The load disturbance is estimated and compensated by the speed controller, which effectively removes the static tracking error that would be caused by the disturbance without compensation.

通过速度控制器对负载扰动进行估计和补偿，消除了负载扰动可能带来的稳态跟踪误差。

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Generalized integrator was used to realize static error free tracking control of positive and negative sequence current under two-phase static coordinate.

并采用广义积分器原理实现对三相电流在两相静止坐标下的控制，实现了正负序电流的无静差跟踪控制。

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