The disk with inertia J, viscous damping B, and coupled to the motor through spring K, is to be kept at angle x ref in the presence of a disturbance load torque M load which acts on inertia J. The DC motor is armature controlled and delivers a torque output to the conveyor shaft. The angle is detected by an angle sensor with gain K sens .
All initial conditions are zero.
Find the transfer function. Label and scale all axes. Determine the range of K, if any, for which the closed loop system is asymptotically stable. Label and scale all axes.