**10. Controlled system in different speeds and different driver torques**

**Figure 14** shows three signals (i) motor current tracking of the look-up table, (ii) driving wheel input torque and (iii) the electric motor output current. The vehicle speed is 20km/h while the driver input torque is represented as a sine wave of 9 N.m amplitude.

**Figure 14.** Driver torque and motor current in 20 km/h.

When the input torque of driving wheel *Td* is less than the threshold value *Td*<sup>0</sup> <sup>=</sup> <sup>1</sup>*<sup>N</sup>* . *<sup>m</sup>*, motor does not provide power, so the assist current would be zero, when *Td* is between *Td*<sup>0</sup> <sup>=</sup> <sup>1</sup>*<sup>N</sup>* . *<sup>m</sup>* and *Tdmax* <sup>=</sup> <sup>7</sup>*<sup>N</sup>* . *<sup>m</sup>*, motor current has a rising with *Td* , and it depends on the car speed. When *Td* is above *Tdmax*, the motor output is a constant torque.
