lines (Sl, S2 in (20) and (21)). The control characteristics
with S1 and S2 incorporated are illustrated in Fig. 17. As
compared with the drive responses of using S3 alone (Fig.
14(c)), this method of control enables a lower peak torque to
achieve a faster response. This is mainly due to the fact that
when SI and S2 are used, the machine is being accelerated at
a constant value for a larger portion of the entire transient.