Motor-side normalization compensator

 
gdm Ksn
τ̂m = Jmn gdm ωm − θs + KT n iq − Jmn gdm ωm
s + gdm Rg
External Torque observer model in state space representation

x̂ext = Âext xext + B̂ ext uext

y ext = Ĉ ext xext = τ̂ext

 Ksn

−k1e − Jmn e
Rg − k 1 0 0
   
ω̂m ωm
1 e e
 θ̂s   θs  
Rg − k2 −k2 −1 − k2e 0 
x̂ext =
 ω̂l  , uext  ωl  ,
= Âext = 
   
−k3e Ksn e
−D e
− J1ln

Jln − k3 Jln − k3
 ln 
τ̂ext iq −k4e −k4e
−k4 e
0
KT n
k1e k1e k1e
 
Jmn
B̂ ext Ĉ ext =
 
=  k2e k2e k2e , 1 0 0 0
k3e k3e k3e

Gear stiffness Variation Torque observer model in state space representation

x̂ks = Âks xks + B̂ ks uks

y ks = Ĉ ks xks = τ̂∆ks

−k1ks
     
θ̂l θs 1 0
x̂ks =  ω̂l , uks =  τ̂ext  , Âks = −k2ks
 −D ln
Jln − J1ln 
τ̂∆Ks θl −k3ks 0 0

k1ks
 
0 0
B̂ ks =  J1ln Ksn 1
k2ks  , Ĉ ks =
 
Jln 0 0 1
0 0 k3ks