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K
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I
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d
u
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to
r
Vec
to
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C
las
s
ical
MR
AS
P
r
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MR
A
S
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p
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rig
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©
201
8
In
s
t
it
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C
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p
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A
uth
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air
Mo
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taf
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Dep
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lectr
ical
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g
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2
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@
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h
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f
r
1.
I
NT
RO
D
UCT
I
O
N
I
n
d
u
ctio
n
m
o
to
r
s
an
d
th
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f
ie
ld
-
o
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ted
co
n
tr
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l
(
FOC
)
ar
e
w
id
el
y
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s
ed
in
v
ar
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u
s
m
o
d
er
n
h
ig
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p
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f
o
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m
a
n
ce
d
r
iv
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ap
p
licatio
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an
d
ac
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p
tan
ce
i
n
t
h
e
elec
t
r
ic
d
r
iv
es
m
ar
k
ets
w
o
r
ld
w
id
e
[
1
]
,
[
2
]
.
Fo
r
m
an
y
y
ea
r
s
,
lo
ts
o
f
e
f
f
o
r
ts
h
a
v
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n
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ad
e
in
ac
d
r
i
v
es
to
eli
m
i
n
a
te
th
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s
p
ee
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s
en
s
o
r
m
o
u
n
ted
o
n
t
h
e
m
ac
h
i
n
e
s
h
a
f
t
th
is
tech
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o
lo
g
y
is
r
e
f
er
r
ed
as
s
en
s
o
r
less
co
n
tr
o
l
[
3
]
.
I
n
s
en
s
o
r
less
I
M
d
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iv
es,
s
ev
er
al
tec
h
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a
v
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o
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o
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to
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s
p
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esti
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atio
n
s
u
c
h
a
s
e
x
te
n
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ed
k
al
m
an
f
ilter
[
4
]
,
s
lid
in
g
m
o
d
e
co
n
tr
o
l
[
5
]
,
MR
A
S
[
6
]
,
ar
tif
icial
i
n
telli
g
e
n
ce
-
b
ased
e
s
ti
m
ato
r
s
[
7
]
an
d
d
ir
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t
ca
lc
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latio
n
m
et
h
o
d
.
T
h
is
m
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f
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er
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n
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ec
o
m
e
d
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m
in
an
t
at
lo
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p
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g
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n
cl
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d
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g
s
e
n
s
iti
v
it
y
to
m
ac
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n
e
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ar
am
eter
v
ar
iat
io
n
,
p
u
r
e
in
teg
r
at
io
n
ef
f
ec
t
s
an
d
in
v
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ter
n
o
n
li
n
ea
r
it
y
.
Am
o
n
g
t
h
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tech
n
iq
u
e
s
,
m
o
d
el
r
ef
er
en
ce
ad
ap
tiv
e
s
y
s
te
m
MR
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S
s
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h
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m
e
s
ar
e
t
h
e
m
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s
t
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m
m
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n
s
tr
ate
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ie
s
e
m
p
lo
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d
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e
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elat
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m
p
licit
y
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n
d
lo
w
co
m
p
u
tatio
n
al
ef
f
o
r
t [
8
]
,
[
9
]
.
R
o
to
r
f
lu
x
,
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
(
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MF)
an
d
r
ea
ctiv
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p
o
w
e
r
.
R
ec
en
t
r
esear
c
h
ac
tiv
ities
i
n
th
e
u
s
e
o
f
p
r
e
d
ictiv
e
co
n
tr
o
l
tech
n
iq
u
es
w
i
th
s
e
n
s
o
r
less
ap
p
licatio
n
s
[
1
0
]
-
[
1
3
]
.
I
n
th
is
s
t
u
d
y
p
r
ese
n
ted
,
th
e
p
r
ed
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e
MR
AS
s
p
ee
d
o
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s
er
v
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ased
f
r
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m
t
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e
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ass
ical
M
R
A
S
r
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to
r
f
l
u
x
s
ch
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m
e
as
s
o
ciate
d
w
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th
t
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ad
ap
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m
ec
h
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is
m
d
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f
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ite
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l
S
et
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el
P
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ed
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o
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tr
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–
MP
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)
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y
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s
in
g
a
s
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r
ch
alg
o
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ith
m
d
e
v
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ed
to
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s
u
r
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th
e
r
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to
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p
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s
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ac
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a
m
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d
m
in
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m
iz
in
g
t
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e
s
p
ee
d
tu
n
in
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er
r
o
r
s
ig
n
al
to
s
o
l
v
e
t
h
e
p
r
o
b
lem
s
as
s
o
ciate
d
w
it
h
t
h
e
a
d
ap
tio
n
m
ec
h
an
is
m
d
esig
n
[
1
4
]
.
T
h
e
s
i
m
u
latio
n
r
esu
lt
s
s
h
o
w
i
m
p
r
o
v
ed
p
er
f
o
r
m
an
ce
o
f
th
e
p
r
ed
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v
e
M
R
AS
s
c
h
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m
e
at
lo
w
s
p
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d
s
an
d
w
i
th
d
i
f
f
er
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n
t
lo
ad
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al
s
o
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m
p
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v
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t
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s
y
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te
m
r
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u
s
t
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ess
a
g
ai
n
s
t
m
o
to
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p
ar
a
m
eter
v
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n
s
.
T
h
e
p
ap
er
is
o
r
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an
ized
as
f
o
llo
w
s
;
f
ir
s
t,
s
tar
t
w
i
th
m
o
d
el
o
f
I
M,
I
FOC
v
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to
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co
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tr
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s
tr
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a
n
d
t
h
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co
n
v
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n
t
io
n
al
r
o
to
r
f
l
u
x
MR
A
S
o
b
s
er
v
er
.
T
h
en
,
a
p
r
ed
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e
MR
AS
u
s
ed
t
h
e
v
o
lta
g
e
m
o
d
el
o
f
t
h
e
cla
s
s
ica
l
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
.
4
,
Dec
em
b
er
2
0
1
8
:
1523
–
1
5
3
3
1524
MR
A
S
a
n
d
t
h
e
cu
r
r
en
t
m
o
d
e
l
r
ep
r
esen
t
i
n
th
e
r
o
to
r
r
ef
er
en
ce
f
r
a
m
e.
T
h
is
co
m
b
in
at
io
n
r
ea
lized
a
r
o
b
u
s
t
o
b
s
er
v
er
.
Af
ter
th
at,
t
h
e
s
i
m
u
l
atio
n
r
esu
le
s
ar
e
p
r
esen
ted
.
Fi
n
all
y
s
o
m
e
co
n
clu
d
i
n
g
r
e
m
ar
k
s
ar
e
s
tated
.
2.
M
AT
H
E
M
AT
I
CAL M
O
DE
L
S IM
s
AND
VE
C
T
O
R
CO
NT
RO
L
2
.
1
.
T
he
I
M
M
o
del
Af
ter
u
s
e
t
h
e
v
ec
to
r
co
n
tr
o
l,
th
e
i
n
d
u
ctio
n
m
ac
h
i
n
e
ca
n
b
e
r
ep
r
esen
ted
as
a
t
w
o
-
p
h
ase
m
o
to
r
in
a
s
tatio
n
ar
y
r
e
f
er
en
ce
f
r
a
m
e
)
,
(
an
d
th
e
n
co
n
v
er
t
in
s
y
n
ch
r
o
n
o
u
s
l
y
d
y
n
a
m
ic
r
ef
er
en
ce
f
r
am
e
)
,
(
q
d
b
y
ap
p
ly
i
n
g
P
ar
k
tr
an
s
f
o
r
m
atio
n
.
T
h
e
m
at
h
e
m
atica
l
m
o
d
els
o
f
an
I
M
ca
n
b
e
d
escr
ib
ed
b
y
t
h
e
f
o
llo
w
i
n
g
s
tate
eq
u
atio
n
s
[
4
]
,
[
7
]
,
[
1
5
]
,
[
1
6
]
.
CX
Y
BU
AX
X
(
1
)
W
ith
X
:
s
tate
v
ar
iab
les,
A
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tio
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in
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r
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s
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r
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J
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to
r
;
P
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e
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m
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r
T
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co
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n
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is
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t .
2
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2
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I
direct
Ro
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O
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T
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r
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d
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tain
a
g
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o
d
p
er
f
o
r
m
a
n
ce
I
M
d
r
iv
e
[
7
]
,
[
1
7
]
,
[
1
8
]
.
Fo
r
v
ec
to
r
co
n
tr
o
l,
th
e
r
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r
f
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x
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o
r
ien
t
ed
in
th
e
d
-
a
x
is
r
rd
rq
,
0
(
4
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
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lec
&
Dr
i
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y
s
t
I
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MRA
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(
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1525
T
h
e
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r
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en
c
y
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o
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tain
ed
as
sq
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m
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(
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3.
T
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T
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ig
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1
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y
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a
tical
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th
e
r
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ce
an
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d
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ate
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Fig
u
r
e
1
.
T
h
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class
ical
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R
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ates
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h
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n
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e
w
r
itte
n
as [
3
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,
[
1
9
]
-
[
2
1
]
.
s
s
s
s
s
m
r
r
pi
L
i
R
V
L
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p
(
7
)
s
s
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s
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m
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p
(
8
)
w
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r
,
r
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e
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e
alp
h
a
a
n
d
b
eta
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ce
r
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to
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l
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x
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n
t
s
;
s
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e
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r
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en
t;
s
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,
s
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th
e
s
tato
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g
e,
all
ex
p
r
ess
ed
in
a
s
ta
tio
n
ar
y
r
e
f
er
en
ce
;
p
is
th
e
lap
lacia
n
.
T
h
e
ad
ap
tiv
e
m
o
d
el
r
ep
r
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t
s
th
e
c
u
r
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en
t
m
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el,
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e
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f
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m
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t
h
e
r
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o
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f
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m
p
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ts
ar
e
ex
p
r
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s
ed
in
ter
m
s
o
f
s
ta
to
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r
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n
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.
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h
e
r
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to
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n
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ts
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e
g
i
v
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n
b
y
[
3
]
,
[
1
9
]
-
[
2
1
]
.
r
r
r
r
s
r
m
r
T
i
T
L
p
ˆ
ˆ
1
ˆ
(
9
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r
r
r
r
s
r
m
r
T
i
T
L
p
ˆ
ˆ
1
ˆ
(
1
0
)
w
h
er
e
r
ˆ
,
r
ˆ
ar
e
th
e
alp
h
a
an
d
b
eta
ad
ap
tiv
e
r
o
to
r
f
lu
x
co
m
p
o
n
en
t
s
;
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
.
4
,
Dec
em
b
er
2
0
1
8
:
1523
–
1
5
3
3
1526
T
h
e
ad
ap
tatio
n
m
ec
h
a
n
is
m
g
en
er
ates
th
e
v
al
u
e
o
f
th
e
o
b
s
er
v
er
s
p
ee
d
.
I
t
i
s
b
ased
m
ai
n
l
y
o
n
t
h
e
h
y
p
er
s
tab
ili
t
y
th
eo
r
y
th
e
co
n
v
en
tio
n
al
r
o
to
r
f
lu
x
M
R
A
S
s
ch
e
m
e,
t
h
is
i
s
p
er
f
o
r
m
ed
b
y
d
ef
i
n
in
g
a
s
p
ee
d
tu
n
i
n
g
s
ig
n
al
to
b
e
m
i
n
i
m
ized
b
y
a
P
I
co
n
tr
o
ller
,
w
h
ich
g
e
n
er
ate
s
t
h
e
o
b
s
er
v
er
s
p
ee
d
th
a
t
i
s
f
ee
d
b
ac
k
to
th
e
ad
ap
tiv
e
m
o
d
el.
T
h
e
er
r
o
r
s
p
e
ed
is
th
e
d
i
f
f
er
en
ce
a
m
o
n
g
t
h
e
p
r
o
d
u
ct
o
f
r
o
to
r
f
lu
x
o
f
r
e
f
e
r
en
ce
an
d
ad
ap
tiv
e
m
o
d
el.
T
h
e
ex
p
r
ess
io
n
s
f
o
r
th
e
s
p
ee
d
tu
n
i
n
g
s
ig
n
al
a
n
d
th
e
o
b
s
er
v
er
s
p
ee
d
ca
n
b
e
g
iv
en
a
s
[
3
]
.
r
r
r
r
ˆ
ˆ
(
1
1
)
p
k
k
i
p
r
(
1
2
)
T
h
e
v
elo
cit
y
v
ar
ian
t
cr
o
s
s
co
u
p
lin
g
d
u
e
to
s
p
ee
d
r
o
to
r
d
ep
e
n
d
en
t
co
m
p
o
n
en
t
s
i
n
th
e
ad
ap
tiv
e
m
o
d
el
ca
n
g
u
id
e
to
an
in
s
tab
ilit
y
i
s
s
u
e
.
T
h
er
ef
o
r
e,
it
is
c
o
m
m
o
n
f
o
r
th
e
r
o
t
o
r
f
lu
x
eq
u
atio
n
r
ep
r
esen
ted
in
t
h
e
r
o
to
r
r
ef
er
en
ce
f
r
a
m
e
to
b
e
u
s
ed
[
2
2
]
.
sd
r
m
rd
i
p
T
L
1
ˆ
(
1
3
)
sq
r
m
rq
i
p
T
L
1
ˆ
(
1
4
)
w
h
er
e
rd
ˆ
an
d
rq
ˆ
ar
e
th
e
r
o
to
r
f
lu
x
co
m
p
o
n
en
ts
all
ex
p
r
ess
ed
in
t
h
e
r
o
to
r
r
ef
er
en
ce
f
r
a
m
e.
T
h
e
i
m
p
le
m
en
ta
tio
n
o
f
th
e
r
o
to
r
f
r
a
m
e
-
b
ased
f
l
u
x
m
o
d
el
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
Fig
u
r
e
2
.
T
h
e
A
d
ap
taiv
e
m
o
d
e
l in
th
e
r
o
to
r
r
ef
er
en
ce
f
r
a
m
e
4.
T
H
E
P
R
E
DIC
T
I
VE
M
RAS
SPEE
D
O
B
SE
RV
E
R
T
h
e
p
r
ed
ictiv
e
MR
A
S
s
p
ee
d
o
b
s
er
v
er
(
P
MRA
S)
i
s
d
ev
elo
p
ed
f
r
o
m
th
e
Fi
n
ite
C
o
n
tr
o
l
Set
Mo
d
el
P
r
ed
ictiv
e
C
o
n
tr
o
l
(
FC
S
–
MP
C
)
.
T
h
e
MP
C
is
a
m
o
d
er
n
d
i
g
i
tal
co
n
tr
o
l
tech
n
iq
u
e
t
h
at
o
f
f
er
s
a
p
o
w
er
f
u
l
to
o
l
to
d
ea
l
w
it
h
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n
tr
o
l
p
r
o
b
lem
s
o
f
p
o
w
er
co
n
v
er
ter
s
an
d
elec
tr
ic
d
r
iv
es.
T
h
e
m
ai
n
p
r
o
m
in
e
n
ce
s
o
f
FC
S
–
MP
C
ar
e
its
co
m
p
ac
t
d
esi
g
n
a
n
d
f
le
x
i
b
ilit
y
to
in
c
lu
d
e
m
an
y
ad
d
iti
o
n
al
co
n
tr
o
l
tar
g
ets.
B
y
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n
s
id
er
in
g
o
n
l
y
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i
n
ite
p
o
s
s
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le
s
tates o
f
t
h
e
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n
v
er
ter
,
s
o
lv
i
n
g
t
h
e
co
s
t
f
u
n
ctio
n
w
o
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l
d
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e
s
tr
aig
h
t
f
o
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w
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d
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o
w
n
i
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F
ig
u
r
e
3
[
2
3
]
,
[
2
4
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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P
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w
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&
Dr
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MRA
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1527
F
ig
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i
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r
r
r
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i
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,
ˆ
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(
1
7
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Af
ter
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t
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[
1
4
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.
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r
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60
2
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x
n
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r
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a
v
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i
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r
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p
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s
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,
x
: Reco
r
d
ed
o
f
th
e
ch
an
g
e
i
n
r
o
to
r
p
o
s
itio
n
,
s
t
: Si
m
p
le
p
er
io
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
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t J
P
o
w
E
lec
&
Dr
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S
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,
Vo
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9
,
No
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4
,
Dec
em
b
er
2
0
1
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:
1523
–
1
5
3
3
1528
Fig
u
r
e
4
.
T
h
e
r
o
t
o
r
p
o
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s
e
ar
ch
alg
o
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ith
m
5.
SI
M
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AT
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R
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S
UL
T
S
AND
DIS
CUSS
I
O
NS
I
n
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s/
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
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w
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lec
&
Dr
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S
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I
SS
N:
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....
(
Mo
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ta
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ir
)
1529
Fig
u
r
e
5
.
B
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ate
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ith
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(
b
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d
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(
e)
(
f
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Fig
u
r
e
6
.
s
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m
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latio
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en
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to
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P
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p
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,
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b
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o
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c)
p
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ase
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r
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r
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ts
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e)
alp
h
a
&
b
eta
ax
is
r
o
to
r
f
lu
x
e
s
,
(
f
)
to
r
q
u
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8
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I
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w
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Dr
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t
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Vo
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9
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No
.
4
,
Dec
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er
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1523
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1530
A
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d
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to
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e
s
at
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to
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u
lts
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t
h
e
p
r
o
p
o
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ed
o
b
s
er
v
er
s
h
o
w
a
h
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g
h
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
,
th
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FO
C
co
n
tr
o
l
tech
n
iq
u
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e
n
s
u
r
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a
g
o
o
d
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eg
u
lat
io
n
also
a
d
y
n
a
m
ic
to
r
q
u
e
r
esp
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s
e
an
d
f
u
ll
d
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lin
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l
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x
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d
to
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u
e.
T
h
e
r
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to
r
s
p
ee
d
o
b
s
er
v
ed
p
r
ec
is
e
tr
ac
k
in
g
th
e
r
ef
er
e
n
ce
in
cl
u
d
in
g
lo
w
a
n
d
ze
r
o
s
p
ee
d
,
m
o
r
eo
v
er
r
o
b
u
s
t
n
es
s
a
g
ain
s
t
a
r
ev
er
s
al
s
p
ee
d
,
th
e
l
o
ad
to
r
q
u
e
d
is
tu
r
b
an
ce
v
ar
ia
t
io
n
a
n
d
v
er
y
r
ap
id
r
ej
ec
tio
n
.
I
n
Fi
g
u
r
e
7
,
ill
u
s
tr
ate
s
t
h
e
co
m
p
ar
at
iv
e
s
e
n
s
o
r
less
p
er
f
o
r
m
an
ce
o
f
i
n
d
u
ctio
n
m
o
to
r
d
r
iv
e
b
et
w
ee
n
C
MR
AS a
n
d
P
MRAS o
b
s
er
v
e
r
s
,
th
e
r
o
to
r
s
p
ee
d
o
b
s
er
v
er
o
f
C
MR
AS,
m
ea
s
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r
ed
an
d
r
ef
er
e
n
ce
d
ep
icted
in
(
a
)
,
th
e
r
o
to
r
s
p
ee
d
o
b
s
er
v
er
o
f
P
MR
A
S ,
m
ea
s
u
r
ed
an
d
r
e
f
er
en
ce
d
ep
icted
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(
b
)
,
s
p
ee
d
er
r
o
r
o
f
C
M
R
A
S
d
ep
icted
in
(
c)
,
s
p
ee
d
er
r
o
r
o
f
P
MRA
S
d
ep
icted
in
(
d
)
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
7
.
S
i
m
u
lat
io
n
r
es
u
lts
o
f
co
m
p
ar
ativ
e
s
en
s
o
r
less
p
er
f
o
r
m
an
ce
o
f
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n
d
u
c
tio
n
m
o
to
r
d
r
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v
e
b
et
w
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n
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MR
AS a
n
d
P
MR
A
S o
b
s
er
v
e
r
s
(
a)
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o
to
r
s
p
ee
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C
MRAS,
(
b
)
r
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to
r
s
p
ee
d
P
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c)
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p
ee
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er
r
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r
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A
S,
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d
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s
p
ee
d
e
r
r
o
r
P
MRA
S
Fo
r
th
is
i
m
p
o
r
ta
n
t
r
es
u
lt
s
o
b
tain
ed
,
th
e
P
MR
A
S
s
h
o
w
s
u
p
er
io
r
it
y
i
n
co
m
p
ar
is
o
n
w
it
h
C
M
R
A
S.
T
h
e
p
r
ed
ictiv
e
o
b
s
er
v
er
p
r
o
v
ed
a
b
etter
tr
ac
k
in
g
b
et
w
ee
n
t
h
e
r
ef
er
en
ce
a
n
d
th
e
ad
ap
tiv
e
m
o
d
el;
also
r
ej
ec
t
th
e
lo
ad
to
r
q
u
e
th
r
ee
ti
m
es
f
aster
t
h
an
t
h
e
C
MR
AS.
I
n
F
i
g
u
r
e
8
,
ill
u
s
tr
ate
s
t
h
e
s
en
s
o
r
less
p
er
f
o
r
m
an
ce
o
f
in
d
u
cti
o
n
m
o
to
r
d
r
iv
e
w
it
h
i
m
p
ac
t
o
f
r
o
to
r
an
d
s
tato
r
r
esis
ta
n
ce
s
ch
a
n
g
e,
th
e
r
o
to
r
s
p
ee
d
o
b
s
er
v
er
o
f
C
MR
A
S
an
d
r
e
f
er
en
ce
d
ep
icted
in
(
a,
e)
,
th
e
r
o
to
r
s
p
ee
d
o
b
s
er
v
er
o
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S
d
ep
icte
d
in
(
b
,
f
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,
s
p
ee
d
er
r
o
r
o
f
C
MR
A
S
d
ep
icted
in
(
c,
i)
,
s
p
ee
d
er
r
o
r
o
f
P
MRA
S
d
ep
icted
in
(
d
,
j
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.
Fo
r
th
i
s
s
ig
n
i
f
ica
n
t
r
e
s
u
l
ts
,
t
h
e
P
MR
AS
s
h
o
w
ag
ai
n
à
b
e
tter
q
u
alit
y
a
n
d
p
er
f
o
r
m
an
ce
,
also
h
i
g
h
r
o
b
u
s
tn
es
s
ag
ai
n
s
t
th
e
r
o
to
r
an
d
s
tato
r
r
esis
ta
n
ce
s
ch
a
n
g
e.
Fig
u
r
es
8
(a
)
an
d
(
b
)
s
h
o
w
th
e
r
o
to
r
s
p
ee
d
o
f
b
o
th
o
b
s
er
v
er
s
w
o
r
k
p
er
f
ec
t
.
I
n
F
i
g
u
r
e
s
8
(c
)
an
d
(
d
)
s
h
o
w
th
e
P
MR
A
S
g
i
v
e
a
h
i
g
h
r
o
b
u
s
t
n
e
s
s
an
d
m
o
r
e
s
tab
ilit
y
ag
ain
s
t
th
e
r
o
to
r
r
esis
tan
ce
ch
an
g
e.
Fi
g
u
r
e
8
(e
)
an
d
(
f
)
s
h
o
w
ag
ain
th
e
P
MR
A
S
a
b
etter
r
o
b
u
s
t
n
ess
a
g
ain
s
t
th
e
s
tato
r
r
esis
ta
n
ce
ch
a
n
g
e
w
i
th
s
tead
y
a
n
d
less
o
s
c
illatio
n
s
t
h
e
n
th
e
C
MR
AS.
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
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MRA
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ee
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1531
(
a)
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b
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c)
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d
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e)
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f
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j
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u
r
e
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.
S
i
m
u
latio
n
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esu
l
ts
o
f
s
en
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o
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les
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er
f
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m
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ce
o
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i
n
d
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ctio
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to
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d
r
iv
e
w
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th
i
m
p
ac
t o
f
r
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to
r
an
d
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r
r
esis
ta
n
ce
s
ch
a
n
g
e.
(
a,
e)
r
o
to
r
s
p
ee
d
C
MR
A
S,
(
b
,
f
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r
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to
r
s
p
ee
d
P
MRA
S,
(
c,
i)
s
p
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er
r
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r
C
MRAS,
(
d
,
j
)
s
p
ee
d
e
r
r
o
r
P
MRA
S
6.
CO
NCLU
SI
O
N
I
n
th
i
s
p
ap
er
,
a
p
r
ed
ictiv
e
m
o
d
el
r
ef
er
en
ce
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tiv
e
s
y
s
te
m
(
P
MRAS)
r
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to
r
s
p
ee
d
o
b
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er
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er
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o
r
s
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s
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r
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u
ctio
n
m
o
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d
r
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es
h
as
b
ee
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r
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ted
.
T
h
ese
m
o
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els
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te
f
r
o
m
t
h
e
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s
ical
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f
l
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d
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ess
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R
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h
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p
c
h
a
n
ge
R
s
50%
s
t
e
p
c
h
a
n
ge
R
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
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t J
P
o
w
E
lec
&
Dr
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S
y
s
t
,
Vo
l.
9
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No
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Dec
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b
er
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–
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to
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len
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o
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s
ag
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n
s
t
e
x
ter
n
al
d
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s
tu
r
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ce
s
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d
m
o
to
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p
ar
am
et
er
v
ar
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n
u
n
d
er
d
if
f
er
en
t
o
p
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atin
g
co
n
d
itio
n
s
,
esp
ec
iall
y
at
ze
r
o
s
p
ee
d
s
.
RE
F
E
R
E
NC
E
S
[1
]
B.
Dru
ry
,
“T
h
e
Co
n
tro
l
T
e
c
h
n
iq
u
e
s Driv
e
s an
d
Co
n
tr
o
ls
Ha
n
d
b
o
o
k
,”
L
o
n
d
o
n
,
U.K
.
,
I
n
st.
El
e
c
t.
En
g
.
,
2
0
0
1
.
[2
]
J.
W
.
F
in
c
h
a
n
d
D.
G
iao
u
ris,
“
Co
n
tro
ll
e
d
A
C
e
lec
tri
c
a
l
d
riv
e
s,”
IE
EE
sTra
n
s.
In
d
.
El
e
c
tro
n
.
,
v
o
l
/i
ss
u
e
:
55
(
1
)
,
p
p
.
1
–
1
1
,
2
0
0
8
.
[3
]
P
.
V
a
s,
“
S
e
n
so
rles
s
V
e
c
to
r
a
n
d
D
irec
t
T
o
rq
u
e
Co
n
tro
l
,”
L
o
n
d
o
n
,
U
.
K.
,
Ox
f
o
rd
Un
iv
.
P
re
ss
,
1
9
9
8
.
[4
]
B.
K.
Bo
se
,
“
M
o
d
e
r
n
P
o
w
e
r
El
e
c
t
ro
n
ics
a
n
d
A
C
Driv
e
s.
Ne
w
De
lh
i
,
”
In
d
ia
,
P
re
n
ti
c
e
-
Ha
ll
,
p
p
.
3
3
3
–
4
3
5
,
2
0
0
6
.
[5
]
Co
m
a
n
e
sc
u
M
.
a
n
d
Xu
L
.
,
“
S
li
d
in
g
m
o
d
e
M
RA
S
sp
e
e
d
e
stim
a
to
rs
f
o
r
se
n
so
rles
s
v
e
c
to
r
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
a
c
h
in
e
,
”
IEE
E
T
r
a
n
s.
I
n
d
.
El
e
c
t
ro
n
.
,
v
o
l
/i
ss
u
e
:
53
(
1
)
,
p
p
.
1
4
6
–
1
5
3
,
2
0
0
6
.
[6
]
Kw
o
n
Y.
A
.
a
n
d
Jin
D.
W
.
,
“
A
n
o
v
e
l
M
RA
S
b
a
se
d
sp
e
e
d
se
n
so
rle
ss
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
to
r,
”
P
ro
c
.
2
5
t
h
An
n
u
.
Co
n
f.
IEE
E
I
n
d
.
El
e
c
tro
n
.
S
o
c
.
,
p
p
.
9
3
3
–
9
3
8
,
1
9
9
9
.
[7
]
G
.
I
m
a
n
e
,
e
t
a
l
.
,
“
Ne
u
ra
l
A
d
a
p
ti
v
e
Ka
lma
n
F
il
ter
f
o
r
S
e
n
s
o
rles
s
Ve
c
to
r
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
t
o
r
,”
In
ter
n
a
ti
o
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
m (
I
J
PE
DS
)
,
v
o
l
/i
ss
u
e
:
8
(4
),
2
0
1
7
.
[8
]
J.
W
.
F
in
c
h
a
n
d
D.
G
iao
u
ris,
“
Co
n
tro
ll
e
d
A
C
e
lec
tri
c
a
l
d
riv
e
s,”
IE
EE
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l
/i
ss
u
e
:
55
(
1
)
,
p
p
.
1
–
1
1
,
2
0
0
8
.
[9
]
M
.
Ra
sh
e
d
a
n
d
A
.
F
.
S
tro
n
a
c
h
,
“
A
sta
b
le
b
a
c
k
-
EM
F
M
RA
S
-
b
a
s
e
d
se
n
so
rles
s
lo
w
sp
e
e
d
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
in
se
n
siti
v
e
to
sta
to
r
re
sista
n
c
e
v
a
riatio
n
,
”
I
n
st.
El
e
c
tr.
E
n
g
.
Pr
o
c
.
El
e
c
tr.
Po
we
r
Ap
p
l
.
,
v
o
l
/i
ss
u
e
:
1
5
1
(
6
)
,
p
p
.
6
8
5
–
6
9
3
,
2
0
0
4
.
[1
0
]
J.
G
u
z
in
sk
i
a
n
d
H.
A
b
u
-
Ru
b
,
“
S
p
e
e
d
se
n
so
rles
s
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
w
it
h
p
re
d
ictiv
e
c
u
rre
n
t
c
o
n
tro
ll
e
r,
”
IEE
E
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l
/i
ss
u
e
:
60
(
2
)
,
p
p
.
6
9
9
–
7
0
9
,
2
0
1
3
.
[1
1
]
P
.
A
lk
o
rta,
e
t
a
l.
,
“
Ef
f
i
c
ien
t
m
u
lt
iv
a
riab
le
g
e
n
e
ra
li
z
e
d
p
re
d
ictiv
e
c
o
n
tro
l
f
o
r
se
n
so
r
les
s
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,”
IEE
E
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l
/i
ss
u
e
:
61
(
9
)
,
p
p
.
5
1
2
6
–
5
1
3
4
,
2
0
1
4.
[1
2
]
F
.
W
a
n
g
,
e
t
a
l.
,
“
En
c
o
d
e
rles
s
f
i
n
it
e
-
sta
te
p
re
d
ictiv
e
to
r
q
u
e
c
o
n
tr
o
l
f
o
r
in
d
u
c
ti
o
n
m
a
c
h
in
e
w
it
h
a
c
o
m
p
e
n
sa
ted
M
RA
S
,
”
IEE
E
T
ra
n
s.
In
d
.
I
n
f
o
rm
a
t
.
,
v
o
l
/i
ss
u
e
:
10
(
2
)
,
p
p
.
1
0
9
7
–
1
1
0
6
,
2
0
1
4
.
[1
3
]
J.
Ru
a
n
a
n
d
S
.
W
a
n
g
,
“
A
p
re
d
ictio
n
e
rro
r
m
e
th
o
d
-
b
a
se
d
se
lf
c
o
m
m
issio
n
i
n
g
sc
h
e
m
e
f
o
r
p
a
ra
m
e
ter
i
d
e
n
ti
f
ica
ti
o
n
o
f
in
d
u
c
ti
o
n
m
o
to
rs i
n
se
n
so
rles
s d
ri
v
e
s,”
IEE
E
T
ra
n
s.
En
e
rg
y
C
o
n
v
e
rs
.
,
v
o
l
/i
ss
u
e
:
30
(
1
)
,
p
p
.
3
8
4
–
3
9
3
,
2
0
1
5
.
[1
4
]
Y
.
B.
Zb
e
d
e
,
e
t
a
l.
,
“
M
o
d
e
l
P
re
d
i
c
ti
v
e
M
R
A
S
Esti
m
a
to
r
f
o
r
S
e
n
so
rles
s
In
d
u
c
ti
o
n
M
o
t
o
r
Driv
e
s
,
”
IE
EE
T
ra
n
s.
In
d
.
El
e
c
tro
n
.
,
v
o
l
/i
ss
u
e
:
63
(
6
)
,
p
p
.
3
5
1
1
–
3
5
2
1
,
2
0
1
6
.
[1
5
]
A
.
A
lal
e
i,
e
t
a
l.
,
“
S
e
lf
-
T
u
n
in
g
F
u
z
z
y
B
a
se
d
P
I
Co
n
tr
o
ll
e
r
f
o
r
DFIM
P
o
w
e
re
d
b
y
Tw
o
M
a
tr
ix
Co
n
v
e
rters
,”
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
m (
IJ
PE
DS
)
,
v
o
l
/
issu
e
:
7
(
3
),
2
0
1
6
.
[1
6
]
A
.
O
m
a
ri,
e
t
a
l
.
,
“
d
S
P
A
CE
DS
1
1
0
4
Ba
se
d
Re
a
l
T
im
e
Im
p
le
m
e
n
tatio
n
o
f
S
li
d
in
g
M
o
d
e
C
o
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
o
to
r
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m (
IJ
PE
DS
)
,
v
o
l
/i
ss
u
e
:
9
(2
),
2
0
1
8
.
[1
7
]
S
.
Hu
a
n
g
,
e
t
a
l.
,
“
T
h
e
v
e
c
to
r
c
o
n
t
ro
l
b
a
se
d
o
n
M
RA
S
sp
e
e
d
se
n
so
rles
s
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
,
”
Pro
c
.
W
o
rld
Co
n
g
r.
In
tell.
C
o
n
tr
o
l
A
u
to
m
a
t.
,
v
o
l.
5
,
p
p
.
4
5
5
0
–
4
5
5
3
,
2
0
0
4
.
[1
8
]
M
.
M
o
n
tan
a
ri,
e
t
a
l
.
,
“
S
p
e
e
d
se
n
so
rles
s
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
to
r
b
a
se
d
o
n
in
d
irec
t
f
ield
-
o
rien
tati
o
n
,
”
Pro
c
.
I
n
d
.
Ap
p
l
.
Co
n
f
.
,
v
o
l.
3
,
p
p
.
1
8
5
8
–
1
8
6
5
,
2
0
0
0
.
[1
9
]
C.
S
c
h
a
u
d
e
r,
“
A
d
a
p
ti
v
e
sp
e
e
d
id
e
n
ti
f
ica
ti
o
n
f
o
r
v
e
c
to
r
c
o
n
tro
l
o
f
in
d
u
c
t
io
n
m
o
to
rs
w
it
h
o
u
t
ro
tati
o
n
a
l
tran
sd
u
c
e
rs,”
IEE
E
T
ra
n
s.
I
n
d
.
Ap
p
l.
,
v
o
l
/i
ss
u
e
:
28
(
5
)
,
p
p
.
1
0
5
4
–
1
0
6
1
,
1
9
9
2
.
[2
0
]
H
.
M
o
h
a
m
m
e
d
a
n
d
A
.
M
e
ro
u
f
e
l
,
“
Co
n
tri
b
u
ti
o
n
t
o
th
e
A
rti
f
ica
l
Ne
u
ra
l
Ne
t
w
o
rk
S
p
e
e
d
Esti
m
a
to
r
in
a
De
g
ra
d
e
d
M
o
d
e
f
o
r
S
e
n
so
r
-
L
e
ss
F
u
z
z
y
Dire
c
t
Co
n
tro
l
o
f
T
o
rq
u
e
A
p
p
li
c
a
ti
o
n
Us
in
g
Du
a
l
S
tars
In
d
u
c
ti
o
n
M
a
c
h
in
e
,
”
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
m (
IJ
PE
DS
)
,
v
o
l
/
issu
e
:
5
(
4
),
2
0
1
5
.
[2
1
]
M
.
Ho
rc
h
,
e
t
a
l.
,
“
M
RA
S
-
b
a
se
d
S
e
n
so
rles
s
S
p
e
e
d
In
teg
ra
l
Ba
c
k
st
e
p
p
in
g
Co
n
tro
l
f
o
r
In
d
u
c
ti
o
n
M
a
c
h
in
e
,
u
si
n
g
a
F
lu
x
Ba
c
k
ste
p
p
in
g
Ob
se
rv
e
r
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(
IJ
PE
DS
)
,
v
o
l
/i
ss
u
e
:
8
(4
),
2
0
1
7
.
[2
2
]
P
.
L
.
Ja
n
se
n
a
n
d
R.
D.
L
o
re
n
z
,
“
A
p
h
y
sic
a
ll
y
in
sig
h
t
f
u
l
a
p
p
ro
a
c
h
to
th
e
d
e
sig
n
a
n
d
a
c
c
u
ra
c
y
a
ss
e
ss
m
e
n
t
o
f
f
lu
x
o
b
se
rv
e
rs f
o
r
f
ield
o
rien
ted
i
n
d
u
c
ti
o
n
m
a
c
h
in
e
d
riv
e
s,”
IEE
E
T
ra
n
s.
In
d
.
Ap
p
l
.
,
v
o
l
/i
ss
u
e
:
30
(
1
)
,
p
p
.
1
0
1
–
1
1
0
,
1
9
9
4
.
[2
3
]
S
.
S
a
e
id
i
a
n
d
R.
Ke
n
n
e
l,
“
A
n
o
v
e
l
a
lg
o
rit
h
m
f
o
r
m
o
d
e
l
p
re
d
ictiv
e
c
o
n
tro
l
o
f
A
C
e
le
c
tri
c
a
l
d
riv
e
s,”
Pro
c
.
2
n
d
In
t.
El
e
c
t.
Dr
ive
s P
ro
d
.
C
o
n
f
.
(
EDPC),
p
p
.
7
8
–
84
,
2
0
1
2
.
[2
4
]
S
.
A
.
Da
v
a
ri,
e
t
a
l.
,
“
A
n
im
p
ro
v
e
d
F
CS
M
P
C
a
lg
o
rit
h
m
f
o
r
a
n
in
d
u
c
ti
o
n
m
o
to
r
w
it
h
a
n
im
p
o
se
d
o
p
ti
m
ize
d
w
e
i
g
h
ti
n
g
f
a
c
to
r,
”
IEE
E
T
ra
n
s
.
P
o
we
r E
lec
tro
n
.
,
v
o
l
/i
ss
u
e
:
27
(
3
)
,
p
p
.
1
5
4
0
–
1
5
5
1
,
2
0
1
2
.
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