I know that there are some posts in this site about this question. I don't know if there's a way to find out the "ideal" PWM frequency for motor control. Usually they recommend to be safe in a range from 2 to 25 kHz. For example, in this post: Is there an ideal PWM frequency for DC brush motors? they recommend to compute the motor time constant in order to find the proper frequency.
Now, the main question is this. I took the following test fragment from a thesis.
Is this approach correct or reliable?
This is the motor I'm controlling:
The board that controls this motor measures speed and current. Does this data help in finding what is best for this motor?