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

Create an m file called motor_model.m that initializes the motor parameters:

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

a.) Create the transfer function, called P using equation 1.1.1. below. Use num, den, and tf.

b.) Generate and plot angular velocity time response, w_l(t), with step input of 5V, for t=0:.01:0.75]. Here is a sample code:

c.) Calculate and plot the angular load position:

One way to do this is to cascade 1/s to the transfer function P in (1). First define integrator transfer function as tf([1], [1 0]). Follow similar steps using lsim to generate _l(t).

d.) Calculate and plot the motor angular velocity w_m(t) and position _m(t), using Eq. (1.1.15).

e.) Calculate and plot motor current I_m(t) (using Eq. 1.1.5).

f.) Calculate and plot back emf voltage e_b(t) (using Eq. 1.1.2).

g.) Calculate and plot motor torque tau_m(t) (using Eq. 1.1.21).

h.) Plot motor toque vs. angular velocity using results from (d) and (g). This is known as torque curve. What are the stall torque and no-load velocity? (Tip: need to extrapolate line manually to cross x-axis to determine w_m-noload)

(s) K Vm (s) (Ts +1)