Geodesic
Linearized mathematical model of synchronous motor with various methods of speed control
Journal of Samara State Technical University, Ser. Physical and Mathematical Sciences, no. 1 (2008), pp. 102-107.

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Various methods of synchronous motor speed control are considered. Differential equations and structures of synchronous motor being the object with various methods of control are presented. Equations of motor motion have been linearized, transfer functions related with control and perturbation have been obtained. 
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M. S. Lysov; A. V. Starikov; V. A. Starikov. Linearized mathematical model of synchronous motor with various methods of speed control. Journal of Samara State Technical University, Ser. Physical and Mathematical Sciences, no. 1 (2008), pp. 102-107. http://geodesic.mathdoc.fr/item/VSGTU_2008_1_a15/

[1] Mikhailov O. P., Avtomatizirovannyi elektroprivod stankov i promyshlennykh robotov, Mashinostroenie, M., 1990

[2] Starikov A. V., “Linearizovannaya matematicheskaya model asinkhronnogo elektrodvigatelya kak ob'ekta sistemy chastotnogo upravleniya”, Vestn. Sam. gos. tekhn. un-ta. Ser.: Fiz.-mat. nauki, 2002, no. 16, 175–180 | DOI

[3] Terekhov V. M., Osipov O. I., Sistemy upravleniya elektroprivodov: Uchebnik dlya stud. vyssh. ucheb. zavedenii, ed. V. M. Terekhov, Akademik, M., 2005