... accounthere.One is the calculation of the rms value of the current errorwhich, of course, is related to the energy of the error and, therefore, to the dynamic performance of the current controller.Differently ... presents the considered control techniques,providing for each of them both a short description of the basicfeatures and the discussion of the main refinements character-izing the state -of- the- art ... focuses on the identification of proper criteria for correctly comparing the three controllers’ performance. Then,after a short description of the principles of the three controltechniques and the...