Dual-closed loop structure is adopted in main thrust motor and rudder motors, and PI controller is implemented by DSP software.

对主推进电机和舵电机的控制采用了双闭环结构，PI调节器由DSP软件实现。

youdao

Our adventure began at dawn with the sharp thrust of a trusty motor, aboard a small metal boat along the banks of Popran National Park.

BBC: A wild river valley outside of Sydney

Where a C-class motor from Estes puts out the equivalent of 2 pounds of thrust for one second, an H-class motor--the entry point to high-power rocketry--puts out 55 pounds.

FORBES: Serious Toys