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s
id
er
ed
as
am
aj
o
r
ad
v
an
ta
g
e
f
r
o
m
co
n
v
er
ter
p
o
in
t
o
f
v
ie
w
,
in
d
ee
d
th
e
s
w
itc
h
r
atin
g
s
co
u
ld
b
e
r
ed
u
ce
d
p
er
-
p
h
ase.
C
o
n
ce
r
n
i
n
g
h
ig
h
p
o
w
e
r
ap
p
licatio
n
s
th
at
r
eq
u
ir
ed
to
p
r
o
ce
s
s
a
lar
g
e
q
u
an
tit
y
o
f
p
o
w
er
,
s
er
ies
o
r
/
an
d
p
ar
allel
co
m
b
i
n
atio
n
o
f
p
o
w
er
elec
tr
o
n
ics
s
w
itc
h
es
ar
e
r
ec
o
m
m
e
n
d
ed
.
D
u
e
to
t
h
i
s
s
er
ie
s
o
r
p
ar
allel
s
w
itc
h
e
s
co
m
b
i
n
atio
n
s
s
o
m
e
p
r
o
b
lem
s
o
f
d
y
n
a
m
ic
an
d
s
ta
tic
c
u
r
r
en
t
an
d
v
o
lt
ag
e
s
h
ar
i
n
g
ap
p
ea
r
.
Nev
er
t
h
eles
s
,
d
u
e
to
r
ed
u
ce
p
er
l
eg
i
n
v
er
ter
p
o
w
er
,
th
e
s
er
ies/
p
ar
allel
co
m
b
i
n
atio
n
o
f
s
w
itc
h
es
ca
n
b
e
av
o
id
ed
.
I
n
an
elec
tr
ic
air
cr
af
t
w
h
i
ch
co
m
es
u
n
d
er
th
e
ca
teg
o
r
y
o
f
s
a
f
et
y
cr
itica
l
ap
p
licatio
n
s
,
t
h
e
m
u
ltip
h
a
s
e
d
r
iv
es
ar
e
u
s
ed
b
ec
au
s
e
th
e
y
o
f
f
er
s
an
d
e
n
ab
les
g
r
ea
t
f
au
lt
to
ler
an
ce
w
h
ic
h
is
co
n
s
i
d
er
ed
a
p
r
ed
o
m
in
a
n
ce
i
m
p
o
r
t
an
ce
d
u
e
to
th
e
i
m
p
ac
t
o
f
t
h
e
b
eh
av
io
u
r
o
f
t
h
e
d
r
iv
e
f
o
r
lo
s
s
o
f
o
n
e
o
r
m
o
r
e
p
h
ases
.
I
n
t
h
e
en
d
,
th
e
u
s
e
o
f
m
u
ltip
h
a
s
e
m
o
to
r
d
r
iv
e
i
n
t
h
e
h
y
b
r
id
a
n
d
elec
tr
ic
v
eh
ic
les
ar
ea
s
au
th
o
r
ize
th
e
r
e
d
u
ctio
n
o
f
t
h
e
r
eq
u
is
ite
r
ati
n
g
cu
r
r
en
t
f
o
r
th
e
s
e
m
ico
n
d
u
cto
r
s
w
itc
h
,
ev
en
t
h
o
s
e
d
r
iv
es a
r
e
n
o
t d
is
ti
n
g
u
i
s
h
b
y
h
ig
h
p
o
w
er
.
Vo
ltag
e
s
o
u
r
ce
in
v
er
ter
b
ased
d
r
iv
es
ar
e
m
o
s
tl
y
e
m
p
lo
y
ed
in
elec
tr
ic
d
r
i
v
e
i
n
d
u
s
tr
y
.
T
h
e
ass
i
g
n
ed
o
u
tp
u
ts
ar
e
co
m
m
o
n
l
y
s
h
af
t
p
o
s
itio
n
,
p
h
ase
cu
r
r
en
t
s
,
r
o
to
r
f
lu
x
an
d
also
elec
tr
o
m
ag
n
eti
c
to
r
q
u
e.
Ho
w
e
v
er
,
th
er
e
is
s
o
m
e
g
r
a
n
d
eu
r
ar
e
d
esig
n
ated
as
n
o
t
m
ea
s
u
r
ed
s
u
c
h
as
th
e
s
tato
r
an
d
r
o
to
r
f
lu
x
es
d
u
e
to
n
o
n
-
ac
ce
s
s
ib
ilit
y
o
f
m
ea
s
u
r
e
m
e
n
t
d
u
e
to
n
o
n
-
e
x
i
s
ten
t
s
en
s
o
r
s
.
I
t
is
w
el
l
ill
u
s
tr
io
u
s
th
at
t
h
e
I
M
d
r
iv
e
is
co
n
v
en
t
io
n
all
y
f
ed
b
y
v
ar
i
ab
les
m
ea
s
u
r
ed
lik
e
th
e
s
tato
r
cu
r
r
en
ts
.
T
h
e
p
r
o
g
r
ess
i
v
e
te
ch
n
iq
u
es
o
f
m
o
to
r
d
r
iv
e
g
en
er
all
y
eq
u
ip
p
ed
in
o
r
d
er
to
ad
j
u
s
t
th
e
to
r
q
u
e,
s
p
ee
d
an
d
f
lu
x
w
ith
s
tate
o
b
s
er
v
er
s
an
d
also
p
ar
am
eter
s
esti
m
ato
r
s
.
R
ec
en
t
l
y
th
e
r
esear
ch
w
o
r
k
o
f
t
h
e
co
n
tr
o
l
f
ie
ld
o
f
elec
tr
ica
l
m
o
to
r
d
r
iv
es
h
a
v
e
b
ee
n
m
o
t
iv
ated
d
u
e
to
t
h
e
f
ac
t
t
h
at
t
h
e
I
M
is
w
el
l
k
n
o
w
n
as
a
n
o
n
-
l
in
ea
r
a
n
d
s
tr
o
n
g
l
y
co
u
p
led
s
y
s
te
m
w
i
th
p
ar
a
m
eter
s
v
ar
iatio
n
s
.
T
h
e
f
ield
o
r
ien
ted
co
n
tr
o
l
(
FOC
)
tech
n
iq
u
e
is
t
h
e
m
o
s
t
p
o
p
u
lar
o
p
tio
n
m
et
h
o
d
in
th
e
d
i
f
f
er
en
t
d
r
iv
e
ap
p
licatio
n
s
to
o
b
tai
n
h
i
g
h
p
er
f
o
r
m
an
ce
co
n
tr
o
l
o
f
a
n
I
n
d
u
ctio
n
m
o
to
r
.
Mo
r
eo
v
er
,
t
h
is
s
tr
ate
g
y
o
f
co
n
tr
o
l
n
ee
d
s
t
h
e
k
n
o
w
led
g
e
o
f
r
o
t
o
r
f
lu
x
p
o
s
it
io
n
a
n
d
r
o
to
r
r
esis
ta
n
ce
[
7
]
.
Ho
w
ev
er
,
t
h
e
p
ar
a
m
eter
s
v
al
u
es
m
an
if
e
s
ted
i
n
t
h
e
co
n
tr
o
ller
s
t
r
ateg
y
n
ee
d
to
b
e
au
t
h
e
n
tic
i
n
o
r
d
er
to
o
b
tain
in
b
o
t
h
d
y
n
a
m
ic
a
n
d
s
t
atic
s
tate,
h
ig
h
p
er
f
o
r
m
a
n
ce
s
f
o
r
th
e
I
M
d
r
iv
e.
Nev
er
th
ele
s
s
,
in
t
h
e
p
r
esen
ce
o
f
i
m
p
r
o
p
er
v
alu
e
s
o
f
th
e
p
ar
am
eter
s
i
n
th
e
co
n
tr
o
l
alg
o
r
ith
m
ca
u
s
e
s
a
lo
s
s
o
f
t
h
e
co
n
tr
o
l
o
f
t
h
e
o
r
ien
te
d
f
ield
[
8
]
.
Ma
n
y
r
e
s
ea
r
ch
i
n
t
h
e
liter
at
u
r
e
tal
k
ed
ab
o
u
t
th
e
p
er
ce
n
t
o
f
p
ar
a
m
et
er
s
v
ar
iatio
n
s
p
r
ec
is
el
y
th
e
r
o
to
r
an
d
s
tato
r
r
esis
ta
n
ce
s
d
u
e
to
th
e
te
m
p
er
at
u
r
e
v
ar
iatio
n
o
f
th
e
I
M
i
n
f
ac
t
o
f
t
h
e
h
ea
t
in
g
,
i
n
d
ee
d
th
is
v
ar
iati
o
n
s
co
u
ld
ac
h
iev
e
o
r
r
is
e
to
5
0
%
an
d
1
0
0
%
o
f
th
e
r
ated
v
alu
e
s
[
7
-
2
4
]
.
Mo
s
t
o
f
th
e
co
n
tr
o
l
s
y
s
te
m
f
o
r
m
o
to
r
d
r
iv
e
ap
p
licatio
n
n
ee
d
p
r
ec
is
e
v
al
u
e
s
o
f
m
o
to
r
p
ar
am
eter
s
.
T
h
er
ef
o
r
e,
u
s
in
g
s
en
s
o
r
s
s
u
c
h
h
all
o
f
s
e
n
s
i
n
g
co
ils
t
h
e
f
lu
x
o
f
t
h
e
I
M
m
o
to
r
ca
n
b
e
in
s
ta
n
ta
n
eo
u
s
l
y
m
ea
s
u
r
ed
b
u
t
th
er
e
ar
e
p
r
o
b
lem
s
s
till
r
e
m
a
in
.
T
h
o
s
e
p
r
o
b
le
m
s
f
a
m
il
iar
ized
in
d
i
f
f
er
en
t
t
y
p
e
s
lik
e
t
h
e
i
n
cr
e
m
en
t
o
f
t
h
e
v
o
lu
m
e,
i
n
cr
ea
s
e
o
f
th
e
co
s
t
d
u
e
to
t
h
e
s
e
n
s
o
r
s
an
d
ab
ase
m
en
t
i
n
m
ec
h
a
n
ical
r
o
b
u
s
tn
es
s
.
Ne
v
er
th
e
less
,
u
s
i
n
g
th
e
m
ea
s
u
r
ed
v
al
u
es
o
f
s
t
ato
r
cu
r
r
en
ts
,
v
o
lta
g
es
a
n
d
r
o
to
r
s
p
ee
d
o
n
e
ca
n
esti
m
ate
o
r
o
b
s
er
v
e
th
e
f
lu
x
d
u
e
to
t
h
e
cu
r
r
e
n
t
m
o
d
e
l
i
f
i
t
is
r
o
to
r
f
lu
x
an
d
v
o
ltag
e
m
o
d
el
if
it
s
tato
r
f
lu
x
[
9
]
.
A
s
h
o
r
t
r
ev
ie
w
o
f
t
h
e
r
o
to
r
an
d
s
tato
r
r
esis
tan
ce
s
esti
m
ato
r
an
d
s
tato
r
an
d
r
o
to
r
f
l
u
x
o
b
s
er
v
e
s
u
s
ed
in
s
e
n
s
o
r
les
s
co
n
tr
o
l a
lg
o
r
it
h
m
s
i
s
r
ev
ie
w
ed
an
d
p
r
esen
ted
in
th
e
s
u
b
s
eq
u
e
n
t s
u
b
s
ec
tio
n
.
R
o
to
r
an
d
s
tato
r
r
esis
tan
ce
o
b
s
er
v
er
s
:
th
e
o
n
-
li
n
e
o
b
s
er
v
atio
n
o
f
r
esp
ec
ti
v
el
y
r
o
to
r
an
d
s
tato
r
r
esis
ta
n
ce
p
ar
a
m
eter
s
p
r
ese
n
t
ed
in
an
d
d
is
c
u
s
s
ed
in
[
1
0
-
1
5
]
,
it
s
h
o
u
ld
b
e
n
o
ted
t
h
at
al
l
th
o
s
e
p
ar
a
m
e
ter
s
esti
m
ato
r
s
ar
e
d
ep
en
d
o
f
th
e
m
ea
s
u
r
e
m
e
n
t o
f
s
o
m
e
q
u
a
n
t
i
ti
es lik
e
s
tato
r
cu
r
r
en
ts
a
n
d
s
tat
o
r
v
o
ltag
es.
I
n
th
e
liter
at
u
r
e
m
an
y
r
esear
c
h
es
d
is
c
u
s
s
e
s
th
e
o
n
-
li
n
e
p
ar
a
m
eter
s
id
en
t
if
ica
tio
n
an
d
est
i
m
atio
n
in
I
n
d
u
ctio
n
m
o
to
r
d
r
iv
e
s
.
Ho
w
e
v
er
,
Ka
n
Ak
ats
u
e
l
al
d
e
v
elo
p
s
a
n
o
n
l
in
e
r
o
to
r
o
b
s
er
v
atio
n
u
s
i
n
g
s
p
ee
d
s
en
s
o
r
less
co
n
tr
o
l
[
1
0
]
.
Z
HO
U
Deh
o
n
g
et
al
a
n
d
Am
u
li
u
B
o
g
d
an
P
r
o
ca
el
s
u
cc
ee
d
ed
to
d
ev
elo
p
in
p
r
ed
ictiv
e
to
r
q
u
e
co
n
tr
o
l
a
s
lid
in
g
m
o
d
e
f
lu
x
o
b
s
er
v
er
tak
in
g
i
n
to
ac
co
u
n
t
th
e
o
n
li
n
e
r
o
to
r
an
d
s
tato
r
r
esis
tan
ce
esti
m
atio
n
s
[
1
1
-
1
2
]
.
T
.
A
b
b
asian
e
t
al
p
r
ese
n
ts
an
esti
m
atio
n
o
f
co
r
e
lo
s
s
r
o
to
r
r
esis
ta
n
ce
b
y
u
s
i
n
g
an
i
m
p
r
o
v
ed
f
ee
d
b
ac
k
lin
ea
r
izatio
n
co
n
tr
o
l
[
1
3
]
.
I
n
o
r
d
e
r
to
en
h
a
n
ce
t
h
e
p
er
f
o
r
m
an
ce
o
f
o
n
l
in
e
r
o
to
r
r
esis
ta
n
ce
est
i
m
at
io
n
S.
M.
N
a
y
ee
m
Hasa
n
et
al
d
ev
elo
p
a
L
u
en
b
er
g
er
s
lid
i
n
g
m
o
d
e
o
b
s
er
v
er
[
8
]
.
N.
J
aa
lam
et
al
co
n
s
tr
u
ct
a
n
e
w
s
tr
u
ct
u
r
e
s
c
h
e
m
e
o
f
o
n
li
n
e
e
s
ti
m
atio
n
,
a
n
e
u
r
o
f
u
zz
y
f
o
r
s
tato
r
r
e
s
is
ta
n
ce
e
s
ti
m
atio
n
an
d
B
ab
u
r
aj
Kar
an
a
y
il
et
al
d
ev
elo
p
an
o
th
er
o
b
s
er
v
atio
n
s
c
h
e
m
e
b
ased
o
n
u
s
i
n
g
a
n
ar
tif
ic
i
al
n
eu
tr
al
n
et
w
o
r
k
s
b
o
th
r
o
to
r
an
d
s
tato
r
r
esis
tan
c
es
esti
m
atio
n
[
1
4
-
1
5
]
.
A
n
e
w
alg
o
r
ith
m
o
f
s
p
ee
d
an
d
f
l
u
x
a
d
ap
tio
n
co
n
tr
o
l
w
a
s
d
ev
elo
p
ed
b
y
u
s
in
g
u
n
k
n
o
w
n
ti
m
e
v
ar
y
i
n
g
lo
ad
to
r
q
u
e
an
d
r
o
to
r
r
esis
tan
ce
[
1
6
]
.
S.
L
eg
r
i
o
u
i
et
al
in
v
esti
g
ate
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
On
lin
e
A
d
a
p
t
a
tio
n
o
f
R
o
to
r
R
e
s
is
ta
n
ce
b
a
s
ed
o
n
S
lid
in
g
Mo
d
e
Ob
s
erver w
ith
B
a
ck
s
tep
p
in
g
…
(
H.
E
ch
eikh
)
650
a
r
ea
ch
i
n
g
la
w
s
en
s
o
r
less
co
n
tr
o
ller
w
it
h
M
R
A
S
o
b
s
er
v
er
b
ased
o
n
o
n
lin
e
p
ar
a
m
eter
s
id
en
ti
f
icatio
n
[
1
7
]
.
Su
m
a
n
Ma
iti
et
al
d
etailed
a
m
o
d
el
o
f
r
e
f
er
en
ce
ad
ap
ti
v
e
co
n
tr
o
ller
a
n
d
u
s
e
r
ea
ctiv
e
p
o
w
er
f
o
r
o
n
li
n
e
esti
m
atio
n
o
f
r
o
to
r
r
esis
ta
n
ce
[
1
8
]
.
I
n
o
th
er
w
a
y
F.
L
.
Ma
p
elli
et
al
p
r
o
p
o
s
ed
a
n
o
n
li
n
ea
r
co
r
r
ec
tio
n
o
f
r
o
to
r
r
esis
ta
n
ce
o
f
i
n
d
u
ctio
n
m
o
t
o
r
d
r
iv
e
f
o
r
elec
tr
ical
v
e
h
icle
b
as
ed
o
n
r
ea
cti
v
e
s
tato
r
p
o
w
er
[
1
9
]
.
R
icca
r
d
o
Ma
r
in
o
el
al
d
esig
n
ed
a
n
in
t
h
o
r
d
er
est
i
m
atio
n
ap
p
r
o
ac
h
to
p
r
o
v
id
e
o
n
-
lin
e
e
x
p
o
n
e
n
tialco
n
v
er
g
en
c
e
f
o
r
b
o
th
r
o
to
r
an
d
s
tato
r
r
esis
ta
n
ce
s
o
f
I
M
[
2
0
]
.
Oth
er
esti
m
atio
n
m
et
h
o
d
s
w
er
e
d
ev
elo
p
ed
in
t
h
e
liter
at
u
r
e
s
u
c
h
as
P
eg
a
h
R
o
k
h
f
o
r
o
z
et
al
d
ev
elo
p
ed
a
r
o
b
u
s
t
ex
te
n
d
ed
Kal
m
a
n
f
ilter
i
n
o
r
d
er
to
esti
m
ate
th
e
s
p
ee
d
an
d
r
o
to
r
r
esis
tan
ce
[
2
1
]
.
K.
L
ak
s
h
m
i
Var
ah
a
I
y
e
r
el
al
a
n
d
E
l
h
a
m
Mo
h
a
m
m
a
d
alip
o
u
r
T
o
f
ig
h
i
et
al
p
r
esen
ts
a
n
e
w
o
b
s
er
v
e
r
s
ch
e
m
e
o
f
o
n
li
n
e
es
ti
m
a
tio
n
o
f
r
o
to
r
an
d
s
tato
r
r
esis
ta
n
ce
o
f
I
M
u
s
i
n
g
p
ar
ticle
s
w
ar
m
o
p
ti
m
iza
tio
n
in
telli
g
e
n
ce
(
P
SO)
[
2
2
]
[
2
3
]
.
Faza
r
d
R
Sal
m
a
s
i
et
al
d
ev
elo
p
ed
an
A
d
ap
tiv
e
f
l
u
x
m
e
th
o
d
o
lo
g
y
o
f
b
o
th
r
o
to
r
r
esis
ta
n
ce
an
d
DC
-
v
o
ltag
e
e
s
ti
m
atio
n
[
2
4
].
Flu
x
o
b
s
er
v
er
s
:
co
n
v
en
tio
n
all
y
t
h
e
v
o
ltag
e
m
o
d
el
is
u
s
ed
to
ca
r
ef
u
ll
y
e
s
ti
m
ate
t
h
e
s
tat
o
r
f
lu
x
es,
th
er
ef
o
r
e,
th
i
s
m
et
h
o
d
b
ased
o
n
th
e
i
n
teg
r
at
io
n
o
f
t
h
e
eq
u
ati
o
n
o
f
th
e
s
tato
r
v
o
lta
g
es.
Ho
wev
er
,
th
is
m
et
h
o
d
is
s
en
s
iti
v
e
to
th
e
s
ta
to
r
r
esis
tan
ce
,
esp
ec
ia
ll
y
at
v
er
y
lo
w
s
p
ee
d
s
.
I
n
o
r
d
er
to
m
itig
a
te
th
i
s
p
r
o
b
lem
,
g
e
n
er
all
y
r
o
to
r
m
o
d
el
f
l
u
x
o
b
s
er
v
e
s
ar
e
e
m
p
lo
y
ed
d
u
r
in
g
th
e
est
i
m
atio
n
o
f
r
o
to
r
f
l
u
x
es,
m
o
r
eo
v
er
,
th
is
m
et
h
o
d
is
b
asicall
y
d
ep
en
d
o
n
t
h
e
m
ea
s
u
r
e
m
e
n
t
o
f
p
h
ase
c
u
r
r
en
ts
.
I
n
th
ese
cir
c
u
m
s
ta
n
ce
s
,
t
h
er
e
ar
e
co
r
r
esp
o
n
d
in
g
f
l
u
x
o
b
s
er
v
er
s
w
it
h
ad
d
itio
n
o
f
t
h
e
esti
m
atio
n
o
f
t
h
e
m
o
to
r
p
ar
a
m
eter
s
.
An
ex
ten
s
iv
e
w
o
r
k
s
in
t
h
e
liter
at
u
r
e
i
s
r
ep
o
r
ted
o
n
th
is
to
p
ic
[
7
-
2
4
]
.
Un
til
n
o
w
(
as
f
ar
as
t
h
e
a
u
th
o
r
s
k
n
o
w
)
n
o
B
ac
k
s
tep
p
in
g
(
B
S
C
)
co
n
tr
o
l
h
a
s
b
ee
n
p
r
esen
ted
in
th
e
liter
at
u
r
e
co
n
ce
r
n
i
n
g
m
u
l
ti
-
p
h
ase
m
o
to
r
d
r
iv
e
p
r
ec
is
el
y
f
o
r
a
f
i
v
e
-
p
h
a
s
e
i
n
d
u
ctio
n
m
o
to
r
d
r
iv
e.
T
h
is
p
ap
er
p
r
o
p
o
s
es
o
n
lin
e
r
o
to
r
r
esis
ta
n
ce
e
s
ti
m
atio
n
f
o
r
B
SC
co
n
tr
o
lled
f
i
v
e
-
p
h
a
s
e
in
d
u
ctio
n
m
o
to
r
d
r
iv
e.
T
h
e
p
ap
er
is
s
tr
u
c
tu
r
ed
as
f
o
llo
w
,
i
n
s
ec
tio
n
I
I
clo
s
ed
-
lo
o
p
ad
ap
tiv
e
s
lid
i
n
g
m
o
d
e
o
b
s
er
v
e
r
w
it
h
b
ac
k
s
tep
p
in
g
co
n
tr
o
l o
f
f
iv
e
-
p
h
ase
I
M,
s
ec
t
io
n
I
I
I
s
u
m
m
ar
ized
,
s
i
m
u
lat
io
n
r
e
s
u
l
ts
a
n
d
d
is
cu
s
s
io
n
o
f
t
h
e
o
b
tain
ed
r
esu
lts
,
t
h
e
co
n
cl
u
s
io
n
is
g
iv
e
n
i
n
s
ec
tio
n
I
V.
2.
CL
O
S
E
D
-
L
O
O
P
ADAP
T
I
VE
S
L
I
D
I
N
G
M
O
DE
O
B
SE
RVER
WI
T
H
B
ACK
ST
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P
P
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G
CO
NT
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F
F
I
V
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-
P
H
A
SE
I
N
DUC
T
I
O
N
M
O
T
O
R
Fiv
e
-
p
h
a
s
e
m
o
to
r
is
co
n
s
id
er
ed
o
n
e
o
f
th
e
m
o
s
t
f
r
eq
u
en
tl
y
u
s
ed
m
u
ltip
h
a
s
e
m
o
to
r
s
.
I
n
t
h
e
liter
atu
r
e,
f
i
v
e
-
p
h
ase
m
o
to
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ca
n
b
e
f
o
u
n
d
in
t
w
o
d
if
f
er
en
t
co
n
s
tr
u
ctio
n
s
d
ep
en
d
in
g
o
n
th
e
s
h
ap
e
o
f
MM
F.
T
w
o
t
y
p
es
o
f
in
d
u
ctio
n
m
o
to
r
s
ar
e
u
s
ed
n
a
m
el
y
d
is
tr
ib
u
ted
w
i
n
d
in
g
a
n
d
co
n
ce
n
tr
ated
w
i
n
d
in
g
.
I
n
d
is
tr
ib
u
ted
w
i
n
d
in
g
co
n
f
i
g
u
r
atio
n
,
a
f
i
v
e
-
p
h
ase
m
o
to
r
r
eq
u
ir
es
o
n
l
y
s
i
n
u
s
o
id
al
s
tato
r
v
o
lta
g
es
s
i
n
ce
d
i
s
tr
ib
u
tio
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w
i
n
d
in
g
s
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ate
a
n
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r
s
i
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s
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id
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g
ap
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F.
So
th
e
lo
w
o
r
d
er
h
ar
m
o
n
ic
ar
e
d
is
ag
r
ee
ab
le
in
th
e
m
o
to
r
in
p
u
t
’
s
v
o
ltag
e.
I
n
co
n
ce
n
tr
ated
t
y
p
e
co
n
s
tr
u
ct
io
n
,
t
h
e
g
o
al
i
s
to
e
n
h
an
ce
th
e
to
r
q
u
e
p
r
o
d
u
ctio
n
o
f
f
i
v
e
-
p
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ase
m
o
to
r
u
s
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n
g
lo
w
o
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d
er
air
-
g
ap
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F
h
ar
m
o
n
ics
i
n
j
ec
tio
n
.
Se
v
er
al
ass
u
m
p
tio
n
s
ar
e
u
s
ed
to
s
i
m
p
lif
y
a
n
d
m
o
d
el
o
f
f
i
v
e
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p
h
ase
m
o
to
r
cited
in
[
2
5
]
.
Ma
th
e
m
atica
l
m
o
d
el
o
f
a
d
is
t
r
ib
u
ted
t
y
p
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f
i
v
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p
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a
s
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in
d
u
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m
o
to
r
is
:
{
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f
R
o
to
r
R
e
s
is
ta
n
ce
b
a
s
ed
o
n
S
lid
in
g
Mo
d
e
Ob
s
erver w
ith
B
a
ck
s
tep
p
in
g
…
(
H.
E
ch
eikh
)
654
T
h
e
m
o
to
r
is
d
r
iv
e
w
i
th
s
p
ee
d
s
h
o
w
s
in
Fi
g
u
r
e
3
(
a)
eq
u
al
1
0
0
r
ad
/s
ap
p
lied
at
t=0
.
3
s
an
d
r
ev
er
s
at
t=0
.
7
s
.
T
h
e
s
y
s
te
m
s
tar
ts
w
i
t
h
th
e
r
ated
r
o
to
r
r
esis
tan
ce
v
alu
e
Ω
.
I
t
is
w
ell
k
n
o
w
n
th
a
t
th
e
r
o
to
r
r
esis
ta
n
ce
o
f
th
e
m
o
to
r
m
o
d
el
is
n
o
t
co
n
s
ta
n
t,
n
ev
er
t
h
eles
s
i
s
ch
a
n
g
e
w
i
th
t
h
e
ti
m
e
an
d
t
h
e
te
m
p
er
atu
r
e.
T
h
e
r
o
to
r
r
esis
tan
ce
p
r
esen
ts
i
n
Fi
g
u
r
e
3
(
f
)
in
cr
ea
s
es
b
y
5
0
%
at
t=0
.
5
5
s
an
d
r
etu
r
n
b
ac
k
to
Ω
at
t=1
.
5
s
.
T
h
e
r
ea
l
f
o
llo
w
s
p
er
f
ec
tl
y
th
e
r
ef
er
en
ce
v
al
u
e
an
d
eli
m
i
n
a
te
th
e
ef
f
ec
t
o
f
p
er
tu
r
b
atio
n
i
n
th
e
r
o
to
r
f
lu
x
m
o
d
u
le
s
h
o
w
s
in
Fig
u
r
e
3
(
g
)
.
Fig
u
r
e
3
(
c)
s
h
o
w
s
t
h
e
m
ea
s
u
r
e
m
en
t
o
f
d
-
a
n
d
q
-
a
x
is
c
u
r
r
en
ts
,
w
h
er
e
q
-
ax
is
cu
r
r
en
ts
d
e
m
o
n
s
tr
ate
a
f
a
s
t
tr
a
ck
in
g
r
e
s
p
o
n
s
e
w
it
h
o
u
t
a
n
y
e
x
ten
d
o
v
er
s
h
o
o
t.
I
n
o
t
h
er
h
an
d
th
e
d
-
ax
i
s
c
u
r
r
en
t
u
n
d
i
s
tu
r
b
ed
in
th
e
ti
m
e
o
f
th
e
q
-
ax
i
s
cu
r
r
en
t
tr
an
s
ien
ts
.
T
h
e
cu
r
r
en
ts
a
,
,
α
an
d
to
r
q
u
e
s
h
o
w
n
r
esp
ec
tiv
el
y
,
i
n
F
ig
u
r
e
3
(
e)
,
(
d
)
(
b
)
p
r
esen
t
an
ac
ce
p
tab
le
r
ip
p
le.
T
h
e
f
lu
x
an
d
c
u
r
r
en
t
o
b
s
er
v
er
w
it
h
o
n
li
n
e
esti
m
atio
n
o
f
r
o
to
r
r
esis
tan
ce
u
s
i
n
g
s
lid
in
g
m
o
d
e
o
b
s
er
v
e
r
u
s
in
g
L
y
ap
u
n
o
v
th
eo
r
y
w
h
ich
s
h
o
w
t
h
e
h
ig
h
p
er
f
o
r
m
a
n
ce
an
d
ef
f
ec
ti
v
e
n
es
s
o
f
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
.
T
h
o
s
e
p
ar
am
e
ter
s
ar
e
ar
b
itra
r
y
d
eter
m
i
n
ates
u
n
til
o
n
h
av
e
t
h
e
b
est
co
n
v
er
g
e
n
ce
o
f
t
h
e
o
b
s
er
v
er
f
l
u
x
an
d
r
o
to
r
f
lu
x
to
th
e
d
esire
d
v
alu
e.
4.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
er
clo
s
ed
-
lo
o
p
n
o
n
li
n
ea
r
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
is
p
r
o
p
o
s
ed
f
o
r
a
f
iv
e
-
p
h
a
s
e
in
d
u
ctio
n
m
o
to
r
.
T
ak
in
g
i
n
to
ac
co
u
n
t
th
e
r
o
to
r
r
esis
tan
ce
es
ti
m
atio
n
u
s
i
n
g
s
lid
i
n
g
m
o
d
e
o
b
s
er
v
er
.
T
h
e
o
v
er
all
co
n
tr
o
l
s
ch
e
m
e
i
n
v
o
l
v
es
t
h
e
n
o
n
li
n
ea
r
b
ac
ck
s
tep
p
in
g
i
n
o
r
d
er
to
c
o
n
v
er
g
e
t
h
e
s
y
s
te
m
a
s
y
m
p
to
ti
ca
ll
y
an
d
t
h
e
er
r
o
r
eq
u
al
to
ze
r
o
.
T
h
e
ad
ap
tiv
e
o
b
s
er
v
er
p
r
o
v
id
es
esti
m
at
in
g
a
n
d
i
m
p
o
s
in
g
t
h
e
r
ef
er
e
n
ce
v
alu
e
o
f
th
e
m
o
d
u
l
u
s
o
f
r
o
to
r
f
lu
x
.
T
h
e
s
i
m
u
la
tio
n
r
es
u
lts
co
n
f
ir
m
t
h
e
f
ea
s
ib
ilit
y
a
n
d
ef
f
ec
tiv
e
n
e
s
s
o
f
t
h
e
p
r
esen
ted
ap
p
r
o
ac
h
.
RE
F
E
R
E
NC
E
S
[1
]
Zh
a
n
g
,
X
.
,
Zh
n
a
g
,
C.
,
Qia
o
,
M
.
,
a
n
d
Yu
,
F
.
(
2
0
0
8
)
An
a
lys
is
a
n
d
e
x
p
e
rime
n
t
o
f
mu
lt
i
-
p
h
a
se
in
d
u
c
t
i
o
n
mo
t
o
r
d
riv
e
s
fo
r ele
c
trica
l
p
r
o
p
u
lsio
n
.
P
r
o
c
.
I
n
t.
C
o
n
f
.
El
e
c
t.
M
a
c
h
.
,
ICEM
,
p
p
.
1
2
5
1
–
1
2
5
4
.
[2
]
S
a
d
e
h
g
i,
S
.
a
n
d
P
a
rsa
,
L
.
(2
0
1
0
)
De
sig
n
a
n
d
d
y
n
a
m
ic
si
m
u
latio
n
o
f
f
iv
e
-
p
h
a
se
IP
M
m
a
c
h
in
e
f
o
r
se
ries
h
y
b
rid
e
lec
tri
c
v
e
h
icle
s.
P
ro
c
.
G
re
e
n
T
e
c
h
.
Co
n
f
.
,
p
p
.
1
–
6.
[3
]
Ch
a
n
,
C.
C.
,
Jia
n
g
,
J.Z
.
,
Ch
e
n
,
G
.
H.,
W
a
n
g
,
X
.
Y.,
a
n
d
C
h
a
u
,
K.T
.
(
1
9
9
4
)
A
n
o
v
e
l
p
o
ly
p
h
a
se
r
m
u
lt
ip
o
le sq
u
a
re
w
a
v
e
P
M
m
o
to
r
d
r
iv
e
f
o
r
e
lec
tri
c
v
e
h
ic
les
.
IEE
E
T
ra
n
s.
In
d
.
A
p
p
l.
,
3
0
(5
)
.
[4
]
Ja
y
a
su
n
d
a
ra
,
J.
a
n
d
M
u
n
in
d
ra
d
a
sa
,
D.
(2
0
0
6
)
De
sig
n
o
f
mu
lt
i
-
p
h
a
se
in
-
w
h
e
e
l
a
x
ia
l
fl
u
x
PM
mo
t
o
r
fo
r
e
lec
tric
v
e
h
icle
s
.
P
r
o
c
.
In
t.
C
o
n
f
.
In
d
.
I
n
f
o
.
S
y
st.,
p
p
.
5
1
0
–
5
1
2
.
[5
]
A
b
o
lh
a
ss
a
n
i,
M
.
T
.
(2
0
0
5
)
A
n
o
v
e
l
mu
lt
ip
h
a
se
fa
u
lt
t
o
la
re
n
t
h
i
g
h
t
o
rq
u
e
d
e
n
sity
PM
mo
t
o
r
d
r
ive
fo
r
tra
c
ti
o
n
a
p
p
li
c
a
ti
o
n
.
P
r
o
c
.
IEE
E
In
t
.
Co
n
f
.
El
e
c
t.
M
a
c
h
.
,
p
p
.
7
2
8
–
7
3
4
.
[6
]
S
c
u
il
ler,
F
.
,
Ch
a
rp
e
n
ti
e
r,
J.,
S
e
m
a
il
,
E.
,
a
n
d
Clen
e
t
,
S
.
(2
0
0
7
)
Co
m
p
a
risio
n
o
f
tw
o
5
-
p
h
a
se
P
M
m
a
c
h
in
e
w
in
d
in
g
c
o
n
f
ig
u
ra
ti
o
n
s,
A
p
p
li
c
a
ti
o
n
o
n
n
a
v
a
l
p
ro
p
u
lsio
n
sp
e
c
if
ica
ti
o
n
.
P
ro
c
.
El
e
c
t.
M
a
c
h
.
Driv
e
s Co
n
f
.
IEM
DC,
p
p
.
3
4
–
3
9
.
[7
]
.
e
n
n
e
,
.
im
o
,
.
L
a
m
n
a
b
h
i
-
L
a
g
a
rrig
u
e
,
.
r
a
n
d
a
n
d
.
a
n
n
ier,
n
n
li
n
e
im
p
li
f
ied
R
o
to
r
Re
sista
n
c
e
Esti
m
a
to
r
f
o
r
In
d
u
c
ti
o
n
M
o
to
rs
,
"
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
Co
n
tro
l
S
y
ste
ms
T
e
c
h
n
o
l
o
g
y
,
v
o
l.
1
8
,
n
o
.
5
,
p
p
.
1
1
8
8
-
1
1
9
4
,
2
0
0
9
.
[8
]
S
.
Ha
sa
n
a
n
d
I.
Hu
sa
in
,
"
A
L
u
e
n
b
e
rg
e
r
–
S
li
d
i
n
g
M
o
d
e
Ob
se
rv
e
r
f
o
r
On
li
n
e
P
a
ra
m
e
ter
Esti
m
a
ti
o
n
a
n
d
A
d
a
p
tatio
n
in
Hig
h
-
P
e
rf
o
rm
a
n
c
e
In
d
u
c
ti
o
n
M
o
t
o
r
Driv
e
s,"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stry
Ap
p
li
c
a
t
io
n
s
,
v
o
l.
4
5
,
n
o
.
2
,
p
p
.
7
7
2
-
7
8
1
,
2
0
0
9
.
[9
]
S.
H.
Je
o
n
,
K.
K.
Oh
a
n
d
J.Y.
C
h
o
i,
"
F
lu
x
Ob
se
rv
e
r
W
it
h
On
li
n
e
T
u
n
in
g
o
f
S
tato
r
a
n
d
R
o
to
r
Re
sista
n
c
e
s
f
o
r
In
d
u
c
ti
o
n
M
o
to
rs,"
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
,
v
o
l.
4
3
,
n
o
.
3
,
p
p
.
6
5
3
-
6
6
4
,
2
0
0
2
.
[1
0
]
K.
A
k
a
tsu
a
n
d
A
.
Ka
w
a
m
u
ra
,
"
On
li
n
e
ro
t
o
r
re
sista
n
c
e
e
stim
a
t
io
n
u
sin
g
t
h
e
tran
sie
n
t
sta
te
u
n
d
e
r
th
e
sp
e
e
d
se
n
so
rles
s
c
o
n
tr
o
l
o
f
in
d
u
c
ti
o
n
m
o
to
r,
"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
P
o
we
r
El
e
c
tro
n
ics
,
v
o
l
.
1
5
,
n
o
.
3
,
p
p
.
5
5
3
-
5
6
0
,
2
0
0
0
.
[1
1
]
Z.
De
h
o
n
g
a
n
d
Z.
Jin
,
"
A
S
li
d
in
g
M
o
d
e
F
lu
x
Ob
se
rv
e
r
f
o
r
On
li
n
e
Ro
to
r
a
n
d
S
tat
o
r
Re
sista
n
c
e
,
"
in
3
4
t
h
Ch
in
e
se
Co
n
tro
l
Co
n
fer
e
n
c
e
(
CCC)
,
Ha
n
g
z
h
o
u
,
2
0
1
5
.
[1
2
]
A
.
P
ro
c
a
a
n
d
A
.
Ke
y
h
a
n
i,
"
S
li
d
i
n
g
-
M
o
d
e
F
lu
x
O
b
se
rv
e
r
W
it
h
On
li
n
e
R
o
t
o
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
,
v
o
l
.
5
4
,
n
o
.
2
,
p
p
.
7
1
6
-
7
2
3
,
2
0
0
7
.
[1
3
]
T
.
A
b
b
a
sia
n
,
F
.
S
a
lm
a
si
a
n
d
M
.
Ya
z
d
a
n
p
a
n
a
h
,
"
Imp
ro
v
e
d
A
d
a
p
ti
v
e
Fee
d
b
a
c
k
L
in
e
a
riza
t
io
n
Co
n
tro
l
o
f
I
n
d
u
c
ti
o
n
M
o
to
rs
Ba
se
d
o
n
O
n
li
n
e
Esti
ma
t
io
n
o
f
Co
re
L
o
ss
a
n
d
R
o
to
r
Res
ista
n
c
e
,
"
in
In
ter
n
a
ti
o
n
a
l
S
y
m
p
o
siu
m
o
n
P
o
w
e
r
El
e
c
tro
n
ics
,
El
e
c
tri
c
a
l
Driv
e
s,
A
u
to
m
a
ti
o
n
a
n
d
M
o
ti
o
n
S
P
EE
DA
M
,
T
a
o
rm
in
a
,
2
0
0
6
.
[1
4
]
N.
Ja
a
la
m
,
A
.
Ha
id
a
r,
N.
Ra
m
li
,
N.
Ism
a
il
a
n
d
A
.
S
u
laim
a
n
,
"
A
Ne
u
ro
-
fu
zz
y
A
p
p
ro
a
c
h
fo
r
S
t
a
to
r
Res
ista
n
c
e
,
"
i
n
In
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
El
e
c
t
rica
l,
Co
n
tr
o
l
a
n
d
C
o
m
p
u
ter E
n
g
i
n
e
e
rin
g
(INECCE
,
P
a
h
a
n
g
,
2
0
1
1
.
[1
5
]
B.
Ka
ra
n
a
y
il
,
M
.
Ra
h
m
a
n
a
n
d
C.
G
ra
n
th
a
m
,
"
On
li
n
e
S
tato
r
a
n
d
Ro
t
o
r
Re
sista
n
c
e
Esti
m
a
ti
o
n
S
c
h
e
m
e
U
sin
g
A
rti
f
icia
l
N
e
u
ra
l
Ne
t
w
o
rk
s
f
o
r
V
e
c
to
r
Co
n
tro
ll
e
d
S
p
e
e
d
S
e
n
s
o
rles
s
In
d
u
c
ti
o
n
M
o
to
r
Driv
e
,
"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l
.
5
4
,
n
o
.
1
,
p
p
.
1
6
7
-
1
7
6
,
2
0
0
7
.
[1
6
]
.
e
n
n
e
,
T
.
h
m
e
d
-
li
,
.
L
a
m
n
a
b
h
i
-
L
a
g
a
rrig
u
e
a
n
d
.
r
a
n
d
,
e
a
l
-
T
i
m
e
S
p
e
e
d
a
n
d
F
lu
x
A
d
a
p
ti
v
e
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
to
rs
Us
i
n
g
Un
k
n
o
w
n
T
i
m
e
-
V
a
r
y
in
g
Ro
to
r
Re
sista
n
c
e
a
n
d
L
o
a
d
T
o
rq
u
e
,
"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
En
e
rg
y
Co
n
v
e
rs
io
n
,
v
o
l.
2
4
,
n
o
.
2
,
p
p
.
3
7
5
-
3
8
7
,
2
0
0
9
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
3
,
Sep
tem
b
er
2
0
1
6
:
648
-
6
5
5
655
[1
7
]
S
.
L
e
g
rio
u
i,
S
.
Re
z
g
u
i
a
n
d
H.
Be
n
a
ll
a
,
"
R
o
b
u
st
IM
e
x
p
o
n
e
n
ti
a
l
re
a
c
h
in
g
la
w
se
n
s
o
rle
ss
c
o
n
tro
l
wit
h
M
RA
S
-
b
a
se
d
o
n
li
n
e
p
a
ra
me
ter
s
id
e
n
ti
f
ica
ti
o
n
,
"
in
IE
EE
1
5
th
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
En
v
ir
o
n
m
e
n
t
a
n
d
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
(EE
EIC)
,
Ro
m
e
,
2
0
1
5
.
[1
8
]
S
.
M
a
it
i
,
C.
C
h
a
k
ra
b
o
rty
,
Y.
Ho
ri
a
n
d
M
.
T
a
,
"
M
o
d
e
l
Re
f
e
re
n
c
e
A
d
a
p
ti
v
e
Co
n
tro
ll
e
r
-
Ba
se
d
Ro
to
r
Re
sista
n
c
e
a
n
d
S
p
e
e
d
Esti
m
a
ti
o
n
T
e
c
h
n
i
q
u
e
s
f
o
r
V
e
c
to
r
C
o
n
tr
o
ll
e
d
In
d
u
c
ti
o
n
M
o
to
r
Driv
e
Util
izin
g
Re
a
c
ti
v
e
P
o
w
e
r,
"
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
,
v
o
l.
5
5
,
n
o
.
2
,
p
p
.
5
9
4
-
6
0
1
,
2
0
0
8
.
[1
9
]
F
.
M
a
p
e
ll
i,
D.
T
a
rsitan
o
a
n
d
F
.
Ch
e
li
,
"
A
R
o
to
r R
e
sista
n
c
e
M
RA
S
Esti
ma
to
r f
o
r E
V
In
d
u
c
ti
o
n
M
o
to
r T
ra
c
ti
o
n
Dr
iv
e
b
a
se
d
o
n
T
o
rq
u
e
a
n
d
Rea
c
ti
v
e
S
t
a
to
r
P
o
we
r:
simu
la
ti
o
n
a
n
d
e
x
p
e
rime
n
ta
l
re
su
lt
s,"
i
n
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
El
e
c
tri
c
a
l
M
a
c
h
in
e
s (ICE
M
)
,
Be
r
li
n
,
2
0
1
4
.
[2
0
]
R.
M
a
rin
o
,
S
.
P
e
re
sa
d
a
a
n
d
P
.
T
o
m
e
i,
"
On
-
L
in
e
S
tato
r
a
n
d
Ro
t
o
r
Re
sista
n
c
e
Esti
m
a
ti
o
n
f
o
r
In
d
u
c
ti
o
n
M
o
t
o
rs,"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Co
n
tro
l
S
y
ste
ms
T
e
c
h
n
o
lo
g
y
,
v
o
l
.
8
,
n
o
.
3
,
p
p
.
5
7
0
-
5
7
9
,
2
0
0
0
.
[2
1
]
P
.
Ro
k
h
f
o
ro
z
a
n
d
J.
P
o
s
h
tan
,
"
R
o
to
r
S
p
e
e
d
a
n
d
Re
sista
n
c
e
Esti
m
a
ti
o
n
Us
in
g
Ro
b
u
st
Ex
ten
d
e
d
Ka
lm
a
n
F
il
ter
f
o
r
S
e
n
so
rles
s
V
e
c
to
r
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
t
o
r
Driv
e
s,"
in
6
th
Co
n
fer
e
n
c
e
o
n
Po
we
r
El
e
c
tro
n
ics
,
Dr
ive
s
S
y
ste
ms
&
T
e
c
h
n
o
l
o
g
ies
(
PE
DS
T
C)
,
T
e
h
ra
n
,
2
0
1
5
.
[2
2
]
E.
T
o
f
ig
h
i,
A
.
M
a
h
d
iza
d
e
h
a
n
d
M
.
F
e
y
z
i,
"
On
li
n
e
e
stima
ti
o
n
o
f
i
n
d
u
c
ti
o
n
mo
t
o
r
p
a
r
a
me
ter
s
u
sin
g
a
m
o
d
i
fi
e
d
p
a
rticle
swa
rm
o
p
ti
miza
ti
o
n
tec
h
n
i
q
u
e
,
"
in
3
9
t
h
A
n
n
u
a
l
Co
n
f
e
re
n
c
e
o
f
th
e
IEE
E
In
d
u
strial
E
lec
tro
n
ics
S
o
c
iety
,
3
9
t
h
A
n
n
u
a
l
C
o
n
f
e
re
n
c
e
o
f
th
e
IE
EE
,
V
ien
n
a
,
2
0
1
3
.
[2
3
]
K.
Iy
e
r,
X
.
L
u
,
K.
M
u
k
h
e
rjee
a
n
d
N.
Ka
r,
"
O
n
li
n
e
S
t
a
to
r
a
n
d
R
o
to
r
Res
ista
n
c
e
Esti
m
a
ti
o
n
S
c
h
e
me
Us
in
g
S
w
a
rm
In
telli
g
e
n
c
e
fo
r
In
d
u
c
t
io
n
M
o
to
r
Dr
ive
in
EV
/HEV
,
"
in
1
st
I
n
tern
a
ti
o
n
a
l
El
e
c
tri
c
Driv
e
s
P
ro
d
u
c
ti
o
n
Co
n
f
e
re
n
c
e
(EDP
C)
,
Nu
re
m
b
e
rg
,
2
0
1
1
.
[2
4
]
F
.
S
a
lm
a
si,
T
.
N
a
ja
f
a
b
a
d
i
a
n
d
P
.
Ja
b
e
h
d
a
r
-
M
a
ra
lan
i,
"
A
n
A
d
a
p
ti
v
e
F
lu
x
Ob
se
rv
e
r
W
it
h
On
li
n
e
Est
im
a
ti
o
n
o
f
DC
-
L
in
k
V
o
lt
a
g
e
a
n
d
Ro
t
o
r
Re
sista
n
c
e
F
o
r
V
S
I
-
Ba
se
d
I
n
d
u
c
ti
o
n
M
o
t
o
rs,"
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
P
o
w
e
r
El
e
c
tro
n
ics
,
v
o
l.
2
5
,
n
o
.
5
,
p
p
.
1
3
1
0
-
1
3
1
9
,
2
0
1
0
.
[2
5
]
H.
Ech
e
ik
h
,
R.
T
ra
b
e
lsi,
M
.
M
imo
u
n
i,
A
.
Iq
b
a
l
a
n
d
R.
A
la
m
m
a
ri,
"
Hig
h
p
e
rfo
rm
a
n
c
e
b
a
c
k
ste
p
p
in
g
c
o
n
tro
l
o
f
a
fi
v
e
p
h
a
se
i
n
d
u
c
ti
o
n
mo
t
o
r
d
riv
e
,
"
in
In
d
u
strial
El
e
c
tro
n
ics
(IS
IE)
IE
EE
2
3
r
d
I
n
tern
a
ti
o
n
a
l
S
y
m
p
o
siu
m
o
n
,
Ista
n
b
u
l
,
2
0
1
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.