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I
SS
N:
2088
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201
8
In
s
t
it
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C
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Dep
ar
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[
1
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A
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[
4
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r
q
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is
r
eq
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[
5
,
6
]
.
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(
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t
to
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(
DT
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7
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8
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
P
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w
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E
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o
n
&
Dr
i
S
y
s
t
I
SS
N:
2088
-
8
694
R
ev
iew
o
f sli
d
in
g
mo
d
e
o
b
s
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fo
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S
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s
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C
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t Ma
g
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(
Ga
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a
p
a
th
y
R
a
m
A
)
47
lo
ad
p
ar
am
eter
v
ar
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n
o
r
an
y
ex
tr
a
n
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u
s
d
is
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s
.
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h
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m
ai
n
a
d
v
a
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f
DT
C
ar
e:
th
e
ab
s
e
n
ce
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f
co
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r
d
in
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tr
an
s
f
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s
,
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ab
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lar
s
p
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d
an
d
p
o
s
itio
n
o
f
th
e
r
o
to
r
[
9
]
.
B
o
t
h
co
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tr
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l
s
tr
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h
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b
ee
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s
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cc
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s
f
u
ll
y
i
m
p
le
m
en
ted
in
in
d
u
s
tr
ial
p
r
o
d
u
cts.
T
h
e
m
ai
n
d
r
a
w
b
ac
k
o
f
a
P
M
SM
is
th
e
p
o
s
itio
n
s
en
s
o
r
.
T
h
e
u
s
e
o
f
s
u
ch
d
ir
ec
t
s
p
ee
d
/p
o
s
itio
n
s
e
n
s
o
r
s
i
m
p
lie
s
ad
d
itio
n
al
elec
tr
o
n
ic
s
,
ex
tr
a
w
ir
i
n
g
,
ex
tr
a
s
p
ac
e,
f
r
eq
u
en
t
m
ai
n
ten
a
n
ce
a
n
d
ca
r
ef
u
l
m
o
u
n
ti
n
g
w
h
ic
h
d
etr
ac
ts
f
r
o
m
t
h
e
i
n
h
er
en
t
r
o
b
u
s
t
n
ess
a
n
d
r
eliab
ilit
y
o
f
th
e
d
r
iv
e.
Fo
r
th
ese
r
ea
s
o
n
s
,
th
e
d
ev
elo
p
m
e
n
t
o
f
alter
n
a
tiv
e
i
n
d
ir
ec
t
m
et
h
o
d
s
b
ec
o
m
e
s
an
i
m
p
o
r
tan
t
r
esear
c
h
to
p
ic
[
1
0
,
1
1
]
.
P
MSM
d
r
iv
e
r
esear
ch
h
a
s
b
ee
n
co
n
ce
n
tr
ate
d
o
n
th
e
eli
m
i
n
atio
n
o
f
th
e
m
ec
h
an
ica
l
s
en
s
o
r
s
at
th
e
m
o
to
r
s
h
af
t
(
en
co
d
er
,
r
eso
lv
er
,
Hall
-
e
f
f
ec
t
s
e
n
s
o
r
,
etc.
)
w
it
h
o
u
t
d
eter
io
r
atin
g
t
h
e
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
s
o
f
t
h
e
d
r
iv
e.
Ma
n
y
ad
v
a
n
tag
es
o
f
s
e
n
s
o
r
les
s
ac
d
r
iv
es
s
u
ch
a
s
r
ed
u
ce
d
h
ar
d
w
ar
e
co
m
p
lex
it
y
,
lo
w
co
s
t,
r
ed
u
ce
d
s
ize,
ca
b
le
eli
m
i
n
atio
n
,
in
cr
ea
s
ed
n
o
is
e
i
m
m
u
n
it
y
,
in
cr
ea
s
ed
r
eliab
ilit
y
a
n
d
d
ec
r
ea
s
ed
m
ai
n
ten
a
n
ce
.
Sp
ee
d
s
en
s
o
r
les
s
m
o
to
r
d
r
iv
es
ar
e
also
p
r
ef
er
r
ed
in
h
o
s
tile
en
v
i
r
o
n
m
en
t
s
,
an
d
h
i
g
h
s
p
ee
d
ap
p
licatio
n
s
[
1
2
,
1
3
]
.
2.
P
M
S
M
M
O
DE
L
T
h
e
P
MSM
m
o
d
el
ca
n
b
e
d
er
iv
ed
b
y
tak
e
n
th
e
f
o
llo
w
i
n
g
a
s
s
u
m
p
tio
n
s
i
n
to
co
n
s
id
er
atio
n
,
T
h
e
in
d
u
ce
d
E
MF
is
s
i
n
u
s
o
id
a
l
E
d
d
y
cu
r
r
e
n
ts
a
n
d
h
y
s
ter
esi
s
l
o
s
s
es a
r
e
n
e
g
li
g
ib
le
T
h
er
e
is
n
o
ca
g
e
o
n
th
e
r
o
to
r
T
h
e
v
o
ltag
e
an
d
f
lu
x
eq
u
atio
n
s
f
o
r
a
P
MSM
in
th
e
r
o
to
r
r
ef
er
en
ce
(d
-
q
)
f
r
a
m
e
ca
n
b
e
ex
p
r
ess
ed
as [
8
]
:
(
1
)
(
2
)
(
3
)
(
4
)
T
h
e
to
r
q
u
e
eq
u
atio
n
ca
n
b
e
d
escr
ib
ed
as:
(
5
)
T
h
e
eq
u
atio
n
f
o
r
th
e
m
o
to
r
d
y
n
a
m
ic
ca
n
b
e
ex
p
r
ess
ed
as:
(
6
)
w
h
er
e
th
e
a
n
g
u
lar
f
r
eq
u
en
c
y
i
s
r
elate
d
to
th
e
r
o
to
r
s
p
ee
d
as f
o
llo
w
s
:
(
7
)
w
h
er
e
P
is
t
h
e
n
u
m
b
er
o
f
p
o
le
p
air
s
,
R
s
,
i
s
t
h
e
s
tato
r
w
i
n
d
i
n
g
r
e
s
is
ta
n
ce
,
ω
f
is
t
h
e
an
g
u
lar
f
r
eq
u
en
c
y
,
v
d
s
,
v
q
s
a
n
d
id
s
,
iq
s
ar
e
d
-
q
co
m
p
o
n
e
n
t
s
o
f
th
e
s
t
ato
r
w
i
n
d
i
n
g
c
u
r
r
en
t
a
n
d
v
o
lta
g
e,
ψd
s
a
n
d
ψq
s
ar
e
d
-
q
co
m
p
o
n
e
n
t
s
o
f
t
h
e
s
tato
r
f
l
u
x
li
n
k
ag
e,
L
d
an
d
L
q
ar
e
d
an
d
q
ax
is
i
n
d
u
cta
n
ce
s
,
a
n
d
ψr
is
th
e
r
o
to
r
f
l
u
x
lin
k
ag
e.
F
i
s
t
h
e
f
r
ictio
n
co
e
f
f
icien
t
r
elatin
g
to
t
h
e
r
o
to
r
s
p
ee
d
;
J
is
t
h
e
m
o
m
e
n
t
o
f
in
er
t
ia
o
f
t
h
e
r
o
to
r
;
ω
r
i
s
th
e
elec
tr
ical
an
g
u
lar
p
o
s
itio
n
o
f
th
e
r
o
to
r
; a
n
d
T
e
an
d
T
L
ar
e
th
e
elec
tr
ical
an
d
lo
ad
to
r
q
u
es o
f
th
e
P
MSM
.
ds
d
s
s
d
s
q
s
d
v
R
i
dt
ψ
ωψ
qs
q
s
s
q
s
d
s
d
v
R
i
dt
ψ
ωψ
d
s
d
d
s
r
Li
ψψ
q
s
q
q
s
Li
ψ
e
r
q
s
q
d
d
s
q
s
3
T
P
i
(
L
L
)
i
i
2
ψ
r
e
L
r
d1
(
T
T
F
)
d
t
J
ω
ω
r
d
P
dt
θ
ωω
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
er
E
lectr
o
n
&
Dr
i S
y
s
t
,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
46
–
54
48
3.
SPEE
D
E
S
T
I
M
AT
I
O
N
S
CH
E
M
E
S O
F
SE
NSO
R
L
E
SS
P
M
S
M
DRIVE
S
Sev
er
al
s
p
ee
d
an
d
p
o
s
itio
n
e
s
ti
m
atio
n
al
g
o
r
ith
m
s
o
f
P
MSM
d
r
i
v
es
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
[
1
4
]
.
T
h
ese
m
et
h
o
d
s
ca
n
b
e
cla
s
s
i
f
ied
i
n
t
o
th
r
ee
m
ai
n
ca
te
g
o
r
ies.
T
h
e
f
ir
s
t
ca
teg
o
r
y
is
b
ased
o
n
f
u
n
d
a
m
en
tal
e
x
citatio
n
s
m
et
h
o
d
s
w
h
ic
h
ar
e
d
iv
id
ed
in
t
o
t
w
o
m
a
in
g
r
o
u
p
s
;
n
o
n
-
ad
ap
tiv
e
o
r
ad
ap
tiv
e
m
et
h
o
d
s
.
T
h
e
s
ec
o
n
d
ca
teg
o
r
y
i
s
b
ased
o
n
s
alien
c
y
a
n
d
s
i
g
n
al
in
j
ec
tio
n
m
e
th
o
d
s
.
T
h
e
th
ir
d
d
o
n
e
is
b
ased
o
n
ar
tific
ial
i
n
t
ellig
e
n
ce
m
eth
o
d
s
.
T
h
ese
m
eth
o
d
s
o
f
s
p
ee
d
an
d
p
o
s
itio
n
esti
m
at
io
n
ca
n
b
e
d
e
m
o
n
s
tr
ated
in
Fi
g
u
r
e
1
.
Fig
u
r
e
1
.
Sp
ee
d
esti
m
atio
n
s
c
h
e
m
e
s
o
f
s
e
n
s
o
r
less
P
MSM
d
r
iv
es
3
.
1
Ada
ptiv
e
M
e
t
ho
ds
I
n
t
h
is
ca
teg
o
r
y
,
v
ar
io
u
s
t
y
p
es
o
f
o
b
s
er
v
er
s
ar
e
u
s
ed
to
esti
m
ate
r
o
to
r
p
o
s
itio
n
.
T
h
e
f
u
n
d
a
m
en
tal
id
ea
is
t
h
at
a
m
ath
e
m
at
ical
m
o
d
el
o
f
t
h
e
m
ac
h
in
e
is
u
tili
ze
d
a
n
d
it
ta
k
es
m
ea
s
u
r
ed
i
n
p
u
t
s
o
f
t
h
e
ac
tu
al
s
y
s
te
m
an
d
p
r
o
d
u
ce
s
esti
m
ated
o
u
tp
u
ts
.
T
h
e
er
r
o
r
b
etw
ee
n
t
h
e
esti
m
ated
o
u
tp
u
ts
a
n
d
m
ea
s
u
r
ed
q
u
a
n
titi
es is
t
h
en
f
ed
b
ac
k
in
to
th
e
s
y
s
te
m
m
o
d
el
to
co
r
r
ec
t
th
e
esti
m
ated
v
al
u
es
ad
ap
tatio
n
m
ec
h
an
is
m
.
T
h
e
b
ig
g
est
ad
v
an
tag
e
o
f
u
s
i
n
g
o
b
s
er
v
er
s
is
th
at
all
o
f
th
e
s
tat
es
in
t
h
e
s
y
s
te
m
m
o
d
el
ca
n
b
e
est
i
m
ated
i
n
clu
d
i
n
g
s
tates
t
h
a
t
ar
e
h
ar
d
to
o
b
tain
b
y
m
ea
s
u
r
e
m
e
n
ts
.
Als
o
,
i
n
th
e
o
b
s
er
v
er
b
ased
m
et
h
o
d
s
,
th
e
er
r
o
r
ac
cu
m
u
latio
n
p
r
o
b
le
m
s
i
n
t
h
e
f
l
u
x
ca
lcu
latio
n
m
et
h
o
d
s
d
o
n
o
t
ex
is
t
[
1
5
]
,
b
u
t
th
e
li
m
i
tatio
n
is
p
o
o
r
s
p
ee
d
ad
j
u
s
tab
ilit
y
at
lo
w
s
p
ee
d
,
co
m
p
licate
d
alg
o
r
ith
m
a
n
d
h
u
g
e
ca
lc
u
latio
n
[
2
]
.
Ob
s
er
v
er
s
h
av
e
b
ee
n
i
m
p
le
m
en
ted
i
n
s
e
n
s
o
r
les
s
P
M
m
o
to
r
d
r
iv
e
s
y
s
te
m
s
.
T
h
e
ad
ap
tio
n
m
ec
h
a
n
is
m
b
as
ed
o
n
th
e
f
o
llo
w
i
n
g
t
h
r
ee
m
e
th
o
d
s
ar
e
s
u
p
er
s
tab
ili
t
y
t
h
eo
r
y
(
P
o
p
o
v
)
,
k
al
m
a
n
f
ilter
,
an
d
m
et
h
o
d
o
f
least
er
r
o
r
s
q
u
ar
e
[
1
6
]
.
Me
th
o
d
s
u
s
in
g
th
e
P
o
p
o
v
ar
e
m
o
d
el
r
ef
er
en
ce
ad
ap
tiv
e
s
y
s
te
m
an
d
lu
e
n
b
er
g
er
o
b
s
er
v
er
.
3
.
1
.
1
O
bs
er
v
er
-
B
a
s
ed
E
s
t
i
m
a
t
o
rs
Ob
s
er
v
er
m
et
h
o
d
s
u
s
e
r
ea
l
m
o
d
el
o
f
th
e
m
o
to
r
in
s
tead
o
f
th
e
r
ef
er
en
ce
m
o
d
el
.
T
h
e
o
b
s
er
v
er
is
th
e
ad
ap
tiv
e
m
o
d
el
w
it
h
a
co
n
s
ta
n
tl
y
u
p
d
ated
g
ai
n
m
atr
ix
K
wh
ich
is
s
e
lecte
d
b
y
ch
o
o
s
i
n
g
t
h
e
eig
e
n
v
al
u
es
i
n
a
w
a
y
,
s
u
c
h
t
h
at
th
e
s
y
s
te
m
w
ill
b
e
s
tab
le
a
n
d
tr
an
s
ie
n
t
r
esp
o
n
s
e
o
f
t
h
e
s
y
s
te
m
w
i
ll
b
e
d
y
n
a
m
icall
y
f
as
ter
th
a
n
th
e
P
M
m
ac
h
i
n
e
[
1
6
]
.
L
u
en
b
er
g
er
o
b
s
er
v
er
,
r
ed
u
ce
d
o
r
d
e
r
o
b
s
er
v
er
an
d
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
f
all
u
n
d
er
th
is
ca
teg
o
r
y
.
C
o
m
p
ar
ativ
e
l
y
,
s
li
d
in
g
m
o
d
e
o
b
s
er
v
er
i
s
w
id
el
y
u
s
ed
w
i
th
th
e
ad
v
a
n
tag
e
s
th
at
t
h
e
p
ar
a
m
eter
s
en
s
iti
v
it
y
o
f
th
e
m
at
h
e
m
atic
al
m
o
d
el
is
less
,
co
n
tr
o
l
alg
o
r
ith
m
b
ei
n
g
s
i
m
p
le,
a
n
d
r
o
b
u
s
t
w
h
e
n
th
e
m
o
to
r
p
ar
am
eter
s
h
a
v
e
s
li
g
h
t
v
ar
iati
o
n
s
w
it
h
s
o
m
e
ex
ter
n
al
d
is
t
u
r
b
an
ce
s
.
4.
SL
I
DIN
G
M
O
DE
O
B
SE
RV
E
R
(
SM
O
)
T
h
e
s
lid
in
g
m
o
d
e
co
n
tr
o
l
is
th
e
ess
e
n
ce
o
f
h
i
g
h
-
f
r
eq
u
en
c
y
s
w
i
tch
in
g
f
ee
d
b
ac
k
co
n
tr
o
l.
T
h
e
s
w
itc
h
in
g
v
al
u
e
o
f
its
co
n
tr
o
l
la
w
s
w
itc
h
es
o
v
er
ac
co
r
d
in
g
to
th
e
s
y
s
te
m
s
ta
te.
Des
ig
n
o
f
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
is
co
m
p
o
s
ed
o
f
t
w
o
p
ar
ts
,
n
a
m
el
y
s
lid
i
n
g
s
u
r
f
ac
e
an
d
co
n
tr
o
l
la
w
.
So
th
at
t
h
e
d
y
n
a
m
ic
s
y
s
te
m
h
a
v
e
b
ee
n
b
o
u
n
d
at
t
h
e
s
lid
i
n
g
m
o
d
e
s
u
r
f
ac
e.
T
h
is
k
i
n
d
o
f
s
tate
al
s
o
is
k
n
o
w
n
as
s
lid
i
n
g
m
o
d
e
s
tate,
w
h
ic
h
i
s
o
n
l
y
r
elativ
e
w
it
h
th
e
c
h
o
ice
o
f
s
lid
in
g
s
u
r
f
ac
e.
T
h
e
d
y
n
a
m
ic
s
y
s
te
m
o
f
th
e
s
lid
in
g
s
tate
is
w
it
h
o
u
t
o
u
t
s
id
e
in
f
lu
e
n
ce
.
I
n
o
t
h
er
w
o
r
d
s
,
w
h
en
t
h
e
s
y
s
te
m
g
o
es
i
n
to
t
h
e
s
l
id
in
g
s
tate,
th
e
s
l
id
in
g
m
o
d
e
v
ar
iab
le
also
i
s
ab
le
to
co
n
v
er
g
e
to
ze
r
o
.
T
h
e
er
r
o
r
b
et
w
ee
n
co
n
tr
o
l o
b
j
ec
tiv
e,
r
ef
er
en
ce
in
p
u
t a
n
d
its
d
er
i
v
ati
v
e
is
u
s
ed
to
f
o
r
m
t
h
e
s
lid
in
g
s
u
r
f
ac
e.
I
f
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e
is
t
h
e
lin
ea
r
co
m
b
in
at
io
n
o
f
t
h
e
er
r
o
r
an
d
its
co
r
r
esp
o
n
d
in
g
d
if
f
er
e
n
tiatio
n
,
it
b
ec
o
m
e
s
a
lin
ea
r
s
lid
in
g
s
u
r
f
ac
e.
I
n
a
s
i
m
ilar
w
a
y
,
i
f
th
e
s
lid
in
g
s
u
r
f
ac
e
is
t
h
e
n
o
n
lin
ea
r
co
m
b
i
n
atio
n
o
f
t
h
e
er
r
o
r
an
d
its
co
r
r
esp
o
n
d
in
g
d
if
f
er
e
n
tiatio
n
,
it b
ec
o
m
es a
n
o
n
li
n
ea
r
s
lid
i
n
g
s
u
r
f
ac
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i
S
y
s
t
I
SS
N:
2088
-
8
694
R
ev
iew
o
f sli
d
in
g
mo
d
e
o
b
s
erv
ers
fo
r
S
en
s
o
r
les
s
C
o
n
tr
o
l o
f P
erma
n
en
t Ma
g
n
et…
(
Ga
n
a
p
a
th
y
R
a
m
A
)
49
4
.
1
Co
nv
ent
io
na
l Slid
ing
M
o
de
O
bs
er
v
er
T
h
e
s
lid
in
g
-
m
o
d
e
co
n
tr
o
l
is
u
s
ed
to
r
estrict
th
e
s
tate
v
ar
iab
le
s
o
n
t
h
e
s
l
id
in
g
s
u
r
f
ac
e
b
y
c
h
a
n
g
i
n
g
t
h
e
s
y
s
te
m
s
tr
u
ct
u
r
e
d
y
n
a
m
icall
y
.
I
t
is
w
id
el
y
u
s
ed
f
o
r
n
o
n
li
n
ea
r
s
y
s
te
m
co
n
tr
o
l
s
i
n
ce
it
i
s
r
o
b
u
s
t
a
g
ai
n
s
t
s
y
s
te
m
p
ar
am
eter
v
ar
iatio
n
s
.
Fo
r
th
e
s
en
s
o
r
less
co
n
tr
o
l
o
f
t
h
e
P
MSM
,
th
e
s
lid
in
g
-
m
o
d
e
co
n
tr
o
lle
r
is
ad
o
p
ted
f
o
r
u
s
e
in
t
h
e
o
b
s
er
v
er
d
esig
n
a
n
d
s
o
is
n
a
m
ed
t
h
e
SMO.
F
ig
u
r
e.
2
s
h
o
w
s
t
h
e
co
n
v
e
n
t
io
n
al
s
lid
in
g
-
m
o
d
e
o
b
s
er
v
er
[
1
7
]
,
[
1
8
]
,
[
1
9
]
w
h
er
e
th
e
s
ig
n
u
m
f
u
n
ct
io
n
is
u
s
ed
as
th
e
s
w
itc
h
i
n
g
f
u
n
ctio
n
an
d
th
e
lo
w
-
p
ass
f
ilter
(
L
P
F)
is
u
s
ed
to
eli
m
i
n
ate
t
h
e
ch
atter
i
n
g
ef
f
ec
t
s
f
r
o
m
t
h
e
s
w
itc
h
i
n
g
.
T
h
e
co
n
v
en
tio
n
al
SMO
u
s
e
s
th
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
;
it
is
t
h
e
c
o
n
tr
o
l
m
et
h
o
d
u
s
ed
to
esti
m
at
e
th
e
p
o
s
itio
n
a
n
d
s
p
ee
d
o
f
th
e
r
o
to
r
at
th
e
s
a
m
e
t
i
m
e.
Fig
u
r
e
2
.
C
o
n
v
e
n
tio
n
al
s
lid
i
n
g
m
o
d
e
o
b
s
er
v
er
T
h
e
d
y
n
a
m
ic
eq
u
atio
n
s
o
f
a
P
MSM
w
it
h
o
u
t
s
a
lien
c
y
i
n
th
e
s
tatio
n
ar
y
r
e
f
er
en
ce
f
r
a
m
e
(
α
-
β)
ca
n
b
e
ex
p
r
ess
ed
as f
o
llo
w
s
ss
di
L
(
)
R
i
e
u
dt
α
α
α
α
(
8
)
ss
di
L
(
)
R
i
e
u
dt
β
β
β
β
(
9
)
fr
e
s
i
n
α
ψ
ω
θ
(
1
0
)
fr
e
c
o
s
β
ψ
ω
θ
(
1
1
)
w
h
er
e
iα
,
iβ
,
u
α
,
u
β,
a
n
d
eα
,
eβ
ar
e
th
e
p
h
a
s
e
c
u
r
r
en
ts
,
p
h
ase
v
o
ltag
e
s
,
an
d
b
ac
k
E
MF
in
th
e
s
tatio
n
ar
y
r
ef
er
e
n
ce
f
r
a
m
e,
r
es
p
ec
tiv
el
y
,
R
s
is
t
h
e
s
tato
r
p
h
as
e
r
esis
ta
n
ce
,
L
s
i
s
t
h
e
s
tato
r
p
h
ase
in
d
u
ctan
ce
,
ψ
f
is
th
e
f
l
u
x
lin
k
a
g
e
o
f
th
e
p
er
m
an
e
n
t
m
ag
n
et,
ω
r
is
th
e
elec
tr
ical
an
g
u
lar
v
elo
cit
y
,
a
n
d
θ
is
th
e
elec
tr
ical
r
o
to
r
p
o
s
itio
n
.
T
h
e
s
lid
in
g
s
u
r
f
ac
e
is
,
ss
s
(
x
)
i
i
(
1
2
)
w
h
er
e
s
i
[
i
i
]
αβ
is
t
h
e
est
i
m
a
ted
v
al
u
e
o
f
c
u
r
r
en
t
a
n
d
s
[
i
i
]
i
αβ
is
it
s
m
ea
s
u
r
ed
v
alu
e.
W
it
h
r
ef
er
en
ce
to
t
h
e
m
at
h
e
m
atica
l
m
o
d
el
o
f
P
MSM
i
n
t
h
e
s
tati
o
n
ar
y
r
e
f
er
en
ce
f
r
a
m
e,
t
h
e
eq
u
atio
n
s
g
o
v
er
n
in
g
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
is
e
x
p
r
ess
ed
as f
o
llo
w
s
,
(
1
3
)
ss
di
L
(
)
R
i
u
(i
i
)
dt
K
s
g
n
β
β
β
β
β
(
1
4
)
ss
di
L
(
)
R
i
u
(
i
i
)
dt
K
s
g
n
α
α
α
α
α
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
er
E
lectr
o
n
&
Dr
i S
y
s
t
,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
46
–
54
50
W
ith
K
b
ein
g
o
b
s
er
v
er
g
ai
n
,
K
(
e
e
)
αβ
(
1
5
)
an
d
b
ac
k
e
m
f
is
e
s
ti
m
ated
as
e
K
s
g
n
i
αα
(
1
6
)
e
K
s
g
n
i
ββ
(
1
7
)
T
h
e
s
w
i
tch
f
u
n
c
tio
n
s
g
n
i
s
a
d
is
co
n
ti
n
u
o
u
s
v
al
u
e,
So
E
q
u
ati
o
n
16
an
d
17
ca
n
n
o
t
b
e
u
s
ed
t
o
esti
m
at
e
th
e
r
o
to
r
p
o
s
itio
n
a
n
d
s
p
ee
d
d
ir
ec
tl
y
.
I
t
is
n
ec
e
s
s
ar
y
to
u
s
e
a
lo
w
-
p
as
s
f
ilter
to
e
x
tr
ac
t
th
e
co
n
ti
n
u
o
u
s
esti
m
ated
v
al
u
e
o
f
b
ac
k
elec
t
r
o
m
o
ti
v
e
f
o
r
ce
in
s
tead
.
Nev
e
r
th
eles
s
,
th
e
lo
w
-
p
a
s
s
f
ilter
w
il
l
ca
u
s
e
er
r
o
r
s
o
f
a
m
p
lit
u
d
e
an
d
p
h
ase,
a
n
d
t
h
e
er
r
o
r
co
m
p
en
s
atio
n
i
s
n
ee
d
ed
.
So
th
e
s
y
s
te
m
b
ec
o
m
es
co
m
p
l
e
x
.
T
h
e
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
s
w
it
h
lo
w
-
p
ass
f
ilter
ar
e
esti
m
ated
b
y
.
2
e
0
0
e
(
e
1
(
)
k
sgn(
i
)
)
/
α
α
α
ω
τ
τ
(
1
8
)
.
2
e
0
0
e
(
e
1
(
)
k
sgn(
i
)
)
/
β
β
β
ω
τ
τ
(
1
9
)
w
h
er
e
.
e
α
an
d
.
e
β
ar
e
th
e
d
if
f
er
e
n
tia
l
o
f
esti
m
ated
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
at
th
e
αβ
ax
i
s
,
e
ω
is
th
e
esti
m
ated
elec
tr
ic
an
g
u
la
r
s
p
ee
d
o
f
r
o
t
o
r
,
0
τ
is
th
e
ti
m
e
co
n
s
tan
t
o
f
lo
w
-
p
as
s
f
i
lter
.
Ma
k
in
g
p
h
a
s
e
co
m
p
e
n
s
at
io
n
,
th
e
e
s
ti
m
ated
v
alu
e
o
f
elec
tr
ic
a
n
g
le
ca
n
b
e
o
b
tain
ed
as f
o
llo
w
s
:
e
e
c
u
t
o
f
f
a
r
c
t
a
n
(
e
/
e
)
a
r
c
t
a
n
(
/
)
αβ
θ
ω
ω
(
2
0
)
w
h
er
e
c
u
t
o
f
f
ω
=
(
1
/
0
τ
)
is
th
e
cu
t
-
o
f
f
f
r
eq
u
en
c
y
o
f
lo
w
-
p
a
s
s
f
ilter
an
d
s
p
ee
d
is
esti
m
a
ted
as
22
e
e
e
ee
(
)
s
g
n
(
e
c
o
s
e
s
in
)
αβ
αβ
ω
ψ
(
2
1
)
W
ith
esti
m
ated
r
o
to
r
p
o
s
itio
n
an
d
s
p
ee
d
,
clo
s
ed
lo
o
p
s
en
s
o
r
les
s
co
n
tr
o
l
o
f
P
MSM
is
r
ea
lized
.
Ho
w
e
v
er
,
th
er
e
ar
e
th
e
s
h
o
r
tc
o
m
in
g
s
o
f
ch
at
ter
in
g
a
n
d
ti
m
e
d
ela
y
f
o
r
t
h
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2
Sli
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Wit
h Sig
m
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id F
un
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I
n
eq
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1
3
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I
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Stru
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ig
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4
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lid
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I
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:
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ig
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r
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s
h
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w
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t
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tr
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c
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r
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o
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ter
m
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n
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ai
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5
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I
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u
r
e.
6
B
lo
ck
d
iag
r
a
m
o
f
t
h
e
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
b
ased
s
en
s
o
r
les
s
s
p
ee
d
co
n
tr
o
l s
y
s
te
m
T
ab
le
1
co
m
p
ar
es
s
l
id
in
g
m
o
d
e
t
y
p
es
a
n
d
t
h
e
c
h
ar
ac
ter
is
tics
.
E
v
er
y
t
y
p
e
h
a
s
it
’
s
m
e
r
it
an
d
t
h
e
d
em
er
i
t
led
to
d
ev
e
lo
p
m
en
t
o
f
o
th
er
t
y
p
e
o
f
o
b
s
er
v
er
.
C
o
n
v
e
n
tio
n
al
o
b
s
er
v
er
’
s
er
r
o
r
co
n
v
er
g
e
n
ce
ti
m
e
i
s
in
f
in
ite,
w
h
er
ea
s
ter
m
in
a
l
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
h
as
f
i
n
ite
ti
m
e
.
S
in
g
u
lar
it
y
ex
i
s
ts
in
ter
m
i
n
al
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
w
h
ich
is
o
v
er
co
m
e
in
n
o
n
-
s
i
n
g
u
lar
ter
m
in
a
l
s
lid
i
n
g
m
o
d
e
o
b
s
er
v
er
.
R
estrictio
n
o
n
ex
p
o
n
e
n
t
o
f
p
o
w
er
f
u
n
ctio
n
,
in
s
l
id
in
g
s
u
r
f
ac
e
d
esig
n
f
o
r
ter
m
i
n
al
a
n
d
n
o
n
-
s
i
n
g
u
lar
ter
m
i
n
al
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
r
e
m
ai
n
s
h
o
w
e
v
er
.
T
ab
le
1
S
lid
in
g
m
o
d
e
t
y
p
e
s
an
d
th
e
ch
ar
ac
ter
is
tic
s
5
.
CO
NCLUS
I
O
N
P
er
m
a
n
en
t
m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
(
P
MSM
)
d
r
iv
es
ar
e
r
ep
lacin
g
class
ic
d
c
an
d
in
d
u
ctio
n
m
ac
h
in
e
d
r
i
v
es
i
n
a
v
ar
iet
y
o
f
i
n
d
u
s
tr
ial
ap
p
licatio
n
s
.
P
M
SM
d
r
iv
e
r
esear
ch
h
a
s
b
ee
n
co
n
ce
n
tr
ated
o
n
t
h
e
eli
m
i
n
atio
n
o
f
th
e
m
ec
h
an
ical
s
en
s
o
r
s
at
th
e
m
o
to
r
s
h
a
f
t
w
i
th
o
u
t
d
eter
io
r
atin
g
th
e
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
s
o
f
th
e
d
r
iv
e.
Ma
n
y
ad
v
a
n
ta
g
es
o
f
s
en
s
o
r
less
ac
d
r
iv
es
s
u
ch
as
r
ed
u
ce
d
h
ar
d
w
ar
e
co
m
p
le
x
it
y
,
lo
w
co
s
t,
r
ed
u
ce
d
s
ize,
ca
b
le
eli
m
i
n
atio
n
,
i
n
cr
ea
s
ed
n
o
is
e
i
m
m
u
n
it
y
,
i
n
cr
ea
s
ed
r
eliab
ilit
y
a
n
d
d
ec
r
ea
s
ed
m
ai
n
ten
a
n
ce
.
I
n
t
h
i
s
p
ap
er
,
a
r
ev
ie
w
o
f
d
i
f
f
er
e
n
t
s
p
ee
d
an
d
r
o
to
r
p
o
s
itio
n
esti
m
atio
n
s
c
h
e
m
es
o
f
P
MSM
d
r
iv
es
b
ased
o
n
s
lid
in
g
m
o
d
e
h
a
s
b
ee
n
d
is
c
u
s
s
ed
.
E
a
ch
m
et
h
o
d
h
a
s
it
s
ad
v
an
ta
g
e
s
an
d
d
i
s
ad
v
a
n
tag
e
s
.
A
l
th
o
u
g
h
n
u
m
er
o
u
s
s
c
h
e
m
es
h
av
e
b
ee
n
p
r
o
p
o
s
ed
f
o
r
s
p
ee
d
an
d
r
o
to
r
p
o
s
itio
n
esti
m
atio
n
,
m
an
y
f
ac
to
r
s
r
e
m
ai
n
i
m
p
o
r
tan
t
to
ev
al
u
ate
t
h
eir
ef
f
ec
tiv
e
n
e
s
s
.
Am
o
n
g
t
h
e
m
ar
e
s
tead
y
s
ta
te
er
r
o
r
,
d
y
n
a
m
ic
b
eh
av
io
r
,
n
o
is
e
s
en
s
iti
v
it
y
,
lo
w
s
p
ee
d
o
p
er
atio
n
,
p
ar
am
eter
s
e
n
s
iti
v
it
y
,
co
m
p
le
x
it
y
,
an
d
co
m
p
u
ta
tio
n
ti
m
e.
I
n
p
ar
ticu
lar
,
ze
r
o
-
s
p
ee
d
o
p
er
a
tio
n
w
it
h
r
o
b
u
s
tn
e
s
s
ag
ain
s
t p
ar
a
m
eter
v
ar
iatio
n
s
y
et
r
e
m
ain
s
an
ar
ea
o
f
r
esear
c
h
f
o
r
s
p
ee
d
s
en
s
o
r
les
s
co
n
tr
o
l.
RE
F
E
R
E
NC
E
S
[1
]
S
.
Yu
,
Z
.
Ya
n
g
,
S
.
W
a
n
g
a
n
d
K.
Zh
e
n
g
,
"
S
e
n
so
rle
ss
Ad
a
p
ti
v
e
Ba
c
k
ste
p
p
in
g
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p
e
e
d
T
ra
c
k
in
g
Co
n
t
ro
l
o
f
Un
c
e
rta
in
Per
ma
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
to
rs
"
,
i
n
C
o
n
f
.
Re
c
.
,
IEE
E
-
I
S
CAA
,
Ju
n
e
2
0
1
0
,
p
p
.
1
1
3
1
-
1
1
3
5
.
[2
]
Q.
G
a
o
,
S
.
S
h
e
n
,
a
n
d
T
.
W
a
n
g
,
"
A
No
v
e
l
Dr
ive
S
tra
teg
y
f
o
r
PM
S
M
Co
mp
re
ss
o
r"
,
i
n
Co
n
f
.
Re
c
.
,
IEE
EICE
CE,
J
u
n
e
2
0
1
0
,
p
p
.
3
1
9
2
–
3
1
9
5
.
S
.
N
o
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l
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d
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n
g
mo
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p
e
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o
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v
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c
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t
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me
S
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g
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l
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r
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t
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e
st
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c
t
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o
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p
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p
o
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n
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t
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n
1
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o
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v
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t
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o
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s sw
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l
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t
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o
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o
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r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8
694
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i S
y
s
t
,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
46
–
54
54
[3
]
Z.
P
e
r
o
u
tk
a
,
K.
Zem
a
n
,
F
.
Kru
s,
a
n
d
F
.
Ko
ste
n
,
"
Ne
w
Ge
n
e
ra
ti
o
n
o
f
T
ra
ms
wit
h
Ge
a
rle
ss
W
h
e
e
l
PM
S
M
Dr
iv
e
s
:
Fro
m
S
imp
le
Dia
g
n
o
stics
to
S
e
n
so
rle
ss
Co
n
tro
l"
,
i
n
IEE
E
Co
n
f
.
Re
c
.
,
1
4
th
In
tern
a
ti
o
n
a
l
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
M
o
ti
o
n
C
o
n
t
ro
l
C
o
n
f
e
re
n
c
e
EP
E
-
P
E
M
C,
S
e
p
tem
b
e
r
2
0
1
0
,
p
p
.
3
1
-
3
6
.
[4
]
H.
P
e
n
g
,
H.
L
e
i,
a
n
d
M
.
Ch
a
n
g
-
y
u
n
,
"
Res
e
a
rc
h
o
n
S
p
e
e
d
S
e
n
so
r
les
s
Ba
c
k
ste
p
p
in
g
Co
n
tro
l
o
f
Per
ma
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s M
o
to
r
"
,
i
n
C
o
n
f
.
Re
c
.
,
IEE
E
-
ICCA
S
M
,
Oc
to
b
e
r
2
0
1
0
,
Vo
l.
1
5
,
p
p
.
6
0
9
-
6
1
2
.
[5
]
J.
S
u
n
g
P
a
rk
,
S
.
Hu
n
L
e
e
,
C.
M
o
o
n
,
a
n
d
Y.
A
h
n
Kw
o
n
,
"
S
ta
te
Ob
se
rv
e
r
wit
h
S
ta
t
o
r
Res
ista
n
c
e
a
n
d
B
a
c
k
-
EM
F
Co
n
sta
n
t
Esti
m
a
ti
o
n
fo
r
S
e
n
so
rle
ss
PM
S
M
"
,
IEE
E
Re
g
io
n
1
0
Co
n
f
e
re
n
c
e
,
T
ENC
ON
2
0
1
0
,
No
v
e
m
b
e
r
2
0
1
0
,
p
p
.
3
1
-
36.
[6
]
T
.
J.
V
y
n
c
k
e
,
R.
K.
Bo
e
l
a
n
d
J.
A
.
A
.
M
e
lk
e
b
e
e
k
,
"
Dire
c
t
T
o
rq
u
e
Co
n
tr
o
l
o
f
Per
ma
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
to
rs
–
A
n
Ov
e
rv
iew"
,
3
r
d
IEE
E
Be
n
e
lu
x
Yo
u
n
g
Re
se
a
rc
h
e
rs
S
y
m
p
o
siu
m
in
El
e
c
tri
c
a
l
P
o
w
e
r
En
g
in
e
e
rin
g
,
A
p
ril
2
0
0
6
,
p
p
.
1
-
5.
[7
]
V
.
C
o
m
n
a
c
,
M
.
N.
Cirstea
,
F
.
M
o
ld
o
v
e
a
n
u
,
D
.
N.
Ilea
,
a
n
d
R
.
M
.
Ce
rn
a
t
,
"
S
e
n
so
rle
ss
S
p
e
e
d
a
n
d
Dire
c
t
T
o
rq
u
e
Co
n
tro
l
o
f
I
n
ter
io
r
Per
ma
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
a
c
h
in
e
B
a
se
d
o
n
Exte
n
d
e
d
Ka
lm
a
n
Fi
lt
e
r
"
,
i
n
P
ro
c
.
o
f
th
e
IEE
E
-
IS
IE
C
o
n
f
.
,
V
o
l.
4
,
No
v
e
m
b
e
r
2
0
0
2
,
p
p
.
1
1
4
2
-
1
1
4
7
.
[8
]
M
.
S
.
M
e
rz
o
u
g
,
a
n
d
F
.
Na
c
e
ri,
"
Co
mp
a
ris
o
n
o
f
Fi
e
l
d
-
Or
ien
ted
C
o
n
tro
l
a
n
d
Dire
c
t
T
o
r
q
u
e
Co
n
tro
l
fo
r
Per
ma
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
r
o
n
o
u
s
M
o
t
o
r
(
PM
S
M
)"
,
i
n
W
o
rl
d
A
c
a
d
e
m
y
o
f
S
c
ie
n
c
e
,
En
g
in
e
e
ri
n
g
a
n
d
T
e
c
h
n
o
lo
g
y
,
V
o
l.
4
8
,
2
0
0
8
,
p
p
.
2
9
9
-
3
0
4
.
[9
]
G
.
F
o
o
,
S
.
sa
y
e
e
f
,
M
.
F
.
Ra
h
m
a
n
,
"
S
e
n
s
o
rle
ss
Dire
c
t
T
o
q
u
e
Co
n
t
ro
l
o
f
I
n
ter
io
r
Per
ma
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
to
r Dr
ive
"
,
i
n
C
o
n
f
A
UP
EC,
2
0
0
7
.
[1
0
]
J.
A
re
ll
a
n
o
-
P
a
d
i
ll
a
,
C.
G
e
ra
d
a
,
G.
A
sh
e
r,
a
n
d
M
.
S
u
m
n
e
r,
"
In
d
u
c
t
a
n
c
e
Ch
a
r
a
c
ter
isti
c
s
o
f
PM
S
M
s
a
n
d
th
e
ir
Imp
a
c
t
o
n
S
a
l
ien
c
y
-
b
a
se
d
S
e
n
s
o
rle
ss
Co
n
tro
l"
,
in
IEE
E
C
o
n
f
.
Re
c
.
,
1
4
th
I
n
tern
a
ti
o
n
a
l
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
M
o
t
io
n
Co
n
tr
o
l
C
o
n
f
e
re
n
c
e
EP
E
-
P
EM
C,
S
e
p
tem
b
e
r
2
0
1
0
,
p
p
.
1
-
9.
[1
1
]
K.
Je
z
e
rn
ik
,
R.
Ho
rv
a
t,
"
Hi
g
h
Pe
rfo
rm
a
n
c
e
Co
n
tro
l
o
f
PM
S
M
"
,
in
Co
n
f
.
Re
c
.
,
IEE
E
-
S
L
ED,
Ju
ly
2
0
1
0
,
p
p
.
7
2
-
7
7
.
[1
2
]
S
.
S
u
m
it
a
,
K.
T
o
b
a
ri,
S
.
A
o
y
a
g
i,
a
n
d
D.
M
a
e
d
a
,
"
A
S
imp
li
fi
e
d
S
e
n
so
rle
ss
Vec
to
r
Co
n
tro
l
B
a
se
d
o
n
th
e
Ave
ra
g
e
o
f
th
e
DC B
u
s C
u
rr
e
n
t"
,
i
n
Co
n
f
.
Re
c
.
,
IEE
E
-
I
P
EC,
Ju
n
e
2
0
1
0
,
p
p
.
3
0
3
5
-
3
0
4
0.
[1
3
]
R.
M
u
sta
f
a
,
Z.
Ib
ra
h
im
a
n
d
J.
M
a
t
L
a
z
i,
"
S
e
n
s
o
rle
ss
Ad
a
p
ti
v
e
S
p
e
e
d
C
o
n
tro
l
fo
r
PM
S
M
Dr
ive
s"
,
i
n
I
EE
E
C
o
n
f
.
Re
c
.
,
4
th
In
tern
a
ti
o
n
a
l
P
o
w
e
r
En
g
in
e
e
rin
g
a
n
d
O
p
ti
m
iza
ti
o
n
Co
n
f
.
,
P
EOCO'
1
0
,
Ju
n
e
2
0
1
0
,
p
p
.
5
1
1
-
5
1
6
.
[1
4
]
O.
Be
n
jak
,
a
n
d
D.
G
e
rli
n
g
,
"
Rev
i
e
w
o
f
Po
siti
o
n
Esti
ma
ti
o
n
M
e
th
o
d
s
fo
r
IPM
S
M
Dr
ive
s
W
it
h
o
u
t
a
Po
siti
o
n
S
e
n
s
o
r
Pa
rt I
:
N
o
n
a
d
a
p
ti
v
e
M
e
th
o
d
s
"
,
i
n
Co
n
f
.
Re
c
.
,
IEE
E
-
ICEM
,
S
e
p
tem
b
e
r
2
0
1
0
,
p
p
.
1
-
6.
[1
5
]
T
.
Ki
m
,
H.
Lee
,
a
n
d
M
.
Eh
sa
n
i,
"
S
t
a
te
o
f
t
h
e
Art
a
n
d
Fu
t
u
re
T
re
n
d
s
in
P
o
siti
o
n
S
e
n
so
rle
ss
Bru
sh
les
s
DC
M
o
to
r/Ge
n
e
ra
to
r
Dr
ive
s"
,
P
ro
c
.
o
f
th
e
3
1
t
h
A
n
n
u
a
l
Co
n
f
e
re
n
c
e
o
f
th
e
IEE
E
-
IECON,
N
o
v
e
m
b
e
r2
0
0
5
,
p
p
.
1
7
1
8
-
1
7
2
5
.
[1
6
]
O.
Be
n
jak
,
D.
G
e
rli
n
g
,
"
Rev
iew o
f
Po
siti
o
n
Esti
ma
ti
o
n
M
e
th
o
d
s
fo
r
IPM
S
M
Dr
ive
s wit
h
o
u
t
a
P
o
siti
o
n
S
e
n
so
r P
a
rt I
I:
Ad
a
p
ti
v
e
M
e
th
o
d
s"
,
in
C
o
n
f
.
Re
c
.
,
IEE
E
-
ICE
M
,
S
e
p
tem
b
e
r
2
0
1
0
,
p
p
.
1
-
6.
[1
7
]
Kim
H,
S
o
n
J,
L
e
e
J.
“
A
h
ig
h
-
sp
e
e
d
slid
in
g
-
m
o
d
e
o
b
se
rv
e
r
f
o
r
th
e
se
n
so
rles
s
sp
e
e
d
c
o
n
tr
o
l
o
f
a
P
M
S
M
”
,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tr
o
n
ics
,
Vo
l
5
8
(9
)
,
4
0
6
9
–
7
7
,
2
0
1
1
[1
8
]
Ra
c
h
id
A
sk
o
u
r,
Ba
d
r
Bo
u
o
u
li
d
Id
rissi,
“
DS
P
-
Ba
se
d
S
e
n
so
r
le
ss
S
p
e
e
d
Co
n
tro
l
o
f
a
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
[1
9
]
S
y
n
c
h
ro
n
o
u
s
M
o
to
r
u
sin
g
S
l
id
i
n
g
M
o
d
e
Cu
rre
n
t
Ob
se
rv
e
r”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Po
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m (
IJ
PE
DS
)
,
V
o
l
.
4
,
No
.
3
,
S
e
p
tem
b
e
r
2
0
1
4
,
p
p
.
2
8
1
~
2
8
9
,
I
S
S
N:
2
0
8
8
-
8
6
9
4
[2
0
]
A
n
issa
Ho
ss
e
y
n
i,
Ra
m
z
i
T
r
a
b
e
lsi,
S
a
n
jee
v
e
Ku
m
a
r,
M
e
d
F
a
o
u
z
i
M
im
o
u
n
i,
A
ti
f
Iq
b
a
l,
“
Ne
w
S
e
n
so
rles
s
S
li
d
i
n
g
M
o
d
e
C
o
n
tro
l
o
f
a
F
iv
e
-
p
h
a
se
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
t
o
r
Driv
e
Ba
se
d
o
n
S
li
d
i
n
g
M
o
d
e
O
b
se
rv
e
r
”,
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
P
EDS
)
,
Vo
l.
8
,
No
.
1
,
M
a
rc
h
,
2
0
1
7
,
p
p
.
1
8
4
~
2
0
3
,
IS
S
N:
2
0
8
8
-
8
6
9
4
[2
1
]
Zh
a
o
w
e
i
Qia
o
,
T
in
g
n
a
S
h
i,
Yi
n
d
o
n
g
W
a
n
g
,
Ya
n
Ya
n
,
Ch
a
n
g
li
a
n
g
X
ia,
a
n
d
X
ian
g
n
i
n
g
He
,
“
Ne
w
S
li
d
in
g
-
M
o
d
e
Ob
se
rv
e
r
f
o
r
P
o
sit
io
n
S
e
n
so
rles
s
Co
n
tro
l
o
f
P
e
rm
a
n
e
n
t
-
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
t
o
r”
,
I
EE
E
T
ra
n
s.
In
d
.
El
e
c
tro
n
.
,
v
o
l.
6
0
,
n
o
.
2
,
p
p
.
7
1
0
–
7
1
9
,
F
e
b
.
2
0
1
3
[2
2
]
Yo
n
g
F
e
n
g
,
X
i
n
g
h
u
o
Yu
,
Z
h
ih
o
n
g
M
a
n
,
“
No
n
-
si
n
g
u
lar
term
in
a
l
slid
in
g
m
o
d
e
c
o
n
tro
l
o
f
rig
id
m
a
n
ip
u
lato
rs”
,
Au
to
m
a
ti
c
a
,
3
8
,
2
1
5
9
-
2
1
6
7
,
2
0
0
2
Ya
n
g
L
a
n
d
Ya
n
g
,
”
No
n
sin
g
u
la
r
f
a
st
ter
m
in
a
l
slid
in
g
-
m
o
d
e
c
o
n
t
ro
l
f
o
r
n
o
n
l
in
e
a
r
d
y
n
a
m
ic
a
l
s
y
ste
m
s”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ro
b
u
st a
n
d
No
n
li
n
e
a
r
Co
n
tro
l
,
v
o
l.
2
1
,
n
o
.
1
6
,
p
p
.
1
8
6
5
–
1
8
7
9
,
J
2
0
1
1
[2
3
]
[2
3
]
Ya
n
g
L
a
n
d
Ya
n
g
,
”
No
n
sin
g
u
lar
f
a
st
t
e
r
m
in
a
l
slid
in
g
-
m
o
d
e
c
o
n
tro
l
f
o
r
n
o
n
li
n
e
a
r
d
y
n
a
m
ica
l
s
y
ste
m
s”
,
In
tern
a
ti
o
n
a
l
Jo
u
rn
a
l
o
f
Ro
b
u
st
a
n
d
No
n
li
n
e
a
r
Co
n
tr
o
l,
v
o
l
.
2
1
,
n
o
.
1
6
,
p
p
.
1
8
6
5
–
1
8
7
9
,
J
2
0
1
1
[2
4
]
F
e
n
g
,
J.
Zh
e
n
g
,
X
.
Yu
,
a
n
d
N.
T
ru
o
n
g
,
“
H
y
b
rid
term
in
a
l
slid
in
g
-
m
o
d
e
o
b
se
rv
e
r
d
e
sig
n
m
e
th
o
d
fo
r
a
p
e
rm
a
n
e
n
t
-
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s m
o
to
r
c
o
n
tr
o
l
sy
ste
m
,
”
IEE
E
T
ra
n
s.
In
d
.
El
e
c
tro
n
.
,
v
o
l.
5
6
,
n
o
.
9
,
p
p
.
3
4
2
4
–
3
4
3
1
,
S
e
p
.
2
0
0
9
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