I
nte
rna
t
io
na
l J
o
urna
l o
f
P
o
w
er
E
lect
ro
nics
a
nd
Driv
e
Sy
s
t
e
m
(
I
J
P
E
DS
)
Vo
l.
8
,
No
.
3
,
Sep
tem
b
er
2
0
1
7
,
p
p
.
1
0
3
5
~
1
0
4
9
I
SS
N:
2
0
8
8
-
8
6
9
4
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
p
ed
s
.
v8
i
3
.
pp
1
0
3
5
-
1049
1035
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
JP
E
DS
Co
nsta
nt
Sw
itch
ing
F
reque
ncy
an
d To
rque Ri
pple
M
ini
m
i
z
a
t
io
n
o
f
DTC o
f
Ind
uction
Mo
tor Drives
w
ith
Three
-
l
ev
el
NPC
Inv
er
ter
H
uza
ini
ra
h Is
m
a
i
l
1
,
F
a
zlli P
a
t
k
a
r
2
,
Auza
ni J
idi
n
3
,
Ai
m
a
n
Z
a
k
w
a
n J
idi
n
4
,
No
o
r
Azida
No
o
r
Azla
n
5
,
T
o
le
Su
t
i
k
no
6
1,
2,
3,
5
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
Un
iv
e
rsiti
T
e
k
n
ik
a
l
M
a
la
y
s
ia M
e
lak
a
(U
T
e
M
),
M
e
lak
a
,
M
a
lay
sia
4
F
a
c
u
lt
y
o
f
En
g
in
e
e
rin
g
T
e
c
h
n
o
lo
g
y
,
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
lak
a
,
M
a
la
y
sia
6
De
p
a
rt
m
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
Un
iv
e
rsitas
A
h
m
a
d
Da
h
lan
(UA
D),
Yo
g
y
a
k
a
rt
a
,
In
d
o
n
e
sia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
M
ay
1
3
,
2
0
1
7
R
ev
i
s
ed
J
u
l
2
6
,
2
0
1
7
A
cc
ep
ted
A
u
g
20
,
2
0
1
7
Dire
c
t
T
o
rq
u
e
Co
n
tro
l
(DT
C)
is
w
id
e
l
y
a
p
p
li
e
d
f
o
r
a
c
m
o
to
r
d
r
iv
e
s
a
s
it
o
f
fe
rs
h
ig
h
p
e
rf
o
r
m
a
n
c
e
to
rq
u
e
c
o
n
tro
l
w
it
h
a
si
m
p
le
c
o
n
tro
l
stra
teg
y
.
Ho
w
e
v
e
r,
c
o
n
v
e
n
ti
o
n
a
l
DT
C
p
o
s
e
s
so
m
e
d
isa
d
v
a
n
tag
e
s
e
sp
e
c
iall
y
in
term
o
f
v
a
riab
le
s
w
it
c
h
in
g
f
re
q
u
e
n
c
y
a
n
d
larg
e
to
rq
u
e
rip
p
le
d
u
e
t
o
t
h
e
u
t
i
li
z
a
ti
o
n
o
f
to
rq
u
e
h
y
ste
re
sis
c
o
n
tro
ll
e
r.
Oth
e
r
th
a
n
th
a
t,
p
e
rf
o
rm
a
n
c
e
o
f
c
o
n
v
e
n
ti
o
n
a
l
DT
C
f
e
d
b
y
t
w
o
-
lev
e
l
in
v
e
rter
i
s
a
lso
re
stricte
d
b
y
th
e
li
m
it
e
d
n
u
m
b
e
rs
o
f
v
o
lt
a
g
e
v
e
c
to
rs
w
h
ich
lea
d
to
in
a
p
p
ro
p
riate
se
lec
ti
o
n
o
f
v
o
lt
a
g
e
v
e
c
to
rs
f
o
r
d
if
fe
re
n
t
sp
e
e
d
o
p
e
ra
ti
o
n
s.
T
h
is
re
se
a
r
c
h
a
i
m
s
to
p
ro
p
o
se
a
Co
n
sta
n
t
S
w
it
c
h
in
g
F
re
q
u
e
n
c
y
(CS
F
)
to
rq
u
e
c
o
n
tro
l
ler
f
o
r
D
T
C
o
f
in
d
u
c
t
io
n
m
o
to
r
(IM
)
f
e
d
b
y
th
re
e
-
lev
e
l
N
e
u
tral
-
P
o
in
t
Clam
p
e
d
(N
P
C)
in
v
e
rter.
T
h
e
p
ro
p
o
se
d
to
rq
u
e
c
o
n
tr
o
ll
e
r
u
ti
li
z
e
s
P
I
c
o
n
tr
o
ll
e
r
w
h
ich
a
p
p
ly
d
iff
e
r
e
n
t
g
a
in
fo
r
d
if
f
e
re
n
t
sp
e
e
d
o
p
e
ra
ti
o
n
.
Be
sid
e
s,
t
h
e
u
t
il
iza
ti
o
n
o
f
NP
C
in
v
e
rter
p
r
o
v
id
e
s
g
re
a
ter
n
u
m
b
e
r
o
f
v
o
lt
a
g
e
v
e
c
to
rs
w
h
ich
a
ll
o
w
a
p
p
ro
p
riate
se
lec
ti
o
n
o
f
v
o
lt
a
g
e
v
e
c
to
rs
f
o
r
d
iff
e
re
n
t
o
p
e
ra
ti
n
g
c
o
n
d
it
io
n
.
Us
in
g
th
e
p
ro
p
o
se
d
m
e
th
o
d
,
t
h
e
im
p
ro
v
e
m
e
n
t
o
f
DT
C
d
riv
e
s
in
term
o
f
p
ro
d
u
c
i
n
g
a
c
o
n
sta
n
t
sw
it
c
h
in
g
o
p
e
ra
ti
o
n
a
n
d
m
in
im
izin
g
to
rq
u
e
rip
p
le
a
re
a
c
h
iev
e
d
a
n
d
v
a
li
d
a
ted
v
ia
e
x
p
e
ri
m
e
n
tal
re
su
lt
s.
K
ey
w
o
r
d
:
Dir
e
ct
to
r
q
u
e
co
n
tr
o
l
I
n
d
u
ctio
n
m
o
to
r
Mu
ltil
e
v
el
i
n
v
er
ter
Neu
tr
al
-
p
o
in
t c
la
m
p
ed
Co
p
y
rig
h
t
©
201
7
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Fazlli P
atk
ar
,
Facu
lt
y
o
f
E
lectr
ical
E
n
g
in
ee
r
in
g
,
Un
i
v
er
s
iti T
ek
n
ik
al
Ma
la
y
s
ia
Me
lak
a,
Han
g
T
u
ah
J
a
y
a,
7
6
1
0
0
Du
r
ian
T
u
n
g
g
al,
Me
la
k
a,
Ma
la
y
s
ia.
E
m
ail:
f
az
lli
@
u
te
m
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
Sin
ce
its
in
tr
o
d
u
ctio
n
i
n
t
h
e
m
id
1
9
8
0
’
s
,
Dir
ec
t
T
o
r
q
u
e
C
o
n
tr
o
l
(
DT
C
)
h
as
co
n
tin
u
o
u
s
l
y
r
ec
eiv
e
s
w
id
e
ac
ce
p
tan
ce
f
o
r
co
n
tr
o
l
o
f
ac
m
ac
h
i
n
e
s
d
u
e
to
its
co
n
tr
o
l
s
i
m
p
licit
y
a
n
d
f
as
t
to
r
q
u
e
d
y
n
a
m
ic
r
esp
o
n
s
e
.
C
o
m
p
ar
ed
to
Field
Or
ie
n
ted
C
o
n
tr
o
l
(
FO
C
)
,
t
h
e
h
ig
h
p
e
r
f
o
r
m
an
ce
co
n
tr
o
l
o
f
th
e
m
a
ch
in
e
s
i
s
ac
h
iev
ed
w
it
h
o
u
t
th
e
n
ee
d
o
f
c
u
r
r
en
t
co
n
tr
o
ller
,
f
r
a
m
e
tr
a
n
s
f
o
r
m
at
io
n
s
,
s
p
ee
d
s
e
n
s
o
r
an
d
k
n
o
w
led
g
e
o
f
m
ac
h
in
e
p
ar
am
eter
.
I
n
o
r
d
er
to
co
n
tr
o
l
f
l
u
x
an
d
elec
tr
o
m
a
g
n
etic
to
r
q
u
e,
o
n
l
y
a
s
i
n
g
le
p
ar
a
m
e
ter
f
r
o
m
t
h
e
m
ac
h
in
e
s
i
s
r
eq
u
ir
ed
b
y
DT
C
w
h
ic
h
is
t
h
e
m
ac
h
in
e
r
esi
s
ta
n
ce
v
al
u
e.
Desp
ite
th
e
ad
v
a
n
ta
g
es,
co
n
v
en
tio
n
al
DT
C
w
h
ich
u
tili
s
es
h
y
s
ter
esi
s
co
n
tr
o
ller
s
in
h
er
en
t
l
y
o
p
er
ates
w
it
h
v
ar
y
i
n
g
s
w
i
tch
i
n
g
f
r
eq
u
en
c
y
.
No
t
o
n
l
y
t
h
at,
a
lar
g
e
t
o
r
q
u
e
r
ip
p
le
is
also
p
r
o
d
u
ce
d
s
in
ce
co
n
v
e
n
tio
n
al
DT
C
f
ed
b
y
t
w
o
-
le
v
el
in
v
er
te
r
h
as
li
m
ited
s
e
lectio
n
o
f
v
o
lt
ag
e
v
ec
to
r
s
.
A
lo
t
o
f
r
e
s
ea
r
ch
h
ad
b
ee
n
co
n
d
u
cted
to
o
v
er
co
m
e
t
h
ese
p
r
o
b
le
m
.
On
e
o
f
t
h
e
p
r
o
p
o
s
ed
s
o
lu
tio
n
w
h
ic
h
m
ai
n
tai
n
th
e
o
r
i
g
in
a
l
s
tr
u
c
tu
r
e
o
f
co
n
v
e
n
tio
n
al
DT
C
is
b
y
u
s
in
g
a
d
ith
er
in
g
tech
n
iq
u
e
[
1
]
.
I
n
s
tead
o
f
d
ir
ec
tly
f
ed
f
l
u
x
an
d
t
o
r
q
u
e
er
r
o
r
in
to
th
e
h
y
s
ter
esi
s
co
n
tr
o
ller
s
,
th
i
s
te
ch
n
iq
u
e
in
j
ec
ts
a
h
i
g
h
f
r
eq
u
e
n
c
y
tr
ian
g
u
lar
w
a
v
ef
o
r
m
in
to
t
h
e
s
tato
r
f
l
u
x
a
n
d
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
.
3
,
Sep
te
m
b
er
2
0
1
7
:
1
0
3
5
–
1
0
4
9
1036
to
r
q
u
e
er
r
o
r
s
.
Nev
er
th
eles
s
,
t
h
is
m
et
h
o
d
p
r
o
d
u
ce
s
h
i
g
h
s
w
itc
h
i
n
g
f
r
eq
u
en
c
y
a
n
d
co
n
s
eq
u
en
tl
y
i
n
cr
ea
s
es
s
w
itc
h
in
g
lo
s
s
es
w
h
ich
i
s
n
o
t
s
u
itab
le
f
o
r
h
i
g
h
p
o
w
er
ap
p
licatio
n
s
.
A
s
w
itc
h
i
n
g
s
t
r
ateg
y
w
i
th
m
i
n
o
r
m
o
d
i
f
icat
io
n
o
n
s
tr
u
ctu
r
e
o
f
c
o
n
v
e
n
tio
n
al
DT
C
d
r
iv
es
to
p
r
o
d
u
ce
a
co
n
s
ta
n
t
s
w
itc
h
i
n
g
f
r
e
q
u
en
c
y
is
p
r
o
p
o
s
ed
in
[
2
]
.
Her
e,
a
th
r
ee
-
lev
e
l
to
r
q
u
e
h
y
s
ter
esis
co
n
tr
o
ller
is
r
ep
lace
d
w
it
h
a
n
e
w
co
n
tr
o
ller
w
h
ich
co
n
s
is
t
s
o
f
t
w
o
tr
ian
g
u
lar
w
a
v
ef
o
r
m
s
g
en
er
at
o
r
s
,
a
co
m
p
ar
ato
r
an
d
a
P
I
c
o
n
tr
o
ller
.
A
n
e
x
te
n
s
io
n
o
f
t
h
e
p
r
o
p
o
s
ed
s
tr
ateg
y
to
w
ar
d
s
t
h
e
f
l
u
x
h
y
s
ter
e
s
is
c
o
n
tr
o
ller
is
i
m
p
le
m
e
n
ted
in
[
3
]
in
o
r
d
er
to
m
a
k
e
i
m
p
r
o
v
e
m
en
t
w
it
h
th
e
f
l
u
x
r
ip
p
le.
I
n
b
o
th
r
esear
ch
es,
a
c
o
n
s
ta
n
t
s
w
itc
h
i
n
g
f
r
eq
u
en
c
y
i
s
o
b
tain
ed
s
in
ce
th
e
in
v
er
ter
s
w
itc
h
i
n
g
f
r
eq
u
e
n
c
y
is
m
ai
n
l
y
af
f
ec
ted
b
y
s
w
itc
h
in
g
f
r
eq
u
e
n
c
y
in
t
h
e
to
r
q
u
e
h
y
s
t
er
esis
b
an
d
w
id
th
[
4
]
.
Oth
er
p
r
o
p
o
s
ed
s
o
lu
tio
n
to
i
m
p
r
o
v
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
co
n
v
e
n
tio
n
al
DT
C
d
r
iv
es
is
t
h
e
i
m
p
le
m
en
ta
tio
n
o
f
Sp
ac
e
Vec
to
r
Mo
d
u
latio
n
(
SVM)
s
ch
e
m
e
w
h
ich
is
u
s
u
all
y
r
e
f
er
r
ed
as
DT
C
-
SVM.
T
h
er
e
ar
e
v
ar
io
u
s
s
tr
ateg
ies
f
o
r
DT
C
-
SVM
ap
p
r
o
ac
h
w
h
ich
ca
n
class
i
f
ied
as
DT
C
-
SVM
(
a)
w
i
th
P
I
co
n
tr
o
ller
[
5
]
-
[
7
]
(
b
)
w
it
h
p
r
ed
ictiv
e
o
r
d
ea
d
-
b
ea
t
co
n
tr
o
ller
[
8
]
(
c)
f
u
zz
y
lo
g
ic
a
n
d
/o
r
n
eu
r
al
n
et
w
o
r
k
s
[
9
]
an
d
(
d
)
v
ar
iab
le
s
tr
u
ct
u
r
e
c
o
n
tr
o
l
(
VSC
)
[
1
0
]
-
[
1
2
]
.
Ho
w
ev
er
,
th
e
ad
ap
tatio
n
o
f
SVM
in
cr
ea
s
e
s
t
h
e
co
m
p
lex
it
y
o
f
t
h
e
DT
C
d
r
iv
e
w
h
ic
h
s
o
m
e
h
o
w
a
f
f
ec
tin
g
t
h
e
ac
c
u
r
ac
y
o
f
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
a
n
d
t
h
e
to
r
q
u
e
co
n
tr
o
l
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
.
M
u
lti
lev
el
in
v
er
ter
s
p
r
o
v
id
e
a
h
i
g
h
er
n
u
m
b
er
o
f
v
o
lta
g
e
v
ec
to
r
s
t
h
a
n
t
w
o
-
le
v
el
i
n
v
er
ter
s
,
h
e
n
ce
o
f
f
er
i
n
g
m
o
r
e
d
eg
r
ee
o
f
f
r
ee
d
o
m
o
f
v
ec
to
r
s
elec
t
io
n
.
L
a
tel
y
,
DT
C
d
r
iv
es
f
ed
b
y
m
u
l
tile
v
el
in
v
er
ter
s
u
ch
a
s
C
ascad
ed
H
-
B
r
id
g
e
Mu
lt
ilev
el
I
n
v
er
ter
(
C
HM
I
)
[
1
3
]
,
[
1
4
]
,
Neu
tr
al
P
o
in
t
C
la
m
p
ed
(
NPC
)
[
1
5
]
an
d
Fly
in
g
C
ap
ac
ito
r
(
FC
)
[
1
6
]
-
[
1
7
]
as
w
ell
as
o
p
en
-
e
n
d
w
in
d
i
n
g
co
n
f
ig
u
r
atio
n
[
1
8
]
-
[
1
9
]
h
av
e
b
e
en
co
n
s
id
er
ed
f
o
r
i
m
p
r
o
v
e
m
en
t o
f
DT
C
p
er
f
o
r
m
an
ce
.
T
h
is
p
ap
er
p
r
o
p
o
s
es
a
co
n
s
tan
t
s
w
itch
i
n
g
f
r
eq
u
e
n
c
y
to
r
q
u
e
c
o
n
tr
o
ller
f
o
r
D
T
C
o
f
I
M
u
tili
zin
g
t
h
r
ee
-
lev
el
NP
C
i
n
v
er
ter
w
it
h
t
h
e
p
u
r
p
o
s
e
o
f
p
r
o
d
u
ce
a
co
n
s
ta
n
t
s
w
itc
h
in
g
f
r
eq
u
e
n
c
y
a
n
d
m
i
n
i
m
ize
to
r
q
u
e
r
ip
p
le.
T
h
e
im
p
r
o
v
e
m
e
n
t o
b
tain
ed
u
s
i
n
g
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
is
v
er
if
ied
v
ia
e
x
p
er
i
m
e
n
tal
r
es
u
lt
s
.
2.
CO
NVEN
T
I
O
NA
L
D
T
C
D
RIVE
S
DT
C
d
r
iv
es
w
as
f
ir
s
t
i
n
tr
o
d
u
c
ed
b
y
I
.
T
ak
a
h
as
h
i
a
n
d
T
.
No
g
u
c
h
i
in
1
9
8
6
[
2
0
]
.
T
h
is
s
c
h
e
m
e
attr
ac
t
s
g
r
ea
t
atten
tio
n
b
y
r
esear
c
h
er
as
it
o
f
f
er
s
les
s
to
r
q
u
e
r
ip
p
le,
r
o
b
u
s
t
an
d
s
i
m
p
le
s
tr
u
ct
u
r
e
as
co
m
p
ar
ed
to
FO
C
[
2
1
]
.
T
h
e
s
tr
u
ct
u
r
e
o
f
th
e
co
n
v
e
n
tio
n
al
DT
C
o
f
I
M
d
r
iv
es
is
illu
s
tr
ated
in
Fi
g
u
r
e
1
.
I
t
co
n
s
is
t
o
f
a
p
air
o
f
h
y
s
ter
es
i
s
co
n
tr
o
ller
,
lo
o
k
-
u
p
tab
le,
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
(
VSI
)
,
v
o
ltag
e
ca
lcu
l
atio
n
,
d
-
q
cu
r
r
en
t
ca
lcu
latio
n
,
s
ec
to
r
d
etec
tio
n
an
d
esti
m
ato
r
o
f
f
l
u
x
a
n
d
to
r
q
u
e.
T
h
r
ee
-
lev
el
h
y
s
ter
esis
c
o
n
tr
o
ller
is
u
s
ed
to
co
n
tr
o
l
th
e
to
r
q
u
e
w
h
i
le
t
w
o
-
le
v
el
h
y
s
ter
esi
s
co
n
tr
o
l
ler
is
u
s
ed
to
co
n
tr
o
l
th
e
f
lu
x
.
T
h
e
o
u
tp
u
t
o
f
b
o
th
h
y
s
ter
esi
s
co
n
tr
o
ller
s
as
w
el
l
as
th
e
in
f
o
r
m
atio
n
o
f
s
ec
to
r
d
etec
tio
n
ar
e
f
ed
to
th
e
lo
o
k
-
u
p
tab
le
(
T
ab
le
1
)
in
o
r
d
er
to
p
r
o
d
u
ce
s
u
itab
le
s
w
i
tch
i
n
g
s
ta
tes.
T
h
e
s
w
itc
h
i
n
g
s
tates
b
ec
o
m
e
s
th
e
i
n
p
u
t
o
f
V
SI
an
d
th
e
v
o
ltag
e
ca
lcu
latio
n
.
L
o
o
k
-
Up
T
a
b
le
V
o
l
tag
e
S
o
u
rc
e
In
v
e
rter
(V
S
I)
IM
d
-
q
C
u
rre
n
t
Ca
lcu
latio
n
V
o
l
tag
e
Ca
lcu
latio
n
S
tato
r
F
lu
x
a
n
d
El
e
c
tro
m
a
g
n
e
ti
c
T
o
rq
u
e
Esti
m
a
to
rs
T
h
re
e
-
L
e
v
e
l
H
y
ste
re
sis
Co
n
tr
o
ll
e
r
Tw
o
-
Lev
e
l
H
y
ste
re
sis
Co
n
tr
o
ll
e
r
+
+
-
-
S
e
c
to
r
De
tec
ti
o
n
Fig
u
r
e
1
.
Stru
ct
u
r
e
o
f
C
o
n
v
e
n
t
io
n
al
DT
C
o
f
I
n
d
u
ctio
n
Mo
to
r
Dr
iv
es
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
n
s
ta
n
t S
w
itch
in
g
F
r
eq
u
en
c
y
a
n
d
To
r
q
u
e
R
ip
p
le
Min
imi
z
a
tio
n
o
f D
TC
o
f I
n
d
u
cti
o
n
.
.
.
.
(
Hu
z
a
in
ir
a
h
I
s
ma
il)
1037
T
ab
le
1
.
L
o
o
k
-
u
p
tab
le
f
o
r
s
el
ec
tio
n
o
f
v
o
lta
g
e
v
ec
to
r
s
F
l
u
x
Er
r
o
r
S
t
a
t
u
s,
T
o
r
q
u
e
Er
r
o
r
S
t
a
t
u
s,
S
e
c
t
o
r
I
S
e
c
t
o
r
II
S
e
c
t
o
r
III
S
e
c
t
o
r
IV
S
e
c
t
o
r
V
S
e
c
t
o
r
VI
1
+3
̅
[
1
0
0
]
̅
[
1
1
0
]
̅
[
0
1
0
]
̅
[
0
1
1
]
̅
[
0
0
1
]
̅
[
1
0
1
]
0
̅
[
0
0
0
]
̅
[
1
1
1
]
̅
[
0
0
0
]
̅
[
1
1
1
]
̅
[
0
0
0
]
̅
[
1
1
1
]
-
3
̅
[
0
0
1
]
̅
[
1
0
1
]
̅
[
1
0
0
]
̅
[
1
1
0
]
̅
[
0
1
0
]
̅
[
0
1
1
]
0
+3
̅
[
1
1
0
]
̅
[
0
1
0
]
̅
[
0
1
1
]
̅
[
0
0
1
]
̅
[
1
0
1
]
̅
[
1
0
0
]
0
̅
[
1
1
1
]
̅
[
0
0
0
]
̅
[
1
1
1
]
̅
[
0
0
0
]
̅
[
1
1
1
]
̅
[
0
0
0
]
-
3
̅
[
0
1
1
]
̅
[
0
0
1
]
̅
[
1
0
1
]
̅
[
1
0
0
]
̅
[
1
1
0
]
̅
[
0
1
0
]
Fig
u
r
e
2
s
h
o
w
s
t
h
e
t
w
o
-
le
v
el
th
r
ee
-
p
h
ase
v
o
ltag
e
s
o
u
r
ce
i
n
v
er
ter
(
VSI
)
cir
cu
it.
I
t
co
n
s
i
s
ts
o
f
a
d
c
s
o
u
r
ce
an
d
t
w
o
I
GB
T
s
f
o
r
ea
ch
i
n
v
er
ter
leg
/p
h
ase.
T
h
e
u
p
p
er
s
w
i
tch
e
s
f
o
r
ev
er
y
p
h
a
s
e
i
s
r
ep
r
esen
ted
b
y
,
w
h
er
e
x
is
p
h
a
s
e
a,
b
o
r
c.
No
ted
th
at,
th
e
s
w
itc
h
in
g
s
tate
o
f
th
e
lo
w
er
s
w
itc
h
es
(
̅
̅
̅
)
m
u
s
t
b
e
co
m
p
le
m
e
n
tar
y
w
it
h
t
h
e
u
p
p
er
s
w
itc
h
es.
Fo
r
e
x
a
m
p
le,
i
f
t
h
e
u
p
p
er
s
w
itc
h
o
f
p
h
ase
a
is
t
u
r
n
ed
ON,
(
=
1
)
,
th
e
lo
w
er
s
w
itc
h
o
f
p
h
ase
a
m
u
s
t
b
e
tu
r
n
ed
OFF
(
̅
̅
̅
=
0
)
.
T
h
e
in
v
er
ter
p
r
o
d
u
ce
s
eig
h
t
s
w
itc
h
in
g
s
tate
s
w
h
ic
h
co
n
s
is
ts
o
f
s
ix
ac
t
iv
e
v
ec
to
r
s
(
̅
̅
)
an
d
t
w
o
ze
r
o
v
ec
to
r
s
(
̅
an
d
̅
)
w
h
ic
h
lo
ca
te
d
at
th
e
o
r
ig
i
n
o
f
d
-
q
ax
is
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
3.
T
H
RE
E
-
L
E
VE
L
N
E
UT
RA
L
-
P
O
I
NT
C
L
AM
P
E
D
(
NP
C)
I
NVER
T
E
R
T
h
r
ee
-
lev
el
NP
C
in
v
er
ter
w
as
in
itial
l
y
p
r
o
p
o
s
ed
b
y
A
.
Nab
a
e
et.
al
i
n
1
9
8
1
[
2
2
]
.
T
h
e
s
tr
u
c
tu
r
e
o
f
th
e
in
v
er
ter
w
it
h
co
n
n
ec
ted
to
t
h
r
ee
-
p
h
ase
lo
ad
(
o
r
I
M)
is
s
h
o
wn
i
n
Fi
g
u
r
e
4
.
I
t
co
n
s
is
t
s
o
f
a
d
c
s
o
u
r
ce
V
dc
,
t
w
o
ca
p
ac
ito
r
s
,
s
ix
d
io
d
es
an
d
t
welv
e
s
w
i
tch
e
s
(
I
GB
T
s
)
.
T
er
m
i
n
al
P
an
d
N
r
ep
r
esen
t
t
h
e
p
o
s
iti
v
e
an
d
n
eg
ati
v
e
ter
m
i
n
als
as
th
e
y
ar
e
co
n
n
ec
t
ed
to
th
e
p
o
s
itiv
e
an
d
n
eg
ati
v
e
o
f
r
esp
ec
tiv
el
y
.
Me
an
w
h
i
le
,
ter
m
i
n
al
O
is
d
ef
in
ed
as
a
p
o
in
t
b
et
w
ee
n
t
wo
ca
p
ac
ito
r
s
an
d
it
is
also
k
n
o
w
n
as
n
eu
tr
al
p
o
in
t.
No
ted
th
at,
n
is
th
e
n
e
u
tr
al
p
o
in
t o
f
th
r
ee
-
p
h
ase
lo
ad
(
o
r
I
M)
.
Fig
u
r
e
5
illu
s
tr
ates
th
e
m
ap
p
i
n
g
o
f
v
o
ltag
e
v
ec
to
r
s
p
r
o
d
u
ce
d
b
y
t
h
e
t
h
r
ee
-
le
v
el
NP
C
in
v
er
ter
.
T
h
e
v
o
ltag
e
v
ec
to
r
s
f
o
r
m
t
w
o
h
e
x
ag
o
n
s
(
i
n
n
er
an
d
o
u
ter
)
w
i
th
t
h
e
o
r
ig
i
n
is
d
ef
i
n
ed
as
t
h
e
p
o
in
t
o
f
r
ef
er
e
n
ce
.
T
h
e
in
v
er
ter
co
m
p
r
i
s
es o
f
2
7
s
w
itc
h
in
g
s
tates b
u
t o
n
l
y
1
9
v
o
lta
g
e
v
ec
to
r
s
ar
e
av
ailab
le
s
in
ce
s
i
x
v
o
ltag
e
v
ec
to
r
s
i
n
in
n
er
h
ex
a
g
o
n
h
av
e
a
r
ed
u
n
d
an
t
s
w
itc
h
i
n
g
s
tate.
T
h
ese
v
o
ltag
e
v
ec
to
r
s
ca
n
b
e
ca
teg
o
r
ized
in
to
f
o
u
r
t
y
p
es
+
-
̅
̅
̅
̅
̅
̅
̅
P
h
a
se
a
P
h
a
se
b
P
h
a
se
c
[
1
1
0
]
[
0
1
0
]
[
0
1
1
]
[
0
0
1
]
[
1
0
1
]
̅
̅
̅
̅
̅
[
1
0
0
]
̅
̅
̅
[
0
0
0
]
[
1
1
1
]
S
e
c
t
o
r
I
S
e
c
t
o
r
I
I
S
e
c
t
o
r
I
I
I
S
e
c
t
o
r
I
V
S
e
c
t
o
r
V
S
e
c
t
o
r
V
I
Fig
u
r
e
2
.
A
t
h
r
ee
-
p
h
a
s
e
VSI
ci
r
cu
it
Fig
u
r
e
3
.
Vo
ltag
e
v
ec
to
r
s
o
f
t
h
r
ee
-
p
h
ase
V
SI
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
.
3
,
Sep
te
m
b
er
2
0
1
7
:
1
0
3
5
–
1
0
4
9
1038
b
ased
o
n
th
eir
a
m
p
lit
u
d
e
w
h
i
ch
ar
e
lo
n
g
,
m
ed
iu
m
,
s
h
o
r
t
a
n
d
ze
r
o
v
o
ltag
e
v
ec
to
r
s
.
T
ab
l
e
3
s
h
o
w
s
t
h
e
t
y
p
e,
s
w
itc
h
in
g
s
tate
an
d
m
a
g
n
it
u
d
e
o
f
ea
ch
t
y
p
e
o
f
v
o
ltag
e
v
ec
to
r
s
.
T
ab
le
3
.
T
y
p
e
o
f
v
o
lta
g
e
v
ec
to
r
s
an
d
m
a
g
n
i
tu
d
e
o
f
t
h
r
ee
-
lev
e
l N
P
C
Ty
p
e
o
f
v
o
l
t
a
g
e
v
e
c
t
o
r
S
w
i
t
c
h
i
n
g
S
t
a
t
e
M
a
g
n
i
t
u
d
e
L
o
n
g
a
mp
l
i
t
u
d
e
P
P
N
,
P
N
N
,
P
N
P
,
N
N
P
,
N
P
P
,
N
P
N
2V
d
/
3
M
e
d
i
u
m
a
m
p
l
i
t
u
d
e
O
P
N
,
P
O
N
,
P
N
O
,
O
N
P
,
N
O
P
,
N
P
O
V
d
/
√
3
S
h
o
r
t
a
m
p
l
i
t
u
d
e
P
P
O
,
P
O
O
,
P
O
P
,
O
O
P
,
O
P
P
,
O
P
O
,
O
O
N
,
O
N
N
,
O
N
O
,
N
N
O
,
N
O
O
,
N
O
N
V
d
/
3
Z
e
r
o
a
mp
l
i
t
u
d
e
P
P
P
,
O
O
O
,
N
N
N
0
4.
CO
NST
A
NT
S
WI
T
CH
I
N
G
F
RE
Q
UE
N
CY
(
CSF)
T
O
R
Q
U
E
CO
NT
RO
L
E
R
F
O
R
DT
C
O
F
I
M
DRIV
E
S W
I
T
H
T
WO
-
L
E
V
E
L
I
NVE
RT
E
R
On
e
o
f
th
e
p
r
o
p
o
s
ed
s
o
lu
tio
n
to
p
r
o
d
u
ce
a
co
n
s
tan
t
s
w
itc
h
i
n
g
f
r
eq
u
en
c
y
an
d
m
in
i
m
ize
to
r
q
u
e
r
ip
p
le
o
f
co
n
v
en
t
io
n
al
DT
C
d
r
iv
e
s
w
it
h
t
w
o
-
le
v
el
i
n
v
er
ter
is
b
y
r
ep
lacin
g
t
h
e
to
r
q
u
e
h
y
s
ter
es
i
s
co
n
tr
o
ller
w
it
h
a
C
o
n
s
tan
t
S
w
itc
h
in
g
Fre
q
u
e
n
c
y
(
C
SF
)
to
r
q
u
e
co
n
tr
o
ller
[
2
3
]
-
[
2
5
]
.
Fig
u
r
e
6
s
h
o
w
s
a
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
C
SF
to
r
q
u
e
co
n
tr
o
ller
w
h
ic
h
co
n
s
i
s
ts
o
f
t
w
o
tr
ia
n
g
u
lar
ca
r
r
ier
w
a
v
e
f
o
r
m
s
,
C
uppe
r
an
d
C
lo
w
e
r
t
h
at
ar
e
1
8
0
°
o
u
t
o
f
p
h
ase
to
ea
c
h
o
t
h
er
,
t
w
o
co
m
p
ar
ato
r
s
an
d
a
P
I
co
n
tr
o
ller
.
S
tr
u
ctu
r
e
o
f
th
e
P
I
co
n
tr
o
ller
is
il
lu
s
tr
a
ted
in
Fi
g
u
r
e
7.
T
h
e
co
m
p
ar
ed
o
u
tp
u
t
b
et
wee
n
an
d
ar
e
f
ed
to
th
e
P
I
co
n
tr
o
ller
w
h
ic
h
co
n
s
i
s
t
o
f
an
d
g
ain
an
d
also
d
is
cr
ete
-
ti
m
e
i
n
teg
r
a
to
r
b
lo
ck
s
.
T
h
e
o
u
tp
u
t
f
r
o
m
t
h
e
P
I
co
n
tr
o
ller
,
is
th
e
n
co
m
p
ar
ed
w
ith
C
uppe
r
an
d
C
lo
w
e
r
to
p
r
o
d
u
ce
th
e
to
r
q
u
e
er
r
o
r
s
tatu
s
(
)
.
h
as
th
r
ee
d
i
f
f
er
en
t
s
ta
tu
s
;
1
,
0
an
d
-
1
;
w
h
ich
ar
e
s
i
m
ilar
to
s
tatu
s
p
r
o
d
u
ce
b
y
h
y
s
ter
e
s
is
co
n
tr
o
ller
in
o
r
d
er
to
m
a
in
tai
n
th
e
s
i
m
p
l
icit
y
o
f
th
e
co
n
v
e
n
tio
n
al
DT
C
.
Ho
w
e
v
er
,
u
s
i
n
g
th
e
C
SF
tec
h
n
iq
u
e,
th
e
s
ta
tu
s
o
f
is
g
o
v
er
n
ed
as f
o
llo
w
s
:
(
1
)
{
N
P
N
N
P
O
N
P
P
NOP
NNP
ONP
P
N
P
P
N
O
P
N
N
P
O
N
PPN
O
P
N
OON
PPO
NON
NOO
NNO
ONO
ONN
P
O
O
P
O
P
OOP
O
P
P
O
P
O
PPP
OOO
NNN
v
C1
S
c1
S
c2
S
c3
S
c4
S
b1
S
b2
S
b3
S
b4
S
a1
S
a2
S
a3
S
a4
v
C2
V
dc
+
+
O
n
v
an
v
bn
v
cn
+
-
+
-
+
-
C1
C2
N
P
a
b
c
Fig
u
r
e
5
.
Vo
ltag
e
v
ec
to
r
s
p
r
o
d
u
ce
d
b
y
t
h
r
ee
-
lev
el
NP
C
i
n
v
er
ter
Fig
u
r
e
4
.
A
t
h
r
ee
-
le
v
el
NP
C
i
n
v
er
ter
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
n
s
ta
n
t S
w
itch
in
g
F
r
eq
u
en
c
y
a
n
d
To
r
q
u
e
R
ip
p
le
Min
imi
z
a
tio
n
o
f D
TC
o
f I
n
d
u
cti
o
n
.
.
.
.
(
Hu
z
a
in
ir
a
h
I
s
ma
il)
1039
T
h
e
m
o
d
elli
n
g
o
f
to
r
q
u
e
lo
o
p
is
r
eq
u
ir
ed
in
o
r
d
e
r
to
d
eter
m
in
e
t
h
e
p
ar
a
m
eter
s
t
h
e
th
e
P
I
co
n
tr
o
ller
[
1
9
]
.
First,
t
h
e
m
o
d
ellin
g
o
f
IM
in
s
tatio
n
ar
y
r
ef
er
en
ce
f
r
a
m
e
ca
n
b
e
g
i
v
e
n
as
f
o
llo
w
s
:
̅
̅
(
2
)
̅
̅
(
3
)
̅
(
4
)
̅
(
5
)
̅
(
6
)
w
h
er
e
̅
an
d
̅
ar
e
s
tato
r
an
d
r
o
to
r
f
lu
x
e
s
,
̅
is
s
tato
r
v
o
ltag
e,
r
ep
r
esen
ts
r
o
to
r
s
p
ee
d
,
,
an
d
d
en
o
te
s
tato
r
,
r
o
to
r
an
d
m
u
t
u
al
in
d
u
cta
n
ce
s
,
an
d
ar
e
s
tato
r
an
d
r
o
to
r
cu
r
r
en
ts
,
is
elec
tr
o
m
a
g
n
eti
c
to
r
q
u
e
w
h
i
le
P
is
n
u
m
b
er
o
f
p
o
le
p
air
.
B
y
u
s
i
n
g
(
2
)
-
(
6
)
,
th
e
p
o
s
itiv
e
a
n
d
n
eg
at
iv
e
s
lo
p
e
o
f
to
r
q
u
e
eq
u
atio
n
s
(
an
d
)
co
u
ld
b
e
o
b
tain
ed
as
b
elo
w
[
2
6
]
,
[
2
7
]
:
(
)
[
(
̅
̅
)
̅
]
(
7
)
(
)
[
(
̅
)
̅
]
(
8
)
w
h
er
e
is
lea
k
a
g
e
co
ef
f
icie
n
t
.
E
q
u
atio
n
s
(
7
)
an
d
(
8
)
ar
e
th
e
n
s
i
m
p
li
f
ied
a
n
d
w
r
itte
n
i
n
s
ta
tio
n
ar
y
r
e
f
er
en
ce
f
r
a
m
e
i
n
ter
m
s
o
f
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
an
d
d
u
t
y
r
atio
as f
o
llo
ws:
̅
(
)
(
9
)
(
1
0
)
w
h
er
e,
(
1
1
)
(
1
2
)
(
1
3
)
S
T
T
e
,
r
e
f
PI
C
o
n
t
r
o
l
l
e
r
T
pi
+
-
T
e
C
uppe
r
-
+
C
low
e
r
+
-
+
+
1
1
+
+
K
p
K
i
ε
T
T
pi
D
i
scre
t
e
-
T
i
me
I
n
t
e
g
r
a
t
o
r
∫
F
ig
u
r
e
6.
B
lo
ck
d
iag
r
a
m
o
f
C
SF
to
r
q
u
e
co
n
tr
o
ller
f
o
r
t
w
o
-
le
v
el
DT
C
d
r
iv
es
Fig
u
r
e
7
.
Stru
ct
u
r
e
o
f
P
I
C
o
n
tr
o
ller
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
.
3
,
Sep
te
m
b
er
2
0
1
7
:
1
0
3
5
–
1
0
4
9
1040
Fig
u
r
e
8
s
h
o
w
s
th
e
b
lo
ck
d
iag
r
a
m
o
f
lin
ea
r
ized
to
r
q
u
e
eq
u
at
io
n
w
h
ic
h
it
is
d
eter
m
i
n
ed
b
y
u
s
i
n
g
(
9
)
.
T
h
e
to
r
q
u
e
E
q
u
atio
n
,
ex
p
r
ess
e
d
in
f
r
eq
u
e
n
c
y
d
o
m
ai
n
i
s
g
i
v
e
n
as
(1
4
).
(
)
̅
(
)
(
)
(
1
4
)
5.
P
RO
P
O
SE
D
CSF
T
O
R
Q
U
E
CO
NT
RO
L
L
E
R
F
O
R
DT
C
O
F
I
M
DRIVE
S
W
I
T
H
T
H
R
E
E
-
L
E
V
E
L
NP
C
I
NV
E
R
T
E
R
Fo
r
th
e
DT
C
o
f
I
M
d
r
iv
e
s
w
it
h
th
r
ee
-
le
v
el
NP
C
in
v
er
te
r
,
th
e
p
r
o
p
o
s
ed
C
SF
to
r
q
u
e
co
n
tr
o
ller
co
n
s
is
ts
o
f
a
P
I
co
n
tr
o
ller
,
s
i
x
h
y
s
ter
esi
s
co
m
p
ar
ato
r
s
a
n
d
s
i
x
tr
ia
n
g
u
lar
w
av
e
f
o
r
m
s
(
C
ar
r
ier
1
,
2
,
3
,
4
,
5
an
d
6
)
as
illu
s
tr
ated
in
Fi
g
u
r
e
9
.
C
ar
r
ier
1
,
2
an
d
3
a
r
e
1
8
0
°
o
u
t
o
f
p
h
ase
w
i
th
C
ar
r
ier
4
,
5
,
an
d
6
.
T
h
e
s
tr
u
ct
u
r
e
o
f
t
h
e
P
I
co
n
tr
o
ller
i
s
s
i
m
ilar
as
i
n
t
w
o
-
le
v
el
DT
C
d
r
iv
e
s
s
h
o
w
n
i
n
Fi
g
u
r
e
7
.
As
ca
n
b
e
n
o
ticed
,
h
y
s
ter
esi
s
co
m
p
ar
ato
r
is
also
in
clu
d
ed
in
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
.
Ho
w
e
v
er
,
u
n
lik
e
t
h
e
co
n
v
en
tio
n
al
DT
C
d
r
iv
es,
th
e
co
m
p
ar
ato
r
is
u
s
ed
f
o
r
co
m
p
ar
is
o
n
o
f
o
u
tp
u
t
o
f
P
I
co
n
tr
o
ller
an
d
tr
ian
g
u
la
r
ca
r
r
ier
w
av
e
f
o
r
m
.
T
h
e
to
r
q
u
e
co
n
tr
o
ller
p
r
o
d
u
ce
s
s
ta
tu
s
w
h
ich
ar
e
s
i
m
ilar
w
it
h
s
e
v
en
-
le
v
el
h
y
s
ter
es
is
co
n
tr
o
ller
[
2
8
]
.
T
h
e
s
tatu
s
o
f
th
e
p
r
o
p
o
s
ed
to
r
q
u
e
co
n
tr
o
l
ler
is
o
b
tain
ed
as f
o
llo
w
s
:
{
f
or
T
p
i
≥
C
ar
r
ier
1
f
or
C
ar
r
ier
2
≤
T
p
i <
C
ar
r
ier
1
f
or
C
ar
r
ier
3
≤
T
p
i <
C
ar
r
ier
2
f
or
C
ar
r
ier
4
≤
T
p
i <
C
ar
r
ier
3
f
or
C
ar
r
ier
5
≤
T
p
i <
C
ar
r
ier
4
f
or
C
ar
r
ier
6
≤
T
p
i <
C
ar
r
ier
5
f
or
T
p
i <
C
ar
r
ier
6
Fig
u
r
e
1
0
illu
s
tr
ates
t
h
e
tr
ia
n
g
u
lar
ca
r
r
ier
w
a
v
ef
o
r
m
s
f
o
r
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
w
h
ic
h
co
n
s
is
t
o
f
th
r
ee
s
et
s
o
f
is
o
s
ce
les
tr
ia
n
g
le
s
.
C
ar
r
ier
3
is
u
t
ilized
f
o
r
lo
w
s
p
ee
d
o
p
er
atio
n
,
C
ar
r
ier
2
is
f
o
r
m
ed
i
u
m
s
p
ee
d
o
p
er
atio
n
an
d
C
ar
r
ier
1
s
ig
n
i
f
i
es th
e
h
i
g
h
s
p
ee
d
o
p
er
atio
n
.
B
y
r
ef
er
r
i
n
g
to
t
h
e
f
ig
u
r
e,
ab
s
o
l
u
te
s
lo
p
e
o
f
C
ar
r
ier
3
(
i.e
.
lo
w
s
p
ee
d
o
p
er
atio
n
)
an
d
C
ar
r
ier
1
(
i.e
.
h
ig
h
s
p
ee
d
o
p
er
atio
n
)
ca
n
b
e
ca
lcu
lated
u
s
i
n
g
E
q
u
atio
n
(1
5
)
an
d
(
1
6
):
⁄
(
1
5
)
⁄
(
1
6
)
w
h
er
e
is
t
h
e
p
er
io
d
o
f
C
ar
r
ier
3
(
o
r
is
th
e
p
er
io
d
o
f
C
ar
r
ier
1
)
o
f
p
r
o
p
o
s
ed
co
n
tr
o
ller
,
d
en
o
tes
th
e
f
r
eq
u
en
c
y
o
f
C
ar
r
ier
3
(
o
r
d
en
o
tes
th
e
f
r
eq
u
e
n
c
y
o
f
C
ar
r
ier
1
)
f
o
r
lo
w
s
p
ee
d
o
p
er
atio
n
an
d
(
o
r
)
in
d
icate
s
th
e
p
ea
k
to
p
ea
k
m
a
g
n
itu
d
e
o
f
C
ar
r
ier
3
(
o
r
C
ar
r
ier
1
)
.
E
q
u
atio
n
(
1
5
)
is
v
a
lid
to
d
eter
m
in
e
t
h
e
ab
s
o
lu
te
s
lo
p
e
o
f
C
ar
r
ier
2
(
i.e
.
m
ed
iu
m
s
p
e
ed
o
p
er
atio
n
)
.
T
h
is
is
b
ec
au
s
e
th
e
m
a
g
n
it
u
d
e
an
d
p
er
io
d
o
f
th
e
C
ar
r
ier
2
ar
e
s
i
m
ilar
w
it
h
C
ar
r
ier
3
.
PI
C
o
n
t
r
o
l
l
e
r
T
e
,
r
e
f
(
s)
T
e
(
s)
+
-
T
(
s)
d
(
s)
T
p
i
(
s)
Fig
u
r
e
8
.
L
in
ea
r
ized
to
r
q
u
e
lo
o
p
b
lo
ck
d
iag
r
am
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
n
s
ta
n
t S
w
itch
in
g
F
r
eq
u
en
c
y
a
n
d
To
r
q
u
e
R
ip
p
le
Min
imi
z
a
tio
n
o
f D
TC
o
f I
n
d
u
cti
o
n
.
.
.
.
(
Hu
z
a
in
ir
a
h
I
s
ma
il)
1041
I
n
g
e
n
er
al,
th
e
tr
an
s
f
er
f
u
n
ct
io
n
o
f
t
h
e
P
I
co
n
tr
o
ller
is
w
r
itte
n
as
f
o
llo
w
s
:
(
)
(
)
(
1
7
)
w
h
er
e
is
p
r
o
p
o
r
tio
n
al
g
ain
a
n
d
is
i
n
te
g
r
al
g
ain
.
T
h
e
P
I
co
n
tr
o
ller
h
as
to
b
e
d
esi
g
n
ed
b
ased
o
n
t
h
e
co
n
s
tr
ain
t
th
a
t
th
e
s
lo
p
e
o
f
m
u
s
t
n
o
t
ex
ce
ed
th
e
ab
s
o
l
u
te
o
f
tr
ian
g
u
lar
ca
r
r
ier
w
av
e
f
o
r
m
.
No
ted
th
at,
t
h
e
s
lo
p
e
o
f
is
in
f
lu
e
n
ce
d
b
y
.
Fo
r
lo
w
,
m
ed
iu
m
a
n
d
h
i
g
h
s
p
ee
d
o
p
er
atio
n
,
th
e
P
I
c
o
n
tr
o
ller
ar
e
d
esig
n
ed
a
s
f
o
llo
w
:
5
.
1
.
Ca
s
e
1
:
L
o
w
Sp
ee
d O
pera
t
io
n
T
h
e
E
q
u
atio
n
o
f
p
o
s
itiv
e
s
lo
p
e
o
f
to
r
q
u
e
at
lo
w
s
p
ee
d
o
p
er
atio
n
ar
e
r
e
w
r
itte
n
f
r
o
m
(
9
)
:
̅
(
)
(
1
8
)
B
ased
o
n
ab
o
v
e
eq
u
atio
n
s
,
d
es
ig
n
o
f
P
I
co
n
tr
o
ll
er
f
o
r
p
o
s
itiv
e
s
lo
p
e
m
u
s
t sati
s
f
ied
th
e
E
q
u
atio
n
(
1
8
)
.
*
̅
(
)
+
(
1
9
)
T
h
e
m
a
x
i
m
u
m
p
o
s
iti
v
e
s
lo
p
e
is
ass
u
m
ed
to
o
cc
u
r
at
ze
r
o
r
o
t
o
r
s
p
ee
d
an
d
at
r
ated
s
lip
w
h
ic
h
ar
e
as f
o
l
lo
w
:
(
2
0
)
T
h
e
p
r
o
p
o
s
ed
DT
C
d
r
iv
es
ap
p
l
y
s
h
o
r
t
a
m
p
lit
u
d
e
o
f
v
o
lta
g
e
v
ec
to
r
s
f
o
r
in
cr
ea
s
in
g
t
h
e
to
r
q
u
e.
He
n
ce
,
th
e
m
a
g
n
it
u
d
e
o
f
s
tato
r
v
o
lt
ag
e
o
f
s
h
o
r
t
a
m
p
lit
u
d
e
o
f
v
o
ltag
e
v
ec
to
r
,
̅
⁄
.
T
h
e
ter
m
i
n
E
q
u
atio
n
(
1
9
)
is
ex
p
r
ess
ed
in
(
2
1
)
w
h
ic
h
it is
r
ep
r
esen
ted
f
o
r
lo
w
s
p
ee
d
co
n
d
itio
n
.
̅
(
2
1
)
S
T
+
+
+
+
+
+
C
a
r
r
i
e
r
3
-
+
C
a
r
r
i
e
r
2
-
+
C
a
r
r
i
e
r
1
-
+
C
a
r
r
i
e
r
4
+
-
C
a
r
r
i
e
r
5
+
-
C
a
r
r
i
e
r
6
+
-
+
-
T
r
e
f
Te
T
p
i
P
I
C
o
n
t
r
o
l
l
e
r
Fig
u
r
e
9
.
P
r
o
p
o
s
ed
C
SF
to
r
q
u
e
co
n
tr
o
ller
f
o
r
DT
C
o
f
I
M
d
r
iv
es u
tili
z
in
g
t
h
r
ee
-
le
v
el
NP
C
in
v
er
ter
Fig
u
r
e
10
.
T
h
e
tr
ian
g
u
lar
ca
r
r
ier
w
av
e
f
o
r
m
f
o
r
p
r
o
p
o
s
ed
C
SF
to
r
q
u
e
co
n
tr
o
ller
100
66
33
Ca
rrier
1
Ca
rrier
2
Ca
rrier
3
0
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
.
3
,
Sep
te
m
b
er
2
0
1
7
:
1
0
3
5
–
1
0
4
9
1042
T
h
er
ef
o
r
e,
b
y
s
u
b
s
tit
u
ti
n
g
(
1
5
)
,
(
2
0
)
an
d
(
2
1
)
in
to
(
1
9
)
,
th
e
p
r
o
p
o
r
tio
n
al
g
ain
f
o
r
p
o
s
itiv
e
s
lo
p
e
at
lo
w
s
p
ee
d
o
p
er
atio
n
,
(
)
ca
n
b
e
w
r
itte
n
as
f
o
llo
w
:
|
|
|
̅
(
)
|
(
2
2
)
I
n
co
n
tr
ast,
t
h
e
n
e
g
ati
v
e
s
lo
p
e
o
f
to
r
q
u
e
eq
u
atio
n
i
n
(
1
0
)
is
r
e
w
r
ite
as
f
o
llo
w
:
(
2
3
)
E
q
u
atio
n
(
2
4
)
m
u
s
t
b
e
s
atis
f
i
ed
to
d
ete
r
m
i
n
e
t
h
e
g
ai
n
o
f
p
r
o
p
o
r
tio
n
al
f
o
r
n
eg
ati
v
e
s
lo
p
e
o
f
to
r
q
u
e
at
lo
w
s
p
ee
d
o
p
er
atio
n
(
)
.
[
]
(
2
4
)
T
h
e
m
a
x
i
m
u
m
n
e
g
ati
v
e
s
lo
p
e
is
ass
u
m
ed
to
o
cc
u
r
at
m
a
x
i
m
u
m
s
p
ee
d
ac
h
ie
v
ed
f
o
r
lo
w
am
p
li
tu
d
e
v
o
lta
g
e
v
ec
to
r
(
i.e
.
̅
⁄
)
.
So
,
m
ax
i
m
u
m
r
ea
ch
ed
at
lo
w
s
p
ee
d
is
h
al
f
o
f
t
h
e
in
t
h
r
ee
-
le
v
el
NP
C
an
d
i
t
y
ield
as f
o
llo
w
:
(
)
(
)
(
2
5
)
(
2
6
)
T
h
e
ze
r
o
am
p
lit
u
d
e
v
o
ltag
e
v
ec
to
r
s
(
i.e
.
)
is
e
m
p
lo
y
ed
f
o
r
d
ec
r
ea
s
in
g
th
e
to
r
q
u
e
at
l
o
w
s
p
ee
d
o
p
er
atio
n
o
f
DT
C
d
r
iv
es.
T
h
u
s
,
th
e
m
a
g
n
it
u
d
e
o
f
s
tato
r
v
o
l
tag
e
o
f
ze
r
o
a
m
p
lit
u
d
e
v
o
lta
g
e
v
ec
to
r
,
̅
.
T
h
en
,
is
o
b
tain
ed
in
E
q
u
atio
n
(
27
)
b
y
s
u
b
s
tit
u
ti
n
g
(
1
5
),
(
2
5
)
an
d
(
2
6
)
in
to
(
2
4
)
an
d
y
ield
:
|
|
|
|
(
2
7
)
T
h
u
s
,
t
h
e
s
m
aller
v
al
u
e
b
et
w
e
en
an
d
is
ch
o
s
e
n
as
g
ai
n
o
f
p
r
o
p
o
r
tio
n
al
at
lo
w
s
p
ee
d
(
)
to
m
ak
e
s
u
r
e
t
h
at
th
e
s
lo
p
e
o
f
w
il
l n
o
t
ex
ce
ed
th
e
s
lo
p
e
o
f
C
ar
r
ier
3
.
T
h
e
in
teg
r
al
g
a
in
i
s
d
eter
m
i
n
e
d
as f
o
llo
w
s
:
(
2
8
)
5
.
2
.
Ca
s
e
2
:
M
ediu
m
S
peed
O
per
a
t
io
n
A
t
m
ed
iu
m
s
p
ee
d
o
p
er
atio
n
,
th
e
p
o
s
itiv
e
s
lo
p
e
o
f
to
r
q
u
e
is
g
i
v
e
n
in
(
1
8
)
.
B
y
tak
in
g
i
n
to
ac
co
u
n
t
(
1
8
)
,
th
e
co
n
d
itio
n
in
(
2
9
)
m
u
s
t
b
e
s
atis
f
ied
s
o
th
at
t
h
e
v
al
u
e
o
f
p
r
o
p
o
r
tio
n
al
g
ain
o
f
p
o
s
itiv
e
s
lo
p
e
at
m
ed
iu
m
s
p
ee
d
(
)
ca
n
b
e
o
b
tain
ed
.
*
̅
(
)
+
(
2
9
)
I
t
is
ass
u
m
ed
th
a
t
th
e
m
ax
i
m
u
m
p
o
s
iti
v
e
s
lo
p
e
is
o
cc
u
r
r
ed
at
th
e
m
a
x
i
m
u
m
s
p
ee
d
ac
h
iev
ed
f
o
r
s
h
o
r
t
a
m
p
lit
u
d
e
o
f
v
o
lta
g
e
v
ec
to
r
s
(
i
.
e.
̅
⁄
)
.
E
q
u
atio
n
(
3
0
)
an
d
(
3
1
)
ar
e
w
r
itte
n
f
o
r
an
d
.
(
3
0
)
(
3
1
)
T
h
e
m
ed
iu
m
a
m
p
lit
u
d
e
v
o
lta
g
e
v
ec
to
r
s
i
s
e
m
p
lo
y
ed
i
n
p
r
o
p
o
s
ed
m
et
h
o
d
to
i
n
cr
ea
s
e
th
e
to
r
q
u
e
a
n
d
t
h
e
m
ag
n
it
u
d
e
̅
√
⁄
.
T
h
e
ter
m
in
(
2
9
)
d
en
o
tes co
n
ti
n
u
o
u
s
d
u
t
y
r
atio
o
f
m
ed
i
u
m
s
p
ee
d
o
p
er
atio
n
.
̅
(
3
2
)
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
n
s
ta
n
t S
w
itch
in
g
F
r
eq
u
en
c
y
a
n
d
To
r
q
u
e
R
ip
p
le
Min
imi
z
a
tio
n
o
f D
TC
o
f I
n
d
u
cti
o
n
.
.
.
.
(
Hu
z
a
in
ir
a
h
I
s
ma
il)
1043
B
y
s
u
b
s
t
itu
tin
g
(
15
)
,
(
30
)
,
(
3
1
)
an
d
(
3
2
)
in
to
(
2
9
),
ar
e
ex
p
r
ess
ed
as f
o
llo
w
s
:
|
|
|
̅
(
)
|
(
33)
On
th
e
o
th
er
h
a
n
d
,
th
e
E
q
u
at
io
n
o
f
n
eg
at
iv
e
s
lo
p
e
o
f
to
r
q
u
e
is
p
r
esen
ted
in
(
3
4
)
.
A
s
ca
n
b
e
n
o
ticed
,
th
e
p
o
s
itiv
e
a
n
d
n
eg
a
tiv
e
s
lo
p
e
ar
e
u
s
i
n
g
s
a
m
e
eq
u
atio
n
.
T
h
is
is
d
u
e
to
th
e
ap
p
licatio
n
o
f
v
o
ltag
e
v
ec
to
r
f
o
r
d
ec
r
ea
s
in
g
th
e
to
r
q
u
e
i
n
n
eg
a
tiv
e
s
lo
p
e
is
n
o
lo
n
g
er
ze
r
o
a
m
p
lit
u
d
e
v
o
lta
g
e
v
ec
to
r
s
a
s
a
p
p
lied
at
lo
w
s
p
ee
d
o
p
er
atio
n
.
̅
(
)
(
3
4
)
T
h
e
d
esig
n
o
f
P
I
co
n
tr
o
ller
m
u
s
t
m
ee
t t
h
e
co
n
d
itio
n
a
s
f
o
llo
w
s
:
*
̅
(
)
+
(
3
5
)
T
h
e
m
a
x
i
m
u
m
n
e
g
ati
v
e
s
lo
p
e
is
a
s
s
u
m
ed
to
o
cc
u
r
at
m
a
x
i
m
u
m
s
p
ee
d
ac
h
iev
ed
f
o
r
m
e
d
iu
m
a
m
p
l
itu
d
e
o
f
v
o
ltag
e
v
ec
to
r
(
i.e
.
̅
√
⁄
)
.
So
,
is
d
eter
m
in
ed
f
r
o
m
(
3
0
)
an
d
th
e
m
a
x
i
m
u
m
is
o
b
tain
ed
b
y
u
s
i
n
g
(
3
6
)
.
(
)
(
√
)
(
3
6
)
T
h
e
s
h
o
r
t
a
m
p
l
itu
d
e
o
f
v
o
ltag
e
v
ec
to
r
s
i
s
c
h
o
s
e
n
f
o
r
d
ec
r
ea
s
in
g
t
h
e
to
r
q
u
e
a
t
m
ed
iu
m
s
p
ee
d
o
p
er
atio
n
o
f
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
.
T
h
en
,
b
y
s
u
b
s
titu
t
in
g
(
1
5
)
,
(
3
0
)
,
(
3
6
)
in
to
(
3
7
).
|
|
|
̅
(
)
|
(
3
7
)
T
h
er
ef
o
r
e,
th
e
s
m
aller
v
al
u
e
o
f
an
d
is
s
elec
ted
as
to
e
n
s
u
r
e
th
at
th
e
s
lo
p
e
o
f
n
o
t
ex
ce
ed
t
h
e
s
lo
p
e
o
f
C
ar
r
ier
2
.
T
h
e
in
teg
r
a
l g
ain
i
s
o
b
tain
ed
as
f
o
llo
w
s
:
(
3
8
)
5
.
3
.
Ca
s
e
3
:
H
ig
h Speed O
pera
t
io
n
Fo
r
th
is
o
p
er
atio
n
,
th
e
p
o
s
itiv
e
s
lo
p
e
o
f
to
r
q
u
e
is
g
iv
en
i
n
(
1
8
)
an
d
b
ased
o
n
it,
th
e
p
r
o
p
o
r
tio
n
al
g
ai
n
o
f
p
o
s
itiv
e
s
lo
p
e
at
h
ig
h
s
p
ee
d
o
p
er
atio
n
(
)
ca
n
b
e
d
eter
m
i
n
e
d
an
d
th
e
co
n
d
itio
n
i
n
(
3
9
)
m
u
s
t b
e
s
atis
f
ied
.
*
̅
(
)
+
(
3
9
)
T
h
e
m
a
x
i
m
u
m
p
o
s
iti
v
e
s
lo
p
e
is
ass
u
m
ed
to
o
cc
u
r
at
m
ax
i
m
u
m
s
p
ee
d
ac
h
ie
v
ed
f
o
r
m
e
d
iu
m
a
m
p
lit
u
d
e
o
f
v
o
ltag
e
v
ec
to
r
s
(
i.e
.
̅
√
⁄
)
.
L
o
n
g
am
p
lit
u
d
e
o
f
v
o
lta
g
e
v
ec
to
r
s
i
s
e
m
p
lo
y
ed
i
n
p
r
o
p
o
s
ed
m
et
h
o
d
to
in
cr
ea
s
e
t
h
e
to
r
q
u
e
an
d
th
e
m
ag
n
i
tu
d
e,
̅
⁄
.
T
h
e
co
n
tin
u
o
u
s
d
u
t
y
r
atio
o
f
h
i
g
h
s
p
ee
d
o
p
er
ati
o
n
i
s
r
ep
r
esen
ted
b
y
is
w
r
i
tten
i
n
(
4
0
)
.
̅
(
4
0
)
T
h
u
s
,
b
y
s
u
b
s
tit
u
ti
n
g
(
16
)
,
(
30
)
,
(
3
1
)
an
d
(
40
)
in
to
(
3
9
)
,
ar
e
o
b
tain
ed
as f
o
llo
w
:
|
|
|
̅
(
)
|
(
4
1
)
C
o
n
v
er
s
e
l
y
,
t
h
e
n
eg
a
tiv
e
s
l
o
p
e
o
f
to
r
q
u
e
i
s
w
r
i
tten
i
n
(
3
4
)
.
No
ted
th
at
t
h
e
eq
u
atio
n
o
f
n
eg
ati
v
e
s
lo
p
e
i
s
s
i
m
ilar
w
it
h
m
ed
i
u
m
s
p
ee
d
o
p
er
atio
n
w
h
ich
th
e
s
elec
tio
n
o
f
v
o
ltag
e
v
ec
to
r
s
i
s
d
if
f
e
r
f
r
o
m
lo
w
s
p
ee
d
co
n
d
itio
n
.
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
.
3
,
Sep
te
m
b
er
2
0
1
7
:
1
0
3
5
–
1
0
4
9
1044
*
̅
(
)
+
(
4
2
)
T
h
e
m
a
x
i
m
u
m
n
e
g
ati
v
e
s
lo
p
e
is
ass
u
m
ed
to
o
cc
u
r
at
m
a
x
i
m
u
m
s
p
ee
d
ac
h
ie
v
ed
f
o
r
lo
n
g
a
m
p
lit
u
d
e
o
f
v
o
lta
g
e
v
ec
to
r
(
i.e
.
̅
⁄
)
.
So
,
is
d
eter
m
in
e
d
b
y
u
s
i
n
g
(
3
0
)
an
d
th
e
m
a
x
i
m
u
m
is
ex
p
r
es
s
ed
in
(
4
3
)
.
(
)
(
4
3
)
T
h
e
s
h
o
r
t
am
p
lit
u
d
e
o
f
v
o
lta
g
e
v
ec
to
r
s
is
ch
o
s
en
f
o
r
d
ec
r
ea
s
in
g
th
e
to
r
q
u
e
at
h
i
g
h
s
p
ee
d
o
p
e
r
atio
n
o
f
th
e
DT
C
d
r
iv
es.
T
h
en
,
th
e
p
r
o
p
o
r
t
io
n
al
g
ai
n
f
o
r
n
eg
ati
v
e
s
lo
p
e
at
h
ig
h
s
p
ee
d
o
p
er
atio
n
(
)
is
g
iv
en
in
E
q
u
a
tio
n
(
4
4
)
b
y
s
u
b
s
ti
tu
t
in
g
(
1
6
)
,
(
3
0
)
,
(
3
2
)
an
d
(
4
3
)
in
to
(
4
1
).
|
|
|
̅
(
)
|
(
4
4
)
T
h
er
ef
o
r
e,
th
e
s
m
aller
v
al
u
e
o
f
an
d
is
s
elec
ted
as
g
ai
n
o
f
p
r
o
p
o
r
tio
n
al
at
h
ig
h
s
p
ee
d
o
p
er
a
tio
n
(
)
to
en
s
u
r
e
th
at
th
e
s
lo
p
e
o
f
n
o
t
ex
ce
ed
th
e
s
lo
p
e
o
f
C
ar
r
ie
r
1
.
T
h
e
in
te
g
r
al
g
a
in
i
s
o
b
ta
in
ed
as
w
r
it
ten
in
(
4
4
).
(
4
5
)
Fo
r
th
is
r
esear
ch
,
th
e
v
al
u
e
(
o
r
g
ai
n
)
o
f
th
e
P
I
co
n
tr
o
ller
p
ar
am
eter
s
o
f
t
h
e
p
r
o
p
o
s
ed
C
SF
to
r
q
u
e
co
n
tr
o
ller
f
o
r
lo
w
,
m
ed
i
u
m
an
d
h
ig
h
s
p
ee
d
o
p
er
atio
n
ar
e
g
iv
e
n
in
T
ab
le
4
.
T
ab
le
4
.
P
ar
am
eter
s
o
f
p
r
o
p
o
s
ed
C
SF
to
r
q
u
e
co
n
tr
o
ller
f
o
r
lo
w
,
m
ed
i
u
m
a
n
d
h
i
g
h
s
p
ee
d
o
p
er
atio
n
P
a
r
a
me
t
e
r
V
a
l
u
e
K
pl
1
8
8
.
4
3
K
il
3
8
2
.
6
7
K
pm
5
1
.
8
1
K
im
1
9
8
2
8
.
0
K
ph
2
8
.
9
6
K
ih
1
1
0
8
3
.
0
Fig
u
r
e
1
1
s
h
o
w
s
t
h
e
co
m
p
lete
s
tr
u
ct
u
r
e
o
f
DT
C
o
f
IM
d
r
iv
e
s
u
s
i
n
g
t
h
r
ee
-
le
v
el
NP
C
i
n
v
er
te
r
w
it
h
t
h
e
p
r
o
p
o
s
ed
to
r
q
u
e
co
n
tr
o
ller
.
A
s
ca
n
b
e
s
ee
n
,
th
e
o
r
ig
in
a
l
s
tr
u
ctu
r
e
an
d
s
i
m
p
licit
y
o
f
co
n
v
en
tio
n
al
DT
C
d
r
iv
e
ar
e
s
till
b
ei
n
g
m
ain
tain
ed
a
s
t
h
e
to
r
q
u
e
co
n
tr
o
ller
is
o
n
l
y
u
s
ed
to
r
ep
lace
th
e
h
y
s
ter
es
is
-
b
ased
co
n
tr
o
ller
o
f
co
n
v
e
n
tio
n
al
DT
C
d
r
iv
es.
N
P
C
in
v
er
ter
h
a
v
e
m
aj
o
r
p
r
o
b
le
m
w
h
ich
is
i
m
b
ala
n
ce
o
f
u
p
p
er
an
d
lo
w
er
ca
p
ac
ito
r
.
He
n
ce
,
th
e
B
alan
c
in
g
C
o
n
tr
o
l
Stra
te
g
y
b
lo
ck
i
s
ap
p
lied
to
o
v
er
co
m
e
t
h
e
p
r
o
b
lem
.
T
h
is
b
lo
ck
r
eq
u
ir
es th
e
i
n
f
o
r
m
atio
n
o
f
u
p
p
er
an
d
lo
w
er
ca
p
ac
ito
r
v
o
lta
g
e.
6.
E
XP
E
R
I
M
E
NT
A
L
SE
T
UP
AND
RE
SUL
T
S
T
h
e
w
o
r
k
ab
ilit
y
o
f
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
h
ad
b
ee
n
ca
r
r
ied
o
u
t
u
s
i
n
g
ex
p
er
i
m
e
n
tal
s
etu
p
s
h
o
w
n
i
n
Fig
u
r
e
1
2
.
T
h
e
s
etu
p
co
n
s
i
s
ts
o
f
DSP
AC
E
1
1
0
4
co
n
tr
o
ller
b
o
ar
d
,
Field
P
r
o
g
r
a
m
m
er
G
ate
A
r
r
a
y
(
FP
G
A
)
,
NP
C
in
v
er
ter
,
g
ate
d
r
iv
er
s
,
v
o
ltag
e
s
e
n
s
o
r
,
cu
r
r
en
t
s
e
n
s
o
r
,
IM
an
d
DC
g
e
n
er
ato
r
.
T
h
e
p
r
o
p
o
s
ed
m
e
th
o
d
i
s
i
m
p
le
m
en
ted
o
n
D
SP
AC
E
1
1
0
4
b
o
a
r
d
.
T
h
e
ex
p
er
im
e
n
t
w
as
p
er
f
o
r
m
ed
b
y
u
s
i
n
g
IM
an
d
DC
g
e
n
er
ato
r
ac
t
s
a
s
lo
ad
in
g
u
n
it.
T
h
e
p
ar
a
m
eter
s
o
f
th
e
i
n
d
u
c
tio
n
m
o
to
r
u
s
ed
in
t
h
e
e
x
p
er
i
m
en
t a
r
e
g
iv
e
n
i
n
T
a
b
le
5
.
T
h
e
ex
p
er
i
m
en
tal
r
es
u
lt
s
b
y
u
s
in
g
t
w
o
ap
p
r
o
ac
h
es
w
h
ic
h
ar
e
DT
C
o
f
I
M
w
it
h
NP
C
i
n
v
e
r
ter
u
s
i
n
g
h
y
s
ter
esi
s
co
n
tr
o
ller
(
w
it
h
ac
r
o
n
y
m
o
f
DT
C
-
NP
C
-
HT
C
)
an
d
DT
C
o
f
I
M
w
i
th
NP
C
i
n
v
e
r
ter
u
s
i
n
g
p
r
o
p
o
s
ed
C
SF
co
n
tr
o
ller
(
w
it
h
ac
r
o
n
y
m
o
f
DT
C
-
NP
C
-
C
SF
)
ar
e
p
r
o
v
i
d
ed
in
o
r
d
er
to
an
a
l
y
ze
t
h
e
i
m
p
r
o
v
e
m
en
t
o
f
DT
C
d
r
iv
es
i
n
ter
m
s
o
f
to
r
q
u
e
r
ip
p
le
an
d
s
w
i
tch
in
g
f
r
eq
u
e
n
c
y
.
T
h
e
ex
p
er
i
m
en
tal
w
o
r
k
s
ar
e
p
er
f
o
r
m
ed
f
o
r
th
r
ee
d
if
f
er
e
n
t o
p
er
atio
n
s
w
h
ich
ar
e
lo
w
,
m
ed
i
u
m
an
d
h
ig
h
s
p
ee
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.