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A DC motor is used to drive a wheel on a wheeled robot. The motor has the following parameters: ???? = 4.12 mNm/A, ???? = 4.31 mV/(rad/s), ???? = 21.2 Ω, and ???? = 217 μH. The moment of inertia of the rotor, shaft, and wheel are ?? = 5 × 10−6 kgm2. The s