148 Chapter 2 Mathematical Models of Systems -H₂(5) G₁(s) G₁(8) G₁(s) R₁(s) Y₁(x) Speed Gg(5) Gs) Speed control input G₂(x) Gs(5) Go(s) R(s) 12(3) Tension Tension FIGURE P2.32 control A model of the input coupled motor -H₁(s) drives.

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