Key Highlights: Defined motor parameters: moment of inertia, damping ratio, motor constant, inductance, and resistance.

Developed the transfer function of the DC motor.

Tuned the PID gains (Kp, Ki, Kd) based on performance:

If the response is too slow → increase Kp.

If it overshoots → increase Kd or reduce Kp.

If it never reaches the setpoint → increase Ki.