Consistent Total Traction Torque-Oriented Coordinated Control of Multimotors with Input Saturation for Heavy-Haul Locomotives

Figure 2

Schematic diagram of the DC permanent magnet motor with gearhead (reproduced from F. Beltran-Carbajal et al.’s “An asymptotic differentiation approach of signals in velocity tracking control of DC motors”, Electric Power Systems Research, 2015 (122) 218–223, Under the Creative Commons Attribution License/public domain).