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Block diagram of the outer voltage control loop using the pi controller
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![Proportional and integral (PI) control loop diagrams for direct torque](https://i2.wp.com/www.researchgate.net/publication/330444956/figure/fig5/AS:11431281176097956@1690021365273/Proportional-and-integral-PI-control-loop-diagrams-for-direct-torque-control-DTC-and.png)