“…A detailed literature review has shown that several researchers have utilized different motor types, such as separately excited dc motors, Permanent Magnet Synchronous Motor (PMSM), squirrel cage induction motors, and servomotors, etc. Furthermore, it has been noted that in the past, researchers often developed WTE based on a dc motor [6], [9], [10], [11], [12], [13], [21], [22], [23], [24], [25], [26], [27], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40] with current control (i.e. torque control on its shaft).…”