Hi everybody,
I need to derive a mathematical description for non-linear torque-speed
curve for DC servo motor.

I'm not sure how to approach the problem and I was wondering if anybody
can recommend some literature (books, articles, etc.). What do I need to
take into consideration? How to model such a system? Does it involve
modelling the control (PID loop and PWM).

I understand it's not an easy task but it would help me a lot if someone could push me into the right direction.

Regards, Pawel

I'm not sure how to approach the problem and I was wondering if anybody

I understand it's not an easy task but it would help me a lot if someone could push me into the right direction.

Regards, Pawel