
26-16 Power Electronics and Motor Drives
0.5
0.4
0.3
ω
1
ω
2
1
2
0.2
0.1
0
0 0.5 1
t [s](a)
1.5 2
0
0 0.5 1
t [s](b)
1.5 2
0.1
0.2
0.3
ω
2
ω
2e
2
2e
0.4
0.5
0
–0.2
e
se
Le
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
m
e
m
se
m
Le
0.5 1
t [s](c)
1.5 2
FIGURE 26.16 Transients of the real and estimated state variables: (a) motor and load speeds, (b) load speed and
its estimate, (c) electromagnetic and estimated sha and load torques,