In the given system a motor drives a load using a belt & pulley. Assume that there is no slippage between belt & pulley. Also neglect the moment of inertia of the belt and belt stretching. Motor Driver V K e(t) F Jm La Kt DC Motor Bm Ra KD L Wm m J TITIT B 32 JL TTIT. BL WL b) It is desired to control the angular velocity of the load (w) with PID controller. The transfer function of a PID controller is given below, and it consists of an integrator and a differentiator. PID Controller e VR K +Kas+ Then, to realize a closed loop control system for w (by measuring wi) define a physical diagram (Use operational amplifiers for difference operation and the controller). (Also note that K>0, K>0, K, > 0) + Draw the detailed block diagram of the closed loop system with the input V.(s) and the output wi(s), and find the transfer function. K u S PID Controller V Measurement Element Driver + Motor + Load W