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s
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In
[1
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t
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m
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t
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w
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s
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b
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us
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t
w
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PI
c
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n
t
r
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l
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s
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In
[1
1],
t
h
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u
t
h
o
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p
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po
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e
a
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M
C).
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k
t
h
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s
t
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e
s
s
[12
,
13]
.
In
[14]
,
t
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e
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o
r
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p
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t
ra
t
e
gy
w
i
t
h
t
h
e
ANN
c
o
n
t
r
o
l
l
e
r
Evaluation Warning : The document was created with Spire.PDF for Python.
In
do
n
e
s
i
a
n
J
E
l
e
c
E
ng
&
Co
m
p
S
c
i
IS
S
N
:
2502
-
4752
SMC
b
as
e
d
D
T
C
-
SV
M
c
on
t
r
ol
of
f
i
v
e
-
phas
e
p
e
r
m
ane
nt
m
ag
ne
t
s
y
n
c
hr
onous
m
ot
or
dr
i
v
e
(
F
ay
ç
a
l
M
e
h
e
di
)
101
by
us
i
n
g
n
e
u
r
a
l
PI
c
o
n
t
r
o
l
l
e
r
of
s
pe
e
d.
In
[15
],
a
m
o
di
f
i
e
d
D
T
C
-
SVM
w
i
t
h
t
h
e
e
nh
a
n
c
e
m
e
n
t
s
of
f
uz
z
y
l
o
gi
c
c
o
n
t
r
o
l
a
n
d
c
l
o
s
e
d
l
o
o
p
s
t
a
t
o
r
f
l
ux
e
s
t
i
m
a
t
i
o
n
is
p
r
e
s
e
n
t
e
d
.
In
t
hi
s
pa
pe
r,
we
a
ppl
y
t
h
e
s
l
i
di
n
g
m
o
de
s
pe
e
d
c
o
n
t
r
o
l
(S
M
C)
on
t
h
e
f
i
v
e
-
ph
a
s
e
PMSM
c
o
n
t
r
o
l
l
e
d
by
t
h
e
D
T
C
m
e
t
h
o
d
us
i
n
g
t
h
e
SVM
t
e
c
hn
i
q
ue
.
T
h
i
s
p
r
o
po
s
e
d
c
o
n
t
r
o
l
s
c
h
e
m
e
is
a
s
i
m
pl
e
m
e
t
h
o
d
a
nd
m
i
n
i
m
i
z
e
s
t
h
e
s
t
a
t
o
r
f
l
ux
a
nd
t
o
rque
ri
pp
l
e
c
o
m
pa
r
e
d
to
c
o
n
v
e
n
t
i
o
na
l
D
T
C
.
On
t
h
e
o
t
h
e
r
h
a
nd,
t
hi
s
p
r
o
po
s
e
d
m
e
t
ho
d
is
e
a
s
y
to
i
m
pl
e
m
e
n
t
a
nd
r
o
b
us
t
.
2.
M
O
D
E
L
OF
F
I
V
E
-
P
H
A
S
E
P
M
S
M
T
h
e
f
i
ve
-
ph
a
s
e
PMSM
s
t
a
t
o
r
v
o
l
t
a
ge
e
qua
t
i
o
n
c
a
n
be
e
x
pr
e
s
s
e
d
in
a
r
o
t
a
t
i
n
g
d
-
q
-
x
-
y
f
ra
m
e
as
fo
l
l
ow
s
[1
6
,
17
]:
0
0
0
s
s
s
s
ys
ys
s
ys
xs
xs
s
xs
ds
r
qs
qs
s
qs
qs
r
ds
ds
s
ds
dt
d
i
R
v
dt
d
i
R
v
dt
d
i
R
v
w
dt
d
i
R
v
w
dt
d
i
R
v
(1)
W
h
e
r
e
v
d
s
,
v
q
s
,
v
x
s
a
n
d
v
y
s
a
r
e
t
h
e
s
t
a
t
o
r
v
o
l
t
a
ge
s
in
t
h
e
d
-
q
-
x
-
y
a
x
i
s
,
i
d
s
,
i
q
s
,
i
x
s
a
nd
i
y
s
a
r
e
t
h
e
s
t
a
t
o
r
c
u
rr
e
n
t
s
in
d
-
q
-
x
-
y
,
R
s
is
t
h
e
s
t
a
t
o
r
r
e
s
i
s
t
a
n
c
e
.
s
ls
s
ys
ls
ys
xs
ls
xs
qs
q
qs
f
ds
d
ds
i
L
i
L
i
L
i
L
i
L
0
0
(
2
)
W
h
e
r
e
L
d
,
L
q
a
nd
L
ls
a
r
e
i
n
duc
t
a
n
c
e
s
in
t
h
e
r
o
t
a
t
i
ng
f
r
a
m
e
.
T
h
e
e
l
e
c
t
r
o
m
a
g
n
e
t
i
c
t
o
r
que
can
be
o
b
t
a
i
n
e
d
as
f
o
l
l
ow
s
:
)
)
((
2
5
qs
f
qs
ds
q
d
e
i
i
i
L
L
P
T
(
3
)
M
e
c
h
a
n
i
c
a
l
m
o
t
i
o
n
e
qua
t
i
o
n
s
a
r
e
gi
v
e
n
by
:
r
m
r
e
r
m
w
f
T
p
T
p
dt
dw
J
(
4
)
W
i
t
h
J
m
is
t
h
e
i
n
e
r
t
i
a
c
o
e
ff
i
c
i
e
n
t
,
f
m
is
t
h
e
v
i
s
c
o
us
da
m
pi
ng,
P
is
t
h
e
n
u
m
b
e
r
of
p
o
l
e
s
pa
i
r
s
,
a
nd
T
r
is
t
h
e
e
xt
e
rna
l
l
o
a
d
t
o
r
que
.
3.
D
I
R
EC
T
TO
R
Q
U
E
C
O
N
TR
O
L
WI
TH
S
WI
TC
H
I
N
G
T
A
B
L
E
I
n
t
h
e
c
o
n
v
e
n
t
i
o
na
l
D
T
C
,
t
h
e
s
t
a
t
o
r
f
l
ux
a
m
pl
i
t
ude
ɸ
s
*
a
n
d
t
h
e
e
l
e
c
t
r
o
m
a
g
n
e
t
i
c
t
o
rque
T
e
*
a
r
e
t
h
e
r
e
f
e
r
e
n
c
e
s
i
g
n
a
l
s
w
h
i
c
h
a
r
e
c
o
m
pa
r
e
d
w
i
t
h
t
h
e
e
s
t
i
m
a
t
e
d
ɸ
s
a
n
d
T
e
v
a
l
ue
s
r
e
s
pe
c
t
i
v
e
l
y
in
t
h
e
s
t
a
t
i
o
n
a
r
y
f
r
a
m
e
.
T
h
e
f
l
ux,
t
o
r
que
e
rr
o
r
s
a
n
d
s
t
a
t
o
r
f
l
ux
po
s
i
t
i
o
n
a
r
e
t
he
i
n
pu
t
s
of
s
w
i
t
c
h
i
n
g
T
a
k
a
h
a
s
hi
T
a
b
l
e
to
de
l
i
v
e
r
an
a
pp
r
o
p
r
i
a
t
e
v
o
l
t
a
ge
v
e
c
t
o
r
to
t
h
e
i
n
v
e
r
t
e
r.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
In
do
n
e
s
i
a
n
J
E
l
e
c
E
ng
&
Co
m
p
S
c
i
,
V
o
l
.
20
,
N
o
.
1
,
O
c
t
o
b
e
r
20
20
:
100
-
108
102
T
h
e
s
t
a
t
o
r
f
l
ux
l
i
nka
ge
s
c
o
m
po
n
e
n
t
s
in
t
h
e
s
t
a
t
i
o
na
r
y
r
e
f
e
r
e
nc
e
f
r
a
m
e
can
be
e
s
t
i
m
a
t
e
d
by
[16]:
dt
i
R
v
dt
i
R
v
s
s
(5
)
T
h
e
s
t
a
t
o
r
f
l
ux
a
m
pl
i
t
ude
a
n
d
p
ha
s
e
a
r
e
e
xp
r
e
s
s
e
d
us
i
n
g
Co
nc
o
r
di
a
qua
nt
i
t
i
e
s
,
as
f
o
l
l
ow
s
:
1
2
2
t
a
n
s
s
(
6
)
T
h
e
e
l
e
c
t
r
o
m
a
g
n
e
t
i
c
t
o
r
que
can
be
e
xp
r
e
s
s
e
d
in
t
e
rm
s
of
s
t
a
t
o
r
c
u
rr
e
nt
a
n
d
f
l
ux
a
s
:
)
(
2
5
i
i
p
T
e
(
7
)
In
D
T
C
-
ST
c
o
nt
ro
l
s
t
r
u
c
t
u
r
e
t
h
re
e
c
o
nt
ro
l
l
o
o
p
s
a
re
a
p
p
l
i
e
d
:
t
h
e
c
o
nt
ro
l
l
o
o
p
for
m
o
t
o
r
a
ng
u
l
a
r
s
p
e
e
d
w
i
t
h
PI
c
o
n
t
ro
l
l
e
r
,
t
h
e
c
o
nt
ro
l
l
o
o
p
for
m
a
g
n
i
t
u
d
e
of
t
he
s
t
a
t
o
r
f
l
u
x
v
e
c
t
o
r
w
i
t
h
hy
s
t
e
re
s
i
s
c
o
n
t
ro
l
l
e
r
a
nd
t
h
e
c
o
nt
ro
l
l
o
o
p
for
e
l
e
c
t
ro
m
a
g
n
e
t
i
c
t
o
rq
u
e
w
i
t
h
hy
s
t
e
re
s
i
s
c
o
nt
ro
l
l
e
r.
T
he
a
p
p
ro
p
ri
a
t
e
s
t
a
t
o
r
v
o
l
t
a
g
e
v
e
c
t
o
rs
a
re
c
ho
s
e
n
f
ro
m
t
h
e
s
w
i
t
c
hi
n
g
t
a
b
l
e
w
hi
c
h
is
p
r
e
s
e
nt
e
d
in
T
a
b
l
e
1.
In
t
h
i
s
c
o
nt
ro
l
s
y
s
t
e
m
o
nl
y
t
he
l
o
ng
v
o
l
t
a
g
e
v
e
c
t
o
rs
h
a
v
e
b
e
e
n
u
s
e
d
.
T
a
b
l
e
1.
O
p
t
i
m
um
a
c
t
i
v
e
vo
l
t
a
ge
v
e
c
t
o
r
l
o
o
k
-
up
t
a
b
l
e
N
=
1
N
=
2
N
=
3
N
=
4
N
=
5
N
=
6
N
=
7
N
=
8
N
=
9
N
=
1
0
dɸ
=1
dT
=1
V
24
V
28
V
12
V
14
V
6
V
7
V
3
V
19
V
17
V
25
dT
=0
V
0
V
31
V
0
V
31
V
0
V
31
V
0
V
31
V
0
V
31
dT
=
-
1
V
17
V
25
V
24
V
28
V
12
V
14
V
6
V
7
V
3
V
19
dɸ
=0
dT
=1
V
14
V
6
V
7
V
3
V
19
V
17
V
25
V
24
V
28
V
12
dT
=0
V
31
V
0
V
31
V
0
V
31
V
0
V
31
V
0
V
31
V
0
dT
=
-
1
V
7
V
3
V
19
V
17
V
25
V
24
V
28
V
12
V
14
V
6
T
he
a
d
v
a
n
t
a
g
e
s
of
D
T
C
m
e
t
ho
d
a
re
as
f
o
l
l
o
w
s
:
s
t
ru
c
t
u
re
i
nd
e
p
e
nd
e
nt
on
ro
t
o
r
p
a
ra
m
e
t
e
rs
,
no
c
o
o
rd
i
n
a
t
e
t
r
a
ns
f
o
rm
a
t
i
o
n
,
no
c
u
rre
nt
c
o
nt
ro
l
l
o
o
ps
.
T
he
d
i
s
a
d
v
a
nt
a
g
e
s
of
c
l
a
s
s
i
c
a
l
D
T
C
a
re
:
hi
g
h
s
w
i
t
c
hi
ng
l
o
s
s
e
s
p
ro
v
i
de
by
v
a
ri
a
b
l
e
s
w
i
t
c
hi
ng
f
re
q
u
e
nc
y
,
d
i
f
f
i
c
u
l
t
i
m
p
l
e
m
e
n
t
a
t
i
o
n
due
to
h
i
g
h
s
a
m
p
l
i
ng
f
re
q
u
e
nc
y
(
2
5
μ
s
)
.
4.
D
I
R
EC
T
TO
R
Q
U
E
C
O
N
TR
O
L
WI
TH
S
P
A
C
E
V
EC
T
O
R
M
O
D
U
LA
TI
O
N
T
h
e
t
ra
di
t
i
o
n
a
l
D
T
C
a
l
go
ri
t
hm
is
b
a
s
e
d
on
t
h
e
i
n
s
t
a
nt
a
n
e
o
us
v
a
l
ue
s
a
n
d
di
r
e
c
t
l
y
c
a
l
c
ul
a
t
e
d
t
h
e
di
gi
t
a
l
c
o
n
t
r
o
l
s
i
g
na
l
s
for
t
h
e
i
n
v
e
r
t
e
r
.
D
T
C
-
SVM
m
e
t
h
o
ds
a
r
e
b
a
s
e
d
on
a
v
e
r
a
ge
d
v
a
l
ue
s
,
w
h
e
r
e
a
s
t
h
e
s
w
i
t
c
h
i
n
g
s
i
g
na
l
s
for
t
h
e
i
n
v
e
r
t
e
r
a
r
e
c
a
l
c
ul
a
t
e
d
by
s
pa
c
e
v
e
c
t
o
r
m
o
dul
a
t
o
r
.
T
hi
s
is
t
h
e
m
a
i
n
di
f
f
e
r
e
n
c
e
b
e
t
w
e
e
n
c
l
a
s
s
i
c
a
l
D
T
C
a
n
d
D
T
C
-
SVM
c
o
n
t
r
o
l
m
e
t
h
o
ds
.
F
o
r
t
h
e
f
i
v
e
-
ph
a
s
e
V
o
l
t
a
ge
S
o
ur
c
e
In
v
e
r
t
e
r
t
h
e
t
o
t
a
l
n
u
m
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=
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In
t
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d
[18]
.
T
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in
F
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x
-
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r
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c
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a
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18].
I
n
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a
p
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M
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t
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:
t
w
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v
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l
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c
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rs
:
V
25
, V
24
t
w
o
m
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d
i
u
m
v
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l
t
a
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v
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c
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o
rs
:
V
16
, V
29
a
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t
w
o
z
e
ro
v
o
l
t
a
g
e
v
e
c
t
o
rs
:
V
0
,
V
31
.
Evaluation Warning : The document was created with Spire.PDF for Python.
In
do
n
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s
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J
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N
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2502
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4752
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b
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103
F
i
gu
r
e
1.
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t
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s
pa
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p
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(a
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s
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(b
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x
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y
F
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2
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s
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bm
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(
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SVM
a
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go
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in
a
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be
w
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s
:
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bm
al
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s
T
T
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(
9
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w
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r
e
:
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bl
s
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w
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;
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0
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t
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e
of
z
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vo
l
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c
t
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;
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r
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m
a
g
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10
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1
1
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to
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14
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22
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3
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1
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3
V
20
V
21
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5
V
13
V
1
V
2
9
V
4
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2
3
V
2
8
V
1
7
V
12
V
15
V
8
V
27
V
2
V
30
V
16
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2
2
V
18
V
2
6
V
1
0
V
1
1
V
6
9
V
1
4
V
2
4
V
19
V
6
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5
S
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c
to
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1
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to
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c
to
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x
(
b
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y
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e
c
to
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V
16
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2
9
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c
to
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β
V
2
4
V
2
5
α
(
π
/5
)
V
ref
θ
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
In
do
n
e
s
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a
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J
E
l
e
c
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&
Co
m
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c
i
,
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.
20
,
N
o
.
1
,
O
c
t
o
b
e
r
20
20
:
100
-
108
104
F
i
gu
r
e
3
.
D
T
C
-
SVM
co
nt
r
o
l
s
y
s
t
e
m
of
f
i
v
e
-
ph
a
s
e
PMSM
In
t
hi
s
s
c
h
e
m
e
t
h
e
r
e
a
r
e
t
w
o
pr
o
po
r
t
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na
l
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nt
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gra
l
(P
I)
t
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d
of
h
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a
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gul
a
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t
o
r
que
a
n
d
t
h
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m
a
g
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t
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de
of
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l
ux.
T
h
e
S
V
M
un
i
t
p
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o
duc
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s
t
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e
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n
v
e
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t
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s
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f
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l
t
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in
a
s
t
a
t
o
r
f
l
ux
r
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f
e
r
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n
c
e
f
r
a
m
e
.
T
h
e
SVM
pr
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n
c
i
p
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e
is
b
a
s
e
d
on
t
h
e
s
w
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t
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n
g
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s
w
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g
pe
r
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d
.
5.
TH
E
S
LI
D
I
N
G
M
O
D
E
S
P
EED
C
O
N
TR
O
L
T
h
e
a
pp
r
o
a
c
h
of
t
h
e
SMC
is
b
a
s
e
d
on
t
h
e
di
s
c
o
nt
i
n
uo
us
f
un
c
t
i
o
n
of
s
t
a
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e
v
a
r
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a
b
l
e
s
in
t
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e
s
y
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t
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m
t
h
a
t
is
us
e
d
to
c
r
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a
t
e
a
“
s
l
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di
n
g
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u
r
f
a
c
e
”
.
W
h
e
n
t
h
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s
s
u
r
f
a
c
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is
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a
c
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d,
t
h
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s
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h
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m
dy
n
a
m
i
c
s
is
o
b
t
a
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n
e
d
[19
,
20]
.
O
n
e
c
o
n
s
i
de
r
s
t
h
e
s
y
s
t
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m
de
s
c
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b
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by
t
h
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f
o
l
l
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i
n
g
s
t
a
t
e
s
pa
c
e
e
qua
t
i
o
n
:
U
B
X
A
X
(
10
)
W
i
t
h
n
R
X
,
is
t
h
e
s
t
a
t
e
v
e
c
t
o
r
;
m
R
U
is
t
h
e
c
o
n
t
r
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l
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n
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t
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;
A
a
n
d
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a
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s
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m
pa
r
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s
.
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h
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[
25
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In
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IS
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(
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7.
C
O
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C
LU
S
I
O
N
In
t
hi
s
w
o
r
k,
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p
r
e
s
e
n
t
e
d
t
h
e
D
T
C
t
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c
hn
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que
b
a
s
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d
on
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l
go
r
i
t
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for
a
f
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-
ph
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s
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PMSM
us
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a
s
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di
n
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m
o
de
s
pe
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d
c
o
n
t
r
o
l
.
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i
t
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r
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s
ul
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s
o
b
t
a
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d
f
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h
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m
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p
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r
a
d
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l
D
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C
m
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t
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d.
T
h
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SMC
can
be
c
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n
s
i
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d
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s
m
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r
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b
us
t
unde
r
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ri
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t
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s
,
m
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i
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z
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t
h
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s
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time
a
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h
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us
t
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s
s
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pa
ra
m
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t
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s
c
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d
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d
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l
D
T
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y
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m
a
n
d
D
T
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SVM
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t
h
PI
b
a
s
e
d
s
pe
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d
c
o
n
t
r
o
l
l
e
r
.
F
o
r
f
ut
u
r
e
w
o
r
ks
,
it
w
i
l
l
be
i
n
t
e
r
e
s
t
i
n
g
to
a
ppl
y
o
ur
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o
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s
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d
m
e
t
h
o
d
in
t
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de
f
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pe
ra
t
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m
o
de
a
n
d
s
e
t
up
a
p
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t
o
t
y
pe
in
t
h
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lab
to
pe
r
f
o
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m
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e
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xpe
r
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m
e
nt
a
l
v
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l
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da
t
i
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n
.
R
EF
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C
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[
1]
G.
R.
C
a
t
uo
g
no
,
et
al
.
,
"
F
a
ul
t
t
o
l
e
r
a
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t
c
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in
s
i
x
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M
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M
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t
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f
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o
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t
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o
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,"
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E
E
E
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nt
e
r
n
at
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on
al
C
on
f
e
r
e
nc
e
on
I
n
dus
t
r
i
a
l
E
l
e
c
t
r
on
i
c
s
,
pp
.
575
4
-
5759
,
201
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Evaluation Warning : The document was created with Spire.PDF for Python.
In
do
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s
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or
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F
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)
107
[
2]
L
.
K
ha
l
d
i
,
et
a
l
.
,
"
P
e
r
f
o
r
m
a
nc
e
a
n
a
l
y
s
i
s
of
f
i
v
e
-
pha
s
e
i
n
duc
t
i
o
n
m
a
c
hi
ne
unde
r
u
nba
l
a
nc
e
d
pa
r
a
m
e
t
e
r
s
,"
J
our
n
al
E
ur
op
é
e
n
de
s
Sy
s
t
è
m
e
s
A
u
t
om
a
t
i
s
é
s
(
J
E
SA
)
,
v
o
l
.
5
2
,
no
.
5
,
pp
.
521
-
526
,
2
01
9.
[
3
]
M.
S
a
l
e
h
i
f
a
r
,
et
a
l
.
,
"
O
b
s
e
r
v
e
r
-
b
a
s
e
d
o
p
e
n
t
r
a
n
s
i
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t
o
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a
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l
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d
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a
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a
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m
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t
m
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m
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d
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a
p
p
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t
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c
t
r
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v
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h
i
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l
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s
,"
I
E
E
E
I
E
T
P
o
w
e
r
E
l
e
c
t
r
o
n
i
c
s
,
v
o
l
.
8,
n
o
.
1,
pp.
76
-
87
,
2015.
[
4]
E.
B
o
una
d
j
a
,
et
al
.
,
"
A
ne
w
D
P
C
-
S
V
M
f
o
r
m
a
t
r
i
x
c
o
nv
e
r
t
e
r
us
e
d
in
w
i
nd
e
ne
r
gy
c
o
n
v
e
r
s
i
o
n
s
y
s
t
e
m
ba
s
e
d
on
m
ul
t
i
ph
a
s
e
pe
r
m
a
n
e
nt
m
a
g
ne
t
s
y
nc
hr
o
n
o
us
g
e
ne
r
a
t
o
r
,"
I
r
a
ni
a
n
J
our
na
l
of
E
l
e
c
t
r
i
c
al
and
E
l
e
c
t
r
on
i
c
E
ng
i
ne
e
r
i
ng
(
I
J
E
E
E
)
,
v
o
l
.
15
,
no
.
3
,
pp
.
352
-
36
3
,
20
1
9
.
[
5]
I.
T
a
ka
ha
s
hi
,
et
a
l
.
,
"
A
ne
w
qui
c
k
-
r
e
s
po
ns
e
a
nd
h
i
g
h
-
e
f
f
c
i
e
nc
y
c
o
nt
r
o
l
s
t
r
a
t
e
gy
of
an
i
nduc
t
i
o
n
m
o
t
o
r
,"
I
E
E
E
T
r
ans
ac
t
i
on
i
nd
us
l
l
y
A
ppl
i
c
at
i
on
s
,
v
o
l
.
IA
-
22,
no
.
5
,
pp.
8
20
-
827
,
1
986.
[
6]
H.
M
o
g
hbe
l
i
,
et
a
l
.
,
"
T
r
a
ns
i
e
nt
a
nd
s
t
e
a
dy
s
t
a
t
e
s
a
n
a
l
y
s
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s
of
t
r
a
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t
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m
o
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dr
i
v
e
w
i
t
h
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e
g
e
ne
r
a
t
i
v
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b
r
a
k
i
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a
nd
us
i
ng
m
o
di
f
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d
di
r
e
c
t
t
o
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que
c
o
nt
r
o
l
(
S
V
M
-
D
T
C
)
,"
T
he
6
t
h
I
nt
e
r
nat
i
ona
l
P
ow
e
r
E
l
e
c
t
r
on
i
c
s
D
r
i
v
e
Sy
s
t
e
m
s
and
T
e
c
hnol
o
gi
e
s
C
on
f
e
r
e
nc
e
,
p
p.
61
5
-
620
,
2
015
.
[
7]
M.
J
a
nna
t
i
,
et
a
l
.
,
"
A
ne
w
s
p
e
e
d
s
e
ns
o
r
l
e
s
s
S
V
M
-
D
T
C
in
i
nduc
t
i
o
n
m
o
t
o
r
by
us
i
ng
E
K
F
,"
I
E
E
E
S
t
u
de
nt
C
o
nf
e
r
e
nc
e
on
R
e
s
e
ar
c
h
and
D
e
v
e
l
opm
e
nt
,
p
p.
94
-
99
,
201
3.
[
8]
Z
.
M
e
k
r
i
n
i
,
et
a
l
.
,
"
F
uz
z
y
l
og
i
c
a
ppl
i
c
a
t
i
o
n
f
o
r
i
n
t
e
l
l
i
g
e
nt
c
o
nt
r
o
l
of
an
a
s
y
n
c
hr
o
no
us
m
a
c
hi
ne
,"
I
nd
one
s
i
a
n
J
o
ur
n
al
of
E
l
e
c
t
r
i
c
a
l
E
ngi
ne
e
r
i
ng
and
C
om
p
ut
e
r
Sc
i
e
nc
e
(
I
J
E
E
C
S)
,
v
o
l
.
7
,
no
.
1
,
pp.
61
-
70
,
20
1
7
.
[
9]
R.
L
og
a
n
,
et
a
l
.
,
"
I
m
pr
ov
e
d
t
o
r
que
c
o
nt
r
o
l
p
e
r
f
o
r
m
a
nc
e
of
di
r
e
c
t
t
o
r
que
c
o
nt
r
o
l
f
o
r
5
-
pha
s
e
i
nduc
t
i
o
n
m
a
c
hi
n
e
,"
I
nt
e
r
n
at
i
on
al
J
o
ur
n
al
of
P
ow
e
r
E
l
e
c
t
r
oni
c
s
an
d
D
r
i
v
e
Sy
s
t
e
m
s
(
I
J
P
E
D
S)
,
v
o
l
.
3,
no
.
4,
p
p.
39
1
-
399
,
2
013
.
[
10]
M.
S.
R
a
j
,
et
al
.
,
"
A
m
o
di
f
i
e
d
di
r
e
c
t
t
o
r
que
c
o
nt
r
o
l
of
i
nduc
t
i
o
n
m
o
t
o
r
us
i
ng
s
pa
c
e
v
e
c
t
o
r
m
o
dul
a
t
i
o
n
t
e
c
hn
i
que
,"
M
i
ddl
e
-
E
as
t
J
ou
r
na
l
of
Sc
i
e
nt
i
f
i
c
R
e
s
e
ar
c
h
,
v
o
l
.
20
,
no
.
11
,
p
p.
15
7
2
-
1574
,
2
01
4
.
[
11]
M.
Y
u
he
n
dr
i
,
et
a
l
.
,
"
D
i
r
e
c
t
t
o
r
que
c
o
nt
r
o
l
s
t
r
a
t
e
gy
of
P
M
S
M
e
m
p
l
oy
i
ng
ul
t
r
a
s
pa
r
s
e
m
a
t
r
i
x
c
o
nv
e
r
t
e
r
,
"
I
nt
e
r
n
at
i
on
al
J
o
ur
n
al
of
P
ow
e
r
E
l
e
c
t
r
oni
c
s
an
d
D
r
i
v
e
Sy
s
t
e
m
(
I
J
P
E
D
S)
,
v
o
l
.
9
,
no
.
1,
p
p.
6
4
-
7
2
,
201
8
.
[
12]
F.
M
e
he
d
i
,
et
al
.
,
"
H
i
g
h
-
o
r
de
r
s
l
i
d
i
ng
m
o
de
c
o
nt
r
o
l
of
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17]
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.
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.
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