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Calculation for 12Vdc motors speed controller

Hi,
I'm searching for formula/calculations for a 12 Vdc small motor speed controller. I have tried looking into internets and books but they only mentioned on 3 phase motor with high voltage, and high torque. I need to know how to determine the torque of this small 12Vdc motor and how to calculate the speed and etc for a motor speed controller circuit. Thank you.

:confused:
 
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