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

Figure 3

SMDO performance assessment curves: (a) fast-varying disturbance of Motor 1, (b) slow-varying disturbance of Motor 2, (c) high-frequency noise of Motor 3, (d) uniform noise of Motor 4.

(a)

(b)

(c)

(d)