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θ / U = K t / (s((Js+b)(Ls+R)+ (K t K e)))

Ja kulmanopeus

Ω_/ U =_ K t / ((Js+b)(Ls+R)+ (K t K e))

Ω θ / U =K t / (JL s3 2 + (JR+Lb) s2+(b*R+K t K e)s);