“…This type of drive allows the use of a main belt with a strength lower by 25-30% [13,14] or extending the route of a single conveyor, which can eliminate transfer points [15]. Elimination of the material transfer points reduces dust and abrasive wear of the belt [16,17], resistance to motion [10,18,19], electricity consumption [20], related costs [21,22] and carbon dioxide emissions [23]. In the operation of belt intermediate drives, it is necessary to control the motors both in steady and transient motion, i.e., variable material flow and start-up [24][25][26][27].…”