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Simulation result of the closed-loop control with MPC at 1500 rpm reference speed. (a) Flux linkage variation at constant speed operation. (b) Actual and reference torque prediction with respect to rotor position (c) Simulation result of torque deviation with load torque (d) Load given at 0.5s (e) Torque at steady state (f) Four phase flux (g) DC link voltage (h) Phase current.
