QUESTION 5 A servomechanism is used to control the angular position 6, of a mass through a command signal 0ị. The moment

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QUESTION 5 A servomechanism is used to control the angular position 6, of a mass through a command signal 0ị. The moment of inertia of the servomechanism is J = 100kg – m² and the Load shaft stiffness, K = 40,000N – m/rad . The viscous damping coefficient, D2 = 2,000N – m/rad /sec = i) Determine the time response of the servomechanism to a step input of 1 radian. Also find the transient frequency of oscillations, the time to rise to the peak overshoot, and the value of peak overshoot. Determine the steady state error if the input signal is constant angular velocity of 1 rev/min. ii)