Question 4) Finding the analytical solution of the system and using the analytical solution to

suggest a procedure for finding the open loop gain Ko and the time constant .

From question 3, we were able to get some important expressions, which are the system
transfer function in the s domain and the time response of the system.

System transfer function:

𝑤0 𝐾
=
𝑉𝑖𝑛 𝑠ሺ𝑇𝑠 + 1ሻ

System time response:

𝑡
1 − 𝑒 −𝑇 ൰
𝑤0 ሺ𝑠ሻ = 𝐾𝑎 ൬

The expression used for the system time response will be used to analytically for the constant K
(open loop gain) and the time constant T. when the time t is set at infinity (𝑡=∞), we will get the
steady state value of the system, which in our case is the steady state output angular velocity of the
system. By setting the time to infinity, the exponential expression is reduced to zero and the overall time

is response is reduced to 𝜔𝑜 (∞) = 𝑎𝐾. The term 𝜔𝑜 (∞) is the steady state output angular
velocity of the system, and then the expression K = 𝜔𝑜 (∞)/a is used to find the gain K which
has units Deg/sV.

The next step would be to find the time constant which is called T in the calculations. At time
equals to the time constant, the system will reach a value that is approximately equal to 63.2%
of the steady state value, which means that the time at 0.632*a*K is the time constant.
Question 8) Now write the Transfer function of your system in terms of the angular speed and
motor voltage with the known parameters.

Average gain K = 41.7 deg/sV.

Average time constant = 3.93 seconds.

System transfer function:

w0 41.7
=
V ¿ s ( 3.93 s+ 1 )