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1
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u
e
an
d
f
lu
x
r
ip
p
le
2.
DT
C
A
L
G
O
R
I
T
H
M
T
h
e
DT
C
ess
en
tiall
y
co
n
s
is
ts
o
f
a
to
r
q
u
e
co
n
tr
o
l
lo
o
p
an
d
a
s
p
ee
d
co
n
tr
o
l
lo
o
p
,
as
s
h
o
w
n
in
Fi
g
u
r
e
1.
I
n
th
i
s
to
p
o
lo
g
y
,
t
h
e
s
tato
r
f
lu
x
an
d
elec
tr
o
m
ag
n
etic
to
r
q
u
e
ar
e
r
esp
ec
tiv
el
y
co
n
tr
o
lled
b
y
t
h
e
m
ea
n
s
o
f
a
2
lev
el
an
d
3
lev
e
l
h
y
s
ter
es
is
r
e
g
u
la
to
r
s
.
T
h
e
o
u
tp
u
ts
o
f
co
m
p
ar
ato
r
s
an
d
th
e
s
ec
to
r
n
u
m
b
er
ar
e
u
s
ed
to
in
d
ex
th
e
s
w
itc
h
in
g
tab
le
"
lo
o
k
-
up
-
t
ab
le"
in
o
r
d
er
to
s
elec
t
th
e
ap
p
r
o
p
r
iate
s
w
itc
h
i
n
g
s
tate
s
o
f
th
e
in
v
er
ter
s
w
itc
h
e
s
.
I
n
th
is
lo
o
p
,
th
e
m
o
s
t
i
m
p
o
r
t
an
t
s
u
b
-
m
o
d
u
le
th
at
ca
n
g
u
ar
an
tee
s
ati
s
f
ac
to
r
y
p
er
f
o
r
m
a
n
c
e
o
f
th
e
DT
C
is
th
e
esti
m
ato
r
o
f
th
e
s
ta
to
r
f
lu
x
a
n
d
to
r
q
u
e
[
1
2
]
,
[
1
3
]
.
Fig
u
r
e
1
.
Mo
d
u
les o
f
th
e
DT
C
alg
o
r
ith
m
T
h
e
co
m
p
u
tatio
n
o
p
er
atio
n
s
in
v
o
l
v
ed
in
th
e
f
lu
x
an
d
to
r
q
u
e
esti
m
ato
r
ar
e
d
escr
ib
ed
b
y
th
e
ab
o
v
e
eq
u
atio
n
s
:
● (
α
,
β
)
tr
a
n
s
fo
r
m:
{
=
=
√
3
3
(
+
2
)
(
1
)
{
=
3
(
2
−
−
)
=
√
3
3
(
+
)
(
2
)
●
S
ta
to
r
flu
x
in
(
α
,
β
)
fr
a
me:
{
=
0
+
(
−
)
=
0
+
(
−
)
(
3
)
W
h
er
e
T
s
is
th
e
s
a
m
p
li
n
g
p
er
io
d
(
µs)
an
d
R
s
is
th
e
s
tato
r
r
esis
tan
ce
(
o
h
m
s
)
.
Neg
lecti
n
g
t
h
e
s
ta
to
r
r
esis
ta
n
ce
,
eq
u
atio
n
s
1
3
an
d
1
4
i
m
p
l
ies
t
h
at
t
h
e
tip
o
f
t
h
e
s
tato
r
v
ec
to
r
w
ill
m
o
v
e
in
t
h
e
d
ir
ec
tio
n
o
f
th
e
ap
p
lied
v
o
ltag
e
v
ec
to
r
in
a
s
tr
aig
h
t
lin
e
as
in
d
icate
d
in
Fi
g
u
r
e
2
.
Fo
r
c
o
n
tr
o
llin
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
864
I
J
R
E
S
Vo
l.
6
,
No
.
1
,
Ma
r
ch
2
0
1
7
:
20
–
27
22
th
e
a
m
p
lit
u
d
e
o
f
th
e
s
ta
to
r
f
lu
x
,
th
e
v
o
lta
g
e
v
ec
to
r
p
lan
e
is
d
iv
id
ed
in
to
s
ix
r
eg
io
n
s
.
E
ac
h
o
f
th
ese
s
ec
to
r
s
i
s
6
0
°
w
id
e.
I
n
ea
ch
r
e
g
io
n
,
t
w
o
ad
j
ac
en
t
v
o
ltag
e
v
ec
to
r
s
m
a
y
b
e
s
elec
ted
to
in
cr
ea
s
e
o
r
d
ec
r
ea
s
e
th
e
s
tato
r
f
l
u
x
a
m
p
lit
u
d
e
an
d
g
i
v
e
a
m
i
n
i
m
u
m
s
w
i
tch
i
n
g
f
r
eq
u
e
n
c
y
[
1
4
]
.
T
h
e
s
w
itc
h
i
n
g
tab
le
is
g
i
v
e
n
b
y
th
e
T
ab
le
1:
T
ab
le
1
.
Sw
itch
in
g
T
ab
le
φ
T
Z
o
n
e
1
Z
o
n
e
2
Z
o
n
e
3
Z
o
n
e
4
Z
o
n
e
5
Z
o
n
e
6
ϕ
=
1
1
V
2
V
2
V
4
V
5
V
6
V
1
0
V
7
V
0
V
7
V
0
V
7
V
0
-
1
V
6
V
1
V
2
V
3
V
4
V
5
ϕ
=
0
1
V
3
V
4
V
5
V
6
V
1
V
2
0
V
0
V
7
V
0
V
7
V
0
V
7
-
1
V
5
V
6
V
1
V
2
V
3
V
4
Fig
u
r
e
2
.
Selecte
d
s
tato
r
v
o
lta
g
e
r
eg
r
ad
in
g
th
e
s
tato
r
f
l
u
x
s
e
cto
r
T
h
e
to
r
q
u
e
an
d
f
lu
x
h
y
s
ter
esi
s
co
n
tr
o
ller
s
s
elec
t
th
e
ap
p
r
o
p
r
i
ate
v
o
ltag
e
v
ec
to
r
s
.
T
ab
le
1
in
d
icate
th
e
s
ix
a
n
d
eig
h
t
v
o
ltag
e
v
ec
to
r
s
s
w
itc
h
in
g
s
tr
ateg
ie
s
,
in
ea
c
h
r
eg
io
n
T
e
an
d
φ
ar
e
in
cr
ea
s
in
g
o
r
d
ec
r
ea
s
in
g
f
u
n
ctio
n
s
o
f
ti
m
e.
W
h
en
t
h
e
to
r
q
u
e
is
in
cr
ea
s
i
n
g
o
r
d
ec
r
ea
s
in
g
,
th
e
f
l
u
x
lin
k
a
g
e
ca
n
b
e
in
cr
ea
s
ed
o
r
d
ec
r
ea
s
ed
b
y
s
elec
ti
n
g
a
lter
n
ati
v
el
y
o
n
e
o
f
th
e
s
ix
n
o
n
ze
r
o
v
o
lta
g
e
v
ec
to
r
s
an
d
o
n
e
o
f
th
e
t
w
o
z
er
o
v
o
ltag
e
v
ec
to
r
s
[
1
5
]
[
1
6
]
.
T
h
e
to
r
q
u
e
an
d
f
l
u
x
ar
e
i
n
cr
ea
s
ed
o
r
d
ec
r
ea
s
ed
b
y
s
elec
ti
n
g
o
n
l
y
th
e
s
i
x
n
o
n
z
er
o
v
o
ltag
e
v
ec
to
r
s
.
T
h
e
to
r
q
u
e
is
ch
an
g
ed
b
y
r
ev
er
s
i
n
g
t
h
e
m
o
v
e
m
e
n
t
o
f
t
h
e
s
tato
r
f
l
u
x
v
ec
to
r
at
ea
ch
s
t
ate
o
f
th
e
h
y
s
ter
esi
s
co
n
tr
o
ller
o
u
tp
u
t [
1
7
]
.
●S
ec
to
r
n
u
m
b
er
o
f
f
lu
x
v
ec
to
r
:
∅
=
(
⁄
)
(
4
)
●
T
o
r
q
u
e
an
d
s
tato
r
f
l
u
x
m
a
g
n
i
tu
d
e
esti
m
atio
n
:
{
φ
s
=
√
φ
α
2
+
φ
β
2
T
e
=
3
4
P
(
I
β
φ
α
−
I
α
φ
β
)
(
5
)
W
h
er
e
P
is
th
e
p
o
le’
s
n
u
m
b
er
o
f
t
h
e
i
n
d
u
ct
io
n
m
o
to
r
,
T
e
is
t
h
e
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
(
N.
m
)
a
n
d
φ
s
is
t
h
e
s
tato
r
f
l
u
x
m
a
g
n
i
tu
d
e
(
W
b
)
.
T
h
e
f
l
u
x
2
-
le
v
el
h
y
s
ter
e
s
is
co
n
tr
o
ller
,
as
d
ep
icted
i
n
F
ig
u
r
e
3
,
is
d
escr
ib
e
d
b
y
t
h
e
f
o
llo
w
in
g
eq
u
atio
n
s
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
E
S
I
SS
N:
2089
-
4864
F
P
GA
-
b
a
s
ed
A
r
ch
itectu
r
e
o
f
Dir
ec
t To
r
q
u
e
C
o
n
tr
o
l
(
A
z
a
z
a
Ma
h
er
)
23
Fig
u
r
e
3
.
2
-
lev
el
h
y
s
ter
is
i
s
s
at
ates
{
=
1
=
(
−
)
≥
∆
ℎ
/
2
=
0
=
(
−
)
≤
∆
ℎ
/
2
(
6
)
W
h
er
e
C
i
is
t
h
e
co
n
tr
o
l in
v
er
te
r
co
n
tr
o
l sig
n
a
l,
an
d
Δ
h
is
th
e
h
y
s
ter
esi
s
b
an
d
.
T
h
e
to
r
q
u
e
3
-
lev
el
h
y
s
ter
es
is
c
o
n
tr
o
ller
is
d
escr
ib
ed
b
y
th
e
f
o
llo
w
i
n
g
eq
u
atio
n
s
:
{
=
1
≤
−
∆
ℎ
/
2
=
0
−
∆
ℎ
2
≤
≤
∆
ℎ
2
=
−
1
≥
∆
ℎ
/
2
(
7
)
3.
F
P
G
A
B
ASE
D
ARCH
I
T
E
C
T
UR
E
3
.
1
.
E
lect
ro
m
a
g
net
ic
t
o
rque
a
nd
s
t
a
t
o
r
f
lux
esti
m
a
t
o
r
a
rc
hite
ct
ure
T
h
e
m
aj
o
r
im
p
o
r
tan
t
m
o
d
u
le
in
DT
C
d
r
iv
e
is
th
e
f
lu
x
an
d
to
r
q
u
e
esti
m
ato
r
w
h
ic
h
in
v
o
l
v
es
d
if
f
er
en
t
co
m
p
u
tatio
n
al
o
p
er
atio
n
s
s
u
c
h
as
b
asic
ar
ith
m
etic
b
in
ar
y
ad
d
itio
n
,
s
u
b
tr
ac
tio
n
,
m
u
ltip
li
ca
tio
n
.
Oth
er
m
o
r
e
co
m
p
le
x
ca
lc
u
latio
n
o
p
er
atio
n
s
ar
e
al
s
o
i
n
v
o
l
v
ed
s
u
ch
a
s
tr
ig
o
n
o
m
etr
ic
f
u
n
ctio
n
s
an
d
th
e
s
q
u
ar
e
r
o
o
t
co
m
p
u
tatio
n
,
th
e
s
e
o
p
er
ato
r
s
ad
d
m
o
r
e
co
m
p
lex
it
y
to
t
h
e
s
ta
g
e
o
f
i
m
p
le
m
en
tatio
n
d
u
r
in
g
w
h
ic
h
t
h
e
p
er
f
o
r
m
a
n
ce
a
n
d
u
s
ed
FP
G
A
r
eso
u
r
ce
s
ar
e
o
f
m
aj
o
r
im
p
o
r
t
an
ce
.
I
n
th
i
s
w
o
r
k
,
th
e
esti
m
a
to
r
is
i
m
p
le
m
e
n
ted
in
t
w
o
p
ip
elin
ed
s
ta
g
es a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
4.
ΔX
0
Δ
h
/2
-
Δ
h
/2
1
C
i
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
864
I
J
R
E
S
Vo
l.
6
,
No
.
1
,
Ma
r
ch
2
0
1
7
:
20
–
27
24
Fig
u
r
e
4
.
A
r
ch
itetcu
r
e
o
f
f
l
u
x
an
d
to
r
q
u
e
esti
m
a
to
r
T
h
e
i
m
p
le
m
e
n
tat
io
n
o
f
t
h
e
es
ti
m
ato
r
i
s
p
er
f
o
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ed
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s
i
n
g
t
h
e
t
w
o
's
co
m
p
le
m
e
n
t
f
i
x
ed
p
o
in
t
f
o
r
m
a
t
th
r
o
u
g
h
o
u
t
t
h
e
o
p
er
atio
n
s
in
v
o
lv
ed
in
th
e
ca
lcu
la
tio
n
al
g
o
r
ith
m
w
i
th
th
e
e
x
ce
p
tio
n
o
f
t
h
e
o
p
er
atio
n
o
f
t
h
e
s
q
u
ar
e
r
o
o
t.
I
n
th
is
p
ar
ticu
lar
ca
s
e,
th
e
n
u
m
b
er
s
ar
e
r
ep
r
es
en
ted
in
u
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i
g
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f
i
x
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p
o
in
t
f
o
r
m
at
as
o
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er
an
d
an
d
th
e
r
es
u
lts
ar
e
al
w
a
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p
o
s
i
tiv
e.
T
h
e
i
m
p
le
m
e
n
tat
io
n
o
f
t
h
e
es
ti
m
ato
r
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s
p
er
f
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ed
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s
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t
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e
t
w
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e
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t
f
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in
t
f
o
r
m
a
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r
o
u
g
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o
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NC
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[1
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T
a
k
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h
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sh
i
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No
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Vo
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6
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No
.
1
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Ma
r
ch
2
0
1
7
:
20
–
27
28
[2
]
Bo
se
B.
K,
S
z
c
z
e
sn
y
P
.
M
.
“
A
m
icro
c
o
m
p
u
ter
-
b
a
se
d
c
o
n
tro
l
a
n
d
sim
u
latio
n
o
f
a
n
a
d
v
a
n
c
e
d
I
P
M
s
y
n
c
h
ro
n
o
u
s
m
a
c
h
in
e
d
riv
e
sy
st
e
m
f
o
r
e
lec
tri
c
v
e
h
icle
p
ro
p
u
lsi
o
n
”,
In
d
u
stria
l
E
lec
tro
n
ics
,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
.
1
9
8
8
;
3
5
;
5
4
7
-
5
5
9
;
1
9
8
8
.
[3
]
L
ian
b
in
g
L
,
“
A
h
ig
h
-
p
e
rf
o
r
m
a
n
c
e
d
irec
t
to
rq
u
e
c
o
n
tr
o
l
b
a
se
d
o
n
DSP
in
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s
m
o
to
r
d
riv
e
”,
In
telli
g
e
n
t
C
o
n
tr
o
l
a
n
d
Au
to
ma
ti
o
n
,
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
4
t
h
W
o
rld
Co
n
g
re
ss
o
n
,
2
0
0
2
;
2
1
6
2
2
-
1
6
2
5
.
[4
]
Cru
z
S
.
M
.
A
,
“
DSP
im
p
lem
e
n
tatio
n
o
f
th
e
m
u
lt
ip
le
re
fe
re
n
c
e
f
ra
m
e
s
th
e
o
r
y
f
o
r
th
e
d
iag
n
o
sis
o
f
sta
to
r
f
a
u
lt
s
in
a
DT
C
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
”
,
En
e
rg
y
Co
n
v
e
rs
io
n
,
IEE
E
T
ra
n
sa
c
ti
o
n
s o
n
.
2
0
0
5
;
2
0
;
3
2
9
-
3
3
5
.
[5
]
Ri
e
sg
o
T
,
T
o
rro
ja
Y,
De
la
T
o
rre
E,
“
De
sig
n
m
e
th
o
d
o
l
o
g
ies
b
a
se
d
o
n
h
a
rd
w
a
re
d
e
sc
rip
ti
o
n
lan
g
u
a
g
e
s,”
IEE
E
T
ra
n
s
.
In
d
.
El
e
c
tro
n
.
1
9
9
9
;
4
6
(
1
);
3
–
1
2
.
[6
]
Jid
in
A
,
“
S
im
p
le
D
y
n
a
m
ic
Ov
e
r
m
o
d
u
latio
n
S
trate
g
y
f
o
r
F
a
st
T
o
rq
u
e
Co
n
tro
l
in
DT
C
o
f
In
d
u
c
ti
o
n
M
a
c
h
in
e
s
w
it
h
Co
n
sta
n
t
S
w
it
c
h
in
g
F
re
q
u
e
n
c
y
C
o
n
tr
o
ll
e
r
”,
In
d
u
stry
A
p
p
li
c
a
ti
o
n
s
S
o
c
iety
An
n
u
a
l
M
e
e
ti
n
g
(
IAS
).
2
0
1
0
;
1
-
8.
[7
]
T
ri
m
b
e
rg
e
r
S
.
“
A
re
p
ro
g
ra
m
m
a
b
le g
a
te arra
y
a
n
d
a
p
p
li
c
a
ti
o
n
s
”
.
Pr
o
c
.
IEE
E
.
1
9
9
3
;8
1
;
1
0
3
0
–
1
0
4
1
.
[8
]
M
o
n
m
a
ss
o
n
E,
Cirstea
M
.
N
,
“
F
P
G
A
De
sig
n
M
e
th
o
d
o
l
o
g
y
f
o
r
In
d
u
s
tri
a
l
C
o
n
tr
o
l
S
y
ste
m
s:
A
Re
v
iew
”
,
In
d
u
stri
a
l
El
e
c
tro
n
ics
,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
.
2
0
0
7
;
5
4
;1
8
2
4
-
1
8
4
2
.
[9
]
F
e
rre
ira
S
,
“
De
sig
n
a
n
d
p
ro
t
o
ty
p
in
g
o
f
d
irec
t
to
rq
u
e
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
to
rs
in
F
P
G
A
s
”
,
In
teg
ra
ted
Circ
u
it
s a
n
d
S
y
ste
ms
De
sig
n
,
2
0
0
3
.
S
BCCI
2
0
0
3
.
Pro
c
e
e
d
i
n
g
s.
1
6
th
S
y
mp
o
siu
m
o
n
;
2
0
0
3
;1
0
5
-
1
1
0
.
[1
0
]
Ri
e
sg
o
T
,
T
o
rro
ja
Y,
De
la
T
o
rre
E,
“
De
sig
n
m
e
th
o
d
o
l
o
g
ies
b
a
se
d
o
n
h
a
rd
w
a
re
d
e
sc
rip
ti
o
n
lan
g
u
a
g
e
s
”,
IEE
E
T
ra
n
s
.
In
d
.
El
e
c
tro
n
.
1
9
9
9
;
4
6
(
1
);
3
–
1
2
.
[1
1
]
Din
u
A
,
“
F
P
GA
n
e
u
ra
l
c
o
n
tro
ll
e
r
f
o
r
th
re
e
p
h
a
se
se
n
so
rles
s
in
d
u
c
t
io
n
m
o
to
r
d
riv
e
s
y
ste
m
s
”
,
P
h
.
D.
d
isse
rtatio
n
,
De
M
o
n
tf
o
rt
U
n
iv
.
,
L
e
ice
ste
r,
U.K.,
2
0
0
0
.
[1
2
]
Ch
a
p
u
is
Y.A
,
Blo
n
d
e
J.
P
,
Bra
u
n
F
.
“
F
P
G
A
I
m
p
le
m
e
n
tatio
n
b
y
M
o
d
u
lar
De
sig
n
Re
u
se
M
o
d
e
to
Op
ti
m
iz
e
Ha
rd
w
a
re
A
rc
h
it
e
c
tu
re
a
n
d
P
e
rf
o
rm
a
n
c
e
o
f
A
C
M
o
to
r
Co
n
tro
ll
e
r
A
lg
o
rit
h
m
”,
Pro
c
.
EP
E
-
PE
M
C
Co
n
f;
2
0
0
4
.
[1
3
]
Ch
a
ra
a
b
i
L
,
M
o
n
m
a
ss
o
n
E,
S
lam
a
-
Be
lk
h
o
d
ja
I,
“
P
re
se
n
tatio
n
o
f
a
n
e
ff
icie
n
t
d
e
sig
n
m
e
th
o
d
o
l
o
g
y
to
d
e
v
e
lo
p
IP
-
c
o
re
f
u
n
c
ti
o
n
s
f
o
r
c
o
n
tro
l
sy
ste
m
s:
A
p
p
li
c
a
ti
o
n
t
o
th
e
d
e
sig
n
o
f
a
n
a
n
ti
w
in
d
u
p
P
I
c
o
n
tr
o
ll
e
r
”,
Pro
c
.
IEE
E
IECON
,
S
e
v
il
la,
S
p
a
in
,
No
v
.
2
0
0
2
.
[1
4
]
M
o
n
m
a
ss
o
n
E,
Cirstea
M
,
“
F
P
G
A
De
sig
n
M
e
th
o
d
o
lo
g
y
f
o
r
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d
u
s
tri
a
l
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n
t
ro
l
S
y
ste
m
s
–
A
Re
v
ie
w
”,
IEE
E
T
ra
n
s.
In
d
.
El
e
c
tro
n
.
2
0
0
7
;
5
4
(
4
);1
8
2
4
-
1
8
4
2
.
[1
5
]
T
ri
m
b
e
rg
e
r
S
,
“
A
re
p
ro
g
ra
m
m
a
b
le g
a
te arra
y
a
n
d
a
p
p
li
c
a
ti
o
n
s
”
,
Pr
o
c
.
IEE
E
,
1
0
3
0
–
1
0
4
1
;
Ju
l.
1
9
9
3
.
[1
6
]
Jid
in
A
,
“
A
n
Op
ti
m
i
z
e
d
S
w
it
c
h
in
g
S
trate
g
y
f
o
r
Qu
ick
D
y
n
a
m
i
c
T
o
rq
u
e
Co
n
tro
l
i
n
DT
C
-
H
y
st
e
re
sis
-
Ba
se
d
In
d
u
c
ti
o
n
M
a
c
h
in
e
s”
,
In
d
u
stri
a
l
El
e
c
tro
n
ics
,
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
.
2
0
1
1
;
5
8
;
3
3
9
1
-
3
4
0
0
.
[1
7
]
Jid
in
A
,
“
T
o
rq
u
e
rip
p
le
m
in
i
m
iz
a
ti
o
n
in
DT
C
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
u
sin
g
c
o
n
sta
n
t
f
re
q
u
e
n
c
y
to
rq
u
e
c
o
n
tr
o
ll
e
r
”,
El
e
c
trica
l
M
a
c
h
in
e
s
a
n
d
S
y
ste
ms
(
ICEM
S
),
919
-
9
2
4
,
2
0
1
0
.
[1
8
]
S
o
u
f
ien
G
,
A
b
d
e
ll
a
ti
f
M
,
M
o
h
a
m
e
d
M
,
“
De
sig
n
a
n
d
Ex
p
e
rim
e
n
tal
Im
p
le
m
e
n
tatio
n
o
f
DT
C
o
f
a
n
In
d
u
c
ti
o
n
M
a
c
h
i
n
e
Ba
se
d
o
n
F
u
z
z
y
L
o
g
ic Co
n
tro
l
o
n
F
P
GA
”,
IEE
E
tra
n
s
a
c
ti
o
n
s o
n
f
u
zz
y
sy
ste
m
s
.
2
0
1
5
;
2
3
;
9
9
.
[1
9
]
S
u
ti
k
n
o
T
,
Ni
k
Id
ris
NR,
Ji
d
in
A
,
Cirstea
M
N,
“
A
n
Im
p
ro
v
e
d
F
P
GA
I
m
p
le
m
e
n
tatio
n
o
f
Dire
c
t
T
o
rq
u
e
Co
n
tr
o
l
f
o
r
In
d
u
c
ti
o
n
M
a
c
h
i
n
e
s”
,
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
I
n
fo
rm
a
t
ics
.
2
0
1
3
;
9
(3
)
;
1
2
8
0
–
1
2
9
0
.
[2
0
]
Ra
jen
d
ra
n
R,
De
v
a
ra
jan
N,
“
F
P
GA
B
a
se
d
I
m
p
le
m
e
n
tatio
n
o
f
S
p
a
c
e
V
e
c
to
r
M
o
d
u
late
d
Dire
c
t
T
o
rq
u
e
Co
n
tro
l
f
o
r
In
d
u
c
ti
o
n
M
o
to
r
Driv
e
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
m
p
u
ter
a
n
d
El
e
c
trica
l
En
g
in
e
e
rin
g
.
2
0
1
0
;
2
(
3
)
;
5
8
9
-
5
9
4
.
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