Fig. 5: Experimental results under step response test and down-to-up-to-down test.

a QLSA performance in step response test under the speed varying from 105 rad/s to 140 rad/s with no-load. b QLSA performance in step response test under the speed varying from 105 rad/s to 140 rad/s with 2 Nm load. c QLSA performance in step response test under the speed varying from 70 rad/s to 140 rad/s with no-load. d QLSA performance in step response test under the speed varying from 70 rad/s to 140 rad/s with 2 Nm load. e QLSA performance in step response test under the speed varying from 35 rad/s to 140 rad/s with no-load and, f QLSA performance in step response test under the speed varying from 35 rad/s to 140 rad/s with 1 Nm load. g QLSA performance in down-to-up-to-down test under the speed varying from 35 rad/s to 70 rad/s, from 70 rad/s to 105 rad/s and from 105 rad/s to 140 rad/s at no-load. h. QLSA performance in down-to-up-to-down test under the speed varying from 35 rad/s to 70 rad/s, from 70 rad/s to 105 rad/s, from 105 rad/s to 140 rad/s at 1 Nm load. i QLSA performance in down-to-up-to-down test under the speed varying from 70 rad/s to 105 rad/s, from 105 rad/s to 140 rad/s at 2 Nm load.