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1
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201
7
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e
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p
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T
2
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2
2
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r
r
r
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q
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r
L
i
M
(
2
3
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ds
d
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r
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f
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v
v
v
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(
2
4
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e
qs
d
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r
e
f
qs
e
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v
v
v
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(
2
5
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w
h
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e,
(
2
6
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I
n
(
2
6
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,
T
r
=
L
r
/
r
r
.
Fro
m
t
h
e
eq
u
atio
n
s
(
2
1
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-
(
2
6
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,
it
is
p
o
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s
ib
l
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to
ad
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p
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th
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I
VC
s
c
h
e
m
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f
o
r
a
3
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p
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ase
I
M
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n
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o
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en
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it
f
au
lt
co
n
d
itio
n
.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
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I
VC
f
o
r
a
3
-
p
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ase
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M
u
n
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er
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p
en
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cir
cu
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lt c
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i
s
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h
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w
n
i
n
Fi
g
u
r
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2
.
I
n
Fig
u
r
e
2
[
1
0
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:
1
1
1
1
2
2
s
T
(
2
7
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Fig
u
r
e
2
.
B
lo
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r
a
m
o
f
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I
VC
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a
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ase
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u
n
d
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en
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cir
cu
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t f
a
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lt c
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d
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n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2088
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8
694
S
p
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3
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a
s
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to
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itio
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p
p
lied
b
y
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.
.
.
(
Mo
h
a
mma
d
Ja
n
n
a
ti)
227
No
tice
th
at
b
y
o
n
l
y
c
h
a
n
g
in
g
i
n
m
o
to
r
p
ar
am
e
ter
as
g
i
v
en
in
(
1
3
)
an
d
ch
an
g
in
g
i
n
th
e
tr
an
s
f
o
r
m
atio
n
m
atr
i
x
as
g
iv
e
n
i
n
(
2
8
)
th
e
p
r
o
p
o
s
ed
s
ch
e
m
e
ca
n
b
e
u
s
ed
f
o
r
VC
o
f
th
e
3
-
p
h
a
s
e
I
M
u
n
d
er
n
o
r
m
al
co
n
d
itio
n
.
I
n
th
i
s
co
n
d
itio
n
,
Fi
g
u
r
e
2
ca
n
b
e
s
i
m
p
lifie
d
as Fi
g
u
r
e
3
w
h
i
ch
is
t
h
e
s
a
m
e
as
r
eg
u
lar
co
n
tr
o
ller
.
2
3
2
3
0
2
1
2
1
1
3
2
s
T
(
2
8
)
Fig
u
r
e
3
.
B
lo
ck
d
iag
r
a
m
o
f
t
h
e
r
eg
u
lar
I
VC
f
o
r
a
3
-
p
h
ase
I
M
2
3
2
3
0
2
1
2
1
1
3
2
c
o
s
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i
n
s
i
n
c
o
s
2
3
s
e
e
e
e
e
s
ms
T
T
L
M
(
2
9
)
4.
SPEE
D
E
S
T
I
M
AT
I
O
N
O
F
A
3
-
P
H
ASE
I
M
I
n
o
r
d
er
to
co
m
p
e
n
s
ate
s
p
ee
d
-
s
en
s
o
r
f
a
u
lt,
t
h
is
p
ap
er
in
v
e
s
ti
g
ates a
m
eth
o
d
t
h
at
u
s
e
s
a
n
es
ti
m
ato
r
f
o
r
esti
m
atio
n
o
f
t
h
e
r
o
to
r
s
p
ee
d
.
I
n
th
is
p
ap
er
,
a
tech
n
iq
u
e
b
a
s
ed
o
n
m
ea
s
u
r
ab
le
s
tato
r
v
ar
iab
les
(
cu
r
r
en
ts
an
d
v
o
ltag
e
s
)
is
p
r
o
p
o
s
ed
to
esti
m
ate
th
e
a
n
g
u
lar
v
elo
cit
y
o
f
t
h
e
r
o
to
r
f
ield
-
o
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ien
ted
r
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ce
f
r
a
m
e
(
ω
e
)
.
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h
en
,
u
s
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g
(
2
3
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,
th
e
m
o
to
r
s
p
ee
d
is
esti
m
ated
.
T
h
e
d
-
ax
is
v
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ltag
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i
s
g
i
v
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b
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:
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r
r
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L
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i
r
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M
L
M
L
i
i
r
v
i
r
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M
M
i
M
i
L
i
r
v
2
2
2
2
2
2
2
2
1
ˆ
ˆ
ˆ
ˆ
(
3
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
PEDS
Vo
l.
8
,
No
.
1
,
Ma
r
ch
201
7
:
2
2
2
–
23
0
228
Fro
m
th
e
s
e
eq
u
atio
n
s
,
an
es
ti
m
ate
o
f
t
h
e
m
o
to
r
s
p
ee
d
,
ca
n
b
e
ca
lcu
lated
b
y
:
r
r
r
e
qs
q
e
r
r
L
i
M
ˆ
ˆ
(
3
1
)
No
tice
th
at
(
3
1
)
ca
n
b
e
u
s
ed
f
o
r
esti
m
atio
n
o
f
m
o
to
r
s
p
ee
d
in
th
e
n
o
r
m
al
an
d
o
p
en
-
c
ir
cu
it
f
a
u
lt
co
n
d
itio
n
s
b
y
o
n
l
y
c
h
a
n
g
i
n
g
i
n
m
o
to
r
p
ar
a
m
eter
as g
i
v
e
n
in
(
1
3
)
an
d
(
1
4
)
.
5.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
AND
DIS
CUSS
I
O
N
T
h
e
r
eg
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lar
(
b
ased
o
n
Fi
g
u
r
e
3
)
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d
p
r
o
p
o
s
ed
(
b
ased
o
n
Fi
g
u
r
e
2
an
d
eq
u
atio
n
s
(
3
0
)
,
(
3
1
)
)
co
n
tr
o
ller
s
f
o
r
a
s
tar
-
co
n
n
ec
ted
3
-
p
h
ase
I
M
is
d
ev
elo
p
ed
an
d
s
i
m
u
lated
u
s
i
n
g
Ma
tl
ab
s
o
f
t
w
ar
e.
T
h
e
p
ar
am
eter
s
o
f
th
e
s
i
m
u
lated
m
o
to
r
ar
e
as f
o
llo
w
s
:
Si
m
u
latio
n
r
e
s
u
lts
o
f
th
e
co
n
v
en
tio
n
al
a
n
d
p
r
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p
o
s
ed
co
n
tr
o
l
ler
s
s
u
c
h
as
s
tato
r
a
-
a
x
is
c
u
r
r
en
t,
to
r
q
u
e
an
d
m
o
to
r
s
p
ee
d
ar
e
s
h
o
w
n
i
n
Fig
u
r
es
4
-
6
.
F
ig
u
r
e
4
s
h
o
ws
s
i
m
u
latio
n
r
es
u
lt
s
o
f
t
h
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co
n
v
e
n
tio
n
al
tec
h
n
iq
u
e
(
b
ased
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Fig
u
r
e
3
)
f
o
r
VC
o
f
a
3
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p
h
ase
I
M
u
n
d
er
o
p
en
-
cir
cu
i
t
f
a
u
lt
(
Fig
u
r
e
4
(
a)
:
s
tato
r
a
-
ax
is
cu
r
r
e
n
t,
Fig
u
r
e
4
(
b
)
:
to
r
q
u
e
an
d
Fi
g
u
r
e
4
(
c)
:
s
p
ee
d
)
.
Fig
u
r
e
5
s
h
o
w
s
s
i
m
u
latio
n
r
es
u
lts
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f
t
h
e
p
r
o
p
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s
ed
co
n
tr
o
ller
w
it
h
o
u
t
s
p
ee
d
esti
m
ato
r
(
b
ased
o
n
Fig
u
r
e
2
)
f
o
r
VC
o
f
a
3
-
p
h
a
s
e
I
M
u
n
d
er
o
p
en
-
cir
cu
it
f
au
l
t
(
Fig
u
r
e
5
(
a)
:
s
tato
r
a
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a
x
i
s
c
u
r
r
en
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Fig
u
r
e
5
(
b
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to
r
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an
d
Fi
g
u
r
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5
(
c)
:
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d
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Fig
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f
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p
r
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tr
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w
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s
p
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m
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(
b
ased
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g
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r
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2
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d
eq
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s
(
3
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(
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o
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3
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ase
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ig
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r
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a
x
i
s
c
u
r
r
en
t,
F
ig
u
r
e
6
(
b
)
:
to
r
q
u
e
an
d
Fig
u
r
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6
(
c)
:
s
p
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d
)
.
T
o
an
aly
z
e
d
y
n
a
m
ic
a
n
d
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tead
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s
tate
p
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m
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t
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w
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p
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f
4
5
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A
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t=2
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ap
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in
p
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“
c”
.
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s
i
m
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r
r
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a
s
a
m
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m
e
o
f
0
.
0
0
0
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.
(
a)
(
b
)
(
c)
Fig
u
r
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4
.
Si
m
u
latio
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r
esu
l
ts
o
f
th
e
co
n
v
e
n
tio
n
al
tec
h
n
iq
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f
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r
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o
f
a
3
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ase
I
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u
n
d
er
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p
en
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c
u
it
f
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t;
(
a)
Stato
r
a
-
ax
is
c
u
r
r
en
t,
(
b
)
T
o
r
q
u
e
an
d
(
c)
Sp
ee
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2088
-
8
694
S
p
ee
d
C
o
n
tr
o
l o
f
3
-
p
h
a
s
e
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d
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Mo
to
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s
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d
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a
u
lt C
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d
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s
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p
p
lied
b
y
.
.
.
.
(
Mo
h
a
mma
d
Ja
n
n
a
ti)
229
As
ca
n
b
e
s
ee
n
b
o
th
r
eg
u
lar
an
d
p
r
o
p
o
s
ed
s
ch
e
m
e
s
ar
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ab
le
to
r
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ch
s
tead
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tate
4
5
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r
p
m
(
s
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u
r
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4
(
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d
Fig
u
r
e
5
(
c)
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.
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t c
an
b
e
o
b
s
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f
r
o
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Fi
g
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4
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d
Fig
u
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5
th
a
t th
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y
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a
m
ic
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a
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p
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tr
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a
n
r
eg
u
lar
co
n
tr
o
ller
.
Usi
n
g
co
n
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en
tio
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al
co
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tr
o
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,
th
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p
ick
to
p
ic
k
to
r
q
u
e
o
s
cillatio
n
i
s
~
2
.
4
N.
m
(
s
ee
F
ig
u
r
e
4
(
b
)
)
b
u
t
u
s
i
n
g
p
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p
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s
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co
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tr
o
l
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ick
to
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o
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s
cillatio
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~
0
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2
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m
(
s
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Fi
g
u
r
e
5
(
b
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.
I
t
is
also
ev
id
en
t
f
r
o
m
Fi
g
u
r
e
6
th
at
u
s
in
g
p
r
o
p
o
s
ed
I
VC
tech
n
iq
u
e,
th
e
esti
m
ated
s
p
ee
d
o
f
th
e
3
-
p
h
a
s
e
I
M
u
n
d
er
o
p
en
-
c
ir
cu
it
f
a
u
lt
ca
n
f
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llo
w
t
h
e
r
ea
l
s
p
ee
d
w
it
h
o
u
t
an
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s
tate
er
r
o
r
.
I
n
th
is
ca
s
e
t
h
e
p
ick
to
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ick
to
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q
u
e
o
s
cillatio
n
is
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I
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8
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694
IJ
PEDS
Vo
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8
,
No
.
1
,
Ma
r
ch
201
7
:
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2
2
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23
0
230
6.
CO
NCLU
SI
O
N
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h
is
p
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p
lied
b
y
w
in
d
tu
r
b
in
e
u
s
i
n
g
I
VC
s
tr
ateg
y
.
T
h
is
p
ap
er
h
as
s
h
o
w
n
th
a
t
w
it
h
s
o
m
e
ch
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n
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e
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eg
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lar
I
VC
s
tr
at
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y
it
is
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ea
s
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le
to
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s
e
s
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m
e
co
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r
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o
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tar
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ted
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e
I
M
u
n
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s
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t
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e
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r
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ec
tn
ess
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d
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o
s
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o
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.
T
h
e
r
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lts
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em
o
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ate
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co
m
p
ar
is
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n
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ith
t
h
e
r
eg
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lar
I
VC
s
tr
ate
g
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,
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e
p
er
f
o
r
m
an
ce
o
f
t
h
e
p
r
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p
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tech
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iq
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e
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s
atis
f
ac
to
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y
f
o
r
VC
o
f
a
3
-
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I
M
d
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r
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f
au
lt
co
n
d
it
io
n
s
p
ar
ticu
lar
l
y
i
n
r
ed
u
ctio
n
o
f
th
e
m
o
to
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s
p
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d
an
d
to
r
q
u
e
r
ip
p
les.
RE
F
E
R
E
NC
E
S
[1
]
D.
R.
Esp
in
o
z
a
-
T
re
jo
,
e
t
a
l.
,
“
F
a
u
lt
d
iag
n
o
sis
sc
h
e
m
e
f
o
r
o
p
e
n
-
c
ircu
it
f
a
u
lt
s
in
f
ield
-
o
rien
ted
c
o
n
tro
l
i
n
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,
”
IET
Po
we
r E
lec
tro
n
ics
,
v
o
l
/i
ss
u
e
:
6
(
5
)
,
p
p
.
8
6
9
–
8
7
7
,
2
0
1
3
.
[2
]
G
.
K.
S
in
g
h
,
e
t
a
l.
,
“
A
sim
p
le
i
n
d
irec
t
f
ield
-
o
rien
te
d
c
o
n
t
ro
l
sc
h
e
m
e
f
o
r
m
u
lt
ip
h
a
se
in
d
u
c
ti
o
n
m
a
c
h
in
e
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tr
o
n
ics
,
v
o
l
/
issu
e
:
52
(
4
)
,
p
p
.
1
1
7
7
–
1
1
8
4
,
2
0
0
5
.
[3
]
A
.
B.
d
e
S
o
u
z
a
,
e
t
a
l.
,
“
Hy
b
rid
p
o
siti
o
n
c
o
n
tr
o
ll
e
r
f
o
r
a
n
i
n
d
irec
t
f
ield
-
o
rien
ted
i
n
d
u
c
ti
o
n
m
o
to
r
d
ri
v
e
,
”
In
Ap
p
li
e
d
Po
we
r E
lec
tro
n
ics
C
o
n
fer
e
n
c
e
a
n
d
Exp
o
siti
o
n
(
AP
EC)
,
p
p
.
1
5
4
1
–
1
5
4
7
,
2
0
1
5
.
[4
]
G
.
S
in
g
h
,
“
A
f
u
z
z
y
p
re
-
c
o
m
p
e
n
sa
ted
-
P
I
c
o
n
tro
ll
e
r
f
o
r
in
d
irec
t
f
i
e
ld
o
rien
ted
c
o
n
tro
ll
e
d
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
,
”
In
In
n
o
v
a
ti
v
e
Ap
p
li
c
a
ti
o
n
s
o
f
C
o
mp
u
t
a
ti
o
n
a
l
In
telli
g
e
n
c
e
o
n
Po
we
r,
En
e
rg
y
a
n
d
Co
n
tro
ls
wit
h
th
e
ir
imp
a
c
t
o
n
Hu
ma
n
it
y
(
CIPE
CH)
,
p
p
.
2
5
7
–
261
,
2
0
1
4
.
[5
]
M
.
Ja
n
n
a
ti
,
e
t
a
l.
,
“
Vec
to
r
c
o
n
tro
l
o
f
th
re
e
-
p
h
a
se
in
d
u
c
ti
o
n
mo
t
o
r
u
n
d
e
r
o
p
e
n
-
p
h
a
se
fa
u
lt
,
”
i
n
2
0
1
3
IEE
E
S
tu
d
e
n
t
Co
n
f
e
re
n
c
e
o
n
Re
se
a
rc
h
a
n
d
De
v
e
lo
p
m
e
n
t
(S
CORe
D)
,
p
p
.
1
0
5
–
110
,
2
0
1
3
.
[6
]
S
.
F
a
n
a
n
d
J.
Zo
u
,
“
S
e
n
so
r
Fa
u
lt
d
e
tec
ti
o
n
a
n
d
fa
u
lt
to
ler
a
n
t
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
mo
t
o
r
d
riv
e
rs
fo
r
e
lec
t
ric
v
e
h
icle
s,
”
in
7
th
In
tern
a
ti
o
n
a
l
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
M
o
ti
o
n
Co
n
t
ro
l
Co
n
f
e
re
n
c
e
(IP
EM
C)
,
p
p
.
1
3
0
6
–
1
3
0
9
,
2
0
1
2
.
[7
]
T
.
R.
Ch
e
ll
iah
,
e
t
a
l
.
,
“
An
a
lys
is
o
f
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s
u
n
d
e
r
se
n
so
r
fa
u
l
ts
wit
h
mi
n
e
h
o
ist
lo
a
d
d
i
a
g
ra
m
,
”
In
1
1
t
h
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
Driv
e
S
y
ste
m
s (P
EDS
)
,
p
p
.
2
7
4
–
2
7
7
,
2
0
1
5
.
[8
]
S
.
K.
Ko
m
m
u
ri,
e
t
a
l.
,
“
De
c
o
u
p
l
e
d
c
u
rre
n
t
c
o
n
tr
o
l
a
n
d
se
n
so
r
f
a
u
lt
d
e
tec
ti
o
n
w
it
h
se
c
o
n
d
-
o
rd
e
r
sl
i
d
in
g
m
o
d
e
f
o
r
in
d
u
c
ti
o
n
m
o
to
r,
”
IET
Co
n
tro
l
T
h
e
o
ry
&
Ap
p
li
c
a
ti
o
n
s
,
v
o
l
/i
ss
u
e
:
9
(
4
)
,
p
p
.
6
0
8
–
6
1
7
,
2
0
1
5
.
[9
]
X
.
Zh
a
n
g
,
e
t
a
l.
,
“
S
e
n
so
r
f
a
u
lt
d
e
tec
ti
o
n
,
iso
lati
o
n
a
n
d
sy
ste
m
r
e
c
o
n
f
ig
u
ra
ti
o
n
b
a
se
d
o
n
e
x
ten
d
e
d
Ka
lma
n
f
il
ter
f
o
r
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,
”
IET
,
El
e
c
tric P
o
we
r A
p
p
li
c
a
ti
o
n
s
,
v
o
l
/i
ss
u
e
:
7
(
7
)
,
p
p
.
6
0
7
–
6
1
7
,
2
0
1
3
.
[1
0
]
M
.
Ja
n
n
a
ti
,
e
t
a
l.
,
“
S
p
e
e
d
S
e
n
so
r
les
s
V
e
c
to
r
C
o
n
tr
o
l
o
f
Un
b
a
lan
c
e
d
T
h
re
e
-
P
h
a
se
I
n
d
u
c
ti
o
n
M
o
to
r
w
it
h
A
d
a
p
ti
v
e
S
li
d
i
n
g
M
o
d
e
Co
n
tro
l,
”
IJ
PE
DS
,
v
o
l
/i
ss
u
e
:
4
(
3
)
,
p
p
.
4
0
6
–
4
1
8
,
2
0
1
4
.
[1
1
]
Z.
Yif
a
n
a
n
d
T
.
A
.
L
ip
o
,
“
A
n
a
p
p
ro
a
c
h
to
m
o
d
e
li
n
g
a
n
d
f
ield
-
o
ri
e
n
ted
c
o
n
tr
o
l
o
f
a
th
re
e
p
h
a
se
in
d
u
c
ti
o
n
m
a
c
h
in
e
w
it
h
stru
c
tu
ra
l
im
b
a
lan
c
e
,
”
i
n
P
ro
c
.
AP
EC,
S
a
n
J
o
se
,
T
X
,
p
p
.
3
8
0
–
3
8
6
,
1
9
9
6
.
[1
2
]
A
.
S
a
leh
,
e
t
a
l.
,
“
Fa
u
lt
t
o
ler
a
n
t
fi
e
ld
o
rie
n
ted
c
o
n
tro
l
o
f
t
h
e
in
d
u
c
ti
o
n
mo
t
o
r fo
r lo
ss
o
f
o
n
e
in
v
e
rte
r p
h
a
se
,
”
i
n
3
2
n
d
A
n
n
u
a
l
Co
n
f
e
re
n
c
e
o
n
IE
EE
I
n
d
u
strial
El
e
c
tro
n
ics
,
I
ECON
,
p
p
.
8
1
7
–
8
2
2
,
2
0
0
6
.
[1
3
]
M
.
Ja
n
n
a
ti
,
e
t
a
l.
,
“
A
No
v
e
l
M
e
th
o
d
f
o
r
IRF
OC
o
f
T
h
re
e
-
P
h
a
se
In
d
u
c
ti
o
n
M
o
t
o
r
u
n
d
e
r
O
p
e
n
-
P
h
a
se
F
a
u
lt
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
(
IJ
P
EDS
)
,
v
o
l
/
issu
e
:
6
(
3
)
,
p
p
.
4
3
9
–
4
4
8
,
2
0
1
5
.
[1
4
]
A
.
S
.
A
h
m
e
d
,
e
t
a
l.
,
“
F
a
u
lt
-
to
lera
n
t
tec
h
n
i
q
u
e
f
o
r
Δ
-
c
o
n
n
e
c
ted
AC
-
m
o
to
r
d
riv
e
s,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
E
n
e
rg
y
Co
n
v
e
rs
io
n
,
v
o
l
/i
ss
u
e
:
26
(
2
)
,
p
p
.
6
4
6
–
6
5
3
,
2
0
1
1
.
[1
5
]
F
.
M
e
in
g
u
e
t,
e
t
a
l.
,
“
A
m
e
th
o
d
f
o
r
fa
u
lt
d
e
tec
ti
o
n
a
n
d
iso
lati
o
n
b
a
se
d
o
n
t
h
e
p
r
o
c
e
ss
in
g
o
f
m
u
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B.
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tern
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G
.
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[1
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E.
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K.
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ter
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.
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0
1
1
.
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