Modeling:find the TF r(t)=0.Irad Actual position Ka Ka s(Js+b)(Ls+R) Desired position Y(s) 5000K R(s) s3+1020s2+20000s+5000K, 212 Step response (Ka-10) Step response (Ka-80) 0.10 0.3 皇05 Ka=10 Ka=80 Long settling time Large oscillation 04 06 06 12 Tme (sec)(sec) Time(sec)(sec)Modeling: find the TF r t rad ( ) 0.1  Desired position Actual position + - Ka    Km s Js b Ls R       3 2 5000 1020 20000 5000 a a Y s K Rs s s s K    Linear Simulation Results Time (sec) Amplitude 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0 0.02 0.04 0.06 0.08 0.1 0.12 System: sys Peak amplitude: 0.104 At time (sec): 0.31 Ka=10 Long settling time Ka=80 Large oscillation