θcrank	Crank rotating angle
Fpx	Pedaling horizontal force
Fpy	Pedaling vertical force
${\mathrm{T}}_{\mathrm{p}\mathrm{d}\mathrm{l}}$	Pedaling torque
TM	Motor-assisted torque
Ttotal	Total synergetic torque
Troll	Friction-reflected torque
Twind	Windage torque
Tslope	Climbing-reflected torque
Tdis	External disturbance torque
Tdrv	Actual wheel driving torque
${\mathrm{T}}_{\mathrm{p}\mathrm{d}\mathrm{l}\_\mathrm{r}}$	Pedaling torque variation
${\mathrm{T}}_{\mathrm{p}\mathrm{d}\mathrm{l}\_\mathrm{m}\mathrm{a}\mathrm{x}}$	Maximum measured pedaling torque
${\mathrm{T}}_{\mathrm{p}\mathrm{d}\mathrm{l}\_\mathrm{a}\mathrm{v}\mathrm{g}}$	Average measured pedaling torque
${\mathrm{R}}_{\mathrm{c}\mathrm{r}\mathrm{a}\mathrm{n}\mathrm{k}}$	Crank rotating radius
Me	Mass of E-bike
Mc	Mass of cyclist
Jw	Wheel inertia
Rw	Bike wheel radius
g	Gravitational constant
$\mathsf{\rho }$	Air density
${\mathrm{C}}_{\mathrm{d}}$	Aerodynamic drag coefficient
A	Frontal area
${\mathrm{K}}_{\mathrm{g}\mathrm{e}\mathrm{a}\mathrm{r}}$	Transmission gear ratio
$\mathrm{P}$ T	Tire pressure
ωw	Wheel angular speed
αw	Wheel angular acceleration
Kroll	Wheel resistance coefficient
Vwind	Wind speed
Vbike	Bike wheel speed
θslope	Slope angle
id	Direct-axis (d-axis) motor current
iq	Quadrature-axis (q-axis) motor current
Vd	Direct-axis (d-axis) motor voltage
Vq	Quadrature-axis (q-axis) motor voltage
Kpd	Direct-axis (d-axis) proportional controller gain
Kpq	Quadrature-axis (q-axis) proportional controller gain
Kid	Direct-axis (d-axis) integral controller gain
Kiq	Quadrature-axis (q-axis) integral controller gain
$\widehat{\mathrm{L}}$	Motor phase inductance
$\widehat{\mathrm{R}}$	Motor phase resistance
${\widehat{\mathsf{\theta }}}_{\mathrm{k}}$	Estimated motor position
${\mathsf{\theta }}_{\mathrm{k}-1}$	Last position measured by Hall sensors
${\widehat{\mathsf{\omega }}}_{\mathrm{k}-1}$	Estimated speed based on prior Hall sensor position