The diagram in Figure shows a system for controlling the angular position of a load, such as

Question:

The diagram in Figure shows a system for controlling the angular position of a load, such as an antenna. There is no disturbance.
a. Draw the block diagram of a system using proportional control, similar to that shown in Figure 10.3.9 except that the command and the output are angular positions. Assume that the motor is armature-controlled and that its armature time constant is negligible. Let the inertia le be the equivalent inertia of the entire system, as felt on the motor shaft, and let Ne, be the equivalent gear ratio of the entire system, as felt on the motor shaft. Show the necessary transfer functions for each block.
b. Determine the value for Ne, and determine Ie as a function of the inertias I1, I2, and I3,.