Table 1.

Notation and parameter values for the DC motor.

Parameter	Symbol	Description/Value
Rotor angular velocity	$\dot{\theta }$	State variable (RPM)
Armature current	ia	State variable (A)
Armature voltage	Va	Manipulated variable (V)
Armature resistance	Ra	3.2 Ω
Armature inductance	La	8.6 × 10−3 H
Back-EMF constant of motor	Ke	100 × 10−3 V/rad/s
Torque constant of motor	Kt	3.3 × 10−3 N∙m/A
Total moment of inertia	J	32 × 10−6 kg∙m2
Motor time constant	Tm	250 × 10−3 s
Viscous friction coefficient of motor shaft	BL	128 × 10−6 N∙m∙s