This example shows a lead-lag speed-control structure for a DC motor. A PWM controlled four-quadrant Chopper is used to feed the DC motor. The Control subsystem includes a lead-lag controller, a constant gain, and the PWM generation. The total simulation time (t) is 4 seconds. At t = 1.5 seconds, the load torque increases. At t = 2.5 seconds, the reference speed is changed from 1000 rpm to 2000 rpm.