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Multiple reference frame analysis of non-sinusoidal brushless DC drives

The method of multiple reference frames is employed in the development of a state variable model for brushless DC drives with nonsinusoidal back EMF waveforms. This model has the desirable features of being valid for transient and steady-state analysis as well as having state variables that are constant in the steady-state. The model facilitates both nonlinear and linear system analysis and control design. Computer simulation and experimental data are included to validate the analysis.