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d
esi
g
n
a
n
d
i
m
p
le
m
e
n
tatio
n
.
Sp
ec
if
icall
y
,
t
h
e
co
m
p
ar
is
o
n
p
er
f
o
r
m
a
n
ce
s
o
f
I
FO
C
f
o
r
th
r
ee
-
p
h
ase
i
n
d
u
cti
o
n
m
o
to
r
d
r
iv
es
ar
e
estab
lis
h
ed
in
th
i
s
p
ap
er
.
A
c
co
r
d
in
g
l
y
,
th
e
s
ec
tio
n
2
d
ef
i
n
es
t
h
e
m
o
d
ellin
g
o
f
i
n
d
u
cti
o
n
m
o
to
r
w
h
ile,
t
h
e
s
ec
tio
n
3
d
escr
ib
es
t
h
e
in
d
ir
ec
t
f
ie
ld
-
o
r
ien
ted
co
n
tr
o
l
s
c
h
e
m
e.
T
h
en
,
t
h
e
s
ec
tio
n
4
d
em
o
n
s
tr
ated
ab
o
u
t
s
i
m
u
lat
io
n
a
n
d
h
ar
d
w
ar
e
s
et
u
p
w
h
ile,
s
ec
tio
n
5
d
ev
o
ted
ab
o
u
t si
m
u
la
ted
an
d
ex
p
er
i
m
en
tal
r
esu
lt
s
.
Fi
n
all
y
,
t
h
e
co
n
clu
s
io
n
,
ac
k
n
o
w
led
g
m
e
n
ts
an
d
r
ef
er
en
ce
s
ar
e
lis
ted
at
th
e
en
d
o
f
th
i
s
p
ap
er
.
2.
M
O
DE
L
I
N
G
O
F
I
ND
UCT
I
O
N
M
O
T
O
R
T
h
e
lin
ea
r
it
y
o
f
s
tato
r
an
d
r
o
to
r
w
it
h
th
r
ee
-
p
h
a
s
e
b
alan
ce
a
n
d
s
y
m
m
etr
ical
s
tr
u
ct
u
r
e
ar
e
ass
u
m
ed
b
y
d
y
n
a
m
ic
m
o
d
eli
n
g
d
er
iv
atio
n
s
o
f
in
d
u
ctio
n
m
o
to
r
.
Sp
ec
if
ic
all
y
,
th
e
b
o
th
r
e
f
er
en
ce
f
r
a
m
e
o
f
s
tato
r
an
d
r
o
to
r
ar
e
cu
s
to
m
ar
il
y
d
er
iv
ed
i
n
s
y
n
ch
r
o
n
o
u
s
l
y
f
r
o
m
eq
u
at
io
n
s
o
f
m
o
t
io
n
,
v
o
lta
g
e
a
n
d
f
lu
x
li
n
k
a
g
e
[
9
]
.
T
h
e
d
q
-
ax
i
s
o
f
eq
u
iv
ale
n
t
m
o
d
el
f
o
r
in
d
u
ctio
n
m
o
to
r
is
ac
h
ie
v
ed
b
y
d
ec
o
u
p
lin
g
an
i
m
a
g
i
n
ar
y
p
ar
t
an
d
r
ea
l
p
ar
t
f
r
o
m
s
p
ac
e
v
ec
to
r
m
o
d
el
w
i
th
eq
u
a
t
io
n
s
o
f
m
o
tio
n
,
v
o
ltag
e
a
n
d
f
l
u
x
li
n
k
ag
e
r
esp
ec
ti
v
el
y
as s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
(
a)
(
b
)
Fig
u
r
e
1
.
T
h
e
d
q
-
ax
is
o
f
eq
u
i
v
al
en
t
m
o
d
el;
a)
d
-
a
x
is
b
)
q
-
a
x
i
s
f
o
r
in
d
u
c
tio
n
m
o
to
r
T
h
e
v
o
ltag
e
eq
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atio
n
s
f
o
r
b
o
th
r
ef
er
e
n
ce
f
r
a
m
e
o
f
s
tato
r
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d
r
o
to
r
in
d
q
-
ax
i
s
t
h
at
co
r
r
esp
o
n
d
in
g
t
o
th
e
f
lu
x
li
n
k
a
g
es a
r
e
d
escr
ib
ed
as:
(
1
)
(
2
)
(
3
)
(
4
)
W
h
er
e
,
an
d
,
ar
e
d
ef
in
ed
a
s
th
e
s
tato
r
o
f
d
q
-
a
x
is
v
o
lta
g
e
a
n
d
th
e
r
o
to
r
o
f
d
q
-
ax
i
s
v
o
ltag
e.
T
h
e
s
tato
r
an
d
r
o
to
r
r
esis
tan
ce
s
ar
e
d
ef
in
ed
b
y
an
d
w
h
ile,
,
an
d
,
ar
e
d
em
o
n
s
tr
ated
as
t
h
e
d
q
-
ax
is
o
f
r
o
to
r
cu
r
r
en
t
an
d
t
h
e
d
q
-
ax
i
s
o
f
s
tato
r
cu
r
r
en
t.
T
h
en
,
,
an
d
,
ar
e
d
em
o
n
s
tr
ated
as
th
e
dq
-
ax
is
r
o
to
r
o
f
f
lu
x
l
in
k
a
g
e
an
d
t
h
e
d
q
-
a
x
is
s
tato
r
o
f
f
l
u
x
li
n
k
ag
e.
Hen
ce
,
an
d
ar
e
r
ep
r
esen
ted
as
r
o
tatio
n
o
f
elec
tr
ical
s
p
ee
d
an
d
ar
b
itra
r
y
r
ef
er
en
ce
f
r
a
m
e
o
f
s
p
ee
d
r
o
tatio
n
,
r
esp
ec
tiv
el
y
.
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
J
P
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Vo
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8
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er
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ter
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o
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a
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atio
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e
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p
ec
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ied
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5
)
(
6
)
(
7)
(
8
)
W
h
er
e
an
d
ar
e
d
ef
in
ed
as
s
elf
-
i
n
d
u
cta
n
ce
o
f
r
o
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an
d
s
tato
r
w
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ile,
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d
ar
e
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r
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ted
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leak
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e
i
n
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u
cta
n
ce
o
f
r
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an
d
s
tato
r
.
T
h
en
,
is
d
e
m
o
n
s
tr
ate
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as
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ag
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etizi
n
g
i
n
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u
cta
n
ce
t
h
at
m
ea
s
u
r
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i
n
Hen
r
y
(
H)
w
h
ile,
an
d
,
r
esp
ec
t
iv
el
y
.
T
h
e
s
tato
r
an
d
r
o
to
r
o
f
d
q
-
ax
is
m
o
d
e
l a
r
e
s
u
b
s
tit
u
ti
n
g
f
r
o
m
E
q
.
(
5
)
-
(
8
)
in
to
E
q
.
(
1
)
-
(
4
)
ar
e
s
tated
as:
)
(
9
)
)
(
1
0
)
)
(
1
1
)
)
(
1
2
)
W
h
er
e
th
e
ab
o
v
e
E
q
.
(
9
)
–
(
1
2
)
is
d
ep
icted
i
n
Fig
u
r
e
1
f
o
r
t
h
e
d
q
-
ax
i
s
eq
u
iv
a
len
t
m
o
d
el
wh
ich
ar
e
F
ig
u
r
e
1
(
a)
is
d
-
a
x
is
eq
u
i
v
ale
n
t
m
o
d
el
a
n
d
Fig
u
r
e
1
(
b
)
is
q
-
ax
is
eq
u
i
v
ale
n
t
m
o
d
el.
T
h
e
m
o
tio
n
eq
u
a
tio
n
f
r
o
m
s
p
ac
e
v
ec
to
r
m
o
d
el
i
s
m
an
ip
u
la
ted
in
v
ar
io
u
s
ap
p
r
o
ac
h
to
d
em
o
n
s
tr
ated
th
e
eq
u
atio
n
o
f
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
.
Hen
ce
,
th
e
f
r
e
q
u
en
tl
y
u
s
ed
eq
u
atio
n
s
ar
e
ex
p
r
ess
ed
eit
h
er
co
m
b
i
n
e
d
q
-
s
tato
r
cu
r
r
en
t
w
it
h
r
o
to
r
an
d
s
tato
r
o
f
f
l
u
x
l
in
k
ag
e
eq
u
atio
n
o
r
ex
p
r
ess
ed
as
d
q
-
s
tato
r
w
ith
r
o
to
r
cu
r
r
en
t a
s
p
r
ese
n
ted
b
elo
w
:
(
1
3
)
C
o
r
r
esp
o
n
d
in
g
l
y
,
th
e
u
lti
m
at
e
eq
u
atio
n
s
o
f
m
o
tio
n
an
d
elec
tr
o
m
ag
n
etic
to
r
q
u
e
to
p
e
r
f
o
r
m
f
o
r
s
i
m
u
lat
io
n
ar
e
d
ef
i
n
ed
as:
)
(
1
4
)
(
1
5
)
W
h
er
e
is
s
tated
as
th
e
m
e
c
h
a
n
ical
r
o
to
r
s
p
ee
d
(
)
w
h
ile,
t
h
e
in
er
tia
(
)
is
r
ep
r
esen
ted
b
y
J
a
n
d
th
e
n
u
m
b
er
o
f
p
o
les
is
r
ep
r
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ted
b
y
P
.
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h
en
,
is
s
tated
as
th
e
m
ec
h
a
n
ical
to
r
q
u
e
(
)
w
h
ile,
is
r
ep
r
esen
ted
as e
lectr
o
m
a
g
n
eti
c
to
r
q
u
e.
3.
I
NDIR
E
C
T
F
I
E
L
D
-
O
R
I
E
N
T
E
D
CO
N
T
RO
L
SCH
E
M
E
T
h
e
I
FOC
s
ch
e
m
e
is
o
b
tai
n
ed
i
n
to
d
ir
ec
t
co
n
tr
o
l
a
n
d
in
d
ir
ec
t
co
n
tr
o
l
s
c
h
e
m
es
b
ased
o
n
class
i
f
icatio
n
s
o
f
f
ield
an
g
le.
I
n
p
ar
ticu
lar
,
t
h
e
d
ir
ec
t
f
ield
-
o
r
ien
ted
co
n
tr
o
l
s
c
h
e
m
e
is
r
e
co
g
n
ized
w
h
en
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
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8
694
C
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mp
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f I
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M Dri
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(
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f A
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1685
ac
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ir
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f
ield
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g
le
is
u
s
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y
w
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n
d
i
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o
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l
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x
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en
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i
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o
r
ter
m
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n
al
c
u
r
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en
ts
a
n
d
v
o
lt
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es.
B
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t
h
e
in
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ir
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t
f
ie
ld
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o
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ien
ted
co
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e
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r
ec
o
g
n
ized
w
h
en
th
e
ca
lc
u
lated
f
ield
a
n
g
le
is
n
o
t
u
s
ed
v
o
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e
o
r
cu
r
r
en
t
a
s
v
ar
iab
le
s
f
r
o
m
t
h
e
r
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to
r
p
o
s
itio
n
[
1
0
]
.
On
th
e
o
th
er
h
a
n
d
,
t
h
e
p
r
in
cip
al
ap
p
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f
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s
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d
w
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h
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e
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C
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b
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n
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en
d
en
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y
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n
tr
o
l
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h
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e
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d
f
l
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x
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t
h
e
in
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ctio
n
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o
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[
1
1
]
.
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h
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o
r
e
,
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FOC
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m
m
o
n
l
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s
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h
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e
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n
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ated
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h
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r
d
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r
a
m
as
s
h
o
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in
Fi
g
u
r
e
2
[
1
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]
.
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u
r
e
2
.
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u
r
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,
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r
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e
ttled
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h
e
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e
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ettled
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d
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e
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y
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s
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ettled
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a
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e
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m
th
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q
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a
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o
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to
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ield
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u
m
ed
to
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e
ze
r
o
(
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an
d
th
e
r
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to
r
cu
r
r
en
t e
q
u
atio
n
is
o
b
tai
n
ed
as
:
(
1
6
)
B
asicall
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t
h
e
q
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s
o
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tato
r
cu
r
r
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n
g
u
lar
f
r
e
q
u
en
c
y
ca
n
b
e
ca
lcu
lated
to
co
n
tr
o
l
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e.
F
u
r
th
er
,
th
e
d
-
a
x
i
s
o
f
s
tato
r
c
u
r
r
en
t
ca
n
b
e
u
s
ed
to
ca
lcu
lated
th
e
d
-
ax
i
s
o
f
r
o
to
r
f
l
u
x
as p
r
esen
ted
in
t
h
e
f
o
llo
w
i
n
g
e
q
u
atio
n
s
.
(
1
7
)
(
1
8
)
(
1
9
)
W
h
er
e
th
e
e
lectr
ical
a
n
d
r
o
to
r
o
f
a
n
g
u
lar
f
r
eq
u
e
n
cies
ar
e
r
e
p
r
esen
ted
b
y
,
w
h
ile,
t
h
e
s
y
n
ch
r
o
n
o
u
s
an
d
r
o
to
r
o
f
an
g
le
s
p
ee
d
ar
e
r
ep
r
es
en
ted
b
y
,
.
T
h
en
,
is
d
ef
in
e
as
th
e
s
lip
o
f
a
n
g
u
lar
f
r
eq
u
en
c
y
.
4.
SI
M
UL
A
T
I
O
N
A
ND
H
ARD
WARE S
E
T
UP
T
h
e
s
etu
p
o
f
s
i
m
u
latio
n
is
p
er
f
o
r
m
ed
b
y
u
s
i
n
g
P
SIM
s
o
f
t
w
a
r
e.
Sp
ec
if
icall
y
,
t
h
i
s
s
o
f
t
w
ar
e
p
r
o
v
id
es
a
p
o
w
er
f
u
l
s
i
m
u
latio
n
en
v
ir
o
n
m
en
t
f
o
r
m
o
to
r
co
n
tr
o
l
an
d
p
o
w
er
elec
tr
o
n
ics
s
t
u
d
ies.
Mo
r
eo
v
er
,
th
e
d
esig
n
a
n
d
an
al
y
s
is
o
f
m
o
to
r
d
r
iv
e,
co
n
t
r
o
l
lo
o
p
an
d
p
o
w
er
co
n
v
er
te
r
ar
e
also
s
u
p
p
o
r
ted
w
it
h
P
S
I
M
s
o
f
t
w
ar
e.
T
h
e
p
r
o
ce
s
s
o
f
s
i
m
u
latio
n
s
et
u
p
is
illu
s
tr
ated
in
Fi
g
u
r
e
3
.
O
n
th
e
o
th
er
h
a
n
d
,
th
e
s
c
h
e
m
atic
o
f
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
d
r
iv
es b
y
u
s
i
n
g
I
FOC
i
s
d
ep
icted
in
Fi
g
u
r
e
4
an
d
Fig
u
r
e
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
J
P
E
DS
Vo
l.
8
,
N
o
.
4
,
Dec
em
b
er
2
0
1
7
:
1
6
8
2
–
1
6
9
2
1686
Fig
u
r
e
3
.
T
h
e
p
r
o
ce
s
s
o
f
s
i
m
u
l
atio
n
s
et
u
p
b
y
u
s
in
g
P
SIM
s
o
f
t
w
ar
e
Fig
u
r
e
4
.
T
h
e
s
ch
e
m
atic
o
f
th
r
ee
-
p
h
ase
i
n
d
u
c
tio
n
m
o
to
r
d
r
iv
es
b
ased
o
n
T
MS3
2
0
F2
8
3
3
5
DSP
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
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8
694
C
o
mp
a
r
is
o
n
P
erfo
r
ma
n
ce
s
o
f I
F
OC
fo
r
Th
r
ee
-
P
h
a
s
e
I
M Dri
ve
s
(
Ha
s
i
f A
z
ir
i
)
1687
Fig
u
r
e
5
.
T
h
e
s
u
b
-
b
lo
ck
o
f
I
F
OC
alg
o
r
it
h
m
f
o
r
th
r
ee
-
p
h
a
s
e
in
d
u
ctio
n
m
o
to
r
d
r
iv
es
T
h
e
s
etu
p
o
f
h
ar
d
w
ar
e
f
o
r
ex
p
er
i
m
e
n
tal
w
o
r
k
i
s
b
ased
o
n
Hi
g
h
Vo
lta
g
e
Di
g
ital
Mo
to
r
C
o
n
tr
o
l
(
DM
C
)
w
it
h
P
o
w
er
Facto
r
C
o
r
r
ec
tio
n
(
P
FC
)
f
r
o
m
T
ex
as
I
n
s
tr
u
m
en
ts
.
T
h
e
DM
C
w
it
h
P
F
C
b
o
ar
d
is
ca
p
ab
le
f
o
r
s
e
n
s
o
r
ed
an
d
s
e
n
s
o
r
less
Fi
eld
Or
ien
ted
C
o
n
tr
o
l
(
FOC
)
o
f
h
i
g
h
v
o
ltag
e
P
MSM
,
B
L
D
C
an
d
AC
in
d
u
ctio
n
m
o
to
r
s
.
T
h
e
DM
C
al
s
o
ca
n
co
v
er
DC
m
a
x
i
m
u
m
in
p
u
t
v
o
lta
g
e
is
u
p
to
3
5
0
V
w
ith
1
k
W
m
ax
i
m
u
m
lo
ad
w
h
ile,
P
FC
s
ta
g
e
r
ated
is
7
5
0
W
w
it
h
m
a
x
i
m
u
m
o
u
tp
u
t
v
o
lta
g
e
is
u
p
to
4
0
0
V
th
at
r
ec
tif
ied
f
r
o
m
AC
i
n
p
u
t
o
f
1
1
0
V
AC
o
r
2
2
0
V
AC
[
1
3
]
.
No
ted
th
at
t
h
e
e
x
p
er
i
m
e
n
t
i
s
b
ased
o
n
th
e
T
MS3
2
0
F2
8
3
3
5
DSP
an
d
u
s
ed
th
e
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
w
it
h
r
ated
at
2
2
0
V
A
C
.
Mo
r
eo
v
er
,
th
e
v
ar
iab
le
AC
tr
an
s
f
o
r
m
er
is
u
s
ed
w
h
en
s
tar
tin
g
th
e
e
x
p
er
i
m
e
n
t
f
o
r
a
s
a
f
et
y
p
u
r
p
o
s
e.
Hen
ce
,
th
e
P
C
d
es
k
to
p
ac
t a
s
a
h
o
s
t
to
m
o
n
ito
r
s
ett
in
g
,
g
i
v
in
g
co
m
m
an
d
s
an
d
ev
al
u
ati
n
g
r
es
u
lt
s
f
r
o
m
t
h
e
DM
C
C
2
0
0
0
s
y
s
te
m
u
s
er
in
t
er
f
ac
e.
Hen
ce
,
th
e
r
o
to
r
s
p
ee
d
o
f
in
d
u
ct
io
n
m
o
to
r
is
m
o
n
i
to
r
ed
b
y
u
s
i
n
g
en
co
d
er
th
at
attac
h
ed
o
n
th
e
in
d
u
ct
i
o
n
m
o
to
r
s
h
af
t
w
h
ic
h
is
co
n
n
ec
ted
to
th
e
DM
C
b
o
ar
d
p
latf
o
r
m
.
Sp
ec
i
f
icall
y
,
th
e
h
ar
d
w
ar
e
s
etu
p
f
o
r
th
e
d
r
iv
e
s
y
s
te
m
is
d
e
m
o
n
s
tr
ated
in
Fig
u
r
e
6
an
d
th
e
o
v
er
all
b
lo
ck
d
iag
r
a
m
o
f
I
FO
C
f
o
r
th
r
ee
-
p
h
a
s
e
in
d
u
c
tio
n
m
o
to
r
d
r
i
v
e
is
d
ep
icted
in
Fig
u
r
e
7
.
(
a)
(
b
)
Fig
u
r
e
6
.
T
h
e
s
etu
p
f
o
r
d
r
iv
e
s
y
s
te
m
; (
a)
ex
p
er
i
m
e
n
tal
te
s
t,
(
b
)
h
ar
d
w
ar
e
co
n
f
i
g
u
r
atio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
J
P
E
DS
Vo
l.
8
,
N
o
.
4
,
Dec
em
b
er
2
0
1
7
:
1
6
8
2
–
1
6
9
2
1688
Fig
u
r
e
7
.
T
h
e
o
v
er
all
b
lo
ck
d
i
ag
r
a
m
o
f
I
F
OC
f
o
r
th
r
ee
-
p
h
as
e
in
d
u
ctio
n
m
o
to
r
d
r
iv
es
5.
SI
M
UL
AT
I
O
N
A
ND
H
ARD
WARE S
E
T
UP
T
h
e
o
v
er
all
s
y
s
te
m
f
o
r
s
i
m
u
la
tio
n
an
d
ex
p
er
i
m
en
ta
l
ar
e
i
m
p
le
m
e
n
ted
w
ith
t
h
r
ee
-
p
h
ase
s
y
m
m
etr
ical
s
q
u
ir
r
el
-
ca
g
e
i
n
d
u
c
tio
n
m
o
to
r
.
I
n
ad
d
itio
n
,
t
h
e
r
ated
s
p
ee
d
o
f
i
n
d
u
ctio
n
m
o
to
r
is
1
7
2
5
r
p
m
w
it
h
6
0
Hz
b
ase
elec
tr
ical
f
r
eq
u
e
n
c
y
.
He
n
ce
,
t
h
e
b
ase
p
ea
k
c
u
r
r
en
t
v
o
ltag
e
v
alu
e
is
3
7
6
V
w
h
ile,
th
e
b
ase
p
ea
k
cu
r
r
en
t
v
al
u
e
i
s
3
A
r
esp
ec
ti
v
el
y
.
Ot
h
er
t
h
an
th
at,
th
e
m
o
to
r
p
ar
a
m
eter
s
o
f
t
h
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
ar
e
s
h
o
w
n
i
n
T
ab
le
1
.
Fu
r
t
h
er
m
o
r
e,
t
h
e
s
i
m
u
latio
n
a
n
d
ex
p
er
i
m
en
ta
l
ca
s
e
s
ar
e
o
b
s
er
v
ed
i
n
ter
m
o
f
s
p
ee
d
co
m
m
an
d
s
w
it
h
n
o
lo
ad
co
n
d
itio
n
as s
h
o
w
n
in
T
ab
le
2
.
T
ab
le
1
.
I
n
d
u
ctio
n
Mo
to
r
P
a
r
a
m
eter
s
P
a
ra
m
et
er
s
Sp
ec
if
ica
t
io
ns
R
s
(
s
tato
r
)
1
1
.
0
5
Ω
L
s
(
s
tato
r
)
6
.
1
1
H
R
r
(
r
o
to
r
)
0
.
3
2
Ω
L
r
(
r
o
to
r
)
0
.
3
2
H
L
m
(
m
a
g
n
e
tizi
n
g
)
0
.
2
9
H
No
.
o
f
P
o
le
4
Mo
m
en
t o
f
I
n
er
tia
0
.
9
1
k
g
.
m
2
T
ab
le
2
.
Sim
u
latio
n
an
d
E
x
p
er
i
m
e
n
tal
C
a
s
es
Ca
s
es
Sp
ee
d Co
mm
a
nd
s
1
Fu
ll r
ated
s
p
ee
d
=
1
5
0
0
2
Half
r
ated
s
p
ee
d
=
9
0
0
3
L
o
w
r
ated
s
p
ee
d
=
4
5
0
I
n
itiall
y
,
t
h
e
s
i
m
u
lated
r
es
u
lts
ar
e
tu
n
in
g
b
ased
o
n
Z
ieg
ler
-
N
ich
o
ls
m
et
h
o
d
w
h
ic
h
i
s
co
m
m
o
n
l
y
u
s
ed
to
tu
n
in
g
o
f
P
I
an
d
P
I
D
co
n
tr
o
l
alg
o
r
ith
m
.
T
h
e
t
u
n
in
g
m
et
h
o
d
w
as
th
e
f
ir
s
t
p
u
b
lis
h
ed
b
y
Z
ie
g
ler
a
n
d
Nic
h
o
ls
in
1942
.
I
n
p
ar
ticu
lar
,
th
e
co
n
tr
o
ller
co
ef
f
icien
t
s
ar
e
tu
n
i
n
g
b
ased
o
n
p
ar
am
eter
s
s
u
ch
as
p
r
o
p
o
r
tio
n
a
l,
in
teg
r
al
an
d
d
er
iv
ati
v
e
[
1
4
]
.
On
t
h
e
o
th
er
h
a
n
d
,
t
h
e
s
et
o
f
t
u
n
in
g
s
w
ill
en
d
u
p
w
it
h
d
i
f
f
er
e
n
t
p
ar
am
eter
s
.
So
,
t
h
e
ap
p
r
o
ac
h
o
f
s
p
ee
d
co
n
tr
o
ller
tu
n
i
n
g
i
s
p
len
t
y
o
f
m
o
t
i
v
atio
n
t
o
d
ev
elo
p
an
alg
o
r
it
h
m
[
1
5
]
.
T
h
e
tu
n
i
n
g
b
ased
o
n
Z
ie
g
ler
-
Nich
o
l
s
m
et
h
o
d
co
n
s
i
s
t o
f
t
h
e
f
o
llo
w
i
n
g
s
tep
s
:
1.
R
ed
u
ce
t
h
e
i
n
teg
r
ato
r
,
an
d
d
er
iv
ati
v
e,
g
ai
n
s
to
0
v
a
lu
e
s
.
No
ted
th
at,
th
e
v
al
u
e
co
n
tr
o
ller
g
ain
i
s
ca
lled
,
an
d
th
e
p
ea
k
to
p
ea
k
p
er
io
d
is
ca
lled
,
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
C
o
mp
a
r
is
o
n
P
erfo
r
ma
n
ce
s
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f I
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r
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P
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ve
s
(
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s
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f A
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)
1689
2.
I
n
cr
ea
s
e
f
r
o
m
0
to
co
n
ti
n
u
o
u
s
o
s
ci
llatio
n
th
a
t
also
ca
lled
as
cr
itical
o
r
u
lti
m
ate
g
ain
,
.
No
ted
th
at,
th
e
s
lig
h
tl
y
lar
g
er
v
alu
e
o
f
co
n
tr
o
ller
g
ai
n
w
i
ll
b
e
g
iv
i
n
g
u
n
s
tab
le
clo
s
ed
lo
o
p
s
y
s
te
m
w
h
i
le
f
o
r
s
li
g
h
tl
y
lo
w
e
r
v
alu
e
w
il
l stab
le
th
e
s
y
s
te
m
b
u
t g
i
v
i
n
g
a
s
lo
w
r
esp
o
n
s
e.
3.
T
h
e
tu
n
i
n
g
p
ar
a
m
e
ter
s
ar
e
r
ef
er
r
in
g
o
n
t
h
e
T
ab
le
3
b
ase
o
n
th
e
cr
itical
g
a
in
a
n
d
p
er
io
d
o
f
ch
o
s
en
P
,
PI,
o
r
P
I
D
co
n
tr
o
ller
s
.
No
t
ed
th
at,
t
h
e
r
u
le
s
o
f
t
u
n
in
g
p
a
r
a
m
eter
s
t
h
at
r
es
u
lt
i
n
le
s
s
s
en
s
iti
v
it
y
an
d
o
s
cillato
r
y
r
esp
o
n
s
e
s
in
t
h
e
p
r
o
ce
s
s
co
n
d
itio
n
ar
e
s
u
g
g
es
ted
b
y
T
y
r
ee
s
a
n
d
L
u
y
b
e
n
as
s
h
o
w
n
in
T
ab
le
4
[
1
6
]
.
T
ab
le
3
.
Z
ieg
ler
-
N
ich
o
l
s
M
eth
o
d
T
u
n
in
g
P
ar
a
m
eter
s
Co
ntr
o
ller
T
y
pe
P
0.
5
-
PI
0
.
4
5
/1
.
2
-
P
I
D
0
.
6
/2
/8
T
ab
le
4
.
T
y
r
ee
s
-
L
u
y
b
e
n
S
u
g
g
ested
T
u
n
in
g
P
ar
a
m
eter
s
B
ase
d
o
n
Z
ieg
ler
-
Nic
h
o
ls
T
u
n
in
g
M
eth
o
d
Co
ntr
o
ller
T
y
pe
PI
/3
.
2
2
.
2
-
P
I
D
/2
.
2
2
.
2
/6
.
3
Fig
u
r
e
8
s
h
o
w
s
th
e
s
i
m
u
lated
r
esu
lt
s
o
f
P
an
d
P
I
co
n
tr
o
ller
s
at
d
if
f
er
en
ce
s
s
p
ee
d
co
m
m
a
n
d
s
w
it
h
n
o
lo
ad
co
n
d
itio
n
.
I
n
p
ar
ticu
lar
,
th
e
t
u
n
in
g
p
ar
a
m
eter
s
f
o
r
P
co
n
tr
o
ller
ar
e
an
d
w
h
ile,
f
o
r
P
I
co
n
tr
o
ller
ar
e
an
d
r
esp
ec
tiv
el
y
.
T
h
en
,
Fig
u
r
e
7
(
a)
s
h
o
w
s
th
e
P
co
n
tr
o
l
i
s
co
n
tr
ib
u
ted
l
ess
o
v
er
s
h
o
o
t
an
d
P
I
c
o
n
tr
o
l
is
alm
o
s
t
ze
r
o
o
v
er
s
h
o
o
t
b
u
t
s
lo
w
er
th
an
P
an
d
P
I
c
o
n
tr
o
ller
s
in
Fig
u
r
e
8
(
b
)
an
d
Fig
u
r
e
8
(
c)
to
ac
h
iev
e
s
tead
y
s
tep
r
esp
o
n
s
e
at
f
u
ll
r
ated
s
p
ee
d
co
n
d
itio
n
.
B
esid
es,
Fig
u
r
e
8
(
b
)
s
h
o
w
s
th
e
P
an
d
P
I
co
n
tr
o
ller
s
ar
e
co
n
tr
ib
u
ted
less
o
v
er
s
h
o
o
t
an
d
f
ast
er
th
an
P
an
d
P
I
c
o
n
tr
o
ller
s
in
Fi
g
u
r
e
8
(
a)
b
u
t
s
lo
w
er
th
a
n
P
a
n
d
P
I
co
n
tr
o
ll
er
s
in
Fi
g
u
r
e
8
(
c)
at
h
a
lf
r
ate
d
s
p
ee
d
.
Hen
ce
,
Fi
g
u
r
e
8
(
c)
s
h
o
w
s
t
h
e
P
an
d
P
I
co
n
tr
o
ller
s
ar
e
p
r
o
d
u
ce
d
ch
at
ter
in
g
an
d
o
s
cillato
r
y
r
esp
o
n
s
es
b
u
t
co
n
tr
ib
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tes
s
h
o
r
ter
ti
m
e
t
h
a
n
P
a
n
d
P
I
co
n
tr
o
ller
s
in
Fi
g
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r
e
8
(
a)
an
d
Fig
u
r
e
8
(
b
)
to
ac
h
iev
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s
te
ad
y
s
tep
r
es
p
o
n
s
e
a
t
lo
w
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ate
d
s
p
ee
d
co
n
d
itio
n
.
T
h
er
ef
o
r
e,
th
e
co
m
p
ar
is
o
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o
f
P
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d
P
I
co
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tr
o
ller
s
ar
e
n
o
ted
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at
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h
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P
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co
n
tr
o
ller
is
m
o
r
e
o
u
ts
ta
n
d
i
n
g
th
a
n
t
h
e
P
co
n
tr
o
ller
at
d
if
f
er
en
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s
s
p
e
ed
co
m
m
an
d
s
w
it
h
n
o
lo
ad
co
n
d
itio
n
.
(
a)
(
b
)
(
c)
Fig
u
r
e
8
.
Si
m
u
lated
o
f
P
an
d
P
I
r
esu
lts
at;
(
a)
f
u
l
l,
(
b
)
h
alf
a
n
d
(
c)
lo
w
r
ated
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8
8
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4
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er
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7
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8
2
–
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1690
Fig
u
r
e
9
s
h
o
w
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th
e
s
i
m
u
late
d
an
d
ex
p
er
im
e
n
tal
o
f
P
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s
p
e
ed
co
n
tr
o
ller
r
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lts
at
d
if
f
er
en
ce
s
p
ee
d
co
m
m
a
n
d
s
w
it
h
n
o
lo
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co
n
d
itio
n
.
I
n
f
u
r
th
er
,
th
e
t
u
n
in
g
p
ar
am
eter
s
f
o
r
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I
c
o
n
tr
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ller
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an
d
r
esp
ec
tiv
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.
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g
u
r
e
9
(
a)
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h
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w
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e
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i
m
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lat
ed
r
esu
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n
d
Fi
g
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r
e
9
(
b
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h
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ex
p
er
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m
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lt
is
co
n
tr
ib
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ted
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m
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s
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ze
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o
v
er
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h
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o
t
b
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t
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er
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a
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th
e
s
i
m
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lated
an
d
e
x
p
er
i
m
e
n
tal
r
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lt
s
i
n
Fig
u
r
e
9
(
c)
-
(
f
)
to
ac
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iev
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s
tead
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s
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r
esp
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e
at
f
u
ll
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ated
s
p
ee
d
co
n
d
itio
n
.
T
h
en
,
Fi
g
u
r
e
9
(c
)
s
h
o
w
s
t
h
e
s
i
m
u
lated
r
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lt
a
n
d
Fig
u
r
e
9
(
d
)
s
h
o
w
s
t
h
e
ex
p
er
i
m
en
tal
r
esu
lt
is
co
n
tr
ib
u
ted
less
o
v
er
s
h
o
o
t
an
d
o
s
cillato
r
y
r
esp
o
n
s
es
b
u
t
s
lo
w
er
t
h
a
n
s
i
m
u
la
ted
an
d
e
x
p
er
i
m
e
n
tal
r
es
u
lt
s
i
n
Fi
g
u
r
e
9
(e
)
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(
f
)
a
n
d
f
aster
t
h
a
n
s
i
m
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lated
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d
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x
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tal
r
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lt
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i
n
Fi
g
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r
e
9
(
a)
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b
)
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r
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h
al
f
r
ated
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p
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ed
co
n
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itio
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.
Hen
ce
,
Fi
g
u
r
e
9
(e
)
s
h
o
w
s
t
h
e
s
i
m
u
lated
r
esu
lt
a
n
d
Fig
u
r
e
9
(
f
)
s
h
o
w
s
t
h
e
e
x
p
er
i
m
en
tal
r
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l
t
is
p
r
o
d
u
ce
d
ch
atter
in
g
a
n
d
o
s
cil
lato
r
y
r
esp
o
n
s
e
s
b
u
t
co
n
tr
ib
u
t
es
f
aster
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m
e
t
h
a
n
s
i
m
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lated
an
d
e
x
p
er
i
m
e
n
ta
l
r
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lt
s
in
Fi
g
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r
e
9
(
a)
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(d
)
to
ac
h
iev
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s
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r
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n
s
e
at
lo
w
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ated
s
p
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d
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n
d
itio
n
.
Oth
er
th
a
n
th
at,
Fig
u
r
e
9
(
a)
,
(
c)
an
d
(
e
)
s
h
o
w
s
th
e
s
i
m
u
late
d
r
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lt
s
ar
e
s
lo
w
er
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h
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p
er
i
m
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tal
r
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u
lt
s
in
Fi
g
u
r
e
9
(
b
)
,
(
d
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d
(
f
)
to
ac
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v
e
s
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s
te
p
r
esp
o
n
s
e.
T
h
er
ef
o
r
e,
th
e
P
I
co
n
tr
o
ller
is
n
ee
d
ed
to
i
m
p
r
o
v
e
f
o
r
lo
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ated
s
p
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d
,
b
u
t v
er
y
o
u
t
s
tan
d
i
n
g
at
f
u
ll r
ated
an
d
h
al
f
r
ated
s
p
ee
d
co
m
m
a
n
d
s
w
it
h
n
o
l
o
ad
co
n
d
itio
n
.
(
a)
(
b
)
(
c)
(
d
)
(
e)
(
f
)
Fig
u
r
e
9
.
Si
m
u
lated
an
d
ex
p
er
i
m
e
n
tal
o
f
P
I
r
esu
lt
s
at;
(
a)
-
(
b
)
f
u
l
l
,
(
c)
-
(
d
)
h
alf
a
n
d
(
e)
-
(
f
)
lo
w
r
ated
6.
CO
NCLU
SI
O
N
I
n
th
i
s
p
ap
er
,
th
e
p
er
f
o
r
m
a
n
ce
s
o
f
s
p
ee
d
co
n
tr
o
l
ler
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e
d
em
o
n
s
tr
ated
b
ased
o
n
th
e
s
e
n
s
o
r
e
d
I
FOC
o
f
th
r
ee
-
p
h
ase
i
n
d
u
c
tio
n
m
o
to
r
.
B
asicall
y
,
t
h
e
s
i
m
u
lated
r
es
u
l
ts
ar
e
co
m
p
ar
ed
b
et
w
ee
n
P
a
n
d
P
I
co
n
tr
o
ller
at
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
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8
694
C
o
mp
a
r
is
o
n
P
erfo
r
ma
n
ce
s
o
f I
F
OC
fo
r
Th
r
ee
-
P
h
a
s
e
I
M Dri
ve
s
(
Ha
s
i
f A
z
ir
i
)
1691
d
if
f
er
e
n
ce
s
s
p
ee
d
co
m
m
a
n
d
s
w
it
h
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lo
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n
d
itio
n
.
T
h
e
r
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lt
s
ar
e
n
o
ted
th
a
t
th
e
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I
co
n
tr
o
ller
is
m
o
r
e
o
u
ts
ta
n
d
in
g
t
h
a
n
t
h
e
P
co
n
tr
o
ller
in
ter
m
s
o
f
p
er
f
o
r
m
a
n
ce
s
w
h
ic
h
ar
e
f
aster
to
ac
h
ie
v
e
s
t
ea
d
y
s
tate
r
esp
o
n
s
e,
lo
w
er
p
er
ce
n
ta
g
e
o
f
o
v
er
s
h
o
o
t
an
d
o
s
cillato
r
y
r
esp
o
n
s
e.
B
esid
es,
th
e
s
i
m
u
lated
r
es
u
lts
o
f
P
I
co
n
tr
o
ller
ar
e
co
m
p
ar
ed
w
it
h
ex
p
er
i
m
e
n
tal
r
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lt
s
at
d
i
f
f
er
e
n
ce
s
s
p
e
ed
co
m
m
an
d
s
w
it
h
n
o
lo
ad
co
n
d
itio
n
.
I
n
t
h
is
r
e
g
ar
d
,
th
e
co
m
p
ar
i
n
g
r
es
u
lts
ar
e
s
h
o
w
s
th
at
th
e
ex
p
er
i
m
en
tal
r
es
u
lt
s
ar
e
f
as
ter
t
h
an
th
e
s
i
m
u
lated
r
esu
lt
s
i
n
o
r
d
er
to
ac
h
iev
e
s
tead
y
s
tate
r
esp
o
n
s
e.
Mo
r
eo
v
er
,
P
I
co
n
tr
o
ller
is
v
e
r
y
o
u
t
s
ta
n
d
in
g
at
f
u
ll
r
ated
an
d
h
alf
r
ated
s
p
ee
d
co
m
m
a
n
d
s
w
it
h
n
o
lo
ad
co
n
d
itio
n
.
Ho
w
e
v
er
,
t
h
e
P
I
co
n
tr
o
ller
is
n
ee
d
ed
to
i
m
p
r
o
v
e
f
o
r
lo
w
er
r
ated
s
p
ee
d
co
n
d
itio
n
.
F
i
n
all
y
,
t
h
e
r
es
u
lts
o
f
s
i
m
u
lated
an
d
e
x
p
er
i
m
e
n
t
al
o
f
I
FOC
f
o
r
th
r
ee
-
p
h
a
s
e
i
n
d
u
ctio
n
m
o
to
r
ar
e
v
alid
in
d
icato
r
as a
r
ef
er
en
c
e
to
im
p
r
o
v
e
co
n
tr
o
l a
lg
o
r
ith
m
i
n
f
u
t
u
r
e.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
e
au
th
o
r
s
w
o
u
ld
lik
e
to
ac
k
n
o
w
led
g
e
P
o
litek
n
i
k
Me
r
li
m
a
u
Me
lak
a
(
P
MM
)
an
d
Un
i
v
er
s
it
i
T
ek
n
ik
al
Ma
la
y
s
ia
Me
la
k
a
(
UT
eM
)
th
r
o
u
g
h
th
e
g
r
a
n
t
F
R
GS/1
/2
0
1
5
/T
K0
4
/J
P
P
/
0
3
/1
Min
i
s
tr
y
o
f
Hi
g
h
er
E
d
u
ca
tio
n
Ma
la
y
s
ia
f
o
r
th
eir
i
n
s
p
ir
atio
n
s
an
d
s
u
p
p
o
r
ts
.
RE
F
E
R
E
NC
E
S
[1
]
F
.
A
.
P
a
tak
o
r,
e
t
a
l.
,
“
A
u
to
-
tu
n
i
n
g
S
li
d
in
g
M
o
d
e
Co
n
tro
l
f
o
r
In
d
u
c
ti
o
n
M
o
t
o
r
Driv
e
s,”
2
0
1
6
8
t
h
Co
m
p
u
t
.
S
c
i.
El
e
c
tro
n
.
E
n
g
.
Co
n
f.
,
p
p
.
1
–
6
,
2
0
1
6
.
[2
]
Z.
Yo
n
g
c
h
a
n
g
,
e
t
a
l
.
,
“
Co
m
p
a
ra
ti
v
e
stu
d
y
o
f
P
I,
sli
d
in
g
m
o
d
e
a
n
d
f
u
z
z
y
lo
g
ic
c
o
n
tro
l
ler
f
o
r
ro
t
o
r
f
ield
o
rien
te
d
c
o
n
tro
ll
e
d
i
n
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,”
El
e
c
tr.
M
a
c
h
.
S
y
st.
,
v
o
l.
1
,
n
o
.
3
,
p
p
.
1
0
8
9
–
1
0
9
4
,
2
0
0
8
.
[3
]
K.
W
a
n
g
,
e
t
a
l.
,
“
A
n
o
n
li
n
e
ro
t
o
r
ti
m
e
c
o
n
sta
n
t
e
stim
a
to
r
f
o
r
th
e
in
d
u
c
ti
o
n
m
a
c
h
in
e
,
”
IEE
E
T
ra
n
s.
Co
n
tro
l
S
y
st.
T
e
c
h
n
o
l
.
,
v
o
l
.
1
5
,
n
o
.
2
,
p
p
.
3
3
9
–
3
4
8
,
2
0
0
7
.
[4
]
S
.
R.
S
h
a
w
,
e
t
a
l.
,
“
Id
e
n
ti
f
ica
ti
o
n
o
f
in
d
u
c
ti
o
n
m
o
to
r
p
a
ra
m
e
ters
f
ro
m
tr
a
n
sie
n
t
sta
to
r
c
u
rre
n
t
m
e
a
su
r
e
m
e
n
ts,
”
IEE
E
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l.
4
6
,
n
o
.
1
,
p
p
.
1
3
9
–
1
4
9
,
1
9
9
9
.
[5
]
D.
T
e
l
f
o
rd
,
e
t
a
l
.
,
“
On
li
n
e
id
e
n
ti
f
ica
ti
o
n
o
f
in
d
u
c
ti
o
n
m
a
c
h
in
e
e
lec
tri
c
a
l
p
a
ra
m
e
ters
f
o
r
v
e
c
to
r
c
o
n
tr
o
l
lo
o
p
tu
n
in
g
,
”
IEE
E
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l
.
5
0
,
n
o
.
2
,
p
p
.
2
5
3
–
2
6
1
,
2
0
0
3
.
[6
]
K.
Bo
u
h
o
u
n
e
,
e
t
a
l.
,
“
Hy
b
rid
c
o
n
tro
l
o
f
th
e
th
re
e
p
h
a
se
in
d
u
c
ti
o
n
m
a
c
h
in
e
u
sin
g
a
rti
f
icia
l
n
e
u
ra
l
n
e
tw
o
rk
s
a
n
d
f
u
z
z
y
lo
g
ic,”
Ap
p
l.
S
o
ft
C
o
mp
u
t.
,
v
o
l.
5
5
,
p
p
.
2
8
9
–
3
0
1
,
2
0
1
7
.
[7
]
S
.
M
a
su
m
p
o
o
r,
e
t
a
l.
,
“
A
d
a
p
ti
v
e
slid
in
g
-
m
o
d
e
t
y
p
e
-
2
n
e
u
ro
-
f
u
z
z
y
c
o
n
tro
l
o
f
a
n
in
d
u
c
ti
o
n
m
o
to
r,
”
Exp
e
rt
S
y
st.
Ap
p
l
.
,
v
o
l.
4
2
,
n
o
.
1
9
,
p
p
.
6
6
3
5
–
6
6
4
7
,
2
0
1
5
.
[8
]
C.
L
.
G
ra
c
io
la,
e
t
a
l.
,
“
Ne
u
ra
l
s
p
e
e
d
e
stim
a
to
r
f
o
r
li
n
e
-
c
o
n
n
e
c
ted
in
d
u
c
ti
o
n
m
o
to
r
e
m
b
e
d
d
e
d
in
a
d
ig
i
tal
p
ro
c
e
ss
o
r,
”
Ap
p
l
.
S
o
ft
C
o
mp
u
t.
J
.
,
v
o
l.
4
0
,
p
p
.
6
1
6
–
6
2
3
,
2
0
1
6
.
[9
]
K.
Zeb
,
e
t
a
l
.
,
“
In
d
irec
t
f
ield
-
o
rien
ted
c
o
n
tr
o
l
o
f
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
f
u
z
z
y
lo
g
ic
c
o
n
tro
l
ler,”
El
e
c
tr.
En
g
.
,
2
0
1
6
.
[1
0
]
O.
El
lab
b
a
n
,
e
t
a
l
.
,
“
P
re
d
ictiv
e
to
rq
u
e
c
o
n
tr
o
l
o
f
a
n
in
d
u
c
ti
o
n
m
o
to
r
fe
d
b
y
a
b
id
irec
ti
o
n
a
l
q
u
a
si
Z
-
s
o
u
rc
e
in
v
e
rter,”
IECON
Pro
c
.
In
d
u
stri
a
l
E
lec
tro
n
.
Co
n
f
.
,
v
o
l
.
2
,
p
p
.
5
8
5
4
–
5
8
5
9
,
2
0
1
3
.
[1
1
]
F
.
A
.
P
a
tak
o
r,
e
t
a
l
.
,
“
A
d
a
p
ti
v
e
S
li
d
in
g
M
o
d
e
f
o
r
in
d
irec
t
f
ield
o
ri
e
n
ted
c
o
n
tr
o
ll
e
d
o
f
in
d
u
c
ti
o
n
m
o
to
r,
”
2
0
1
1
IE
EE
S
tu
d
e
n
t
C
o
n
f
.
Res
.
De
v
.
,
n
o
.
4
,
p
p
.
2
8
9
–
2
9
3
,
2
0
1
1
.
[1
2
]
J.
A
.
A
li
,
e
t
a
l
.
,
“
Im
p
ro
v
e
d
In
d
i
re
c
t
F
ield
-
Orie
n
ted
C
o
n
tro
l
o
f
In
d
u
c
t
io
n
M
o
to
r
Driv
e
Ba
se
d
P
S
O
A
lg
o
rit
h
m
,
”
J
u
rn
a
l
T
e
k
n
o
l
o
g
i
,
v
o
l.
2
,
p
p
.
1
–
6
,
2
0
1
3
.
[1
3
]
B.
Ak
in
a
n
d
M
.
Bh
a
rd
w
a
j
,
“
S
e
n
so
re
d
F
ield
Orie
n
te
d
Co
n
tro
l
o
f
3
-
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
to
rs,”
T
e
x
a
s In
stru
me
n
ts,
In
c
.
C
2
0
0
0
S
y
ste
ms
a
n
d
A
p
p
li
c
a
ti
o
n
s
,
2
0
1
3
[1
4
]
B.
P
o
p
a
d
ic,
e
t
a
l
.
,
“
T
u
n
i
n
g
m
e
th
o
d
s
f
o
r
P
I
c
o
n
tro
ll
e
r
-
C
o
m
p
a
riso
n
o
n
a
h
i
g
h
ly
m
o
d
u
lar
d
riv
e
,
”
IY
CE
2
0
1
3
-
4
t
h
In
t.
Y
o
u
th
C
o
n
f
.
E
n
e
rg
y
,
2
0
1
3
.
[1
5
]
M
.
Ko
rk
m
a
z
,
e
t
a
l.
,
“
De
sig
n
a
n
d
p
e
rf
o
rm
a
n
c
e
c
o
m
p
a
riso
n
o
f
v
a
riab
le
p
a
ra
m
e
ter
n
o
n
li
n
e
a
r
P
ID
c
o
n
tro
ll
e
r
a
n
d
g
e
n
e
ti
c
a
lg
o
rit
h
m
b
a
se
d
P
ID co
n
t
ro
ll
e
r,
”
INIS
T
A
2
0
1
2
-
In
t.
S
y
mp
.
In
n
o
v
.
In
tell
.
S
y
st.
Ap
p
l.
,
2
0
1
2
.
[1
6
]
B.
W
.
Be
q
u
e
tt
e
,
“
P
r
o
c
e
ss
Co
n
tr
o
l
:
M
o
d
e
li
n
g
,
De
sig
n
,
a
n
d
S
im
u
latio
n
,”
Pre
n
ti
c
e
Ha
ll
P
T
R
,
2
0
0
3
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Ha
sif
A
z
iri
wa
s
b
o
rn
in
Ke
lan
tan
,
M
a
lay
sia
,
in
1
9
9
1
.
He
re
c
e
iv
e
d
h
is
Dip
lo
m
a
in
El
e
c
tro
n
ic
En
g
in
e
e
rin
g
f
ro
m
th
e
P
o
li
tek
n
ik
Ko
ta
Bh
a
ru
(
P
KB),
Ke
lan
tan
,
M
a
la
y
sia
,
in
2
0
1
3
,
a
n
d
Ba
c
h
e
lo
rs
De
g
re
e
in
M
e
c
h
a
tro
n
ic
E
n
g
in
e
e
rin
g
w
it
h
Ho
n
o
u
rs
f
ro
m
th
e
Un
iv
e
rsiti
T
e
k
n
ik
a
l
M
a
la
y
si
a
M
e
lak
a
(U
T
e
M
),
M
e
la
k
a
,
M
a
la
y
sia
,
in
2
0
1
6
.
He
is
c
u
rre
n
tl
y
w
o
rk
in
g
to
w
a
rd
s
h
is
M
a
ste
rs
o
f
S
c
ien
c
e
in
E
lec
tri
c
a
l
En
g
in
e
e
ri
n
g
a
t
th
e
Un
iv
e
rsiti
T
e
k
n
ik
a
l
M
a
la
y
sia
M
e
lak
a
(U
T
e
M
),
M
e
lak
a
,
M
a
la
y
sia
.
He
h
a
s
b
e
e
n
a
n
A
ss
ista
n
t
Re
se
a
rc
h
e
r
a
t
Un
iv
e
rsiti
T
e
k
n
i
k
a
l
M
a
la
y
sia
M
e
la
k
a
(U
T
e
M
)
a
n
d
P
o
li
tek
n
ik
M
e
rli
m
a
u
M
e
lak
a
(P
M
M
)
sin
c
e
2
0
1
6
.
His c
u
rre
n
t
re
se
a
rc
h
in
tere
sts in
c
lu
d
e
f
u
z
z
y
lo
g
ic co
n
tr
o
l,
p
o
w
e
r
e
lec
tro
n
ics
a
n
d
m
o
to
r
d
riv
e
s.
Evaluation Warning : The document was created with Spire.PDF for Python.