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A phase-locked regulator system (PLRS) of separately excited DC motors with a phase-frequency comparator is theoretically and experimentally studied. For the phase-frequency comparator a new non-linear but simple model which explains the system behaviour very well is introduced. System asymptotic stability is proved theoretically and stability criteria are given. The effect of input changes on system performance is quantitatively described. Finally it is shown that the theoretical results are in very good agreement with measurements obtained from an actual system on the basis of which some practical design aspects are discussed.
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Margaris et al. (1982) studied this question.
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