Text this: Improved PMSM pulsating torque minimization with iterative learning and sliding mode observer

  _  __   __   __    ____       ___      _____   
 | |/ //  \ \\/ //  |  _ \\    / _ \\   |__  //  
 | ' //    \ ` //   | |_| ||  / //\ \\    / //   
 | . \\     | ||    | .  //  |  ___  ||  / //__  
 |_|\_\\    |_||    |_|\_\\  |_||  |_|| /_____|| 
 `-` --`    `-`'    `-` --`  `-`   `-`  `-----`