1. For a DC motor with no rotational stiffness and negligible inductance, assume the resistance of the DC motor circuit is R, the load mass moment of inertial is J, and the rotational load damping coefficient is B. The input voltage is V, and the applied torque by the motor is Tm, the kt is the torque constant, and the back EMF constant is ke. a) Find the steady-state error to unit step voltage input, when the output is angular velocity (@). b) Sketch the time response. c) Add unit feedback loop to the system and find the steady-state error to unit step voltage input, compare with part a). V R ww Ve + 10 B J 3 Figure 1 Tm