The parameter values for a certain armature$-$controlled motor are

KT $=$ Kb $=0\mathrm{.}2$ N $$ m$/$A

b $=5104$ N $$ m $$ s$/$rad Ra $=0\mathrm{.}8$

La $=4103$ H J $=5104$ kg $$ m$2$

For these parameters, discuss the nature of the poles of the transfer function $($e$.$g$.$ real, complex, stable,

unstable, etc.$).$ From the four transfer functions obtained in Problem $1,$

$1$

a$.$ Obtain the step response of ia$($t$)$ and $($t$)$ if the applied voltage is vin $=10$ V with zero torque load,

from $$Ia$($s$)/$Vin$($s$)$ and $($s$)/$Vin$($s$).$

b$.$ Obtain the step response of ia$($t$)$ and $($t$)$ if the load torque is TL $=0\mathrm{.}2$ N $$ m$,$ with zero input voltage,

from $$Ia$($s$)/$TL$($s$)$ and $($s$)/$TL$($s$).$