This information is part of the Modelica Standard Library maintained by the Modelica Association.
This model demonstrates how a current controller for a DC PM drive works.
The current controller is parameterized according to the absolute optimum.
At time=0.2 s a reference torque step is applied, causing the drive to accelerate until motor torque and load torque are at an equilibrium.
Further reading: Tutorial at the Modelica Conference 2017