Some parts are commented in Polish. Sorry for that :) You might be also interested in http://www.mathworks.com/matlabcentral/fileexchange/57352-extended-luenberger-observer-for-speed-sensorless-ac-motor-drive .
Bartlomiej Ufnalski (2021). Luenberger observer for speed-sensorless DC motor drive (https://www.mathworks.com/matlabcentral/fileexchange/57169-luenberger-observer-for-speed-sensorless-dc-motor-drive), MATLAB Central File Exchange. Retrieved .
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