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d
ata
a
n
d
ch
a
n
g
es c
a
n
co
n
ti
n
u
o
u
s
l
y
a
n
d
d
y
n
a
m
icall
y
b
e
o
b
s
er
v
ed
,
h
e
n
ce
it
is
m
o
r
e
co
n
v
en
ien
t a
n
d
ef
f
ec
ti
v
e
th
an
an
y
o
t
h
er
lan
g
u
ag
e
d
ev
el
o
p
m
e
n
t
e
n
v
ir
o
n
m
en
t.
T
h
e
ac
t
u
al
m
o
to
r
p
ar
am
e
ter
s
ca
n
b
e
m
ea
s
u
r
ed
,
co
n
tr
o
lled
an
d
m
o
d
if
ied
d
ir
ec
tl
y
,
w
h
ic
h
w
il
l
g
r
ea
tl
y
f
ac
ilit
a
te
s
i
m
u
lati
o
n
[
5
]
.
T
h
e
b
etter
r
esp
o
n
s
e
o
f
th
e
s
y
s
te
m
ca
n
b
e
o
b
tain
ed
T
o
c
o
n
tr
o
l
th
e
s
p
ee
d
o
f
m
o
to
r
a
n
d
d
is
p
la
y
th
e
c
h
a
n
g
e
s
o
f
r
o
tatio
n
al
s
p
ee
d
o
f
m
o
to
r
.
T
h
e
NI
USB
-
6
0
0
8
[
6
]
d
ata
ac
q
u
is
itio
n
(
D
AQ)
ca
r
d
s
cr
atch
es t
h
e
d
ata
o
f
D/
A
co
n
v
er
ter
to
tr
an
s
m
it t
h
e
s
ig
n
al
i
n
r
ea
l ti
m
e
to
P
C
to
b
e
th
e
s
p
ee
d
r
esp
o
n
s
e
o
f
DC
m
o
to
r
r
ea
l
-
ti
m
e
s
u
p
er
v
is
io
n
.
B
ec
au
s
e
th
e
D
AQ
ca
r
d
h
as
th
e
ca
p
ab
ilit
y
o
f
d
ata
s
to
r
ag
e
an
d
ca
lcu
lati
n
g
,
an
al
y
s
is
a
n
d
A
/D,
D/
A
co
n
v
er
s
io
n
m
atch
e
s
w
it
h
th
e
L
ab
VI
E
W
v
ir
tu
al
in
s
tr
u
m
en
t
c
h
ar
ac
ter
is
t
ic
ap
p
l
y
i
n
g
to
d
etec
t
t
h
e
r
ev
o
lu
t
io
n
o
f
D
C
m
o
to
r
.
T
h
is
m
o
d
e
ca
n
s
u
b
s
tit
u
te
t
h
e
tr
ad
itio
n
al
in
s
tr
u
m
e
n
ts
,
f
o
r
in
s
ta
n
ce
,
o
s
cillo
s
co
p
e,
s
ig
n
al
g
en
er
ato
r
,
p
o
w
er
etc.
an
d
th
e
test
o
p
er
atio
n
is
co
n
v
e
n
ien
t
[
7
]
.
Ho
w
e
v
er
,
Natio
n
al
I
n
s
tr
u
m
en
ts
i
n
cr
ea
s
es
th
e
p
r
o
d
u
ctiv
it
y
o
f
en
g
i
n
ee
r
s
an
d
s
cien
t
is
t
s
i
n
d
ev
elo
p
in
g
tes
t,
co
n
tr
o
l,
an
d
d
esig
n
s
y
s
te
m
s
b
y
p
r
o
v
i
d
in
g
s
o
f
t
w
ar
e
p
r
o
d
u
cts
f
o
r
a
w
id
e
r
an
g
e
o
f
f
u
n
ctio
n
alit
y
[
8
-
1
0
]
.
NI
L
ab
V
I
E
W
is
a
g
r
ap
h
ical
d
e
v
elo
p
m
e
n
t
e
n
v
ir
o
n
m
e
n
t
f
o
r
cr
ea
tin
g
f
l
ex
ib
le
an
d
s
ca
lab
le
test
,
m
ea
s
u
r
e
m
e
n
ts
,
a
n
d
co
n
tr
o
l
ap
p
licatio
n
s
r
ap
id
l
y
a
n
d
at
m
i
n
i
m
al
co
s
t.
B
ased
o
n
t
h
e
ab
o
v
e
d
is
cu
s
s
io
n
,
th
e
VI
p
latf
o
r
m
g
iv
e
s
en
h
a
n
ce
d
p
er
f
o
r
m
a
n
ce
to
co
n
tr
o
l
a
m
o
to
r
in
r
ea
l
ti
m
e.
Ver
y
f
e
w
r
esear
ch
p
ap
er
s
ar
e
av
ailab
le
to
test
t
h
e
VI
b
ased
r
ea
l
ti
m
e
D
C
-
m
o
to
r
co
n
tr
o
l,
p
ar
ticu
lar
l
y
l
o
w
co
s
t
D
AQ
b
ased
DC
-
m
o
to
r
r
ea
l
ti
m
e
co
n
tr
o
l.
Hen
ce
,
t
h
is
p
ap
er
d
ea
ls
w
it
h
th
e
s
p
ee
d
o
f
a
DC
m
o
to
r
in
L
ab
VI
E
W
r
ea
l
ti
m
e
p
latf
o
r
m
an
ce
u
s
i
n
g
lo
w
co
s
t
h
ar
d
w
ar
e
s
tr
u
ct
u
r
e
in
cl
u
d
in
g
v
ir
tu
al
K
n
o
b
in
L
ab
VI
E
W
s
o
f
t
w
ar
e
a
DA
Q
-
Mo
d
el
P
C
I
-
6
0
2
4
E
.
T
h
e
p
r
o
p
o
s
e
d
w
o
r
k
also
f
o
cu
s
es
o
n
co
n
tr
o
llin
g
t
h
e
s
p
ee
d
o
f
th
e
in
d
iv
id
u
al
DC
m
o
to
r
u
s
i
n
g
P
W
M
s
ch
e
m
e
(
D
u
t
y
c
y
cle
b
ased
Sq
u
ar
e
w
av
e
g
e
n
er
atio
n
)
a
n
d
D
A
Q.
W
it
h
t
h
e
h
elp
o
f
t
h
e
D
AQ
a
n
d
L
ab
VI
E
W
f
r
o
n
t
p
an
el
w
i
n
d
o
w
,
th
e
DC
m
o
to
r
s
p
ee
d
an
d
d
ir
ec
tio
n
s
ca
n
b
e
c
h
a
n
g
e
e
asil
y
in
r
e
m
o
te
w
a
y
.
I
n
o
r
d
er
to
test
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
t
h
e
lab
o
r
ato
r
y
m
o
d
el
f
o
r
a
1
5
W
DC
m
o
to
r
g
r
o
u
p
(
m
u
l
ti
d
r
iv
e)
is
d
ev
elo
p
ed
f
o
r
d
if
f
er
en
t
a
n
g
u
lar
d
is
p
lace
m
e
n
ts
a
n
d
d
ir
ec
tio
n
s
o
f
th
e
m
o
to
r
.
T
h
e
s
i
m
u
la
ti
o
n
m
o
d
el
an
d
ex
p
er
i
m
en
tal
r
esu
lt
s
co
n
f
o
r
m
t
h
e
ad
v
an
ta
g
es a
n
d
r
o
b
u
s
tn
e
s
s
o
f
t
h
e
p
r
o
p
o
s
ed
ce
n
tr
alize
d
s
p
ee
d
co
n
tr
o
l
.
2.
DC
M
O
T
O
R
SPEE
D
CO
NT
RO
L
F
UNCT
I
O
NA
L
B
L
O
C
K
DIAG
R
AM
2
.
1
.
Sp
ee
d
Co
ntr
o
l
o
f
DC
M
o
t
o
rs
T
h
is
w
o
r
k
u
s
e
s
a
s
ep
ar
atel
y
e
x
cited
DC
m
o
to
r
,
w
h
ic
h
is
o
f
ten
u
s
ed
f
o
r
th
e
v
elo
cit
y
tu
n
i
n
g
a
n
d
th
e
p
o
s
itio
n
ad
j
u
s
t
m
en
t.
T
h
e
p
r
o
p
o
s
ed
DC
m
o
to
r
co
n
tr
o
l
is
b
y
u
s
in
g
t
h
e
ar
m
atu
r
e
v
o
lta
g
e
co
n
t
r
o
l
m
eth
o
d
,
w
h
er
e
th
e
f
ield
v
o
lta
g
e
m
ai
n
tai
n
in
g
co
n
s
ta
n
t.
T
h
e
eq
u
iv
a
len
t
c
ir
cu
it
o
f
th
e
DC
m
o
to
r
u
s
in
g
t
h
e
ar
m
atu
r
e
v
o
lta
g
e
co
n
tr
o
l
m
et
h
o
d
is
s
h
o
w
n
in
Fi
g
u
r
e
1
.
Fig
u
r
e
1
.
DC
m
o
to
r
eq
u
iv
a
len
t
cir
cu
it
A
r
m
at
u
r
e
r
esis
ta
n
ce
(
Ω
)
A
r
m
at
u
r
e
in
d
u
cta
n
ce
(
H)
A
r
m
at
u
r
e
cu
r
r
en
t (
A
)
Field
cu
r
r
en
t (
A
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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694
Lo
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h
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a
tir
a
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658
I
n
p
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lta
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(
V)
B
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
(
E
MF)
(
V)
Mo
to
r
to
r
q
u
e
(
N
m
)
ω
R
o
to
r
in
er
tia
(
k
g
m
)
B
Fric
tio
n
co
n
s
tan
t (
N
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s
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T
o
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q
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W
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h
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b
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d
i
ag
r
a
m
o
f
a
D
C
m
o
to
r
ar
m
at
u
r
e
v
o
ltag
e
co
n
tr
o
l
s
y
s
te
m
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
2
,
in
w
h
ic
h
co
n
tr
o
l
p
ar
am
eter
is
s
u
p
p
l
y
v
o
ltag
e
(
g
iv
e
n
th
r
o
u
g
h
DC
to
D
C
co
n
v
er
ter
)
Fig
u
r
e
2.
DC
m
o
to
r
ar
m
at
u
r
e
co
n
tr
o
l s
y
s
te
m
b
lo
ck
d
ia
g
r
a
m
.
3.
P
RO
P
O
SE
D
DC
M
O
T
O
R
SPEE
D
CO
N
T
RO
L
I
N
L
AB
VIE
W
E
NV
I
RO
NM
E
NT
T
h
e
f
ir
s
t
s
tep
to
s
c
h
e
m
i
n
g
a
c
lo
s
ed
-
lo
o
p
co
n
tr
o
ller
is
to
d
i
s
co
v
er
a
m
a
th
e
m
atica
l
ill
u
s
tr
at
io
n
o
f
th
e
s
y
s
te
m
to
cr
ea
te
a
m
o
d
el.
Ma
n
y
t
y
p
es
o
f
s
y
s
te
m
s
ca
n
be
m
o
d
eled
,
in
clu
d
in
g
m
ec
h
a
n
ical
s
y
s
te
m
s
,
elec
tr
o
n
ic
cir
cu
its
,
an
alo
g
a
n
d
d
i
g
ital
f
i
lt
er
s
,
an
d
lo
ad
s
y
s
te
m
(
m
ec
h
a
n
i
ca
l
lo
ad
)
.
Fo
r
th
i
s
tr
ial,
w
e
h
a
v
e
cr
ea
ted
a
m
o
d
el
f
o
r
a
D
C
m
o
to
r
t
h
r
o
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g
h
VI
,
b
ased
o
n
t
h
e
tr
an
s
f
er
f
u
n
ctio
n
(
Fig
u
r
e
2
)
.
T
h
e
DC
m
o
to
r
ca
n
b
e
b
est
r
ep
r
esen
te
d
b
y
a
tr
a
n
s
f
er
f
u
n
ctio
n
.
A
tr
a
n
s
f
er
f
u
n
ctio
n
p
r
o
v
id
es a
m
at
h
e
m
atica
l
d
escr
ip
tio
n
f
o
r
h
o
w
th
e
in
p
u
ts
a
n
d
o
u
tp
u
t
s
o
f
a
s
y
s
te
m
ar
e
r
elate
d
.
I
n
o
u
r
ca
s
e,
t
h
e
i
n
p
u
t
to
t
h
e
s
y
s
te
m
i
s
v
o
lta
g
e
(
V
m
)
an
d
t
h
e
o
u
tp
u
t
f
r
o
m
th
e
s
y
s
te
m
is
an
g
u
lar
v
e
lo
cit
y
(
Ω
m
)
.
W
e
ca
n
u
s
e
t
h
e
eq
u
atio
n
b
elo
w
to
r
ep
r
esen
t t
h
e
m
o
d
el
o
f
o
u
r
D
C
M
o
to
r
,
w
h
er
e:
k
m
=
Mo
to
r
b
ac
k
-
E
MF
co
n
s
ta
n
t (
V/
(
r
ad
/s
)
)
R
m
=
Mo
to
r
ar
m
at
u
r
e
r
esis
ta
n
ce
(
Oh
m
s
)
J
eq
=
E
q
u
iv
alen
t
m
o
m
e
n
t o
f
i
n
er
tia
(
k
g
*
m
2
)
(
Ass
u
m
e
t
h
at
J
eq
=J
m
(
Mo
to
r
ar
m
at
u
r
e
m
o
m
en
t
o
f
in
er
tia)
)
M
o
d
el
o
f
th
e
DC
M
o
to
r
r
ep
r
esen
ted
in
t
h
e
L
ab
VI
E
W
Ma
th
Scr
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I
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N
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g
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Fig
u
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6
.
I
ter
ativ
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P
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s
s
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n
tr
o
ller
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I
J
PEDS
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N:
2
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8
8
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8
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
No
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3
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2
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1
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:
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4.
H
ARDWA
R
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DIS
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4
.
1
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m
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s
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u
m
e
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t
USB
6008.
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t
is
a
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w
co
s
t
m
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w
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ith
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h
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[
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]
.
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it
h
p
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p
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co
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u
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6
-
1
0
1
0
[3
]
G
u
o
sh
in
g
Hu
a
n
g
,
S
h
u
o
c
h
e
n
g
L
e
e
,
P
C
-
b
a
se
d
P
ID S
p
e
e
d
Co
n
tro
l
in
DC M
o
t
o
r
[4
]
Zi
lo
n
g
L
iu
,
Xia
n
y
i
Zh
u
a
n
g
,
a
n
d
S
h
u
y
i
W
a
n
g
“
S
p
e
e
d
Co
n
trl
o
f
a
DC
M
o
to
r
Us
in
g
BP
Ne
u
ra
l
Ne
t
wo
rk
s
”
,
in
c
o
n
f
.
Re
c
.
2
0
0
3
IE
EE
In
t.
C
o
n
f
.
Co
n
tro
l
A
p
p
li
c
a
ti
o
n
s,
p
p
.
8
3
2
-
8
3
5
.
[5
]
R.
Krish
n
a
n
,
“
El
e
c
tri
c
M
o
to
r
Dr
i
v
e
s
M
o
d
e
li
n
g
,
A
n
a
ly
sis,
a
n
d
Co
n
t
ro
l”,
P
re
n
ti
c
e
Ha
ll
In
tern
a
ti
o
n
a
l
,
I
n
c
.
,
2
0
0
1
.
[6
]
DA
Q US
B
-
6
0
0
8
Us
e
r
M
a
n
u
a
l,
N
a
ti
o
n
a
l
I
n
stru
m
e
n
ts,
1
9
9
9
[7
]
A
.
S
h
u
q
i
u
G
o
n
g
,
B.
Bin
h
e
,
“
L
a
b
VIE
W
b
a
se
d
a
u
t
o
ma
ti
c
risi
n
g
a
n
d
fa
l
li
n
g
sp
e
e
d
c
o
n
tro
l
o
f
st
e
p
p
e
r
mo
to
r”
,
In
tern
a
ti
o
n
a
l
c
o
n
f
e
re
n
c
e
o
n
e
lec
tri
c
a
l
m
a
c
h
in
e
s an
d
sy
ste
m
s (ICE
M
S
),
2
0
0
9
.
[8
]
S
rin
iv
a
sa
n
,
M
.
B.
,
A
.
S
h
irk
h
o
d
a
i
e
,
a
n
d
M
.
M
a
lk
a
n
i,
“
L
a
b
VIE
W
p
ro
g
r
a
m
d
e
sig
n
fo
r
o
n
-
li
n
e
d
a
t
a
a
c
q
u
isio
n
a
n
d
p
re
d
ictive
ma
in
ten
a
n
c
e
”
,
P
r
o
c
e
e
d
in
g
s
o
f
th
e
T
h
irt
ieth
IEE
E
S
o
u
th
e
a
ste
rn
S
y
m
p
o
sin
m
o
n
S
y
ste
m
T
h
e
o
r
y
,
1
9
9
8
,
p
p
.
5
2
0
-
5
2
4
.
[9
]
Ba
e
k
,
S
.
M
.
a
n
d
T
.
Y.
Ku
c
.
,
“
A
n
a
d
a
p
ti
v
e
P
ID
lea
rn
i
n
g
c
o
n
tro
l
o
f
D
C
m
o
to
r”
,
IEE
E
In
ter
n
a
ti
o
n
a
l
,
Vo
lu
m
e
.
3
,
1
9
9
7
,
p
p
.
2
8
7
7
-
2
8
8
2
[1
0
]
W.
Jia
n
g
,
F
.
Yu
a
n
,
“
De
sig
n
o
f
tem
p
e
ra
tu
re
c
o
n
tro
l
sy
ste
m
b
a
se
d
o
n
L
a
b
V
IEW
e
n
v
iro
n
m
e
n
t”,
Fo
r
e
ig
n
El
e
c
tro
n
ic
M
e
a
su
re
m
e
n
t
T
e
c
h
n
o
l
o
g
y
,
2
3
(3
),
8
–
1
0
,
2
0
0
4
.
[1
1
]
S
h
iau
,
T
.
J.,
J.L
.
W
a
n
g
a
n
d
S
.
W
.
Ch
u
.
,
P
ro
g
ra
m
De
sig
n
o
f
V
irt
u
a
l
In
stru
m
e
n
t
Co
n
tr
o
l
L
a
b
V
IEW
7
X.
G
a
u
L
ih
Bo
o
k
c
o
.
,
L
td
,
T
a
ip
e
i
T
a
iw
a
n
,
2
0
0
4
[1
2
]
X
ie
b
i
n
,
Z
h
a
n
g
Ch
a
o
,
S
u
n
Ho
n
g
-
X
ia
,
M
a
o
e
n
-
R
o
n
g
.
El
e
c
tri
c
v
e
h
icle
Du
a
l
-
m
o
to
r
Co
n
tr
o
l
T
e
a
c
h
in
g
Ex
p
e
rime
n
t
P
latf
o
rm
b
a
se
d
o
n
L
a
b
V
IEW
.
[1
3
]
Zh
a
n
g
L
in
,
S
o
n
g
Yin
,
“
De
sig
n
o
f
PID
T
e
mp
e
ra
t
u
re
Co
n
tro
ll
i
n
g
S
y
ste
m
Ba
se
d
o
n
Vi
rtu
a
l
I
n
stru
me
n
t
T
e
c
h
n
iq
u
e
”
,
T
h
e
Ei
g
h
th
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
El
e
c
tro
n
ic M
e
a
su
re
m
e
n
t
a
n
d
I
n
stru
m
e
n
ts
,
2
0
0
5
.
[1
4
]
S
u
jath
a
S
r
in
iv
a
sa
n
,
“
L
a
b
V
IEW
P
r
o
g
ra
m
D
e
sig
n
f
o
r
Da
ta
Ac
q
u
isit
io
n
a
n
d
P
re
d
icti
o
n
o
f
a
F
a
n
-
M
o
to
r
S
y
ste
m
”
,
S
e
p
tem
b
e
r
1
9
9
7
[1
5
]
S
p
o
e
l
d
e
r,
H.J.W
.
,
“
V
ir
tu
a
l
i
n
str
u
m
e
n
tatio
n
a
n
d
v
irt
u
a
l
e
n
v
iro
n
m
e
n
t”,
IEE
E
in
str
u
me
n
ta
ti
o
n
a
n
d
me
a
su
re
me
n
t
ma
g
a
zi
n
e
,
2
(3
),
1
4
–
1
9
,
1
9
9
9
.
[1
6
]
Na
ti
o
n
a
l
In
str
u
m
e
n
ts,
“
Ge
tt
in
g
S
tarte
d
w
it
h
L
a
b
V
IEW
”
,
Na
ti
o
n
a
l
In
str
u
me
n
ts,
T
e
c
h
n
iq
u
e
Rep
o
r
t
,
3
7
3
4
2
7
F
-
0
1
,
2
0
0
9
.
[1
7
]
C.
Bh
a
ra
ti
ra
ja,
Ha
rsh
a
v
a
rd
h
a
n
Re
d
d
y
,
N.
S
ri
Ra
m
sa
i,
S
u
n
k
a
v
a
ll
i
S
a
ty
a
S
a
isu
m
a
,
“
F
P
G
A
Ba
se
d
De
sig
n
a
n
d
V
a
li
d
a
ti
o
n
o
f
A
s
y
m
m
e
tri
c
a
l
Re
d
u
c
e
d
S
w
it
c
h
M
u
lt
il
e
v
e
l
In
v
e
rter
”
,
In
ter
n
a
ti
o
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
)
,
Vo
l.
7
,
No
.
2
,
Ju
n
e
2
0
1
6
,
p
p
.
3
4
0
-
3
4
8
.
[1
8
]
Brian
R
Co
p
e
lan
d
,
“
T
h
e
De
sig
n
o
f
P
ID Co
n
tro
l
lers
u
sin
g
Zi
e
g
ler N
ich
o
ls
T
u
n
i
n
g
”
,
(M
a
rc
h
2
0
0
8
).
[1
9
]
Ra
ji
n
d
e
r
T
iw
a
ri,
G
.
R.
M
ish
ra
,
S
a
c
h
in
K
u
m
a
r,
R
K.
S
in
g
h
“
A
n
in
n
o
v
a
ti
v
e
a
p
p
ro
a
c
h
o
f
stu
d
y
o
f
th
e
p
e
rf
o
r
m
a
n
c
e
o
f
DC
m
o
to
rs
u
sin
g
L
a
b
V
IEW
”
,
IS
T
P
J
o
u
rn
a
l
o
f
Res
e
a
rc
h
in
El
e
c
trica
l
a
n
d
El
e
c
tro
n
ics
En
g
i
n
e
e
rin
g
(
IS
T
P
-
J
RE
EE
).
1
st I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Res
e
a
rc
h
in
S
c
ien
c
e
,
E
n
g
i
n
e
e
rin
g
&
M
a
n
a
g
e
me
n
t
(
IOCRS
EM
)
,
2
0
1
4
.
[2
0
]
A
.
A
.
Ro
d
rig
u
e
z
e
t
a
l,
“
De
sc
rip
ti
o
n
o
f
a
M
o
d
e
li
n
g
,
S
im
u
latio
n
,
A
n
i
m
a
ti
o
n
,
a
n
d
Re
a
l
-
T
i
m
e
Co
n
tro
l
(M
o
S
A
RT)
En
v
iro
n
m
e
n
t
f
o
r
a
Clas
s o
f
El
e
c
tro
m
e
c
h
a
n
ica
l
S
y
ste
m
r
e
so
u
rc
e
s”
,
IEE
E
T
ra
n
s.
E
d
u
c
.
,
4
8
(3
)
,
p
p
-
3
5
9
-
3
7
4
,
2
0
0
5
.
[2
1
]
C
Bh
a
ra
ti
ra
ja,
Ha
rsh
a
v
a
rd
h
a
n
Re
d
d
y
,
S
u
n
k
a
v
a
ll
i
S
a
ty
a
S
a
i
S
u
m
a
,
N
S
riRam
s
a
i
,
“
F
P
G
A
Ba
se
d
De
sig
n
a
n
d
V
a
li
d
a
ti
o
n
o
f
A
s
y
m
m
e
tri
c
a
l
Re
d
u
c
e
d
S
w
it
c
h
M
u
lt
il
e
v
e
l
In
v
e
rter”
,
In
ter
n
a
ti
o
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
ms
.
,
v
o
l
7
,
n
o
2
,
p
p
.
7
0
-
8
5
,
Ju
n
e
2
0
1
6
.
[2
2
]
C.
Bh
a
ra
ti
r
a
ja,
S
.
Je
e
v
a
n
a
n
th
a
n
,
R.
L
a
th
a
,
“
V
e
c
to
r
S
e
lec
ti
o
n
A
p
p
r
o
a
c
h
-
b
a
se
d
He
x
a
g
o
n
a
l
Hy
ste
re
si
s
S
p
a
c
e
V
e
c
to
r
Cu
rre
n
t
Co
n
tro
ll
e
r
f
o
r
a
T
h
re
e
-
p
h
a
se
Dio
d
e
Clam
p
e
d
M
L
I
w
i
th
Ca
p
a
c
it
o
r
Vo
lt
a
g
e
Ba
lan
c
in
g
”
,
IET
Po
we
r
El
e
c
tro
n
ics
,
v
o
l.
9
,
Iss
u
e
7
,
p
p
.
1
3
5
0
-
1
3
6
1
,
8
Ju
n
e
2
0
1
6
.
[2
3
]
C.
Bh
a
ra
ti
ra
ja,
J.L
.
M
u
n
d
a
,
S
rir
a
m
sa
i
N,
S
a
i
Na
v
e
n
e
e
sh
T
,
“
In
v
e
stig
a
ti
o
n
o
f
th
e
Co
m
m
o
n
M
o
d
e
V
o
lt
a
g
e
f
o
r
a
Ne
u
tral
-
P
o
i
n
t
Clam
p
e
d
M
u
lt
il
e
v
e
l
In
v
e
rter
Driv
e
a
n
d
it
s
in
n
o
v
a
ti
v
e
e
li
m
in
a
ti
o
n
th
r
o
u
g
h
S
VP
W
M
S
w
it
c
h
in
g
-
S
tate
Re
d
u
n
d
a
n
c
y
”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
V
o
l
7
,
No
3
:
P
a
g
e
s
1
2
5
-
1
4
6
.
S
e
p
tem
b
e
r
2
0
1
6
,
[2
4
]
C.
Bh
a
ra
ti
ra
ja,
R.
L
a
th
a
,
Dr.
S
.
Je
e
v
a
n
a
n
th
a
n
,
S
.
Ra
g
h
u
a
n
d
Dr.
S
.
S
.
Da
sh
.
“
De
sig
n
a
n
d
V
a
li
d
a
ti
o
n
o
f
S
im
p
le S
p
a
c
e
V
e
c
to
r
P
W
M
S
c
h
e
m
e
f
o
r
T
h
re
e
-
L
e
v
e
l
NP
C
-
M
L
I
w
it
h
In
v
e
stig
a
ti
o
n
o
f
D
c
L
in
k
Im
b
a
lan
c
e
u
sin
g
F
P
GA
IP
C
o
re
”
,
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
,
v
o
l.
1
3
,
e
d
it
i
o
n
1
,
p
p
5
4
-
6
3
,
2
0
1
3
.
[2
5
]
C.
Bh
a
ra
ti
ra
ja,
S
.
Je
e
v
a
n
a
n
th
a
n
,
J.L
.
M
u
n
d
a
,
a
n
d
R.
L
a
th
a
,
“
Im
p
ro
v
e
d
S
VP
W
M
v
e
c
to
r
se
lec
ti
o
n
a
p
p
r
o
a
c
h
e
s
in
OV
M
re
g
io
n
to
re
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