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In
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C
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RO
D
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Du
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v
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h
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s
h
as
b
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ca
r
r
ied
o
u
t
[
1
]
.
I
n
p
ar
ticu
lar
co
n
tr
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l
s
y
s
te
m
as
elec
tr
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ain
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P
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c
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d
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s
tr
ial
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licatio
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in
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elec
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icles,
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n
v
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io
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s
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te
m
s
[
2
]
-
[
4
]
.
T
h
is
ca
n
b
e
attr
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to
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le
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f
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y
[
2
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.
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tr
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tech
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f
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r
P
MSM
s
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ce
[
5
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m
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s
lid
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m
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n
tr
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(
SMC
)
[
6
]
,
f
u
z
z
y
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g
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t
r
o
l
(
FLC)
[
7
]
.
H∞
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b
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m
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h
o
d
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h
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ap
p
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in
[
8
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-
[
9
]
.
Mo
d
el
p
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l
[
1
0
]
h
av
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also
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s
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A
d
d
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all
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m
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d
[
1
1
]
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Sli
d
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co
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lar
co
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s
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tr
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n
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a
n
d
elec
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m
ac
h
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es
[
1
2
]
.
C
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eq
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SMC
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w
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to
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p
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v
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.
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s
ad
v
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t
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i.e
.
,
ch
atter
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n
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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8
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694
Hyb
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co
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[
1
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.
I
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to
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f
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lid
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[
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4
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f
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tech
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e
s
:
f
u
zz
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[
1
5
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an
d
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[
1
6
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to
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x
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)
.
I
n
th
i
s
p
ap
er
,
th
e
s
u
r
f
ac
e
o
f
s
p
ee
d
is
s
u
b
s
ti
tu
ted
b
y
a
f
u
zz
y
-
P
I
co
n
tr
o
ller
to
o
b
tain
a
r
o
b
u
s
t
p
er
f
o
r
m
a
n
ce
.
O
n
e
p
ar
t o
f
th
e
eq
u
iv
ale
n
t c
o
n
tr
o
l (
SMC
)
a
n
d
p
ar
t o
f
f
u
zz
y
lo
g
ic
co
n
tr
o
l (
F
L
C
)
ar
e
co
n
tai
n
ed
in
th
is
h
y
b
r
id
co
n
tr
o
l
(
HFSM
C
)
.
T
h
e
r
em
i
n
d
er
o
f
th
i
s
p
ap
er
is
o
r
g
a
n
ized
as
f
o
llo
w
s
:
s
ec
tio
n
2
r
ev
ie
w
s
t
h
e
p
r
in
cip
le
co
m
p
o
n
e
n
ts
o
f
t
h
e
tr
ac
tio
n
s
y
s
te
m
a
n
d
t
h
eir
m
o
d
el
eq
u
atio
n
s
.
Sectio
n
3
s
h
o
w
s
t
h
e
d
ev
e
lo
p
m
en
t
o
f
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
s
f
o
r
elec
tr
ic
v
eh
icle
m
o
to
r
izatio
n
.
Sectio
n
4
s
h
o
w
s
th
e
p
r
o
p
o
s
ed
f
u
zz
y
-
s
lid
in
g
m
o
d
e
co
n
tr
o
l
la
w
m
o
d
el
to
r
e
m
ed
y
th
e
ch
a
tter
in
g
p
h
e
n
o
m
e
n
a.
T
h
e
p
r
o
p
o
s
ed
s
tr
u
ctu
r
e
o
f
t
h
e
s
tu
d
ied
p
r
o
p
u
ls
io
n
s
y
s
te
m
is
g
i
v
en
i
n
t
h
e
s
ec
t
io
n
5
.
Sectio
n
6
a
s
i
m
u
lat
io
n
r
es
u
lts
v
er
i
f
y
th
e
v
alid
it
y
o
f
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
o
f
co
n
tr
o
l.
Fin
all
y
t
h
e
co
n
cl
u
s
io
n
is
d
r
a
w
n
in
s
ec
tio
n
7
.
2
.
E
L
E
C
T
R
I
C
VE
H
I
CL
E
T
RA
CT
I
O
N
SYS
T
E
M
M
O
DE
L
I
N
G
E
x
p
lain
i
n
g
th
is
p
ar
t is d
ev
o
ted
to
th
e
d
y
n
a
m
ic
s
o
f
th
e
elec
tr
ic
v
eh
icle
a
n
d
th
e
d
i
f
f
er
e
n
t c
o
m
p
o
n
en
ts
o
n
b
o
ar
d
th
e
v
eh
icle
a
n
d
th
eir
eq
u
atio
n
s
m
o
d
els.
Fi
g
u
r
e
1
r
ep
r
esen
ts
a
d
iag
r
a
m
o
f
a
n
elec
tr
ic
tr
ac
tio
n
s
y
s
te
m
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
a
m
o
f
E
l
ec
tr
ical
T
r
ac
tio
n
Sy
s
te
m
2
.
1
.
Vehicle
Dy
na
m
ics
I
n
th
i
s
w
o
r
k
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
y
ta
k
es
i
n
to
ac
co
u
n
t
th
e
d
y
n
a
m
ic
v
e
h
icle,
s
o
th
e
f
ir
s
t
s
tep
in
v
e
h
icle
p
er
f
o
r
m
a
n
ce
m
o
d
elin
g
is
to
w
r
ite
an
elec
tr
ic
f
o
r
ce
m
o
d
el.
T
h
is
is
th
e
f
o
r
ce
tr
an
s
m
itted
to
th
e
g
r
o
u
n
d
t
h
r
o
u
g
h
t
h
e
d
r
iv
e
w
h
e
els,
an
d
p
r
o
p
ellin
g
th
e
v
eh
icle
f
o
r
w
ar
d
.
T
h
is
f
o
r
ce
m
u
s
t
o
v
er
co
m
e
t
h
e
r
o
ad
lo
ad
an
d
ac
ce
ler
ate
th
e
v
e
h
icle
[
1
7
]
.
C
o
n
s
id
er
a
v
e
h
icle
o
f
m
a
s
s
,
p
r
o
ce
e
d
in
g
at
a
v
elo
cit
y
,
u
p
a
s
lo
p
e
o
f
an
g
le
,
as
i
n
Fi
g
u
r
e
2
.
T
h
e
f
o
r
ce
p
r
o
p
ellin
g
t
h
e
v
eh
icle
f
o
r
w
ar
d
,
th
e
tr
ac
ti
v
e
e
f
f
o
r
t,
h
as
t
o
ac
co
m
p
li
s
h
th
e
f
o
llo
w
i
n
g
[
1
9
]
-
[
2
1
]
:
a.
Ov
e
r
b
ea
r
th
e
r
o
llin
g
r
es
is
ta
n
ce
;
b
.
Ov
er
b
ea
r
th
e
ae
r
o
d
y
n
a
m
ic
d
r
ag
;
c.
P
r
o
v
id
e
th
e
f
o
r
ce
n
ee
d
ed
to
o
v
er
co
m
e
th
e
co
m
p
o
n
en
t o
f
th
e
v
eh
icle
’
s
w
eig
h
t a
cti
n
g
d
o
w
n
th
e
s
lo
p
e;
d
.
A
cc
eler
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th
e
v
eh
ic
le,
if
t
h
e
v
elo
cit
y
i
s
n
o
t
co
n
s
tan
t.
T
h
e
ele
m
en
tar
y
eq
u
atio
n
d
es
cr
ib
in
g
t
h
e
lo
n
g
it
u
d
i
n
al
d
y
n
a
m
ics
o
f
a
v
e
h
icle
in
t
h
e
r
o
ad
is
in
th
e
f
o
llo
w
i
n
g
f
o
r
m
:
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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2
0
8
8
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694
IJ
PEDS
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3
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b
er
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7
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-
1061
1052
F
T
Fig
u
r
e
2
.
B
lo
ck
d
iag
r
a
m
o
f
t
h
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f
o
r
ce
s
ac
tin
g
o
n
t
h
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v
e
h
icle
2
.
1
.
1
Ro
llin
g
Resis
t
a
nce
F
o
rc
e
T
h
e
r
o
llin
g
r
esis
ta
n
ce
f
o
r
ce
is
r
elate
d
to
th
e
m
a
s
s
o
f
th
e
v
e
h
icle
,
th
e
g
r
av
ita
tio
n
al
ac
ce
le
r
atio
n
g
an
d
th
e
r
o
llin
g
co
ef
f
ic
ien
t
o
f
th
e
w
h
ee
ls
.
P
r
ac
ticall
y
,
w
it
h
m
o
d
er
n
tire
s
w
it
h
v
er
y
lo
w
r
o
llin
g
r
esi
s
ta
n
ce
,
th
e
co
ef
f
icie
n
t
o
f
r
o
lli
n
g
r
esis
ta
n
ce
is
e
q
u
al
to
A
b
o
u
t
0
.
0
1
(
ab
o
u
t
0
.
0
1
5
f
o
r
co
n
v
en
tio
n
al
t
ir
es)
[
1
9
]
.
T
h
is
co
ef
f
icie
n
t
d
ep
en
d
s
o
n
t
h
e
w
i
d
th
o
f
th
e
T
ir
es
an
d
r
o
ad
s
u
r
f
a
cin
g
.
C
o
n
s
eq
u
e
n
tl
y
,
t
h
e
r
o
lli
n
g
r
esi
s
ta
n
ce
f
o
r
ce
is
eq
u
al
to
[
1
8
]
:
(
2
)
2
.
1
.
2
Aer
o
dy
na
m
ic
Res
is
t
a
n
ce
F
o
rc
e
T
h
e
ae
r
o
d
y
n
a
m
ic
r
es
is
ta
n
ce
f
o
r
ce
is
p
r
o
p
o
r
tio
n
al
to
th
e
d
e
n
s
it
y
o
f
t
h
e
air
,
to
th
e
s
q
u
ar
e
o
f
t
h
e
v
eh
ic
le
s
p
ee
d
an
d
to
th
e
w
i
n
d
s
p
ee
d
,
to
th
e
f
r
o
n
ta
l
s
u
r
f
ac
e
o
f
th
e
v
eh
icle
an
d
its
co
ef
f
icien
t
o
f
p
en
etr
atio
n
i
n
to
t
h
e
a
ir
w
h
ich
tak
e
s
v
alu
e
s
[
0
.
2
5
-
0
.
5
]
ac
co
r
d
in
g
to
t
h
e
f
o
r
m
s
o
f
b
o
d
y
.
I
t
s
ex
p
r
es
s
io
n
i
s
g
iv
e
n
b
y
t
h
e
f
o
llo
w
in
g
r
elatio
n
[
1
8
]
.
(
3
)
2
.
1
.
3
F
o
rc
e
o
f
G
ra
v
it
y
(
H
ill
cli
m
bi
ng
f
o
rc
e)
T
h
e
g
r
av
itatio
n
al
f
o
r
ce
is
i
n
d
u
ce
d
b
y
g
r
av
it
y
w
h
e
n
d
r
i
v
in
g
o
n
a
n
o
n
-
h
o
r
izo
n
tal
r
o
ad
d
ep
en
d
s
o
n
t
h
e
s
lo
p
e
o
f
th
e
r
o
ad
.
A
cc
o
r
d
in
g
t
o
Fig
u
r
e
2
,
th
e
f
o
r
ce
is
p
o
s
iti
v
e
w
h
en
th
e
v
e
h
icle
i
s
tr
av
el
i
n
g
u
p
a
n
d
n
e
g
ati
v
e
w
h
e
n
o
n
a
d
escen
t.
I
t is
m
o
d
eled
as:
(
4
)
2
.
1
.
4
Acc
eler
a
t
io
n F
o
rc
e
T
h
e
f
o
r
ce
d
u
e
to
th
e
ac
ce
ler
atio
n
en
s
u
r
es
th
e
d
y
n
a
m
ic
b
eh
av
io
r
d
esire
d
b
y
th
e
d
r
iv
er
.
T
h
is
f
o
r
ce
is
o
b
tain
ed
b
y
th
e
p
r
o
d
u
ct
b
etw
ee
n
th
e
v
e
h
icle
m
ass
a
n
d
th
e
ac
ce
ler
atio
n
i
m
p
o
s
ed
b
y
th
e
d
r
iv
er
[
2
2
]
.
(
5
)
2
.
1
.
5
T
o
t
a
l
T
ra
ct
io
n E
f
f
o
rt
T
h
e
tr
ac
tio
n
f
o
r
ce
in
a
n
elec
t
r
ic
v
eh
ic
le
is
s
u
p
p
lied
b
y
t
h
e
elec
tr
ic
m
o
to
r
in
o
v
er
co
m
i
n
g
t
h
e
r
o
ad
lo
ad
.
T
h
e
E
q
u
atio
n
o
f
m
o
tio
n
is
g
i
v
e
n
b
y
:
(
6
)
2
.
1
.
6
G
ea
r
T
h
e
s
p
ee
d
g
ea
r
en
s
u
r
es
th
e
t
r
an
s
m
is
s
io
n
o
f
t
h
e
m
o
to
r
to
r
q
u
e
to
th
e
d
r
iv
in
g
w
h
ee
l
s
.
T
h
e
g
ea
r
is
m
o
d
eled
b
y
t
h
e
g
ea
r
r
atio
i
,
t
h
e
tr
an
s
m
is
s
io
n
e
f
f
icien
c
y
a
n
d
its
i
n
er
tia.
T
h
e
m
ec
h
a
n
ica
l
E
q
u
atio
n
is
g
i
v
en
b
y
[
2
2
]
:
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
Hyb
r
id
F
u
z
z
y
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lid
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g
Mo
d
e
S
p
ee
d
C
o
n
tr
o
l fo
r
a
n
E
lectric V
e
h
icle
Dri
ve
(
I
b
r
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h
im
F
a
r
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u
k
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o
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g
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e
n
n
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)
1053
(
7
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T
h
e
f
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llo
w
i
n
g
E
q
u
atio
n
i
s
d
er
iv
ed
d
u
e
to
th
e
u
s
e
o
f
a
r
ed
u
cti
o
n
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ea
r
.
(
8
)
T
h
e
lo
ad
to
r
q
u
e
in
th
e
m
o
to
r
r
ef
er
en
tia
l is
g
iv
e
n
b
y
:
(
9
)
T
h
e
v
eh
icle
g
lo
b
al
in
er
tia
m
o
m
en
t in
t
h
e
m
o
to
r
r
ef
er
e
n
tial i
s
g
i
v
en
b
y
:
(
1
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I
f
th
e
ad
h
e
s
io
n
co
ef
f
ic
ien
t o
f
t
h
e
r
o
ad
s
u
r
f
ac
e
is
h
i
g
h
,
t
h
e
n
is
u
s
u
all
y
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w
an
d
ca
n
b
e
n
eg
le
cted
.
2
.
2
.
M
a
t
he
m
a
t
ica
l
m
o
del
o
f
t
he
P
M
S
M
I
n
th
i
s
w
o
r
k
w
e
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s
e
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th
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ee
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ase
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d
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ctio
n
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o
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t
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e
P
MSM
I
n
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tatio
n
ar
y
(
d
-
q
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ef
er
en
ce
f
r
a
m
e,
t
h
e
m
a
th
e
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atic
s
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o
d
e
o
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n
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n
ch
r
o
n
o
u
s
m
o
to
r
is
s
h
o
w
n
as b
elo
w
[
2
3
]
-
[
2
5
]
:
(
1
1
)
W
ith
:St
ato
r
r
esis
ta
n
ce
,
d
an
d
q
ax
is
s
tato
r
in
d
u
ctan
ce
s
:
P
er
m
an
e
n
t
-
m
a
g
n
et
f
l
u
x
lin
k
ag
e,
: Stato
r
cu
r
r
en
ts
,
: Stato
r
v
o
ltag
es,
: Sp
ee
d
m
ec
h
an
i
c,
: M
o
m
e
n
t o
f
i
n
er
tia,
:
C
o
ef
f
icie
n
t o
f
v
is
co
u
s
f
r
ictio
n
,
:
Nu
m
b
er
o
f
p
o
le
p
air
s
,
: L
o
ad
to
r
q
u
e.
Sev
er
al
t
y
p
es o
f
b
atter
ies ca
n
b
e
d
is
tin
g
u
is
h
ed
,
b
u
t f
o
r
th
e
c
u
r
r
e
n
t e
lectr
ic
v
e
h
icle
s
,
lit
h
iu
m
-
i
o
n
,
lead
-
ac
id
an
d
n
ic
k
el
-
ca
d
m
iu
m
b
atter
ie
s
ar
e
f
r
eq
u
en
tl
y
u
s
ed
.
I
n
t
h
is
s
ec
tio
n
,
w
e
w
ill b
e
in
ter
es
ted
in
s
to
r
ag
e
s
y
s
te
m
s
b
ased
o
n
L
i
-
io
n
b
atter
ies [
2
6
]
.
3
.
SL
I
DIN
G
M
O
DE
CO
NT
RO
L
D
E
S
I
G
N
F
O
R
P
M
S
M
Sli
d
in
g
m
o
d
e
co
n
tr
o
l(
SMC
)
is
a
n
o
n
li
n
ea
r
co
n
tr
o
l
m
eth
o
d
th
at
h
a
s
b
ec
o
m
e
p
o
p
u
lar
d
u
e
to
its
in
h
er
e
n
t
r
o
b
u
s
tn
e
s
s
,
f
le
x
ib
ilit
y
o
f
d
esi
g
n
,
a
n
d
r
elativ
e
ea
s
e
t
o
i
m
p
le
m
en
t
w
it
h
m
icr
o
p
r
o
ce
s
s
o
r
s
.
Sl
id
in
g
m
o
d
e
co
n
tr
o
l
u
tili
ze
s
a
d
is
co
n
ti
n
u
o
u
s
co
n
tr
o
l
ap
p
r
o
ac
h
th
at
r
ap
id
ly
s
w
itc
h
e
s
f
r
o
m
o
n
e
co
n
ti
n
u
o
u
s
m
a
n
i
f
o
ld
to
an
o
th
er
,
f
o
r
ci
n
g
t
h
e
s
y
s
te
m
d
y
n
a
m
ics
to
a
p
r
ed
eter
m
i
n
e
d
lo
ca
tio
n
in
t
h
e
s
tate
s
p
ac
e
ca
lled
th
e
s
lid
i
n
g
s
u
r
f
ac
e
[
1
2
]
.
SMC
h
as
it
s
o
w
n
d
is
ad
v
a
n
ta
g
e,
i.e
.
,
ch
att
er
in
g
p
h
e
n
o
m
en
o
n
,
w
h
ic
h
o
r
ig
in
a
ted
f
r
o
m
t
h
e
in
ter
ac
tio
n
b
et
w
ee
n
p
ar
as
itic
d
y
n
a
m
ics
a
n
d
h
ig
h
f
r
eq
u
e
n
c
y
s
w
itc
h
in
g
co
n
tr
o
l.
I
n
o
r
d
er
to
av
o
id
th
e
p
h
en
o
m
e
n
o
n
,
s
e
v
er
al
co
n
tr
o
l
m
et
h
o
d
s
w
er
e
p
r
o
p
o
s
ed
in
th
e
li
ter
atu
r
e
[
1
4
]
,
[
2
7
]
.
C
o
n
s
id
er
th
e
n
o
n
li
n
ea
r
s
w
itc
h
in
g
s
y
s
te
m
m
u
lti
v
ar
iab
l
e
tak
in
g
t
h
is
f
o
r
m
[
2
8
]
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
PEDS
Vo
l.
8
,
No
.
3
,
Sep
te
m
b
er
2
0
1
7
:
1
0
5
0
-
1061
1054
(
1
2
)
W
h
er
e
is
s
tate
v
ar
iab
le
v
ec
to
r
,
an
d
ar
e
th
e
s
m
o
o
th
v
ec
to
r
f
ield
s
in
th
e
s
p
ac
e,
an
d
is
th
e
d
is
co
n
ti
n
u
o
u
s
co
n
tr
o
l d
ef
i
n
ed
as :
(
1
3
)
I
s
k
n
o
w
n
as
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e
an
d
is
ch
o
s
e
n
s
o
th
at
t
h
e
s
t
ate
v
ar
iab
les
tr
ac
k
t
h
eir
d
esire
d
tr
a
j
ec
to
r
ies.
an
d
ar
e
eith
er
s
ca
lar
v
al
u
es
o
r
f
u
n
ct
io
n
o
f
.
A
s
y
s
te
m
w
i
th
th
is
d
escr
ip
tio
n
e
x
h
ib
its
s
lid
in
g
m
o
d
e
p
r
o
p
er
ties
w
h
e
n
t
h
e
r
ea
ch
ab
i
lit
y
,
e
x
is
te
n
ce
,
a
n
d
s
tab
ilit
y
co
n
d
itio
n
s
ar
e
m
et.
T
h
e
r
ea
ch
ab
ilit
y
co
n
d
itio
n
en
s
u
r
es
t
h
at
th
e
tr
aj
ec
to
r
y
o
f
t
h
e
s
y
s
te
m
w
ill
ap
p
r
o
ac
h
an
d
ev
en
t
u
all
y
r
ea
c
h
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e.
T
h
is
ca
n
b
e
s
tated
m
at
h
e
m
atica
ll
y
(
1
4
)
3
.
1
.
T
hree
s
urf
a
ce
co
ntr
o
l s
t
ra
t
eg
y
W
e
tak
e
th
e
g
e
n
er
al
eq
u
atio
n
P
r
o
p
o
s
ed
b
y
J
.
J
.
Slo
tin
e
to
d
ete
r
m
in
e
t
h
e
s
l
id
in
g
s
u
r
f
ac
e
:
(
1
5
)
w
h
er
e
:
: E
r
r
o
r
o
f
th
e
q
u
a
n
tit
y
to
b
e
co
n
tr
o
lled
,
: V
ec
to
r
o
f
s
lo
p
es o
f
th
e
,
: Relati
v
e
d
eg
r
ee
,
eq
u
al
to
th
e
n
u
m
b
er
o
f
ti
m
es it d
er
iv
e
s
t
h
e
o
u
tp
u
t
f
o
r
th
e
co
m
m
an
d
to
ap
p
ea
r
.
On
ce
t
h
e
s
w
itc
h
i
n
g
f
u
n
ctio
n
i
s
estab
li
s
h
ed
t
h
e
p
r
o
b
le
m
o
f
p
u
r
s
u
it
r
eq
u
ir
es
t
h
e
d
esi
g
n
o
f
a
co
n
tr
o
l
la
w
a
s
t
h
e
s
tate
v
ec
to
r
r
est
o
n
th
e
s
l
id
in
g
s
u
r
f
ac
e
f
o
r
all
.
Fig
u
r
e
3
s
h
o
w
s
s
ch
e
m
e
o
f
t
h
e
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
o
f
th
e
e
lectr
ic
tr
ac
tio
n
s
y
s
te
m
u
s
i
n
g
t
h
e
p
r
in
c
ip
le
o
f
t
h
e
ca
s
ca
d
e
co
n
tr
o
l
m
e
th
o
d
,
th
e
s
tr
u
ct
u
r
e
co
m
p
r
is
e
s
a
s
p
ee
d
co
n
tr
o
l
lo
o
p
w
h
ic
h
g
e
n
er
ates
th
e
cu
r
r
e
n
t
r
ef
er
en
ce
w
h
ic
h
i
m
p
o
s
es
t
h
e
co
n
tr
o
l
,
th
e
co
n
tr
o
l
is
i
m
p
o
s
ed
b
y
t
h
e
cu
r
r
en
t r
eg
u
latio
n
.
3
.
1
.
1
Dire
ct
Ax
is
Co
ntr
o
l
Desig
n
E
x
p
r
ess
io
n
o
f
c
u
r
r
en
t
s
g
i
v
e
n
b
y
th
e
E
q
u
atio
n
1
1
a
:
W
e
n
o
te
th
at
f
r
o
m
E
q
u
atio
n
1
1
a
,
th
e
r
elativ
e
lev
el
o
f
c
u
r
r
en
t
w
it
h
t
h
e
co
n
tr
o
l
is
eq
u
al
to
o
n
e.
So
th
e
er
r
o
r
v
ar
iab
le
is
g
i
v
en
b
y
:
(
1
6
)
T
h
e
r
esu
lti
n
g
er
r
o
r
w
i
ll
b
e
co
r
r
ec
ted
b
y
a
r
eg
u
la
to
r
o
p
er
a
tin
g
in
th
e
s
lid
in
g
m
o
d
e
an
d
th
e
s
u
r
f
ac
e
o
f
t
h
is
co
n
tr
o
l is g
i
v
en
b
y
:
(
1
7
)
T
h
er
ef
o
r
e
th
e
d
er
iv
ativ
e
o
f
t
h
e
s
u
r
f
ac
e
:
(
1
8
)
C
o
n
s
id
er
in
g
th
e
e
x
p
r
ess
io
n
o
f
th
e
c
u
r
r
en
t
d
ed
u
cted
in
th
e
e
q
u
atio
n
s
y
s
te
m
E
q
u
atio
n
1
1
a
,
th
e
d
er
iv
ati
v
e
o
f
th
e
s
u
r
f
ac
e
b
ec
o
m
e
s
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
Hyb
r
id
F
u
z
z
y
S
lid
in
g
Mo
d
e
S
p
ee
d
C
o
n
tr
o
l fo
r
a
n
E
lectric V
e
h
icle
Dri
ve
(
I
b
r
a
h
im
F
a
r
o
u
k
B
o
u
g
u
e
n
n
a
)
1055
(
1
9
)
Du
r
in
g
t
h
e
s
lid
i
n
g
m
o
d
e
w
e
h
av
e
(
2
0
)
(
2
1
)
W
h
er
e
:
is
p
o
s
itiv
e
g
ai
n
f
o
r
th
e
d
ir
ec
t c
u
r
r
en
t r
eg
u
lato
r
.
3
.
1
.
2
Q
ua
dra
t
ure
Ax
is
Co
ntr
o
l D
esig
n
E
x
p
r
ess
io
n
o
f
c
u
r
r
en
t
is
g
iv
en
b
y
th
e
E
q
u
atio
n
1
1
b
.
T
h
e
v
alu
e
o
f
in
th
e
o
u
tp
u
t
o
f
th
e
s
p
ee
d
co
n
tr
o
ller
is
co
m
p
ar
ed
w
ith
t
h
at
m
ea
s
u
r
ed
.
T
h
e
r
esu
lt
in
g
er
r
o
r
w
ill
b
e
co
r
r
ec
ted
b
y
a
r
eg
u
lato
r
o
p
er
atin
g
in
s
lid
in
g
m
o
d
e.
T
h
en
,
f
o
llo
w
i
n
g
t
h
e
s
a
m
e
p
r
ev
i
o
u
s
p
r
o
ce
d
u
r
e,
w
e
ca
n
ca
lc
u
l
ate
an
d
.
T
h
e
s
u
r
f
ac
e
o
f
t
h
is
co
n
tr
o
l is g
iv
en
b
y
th
e
f
o
llo
w
i
n
g
E
q
u
at
io
n
:
(
2
2
)
I
ts
d
er
iv
ativ
e
i
s
g
i
v
e
n
b
y
:
(
2
3
)
R
ep
lacin
g
t
h
e
v
al
u
e
̇
̇
o
f
E
q
u
atio
n
1
1
b
in
E
q
u
atio
n
2
4
,
w
e
o
b
tain
:
(
2
4
)
Du
r
in
g
t
h
e
s
lid
i
n
g
m
o
d
e
w
e
h
av
e
(
2
5
)
(
2
6
)
W
ith
:
is
p
o
s
iti
v
e
g
ai
n
f
o
r
th
e
q
u
ad
r
atic
cu
r
r
en
t r
eg
u
lato
r
.
3.1
.3
Sp
e
e
d
c
o
n
tr
o
l
I
t
is
n
o
ted
th
a
t
f
r
o
m
E
q
u
a
tio
n
1
1
c
,
th
e
r
elati
v
e
d
eg
r
ee
o
f
t
h
e
s
p
ee
d
w
it
h
is
eq
u
als
to
o
n
e
:
I
n
t
h
i
s
ca
s
e,
th
e
s
ett
in
g
er
r
o
r
is
ch
o
s
e
n
as t
h
e
s
u
r
f
ac
e:
(
2
7
)
T
h
er
ef
o
r
e
its
d
er
iv
ativ
e
(
2
8
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
PEDS
Vo
l.
8
,
No
.
3
,
Sep
te
m
b
er
2
0
1
7
:
1
0
5
0
-
1061
1056
B
y
r
ep
lacin
g
E
q
u
at
io
n
1
1
c
in
E
q
u
atio
n
2
0
,
w
e
o
b
tain
:
(
2
9
)
Du
r
in
g
t
h
e
s
lid
i
n
g
m
o
d
e
w
e
h
av
e
(
3
0
)
(
3
1
)
w
it
h
:
is
p
o
s
itiv
e
g
ain
f
o
r
th
e
s
p
ee
d
co
n
tr
o
ller
.
Fig
u
r
e
3
.
B
lo
ck
d
iag
r
a
m
o
f
s
li
d
in
g
m
o
d
e
co
n
tr
o
l sp
ee
d
f
o
r
an
E
V
4.
F
U
Z
Z
Y
S
L
I
D
I
N
G
M
O
DE
ST
RAT
E
G
Y
D
E
SI
G
N
Sli
d
in
g
T
h
e
d
is
ad
v
an
ta
g
e
o
f
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
s
is
th
at
th
e
d
i
s
co
n
ti
n
u
o
u
s
co
n
t
r
o
l
s
ig
n
a
l
p
r
o
d
u
ce
s
ch
atter
in
g
d
y
n
a
m
ics
,
f
o
r
th
is
r
ea
s
o
n
th
e
co
m
b
in
at
io
n
o
f
SMC
w
it
h
th
e
f
u
zz
y
l
o
g
ic
co
n
tr
o
l
(
FL
C
)
ai
m
s
to
i
m
p
r
o
v
e
th
e
r
o
b
u
s
tn
ess
an
d
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
co
n
tr
o
lled
n
o
n
li
n
ea
r
s
y
s
te
m
s
[
2
9
]
,
T
h
is
w
o
r
k
p
r
o
p
o
s
es
a
h
y
b
r
id
f
u
zz
y
s
lid
i
n
g
m
o
d
e
s
p
ee
d
co
n
tr
o
l
th
at
ca
n
r
e
m
ar
k
ab
l
y
atte
n
u
ate
ch
att
e
r
in
g
an
d
ac
cu
r
atel
y
tr
ac
k
th
e
s
p
ee
d
o
f
P
MSM
.
I
n
th
i
s
s
ec
tio
n
,
a
f
u
zz
y
-
s
lid
in
g
m
o
d
e
co
n
tr
o
l
is
d
ev
elo
p
ed
in
w
h
ic
h
a
f
u
zz
y
in
f
er
en
ce
m
ec
h
a
n
i
s
m
is
u
s
ed
.
T
h
e
p
r
o
p
o
s
ed
h
y
b
r
id
f
u
zz
y
-
s
li
d
in
g
m
o
d
e
co
n
tr
o
l
(
HFSM
C
)
s
ch
e
m
e
f
o
r
elec
tr
ic
v
eh
ic
le
(
E
V)
s
p
ee
d
co
n
tr
o
l
is
s
h
o
w
n
in
Fi
g
u
r
e
4
.
T
h
e
P
I
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
r
ep
lace
s
th
e
s
p
ee
d
s
u
r
f
ac
e
s
lid
in
g
m
o
d
e.
T
h
is
f
u
zz
y
-
P
I
co
n
tr
o
ller
is
a
g
en
er
aliza
t
io
n
o
f
th
e
co
n
v
e
n
tio
n
al
P
I
co
n
tr
o
ller
th
at
u
s
e
s
an
er
r
o
r
s
ig
n
al
a
n
d
its
d
er
iv
ati
v
e
as
i
n
p
u
t
s
i
g
n
al
s
.
F
u
zz
y
-
P
I
co
n
tr
o
ller
s
h
av
e
t
w
o
i
n
p
u
ts
a
n
d
o
n
e
o
u
tp
u
t.
T
h
e
P
I
-
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
i
n
Fi
g
u
r
e
4
i
s
d
ev
elo
p
ed
u
s
i
n
g
i
n
p
u
t
m
e
m
b
e
r
s
h
ip
f
u
n
ctio
n
s
f
o
r
er
r
o
r
an
d
c
h
an
g
e
i
n
er
r
o
r
an
d
th
e
o
u
tp
u
t
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
,
th
e
m
ea
s
u
r
ed
s
p
ee
d
f
o
r
P
MSM
.
(
3
2
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
Hyb
r
id
F
u
z
z
y
S
lid
in
g
Mo
d
e
S
p
ee
d
C
o
n
tr
o
l fo
r
a
n
E
lectric V
e
h
icle
Dri
ve
(
I
b
r
a
h
im
F
a
r
o
u
k
B
o
u
g
u
e
n
n
a
)
1057
(
3
3
)
W
h
er
e
is
th
e
r
e
f
er
en
ce
d
o
r
d
esire
d
o
u
tp
u
t sp
ee
d
an
d
is
th
e
ac
tu
al
o
u
tp
u
t sp
ee
d
.
T
h
e
b
lo
ck
d
iag
r
a
m
o
f
th
e
f
u
zz
y
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
o
f
P
MSM
is
id
en
tica
l
to
t
h
at
s
h
o
w
n
i
n
Fi
g
u
r
e
3
,
r
ep
lacin
g
t
h
e
s
p
ee
d
SM
C
co
n
tr
o
ller
b
y
f
u
zz
y
P
I
co
n
tr
o
ller
,
as sh
o
w
n
i
n
F
i
g
u
r
e
4
.
T
o
co
n
v
er
t
th
ese
n
u
m
er
ical
v
a
r
iab
les
in
to
lin
g
u
is
tic
v
ar
iab
les,
th
e
f
o
llo
w
in
g
s
ev
e
n
f
u
zz
y
l
ev
els
o
r
s
et
s
ar
e
ch
o
s
en
as:
NB
(
n
e
g
ati
v
e
b
ig
)
,
NM
(
n
eg
ati
v
e
m
ed
iu
m
)
,
NS
(
n
eg
ati
v
e
s
m
all)
,
Z
E
(
ze
r
o
)
,
P
S
(
p
o
s
itiv
e
s
m
al
l)
,
P
M
(
p
o
s
itiv
e
m
ed
i
u
m
)
,
an
d
P
B
(
p
o
s
itiv
e
b
i
g
)
as
s
h
o
w
n
i
n
T
ab
le
1
.
I
t
is
w
ell
k
n
o
w
n
as
o
n
e
o
f
th
e
d
is
ad
v
an
ta
g
es
o
f
t
h
e
SM
C
is
th
e
C
h
atter
i
n
g
p
h
en
o
m
e
n
o
n
.
I
n
th
i
s
s
ec
tio
n
,
a
f
u
zz
y
lo
g
ic
co
n
tr
o
l
FLC
is
in
tr
o
d
u
ce
d
to
r
ep
lace
th
e
s
p
ee
d
s
u
r
f
ac
e,
s
u
ch
as
t
h
e
s
tate
tr
aj
ec
to
r
y
ca
n
r
ea
ch
an
d
m
o
v
e
alo
n
g
th
e
s
u
r
f
ac
e
ch
an
g
e,
a
g
o
o
d
d
y
n
a
m
ic
s
tea
d
y
s
tate
ca
n
b
e
ac
h
ie
v
ed
b
y
t
h
e
c
o
m
b
i
n
atio
n
o
f
SM
C
an
d
FLC
[
3
0
]
-
[
3
1
]
,
th
e
b
en
ef
it
s
o
f
t
h
e
p
r
o
p
o
s
ed
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
l is
v
er
if
i
ed
b
y
s
i
m
u
latio
n
r
esu
l
ts
.
Fig
u
r
e
4
.
B
lo
ck
D
iag
r
a
m
o
f
P
r
o
p
o
s
ed
Fu
zz
y
Sli
d
i
n
g
Mo
d
e
C
o
n
tr
o
l
Sp
ee
d
T
ab
le
1
.
Sev
en
Fu
zz
y
L
ev
e
ls
e
de
ce
NB
NM
NS
ZE
PS
PM
PB
NB
NB
NB
NB
NB
NM
NS
ZE
NM
NB
NB
NB
NM
NS
ZE
PS
NS
NB
NB
NM
NS
ZE
PS
PM
ZE
NB
NM
NS
ZE
PS
PM
PB
PS
NM
NS
ZE
PS
PM
PB
PB
PM
NS
ZE
PS
PM
PB
PB
PB
PB
ZE
PS
PM
PB
PB
PB
PB
5
.
SI
M
UL
AT
I
O
N
R
E
SU
L
T
S
I
n
o
r
d
er
to
ch
ar
ac
ter
ize
t
h
e
v
e
h
icle
tr
ac
tio
n
s
y
s
te
m
b
e
h
av
io
r
,
s
i
m
u
latio
n
s
w
er
e
ca
r
r
ied
o
u
t
u
s
in
g
th
e
m
o
d
el
o
f
th
e
F
ig
u
r
e
3
an
d
F
ig
u
r
e
4
.
T
h
e
y
s
h
o
w
t
h
e
v
eh
i
cle
s
p
ee
d
co
n
tr
o
l
u
s
in
g
s
l
id
in
g
m
o
d
e
co
n
tr
o
ller
s
(
SMC
)
an
d
f
u
zz
y
s
lid
i
n
g
m
o
d
e
co
n
tr
o
ller
s
(
FMSC
)
.
Fi
g
u
r
e
5
s
h
o
w
t
h
e
li
n
ea
r
s
p
ee
d
o
f
th
e
v
eh
ic
le.
Fig
u
r
e
5
.
L
i
n
ea
r
s
p
ee
d
o
f
Veh
i
cle
I
t
s
h
o
u
ld
b
e
n
o
ted
th
a
t
t
h
e
s
i
m
u
latio
n
r
u
n
u
n
d
er
E
u
r
o
p
ea
n
u
r
b
an
d
r
iv
i
n
g
c
y
c
le
E
C
E
-
1
5
,
d
u
r
in
g
t
h
i
s
c
y
cle
th
r
ee
tr
ap
ez
o
id
s
s
p
ee
d
(
9
k
m
/h
,
1
9
k
m
/
h
,
3
0
k
m
/h
)
s
h
all
b
e
r
eq
u
ested
b
y
t
h
e
d
r
iv
er
.
I
n
ad
d
itio
n
w
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8
694
IJ
PEDS
Vo
l.
8
,
No
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3
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Sep
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m
b
er
2
0
1
7
:
1
0
5
0
-
1061
1058
ap
p
lied
a
s
lo
p
e
o
f
1
0
%
b
et
w
ee
n
1
6
s
an
d
2
3
s
.
T
h
e
p
u
r
p
o
s
e
o
f
th
i
s
s
i
m
u
latio
n
m
o
d
e
i
s
to
test
o
u
r
co
n
tr
o
l
tech
n
iq
u
e
t
h
r
o
u
g
h
a
r
ea
l d
r
iv
i
n
g
c
y
cle.
Fig
u
r
e
6
.
Mo
to
r
Sp
ee
d
(
SMC
&
HF
SMC
)
T
h
e
class
ical
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l (
SMC
)
d
escr
ib
ed
ab
o
v
e
is
co
m
p
ar
ed
to
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
l
la
w
(
H
FS
MC).
Fi
g
u
r
e
6
s
h
o
w
s
t
h
e
v
eh
ic
le
s
p
ee
d
r
esp
o
n
s
e
in
to
w
ca
s
e
s
(
SMC
an
d
HFSM
C
)
.
Fro
m
F
i
g
u
r
e
6
an
d
F
ig
u
r
e
7
th
e
d
y
n
a
m
ic
b
eh
a
v
io
u
r
o
f
t
h
e
SM
C
an
d
HF
SMC
d
if
f
er
.
I
n
Fi
g
u
r
e
6
a
th
e
r
o
tatio
n
s
p
ee
d
o
f
th
e
m
o
to
r
ca
n
r
ap
id
ly
tr
ac
k
t
h
e
r
ef
er
e
n
ce
r
o
tatio
n
s
p
ee
d
,
b
u
t
th
is
co
n
tr
o
l
co
m
m
u
tes
v
er
y
r
ap
id
ly
b
et
w
ee
n
i
ts
t
w
o
li
m
it
s
,
w
h
ic
h
in
f
l
u
en
ce
s
th
e
to
tal
co
n
tr
o
l
o
f
th
e
v
e
h
icle,
a
r
elativ
el
y
lar
g
e
s
lid
i
n
g
s
u
r
f
ac
e
i
s
o
b
s
er
v
ed
w
h
ich
ca
u
s
es
f
l
u
ct
u
atio
n
s
i
n
th
e
r
esp
o
n
s
e
o
f
th
e
s
y
s
te
m
an
d
a
co
n
s
id
er
ab
le
tr
ac
k
i
n
g
er
r
o
r
Fig
u
r
e
7
a
I
t
is
th
e
p
h
e
n
o
m
e
n
o
n
o
f
ch
a
tter
in
g
.
I
n
Fi
g
u
r
e
6
b
th
e
h
y
b
r
id
f
u
zz
y
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
ac
t
i
m
m
ed
iatel
y
o
n
t
h
e
s
p
ee
d
lo
o
p
b
y
a
co
n
s
id
er
ab
le
r
ed
u
ce
o
f
th
e
ch
a
tter
in
g
p
h
e
n
o
m
e
n
o
n
a
n
d
th
e
tr
ac
k
i
n
g
er
r
o
r
Fig
u
r
e
7
b
.
Fig
u
r
e
7
.
Sp
ee
d
T
r
ac
k
in
g
E
r
r
o
r
(
SMC
&
H
FS
M
C
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
Hyb
r
id
F
u
z
z
y
S
lid
in
g
Mo
d
e
S
p
ee
d
C
o
n
tr
o
l fo
r
a
n
E
lectric V
e
h
icle
Dri
ve
(
I
b
r
a
h
im
F
a
r
o
u
k
B
o
u
g
u
e
n
n
a
)
1059
Fig
u
r
es
8
(
a)
an
d
(
c)
s
h
o
w
s
th
e
v
ar
iatio
n
o
f
elec
tr
o
m
a
g
n
et
ic
to
r
q
u
e
a
s
lo
ad
to
r
q
u
e
ch
a
n
g
e
s
,
Fig
u
r
es
8
(
b
)
an
d
(
c)
illu
s
tr
ate
s
th
e
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e
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atic
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,
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Fig
u
r
e
9
s
h
o
w
s
t
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e
t
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ee
-
p
h
a
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e
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.
Fro
m
F
ig
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es
8
an
d
9
it
ca
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I
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ce
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ie
n
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h
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Fig
u
r
e
8
.
(
a)
&
(
c)
E
lectr
o
m
ag
n
etic
an
d
lo
ad
to
r
q
u
e
in
SM
C
an
d
HFSM
C
,
(
b
)
&
(
d
)
q
u
ad
r
at
ic
an
d
d
ir
ec
t
cu
r
r
en
ts
i
n
SM
C
an
d
HF
SM
C
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