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="13.6375" id="M163" style="vertical-align:-1.97925pt" version="1.1" viewbox="0 0 7.8874998 13.6375" width="7.8874998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M434 650l-5 -28q-60 -8 -75 -20.5t-25 -69.5l-71 -395q-20 -107 -57.5 -168t-106.5 -94q-40 -18 -61 -20l-10 32q77 23 113 108q21 50 41 160l68 377q10 57 -1.5 69.5t-76.5 20.5l6 28h261z" id="x1D43D"></path></g>
</svg> uncertainties.</table>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: Two-Stage Control Design of a Buck Converter/DC Motor System without Velocity Measurements via a
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			<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 7