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Problem 5.36PP
Consider the positioning servomechanism system shown in Fig., where 
ei = Kodi, eo = Kpotdo, /Co = 10 V/rad,
T = motor torque = Kt ia,
km = /Cf= torque constant = 0.1 N m/A,
Ke = back emf constant = 0.1 Vsec 
Ra = armature resistance = 10Q,
Gear ratio = 1:1,
JL + Jm = total inertia = 10-3 kg m2, 
va = KA(ei - ef).
(a) What is the range of the amplifier gain KA for which the system is stabie? Estimate the upper
limit nranhicallv u