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d
:
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C
I
P
co
n
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o
ller
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MSM
SVM
S
w
itc
h
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r
eq
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p
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rig
h
t
©
201
7
In
s
t
it
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te o
f
A
d
v
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d
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g
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d
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c
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.
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l
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C
o
r
r
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p
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uth
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r
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alid
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h
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k
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NT
RO
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UCT
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N
T
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Field
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FOC
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tr
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co
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s
id
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e
m
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t
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m
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tan
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d
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n
a
m
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p
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f
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r
m
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n
ce
in
AC
m
ac
h
i
n
es
[
1
8
]
.
DT
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tech
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iq
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m
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[
9
]
-
[
1
4
]
.
T
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asic
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T
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ased
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lip
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eq
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d
to
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q
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[
1
8
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a
s
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9
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[
8
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-
[
9
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as
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m
e
u
n
u
s
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g
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ican
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l
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m
p
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d
y
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m
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ce
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f
a
s
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f
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r
esp
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d
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th
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ar
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e
to
to
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q
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d
f
l
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x
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p
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es
[
7
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[
8
]
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n
d
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h
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tr
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s
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ates a
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.
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ls
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eq
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[
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I
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last
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s
ev
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[
2
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b
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w
itc
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ab
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[
1
,
4
,
1
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]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
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8
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8
694
A
C
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DTC
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K
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b.
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r
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8
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c.
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y
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g
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ter
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r
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lato
r
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p
r
ed
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co
n
tr
o
ller
an
d
SVM
[
6
,
7
,
9
,
1
0
,
1
4
]
.
I
n
th
e
m
o
d
i
f
ied
DT
C
,
p
r
o
p
o
s
ed
in
t
h
ese
w
o
r
k
s
,
at
leas
t
o
n
e
o
f
th
e
p
r
o
p
er
ties
b
ello
w
is
n
ee
d
ed
to
ac
h
iev
e
a
lo
w
er
to
r
q
u
e
an
d
f
l
u
x
r
ip
p
le:
a.
Mo
r
e
p
o
w
er
s
w
itc
h
es.
b.
Var
iab
le
s
w
i
tch
i
n
g
f
r
eq
u
e
n
c
y
.
c.
I
n
cr
ea
s
e
o
f
th
e
s
y
s
te
m
co
s
t a
n
d
/o
r
co
m
p
lex
it
y
.
T
h
is
p
ap
er
p
r
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p
o
s
es
a
m
o
d
if
ied
DT
C
alg
o
r
ith
m
f
o
r
P
MSM
d
r
iv
e
in
o
r
d
er
to
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ed
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ce
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e
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n
d
to
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q
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e
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ip
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les.
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t,
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th
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tr
o
l stra
teg
y
is
c
h
ar
ac
te
r
ized
b
y
:
a.
L
o
w
s
w
i
tch
i
n
g
lo
s
s
e
s
an
d
f
ix
e
d
co
n
s
tan
t
s
w
itc
h
in
g
f
r
eq
u
en
c
y
b
y
u
s
i
n
g
a
s
y
m
m
etr
ical
SV
M.
b.
Go
o
d
s
p
ee
d
,
to
r
q
u
e
an
d
f
lu
x
d
y
n
a
m
ic
s
tate
b
y
u
s
i
n
g
t
h
e
I
P
co
n
tr
o
ller
s
.
c.
Si
m
p
le
al
g
o
r
ith
m
.
T
h
e
b
asic
D
T
C
an
d
th
e
p
r
o
p
o
s
ed
D
T
C
alg
o
r
ith
m
s
w
e
r
e
in
v
es
tig
a
ted
b
y
s
i
m
u
la
tio
n
s
u
n
d
er
Ma
tlab
/Si
m
u
l
in
k
an
d
th
e
n
ex
p
er
i
m
en
tall
y
u
s
i
n
g
d
SP
A
C
E
1
1
0
4
b
o
ar
d
.
I
n
o
r
d
er
to
s
h
o
w
t
h
e
s
u
p
er
io
r
it
y
o
f
th
e
p
r
o
p
o
s
ed
D
T
C
s
tr
ateg
y
,
th
e
s
a
m
p
li
n
g
ti
m
e
u
s
ed
to
in
v
e
s
tig
ate
t
h
e
s
ta
n
d
ar
d
DT
C
,
in
s
i
m
u
lat
io
n
an
d
i
n
p
r
ac
tice,
is
s
m
aller
th
a
n
t
h
at
u
s
ed
to
i
n
v
est
ig
ate
th
e
p
r
o
p
o
s
ed
DT
C
alg
o
r
ith
m
.
Als
o
,
t
h
es
e
co
n
tr
o
l
s
tr
a
te
g
ies
w
er
e
co
m
p
ar
ed
at
d
i
f
f
er
en
t
o
p
er
atin
g
co
n
d
itio
n
s
,
n
a
m
el
y
:
n
o
lo
ad
,
s
p
ee
d
tr
ac
k
in
g
a
n
d
d
is
tu
r
b
an
ce
r
ej
ec
tio
n
(
lo
ad
to
r
q
u
e)
.
I
n
d
ee
d
,
b
o
th
s
im
u
latio
n
a
n
d
ex
p
er
i
m
e
n
tal
r
e
s
u
lt
s
s
h
o
w
th
at
o
u
r
p
r
o
p
o
s
ed
DT
C
alg
o
r
ith
m
i
s
m
o
r
e
p
er
f
o
r
m
a
n
t t
h
a
n
class
ica
l D
T
C
in
all
th
e
cited
o
p
er
atin
g
co
n
d
itio
n
s
.
2.
B
ASI
C
DT
C
F
O
R
P
M
S
M
D
RIVE
DT
C
is
a
v
ec
to
r
co
n
tr
o
l
m
et
h
o
d
u
s
ed
to
co
n
tr
o
l
t
h
e
to
r
q
u
e
an
d
th
er
e
f
o
r
e
t
h
e
s
p
ee
d
o
f
th
e
m
o
to
r
b
y
co
n
tr
o
llin
g
th
e
s
w
itc
h
i
n
g
s
eq
u
en
ce
o
f
t
h
e
in
v
er
ter
tr
an
s
is
to
r
s
.
T
h
e
F
ig
u
r
e
1
s
h
o
w
s
t
h
e
b
asic
DT
C
p
r
in
cip
le.
Fig
u
r
e
1
.
B
asic D
T
C
s
ch
e
m
e
f
o
r
P
MSM
d
r
iv
e
w
i
th
s
p
ee
d
lo
o
p
I
n
th
e
DT
C
,
th
e
m
o
to
r
to
r
q
u
e
co
n
tr
o
l
is
ac
h
iev
ed
w
i
th
t
w
o
h
y
s
ter
es
is
co
n
tr
o
ller
s
,
o
n
e
f
o
r
s
tato
r
f
lu
x
m
ag
n
it
u
d
e
er
r
o
r
an
d
th
e
o
th
er
f
o
r
th
e
to
r
q
u
e
m
a
g
n
itu
d
e
e
r
r
o
r
.
T
h
e
s
elec
tio
n
o
f
o
n
e
s
w
itc
h
i
n
g
v
ec
to
r
p
er
s
a
m
p
li
n
g
ti
m
e
d
ep
en
d
s
o
n
th
e
s
ig
n
o
f
t
h
ese
t
w
o
co
n
tr
o
ller
s
w
it
h
o
u
t
in
s
p
ec
tio
n
s
o
f
th
e
m
a
g
n
i
tu
d
e
o
f
t
h
e
er
r
o
r
s
p
r
o
d
u
ce
d
in
th
e
tr
an
s
ie
n
t a
n
d
d
y
n
a
m
ic
s
i
tu
at
io
n
s
p
er
s
a
m
p
l
i
n
g
ti
m
e
a
n
d
lev
e
l o
f
th
e
ap
p
lie
d
s
tato
r
v
o
ltag
e.
2
.
1
.
Sta
t
o
r
F
lux
Co
ntr
o
l
T
h
e
s
tato
r
v
o
ltag
e
v
ec
to
r
eq
u
a
tio
n
,
in
a
s
ta
to
r
r
ef
er
en
ce
f
r
a
m
e,
is
g
i
v
en
b
y
:
̅
̅
̅
(
1
)
W
h
er
e
̅
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
.
2
,
J
u
n
e
2
0
1
7
:
5
5
8
–
5
8
3
560
So
̅
̅
∫
(
̅
̅
)
(
2
)
Fo
r
h
ig
h
s
p
ee
d
s
,
th
e
ter
m
̅
ca
n
b
e
n
eg
lecte
d
,
s
o
th
e
eq
u
a
tio
n
2
is
g
iv
e
n
b
y
:
̅
̅
∫
̅
(
3
)
Du
r
in
g
t
h
e
s
a
m
e
s
a
m
p
li
n
g
ti
m
e
th
e
s
elec
ted
s
tato
r
v
o
lt
a
g
e
v
e
cto
r
is
al
w
a
y
s
co
n
s
ta
n
t,
E
q
u
ati
o
n
3
b
ec
o
m
es:
̅
(
)
̅
(
)
̅
(
4
)
Or
as
̅
̅
̅
(
)
̅
(
)
(
5
)
W
ith
:
̅
(
)
is
th
e
s
tato
r
f
l
u
x
v
ec
to
r
at
th
e
ac
tu
a
l sa
m
p
l
in
g
ti
m
e.
̅
(
)
is
th
e
s
tato
r
f
l
u
x
v
ec
to
r
at
th
e
n
ex
t
s
a
m
p
l
in
g
ti
m
e.
̅
is
th
e
v
ar
iatio
n
o
f
s
tato
r
f
l
u
x
v
ec
to
r
.
Fro
m
E
q
u
atio
n
5
,
it
is
s
ee
n
t
h
at
th
e
v
ar
iatio
n
o
f
th
e
s
ta
to
r
f
lu
x
i
s
d
ir
ec
tl
y
p
r
o
p
o
r
tio
n
al
to
th
e
s
tato
r
v
o
ltag
e;
co
n
s
eq
u
en
tl
y
th
e
co
n
tr
o
l
is
ca
r
r
ied
o
u
t
b
y
v
ar
y
i
n
g
th
e
s
tato
r
f
l
u
x
v
ec
to
r
b
y
s
elec
ti
n
g
a
s
u
itab
l
e
v
o
ltag
e
v
ec
to
r
w
ith
t
h
e
Vo
lta
g
e
So
u
r
ce
I
n
v
er
ter
(
VSI
)
.
Fig
u
r
e
2
s
h
o
w
s
th
at
th
e
s
tato
r
f
l
u
x
v
ec
to
r
is
v
ar
ied
in
t
h
e
s
a
m
e
d
ir
ec
tio
n
as
t
h
e
ap
p
lied
s
ta
to
r
v
o
ltag
e
v
ec
to
r
.
T
h
er
ef
o
r
e,
a
p
p
lied
a
c
o
llin
ea
r
s
tato
r
v
o
ltag
e
v
ec
to
r
as
th
e
s
tato
r
f
l
u
x
v
ec
to
r
an
d
in
th
e
s
a
m
e
d
ir
ec
tio
n
as
it
i
s
a
s
u
f
f
icie
n
tl
y
co
n
d
itio
n
to
i
n
cr
ea
s
e
it,
a
n
d
v
ice
v
er
s
a.
I
n
d
ee
d
,
to
co
n
tr
o
l
th
e
s
tato
r
f
l
u
x
v
ec
to
r
̅
(
)
an
esti
m
ato
r
o
f
its
m
o
d
u
le
̂
an
d
its
ar
g
u
m
en
t
̂
is
n
ee
d
ed
.
Fig
u
r
e
2
. S
tato
r
f
lu
x
v
ec
to
r
ev
o
lu
tio
n
i
n
th
e
α
β
s
u
b
s
p
ac
e
T
h
e
s
tato
r
f
l
u
x
ca
n
b
e
esti
m
ated
f
r
o
m
t
h
e
m
ea
s
u
r
e
o
f
s
tato
r
cu
r
r
en
ts
a
n
d
v
o
ltag
e
s
an
d
t
h
eir
tr
an
s
f
o
r
m
atio
n
i
n
t
h
e
α
β
s
u
b
s
p
a
ce
,
b
y
i
n
te
g
r
atin
g
o
f
d
if
f
er
en
ce
b
et
w
ee
n
th
e
in
p
u
t
v
o
lta
g
e
an
d
t
h
e
v
o
ltag
e
d
r
o
p
ac
r
o
s
s
th
e
s
tato
r
r
esis
ta
n
c
e
as g
i
v
en
b
y
:
∫
(
)
(
6
)
∫
(
)
(
7
)
Fro
m
E
q
u
atio
n
s
6
an
d
7
,
th
e
s
t
ato
r
f
lu
x
m
o
d
u
le
a
n
d
its
ar
g
u
m
en
t a
r
e
g
i
v
en
b
y
:
̂
√
(
8
)
̅
s
̅
(
)
ω
s
β
α
̅
(
+
)
θ
̂
s
∆
θ
s
ε
Ф
-
ε
Ф
0
1
s
∗
s
=
s
∗
̂
K
Φ
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
A
C
o
n
s
ta
n
t S
w
itch
in
g
F
r
eq
u
e
n
cy
DTC
fo
r
P
MS
M Us
in
g
…
(
K
.
C
h
ikh
)
561
̂
(
)
(
9
)
A
t
w
o
lev
el
h
y
s
ter
esis
co
n
tr
o
ller
,
as
in
d
icate
d
in
f
ig
u
r
e
1
,
is
u
s
ed
to
co
n
tr
o
l
th
e
s
tato
r
f
lu
x
,
w
h
ic
h
co
m
p
ar
es
t
h
e
r
e
f
er
en
ce
s
tato
r
f
l
u
x
∗
w
ith
th
e
e
s
ti
m
ated
s
tato
r
f
l
u
x
̂
.
T
h
e
f
lu
x
h
y
s
ter
esi
s
co
m
p
ar
ato
r
o
u
tp
u
t
is
d
en
o
ted
b
y
B
o
o
lean
v
ar
iab
l
e
w
h
ic
h
i
n
d
icate
s
d
ir
ec
tl
y
i
f
t
h
e
a
m
p
lit
u
d
e
o
f
f
l
u
x
m
u
s
t b
e
i
n
cr
ea
s
ed
o
r
d
ec
r
ea
s
ed
:
i
f
,
it
m
ea
n
s
th
at
th
e
ac
tu
al
v
a
lu
e
o
f
t
h
e
f
l
u
x
li
n
k
ag
e
is
b
elo
w
t
h
e
r
e
f
er
e
n
ce
v
alu
e
an
d
o
u
ts
id
e
th
e
h
y
s
te
r
es
is
li
m
it;
s
o
t
h
e
s
tato
r
f
lu
x
m
u
s
t
b
e
in
cr
ea
s
ed
,
w
h
ile
i
f
,
it
m
ea
n
s
th
at
t
h
e
ac
tu
al
v
a
lu
e
o
f
th
e
f
l
u
x
li
n
k
a
g
es
i
s
ab
o
v
e
th
e
r
ef
er
e
n
ce
v
al
u
e
an
d
o
u
t
s
id
e
th
e
h
y
s
ter
esi
s
li
m
it
;
s
o
th
e
s
tato
r
f
l
u
x
m
u
s
t b
e
d
ec
r
ea
s
ed
.
T
h
e
t
w
o
lev
els
V
SI,
as
s
h
o
w
n
in
F
i
g
u
r
e
1
,
is
u
s
ed
to
s
elec
t
p
r
o
p
er
v
o
ltag
e
v
ec
to
r
s
f
r
o
m
t
h
e
o
u
tp
u
t
o
f
f
l
u
x
a
n
d
to
r
q
u
e
h
y
s
ter
es
is
co
n
tr
o
ller
(
w
i
ll
b
e
p
r
esen
ted
in
th
e
n
e
x
t
p
ar
t)
.
T
h
e
in
v
er
ter
h
as
eig
h
t
p
er
m
i
s
s
ib
le
s
w
itc
h
in
g
s
tate
s
(
V
0
,
V
1
…
V
7
)
,
o
u
t
o
f
w
h
ic
h
s
i
x
ar
e
ac
ti
v
e
(
V
1
,
V
2
…
V
6
)
an
d
t
w
o
ze
r
o
o
r
in
ac
ti
v
e
s
tates
(
V
0
an
d
V
7
)
.
T
h
e
v
o
lta
g
e
v
ec
to
r
p
l
an
e
is
d
iv
id
ed
i
n
to
s
i
x
s
ec
to
r
s
s
o
th
at
ea
c
h
v
o
ltag
e
v
ec
to
r
d
i
v
id
es e
ac
h
r
e
g
io
n
i
n
t
w
o
eq
u
al
p
ar
ts
as
s
h
o
w
n
in
F
ig
u
r
e
3
.
I
n
ea
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8
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8
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g
t
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e
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1
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o
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in
Ma
tla
b
/Si
m
u
li
n
k
en
v
ir
o
n
m
e
n
t,
in
o
r
d
er
to
in
v
e
s
tig
a
te
t
h
e
P
MSM
d
r
iv
e
p
er
f
o
r
m
a
n
ce
s
b
y
u
s
in
g
clas
s
ical
an
d
p
r
o
p
o
s
ed
DT
C
.
Fo
r
th
is
r
ea
s
o
n
,
th
e
s
a
m
p
lin
g
t
i
m
e
is
5
0
µs
(
2
0
k
Hz)
f
o
r
th
e
b
asic
DT
C
an
d
1
0
0
µs
(
1
0
k
Hz)
f
o
r
th
e
m
o
d
if
ied
DT
C
.
No
te
th
at
t
h
is
c
h
o
ice
h
av
e
r
ea
l
i
n
f
l
u
e
n
ce
o
n
t
h
e
s
w
it
ch
in
g
f
r
eq
u
e
n
c
y
an
d
t
h
e
to
r
q
u
e
an
d
f
l
u
x
r
ip
p
les,
m
ai
n
l
y
i
n
ca
s
e
o
f
t
h
e
b
asic
D
T
C
.
T
o
ex
am
i
n
e
an
d
to
co
m
p
a
r
e
th
e
r
o
b
u
s
tn
e
s
s
o
f
t
h
ese
t
w
o
s
tr
ateg
ie
s
,
a
s
a
m
e
o
p
er
atio
n
o
f
s
p
ee
d
an
d
lo
ad
to
r
q
u
e
v
ar
iatio
n
w
a
s
ap
p
lied
to
co
n
tr
o
l th
e
P
MSM
.
T
h
e
s
i
m
u
la
tio
n
r
esu
lts
o
f
b
asi
c
D
T
C
an
d
C
SF
-
DT
C
ar
e
p
r
esen
ted
in
F
i
g
u
r
e
1
2
an
d
1
3
,
r
es
p
ec
tiv
el
y
.
As
s
h
o
w
n
i
n
F
ig
u
r
es
1
2
an
d
1
3
,
it’
s
s
ee
n
t
h
at
t
h
e
s
ta
to
r
f
l
u
x
an
d
to
r
q
u
e
r
ip
p
les
ar
e
g
r
ea
tl
y
r
ed
u
ce
d
u
n
d
er
th
e
p
r
o
p
o
s
ed
DT
C
,
in
s
p
ite
o
f
t
h
e
s
m
al
ler
s
a
m
li
n
g
t
i
m
e
u
s
ed
to
s
i
m
u
late
th
e
cla
s
s
ical
DT
C
.
A
l
s
o
a
h
i
g
h
cu
r
r
en
t
d
is
to
r
s
io
n
ca
n
b
e
o
b
s
er
v
ed
i
n
Fi
g
u
r
e
1
2
f
w
h
e
n
co
m
p
ar
ed
to
Fig
u
r
e
1
3
f.
T
h
is
is
m
a
in
l
y
b
ec
au
s
e
i
n
S
VM
alg
o
r
ith
m
,
co
n
tr
ar
y
to
h
y
s
ter
i
s
is
co
n
tr
o
ller
an
d
t
h
e
s
w
i
tch
i
n
g
tab
le,
th
e
s
w
itc
h
i
n
g
f
r
eq
u
e
n
c
y
is
co
n
s
ta
n
t
a
n
d
also
,
in
SV
M,
m
an
y
v
ec
to
r
s
(
I
GB
T
s
tates)
ar
e
s
elec
ted
to
a
d
j
u
s
t
th
e
to
r
q
u
e
a
n
d
f
l
u
x
r
ip
p
le
in
ea
ch
s
a
m
p
li
n
g
ti
m
e,
w
h
er
ea
s
in
b
asic
DT
C
ju
s
t
o
n
e
v
ec
to
r
is
s
elec
ted
to
a
d
j
u
s
t
r
ip
p
le
in
s
id
e
h
y
s
ter
es
is
b
an
d
s
o
f
to
r
q
u
e
an
d
f
l
u
x
r
eg
u
lato
r
s
.
I
n
b
r
ief
,
th
e
s
tead
y
s
tate
p
er
f
o
r
m
an
ce
o
f
t
h
e
C
S
F
-
DT
C
is
m
u
ch
b
etter
th
an
th
a
t
o
f
th
e
b
asi
c
DT
C
,
in
o
n
e
h
a
n
d
.
I
n
t
h
e
o
th
er
h
an
d
,
t
h
e
s
a
m
e
to
r
q
u
e
a
n
d
f
l
u
x
d
y
n
a
m
ic
s
tate
ca
n
b
e
o
b
s
er
v
ed
,
e
x
p
ec
t
th
e
s
m
all
d
ela
y
in
t
h
e
f
l
u
x
at
t
h
e
s
tar
t
-
u
p
o
f
t
h
e
m
o
to
r
(
s
ee
F
ig
u
r
e
1
4
)
.
Fi
g
u
r
es
1
5
s
h
o
w
s
t
h
e
s
tato
r
p
h
as
e
cu
r
r
en
t
s
p
ec
tr
u
m
s
u
n
d
er
t
h
e
b
as
ic
a
n
d
m
o
d
i
f
ied
DT
C
.
I
n
d
ee
d
,
th
e
c
u
r
r
en
t
s
p
ec
tr
al
an
al
y
s
i
s
p
r
ese
n
ted
i
n
Fig
u
r
e
1
5
a
s
h
o
w
s
t
h
a
t
th
e
T
o
tal
Har
m
o
n
ic
Di
s
to
r
tio
n
(
T
HD)
o
f
th
e
c
u
r
r
en
t
w
av
e
f
o
r
m
u
n
d
er
b
asic
DT
C
is
1
1
.
1
%
w
h
er
ea
s
t
h
e
T
HD
o
f
th
e
cu
r
r
e
n
t
w
av
e
f
o
r
m
o
f
D
T
C
-
SVM
is
3
.
3
5
%,
it
is
s
m
o
o
th
er
th
an
t
h
at
o
f
t
h
e
b
asic
D
T
C
.
T
h
is
is
m
ai
n
l
y
d
u
e
to
th
e
f
ac
t
t
h
at
t
h
e
s
w
i
tch
i
n
g
f
u
n
ct
io
n
o
f
t
h
e
i
n
v
er
ter
is
o
n
l
y
u
p
d
ated
at
th
e
s
a
m
p
l
in
g
i
n
s
ta
n
t
a
n
d
also
th
e
n
u
m
b
er
o
f
v
ec
to
r
s
ap
p
lied
to
ad
j
u
s
t th
e
to
r
q
u
e
an
d
f
l
u
x
r
ip
p
le.
Fig
u
r
e
1
2
a.
R
ef
er
en
ce
(
w
-
r
e
f
)
an
d
m
ea
s
u
r
ed
s
p
ee
d
(
w
-
m
e
s
)
Fig
u
r
e
1
2
b
.
L
o
ad
to
r
q
u
e
an
d
m
o
to
r
to
r
q
u
e
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