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Dv Lim
+ DT* + + Dq(k) U*a(k) Ua
Te
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Ki
Feed - Forward Space Ub
- - + Stator Flux Vector Induction
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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)