6.6 Non-Linear Control of Permanent Magnet Synchronous Machine
The mathematical model of Permanent Magnet Synchronous Machine (PMSM) in stationary reference frame appears as [17]
(6.157) 
(6.158) 
(6.159) 
and
(6.160) 
(6.161) 
(6.162) 
(6.163) 
For 
(6.164) 
The multiscalar motor variables are [17]
(6.165) 
(6.166) 
Taking the derivatives of those two state variables, and substituting the derivatives ...
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