“…Compared to random pulsewidth modulation (PWM) [4, 5], periodic PWM [6, 7], and chaos PWM [8, 9], the programmed PWM [10, 11] utilises the mathematical model of the controlled object to predict the control effect. And by using additional degrees of freedom, it can improve control performance, such as suppressing the inverter losses, output current ripple, motor noise, and torque pulsation.…”