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PI
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wo
r
k
h
o
r
s
e
o
f
th
e
in
d
u
s
tr
y
[
1
]
-
[
3
]
.
T
h
is
h
as
r
esu
lted
in
in
ten
s
if
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r
esear
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ac
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th
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d
esig
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s
is
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n
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co
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tr
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d
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s
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r
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r
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[
4
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[
9
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.
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t
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e
r
i
p
p
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es
[
1
0
]
-
[
1
4
]
.
Ad
v
an
ce
m
en
t
o
f
DT
C
h
as
witn
ess
ed
m
u
ch
atten
tio
n
in
th
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d
e
v
elo
p
m
e
n
t
o
f
co
n
tr
o
l
alg
o
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ith
m
s
with
o
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t
co
n
s
id
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g
an
aly
tica
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ev
alu
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o
n
o
f
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o
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tr
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g
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tly
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f
f
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d
s
p
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d
/to
r
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u
e
d
is
to
r
tio
n
.
Dif
f
e
r
en
t
DT
C
s
tr
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b
ased
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n
h
y
s
ter
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co
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tr
o
l
wer
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p
r
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ted
in
[
1
5
]
-
[
1
7
]
.
I
n
th
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wo
r
k
s
,
in
v
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ter
v
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v
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to
r
s
wer
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s
elec
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f
r
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m
h
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s
ter
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-
b
ased
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w
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in
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tab
les
b
u
t
th
e
p
r
o
b
lem
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f
h
ig
h
to
r
q
u
e
r
ip
p
les
p
er
s
is
ts
.
Bo
-
W
en
et
a
l
.
i
n
[
1
8
]
,
a
DT
C
m
eth
o
d
b
ased
o
n
ac
tiv
e
d
is
tu
r
b
an
ce
r
ejec
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
210
3
–
2
1
1
2
2104
co
n
tr
o
l
was
p
r
esen
ted
wh
ile
[
1
9
]
p
r
esen
ted
DT
C
in
f
lu
x
wea
k
en
in
g
r
eg
io
n
.
I
n
th
e
h
y
s
ter
e
s
is
co
n
tr
o
ller
s
wer
e
r
ep
lace
d
w
ith
PI
co
n
tr
o
ller
s
w
ith
o
u
t
an
y
an
aly
tical
m
eth
o
d
f
o
r
s
elec
tio
n
o
f
th
e
p
r
o
p
o
r
tio
n
a
l
an
d
in
teg
r
al
g
ain
v
alu
es
o
f
t
h
e
PI
c
o
n
tr
o
ller
s
[
2
0
]
-
[
2
2
]
.
T
h
e
r
esu
lts
o
f
th
ese
w
o
r
k
s
s
h
o
w
v
ar
io
u
s
le
v
els
o
f
t
o
r
q
u
e
r
ip
p
les
wh
ich
ar
e
n
o
t
s
u
itab
le
f
o
r
ap
p
licati
o
n
s
r
eq
u
ir
in
g
m
in
im
al
r
ip
p
le
s
in
to
r
q
u
e
an
d
s
p
ee
d
.
R
ec
en
tly
,
a
m
o
d
el
-
b
ased
an
aly
tical
ev
alu
atio
n
o
f
PI
co
n
tr
o
ller
g
ain
s
f
o
r
f
iel
d
o
r
ien
t
atio
n
co
n
tr
o
l
(
FOC
)
was
d
ev
elo
p
ed
i
n
[
2
3
]
an
d
test
ed
o
n
a
PMSM.
T
h
e
r
esu
lts
s
h
o
w
th
at
b
y
ac
c
u
r
ately
d
ete
r
m
in
in
g
th
e
g
ain
s
o
f
th
e
PI
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n
tr
o
ller
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o
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e
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s
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p
les as we
ll a
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s
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ts
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tly
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ce
d
.
T
h
e
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r
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test
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r
awb
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k
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al
DT
C
is
its
h
ig
h
to
r
q
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e
an
d
f
lu
x
r
ip
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les.
Ho
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r
,
s
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tr
ied
d
if
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en
t
m
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s
in
a
n
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p
t
t
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th
ese
r
ip
p
le
s
an
d
i
m
p
r
o
v
e
th
e
o
v
er
all
p
er
f
o
r
m
an
ce
o
f
th
e
tr
a
d
itio
n
a
l
DT
C
.
So
m
e
o
f
th
ese
m
eth
o
d
s
in
clu
d
e:
th
e
h
y
s
ter
esis
r
eg
u
lato
r
s
-
b
ased
s
tato
r
v
o
ltag
e
v
ec
to
r
s
elec
tio
n
in
[
1
6
]
,
th
e
ac
tiv
e
d
is
tu
r
b
an
ce
r
eje
ctio
n
co
n
t
r
o
ller
DT
C
in
[
1
8
]
,
th
e
MT
-
f
r
a
m
e
f
lu
x
wea
k
en
in
g
DT
C
i
n
[
1
9
]
,
th
e
SVM
-
b
ased
p
r
ed
ictiv
e
to
r
q
u
e
co
n
tr
o
l
in
[
2
0
]
,
th
e
PI
b
ased
DT
C
with
p
o
le
p
lace
m
en
t
tech
n
iq
u
e
in
[
2
1
]
,
an
d
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
with
PI
-
b
ased
DT
C
in
[
2
2
]
.
Ap
ar
t
f
r
o
m
th
e
p
r
ed
ictiv
e
to
r
q
u
e
alg
o
r
ith
m
in
[
2
1
]
th
at
s
ig
n
if
ican
tly
r
e
d
u
ce
d
th
e
to
r
q
u
e
r
i
p
p
les,
o
th
er
al
g
o
r
ith
m
s
d
i
d
n
o
t
ac
h
iev
e
m
u
ch
in
ter
m
s
o
f
to
r
q
u
e
a
n
d
f
l
u
x
r
i
p
p
les r
ed
u
ctio
n
.
Fro
m
th
e
f
o
r
e
g
o
in
g
,
it
is
s
ee
n
th
at
a
clea
r
g
ap
ex
is
ts
in
m
o
d
el
-
b
ased
an
al
y
tical
ev
alu
atio
n
o
f
PI
co
n
tr
o
ller
g
ain
s
f
o
r
DT
C
s
y
s
tem
s
.
I
n
t
h
is
wo
r
k
th
er
ef
o
r
e,
a
PI
co
n
t
r
o
ller
tu
n
ed
b
y
an
al
y
tical
m
ea
n
s
,
u
s
in
g
m
ath
em
atica
l
m
o
d
el
o
f
t
h
e
c
o
n
tr
o
l
s
y
s
tem
,
is
d
ev
elo
p
e
d
an
d
em
p
lo
y
ed
in
a
n
o
v
el
D
T
C
alg
o
r
ith
m
.
T
h
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
s
ch
em
e
is
d
em
o
n
s
tr
ated
o
n
a
PMSM
f
ed
b
y
a
s
p
ac
e
v
ec
to
r
p
u
ls
ewid
th
m
o
d
u
lated
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
(
SV
-
PW
M
VSI
)
.
MA
T
L
AB
/Si
m
u
lin
k
was
u
s
ed
f
o
r
m
o
d
ellin
g
an
d
s
im
u
latio
n
in
th
is
wo
r
k
.
T
h
is
wo
r
k
is
o
r
g
an
is
ed
is
b
ein
g
as
:
s
ec
tio
n
1
is
I
n
tr
o
d
u
ctio
n
wh
ile
s
ec
tio
n
2
p
r
ese
n
ts
th
e
PI
co
n
tr
o
ller
d
esig
n
d
ev
elo
p
ed
u
s
in
g
th
e
m
ac
h
in
e
q
d
-
a
x
es
m
o
d
el.
Secti
o
n
3
co
n
tain
s
th
e
d
e
s
ig
n
o
f
th
e
PI
f
lu
x
an
d
to
r
q
u
e
co
n
tr
o
ller
s
wh
ile
s
ec
tio
n
4
p
r
esen
ts
th
e
s
im
u
latio
n
s
an
d
r
esu
lts
.
Sectio
n
5
is
th
e
c
o
n
clu
s
io
n
.
2.
P
I
CO
NT
RO
L
L
E
R
D
E
SI
G
N
T
h
e
d
q
-
ax
is
v
o
ltag
e
o
f
a
p
er
m
an
en
t
m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
ca
n
b
e
wr
itten
in
ter
m
s
o
f
f
l
u
x
lin
k
ag
e
as [
2
3
]
.
=
+
−
ꙍ
(
1
)
=
+
+
ꙍ
(
2
)
W
h
er
e
=
+
(
3
)
An
d
=
(
4
)
Fro
m
(
3
)
an
d
(
4
)
.
=
−
(
5
)
=
(
6
)
Su
b
s
titu
tin
g
(
5
)
a
n
d
(
6
)
in
to
(
1
)
an
d
(
2
)
r
esp
ec
tiv
el
y
g
iv
es
.
=
(
−
)
+
−
ꙍ
(
7
)
=
+
+
ꙍ
(
8
)
L
ap
lace
tr
an
s
f
o
r
m
o
f
(
7
)
a
n
d
(
8
)
g
iv
es
.
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
n
o
ve
l d
ir
ec
t to
r
q
u
e
a
n
d
flu
x
co
n
tr
o
l o
f p
erma
n
en
t m
a
g
n
et
s
yn
ch
r
o
n
o
u
s
mo
to
r
w
ith
…
(
K
en
n
eth
Od
o
)
2105
(
)
=
(
+
)
(
)
−
ꙍ
(
)
−
(
9
)
(
)
=
(
+
)
(
)
+
ꙍ
(
)
(
1
0
)
Fro
m
(
9
)
(
)
=
[
(
)
+
ꙍ
(
)
+
]
1
(
+
)
(
1
1
)
In
1
1
i
s
r
e
p
r
e
s
e
n
t
e
d
i
n
b
l
o
c
k
d
i
a
g
r
a
m
a
s
o
f
F
i
g
u
r
e
1
.
I
t
i
s
s
e
e
n
f
r
o
m
(
1
)
a
n
d
(
2
)
t
h
a
t
t
h
e
d
q
f
l
u
x
c
o
n
t
r
o
l
l
o
o
p
s
a
r
e
n
o
t
i
n
d
e
p
e
n
d
e
n
t
d
u
e
t
o
t
h
e
b
a
c
k
-
e
m
f
t
e
r
m
s
i
n
b
o
t
h
e
q
u
a
t
i
o
n
s
.
T
o
m
a
k
e
t
h
e
d
q
f
l
u
x
c
o
n
t
r
o
l
l
o
o
p
s
i
n
d
e
p
e
n
d
e
n
t
,
a
b
a
c
k
-
e
m
f
d
e
c
o
u
p
l
i
n
g
t
e
r
m
i
s
i
n
t
r
o
d
u
c
e
d
.
T
h
i
s
d
e
c
o
u
p
l
i
n
g
t
e
r
m
i
s
i
n
t
r
o
d
u
c
e
d
j
u
s
t
a
f
t
e
r
t
h
e
P
I
c
o
n
t
r
o
l
l
e
r
t
o
s
e
r
v
e
a
s
a
d
i
s
t
u
r
b
a
n
c
e
w
i
t
h
t
h
e
s
a
m
e
v
a
l
u
e
b
u
t
b
u
t
h
a
v
i
n
g
o
p
p
o
s
i
t
e
s
i
g
n
a
s
t
h
e
b
a
c
k
-
e
m
f
t
e
r
m
i
n
t
h
e
m
o
t
o
r
m
o
d
e
l
.
T
h
e
b
l
o
c
k
d
i
a
g
r
a
m
o
f
t
h
e
s
y
s
t
e
m
i
s
n
o
w
a
s
s
h
o
w
n
i
n
F
i
g
u
r
e
2
.
S
i
n
c
e
t
h
e
d
e
c
o
u
p
l
i
n
g
t
e
r
m
w
i
l
l
c
a
n
c
e
l
t
h
e
e
f
f
e
c
t
o
f
t
h
e
b
a
c
k
e
m
f
t
e
r
m
,
F
i
g
u
r
e
2
r
e
d
u
c
e
s
t
o
F
i
g
u
r
e
3
.
T
h
e
r
e
w
i
l
l
b
e
b
o
t
h
s
e
n
s
o
r
d
e
l
a
y
a
n
d
c
o
m
p
u
t
a
t
i
o
n
t
i
m
e
d
e
l
a
y
i
n
t
h
e
s
y
s
t
e
m
;
a
f
i
r
s
t
o
r
d
e
r
t
i
m
e
d
e
l
a
y
i
s
i
n
t
r
o
d
u
c
e
d
t
o
m
o
d
i
f
y
F
i
g
u
r
e
3
a
s
s
h
o
w
n
i
n
F
i
g
u
r
e
4
.
Fig
u
r
e
1
.
Op
e
n
lo
o
p
b
lo
c
k
d
ia
g
r
am
o
f
th
e
f
lu
x
co
n
tr
o
l m
o
d
e
l
Fig
u
r
e
2
.
C
lo
s
ed
-
lo
o
p
b
lo
c
k
d
i
ag
r
am
o
f
d
ec
o
u
p
led
f
lu
x
c
o
n
tr
o
l
Fig
u
r
e
3
.
C
lo
s
ed
-
lo
o
p
b
lo
c
k
d
i
ag
r
am
o
f
th
e
f
lu
x
co
n
tr
o
l m
o
d
el
Fig
u
r
e
4
.
C
lo
s
ed
-
lo
o
p
b
lo
c
k
d
i
ag
r
am
with
tim
e
d
ela
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
210
3
–
2
1
1
2
2106
T
h
e
o
p
e
n
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
,
,
is
g
iv
en
b
y
(
12
)
as sh
o
wn
i
n
.
(
)
=
+
.
1
+
1
.
+
(
1
2
)
I
f
th
e
ze
r
o
o
f
th
e
PI
co
n
tr
o
ller
s
(
−
⁄
)
is
d
esig
n
ed
to
ca
n
ce
l
th
e
p
o
le
(
−
⁄
)
o
f
th
e
PMSM
b
y
p
o
le
-
ze
r
o
ca
n
ce
llatio
n
m
eth
o
d
,
th
en
we
let:
=
=
(
1
3
)
Fro
m
(
13
)
,
=
(
1
4
)
Su
b
s
titu
tin
g
(
14
)
in
to
(
12
)
g
iv
es
.
(
)
=
+
.
1
+
1
.
1
+
(
1
5
)
(
)
=
1
(
+
1
)
(
1
6
)
L
et
K
=
,
s
o
th
at
(
16
)
b
ec
o
m
e
s
.
(
)
=
(
+
1
)
(
1
7
)
T
h
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
,
is
g
iv
en
as
.
=
1
+
=
2
+
+
(
1
8
)
T
h
e
g
en
e
r
al
eq
u
atio
n
o
f
a
s
ec
o
n
d
-
o
r
d
er
s
y
s
tem
is
[
2
4
]
,
[
25]
.
(
)
=
2
2
+
2
+
2
(
1
9
)
B
y
co
m
p
ar
in
g
(
18
)
an
d
(
19
)
,
we
o
b
tain
.
2
=
=
√
(
2
0
)
An
d
2
=
1
=
1
2
√
(
2
1
)
W
h
er
e
is
th
e
n
atu
r
al
f
r
eq
u
en
cy
an
d
is
th
e
d
am
p
in
g
r
atio
.
T
h
e
m
ax
im
u
m
o
v
er
s
h
o
o
t
o
f
a
s
ec
o
n
d
o
r
d
e
r
s
y
s
tem
is
g
iv
en
b
y
[
2
3
]
.
=
−
√
1
−
2
⁄
(
2
2
)
So
,
b
y
c
h
o
o
s
in
g
th
e
m
a
x
im
u
m
p
er
ce
n
tag
e
o
v
er
s
h
o
o
t
all
o
wed
an
d
th
e
v
alu
e
o
f
;
an
d
ca
n
b
e
ca
lcu
lated
u
s
in
g
(
20
)
-
(
22
)
.
3.
DE
S
I
G
N
O
F
F
L
UX
AND
T
O
RQ
UE
CO
NT
RO
L
L
E
R
S
3
.
1
.
P
I
f
lux
c
o
ntr
o
ller
mo
del
I
n
r
o
to
r
r
ef
er
e
n
ce
f
r
am
e,
th
e
f
lu
x
o
f
a
PMSM
is
co
n
tr
o
l
l
ed
b
y
d
-
ax
is
cu
r
r
en
t.
So
,
t
h
e
PI
f
lu
x
co
n
tr
o
ller
is
d
esig
n
ed
to
p
r
o
d
u
ce
th
e
ac
cu
r
ate
d
-
ax
is
r
ef
er
e
n
ce
v
o
ltag
e
f
r
o
m
d
-
ax
is
f
lu
x
er
r
o
r
wh
ich
is
its
in
p
u
t.
T
h
u
s
,
to
o
b
tain
a
f
lu
x
c
o
n
tr
o
ller
m
o
d
el
we
m
a
k
e
u
s
e
o
f
th
e
d
-
ax
is
v
o
ltag
e
(
7
)
.
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
n
o
ve
l d
ir
ec
t to
r
q
u
e
a
n
d
flu
x
co
n
tr
o
l o
f p
erma
n
en
t m
a
g
n
et
s
yn
ch
r
o
n
o
u
s
mo
to
r
w
ith
…
(
K
en
n
eth
Od
o
)
2107
Fro
m
(
7
).
=
R
(
−
)
+
−
ω
=
(
−
)
+
−
ω
(
2
3
)
L
et
th
e
tim
e
r
ate
o
f
ch
an
g
e
o
f
d
-
ax
is
f
lu
x
,
,
b
e
eq
u
al
to
d
-
ax
is
f
lu
x
er
r
o
r
p
er
s
am
p
le
tim
e,
,
wh
er
e
i
s
th
e
d
-
ax
is
f
lu
x
er
r
o
r
an
d
is
th
e
s
am
p
le
tim
e
.
T
h
er
ef
o
r
e,
=
(
2
4
)
T
ak
in
g
in
teg
r
al
o
f
2
4
g
iv
es 2
4
.
=
1
∫
(2
5
)
Su
b
s
titu
tin
g
(
24
)
an
d
(
2
5
)
in
to
(
23
)
g
iv
es
.
=
∫
−
+
−
(2
6
)
Sin
ce
=
=
I
n
(
25
)
is
r
e
-
wr
itten
as
.
=
∫
−
+
−
(2
7
)
I
n
(
26
)
is
th
e
r
e
q
u
ir
ed
PI
f
lu
x
co
n
tr
o
ller
m
o
d
el.
3
.
2
.
P
I
t
o
rque
co
ntr
o
ller
mo
del
T
h
e
to
r
q
u
e
eq
u
atio
n
o
f
a
PMSM
is
g
iv
en
as [
2
3
]
.
=
1
.
5
(
+
(
−
)
)
(2
8
)
W
h
er
e
is
th
e
p
o
le
p
air
.
Sin
ce
=
f
o
r
n
o
n
-
s
alien
t p
o
le
m
a
ch
in
e,
th
en
.
=
1
.
5
(2
9
)
I
n
(
28
)
s
h
o
ws
th
at
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
o
f
a
n
o
n
-
s
alien
t
p
o
le
PMSM
is
d
ir
ec
tly
p
r
o
p
o
r
tio
n
al
to
th
e
q
-
ax
is
cu
r
r
en
t
,
b
u
t f
r
o
m
in
(
4
)
,
=
⇒
=
(
30
)
Su
b
s
titu
tin
g
(
29
)
in
to
(
28
).
=
1
.
5
(3
1
)
Dif
f
er
en
tiatin
g
b
o
th
s
id
es o
f
(
30
)
with
r
esp
ec
t to
tim
e
g
iv
es
.
=
1
.
5
(3
2
)
L
et
th
e
tim
e
r
ate
o
f
ch
an
g
e
o
f
to
r
q
u
e,
,
b
e
eq
u
al
to
th
e
to
r
q
u
e
er
r
o
r
p
er
s
am
p
le
tim
e,
.
So
=
1
.
5
(3
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
210
3
–
2
1
1
2
2108
Si
m
ilar
ly
,
th
e
PI
to
r
q
u
e
c
o
n
tr
o
ller
is
d
esig
n
ed
to
p
r
o
d
u
ce
t
h
e
ex
ac
t
q
-
ax
is
r
ef
e
r
en
ce
v
o
ltag
e
f
r
o
m
its
in
p
u
t,
wh
ich
is
to
r
q
u
e
er
r
o
r
.
Sin
ce
th
e
to
r
q
u
e
o
f
a
PMSM
in
r
o
to
r
r
ef
er
en
ce
f
r
am
e
is
co
n
tr
o
lle
d
b
y
q
-
ax
is
cu
r
r
e
n
t,
th
e
PI
to
r
q
u
e
co
n
tr
o
ller
m
o
d
el
is
o
b
tain
ed
b
y
m
o
d
if
y
in
g
th
e
q
-
ax
is
v
o
ltag
e
(
in
(
8
)
).
Fr
o
m
(
8
).
=
+
+
(3
4
)
L
et
th
e
tim
e
r
ate
o
f
ch
an
g
e
o
f
q
-
ax
is
f
lu
x
,
,
b
e
eq
u
al
to
th
e
q
-
ax
is
f
lu
x
er
r
o
r
p
e
r
s
am
p
le
tim
e.
T
h
at
is
;
=
(3
5
)
=
1
∫
(3
6
)
I
n
(
32
)
an
d
(
3
5)
s
h
o
w
th
at
th
e
q
-
ax
is
f
lu
x
er
r
o
r
p
er
s
am
p
le
tim
e
is
d
ir
ec
tly
p
r
o
p
o
r
tio
n
al
to
to
r
q
u
e
er
r
o
r
.
So
,
b
y
m
u
ltip
ly
in
g
to
r
q
u
e
e
r
r
o
r
b
y
1
.
5
,
th
e
q
-
a
x
is
f
lu
x
er
r
o
r
p
er
s
am
p
le
tim
e
is
o
b
tain
ed
.
T
h
er
ef
o
r
e
,
s
u
b
s
titu
tin
g
(
3
5
)
an
d
(
3
6
)
in
to
(
3
4)
,
(
35
)
is
o
b
tain
ed
.
=
∫
+
+
(3
7
)
T
h
e
b
lo
c
k
d
iag
r
am
o
f
th
e
c
o
n
v
en
tio
n
al
DT
FC
as
r
ep
o
r
te
d
in
[
2
1
]
is
s
h
o
wn
in
F
ig
u
r
e
5
wh
ile
th
e
b
lo
c
k
d
iag
r
am
o
f
th
e
p
r
o
p
o
s
ed
DT
FC
with
an
aly
tically
-
tu
n
ed
PI
c
o
n
tr
o
ller
is
s
h
o
wn
in
F
ig
u
r
e
6
.
Fig
u
r
e
5
.
B
lo
ck
d
iag
r
am
o
f
th
e
n
o
r
m
al
o
r
co
n
v
en
tio
n
al
DT
FC
s
y
s
tem
Fig
u
r
e
6
.
C
o
m
p
lete
b
lo
ck
d
iag
r
am
o
f
t
h
e
p
r
o
p
o
s
ed
DT
FC
s
y
s
tem
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
n
o
ve
l d
ir
ec
t to
r
q
u
e
a
n
d
flu
x
co
n
tr
o
l o
f p
erma
n
en
t m
a
g
n
et
s
yn
ch
r
o
n
o
u
s
mo
to
r
w
ith
…
(
K
en
n
eth
Od
o
)
2109
4.
SI
M
UL
A
T
I
O
N
S AN
D
R
E
S
UL
T
S
T
h
e
co
n
v
e
n
tio
n
al
an
d
th
e
p
r
o
p
o
s
ed
m
o
d
els
wer
e
m
o
d
elled
an
d
s
im
u
lated
in
MA
T
L
AB
/Si
m
u
lin
k
en
v
ir
o
n
m
en
t
an
d
test
ed
o
n
a
PMSM
with
th
e
p
ar
am
ete
r
s
s
h
o
wn
in
T
ab
el
1
.
T
h
e
d
esig
n
ed
co
n
tr
o
ller
ca
lcu
lated
g
ain
s
o
f
=
3
2
6
.
7
2
an
d
=
3
1
5
8
3
wh
ile
th
e
n
o
r
m
a
l
PI
co
n
tr
o
ller
g
ain
s
wer
e
tu
n
e
d
to
=
5
.
7
5
an
d
=
1
5
0
in
th
e
s
im
u
latio
n
.
T
h
e
r
ef
er
en
ce
to
r
q
u
e
v
ar
ies
f
r
o
m
5
Nm
to
-
5
Nm
an
d
r
etu
r
n
s
to
5
Nm
d
u
r
in
g
a
to
tal
s
im
u
latio
n
tim
e
o
f
5
s
ec
o
n
d
s
.
T
h
e
r
esu
lts
s
h
o
w
t
h
at
th
e
p
r
o
p
o
s
ed
m
o
d
el
ef
f
e
ctiv
ely
tr
ac
k
e
d
th
e
r
ef
e
r
en
ce
to
r
q
u
e
with
alm
o
s
t n
o
r
ip
p
les wh
ile
th
e
c
o
n
v
e
n
tio
n
al
m
o
d
el
p
r
o
d
u
ce
d
m
u
c
h
to
r
q
u
e
r
ip
p
les.
Fig
u
r
e
7
co
m
p
a
r
es
th
e
p
lo
t
o
f
to
r
q
u
e
r
esp
o
n
s
e
o
f
th
e
p
r
o
p
o
s
ed
an
d
co
n
v
e
n
tio
n
al
m
o
d
els.
I
t
is
s
ee
n
th
at
wh
ile
th
e
co
n
v
en
tio
n
al
PI
co
n
tr
o
ller
p
r
o
d
u
ce
d
m
u
ch
to
r
q
u
e
r
ip
p
les,
th
e
p
r
o
p
o
s
ed
m
o
d
el
g
av
e
alm
o
s
t
n
o
to
r
q
u
e
r
ip
p
les.
An
o
th
er
s
tr
en
g
th
o
f
th
e
p
r
o
p
o
s
ed
m
o
d
el
is
its
ab
ilit
y
to
ca
lcu
late
th
e
g
ain
s
o
f
th
e
co
n
tr
o
ller
r
ath
er
t
h
an
r
ely
in
g
o
n
t
h
e
e
r
r
o
r
-
p
r
o
n
e
a
n
d
tim
e
-
wastin
g
tu
n
i
n
g
m
eth
o
d
s
u
s
ed
i
n
n
o
r
m
al
PI
co
n
tr
o
ller
s
.
Fig
u
r
e
8
co
m
p
ar
es
th
e
p
h
ase
cu
r
r
en
t
s
o
f
th
e
two
m
o
d
els.
A
d
if
f
er
en
ce
in
p
h
ase
cu
r
r
en
ts
,
with
th
at
o
f
th
e
p
r
o
p
o
s
ed
m
o
d
el
b
ein
g
h
ig
h
er
an
d
with
l
o
wer
to
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
(
T
HD)
is
o
b
s
er
v
ed
.
T
h
e
d
is
p
ar
ity
in
p
h
ase
c
u
r
r
e
n
ts
is
ex
p
lain
ed
b
y
Fig
u
r
e
9
wh
ich
s
h
o
ws
th
e
an
d
cu
r
r
en
ts
.
I
t
is
s
ee
n
in
F
ig
u
r
e
9
t
h
at
th
e
to
r
q
u
e
p
r
o
d
u
cin
g
c
u
r
r
e
n
t
(
)
is
ess
en
tially
th
e
s
am
e
f
o
r
b
o
th
m
o
d
els.
Ho
wev
er
,
th
e
d
-
ax
is
cu
r
r
e
n
t
o
f
t
h
e
p
r
o
p
o
s
e
d
m
o
d
el
is
h
ig
h
er
th
a
n
th
e
n
o
r
m
al
o
n
e
.
T
h
is
is
b
ec
au
s
e
t
h
e
two
m
o
d
els
ar
e
d
if
f
er
en
t
a
n
d
th
e
p
r
o
p
o
s
ed
m
o
d
el
u
s
es
h
ig
h
er
g
ain
s
.
So
,
t
h
e
co
n
tr
o
l
ef
f
o
r
t
p
u
s
h
es
an
y
d
if
f
er
en
ce
r
esu
ltin
g
f
r
o
m
th
e
h
ig
h
er
g
ain
to
th
e
d
-
ax
is
cu
r
r
en
t
i
n
o
r
d
er
t
o
en
s
u
r
e
th
at
th
e
r
esp
o
n
s
e
ef
f
ec
t
iv
el
y
t
r
ac
k
s
th
e
co
m
m
an
d
to
r
q
u
e.
Fo
r
th
ese
r
ea
s
o
n
s
,
th
e
p
h
ase
cu
r
r
en
ts
wh
ich
ar
e
co
m
b
in
atio
n
s
o
f
d
-
a
x
is
an
d
q
-
ax
is
cu
r
r
en
ts
(
b
y
in
v
er
s
e
Par
k
tr
an
s
f
o
r
m
)
is
d
if
f
er
e
n
t
f
o
r
th
e
two
m
o
d
els.
T
h
e
FF
T
f
o
r
p
h
ase
‘
a’
cu
r
r
en
t
f
o
r
th
e
c
o
n
v
en
tio
n
al
an
d
th
e
p
r
o
p
o
s
ed
DT
F
C
ar
e
s
h
o
wn
in
Fig
u
r
es
1
0
an
d
1
1
r
esp
ec
tiv
ely
.
T
h
e
p
r
o
p
o
s
ed
m
o
d
el
s
h
o
ws
s
u
p
er
io
r
p
er
f
o
r
m
an
ce
with
T
HD
o
f
4
.
8
1
% c
o
m
p
ar
e
d
to
T
HD
o
f
1
8
.
8
0
% f
o
r
th
e
c
o
n
v
e
n
tio
n
al
DT
F
C
.
T
ab
le
1
.
T
h
e
m
o
d
els
co
n
v
en
ti
o
n
al
an
d
s
im
u
lated
in
MA
T
L
AB
/Si
m
u
lin
k
M
o
t
o
r
p
a
r
a
me
t
e
r
s
V
a
l
u
e
R
a
t
e
d
P
o
w
e
r
9
.
4
k
W
F
r
e
q
u
e
n
c
y
5
0
H
z
S
t
a
t
o
r
r
e
s
i
st
a
n
c
e
(
R
s)
0
.
2
0
3
Ω
C
o
n
st
a
mt
r
o
t
o
r
f
l
u
x
l
i
n
k
a
g
e
(
)
0
.
1
2
3
W
b
I
n
d
u
c
t
a
n
c
e
d
a
x
i
s
(
)
0
.
0
0
2
1
H
I
n
d
u
c
t
a
n
c
e
q
a
x
i
s
(
)
0
.
0
0
2
1
H
I
n
e
r
t
i
a
c
o
n
s
t
a
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I
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2111
RE
F
E
R
E
NC
E
S
[1
]
P
.
P
il
lay
a
n
d
R.
Krish
n
a
n
,
“
Co
n
t
ro
l
c
h
a
ra
c
teristics
a
n
d
s
p
e
e
d
c
o
n
t
ro
ll
e
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d
e
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g
n
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ig
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n
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n
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t
m
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g
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e
t
sy
n
c
h
r
o
n
o
u
s
m
o
t
o
r
d
ri
v
e
,
”
1
9
8
7
IEE
E
P
o
we
r
El
e
c
tro
n
i
c
s
S
p
e
c
ia
li
sts
Co
n
fer
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c
e
,
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9
8
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p
.
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9
8
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/P
E
S
C.
1
9
8
7
.
7
0
7
7
2
3
2
.
[2
]
B.
S
in
g
h
,
B
.
P
.
S
in
g
h
,
a
n
d
S
.
Dw
iv
e
d
i,
“
DSP
b
a
se
d
imp
lem
e
n
tatio
n
o
f
d
irec
t
to
rq
u
e
c
o
n
tr
o
l
sc
h
e
m
e
fo
r
p
e
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a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
ro
n
o
u
s m
o
to
r
d
ri
v
e
,
”
J
.
In
s
.
E
n
g
.
In
d
ia
Pa
rt
El
El
e
c
.
En
g
i
n
e
e
rin
g
Div
isi
o
n
,
v
o
l
.
8
8
,
p
p
.
35
-
4
4
,
2
0
0
7
.
[
3
]
C
.
O
g
b
u
k
a
,
C
.
N
w
o
s
u
,
a
n
d
M
.
A
g
u
,
“
A
h
i
g
h
-
p
e
r
f
o
r
m
a
n
c
e
h
y
s
t
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re
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s
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u
r
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e
n
t
c
o
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r
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p
e
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t
m
a
g
n
e
t
s
y
n
c
h
r
o
n
o
u
s
m
o
t
o
r
d
r
i
v
e
,
”
T
u
r
k
i
s
h
J
.
o
f
E
l
e
c
t
.
E
n
g
.
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o
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i
.,
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l
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5
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3
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160.
[4
]
P
.
K.
Dw
iv
e
d
i,
A.
K
.
S
e
th
,
a
n
d
M
.
S
i
n
g
h
,
“
S
e
n
s
o
rles
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p
e
e
d
C
o
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tro
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o
f
P
M
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M
M
o
to
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f
o
r
Wi
d
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d
Ra
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,
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2
0
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1
1
st
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n
ter
n
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ti
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.
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.
[5
]
L
.
S
a
lah
a
n
d
B
.
Ta
h
a
r,
“
S
VP
W
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p
e
rf
o
rm
a
n
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o
f
P
M
S
M
v
a
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le
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n
d
imp
a
c
t
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f
d
iag
n
o
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n
so
rs
fa
u
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s,
”
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.
[6
]
C.
Ca
n
d
e
lo
-
Zu
l
u
a
g
a
,
A.
G
a
rc
ia
Esp
in
o
sa
,
J.
-
R.
Ri
b
a
,
a
n
d
P
.
T.
Blan
c
h
,
“
P
M
S
M
De
sig
n
fo
r
Ac
h
iev
in
g
a
Targ
e
t
To
rq
u
e
-
S
p
e
e
d
-
Eff
icie
n
c
y
M
a
p
,
”
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
Ve
h
icu
l
a
r
T
e
c
h
n
o
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y
,
v
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l
.
6
9
,
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o
.
1
2
,
p
p
.
1
4
4
4
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4
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5
7
,
De
c
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2
0
2
0
,
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o
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:
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0
9
/T
VT
.
2
0
2
0
.
3
0
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0
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3
.
[7
]
K.
Li
u
,
C
.
H
o
u
,
a
n
d
W.
Hu
a
,
“
A
No
v
e
l
In
e
rti
a
Id
e
n
ti
fica
ti
o
n
M
e
th
o
d
a
n
d
Its
A
p
p
l
ica
ti
o
n
i
n
P
I
Co
n
tr
o
ll
e
rs
o
f
P
M
S
M
Dri
v
e
s,
”
IEE
E
Acc
e
ss
,
v
o
l.
7
,
p
p
.
1
3
4
4
5
-
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3
4
5
4
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0
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9
,
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0
.
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0
9
/ACCE
S
S
.
2
0
1
9
.
2
8
9
4
3
4
2
.
[8
]
I.
Ch
i
n
a
e
k
e
-
Og
b
u
k
a
,
e
t
a
l
,
“
A
r
o
b
u
st
h
ig
h
-
sp
e
e
d
sli
d
i
n
g
m
o
d
e
c
o
n
tr
o
l
o
f
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
ro
n
o
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s
m
o
to
r
b
a
se
d
o
n
sim
p
li
fie
d
h
y
ste
re
sis
c
u
rre
n
t
c
o
m
p
a
riso
n
,
”
I
n
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r
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e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(IJ
PE
DS
)
,
v
o
l.
1
2
,
n
o
.
1
,
p
p
.
1
-
9
,
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1
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1
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ij
p
e
d
s
.
v
1
2
.
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1
.
p
p
1
-
9.
[9
]
E.
Ojio
n
u
k
a
,
I.
Ch
i
n
a
e
k
e
-
Og
b
u
k
a
,
C.
Og
b
u
k
a
,
a
n
d
C.
Nw
o
s
u
,
“
A
s
imp
li
fi
e
d
se
n
s
o
rles
s
sp
e
e
d
c
o
n
tro
l
o
f
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
r
o
n
o
u
s
m
o
to
r
u
s
in
g
m
o
d
e
l
re
fe
re
n
c
e
a
d
a
p
ti
v
e
sy
ste
m
,”
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o
u
rn
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c
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.
T
h
a
k
re
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n
d
P
.
S
.
Bo
rse
,
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ls
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p
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n
v
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rter,
”
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0
2
0
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n
ter
n
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ti
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n
a
l
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n
fer
e
n
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e
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n
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we
r,
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e
rg
y
,
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n
tro
l
a
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d
T
ra
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sm
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ECT
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)
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0
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0
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p
p
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-
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0
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1
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9
1
1
3
.
2
0
2
0
.
9
3
3
7
0
1
5
.
[1
1
]
F
.
Ko
r
k
m
a
z
,
İ.
To
p
a
lo
ğ
lu
,
M
.
F
.
Ça
k
ir,
a
n
d
R.
G
ü
rb
ü
z
,
“
Co
m
p
a
r
a
ti
v
e
p
e
rfo
rm
a
n
c
e
e
v
a
l
u
a
ti
o
n
o
f
F
OC
a
n
d
DT
C
c
o
n
tro
ll
e
d
P
M
S
M
d
ri
v
e
s,
”
4
th
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Po
w
e
r
En
g
in
e
e
rin
g
,
En
e
r
g
y
a
n
d
El
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c
trica
l
Dr
ive
s
,
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0
1
3
,
p
p
.
7
0
5
-
7
0
8
,
d
o
i:
1
0
.
1
1
0
9
/
P
o
we
rEn
g
.
2
0
1
3
.
6
6
3
5
6
9
6
.
[1
2
]
C.
U.
Og
b
u
k
a
,
K.
C.
O
d
o
,
M
.
C.
Od
o
,
a
n
d
C.
M
.
Nw
o
s
u
,
“
Dire
c
t
To
rq
u
e
c
o
n
tro
l
o
f
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
ro
n
o
u
s
m
o
to
r
u
sin
g
sp
a
c
e
v
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c
to
r
p
u
lse
wi
d
th
m
o
d
u
latio
n
,
”
1
st
In
t
.
Co
n
f
.
o
f
th
e
Fa
c
u
lt
y
o
f
En
g
.
,
Ap
ril
2
0
1
8
,
p
p
.
1
8
1
-
1
8
7
.
[1
3
]
S
.
R.
Ef
tek
h
a
ri,
S
.
A.
Da
v
a
ri,
P
.
Na
d
e
ri,
C.
G
a
rc
ia,
a
n
d
J.
Ro
d
ri
g
u
e
z
,
“
Ro
b
u
st
L
o
ss
M
i
n
imiz
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ti
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n
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r
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re
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c
t
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rq
u
e
a
n
d
F
lu
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C
o
n
tr
o
l
o
f
a
n
In
d
u
c
ti
o
n
M
o
t
o
r
wit
h
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c
tri
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a
l
Circu
it
M
o
d
e
l,
”
IEE
E
T
ra
n
sa
c
ti
o
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s
o
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Po
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r E
lec
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n
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,
v
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l
.
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o
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p
p
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4
1
7
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6
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a
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0
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d
o
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0
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1
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9
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P
EL
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0
1
9
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2
9
4
4
1
9
0
.
[1
4
]
D.
M
o
h
a
n
,
X.
Zh
a
n
g
,
a
n
d
G
.
H.
Be
n
g
F
o
o
,
“
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e
n
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ra
li
z
e
d
DTC
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tr
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teg
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f
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u
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g
F
re
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c
y
a
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d
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d
u
c
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d
T
o
rq
u
e
Ri
p
p
les
,
”
IEE
E
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ra
n
sa
c
ti
o
n
s
o
n
E
n
e
rg
y
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n
v
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rs
io
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,
v
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3
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,
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o
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p
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1
0
9
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EC
.
2
0
1
7
.
2
6
8
1
6
5
3
.
[
1
5
]
S.
M
a
t
h
a
p
a
t
i
a
n
d
J
.
B
o
c
k
e
r
,
“
A
n
a
l
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i
c
a
l
a
n
d
O
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f
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p
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M
,
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r
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n
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d
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v
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8
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1
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/
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1
8
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5
3
0
.
[
1
6
]
A
.
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s
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,
C
.
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u
,
S
.
B
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k
o
,
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d
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e
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a
,
“
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g
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b
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,
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n
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s
,
v
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l
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1
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,
n
o
.
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,
p
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9
0
7
,
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p
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l
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,
d
o
i
:
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0
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3
3
9
0
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1
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1
9
0
7
.
[
1
7
]
S
.
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t
u
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a
a
n
d
I
.
R
A
d
o
c
h
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e
i
,
“
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n
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m
p
l
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m
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t
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t
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f
d
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c
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n
c
h
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s
m
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d
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v
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s
,
”
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n
t
e
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a
t
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o
n
a
l
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o
u
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n
a
l
o
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o
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y
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d
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e
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h
,
v
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l
.
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,
n
o
.
5
,
p
p
.
9
0
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5
,
M
a
y
2016.
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8
]
N.
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-
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,
L
.
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h
a
o
-
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u
,
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.
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o
-
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n
g
,
D.
F
e
n
g
,
H.
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a
n
d
M
.
Y
a
-
Jie
,
“
Dire
c
t
To
rq
u
e
Co
n
tro
l
f
o
r
P
M
S
M
Us
in
g
Ac
ti
v
e
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rb
a
n
c
e
Re
jec
ti
o
n
Co
n
tro
l
M
e
th
o
d
,
”
2
0
1
8
Ch
i
n
e
se
Au
t
o
ma
ti
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n
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o
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re
ss
(CAC)
,
2
0
1
8
,
p
p
.
2
7
9
8
-
2
8
0
2
.
[1
9
]
Y.
In
o
u
e
,
S
.
M
o
r
imo
to
,
a
n
d
M
.
S
a
n
a
d
a
,
“
Co
m
p
a
ra
ti
v
e
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tu
d
y
o
f
P
M
S
M
Dri
v
e
S
y
ste
m
s
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se
d
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n
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rre
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t
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tr
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n
d
Dire
c
t
To
r
q
u
e
Co
n
tro
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n
F
lu
x
-
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k
e
n
i
n
g
Co
n
tro
l
Re
g
i
o
n
,
”
I
EE
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T
r
a
n
s
a
c
ti
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s
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n
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d
u
stry
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p
p
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ti
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v
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.
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p
p
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3
8
9
,
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v
.
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0
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,
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o
i:
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0
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1
1
0
9
/
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2
0
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2
.
2
2
2
7
1
3
4
.
[2
0
]
F
.
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n
,
G
.
Li
a
n
,
H.
Li
,
B.
Ch
e
n
,
a
n
d
G
.
G
u
,
“
Co
m
p
a
ra
ti
v
e
An
a
ly
s
is
o
f
To
rq
u
e
a
n
d
F
lu
x
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p
les
fo
r
S
e
v
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ra
l
Dire
c
t
To
rq
u
e
Co
n
tro
l
S
trate
g
ies
o
f
P
M
S
M
,
”
2
0
1
8
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
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n
c
e
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n
Ap
p
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e
d
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p
e
rc
o
n
d
u
c
ti
v
it
y
a
n
d
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c
tro
ma
g
n
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ti
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v
ice
s (A
S
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,
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0
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8
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p
.
1
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2
,
d
o
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1
0
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1
0
9
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S
EM
D.2
0
1
8
.
8
5
5
8
9
3
0
.
[2
1
]
C.
Ch
e
n
,
C.
-
.
Hs
u
,
S
.
Yu
,
C.
Ya
n
g
,
a
n
d
H.
Hu
a
n
g
,
“
Ca
sc
a
d
e
P
I
Co
n
tro
ll
e
r
De
sig
n
s fo
r
S
p
e
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d
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n
tr
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l
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f
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e
rm
a
n
e
n
t
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a
g
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e
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c
h
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s
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o
to
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v
e
Us
in
g
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c
t
To
r
q
u
e
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p
ro
a
c
h
,
”
2
0
0
9
Fo
u
rt
h
In
ter
n
a
ti
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a
l
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n
fer
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n
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e
o
n
In
n
o
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ti
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e
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m
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u
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n
g
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f
o
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d
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n
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(ICICIC)
,
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0
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,
p
p
.
9
3
8
-
9
4
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,
d
o
i:
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.
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1
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9
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.
2
0
0
9
.
1
3
3
.
[2
2
]
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Ch
e
n
,
X.
D.
Li
u
,
a
n
d
Da
P
.
Ya
n
g
,
“
Dy
n
a
m
ic
slid
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g
m
o
d
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c
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f
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r
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t
t
o
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e
c
o
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tro
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o
f
P
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b
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se
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p
e
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ted
sp
a
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e
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e
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to
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m
o
d
u
latio
n
,
”
2
0
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n
d
In
ter
n
a
ti
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n
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l
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f
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In
d
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n
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ste
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,
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0
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0
,
p
p
.
3
9
4
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3
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7
,
d
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i:
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0
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1
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0
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ND
USIS
.
2
0
1
0
.
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5
6
5
8
2
7
.
[2
3
]
K.
C.
Od
o
,
S
.
V.
Eg
o
i
g
we
,
a
n
d
C.
U.
Og
b
u
k
a
,
“
A
M
o
d
e
l
-
b
a
se
d
P
I
Co
n
tro
l
ler
tu
n
i
n
g
a
n
d
d
e
sig
n
f
o
r
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o
rie
n
ted
c
u
rre
n
t
c
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n
tro
l
o
f
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
ro
n
o
u
s
m
o
t
o
r”
IOS
R
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
El
e
c
tro
n
i
c
s
En
g
i
n
e
e
rin
g
(IOS
R
-
J
EE
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I
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12
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4
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Dec
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2
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3
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2112
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