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\bibstyle{IEEEtran} \bibstyle{IEEEtran}
\bibdata{PIR_MadMax3} \bibdata{PIR_MadMax3}

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@ -560,7 +560,10 @@ loops:
\end{figure} \end{figure}
Fig.~\ref{fig:cascaded-loop} illustrates the cascade architecture for the dynamics of the cargo bike. Fig.~\ref{fig:cascaded-loop} illustrates the cascade architecture for the dynamics of the cargo cart.
In this scheme, $x_{\text{ref}}$ denotes the desired position of the bicycle, whereas $x$ represents the measured
position of the cargo cart.
An outer Proportional Controller $K_{p,x}$ converts the position error $e_x = x_{\text{ref}} - x$ into a velocity An outer Proportional Controller $K_{p,x}$ converts the position error $e_x = x_{\text{ref}} - x$ into a velocity
reference $v_{\text{ref}}$, which serves as the set-point for the inner loop. reference $v_{\text{ref}}$, which serves as the set-point for the inner loop.
The inner Proportional Controller $K_{p,v}$ then transforms the velocity error $e_v = v_{\text{ref}} - v$ into a The inner Proportional Controller $K_{p,v}$ then transforms the velocity error $e_v = v_{\text{ref}} - v$ into a
@ -731,6 +734,14 @@ The VESC-based FOC PCB requires routing completion and prototype
manufacturing. Once fabricated, the board must be tested under real manufacturing. Once fabricated, the board must be tested under real
operating conditions (varying loads, road profiles, and battery voltage). operating conditions (varying loads, road profiles, and battery voltage).
\subsection{Control Strategy Enhancement}
Future work includes the implementation and comparison of the PI controller and the cascaded control structure on the
cargo cart, in order to evaluate their performance under different conditions (load variations, road profiles, etc.).
In addition, the lack of direct velocity measurements limited the ability to fully characterise the system dynamics.
Adding a speed measurement or improving state estimation would allow a more complete analysis of the model.
% ******************************** CONCLUSION ************************************************************************** % ******************************** CONCLUSION **************************************************************************
\section{Conclusion/Summary} \section{Conclusion/Summary}