[GearsOfFury]

Curious, in your accel equation, "PWM" cancels out in numerator and denominator - so it would have no effect on accel. It looks like you are trying to estimate torque based on a delta to final speed?

Personal preference, I would prefer to see an inertia term in there explicitly so you have some relation to the physical world instead of just p1 / p2, so you can sort of check whether the parameters you end up with are realistic.

I'm curious enough to try this myself, if you can explain your accel reasoning (I think you know far more about motor modeling than I!)