I
nte
rna
t
io
na
l J
o
urna
l o
f
P
o
w
er
E
lect
ro
nics
a
nd
Driv
e
Sy
s
t
e
m
(
I
J
P
E
DS
)
Vo
l.
8
,
No
.
4
,
Dec
em
b
er
2
0
1
7
,
p
p
.
1
8
1
4
~
1
8
2
1
I
SS
N:
2
0
8
8
-
8
6
9
4
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
p
ed
s
.
v8
i
4
.
pp
1
8
1
4
-
1821
1814
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
JP
E
DS
The
C
o
ntrol
S
tru
cture fo
r D
C Mo
t
o
r bas
ed on th
e F
l
a
tness
Co
ntrol
T
ha
ng
Ng
uy
en
T
ro
ng
De
p
a
rte
m
e
n
t
o
f
In
d
u
strial
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
a
n
d
A
u
to
m
a
ti
o
n
,
Ha
ip
h
o
n
g
P
riv
a
te Un
iv
e
rsity
,
V
ietn
a
m
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Sep
8
,
2
0
1
7
R
ev
i
s
ed
No
v
2
3
,
2
0
1
7
A
cc
ep
ted
No
v
3
0
,
2
0
1
7
T
h
is
a
rti
c
le
p
re
se
n
ts
th
e
n
e
w
c
o
n
tro
l
stru
c
tu
re
f
o
r
a
Dire
c
t
C
u
rr
e
n
t
M
o
to
r
(DC
M
o
to
r)
u
sin
g
th
e
f
latn
e
ss
-
c
o
n
tr
o
l
p
ri
n
c
ip
le.
Ba
sic
o
n
th
e
m
a
th
e
m
a
ti
c
a
l
m
o
d
e
l
o
f
DC
M
o
t
o
rs,
t
h
e
a
u
t
h
o
r
d
e
m
o
n
stra
tes
th
e
a
p
p
li
c
a
ti
o
n
a
b
i
li
ty
o
f
th
e
f
a
tn
e
ss
-
c
o
n
tro
l
th
e
o
ry
to
c
o
n
tr
o
l
th
e
DC
M
o
t
o
r,
a
n
d
t
h
e
n
c
a
lc
u
late
s
th
e
p
a
ra
m
e
ters
a
n
d
p
ro
p
o
se
s
th
e
stru
c
tu
re
o
f
th
e
f
latn
e
ss
-
c
o
n
tr
o
ll
e
r.
T
h
e
p
ro
p
o
se
d
str
u
c
tu
re
is
b
u
il
t
a
n
d
ra
n
o
n
M
a
tl
a
b
-
S
im
u
li
n
k
so
f
tw
a
re
t
o
v
e
rify
th
e
s
y
ste
m
e
ff
ici
e
n
c
y
.
T
h
e
si
m
u
latio
n
re
su
lt
s
s
h
o
w
th
a
t
t
h
e
q
u
a
li
ty
o
f
th
e
c
o
n
tro
l
s
y
ste
m
is
v
e
r
y
g
o
o
d
,
e
sp
e
c
ially
in
c
a
se
o
f
th
e
f
latn
e
ss
c
o
n
tro
l
ler
c
o
m
b
in
e
d
w
it
h
P
ID
c
o
n
tr
o
ll
e
r
to
e
li
m
in
a
te
sta
ti
c
e
rro
r
w
h
e
n
th
e
p
a
ra
m
e
ters
o
f
th
e
DC
M
o
to
r
h
a
v
e
b
e
e
n
n
o
t
k
n
o
w
n
a
c
c
u
ra
tel
y
.
K
ey
w
o
r
d
:
C
o
n
tr
o
l str
u
ctu
r
e
DC
m
o
to
r
E
lectr
ic
Flatn
e
s
s
co
tr
o
ller
P
I
D
co
n
tr
o
ller
Co
p
y
rig
h
t
©
201
7
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
T
h
an
g
N
g
u
y
e
n
T
r
o
n
g
,
Dep
ar
te
m
en
t o
f
I
n
d
u
s
tr
ial
E
le
ctr
ical
E
n
g
i
n
ee
r
i
n
g
a
n
d
A
u
to
m
atio
n
,
Haip
h
o
n
g
P
r
iv
ate
Un
i
v
er
s
i
t
y
,
3
6
Dan
lap
s
tr
ee
t,
Haip
h
o
n
g
,
V
ietn
a
m
.
E
m
ail: t
h
a
n
g
n
t
@
h
p
u
.
ed
u
.
v
n
1.
I
NT
RO
D
UCT
I
O
N
DC
Mo
to
r
is
o
n
e
o
f
t
h
e
tr
ad
itio
n
al
elec
tr
ic
m
ac
h
i
n
es,
is
a
p
p
ea
r
ed
in
th
e
la
te
o
f
1
9
th
c
en
tu
r
y
.
I
n
co
m
p
ar
ed
to
th
e
o
th
er
elec
tr
ic
m
ac
h
i
n
e
s
u
ch
a
s
in
d
u
c
tio
n
m
ac
h
in
e
[
1
]
,
[
2
]
,
b
r
u
s
h
les
s
DC
m
o
to
r
s
[
3
]
,
th
e
DC
Mo
to
r
h
as
th
e
i
n
ter
n
a
l
ad
v
an
t
ag
es
s
u
c
h
as
s
i
m
p
le
co
n
tr
o
l,
lar
g
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
th
e
ab
ilit
y
to
ad
j
u
s
t
th
e
s
p
ee
d
w
it
h
t
h
e
w
id
e
r
an
g
e
[
4
]
.
So
,
DC
Mo
to
r
s
ar
e
s
till
co
m
m
o
n
l
y
u
s
ed
in
i
n
d
u
s
tr
ial
f
ield
s
s
u
c
h
a
s
s
teel
r
o
llin
g
,
tr
an
s
p
o
r
tatio
n
,
m
in
in
g
,
d
ef
en
s
e,
co
n
s
tr
u
ctio
n
[5
-
7]
.
T
h
u
s
,
i
m
p
r
o
v
i
n
g
t
h
e
q
u
alit
y
o
f
DC
Mo
to
r
co
n
tr
o
l
s
y
s
te
m
is
e
s
s
e
n
tial.
T
h
er
e
ar
e
m
an
y
s
t
u
d
ies
to
co
n
tr
o
l
D
C
M
o
to
r
s
[8
-
11]
,
th
e
m
o
s
t
p
o
p
u
lar
is
s
t
ill
t
h
e
m
et
h
o
d
u
s
i
n
g
P
I
D
co
n
tr
o
ller
s
.
Ho
w
ev
er
,
in
m
a
n
y
w
o
r
k
in
g
m
o
d
es
o
f
DC
Mo
to
r
s
,
th
e
n
o
n
lin
ea
r
o
f
DC
Mo
to
r
is
h
ig
h
,
w
h
ic
h
r
ed
u
ce
s
t
h
e
q
u
alit
y
o
f
c
o
n
tr
o
l s
y
s
te
m
.
T
h
er
e
ar
e
s
ev
er
al
s
o
lu
tio
n
s
f
o
r
co
n
tr
o
llin
g
t
h
e
n
o
n
l
in
ea
r
o
b
j
e
ct
s
u
c
h
as
t
h
e
in
p
u
t
-
o
u
tp
u
t
li
n
ea
r
izatio
n
m
et
h
o
d
[
12
]
,
th
e
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
tech
n
iq
u
e
[
13
]
,
th
e
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
tec
h
n
iq
u
e
[
14
]
,
etc
.
T
h
e
d
r
a
w
b
ac
k
o
f
t
h
e
ab
o
v
e
m
et
h
o
d
s
is
th
e
e
x
is
te
n
ce
o
f
t
h
e
ch
at
t
er
in
g
p
h
e
n
o
m
e
n
o
n
o
r
th
e
d
if
f
i
cu
lt
p
r
o
b
le
m
in
t
h
e
ch
o
ice
o
f
ap
p
r
o
p
r
iate
L
y
ap
u
n
o
v
f
u
n
ct
io
n
.
T
h
er
ef
o
r
e,
th
e
au
t
h
o
r
p
r
o
p
o
s
es a
s
u
itab
le
co
n
tr
o
l s
y
s
te
m
to
i
m
p
r
o
v
e
th
e
co
n
tr
o
l
q
u
alit
y
o
f
a
DC
M
o
to
r
,
w
h
ich
is
a
co
n
tr
o
l
s
y
s
te
m
b
ased
o
n
f
la
tn
e
s
s
p
r
in
cip
le.
W
ith
th
i
s
m
et
h
o
d
,
it
is
ea
s
y
to
d
ec
o
u
p
le
th
e
in
p
u
t
an
d
o
u
tp
u
t,
d
i
r
ec
tl
y
id
en
tify
e
ac
h
s
y
s
te
m
v
ar
iab
le
s
b
y
ch
o
o
s
in
g
t
h
e
ap
p
r
o
p
r
iate
s
y
s
te
m
o
u
tp
u
t
v
ar
iab
les.
T
h
e
Flat
n
es
s
C
o
n
tr
o
l
T
h
eo
r
y
is
a
n
e
w
m
eth
o
d
co
n
tr
o
l
f
o
r
n
o
n
li
n
ea
r
o
b
j
ec
t
[
1
5
]
,
[
1
6
]
,
p
r
o
m
i
s
i
n
g
a
h
ig
h
q
u
alit
y
o
f
co
n
tr
o
l
[
1
7
]
,
b
ein
g
attr
ac
ted
b
y
s
c
ien
ti
s
t
s
ar
o
u
n
d
t
h
e
w
o
r
ld
.
Ma
n
y
r
esear
ch
er
s
h
av
e
co
m
e
u
p
w
it
h
d
i
f
f
er
e
n
t
d
ef
i
n
it
io
n
s
o
f
f
lat
n
es
s
co
n
tr
o
l
s
y
s
te
m
s
,
b
u
t
in
g
e
n
er
al
,
th
e
f
lat
n
e
s
s
co
n
tr
o
l
is
r
eg
ar
d
ed
as
a
u
s
e
f
u
l
to
o
l
f
o
r
th
e
n
o
n
li
n
ea
r
co
n
tr
o
l
s
y
s
te
m
[
1
8
]
.
T
h
e
m
o
s
t
s
p
ec
if
ic
o
f
t
h
e
f
lat
n
es
s
s
y
s
te
m
is
th
e
ex
is
ten
ce
o
f
ass
e
m
b
la
g
e
o
f
z
,
th
r
o
u
g
h
th
e
z
v
ar
iab
les
an
d
th
e
d
if
f
er
en
tia
l
o
f
th
e
z
v
ar
iab
les,
all
s
tate
v
ar
iab
les
,
an
d
in
p
u
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2088
-
8
694
Th
e
C
o
n
tr
o
l S
tr
u
ctu
r
e
fo
r
DC
Mo
to
r
b
a
s
ed
o
n
t
h
e
F
la
tn
ess
C
o
n
tr
o
l (
Th
a
n
g
N
g
u
ye
n
Tr
o
n
g
)
1815
v
ar
iab
les
ca
n
b
e
d
eter
m
i
n
ed
.
So
w
e
ca
n
d
eter
m
i
n
e
i
n
ad
v
a
n
ce
t
h
e
tr
aj
ec
to
r
y
o
f
t
h
e
i
n
p
u
t
f
r
o
m
th
e
d
esire
d
tr
aj
ec
to
r
y
o
f
th
e
o
u
tp
u
t.
2.
T
H
E
S
T
RUC
T
UR
E
CO
NT
RO
L
B
ASE
D
O
N
F
L
AT
N
E
SS
CO
NT
RO
L
T
H
E
O
RY
2
.
1
.
T
he
B
a
s
is
o
f
F
la
t
nes
s
C
o
ntr
o
l
T
heo
ry
Flatn
e
s
s
co
n
tr
o
l
th
eo
r
y
is
ap
p
l
ied
to
co
n
tr
o
l
a
lo
t
o
f
n
o
n
li
n
ea
r
o
b
j
ec
ts
w
h
ic
h
h
a
v
e
t
h
e
s
tatu
s
eq
u
atio
n
is
w
r
itten
a
s
f
o
llo
w
s
[
1
5
]
,
[
1
9
]
:
)
,
(
u
x
f
x
(
1
)
W
ith
T
m
u
u
u
u
)
,..
,
(
2
1
is
t
h
e
in
p
u
t v
ar
iab
les,
T
n
x
x
x
x
)
,
.
.
,
(
2
1
is
th
e
s
tat
u
s
v
ar
iab
les.
T
h
e
s
y
s
te
m
(
1
)
is
ca
lled
a
f
lat
n
es
s
s
y
s
te
m
i
f
th
er
e
ar
e
a
s
et
o
f
v
ar
iab
les
)
,
.
.
.
,
,
(
2
1
m
z
z
z
z
ca
lled
th
e
f
lat
o
u
tp
u
ts
,
s
ati
s
f
y
i
n
g
th
r
e
e
co
n
d
itio
n
s
as
f
o
llo
w
s
:
a.
E
x
is
ti
n
g
a
f
u
n
ct
io
n
h
,
w
h
ic
h
is
s
atis
f
ied
:
)
,
.
.
.
,
(
)
(
u
u
x
h
z
(
2
)
b
.
A
ll
i
n
p
u
t
v
ar
iab
les
an
d
s
ta
t
e
v
ar
iab
les
ca
n
b
e
d
eter
m
i
n
ed
f
r
o
m
t
h
e
v
ar
iab
le
z,
w
h
ic
h
m
ea
n
s
t
h
at
th
er
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r
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co
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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PEDS
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SS
N:
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8
694
Th
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e
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u
p
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e
P
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D
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n
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as
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r
e
1
0
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lated
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w
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h
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ad
d
itio
n
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P
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D
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n
t
r
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ller
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CO
NCLU
SI
O
N
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n
th
i
s
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ap
er
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e
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t
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o
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h
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co
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tr
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l
s
y
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te
m
f
o
r
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ased
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n
a
f
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s
co
n
tr
o
l.
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h
e
s
i
m
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latio
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r
e
s
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l
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s
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e
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o
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ate
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h
e
s
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m
w
it
h
t
h
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s
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n
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o
ller
w
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s
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e
k
n
o
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x
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y
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ar
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o
f
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r
.
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w
e
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er
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in
f
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o
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n
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h
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s
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n
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allel
w
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h
t
h
e
f
lat
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n
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ller
to
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m
in
ate
th
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ir
er
r
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r
.
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h
e
s
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m
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n
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at
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h
e
q
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a
lit
y
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f
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h
e
w
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o
d
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n
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h
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s
e
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e
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w
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s
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a
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r
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a
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a
n
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t
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e
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o
t
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ch
.
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h
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s
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te
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ca
n
b
e
ap
p
lied
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in
m
o
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o
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licatio
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s
th
at
r
eq
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ir
e
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g
h
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q
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alit
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o
f
th
e
s
p
ee
d
co
n
tr
o
l.
RE
F
E
R
E
NC
E
S
[1
]
A
b
d
e
lh
a
k
,
B.
,
&
Ba
c
h
ir,
B.
,
“
A
Hig
h
g
a
in
o
b
se
rv
e
r
b
a
se
d
se
n
so
rles
s
n
o
n
li
n
e
a
r
c
o
n
tr
o
l
o
f
in
d
u
c
ti
o
n
m
a
c
h
in
e
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
5
(
3
),
3
0
5
,
2
0
1
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2088
-
8
694
Th
e
C
o
n
tr
o
l S
tr
u
ctu
r
e
fo
r
DC
Mo
to
r
b
a
s
ed
o
n
t
h
e
F
la
tn
ess
C
o
n
tr
o
l (
Th
a
n
g
N
g
u
ye
n
Tr
o
n
g
)
1821
[2
]
G
u
n
a
b
a
lan
,
R.
,
&
S
u
b
b
iah
,
V
.
,
“
S
p
e
e
d
S
e
n
s
o
rles
s
V
e
c
to
r
C
o
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
o
t
o
r
Driv
e
w
it
h
P
I
a
n
d
F
u
z
z
y
Co
n
tr
o
ll
e
r
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
5
(3
),
3
1
5
,
2
0
1
5
.
[3
]
P
a
rk
,
J.
S
.
,
&
L
e
e
,
K.
D.
,
“
De
sig
n
a
n
d
Im
p
le
m
e
n
tatio
n
o
f
BL
DC
M
o
to
r
w
it
h
In
teg
ra
ted
Driv
e
Circu
it
,”
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
ms
(
I
J
PE
DS
)
,
8
(
3
),
1
1
0
9
-
1
1
1
6
,
2
0
1
7
.
[4
]
Hu
g
h
e
s,
A
u
stin
,
a
n
d
Bil
l
Dru
ry
,
“
El
e
c
tric
M
o
to
rs
a
n
d
d
riv
e
s:
fu
n
d
a
me
n
t
a
ls,
typ
e
s
a
n
d
a
p
p
l
ica
t
io
n
s
,”
Ne
w
n
e
s,
2
0
1
3
.
[5
]
S
h
ieh
,
N.
C.
,
a
n
d
P
.
C.
T
u
n
g
,
"
R
o
b
u
st
o
u
t
p
u
t
trac
k
in
g
c
o
n
tro
l
o
f
a
li
n
e
a
r
DC
b
ru
sh
les
s
M
o
to
r
f
o
r
tr
a
n
sp
o
rtati
o
n
i
n
m
a
n
u
f
a
c
tu
rin
g
s
y
ste
m
"
,
IEE
Pro
c
e
e
d
in
g
s
-
El
e
c
tric P
o
we
r A
p
p
li
c
a
ti
o
n
s,
2
0
0
1
,
p
p
.
1
1
9
-
1
2
4
.
[6
]
P
ick
re
ll
,
D
o
n
,
a
n
d
P
a
u
l
S
c
h
im
e
k
,
"
G
ro
w
th
in
M
o
to
r
v
e
h
icle
o
w
n
e
rsh
ip
a
n
d
u
se
:
Ev
i
d
e
n
c
e
f
ro
m
t
h
e
Na
ti
o
n
w
id
e
Pe
rso
n
a
l
T
ra
n
sp
o
rtati
o
n
S
u
rv
e
y
"
,
J
o
u
rn
a
l
o
f
T
ra
n
sp
o
rta
t
io
n
a
n
d
S
t
a
ti
stics
,
v
o
l.
2
.
1
,
p
p
.
1
-
1
7
,
1
9
9
9
.
[7
]
F
letc
h
e
r,
Da
v
id
I.
,
a
n
d
Jo
h
n
H.
Be
y
n
o
n
,
"
De
v
e
lo
p
m
e
n
t
o
f
a
m
a
c
h
in
e
f
o
r
c
lo
se
ly
c
o
n
tro
ll
e
d
ro
ll
i
n
g
c
o
n
tac
t
fa
ti
g
u
e
a
n
d
w
e
a
r
tes
ti
n
g
"
,
J
o
u
rn
a
l
o
f
tes
ti
n
g
a
n
d
e
v
a
l
u
a
ti
o
n
,
V
o
l
2
8
.
4
,
p
p
.
2
6
7
-
2
7
5
,
2
0
0
0
.
[8
]
Bo
sc
o
,
M
a
y
c
o
n
Ch
im
in
i,
e
t
a
l,
"
Esti
ma
ti
o
n
o
f
p
a
r
a
me
ter
s a
n
d
tu
n
i
n
g
o
f
a
sp
e
e
d
PI
o
f
p
e
rm
a
n
e
n
t
ma
g
n
e
t
DC M
o
to
r
u
sin
g
d
i
ff
e
re
n
ti
a
l
e
v
o
lu
t
io
n
"
,
El
e
c
tri
c
M
a
c
h
in
e
s an
d
Driv
e
s Co
n
f
e
re
n
c
e
(IE
M
DC),
IEE
E
In
tern
a
ti
o
n
a
l
,
2
0
1
7
,
p
p
.
1
-
6.
[9
]
Ya
o
,
Jia
n
y
o
n
g
,
Zo
n
g
x
ia Ji
a
o
,
a
n
d
Da
we
i
M
a
,
"
A
d
a
p
ti
v
e
ro
b
u
st c
o
n
tro
l
o
f
DC M
o
to
rs w
it
h
e
x
ten
d
e
d
sta
te o
b
se
rv
e
r"
,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tro
n
ics
Vo
l
6
1
.
7
,
2
0
1
4
,
p
p
.
3
6
3
0
-
3
6
3
7
.
[1
0
]
X
u
e
,
Din
g
y
u
,
Ch
u
n
n
a
Zh
a
o
,
a
n
d
Ya
n
g
Qu
a
n
Ch
e
n
,
"
Fra
c
ti
o
n
a
l
o
rd
e
r P
ID
c
o
n
tro
l
o
f
a
DC
-
M
o
to
r wi
th
e
la
stic sh
a
ft
:
a
c
a
se
stu
d
y
"
,
A
m
e
ri
c
a
n
Co
n
tr
o
l
Co
n
f
e
re
n
c
e
,
IEE
E,
2
0
0
6
,
p
p
.
1
-
6
[1
1
]
T
h
o
m
a
s,
Ne
e
n
u
,
a
n
d
Dr
P
.
P
o
o
n
g
o
d
i,
"
P
o
siti
o
n
c
o
n
tro
l
o
f
D
C
M
o
to
r
u
sin
g
g
e
n
e
ti
c
a
l
g
o
ri
t
h
m
b
a
se
d
PID
c
o
n
tro
ll
e
r
"
,
P
r
o
c
e
e
d
in
g
s o
f
th
e
W
o
rld
C
o
n
g
re
ss
o
n
En
g
i
n
e
e
rin
g
,
2
0
0
9
,
v
o
l.
2
,
p
p
.
1
-
3.
[1
2
]
Ya
z
d
a
n
p
a
n
a
h
,
R
.
,
S
o
lt
a
n
i,
J.,
&
M
a
rk
a
d
e
h
,
G
.
A
.
,
“
No
n
li
n
e
a
r
to
r
q
u
e
a
n
d
sta
to
r
f
lu
x
c
o
n
tro
l
ler
f
o
r
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
b
a
se
d
o
n
a
d
a
p
ti
v
e
in
p
u
t
–
o
u
tp
u
t
f
e
e
d
b
a
c
k
li
n
e
a
riza
ti
o
n
a
n
d
slid
in
g
m
o
d
e
c
o
n
tro
l
”
,
En
e
rg
y
Co
n
v
e
rs
io
n
a
n
d
ma
n
a
g
e
me
n
t
,
49
(
4
),
5
4
1
-
5
5
0
,
2
0
0
8
.
[1
3
]
A
b
d
e
l
m
a
d
ji
d
,
G
.
,
S
e
g
h
ir,
B.
M
.
,
A
h
m
e
d
,
S
.
,
&
Yo
u
c
e
f
,
M
.
,
“
S
e
n
s
o
rles
s
slid
in
g
m
o
d
e
v
e
c
to
r
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s
,”
In
ter
n
a
t
io
n
a
l
J
o
u
r
n
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
i
v
e
S
y
ste
ms
,
2
(3
),
2
7
7
,
2
0
1
2
.
[1
4
]
T
ra
b
e
lsi,
R.
,
Kh
e
d
h
e
r,
A
.
,
M
i
m
o
u
n
i,
M
.
F
.
,
&
M
'
sa
h
li
,
F
.
,
“
Ba
c
k
s
tep
p
i
n
g
c
o
n
tro
l
f
o
r
a
n
in
d
u
c
ti
o
n
m
o
to
r
u
sin
g
a
n
a
d
a
p
ti
v
e
slid
in
g
r
o
to
r
-
f
lu
x
o
b
se
rv
e
r
,
”
El
e
c
tric P
o
we
r S
y
ste
ms
Res
e
a
rc
h
,
93
,
1
-
1
5
,
2
0
1
2
.
[1
5
]
M
a
rti
n
,
P
.
,
M
u
rra
y
,
R.
M
.
,
&
R
o
u
c
h
o
n
,
P
.
,
“
Fl
a
t
sy
ste
ms
,
e
q
u
iva
len
c
e
a
n
d
tra
jec
to
ry
g
e
n
e
ra
ti
o
n
,
”
2
0
0
3
.
[1
6
]
X
ian
-
l
in
,
C.
H.
E.
N,
"
F
lat
n
e
ss
c
o
n
tr
o
l
i
n
n
e
w
g
e
n
e
ra
ti
o
n
h
ig
h
-
tec
h
m
il
ls
f
o
r
w
id
e
strip
ro
ll
i
n
g
"
,
J
o
u
rn
a
l
o
f
Un
ive
rs
it
y
o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
Beiji
n
g
,
V
o
l
19
,
p
p
.
1
-
5
,
1
9
9
7
.
[1
7
]
Je
lali,
M
o
h
ied
d
in
e
,
"
P
e
rf
o
rm
a
n
c
e
a
ss
e
ss
m
e
n
t
o
f
c
o
n
tro
l
sy
ste
m
s
in
ro
ll
i
n
g
m
il
ls
–
a
p
p
li
c
a
ti
o
n
t
o
stri
p
th
ick
n
e
ss
a
n
d
f
latn
e
ss
c
o
n
tro
l"
,
J
o
u
r
n
a
l
o
f
Pro
c
e
ss
Co
n
tro
l,
V
o
l
1
7
.
1
0
,
p
p
.
8
0
5
-
8
1
6
,
2
0
0
7
.
[1
8
]
F
a
rid
,
B.
,
W
a
ffa
,
B.
,
&
Ba
c
h
ir,
B.
A
.,
“
F
latn
e
ss
Ba
se
d
No
n
li
n
e
a
r
S
e
n
so
rles
s
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
t
o
r
S
y
st
e
m
s
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
7
(1
),
2
6
5
,
2
0
1
6
.
[1
9
]
De
lale
a
u
,
E
m
m
a
n
u
e
l,
a
n
d
A
le
k
sa
n
d
a
r
M
.
S
tan
k
o
v
ic,
"
F
la
t
n
e
ss
-
b
a
se
d
h
ier
a
rc
h
ica
l
c
o
n
tro
l
o
f
t
h
e
P
M
sy
n
c
h
ro
n
o
u
s
M
o
to
r"
,
A
m
e
ric
a
n
Co
n
tr
o
l
C
o
n
f
e
re
n
c
e
,
P
r
o
c
e
e
d
in
g
s,
V
o
l.
1
,
IEE
E,
2
0
0
4
,
p
p
.
6
5
-
7
0
.
B
I
O
G
RAP
H
Y
O
F
AUTHO
R
Th
a
n
g
Ng
u
y
e
n
T
r
o
n
g
re
c
e
iv
e
d
t
h
e
B.
En
g
.
d
e
g
re
e
in
A
u
to
m
a
ti
o
n
Co
n
tr
o
l
f
ro
m
Ha
n
o
i
Un
iv
e
rsit
y
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
lo
g
y
in
2
0
0
5
,
a
n
d
P
h
.
D.
d
e
g
re
e
s
in
Co
n
tro
l
En
g
in
e
e
rin
g
a
n
d
A
u
to
m
a
ti
o
n
f
ro
m
Un
iv
e
rsit
y
o
f
T
ra
n
sp
o
rt
a
n
d
C
o
m
m
u
n
ica
ti
o
n
s,
V
iet
n
a
m
in
2
0
1
4
.
He
is
c
u
rre
n
tl
y
th
e
He
a
d
o
f
De
p
a
rtme
n
t
o
f
In
d
u
strial
El
e
c
tr
ica
l
En
g
in
e
e
rin
g
a
n
d
A
u
to
m
a
ti
o
n
,
Ha
ip
h
o
n
g
P
riv
it
e
Un
iv
e
rsity
,
V
ietn
a
m
.
He
is
a
m
e
m
b
e
r
o
f
In
s
ti
tt
u
te
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
i
c
En
g
in
e
e
rs
(IE
EE
),
h
is
re
se
a
rc
h
in
tere
sts
in
c
l
u
d
e
a
u
to
m
a
tt
io
n
c
o
n
tro
l
th
e
o
ry
,
e
lec
tri
c
d
riv
e
c
o
n
tr
o
l,
p
o
w
e
r
g
e
n
e
ra
ti
o
n
sy
ste
m
s
o
n
sh
ip
s.
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