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

Below is the model for speed control and it is ducomented.

% Modeling of a DC motor
J = 0.01; %Moment of inertia of rotor in Kg.m^2
B = 0.1; %Viscous friction constant in N.m.s
Km = 0.01; % Back EMF constant in v/rad/s
Kt = 0.01; %Motor torque constant in N.m/map
Ra = 1.0; % armatur resistance in ohms
La = 0.5;% armature inductance in henries

% Design of PID controller
A=[-B/J Kt/J; -Km/La -Ra/La];
C=[0; 1/La];
% Placement of Poles
fn=1;
wn=2*pi*fn;
zeta=0.5;
p1=-zeta*wn+wn*sqrt(zeta^2-1);
p2=-zeta*wn-wn*sqrt(zeta^2-1);
P=[p1; p2]
K=place (A,C,P)
Kp = 38.3133;
Kd = -2.8584;
Ki = 200;

Speed of 10 and 20 are acheived.

Thank you