{
  "$type": "site.standard.document",
  "description": "A method comprises: generating a torque command for a motor of a vehicle, the torque command generated by a motor controller based at least in part on driver input; generating, by a feedback control scheme of the motor controller, a correction for the torque command; determining, by the motor…",
  "path": "/patents/1377551",
  "publishedAt": "2025-12-25T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60L15/2054",
    "Atieva, Inc."
  ],
  "textContent": "A method comprises: generating a torque command for a motor of a vehicle, the torque command generated by a motor controller based at least in part on driver input; generating, by a feedback control scheme of the motor controller, a correction for the torque command; determining, by the motor controller, whether a lash crossing event is expected to occur within a time period; in response to a determination that the lash crossing event is expected to occur within the time period, modifying the torque command with the correction to generate a resulting torque command; and controlling the motor using the resulting torque command.",
  "title": "DISTURBANCE REJECTION IN DRIVELINE"
}