The system matrices are different, as shown below. In this example, the following values for the physical parameters are assumed. These values were derived by experiment from an actual motor.

moment of inertia of the rotor \(J=0.01 \mathrm{kgm}^{2} / \mathrm{s}^{2}\)

damping ratio of the mechanical system \(b=0.1 \mathrm{Nms}\)

electromotive force constant \(K=0.01 \mathrm{Nm} / \mathrm{A}\)

electric resistance \(R=1 \Omega\)

electric inductance \(L=0.5 \mathrm{H}\)

input \(\left(\omega_{r}ight)\) : desired motor angular speed output \((\theta)\) : position of shaft

Motor Speed [rad/sec] 1 0.9- 0.8 0.7 0.6 0.5 0.4 0.3- 0.2- 0.1 0 2 3 5 6 7 Time [sec] Figure 4.36 DC motor speed control (open-loop). 00 8 9 10