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A high torque ripple in a given motor always presents a challenge for the speed control, since this ripple may lead to excessive actuation and ultimately may even lead to instability. The conventional solution is to low pass filter the measured speed, but this lowers dynamic control performance. This paper presents a new method to accurately calculate the average speed and a time variant approximation of the integrator to achieve good dynamics. Both simulation and measurement shows a good steady state performance, with a steady state error less than 0.4%.

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