value, and the TSC is continuously varying. A way to deal with
this problem is to periodically refresh the TSC estimation, what
could be efficiently done with recursive algorithms. The recursive
implementation of the Nelatury method is attractive because
it allows predicting the whole TSC from only three points.
Each time a new speed-torque measurement is available, a new
TSC estimation can be done by discarding the oldest of the three
previous points. However, this is not always the better choice,
so the uncertainty analysis of the problem must be addressed.
In this letter, we present a way for characterizing the uncertainty
in the Nelatury estimation of the TSC of induction rotating
machines, mainly due to torque measurement errors.