[Ether]

The equations on page 21 of the presentation don't appear to agree with the equations on page 20.

Using the 7.754E-05 kg*m^2 value for Jrotor for CIM from the spreadsheet to compute the equivalent mass at the vehicle I get ~22.8 pounds for a vehicle geared for 5 ft/sec (vehicle speed at CIM free speed of 5310 rpm).

For a 4-CIM drivetrain, that would be ~91 lbs. Doesn't seem right.