Two-Stage Control Design of a Buck Converter/DC Motor System without Velocity Measurements via a
<svg     style="vertical-align:-0.0pt;width:51.025002px;" id="M1" height="15.025" version="1.1" viewBox="0 0 51.025002 15.025" width="51.025002"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,14.975)"><path id="x3A3" d="M570 168l-39 -168h-498v23l262 301l-248 304v22h471q4 -71 11 -146l-29 -4q-17 65 -37 88q-12 15 -36 20.5t-79 5.5h-181l211 -256l-243 -287h280q51 0 77 20.5t49 83.5z" /></g><g transform="matrix(.022,-0,0,-.022,18.444,14.975)"><path id="x2212" d="M535 230h-483v50h483v-50z" /></g><g transform="matrix(.022,-0,0,-.022,36.579,14.975)"><path id="x394" d="M600 0h-557v24l268 633l28 8l261 -641v-24zM497 50l-194 489l-196 -489h390z" /></g>

		
	
</svg>-Modulator

<table>Numerical simulations for <svg height="11.75" id="M158" style="vertical-align:-0.23206pt" version="1.1" viewbox="0 0 12.1125 11.75" width="12.1125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.4)"><path d="M682 629q-1 -16 -1.5 -72t-2.5 -86l-31 -4q-5 92 -51 129t-139 37q-100 0 -177 -49t-116 -125t-39 -162q0 -122 66 -201t182 -79q83 0 137 42.5t112 128.5l26 -15q-12 -31 -42.5 -88t-45.5 -75q-139 -27 -199 -27q-148 0 -243 81.5t-95 226.5q0 173 129.5 274.5
t325.5 101.5q114 0 204 -38z" id="x1D436"></path></g>
</svg> abrupt changes.</table>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: Two-Stage Control Design of a Buck Converter/DC Motor System without Velocity Measurements via a
<svg     style="vertical-align:-0.0pt;width:51.025002px;" id="M1" height="15.025" version="1.1" viewBox="0 0 51.025002 15.025" width="51.025002"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,14.975)"><path id="x3A3" d="M570 168l-39 -168h-498v23l262 301l-248 304v22h471q4 -71 11 -146l-29 -4q-17 65 -37 88q-12 15 -36 20.5t-79 5.5h-181l211 -256l-243 -287h280q51 0 77 20.5t49 83.5z" /></g><g transform="matrix(.022,-0,0,-.022,18.444,14.975)"><path id="x2212" d="M535 230h-483v50h483v-50z" /></g><g transform="matrix(.022,-0,0,-.022,36.579,14.975)"><path id="x394" d="M600 0h-557v24l268 633l28 8l261 -641v-24zM497 50l-194 489l-196 -489h390z" /></g>

		
	
</svg>-Modulator 

Mathematical Problems in Engineering

Two-Stage Control Design of a Buck Converter/DC Motor System without Velocity Measurements via a -Modulator

Figure 5