% Clear workspace
close all
clear
clc

% Load model parameters
Ts                  = 5e-7;                         % [s] Model sampling time (200 KHz)
Ts_ctrl             = 6e-5;                     % [s] Controller sampling time (50us)5e-5
f_speed_ctrl        = 500;                          % [Hz] Speed/torque Controller frequency = (500 Hz)
Ts_Spd_ctl          = 1/f_speed_ctrl;

%Simulink provider Motor parameters
n_polePairs  = 4;        % [-] Number of motor pole pairs
PM           = 0.01688;   % Permanent magnet flux linkage, 
Ld           = 0.07e-3;% d-axis inductance, 
Lq           = 0.150e-3; % q-axis inductance,
Rs           = 0.011;   % Stator resistance,
J            = 0.03945; % Moment of inertia,
bandwith     = 5000;
i_Udc        = 96;      % DCbus max voltage