Project - Speed Control of a Direct Current (DC) motor

%Motor Parameters
Jm = 0.01; %Inertia
Bm = 0.1; % friction coefficent
Kb = 0.01; % back emf constant
Kt = 0.01; % torque constant
Ra = 1; %resistancej
La = 0.5; %inductance
A = [-Bm/Jm Kt/Jm; -Km/La -Ra/La];
B = [0; 1/La];
wn = 6.28; %rad/sec;
zeta = 0.1;
p1 = -zeta*wn*+wn*sqrt(zeta^2-1);
p2 = -zeta*wn*-wn*sqrt(zeta^2-1);
P = [p1; p2];
K = place(A,B,P);
Kp = K(1);
Kd = K(2);
Ki = 150;