How to control DC motor speed using MATLAB/Simulink+ NI 9403+cDAQ 9171?

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I am working on a 2R robot manipulator. I am using MATLAB/Simulink+ NI 9403+CDAQ 9171+ DC motor with encoder+ BTS 7690 motor driver for experimentation. I am looking for tutorials or guidance to work on it.

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R2023b

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