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Ys

Dv Lim
+ DT* + + Dq(k) U*a(k) Ua
Te
*
Ki
Feed - Forward Space Ub
- - + Stator Flux Vector Induction
-Lim E
Regulator U*b (k) Modulator Uc Motor

z-1 Kp -1

z z

Torque Regulator ia ib
T T

Ys(k)
q(k) wm (k)
Estimator
Te(k)

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