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The figure below shows a simple diagram for deriving the model of a DC servomotor, which is a rotational electromechanical system. On the cir- cuit side,

`v(t)`

is the input armature voltage, L is the inductance constant,

`R`

is the resistance constant, and

`i(t)`

is the armature circuit current. On the rotational mechanical side, J is the lumped rotational inertia of the motor shaft and load, c R is the rotational viscous damping coefficient, and the output is angular displacement

`\theta (t)`

(whose time derivative is angular velocity

`\omega (t)`

.