Formulate a state-space model for the dc motor of Example 10.1, shown in Figure 10.4, using two inputs (the armature voltage va and load moment ml) and one output (the shaft angular velocity ~), then...

Formulate a state-space model for the dc motor of Example 10.1, shown in Figure 10.4, using two inputs (the armature voltage va and load moment ml) and one output (the shaft angular velocity ~), then plot the system’s time response (output) by means of MATLAB®. Use the numerical values of Example 10.1 except for va = 100 - 10/(t + 1) V and ml = 0.15 cos(5t) V.