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f
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I
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e
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u
m
er
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s
ad
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ta
g
e
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co
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s
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th
u
s
t
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it c
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f
u
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p
o
w
er
o
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t
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e
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i
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[
1
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On
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tain
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m
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h
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v
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led
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g
e
n
er
ato
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s
(
DFI
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[
2
]
-
[
4
]
.
T
h
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is
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ec
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s
e
th
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d
o
u
b
ly
f
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in
d
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n
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r
ca
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e
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er
ated
o
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er
a
w
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e
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e
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le
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ti
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g
th
e
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ax
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m
u
m
p
o
s
s
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le
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er
[
5
]
,
[
6
]
.
B
esid
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e
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is
also
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s
ed
in
a
m
u
ltit
u
d
e
o
f
v
ar
iab
le
s
p
ee
d
d
r
iv
e
s
y
s
te
m
s
[
7
]
.
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n
th
is
o
p
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atin
g
m
o
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e,
th
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p
r
esen
ts
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an
y
ad
v
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n
ta
g
es a
s
w
ell.
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n
t
h
e
p
r
esen
t
p
ap
er
,
th
e
DF
I
M
p
o
w
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ed
b
y
t
w
o
m
a
tr
ix
c
o
n
v
er
ter
s
is
s
t
u
d
ied
(
Fig
u
r
e
1
)
.
Ma
tr
ix
co
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er
ter
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ar
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ch
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s
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s
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s
e
o
f
th
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ir
attr
ac
tiv
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b
en
ef
it
s
[
8
]
-
[
1
1
]
.
T
h
ese
b
en
e
f
its
i
n
clu
d
e:
lo
w
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ar
m
o
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to
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tio
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tio
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ed
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s
p
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u
e
to
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b
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s
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)
.
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n
ad
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itio
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u
s
e
o
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a
m
a
tr
ix
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ter
o
n
t
h
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r
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to
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s
id
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is
m
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ad
v
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ta
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ag
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.
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p
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in
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th
e
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l
tech
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alo
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w
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a
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tr
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ased
P
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T
h
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DFI
M
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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:
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8
694
IJ
PEDS
Vo
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7
,
No
.
3
,
Sep
tem
b
er
2
0
1
6
:
665
-
6
7
6
666
p
o
w
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ed
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y
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w
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m
atr
ix
co
n
v
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r
ter
s
is
s
tu
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ied
h
er
e
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ec
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s
e
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o
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n
d
t
h
at
t
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s
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b
j
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t
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th
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r
s
ely
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cu
m
e
n
ted
in
th
e
s
cie
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ti
f
ic
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ter
at
u
r
e.
Fig
u
r
e
1
.
DFI
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p
o
w
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ed
b
y
t
w
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m
atr
ix
co
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v
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ter
s
T
h
is
p
ap
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is
o
r
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an
ized
as
f
o
llo
w
s
.
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n
th
e
s
u
b
s
eq
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en
t
s
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ctio
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th
e
d
o
u
b
l
y
f
ed
in
d
u
c
tio
n
m
ac
h
i
n
e
m
o
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el
a
n
d
th
e
m
atr
i
x
co
n
v
er
ter
m
o
d
el
ar
e
s
et
f
o
r
th
.
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h
e
th
i
r
d
s
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tio
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is
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o
ted
to
th
e
co
n
tr
o
l
o
f
th
e
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M,
w
h
er
e
t
h
e
f
ield
o
r
ien
ted
co
n
t
r
o
l
tech
n
iq
u
e,
as
w
ell
a
s
t
h
e
f
u
zz
y
lo
g
ic
b
ased
P
I
co
n
tr
o
ller
,
ar
e
p
r
esen
ted
.
T
h
e
f
o
r
th
s
ec
tio
n
p
r
esen
ts
an
d
d
is
cu
s
s
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t
h
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o
b
tain
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r
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lt
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it
h
s
p
ec
ial
f
o
c
u
s
o
n
r
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b
u
s
t
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s
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o
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t
h
e
o
p
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atio
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o
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th
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e
y
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in
a
l p
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L
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Dir
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ad
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3.
DF
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1
.
F
ield O
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Co
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Vec
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co
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o
l te
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e
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s
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h
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x
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r
r
e
n
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
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8
694
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elf
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Tu
n
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F
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ters
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kim
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669
an
d
to
r
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u
e
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r
r
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t
co
n
tr
o
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i
n
AC
d
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iv
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T
h
is
i
n
t
u
r
n
s
is
s
i
m
ilar
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th
e
p
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in
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e
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led
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n
tr
o
l
o
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ex
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d
ar
m
at
u
r
e
cu
r
r
en
ts
in
D
C
m
ac
h
i
n
es [
1
2
]
.
I
n
g
en
er
al,
th
e
F
OC
is
u
s
ed
ac
co
r
d
in
g
to
o
n
e
o
f
th
e
f
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llo
w
in
g
t
w
o
w
a
y
s
.
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h
e
o
n
e,
k
n
o
w
n
as
in
d
ir
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t
f
ield
o
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ted
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n
tr
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,
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m
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d
y
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ic
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as
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er
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f
r
o
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th
e
eq
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at
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n
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h
e
r
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to
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h
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n
as
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t
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n
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(
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e
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r
e
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e
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t
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et
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le
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n
ec
e
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ar
y
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o
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f
lu
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tatio
n
.
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h
e
in
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ir
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t
f
ield
o
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ted
co
n
tr
o
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is
ap
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lied
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er
e
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o
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n
tr
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DFI
M.
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n
th
is
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s
e,
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e
f
l
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x
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s
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o
t
m
ea
s
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r
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d
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u
t
d
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i
n
ed
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y
a
p
r
eset
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al
u
e
o
f
its
m
a
g
n
it
u
d
e,
an
d
it
s
a
n
g
u
lar
p
o
s
itio
n
.
T
h
is
an
g
l
e
i
s
o
b
tain
ed
f
r
o
m
t
h
e
s
ta
to
r
p
u
ls
atio
n
.
T
h
e
later
is
co
n
s
id
er
ed
as
th
e
s
u
m
o
f
t
h
e
esti
m
ated
r
o
to
r
p
u
ls
atio
n
an
d
th
e
m
ea
s
u
r
ed
r
o
to
r
s
p
ee
d
(
Fig
u
r
e
3
)
.
T
h
e
s
tato
r
f
lu
x
o
r
ien
tatio
n
co
n
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l
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er
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n
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o
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o
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f
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m
e
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th
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ato
r
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s
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e
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to
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.
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u
r
e
3
.
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e
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ax
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n
g
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h
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l
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x
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y
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h
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d
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a
x
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h
e
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m
p
o
n
e
n
t
s
o
f
th
e
s
ta
to
r
f
lu
x
b
ec
o
m
e:
(
1
4
)
0
(
1
5
)
An
d
b
y
i
m
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o
s
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a
u
n
it
y
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o
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to
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at
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,
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h
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ch
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ller
fo
r
DF
I
M
P
o
w
ered
b
y
Tw
o
Ma
tr
ix
C
o
n
ve
r
ters
(
A
b
d
elh
a
kim
A
la
lei
)
673
4
.
1
.
Sp
ee
d
C
o
ntr
o
l
T
h
e
s
i
m
u
latio
n
s
w
er
e
p
er
f
o
r
m
ed
u
n
d
er
Ma
tlab
/
Si
m
u
li
n
k
e
n
v
ir
o
n
m
e
n
t.
T
h
e
s
i
m
u
la
ti
o
n
r
esu
lts
p
r
esen
ted
an
d
d
is
c
u
s
s
ed
b
elo
w
ar
e
o
b
tain
ed
f
r
o
m
test
s
ap
p
lied
to
th
e
DFI
M
p
o
w
er
ed
b
y
t
w
o
m
atr
i
x
co
n
v
er
ter
s
u
n
d
er
I
FOC
.
T
h
e
D
FIM
is
o
p
er
ated
in
m
o
to
r
m
o
d
e.
T
h
e
cy
cle
o
f
o
p
er
atio
n
co
n
s
id
er
ed
h
er
e
is
as f
o
llo
w
s
:
a.
A
n
o
-
lo
ad
s
tar
ti
n
g
o
f
th
e
m
ac
h
in
e
is
m
ad
e
w
it
h
s
p
ee
d
s
et
p
o
in
t o
f
1
0
0
r
d
/s
,
b.
E
x
ter
n
al
d
is
tu
r
b
an
ce
i
s
in
tr
o
d
u
ce
d
b
y
ap
p
l
y
in
g
t
h
e
r
ated
lo
ad
o
f
9
Nm
,
at
t =
1
s
,
c.
T
h
e
lo
ad
is
r
em
o
v
ed
at
t =
1
.
7
5
s
,
d.
T
h
e
d
ir
ec
tio
n
o
f
r
o
tatio
n
is
r
ev
er
s
ed
at
t =
2
.
5
s
,
e.
C
h
a
n
g
eo
v
er
to
a
lo
w
s
p
ee
d
(
2
.
5
% o
f
n
o
m
in
al
s
p
ee
d
)
at
t =
3
.
2
5
s
,
f.
T
h
e
n
o
m
in
a
l lo
ad
is
ap
p
lied
at
t =
4
s
.
A
cc
o
r
d
in
g
to
t
h
e
r
es
u
lt
s
o
b
tain
ed
in
Fi
g
u
r
e
8
,
w
e
s
ee
t
h
at
t
h
e
DFI
M
s
p
ee
d
f
o
llo
w
s
w
ell
th
e
r
ef
er
en
c
e
s
p
ee
d
all
th
r
o
u
g
h
th
e
o
p
er
atin
g
c
y
cle;
at
s
tar
tu
p
,
d
u
r
in
g
t
h
e
ap
p
licatio
n
an
d
r
e
m
o
v
al
o
f
t
h
e
lo
ad
,
b
u
t
also
in
th
e
ca
s
e
o
f
s
p
ee
d
r
ev
er
s
a
l.
I
t c
an
also
b
e
n
o
ticed
th
at
th
e
e
f
f
e
ct
o
f
i
n
er
tia
(
s
p
ee
d
o
v
er
s
h
o
o
t)
is
m
u
c
h
le
s
s
i
n
t
h
e
ca
s
e
o
f
ad
ap
tiv
e
P
I
co
m
p
ar
ed
to
class
ic
P
I
co
n
tr
o
ller
.
A
l
s
o
,
at
v
er
y
lo
w
s
p
ee
d
,
th
e
DFI
M
w
as
ab
le
t
o
o
v
er
co
m
e
th
e
n
o
m
in
a
l
to
r
q
u
e
w
h
ile
f
o
llo
w
i
n
g
a
r
ef
er
en
ce
o
f
2
.
5
%
th
e
n
o
m
in
a
l
s
p
ee
d
.
Mo
r
eo
v
er
,
it
s
h
o
u
ld
also
b
e
n
o
ted
th
a
t
t
h
is
h
i
g
h
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
is
m
ad
e
p
o
s
s
ib
le
also
t
h
an
k
s
to
th
e
u
s
ed
FOC
tec
h
n
iq
u
e
w
h
ic
h
e
n
s
u
r
es
a
d
y
n
a
m
ic
to
r
q
u
e
r
esp
o
n
s
e
a
n
d
a
g
o
o
d
d
ec
o
u
p
lin
g
b
et
w
ee
n
f
l
u
x
a
n
d
to
r
q
u
e
.
As
ca
n
b
e
s
ee
n
o
n
Fig
u
r
e
8
d
,
th
e
f
l
u
x
i
s
m
a
in
ta
in
ed
at
its
d
esire
d
v
alu
e
t
h
r
o
u
g
h
all
th
e
d
if
f
er
e
n
t p
h
ase
s
o
f
t
h
e
o
p
er
atin
g
c
y
cle.
Fig
u
r
e
8
.
Si
m
u
latio
n
r
esu
l
ts
o
f
DFI
M
co
n
tr
o
lled
b
y
ad
ap
tiv
e
P
I
-
FLC co
n
tr
o
ller
.
(
a)
Sp
ee
d
,
(
b
)
T
o
r
q
u
e,
(
c)
Stato
r
cu
r
r
en
ts
,
(
d
)
Stato
r
f
lu
x
4
.
2
.
O
pera
t
io
n
bey
o
nd
t
he
No
m
i
na
l
P
o
w
er
I
n
o
r
d
er
to
p
o
in
t
o
u
t
a
v
er
y
i
n
t
er
esti
n
g
an
d
u
s
e
f
u
l
ca
p
ab
ilit
y
o
f
th
e
D
FIM
,
an
o
t
h
er
c
y
cle
o
f
o
p
er
atio
n
is
co
n
s
id
er
ed
as f
o
llo
w
s
:
a.
A
n
o
-
lo
ad
s
tar
ti
n
g
o
f
th
e
m
ac
h
in
e
is
p
er
f
o
r
m
ed
w
it
h
s
p
ee
d
s
e
t p
o
in
t o
f
1
5
7
r
d
/s
(
n
o
m
i
n
al
s
p
ee
d
)
,
b.
A
t ti
m
e
t=1
s
a
lo
ad
eq
u
a
l to
tw
ice
t
h
e
n
o
m
i
n
al
lo
ad
is
ap
p
lied
c.
Fro
m
ti
m
e
t=2
s
to
t=3
s
th
e
m
a
ch
in
e
i
s
r
u
n
n
in
g
at
n
o
-
lo
ad
d.
A
t t=
3
s
t
h
e
s
p
ee
d
is
i
n
cr
ea
s
ed
to
t
w
ice
t
h
e
r
ated
s
p
ee
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
3
,
Sep
tem
b
er
2
0
1
6
:
665
-
6
7
6
674
e.
T
h
e
n
o
m
in
a
l lo
ad
is
ap
p
lied
at
t=4
s
.
f.
T
h
e
lo
ad
is
r
em
o
v
ed
at
t=5
s
.
Fig
u
r
e
9
s
h
o
w
s
t
w
o
t
y
p
es
o
f
o
v
er
lo
ad
o
p
er
atio
n
o
f
th
e
D
FIM
.
Fo
r
in
s
ta
n
ce
,
f
r
o
m
ti
m
e
t=
4
s
to
t=5
s
th
e
m
ac
h
in
e
is
d
r
i
v
en
a
t
t
w
ice
its
r
ated
s
p
ee
d
w
h
ile
k
ee
p
in
g
th
e
lo
ad
to
r
q
u
e
at
n
o
m
i
n
al
v
al
u
e.
He
n
ce
,
in
s
u
c
h
s
itu
a
tio
n
,
th
e
D
FIM
is
d
ev
elo
p
in
g
t
h
e
d
o
u
b
le
o
f
its
n
o
m
in
a
l
p
o
w
er
.
T
h
is
ab
ilit
y
o
f
th
e
D
FIM
to
o
v
er
co
m
e
s
ig
n
i
f
ica
n
t
tr
an
s
ien
t
o
v
er
lo
ad
s
is
v
er
y
u
s
ef
u
l
i
n
s
e
v
er
al
in
d
u
s
tr
ial
ap
p
licatio
n
s
s
u
ch
a
s
in
m
i
n
in
g
an
d
elec
tr
ic
v
eh
ic
le
in
d
u
s
tr
ie
s
.
Fig
u
r
e
9
.
Si
m
u
latio
n
r
esu
l
ts
o
f
DFI
M
o
p
er
atio
n
at
t
w
ice
r
ate
d
p
o
w
er
.
(
a)
Sp
ee
d
,
(
b
)
T
o
r
q
u
e
4
.
3
.
Ro
bu
s
t
nes
s
T
e
s
t
T
h
e
m
ai
n
o
b
j
ec
tiv
e
o
f
th
e
s
e
t
ests
i
s
to
v
er
i
f
y
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
DFI
M
co
n
tr
o
l
w
it
h
r
esp
ec
t
to
v
ar
iatio
n
s
o
f
its
p
ar
a
m
eter
s
.
Var
io
u
s
test
s
w
er
e
ca
r
r
ied
o
u
t
b
y
p
er
f
o
r
m
in
g
m
ac
h
i
n
e
p
ar
a
m
etr
ic
v
ar
iatio
n
s
an
d
th
i
s
u
p
to
5
0
%
f
o
r
s
tato
r
a
n
d
r
o
to
r
r
esis
to
r
s
,
an
d
also
u
p
to
5
0
%
f
o
r
th
e
in
er
tia.
T
h
e
tes
ts
w
er
e
p
er
f
o
r
m
ed
ac
co
r
d
in
g
to
t
h
e
f
o
llo
w
in
g
o
p
er
atin
g
c
y
cle
:
Star
ti
n
g
at
n
o
l
o
ad
w
it
h
a
s
p
ee
d
s
et
p
o
in
t
o
f
1
0
0
r
d
/s
at
ti
m
e
t=
0
,
th
en
,
v
ar
iatio
n
s
in
m
ac
h
i
n
e
p
a
r
a
m
eter
s
ar
e
ap
p
lied
at
ti
m
e
t
=
0
.
5
s
,
an
d
f
i
n
all
y
t
h
e
s
p
ee
d
is
r
ev
e
r
s
ed
an
d
s
et
to
-
1
0
0
r
d
/s
at
t=
3
s
.
T
h
e
lo
ad
to
r
q
u
e
is
ap
p
lied
t=
1
s
a
n
d
t
h
en
r
e
m
o
v
ed
at
t
=
2
s
.
Ob
s
er
v
i
n
g
t
h
e
r
es
u
lts
s
h
o
w
n
in
Fig
u
r
e
1
0
,
it
is
o
b
v
io
u
s
th
at
c
h
an
g
es
i
n
m
ac
h
i
n
e
p
ar
a
m
eter
s
d
id
n
o
t
in
f
l
u
e
n
ce
th
e
p
r
o
p
er
f
u
n
ctio
n
in
g
o
f
th
e
DFI
M,
w
h
ic
h
co
n
f
ir
m
s
th
e
r
o
b
u
s
t
n
ess
o
f
th
e
co
n
tr
o
l te
ch
n
iq
u
e.
Fig
u
r
e
10
.
R
o
b
u
s
tn
e
s
s
te
s
t o
f
t
h
e
ad
ap
tiv
e
P
I
-
F
L
C
co
n
tr
o
ller
w
it
h
r
esp
ec
t to
s
tato
r
an
d
r
o
to
r
r
esis
tan
ce
s
an
d
th
e
i
n
er
tia
o
f
t
h
e
DFI
M.
(
a)
Sp
ee
d
,
(
b
)
T
o
r
q
u
e,
(
c)
Stato
r
cu
r
r
en
ts
,
(
d
)
Stato
r
f
lu
x
Evaluation Warning : The document was created with Spire.PDF for Python.