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E
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Driv
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em
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I
J
P
E
DS
)
Vo
l.
11
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
,
p
p
.
1
6
7
5
~
1
6
8
8
I
SS
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2088
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8
6
9
4
,
DOI
: 1
0
.
1
1
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v
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.
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7
5
-
1
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8
1675
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ep
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:
h
ttp
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//ij
p
e
d
s
.
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e.
co
m
A review
of dir
ect
t
o
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ntrol de
v
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v
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Siti
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a
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In
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Art
icle
I
nfo
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S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
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ed
Ap
r
1
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2
0
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R
ev
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ed
J
u
l
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Acc
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Au
g
3
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2
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M
u
lt
il
e
v
e
l
in
v
e
rter
(M
LI)
is
c
o
m
m
o
n
ly
u
ti
li
z
e
d
i
n
d
irec
t
to
r
q
u
e
c
o
n
tr
o
l
(DTC)
fo
r
m
e
d
i
u
m
a
n
d
h
i
g
h
-
p
o
we
r
a
p
p
li
c
a
ti
o
n
s.
Th
e
a
d
d
it
i
o
n
a
l
v
o
lt
a
g
e
v
e
c
to
rs
g
e
n
e
ra
ted
b
y
M
LI
c
a
n
b
e
m
a
n
ip
u
late
d
t
o
a
c
h
iev
e
th
e
o
p
ti
m
a
l
se
lec
ti
o
n
fo
r
th
e
in
v
e
rter
sw
it
c
h
in
g
sta
tes
in
t
h
e
DTC
c
o
n
tro
l
sy
ste
m
s.
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re
v
io
u
sly
,
a
re
v
iew
o
f
DTC
wh
ich
fo
c
u
se
d
m
o
re
o
n
t
h
e
two
-
lev
e
l
in
v
e
rter
fo
r
AC
m
a
c
h
in
e
a
s
we
ll
a
s
a
r
e
v
iew
o
f
m
u
lt
il
e
v
e
l
c
o
n
v
e
rter
in
in
d
u
strial
a
p
p
li
c
a
ti
o
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s
h
a
d
b
e
e
n
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lem
e
n
ted
in
d
i
v
i
d
u
a
ll
y
.
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we
v
e
r,
a
re
v
iew
o
n
DTC
d
e
v
e
lo
p
m
e
n
t
i
n
M
LI
wa
s
i
n
su
ffi
c
ien
t
i
n
b
o
t
h
p
a
p
e
rs.
T
h
e
re
fo
re
,
th
is
p
a
p
e
r
a
ims
to
g
iv
e
a
c
o
m
p
re
h
e
n
siv
e
re
v
iew
o
f
th
e
imp
ro
v
e
m
e
n
t
o
f
DTC
v
ia v
a
rio
u
s
M
LI
a
p
p
li
c
a
ti
o
n
s.
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is
re
v
iew
e
d
a
c
c
o
rd
i
n
g
to
t
h
e
a
p
p
li
c
a
b
le
m
u
lt
il
e
v
e
l
in
v
e
rter
to
p
o
l
o
g
ies
in
th
e
DTC
sy
ste
m
.
Th
e
c
o
m
p
a
r
iso
n
o
f
DT
C
b
y
u
si
n
g
c
o
n
v
e
n
ti
o
n
a
l
a
n
d
m
u
lt
il
e
v
e
l
in
v
e
rter
is
sy
n
t
h
e
siz
e
d
.
Th
u
s,
t
h
is
re
v
iew
p
a
p
e
r
will
h
o
p
e
fu
l
ly
lea
d
re
se
a
rc
h
e
rs i
n
fu
rth
e
r
re
se
a
rc
h
a
c
ti
v
it
ies
a
c
ti
v
e
l
y
.
K
ey
w
o
r
d
s
:
AC
d
r
iv
es
Dir
ec
t to
r
q
u
e
c
o
n
tr
o
l
Mu
ltil
ev
el
in
v
er
ter
Switch
in
g
s
tates
Vo
ltag
e
v
ec
to
r
s
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Sit
i A
zu
r
a
B
in
ti Ah
m
ad
T
ar
u
s
an
Facu
lty
o
f
E
lectr
ical
E
n
g
in
ee
r
in
g
Un
iv
er
s
iti
T
ek
n
ik
al
Ma
lay
s
ia
Me
lak
a
7
6
1
0
0
Du
r
ian
T
u
n
g
g
al,
Me
lak
a,
Ma
lay
s
ia
E
m
ail: sit
iazu
r
a@
u
tem
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
D
ir
ec
t
to
r
q
u
e
c
o
n
tr
o
l
(
DT
C
)
s
ch
em
e
in
tr
o
d
u
ce
d
b
y
T
a
k
ah
ash
i
an
d
No
g
u
ch
i
i
n
1
8
9
6
[
1
]
h
as
em
p
lo
y
ed
two
-
lev
el
o
r
v
o
ltag
e
s
o
u
r
ce
in
v
er
te
r
(
VSI
)
cir
cu
i
t
o
n
its
p
r
io
r
a
p
p
licatio
n
with
th
e
aim
to
co
n
t
r
o
l
th
e
to
r
q
u
e
a
n
d
f
l
u
x
p
e
r
f
o
r
m
a
n
ce
b
y
u
s
in
g
th
e
ap
p
r
o
p
r
iate
v
o
ltag
e
v
ec
to
r
.
I
t
g
ai
n
s
atten
tio
n
in
in
d
u
s
tr
ial
ap
p
licatio
n
wh
en
th
e
AC
m
ac
h
in
e
is
th
e
em
p
lo
y
ed
i
n
th
is
c
o
n
tr
o
l
s
ch
em
e.
T
h
u
s
,
it
g
ain
s
a
lo
t
o
f
attr
ac
tio
n
s
f
r
o
m
m
an
y
r
esear
ch
er
s
f
o
r
im
p
lem
en
tin
g
t
h
e
s
ev
er
al
d
ev
elo
p
m
en
t
o
f
DT
C
[
2
]
-
[
7
]
.
T
h
e
r
ef
o
r
e,
s
ev
er
al
r
ev
iew
p
ap
er
s
,
[
8
]
,
[
9
]
h
av
e
b
ee
n
p
u
b
lis
h
ed
b
u
t
th
ey
ar
e
m
o
r
e
em
p
h
asized
to
th
e
d
e
v
elo
p
m
en
t
o
n
th
e
p
r
io
r
o
r
co
n
v
en
tio
n
al
DT
C
ap
p
licatio
n
.
Me
an
wh
ile,
m
u
ltil
ev
el
in
v
er
t
er
(
ML
I
)
is
wid
el
y
a
p
p
lied
in
th
e
in
d
u
s
tr
ial
ap
p
licatio
n
d
u
e
to
s
o
m
e
attr
ib
u
tes
s
u
ch
as
h
ig
h
v
o
lt
ag
e
ca
p
ab
ilit
y
,
r
ed
u
ce
d
cu
r
r
en
t
h
ar
m
o
n
ic
a
n
d
s
witch
in
g
v
o
ltag
e
s
tr
ess
th
e
lik
e
[
1
0
]
-
[
1
3
]
.
Desp
ite
o
f
th
es
e
ad
v
a
n
tag
es,
th
e
y
a
r
e
in
te
r
p
r
eted
in
to
th
e
r
ev
iew
p
ap
er
th
a
t
ex
p
lain
th
e
ML
I
’
s
co
n
tr
ib
u
tio
n
in
to
in
d
u
s
tr
ial
a
p
p
licatio
n
in
g
en
er
al
[
1
4
]
-
[
1
6
]
.
ML
I
is
also
well
ad
ap
ted
in
DT
C
d
u
e
to
it
s
ab
u
n
d
a
n
t
v
o
ltag
e
v
ec
to
r
r
ath
e
r
th
an
th
e
lim
ited
v
o
ltag
e
v
ec
to
r
in
VSI
.
T
h
u
s
,
th
e
DT
C
p
er
f
o
r
m
a
n
ce
ca
n
b
e
m
o
r
e
o
p
tim
ized
b
y
u
s
in
g
th
e
v
ar
iety
co
n
t
r
o
l
o
f
ML
I
.
Ho
wev
er
,
a
r
ev
iew
o
n
DT
C
d
ev
elo
p
m
en
t
ad
ap
te
d
b
y
ML
I
is
lack
em
p
h
asized
in
th
e
af
o
r
em
en
tio
n
ed
r
e
v
iew
p
ap
e
r
.
T
h
u
s
,
th
is
p
ap
er
aim
s
to
g
iv
e
a
co
m
p
r
eh
e
n
s
iv
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
11
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
1675
–
1
6
8
8
1676
r
ev
iew
o
f
th
e
im
p
r
o
v
em
e
n
t
o
f
DT
C
v
ia
v
ar
io
u
s
MLI
ap
p
lica
tio
n
s
as
h
ig
h
lig
h
ted
in
Fig
u
r
e
1
.
T
h
e
co
m
p
ar
is
o
n
o
f
DT
C
b
y
u
s
in
g
c
o
n
v
e
n
tio
n
al
in
v
er
ter
(
VSI
)
a
n
d
MLI
is
s
y
n
th
esized
.
T
h
u
s
,
it
will
h
elp
le
ad
r
esear
ch
er
s
in
to
f
u
r
th
er
r
esear
ch
ac
tiv
ities
.
Fig
u
r
e
1
.
A
d
iag
r
am
r
ev
iew
o
f
DT
C
v
ia
im
p
lem
en
ted
o
f
ML
I
2.
CO
NVEN
T
I
O
NA
L
D
T
C
T
h
e
s
tr
u
ctu
r
e
o
f
DT
C
d
r
iv
e
c
o
n
tr
o
l p
r
o
p
o
s
ed
in
[
1
]
is
illu
s
tr
ated
in
Fig
u
r
e
2
.
I
t c
o
n
s
is
ts
of
to
r
q
u
e
a
n
d
f
lu
x
esti
m
ato
r
s
,
a
co
u
p
le
d
o
f
h
y
s
ter
esis
co
m
p
ar
ato
r
s
,
lo
o
k
-
up
tab
le
a
n
d
two
-
le
v
el
in
v
er
te
r
.
A
p
air
o
f
c
o
n
tr
o
l
s
tr
u
ctu
r
e
as
af
o
r
em
e
n
tio
n
ed
o
b
v
io
u
s
ly
c
o
n
tr
o
ls
th
e
two
in
d
ep
en
d
en
t
v
ar
ia
b
les
s
u
ch
as
s
tato
r
f
lu
x
an
d
e
lectr
o
m
ag
n
etic
to
r
q
u
e
u
s
i
n
g
two
-
le
v
el
an
d
th
r
ee
-
le
v
el
h
y
s
ter
esis
co
m
p
a
r
ato
r
s
.
I
n
th
e
p
r
ev
io
u
s
im
p
lem
en
tatio
n
o
f
DT
C
,
th
e
two
-
lev
el
in
v
er
ter
i
s
em
p
lo
y
ed
to
d
r
iv
e
th
e
AC
m
ac
h
in
e
as sh
o
wn
in
Fig
u
r
e
3
(
a)
.
T
h
e
cir
cu
it p
r
o
d
u
ce
s
eig
h
t v
o
ltag
e
v
ec
to
r
s
wh
ich
ar
e
class
if
i
ed
in
to
two
ze
r
o
v
o
ltag
e
v
ec
to
r
s
(
V0
an
d
V7
)
an
d
s
ix
ac
tiv
e
v
o
ltag
e
v
ec
to
r
s
(
V1
-
V6
)
.
T
h
is
is
f
u
r
th
er
d
is
p
lay
e
d
b
y
th
e
m
a
p
p
in
g
v
ec
t
o
r
s
in
Fig
u
r
e
3
(
b
)
.
A
b
asis
o
f
lo
o
k
-
u
p
tab
le
DT
C
is
co
n
s
tr
u
cted
in
T
ab
le
1
wh
er
e
th
e
vol
tag
e
v
ec
to
r
s
ar
e
m
ap
p
e
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in
to
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e
s
ec
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,
th
e
er
r
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r
s
tatu
s
o
f
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r
q
u
e
(
T
e
stat
)
an
d
s
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r
f
lu
x
(
Ψ
s
stat
).
Fig
u
r
e
2
.
Stru
ctu
r
e
o
f
co
n
v
en
t
io
n
al
DT
C
[
1
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A
l
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a
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C
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In
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2
0
8
8
-
8
694
A
r
ev
iew
o
f d
ir
ec
t to
r
q
u
e
co
n
tr
o
l d
ev
elo
p
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t in
v
a
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mu
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S
iti A
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u
r
a
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.
Ta
r
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)
1677
(
a)
(
b
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Fig
u
r
e
3
.
(
a
)
T
wo
-
le
v
el
in
v
er
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er
cir
cu
it a
n
d
(
b
)
Sp
ac
e
v
ec
to
r
d
iag
r
am
[
1
]
T
ab
le
1
.
T
h
e
lo
o
k
-
u
p
tab
le
o
f
co
n
v
en
tio
n
al
DT
C
[
1
]
Ψ
s
st
a
t
Te
st
a
t
sec
t
o
r
I
sec
t
o
r
II
sec
t
o
r
III
sec
t
o
r
IV
sec
t
o
r
V
sec
t
o
r
VI
1
V
2
(
1
0
0
)
V
3
(
1
1
0
)
V
4
(
0
1
0
)
V
5
(
0
1
1
)
V
6
(
0
0
1
)
V
1
(
1
0
1
)
1
0
V
0
(
0
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0
)
V
7
(
1
1
1
)
V
0
(
0
0
0
)
V
2
(
1
0
0
)
V
0
(
0
0
0
)
V
2
(
1
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)
-
1
V
6
(
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)
V
1
(
1
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V
2
(
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V
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V
4
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V
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1
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3
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V
4
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V
5
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6
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2
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V
3
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V
4
(
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3.
M
UL
T
I
L
E
VE
L
I
N
VE
R
T
E
R
DT
C
3
.
1
.
M
o
dified
lo
o
k
-
up
t
a
ble
T
h
e
attr
ib
u
tes o
f
co
n
v
en
tio
n
al
DT
C
ar
e
s
till
wh
en
ap
p
lied
th
e
ML
I
ex
ce
p
t it
will in
cr
ea
s
e
th
e
v
o
ltag
e
v
ec
to
r
s
.
Asi
d
e
v
o
ltag
e
v
ec
to
r
s
,
o
th
er
v
ar
iab
les
s
u
ch
as
s
ec
to
r
,
to
r
q
u
e
an
d
f
lu
x
er
r
o
r
s
tatu
s
in
clu
d
ed
in
th
e
lo
o
k
-
u
p
tab
les ar
e
also
s
u
s
ce
p
t
ib
le
to
th
e
tr
aits
o
f
ML
I
.
I
n
th
e
class
ica
l
ML
I
i.e
.
,
f
ly
in
g
ca
p
ac
ito
r
(
FC
)
,
n
eu
tr
al
p
o
in
t
clam
p
ed
(
NPC
)
,
an
d
ca
s
ca
d
ed
H
-
b
r
id
g
e
(
C
HB
)
to
p
o
lo
g
ies
,
th
e
v
o
ltag
e
v
ec
to
r
m
ap
p
i
n
g
is
en
lar
g
ed
d
u
e
to
th
e
in
cr
ea
s
in
g
n
u
m
b
er
o
f
lev
els
.
Gen
er
all
y
,
th
e
th
r
ee
-
an
d
f
i
v
e
-
lev
el
in
v
er
ter
wil
l
g
en
er
ate
6
4
[
1
7
]
an
d
5
1
2
[
1
8
]
v
o
ltag
e
v
ec
t
o
r
s
r
esp
ec
tiv
ely
.
T
h
is
f
lex
ib
ilit
y
e
n
co
u
r
a
g
es
th
e
o
p
tim
al
s
elec
tio
n
o
f
v
o
ltag
e
v
ec
to
r
f
r
o
m
t
h
e
lo
o
k
-
u
p
tab
le
[
1
7
]
-
[
1
9
]
.
I
n
FC
-
DT
C
,
th
e
lo
o
k
u
p
tab
le
was
alter
ed
as
th
e
n
u
m
b
er
o
f
s
ec
to
r
was
in
cr
ea
s
ed
in
to
2
4
s
ec
to
r
s
[
2
0
]
.
Me
an
wh
ile
i
n
NPC
-
DT
C
,
th
e
m
o
d
i
f
ied
lo
o
k
-
u
p
tab
le
b
ased
o
n
th
e
o
p
tim
u
m
cu
r
r
en
t
r
ip
p
le
p
r
i
n
cip
le
a
n
d
th
e
l
o
o
k
-
u
p
tab
le
with
a
u
n
if
o
r
m
co
n
t
r
o
l
m
et
h
o
d
wer
e
p
r
o
p
o
s
ed
in
[
2
1
]
an
d
[
2
2
]
r
esp
ec
tiv
el
y
.
Fu
r
th
er
in
th
e
m
o
d
er
n
to
p
o
lo
g
ies
o
f
ML
I
,
th
e
h
y
b
r
id
ML
I
f
ee
d
in
g
o
p
en
-
en
d
win
d
in
g
(
OE
W
)
was
in
tr
o
d
u
ce
d
in
d
r
iv
e
ap
p
licatio
n
in
1
9
9
3
[
2
3
]
.
T
h
is
is
d
o
n
e
b
y
f
lo
atin
g
th
e
n
eu
tr
al
p
o
in
t
o
f
m
o
to
r
win
d
in
g
t
o
co
n
n
ec
t
th
e
d
u
al
two
-
le
v
el
in
v
er
ter
s
in
to
b
o
th
en
d
s
o
f
m
o
t
o
r
win
d
in
g
s
.
S
o
m
e
im
p
r
o
v
em
en
ts
o
f
its
lo
o
k
-
u
p
tab
le
h
as
b
ee
n
d
is
cu
s
s
ed
in
[
2
4
]
-
[
2
7
]
r
elate
d
t
o
th
e
ex
tr
a
o
p
er
atio
n
,
m
o
d
if
ie
d
lo
o
k
-
u
p
ta
b
le
an
d
im
p
r
o
v
is
ed
s
witch
in
g
tab
le.
O
n
th
e
o
t
h
er
h
an
d
,
th
e
m
atr
ix
co
n
v
er
ter
(
MC)
o
n
DT
C
was
in
tr
o
d
u
ce
d
in
th
e
ea
r
ly
2
0
0
0
’
s
[
2
8
]
.
I
ts
co
n
s
tr
u
ctio
n
is
b
ased
o
n
t
h
e
b
i
d
ir
ec
tio
n
al
s
witch
es
p
er
f
o
r
m
ed
th
e
s
in
u
s
o
id
al
in
p
u
t/o
u
tp
u
t
c
u
r
r
en
t
r
elate
d
to
th
e
v
ar
iab
le
in
p
u
t
p
o
wer
f
ac
t
o
r
.
T
h
e
s
tu
d
y
o
f
co
n
v
en
tio
n
al
MC
-
DT
C
tab
le
ca
n
b
e
r
ef
e
r
r
ed
to
in
[
2
8
]
,
[
2
9
]
f
o
llo
wed
b
y
its
d
e
v
elo
p
m
e
n
t
i
n
[
3
0
]
,
[
3
1
]
t
h
r
o
u
g
h
th
e
twelv
e
-
s
id
ed
p
o
ly
g
o
n
al
s
tr
u
ctu
r
e
an
d
s
u
b
-
r
eg
io
n
s
tr
ateg
y
.
ML
I
f
ee
d
in
g
m
u
ltip
h
ase
m
ac
h
in
e
also
b
r
in
g
s
in
t
er
est
to
th
e
d
r
iv
e
ap
p
licatio
n
t
h
at
en
a
b
les
em
p
lo
y
m
en
t
o
f
th
e
f
iv
e
-
p
h
ase,
s
ix
-
p
h
ase
o
r
ev
en
h
i
g
h
er
p
h
ases
o
n
war
d
s
.
Fu
r
th
er
,
th
e
r
esear
ch
d
e
v
elo
p
m
e
n
t
o
f
f
iv
e
-
an
d
s
ix
-
p
h
ase
em
p
lo
y
ed
in
DT
C
ca
n
b
e
r
ef
e
r
r
ed
in
[
3
2
]
-
[
3
5
]
an
d
[
3
6
]
-
[
3
9
]
co
r
r
esp
o
n
d
in
g
ly
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
11
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
1675
–
1
6
8
8
1678
3
.
2
.
I
m
pro
v
ed
hy
s
t
er
esis
co
m
pa
ra
t
o
rs
Hy
s
ter
esis
co
m
p
ar
ato
r
is
a
co
r
e
in
th
e
DT
C
d
r
iv
e.
I
n
th
e
c
lass
ical
DT
C
,
th
e
th
r
ee
-
lev
el
h
y
s
ter
esis
co
m
p
ar
ato
r
y
ield
s
th
e
er
r
o
r
s
t
atu
s
o
f
to
r
q
u
e
o
f
+
1
,
0
an
d
-
1
wh
ils
t
f
o
r
th
e
s
tato
r
f
lu
x
,
th
e
t
wo
-
lev
el
h
y
s
ter
esis
co
m
p
ar
ato
r
y
ield
s
t
h
e
f
lu
x
e
r
r
o
r
s
tatu
s
o
f
+1
,
an
d
0
.
T
h
ey
s
till
r
em
ain
ed
in
th
e
NPC
-
DT
C
[
4
0
]
.
T
h
e
av
ailab
ilit
y
o
f
v
o
ltag
e
v
ec
to
r
s
in
ML
I
ten
d
s
to
in
c
r
ea
s
e
th
e
lev
el
o
f
h
y
s
ter
esis
co
m
p
ar
at
o
r
s
[
1
8
]
,
[
3
5
]
.
Fo
r
in
s
tan
ce
in
[
1
8
]
,
t
h
e
f
iv
e
-
lev
el
C
H
B
-
DT
C
h
ad
p
r
o
p
o
s
ed
e
ig
h
t
-
lev
el
to
r
q
u
e
an
d
f
iv
e
-
lev
el
f
lu
x
co
m
p
a
r
ato
r
u
s
in
g
s
ev
en
an
d
f
o
u
r
two
-
lev
el
h
y
s
ter
esis
co
m
p
ar
ato
r
r
esp
ec
tiv
ely
.
T
h
e
ei
g
h
t
-
lev
el
to
r
q
u
e
h
y
s
ter
esis
co
m
p
ar
ato
r
was d
e
n
o
ted
b
y
th
e
er
r
o
r
s
tatu
s
o
f
to
r
q
u
e
o
f
+3
,
+2
,
+1
,
+0
,
-
0
,
-
1
,
-
2
an
d
-
3
.
Me
an
wh
ile,
th
e
f
iv
e
-
lev
el
f
lu
x
h
y
s
ter
esis
co
m
p
a
r
at
o
r
was
d
e
n
o
ted
b
y
th
e
f
lu
x
er
r
o
r
s
tatu
s
o
f
+2
,
+1
,
+0
,
-
0
,
-
1
an
d
-
2
.
T
y
p
ically
,
th
e
h
ig
h
est
v
alu
e
o
f
e
r
r
o
r
s
ta
tu
s
(
p
o
s
itiv
e
o
r
n
eg
a
tiv
e
)
was
r
ec
o
m
m
en
d
ed
f
o
r
th
e
lar
g
e
v
o
ltag
e
v
ec
to
r
s
to
ac
h
iev
e
th
e
f
ast
-
d
y
n
am
ic
t
o
r
q
u
e
r
esp
o
n
s
e.
T
h
e
lo
west
v
alu
e
(
p
o
s
itiv
e
o
r
n
e
g
ativ
e)
h
o
we
v
er
was
r
ec
o
m
m
en
d
ed
f
o
r
th
e
s
m
all
o
r
ze
r
o
v
o
ltag
e
v
ec
t
o
r
s
to
r
ea
ch
th
e
s
lo
w
to
r
q
u
e
r
esp
o
n
s
e
as
well
as
m
in
im
ize
th
e
to
r
q
u
e
r
ip
p
le
[
3
5
]
.
Fu
r
th
er
an
al
y
s
is
r
eg
ar
d
in
g
th
e
m
o
d
if
ie
d
h
y
s
ter
esis
co
m
p
ar
at
o
r
was
d
is
cu
s
s
ed
in
[
4
1
]
b
y
u
s
in
g
th
r
ee
-
an
d
f
iv
e
-
le
v
el
C
HB
-
DT
C
.
T
h
e
th
r
ee
-
an
d
f
iv
e
-
lev
el
C
HB
h
av
e
em
p
lo
y
ed
th
e
two
-
a
n
d
f
iv
e
-
lev
el
h
y
s
ter
esis
co
m
p
ar
ato
r
r
esp
ec
tiv
ely
.
B
o
t
h
lev
els
h
a
v
e
ap
p
lied
s
ev
e
n
-
l
ev
el
h
y
s
ter
esis
co
m
p
a
r
ato
r
f
o
r
to
r
q
u
e
c
o
n
tr
o
ller
.
Fig
u
r
e
4
s
h
o
ws
th
e
p
r
o
p
o
s
ed
m
eth
o
d
o
f
f
iv
e
-
lev
el
C
HB
-
DT
C
.
T
h
is
p
r
o
p
o
s
ed
s
ch
em
e
is
co
n
tr
ib
u
ted
i
n
to
th
e
NPC
-
DT
C
[
4
2
]
,
m
atr
ix
co
n
v
e
r
ter
[
4
3
]
an
d
m
u
ltip
h
ase
m
ac
h
i
n
e
[
3
9
]
with
th
e
aim
o
f
m
in
im
izin
g
th
e
s
tead
y
-
s
tate
er
r
o
r
an
d
to
r
q
u
e
r
ip
p
le,
a
s
well
as h
ar
m
o
n
ic
cu
r
r
e
n
t.
3
-
3
-
2
-
1
2
1
H
T
,upp
e
r
H
T
,1
H
T
,2
H
T
,3
H
T
,4
H
T
,5
H
T
,l
ow
e
r
T
s
t
a
t
T
e
r
r
(
N
m
)
(
a)
-
2
-
1
2
1
H
ψ
,
1
ψ
s
t
a
t
H
ψ
,
2
H
ψ
,
up
pe
r
H
ψ
,
l
ow
e
r
ψ
e
r
r
(
Wb
)
(
b
)
Fig
u
r
e
4
.
Hy
s
ter
esis
co
m
p
ar
at
o
r
o
f
(
a)
7
-
lev
el
f
o
r
to
r
q
u
e
a
n
d
(
b
)
5
-
lev
el
f
o
r
f
lu
x
in
ML
I
[
4
1
]
3
.
3
.
F
ix
ed
f
re
qu
ency
co
ntr
o
ller
T
h
e
in
c
o
n
s
is
ten
cy
o
f
s
witch
in
g
f
r
e
q
u
en
c
y
i
n
DT
C
is
m
ain
l
y
ca
u
s
ed
b
y
th
e
to
r
q
u
e
co
m
p
a
r
ato
r
[
4
4
]
.
B
asically
,
th
e
s
lo
p
e
o
f
to
r
q
u
e
co
n
tain
s
s
ev
e
r
al
v
a
r
iab
les
s
u
ch
as
s
tato
r
v
o
ltag
e,
s
p
ee
d
,
s
tato
r
f
lu
x
a
n
d
r
o
to
r
f
lu
x
.
T
h
e
u
n
co
n
tr
o
llab
le
o
p
er
atin
g
s
p
ee
d
m
ay
co
n
tr
ib
u
te
to
th
e
u
n
p
r
e
d
ictab
le
s
witch
in
g
f
r
eq
u
en
c
y
.
T
h
u
s
it
is
d
if
f
icu
lt
to
o
p
tim
ize
th
e
DT
C
p
er
f
o
r
m
an
c
e
[
9
]
.
So
m
e
s
u
g
g
esti
o
n
s
h
av
e
b
ee
n
o
f
f
e
r
ed
to
s
o
lv
e
th
is
p
r
o
b
lem
s
u
ch
as Sp
ac
e
Vec
to
r
Mo
d
u
latio
n
(
SVM)
an
d
ca
r
r
ier
f
r
eq
u
e
n
cies.
SVM
was
a
p
ar
t
o
f
th
e
m
o
d
u
l
atio
n
s
tr
ateg
y
f
o
r
DT
C
in
1
9
9
2
b
y
Hab
etler
[
4
5
]
.
I
t
co
n
tr
o
ls
d
ec
o
u
p
le
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
s
tato
r
f
lu
x
b
y
u
s
in
g
PI
c
o
n
tr
o
ller
to
p
r
o
d
u
ce
t
h
e
d
-
an
d
q
-
a
x
is
v
o
ltag
e.
T
h
e
s
tato
r
f
lu
x
a
n
g
le
w
h
ich
is
a
p
p
lied
in
SVM
s
tr
ateg
y
is
ca
lc
u
lated
f
r
o
m
t
h
e
esti
m
ated
t
o
r
q
u
e
an
d
s
tato
r
f
lu
x
.
Fig
u
r
e
5
(
a)
s
h
o
ws
an
ex
a
m
p
le
o
f
t
h
e
r
ef
er
e
n
ce
v
o
ltag
e
v
ec
to
r
d
-
q
wh
ich
o
cc
u
r
s
o
n
o
n
e
o
f
th
e
s
ec
to
r
s
in
th
e
co
n
v
en
tio
n
al
DT
C
[
4
6
]
.
I
n
th
e
p
ar
ticu
lar
s
ec
to
r
,
th
e
r
ef
e
r
en
c
e
v
o
ltag
e
v
ec
to
r
is
lo
ca
ted
b
et
wee
n
two
ad
jace
n
t
v
ec
to
r
s
an
d
ze
r
o
v
ec
to
r
with
th
eir
s
tip
u
lated
tim
e
af
ter
wh
ich
th
e
d
u
t
y
cy
cle
is
co
m
p
u
ted
to
g
en
er
ate
th
e
s
y
m
m
etr
ical
s
witch
in
g
o
f
SV
M.
SVM
s
tr
ateg
y
was
ex
ten
d
ed
by
u
s
in
g
NPC
in
v
er
ter
as
s
u
ch
in
[
4
7
]
,
[
4
8
]
.
Fo
r
ex
am
p
le
in
[
4
8
]
,
a
n
ew
s
im
p
lific
atio
n
alg
o
r
ith
m
wa
s
co
n
s
tr
u
cted
f
o
r
th
e
class
ical
SVM
tech
n
iq
u
e.
T
h
e
g
-
h
r
ef
e
r
en
ce
f
r
am
e
o
r
6
0
°
r
ef
er
en
ce
f
r
am
e
th
at
n
e
g
lecte
d
th
e
tr
ig
o
n
o
m
etr
ic
f
u
n
ctio
n
s
to
b
e
ap
p
lied
b
y
th
e
class
ical
SVM
.
T
h
er
ef
o
r
e
,
s
ix
tr
ian
g
u
lar
s
ec
to
r
s
wer
e
p
er
f
o
r
m
ed
b
y
th
e
s
p
ac
e
v
ec
to
r
d
iag
r
am
.
Ho
wev
er
,
in
ML
I
,
ea
ch
tr
ian
g
u
lar
s
ec
to
r
was
d
iv
id
ed
in
to
f
o
u
r
s
m
all
tr
ian
g
u
lar
r
eg
io
n
s
as
s
h
o
wn
in
Fi
g
u
r
e
5
(
b
)
.
T
h
u
s
,
th
e
th
r
ee
v
e
cto
r
s
n
ea
r
es
t
to
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2
0
8
8
-
8
694
A
r
ev
iew
o
f d
ir
ec
t to
r
q
u
e
co
n
tr
o
l d
ev
elo
p
men
t in
v
a
r
io
u
s
mu
ltil
ev
el
… (
S
iti A
z
u
r
a
A
.
Ta
r
u
s
a
n
)
1679
r
ef
er
en
ce
v
ec
to
r
a
m
o
n
g
th
e
r
eg
io
n
s
wer
e
ch
o
s
en
f
o
r
th
e
S
VM
co
m
p
u
tatio
n
.
B
y
u
tili
zin
g
th
e
g
-
h
r
e
f
er
en
ce
f
r
am
e,
th
e
r
ef
e
r
en
ce
v
ec
to
r
v
a
lu
es
o
f
u
sh
an
d
u
sg
co
u
l
d
b
e
d
eter
m
in
ed
b
y
s
ev
er
al
r
u
les
d
ec
lar
ed
in
[
4
8
]
.
T
h
e
SVM
s
tr
ateg
y
h
as
b
ee
n
f
u
r
t
h
e
r
im
p
r
o
v
ed
in
C
HB
-
DT
C
[
4
9
]
,
h
y
b
r
id
ML
I
f
ee
d
in
g
OE
W
-
DT
C
[
5
0
]
-
[
5
2
]
,
MC
-
DT
C
[
5
3
]
an
d
th
e
m
u
ltip
h
ase
m
ac
h
in
e
as in
[
5
4
]
.
As
th
e
s
u
b
s
titu
te
o
f
SVM,
th
e
f
ix
ed
o
r
c
o
n
s
tan
t
s
witch
in
g
f
r
eq
u
e
n
cy
c
o
u
ld
b
e
ac
h
iev
ed
b
y
u
s
in
g
tr
ian
g
u
lar
wav
e
f
o
r
m
o
r
ca
r
r
i
er
f
r
eq
u
e
n
cy
p
r
o
p
o
s
ed
b
y
I
d
r
is
in
2
0
0
2
[
5
5
]
,
[
5
6
]
.
I
t
r
ep
lace
d
th
e
h
y
s
ter
esis
co
m
p
ar
ato
r
o
f
to
r
q
u
e
c
o
n
tr
o
ll
er
in
DT
C
an
d
n
eg
lecte
d
th
e
c
o
m
p
licated
o
p
er
atio
n
s
u
ch
as
SVM.
I
llu
s
tr
ated
in
Fig
u
r
e
6
(
a)
is
th
e
c
o
n
v
e
n
tio
n
a
l
DT
C
wh
er
e
th
e
p
r
o
p
o
r
tio
n
al
in
teg
r
al
(
PI)
co
n
tr
o
ller
r
e
g
u
lat
ed
th
e
to
r
q
u
e
er
r
o
r
b
ef
o
r
e
co
m
p
a
r
in
g
with
th
e
t
wo
co
m
p
lim
e
n
t
p
h
ases
o
f
tr
ian
g
u
lar
wa
v
ef
o
r
m
s
wh
ich
c
o
n
tain
th
e
ca
r
r
ier
f
r
eq
u
e
n
cies.
T
h
is
ap
p
r
o
ac
h
wa
s
p
r
o
lo
n
g
ed
in
t
o
ML
I
as
in
[
3
]
,
[
5
7
]
,
[
5
8
]
.
As
em
p
lo
y
e
d
in
C
HB
-
DT
C
[
5
7
]
,
th
e
co
n
s
tan
t
f
r
eq
u
e
n
cy
co
n
tr
o
ller
was
ad
d
ed
with
s
ix
co
m
p
ar
ato
r
s
an
d
s
ix
tr
ian
g
u
lar
wav
e
f
o
r
m
s
as
s
h
o
wn
in
Fig
u
r
e
6
(
b
)
f
in
al
ly
f
o
r
cr
ea
tin
g
th
e
to
r
q
u
e
er
r
o
r
s
tatu
s
.
(
a)
(
b
)
Fig
u
r
e
5
.
SVM
s
tr
ateg
y
,
(
a)
T
h
e
r
ef
er
e
n
ce
v
o
ltag
e
v
ec
to
r
p
r
o
jectio
n
o
n
V1
an
d
V2
in
s
ec
t
o
r
1
in
co
n
v
en
tio
n
al
DT
C
[
4
6
]
an
d
(
b
)
SVM
s
tr
ateg
y
in
ML
I
in
s
ec
to
r
1
th
r
o
u
g
h
f
o
u
r
s
m
all
tr
ian
g
u
lar
r
e
g
io
n
c
o
v
er
ted
f
r
o
m
a
-
b
(
lef
t)
in
to
g
-
h
(
r
ig
h
t)
r
ef
er
e
n
ce
f
r
am
es
[
4
8
]
(
a)
(
b
)
Fig
u
r
e
6
.
C
ar
r
ier
f
r
eq
u
en
cy
c
o
n
tr
o
ller
,
(
a
)
co
n
v
en
tio
n
al
DT
C
[
5
5
]
,
[
5
6
]
an
d
(
b
)
Pro
p
o
s
ed
c
ar
r
ier
f
r
e
q
u
en
c
y
co
n
tr
o
ller
in
MLI
by
[
5
7
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
11
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
1675
–
1
6
8
8
1680
(
a)
(
b
)
Fig
u
r
e
7
.
Du
t
y
cy
cle
b
ased
s
tr
ateg
y
,
(
a)
co
n
v
en
tio
n
al
DT
C
[
5
9
]
(
b
)
DT
C
u
s
in
g
ML
I
a
p
p
ly
i
n
g
co
n
v
en
tio
n
al
m
eth
o
d
(
le
f
t)
an
d
m
o
d
i
f
ied
m
e
th
o
d
(
r
i
g
h
t)
by
[
4
]
3
.
4
.
Dut
y
cy
cle
s
t
ra
t
eg
y
Du
ty
cy
cle
b
ased
s
tr
ateg
y
was
a
ty
p
ical
m
eth
o
d
f
o
r
r
ed
u
cin
g
th
e
to
r
q
u
e
an
d
s
tato
r
f
l
u
x
r
i
p
p
le
in
t
h
e
co
n
v
en
tio
n
al
DT
C
as in
tr
o
d
u
ce
d
b
y
Kan
g
in
1
9
9
9
[
5
9
]
.
I
t a
p
p
lied
two
v
o
ltag
e
v
ec
to
r
s
(
o
n
e
ac
tiv
e,
V
K
an
d
o
n
e
ze
r
o
v
o
ltag
e
v
ec
to
r
,
V
O
)
with
in
o
n
e
in
ter
v
al
s
witch
in
g
,
t
SP
as
s
h
o
wn
in
Fig
u
r
e
7
(
a)
.
T
h
e
d
u
ty
cy
cle
h
av
e
b
ee
n
d
ev
elo
p
e
d
b
y
u
s
in
g
co
n
v
en
tio
n
al
DT
C
in
[
6
0
]
,
[
6
1
]
.
Z
e
r
o
v
o
ltag
e
v
ec
to
r
an
d
two
ac
tiv
e
v
o
ltag
e
v
ec
to
r
wer
e
em
p
lo
y
ed
in
[
6
0
]
.
Ho
wev
e
r
,
i
t
r
ed
u
ce
d
th
e
r
eliab
ilit
y
an
d
c
ap
ab
ilit
y
o
f
DT
C
.
Me
an
wh
ile
in
[
6
1
]
,
th
e
t
h
r
ee
v
o
ltag
e
v
ec
to
r
s
wer
e
ap
p
lied
t
o
m
in
im
ize
th
e
t
o
r
q
u
e
an
d
s
tato
r
f
l
u
x
r
ip
p
le
at
ea
ch
s
witch
in
g
p
er
i
o
d
.
Ho
wev
er
,
th
e
s
witch
in
g
lo
s
s
es we
r
e
in
cr
ea
s
ed
d
u
e
t
o
th
e
ad
d
itio
n
al
o
n
e
v
o
ltag
e
v
ec
t
o
r
.
I
n
ML
I
DT
C
,
th
e
d
u
ty
c
y
cle
s
tr
ateg
y
was
d
ev
el
o
p
ed
in
[
4
]
,
[
6
2
]
,
[
6
3
]
.
As
in
t
r
o
d
u
ce
d
in
[
4
]
,
th
e
m
an
ip
u
lati
o
n
o
f
v
o
ltag
e
v
ec
t
o
r
s
with
in
o
n
e
s
witch
in
g
in
t
er
v
al
was
ea
s
ily
d
eter
m
in
e
d
th
r
o
u
g
h
t
h
e
ex
tr
a
v
o
ltag
e
v
ec
t
o
r
s
.
T
h
e
v
a
r
iety
o
f
v
o
ltag
e
v
ec
t
o
r
s
co
u
ld
b
e
class
if
ied
in
to
f
o
u
r
ca
teg
o
r
ie
s
n
am
ely
(
i)
lar
g
e
(
L
VV)
,
(
ii)
m
ed
iu
m
(
MV
V)
,
(
iii)
s
m
all
(
SVV)
an
d
(
iv
)
z
er
o
v
o
ltag
e
v
ec
to
r
(
Z
VV)
.
I
n
th
e
n
o
r
m
al
s
p
ee
d
o
p
er
atio
n
as
illu
s
tr
ated
in
Fig
u
r
e
7
(
b
)
(
lef
t)
,
t
h
e
to
r
q
u
e
r
ip
p
le
p
r
o
f
ile
was
p
e
r
f
o
r
m
ed
u
s
in
g
t
h
e
v
ec
t
o
r
co
m
b
in
atio
n
o
f
L
VV/M
VV
-
SVV
-
Z
VV
as
p
r
o
p
o
s
ed
in
[
4
]
.
Du
e
to
th
e
co
m
p
le
x
im
p
lem
e
n
tatio
n
to
co
m
p
u
te
th
e
d
u
ty
r
atio
,
th
e
v
o
ltag
e
v
e
cto
r
s
o
f
SVV
an
d
Z
VV
wer
e
co
m
b
in
e
d
to
p
er
f
o
r
m
a
v
ir
tu
al
v
o
ltag
e
v
ec
to
r
(
VVV)
.
As
a
r
esu
lt,
th
e
v
ec
t
o
r
co
m
b
in
atio
n
o
f
L
VV/M
VV
-
VVV
was
s
im
p
lifie
d
lik
e
a
n
o
r
m
al
p
r
o
f
ile
o
f
to
r
q
u
e
r
ip
p
le
as
s
h
o
w
n
in
Fig
u
r
e
7
(
b
)
(
r
ig
h
t)
.
T
h
e
r
elatio
n
s
h
ip
o
f
to
r
q
u
e
s
lo
p
e
a
n
d
m
ac
h
in
e
s
p
ee
d
was
also
s
tu
d
ied
in
[
4
]
th
at
en
co
u
r
ag
ed
th
e
d
e
r
iv
atio
n
o
f
t
h
e
s
lo
p
e
eq
u
atio
n
s
f
o
r
p
ar
ticu
lar
v
ec
to
r
s
f
o
r
s
u
c
h
th
e
co
m
b
in
atio
n
o
f
L
VV
-
VVV,
M
VV
-
VVV
an
d
SVV
-
Z
VV.
3
.
5
.
Vo
lt
a
g
e
ba
la
ncing
T
h
e
is
s
u
e
o
f
v
o
ltag
e
b
alan
ci
n
g
was
m
ain
l
y
co
n
ce
r
n
e
d
in
N
PC
-
DT
C
an
d
FC
-
DT
C
.
T
h
is
was
d
u
e
to
th
e
b
u
ilt
-
in
ca
p
ac
ito
r
s
wh
ich
was
lo
ca
ted
p
ar
allel
t
o
th
e
in
p
u
t
DC
v
o
ltag
e
an
d
s
witch
in
g
d
ev
ices.
T
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2
0
8
8
-
8
694
A
r
ev
iew
o
f d
ir
ec
t to
r
q
u
e
co
n
tr
o
l d
ev
elo
p
men
t in
v
a
r
io
u
s
mu
ltil
ev
el
… (
S
iti A
z
u
r
a
A
.
Ta
r
u
s
a
n
)
1681
ca
p
ac
ito
r
s
ar
e
ex
p
lo
ite
d
b
y
t
h
e
f
lu
ctu
atio
n
o
f
DC
v
o
ltag
e
tr
i
g
g
er
ed
b
y
th
e
v
o
ltag
e
d
e
v
iatio
n
f
lo
win
g
th
e
th
r
ee
p
h
ase
AC
m
ac
h
in
es
o
r
lo
ad
s
.
As
a
r
esu
lt,
it
m
ay
lea
d
to
th
e
s
ev
er
e
co
n
d
itio
n
o
n
in
p
u
t
DC
v
o
ltag
e
o
f
in
v
er
ter
cir
cu
it.
Sev
er
al
m
eth
o
d
s
to
s
o
l
v
e
th
e
m
atter
s
h
ad
b
ee
n
s
u
g
g
e
s
ted
b
y
r
esear
ch
er
s
in
[
4
]
,
[
6
4
]
-
[
6
7
]
.
A
co
n
tr
o
l
alg
o
r
ith
m
o
f
v
o
lta
g
e
b
alan
ci
n
g
was
p
r
o
p
o
s
ed
in
[
6
4
]
f
o
r
co
n
tr
o
llin
g
th
e
s
ig
n
als
in
th
e
in
v
er
ter
-
leg
b
y
u
s
in
g
th
e
in
p
u
t
o
f
r
e
q
u
ir
ed
v
o
ltag
e
lev
el,
ca
p
ac
ito
r
v
o
ltag
e
s
tates
an
d
cu
r
r
e
n
t
d
ir
ec
tio
n
.
Me
an
wh
ile
in
[
4
]
,
[
6
5
]
,
th
e
e
x
tr
a
lo
o
k
-
u
p
tab
le
was
b
u
ilt
a
s
a
two
-
lev
el
h
y
s
ter
esis
co
m
p
ar
ato
r
was
a
d
d
ed
to
co
n
tr
o
l
th
e
v
o
ltag
e
d
e
v
iatio
n
th
r
o
u
g
h
th
e
DC
lin
k
ca
p
ac
ito
r
s
in
th
e
DT
C
s
y
s
tem
s
.
Fo
r
i
n
s
tan
ce
in
[
6
5
]
,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
was
s
h
o
wn
in
Fig
u
r
e
8
.
T
h
e
v
o
ltag
e
b
ala
n
cin
g
m
eth
o
d
wh
ich
f
o
cu
s
ed
o
n
th
e
lin
e
v
o
ltag
e
h
ar
m
o
n
ic
h
ad
r
esu
lted
in
a
s
lig
h
t in
cr
ea
s
e
o
f
cu
r
r
e
n
t h
ar
m
o
n
ic
co
m
p
ar
ed
to
th
e
b
asic c
o
n
d
i
tio
n
in
[
6
6
]
.
3
.
6
.
Virt
ua
l v
ec
t
o
r
T
h
e
v
ir
tu
al
v
ec
to
r
(
VV)
p
r
in
c
ip
al
was
f
ir
s
t
in
tr
o
d
u
ce
d
i
n
2
0
0
2
b
y
T
an
[
6
8
]
th
r
o
u
g
h
th
e
th
r
ee
-
lev
el
NPC
in
v
er
ter
.
I
t
is
a
p
ar
t
o
f
s
y
n
th
esized
v
ec
to
r
th
at
is
id
e
n
tical
with
th
e
c
o
n
v
e
n
tio
n
al
S
VM
ex
ce
p
t
it
h
as
a
f
ix
ed
p
o
s
itio
n
.
I
n
[
6
8
]
,
a
m
o
d
i
f
ied
lo
o
k
-
u
p
tab
le
was
p
er
f
o
r
m
ed
b
y
co
m
p
r
is
in
g
o
f
1
2
v
ir
t
u
al
v
ec
to
r
s
an
d
ze
r
o
v
ec
to
r
s
in
lo
w
-
s
p
ee
d
r
eg
io
n
.
T
h
is
co
n
ce
p
t
was
im
p
r
o
v
ed
i
n
[
6
9
]
b
y
s
o
lv
in
g
t
h
e
lar
g
e
f
lu
ctu
atio
n
o
f
n
eu
t
r
al
p
o
in
t v
o
ltag
e
an
d
elim
in
atin
g
t
h
e
v
o
ltag
e
s
h
if
tin
g
o
n
th
e
p
r
ev
io
u
s
NPC
-
DT
C
.
Mu
ltip
h
ase
m
ac
h
in
e
h
ad
also
ap
p
lied
th
e
VV
co
n
ce
p
t
[
3
3
]
,
[
3
9
]
.
Fo
r
s
y
n
th
esizin
g
t
h
e
VV,
two
m
eth
o
d
s
ar
e
ex
p
lain
ed
in
[
3
3
]
;
1
)
th
e
v
o
lt
-
s
ec
o
n
d
b
ala
n
ce
te
ch
n
iq
u
e
a
n
d
,
2
)
f
lu
x
an
g
le
in
t
h
e
x
-
y
p
lan
e.
Mo
s
t
o
f
th
e
r
esear
ch
er
s
p
r
ef
er
r
ed
to
em
p
lo
y
th
e
v
o
lt
-
s
ec
o
n
d
b
alan
ce
tech
n
iq
u
e
to
r
em
o
v
e
th
e
f
l
u
x
in
x
-
y
p
lan
e
.
B
y
u
s
in
g
th
e
v
o
lt
--
s
ec
o
n
d
b
alan
c
e
tech
n
iq
u
e
,
th
e
s
y
n
th
esized
o
f
lar
g
e
VV
was
p
r
o
d
u
ce
d
b
y
m
er
g
in
g
th
e
v
o
ltag
e
v
ec
to
r
6
(
lar
g
e
v
ec
to
r
)
an
d
1
5
(
m
ed
i
u
m
v
ec
to
r
)
.
Me
a
n
wh
i
le
th
e
s
m
all
VV
was
p
r
o
d
u
c
ed
b
y
m
er
g
in
g
th
e
v
o
ltag
e
v
ec
to
r
2
2
(
s
m
all
v
ec
t
o
r
)
a
n
d
1
5
(
m
e
d
iu
m
v
ec
to
r
)
.
C
o
n
s
eq
u
en
tly
,
t
h
e
s
y
n
th
esized
o
f
VV
lar
g
e
(
V
11
-
V
20
)
an
d
s
m
all
(
V
1
-
V
10
)
v
o
ltag
e
v
ec
to
r
s
wer
e
c
o
n
s
tr
u
cted
as
illu
s
tr
ated
in
Fig
u
r
e
9
.
Fig
u
r
e
8
.
Vo
ltag
e
b
alan
cin
g
s
tr
ateg
y
in
NPC
-
DT
C
[
6
5
]
Fig
u
r
e
9
.
Vir
tu
al
v
ec
to
r
o
f
f
iv
e
-
p
h
ase
m
ac
h
in
e
[
3
3
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
11
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
1675
–
1
6
8
8
1682
3
.
7
.
Sens
o
rles
s
co
ntr
o
l
No
r
m
ally
in
th
e
DT
C
ap
p
licat
io
n
,
th
e
k
n
o
wled
g
e
o
f
r
o
to
r
s
p
ee
d
was
ig
n
o
r
e
d
in
th
e
im
p
l
em
en
tatio
n
th
e
f
lu
x
s
tato
r
esti
m
atio
n
.
T
h
is
is
d
u
e
to
th
e
av
ailab
ilit
y
o
f
s
am
p
led
v
alu
es
f
r
o
m
th
e
s
tato
r
v
o
ltag
es
an
d
cu
r
r
en
t
as
d
escr
ib
ed
b
y
Mo
n
ti
in
1
9
9
8
[
7
0
]
.
T
h
e
s
tato
r
v
o
ltag
e
m
o
d
el
em
p
lo
y
ed
in
f
l
u
x
s
tato
r
esti
m
ato
r
p
r
o
d
u
ce
d
th
e
d
r
awb
ac
k
at
lo
w
-
s
p
ee
d
r
e
g
io
n
s
ca
u
s
ed
b
y
t
h
e
s
m
all
m
ag
n
itu
d
e
o
f
in
d
u
ce
d
r
o
to
r
v
o
ltag
es
an
d
cu
r
r
en
ts
.
I
t
was
d
u
e
t
o
th
e
s
tato
r
f
l
u
x
f
ailu
r
e
to
r
eg
u
late
at
v
e
r
y
lo
w
f
r
e
q
u
en
c
y
a
n
d
th
e
e
x
is
ten
ce
o
f
in
te
g
r
atio
n
o
p
er
atio
n
.
Hen
ce
,
n
u
m
er
o
u
s
s
o
lu
tio
n
s
h
ad
b
ee
n
s
u
g
g
ested
s
u
ch
as
f
u
ll
-
o
r
d
er
o
b
s
er
v
er
,
ad
ap
tiv
e
s
ch
em
e
,
ex
ten
d
ed
Kalm
a
n
Fil
ter
th
e
lik
e
[
7
0
]
,
[
7
1
]
.
Nev
e
r
th
eless
,
th
is
p
r
o
b
lem
r
em
ain
e
d
u
n
s
o
lv
e
d
i
n
ML
I
.
Gen
er
ally
,
th
e
ad
ap
tiv
e
o
b
s
e
r
v
er
was
o
f
ten
u
tili
ze
d
b
ec
a
u
s
e
o
f
th
e
ab
an
d
o
n
m
en
t
o
f
o
p
en
-
lo
o
p
in
teg
r
atio
n
an
d
th
e
in
s
er
tio
n
o
f
av
ailab
le
m
ec
h
an
is
m
in
t
h
e
s
tato
r
r
esis
tan
ce
esti
m
atio
n
[
7
2
]
.
An
ex
a
m
p
le
o
f
th
e
s
en
s
o
r
less
DT
C
u
s
in
g
s
p
e
ed
ad
a
p
tiv
e
f
l
u
x
o
b
s
er
v
e
r
was
s
h
o
wn
in
Fig
u
r
e
1
0
b
y
u
s
in
g
NPC
-
DT
C
.
I
n
[
7
3
]
,
th
e
co
m
b
in
atio
n
o
f
f
lu
x
o
b
s
e
r
v
er
an
d
s
p
ee
d
o
b
s
er
v
er
was
em
p
lo
y
ed
in
th
e
MC
-
DT
C
.
E
ls
ewe
h
er
e,
an
o
th
er
s
en
s
o
r
less
m
eth
o
d
ca
lled
as
a
p
ar
am
eter
s
tr
ateg
y
was
p
r
o
p
o
s
ed
b
y
L
ee
[
7
4
]
.
B
y
ass
u
m
i
n
g
a
co
n
s
tan
t
r
o
to
r
s
p
ee
d
,
a
p
ar
am
eter
esti
m
atio
n
was
p
r
o
d
u
ce
d
b
y
th
e
co
n
v
er
s
io
n
o
f
s
tate
esti
m
at
io
n
wh
en
ap
p
lied
th
e
er
r
o
r
m
o
d
el.
T
h
e
L
y
a
p
u
n
o
v
an
al
y
s
is
was
u
tili
ze
d
to
test
th
e
s
tab
ilit
y
p
r
o
p
er
ties
o
f
th
e
esti
m
ato
r
.
As
a
r
esu
lt,
a
g
o
o
d
r
esp
o
n
s
e
ag
ain
s
t th
e
p
a
r
am
ete
r
v
ar
iatio
n
was a
ch
iev
e
d
u
s
in
g
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
.
Oth
er
s
en
s
o
r
less
m
eth
o
d
s
r
ec
o
m
m
en
d
e
d
f
o
r
mu
ltip
h
ase
m
ac
h
in
e
-
DT
C
wer
e
p
r
o
p
o
s
ed
in
[
7
5
]
,
[
7
6
]
.
T
h
e
s
en
s
o
r
less
co
n
tr
o
l
u
s
in
g
p
o
wer
m
ea
s
u
r
em
e
n
t
was
s
u
g
g
ested
in
[
7
5
]
wh
ich
in
v
o
l
v
e
d
th
e
ca
lcu
latio
n
o
f
ac
tiv
e
an
d
r
ea
ctiv
e
p
o
wer
(
P
Q)
,
an
d
also
th
e
v
ar
iab
le
o
f
ar
b
itra
r
y
r
ef
er
en
ce
f
r
am
e
m
u
ltis
ca
lar
(
x
,
y
).
T
h
e
s
en
s
o
r
less
m
eth
o
d
th
r
o
u
g
h
th
e
co
m
b
in
atio
n
o
f
f
lu
x
lin
k
a
g
e
o
b
s
er
v
er
an
d
E
x
ten
d
e
d
Kalm
a
n
Fil
ter
(
E
KF)
was
p
r
esen
ted
in
[
7
6
]
.
Alth
o
u
g
h
t
h
e
af
o
r
em
e
n
tio
n
ed
m
eth
o
d
r
e
q
u
ir
ed
m
o
r
e
ca
lcu
latio
n
s
an
d
h
ig
h
co
m
p
u
tatio
n
al
p
o
wer
,
b
u
t
it m
ay
ac
h
iev
e
th
e
b
etter
p
o
s
itio
n
an
d
s
p
ee
d
esti
m
atio
n
s
d
u
e
to
t
h
e
h
ig
h
n
o
is
e
-
r
ejec
tio
n
ab
ilit
y
.
(
a)
(
b
)
Fig
u
r
e
1
0
.
Sen
s
o
r
less
DT
C
u
s
i
n
g
s
p
ee
d
a
d
ap
tiv
e
f
l
u
x
o
b
s
er
v
er
,
(
a)
B
lo
ck
d
iag
r
am
o
f
s
en
s
o
r
less
NP
C
-
DT
C
an
d
(
b
)
Stru
ctu
r
e
o
f
s
p
ee
d
ad
a
p
tiv
e
f
lu
x
o
b
s
er
v
e
r
[
7
2
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2
0
8
8
-
8
694
A
r
ev
iew
o
f d
ir
ec
t to
r
q
u
e
co
n
tr
o
l d
ev
elo
p
men
t in
v
a
r
io
u
s
mu
ltil
ev
el
… (
S
iti A
z
u
r
a
A
.
Ta
r
u
s
a
n
)
1683
3
.
8
.
I
nte
llig
ent
/
dig
it
a
l c
o
ntr
o
l
T
h
e
ar
tific
ial
in
tellig
en
ce
(
AI
)
co
n
tr
o
l
s
u
ch
as
f
u
zz
y
,
n
e
u
r
al
n
etwo
r
k
,
g
e
n
er
ic
alg
o
r
ith
m
an
d
th
e
lik
e
ap
p
lied
th
e
ad
v
a
n
ce
d
an
d
m
o
d
er
n
alg
o
r
ith
m
to
s
o
lv
e
th
e
d
r
awb
ac
k
o
f
DT
C
.
Fu
zz
y
lo
g
ic
as
th
e
b
asic
in
tellig
en
t
co
n
tr
o
l
was
p
r
o
p
o
s
ed
b
y
B
ir
d
in
1
9
9
7
[
7
7
]
.
I
t
h
as
s
til
l
b
ee
n
em
p
lo
y
ed
in
co
n
v
en
tio
n
al
DT
C
r
ec
en
tly
[
7
8
]
.
I
n
t
h
e
ML
I
,
t
h
is
co
n
tr
o
l
s
tr
ateg
y
was
ex
ten
d
ed
as
s
u
g
g
ested
in
[
4
7
]
,
[
7
9
]
,
[
8
0
]
wh
e
r
eb
y
it
r
ep
lace
d
t
h
e
h
y
s
ter
esis
co
m
p
ar
ato
r
s
to
co
n
tr
o
l
eith
e
r
s
p
ee
d
,
s
tato
r
f
lu
x
o
r
elec
tr
o
m
ag
n
etic
to
r
q
u
e.
T
h
e
s
tr
u
ctu
r
e
o
f
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
b
y
u
s
in
g
C
HB
-
DT
C
is
il
lu
s
tr
ated
in
Fig
u
r
e
1
1
[
7
9
]
.
E
l
s
ewh
er
e,
th
e
f
u
zz
y
lo
g
ic
was a
d
ap
ted
in
MC
-
DT
C
[
8
0
]
.
Neu
r
al
n
etwo
r
k
(
NN)
b
ased
o
n
n
eu
r
o
n
s
co
n
ce
p
t
co
n
tr
ib
u
t
es
well
in
co
n
v
en
tio
n
al
DT
C
[
8
1
]
,
[
8
2
]
.
Me
an
wh
ile
in
ML
I
,
s
ev
e
r
al
d
ev
elo
p
m
en
ts
o
f
n
e
u
r
al
n
etwo
r
k
ar
e
d
o
n
e
[
8
3
]
-
[
8
6
]
s
u
ch
as
n
in
e
s
u
b
-
n
ets
th
at
co
n
tain
ed
1
2
la
y
er
s
an
d
1
3
4
n
eu
r
o
n
s
in
MC
-
DT
C
[
8
3
]
,
f
o
u
r
-
s
u
b
n
etwo
r
k
in
NPC
-
DT
C
[
8
4
]
a
n
d
th
r
ee
n
eu
r
o
n
s
o
f
h
id
d
e
n
lay
er
in
f
iv
e
-
p
h
ase
m
ac
h
in
e
DT
C
[
8
5
]
.
B
esid
es,
th
e
r
ad
ial
-
b
asis
f
u
n
ctio
n
n
etwo
r
k
(
R
B
FN)
in
MC
[
8
7
]
is
ap
p
lied
to
ac
h
ie
v
e
a
s
im
p
le
s
tr
u
ctu
r
e
o
f
c
o
n
tr
o
l
alg
o
r
ith
m
an
d
n
eg
lect
t
h
e
li
m
it
co
n
d
itio
n
o
n
th
e
d
esig
n
co
n
s
tan
t
as
th
e
p
u
r
p
o
s
e
o
f
s
tab
ilit
y
.
An
o
th
er
c
o
n
tr
o
l
s
tr
ateg
y
ca
lled
as
f
ee
d
b
ac
k
l
in
ea
r
izatio
n
(
FB
L
)
tech
n
iq
u
e
f
e
d
o
n
DT
C
was
s
u
g
g
ested
in
C
HB
[
8
8
]
.
T
h
e
a
im
o
f
th
is
s
t
r
ateg
y
was
to
co
n
v
er
t
th
e
n
o
n
lin
ea
r
s
y
s
tem
in
to
th
e
lin
ea
r
s
y
s
tem
b
y
in
v
o
lv
in
g
s
o
m
e
o
f
th
e
alg
e
b
r
aica
lly
tr
an
s
f
o
r
m
atio
n
.
On
t
h
e
o
th
er
h
an
d
,
th
e
co
m
b
in
atio
n
o
f
DT
C
co
n
tr
o
l
a
n
d
n
o
n
-
lin
ea
r
c
o
n
tr
o
l
was
also
d
ev
elo
p
e
d
in
m
u
ltip
h
ase
n
am
ed
as
b
ac
k
s
tep
p
in
g
co
n
tr
o
l in
[
8
9
]
.
(
a)
(
b
)
Fig
u
r
e
1
1
.
Stru
ctu
r
e
o
f
f
u
zz
y
l
o
g
ic
co
n
tr
o
ller
b
y
u
s
in
g
C
HB
-
DT
C
,
(
a)
Fu
zz
y
lo
g
ic
c
o
n
tr
o
ll
er
f
o
r
C
HB
-
DT
C
r
ep
r
esen
ted
b
y
b
lo
c
k
d
iag
r
am
an
d
(
b
)
Me
m
b
er
s
h
i
p
f
u
n
ctio
n
o
f
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
[
7
9
]
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
Ov
er
all,
th
e
im
p
r
o
v
em
e
n
t
o
f
DT
C
b
y
u
s
in
g
th
e
v
ar
iety
t
o
p
o
lo
g
ies
o
f
ML
I
h
av
e
b
ee
n
r
ev
iewe
d
in
clu
d
in
g
th
e
p
r
o
p
o
s
ed
s
tr
ate
g
y
an
d
m
et
h
o
d
with
th
e
aim
o
f
ac
h
ie
v
e
th
e
g
o
o
d
p
er
f
o
r
m
a
n
ce
o
f
DT
C
.
T
h
o
s
e
ap
p
r
o
ac
h
es
ar
e
a
v
ailab
le
an
d
r
elev
an
t
to
b
e
e
m
p
lo
y
ed
in
th
e
AC
d
r
iv
e
s
y
s
tem
ac
c
o
r
d
in
g
to
th
e
n
u
m
b
er
o
f
r
esear
ch
es.
B
esid
es,
th
e
cr
itic
al
r
ev
iew
o
f
th
is
p
ap
er
is
s
u
m
m
ar
ized
in
th
e
T
ab
le
2
as
th
e
f
ea
tu
r
es
d
is
cu
s
s
ed
ar
e
lo
o
k
-
u
p
tab
le,
h
y
s
ter
esis
co
m
p
ar
ato
r
,
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
,
ca
r
r
ier
f
r
eq
u
e
n
cy
,
d
u
ty
cy
cle,
v
o
ltag
e
b
alan
cin
g
,
v
i
r
tu
al
v
ec
to
r
,
s
en
s
o
r
less
co
n
tr
o
l
an
d
AI
co
n
tr
o
l
.
As
co
m
p
ar
ed
to
th
e
two
-
lev
el
in
v
er
ter
,
th
e
co
m
p
lex
im
p
lem
en
tatio
n
,
ex
t
r
a
co
s
t
an
d
in
cr
ea
s
e
s
witch
in
g
d
ev
ices
p
o
s
s
ess
e
d
b
y
ML
I
ar
e
r
em
u
n
er
ated
with
th
e
s
u
p
er
io
r
a
n
d
e
x
ce
llen
t D
T
C
p
er
f
o
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m
a
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
11
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
1675
–
1
6
8
8
1684
T
ab
le
2
.
T
h
e
co
m
p
ar
is
o
n
f
ea
tu
r
es o
f
DT
C
b
y
u
s
in
g
co
n
v
en
ti
o
n
al
an
d
m
u
ltil
ev
el
in
v
e
r
ter
F
e
a
t
u
r
e
s
Te
r
ms
Tw
o
-
l
e
v
e
l
i
n
v
e
r
t
e
r
D
T
C
R
e
f
e
r
e
n
c
e
M
u
l
t
i
l
e
v
e
l
i
n
v
e
r
t
e
r
D
TC
R
e
f
e
r
e
n
c
e
Lo
o
k
-
u
p
t
a
b
l
e
S
i
z
e
o
f
v
o
l
t
a
g
e
v
e
c
t
o
r
s
smal
l
[
1
]
l
a
r
g
e
[
1
7
]
/
[
1
8
]
H
y
st
e
r
e
si
s
c
o
m
p
a
r
a
t
o
r
N
u
mb
e
r
o
f
l
e
v
e
l
s
o
f
F
l
u
x
/
T
o
r
q
u
e
t
w
o
/
t
h
r
e
e
[
1
]
f
i
v
e
/
se
v
e
n
[
4
1
]
R
a
n
g
e
o
f
H
y
s
t
e
r
e
si
s
b
a
n
d
w
i
d
t
h
l
i
m
i
t
e
d
mu
l
t
i
S
p
a
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e
v
e
c
t
o
r
mo
d
u
l
a
t
i
o
n
N
u
mb
e
r
o
f
t
r
i
a
n
g
u
l
a
r
f
r
a
c
t
a
l
s
i
n
o
n
e
h
e
x
a
g
o
n
a
l
d
i
a
g
r
a
m
si
x
[
4
6
]
64
[
4
8
]
Ti
me
a
d
j
a
c
e
n
t
o
f
n
e
a
r
e
s
t
v
o
l
t
a
g
e
v
e
c
t
o
r
l
o
n
g
sh
o
r
t
P
r
e
c
i
s
i
o
n
o
f
v
o
l
t
a
g
e
v
e
c
t
o
r
p
r
o
j
e
c
t
i
o
n
l
o
w
h
i
g
h
C
a
r
r
i
e
r
f
r
e
q
u
e
n
c
y
N
u
mb
e
r
o
f
t
r
i
a
n
g
u
l
a
r
c
a
r
r
i
e
r
f
r
e
q
u
e
n
c
y
t
w
o
[
5
5
]
si
x
[
5
7
]
D
u
t
y
c
y
c
l
e
N
u
mb
e
r
o
f
v
o
l
t
a
g
e
v
e
c
t
o
r
s
i
n
o
n
e
-
t
i
m
e
i
n
t
e
r
v
a
l
sw
i
t
c
h
i
n
g
t
w
o
[
5
9
]
t
w
o
/
t
h
r
e
e
[
4
]
V
o
l
t
a
g
e
b
a
l
a
n
c
i
n
g
N
u
mb
e
r
o
f
v
o
l
t
a
g
e
v
e
c
t
o
r
c
a
u
se
d
t
h
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u
n
b
a
l
a
n
c
e
d
n
o
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e
-
t
w
o
[
6
5
]
V
i
r
t
u
a
l
v
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c
t
o
r
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u
mb
e
r
o
f
t
h
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mer
g
i
n
g
v
o
l
t
a
g
e
v
e
c
t
o
r
n
o
n
e
-
t
w
o
[
3
3
]
S
e
n
s
o
r
l
e
s
s
c
o
n
t
r
o
l
El
e
c
t
r
i
c
a
l
a
n
d
m
e
c
h
a
n
i
c
a
l
e
q
u
a
t
i
o
n
m
o
d
e
l
u
n
c
h
a
n
g
e
d
[
7
0
]
u
n
c
h
a
n
g
e
d
[
7
2
]
A
I
c
o
n
t
r
o
l
su
c
h
a
s fu
z
z
y
a
n
d
N
N
S
i
z
e
o
f
f
u
z
z
y
r
u
l
e
s
smal
l
[
7
8
]
l
a
r
g
e
[
7
9
]
S
i
z
e
o
f
l
a
y
e
r
s
a
n
d
n
e
u
r
o
n
smal
l
[
8
2
]
l
a
r
g
e
[
8
3
]
5.
CO
NCLU
SI
O
N
I
n
th
e
ad
ju
s
tab
le
s
p
ee
d
d
r
iv
e
ap
p
licatio
n
s
,
th
e
DT
C
d
r
iv
e
g
ain
s
h
ig
h
in
ter
est
d
u
e
to
its
s
i
m
p
le
an
d
r
o
b
u
s
t
attr
ib
u
tes.
Def
in
itely
,
DT
C
r
eq
u
ir
es
s
o
m
e
im
p
r
o
v
em
en
ts
to
s
u
s
tain
i
ts
o
p
er
atio
n
an
d
ove
r
c
o
m
e
its
wea
k
n
ess
es.
On
e
o
f
th
e
im
p
r
o
v
em
en
t
s
is
th
e
ap
p
licatio
n
o
f
ML
I
wh
ich
ac
q
u
ir
e
s
th
e
ex
tr
a
v
o
ltag
e
v
ec
to
r
s
f
o
r
o
p
tim
al
s
elec
tio
n
o
n
th
e
in
v
er
ter
s
witch
in
g
.
Sev
er
al
f
ea
tu
r
es
o
f
DT
C
d
ev
elo
p
m
en
ts
b
y
u
s
in
g
ML
I
h
av
e
b
ee
n
cr
itically
r
ev
iewe
d
th
u
s
th
e
c
o
m
p
ar
is
o
n
s
b
etwe
en
co
n
v
e
n
tio
n
al
in
v
er
ter
an
d
ML
I
ar
e
s
u
m
m
ar
ized
.
A
lo
t
o
f
co
n
s
id
er
atio
n
n
ee
d
s
to
b
e
em
p
h
asized
o
n
wh
en
d
esig
n
in
g
th
e
ML
I
in
th
e
DT
C
s
y
s
tem
.
T
h
e
ex
tr
a
v
o
ltag
e
v
ec
to
r
ac
q
u
ir
ed
b
y
ML
I
b
ec
o
m
e
f
lex
ib
le
a
n
d
r
eliab
le
in
th
e
wid
e
r
an
g
e
o
f
p
o
wer
ap
p
licatio
n
.
T
h
e
r
ef
o
r
e,
th
is
r
ev
iew
p
ap
er
d
eliv
er
s
th
e
alter
n
ativ
e
r
esear
ch
to
t
h
o
s
e
co
n
ce
r
n
in
th
is
f
ield
to
b
ec
o
m
e
th
eir
f
u
tu
r
e
r
esear
ch
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
e
au
th
o
r
s
g
r
atef
u
lly
ac
k
n
o
wled
g
e
th
e
f
in
an
cial
s
u
p
p
o
r
t
p
r
o
v
id
ed
b
y
th
e
Mi
n
is
tr
y
o
f
Hig
h
er
E
d
u
ca
tio
n
,
Ma
la
y
s
ia,
(
MO
HE
)
an
d
Un
i
v
er
s
iti T
ek
n
ik
al
Ma
l
ay
s
ia
Me
lak
a
(
UT
eM
)
.
RE
F
E
R
E
NC
E
S
[1
]
I.
Tak
a
h
a
sh
i
a
n
d
T.
No
g
u
c
h
i,
“
A
Ne
w
Qu
ick
-
Re
sp
o
n
se
a
n
d
Hi
g
h
-
Eff
icie
n
c
y
Co
n
tro
l
S
trate
g
y
o
f
a
n
In
d
u
c
ti
o
n
M
o
to
r
,
”
IEE
E
T
ra
n
s.
In
d
.
Ap
p
l.
,
v
o
l.
IA
-
2
2
,
p
p
.
8
2
0
-
8
2
7
,
1
9
8
6
.
[2
]
S
.
A.
L.
Ra
m
a
h
li
n
g
a
m
,
A.
Jid
i
n
,
T.
S
u
ti
k
n
o
,
a
n
d
L.
L.
Ra
j,
“
3
-
l
e
v
e
l
DTC
o
f
in
d
u
c
ti
o
n
m
a
c
h
in
e
u
sin
g
c
o
n
sta
n
t
sw
it
c
h
in
g
fre
q
u
e
n
c
y
m
e
th
o
d
b
y
u
ti
li
z
in
g
m
u
lt
i
b
a
n
d
c
a
rrier,”
In
t
J
Po
w
El
e
c
&
Dr
i
S
y
st
,
v
o
l.
7
,
p
p
.
6
3
8
-
6
4
7
,
2
0
1
6
.
[3
]
D.
M
o
h
a
n
,
X.
Zh
a
n
g
,
a
n
d
G
.
H.
Be
n
g
F
o
o
,
“
G
e
n
e
ra
li
z
e
d
DTC
S
tr
a
teg
y
f
o
r
M
u
lt
i
lev
e
l
I
n
v
e
rter
F
e
d
IP
M
S
M
s
wit
h
Co
n
sta
n
t
In
v
e
rter
S
witc
h
in
g
F
re
q
u
e
n
c
y
a
n
d
Re
d
u
c
e
d
To
r
q
u
e
Rip
p
les
,
”
IEE
E
T
ra
n
s.
E
n
e
rg
y
Co
n
v
e
rs
.
,
v
o
l.
3
2
,
p
p
.
1
0
3
1
-
1
0
4
1
,
2
0
1
7
.
[4
]
D.
M
o
h
a
n
,
X.
Zh
a
n
g
,
a
n
d
G
.
H.
B.
F
o
o
,
“
A
S
imp
le
Du
t
y
Cy
c
le
Co
n
tr
o
l
S
trate
g
y
to
Re
d
u
c
e
To
rq
u
e
Rip
p
les
a
n
d
Im
p
ro
v
e
Lo
w
-
S
p
e
e
d
P
e
rfo
rm
a
n
c
e
o
f
a
Th
re
e
-
Lev
e
l
In
v
e
rter
F
e
d
DTC
IP
M
S
M
Dri
v
e
,
”
IE
EE
T
ra
n
s.
In
d
.
El
e
c
tro
n
.
,
v
o
l.
6
4
,
p
p
.
2
7
0
9
-
2
7
2
1
,
2
0
1
7
.
[5
]
A.
Jid
i
n
,
K.
A.
Ka
rim,
K.
Ra
h
im
,
L.
Ra
j,
L
o
g
a
n
Vic
t
o
r,
S
.
Ra
m
a
h
l
in
g
a
m
,
a
n
d
T.
S
u
ti
k
n
o
,
“
A
Re
v
ie
w
o
n
Co
n
sta
n
t
S
witch
in
g
F
re
q
u
e
n
c
y
Tec
h
n
iq
u
e
s
fo
r
Dire
c
t
To
r
q
u
e
C
o
n
t
ro
l
o
f
In
d
u
c
ti
o
n
M
o
to
r
,
”
In
d
o
n
e
s.
J
.
El
e
c
tr.
En
g
.
C
o
mp
u
t.
S
c
i.
,
v
o
l
.
7
,
p
p
.
3
6
4
-
3
7
2
,
2
0
1
7
.
[6
]
S
.
Alli
ra
n
i,
N
.
S
.
Lak
s
h
m
i,
a
n
d
H
.
Vid
h
y
a
,
“
P
e
rfo
rm
a
n
c
e
a
n
a
ly
sis o
n
d
irec
t
to
rq
u
e
c
o
n
tr
o
ll
e
d
in
d
u
c
t
io
n
m
o
t
o
r
d
r
iv
e
with
v
a
r
y
in
g
h
y
ste
re
sis c
o
n
tr
o
ll
e
r
b
a
n
d
wi
d
t
h
,
”
I
n
t
J
P
o
w
El
e
c
&
D
ri S
y
st
,
v
o
l.
1
1
,
p
p
.
1
1
6
5
-
1
1
7
4
,
2
0
2
0
.
[7
]
A.
N.
A
b
d
u
ll
a
h
a
n
d
M
.
H.
Ali
,
“
Dire
c
t
to
rq
u
e
c
o
n
tr
o
l
o
f
IM
u
si
n
g
P
ID
c
o
n
tr
o
ll
e
r,
”
In
t.
J
.
El
e
c
tr.
C
o
mp
u
t
.
En
g
.
,
v
o
l
.
1
0
,
p
p
.
6
1
7
-
6
2
5
,
2
0
2
0
.
[8
]
R.
H.
Ku
m
a
r,
A.
I
q
b
a
l,
a
n
d
N.
C.
Len
i
n
,
“
Re
v
iew
o
f
re
c
e
n
t
a
d
v
a
n
c
e
m
e
n
ts
o
f
d
i
re
c
t
to
r
q
u
e
c
o
n
tr
o
l
i
n
i
n
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s
-
a
d
e
c
a
d
e
o
f
p
ro
g
re
ss
,
”
IET
Po
we
r E
lec
tro
n
.
,
v
o
l.
1
1
,
p
p
.
1
-
1
5
,
2
0
1
8
.
Evaluation Warning : The document was created with Spire.PDF for Python.