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s
th
e
esti
m
atio
n
tec
h
n
i
q
u
e
u
s
i
n
g
MR
AS
w
a
s
co
n
s
id
er
ed
as
th
e
m
o
s
t
s
i
m
p
le
s
t
a
n
d
co
n
v
e
n
ie
n
t
m
et
h
o
d
.
E
s
ti
m
at
in
g
p
ar
a
m
eter
s
is
a
d
i
f
f
icu
l
t
tas
k
,
esp
ec
iall
y
,
w
h
e
n
th
e
s
y
s
te
m
s
ar
e
lar
g
e.
E
s
t
i
m
a
tin
g
lar
g
e
n
u
m
b
er
o
f
p
ar
a
m
eter
s
b
ec
o
m
e
s
co
m
p
u
tatio
n
all
y
e
x
p
en
s
iv
e
an
d
th
e
m
o
d
el
b
ased
ap
p
r
o
ac
h
ca
n
n
o
lo
n
g
er
b
e
ad
o
p
ted
f
o
r
s
p
ee
d
esti
m
atio
n
e
s
p
ec
ial
y
i
n
h
ig
h
p
er
f
o
r
m
a
n
ce
d
r
iv
es.
T
h
is
h
as
led
t
o
th
e
d
ev
elo
p
m
en
t
o
f
n
e
w
tec
h
n
iq
u
es i
n
o
r
d
er
to
id
en
ti
f
y
th
e
p
ar
a
m
eter
s
t
h
at
a
f
f
ec
t t
h
e
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
o
f
th
e
m
ac
h
in
e.
T
h
e
E
KF
is
a
s
to
ch
asti
c
s
tate
o
b
s
er
v
er
.
T
h
e
f
u
n
ctio
n
o
f
t
h
i
s
o
b
s
er
v
er
i
s
to
li
n
e
ar
ize
th
e
n
o
n
li
n
ea
r
p
ar
am
eter
i
n
ev
er
y
s
a
m
p
lin
g
p
er
io
d
.
T
h
e
E
KF
h
as
th
e
ab
ili
t
y
to
es
ti
m
ate
t
h
e
s
tate
s
an
d
m
ac
h
in
e
p
ar
a
m
eter
s
s
i
m
u
lta
n
eo
u
s
l
y
i
n
a
d
y
n
a
m
ic
p
r
o
ce
s
s
.
T
h
is
is
u
s
e
f
u
l
f
o
r
b
o
th
co
n
tr
o
l
an
d
d
iag
n
o
s
i
s
o
f
t
h
e
p
r
o
ce
s
s
[
2
4
]
.
An
al
y
s
i
s
o
n
o
b
s
er
v
ab
ilit
y
o
n
6
th
o
r
d
er
d
is
cr
ete
ti
m
e
m
o
d
el
b
ased
o
n
6
th
o
r
d
er
d
is
cr
ete
ti
m
e
E
x
te
n
d
ed
Kal
m
a
n
Fil
ter
d
is
cu
s
s
e
s
th
e
co
n
v
er
g
e
n
ce
o
f
s
p
ee
d
d
u
r
in
g
tr
a
n
s
ie
n
t c
o
n
d
itio
n
s
[
2
5
]
.
T
h
e
E
KF
i
s
a
s
u
b
o
p
ti
m
al
co
n
t
r
o
l
ap
p
r
o
ac
h
w
h
er
e
f
ast
p
ar
am
eter
e
s
ti
m
atio
n
is
a
n
o
n
-
tr
i
v
i
al
tas
k
a
n
d
th
e
p
ar
a
m
eter
s
ev
o
l
v
e
w
i
th
ti
m
e
as
in
r
ea
l
ti
m
e
ap
p
licatio
n
s
.
R
ec
e
n
tl
y
,
f
u
zz
y
lo
g
ic
b
as
ed
tech
n
iq
u
e
s
h
av
e
g
ain
ed
a
w
id
e
atte
n
tio
n
in
co
n
tr
o
l
ap
p
licatio
n
s
.
I
n
h
i
g
h
p
er
f
o
r
m
a
n
ce
d
r
iv
e
ap
p
licatio
n
s
a
d
esira
b
le
co
n
tr
o
l
in
b
o
th
tr
an
s
ien
t
an
d
s
tead
y
s
tate
co
n
d
itio
n
s
h
a
v
e
to
b
e
p
r
o
v
id
ed
ev
en
w
h
e
n
t
h
e
p
ar
a
m
eter
s
an
d
th
e
lo
ad
o
f
t
h
e
m
o
to
r
ar
e
v
ar
y
in
g
.
He
n
ce
,
t
h
e
co
n
tr
o
l
s
tr
ate
g
y
d
ev
elo
p
ed
f
o
r
h
i
g
h
p
er
f
o
r
m
a
n
ce
d
r
iv
e
s
m
u
s
t
b
e
ad
ap
tiv
e
a
n
d
r
o
b
u
s
t.
T
h
e
n
e
u
r
al
n
et
w
o
r
k
b
a
s
ed
v
ec
to
r
co
n
tr
o
l
h
as
b
ee
n
a
b
le
to
p
r
o
d
u
ce
b
etter
r
esu
lts
b
u
t
r
eq
u
ir
es
r
ig
o
r
o
u
s
o
f
f
li
n
e
tr
ai
n
i
n
g
p
r
o
ce
s
s
[
2
6
]
.
T
h
e
f
u
zz
y
lo
g
ic
co
n
t
r
o
l
te
ch
n
iq
u
e
h
a
s
b
ee
n
a
n
ac
ti
v
e
r
esear
ch
to
p
ic
in
au
to
m
at
io
n
an
d
co
n
tr
o
l
en
g
in
e
er
in
g
a
n
d
h
as
b
ee
n
ap
p
lied
to
elec
tr
ic
d
r
iv
es
to
d
ea
l
w
it
h
t
h
e
n
o
n
li
n
ea
r
ities
a
n
d
u
n
ce
r
tai
n
tie
s
o
f
t
h
e
co
n
tr
o
l s
y
s
te
m
[
2
7
]
.
T
h
e
m
ai
n
o
b
j
ec
tiv
e
o
f
th
e
p
r
o
p
o
s
ed
s
tr
ateg
y
is
to
d
esi
g
n
a
r
o
b
u
s
t
s
p
ee
d
es
ti
m
ato
r
an
d
o
p
t
i
m
izatio
n
m
ec
h
a
n
i
s
m
u
s
i
n
g
an
ad
ap
ti
v
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
.
T
h
e
E
KF
n
o
t
o
n
l
y
est
i
m
a
tes
t
h
e
s
p
ee
d
,
it
also
m
o
n
ito
r
s
an
d
tr
ac
k
s
th
e
p
ar
a
m
e
ter
v
ar
ia
tio
n
s
.
T
h
e
d
is
cr
etize
d
m
o
d
el
o
f
I
M
is
u
s
ed
f
o
r
th
i
s
p
u
r
p
o
s
e
t
o
tr
ac
k
th
e
c
h
an
g
e
s
in
p
ar
a
m
eter
s
o
v
er
ti
m
e
a
n
d
r
esp
ec
tiv
e
co
n
tr
o
l
a
n
d
m
o
n
ito
r
in
g
p
r
o
ce
s
s
is
ca
r
r
ied
o
u
t.
F
u
r
th
er
w
o
r
k
ai
m
s
i
n
s
en
s
o
r
less
s
p
ee
d
co
n
tr
o
l
u
s
in
g
F
u
zz
y
b
ased
s
p
ee
d
–
r
eg
u
la
to
r
.
T
h
e
w
o
r
k
p
r
o
p
o
s
ed
p
r
esen
ts
a
n
i
m
p
r
o
v
i
s
ed
s
p
ee
d
r
eg
u
latio
n
p
er
f
o
r
m
an
ce
u
n
d
er
tr
an
s
ie
n
t
a
n
d
s
tead
y
s
tate
u
n
ce
r
tai
n
ties
ca
u
s
ed
b
y
v
ar
iatio
n
s
i
n
lo
ad
to
r
q
u
e
an
d
s
p
ee
d
r
ev
er
s
als.
2.
DIS
CR
E
T
I
Z
E
D
S
T
A
T
E
M
O
DE
L
O
F
I
ND
UCT
I
O
N
M
O
T
O
R
A
d
y
n
a
m
ic
elec
tr
ical
m
o
d
el
f
o
r
a
th
r
ee
-
p
h
a
s
e
i
n
d
u
ctio
n
m
o
to
r
h
as
f
o
u
r
s
ta
te
v
ar
iab
les,
n
a
m
el
y
,
th
e
s
tato
r
cu
r
r
en
t
s
i
n
t
h
e
d
ir
ec
t
an
d
q
u
ad
r
atu
r
e
ax
is
(
i
ds
,
i
qs
)
an
d
th
e
r
o
to
r
f
l
u
x
e
s
(
Ф
dr
,
Ф
qr
)
.
An
ex
ten
d
ed
i
n
d
u
ctio
n
m
o
to
r
m
o
d
el
r
es
u
lt
s
,
i
f
t
h
e
r
o
to
r
s
p
ee
d
is
i
n
cl
u
d
ed
as
a
n
ad
d
itio
n
al
s
tate
v
ar
iab
le.
T
h
e
d
i
s
cr
etize
d
ex
te
n
d
ed
m
o
d
el
i
s
as o
b
tain
ed
f
r
o
m
eq
u
atio
n
s
(
1
)
to
(
4
)
.
X (
)
= A
̂
+ B
U
(
)
(
1
)
(
2
)
w
h
er
e,
̂
[
]
(
3
)
[
]
(
4
)
[
]
(
5
)
w
h
er
e,
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
o
b
u
s
t E
K
F
B
a
s
ed
S
p
ee
d
E
s
tima
to
r
a
n
d
F
u
z
z
y
Op
tim
iz
a
ti
o
n
Tech
n
iq
u
e
fo
r
.
.
.
.
(
Mo
h
a
n
a
La
ksh
mi
J.
)
149
A
=
[
]
(
6
)
B
=
[
]
(
7
)
C
=
[
]
(
8
)
B
u
t,
f
o
r
an
I
M,
th
e
v
al
u
es
o
f
R
r
,
R
s
,
L
r
,
L
s
,
L
m
a
n
d
ω
r
ar
e
co
n
s
tan
t.
Hen
ce
t
h
e
s
ta
te
m
a
tr
ix
,
in
p
u
t
m
atr
i
x
an
d
o
u
tp
u
t
m
atr
i
x
w
ill
b
e
co
n
s
tan
t
m
atr
ices.
3.
P
ARAM
E
T
E
R
E
ST
I
M
AT
I
O
N
USI
N
G
E
X
T
E
N
DE
D
K
AL
M
AN
F
I
L
T
E
R
T
h
e
E
KF
is
a
r
ec
u
r
s
i
v
e
al
g
o
r
it
h
m
th
at
u
s
es
s
er
ie
s
o
f
m
ea
s
u
r
e
m
en
ts
o
b
s
er
v
ed
o
v
er
ti
m
e
a
n
d
p
r
o
d
u
ce
s
esti
m
ates
o
f
u
n
k
n
o
w
n
v
ar
iab
les
t
h
a
t
te
n
d
s
to
b
e
m
o
r
e
p
r
e
cise
t
h
an
th
o
s
e
b
ased
o
n
a
s
i
n
g
le
m
ea
s
u
r
e
m
e
n
t
alo
n
e.
T
h
e
co
n
v
en
t
io
n
al
co
n
tr
o
ller
ass
u
m
es t
h
e
m
o
d
el
to
b
e
lin
ea
r
[
2
6
]
-
[
2
7
]
.
Fig
u
r
e
1
.
Mo
d
el
o
f
E
KF
T
h
e
alg
o
r
ith
m
i
s
b
ased
o
n
T
ay
lo
r
‟
s
e
x
p
an
s
io
n
o
f
n
o
n
-
lin
ea
r
f
u
n
ctio
n
s
.
I
t
is
in
t
u
iti
v
e
an
d
co
m
p
u
tatio
n
all
y
ef
f
icie
n
t.
A
c
cu
r
ate
p
ar
a
m
eter
esti
m
atio
n
b
ec
o
m
e
s
es
s
en
t
ial
f
o
r
an
y
m
o
d
el
b
ased
s
i
m
u
latio
n
,
C
o
n
tr
o
l
an
d
o
p
ti
m
izatio
n
.
T
h
e
E
KF
u
s
e
s
th
e
d
is
cr
etize
d
m
at
h
e
m
a
tical
m
o
d
el
o
f
th
e
m
ac
h
in
e,
th
e
s
tato
r
cu
r
r
en
ts
a
n
d
r
o
to
r
f
lu
x
es
f
o
r
s
p
e
ed
esti
m
atio
n
.
T
h
e
m
o
d
el
o
f
E
KF
o
b
s
er
v
er
u
s
ed
f
o
r
p
ar
am
eter
esti
m
at
io
n
is
d
ep
icted
in
Fi
g
u
r
e
1
.
T
h
e
s
y
s
te
m
co
n
s
is
t
s
o
f
a
p
lan
t
w
h
o
s
e
p
ar
a
m
eter
s
ar
e
to
b
e
esti
m
ated
.
T
h
e
s
tate
i
s
d
ef
in
ed
b
y
x
a
n
d
th
e
co
v
ar
ia
n
ce
m
atr
i
x
is
o
b
tain
ed
as
p
.
Fo
r
v
ar
io
u
s
w
o
r
k
i
n
g
c
o
n
d
itio
n
s
o
f
th
e
m
ac
h
i
n
e,
th
e
p
ar
am
eter
s
o
f
x
a
n
d
p
ar
e
u
p
d
ated
.
T
h
e
s
tate
is
p
r
o
p
ag
ated
f
r
o
m
t
k
-
1
to
t
k
u
s
i
n
g
m
o
d
el
eq
u
atio
n
s
.
C
o
v
ar
ian
ce
m
atr
i
x
is
p
r
o
p
ag
ated
u
s
i
n
g
ta
n
g
en
t l
in
ea
r
o
p
er
ato
r
an
d
its
ad
jo
in
t.
Fig
u
r
e
1
r
ep
r
esen
ts
th
e
co
n
ti
n
u
o
u
s
t
i
m
e
m
o
d
el
w
it
h
p
ar
a
m
et
er
s
au
g
m
e
n
ted
s
tate
s
as:
̇
(
9
)
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
.
1
,
Ma
r
ch
2
0
1
7
:
1
4
7
–
155
150
̇
(
1
0
)
(
1
1
)
T
h
e
d
is
cr
ete
ti
m
e
u
p
d
ates o
f
s
t
ates a
n
d
p
ar
a
m
eter
s
at
ti
m
e
t
k
ar
e
tak
en
as:
̇
̂
(
1
2
)
̇
̂
̂
(
1
3
)
T
h
e
er
r
o
r
esti
m
atio
n
i
s
o
b
tain
e
d
f
r
o
m
̂
(
1
4
)
E
s
ti
m
a
tio
n
er
r
o
r
co
v
ar
ian
ce
m
atr
ix
is
g
iv
e
n
b
y
,
̂
̅
̅
̅
̅
̅
̅
̂
̅
̅
̅
̅
̅
̅
(
1
5
)
T
h
e
g
ain
o
f
t
h
e
Kal
m
an
f
ilter
i
s
ca
lcu
lated
as:
̅
̅
̅
̅
̅
̅
̂
̅
̅
̅
̅
̅
̅
(
1
6
)
T
h
e
f
in
al
Up
d
atio
n
i
n
p
ar
a
m
et
er
s
is
o
b
tain
ed
f
r
o
m
:
̂
̂
̅
̅
̅
̅
̅
̅
(
1
7
)
̅
̅
̅
̅
̅
̅
(
1
8
)
I
n
th
e
m
et
h
o
d
o
lo
g
y
p
r
o
p
o
s
ed
,
th
e
es
ti
m
a
to
r
is
d
ev
elo
p
ed
w
it
h
t
h
e
m
ea
s
u
r
ed
d
ir
ec
t
an
d
q
u
ad
r
atu
r
e
ax
es
s
tato
r
cu
r
r
en
t,
d
ir
ec
t
a
n
d
q
u
ad
r
atu
r
e
ax
es
s
tato
r
f
lu
x
a
n
d
th
e
r
ef
er
e
n
ce
s
p
ee
d
to
b
e
u
s
ed
as
s
tate
v
ar
iab
les
to
esti
m
ate
t
h
e
r
o
to
r
s
p
ee
d
.
I
n
th
is
p
ap
er
,
th
e
s
en
s
iti
v
it
y
to
m
o
to
r
p
a
r
am
eter
w
it
h
r
esp
ec
t
to
th
e
E
KF
esti
m
ates
is
an
a
l
y
ze
d
u
s
i
n
g
Ma
tLa
b
/S
i
mu
lin
k
.
T
h
e
s
i
m
u
latio
n
r
esu
lt
s
ar
e
p
r
esen
ted
f
o
r
th
e
s
en
s
o
r
less
d
r
iv
e
s
y
s
te
m
u
n
d
er
d
if
f
er
en
t o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
e
s
tate
esti
m
ates a
r
e
o
b
tain
e
d
b
y
t
h
e
E
KF a
lg
o
r
it
h
m
in
t
h
e
f
o
llo
w
in
g
s
tep
s
:
Step
1
:
P
r
e
d
ictio
n
o
f
th
e
s
tate
v
ec
to
r
:
T
h
e
s
tate
v
ec
to
r
i
s
p
r
ed
icted
at
th
e
s
a
m
p
l
in
g
i
n
ter
v
a
l
(
)
.
I
t
is
o
b
tain
ed
f
r
o
m
t
h
e
i
n
p
u
t
v
e
cto
r
U
(
k
)
an
d
s
tate
v
ec
to
r
̂
(
)
.
̂
(
1
9
)
T
h
e
v
alu
es o
f
m
atr
ice
s
A
,
B
,
̂
an
d
ar
e
o
b
tain
ed
f
r
o
m
eq
u
atio
n
s
(
3
)
,
(
5
)
,
(
6
)
&
(
7
)
r
esp
ec
tiv
el
y
.
Step
2
: Co
v
ar
ian
ce
es
ti
m
atio
n
o
f
p
r
ed
ictio
n
:
T
h
e
co
v
ar
ian
ce
m
atr
i
x
is
ca
lc
u
lated
f
r
o
m
eq
u
atio
n
9
:
[
]
[
[
]
]
(
2
0
)
T
h
e
co
v
ar
ian
ce
m
atr
ix
h
a
s
t
h
e
o
r
d
er
o
f
5
x
5
.
T
h
e
ter
m
s
i
n
E
q
n
.
(
2
0
)
ca
n
b
e
r
ep
r
esen
ted
b
y
a
g
r
ad
ien
t
m
a
tr
ix
f
as:
W
h
er
e,
f
is
th
e
g
r
ad
ien
t
m
a
tr
ix
.
[
]
(
2
1
)
w
h
er
e,
X
=X
*
(
)
Step
3
: Co
m
p
u
ti
n
g
th
e
Ka
l
m
a
n
f
i
lter
g
ai
n
:
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
o
b
u
s
t E
K
F
B
a
s
ed
S
p
ee
d
E
s
tima
to
r
a
n
d
F
u
z
z
y
Op
tim
iz
a
ti
o
n
Tech
n
iq
u
e
fo
r
.
.
.
.
(
Mo
h
a
n
a
La
ksh
mi
J.
)
151
T
h
e
g
ain
m
atr
ix
o
f
th
e
Kal
m
a
n
f
i
lter
co
n
s
i
s
ts
o
f
2
r
o
w
s
an
d
5
co
lu
m
n
s
.
T
h
e
g
ain
K
i
s
ca
lc
u
lated
as:
[
[
]
]
[
[
]
]
[
[
[
]
]
]
(
2
2
)
Her
e
th
e
p
ar
a
m
eter
is
d
ef
i
n
ed
as a
n
o
th
er
g
r
ad
ie
n
t
m
atr
ix
a
s
:
[
]
(
2
3
)
w
h
er
e,
X
=X
*
(
)
Step
4:
E
s
ti
m
atio
n
o
f
s
ta
te
v
ec
to
r
:
T
h
e
esti
m
atio
n
o
f
th
e
s
tate
v
e
cto
r
(
co
r
r
ec
ted
s
tate
v
ec
to
r
esti
m
atio
n
)
at
ti
m
e
is
p
er
f
o
r
m
ed
as
f
o
llo
w
s
:
̂
(
2
4
)
̂
[
̂
]
(
2
5
)
Step
5
: E
r
r
o
r
co
v
ar
ian
ce
m
atr
i
x
:
T
h
e
er
r
o
r
co
v
ar
ian
ce
m
atr
ix
i
s
o
b
tain
ed
f
r
o
m
̂
[
[
]
]
(
2
6
)
Step
6
: P
ar
am
eter
Up
d
atio
n
:
Su
b
s
ti
tu
te
t
h
e
v
alu
e
f
o
r
k
as:
(
2
7
)
T
h
e
alg
o
r
ith
m
is
u
p
d
ated
w
i
t
h
th
e
ab
o
v
e
v
alu
e
s
an
d
an
it
er
ativ
e
m
o
d
if
ica
tio
n
o
f
th
e
c
o
v
ar
ian
ce
m
atr
i
x
is
d
ev
elo
p
ed
to
o
b
tain
t
h
e
m
o
s
t
ac
c
u
r
ate
e
s
ti
m
ati
o
n
o
f
t
h
e
s
tates.
A
f
aster
tr
an
s
ie
n
t
r
esp
o
n
s
e
i
s
o
b
tain
ed
th
r
o
u
g
h
p
r
o
p
er
tu
n
in
g
o
f
t
h
e
m
atr
ice
s
Q
&
R
.
T
h
e
alg
o
r
it
h
m
d
escr
ib
ed
ab
o
v
e
ca
n
b
e
u
s
ed
f
o
r
t
h
e
s
p
ee
d
esti
m
atio
n
o
f
in
d
u
ct
io
n
m
o
to
r
u
n
d
er
b
o
th
s
tead
y
s
tate
an
d
tr
an
s
ien
t
co
n
d
itio
n
s
.
T
h
e
esti
m
ated
s
p
ee
d
is
co
m
p
ar
ed
w
it
h
th
e
ac
t
u
al
s
p
ee
d
an
d
th
e
er
r
o
r
is
g
iv
e
n
to
t
h
e
P
I
-
Fu
zz
y
co
n
tr
o
ller
w
h
ic
h
p
r
o
d
u
ce
s
t
h
e
r
eq
u
ir
ed
to
r
q
u
e
r
ef
er
en
ce
.
Fro
m
t
h
e
e
s
t
i
m
ated
s
p
ee
d
an
d
t
h
e
to
r
q
u
e
r
ef
er
en
ce
,
t
h
e
d
ir
ec
t
a
n
d
q
u
ad
r
atu
r
e
a
x
es
r
e
f
er
en
ce
cu
r
r
en
ts
ar
e
ca
lcu
lated
an
d
f
e
d
to
th
e
E
KF
esti
m
ato
r
,
g
iv
i
n
g
an
o
u
tp
u
t
o
f
t
h
e
esti
m
ated
s
p
ee
d
o
f
th
e
m
o
to
r
.
T
h
e
co
n
tr
o
l
an
d
m
o
n
it
o
r
in
g
o
f
th
e
s
p
ee
d
u
n
d
er
n
o
lo
ad
an
d
lo
ad
ed
c
o
n
d
itio
n
s
is
o
b
tai
n
ed
f
r
o
m
an
ad
ap
tiv
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
.
T
h
e
p
r
o
p
o
s
ed
f
u
zz
y
co
n
tr
o
ller
ac
ts
a
s
a
s
p
ee
d
r
eg
u
lato
r
an
d
r
eg
u
la
tes
t
h
e
s
p
ee
d
to
t
h
e
r
eq
u
ir
ed
v
alu
e
d
ep
en
d
in
g
u
p
o
n
th
e
ap
p
licatio
n
.
4.
ADAP
T
I
VE
F
U
Z
Z
Y
SPE
E
D
RE
G
UL
AT
O
R
A
lt
h
o
u
g
h
t
h
e
E
KF
al
g
o
r
ith
m
is
d
ev
elo
p
ed
to
p
r
o
d
u
ce
least
esti
m
atio
n
er
r
o
r
s
,
a
n
ee
d
f
o
r
o
p
tim
izin
g
th
e
e
n
tire
co
n
tr
o
l s
y
s
te
m
p
r
ev
ails
.
He
n
ce
,
a
f
u
zz
y
b
ased
s
p
ee
d
r
eg
u
lato
r
i
s
d
e
v
elo
p
ed
as i
n
d
icate
d
in
Fig
u
r
e
2
.
T
h
e
in
p
u
t
s
to
t
h
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
ar
e
ch
o
s
e
n
as
th
e
s
p
ee
d
er
r
o
r
„
e
(
k
)
‟
a
n
d
ch
a
n
g
e
in
er
r
o
r
„
ce
(
k
)
‟
a
t
a
s
a
m
p
li
n
g
ti
m
e
t
s
.
B
o
th
th
e
in
p
u
t
v
ar
iab
le
s
ar
e
ca
lcu
lated
at
e
v
er
y
s
a
m
p
li
n
g
in
ter
v
al.
T
h
e
Ma
m
ad
an
i
p
r
i
n
cip
le
co
n
s
is
tin
g
o
f
tr
ian
g
u
lar
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
is
s
elec
ted
.
T
h
e
s
et
o
f
f
u
zz
y
r
u
les r
eq
u
ir
ed
to
d
im
in
i
s
h
t
h
e
er
r
o
r
o
b
tain
ed
in
s
p
ee
d
v
ar
iat
io
n
s
i
s
q
u
o
ted
i
n
T
ab
le
1
.
T
h
e
lin
g
u
is
t
ic
v
ar
iab
les
i
n
T
ab
le
I
in
d
i
ca
te
th
e
f
u
zz
y
r
u
les
r
ep
r
esen
ted
in
th
e
F
u
zz
y
Ass
o
ciativ
e
Me
m
o
r
y
(
F
A
M)
.
Fu
zz
y
co
n
tr
o
l
r
u
le
is
r
eg
ar
d
ed
as
th
e
co
r
e
o
f
th
e
w
h
o
le
f
u
zz
y
co
n
tr
o
l.
T
h
e
p
r
o
p
o
s
ed
f
u
zz
y
co
n
tr
o
l
r
u
le
s
ar
e
b
ased
o
n
t
h
e
s
tep
r
esp
o
n
s
e
o
f
co
n
v
e
n
tio
n
al
P
I
r
eg
u
lato
r
,
to
g
eth
er
w
it
h
t
h
e
ch
ar
ac
ter
i
s
t
ics
o
f
t
h
e
v
ec
to
r
co
n
tr
o
l
o
f
i
n
d
u
ctio
n
m
o
to
r
.
Her
e,
E
an
d
C
E
r
ep
r
esen
t
t
h
e
f
u
zz
if
ied
v
alu
e
s
o
f
er
r
o
r
an
d
its
r
ate
o
f
ch
a
n
g
e.
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
.
1
,
Ma
r
ch
2
0
1
7
:
1
4
7
–
155
152
Fig
u
r
e
2
.
B
asic Str
u
ctu
r
e
o
f
F
u
zz
y
s
p
ee
d
r
eg
u
lato
r
A
cc
o
r
d
in
g
to
t
h
e
d
if
f
er
en
t
s
p
ee
d
er
r
o
r
e
(
k
)
an
d
its
r
ate
o
f
ch
a
n
g
e
,
th
e
p
r
i
n
cip
les
ab
o
u
t
t
h
e
s
el
f
-
ad
j
u
s
t
m
e
n
t o
f
K
P
an
d
K
I
ar
e
li
s
ted
as f
o
llo
w
s
:
a.
W
h
en
e(
k
)
tak
e
s
a
r
elativ
el
y
b
ig
n
u
m
b
er
,
a
b
ig
n
u
m
b
er
s
h
o
u
ld
also
b
e
ass
ig
n
ed
to
K
P
in
o
r
d
e
r
to
ac
ce
ler
ate
th
e
s
y
s
te
m
s
p
ee
d
r
esp
o
n
s
e,
b
u
t
K
I
m
u
s
t
tak
e
a
q
u
ite
s
m
a
ll
n
u
m
b
er
o
r
ev
en
z
er
o
in
o
r
d
e
r
to
p
r
ev
en
t i
n
teg
r
al
s
atu
r
atio
n
an
d
d
is
tin
ct
s
p
ee
d
o
v
er
s
h
o
o
tin
g
.
b.
W
h
en
e
(
k
)
ta
k
es
a
m
o
d
er
ate
n
u
m
b
er
,
K
P
m
u
s
t
tak
e
a
r
elativ
el
y
s
m
all
n
u
m
b
er
a
n
d
K
I
m
u
s
t
ta
k
e
a
m
o
d
er
ate
o
n
e,
i
n
o
r
d
er
to
d
ec
r
ea
s
e
th
e
o
v
er
s
h
o
o
tin
g
a
n
d
en
s
u
r
e
th
e
s
w
if
t sp
ee
d
r
esp
o
n
s
e.
c.
W
h
en
e
(
k
)
ta
k
es
a
r
elati
v
el
y
s
m
al
l
n
u
m
b
er
,
th
e
s
y
s
te
m
u
s
u
all
y
r
u
n
s
i
n
s
tead
y
s
tate,
t
h
u
s
a
m
o
d
er
ate
K
P
an
d
a
b
ig
K
I
,
s
h
o
u
ld
b
e
ass
ig
n
ed
to
d
ec
r
ea
s
e
s
tatic
er
r
o
r
an
d
en
s
u
r
e
th
e
s
tab
ilit
y
o
f
th
e
s
y
s
t
e
m
.
A
cc
o
r
d
in
g
to
t
h
e
d
i
f
f
er
e
n
t
s
p
e
ed
er
r
o
r
e
(
k
)
an
d
its
r
ate
o
f
c
h
an
g
e,
f
u
zz
y
co
n
tr
o
l
r
u
le
s
o
f
K
P
an
d
K
I
at
d
if
f
er
e
n
t state
s
ca
n
b
e
ac
q
u
i
r
ed
as sh
o
w
n
i
n
T
ab
le
1
.
T
ab
le
1
.
FA
M
o
f
F
L
C
a
s
a
Fu
zz
y
Sp
ee
d
r
eg
u
lato
r
C
E/
E
NB
NM
NS
ZE
PS
PM
PB
NB
NVB
NVB
NVB
NB
NM
NS
ZE
NM
NVB
NVB
NB
NM
NS
ZE
PS
NS
NVB
NB
NM
NS
ZE
PS
PM
ZE
NB
NM
NS
ZE
PS
PM
PB
PS
NM
NS
ZE
PS
PM
PB
P
V
B
PM
NS
ZE
PS
PM
PB
P
V
B
P
V
B
PB
ZE
PS
PM
PB
P
V
B
P
V
B
P
V
B
5.
SI
M
UL
AT
I
O
N
AN
AL
Y
SI
S
AND
RE
S
UL
T
S
5
.
1
.
No
L
o
a
d Co
nd
it
io
n
T
h
e
s
en
s
o
r
les
s
co
n
tr
o
l
o
f
in
d
u
ctio
n
m
o
to
r
u
s
in
g
E
K
F
i
s
s
i
m
u
lated
o
n
Ma
t
L
ab
/Si
m
u
li
n
k
p
latf
o
r
m
to
s
tu
d
y
t
h
e
v
ar
io
u
s
asp
ec
t
s
o
f
th
e
s
p
ee
d
esti
m
ato
r
an
d
ad
ap
tiv
e
f
u
zz
y
r
eg
u
lato
r
.
Fig
u
r
e
3
s
h
o
w
s
th
e
s
p
ee
d
r
esp
o
n
s
e
o
b
tain
ed
u
s
i
n
g
E
KF
u
n
d
er
n
o
-
lo
ad
co
n
d
itio
n
f
o
r
a
r
ef
er
en
ce
s
p
ee
d
o
f
5
0
0
r
p
m
.
T
h
e
s
im
u
lat
io
n
r
esu
lt s
h
o
w
s
t
h
at
t
h
e
ac
tu
a
l sp
ee
d
alm
o
s
t e
x
ac
tl
y
f
o
llo
w
s
t
h
e
r
ef
er
en
ce
s
p
ee
d
.
Fig
u
r
e
3
.
E
KF sp
ee
d
esti
m
atio
n
(
ref
=
[
0
5
0
0
]
r
p
m
,
w
it
h
t
h
e
T
i
m
e
in
ter
v
al
o
f
t=
[
0
1
]
s
an
d
u
n
d
er
n
o
-
lo
ad
)
Fig
u
r
e
4
.
E
KF sp
ee
d
esti
m
atio
n
(
r
e
f
=
[
0
5
0
0
1
0
0
0
]
r
p
m
,
w
it
h
t
h
e
ti
m
e
in
ter
v
al
o
f
t =
[
0
1
5
]
s
an
d
u
n
d
er
no
-
lo
ad
)
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
o
b
u
s
t E
K
F
B
a
s
ed
S
p
ee
d
E
s
tima
to
r
a
n
d
F
u
z
z
y
Op
tim
iz
a
ti
o
n
Tech
n
iq
u
e
fo
r
.
.
.
.
(
Mo
h
a
n
a
La
ksh
mi
J.
)
153
A
l
s
o
f
o
r
a
s
tep
ch
a
n
g
e
in
th
e
r
ef
er
en
ce
s
p
ee
d
at
5
0
0
r
p
m
an
d
1
0
0
0
r
p
m
,
t
h
e
r
esp
o
n
s
e
o
b
tain
ed
f
r
o
m
KF
f
o
llo
w
s
n
ea
r
l
y
t
h
e
s
a
m
e
r
esp
o
n
s
e
as
th
e
r
e
f
er
en
ce
.
T
h
is
is
ill
u
s
tr
ated
in
Fig
u
r
e
4
.
An
o
th
er
s
i
g
n
i
f
ican
t
co
n
tr
ib
u
tio
n
o
f
th
e
d
ev
elo
p
ed
f
u
zz
y
s
p
ee
d
r
eg
u
lato
r
is
t
h
e
r
ed
u
ctio
n
i
n
r
ip
p
le
in
th
e
elec
t
r
o
m
a
g
n
etic
to
r
q
u
e.
As
v
ec
to
r
co
n
tr
o
l
s
ch
e
m
es
ar
e
s
aid
to
p
r
o
d
u
ce
lar
g
e
r
ip
p
le,
t
h
e
r
ed
u
ctio
n
in
to
r
q
u
e
r
ip
p
le
ca
n
b
e
ac
h
iev
ed
to
a
g
r
ea
ter
ex
te
n
t
u
s
i
n
g
a
r
o
b
u
s
t
f
u
zz
y
ad
ap
ti
v
e
co
n
tr
o
l
a
s
d
ep
icted
in
Fi
g
u
r
e
5
.
Fig
u
r
e
6
s
h
o
w
s
t
h
e
r
esp
o
n
s
e
o
f
th
e
s
p
ee
d
co
n
tr
o
l o
b
tain
ed
u
s
i
n
g
E
K
F d
u
r
in
g
s
p
ee
d
ch
a
n
g
e
s
o
v
er
d
if
f
er
e
n
t r
an
g
es
u
n
d
er
n
o
-
lo
ad
.
Fig
u
r
e
5
.
E
lectr
o
m
a
g
n
etic
to
r
q
u
e
Fig
u
r
e
6
.
E
KF sp
ee
d
esti
m
atio
n
(
ref
=
[
0
7
0
0
1
0
0
8
0
0
2
0
0
]
r
p
m
,
w
it
h
th
e
ti
m
e
i
n
ter
v
al
o
f
t =
[
0
0
.
5
2
3
.
5
5
]
s
an
d
u
n
d
er
n
o
-
lo
ad
)
5
.
2
.
P
er
f
o
r
m
a
nce
Ana
ly
s
i
s
un
der
lo
a
d c
ha
ng
es (
t
ra
ns
ient
-
co
nd
it
io
n)
Si
m
u
latio
n
s
t
u
d
ies
h
a
v
e
b
ee
n
p
er
f
o
r
m
ed
f
o
r
lo
ad
ch
an
g
e
s
an
d
v
ar
io
u
s
s
p
ee
d
r
an
g
es.
T
h
e
s
i
m
u
lat
io
n
r
esu
lt
s
s
h
o
w
s
th
e
u
s
e
o
f
t
h
e
f
u
ll
o
r
d
er
o
b
s
er
v
er
w
o
r
k
i
n
g
ef
f
icien
tl
y
e
v
e
n
d
u
r
in
g
lo
ad
ch
an
g
es
a
n
d
s
p
ee
d
ch
an
g
e
co
n
d
itio
n
s
.
W
ith
a
r
e
f
er
en
ce
s
p
ee
d
o
f
5
0
0
r
p
m
a
n
d
a
lo
ad
o
f
3
N
-
m
,
t
h
e
o
u
tp
u
t
o
b
tain
ed
f
r
o
m
E
K
F
i
s
ex
ac
tl
y
s
i
m
ilar
to
t
h
at
o
b
tain
e
d
f
o
r
n
o
-
lo
ad
co
n
d
itio
n
,
as
in
Fig
u
r
e
7
.
Un
d
er
th
i
s
co
n
d
itio
n
,
th
e
E
K
F e
s
ti
m
ato
r
g
iv
e
s
t
h
e
r
esp
o
n
s
e
al
m
o
s
t
n
ea
r
er
to
th
e
r
ef
er
en
ce
s
p
ee
d
,
p
r
o
v
in
g
t
h
e
e
f
f
icien
c
y
o
f
t
h
e
al
g
o
r
ith
m
.
Fig
u
r
e
8
p
r
ese
n
ts
t
h
e
r
esp
o
n
s
e
o
b
tain
ed
b
y
t
h
e
e
s
ti
m
atio
n
alg
o
r
ith
m
an
d
th
e
f
u
zz
y
co
n
tr
o
ller
f
o
r
a
ch
an
g
e
i
n
s
p
ee
d
in
t
h
e
r
an
g
e
[
0
7
0
0
1
0
0
8
0
0
2
0
0
]
r
p
m
u
n
d
er
th
e
lo
ad
co
n
d
itio
n
s
o
f
[
0
0
.
7
0
.
1
0
.
8
0
.
2
]
N
-
m
ap
p
lied
at
th
e
t
i
m
e
in
ter
v
al
o
f
[
0
0
.
5
2
3
.
5
5
]
s
.
E
v
en
d
u
r
in
g
Sp
ee
d
ch
a
n
g
es,
it
i
s
s
ee
n
th
at
th
e
m
ac
h
i
n
e
r
e
m
ain
s
s
tab
le
a
n
d
y
ield
s
co
n
s
tan
t o
u
tp
u
t o
v
er
w
id
e
r
an
g
e
o
f
s
p
ee
d
v
ar
iatio
n
s
.
Fig
u
r
e
7
.
E
KF sp
ee
d
esti
m
atio
n
(
ref
=
[
0
5
0
0
]
r
p
m
,
w
it
h
t
h
e
T
i
m
e
I
n
ter
v
al
o
f
t =
[
0
1
]
s
an
d
u
n
d
er
a
lo
ad
o
f
3
N
-
m)
Fig
u
r
e
8
.
E
KF sp
ee
d
esti
m
atio
n
(
ref
=
[0
7
0
0
1
0
0
8
0
0
2
0
0
]
r
p
m
,
W
ith
t
h
e
L
o
ad
ch
an
g
es o
f
[
0
0
.
7
0
.
1
0
.
8
0
.
2
]
N
-
m
an
d
in
t
h
e
ti
m
e
i
n
ter
v
al
o
f
t =
[
0
0
.
5
2
3
.
5
5
]
s
)
6.
CO
NCLU
SI
O
NS
T
h
e
alg
o
r
ith
m
p
r
o
p
o
s
ed
is
le
s
s
s
e
n
s
i
tiv
e
to
d
r
if
t
a
n
d
s
at
u
r
ati
o
n
.
T
h
is
m
a
k
es
th
e
esti
m
atio
n
at
o
r
n
ea
r
ze
r
o
s
p
ee
d
q
u
ite
ac
cu
r
ate.
Fo
r
r
ea
l
ti
m
e
ap
p
licatio
n
s
,
th
e
i
n
d
u
ct
io
n
m
o
to
r
m
o
d
el
is
d
is
cr
etis
ed
.
T
h
e
p
er
f
o
r
m
an
ce
o
f
E
KF
is
e
x
a
m
in
ed
th
r
o
u
g
h
s
ev
er
al
s
i
m
u
latio
n
s
tu
d
ie
s
.
T
h
e
E
KF
h
elp
s
in
esti
m
ati
n
g
t
h
e
n
o
n
-
o
b
s
er
v
ab
le
s
y
s
te
m
s
tates
an
d
p
ar
a
m
eter
s
.
T
h
is
m
eth
o
d
p
r
o
v
es
to
b
e
a
r
o
b
u
s
t
tech
n
iq
u
e
w
e
n
co
m
p
ar
ed
to
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
.
1
,
Ma
r
ch
2
0
1
7
:
1
4
7
–
155
154
co
n
v
e
n
tio
n
al
m
o
d
el
b
ased
a
p
p
r
o
ac
h
es.
T
h
e
o
p
tim
u
m
v
al
u
e
o
f
s
p
ee
d
is
o
b
tai
n
ed
b
y
a
n
o
n
-
li
n
ea
r
f
u
zz
y
co
n
tr
o
ller
.
W
ith
s
ig
n
i
f
ica
n
t
u
n
ce
r
tai
n
tie
s
i
n
lo
ad
&
o
th
er
p
ar
am
eter
s
,
th
e
E
KF
p
r
o
v
id
es
b
etter
s
tate
esti
m
atio
n
.
Als
o
,
d
ec
r
ea
s
e
i
n
t
h
e
co
m
p
u
tatio
n
al
co
m
p
le
x
it
y
an
d
i
m
p
r
o
v
e
m
e
n
ts
i
n
h
ar
d
tu
n
in
g
o
f
co
-
v
ar
ian
c
e
m
atr
ices
h
a
v
e
b
ee
n
ac
h
iev
ed
.
T
h
e
tu
n
in
g
o
f
t
h
e
al
g
o
r
ith
m
is
s
i
m
p
ler
co
m
p
ar
ed
to
o
th
er
E
KF
tec
h
n
iq
u
es
d
u
e
to
th
e
lo
w
er
d
i
m
e
n
s
io
n
o
f
th
e
s
tate
v
ec
to
r
.
T
h
e
esti
m
a
tio
n
alg
o
r
ith
m
is
i
n
th
e
f
o
r
m
o
f
a
p
r
o
b
a
b
ilit
y
d
en
s
it
y
f
u
n
ctio
n
a
n
d
all
t
h
e
p
r
o
ce
s
s
s
u
ch
as
m
o
n
ito
r
in
g
,
tr
ac
k
in
g
a
n
d
m
o
d
el
p
ar
a
m
eter
t
u
n
in
g
i
s
ac
h
iev
ed
p
r
o
v
i
n
g
t
h
e
ef
f
icac
y
o
f
t
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
.
A
l
s
o
,
th
e
Fu
zz
y
s
p
e
ed
-
r
eg
u
la
to
r
ten
d
s
to
p
r
o
v
id
e
s
atis
f
ac
to
r
y
h
i
g
h
d
y
n
a
m
ic
a
n
d
s
tatic
p
er
f
o
r
m
a
n
ce
s
.
T
h
e
ap
p
r
o
ac
h
h
a
s
s
h
o
w
n
a
g
r
ea
t
i
m
p
r
o
v
e
m
e
n
t
i
n
co
m
p
u
tatio
n
a
l
e
f
f
icie
n
c
y
o
v
er
o
th
er
p
ar
am
eter
es
ti
m
a
tio
n
m
et
h
o
d
s
.
RE
F
E
R
E
NC
E
S
[1
]
A
.
P
a
lad
u
g
u
a
n
d
B
.
H.
C
h
o
e
d
h
u
ry
,
“
S
e
n
so
rles
s
c
o
n
tro
l
o
f
in
v
e
rter
f
e
d
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s
,
”
El
e
c
tric
Po
we
r
S
y
ste
ms
Res
e
a
rc
h
,
v
o
l
.
7
7
,
p
p
.
6
1
9
-
6
2
9
,
2
0
0
7
.
[2
]
M
.
A
h
m
e
d
,
“
Hig
h
P
e
rf
o
rm
a
n
c
e
AC Driv
e
s,
P
o
w
e
r
s
y
ste
m
s
,
”
pp
.
77
-
96
,
2
0
1
0
.
a
v
a
il
a
b
le at www
.
sp
rin
g
e
rli
n
k
.
c
o
m
.
[3
]
M
.
L
a
k
sh
m
i
J.
a
n
d
S
u
re
sh
H.
N.
,
“
S
e
n
s
o
rle
ss
S
p
e
e
d
Esti
m
a
ti
o
n
a
n
d
Vec
t
o
r
C
o
n
tr
o
l
o
f
a
n
In
d
u
c
ti
o
n
M
o
to
r
d
riv
e
Us
in
g
M
o
d
e
l
Refe
re
n
c
e
Ad
a
p
t
ive
Co
n
tr
o
l
,
”
IEE
E
sp
o
n
so
re
d
In
t
e
rn
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
P
o
w
e
r
a
n
d
A
d
v
a
n
c
e
d
Co
n
tr
o
l
E
n
g
in
e
e
rin
g
(IC
P
A
CE
–
2
0
1
5
),
BNM
In
st
it
u
te
o
f
T
e
c
h
n
o
lo
g
y
,
Ba
n
g
a
lo
re
,
In
d
ia,
p
p
.
4
0
9
-
4
1
4
,
2
0
1
5
.
[4
]
F
.
A
b
ra
h
a
m
se
n
,
e
t
a
l.
,
“
On
t
h
e
e
n
e
rg
y
o
p
ti
m
ize
d
c
o
n
tro
l
o
f
sta
n
d
a
rd
a
n
d
h
ig
h
-
e
f
f
i
c
ien
c
y
in
d
u
c
ti
o
n
m
o
to
rs
in
CT
a
n
d
H
V
A
C
a
p
p
li
c
a
ti
o
n
s,”
I
EE
E
T
ra
n
sa
c
ti
o
n
s
o
n
I
n
d
u
stria
l
Ap
p
li
c
a
ti
o
n
s
,
v
o
l
/i
ss
u
e
:
34
(
4
)
,
p
p
.
8
2
2
–
8
3
1
,
1
9
9
8
.
[5
]
J.
Ho
lt
z
,
“
S
e
n
so
rles
s
c
o
n
tr
o
l
o
f
in
d
u
c
ti
o
n
m
a
c
h
in
e
s
-
W
it
h
o
r
with
o
u
t
sig
n
a
l
in
jec
ti
o
n
?
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l
/i
ss
u
e
:
53
(
1
)
,
p
p
.
7
–
3
0
,
2
0
0
6
.
[6
]
B.
S
a
rit
h
a
a
n
d
P
.
A
.
Ja
n
a
k
ira
m
a
n
,
“
S
in
u
s
o
id
a
l
t
h
re
e
-
p
h
a
se
c
u
rre
n
t
re
c
o
n
stru
c
ti
o
n
a
n
d
c
o
n
tr
o
l
u
sin
g
a
DC
-
li
n
k
c
u
rre
n
t
se
n
so
r
a
n
d
a
c
u
rv
e
-
f
it
ti
n
g
o
b
se
rv
e
r,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l
/i
s
su
e
:
54
(5
)
,
p
p
.
2
6
5
7
-
2
6
6
2
,
2
0
0
7
.
[7
]
H.
Ki
m
a
n
d
T
.
M
.
Ja
h
n
s,
“
Cu
rre
n
t
c
o
n
tro
l
f
o
r
A
C
m
o
to
r
d
riv
e
s
u
sin
g
a
sin
g
le
DC
-
li
n
k
c
u
rr
e
n
t
se
n
so
r
a
n
d
m
e
a
su
re
m
e
n
t
v
o
lt
a
g
e
v
e
c
to
rs,”
I
EE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
In
d
u
stri
a
l
Ap
p
li
c
a
ti
o
n
s
,
v
o
l/
issu
e
:
42
(
6
)
,
p
p
.
1
5
3
9
-
1
5
4
6
,
2
0
0
6
.
[8
]
C.
S
c
h
a
u
d
e
r,
“
A
d
a
p
ti
v
e
sp
e
e
d
id
e
n
ti
f
ica
ti
o
n
f
o
r
v
e
c
to
r
c
o
n
tro
l
o
f
in
d
u
c
t
io
n
m
o
to
rs
w
it
h
o
u
t
ro
tati
o
n
a
l
tran
sd
u
c
e
rs,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tro
n
ics
,
v
o
l
/i
ss
u
e
:
28
(
5
)
,
p
p
.
1
0
5
4
–
1
0
6
1
,
1
9
9
2
.
[9
]
M
.
Ra
sh
e
d
a
n
d
A
.
F
.
S
tro
n
a
c
h
,
“
A
sta
b
le
b
a
c
k
-
EM
F
M
RA
S
-
ba
se
d
se
n
so
rle
ss
lo
w
-
sp
e
e
d
in
d
u
c
ti
o
n
mo
t
o
r
d
riv
e
in
se
n
siti
v
e
to
st
a
to
r
re
sista
n
c
e
v
a
ria
ti
o
n
,
”
IEE
P
ro
c
e
e
d
in
g
s
o
n
El
e
c
tri
c
a
l
P
o
w
e
r
A
p
p
li
c
a
ti
o
n
s,
v
o
l
/i
ss
u
e
:
1
5
1
(
6
)
,
p
p
.
6
8
5
–
6
9
3
,
2
0
0
4
.
[1
0
]
F
.
Z.
P
e
n
g
a
n
d
T
.
F
u
k
a
o
,
“
Ro
b
u
st
sp
e
e
d
id
e
n
ti
f
ica
ti
o
n
f
o
r
sp
e
e
d
-
se
n
so
rles
s
v
e
c
to
r
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
to
rs,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
Ap
p
li
c
a
ti
o
n
s
,
v
o
l
/i
ss
u
e
:
30
(
5
)
,
p
p
.
1
2
3
4
–
1
2
4
0
,
1
9
9
4
.
[1
1
]
T
.
O
k
u
y
a
m
a
,
e
t
a
l.
,
“
A
h
ig
h
p
e
r
fo
rm
a
n
c
e
sp
e
e
d
c
o
n
tr
o
l
sc
h
e
me
fo
r
in
d
u
c
ti
o
n
mo
t
o
r
wit
h
o
u
t
sp
e
e
d
a
n
d
v
o
lt
a
g
e
se
n
so
rs
,
”
in
P
ro
c
e
e
d
i
n
g
s o
n
IEE
E
T
ra
n
sa
c
ti
o
n
s o
n
In
d
u
strial
E
lec
tro
n
ics
,
De
n
v
e
r,
CO,
p
p
.
1
0
6
–
1
1
1
,
1
9
8
6
.
[1
2
]
T
.
Oh
tan
i,
e
t
a
l.
,
“
V
e
c
to
r
c
o
n
tr
o
l
o
f
in
d
u
c
ti
o
n
m
o
to
r
w
it
h
o
u
t
sh
a
f
t
e
n
c
o
d
e
r,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
Ap
p
li
c
a
ti
o
n
s
,
v
o
l
/i
ss
u
e
:
28
(
1
)
,
p
p
.
1
5
7
–
1
6
4
,
1
9
9
2
.
[1
3
]
L
.
Ha
rn
e
f
o
rs
a
n
d
M
.
Hi
n
k
k
a
n
e
n
,
“
Co
m
p
lete
sta
b
il
it
y
o
f
re
d
u
c
e
d
-
o
rd
e
r
a
n
d
f
u
ll
-
o
r
d
e
r
o
b
se
rv
e
rs
f
o
r
se
n
so
rles
s
IM
d
riv
e
s,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l
/i
ss
u
e
:
55
(
3
)
,
p
p
.
1
3
1
9
–
1
3
2
9
,
2
0
0
8
.
[1
4
]
H.
Ku
b
o
ta,
e
t
a
l.
,
“
DSP
-
b
a
se
d
sp
e
e
d
a
d
a
p
ti
v
e
f
lu
x
o
b
se
rv
e
r
o
f
in
d
u
c
ti
o
n
m
o
to
r,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
Ap
p
li
c
a
ti
o
n
s
,
v
o
l
/i
ss
u
e
:
29
(
2
)
,
p
p
.
3
4
4
–
3
4
8
,
1
9
9
3
.
[1
5
]
H.
K.
Kh
a
li
l,
e
t
a
l
.
,
“
S
p
e
e
d
o
b
se
rv
e
r
a
n
d
re
d
u
c
e
d
n
o
n
li
n
e
a
r
m
o
d
e
l
f
o
r
se
n
so
rles
s co
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
to
rs,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Co
n
tro
l
S
y
ste
m
T
e
c
h
n
o
l
o
g
y
,
v
o
l
/i
ss
u
e
:
17
(
2
)
,
p
p
.
3
2
7
–
3
3
9
,
2
0
0
9
.
[1
6
]
M
.
Hin
k
k
a
n
e
n
,
e
t
a
l.
,
“
Re
d
u
c
e
d
-
o
r
d
e
r
f
lu
x
o
b
se
rv
e
rs
w
it
h
sta
to
r
-
re
sista
n
c
e
a
d
a
p
tatio
n
f
o
r
s
p
e
e
d
-
se
n
so
rles
s
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,”
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
Po
we
r E
lec
tro
n
ics
,
v
o
l
/i
ss
u
e
:
25
(
5
)
,
p
p
.
1
1
7
3
–
1
1
8
3
,
2
0
1
0
.
[1
7
]
S
.
Bo
l
o
g
n
a
n
i,
e
t
a
l.
,
“
P
a
ra
m
e
ter
se
n
siti
v
it
y
a
n
a
l
y
sis
o
f
a
n
i
m
p
ro
v
e
d
o
p
e
n
-
lo
o
p
sp
e
e
d
e
stim
a
te
f
o
r
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Po
we
r E
lec
tro
n
ics
,
v
o
l
/i
ss
u
e
:
23
(
4
)
,
p
p
.
2
1
2
7
–
2
1
3
5
,
2
0
0
8
.
[1
8
]
H.
Ki
m
,
e
t
a
l.
,
“
A
h
ig
h
-
sp
e
e
d
slid
in
g
-
m
o
d
e
o
b
se
rv
e
r
f
o
r
th
e
se
n
so
rles
s
sp
e
e
d
c
o
n
tro
l
o
f
a
P
M
S
M
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tr
o
n
ics
,
v
o
l
/
issu
e
:
58
(
9
)
,
p
p
.
4
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]
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.
H.
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o
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a
n
d
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.
F
.
Ra
h
m
a
n
,
“
Dire
c
t
to
r
q
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e
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tro
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o
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a
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P
M
sy
n
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h
ro
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s
m
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m
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to
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f
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x
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se
rv
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r,
”
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ti
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we
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:
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,
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p
.
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4
2
,
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0
1
0
.
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0
]
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.
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lma
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u
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s,”
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ter
n
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ti
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o
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d
Dr
ive
S
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ste
m (
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J
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)
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l
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ss
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:
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p
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7
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0
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2
.
[2
1
]
S
.
M
.
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a
d
o
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e
t
a
l.
,
“
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in
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n
sa
c
ti
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o
n
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d
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l
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:
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p
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9
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0
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.
[2
2
]
M
.
Cirri
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,
e
t
a
l.
,
“
S
e
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so
rle
ss
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o
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f
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u
c
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m
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ra
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:
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TL
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EX
IN
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ro
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,
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p
.
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.
[2
3
]
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et
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l.
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RA
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,
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rg
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l
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:
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p
.
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2
0
0
5
.
[2
4
]
R.
G
u
n
a
b
a
lan
,
e
t
a
l.
,
“
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so
rles
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f
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d
u
c
ti
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it
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ten
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d
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lm
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S
3
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2
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1
2
P
r
o
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e
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”
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ter
n
a
ti
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a
l
J
o
u
rn
a
l
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f
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re
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s i
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l
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:
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5
)
,
p
p
.
1
4
-
1
9
,
2
0
0
9
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
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7
]
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.
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u
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d
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.
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.
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d
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d
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“
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ter
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trica
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p
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p
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r
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o
n
tro
l.
Evaluation Warning : The document was created with Spire.PDF for Python.