Externally Excited DC Motor
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Schematic
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.. figure:: ../../../plots/ESBdcExtEx.svg

Electrical ODE
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.. math::
    \frac{\mathrm{d} i_\mathrm{a}}{\mathrm{d} t} &= \frac{u_\mathrm{a} - L_\mathrm{e}^\prime i_\mathrm{e} \omega_\mathrm{me} - R_\mathrm{a} i_\mathrm{a}}{L_\mathrm{a}} \\
    \frac{\mathrm{d} i_\mathrm{e}}{\mathrm{d} t} &= \frac{u_\mathrm{e} - R_\mathrm{e} i_\mathrm{e}}{L_\mathrm{e}}


Torque Equation
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.. math::
    T = L_\mathrm{e}^\prime i_\mathrm{e} i_\mathrm{a}


Code Documentation
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.. autoclass:: gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor
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