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e
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s
s
ed
in
s
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n
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co
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cl
u
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2.
M
O
T
O
R
DE
SCR
I
P
T
I
O
N
Usu
al
l
y
th
e
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te
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u
s
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a
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tar
y
m
o
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it
h
t
h
e
tr
a
n
s
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io
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y
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te
m
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h
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lo
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d
iag
r
a
m
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g
i
v
en
in
Fi
g
u
r
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h
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a
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d
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v
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tag
e
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o
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p
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ec
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a
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tr
u
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r
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w
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h
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r
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o
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n
f
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th
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d
o
o
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is
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ir
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tl
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as
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e
m
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to
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te
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ated
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r
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u
r
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e,
b
etter
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r
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o
r
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e
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a
r
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M
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r
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u
l
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y
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i
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Fig
u
r
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1
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h
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n
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T
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h
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se
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Fig
u
r
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2
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M
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3
.
1
.
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lect
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m
o
del
Fo
r
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k
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r
en
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[
8
]
.
j
j
j
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(x
,
I
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1
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h
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,
[
9
]
.
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[1
]
Du
rsu
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M
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t
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sig
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.
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rsu
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]
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.
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a
a
d
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a
n
d
M
b
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re
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.
,
“
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a
lf
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]
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f
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n
e
W
.
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e
t
a
l.
,
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L
o
w
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o
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in
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n
d
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o
siti
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,”
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o
u
r
n
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Circ
u
it
s S
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.
[8
]
Kh
a
li
l
A
.
H
.
I.
,
“
A
F
o
u
rier
S
e
rier
Ge
n
e
ra
li
z
e
d
G
e
o
m
e
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y
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a
se
d
A
n
a
l
y
ti
c
a
l
M
o
d
e
l
o
f
S
w
it
c
h
e
d
Re
lu
c
tan
c
e
M
a
c
h
in
e
s
,”
IEE
E
T
ra
n
sa
c
ti
o
n
s o
n
In
d
u
stry
A
p
p
li
c
a
ti
o
n
s
,
v
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l
/i
ss
u
e
:
4
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3
)
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p
p
.
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-
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8
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,
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0
0
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.
[9
]
G
re
b
e
n
n
ik
o
v
N
.
V
.
,
e
t
a
l.
,
“
M
a
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m
a
ti
c
a
l
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r
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w
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c
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Re
lu
c
tan
c
e
M
o
t
o
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w
it
h
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u
tu
a
l
I
n
d
u
c
ta
n
c
e
Co
n
sid
e
ra
ti
o
n
,”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
,
v
o
l/
issu
e
:
6
(
2
)
,
p
p
.
225
-
2
3
2
,
2
0
1
5
.
[1
0
]
A
c
a
rn
le
y
P
.
,
“
S
tep
p
in
g
M
o
to
rs
.
A
G
u
id
e
to
M
o
d
e
rn
T
h
e
o
ry
a
n
d
P
ra
c
ti
c
e
,”
L
o
n
d
o
n
,
En
g
lan
d
,
P
e
ter
P
e
re
g
rin
u
s
,
1
9
8
6
.
[1
1
]
L
a
c
h
h
e
b
A
.
,
e
t
a
l.
,
“
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in
it
e
El
e
m
e
n
ts
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o
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li
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g
o
f
L
in
e
a
r
M
o
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o
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u
t
o
m
a
ti
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li
d
in
g
Do
o
r
A
p
p
li
c
a
ti
o
n
,”
In
ter
n
a
t
io
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a
l
J
o
u
rn
a
l
o
f
A
d
v
a
n
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m
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ter
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p
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:
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2
]
W
a
n
g
W
.
,
e
t
a
l.
,
“
P
o
siti
o
n
Co
n
tro
l
f
o
r
th
e
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in
e
a
r
Co
m
p
o
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it
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d
Re
lu
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tan
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e
M
a
c
h
in
e
,”
In
ter
n
a
ti
o
n
a
l
S
y
mp
o
si
u
m o
n
El
e
c
trica
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g
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g
,
C
h
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a
,
v
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l.
6
,
p
p
.
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1
5
,
2
0
1
6
.
[1
3
]
B
.
S
a
a
d
K.
,
“
M
o
d
é
li
sa
ti
o
n
e
t
c
o
m
m
a
n
d
e
d
’u
n
m
o
teu
r
p
a
s
à
p
a
s
t
u
b
u
laire
à
ré
lu
c
tan
c
e
v
a
riab
le
e
à
q
u
a
tre
p
h
a
se
s
A
p
p
ro
c
h
e
s
c
o
n
v
e
n
ti
o
n
n
e
ll
e
s p
a
r
l
o
g
iq
u
e
f
lo
u
e
,
e
t
p
a
r
ré
se
a
u
x
d
e
n
e
u
ro
n
e
s artif
icie
ls
,
”
T
u
n
isia
,
P
h
D.
T
h
e
sis
,
2
0
0
0
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Ay
m
e
n
L
a
c
h
h
e
b
wa
s
b
o
n
rn
i
n
Za
g
h
o
u
a
n
,
T
u
n
is
o
n
0
6
F
e
b
r
1
9
8
5
.
He
re
c
e
i
v
e
d
t
h
e
M
.
S
c
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
a
n
d
P
o
w
e
r
El
e
c
tro
n
ics
f
ro
m
th
e
Hi
g
h
S
c
h
o
o
l
o
f
S
c
ien
c
e
s
a
n
d
T
e
c
h
n
iq
u
e
s
o
f
T
u
n
is
a
n
d
M
a
ste
r
d
e
g
re
e
in
El
e
c
tri
c
a
l
E
n
g
in
e
e
rin
g
a
n
d
In
d
u
strial
S
y
st
m
e
s
in
2
0
1
1
.
S
in
c
e
2
0
1
4
h
a
s
jo
i
n
e
d
t
h
e
tea
c
h
in
g
sta
ff
a
s
a
n
S
e
c
o
n
d
a
r
y
tea
c
h
e
r
in
M
in
istry
o
f
Ed
u
c
a
ti
o
n
.
His m
a
in
re
se
a
rc
h
in
tere
sts a
re
De
sig
n
,
m
o
d
e
li
n
g
a
n
d
c
o
n
tro
l
o
f
e
lec
tri
c
a
l
m
a
c
h
in
e
s
Ja
lel
Kh
e
d
iri
re
c
e
iv
e
d
th
e
d
ip
lo
m
a
o
f
e
n
g
in
e
e
r
d
o
c
to
r
in
e
lec
tri
c
a
l
e
n
g
in
n
e
in
g
f
ro
m
th
e
Un
v
e
rsit
y
o
f
El
e
c
tri
c
S
c
ien
c
e
a
n
d
tec
h
n
o
lo
g
y
L
il
le 1
in
1
9
8
6
.
He
is
a
m
e
m
b
e
r
o
f
S
ICIS
I
(Re
s
e
a
rc
h
G
ro
p
o
n
S
ig
n
a
l,
Im
a
g
e
a
n
d
In
telli
g
n
e
t
Co
n
tro
l
o
f
In
d
u
strial
P
r
o
c
e
ss
)
a
t
th
e
Hig
h
S
c
h
o
o
l
o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
o
f
T
u
n
is
(ES
S
T
T
).
He
jo
in
e
d
t
h
e
tea
c
h
in
g
sta
ff
o
f
h
ig
h
e
r
tec
h
n
o
l
o
g
ica
l
in
stit
u
te
o
f
in
d
u
stries
a
n
d
m
in
e
s
o
f
GA
f
sa
(I
S
T
IM
)
in
1
9
8
7
a
n
d
E
S
S
T
T
in
1
9
9
4
.
His
re
se
a
rc
h
is
in
t
h
e
a
re
a
s
o
f
f
o
o
d
a
n
d
c
o
n
tr
o
l
o
f
v
a
ra
ib
le relu
c
tan
c
e
m
o
to
r
a
n
d
irec
t
st
o
ra
g
e
o
f
e
lec
tri
c
a
l
e
n
e
rg
y
.
L
il
ia
El
Am
ra
o
u
i
w
a
s
b
o
rn
in
T
u
n
isia
in
1
9
7
3
.
S
h
e
re
c
e
iv
e
d
th
e
E
n
g
in
e
e
rin
g
De
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
a
n
d
th
e
M
a
ste
r
De
g
re
e
in
S
y
ste
m
A
n
a
l
y
se
s
a
n
d
Dig
it
a
l
P
r
o
c
e
ss
in
g
f
ro
m
N
a
ti
o
n
a
l
En
g
in
e
e
rin
g
S
c
h
o
o
l
o
f
T
u
n
is
(
E
NIT
,
T
u
n
isia),
re
sp
e
c
ti
v
e
l
y
in
1
9
9
7
a
n
d
1
9
9
8
.
S
h
e
o
b
tai
n
e
d
t
h
e
P
h
D
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
f
ro
m
Un
iv
e
rsit
y
o
f
L
il
le
(US
TL
,
F
ra
n
c
e
)
in
2
0
0
2
a
n
d
th
e
H.U.
f
ro
m
ENI
T
in
2
0
0
8
.
S
h
e
is
f
u
ll
P
r
o
f
e
ss
o
r
o
f
N
a
ti
o
n
a
l
En
g
i
n
e
e
rin
g
S
c
h
o
o
l
o
f
Ca
rth
a
g
e
(ENICa
rth
a
g
e
,
T
u
n
isia),
sin
c
e
2
0
1
3
a
n
d
Co
-
re
sp
o
n
si
b
le
o
f
th
e
Re
se
a
rc
h
Un
it
o
f
S
ig
n
a
ls
a
n
d
M
e
c
h
a
tro
n
ic
S
y
ste
m
s
(S
M
S
).
He
r
re
se
a
r
c
h
in
tere
sts
a
re
in
t
h
e
a
re
a
o
f
o
p
ti
m
a
l
d
e
sig
n
o
f
m
e
c
h
a
tro
n
ic sy
ste
m
s,
El
e
c
tri
c
a
l
v
e
h
icle
s an
d
re
n
e
w
a
b
le en
e
rg
y
.
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