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PID CONTROLLER DESIGN FOR CONTROLLING DC MOTOR …
3.12 Block Diagram of the Open-Loop Servo Actuated by 21 Permanent-Magnet DC Motor 3.13 Block Diagram of the Closed-Loop Servo with PID 22 ... moment of inertia Bm - viscous friction coefficient Tviscous - viscous friction torque ... In such motors, current and torque, voltage and rpm are linearly related [4].
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