MATLAB Problem. Please help me with step by step instructions if possible!

Create an m file called init_motor.m that initializes the motor parameters then build the transfer functions in the handout:

Rm = 2.6 Lm = .18e-3 kt = 7.68e-3 Vnom = 6 km = 7.68e-3 Kg = 70 nm = 0.69 ng = 0.90 Jmrotor = 3.90e-7 Jtach = 7.06e-8 Jeq = 0.00213 Beq = 0.015

Next, code the following inertia, damping, and actuator gain variables:

Run the m file now, and show the values for Beqv and Am:

>> Beqv >> Am

Confirm that they are approximately 0.0844 (N s/rad) and 0.129 (N m/V), respectively.

Next, determine transfer function of the load angular velocity over input voltage by taking the Laplace transform:

Next, express the steady state gain K and time constant in terms of Jeq, Beq,v and Am in the equation:

K =

tau =

Code this in the m file and rerun. What are the values for K and tau?

>>K >>tau

Confirm that they are approximately 1.528 and .0253, respectively.

eq,u Rm Rm eq,u Rm Rm