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+//Book Name: Fundamentals of electrical drives by Mohamad A. El- Sharkawi
+//chapter 11
+//example 11.4
+//edition 1
+//publishing place:Thomson Learning
+clc;
+clear;
+Ra=1;//armature resistance in ohm
+Kphi=3;//field constant in V sec
+Vt=500;//terminal voltage in volt
+Vf=600;//increased motor voltage in volt
+Td=20;//constant torque of thmotor in Nm
+J=6;//total moment of inertia of the drive in Nm
+omega0=(Vt/Kphi)-((Ra*Td)/Kphi^(2));//initial speed in rad/sec
+omegaf=(Vf/Kphi)-((Ra*Td)/Kphi^(2));//final speed in rad/sec
+tau=(J*Ra)/Kphi^(2);
+t=-(tau*log((0.05*omegaf)/(omegaf-omega0)));//obtained from the equation of omega=omega(f)(1-e^-t/tau)+omega(0)e^-t/tau
+mprintf("The time required to change the motor speed is %f sec",t)