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1.
I
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D
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O
N
I
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th
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ce
s
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b
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also
m
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lo
g
ical
[
1
]
.
T
h
e
d
ir
ec
t
cu
r
r
en
t
m
ac
h
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n
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a
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to
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[
2
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.
Ho
w
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is
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s
(
I
M)
[
3
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.
T
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M
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tain
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[
4
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.
Ho
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[
5
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,
[
6
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.
T
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[
7
]
.
Am
o
n
g
th
e
co
n
tr
o
ls
,
w
e
d
i
s
ti
n
g
u
i
s
h
t
h
e
v
ec
to
r
co
n
tr
o
l
b
as
ed
o
n
d
y
n
a
m
ic
m
o
d
els,
u
s
in
g
th
e
P
ar
k
tr
an
s
f
o
r
m
atio
n
to
s
o
lv
e
t
h
e
to
r
q
u
e
-
f
lu
x
d
ec
o
u
p
li
n
g
i
s
s
u
e.
T
h
e
co
m
b
i
n
atio
n
o
f
th
is
tec
h
n
i
q
u
e
w
it
h
a
m
o
d
er
n
au
to
m
at
ic
ap
p
r
o
ac
h
es
b
ased
o
n
n
o
n
lin
ea
r
co
n
tr
o
l
alg
o
r
ith
m
s
s
u
c
h
as
t
h
e
B
ac
k
s
tep
p
in
g
c
o
n
tr
o
l
co
n
tr
ib
u
te
to
s
o
lv
e
t
h
e
r
o
b
u
s
t
n
ess
p
r
o
b
le
m
(
th
e
ch
a
n
g
e
o
f
lo
ad
to
r
q
u
e
an
d
m
ac
h
i
n
e
p
ar
a
m
eter
s
)
.
Ho
w
e
v
er
,
it
r
eq
u
ir
es
t
h
e
in
s
ta
llatio
n
o
f
a
n
in
cr
e
m
e
n
tal
en
co
d
er
to
m
ea
s
u
r
e
th
e
r
o
to
r
s
p
ee
d
[
8
-
9
]
.
Usi
n
g
t
h
e
e
n
co
d
er
lead
s
to
ad
d
itio
n
al
co
s
t
w
h
ic
h
ca
n
b
e
h
i
g
h
er
th
a
n
t
h
e
m
ac
h
i
n
e
o
n
e,
f
o
r
lo
w
p
o
w
er
ap
p
licatio
n
.
I
n
ad
d
itio
n
,
th
er
e
m
u
s
t
b
e
a
n
ad
d
itio
n
al
s
p
ac
e
f
o
r
i
n
s
ta
ll
i
n
g
th
e
e
n
co
d
er
.
T
h
e
s
y
s
te
m
r
eli
ab
ilit
y
d
ec
r
ea
s
es
b
ec
au
s
e
o
f
t
h
is
f
r
a
g
ile
d
ev
ice.
B
ec
au
s
e
o
f
all
t
h
ese
i
n
co
n
v
e
n
ien
t,
o
n
e
tr
ied
to
ex
cl
u
d
e
th
e
u
s
e
t
h
e
i
n
cr
e
m
e
n
tal
e
n
co
d
er
an
d
r
esear
ch
o
n
t
h
e
s
en
s
o
r
less
co
n
tr
o
l
o
f
in
d
u
ctio
n
m
ac
h
i
n
es
b
e
g
an
.
Sev
er
al
s
tr
ateg
ies
w
er
e
p
r
o
p
o
s
ed
in
th
e
l
iter
atu
r
e
to
ac
h
ie
v
e
th
is
o
b
j
ec
tiv
e
[
1
0
-
1
1
]
.
Mu
ch
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
s
ar
e
b
ased
o
n
o
b
s
er
v
er
s
an
d
esti
m
ato
r
s
in
o
p
en
lo
o
p
.
T
h
ey
lar
g
e
l
y
d
ep
en
d
o
n
th
e
m
o
d
el
o
f
th
e
in
d
u
ctio
n
m
ac
h
i
n
e
.
Fo
r
th
is
r
ea
s
o
n
,
th
ese
tech
n
i
q
u
es
f
ail
to
r
ep
lac
e
th
e
in
cr
e
m
e
n
tal
en
co
d
er
in
th
e
f
ield
o
f
lo
w
s
p
ee
d
s
.
Fu
r
th
e
r
r
esear
ch
b
ased
o
n
th
e
co
m
b
in
atio
n
o
f
m
o
d
er
n
tech
n
iq
u
es
an
d
th
eo
r
ies
i
n
clu
d
in
g
ad
ap
tiv
e
la
w
s
.
T
h
ese
tec
h
n
iq
u
e
s
p
r
o
m
i
s
e
to
g
i
v
e
b
etter
r
esu
lt
s
,
e
v
en
in
t
h
e
lo
w
-
s
p
ee
d
in
cl
u
d
in
g
s
to
p
p
ed
.
I
n
th
i
s
p
ap
er
,
w
e
c
h
o
s
e
to
u
s
e
a
n
o
n
lin
ea
r
i
n
te
g
r
al
b
ac
k
s
te
p
p
in
g
co
n
tr
o
l
d
esig
n
s
c
h
e
m
e,
f
o
r
s
p
ee
d
co
n
tr
o
l
an
d
w
e
p
r
o
p
o
s
e
a
n
e
w
co
m
b
in
at
io
n
f
o
r
th
e
r
ea
li
za
tio
n
o
f
r
o
b
u
s
t
o
b
s
er
v
er
s
,
b
y
u
s
i
n
g
th
e
m
o
d
el
r
ef
er
en
ce
ad
ap
tiv
e
s
y
s
te
m
(
M
R
A
S)
to
esti
m
ate
t
h
e
r
o
to
r
s
p
ee
d
an
d
th
e
B
ac
k
s
tep
p
in
g
o
b
s
e
r
v
er
to
esti
m
ate
th
e
r
o
to
r
f
lu
x
.
2.
I
NDUC
T
I
O
N
M
O
T
O
R
M
O
DE
L
A
ND
VE
CT
O
R
CO
N
T
RO
L
2
.
1
M
o
del o
f
I
M
in (
d
-
q)
Ref
er
e
nce
F
ra
m
e
T
h
e
m
at
h
e
m
atica
l
m
o
d
el
o
f
t
h
e
in
d
u
ctio
n
m
ac
h
i
n
e
i
n
t
h
e
(
d
-
q
)
s
y
n
c
h
r
o
n
o
u
s
l
y
r
o
tati
n
g
f
r
a
m
e
is
g
i
v
en
b
y
t
h
e
f
o
llo
w
in
g
n
o
n
li
n
ea
r
eq
u
atio
n
s
[
1
2
-
1
3
]
:
(
)
l
8
r
7
rq
sd
rd
sq
6
r
rq
5
rd
r
s
sq
4
rq
rq
r
s
rd
5
sd
4
rd
sq
rq
2
r
rd
3
sq
1
sd
s
sq
sd
rq
r
3
rd
2
sq
s
sd
1
sd
T
.
a
-
ω
.
a
-
φ
.
i
-
φ
.
i
.
a
=
ω
φ
.
a
-
φ
).
ω
-
ω
(
-
i
.
a
=
φ
φ
).
ω
-
ω
(
+
φ
.
a
-
i
.
a
=
φ
v
.
b
+
φ
.
a
+
ω
.
φ
.
a
-
i
.
a
+
i
.
ω
-
=
i
v
.
b
+
φ
.
ω
a
+
φ
.
a
+
i
.
ω
+
i
.
a
=
i
(
1
)
W
ith
2
m
m
r
m
1
s
r
2
3
22
r
s
r
s
r
2
c
m
r
r
m
4
5
6
7
8
r
r
r
2
m
s
r
s
L
L
.
R
L
a
b
.
(R
.
R
)
,
a
,
a
L
(
.
L
.
L
)
(
.
L
.
L
)
f
L
.
R
R
p
.
L
p
a
,
a
,
a
,
a
,
a
L
L
J
.
L
J
J
L
1
1
,
b
L
.
L
.
L
2
.
2
Dire
ct
ro
t
o
r
f
lux
o
rient
a
t
io
n
(
DRF
O
)
T
h
e
aim
o
f
v
ec
to
r
co
n
tr
o
l
is
to
let
th
e
in
d
u
ctio
n
m
ac
h
i
n
e
ef
f
ec
ti
v
el
y
r
esp
o
n
d
to
r
ef
er
en
ce
v
ar
iatio
n
s
(
r
o
to
r
p
o
s
itio
n
,
to
r
q
u
e,
s
p
ee
d
)
in
a
w
id
e
r
an
g
e
o
f
o
p
er
ati
o
n
an
d
f
o
r
ap
p
licatio
n
s
r
eq
u
i
r
in
g
h
i
g
h
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
.
I
t
is
b
ased
o
n
t
h
e
in
s
tan
tan
eo
u
s
to
r
q
u
e
co
n
tr
o
l
an
d
a
s
u
itab
le
c
h
o
ice
o
f
r
e
f
er
en
ce
(
d
,
q
)
o
f
P
ar
k
,
s
o
th
at
t
h
e
d
-
a
x
is
is
ali
g
n
ed
w
ith
t
h
e
r
o
to
r
f
lu
x
v
ec
to
r
,
to
o
b
tain
t
h
e
d
ec
o
u
p
lin
g
b
et
w
ee
n
t
h
e
elec
tr
o
m
a
g
n
e
tic
to
r
q
u
e
an
d
r
o
to
r
f
lu
x
.
T
h
is
ali
g
n
m
e
n
t i
m
p
o
s
es t
h
e
f
o
llo
w
i
n
g
co
n
d
itio
n
: [
1
4
-
1
5
]
:
rd
r
φ
=
φ
an
d
0
=
φ
rq
(
2
)
T
h
is
ch
o
ice
allo
w
s
to
co
n
tr
o
l
th
e
to
r
q
u
e
v
ia
t
h
e
cu
r
r
en
t
sq
i
an
d
th
e
r
o
to
r
f
l
u
x
th
r
o
u
g
h
t
h
e
cu
r
r
en
t
sd
i
.
3.
I
NT
E
G
RA
L
B
ACK
ST
E
P
P
I
NG
CO
N
T
RO
L
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
.
4
,
Dec
em
b
er
2
0
1
7
:
1
6
5
0
–
1
6
6
2
1652
3
.
1
P
rinciple o
f
t
he
inte
g
ra
l ba
c
ks
t
eppi
ng
co
ntr
o
l
T
h
e
B
ac
k
s
tep
p
in
g
tech
n
iq
u
e
i
s
a
r
elati
v
el
y
n
e
w
co
n
tr
o
l
m
et
h
o
d
o
f
n
o
n
li
n
ea
r
s
y
s
te
m
s
.
T
h
e
p
r
in
cip
le
o
f
t
h
is
ap
p
r
o
ac
h
is
to
s
tab
iliz
e
at
t
h
e
b
e
g
i
n
n
i
n
g
t
h
e
f
ir
s
t
s
u
b
s
y
s
te
m
b
y
a
s
tab
ilizi
n
g
f
u
n
ctio
n
k
n
o
w
n
v
ia
a
ch
o
s
en
L
y
ap
u
n
o
v
f
u
n
c
tio
n
,
t
h
en
to
ad
d
to
i
ts
er
r
o
r
a
n
i
n
t
eg
r
ato
r
.
T
h
e
s
a
m
e
p
r
o
ce
d
u
r
e
f
o
r
t
h
e
s
u
cc
ess
iv
e
s
u
b
s
y
s
te
m
s
to
f
in
al
l
y
r
ea
ch
a
g
lo
b
al
L
y
ap
u
n
o
v
f
u
n
ctio
n
g
iv
i
n
g
t
h
e
o
v
er
all
co
n
tr
o
l
la
w
th
at
s
tab
ilizes
t
h
e
s
y
s
te
m
[
1
6
-
1
7
]
.
T
h
e
co
m
b
i
n
a
tio
n
o
f
tec
h
n
ical
B
ac
k
s
tep
p
in
g
w
it
h
v
ec
to
r
co
n
tr
o
l
o
f
th
e
in
d
u
ctio
n
m
ac
h
i
n
e
g
iv
e
s
t
h
e
b
etter
p
er
f
o
r
m
a
n
ce
o
f
th
e
co
n
tr
o
l la
w
[
1
8
-
1
9
]
.
3
.
2
T
he
inte
g
ra
l B
a
ck
s
t
ep
p
ing
c
o
ntr
o
l f
o
r
I
M
a
nd
ro
t
o
r
f
lux
esti
m
a
t
o
r
T
h
e
o
b
j
ec
tiv
e
to
d
esig
n
an
i
n
teg
r
al
b
ac
k
s
tep
p
in
g
co
n
tr
o
l,
allo
w
i
n
g
to
en
s
u
r
e
t
h
e
tr
ac
k
in
g
o
f
r
o
to
r
s
p
ee
d
an
d
r
o
to
r
f
lu
x
f
o
r
th
e
m
ac
h
in
e
[
2
0
-
2
1
]
,
w
e
d
ef
in
e
th
e
er
r
o
r
s
r
ω
e
an
d
r
φ
e
r
esp
ec
tiv
el
y
r
ep
r
esen
ti
n
g
t
h
e
er
r
o
r
b
etw
ee
n
th
e
ac
tu
al
s
p
ee
d
r
ω
an
d
th
e
r
ef
er
e
n
ce
s
p
ee
d
r
an
d
th
e
er
r
o
r
b
et
w
ee
n
t
h
e
f
l
u
x
m
o
d
u
le
dr
an
d
its
r
ef
er
e
n
ce
dr
.
a)
F
irst
s
t
ep
"s
pee
d a
nd
f
lu
x
lo
o
p
"
rr
r
d
r
d
rr
r
d
r
d
ez
ez
(
3
)
W
ith
:
r
d
r
d
t
r
d
r
d
0
z
k
(
)
d
t
r
r
d
t
rr
0
z
k
(
)
d
t
T
h
en
th
e
d
y
n
a
m
ical
er
r
o
r
eq
u
atio
n
s
ar
e
g
i
v
e
n
b
y
:
rr
r
d
r
d
rr
r
d
r
d
ez
ez
(
4
)
W
ith
:
rr
rr
z
k
(
)
T
h
en
th
e
er
r
o
r
d
y
n
a
m
ica
l e
q
u
a
tio
n
s
b
ec
o
m
es
:
rr
d
r
d
r
r
6
s
q
r
d
7
r
8
l
r
d
4
s
d
5
r
d
e
a
.
(
i
.
)
a
.
a
.
T
z
e
a
.
i
a
.
z
(
5
)
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4.
RO
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4
.
1
P
rinciple o
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2
]
.
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ase
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ased
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ated
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W
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ce
f
r
a
m
e
r
elate
d
to
th
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s
tato
r
(
α
-
β)
[
5
]
.
T
h
e
s
tr
u
ctu
r
e
o
f
th
e
ad
ap
tiv
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o
b
s
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u
r
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1
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lo
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iag
r
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m
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b
s
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I
SS
N
:
2
0
8
8
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8
694
IJ
PEDS
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8
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4
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2
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w
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3
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.
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