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4. DISCUSSION How does the offset error change as K, is increased for a step reference input? Is the experimentally obse
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4. DISCUSSION How does the offset error change as K, is increased for a step reference input? Is the experimentally observed change in the error due to increasing the proportional gain consistent with the theoretical results? How does the following error change as K, is increased for a ramp reference input? P APPENDIX A: MOTOR AND AMPLIFIER PARAMETERS The factory specifications for the motor parameters are provided below in Table A-1 (Aström et al., 2009). Table A-I. Factory specifications of motor and amplifier parameters. Parameter Vahe Unit Motor Torque Constant (K) 0.0502 [NmA] Motor Amature Resistance (R.) 10.6 [92] Motor Amature Inductance (L.) 0.82 [m] ICTS