Solution 8.8.6 The transfer function of the motor is G(s)= K (s+p 1 )(s+p 2 ) ;; Then the step response is C(s)= V arm K s(s+ p 1 )(s+p 2 ) = A s + B s+ p 1 + C s+ p 2 : Then A =  V arm K (s+p 1 )(s+s +p 2 )  s=0 = V arm K p 1 p 2 : Thus, K = Ap 1 p 2 V arm : Thus, to nd the unit step response wehavetomultiply the steady output A by the product of the poles and then divide bythearmature voltage. 1