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

%it have the parameters of the dc motor
J=0.01; %moment of inertia of the roots
B=0.1; %motor viscous friction constant
Km=0.01; %back emf constant
Kt=0.01; %motor torque constant
La=0.5; %inductance of the armature circuit
Ra=1.0; %resistance of armature circuit

these are the parameter which is taken to help in the designing of model 

these are the result of the model in the form of graph obtained by plotting 

the values of kp,kd,and ki are as follows

Kp=15

Ki=0

Kd=5

these are the outcome of speed and armature current in the scope 

the rest of the outcome have been shown by the help of plotting to have all the parameters,speed, armature current, torque, supply vol, and back EMF