Research Article
ADRC and Feedforward Hybrid Control System of PMSM
Table 2
Changes in speed with the different control methods under sudden load.
| Control method | PID | ADRC | ADRC and feedforward |
| Decrease in the speed upon load addition (r/min) | 17 | 4 | 3 | Increase in the speed under decreasing load (r/min) | 20 | 5 | 4 |
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