The figure below shows an electrical motor driving a load that has one dominant vibration mode. This is a typical problem in electromechanical position control, such as computer-disk-head control. The motor has an electrical constant Ke, torque constant Kt, an armature inductance La, and a resistance Ra. The rotor has inertia J1 and a viscous friction B. The load has inertia Jz. The two inertias are connected by a shaft with a spring constant K and an equivalent viscous damping b.
a) Write the equations of motion.
b) Compute the transfer function from the motor voltage to position 0z.
