Phase-space trajectory for a cart-DC motor system (very large inductance)

This video shows the phase-space trajectory evolution of a typical electromechanical system composed of a cart in horizontal translation coupled to a DC motor via a slotted link mechanism. The light blue curve is the full-order electromechanical model, while the purple curve represents the reduced-order model. Note the good correlation between both dynamics, except for a short initial transient where boundary layer effects are significant.
Simulation parameters: ell = 10.0, b = 1, nu = 1, d = 10, theta_0 = 0, thetadot_0 = 0, qdot_0 = 3 nu.
Further details:
On the reduction of nonlinear electromechanical systems
by A. Cunha Jr, M. Pereira, R. Avanço, A.M. Tussetm and J. M. Balthazar