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0
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,
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646
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1.
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NT
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D
UCT
I
O
N
T
h
e
ad
v
an
tag
e
s
o
f
s
u
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en
s
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ed
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in
m
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y
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u
to
m
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tio
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co
n
tr
o
l
f
ield
s
[
1
,
2
,
4
]
,
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clu
d
in
g
co
m
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3
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.
A
s
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2
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ell
k
n
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[
5
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,
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co
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6
,
8
]
.
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w
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f
u
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o
n
[
8
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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2
0
8
8
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694
IJ
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Vo
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2
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2
0
1
7
:
6
3
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6
4
6
640
2.
P
M
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SYST
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M
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h
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y
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a
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ic
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o
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ML
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e
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as f
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w
s
[
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11
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f
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lar
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d
F
L
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[1
1]
.
3.
CO
NT
RO
L
L
E
R
DE
SI
G
N
F
O
R
P
M
L
SM
B
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D
O
N
SL
I
DIN
G
M
O
DE
T
h
e
m
at
h
e
m
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l
f
o
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n
d
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s
o
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s
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o
u
n
d
i
n
s
ev
er
al
r
ec
en
t
p
u
b
licatio
n
s
[
1
2
,
1
3
,
1
4
,
1
5
,
21]
.
Sli
d
in
g
-
m
o
d
e
d
esig
n
ca
n
b
e
in
ter
p
r
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in
s
ev
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w
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.
On
e
w
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f
lo
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in
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is
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th
in
k
o
f
th
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d
esig
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ce
s
s
as
a
t
w
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s
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r
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d
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e.
First,
a
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5.
ST
RUC
T
UR
E
O
F
T
H
E
P
R
O
P
O
SE
D
M
RAS
T
E
CH
N
I
Q
UE
T
h
e
ad
ap
tiv
e
s
y
s
te
m
w
it
h
m
o
d
el
o
f
r
ef
er
e
n
ce
(
MR
AS)
is
a
tech
n
iq
u
e,
p
er
tain
in
g
to
t
h
e
c
ateg
o
r
y
o
f
th
e
i
n
d
ir
ec
t
e
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ti
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ate
s
p
ee
d
b
y
ex
p
lo
iti
n
g
t
h
e
s
tato
r
ten
s
io
n
s
an
d
c
u
r
r
en
t
s
.
T
h
is
ap
p
r
o
ac
h
w
a
s
f
o
r
m
u
lated
t
h
e
f
ir
s
t
ti
m
e
b
y
Sch
a
u
d
er
1
9
8
9
,
th
e
ad
ap
tiv
e
s
y
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te
m
w
i
th
m
o
d
el
o
f
r
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er
en
ce
is
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m
p
o
s
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o
f
t
w
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s
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e
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ir
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w
h
ich
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o
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n
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t
in
tr
o
d
u
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e
s
ize
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ated
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lled
m
o
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o
f
r
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er
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o
n
d
is
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le
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ig
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n
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ated
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ate
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et
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is
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iv
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n
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y
F
ig
u
r
e
.
2
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Fig
u
r
e
2
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ct
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r
e
o
f
MR
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et
h
o
d
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1
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uct
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pro
po
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RAS
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d f
o
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a
t
io
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h
e
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y
n
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o
f
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h
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t
h
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r
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r
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B
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ad
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ated
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ased
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o
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ce
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ato
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r
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6.
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M
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ased
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d
r
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m
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ar
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ia
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lar
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at
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SI
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.
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o
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ich
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ates
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n
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ed
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eg
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n
.
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tr
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o
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w
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f
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tio
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.
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ter
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m
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lts
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tain
ed
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o
n
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ir
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th
e
e
f
f
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ti
v
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e
s
s
a
n
d
v
alid
it
y
o
f
th
e
p
r
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p
o
s
ed
MRAS
m
et
h
o
d
.
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t
w
as
f
o
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n
d
f
r
o
m
t
h
e
r
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lt
s
th
a
t
th
e
p
r
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p
o
s
ed
MRA
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m
eth
o
d
is
r
o
b
u
s
t
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d
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u
ld
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e
a
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tial
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ig
h
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er
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m
a
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n
d
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s
tr
ial
d
r
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e
a
p
p
licatio
n
.
RE
F
E
R
E
NC
E
S
[1
]
F
.
G
iera
s
a
n
d
Z.
J.
P
iec
h
,
"
L
in
e
a
r
S
y
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ro
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s
M
o
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T
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u
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S
y
ste
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s
"
.
B
o
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Ra
to
n
,
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L
:
CRC P
re
ss
,
2
0
0
0
.
[2
]
A
.
Ka
to
a
n
d
K.
Oh
n
ish
i,
"
Hig
h
S
p
e
e
d
a
n
d
Hig
h
P
re
c
isio
n
L
in
e
a
r
DC
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o
len
o
id
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e
rv
o
S
y
ste
m
",
in
Pro
c
.
3
0
th
,
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n
f
.
IEE
E
In
d
,
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e
c
tro
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.
S
o
c
,
No
v
.
2
0
0
4
,
p
p
.
3
7
1
–
3
7
6
.
[3
]
P
.
P
il
lay
,
R.
Krish
n
a
n
,
"
M
o
d
e
ll
in
g
S
im
u
latio
n
a
n
d
A
n
a
l
y
sis
o
f
P
M
Driv
e
s
P
a
rt
I
:
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h
e
P
e
rm
a
n
e
n
t
M
a
g
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e
t
S
y
n
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h
ro
n
o
u
s
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o
to
r
Driv
e
s
"
,
IEE
E
T
ra
n
s In
d
u
stry
A
p
p
li
c
a
ti
o
n
,
v
o
l
.
2
5
,
n
o
.
2
,
p
p
.
2
6
5
-
2
7
2
,
1
9
8
9
.
[4
]
Y.
S
h
ieh
.
Ku
n
g
,
"
De
sig
n
a
n
d
Im
p
le
m
e
n
tatio
n
o
f
a
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h
-
P
e
rf
o
rm
a
n
c
e
P
M
L
S
M
Driv
e
s
Us
in
g
DS
P
Ch
i
p
"
,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
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d
u
stri
a
l
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e
c
tr
o
n
ics
,
v
o
l
5
5
,
n
o
.
3
,
2
0
0
8
.
[5
]
J.
J.
E.
S
lo
t
in
e
a
n
d
W
.
L
i,
"
A
p
p
li
e
d
No
n
li
n
e
a
r
C
o
n
tr
o
l
"
.
En
g
le w
o
o
d
Cli
f
f
s,
NJ
:
P
re
n
ti
c
e
-
Ha
ll
,
1
9
9
1
.
[6
]
J.
M
a
tas
,
L
.
G
.
V
icu
n
a
,
J.
M
iret,
J.
M
.
G
u
e
rre
ro
,
a
n
d
M
.
Ca
stil
la,
"
F
e
e
d
b
a
c
k
L
in
e
a
riza
ti
o
n
o
f
a
Si
n
g
le
-
P
h
a
se
Ac
ti
v
e
P
o
w
e
r
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il
ter v
ia S
li
d
i
n
g
M
o
d
e
Co
n
tro
l
"
,
IE
EE
T
r
a
n
s.
Po
we
r E
lec
tr
o
n
,
v
o
l.
2
3
,
n
o
.
1
,
[7
]
J.
B.
Ca
o
,
B.
G
.
Ca
o
,
"
F
u
z
z
y
-
L
o
g
ic
-
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s
e
d
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li
d
i
n
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-
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d
e
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ll
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sig
n
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o
n
-
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n
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rles
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tri
c
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e
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icle
"
,
IEE
E
T
ra
n
s.
P
o
we
r E
lec
tro
n
.,
v
o
l.
2
4
,
n
o
.
1
0
,
p
p
.
2
3
6
8
–
2
3
7
8
,
2
0
0
9
.
[8
]
F
.
Je
n
g
L
in
,
S
e
n
io
r
.
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n
q
C
h
in
Hw
a
n
g
,
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o
-
Hu
a
n
C
h
o
u
,
Yin
g
-
Ch
ih
Hu
n
g
,
"
F
P
GA
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se
d
In
telli
g
e
n
t
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m
p
le
m
e
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tar
y
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li
d
in
g
M
o
d
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tro
l
f
o
r
P
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L
S
M
S
e
rv
o
-
Driv
e
S
y
st
e
m
"
,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
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we
r
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e
c
tro
n
ics
,
v
o
l
.
2
5
,
n
o
.
1
0
,
2
0
1
0
.
[9
]
Am
b
a
rish
a
.
M
ish
ra
,
V
a
su
n
d
h
a
ra
.
M
a
h
a
jan
,
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ra
m
o
d
.
A
g
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r
w
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l,
"
M
RA
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s
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d
Esti
m
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ti
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f
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p
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e
d
in
S
e
n
so
rles
s
P
M
S
M
Driv
e
"
,
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e
c
trica
l
e
n
g
in
e
e
rin
g
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p
a
rtme
n
t
II
T
,
R
o
o
rk
e
e
,
In
d
ia
I
EE
E
2
0
1
2
.
[1
0
]
Q.
D.
G
u
o
,
C.
Y.
Ch
e
n
,
M
.
W
.
Zh
o
u
a
n
d
T
.
Y.
S
u
n
,
"
P
re
c
isio
n
M
o
ti
o
n
Co
n
tr
o
l
T
e
c
h
n
o
lo
g
y
o
f
Li
n
e
a
r
A
C
S
e
r
v
o
S
y
st
e
m
"
,
Ch
in
a
M
a
c
h
i
n
e
Pre
ss
,
B
e
ij
in
g
,
Ch
i
n
a
,
2
0
0
0
.
[1
1
]
X
i.
Zh
a
n
g
,
Ju
n
m
in
.
P
a
n
,
"
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li
n
e
a
r
Ro
b
u
st
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li
d
i
n
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o
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f
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M
L
in
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r
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y
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ro
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o
u
s
M
o
to
rs
"
,
IPE
M
C
,
2
0
0
6
.
[1
2
]
R.
A
.
De
C
a
rlo
,
S
.
H.
Zak
,
a
n
d
S
.
V
.
Dra
k
u
n
o
v
,
"
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a
riab
le
S
tru
c
tu
re
,
S
li
d
i
n
g
M
o
d
e
Co
n
tro
l
ler
De
sig
n
"
,
IEE
E
Co
n
tro
l
E
n
g
i
n
e
e
rin
g
H
a
n
d
b
o
o
k
.
Bo
c
a
R
a
to
n
,
FL
:
CRC
Pre
s,
1
9
9
5
,
p
p
.
9
4
1
–
95
1
.
[1
3
]
J.
J.
S
l
o
ti
n
e
,
"
S
li
d
i
n
g
Co
n
tro
ll
e
r
De
sig
n
F
o
r
No
n
li
n
e
a
r
S
y
ste
m
s
"
,
In
t.
J.
C
o
n
tro
l
,
v
o
l.
4
0
,
n
o
.
2
,
p
p
.
4
2
1
–
4
3
4
,
1
9
8
4
.
[1
4
]
V
.
I.
Utk
in
,
"
V
a
riab
le
S
tru
c
t
u
re
S
y
ste
m
s
W
it
h
S
li
d
in
g
M
o
d
e
s
"
.
IEE
E
T
ra
n
s.
A
u
t
o
ma
t,
C
o
n
tr
,
v
o
l.
2
2
,
p
p
.
2
1
2
–
2
2
2
,
1
9
7
7
.
[1
5
]
He
c
to
r,
M
.
G
u
ti
e
rre
z
,
"
S
li
d
in
g
-
M
o
d
e
Co
n
tr
o
l
o
f
a
No
n
li
n
e
a
r
-
In
p
u
t
S
y
st
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m
:
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p
p
li
c
a
ti
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n
to
a
M
a
g
n
e
ti
c
a
ll
y
L
e
v
it
a
ted
F
a
st
-
T
o
o
l
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e
rv
o
"
,
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T
ra
n
s
a
c
ti
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n
s
o
n
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n
d
u
stria
l
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tro
n
ics
,
v
o
l
.
4
5
,
n
o
.
6
,
1
9
9
8
.
[1
6
]
L
u
.
Y.
S
,
J.
S
.
C
h
e
n
,
"
De
sig
n
o
f
a
P
e
rt
u
rb
a
ti
o
n
Esti
m
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to
r
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sin
g
th
e
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h
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ry
o
f
V
a
riab
le
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S
tru
c
tu
re
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y
st
e
m
s
a
n
d
Its
A
p
p
li
c
a
ti
o
n
t
o
M
a
g
n
e
ti
c
L
e
v
it
a
ti
o
n
S
y
ste
m
s
"
,
IEE
E
T
ra
n
s
.
In
d
.
E
lec
tro
n
.
v
o
l
.
4
2
,
n
o
.
3
,
p
p
.
2
8
1
-
2
8
9
,
1
9
9
5
.
[1
7
]
V
.
Utk
in
,
J.
G
u
ld
n
e
r,
J.
S
h
i
,
"
S
li
d
in
g
M
o
d
e
C
o
n
tr
o
l
i
n
El
e
c
tr
o
m
e
c
h
a
n
ica
l
S
y
ste
m
s
"
,
T
a
y
lo
r
&
Fra
n
c
is,
UK 1
9
9
9
.
[1
8
]
Jin
g
-
Ch
u
n
g
S
h
e
n
,
"
H∞
Co
n
tr
o
l
A
n
d
S
li
d
in
g
M
o
d
e
C
o
n
tro
l
Of
M
a
g
n
e
ti
c
L
e
v
it
a
ti
o
n
S
y
ste
m
"
,
Asia
n
J
o
u
rn
a
l
O
f
Co
n
tro
l
,
v
o
l.
4
,
n
o
.
3
,
p
p
.
3
3
3
-
3
4
0
,
2
0
0
2
.
[1
9
]
H.
M
a
h
m
o
u
d
i.
Essa
lm
i,
"
Ne
u
ro
-
g
e
n
e
ti
c
se
n
so
rles
s
slid
i
n
g
m
o
d
e
c
o
n
tro
l
o
f
a
p
e
rm
a
n
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n
t
m
a
g
n
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t
s
y
n
c
h
ro
n
o
u
s
m
o
to
r
Us
in
g
leu
n
b
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rg
e
r
o
b
se
rv
e
r
"
,
J
o
u
rn
a
l
o
f
T
h
e
o
re
ti
c
a
l
a
n
d
Ap
p
li
e
d
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n
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2
0
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,
v
o
l.
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3
,
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o
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,
2
0
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3
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0
]
Y.
Zh
a
o
,
Qin
g
li
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a
n
g
,
Jin
x
u
e
Xu
,
Ch
e
n
g
y
u
a
n
W
a
n
g
,
"
A
F
u
z
z
y
S
li
d
in
g
M
o
d
e
Co
n
tro
l
Ba
se
d
o
n
M
o
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Re
f
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c
e
A
d
a
p
ti
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Co
n
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P
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a
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M
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t
S
y
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c
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ro
n
o
u
s
L
in
e
a
r
M
o
to
r"
,
S
e
c
o
n
d
IEE
E
Co
n
fer
e
n
c
e
o
n
In
d
u
str
i
a
l
El
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c
tro
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ics
a
n
d
Ap
p
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ti
o
n
,
p
p
.
9
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9
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4
,
2
0
0
7
.
[2
1
]
A
.
Ke
rb
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u
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,
M
o
h
a
m
e
d
A
b
id
,
"
Hy
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rid
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u
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n
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ra
to
r
in
W
in
d
T
u
rb
in
e
s
"
,
Rev
.
Ro
u
m.
S
c
i.
T
e
c
h
n
.
–
É
lec
tro
tec
h
n
.
ET
É
n
e
rg
.
5
7
,
p
p
.
4
1
2
–
4
2
1
,
2
0
1
2
.
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646
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.
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r
re
sp
o
n
d
e
n
c
e
a
d
d
re
ss
:
e
-
m
a
il
:
m
a
a
m
a
r2
9
0
4
@g
m
a
il
.
c
o
m
Abd
e
r
r
a
h
m
a
n
e
K
ECH
IC
H
w
a
s
b
o
rn
i
n
Bé
c
h
a
r
(ALG
ERIE
),
o
n
JU
IN
1
2
,
1
9
5
9
.
He
g
ra
d
u
a
ted
th
e
Un
iv
e
rsit
y
o
f
T
e
c
h
n
o
l
o
g
y
,
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
in
Bé
c
h
a
r
(
A
lg
e
rie),
in
1
9
9
2
.
He
re
c
e
iv
e
d
th
e
P
h
D
d
e
g
re
e
in
e
lec
tr
ica
l
e
n
g
in
e
e
rin
g
f
ro
m
th
e
Un
iv
e
r
sity
o
f
T
e
c
h
n
o
lo
g
y
o
f
Be
c
h
a
r
(A
lg
e
rie),
in
1
9
9
8
.
He
is
D
o
c
to
r
c
las
se
A
a
t
th
e
Un
iv
e
rsity
o
f
T
e
c
h
n
o
lo
g
y
,
in
Bé
c
h
a
r
(A
lg
e
rie).
Ch
e
f
d
’e
q
u
ip
e
o
f
lab
o
ra
to
ry
(C
AO
S
EE
)
in
Un
iv
e
rsity
o
f
Bé
c
h
a
r.
His
re
se
a
rc
h
in
tere
sts
c
o
n
c
e
rn
:
p
o
w
e
r
e
lec
tro
n
ics
,
e
lec
tri
c
m
a
c
h
in
e
s,
a
n
d
e
lec
tri
c
c
o
m
m
a
n
d
.
Co
r
re
sp
o
n
d
e
n
c
e
a
d
d
re
ss
:
e
-
m
a
il
:
a
k
e
c
h
ich
@
y
a
h
o
o
.
f
r
Is
m
a
il
K
h
a
li
l
B
O
USERH
AN
E
w
a
s
b
o
rn
in
Be
c
h
a
r
(A
lg
e
ria),
o
n
Ja
n
u
a
ry
1
,
1
9
7
6
.
He
re
c
e
iv
e
d
h
is
M
.
S
.
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
f
ro
m
th
e
Un
iv
e
rsit
y
o
f
S
c
ien
c
e
s
a
n
d
Tec
h
n
o
lo
g
y
o
f
Ora
n
in
2
0
0
3
.
He
re
c
e
iv
e
d
th
e
P
h
D
d
e
g
re
e
f
ro
m
th
e
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
In
stit
u
te
o
f
T
h
e
Un
iv
e
rsit
y
o
f
S
c
ien
c
e
s
a
n
d
T
e
c
h
n
o
lo
g
y
o
f
Ora
n
(UST
O)
in
2
0
0
8
,
A
lg
e
ria.He
is
c
u
rre
n
tl
y
P
r
o
f
e
ss
o
r
o
f
e
le
c
tri
c
a
l
e
n
g
in
e
e
rin
g
a
t
Un
iv
e
rsit
y
C
e
n
ter
o
f
Be
c
h
a
r,
Be
c
h
a
r,
A
l
g
e
ria.
His
a
r
e
a
s
o
f
in
tere
st
a
re
m
o
d
e
rn
c
o
n
tr
o
l
tec
h
n
i
q
u
e
s
a
n
d
t
h
e
ir
a
p
p
l
ica
ti
o
n
i
n
e
lec
tri
c
d
riv
e
s
c
o
n
tro
l.
His
re
se
a
rc
h
in
tere
sts
c
o
n
c
e
rn
:
p
o
w
e
r
e
lec
tro
n
ics
,
e
lec
tri
c
m
a
c
h
in
e
s,
a
n
d
t
h
e
rm
a
l
p
las
m
a
.
e
-
m
a
il
:
b
o
u
_
ism
a
@
y
a
h
o
o
.
f
r
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