Reducing the order of transfer function while maintaining same response
The system has two complex poles and one regular one:

     Pole              Damping       Frequency      Time Constant  
                                   (rad/seconds)      (seconds)    

-1.68e-02 + 4.07e-01i     4.13e-02       4.07e-01         5.94e+01    
-1.68e-02 - 4.07e-01i     4.13e-02       4.07e-01         5.94e+01    
-4.32e-02 + 3.47e+00i     1.25e-02       3.47e+00         2.31e+01    
-4.32e-02 - 3.47e+00i     1.25e-02       3.47e+00         2.31e+01    
-1.00e+03                 1.00e+00       1.00e+03         1.00e-03  


The highest one is at 1krad, and could be eliminated, you could also get rid of the lowest two:


%I see three time constants
tfmotor = tf([0.0001 10],[0.005 5 0.6616 61.1 2.11 10])
damp(tfmotor)

%find all basic transfer functions
[r,p,k] = residue([0.0001 10]*2000,2000*[0.005 5 0.6616 61.1 2.11 10]);

%eliminate highest frequency time constants
[b,a] = residue(r(2:5),p(2:5),k);
tfmotorReduced = tf(b,a)
damp(tfmotorReduced)



[b,a] = residue(r(4:5),p(4:5),k);
tfmotorReduced2 = tf(b,a)
damp(tfmotorReduced2)


%use impulse to show all frequencies (hit it with a dirac delta function, to make all frequencies ring.
figure;impulse(tfmotor,'b'),hold on,impulse(tfmotorReduced,'r'),impulse(tfmotorReduced2,'g')
legend('5-pole system','High frequency pole gone','Only lowest freq pole')

%better way to simulate, you can use chrip, step or any function for input
t = 0:0.001:10;
y =lsim(tfmotor,chirp(t,100,10,1),t); 
figure;bode(tfmotor,'b'),hold on,bode(tfmotorReduced,'r'),bode(tfmotorReduced2,'g')
 legend('5-pole system','High frequency pole gone','Only lowest freq pole')




Edit

The first pole is at 0.4rad (shown in black) 
The second pole is at 3.4rad (shown in yellow)
The third pole is at 1krad (shown in red)

If you are only concerned about building a controller (a 2nd order controller) the main pole at 0.4 rad you would be able to control the biggest amplitudes, but it would have some vibration at 3.4krad because the controller wouldn't be able to respond. A 4th order controller could take out the frequencies at 3.4rad. Right now the pole at 1krad is negligible (very low in amplitude) and you wouldn't need to worry about it for a controller

Remember that for a 24bit 5V ADC -130dB would be near the nV level, so unless you need that kind of accuracy, after -100db it probably doesn't matter because you won't even be able to build a controller to control that level of accuracy in the presence of noise. (you would also need a precison DAC) The other caveat is if you built this with analog electronics for the controller, you'll still have noise after -100dB. Building controllers in the presence of noise is a topic for another day.