In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
11, N
o.
1, Mar
ch 20
20,
p
p.
127~
1
3
4
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v11
.
i
1.pp
1
27-
13
4
127
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
j
p
eds.i
a
esco
re
.com
Design and imple
m
entation speed
control system of D
C Motor
based on PID
contro
l and Matl
ab Sim
ulink
S
a
lm
an
Jasim
Hammo
od
i
1
,
Kare
em
S
aye
gh
Fla
yy
ih
2
,
Ah
med
R
e
faat
H
a
m
ad
3
1
Dep
a
rt
men
t
o
f M
achi
n
es
Tech
nol
og
y,
M
idd
l
e Techn
i
cal
Un
i
versit
y
,
Ira
q
2
Dep
a
rt
m
e
nt
o
f E
l
ect
ronic
Techno
lo
gy
,
S
outh
e
rn
t
echni
cal U
ni
v
e
rs
ity, Iraq
3
Dep
a
rt
m
e
nt of E
l
ect
rical Techn
o
l
o
g
y
, Mi
dd
le Techn
i
cal U
ni
versit
y, Iraq
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
ce
i
v
e
d
May
9
, 2019
Re
vise
d Ju
l 2
2
,
201
9
A
c
c
e
pte
d
A
ug 4,
201
9
In
t
hi
s
pap
e
r,
w
e
f
i
rst
w
r
it
e
a
descri
pt
ion
o
f
t
he
o
per
a
ti
on
o
f
D
C
m
o
t
o
r
s
tak
i
n
g
i
n
t
o
accou
n
t
which
p
a
ram
e
t
e
rs
t
he
s
p
eed
d
epen
ds
o
n
there
of.
Th
e
P
I
D
(Proport
i
o
nal-Int
e
gral
-Derivati
v
e
)
c
ontrol
l
e
rs
a
re
t
hen
br
i
e
fly
d
escri
b
ed
,
and
th
en
a
p
p
lied
to
t
h
e
m
ot
or
s
peed
c
on
trol
a
l
r
ead
y
d
e
scri
bed,
t
h
a
t
i
s
,
a
s
a
n
elect
roni
c
co
nt
rol
l
er
(
P
I
D
)
,
w
h
ich
is
o
f
t
en
r
ef
erre
d
t
o
a
s
a
D
C
m
ot
or.
Th
e
c
l
ose
d
l
oo
p
sp
e
e
d
c
o
n
trol
o
f
a
Bru
s
h
DC
m
o
t
o
r
i
s
de
v
e
lo
pe
d
app
l
y
i
ng
t
he
wel
l
-k
no
w
n
P
ID
c
on
trol
a
l
g
o
r
it
h
m
.
Th
e
o
b
ject
ive
o
f
t
h
i
s
work
i
s
t
o
de
s
i
g
n
e
d
and
s
i
m
u
l
a
te
a
n
ew
c
o
n
t
r
ol
s
y
s
t
e
m
to
k
eep
t
he
s
p
eed
o
f
t
h
e
DC
m
oto
r
con
s
t
a
nt
b
e
f
ore
variat
io
n
s
o
f
the
l
o
ad
(
dis
t
urb
a
nces
),
a
u
t
o
m
a
t
i
cally
dep
e
nd
ing
to
t
he
P
ID
c
ont
rol
l
er.
T
h
e
s
y
stem
w
as
d
esigned
and
imp
l
e
m
e
n
ta
tio
n
b
y
u
sing
M
AT
LAB/SI
MU
LINK
a
n
d DC m
otor
.
K
eyw
ord
s
:
DC Mot
o
r
MATLAB/S
I
MULIK
PID
PWM
Sp
ee
d
co
nt
rol
Th
is
is a
n
o
p
en acces
s a
r
ti
cle u
n
d
e
r t
h
e
CC
B
Y
-S
A
li
cens
e
.
Corres
pon
d
i
n
g
Au
th
or:
S
a
l
m
a
n
H
a
m
m
o
odi
,
D
e
pa
rtme
nt
o
f
M
a
c
h
i
n
es Te
c
h
n
o
l
og
y,
Inst
i
t
u
t
e
of Te
c
h
n
o
l
o
gy
Ba
gh
d
a
d,
M
idd
l
e
Tec
hnic
a
l
U
ni
versi
t
y,
A
l
-Za’
fra
n
iya
, 100
74
Ba
g
h
d
a
d
,
Ira
q
Em
ail:
sa
lma
n
h
a
m
m
ood
i
6
6
@
gma
il.
com
1.
I
N
TR
OD
U
C
TI
O
N
At
p
resent,
m
o
st
o
f
the
m
o
t
o
rs
i
n
t
h
e
i
ndu
st
ry
a
re
h
an
dl
ed
d
i
r
e
ctl
y
f
r
o
m
t
h
e
e
l
e
c
trica
l
d
i
s
tr
ib
u
t
io
n
line
s
,
w
h
e
t
her
the
y
a
re
D
C
or
A
C
m
o
t
o
rs.
Be
ca
use
of
t
h
i
s,
t
he
b
e
h
a
v
iour
o
f
th
e
m
o
t
o
r
d
e
pen
d
s
on
the
na
t
u
r
e
of t
he
l
oad c
o
u
p
le
d t
o
the
a
x
i
s
of the
m
ac
h
i
n
e
[
1-
5]. In t
he
c
a
se of a li
g
h
t loa
d
t
he
m
o
t
or de
v
e
l
op
s a re
l
a
tive
l
y
hi
gh
spee
d
an
d
a
low
torq
ue
b
ec
ause
i
t
is
t
he
l
oa
d
re
qu
i
r
em
ent.
O
n
the
contrary,
if
a
h
ea
vy
o
r
dif
f
i
c
u
l
t
t
o
move
l
oa
d
i
s
a
vai
l
a
b
le,
the
m
o
t
o
r
w
i
ll
m
o
ve
a
t
a
l
o
w
e
r
sp
e
e
d
a
n
d
del
i
ve
r
m
o
re
t
or
que
a
s
a
hig
h
e
r
l
oa
d
dem
a
nd
s it [
4
-9].
A
s
ca
n
b
e see
n
by dire
c
t
l
y
c
o
nne
c
t
ing the m
o
t
o
r to t
he
A
C or
D
C
e
lec
t
r
i
cal
n
e
t
w
o
rk,
its behaviour i
s
defi
ne
d
a
n
d it w
ill rem
a
in unc
han
g
e
d
for a ce
r
tai
n
f
i
x
e
d
v
ol
t
a
g
e in the
p
ow
e
r
sup
p
l
y l
i
n
e.
H
ow
e
v
er,
in a
l
a
r
ge
part
o
f
the
indus
t
rial
s
e
c
t
o
r
,
t
h
e
r
e
a
r
e
p
r
o
c
e
s
s
e
s
i
n
w
h
i
c
h
t
h
e
m
an
ag
e
m
e
n
t
of
t
h
e
o
p
e
ra
tin
g
ch
a
r
ac
t
e
ri
sti
c
s
of
sa
id
m
a
c
hi
n
e
s
i
s
r
equi
re
d
,
w
hi
c
h
i
s
why
p
a
ra
me
t
e
r
co
nt
rol
de
v
i
c
es
s
u
c
h
as
s
p
e
e
d
a
n
d
f
requ
e
n
cy
v
a
r
i
a
ti
on
s
are
use
d
.
In
t
he
c
a
s
e
of
A
C
mot
o
rs,
th
e
s
e
de
vi
c
e
s
ar
e
c
o
mm
onl
y
use
d
a
n
d
h
a
v
e
a
r
e
l
a
t
i
v
e
l
y
l
o
w
c
o
s
t
,
h
o
w
e
v
e
r
,
when
w
ork
i
ng
with
D
C
m
o
t
o
rs
t
he
v
ar
ia
bl
e
spee
d
drive
s
h
ave
an
e
xces
si
vel
y
h
i
gh
c
o
st
w
hi
c
h
m
ake
s
t
he
m
lit
tl
e a
c
c
e
ssible
to m
any in
d
u
s
t
r
i
es t
hat r
e
q
u
ir
e
it
s
use
[6-
1
2
].
I
n
t
hi
s
pa
per
t
o
d
e
s
ig
n
a
n
d
i
m
plem
en
ta
t
i
o
n
s
pee
d
c
o
n
t
r
o
l
s
y
s
t
e
m
o
f
D
C
M
o
t
o
r
b
a
s
e
d
o
n
P
I
D
c
o
n
t
r
o
l
and
Mat
l
a
b
S
i
m
uli
n
k,
t
he
m
ot
or
i
s
d
i
v
i
de
d
i
n
to
t
w
o
m
ai
n
pa
rts
t
he
e
le
c
t
rica
l
part
o
f
t
h
e
arm
a
ture
a
nd
t
h
e
me
cha
n
ic
al
p
a
r
t
[1
1
,
1
2]
.
The
arm
a
ture
i
s
mode
lle
d
as
a
c
irc
u
it
w
it
h
resis
t
ance
R
c
o
n
n
ecte
d
i
n
se
rie
s
t
o
a
c
o
n
d
u
c
t
o
r
L
,
a
s
o
u
r
c
e
o
f
v
o
l
t
a
g
e
V
a
n
d
c
o
n
s
t
a
n
t
K
b
o
f
f
o
r
c
e
a
g
a
i
n
st
e
le
ctrom
o
t
i
ve
i
n
the
a
r
m
a
ture.
The
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
127
–
13
4
12
8
m
e
c
h
ani
c
a
l
p
a
r
t
of
t
he
m
ot
or
i
s
the
r
o
tor
w
h
ic
h,
w
hen
in
m
oti
o
n
,
h
a
s
a
mo
men
t
o
f
in
ertia
J
,
a
To
rq
ue
T
,
a
vi
sco
u
s
f
r
i
c
t
i
on
coe
f
fic
i
e
n
t
b,
a
posi
tio
n
θ
and
a
n
a
ng
ula
r
v
e
l
oc
ity
b
θ
=
ω
[
4
,
7
,
10,
1
1
-
1
2]
.
Th
e
PI
D
co
n
t
r
o
ll
er
i
s
res
p
on
sible
fo
r
co
rrecti
n
g
th
e
er
ro
r
it
r
e
ceive
s
from
t
h
e
d
i
ffe
r
enc
e
o
f
t
h
e
in
pu
t
si
gna
l
an
d
the
ou
tp
u
t
s
i
gna
l
of
t
he
t
a
c
h
o
m
eter
,
t
h
e
c
o
r
r
e
cted
e
r
r
or
e
nter
s
a
n
a
m
p
li
fic
a
t
i
o
n
s
t
age
bef
o
r
e
e
n
t
e
r
i
n
g
t
he
p
la
nt.
I
n
th
i
s pa
p
e
r
the
deve
lop
m
ent
o
f
a
spee
d
a
n
d
dir
e
c
t
i
o
n
mot
o
r
f
o
r
a
n
a
ut
onom
o
u
s
r
ace
r
o
b
o
t
is pr
e
sen
t
e
d
.
Both
c
o
n
tr
ols u
s
e
t
h
e
P
I
D c
ontrol al
g
o
ri
thm
[1
3,
15-
2
0
]
.
The
pa
pe
r
aim
s
t
o
pr
ov
i
d
e
a
so
lu
t
i
on
t
o
t
he
d
i
f
f
i
c
u
l
t
acc
ess
t
h
a
t
e
co
nom
ic
c
on
di
tio
ns
h
a
v
e
f
o
r
t
h
ese
a
u
tom
a
t
i
on
te
chn
o
l
o
g
i
es,
de
vel
o
pin
g
a
n
o
w
n
spee
d
c
o
n
t
r
o
l
sys
t
em
f
o
r
a
ny
D
C
m
o
t
or
t
ha
t
r
e
q
u
ir
es
i
t,
e
c
on
om
i
c
a
l
ly
v
ia
b
l
e
a
n
d
ap
p
lica
b
le
t
o
an
y
ty
pe
o
f
m
a
c
h
ine
,
o
f
e
a
s
y
us
e
a
nd
im
ple
m
e
n
t
a
tio
n
i
n
a
l
l
t
ype
s
o
f
indus
t
r
i
al pr
o
c
e
sses[19-25].
2.
T
H
E
B
A
SI
C
S
O
F
D
C
M
O
T
O
R
S
The
h
i
s
t
or
y
of
t
he
d
e
v
e
l
o
p
m
e
nt
o
f
t
h
e
c
o
n
s
tr
uc
t
i
o
n
o
f
e
l
e
c
tr
ic
m
a
c
h
ine
s
b
e
g
a
n
i
n
18
31
w
i
t
h
t
h
e
d
i
sc
ov
e
r
y
of
F
ara
d
ay'
s
l
a
w
u
n
til
t
h
e
m
id
dl
e
of
t
h
e
e
i
ght
h
d
e
c
a
d
e
of
t
he
l
as
t
ce
nt
ur
y.
T
he
D
C
mo
t
o
r
s
a
r
e
m
a
c
h
i
n
e
s
t
hat
con
v
er
t
e
l
ec
t
r
ic
al
e
ne
rg
y
i
n
t
o
m
e
c
han
i
c
a
l
ene
r
g
y
,
c
ausi
n
g
a
r
ot
a
r
y
m
o
vem
e
nt.
Ther
e
w
e
r
e
se
v
e
r
a
l
r
e
a
s
ons for
the
pr
o
lon
g
e
d
p
o
p
u
l
ar
i
t
y
of
dc m
o
t
or
s.
O
ne
was
th
at
D
C
po
we
r
sy
st
ems
a
r
e
co
mmo
n
ev
en
in
c
a
r
s,
t
r
u
c
k
s
a
n
d
a
i
r
p
la
nes.
W
he
n
a
ve
h
i
c
l
e
has
a
D
C
p
o
w
er
s
y
stem
,
i
t
m
a
k
es
s
en
se
t
o
use
DC
m
ot
ors.
D
C
mo
t
o
rs
w
e
r
e
a
l
so
a
ppl
i
e
d
wh
en
w
i
d
e
v
a
ri
a
t
i
o
n
s
i
n
spee
d
were
r
eq
u
i
r
e
d.
Bef
ore
t
h
e
wides
p
re
ad
u
se
o
f
e
l
e
c
tr
on
ic
p
ow
e
r
r
e
c
ti
f
i
er
i
nv
er
te
r
s
,
dc
m
oto
r
s
w
e
r
e
not
m
atche
d
i
n
s
p
e
e
d
c
o
n
t
r
o
l
a
p
p
l
i
c
a
t
i
o
n
s
.
E
v
e
n
i
f
t
h
e
r
e
w
e
r
e
no
dc
p
o
w
e
r
s
ou
r
c
e
,
t
he
s
oli
d
-
s
ta
te
r
ecti
f
ier
s
a
nd
t
he
t
r
i
m
m
e
r
c
i
r
c
u
i
t
s
w
e
r
e
u
s
e
d
t
o
c
r
e
a
t
e
t
h
e
n
e
c
e
s
s
a
r
y
pow
e
r
;
dc
m
ot
or
s
w
e
r
e
u
se
d
t
o
p
r
o
vi
de
t
he
d
esir
ed
s
pee
d
c
on
tr
o
l
(
i
n
du
ct
ion
m
o
tors
w
it
h
gro
u
p
s
of
s
o
l
i
d
-sta
te
co
n
t
ro
l
l
e
rs
a
re
n
o
w
p
r
e
f
e
rr
e
d
f
o
r
m
o
s
t
sp
e
e
d
co
n
t
ro
l
ap
p
l
i
cat
io
n
s
.
)
Ho
w
ev
er
, t
h
e
re ar
e
s
till app
li
cation
s
w
h
e
r
e
DC mo
t
o
r
s)[6
-
9
].
The
d
c
m
o
t
or
s
ar
e
dr
i
v
e
n
b
y
a
dc
p
ow
e
r
s
o
u
r
c
e.
U
nless
o
t
her
w
ise
s
p
eci
fie
d
,
it
i
s
a
s
su
med
t
h
at
t
h
e
in
p
u
t
v
o
l
t
age
is
c
o
n
sta
n
t,
s
in
c
e
t
h
i
s
a
s
s
u
m
p
t
i
on
s
impl
i
f
ie
s
t
h
e
a
na
ly
sis
of
t
he
m
o
t
or
s
and
t
h
e
com
p
ar
i
s
o
n
be
t
w
ee
n
t
h
e
d
i
ffe
r
e
nt
t
ype
s
o
f
t
he
m.
T
he
r
e
a
re
f
i
v
e
t
y
pes
of
g
e
ne
r
a
l
pur
p
o
se
D
C
m
o
tor
s
:
I
n
d
e
pen
d
e
n
t
ex
cita
t
i
on
d
i
r
e
c
t
c
ur
r
e
nt
m
ot
or
.
D
i
r
e
ct
c
ur
r
e
nt
m
otor
i
n
der
i
v
a
t
i
o
n
.
P
e
rm
ane
n
t
m
a
gne
t
dir
e
ct
c
ur
r
e
nt
m
otor
.
D
i
r
e
ct
c
ur
r
e
nt
m
otor
i
n
ser
i
e
s
.
C
o
mpos
i
t
e
di
r
e
ct
c
ur
r
e
nt
m
oto
r
.
The
F
i
g
u
r
e
1
s
how
t
he
f
ul
l
e
q
u
i
va
le
n
t
c
ir
c
u
i
t
o
f
the
dc
m
o
t
or
.
T
h
e
eq
ui
v
a
len
t
c
i
r
c
u
i
t
i
n
F
i
gur
e
1
is
s
i
m
i
l
a
r
t
o
t
h
e
g
e
n
e
r
a
t
o
r
c
i
r
c
u
i
t
o
n
l
y
t
h
e
c
u
r
r
e
n
t
d
i
r
e
c
t
i
o
n
s
a
r
e
dif
f
e
r
e
n
t
.
The
o
p
e
r
at
i
on
equa
tio
ns
a
r
e
,
(
1
)
is
pr
esen
t
the
A
r
m
a
tur
e
v
o
l
t
a
ge
e
quat
i
on
[
1
1-
12]
.
F
i
gur
e
1.
F
ul
l
equ
i
vale
n
t
c
i
r
cui
t
o
f
D
C
m
oto
r
(
1
)
The
i
n
d
u
ce
d
mo
t
o
r
vo
lta
ge
a
n
d
m
otor
s
pee
d
v
s
a
n
gu
l
a
r
f
r
e
que
nc
y
o
f
t
he
m
ot
or
i
s
pr
ese
n
t
in
(
2)
.
The
c
o
mbi
n
a
t
io
n
is
p
r
e
sent
i
n
(
3
)
a
nd
t
h
e
out
p
u
t
pow
e
r
a
nd
t
o
r
q
ue
a
re p
resen
t
in
(
4
).
2
(2
)
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
D
e
si
g
n
a
n
d
im
pl
e
m
e
n
t
a
tio
n speed co
n
t
rol sy
st
e
m
of
D
C
Mo
tor base
d
o
n
PID
...
(
S
a
l
m
an
Jas
i
m
H
a
m
m
ood
i)
12
9
(
4
)
3.
T
H
E E
X
P
L
A
NAT
ION OF
P
ID
CONT
R
OL
LER
S
YSTEM
3.1.
T
h
e
con
t
rol sy
ste
m
s
A
u
t
o
m
a
tic c
o
n
t
r
o
l
is of
v
i
ta
l
im
porta
nc
e in the
w
or
ld o
f e
n
gine
eri
n
g. In add
i
t
i
o
n
to
bei
n
g esse
nt
ia
l in
rob
o
t
i
c
s
y
s
t
e
m
s
or
m
o
d
ern
ma
nufac
turi
ng
p
r
o
ces
ses,
a
m
ong
o
t
h
ers
a
pp
lic
at
io
ns,
ha
s
be
c
o
m
e
e
sse
n
tia
l
i
n
in
dus
trial
ope
ra
tions
s
uc
h
as
p
re
ssur
e
con
t
ro
l,
t
em
pera
ture,
hu
m
i
d
i
t
y
a
n
d
v
i
s
c
o
s
i
t
y
,
a
n
d
f
l
o
w
i
n
t
h
e
proce
ssi
ng
in
d
u
s
t
ries.
F
i
gure
2 show
s
a ge
ne
ric
bloc
k d
i
a
g
ra
m
o
f
a c
ontro
l
syste
m
,
in the
L
ap
lac
e
d
om
ai
n.
F
i
gure
2. The
bl
o
c
k
d
i
a
gram
of a
con
t
ro
l sys
t
em
Ty
pica
lly,
t
h
e
feed
ba
c
k
c
o
n
ta
in
s
a
se
nsor
o
r
tr
ans
ducer
e
le
m
e
nt
t
ha
t
m
easure
s
a
phys
ica
l
p
a
r
am
eter
,
suc
h
a
s spee
d or
t
e
m
pe
rature
,
and c
o
n
v
erts i
t
int
o
a
v
o
lta
ge
o
r
cur
rent.
The
bas
i
c
func
ti
o
n
o
f
a
co
n
t
rol
l
er
i
s
t
o
c
ompa
re
t
he
r
eal
v
alue
o
f
t
h
e
o
u
t
pu
t
of
a
p
la
n
t
c
(t),
w
it
h
th
e
reference
input
r
(
t)
(
desired
va
l
u
e),
d
e
t
e
rmi
n
e
t
h
e
e
rro
r
e(t
)
,
a
n
d
p
r
o
duc
e
a
c
o
ntrol
s
i
gna
l
tha
t
w
i
ll
re
d
u
c
e
t
h
e
err
o
r to
a
val
ue
cl
o
se to zero.
F
i
gure
3
pres
ent
the
s
p
ec
ifi
c
a
tio
ns
f
or
a
c
on
t
r
o
l
p
ro
b
l
e
m
a
re
o
fte
n
g
i
v
e
n
i
n
t
h
e
ti
m
e
dom
ain,
and
us
ual
l
y
i
n
c
lu
de
a
cer
t
a
in
t
ra
ns
i
e
n
t
r
esp
onse
an
d
an
e
r
r
or
i
n
st
a
t
e
stat
ionar
y
,
f
o
r
a
sp
ecific
e
nt
r
y
a
s
i
s
usu
a
l
l
y
a
ste
p
.
F
i
gur
e 3.
The
spec
i
f
i
c
a
t
i
o
n
s
f
or
a
c
ontro
l
prob
lem
O
n
e
w
a
y
t
o
a
c
h
ie
ve
t
his
is
b
y
p
l
ac
i
ng
a
tra
n
sfe
r
d
ri
ver
G
c
(
s),
i
n
t
h
e
c
o
ntr
o
l
loo
p
,
as
s
how
n
in
t
he
F
i
gure
3.
T
he
e
r
r
or
s
igna
l
E
(
s
)
is
t
he
i
np
ut
t
o
t
h
e
c
o
n
t
r
o
l
l
e
r
,
a
nd
U
(s)
is
t
he
o
utp
u
t
o
f
t
h
e
sam
e
a
nd
at
t
he
sam
e
t
i
m
e
the
in
p
u
t
to
t
he
p
la
nt
,
an
d
the
pur
pose
of
t
he
c
o
n
t
r
o
ller
is
t
o
m
a
ke
t
he
o
ut
p
u
t
of
t
he
s
ystem
f
o
ll
ow
the i
n
pu
t.
I
n F
i
gur
e 4
w
e
obse
r
ve
the d
iffere
nt
t
y
p
es of
re
sp
on
s
e
a
c
c
ordi
n
g
to the
c
o
n
t
ro
lle
r
t
h
a
t
i
s
use
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
127
–
13
4
13
0
F
i
gur
e 4.
Resp
ons
e
t
o
t
he
ste
p
o
f
a
close
d-
loo
p
f
ee
db
a
c
k
s
ys
tem
g
i
v
en
by:
(a
)
Con
t
r
ol
l
e
r P
(b
) Co
nt
rol
l
e
r
P
D
(
c
)
Co
ntr
o
l
l
er
P
ID
3.2.
T
h
e
PID co
nt
ro
l
l
e
r
s
m
etho
d
e
rror
i
s
c
han
g
i
ng
w
i
t
h
r
e
s
pe
c
t
t
o
t
i
me
.
In
t
h
i
s
w
a
y,
t
h
e
c
o
n
tr
o
l
l
e
r
c
an
e
st
im
ate
f
u
tur
e
v
alue
s
o
f
t
he
e
r
ro
r
s
i
gn
al
a
nd
c
o
m
p
e
n
s
a
t
e
a
c
c
o
rdi
ngl
y
.
I
t
sh
ould
b
e
t
a
k
en
i
nt
o
ac
c
o
un
t
tha
t
e
ve
n
i
f
t
he
e
rror
is
c
o
n
sta
n
t
an
d
the d
e
ri
va
ti
ve te
r
m
does
n
o
t
c
on
tri
b
ute,
i
f i
t
i
s
var
i
a
n
t
i
n
t
i
m
e
t
h
i
s
ter
m
c
a
n
b
e
u
s
ed to
re
d
u
ce
t
h
e o
f
fse
t
c
alle
d
st
e
a
dy-s
t
ate
e
rror
.
A
not
her
pr
ob
lem
assoc
i
a
t
ed
w
i
t
h
the
P
D
i
s
t
h
a
t
i
t
wo
rks
l
i
k
e
a
hi
gh
-pass
fi
lt
e
r
.
Th
e
r
ef
o
r
e,
the P
D
c
ont
r
o
ll
er
ampli
fies th
e
h
ig
h
fre
q
uen
c
y
no
i
s
e
,
w
hi
c
h
re
d
uces
t
he
stab
i
lit
y of t
he
t
ota
l
s
y
s
tem
.
To
e
l
i
m
i
na
te
t
he
s
t
e
a
d
y
s
t
ate
e
rror,
a
n
i
n
te
g
r
al
t
erm
is
a
d
d
e
d.
T
h
a
t
te
r
m
i
t
g
i
v
e
s
t
h
e
P
I
D
c
o
n
t
r
o
l
l
e
r
t
h
e
a
b
i
l
i
t
y
to
r
e
m
e
m
b
e
r t
h
e
p
a
s
t
,
al
so
al
l
o
w
i
ng
a
n
out
put
n
on
-z
ero for a nu
l
l
e
ntr
y
. S
o t
h
is
c
on
t
r
olle
r a
llo
w
s
to
have
a
s
tat
u
s e
r
ror sta
t
i
onar
y
e
qu
a
l
t
o
z
e
ro.
In
r
e
t
urn, the
i
n
tegra
t
or
a
d
d
s a
po
l
e
i
n the
fun
c
t
i
o
n
o
f
c
l
o
s
e
d
l
o
op,
w
ith
w
h
i
c
h
t
he
s
ta
bi
lit
y
of
t
he
s
y
s
tem
dec
l
i
n
es.
F
r
om
t
h
e
a
bo
ve
,
the
PI
D
is
a
n
e
x
c
e
l
len
t
c
on
tro
l
ler.
T
he
trans
f
e
r
func
t
i
o
n
i
s
g
i
v
e
n i
n
(
5)[12-
18]:
.
(
5
)
I
t
s
ho
u
l
d
be
c
la
rifie
d
t
ha
t
i
f
a
m
a
t
he
ma
ti
c
a
l
m
od
e
l
o
f
the
p
l
an
t
ca
n
be
d
e
duc
e
d
,
i
t
i
s
p
o
s
si
ble
a
ppl
y
sever
a
l
tec
h
n
i
q
u
es
t
o
de
t
e
rm
ine
the
c
o
ntr
o
ll
er
p
ara
m
e
t
ers,
w
hic
h
c
o
mp
ly
w
i
t
h
t
h
e
t
r
an
sie
n
t
and
st
eady
st
ate
spec
ific
a
tio
ns of
t
h
e c
l
ose
d
loo
p sy
s
t
em
. H
o
w
e
ver,
i
f t
h
e
pla
n
t
i
s
s
o
c
o
m
p
l
i
cat
ed
t
h
a
t
yo
u
can
not
e
asi
l
y
o
b
t
a
in
yo
ur
m
a
t
he
ma
tic
al
m
o
d
e
l
,
the
a
n
al
y
t
i
c
a
l
d
e
s
ig
n
mod
e
l
of
t
he
P
ID
c
o
n
t
r
o
l
l
e
r
i
s
p
o
s
s
i
b
l
e
.
T
h
e
n
y
o
u
h
a
v
e
t
o
resor
t
t
o
e
x
pe
rim
e
nta
l
p
roc
e
dures
f
or
t
he
d
e
s
ig
n
of
t
h
i
s
t
ype
o
f
c
o
n
t
rol
l
e
r
.
The
pr
oc
ess
of
s
e
l
e
c
t
t
he
p
a
ramet
e
rs
o
f
th
e
c
ont
rol
l
er
s
o
th
at
i
t
me
et
s
t
h
e
sp
eci
fi
c
a
t
i
o
n
s
o
f
o
per
a
t
i
o
n
i
s
k
now
n
as
t
u
n
i
ng
or
t
un
i
n
g
t
h
e
c
o
nt
roll
e
r
.
Zi
eg
l
e
r
an
d
N
i
c
h
ol
s
sug
g
e
st
ed
r
ul
e
s
f
o
r
t
uni
ng
P
I
D
con
t
ro
ller
s
,
tha
t
i
s,
s
e
t
t
i
n
g
t
h
e
v
a
lues
o
f
K
p
,
K
d
a
nd K
i
[1
1,
16
]
.
3.3.
Typ
e
s of
PID con
t
r
ol
lers
for P
I
Ds The tr
a
nsf
e
r
f
u
nctions f
or
the
d
ifferent types of PI
D
drive
r
s ar
e[20-
2
5
]
:
a.
P
I
D
not i
ntera
c
t
i
ng
or
i
de
a
l
for
m
: is pre
se
nt in (6)
.
.
1
.
.
.
(
6
)
b.
Interactive P
I
D
or series
form
:
is pr
esent in (7).
.
.
1
.
.
.
.
(
7
)
c.
PID
par
a
llel f
o
r
m
:
is pre
s
e
n
t in (8)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
D
e
si
g
n
a
n
d
im
pl
e
m
e
n
t
a
tio
n speed co
n
t
rol sy
st
e
m
of
D
C
Mo
tor base
d
o
n
PID
...
(
S
a
l
m
an
Jas
i
m
H
a
m
m
ood
i)
13
1
.
.
.
(
8
)
d.
P
I
D
indu
st
r
i
a
l
f
orm
:
i
s
p
rese
nt
i
n
(9).
.
1
.
.
.
.
.
.
(
9
)
4.
SIMU
L
A
TION
R
ESULT
S
AN
D
DESCTIONS
F
i
gure
5
s
how
s
the
fi
nal
MA
TLA
B/S
I
MU
LIN
K
speed
c
on
tro
l
c
ircu
i
t
s
e
pa
rate
ly
e
xci
t
ed
d
c
mot
o
r
us
i
n
g
ch
o
ppe
r
tra
n
sist
or
c
irc
u
it.
M
A
TLA
B
/
S
I
MU
LI
N
K
t
o
o
l
b
ox
i
s
u
s
ed
i
n
t
h
i
s
p
a
p
e
r
t
o
m
ode
l
the
f
u
ll
syste
m
,
i
t
c
o
n
s
i
s
t
s
of
D
C
m
o
tor
fe
d
by
a
D
C
s
o
u
rce
vo
lta
g
e
t
hro
ugh
a
c
ho
pp
e
r
t
ra
n
s
i
s
tor
c
i
rcu
i
t
.
A
s
ing
l
e
of
G
T
O
-
1 thyr
i
s
t
o
r w
ith
i
ts
f
ull
con
t
ro
l c
i
r
c
u
i
t
and a free
w
h
e
e
li
n
g
d
iode
for
m the c
h
o
ppe
r
circuit. The GTO-1 i
s
a
swi
t
c
h
m
od
el
ed.
The
swi
t
c
h
b
l
o
c
k
m
ode
l
h
a
s
t
h
re
e
t
e
rm
i
n
a
l
s
:
t
he
m
i
d
d
l
e
te
rmina
l
i
s
a
c
o
n
t
ro
ls
w
hic
h
o
f
t
h
e
tw
o
o
t
her
term
ina
l
s
is
r
oute
d
t
o
the
o
u
t
p
u
t
.
The
c
o
ntr
o
l
i
n
p
u
t
s
i
g
n
a
l
i
s
o
n
e
,
D
C
V
i
s
l
e
a
d
i
n
g
t
o
t
h
e
o
u
t
p
u
t
vo
lta
ge,
on
the
ot
he
r ha
nd, th
e
contr
o
l i
n
pu
t si
nga
ls is ze
ro,
a
zero w
ill be
l
ead
i
ng t
o
t
he
ou
t
pu
t
.
F
i
gure
5. The
fi
n
a
l
s
i
m
u
l
a
t
i
o
n
circ
uit
o
f
t
he
s
peed
c
o
n
t
ro
l mot
or
base
d
o
n P
I
D
contro
l
Th
e
DC
m
o
t
o
r
d
ri
v
e
s
sy
st
em
w
i
t
h
a
me
ch
a
n
i
c
al
l
o
a
d
ch
ara
c
t
e
ri
z
e
d
b
y
ine
r
tia
(
J),
fr
iction
coe
f
fic
i
e
n
t
(B),
a
nd
torq
o
f
the
load
(
TL)
.
Th
e
co
ntr
o
l
c
i
rcu
it
o
f
t
he
D
C
m
o
t
or
s
ys
te
m
c
o
ns
is
ts
o
f
a
spee
d
co
n
t
ro
l
lo
o
p
.
A
pro
port
i
ona
l-i
n
t
e
gra
l
-D
r
i
ve
ti
v
e
(
P
I
D
)
c
ont
r
o
l
l
e
d
t
he
s
pee
d
o
f
t
he
c
o
n
tro
l
l
oo
p
s
e
nses
t
he
a
ct
ual
s
p
ee
d
o
f
t
h
e
D
C
m
ot
or,
a
n
d
c
o
mpa
r
es
t
h
e
m
esurring
s
pee
d
w
i
t
h
the
refere
nce
s
pee
d
(
co
ns
tan
t
v
a
l
ue)
to
d
e
t
erm
i
ne
t
he
reference
ar
mat
u
r
e
c
urrent
w
ill
b
e
req
u
i
r
ed
b
y
t
h
e
DC
m
ot
o
r
.
On
e
ma
y
no
t
i
ce
tha
t
a
ny
d
iffere
nce
in
actu
a
l
spee
d
is
a
m
e
a
sure
of
the
c
u
r
r
ent
of t
he
m
oto
r
require
d by t
h
e
eng
i
ne.
The
s
i
mul
a
t
i
on
r
e
s
ults
o
f
the
fu
l
l
s
y
s
tem
ar
e
pr
esen
t
o
n
F
i
gure
6
t
o
F
i
gu
re
9
.
F
i
gure
6
pr
esen
t
t
h
e
si
m
u
lat
i
on
re
sul
t
s
of
r
a
t
e
d
s
pee
d
(
w
r)
related
t
o
t
he
r
ef
ere
n
ce
s
p
e
e
d
,
i
n
t
h
i
s
f
i
g
u
r
e
w
e
c
a
n
s
e
e
t
h
e
f
a
s
t
response
o
f
the
PI
D cont
r
o
l
sys
t
em
o
f
the
s
y
stem.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
127
–
13
4
13
2
F
i
gur
e
6.
S
im
ul
a
t
i
on
r
e
su
l
t
s
o
f
r
ated
s
pe
e
d
(
w
r
)
r
e
l
a
te
d
to
t
he
re
f
er
ence
spee
d
T
h
e
l
o
a
d
t
o
r
q
u
e
(
T
L
)
i
n
F
i
g
u
r
e
7
a
n
d
t
h
e
a
r
m
a
t
u
r
e
c
u
r
r
e
n
t
(
A
)
o
f
the
D
C
m
ot
oe
i
s
pr
es
ente
d
i
n
t
h
e
F
i
g
u
r
e
8
o
f
th
e
D
C
m
o
t
or
i
s
pr
e
s
en
te
d
the
sam
e
f
ast
r
e
s
p
onse
o
f
t
h
e
P
I
D
c
on
tr
o
l
s
ys
te
m.
F
i
n
a
l
y
t
h
e
P
W
M
sig
n
a
ls of
th
e th
y
r
isto
r (
G
TO
-
1
)
is p
res
e
n
t
ed
in
th
e Figu
re 9
.
No
te:
The
par
am
eter
o
f
t
h
e
P
I
D
are (P
=
4
,
I
=
0.
01 an
d
D=0.
5.
F
i
gur
e
7.
T
he
l
oa
d
t
o
r
q
ue
(
TL)
o
f
t
h
e
D
C
m
otoe
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
D
e
sig
n
a
nd im
plem
e
n
t
a
ti
o
n
spee
d c
o
ntr
o
l sy
stem
of D
C
M
o
to
r base
d
o
n
PI
D .
.
.
(
Salm
an
J
a
s
i
m
H
a
m
m
ood
i)
13
3
F
i
gur
e
8.
T
he
a
r
m
a
t
ur
e
cur
r
e
nt
(
A
)
o
f
the
D
C
m
otoe
F
i
gur
e
9.
T
he
P
W
M
si
gna
ls
o
f
the
t
hyr
i
s
tor
(G
T
O
-
1
)
5.
CONCLUSION
The
f
i
r
s
t
poi
nt
d
isc
u
ss
e
d
i
n
th
is
w
or
k
w
a
s
th
e
de
scr
i
pt
ion
o
f
t
he
o
per
a
ti
on
o
f
a
D
C
m
o
t
o
r
,
w
h
e
r
e
the
di
ff
er
e
n
t
as
pec
t
s
r
e
l
a
te
d
to
i
t
s
oper
a
ti
on
w
e
r
e
a
nal
y
se
d,
a
nd
t
h
e
p
a
r
amet
ers
t
h
at
i
nf
lu
en
ce
t
h
e
sp
e
e
d
con
t
r
o
l
of
them
.
The
n
,
made
t
he
o
per
a
t
i
o
n
o
f
the
P
I
D
con
t
r
o
ll
er
s
sy
st
e
m
,
a
nd
t
h
e
i
r
appl
ica
t
io
n
to
t
he
c
on
tr
o
l
o
f
the
spee
d
of
a
D
C
m
o
t
o
r
.
I
t
is
i
m
por
ta
nt
t
o
co
ns
ider
h
er
e
th
a
t
t
he
ef
fec
t
o
n
the
dy
nam
i
c
b
e
hav
i
our
o
f
a
c
ontr
o
l
l
oop
i
s
di
re
ct
ly
r
el
at
ed
t
o
t
h
e
typ
e
o
f
c
ont
ro
ll
e
r
u
sed
,
P
I
D
i
n
our
s
pe
c
i
fic
c
a
se,
an
d
i
t
s
o
per
a
ti
on,
e
it
her
a
s
a
se
r
vome
c
ha
ni
s
m
o
r
as
a
r
e
g
ul
a
t
or
y
s
y
s
t
em
.
B
u
t
i
t
m
us
t
als
o
b
e
t
ake
n
i
n
t
o
a
cco
un
t
t
h
a
t
t
he
e
qua
t
i
o
n
s
u
s
ed
b
y
the
ma
nu
fac
t
ur
er
s
t
o
c
a
r
r
y
o
u
t
t
he
ir
P
I
D
c
ont
r
o
l
l
e
r
s
a
r
e
not
a
l
l t
h
e
sam
e
.
The
d
i
ffe
r
enc
e
s
t
ha
t
ex
ist
be
twe
e
n
t
h
e
e
q
u
a
ti
o
n
s
u
s
e
d
b
y
t
h
e
m
a
nu
fa
ctu
r
ers
t
o
r
ep
re
sen
t
t
h
e
P
ID
a
l
g
o
r
i
t
h
m
in t
h
e
ir lo
o
p
con
tro
llers,
dire
c
t
d
ig
it
a
l
co
n
t
ro
l pr
o
gr
am
s a
nd o
t
he
r
equi
pme
n
t,
ma
k
e i
t
i
nd
is
pe
n
s
ab
le
to know
i
n
or
d
e
r
to
b
e
a
b
l
e
t
o
calcu
la
te
t
he
r
e
quir
e
d
pa
r
a
me
t
e
r
s
the
r
e
o
f
i
n
a
n
a
ppr
o
p
r
i
a
t
e
ma
nner
and
ac
hi
e
v
e
t
h
e
d
e
si
red
dyn
a
m
i
c
b
eh
av
iou
r
o
f
th
e
c
ont
ro
l
l
oop
.
Th
e
f
o
r
e
g
o
i
n
g
is
f
u
n
d
a
m
e
nta
l
l
y
i
m
p
or
ta
nt
w
he
n
r
e
plac
i
n
g
one
c
o
n
t
r
o
ller
w
ith
a
no
t
h
er
,
espec
i
al
l
y
i
f
t
h
e
ne
w
one
i
s
fr
o
m
another
ma
nufa
c
t
ur
er
.
T
h
e
re
sult
s
t
h
at
h
av
e
b
e
en
p
re
se
nt
ed
a
nd
t
h
e
me
t
h
od
olo
g
y
t
h
at
h
as
b
e
e
n
p
ropo
se
d
rep
r
e
s
en
t
an
im
por
tan
t
c
o
n
t
r
i
b
u
ti
on
in
t
h
e
f
i
e
ld
o
f
ex
p
e
r
i
me
nt
a
l
m
od
e
l
l
i
ng
o
f
s
y
s
t
em
s
for
ob
tai
n
i
n
g
m
ode
ls
o
f
the
dy
na
mics
o
f
u
n
k
n
o
w
n
s
ys
te
m
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
127
–
13
4
13
4
REFE
RENCES
[1]
A.
J
.
H
u
m
a
idi
and
I.
K
asim
I
brah
eem
,
“
S
p
eed
C
o
n
t
r
ol
o
f
Perm
anen
t
M
a
g
n
et
D
C
M
o
t
o
r
w
i
t
h
F
ri
ct
i
o
n
an
d
M
easu
r
em
en
t
N
o
is
e
U
s
i
n
g
N
o
v
e
l
No
n
l
inear
E
x
t
en
ded
S
t
ate
Ob
se
rv
er
-Bas
ed
A
n
t
i
-
Di
stu
r
ban
ce
Co
nt
rol,
”
E
n
er
g
i
es
,
v
o
l.
1
2
, n
o.
9,
p.
1
65
1, 20
1
9
.
[2]
X.
Y
ao
,
J.
Z
hao,
G
.
Lu,
H
.
Lin
,
an
d
J
.
W
ang
,
“
Comm
utatio
n
E
rror
C
o
m
pen
s
ati
o
n
S
t
rat
e
gy
f
or
S
enso
rles
s
Brush
l
ess
DC Motors
,
”
E
n
er
gi
es
,
v
o
l.
1
2
,
no.
2
,
p.
2
03
,
2
019.
[3]
J.
H
on
g,
S
.
Wa
n
g
,
Y.
S
un
,
a
n
d
H.
C
a
o
,
“An
e
f
fe
c
tive
me
th
o
d
w
i
t
h
c
op
pe
r
ring
f
or
v
ibr
a
tion
re
d
u
c
ti
on
i
n
p
e
rma
n
e
n
t
mag
n
et bru
sh
DC
mo
tors
,”
IE
EE
Tran
s.
M
a
gn
.
,
v
ol.
54
, n
o.
11
,
pp
.
1
–5
,
20
18
.
[4]
L.
L
i
and
D.
J
i
a
,
“
R
esearch
o
n
Ai
r
con
d
iti
oning
s
y
st
em
o
f
subw
a
y
sta
t
io
n
b
a
se
d
on
f
uz
z
y
P
ID
c
o
n
trol
,”
Proc. -
20
17
4t
h
In
t.
Co
nf
. In
f.
Sc
i.
Con
t
r
o
l En
g
.
ICIS
CE 2
0
1
7
, pp
.
1
13
1–
1
1
3
4
, 20
1
7
.
[5]
E.
G
ue
rr
e
r
o,
J
.
Lina
re
s,
E
.
Guz
m
án
,
H.
S
i
r
a,
G
.
G
u
errero,
and
A
.
Ma
rt
ín
e
z
,
“
D
C
M
otor
S
p
e
e
d
C
o
n
trol
t
h
r
ou
gh
P
a
rallel D
C
/
D
C Bu
ck Co
n
v
e
rters,
”
IE
E
E
Lat.
Am. Tran
s.,
v
o
l
.
1
5
, n
o.
5
,
2
0
1
7
.
[6]
P.
A
l
a
e
i
nov
i
n
an
d
J.
J
at
skev
ich,
“
F
iltering
o
f
hal
l
-sensor
si
gn
als
f
o
r
im
pro
v
ed
o
perati
on
o
f
b
r
us
h
l
ess
D
C
m
oto
r
s,
”
IEEE Trans. E
n
e
r
gy
Convers.,
v
o
l
.
2
7
,
no
.
2,
p
p
.
547–
54
9,
201
2.
[7]
X.
C
h
a
ngb
o,
L
.
Con
g
co
ng,
B
.
Zhenf
u
,
an
d
Z.
C
h
e
ng
jin,
“P
ID
s
e
l
f
-
tu
n
i
ng
im
m
u
n
e
f
u
zzy
c
on
tro
l
o
f
ste
a
m
tem
p
e
r
at
ure
con
t
ro
l
syste
m
i
n
f
o
s
s
il
-fired
p
ower
p
l
a
nt
,”
Proc.
Wor
ld C
o
ngr.
Intell. Control
Autom
.
,
v
o
l
.
1,
pp
.
3
973
–3
97
7,
200
6.
[8]
N.
K
asa
and
H.
W
atan
abe,
“
A
m
echan
ical
s
ens
o
rles
s
con
t
rol
s
y
st
e
m
f
o
r
s
a
li
en
t
-
pol
e
brus
h
l
ess
D
C
m
o
t
o
r
w
it
h
aut
o
cali
b
ratio
n of
es
tim
a
t
ed
p
os
i
t
i
o
n
ang
l
es
,
”
IEEE T
r
an
s.
In
d
.
Electr
on.
,
v
o
l
.
47,
n
o.
2
,
p
p
.
389
–395
,
2
000
.
[9]
Y.
M
an
del
and
G.
W
eis
s
,
“Reduct
i
on
o
f
torq
ue
r
i
p
p
l
e
i
n
b
rus
h
les
s
D
C
m
o
t
o
r
d
r
i
v
e
s
,
”
IFAC Proc.
,
v
o
l
.
6
,
no
.
1,
pp
.
8
4–8
9,
2
0
09.
[10]
I.
A
l
h
am
rou
n
i,
M
.
A.
H
airu
llah
,
N.
S
.
Om
ar,
M.
S
alem
,
A.
J
u
s
o
h
,
a
nd
T
.
Sutikn
o
,
“Model
ling
and
desi
gn
o
f
PI
D
c
o
ntrol
l
e
r
f
or
v
o
l
ta
ge
c
on
tro
l
o
f
AC
h
yb
r
i
d
mic
r
o-g
r
id
,”
I
nte
r
n
at
io
nal
J
o
u
r
nal
o
f
P
o
w
er
E
lect
ro
ni
cs
a
nd
D
ri
ve
S
y
s
t
e
m
(IJPEDS),
vol.
1
0
,
n
o
.
1
,
pp
.
1
51
–15
9,
2019
.
[11]
M
.
A
.
Ibrah
i
m,
A
.
K
.
M
ahm
ood,
a
nd
N
.
S.
S
ultan
,
“
Optim
a
l
P
ID
c
o
nt
ro
l
l
er
o
f
a
brush
l
ess
D
C
m
oto
r
u
s
i
n
g
genetic
a
lgorithm,”
In
tern
a
tio
n
a
l Jour
na
l o
f
Power El
ectr
onic
s
an
d Drive Sy
st
em
(
I
JPED
S
)
,
v
ol.
1
0
,
no
.
2,
pp
.
8
22–
83
0,
2019.
[12]
N.
N
.
Bah
a
rudi
n
and
S
.
M
.
Ayob
,
“Bru
shless
D
C
m
o
to
r
s
p
eed
c
o
n
tr
ol
u
sing
s
in
g
l
e
in
pu
t
fuz
z
y
PI
c
on
tro
l
le
r,
”
Int
e
rnati
o
n
a
l J
ournal
o
f
P
o
w
er E
lectro
ni
cs an
d
D
riv
e
S
y
s
tem (IJ
P
E
DS
),
vol.
9
,
n
o.
4
,
p
p
.
1
9
52–
19
6
6
,
2
018
.
[13]
Y.
T
arm
i
z
i
,
A.
J
i
d
in,
K.
A
.
Karim,
a
nd
T
.
S
u
ti
kno,
“
A
sim
p
le
c
o
ns
tan
t
s
w
i
tchin
g
f
req
u
en
cy
o
f
direct
t
o
r
qu
e
con
t
ro
l
of
b
rus
h
less
D
C
m
ot
or,
”
Inter
nati
o
n
a
l
Jour
na
l of P
o
wer
Elect
roni
cs a
nd
Dri
ve Sys
t
em
(
I
JPED
S
)
,
v
o
l
.
10
,
no
.
1,
pp
.
1
0–1
8,
2
0
19.
[14]
M
.
D
asari,
A
.
S
r
in
iv
asula
Redd
y,
a
nd
M
.
Vij
a
ya
K
u
m
ar,
“
G
A-AN
F
I
S
P
ID
c
o
m
p
e
n
s
ated
m
o
d
el
r
ef
eren
ce
ad
apti
ve
control
f
o
r
BL
DC
m
ot
or
,
”
In
ternat
io
nal Jou
r
n
a
l
o
f
Po
wer
El
ectro
ni
cs an
d Drive Sys
t
em
(
I
J
P
EDS)
,
v
o
l
.
1
0
,
n
o
.
1
,
pp
.
2
65–
27
6,
2019.
[15]
M
o
h
a
n
n
a
d
J
a
b
b
a
r
M
n
a
t
i
,
“
P
os
it
i
o
n
C
o
nt
r
o
l
f
o
r
f
l
e
x
i
b
l
e
J
oi
nt
M
a
i
p
u
l
a
to
r
us
ing
Artif
i
cai
al
N
eu
tral
N
etwork
”
,
Un
iv
e
r
sit
y
of
T
e
ch
no
lo
gy,
Dep
artm
en
t
O
f
E
l
e
ct
rical
& El
ectri
oni
cs
E
ngin
eerin
g,
Bag
hd
ad,
Iraq
,
2005
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[16]
P
.
B
has
k
ara
P
r
a
s
ad,
M.
P
ad
m
a
L
ali
t
h
a
,
and
B.
S
arv
e
sh
,
“
F
ract
io
n
al
o
rder
P
ID
c
o
n
tro
l
l
e
d
casc
a
d
ed
r
e-bo
os
t
sev
e
n
le
ve
l
in
ve
rte
r
f
e
d
i
nd
uc
tion
mo
t
o
r
sy
ste
m
w
i
t
h
e
n
h
a
n
c
e
d
r
e
s
po
ns
e,”
Inter
n
a
t
i
onal Jou
r
na
l of Po
wer
E
l
ectr
onics
an
d
Dr
ive S
y
s
t
e
m
(
I
JPEDS)
,
v
o
l
.
9
,
n
o
.
4
,
p
p
.
1
784
–179
1,
201
8.
[17]
R.
M
een
a
D
e
vi
a
n
d
L
.
P
r
em
ala
t
ha,
“
S
o
f
t
co
m
p
u
t
in
g
tech
ni
que
o
f
b
r
i
dge
l
es
s
SEPIC
converter
f
o
r
PMB
LDC
m
o
t
o
r
dri
v
e,”
In
ter
nationa
l Jo
ur
nal of
P
o
wer
El
ect
ro
nics a
n
d
D
r
ive S
y
st
em
(
I
JPEDS),
vol
.
9,
n
o
.
4
,
pp
.
150
3–
150
9,
2
0
18.
[18]
A.
R
in
cón,
F
.
An
gul
o,
a
nd
F
.
Ho
yos
,
“Co
n
t
r
ol
li
ng
a
D
C
M
ot
or
t
hr
o
u
g
h
L
yp
aun
o
v
-
lik
e
F
u
ncti
on
s
and
S
A
B
Tech
niq
u
e,
”
Interna
t
i
o
n
a
l Jou
r
nal
o
f
El
ec
t
r
i
c
al
and Co
mp
u
t
e
r
E
n
g
i
neer
in
g
(
I
JECE)
,
vo
l
.
8
, n
o.
4,
p
. 2
18
0,
20
1
9
.
[19]
M
.
J
.
Mn
ati
,
D
.
V.
B
ozalak
ov
,
a
n
d
A.
V
an
d
en
B
o
s
s
c
he,
“P
ID
C
o
n
t
rol
of
a
T
hree
P
h
ase
P
h
o
t
o
v
ol
ta
i
c
I
n
v
erter
Ti
ed
to
a
Gri
d
Bas
e
d
on
a
12
0-Deg
r
ee
B
us
C
lam
p
P
WM
,
”
IF
A
C
-P
a
p
er
s
O
nLi
n
e,
vo
l
. 5
1, no
.
4
,
pp
. 3
88
–3
9
3
, 20
1
8
.
[20]
A.
F
aru
q
,
M.
F
.
N.
S
h
a
h,
a
n
d
S
.
S
.
A
bdull
a
h,
“
M
u
lt
i-object
iv
e
o
pt
imi
zatio
n
of
P
ID
c
on
troll
e
r
usi
n
g
pareto
-bas
e
d
surro
ga
te
m
od
e
lin
g
a
l
g
o
ri
th
m
f
o
r
MIMO
e
vaporator
s
y
stem
,”
Inter
n
a
t
i
onal Jou
r
n
a
l of
E
l
ectrical an
d Comp
ut
er
En
gi
neeri
ng (
I
JECE)
,
vol.
8,
no.
1
,
pp.
5
5
6
–
5
6
5
,
201
8.
[21]
A
.
P
r
a
y
i
t
n
o
,
V
.
I
n
d
r
a
w
a
t
i
,
a
n
d
I
.
I
.
T
r
u
s
u
l
a
w
,
“
F
u
z
z
y
g
a
i
n
s
c
h
e
d
u
l
i
ng
P
ID
c
ont
rol
fo
r
positio
n
of
t
h
e
A
R.
D
ro
ne,
”
Int
e
rna
t
i
o
n
a
l
Jo
u
r
n
a
l of El
ectrical
an
d
Co
mp
u
t
er
E
ngineer
in
g
(
I
J
E
CE)
, vo
l
.
8,
n
o.
4, pp
. 19
3
9
–
1
9
4
6
,
2
0
1
8
.
[22]
H.
S
un,
M.
J
.
Mnati
,
M
.
Nabil
I
b
rahi
m
,
a
nd
A
.
Van
Den
Bos
s
c
h
e,
“
A
T
u
n
i
n
g
M
e
t
h
o
d
f
o
r
t
h
e
D
e
r
i
v
a
t
i
v
e
F
i
l
t
e
r
i
n
P
I
D Co
n
t
ro
ll
er with
De
l
ay Tim
e,”
Pro
c
.
2
018 9
t
h
Int.
Conf.
M
ech.
Aer
o
s
p
.
E
n
g
.
ICMA
E 2
0
1
8
,
pp
.
57
4–
57
8,
2
01
8
.
[23]
H.
S
u
n
,
M
.
N
.
Ibrahi
m
,
M
.
J
a
bba
r
Mn
ati,
a
nd
A
.
Van
Den
Bo
ssche,
“
A
Tun
i
ng
Met
h
od
f
or
P
I
Cont
roller
f
o
r
a
n
Int
e
grati
n
g
S
y
s
t
em
w
ith
T
i
m
e
D
e
lay
,
”
Pr
oc.
201
8 9t
h In
t.
Co
n
f
.
M
ech
.
Aer
o
sp. E
n
g
.
ICMAE
20
18
,
pp
.
41
0–
41
4,
20
18
.
[24]
M
.
Y
aich
a
n
d
M
.
G
h
ari
a
n
i
,
“A
n
ovel
t
echn
i
que
f
o
r
t
unin
g
P
I-c
o
nt
rol
l
er
i
n
swit
c
hed
rel
u
ctan
ce
m
o
tor
dri
v
e
f
o
r
transportation
syst
ems,”
Int
e
rn
a
t
ion
a
l
Jour
na
l
o
f
Elect
r
i
cal
a
n
d
Co
mp
ut
er
En
g
i
n
e
eri
n
g
(
I
J
E
CE),
v
o
l
.
8
,
n
o
.
6
,
p
p
.
42
72
–42
81
,
2
018.
[25]
M
.
A
.
Sh
amsel
d
in
,
M
.
S
al
la
m
,
A
.
M
.
B
assi
uny,
a
nd
A.
M
.
Abd
e
l
Gh
any,
“
A
no
ve
l
s
e
lf
-tu
n
i
n
g
f
r
acti
o
n
a
l
order
P
I
D
con
t
ro
l
based
o
n
o
p
timal
m
o
d
el
r
ef
erence
adap
ti
ve
s
ys
tem,”
Int
e
rn
at
ion
a
l
Jo
ur
nal
of
P
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1,
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