
26-6 Power Electronics and Motor Drives
In [SH96], the additional feedback from derivative of the sha torque inserted to the electromagnetic
torque node was presented. e authors investigated the proposed method and applied it to the two-
and three-mass system. Nevertheless, the proposed estimator of the sha torque is quite sensitive to
measurement noises, so the suppression of high-frequency vibrations is dicult and additionally the
system becomes less dynamic. Another modication of the control structure results from inserting the
additional feedback from the sha torque. is type of feedback is utilized in many works, i.e., [PAE00,
OBS0 ...