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en
ce
s
p
ee
d
.
T
h
e
n
o
n
-
lin
e
ar
in
d
u
ctio
n
m
o
to
r
h
as
d
if
f
er
e
n
t
f
u
n
ctio
n
al
p
o
in
ts
an
d
it
v
ar
i
es
lar
g
ely
u
n
d
er
d
if
f
er
en
t
lo
a
d
in
g
c
o
n
d
itio
n
s
.
T
h
e
o
p
tim
al
co
n
tr
o
l
is
d
esig
n
ed
b
y
b
ac
ter
ial
f
o
r
ag
in
g
m
eth
o
d
t
o
ac
h
iev
e
b
est d
y
n
a
m
ic
r
esp
o
n
s
e
f
o
r
d
if
f
e
r
en
t f
u
n
ctio
n
al
p
o
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ts
.
2.
M
O
DE
L
L
I
NG
O
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CAP
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R
RUN
I
N
DUC
T
I
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N
M
O
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R
T
h
e
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tr
o
m
ag
n
etic
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q
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e
d
ev
elo
p
ed
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y
v
ar
iab
le
v
o
ltag
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co
n
tr
o
ller
f
o
r
in
d
u
ctio
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m
o
to
r
wr
itten
as in
[
2
3
]
.
)
,
(
V
f
T
em
=
(
1
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W
h
er
e
T
em
is
th
e
elec
tr
o
m
ag
n
etic
to
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q
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e,
V
is
th
e
m
o
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p
h
ase
v
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ltag
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an
d
ω
is
m
o
to
r
s
p
ee
d
in
r
ad
ian
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p
er
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ec
o
n
d
.
T
h
e
v
o
ltag
e
is
v
ar
ie
d
f
o
r
d
if
f
er
e
n
t
d
u
ty
c
y
cles
b
y
p
u
ls
e
wid
th
m
o
d
u
latio
n
A
C
ch
o
p
p
er
.
Hen
ce
th
e
elec
tr
o
m
ag
n
etic
to
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q
u
e
eq
u
atio
n
ca
n
b
e
wr
itten
as
)
,
(
D
f
T
em
=
(
2
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wh
er
e
D
is
th
e
d
u
ty
cy
cle
o
f
th
e
PW
M
A
C
ch
o
p
p
er
.
Ass
u
m
in
g
s
m
all
p
er
tu
r
b
atio
n
s
o
n
ea
c
h
v
ar
iab
le
f
r
o
m
(
2
)
.
T
h
e
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
is
a
f
if
th
o
r
d
e
r
tr
a
n
s
f
er
f
u
n
ctio
n
an
d
it
is
r
ed
u
ce
d
t
o
lin
ea
r
f
i
r
s
t
o
r
d
er
m
o
d
el
b
y
T
ay
lo
r
s
er
ies.
T
h
e
lin
ea
r
f
ir
s
t o
r
d
er
e
q
u
atio
n
is
g
iv
e
n
in
(
3
)
.
Hen
ce
f
o
r
th
th
e
m
o
m
e
n
tar
y
p
r
o
ce
s
s
is
p
r
o
n
o
u
n
ce
d
b
y
th
e
e
q
u
atio
n
g
iv
en
b
elo
w
[
2
4
]
.
+
=
*
*
W
D
em
K
D
K
T
(
3
)
W
h
er
e
D
T
K
em
D
=
at
ω
=c
o
n
s
tan
t
(
4
)
=
em
W
T
K
at
Du
ty
r
atio
=
c
o
n
s
tan
t
(
5
)
Fro
m
th
e
b
asics
o
f
m
ac
h
in
e
s
th
eo
r
y
,
th
e
lo
ad
to
r
q
u
e
eq
u
atio
n
ca
n
b
e
illu
s
tr
ated
b
y
th
e
co
m
b
in
atio
n
o
f
m
o
m
en
t o
f
in
er
tia,
v
is
co
u
s
f
r
i
ctio
n
an
d
t
h
e
m
o
to
r
to
r
q
u
e.
T
h
e
eq
u
atio
n
is
g
iv
e
n
b
elo
w
L
em
T
T
B
dt
d
J
−
=
+
(
6
)
wh
er
e
J
is
th
e
m
o
m
en
t
o
f
in
er
t
ia,
B
is
th
e
v
is
co
u
s
f
r
ictio
n
an
d
T
L
is
th
e
lo
ad
to
r
q
u
e
.
T
h
e
PW
M
A
C
ch
o
p
p
er
f
ed
c
ap
ac
ito
r
r
u
n
i
n
d
u
ctio
n
m
o
to
r
is
o
p
er
ated
u
n
d
e
r
s
tead
y
s
tate
co
n
d
itio
n
.
T
h
e
co
r
r
esp
o
n
d
in
g
s
p
ee
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to
r
q
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e
ch
ar
ac
ter
is
tics
ar
e
o
b
tain
e
d
f
o
r
v
a
r
io
u
s
d
u
t
y
cy
cles
o
f
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h
o
p
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e
r
.
I
n
o
r
d
er
t
o
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eter
m
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e
th
e
co
n
s
tan
ts
KD
a
n
d
K
W
,
a
p
ar
ticu
lar
f
u
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ctio
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al
p
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u
n
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er
co
n
s
id
er
ati
o
n
is
s
elec
ted
f
o
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th
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d
u
ty
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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f
ig
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&
E
m
b
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Sy
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I
SS
N:
2089
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4
8
6
4
I
mp
leme
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ta
tio
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f
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ch
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o
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h
a
n
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171
r
atio
o
f
0
.
8
an
d
an
g
u
lar
s
p
ee
d
o
f
1
5
0
r
ad
ia
n
s
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er
s
ec
o
n
d
.
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h
e
d
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r
b
a
n
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to
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ted
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1
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at
0
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5
s
ec
o
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d
s
.
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h
e
s
tead
y
s
tate
s
p
ee
d
to
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h
ar
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ter
is
tic
is
d
r
awn
f
o
r
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n
e
f
u
n
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n
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p
o
i
n
t
an
d
is
s
h
o
w
n
in
Fig
u
r
e
1
.
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h
e
d
if
f
er
e
n
t
v
alu
es
o
f
K
D
an
d
KW
ar
e
lis
ted
in
T
ab
le
1
f
o
r
d
if
f
e
r
en
t
f
u
n
ctio
n
al
p
o
in
ts
.
T
h
e
in
f
er
e
n
ce
f
r
o
m
th
e
ta
b
le
is
th
e
f
u
n
ctio
n
al
p
o
in
t
v
ar
ies
f
o
r
d
i
f
f
e
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t
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s
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ce
s
.
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h
e
v
al
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e
o
f
K
D
v
a
r
ies
at
lar
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er
v
alu
e
wh
ile
th
e
v
alu
es
o
f
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iatio
n
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ar
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o
f
less
er
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alu
e.
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h
e
clo
s
ed
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lo
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c
o
n
tr
o
ller
o
f
s
m
all
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ig
n
al
m
o
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el
o
f
ca
p
ac
ito
r
r
u
n
in
d
u
ctio
n
m
o
to
r
is
s
h
o
wn
i
n
Fig
u
r
e
2
.
T
h
e
p
ar
ticu
la
r
f
u
n
ctio
n
al
p
o
in
t
a
n
d
th
e
co
r
r
esp
o
n
d
in
g
co
n
s
tan
ts
K
D
an
d
K
W
ar
e
im
p
lem
en
ted
u
s
in
g
PID
co
n
tr
o
ller
.
130
135
140
145
150
155
160
0
.0
0
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1
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1
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2
.0
2
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3
.0
An
g
u
l
a
r
T
o
rq
u
e
(N
m)
Ang
u
l
a
r
Spe
e
d
(ra
d
/
se
c)
Fig
u
r
e
1
.
Dete
r
m
i
n
atio
n
o
f
K
D
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d
K
W
b
y
s
tead
y
s
tate
ch
ar
ac
ter
is
tics
o
f
PW
M
ch
o
p
p
er
f
ed
in
d
u
ctio
n
m
o
to
r
d
r
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e
T
ab
le
1
.
Dif
f
e
r
en
t f
u
n
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n
al
p
o
in
t
S.
No
D
u
t
y
r
a
t
i
o
ω
K
D
K
w
1
0
.
7
0
1
4
4
.
8
1
0
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7
5
-
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2
0
6
2
0
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7
4
1
4
6
.
4
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1
.
5
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0
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1
9
1
3
0
.
7
8
1
4
8
.
6
1
9
.
2
5
-
0
.
2
3
9
Fig
u
r
e
2
.
PID
co
n
tr
o
ller
o
f
ca
p
ac
ito
r
in
d
u
ctio
n
m
o
to
r
T
h
e
r
ef
er
e
n
ce
s
p
ee
d
*
in
th
e
b
lo
ck
d
iag
r
am
is
p
r
esu
m
ed
to
b
e
ze
r
o
as
s
h
o
wn
in
Fig
u
r
e
2
.
Fro
m
th
e
b
lo
ck
d
iag
r
am
,
tr
a
n
s
f
er
f
u
n
ctio
n
is
d
er
iv
ed
alo
n
g
with
th
e
d
is
tu
r
b
a
n
ce
lo
ad
to
r
q
u
e
o
f
1
Nm
is
s
h
o
wn
in
(
7
)
.
i
D
W
p
D
d
D
L
K
K
K
K
K
B
S
J
K
K
S
S
T
*
)
*
(
)
*
(
2
+
−
+
+
+
−
=
(
7
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
20
89
-
4
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6
4
I
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f
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&
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No
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3
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v
e
m
b
er
2
0
2
0
:
169
–
1
7
7
172
wh
er
e
Kp
is
p
r
o
p
o
r
tio
n
al
g
ain
,
Ki
is
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teg
r
al
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n
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d
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e
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ain
.
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h
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in
d
u
ctio
n
m
o
to
r
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v
e
r
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o
n
s
e
is
d
o
n
e
s
im
u
latio
n
f
o
r
a
u
n
it
s
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in
p
u
t
at
t=0
.
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h
e
lo
ad
to
r
q
u
e
d
is
tu
r
b
an
ce
o
f
1
Nm
is
ap
p
lied
at
t
=0
.
5
s
ec
o
n
d
s
.
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h
e
s
im
u
latio
n
o
f
d
r
i
v
e
is
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o
n
e
f
o
r
a
p
a
r
ticu
l
ar
f
u
n
ctio
n
al
p
o
in
t
an
d
th
e
c
o
r
r
esp
o
n
d
i
n
g
v
al
u
es
o
f
K
D
an
d
K
W
ar
e
ta
k
en
in
t
o
co
n
s
id
er
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n
.
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h
e
tr
an
s
ien
t
r
esp
o
n
s
e
is
s
h
o
wn
in
Fig
u
r
e
3
f
o
r
th
e
d
if
f
er
e
n
t
f
u
n
ctio
n
al
p
o
in
ts
o
f
t
h
e
ca
p
ac
ito
r
r
u
n
in
d
u
ctio
n
m
o
t
o
r
.
I
t
is
n
o
ted
th
at
t
h
e
f
u
n
ctio
n
al
p
o
i
n
t
will
b
e
s
atis
f
ied
o
n
ly
f
o
r
th
e
c
o
r
r
esp
o
n
d
in
g
v
al
u
es K
D
an
d
K
W
.
Fo
r
o
th
er
f
u
n
c
tio
n
al
p
o
in
ts
it d
o
es n
o
t a
s
s
u
r
e
r
ea
lis
tic
r
esp
o
n
s
e.
0
.0
0
.2
0
.4
0
.6
0
.8
1
.0
0
.0
0
.2
0
.4
0
.6
0
.8
1
.0
1
.2
1
.4
(1
)
(2
)
(3
)
C
h
a
n
g
e
i
n
sp
e
e
d
i
n
p
e
r
u
n
i
t
T
i
m
e
(Seco
n
d
s)
Fig
u
r
e
3
.
Dif
f
e
r
en
t f
u
n
ctio
n
al
p
o
in
t o
f
s
p
ee
d
r
esp
o
n
s
e
with
PID
co
n
tr
o
ller
3.
DE
S
I
G
N
O
F
CO
NT
RO
L
L
E
R
USI
NG
B
ACT
E
R
I
AL
F
O
RAG
I
NG
O
P
T
I
M
I
Z
A
T
I
O
N
B
ac
ter
ia
f
o
r
ag
in
g
o
p
tim
izatio
n
p
r
o
p
o
s
ed
f
ir
s
t
b
y
Pas
s
in
o
[
2
5
]
an
d
is
b
ased
o
n
r
ea
l
ti
m
e
E
.
co
li
p
r
esen
t in
th
e
in
test
in
es o
f
h
u
m
an
b
o
d
y
.
T
h
e
b
asic o
p
e
r
atio
n
o
f
E
.
co
li b
ac
ter
ia
is
wh
en
th
e
n
u
tr
ien
ts
av
ailab
le
it
f
o
r
ag
es
in
s
m
all
s
tep
s
an
d
g
r
o
w
s
,
wh
ile
in
n
o
x
io
u
s
en
v
ir
o
n
m
en
t
b
ac
ter
ia
d
ies
an
d
m
o
v
es
awa
y
.
T
h
e
r
ea
l
b
ac
ter
ia
f
o
r
ag
e
s
h
o
r
test
p
ath
an
d
f
i
n
d
th
e
n
ew
p
o
s
itio
n
wit
h
h
ig
h
f
itn
ess
v
alu
e
.
T
h
is
p
h
en
o
m
en
o
n
lead
s
t
o
g
lo
b
al
o
p
tim
u
m
s
o
lu
tio
n
.
T
h
e
m
o
v
em
en
t
o
f
ea
ch
b
ac
ter
iu
m
d
ep
en
d
s
u
p
o
n
t
h
e
co
o
r
d
i
n
ate
o
f
th
e
s
ea
r
ch
s
p
ac
e.
I
n
itially
th
e
co
o
r
d
in
ate
o
f
b
ac
t
er
iu
m
is
ch
o
s
en
r
a
n
d
o
m
ly
,
wh
en
th
e
n
u
tr
ien
ts
av
ailab
le
in
th
e
b
ac
ter
iu
m
f
o
r
ag
e
to
a
n
ew
p
o
s
itio
n
an
d
th
e
o
b
j
ec
tiv
e
f
u
n
ctio
n
is
m
in
im
ized
.
T
h
is
u
ltima
te
ef
f
ec
t
ca
u
s
es
th
e
s
et
o
f
b
ac
ter
ia
to
lo
ca
te
th
e
b
est
p
o
s
itio
n
an
d
o
p
tim
u
m
s
o
lu
tio
n
is
ac
h
ie
v
ed
.
Un
d
er
b
a
d
en
v
i
r
o
n
m
e
n
t
th
e
b
ac
ter
ia
m
o
v
es
awa
y
an
d
o
p
ti
m
u
m
p
o
s
itio
n
is
n
o
t
r
ea
ch
ed
.
I
n
th
is
p
ap
er
t
h
e
p
er
f
o
r
m
an
ce
o
f
ca
p
ac
ito
r
r
u
n
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
is
en
u
m
er
ated
b
y
th
e
d
esig
n
o
f
co
n
tr
o
ller
g
ain
s
u
tili
z
in
g
o
p
tim
izatio
n
tech
n
iq
u
es.
T
h
e
o
b
jectiv
e
f
u
n
ctio
n
is
ch
o
s
en
d
ep
e
n
d
in
g
o
n
th
e
p
er
f
o
r
m
a
n
ce
p
ar
a
m
eter
s
o
f
t
h
e
r
esp
o
n
s
e.
T
h
e
p
er
f
o
r
m
a
n
ce
p
ar
am
eter
s
ar
e
th
e
s
ettlin
g
tim
e
an
d
p
ea
k
o
v
e
r
s
h
o
o
t sp
ec
if
ied
b
y
ts
an
d
M
p
r
esp
ec
tiv
ely
.
T
h
e
o
b
jectiv
e
f
u
n
ctio
n
is
wr
itt
en
as
)
1
(
*
)
1
(
)
(
ts
Mp
F
+
+
=
(
8
)
Su
b
ject
to
φ
min
≤
φ
≤
φ
max
wh
er
e
φ
is
th
e
s
et
th
at
co
n
tain
s
co
n
tr
o
ller
g
ain
s
o
f
Kp
,
Ki
a
n
d
Kd
.
T
h
e
b
ac
ter
ial
f
o
r
a
g
in
g
o
p
tim
i
za
tio
n
tech
n
iq
u
e
is
d
escr
ib
e
d
b
elo
w.
I
t
h
as
f
o
u
r
p
r
o
ce
s
s
,
ch
em
o
tactic,
r
ep
r
o
d
u
ctio
n
,
elim
in
atio
n
an
d
d
is
p
er
s
al.
I
n
itialize
th
e
p
ar
am
eter
s
o
f
th
e
b
ac
ter
ia
f
o
r
ag
in
g
o
p
tim
izatio
n
alg
o
r
ith
m
th
e
y
ar
e
d
im
en
s
io
n
o
f
s
ea
r
ch
s
p
ac
e,
n
u
m
b
er
o
f
b
ac
ter
ia,
n
u
m
b
er
o
f
ch
em
o
ta
ctic
s
tep
,
lim
its
o
f
len
g
th
o
f
s
wim
,
n
u
m
b
er
o
f
r
ep
r
o
d
u
ctiv
e
s
tep
s
,
n
u
m
b
e
r
o
f
elim
in
atio
n
an
d
d
is
p
er
s
al
s
tep
s
,
th
e
n
u
m
b
er
o
f
b
ac
ter
ia
r
ep
r
o
d
u
ctio
n
s
p
lit,
p
r
o
b
ab
ilit
y
o
f
elim
in
atio
n
,
r
u
n
le
n
g
th
an
d
in
itial p
o
s
itio
n
s
.
T
h
e
ter
m
Q(
i,j,
k
,
l)
ter
m
r
ep
r
esen
ts
th
e
to
tal
co
r
e
o
f
th
e
alg
o
r
ith
m
wh
e
r
e
i
e
m
b
o
d
ies
th
e
n
u
m
b
e
r
o
f
b
a
cter
ia,
j
em
b
o
d
ies
th
e
ch
em
o
tactic
lo
o
p
,
k
e
m
b
o
d
ies
th
e
r
ep
r
o
d
u
ctio
n
l
o
o
p
a
n
d
f
in
ally
l
em
b
o
d
ies
th
e
elim
i
n
atio
n
an
d
d
is
p
er
s
al
ev
en
t.
T
h
e
p
ar
a
m
eter
s
wh
ich
ar
e
r
eq
u
ir
ed
f
o
r
s
ea
r
ch
in
g
th
e
o
p
tim
u
m
g
ai
n
s
ar
e
p
r
o
p
o
r
tio
n
al,
in
teg
r
al
an
d
d
er
iv
ativ
e
g
ain
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4
8
6
4
I
mp
leme
n
ta
tio
n
o
f
P
WM
A
C
ch
o
p
p
er c
o
n
tr
o
ller
fo
r
ca
p
a
cito
r
r
u
n
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
…
(
S
.
Go
b
imo
h
a
n
)
173
I
n
th
e
ch
em
o
t
ac
tic
s
tep
d
ep
e
n
d
in
g
o
n
th
e
n
u
tr
ie
n
ts
th
e
f
lag
ella
will
m
o
v
e
to
war
d
s
th
e
p
o
s
itiv
e
g
r
ad
ien
t.
T
h
e
f
la
g
ella
will
m
o
v
e
eith
er
in
clo
ck
wis
e
d
ir
ec
tio
n
as
s
wim
m
in
g
an
d
co
u
n
ter
-
clo
ck
wis
e
d
ir
ec
tio
n
as
tu
m
b
lin
g
o
p
e
r
atio
n
s
.
T
h
e
p
r
o
ce
s
s
o
f
r
ep
r
o
d
u
ctio
n
o
p
er
ato
r
is
th
a
t
h
ea
lth
ier
b
ac
ter
ia
s
u
r
v
iv
e
an
d
least
h
ea
lth
y
b
ac
ter
ia
will
s
p
lit
in
to
two
an
d
m
ain
tain
s
th
e
to
tal
b
a
cter
ia
in
th
e
p
r
o
ce
s
s
in
o
p
er
ati
o
n
.
T
h
e
n
ex
t
ev
en
t
is
elim
in
atio
n
an
d
d
is
p
er
s
al
o
p
er
atio
n
in
w
h
ich
m
o
s
t
o
f
th
e
b
ac
ter
ia
d
o
es
n
o
t
s
u
r
v
i
v
e
d
u
e
ch
a
n
g
es
in
t
h
e
en
v
ir
o
n
m
e
n
t.
T
h
e
h
ea
lth
ie
r
b
ac
ter
ia
will
ev
o
lv
e
an
d
m
o
v
e
to
war
d
s
t
h
e
p
o
s
itiv
e
g
r
a
d
i
en
t.
T
h
e
r
em
ain
i
n
g
b
ac
ter
iu
m
d
o
es n
o
t su
r
v
iv
e
o
r
it will d
im
in
is
h
d
u
e
to
en
v
ir
o
n
m
en
t c
o
n
d
itio
n
s
[
2
6
]
.
)
(
)
(
)
(
)
(
)
,
,
,
(
)
,
,
1
,
(
i
i
i
i
L
l
k
j
i
Q
l
k
j
i
Q
T
+
=
+
(
9
)
No
w
ca
lcu
late
th
e
f
itn
ess
f
u
n
ctio
n
F(
i,j,
k
,
l
)
.
f
o
r
s
wim
o
p
er
atio
n
in
itialize
s
wim
len
g
th
a
n
d
if
s
wim
len
g
th
is
less
th
an
th
e
lim
its
o
f
s
wim
len
g
th
.
W
h
en
b
ac
ter
i
u
m
s
wim
m
in
g
b
etter
th
en
let
s
wim
len
g
th
=
s
wim
len
g
th
+1
,
if
F(i,
j,k
,
l)
<
Flas
t
th
en
Flas
t=
F(i,
j,k
,
l)
,
s
o
th
at
m
o
v
em
e
n
t
o
f
b
ac
ter
ia
i
n
s
am
e
d
ir
ec
tio
n
g
iv
en
b
y
(
8
)
.
E
ls
e,
let
s
wim
len
g
th
=
lim
its
o
f
s
wim
len
g
th
,
g
o
to
th
e
n
ex
t
b
ac
ter
iu
m
an
d
c
o
m
p
u
te
t
h
e
f
itn
ess
f
u
n
ctio
n
.
Step
4
: if
j <
n
u
m
b
er
o
f
ch
e
m
o
tactic
s
tep
,
th
en
g
o
to
s
tep
3
as c
h
em
o
tax
is
s
tep
is
n
o
t c
o
m
p
lete
Step
5
:
in
r
ep
r
o
d
u
ctio
n
with
th
e
p
r
esen
t
v
alu
es
o
f
k
,
l
f
o
r
ea
ch
v
alu
e
o
f
i=1
,
2
…n
u
m
b
er
o
f
b
ac
ter
ia,
ca
lcu
late
g
lo
b
al
f
itn
ess
f
u
n
ctio
n
.
I
n
th
is
h
ig
h
er
co
s
t
f
u
n
ctio
n
b
ac
ter
ia
will
d
ie
an
d
lo
wer
co
s
t
f
u
n
cti
o
n
will
g
r
o
w
an
d
it
s
p
lit in
to
two
asex
u
ally
.
T
h
is
k
ee
p
s
th
e
s
ea
r
ch
s
p
ac
e
c
o
n
s
tan
t.
Step
6
: if
k
<
n
u
m
b
e
r
o
f
r
ep
r
o
d
u
ctiv
e
s
tep
s
,
g
o
to
s
tep
2
an
d
r
estar
t th
e
ch
em
o
tax
is
p
r
o
ce
s
s
Step
7
:
elim
in
atio
n
an
d
d
is
p
er
s
al
p
r
o
ce
s
s
,
b
y
elim
in
atin
g
th
e
b
ac
ter
iu
m
an
d
d
is
p
er
s
e
t
h
e
r
e
m
ain
in
g
b
ac
ter
ia
in
a
r
an
d
o
m
lo
ca
tio
n
.
W
h
en
l
<
n
u
m
b
er
o
f
elim
in
atio
n
an
d
d
is
p
er
s
al
g
o
to
s
tep
2
o
r
wh
en
th
e
o
b
jectiv
e
f
u
n
ctio
n
co
n
v
er
g
es it c
o
m
es a
n
en
d
.
T
h
e
o
p
tim
u
m
c
o
n
tr
o
ller
g
ain
s
ar
e
o
b
tain
ed
b
y
th
is
m
eth
o
d
.
4.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
T
h
e
b
ac
ter
ia
f
o
r
ag
i
n
g
o
p
tim
izatio
n
alg
o
r
ith
m
was
s
im
u
lated
us
in
g
MA
T
L
AB
s
o
f
t
war
e.
T
h
e
p
ar
am
eter
s
tak
en
a
r
e
en
u
m
er
at
ed
b
elo
w.
Dim
en
s
io
n
o
f
s
ea
r
ch
s
p
ac
e:
6
Nu
m
b
er
o
f
b
ac
ter
ia:
20
Nu
m
b
er
o
f
ch
em
o
tactic
s
tep
s
:
10
L
im
its
o
f
len
g
th
o
f
s
wim
:
4
Nu
m
b
er
o
f
r
ep
r
o
d
u
ctiv
e
s
tep
s
:
4
Nu
m
b
er
o
f
elim
in
atio
n
a
n
d
d
is
p
er
s
al
s
tep
s
:
2
Pro
b
ab
ilit
y
o
f
elim
in
atio
n
:
0
.
7
5
T
h
e
r
esu
lts
ar
e
o
b
tain
ed
b
y
u
s
in
g
o
p
tim
izatio
n
alg
o
r
ith
m
an
d
th
e
co
n
v
er
g
en
ce
o
f
th
e
o
b
jectiv
e
f
u
n
ctio
n
is
s
h
o
wn
in
Fig
u
r
e
4
.
T
h
e
o
p
tim
u
m
v
al
u
es
o
f
d
if
f
e
r
en
t
co
n
t
r
o
ller
g
ain
s
ar
e
o
b
tain
ed
b
y
th
e
s
im
u
latio
n
.
T
h
e
in
f
er
e
n
ce
i
s
th
a
t
in
itially
b
ac
te
r
iu
m
is
at
r
an
d
o
m
lo
ca
tio
n
s
a
n
d
all
th
e
b
a
cter
ia
co
n
v
er
g
e
to
a
s
p
ec
if
ied
lo
ca
tio
n
to
g
et
g
lo
b
al
o
p
tim
u
m
s
o
lu
tio
n
.
T
h
e
o
p
t
im
u
m
v
alu
es o
f
c
o
n
tr
o
ller
g
ai
n
s
ar
e
Kp
=
1
.
0
5
,
Ki
=
9
0
an
d
Kd
=
0
.
0
0
0
1
3
r
esp
e
ctiv
ely
.
T
h
e
r
esp
o
n
s
e
o
f
m
o
to
r
is
illu
s
tr
ated
b
y
s
tep
in
p
u
t
at
two
d
if
f
er
en
t
tim
e
in
ter
v
als.
T
h
e
tim
e
in
ter
v
als
a
r
e
ap
p
lied
at
t=0
an
d
t=0
.
5
s
ec
o
n
d
s
.
At
tim
e
t
=0
s
ec
o
n
d
s
f
o
r
a
s
tep
in
p
u
t
o
f
p
er
u
n
it sp
ee
d
o
f
1
is
ap
p
lied
an
d
at
t=0
.
5
s
ec
o
n
d
s
f
o
r
a
s
tep
in
p
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a
ti
v
e
T
e
c
h
n
o
l
o
g
y
,
vol
.
5
,
n
o
1
,
p
p
.
1
5
9
-
1
6
6
,
2
0
1
5
.
[7
]
Dirm
a
n
Ha
n
a
fi,
M
o
h
d
Az
k
a
r
S
id
ik
,
M
irza
so
n
i
a
n
d
Hi
d
a
y
a
t
,
"
Ti
m
e
b
a
se
d
firi
n
g
p
u
lse
d
e
lay
c
o
n
t
ro
l
f
o
r
im
p
ro
v
in
g
sin
g
le
p
h
a
se
in
d
u
c
ti
o
n
m
o
t
o
r
sp
e
e
d
p
e
rfo
rm
a
n
c
e
u
si
n
g
fu
z
z
y
lo
g
i
c
c
o
n
tro
l
,"
AR
PN
jo
u
rn
a
l
o
f
e
n
g
i
n
e
e
rin
g
a
p
p
li
e
d
sc
ien
c
e
s,
vol
.
1
1
,
no
.
1
2
,
p
p
.
7
5
1
5
-
7
5
2
1
,
2
0
1
6
.
[8
]
Ali.
H.
Ah
m
a
d
,
F
a
ra
z
d
a
q
R
Ya
sie
n
a
n
d
Ah
m
e
d
S
Ab
d
u
ll
a
h
,
"
S
p
e
e
d
c
o
n
tro
l
o
f
sin
g
le
p
h
a
se
in
d
u
c
ti
o
n
m
o
t
o
r
u
si
n
g
fu
z
z
y
lo
g
ic
c
o
n
tro
ll
e
r
,"
Ame
ric
a
n
S
c
ien
ti
fi
c
Res
e
a
rc
h
J
o
u
r
n
a
l
o
f
En
g
i
n
e
e
rin
g
,
T
e
c
h
n
o
l
o
g
y
a
n
d
S
c
ien
c
e
s
,
vol
.
2
6
,
no
.
4
,
p
p
.
1
7
-
2
9
,
2
0
1
6
.
[9
]
K.
Ka
v
y
a
,
S
.
M
.
Ja
y
a
sh
re
e
a
n
d
P
ra
v
e
e
n
a
An
jali
,
"
S
p
e
e
d
c
o
n
tro
l
o
f
sin
g
le
p
h
a
se
in
d
u
c
ti
o
n
m
o
to
r
u
sin
g
TRIAC
,"
In
ter
n
a
t
io
n
a
l
jo
u
rn
a
l
o
f
e
me
rg
in
g
re
se
a
rc
h
in
ma
n
a
g
e
me
n
t
tec
h
n
o
l
o
g
y
,
vol
.
5
,
no
.
5
,
p
p
.
3
5
2
-
3
5
6
,
2
0
1
6
.
[1
0
]
S
e
n
a
n
M
Ba
sh
i
,
I.
Aris
a
n
d
S
.
H.
Ha
m
a
d
,
"
De
v
e
l
o
p
m
e
n
t
o
f
H
C
sin
g
le
p
h
a
se
in
d
u
c
t
io
n
m
o
t
o
r
a
d
ju
sta
b
le
sp
e
e
d
c
o
n
tro
l
u
si
n
g
M
6
8
HC1
1
E
-
9
m
icro
c
o
n
tr
o
ll
e
r
,"
J
o
u
rn
a
l
o
f
Ap
p
li
e
d
S
c
ien
c
e
s
,
vol
.
5
,
n
o
.
2
,
p
p
.
2
4
9
-
2
5
2
,
2
0
0
5
.
[1
1
]
A.S
h
o
jae
i
a
n
d
M
Ab
o
lh
a
sa
n
i
fa
r.
"
Op
t
ima
l
P
ID
c
o
n
tr
o
l
o
f
a
n
in
d
u
c
ti
o
n
m
o
to
r
f
o
r
d
e
v
e
lo
p
in
g
th
e
s
o
lar
p
u
m
p
u
si
n
g
P
S
O t
e
c
h
n
i
q
u
e
,"
T
e
c
h
n
ica
l
J
o
u
rn
a
l
o
f
En
g
i
n
e
e
rin
g
a
n
d
A
p
p
l
ied
S
c
i
e
n
c
e
s
,
vol
.
6
,
no
.
2
,
p
p
.
6
4
-
7
0
,
2
0
1
6
.
[1
2
]
Vish
a
l
v
e
rm
a
,
P
e
e
y
u
sh
p
a
n
t,
Bh
i
m
sin
g
h
,
"
S
im
u
latio
n
o
f
a
sin
g
le
p
h
a
se
in
d
u
c
t
io
n
m
o
t
o
r
with
d
y
n
a
m
ic
c
a
p
a
c
it
o
r
fo
r
m
a
x
imu
m
to
r
q
u
e
o
p
e
ra
ti
o
n
,"
in
2
0
0
8
J
o
in
t
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
P
o
we
r
S
y
ste
m
T
e
c
h
n
o
lo
g
y
a
n
d
IE
EE
Po
we
r
In
d
i
a
Co
n
fer
e
n
c
e
,
p
p
.
1
-
6
,
2
0
0
8
.
[1
3
]
Bij
a
n
Za
h
e
d
i,
S
a
d
e
g
h
,
Va
e
z
-
Zad
e
h
,
"
Eff
icie
n
c
y
o
p
ti
m
iza
ti
o
n
o
f
si
n
g
le
p
h
a
se
in
d
u
c
ti
o
n
m
o
to
rs
,"
IE
EE
T
r
a
n
sa
c
ti
o
n
s
o
n
P
o
we
r E
lec
tro
n
ics
,
v
o
l.
24
,
n
o
.
4
,
1
0
6
2
-
1
0
7
0
,
2
0
0
9
.
[1
4
]
K.
S
u
n
d
a
re
sw
a
ra
n
,
N.
Ra
jas
e
k
a
r,
V.
T.
S
re
e
d
e
v
i
,
"
P
e
rfo
rm
a
n
c
e
c
o
m
p
a
riso
n
o
f
c
a
p
a
c
it
o
r
ru
n
in
d
u
c
ti
o
n
m
o
t
o
r
su
p
p
l
ied
fro
m
AC
v
o
lt
a
g
e
re
g
u
l
a
to
r
a
n
d
S
P
W
M
c
h
o
p
p
e
r
,"
IEE
E
T
ra
n
s
o
n
In
d
u
stri
a
l
El
e
c
tro
n
ics
,
v
o
l
.
5
3
,
no
.
3
,
p
p
.
9
9
0
-
9
9
3
,
2
0
0
6
.
[1
5
]
K.S
u
n
d
a
re
sw
a
ra
n
,
"
A
imp
r
o
v
e
d
e
n
e
rg
y
sa
v
i
n
g
sc
h
e
m
e
fo
r
c
a
p
a
c
i
to
r
ru
n
i
n
d
u
c
ti
o
n
m
o
t
o
r
,"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
El
e
c
tro
n
ic
s
,
v
o
l
.
48
,
n
o
.
1
,
p
p
.
2
3
8
-
2
4
0
,
2
0
0
1
.
[1
6
]
M
.
S
y
e
d
Ja
m
il
As
g
h
a
r
,
"
S
m
o
o
t
h
sp
e
e
d
c
o
n
tro
l
o
f
si
n
g
le
p
h
a
se
i
n
d
u
c
ti
o
n
m
o
t
o
r
b
y
i
n
teg
ra
l
c
y
c
le
s
witch
in
g
,"
IEE
E
tra
n
sa
c
ti
o
n
s
o
n
e
n
e
rg
y
c
o
n
v
e
rs
io
n
,
v
o
l.
14
,
n
o
.
4
,
p
p
.
1
0
9
4
-
1
0
9
9
,
1
9
9
9
.
[1
7
]
Terra
n
c
e
A
Letten
m
a
ier,
Do
n
a
l
d
W.
No
v
o
to
n
y
,
"
Th
o
m
a
s
A L
ip
o
.
si
n
g
le
p
h
a
se
in
d
u
c
ti
o
n
m
o
t
o
r
with
a
n
e
lec
tro
n
ica
ll
y
c
o
n
tro
ll
e
d
c
a
p
a
c
it
o
r
,"
IE
EE
T
r
a
n
s
a
c
ti
o
n
s o
n
In
d
u
stry
A
p
p
l
ica
ti
o
n
s
,
v
o
l.
27
,
n
o
.
1
,
p
p
.
38
-
43
,
1
9
9
1
.
[1
8
]
T.
A.
Li
p
o
,
"
Th
e
a
n
a
l
y
sis
o
f
i
n
d
u
c
ti
o
n
m
o
to
rs
wi
th
v
o
lt
a
g
e
c
o
n
tr
o
l
b
y
sy
m
m
e
tri
c
a
ll
y
tri
g
g
e
re
d
t
h
y
risto
rs
,"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
p
o
we
r a
p
p
a
r
a
tu
s
a
n
d
sy
ste
ms
,
v
o
l
.
2,
p
p
.
5
1
5
-
5
2
6
,
1
9
7
1
.
[1
9
]
Vla
d
imir
S
o
u
sa
S
a
n
to
s
,
e
t
a
l.
,
"
Ba
c
teria
fo
ra
g
in
g
a
l
g
o
ri
th
m
a
p
p
li
c
a
ti
o
n
fo
r
i
n
d
u
c
ti
o
n
m
o
t
o
r
field
e
fficie
n
c
y
e
stim
a
ti
o
n
u
n
d
e
r
u
n
b
a
lan
c
e
d
v
o
lt
a
g
e
s
,"
M
e
a
s
u
re
me
n
t
,
v
o
l.
46
,
n
o
.
7
,
p
p
.
2
2
3
2
-
2
2
3
7
,
2
0
1
3
.
[2
0
]
Wen
k
u
i
Ho
u
a
n
d
Zh
imi
n
g
Zh
a
n
g
,
"
A
m
e
th
o
d
o
f
tes
t
p
o
i
n
ts
o
p
t
imiz
a
ti
o
n
se
lec
ti
o
n
b
a
se
d
o
n
im
p
ro
v
e
d
b
a
c
teria
fo
ra
g
in
g
a
l
g
o
rit
h
m
,"
2
0
1
6
Pro
g
n
o
stics
a
n
d
S
y
ste
m He
a
lt
h
M
a
n
a
g
e
me
n
t
Co
n
fer
e
n
c
e
(PHM
-
Ch
e
n
g
d
u
)
,
2
0
1
7
.
[2
1
]
N.
M
u
ra
li
a
n
d
V.
Ba
laji
,
"
AC
v
o
lt
a
g
e
c
o
n
tro
l
ler
fe
d
sin
g
le
p
h
a
se
c
a
p
a
c
it
o
r
ru
n
i
n
d
u
c
ti
o
n
m
o
t
o
r
wit
h
d
iffere
n
t
to
p
o
lo
g
y
,"
I
n
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
A
p
p
li
e
d
E
n
g
i
n
e
e
rin
g
Res
e
a
rc
h
,
vol
.
1
0
,
no
.
1
7
,
p
p
.
1
2
7
5
7
-
1
2
7
5
6
,
2
0
1
5
.
[2
2
]
N.
M
u
ra
li
a
n
d
V.
B
a
laji
,
"
P
u
lse
wid
th
m
o
d
u
late
d
AC
v
o
lt
a
g
e
c
o
n
tro
ll
e
r
fil
ter
d
e
sig
n
b
y
o
p
ti
m
iza
ti
o
n
tec
h
n
iq
u
e
,
"
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
S
c
ien
ti
fi
c
En
g
in
e
e
rin
g
An
d
T
e
c
h
n
o
l
o
g
y
,
vol
.
4
,
no
.
1
0
,
p
p
5
2
6
-
5
3
1
,
2
0
1
5
.
[2
3
]
M.
G.
S
a
y
,
T
h
e
p
e
rfo
rm
a
n
c
e
a
n
d
d
e
sig
n
o
f
a
lt
e
rn
a
ti
n
g
c
u
rr
e
n
t
ma
c
h
in
e
s
:
T
ra
n
sfo
rm
e
rs
,
th
re
e
-
p
h
a
se
i
n
d
u
c
ti
o
n
mo
to
rs
a
n
d
sy
n
c
h
ro
n
o
u
s ma
c
h
i
n
e
s
,
sir
isa
c
p
it
m
a
n
a
n
d
so
n
s,
L
o
n
d
o
n
,
1
9
5
8
.
[2
4
]
K.S
u
n
d
a
re
sw
a
ra
n
,
"
A
sim
p
l
ifi
e
d
m
o
d
e
l
fo
r
sp
e
e
d
c
o
n
tr
o
l
o
f
a
c
v
o
l
tag
e
c
o
n
tr
o
ll
e
r
fe
d
i
n
d
u
c
ti
o
n
m
o
t
o
r
d
r
iv
e
s
,"
IET
E
J
o
u
rn
a
l
o
f
Res
e
a
rc
h
,
vol
.
4
9
,
no
.
4
,
p
p
.
2
4
7
-
2
5
0
,
2
0
0
3
.
[2
5
]
K.
M.
P
a
ss
in
o
,
"
Ba
c
teria
l
fo
r
a
g
in
g
o
p
ti
m
iza
ti
o
n
,"
I
n
n
o
v
a
ti
o
n
s
a
n
d
De
v
e
lo
p
me
n
ts
o
f
S
w
a
rm
In
telli
g
e
n
c
e
Ap
p
li
c
a
ti
o
n
s
,
p
p
.
2
1
9
-
2
3
4
,
2
0
1
0
.
[2
6
]
S.
Da
s,
A.
Biswa
s,
S
.
Da
sg
u
p
ta
a
n
d
A.
A
b
ra
h
a
m
,
"
Ba
c
teria
l
fo
ra
g
i
n
g
o
p
ti
m
iza
ti
o
n
a
l
g
o
r
it
h
m
:
Th
e
o
re
ti
c
a
l
fo
u
n
d
a
ti
o
n
s,
a
n
a
ly
sis,
a
n
d
a
p
p
li
c
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