The position control system for a spacecraft platform is governed by the following equations:
d2p / dt2 + 2dp / dt + 4p = θ
v1 = r - p
dθ/dt = 0.6v2
v2 = 7v1
The variables involved are as follows:
r(t) = desired platform position
p(t) = actual platform position
v1(t) = amplifier input voltage
v2(t) = amplifier output voltage
θ(t) = motor shaft position
Sketch a signal-flow diagram or a block diagram of the system, identifying the component parts and determine the system transfer function P(s)/R(s).