alexan_e
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usually you want a Vgs of about 10-12v to get the rated Rds-on but I don't know if you have available any voltage that high.
The Pmosfet is rated 0.117 ohm @10v, that is the close to the best you can get, if you want lower you have to change mosfet
The current has to go through the two mosfets and the motor so the drain current is limited by the load, you don't want to be anywhere near the saturation region of the mosfet (where the output current is limited by the mosfet) because you start get high voltage drop and heat increases.
You apply a high Vgs to get a low Rds-on and stay in the linear region of the mosfet for the working current, if you can apply 12v you are fine.
Alex
I haven't used H bridge to drive a motor like yours, I have only used it in stepper motors so I can't tell you exactly what to so but driving the mosfets with 12v is a very good start because you will get a very low Rds-on.
PWM is probably a good way to control the current but I think you need some feedback system too that measures the current and changes the PWM accordingly.
Also for fast pulses you 'll have to use a proper driver, there are ready IC mosfet drivers like TC4427 **broken link removed**
Alex
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