Consider an armature-controlled DC motor. The physical model is shown below. RA La va VD T Armature circuit The motor parameters are: Kp = 0.028 N·m/A, 1 = 0.00012 Kg: m K = 0.028 N.m/A, C = 0.000041 N·m:s, Ra = 11.2 2, Vs = 30 V La 0 a) Determine the no-load speed (rpm). b) Determine the stall torque c) Determine the time required for this motor to reach the no-load speed (within about 2%). d) Draw a nicely labeled graph of motor speed vs time at no-load, for a step input of 30 V.