Table 1.

Features of DC motor experiments.

Parameter	Value	Units
Nominal voltage	12	V
Nominal Speed	726.3	rads/s
Mechanical Time constant	176.1	ms
0dB Frequency	3.77	kHz
Terminal resistance	2.5	Ohm
Terminal inductance	0.2276e−3	H
Torque constant	13.9e−3	Nm/A
Speed constant	13.9e−3	V/(rads/s)
Rotor inertia	14e−7	kg·m2
Friction coefficient	1.48e−5	Nm/(rads/s)
Gear ratio	1:13	-
Quadrature encoder resolution	500	pulses per turn
Quadrature encoder max. frequency	500	kHz