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.
T
h
e
v
o
ltag
e
s
f
ee
d
i
n
g
to
th
e
m
o
to
r
h
av
e
s
i
n
u
s
o
id
al
p
u
ls
e
w
id
t
h
m
o
d
u
latio
n
(
P
W
M)
w
av
e
f
o
r
m
s
.
W
e
r
e
co
m
m
en
d
ed
to
e
m
p
lo
y
th
e
f
u
n
d
am
e
n
tal
v
o
ltag
e
a
n
d
cu
r
r
en
t
co
m
p
o
n
e
n
ts
.
T
h
e
b
asic
cu
r
r
en
t
co
m
p
o
n
e
n
ts
ar
e
o
b
tain
ed
b
y
an
alo
g
lo
w
p
as
s
f
ilter
in
g
an
d
th
e
p
r
i
m
ar
y
v
o
lta
g
e
co
m
p
o
n
en
ts
ar
e
o
b
tain
ed
b
y
s
e
n
s
i
n
g
th
e
d
ig
ita
l
s
w
itch
in
g
o
f
t
h
e
in
v
er
ter
th
r
o
u
g
h
P
W
M
tech
n
iq
u
e
s
.
Gen
er
all
y
m
a
g
n
etic
f
ield
s
ar
e
p
r
o
d
u
ce
d
eith
er
b
y
t
h
e
f
lo
w
o
f
elec
tr
ic
cu
r
r
e
n
t o
r
b
y
th
e
in
cid
en
ce
o
f
p
er
m
an
e
n
t
m
a
g
n
etis
m
.
T
r
an
s
f
o
r
m
er
s
an
d
m
o
to
r
s
an
d
ar
e
ex
a
m
p
les
o
f
th
e
p
r
ev
io
u
s
,
an
d
t
h
e
E
ar
th
's
m
a
g
n
e
tic
f
ield
is
an
o
cc
u
r
r
en
ce
o
f
t
h
e
latter
.
So
as
to
d
ev
elo
p
th
e
n
o
is
e
v
o
lta
g
e
in
a
co
n
d
u
cto
r
,
m
a
g
n
etic
li
n
es
o
f
f
l
u
x
m
u
s
t
b
e
cu
t
b
y
t
h
e
co
n
d
u
cto
r
.
E
lectr
ic
m
ac
h
in
e
s
w
o
r
k
ed
o
n
th
i
s
f
u
n
ctio
n
o
f
b
asic
p
r
in
cip
le.
I
n
t
h
e
ex
i
s
te
n
ce
o
f
an
alter
n
ati
n
g
f
ield
,
s
u
c
h
a
s
t
h
at
ad
jo
in
in
g
a
5
0
/6
0
Hz
p
o
w
er
li
n
e,
v
o
lta
g
e
w
i
l
l
b
e
in
d
u
ce
d
in
to
an
y
s
tatio
n
ar
y
co
n
d
u
cto
r
as
th
e
m
a
g
n
et
ic
f
ield
ex
p
an
d
s
a
n
d
co
llap
s
es.
Si
m
ila
r
l
y
,
a
n
o
i
s
e
v
o
lta
g
e
i
s
b
ei
n
g
g
en
er
ated
w
h
e
n
e
v
er
a
co
n
d
u
ct
o
r
m
o
v
i
n
g
th
r
o
u
g
h
th
e
E
ar
t
h
'
s
m
a
g
n
etic
f
ie
ld
h
a
s
in
i
t
as
it
cu
t
s
t
h
e
li
n
es
o
f
f
l
u
x
.
T
h
ese
ca
u
s
es
to
c
h
a
n
g
e
th
e
f
lu
x
li
n
k
ag
e
s
o
f
t
h
e
m
o
to
r
w
h
ic
h
m
a
y
lead
s
to
ch
a
n
g
e
t
h
e
est
i
m
a
tio
n
o
f
r
o
to
r
p
o
s
itio
n
an
d
s
p
ee
d
.
1
.
1
T
he
M
ec
ha
nis
m
o
f
E
lect
ro
m
a
g
net
ic
No
is
e
G
ener
a
t
io
n
T
h
e
u
s
u
al
elec
tr
o
m
ag
n
etic
f
o
r
ce
,
w
h
ic
h
co
n
s
is
ts
o
f
d
is
s
i
m
ilar
f
r
eq
u
e
n
cies
s
p
ec
tr
u
m
a
n
d
v
ar
io
u
s
d
iv
is
io
n
o
f
r
o
tatio
n
f
o
r
ce
w
av
es
g
e
n
er
ated
b
y
th
e
m
u
t
u
al
ac
tio
n
o
f
s
tato
r
an
d
r
o
to
r
an
d
ac
tin
g
o
n
t
h
e
i
n
ter
io
r
s
u
r
f
ac
e
o
f
s
tato
r
co
r
e,
is
th
e
m
a
in
s
o
u
r
ce
o
f
m
o
to
r
s
v
ib
r
atio
n
an
d
elec
tr
o
m
ag
n
etic
n
o
is
e.
A
cc
o
r
d
in
g
to
Ma
x
w
ell
’
s
la
w
,
t
h
e
i
n
s
ta
n
ta
n
e
o
u
s
v
al
u
e
o
f
s
tan
d
ar
d
elec
tr
o
m
ag
n
et
ic
f
o
r
ce
p
er
u
n
it a
r
ea
ca
n
b
e
ex
p
r
ess
ed
as :
(
θ
,
t)
=
2
(
,
)
2
0
(
1
)
w
h
er
e
0
is
th
e
p
er
m
ea
b
ilit
y
o
f
v
ac
u
u
m
a
n
d
(
,
)
is
th
e
air
g
ap
f
lu
x
d
en
s
it
y
,
w
h
ich
w
a
s
s
u
p
er
p
o
s
ed
b
y
s
tato
r
f
l
u
x
a
n
d
r
o
to
r
f
lu
x
,
a
n
d
ca
n
b
e
ex
p
r
ess
ed
as:
b
(
θ
,
t)
=
b
ν
(
θ
,
t)
+
b
μ
(
θ
,
t)
=
∑
(
−
1
−
∅
)
+
∑
(
−
1
−
∅
)
(
2
)
w
h
er
e
ν
(
,
)
,
(
,
)
r
esp
ec
tiv
el
y
,
r
ep
r
esen
t
t
h
e
in
s
tan
t
an
eo
u
s
v
al
u
e
o
f
f
lu
x
d
en
s
it
y
f
o
r
m
ed
at
s
ta
to
r
s
id
e
an
d
r
o
to
r
s
id
e
w
h
ich
ch
a
n
g
e
s
w
it
h
r
esp
ec
t
to
p
o
s
itio
n
an
g
le
a
n
d
ti
m
e.
T
h
en
s
u
b
s
tit
u
t
e
eq
u
atio
n
(
2
)
in
to
eq
u
atio
n
(
1
)
,
th
e
f
o
llo
w
i
n
g
eq
u
atio
n
ca
n
b
e
o
b
tain
ed
:
(
θ
,
t)
=
1
2
0
{
∑
2
2
(
−
1
−
∅
)
+
∑
μ
2
2
μ
(
−
1
−
∅
μ
)
+
2
∑
1
2
1
,
2
(
1
−
1
−
∅
1
)
2
(
2
−
1
−
∅
2
)
+
2
∑
1
2
1
,
2
(
1
−
1
−
∅
1
)
(
2
−
1
−
∅
2
)
+
2
∑
,
(
−
1
−
∅
)
(
−
1
−
∅
)
}
(
3
)
A
cc
o
r
d
in
g
to
eq
u
atio
n
(
3
)
,
th
e
t
y
p
ical
e
lectr
o
m
a
g
n
et
ic
f
o
r
ce
w
h
ich
is
ac
ti
n
g
o
n
t
h
e
s
t
ato
r
to
o
th
co
n
s
is
ts
o
f
f
i
v
e
p
ar
ts
an
d
t
h
e
f
o
r
ce
w
a
v
es
w
i
th
lar
g
e
a
m
p
litu
d
e
an
d
lo
w
o
r
d
er
ar
e
th
e
m
aj
o
r
s
o
u
r
ce
s
.
I
n
P
MSM
,
th
e
elec
tr
o
m
a
g
n
etic
f
o
r
ce
w
a
v
es
w
h
ich
ar
e
g
e
n
er
ated
b
y
th
e
i
n
ter
ac
tio
n
b
et
w
e
en
s
tato
r
an
d
r
o
to
r
h
ar
m
o
n
ic
m
a
g
n
etic
f
lu
x
d
en
s
it
y
(
th
e
f
o
u
r
t
h
p
ar
t)
an
d
th
e
in
ter
ac
tio
n
o
f
v
ar
io
u
s
h
ar
m
o
n
ic
m
a
g
n
e
tic
f
l
u
x
d
en
s
it
y
in
d
u
ce
d
b
y
p
er
m
an
e
n
t
m
ag
n
et
s
(
th
e
f
i
f
th
p
ar
t)
,
ar
e
th
e
m
aj
o
r
s
o
u
r
ce
s
o
f
elec
tr
o
m
ag
n
etic
n
o
i
s
e[
7
]
.
I
n
n
o
r
m
al
r
ad
iatio
n
,
th
e
elec
tr
o
m
a
g
n
etic
n
o
i
s
e
p
o
w
er
w
h
ic
h
is
g
en
er
ated
b
y
elec
tr
o
m
a
g
n
et
i
s
m
ac
ti
n
g
o
n
s
tato
r
teeth
ca
n
b
e
ex
p
r
ess
e
d
as:
W
=
2
ρ
c
π
2
2
2
0
w
h
er
e
is
th
e
s
o
u
n
d
o
f
m
ed
i
u
m
d
en
s
it
y
,
c
is
th
e
v
elo
cit
y
o
f
s
o
u
n
d
in
m
ed
i
u
m
d
en
s
it
y
,
is
th
e
f
r
eq
u
e
n
c
y
o
f
elec
tr
o
m
ag
n
etic
f
o
r
ce
w
a
v
e,
an
d
0
is
th
e
v
ib
r
ati
n
g
ar
ea
in
v
er
tical
d
ir
ec
tio
n
o
f
t
h
e
s
o
u
n
d
w
a
v
e
p
r
o
p
ag
atio
n
.
Y
is
t
h
e
d
is
p
lace
m
en
t
o
f
v
ib
r
atio
n
u
n
d
er
s
tato
r
elec
tr
o
m
a
g
n
etic
f
o
r
ce
an
d
it
i
s
g
iv
e
n
b
y
=
’/
−
2
b
y
n
eg
lec
tin
g
t
h
e
d
a
m
p
i
n
g
.
W
h
e
r
e
’
i
s
t
h
e
a
m
p
litu
d
e
o
f
elec
t
r
o
m
a
g
n
etic
f
o
r
ce
w
a
v
e
ac
ti
n
g
o
n
s
tato
r
teet
h
.
is
th
e
s
ti
f
f
n
e
s
s
o
f
s
tato
r
s
y
s
te
m
.
is
th
e
m
ass
o
f
f
i
x
ed
s
y
s
te
m
.
is
th
e
an
g
u
lar
f
r
eq
u
en
c
y
o
f
elec
tr
o
m
ag
n
etic
f
o
r
ce
w
a
v
e.
Sev
er
al
o
n
-
lin
e
p
ar
a
m
eter
esti
m
atio
n
m
et
h
o
d
s
s
u
c
h
a
s
t
h
e
e
x
ten
d
ed
k
al
m
a
n
f
ilter
(
E
KF)
,
r
ec
u
r
s
iv
e
least
s
q
u
ar
e
(
R
L
S),
a
n
d
m
o
d
el
r
ef
er
en
ce
ad
ap
tiv
e
s
y
s
te
m
(
M
R
A
S)
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
f
o
r
s
en
s
o
r
less
co
n
tr
o
l
o
f
P
MSM
d
r
iv
e
[
8
-
1
0
]
.
Am
o
n
g
t
h
ese
,
t
h
e
m
o
s
t
s
u
cc
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s
f
u
l
es
ti
m
ato
r
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s
E
x
ten
d
ed
Kal
m
a
n
F
ilter
in
ter
m
s
o
f
t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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P
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w
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&
Dr
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2
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8
8
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s
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r
less
C
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n
tr
o
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f I
P
MS
M
Dri
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in
g
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K
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w
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meg
n
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K
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a
s
imh
a
ia
h
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ch
a
r
i
)
159
least
s
q
u
ar
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m
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tates
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m
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w
h
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s
w
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v
ar
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les,
an
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also
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a
f
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B
esid
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e
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KF
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is
p
r
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e
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m
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b
ased
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to
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t
ax
is
an
d
q
u
ad
r
atu
r
e
a
x
i
s
c
u
r
r
en
ts
o
f
th
e
I
P
MSM
.
Fi
n
all
y
,
t
h
e
s
i
m
u
latio
n
r
es
u
lt
s
s
h
o
w
th
e
v
a
lid
it
y
o
f
t
h
e
esti
m
ato
r
.
B
u
t
it
d
o
es
n
o
t
in
clu
d
e
th
e
elec
tr
o
m
ag
n
etic
n
o
is
e
ef
f
e
ct
w
h
ile
esti
m
ati
n
g
th
e
s
p
ee
d
an
d
p
o
s
itio
n
o
f
t
h
e
r
o
to
r
[
1
1
]
.
Fig
u
r
e
1
.
I
P
MSM
C
o
o
r
d
in
ate
s
y
s
te
m
s
2.
M
AT
H
E
M
AT
I
CAL M
O
DE
L
O
F
I
P
M
S
M
E
x
p
lain
i
n
g
r
esear
ch
c
h
r
o
n
o
lo
g
ical,
in
c
lu
d
i
n
g
r
esear
c
h
d
esi
g
n
,
r
esear
c
h
p
r
o
ce
d
u
r
e
(
in
th
e
f
o
r
m
o
f
alg
o
r
ith
m
s
,
P
s
e
u
d
o
co
d
e
o
r
o
th
er
)
,
h
o
w
to
test
a
n
d
d
ata
ac
q
u
is
i
tio
n
[
1
]
-
[
3
]
.
T
h
e
d
escr
ip
ti
o
n
o
f
t
h
e
co
u
r
s
e
o
f
r
esear
ch
s
h
o
u
ld
b
e
s
u
p
p
o
r
ted
r
ef
er
en
ce
s
,
s
o
th
e
ex
p
la
n
atio
n
ca
n
b
e
ac
ce
p
ted
s
cien
ti
f
icall
y
[
2
]
,
[
4
]
.
T
h
e
co
o
r
d
in
ate
s
y
s
te
m
o
f
I
P
MSM
is
s
h
o
w
n
i
n
Fi
g
u
r
e
1
in
th
r
ee
d
i
f
f
er
e
n
t
co
o
r
d
in
ates.
E
ac
h
co
o
r
d
in
ate
tr
an
s
f
o
r
m
atio
n
i
s
ex
p
r
ess
ed
as:
[
]
=
′
[
]
whe
r
e
T
=
2
3
[
1
0
−
1
/
2
√
3
/
2
−
1
/
2
−
√
3
/
2
]
(
4
)
[
]
=
[
]
whe
r
e
P
=
[
c
os
θ
s
in
θ
−
si
n
θ
c
os
θ
]
(
5
)
T
h
e
v
o
ltag
e
eq
u
atio
n
o
f
a
n
I
P
MSM
in
t
h
e
s
tatio
n
ar
y
r
ef
er
en
ce
f
r
a
m
e
f
o
r
an
an
al
y
s
is
o
f
th
e
s
tato
r
cu
r
r
en
t is d
e
f
in
ed
as
f
o
llo
w
s
:
[
]
=
[
]
+
[
−
∆
c
os
2
−
∆
s
in
2
−
∆
s
in
2
+
∆
c
os
2
]
[
]
+
∅
[
c
os
s
in
]
(
6
)
w
h
er
e
L
=
+
2
an
d
∆
=
−
2
W
h
ile
,
an
d
,
ar
e
th
e
α
-
a
x
i
s
an
d
β
-
ax
i
s
v
o
ltag
e
s
a
n
d
cu
r
r
e
n
ts
r
esp
ec
tiv
e
l
y
.
Ld
an
d
Lq
ar
e
d
-
ax
i
s
an
d
q
-
ax
i
s
in
d
u
ctan
ce
,
∅
is
th
e
p
er
m
a
n
e
n
t
m
a
g
n
et
f
l
u
x
lin
k
a
g
e,
p
is
th
e
d
if
f
er
e
n
tial
o
p
er
ato
r
an
d
θ
is
th
e
r
o
to
r
p
o
s
itio
n
[
1
2
]
,
[
1
3
]
.
T
h
e
v
o
lta
g
e
eq
u
atio
n
in
r
o
tati
n
g
r
ef
er
en
ce
f
r
a
m
e
ca
n
b
e
o
b
tain
ed
b
y
:
[
]
=
[
+
−
+
]
[
]
+
[
0
∅
]
(
7
)
w
h
er
e
is
t
h
e
s
p
ee
d
o
f
th
e
r
o
to
r
in
r
ad
ian
p
er
s
ec
o
n
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i S
y
s
t,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
157
–
1
6
5
160
Fig
u
r
e
2
.
R
o
to
r
s
tr
u
ctu
r
e
o
f
a
n
I
P
MSM
T
h
e
m
ag
n
etic
p
at
h
o
f
a
n
I
P
MSM
is
d
is
s
i
m
ilar
f
r
o
m
t
h
at
o
f
an
SP
MSM
s
i
n
ce
t
h
e
r
elativ
e
p
er
m
ea
b
ili
t
y
o
f
a
p
er
m
an
e
n
t
m
ag
n
et
i
s
al
m
o
s
t
eq
u
al
to
th
e
air
.
T
h
is
f
ea
t
u
r
e
ca
u
s
e
s
an
ef
f
e
ct
to
p
r
o
d
u
ce
an
air
-
g
ap
o
n
t
h
e
d
-
ax
i
s
.
B
ec
au
s
e
t
h
e
p
er
m
a
n
e
n
t
m
a
g
n
e
ts
o
f
t
h
e
S
P
MS
M
ar
e
attac
h
ed
to
t
h
e
r
o
t
o
r
s
u
r
f
ac
e,
h
e
n
ce
it
m
ak
e
s
d
-
a
x
is
i
n
d
u
cta
n
ce
is
eq
u
al
to
q
-
ax
is
i
n
d
u
cta
n
ce
.
C
o
n
v
er
s
el
y
i
n
t
h
e
I
P
MSM
,
d
-
ax
i
s
in
d
u
ctan
ce
i
s
d
is
s
i
m
ilar
f
r
o
m
q
-
ax
i
s
in
d
u
ct
an
ce
d
ep
en
d
in
g
o
n
th
e
p
o
s
iti
o
n
o
f
p
er
m
a
n
e
n
t
m
a
g
n
ets.
As
s
h
o
w
n
i
n
Fi
g
u
r
e
2
,
th
e
q
-
ax
i
s
i
n
d
u
c
tan
ce
is
b
i
g
g
e
r
th
a
n
t
h
e
d
-
ax
i
s
i
n
d
u
c
tan
ce
b
ec
au
s
e
p
er
m
an
e
n
t
m
a
g
n
ets
ar
e
o
n
t
h
e
d
-
ax
i
s
p
at
h
w
h
er
e
t
h
e
m
a
g
n
etic
f
lu
x
o
cc
u
r
s
.
T
h
e
r
elu
cta
n
ce
to
r
q
u
e
i
s
p
r
o
d
u
ce
d
b
y
m
a
g
n
etic
s
alie
n
c
y
f
r
o
m
t
h
e
d
i
f
f
er
en
ce
o
f
in
d
u
ctan
ce
.
C
o
n
s
eq
u
en
tl
y
,
th
e
to
r
q
u
e
g
e
n
er
a
ted
in
t
h
e
I
P
MSM
co
n
s
i
s
ts
o
f
t
w
o
p
ar
ts
t
er
m
ed
as
m
a
g
n
etic
to
r
q
u
e
an
d
th
e
r
elu
cta
n
ce
to
r
q
u
e
an
d
is
g
i
v
en
b
y
[
1
4
]
:
=
3
2
2
[
∅
+
(
−
)
]
(
8
)
w
h
er
e
P
is
th
e
n
u
m
b
er
o
f
m
a
g
n
et
ic
p
o
les.
In
eq
u
atio
n
(
8
)
,
th
er
e
ar
e
th
e
ter
m
s
o
f
d
-
a
x
i
s
an
d
q
-
ax
i
s
r
ef
er
en
ce
cu
r
r
en
ts
th
at
g
e
n
er
ate
t
h
e
s
a
m
e
to
r
q
u
e.
W
h
e
n
t
h
e
r
ef
er
e
n
ce
cu
r
r
en
t
i
s
s
p
ec
i
f
ied
as
t
h
e
s
tato
r
cu
r
r
en
t,
t
h
e
to
r
q
u
e
ca
n
b
e
d
er
iv
ed
a
s
eq
u
a
tio
n
(
6
)
.
I
n
s
u
c
h
a
ca
s
e,
t
h
e
r
e
f
er
en
ce
d
-
a
x
i
s
a
n
d
q
-
a
x
i
s
c
u
r
r
en
ts
ar
e
g
e
n
er
ated
b
y
t
h
e
an
g
le
o
f
th
e
s
tato
r
cu
r
r
en
t.
=
2
3
2
[
∅
s
in
+
(
−
)
2
2
s
in
2
]
(
9
)
w
h
er
e
θ
is
th
e
s
tato
r
cu
r
r
en
t a
n
g
le
i
n
t
h
e
s
y
n
c
h
r
o
n
o
u
s
r
ef
er
e
n
ce
f
r
a
m
e,
an
d
I
s
is
t
h
e
s
tato
r
cu
r
r
en
t v
ec
to
r
.
Fig
u
r
e
3
.
C
o
n
f
ig
u
r
atio
n
o
f
th
e
I
P
MSM
d
r
iv
e
s
y
s
te
m
w
it
h
p
ar
a
m
eter
esti
m
atio
n
3.
E
XT
E
ND
E
D
K
A
L
M
AN
F
I
L
T
E
R
F
O
R
P
ARAM
E
T
E
R
E
ST
I
M
AT
I
O
N
An
E
KF
h
a
s
b
ee
n
u
s
ed
f
o
r
b
r
o
ad
r
an
g
e
s
p
ee
d
ap
p
licatio
n
s
in
d
r
iv
e
co
n
tr
o
l
a
n
d
o
n
li
n
e
p
ar
am
ete
r
esti
m
atio
n
.
I
n
s
p
ite
o
f
t
h
is
,
t
h
e
E
KF
is
h
elp
f
u
l
f
o
r
a
P
MS
M
b
ec
au
s
e
it
h
as
h
ig
h
-
p
er
f
o
r
m
an
ce
i
n
t
h
e
n
o
is
y
co
n
d
itio
n
a
n
d
w
id
e
r
an
g
e
s
p
ee
d
co
n
tr
o
l.
T
h
u
s
,
it
i
s
f
r
eq
u
en
tl
y
u
s
ed
to
g
e
t
t
h
e
an
g
u
lar
s
p
ee
d
f
r
o
m
n
o
is
y
m
ec
h
a
n
ical
m
ea
s
u
r
e
m
e
n
ts
,
es
ti
m
ate
t
h
e
r
o
to
r
p
o
s
itio
n
in
a
m
ec
h
a
n
ical
s
e
n
s
o
r
less
co
n
tr
o
l
ap
p
licatio
n
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
S
en
s
o
r
less
C
o
n
tr
o
l o
f I
P
MS
M
Dri
ve
u
s
in
g
E
K
F
w
ith
E
lectro
meg
n
etic
N
o
is
e
E
ffect
(
K
N
a
r
a
s
imh
a
ia
h
A
ch
a
r
i
)
161
d
if
f
er
e
n
tiate
th
e
m
ac
h
in
e
p
ar
am
eter
s
.
I
n
th
i
s
s
ec
tio
n
,
th
e
latt
er
ap
p
licatio
n
w
il
l b
e
g
i
v
en
a
s
p
ec
ial
a
tte
n
tio
n
f
o
r
an
I
P
MSM
.
T
h
e
p
r
o
p
o
s
ed
E
K
F
p
r
o
v
id
es
esti
m
a
ted
d
-
ax
i
s
an
d
q
-
ax
i
s
in
d
u
ctan
ce
s
L
d
an
d
L
q
r
esp
ec
ti
v
el
y
[
1
5
-
1
7
]
.
3
.
1
.
I
P
M
S
M
St
a
t
e
Sp
a
ce
M
o
del
E
q
.
(
7
)
ca
n
b
e
r
ed
ef
in
ed
as f
o
l
lo
w
s
:
=
+
−
=
+
+
+
∅
(
1
0
)
T
h
e
s
y
s
te
m
m
o
d
el
s
h
o
u
ld
b
e
in
t
h
e
f
o
r
m
o
f
t
h
e
s
tate
eq
u
atio
n
to
b
e
u
s
ed
in
th
e
E
K
F.
T
h
e
s
tate
eq
u
atio
n
s
ca
n
b
e
ex
p
r
ess
ed
as
f
o
llo
w
s
:
̇
(
)
=
(
(
)
)
+
(
)
+
(
)
(
)
=
(
)
+
(
)
(
1
1
)
w
her
e
V
=
[
]
an
d
y
=
[
]
ar
e
in
p
u
t
an
d
o
u
tp
u
t
v
ec
to
r
s
.
X
=
[
]
is
a
s
tate
s
y
s
te
m
v
ec
to
r
(
a=
1
/
,
=
1
/
)
.
σ
(
t
)
an
d
μ
(
t
)
ar
e
u
n
co
r
r
elate
d
ze
r
o
-
m
ea
n
w
h
ite
Ga
u
s
s
ian
n
o
i
s
es
w
it
h
co
v
ar
ian
ce
Q
an
d
R
r
esp
ec
tiv
el
y
.
σ
(
t
)
is
s
y
s
te
m
n
o
is
e
th
a
t
in
cl
u
d
es
th
e
s
y
s
te
m
d
is
tu
r
b
an
ce
s
an
d
m
o
d
el
i
n
ac
c
u
r
ac
ies,
w
h
i
le
μ
(
t
)
r
ep
r
esen
ts
th
e
m
ea
s
u
r
e
m
en
t n
o
is
e.
T
h
e
s
y
s
te
m
m
a
tr
ices
f
(
x
(
t
)
)
,
G
an
d
H
ar
e
d
ef
in
ed
as:
f
(
x
(
t)
=
[
(
−
)
+
(
−
−
∅
)
−
0
0
]
(
1
2
)
G
=
[
0
0
0
0
0
0
]
, H =
[
1
0
0
1
0
0
0
0
]
(
1
3
)
F(x
(
t)
)
=
̇
|
=
(
)
=
[
−
−
−
0
0
0
0
−
+
−
2
2
−
−
(
∅
−
)
0
0
0
0
]
(
1
4
)
T
h
e
p
r
e
d
ictio
n
o
f
th
e
s
tate
co
v
ar
ian
ce
r
eq
u
ir
es
t
h
e
o
n
l
in
e
c
o
m
p
u
tatio
n
o
f
t
h
e
J
ac
o
b
ea
n
m
atr
i
x
F
,
d
ef
in
ed
as
(
1
4
)
.
3
.
2
.
E
x
t
ended
K
a
lm
a
n F
il
t
e
r
T
h
e
co
m
p
lete
s
tr
u
ctu
r
e
o
f
t
h
e
E
KF
al
g
o
r
ith
m
co
n
s
is
t
s
t
w
o
s
t
ep
s
w
h
ic
h
ar
e
ter
m
ed
as
p
r
ed
ictio
n
s
tep
an
d
in
n
o
v
at
io
n
s
tep
.
T
h
e
f
i
r
s
t
s
tep
p
er
f
o
r
m
s
a
p
r
ed
icti
o
n
o
f
b
o
th
q
u
an
titi
e
s
b
ased
o
n
t
h
e
p
r
ev
io
u
s
esti
m
ates
̂
|
−
1
an
d
th
e
m
ea
n
v
o
lta
g
e
〈
−
1
〉
ac
tu
all
y
i
n
d
u
ce
d
to
th
e
s
y
s
te
m
in
t
h
e
p
er
io
d
f
r
o
m
t
k
-
1
to
t
k
.
T
h
e
n
ex
t
s
tep
p
er
f
o
r
m
s
th
e
p
r
ed
icted
s
tate
esti
m
a
te
an
d
it
s
co
v
ar
ian
ce
m
atr
i
x
u
s
in
g
a
f
ee
d
b
ac
k
co
r
r
ec
tio
n
s
ch
e
m
e
t
h
at
r
ec
eiv
e
s
th
e
m
ea
s
u
r
ed
m
o
to
r
cu
r
r
en
ts
T
h
e
co
m
m
o
n
E
KF a
l
g
o
r
ith
m
i
s
ex
p
r
ess
ed
i
n
th
e
f
o
llo
w
in
g
t
w
o
s
ta
g
es
:
1
)
Pre
d
ictio
n
s
tep
̂
|
−
1
=
̂
|
−
1
+
[
(
−
1
̂
|
−
1
)
+
〈
−
1
〉
]
|
−
1
=
−
1
|
−
1
+
(
−
1
−
1
|
−
1
+
−
1
|
−
1
−
1
)
+
2
)
I
n
n
o
v
atio
n
s
tep
̂
|
=
̂
|
−
1
+
[
(
−
̂
|
−
1
)
]
|
=
|
−
1
−
|
−
1
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i S
y
s
t,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
157
–
1
6
5
162
3
)
Kalm
a
n
g
ain
=
|
−
1
(
|
−
1
+
)
−
1
Fo
r
th
e
o
n
-
l
in
e
ap
p
licatio
n
o
f
th
e
Ka
l
m
a
n
f
ilter
,
ti
m
e
co
n
s
tr
ain
t
s
ar
e
cr
u
cial;
w
h
er
e
m
o
s
t
o
f
th
e
m
atr
ices
h
o
ld
n
u
m
er
o
u
s
n
u
ll e
le
m
e
n
ts
,
all
th
e
ca
lcu
lat
io
n
s
h
av
e
b
ee
n
m
ad
e
ex
p
lici
tl
y
,
r
ed
u
cin
g
co
m
p
u
tatio
n
a
l
ti
m
e.
An
i
m
p
o
r
tan
t
s
tep
in
t
h
e
d
esi
g
n
o
f
Kal
m
a
n
f
ilter
is
th
e
c
h
o
ice
o
f
in
it
ial
v
a
lu
e
s
f
o
r
th
e
co
v
ar
ian
ce
m
atr
ices
Q
A
n
d
R
as
t
h
e
y
i
n
f
lu
en
ce
t
h
e
p
er
f
o
r
m
a
n
ce
,
co
n
v
er
g
en
ce
an
d
s
tab
il
it
y
.
T
h
e
m
a
tr
ix
Q
i
s
r
elate
d
to
th
e
s
y
s
te
m
n
o
is
e.
T
h
e
r
is
e
in
t
h
e
v
a
lu
e
o
f
t
h
e
ele
m
e
n
ts
o
f
Q
w
i
ll
li
k
e
w
i
s
e
r
aise
t
h
e
Kal
m
a
n
g
a
in
,
r
es
u
lt
in
g
i
n
q
u
ick
er
f
ilter
d
y
n
a
m
ic
s
b
u
t
w
it
h
w
o
r
s
e
th
e
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
.
On
th
e
o
t
h
er
h
a
n
d
,
th
e
m
atr
i
x
R
is
r
elate
d
to
th
e
m
ea
s
u
r
e
m
en
t
n
o
is
e.
I
n
cr
ea
s
i
n
g
th
e
v
al
u
e
s
o
f
th
e
ele
m
e
n
ts
o
f
R
w
ill
as
s
u
m
e
t
h
at
t
h
e
c
u
r
r
en
t
m
ea
s
u
r
e
m
e
n
t
s
ar
e
lar
g
el
y
i
n
f
lu
en
ce
d
b
y
n
o
is
e
an
d
th
u
s
le
s
s
d
ep
en
d
ab
le.
T
h
er
ef
o
r
e,
t
h
e
Kal
m
an
g
a
in
w
ill
d
ec
r
ea
s
e,
y
ield
i
n
g
w
o
r
s
e
tr
a
n
s
ie
n
t
r
esp
o
n
s
e.
T
h
e
d
iag
o
n
al
in
itial
s
tate
co
v
ar
ia
n
ce
m
atr
ix
P
0
r
ep
r
esen
t
s
v
ar
ian
ce
s
o
r
m
ea
n
-
s
q
u
ar
ed
er
r
o
r
s
w
i
t
h
r
eg
ar
d
to
t
h
e
in
i
t
ial
co
n
d
itio
n
.
Var
y
i
n
g
P
0
y
ield
s
t
h
e
d
if
f
er
e
n
t
a
m
p
lit
u
d
e
o
f
th
e
tr
a
n
s
ie
n
t,
w
h
i
le
b
o
th
tr
an
s
ie
n
t d
u
r
atio
n
an
d
s
tead
y
s
tate
co
n
d
itio
n
s
w
ill b
e
u
n
c
h
an
g
ed
[
1
8
]
.
I
n
t
h
is
p
ap
er
,
th
e
in
i
tial
v
al
u
es
o
f
co
v
ar
ian
ce
m
atr
ix
P
a
n
d
s
y
s
te
m
m
atr
ix
Q
a
n
d
R
h
a
v
e
b
ee
n
c
h
o
s
e
n
w
it
h
a
tr
ial
an
d
er
r
o
r
p
r
o
ce
d
u
r
e
to
g
et
t
h
e
b
est
tr
ad
eo
f
f
b
et
wee
n
f
ilter
Stab
ili
t
y
a
n
d
co
n
v
er
g
en
ce
ti
m
e.
A
s
t
h
e
v
alu
e
o
f
Q
i
n
cr
ea
s
es
,
Kal
m
a
n
g
ain
also
in
cr
ea
s
e
s
,
w
h
ic
h
ca
u
s
e
s
v
ar
iatio
n
o
f
esti
m
atio
n
v
alu
e
s
.
L
i
k
e
w
i
s
e,
E
KF
is
s
tr
o
n
g
l
y
a
f
f
ec
ted
b
y
m
ea
s
u
r
e
m
e
n
t
n
o
i
s
e
as
R
i
n
cr
e
ases
.
P
is
s
elec
ted
b
ased
o
n
[
1
9
]
,
[
2
0
]
b
ec
au
s
e
it
is
n
o
th
i
n
g
to
d
o
w
it
h
s
tead
y
-
s
tat
e
co
n
d
itio
n
.
I
n
co
n
cl
u
s
io
n
,
to
o
b
tain
th
e
h
ig
h
p
er
f
o
r
m
a
n
ce
o
f
p
r
o
p
o
s
ed
E
KF,
m
atr
ices a
r
e
ch
o
s
e
n
as
f
o
llo
w
s
:
=
[
1
0
0
1
0
0
0
0
0
0
0
0
300
0
0
300
]
;
=
[
0
.
1
0
0
0
.
1
0
0
0
0
0
0
0
0
10
0
0
10
]
; a
n
d
=
[
0
.
5
0
0
0
.
5
]
;
4.
DIS
CU
SS
I
O
N
O
F
S
I
M
UL
AT
I
O
N
R
E
SU
L
T
S
T
h
e
o
v
er
all
p
r
o
p
o
s
ed
s
y
s
te
m
is
s
h
o
w
n
in
F
ig
u
r
e
3
.
T
h
e
cu
r
r
en
t
an
d
s
p
ee
d
co
n
tr
o
l
s
ar
e
in
clu
d
ed
in
th
e
d
r
iv
e
s
y
s
te
m
.
T
h
e
e
s
ti
m
a
t
ed
s
p
ee
d
b
y
E
KF
i
s
u
s
ed
f
o
r
t
h
e
c
u
r
r
en
t
co
n
tr
o
ller
to
ca
lcu
l
ate
th
e
g
ain
o
f
t
h
e
cu
r
r
en
t
co
n
tr
o
ller
.
Fig
u
r
e
4
s
h
o
w
s
th
e
ac
tu
al
an
d
es
ti
m
a
ted
s
p
ee
d
o
f
th
e
m
o
to
r
w
h
ic
h
ca
n
b
e
attain
ed
al
m
o
s
t
eq
u
a
l
to
1
5
7
r
a
d
ian
s
p
er
s
ec
o
n
d
an
d
Fig
u
r
es
5
–
7
g
iv
es
r
es
u
lt
s
f
o
r
ar
m
at
u
r
e
cu
r
r
en
t,
r
o
to
r
p
o
s
itio
n
an
d
to
r
q
u
e
t
h
at
ar
e
d
ev
elo
p
ed
in
th
e
r
o
to
r
.
I
t
s
h
o
w
s
t
h
e
p
r
ese
n
tatio
n
o
f
E
KF
w
it
h
a
n
d
w
it
h
o
u
t
elec
tr
o
m
ag
n
etic
n
o
is
e
e
f
f
ec
t
as
s
h
o
w
n
f
r
o
m
Fi
g
u
r
es
8
-
1
3
.
Af
ter
s
u
m
m
ar
iz
in
g
t
h
e
s
i
m
u
l
atio
n
r
esu
lts
,
t
h
e
an
al
y
s
is
o
f
ar
m
at
u
r
e
cu
r
r
en
t
at
a
lo
ad
to
r
q
u
e
T
L
o
f
5
N
-
m
.
h
a
s
b
ee
n
o
b
s
er
v
ed
an
d
th
e
elec
t
r
o
m
a
g
n
etic
n
o
is
e
a
f
f
ec
ts
in
th
e
ar
m
at
u
r
e
c
u
r
r
en
t
in
r
o
tatin
g
r
e
f
er
en
ce
f
r
a
m
e
m
o
d
el
s
I
d
a
n
d
I
q
,
m
a
y
p
la
y
a
n
i
m
p
o
r
tan
t
r
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le
to
f
i
n
d
th
e
f
l
u
x
li
n
k
a
g
e
s
,
r
o
to
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p
o
s
itio
n
a
n
d
s
p
ee
d
o
f
t
h
e
m
o
to
r
.
T
h
is
m
a
y
ca
u
s
e
p
r
ese
n
t
r
ip
p
les
in
th
e
ar
m
at
u
r
e
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r
r
en
t a
n
d
to
r
q
u
e
o
f
t
h
e
f
u
n
d
a
m
en
tal
co
m
p
o
n
e
n
t.
T
ab
le
1
.
Mo
to
r
s
p
ec
if
icatio
n
s
:
S
t
a
t
o
r
R
e
si
st
a
n
c
e
0
.
3
4
9
Ω
d
-
a
x
i
s
I
n
d
u
c
t
a
n
c
e
1
3
.
1
6
M
h
q
-
a
x
i
s I
n
d
u
c
t
a
n
c
e
1
5
.
6
0
Mh
N
u
mb
e
r
o
f
p
o
l
e
s
4
F
l
u
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L
i
n
k
a
g
e
0
.
5
5
4
W
b
R
a
t
e
d
P
o
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5
4
K
w
R
a
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d
C
u
r
r
e
n
t
9
.
8
A
R
a
t
e
d
S
p
e
e
d
1
5
0
0
r
.
p
.
m.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
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8
694
S
en
s
o
r
less
C
o
n
tr
o
l o
f I
P
MS
M
Dri
ve
u
s
in
g
E
K
F
w
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lectro
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n
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E
ffect
(
K
N
a
r
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imh
a
ia
h
A
ch
a
r
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)
163
Fig
u
r
e
4
.
E
s
ti
m
ated
an
d
ac
t
u
a
l sp
ee
d
b
y
u
s
i
n
g
Kal
m
a
n
f
ilter
Fig
u
r
e5
.
A
r
m
at
u
r
e
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u
r
r
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w
it
h
No
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e
Si
g
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al
Fig
u
r
e
6
.
R
o
to
r
p
o
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o
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to
r
.
RE
F
E
R
E
NC
E
S
[1
]
S
.
Og
a
sa
wa
ra
a
n
d
H.
Ak
a
g
i,
“
An
a
p
p
ro
a
c
h
t
o
p
o
sit
io
n
se
n
so
rles
s
d
riv
e
f
o
r
b
ru
sh
les
s
d
c
m
o
to
r,
”
IEE
E
T
ra
n
s.
In
d
.
A
p
p
l.
,
v
o
l.
2
7
,
n
o
.
5
,
p
p
.
9
2
8
–
9
3
3
,
S
e
p
.
Oc
t.
1
9
9
1
.
[2
]
A
.
B.
Ku
lk
a
rn
i
a
n
d
M
.
Eh
sa
n
i
,
“
A
n
o
v
e
l
p
o
siti
o
n
se
n
so
r
e
li
m
in
a
ti
o
n
tec
h
n
iq
u
e
f
o
r
th
e
in
terio
r
p
e
rm
a
n
e
n
t
-
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s
m
o
to
r
d
riv
e
,
”
IEE
E
T
ra
n
s.
I
n
d
.
A
p
p
l.
,
v
o
l.
2
8
,
n
o
.
1
,
p
p
.
1
4
4
–
1
5
0
,
Ja
n
.
/
F
e
b
.
1
9
9
2
.
[3
]
J.
S
.
Kim
a
n
d
S
.
K.
S
u
l,
“
Ne
w
a
p
p
r
o
a
c
h
f
o
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th
e
lo
w
sp
e
e
d
o
p
e
ra
ti
o
n
o
f
P
M
S
M
d
riv
e
s
w
it
h
o
u
t
ro
tatio
n
a
l
p
o
sit
io
n
se
n
so
rs
,
”
IEE
E
T
r
a
n
s.
In
d
.
El
e
c
tr
o
n
.
,
v
o
l.
1
1
,
n
o
.
3
,
p
p
.
5
1
2
–
5
1
9
,
M
a
y
1
9
9
6
.
[4
]
Z.
Ch
e
n
,
M
.
T
o
m
it
a
,
S
.
Do
k
i,
a
n
d
S
.
Ok
u
m
a
,
“
A
n
e
x
ten
d
e
d
e
lec
tro
m
o
ti
v
e
f
o
rc
e
m
o
d
e
l
f
o
r
se
n
so
rles
s
c
o
n
tro
l
o
f
in
terio
r
p
e
rm
a
n
e
n
t
m
a
g
n
e
ts
y
n
c
h
r
o
n
o
u
s m
o
to
rs,”
IEE
E
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l.
5
0
,
n
o
.
2
,
p
p
.
2
8
8
–
2
9
5
,
A
p
r.
2
0
0
3
.
[5
]
S
.
M
o
r
im
o
to
,
K.
Ka
w
a
m
a
to
,
M
.
S
a
n
a
d
a
,
a
n
d
Y
.
T
a
k
e
d
a
,
“
S
e
n
so
rles
s
c
o
n
tro
l
stra
teg
y
f
o
r
sa
li
e
n
t
p
o
l
e
P
M
S
M
b
a
se
d
o
n
Ex
ten
d
e
d
EM
F
i
n
ro
tati
n
g
re
fe
re
n
c
e
f
ra
m
e
,
”
IEE
E
T
ra
n
s.
In
d
.
Ap
p
l
.
,
v
o
l.
3
8
,
n
o
.
4
,
p
p
.
1
0
5
4
–
1
0
6
1
,
J
u
l.
/A
u
g
.
2
0
0
2
.
[6
]
S
.
Ös
tl
u
n
d
a
n
d
M
.
Bro
k
e
m
p
e
r,
“
S
e
n
so
rles
s
ro
to
r
p
o
siti
o
n
d
e
tec
ti
o
n
f
ro
m
z
e
ro
to
ra
ted
sp
e
e
d
f
o
r
a
n
in
teg
ra
ted
PM
s
y
n
c
h
ro
n
o
u
s
m
o
to
r
d
riv
e
,
”
IEE
E
T
ra
n
s.
I
n
d
.
A
p
p
l.
,
v
o
l.
3
2
,
n
o
.
5
,
p
p
.
1
1
5
8
–
1
1
6
5
,
S
e
p
.
/Oc
t.
1
9
9
6
.
[7
]
L
a
k
sh
m
ik
a
n
th
.
S
,
Na
traj.
K.R,
a
n
d
Re
k
h
a
.
K.R,
“
No
ise
a
n
d
V
i
b
ra
ti
o
n
Re
d
u
c
ti
o
n
i
n
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
to
rs
A
Re
v
ie
w
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
m
p
u
ter
En
g
in
e
e
rin
g
(IJ
ECE
),
V
o
l
.
2
,
No
.
3
,
Ju
n
e
2
0
1
2
,
p
p
.
4
0
5
~
4
1
6
[8
]
H.
Kim
,
M
.
C.
Ha
rk
e
,
a
n
d
R.
D
.
L
o
re
n
z
,
“
S
e
n
so
rles
s
c
o
n
tro
l
o
f
in
terio
r
p
e
rm
a
n
e
n
t
-
m
a
g
n
e
t
m
a
c
h
i
n
e
d
riv
e
s
w
it
h
z
e
ro
p
h
a
se
L
a
g
p
o
siti
o
n
e
stim
a
ti
o
n
,
”
IEE
E
T
ra
n
s.
In
d
.
A
p
p
l
.
,
v
o
l
.
3
9
,
n
o
.
6
,
p
p
.
1
7
2
6
–
1
7
3
3
,
No
v
.
/De
c
.
2
0
0
3
.
[9
]
B.
N.
M
o
b
a
ra
k
e
h
,
F
.
M
.
T
a
b
a
r,
a
n
d
F
.
M
.
S
a
rg
o
s,
“
M
e
c
h
a
n
ica
l
se
n
so
rles
s
c
o
n
tr
o
l
o
f
P
M
S
M
w
it
h
o
n
li
n
e
e
stim
a
ti
o
n
of
sta
to
r
re
sista
n
c
e
,
”
IEE
ET
ra
n
s.
In
d
.
Ap
p
l.
,
v
o
l.
4
0
,
n
o
.
2
,
p
p
.
4
5
7
–
4
7
1
,
M
a
r.
/A
p
r.
2
0
0
4
.
[1
0
]
R.
B.
S
e
p
e
a
n
d
J.
H.
L
a
n
g
,
“
Re
a
l
ti
m
e
o
b
se
rv
e
r
-
b
a
se
d
a
d
a
p
ti
v
e
c
o
n
tro
l
o
f
a
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s
m
o
to
r
w
it
h
o
u
t
m
e
c
h
a
n
ica
l
se
n
so
rs,”
IEE
E
T
ra
n
s.
In
d
.
Ap
p
l
.
,
v
o
l.
2
8
,
n
o
.
6
,
p
p
.
1
3
4
5
–
1
3
5
2
,
No
v
.
/De
c
.
1
9
9
2
.
[1
1
]
J.
A
.
S
o
lso
n
a
a
n
d
M
.
I.
V
a
ll
a
,
“
Distu
rb
a
n
c
e
a
n
d
n
o
n
li
n
e
a
r
L
u
e
n
b
e
rg
e
r
o
b
se
rv
e
rs
f
o
r
e
sti
m
a
t
in
g
m
e
c
h
a
n
ica
l
v
a
riab
les
in
p
e
r
m
a
n
e
n
t
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s
m
o
to
rs
u
n
d
e
r
m
e
c
h
a
n
ica
l
p
a
ra
m
e
ters
u
n
c
e
rtain
ti
e
s,”
I
EE
ET
ra
n
s.
In
d
.
El
e
c
tro
n
.
,
v
o
l.
5
0
,
n
o
.
4
,
p
p
.
7
1
7
–
7
2
5
,
A
u
g
.
2
0
0
3
.
[1
2
]
Ch
iran
ji
t
S
a
i
n
,
A
tan
u
Ba
n
e
rjee
,
P
a
b
it
ra
Ku
m
a
r
Bis
w
a
s,
“
Co
m
p
a
ra
ti
v
e
P
e
rf
o
r
m
a
n
c
e
S
tu
d
y
f
o
r
Clo
se
d
L
o
o
p
Op
e
ra
ti
o
n
o
f
a
n
A
d
ju
sta
b
le
S
p
e
e
d
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
to
r
Driv
e
w
it
h
Dif
f
e
r
e
n
t
Co
n
tr
o
ll
e
rs”
IJ
PE
DS
V
o
l.
7
,
No
.
4
,
De
c
e
m
b
e
r
2
0
1
6
,
p
p
.
1
0
8
5
~
1
0
9
9
[1
3
]
Ch
ien
F
e
n
g
W
u
,
S
h
ir
Ku
a
n
L
in
,
“
A
No
v
e
l
S
e
n
so
rles
s
In
it
ial
Ro
to
r
P
o
sit
io
n
Esti
m
a
ti
o
n
M
e
th
o
d
f
o
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a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s M
o
to
rs
”
IJ
PE
DS
V
o
l
.
8
,
No
.
1
,
M
a
rc
h
2
0
1
7
,
p
p
.
1
5
6
~
1
6
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
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8
694
S
en
s
o
r
less
C
o
n
tr
o
l o
f I
P
MS
M
Dri
ve
u
s
in
g
E
K
F
w
ith
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lectro
meg
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etic
N
o
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E
ffect
(
K
N
a
r
a
s
imh
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ia
h
A
ch
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r
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)
165
[1
4
]
H
y
u
n
-
W
o
o
S
im
,
Ju
n
e
-
S
e
o
k
L
e
e
a
n
d
Ky
o
-
Be
u
m
Lee
†
“
On
-
li
n
e
P
a
r
a
m
e
ter
Esti
m
a
ti
o
n
o
f
In
terio
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m
a
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t
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g
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t
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n
c
h
ro
n
o
u
s
M
o
to
r
u
sin
g
a
n
Ex
ten
d
e
d
Ka
lm
a
n
F
il
ter”
,
J
El
e
c
tr E
n
g
T
e
c
h
n
o
l
,
V
o
l.
9
,
No
.
2
,
p
p
.
6
0
0
-
6
0
8
,
2
0
1
4
[1
5
]
R.
Dh
a
u
a
d
i,
N.
M
o
h
a
n
,
a
n
d
L
.
No
ru
m
,
“
De
sig
n
a
n
d
im
p
le
m
e
n
tatio
n
o
f
a
n
e
x
ten
d
e
d
k
a
lm
a
n
f
il
ter
f
o
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th
e
sta
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m
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ti
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t
m
a
g
n
e
t
s
y
n
c
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ro
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o
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s
m
o
to
r,
”
IEE
E
T
ra
n
s.
P
o
we
r
El
e
c
tro
n
ics
,
v
o
l.
6
,
n
o
.
3
,
p
p
.
4
9
1
-
4
9
7
,
Ju
l
1
9
9
1
.
[1
6
]
T
.
Bo
il
e
a
u
,
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Leb
o
e
u
f
,
B.
Na
h
id
-
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o
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a
ra
k
e
n
,
a
n
d
F
.
M
e
ib
o
d
y
-
Tab
a
r,
“
On
li
n
e
Id
e
n
ti
f
ica
ti
o
n
o
f
P
M
S
M
P
a
ra
m
e
ters
:
P
a
ra
m
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ter
Id
e
n
ti
f
iab
il
it
y
a
n
d
Esti
m
a
to
r
Co
m
p
a
ra
ti
v
e
S
tu
d
y
,
”
IEE
E
T
ra
n
s.
I
n
d
u
stry
Ap
p
li
c
a
t
io
n
s
,
v
o
l
.
4
7
,
n
o
.
4
,
p
p
.
1
9
9
4
-
1
9
5
7
,
J
u
ly
.
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u
g
.
2
0
1
1
.
[1
7
]
M
o
h
a
m
e
d
Bo
u
ss
a
k
,
“
I
m
p
le
m
e
n
tatio
n
a
n
d
Ex
p
e
rim
e
n
tal
In
v
e
stig
a
ti
o
n
o
f
S
e
n
so
rles
s
S
p
e
e
d
Co
n
tr
o
l
W
it
h
In
it
ial
Ro
to
r
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o
siti
o
n
Esti
m
a
ti
o
n
f
o
r
In
terio
r
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
t
o
r
Driv
e
.
”
IEE
E
T
ra
n
s.
Po
we
r
El
e
c
tro
n
ics
,
v
o
l
2
0
,
n
o
.
6
,
p
p
.
1
4
1
3
-
1
4
2
2
,
No
v
.
2
0
0
5
[1
8
]
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.
Bo
lo
g
n
a
n
i,
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Ob
o
e
,
a
n
d
M
.
Zi
g
li
o
tt
o
,
“
S
e
n
so
rles
sf
u
ll
-
d
ig
it
a
l
P
M
S
M
d
r
iv
e
w
it
h
E
KF
e
sti
m
a
ti
o
n
o
f
sp
e
e
d
a
n
d
ro
to
r
p
o
si
ti
o
n
,
”
IEE
E
T
ra
n
s.
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l.
4
6
,
n
o
.
1
,
p
p
.
1
8
4
-
1
9
1
,
F
e
b
.
1
9
9
9
.
[1
9
]
S
.
Bo
l
o
g
n
a
n
i,
L
.
T
u
b
ian
a
a
n
d
M
.
Zi
g
li
tt
o
,
“
Ex
ten
d
e
d
Ka
lm
a
n
F
il
ter
T
u
n
in
g
in
S
e
n
s
o
rles
s
P
M
S
M
Driv
e
s,”
IEE
E
T
ra
n
s.
I
n
d
u
stry
Ap
p
li
c
a
ti
o
n
s
,
v
o
l
.
3
9
,
n
o
.
6
,
No
v
.
De
c
.
2
0
0
3
.
[2
0
]
R.
P
il
laa
,
A
.
S
.
T
u
m
m
a
laa
,
M
.
R.
Ch
i
n
tala
b
“
T
u
n
in
g
o
f
Ex
ten
d
e
d
Ka
lm
a
n
F
il
ter
u
sin
g
S
e
lf
-
a
d
a
p
ti
v
e
Diffe
re
n
ti
a
l
Ev
o
lu
ti
o
n
A
lg
o
rit
h
m
f
o
r
S
e
n
s
o
rles
s
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
to
r
Driv
e
”
IJ
E
T
ra
n
sa
c
ti
o
n
s
B
:
Ap
p
li
c
a
ti
o
n
s
V
o
l.
2
9
,
No
.
1
1
,
p
p
.
1
5
6
5
-
1
5
7
3
,
N
o
v
e
m
b
e
r
2
0
1
6
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
K
.
Na
r
a
si
m
h
a
i
a
h
Ac
h
a
r
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g
ra
d
u
a
ted
f
ro
m
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ir.
C.
R.
R.
Co
ll
e
g
e
o
f
En
g
g
.
,
A
n
d
h
ra
Un
iv
e
rsity
,
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ish
a
k
h
a
p
a
t
n
a
m
,
In
d
ia
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n
t
h
e
y
e
a
r
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0
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0
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re
c
e
iv
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d
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.
T
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c
h
d
e
g
re
e
f
ro
m
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.
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iv
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,
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y
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ra
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a
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e
y
e
a
r
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.
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h
a
s
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y
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a
rs
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tea
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rie
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re
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.
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,
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a
n
tap
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sh
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d
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p
a
p
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v
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rio
u
s
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o
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a
ls
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o
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f
e
re
n
c
e
s.
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m
a
in
re
se
a
rc
h
a
re
a
in
c
lu
d
e
s
P
o
w
e
r
El
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c
tro
n
ics
,
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e
c
tri
c
a
l
M
a
c
h
in
e
s
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d
Co
n
tro
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o
f
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tri
c
a
l
Driv
e
s.
Pro
f.
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V
.
As
h
o
k
K
u
m
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r
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is
g
r
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d
u
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ted
in
1
9
9
6
,
M
a
ste
rs
in
2
0
0
0
f
ro
m
J.N.T
.
U.C.
E,
A
n
a
n
tap
u
r
a
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d
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h
.
D
i
n
2
0
0
8
f
ro
m
th
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sa
m
e
u
n
iv
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y
.
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w
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rk
e
d
1
2
y
e
a
rs
a
t
R.
G
.
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.
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ll
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o
f
En
g
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h
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n
d
y
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l
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n
d
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.
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rs
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ss
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r
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r,
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r
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r
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n
d
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a
d
o
f
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tri
c
a
l
a
n
d
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e
c
tro
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ic
s E
n
g
g
.
De
p
a
rtme
n
t.
S
in
c
e
2
0
0
8
t
o
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0
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5
h
e
w
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rk
e
d
a
s P
r
in
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p
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y
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m
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lad
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v
i
in
stit
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e
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h
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f
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r
w
o
m
e
n
,
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n
d
y
a
l.
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h
a
s
p
u
b
li
sh
e
d
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0
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se
a
rc
h
p
a
p
e
rs
in
n
a
ti
o
n
a
l
a
n
d
in
ter
n
a
ti
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n
a
l
c
o
n
f
e
re
n
c
e
s
a
n
d
jo
u
rn
a
ls.
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h
a
s
a
tt
e
n
d
e
d
1
2
Na
ti
o
n
a
l
&
In
tern
a
ti
o
n
a
l
w
o
rk
sh
o
p
s.
His
a
re
a
s
o
f
in
tere
sts
a
re
El
e
c
tri
c
a
l
M
a
c
h
in
e
s,
P
o
w
e
r
S
y
ste
m
s
&
S
o
lar
En
e
rg
y
.
He
is a me
m
b
e
r
o
f
IEE
E,
I.
S
.
T
.
E,
a
n
d
K.D.T
.
F
Pro
f.
M
.
V
ija
y
a
K
u
m
a
r
g
ra
d
u
a
t
e
d
f
ro
m
S
.
V
.
Un
iv
e
rsity
,
T
iru
p
a
th
i,
A
.
P
,
In
d
ia i
n
1
9
8
8
.
He
o
b
tai
n
e
d
M
.
T
e
c
h
d
e
g
re
e
f
ro
m
Re
g
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a
l
En
g
i
n
e
e
rin
g
Co
ll
e
g
e
,
W
a
ra
n
g
a
l,
In
d
ia i
n
1
9
9
0
.
He
re
c
e
iv
e
d
Do
c
to
ra
l
d
e
g
re
e
f
ro
m
J
a
w
a
h
a
rlal
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h
ru
T
e
c
h
n
o
l
o
g
ica
l
Un
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e
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y
,
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y
d
e
ra
b
a
d
,
In
d
ia i
n
2
0
0
0
.
C
u
rre
n
t
ly
h
e
is w
o
rk
in
g
a
s
P
r
o
f
e
ss
o
r
in
El
e
c
tri
c
a
l
a
n
d
El
e
c
tr
o
n
ics
E
n
g
in
e
e
rin
g
De
p
a
rtm
e
n
t
a
n
d
Dire
c
to
r
o
f
A
d
m
isio
n
s in
J.N.
T
.
U.
A
.
,
,
A
n
a
n
tap
u
r,
A
.
P
,
I
n
d
ia.
He
is a m
e
m
b
e
r
o
f
Bo
a
rd
o
f
stu
d
ies
o
f
f
e
w
Un
iv
e
rsiti
e
s in
A
.
P
.
,
In
d
ia.
He
h
a
s
p
u
b
li
sh
e
d
8
7
re
se
a
rc
h
p
a
p
e
rs i
n
n
a
ti
o
n
a
l
a
n
d
in
ter
-
n
a
ti
o
n
a
l
c
o
n
f
e
re
n
c
e
s a
n
d
jo
u
rn
a
ls.
S
ix
P
h
Ds
w
e
re
a
wa
rd
e
d
u
n
d
e
r
h
is g
u
i
d
a
n
c
e
.
He
re
c
e
iv
e
d
tw
o
re
se
a
r
c
h
a
wa
rd
s f
ro
m
th
e
In
st
it
u
ti
o
n
o
f
En
g
in
e
e
rs (In
d
ia).
He
s
e
rv
e
d
a
s Direc
to
r,
A
IC
T
E,
a
n
d
Ne
w
De
lh
i
f
o
r
a
sh
o
rt
p
e
rio
d
.
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w
a
s He
a
d
o
f
th
e
De
p
a
rtme
n
t
d
u
ri
n
g
2
0
0
6
to
2
0
0
8
.
He
a
lso
se
rv
e
d
a
s F
o
u
n
d
e
r
Re
g
istrar o
f
JN
T
Un
iv
e
rsit
y
,
A
n
a
n
tap
u
r
d
u
rin
g
2
0
0
8
to
2
0
1
0
.
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
i
n
e
s,
El
e
c
tri
c
a
l
Driv
e
s,
M
icro
p
r
o
c
e
ss
o
rs an
d
P
o
w
e
r
El
e
c
tro
n
ics
Evaluation Warning : The document was created with Spire.PDF for Python.