance torque TL. (e) Find the output 2 (s) due to both inputs Qr(s) and TL(s). m