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TIDA-01604: Some question about the current loop model in 01604

Part Number: TIDA-01604

Hello,recently I'm learning about the Tida-01604,and I have some question about the current loop model and DC bus regulation loop.

could you help me to show the process of the equations' derivation from the control model(fig.7 and fig.8)

I made some efforts but failed.

thanks very very much.