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Fig
u
r
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Fig
u
r
e
2
.
E
q
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t
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el
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f
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P
MSM
T
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w
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t
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d
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I
,
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e
T
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I
V
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m
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2.
M
AT
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CAL M
O
DE
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N
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in
F
ig
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1
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T
h
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ex
p
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b
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s
id
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ca
s
e
[
1
3
]
.
Fig
u
r
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3
s
h
o
w
s
t
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e
eq
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i
v
ale
n
t
cir
cu
i
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o
f
T
L
P
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s
tato
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w
i
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d
in
g
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f
ac
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ate
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latio
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s
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eq
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t d
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s
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Fig
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.
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cc
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d
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tio
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t c
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et
w
ee
n
g
a
s
s
p
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s
[
1
3
]
.
Gas
s
p
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ar
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as
s
u
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lin
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m
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t
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w
s
:
(
1
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ti
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f
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co
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icie
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f
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att
in
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an
d
y
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e
s
p
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d
is
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m
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n
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
0
8
8
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8
694
IJ
PEDS
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7
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4
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4
1
9
1412
T
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o
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f
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ted
to
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s
tr
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in
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g
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4
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h
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e
q
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atio
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tica
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ir
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ex
p
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ess
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s
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n
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Ne
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s
s
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n
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la
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:
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(
2
)
Fig
u
r
e
3
.
E
q
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n
t e
lectr
ic
c
ir
cu
it o
f
s
tato
r
w
i
n
d
i
n
g
Fig
u
r
e
4
.
Fo
r
ce
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al
y
s
i
s
f
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r
p
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s
to
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er
e
is
m
a
s
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o
f
p
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n
,
is
f
r
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n
co
ef
f
icien
t
b
et
w
ee
n
p
is
to
n
an
d
ca
s
in
g
,
is
s
tif
f
n
e
s
s
co
ef
f
icien
t
o
f
eq
u
iv
ale
n
t
s
p
r
in
g
,
̇
̇
̇
is
p
is
to
n
v
elo
cit
y
r
esp
ec
ti
v
e
to
t
h
e
ca
s
e,
i
s
p
is
to
n
d
is
p
lace
m
e
n
t r
esp
ec
ti
v
e
to
th
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ase,
is
t
h
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p
is
to
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is
p
la
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m
en
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n
d
is
th
e
ca
s
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d
is
p
lac
e
m
en
t.
T
h
e
s
u
b
j
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ted
f
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ce
s
to
ca
s
e
a
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e
s
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n
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n
Fi
g
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r
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5
.
A
cc
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d
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g
to
Fi
g
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r
e
5
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ca
s
e
is
s
u
b
j
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ted
to
f
o
u
r
f
o
r
ce
s
:
i.
C
o
u
n
ter
f
o
r
ce
b
y
t
h
e
p
is
to
n
-
g
a
s
s
p
r
in
g
-
d
a
m
p
er
s
u
b
s
y
s
te
m
ii.
Fric
tio
n
f
o
r
ce
b
et
w
ee
n
t
h
e
ca
s
e
an
d
n
ei
g
h
b
o
r
in
g
iii.
E
x
ter
n
al
s
p
r
in
g
f
o
r
ce
iv
.
Fo
r
ce
f
r
o
m
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ck
s
u
b
j
ec
ted
to
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s
e
b
ec
au
s
e
o
f
i
m
p
ac
t.
E
q
u
atio
n
i
n
v
er
tical
d
ir
ec
tio
n
i
s
o
b
tain
ed
as (
3
)
:
̈
̇
(
3
)
w
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is
th
e
m
as
s
o
f
ca
s
i
n
g
,
is
th
e
f
r
ict
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icie
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t
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et
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en
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n
d
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r
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d
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s
tiff
n
ess
co
ef
f
icie
n
t
o
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x
t
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r
n
a
l
s
p
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,
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s
t
h
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ex
t
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r
n
a
l
s
p
r
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g
f
o
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e
,
̇
i
s
t
h
e
f
r
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n
f
o
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ce
b
et
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n
th
e
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s
e
an
d
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ig
h
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,
is
ac
o
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n
ter
f
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b
y
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s
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a
u
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p
ac
t
w
h
ic
h
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s
ass
u
m
ed
as f
o
l
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s
:
{
(
4
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Usi
n
g
t
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L
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r
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f
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ce
eq
u
ati
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,
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tr
o
m
a
g
n
etic
f
o
r
ce
is
o
b
tain
ed
as:
(
5
)
w
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tato
r
w
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n
d
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r
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n
t,
B
is
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l
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x
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en
s
it
y
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n
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to
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w
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d
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Vo
ltag
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eq
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atio
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f
o
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th
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cir
c
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i
ts
h
o
w
n
in
Fig
u
r
e
3
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ac
q
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ir
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f
r
o
m
Kir
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f
's v
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g
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w
(
KVL
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:
(
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w
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is
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tato
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’s
w
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d
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in
p
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R
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o
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k
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MF
o
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d
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.
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Far
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a
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MF
o
f
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ta
to
r
w
i
n
d
in
g
,
is
o
b
tain
ed
as:
̇
̇
(
7
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
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8
694
Mo
d
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n
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m
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er
o
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u
r
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w
in
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s
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atio
n
s
(
1
)
to
(
7
)
,
th
e
s
tate
s
p
ac
e
m
o
d
el
is
o
b
tain
ed
as:
[
̇
̇
̇
̇
̇
]
[
]
[
]
[
]
[
]
[
]
[
]
(
8
)
3.
S
T
A
T
E
F
E
E
D
B
AC
K
C
O
NT
R
O
L
L
E
R
DE
S
I
G
N
Un
d
o
u
b
ted
l
y
,
m
o
s
t
co
n
tr
o
l
m
eth
o
d
s
ar
e
b
ased
o
n
th
e
m
at
h
e
m
atica
l
m
o
d
el
o
f
p
h
y
s
ical
s
y
s
te
m
s
.
I
n
class
ic
m
et
h
o
d
s
,
tr
an
s
f
er
f
u
n
ctio
n
in
t
h
e
f
r
eq
u
e
n
c
y
d
o
m
ai
n
is
u
s
ed
to
d
esig
n
o
f
co
n
tr
o
l
s
y
s
te
m
s
s
u
c
h
as
f
r
eq
u
en
c
y
r
e
s
p
o
n
s
e
a
n
d
R
o
ot
-
L
o
cu
s
m
et
h
o
d
.
T
h
ese
m
o
d
els
ar
e
p
r
esen
ted
s
i
m
p
le
SIS
O
p
h
y
s
ical
an
d
i
n
d
u
s
tr
ial
s
y
s
te
m
s
p
r
o
p
er
ly
,
also
ap
p
r
o
x
im
ate
t
h
e
in
p
u
t
-
o
u
tp
u
t b
eh
av
io
r
o
f
s
y
s
te
m
s
w
it
h
ac
ce
p
tab
le
ac
cu
r
ac
y
[
1
4
]
.
P
r
ec
is
io
n
s
tu
d
y
o
f
co
m
p
licate
d
in
d
u
s
tr
ial
s
y
s
te
m
s
n
ee
d
s
m
o
r
e
in
teg
r
al
m
o
d
el
s
.
Fo
r
co
n
tr
o
llin
g
th
e
s
e
k
in
d
s
o
f
s
y
s
te
m
w
it
h
o
p
ti
m
al
f
u
n
ctio
n
,
p
r
o
g
r
ess
iv
e
co
n
tr
o
l
s
y
s
te
m
d
esi
g
n
s
ar
e
r
eq
u
ir
ed
.
.
Descr
ip
tio
n
o
f
s
tate
s
p
ac
e
o
f
a
s
y
s
te
m
g
i
v
e
s
a
c
o
m
p
lete
v
ie
w
o
f
i
n
ter
n
a
l
s
y
s
te
m
s
tr
u
c
tu
r
e.
State
v
ar
iab
les
d
escr
ib
e
in
ter
n
al
d
y
n
a
m
ics
o
f
t
h
e
s
y
s
te
m
.
T
h
is
m
o
d
el
s
h
o
w
s
h
o
w
s
tate
v
ar
ia
b
les
h
av
e
m
u
t
u
al
e
f
f
ec
t
o
n
ea
ch
o
th
er
,
h
o
w
i
n
p
u
t
s
ig
n
al
s
af
f
ec
t
s
tate
v
ar
iab
les,
an
d
h
o
w
ca
n
co
m
p
u
te
th
e
o
u
tp
u
t
r
esp
o
n
s
e
w
it
h
v
ar
io
u
s
s
y
n
th
e
s
izi
n
g
o
f
s
tate
v
ar
iab
les.
Mo
d
els
o
f
SISO
s
y
s
te
m
s
ca
n
b
e
u
n
i
v
er
s
alize
d
to
MI
MO
s
y
s
te
m
s
ea
s
il
y
w
i
th
th
i
s
m
e
th
o
d
[
1
5
]
-
[
1
6
]
.
T
h
e
s
ig
n
i
f
ica
n
t
ad
v
a
n
ta
g
e
o
f
th
e
m
o
d
er
n
co
n
tr
o
l
s
y
s
te
m
a
n
al
y
s
i
s
an
d
d
esig
n
ac
co
r
d
in
g
to
class
ical
co
n
tr
o
l
s
y
s
te
m
s
i
s
th
e
ir
u
s
ag
e
i
n
t
h
e
MI
MO
an
d
t
h
e
ti
m
e
-
in
v
ar
ia
n
t
(
T
I
)
s
y
s
te
m
s
,
h
o
w
e
v
er
,
t
h
e
class
ical
co
n
tr
o
l
s
y
s
te
m
u
s
a
g
e
is
o
n
l
y
i
n
SISO
-
L
T
I
s
y
s
te
m
s
[
1
7
]
.
T
h
e
o
th
er
ad
v
an
ta
g
e
o
f
u
s
in
g
th
e
s
tate
s
p
ac
e
m
o
d
el
is
th
e
co
n
v
e
n
ien
ce
o
f
clo
s
e
lo
o
p
s
y
s
te
m
f
u
n
ctio
n
o
p
ti
m
izatio
n
.
T
h
er
ef
o
r
e,
o
p
tim
al
co
n
tr
o
l
s
y
s
te
m
s
ca
n
b
e
d
esig
n
ed
in
s
p
ac
e
s
tate.
T
h
e
m
o
s
t
u
tili
z
atio
n
o
f
s
ta
te
s
p
ac
e
co
n
ce
p
t
in
m
o
d
er
n
co
n
tr
o
l
ar
e
th
e
p
o
le
a
s
s
i
g
n
m
e
n
t
an
d
th
e
s
tab
ilizatio
n
o
f
s
y
s
te
m
s
t
h
at
i
m
p
le
m
e
n
ted
w
i
th
s
tate
f
ee
d
b
ac
k
v
ar
iab
le
s
.
I
n
t
h
is
p
ap
er
,
a
clo
s
ed
-
lo
o
p
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
is
d
esi
g
n
e
d
f
o
r
a
T
L
P
MSM
.
Gen
er
all
y
,
t
h
e
s
tate
s
p
ac
e
s
y
s
te
m
e
q
u
atio
n
ca
n
b
e
w
r
itte
n
as:
̇
(
9
)
w
h
er
e
t
is
ti
m
e
v
ar
iab
le,
X(
t)
is
s
tate
v
ec
to
r
,
U(
t)
d
en
o
tes
th
e
co
n
tr
o
llin
g
s
ig
n
al,
Y(
t)
is
o
u
tp
u
t
v
ec
to
r
an
d
A
,
B
,
C
,
D
a
r
e
c
o
n
s
tan
t
m
atr
i
x
es
.
T
h
e
v
alu
es
o
f
T
L
P
MSM
p
r
o
to
t
y
p
e
p
ar
am
eter
s
ar
e
ex
p
r
es
s
e
d
in
T
ab
le
1
.
W
ith
th
ese
p
ar
a
m
eter
v
al
u
es,
th
e
p
o
les o
f
s
y
s
te
m
as
s
h
o
w
n
i
n
Fi
g
u
r
e
5
.
-
f
n
e
t
(
t
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d
.
f
c
y
c
K
e
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t
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y
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(
t
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b
c
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c
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t
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Fig
u
r
e
5
.
Fo
r
ce
an
al
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s
i
s
f
o
r
ca
s
in
g
T
ab
le
1
.
T
L
P
MM
p
r
o
to
ty
p
e
p
ar
a
m
eter
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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ss c
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2
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Ω
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t
a
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0
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0
0
1
1
9
H
(
1
0
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T
h
e
s
tate
s
p
ac
e
co
n
tr
o
llin
g
s
i
g
n
al
is
s
h
o
w
n
as:
(
1
1
)
w
h
er
e
m
atr
i
x
k
is
t
h
e
s
tate
f
e
ed
b
ac
k
g
ain
an
d
R
(
t)
is
th
e
r
ef
er
en
ce
i
n
p
u
t
s
i
g
n
al.
W
ith
th
is
ass
i
g
n
m
e
n
t
s
,
th
e
eq
u
atio
n
(
8
)
is
co
n
v
er
ted
as
f
o
llo
w
s
:
̇
(
1
2
)
T
h
e
ap
p
r
o
p
r
iate
p
o
le
ass
i
g
n
m
en
t
ca
n
b
e
o
b
tai
n
ed
b
y
s
ettin
g
m
atr
i
x
k
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t
h
e
p
r
o
p
er
v
al
u
e.
T
h
e
s
ate
f
ee
d
b
ac
k
s
c
h
e
m
atic
m
o
d
el
f
o
r
th
is
ap
p
r
o
ac
h
is
s
h
o
w
n
in
F
ig
u
r
e
6.
T
h
is
p
ap
er
f
o
cu
s
e
s
o
n
d
esi
g
n
i
n
g
a
clo
s
ed
-
lo
o
p
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
f
o
r
s
tab
le
o
u
tp
u
t
r
esp
o
n
d
in
th
e
f
u
l
l
-
lo
ad
m
o
d
e
f
o
r
a
T
L
P
MSM
.
T
h
er
ef
o
r
e,
th
e
clo
s
ed
-
lo
o
p
co
n
t
r
o
ller
d
esig
n
o
b
j
ec
tiv
e
i
s
co
n
s
id
er
ed
to
tr
ac
k
a
s
et
o
f
d
esire
d
r
ef
er
en
ce
s
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
ca
n
o
b
tain
f
r
o
m
s
tate
s
p
ac
e
m
o
d
el
as:
(
1
3
)
A
cc
o
r
d
in
g
to
(
9
)
,
th
i
s
s
y
s
te
m
h
as
t
w
o
in
p
u
ts
a
n
d
o
n
e
o
u
tp
u
t,
t
h
er
e
f
o
r
e,
th
e
tr
a
n
s
f
o
r
m
f
u
n
ctio
n
m
atr
ix
i
s
o
b
tain
ed
as f
o
llo
w
s
:
[
]
(
1
4
)
Fo
r
d
esig
n
i
n
g
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
,
th
ese
t
w
o
s
ep
ar
ate
tr
an
s
f
er
f
u
n
c
tio
n
s
ar
e
co
n
v
er
t
ed
to
s
p
ac
e
s
tates
s
ep
ar
atel
y
(
ea
c
h
ar
r
ay
o
f
G
m
atr
ix
is
co
n
v
er
ted
to
o
n
e
s
tate
s
p
ac
e)
as
s
h
o
w
n
i
n
F
ig
u
r
e
7
.
I
n
d
ee
d
,
th
e
s
tate
s
p
ac
e
o
f
T
L
P
MSM
i
s
co
n
v
er
ted
to
t
w
o
s
u
b
-
s
tate
s
p
ac
es
(
SS
1
a
n
d
S
S2
)
.
E
ac
h
s
u
b
-
s
ta
te
s
p
ac
e
is
a
SI
SO
s
y
s
te
m
w
h
ich
ca
n
b
ec
o
n
tr
o
ll
ed
b
y
th
e
g
a
in
o
f
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
s
ep
ar
atel
y
.
De
s
ig
n
i
n
g
s
tate
s
p
ac
e
co
n
tr
o
ller
f
o
r
SISO
s
y
s
te
m
is
m
u
c
h
ea
s
ier
th
a
n
MI
MO
s
y
s
te
m
s
.
I
n
t
h
e
n
ex
t
s
tep
o
f
co
n
tr
o
ller
d
esig
n
in
g
,
t
h
e
o
p
ti
m
al
g
ai
n
o
f
s
tate
f
ee
d
b
ac
k
is
ca
lcu
lated
f
o
r
o
b
tain
ed
s
tate
s
p
ac
es
in
cl
u
d
in
g
b
o
th
o
f
t
w
o
s
ep
ar
ate
s
tate
s
p
ac
es
u
s
in
g
lin
ea
r
q
u
ad
r
atic
r
eg
u
lato
r
(
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g
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r
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I
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PEDS
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2
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1418
5.
C
O
N
CL
US
I
O
N
I
n
th
i
s
p
ap
er
,
a
n
e
w
s
tate
f
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d
b
ac
k
co
n
tr
o
ller
f
o
r
T
L
P
MSM
is
p
r
o
p
o
s
ed
.
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h
e
co
n
ce
p
t
o
f
T
L
P
MSM
w
it
h
t
w
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te
f
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d
b
ac
k
co
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o
l
h
as
b
ee
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ac
h
iev
ed
in
d
etails.
F
u
n
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tio
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g
an
d
d
y
n
a
m
ic
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esp
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s
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r
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ied
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L
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MSM
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tate
s
p
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is
d
ec
o
u
p
led
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s
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co
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T
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co
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d
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h
ig
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f
icie
n
c
y
i
s
ac
h
iev
ed
.
RE
F
E
R
E
NC
E
S
[1
]
S
o
u
issi
A
,
A
b
d
e
n
n
a
d
h
e
r
I
,
M
a
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A
n
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l
P
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ra
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s M
a
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IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
a
g
n
e
ti
c
s
.
2
0
1
6
Ja
n
;
5
2
(
1
):
1
-
7.
[2
]
Hu
a
n
g
X
,
T
a
n
Q,
W
a
n
g
Q,
L
i
J.
Op
ti
m
iza
ti
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n
f
o
r
th
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P
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le
S
tr
u
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lar
P
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in
e
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M
o
to
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d
S
e
g
m
e
n
ted
De
ten
t
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C
o
m
p
e
n
sa
ti
o
n
.
IEE
E
T
ra
n
s
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ti
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n
Ap
p
li
e
d
S
u
p
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rc
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d
u
c
ti
v
it
y
.
2
0
1
6
Oc
t;
2
6
(
7
):
1
-
5
.
[3
]
L
u
H,
Zh
u
J,
G
u
o
Y,
L
in
Z.
A
m
i
n
iatu
re
sh
o
rt
stro
k
e
tu
b
u
lar
li
n
e
a
r
a
c
tu
a
to
r
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n
d
it
s
c
o
n
tro
l.
In
El
e
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ric
a
l
M
a
c
h
in
e
s
a
n
d
S
y
ste
ms
,
2
0
0
7
.
ICE
M
S
.
In
ter
n
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
2
0
0
7
Oc
t
8
;
1
6
8
0
-
1
6
8
5
.
[4
]
T
a
v
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n
a
NR,
S
h
o
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laie
A
.
P
o
le
-
s
h
a
p
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iza
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o
f
p
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m
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li
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e
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ro
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u
s
m
o
to
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d
u
c
ti
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n
o
f
th
ru
st r
ip
p
le.
E
n
e
rg
y
Co
n
v
e
rs
io
n
a
n
d
M
a
n
a
g
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me
n
t
.
2
0
1
1
Ja
n
3
1
;
5
2
(1
):
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4
9
-
5
4
.
[5
]
Ch
e
n
X
,
Hu
J,
Ch
e
n
K,
P
e
n
g
Z
.
M
o
d
e
li
n
g
o
f
e
lec
tro
m
a
g
n
e
ti
c
t
o
rq
u
e
c
o
n
si
d
e
rin
g
sa
tu
ra
ti
o
n
a
n
d
m
a
g
n
e
ti
c
f
i
e
ld
h
a
rm
o
n
ics
in
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s
m
o
to
r
f
o
r
HEV
.
S
i
mu
la
ti
o
n
M
o
d
e
ll
i
n
g
Pr
a
c
ti
c
e
a
n
d
T
h
e
o
ry
.
2
0
1
6
A
u
g
3
1
;
6
6
:
2
1
2
-
2
5
.
[6
]
S
u
n
Y,
W
u
X
,
Ba
i
L
,
W
e
i
Z,
S
u
n
G
.
F
in
it
e
-
ti
m
e
s
y
n
c
h
ro
n
iza
ti
o
n
c
o
n
tro
l
a
n
d
p
a
ra
m
e
t
e
r
id
e
n
ti
f
ica
t
i
o
n
o
f
u
n
c
e
rtai
n
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s
m
o
to
r.
Ne
u
ro
c
o
mp
u
ti
n
g
.
2
0
1
6
;
2
0
7
:
5
1
1
–
5
1
8
[7
]
Ha
m
a
T
,
S
a
to
K.
Hig
h
-
sp
e
e
d
a
n
d
h
ig
h
-
p
re
c
isio
n
trac
k
in
g
c
o
n
tr
o
l
o
f
u
lt
ra
h
ig
h
-
a
c
c
e
lera
ti
o
n
m
o
v
in
g
-
p
e
rm
a
n
e
n
t
-
m
a
g
n
e
t
li
n
e
a
r
s
y
n
c
h
ro
n
o
u
s m
o
to
r
.
Pre
c
isio
n
E
n
g
in
e
e
rin
g
.
2
0
1
5
A
p
r
3
0
;
4
0
:
1
5
1
-
9.
[8
]
U
m
m
a
n
e
n
i
RB,
Nilsse
n
R,
Bre
n
n
v
a
ll
JE.
De
m
o
n
stra
ti
o
n
m
o
d
e
l
o
f
a
li
n
e
a
r
p
e
r
m
a
n
e
n
t
m
a
g
n
e
t
a
c
tu
a
to
r
w
it
h
g
a
s
sp
rin
g
s.
In
El
e
c
trica
l
M
a
c
h
i
n
e
s
,
2
0
0
8
.
ICEM
2
0
0
8
.
1
8
t
h
I
n
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
2
0
0
8
S
e
p
6
;
1
-
4.
[9
]
L
u
L
,
Ch
e
n
Z,
Ya
o
B
,
W
a
n
g
Q.
A
tw
o
-
lo
o
p
p
e
rf
o
rm
a
n
c
e
-
o
rien
ted
ti
p
-
trac
k
in
g
c
o
n
tr
o
l
o
f
a
li
n
e
a
r
-
m
o
to
r
-
d
riv
e
n
f
le
x
ib
le b
e
a
m
s
y
ste
m
w
it
h
e
x
p
e
ri
m
e
n
ts.
IEE
E
T
r
a
n
s
a
c
ti
o
n
s o
n
In
d
u
stria
l
El
e
c
tro
n
ics
.
2
0
1
3
M
a
r;
6
0
(3
):
1
0
1
1
-
2
2
.
[1
0
]
Na
so
D,
Cu
p
e
rti
n
o
F
,
T
u
rc
h
ian
o
B.
P
re
c
ise
p
o
siti
o
n
c
o
n
tr
o
l
o
f
t
u
b
u
lar
li
n
e
a
r
m
o
to
rs
w
it
h
n
e
u
ra
l
n
e
tw
o
rk
s
a
n
d
c
o
m
p
o
site l
e
a
rn
in
g
.
Co
n
tro
l
En
g
i
n
e
e
rin
g
Pr
a
c
ti
c
e
.
2
0
1
0
M
a
y
3
1
;
1
8
(5
):
5
1
5
-
2
2
.
[1
1
]
L
u
Q,
Hu
a
n
g
L
,
Ye
Y,
Hu
a
n
g
X
,
F
a
n
g
Y.
De
sig
n
o
f
a
n
o
v
e
l
p
e
r
m
a
n
e
n
t
m
a
g
n
e
t
li
n
e
a
r
s
y
n
c
h
ro
n
o
u
s
m
o
to
r
w
it
h
se
g
m
e
n
ted
a
rm
a
tu
re
c
o
re
f
o
r
ro
p
e
les
s
l
if
ter.
COM
PE
L
:
T
h
e
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
f
o
r
Co
mp
u
ta
ti
o
n
a
n
d
M
a
th
e
ma
ti
c
s in
El
e
c
trica
l
a
n
d
El
e
c
tro
n
ic E
n
g
in
e
e
rin
g
.
2
0
1
6
M
a
r
7
;
3
5
(
2
):
5
5
6
-
7
1
.
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2
]
W
a
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