Abstract: According to one or more embodiments, a motor control system includes a first controller computing a first torque command using a first closed loop. The motor control system further includes a second controller computing a second torque command using a second closed loop. Both, the first controller and the second controller, compute the respective first torque command and the second torque command using a uniform calculation in which a pseudo/leaky integrator Ki s + ? in s domain (s is Laplace variable) is used and integrator state is calculated as Ki*?0te(?)exp(????t)d?, in time domain, which is implemented by discretization methods in electric control unit (ECU), where e is a tracking error, Ki is a predetermined integral parameter, and ? is a configurable parameter. The motor control system further includes a motor that receives a torque command for generating corresponding amount of torque based on the first torque command and the second torque command.

Abstract: According to one or more embodiments, a motor control system includes a first controller computing a first torque command using a first closed loop. The motor control system further includes a second controller computing a second torque command using a second closed loop. Both, the first controller and the second controller, compute the respective first torque command and the second torque command using a uniform calculation in which a pseudo/leaky integrator Ki s + ? in s domain (s is Laplace variable) is used and integrator state is calculated as Ki * ?0te(?)exp(????t)d?, in time domain, which is implemented by discretization methods in electric control unit (ECU), where e is a tracking error, Ki is a predetermined integral parameter, and E is a configurable parameter. The motor control system further includes a motor that receives a torque command for generating corresponding amount of torque based on the first torque command and the second torque command.