Sistemas de control, sistemas mecánicos, eléctricos, de fluidos y térmicos.
Multiply the entire equation by $R$ to clear the denominator: $$ J \ddotx = R T(t) - b_r \dotx - R^2 (m \ddotx + b \dotx + k x) $$ solucionario ingenieria de control moderna ogata 5 edicion
The solution manual is widely available across several educational platforms in PDF format: Sistemas de control