# *motulator:* Motor Drive and Grid Converter Simulator in Python
[](https://zenodo.org/doi/10.5281/zenodo.10223090)
[](https://github.com/Aalto-Electric-Drives/motulator/actions/workflows/update_gh-pages.yml)
[](https://github.com/Aalto-Electric-Drives/motulator/blob/main/LICENSE)
[](https://pypi.org/project/motulator/)
[](#contributors-)
Introduction
------------
This open-source software includes simulation models and controllers for electric machine drives and grid converter systems. The machine models include an induction machine, a synchronous reluctance machine, and a permanent-magnet synchronous machine. Various subsystem models are provided for modeling grid converter systems, such as an LCL filter connected to an inductive-resistive grid.
The system models are simulated in the continuous-time domain while the control algorithms run in discrete time. The default solver is the explicit Runge-Kutta method of order 5(4) from scipy.integrate.solve_ivp. Various control algorithms are provided as examples. The documentation is available here:
https://aalto-electric-drives.github.io/motulator/
Installation
------------
This software can be installed using pip:
```bash
pip install motulator
```
Alternatively, the repository can be cloned:
https://aalto-electric-drives.github.io/motulator/installation.html
Usage
-----
The system models, controllers, reference sequences etc. are easy to configure. As a starting point, example scripts and Jupyter notebooks can be downloaded here:
https://aalto-electric-drives.github.io/motulator/drive_examples/index.html
https://aalto-electric-drives.github.io/motulator/grid_examples/index.html
New system models and controllers can be developed using the existing ones as templates.
Contributing
------------
If you would like to help us develop motulator, please have a look at these [guidelines](https://aalto-electric-drives.github.io/motulator/contributing.html) first.
Contributors
------------
Thanks go to these wonderful people:
<!-- ALL-CONTRIBUTORS-LIST:START - Do not remove or modify this section -->
<!-- prettier-ignore-start -->
<!-- markdownlint-disable -->
<table>
<tbody>
<tr>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/lauritapio"><img src="https://avatars.githubusercontent.com/u/85596019?v=4?s=50" width="50px;" alt="Lauri Tiitinen"/><br /><sub><b>Lauri Tiitinen</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=lauritapio" title="Code">💻</a> <a href="#ideas-lauritapio" title="Ideas, Planning, & Feedback">🤔</a> <a href="#example-lauritapio" title="Examples">💡</a> <a href="#mentoring-lauritapio" title="Mentoring">🧑🏫</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/HannuHar"><img src="https://avatars.githubusercontent.com/u/96597650?v=4?s=50" width="50px;" alt="HannuHar"/><br /><sub><b>HannuHar</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=HannuHar" title="Code">💻</a> <a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3AHannuHar" title="Bug reports">🐛</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://research.aalto.fi/en/persons/marko-hinkkanen"><img src="https://avatars.githubusercontent.com/u/76600872?v=4?s=50" width="50px;" alt="Marko Hinkkanen"/><br /><sub><b>Marko Hinkkanen</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=mhinkkan" title="Code">💻</a> <a href="#ideas-mhinkkan" title="Ideas, Planning, & Feedback">🤔</a> <a href="#example-mhinkkan" title="Examples">💡</a> <a href="#mentoring-mhinkkan" title="Mentoring">🧑🏫</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/silundbe"><img src="https://avatars.githubusercontent.com/u/81169347?v=4?s=50" width="50px;" alt="silundbe"/><br /><sub><b>silundbe</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=silundbe" title="Code">💻</a> <a href="#example-silundbe" title="Examples">💡</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/JoonaKukkonen"><img src="https://avatars.githubusercontent.com/u/85099403?v=4?s=50" width="50px;" alt="JoonaKukkonen"/><br /><sub><b>JoonaKukkonen</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=JoonaKukkonen" title="Code">💻</a> <a href="#infra-JoonaKukkonen" title="Infrastructure (Hosting, Build-Tools, etc)">🚇</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/jarno-k"><img src="https://avatars.githubusercontent.com/u/84438313?v=4?s=50" width="50px;" alt="jarno-k"/><br /><sub><b>jarno-k</b></sub></a><br /><a href="#ideas-jarno-k" title="Ideas, Planning, & Feedback">🤔</a> <a href="https://github.com/Aalto-Electric-Drives/motulator/pulls?q=is%3Apr+reviewed-by%3Ajarno-k" title="Reviewed Pull Requests">👀</a> <a href="#mentoring-jarno-k" title="Mentoring">🧑🏫</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/angelicaiaderosa"><img src="https://avatars.githubusercontent.com/u/112799415?v=4?s=50" width="50px;" alt="angelicaiaderosa"/><br /><sub><b>angelicaiaderosa</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=angelicaiaderosa" title="Code">💻</a> <a href="#example-angelicaiaderosa" title="Examples">💡</a></td>
</tr>
<tr>
<td align="center" valign="top" width="14.28%"><a href="https://www.kth.se/profile/lucap"><img src="https://avatars.githubusercontent.com/u/64190518?v=4?s=50" width="50px;" alt="Luca Peretti"/><br /><sub><b>Luca Peretti</b></sub></a><br /><a href="#ideas-lucaperetti" title="Ideas, Planning, & Feedback">🤔</a> <a href="#promotion-lucaperetti" title="Promotion">📣</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/GianmarioPellegrinoPolito"><img src="https://avatars.githubusercontent.com/u/70333484?v=4?s=50" width="50px;" alt="GianmarioPellegrinoPolito"/><br /><sub><b>GianmarioPellegrinoPolito</b></sub></a><br /><a href="#data-GianmarioPellegrinoPolito" title="Data">🔣</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/SimFerr"><img src="https://avatars.githubusercontent.com/u/67151973?v=4?s=50" width="50px;" alt="Simone Ferrari"/><br /><sub><b>Simone Ferrari</b></sub></a><br /><a href="#data-SimFerr" title="Data">🔣</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/Jialed0303"><img src="https://avatars.githubusercontent.com/u/118135952?v=4?s=50" width="50px;" alt="Jialed0303"/><br /><sub><b>Jialed0303</b></sub></a><br /><a href="#ideas-Jialed0303" title="Ideas, Planning, & Feedback">🤔</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/murgui"><img src="https://avatars.githubusercontent.com/u/29175623?v=4?s=50" width="50px;" alt="murgui"/><br /><sub><b>murgui</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3Amurgui" title="Bug reports">🐛</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/iam-nithin-10"><img src="https://avatars.githubusercontent.com/u/125553207?v=4?s=50" width="50px;" alt="Nithin Valiyaveettil Sadanandan"/><br /><sub><b>Nithin Valiyaveettil Sadanandan</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3Aiam-nithin-10" title="Bug reports">🐛</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/saarela"><img src="https://avatars.githubusercontent.com/u/10281832?v=4?s=50" width="50px;" alt="saarela"/><br /><sub><b>saarela</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3Asaarela" title="Bug reports">🐛</a></td>
</tr>
<tr>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/UshnishChowdhury"><img src="https://avatars.githubusercontent.com/u/35863166?v=4?s=50" width="50px;" alt="Ushnish"/><br /><sub><b>Ushnish</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3AUshnishChowdhury" title="Bug reports">🐛</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/Francesco-Lelli"><img src="https://avatars.githubusercontent.com/u/127111681?v=4?s=50" width="50px;" alt="Francesco-Lelli"/><br /><sub><b>Francesco-Lelli</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=Francesco-Lelli" title="Code">💻</a> <a href="#example-Francesco-Lelli" title="Examples">💡</a> <a href="#ideas-Francesco-Lelli" title="Ideas, Planning, & Feedback">🤔</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/MiSaren"><img src="https://avatars.githubusercontent.com/u/166725462?v=4?s=50" width="50px;" alt="Mikko Sarén"/><br /><sub><b>Mikko Sarén</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=MiSaren" title="Code">💻</a> <a href="#example-MiSaren" title="Examples">💡</a> <a href="#ideas-MiSaren" title="Ideas, Planning, & Feedback">🤔</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/maattaj11"><img src="https://avatars.githubusercontent.com/u/165767331?v=4?s=50" width="50px;" alt="Juho Määttä"/><br /><sub><b>Juho Määttä</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=maattaj11" title="Code">💻</a> <a href="#example-maattaj11" title="Examples">💡</a> <a href="#ideas-maattaj11" title="Ideas, Planning, & Feedback">🤔</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://github.com/rayanmour"><img src="https://avatars.githubusercontent.com/u/111271373?v=4?s=50" width="50px;" alt="rayanmour"/><br /><sub><b>rayanmour</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=rayanmour" title="Code">💻</a> <a href="#example-rayanmour" title="Examples">💡</a> <a href="#ideas-rayanmour" title="Ideas, Planning, & Feedback">🤔</a> <a href="https://github.com/Aalto-Electric-Drives/motulator/pulls?q=is%3Apr+reviewed-by%3Arayanmour" title="Reviewed Pull Requests">👀</a> <a href="#mentoring-rayanmour" title="Mentoring">🧑🏫</a></td>
<td align="center" valign="top" width="14.28%"><a href="https://cusma.algo.xyz/"><img src="https://avatars.githubusercontent.com/u/65770425?v=4?s=50" width="50px;" alt="Cosimo Bassi"/><br /><sub><b>Cosimo Bassi</b></sub></a><br /><a href="#infra-cusma" title="Infrastructure (Hosting, Build-Tools, etc)">🚇</a></td>
</tr>
</tbody>
</table>
<!-- markdownlint-restore -->
<!-- prettier-ignore-end -->
<!-- ALL-CONTRIBUTORS-LIST:END -->
This project follows the [all-contributors](https://github.com/all-contributors/all-contributors) specification. Contributions of any kind welcome!
Acknowledgement
---------------
This project has been sponsored by ABB Oy and by the Research Council of Finland *Centre of Excellence in High-Speed Electromechanical Energy Conversion Systems*. The example control methods included in this repository are based on published algorithms (available in textbooks and scientific articles). They do not present any proprietary control software.
Raw data
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"keywords": "control, converter, electric, grid, inverter, machine, motor, power, simulation",
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"author_email": "Marko Hinkkanen <marko.hinkkanen@aalto.fi>",
"download_url": "https://files.pythonhosted.org/packages/0e/33/8f423bdd91a2b28886d05f2aac78718e08aa273ec6629ead558493c6bdaf/motulator-0.5.0.tar.gz",
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"description": "# *motulator:* Motor Drive and Grid Converter Simulator in Python\n[](https://zenodo.org/doi/10.5281/zenodo.10223090)\n[](https://github.com/Aalto-Electric-Drives/motulator/actions/workflows/update_gh-pages.yml)\n[](https://github.com/Aalto-Electric-Drives/motulator/blob/main/LICENSE)\n[](https://pypi.org/project/motulator/)\n[](#contributors-)\n\nIntroduction\n------------\nThis open-source software includes simulation models and controllers for electric machine drives and grid converter systems. The machine models include an induction machine, a synchronous reluctance machine, and a permanent-magnet synchronous machine. Various subsystem models are provided for modeling grid converter systems, such as an LCL filter connected to an inductive-resistive grid.\n\nThe system models are simulated in the continuous-time domain while the control algorithms run in discrete time. The default solver is the explicit Runge-Kutta method of order 5(4) from scipy.integrate.solve_ivp. Various control algorithms are provided as examples. The documentation is available here:\n\nhttps://aalto-electric-drives.github.io/motulator/\n\nInstallation\n------------\nThis software can be installed using pip:\n\n```bash\npip install motulator\n```\nAlternatively, the repository can be cloned:\n\nhttps://aalto-electric-drives.github.io/motulator/installation.html\n\nUsage\n-----\nThe system models, controllers, reference sequences etc. are easy to configure. As a starting point, example scripts and Jupyter notebooks can be downloaded here:\n\nhttps://aalto-electric-drives.github.io/motulator/drive_examples/index.html\n\nhttps://aalto-electric-drives.github.io/motulator/grid_examples/index.html\n\nNew system models and controllers can be developed using the existing ones as templates.\n\nContributing\n------------\nIf you would like to help us develop motulator, please have a look at these [guidelines](https://aalto-electric-drives.github.io/motulator/contributing.html) first.\n\nContributors\n------------\nThanks go to these wonderful people:\n\n<!-- ALL-CONTRIBUTORS-LIST:START - Do not remove or modify this section -->\n<!-- prettier-ignore-start -->\n<!-- markdownlint-disable -->\n<table>\n <tbody>\n <tr>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/lauritapio\"><img src=\"https://avatars.githubusercontent.com/u/85596019?v=4?s=50\" width=\"50px;\" alt=\"Lauri Tiitinen\"/><br /><sub><b>Lauri Tiitinen</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=lauritapio\" title=\"Code\">\ud83d\udcbb</a> <a href=\"#ideas-lauritapio\" title=\"Ideas, Planning, & Feedback\">\ud83e\udd14</a> <a href=\"#example-lauritapio\" title=\"Examples\">\ud83d\udca1</a> <a href=\"#mentoring-lauritapio\" title=\"Mentoring\">\ud83e\uddd1\u200d\ud83c\udfeb</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/HannuHar\"><img src=\"https://avatars.githubusercontent.com/u/96597650?v=4?s=50\" width=\"50px;\" alt=\"HannuHar\"/><br /><sub><b>HannuHar</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=HannuHar\" title=\"Code\">\ud83d\udcbb</a> <a href=\"https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3AHannuHar\" title=\"Bug reports\">\ud83d\udc1b</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://research.aalto.fi/en/persons/marko-hinkkanen\"><img src=\"https://avatars.githubusercontent.com/u/76600872?v=4?s=50\" width=\"50px;\" alt=\"Marko Hinkkanen\"/><br /><sub><b>Marko Hinkkanen</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=mhinkkan\" title=\"Code\">\ud83d\udcbb</a> <a href=\"#ideas-mhinkkan\" title=\"Ideas, Planning, & Feedback\">\ud83e\udd14</a> <a href=\"#example-mhinkkan\" title=\"Examples\">\ud83d\udca1</a> <a href=\"#mentoring-mhinkkan\" title=\"Mentoring\">\ud83e\uddd1\u200d\ud83c\udfeb</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/silundbe\"><img src=\"https://avatars.githubusercontent.com/u/81169347?v=4?s=50\" width=\"50px;\" alt=\"silundbe\"/><br /><sub><b>silundbe</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=silundbe\" title=\"Code\">\ud83d\udcbb</a> <a href=\"#example-silundbe\" title=\"Examples\">\ud83d\udca1</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/JoonaKukkonen\"><img src=\"https://avatars.githubusercontent.com/u/85099403?v=4?s=50\" width=\"50px;\" alt=\"JoonaKukkonen\"/><br /><sub><b>JoonaKukkonen</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=JoonaKukkonen\" title=\"Code\">\ud83d\udcbb</a> <a href=\"#infra-JoonaKukkonen\" title=\"Infrastructure (Hosting, Build-Tools, etc)\">\ud83d\ude87</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/jarno-k\"><img src=\"https://avatars.githubusercontent.com/u/84438313?v=4?s=50\" width=\"50px;\" alt=\"jarno-k\"/><br /><sub><b>jarno-k</b></sub></a><br /><a href=\"#ideas-jarno-k\" title=\"Ideas, Planning, & Feedback\">\ud83e\udd14</a> <a href=\"https://github.com/Aalto-Electric-Drives/motulator/pulls?q=is%3Apr+reviewed-by%3Ajarno-k\" title=\"Reviewed Pull Requests\">\ud83d\udc40</a> <a href=\"#mentoring-jarno-k\" title=\"Mentoring\">\ud83e\uddd1\u200d\ud83c\udfeb</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/angelicaiaderosa\"><img src=\"https://avatars.githubusercontent.com/u/112799415?v=4?s=50\" width=\"50px;\" alt=\"angelicaiaderosa\"/><br /><sub><b>angelicaiaderosa</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=angelicaiaderosa\" title=\"Code\">\ud83d\udcbb</a> <a href=\"#example-angelicaiaderosa\" title=\"Examples\">\ud83d\udca1</a></td>\n </tr>\n <tr>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://www.kth.se/profile/lucap\"><img src=\"https://avatars.githubusercontent.com/u/64190518?v=4?s=50\" width=\"50px;\" alt=\"Luca Peretti\"/><br /><sub><b>Luca Peretti</b></sub></a><br /><a href=\"#ideas-lucaperetti\" title=\"Ideas, Planning, & Feedback\">\ud83e\udd14</a> <a href=\"#promotion-lucaperetti\" title=\"Promotion\">\ud83d\udce3</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/GianmarioPellegrinoPolito\"><img src=\"https://avatars.githubusercontent.com/u/70333484?v=4?s=50\" width=\"50px;\" alt=\"GianmarioPellegrinoPolito\"/><br /><sub><b>GianmarioPellegrinoPolito</b></sub></a><br /><a href=\"#data-GianmarioPellegrinoPolito\" title=\"Data\">\ud83d\udd23</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/SimFerr\"><img src=\"https://avatars.githubusercontent.com/u/67151973?v=4?s=50\" width=\"50px;\" alt=\"Simone Ferrari\"/><br /><sub><b>Simone Ferrari</b></sub></a><br /><a href=\"#data-SimFerr\" title=\"Data\">\ud83d\udd23</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/Jialed0303\"><img src=\"https://avatars.githubusercontent.com/u/118135952?v=4?s=50\" width=\"50px;\" alt=\"Jialed0303\"/><br /><sub><b>Jialed0303</b></sub></a><br /><a href=\"#ideas-Jialed0303\" title=\"Ideas, Planning, & Feedback\">\ud83e\udd14</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/murgui\"><img src=\"https://avatars.githubusercontent.com/u/29175623?v=4?s=50\" width=\"50px;\" alt=\"murgui\"/><br /><sub><b>murgui</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3Amurgui\" title=\"Bug reports\">\ud83d\udc1b</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/iam-nithin-10\"><img src=\"https://avatars.githubusercontent.com/u/125553207?v=4?s=50\" width=\"50px;\" alt=\"Nithin Valiyaveettil Sadanandan\"/><br /><sub><b>Nithin Valiyaveettil Sadanandan</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3Aiam-nithin-10\" title=\"Bug reports\">\ud83d\udc1b</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/saarela\"><img src=\"https://avatars.githubusercontent.com/u/10281832?v=4?s=50\" width=\"50px;\" alt=\"saarela\"/><br /><sub><b>saarela</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3Asaarela\" title=\"Bug reports\">\ud83d\udc1b</a></td>\n </tr>\n <tr>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/UshnishChowdhury\"><img src=\"https://avatars.githubusercontent.com/u/35863166?v=4?s=50\" width=\"50px;\" alt=\"Ushnish\"/><br /><sub><b>Ushnish</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3AUshnishChowdhury\" title=\"Bug reports\">\ud83d\udc1b</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/Francesco-Lelli\"><img src=\"https://avatars.githubusercontent.com/u/127111681?v=4?s=50\" width=\"50px;\" alt=\"Francesco-Lelli\"/><br /><sub><b>Francesco-Lelli</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=Francesco-Lelli\" title=\"Code\">\ud83d\udcbb</a> <a href=\"#example-Francesco-Lelli\" title=\"Examples\">\ud83d\udca1</a> <a href=\"#ideas-Francesco-Lelli\" title=\"Ideas, Planning, & Feedback\">\ud83e\udd14</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/MiSaren\"><img src=\"https://avatars.githubusercontent.com/u/166725462?v=4?s=50\" width=\"50px;\" alt=\"Mikko Sar\u00e9n\"/><br /><sub><b>Mikko Sar\u00e9n</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=MiSaren\" title=\"Code\">\ud83d\udcbb</a> <a href=\"#example-MiSaren\" title=\"Examples\">\ud83d\udca1</a> <a href=\"#ideas-MiSaren\" title=\"Ideas, Planning, & Feedback\">\ud83e\udd14</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/maattaj11\"><img src=\"https://avatars.githubusercontent.com/u/165767331?v=4?s=50\" width=\"50px;\" alt=\"Juho M\u00e4\u00e4tt\u00e4\"/><br /><sub><b>Juho M\u00e4\u00e4tt\u00e4</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=maattaj11\" title=\"Code\">\ud83d\udcbb</a> <a href=\"#example-maattaj11\" title=\"Examples\">\ud83d\udca1</a> <a href=\"#ideas-maattaj11\" title=\"Ideas, Planning, & Feedback\">\ud83e\udd14</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://github.com/rayanmour\"><img src=\"https://avatars.githubusercontent.com/u/111271373?v=4?s=50\" width=\"50px;\" alt=\"rayanmour\"/><br /><sub><b>rayanmour</b></sub></a><br /><a href=\"https://github.com/Aalto-Electric-Drives/motulator/commits?author=rayanmour\" title=\"Code\">\ud83d\udcbb</a> <a href=\"#example-rayanmour\" title=\"Examples\">\ud83d\udca1</a> <a href=\"#ideas-rayanmour\" title=\"Ideas, Planning, & Feedback\">\ud83e\udd14</a> <a href=\"https://github.com/Aalto-Electric-Drives/motulator/pulls?q=is%3Apr+reviewed-by%3Arayanmour\" title=\"Reviewed Pull Requests\">\ud83d\udc40</a> <a href=\"#mentoring-rayanmour\" title=\"Mentoring\">\ud83e\uddd1\u200d\ud83c\udfeb</a></td>\n <td align=\"center\" valign=\"top\" width=\"14.28%\"><a href=\"https://cusma.algo.xyz/\"><img src=\"https://avatars.githubusercontent.com/u/65770425?v=4?s=50\" width=\"50px;\" alt=\"Cosimo Bassi\"/><br /><sub><b>Cosimo Bassi</b></sub></a><br /><a href=\"#infra-cusma\" title=\"Infrastructure (Hosting, Build-Tools, etc)\">\ud83d\ude87</a></td>\n </tr>\n </tbody>\n</table>\n\n<!-- markdownlint-restore -->\n<!-- prettier-ignore-end -->\n\n<!-- ALL-CONTRIBUTORS-LIST:END -->\n\nThis project follows the [all-contributors](https://github.com/all-contributors/all-contributors) specification. Contributions of any kind welcome!\n\nAcknowledgement\n---------------\nThis project has been sponsored by ABB Oy and by the Research Council of Finland *Centre of Excellence in High-Speed Electromechanical Energy Conversion Systems*. The example control methods included in this repository are based on published algorithms (available in textbooks and scientific articles). They do not present any proprietary control software.\n",
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