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O
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Cont
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Strategies
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a Li
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Re
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Yeo
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F
a
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El
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I
NT
RO
D
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N
L
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a
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n
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ter
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f
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[
1
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I
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class
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[
1
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,
[
3
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[
4
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.
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[
5
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s
s
to
t
h
r
u
s
t
r
atio
.
Ho
w
e
v
er
,
th
e
ap
p
lied
o
f
th
e
P
Ms in
cr
ea
s
e
t
h
e
co
s
t o
f
t
h
e
ac
t
u
ato
r
s
.
T
ab
le
1
.
Qu
alitativ
e
C
o
m
p
ar
is
o
n
an
d
P
er
f
o
r
m
a
n
ce
I
n
d
e
x
es o
f
L
E
A
w
it
h
Di
f
f
er
e
n
t T
o
p
o
l
o
g
ies
[
2
]
Ty
p
e
o
f
A
c
t
u
a
t
o
r
F
o
r
c
e
D
e
n
si
t
y
F
o
r
c
e
D
e
n
si
t
y
F
o
r
c
e
D
e
n
si
t
y
F
o
r
c
e
D
e
n
si
t
y
L
i
n
e
a
r
i
n
d
u
c
t
i
o
n
a
c
t
u
a
t
o
r
(
f
l
a
t
)
L
o
w
H
i
g
h
A
v
e
r
a
g
e
H
i
g
h
L
i
n
e
a
r
i
n
d
u
c
t
i
o
n
a
c
t
u
a
t
o
r
(
t
u
b
u
l
a
r
)
L
o
w
A
v
e
r
a
g
e
A
v
e
r
a
g
e
H
i
g
h
L
i
n
e
a
r
s
y
n
c
h
r
o
n
o
u
s
p
e
r
ma
n
e
n
t
mag
n
e
t
a
c
t
u
a
t
o
r
(
f
l
a
t
)
G
o
o
d
L
o
w
H
i
g
h
M
o
d
e
r
a
t
e
L
i
n
e
a
r
s
y
n
c
h
r
o
n
o
u
s
p
e
r
ma
n
e
n
t
mag
n
e
t
a
c
t
u
a
t
o
r
(
t
u
b
u
l
a
r
)
V
e
r
y
G
o
o
d
V
e
r
y
L
o
w
A
v
e
r
a
g
e
M
o
d
e
r
a
t
e
L
i
n
e
a
r
s
w
i
t
c
h
e
d
r
e
l
u
c
t
a
n
c
e
a
c
t
u
a
t
o
r
(
f
l
a
t
)
G
o
o
d
A
v
e
r
a
ge
A
v
e
r
a
g
e
H
i
g
h
Hen
ce
,
T
u
b
u
lar
L
S
R
A
w
ill
b
e
an
alter
n
ati
v
e
ch
o
ice
to
r
ep
l
ac
e
th
e
L
S
A
w
i
th
P
Ms
d
u
e
to
th
e
lo
w
e
r
co
s
t
an
d
i
m
p
r
o
v
ed
f
o
r
ce
d
e
n
s
it
y
ev
e
n
th
o
u
g
h
th
e
f
o
r
ce
d
en
s
it
y
i
s
lo
w
er
th
a
n
ac
tu
a
t
o
r
s
w
it
h
P
Ms.
T
h
e
s
ch
e
m
atic
s
tr
u
ct
u
r
e
o
f
t
h
e
tu
b
u
lar
L
SR
A
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
L
SR
A
i
s
an
at
tr
ac
tiv
e
alter
n
ativ
e
ca
n
d
id
ate
s
o
n
m
an
y
ap
p
licatio
n
s
s
u
c
h
as
p
r
o
p
u
ls
io
n
r
ail
w
a
y
tr
an
s
p
o
r
tatio
n
s
y
s
te
m
[
6
]
,
ac
tiv
e
v
e
h
icle
'
s
s
u
s
p
en
s
io
n
s
y
s
te
m
[
7
]
,
lef
t
v
e
n
tr
ic
u
lar
ass
is
t
d
ev
ice
[
8
]
,
p
r
ec
is
io
n
m
o
tio
n
co
n
tr
o
l
[
9
]
-
[
1
0
]
a
n
d
d
ir
ec
t
-
d
r
iv
e
w
a
v
e
en
er
g
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
A
R
ev
iew
:
Desig
n
V
a
r
ia
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les Op
timiz
a
tio
n
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C
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o
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tr
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ies
…
(
Yeo
C
h
in
K
ia
t
)
965
co
n
v
er
s
io
n
[
1
1
]
.
L
S
R
A
d
o
es
n
o
t
attr
ac
t
t
h
e
i
n
ter
est
a
m
o
n
g
th
e
r
esear
c
h
er
s
d
u
e
to
n
o
n
lin
e
ar
it
y
c
h
ar
ac
ter
is
tic,
lar
g
e
th
r
u
s
t
f
o
r
ce
r
ip
p
les,
h
ig
h
ac
o
u
s
tic
n
o
i
s
e,
v
ib
r
atio
n
an
d
lo
w
t
h
r
u
s
t
f
o
r
ce
-
v
o
lu
m
e
d
en
s
it
y
[
1
2
]
–
[
1
6
]
.
Ho
w
e
v
er
,
th
e
i
n
cr
ea
s
i
n
g
l
y
ad
v
an
ce
m
e
n
t
o
f
th
e
co
n
tr
o
l
s
tr
a
teg
ies
ab
le
to
o
v
er
co
m
e
th
e
L
S
R
A
w
ea
k
n
ess
e
s
w
h
ic
h
s
tar
ted
to
g
ai
n
th
e
i
n
ter
est o
f
r
esear
ch
er
s
f
o
r
f
u
r
th
er
r
esear
ch
o
n
t
h
e
L
SR
A.
Fig
u
r
e
3
.
Sch
e
m
atic
s
tr
u
ct
u
r
e
o
f
tu
b
u
lar
L
S
R
A
[
17]
T
h
e
d
ev
elo
p
m
e
n
t
o
f
t
h
e
li
n
ea
r
ac
tu
ato
r
s
to
d
a
y
h
as
s
tar
ted
to
f
o
cu
s
o
n
t
h
e
L
S
R
A
.
Ot
h
er
t
h
a
n
t
h
at,
t
h
e
in
cr
ea
s
e
i
n
t
h
e
d
e
m
an
d
t
h
e
S
R
A
o
n
in
d
u
s
tr
ial
an
d
a
u
to
m
a
ti
o
n
p
r
o
ce
s
s
is
m
ai
n
l
y
d
u
e
to
t
h
e
ad
v
an
ta
g
es
o
f
t
h
e
SR
A
co
m
p
ar
e
to
o
th
er
t
y
p
e’
s
ac
tu
ato
r
.
As
a
k
i
n
d
o
f
lin
ea
r
a
ctu
ato
r
,
L
S
R
A
h
a
s
ac
h
ie
v
ed
a
g
r
ea
t
d
ev
elo
p
m
en
t
d
u
e
to
its
s
i
m
p
le
s
tr
u
ct
u
r
e,
lo
w
co
s
t
p
r
o
d
u
ctio
n
,
g
o
o
d
f
au
l
t
to
ler
an
ce
,
ab
s
en
ce
o
f
m
ec
h
a
n
i
ca
l
p
r
o
ce
s
s
in
g
,
lac
k
o
f
w
in
d
i
n
g
s
o
n
ei
th
er
t
h
e
s
ta
t
o
r
o
r
m
o
v
er
s
tr
u
ct
u
r
e,
h
i
g
h
r
eliab
ilit
y
i
n
h
ar
s
h
en
v
ir
o
n
m
e
n
t
an
d
ca
p
ab
ilit
y
to
o
p
er
ate
in
elev
ated
te
m
p
er
atu
r
e
[
1
]
,
[
1
8
]
-
[
2
4
]
.
I
n
g
e
n
er
al,
t
h
e
s
tr
u
ct
u
r
e
o
f
L
SR
A
co
n
s
i
s
ts
o
f
t
h
r
ee
m
aj
o
r
p
ar
ts
w
h
ic
h
ar
e
th
e
s
tato
r
,
m
o
v
er
a
n
d
w
i
n
d
i
n
g
s
.
Fo
r
a
li
n
ea
r
t
y
p
e
o
f
s
w
itc
h
ed
r
elu
cta
n
ce
ac
t
u
ato
r
,
t
h
e
w
i
n
d
in
g
s
ca
n
b
e
s
et
at
ei
th
er
s
tato
r
o
r
m
o
v
er
.
T
h
e
th
r
u
s
t
f
o
r
ce
an
d
m
o
tio
n
o
f
t
h
e
ac
t
u
ato
r
i
s
p
r
o
d
u
ce
d
d
u
e
to
th
e
ten
d
e
n
c
y
o
f
th
e
m
o
v
er
to
r
ea
ch
a
p
o
s
itio
n
w
h
er
e
th
e
i
n
d
u
cta
n
ce
o
f
t
h
e
s
t
ato
r
is
m
ax
i
m
ized
w
h
ile
t
h
e
r
elu
cta
n
ce
is
m
i
n
i
m
u
m
[
2
5
]
-
[
2
6
]
.
T
h
e
L
S
R
A
p
r
o
d
u
ce
d
lo
w
er
t
h
r
u
s
t
f
o
r
ce
co
m
p
ar
e
to
th
e
ac
t
u
ato
r
w
it
h
P
Ms
f
o
r
ap
p
r
o
x
i
m
at
e
6
0
%
[
3
]
.
I
n
o
r
d
er
to
im
p
r
o
v
e
t
h
e
t
h
r
u
s
t
g
e
n
er
ated
b
y
t
h
e
L
S
R
A
,
t
h
e
o
p
ti
m
izat
io
n
d
esi
g
n
v
ar
iab
le
s
o
f
t
h
e
elec
tr
o
m
ag
n
etic
ac
tu
ato
r
i
s
a
n
i
m
p
o
r
tan
t
a
s
p
ec
t.
T
h
e
m
o
d
if
icatio
n
o
n
th
e
d
if
f
er
en
t
d
es
ig
n
v
ar
iab
le
s
m
a
y
in
cr
ea
s
e
o
r
d
ec
r
e
ase
th
e
th
r
u
s
t
f
o
r
ce
,
m
a
g
n
etic
f
lu
x
an
d
t
h
e
s
atu
r
atio
n
o
f
th
e
L
S
R
A
.
T
h
er
e
ar
e
m
an
y
d
esi
g
n
v
ar
iab
les
t
h
at
ca
n
b
e
ch
a
n
g
es
to
o
b
tain
t
h
e
o
p
ti
m
ized
v
alu
e
w
it
h
lar
g
er
t
h
r
u
s
t
s
u
ch
as
p
o
le
len
g
t
h
,
p
o
le
w
id
t
h
,
p
o
le
p
itch
,
p
o
le
s
h
ap
e,
w
i
n
d
i
n
g
s
t
u
r
n
,
n
u
m
b
er
o
f
p
h
ase
s
,
air
g
ap
,
ex
citatio
n
cu
r
r
en
t
a
n
d
co
il
d
ia
m
eter
.
Hen
ce
,
th
e
o
p
ti
m
ized
d
esi
g
n
v
ar
iab
les
m
u
s
t
b
e
o
b
tain
ed
i
n
o
r
d
er
f
o
r
th
e
L
SR
A
to
g
e
n
er
ate
a
lar
g
er
th
r
u
s
t
f
o
r
ce
w
i
t
h
lo
w
er
v
o
lu
m
e
a
s
p
o
s
s
ib
le.
T
h
is
p
ap
er
r
ev
ie
w
s
t
h
e
i
n
tr
o
d
u
ctio
n
to
t
h
e
li
n
ea
r
elec
tr
o
m
a
g
n
eti
c
ac
t
u
ato
r
s
p
ec
if
icall
y
L
S
R
A
to
p
o
lo
g
y
,
in
f
lu
e
n
ce
o
f
d
esi
g
n
v
ar
iab
les
t
o
th
r
u
s
t
f
o
r
ce
an
d
ac
tu
ato
r
co
n
tr
o
l
s
tr
ateg
ie
s
f
o
r
b
o
th
p
o
s
itio
n
co
n
tr
o
l a
n
d
v
elo
cit
y
co
n
tr
o
l f
o
r
h
ig
h
p
r
ec
is
io
n
ap
p
licatio
n
.
2.
D
E
S
I
G
N
VARI
AB
L
E
S O
F
L
SRA
Fo
r
L
S
R
A
,
t
h
er
e
ar
e
m
an
y
v
ar
iab
l
es
t
h
at
ca
n
b
e
o
p
ti
m
ized
a
n
d
w
ill
i
n
f
l
u
en
ce
th
e
ac
tu
ato
r
p
er
f
o
r
m
a
n
ce
.
Fi
g
u
r
e
4
s
h
o
w
s
th
e
th
r
ee
d
i
m
en
s
io
n
al
v
ie
w
an
d
m
ai
n
d
i
m
e
n
s
io
n
s
o
f
L
S
R
A
w
h
ic
h
r
eq
u
ir
e
o
p
tim
izatio
n
f
o
r
ac
tu
ato
r
d
esig
n
.
A
L
SR
A
w
i
th
h
ig
h
th
r
u
s
t
f
o
r
ce
an
d
lo
w
f
o
r
ce
d
en
s
it
y
o
f
ten
u
s
ed
as
t
h
e
r
ef
er
en
ce
to
o
p
ti
m
ize
th
e
ac
t
u
ato
r
v
ar
iab
les
to
ac
h
ie
v
e
d
e
s
ir
ed
p
er
f
o
r
m
an
ce
,
i.e
.
:
(
i)
tr
a
n
s
l
ato
r
p
o
le
w
id
t
h
,
b
s
,
(
ii)
tr
an
s
lato
r
p
o
le
p
itch
,
c
s
,
(
ii
i)
tr
an
s
lato
r
p
o
le
len
g
t
h
,
l
s
,
(
iv
)
s
tato
r
p
o
le
w
id
th
,
c
p
,
(
v
)
s
tat
o
r
p
o
le
s
h
ap
e,
(
v
i)
s
tato
r
p
o
le
len
g
t
h
,
l
p
,
(
v
ii)
air
g
ap
b
et
w
ee
n
s
tato
r
a
n
d
tr
an
s
lato
r
,
g
,
(
v
iii)
n
u
m
b
er
o
f
w
i
n
d
in
g
tu
r
n
s
,
n
,
(
ix
)
n
u
m
b
er
o
f
p
h
a
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co
il
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iam
eter
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coil
.
I
n
t
h
e
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x
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s
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tio
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th
e
r
e
v
ie
w
s
w
i
ll
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c
u
s
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o
n
t
h
e
i
n
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lu
e
n
ce
o
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th
e
d
esig
n
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ar
iab
le
o
f
L
S
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A
to
its
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tp
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t
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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2
0
8
8
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8
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IJ
PEDS
Vo
l.
8
,
No
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2
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J
u
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0
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: 9
6
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–
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966
Fig
u
r
e
4
.
T
h
r
ee
d
im
en
s
io
n
al
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ie
w
a
n
d
m
ai
n
d
i
m
e
n
s
io
n
s
o
f
L
SR
A
[
2
7
]
2
.
1
.
I
nfluence
o
f
T
ra
ns
la
t
o
r
P
o
le
Width
,
b
s
L
e
n
in
et
al.
[
2
8
]
d
escr
ib
ed
th
e
i
n
f
lu
e
n
ce
t
h
e
tr
a
n
s
lato
r
p
o
le
w
id
t
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o
n
s
i
n
g
le
-
s
id
ed
L
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A
a
s
i
n
Fig
u
r
e
2
(
a)
.
T
h
e
in
cr
ea
s
in
g
o
f
t
h
e
tr
an
s
lato
r
p
o
le
w
id
t
h
w
i
ll
d
ir
ec
tl
y
i
n
cr
ea
s
e
t
h
e
a
v
er
ag
e
g
en
er
ated
t
h
r
u
s
t
f
o
r
ce
b
y
0
.
2
5
N
f
o
r
ev
er
y
1
m
m
.
T
h
e
in
cr
ea
s
e
i
n
t
h
e
th
r
u
s
t
f
o
r
ce
w
h
e
n
a
lar
g
er
tr
a
n
s
lato
r
p
o
le
w
id
th
i
s
ap
p
lied
is
d
u
e
to
t
h
e
lar
g
er
a
v
ailab
le
ar
ea
f
o
r
m
ag
n
etic
f
l
u
x
to
f
lo
w
t
h
r
o
u
g
h
f
r
o
m
s
tato
r
to
tr
an
s
lato
r
w
h
ic
h
d
ir
ec
tl
y
in
cr
ea
s
e
t
h
e
m
a
g
n
etic
f
ield
o
f
th
e
ac
tu
ato
r
.
Ho
w
ev
er
,
t
h
e
m
as
s
o
f
t
h
e
tr
an
s
lato
r
w
ill
b
e
in
cr
ea
s
ed
as
t
h
e
tr
an
s
lato
r
p
o
le
w
id
t
h
i
n
cr
ea
s
ed
.
Hen
ce
,
t
h
e
f
o
r
ce
d
en
s
it
y
o
f
t
h
e
ac
tu
ato
r
d
es
ig
n
ed
w
i
ll
r
ed
u
ce
w
h
e
n
t
h
e
tr
an
s
lato
r
p
o
le
w
id
t
h
w
as i
n
cr
ea
s
e.
2
.
2
.
I
nfluence
o
f
T
ra
ns
la
t
o
r
P
o
le
P
it
ch
,
c
s
Ko
u
et
al.
[
2
9
]
s
tated
th
at
t
h
e
f
l
u
x
d
e
n
s
it
y
o
f
tu
b
u
lar
L
SR
A
w
i
ll
d
ir
ec
tl
y
a
f
f
ec
ts
th
e
co
g
g
i
n
g
f
o
r
ce
an
d
th
r
u
s
t
c
h
ar
ac
ter
is
tic
o
f
t
h
e
ac
tu
ato
r
w
i
th
t
h
e
ch
a
n
g
ed
o
f
th
e
tr
a
n
s
la
to
r
p
o
le
p
itch
.
T
h
e
f
lu
x
d
en
s
it
y
o
f
t
h
e
ac
tu
ato
r
w
il
l
r
i
s
e
w
h
en
t
h
e
tr
an
s
lato
r
p
o
le
p
itch
in
cr
ea
s
e.
I
n
ad
d
itio
n
,
th
e
co
g
g
in
g
f
o
r
ce
an
d
th
r
u
s
t
ch
ar
ac
ter
is
tic
o
f
th
e
ac
t
u
ato
r
also
w
ill
i
n
cr
ea
s
e
w
h
en
tr
a
n
s
l
ato
r
p
o
le
p
itch
in
cr
ea
s
e
d
u
e
t
o
th
e
ch
a
n
g
e
s
i
n
th
e
m
ag
n
etic
f
l
u
x
d
e
n
s
it
y
i
n
th
e
a
ctu
ato
r
.
T
h
e
in
f
l
u
en
ce
o
f
tr
an
s
lato
r
p
o
le
p
itch
ca
n
b
e
clea
r
l
y
o
b
s
er
v
ed
w
h
en
t
h
e
ac
tu
ato
r
p
r
o
d
u
ce
d
th
e
t
h
r
u
s
t
f
o
r
ce
f
o
r
ap
p
r
o
x
i
m
ate
7
0
0
N
with
1
0
N
o
f
co
g
g
i
n
g
f
o
r
ce
f
o
r
7
m
m
o
f
tr
a
n
s
la
to
r
p
o
le
p
itch
.
W
h
en
th
e
p
o
le
p
itc
h
is
in
cr
ea
s
ed
to
1
9
m
m
,
th
e
g
en
er
ated
th
r
u
s
t
f
o
r
ce
is
ap
p
r
o
x
i
m
ate
1
6
0
0
N
w
it
h
6
0
N
o
f
co
g
g
i
n
g
f
o
r
ce
.
T
h
e
in
c
r
ea
s
ed
in
th
e
th
r
u
s
t
f
o
r
ce
an
d
co
g
g
i
n
g
f
o
r
ce
w
h
e
n
i
n
cr
ea
s
i
n
g
th
e
tr
an
s
lato
r
p
o
le
p
itch
is
d
u
e
to
lar
g
er
r
elu
cta
n
c
e
o
cc
u
r
r
ed
as th
e
tr
an
s
lato
r
to
o
th
is
f
u
r
t
h
er
a
w
a
y
f
r
o
m
s
tato
r
to
o
th
.
So
,
th
e
S
R
A
p
r
o
d
u
ce
lar
g
er
f
lu
x
d
e
n
s
it
y
to
m
o
v
e
th
e
tr
an
s
lato
r
to
a
p
o
s
iti
o
n
to
ac
h
ie
v
e
m
i
n
i
m
u
m
r
el
u
ct
an
ce
a
n
d
m
ax
i
m
u
m
in
d
u
cta
n
ce
.
Hen
ce
,
t
h
e
i
n
cr
ea
s
e
o
f
th
e
tr
an
s
lato
r
p
o
le
p
itch
r
esu
lt
s
i
n
th
e
lar
g
er
th
r
u
s
t
f
o
r
ce
.
2
.
3
.
I
nfluence
o
f
T
ra
ns
la
t
o
r
P
o
le
L
eng
t
h
,
l
s
I
n
t
h
e
s
tu
d
y
o
f
L
en
in
et
al.
[
2
8
]
o
n
s
in
g
le
-
s
id
ed
L
S
R
A
a
n
d
Am
o
r
o
s
et
al.
[
2
7
]
o
n
d
o
u
b
le
-
s
id
ed
L
S
R
A
,
t
h
e
s
tu
d
y
f
o
u
n
d
th
at
in
cr
ea
s
in
g
t
h
e
le
n
g
t
h
o
f
t
h
e
tr
a
n
s
lato
r
p
o
le
w
i
ll
i
m
p
r
o
v
e
t
h
e
a
v
er
ag
e
t
h
r
u
s
t
f
o
r
ce
.
T
h
e
co
ils
o
f
t
h
e
d
esi
g
n
ed
ac
t
u
ato
r
is
lo
ca
ted
at
t
h
e
tr
a
n
s
la
to
r
p
ar
t.
I
n
o
r
d
er
to
i
m
p
r
o
v
e
t
h
e
ac
tu
ato
r
's
m
a
g
n
e
tic
f
ield
s
tr
en
g
t
h
a
n
d
g
e
n
er
ated
t
h
r
u
s
t
f
o
r
ce
,
len
g
t
h
en
in
g
t
h
e
tr
an
s
lato
r
p
o
le
d
ir
ec
tl
y
i
n
cr
ea
s
e
th
e
u
s
ef
u
l
av
ai
lab
le
ar
ea
f
o
r
th
e
w
i
n
d
in
g
t
u
r
n
s
wh
ich
co
n
tact
w
it
h
t
h
e
tr
a
n
s
lat
o
r
p
o
le.
Hen
ce
,
lo
n
g
er
tr
an
s
la
to
r
p
o
le
len
g
t
h
w
i
ll
in
cr
ea
s
e
th
e
m
ag
n
etic
f
lu
x
o
f
th
e
ac
tu
ato
r
w
h
ic
h
i
m
p
r
o
v
e
th
e
th
r
u
s
t
f
o
r
ce
at
th
e
s
a
m
e
ti
m
e.
T
h
e
s
tu
d
y
b
y
L
e
n
in
s
h
o
w
s
5
0
N
o
f
p
r
o
p
u
ls
i
o
n
f
o
r
ce
g
en
er
ated
w
it
h
tr
an
s
lato
r
p
o
le
l
en
g
t
h
o
f
4
2
m
m
.
Ho
w
e
v
er
,
w
h
e
n
t
h
e
tr
an
s
lato
r
p
o
le
len
g
th
w
a
s
i
n
cr
ea
s
ed
to
5
2
m
m
,
t
h
e
p
r
o
p
u
ls
io
n
f
o
r
ce
s
ig
n
i
f
ica
n
tl
y
g
a
v
e
h
ig
h
er
p
r
o
p
u
ls
io
n
f
o
r
ce
;
1
2
5
N
r
esp
ec
tiv
ely
.
A
lt
h
o
u
g
h
t
h
e
av
er
a
g
e
th
r
u
s
t
f
o
r
c
e
ca
n
b
e
im
p
r
o
v
ed
b
y
len
g
t
h
en
in
g
t
h
e
tr
an
s
la
to
r
p
o
le
len
g
t
h
,
n
o
n
et
h
ele
s
s
f
u
r
th
er
in
cr
e
m
e
n
t
o
f
th
e
tr
an
s
lato
r
p
o
le
len
g
t
h
w
ill
n
o
t
i
n
f
l
u
en
ce
th
e
t
h
r
u
s
t
f
o
r
ce
d
u
e
to
m
a
g
n
et
ic
f
lu
x
s
at
u
r
atio
n
.
Hen
ce
,
it
ca
n
b
e
d
ep
icted
t
h
at
w
h
e
n
s
atu
r
atio
n
o
cc
u
r
r
ed
,
in
cr
ea
s
e
o
f
t
h
e
le
n
g
t
h
w
il
l n
o
t p
r
o
d
u
ce
an
y
g
ai
n
in
t
h
e
p
r
o
p
u
ls
io
n
f
o
r
ce
f
o
r
h
i
g
h
e
x
citatio
n
cu
r
r
e
n
t.
2
.
4
.
I
nfluence
o
f
Sta
t
o
r
P
o
le
Width
,
c
p
SR
A
is
k
n
o
w
n
to
h
a
v
e
is
s
u
es
o
n
lar
g
er
f
o
r
ce
r
ip
p
le
g
en
er
atio
n
d
u
e
to
p
h
ase
s
w
itc
h
i
n
g
.
On
e
o
f
t
h
e
i
m
p
o
r
tan
t
cr
iter
ia
i
n
d
esi
g
n
i
n
g
an
elec
tr
o
m
a
g
n
e
tic
ac
t
u
ato
r
is
t
h
e
h
a
n
d
i
n
ess
to
p
r
o
d
u
ce
m
ax
i
m
u
m
a
v
er
ag
e
th
r
u
s
t
f
o
r
ce
w
it
h
lo
w
f
o
r
ce
r
ip
p
le.
B
y
v
ar
y
i
n
g
t
h
e
s
tato
r
p
o
le
w
id
th
,
t
h
e
ac
t
u
ato
r
ab
le
to
p
r
o
d
u
ce
lar
g
er
av
er
ag
e
t
h
r
u
s
t
f
o
r
ce
w
it
h
lo
wer
f
o
r
ce
r
ip
p
le
[
2
8
]
.
Nev
er
th
e
less
,
w
h
en
th
e
s
tato
r
p
o
le
w
id
th
i
s
in
cr
ea
s
ed
,
th
e
av
er
ag
e
t
h
r
u
s
t
f
o
r
ce
p
r
o
d
u
ce
h
as
f
o
u
n
d
to
b
e
r
e
d
u
c
ed
af
ter
a
ce
r
tain
w
id
t
h
d
u
e
to
d
ea
d
z
o
n
e
[
2
8
]
.
T
h
e
d
ea
d
zo
n
e
h
ap
p
en
ed
w
h
e
n
t
h
e
m
ax
i
m
u
m
in
d
u
ctan
ce
o
cc
u
r
r
ed
w
it
h
n
o
co
n
tr
ib
u
tio
n
o
n
th
e
g
e
n
er
atio
n
o
f
p
r
o
p
u
ls
io
n
f
o
r
ce
.
T
h
e
d
ea
d
zo
n
e
w
ill
b
e
lar
g
er
w
it
h
t
h
e
i
n
cr
ea
s
e
o
n
th
e
ab
s
o
l
u
te
d
i
f
f
er
e
n
ce
b
et
w
ee
n
t
h
e
s
tato
r
an
d
tr
an
s
lato
r
p
o
le
w
id
t
h
[
3
0
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
A
R
ev
iew
:
Desig
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V
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Fro
m
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ab
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2
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it
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f
o
u
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a
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er
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w
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f
ica
n
t
v
al
u
e
o
f
1
9
m
m
w
h
er
e
th
er
e
is
r
ed
u
ctio
n
i
n
th
e
a
v
er
ag
e
th
r
u
s
t
f
o
r
ce
.
On
th
e
o
th
er
h
an
d
,
th
e
f
o
r
ce
r
ip
p
le
al
s
o
r
ed
u
ce
as
th
e
s
tato
r
p
o
le
w
id
th
in
cr
ea
s
e
b
u
t
th
e
f
o
r
ce
r
ip
p
le
in
cr
ea
s
e
ag
a
in
a
f
ter
1
9
m
m
.
So
,
th
e
i
n
cr
ea
s
e
i
n
t
h
e
s
tato
r
p
o
le
w
id
t
h
w
i
ll
in
cr
ea
s
e
t
h
e
ac
t
u
ato
r
in
d
u
c
tio
n
co
n
ti
n
u
o
u
s
l
y
b
u
t
n
o
t i
m
p
r
o
v
e
m
en
t o
n
av
er
ag
e
t
h
r
u
s
t f
o
r
ce
an
d
f
o
r
ce
r
ip
p
le
.
T
ab
le
2
.
C
o
m
p
ar
is
o
n
o
f
A
v
er
a
g
e
T
h
r
u
s
t
F
o
r
ce
an
d
Fo
r
ce
R
ip
p
le
f
o
r
Var
io
u
s
Stato
r
P
o
le
W
i
d
th
s
[
2
8
]
c
p
(
mm
)
F
mi
n
(
N
)
F
max
(
N
)
F
a
v
g
(
N
)
%
R
i
p
p
l
e
L
mi
n
(
H
)
L
max
(
H
)
16
6
7
.
3
3
1
2
4
.
8
7
1
0
0
.
3
9
6
0
.
3
8
0
.
0
2
9
7
2
0
.
0
8
6
2
6
17
6
7
.
9
1
1
2
4
.
7
0
1
0
1
.
0
7
5
7
.
6
8
0
.
0
3
0
1
9
0
.
0
8
6
5
8
18
6
8
.
2
3
1
2
4
.
5
7
1
0
1
.
1
0
5
5
.
8
8
0
.
0
3
0
7
1
0
.
0
8
6
8
3
19
6
8
.
3
2
1
2
4
.
1
1
1
0
1
.
3
0
5
3
.
4
1
0
.
0
3
1
2
5
0
.
0
8
7
0
0
20
6
8
.
2
8
1
2
4
.
3
4
1
0
0
.
8
6
5
6
.
1
6
0
.
0
3
1
8
4
0
.
0
8
7
1
3
21
6
7
.
8
8
1
2
3
.
9
0
1
0
0
.
6
3
5
5
.
6
7
0
.
0
3
2
4
6
0
.
0
8
7
2
5
2
.
5
.
I
nfluence
o
f
Sta
t
o
r
P
o
le
Sh
o
e
a
nd
P
o
le
Sh
a
pe
T
h
er
e
ar
e
s
o
m
e
m
aj
o
r
is
s
u
es
th
at
ar
i
s
e
i
n
d
es
ig
n
i
n
g
a
L
SR
A
d
u
e
to
h
i
g
h
f
o
r
ce
r
ip
p
le
an
d
ac
o
u
s
tic
n
o
is
e
g
e
n
er
ated
.
A
f
e
w
n
u
m
b
er
s
o
f
m
e
th
o
d
s
w
er
e
u
s
ed
b
y
r
esear
ch
er
s
in
o
r
d
er
to
im
p
r
o
v
e
th
e
b
o
th
s
in
g
le
-
s
id
ed
an
d
d
o
u
b
le
-
s
id
ed
L
SR
A
p
er
f
o
r
m
a
n
ce
s
.
T
h
e
m
o
s
t
c
o
m
m
o
n
s
tr
ateg
y
u
s
ed
w
a
s
to
d
esig
n
an
ad
v
a
n
ce
co
n
tr
o
ller
to
r
ed
u
c
e
t
h
e
r
ip
p
le
an
d
n
o
is
e
in
t
h
e
ac
t
u
ato
r
[
3
1
]
-
[
3
5
]
.
Ho
w
e
v
er
,
t
h
e
d
es
ig
n
o
f
t
h
e
co
n
tr
o
ller
i
s
co
m
p
le
x
a
n
d
co
m
p
licated
.
He
n
ce
,
an
o
t
h
er
t
w
o
ap
p
r
o
ac
h
es
ar
e
u
s
ed
f
o
r
r
ip
p
le
r
ed
u
ctio
n
w
h
ic
h
ar
e;
i.e
.
:
(
i)
d
eter
m
in
e
th
e
w
a
v
ef
o
r
m
o
f
t
h
e
i
n
p
u
t
ex
ci
tatio
n
cu
r
r
en
t
p
r
o
f
ile
b
y
u
s
in
g
a
n
e
lectr
o
n
ic
co
n
tr
o
l
o
f
p
o
w
er
co
n
tr
o
ller
s
o
r
(
ii)
ch
an
g
e
t
h
e
g
eo
m
e
tr
ical
s
tr
u
ctu
r
e
o
f
t
h
e
s
ta
t
o
r
o
r
t
r
an
s
lato
r
p
o
le
[
2
8
]
,
[
3
6
]
.
L
e
n
in
et
al.
h
a
v
e
p
r
o
p
o
s
ed
th
e
f
o
r
ce
p
r
o
f
ile
im
p
r
o
v
e
m
e
n
t
t
h
r
o
u
g
h
t
h
e
g
eo
m
etr
ical
m
o
d
i
f
icatio
n
o
n
th
e
s
tato
r
p
o
les
b
y
i
n
tr
o
d
u
cin
g
th
e
p
o
le
s
h
o
e
s
o
n
th
e
s
ta
to
r
p
o
les
[
2
8
]
,
[
3
6
]
-
[
3
9
]
.
T
h
e
co
n
v
en
tio
n
al
s
ta
to
r
p
o
le
is
r
ec
tan
g
u
lar
i
n
p
o
le
s
h
ap
e
is
s
h
o
w
n
i
n
Fi
g
u
r
e
5
a
[
3
0
]
.
Ho
w
e
v
er
,
o
th
er
p
o
lar
s
h
ap
es
an
d
p
o
le
co
n
f
ig
u
r
atio
n
s
ca
n
b
e
u
s
ed
eith
er
in
p
r
i
m
ar
y
o
r
s
ec
o
n
d
ar
y
.
L
en
in
et
al.
p
r
o
p
o
s
ed
th
e
m
o
d
if
icatio
n
o
n
th
e
s
tato
r
p
o
les
b
y
in
tr
o
d
u
ci
n
g
t
h
e
s
tato
r
p
o
le
s
h
o
e
as
s
h
o
w
n
in
Fig
u
r
e
5
b
[
2
8
]
,
[
3
6
]
.
Gan
esh
et
al.
d
escr
ib
ed
th
e
ac
tu
ato
r
p
er
f
o
r
m
a
n
ce
b
y
p
r
ese
n
ted
th
e
s
k
e
w
ed
p
o
les
[
3
7
]
as
s
h
o
w
n
in
F
ig
u
r
e
5
c
a
n
d
tap
e
r
ed
p
o
les
[
3
8
]
as
s
h
o
w
n
in
Fig
u
r
e
5
d
.
On
t
h
e
o
th
er
h
an
d
,
San
to
et
al.
s
u
g
g
ested
t
h
e
ch
a
n
g
e
s
o
n
t
h
e
s
tato
r
p
o
les
s
h
ap
e
w
i
th
r
o
u
n
d
p
o
le
as
in
Fi
g
u
r
e
5
e
an
d
w
ed
g
e
p
o
le
as sh
o
w
n
i
n
Fi
g
u
r
e
5
f
[
4
0
]
.
a)
C
o
n
v
e
n
tio
n
a
l P
o
le
b
)
C
o
n
v
e
n
tio
n
al
P
o
le
w
i
th
P
o
le
Sh
o
e
c)
Sk
e
w
ed
P
o
le
d
)
T
ap
er
e
d
P
o
le
e)
R
o
u
n
d
P
o
le
f
)
W
ed
g
e
P
o
le
Fig
u
r
e
5
.
Geo
m
e
tr
ical
s
tr
u
c
tu
r
e
o
f
s
tato
r
p
o
les
[
3
6
]
–
[
3
9
]
T
h
e
p
u
r
p
o
s
e
o
f
m
o
d
if
y
in
g
t
h
e
s
tr
u
ct
u
r
e
o
f
t
h
e
s
ta
to
r
p
o
le
w
a
s
p
r
o
p
o
s
ed
to
r
e
d
u
ce
th
e
f
o
r
ce
r
ip
p
le
,
s
tato
r
v
o
lu
m
e
an
d
m
a
s
s
w
h
ile
p
r
o
v
id
in
g
a
b
etter
f
o
r
ce
d
en
s
it
y
.
L
e
n
i
n
et
al.
[
2
8
]
,
[
3
6
]
s
tu
d
ied
th
e
av
ailab
ilit
y
o
f
s
tato
r
p
o
le
s
h
o
e
i
n
L
S
R
A
.
T
h
e
p
o
le
s
h
o
e
u
s
ed
i
n
t
h
e
s
t
at
o
r
ab
le
to
in
cr
ea
s
e
t
h
e
a
v
er
ag
e
f
o
r
ce
li
n
ea
r
l
y
u
n
ti
l
4
m
m
;
w
h
er
e
a
f
ter
th
at
s
atu
r
at
i
o
n
o
cc
u
r
r
ed
w
it
h
n
o
s
i
g
n
i
f
ica
n
t c
h
an
g
e
i
n
av
er
a
g
e
th
r
u
s
t
f
o
r
ce
.
I
n
2
0
1
5
,
Gan
esh
et
al.
[
3
7
]
,
[
3
8
]
f
o
u
n
d
th
at
t
h
e
s
k
e
w
ed
p
o
le
an
d
tap
er
ed
p
o
les
p
r
o
p
o
s
ed
ab
le
to
in
cr
ea
s
e
th
e
g
e
n
er
ated
th
r
u
s
t
f
o
r
ce
b
y
th
e
ac
t
u
ato
r
.
B
ased
o
n
th
e
s
e
f
in
d
i
n
g
s
,
b
o
th
s
k
e
w
e
d
p
o
le
an
d
tap
er
ed
p
o
le
g
en
er
ated
th
r
u
s
t
f
o
r
ce
o
f
0
.
5
N
h
ig
h
er
th
a
n
co
n
v
en
tio
n
a
l
p
o
le
w
it
h
f
o
r
ce
r
ip
p
le
r
e
d
u
ctio
n
b
y
ap
p
r
o
x
i
m
atel
y
2
7
%
f
o
r
tap
er
e
d
p
o
le.
I
n
co
m
p
ar
is
o
n
,
th
e
r
o
u
n
d
p
o
le
an
d
w
ed
g
e
p
o
le
p
r
o
p
o
s
ed
b
y
San
to
et
al.
[
4
0
]
ar
e
f
o
u
n
d
th
at
th
e
co
n
v
e
n
ti
o
n
al
s
tato
r
p
o
le
p
r
o
v
id
e
b
etter
th
r
u
s
t
f
o
r
ce
g
e
n
er
atio
n
w
i
th
6
6
N
co
m
p
ar
e
to
t
h
e
r
o
u
n
d
p
o
le
an
d
w
ed
g
e
p
o
le
w
it
h
5
8
N
an
d
5
1
N.
Me
an
w
h
ile,
J
am
il
et
al.
[
4
1
]
in
tr
o
d
u
ce
d
a
n
u
m
b
er
o
f
n
o
tc
h
to
t
h
e
s
tato
r
p
o
le
f
o
r
to
r
q
u
e
r
ip
p
le
m
i
n
i
m
izatio
n
.
T
h
e
p
r
o
p
o
s
ed
tech
n
iq
u
e
w
as
f
o
u
n
d
t
h
at
s
ta
to
r
w
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th
t
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ee
n
o
tch
e
s
h
as
le
s
s
er
to
r
q
u
e
r
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p
le
Evaluation Warning : The document was created with Spire.PDF for Python.
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co
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B
ased
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ev
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s
tato
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r
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p
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o
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e
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ic
f
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x
f
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w
.
Fig
u
r
e
6
.
I
n
f
l
u
en
ce
o
f
s
tato
r
n
o
tch
to
th
e
to
r
q
u
e
r
ip
p
le
r
ed
u
ctio
n
[
4
1
]
2
.
6
.
I
nfluence
o
f
Sta
t
o
r
P
o
le
L
eng
t
h
,
l
p
L
e
n
in
et
al.
[
2
8
]
an
d
Am
o
r
o
s
et
al.
[
2
7
]
h
av
e
s
t
u
d
ied
th
e
in
f
l
u
en
ce
o
f
s
tato
r
p
o
le
le
n
g
t
h
to
th
e
av
er
ag
e
th
r
u
s
t
f
o
r
ce
o
f
a
n
ac
t
u
ato
r
.
T
h
e
L
SR
A
ab
le
to
p
r
o
v
id
e
a
h
i
g
h
er
av
er
a
g
e
t
h
r
u
s
t
f
o
r
ce
b
y
i
n
cr
e
asi
n
g
o
f
th
e
s
tato
r
p
o
le
len
g
t
h
.
W
h
ile,
Fah
i
m
i
e
t
al.
[
4
2
]
f
o
u
n
d
t
h
a
t
s
m
aller
s
tato
r
p
o
le
len
g
t
h
w
il
l
lead
to
h
i
g
h
er
n
atu
r
al
f
r
eq
u
en
c
y
i
n
th
e
ac
t
u
a
to
r
w
h
ic
h
w
i
ll
ca
u
s
e
th
e
d
ef
o
r
m
atio
n
o
f
th
e
s
ta
to
r
.
Mo
r
eo
v
er
,
r
ed
u
ctio
n
o
f
t
h
e
s
tato
r
p
o
le
len
g
t
h
w
ill
r
ed
u
ce
t
h
e
av
ai
lab
le
ar
ea
f
o
r
th
e
w
i
n
d
i
n
g
s
.
T
h
u
s
,
t
h
e
in
cr
ea
s
ed
o
f
th
e
s
tato
r
p
o
le
len
g
t
h
w
il
l i
n
cr
ea
s
ed
t
h
e
a
v
ailab
le
ar
ea
f
o
r
t
h
e
co
il
s
.
C
o
n
s
eq
u
en
tl
y
,
th
e
m
ag
n
etic
f
lu
x
d
e
n
s
it
y
an
d
o
u
tp
u
t
t
h
r
u
s
t
f
o
r
ce
ca
n
b
e
i
m
p
r
o
v
ed
.
Ho
w
e
v
er
,
lo
n
g
er
s
tato
r
p
o
le
l
en
g
t
h
m
e
an
s
t
h
e
v
o
lu
m
e
o
f
th
e
ac
tu
a
t
o
r
is
lar
g
er
w
h
ich
r
ed
u
ce
s
th
e
to
r
q
u
e
d
en
s
it
y
o
f
th
e
ac
tu
ato
r
[
4
3
]
-
[
4
4
]
.
So
,
Go
to
et
al.
[
4
3
]
p
r
o
p
o
s
ed
th
at
th
e
s
tato
r
p
o
le
len
g
th
n
ee
d
to
b
e
o
p
ti
m
ize
w
it
h
lo
n
g
er
s
tato
r
p
o
le
len
g
t
h
b
e
f
o
r
e
th
e
to
r
q
u
e
d
en
s
it
y
g
r
ad
u
all
y
r
ed
u
ce
d
.
T
h
e
ac
tu
ato
r
p
r
o
d
u
ce
d
to
r
q
u
e
d
en
s
it
y
o
f
4
5
N
m
/
L
w
it
h
t
h
e
s
tato
r
p
o
le
len
g
t
h
o
f
1
7
m
m
.
At
p
o
le
len
g
t
h
2
2
m
m
,
t
h
e
to
r
q
u
e
d
en
s
it
y
in
cr
ea
s
e
s
to
4
6
Nm
/
L
,
w
h
i
le
at
p
o
le
len
g
th
3
4
m
m
t
h
e
to
r
q
u
e
d
en
s
it
y
r
ed
u
ce
d
to
4
0
.
5
Nm
/
L
r
esp
ec
tiv
el
y
.
2
.
7
.
I
nfluence
o
f
Air
G
a
p
,
g
I
n
o
r
d
er
to
in
cr
ea
s
e
th
e
ef
f
i
cien
c
y
o
f
th
e
ac
t
u
ato
r
,
th
e
r
ed
u
ctio
n
o
f
t
h
e
air
g
ap
th
ick
n
es
s
is
an
alter
n
ati
v
e
m
et
h
o
d
f
o
r
in
cr
ea
s
in
g
th
e
p
r
o
p
u
ls
io
n
f
o
r
ce
w
i
th
o
u
t
a
f
f
ec
t
th
e
ac
tu
ato
r
d
i
m
en
s
io
n
[
3
0
]
.
A
s
a
g
en
er
al
r
u
le,
s
m
al
ler
air
g
ap
t
h
ick
n
e
s
s
ab
le
to
p
r
o
d
u
ce
lar
g
e
r
p
r
o
p
u
ls
io
n
f
o
r
ce
.
T
h
e
th
r
u
s
t
f
o
r
ce
p
r
o
d
u
ce
is
a
n
attr
ac
tio
n
o
r
p
r
o
p
u
ls
io
n
f
o
r
ce
b
et
w
ee
n
t
h
e
s
tato
r
an
d
m
o
v
er
d
u
e
to
th
e
ten
d
en
c
y
o
f
a
m
ag
n
etic
cir
c
u
it
to
r
estru
ct
u
r
e
its
e
lf
in
o
r
d
er
to
ac
h
iev
e
s
m
alle
s
t r
el
u
cta
n
ce
.
T
h
e
ac
tu
ato
r
r
el
u
ctan
ce
w
ill
i
n
cr
ea
s
e
w
it
h
t
h
e
a
ir
g
a
p
th
ic
k
n
e
s
s
an
d
th
e
m
ag
n
etic
f
l
u
x
d
i
m
in
i
s
h
es
as
th
e
co
-
e
n
er
g
y
co
n
ten
t
[
4
]
,
[
4
5
]
-
[
4
6
]
.
Mo
r
e
o
v
er
,
l
ar
g
er
air
g
ap
th
ic
k
n
e
s
s
w
il
l
lead
s
to
r
ed
u
cti
o
n
in
t
h
e
m
a
g
n
etic
f
lu
x
b
et
wee
n
p
o
les
d
u
e
to
th
e
in
cr
ea
s
in
g
in
t
h
e
r
elu
cta
n
ce
w
h
ic
h
th
e
n
r
es
u
lti
n
g
i
n
s
m
alle
r
in
d
u
ctan
ce
a
n
d
r
ed
u
ce
d
th
r
u
s
t
f
o
r
ce
.
As
a
co
m
p
ar
is
o
n
,
ac
t
u
ato
r
w
it
h
lar
g
er
air
g
ap
th
ick
n
es
s
h
as
th
e
b
en
e
f
it
o
f
le
s
s
r
ip
p
le
a
n
d
m
o
r
e
s
u
i
t
ab
le
f
o
r
ap
p
licatio
n
t
h
at
r
eq
u
ir
e
s
m
o
o
t
h
m
o
tio
n
.
C
alad
o
et
al.
[
4
7
]
s
tu
d
y
th
e
r
elatio
n
s
h
ip
o
f
air
g
ap
to
t
h
r
u
s
t
f
o
r
ce
w
h
er
e
9
7
N
o
f
t
h
r
u
s
t
f
o
r
ce
w
as
g
e
n
er
ated
w
it
h
2
m
m
o
f
air
g
ap
.
W
h
e
n
th
e
air
g
ap
w
as
in
cr
ea
s
ed
to
4
m
m
,
t
h
e
t
h
r
u
s
t
f
o
r
ce
r
ed
u
ce
d
to
9
0
N
an
d
t
h
e
f
u
r
t
h
er
in
cr
ea
s
ed
o
f
air
g
ap
to
8
m
m
ca
u
s
es
t
h
e
g
en
er
ated
th
r
u
s
t
f
o
r
ce
to
d
ec
r
ea
s
e
r
ap
id
ly
to
6
0
N.
E
v
en
th
o
u
g
h
s
m
al
ler
air
g
ap
ab
le
to
g
en
er
ate
lar
g
e
p
r
o
p
u
ls
io
n
f
o
r
ce
,
h
o
w
e
v
er
th
er
e
ar
e
t
w
o
is
s
u
e
s
w
it
h
s
m
all
air
g
ap
th
ic
k
n
e
s
s
;
i.e
:
(
i)
n
ar
r
o
w
air
g
ap
m
ak
e
th
e
m
an
u
f
ac
tu
r
i
n
g
b
ec
o
m
es
d
i
f
f
icu
lt
w
h
ic
h
lea
d
s
to
h
i
g
h
co
s
t
o
f
m
an
u
f
ac
t
u
r
in
g
a
n
d
(
ii)
s
m
all
er
air
g
ap
th
ick
n
es
s
i
n
cr
ea
s
es
th
e
f
o
r
ce
r
ip
p
le.
[
4
8
]
.
Hen
ce
,
an
o
p
ti
m
ized
p
ar
am
eter
f
o
r
t
h
e
a
ir
g
ap
th
ic
k
n
e
s
s
is
cr
u
cial
i
n
o
r
d
er
to
d
esig
n
a
n
ac
tu
ato
r
t
h
at
ca
p
ab
le
to
g
e
n
er
ate
lar
g
e
th
r
u
s
t f
o
r
ce
,
s
m
aller
f
o
r
ce
r
ip
p
le
an
d
ab
le
to
p
r
o
v
id
e
s
m
o
o
th
m
o
tio
n
.
2
.
8
.
I
nfluence
o
f
Wind
ing
T
urns
,
n
T
h
er
e
ar
e
t
w
o
f
ac
to
r
s
t
h
at
w
il
l
i
n
f
lu
e
n
ce
t
h
e
m
a
g
n
e
tic
f
l
u
x
,
i
n
d
u
c
tan
ce
an
d
t
h
r
u
s
t
f
o
r
ce
o
f
th
e
ac
tu
ato
r
;
i.e
.
:
(
i)
n
u
m
b
er
o
f
w
i
n
d
in
g
tu
r
n
s
a
n
d
(
ii)
ex
citatio
n
cu
r
r
en
t.
T
h
e
v
ar
io
u
s
co
il
t
u
r
n
s
w
ill
d
eter
m
in
e
t
h
e
v
alu
e
o
f
t
h
e
g
e
n
er
ated
th
r
u
s
t
f
o
r
ce
b
y
t
h
e
ac
t
u
ato
r
.
Hen
c
e,
in
cr
ea
s
i
n
g
t
h
e
n
u
m
b
er
o
f
w
i
n
d
i
n
g
tu
r
n
s
w
i
l
l
i
m
p
r
o
v
e
th
e
t
h
r
u
s
t
f
o
r
ce
,
m
a
g
n
etic
f
lu
x
an
d
i
n
d
u
cta
n
ce
o
f
th
e
ac
tu
ato
r
,
r
esp
ec
tiv
el
y
[
4
9
]
–
[
5
2
]
.
T
h
e
in
cr
ea
s
in
g
o
f
th
e
w
i
n
d
i
n
g
t
u
r
n
s
ca
n
i
m
p
r
o
v
e
th
e
g
en
er
ated
t
h
r
u
s
t
f
o
r
ce
b
u
t
f
ield
s
atu
r
atio
n
w
ill
o
cc
u
r
r
ed
w
h
er
e
f
u
r
t
h
er
in
cr
ea
s
e
i
n
th
e
n
u
m
b
er
o
f
t
u
r
n
s
a
f
ter
ex
ce
ed
i
n
g
t
h
e
s
a
tu
r
at
io
n
p
o
in
t
w
ill
h
as
le
s
s
i
n
f
l
u
e
n
ce
to
th
e
m
a
g
n
etic
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
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2
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8
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A
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ev
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Desig
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timiz
a
tio
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969
f
l
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d
t
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t
f
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[
5
3
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-
[
5
4
]
.
T
h
e
m
a
g
n
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f
l
u
x
,
Φ
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f
t
h
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e
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er
iv
ed
f
r
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t
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Eq
u
atio
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(
1
)
[
5
5
]
.
R
Ni
R
F
(
1
)
w
h
er
e
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is
t
h
e
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v
e
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th
e
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n
ce
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h
e
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m
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er
o
f
w
i
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d
i
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g
tu
r
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d
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is
t
h
e
ex
citatio
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c
u
r
r
en
t.
Fro
m
E
q
u
atio
n
(
1
)
,
th
e
in
cr
ea
s
e
i
n
eit
h
er
th
e
n
u
m
b
er
o
f
w
i
n
d
i
n
g
t
u
r
n
s
a
n
d
ex
cita
tio
n
cu
r
r
en
t
ab
le
to
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n
cr
ea
s
e
t
h
e
m
ag
n
et
ic
f
lu
x
a
n
d
g
e
n
er
ated
t
h
r
u
s
t
f
o
r
ce
.
On
th
e
o
th
er
h
an
d
,
t
h
e
d
ec
r
ea
s
in
g
i
n
th
e
r
elu
ctan
ce
w
ill
in
cr
ea
s
e
t
h
e
g
en
er
ated
t
h
r
u
s
t
f
o
r
ce
as
w
e
ll.
T
h
en
,
t
h
e
n
u
m
b
er
o
f
w
in
d
in
g
tu
r
n
s
ca
n
b
e
ex
p
r
ess
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as a
f
u
n
ctio
n
o
f
th
e
ac
tu
ato
r
d
i
m
e
n
s
io
n
s
as
[
5
5
]
;
w
ff
cu
A
K
l
h
N
2
(
2
)
t
o
t
a
l
c
o
p
p
e
r
ff
S
S
K
(
3
)
w
h
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e
h
cu
is
th
e
th
ic
k
n
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o
f
c
o
p
p
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l
2
is
th
e
co
il'
s
len
g
t
h
,
k
ff
is
th
e
f
il
lin
g
f
ac
to
r
,
A
w
i
s
th
e
cr
o
s
s
-
s
ec
tio
n
al
o
f
s
in
g
le
w
ir
e,
S
copper
is
t
h
e
cr
o
s
s
-
s
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t
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total
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e
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v
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Ho
w
e
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er
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in
cr
ea
s
e
in
t
h
e
n
u
m
b
er
o
f
tu
r
n
s
lead
s
to
an
in
cr
ea
s
e
o
f
th
e
s
lo
t
ar
ea
an
d
m
ag
n
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co
r
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o
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m
e
w
h
ich
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ill
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ed
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e
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o
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th
e
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ap
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licatio
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A
cc
o
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g
to
th
e
s
t
u
d
y
o
f
T
eix
eir
a
et
al.
[
3
0
]
,
th
r
ee
w
i
n
d
i
n
g
tu
r
n
w
it
h
1
2
0
,
2
2
6
an
d
2
6
4
tu
r
n
s
ar
e
co
m
p
ar
ed
.
T
h
e
h
i
g
h
e
s
t
v
al
u
e
o
f
w
in
d
i
n
g
t
u
r
n
s
w
it
h
2
6
4
tu
r
n
s
w
as
f
o
u
n
d
to
h
av
e
th
e
h
i
g
h
e
s
t
th
r
u
s
t
f
o
r
ce
w
it
h
9
7
0
N
co
m
p
ar
e
to
2
2
6
tu
r
n
s
w
it
h
7
0
5
N;
an
d
1
5
0
tu
r
n
s
w
it
h
3
2
0
N.
T
h
is
in
d
icate
s
h
i
g
h
er
w
i
n
d
in
g
t
u
r
n
s
r
esu
lts
i
n
h
ig
h
er
th
r
u
s
t
f
o
r
ce
.
2
.
9
.
I
nfluence
o
f
Nu
m
ber
o
f
P
ha
s
es
A
r
elu
cta
n
ce
ac
t
u
a
to
r
w
il
l
g
en
er
ate
th
e
th
r
u
s
t
f
o
r
ce
d
u
e
to
t
h
e
ten
d
en
c
y
o
f
t
h
e
tr
an
s
lato
r
p
ar
t to
m
o
v
e
to
a
p
o
s
itio
n
w
h
er
e
th
e
i
n
d
u
ct
an
ce
o
f
t
h
e
ex
cited
w
i
n
d
in
g
s
i
s
m
a
x
i
m
u
m
a
n
d
r
elu
cta
n
ce
is
m
i
n
i
m
u
m
.
I
n
o
r
d
er
f
o
r
th
e
elec
tr
o
m
a
g
n
et
ic
ac
tu
at
o
r
to
p
r
o
v
id
e
a
c
o
n
tr
o
lled
co
n
tin
u
o
u
s
m
o
tio
n
,
th
e
r
eq
u
ir
ed
m
in
i
m
u
m
n
u
m
b
er
o
f
p
h
ases
is
th
r
ee
(
3
)
w
h
er
e
t
h
e
p
h
ases
ca
n
b
e
co
n
n
ec
ted
eit
h
e
r
in
s
er
ies
o
r
p
ar
allel
co
n
n
ec
ti
o
n
[
5
6
]
-
[
5
7
]
.
Oth
er
th
an
t
h
at,
i
n
cr
ea
s
i
n
g
t
h
e
n
u
m
b
er
o
f
p
h
ase
s
r
es
u
lt
to
r
e
d
u
ctio
n
o
f
t
h
e
co
g
g
in
g
f
o
r
c
e
[
5
8
]
.
Hen
ce
,
th
e
m
i
n
i
m
izatio
n
o
f
t
h
e
d
eten
t
f
o
r
ce
th
en
r
ed
u
ce
s
t
h
e
v
ib
r
atio
n
s
,
ac
o
u
s
tic
n
o
i
s
e
an
d
r
ip
p
le
f
ac
to
r
o
f
th
e
ac
tu
a
to
r
.
A
t
t
h
e
s
a
m
e
ti
m
e,
t
h
e
m
o
tio
n
s
m
o
o
t
h
n
ess
o
f
L
S
R
A
i
s
i
m
p
r
o
v
ed
an
d
t
h
e
co
n
tr
o
l
s
y
s
te
m
f
o
r
p
o
s
itio
n
in
g
is
s
i
m
p
li
f
i
ed
[
3
]
.
Fu
r
th
er
m
o
r
e,
t
h
e
in
cr
ea
s
e
o
f
th
e
p
h
a
s
e
n
u
m
b
er
s
w
ill
al
s
o
i
m
p
r
o
v
e
th
e
t
h
r
u
s
t
f
o
r
ce
d
u
e
to
th
e
ef
f
ec
t
o
f
co
g
g
i
n
g
f
o
r
ce
r
ed
u
c
tio
n
.
Nev
er
t
h
eles
s
,
w
it
h
t
h
e
i
n
cr
ea
s
ed
o
f
t
h
e
p
h
ase
n
u
m
b
e
r
s
,
th
e
s
y
s
te
m
w
ill
b
ec
o
m
e
m
o
r
e
co
m
p
lex
,
w
h
ic
h
th
e
n
r
eq
u
ir
e
s
m
o
r
e
co
m
p
le
x
s
tr
ate
g
ies
to
co
n
tr
o
l
th
e
e
x
citatio
n
c
u
r
r
en
t
a
n
d
p
h
ase
s
h
if
t
in
g
s
i
n
ce
th
e
p
h
a
s
e
is
ac
tiv
ated
in
d
ep
en
d
en
t
l
y
ea
ch
ti
m
e
[
5
9
]
.
Fig
u
r
e
7
d
ep
i
ct
s
th
e
in
f
l
u
e
n
ce
o
f
p
h
ase
n
u
m
b
er
s
to
th
e
r
ip
p
le
f
ac
to
r
w
h
er
e
t
w
o
(
2
)
p
h
ases
a
ctu
ato
r
h
as
t
w
ice
lar
g
er
r
ip
p
le
f
ac
to
r
co
m
p
ar
e
to
th
r
ee
(
3
)
p
h
ase’
s
ac
t
u
ato
r
.
Fig
u
r
e
7
.
E
f
f
ec
t o
f
p
h
ase
n
u
m
b
er
s
to
r
ip
p
le
f
ac
to
r
[
3
]
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
: 9
6
3
–
9
7
8
970
2
.
10
.
I
nfluence
o
f
Co
il Dia
m
et
er
,
d
coil
I
n
SR
A
,
t
h
e
p
ea
k
f
o
r
ce
g
e
n
er
a
ted
b
y
t
h
e
ac
t
u
ato
r
ar
e
ca
u
s
ed
b
y
t
h
e
e
x
citatio
n
cu
r
r
e
n
t.
T
h
er
ef
o
r
e,
th
e
co
il
d
ia
m
eter
is
a
n
i
m
p
o
r
tan
t
p
ar
am
eter
t
h
at
w
i
ll
d
ir
ec
tl
y
af
f
ec
t
t
h
e
co
il
le
n
g
th
a
n
d
g
en
er
a
ted
th
r
u
s
t
f
o
r
ce
.
A
lar
g
er
co
il
d
ia
m
eter
w
i
ll
p
r
o
d
u
ce
co
il
w
it
h
lo
w
er
r
esi
s
tan
ce
p
er
u
n
it
le
n
g
t
h
[
6
0
]
.
Nev
er
th
eless
,
t
h
e
lar
g
er
co
il
d
ia
m
eter
w
il
l
ca
u
s
e
a
n
u
n
n
ec
ess
ar
y
co
il
t
h
ic
k
n
e
s
s
to
t
h
e
L
SR
A
.
Fi
g
u
r
e
8
d
ep
icts
t
h
at
t
h
e
m
a
x
i
m
u
m
p
ea
k
f
o
r
ce
r
em
a
in
s
th
e
s
a
m
e
a
n
d
d
o
es
n
o
t
in
cr
ea
s
e
f
u
r
t
h
er
w
h
e
n
th
e
co
il
d
ia
m
eter
w
as
lar
g
er
t
h
an
2
m
m
.
T
h
u
s
,
th
e
r
ate
o
f
t
h
r
u
s
t
f
o
r
ce
to
v
o
l
u
m
e
ca
n
b
e
i
m
p
r
o
v
ed
b
y
i
n
c
r
ea
s
in
g
t
h
e
co
il
d
ia
m
e
ter
wh
ich
lead
s
to
lo
w
er
r
esis
ta
n
ce
.
Ho
w
e
v
er
,
th
e
e
x
ci
tatio
n
cu
r
r
en
t
ap
p
l
y
to
th
e
co
il
m
u
s
t
n
o
t
ex
ce
ed
th
e
r
ate
o
f
d
r
iv
in
g
ca
p
ab
ilit
y
b
ased
o
n
th
e
Sta
n
d
ar
d
W
ir
e
Gau
g
e
(
SW
G)
.
Hen
ce
,
th
e
d
iam
eter
o
f
t
h
e
co
il
i
s
c
h
o
s
e
b
as
ed
o
n
th
e
ex
ci
tatio
n
cu
r
r
en
t
n
ee
d
ed
in
o
r
d
er
to
f
u
l
f
ill
th
e
r
ate
o
f
d
r
iv
i
n
g
ca
p
ab
ilit
y
[
6
1
]
.
E
v
en
t
h
o
u
g
h
t
h
eo
r
etic
all
y
h
as
p
r
o
v
es
th
at
lar
g
er
w
ir
e
d
ia
m
e
ter
w
i
ll
h
a
s
lo
w
er
r
esis
ta
n
ce
an
d
h
e
n
ce
l
ar
g
er
th
r
u
s
t
f
o
r
ce
b
u
t
s
t
u
d
ied
s
h
o
w
s
t
h
at
f
u
r
t
h
er
in
cr
ea
s
ed
i
n
th
e
w
ir
e
d
ia
m
eter
m
a
y
n
o
t
s
atis
f
y
t
h
e
co
n
d
itio
n
o
f
th
r
u
s
t
f
o
r
ce
[
4
8
]
.
R
.
Oth
m
an
et
al.
f
o
u
n
d
th
at
th
e
in
cr
ea
s
e
i
n
th
e
co
il
s
ize
w
il
l
ca
u
s
e
t
h
e
f
l
u
x
d
en
s
it
y
o
f
ac
tu
ato
r
to
b
e
r
ed
u
ce
d
[
6
2
]
.
A
s
a
co
n
cl
u
s
io
n
,
o
p
tim
izatio
n
o
f
th
e
co
il d
ia
m
e
ter
is
an
i
m
p
o
r
ta
n
t p
ar
a
m
eter
i
n
d
esig
n
i
n
g
th
e
elec
tr
o
m
ag
n
et
ic
ac
tu
ato
r
.
Fig
u
r
e
8
.
E
f
f
ec
t o
f
co
il d
ia
m
at
er
o
n
m
ax
i
m
u
m
g
e
n
er
ated
th
r
u
s
t
f
o
r
ce
f
o
r
th
r
ee
co
il i
m
p
ed
a
n
ce
[
6
0
]
3.
CO
NT
RO
L
M
E
T
H
O
D
L
S
R
A
i
s
a
n
e
w
t
y
p
e
o
f
ac
tu
at
o
r
th
at
h
a
s
h
i
g
h
l
iab
ilit
y
d
u
e
t
o
th
e
lo
w
co
s
t
a
n
d
s
i
m
p
le
co
n
s
tr
u
ctio
n
.
Ho
w
e
v
er
,
th
e
m
aj
o
r
is
s
u
es
o
f
a
SR
A
ar
e
th
e
e
x
ce
s
s
iv
e
f
o
r
ce
r
ip
p
les
an
d
v
ib
r
atin
g
n
o
is
e
co
m
p
ar
ed
to
th
e
co
n
v
e
n
tio
n
al
m
ac
h
in
e
s
[
6
3
]
-
[
6
4
]
.
Hen
ce
,
th
e
co
n
tr
o
l
s
tr
ate
g
y
o
f
t
h
e
ac
tu
ato
r
is
cr
u
cial
i
n
o
r
d
er
to
o
v
er
co
m
e
th
e
d
is
ad
v
a
n
tag
e
s
.
B
ased
o
n
s
tu
d
ie
s
,
m
an
y
t
y
p
es
o
f
co
n
tr
o
ller
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
a
n
d
ap
p
lied
to
SR
A
m
ec
h
a
n
i
s
m
;
i.e
:
m
o
d
i
f
ied
P
I
D
co
n
tr
o
l,
in
telli
g
e
n
t
co
n
tr
o
l,
lin
ea
r
izatio
n
co
n
tr
o
l
an
d
t
w
o
d
eg
r
ee
o
f
f
r
ee
d
o
m
co
n
tr
o
l.
I
n
th
i
s
s
ec
tio
n
,
co
m
p
a
r
is
o
n
o
f
t
h
ese
co
n
tr
o
ller
s
i
s
d
i
s
cu
s
s
ed
w
it
h
r
esp
ec
t
to
th
eir
d
esig
n
s
tr
u
ct
u
r
e
an
d
co
n
tr
o
ller
p
er
f
o
r
m
a
n
ces
.
3
.
1
.
M
o
dified
P
I
D
co
ntr
o
l
T
h
e
P
I
D
co
n
tr
o
ller
is
w
id
el
y
u
s
ed
i
n
s
p
ee
d
a
n
d
p
o
s
itio
n
co
n
tr
o
l
ap
p
licatio
n
s
d
u
e
to
i
ts
s
i
m
p
licit
y
,
ea
s
y
t
u
n
i
n
g
a
n
d
r
u
g
g
ed
n
es
s
.
T
h
er
e
ar
e
m
a
n
y
clas
s
ical
tec
h
n
i
q
u
es
p
r
o
p
o
s
ed
an
d
u
s
ed
f
o
r
d
esig
n
i
n
g
an
d
t
u
n
in
g
th
e
p
ar
a
m
e
ter
s
o
f
t
h
e
P
I
D
co
n
tr
o
ller
s
u
ch
as
tr
ial
-
a
n
d
-
er
r
o
r
,
Z
ie
g
ler
-
N
ich
o
l
s
m
eth
o
d
,
C
o
h
en
-
C
o
o
n
m
e
th
o
d
an
d
T
y
r
eu
s
&
L
u
y
b
e
n
m
et
h
o
d
[
6
5
]
-
[
6
6
]
.
Ho
w
e
v
er
,
th
e
ap
p
li
ed
o
f
th
e
co
n
v
en
tio
n
al
P
I
D
co
n
tr
o
ller
w
ill
r
ed
u
ce
th
e
p
o
s
itio
n
in
g
p
er
f
o
r
m
a
n
ce
s
d
u
e
to
th
e
h
ig
h
l
y
n
o
n
li
n
ea
r
it
y
c
h
ar
ac
ter
is
tic
o
f
th
e
s
w
itc
h
ed
r
elu
ctan
ce
ac
t
u
ato
r
.
T
h
u
s
,
in
o
r
d
er
to
i
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ir
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izat
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o
l
[
6
7
]
-
[
6
8
]
.
Hen
ce
,
M.
Ma
s
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et
al.
p
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[
68]
.
Fig
u
r
e
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s
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h
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a
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ex
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m
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it
h
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ee
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f
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r
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ele
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t
[
6
9
]
.
T
h
e
n
o
n
li
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ea
r
P
I
D
co
n
tr
o
l
in
clu
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s
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ize
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ess
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n
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co
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i
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izatio
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i
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s
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te
m
.
F
u
r
th
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m
o
r
e,
t
h
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d
f
o
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w
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r
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ele
m
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t
f
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r
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i
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g
f
o
r
ce
an
d
f
r
ictio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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PEDS
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8
8
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A
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Desig
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to
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Fi
g
u
r
e
10.
Fig
u
r
e
9
.
B
lo
ck
d
iag
r
a
m
o
f
P
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D
co
n
tr
o
l s
y
s
te
m
w
i
th
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in
ea
r
iz
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u
n
it
[
6
8
]
Fig
u
r
e
10
.
B
lo
ck
d
iag
r
am
o
f
n
o
n
lin
ea
r
P
I
D
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m
p
e
n
s
ato
r
w
it
h
f
ee
d
f
o
r
w
ar
d
ele
m
e
n
t
[
6
9
]
Mo
r
eo
v
er
,
Z
aa
f
r
an
e
et
al.
p
r
esen
ted
th
e
u
s
ed
o
f
P
I
co
n
tr
o
ller
,
h
y
s
ter
esi
s
co
n
tr
o
ller
an
d
f
o
r
ce
d
is
tr
ib
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tio
n
f
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n
ctio
n
(
FD
F)
f
o
r
th
e
p
u
r
p
o
s
e
o
f
s
p
e
ed
co
n
tr
o
l
[
7
0
]
.
T
h
e
co
m
b
i
n
atio
n
o
f
co
n
tr
o
l
s
y
s
te
m
f
o
r
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n
o
n
li
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ea
r
s
w
itc
h
ed
r
elu
cta
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ce
ac
tu
ato
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en
ab
le
th
e
p
er
f
o
r
m
a
n
ce
to
b
e
im
p
r
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v
ed
d
u
e
to
h
y
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ter
es
is
co
n
tr
o
ller
w
il
l
co
n
tr
o
l
th
e
ex
citatio
n
cu
r
r
en
t,
s
p
ee
d
co
n
tr
o
l
d
o
n
e
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y
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P
I
co
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h
ile
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FD
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is
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s
ed
f
o
r
f
o
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co
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tr
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l
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d
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ip
p
les
r
ed
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c
tio
n
.
Nex
t,
th
e
B
an
g
-
B
an
g
co
n
tr
o
l
h
as
b
ee
n
p
r
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ed
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o
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en
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l
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to
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ed
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ce
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y
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te
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o
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er
s
h
o
o
t
an
d
eli
m
in
a
te
th
e
o
s
cil
lati
o
n
s
[
7
1
]
.
R
af
ae
l
et
al.
p
r
ese
n
ted
an
ad
ap
tiv
e
P
I
D
co
n
tr
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ller
f
o
r
s
p
ee
d
co
n
tr
o
l
[
7
2
]
.
T
h
e
p
r
o
p
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s
ed
co
n
tr
o
ller
d
esig
n
ed
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ased
o
n
t
h
e
T
ak
ag
i
-
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u
g
e
n
o
f
u
zz
y
s
y
s
te
m
w
it
h
s
o
m
e
s
i
m
p
li
f
icat
io
n
s
.
T
h
e
co
n
tr
o
ller
w
it
h
ad
ap
ti
v
e
alg
o
r
ith
m
te
n
d
s
to
h
a
v
e
th
e
a
d
v
an
ta
g
e
o
f
s
i
m
p
lici
t
y
o
n
al
g
o
r
ith
m
s
tr
u
ct
u
r
e
an
d
les
s
er
p
r
o
ce
s
s
in
g
r
eso
u
r
ce
s
co
m
p
ar
ed
w
it
h
th
e
i
n
telli
g
e
n
t
o
r
h
y
b
r
id
s
y
s
te
m
.
F
u
r
th
er
m
o
r
e,
th
e
ad
ap
tiv
e
P
I
D
co
n
tr
o
lle
r
d
o
es
n
o
t
r
eq
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ir
e
an
y
P
I
D
ca
lib
r
atio
n
.
T
h
e
co
n
tr
o
ller
also
ab
le
to
q
u
ick
l
y
co
m
p
e
n
s
ate
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h
e
d
is
tu
r
b
a
n
ce
th
at
ap
p
ea
r
in
th
e
ac
tu
ato
r
.
Fig
u
r
e
11
.
B
lo
ck
d
iag
r
am
o
f
ad
ap
tiv
e
P
I
D
co
n
tr
o
l sy
s
te
m
[
7
2
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
PEDS
Vo
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8
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: 9
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9
7
8
972
Sriv
as
tav
a
et
al.
s
u
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g
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s
t
th
e
s
p
ee
d
an
d
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itio
n
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n
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l
o
f
th
e
s
w
itc
h
ed
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ctan
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t
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at
o
r
w
it
h
a
ca
s
ca
d
ed
co
n
tr
o
ller
o
f
ad
v
an
ce
d
PI
an
d
P
D
c
o
n
tr
o
ller
s
[
7
3
]
.
T
h
e
P
I
co
n
tr
o
ller
is
u
s
ed
to
p
r
o
v
id
e
a
f
ast
tr
an
s
ie
n
t
r
esp
o
n
s
e
w
h
ile
eli
m
i
n
ati
n
g
t
h
e
s
tead
y
s
tate
er
r
o
r
f
o
r
s
p
ee
d
c
o
n
tr
o
l.
T
h
en
,
th
e
P
D
co
n
tr
o
ller
w
ill
b
e
f
u
n
ctio
n
to
co
u
n
ter
ac
t th
e
d
ela
y
ef
f
ec
t a
n
d
o
v
er
s
h
o
o
t in
t
h
e
p
o
s
itio
n
r
esp
o
n
s
e
d
u
e
to
t
h
e
u
t
il
ized
o
f
in
te
g
r
atio
n
o
f
th
e
P
I
co
n
tr
o
ller
.
3.
2
.
I
nte
llig
ent
co
ntr
o
l
I
n
telli
g
en
t
co
n
tr
o
ls
ar
e
w
id
ely
u
s
ed
in
n
o
n
li
n
ea
r
s
y
s
te
m
s
u
c
h
as
S
R
A
i
n
o
r
d
er
to
o
b
tain
h
ig
h
p
r
ec
is
io
n
p
o
s
itio
n
s
a
n
d
s
p
ee
d
co
n
tr
o
l.
Yao
et
al.
ap
p
lied
a
f
u
zz
y
n
e
u
r
al
n
et
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o
r
k
m
o
d
elin
g
to
lear
n
th
e
n
o
n
li
n
ea
r
s
tatic
p
o
s
itio
n
-
to
r
q
u
e
-
c
u
r
r
en
t
an
d
f
l
u
x
li
n
k
a
g
e
ch
ar
ac
ter
is
tic
s
f
o
r
to
r
q
u
e
co
n
tr
o
l
o
f
t
h
e
SR
A
[
7
4
]
-
[
7
5
]
.
T
h
en
,
to
r
q
u
e
d
is
tr
ib
u
tio
n
f
u
n
ctio
n
w
as
u
s
ed
to
ca
lcu
late
t
h
e
p
h
ase
to
r
q
u
e
a
n
d
th
e
A
NFI
S
i
n
v
er
s
e
to
r
q
u
e
m
o
d
el
to
o
b
tain
o
p
tim
i
ze
cu
r
r
en
t
w
a
v
e
f
o
r
m
.
I
n
o
r
d
er
to
ac
h
iev
e
r
ip
p
les
m
i
n
i
m
izati
o
n
,
ad
ap
tiv
e
s
lid
in
g
m
o
d
e
c
u
r
r
en
t
co
n
tr
o
ller
w
ill
co
n
tr
o
l
ac
tu
al
p
h
ase
c
u
r
r
en
t
w
a
v
e
f
o
r
m
b
y
tr
ac
k
i
n
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th
e
d
esire
d
p
h
ase
c
u
r
r
en
t
w
a
v
e
f
o
r
m
to
g
e
n
er
ate
th
e
m
o
s
t si
m
ilar
cu
r
r
en
t
w
a
v
e
f
o
r
m
.
L
i
et
al.
p
r
o
p
o
s
ed
a
in
s
tan
tan
eo
u
s
to
r
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u
e
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n
tr
o
l
b
ased
o
n
r
ad
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f
u
n
ctio
n
n
e
u
r
al
n
et
w
o
r
k
(
R
B
F)
[
7
6
]
.
T
h
e
o
p
tim
izatio
n
o
f
th
e
c
u
r
r
en
t
w
av
e
f
o
r
m
s
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h
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esp
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t
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d
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f
er
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s
p
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to
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is
lear
n
ed
f
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d
y
n
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m
ic
s
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m
u
la
tio
n
f
o
r
R
B
F
n
e
u
r
al
n
et
w
o
r
k
o
f
f
l
in
e
tr
ain
i
n
g
.
T
h
en
,
th
e
n
tr
ai
n
ed
R
B
F
n
e
u
r
al
n
e
t
w
o
r
k
i
s
u
s
ed
f
o
r
th
e
o
b
tain
ed
th
e
r
elatio
n
s
h
ip
b
et
w
ee
n
s
p
ee
d
,
to
r
q
u
e
an
d
p
o
s
itio
n
to
cu
r
r
en
t
n
o
n
l
in
ea
r
m
ap
p
in
g
s
o
f
to
r
q
u
e
co
n
tr
o
l.
T
h
e
ex
p
er
im
e
n
tal
r
esu
lts
s
h
o
w
th
a
t
th
e
co
n
tr
o
l
s
tr
ateg
y
ab
le
to
m
in
i
m
i
ze
th
e
r
ip
p
les
w
h
il
e
p
r
o
v
id
e
h
ig
h
co
n
tr
o
l a
cc
u
r
ac
y
.
Fig
u
r
e
12
.
C
o
n
f
i
g
u
r
atio
n
o
f
ad
ap
tiv
e
R
B
F n
e
u
r
al
n
et
w
o
r
k
o
n
tr
o
ller
o
f
SR
M
[
7
6
]
3.
3
.
P
o
s
it
io
n
Co
ntr
o
l
T
h
er
e
ar
e
v
ar
io
u
s
co
n
tr
o
l
m
e
th
o
d
o
lo
g
ies
th
at
ar
e
p
r
o
p
o
s
ed
to
ev
alu
ate
th
e
p
o
s
i
tio
n
co
n
t
r
o
l
o
f
th
e
ac
tu
ato
r
.
T
h
e
m
o
s
t c
o
m
m
o
n
a
n
d
s
i
m
p
les
t c
o
n
tr
o
l
m
et
h
o
d
o
lo
g
y
t
h
at
r
eq
u
ir
es
les
s
co
m
p
u
tati
o
n
al
e
f
f
o
r
t i
s
u
s
i
n
g
th
e
lo
o
k
u
p
tab
le
[
7
7
]
-
[
8
0
]
.
T
h
en
,
th
e
s
lid
i
n
g
m
o
d
e
th
eo
r
y
is
th
e
s
ec
o
n
d
m
et
h
o
d
w
h
ic
h
ca
n
b
e
u
s
ed
to
ev
alu
ate
th
e
p
o
s
itio
n
co
n
tr
o
l o
f
th
e
ac
t
u
ato
r
[
7
9
]
.
L
o
o
k
u
p
tab
le
m
eth
o
d
is
t
h
e
m
o
s
t
s
i
m
p
le
an
d
ef
f
ec
ti
v
e
p
o
s
itio
n
co
n
tr
o
l
s
tr
ateg
y
f
o
r
lo
w
co
s
t
i
m
p
le
m
en
ta
tio
n
.
I
n
th
e
s
e
co
n
tr
o
l
m
eth
o
d
,
v
ar
io
u
s
n
o
n
li
n
ea
r
it
ies o
f
t
h
e
ac
t
u
ato
r
in
t
h
e
m
o
tio
n
s
y
s
te
m
ar
e
ta
k
e
n
in
to
ac
co
u
n
t.
T
h
is
m
et
h
o
d
ab
le
to
li
n
ea
r
ize
t
h
e
r
elat
io
n
s
h
i
p
s
b
et
w
ee
n
th
r
u
s
t
f
o
r
ce
,
cu
r
r
en
t
a
n
d
p
o
s
itio
n
i
n
s
w
itc
h
ed
r
elu
cta
n
ce
ac
t
u
ato
r
[
8
1
]
.
Ho
w
e
v
er
,
th
er
e
ar
e
s
o
m
e
ass
u
m
p
tio
n
s
m
ad
e
w
h
en
i
m
p
le
m
e
n
t
t
h
is
co
n
tr
o
l
m
et
h
o
d
w
h
ich
ar
e
th
e
s
y
s
te
m
m
o
d
el
is
ass
u
m
ed
to
b
e
p
r
ec
is
e
an
d
n
o
n
o
n
l
in
ea
r
f
r
ict
io
n
b
eh
av
io
r
s
o
cc
u
r
r
ed
.
Hen
ce
,
t
h
e
lo
o
k
u
p
tab
le
ab
le
to
p
r
o
d
u
ce
an
d
s
h
o
w
t
h
e
p
o
s
itio
n
co
n
tr
o
l
a
n
d
ch
ar
ac
ter
is
tic
o
f
th
e
ac
tu
ato
r
.
Nev
er
th
e
less
,
t
h
is
co
n
tr
o
l
m
et
h
o
d
o
n
l
y
p
r
o
v
id
es g
o
o
d
p
er
f
o
r
m
an
ce
f
o
r
lo
n
g
a
n
d
m
ed
i
u
m
d
is
tan
ce
tr
a
v
el
.
Yu
ic
h
i
et
al.
[
8
2
]
p
r
o
p
o
s
ed
th
e
p
o
s
itio
n
co
n
tr
o
l
m
et
h
o
d
w
it
h
Ma
g
n
etic
No
n
L
i
n
ea
r
it
y
C
o
n
tr
o
l
(
MN
L
C
)
b
y
co
n
s
id
er
in
g
th
e
m
ag
n
etic
n
o
n
li
n
ea
r
it
y
o
f
th
e
ac
tu
ato
r
.
Gan
et
al.
[
8
3
]
p
r
esen
ted
t
h
e
p
o
s
itio
n
co
n
tr
o
l
o
f
SR
A
w
it
h
a
cu
r
r
en
t
-
t
h
r
u
s
t
f
o
r
ce
-
p
o
s
itio
n
lo
o
k
u
p
tab
le
an
d
a
lin
ea
r
o
p
tical
en
c
o
d
er
to
o
b
s
er
v
e
th
e
m
o
tio
n
p
r
o
f
ile
o
f
th
e
ac
tu
ato
r
.
T
h
e
s
y
s
te
m
u
s
ed
th
e
lo
o
k
u
p
tab
les
w
h
ic
h
i
n
clu
d
e
t
h
e
r
e
latio
n
s
h
ip
b
et
w
ee
n
ex
citatio
n
c
u
r
r
en
t,
m
o
tio
n
p
r
o
f
ile
a
n
d
to
r
q
u
e
p
r
o
f
i
le
w
it
h
v
ar
iatio
n
o
f
r
o
to
r
p
o
s
itio
n
to
d
esig
n
t
h
e
co
n
tr
o
ller
f
o
r
to
r
q
u
e
co
n
tr
o
l
a
n
d
p
h
a
s
e
s
w
itc
h
i
n
g
co
n
tr
o
l.
T
h
en
,
th
e
lo
o
k
u
p
tab
le
w
ith
r
ef
er
e
n
ce
to
r
q
u
e
a
t
d
i
f
f
er
en
t
r
o
to
r
p
o
s
itio
n
i
s
t
h
en
u
s
ed
to
d
eter
m
i
n
e
t
h
e
t
h
r
ee
p
h
ase
r
e
f
er
en
c
e
cu
r
r
en
t
s
.
F
ig
u
r
e
1
3
s
h
o
w
s
t
h
e
p
o
s
itio
n
co
n
tr
o
l
d
iag
r
a
m
w
it
h
t
h
e
u
s
ed
o
f
lo
o
k
u
p
tab
le
.
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