Here is a copy of my notes on the motor. Basically it's just some of Newton's Law of Rotation combined with Kirchoff's Laws. Then we put the model into state space form. Could someone just please explain to me the meaning of the equations? It's been a while since I've had physics. Thanks alot for any help! I would just love to be able to derive these equations instead of just copying them down, but they're not explained in my book.