The resultant estimated torque ripple phase and
magnitude at these harmonics are also similar for the three
different types, less than 2% error for magnitude. As well
as compensating for torque ripple at a given critical
harmonic, equation (4) also provides an estimate of the
transfer function between torque and the sensor input which
may prove useful in other aspects of the motor control.
While the method is shown here reducing the magnitude
of the torque ripple for two different harmonics
simultaneously, in practice, potential exists for the
compensation of any number of critical harmonics
simultaneously.