As a biomedical engineer, you are prototyping the feedback control mechanism for UP$/$DOWN movement of the operating table, which is responsible for lifting the patient against the gravity. For this a linear actuator is used, Linear actuator generate linear displacement by converting the rotational energy generated by high torque DC motor via motor driver that maintain the desired DC voltage. In addition, a smart controller is added to ensure stability and remove jerks cause due to variation in the load $($patient weight$)$ and other disturbances that can affect the driving DC voltage of the motor. Block diagram of the system is given below, where G represent the DC motor Transfer Function.

Figure $2$ shows the schematic diagram of DC motor and Table $1$ shows the properties of DC motor

$\backslash$table$[[$PARAMETER$,$VALUES$],[$Moment of Inertia of Rotor $(J),0\mathrm{.}01kg*m^2$