Four Governing Equations for DC Servo Motor T=Kria Kr:torque constant do e6=K6 di Kp:back emf constant. La ia+Ri。+ew=ea 6 d20 =T=Kria 日6KT T Ki  T a : torque constant dt d eb K b   Kb：back emf constant. Four Governing Equations for DC Servo Motor a a b a a a R i e e dt di L    2 2 T a d d J b T Ki dt dt    