I
ndo
ne
s
i
a
n J
o
ur
na
l
o
f
E
l
e
c
t
r
i
c
a
l
E
ng
i
ne
e
r
i
ng
a
nd C
o
m
p
u
t
e
r
Sc
i
e
nc
e
V
o
l.
11
,
N
o.
2
,
A
ug
us
t
201
8
, p
p
.
7
04~
7
10
I
S
S
N
:
2502
-
4752,
D
O
I
:
10.
11
591/
i
j
e
e
c
s
.
v
11.
i
2.
pp
704
-
7
10
704
Jou
r
n
al
h
om
e
p
age
:
h
ttp
:
//ia
e
s
c
or
e
.
c
om
/
j
our
nal
s
/
i
nde
x
.
php/
i
j
e
e
c
s
F
u
zz
y
L
o
g
ic E
nh
a
nced Dire
ct
T
o
r
que Co
nt
ro
l w
it
h
Spa
ce Vec
t
o
r M
o
dula
t
io
n
Ji
an
-
D
i
n
g T
an
1
,
Si
a
w
-
P
a
w
Ko
h
2
,
Si
e
h
-
K
i
on
g T
i
on
g
3
,
K
ha
r
udi
n A
l
i
4
,
A
h
m
e
d A
bda
l
l
a
5
1
, 2
,
3
I
n
s
t
i
t
u
t
e o
f
S
u
s
t
ai
n
ab
l
e E
n
er
g
y
,
U
n
i
v
er
s
i
t
i
T
en
ag
a N
as
i
o
n
al
,
M
a
la
y
s
ia
4
Ele
c
tr
ic
a
l,
Ele
c
tr
o
n
ic
a
n
d
A
u
to
m
a
tio
n
E
n
g
in
n
e
r
in
g
T
e
c
h
n
o
lo
g
y
,
TA
T
I
U
n
iv
e
r
s
it
y
C
o
lle
g
e
,
T
er
en
g
g
an
u
,
M
al
ay
s
i
a
5
F
a
c
ul
t
y
of
E
l
e
c
t
r
oni
c
I
nf
or
m
a
t
i
o
n E
ng
i
ne
e
r
i
ng
,
H
ua
i
y
i
n I
ns
t
i
t
ut
e
o
f
T
e
c
hnol
o
g
y,
P
. R
. C
h
i
n
a
A
rt
i
cl
e I
n
f
o
AB
S
T
RAC
T
A
r
tic
le
h
is
to
r
y
:
R
ecei
v
ed
Fe
b
1,
2018
Re
v
i
se
d
Ap
r
20,
201
8
A
ccep
t
ed
Ap
r
2
7,
2
018
O
v
e
r
t
he
pa
s
t
f
e
w
y
e
a
r
s
,
m
ul
t
i
pl
e
t
y
pe
s
of
m
odi
f
i
c
a
t
i
ons
ha
v
e
be
e
n pr
op
os
e
d
ont
o t
he
D
i
r
e
c
t
T
or
que
C
o
nt
r
ol
(
D
T
C
)
s
c
he
m
e
.
A
m
ong
o
th
e
r
s
is
th
e
i
m
pl
e
m
e
nt
a
t
i
on of
S
pa
c
e
V
e
c
t
or
M
od
ul
a
t
i
o
n (
S
V
M
)
.
I
n t
hi
s
pa
pe
r
,
t
w
o ne
w
c
ont
r
o
l
s
t
r
a
t
e
g
i
e
s
a
r
e
pr
opos
e
d o
n
t
o a
n S
V
M
-
D
T
C
.
I
ns
t
e
a
d of
us
i
ng
P
I
t
or
q
ue
a
nd f
l
ux
c
ont
r
o
l
l
e
r
s
,
a
f
uz
z
y
l
o
g
i
c
c
ont
r
ol
m
e
t
hod i
s
i
m
pl
e
m
e
n
t
e
d i
n t
he
pr
o
pos
e
d m
odi
f
i
c
a
t
i
on
t
o a
c
hi
e
v
e
a
m
or
e
c
ons
t
a
nt
s
w
i
t
c
hi
ng
f
r
e
que
nc
y
w
hi
l
e
m
i
ni
m
i
z
i
ng
t
he
t
or
que
e
r
r
or
.
T
he
f
uz
z
y
l
og
i
c
c
ont
r
ol
l
e
r
c
on
t
r
ol
s
t
h
e
v
ol
t
a
g
e
s
i
n di
r
e
c
t
a
nd qua
dr
a
t
i
c
r
e
f
e
r
e
nc
e
f
r
a
m
e
(
V
d,
V
q)
.
T
hi
s
a
ppr
oa
c
h f
ul
l
y
ut
i
l
i
z
e
s
th
e
s
w
itc
h
in
g
c
a
p
a
b
ility
o
f
th
e
in
v
e
r
te
r
a
n
d
th
u
s
im
p
r
o
v
in
g
th
e
o
v
e
r
a
ll s
y
s
te
m
pe
r
f
or
m
a
nc
e
.
T
o ov
e
r
c
om
e
i
s
s
ue
s
i
n ope
n l
oo
p s
t
a
t
or
f
l
ux
s
uc
h a
s
D
C
dr
i
f
t
a
nd s
a
t
ur
a
t
i
on,
a
c
l
os
e
d l
oo
p
e
s
t
i
m
a
t
i
on m
e
t
hod of
s
t
a
t
or
f
l
ux
i
s
a
l
s
o
pr
o
pos
e
d
ba
s
e
d on
v
ol
t
a
g
e
m
ode
l
a
nd l
ow
pa
s
s
f
i
l
t
e
r
.
T
he
pe
r
f
or
m
a
nc
e
of
t
he
p
r
o
pos
e
d c
ont
r
ol
s
t
r
a
t
e
g
y
i
s
be
nc
hm
a
r
k
e
d w
i
t
h t
ha
t
of
a
c
onv
e
nt
i
o
na
l
D
T
C
–
S
V
M
.
S
i
m
ul
a
t
i
ons
a
nd e
x
pe
r
i
m
e
nt
s
w
e
r
e
c
a
r
r
i
e
d out
a
nd t
he
r
e
s
ul
t
s
s
how
t
ha
t
t
he
pr
o
pos
e
d m
e
t
hod out
pe
r
f
or
m
s
t
he
c
onv
e
nt
i
ona
l
D
T
C
-
S
V
M
i
n
t
er
m
s
o
f D
C
-
o
f
f
s
e
t e
li
m
in
a
tio
n
a
n
d
o
v
e
r
a
ll s
y
s
te
m
r
obus
t
ne
s
s
.
Ke
y
wo
rd
s
:
D
ir
e
c
t to
r
q
u
e
c
o
n
tr
o
l
S
p
ace
v
e
c
to
r
m
o
d
u
la
tio
n
S
ta
to
r
f
lu
x
e
s
ti
m
a
tio
n
F
uz
z
y l
o
gi
c
c
o
nt
r
o
l
I
n
du
c
t
i
on
m
ot
or
C
opy
r
i
g
ht
©
201
8
I
ns
t
i
t
ut
e
o
f
A
d
v
anc
e
d E
ngi
ne
e
r
i
ng
an
d
Sc
i
e
nc
e
.
A
l
l
ri
g
h
t
s re
se
rv
e
d
.
Co
rre
sp
o
n
d
i
n
g
Au
t
h
o
r
:
J
i
a
n D
i
n
g
T
an
,
I
ns
t
i
t
ut
e
o
f
S
u
s
t
a
i
na
b
l
e
E
ne
r
g
y,
U
ni
ve
r
s
i
t
i
T
e
na
ga
N
a
s
i
o
na
l
,
M
a
la
y
s
ia
E
m
a
il:
t
j
i
a
nd
i
ng
@
un
i
t
e
n.
e
d
u.
m
y
1.
I
NT
RO
D
UCT
I
O
N
D
ir
e
c
t T
o
r
q
u
e
C
o
n
tr
o
l
(
D
T
C
)
i
s
a co
n
t
r
o
l
s
ch
e
m
e t
h
at
g
r
an
t
s
el
ect
r
o
n
i
c v
ar
i
ab
l
e s
p
eed
m
o
t
o
r
c
o
nt
r
o
l
l
e
r
s
w
i
t
h a
n e
xc
e
l
l
e
nt
t
o
r
q
ue
m
a
ni
p
ul
a
t
i
o
n [
1
]
.
W
i
t
h D
T
C
s
c
he
m
e
s
i
n t
he
A
C
d
r
i
ve
s
,
t
he
u
s
e
o
f
m
ach
i
n
e p
ar
a
m
et
er
s
ca
n
b
e m
i
n
i
m
i
zed
.
H
o
w
e
v
er
,
d
es
p
i
t
e t
h
e g
o
o
d
p
er
f
o
r
m
a
n
ce t
h
at
D
T
C
h
a
s sh
o
w
n
so
f
a
r
,
t
h
er
e ar
e s
t
i
l
l
r
o
o
m
s
f
o
r
i
m
p
r
o
v
e
m
e
n
t
i
s
cer
t
ai
n
as
p
ect
s
o
f
t
h
e s
ch
e
m
e [
2
]
.
O
v
er
t
h
e p
as
t
f
e
w
y
ear
s
,
s
ci
e
n
t
i
s
t
s
an
d
r
es
ear
ch
er
s
ar
o
u
n
d
t
h
e g
l
o
b
e h
av
e b
een
co
m
i
n
g
u
p
w
i
t
h
m
et
h
o
d
s
a
n
d
m
o
d
i
f
i
cat
i
o
n
s
t
o
i
m
p
r
o
v
e D
T
C
i
n
t
e
r
m
s
o
f
m
ot
or
pe
r
f
or
m
a
n
c
e
du
r
i
ng
s
t
a
r
t
u
p,
ov
e
r
l
oa
d
c
on
di
t
i
on
s
,
l
o
w
s
pe
e
d
s
pi
n
n
i
ng
a
n
d
m
a
ny
m
or
e
[
3]
.
A
m
o
n
g
o
t
h
er
i
s
s
u
es
i
n
a co
n
v
en
t
i
o
n
al
D
T
C
s
c
h
e
m
e i
s
t
h
e
h
i
g
h
t
o
r
q
u
e r
i
p
p
l
e
g
en
er
at
ed
[
4
]
.
S
ev
er
al
m
et
h
o
d
s
t
o
a
d
dr
e
s
s
t
hi
s
p
r
o
b
l
e
m
ha
ve
b
e
e
n
p
r
op
o
s
e
d
i
n t
he
l
i
t
e
r
a
t
ur
e
,
s
uc
h
a
s
r
e
g
u
la
tin
g
th
e
p
u
ls
e
d
u
r
a
tio
n
o
f
th
e
ou
t
pu
t
v
ol
t
a
g
e
v
e
c
t
or
s
o
a
s
t
o
m
a
k
e
i
t
di
r
e
c
t
l
y
de
pe
nde
n
t
on
t
or
qu
e
-
r
ip
p
le
m
i
n
i
m
iz
a
tio
n
.
A
lt
h
o
u
g
h
m
o
d
i
f
i
cat
i
o
n
s
as
s
u
c
h
can
ex
t
en
s
i
v
el
y
r
ed
u
ce t
h
e t
o
r
q
u
e r
i
p
p
l
e,
t
h
e co
m
p
l
e
x
i
t
y
o
f
t
h
e o
v
e
r
al
l
al
g
o
r
i
t
h
m
i
s
i
n
p
r
ai
s
ed
an
d
i
t
be
c
om
e
s
di
f
f
i
c
ul
t
t
o be
i
m
pl
e
m
e
n
t
e
d.
A
s
t
a
n
d
ar
d
D
T
C
g
en
er
al
l
y
co
n
s
i
s
t
s
o
f
a p
ai
r
o
f
h
y
s
t
er
es
i
s
c
o
m
p
ar
at
o
r
s
,
t
o
r
q
u
e an
d
f
l
u
x
c
al
cu
l
at
o
r
s
,
a
l
ook
u
p t
a
bl
e
,
a
n
d a
l
s
o a
vol
t
a
g
e
-
s
o
u
r
ce i
n
v
er
t
er
(
V
S
I
)
[
5
]
.
S
o
m
e
m
aj
o
r
i
s
s
u
e
s
as
s
o
ci
at
ed
w
i
t
h
t
h
i
s
c
o
nve
nt
i
o
na
l
s
e
t
u
p
c
a
n b
e
f
o
und
i
n t
he
l
i
t
e
r
a
t
ur
e
,
i
nc
l
ud
i
n
g s
w
i
t
c
hi
n
g f
r
e
q
ue
nc
y t
ha
t
va
r
i
e
s
w
i
t
h o
p
e
r
a
t
i
n
g
c
on
di
t
i
on
s
,
h
i
gh
t
or
qu
e
a
n
d
f
l
u
x r
i
ppl
e
s
w
i
t
h c
u
r
r
e
n
t
di
s
t
or
t
i
on
,
j
u
s
t
t
o
n
a
m
e
a
f
e
w
.
I
n
t
h
e
pr
opos
e
d f
u
z
z
y
SV
M
-
D
T
C
s
t
r
a
t
e
gy
f
or
i
n
du
c
t
i
on
m
a
c
h
i
n
e
r
e
por
t
e
d i
n
[
6,
7,
8
]
,
t
w
o
f
u
zz
y
l
o
g
i
c r
eg
u
l
at
o
r
s
ar
e ad
o
p
t
ed
.
T
h
es
e
f
u
zz
y
r
e
g
u
l
a
t
o
r
s
r
ep
l
aced
cl
as
s
i
cal
P
I
r
eg
u
l
at
o
r
s
i
n
t
h
e p
r
o
p
o
s
ed
s
ch
e
m
e.
A
p
ar
t
f
r
o
m
t
h
i
s
,
a
n
o
t
h
er
t
w
o
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nd
o
ne
s
i
a
n J
E
l
e
c
E
ng
&
C
o
m
p
S
c
i
I
SSN
:
2502
-
4752
F
uz
z
y
L
ogi
c
E
nha
nc
e
d D
i
r
e
c
t
T
or
que
C
ont
r
ol
w
i
t
h
Spac
e
V
e
c
t
or
M
odul
at
i
on
(
J
ia
n
-
D
i
n
g T
an
)
705
di
f
f
e
r
e
n
t
m
odi
f
i
c
a
t
i
ons
w
e
r
e
pr
opos
e
d i
n
[
8
-
12]
t
o i
m
pr
ov
e
D
T
C
pe
r
f
or
m
a
n
c
e
s
.
O
ne
of
t
h
e
pr
opos
e
d
m
odi
f
ic
a
t
io
n
is
to
o
p
ti
m
iz
e
t
h
e
P
I
c
o
n
tr
o
lle
r
u
s
in
g
G
e
n
e
tic
A
l
g
o
r
ith
m
(
G
A
)
.
T
h
e
o
th
e
r
m
o
d
if
ic
a
tio
n
is
c
a
r
r
ie
d
ou
t
ba
s
i
ng
on
a
hy
br
i
d
f
u
z
z
y
s
l
i
di
ng
m
ode
c
on
t
r
ol
t
h
e
or
y
.
S
o
m
e
ot
h
e
r
r
e
s
e
a
r
c
h
e
r
s
us
e
d a
f
u
z
z
y
P
I
c
on
t
r
ol
l
e
r
i
n
t
h
e
s
pe
e
d
c
on
t
r
ol
l
oop.
T
h
i
s
m
odi
f
i
c
a
t
i
o
n
is
c
a
r
r
ie
d
o
u
t
b
y
s
u
b
s
tit
u
ti
n
g
t
h
e
P
I
c
o
n
tr
o
lle
r
to
a
h
y
s
te
r
e
s
is
c
o
n
tr
o
lle
r
a
n
d
r
e
p
la
c
in
g
t
h
e
s
w
itc
h
i
n
g
ta
b
le
w
it
h
S
V
M
[
1
3
,
1
4
]
.
A
ll th
e
m
o
d
if
ie
d
s
c
h
e
m
e
s
s
h
o
w
e
d
s
ig
n
i
f
ic
a
n
t
i
m
p
r
o
v
e
m
e
n
t
s
in
r
e
la
ti
v
e
to
a
c
o
n
v
e
n
tio
n
a
l D
T
C
.
B
e
s
id
e
f
u
z
z
y
lo
g
ic
a
n
d
G
A
,
A
r
tif
i
c
i
al
N
eu
r
al
N
et
w
o
r
k
(
A
N
N
)
h
a
s
a
l
s
o
be
e
n
pr
opos
e
d t
o e
n
h
a
n
c
e
D
T
C
.
A
m
u
l
t
i
l
a
y
e
r
n
e
u
r
a
l
n
e
t
w
or
k
i
s
i
m
pl
e
m
e
nt
e
d i
n
[
15]
t
o
e
m
u
la
te
t
h
e
tr
a
d
itio
n
a
l
s
w
itc
h
in
g
lo
o
k
u
p
ta
b
le
m
e
t
h
o
d
.
T
h
is
m
o
d
i
f
ic
a
tio
n
s
u
c
c
e
s
s
f
u
ll
y
o
b
ta
in
e
d
a
n
o
p
ti
m
a
l
s
w
itc
h
in
g
p
a
tte
r
n
f
o
r
in
d
u
c
ti
o
n
m
o
t
o
r
s
.
I
n
[
1
5
]
,
a w
av
e
l
e
t
n
eu
r
al
n
et
w
o
r
k
s
(
W
N
N
)
i
s
ap
p
l
i
ed
i
n
a d
i
r
ect
t
o
r
q
ue
a
nd
f
l
u
x c
o
nt
r
o
l
f
o
r
t
h
e
i
nd
uc
t
i
o
n
m
o
t
o
r
d
r
i
ve
s
.
T
he
W
N
N
c
o
nt
r
o
l
l
e
r
w
i
t
h t
he
s
t
r
uc
t
ur
e
o
f
no
nl
i
ne
a
r
a
ut
o
r
e
gr
e
s
s
i
ve
m
o
v
i
n
g
a
ve
r
a
ge
b
a
s
e
d
ne
ur
a
l
ne
t
w
o
r
k
(
N
A
R
M
A
)
i
s
i
m
p
l
e
m
e
nt
e
d
as
a
s
p
eed
co
n
t
r
o
l
l
er
t
o
c
o
n
tr
o
l th
e
to
r
q
u
e
.
I
n
t
h
i
s
p
ap
er
,
t
w
o
co
n
t
r
o
l
s
t
r
at
eg
i
es
ar
e p
r
o
p
o
s
ed
f
o
r
D
T
C
w
i
t
h
S
V
M (
D
T
C
-
S
V
M
)
.
T
he
c
ont
r
i
b
ut
i
o
n
of
t
hi
s
pa
pe
r
i
s
t
w
o
-
f
ol
d a
n
d
c
a
n
be
s
um
m
a
r
i
z
e
d a
l
ong
t
he
f
ol
l
o
w
i
n
g l
i
n
e
s
.
F
i
r
s
t
,
t
h
e
P
I
t
or
qu
e
a
n
d f
l
u
x
c
o
n
tr
o
lle
r
s
ar
e r
ep
l
aced
w
i
t
h
t
w
o
r
es
p
ect
i
v
e f
u
zz
y
co
n
t
r
o
l
l
er
s
.
T
h
i
s
en
ab
l
es
t
h
e D
T
C
-
S
V
M
s
c
h
e
m
e t
o
m
i
n
i
m
i
ze t
o
r
q
u
e er
r
o
r
s
,
r
ed
u
ce t
o
t
al
h
ar
m
o
n
i
c d
i
s
t
o
r
t
i
o
n
s
o
f
s
t
at
o
r
cu
r
r
en
t
a
n
d
p
r
o
v
i
d
e a
m
o
r
e co
n
s
i
s
t
en
t
s
w
i
t
c
h
i
ng
f
r
e
qu
e
n
c
y
.
S
e
c
o
n
dl
y
,
a
m
odi
f
i
e
d c
l
os
e
l
oop i
n
t
e
g
r
a
tio
n
a
l
g
o
r
ith
m
o
f
s
ta
to
r
f
lu
x
e
s
ti
m
a
tio
n
i
s
pr
op
os
e
d.
T
h
i
s
a
l
g
or
i
t
hm
s
c
he
m
e
i
s
c
a
r
r
i
e
d out
ba
s
i
ng
o
n
a
v
ol
t
a
g
e
m
ode
l
w
i
t
h t
h
e
s
t
a
t
or
c
u
r
r
e
n
t
i
n a
l
o
w
p
as
s
f
i
l
t
er
.
S
i
m
u
l
at
i
o
n
s
a
n
d
ex
p
er
i
m
e
n
t
s
w
er
e car
r
i
ed
o
u
t
t
o
ex
a
m
i
n
e t
h
e p
er
f
o
r
m
a
n
c
e o
f
t
h
e p
r
o
p
o
s
ed
m
odi
f
i
c
a
t
i
o
ns
.
T
he
r
e
s
ul
t
s
s
h
o
w
t
ha
t
t
he
p
r
o
p
o
s
e
d
m
e
t
ho
d
i
s
s
uc
c
e
s
s
f
u
l
i
n
m
i
ni
m
i
z
i
ng
t
o
r
q
ue
e
r
r
o
r
s
.
T
he
r
i
p
p
l
es
i
n
t
h
e
f
l
u
x
a
n
d
t
h
e t
o
r
q
u
e o
f
t
h
e s
t
at
o
r
at
l
o
w
m
o
t
o
r
s
p
eed
ar
e s
i
g
n
i
f
i
can
t
l
y
r
ed
u
ced
.
2.
I
NDUC
T
I
O
N M
O
T
O
R M
O
DE
L
L
I
NG
T
he
m
o
d
e
l
l
i
ng o
f
a
n
i
nd
u
c
t
i
o
n
m
o
t
o
r
i
s
e
x
p
r
e
s
se
d
i
n
a
d
-
q
f
i
x
ed
r
ef
er
e
n
ce
f
r
a
m
e i
n
E
q
ua
t
i
o
ns
(1
) t
o
(6
)
=
+
−
(1
)
0
=
+
−
(
−
)
(2
)
=
+
(3
)
=
+
(4
)
=
3
2
(
−
)
(5
)
−
=
+
(6
)
W
he
r
e
w
g
,
w
r
,
a
nd
w
m
r
e
fe
r
t
o
g
e
n
er
i
c r
e
f
er
en
ce
s
y
s
t
e
m
,
r
o
t
o
r
el
ect
r
i
cal
an
d
m
ec
h
an
i
cal
s
p
eed
r
es
p
ect
i
v
el
y
.
R
s
a
nd
R
r
de
n
ot
e
r
es
i
s
t
a
n
ces
of
s
t
a
t
or
a
n
d r
ot
or
.
L
s
,
L
r
,
L
m
r
ep
r
es
en
t
s
t
a
t
o
r
,
r
o
t
o
r
a
nd
m
ut
ua
l
i
nd
uc
t
a
nc
e
s
.
Ψ
sdq
a
nd
Ψ
rdq
s
t
a
nd f
or
th
e
s
ta
to
r
a
n
d r
ot
or
f
l
u
x i
n
d
-
q
f
r
a
me
r
es
p
ect
i
v
el
y
.
T
e
a
nd
T
l
ar
e
t
he
t
o
r
q
ue
o
f
m
ot
or
a
n
d l
oa
d.
i
sdq
a
nd
i
r
d
q
re
f
e
r t
o
c
u
rre
n
t
s
o
f s
t
a
t
o
r a
n
d
ro
t
o
r
w
h
i
l
e
B
a
nd
J
de
n
ot
e
f
r
ic
tio
n
c
o
e
f
f
ic
ie
n
t
a
nd
i
ne
r
t
i
a
o
f
t
he
s
ys
t
e
m
.
Fi
g
u
re
1
s
ho
w
s
t
he
e
q
ui
va
l
e
nt
c
i
r
c
ui
t
i
n d
-
r
ef
er
e
n
ce f
r
a
m
e an
d
q
-
r
ef
er
en
ce f
r
a
m
e.
(
a)
(b
)
F
i
g
ur
e
1
.
E
q
ui
va
l
e
nt
c
i
r
c
ui
t
s
o
f
in
d
u
c
tio
n
m
o
to
r
i
n
(a
) d
-
r
ef
e
r
en
ce f
r
a
m
e (
b
)
q
-
r
ef
er
en
ce f
r
a
m
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
25
02
-
4752
I
nd
o
ne
s
i
a
n J
E
l
e
c
E
ng
&
C
o
m
p
S
c
i
,
V
o
l.
11
, N
o
.
2
,
A
ug
us
t
2018
:
7
04
–
710
706
3.
D
TC
-
SV
M
D
T
C
i
s
a
m
et
h
o
d
d
es
i
g
n
ed
t
o
b
e u
s
ed
i
n
v
ar
i
ab
l
e
f
r
eq
u
en
c
y
d
r
i
v
es
t
o
co
n
t
r
o
l
t
h
e t
o
r
q
u
e o
f
a t
h
r
ee
p
h
as
e
A
C
m
o
t
o
r
,
f
r
o
m
w
h
i
c
h
t
h
e s
p
eed
o
f
i
t
can
ev
e
n
t
u
al
l
y
b
e
m
an
i
p
u
l
at
ed
.
T
h
e m
a
i
n
co
m
p
o
n
e
n
t
s
i
n
a
c
on
v
e
n
t
i
on
a
l
D
T
C
i
n
c
l
u
de
a
de
c
ou
pl
e
d c
on
t
r
ol
of
t
h
e
m
ot
or
t
or
qu
e
a
n
d m
ot
or
f
l
ux
m
a
gn
i
t
u
de
.
T
h
e
g
e
n
e
r
a
l
w
o
r
ki
n
g p
r
i
nc
i
p
l
e
o
f
a
D
T
C
i
s
t
o
t
une
t
he
i
n
ve
r
t
e
r
t
o
t
he
c
o
r
r
e
s
p
o
nd
i
ng i
ns
t
a
nt
a
ne
o
u
s
e
r
r
o
r
e
s
t
i
m
a
t
e
d
i
n
t
or
qu
e
a
n
d s
t
a
t
or
f
l
u
x
m
a
gn
i
t
u
de
of
t
h
e
m
ot
or
.
F
r
o
m
it,
t
h
e
in
v
e
r
te
r
is
s
w
itc
h
e
d
to
t
h
e
a
p
p
r
o
p
r
ia
te
v
o
lta
g
e
v
e
c
t
or
s
ba
s
i
ng
on
a
s
w
i
t
c
h
i
ng
t
a
bl
e
t
o
be
f
e
d i
n
t
o t
h
e
i
n
du
c
t
i
on
m
ot
or
.
T
o
i
m
pr
ov
e
t
h
e
ov
e
r
a
l
l
pe
r
f
or
m
a
n
c
e
of
t
h
e s
y
s
t
e
m
a
n
d
t
o
ach
i
e
v
e a
co
n
s
t
an
t
s
w
i
t
ch
i
n
g
f
r
eq
u
e
n
c
y
,
t
h
e
h
y
s
t
er
es
i
s
co
m
p
ar
at
o
r
i
n
a
DT
C
-
S
V
M
is
r
ep
l
aced
b
y
P
I
t
o
r
q
u
e an
d
f
l
u
x
co
m
p
ar
at
o
r
s
.
T
h
e s
w
i
t
c
h
i
n
g
m
ech
a
n
i
s
m
i
s
al
s
o
r
ep
l
aced
b
y
an
S
V
M,
as
s
h
o
w
n
i
n F
i
g
ur
e
2.
F
i
g
ur
e
2
.
T
h
e b
l
o
ck
d
i
ag
r
am
o
f
D
T
C
-
S
VM
4.
C
LO
S
ED
LO
O
P
F
LU
X
ES
TI
M
A
TIO
N
T
h
e
c
a
lc
u
la
tio
n
s
i
n
th
e
D
T
C
-
S
V
M
a
l
g
o
r
i
t
h
m
ar
e b
as
ed
o
n a
ve
r
a
ge
d
va
l
ue
s
w
h
i
l
e
t
he
s
w
i
t
c
hi
n
g
s
i
g
n
al
s
f
o
r
t
h
e i
n
v
er
t
er
ar
e g
en
er
at
ed
b
y
t
h
e s
p
ace v
ec
t
o
r
m
o
d
u
l
at
o
r
.
T
h
er
e ar
e s
ev
er
al
i
s
s
u
es
w
i
t
h
t
h
i
s
ar
r
an
g
e
m
en
t
t
h
at
a
f
f
ect
t
h
e
o
v
er
al
l
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
s
y
s
t
e
m
e
s
p
eci
al
l
y
d
u
r
i
n
g
l
o
w
m
o
t
o
r
s
p
eed
.
A
m
o
n
g
o
t
he
r
s
i
s
t
h
e
ope
n l
oop i
n
t
e
g
r
a
t
i
on
of
s
t
a
t
or
f
l
ux
e
s
t
i
m
a
t
i
on
w
h
i
c
h
c
a
n c
a
us
e
D
C
dr
i
f
t
s
a
n
d s
a
t
u
r
a
t
i
ons
.
T
h
e
es
t
i
m
at
ed
s
t
at
o
r
f
l
u
x
v
a
l
u
e
s
c
an
g
r
eat
l
y
a
f
f
ec
t
t
h
e o
v
er
al
l
p
er
f
o
r
m
an
ce o
f
a D
T
C
.
T
h
i
s
m
o
t
i
v
at
ed
u
s
t
o
co
m
e
u
p
w
i
t
h
a
m
e
t
h
od t
o ov
e
r
c
om
e
t
h
i
s
pr
obl
e
m
.
A
c
l
o
s
e
d
lo
o
p
in
te
g
r
a
tio
n
a
l
g
o
r
ith
m
f
o
r
s
ta
to
r
f
lu
x
e
s
ti
m
a
t
io
n
i
s
p
r
o
p
o
s
ed
.
T
h
e cal
cu
l
at
i
o
n
s
i
n
t
h
e al
g
o
r
i
t
h
m
ar
e b
as
ed
o
n
s
t
a
t
o
r
cu
r
r
en
t
an
d
v
o
l
t
a
g
e
m
o
d
el
i
n
a l
o
w
p
as
s
f
i
l
t
er
.
T
h
e g
en
er
al
b
l
o
c
k d
i
a
gr
a
m
i
s
a
s
s
ho
w
n
i
n F
i
gur
e
3
.
F
i
g
ur
e
3
.
T
h
e
b
lo
c
k
d
ia
g
r
a
m
o
f
th
e
s
ta
to
r
f
l
u
x
e
s
ti
m
a
tio
n
s
c
h
e
me
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nd
o
ne
s
i
a
n J
E
l
e
c
E
ng
&
C
o
m
p
S
c
i
I
SSN
:
2502
-
4752
F
uz
z
y
L
ogi
c
E
nha
nc
e
d D
i
r
e
c
t
T
or
que
C
ont
r
ol
w
i
t
h
Spac
e
V
e
c
t
or
M
odul
at
i
on
(
J
ia
n
-
D
i
n
g T
an
)
707
T
he
t
r
a
ns
f
e
r
f
u
nc
t
i
o
n i
s
a
s
s
ho
w
n
i
n e
q
ua
t
i
o
n (
7
)
.
(
)
∆
=
−
+
∗
∗
(
+
2
0
)
(7
)
Fi
g
ur
e
4
s
h
o
w
s
t
h
e cl
o
s
ed
l
o
o
p
s
t
at
o
r
f
l
u
x
es
t
i
m
at
i
o
n
i
n
d
i
r
ect
ax
i
s
as
de
r
i
v
e
d f
r
o
m
e
qu
a
t
i
on
(
7)
i
n
t
h
e f
o
r
m
o
f
a b
l
o
ck
d
i
ag
r
a
m
.
F
i
g
ur
e
4
.
T
h
e
bl
oc
k
di
a
g
r
a
m
of
t
h
e
c
l
os
e
d l
oop s
t
a
t
or
f
l
ux
e
s
t
i
m
a
t
i
on
5.
F
U
ZZ
Y
LO
G
IC
C
O
N
TR
O
L
LER
A
f
u
zz
y
l
o
g
i
c co
n
t
r
o
l
s
c
h
e
m
e
(
F
L
)
i
s
ad
ap
t
ed
i
n
t
o
t
h
e p
r
o
p
o
s
ed
m
et
h
o
d
.
T
h
e es
t
i
m
at
ed
t
o
r
q
u
e v
al
u
es
ar
e co
m
p
ar
ed
t
o
t
h
ei
r
r
ef
er
en
ces
an
d
t
h
e er
r
o
r
s
o
b
t
a
i
n
ed
ar
e f
ed
as
i
n
p
u
t
s
i
n
t
o
t
h
e F
L
.
T
h
es
e er
r
o
r
s
ar
e
n
o
r
m
al
i
zed
an
d
t
h
e
v
al
u
e
s
ar
e
w
i
t
h
i
n
t
h
e r
an
g
e o
f
-
1 t
o +
1.
T
h
e F
L
m
i
n
i
m
i
zes
t
h
e t
o
r
q
u
e er
r
o
r
s
an
d
o
b
t
ai
n
s
p
r
o
p
er
t
y
v
o
l
t
a
g
es
i
n
q
u
ad
r
at
u
r
e r
ef
er
en
ce
f
r
a
m
e (
V
q
s
)
w
i
t
h
co
n
s
t
a
n
t
s
w
i
t
ch
i
n
g
f
r
eq
u
en
c
i
e
s
.
T
h
e p
r
o
p
o
s
ed
F
L
is
a
s
i
llu
s
tr
a
te
d
i
n F
i
g
ur
e
5
.
T
h
e P
I
t
o
r
q
u
e an
d
f
l
u
x
co
n
t
r
o
l
l
er
i
n
t
h
e co
n
v
en
t
i
o
n
al
D
T
C
i
s
r
ep
l
aced
by
t
w
o
f
u
zz
y
l
o
g
i
c co
n
t
r
o
l
l
er
s
.
T
h
e e
s
t
i
m
at
ed
v
al
u
e o
f
s
t
at
o
r
f
l
u
x
i
s
co
m
p
ar
ed
t
o
t
h
e act
u
al
s
t
at
o
r
f
l
u
x
v
al
u
e.
T
h
e
c
a
lc
u
la
te
d
e
r
r
o
r
is
t
h
e
n
f
e
d
in
t
o
th
e
f
u
z
z
y
lo
g
ic
c
o
n
tr
o
lle
r
.
T
h
is
m
i
n
i
m
iz
e
s
t
h
e
to
ta
l
h
a
r
m
o
n
ic
d
is
to
r
tio
n
o
f
th
e
s
ta
to
r
c
u
r
r
e
n
t.
Fi
g
u
r
e
5
.
T
h
e b
l
o
ck
d
i
ag
r
am
o
f
t
he
f
uz
z
y
l
o
gi
c
c
o
nt
r
o
l
i
n a
D
T
C
F
i
g
ur
e
6
s
h
o
w
s
t
h
e cl
o
s
ed
l
o
o
p
b
l
o
ck
d
i
ag
r
a
m
o
f
s
t
at
o
r
f
l
u
x
r
ef
er
e
n
ce v
al
u
e an
d
t
h
e s
t
at
o
r
f
l
u
x
e
s
t
i
m
a
t
i
o
n m
a
gni
t
ud
e
.
F
i
g
ur
e
6
.
T
he
b
l
o
c
k d
i
a
gr
a
m
o
f
t
he
f
l
ux c
o
nt
r
o
l
l
o
o
p
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
25
02
-
4752
I
nd
o
ne
s
i
a
n J
E
l
e
c
E
ng
&
C
o
m
p
S
c
i
,
V
o
l.
11
, N
o
.
2
,
A
ug
us
t
2018
:
7
04
–
710
708
6.
S
I
M
U
LA
TIO
N
R
ES
U
L
S
E
x
pe
r
i
m
e
n
t
a
l
s
i
m
ul
a
t
i
ons
w
e
r
e
c
a
r
r
i
e
d ou
t
i
n M
A
T
L
A
B
/
S
I
M
U
L
I
N
K
i
n
or
de
r
t
o v
e
r
i
f
y
t
he
pr
opos
e
d
s
c
h
e
m
e
.
T
h
e
s
t
a
t
or
f
l
ux a
n
d
t
or
qu
e
e
s
t
i
m
a
t
i
on l
oop f
or
t
h
e
dr
i
v
e
a
r
e
a
l
s
o de
s
i
g
n
e
d
a
n
d i
n
c
l
u
de
d i
n t
h
e
s
i
m
u
l
a
t
i
on
s
.
T
h
e
pr
opos
e
d t
or
qu
e
a
n
d f
l
ux
f
u
z
z
y
r
e
gu
l
a
t
or
s
a
r
e
de
v
e
l
ope
d u
s
i
ng
t
h
e
f
u
z
z
y T
o
ol
box
.
T
a
bl
e
1
s
h
o
w
s
t
h
e p
ar
a
m
et
er
s
s
et
t
i
n
g
o
f
t
h
e i
n
d
u
ct
i
o
n
m
o
t
o
r
.
T
h
e ef
f
i
ci
e
n
c
y
an
d
o
v
er
al
l
p
er
f
o
r
m
a
n
ce o
f
t
h
e e
n
h
an
ced
m
e
t
ho
d
w
i
t
h
f
uz
z
y l
o
g
i
c
f
e
a
t
ur
e
(
a
s
s
ho
w
n
i
n F
i
g
ur
e
5
)
i
s
b
e
nc
h
m
a
r
ke
d
w
i
t
h t
ha
t
o
f
a
c
o
nve
nt
i
o
na
l
S
V
M
-
D
T
C.
A
v
e
r
y
l
o
w
s
pe
e
d ope
r
a
t
i
n
g c
on
di
t
i
on
o
f
50r
a
d/
s
e
c
un
de
r
f
ul
l
-
l
oa
d t
or
qu
e
(
14.
5 N
m
)
i
s
s
e
t
f
or
p
e
r
f
o
r
m
a
nc
e
b
e
nc
h
m
a
r
ki
ng.
F
i
g
ur
e
7
s
h
o
w
s
t
h
e s
t
ead
y
s
t
at
e r
es
p
o
n
s
e co
m
p
ar
i
s
o
n
o
f
t
h
e
m
o
d
i
f
i
ed
S
V
M
-
DT
C
w
i
t
h a
c
onv
e
n
t
i
on
a
l
S
V
M
-
D
T
C
und
e
r
s
uc
h o
p
e
r
a
t
i
n
g c
o
nd
i
t
i
on
.
I
t
c
a
n
be
obs
e
r
v
e
d t
h
a
t
t
h
e
m
odi
f
i
e
d
S
V
M
-
D
T
C
y
i
el
d
ed
m
u
c
h
s
m
o
o
t
h
er
s
t
ead
y
s
t
at
e
p
er
f
o
r
m
a
n
ce
g
r
ap
h
s
,
e
s
p
eci
al
l
y
i
n
t
er
m
s
o
f
t
o
r
q
u
e a
n
d
r
o
t
o
r
s
p
eed
.
T
h
e
m
odi
f
i
e
d s
c
h
e
m
e
a
c
h
i
e
v
e
d a
s
t
e
a
dy
s
t
a
t
e
of
r
ot
or
s
pe
e
d i
n
a
m
i
n
i
m
a
l
of
0.
2 s
e
c
on
d.
T
h
e
r
ot
or
s
pe
e
d
o
f
t
he
c
o
n
ve
nt
i
o
na
l
S
V
M
-
D
T
C
,
on
t
h
e
ot
h
e
r
h
a
n
d,
ov
e
r
s
h
ot
t
o 15r
a
d/
s
e
c
w
i
t
h
s
i
g
ni
f
i
c
a
n
t
r
i
ppl
e
s
a
n
d r
e
a
c
h
e
d
s
t
ead
y
s
t
at
e
o
n
l
y
a
f
t
er
2
.
2
s
eco
n
d
s
.
W
i
t
h
t
h
e
e
n
h
an
ci
n
g
f
e
at
u
r
es
i
n
t
h
e
p
r
o
p
o
s
ed
m
e
t
h
o
d
,
t
h
e
o
v
er
s
h
o
o
t
i
n
t
or
qu
e
i
s
s
i
g
ni
f
i
c
a
n
t
l
y
r
e
du
c
e
d f
r
om
27N
m
t
o 14N
m
.
U
n
de
r
s
h
oot
c
on
di
t
i
on
i
s
a
l
s
o e
l
i
m
i
n
a
t
e
d
w
i
t
h
t
h
e
i
m
pl
e
m
e
n
t
a
t
i
on
of
t
h
e
pr
opos
e
d s
c
h
e
m
e
.
T
h
e
r
i
ppl
e
s
of
t
h
e
t
or
qu
e
i
s
r
e
du
c
e
d 70%
f
r
om
1
N
m
t
o 0.
3N
m
.
T
h
e
s
ta
r
tin
g
c
u
r
r
e
n
t is
a
l
s
o
s
u
c
c
e
s
s
f
u
ll
y
r
e
d
u
c
e
d
f
r
o
m
1
4
A
to
1
0
A
w
it
h
n
o
s
ig
n
i
f
ic
a
n
t d
is
to
r
t
io
n
.
T
h
e en
h
a
n
ced
s
c
h
e
m
e
y
ie
ld
e
d
r
ip
p
le
-
f
r
ee s
t
at
o
r
f
l
u
x
at
s
t
ead
y
s
t
at
e.
T
h
e
t
o
r
q
u
e er
r
o
r
b
et
w
ee
n
es
t
i
m
a
t
ed
t
o
r
q
u
e an
d
i
t
s
r
ef
er
en
ce i
s
at
m
er
e 0
.
2
N
m
a
s
a co
n
s
t
an
t
s
w
i
t
c
h
i
n
g
f
r
eq
u
e
n
c
y
i
s
ach
i
e
v
ed
u
s
i
n
g
t
h
e
m
o
d
i
f
i
ed
m
et
h
o
d
.
I
n
co
m
p
ar
i
s
o
n
,
t
h
e t
o
r
q
u
e er
r
o
r
i
n
t
h
e
c
o
n
ve
nt
i
o
na
l
S
V
M
-
D
T
C
c
ha
nge
s
f
r
o
m
0
.
2
N
m
t
o
-
2
N
m
d
u
e
to
v
a
r
ia
b
le
s
w
i
t
c
hi
n
g
f
r
e
q
ue
nc
y a
nd
l
o
w
c
o
nt
r
o
l
s
y
s
t
e
m
p
e
r
f
o
r
m
a
nc
e
.
T
ab
l
e
1
.
T
h
e p
ar
am
et
er
s
s
et
t
i
n
g
o
f
t
h
e i
n
d
u
ct
i
o
n
m
o
t
o
r
a.
S
t
at
o
r
cu
r
r
en
t
f
.
S
t
at
o
r
cu
r
r
en
t
b
.
E
le
c
tr
o
m
a
g
n
e
tic
to
r
q
u
e
g
.
E
le
c
tr
o
m
a
g
n
e
tic
to
r
q
u
e
F
i
g
ur
e
7
.
(
a)
-
(
j
)
R
e
s
u
l
t
s
c
o
m
p
a
r
i
s
on
of
t
h
e
pr
opos
e
d m
e
t
h
od
i
n
bl
u
e
a
nd
a
c
o
nve
nt
i
o
na
l
S
V
M
-
D
T
C
i
n r
e
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nd
o
ne
s
i
a
n J
E
l
e
c
E
ng
&
C
o
m
p
S
c
i
I
SSN
:
2502
-
4752
F
uz
z
y
L
ogi
c
E
nha
nc
e
d D
i
r
e
c
t
T
or
que
C
ont
r
ol
w
i
t
h
Spac
e
V
e
c
t
or
M
odul
at
i
on
(
J
ia
n
-
D
i
n
g T
an
)
709
c.
R
o
t
o
r
s
p
eed
h
.
R
ot
or
s
pe
e
d
d
.
S
ta
to
r
f
lu
x
i.
S
ta
to
r
f
lu
x
e.
T
o
r
q
u
e er
r
o
r
j
.
T
o
rq
u
e
e
rr
o
r
F
i
g
ur
e
7
.
(
a)
-
(
j
)
R
e
s
u
l
t
s
c
o
m
p
a
r
i
s
on
of
t
h
e
pr
opos
e
d m
e
t
h
od
i
n b
l
ue
a
nd
a
c
o
nve
nt
i
o
na
l
S
V
M
-
D
T
C
i
n r
e
d
7.
CO
NCL
U
S
I
O
N
I
n
t
hi
s
pa
pe
r
,
a
m
odi
f
i
e
d D
T
C
-
S
V
M
w
i
t
h
t
he
e
n
ha
nc
e
m
e
n
t
s
o
f
f
uz
z
y l
o
gi
c
c
o
nt
r
o
l
a
nd
c
l
o
s
e
d
l
o
o
p
s
t
a
t
or
f
l
u
x
e
s
t
i
m
a
t
i
on
i
s
pr
opos
e
d f
or
a
s
y
n
c
h
r
on
ous
m
ot
or
dr
i
v
e
s
.
I
n
s
t
e
a
d o
f
a
c
o
nve
nt
i
o
na
l
P
I
c
o
nt
r
o
l
l
e
r
,
a
f
u
z
z
y
l
ogi
c
c
ont
r
ol
l
e
r
i
s
us
e
d f
or
t
or
qu
e
c
ont
r
ol
l
i
ng
w
i
t
h t
h
e
a
i
m
t
o
m
i
ni
m
i
z
e
t
h
e
e
r
r
or
be
t
w
e
e
n
e
s
t
i
m
a
t
e
d
t
o
r
q
ue
va
l
ue
a
nd
i
t
s
r
e
f
e
r
e
nc
e
.
O
n
t
he
f
l
u
x c
o
nt
r
o
l
,
t
he
i
m
p
l
i
m
e
nt
e
d
f
uz
z
y l
o
g
i
c al
g
o
r
i
t
h
m
s
u
cces
s
f
u
l
l
y
m
i
n
i
m
iz
e
d
th
e
to
ta
l h
a
r
m
o
n
ic
d
is
to
r
tio
n
o
f
th
e
s
ta
to
r
c
u
r
r
e
n
t b
y
r
e
d
u
c
i
n
g
t
h
e
e
r
r
o
r
b
e
t
w
e
e
n
th
e
e
s
ti
m
a
te
d
s
t
at
o
r
f
l
u
x
a
n
d
t
h
e s
t
a
t
o
r
f
l
u
x
r
ef
er
en
ce.
I
n
th
e
p
r
o
p
o
s
e
d
m
o
d
if
ic
a
tio
n
a
ls
o
in
c
lu
d
e
s
a
c
lo
s
e
d
lo
o
p
s
ta
to
r
f
lu
x
e
s
ti
m
a
tio
n
.
T
h
e
pu
r
pos
e
of
i
m
pl
e
m
e
n
t
i
ng
a
c
l
os
e
d l
oop
f
l
u
x
e
s
t
i
m
a
t
i
on
i
s
t
o ov
e
r
c
om
e
D
C
dr
i
f
t
s
a
n
d s
a
t
u
r
a
t
i
on
pr
obl
e
m
s
.
S
i
m
ul
a
t
i
ons
an
d
h
ar
d
w
ar
e ex
p
er
i
m
en
t
s
w
er
e co
n
d
u
ct
ed
.
T
h
e r
es
u
l
t
s
i
n
d
i
cat
e t
h
at
t
h
e
m
o
d
i
f
i
ed
D
T
C
-
S
V
M
is
a
b
le
to
r
e
du
c
e
t
h
e
r
i
ppl
e
s
i
n g
e
n
e
r
a
t
e
d t
or
qu
e an
d
f
l
u
x
.
T
h
i
s
en
h
a
n
ced
D
T
C
-
S
V
M
a
l
s
o
s
u
cces
s
f
u
l
l
y
m
i
n
i
m
i
zed
t
h
e
di
s
t
or
t
i
on
i
n s
t
a
t
or
c
u
r
r
e
n
t
w
i
t
h
f
a
s
t
r
e
s
pon
s
e
o
f
r
ot
or
s
pe
e
d c
h
a
ng
e
.
I
t
c
a
n
t
hu
s
be
c
on
c
l
u
de
d t
h
a
t
t
h
e
m
odi
f
i
e
d D
T
C
-
S
V
M
e
n
h
a
n
c
e
d
w
ith
c
lo
s
e
d
lo
o
p
s
ta
to
r
f
lu
x
e
s
ti
m
a
tio
n
a
n
d
f
u
z
z
y
lo
g
ic
c
o
n
tr
o
l p
e
r
f
o
r
m
s
w
e
ll
i
n ge
ne
r
a
l
-
pu
r
pos
e
a
s
y
n
c
h
r
onou
s
m
ot
or
dr
i
v
e
s
.
A
C
K
N
O
W
L
ED
G
EM
EN
T
T
he
a
ut
ho
r
s
w
o
u
l
d
l
i
ke
t
o
t
ha
nk t
he
M
a
l
a
ys
i
a
M
i
ni
s
t
r
y o
f
H
i
g
he
r
E
d
uc
a
t
i
o
n
f
o
r
t
he
s
up
p
o
r
t
o
f
t
hi
s
r
es
ear
ch
u
n
d
er
F
u
n
d
a
m
e
n
t
al
R
es
ear
ch
G
r
an
t
(
F
R
G
S
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
25
02
-
4752
I
nd
o
ne
s
i
a
n J
E
l
e
c
E
ng
&
C
o
m
p
S
c
i
,
V
o
l.
11
, N
o
.
2
,
A
ug
us
t
2018
:
7
04
–
710
710
R
EF
ER
EN
C
ES
[
1]
I
.
T
ak
ah
as
h
i
a
nd T
.
N
og
uc
hi
,
“
A
ne
w
qui
c
k
-
r
e
s
pons
e
a
nd
hi
g
h e
f
f
i
c
i
e
nc
y
c
ont
r
ol
s
t
r
a
t
e
g
y
o
f
a
n i
ndu
c
t
i
on m
a
c
hi
ne
,
”
I
E
E
E
T
r
a
n
s
. I
n
d
. A
p
p
l
i
c
a
t
, v
o
l
. 2
2
, p
p
.
8
2
0
–
82
7.
O
c
t
.
19
86
.
[
2]
H
N
a
s
ut
i
on.
D
e
v
e
l
opm
e
nt
o
f
f
uz
z
y
l
og
i
c
c
ont
r
ol
f
or
v
e
h
i
c
l
e
a
i
r
c
ondi
t
i
on
i
ng
s
y
s
t
e
m
.
T
E
L
KO
M
NIKA
(
T
e
l
e
c
om
m
uni
c
at
i
on
C
om
p
ut
i
ng
E
l
e
c
t
r
oni
c
s
a
nd C
on
t
r
ol
)
.
20
08
;
6(
2
)
:
73
-
82
.
[
3]
T
.
G
.
H
a
b
e
tle
r
,
D
.
M
.
D
iv
a
n
,
“
C
o
n
tr
o
l s
tr
a
te
g
ie
s
f
o
r
d
ir
e
c
t to
r
q
u
e
c
o
n
tr
o
l u
s
i
n
g
d
is
c
r
e
te
p
u
ls
e
m
o
d
u
la
tio
n
,
”
I
EEE
T
r
a
ns
.
I
nd.
A
ppl
,
v
ol
.
27,
p
p.
8
93
–
901
,
1
99
1.
[
4]
K
P
i
tc
h
a
iV
ija
y
a
,
K
K
M
ah
ap
at
r
a.
A
d
ap
t
i
v
e
-
f
uz
z
y
c
ont
r
ol
l
e
r
ba
s
e
d
s
hun
t
a
c
t
i
v
e
f
i
l
t
e
r
f
or
pow
e
r
l
i
ne
c
ondi
t
i
o
ne
r
s
.
T
E
L
KOM
NI
K
A
(
T
e
l
e
c
om
m
uni
c
at
i
on
,
C
om
put
i
ng
,
E
l
e
c
t
r
o
ni
c
s
a
nd
C
ont
r
o
l
)
.
20
11;
9(
2)
:
2
03
-
21
0.
[
5]
N
.
R
um
z
i
N
i
k
I
dr
i
s
,
A
.
M
oha
m
e
d Y
a
t
i
m
,
“
D
i
r
e
c
t
T
or
que
C
ont
r
o
l
of
I
nduc
t
i
on M
a
c
hi
ne
s
W
i
t
h C
on
s
t
a
nt
S
w
i
t
c
hi
ng
F
r
e
que
nc
y
a
nd R
e
duc
e
d
T
or
que
R
i
pp
l
e
,
”
I
E
E
E
T
r
a
ns
on I
nd
us
t
r
i
a
l
E
l
e
c
t
r
oni
c
s
,
V
ol
.
5
1,
N
o.
4,
pp
.
7
58
-
76
7,
A
ug
us
t
.
200
4.
[
6]
B
r
ah
i
m
M
et
i
d
j
i
,
F
ar
i
d
T
azr
ar
t
,
A
h
m
ed
A
zi
b
,
N
ab
i
l
T
ai
b
,
T
o
u
f
i
k
R
ek
i
o
u
a ,
“ A
N
e
w
F
u
zz
y
D
i
r
e
ct
T
o
r
q
u
e
Co
n
t
ro
l
S
t
r
a
t
e
gy
f
or
I
nduc
t
i
on M
a
c
hi
ne
B
a
s
e
d on I
ndi
r
e
c
t
M
a
t
r
i
x
C
onv
e
r
t
e
r
,
”
I
nt
e
r
na
t
i
ona
l
J
our
na
l
of
R
e
s
e
a
r
c
h a
nd
R
e
v
i
e
w
s
i
n C
om
put
i
ng
E
ng
i
ne
e
r
i
ng
,
v
ol
.
1,
no
.
1,
pp
.
1
8
-
2
2,
M
a
r
c
h
201
1.
[
7]
N
B
aat
ar
,
S
K
i
m
.
A
T
h
er
m
o
el
e
ct
r
i
c G
en
er
at
o
r
R
ep
l
aci
n
g
R
ad
i
at
o
r
f
o
r
I
n
t
er
na
l
C
om
bus
t
i
o
n E
n
g
i
ne
V
e
hi
c
l
e
s
.
T
E
L
K
O
M
N
I
K
A
(
T
e
l
e
c
om
m
uni
c
at
i
on,
C
om
p
ut
i
ng
,
E
l
e
c
t
r
on
i
c
s
an
d
C
ont
r
o
l
)
.
20
11;
9(
3)
:
5
23
-
5
30
.
[
8]
A
.
L
ok
r
i
t
i
,
Y
.
Z
i
da
ni
,
a
nd S
.
D
o
u
ba
bi
,
“
F
uz
z
y
l
og
i
c
c
ont
r
ol
c
o
nt
r
i
but
i
on t
o t
he
di
r
e
c
t
t
or
que
a
n
d f
l
ux
c
ont
r
o
l
of
a
n
in
d
u
c
tio
n
m
a
c
hi
ne
,
”
I
E
E
E
I
n
t
e
r
na
t
i
ona
l
C
onf
e
r
e
nc
e
on m
ul
t
i
m
e
di
a
C
om
put
i
ng
a
nd
S
y
s
t
e
m
s
,
pp.
1
-
6,
J
ul
y
2011
.
[
9]
S
.
M
.
G
a
doue
,
D
.
G
i
a
our
i
s
,
a
n
d J
.
W
.
F
i
nc
h,
“
M
odi
f
i
e
d D
i
r
e
c
t
T
or
que
C
o
nt
r
o
l
M
e
t
h
od f
or
I
n
duc
t
i
o
n M
ot
or
D
r
i
v
e
s
B
a
s
e
d on A
m
pl
i
t
ude
a
nd
A
ng
l
e
C
ont
r
ol
of
S
t
a
t
or
F
l
ux
,
”
E
l
ect
r
i
c
P
o
w
er
S
y
s
t
e
m
s
R
e
s
ear
ch
,
p
p
2
1
0
-
2
19
,
J
ul
y
2008
[
1
0]
Y
en
-
S
hi
n L
a
i
,
a
nd J
u
o
-
C
hi
un
L
i
n,
“
N
e
w
H
y
br
i
d F
uz
z
y
C
ont
r
ol
l
e
r
f
or
D
i
r
e
c
t
T
or
que
C
ont
r
ol
I
nduc
t
i
o
n M
o
t
or
D
r
i
v
e
s
,
”
I
E
E
E
T
r
a
ns
a
c
t
i
ons
on
P
ow
e
r
E
l
e
c
t
r
oni
c
s
,
v
ol
.
1
5,
no.
5,
pp.
121
1
-
12
15,
S
e
pt
e
m
be
r
200
3.
[
1
1]
Lu
i
s
R
om
e
r
a
l
,
A
nt
oni
A
r
i
a
s
,
E
m
i
l
i
a
no A
l
da
ba
s
,
a
nd M
a
r
c
e
l
.
G
.
J
a
y
n
e
,
“
N
ov
e
l
D
i
r
e
c
t
T
or
que
C
ont
r
ol
(
D
T
C
)
S
c
he
m
e
W
i
t
h
F
uz
z
y
A
da
pt
i
v
e
T
or
que
-
R
i
p
pl
e
R
e
d
uc
t
i
o
n,
”
I
E
E
E
T
r
a
ns
a
c
t
i
ons
o
n I
n
dus
t
r
i
a
l
E
l
e
c
t
r
o
ni
c
s
,
v
ol
.
5
0,
n
o.
3,
p
p.
4
87
-
49
2,
J
une
,
20
03
.
[
1
2]
J
un Z
ha
ng
,
a
nd
M
.
F
.
R
ah
m
an
“A
n
al
y
s
i
s
an
d
D
es
i
g
n
o
f
a N
o
v
el
D
i
r
ect
F
l
u
x
C
o
n
t
r
o
l
S
c
h
em
e f
o
r
I
n
d
u
ct
i
o
n
M
ach
i
n
e,
”I
E
E
E
I
n
t
er
n
at
i
o
n
al
C
o
n
f
er
en
ce o
n
E
l
ect
r
i
c M
ach
i
n
es
a
nd D
r
i
v
e
s
,
pp
.
4
26
-
43
0,
M
a
y
200
5.
[
1
3]
A
.
A
bbou,
Y
.
S
a
y
out
i
,
H
.
M
a
hm
oudi
,
a
nd M
.
A
k
he
r
r
a
z
,
“
F
uz
z
y
i
n
f
e
r
e
nc
e
s
y
s
t
e
m
ba
s
e
d di
r
ect
t
o
r
q
u
e co
n
t
r
o
l
,
” I
E
E
E
i
n C
o
nt
r
ol
a
n
d A
ut
om
a
t
i
on,
p
p.
11
21
-
11
26,
A
ug
us
t
2
01
0.
[
1
4]
J
i
a
n W
a
ng
,
H
ong
-
h
u
a W
an
g
,
X
i
ao
-
l
i
ng
Y
ua
n,
a
n
d T
i
a
n
-
ha
ng
L
u
,
“
N
ov
e
l
I
nt
e
l
l
i
g
e
nt
D
i
r
e
c
t
T
or
que
C
ont
r
o
l
f
or
P
e
r
m
a
ne
nt
M
a
g
ne
t
S
y
nc
hr
ono
us
M
ot
or
D
r
i
v
e
,
”
I
E
E
E
o
n F
uz
z
y
S
y
s
t
e
m
a
nd K
now
l
e
dg
e
D
i
s
c
ov
e
r
y
,
pp.
22
6
-
230
,
N
ov
e
m
be
r
2008
.
[
1
5]
Z
he
ng
L
i
.
a
nd Y
i
R
ua
n.
“
A
N
ov
e
l
C
ont
r
ol
M
e
t
ho
d B
a
s
e
d on
W
a
v
e
l
e
t
N
e
ur
a
l
N
e
t
w
or
k
s
f
or
D
i
r
e
c
t
T
or
que
C
o
nt
r
o
l
i
n
I
n
d
u
ct
i
o
n
M
o
t
o
r
D
r
i
v
es
,
” I
n
t
er
n
at
i
o
n
al
co
n
f
er
en
ce o
n
E
l
ect
r
i
cal
m
ach
i
n
es
an
d
s
y
s
t
e
m
,
p
p
.
3
9
6
7
-
39
7
2,
20
09
.
Evaluation Warning : The document was created with Spire.PDF for Python.