Some related materials of DC motor

Main source: 

Lecture notes, 4.2 Modeling and Simulating via Simulink

Supplementary sources:

DC motor model with electrical and torque characteristics

http://www.mathworks.co.uk/help/toolbox/physmod/elec/ref/dcmotor.html


DC Motor Speed Modeling in Simulink
http://www.library.cmu.edu/ctms/ctms/simulink/examples/motor/motorsim.htm 

Brushed DC Motor Fundamentals 
http://ww1.microchip.com/downloads/en/appnotes/00905a.pdf

Motors Introduction Elementary Theory of DC Permanent Magnet motors

http://www.rci.rutgers.edu/~dbirnie/solarclass/MotorPrimerGaTech.pdf

Simulation & Analysis of speed control of separately excited DC motor using PID controller 

http://protorit.blogspot.com/2010/02/simulation-analysis-of-speed-control-of.html