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n
al
m
u
s
t
b
e
in
p
u
t
to
ze
r
o
o
u
t th
e
n
et
to
r
q
u
e.
T
h
is
s
ig
n
al
in
j
ec
tio
n
m
et
h
o
d
is
r
ef
er
r
e
d
to
as th
e
Salie
n
t P
o
le
m
et
h
o
d
.
T
h
e
Salien
t
P
o
le
m
et
h
o
d
ca
n
av
o
id
u
n
d
e
s
ir
ab
le
ev
en
ts
s
u
c
h
a
s
r
o
to
r
b
ac
k
-
k
ic
k
i
n
g
o
r
r
o
to
r
o
s
cillatio
n
p
r
io
r
t
o
s
m
o
o
th
r
u
n
n
in
g
,
m
a
k
in
g
t
h
is
m
et
h
o
d
s
u
p
er
io
r
to
th
e
o
th
er
f
o
u
r
m
e
th
o
d
s
.
B
ased
o
n
th
e
Salien
t
P
o
le
m
et
h
o
d
,
s
ev
er
al
ap
p
r
o
ac
h
es
ar
e
p
r
o
v
id
ed
to
f
u
r
th
er
e
n
h
a
n
ce
t
h
e
p
r
ec
is
io
n
o
f
i
n
itia
l
-
p
o
s
itio
n
e
s
ti
m
atio
n
.
I
n
r
esear
ch
o
n
t
h
e
Salie
n
t
P
o
le
m
et
h
o
d
,
Sch
m
id
t
et
al.
[
1
8
]
estab
lis
h
ed
a
tab
le
o
f
in
p
u
t
-
v
o
ltag
e
s
an
d
co
r
r
esp
o
n
d
in
g
p
ea
k
cu
r
r
e
n
ts
o
f
a
m
o
to
r
.
W
h
en
t
h
e
m
o
to
r
s
tar
ts
,
a
th
r
ee
-
p
h
a
s
e
v
o
lta
g
e
i
s
ap
p
lied
to
it.
T
h
e
in
d
u
ce
d
p
ea
k
cu
r
r
en
t
is
t
h
e
n
m
ea
s
u
r
ed
an
d
th
e
in
it
ial
p
o
s
itio
n
o
f
th
e
r
o
to
r
ca
n
b
e
o
b
tain
ed
b
ased
o
n
th
e
tab
le.
T
u
r
s
in
i
et
al.
[
1
9
]
f
o
u
n
d
t
h
at
ev
alu
a
tio
n
s
o
f
r
o
to
r
p
o
s
itio
n
b
ased
o
n
l
y
o
n
p
ea
k
c
u
r
r
en
t
ar
e
s
u
b
j
ec
t
to
s
ev
er
a
l
u
n
ce
r
tai
n
tie
s
.
T
h
e
y
p
r
o
p
o
s
ed
an
i
m
p
r
o
v
ed
m
eth
o
d
w
h
ic
h
a
p
p
lies
th
e
s
a
m
e
v
o
ltag
e
w
a
v
e
f
o
r
m
1
6
to
m
ea
s
u
r
e
th
e
f
ee
d
b
ac
k
c
u
r
r
en
t,
u
s
i
n
g
f
u
zz
y
t
h
eo
r
y
to
d
eter
m
i
n
e
r
o
to
r
p
o
s
itio
n
,
r
es
u
lt
in
g
in
esti
m
ati
o
n
s
w
i
th
er
r
o
r
s
o
f
less
t
h
an
2
0
d
eg
r
ee
s
.
Hata
k
e
y
a
m
a
[
20
]
ev
alu
ated
th
e
r
o
to
r
p
o
s
itio
n
b
y
ap
p
ly
i
n
g
tw
o
s
i
n
e
w
a
v
es.
T
h
e
a
m
p
lit
u
d
e
o
f
th
e
f
ir
s
t
h
ig
h
-
f
r
eq
u
en
c
y
s
i
n
e
w
a
v
e
is
s
m
all,
s
o
t
h
e
r
o
to
r
r
e
m
ai
n
s
s
t
ill
.
Ho
w
e
v
er
,
t
h
e
a
m
p
lit
u
d
e
o
f
t
h
e
s
ec
o
n
d
s
in
e
w
av
e
is
h
i
g
h
,
p
r
o
v
id
in
g
s
u
f
f
icie
n
tl
y
s
tr
o
n
g
m
a
g
n
e
tic
s
at
u
r
at
io
n
.
Sin
ce
t
h
e
f
ir
s
t
s
in
e
w
av
e
ca
n
n
o
t
in
d
u
ce
a
s
tr
o
n
g
cu
r
r
en
t,
t
h
e
d
etec
ted
r
o
to
r
p
o
s
itio
n
ca
n
n
o
t
b
e
d
eter
m
in
ed
to
b
e
in
t
h
e
o
n
e
-
to
-
t
w
o
q
u
ad
r
an
t
o
r
th
e
th
r
ee
-
to
-
f
o
u
r
q
u
ad
r
an
t.
He
n
ce
t
h
e
s
ec
o
n
d
s
in
e
w
a
v
e
i
s
ap
p
lied
to
d
eter
m
in
e
t
h
e
q
u
ad
r
a
n
t
o
f
th
e
r
o
to
r
p
o
s
itio
n
.
Ho
w
ev
er
,
th
e
s
tr
o
n
g
s
ec
o
n
d
s
in
e
w
a
v
e
will r
esu
lt i
n
s
o
m
e
r
o
to
r
r
o
tatio
n
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
lin
e
i
n
d
u
c
tan
ce
o
f
a
P
MS
M,
d
en
o
ted
b
y
t
L
,
ca
n
b
e
d
escr
ib
ed
as
t
e
q
e
n
d
L
L
L
w
h
er
e
eq
L
is
t
h
e
2
-
D
eq
u
iv
ale
n
t
i
n
d
u
cta
n
ce
an
d
e
n
d
L
is
th
e
e
n
d
-
t
u
r
n
i
n
d
u
cta
n
ce
o
f
win
d
in
g
s
.
e
n
d
L
is
ca
u
s
ed
b
y
t
h
r
ee
-
d
im
en
s
io
n
a
l
(3
-
D)
m
a
g
n
etic
f
l
u
x
i
n
a
P
MSM
,
an
d
i
s
u
s
u
all
y
m
u
ch
les
s
t
h
an
e
n
d
L
.
T
h
u
s
,
th
i
s
p
ap
er
is
co
n
ce
r
n
ed
o
n
l
y
w
i
t
h
eq
L
.
So
m
e
ass
u
m
p
tio
n
s
ar
e
li
s
ted
h
er
e
to
s
i
m
p
li
f
y
th
e
a
n
al
y
s
i
s
.
T
h
e
lin
e
i
n
d
u
c
tan
ce
o
f
a
P
MS
M,
d
en
o
ted
b
y
t
L
,
ca
n
b
e
d
escr
ib
ed
as
t
e
q
e
n
d
L
L
L
w
h
er
e
eq
L
is
t
h
e
2
-
D
eq
u
iv
ale
n
t
i
n
d
u
cta
n
ce
an
d
e
n
d
L
is
th
e
e
n
d
-
t
u
r
n
i
n
d
u
cta
n
ce
o
f
win
d
in
g
s
.
e
n
d
L
is
ca
u
s
ed
b
y
t
h
r
ee
-
d
im
en
s
io
n
a
l
(3
-
D)
m
a
g
n
etic
f
l
u
x
i
n
a
P
MSM
,
an
d
i
s
u
s
u
all
y
m
u
ch
les
s
t
h
an
e
n
d
L
.
T
h
u
s
,
th
i
s
p
ap
er
is
co
n
ce
r
n
ed
o
n
l
y
w
i
t
h
eq
L
.
So
m
e
ass
u
m
p
tio
n
s
ar
e
li
s
ted
h
er
e
to
s
i
m
p
li
f
y
th
e
a
n
al
y
s
i
s
.
A
1
.
W
e
ig
n
o
r
e
th
e
ed
d
y
cu
r
r
e
n
t e
f
f
ec
t
o
n
i
n
d
u
cta
n
ce
.
A
2
.
T
h
e
s
h
ap
e
o
f
th
e
s
h
o
es,
t
h
e
tee
th
an
d
t
h
e
s
lo
ts
o
f
th
e
s
tato
r
is
s
i
m
p
li
f
ied
as r
ec
ta
n
g
u
lar
s
h
ap
es.
A
3
.
Fo
r
th
e
ca
lc
u
latio
n
o
f
t
h
e
air
-
g
ap
p
er
m
ea
n
ce
,
t
h
e
f
ield
p
atter
n
ass
u
m
es
th
at
th
e
f
l
u
x
li
n
es
ar
e
al
w
a
y
s
o
r
th
o
g
o
n
al
to
th
e
i
n
ter
s
ec
ti
o
n
s
u
r
f
ac
e
o
f
th
e
air
-
g
ap
an
d
th
e
s
teel.
A
4
.
T
h
e
B
-
H
cu
r
v
e
o
f
th
e
P
M
is
lin
ea
r
w
it
h
th
e
co
n
s
ta
n
ts
o
f
th
e
r
elati
v
e
p
er
m
ea
b
il
it
y
(
r
)
an
d
th
e
r
e
m
an
e
n
ce
(
r
B
).
A
5
.
T
h
e
r
elativ
e
p
er
m
ea
b
il
it
y
o
f
t
h
e
r
o
to
r
an
d
th
e
s
tato
r
b
ac
k
ir
o
n
ar
e
in
f
in
i
te
(
Fe
)
,
an
d
th
e
n
o
n
lin
ea
r
in
ter
ac
tio
n
o
f
th
e
s
e
t
w
o
f
ield
s
is
co
n
s
id
er
ed
o
n
l
y
to
ca
lc
u
late
th
e
air
-
g
ap
in
d
u
c
tan
ce
.
A
6
.
T
h
e
in
p
u
t c
o
il c
u
r
r
en
t i
s
co
n
s
t
an
t.
As
s
h
o
w
n
i
n
Fig
u
r
e
1
,
i
n
t
h
i
s
p
ap
er
,
all
th
r
ee
p
h
ases
ar
e
e
x
cited
b
y
d
if
f
er
en
t
w
i
n
d
in
g
c
u
r
r
en
ts
,
as
o
p
p
o
s
ed
t
o
th
e
ap
p
r
o
ac
h
u
s
ed
in
[
21
]
.
I
t
is
k
n
o
w
n
th
at
eq
L
is
th
e
s
u
m
o
f
t
h
e
air
-
g
ap
(
g
L
)
an
d
th
e
s
lo
t
in
d
u
cta
n
ce
s
(
s
l
o
t
L
).
()
3
s
e
q
g
s
l
o
t
N
L
L
L
(
1
)
B
w
h
er
e
s
N
is
th
e
to
tal
n
u
m
b
er
o
f
s
lo
ts
,
an
d
th
e
d
en
o
m
in
a
to
r
3
is
th
e
n
u
m
b
er
o
f
th
e
p
h
as
es
o
f
a
P
MSM
.
T
h
e
in
d
u
cta
n
ce
s
g
L
an
d
s
l
o
t
L
ar
e
r
esp
ec
tiv
el
y
f
u
n
ctio
n
s
o
f
t
h
e
f
l
u
x
li
n
k
a
g
e
g
an
d
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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0
8
8
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8
694
IJ
PEDS
Vo
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8
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No
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1
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Ma
r
ch
2
0
1
7
:
1
5
6
–
166
158
Fig
u
r
e
1
.
S
i
m
p
li
f
ied
s
h
o
es,
teeth
,
an
d
s
lo
t
s
s
tr
u
ct
u
r
e
Fig
u
r
e
2
s
h
o
w
s
t
h
e
f
l
u
x
l
in
k
a
g
es
o
f
th
e
w
i
n
d
in
g
s
d
iv
id
ed
i
n
to
f
i
v
e
p
ar
ts
:
g
,
1
s
,
2
s
,
3
s
an
d
4
s
,
w
h
er
e
g
is
t
h
e
f
l
u
x
cr
o
s
s
i
n
g
t
h
e
air
-
g
ap
,
w
h
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s
co
n
s
is
t
s
o
f
1
s
,
2
s
,
3
s
an
d
4
s
.
Fig
u
r
e
2
.
F
lu
x
p
atter
n
o
f
w
i
n
d
in
g
c
u
r
r
en
t
T
h
e
s
l
o
t
L
ca
n
al
s
o
b
e
d
iv
id
ed
in
to
f
o
u
r
p
ar
ts
as:
1
2
3
4
22
s
l
o
t
s
s
s
s
L
L
L
L
L
(
2
)
Fig
u
r
e
3
.
(
a)
eq
u
iv
alen
t
m
a
g
n
etic
cir
cu
it o
f
1
s
.
(
b
)
eq
u
iv
alen
t
m
ag
n
etic
cir
c
u
it o
f
2
s
.
(
c)
E
q
u
iv
ale
n
t
m
ag
n
etic
cir
c
u
it o
f
air
-
g
ap
f
lu
x
Fig
u
r
e
3
(
a)
an
d
(
b
)
r
esp
ec
tiv
el
y
s
h
o
w
th
e
eq
u
i
v
alen
t
m
a
g
n
e
t
cir
cu
its
o
f
1
s
an
d
2
s
.
No
te
th
at
N
is
th
e
n
u
m
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er
o
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tu
r
n
s
o
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ch
s
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r
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,
1
s
R
is
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e
m
a
g
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e
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ctan
ce
o
f
1
s
,
an
d
2
s
R
is
th
e
m
ag
n
etic
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
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A
N
o
ve
l S
en
s
o
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I
n
itia
l R
o
to
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P
o
s
itio
n
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Meth
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159
r
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Fig
u
r
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3.
RO
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As
n
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2
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th
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it
h
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s
t
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s
h
ip
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th
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d
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v
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lu
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a
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c
u
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en
t c
an
b
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w
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n
as:
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vL
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1
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ase
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
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ip
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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
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8
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No
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1
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r
ch
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1
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:
1
5
6
–
166
162
W
e
s
et
a
c
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s
a
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ti
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it
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o
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c
u
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t
()
()
p
it
.
Su
b
tr
ac
ti
n
g
t
h
e
ab
s
o
lu
te
v
al
u
e
s
f
r
o
m
ea
c
h
,
th
e
t
h
r
ee
-
p
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ase
c
u
r
r
en
t d
if
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er
e
n
ce
i
is
:
(
)
(
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(
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(
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|
(
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|
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a
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ip
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eg
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g
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c
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ical
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w
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Fig
u
r
e
5
.
E
lectr
ical
an
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ar
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o
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g
T
h
is
s
q
u
ar
e
-
w
a
v
e
m
eth
o
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ca
n
b
e
u
s
ed
to
s
u
cc
e
s
s
f
u
ll
y
id
en
t
i
f
y
th
e
i
n
itial
r
o
to
r
p
o
s
itio
n
.
H
o
w
e
v
er
,
if
th
e
m
o
to
r
h
a
s
a
lar
g
e
s
tato
r
co
il
r
esis
tan
ce
v
al
u
e,
th
e
c
u
r
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en
t
r
esp
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s
e
w
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e
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in
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s
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lar
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e
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g
m
en
t
er
r
o
r
in
d
eter
m
i
n
i
n
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th
e
in
i
tial
r
o
to
r
p
o
s
itio
n
.
T
h
er
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o
r
e,
th
is
p
ap
er
s
ee
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s
to
s
elec
t
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ap
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o
p
r
iate
in
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ec
ti
o
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eq
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en
c
y
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ax
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m
ize
th
e
cu
r
r
en
t
d
is
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ce
an
d
m
in
i
m
ize
th
e
r
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to
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s
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esti
m
atio
n
er
r
o
r
.
4.
O
P
T
I
M
U
M
F
RE
Q
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NCY
SE
ARCH
T
h
e
p
r
o
p
o
s
ed
o
p
tim
u
m
f
r
eq
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en
c
y
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ea
r
ch
m
et
h
o
d
is
d
escr
ib
ed
in
f
o
llo
w
in
g
f
lo
w
ch
ar
t.
Fig
u
r
e
6
illu
s
tr
ates
t
h
e
p
r
o
ce
s
s
o
f
d
eter
m
in
in
g
t
h
e
o
p
ti
m
al
i
n
j
ec
tio
n
f
r
eq
u
en
c
y
.
T
h
e
f
ir
s
t
s
tep
is
t
o
in
p
u
t
th
e
m
o
to
r
’
s
g
eo
m
etr
ic
p
ar
a
m
eter
s
.
Step
2
s
ets
t
h
e
co
il’s
in
itial
c
u
r
r
en
t
v
alu
e.
Of
p
ar
tic
u
lar
n
o
te,
th
e
co
il
cu
r
r
en
t
()
n
i
is
n
o
t
ar
b
itra
r
y
,
b
u
t i
s
r
ath
er
d
eter
m
i
n
ed
iter
ati
v
el
y
.
T
h
e
c
u
r
r
en
t
it
er
atio
n
ca
lc
u
latio
n
s
ee
k
s
to
d
eter
m
i
n
e
t
h
e
o
p
ti
m
al
cu
r
r
en
t
()
a
o
p
t
i
m
a
l
if
as
w
e
ap
p
r
o
ac
h
th
e
o
p
ti
m
al
f
r
eq
u
en
c
y
o
p
t
i
m
a
l
f
,
an
d
th
u
s
c
alcu
late
t
h
e
cir
cu
it
c
u
r
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en
t
()
n
i
at
th
e
ti
m
e
o
f
a
n
al
y
s
is
to
o
p
ti
m
iz
e
th
e
ac
cu
r
ac
y
o
f
cu
r
r
en
t v
al
u
e
ca
lcu
latio
n
s
.
Step
3
in
p
u
ts
t
h
e
d
ata
p
r
o
d
u
c
ed
in
Step
s
1
an
d
2
to
t
h
e
m
o
d
el
d
er
i
v
ed
in
Sectio
n
2
to
ca
lcu
late
t
h
e
m
o
to
r
’
s
eq
u
iv
ale
n
t i
n
d
u
cta
n
ce
.
Step
4
:
T
h
e
o
p
tim
al
i
n
j
ec
tio
n
f
r
eq
u
en
c
y
s
ea
r
ch
m
et
h
o
d
in
p
u
ts
d
if
f
er
en
t
f
r
eq
u
e
n
c
y
s
i
n
e
w
a
v
e
s
i
g
n
als
(
f
r
o
m
1
Hz
to
5
0
0
Hz)
.
W
h
en
th
e
v
o
lta
g
e
s
v
is
p
o
s
iti
v
e,
()
()
e
q
a
e
L
is
th
e
in
d
u
ctan
ce
v
al
u
e;
w
h
e
n
s
v
is
n
eg
at
iv
e,
()
()
e
q
a
e
L
is
t
h
e
i
n
d
u
cta
n
ce
v
al
u
e,
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d
t
h
is
s
i
g
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al
is
i
n
p
u
t
i
n
to
t
h
e
Si
m
u
li
n
k
m
o
t
o
r
m
o
d
el.
Su
b
tr
ac
ti
n
g
t
h
e
ab
s
o
lu
te
v
a
lu
e
o
f
th
e
h
al
f
-
c
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cle
co
il
cu
r
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en
t
()
i
f
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o
m
th
e
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e
g
ati
v
e
h
a
lf
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cle
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il
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r
r
en
t
()
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o
b
tain
s
i
,
an
d
th
e
f
r
eq
u
e
n
c
y
at
w
h
ic
h
th
e
m
a
x
i
m
u
m
c
u
r
r
en
t
m
a
x
(
)
a
i
o
cc
u
r
s
is
t
h
e
o
p
ti
m
al
c
u
r
r
en
t
o
p
t
i
m
a
l
f
Fin
all
y
,
co
m
p
ar
e
th
e
o
p
ti
m
a
l
f
r
eq
u
en
c
y
c
u
r
r
en
t
an
d
t
h
e
cu
r
r
en
t
at
th
e
ti
m
e.
I
f
t
h
e
y
ar
e
n
o
t
s
i
m
ilar
,
th
en
ad
d
a
c
u
r
r
en
t
er
r
o
r
e
r
r
o
r
i
an
d
c
o
n
tin
u
e
w
ith
f
u
r
t
h
er
iter
atio
n
s
.
I
f
t
h
e
y
ar
e
s
i
m
ilar
,
ter
m
i
n
ate
th
e
o
p
er
atio
n
w
it
h
t
h
e
o
p
ti
m
al
f
r
eq
u
en
c
y
s
i
m
u
latio
n
.
W
h
er
e
th
e
c
u
r
r
en
t
e
r
r
o
r
v
alu
e
e
r
r
o
r
i
is
()
(
)
/
2
o
p
t
n
ii
,
if
t
h
e
y
ar
e
al
m
o
s
t
eq
u
al,
th
e
o
p
er
atio
n
ter
m
i
n
ate
s
to
co
m
p
lete
t
h
e
o
p
ti
m
al
f
r
eq
u
en
c
y
s
ea
r
c
h
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
A
N
o
ve
l S
en
s
o
r
less
I
n
itia
l R
o
to
r
P
o
s
itio
n
E
s
tima
tio
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Meth
o
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fo
r
P
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ma
n
en
t Ma
g
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.
.
.
.
(
C
h
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F
en
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u
)
163
Fig
u
r
e
6
.
F
lo
w
c
h
ar
t o
f
o
p
ti
m
u
m
f
r
eq
u
e
n
c
y
s
ea
r
ch
Fig
u
r
e
7
s
h
o
w
s
th
e
r
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lt
o
f
th
e
f
r
e
q
u
en
cy
s
ea
r
ch
f
r
o
m
1
Hz
t
o
5
0
0
Hz
.
T
h
e
l
a
r
g
est
i
o
c
cu
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a
t
2
1
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z
,
f
o
ll
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b
y
2
0
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0
5
m
A
.
Fig
u
r
e
7
.
R
esu
lt o
f
f
r
eq
u
en
c
y
s
ea
r
ch
5.
E
XP
E
R
I
M
E
NT
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L
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SUL
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S
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x
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er
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ts
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6
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d
9
-
s
lo
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MSM
s
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w
it
h
m
icr
o
co
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o
ller
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to
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ce
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r
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t
to
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h
e
s
i
m
u
latio
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lts
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h
e
i
n
j
ec
tio
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g
n
a
l
is
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s
in
u
s
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al
f
u
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ctio
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it
h
a
p
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v
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f
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V.
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in
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ase
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in
Fig
u
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h
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ized
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h
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r
esu
lt is
id
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tical
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s
i
m
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latio
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r
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I
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u
r
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h
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en
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a)
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b
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0
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c)
3
0
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(
d
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0
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d
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0
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As
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i
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Fi
g
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r
e
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ar
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ate
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ase
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r
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en
t
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er
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.
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e
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ate
r
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t
h
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ctan
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t
f
u
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tio
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to
r
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e
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h
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ical
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h
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d
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s
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u
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h
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eg
r
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if
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ce
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E
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2
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,
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e
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tain
,,
u
v
w
i
i
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d
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ate
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o
f
f
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)
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)
/
3
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)
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u
a
b
v
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c
w
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a
i
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i
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21
)
W
e
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ce
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if
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u
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tr
ical
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ctan
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t f
u
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o
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itial a
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r
c
t
a
n
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e
x
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u
r
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s
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ip
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et
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e
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s
e
t
w
o
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n
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ec
tio
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cie
s
o
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co
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et
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h
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lt
p
r
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v
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at
o
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r
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o
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les
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n
itial
R
o
to
r
P
o
s
itio
n
E
s
ti
m
atio
n
Me
th
o
d
(
Fig
u
r
e
9
(
a
)
)
g
et
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e
b
etter
r
es
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lt
th
a
n
T
w
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e
W
av
e
s
M
e
t
h
o
d
[
2
0
]
(
Fig
u
r
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9
(
c
))
at
th
e
e
r
r
o
r
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f
ac
tu
al
r
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to
r
p
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s
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d
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h
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ated
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e.
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e
e
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tal
R
MS
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r
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ca
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ab
le
1
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w
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h
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r
eq
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en
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i
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et
t
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e
m
o
s
t a
cc
u
r
ate
r
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to
r
p
o
s
itio
n
.
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I
J
PEDS
I
SS
N:
2
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8
8
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8
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A
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165
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a)
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b
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u
r
e
9
.
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to
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p
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s
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m
ates f
o
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(
a)
n
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m
eth
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in
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me
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z
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e
w
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S
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r
o
r
1
1
.
4
4
1
8
.
9
5
1
8
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3
7
6.
CO
NCLU
SI
O
N
I
n
t
h
is
p
ap
er
,
w
e
a
n
al
y
ze
t
h
e
m
et
h
o
d
o
lo
g
y
o
f
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g
n
e
tic
C
ir
cu
it
An
al
y
s
is
to
estab
li
s
h
an
eq
u
iv
ale
n
t
in
d
u
cta
n
ce
m
o
d
el
o
f
p
er
m
a
n
e
n
t
-
m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
s
.
W
ith
th
i
s
m
o
d
el,
d
if
f
er
en
t
r
o
to
r
p
o
s
itio
n
s
ar
e
f
o
u
n
d
to
co
r
r
esp
o
n
d
to
d
if
f
er
e
n
t
i
n
d
u
cto
r
v
alu
e
s
.
T
h
er
ef
o
r
e,
T
h
e
o
p
tim
u
m
i
n
j
ec
tio
n
f
r
eq
u
e
n
c
y
is
o
b
tai
n
ed
b
y
th
e
s
i
m
u
latio
n
p
r
o
ce
s
s
o
f
t
h
e
Ma
tlab
.
T
h
e
R
MS
er
r
o
r
o
f
th
e
ex
p
er
i
m
en
tal
s
h
o
w
s
t
h
e
o
p
tim
u
m
i
n
j
ec
tio
n
f
r
eq
u
en
c
y
(
2
0
Hz)
,
w
h
ic
h
is
m
u
ch
lo
w
er
t
h
an
t
h
e
o
th
er
i
n
j
ec
tio
n
f
r
eq
u
e
n
c
y
an
d
i
n
j
ec
tio
n
m
et
h
o
d
.
Ou
r
m
et
h
od
ca
n
h
elp
t
h
e
d
r
iv
er
d
ev
e
lo
p
er
in
t
h
eir
ea
r
l
y
m
o
to
r
d
ev
elo
p
m
r
n
t
p
r
o
ce
s
s
to
a
v
o
id
us
i
n
g
tr
ia
l
an
d
er
r
o
r
to
f
i
n
d
th
e
o
p
ti
m
u
m
in
j
ec
tio
n
f
r
eq
u
e
n
c
y
.
B
e
s
id
es
,
u
s
i
n
g
t
h
is
in
j
ec
t
io
n
m
eth
o
d
,
t
h
er
e
is
o
n
l
y
o
n
e
f
r
eq
u
en
c
y
in
j
ec
tio
n
ap
p
lied
.
T
h
is
ca
n
ex
e
m
p
t
t
h
e
ex
ce
s
s
iv
e
s
tar
tin
g
o
f
th
e
m
o
to
r
th
at
w
o
u
ld
u
s
u
all
y
g
e
n
er
ate
th
e
n
o
is
e
a
n
d
v
ib
r
atio
n
.
W
e
co
n
cl
u
d
e
t
h
at
t
h
is
n
o
v
el
i
n
v
e
n
tio
n
ca
n
b
e
wid
el
y
u
s
ed
i
n
t
h
e
i
n
tell
ig
e
n
t
a
p
p
lian
ce
s
,
t
h
at
t
h
e
p
er
m
a
n
e
n
t
m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
is
o
n
e
o
f
t
h
e
m
o
s
t i
m
p
o
r
tan
t c
o
m
p
o
n
e
n
t
s
in
t
h
e
d
ev
ice
.
RE
F
E
R
E
NC
E
S
[1
]
R.
W
u
a
n
d
G
.
R.
S
lem
o
n
,
“
A
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
m
o
to
r
d
riv
e
w
it
h
o
u
t
a
sh
a
f
t
se
n
so
r
,”
IEE
E
T
ra
n
s.
I
n
d
u
stry
Ap
p
li
c
a
ti
o
n
,
v
o
l/
issu
e
:
2
7
(
5
)
,
p
p
.
1
0
0
5
-
1
0
1
1
,
1
9
9
1
.
[2
]
Z
.
Ch
e
n
,
e
t
a
l.
,
“
A
n
e
x
ten
d
e
d
e
lec
tro
m
o
ti
v
e
f
o
rc
e
m
o
d
e
l
f
o
r
s
e
n
so
rles
s
c
o
n
tro
l
o
f
in
terio
r
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
rs
,”
IEE
E
T
ra
n
s.
In
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l/
issu
e
:
5
0
(
2
)
,
p
p
.
2
8
8
-
2
9
5
,
2
0
0
3
.
[3
]
S
.
Og
a
sa
w
a
r
a
a
n
d
H.
A
k
a
g
i
,
“
An
a
p
p
r
o
a
c
h
t
o
p
o
siti
o
n
se
n
so
r
les
s
d
riv
e
f
o
r
b
ru
sh
les
s
DC
m
o
to
rs
,”
IE
EE
T
ra
n
s.
In
d
u
stry
Ap
p
li
c
a
ti
o
n
,
v
o
l/
issu
e
:
2
7
(5
)
,
p
p
.
9
2
8
-
9
3
3
,
1
9
9
1
.
[4
]
H.
Kim
,
e
t
a
l.
,
“
A
n
o
v
e
l
m
e
th
o
d
f
o
r
in
it
ial
ro
to
r
p
o
siti
o
n
e
stim
a
ti
o
n
f
o
r
IP
M
sy
n
c
h
ro
n
o
u
s
m
a
c
h
in
e
d
riv
e
s
,”
IEE
E
T
ra
n
s.
I
n
d
u
stry
Ap
p
li
c
a
ti
o
n
,
v
o
l/
i
ss
u
e
:
4
0
(
5
)
,
p
p
.
1
3
6
9
-
1
3
7
8
,
2
0
0
4
.
[5
]
Y.
R.
Kim
,
e
t
a
l.
,
“
S
p
e
e
d
se
n
so
rl
e
ss
v
e
c
to
r
c
o
n
tr
o
l
o
f
in
d
u
c
ti
o
n
m
o
to
r
u
sin
g
e
x
ten
d
e
d
Ka
lm
a
n
f
il
te
r
,”
IEE
E
T
r
a
n
s
.
In
d
u
stry
Ap
p
li
c
a
ti
o
n
,
v
o
l/
issu
e
:
3
0
(5
)
,
p
p
.
1
2
2
5
-
1
2
3
3
,
1
9
9
4
.
[6
]
S
.
Bo
l
o
g
n
a
n
i,
e
t
a
l
.
,
“
S
e
n
so
rles
s
f
u
ll
-
d
ig
it
a
l
P
M
S
M
d
riv
e
w
it
h
EK
F
e
stim
a
ti
o
n
o
f
sp
e
e
d
a
n
d
ro
t
o
r
p
o
siti
o
n
,”
IEE
E
T
ra
n
s.
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l/
issu
e
:
4
6
(
1
)
,
p
p
.
1
8
4
-
1
9
1
,
1
9
9
9
.
[7
]
E.
M
e
se
a
n
d
D.
A
.
T
o
rre
y
,
“
A
n
A
p
p
ro
a
c
h
f
o
r
S
e
n
so
rles
s
P
o
siti
o
n
Esti
m
a
ti
o
n
f
o
r
S
w
it
c
h
e
d
Re
l
u
c
tan
c
e
M
o
to
rs
Us
in
g
A
rti
f
ica
l
Ne
u
ra
l
Ne
t
w
o
rk
s
,”
IEE
E
T
ra
n
s.
P
o
we
r E
lec
tro
n
ics
,
v
o
l/
issu
e
:
1
7
(1
)
,
p
p
.
66
-
75
,
2
0
0
4
.
[8
]
A
.
S
.
T
irb
a
n
,
e
t
a
l.
,
“
M
o
ti
o
n
-
S
e
n
so
rles
s
Co
n
tr
o
l
o
f
BL
DC
-
P
M
M
o
to
r
w
ith
Off
li
n
e
F
EM
-
In
f
o
rm
a
ti
o
n
-
A
ss
isted
P
o
siti
o
n
a
n
d
S
p
e
e
d
O
b
se
rv
e
r
,”
IE
EE
T
ra
n
s.
I
n
d
u
stry
Ap
p
li
c
a
ti
o
n
,
v
o
l/
issu
e
:
4
8
(
6
)
,
p
p
.
1
9
5
0
-
1
9
5
8
,
20
12
.
[9
]
S
.
Ka
li
a
p
p
a
n
a
n
d
R.
Ra
jes
w
a
ri
,
“
A
No
v
e
l
A
p
p
ro
a
c
h
o
f
P
o
siti
o
n
E
stim
a
ti
o
n
a
n
d
P
o
w
e
r
F
a
c
to
r
Co
rr
e
c
to
r
Co
n
v
e
rter
F
e
d
BL
DC
M
o
to
r
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(IJP
EDS
)
,
v
o
l/
issu
e
:
5
(3
)
,
p
p
.
415
-
4
2
3
,
20
15
.
[1
0
]
S
.
A
lah
a
k
o
o
n
,
e
t
a
l.
,
“
DS
P
-
Ba
se
d
S
e
n
s
o
rles
s
S
p
e
e
d
C
o
n
tr
o
l
o
f
a
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
,”
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/
issu
e
:
4
(3
)
,
p
p
.
281
-
2
8
9
,
20
15
.
[1
1
]
A
.
G
o
u
ich
ich
e
,
e
t
a
l
.
,
“
S
e
n
so
rles
s
S
li
d
in
g
M
o
d
e
V
e
c
to
r
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
t
o
r
Driv
e
s
,”
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
(
IJ
PE
DS
)
,
v
o
l/
issu
e
:
2
(3
)
,
p
p
.
2
1
7
-
284
,
20
12
.
[1
2
]
H.
G
lao
u
i
,
e
t
a
l.
,
“
S
p
e
e
d
S
y
n
c
h
ro
n
isa
ti
o
n
o
f
w
e
b
w
in
d
in
g
S
y
st
e
m
w
it
h
S
li
d
in
g
M
o
d
e
Co
n
tro
l
,”
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/
issu
e
:
3
(2
)
,
p
p
.
1
5
5
-
1
6
9
,
20
12
.
[1
3
]
M.
E.
Ha
q
u
e
,
e
t
a
l.
,
“
A
S
e
n
so
rles
s
In
it
ial
Ro
to
r
P
o
siti
o
n
Esti
m
a
ti
o
n
S
c
h
e
m
e
f
o
r
a
Dire
c
t
T
o
rq
u
e
Co
n
tro
ll
e
d
In
terio
r
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
Driv
e
,”
IEE
E
T
ra
n
s.
Po
w
e
r
El
e
c
tro
n
ics
,
v
o
l/
issu
e
:
1
8
(
6
)
,
p
p
.
1
3
7
6
-
1
3
8
3
,
20
03
.
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