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Related Concept Videos

Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
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Electro-mechanical Systems01:19

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Frequency-Domain Interpretation of PD Control01:24

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Back EMF01:24

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Absolute Motion Analysis- General Plane Motion01:24

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Related Experiment Video

Updated: Jun 27, 2026

A Method for Evaluating Timeliness and Accuracy of Volitional Motor Responses to Vibrotactile Stimuli
07:28

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Published on: August 2, 2016

Analysis of Intentional Electromagnetic Interference Effects on PWM Command Interpretation in UAV BLDC Motor

Hyunsu Cho1, Euijin Kim1, Wonsuk Choi1

  • 1School of Cybersecurity, Korea University, Seoul 02841, Republic of Korea.

Sensors (Basel, Switzerland)
|June 26, 2026
PubMed
Summary

Intentional electromagnetic interference (IEMI) can cause brushless DC motor controllers in multirotor unmanned aerial vehicles (UAVs) to stop. This study analyzes how disturbances on pulse-width modulation (PWM) signals affect ESCs, revealing vulnerabilities dependent on both ESC and cable design.

Keywords:
UAV securitybrushless DC motorelectronic speed controllerintentional electromagnetic interferencemotor stoppagephysical-layer attackpulse-width modulation

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Last Updated: Jun 27, 2026

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07:28

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06:45

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Published on: October 28, 2022

Area of Science:

  • Electrical Engineering
  • Electromagnetics
  • Control Systems

Background:

  • Multirotor unmanned aerial vehicles (UAVs) utilize electronic speed controllers (ESCs) to interpret pulse-width modulation (PWM) signals for motor control.
  • The flight-controller-to-ESC communication pathway presents a physical-layer vulnerability to intentional electromagnetic interference (IEMI).

Purpose of the Study:

  • To perform a mechanism-based analysis of IEMI attacks causing motor stoppage in UAV brushless DC motor controllers.
  • To develop and experimentally validate a timing-error model for IEMI susceptibility in ESCs.

Main Methods:

  • Developed a timing-error model analyzing sinusoidal disturbances on PWM lines affecting ESC edge detection.
  • Experimentally characterized IEMI susceptibility on five commercial ESCs using conducted and radiated injection methods.
  • Investigated the influence of PWM cable length and coupling response on ESC vulnerability.

Main Results:

  • Identified significant variations (over an order of magnitude) in IEMI susceptibility thresholds across different ESCs.
  • Demonstrated that both PWM cable coupling response and ESC input-path transfer function shape disturbance propagation.
  • Observed that susceptible frequencies shift with PWM cable length due to transmission-line resonance, indicating joint ESC-cable susceptibility.

Conclusions:

  • UAV ESCs are susceptible to IEMI-induced motor stoppage through disturbances on PWM signals.
  • ESC susceptibility is not an intrinsic property but a result of the combined design of the ESC and its associated PWM cable.
  • Further research on shorter, deployment-realistic cable lengths is crucial for understanding real-world IEMI risks in UAVs.