169519.fig.006a
(a)
169519.fig.006b
(b)
169519.fig.006c
(c)
169519.fig.006d
(d)
169519.fig.006e
(e)
169519.fig.006f
(f)
Figure 6: Simulated and experimental results when the load torque changes from  N·m to  N·m at . (a), (c), (e) simulated results. (b), (d), (f) experimental results.