“…The DC motor is represented by the armature resistance R a , armature winding inductance L a and the back electromotive force (EMF) E. In the meantime, R p , R s1 , R s2 and R s3 are the resistances of the transmitter coil, the first receiver coil, the second receiver coil and the third receiver coil, respectively; C p , C s1 , C s2 and C s3 are the resonant capacitances that are connected in series with the transmitter coil, the first receiver coil, the second receiver coil and the third receiver coil, respectively; and L p , L s1 , L s2 and L s3 are the inductances of the transmitter coil, the first receiver coil, the second receiver coil and the third receiver coil, respectively. Assuming that the resistance and forward voltage drop of diodes are negligible and La is sufficiently high that the corresponding current ripple can be ignored, the average armature current Iai of the DC motor i (i = 1, 2, 3) can be expressed as [21]:…”