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[[ {

]- P (s)](K /1+ST ) =

Pref(s) 1/R f(s)}(kg/1+STG)(KT/1+STG)

f(s)
Let us assume speed setter is fixed
kg/1+STG = Gg(s)
f(s)

KT/1+STG = GT(s)

Kp/1+STp = GP(s)

{ 1 + 1/R*GG(s) *GT(s)* GP(s) } = -Gp(s)* PD(s)

For a step load change PD(s) = PD/s


f(s) =

-Gp(s)* PD/s
{ 1 + 1/R*GG(s) *GT(s)* GP(s) }

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