This model includes several uncertainties such as parameter identification errors (regarding motor parameters and measurement interface parameters), as well as process and measurement noise. A proportional-resonant (PR) position controller is included.
Bartlomiej Ufnalski (2020). Uncertainties in DC drives (https://www.mathworks.com/matlabcentral/fileexchange/62297-uncertainties-in-dc-drives), MATLAB Central File Exchange. Retrieved .
Reference signal shaping added.
A position controller has been added.