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.
K
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:
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esp
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s
e
an
d
w
id
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s
p
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d
r
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g
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s
[
1
]
.
T
h
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p
r
o
p
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r
tio
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in
teg
r
al
(
P
I
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co
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am
p
lify
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p
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er
r
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r
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s
t
g
ate
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ig
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tc
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es
o
f
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h
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h
ase
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id
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[
2
]
.
A
P
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is
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h
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m
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co
m
m
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to
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ca
p
ab
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in
co
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o
llin
g
lin
ea
r
p
lan
ts
[
4
]
.
Ho
w
ev
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,
it
h
a
s
p
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co
n
tr
o
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r
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lan
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s
s
u
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lo
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d
r
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in
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tia
[
5
]
,
[
6
]
.
T
h
u
s
,
an
ar
tif
icial
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tel
lig
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t
co
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i
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h
o
r
t
ti
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p
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[
3
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.
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co
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b
et
w
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n
t
h
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p
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co
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tr
o
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d
Fu
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y
L
o
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s
p
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co
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tr
o
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to
k
n
o
w
w
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.
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th
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t
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m
m
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tr
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p
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li
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lo
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p
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ce
[
7
]
.
T
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u
s
,
an
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tell
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co
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[
8]
,
[9
]
.
I
t
m
a
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tr
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at
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.
T
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At
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to
k
n
o
w
wh
ich
g
iv
es
th
e
b
etter
r
esu
lts
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
y
p
icall
y
,
t
h
e
m
at
h
e
m
atica
l
m
o
d
el
o
f
a
b
r
u
s
h
les
s
DC
m
o
to
r
is
n
o
t
to
tally
d
if
f
e
r
en
t
f
r
o
m
th
e
co
n
v
e
n
tio
n
al
DC
m
o
to
r
.
T
h
e
m
aj
o
r
d
if
f
er
en
ce
is
th
e
p
h
ase
s
in
v
o
lv
ed
i
n
t
h
e
o
p
er
atio
n
o
f
B
L
DC
m
o
to
r
d
r
iv
e
w
il
l
p
ec
u
liar
l
y
a
f
f
ec
t
th
e
r
es
is
ti
v
e
an
d
th
e
in
d
u
cti
v
e
n
at
u
r
e
o
f
th
e
B
L
DC
m
o
d
el
ar
r
an
g
e
m
e
n
t
[
2
]
.
T
h
e
eq
u
iv
ale
n
t
cir
cu
it
o
f
B
L
DC
m
o
to
r
s
s
h
o
w
n
i
n
Fi
g
.
1
.
T
h
e
d
y
n
a
m
ic
eq
u
atio
n
s
o
f
B
L
DC
m
o
t
o
r
ca
n
b
e
e
x
p
r
ess
ed
in
th
is
m
atr
ix
f
o
r
m
:
[
u
A
u
B
u
C
]
=
[
R
0
0
0
R
0
0
0
R
]
[
i
A
i
B
i
C
]
+
[
L
−
M
0
0
0
L
−
M
0
0
0
L
−
M
]
d
dt
[
i
A
i
B
i
C
]
+
[
e
A
e
B
e
C
]
(
1
)
T
h
e
elec
tr
o
m
a
g
n
et
ic
to
r
q
u
e
d
ev
elo
p
ed
b
y
t
h
e
m
o
to
r
is
g
iv
e
n
b
y
T
e
=
e
A
i
A
+
e
B
i
B
+
e
C
i
C
Ω
(
2
)
T
h
e
m
o
tio
n
eq
u
atio
n
h
as to
b
e
in
clu
d
ed
as
T
e
−
T
L
=
J
d
Ω
dt
+
B
v
Ω
(
3
)
W
h
er
e
u
A
, u
B
,
u
C
ar
e
p
h
ase
v
o
ltag
e
(
V)
Te
is
elec
tr
o
m
a
g
n
et
ic
to
r
q
u
e(
N.
m
)
i
A
,i
B
,i
C
ar
e
p
h
ase
cu
r
r
en
t (
A
)
TL
is
lo
ad
to
r
q
u
e
(
N.
m
)
e
A
,e
B
,e
C
ar
e
p
h
ase
b
ac
k
e.
m
.
f
(
V)
Ω
is
an
g
u
lar
v
elo
cit
y
(
r
ad
/s
)
R
is
p
h
ase
r
esi
s
ta
n
ce
(
o
h
m
)
B
is
d
a
m
p
in
g
co
n
s
tan
t (
N.
s
/
m
)
L
is
s
el
f
in
d
u
cta
n
ce
(
H)
J
is
m
o
m
en
t o
f
in
er
tia
(
k
g
.
m
2
)
M
is
m
u
t
u
al
i
n
d
u
cta
n
ce
(
H)
Ω
r
is
r
ef
r
en
ce
a
n
g
u
lar
v
elo
cit
y
(
r
a
d
/s
)
Fig
u
r
e
1
.
E
q
u
iv
ale
n
t c
ir
cu
it o
f
B
L
DC
m
o
to
r
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
B
L
D
C
m
o
to
r
is
ex
p
r
es
s
ed
b
y
(
)
=
Ω
(
)
(
)
=
2
+
(
+
)
+
(
+
)
(
4
)
(
)
=
Ω
(
)
(
)
=
−
+
2
+
(
+
)
+
(
+
)
(
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
1
8
:
1
1
1
6
–
1
1
2
3
1118
W
h
er
e
K
e
co
ef
f
icie
n
t o
f
lin
e
b
ack
-
E
M
F
K
T
th
e
to
r
q
u
e
co
ef
f
icie
n
t
3.
CO
NT
RO
L
L
E
RS
A
co
m
p
ar
ati
v
e
s
t
u
d
y
o
f
s
p
ee
d
co
n
tr
o
l
o
f
B
r
u
s
h
less
D
C
(
B
L
DC
)
m
o
to
r
d
r
iv
e
w
it
h
P
r
o
p
o
r
tio
n
al
-
I
n
teg
r
al
(
P
I
)
an
d
Fu
zz
y
L
o
g
ic
(
FL
)
b
ased
s
p
ee
d
co
n
tr
o
ller
s
is
ev
al
u
ated
.
3
.
1
.
P
I
Sp
ee
d Co
ntr
o
ller
T
h
e
ac
tu
al
s
p
ee
d
o
f
B
L
D
C
m
o
to
r
is
o
b
tain
ed
b
y
u
s
i
n
g
t
h
e
s
p
ee
d
p
o
s
itio
n
en
co
d
er
.
T
h
e
ac
tu
al
s
p
ee
d
o
f
th
e
m
o
to
r
co
m
p
ar
ed
w
ith
r
e
f
er
en
ce
s
p
ee
d
an
d
t
h
e
r
esu
l
tin
g
er
r
o
r
is
esti
m
ated
as
Ω
=
Ω
−
Ω
∗
(
6
)
T
h
e
r
esu
ltin
g
er
r
o
r
is
g
i
v
en
to
P
I
co
n
tr
o
ller
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
o
f
P
I
co
n
tr
o
ller
is
esti
m
ated
as
Gs(S
)
=
K
P
(1
+
1/
T
i
S)
(
7
)
W
h
er
e
T
i
=
K
P
/K
i
k
n
o
w
n
a
s
i
n
teg
r
al
ti
m
e
co
n
s
ta
n
t
a
n
d
K
P
,
K
i
th
e
p
r
o
p
o
r
tio
n
al
,
in
teg
r
al
g
ain
r
esp
ec
ti
v
el
y
[
4
]
,
[6
]
.
T
h
e
s
i
m
u
li
n
k
m
o
d
el
o
f
B
L
DC
m
o
to
r
is
s
h
o
w
n
in
F
ig
u
r
e
2
a
n
d
T
h
e
P
I
s
p
ee
d
c
o
n
tr
o
ller
as
s
h
o
w
n
in
F
i
g
u
r
e
3.
Fig
u
r
e
2
.
Si
m
u
li
n
k
M
o
d
el
o
f
B
L
DC
Mo
to
r
Sp
ee
d
C
o
n
tr
o
l U
s
in
g
P
I
Co
n
tr
o
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
C
o
mp
a
r
is
o
n
B
etw
ee
n
F
u
z
z
y
L
o
g
ic
a
n
d
P
I
C
o
n
tr
o
l fo
r
th
e
S
p
ee
d
o
f B
LDC
Mo
to
r
(
A
kra
m
H
.
A
h
med
)
1119
Fig
u
r
e
3
.
P
I
C
o
n
tr
o
ller
B
lo
ck
3
.
2
.
F
uzzy
L
o
g
ic
Co
ntr
o
l
As
s
h
o
w
n
in
Fig
u
r
e
3
,
a
t
y
p
ic
al
f
u
zz
y
-
co
n
tr
o
l
s
y
s
te
m
is
co
m
p
o
s
ed
o
f
a
f
u
zz
y
co
n
tr
o
ller
an
d
a
p
lan
t.
T
h
e
f
u
zz
y
co
n
tr
o
ller
in
v
o
lv
e
s
f
o
u
r
co
m
p
o
n
e
n
ts
:
f
u
zz
i
f
icati
o
n
,
k
n
o
w
led
g
e
d
atab
ase
(
in
cl
u
d
in
g
t
h
e
d
atab
ase
an
d
r
u
le
b
ase)
,
f
u
zz
y
i
n
f
er
e
n
ce
an
d
d
ef
u
zz
i
f
icatio
n
.
Fu
n
d
a
m
e
n
tall
y
,
f
u
zz
y
co
n
tr
o
l
ca
n
r
ef
lect
h
u
m
a
n
r
ea
s
o
n
in
g
.
I
t
i
s
a
n
i
n
tell
ig
e
n
t
co
n
tr
o
l
m
et
h
o
d
th
a
t
is
i
n
d
ep
en
d
en
t
o
f
t
h
e
p
r
ec
is
e
m
at
h
e
m
a
tical
m
o
d
el
o
f
t
h
e
co
n
tr
o
lled
o
b
j
ec
t.
W
h
eth
er
th
e
co
n
tr
o
lled
o
b
j
ec
t
is
lin
ea
r
o
r
n
o
n
li
n
ea
r
,
a
f
u
zz
y
co
n
tr
o
ller
ca
n
b
e
i
m
p
le
m
en
ted
ef
f
ec
tiv
e
l
y
w
i
th
g
o
o
d
r
o
b
u
s
tn
e
s
s
an
d
ad
ap
tab
ilit
y
[
8
].
Fig
u
r
e
4
.
T
y
p
ical
Di
ag
r
a
m
o
f
a
F
u
zz
y
-
co
n
tr
o
l
S
y
s
te
m
3
.
2
.
1
.
F
uzzy
I
nfe
re
nce
Sy
s
t
e
m
Fu
zz
y
lo
g
ic
h
a
s
r
ap
id
l
y
b
ec
o
m
e
o
n
e
o
f
t
h
e
m
o
s
t
s
u
cc
ess
f
u
l
o
f
to
d
a
y
’
s
tec
h
n
o
lo
g
y
f
o
r
d
ev
elo
p
in
g
s
o
p
h
is
ticated
co
n
tr
o
l
s
y
s
te
m
.
I
t
is
a
r
u
le
b
ased
co
n
tr
o
ller
.
T
h
e
m
o
s
t
i
m
p
o
r
tan
t
t
h
in
g
s
i
n
f
u
zz
y
lo
g
ic
co
n
tr
o
l
s
y
s
te
m
d
esi
g
n
s
ar
e
t
h
e
p
r
o
ce
s
s
d
es
i
g
n
o
f
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
s
f
o
r
i
n
p
u
t,
o
u
tp
u
ts
an
d
th
e
p
r
o
ce
s
s
d
esi
g
n
o
f
f
u
zz
y
i
f
-
th
e
n
r
u
le
k
n
o
w
led
g
e
b
ase
[
8
]
.
Fu
zz
y
I
n
f
er
e
n
ce
s
y
s
t
e
m
f
o
r
B
L
D
C
m
o
to
r
h
as
o
n
e
in
p
u
t
(
r
o
to
r
p
o
s
itio
n
an
g
le
-
t
h
eta)
a
n
d
th
r
ee
o
u
tp
u
t
s
(
p
h
ase
A
,
p
h
a
s
e
B
,
p
h
ase
C
)
as
s
h
o
w
n
i
n
F
ig
u
r
e
5
,
I
n
p
u
t
h
a
v
e
s
i
x
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
w
h
ich
r
a
n
g
e
s
f
r
o
m
-
1
8
0
to
+
1
8
0
(
r
ep
r
e
s
en
tin
g
t
h
e
an
g
le)
s
h
o
w
n
in
Fi
g
u
r
e
6
an
d
o
u
tp
u
ts
h
a
v
e
th
r
ee
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
-
1
,
0
,
+1
(
r
ep
r
es
en
tin
g
ON
a
n
d
OFF)
s
h
o
w
n
i
n
Fi
g
u
r
e
7.
T
h
e
F
u
z
z
y
lo
g
ic
co
n
tr
o
ller
s
h
o
w
n
i
n
Fi
g
u
r
e
8
an
d
t
h
e
s
i
m
u
lin
k
m
o
d
el
o
f
B
L
D
C
m
o
to
r
w
it
h
f
u
zz
y
l
o
g
ic
co
n
tr
o
ller
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
9
Fu
zz
y
r
u
le
s
ar
e
m
ad
e
ac
co
r
d
in
g
to
th
e
T
ab
le
1
[8
]
,
[
9
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
1
8
:
1
1
1
6
–
1
1
2
3
1120
T
ab
le
1.
Fu
zz
y
R
u
les
R
o
t
o
r
P
o
si
t
i
o
n
a
n
g
l
e
(
t
h
e
t
a
)
P
h
a
se
A
P
h
a
se
B
P
h
a
se
C
-
1
8
0
-
1
2
0
-
1
0
1
-
1
2
0
-
6
0
0
-
1
1
-
60
0
1
-
1
0
0
6
0
1
0
-
1
6
0
120
0
1
-
1
1
2
0
1
8
0
-
1
1
0
Fig
u
r
e
5
.
Fu
zz
y
I
n
f
er
e
n
ce
S
y
s
te
m
f
o
r
B
L
DC
Mo
to
r
Sp
ee
d
C
o
n
tr
o
llin
g
Fig
u
r
e
6
.
I
n
p
u
t M
e
m
b
er
s
h
ip
F
u
n
ct
io
n
(
T
h
eta)
Fig
u
r
e
7
.
Ou
tp
u
t M
e
m
b
er
s
h
ip
Fu
n
ctio
n
Fig
u
r
e
8.
Su
b
s
y
s
te
m
–
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Ib
ra
h
im
a
n
d
Em
il
L
e
v
i.
"
A
Co
m
p
a
ra
ti
v
e
A
n
a
l
y
sis
O
f
F
u
z
z
y
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o
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ic
A
n
d
P
i
S
p
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d
C
o
n
tr
o
l
In
Hig
h
P
e
rf
o
rm
a
n
c
e
A
c
Driv
e
s
Us
in
g
Ex
p
e
rime
n
tal
A
p
p
ro
a
c
h
"
.
IEE
E
T
ra
n
s.
o
n
In
d
u
stry
Ap
p
li
c
a
ti
o
n
s
,
2
0
0
2
:
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.
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8
,
n
o
.
5
,
p
p
.
1
2
1
0
-
1
2
1
8
.
[5
]
P
ri
th
a
A
g
ra
w
a
l,
S
a
t
y
a
P
ra
k
a
sh
Du
b
e
y
,
S
a
t
y
a
d
h
a
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m
a
Bh
a
rti
.
"
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o
m
p
a
ra
ti
v
e
S
tu
d
y
o
f
F
u
z
z
y
L
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g
ic
Ba
se
d
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p
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d
Co
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tr
o
l
o
f
M
u
lt
il
e
v
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In
v
e
rter
f
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d
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sh
les
s
DC
M
o
to
r
Driv
e
"
.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(
IJ
PE
DS
)
,
M
a
rc
h
2
0
1
4
:
v
o
l.
4
,
n
o
.
1
,
p
p
.
7
0
.
[6
]
S
u
d
h
a
n
sh
u
M
it
ra
,
A
m
it
Ojh
a
.
"
P
e
rf
o
r
m
a
n
c
e
A
n
a
l
y
sis
O
f
B
L
DC
M
o
to
r
Dr
iv
e
Us
in
g
P
I
A
n
d
F
u
z
z
y
L
o
g
ic
Co
n
tro
l
S
c
h
e
m
e
"
.
In
ter
n
a
ti
o
n
a
l
Res
e
a
rc
h
J
o
u
rn
a
l
Of
En
g
in
e
e
rin
g
A
n
d
T
e
c
h
n
o
lo
g
y
(
IRJET
)
,
S
e
p
-
2
0
1
5
.
:
V
o
l
u
m
e
:
0
2
n
o
.
0
6
.
[7
]
A
n
u
ra
g
S
in
g
h
T
o
m
e
r,
S
a
t
y
a
P
ra
k
a
sh
Du
b
e
y
.
"
Re
sp
o
n
se
Ba
se
d
Co
m
p
a
ra
ti
v
e
A
n
a
l
y
sis o
f
Tw
o
In
v
e
rt
e
r
F
e
d
S
ix
P
h
a
se
P
M
S
M
Driv
e
b
y
Us
in
g
P
I
a
n
d
F
u
z
z
y
L
o
g
ic
Co
n
tro
l
ler."
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
E
lec
trica
l
a
n
d
Co
m
p
u
ter
En
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
De
c
e
m
b
e
r
2
0
1
6
:
Vo
l.
6
,
n
o
.
6
,
p
p
.
2
6
4
3
~
2
6
5
.
[8
]
M
a
k
a
v
a
n
a
R,
S
h
a
h
B
A
,
M
a
k
wa
n
a
D.
"
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si
g
n
o
f
f
u
z
z
y
lo
g
ic
c
o
n
tro
ll
e
r
f
o
r
sp
e
e
d
re
g
u
latio
n
o
f
BLDC
m
o
to
r
u
sin
g
M
AT
LAB.
"
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
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l
fo
r
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c
ien
ti
fi
c
Res
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a
rc
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n
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De
v
e
lo
p
me
n
t
,
2
0
1
3
:
v
o
l.
1
,
n
o
.
2
,
p
p
.
3
9
1
–
9
5
.
[9
]
T
a
n
c
h
e
e
S
io
n
g
,
Ba
h
a
ru
d
d
i
n
Is
m
a
il
,
S
it
i
F
a
ti
m
a
h
S
iraj,
M
o
h
d
F
a
rid
u
n
Na
im
Taju
d
d
i
n
,
No
o
r
S
h
a
h
id
a
Ja
m
o
sh
id
,
M
o
h
d
F
a
y
z
u
l
M
o
h
a
m
m
e
d
.
"
A
n
a
l
y
sis
o
f
F
u
z
z
y
L
o
g
ic
Co
n
tro
ll
e
r
f
o
r
P
e
rm
a
n
e
n
t
m
a
g
n
e
t
Bru
sh
les
s
Dc
M
o
to
r
Driv
e
s."
IEE
E
S
tu
d
e
n
t
Co
n
fer
e
n
c
e
o
n
Res
e
a
rc
h
a
n
d
De
v
e
lo
p
me
n
t
,
De
c
e
m
b
e
r
2
0
0
6
:
p
p
.
4
3
6
-
4
4
1
.
[1
0
]
Jo
o
n
S
u
n
g
P
a
rk
,
Ki
-
Do
e
k
Lee
.
"
De
si
g
n
a
n
d
I
m
p
le
m
e
n
tatio
n
o
f
BL
D
C
M
o
to
r
w
it
h
In
teg
ra
ted
Driv
e
Circu
it
.
"
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(
IJ
PE
DS
)
,
S
e
p
tem
b
e
r
2
0
1
7
:
v
o
l
.
8
,
n
o
.
3
,
p
p
.
1
1
0
9
~
1
1
1
6
.
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