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DC Motor transfer function in proteus

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amirfff

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hello all my friends , i wanted to desing a digital controller for a dc motor to control it's speed in proteus using a microcontroller ATmega32, so i wanted it's transfer function, can anyone help me about a
DC motor transfer function by it's parameters? (Coil resistance,Coil inductance,Load/max torque,Effective mass) :?:
 

i didnt find these topics helpful , can u guide me to a nice clean transfer function of omega(s)/V(s) ?
 

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