This system might represent the control of a DC motor.
We want to position the shaft to angle determined by,ψ com . The problem is to choose the parameters
Kr, the tachometer feedback and Kp, the motor shaft position, so as to minimize the integral squared
error between the command input and the controlled output,ψ . The command input isψ com = 5
degrees and is shown as a step input of amplitude 5.