The parameter values for a certain armature-controlled motor are
KT = Kb = 0.2 N.m/A
c = 3 x 10-4 N.m.s/rad
Ra = 0.8 Ω
La = 4xl0-3H
I = 4 x I0-4 kg-m2
The system uses a gear reducer with a reduction ratio of 3:1. The load inertia is 10-3 kg.m2, the load torque is 0.04 N.m, and the load damping constant is 1.8 x 10-3 N-m-s/rad.
Use MATLAB to obtain a plot of the step response of ia(t) and ω(t) if the applied voltage is va = 20 V. Determine the peak value of ia(t).