1. The document describes the specifications, parameters, and simulation of a DC motor model. It includes the manufacturer specifications, methods to calculate torque and back EMF constants, and measurements of resistance and inductance. 2. Transient simulations of start-up current, speed, and response to different loads are shown and compared to measurements. The motor model is conditioned based on steady-state current input. 3. Good agreement is shown between simulations and measurements of voltage, current, and transient response at different loads, validating the accuracy of the motor model.