I
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l J
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o
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E
lect
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nics
a
nd
Driv
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s
t
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(
I
J
P
E
DS
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Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
,
p
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.
579
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0
I
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0
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1
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j
p
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s
.
v9
.
i
2
.
pp
5
7
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-
590
579
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o
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:
h
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co
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d
ex
.
p
h
p
/
I
JP
E
DS
Ex
tended
K
a
l
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a
n F
ilt
er
for Senso
rless
F
a
ult
To
lera
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Co
nt
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l
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PMSM
w
ith
S
t
a
tor
R
esis
tance
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sti
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M
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i
M
o
uj
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hed
1
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B
ilel To
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it
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2
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H
ec
h
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i B
ena
zz
a
3
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M
o
ha
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e
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i
4
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us
s
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1
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2,
3,
4
De
p
a
rtem
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
Na
ti
o
n
a
l
Hig
h
e
r
S
c
h
o
o
l
o
f
En
g
in
e
e
rin
g
T
u
n
isia Un
iv
e
rsity
,
T
u
n
isia
5
De
p
a
rte
m
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
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ri
n
g
,
Ce
n
tral
sc
h
o
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a
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il
l
e
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F
ra
n
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Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Dec
1
5
,
2
0
1
7
R
ev
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s
ed
Feb
1
7
,
2
0
1
8
A
cc
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ted
A
p
r
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2
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1
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T
h
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p
a
p
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r
a
im
s
to
p
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v
id
e
a
h
ig
h
p
e
rf
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a
n
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s
e
n
so
rles
s
c
o
n
tro
l
b
a
se
d
o
n
a
n
Ex
ten
d
e
d
Ka
lma
n
F
il
ter
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)
a
p
p
li
e
d
to
f
a
u
lt
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to
lera
n
t
P
M
S
M
d
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y
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m
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it
h
sta
to
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-
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e
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m
a
ti
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n
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o
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se
s
a
f
a
st
m
e
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o
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o
f
fa
u
lt
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it
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d
e
tec
ti
o
n
in
t
h
e
p
o
w
e
r
c
o
n
v
e
rters
.
T
h
e
c
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n
sid
e
re
d
d
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e
is
c
o
m
p
o
se
d
o
f
th
re
e
p
h
a
se
s
P
M
S
M
a
n
d
a
f
o
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r
leg
th
re
e
p
h
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se
’s
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n
v
e
rter
w
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e
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th
e
f
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rth
is
th
e
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d
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n
d
a
n
t
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.
Af
t
e
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sh
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e
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d
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n
d
a
n
t
leg
re
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e
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a
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y
leg
.
T
h
e
si
m
u
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n
re
su
l
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th
a
t
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d
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m
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e
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ig
h
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li
a
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n
d
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n
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o
u
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o
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ra
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o
n
o
f
th
e
se
n
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les
s
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e
c
to
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c
o
n
tr
o
l
P
M
S
M
s
y
ste
m
u
n
d
e
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in
v
e
rter f
a
u
lt
.
K
ey
w
o
r
d
:
E
x
ten
d
ed
k
al
m
a
n
f
ilter
(
E
KF)
Fau
lt
t
o
ler
a
n
t
c
o
n
tr
o
l (
FT
C
)
Fau
lt to
ler
a
n
t in
v
er
ter
P
er
m
a
n
en
t
m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
s
(
P
MSM
)
Stato
r
r
esis
tan
ce
e
s
ti
m
atio
n
Co
p
y
rig
h
t
©
201
8
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
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d
.
C
o
r
r
e
s
p
o
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ing
A
uth
o
r
:
Mo
n
g
i M
o
u
j
ah
ed
,
Dep
ar
te
m
en
t o
f
E
lectr
ical
E
n
f
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ee
r
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Natio
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U
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it
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0
5
Stre
et
T
ah
a
Hu
s
s
ein
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T
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T
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i.
m
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j
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@
i
s
et
k
r
.
r
n
u
.
t
n
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
Du
e
to
its
h
ig
h
e
f
f
icien
c
y
,
h
ig
h
r
atio
o
f
to
r
q
u
e
to
w
e
ig
h
t,
h
ig
h
p
o
w
er
f
ac
to
r
,
f
aster
r
es
p
o
n
s
e
an
d
r
u
g
g
ed
co
n
s
tr
u
ctio
n
,
P
MSM
i
s
t
h
e
m
o
s
t
w
id
el
y
u
s
ed
f
o
r
h
i
g
h
p
er
f
o
r
m
a
n
ce
v
ar
iab
le
s
p
ee
d
in
m
a
n
y
in
d
u
s
tr
y
ap
p
licatio
n
s
[
1
]
,
[
2
]
,
[
3
]
.
No
w
ad
ay
s
,
s
e
n
s
o
r
les
s
co
n
tr
o
l
i
s
ad
o
p
ted
in
m
a
n
y
i
n
d
u
s
tr
ial
ap
p
licatio
n
s
f
o
r
r
ea
s
o
n
s
o
f
r
o
b
u
s
tn
es
s
,
co
s
t,
ca
b
lin
g
a
n
d
r
eliab
ilit
y
.
A
n
u
m
b
er
o
f
s
en
s
o
r
les
s
co
n
tr
o
l
m
eth
o
d
s
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
in
th
e
l
iter
atu
r
e
f
o
r
P
MSM
[
4
]
,
[
5
]
,
[
6
]
.
I
n
th
i
s
p
ap
er
a
s
en
s
o
r
less
f
a
u
lt
to
ler
an
t
co
n
tr
o
l
b
a
s
ed
o
n
E
x
ten
d
ed
Kal
m
a
n
Fil
ter
(
E
KF)
w
i
th
s
tat
o
r
r
esis
tan
ce
to
r
ed
u
ce
h
ar
d
war
e
co
m
p
le
x
it
y
an
d
lo
w
er
co
s
t
,
r
ed
u
ce
s
ize
o
f
th
e
d
r
iv
es,
eli
m
i
n
atio
n
o
f
t
h
e
s
e
n
s
o
r
ca
b
le,
b
etter
n
o
is
e
i
m
m
u
n
i
t
y
,
i
n
cr
ea
s
e
r
eliab
ili
t
y
,
a
n
d
less
m
ai
n
ten
a
n
ce
r
eq
u
ir
e
m
en
ts
is
p
r
ese
n
ted
[
7
]
,
[
8
]
A
n
e
w
tec
h
n
iq
u
e
b
ased
o
n
MR
A
S,
w
h
ic
h
p
er
m
it
s
to
esti
m
ate
t
h
e
s
tato
r
r
esi
s
tan
ce
f
o
r
s
en
s
o
r
less
v
ec
to
r
f
a
u
lt
to
ler
an
t
co
n
tr
o
l
o
f
P
MSM
is
p
r
ese
n
ted
.
Stab
ili
t
y
a
n
al
y
s
is
a
n
d
d
esi
g
n
o
f
t
h
e
MR
A
S
e
s
ti
m
ato
r
s
h
av
e
b
ee
n
p
er
f
o
r
m
ed
f
o
r
a
P
MSM
er
r
o
r
m
o
d
el
in
a
s
y
n
ch
r
o
n
o
u
s
r
o
tatin
g
r
e
f
er
en
ce
f
r
a
m
e
f
i
x
ed
to
t
h
e
esti
m
a
ted
d
-
q
ax
is
s
tato
r
cu
r
r
en
ts
.
T
h
e
ad
ap
tatio
n
m
ec
h
an
is
m
is
d
o
n
e
b
y
u
s
i
n
g
th
e
er
r
o
r
b
et
w
ee
n
t
h
e
m
ea
s
u
r
ed
an
d
th
e
es
ti
m
ated
s
tato
r
cu
r
r
en
ts
.
T
h
e
s
tab
ilit
ie
s
o
f
s
tato
r
r
esis
ta
n
ce
esti
m
ato
r
ar
e
p
r
o
v
en
v
ia
th
e
P
o
p
o
v
'
s
h
y
p
er
s
tab
ilit
y
th
eo
r
y
.
Fo
r
th
ese
ap
p
licatio
n
s
,
co
n
ti
n
u
o
u
s
l
y
o
p
er
atio
n
,
h
i
g
h
r
eliab
il
it
y
a
n
d
p
er
f
o
r
m
an
ce
ar
e
f
ir
m
l
y
r
eq
u
ir
ed
.
Ho
w
e
v
er
,
an
y
f
au
lts
,
esp
ec
iall
y
in
v
er
ter
f
a
u
lts
,
w
il
l
af
f
ec
t
o
r
ev
en
d
a
m
a
g
e
th
e
d
r
iv
e.
T
h
er
ef
o
r
e,
f
au
lt
to
ler
an
t
s
tr
ateg
y
f
o
r
t
h
e
d
r
iv
e
is
n
e
ed
ed
to
m
in
i
m
ize
t
h
e
co
n
s
e
q
u
en
t
d
a
m
a
g
e
a
n
d
k
ee
p
t
h
e
s
y
s
te
m
o
p
er
atin
g
co
n
tin
u
o
u
s
l
y
w
it
h
h
i
g
h
p
er
f
o
r
m
an
ce
i
n
ca
s
e
t
h
e
f
au
l
t o
cc
u
r
r
en
ce
[
9
]
,
[
1
0
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
579
–
590
580
T
h
e
s
tan
d
ar
d
th
r
ee
-
p
h
ase
s
i
x
-
s
w
itc
h
in
v
er
ter
d
o
esn
’
t
h
av
e
f
au
lt
to
ler
an
t
ca
p
ab
ilit
y
;
t
h
er
ef
o
r
e
s
o
m
e
in
v
er
ter
f
a
u
lt
s
an
d
m
o
d
if
ied
v
er
s
io
n
s
o
f
t
h
e
s
ta
n
d
ar
d
in
v
er
ter
b
r
id
g
e
co
n
f
ig
u
r
atio
n
co
m
b
in
ed
w
it
h
d
i
f
f
er
e
n
t
co
n
tr
o
l
m
et
h
o
d
h
a
v
e
b
ee
n
s
tu
d
ied
an
d
co
m
p
ar
ed
to
cr
ea
te
s
y
s
te
m
s
t
h
at
ar
e
to
ler
an
t
to
o
n
e
o
r
m
o
r
e
t
y
p
es
o
f
f
au
lts
to
en
s
u
r
e
t
h
e
o
p
er
atio
n
co
n
tin
u
it
y
o
f
t
h
e
d
r
iv
e
s
y
s
te
m
s
[
1
1
]
.
Sev
er
al
f
au
l
t
to
ler
an
t
to
p
o
lo
g
i
es
h
a
v
e
alr
ea
d
y
b
ee
n
p
r
o
p
o
s
ed
[
1
2
]
,
[
1
3
]
,
an
d
it’
s
n
o
ti
ce
ab
le
th
at
t
h
e
d
r
iv
e
co
m
p
o
s
ed
o
f
a
th
r
ee
PMSM
an
d
a
f
o
u
r
-
le
g
in
v
er
ter
w
it
h
t
h
e
f
o
u
r
th
le
g
is
r
ed
u
n
d
an
t;
h
a
s
th
e
ab
ili
t
y
t
o
co
p
e
co
r
r
ec
tly
al
m
o
s
t t
h
e
elec
t
r
ical
f
au
l
ts
,
at
least o
n
e
leg
f
au
lt [
1
4
]
.
T
h
er
ef
o
r
e,
th
is
p
ap
er
is
o
r
g
a
n
ized
in
s
u
c
h
a
w
a
y
:
T
h
e
t
h
eo
r
y
o
f
P
MSM
is
f
ir
s
t
p
r
esen
ted
in
Sect.
2
,
T
h
e
r
em
a
in
i
n
g
s
ec
tio
n
s
o
f
t
h
e
p
ap
er
ar
e
ar
r
an
g
ed
as
f
o
llo
w
s
.
Sectio
n
3
p
r
esen
t
s
t
h
e
E
x
te
n
d
ed
Kal
m
a
n
Fi
lter
,
Sectio
n
4
p
r
esen
ts
th
e
s
tato
r
r
esis
ta
n
ce
esti
m
at
io
n
,
Sectio
n
5
ex
p
lain
s
th
e
f
a
u
lt
-
to
ler
an
t c
o
n
t
r
o
l (
F
T
C
)
.
Sectio
n
6
p
r
esen
ts
th
e
to
p
o
lo
g
y
o
f
th
e
f
au
lt
-
to
ler
an
t
in
v
er
ter
.
Sectio
n
7
ex
p
lain
s
th
e
p
r
in
cip
le
o
f
th
e
f
au
lt
-
to
ler
an
t
v
ec
to
r
f
ield
-
o
r
ien
ted
co
n
tr
o
l
p
r
esen
ted
in
th
i
s
p
ap
er
.
Secti
o
n
8
is
r
eser
v
ed
f
o
r
t
h
e
s
i
m
u
latio
n
r
es
u
lt
s
,
an
d
Sectio
n
9
co
n
clu
d
e
t
h
e
p
ap
er
.
2.
P
M
S
M
M
O
DE
L
T
h
e
d
-
q
ax
is
s
tato
r
f
l
u
x
lin
k
a
g
es c
an
b
e
ex
p
r
ess
ed
as
f
o
llo
w
s
.
L
i
K
e
d
d
d
(
1
)
Li
qq
d
(
2
)
w
h
er
e:
3
2
K
em
)
B
y
u
s
i
n
g
(
1
)
an
d
(
2
)
,
elec
tr
o
m
ag
n
etic
to
r
q
u
e
a
s
a
f
u
n
c
tio
n
o
f
p
er
m
a
n
e
n
t
m
ag
n
et
f
l
u
x
li
n
k
ag
e
s
tato
r
cu
r
r
en
ts
ca
n
b
e
w
r
it
ten
a
s
:
T
N
i
i
e
p
q
q
dd
(
3
)
T
N
K
i
L
L
i
i
e
p
e
q
q
q
dd
(
4
)
B
y
u
s
in
g
(
1
)
an
d
(
2
)
th
e
m
o
d
el
o
f
t
h
e
P
MSM
ex
p
r
es
s
ed
in
th
e
d
-
q
s
y
n
c
h
r
o
n
o
u
s
l
y
r
o
tati
n
g
r
ef
er
e
n
ce
f
r
a
m
e
i
s
g
i
v
e
n
b
y
:
0
1
d
R
L
L
Vi
s
r
q
d
dt
dd
K
d
er
Vi
L
R
L
qq
r
s
q
d
dt
(
5
)
On
t
h
e
o
th
er
h
a
n
d
,
th
e
m
ec
h
a
n
ical
eq
u
atio
n
o
f
t
h
e
m
o
to
r
is
:
d
T
T
J
f
e
l
dt
(
6
)
w
h
er
e:
N
rp
B
y
u
s
in
g
(
1
)
,
(
2
)
,
(
3
)
,
(
4
)
,
(
5
)
an
d
(
6
)
th
e
d
y
n
a
m
ic
m
o
d
el
o
f
th
e
P
MSM
i
n
d
-
q
f
r
a
m
e
i
s
ex
p
r
ess
ed
as
f
o
llo
w
s
:
1
00
00
1
00
0
22
00
0
0
0
0
0
0
1
0
L
R
q
s
r
LL
L
ii
dd
d
dd
V
L
RK
d
d
s
e
d
ii
L
qq
q
r
L
L
L
V
q
q
q
q
N
p
LL
d
t
q
K
f
rr
de
T
NN
J
l
pp
J
J
J
rr
(
7)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
E
xten
d
ed
K
a
lma
n
F
ilter
fo
r
S
e
n
s
o
r
less
F
a
u
lt To
lera
n
t Co
n
tr
o
l o
f P
MS
M…
(
Mo
n
g
i Mo
u
ja
h
ed
)
581
B
y
u
s
i
n
g
E
q
u
atio
n
(
7
)
th
e
s
tat
e
s
p
ac
e
m
o
d
el
o
f
th
e
P
MSM
ex
p
r
ess
ed
in
t
h
e
α
-
β
s
tat
io
n
ar
y
r
ef
er
en
ce
f
r
a
m
e
i
s
d
escr
ib
ed
b
y
:
1
1
1
2
1
3
1
4
1
1
1
2
1
3
2
1
2
2
2
3
2
4
2
1
2
2
2
3
3
1
3
2
3
3
3
4
3
1
3
2
3
3
4
1
4
2
4
3
4
4
4
1
4
2
4
3
ii
a
a
a
a
b
b
b
v
d
ii
a
a
a
a
b
b
b
v
a
a
a
a
b
b
b
dt
rr
T
l
a
a
a
a
b
b
b
rr
(
8
)
w
h
er
e:
c
o
s
2
s
in
2
11
22
R
L
s
r
a
L
L
L
rr
LL
;
c
o
s
2
s
in
2
12
22
R
L
s
r
a
L
L
L
rr
LL
;
;
0
14
a
;
c
o
s
2
s
in
2
21
22
R
L
s
r
a
L
L
L
rr
LL
;
c
o
s
2
s
in
2
22
22
R
s
r
a
L
L
L
L
rr
LL
c
o
s
23
K
e
a
r
L
q
;
0
24
a
;
2
s
in
s
in
2
31
2
N
L
p
a
K
i
e
r
r
J
;
2
c
o
s
s
in
2
2
c
o
s
2
32
2
N
L
p
a
K
i
i
e
r
r
r
J
;
33
f
a
J
;
0
34
a
;
0
41
a
;
0
42
a
;
1
43
a
;
0
44
a
;
1
c
o
s
2
11
2
b
L
L
r
L
;
s
in
2
12
2
L
b
r
L
;
0
13
b
;
s
in
2
21
2
L
b
r
L
;
1
c
o
s
2
22
2
b
L
L
r
L
;
0
23
b
;
0
31
b
;
0
32
b
;
33
N
p
b
J
;
0
41
b
;
0
42
b
;
0
43
b
;
L
L
L
q
d
;
L
L
L
q
d
;
L
L
L
q
d
;
T
h
is
s
tate
s
p
ac
e
m
o
d
el
(
8
)
is
u
s
ed
b
y
E
K
F o
b
s
er
v
er
to
esti
m
ate
b
o
th
r
o
to
r
p
o
s
itio
n
an
d
s
p
ee
d
.
3.
E
XT
E
ND
E
D
K
A
L
M
AN
F
I
L
T
E
R
T
h
e
E
KF
is
m
o
s
t
l
y
u
s
ed
f
o
r
tr
ac
k
in
g
an
d
esti
m
at
in
g
n
o
n
li
n
e
ar
s
y
s
te
m
s
b
ec
au
s
e
o
f
it’s
o
f
t
h
e
s
alie
n
t
-
p
o
le
P
MSM
,
E
KF
is
u
s
ed
f
o
r
th
e
esti
m
at
io
n
o
f
t
h
e
s
p
ee
d
an
d
r
o
to
r
p
o
s
itio
n
.
T
h
e
s
p
ee
d
an
d
th
e
r
o
to
r
p
o
s
itio
n
b
ein
g
t
h
e
t
w
o
e
s
ti
m
ated
m
ag
n
it
u
d
es
ar
e
w
it
h
t
h
e
m
o
to
r
cu
r
r
en
t
b
o
th
co
n
s
t
itu
te
th
e
s
tat
e
v
ec
to
r
.
W
h
ile
t
h
e
m
o
to
r
cu
r
r
en
ts
ar
e
t
h
e
o
n
l
y
o
b
s
er
v
ab
le
m
a
g
n
itu
d
e
s
th
a
t
co
n
s
ti
tu
te
th
e
o
u
tp
u
t
v
ec
to
r
.
Fo
r
th
e
i
m
p
le
m
e
n
tat
io
n
o
f
an
E
KF
to
s
en
s
o
r
-
le
s
s
P
MSM
d
r
iv
e,
th
e
ch
o
ice
o
f
th
e
tw
o
ax
i
s
r
ef
er
en
ce
f
r
a
m
e
is
n
e
ce
s
s
ar
y
.
T
h
e
p
er
f
ec
t
ca
s
e
is
to
u
s
e
d
-
q
s
y
n
ch
r
o
n
o
u
s
l
y
r
o
tatin
g
r
ef
er
e
n
ce
f
r
a
m
e.
T
h
is
s
o
lu
tio
n
i
s
n
o
t
co
m
p
atib
l
e
f
o
r
P
MSM
s
en
s
o
r
-
less
s
p
ee
d
co
n
tr
o
l
b
ec
au
s
e
t
h
e
in
p
u
t
v
ec
to
r
(
cu
r
r
en
ts
a
n
d
v
o
l
tag
es)
o
f
t
h
e
esti
m
ato
r
ar
e
d
ep
en
d
en
t
o
n
t
h
e
r
o
to
r
p
o
s
itio
n
.
W
e
ca
n
o
b
s
er
v
e
th
a
t
an
er
r
o
r
o
f
esti
m
at
io
n
i
n
th
e
in
itial
p
o
s
itio
n
o
f
t
h
e
r
o
to
r
ca
n
h
a
v
e
s
er
io
u
s
r
ep
er
cu
s
s
io
n
s
b
y
in
d
u
c
in
g
er
r
o
r
in
th
e
p
r
o
g
r
ess
o
f
th
e
E
KF
w
ith
r
eg
ar
d
to
th
e
r
ea
l
s
y
s
te
m
.
W
e
s
ee
k
to
p
r
eser
v
e
th
e
P
MSM
co
n
tr
o
l
in
th
e
r
o
to
r
r
ef
er
en
ce
f
r
a
m
e.
T
h
e
s
p
ee
d
an
d
th
e
p
o
s
itio
n
ar
e
esti
m
ated
b
y
u
s
i
n
g
o
n
l
y
m
ea
s
u
r
e
m
en
ts
o
f
t
h
e
s
t
ato
r
v
o
ltag
es
an
d
c
u
r
r
en
t
s
[
1
5]
,
[
1
6
]
,
[
1
7
]
T
h
e
E
KF
b
ase
d
o
b
s
er
v
er
u
s
es
t
h
e
m
o
to
r
m
o
d
el
w
it
h
q
u
an
t
ities
i
n
t
h
e
f
i
x
ed
r
ef
er
en
ce
f
r
a
m
e
α
-
β
a
ttach
ed
to
t
h
e
s
tato
r
f
r
a
m
e
an
d
ar
e
t
h
er
ef
o
r
e
in
d
ep
en
d
en
t
o
f
th
e
r
o
to
r
p
o
s
iti
o
n
.
T
h
e
n
o
n
li
n
ea
r
d
y
n
a
m
ic
s
ta
te
m
o
d
el
o
f
t
h
e
I
P
MSM
i
n
a
s
t
atio
n
ar
y
r
ef
er
en
ce
f
r
a
m
e
i
s
d
escr
ib
ed
b
y
t
h
e
f
o
llo
w
i
n
g
ex
p
r
ess
io
n
s
:
d
X
A
X
B
U
dt
Y
C
X
(
9
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
579
–
590
582
T
h
e
m
atr
i
x
ele
m
e
n
ts
o
f
A
a
n
d
B
ar
e
g
i
v
en
i
n
eq
u
a
tio
n
8
.
T
h
e
t
w
o
s
ta
to
r
cu
r
r
en
t
s
,
t
h
e
e
lectr
i
ca
l sp
ee
d
an
d
p
o
s
itio
n
ar
e
u
s
ed
as s
y
s
te
m
s
tate
v
ar
iab
les.
T
h
e
E
KF
alg
o
r
ith
m
s
h
o
u
ld
b
e
ca
lcu
lated
b
y
t
h
e
d
y
n
a
m
ic
s
tate
m
o
d
el
g
i
v
en
b
y
(
9
)
w
h
i
ch
is
to
b
e
ex
p
r
ess
ed
in
a
d
is
cr
ete
s
ta
te
m
o
d
el.
T
h
e
d
is
cr
ete
s
tate
m
o
d
el
is
d
escr
ib
ed
b
y
t
h
e
f
o
llo
w
i
n
g
ex
p
r
ess
io
n
s
:
,,
,
d
x
t
f
x
t
u
t
t
G
t
v
t
dt
y
t
h
x
t
t
w
t
i
i
i
i
(
1
0
)
W
h
er
e
x
(
t)
i
s
t
h
e
s
tate
v
ec
to
r
,
y
(
ti)
i
s
t
h
e
o
u
tp
u
t
v
ec
to
r
o
f
t
h
e
d
is
cr
ete
s
tate
m
o
d
el
d
e
f
i
n
ed
as
t
h
e
m
ea
s
u
r
e
m
e
n
t
s
ig
n
al
s
.
T
h
e
o
u
tp
u
t v
ec
to
r
v
ar
iab
les ar
e
d
ef
in
ed
as:
it
yt
i
it
(
1
1
)
,
it
i
h
x
t
t
ii
it
i
(
1
2
)
T
h
e
s
tate
v
ec
to
r
v
ar
iab
les ar
e
d
ef
in
ed
as
T
x
i
i
rr
k
k
(
1
3
)
T
y
i
i
k
k
(
1
4
)
f
[
x
(
t)
,
u
(
t)
,
t]
is
g
iv
e
n
i
n
(
9
)
,
T
h
e
co
m
m
an
d
v
ec
to
r
u
is
T
u
t
V
V
an
d
1
0
0
0
1
0
1
0
0
H
k
0
2
0
2
c
o
s
2
c
o
s
2
c
o
s
2
0
2
2
2
2
3
2
3
0
2
2
0
c
o
s
2
c
o
s
2
c
o
s
2
2
0
2
2
2
3
3
2
2
0
2
0
c
o
s
2
c
o
s
2
c
o
s
2
02
3
22
2
3
2
LL
l
L
L
L
L
s
r
r
r
LL
L
L
l
L
L
L
r
s
r
r
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in
eq
u
ali
t
y
.
Fro
m
th
e
p
r
e
v
io
u
s
eq
u
atio
n
(
3
2
)
an
d
th
e
P
o
p
o
v
’
s
i
n
eq
u
alit
y
,
it c
an
b
e
ea
s
il
y
s
h
o
w
th
at
t
h
e
o
b
s
er
v
ed
s
t
ato
r
r
esis
tan
ce
s
at
is
f
ies t
h
is
r
elatio
n
s
h
ip
:
1
ˆ
1
(
)
2
(
)
R
s
A
A
p
(
33)
W
ith
:
11
1
(
)
1
A
K
i
d
d
i
q
q
L
d
L
q
(
3
4
)
11
1
(
)
1
A
K
i
d
d
i
q
q
L
d
L
q
(
3
5
)
I
n
E
q
u
atio
n
(
3
4
)
an
d
(
3
5
)
,
K1
an
d
K2
ar
e
t
h
e
p
o
s
iti
v
e
ad
ap
tatio
n
g
ai
n
s
b
y
m
ea
n
s
th
e
s
tato
r
r
esis
ta
n
ce
w
h
ich
ca
n
b
e
ad
j
u
s
ted
.
B
ased
o
n
ad
ap
tiv
e
co
n
tr
o
l
th
eo
r
y
,
th
e
s
tate
er
r
o
r
ca
n
b
e
ten
d
in
g
to
ze
r
o
b
y
m
ea
n
s
o
f
p
ar
a
m
eter
s
ad
j
u
s
tab
le
m
o
d
el
u
s
i
n
g
ad
ap
tiv
e
la
w
s
w
h
en
t
h
e
s
y
s
te
m
is
s
tab
le.
T
h
e
m
ea
n
in
g
is
to
f
ee
d
th
i
s
er
r
o
r
s
ig
n
al
to
p
o
lar
izatio
n
-
in
d
e
x
(
P
I
)
-
t
y
p
e
co
n
tr
o
ller
s
to
esti
m
ate
ad
ap
ti
v
el
y
t
h
e
u
n
k
n
o
w
n
s
tato
r
r
esis
ta
n
ce
.
So
,
th
e
ad
ap
tiv
e
la
w
o
f
s
tato
r
r
esis
ta
n
ce
is
w
r
itte
n
as:
1
1
1
1
ˆˆ
(
)
(
)
(
0
)
0
t
R
s
K
R
s
i
e
s
t
i
d
d
i
q
q
d
t
K
R
s
p
e
s
t
i
d
d
i
q
q
R
s
L
d
L
q
L
d
L
q
(
3
6
)
w
h
er
e
K
R
s
i
e
s
t
an
d
K
R
s
p
e
s
t
ar
e
th
e
P
I
s
tato
r
r
e
s
is
ta
n
ce
,
o
b
s
er
v
er
co
n
tr
o
ller
an
d
ˆ
(
0
)
Rs
is
th
e
i
n
itial
v
al
u
e
o
f
ˆ
Rs
5.
F
AULT
T
O
L
E
RAN
T
DR
I
V
E
T
O
P
O
L
O
G
Y
Var
io
u
s
f
a
u
lt
to
ler
an
t
in
v
er
ter
to
p
o
lo
g
ies
h
av
e
b
ee
n
p
r
o
p
o
s
e
d
in
th
e
liter
at
u
r
e.
T
h
e
f
a
ilu
r
e
s
t
h
at
m
a
y
in
v
o
l
v
e
t
h
e
in
v
er
ter
p
o
w
er
s
ta
g
e
ca
n
ta
k
e
p
lace
eith
er
in
t
h
e
s
w
itc
h
es
o
f
t
h
e
in
v
er
ter
o
r
in
th
eir
g
ate
co
m
m
a
n
d
cir
cu
itr
y
.
T
h
e
y
ar
e
m
an
y
f
au
l
t
y
s
it
u
atio
n
s
s
u
c
h
as:
o
p
en
cir
c
u
it
o
f
b
o
th
p
o
w
er
d
ev
ices
o
f
a
n
in
v
er
ter
leg
,
s
h
o
r
t
cir
cu
it
o
f
b
o
th
p
o
w
er
d
ev
ices
o
f
an
in
v
er
ter
leg
,
s
h
o
r
t
cir
cu
it
o
f
o
n
e
p
o
w
er
d
ev
ice
an
d
o
p
en
cir
cu
it
o
f
o
n
e
p
o
w
er
d
ev
ice.
I
n
th
i
s
p
ap
er
w
e
co
n
s
id
er
ed
o
n
l
y
th
e
s
h
o
r
t c
ir
c
u
it o
f
o
n
e
p
o
w
e
r
d
ev
ice
ca
s
e
F
ig
u
r
e
1.
Fig
u
r
e
1
.
Sin
g
le
s
w
i
tch
s
h
o
r
t
-
cir
cu
it i
n
v
er
ter
f
a
u
lt
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
579
–
590
586
5
.
1
.
Sim
ple Sw
it
ch
s
ho
rt
cir
cuit
F
a
ult
Det
ec
t
io
n
M
et
ho
d
T
h
e
s
w
itc
h
i
n
g
d
ev
ices
o
f
t
h
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
h
av
e
t
h
e
elec
tr
ical
an
d
th
er
m
al
s
tr
e
s
s
es
d
u
e
to
th
e
h
i
g
h
v
o
ltag
e
s
an
d
cu
r
r
en
t
s
in
th
e
P
MSM
d
r
iv
e.
Fu
r
th
er
m
o
r
e,
th
e
h
ig
h
s
w
i
tch
i
n
g
f
r
eq
u
en
c
y
b
y
th
e
p
u
l
s
e
w
id
t
h
m
o
d
u
latio
n
(
P
W
M)
g
iv
es
m
o
r
e
s
tr
ess
e
s
o
n
t
h
e
s
w
itc
h
in
g
d
ev
ice
s
.
T
h
e
p
r
o
b
ab
ilit
y
o
f
t
h
e
tr
o
u
b
les
w
h
ich
co
u
ld
h
ap
p
en
i
n
th
e
s
w
itc
h
i
n
g
d
ev
ice
s
is
q
u
ite
h
ig
h
a
s
co
m
p
ar
ed
w
it
h
t
h
e
o
th
er
co
m
p
o
n
en
t
s
o
f
t
h
e
d
r
iv
e
s
y
s
te
m
.
T
h
e
p
r
o
p
o
s
ed
m
eth
o
d
u
s
ed
f
o
r
d
etec
t
s
t
h
e
s
w
itc
h
s
h
o
r
t
cir
cu
i
t
i
s
b
ased
o
n
t
h
e
a
n
al
y
s
i
s
o
f
t
h
e
m
ea
n
v
alu
e
o
f
th
e
s
tato
r
cu
r
r
en
t
s
.
5
.
2
.
F
a
ult
t
o
ler
a
nt
inv
er
t
er
princip
le
T
h
e
ab
ilit
y
to
i
s
o
late
a
f
a
u
lt
y
p
h
ase
le
g
o
p
en
s
t
h
e
p
o
s
s
ib
ilit
y
o
f
in
tr
o
d
u
cin
g
a
s
p
ar
e
in
v
er
ter
leg
f
o
r
i
m
p
r
o
v
ed
f
a
u
lt
to
ler
a
n
ce
as
s
h
o
w
n
i
n
F
ig
u
r
e
2
.
T
h
e
co
n
f
i
g
u
r
atio
n
w
i
ll
b
e
r
ef
er
r
ed
to
as
t
h
e
p
h
ase
r
ed
u
n
d
a
n
t
to
p
o
lo
g
y
.
T
h
is
cir
cu
it
to
p
o
lo
g
y
i
n
co
r
p
o
r
ates
is
o
latin
g
T
Hs
an
d
f
u
s
es
i
n
o
n
l
y
t
h
r
ee
ac
tiv
e
leg
s
o
f
th
e
i
n
v
er
ter
[
1
8
]
,
[
1
9
]
,
[
20
]
.
A
s
p
ar
e
f
o
u
r
t
h
le
g
o
f
th
e
i
n
v
er
ter
i
s
co
n
n
ec
ted
in
p
lace
o
f
t
h
e
f
au
l
t
y
p
h
as
e
-
le
g
a
f
ter
t
h
e
f
au
l
t
is
o
latin
g
d
ev
ices
h
av
e
r
e
m
o
v
e
d
th
at
th
a
t le
g
f
r
o
m
th
e
s
y
s
te
m
.
Du
r
in
g
n
o
r
m
al
o
p
er
atio
n
,
th
i
s
s
p
ar
e
p
h
a
s
e
le
g
is
in
ac
ti
v
e.
As
r
esu
lt,
t
h
e
th
r
ee
T
R
I
A
C
s
s
h
o
w
n
i
n
th
e
to
p
o
lo
g
y
ac
t
as
s
tatic
tr
an
s
f
er
s
w
itc
h
es
to
co
n
n
ec
t
th
is
o
u
tp
u
t to
th
e
f
a
u
lted
p
h
ase
o
n
l
y
w
h
e
n
n
ee
d
ed
.
6.
RE
CO
NF
I
G
U
RAT
I
O
N
ST
RAT
E
G
Y
T
h
e
f
o
llo
w
i
n
g
s
c
h
e
m
e,
Fi
g
u
r
e
3
s
h
o
w
s
t
h
e
p
r
in
cip
le
o
f
t
h
e
co
n
tr
o
l
s
o
f
t
w
ar
e
th
a
t’
s
d
ev
elo
p
ed
to
s
tu
d
y
th
e
s
y
s
te
m
.
Fig
u
r
e
2
.
P
h
ase
r
ed
u
n
d
an
t to
p
o
lo
g
y
Fig
u
r
e
3
.
R
ec
o
n
f
ig
u
r
atio
n
s
ch
e
m
e
7.
F
AULT
D
E
T
E
C
T
I
O
N
A
ND
I
SO
L
A
T
I
O
N
Fig
u
r
e
4
s
h
o
w
s
t
h
e
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
FDI
m
et
h
o
d
w
h
er
e
m
o
v
in
g
w
i
n
d
o
w
r
m
s
v
al
u
e
o
f
ea
c
h
p
h
ase
c
u
r
r
en
t
is
ca
lcu
lated
f
i
r
s
t
an
d
th
e
n
t
w
o
cu
r
r
en
ts
ar
e
s
u
b
tr
ac
t
f
r
o
m
ea
c
h
o
th
er
.
I
n
h
ea
lt
h
y
o
p
er
atio
n
cu
r
r
en
ts
ar
e
b
alan
ce
h
e
n
ce
th
e
y
h
av
e
n
ea
r
l
y
eq
u
al
r
m
s
v
al
u
e
s
.
T
h
er
ef
o
r
e,
th
e
s
u
b
tr
ac
tio
n
w
il
l
p
r
o
d
u
ce
o
n
l
y
a
s
m
al
l
r
esid
u
e.
Ho
w
e
v
er
d
u
r
in
g
th
e
f
au
l
t
y
m
o
d
e
o
n
l
y
th
e
f
a
u
lt
y
p
h
ase
cu
r
r
e
n
t
b
ec
o
m
e
ze
r
o
w
h
ile
t
h
e
h
ea
l
th
y
p
h
ase
h
av
e
in
cr
ea
s
ed
m
a
g
n
itu
d
es.
Hen
ce
,
o
u
tp
u
t
o
f
t
w
o
s
u
b
tr
ac
t
b
lo
ck
s
s
h
o
w
lar
g
e
r
e
s
i
d
u
e.
Ho
w
e
v
er
,
o
n
l
y
o
n
e
p
h
ase
cu
r
r
en
t
s
h
o
w
s
p
o
s
iti
v
e
r
esid
u
e
h
e
n
ce
t
h
is
ca
n
b
e
u
s
ed
to
d
etec
t
an
d
id
en
tify
th
e
f
au
lt.
T
h
e
g
en
er
ated
r
esid
u
e
ca
n
b
e
n
o
r
m
alize
d
to
h
elp
th
e
s
etti
n
g
o
f
r
e
alis
tic
a
n
d
f
ix
ed
t
h
r
es
h
o
ld
v
al
u
e
f
o
r
d
etec
tin
g
th
e
f
au
lt.
Fo
r
ex
a
m
p
le
if
F_
a=
1
,
th
er
e
w
il
l
b
e
s
w
i
tch
i
n
g
o
f
th
e
co
n
tr
o
l
s
ig
n
als
f
r
o
m
t
h
e
le
g
A
to
t
h
at
o
f
th
e
r
ed
u
n
d
an
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
E
xten
d
ed
K
a
lma
n
F
ilter
fo
r
S
e
n
s
o
r
less
F
a
u
lt To
lera
n
t Co
n
tr
o
l o
f P
MS
M…
(
Mo
n
g
i Mo
u
ja
h
ed
)
587
Fig
u
r
e
4
.
Fau
lt d
etec
tio
n
b
lo
c
k
8.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
8
.
1
.
Sim
ula
t
io
n r
esu
lt
s
f
o
r
I
G
B
T
s
ho
rt
circ
uit
f
a
ult:
A
s
i
m
u
la
tio
n
m
o
d
el
h
as
b
ee
n
d
ev
elo
p
ed
f
o
r
test
i
n
g
th
e
f
au
lt
to
ler
an
t
P
MSM
Dr
i
v
e.
R
es
u
lts
ar
e
p
r
o
d
u
ce
d
f
o
r
h
ea
lth
y
m
o
d
e,
f
a
u
lt
y
m
o
d
e
an
d
to
ler
an
t i
n
v
er
ter
’
s
r
esp
o
n
s
e
to
a
f
a
u
lt c
a
s
e.
Fig
u
r
e
5
s
h
o
w
s
th
e
c
u
r
r
en
t
s
,
E
lectr
o
m
ag
n
etic
T
o
r
q
u
e
an
d
M
ec
h
an
ica
l
s
p
ee
d
r
esp
o
n
s
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