Ra Example G &x J1 02 J2 5 I,=constant n2 Obtain the model between the output 02 and the input ea. 021 K J-+是 ea C s(J Rs+KKp)Example ea If=constant Ra eb T J1  2 ia n1 n2 J2 Obtain the model between the output 2 and the input ea. 2 1 ( ) T a La T b K e C sJ Rs K K     2 L 1 2 J J J C  