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In this paper a combined position and speed estimation algorithm for synchronous motor is presented The aim is to improve the ability to cancel initial position error as well as the robustness towards dc disturbance affecting the back-emf. Emphasis is placed on the dc drift and initial value problems due to the implementation of an integrator for motor flux estimation. Some existing algorithms together with a new Improved Integrator are presented and analyzed for showing their efficiency in term of solving the problem associated with pure integrator and achieving the combination objectives in both steadystate and dynamic operation. Experimental results are presented to substantiate the digital simulation.

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