319828.fig.007a
(a)
319828.fig.007b
(b)
Figure 7: Experimental results due to a 𝑇 𝐿 = 2  Nm load torque disturbance with load and shed load at 2400 rpm: (a) command rotor speed 𝜔 ∗ , measure rotor speed 𝜔 𝑟 , and measure current 𝑖 𝑎 in phase 𝑎 using a PI control system; (b) command rotor speed 𝜔 ∗ , measure rotor speed 𝜔 𝑟 , and measure current 𝑖 𝑎 in phase 𝑎 using HRFNN control system.