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motor =

DRE:

P out
P

And:
P =V I

Pout =T out
So:
motor =

2
motor ,total

T out
V I

motor
=
T out

)(

motor

=
T out V I
motor T out
=

V I
motor T out
= 2
V
V I
motor T out
=
2
I
V I

wT

out

, sys

motor
motor
+
w , sys )2 +
(
( wV

motor
( wI
, sys ) +
I
2

, sys

2
2
) +w

motor

,rand

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