Received 12 August 2023, accepted 2 September 2023, date of publication 11 September 2023,

date of current version 25 September 2023.

Digital Object Identifier 10.1109/ACCESS.2023.3313976

Enhanced Antenna Positioning Control

System Using Adapted DC Servo Motor
and Fuzzy-PI Controller
MOHAMED A. FKIRIN 1, (Life Senior Member, IEEE), AND MANAL ABD-ELAZIM KHIRA 2
1 Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menouf 32952, Egypt
2 Testing, Assembly, and Integration Center (AITC), Egyptian Space Agency, Cairo 11835, Egypt

Corresponding author: Manal Abd-Elazim Khira ([email protected])

ABSTRACT Control systems for Ground Data Receiving Stations (GDRS) play a crucial role in accu-
rately pointing antennas to receive data from satellites. This study focuses on designing and simulating
a closed-loop control system using PID, LQR, and Fuzzy-PI controllers for precise antenna position-
ing and establishing reliable communication links during data receiving sessions. The proposed model
incorporates a DC servo motor-based controller and antenna positioning system, implemented through
MATLAB/SIMULINK software. Comparative analysis of the controllers is performed based on various
performance metrics. The findings indicate that the Fuzzy-PI controller exhibits the most responsive and
robust operation, outperforming the PID and LQR controllers. It effectively manages time delays in antenna
control within the GDRS and supersedes the current controller with enhanced bypass, rise time, and tracking
antenna calibration values. The study demonstrates the significance of optimizing control systems for ground
stations, particularly when dealing with large motors, offering potential advancements in motor control and
system stability. The proposed Fuzzy-PI controller presents a valuable solution for improving the overall
efficiency of GDRS and enhancing its data reception capabilities.

INDEX TERMS Ground data receiving stations, control systems, antenna positioning, PID controller, LQR
controller, fuzzy-PI controller, DC servo motor, closed-loop control, satellite communication.

I. INTRODUCTION detecting feedback [5], [6]. In fact, directional antennas with

The control systems utilized in Ground Data Receiving narrow beams and high gain must track the satellite in ele-
Stations (GDRS) are of paramount importance in ensuring vation and azimuth directions [7], [8]. The determination of
precise alignment of antennas for the reception of satellite the earth station antenna’s location and coordinates (latitude
data. The antenna needs to provide sufficient signal gain to and longitude) is necessary for the process of aligning the
produce noise-free reception [1], [2]. Wallach, in 1997 [3] GDRS antenna with a satellite from which data is being
was provide a Parabolic antennas used in ground-based data downloaded. This determination is achieved by the transmis-
receiving stations, which are frequently employed for remote sion of a command to the satellite. Several control models
sensing and satellite tracking activities, are susceptible to have been developed over time to handle the antenna pointing
environmental disturbances. Aloo, in 2018 [4] was explained problem when using a servo mechanism to monitor moving
the disturbance causes a pointing error and disrupts the com- objects and satellites [9], [10], [11]. Consider the case of
munication between the receiving station’s antenna and the satellite communications overseas, where the control system
satellite. A DC servomotor is an automatic device that cor- of the earth station antenna directs the motorized antenna
rects the antenna performance of a mechanism using error toward a specific satellite [12], [13]. Describe the fault toler-
ance control (FTC) system, which was created using a ship
The associate editor coordinating the review of this manuscript and simulation facility to preserve tracking functionality in an
approving it for publication was Qi Zhou. aircraft [14], [15]. However, estimating the error has proven
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.
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 M. A. Fkirin, M. A.-E. Khira: Enhanced Antenna Positioning Control System

to be a very difficult task with satellite tracking. Active and • The paper proposes a controller that provides more
passive DFTCs are the two primary classifications that can reliable measurements and has a significant impact on
be made. The FTC (AFTC) can detect any type of error the overall efficacy of the system. This incorporates
by monitoring the system’s performance and comparing the the Egyptian Ground Data Receiver Station’s (EGDRS)
normal state to the faulty state. time-delay management of antenna control. This con-
An important point that researchers have paid attention to troller will supplant the current controller, resulting in
in the past decade is the development of control and tracking improved system performance and utilization.
systems to avoid signal loss from satellites and their impact on For the real problem solution Future studies may optimize the
the received data [16]. The important point in this field was tuning procedure, evaluate system robustness under different
the study and calibration of control and tracking strategies. operating situations, and integrate other artificial intelligence
The integration and relative derivative (PID) algorithm are the approaches for better control performance [4].
most often used control technique in the business sector [7],
[17], [18], [19]. II. DATA RECEIVING STATION SYSTEM SETUP
An antenna stabilizers, which is commonly employed in A. EGDRS SYSTEM DESCRIPTION
dynamic fields such as: ships, automobiles, military vehicles, A Ground Data Receiving Station, also known as a GDRS,
etc., helps to stabilize the antenna [20]. A servo motor con- has been set up in the Egyptian city of Aswan in order to
troller is required for antenna stabilisation using PID as speed receive images from European radar satellites (ERS), Land-
control [21], [22]. The Linear-Quadratic-Regulator (LQR) sat, and Spot. The satellite’s downlink from (Egyptsat-1) can
console’s fuzzy logic helps to eliminate mistake and automat- now be received at the station thanks to recent upgrades.
ically controls the servo motor [23]. Our GDRS motors for the Because it is located in Aswan, which is in upper Egypt,
third axis, elevation and azimuth, are DC ‘‘BPMDC’’ motors the station is able to cover the all of Egypt, the Nile basin,
with polished permanent magnets. Simulation and experi- the majority of Arabian countries, the majority of African
mental validation of controllers using a user-developed data countries, and south European countries [32], [33].
acquisition and control (DAC) system [24]. Digital signal The block diagram of GDRS antenna is explained in
processing (DSP) [25], [26], Overview of speed control based Figure 1. There is a common type of servomotors for antenna
on the most common servo motor, Permanent magnet setup movement in the satellite ground receiving stations; brush DC
on a brushed DC motor (LQR), Controllers based on Linear- motor (BDCM). Due to the brush and commutator, there is
Quadratic-Gaussian (LQG) and fuzzy logic [27]. Utilizing the a risk of sparking with the BDCM’s starting performance.
Particle Swarm Optimization (PSO) algorithm due to its ease The brushless DC motor has good dynamic performance, but
of use and rapid convergence to optimal values, the design its driver’s electronic circuit is complex, and its size, weight,
and tuning of the PID controller for brushed DC motors has and power consumption are all high. for these reasons, GDRS
been used to develop low-cost robotic applications [6], [28], designed with a brush DC motor and Digital Electronic Unit
[29]. The beginning was in laboratory experiments, choosing (DEU). Researchers in the aerospace and ground station
a DC servo motor, and building a control system on an domains have recognized the significance of incorporating
antenna [30], [31]. Targeting a reduction in sprocket torque Units controller and printed circuit board (DEU/PCB) design
and an increase in generated torque, it is used to improve into the PWM antenna position servo system. This integration
the permanent magnet motor, a critical technology Thus, enables the achievement of accurate control, facilitated by
data availability is highly dependent on the operation of the the advancements in digital technology. In this paper, the
ground station control unit, which will be simulated and
annotated [31].
The emphasis of the paper is on enhancing the permanent
magnet motor by decreasing sprocket torque and increasing
generated torque. The availability of data is contingent on the
simulation and annotation of the ground station control unit’s
operation. The following are the primary topics covered in the
paper:

• A controller is proposed in order to reduce antenna

tracking disturbance during satellite data reception. This
will increase the integrity of received data and decrease
transmission errors.
• Three control types, namely PID, LQR, and Fuzzy_PI,
will be utilized and contrasted to determine the most
suitable control type for the system. This will aid in
selecting the most efficient control method to enhance
the system’s overall performance. FIGURE 1. Simple block diagram of GDRS antenna.

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M. A. Fkirin, M. A.-E. Khira: Enhanced Antenna Positioning Control System

goal is to construct PID, LQR, and fuzzy-PI controllers for In addition, the relationship between the back electromotive
the studied system to meet tracking system requirements. force (e.m.f.) Eb (t) and the rotational velocity is given by (3):
In addition, a comparison was made between them and the d2
appropriate type of control was determined. We conducted Eb (t) = KT ωm (t) = KT (3)
dt
laboratory tests on a DC servo motor suited for automatic
reflector antenna positioning in the event that the system According to Newton’s and Kirchhoff’s Laws, (4) and (5) are
required it. obtained:
d2 O d2
Ja + Ba = KT Ia (t) (4)
B. DC SERVO MOTOR CONTROL SYSTEMS dt2 dt
The experiment’s servo motor is a structural component of dIa (t) d2
La + Ra Ia (t) = Va (t) − Kb (5)
a servo system and is utilised in conjunction with a servo dt dt
motor [18], [26]. The servo motor consists of the motor that where Va : Armature voltage, Ra : resistor, La : inductance,
drives the load as well as a position detecting component, I: current, Eb : Back electromotor force.
such as an encoder. To precisely regulate the functioning Laplace transform applied to (4) and (5) with zero initial
of the machine, the servo system modifies the controlled conditions yields (6) and (7):
quantity, such as position, speed, or torque, based on the goal
value (command value) that has been specified [34], [35]. Ja s2 O (s) + Ba sO (s) = KT Ia (s) (6)
The following interpretation is a mathematical description La sIa (s) + Ra Ia (s) = Va (s) − KT sO (s) (7)
of a compacted servo motor based on the diagram of Figure 2,
Making the subject of (7) current and substituting (6)
which shows Block diagram of individually excited DC servo
yields (8):
motor and the motor circuit diagram is shown in Figure 3. The
Mathematical modeling DC Servo motor system describe in Va (s) − kb O (s)
Ja s2 O (s) + Ba sO (s) = kT (8)
the following: R+L−s
where, Va (s) : ArmatureVoltage; Tm (s) : Torque; ωm (s) :
dIa (t)
Va (t) = Ra Ia (t) + La + Eb (t) (1) Velocity; 2 (s) : the output azimuth elevation angle.
dt For uncontrolled system calculated from equation. (8) to
get angular displacement in equation. (9) as the following:
2O (S) KT
Ga (S) = =
Va (S) S[(Ra + La S)(Jm S+Bm) + KT KB ]
(9)

C. THE PROPOSED MOTOR PARAMETERS

In this section, we will continue the analysis of the motor
control-supported antenna’s parameters. Now we will employ
our prior knowledge of Servo motors in our antenna appli-
cation (Satellite Ground Receiving Station) to determine the
appropriate Servo motor. We will clarify the information
necessary to size the motor based on antenna weight, speed,
acceleration, and other application-specific requirements.
FIGURE 2. Block schematic of a DC servo motor with separate excitation.
The following Table 1 show parameters of the proposed
motor supported by the antenna reflector 6.1-meter diameter,
KOLLMORGEN (T-36001) DC Servo motor [36].

TABLE 1. The parameters of T-36001 DC Servo motor.

FIGURE 3. DC motor circuit diagram.

The relationship between motor torque Ta (t) and armature

current Ia (t) is constant. KT is given in (2):

Ta (t) = KT Ia (t) (2)

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Reduction mechanism (refer for this method and num- based on the error between a setpoint and the actual output.
ber for equations), Applying momentum conservation in the The controller uses three components, namely proportional,
equation to the analysis and processing of real-world cases is integral, and derivative, to adjust the output and maintain a
the primary contribution of our study. stable response. The proportional gain adjusts the output in
θ1 T2 N1 D1 proportion to the current error, such that the larger the error,
T1 θ1 = T2 θ2 ; = = = >1 the larger the output. The integral gain adjusts the output
θ2 T1 N2 D2
based on the accumulated error over time, thereby reducing
T2 = m ∗ g ∗ r ∗ cos θ2
steady-state error. The derivative gain adjusts the output based
where: θ1 : motor angle θ2 : antenna angle T2 : motor torque on the rate of change of the error, such that it can predict and
N2 : Gear Teeth N1 : turns of motor D 1
D2 1 diameter ratio r :
counteract any sudden changes in the system. The PID con-
distace between C.G and pivot joint T2 : antenna torqe troller is widely used in various industrial applications, such
N2 as robotics, process control, and automation. However, the
θ2 (s) = G (s) θ1 (10) PID controller’s performance can be affected by factors such
N1
as the system’s complexity, nonlinearity, and time-varying
III. CONTROLLERS DESIGN behavior. Therefore, engineers and researchers must design
This section focuses on the design of the PID, LQR, and and optimize PID controllers to ensure stable and reliable
Fuzzy_PI controllers, which have been developed with the control of complex systems, by carefully selecting and tuning
aim of improving the performance of the antenna control the proportional, integral, and derivative gains to suit the
system in the Satellite Ground Station. The controller is specific application.
designed based on the system’s dynamic modeling, beginning
with the derivation of an appropriate mathematical model to B. LINEAR QUADRATIC REGULATOR (LQR)
characterize the antenna motion. Standard LQR control generates an optimal controller for
disturbance-free systems [5]. However, the majority of
A. PID-CONTROLLER systems are affected by disturbances that impact opti-
Proportional-Integral-Derivative (PID) Controllers are mal control. In this section, the LQR control design for
employed due to their inexpensive cost, their ability to often disturbance-excited linear systems will be discussed.
give strong closed-loop response characteristics, their tuning In general, it is difficult to create an appropriate non-linear
using relatively simple rules, and their relative ease of con- model of an actual DC motor [12]. This system uses a state
struction. Control signal is the sum of proportional, integral, space technique to evaluate and regulate the system. Figure 5
and derivative gain scaling factors [7], [11]. Figure 4 depicts clarify the Linear Quadratic control system [21].
the PID controller’s construction. Where PID controllers
drive a closed-loop system, they are simple to implement
but require a great deal of time to reach setpoint and have
degraded performance in the presence of system nonlineari-
ties [18]. PID controller is represented by Equation 11.
Z
d
u (t) = KP e (t) + KI e (t) dt + KD e(t) (11)
dt

FIGURE 5. Linear quadratic regulator control system.

The design assumptions, Plant DC Servomotor-based

antenna positioning control system design using LQR Con-
troller model defined by equation (14), and All states are
directly measurable and are all well-known (available for
feedback) [13]. Selecting the inputs to be error in angle and
the output voltage: rotating speed with Linear-Time-Invariant
FIGURE 4. Block diagram of antenna azimuth PID controller. (LTI) system.
State-space form
where kp represents the proportional gain, ki represents the
integral gain, and kd represents the derivative gain. There are X(t) = Ax(t) + Bu(t) (12)
numerous tuning methods for determining the correct kp, ki, Y (t) = Cx(t) + Du(t) (13)
and kd values to provide the desired response.
A proportional-integral-derivative (PID) controller is a where A is the nxn state matrix, B is the nxr input matrix,
type of control system that adjusts the output of a system C is the mxn output matrix, D is the mxr matrix, X(t) is the

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n-state vector, and Y(t) is the r-control vector. Using values

from Table 1 we will obtain equations 14,15:
dia
 
R KB
 
1
 
 dt 
  L − 0  
 ia

 dωr   L
  ωr  +  L  Va
  
 K B
 dt  =  m

− 0   0.0 
   J J O
 d2  0.0
0 1 0
dt
(14) FIGURE 6. Error (e) and 1e membership function (input).
 
 a i
y = 0 0 180/π  ωr  + [0.0]Va

O GKP and GKi are the KP and KI scaling factors following

−0.4483 6.4483 0
 defuzzification shown in Figure 6.
A =  2.6855 −0.2837 0  ;
0 1 0 1) DESIGN OF FUZZY LOGIC BASED CONTROLLERS
  For each variable, a Gaussian membership function is cre-
0.0345
ated and utilised to randomise the inputs and outputs of the
B =  0 ;
Suspension system. These fuzzy sets contain the linguistic
0
  variables NH, NA, NL, Z, PL, PA, and PH. Total of 49 rules
C = 0 0 180/π ; D = [0.0] (15) are shown Figure 6. Utilized are the Mamdani type inference
method and the centroid defuzzification method. Result of
LQR is used in modern optimal control theory. To enhance
fuzzy controller output, Fuzzy logic-based controllers include
the design and fine-tune the response, numerous Q matrices
four fundamental components: fuzzification, rule base, deci-
and R values were tested. LQR parameter design steps are as
sion logic, and defuzzification. The language terminology for
follows:
fuzzification are N, P, or Negative and Positive, respectively.
- Select the weighting matrices Q. H, A and L are High, Average, and Low, respectively. Thus,
- Select the weighting matrices R. NH stands for Negative High, PA for Positive Average, etc.
- The constant feedback gain vector K is computed using The Fuzzy- PI speed controller features two PI gain output
the ‘LQR’ instruction provided in a fully parameterized variables. The fuzzy output variables KP and KI are seen
code. in Figure 7.
The closed-loop system step responses are found by simu-
lation. It is necessary to achieve proper choice of the two
parameters, R and Q, to balance the relative importance of
the control effort and error respectively, in the cost function.
For instance, LQR matrices were used for R, 25000000 was
applied. Furthermore, it has been established that augmenting
the values of the elements in Q would potentially improve the
response by mitigating tracking errors. However, this method
of action would need a greater exertion of control, hence
incurring higher costs.
FIGURE 7. Output variables for Fuzzy- PI Controller (KP membership
function& KI membership function).
C. FUZZY - PI CONTROLLER
The structure of the proposed Fuzzy- PI controller has two
inputs: the error e(t), which depends on the set point and the 2) RULE BASE
current state, and the error’s derivative 1e, which determines The Fuzzy controllers utilised in this work are those devel-
when the change occurs [37]. see figure 5. In which, the oped by Mamdani. In terms of membership functions, the
fuzzy controls the PI gains Kp and Ki with time. In this fuzzy ‘IF . . . THEN’ rules for e and 1e determine the relationship
control structure, the controller outputs are the proportional between output variables [39]. The Fuzzy speed controller
and integral controller gains KP and KI, respectively. The rule base is shown in Table 2.
error is supplied to the PI controller, and the PI gains are
derived from the Fuzzy controller output. The advantage of IV. PROPOSED SIMULINK MODEL
this topology is that it combines FUZZY and PI controller The simulation model for a DC servo mechanism with a
qualities [38]. This controller’s PI gains are dynamic and graphical user interface, as shown in Figure 8, consists of
vary according to the current e and 1e. The gains Ge, G1e auxiliary details using SIMULINK components for open
are scaling factors for e and 1e to fuzzy logic. The gains loop simulation in mathematical modeling, experiments with

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TABLE 2. Rule base for fuzzy PI speed controller (Kp)& rule base for fuzzy A. PID CONTROLLER
PI speed controller (KI).
The PID parameters in the MATLAB/SIMULINK environ-
ment were obtained through the utilization of the autotune
feature inside the Simulink environment. The resulting values
for the proportional gain (Kp ), integral gain (Ki ), and deriva-
tive gain (Kd ) were determined to be 15.5291817, 1.2905841,
and -41.517558326, respectively.

B. LQR CONTROLLER
Using MATLAB programming language, we have acquired
the following values: The value of K that successfully attained
the desired outcome. The performance optimization was
eventually established by finding the value of K that satis-
fied the transitory design criteria, which was calculated as
K = [(220.1899 & 348.0243&3.6237)]. The system’s reac-
tion is derived from the Linear Quadratic Regulator (LQR)
algorithm.
 
1000000 0 0
Q= 0 1000000 0 
0 0 1000000
 
0 0 1
L=
0 1 0
R = 2500000

C. FUZZY CONTROLLER
Figure 9 shows the fuzzy surface for the specified controller
by using the Gaussian membership function.

FIGURE 8. Simulink model of PID, LQR and Fuzzy -PI.

closed loop, PID control, frequency response, and sys-

tem time constant in armature and field-controlled modes.
Figure 8 depicts the MATLAB-created SIMULINK model
for the intended PID, fuzzy- PI, and LQR controller system
used to conduct simulations. In one scenario, the controller
is interpreted as a PID controller, and in another, as a LQR,
fuzzy- PI controller. As a reference, a step input signal
was applied to the plant transfer function and state-space FIGURE 9. Fuzzy surface of the proposed controller with 49 rules.
system.
Where, θi : Input Desired angle; θo : System output angle; The next section is design and simulation have been uti-
G (s) : Transfare Function; MCC : disturbance. lized to examine the proposed model control system. The
LQR, PID and fuzzy- PI are controllers that have been mod-
V. RESULTS AND DISCUSSION eled for the same motor in which the better response.
In the carried-out simulation, an experiment was conducted
to assess and compare the efficacy of several controllers in VI. SYSTEM RESPONSE
regulating the motor angle towards a predetermined goal This study’s findings have major significance for heavy
value of 100 degrees. In this experimental study, the DC motor control system design and optimization. The Fuzzy
servo motor employed was identified as Model T-36001 with PI controller shows that fuzzy logic-based control systems
weight (1360 LB). The aim of this study was to conduct an can perform well in dynamic and complicated contexts.
analysis and comparison of the responses exhibited by several These insights can help researchers and engineers design and
controllers when applied to the same motor, using a specific optimize control systems for heavy industrial motors. This
target angle as the reference. study also improves heavy motor system performance and

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safety, lowering maintenance costs, extending motor lives, comparison analysis revealed that the Fuzzy-PI controller
and increasing production had superior performance in terms of responsiveness and
Figure 10 represents the system response at elevation robustness when compared to the PID and LQR controllers.
100 degree., we obtained the results that recorded in Table 3. The management of time delays in antenna control inside
In general high slew rates are expected to reduce the the GDRS was conducted effectively, resulting in improve-
lifetime [40]. ments in bypass, rising time, and tracking antenna calibration
values. This discovery underscores the importance of improv-
ing control systems for ground stations, particularly in the
context of managing big motors. Additionally, it presents
significant opportunities for breakthroughs in motor control
and enhancing system stability. Furthermore, the research
study provided evidence of the detrimental consequences
associated with an overshoot in PID and LQR control
methodologies. These consequences encompass motor dete-
rioration and heightened mechanical strain, which can result
in escalated maintenance expenses and diminished opera-
tional longevity. On the other hand, the Fuzzy-PI controller
FIGURE 10. System responses at 100 DEG (three controllers).
that was suggested demonstrated its effectiveness in mitigat-
ing overshoot, hence enhancing the safety and reliability of
TABLE 3. Response of controllers at different angles. motor control. The study highlights the significance of care-
fully choosing control strategies to attain the most favorable
system response and stability during ground data-receiving
operations. The Fuzzy-PI controller that has been proposed
offers a significant contribution in terms of strengthening
the overall efficiency of the Ground Data Reception System
(GDRS) and expanding its capabilities for receiving data.
Heavy motors are essential in industry, transportation, It is generally expected that higher slew rates have a negative
and robotics. Heavy motors need reliable control systems to impact on the lifetime. To address the issue of excessive
manage speed and torque for safe and effective operation. overshoot, it is advisable to prioritize the utilization of the
In general, high slew rates are expected to reduce the lifetime lowest possible slew rate.
This study tested PID, LQR, and Fuzzy PI for managing a The objective of cutting-edge future studies is to enhance
hefty motor. The PID controller overshot, causing mechanical the efficiency of tuning operations, evaluate the resilience
stress, wear, and vibration, according to the results. However, of systems under different circumstances, and integrate a
the LQR controller had a slight overshoot and was unreliable. range of artificial intelligence techniques to enhance control
The Fuzzy PI controller outperformed the other two because performance. Additionally, the use of supplemental control
of its consistent response without excess. methodologies, such as adaptive and model-based control,
Fuzzy logic-based feedback helps the Fuzzy PI controller exhibits promise in augmenting system performance and mit-
function better. The error signal and rate of change affect the igating overshoot. Filters such as the Kalman filter have the
Fuzzy PI controller’s proportional and integral gains. This potential to enhance control accuracy in antenna placement
lets the controller adjust to changing conditions, avoid high systems. This study makes a substantial contribution to the
overshoot and lowest slew rate. Fuzzy logic-based control field of ground station control systems by improving the
systems may be superior at controlling large motors than PID reliability, efficiency, and security of motor operations in
and LQR. The studies also stress optimizing control systems many sectors. The ramifications of this technology support
for robust and reliable motor control. engineers and researchers in the development of efficient con-
trol systems, as well as the progress of satellite data receipt
VII. CONCLUSION and communication.
The primary purpose of this study article was to investigate
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MOHAMED A. FKIRIN (Life Senior Member,
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Mechatronics Autom., Aug. 2010, pp. 1137–1141. engineering from the Faculty of Electronic Engi-
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using fuzzy logic controller,’’ in Proc. Int. Conf. Adv. Electr. Eng. (ICAEE), in 2000. She has been an Engineer with the Qual-
Jan. 2014, pp. 1–5. ity Department, Egyptian Space Agency (EgSA),
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high-performance RBF neural network terminal sliding mode observer intelligent control systems and robust and opti-
and single current reconstructed technique,’’ Electronics, vol. 11, no. 10, mization control.
p. 1646, May 2022.

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