Commercial motion controllers are digitally controlled (microprocessor-controlled) high-torque devices capable of applying a prescribed motion to a system. Such controlled actuators can be considered as velocity sources. Consider an application where a rotatory motion controller is used to position an object, which is coupled through a gearbox. The system is modeled as in Figure P3.19. Develop a state- space model for this system using the linear graph approach.
Figure P3.19
