Consider the DC motor drive system shown in the block diagram. Instead of speed control, we are interested in the portion control of the motor. The block diagram of the system with a feedback controller Gir) is shown below: Controller Motor Fig.1 Assume A =147,r =0.1 and the controller is a proportional plus derivative [PD) controller given by G.() = K + K,s , which can be implemented in reality by applying the following control input voltage