be faster. However, upon large step changes in the command
speed, the system (xl, x l ) will reach the sliding line S3 at
exceedingly large acceleration values if steep slope (c) is used
in S3. Therefore, in addition to S3, sliding line segments S1
and S2 (Fig. 12(b)) can be introduced as an option to limit
the maximum acceleration and provide better utilization of
the torque capability of the drive system. These sliding line
segments are given by