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rica
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ng
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Science
Vo
l.
23
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2
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A
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t
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p
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40
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7
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SS
N:
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23
.i
2
.
pp
7
40
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51
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ttp
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cs.ia
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tronic
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tim
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Un
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l
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4
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a
c
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lt
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Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
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y:
R
ec
eiv
ed
Ap
r
2
3
,
2
0
2
1
R
ev
is
ed
Ma
y
1
8
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2
0
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1
Acc
ep
ted
Ma
y
1
9
,
2
0
2
1
Th
is p
a
p
e
r
d
isc
u
ss
e
s
th
e
p
r
o
c
e
ss
o
f
m
o
d
e
ll
in
g
a
n
d
p
a
ra
m
e
ter
se
lec
ti
o
n
fo
r
th
e
c
re
a
ti
o
n
o
f
th
e
e
lec
tro
n
ic
we
d
g
e
b
ra
k
e
sy
ste
m
(EW
B).
Th
e
sy
ste
m
in
v
o
lv
e
s
a
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
DC
e
n
g
in
e
(P
M
DC)
th
a
t
d
ri
v
e
s
th
e
m
o
to
r,
th
e
g
e
a
r
lea
d
sc
re
w,
a
n
d
th
e
b
ra
k
e
c
o
re
.
Th
e
p
r
o
p
o
se
d
m
o
d
e
l
is
sim
p
ler
a
n
d
m
o
re
flex
ib
le
w
h
ich
c
a
n
b
e
u
se
d
i
n
b
o
t
h
t
h
e
m
o
st
we
ll
-
k
n
o
wn
EW
B
d
e
s
ig
n
s
e
it
h
e
r
n
a
tu
ra
l
o
r
o
p
ti
m
ize
d
EW
B.
Th
e
s
e
lec
ti
o
n
o
f
th
e
m
o
t
o
r
is
re
n
d
e
re
d
a
c
c
o
rd
in
g
to
th
e
b
ra
k
e
sp
e
c
ifi
c
a
ti
o
n
s.
Th
e
we
d
g
e
a
n
g
le
p
r
o
fil
e
is
c
e
n
tr
e
d
o
n
th
e
d
e
r
iv
a
ti
o
n
o
f
EW
B
sy
ste
m
t
h
a
t
c
o
n
sists
o
f
b
ra
k
e
a
c
tu
a
to
r,
we
d
g
e
m
e
c
h
a
n
ism
d
y
n
a
m
ic,
a
n
d
we
d
g
e
c
h
a
ra
c
teristi
c
b
ra
k
e
fa
c
to
r.
Co
n
tro
l
a
n
d
o
p
ti
m
iza
ti
o
n
a
re
c
a
rried
o
u
t
wi
th
s
p
e
c
ifi
c
c
o
e
fficie
n
ts
o
f
fr
ictio
n
o
f
th
e
b
ra
k
e
p
a
d
s
t
o
m
a
in
tain
o
p
e
ra
ti
n
g
re
li
a
b
il
it
y
.
A
5
t
h
-
o
r
d
e
r
b
ra
k
e
sim
u
lati
o
n
m
o
d
e
l
o
f
th
e
EW
B
i
n
a
sin
g
le
sta
te
-
sp
a
c
e
wa
s
d
e
riv
e
d
a
n
d
a
sim
u
lati
o
n
wa
s
c
o
n
d
u
c
ted
t
o
v
e
rify
th
e
d
istri
b
u
ti
o
n
o
f
f
o
rc
e
.
Th
e
e
ffici
e
n
c
y
o
f
t
h
e
b
ra
k
e
c
lam
p
in
g
fo
r
c
e
c
o
n
tro
l
sy
ste
m
wa
s
a
ss
e
ss
e
d
b
y
p
ro
p
o
rt
i
o
n
a
l
-
i
n
teg
ra
l
-
d
e
ri
v
a
ti
v
e
(
P
ID
)
c
o
n
tro
l
.
Th
e
p
e
rfo
rm
a
n
c
e
o
f
th
e
p
ro
p
o
se
d
c
o
n
tro
ll
e
r
is
v
e
rifi
e
d
in
sim
u
l
a
ti
o
n
s
a
n
d
e
x
p
e
rime
n
ts
u
si
n
g
a
p
ro
t
o
t
y
p
e
e
le
c
tro
n
ic
we
d
g
e
b
ra
k
e
.
Th
e
re
se
a
rc
h
fi
n
d
i
n
g
s
in
d
ica
te,
t
h
e
a
c
tu
a
to
r
re
strictio
n
i
s
d
e
e
m
e
d
to
a
c
h
iev
e
c
o
n
siste
n
t
p
e
rfo
rm
a
n
c
e
a
g
a
in
st f
u
l
l
ra
n
g
e
b
ra
k
i
n
g
d
u
rin
g
t
h
e
EW
B
c
o
n
tro
l
d
e
si
g
n
.
K
ey
w
o
r
d
s
:
B
r
ak
e
-
by
-
wir
e
E
lectr
o
n
ic
wed
g
e
b
r
ak
e
E
W
B
m
ath
em
atica
l m
o
d
el
Self
en
er
g
ize
b
r
a
k
e
W
ed
g
e
b
r
ak
e
s
y
s
tem
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Mo
h
d
Han
if
C
h
e
Hasan
Facu
lty
o
f
E
lectr
ical
an
d
E
l
ec
tr
o
n
ic
E
n
g
in
ee
r
in
g
T
ec
h
n
o
lo
g
y
Un
iv
er
s
iti T
ek
n
ik
al
Ma
lay
s
ia
Me
lak
a
7
6
1
0
0
Me
lak
a,
Ma
lay
s
ia
E
m
ail: h
an
if
.
h
asan
@
u
tem
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
T
h
er
e
is
a
clea
r
tr
en
d
in
t
h
e
au
to
m
o
tiv
e
in
d
u
s
tr
y
to
d
a
y
to
war
d
s
p
o
wer
-
by
-
wir
e
te
ch
n
o
lo
g
ies
d
esig
n
ed
to
r
ep
lace
h
y
d
r
a
u
lic
o
r
p
n
eu
m
atic
s
y
s
tem
s
with
co
m
p
ar
ab
le
elec
tr
ically
p
o
we
r
ed
o
n
es.
R
ec
en
tly
,
elec
tr
o
n
ic
wed
g
e
b
r
ak
e
(
E
W
B
)
r
ec
eiv
ed
atten
tio
n
f
o
r
in
tr
o
d
u
cin
g
"b
r
a
k
e
-
b
y
-
wir
e"
s
o
lu
ti
o
n
s
.
Var
io
u
s
E
W
B
p
r
o
to
ty
p
es
wer
e
f
ir
s
t
in
tr
o
d
u
ce
d
b
y
th
e
Ger
m
an
ae
r
o
s
p
a
ce
ce
n
ter
(
eSto
p
®
-
GM
B
H)
[
1
]
an
d
a
r
e
wid
ely
r
ep
o
r
ted
in
th
e
liter
atu
r
e
r
ev
ie
w.
I
t
b
eg
in
s
f
r
o
m
a
s
in
g
le
m
o
t
o
r
[
1
]
to
a
d
o
u
b
le
m
o
to
r
[2
]
,
[
3]
an
d
t
h
en
r
etu
r
n
s
to
a
s
in
g
le
m
o
to
r
[4
]
-
[
12]
t
o
m
ec
h
a
n
ically
m
in
im
ize
th
e
b
ac
k
lash
.
T
h
e
o
p
tim
ized
E
W
B
v
er
s
io
n
was
in
tr
o
d
u
ce
d
to
in
cr
ea
s
e
E
W
B
b
r
a
k
e
ef
f
icien
c
y
[
8
]
.
T
o
th
is
en
d
,
th
e
an
g
le
o
f
th
e
en
g
in
e'
s
ac
tu
atio
n
d
u
r
in
g
th
e
m
ec
h
an
ical
d
esig
n
s
h
o
u
ld
b
e
s
et
eq
u
al
t
o
th
e
an
g
le
o
f
th
e
co
i
l.
T
o
th
is
en
d
,
th
e
an
g
le
o
f
th
e
en
g
in
e'
s
ac
tu
atio
n
d
u
r
in
g
th
e
m
ec
h
a
n
ical
d
esig
n
s
h
o
u
ld
b
e
s
et
eq
u
al
to
th
e
a
n
g
le
o
f
th
e
wed
g
e
.
B
ased
o
n
th
is
b
asis
,
s
ev
er
al
attem
p
ts
h
av
e
b
ee
n
m
ad
e
b
y
r
esear
ch
er
s
b
ased
o
n
t
h
is
d
esig
n
co
n
ce
p
t
[5
]
,
[
13
]
-
[
18]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
d
yn
a
mic
mo
d
el
o
f e
lectro
n
ic
w
ed
g
e
b
r
a
ke
:
ex
p
eri
men
ta
l,
c
o
n
tr
o
l a
n
d
…
(
Mo
h
d
Ha
n
if C
h
e
Ha
s
a
n
)
741
T
h
e
f
in
d
i
n
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lar
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ely
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o
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ir
m
t
h
at
th
e
u
s
e
o
f
a
wed
g
e
i
n
an
e
lectr
o
m
ec
h
an
ical
b
r
ak
e
m
ec
h
a
n
is
m
ca
n
d
r
am
atica
lly
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ed
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ce
th
e
n
ec
ess
ar
y
ac
tu
atin
g
f
o
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ce
s
an
d
th
u
s
allo
w
th
e
d
e
v
elo
p
m
e
n
t
o
f
m
u
ch
m
o
r
e
s
o
p
h
is
ticated
s
y
s
tem
s
f
o
r
au
to
m
o
tiv
e
ap
p
licatio
n
s
.
Nev
er
th
e
less
,
f
o
r
th
e
ap
p
licatio
n
,
wh
ic
h
t
h
e
r
eg
u
latio
n
o
f
th
e
E
W
B
m
ec
h
an
is
m
,
it
is
n
o
ted
th
at
to
ac
h
iev
e
th
e
h
i
g
h
est
lev
el
o
f
f
id
elity
p
r
o
tec
tio
n
th
er
e
is
s
til
l
a
s
ig
n
if
ican
t
b
ar
r
ier
an
d
d
o
w
n
s
id
e
[
1
9
]
.
So
m
e
o
f
th
e
o
b
tain
ed
ex
p
er
im
e
n
tal
r
esu
lts
s
u
g
g
ested
s
ev
er
al
d
ela
y
s
in
th
e
r
esp
o
n
s
e
s
ig
n
al
an
d
d
id
n
o
t
co
m
p
l
y
with
th
e
r
elate
d
th
eo
r
ies.
Up
o
n
a
n
aly
s
is
,
it
f
o
cu
s
es
o
n
th
e
less
ac
cu
r
ate
p
r
ed
ictio
n
o
f
th
e
E
W
B
s
y
s
tem
d
u
r
in
g
th
e
m
o
d
e
llin
g
p
h
ase,
t
h
e
s
im
p
lific
atio
n
,
id
ea
lizatio
n
,
an
d
s
im
u
latio
n
m
eth
o
d
o
lo
g
y
u
s
ed
d
u
r
in
g
b
r
a
k
e
s
y
s
tem
m
o
d
elli
n
g
,
an
d
y
et
it
is
a
cr
itical
p
iece
o
f
in
f
o
r
m
atio
n
wh
ich
d
eter
m
in
es
t
h
e
b
r
a
k
e
s
y
s
tem
'
s
ca
p
ab
ilit
ies.
As
s
tate
d
in
[
2
0
]
,
o
n
e
o
f
th
e
k
ey
f
ac
to
r
s
f
o
r
ac
h
iev
in
g
d
esira
b
le
co
n
tr
o
l
ef
f
icien
cy
is
th
e
p
r
o
v
is
io
n
o
f
an
ef
f
ec
tiv
e
s
y
s
tem
m
o
d
el
th
at
ca
n
ac
cu
r
ately
s
im
u
la
te
th
e
s
y
s
tem
'
s
d
y
n
am
ic
b
eh
av
io
u
r
.
T
o
d
ate,
th
e
E
W
B
f
r
am
ewo
r
k
h
as
two
p
o
p
u
la
r
m
eth
o
d
s
o
f
d
y
n
am
ic
m
o
d
ellin
g
,
n
am
ely
p
h
y
s
ical
m
o
d
ellin
g
(
PM)
an
d
s
y
s
tem
id
en
tific
atio
n
(
SI)
m
eth
o
d
s
.
T
h
ese
two
a
p
p
r
o
ac
h
es
ar
e
v
er
y
u
s
ef
u
l in
cr
ea
tin
g
a
m
ath
em
ati
ca
l m
o
d
el
f
o
r
th
e
u
n
it.
Ho
wev
er
,
th
ese
m
eth
o
d
s
d
o
h
av
e
a
d
v
an
tag
es
a
n
d
d
r
awb
a
ck
s
.
T
h
e
SIM
tech
n
iq
u
e
ca
n
g
en
er
ate
s
im
u
latio
n
s
o
f
th
e
ex
ac
t
r
esp
o
n
s
es
th
at
ar
e
tr
u
e
to
t
h
e
s
y
s
tem
m
ec
h
an
is
m
[
21]
.
No
n
eth
el
ess
,
th
is
m
o
d
el
m
ay
n
o
t
b
e
a
p
p
r
o
p
r
iate
f
o
r
o
th
e
r
s
y
s
tem
s
.
On
th
e
o
th
er
h
a
n
d
,
th
e
d
ev
elo
p
ed
m
o
d
el
m
a
y
b
e
r
eu
s
ed
f
o
r
o
th
e
r
s
y
s
tem
s
with
th
e
s
am
e
m
ec
h
an
is
m
in
th
e
ca
s
e
o
f
PM
tec
h
n
iq
u
es,
b
u
t
s
o
m
e
ad
j
u
s
tm
en
t
o
f
th
e
p
ar
am
eter
s
ac
co
r
d
in
g
t
o
th
e
m
e
ch
a
n
is
m
o
f
d
ev
elo
p
m
en
t
is
n
ee
d
e
d
.
I
n
g
en
er
al,
b
ased
o
n
PM
tech
n
i
q
u
es,
th
e
d
y
n
am
ic
E
W
B
m
o
d
el
was
d
er
iv
ed
f
r
o
m
th
e
o
r
d
i
n
ar
y
d
i
f
f
er
en
tial
eq
u
atio
n
(
ODE
)
b
y
d
iv
id
i
n
g
th
e
en
tire
E
W
B
s
y
s
tem
in
to
th
r
ee
s
u
b
ass
em
b
ly
p
a
r
ts
:
DC
-
m
o
to
r
,
L
ea
d
Scr
ew
an
d
E
W
B
-
B
r
ak
e
Hea
r
t
[8
]
,
[
9
]
,
[
11
]
,
[
22]
.
So
,
th
ese
v
alid
ated
m
o
d
els
ar
e
a
cc
ep
tab
le,
an
d
later
co
n
tr
ib
u
te
d
to
th
e
u
s
e
o
f
r
esear
ch
e
r
s
.
E
v
e
n
s
o
,
in
th
ese
eq
u
atio
n
s
,
th
er
e
ar
e
d
is
ad
v
an
tag
es
wh
er
e
th
e
d
er
iv
atio
n
s
h
av
e
n
o
t
en
d
e
d
with
s
tate
-
s
p
ac
e
o
r
tr
an
s
f
er
f
u
n
ctio
n
,
f
o
r
m
,
an
d
th
u
s
m
ak
e
it
less
r
eliab
le
to
u
s
e
f
o
r
co
n
tr
o
l
d
esig
n
.
T
h
e
im
p
l
em
en
tatio
n
o
f
a
f
u
ll
E
W
B
m
o
d
el
b
ased
o
n
5
b
y
5
s
tate
s
p
ac
e
r
ep
r
esen
tatio
n
[
2
2
]
s
u
r
m
o
u
n
te
d
th
ese
wea
k
n
ess
es.
I
t
is
n
o
ted
th
at
th
e
E
W
B
m
ec
h
an
is
m
co
n
tain
s
n
o
n
lin
e
ar
ities
an
d
v
ar
iab
le
p
ar
a
m
eter
s
in
its
co
m
p
o
n
en
ts
wh
ich
ca
n
also
af
f
ec
t
s
y
s
tem
p
er
f
o
r
m
an
ce
,
s
u
ch
as
th
e
ef
f
icien
cy
o
f
th
e
l
ea
d
s
cr
ew
o
r
r
o
ller
s
cr
ew
an
d
th
e
f
r
ictio
n
co
ef
f
ici
en
t
o
f
th
e
b
r
a
k
e
p
ad
.
T
h
e
ef
f
ic
ien
cy
o
f
th
e
r
o
ller
a
n
d
th
e
lea
d
s
cr
ew
will
d
e
p
en
d
o
n
th
e
tr
an
s
latio
n
al
v
ar
iab
le,
wh
eth
er
it
ac
ts
a
s
a
d
r
iv
er
o
r
g
u
id
e
to
th
e
r
o
tatin
g
p
ar
t,
wh
er
ea
s
th
e
p
ad
's
co
ef
f
icien
t
o
f
f
r
ictio
n
in
cr
ea
s
e
s
p
r
o
p
o
r
tio
n
ally
to
t
h
e
p
ad
'
s
s
u
r
f
ac
e
tem
p
e
r
atu
r
e
a
n
d
d
ec
r
ea
s
es
th
e
p
r
esen
ce
o
f
wate
r
[
2
3
]
,
[
2
4
]
an
d
wate
r
[
2
5
]
.
Oth
er
wis
e
th
e
p
ad
f
r
ictio
n
also
h
as
a
n
o
n
lin
ea
r
ity
o
f
lo
w
d
is
k
s
p
ee
d
wh
ich
ca
n
b
e
ex
p
r
ess
ed
with
th
e
s
ig
m
o
id
f
u
n
ctio
n
[
2
3
]
.
Nu
m
er
o
u
s
r
esear
ch
er
s
h
av
e
tr
ied
a
v
ar
iety
o
f
m
eth
o
d
s
to
ad
d
r
ess
th
ese
p
r
o
b
lem
s
.
Ho
w
ev
er
,
th
e
d
e
f
in
itiv
e
way
to
s
o
lv
e
th
is
p
r
o
b
lem
h
as
y
et
to
b
e
f
o
u
n
d
.
I
n
o
r
d
e
r
to
co
n
tr
ib
u
te
t
o
th
e
a
d
v
an
ce
m
e
n
t
o
f
th
e
E
W
B
,
a
co
m
p
lete
m
o
d
el
o
f
a
n
in
teg
r
ate
d
E
W
B
s
y
s
tem
u
s
in
g
th
e
PM
m
eth
o
d
h
a
s
b
ee
n
d
ev
elo
p
ed
i
n
th
is
s
tu
d
y
.
T
h
e
o
b
jectiv
es
ar
e
d
er
iv
in
g
m
ath
e
m
atica
l
eq
u
atio
n
f
o
r
PMDC
f
o
r
E
W
B
,
id
en
tify
th
e
ef
f
ec
t
o
f
ac
tu
atio
n
an
g
le,
ex
p
er
im
e
n
t
ally
v
alid
ate
th
e
m
o
d
el,
an
d
f
in
ally
p
er
f
o
r
m
e
d
p
er
f
o
r
m
an
ce
an
al
y
s
is
o
f
th
e
E
W
B
u
s
in
g
PID
co
n
tr
o
ller
.
T
h
er
e
ar
e
f
o
u
r
s
ec
tio
n
s
in
th
is
ar
ticle.
T
h
e
f
ir
s
t
s
eg
m
en
t
f
o
cu
s
es
o
n
th
e
im
p
lem
en
tatio
n
o
f
th
e
E
W
B
an
d
th
e
r
ev
iew
o
f
o
th
er
r
elev
a
n
t
wo
r
k
.
T
h
e
c
o
m
p
lete
m
ath
e
m
atica
l
m
o
d
ellin
g
o
f
th
e
o
p
ti
m
ized
E
W
B
i
s
th
en
d
ef
in
ed
,
f
o
llo
wed
b
y
th
e
d
esig
n
s
ec
tio
n
f
o
r
th
e
r
eq
u
ir
ed
g
o
al
,
en
g
in
e
s
elec
tio
n
,
an
d
ex
p
er
i
m
en
tal
v
alid
atio
n
o
f
en
g
in
e
an
d
E
W
B
p
ar
am
eter
s
.
T
h
e
PID
co
n
tr
o
ller
-
b
ased
clam
p
in
g
f
o
r
ce
co
n
t
r
o
ller
is
d
esig
n
ed
to
s
im
u
late
th
e
m
o
d
el
an
d
th
e
s
im
u
latio
n
r
es
u
lt
is
ad
d
r
ess
ed
.
PID
p
ar
a
m
e
ter
s
ar
e
tu
n
ed
d
ep
e
n
d
en
t
o
n
o
p
tim
izatio
n
-
b
ased
tu
n
in
g
.
Fin
ally
,
th
e
co
n
clu
s
io
n
an
d
th
e
p
o
ten
tial w
o
r
k
p
lan
a
r
e
m
ix
ed
in
t
h
e
last
s
ec
tio
n
.
2.
M
AT
H
E
M
AT
I
CA
L
M
O
D
E
L
O
F
E
W
B
I
n
o
r
d
er
to
d
e
v
elo
p
th
e
E
W
B
'
s
s
u
itab
le
m
ath
em
atica
l
m
o
d
e
llin
g
a
clea
r
u
n
d
e
r
s
tan
d
in
g
o
f
th
e
E
W
B
p
r
o
ce
s
s
is
r
eq
u
i
r
ed
t
o
p
r
o
v
i
d
e
b
etter
in
s
ig
h
t.
T
h
e
d
ev
el
o
p
m
en
t
o
f
th
e
E
W
B
'
s
m
ath
em
atica
l
eq
u
atio
n
is
p
r
o
p
o
s
ed
in
th
is
s
ec
tio
n
an
d
will
b
e
ex
p
lain
ed
o
n
th
e
b
asi
s
o
f
p
h
y
s
ical
m
o
d
ellin
g
.
Su
b
d
iv
id
in
g
th
e
b
r
ak
e
s
y
s
tem
in
to
s
ev
er
al
d
if
f
er
en
t
ass
em
b
lies
i
s
u
s
ef
u
l
f
o
r
m
o
d
e
llin
g
p
u
r
p
o
s
es.
T
h
ese
ca
n
b
e
i
m
p
lem
en
ted
with
in
th
e
o
v
e
r
all
m
o
d
el
as
s
ep
ar
ate
s
u
b
r
o
u
tin
es
o
r
b
lo
ck
s
,
as
s
h
o
wn
in
Fig
u
r
e
1
.
T
h
e
b
r
ak
e
m
o
d
el
is
d
iv
i
d
ed
in
t
o
two
m
ain
p
ar
ts
,
th
e
b
r
ak
e
ac
t
u
ato
r
,
an
d
th
e
h
ea
r
t
-
b
r
a
k
e
m
ec
h
an
is
m
.
As
s
h
o
wn
in
Fig
u
r
e
1
,
T
h
e
b
r
a
k
e
ac
tu
ato
r
co
n
s
is
ted
o
f
two
co
m
p
o
n
e
n
ts
:
th
e
DC
m
o
to
r
an
d
th
e
r
o
ller
s
cr
ew.
T
h
e
DC
m
o
to
r
ac
tu
ato
r
is
u
s
ed
in
th
is
s
y
s
tem
to
m
o
v
e
th
e
in
p
u
t
to
r
q
u
e
an
d
f
o
r
ce
th
e
ce
n
tr
e
b
r
a
k
e
th
r
o
u
g
h
a
r
o
ller
s
cr
ew,
w
h
ich
tr
an
s
f
o
r
m
s
th
e
an
g
u
lar
m
o
tio
n
o
f
th
e
DC
m
o
t
o
r
in
to
th
e
ax
ial
m
o
t
io
n
o
f
t
h
e
co
il in
th
e
ce
n
tr
e
o
f
th
e
b
r
ak
e
.
On
th
e
o
th
er
h
an
d
,
th
e
h
ea
r
t
o
f
t
h
e
b
r
ak
e,
co
n
s
is
tin
g
o
f
a
wed
g
e
m
ec
h
an
is
m
,
a
ca
llip
er
,
an
d
a
b
r
ak
e
p
ad
,
m
ay
h
av
e
d
iag
o
n
a
l
m
o
tio
n
s
,
p
r
o
v
id
in
g
a
clam
p
i
n
g
f
o
r
ce
to
th
e
b
r
a
k
e
d
is
k
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
23
,
No
.
2
,
Au
g
u
s
t 2
0
2
1
:
7
40
-
7
51
742
Fig
u
r
e
1
.
E
W
B
Sch
em
atic
d
iag
r
a
m
2
.
1
.
B
ra
k
e
a
ct
ua
t
o
r
m
o
dellin
g
T
h
is
wo
r
k
u
s
ed
th
e
p
e
r
m
an
e
n
t
d
ir
ec
t
cu
r
r
e
n
t
m
ag
n
et
(
PM
DC
)
m
o
to
r
as
th
e
ac
tu
ato
r
.
T
h
e
PMDC
m
o
to
r
is
b
asically
m
o
d
elled
b
y
co
n
s
id
er
in
g
elec
tr
ical
an
d
m
ec
h
an
ical
co
m
p
o
n
e
n
ts
.
Her
e
(
J
m
)
is
m
o
to
r
in
e
r
tia,
(
K
t
)
co
n
s
tan
t
to
r
q
u
e
,
(
K
e
)
elec
tr
o
m
o
tiv
e
f
o
r
ce
co
n
s
tan
t,
(
D
m
)
v
is
co
u
s
f
r
ictio
n
m
o
to
r
co
n
s
tan
t
an
d
(
T
l
)
lo
a
d
to
r
q
u
e.
N
o
ted
th
at,
th
e
(
K
t
)
is
eq
u
al
to
(
K
e
)
if
th
e
r
e
ar
e
n
o
e
lectr
o
m
ag
n
etic
lo
s
s
es
in
th
e
m
o
to
r
,
th
e
r
ef
o
r
e
th
e
elec
tr
ical
p
o
wer
d
is
s
ip
ated
f
r
o
m
th
e
E
MF
b
ac
k
i
n
th
e
ar
m
at
u
r
e
is
tr
an
s
f
er
r
ed
d
ir
ec
tly
to
m
e
ch
an
ical
p
o
wer
.
T
h
e
m
ath
em
atica
l e
q
u
atio
n
s
o
f
th
e
PMDC m
o
to
r
ar
e
s
h
o
w
n
as f
o
llo
ws.
Fo
r
th
e
ar
m
atu
r
e
ci
r
cu
its
:
̇
=
−
−
+
1
(
1
)
b
y
c
o
n
s
i
d
e
r
i
n
g
t
h
e
m
e
c
h
a
n
i
c
a
l
l
o
a
d
,
t
h
e
r
o
t
a
t
i
o
n
a
l
a
c
c
e
l
e
r
a
t
i
o
n
o
f
t
h
e
D
C
m
o
t
o
r
s
h
a
f
t
i
s
d
e
s
c
r
i
b
e
d
a
s
:
̇
=
−
+
−
1
(
2
)
h
er
e
th
e
PMDC
m
o
to
r
is
co
n
n
ec
ted
d
ir
ec
tly
to
th
e
b
r
ak
e
m
ec
h
an
is
m
u
s
in
g
a
s
in
g
le
lea
d
s
cr
ew
-
ty
p
e
s
tar
t.
Af
ter
war
d
,
th
e
lead
s
cr
ew
a
cc
o
m
p
an
ied
b
y
a
lo
s
s
less
p
lan
etar
y
r
ed
u
ctio
n
g
ea
r
is
attac
h
ed
to
th
e
h
e
ar
t
m
ec
h
an
is
m
to
o
b
tain
th
e
r
e
q
u
i
r
ed
ac
tu
atio
n
f
o
r
ce
.
B
ased
o
n
Fig
u
r
e
1
,
t
h
e
n
ec
ess
ar
y
m
o
to
r
d
r
iv
e
f
o
r
ce
(
F
m
)
c
an
b
e
ca
lcu
lated
b
y
tak
i
n
g
in
t
o
ac
co
u
n
t
s
ev
er
al
p
ar
am
eter
s
o
f
th
e
lead
s
cr
ew
s
u
ch
as
th
e
s
tead
in
ess
o
f
th
e
lead
s
cr
ew,
(
K
a
)
,
th
e
v
is
co
u
s
d
am
p
in
g
o
f
lead
s
cr
ew,
(
D
a
)
,
th
e
r
ed
u
cti
o
n
o
f
th
e
lead
s
cr
ew
g
ea
r
r
atio
,
(
N
a
)
a
n
d
t
h
e
s
cr
ew
lead
,
(
L
a
)
.
T
h
e
lea
d
s
cr
ew
p
lay
s
an
im
p
o
r
ta
n
t
r
o
le
in
tu
r
n
in
g
th
e
en
g
i
n
e
a
n
g
le,
(
θ
m
)
,
en
g
in
e
s
p
ee
d
(
ω
m
)
,
an
d
en
g
in
e
t
o
r
q
u
e
s
cr
ew,
(
T
screw
)
in
to
wed
g
e
p
o
s
itio
n
,
(
X
w
)
,
we
d
g
e
s
p
ee
d
,
(
V
w
)
,
an
d
m
o
to
r
f
o
r
ce
,
(
F
m
)
.
R
em
em
b
er
th
at
wh
e
n
v
iewe
d
f
r
o
m
th
e
m
o
to
r
s
id
e,
th
e
m
o
to
r
to
r
q
u
e
s
cr
ew,
(
T
screw
)
is
an
en
g
in
e
l
o
ad
,
(
T
l
).
T
h
e
to
r
q
u
e
d
eliv
e
r
ed
to
th
e
s
cr
ew
ca
n
b
e
r
ep
r
esen
ted
as
(
3
)
,
ass
u
m
in
g
th
at
t
h
e
p
lan
etar
y
r
ed
u
ctio
n
g
ea
r
m
ass
is
v
er
y
lig
h
t
an
d
th
at
th
e
g
ea
r
m
ec
h
a
n
is
m
is
less
f
r
ictio
n
al.
T
h
e
lead
s
cr
ew
o
u
t
p
u
t
v
alu
e
is
b
etwe
en
0
to
1
.
T
h
is
m
ain
ly
d
ep
en
d
s
o
n
th
e
g
eo
m
etr
y
o
f
th
e
co
n
tact
s
u
r
f
ac
es,
th
eir
f
in
is
h
in
g
,
an
d
t
h
e
h
elix
an
g
le
o
f
th
e
lead
s
cr
ew
th
r
ea
d
.
I
t a
ls
o
d
ep
e
n
d
s
u
p
o
n
f
u
n
ctio
n
al
co
n
d
itio
n
s
s
u
ch
as lo
ad
,
s
p
ee
d
,
an
d
lu
b
r
icatio
n
.
Alth
o
u
g
h
a
lead
s
cr
ew
'
s
ef
f
icien
cy
is
a
t
r
u
e
m
ea
s
u
r
e
d
v
alu
e,
o
b
jectiv
e
test
in
g
is
th
e
b
e
s
t
m
eth
o
d
f
o
r
d
ete
r
m
in
in
g
th
e
r
esu
lts
.
B
a
s
ed
o
n
th
e
ex
p
er
i
m
en
tal
wo
r
k
o
f
th
e
r
esear
ch
e
r
th
e
o
u
tp
u
t
o
f
th
e
lead
s
cr
e
w
u
s
ed
v
ar
ies
with
in
ce
r
tain
to
ler
an
ce
s
f
r
o
m
its
n
o
m
in
al
v
alu
e
[
1
4
]
,
[
2
6
]
.
An
ap
p
r
o
x
im
atio
n
s
u
ch
as
s
ettin
g
a
co
n
s
tan
t
v
alu
e
at
th
e
ef
f
icien
cy
o
f
th
e
s
cr
ew
[
2
7
]
ca
n
also
b
e
m
a
d
e,
th
o
u
g
h
.
T
h
e
to
r
q
u
e
/
f
o
r
ce
ef
f
icien
cy
o
f
th
e
c
o
n
s
tan
t
lead
s
cr
ew
is
s
et
to
an
o
p
tim
u
m
v
al
u
e
m
ea
s
u
r
ed
at
0
.
6
5
f
o
r
th
is
wo
r
k
.
=
2
[
(
2
−
)
+
(
̇
2
−
)
]
(
3
)
=
2
(
4
)
B
y
s
u
b
s
titu
tin
g
(
3
)
in
to
(
4
)
,
th
e
m
o
to
r
f
o
r
ce
(
Fm
)
ca
n
b
e
d
ef
i
n
ed
as f
o
llo
ws:
=
(
2
−
)
+
(
̇
2
−
)
(
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
d
yn
a
mic
mo
d
el
o
f e
lectro
n
ic
w
ed
g
e
b
r
a
ke
:
ex
p
eri
men
ta
l,
c
o
n
tr
o
l a
n
d
…
(
Mo
h
d
Ha
n
if C
h
e
Ha
s
a
n
)
743
2
.
2
.
Wedg
e
m
ec
ha
nis
m
dy
na
m
ic
C
o
n
s
id
er
th
e
E
W
B
with
th
e
a
n
g
le
o
f
th
e
m
o
to
r
s
h
af
t,
β
as
in
Fig
u
r
e
1
.
T
h
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
wed
g
e
ac
tu
atio
n
f
o
r
ce
s
(
F
m
)
,
r
ea
ctio
n
f
o
r
ce
s
(
F
r
)
,
an
d
cla
m
p
in
g
f
o
r
ce
s
(
F
c
)
to
th
e
d
is
c
ar
e
d
er
iv
ed
b
ased
o
n
f
o
r
ce
b
ala
n
ce
as f
o
llo
w:
T
h
e
d
y
n
am
ic
o
f
a
wed
g
e
i
n
x
-
d
ir
ec
tio
n
:
+
−
=
̇
(
6
)
B
y
d
iv
id
in
g
with
tan
α
,
th
e
n
e
w
f
o
r
m
o
f
(
7
)
ca
n
b
e
d
escr
ib
e
d
as f
o
llo
w:
=
+
−
̇
(
7
)
B
esid
es th
at,
th
e
d
y
n
am
ic
o
f
a
wed
g
e
in
y
-
d
ir
ec
tio
n
s
tated
as:
+
−
=
̇
(
8
)
w
h
er
e
M
w
an
d
V
w
ar
e
wed
g
e
m
ass
an
d
wed
g
e
v
elo
city
in
x
-
d
ir
ec
tio
n
,
r
esp
ec
tiv
ely
.
Su
b
s
t
itu
te
th
e
(
7
)
in
to
(
8
)
,
th
en
r
ea
r
r
a
n
g
e
will b
e
p
r
o
d
u
ce
d
.
̇
=
(
−
)
(
2
+
1
)
+
(
+
)
(
2
+
1
)
(
9
)
Fro
m
(
9
)
,
we
ar
e
in
ter
ested
i
n
s
im
p
lify
in
g
th
e
co
m
p
lex
m
u
lti
p
lier
f
o
r
m
u
la
o
f
m
o
to
r
f
o
r
ce
(
F
m
)
wh
ich
is
a
f
u
n
ctio
n
o
f
th
e
m
o
t
o
r
ac
tu
atio
n
an
g
le
an
d
th
e
wed
g
e
an
g
le
f
(
β
,
α
)
.
T
o
ac
h
iev
e
o
p
tim
u
m
m
u
ltip
licatio
n
o
f
th
e
b
r
a
k
e
f
ac
to
r
,
th
e
m
o
to
r
s
h
af
t
an
g
le
s
h
o
u
l
d
h
av
e
t
h
e
s
am
e
an
g
le
as
th
e
wed
g
e
an
g
le
in
s
tead
o
f
a
ze
r
o
an
g
le
as o
n
a
n
o
r
m
al
E
W
B
.
Ass
u
m
i
n
g
th
e
two
a
n
g
les ar
e
eq
u
al,
th
is
f
u
n
ctio
n
ca
n
b
e
s
u
m
m
a
r
ized
as f
o
llo
ws
,
(
,
)
=
+
(
,
)
=
1
T
h
u
s
,
th
e
s
im
p
lifie
d
wed
g
e
d
y
n
am
ic
m
o
d
el
ca
n
b
e
d
escr
ib
ed
as:
̇
=
1
(
2
+
1
)
[
(
−
)
+
]
(
1
0
)
Me
an
wh
ile,
th
e
clam
p
in
g
f
o
r
ce
d
ep
e
n
d
s
o
n
t
h
e
ca
llip
er
s
tiff
n
ess
(
K
cal
)
,
wed
g
e
d
is
p
lace
m
en
t,
an
d
wed
g
e
an
g
le.
=
(
1
1
)
Su
b
s
titu
te
(
1
1
)
in
to
(
1
2
)
th
en
p
r
o
d
u
ce
,
̇
=
[
(
−
)
(
2
+
1
)
]
+
[
1
(
2
+
1
)
]
(
1
2
)
W
h
er
e:
=
{
0
,
,
2
.
3
.
Wedg
e
bra
k
e
f
a
ct
o
r
T
h
e
E
W
B
b
r
ak
in
g
f
ac
t
o
r
p
lay
s
an
im
p
o
r
tan
t
r
o
le
in
en
la
r
g
in
g
th
e
r
atio
o
f
b
r
a
k
in
g
f
o
r
ce
v
er
s
u
s
ac
tu
ato
r
f
o
r
ce
.
I
n
co
n
t
r
ast
to
th
e
co
n
v
e
n
tio
n
al
b
r
ak
in
g
f
ac
t
o
r
,
th
e
wed
g
e
-
b
ased
b
r
ak
e
s
y
s
tem
will
in
cr
ea
s
e
s
ev
er
al
tim
es
th
e
b
r
ak
in
g
f
ac
t
o
r
d
u
e
to
th
e
s
elf
-
en
e
r
g
i
zin
g
ef
f
ec
t.
I
n
s
tead
y
s
tate
co
n
d
iti
o
n
,
in
(
1
0
)
ca
n
b
e
s
im
p
lifie
d
as f
o
llo
ws:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
23
,
No
.
2
,
Au
g
u
s
t 2
0
2
1
:
7
40
-
7
51
744
(
−
)
+
=
0
(
1
3
)
a
p
air
o
f
b
r
a
k
e
p
ad
s
in
s
talled
ea
ch
wh
ee
l
d
is
k
g
en
e
r
ate
d
o
u
b
le
b
r
ak
e
f
o
r
ce
.
T
h
u
s
,
r
elati
o
n
b
etwe
en
b
r
ak
in
g
f
o
r
ce
s
an
d
clam
p
in
g
f
o
r
ce
s
is
s
ta
ted
as
,
=
2
(
1
4
)
Su
b
s
titu
tin
g
(
1
4
)
to
(
1
3
)
,
a
n
d
th
en
r
ea
r
r
an
g
in
g
th
e
e
q
u
atio
n
will
p
r
o
d
u
ce
a
wed
g
e
ch
ar
a
cter
is
tic
b
r
ak
e
f
ac
to
r
,
C
*
:
∗
=
=
2
−
(
1
)
(
1
5
)
w
h
er
e:
=
{
0
,
,
B
ased
o
n
(
1
5
)
,
we
ca
n
r
ea
lize
th
at
alth
o
u
g
h
th
e
ac
tu
ato
r
an
g
le
(
β
)
s
h
o
u
ld
b
e
s
et
e
q
u
al
to
th
e
wed
g
e
an
g
le
(
α
)
to
o
b
tain
o
p
tim
u
m
a
m
p
lific
atio
n
o
f
th
e
b
r
ak
i
n
g
f
a
cto
r
,
th
e
am
o
u
n
t
o
f
ad
d
itio
n
al
am
p
lific
atio
n
in
th
e
E
W
B
v
ar
ies
ac
co
r
d
in
g
to
th
e
an
g
le
o
f
th
e
ac
tu
ato
r
.
T
h
e
a
d
d
itio
n
al
am
p
lific
atio
n
v
alu
e
i
n
cr
ea
s
e
as
an
g
le
o
f
wed
g
e
in
c
r
ea
s
e.
Fu
r
th
e
r
m
o
r
e
,
th
e
ef
f
icien
c
y
o
f
th
e
p
er
s
o
n
ali
ze
d
E
W
B
ca
n
b
e
ca
lc
u
lated
u
s
in
g
(
1
5
)
.
B
y
u
s
in
g
th
e
r
ec
o
m
m
en
d
ed
wed
g
e
a
n
g
le
s
p
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in
g
f
o
r
s
tan
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ar
d
co
e
f
f
icien
t
o
f
f
r
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n
b
r
ak
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p
ad
s
,
wh
ich
is
ap
p
r
o
x
im
ately
2
5
to
4
3
d
e
g
r
ee
s
[
2
8
]
,
t
h
e
o
p
tim
ize
d
E
W
B
in
cr
ea
s
es
th
e
b
r
ak
i
n
g
f
ac
t
o
r
f
r
o
m
1
0
.
3
to
3
6
.
7
p
er
ce
n
t
co
m
p
ar
ed
to
th
e
n
o
r
m
al
E
W
B
.
As
s
h
o
wn
in
T
ab
le
1
,
th
e
(
1
5
)
d
e
v
elo
p
e
d
to
r
ep
r
esen
t
th
e
ch
ar
ac
ter
is
tic
b
r
ak
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f
ac
to
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is
s
im
p
ler
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d
s
lig
h
tly
d
if
f
er
s
f
r
o
m
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th
er
r
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c
h
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s
.
Ma
n
y
r
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s
m
u
ltip
ly
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e
eq
u
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b
y
two
,
as
ea
ch
wh
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l
u
s
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a
d
o
u
b
le
b
r
ak
e
p
a
d
.
T
h
e
r
esear
ch
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s
s
till
u
n
d
er
esti
m
ate
th
e
wed
g
e
f
r
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co
ef
f
icien
t (
µ
w
)
b
u
t a
r
e
co
n
s
id
er
ed
i
n
[
2
8
]
.
T
ab
le
1
.
B
r
ak
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f
ac
to
r
f
o
r
m
u
la
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tatio
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Eq
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h
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r
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x
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t
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l
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[
8
]
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r
2
0
1
3
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P
a
r
k
e
t
a
l
.
[
2
9
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2
−
(
+
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Y
e
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r
2
0
1
5
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S
h
i
n
e
t
a
l
.
[
1
3
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×
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−
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r
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1
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n
g
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t
a
l
.
[
2
8
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2
(
−
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+
Th
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s
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−
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1
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.
4
.
P
r
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po
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atica
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tial
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atio
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ly
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ar
ate
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t.
T
h
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ar
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5
s
tates
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w
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el
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V
w
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g
le
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θ
m
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an
g
u
lar
m
o
to
r
v
elo
ci
ty
(
ω
m
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d
m
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to
r
cu
r
r
en
t
(
I
m
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Su
b
s
titu
te
(
5
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f
o
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th
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d
y
n
a
m
ic
wed
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x
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(
1
2
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[
(
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3
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2
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f
r
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P
M
DC
M
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g
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[
2
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−
(
)
2
4
2
]
+
[
−
(
)
2
4
2
−
]
+
[
]
(
1
7
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
d
yn
a
mic
mo
d
el
o
f e
lectro
n
ic
w
ed
g
e
b
r
a
ke
:
ex
p
eri
men
ta
l,
c
o
n
tr
o
l a
n
d
…
(
Mo
h
d
Ha
n
if C
h
e
Ha
s
a
n
)
745
T
h
e
(
1
)
f
r
o
m
PMDC Mo
to
r
elec
tr
ical
eq
u
atio
n
ca
n
b
e
r
ea
r
r
a
n
g
ed
as f
o
ll
o
w
,
̇
=
[
−
]
+
[
−
]
+
[
1
]
(
1
8
)
T
h
e
co
m
p
lete
E
W
B
ac
tu
ato
r
m
o
d
el
r
ep
r
esen
tin
g
th
e
co
m
b
in
atio
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o
f
th
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en
g
in
e,
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e
lead
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cr
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with
th
e
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ea
r
a
n
d
t
h
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E
W
B
(
b
r
ak
e
h
ea
r
t
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ec
h
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f
in
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f
r
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m
t
h
is
.
Fin
al
d
if
f
e
r
e
n
tial
(
1
6
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(
1
7
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a
n
d
(
1
8
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m
ay
b
e
d
ep
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m
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th
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d
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lin
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s
t
ate
s
p
ac
e:
{
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+
=
+
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[
,
,
,
,
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(
1
9
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0
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4
2
2
4
2
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4
2
3
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4
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4
3
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3
2
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2
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,
=
[
0
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(
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0
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{
0
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,
3.
M
O
DE
L
VA
L
I
DA
T
I
O
N
3
.
1
.
B
ra
k
e
re
qu
irem
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S
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v
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r
a
l
s
p
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c
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f
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c
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ti
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w
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aid
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t
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n
t
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d
y
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f
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m
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m
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k
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d
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.
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t
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B
-
s
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g
m
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n
t
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n
[
3
0
]
.
T
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f
f
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c
t
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b
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k
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,
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y
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a
b
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F
F
(
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f
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m
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3
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4
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B
as
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r
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k
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t
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t
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4
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5
d
e
g
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e
e
s
.
B
y
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b
s
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th
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an
d
th
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p
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c
o
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t
v
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e
f
o
r
(
1
5
)
,
th
e
b
r
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e
f
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r
o
f
th
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ted
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e
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test
ed
.
A
b
r
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e
f
ac
t
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r
o
f
ar
o
u
n
d
7
.
2
7
6
ca
n
b
e
p
r
o
d
u
ce
d
with
a
p
ad
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icie
n
t
o
f
0
.
3
5
.
I
f
β
is
n
o
t
en
ter
ed
in
t
h
e
eq
u
atio
n
(
n
o
r
m
al
E
W
B
)
o
n
ly
6
.
6
2
1
will
b
e
p
r
o
d
u
ce
d
f
o
r
t
h
e
s
am
e
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ar
am
eter
o
th
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wis
e.
Self
-
r
ein
f
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ce
m
en
t
at
th
e
m
ax
im
u
m
v
al
u
e
will
b
e
at
a
f
r
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n
co
e
f
f
icien
t
o
f
0
.
4
5
,
s
o
n
o
m
o
t
o
r
f
o
r
ce
is
r
eq
u
ir
ed
.
W
h
en
th
e
p
a
d
co
ef
f
icien
t e
x
ce
ed
s
th
is
v
alu
e,
h
o
wev
er
,
it is
v
er
y
d
if
f
icu
lt to
co
n
tr
o
l,
b
ec
au
s
e
th
e
b
r
ak
e
f
ac
to
r
is
v
er
y
h
ig
h
.
I
n
ad
d
itio
n
,
it
is
ch
ec
k
ed
u
s
in
g
th
e
s
am
e
eq
u
atio
n
th
at
o
n
ly
9
8
2
.
9
6
N
m
o
to
r
p
o
wer
is
r
eq
u
ir
e
d
to
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o
d
u
ce
a
m
ax
im
u
m
b
r
ak
in
g
f
o
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ce
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f
7
1
5
2
N.
I
n
a
d
d
i
t
i
o
n
,
t
h
e
n
e
c
e
s
s
a
r
y
e
n
g
i
n
e
t
o
r
q
u
e
c
a
n
b
e
e
x
a
m
i
n
e
d
b
y
c
o
n
s
u
m
i
n
g
(
4
)
.
H
e
r
e
,
i
t
i
s
s
e
t
t
h
a
t
L
a
i
s
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T
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ased
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e
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icle
[
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3
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2
.
Co
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n
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ased
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ir
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r
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ith
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eth
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ased
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SISO
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tim
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iq
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e
[
3
1
]
,
[
3
2
]
is
u
s
ed
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ed
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ce
r
esp
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e
tim
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i
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izatio
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ased
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2
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d
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r
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it
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f
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0
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1
2
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f
o
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th
e
r
e
f
er
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ce
u
n
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h
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PMDC
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g
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l
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5
2
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T
h
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s
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th
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m
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x
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m
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is
1
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2
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h
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at
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r
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atu
r
atio
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s
h
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ll
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ir
em
e
n
ts
f
o
r
a
wid
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wo
r
k
in
g
en
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o
p
e.
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e
to
th
e
ex
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tin
g
co
n
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ain
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le
s
o
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tio
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et
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r
in
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o
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t
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is
atio
n
,
th
e
d
esig
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cr
iter
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r
e
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ted
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o
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tim
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m
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.
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ased
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is
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ar
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et
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s
o
f
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tr
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ller
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tio
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ain
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K
P
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e
o
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ta
in
ed
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t is 0
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0
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8
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,
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n
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r
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g
ain
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I
.
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t is 0
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0
0
0
6
0
6
.
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h
e
d
er
iv
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e
g
ain
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D
.
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t
is
2
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9
7
x
1
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5
,
an
d
th
e
tim
e
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o
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t o
f
th
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ilter
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T
f
.
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t is 0
.
0
3
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4.
E
XP
E
R
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M
E
N
T
A
L
VAL
I
D
AT
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N
AN
D
E
W
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P
ARA
M
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Sin
ce
all
6
DC
m
o
to
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p
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ir
ec
tly
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d
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av
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lo
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ailab
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atash
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a
g
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th
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en
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e
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ar
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eter
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o
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ath
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d
(
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in
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m
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,
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ly
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e
o
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tain
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s
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g
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e
MA
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t
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y
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atin
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th
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p
h
y
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tific
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.
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h
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en
g
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en
co
d
e
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'
s
m
o
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r
lo
ca
tio
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ig
n
al
is
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n
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ted
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th
e
PC
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th
e
NI
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PC
I
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6
2
2
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r
d
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o
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tain
tw
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eter
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ased
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ased
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m
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eter
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ased
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eter
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eter
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mm
12
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3
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g
13
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e
d
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A
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5
d
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r
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e
14
M
o
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4
.
5
d
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B
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f
f
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t
,
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.
3
5
5.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
s
tag
e
is
d
es
ig
n
ed
to
en
s
u
r
e
en
g
in
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s
elec
tio
n
an
d
o
th
er
E
W
B
p
ar
am
eter
s
f
o
llo
w
d
esig
n
r
eq
u
ir
em
e
n
ts
.
Fo
r
th
is
r
ea
s
o
n
,
th
e
b
r
ak
e
clam
p
in
g
f
o
r
ce
co
n
tr
o
l
s
y
s
tem
is
d
esig
n
ed
.
A
s
er
ies
o
f
test
s
wer
e
p
er
f
o
r
m
ed
to
in
v
esti
g
ate
th
e
p
er
f
o
r
m
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ce
o
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th
e
s
y
s
tem
f
o
r
th
e
en
tire
o
p
e
r
atin
g
en
v
elo
p
e,
i.e
.
,
f
r
o
m
lo
w
to
m
ax
im
u
m
b
r
a
k
e
clam
p
in
g
f
o
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c
e
as
s
h
o
wn
in
Fig
u
r
e
3
.
I
t
s
h
o
ws
th
at
th
e
d
esig
n
ed
co
n
tr
o
ller
m
et
th
e
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er
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o
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ce
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u
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ts
f
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ies
o
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s
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co
m
m
a
n
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s
.
T
h
e
m
ain
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s
is
ten
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in
p
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m
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e
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atu
r
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n
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n
d
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r
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g
s
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n
.
Fig
u
r
e
3
.
PID
b
ased
E
W
B
b
r
ak
e
clam
p
in
g
f
o
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r
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1
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r
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m
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f
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em
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d
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d
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io
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r
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with
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m
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f
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as in
Fig
u
r
e
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
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I
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J
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2
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t 2
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40
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51
748
As
in
Fig
u
r
e
4
(
a)
,
at
m
ax
im
u
m
f
o
r
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d
em
a
n
d
,
th
e
o
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s
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r
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ettlin
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d
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,
r
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e
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k
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g
with
in
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ato
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lim
it
as
s
h
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wn
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Fig
u
r
e
4
(
a)
at
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o
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icatio
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et.
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t
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o
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ated
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e
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o
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e
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n
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eth
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Fig
u
r
e
4
(
b
)
s
h
o
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th
a
t
th
e
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g
e
p
o
s
itio
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at
a
m
ax
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p
lace
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en
t
o
f
0
.
5
m
m
at
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e
m
ax
im
u
m
b
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p
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g
f
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ce
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e
s
m
all
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it
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r
atio
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u
r
s
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e
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e
b
e
f
o
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e
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h
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wed
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e
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s
ettled
.
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h
e
en
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in
e
an
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elo
city
p
ea
k
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e
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s
also
1
6
0
.
9
r
a
d
/s
,
wh
ich
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ar
f
r
o
m
a
m
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im
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7
3
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ad
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r
th
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m
o
r
e
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o
th
e
r
3
s
tates
o
f
th
e
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W
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m
o
d
el
th
at
r
ep
r
e
s
en
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PMDC
m
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to
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b
eh
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io
u
r
d
u
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g
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ed
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d
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Fig
u
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5
.
(
a)
(
b
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Fig
u
r
e
4
.
Sy
s
tem
b
e
h
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io
u
r
at
m
ax
im
u
m
d
em
an
d
;
(
a)
clam
p
i
n
g
f
o
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ce
an
d
ac
tu
ato
r
e
f
f
o
r
t
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d
(
b
)
we
d
g
e
p
o
s
itio
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an
d
s
p
ee
d
s
tates r
esp
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n
s
es
As
Fig
u
r
e
5
(
a)
,
th
e
wed
g
e
an
d
m
o
to
r
r
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ctio
n
ar
e
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o
s
t
a
s
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atter
n
f
o
r
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o
s
itio
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d
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ee
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n
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e
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u
r
t
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er
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v
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ated
.
T
h
e
ac
tu
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r
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r
r
en
t
p
r
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t
is
9
.
5
A,
as
in
Fig
u
r
e
5
(
b
)
ju
s
t
b
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th
e
en
g
in
e
lev
el.
No
te
th
at
th
is
s
im
u
latio
n
d
o
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n
o
t
in
clu
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e
tr
a
v
el
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e
f
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o
m
th
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b
r
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k
e
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ad
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g
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n
til
th
e
p
ad
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d
d
is
c
m
ee
t e
ac
h
o
th
er
.
(
a)
(
b
)
Fig
u
r
e
5
.
PMDC
m
o
to
r
b
eh
av
i
o
u
r
at
m
a
x
im
u
m
d
em
an
d
;
(
a)
Mo
to
r
an
g
le
an
d
a
n
g
u
lar
s
p
ee
d
s
tates r
esp
o
n
s
es
an
d
(
b
)
m
o
t
o
r
cu
r
r
en
t state
r
esp
o
n
s
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
d
yn
a
mic
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d
el
o
f e
lectro
n
ic
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e
b
r
a
ke
:
ex
p
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ta
l,
c
o
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tr
o
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…
(
Mo
h
d
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n
if C
h
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Ha
s
a
n
)
749
6.
CO
NCLU
SI
O
N
T
h
e
m
ath
em
atica
l
eq
u
atio
n
s
f
o
r
th
e
co
m
p
lete
E
W
B
m
o
d
el
h
av
e
b
ee
n
p
r
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d
u
ce
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a
n
d
o
p
tim
ized
.
T
h
e
m
o
d
el
is
m
o
r
e
co
m
p
ac
t
an
d
s
im
p
ler
co
m
p
ar
e
d
to
t
h
e
v
a
r
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s
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s
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W
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th
at
r
e
s
ea
r
ch
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s
h
av
e
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ed
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ef
o
r
e.
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r
e
o
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er
,
it
is
v
er
y
f
l
ex
ib
le
s
o
t
h
at
it
ca
n
b
e
ap
p
lied
to
b
o
th
well
-
k
n
o
wn
d
esig
n
s
wh
ich
ar
e
ac
tiv
ated
an
d
o
p
tim
ized
ac
tiv
atio
n
v
er
s
io
n
s
.
T
h
e
ac
tiv
atio
n
an
g
le
ef
f
e
ct
is
id
en
tifie
d
w
h
er
e
th
e
E
W
B
b
r
ak
e
f
ac
to
r
ca
n
r
ea
ch
u
p
to
3
6
.
7
p
e
r
ce
n
t
d
e
p
en
d
in
g
o
n
th
e
s
elec
tio
n
o
f
t
h
e
b
r
a
k
e
p
ad
s
an
d
wed
g
e
a
n
g
le
d
esig
n
.
T
h
e
PMDC
d
r
iv
e
m
o
d
el
u
s
ed
in
p
r
o
d
u
cin
g
an
E
W
B
h
as
b
ee
n
ex
p
er
im
e
n
tally
v
alid
ated
with
r
esu
lts
th
at
ar
e
v
er
y
s
im
ilar
to
th
e
p
er
f
o
r
m
a
n
ce
d
atash
ee
ts
f
r
o
m
th
e
m
an
u
f
ac
tu
r
er
.
Pe
r
f
o
r
m
a
n
ce
a
n
aly
s
is
f
o
r
th
e
d
esig
n
ed
E
W
B
was
p
er
f
o
r
m
ed
u
s
in
g
a
PID
c
o
n
t
r
o
ller
.
T
h
e
r
esu
lts
s
h
o
w
th
at
th
e
d
esig
n
ed
m
o
d
el
ca
n
p
er
f
o
r
m
v
e
r
y
well
in
ac
co
r
d
an
ce
with
t
h
e
r
eq
u
ir
em
en
ts
o
f
th
e
s
y
s
tem
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
e
au
th
o
r
s
wo
u
ld
lik
e
to
th
a
n
k
Un
iv
er
s
iti
T
ek
n
ik
al
Ma
lay
s
ia
Me
lak
a
(
UT
eM
)
f
o
r
th
e
S
h
o
r
t
T
er
m
R
esear
ch
Un
iv
er
s
ity
Gr
an
t
P
J
P/2
0
2
0
/FKM/PP
/
S0
1
7
8
3
,
an
d
th
e
Facu
lty
o
f
E
n
g
in
ee
r
in
g
,
Un
iv
er
s
iti
Pu
tr
a
Ma
lay
s
ia
(
UPM)
f
o
r
p
r
o
v
id
in
g
th
e
f
ac
ilit
ies an
d
co
n
d
u
civ
e
lear
n
in
g
e
n
v
ir
o
n
m
en
t in
co
n
d
u
ctin
g
th
e
r
esear
ch
.
RE
F
E
R
E
NC
E
S
[1
]
Ha
rtma
n
n
,
H.,
S
c
h
a
u
tt
,
M
.
,
P
a
sc
u
c
c
i,
A.,
a
n
d
G
o
m
b
e
rt,
B.
,
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[4
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.
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[6
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[9
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7
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0
1
9
.
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