A motor with moment of inertia of Jm = 0.075 kg.m^2 is used to drive a mechanical load whose torque is given by TL = (5 + 0.01?) Nm (where ? is the angular velocity in rad/sec) and a moment of inertia of JL = 0.1 kg.m^2. The required speed profile for the load is shown in Fig. 1 for 0<
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