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Determination of the seven parameters of a Direct Current (DC) motor and drive is presented, based on the speed and current step responses. The method is extended for the motor and drive parameter determination in the case of a controlled drive. The influence of a speed controller on the responses is considered in the motor model with the use of the measured voltage. Current limitation of the supply unit is also considered in the DC motor model. For parameter determination, a motor model isdoi:10.3390/math8081269 fatcat:rtrbvwmx2zce5jfnhuqk3rxkoe