A new block-structure behavioral model is proposed for radio frequency power amplifiers in a 2x2 multiple-input multiple-output system including input cross-talk. The proposed model forms kernels of blocks of different nonlinear order that correspond to the significant frequency response of measured frequency domain Volterra kernels. The model can therefore well describe the input-output relationships of the nonlinear dynamic behavior of PAs. The proposed model outperforms conventional models in terms of model errors.

A dual two-tone technique for the characterization of memory effects in concurrent dual-band transmitters is revisited to modify a 2D-DPD model for the linearization of concurrent dual-band transmitters. By taking into account the individual nonlinear memory effects of the self- and cross-kernels, a new 2D modified digital pre-distortion (2D-MDPD) model is proposed, which not only supersedes the linearization performance but also reduces the computational complexity compared to the 2D-DP Dmodel in terms of a number of floating point operations (FLOPs). Experimental results show an improvement of 1.7 dBin normalized mean square error (NMSE) and a 58% reduction in the number of FLOPs.

The indirect learning architecture (ILA) is the mostused methodology for the identification of Digital Pre-distorter (DPD) functions for nonlinear systems, particularly for high power amplifiers. The ILA principle works in black box modeling relying on the inversion of input and output signals of the nonlinear system, such that the inverse is estimated. This paper presents the impact of disturbances, such as noise in the DPD identification. Experiments were performed with a state-of-art Doherty power amplifier intended for base station operation in current telecommunication wireless networks. As expected, a degradation in the performance of the DPD (measured innormalized mean square error (NMSE)) is found in our experiments. However, adjacent channel power ratio (ACPR) can be a misleading figure of merit showing improvement in the performance for wrongly estimated DPD functions.

Coronavirus caused pandemics as many viruses did through human history. The current pandemic causes overwhelmed healthcare system, locked down cities, and massive fatality among humans. Thus, different robots have been used since the COVID outbreak worldwide to reduce spreading infectious diseases and support frontline healthcare workers. This paper sets out the different robots implemented for hospital, non-hospital use, and possible use that can be deployed amidst the pandemic. A literature survey of versatile robots during COVID-19 is introduced. Roboticists contributed with wheeled and drone robots with various applications to assist medical care systems and society during the ongoing crisis. Pandemics are common throughout human history and difficult to avoid or prevent; thus, we intend to encourage societies, academia, engineers and innovators to invest more in robots that cannot catch the virus and consequently introduce beneficial solutions to fight such pandemic in the future.

In many test and measurement applications, the analogue-to-digital converter (ADC) is the limiting component. Using post-correction methods can improve the performance of the component as well as the over all measurement system. In this paper an ADC is characterised by a Kautz-Volterra (KV) model, which utilises a model-based post-correction of the ADC with general properties and a reasonable number of parameters. It is also shown that the inverse model has the same dynamic properties as the direct KV model. Results that are based on measurements on a high-speed 12-bit ADC, shows good results for a third order model.

This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close-end-user involvement are outlined and used in realizing the exoskeleton. Design of the resulting mechanics and electronics details for the lower and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. TheFB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.

A figure-of-merit for quantifying a comparable scientific value ranking the output of a set researchers work is proposed. The method is based on the Garfield Factor (GF) and thus related to the expected number of citations rather than the real ones. The measure allow comparisons of the scientific outputs between different sets of scientists where some papers are joint works between the comparative sets or between constellations with other sets. It has the advantages of having a rather small time-lag and that it is comparable between different subject categories. The measure is very easy to calculate and is complementing the existing indices or measures in an adequate way.

This work considers behavioral modelling of radio frequency power amplifiers. Due to the use of modern digital modulation methods power amplifiers are nowadays subjected to signals having a considerable bandwidth and a fast changing envelope. This means that traditional quasi-memoryless amplitude-to-amplitude (AM/AM) and amplitude-to-phase (AM/PM) characteristics are no longer enough to describe and model the behavior of power amplifiers, neither can they be successfully used for linearization.

In this thesis, sampled input and output data are used for identification and validation of some block structure models with memory. The time-discrete Volterra model, the Wiener model, the Hammerstein model, and the radial-basis function neural network are all identified and compared with respect to in-band and out-of-band errors. Two different signal types, i.e. multi tones and noise, with different powers, peak-to-average ratios, and bandwidths have been used as input to the amplifier. Two different power amplifiers were investigated, one designed for the third generation mobile telecommunication systems and one for the second generation.

A stepped three-tone measurement technique based on digitally modulated baseband signals is presented. The third-order Volterra kernel were determined from identified inter-modulation products. The properties of the Volterra kernel along certain parts in the three dimensional frequency space were analysed and compared to the Wiener and Hammerstein models.

A new type of behavioral power amplifier (PA) model, a discrete-time Kautz-Volterra (KV) model, is presented. In the model a priori knowledge of the system properties in terms of different poles for different nonlinear orders is used, which is needed for modeling nonlinear and linear memory effects in PAs. An accurate model can thus be achieved with a small number of parameters. Simulated results of parallel Hammerstein and Wiener structures and from modeling the behavior of a PA are presented

A nonlinear dynamic behavioral model for radio frequency power amplifiers is presented. It uses orthonormal basis functions, Kautz functions, with complex poles that are different for each nonlinear order. It has the same general properties as Volterra models, but the number of parameters is significantly smaller. Using frequency weighting the out-of-band model error can be reduced. Using experimental data it was found that the optimal poles were the same for different input powers and for the different nonlinear orders. The optimal poles were also the same for direct and inverse models, which could be explained theoretically to be a general property of nonlinear systems with negligible linear memory effects. The model can be used as either a direct or inverse model with the same model error for power amplifiers with negligible linear memory effects.

An investigation of the complex-valued parameters of two different dynamic behavioral models due to changes in the drain decoupling network of a PA has been performed. The study is based on complex-envelope measurements on a real PA. The complex coefficients of the parallel Hammerstein (PH) and the optimal pole placements of the Kautz-Volterra (KV) models are analyzed. It is concluded that the parameters follow smooth, predictable functions and that the KV poles give a robust description of the PA's memory effects compared with the PH model.

A comparative study of nonlinear behavioral models with memory for radio-frequency power amplifier (PAs) is presented. The models are static polynomial, parallel Hammerstein (PH), Volterra, and radial basis-function neural network (RBFNN). Two PAs were investigated: one was designed for the third-generation (3G) mobile telecommunication systems and one was designed for the second-generation (2G). The RBFNN reduced the total model error slightly more than the PH, but the error out of band was significantly lower for the PH. The Volterra was found to give a lower model error than did a PH of the same nonlinear order and memory depth. The PH could give a lower model error than the best Volterra, since the former could be identified with a higher nonlinear order and memory depth. The qualitative conclusions are the same for the 2G and 3G PAs, but the model errors are smaller for the latter. For the 3G PA, a static polynomial gave a low model error as low as the best PH and lower than the RBFNN for the hardest cross validation. The models with memory, PH, and RBFNN, showed better cross-validation performance, in terms of lower model errors, than a static polynomial for the hardest cross validation of the 2G PA.

A radial-basis function neural network (RBFNN) is proposed for modeling the dynamic nonlinear behavior of RF power amplifiers. In the model the signal's envelope is used. The model requires less training than a model using both IQ-data. Sampled input and output signals from a power amplifier for 3G were used in the identification and validation. The RBFNN is compared with a parallel Hammerstein model. For a memory depth of one sample the RBFNN gives a better model, in- and out-of-band; for three samples the RBFNN reduces the in-band error more while the Hammerstein model reduces the error out-of-band more.

In this paper a synthetic vector network analyzing measurement system is presented. The system is based on a hardware set-up, including a signal generator and a vector signal analyzer, with the vector network analyzing functionality implemented in the software. The measurements of the proposed system demonstrated comparable performance in terms of accuracy and speed compared with a modern traditional vector network analyzer, but it is more flexible due to its inherent software implementation. The proposed system’s ability to measure nonlinear phenomena is addressed and discussed, and some preliminary results are given.

Stand–sit–stand (STS) motions are the most frequently performed activities of everyday life and require extensive movement of knee joint. People suffering from knee joint disorders face difficulties in performing this motion. The compact knee exoskeleton (KE) has proven to be a viable, less complex, and cheaper alternative to the available entire lower-, upper-, and full-body exoskeletons. With growing number of technical glitches and finite battery life problems, there exist risks of sudden failure of the actuator of KE that could be detrimental for the vulnerable users. To overcome this problem, there is a need to accommodate a backup actuator in KE which can continue providing assistance during movement if the primary actuator ceases to function. This article provides a performance comparison of a four-bar mechanism-driven KE that can accommodate both the linear and the rotary actuators. The modelling and simulation of the system are performed using the bond graph (BG) technique. The results successfully showed that both actuators offered desired ranges of motions needed for STS motion. Furthermore, the knee joint torques developed by the linear and rotary actuators were found to be 40 Nm and 57 Nm, respectively, which corresponds to 60% and 85% of the total torque required by the knee joint to perform STS motions, thereby reducing the user effort to 40% and 15%, respectively. Thus, both actuators are self-capable to provide necessary assistance at the knee joint even if the primary actuator ceases to work due to a sudden fault, the secondary actuator will provide the required rotation of the thigh link and will continue to deliver the assistive torque. The article also effectively shows the application of BG approach to model the multidisciplinary systems like KE as it conveniently models the system containing various elements in different energy domains.

People with knee disorders often find it difficult to perform common mobility tasks, such as stand–sit–stand motions. High knee torque is required to complete such transitions, as the chances of toppling increase during these motions. Most of the existing conventional approaches, such as wheelchairs and crutches, have failed to provide complete independence to the users. Conversely, contemporary systems like lower body exoskeletons which are bulky, complex, and expensive do not specifically target the knee joint instead of assisting other joints. Hence, there is a need to aid the knee joint using a robotic knee exoskeleton capable of accurately providing the desired knee torque. In the present work, to assist the user in performing the stand–sit–stand motions, an electromyography sensor-based four-bar knee exoskeleton actuated by a linear actuator is proposed. The modeling of the complete exoskeleton is developed using bond graph technique, as the components exist in different energy domains and it is possible to frame a dynamic bond graph model using only kinematic equations. The prototype is fabricated, and experiments are carried out on an artificial limb to prove the efficacy of the design of the current knee exoskeleton. The assistive torque developed by the actuator at the knee joint of the exoskeleton is found to be suitable to assist the wearer. As a result, little effort is required by the wearer for performing the stand–sit–stand motions. The rotation of the thigh link of the developed exoskeleton was found to be suitable for performing the stand–sit–stand activity.

Kautz-Volterra (KV) models of some nonlinear systems were analyzed. The relationsbetween the true pole of the analyzed systems and the optimal pole of the KV modelswere analyzed. The properties of nonlinear systems depend on the order of thesubsystems, since nonlinear operators do not commute. Wiener (H-N) andHammerstein (N-H) systems were analyzed.

This paper presents a comparative analysis of the complexity accuracy tradeoff in state-of-the-art RF MIMO transmitter mitigation models. The complexity and accuracy of the candidate models depends on the basis functions considered in these models. Therefore, a brief description of the mitigation models is presented accompanied by derivations of the model complexities in terms of the number of FLOPs. Consequently, the complexity accuracy tradeoff in the candidate models is evaluated for a 2 × 2 RF MIMO transmitter. Furthermore, the model complexities are analyzed for increasing nonlinear orders and number of antennas.

This paper analyzes the joint effects of in-phase and quadrature (I/Q) imbalance and power amplifier (PA) distortion for RF multiple input multiple output (MIMO) transmitters in the presence of crosstalk. This paper proposes candidate models for the digital predistortion of static I/Q imbalanced sources exciting a dynamic MIMO Volterra system. The proposed models are enhanced using a novel technique based on subsample resolution to account for dynamic I/Q imbalance distortions. Finally, the computational complexity of the proposed models is analyzed for implementation suitability in digital platforms. It is shown that the error spectrum for the proposed models in subsample resolution reaches the noise floor of the measurements. The proposed models achieve a normalized mean squared error of -50 dB and an adjacent channel power ratio of -57 dB for signal bandwidths upto 65 MHz and crosstalk levels ranging to -10 dB. These results demonstrate the effectiveness of the proposed techniques in the joint mitigation of I/Q imbalance and PA distortion with crosstalk for a typical 2x2 MIMO telecommunication setup.

This paper uses multitone signals to simplify the analysis of 3×3 multiple-input multiple-output (MIMO) Volterra systems by isolating the third-order kernel outputs from each other. Multitone signals fed to an MIMO Volterra system yield a spectrum that is a permutation of the sums of the input signal tones. This a priori knowledge is used to design multitone signals such that the third-order kernel outputs are isolated in the frequency domain. The signals are designed by deriving the conditions for the offset and spacing of the input frequency grids. The proposed technique is then validated for the six possible configurations of a 3x3 RF MIMO transmitter impaired by crosstalk effects. The proposed multitone signal design is used to extract the third-order kernel outputs, and their relative contributions are analyzed to determine the dominant crosstalk effects for each configuration.

This paper proposes a technique for designing multitone signals that can separate the third order multiple input multiple output (MIMO) Volterra kernels. Multitone signals fed to a MIMO Volterra system yield a spectrum that is a permutation of the sums of the input signal tones. This a priori knowledge is used to design multitone signals such that the output from the MIMO Volterra kernels does not overlap in the frequency domain, hence making it possible to separate these kernels from the output of the MIMO Volterra system. The proposed technique is applied to a 2×2 RF MIMO transmitter to determine its dominant hardware impairments. For input crosstalk, the proposed method reveals the dominant self and cross kernels whereas for output crosstalk, the proposed method reveals that only the self kernels are dominant.

Future wireless networks will employ unprecedentedly high number of transmitters along-with larger bandwidth signals. Therefore, complexity efficient Power Amplifier (PA) modelling methods with the ability to quantify memory effects are required. This paper presents a low complexity method to quantify memory effects by studying the symmetry in the PA transfer functions estimated with the density estimation method. It is shown that the symmetry helps in reducing the method complexity by more than two orders of magnitude. Further, it is verified that the symmetry can be used as a non-model based metric for quantifying memory effects in PAs. 

The paper presents a method for modeling strongnonlinear effects in power amplifiers based on the principlesof density estimation. The static nonlinear transfer function isobtained by averaging measured data. The performance obtainedwith density estimation is similar to the one using high ordernonlinear static polynomial models. The benefit of consideredmethod over the ones using polynomial models is that the formerestimates blindly the structure of the transfer function and doesnot suffer from numerical instabilities.

This paper contains supporting derivations for the paperMemory Polynomial Baseband Modeling of RF Power Am-plifiers. All references to numbered equations, propositionsand assumptions are to the corresponding number inMemoryPolynomial Baseband Modeling of RF Power Amplifiers.

 The merging of the fields of RF engineering and signal processing has introduced concepts such as behavioral modeling and enabled digital linearization schemes for wireless devices, such as power amplifiers (PAs). Despite that this process has been going on for a number of years much work remains to be done. The links between physical behavior and mathematical models are far from well-understood as are the optimum strategies for device design. This study focus on digital predistortion properties of a one-stage PA consisting of a power transistor mounted in a test fixture. The device under test (DUT) is an Infineon PTF210451E, a 45W transistor intended for usage in the frequency bands 2010-2025 MHz and 2110-2170 MHz. The test fixture is also designed by Infineon Technologies.  The signal types used in the measurements are single and double carrier wideband code division multiple access (WCDMA) signals. The double carrier WCDMA signals have tone-spacings of 5, 10 and 15 MHz. Normal two-tone measurements are also presented. 

Two novel memory polynomial models are derived based on physical knowledge of a general power amplifier (PA). The derivations are given in detail to facilitate derivations of other model structures. The model error in terms of normalized mean square error (NMSE) and adjacent channel error power ratio (ACEPR) of the novel model structures are compared to that of established models based on the number of parameters using data measured on two different amplifiers, one high-power base-station PA and one low-power general purpose amplifier. The novel models show both lower NMSE and ACEPR for any chosen number of parameters compared to the established models. The low model errors make the novel models suitable candidates for both modeling and digital predistortion.

Digital baseband pre-distortion (DPD) is used to linearize nonlinear RF PAs, crest factor reduction (CFR) to increase the maximum output power level of RF PAs. Together they result in increased output power with maintained, or even, better linearity. This paper discuss some of the techniques for DPD and CFR methods currently under investigation. Measured results for a class-AB PA using OFDM signals indicate a possibility to increase the power added efficiency (PAE) by at least 15%-points, from 30% to 45%, and a power output increase of 6 dB while maintaining specified ACLR requirements.

This paper presents an investigation of poweramplifier behavioural model performance sensitivity to in-bandreflections. The measurement system and model extractionprocess is presented together with the results and an analysis ofthe effect of parameter variations in a digitally predistortedsystem. A load-pull system is used together with a digitalbaseband model extraction system to identify the impact onmodelling performance. The results show that the modelperformance varies greatly with in-band reflection magnitudeand phase on the amplifier output. It is also shown that a digitalpredistortion based on a model extracted at matched conditions,where it gives an excellent improvement of 20 dB in adjacentchannel leakage ratio (ACLR), gives a poor improvement of 7 dBfor miss-matched conditions with as low reflections as Γ=0.2(return loss 14 dB). This indicates that in-band reflections needto be considered and adaptive predistortion used also for lowVSWR system like base-stations for telecommunication.

This paper presents a novel structure and method for modeling and digitally pre-distorting outphasing amplifiers. The models and pre-distortion are evaluated on a CMOS low-power class-D outphasing amplifier using uplink WCDMA signals. Using the proposed pre-distorter improves the ACLR by no less than 12 dB making the amplifier fulfill the 3GPP requirements on ACLR.

This paper presents a direct model structure for describing class-D outphasing power amplifiers (PAs) and a method for digitally predistorting these amplifiers. The direct model structure is based on modeling differences in gain and delay, nonlinear interactions between the two paths, and differences in the amplifier behavior. The digital predistortion method is designed to operate only on the input signals' phases, to correct for both amplitude and phase mismatches. This eliminates the need for additional voltage supplies to compensate for gain mismatch. Model and predistortion performance are evaluated on a 32-dBm peak-output-power class-D outphasing PA in CMOS with on-chip transformers. The excitation signal is a 5-MHz downlink WCDMA signal with peak-to-average power ratio of 9.5 dB. Using the proposed digital predistorter, the 5-MHz adjacent channel leakage power ratio (ACLR) was improved by 13.5 dB, from -32.1 to -45.6 dBc. The 10-MHz ACLR was improved by 6.4 dB, from -44.3 to -50.7 dBc, making the amplifier pass the 3GPP ACLR requirements.

In this paper a radio frequency power amplifier is measured and characterized by the use of undersampling based on the generalized Zhu-Frank sampling theorem. A test system has been designed allowing the bandwidth of the stimuli signal to be 100 MHz in the characterization process. That would not be possible with any vector signal analyzer on the market. One of the more challenging problem within the proposed concept is the model validation process. Here, two different techniques for model validation are proposed, the multitone and the spectrum scan validation methods.

This paper investigates the issue of “predistorter blow-up,” i.e., uncontrolled peak expansion caused by the predistorter. To control the peak expansion, an extension of the multistep indirect learning architecture (MS-ILA) is proposed by adding a constraint that describes the allowed peak power of the predistortion signal. The resulting optimization problem is shown to be convex and an optimization method is formulated to solve it. Measurements on a class-AB power amplifier (PA) using orthogonal frequency-division multiplex signals show that the peak control works as intended and prevents the MS-ILA from generating high peaks when the PA is operated in compression. The restriction on the peak power also prevents the performance degradation occurring due to the “blow-up” problem. This makes the proposed controlled MS-ILA a safer option than the standard MS-ILA. In addition to controlling the peak input power to the PA, using the proposed method it was possible to increase the output power by 1.3 dB while fulfilling requirements of less than 40-dB adjacent channel leakage power ratio, compared to the standard five-step MS-ILA. Reduced peak power also reduces the requirements on linearity in signal generation, resolution in computations, and analog-to-digital and digital-to-analog conversion.

A disturbance observer-based-dynamic load-torque compensator for current-controlled DC-drives, as joint actuator of assistive exoskeletons, has been recently proposed. It has been shown that this compensator can effectively linearize and decouple the coupled nonlinear dynamics of the human-exoskeleton system, by more effectively compensating the associated nonlinear load-torques of the exoskeleton at the joint level. In this paper, a detailed analysis of the current controlled DC drive-servo system using the said compensator, with respect to performance and stability is presented, highlighting the key factors and considerations affecting both the stability and performance of the compensated servo system. It is shown both theoretically and through simulation results that the stability of the compensated servo system is compromised as performance is increased and vice-versa. Based on the saturation state of the servo system, a new hybrid switching control strategy is then proposed to select stability or performance-based compensator and controller optimally. The strategy is then experimentally verified both at the joint and task space level by using the developed four active-degree of freedom exoskeleton test rig.

Physical human–robotic interaction is a crucial area of concern for robotic exoskeletons. Lower weight requirement for the worn exoskeletons limits the number and size of joint actuators, resulting in a low active degree of freedom for the exoskeletons with joint actuators having limited power and bandwidth. This limitation invariably results in reduced physical human–robotic interaction performance for the exoskeleton. Recently several techniques have been proposed for the low active degree of freedom exoskeletons with improved physical human–robotic interaction performance using better load torque compensators and improved active compliance. However, effective practical implementation of these techniques requires special hardware and software design considerations. A detailed design of a new lower body exoskeleton is proposed in this paper that can apply these recently developed techniques to practically improve the physical human–robotic interaction performance of the worn exoskeletons. The design presented includes the exoskeleton's structural design, new joint assemblies and the design of novel 3-D passive, compliant supports. A methodology of selecting and verifying the joint actuators and estimating the desired assistive forces at the contact supports based on human user joint torque requirements and the degree of assistance is also thoroughly presented. A new CAN-based master–slave control architecture that supports the implementation of recent techniques for improved physical human–robotic interaction is also fully presented. A new control strategy capable of imparting simultaneous impedance-based force tracking control of the exoskeleton in task space using DOB-based-DLTC at joint space is also thoroughly presented. Simulation verification of the proposed strategy based on the actual gait data of elderly is presented lastly.

Safe physical human-robotic interaction is a crucial concern for worn exoskeletons where lower weight requirement limits the number and size of actuators to be used. A novel control strategy is suggested in this paper for the low degree of freedom exoskeletons, by combining proposed mechanically decoupled passive-compliant arm-supports with active compliance, to achieve an improved and safer physical-human-robotic-interaction performance, while considering the practical limitations of low-power actuators. The approach is further improved with a novel vectoral-form of disturbance observer-based dynamic load-torque compensator, proposed to linearize and decouple the nonlinear human-machine dynamics effectively. The design of a four-degree of freedom exoskeleton test-rig that can assure the implementation of the proposed strategy is also shortly presented. It is shown through simulation and experimentation, that the use of proposed strategy results in an improved and safer physical human-robotic interaction, for the exoskeletons using limited-power actuators. It is also shown both through simulation and experimentation, that the proposed vectoral-form of disturbance based dynamic load-toque compensator, effectively outperforms the other traditional compensators in compensating the load-torques at the joints of the exoskeleton.

In assistive robotics applications, the human limb is attached intimately to the robotic exoskeleton. The coupled dynamics of the human-exoskeleton system are highly nonlinear and uncertain, and effectively appear as uncertain load-torques at the joint actuators of the exoskeleton. This uncertainty makes the application of standard computed torque techniques quite challenging. Furthermore, the need for safe human interaction severely limits the gear ratio of the actuators. With small gear ratios, the uncertain joint load-torques cannot be ignored and need to be effectively compensated. A novel disturbance observer based dynamic load-torque compensator is hereby proposed and analysed for the current controlled DC-drive actuators of the exoskeleton, to effectively compensate the said uncertain load-torques at the joint level. The feedforward dynamic load-torque compensator is proposed based on the higher order dynamic model of the current controlled DC-drive. The dynamic load-torque compensator based current controlled DC-drive is then combined with a tailored feedback disturbance observer to further improve the compensation performance in the presence of drive parametric uncertainty. The proposed compensator structure is shown both theoretically and practically to give significantly improved performance w.r.t disturbance observer compensator alone and classical static load-torque compensator, for rated load-torque frequencies up to 1.6 Hz, which is a typical joint frequency bound for normal daily activities for elderly. It is also shown theoretically that the proposed compensator achieves the improved performance with comparable reference current requirement for the current controlled DC-drive.