An Improved Internal Model Principle Based Multivariable Nonlinear Control Method with Multiclass Nonharmonic Disturbances and Its Application to Speed Control of a Motor Drive System

<table>Multiclass nonlinear disturbance inputs.</table>

Abstract and Applied Analysis

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Figure 1

Figure 1: An Improved Internal Model Principle Based Multivariable Nonlinear Control Method with Multiclass Nonharmonic Disturbances and Its Application to Speed Control of a Motor Drive System 

Figure 1 | An Improved Internal Model Principle Based Multivariable Nonlinear Control Method with Multiclass Nonharmonic Disturbances and Its Application to Speed Control of a Motor Drive System 