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Does PLL measure the REAL motor speed

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wyk
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Joined: 2019-04-29 05:01
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Does PLL measure the REAL motor speed

When the motor is accelerating with the speed settings as the red line, the speed measurements with PLL is shown as the gray line. This seems reasonable as there is a little delay between settings and measurements.
However, if I count the encoder pulses in a time unit to estimate motor speed, so called method M, the mesurements exceed the speed settings by 40ms, as the blue line in the figure.
Can anyone tell me which one is the real speed measurements, PLL or method M?