[aq1018]

• the back-EMF speed per control tick over stage 3's sweeps: stage 3's four-term form run per row, gated against stage 3's window estimate set by set
• inputs a controller has: the tracked zero (stage 1's rule in float costs +0.30 rev/s warm, the current-zero design +0.05), the rail from the row's own tap, no dropout term
• both brush forms side by side, the choice left open: the table is 0.2 to 0.3 rev/s closer on the free shaft, the product is right under current at speed, both read +3 to +5 rev/s high at low speed under current
• solve: two newton steps per row for the table, closed form for the product
• noise per row is the commutation ripple (4 to 11 rev/s); a filter's delay is its nominal delay; a window locked to the commutation period pays from 70 to 300 rev/s
• L di/dt is a lag of L/R (4 rows): leave it out behind 32 rows of filter delay or more
• valid rule: on-time at least 84 ticks, 16 rows after torque on or a flip, not a dropout; 85.2 % of driven rows
• no capture of its own; result file, filter table and noise table under results/