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I
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8
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tip
le
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ies:
t
h
e
f
ir
s
t
t
y
p
e
d
ea
ls
w
it
h
h
ig
h
f
r
eq
u
e
n
c
y
in
j
ec
tio
n
a
n
d
th
e
s
ec
o
n
d
ca
teg
o
r
y
is
b
ased
o
n
o
b
s
e
r
v
er
.
R
ec
en
t
l
y
,
t
h
e
tech
n
iq
u
es
b
ased
o
b
s
er
v
er
h
a
v
e
g
ain
ed
a
n
in
cr
ea
s
in
g
i
n
ter
e
s
t
s
u
c
h
as
SMO
[
1
1
]
-
[
1
6
]
,
Kal
m
a
n
f
ilter
i
n
g
[
1
7
]
an
d
m
o
d
el
r
ef
er
en
ce
s
y
s
te
m
[
2
]
.
C
o
m
p
ar
ed
to
th
ese
ap
p
r
o
ac
h
e
s
,
th
e
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
h
as
s
e
v
er
al
f
ea
t
u
r
es
s
u
c
h
a
s
r
o
b
u
s
t
n
es
s
to
d
is
tu
r
b
an
ce
,
o
r
d
er
r
ed
u
ctio
n
co
n
tr
o
l
an
d
s
i
m
p
le
al
g
o
r
ith
m
i
m
p
le
m
e
n
tat
io
n
[
1
8
]
.
Ho
w
e
v
er
,
th
e
m
ai
n
d
is
ad
v
an
ta
g
e
o
f
SM
O
is
th
e
c
h
atter
i
n
g
.
T
o
co
p
e
w
i
th
li
m
ita
tio
n
,
m
a
n
y
m
et
h
o
d
s
h
a
v
e
b
ee
n
in
v
est
ig
ated
[
1
1
]
-
[
1
3
]
.
I
n
[
1
1
]
,
a
s
atu
r
atio
n
f
u
n
c
tio
n
is
u
s
ed
to
r
ep
lace
th
e
s
ig
n
f
u
n
c
tio
n
b
u
t
t
h
e
in
s
er
tio
n
o
f
ad
d
itio
n
al
p
o
s
itio
n
co
m
p
e
n
s
at
io
n
a
n
d
lo
w
p
as
s
f
ilter
ca
u
s
es
p
h
ase
d
ela
y
w
h
ic
h
m
a
k
e
t
h
e
co
n
tr
o
l
o
f
h
ig
h
p
er
f
o
r
m
an
ce
ap
p
licatio
n
s
u
n
s
ati
s
f
ac
to
r
y
.
T
o
av
o
id
th
e
i
n
tr
o
d
u
ctio
n
o
f
ad
d
itio
n
al
p
o
s
itio
n
co
m
p
e
n
s
at
io
n
a
n
d
lo
w
p
as
s
f
ilter
,
s
o
m
e
m
et
h
o
d
s
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
[
1
2
]
-
[
1
3
]
.
I
n
[
1
2
]
,
an
iter
ativ
e
SM
O
f
o
r
s
en
s
o
r
less
v
ec
to
r
co
n
tr
o
l
f
o
r
a
th
r
ee
-
p
h
ase
P
MSM
i
s
p
r
o
p
o
s
ed
.
T
h
e
p
r
o
p
o
s
ed
SMO
i
m
p
r
o
v
es
t
h
e
p
er
f
o
r
m
a
n
ce
in
e
s
ti
m
ati
n
g
th
e
a
n
g
le
an
d
th
e
r
o
to
r
s
p
ee
d
b
y
iter
ati
v
el
y
ap
p
ly
i
n
g
th
e
o
b
s
er
v
er
in
t
h
e
s
en
s
o
r
les
s
P
MSM
C
o
n
tr
o
l.
I
n
[
1
3
]
,
a
n
o
v
el
SMO
u
s
i
n
g
t
h
e
s
i
g
m
o
id
f
u
n
c
tio
n
w
i
th
v
ar
iab
le
b
o
u
n
d
ar
y
la
y
er
a
s
s
w
itc
h
in
g
f
u
n
ctio
n
i
n
s
tead
o
f
th
e
s
i
g
n
f
u
n
ctio
n
to
ac
h
iev
e
h
i
g
h
s
p
ee
d
s
en
s
o
r
l
ess
co
n
tr
o
l
f
o
r
P
MSM
.
T
h
e
SMO
p
r
o
p
o
s
ed
in
[
1
2
]
-
[
1
3
]
d
o
n
’
t
u
s
e
th
e
ad
d
itio
n
al
p
o
s
itio
n
co
m
p
en
s
a
tio
n
an
d
lo
w
p
ass
f
ilter
an
d
th
e
r
o
to
r
p
o
s
itio
n
is
e
s
ti
m
ated
ac
co
r
d
in
g
to
b
ac
k
E
MF
w
h
ic
h
m
a
y
i
n
f
l
u
en
ce
t
h
e
ac
cu
r
ac
y
o
f
r
o
to
r
p
o
s
itio
n
esti
m
atio
n
.
I
n
th
is
p
ap
er
,
a
n
e
w
s
lid
i
n
g
m
o
d
e
o
b
s
er
v
er
is
p
r
o
p
o
s
ed
t
o
ac
h
iev
e
th
e
a
n
e
w
s
lid
in
g
m
o
d
e
co
n
tr
o
l
f
o
r
th
e
e
s
ti
m
atio
n
o
f
r
o
to
r
p
o
s
i
tio
n
a
n
d
r
o
to
r
s
p
ee
d
f
o
r
a
f
i
v
e
p
h
ase
P
MSM
u
n
d
er
t
h
e
a
s
s
u
m
p
tio
n
th
a
t o
n
l
y
t
h
e
s
tato
r
v
o
ltag
e
s
an
d
s
tato
r
cu
r
r
en
ts
ar
e
av
ailab
le
f
o
r
m
ea
s
u
r
e
m
e
n
t.
T
h
e
co
n
tr
o
ller
o
f
f
iv
e
p
h
ase
P
MSM
S
is
p
r
o
p
o
s
ed
b
ased
s
lid
in
g
m
o
d
e
co
n
tr
o
l
s
tr
ateg
y
.
T
h
e
m
ai
n
co
n
tr
ib
u
tio
n
o
f
th
i
s
p
ap
er
is
th
e
in
tr
o
d
u
ctio
n
o
f
a
n
ap
p
r
o
p
r
iate
co
m
b
in
atio
n
o
f
s
li
d
in
g
m
o
d
e
co
n
tr
o
l
an
d
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
an
d
its
ap
p
lic
atio
n
to
m
u
ltip
h
as
e
m
o
to
r
d
r
iv
e,
i
n
d
ee
d
:
a.
A
n
e
w
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l f
o
r
a
f
iv
e
p
h
a
s
e
P
MSM
is
d
esig
n
ed
.
b.
A
n
e
w
s
lid
i
n
g
m
o
d
e
o
b
s
er
v
er
o
f
f
i
v
e
p
h
ase
P
MSM
i
s
p
r
o
p
o
s
ed
.
c.
T
h
e
co
m
b
in
a
tio
n
o
f
t
h
ese
t
w
o
m
et
h
o
d
s
.
T
h
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
:
th
e
f
ir
s
t
s
ec
tio
n
is
d
ev
o
ted
to
in
t
r
o
d
u
ctio
n
.
Sectio
n
2
d
escr
ib
es
th
e
P
MSM
s
y
s
te
m
m
o
d
el,
s
ec
tio
n
3
an
d
s
ec
tio
n
4
d
ea
ls
w
it
h
th
e
d
e
v
elo
p
m
en
t
o
f
s
lid
i
n
g
m
o
d
e
co
n
tr
o
ller
an
d
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
f
o
r
f
i
v
e
p
h
ase
P
MSM
r
e
s
p
ec
tiv
el
y
.
Sectio
n
5
i
s
d
ev
o
ted
to
s
i
m
u
l
atio
n
s
r
e
s
u
lt
s
a
n
d
f
i
n
all
y
,
s
o
m
e
co
n
cl
u
s
io
n
s
ar
e
p
r
esen
ted
in
t
h
e
last
s
ec
tio
n
.
2.
M
O
DE
L
O
F
A
F
I
VE
-
P
H
AS
E
P
M
S
M
T
h
e
s
tato
r
v
o
ltag
e
o
f
t
h
e
f
i
v
e
-
p
h
ase
P
MSM
in
a
n
a
tu
r
al
s
tat
o
r
f
r
a
m
e
is
ar
e
g
i
v
e
n
b
y
[
1
9
]
:
s
s
s
s
d
V
R
I
E
dt
(
1
)
W
h
er
e
1
2
3
4
5
T
s
V
v
v
v
v
v
is
th
e
s
tato
r
v
o
ltag
e
v
ec
to
r
1
2
3
4
5
T
s
I
i
i
i
i
i
is
th
e
s
tato
r
cu
r
r
en
t
v
ec
to
r
s
1
2
3
4
5
T
s
s
s
s
s
=
is
th
e
s
tato
r
f
l
u
x
v
ec
to
r
1
2
3
4
5
T
E
=
e
e
e
e
e
is
th
e
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
(
E
MF)
v
ec
to
r
s
R
is
th
e
s
ta
to
r
r
esis
tan
ce
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
PEDS
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
7
:
1
8
4
–
203
186
T
h
e
co
n
tr
o
l
o
f
f
i
v
e
p
h
a
s
e
P
MSM
i
n
a
n
at
u
r
al
f
r
a
m
e
is
n
o
t
ev
id
en
t
d
u
e
to
t
h
e
m
ag
n
et
ic
co
u
p
lin
g
b
et
w
ee
n
p
h
a
s
es.
T
o
s
i
m
p
li
f
y
t
h
e
co
n
tr
o
l
o
f
f
i
v
e
p
h
a
s
e
P
MS
M,
th
e
m
ac
h
in
e
m
o
d
el
ca
n
b
e
tr
an
s
f
o
r
m
ed
i
n
to
a
s
y
s
te
m
o
f
d
ec
o
u
p
led
eq
u
ati
o
n
s
in
a
n
e
w
f
r
a
m
e.
B
y
ap
p
ly
in
g
t
h
e
C
o
n
co
r
d
ia
tr
an
s
f
o
r
m
at
io
n
an
d
P
ar
k
tr
an
s
f
o
r
m
atio
n
,
th
e
eq
u
iv
ale
n
t
m
o
d
el
o
f
t
h
e
s
y
m
m
etr
ica
l
f
i
v
e
p
h
ase
P
MSM
u
n
d
er
ass
u
m
p
tio
n
s
ab
o
u
t
b
alan
cin
g
o
p
er
atin
g
co
n
d
it
io
n
s
a
n
d
li
n
ea
r
m
ag
n
etic
cir
cu
its
is
p
r
ese
n
ted
i
n
a
r
o
tati
n
g
r
ef
er
en
ce
f
r
a
m
e
p
p
s
s
d
q
-
d
q
as [
2
0
]
:
1
dp
s
dp
e
qp
dp
dp
pp
dp
dp
p
fe
qp
qp
s
qp
e
dp
qp
qp
qp
p
p
p
p
ds
s
ds
e
qs
ds
ss
qs
s
qs
e
ds
qs
ss
f
qp
L
dI
R
1
=
-
I
+
ω
I
+
v
dI
1
dt
L
L
=
f
+
v
dt
L
5
Φω
dI
dI
R
11
2
=
-
I
-
ω
I
+
v
=
f
+
v
dt
L
L
L
dt
L
dI
R
1
=
-
I
+
3
ω
I
+
v
dt
L
L
dI
R
1
=
-
I
-
3
ω
I
+
v
dt
L
L
5
P
Φ
df
2
IT
dt
J
J
J
ds
ds
ds
s
qs
qs
qs
s
dI
1
=
f
+
v
dt
L
dI
1
=
f
+
v
dt
L
d
f
dt
(
2
)
W
h
e
r
e
1
12
3
3
4
5
6
d
p
d
p
e
q
p
q
p
q
p
e
d
p
e
d
s
d
s
e
q
s
q
s
q
s
e
d
s
q
p
L
f
=
a
I
+
ωI
f
=
a
I
-
ω
I
a
ω
f
=
a
I
+
3
ωI
f
=
a
I
-
3
ωI
f
a
I
a
T
a
(
3
)
W
ith
:
1
2
3
4
5
6
1
;
;
;
;
;
ff
ss
p
p
s
55
Φ
P
Φ
RR
f
22
a
-
a
a
-
a
a
a
L
L
L
J
J
J
W
h
er
e
(
dp
I
,
qp
I
,
ds
I
,
qs
I
)
an
d
(
dp
v
,
qp
v
,
ds
v
,
qs
v
)
a
r
e
th
e
s
t
at
o
r
cu
r
r
en
ts
an
d
s
ta
to
r
v
o
ltag
es
in
th
e
p
p
s
s
d
q
-
d
q
f
r
a
m
e.
f
is
t
h
e
f
lu
x
l
in
k
a
g
e
o
f
p
er
m
an
e
n
t
m
a
g
n
e
t
an
d
e
an
d
ar
e
th
e
elec
tr
ical
an
d
m
ec
h
a
n
ical
s
p
ee
d
r
esp
ec
tiv
el
y
.
I
n
th
is
n
e
w
f
r
a
m
e,
th
e
f
i
v
e
p
h
ase
P
MSM
ca
n
b
e
ex
p
r
ess
ed
i
n
t
w
o
2
D
p
lan
es
pp
dq
an
d
ss
dq
an
d
o
n
e
ax
is
co
r
r
esp
o
n
d
i
n
g
to
t
h
e
ze
r
o
co
n
s
eq
u
e
n
ce
co
m
p
o
n
e
n
t.
T
h
is
ze
r
o
co
m
p
o
n
e
n
t
is
o
m
itted
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r
es
u
lt
o
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s
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tato
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p
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ai
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3.
SL
I
DING
M
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CO
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h
e
s
lid
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m
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o
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i
s
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ted
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o
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y
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te
m
s
.
T
h
e
b
asic
id
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o
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tr
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l
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is
t
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a
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a
n
d
to
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s
y
s
te
m
to
co
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e
to
t
h
is
s
u
r
f
ac
e.
T
o
ac
h
iev
e
t
h
is
,
a
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
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8
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694
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.
(
A
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a
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s
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187
d
is
co
n
ti
n
u
o
u
s
co
n
tr
o
l
is
u
s
ed
to
m
ai
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y
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e
d
esp
ite
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n
ce
r
tai
n
tie
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d
d
is
t
u
r
b
an
ce
s
.
T
h
e
d
esig
n
o
f
s
lid
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n
g
m
o
d
e
co
n
tr
o
l o
cc
u
r
s
in
t
h
r
ee
s
tep
s
:
a.
Selectio
n
o
f
s
lid
in
g
s
u
r
f
ac
e.
b.
Dev
elo
p
m
e
n
t o
f
co
n
tr
o
l la
w
.
c.
Dete
r
m
i
n
atio
n
o
f
co
n
v
er
g
e
n
ce
co
n
d
itio
n
s
.
3
.
1
.
Sli
di
ng
s
urf
a
ce
des
ig
n
T
h
e
s
li
d
in
g
s
u
r
f
a
ce
w
it
h
in
teg
r
al
ac
t
io
n
c
an
b
e
ch
o
s
en
as
[
6
]
:
0
(
)
(
)
(
)
t
i
s
t
e
t
q
e
d
t
(
4
)
W
h
e
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e
e(
t)
an
d
(
i=
1
,
2
,
3
,
4
,
5
)
a
r
e
th
e
v
ar
ia
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le
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r
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r
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d
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itiv
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atica
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,
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iv
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as f
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s
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0
()
t
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t
(
5
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2
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0
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()
()
()
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dp
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Ω
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ly
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r
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iv
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y
:
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*
*
*
*
d
p
d
p
d
p
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s
d
s
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s
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s
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e
e
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I
I
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I
I
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I
(
7
)
W
h
e
r
e
‘
*
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icat
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d
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a
b
les
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r
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r
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en
c
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3
.
2
.
Co
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t
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l
l
a
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n
ex
t
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ti
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n
ew
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p
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ase
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th
e
SMC
b
u
ilt
in
[
6
]
f
o
r
th
r
ee
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p
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ase
in
d
u
ctio
n
m
o
t
o
r
.
T
h
e
s
y
n
th
esis
o
f
th
e
s
li
d
in
g
m
o
d
e
co
n
t
r
o
ll
e
r
o
c
cu
r
s
in
tw
o
s
te
p
s
:
a.
Ste
p
1
:
Sp
ee
d
c
o
n
t
r
o
lle
r
b.
Ste
p
2
:
cu
r
r
en
t
c
o
n
tr
o
l
le
r
s
3
.
2
.
1
.
Sp
ee
d
c
o
n
t
r
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ll
er
T
h
e
s
p
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c
o
n
tr
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l
le
r
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d
esig
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t
o
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ce
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d
e
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to
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l
id
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s
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r
f
ac
e
(
Ω
=
0
)
1
00
s
s
e
q
e
(
8
)
Usi
n
g
(
2
)
,
(
3
)
an
d
(
8
)
,
o
n
e
o
b
t
ain
s
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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2
0
8
8
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IJ
PEDS
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8
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1
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1
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4
5
6
1
q
p
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(
9
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m
(
8
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an
d
(
9
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,
th
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eq
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n
t
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r
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t
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5
6
1
4
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ac
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itab
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d
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y
n
a
m
ic
s
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m
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a
d
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ti
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lled
‘
r
ea
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eq
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ir
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to
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ar
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ith
u
n
ce
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tai
n
tie
s
ac
r
o
s
s
t
h
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lid
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s
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r
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ac
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[
7
]
.
T
h
e
r
ea
ch
in
g
co
n
tr
o
l is g
i
v
e
n
b
y
:
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1
s
g
n
(
)
qpn
I
k
s
(
1
1
)
W
h
e
r
e
1
is
a
p
o
s
itiv
e
c
o
n
s
t
an
t.
Fin
ally
,
th
e
c
o
m
m
an
d
p
q
cu
r
r
en
t
co
m
p
o
n
en
t
is
g
iv
en
b
y
:
**
5
6
1
4
1
/
s
g
n
(
)
q
p
L
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a
T
a
q
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a
k
s
(
1
2
)
I
n
th
is
p
a
p
e
r
,
f
iv
e
p
h
as
e
P
MS
M
w
ith
s
in
u
s
o
id
al
b
a
ck
ele
ct
r
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m
o
tiv
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f
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e
(
E
MF
)
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c
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n
s
i
d
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ed
.
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h
at
m
ea
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s
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ly
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y
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p
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t.
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t
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d
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t
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o
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a
r
e
c
o
n
tr
o
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le
d
to
b
e
n
u
ll
[
2
1
]
.
*
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0
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I
(
1
3
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2
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2
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ent
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ig
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0
;
0
;
0
;
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d
p
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s
00
00
00
00
dp
dp
qp
qp
ds
ds
qs
qs
ss
ss
ss
ss
(
1
4
)
Usi
n
g
(
2
)
,
(
3
)
an
d
(
6
)
,
o
n
e
o
b
t
ain
s
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
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t Ma
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.
.
.
.
(
A
n
is
s
a
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s
s
ey
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189
**
2
**
3
**
2
**
3
dp
dp
dp
dp
dp
dp
p
qp
qp
qp
qq
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+
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v
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(
1
5
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m
(
1
4
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d
(
1
5
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,
th
e
e
q
u
iv
a
len
t s
tat
o
r
v
o
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ag
es
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er
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ce
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an
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e
g
iv
en
b
y
:
*
2
*
34
*
4
*
5
dp
e
q
p
dp
dp
dp
qp
e
q
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qp
qp
qp
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q
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v
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f
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(
1
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I
n
o
r
d
er
t
o
c
o
p
e
w
ith
u
n
ce
r
tain
ties
,
r
e
ac
h
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g
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n
t
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ll
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l
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t
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r
t:
*
2
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3
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4
*
5
s
g
n
(
)
s
g
n
(
)
s
g
n
(
)
s
g
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(
)
dp
n
dp
qp
n
qp
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n
ds
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n
qs
v
k
s
v
k
s
v
k
s
v
k
s
(
1
7
)
W
h
e
r
e
i
k
(
i=
2
,
3
,
4
,
5
)
ar
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p
o
s
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tiv
e
co
n
s
tan
ts
.
Fin
al
ly
,
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e
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t
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ef
er
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ce
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o
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n
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e
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o
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late
d
f
r
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m
(
1
6
)
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d
(
1
7
)
as
f
o
ll
o
w
:
*
*
*
*
*
*
*
*
*
*
*
*
dp
dp
e
q
dp
n
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e
q
ds
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qs
qs
e
q
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v
v
v
v
v
v
v
v
v
v
v
v
(
1
8
)
Hen
ce
,
th
e
s
tat
o
r
v
o
lt
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es
r
ef
e
r
en
c
e
ca
n
b
e
ex
p
r
ess
ed
as
:
**
22
**
3
4
3
**
44
**
55
sgn(
)
sgn(
)
sgn(
)
sgn(
)
dp
p
dp
dp
dp
dp
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qp
qp
qp
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SL
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o
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en
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s
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s
t
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in
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t
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s
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ly
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4
.
1
.
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(
2
)
,
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e
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s
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v
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f
f
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ase
P
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esig
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th
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lid
in
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m
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r
v
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b
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in
[
1
5
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f
o
r
th
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-
p
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as
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ll
o
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s
:
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I
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N
:
2
0
8
8
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IJ
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2
.
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ta
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