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f
lu
x
in
in
d
u
ct
io
n
m
o
to
r
s
.
H
o
w
e
v
er
,
th
e
in
ten
s
iv
e
ca
lcu
l
ati
o
n
s
a
r
e
r
e
q
u
ir
ed
t
o
ca
l
cu
la
te
t
h
e
p
ar
am
eter
s
o
f
th
e
PID
c
o
n
tr
o
l
le
r
[
8
]
.
T
h
e
f
u
zz
y
l
o
g
ic
c
o
n
tr
o
l
le
r
h
as
ca
p
a
b
il
ity
to
a
d
a
p
t
ac
co
r
d
in
g
t
o
th
e
s
u
d
d
en
ev
en
t
ch
an
g
es
in
th
e
s
y
s
tem
an
d
c
an
b
e
u
s
e
d
f
o
r
l
in
ea
r
an
d
n
o
n
-
lin
ea
r
s
y
s
tem
s
.
Fu
zz
y
co
n
tr
o
lle
r
u
ti
liz
e
d
th
e
f
u
zz
y
th
eo
r
y
an
d
th
e
d
esig
n
o
f
th
e
f
u
zz
y
c
o
n
tr
o
l
le
r
is
b
ase
d
o
n
lin
g
u
is
tic
r
u
l
es,
w
h
ich
is
th
e
b
asis
o
f
h
u
m
an
lo
g
ic
[
1
4
-
1
9
]
.
T
h
e
f
u
zz
y
c
o
n
t
r
o
ll
e
r
d
esig
n
h
as
th
r
ee
m
ai
n
p
h
ase
s
:
1)
fu
z
z
ifica
tio
n
:
to
c
o
n
v
er
ts
t
h
e
in
p
u
ts
in
to
f
u
zz
y
s
ets
2
)
in
feren
ce
en
g
in
e:
t
o
d
ef
in
e
t
h
e
f
u
zz
y
r
u
les
w
h
ic
h
r
elate
th
e
o
u
tp
u
ts
w
it
h
th
e
i
n
p
u
ts
an
d
3)
d
efu
z
z
ifica
tio
n
:
co
m
b
in
es
th
e
r
es
u
lt
s
o
f
th
e
f
u
zz
y
r
u
le
s
,
a
n
d
i
n
f
er
s
t
h
e
d
ec
is
io
n
,
w
h
ich
is
t
h
en
co
n
v
er
ted
f
r
o
m
f
u
zz
y
s
et
s
to
a
c
r
is
p
v
al
u
e.
Sev
er
al
s
tu
d
ies
h
av
e
u
s
e
d
f
u
zz
y
co
n
tr
o
ll
er
t
o
im
p
r
o
v
e
th
e
c
o
n
t
r
o
l
f
e
atu
r
es
f
o
r
th
e
s
ca
l
ar
s
p
e
ed
co
n
tr
o
l
o
f
I
Ms
[
2
0
-
2
4
]
.
So
m
e
o
f
th
e
r
esea
r
ch
er
s
h
av
e
u
s
ed
f
u
z
zy
co
n
t
r
o
ll
er
t
o
d
ev
el
o
p
th
e
v
ec
t
o
r
co
n
t
r
o
l
o
f
th
e
in
d
u
cti
o
n
m
o
to
r
.
T
h
e
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
SMC
)
s
ch
e
m
e
h
a
v
e
b
ee
n
th
e
f
o
cu
s
o
f
r
esear
ch
er
s
f
o
r
m
an
y
d
ec
ad
es
[
2
5
,
26]
.
T
h
e
SMC
u
s
e
t
h
e
d
is
co
n
t
in
u
o
u
s
co
n
tr
o
l
ac
tio
n
to
d
r
iv
e
th
e
s
ta
te
tr
aj
ec
to
r
ies
o
f
th
e
c
o
n
tr
o
lled
s
y
s
te
m
i
n
s
p
ec
if
ied
s
lid
i
n
g
h
y
d
r
o
p
lan
e
i
n
th
e
s
ta
te
s
p
ac
e.
T
h
e
p
u
r
p
o
s
e
o
f
s
tate
tr
a
jec
to
r
i
es
is
to
k
e
e
p
s
lid
in
g
o
n
s
p
ec
if
ic
s
lid
in
g
h
y
d
r
o
p
lan
e
u
n
til th
e
o
r
ig
in
o
f
th
e
s
t
ate
-
s
p
a
ce
is
r
e
ac
h
ed
[
2
7
]
.
T
h
e
S
MC sch
em
e
h
as th
e
m
ain
ad
v
an
tag
e
in
im
p
r
o
v
in
g
th
e
s
ta
b
il
ity
an
d
r
o
b
u
s
tn
ess
o
f
th
e
s
y
s
te
m
[
2
8
]
.
H
o
w
ev
er
,
ch
atte
r
in
g
p
h
en
o
m
en
o
n
is
th
e
m
ain
d
r
aw
b
ac
k
o
f
u
s
in
g
th
e
SMC
[
2
9
]
.
T
o
o
v
er
co
m
e
th
is
is
s
u
e,
f
ew
r
esea
r
ch
e
r
s
h
av
e
s
u
g
g
este
d
th
e
f
u
zz
y
s
lid
in
g
m
o
d
e
c
o
n
t
r
o
lle
r
(
FS
MC)
.
A
lth
o
u
g
h
,
th
e
FS
MC
h
as
th
e
ca
p
a
b
il
ity
to
im
p
r
o
v
e
th
e
s
ta
b
i
lity
an
d
r
o
b
u
s
tn
ess
an
d
ca
n
t
ac
k
l
e
th
e
ch
att
er
in
g
ef
f
e
ct
b
u
t
th
e
k
ey
ch
a
llen
g
e
in
th
e
u
s
e
o
f
F
SMC
is
in
d
esig
n
i
n
g
t
h
e
r
u
les
o
f
th
e
FS
MC
s
y
s
te
m
s
.
A
n
o
th
er
te
ch
n
iq
u
e
c
o
m
m
o
n
ly
u
s
ed
in
in
d
u
cti
o
n
m
o
to
r
c
o
n
tr
o
l
is
P
u
ls
e
w
id
th
m
o
d
u
lati
o
n
(
PW
M
)
d
r
iv
in
g
th
r
ee
-
p
h
ase
v
o
lt
ag
e
s
o
u
r
ce
in
v
e
r
t
er
[
2
3
,
3
0
-
3
3
]
.
T
h
e
v
o
ltag
e
s
o
u
r
ce
in
v
e
r
te
r
a
r
e
u
s
ed
t
o
r
eg
u
lat
e
th
e
o
u
t
p
u
t
v
o
l
tag
e
(
A
C
)
an
d
f
r
eq
u
en
c
y
f
r
o
m
a
s
u
p
p
ly
v
o
lt
ag
e
(
c
o
n
s
tan
t
DC
)
.
T
h
e
k
ey
f
ea
t
u
r
es
o
f
th
e
PW
M
tech
n
i
q
u
e
a
r
e
th
at
th
e
o
u
t
p
u
t
v
o
ltag
e
h
as
m
in
i
m
u
m
h
ar
m
o
n
ics,
lo
w
d
is
to
r
ti
o
n
,
h
ig
h
ef
f
icien
cy
an
d
lo
w
s
w
itch
in
g
lo
s
s
es.
Sev
er
al
te
ch
n
iq
u
es
an
d
a
lg
o
r
i
th
m
s
s
u
ch
as
s
w
ar
m
in
tellig
en
ce
m
eth
o
d
an
d
ev
o
lu
t
io
n
ar
y
alg
o
r
ith
m
s
(
E
A
)
w
h
ich
ar
e
u
s
e
d
f
o
r
th
e
o
p
tim
izat
io
n
o
f
th
e
c
o
n
tr
o
l
le
r
p
er
f
o
r
m
an
ce
h
as
b
ee
n
r
e
p
o
r
t
e
d
in
th
e
li
te
r
atu
r
e
[
3
4
-
4
2
]
.
T
h
e
m
o
s
t p
o
p
u
la
r
s
w
ar
m
in
tellig
en
ce
o
p
tim
izat
io
n
alg
o
r
i
th
m
s
ar
e:
1
)
Par
t
icl
e
Sw
ar
m
Op
tim
izat
io
n
(
P
SO
)
,
2
)
A
r
tif
i
cia
l
B
ee
C
o
l
o
n
y
(
A
B
C
)
,
3
)
A
n
t
C
o
lo
n
y
Op
tim
izati
o
n
(
A
C
O)
4
)
A
n
t
C
o
lo
n
y
Op
tim
izatio
n
.
T
h
es
e
all
alg
o
r
ith
m
s
ar
e
b
ase
d
o
n
th
e
n
atu
r
e
in
s
p
ir
ed
c
o
m
p
u
tati
o
n
al
m
eth
o
d
o
lo
g
i
es.
F
o
r
ex
am
p
le,
T
h
e
P
SO
t
ec
h
n
i
q
u
e
h
as
b
ee
n
d
ev
e
lo
p
e
d
b
ase
d
o
n
th
e
m
o
v
em
en
ts
o
f
b
i
r
d
g
r
o
u
p
i
n
g
o
r
f
is
h
f
l
o
ck
in
g
[
3
6
]
.
T
h
e
A
B
C
tech
n
i
q
u
e
h
as
b
e
en
d
ev
e
l
o
p
ed
u
s
in
g
th
e
f
o
o
d
-
s
ea
r
ch
in
g
b
eh
av
i
o
r
o
f
in
s
ec
ts
an
d
h
o
n
ey
b
e
es
[
3
4
]
.
Me
an
w
h
ile,
th
e
b
eh
av
i
o
r
o
f
an
ts
f
o
r
s
e
ar
ch
in
g
th
e
o
p
t
im
al
p
ath
b
etw
ee
n
th
eir
ca
m
p
an
d
f
o
o
d
s
o
u
r
c
e
h
as
b
e
en
u
tili
z
e
d
in
th
e
d
ev
el
o
p
m
en
t
o
f
A
C
O
alg
o
r
i
th
m
[
3
5
]
.
T
h
e
w
o
r
k
in
g
p
r
in
ci
p
l
e
b
eh
in
d
th
e
d
e
v
elo
p
m
en
t o
f
E
A
s
is
n
atu
r
al
g
e
n
etic
ev
o
lu
ti
o
n
,
th
e
Dar
w
in
th
eo
r
y
an
d
o
th
e
r
ev
o
lu
ti
o
n
a
r
y
th
eo
r
ies
.
T
h
e
g
en
etic
alg
o
r
i
th
m
(
GA
)
[
3
8
]
,
g
e
n
etic
p
r
o
g
r
am
m
in
g
,
d
if
f
er
en
ti
al
ev
o
lu
ti
o
n
,
ev
o
lu
ti
o
n
ar
y
s
tr
ateg
y
an
d
ev
o
lu
ti
o
n
a
r
y
p
r
o
g
r
am
m
in
g
,
[
3
9
]
ar
e
th
e
m
o
s
t
c
o
m
m
o
n
l
y
u
s
ed
E
A
alg
o
r
i
th
m
s
.
T
h
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
co
n
t
r
o
l
s
y
s
tem
s
h
as
b
ee
n
g
r
ea
tly
im
p
r
o
v
e
d
th
r
o
u
g
h
th
e
r
ec
en
t
ly
d
ev
el
o
p
e
d
o
p
tim
izati
o
n
t
ec
h
n
i
q
u
es.
I
n
[
4
3
-
4
5
]
,
th
e
c
o
n
t
r
o
l
o
f
th
e
in
d
u
ctio
n
m
o
t
o
r
d
r
iv
es
h
as
b
e
en
im
p
r
o
v
e
d
th
r
o
u
g
h
o
p
tim
izati
o
n
te
ch
n
iq
u
es
co
m
p
r
o
m
is
in
g
o
f
co
n
v
en
ti
o
n
a
l
c
o
n
tr
o
ll
er
s
.
Sim
ilar
ly
,
[
1
7
]
h
as
u
tili
z
ed
d
if
f
e
r
en
ti
al
s
ea
r
ch
alg
o
r
ith
m
to
o
p
tim
ize
th
e
f
u
zz
y
lo
g
ic
c
o
n
tr
o
l
le
r
f
o
r
p
h
o
t
o
v
o
lta
ic
in
v
e
r
te
r
s
.
I
n
[
4
6
]
th
e
f
u
z
zy
lo
g
ic
co
n
t
r
o
ll
er
w
as
o
p
t
im
ized
u
s
in
g
P
SO
t
ec
h
n
i
q
u
e
t
o
ac
h
i
ev
e
m
ax
i
m
u
m
p
o
w
er
p
o
in
t
t
r
ac
k
i
n
g
in
g
r
id
c
o
n
n
ec
t
e
d
p
h
o
to
v
o
lt
aic
in
v
er
t
er
s
.
T
h
e
g
e
n
etic
a
lg
o
r
ith
m
(
GA
)
w
as
u
tili
ze
d
b
y
[
2
2
,
4
7
]
f
o
r
th
e
s
el
ec
t
i
o
n
o
f
p
r
o
p
o
r
ti
o
n
a
l
-
d
e
r
iv
a
tiv
e
-
in
teg
r
al
(
PID
)
c
o
n
tr
o
ll
er
co
ef
f
icien
ts
to
co
n
t
r
o
l
th
e
s
p
e
e
d
o
f
an
in
d
u
cti
o
n
m
o
to
r
.
Sim
ilar
ly
,
a
h
y
b
r
id
alg
o
r
ith
m
o
f
P
SO
an
d
GA
w
as
u
s
e
d
t
o
im
p
r
o
v
e
th
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
o
p
t
im
al
to
r
q
u
e
co
n
t
r
o
l
o
f
in
d
u
cti
o
n
m
o
to
r
[
4
8
]
.
Kalm
an
f
ilter
c
o
v
ar
i
an
ce
te
ch
n
iq
u
e
,
m
u
lti
-
o
b
jectiv
e
f
u
zz
y
d
ec
is
i
o
n
m
ak
in
g
[
4
9
,
5
0
]
an
d
f
in
ite
-
co
n
t
r
o
l
s
e
t
m
o
d
el
p
r
e
d
i
ctiv
e
c
o
n
tr
o
l
alg
o
r
i
th
m
s
h
as
b
ee
n
r
e
p
o
r
t
e
d
in
[
4
9
-
5
1
]
t
o
a
ch
iev
e
h
ig
h
p
e
r
f
o
r
m
an
ce
o
f
th
e
in
d
u
c
ti
o
n
m
o
to
r
d
e
r
iv
es
c
o
n
tr
o
l
u
s
in
g
an
a
d
v
an
c
e
d
p
r
e
d
ic
tiv
e
t
o
r
q
u
e
c
o
n
tr
o
l
le
r
.
T
h
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
f
u
zz
y
lo
g
ic
s
p
e
ed
c
o
n
t
r
o
ll
er
in
in
d
u
cti
o
n
m
o
to
r
d
e
r
iv
es
h
as
b
ee
n
im
p
r
o
v
e
d
u
s
in
g
b
a
ck
tr
ac
k
in
g
s
ea
r
ch
alg
o
r
ith
m
o
p
t
im
izati
o
n
tech
n
i
q
u
e
[
1
9
]
.
A
lth
o
u
g
h
,
th
e
o
p
t
im
i
za
ti
o
n
te
ch
n
iq
u
es
d
is
cu
s
s
e
d
a
b
o
v
e
h
av
e
ca
p
a
b
il
ity
to
im
p
r
o
v
e
p
e
r
f
o
r
m
an
ce
o
f
t
h
e
co
n
t
r
o
l
m
eth
o
d
s
,
h
o
w
ev
er
,
th
ese
t
ec
h
n
i
q
u
es
h
av
e
l
im
itati
o
n
s
o
n
o
p
tim
a
tr
a
p
p
in
g
,
l
o
c
al
m
in
i
m
a,
g
lo
b
al
m
in
i
m
u
m
,
tr
ial
-
an
d
-
e
r
r
o
r
p
r
o
ce
d
u
r
e
an
d
l
o
n
g
co
m
p
u
tati
o
n
a
l
tim
e
to
attain
b
est
o
p
tim
izati
o
n
p
er
f
o
r
m
an
ce
s
.
I
n
th
is
p
a
p
er
,
v
a
r
i
o
u
s
co
n
t
r
o
l
s
ch
em
es
to
en
h
an
ce
th
e
p
e
r
f
o
r
m
an
ce
an
d
r
eli
ab
ilit
y
o
f
th
e
v
ar
i
a
b
le
f
r
e
q
u
en
cy
d
r
iv
es
.
T
h
e
o
p
er
ati
o
n
al
ad
v
an
tag
es
an
d
lim
itat
io
n
s
o
f
ea
ch
m
eth
o
d
a
r
e
h
ig
h
li
g
h
ted
f
o
r
v
a
r
i
o
u
s
ap
p
li
ca
ti
o
n
s
o
f
th
e
in
d
u
c
ti
o
n
m
o
to
r
d
r
iv
es
.
Va
r
i
o
u
s
o
p
tim
izati
o
n
alg
o
r
ith
m
s
h
av
e
b
ee
n
s
u
g
g
ested
to
o
v
e
r
co
m
e
th
e
l
im
itatio
n
s
o
f
th
e
c
o
n
t
r
o
l s
ch
em
es f
o
r
th
e
d
ev
el
o
p
m
en
t o
f
a
d
v
an
c
e
co
n
t
r
o
l
s
y
s
tem
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
1
8
:
1
1
2
4
–
1
1
3
9
1126
R
est
o
f
th
e
p
a
p
e
r
h
as
b
ee
n
s
tr
u
ctu
r
es
as
f
o
ll
o
w
s
:
Secti
o
n
I
I
p
r
esen
ts
r
ev
iew
o
f
s
en
s
o
r
b
as
ed
c
o
n
tr
o
l
tech
n
i
q
u
es.
S
ec
ti
o
n
I
I
I
p
r
o
v
i
d
es
r
ev
i
ew
o
f
s
en
s
o
r
-
less
c
o
n
t
r
o
l
s
ch
em
es.
Va
r
i
o
u
s
o
p
tim
izati
o
n
alg
o
r
ith
m
s
to
im
p
r
o
v
e
th
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
c
o
n
tr
o
l
t
ec
h
n
i
q
u
es
h
av
e
b
e
e
n
p
r
es
en
te
d
in
Se
cti
o
n
I
V
.
S
ec
ti
o
n
V
g
iv
es
th
e
cr
i
tic
al
an
aly
s
is
o
f
th
e
l
ite
r
a
tu
r
e
r
ev
i
ew
an
d
f
in
ally
,
S
ec
ti
o
n
VI
p
r
es
en
ts
th
e
co
n
clu
s
i
o
n
o
f
t
h
is
p
ap
e
r
.
2.
SE
NSO
R
B
AS
E
D
CO
N
T
RO
L
T
E
CH
NI
Q
U
E
S
T
h
e
in
d
u
ctio
n
m
o
to
r
co
n
tr
o
l
m
ai
n
l
y
co
n
s
is
t
o
f
th
e
in
d
u
ctio
n
m
o
to
r
,
lo
ad
,
m
o
to
r
d
r
iv
e
(
in
v
er
ter
)
an
d
co
n
tr
o
l
s
y
s
te
m
.
T
h
e
in
ter
f
ac
i
n
g
o
f
th
e
s
e
p
ar
ts
an
d
th
e
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
co
m
p
lete
s
y
s
te
m
ar
e
s
h
o
w
n
i
n
Fig
u
r
e
1
an
d
Fi
g
u
r
e
2
r
esp
ec
tiv
el
y
.
Var
ia
b
l
e
f
r
e
q
u
e
n
cy
d
r
iv
e
c
o
n
tr
o
l
te
ch
n
iq
u
es
f
o
r
s
p
e
ed
,
t
o
r
q
u
e,
f
lu
x
,
v
o
ltag
e
an
d
cu
r
r
en
t
c
o
n
t
r
o
l
a
r
e
m
ain
l
y
class
if
i
ed
as
s
ca
la
r
co
n
tr
o
l
t
ec
h
n
i
q
u
e
an
d
v
ec
to
r
c
o
n
tr
o
l
tech
n
i
q
u
e
.
T
h
e
class
if
i
ca
t
io
n
o
f
VFD
c
o
n
t
r
o
l s
ch
em
es h
as
b
e
en
s
h
o
w
n
in
Fig
u
r
e
3
.
Fig
u
r
e
1
.
T
h
e
I
n
t
er
f
ac
e
o
f
th
e
Var
io
u
s
P
a
r
ts
o
f
th
e
I
n
d
u
c
ti
o
n
M
o
t
o
r
C
o
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t
r
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l Sy
s
te
m
Fig
u
r
e
2
.
T
h
e
B
lo
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D
iag
r
am
o
f
th
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T
est
B
en
ch
f
o
r
th
e
I
n
d
u
c
ti
o
n
M
o
t
o
r
C
o
n
t
r
o
l S
y
s
te
m
Fig
u
r
e
3
.
C
lass
if
icat
io
n
o
f
VF
D
C
o
n
t
r
o
l
Sch
em
es
2
.
1
.
Sca
la
r
C
o
n
t
r
o
l
T
e
chniq
u
e
Scal
ar
c
o
n
tr
o
l
te
ch
n
iq
u
e
u
tili
z
es
th
e
m
ag
n
itu
d
e
an
d
f
r
e
q
u
en
cy
o
f
th
e
a
p
p
li
ed
v
o
l
tag
e
to
c
o
n
tr
o
l
th
e
s
p
e
ed
o
f
th
e
in
d
u
cti
o
n
m
o
to
r
.
I
n
th
is
m
eth
o
d
,
a
v
o
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ag
e
s
o
u
r
ce
in
v
er
te
r
is
u
s
ed
t
o
m
ain
tain
th
e
m
ag
n
etiz
in
g
cu
r
r
en
t
at
c
o
n
s
tan
t
v
alu
e
b
y
ch
an
g
in
g
th
e
m
ag
n
it
u
d
e
o
f
ap
p
l
ied
v
o
ltag
e
p
r
o
p
o
r
ti
o
n
al
t
o
th
e
ap
p
lie
d
f
r
eq
u
en
cy
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
A
C
o
n
cise R
ev
iew
o
f Co
n
tr
o
l
Tech
n
iq
u
es fo
r
R
elia
b
le
a
n
d
E
fficien
t Co
n
tr
o
l o
f..
.
(
A
lw
a
d
ie.
A
)
1127
T
h
is
m
et
h
o
d
is
als
o
k
n
o
w
n
as
c
o
n
s
tan
t
v
o
lts
p
er
h
e
r
tz
(
o
r
c
o
n
s
tan
t
V/f
)
m
eth
o
d
an
d
its
d
esc
r
i
p
ti
o
n
h
as
b
ee
n
s
h
o
w
n
in
Fig
u
r
e
4
.
T
h
e
ac
tu
al
s
p
ee
d
h
as
b
e
en
m
ea
s
u
r
ed
th
r
o
u
g
h
en
co
d
er
(
s
p
ee
d
s
en
s
o
r
)
a
n
d
h
as
b
ee
n
u
til
iz
e
d
as
a
f
ee
d
b
ac
k
.
T
h
e
d
if
f
e
r
en
c
e
o
f
m
ea
s
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r
e
d
s
p
e
e
d
w
ith
th
e
r
e
f
er
en
c
e
s
p
e
e
d
h
as
b
ee
n
g
iv
en
as
an
er
r
o
r
s
ig
n
al
t
o
th
e
p
r
o
p
o
r
ti
o
n
a
l
-
in
teg
r
al
c
o
n
t
r
o
lle
r
to
g
en
er
at
e
th
e
f
u
n
d
am
en
tal
f
r
e
q
u
en
cy
r
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e
r
en
ce
.
T
h
e
am
p
litu
d
e
o
f
th
e
f
u
n
d
am
en
tal
s
tat
o
r
v
o
ltag
e
r
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er
en
ce
h
as
b
ee
n
o
b
ta
in
ed
th
r
o
u
g
h
th
e
f
u
n
d
am
en
tal
s
tat
o
r
f
r
eq
u
en
cy
r
ef
er
en
ce
.
No
t
ab
ly
,
if
o
p
en
lo
o
p
c
o
n
tr
o
l
s
y
s
te
m
co
n
f
ig
u
r
atio
n
h
as
b
ee
n
ad
o
p
te
d
th
en
th
e
s
p
ee
d
r
eg
u
l
at
io
n
w
ill
b
e
p
o
o
r
an
d
h
ea
v
ily
d
ep
en
d
s
o
n
th
e
m
o
to
r
lo
a
d
.
On
th
e
o
th
e
r
h
an
d
,
th
e
c
lo
s
e
l
o
o
p
c
o
n
t
r
o
l
s
y
s
te
m
ca
n
a
ch
iev
e
g
o
o
d
s
p
e
e
d
r
es
p
o
n
s
e
b
u
t
s
til
l
th
e
s
y
s
tem
n
o
t
s
u
ita
b
l
e
f
o
r
p
r
ec
is
e
to
r
q
u
e
c
o
n
tr
o
l
[
5
2
]
.
Fig
u
r
e
4
.
T
h
e
B
l
o
ck
Diag
r
am
o
f
th
e
S
ca
l
ar
C
o
n
t
r
o
l
Me
th
o
d
2
.
2
.
Vec
t
o
r
Co
nt
ro
l Te
chniq
u
e
Du
e
to
its
h
ig
h
p
e
r
f
o
r
m
an
ce
,
th
e
v
ec
t
o
r
co
n
t
r
o
l
te
ch
n
iq
u
e
i
s
w
id
ely
u
s
ed
in
m
an
y
in
d
u
ctio
n
m
o
to
r
co
n
t
r
o
l
a
p
p
lic
ati
o
n
s
.
T
h
e
m
ag
n
itu
d
e
an
d
p
h
ase
o
f
s
u
p
p
ly
v
o
ltag
es
o
r
cu
r
r
en
ts
is
u
til
ize
d
b
y
th
e
v
ec
to
r
c
o
n
t
r
o
l
tech
n
i
q
u
e
to
co
n
t
r
o
l
in
d
u
cti
o
n
m
o
to
r
s
.
Du
e
t
o
in
v
o
lv
em
en
t
o
f
th
e
p
h
ase
in
f
o
r
m
atio
n
,
th
e
v
ec
to
r
c
o
n
tr
o
l
tech
n
i
q
u
e
is
c
ap
a
b
le
o
f
c
o
n
tr
o
l
lin
g
th
e
p
o
s
iti
o
n
o
f
th
e
f
lu
x
,
v
o
lt
ag
e,
an
d
cu
r
r
en
t
v
ec
t
o
r
s
o
f
t
h
e
in
d
u
c
ti
o
n
m
o
to
r
.
T
h
e
C
la
r
k
e
an
d
P
a
r
k
tr
an
s
f
o
r
m
atio
n
s
ar
e
th
e
m
ath
em
atica
l
to
o
ls
u
til
ize
d
b
y
th
e
v
ec
to
r
c
o
n
tr
o
l
te
ch
n
iq
u
e
f
o
r
g
en
er
a
tin
g
to
r
q
u
e
an
d
f
lu
x
,
r
es
p
e
ctiv
e
ly
.
T
h
e
m
ain
d
r
aw
b
ac
k
o
f
th
ese
tr
an
s
f
o
r
m
ati
o
n
s
is
th
e
co
u
p
lin
g
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etw
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n
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ctr
o
m
ag
n
etic
t
o
r
q
u
e
an
d
f
lu
x
.
T
o
a
d
d
r
ess
th
is
is
s
u
e
,
f
iel
d
o
r
ien
t
e
d
co
n
t
r
o
l
(
FOC
)
h
as
b
e
en
in
tr
o
d
u
c
e
d
b
y
v
ar
i
o
u
s
r
es
ea
r
ch
e
r
s
[
4
,
7
,
1
1
,
5
3
]
.
2
.
3
.
F
iel
d
O
ri
en
t
ed
C
o
nt
r
o
l
(
F
O
C)
FOC
w
as
p
r
o
p
o
s
e
d
b
y
th
e
Hass
e
an
d
B
l
asch
k
e
[
5
4
]
.
Ma
n
y
r
esea
r
ch
e
r
s
h
av
e
w
o
r
k
ed
o
n
th
e
im
p
r
o
v
em
en
t
o
f
th
e
FOC
an
d
n
o
w
it
h
as
b
e
c
o
m
e
an
in
d
u
s
t
r
i
al
s
t
an
d
ar
d
co
n
t
r
o
l
s
tr
ateg
y
.
F
OC
co
n
tr
o
l
s
ch
em
e
is
b
as
ed
o
n
d
y
n
a
m
ic
m
o
d
el
o
f
th
e
in
d
u
ct
io
n
m
o
to
r
w
h
e
r
e
th
e
f
lu
x
es,
v
o
l
tag
es
an
d
cu
r
r
en
ts
ar
e
r
e
p
r
es
en
te
d
in
s
p
a
ce
v
ec
to
r
f
o
r
m
s
.
T
h
e
s
p
ac
e
v
ec
to
r
r
e
p
r
esen
t
ati
o
n
o
f
th
e
m
o
to
r
p
a
r
am
eter
s
is
v
a
li
d
u
n
d
er
b
o
th
s
tea
d
y
s
tate
an
d
t
r
an
s
i
en
t
c
o
n
d
i
ti
o
n
s
an
d
a
n
ex
ce
ll
en
t
tr
an
s
ien
t
r
es
p
o
n
s
e
ca
n
b
e
ac
h
i
ev
e
d
d
u
e
to
th
is
f
e
atu
r
e
o
f
FOC
.
I
n
th
e
r
o
to
r
f
lu
x
FOC
s
ch
e
m
e,
all
q
u
an
titi
es
r
o
ta
tin
g
at
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
w
ill
ap
p
e
ar
as
DC
q
u
an
titi
es.
I
n
r
o
t
atin
g
f
lu
x
r
ef
er
en
ce
f
r
am
e,
if
th
e
f
l
u
x
is
alig
n
e
d
t
o
th
e
“
d
”
ax
is
,
th
en
th
e
“
d
”
an
d
“
q
”
c
o
m
p
o
n
en
ts
o
f
th
e
s
tat
o
r
cu
r
r
en
t
r
e
p
r
esen
t
th
e
f
lu
x
an
d
to
r
q
u
e
c
o
m
p
o
n
en
t
r
es
p
ec
tiv
e
ly
.
T
h
u
s
,
in
FOC
c
o
n
t
r
o
l
s
ch
em
e,
th
e
co
n
t
r
o
l
o
f
in
d
u
cti
o
n
m
o
to
r
l
o
o
k
s
s
im
ilar
t
o
a
DC
m
o
to
r
c
o
n
tr
o
l
s
ch
em
e
w
h
er
e
th
e
t
o
r
q
u
e
an
d
f
l
u
x
co
m
p
o
n
en
ts
ar
e
d
e
co
u
p
l
ed
[
5
5
-
6
6
]
.
T
h
e
FOC
c
o
n
tr
o
l
s
ch
em
e
h
as f
u
r
th
er
tw
o
ty
p
es:
1)
Dir
e
ct
fie
ld
o
r
ie
n
t
ed
co
n
tr
o
l
(
DF
OC
)
,
in
w
h
ich
th
e
f
lu
x
p
o
s
iti
o
n
is
o
b
t
ain
e
d
th
r
o
u
g
h
th
e
in
f
o
r
m
ati
o
n
o
f
th
e
te
r
m
in
al
v
ar
ia
b
l
es
an
d
r
o
t
o
r
s
p
ee
d
.
2)
I
n
in
d
ir
e
ct
f
iel
d
o
r
i
en
te
d
c
o
n
tr
o
l
(
I
F
OC
)
,
in
w
h
ich
th
e
s
u
m
m
atio
n
o
f
th
e
s
li
p
p
o
s
i
ti
o
n
an
d
r
o
t
o
r
p
o
s
it
io
n
g
i
v
e
th
e
in
f
o
r
m
atio
n
o
f
f
lu
x
p
o
s
i
ti
o
n
.
T
h
e
b
lo
ck
d
i
ag
r
am
o
f
th
e
DFOC
an
d
I
FOC
a
r
e
s
h
o
w
n
in
F
ig
u
r
e
5
an
d
F
ig
u
r
e
6
r
es
p
e
ctiv
e
ly
.
T
h
e
ac
cu
r
ac
y
o
f
th
e
r
o
t
o
r
p
o
s
i
ti
o
n
m
ea
s
u
r
em
en
t
is
a
k
ey
f
ac
to
r
in
r
o
t
o
r
f
lu
x
FOC
s
ch
em
e.
I
n
ac
cu
r
ate
m
ea
s
u
r
em
en
t o
f
th
e
r
o
t
o
r
p
o
s
it
i
o
n
w
ill r
esu
lt in
d
e
ter
io
r
a
ti
o
n
o
f
th
e
to
r
q
u
e
d
y
n
am
ics.
A
lter
n
a
tiv
ely
,
an
o
th
e
r
ty
p
e
o
f
FOC
h
as b
ee
n
d
ev
e
lo
p
ed
w
h
ich
is
b
ase
d
o
n
t
h
e
s
tato
r
f
lu
x
o
r
i
en
tat
io
n
an
d
t
h
u
s
k
n
o
w
n
as st
ato
r
f
lu
x
FOC
[
6
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
1
8
:
1
1
2
4
–
1
1
3
9
1128
Fig
u
r
e
5
.
T
h
e
B
l
o
ck
Diag
r
am
o
f
th
e
DF
OC
C
o
n
tr
o
l
Sch
em
e
Fig
u
r
e
6
.
T
h
e
B
l
o
ck
Diag
r
am
o
f
th
e
I
FOC
C
o
n
t
r
o
l S
ch
em
e
Fig
u
r
e
7
.
T
h
e
B
l
o
ck
Diag
r
am
o
f
th
e
D
T
C
C
o
n
tr
o
l
Sch
em
e
2
.
3
.
1
.
Dire
ct
T
o
rqu
e
C
o
n
t
r
o
l
(
DT
C
)
A
lth
o
u
g
h
FOC
w
as
ca
p
a
b
l
e
t
o
ap
p
r
o
v
e
th
e
r
es
p
o
n
s
e
o
f
th
e
m
o
to
r
b
u
t
FOC
h
as
s
ev
er
al
d
r
aw
b
ac
k
s
in
its
i
m
p
le
m
e
n
tatio
n
as
it
n
ee
d
s
co
m
p
u
tati
o
n
al
ly
co
m
p
lex
al
g
o
r
i
th
m
to
tr
an
s
f
o
r
m
r
ef
er
en
ce
f
r
am
e.
A
n
o
th
e
r
s
h
o
r
t
c
o
m
in
g
o
f
th
e
FOC
is
its
d
e
p
en
d
en
cy
o
n
th
e
m
o
to
r
p
ar
am
eter
s
an
d
m
ec
h
an
ical
s
p
ee
d
.
T
o
tack
l
e
th
e
ch
all
en
g
es
f
ac
e
d
b
y
FOC
,
r
e
s
ea
r
ch
e
r
s
h
av
e
in
t
r
o
d
u
ce
d
,
n
e
w
tech
n
iq
u
es
w
h
ich
ar
e
k
n
o
w
n
as
d
ir
e
ct
t
o
r
q
u
e
co
n
t
r
o
l
(
D
T
C
)
,
[
6
8
]
.
R
e
ce
n
tly
,
d
i
r
e
ct
s
e
lf
-
co
n
t
r
o
l
(
DSC
)
,
an
d
cl
ass
ic
al
D
T
C
[
6
8
-
7
2
]
h
av
e
b
ee
n
p
r
o
p
o
s
e
d
f
o
r
th
e
im
p
r
o
v
em
en
t
o
f
co
n
v
en
t
io
n
al
D
T
C
.
T
h
e
D
T
C
co
n
t
r
o
l
s
c
h
em
e
h
as
s
ev
er
al
a
d
v
an
tag
es
l
ik
e
h
ig
h
r
el
ia
b
il
it
y
,
s
im
p
licity
,
in
s
en
s
itiv
i
ty
to
th
e
m
o
to
r
p
a
r
am
ete
r
s
an
d
f
ast d
y
n
am
ic
r
es
p
o
n
s
e
.
I
n
D
T
C
co
n
t
r
o
l
s
ch
em
e,
th
e
e
r
r
o
r
s
o
f
th
e
t
o
r
q
u
e
an
d
s
ta
to
r
f
lu
x
s
tatu
s
a
r
e
m
ea
s
u
r
e
d
an
d
th
en
s
en
t
to
th
e
h
y
s
ter
esis
c
o
m
p
ar
at
o
r
f
o
r
d
ig
it
iz
ati
o
n
.
T
h
e
l
o
c
ati
o
n
o
f
th
e
v
o
l
tag
e
v
e
c
to
r
h
as
b
ee
n
i
d
en
tif
i
e
d
th
r
o
u
g
h
th
e
s
tatu
s
o
f
th
e
in
v
e
r
te
r
s
w
itch
es.
T
h
e
s
t
atu
s
o
f
th
e
in
v
e
r
te
r
s
w
itch
es
is
ca
l
cu
la
ted
u
s
in
g
a
p
r
e
-
d
ete
r
m
in
ed
s
w
itch
in
g
ta
b
l
e.
T
h
e
m
ain
d
r
aw
b
ac
k
s
o
f
u
s
in
g
D
T
C
co
n
t
r
o
ll
er
a
r
e
la
r
g
e
t
o
r
q
u
e
an
d
f
lu
x
r
i
p
p
les
an
d
th
e
n
o
n
-
c
o
n
s
t
an
t
s
w
itch
in
g
f
r
eq
u
en
cy
o
f
th
e
in
v
er
t
e
r
[
7
2
]
.
T
h
e
b
l
o
ck
d
i
ag
r
am
o
f
th
e
b
asic
D
T
C
co
n
t
r
o
l
s
ch
em
e
h
as b
e
en
s
h
o
w
n
in
Fig
u
r
e
7
.
T
h
e
c
o
m
p
ar
is
o
n
o
f
th
e
s
ca
la
r
an
d
v
ec
t
o
r
c
o
n
t
r
o
l s
ch
em
e
s
h
as
b
e
en
s
u
m
m
ar
ize
d
in
T
ab
le
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
A
C
o
n
cise R
ev
iew
o
f Co
n
tr
o
l
Tech
n
iq
u
es fo
r
R
elia
b
le
a
n
d
E
fficien
t Co
n
tr
o
l o
f..
.
(
A
lw
a
d
ie.
A
)
1129
T
a
b
le
1
.
T
h
e
Co
m
p
ar
is
o
n
o
f
S
ca
l
ar
C
o
n
t
r
o
l
an
d
V
ec
t
o
r
C
o
n
t
r
o
l S
ch
em
es
S
c
a
l
a
r
C
o
n
t
r
o
l
V
e
c
t
o
r
C
o
n
t
r
o
l
1.
C
o
n
t
r
o
l
c
o
u
l
d
b
e
p
e
r
f
o
r
me
d
w
i
t
h
o
n
l
y
o
n
e
se
n
so
r
(
s
p
e
e
d
se
n
so
r
)
.
2.
C
o
n
t
r
o
l
s
c
h
e
me
h
a
s
s
i
m
p
l
e
s
t
r
u
c
t
u
r
e
.
3.
L
o
w
c
u
r
r
e
n
t
r
i
p
p
l
e
s
4.
L
o
w
c
o
s
t
5.
C
o
n
t
r
o
l
s
c
h
e
me
s
i
s
n
o
t
d
e
p
e
n
d
e
n
t
o
n
mo
t
o
r
p
a
r
a
me
t
e
r
s
.
6.
C
o
n
t
r
o
l
s
c
h
e
me
d
o
e
s
n
o
t
r
e
q
u
i
r
e
t
r
a
n
sf
o
r
m
a
t
i
o
n
o
f
c
o
o
r
d
i
n
a
t
e
.
1.
C
o
n
t
r
o
l
s
c
h
e
me
s
u
se
n
u
m
b
e
r
o
f
se
n
so
r
s
t
o
me
a
s
u
r
e
s
p
e
e
d
,
f
l
u
x
,
t
o
r
q
u
e
,
c
u
r
r
e
n
t
,
v
o
l
t
a
g
e
e
t
c
.
2.
C
o
n
t
r
o
l
s
c
h
e
me
h
a
s
c
o
m
p
l
e
x
s
t
r
u
c
t
u
r
e
.
3.
H
i
g
h
c
u
r
r
e
n
t
r
i
p
p
l
e
s
(
a
s
i
n
D
T
C
)
4.
H
i
g
h
c
o
s
t
5.
C
o
n
t
r
o
l
s
c
h
e
me
i
s
d
e
p
e
n
d
e
n
t
o
n
mo
t
o
r
p
a
r
a
me
t
e
r
s
.
6.
C
o
n
t
r
o
l
s
c
h
e
me
r
e
q
u
i
r
e
s
t
r
a
n
sf
o
r
m
a
t
i
o
n
o
f
c
o
o
r
d
i
n
a
t
e
(
P
a
r
k
T
r
a
n
sf
o
r
m)
3.
SE
NSO
R
-
L
E
SS
CO
N
T
RO
L
SCH
E
M
E
I
n
cr
itical
ap
p
licatio
n
s
o
f
in
d
u
ctio
n
m
o
to
r
lik
e
co
m
p
r
es
s
o
r
s
,
b
lo
w
er
s
,
f
an
s
,
m
ac
h
i
n
e
to
o
l,
n
u
clea
r
p
o
w
er
p
lan
ts
,
o
f
f
-
s
h
o
r
e
p
u
m
p
in
g
s
ta
t
io
n
s
an
d
elec
tr
ic
v
eh
icles
;
s
en
s
o
r
-
le
s
s
co
n
tr
o
lle
d
tech
n
iq
u
e
co
u
ld
ac
h
iev
e
e
x
ce
lle
n
t
p
er
f
o
r
m
an
c
e
in
ter
m
s
o
f
e
f
f
icie
n
c
y
a
n
d
e
n
er
g
y
s
av
i
n
g
s
.
Se
n
s
o
r
-
le
s
s
in
d
u
ctio
n
m
o
to
r
d
r
i
v
es
o
p
er
ate
w
ith
o
u
t
s
p
ee
d
s
e
n
s
o
r
an
d
th
u
s
ar
e
h
elp
f
u
l
i
n
co
s
t
s
av
i
n
g
an
d
to
ac
h
iev
e
h
i
g
h
r
eliab
ilit
y
[
7
3
]
.
T
h
e
ter
m
i
n
al
q
u
an
ti
ties
s
u
ch
as
v
o
ltag
e
a
n
d
c
u
r
r
en
t
ar
e
u
s
ed
t
o
esti
m
ate
th
e
s
p
ee
d
.
T
h
is
s
e
ctio
n
o
f
t
h
e
p
ap
er
b
r
ief
l
y
d
escr
ib
e
th
e
s
e
n
s
o
r
-
les
s
co
n
tr
o
l
m
et
h
o
d
s
f
o
r
in
d
u
cti
o
n
m
o
to
r
d
r
iv
e
f
o
r
th
e
p
u
r
p
o
s
e
o
f
en
er
g
y
s
a
v
i
n
g
an
d
s
u
s
tai
n
ab
le
r
eliab
ilit
y
.
As
d
escr
ib
ed
in
Fig
u
r
e
1
,
s
en
s
o
r
-
l
ess
co
n
tr
o
l
tech
n
iq
u
es
co
u
ld
b
e
d
iv
id
ed
in
to
t
w
o
ca
teg
o
r
ies
1)
Mo
d
el
b
ased
s
ch
e
m
e
2)
Si
g
n
al
i
n
j
ec
tio
n
s
ch
e
m
e.
Deta
ils
o
f
b
o
th
s
c
h
e
m
es
h
as
b
ee
n
g
iv
e
n
b
elo
w
.
3
.
1
.
M
o
del B
a
s
ed
Sche
m
e
T
h
e
m
ath
e
m
at
ical
m
o
d
el
o
f
t
h
e
i
n
d
u
ctio
n
m
o
to
r
in
g
e
n
er
al
r
ef
er
en
ce
f
r
a
m
e
co
u
ld
b
e
d
e
s
cr
ib
ed
b
y
E
q
u
atio
n
(
1
)
to
(
4
)
.
T
h
is
m
at
h
e
m
a
tical
r
ep
r
esen
tat
io
n
o
f
t
h
e
in
d
u
ctio
n
m
o
to
r
co
u
ld
b
e
u
s
ed
i
n
s
e
n
s
o
r
-
le
s
s
co
n
tr
o
l
s
c
h
e
m
e
s
to
e
s
ti
m
ate
t
h
e
s
p
ee
d
o
f
t
h
e
i
n
d
u
ct
io
n
m
o
to
r
p
r
o
v
id
ed
th
at
all
p
ar
a
m
e
te
r
s
o
f
t
h
e
m
o
to
r
ar
e
k
n
o
w
n
[
7
3
-
7
5
]
.
=
+
+
(
1
)
0
=
+
+
(
−
)
(
2
)
=
+
(
3
)
=
+
(
4
)
I
n
o
p
en
lo
o
p
s
p
ee
d
est
i
m
at
io
n
,
E
q
u
atio
n
(
1
)
i
s
i
n
te
g
r
ated
to
g
et
th
e
s
tato
r
f
l
u
x
an
d
f
r
o
m
s
tato
r
f
l
u
x
in
f
o
r
m
atio
n
o
n
e
ca
n
ca
lc
u
lat
e
r
o
to
r
f
lu
x
[
7
3
]
.
T
h
e
li
m
ita
tio
n
s
o
f
t
h
e
o
p
en
lo
o
p
s
p
ee
d
esti
m
atio
n
ar
e
it
s
s
en
s
iti
v
it
y
to
th
e
s
tato
r
an
d
r
o
to
r
r
esis
tan
ce
an
d
i
n
d
u
cta
n
c
e.
Var
iatio
n
in
t
h
ese
p
ar
a
m
e
t
er
s
f
r
o
m
n
o
m
i
n
al
v
alu
e
s
w
ill
d
e
g
r
ad
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
o
p
en
lo
o
p
s
p
ee
d
esti
m
ato
r
[
7
3
,
7
4
]
.
T
o
o
v
er
co
m
e
t
h
is
i
s
s
u
e,
clo
s
ed
-
lo
o
p
s
p
ee
d
esti
m
ato
r
o
r
clo
s
ed
-
lo
o
p
o
b
s
er
v
er
co
u
ld
b
e
u
s
ed
.
E
x
a
m
p
le
o
f
s
u
ch
t
y
p
e
o
f
esti
m
ato
r
s
ar
e;
i)
Mo
d
el
R
eferen
ce
A
d
a
p
tive
S
y
s
tem
(
MRA
S
)
:
T
h
e
b
lo
ck
d
iag
r
a
m
o
f
th
e
MR
AS
is
s
o
w
n
i
n
Fig
u
r
e
8
[
7
3
]
.
I
f
th
e
er
r
o
r
s
ig
n
al
is
m
in
i
m
ized
th
e
n
th
e
esti
m
ated
s
p
ee
d
w
ill
eq
u
al
to
t
h
e
ac
t
u
al
s
p
ee
d
.
I
t
w
as
r
ep
o
r
ted
in
[
7
6
-
8
1
]
th
at
MR
AS
co
u
ld
g
i
v
e
b
etter
p
er
f
o
r
m
a
n
ce
w
it
h
th
e
m
i
n
i
m
u
m
s
p
ee
d
r
an
g
e
o
f
3
0
–
1
0
0
r
p
m
.
Ho
w
e
v
er
,
d
u
e
to
en
v
ir
o
n
m
e
n
tal
n
o
is
e
a
n
d
n
o
n
-
lin
ea
r
it
y
o
f
t
h
e
p
o
w
er
co
n
v
er
t
er
s
,
MR
A
S
co
u
ld
n
o
t
g
iv
e
s
at
is
f
ac
to
r
y
r
esu
lts
f
o
r
s
p
ee
d
less
t
h
an
3
0
r
p
m
.
ii
)
F
u
ll
o
r
R
ed
u
ce
d
Ord
er
Ob
s
erver
:
I
t
h
as
t
h
e
ca
p
ab
ilit
y
to
e
s
ti
m
ate
r
o
b
u
s
t
s
p
ee
d
at
lo
w
s
p
ee
d
o
p
er
atio
n
s
o
f
t
h
e
m
o
to
r
[
8
2
-
8
6
]
.
iii)
E
xten
d
ed
K
a
lma
n
F
ilter
:
I
t
is
a
s
to
ch
as
tic
ap
p
r
o
ac
h
f
o
r
s
p
ee
d
esti
m
atio
n
o
f
t
h
e
in
d
u
ct
io
n
m
o
to
r
.
T
h
e
s
to
ch
asti
c
m
e
th
o
d
s
o
lv
es
th
e
esti
m
atio
n
p
r
o
b
l
e
m
s
t
h
r
o
u
g
h
u
s
e
o
f
m
ea
s
u
r
e
m
e
n
t
er
r
o
r
s
,
m
o
d
elin
g
er
r
o
r
s
,
r
an
d
o
m
d
is
tu
r
b
a
n
ce
s
,
an
d
co
m
p
u
ta
tio
n
al
i
n
ac
cu
r
a
cies
o
f
th
e
s
y
s
te
m
.
T
h
is
m
et
h
o
d
ca
n
est
i
m
ate
t
h
e
n
o
n
-
m
ea
s
u
r
ed
p
ar
ts
o
f
a
s
y
s
tem
t
h
r
o
u
g
h
a
m
i
n
i
m
u
m
co
v
ar
ia
n
ce
er
r
o
r
th
at
lead
s
to
o
p
ti
m
al
e
s
ti
m
ated
s
tates
[
8
7
-
9
2
]
.
iv)
S
lid
in
g
Mo
d
e
Ob
s
e
r
ve
r
(
S
MO
)
:
T
h
e
k
e
y
f
ea
tu
r
e
s
o
f
t
h
e
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
ar
e
its
ea
s
y
i
m
p
le
m
e
n
tatio
n
,
le
s
s
r
es
tr
ictiv
e
d
es
ig
n
,
s
i
m
p
lici
t
y
,
s
m
al
l
co
m
p
u
tatio
n
s
an
d
r
o
b
u
s
t
n
ess
to
p
ar
am
eter
v
ar
iat
io
n
s
[
9
3
]
.
T
h
ese
f
ea
t
u
r
es
m
a
k
e
SMO
an
ef
f
ec
ti
v
e
esti
m
ato
r
.
Ho
w
ev
er
,
S
MO
p
er
f
o
r
m
a
n
ce
is
af
f
ec
ted
b
y
c
h
atter
i
n
g
p
h
en
o
m
en
o
n
[
9
4
-
9
9
]
.
T
h
e
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
SMO
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
9
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
1
8
:
1
1
2
4
–
1
1
3
9
1130
Fig
u
r
e
8
.
T
h
e
B
lo
ck
Diag
r
a
m
o
f
th
e
M
R
A
S
f
o
r
Sp
ee
d
E
s
ti
m
atio
n
Fig
u
r
e
9
.
T
h
e
B
lo
ck
Diag
r
a
m
o
f
th
e
SM
O
f
o
r
Sp
ee
d
E
s
ti
m
a
t
io
n
3
.
2
.
Sig
na
l In
j
ec
t
io
n Sche
m
e
(
SI
S)
A
r
elati
v
el
y
n
e
w
ap
p
r
o
ac
h
b
ased
o
n
s
ig
n
a
l
in
j
ec
tio
n
h
as
g
ain
ed
atte
n
tio
n
o
f
r
esear
ch
er
s
in
r
ec
en
t
d
ec
ad
e
b
ec
au
s
e
t
h
e
m
o
d
el
b
a
s
ed
s
p
ee
d
est
i
m
a
tio
n
tech
n
iq
u
e
h
as
is
s
u
e
s
o
f
p
er
f
o
r
m
an
ce
d
eg
r
ad
atio
n
d
u
e
to
p
ar
am
eter
v
ar
iatio
n
s
a
n
d
r
o
to
r
s
p
ee
d
esti
m
atio
n
p
r
o
b
le
m
at
ze
r
o
s
tato
r
f
r
eq
u
e
n
c
y
.
SI
m
et
h
o
d
is
b
ased
o
n
t
h
e
in
j
ec
tio
n
o
f
lo
w
le
v
el
s
i
g
n
als
in
th
e
i
n
d
u
ctio
n
m
o
to
r
[
1
0
0
]
.
T
h
e
an
is
o
tr
o
p
y
o
f
t
h
e
m
ac
h
i
n
es
w
i
ll
g
e
n
er
ate
th
e
cu
r
r
en
t a
n
d
v
o
lta
g
e
t
h
r
o
u
g
h
wh
ich
t
h
e
s
p
ee
d
in
f
o
r
m
a
tio
n
co
u
ld
b
e
ex
tr
ac
ted
.
T
h
e
m
ag
n
it
u
d
e
an
d
f
r
eq
u
e
n
c
y
o
f
th
e
in
j
ec
ted
s
i
g
n
al
s
h
o
u
ld
b
e
s
elec
ted
ca
r
ef
u
ll
y
[
1
0
1
]
.
S
m
al
ler
th
e
m
a
g
n
it
u
d
e
o
f
th
e
i
n
j
ec
ted
s
ig
n
al,
s
m
aller
w
il
l
b
e
th
e
s
i
g
n
al
to
n
o
i
s
e
r
atio
,
w
h
i
le
th
e
i
n
j
ec
ted
s
ig
n
al
w
it
h
lar
g
er
m
ag
n
it
u
d
e
w
ill
cr
ea
te
to
r
q
u
e
r
ip
p
les.
Si
m
i
lar
l
y
,
if
t
h
e
f
r
eq
u
e
n
c
y
o
f
th
e
in
j
ec
ted
s
i
g
n
al
i
s
s
m
all
t
h
en
it
w
o
u
ld
b
e
d
i
f
f
icu
lt
to
s
eg
r
eg
ate
it
f
r
o
m
t
h
e
f
u
n
d
a
m
en
ta
l
f
r
eq
u
en
c
y
s
ig
n
al.
T
h
u
s
a
tr
ad
e
-
o
f
f
s
h
o
u
ld
b
e
m
ad
e
in
s
elec
tin
g
t
h
e
f
r
eq
u
e
n
c
y
an
d
m
ag
n
it
u
d
e
o
f
th
e
i
n
j
ec
ted
s
ig
n
al.
T
h
e
ch
al
len
g
e
s
i
n
th
i
s
m
eth
o
d
ar
e
to
tack
le
p
o
o
r
s
ig
n
a
l
to
n
o
is
e
r
atio
,
lo
w
s
p
ec
tr
al
s
ep
ar
atio
n
a
n
d
to
ac
h
ie
v
e
r
eq
u
ir
ed
f
r
eq
u
en
c
y
tr
ac
k
i
n
g
.
T
h
ese
c
h
alle
n
g
e
s
co
u
ld
b
e
ad
d
r
ess
ed
th
r
o
u
g
h
m
o
d
er
n
s
ig
n
al
p
r
o
ce
s
s
i
n
g
tec
h
n
iq
u
e
s
[
1
0
2
,
1
0
3
]
.
T
h
e
g
en
er
al
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
SIS
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
1
0
.
Fig
u
r
e
1
0
.
T
h
e
B
lo
ck
Diag
r
am
o
f
t
h
e
Si
g
n
a
l I
n
j
ec
tio
n
Sch
e
m
e
f
o
r
Sp
ee
d
E
s
ti
m
atio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
A
C
o
n
cise R
ev
iew
o
f Co
n
tr
o
l
Tech
n
iq
u
es fo
r
R
elia
b
le
a
n
d
E
fficien
t Co
n
tr
o
l o
f..
.
(
A
lw
a
d
ie.
A
)
1131
4.
O
P
T
I
M
I
Z
AT
I
O
N
T
E
CH
NI
Q
U
E
S F
O
R
T
H
E
M
O
T
O
R
CO
NT
RO
L
L
E
R
Op
ti
m
izatio
n
alg
o
r
it
h
m
s
w
er
e
d
ev
elo
p
ed
to
im
p
r
o
v
e
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
co
n
tr
o
ller
.
T
h
ese
alg
o
r
ith
m
s
w
er
e
d
ev
elo
p
ed
m
ai
n
l
y
b
ased
o
n
t
h
e
p
r
in
cip
l
e
o
f
b
io
lo
g
y
-
a
n
d
p
h
y
s
ics
-
b
a
s
ed
alg
o
r
ith
m
s
.
T
h
e
b
io
lo
g
y
-
b
a
s
ed
alg
o
r
it
h
m
s
ar
e
class
i
f
ied
a
s
g
en
e
tic
al
g
o
r
ith
m
(
G
A
)
,
b
ee
co
lo
n
y
al
g
o
r
ith
m
(
B
C
A
)
,
h
ar
m
o
n
y
s
ea
r
ch
al
g
o
r
ith
m
(
H
S
A
)
,
p
ar
ticle
s
w
ar
m
o
p
ti
m
izatio
n
(
P
SO)
,
f
ir
e
f
l
y
al
g
o
r
ith
m
(
F
A
)
,
b
ac
ter
ia
f
o
r
a
g
i
n
g
o
p
tim
izatio
n
(
B
FO)
,
li
g
h
t
n
in
g
s
ea
r
ch
al
g
o
r
it
h
m
(
L
S
A
)
,
cu
c
k
o
o
s
ea
r
ch
al
g
o
r
it
h
m
(
C
S
A
)
,
co
lo
n
y
o
p
ti
m
izatio
n
alg
o
r
ith
m
(
A
C
O)
,
an
d
b
ac
k
tr
a
ck
in
g
s
ea
r
c
h
alg
o
r
it
h
m
(
B
S
A
)
.
T
h
e
p
h
y
s
ic
s
-
b
ased
alg
o
r
ith
m
s
ar
e
class
if
ied
as
ch
ao
tic
o
p
ti
m
izatio
n
al
g
o
r
ith
m
(
C
O
A
)
,
s
i
m
u
lated
an
n
ea
li
n
g
(
S
A
)
an
d
g
r
a
v
itatio
n
a
l
s
ea
r
ch
al
g
o
r
ith
m
(
GS
A
)
[
8
,
1
0
4
]
.
T
h
is
s
ec
tio
n
o
f
th
e
p
ap
er
,
b
r
ief
l
y
d
escr
ib
es
s
o
m
e
i
m
p
o
r
tan
t
a
n
d
co
m
m
o
n
l
y
u
s
ed
o
p
tim
iza
tio
n
alg
o
r
ith
m
s
a
n
d
th
e
n
t
h
e
u
s
e
o
f
o
p
tim
iza
tio
n
al
g
o
r
ith
m
s
f
o
r
m
o
to
r
co
n
tr
o
l a
p
p
licatio
n
s
h
a
s
b
e
en
p
r
esen
ted
.
4
.
1
.
Descript
io
n o
f
O
pti
m
iza
t
io
n Alg
o
rit
h
m
s
4
.
1
.
1
.
G
enet
ic
A
lg
o
rit
h
m
Gen
etic
alg
o
r
it
h
m
i
s
a
s
to
ch
a
s
tic
g
lo
b
al
ad
ap
tiv
e
s
ea
r
ch
o
p
ti
m
izatio
n
tec
h
n
iq
u
e
w
h
ic
h
w
o
r
k
s
a
s
a
p
o
p
u
latio
n
co
n
tai
n
i
n
g
a
n
u
m
b
er
o
f
ch
r
o
m
o
s
o
m
e
s
a
n
d
an
o
b
j
ec
tiv
e
f
u
n
c
tio
n
is
u
s
ed
f
o
r
ea
ch
c
h
r
o
m
o
s
o
m
e
to
f
i
n
d
a
s
o
lu
tio
n
to
t
h
e
p
r
o
b
lem
[
3
8
,
1
0
4
,
1
0
5
]
.
T
h
e
ar
ch
i
tectu
r
e
o
f
th
e
G
A
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
1
1
.
So
m
e
o
f
t
h
e
ap
p
licatio
n
s
o
f
th
e
GA
ar
e:
1.
GA
i
s
u
s
ed
to
f
in
d
t
h
e
b
est p
ar
a
m
eter
v
al
u
e
o
f
r
atio
n
a
l f
u
n
cti
o
n
[
1
0
6
]
.
2.
GA
is
u
s
ed
i
n
a
co
n
tr
o
l
s
y
s
te
m
o
n
a
n
elec
tr
ic
d
is
tr
ib
u
tio
n
n
et
w
o
r
k
,
to
i
m
p
r
o
v
e
th
e
r
elia
b
ilit
y
a
n
d
p
o
w
er
q
u
alit
y
o
f
d
is
tr
ib
u
t
io
n
s
y
s
te
m
s
[
1
0
7
,
1
0
8
]
.
3.
I
n
p
h
o
to
v
o
ltaic
ap
p
licatio
n
s
,
it
is
u
s
ed
f
o
r
m
a
x
i
m
u
m
p
o
w
er
p
o
in
t
tr
ac
k
i
n
g
(
MP
PT
)
t
o
i
m
p
r
o
v
e
t
h
e
en
er
g
y
h
a
r
v
esti
n
g
ca
p
ab
ilit
y
o
f
a
P
V
s
y
s
te
m
[
1
0
9
]
.
So
m
e
o
f
t
h
e
li
m
itatio
n
s
o
f
t
h
e
GA
al
g
o
r
ith
m
ar
e:
1.
I
t c
an
n
o
t g
u
ar
an
tee
th
e
id
e
n
ti
f
i
ca
tio
n
o
f
g
lo
b
al
m
i
n
i
m
u
m
.
2.
I
t o
p
er
ates o
n
tr
ial
an
d
er
r
o
r
p
r
o
ce
d
u
r
e
an
d
n
ee
d
s
m
u
ch
m
o
r
e
ti
m
e
to
f
i
n
e
t
u
n
e
all
p
ar
a
m
ete
r
s
[
1
1
0
]
Fig
u
r
e
1
1
.
Gen
etic
A
lg
o
r
it
h
m
Flo
w
c
h
ar
t
4
.
1
.
2
.
G
ra
v
it
a
t
io
na
l
Sea
rc
h Alg
o
rit
h
m
Gr
av
itatio
n
al
s
ea
r
ch
al
g
o
r
ith
m
(
GS
A
)
,
w
as
p
r
o
p
o
s
ed
b
y
[
1
6
9
]
,
an
d
it
d
e
p
en
d
s
o
n
th
e
la
w
o
f
g
r
av
i
t
y
an
d
m
a
s
s
i
n
ter
ac
tio
n
s
.
GS
A
was
d
ev
elo
p
ed
u
s
i
n
g
th
e
la
w
s
o
f
m
o
t
io
n
a
n
d
Ne
w
to
n
ia
n
g
r
av
i
t
y
[
1
1
1
]
.
GSA
h
as
St
a
r
t
C
r
e
a
te
I
nit
i
a
l
P
op
ul
a
t
io
n
Ge
n
e
r
a
t
i
o
n
=
0
E
v
a
lu
a
te
F
it
n
e
s
s
v
a
lu
e
f
or
e
a
c
h
c
h
r
o.
P
e
r
f
o
r
m
s
e
l
e
c
t
i
o
n
,
c
r
os
s
ov
e
r
a
n
d
mut
a
t
i
o
n
p
r
o.
C
r
e
a
te
I
nit
i
a
l
P
op
ul
a
t
io
n
S
to
p
M
i
n
P
e
r
f
o
r
m
.
I
n
de
x
r
e
a
c
h
No
Ye
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
1
8
:
1
1
2
4
–
1
1
3
9
1132
th
e
f
a
s
t
co
n
v
er
g
e
n
ce
f
o
r
s
o
lu
ti
o
n
.
Ho
w
e
v
er
,
it
co
u
ld
b
e
ea
s
ily
tr
ap
p
ed
in
lo
ca
l
m
i
n
i
m
a
an
d
it
h
as
w
ea
k
n
es
s
in
s
tr
ateg
y
to
d
iv
er
s
if
y
t
h
e
p
o
p
u
latio
n
o
f
th
e
al
g
o
r
ith
m
[
1
1
2
,
1
1
3
]
.
So
m
e
o
f
t
h
e
ap
p
licatio
n
s
o
f
t
h
e
GS
A
f
o
r
o
p
tim
izatio
n
al
g
o
r
ith
m
s
ar
e
li
s
ted
b
elo
w
:
1.
I
t
w
as
u
s
ed
b
y
[
1
1
4
]
t
o
en
h
an
c
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
h
y
d
r
o
th
er
m
al
s
c
h
ed
u
lin
g
.
2.
GS
A
w
as
u
s
ed
b
y
[
1
1
2
]
to
im
p
r
o
v
e
th
e
co
n
tr
o
l o
f
th
e
i
n
d
u
ct
io
n
g
e
n
er
ato
r
.
3.
GS
A
w
as i
m
p
le
m
en
ted
b
y
[
1
1
5
]
to
s
o
lv
e
d
if
f
er
en
t o
p
ti
m
al
p
o
w
er
f
lo
w
p
r
o
b
le
m
s
.
4.
I
t
w
a
s
r
ep
o
r
ted
in
[
1
1
6
]
th
at
th
e
GS
A
co
u
ld
b
e
u
s
ed
to
en
h
an
ce
t
h
e
lo
ad
f
r
eq
u
e
n
c
y
co
n
tr
o
l
o
f
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
.
5.
I
n
[
1
1
7
]
,
s
o
lv
e
th
e
id
en
tific
a
tio
n
p
r
o
b
lem
f
o
r
tu
r
b
in
e
r
eg
u
latio
n
u
n
d
er
lo
ad
an
d
n
o
-
lo
ad
co
n
d
itio
n
s
u
s
i
n
g
GS
A
.
4
.
1
.
3
.
P
a
rt
icle
Sw
a
rm
O
pti
m
i
za
t
io
n
P
SO
w
a
s
d
e
v
elo
p
ed
b
y
E
b
er
h
ar
t
an
d
Ke
n
n
ed
y
(
1
9
9
5
)
.
I
t
is
an
e
v
o
lu
tio
n
ar
y
co
m
p
u
tatio
n
t
ec
h
n
iq
u
e
w
h
ic
h
w
o
r
k
o
n
p
r
in
cip
al
o
f
t
h
e
s
o
cial
b
eh
av
io
r
o
f
b
ir
d
f
lo
ck
in
g
.
T
h
e
P
SO
alg
o
r
ith
m
i
s
d
esig
n
ed
to
s
ea
r
ch
t
h
e
s
p
ac
e
f
o
r
p
ar
ticles
in
t
w
o
d
if
f
er
en
t
lo
ca
tio
n
s
.
T
h
e
f
ir
s
t
lo
ca
tio
n
also
k
n
o
w
n
a
s
l
o
ca
l
b
est,
is
t
h
e
b
est
p
o
in
t
w
h
er
e
th
e
s
w
ar
m
f
in
d
s
t
h
e
cu
r
r
en
t
iter
atio
n
.
T
h
e
s
ec
o
n
d
lo
ca
tio
n
also
k
n
o
w
n
as
g
lo
b
al
b
est,
is
th
e
b
est
p
o
in
t
f
o
u
n
d
th
r
o
u
g
h
all
p
r
ev
io
u
s
ite
r
atio
n
s
.
T
h
e
v
elo
cit
y
a
n
d
p
o
s
itio
n
o
f
p
ar
ticle
s
ar
e
th
e
t
w
o
f
ac
to
r
s
u
s
ed
f
o
r
th
e
d
ev
elo
p
m
en
t
P
SO
alg
o
r
it
h
m
.
P
SO
h
as
m
a
n
y
ad
v
an
ta
g
e
s
lik
e
it
s
r
o
b
u
s
t
n
es
s
,
ca
p
ab
ilit
y
to
s
o
lv
e
co
m
p
le
x
o
p
tim
izatio
n
p
r
o
b
lem
s
,
s
i
m
p
l
e
alg
o
r
it
h
m
,
ea
s
y
to
i
m
p
le
m
en
t,
f
ast
co
n
v
er
g
e
n
ce
a
n
d
its
g
lo
b
al
e
x
p
lo
r
atio
n
ca
p
ab
ilit
y
[
1
1
8
,
1
1
9
]
.
Ho
w
e
v
er
,
P
SO
co
u
ld
b
e
ea
s
il
y
tr
ap
p
e
d
in
lo
ca
l
m
i
n
i
m
a,
an
d
it
i
m
p
r
o
p
er
ly
s
e
lect
s
co
n
tr
o
l p
ar
am
eter
s
,
r
es
u
lti
n
g
i
n
p
o
o
r
s
o
lu
tio
n
[
1
2
0
]
.
4
.
1
.
4
.
L
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g
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ith
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s
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ar
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f
et
al.
[
1
2
1
]
an
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it
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o
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p
ti
m
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tech
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u
r
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:
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s
p
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[
1
2
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]
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2
)
Pro
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p
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o
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,
3
)
P
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[
1
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]
.
4
.
1
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5
.
B
a
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ra
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rc
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m
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.
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SA
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iv
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[
1
2
2
]
.
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SA
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as
b
ee
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m
c
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th
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f
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ll
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:
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I
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2)
Sele
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-
I
3)
Mu
tati
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C
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Sel
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.
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tili
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d
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SA
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f
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o
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esig
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g
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SA
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[
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n
[
1
2
4
,
1
2
5
]
,
B
SA
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as
u
s
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Sim
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ly
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[
1
2
6
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1
2
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.
Du
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tati
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tim
e
[
1
2
2
]
.
4
.
2
.
Appl
ica
t
io
ns
o
f
O
pti
m
iza
t
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n T
ec
hn
iqu
e
s
in M
o
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Co
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l
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licat
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ize
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ith
m
s
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.
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m
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th
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p
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elate
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ased
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d
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p
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n
al
I
n
teg
r
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co
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tr
o
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[
1
2
8
]
.
Si
m
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l
y
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f
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r
s
p
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co
n
tr
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ized
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ased
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esig
n
th
e
f
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z
y
g
ai
n
s
c
h
ed
u
l
in
g
[
1
2
9
]
.
T
h
e
f
ac
to
r
s
elec
tio
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f
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th
e
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ased
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C
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3
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s
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P
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ased
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[
1
3
1
,
1
3
2
]
.
GA
w
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s
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s
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h
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P
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co
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o
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o
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t
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to
r
[
1
3
3
]
.
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n
a
d
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s
in
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w
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s
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o
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b
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ar
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er
[
1
1
]
.
I
n
th
e
d
ev
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p
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e
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t
o
f
t
h
e
V/
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co
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n
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f
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s
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ti
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est
P
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v
al
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es
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2
2
]
.
I
n
s
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ti
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telli
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ticle
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m
Op
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tec
h
n
iq
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e
w
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s
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y
[
1
3
4
]
.
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n
a
s
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m
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r
w
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k
,
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ticle
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Fu
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ax
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co
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ted
i
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v
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ter
[
4
6
]
.
I
n
[
1
3
5
]
P
ar
ticle
S
w
ar
m
Op
ti
m
izatio
n
tech
n
iq
u
e
w
as
u
t
ilized
to
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F
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e
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er
s
h
ip
f
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n
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tio
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r
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a
x
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m
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m
p
o
w
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p
o
in
t
tr
ac
k
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n
g
.
I
n
[
1
3
6
]
,
t
h
e
s
p
ee
d
co
n
tr
o
l
o
f
in
d
u
ctio
n
m
o
to
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s
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d
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m
ized
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ased
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co
n
tr
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ller
.
I
n
a
r
elat
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s
tu
d
y
,
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w
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s
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s
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p
ti
m
ize
F
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ler
f
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/D
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c
o
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ter
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r
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to
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n
p
u
t
a
n
d
o
u
t
p
u
t
[
1
3
7
,
1
3
8
]
.
T
h
e
p
er
f
o
r
m
a
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ce
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D
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n
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n
tr
o
ller
w
as
i
m
p
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y
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Ge
n
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ticle
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[
1
8
]
.
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tim
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[
4
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]
u
s
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b
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id
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SO
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p
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izati
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ar
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ch
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ith
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[
1
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9
,
1
4
0
]
.
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h
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m
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izatio
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Su
m
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izatio
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s
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P
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11
S
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22
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18
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46
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P
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5.
CRIT
I
CA
L
ANA
L
YS
I
S
A
lt
h
o
u
g
h
th
e
p
er
f
o
r
m
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ce
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f
t
h
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in
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n
tr
o
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s
y
s
te
m
co
u
ld
b
e
i
m
p
r
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v
ed
th
r
o
u
g
h
v
ar
io
u
s
co
n
tr
o
ller
tech
n
iq
u
es.
Ho
w
e
v
e
r
,
th
er
e
ar
e
s
o
m
e
c
h
alle
n
g
e
s
i
n
i
m
p
le
m
e
n
ti
n
g
th
e
co
n
tr
o
l te
ch
n
iq
u
e
s
.
1.
Fo
r
ex
a
m
p
le,
i
m
p
le
m
e
n
tatio
n
o
f
co
n
v
en
t
io
n
al
co
n
tr
o
ller
s
(
P
I
D,
FLC)
f
o
r
in
d
u
c
tio
n
m
o
to
r
co
n
tr
o
l
r
eq
u
ir
e
s
u
itab
le
p
ar
a
m
eter
s
o
f
i
n
d
u
ct
io
n
m
o
to
r
w
h
ic
h
ar
e
d
i
f
f
icu
l
t
to
o
b
tain
.
F
u
r
t
h
er
m
o
r
e,
t
h
e
m
at
h
e
m
atica
l
m
o
d
el
s
u
s
ed
i
n
co
n
v
e
n
tio
n
al
c
o
n
tr
o
ller
s
ar
e
h
i
g
h
l
y
s
e
n
s
itiv
e
to
th
e
p
ar
a
m
eter
v
ar
iatio
n
.
A
s
u
d
d
en
c
h
an
g
e
in
lo
ad
,
te
m
p
er
at
u
r
e
o
r
r
ef
er
e
n
ce
s
p
ee
d
,
w
ill
d
eter
io
r
ate
th
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
co
n
tr
o
ller
[
8
,
1
4
,
1
9
,
2
0
,
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