1.3 The motor in Figure P1.3 exerts a torque 1: on the shaft of a motor, which...

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1.3 The motor in Figure P1.3 exerts a torque 1: on the shaft of a motor, which has inertia Jm and bearing friction Bm (assumed viscous). This motor is attached to a load inertia J L , which itself has a viscous friction B L . The motor coupling is slightly fleXIble and is modeled as a torsional spring K . Write the equations of motion and a set of state equations for the system, taking t(t) as the input, and 8 L(t) as the output.

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