I
nte
rna
t
io
na
l J
o
urna
l o
f
P
o
w
er
E
lect
ro
nics
a
nd
Driv
e
Sy
s
t
e
m
(
I
J
P
E
DS
)
Vo
l.
7
,
No
.
3
,
Sep
tem
b
er
2
0
1
6
,
p
p
.
781
~
78
9
I
SS
N:
2088
-
8
6
9
4
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
p
ed
s
.
v
7
.
i3
.
p
p
7
8
1
-
789
781
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
JP
E
DS
Reduction
of Cog
g
ing
To
rque by A
da
pting Bi
fur
ca
te
d St
a
tor
Slo
ts and M
ini
m
i
z
a
tion o
f
H
a
r
m
o
n
ics a
nd To
rque
Ri
pple in
Brus
hless
DC
M
o
tor
M
.
Arun N
o
y
a
l D
o
s
s
,
K
.
M
o
ha
nra
j
,
V.
K
a
ly
a
na
s
un
da
ra
m
,
K
.
K
a
rt
hi
k
De
p
a
rtme
n
t
o
f
EE
E,
S
R
M
Un
iv
e
r
sity
,
Ch
e
n
n
a
i,
In
d
ia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
No
v
1
2
,
2
0
1
5
R
ev
i
s
ed
Mar
2
1
,
2
0
1
6
A
cc
ep
ted
A
p
r
22
,
2
0
1
6
T
h
is
p
a
p
e
r
p
ro
p
o
se
s
a
n
im
p
ro
v
e
d
m
e
th
o
d
o
lo
g
y
to
m
in
i
m
ize
th
e
c
o
g
g
in
g
to
rq
u
e
,
h
a
rm
o
n
ics
a
n
d
to
r
q
u
e
rip
p
les
i
n
Bru
s
h
les
s
DC
(BL
DC)
m
o
to
r.
T
h
e
c
o
g
g
in
g
to
rq
u
e
is
re
d
u
c
e
d
b
y
d
e
sig
n
in
g
th
e
BL
DC
m
o
to
r
w
it
h
b
if
u
rc
a
ted
a
c
ti
v
e
su
rfa
c
e
a
r
e
a
u
sin
g
F
in
it
e
El
e
m
e
n
t
A
n
a
l
y
sis
(F
EA
).
T
h
e
h
a
rm
o
n
ics
a
n
d
t
o
rq
u
e
ri
p
p
le
is
m
in
im
i
z
e
d
u
sin
g
P
I
a
n
d
F
u
z
z
y
c
o
n
tr
o
ll
e
rs.
T
h
e
se
c
o
n
tro
ll
e
rs
a
re
a
n
a
ly
z
e
d
to
b
ri
n
g
o
u
t
a
n
o
p
t
im
a
l
so
lu
t
io
n
.
T
h
e
e
ff
e
c
ti
v
e
n
e
ss
a
n
d
f
lex
ib
il
it
y
o
f
th
e
in
d
iv
id
u
a
l
tec
h
n
iq
u
e
s
o
f
p
ro
p
o
se
d
c
o
n
tro
l
m
e
th
o
d
is
v
e
rif
ie
d
th
ro
u
g
h
sim
u
latio
n
s
[
M
a
tl
a
b
S
im
u
li
n
k
]
.
T
h
e
e
x
p
e
ri
m
e
n
tal
re
su
lt
is
sh
o
wn
o
n
ly
f
o
r
f
u
z
z
y
c
o
n
tro
l
b
e
c
a
u
se
f
u
z
z
y
is
b
e
tt
e
r
c
o
m
p
a
rin
g
th
e
p
e
rf
o
rm
a
n
c
e
o
f
P
I
c
o
n
tr
o
ll
e
rs.
K
ey
w
o
r
d
:
B
r
u
s
h
le
s
s
D
C
(
B
L
D
C
)
m
o
to
r
C
o
g
g
in
g
to
r
q
u
e
Fu
zz
y
co
n
tr
o
ller
Stato
r
cu
r
r
en
t to
r
q
u
e
r
ip
p
le
Co
p
y
rig
h
t
©
201
6
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
M.
A
r
u
n
No
y
a
l D
o
s
s
,
Dep
ar
te
m
en
t o
f
E
lectr
ical
an
d
E
lectr
o
n
ics E
n
g
i
n
ee
r
in
g
,
SR
M
U
n
i
v
er
s
it
y
,
C
h
en
n
ai,
T
am
il
Nad
u
,
I
n
d
ia
.
E
m
ail:
ar
u
n
n
o
y
al
@
g
m
a
il.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
B
r
u
s
h
le
s
s
DC
Mo
to
r
s
(
B
L
DC
M)
is
w
id
el
y
u
s
ed
in
au
to
m
at
ed
in
d
u
s
tr
ial
ap
p
licatio
n
s
li
k
e
C
o
m
p
u
ter
Nu
m
er
ical
C
o
n
tr
o
l
(
C
N
C
)
m
a
ch
in
er
y
,
ae
r
o
s
p
ac
e
ap
p
licatio
n
s
an
d
i
n
t
h
e
f
ield
o
f
r
o
b
o
tics
.
T
h
e
m
ain
p
r
o
b
lem
th
at
o
cc
u
r
s
in
B
r
u
s
h
les
s
DC
Mo
to
r
s
(
B
L
DC
M)
is
C
o
g
g
i
n
g
to
r
q
u
e
an
d
T
o
r
q
u
e
r
ip
p
les.
C
o
g
g
i
n
g
to
r
q
u
e
is
ca
u
s
ed
d
u
e
to
t
h
e
i
n
ter
ac
tio
n
b
et
w
ee
n
t
h
e
p
er
m
an
e
n
t
m
a
g
n
et
a
n
d
s
ta
to
r
s
lo
t
o
f
t
h
e
m
a
ch
in
e.
T
h
e
co
g
g
in
g
to
r
q
u
e
is
m
iti
g
ated
b
y
b
i
f
u
r
ca
ted
ac
tiv
e
s
u
r
f
ac
e
ar
ea
.
C
o
g
g
i
n
g
to
r
q
u
e
ca
n
b
e
d
eter
m
i
n
ed
an
al
y
ticall
y
as
w
ell
as
b
y
Fi
n
ite
ele
m
e
n
t
m
et
h
o
d
s
.
T
h
e
d
y
n
a
m
ic
s
o
f
th
i
s
m
o
to
r
s
h
o
u
ld
b
e
s
m
o
o
t
h
f
o
r
m
a
n
y
in
d
u
s
tr
ial
an
d
au
to
m
ated
ap
p
licatio
n
s
a
n
d
f
r
ee
f
r
o
m
u
n
w
a
n
ted
i
n
ter
f
er
en
ce
.
B
u
t
d
u
e
to
h
i
g
h
s
p
ee
d
s
w
itc
h
in
g
c
ir
cu
it
s
u
s
ed
i
n
t
h
e
co
m
m
u
ta
tio
n
cir
c
u
its
,
th
e
B
L
D
C
m
o
to
r
cu
r
r
en
t
c
o
n
tai
n
s
h
ar
m
o
n
ics
co
m
p
o
n
e
n
t
a
n
d
t
h
is
ca
u
s
es
h
ig
h
elec
tr
o
m
ag
n
etic
in
ter
f
er
e
n
ce
p
r
o
b
lem
s
.
No
r
m
all
y
to
r
q
u
e
r
ip
p
le
in
B
L
D
C
m
o
to
r
is
ca
u
s
ed
b
y
t
w
o
f
ac
to
r
s
v
iz.
1
)
m
o
to
r
d
esig
n
a
n
d
2
)
Po
w
er
in
v
er
ter
s
u
p
p
l
y
.
T
h
e
p
r
o
p
o
s
ed
w
o
r
k
i
s
b
ased
o
n
cu
r
r
en
t
co
n
tr
o
l
m
e
th
o
d
wh
ic
h
u
tili
ze
s
P
I
co
n
tr
o
ller
a
n
d
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
in
s
en
s
o
r
ed
B
r
u
s
h
le
s
s
DC
m
o
to
r
.
T
h
e
Hall
E
f
f
ec
t
s
en
s
o
r
is
u
s
ed
h
er
e
to
d
etec
t
th
e
p
o
s
itio
n
o
f
th
e
r
o
to
r
.
Var
io
u
s
tech
n
iq
u
e
s
h
a
v
e
b
ee
n
ad
o
p
ted
to
r
e
d
u
ce
co
g
g
i
n
g
to
r
q
u
e
s
u
ch
as
m
a
g
n
et
p
o
le
d
esig
n
,
s
k
e
w
i
n
g
,
a
n
d
d
u
m
m
y
s
lo
t
s
[
1
]
an
d
[
6
]
.
T
h
e
C
A
D
o
f
r
ad
ial
f
lu
x
s
u
r
f
ac
e
m
o
u
n
ted
m
a
g
n
e
ts
i
s
e
as
y
to
f
ab
r
icate
an
d
w
as
ap
p
li
ed
s
u
cc
es
s
f
u
ll
y
[
2
]
-
[
5
]
.
As
y
m
m
etr
ic
m
ag
n
et
s
an
d
s
h
i
f
ti
n
g
an
g
le
s
w
er
e
ap
p
lied
ex
p
er
i
m
e
n
tall
y
to
r
ed
u
ce
h
ar
m
o
n
ics
o
f
co
g
g
in
g
to
r
q
u
e
[
3
]
.
T
h
e
d
if
f
er
en
t
k
i
n
d
o
f
m
et
h
o
d
s
ca
r
r
ied
o
u
t
to
m
in
i
m
ize
th
e
co
g
g
i
n
g
to
r
q
u
e
i
n
B
L
DC
m
o
to
r
is
p
r
esen
ted
in
p
r
ev
io
u
s
r
esear
c
h
[
7
]
.
T
h
e
h
ar
m
o
n
ics
a
n
d
to
r
q
u
e
r
ip
p
le
w
as
r
ed
u
ce
d
w
ith
v
o
ltag
e
co
n
tr
o
l
m
et
h
o
d
u
s
i
n
g
L
C
f
ilt
er
[
8
]
.
T
h
e
to
r
q
u
e
r
ip
p
le
is
m
i
n
i
m
ized
u
s
in
g
p
wm
s
w
i
tch
in
g
s
c
h
e
m
e
p
r
esen
te
d
in
p
ap
er
[
9
]
-
[
1
1
]
.
T
o
r
q
u
e
r
ip
p
le
is
m
i
n
i
m
ized
u
s
i
n
g
n
e
u
r
o
-
f
u
zz
y
co
n
tr
o
ller
in
[
1
2
]
-
[
1
4
]
.
T
h
is
p
ap
er
[
1
5
]
d
escr
ib
es
a
n
e
w
ap
p
r
o
ac
h
to
an
al
y
ze
t
h
e
s
tato
r
in
ter
n
a
l
f
au
lt
o
f
a
b
r
u
s
h
les
s
d
c
m
o
to
r
.
T
h
is
p
ap
er
p
r
esen
ts
an
ap
p
r
o
ac
h
f
o
r
m
in
i
m
iz
i
n
g
to
r
q
u
e
r
ip
p
le
i
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
R
ed
u
ctio
n
o
f Co
g
g
in
g
To
r
q
u
e
b
y
A
d
a
p
tin
g
B
ifu
r
ca
ted
S
ta
to
r
S
lo
ts
a
n
d
…
(
M.
A
r
u
n
N
o
ya
l
Do
s
s
)
782
B
r
u
s
h
le
s
s
d
c
m
o
to
r
d
u
e
to
p
h
ase
co
m
m
u
tatio
n
u
s
i
n
g
f
u
zz
y
co
n
tr
o
l.
I
t
u
s
es
d
o
u
b
le
clo
s
ed
lo
o
p
w
it
h
cu
r
r
en
t
h
y
s
ter
esi
s
an
d
s
p
ee
d
f
u
zz
y
co
n
tr
o
l.
2.
CO
G
G
I
N
G
T
O
RQ
UE
R
E
D
UCTI
O
N
B
Y
B
I
F
URC
AT
E
D
ACTI
VE
S
URF
AC
E
ARE
A
T
h
e
co
g
g
in
g
to
r
q
u
e
o
f
a
m
o
t
o
r
h
as
b
ee
n
co
n
s
id
er
ed
as
th
e
s
u
m
m
atio
n
o
f
t
h
e
i
n
ter
ac
tio
n
s
o
f
ea
c
h
ed
g
e
o
f
th
e
r
o
to
r
P
Ms
w
it
h
t
h
e
s
tato
r
s
lo
ts
[
1
]
.
Hen
ce
,
th
e
r
esu
lt
o
f
co
g
g
in
g
to
r
q
u
e
ca
n
b
e
r
ed
u
ce
d
o
b
v
io
u
s
l
y
to
th
e
s
t
u
d
y
o
f
t
h
ese
i
n
ter
ac
tio
n
s
.
T
h
e
co
g
g
i
n
g
to
r
q
u
e
ca
n
b
e
ex
p
r
ess
ed
as
∑
(
1
)
w
h
er
e
T
ck
is
t
h
e
a
m
p
lit
u
d
e
o
f
t
h
e
k
th
h
ar
m
o
n
ic
co
m
p
o
n
en
t
o
f
th
e
co
g
g
i
n
g
to
r
q
u
e,
Q
is
t
h
e
n
u
m
b
er
o
f
s
lo
ts
a
n
d
k
i
s
t
h
e
o
r
d
er
o
f
co
g
g
in
g
h
a
r
m
o
n
ics.
T
h
e
3
0
-
s
lo
t
s
,
6
-
p
o
le
s
B
L
DC
m
o
to
r
w
i
th
ce
r
tain
d
i
m
en
s
io
n
s
[
1
8
]
is
co
n
s
id
er
ed
as
th
e
s
p
ec
i
f
ied
m
o
to
r
f
o
r
w
h
ich
t
h
e
co
g
g
i
n
g
to
r
q
u
e
is
d
eter
m
i
n
ed
an
al
y
ti
ca
ll
y
.
B
u
t,
f
o
r
s
o
m
e
s
p
ec
ial
d
esig
n
s
t
h
e
co
g
g
i
n
g
t
o
r
q
u
e
ca
n
b
e
d
eter
m
i
n
ed
b
y
FE
m
et
h
o
d
o
n
l
y
.
I
n
th
e
p
r
ese
n
t
w
o
r
k
t
h
e
co
g
g
i
n
g
to
r
q
u
e
is
d
eter
m
in
ed
an
a
l
y
t
ic
all
y
an
d
b
y
FE
A
f
o
r
th
e
s
p
e
cif
i
ed
m
o
to
r
.
T
h
e
to
o
th
s
h
ap
e,
m
e
s
h
d
is
tr
ib
u
tio
n
an
d
f
lu
x
d
en
s
it
y
d
is
tr
ib
u
tio
n
o
f
th
e
m
o
to
r
f
o
r
th
e
b
if
u
r
ca
te
d
ac
ti
v
e
s
u
r
f
ac
e
ar
ea
is
s
h
o
wn
in
Fi
g
u
r
e
1
.
T
h
e
co
g
g
i
n
g
to
r
q
u
e
f
o
r
th
e
s
p
ec
if
i
ed
m
ac
h
in
e
i
s
d
eter
m
in
ed
an
a
l
y
ticall
y
u
s
i
n
g
Ma
tlab
.
T
h
e
an
al
y
tical
ex
p
r
e
s
s
io
n
f
o
r
th
e
co
g
g
in
g
to
r
q
u
e
is
g
i
v
e
n
b
elo
w
[
7
]
.
)
2
s
i
n
(
)
s
i
n
(
2
1
1
..
3
,
2
,
1
1
0
'
X
t
k
c
t
k
k
B
A
D
L
g
T
t
k
k
c
mg
T
in
i
c
(
2
)
T
h
e
co
g
g
in
g
to
r
q
u
e
f
o
r
th
e
s
p
ec
if
ied
m
o
to
r
[
2
]
an
d
[
7
]
is
d
eter
m
i
n
ed
an
al
y
tical
l
y
a
n
d
b
y
FE
A
an
al
y
s
is
a
n
d
b
o
th
r
es
u
lt
s
ar
e
f
o
u
n
d
to
b
e
v
er
y
clo
s
e
to
ea
c
h
o
t
h
er
as
s
h
o
w
n
in
Fi
g
u
r
e
2
.
T
h
e
FE
A
s
o
f
t
w
ar
e
to
o
l
Ma
g
Net
6
.
1
1
is
u
s
ed
f
o
r
s
i
m
u
lat
io
n
.
T
h
e
p
r
e
an
d
p
o
s
t
p
r
o
ce
s
s
in
g
ca
lcu
lat
io
n
h
a
s
ca
r
r
ied
o
u
t
b
y
th
e
th
r
ee
p
h
ase
ex
citat
io
n
b
y
1
2
0
d
e
g
r
ee
s
q
u
ar
e
w
a
v
e
in
v
er
ter
.
T
h
e
co
g
g
i
n
g
to
r
q
u
e
co
m
p
ar
is
o
n
o
f
th
e
ex
is
tin
g
an
d
p
r
o
p
o
s
ed
m
eth
o
d
o
f
s
tato
r
s
lo
ts
ar
e
s
h
o
w
n
in
T
ab
le
1.
(
a)
(
b
)
(
c)
Fig
u
r
e
1
.
B
if
u
r
ca
ted
m
o
d
el
o
f
B
L
DC
m
o
to
r
(
a)
d
esig
n
v
ie
w
o
f
co
n
v
e
n
tio
n
al
an
d
b
if
u
r
ca
ted
s
tato
r
s
lo
t
,
(
b
)
m
es
h
an
al
y
s
is
a
n
d
(
c)
f
lu
x
d
en
s
it
y
d
i
s
tr
ib
u
tio
n
-
ta
n
g
en
tia
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
3
,
Sep
tem
b
er
2
0
1
6
:
781
-
789
783
T
ab
le
1
.
C
o
m
p
ar
is
o
n
o
f
C
o
g
g
i
n
g
T
o
r
q
u
e
Ty
p
e
o
f
sl
o
t
C
o
g
g
i
n
g
T
o
r
q
u
e
N
m
C
o
n
v
e
n
t
i
o
n
a
l
s
t
a
t
o
r
sl
o
t
2
.
2
B
i
f
u
r
c
a
t
e
d
st
a
t
o
r
sl
o
t
0
.
4
3
Fig
u
r
e
2
.
C
o
g
g
in
g
to
r
q
u
e
r
esu
lt f
o
r
n
o
r
m
al
s
tato
r
s
lo
t (
a)
an
al
y
tical
a
n
d
(
b
)
FEA
an
al
y
s
is
.
C
o
g
g
in
g
to
r
q
u
e
r
esu
lt
f
o
r
b
if
u
r
ca
ted
s
tato
r
s
lo
t
(
c)
A
n
al
y
tical
a
n
d
(
d
)
FEA
an
al
y
s
i
s
3.
P
RO
P
O
SE
D
CO
NT
RO
L
SY
ST
E
M
T
h
e
o
v
er
all
b
lo
ck
d
iag
r
a
m
o
f
th
e
p
la
n
n
e
d
s
y
s
te
m
i
s
s
h
o
w
n
in
Fig
u
r
e
3
to
m
in
i
m
ize
h
ar
m
o
n
ics
an
d
to
r
q
u
e
r
ip
p
le.
T
h
e
o
p
er
ati
o
n
o
f
t
h
e
s
y
s
te
m
is
a
s
f
o
llo
ws:
t
h
e
ar
m
at
u
r
e
c
u
r
r
en
t
i
s
s
e
n
s
ed
th
r
o
u
g
h
cu
r
r
en
t
s
en
s
o
r
s
an
d
co
n
v
er
ted
i
n
to
v
o
ltag
e
s
i
g
n
a
ls
.
T
h
ese
s
i
g
n
als
ar
e
th
en
r
ec
ti
f
ied
an
d
a
d
c
co
m
p
o
n
en
t,
w
i
th
t
h
e
v
alu
e
o
f
th
e
ce
ili
n
g
o
f
t
h
e
c
u
r
r
en
t
I
dc
i
s
o
b
tain
ed
a
s
s
h
o
w
n
i
n
F
ig
u
r
e
4.
T
h
is
d
c
s
ig
n
al
is
co
m
p
ar
ed
w
it
h
d
esire
d
r
ef
er
en
ce
s
i
g
n
al
I
ref
,
a
n
d
f
r
o
m
t
h
is
co
m
p
ar
is
o
n
t
h
e
er
r
o
r
s
ig
n
al
I
err
i
s
o
b
tain
ed
.
T
h
is
er
r
o
r
s
ig
n
al
is
p
ass
ed
th
r
o
u
g
h
a
co
n
tr
o
ller
(
PI
o
r
f
u
zz
y
)
to
g
e
n
er
ate
t
h
e
P
W
M
p
u
ls
es
as
s
h
o
w
n
i
n
F
ig
u
r
e
4
f
o
r
all
th
e
s
w
itc
h
es o
f
t
h
e
t
h
r
ee
p
h
ase
i
n
v
er
ter
,
w
h
ic
h
ar
e
s
eq
u
en
tiall
y
ac
tiv
ated
b
y
t
h
e
s
h
af
t p
o
s
itio
n
s
en
s
o
r
.
3
.
1
.
P
I
Co
ntr
o
ller
T
h
e
p
r
o
p
o
r
tio
n
al
–
in
te
g
r
al
(
P
I
)
co
n
tr
o
ller
em
p
lo
y
ed
,
co
n
tai
n
s
a
f
ee
d
b
ac
k
s
ig
n
al
d
er
iv
ed
f
r
o
m
th
e
ar
m
atu
r
e
cu
r
r
en
t.
T
h
e
c
u
r
r
en
t
co
n
tr
o
ller
b
lo
ck
alo
n
g
w
it
h
P
I
co
n
tr
o
ller
is
s
h
o
w
n
i
n
Fi
g
u
r
e
4
.
T
h
e
g
ai
n
o
f
th
e
P
I
c
o
n
tr
o
ller
w
ill
b
e
in
itialize
d
u
s
in
g
a
w
ell
k
n
o
w
n
co
n
v
e
n
t
io
n
al
m
et
h
o
d
,
b
u
t
th
e
g
ai
n
d
ep
en
d
s
o
n
th
e
B
L
D
C
m
o
to
r
esti
m
a
ted
m
o
d
el
at
r
ated
o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
e
o
u
tp
u
t
o
f
th
is
P
I
co
n
tr
o
ller
co
m
p
r
is
e
s
th
e
m
o
d
u
latio
n
i
n
d
ex
MI
,
a
n
d
d
ep
en
d
in
g
o
n
i
ts
v
al
u
e,
t
h
e
g
ate
-
f
ir
in
g
a
n
g
les
f
o
r
t
h
e
i
n
v
e
r
ter
s
w
itch
(
1
-
6)
i
s
d
ec
id
ed
.
3
.
2
.
F
uzzy
Co
ntr
o
ller
Fu
zz
y
lo
g
ic
co
n
tr
o
l
h
a
s
b
ee
n
f
o
u
n
d
to
b
e
e
x
ce
lle
n
t
in
d
ea
lin
g
w
i
th
i
m
p
r
ec
i
s
e
a
n
d
n
o
n
-
lin
e
ar
s
y
s
te
m
.
Fu
zz
y
lo
g
ic
co
n
tr
o
l
is
ea
s
y
to
i
m
p
le
m
en
t
a
n
d
it
d
o
es
n
o
t
n
ee
d
an
y
m
a
th
e
m
atic
al
m
o
d
el
o
f
th
e
co
n
tr
o
l
s
y
s
te
m
.
T
h
is
is
ac
h
iev
ed
b
y
co
n
v
er
tin
g
th
e
li
n
g
u
i
s
tic
co
n
tr
o
l
s
tr
ate
g
y
o
f
h
u
m
a
n
ex
p
er
ien
ce
a
n
d
k
n
o
w
led
g
e
in
to
an
au
to
m
at
ic
co
n
tr
o
l
s
tr
ate
g
y
.
I
n
i
tiall
y
a
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
is
d
ev
elo
p
ed
u
s
i
n
g
Ma
tlab
F
u
zz
y
lo
g
ic
to
o
lb
o
x
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
R
ed
u
ctio
n
o
f Co
g
g
in
g
To
r
q
u
e
b
y
A
d
a
p
tin
g
B
ifu
r
ca
ted
S
ta
to
r
S
lo
ts
a
n
d
…
(
M.
A
r
u
n
N
o
ya
l
Do
s
s
)
784
an
d
th
en
i
n
s
er
ted
in
Si
m
u
li
n
k
m
o
d
el.
T
h
e
c
u
r
r
en
t
co
n
tr
o
ller
b
lo
ck
w
it
h
f
u
zz
y
co
n
tr
o
ller
is
s
h
o
w
n
i
n
Fi
g
u
r
e
5
.
Her
e
th
e
in
p
u
t
a
n
d
o
u
tp
u
t
f
o
r
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
l
s
y
s
te
m
ar
e
er
r
o
r
(
e)
,
ch
an
g
e
in
er
r
o
r
(
ce
)
an
d
cu
r
r
en
t
v
alu
e.
Fo
r
t
h
ese
in
p
u
t
a
n
d
o
u
tp
u
t
v
al
u
es
s
e
v
en
m
e
m
b
er
s
h
ip
f
u
n
c
tio
n
s
ar
e
cr
ea
ted
.
T
h
e
m
o
s
t
i
m
p
o
r
tan
t
p
ar
am
eter
s
o
f
Fu
zz
y
lo
g
ic
ar
e
s
ca
lin
g
f
ac
to
r
s
.
T
h
e
in
p
u
t
s
c
alin
g
f
ac
to
r
s
af
f
ec
t
t
h
e
F
L
C
s
en
s
it
iv
i
t
y
w
h
ile
th
e
o
u
tp
u
t
s
ca
lin
g
f
ac
to
r
s
a
f
f
ec
t
t
h
e
s
y
s
te
m
s
tab
ilit
y
.
T
h
e
r
u
les
ar
e
w
r
itte
n
i
n
f
u
zz
y
ed
ito
r
b
lo
ck
in
m
atlab
to
o
l
u
s
i
n
g
th
e
f
o
ll
o
w
in
g
r
u
le
b
ase
T
ab
le
2
.
Fig
u
r
e
3
.
B
asic b
lo
ck
d
iag
r
a
m
Fig
u
r
e
4
.
C
u
r
r
en
t c
o
n
tr
o
ller
b
lo
ck
w
ith
P
I
co
n
tr
o
ller
Fig
u
r
e
5
.
C
u
r
r
en
t c
o
n
tr
o
ller
b
lo
ck
w
ith
f
u
zz
y
co
n
tr
o
ller
T
ab
le
2.
Fu
zz
y
R
u
le
B
ase
CE
\
E
NB
NM
NS
ZE
PS
PM
PB
NB
NB
NB
NB
NM
NS
NS
ZE
NM
NB
NM
NM
NM
NS
ZE
PS
NS
NB
NM
NS
NS
ZE
PS
PM
ZE
NB
NM
NS
ZE
PS
PM
PB
PS
NM
NS
ZE
PS
PS
PM
PB
PM
NS
ZE
PS
PM
PM
PM
PB
PB
ZE
PS
PS
PM
PB
PB
PB
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
T
h
e
p
h
ase
c
u
r
r
en
t
w
a
v
e
f
o
r
m
an
d
b
ac
k
e
m
f
w
av
e
f
o
r
m
w
i
th
PI
co
n
tr
o
ller
is
s
h
o
w
n
in
F
ig
u
r
e
6
.
T
h
e
p
h
ase
cu
r
r
en
t
f
o
r
P
I
co
n
tr
o
ller
is
1
0
A
f
o
r
s
p
ee
d
o
f
4
0
0
0
r
p
m
a
n
d
th
e
to
r
q
u
e
r
ip
p
le
o
u
tp
u
t
is
s
h
o
w
n
in
F
ig
u
r
e
7
.
T
h
e
T
o
q
u
e
r
ip
p
le
w
a
v
ef
o
r
m
f
o
r
th
e
B
L
D
C
m
o
to
r
w
it
h
P
I
co
n
tr
o
ller
is
s
h
o
w
n
in
F
ig
u
r
e
8.
T
h
e
p
h
ase
cu
r
r
en
t
w
a
v
ef
o
r
m
a
n
d
b
ac
k
e
m
f
w
av
e
f
o
r
m
w
i
th
F
u
zz
y
co
n
t
r
o
ller
is
s
h
o
w
n
i
n
Fi
g
u
r
e
8
.
I
t
h
as
b
ee
n
f
o
u
n
d
th
at
th
e
o
u
tp
u
ts
o
f
th
e
B
L
D
C
m
o
to
r
w
it
h
F
u
zz
y
co
n
tr
o
ller
a
r
e
ex
ce
lle
n
t
w
h
en
co
m
p
ar
ed
w
ith
P
I
co
n
tr
o
ller
o
u
tp
u
ts
.
T
h
e
p
h
ase
c
u
r
r
en
t
f
o
r
P
I
co
n
tr
o
ller
is
7
A
f
o
r
s
p
ee
d
o
f
4
0
0
0
r
p
m
.
T
h
e
T
o
q
u
e
r
ip
p
l
e
w
a
v
e
f
o
r
m
f
o
r
t
h
e
B
L
DC
m
o
to
r
w
i
th
F
u
z
z
y
co
n
t
r
o
ller
is
s
h
o
w
n
Fig
u
r
e
9
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
3
,
Sep
tem
b
er
2
0
1
6
:
781
-
789
785
(
a)
(
b
)
Fig
u
r
e
6
.
(
a)
P
h
ase
cu
r
r
en
t a
n
d
(
b
)
Stato
r
b
ac
k
E
MF
o
f
B
L
DC
m
o
to
r
w
it
h
PI
co
n
tr
o
ller
.
Fig
u
r
e
7
.
T
o
r
q
u
e
r
ip
p
le
w
av
e
f
o
r
m
o
f
B
L
D
C
m
o
to
r
w
it
h
PI
c
o
n
tr
o
ller
(
a)
(
b
)
Fig
u
r
e
8
.
(
a)
P
h
ase
cu
r
r
en
t a
n
d
(
b
)
Stato
r
b
ac
k
E
MF
o
f
B
L
DC
w
it
h
F
u
zz
y
co
n
tr
o
ller
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
R
ed
u
ctio
n
o
f Co
g
g
in
g
To
r
q
u
e
b
y
A
d
a
p
tin
g
B
ifu
r
ca
ted
S
ta
to
r
S
lo
ts
a
n
d
…
(
M.
A
r
u
n
N
o
ya
l
Do
s
s
)
786
Fig
u
r
e
9
.
T
o
r
q
u
e
r
ip
p
le
w
av
e
f
o
r
m
o
f
B
L
D
C
m
o
to
r
w
it
h
Fu
z
z
y
co
n
tr
o
ller
4
.
1
.
T
H
D
a
nd
T
o
rq
ue
Ripp
le
Ca
lcula
t
io
n
T
o
r
q
u
e
r
ip
p
le
is
d
ef
in
ed
as
p
er
io
d
ic
in
cr
ea
s
e
an
d
d
ec
r
ea
s
e
in
o
u
tp
u
t
to
r
q
u
e.
T
h
e
f
o
r
m
u
la
f
o
r
f
in
d
i
n
g
th
e
to
r
q
u
e
r
ip
p
le
is
t
h
e
p
er
ce
n
tag
e
o
f
th
e
d
i
f
f
er
en
ce
b
et
w
e
en
t
h
e
m
ax
i
m
u
m
to
r
q
u
e
a
n
d
t
h
e
m
i
n
i
m
u
m
to
r
q
u
e
co
m
p
ar
ed
to
th
e
av
er
a
g
e
to
r
q
u
e.
T
h
e
Fig
u
r
e
s
1
0
(
a)
a
n
d
(
b
)
s
h
o
w
s
t
h
e
F
FT
an
al
y
s
i
s
o
f
t
h
e
P
h
ase
cu
r
r
en
t
w
it
h
PI
co
n
tr
o
ller
an
d
f
u
zz
y
co
n
tr
o
ller
.
R
ed
u
ctio
n
i
n
T
HD
r
es
u
lts
i
n
t
h
e
s
m
o
o
t
h
n
ess
i
n
ar
m
a
tu
r
e
c
u
r
r
en
t,
w
h
ic
h
i
m
p
r
o
v
es
th
e
co
m
m
u
tatio
n
e
f
f
ec
t
o
f
th
e
B
L
D
C
m
o
to
r
.
T
h
e
p
er
f
o
r
m
a
n
ce
co
m
p
ar
i
s
o
n
o
f
P
I
an
d
f
u
z
z
y
co
n
tr
o
ller
is
s
h
o
w
n
i
n
T
ab
le
3.
(
a)
(
b
)
Fig
u
r
e
10
.
T
HD
w
av
e
f
o
r
m
f
o
r
p
h
ase
cu
r
r
en
t
f
o
r
(
a)
P
I
c
o
n
tr
o
ller
an
d
(
b
)
Fu
zz
y
co
n
tr
o
ller
Fig
u
r
e
11
s
h
o
w
s
t
h
e
s
p
ee
d
r
esp
o
n
s
e
o
f
t
h
e
P
I
an
d
f
u
zz
y
co
n
tr
o
ller
.
T
h
e
s
p
ee
d
r
esp
o
n
s
e
f
o
r
PI
co
n
tr
o
ller
is
n
o
t settl
in
g
an
d
i
n
f
u
zz
y
co
n
tr
o
ller
th
e
s
p
ee
d
r
an
g
e
is
u
p
to
4
0
0
0
r
p
m
.
(
a)
(
b
)
Fig
u
r
e
11.
Sp
ee
d
r
esp
o
n
s
e
o
f
B
L
DC
m
o
to
r
u
s
i
n
g
(
a)
P
I
c
o
n
tr
o
ller
an
d
(
b
)
Fu
zz
y
co
n
tr
o
ller
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
3
,
Sep
tem
b
er
2
0
1
6
:
781
-
789
787
4
.
2
.
E
x
peri
m
e
nta
l R
esu
lt
s
T
h
e
ex
p
er
i
m
en
tal
r
es
u
lt
i
s
s
h
o
w
n
o
n
l
y
f
o
r
f
u
zz
y
co
n
tr
o
l
b
ec
au
s
e
f
u
zz
y
i
s
b
etter
co
m
p
ar
in
g
t
h
e
s
i
m
u
lat
io
n
r
es
u
lt
s
o
f
P
I
co
n
tr
o
ller
s
.
Fu
zz
y
lo
g
ic
is
d
ev
elo
p
ed
in
T
MS3
2
0
C
6
7
1
3
to
co
n
tr
o
l
th
e
B
r
u
s
h
le
s
s
D
C
m
o
to
r
.
T
h
e
m
o
to
r
ca
p
ac
it
y
i
s
1
HP
.
T
h
e
p
o
s
itio
n
o
f
th
e
B
L
DC
m
o
to
r
is
d
etec
ted
b
y
t
h
e
Hall
E
f
f
ec
t
s
e
n
s
o
r
.
T
h
e
o
p
e
r
atio
n
o
f
m
o
to
r
is
v
er
y
q
u
iet
an
d
s
m
o
o
th
,
b
o
th
s
i
m
u
latio
n
a
n
d
ex
p
er
i
m
e
n
tal
s
et
-
u
p
h
av
e
p
r
o
v
i
d
ed
a
g
o
o
d
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
o
f
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
s
y
s
t
e
m
.
T
h
e
s
p
ee
d
o
f
t
h
e
B
L
DC
m
o
to
r
is
d
etec
ted
b
y
Hall
-
s
en
s
o
r
I
C
’
s
ac
cu
r
atel
y
i
n
s
tead
o
f
th
e
u
s
u
al,
ex
p
en
s
i
v
e
an
d
co
m
p
licated
en
co
d
er
s
y
s
te
m
.
Fig
u
r
e
1
2
s
h
o
w
s
th
e
ex
p
er
i
m
en
tal
r
es
u
lt
f
o
r
p
h
ase
c
u
r
r
en
t
W
av
e
f
o
r
m
s
o
f
t
h
e
B
L
D
C
m
o
to
r
v
ia
a
d
ig
ita
l
o
s
cillo
s
co
p
e
w
it
h
s
y
n
ch
r
o
n
izatio
n
o
f
s
p
ec
tr
u
m
a
n
al
y
ze
r
,
w
h
en
th
e
r
o
to
r
s
p
ee
d
is
4
0
0
0
r
p
m
.
T
h
e
p
h
ase
d
if
f
er
en
ce
b
et
w
ee
n
I
a,
I
b
an
d
I
c
is
ap
p
r
o
x
im
ate
l
y
1
2
0
d
eg
r
ee
an
d
th
e
v
al
u
e
o
f
t
h
e
cu
r
r
en
t
m
ag
n
it
u
d
e
f
o
r
I
a,
I
a
a
n
d
I
c
is
ab
o
u
t
7
A
.
T
h
e
ex
p
er
i
m
en
tal
s
p
ee
d
r
esp
o
n
s
e
o
f
B
L
DC
m
o
to
r
at
4
0
0
0
r
p
m
is
s
h
o
w
n
in
Fi
g
u
r
e
1
3
.
T
h
ese
r
esu
lts
o
f
p
h
a
s
e
cu
r
r
en
t
a
n
d
s
p
ee
d
j
u
s
tify
th
at
th
e
e
x
p
er
i
m
e
n
tal
an
d
s
i
m
u
la
ti
o
n
r
es
u
lt
ar
e
v
er
y
clo
s
e
to
ea
ch
o
t
h
er
.
Hen
ce
it
i
s
p
r
o
v
en
th
at
t
h
e
t
o
r
q
u
e
r
ip
p
le
an
d
h
ar
m
o
n
ics al
s
o
g
et
m
i
n
i
m
i
ze
d
th
e
cu
r
r
en
t i
s
g
etti
n
g
co
n
tr
o
lled
.
Fig
u
r
e
1
2
.
P
h
ase
cu
r
r
en
t
w
av
e
f
o
r
m
b
ased
o
n
s
p
ee
d
at
4
0
0
0
r
p
m
T
ab
le
3
.
P
er
f
o
r
m
a
n
ce
co
m
p
ar
i
s
o
n
o
f
C
o
n
tr
o
ller
Ty
p
e
o
f
C
o
n
t
r
o
l
l
e
r
P
e
r
c
e
n
t
a
g
e
A
mo
u
n
t
o
f
T
o
r
q
u
e
r
i
p
p
l
e
r
e
d
u
c
e
d
PI
8
3
.
3
%
F
u
z
z
y
2
9
.
7
%
Fig
u
r
e
1
3
.
E
x
p
er
im
e
n
tal
Sp
ee
d
R
esp
o
n
s
e
o
f
B
L
DC
m
o
to
r
r
u
n
n
i
n
g
at
4
0
0
0
r
p
m
5.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
h
as
p
r
o
p
o
s
ed
m
i
n
i
m
izatio
n
o
f
co
g
g
i
n
g
to
r
q
u
e
u
s
i
n
g
B
if
u
r
ca
ted
m
o
d
el,
th
e
h
ar
m
o
n
ics
an
d
to
r
q
u
e
r
ip
p
les
th
at
h
a
v
e
b
ee
n
r
ed
u
ce
d
u
s
i
n
g
d
i
f
f
er
en
t
t
y
p
e
o
f
co
n
tr
o
ller
s
w
it
h
t
h
e
cu
r
r
en
t
co
n
tr
o
lled
m
et
h
o
d
.
T
h
e
ar
m
at
u
r
e
cu
r
r
en
t,
b
ac
k
-
e
m
f
a
n
d
co
g
g
i
n
g
to
r
q
u
e
ar
e
d
is
cu
s
s
ed
.
T
h
e
h
ar
m
o
n
ics
co
n
te
n
t
o
f
t
h
e
p
h
ase
c
u
r
r
en
t
f
o
r
a
B
L
D
C
m
o
t
o
r
is
an
a
l
y
ze
d
a
n
d
t
h
e
a
m
o
u
n
t
o
f
to
r
q
u
e
r
ip
p
les a
n
d
t
h
e
T
HD
is
al
s
o
ca
lc
u
lated
.
T
h
e
r
esu
lt
p
air
ed
w
it
h
Ma
tla
b
/s
i
m
u
l
in
k
is
a
g
o
o
d
s
i
m
u
lat
io
n
to
o
l
f
o
r
m
o
d
eli
n
g
a
n
d
an
al
y
zin
g
P
I
an
d
f
u
zz
y
lo
g
ic
co
n
tr
o
lled
b
r
u
s
h
les
s
D
C
m
o
to
r
d
r
iv
e
s
.
B
esid
es,
th
e
r
esu
lt
s
o
f
f
u
zz
y
co
n
tr
o
ller
ar
e
v
er
y
g
o
o
d
ag
r
ee
m
e
n
t
co
m
p
ar
e
to
P
I
c
o
n
tr
o
ller
.
Fro
m
th
e
co
m
p
ar
is
o
n
o
f
b
o
th
r
esu
lts
it
is
e
v
id
en
t
t
h
at
th
e
h
ar
m
o
n
ics
co
m
p
o
n
e
n
ts
at
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
R
ed
u
ctio
n
o
f Co
g
g
in
g
To
r
q
u
e
b
y
A
d
a
p
tin
g
B
ifu
r
ca
ted
S
ta
to
r
S
lo
ts
a
n
d
…
(
M.
A
r
u
n
N
o
ya
l
Do
s
s
)
788
th
e
s
w
i
tch
i
n
g
f
r
eq
u
e
n
c
y
,
m
u
lt
ip
les
o
f
s
w
itc
h
i
n
g
f
r
eq
u
e
n
c
y
an
d
also
th
e
to
r
q
u
e
r
ip
p
les
ar
e
g
r
ea
tl
y
r
ed
u
ce
d
i
n
f
u
zz
y
co
n
tr
o
ller
.
T
h
e
ex
p
er
im
en
tal
r
es
u
lt
s
a
r
e
v
er
y
clo
s
e
l
y
m
atc
h
i
n
g
w
it
h
t
h
e
s
i
m
u
lat
ed
r
esu
lt
s
i
n
F
u
zz
y
co
n
tr
o
ller
.
RE
F
E
R
E
NC
E
S
[1
]
M
o
h
a
m
m
a
d
S
Isla
m
,
S
a
y
e
e
d
M
ir,
a
n
d
T
o
m
y
S
e
b
a
stian
,
“
Iss
u
e
s
in
Re
d
u
c
in
g
t
h
e
Co
g
g
in
g
T
o
rq
u
e
o
f
M
a
ss
-
P
ro
d
u
c
e
d
P
e
rm
a
n
e
n
t
-
M
a
g
n
e
t
Bru
sh
les
s DC
M
o
t
o
r”
,
IEE
E
T
ra
n
s.
I
n
d
.
Ap
p
li
c
a
t
.,
v
o
l.
4
0
,
p
p
.
8
1
3
-
8
2
0
,
M
a
y
/
Ju
n
e
2
0
0
4
.
[2
]
P
a
ra
g
R.
Up
a
d
h
y
a
y
a
n
d
K.R.
Ra
jag
o
p
a
l,
“
F
E
A
n
a
ly
sis
a
n
d
CAD
o
f
Ra
d
ial
-
F
lu
x
S
u
rf
a
c
e
M
o
u
n
ted
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
Bru
sh
les
s DC M
o
to
rs”
,
I
EE
E
T
ra
n
s.
M
a
g
n
.,
v
o
l.
4
1
,
p
p
.
3
9
5
2
–
3
9
5
4
,
S
e
p
t
.
/Oc
t.
2
0
0
5
.
[3
]
Ra
ja
No
r
F
ir
d
a
u
s
Ra
ja
Ot
h
m
a
n
,
F
a
rin
a
S
u
laim
a
n
,
S
u
h
a
iri
Rizu
a
n
,
“
De
sig
n
o
f
H
o
ll
o
w
-
Ro
to
r
Bru
s
h
l
e
ss
DC
M
o
t
o
r”
,
In
ter
n
a
t
io
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
ms
,
v
o
l
7
.
N
o
2
.
M
a
rc
h
2
0
1
6
.
[4
]
Ja
fa
r
M
o
sta
f
a
p
o
u
r,
M
u
r
taz
a
F
a
rs
a
d
i,
A
li
Ba
d
ri,
Eb
ra
h
im
O
g
a
b
i
v
o
,
“
Im
p
ro
v
e
d
Ro
to
r
S
p
e
e
d
Bru
sh
les
s
DC
M
o
to
r
u
sin
g
F
u
z
z
y
Co
n
tro
ll
e
r”
,
In
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
i
n
e
e
rin
g
a
n
d
I
n
f
o
rm
a
ti
c
s
,
V
o
l
.
4
,
N
o
.
1
,
p
p
.
78
-
8
8
,
M
a
rc
h
2
0
1
6
.
[5
]
D.
L
in
,
S
.
L
.
Ho
,
a
n
d
F
u
W
.
N,
“
A
n
a
l
y
ti
c
a
l
P
re
d
ictio
n
o
f
Co
g
g
in
g
T
o
rq
u
e
i
n
S
u
rf
a
c
e
-
M
o
u
n
ted
P
e
r
m
a
n
e
n
t
-
M
a
g
n
e
t
M
o
to
rs”
,
IEE
E
T
ra
n
s.
M
a
g
n
.,
v
o
l
.
4
5
,
p
p
.
3
2
9
6
–
3
3
0
2
,
S
e
p
t.
/Oc
t.
2
0
0
9
.
[6
]
K
y
u
-
Yu
n
Hw
a
n
g
,
S
a
n
g
-
Bo
n
g
Rh
e
e
,
B
y
o
u
n
g
-
Yu
ll
Ya
n
g
,
a
n
d
By
u
n
g
-
Il
Kw
o
n
,
“
Ro
to
r
P
o
le
De
sig
n
in
S
p
o
k
e
-
Ty
p
e
Bru
sh
les
s
DC
M
o
to
r
b
y
R
e
sp
o
n
se
S
u
rf
a
c
e
M
e
th
o
d
”
,
IEE
E
T
ra
n
s.
M
a
g
n
.,
v
o
l.
4
3
,
No
.
4
p
p
.
1
8
3
3
–
1
8
3
6
,
A
p
ril
.
2
0
0
7
.
[7
]
Mo
h
a
m
m
e
d
Riz
w
a
n
a
n
d
A
ru
n
No
y
a
l
Do
ss
M
,
“
Re
d
u
c
ti
o
n
o
f
Co
g
g
in
g
T
o
rq
u
e
in
P
M
BL
DC
M
o
to
r
W
it
h
Re
d
u
c
e
d
S
tato
r
T
o
o
t
h
W
id
th
a
n
d
Bif
u
rc
a
ted
S
u
rf
a
c
e
A
re
a
Us
in
g
F
in
it
e
El
e
m
e
n
t
A
n
a
l
y
sis
”
,
Fi
rs
t
in
ter
n
a
t
io
n
a
l
c
o
n
fer
e
n
c
e
o
n
El
e
c
trica
l
En
e
rg
y
S
y
s
tem
s (
ICEE
S
)
,
P
a
g
e
:
1
2
8
–
1
3
2
,
Ja
n
-
2
0
1
1
.
[8
]
A.
A
lb
e
rt
Ra
jan
a
n
d
Dr.
S.
V
a
s
a
n
th
a
ra
th
n
a
.
“
Ha
rm
o
n
ics
a
n
d
T
o
rq
u
e
Rip
p
le
M
i
n
im
iza
ti
o
n
u
sin
g
L
-
C
f
il
ter
f
o
r
Bru
sh
les
s DC m
o
to
rs”
.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Rec
e
n
t
T
re
n
d
s i
n
E
n
g
i
n
e
e
rin
g
,
Vo
l
2
,
N
o
.
5
,
No
v
e
m
b
e
r
2
0
0
9
.
[9
]
W
a
e
l
A
.
S
a
lah
,
Da
h
a
m
a
n
Ish
a
k
,
K
h
a
lee
l
a
n
d
J.
Ha
m
m
a
d
i
,
“
P
W
M
s
w
it
c
h
in
g
stra
teg
y
f
o
r
to
rq
u
e
ri
p
p
l
e
m
in
im
iz
a
ti
o
n
in
b
ld
c
m
o
to
r”
,
J
o
u
rn
a
l
o
f
e
lec
trica
l
e
n
g
i
n
e
e
rin
g
,
v
o
l.
6
2
,
n
o
.
3
,
2
0
1
1
,
1
4
1
–
1
4
6
.
[1
0
]
J.
Ka
rth
ik
e
y
a
n
a
n
d
Dr.
R.
Dh
a
n
a
se
k
a
ra
n
.
“
S
i
m
u
latio
n
a
n
d
im
p
lem
e
n
tatio
n
o
f
c
u
rre
n
t
c
o
n
tr
o
l
o
f
b
l
d
c
m
o
to
r
b
a
se
d
o
n
a
c
o
m
m
o
n
d
c
sig
n
a
l”.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
En
g
i
n
e
e
rin
g
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
Vo
l.
2
(
6
),
2
0
1
0
,
1
6
3
2
-
1
6
3
.
[1
1
]
S
o
u
m
a
h
Ya
y
a
a
n
d
W
a
n
g
Ho
n
g
h
u
a
,
“
Res
e
a
rc
h
o
n
re
d
u
c
ti
o
n
o
f
c
o
mm
u
ta
ti
o
n
to
r
q
u
e
ri
p
p
le
in
b
r
u
sh
les
s
d
c
mo
to
r
d
riv
e
s
b
a
se
d
o
n
fu
zz
y
lo
g
ic
c
o
n
tr
o
l
”
,
In
ter
n
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
Co
m
p
u
tatio
n
a
l
I
n
telli
g
e
n
c
e
a
n
d
S
e
c
u
rit
y
,
v
o
l
1
,
p
a
g
e
2
4
0
-
2
4
3
,
De
c
-
2
0
0
9
.
[1
2
]
T
o
le
S
u
ti
k
n
o
,
Ni
k
Ru
m
z
i
Nik
Id
ris,
A
u
z
a
n
i
Jid
in
,
“
Hig
h
-
S
p
e
e
d
Co
m
p
u
tatio
n
u
sin
g
F
P
G
A
f
o
r
Ex
c
e
ll
e
n
t
P
e
rf
o
rm
a
n
c
e
o
f
Dire
c
t
T
o
rq
u
e
C
o
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
a
c
h
in
e
s”
.
T
EL
KOM
NIKA
,
V
o
l.
1
4
,
No
.
1
,
p
p
1
-
3
,
1
M
a
rc
h
2
0
1
6
.
[1
3
]
L
e
e
a
n
d
Jo
n
g
-
Ba
e
Y
,
“
a
L
o
w
c
o
st
sp
e
e
d
c
o
n
tro
l
sy
ste
m
o
f
Bru
sh
les
s
d
c
m
o
to
r
u
sin
g
F
u
z
z
y
lo
g
ic
”
,
In
fo
rm
a
ti
o
n
,
De
c
isio
n
a
n
d
C
o
n
tr
o
l
,
p
a
g
e
4
3
3
-
4
3
7
,
1
9
9
9
.
[1
4
]
K.
S
rin
iv
a
sa
n
,
S
.
V
ij
a
y
a
n
,
S
.
P
a
r
a
m
a
siv
a
m
,
K.
S
u
n
d
a
ra
m
o
o
rth
i,
“
P
o
w
e
r
Qu
a
li
ty
A
n
a
l
y
sis
o
f
V
ien
n
a
Re
c
ti
f
ier
f
o
r
BL
DC
m
o
to
r
Driv
e
A
p
p
li
c
a
ti
o
n
”
.
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
s
,
v
o
l
7
.
No
1
,
p
p
7
-
1
6
,
M
a
rc
h
2
0
1
6
.
[1
5
]
L
u
ís
O.
A
.
P
.
He
n
ri
q
u
e
s,
L
u
ís
G
.
Ro
li
m
B,
W
a
lt
e
r
I.
S
u
e
m
it
su
,
P
a
u
lo
J.
Bra
n
c
o
.
C
a
n
d
Jo
a
q
u
im
A
.
De
n
te
“
T
o
rq
u
e
Rip
p
le
M
in
im
iza
ti
o
n
i
n
a
S
w
it
c
h
e
d
Re
lu
c
tan
c
e
Driv
e
b
y
N
e
u
ro
-
f
u
z
z
y
Co
m
p
e
n
sa
ti
o
n
”
,
IE
EE
T
ra
n
sa
c
ti
o
n
M
a
g
n
e
ti
c
s
,
v
o
l.
3
6
,
p
a
g
e
3
5
9
2
-
3
5
9
4
,
S
e
p
2
0
0
0
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
M.
Ar
u
n
No
y
a
l
Do
s
s
wa
s
b
o
r
n
i
n
I
n
d
ia
in
1
9
8
2
.
He
re
c
e
iv
e
d
h
is
B.
E
d
e
g
re
e
in
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
f
ro
m
M
a
d
ra
s
Un
iv
e
rsity
in
2
0
0
4
,
a
n
d
t
h
e
M
.
E
d
e
g
r
e
e
in
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
Driv
e
s
f
ro
m
A
n
n
a
Un
iv
e
rsit
y
in
2
0
0
6
a
n
d
P
h
D
i
n
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
f
ro
m
S
RM
Un
iv
e
rsit
y
in
2
0
1
4
a
n
d
c
u
rre
n
tl
y
w
o
rk
in
g
a
s
a
ss
istan
t
p
ro
f
e
ss
o
r
in
S
RM
Un
iv
e
rsity
.
His
a
re
a
o
f
in
tere
st
in
c
lu
d
e
s
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
S
p
e
c
ial
M
a
c
h
in
e
s.
K.
M
o
h
a
n
r
a
j
w
a
s
b
o
rn
in
In
d
ia
in
19
78
.
He
re
c
e
iv
e
d
h
is
B.
E
d
e
g
re
e
in
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
f
ro
m
M
a
d
ra
s
Un
iv
e
rsit
y
in
1999
,
a
n
d
t
h
e
M
.
E
d
e
g
re
e
in
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
Driv
e
s
f
ro
m
A
n
n
a
Un
iv
e
rsit
y
in
2
0
0
4
a
n
d
P
h
D
in
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
f
ro
m
S
RM
Un
iv
e
rsity
in
2
0
1
5
a
n
d
c
u
rre
n
tl
y
w
o
rk
in
g
a
s
a
ss
istan
t
p
ro
f
e
ss
o
r
in
S
RM
Un
iv
e
rsity
.
His
a
re
a
o
f
in
tere
st
in
c
lu
d
e
s
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
S
p
e
c
ial
M
a
c
h
in
e
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
3
,
Sep
tem
b
er
2
0
1
6
:
781
-
789
789
V.
K
a
ly
a
n
a
s
u
n
d
a
r
a
m
wa
s
b
o
rn
in
In
d
ia
in
1
9
8
2
.
He
re
c
e
iv
e
d
h
is
B.
E
d
e
g
re
e
in
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
f
ro
m
A
n
n
a
m
a
lai
Un
iv
e
rsit
y
in
2
0
0
3
,
a
n
d
t
h
e
M
.
E
d
e
g
re
e
in
P
o
w
e
r
S
y
ste
m
f
ro
m
A
n
n
a
m
a
lai
Un
iv
e
rsit
y
in
2
0
0
5
a
n
d
c
u
rre
n
tl
y
p
e
rsu
in
g
h
is
P
h
D
i
n
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
f
ro
m
S
RM
Un
iv
e
rsity
a
n
d
w
o
rk
in
g
a
s
a
ss
istan
t
p
ro
f
e
ss
o
r
in
S
RM
U
n
iv
e
rsity
.
His
a
r
e
a
o
f
in
tere
st
in
c
lu
d
e
s
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
P
o
w
e
r
S
y
ste
m
o
p
e
ra
ti
o
n
a
n
d
c
o
n
t
r
o
l
K.
K
a
r
th
i
k
re
c
e
iv
e
d
h
is
B.
E
d
e
g
re
e
in
El
e
c
tri
c
a
l
a
n
d
E
lec
tro
n
ics
En
g
in
e
e
rin
g
f
ro
m
A
n
n
a
Un
iv
e
rsit
y
in
2
0
1
2
a
n
d
h
e
is
c
u
rre
n
tl
y
p
u
rsu
in
g
M
.
T
e
c
h
in
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
Driv
e
s at S
RM
Un
iv
e
rsit
y
.
His
a
re
a
s
o
f
in
tere
sts
in
c
lu
d
e
El
e
c
tri
c
a
l
m
a
c
h
in
e
s,
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
Driv
e
s
a
n
d
h
is
c
u
rre
n
t
re
se
a
rc
h
w
o
rk
is
in
d
e
sig
n
in
g
P
o
w
e
r
F
a
c
to
r
c
o
rre
c
ti
o
n
c
o
n
v
e
rter
f
o
r
BL
DC
m
o
to
r
d
riv
e
.
Evaluation Warning : The document was created with Spire.PDF for Python.