Torque Ripple Minimization in PMSM Based on an Indirect Adaptive Robust Controller

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/9512351/figures/9512351.fig.006a.svgz" name="9512351.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Speed waveforms before torque ripple minimization</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/9512351/figures/9512351.fig.006b.svgz" name="9512351.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Speed waveforms after torque ripple minimization</td></tr></table>

<div>Speed waveforms before and after torque minimization.</div>

Mathematical Problems in Engineering

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Figure 6

Figure 6: Torque Ripple Minimization in PMSM Based on an Indirect Adaptive Robust Controller 