I have read that paper now several times.
Very good!
I'm sure you have learned something about the DC motors and I am pleased with this.
But this document does not allow you to know all about it.
Some of your statements are true, others are not.
I obviously can not develop it here because this is not what Simon expected and it does not answer to his question.
I don't believe this is will happen when a vacuum motor starts on a DC current with no inrush protection.
This is not right.
The series motors are better protected against flashover that separately excited motors due to the existence of an inductance in series with the armature which limit the di / dt.
But contrary to what you think, they are not safe from flahover.
Indeed, the independent excitation motors works with saturated field or nearby saturation.
Armature reaction also occur with universal motors.
For this reason, traction series motors have auxiliary poles and compensation windings to offset the armature reaction.
Universal motors are DC motors adapted (laminated frame to avoid losses by eddy current) to operate with alternating current but they are not designed to be started directly from a battery.
PWM soft start is far better, avoidind risks of flashover and high current surges in dc bus.
With a weak battery, starting dc motor without current limiting can also induce a voltage dip and undervoltage fault in others equipments.
@Simon: ...staggering...
I have worked in foreign countries, in project management and development in power electronics.
I never see such a thing....It is better to say "no comment" for not being rude.