Update documentation

Aalto-Electric-Drives · Jun 11, 2024 · cf3fd10 · cf3fd10
1 parent eb6c48e
commit cf3fd10
Show file tree

Hide file tree

Showing 161 changed files with 1,224 additions and 1,210 deletions.
diff --git a/docs/_downloads/008b6d00098622dbcbc376d01ebf6d6e/plot_obs_vhz_ctrl_syrm_7kw.py b/docs/_downloads/008b6d00098622dbcbc376d01ebf6d6e/plot_obs_vhz_ctrl_syrm_7kw.py
@@ -90,9 +90,9 @@ def i_s(psi_s):
 # Configure the control system.
 
 par = SynchronousMachinePars(n_p=2, R_s=.54, L_d=37e-3, L_q=6.2e-3, psi_f=0)
-cfg = control.ObserverBasedVHzCtrlCfg(
+cfg = control.ObserverBasedVHzControlCfg(
     par, max_i_s=2*base.i, min_psi_s=base.psi, max_psi_s=base.psi)
-ctrl = control.ObserverBasedVHzCtrl(par, cfg)
+ctrl = control.ObserverBasedVHzControl(par, cfg)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/docs/_downloads/07fcc19ba03226cd3d83d4e40ec44385/auto_examples_python.zip b/docs/_downloads/07fcc19ba03226cd3d83d4e40ec44385/auto_examples_python.zip
diff --git a/docs/_downloads/08e838bf878827480241fb7f12fd06f3/plot_obs_vhz_ctrl_im_2kw.py b/docs/_downloads/08e838bf878827480241fb7f12fd06f3/plot_obs_vhz_ctrl_im_2kw.py
@@ -39,9 +39,9 @@
 
 # Inverse-Γ model parameter estimates
 par = mdl_ig_par  # Assume accurate machine model parameter estimates
-cfg = control.ObserverBasedVHzCtrlCfg(
+cfg = control.ObserverBasedVHzControlCfg(
     nom_psi_s=base.psi, max_i_s=1.5*base.i, slip_compensation=False)
-ctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)
+ctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)
 
 # %%
 # Set the speed reference.

diff --git a/docs/_downloads/0caf7e993f270b64263d3eed41903c63/plot_signal_inj_pmsm_2kw.py b/docs/_downloads/0caf7e993f270b64263d3eed41903c63/plot_signal_inj_pmsm_2kw.py
@@ -37,8 +37,8 @@
 
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=2*base.i)
-ctrl = control.SignalInjectionCtrl(par, cfg, J=.015, T_s=250e-6)
-# ctrl.current_ctrl = control.sm.CurrentCtrl(par, 2*np.pi*100)
+ctrl = control.SignalInjectionControl(par, cfg, J=.015, T_s=250e-6)
+# ctrl.current_ctrl = control.sm.CurrentControl(par, 2*np.pi*100)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/docs/_downloads/0e90ff21c9746465ac1c76f3266533b9/plot_flux_vector_pmsyrm_5kw.py b/docs/_downloads/0e90ff21c9746465ac1c76f3266533b9/plot_flux_vector_pmsyrm_5kw.py
@@ -163,7 +163,7 @@ def i_s(psi_s):
 # Limit the maximum reference flux to the base value
 cfg = control.FluxTorqueReferenceCfg(
     par, max_i_s=2*base.i, k_u=1, max_psi_s=base.psi)
-ctrl = control.FluxVectorCtrl(par, cfg, J=.015, sensorless=True)
+ctrl = control.FluxVectorControl(par, cfg, J=.015, sensorless=True)
 # Select a lower speed-estimation bandwidth to mitigate the saturation effects
 ctrl.observer = control.Observer(
     control.ObserverCfg(par, alpha_o=2*np.pi*40, sensorless=True))

diff --git a/docs/_downloads/107fbc64ef11ee5f549b21d03ef04624/plot_vhz_ctrl_6step_im_2kw.py b/docs/_downloads/107fbc64ef11ee5f549b21d03ef04624/plot_vhz_ctrl_6step_im_2kw.py
@@ -44,8 +44,9 @@
 # Control system (parametrized as open-loop V/Hz control).
 
 par = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)
-ctrl = control.VHzCtrl(
-    control.VHzCtrlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0, six_step=True))
+ctrl = control.VHzControl(
+    control.VHzControlCfg(
+        par, nom_psi_s=base.psi, k_u=0, k_w=0, six_step=True))
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/docs/_downloads/1a902c1ab2092d406c661fb4146e7d95/plot_flux_vector_pmsm_2kw.ipynb b/docs/_downloads/1a902c1ab2092d406c661fb4146e7d95/plot_flux_vector_pmsm_2kw.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.FluxTorqueReferenceCfg(par, max_i_s=1.5*base.i, k_u=.9)\nctrl = control.FluxVectorCtrl(par, cfg, J=.015, T_s=250e-6, sensorless=True)"
+        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.FluxTorqueReferenceCfg(par, max_i_s=1.5*base.i, k_u=.9)\nctrl = control.FluxVectorControl(par, cfg, J=.015, T_s=250e-6, sensorless=True)"
       ]
     },
     {

diff --git a/docs/_downloads/25d1238a73e8b59c79b698bd00e5ad03/plot_obs_vhz_ctrl_pmsyrm_thor.ipynb b/docs/_downloads/25d1238a73e8b59c79b698bd00e5ad03/plot_obs_vhz_ctrl_pmsyrm_thor.ipynb
@@ -105,7 +105,7 @@
       },
       "outputs": [],
       "source": [
-        "par = SynchronousMachinePars(n_p=2, R_s=.2, L_d=4e-3, L_q=17e-3, psi_f=.134)\ncfg = control.ObserverBasedVHzCtrlCfg(par, max_i_s=2*base.i)\nctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)"
+        "par = SynchronousMachinePars(n_p=2, R_s=.2, L_d=4e-3, L_q=17e-3, psi_f=.134)\ncfg = control.ObserverBasedVHzControlCfg(par, max_i_s=2*base.i)\nctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)"
       ]
     },
     {

diff --git a/docs/_downloads/2a8735a75a47cb0897acb78102cddd78/plot_obs_vhz_ctrl_syrm_7kw.ipynb b/docs/_downloads/2a8735a75a47cb0897acb78102cddd78/plot_obs_vhz_ctrl_syrm_7kw.ipynb
@@ -87,7 +87,7 @@
       },
       "outputs": [],
       "source": [
-        "par = SynchronousMachinePars(n_p=2, R_s=.54, L_d=37e-3, L_q=6.2e-3, psi_f=0)\ncfg = control.ObserverBasedVHzCtrlCfg(\n    par, max_i_s=2*base.i, min_psi_s=base.psi, max_psi_s=base.psi)\nctrl = control.ObserverBasedVHzCtrl(par, cfg)"
+        "par = SynchronousMachinePars(n_p=2, R_s=.54, L_d=37e-3, L_q=6.2e-3, psi_f=0)\ncfg = control.ObserverBasedVHzControlCfg(\n    par, max_i_s=2*base.i, min_psi_s=base.psi, max_psi_s=base.psi)\nctrl = control.ObserverBasedVHzControl(par, cfg)"
       ]
     },
     {

diff --git a/docs/_downloads/321b0e8f049c7151d7ee6120ccff1890/plot_obs_vhz_ctrl_pmsm_2kw_two_mass.py b/docs/_downloads/321b0e8f049c7151d7ee6120ccff1890/plot_obs_vhz_ctrl_pmsm_2kw_two_mass.py
@@ -41,8 +41,8 @@
 # Configure the control system.
 
 par = mdl_par  # Assume accurate machine model parameter estimates
-cfg = control.ObserverBasedVHzCtrlCfg(par, max_i_s=1.5*base.i)
-ctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)
+cfg = control.ObserverBasedVHzControlCfg(par, max_i_s=1.5*base.i)
+ctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)
 #ctrl.rate_limiter = control.RateLimiter(2*np.pi*120)
 
 # %%

diff --git a/docs/_downloads/32b0d0b5a5953f003c957fd40639cf0f/plot_obs_vhz_ctrl_pmsyrm_thor.py b/docs/_downloads/32b0d0b5a5953f003c957fd40639cf0f/plot_obs_vhz_ctrl_pmsyrm_thor.py
@@ -105,8 +105,8 @@ def i_s(psi_s):
 # Configure the control system.
 
 par = SynchronousMachinePars(n_p=2, R_s=.2, L_d=4e-3, L_q=17e-3, psi_f=.134)
-cfg = control.ObserverBasedVHzCtrlCfg(par, max_i_s=2*base.i)
-ctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)
+cfg = control.ObserverBasedVHzControlCfg(par, max_i_s=2*base.i)
+ctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/docs/_downloads/33c3e58b193eb317d00dc39d7c8aea3c/plot_vector_ctrl_pmsm_2kw.py b/docs/_downloads/33c3e58b193eb317d00dc39d7c8aea3c/plot_vector_ctrl_pmsm_2kw.py
@@ -36,7 +36,8 @@
 
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=1.5*base.i)
-ctrl = control.CurrentVectorCtrl(par, cfg, J=.015, T_s=250e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(
+    par, cfg, J=.015, T_s=250e-6, sensorless=True)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/docs/_downloads/3a0268e3c6ff58e6137b770236599e4d/plot_vhz_ctrl_im_2kw_lc.py b/docs/_downloads/3a0268e3c6ff58e6137b770236599e4d/plot_vhz_ctrl_im_2kw_lc.py
@@ -43,8 +43,8 @@
 
 # Inverse-Γ model parameter estimates
 par = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)
-ctrl = control.VHzCtrl(
-    control.VHzCtrlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))
+ctrl = control.VHzControl(
+    control.VHzControlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))
 
 # %%
 # Set the speed reference. The external load torque is zero (by default).
@@ -75,7 +75,7 @@
     mdl.converter.data.u_cs.real/base.u,
     label=r"$u_\mathrm{ca}$")
 ax1.plot(
-    mdl.converter.data.t,
+    mdl.machine.data.t,
     mdl.machine.data.u_ss.real/base.u,
     label=r"$u_\mathrm{sa}$")
 ax1.set_xlim(t_span)
@@ -88,7 +88,7 @@
     mdl.converter.data.i_cs.real/base.i,
     label=r"$i_\mathrm{ca}$")
 ax2.plot(
-    mdl.converter.data.t,
+    mdl.machine.data.t,
     mdl.machine.data.i_ss.real/base.i,
     label=r"$i_\mathrm{sa}$")
 ax2.set_xlim(t_span)

diff --git a/docs/_downloads/3b85a2a28df68a21ae1317e13158dde6/plot_vector_ctrl_syrm_7kw.py b/docs/_downloads/3b85a2a28df68a21ae1317e13158dde6/plot_vector_ctrl_syrm_7kw.py
@@ -37,7 +37,8 @@
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.CurrentReferenceCfg(
     par, nom_w_m=base.w, max_i_s=1.5*base.i, min_psi_s=.5*base.psi, k_u=.9)
-ctrl = control.CurrentVectorCtrl(par, cfg, J=.015, T_s=125e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(
+    par, cfg, J=.015, T_s=125e-6, sensorless=True)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/docs/_downloads/40a1743246f42299b8096717d9571612/plot_obs_vhz_ctrl_pmsm_2kw.ipynb b/docs/_downloads/40a1743246f42299b8096717d9571612/plot_obs_vhz_ctrl_pmsm_2kw.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.ObserverBasedVHzCtrlCfg(par, max_i_s=1.5*base.i)\nctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)\n#ctrl.rate_limiter = control.RateLimiter(2*np.pi*120)"
+        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.ObserverBasedVHzControlCfg(par, max_i_s=1.5*base.i)\nctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)\n#ctrl.rate_limiter = control.RateLimiter(2*np.pi*120)"
       ]
     },
     {

diff --git a/docs/_downloads/413262ad79b6f6e486efc1754ad5e05d/plot_signal_inj_pmsm_2kw.ipynb b/docs/_downloads/413262ad79b6f6e486efc1754ad5e05d/plot_signal_inj_pmsm_2kw.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=2*base.i)\nctrl = control.SignalInjectionCtrl(par, cfg, J=.015, T_s=250e-6)\n# ctrl.current_ctrl = control.sm.CurrentCtrl(par, 2*np.pi*100)"
+        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=2*base.i)\nctrl = control.SignalInjectionControl(par, cfg, J=.015, T_s=250e-6)\n# ctrl.current_ctrl = control.sm.CurrentControl(par, 2*np.pi*100)"
       ]
     },
     {

diff --git a/docs/_downloads/4b900cbf3baa72eac7ddc3463d10efb3/plot_flux_vector_pmsm_2kw.py b/docs/_downloads/4b900cbf3baa72eac7ddc3463d10efb3/plot_flux_vector_pmsm_2kw.py
@@ -33,7 +33,7 @@
 
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.FluxTorqueReferenceCfg(par, max_i_s=1.5*base.i, k_u=.9)
-ctrl = control.FluxVectorCtrl(par, cfg, J=.015, T_s=250e-6, sensorless=True)
+ctrl = control.FluxVectorControl(par, cfg, J=.015, T_s=250e-6, sensorless=True)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/docs/_downloads/4cbdc04e08950a0a4c3fdc370e5c6f89/plot_flux_vector_pmsyrm_5kw.ipynb b/docs/_downloads/4cbdc04e08950a0a4c3fdc370e5c6f89/plot_flux_vector_pmsyrm_5kw.ipynb
@@ -123,7 +123,7 @@
       },
       "outputs": [],
       "source": [
-        "# Control system is based on the constant inductances\npar = SynchronousMachinePars(n_p=2, R_s=.63, L_d=18e-3, L_q=110e-3, psi_f=.47)\n# Limit the maximum reference flux to the base value\ncfg = control.FluxTorqueReferenceCfg(\n    par, max_i_s=2*base.i, k_u=1, max_psi_s=base.psi)\nctrl = control.FluxVectorCtrl(par, cfg, J=.015, sensorless=True)\n# Select a lower speed-estimation bandwidth to mitigate the saturation effects\nctrl.observer = control.Observer(\n    control.ObserverCfg(par, alpha_o=2*np.pi*40, sensorless=True))"
+        "# Control system is based on the constant inductances\npar = SynchronousMachinePars(n_p=2, R_s=.63, L_d=18e-3, L_q=110e-3, psi_f=.47)\n# Limit the maximum reference flux to the base value\ncfg = control.FluxTorqueReferenceCfg(\n    par, max_i_s=2*base.i, k_u=1, max_psi_s=base.psi)\nctrl = control.FluxVectorControl(par, cfg, J=.015, sensorless=True)\n# Select a lower speed-estimation bandwidth to mitigate the saturation effects\nctrl.observer = control.Observer(\n    control.ObserverCfg(par, alpha_o=2*np.pi*40, sensorless=True))"
       ]
     },
     {

diff --git a/docs/_downloads/575fba068cfee95663babe7799456a42/plot_obs_vhz_ctrl_im_2kw.ipynb b/docs/_downloads/575fba068cfee95663babe7799456a42/plot_obs_vhz_ctrl_im_2kw.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "# Inverse-\u0393 model parameter estimates\npar = mdl_ig_par  # Assume accurate machine model parameter estimates\ncfg = control.ObserverBasedVHzCtrlCfg(\n    nom_psi_s=base.psi, max_i_s=1.5*base.i, slip_compensation=False)\nctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)"
+        "# Inverse-\u0393 model parameter estimates\npar = mdl_ig_par  # Assume accurate machine model parameter estimates\ncfg = control.ObserverBasedVHzControlCfg(\n    nom_psi_s=base.psi, max_i_s=1.5*base.i, slip_compensation=False)\nctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)"
       ]
     },
     {

diff --git a/docs/_downloads/5c5462abbacc47f76538a5bef10a227e/plot_vector_ctrl_im_2kw.py b/docs/_downloads/5c5462abbacc47f76538a5bef10a227e/plot_vector_ctrl_im_2kw.py
@@ -57,11 +57,12 @@ def L_s(psi, L_su=.34, beta=.84, S=7):
 cfg = control.CurrentReferenceCfg(
     par, max_i_s=1.5*base.i, nom_u_s=base.u, nom_w_s=base.w)
 # Create the control system
-ctrl = control.CurrentVectorCtrl(par, cfg, J=.015, T_s=250e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(
+    par, cfg, J=.015, T_s=250e-6, sensorless=True)
 # As an example, you may replace the default 2DOF PI speed controller with the
 # regular PI speed controller by uncommenting the following line
-# from motulator.common.control import PICtrl
-# ctrl.speed_ctrl = PICtrl(k_p=1, k_i=1)
+# from motulator.common.control import PIController
+# ctrl.speed_ctrl = PIController(k_p=1, k_i=1)
 
 # %%
 # Set the speed reference and the external load torque. You may also try to

diff --git a/docs/_downloads/6f1e7a639e0699d6164445b55e6c116d/auto_examples_jupyter.zip b/docs/_downloads/6f1e7a639e0699d6164445b55e6c116d/auto_examples_jupyter.zip
diff --git a/docs/_downloads/79539a8c2db262717687591048fde041/plot_vector_ctrl_pmsm_2kw.ipynb b/docs/_downloads/79539a8c2db262717687591048fde041/plot_vector_ctrl_pmsm_2kw.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=1.5*base.i)\nctrl = control.CurrentVectorCtrl(par, cfg, J=.015, T_s=250e-6, sensorless=True)"
+        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=1.5*base.i)\nctrl = control.CurrentVectorControl(\n    par, cfg, J=.015, T_s=250e-6, sensorless=True)"
       ]
     },
     {

diff --git a/docs/_downloads/7b8c7612bd84de9f52110b924d3ec0fb/plot_vhz_ctrl_6step_im_2kw.ipynb b/docs/_downloads/7b8c7612bd84de9f52110b924d3ec0fb/plot_vhz_ctrl_6step_im_2kw.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "par = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)\nctrl = control.VHzCtrl(\n    control.VHzCtrlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0, six_step=True))"
+        "par = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)\nctrl = control.VHzControl(\n    control.VHzControlCfg(\n        par, nom_psi_s=base.psi, k_u=0, k_w=0, six_step=True))"
       ]
     },
     {

diff --git a/docs/_downloads/822ca16ec2c87f4b1cb305aa4eafaca5/plot_vector_ctrl_im_2kw.ipynb b/docs/_downloads/822ca16ec2c87f4b1cb305aa4eafaca5/plot_vector_ctrl_im_2kw.ipynb
@@ -87,7 +87,7 @@
       },
       "outputs": [],
       "source": [
-        "# Machine model parameter estimates\npar = InductionMachineInvGammaPars(\n    n_p=2, R_s=3.7, R_R=2.1, L_sgm=.021, L_M=.224)\n# Set nominal values and limits for reference generation\ncfg = control.CurrentReferenceCfg(\n    par, max_i_s=1.5*base.i, nom_u_s=base.u, nom_w_s=base.w)\n# Create the control system\nctrl = control.CurrentVectorCtrl(par, cfg, J=.015, T_s=250e-6, sensorless=True)\n# As an example, you may replace the default 2DOF PI speed controller with the\n# regular PI speed controller by uncommenting the following line\n# from motulator.common.control import PICtrl\n# ctrl.speed_ctrl = PICtrl(k_p=1, k_i=1)"
+        "# Machine model parameter estimates\npar = InductionMachineInvGammaPars(\n    n_p=2, R_s=3.7, R_R=2.1, L_sgm=.021, L_M=.224)\n# Set nominal values and limits for reference generation\ncfg = control.CurrentReferenceCfg(\n    par, max_i_s=1.5*base.i, nom_u_s=base.u, nom_w_s=base.w)\n# Create the control system\nctrl = control.CurrentVectorControl(\n    par, cfg, J=.015, T_s=250e-6, sensorless=True)\n# As an example, you may replace the default 2DOF PI speed controller with the\n# regular PI speed controller by uncommenting the following line\n# from motulator.common.control import PIController\n# ctrl.speed_ctrl = PIController(k_p=1, k_i=1)"
       ]
     },
     {

diff --git a/docs/_downloads/8d2d9b3726dcd25847103191cbbd4d9b/plot_obs_vhz_ctrl_pmsm_2kw_two_mass.ipynb b/docs/_downloads/8d2d9b3726dcd25847103191cbbd4d9b/plot_obs_vhz_ctrl_pmsm_2kw_two_mass.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.ObserverBasedVHzCtrlCfg(par, max_i_s=1.5*base.i)\nctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)\n#ctrl.rate_limiter = control.RateLimiter(2*np.pi*120)"
+        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.ObserverBasedVHzControlCfg(par, max_i_s=1.5*base.i)\nctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)\n#ctrl.rate_limiter = control.RateLimiter(2*np.pi*120)"
       ]
     },
     {

diff --git a/docs/_downloads/8d71d9beddebfc5186f11a98c9c29e77/plot_vhz_ctrl_im_2kw_lc.ipynb b/docs/_downloads/8d71d9beddebfc5186f11a98c9c29e77/plot_vhz_ctrl_im_2kw_lc.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "# Inverse-\u0393 model parameter estimates\npar = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)\nctrl = control.VHzCtrl(\n    control.VHzCtrlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))"
+        "# Inverse-\u0393 model parameter estimates\npar = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)\nctrl = control.VHzControl(\n    control.VHzControlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))"
       ]
     },
     {
@@ -141,7 +141,7 @@
       },
       "outputs": [],
       "source": [
-        "t_span = (1.1, 1.125)  # Time span for the zoomed-in plot\nmdl = sim.mdl  # Continuous-time data\n# Plot the converter and stator voltages (phase a)\nfig1, (ax1, ax2) = plt.subplots(2, 1)\nax1.plot(\n    mdl.converter.data.t,\n    mdl.converter.data.u_cs.real/base.u,\n    label=r\"$u_\\mathrm{ca}$\")\nax1.plot(\n    mdl.converter.data.t,\n    mdl.machine.data.u_ss.real/base.u,\n    label=r\"$u_\\mathrm{sa}$\")\nax1.set_xlim(t_span)\nax1.legend()\nax1.set_xticklabels([])\nax1.set_ylabel(\"Voltage (p.u.)\")\n# Plot the converter and stator currents (phase a)\nax2.plot(\n    mdl.converter.data.t,\n    mdl.converter.data.i_cs.real/base.i,\n    label=r\"$i_\\mathrm{ca}$\")\nax2.plot(\n    mdl.converter.data.t,\n    mdl.machine.data.i_ss.real/base.i,\n    label=r\"$i_\\mathrm{sa}$\")\nax2.set_xlim(t_span)\nax2.legend()\nax2.set_ylabel(\"Current (p.u.)\")\nax2.set_xlabel(\"Time (s)\")\n\nplt.tight_layout()\nplt.show()"
+        "t_span = (1.1, 1.125)  # Time span for the zoomed-in plot\nmdl = sim.mdl  # Continuous-time data\n# Plot the converter and stator voltages (phase a)\nfig1, (ax1, ax2) = plt.subplots(2, 1)\nax1.plot(\n    mdl.converter.data.t,\n    mdl.converter.data.u_cs.real/base.u,\n    label=r\"$u_\\mathrm{ca}$\")\nax1.plot(\n    mdl.machine.data.t,\n    mdl.machine.data.u_ss.real/base.u,\n    label=r\"$u_\\mathrm{sa}$\")\nax1.set_xlim(t_span)\nax1.legend()\nax1.set_xticklabels([])\nax1.set_ylabel(\"Voltage (p.u.)\")\n# Plot the converter and stator currents (phase a)\nax2.plot(\n    mdl.converter.data.t,\n    mdl.converter.data.i_cs.real/base.i,\n    label=r\"$i_\\mathrm{ca}$\")\nax2.plot(\n    mdl.machine.data.t,\n    mdl.machine.data.i_ss.real/base.i,\n    label=r\"$i_\\mathrm{sa}$\")\nax2.set_xlim(t_span)\nax2.legend()\nax2.set_ylabel(\"Current (p.u.)\")\nax2.set_xlabel(\"Time (s)\")\n\nplt.tight_layout()\nplt.show()"
       ]
     },
     {

diff --git a/docs/_downloads/8e207436b84cf331b0ee771aa344acf5/plot_vector_ctrl_pmsyrm_thor.ipynb b/docs/_downloads/8e207436b84cf331b0ee771aa344acf5/plot_vector_ctrl_pmsyrm_thor.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.CurrentReferenceCfg(\n    par, nom_w_m=base.w, max_i_s=2*base.i, k_u=.9)\nctrl = control.CurrentVectorCtrl(\n    par, cfg, T_s=125e-6, J=.0042, sensorless=True)\nctrl.observer = control.Observer(\n    control.ObserverCfg(par, sensorless=True, alpha_o=2*np.pi*200))\nctrl.speed_ctrl = control.SpeedCtrl(\n    J=.0042, alpha_s=2*np.pi*4, max_tau_M=1.5*nom.tau)"
+        "par = mdl_par  # Assume accurate machine model parameter estimates\ncfg = control.CurrentReferenceCfg(\n    par, nom_w_m=base.w, max_i_s=2*base.i, k_u=.9)\nctrl = control.CurrentVectorControl(\n    par, cfg, T_s=125e-6, J=.0042, sensorless=True)\nctrl.observer = control.Observer(\n    control.ObserverCfg(par, sensorless=True, alpha_o=2*np.pi*200))\nctrl.speed_ctrl = control.SpeedController(\n    J=.0042, alpha_s=2*np.pi*4, max_tau_M=1.5*nom.tau)"
       ]
     },
     {

diff --git a/docs/_downloads/94eb46c7836b259aa9d3df935bcd1b6c/plot_vector_ctrl_pmsm_2kw_diode.py b/docs/_downloads/94eb46c7836b259aa9d3df935bcd1b6c/plot_vector_ctrl_pmsm_2kw_diode.py
@@ -35,7 +35,8 @@
 
 par = mdl_par  # Assume accurate machine model parameter estimates
 ref = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=1.5*base.i)
-ctrl = control.CurrentVectorCtrl(par, ref, J=.015, T_s=250e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(
+    par, ref, J=.015, T_s=250e-6, sensorless=True)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/docs/_downloads/96a859b7e37d7f2d87be0f4a4ed8bdca/plot_vector_ctrl_pmsyrm_thor.py b/docs/_downloads/96a859b7e37d7f2d87be0f4a4ed8bdca/plot_vector_ctrl_pmsyrm_thor.py
@@ -40,11 +40,11 @@
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.CurrentReferenceCfg(
     par, nom_w_m=base.w, max_i_s=2*base.i, k_u=.9)
-ctrl = control.CurrentVectorCtrl(
+ctrl = control.CurrentVectorControl(
     par, cfg, T_s=125e-6, J=.0042, sensorless=True)
 ctrl.observer = control.Observer(
     control.ObserverCfg(par, sensorless=True, alpha_o=2*np.pi*200))
-ctrl.speed_ctrl = control.SpeedCtrl(
+ctrl.speed_ctrl = control.SpeedController(
     J=.0042, alpha_s=2*np.pi*4, max_tau_M=1.5*nom.tau)
 
 # %%

diff --git a/docs/_downloads/976c00e094a2f509f63377205e8e22fd/plot_vhz_ctrl_im_2kw.ipynb b/docs/_downloads/976c00e094a2f509f63377205e8e22fd/plot_vhz_ctrl_im_2kw.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "# Inverse-\u0393 model parameter estimates\npar = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)\nctrl = control.VHzCtrl(\n    control.VHzCtrlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))"
+        "# Inverse-\u0393 model parameter estimates\npar = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)\nctrl = control.VHzControl(\n    control.VHzControlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))"
       ]
     },
     {

diff --git a/docs/_downloads/a0f7cfd6c933b361aa1fc57bf2b01903/plot_vector_ctrl_pmsm_2kw_diode.ipynb b/docs/_downloads/a0f7cfd6c933b361aa1fc57bf2b01903/plot_vector_ctrl_pmsm_2kw_diode.ipynb
@@ -69,7 +69,7 @@
       },
       "outputs": [],
       "source": [
-        "par = mdl_par  # Assume accurate machine model parameter estimates\nref = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=1.5*base.i)\nctrl = control.CurrentVectorCtrl(par, ref, J=.015, T_s=250e-6, sensorless=True)"
+        "par = mdl_par  # Assume accurate machine model parameter estimates\nref = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=1.5*base.i)\nctrl = control.CurrentVectorControl(\n    par, ref, J=.015, T_s=250e-6, sensorless=True)"
       ]
     },
     {

diff --git a/docs/_downloads/a6780e3615b2fdb579e6950e96d03d37/plot_vector_ctrl_im_2kw_tq_mode.py b/docs/_downloads/a6780e3615b2fdb579e6950e96d03d37/plot_vector_ctrl_im_2kw_tq_mode.py
@@ -44,7 +44,7 @@
 cfg = control.CurrentReferenceCfg(
     par, max_i_s=1.5*base.i, nom_u_s=base.u, nom_w_s=base.w)
 # Create the control system
-ctrl = control.CurrentVectorCtrl(par, cfg, T_s=250e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(par, cfg, T_s=250e-6, sensorless=True)
 
 # %%
 # Set the torque reference and the actual speed.