Figure 24.

Position and speed regulation with subsequent disturbance. (a) Motor 1 from 0${}^{°}$ to −59${}^{°}$; (b) Motor 2 from 0${}^{°}$ to 18${}^{°}$; (c) Motor 3 from 0${}^{°}$ to 61${}^{°}$; (d) Engine 4 from 0${}^{°}$ to 97${}^{°}$.