Athough it seems pretty obvious to me, i didn't found any information about this method in sources, despite seeing 2 hours lectures about cosine error. How to make let's say 2,3 PWM output? You open bank account. We can only set 2 or 3 PWM value, so let's say, that at the beginning we set 2. After 58 ms we realise we are in debt. Our bank account saldo is ( 2 - 2,3 ) * 58 = -17,4 to pay this debt we set PWM at 3 and expect our saldo to be positive in next step, what will force us to set value at 2. And this while (1) certainly.
If you know dead scientist who patronises this method, let me know in the comment.
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