1.) Design a current controller for the DC motor drive in the first figure.

2.) Design a speed controller for the DC motor drive in Figure 2, keeping the step 1 PI gains for the inner current loop.

3.) Modify the PWM strategy to control the DC motor at a negative speed. Set the speed reference to -100 rpm.

******If anybody can help, even just with guidance on how to start this, I would greatly appreciate it.