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![PDF] Implementation of Closed-Loop Stepper Motor Driver Based on Lead Angle Estimation | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/127b3a3b3df4bec9ffe3d9c104e7e335d7c45e41/2-Figure2-1.png "PDF] Implementation of Closed-Loop Stepper Motor Driver Based on Lead Angle Estimation | Semantic Scholar")