Commutation ensures the proper rotor rotation of the BLDC motor, while the motor speed only depends
on the amplitude of the applied voltage. The amplitude of the applied voltage is adjusted using the PWM
technique. The required speed is controlled by a speed controller, which is implemented as a conventional
Proportional-Integral (PI) controller. The difference between the actual and required speeds is input to the
PI controller which then, based on this difference, controls the duty cycle of the PWM pulses which
correspond to the voltage amplitude required to maintain the desired speed.