) Derive the plant equation of motion in this form (5points) 2) If your EoM is not linear, linearize the equation at your operation point (2 points) 3) Conduct Laplace transform (2 points) 4) Find the transfer function G = Angle/Torque (1 point) 5) Find poles of your transfer function (G) (2 points) 6) Discuss your system time response for the STEP Torque input (3points)

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