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Vdc
IM
Hysteresis control
r , f s
To Fig.3
e s
c
[-1,+1]
*s
From Fig.3
cT
Comparator of Flux
eT Te
[-1,+1]
Te*
Comparator of Torque
s
,T
* *
From Fig.3
Te , s
s e
Te
Comparator block