Intern
ati
o
n
a
l
Jo
u
r
n
a
l
of
P
o
we
r El
ec
tr
on
i
c
s
an
d D
r
i
v
e
S
y
stem
(I
JPE
D
S)
V
o
l.
11
, N
o
. 2, Jun
e
20
20
, pp
. 10
47
~1
054
I
SSN
:
208
8-8
6
9
4
, D
O
I:
10.
115
91
/i
jp
e
d
s.v
1
1
.i2
.
p
p10
47-
1054
1
0
47
Jo
urn
a
l
h
o
me
pa
ge
: h
t
t
p
:/
/ijpe
d
s.
i
a
e
s
c
o
re.
c
o
m
Optim
a
l parameter estimation
for a DC motor using
g
e
netic algorithm
M
o
hammad
So
leima
n
i A
m
i
r
i
1
, M
o
h
d
Fais
a
l
Ib
rahim
2
, Riza
ud
din
Ra
mli
3
1,
3
Ce
nt
re
for
Mat
e
ria
l
s En
g
i
nee
r
in
g a
n
d Sma
r
t Ma
nu
fa
ctu
r
i
ng,
Univ
e
r
si
ti Ke
b
a
ng
sa
a
n
Mal
a
ysia
,
Ma
l
a
ysia
2
Cen
t
re
fo
r In
te
grated
S
y
stems
En
gine
ering
and
Adv
a
nced
Tech
nolog
ies
,
Un
iv
er
siti Keb
a
ngs
aan
M
a
laysia
, M
a
lay
s
ia
A
r
ticle In
fo
A
B
S
T
RAC
T
A
r
tic
le
h
i
st
o
r
y:
Re
ce
ive
d
Oc
t 1, 2
019
Rev
i
sed
D
e
c
20
, 20
19
A
c
ce
p
t
ed
Jan
3,
202
0
Es
ti
ma
ti
ng
th
e p
a
r
a
m
e
ter
s
of
a
g
ear
ed DC
mo
to
r
i
s
cr
u
c
i
a
l in
t
e
r
m
s of
it
s
non-li
nea
r
feat
u
r
es.
In
this paper,
p
a
ram
e
t
e
rs o
f
a
ge
ared
D
C
mo
to
r ar
e
esti
mated genetically.
Mat
h
em
atical
mod
e
l of t
h
e
DC motor
is
det
e
rmined by
Kirchhoff’s l
a
w
and dynam
i
c
model
of i
t
s s
h
aft
s
and gearbox.
Paramet
e
rs
of
th
e g
ear
ed
DC
mo
to
r
ar
e
in
i
t
i
a
l
ly
est
i
m
a
ted
b
y
M
A
T
L
A
B
/S
imu
l
i
n
k
.
T
h
e
estima
ted p
a
ra
meters
are d
e
fi
ned
as
i
n
i
tial values for
Gen
e
tic Algorithm
(GA
)
to min
i
mi
ze the
error
of
the si
mula
ted
a
n
d
actual
angu
lar tr
aj
ecto
r
y
captur
e
d
by
an
en
cod
e
r
.
Th
e
o
p
t
ima
l
es
tim
a
te
d m
o
de
l
of
th
e
gear
ed DC
motor
is vali
d
a
ted by di
ff
erent
volt
a
g
e
s
as
th
e
in
pu
t o
f
th
e
ac
tu
al D
C
mo
to
r
and
it
s
math
em
a
t
ic
al
mod
e
l
.
T
h
e
r
e
s
u
l
t
s
and
nu
merical
analysis
illus
t
ra
te
it
can b
e
as
certai
n
ed th
at GA
is
ap
pro
p
riate
to
estim
a
te th
e
p
a
ram
e
ters o
f
platfo
r
m
s
w
i
th n
on
lin
ear
ch
arac
t
e
ris
t
ics
.
Ke
yw
ords:
G
e
ar
ed
D
C
mot
o
r
Gene
ti
c
Al
g
o
ri
thm
O
p
ti
miz
a
t
i
on
P
a
r
a
me
ter est
i
ma
tio
n
Th
is
is a
n
o
p
en
acces
s a
r
ticle
un
d
e
r the
C
C
B
Y
-SA
licens
e
.
Corres
p
o
n
din
g
A
u
t
h
or:
M
o
h
a
m
m
ad
S
o
l
e
im
ani A
m
ir,
Facult
y of Engi
neering
and
Built
E
n
vironment
,
Uni
v
ersi
ti Kebangsaan
Malaysia,
43
60
0, Sel
a
ng
or,
Malays
ia.
Emai
l:
p9
05
54
@
s
is
wa.u
km.
e
d
u
.
m
y
1.
IN
TR
O
DUCTION
D
C
m
o
t
o
rs
ar
e use
d
in
the
maj
o
ri
ty
of a
ppl
i
c
a
t
i
ons
a
r
ou
nd
us, be
ca
us
e
o
f
t
h
ei
r
eas
y
o
p
e
r
at
i
o
n,
simpl
e
st
ruc
t
ur
e,
a
n
d
lo
w co
s
t
[1].
F
o
r
i
n
st
ance
, a b
r
ushl
es
s DC
mot
o
r ha
s bee
n
used
a
s
a
n
ac
t
u
a
t
o
r
for a
n
Un
man
n
e
d
Ae
ri
al
Ve
hi
cl
e
s
(
U
A
V
) [2
, 3
]
.
In
a
n
ot
he
r w
o
rk,
Y
u
s
o
f et
al
. [4
]
e
m
pl
oye
d
a
b
r
ushl
ess
D
C
mot
o
r
i
n
P
o
we
re
d
K
n
e
e
Ort
h
osi
s
(P
KO
)
fo
r reha
bi
l
i
t
a
t
i
on p
u
r
pose
.
T
h
ere
f
o
r
e
,
man
y
wo
rk
s h
a
ve
been
st
u
d
i
e
d
a
bout
vari
ous
a
p
p
l
i
c
a
t
i
ons a
n
d
dif
f
ere
n
t
as
pec
t
s
of t
h
e
DC
mo
t
o
r[5
-
7
]
.
A
kba
r
et
al
a
d
o
p
te
d a
mo
del
refe
renc
e
ada
p
ti
ve
co
nt
rol
a
nd
M
I
T-rul
e
f
o
r si
mul
a
t
i
ng
DC
mot
o
r
ki
ne
mat
i
c
in S
i
msca
pe
pac
k
a
g
e o
f
MA
TLAB
/
S
i
mul
i
nk [
8
]. S
i
mi
l
a
rl
y, o
y
et
a
l
prese
n
te
d
an
ada
p
ti
ve c
ont
rol met
h
o
d
ba
sed
on
Lya
p
uno
v
f
u
n
c
tion
f
o
r
a
D
C
mo
to
r
[9
]. Fu
r
t
h
e
r
m
o
r
e,
th
e
y
est
i
ma
te
d th
e
p
a
r
a
m
e
t
e
rs of
D
C
m
o
t
o
r u
s
i
n
g th
e a
d
a
p
ta
ti
on
l
a
w.
T
h
ei
r p
r
o
pos
ed
me
th
o
d
was va
li
dat
e
d
on
si
mul
a
ti
on a
n
d
c
o
mp
are
d
w
i
t
h
a
c
o
n
v
e
n
t
i
ona
l
bac
k
ste
ppi
ng
cont
rol
l
e
r.
K
u
ma
r et
al
. [1
0
]
impl
ement
e
d
fuz
z
y
l
o
gic
co
nt
roll
e
r
fo
r c
ont
rol
l
ing s
p
ee
d
of a B
r
us
hle
s
s D
C
(B
LDC
)
mot
o
r. In a
not
her
st
ud
y
,
S
o
m
w
ans
h
i
et
al
. [
11]
use
d
fuzz
y l
o
g
i
c t
o
tu
ne a
P
r
op
o
r
t
i
onal
-Int
e
gral
-
D
e
riv
a
t
i
v
e
(
P
ID
)
co
n
t
r
o
lle
r
f
o
r
a
DC
mo
t
o
r.
Th
ey
co
nf
ir
med
t
h
e
eff
i
c
i
e
n
cy
o
f
t
h
e pe
rfo
rma
n
ce
o
f
th
e
i
r
pro
pose
d
c
o
nt
rol
l
e
r
by
c
o
mpa
r
i
s
on
w
i
t
h
P
I
D
co
nt
rol
l
e
r
w
i
t
h
a c
o
nve
nt
io
n
a
l t
uni
n
g
me
th
od
. Sa
n
g
se
fi
di
e
t
al
.
[1
2]
use
d
a fou
r-l
eg c
o
nve
rt
er fo
r di
rec
t
t
o
rq
ue co
nt
rol
(
D
T
C
)
of a t
w
o
-
p
h
a
se
i
n
d
u
ct
i
on
moto
r
a
nd
hy
ste
r
esi
s
-
base
d cu
rre
n
t
cont
rol
of
a p
e
rma
n
e
n
t
mag
n
et
D
C
mot
o
r.
H
o
o
e
t
al
.
[13
]
prese
n
te
d
i
n
te
gral
a
n
t
i
-w
ind
u
p
strat
e
gi
es
of
t
h
e Pr
opo
rti
onal
-Inte
gral
(PI
)
c
o
ntr
o
l
l
er
for
si
mul
a
t
i
on o
f
a
D
C
mo
t
o
r i
n
M
A
TL
AB
/S
i
m
ul
i
nk.
Th
e con
t
ro
l
l
er w
a
s
a
b
u
i
l
t
-
i
n c
l
o
s
ed
-
l
oop
w
i
t
h
si
n
g
l
e-outp
u
t an
d mu
l
t
i-
ou
tpu
t
,
wh
i
c
h a
r
e
e
x
t
e
rn
a
l
t
o
rque a
n
d
de
si
re
d
t
r
a
j
e
c
t
o
ry. The
y
te
ste
d
t
h
e
i
r pro
pos
ed
c
o
ntr
o
l syste
m
o
n
l
o
a
d
an
d unl
oad c
o
ndi
ti
o
n
f
o
r first
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-86
94
In
t
J
Po
w
Ele
c
&
Dri
Sy
st,
Vol.
1
1
,
No
. 2
,
Jun
e
2
020
:
10
47
–
1
054
1
048
a
n
d
sec
o
nd
or
der
c
o
n
t
rol
sy
st
ems.
Be
lt
ra
n
-
C
a
r
b
a
j
a
l
et
al
[
1
4]
use
d
t
h
e
c
o
m
b
i
n
at
i
o
n
of
Art
i
f
i
c
i
al
N
e
ural
N
e
two
r
k
s
(A
NN
) an
d dyn
a
m
i
c
al
tr
a
c
k
i
n
g
erro
r c
o
mp
en
sator
to
d
e
p
e
nd
en
cy
to
t
h
e
d
e
ta
il mat
h
em
at
ica
l
mod
e
l
o
f
shun
t
DC
mo
t
o
r
a
n
d
imp
r
ov
e
th
e
ro
bustn
ess
a
n
d
eff
i
c
i
en
c
y
of
an
ad
a
p
tiv
e c
o
n
t
rol s
c
h
e
me
fo
r vel
o
ci
ty
tr
aj
ec
to
ry
t
r
a
c
kin
g
.
Estim
at
in
g
t
h
e p
a
r
a
m
e
t
e
r
s
o
f
d
i
f
f
er
en
t
subje
c
t
s a
r
e
cr
iti
ca
l d
u
e
to
th
e
i
r no
n-
li
n
e
a
r
c
h
ar
a
c
te
r
i
sti
c
s.
The
r
e
f
ore,
i
n
some
rese
arc
h
es,
det
e
r
m
i
n
i
n
g
t
h
e
pa
ra
me
t
e
rs o
f
va
ri
ous
pla
t
f
o
rms
has
b
een
def
i
ne
d
as
an
o
p
tim
iz
ati
o
n
pr
ob
le
m [15
-
1
7
].
N
a
y
a
k et al
estim
at
ed
th
e
unk
now
n
p
a
r
a
mete
rs a
D
C
m
o
t
o
r
by
mod
e
l
a
d
ap
tiv
e
c
ont
r
o
l a
n
d
wh
al
e opt
i
m
i
z
at
io
n a
l
g
o
r
it
hm
[
1
8]
.
Pi
l
l
a
i
et
al
use
d
R
e
ve
r
s
e
Moti
on
Ac
cel
e
r
at
ion
(
R
MA
)
te
st t
o
i
d
ent
i
f
y
fri
ct
i
o
nal
c
o
m
pone
nts an
d
mo
me
nt
of
i
n
e
r
t
i
a
o
f
a
sma
l
l
si
ze DC
mot
o
r
[
1
9
]
.
N
o
sha
d
i
et
al
de
v
e
l
ope
d
G
e
n
e
tic
Alg
o
r
i
th
m
(GA
)
f
o
r
sy
s
t
e
m
id
e
n
tif
i
c
at
io
n
of A
c
tiv
e
M
a
gn
e
t
i
c
Be
a
r
i
n
g
(AM
B
) sy
st
ems
[
20]
. B
a
se
d
on t
h
e i
d
e
n
t
i
f
i
e
d s
y
st
em, t
h
e
y
de
vel
ope
d a
r
o
b
u
st
c
ont
r
o
l
l
e
r
a m
u
lt
i
-
i
n
p
u
t
mul
t
i
-
o
utp
u
t
AMB
syst
em
.
S
u
n et
a
l
use
d
m
u
l
t
i
-
pa
rent
s
G
A
fo
r
pa
r
a
met
e
r
i
d
e
n
t
i
f
i
c
a
t
i
on o
f
a
n
a
d
apt
i
ve
i
n
fi
ni
te
r
e
sponse
t
o
i
m
pr
o
v
e
c
o
n
v
e
r
ge
nc
e r
a
te
of
t
h
e
c
o
n
v
e
n
ti
o
n
al
GA
[2
1]
.
Mo
ham
m
adi
et
a
l
i
m
p
l
e
m
e
n
t
e
d hyb
r
i
d
o
f
GA
an
d Pa
rt
i
c
l
e
Sw
a
r
m
O
p
ti
mi
z
a
tio
n
(P
SO
)
fo
r
est
i
ma
tio
n
th
e
p
a
r
a
m
e
t
e
r
s
o
f
th
r
e
e
-
p
h
a
se
in
du
c
t
i
o
n mo
tor
[22
]
.
The
mot
i
v
at
i
o
n of
t
h
i
s
pa
per
i
s
t
o
de
fi
ne
pa
ra
me
te
r
est
i
m
a
t
i
on of
a
gea
r
ed
DC m
o
to
r t
h
at
ha
s t
h
e
n
on-
lin
e
a
r c
h
a
r
a
c
te
r
i
sti
c
,
as an
op
tim
iza
t
i
o
n
p
r
ob
l
e
m. Th
e
m
a
t
h
em
ati
c
a
l
mod
e
l
o
f
th
e
ge
a
r
e
d
D
C
mo
to
r ha
s
be
en
det
e
r
m
i
n
ed b
y
usi
n
g Ki
rch
h
o
f
f
s
l
a
w
a
nd d
yna
mi
c e
qua
t
i
on
.
B
y
o
b
ta
ini
ng
wi
th t
h
e
mat
h
emat
i
cal
mo
del
,
i
t
s
par
a
met
e
r
s
have
bee
n
ide
n
ti
fi
ed
by usin
g the
par
a
met
e
r est
i
ma
ti
on pa
c
k
age
o
f
M
A
T
L
A
B
/
S
i
m
uli
n
k
.
Th
e
e
s
ti
mat
e
d pa
r
a
met
e
rs a
r
e
de
f
i
ne
d as ini
t
i
a
l
va
l
u
e
s
fo
r t
h
e G
A
.
The
opti
m
al
para
me
te
rs are
veri
f
i
ed b
y
co
mp
ar
i
n
g
of
th
e
simu
lat
e
d
an
d a
c
t
u
al
ang
u
l
a
r
tr
a
j
e
c
to
ry
cap
tur
e
d by
t
h
e
en
c
o
d
e
r.
2.
DC
MOT
O
R
MAT
H
EMA
T
ICAL
M
O
D
E
L
In
thi
s
p
a
pe
r,
t
h
e
DC
m
o
t
o
r i
s
a
pla
n
et
ar
y
D
C
ge
are
d
mot
o
r
w
i
t
h
a
n
e
n
co
der
a
s
s
h
ow
n
i
n
Fi
gu
re
1.
It
co
ns
ists of
a
q
u
a
dr
a
t
ur
e e
n
cod
e
r, a
D
C
mo
t
o
r lo
ca
te
d in
the mid
d
l
e of
th
e
str
u
c
t
u
r
e
,
an
d
a g
ear
box
.
Fi
gu
re
1.
C
o
nfi
g
u
r
at
i
on
of t
h
e
pl
ane
t
a
r
y DC
g
e
are
d
m
o
t
o
r
wi
t
h
a
n
e
n
c
o
der
Th
e
r
o
ta
ry
sh
af
t of th
e
D
C
mo
t
o
r
is co
nnec
t
e
d
t
o
th
e enc
o
d
e
r to me
asu
r
e
i
t
s
ro
t
a
t
i
on as pu
lse
p
e
r
r
o
ta
ti
o
n
.
I
t
i
s
f
i
xe
d
t
o
a
gea
r
bo
x
t
o
re
duc
e
i
t
s vel
o
ci
t
y
a
n
d i
n
c
r
ea
se
t
h
e
t
o
r
que
pr
oduc
ed
b
y
D
C
m
o
t
o
r
by
c
o
n
v
e
r
t
i
ng t
h
e
el
ec
tric
al
t
o
mecha
n
ic
al
en
e
r
g
y
.
T
h
e c
h
a
r
ac
t
e
ri
st
ic
s of DC
mot
o
r c
onsi
s
t
of
resi
s
t
a
n
ce
,
in
du
c
t
a
n
ce
a
nd b
ack
el
ec
tro
m
o
t
i
v
e-f
o
r
c
e
vo
l
t
a
g
e as
sho
w
n
i
n
Fi
g
u
re
2
.
A
c
cord
ing
to
th
e
K
i
r
c
h
h
o
ffs
l
a
w
,
t
h
e
m
a
th
e
m
ati
c
a
l
mod
e
l o
f
th
e
D
C
mo
t
o
r is
g
i
v
e
n
as fo
llo
ws,
Fi
gu
re
2.
Ci
rc
u
i
t
of
t
h
e
DC
m
o
to
r
(1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
O
p
tima
l
p
a
rame
te
r
est
i
m
a
tion
fo
r a
D
C
mo
tor u
s
i
n
g
g
e
n
e
ti
c
a
l
go
ri
thm
(
M
oh
amm
a
d
So
le
im
an
i
Ami
r
i)
1
049
wh
e
r
e,
and
are t
h
e
el
ec
tric
i
n
d
u
ct
anc
e
a
n
d
resi
st
a
n
ce,
re
spe
c
t
i
v
el
y.
and
i re
pre
s
en
t
i
nput
vol
ta
ge
an
d c
u
r
r
ent
of DC
mot
o
r,
res
p
e
c
t
i
ve
ly.
is
th
e b
ack
e
l
e
c
t
r
om
o
tiv
e-
fo
r
c
e
v
o
lta
g
e
wh
i
c
h i
s
p
r
op
or
tio
n
a
l t
o
th
e
mo
tor
v
e
loc
ity
[2
3]
.
˙
(2)
wh
e
r
e,
is th
e
vo
l
t
ag
e
c
o
n
s
t
a
n
t
of
th
e mo
to
r an
d
˙
i
s
a
ngu
la
r
v
e
lo
c
ity
of
t
h
e ro
t
a
ry
sh
a
f
t o
f
th
e
DC
moto
r.
The
p
r
o
duc
e
d
t
o
rq
ue
b
y
DC
m
o
t
o
r i
s
pr
o
port
i
ona
l
t
o
t
h
e c
u
rre
n
t
(
) [24],
(3)
wh
e
r
e,
is
to
rqu
e
s
e
n
s
i
tiv
i
t
y
an
d
i
s
gi
ve
n
as
foll
o
w
s,
(4)
wh
e
r
e,
re
pres
e
n
t
s
t
h
e
gea
r
rat
i
o
o
f
t
h
e
gea
r
b
o
x
.
and
a
r
e t
o
rq
ues a
p
pl
ie
d
t
o
the
rot
a
ry
o
f
t
h
e
DC
m
o
to
r
a
n
d
shaft
o
f
t
h
e
gea
r
bo
x as sh
ow
n
as
f
o
ll
ow
s,
re
spe
c
t
i
vel
y
,
¨
˙
(5)
¨
˙
(6)
wh
e
r
e,
an
d
are
t
h
e
fric
ti
o
n
c
o
effic
i
ent
of t
h
e sha
f
t
s
, an
d
an
d
ar
e
t
h
e
in
erti
a
o
f
th
e ro
ta
ry
and
gea
r
b
o
x
s
h
aft. B
y
sub
s
t
i
tut
i
on of e
q
u
a
t
i
ons
(2
), (
3
),
(4), (5)
and (6) in equati
o
n
(1),
t
h
e
mat
h
e
m
at
i
cal
mode
l
o
f
t
h
e
g
e
a
r
e
d
DC
mot
o
r
i
n
La
pla
c
e
i
s
exp
r
e
sse
d
a
s
fo
l
l
owin
g e
quat
i
on
,
(7)
wh
e
r
e,
(8)
(9)
(10
)
(11
)
0
(12
)
3.
OP
T
I
MA
L PA
RAM
ET
ER
E
S
T
I
M
A
TION
The
pa
ramet
e
r
s
of t
h
e
ma
the
m
a
t
i
c
al
mo
del
of D
C
mot
o
rs
t
h
a
t
nee
d
t
o
be
est
i
mat
e
d a
r
e
me
nti
o
ned
as
f
o
llo
ws
,
wh
ile
i
n
our
g
e
a
r
e
d
D
C
mo
tor
,
t
h
e
ra
tio
o
f
th
e g
e
a
r
box
is 1
0
4
(
104
).
The
s
e
pa
ra
me
te
rs are
esti
m
a
t
e
d
by
pa
ra
me
te
r est
i
ma
ti
on
pa
cka
g
e
o
f
MA
TLAB/
S
i
mul
i
nk
t
h
e
e
s
tim
at
ed
p
a
rame
te
rs
are
set
a
s
in
iti
al
v
a
lu
es
fo
r
GA
.
(13
)
wh
e
r
e,
t
h
e
i
n
it
i
a
l
va
lue
s
o
f
t
h
e
GA
ar
e se
t
as
foll
o
w
s,
,
(14
)
wh
e
r
e,
is
a
pos
itiv
e
ra
ndo
m
v
a
lu
e
b
e
tw
een z
e
r
o
and
on
e
[2
5]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-86
94
In
t
J
Po
w
Ele
c
&
Dri
Sy
st,
Vol.
1
1
,
No
. 2
,
Jun
e
2
020
:
10
47
–
1
054
1
050
0,1
(1
5)
G
A
fin
d
s th
e
pa
ra
me
te
rs to op
ti
miz
e
t
h
e
ob
jec
tiv
e
fun
c
t
i
o
n
th
a
t
is
In
t
e
gr
al Ab
so
l
u
t
e
Er
ro
r (I
AE) of
th
e
e
rror
[26]
.
Th
e
ob
j
e
c
t
i
v
e
f
u
n
c
ti
on
i
s
sho
w
n
by
t
h
e
f
o
llow
i
ng
eq
u
a
tion
,
|
|
(1
6)
whe
r
e,
i
s
th
e e
l
a
p
sed
ti
me
;
is
th
e e
rro
r
wh
ich
is
th
e d
i
ff
er
en
ce
b
e
tw
e
e
n
t
h
e
a
c
tu
al
a
n
d
simu
l
a
t
e
d
a
n
g
u
la
r tr
aj
ec
to
ry
as show
n
a
s
f
o
ll
o
w
s,
(1
7)
whe
r
e,
i
s
th
e simu
l
a
t
e
d a
ngu
la
r
traj
ec
to
ry c
a
l
c
u
l
ate
d
f
r
om th
e ma
th
ema
tic
a
l
mo
d
e
l,
an
d
ex
pr
e
sse
s a
c
tua
l
a
n
g
u
l
a
r
tr
aj
e
c
to
r
i
e
s
me
a
s
ured
b
y
th
e
en
cod
e
r of
t
h
e
D
C
mo
tor
.
Th
e i
n
it
ia
l p
o
p
u
l
at
io
n
o
f
th
e
GA
, as
s
h
ow
n
in Fi
g
u
re
3
co
n
s
ist
of 8
0
ch
r
o
mos
o
me
s
t
h
at
c
onta
i
n
s
t
h
e pa
rame
te
rs o
f
t
h
e
ma
the
m
at
ic
al
mo
del
of
t
h
e
DC mot
o
r
as de
sig
n
va
ri
abl
e
s.
F
i
g
u
r
e
3
.
C
o
n
f
ig
ur
ati
o
n
o
f
GA in
i
tia
l
p
opu
la
tio
n
A
f
te
r
s
e
tt
in
g
t
h
e in
itia
l p
o
p
u
lat
i
o
n
of
th
e
GA
, o
b
j
ec
ti
v
e
f
u
n
c
tio
n
is
me
a
s
u
r
e
d
t
o
e
v
a
l
u
a
t
e
e
a
c
h
ge
n
e
.
The
ne
xt
sta
g
e
i
s
so
rt
in
g t
h
e
e
v
al
uat
e
d c
h
r
o
mos
o
mes
f
r
o
m t
h
e
mi
ni
mum
t
o
the
ma
xi
mu
m.
N
e
xt
ge
ner
a
t
i
on
s
a
r
e
cre
a
t
e
d
b
y
c
r
oss
o
ver a
n
d
muta
ti
on t
o
i
n
cre
a
se
t
h
e
ch
a
n
ce
of
fi
n
d
i
ng
the
m
o
st
o
p
t
i
m
um,
in
t
h
i
s
ca
se
mi
nimu
m va
lu
e
,
sol
u
t
i
o
n
a
n
d
ke
epi
n
g
t
h
e
va
ri
et
y
of G
A
[2
7]
.
Fi
ve pe
rce
n
t o
f
t
h
e m
o
st mi
nimu
m
c
h
r
o
m
o
so
mes r
e
ma
i
n
u
n
c
h
an
ge
d f
r
o
m ea
ch
ge
ne
rat
i
on
t
o
t
h
e
ne
xt
ge
ner
a
t
i
on.
T
h
e
r
ef
ore
,
t
h
e c
h
r
o
m
o
s
o
me
s ar
e
c
r
ea
t
e
d by
cr
oss
ove
r a
n
d
mut
a
t
i
on
t
h
at
t
h
ei
r p
r
o
b
a
b
i
l
iti
es
a
r
e
0.
8
an
d
0
.
2
re
s
p
ect
i
v
el
y.
The
m
u
ta
ti
on
of
thi
s
p
a
pe
r i
s
G
a
ussia
n
f
u
nc
t
i
on,
i
n
w
h
i
c
h
t
h
e
r
a
nd
om
val
u
es
ar
e
sel
e
c
t
e
d
a
n
d
r
e
p
l
a
c
e
d
b
y
the
p
r
ev
iou
s
o
n
e
i
n
th
e c
h
r
o
mo
so
me
s.
Th
is loop c
o
n
tinu
e
s unt
il th
e
n
u
mb
e
r
o
f
th
e
ge
ne
ra
ti
o
n
me
e
t
t
h
e ma
xim
u
m
o
n
e.
Al
g
o
r
i
t
h
m 1
a
n
d F
i
g
u
re
4 e
x
hi
bit
the
p
s
eu
do
co
de a
n
d f
l
o
w
c
h
a
r
t
of
G
A
.
Al
g
o
ri
th
m 1 Ps
e
udo c
o
de
of
G
A
1.
1.
St
a
r
t
2.
2
.
I
n
it
ial
i
z
e
p
opu
la
tio
n
;
3.
3
.
Ev
a
l
u
a
te
in
itia
l
p
opu
la
tio
n
;
4.
4
.
W
h
ile
N
u
mbe
r
o
f
g
e
n
e
r
a
tion
le
ss
t
h
a
n
800
do
;
5.
S
e
t
ne
xt ge
ne
r
a
t
i
on usin
g c
r
osso
ver
a
nd
mut
a
ti
on;
6.
Eva
l
ua
te
t
h
e c
r
e
a
t
e
d p
o
pula
t
i
o
n;
7.
S
o
rt
t
h
e
p
o
p
u
la
ti
on
ba
se
d e
v
al
uat
e
d
o
b
je
ct
i
v
e
f
unct
i
o
n
;
8.
8.
e
n
d
w
h
il
e
9.
9
.
End
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t
J
P
o
w
Elec
& Dri
Sy
st
I
SSN
: 208
8-8
6
9
4
Opti
m
a
l
pa
ra
m
e
te
r est
i
m
at
io
n
for
a DC
mot
o
r
usi
n
g
ge
ne
ti
c
al
g
o
ri
t
h
m (
M
o
h
a
m
ma
d S
o
l
e
i
m
a
n
i
A
m
iri
)
1
051
Fig
u
re 4
.
Flow ch
a
r
t
of
G
A
The fl
ow c
h
a
r
t
demo
n
s
t
r
a
t
e
s
the
p
r
oces
s o
f
G
A
f
o
r
f
i
n
d
i
ng t
h
e
o
p
ti
mal
para
me
te
rs
of
DC
m
o
t
o
r
ma
th
e
m
at
ic
al
. Th
e
al
gor
ith
m sta
r
ts
w
ith
ra
nd
om
in
i
tia
liz
a
t
io
n
b
a
se
d
on
c
o
nv
en
ti
o
n
a
l
e
s
ti
mat
i
o
n
me
tho
d
.
In
th
e
e
v
alu
a
t
i
o
n
sta
g
e,
t
h
e
ob
jec
tiv
e
fu
n
c
tion
is
d
e
te
rm
i
n
e
d
t
o
ch
ro
mo
so
m
e
s
b
e
sor
t
e
d
i
n
th
e
fo
llo
w
i
ng
st
ag
e
f
r
o
m a
mini
m
u
m t
o
t
h
e
maxi
mum
va
lue
.
If
t
h
e
gen
e
r
a
t
i
o
n
rea
c
he
s t
o
t
h
e
80
0,
the
f
i
r
s
t
g
e
ne i
s
t
h
e
resul
t
o
f
t
h
e
opt
i
m
i
z
a
t
io
n al
go
ri
thm
.
Ot
he
r
w
i
s
e,
t
h
e
lo
op
w
i
l
l
be
c
ont
in
ue
d
by
c
r
ea
ti
n
g
t
h
e
ne
xt
ge
n
e
rat
i
o
n
by
c
r
os
so
v
e
r
an
d mu
ta
ti
o
n
.
Fig
u
r
e
5 shows
t
h
e
mo
st mi
n
i
mu
m ob
je
ct
ive
fu
n
c
t
i
on
s of
p
opu
la
tio
n
in e
a
c
h
g
e
n
e
r
a
tion
,
wh
ic
h
c
o
n
v
e
r
ge
g
r
a
dua
l
l
y to
t
h
e
gl
o
b
al
opt
i
m
a.
F
i
gu
re
5.
The
be
st
obje
c
t
i
v
e f
unct
i
o
n
val
u
e i
n
ea
c
h
po
p
u
l
a
t
i
ons
Ta
b
l
e
1
d
e
mo
nst
r
a
t
e
s
op
t
i
ma
l p
a
rame
te
r
s
of
g
e
ar
ed
D
C
moto
r
tha
t
a
r
e th
e
re
su
lt
o
f
th
e
op
tim
iz
at
io
n
pr
obl
e
m
aft
e
r
80
0 ge
nera
t
i
o
n
s
.
Ta
ble
1.
E
s
t
i
ma
te
d
pa
r
a
met
e
r
s
o
f
ge
ar
e
d
DC
mot
o
r
15.
422
0.
0035
0.
0277
0.
0021
0.
0518
0.
1
0.
1
0.
0035
4.
VA
LI
D
A
T
I
ON
In
or
de
r
t
o
val
i
dat
e
the
e
s
ti
m
a
t
e
d
pa
ra
me
te
r
of
ge
a
r
e
d
DC
mot
o
r,
t
h
e si
mula
te
d a
n
gu
l
a
r t
r
a
j
e
c
t
o
ry
fro
m th
e ma
t
h
e
m
a
tic
al
mod
e
l a
r
e c
o
mp
ar
e
d
w
i
th a
c
t
u
al
o
n
e
c
a
p
t
ur
ed
b
y
en
cod
e
r
.
F
i
g
u
r
e
6
r
e
pr
e
s
e
n
t
s
t
h
e
ope
n-
l
oop
di
agra
m in w
h
i
c
h,
is th
e
ma
th
e
m
a
tic
a
l
m
o
d
e
l
tha
t
d
e
t
e
r
m
i
n
es th
e
si
mu
la
t
e
d
an
gu
l
a
r tr
aje
c
t
o
r
y
.
Fi
gu
re
6.
O
p
e
n
-
l
o
o
p
dia
g
ra
m of
mat
h
e
m
at
i
c
a
l
mo
de
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
, Vol.
11
,
No
.
2
,
Jun
e
2
020
: 10
47
–
1
0
54
1
052
is
e
x
p
r
e
s
se
d i
n
e
q
u
a
ti
on
(
7
), th
a
t
its p
a
r
a
me
ter
s
ar
e op
tim
al
ly
e
s
tim
at
e
d
and a
r
e
e
x
h
i
b
i
ts
in
Tabl
e 1
.
The si
mula
t
e
d
a
n
g
u
la
r
t
r
a
j
ect
ory (
) o
f
t
h
e ma
the
m
a
t
i
c
a
l
model
e
s
t
i
mat
e
d b
y
GA
a
nd c
o
nve
nt
io
na
l
me
th
od
s w
ith
d
i
ff
eren
t vo
l
t
ag
e th
at
a
r
e
3
0.5
,
5
0.
5
, a
nd
7
0.5
is
sh
ow
n
in
F
i
gu
r
e
7
,
w
h
e
r
e
t
i
s
tim
e
.
I
n
add
iti
o
n
,
th
e
sim
u
lat
e
d t
r
a
j
e
c
t
o
ry
is
c
o
mp
a
r
e
d
w
ith
th
e
a
c
t
u
a
l traj
ec
to
r
y
ca
ptu
r
ed
f
r
o
m
enc
o
d
e
r
e
xhi
bit
s
i
n
F
i
gu
re
1.
(a
)
3
0.5
(b
)
5
0.5
(c
)
7
0.5
F
i
gu
re 7.
Va
l
i
d
a
ti
on of
t
h
e
opt
i
m
al
e
s
t
i
mat
e
d mat
h
e
m
a
t
i
c
a
l
mo
del
o
f
gear
e
d
of
DC
mot
o
r
The
sim
u
l
a
t
e
d
a
n
g
u
la
r t
r
a
j
e
c
t
o
ry
by
G
A
is f
o
ll
owi
ng t
h
e a
c
t
u
al
ca
ptu
r
ed
by t
h
e e
n
co
der
wi
th t
h
re
e
di
ffe
re
nt
v
o
l
t
a
ge, w
h
il
e t
h
e e
s
t
i
mat
e
d mo
de
l
by t
h
e c
o
n
v
e
n
t
i
ona
l met
h
o
d
fol
l
o
ws
t
h
e ac
t
u
a
l
a
ngul
a
r
t
r
a
j
ect
ory
by
g
r
at
e
r
e
rror. This
sh
o
w
s t
h
at
GA
is a
ppro
p
ri
at
e f
o
r n
o
n
-l
ine
a
r
ma
t
h
e
m
a
t
i
c
al
mode
l
of t
h
e
gea
r
e
d
DC
mo
t
o
r
.
Tab
l
e
2
sh
o
w
s
th
e nume
r
i
c
a
l
an
a
l
y
s
i
s
of th
e
e
rro
r
fo
r GA
an
d
M
A
TLA
B/Si
mu
li
nk
.
Tabl
e
2. N
u
me
ri
cal
anal
y
s
is o
f
e
rror for mat
h
emat
i
cal
mod
e
l
M
e
t
h
o
d
G
A
Conve
ntio
nal
m
e
tho
d
Volta
g
e
s
A
E
ME
AE
ME
3
0.
5
0.
0782
0.
245
3.
3643
6.
68
5
0.
5
0.
7299
1.
45
6.
2678
12.
4
7
0.
5
1.
6698
3.
06
9.
4237
18.
5
A
E
a
n
d
M
E e
xpress
the
a
v
er
age
a
n
d ma
xi
mum e
r
ror
of
t
h
e
G
A
an
d
co
nve
nt
i
o
nal
me
tho
d
for
t
h
re
e
di
ffe
re
nt
v
o
l
t
a
ges. AE a
n
d
M E of
c
o
nve
nt
i
ona
l
me
t
hod a
r
e
great
e
r
t
h
a
n
t
h
e
G
A
met
h
od
by
4
8
,
8, a
n
d 5 ti
mes
fo
r
3
0.5
,
5
0.5
, and
7
0.5
, r
e
s
p
ec
tiv
e
ly.
Ta
b
l
e
2
i
llu
s
t
ra
tes th
e
a
v
era
g
e
a
n
d m
a
x
i
mu
m e
rro
r of
th
e GA
ar
e
le
ss
t
h
a
n
th
e
c
o
nv
en
ti
on
al
m
e
th
od
.
5.
CO
NCL
U
S
I
O
N
Thi
s
pa
pe
r
p
r
e
s
ent
s
pa
rame
te
r est
i
mat
i
on
o
f
a geare
d
DC
mot
o
r
by usi
n
g
G
A
. T
h
e ma
t
h
emat
i
cal
mode
l
o
f
t
h
e
DC
m
o
to
r is c
a
l
c
ul
at
ed b
y
K
i
rch
h
o
ffs
l
a
w
.
B
a
sed
on
t
h
e
mat
h
e
m
a
t
i
c
a
l
mo
de
l, a
n
opt
i
m
i
z
a
t
i
on
pro
b
l
e
m was
d
e
fi
ne
d t
o
e
s
ti
m
a
t
e
i
t
s paramet
e
rs b
y
mea
s
u
r
i
ng t
h
e
si
m
u
la
t
e
d an
d act
ua
l t
r
aj
ec
t
o
ry ca
pt
u
r
e
d
b
y
th
e
e
n
c
o
d
e
r. Th
e
e
s
tim
a
t
e
d
m
o
d
e
l
is v
a
li
da
te
d
by
co
mp
ar
ison
o
f
t
h
e
si
m
u
la
ted
and
ac
tu
al
ang
u
l
a
r
t
r
a
j
e
c
t
o
ry
.
The
resul
t
s
a
nd n
u
m
eri
c
a
l
a
n
a
l
ysi
s
e
x
pres
sed t
h
at
ge
net
i
c
a
l
l
y
est
i
m
a
t
i
on
o
f
the
ge
a
r
e
d
DC
mot
o
r is an
app
r
op
ria
t
e
a
p
proac
h
t
o
det
e
rmi
n
e
para
me
t
e
rs
of the
n
o
n
-l
i
n
ea
r gea
r
e
d
D
C
mot
o
r m
odel
.
T
h
i
s
met
h
o
d
c
a
n
be
deve
l
ope
d
fo
r othe
r n
o
n
-l
i
n
e
a
r c
h
a
r
a
c
t
e
ri
st
ic
pla
t
form
s
.
H
o
we
ve
r ot
her
o
p
t
i
mi
za
ti
on
met
h
ods c
a
n be
v
a
lid
a
t
e
d
fo
r this p
r
ob
le
m.
A
C
KNOW
LE
D
G
E
M
EN
TS
The a
u
t
h
o
r
s
w
oul
d l
i
ke t
o
t
h
ank
U
n
i
v
er
si
t
i
Keba
n
g
sa
an
Mal
a
ysi
a
(
U
K
M
) a
n
d t
h
e
Mi
ni
stry
of E
d
u
c
a
t
ion
Mal
a
ysi
a
f
o
r
fi
na
nci
a
l
s
u
pp
ort
rec
e
i
v
e
d
u
nde
r re
searc
h
g
r
a
n
t
F
R
GS
/
1
/2
01
7
/
TK0
4
/
U
K
M
/0
2/
1
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
O
p
tima
l
p
a
rame
te
r
est
i
m
a
tion
fo
r a
D
C
mo
tor u
s
i
n
g
g
e
n
e
ti
c
a
l
go
ri
thm
(
M
oh
amm
a
d
So
le
im
an
i
Ami
r
i)
1
053
RE
FERE
NC
E
S
[1]
S
.
M
o
nd
al,
et al
.,
"P
erforman
ce
e
v
alua
tion
o
f
bru
s
h
l
ess
D
C
motor
dri
v
e for
t
h
ree di
fferent
t
y
pes
of
MO
SFE
T
bas
e
d
DC-D
C
converters
,
"
P
r
o
c
ee
di
ng
s
o
f
2
nd
In
te
rn
atio
na
l
Co
nf
e
r
e
n
c
e
o
n
20
17
Dev
i
c
e
s
f
o
r Int
e
grate
d
Ci
rc
u
i
t
,
pp.
58
9-
59
3, 20
17
.
[2]
A. Zu
lk
ip
li
e
t
al
.
,
"
C
har
a
ct
er
iz
a
t
i
o
n
of
DC
b
r
u
s
hless
motor fo
r an
effici
ent
mult
icopter
design,
"
Inte
rn
a
t
i
onal
Con
f
er
e
n
c
e
on
A
d
van
ces in Ele
c
t
r
ical,
El
ec
tr
onic a
nd Systems
En
g
i
neering
,
IC
AEES
, p
p
.
586
-59
1
,
201
7.
[3]
H. J
a
yas
eelan
et al., "
D
c Brus
hles
s M
o
tor Ch
a
r
a
c
ter
i
za
t
i
on Ins
t
r
u
ment
for Mul
t
i
r
otor Des
i
gn Jay
a
seelan,
"
Jour
na
l
of Fu
nd
am
en
ta
l
and
Appl
ied
S
c
i
e
nces
,
vo
l.
10
,
pp
3
88-4
0
0
,
2
018
.
[4]
A. Yu
so
f
et
al
.,
"Ba
c
k
-
d
r
iv
ab
ili
t
y of
po
we
red
k
n
e
e
o
r
th
os
is
for
kn
e
e
fre
e
swing
an
d
kn
ee
exte
ns
io
n,"
7
th
I
E
EE
In
te
rna
t
io
na
l Conf
e
r
e
n
ce
on Cont
ro
l S
y
ste
m
,
Comp
ut
in
g
a
n
d
Eng
i
n
e
e
r
i
ng,
IC
CS
CE
,
pp
.
33
1-3
3
5
,
20
18
.
[5]
D.
Pu
a
n
gd
ownre
o
n
g
e
t
a
l
.
,
"
A
pp
li
ca
ti
on
of fl
o
w
e
r
po
ll
ina
t
io
n
a
l
go
rit
h
m
t
o
pa
ra
m
e
t
e
r ide
n
tifi
c
a
t
io
n o
f
DC m
o
to
r
mod
e
l,"
In
tern
at
io
nal Ele
c
tr
ica
l
Eng
i
n
eer
in
g
Co
ng
ress
,
iEECON
,
20
17.
[6]
F
.
A
l
-M
ah
tu
ri
e
t
al
.,
"P
aram
eter
s
identif
i
c
a
ti
on
of a
b
r
us
hles
s
DC m
o
to
r
b
y
s
p
ecif
i
ca
tion
,"
IE
EE Con
f
er
enc
e
o
f
Ru
ss
ia
n
Y
o
ung
Res
e
ar
cher
s
in
Ele
c
trica
l
and
Elec
tr
on
ic Eng
i
n
e
er
in
g, ElCo
nRus
,
pp
55
8-5
6
1
,
20
18
.
[7]
H, Us
m
a
n
et al.,
"P
arameters
est
i
matio
n
v
i
a
u
n
i
ve
rsal
ad
ap
tiv
e
s
t
a
b
iliz
ation
,
"
vo
l.
9
0
,
pp
50
-62
,
20
19
.
[8]
M
.
A
k
b
a
r, e
t
al
., "
M
od
el
Refere
n
ce A
d
apti
v
e
Co
nt
rol
fo
r DC Mot
o
r Ba
se
d
on
Sim
u
li
nk,
"
I
n
te
rn
at
io
na
l Ann
u
a
l
En
gine
ering
Se
m
i
n
a
r
(InAES)
,
p
p
.
10
1
-
10
6
,
201
6.
[9]
T
.
Ro
y
et
a
l
.
,
"
A
d
a
pt
iv
e c
ont
ro
l
l
e
r
d
e
si
gn for spe
e
d
c
o
n
t
rol o
f
DC m
o
t
o
rs drive
n
by a DC-DC bu
c
k
c
o
nv
ert
e
r,"
In
te
rna
t
io
na
l Conf
e
r
e
n
ce
on Ele
c
t
r
i
c
al,
Co
mpu
t
e
r
an
d Co
mmu
n
i
c
at
io
n
E
n
g
i
n
e
e
r
ing
,
pp.
10
0-1
05,
20
17
.
[10]
S.
Kum
a
r,
et a
l
.,
"A fu
zz
y lo
gic
c
o
nt
ro
ll
e
r
ba
se
d
b
r
ushle
s
s DC m
o
to
r u
s
i
ng
PF
C c
u
k
c
o
nv
e
r
t
e
r," In
te
rn
at
io
n
a
l
Jou
r
na
l
of Po
wer
E
l
e
c
t
ro
n
i
c
s
a
n
d
Driv
e
System
s,
vo
l.
10 pp
.
1
8
94-19
05
,
20
19.
[11]
D. S
o
mwans
h
i et
al.,
"
C
omp
a
riso
n of fu
zz
y
-
P
I
D and
P
I
D
co
ntrolle
r
for
sp
e
e
d con
t
rol
of
DC motor us
in
g
L
a
bVIE
W,
" Proc
e
d
ia
Com
pute
r
Sc
i
e
nc
e
,
v
o
l
.
1
5
2
,
pp
2
5
2
-2
60
,
20
19
.
[12]
Y. S
a
ng
sefidi,
e
t
al
., "A
n
e
w two
-
motor driv
e
to con
t
ro
l
a
tw
o
-
p
h
ase in
du
c
t
ion
motor
and a D
C
mo
to
r,"
IE
EE
Intern
ation
a
l
El
ectr
i
c M
a
c
hines
an
d D
r
ives Co
nf
erence
, I
E
M
D
C
,
pp
. 8
1
8
-8
22
, 2
016
.
[13]
C. Hoo
et al
., "
N
ew in
teg
r
al
an
tiwind
up sch
e
me
fo
r
P
I
m
o
to
r
s
p
eed
co
ntro
l,"
A
s
ia
n J
o
u
r
n
a
l
of Co
nt
ro
l
, vo
l.
17
,
p
p
2
1
1
5
-2
1
3
2
,
2
015.
[14]
F
.
Beltr
a
n-Carb
a
j
al
et
al.
,
"
A
dap
t
ive d
y
n
a
mi
ca
l t
r
ack
ing
c
o
ntro
l
un
der u
n
c
e
rta
i
nt
y o
f
sh
unt DC mo
to
rs,"
Elect
r
ic
Power Syst
ems
Research
,
vo
l.
1
6
4
,
pp
70
-78,
20
18
.
[15]
W. N
a
p
a
so
ol
,
et
al.
,
"
S
ys
tem I
d
e
n
tif
i
c
ation Of the
T
w
o
T
a
nks Sy
stem
Subj
ected
to Wi
reless HART
Delays,
"
18th
In
te
rna
t
io
na
l Conf
e
r
e
n
ce
on Cont
ro
l,
Au
to
mat
i
o
n
a
n
d
Sy
ste
ms
(ICCAS
)
, vo
l.
1
,
p
p
.
36
3-36
8,
20
18.
[16]
A.
Ob
ed,
et
al.
,
"
S
peed
perfor
m
a
n
ce ev
alu
a
tion
o
f
BLDC mo
to
r b
a
s
e
d o
n
d
y
n
a
mic
w
a
velet n
e
u
r
al
netw
ork
and
P
S
O
alg
o
rith
m,"
Int
e
r
n
at
io
n
a
l
J
o
u
r
n
a
l of
Po
we
r
E
l
ec
t
r
on
ic
s an
d Dri
v
e
Sy
ste
m
s
, vo
l.
10
pp
. 1
7
4
2
-17
5
0
,
20
19
.
[17]
Zak
a
r
i
a
e
t
al
., "
P
a
r
ame
t
ers
estimatio
n
of
d
o
u
b
l
e
ex
pon
ent
i
a
l
s
m
oo
th
in
g
for
h
a
nd
jit
t
er
redu
ction u
s
ing
gen
e
t
i
c
alg
o
rith
m,
"
J
u
rn
al
Tekn
olog
i,
v
o
l
. 7
7
,
p
p
91-9
5
,
201
5.
[18]
B. Nayak
,
et al
., "P
aramet
e
r
est
i
matio
n
o
f
D
C
m
o
tor
th
r
o
u
g
h
w
h
ale op
ti
m
i
za
ti
on
al
go
ri
th
m,"
In
ter
n
atio
nal J
o
ur
na
l
of Po
w
e
r Elec
tron
ics
an
d
Driv
e
Sys
t
em
s
,
vol
. 1
0
,
pp
.
83
-92
,
2
019
.
[19]
B. P
i
ll
ai,
et a
l
.
,
"
M
otio
n
c
o
ntr
o
l app
lic
ations
:
Obs
e
rv
er based DC
mot
o
r p
a
rameters es
timat
i
o
n
for novices,
"
In
te
rna
t
io
na
l J
ourna
l o
f
P
o
we
r
El
ec
tro
n
i
c
s a
nd
Driv
e
S
y
ste
m
s
, v
o
l. 1
0
,
pp
.
19
5-2
10,
20
19
.
[20]
A. No
sh
adi
,
et
al
.
,
"S
y
s
tem I
d
en
ti
f
i
ca
ti
on
an
d
Ro
bu
st
C
o
n
t
r
o
l of
M
u
l
t
i
-
I
n
pu
t
M
u
lt
i-
O
u
t
p
u
t
A
c
ti
ve
M
a
gne
t
i
c
Bearin
g
S
y
stems
,
"
IEEE T
r
an
sac
t
io
ns
on
Con
t
r
o
l
Sys
t
ems
T
echn
o
l
o
g
y
,
v
o
l
.
2
4
, p
p
.
12
27
-1
23
9,
20
1
6
.
[21]
G. S
u
n, e
t
al.,
"
P
erfo
rman
c
e
of
multi-p
a
ren
t
s g
e
neti
c
al
gor
i
thms
(MPG
A) for II
R ad
apti
ve s
y
s
t
em
i
d
ent
i
ficat
i
o
n,
"
Midwest S
y
mpo
s
ium
on
Cir
c
u
i
ts
an
d S
y
stems
,
p
p
. 1-4
,
20
15
.
[22]
G. S
u
n
,
et a
l
., "
P
arame
t
er
Est
i
m
a
tion
o
f
Th
ree-
P
h
as
e
Ind
u
c
tio
n
M
o
to
r
U
s
ing
H
ybrid of
G
e
n
e
tic Algo
r
i
thm
an
d
Part
icle Swar
m
Optimiz
a
tion,"
Jou
r
n
a
l
of
En
gi
nee
r
i
n
g
(
U
n
ite
d
Sta
t
e
s
)
,
20
14.
[23]
C.
D
o
rf, et
al
.
,
Mo
der
n
Co
ntro
l
S
y
stems
,
P
e
arso
n
Edu
catio
n
,
In
c
.
,
13th
edit
io
n,
2
0
17.
[24]
P.
Corke,
Ro
botic
s, vi
si
on
an
d
c
ont
ro
l
:
F
u
n
d
a
me
n
t
al
al
go
rit
h
ms i
n
M
A
TLA
B
, Springer,
2017
.
[25]
M.
S.
Am
iri
,
e
t
al.
,
"
H
y
b
ri
d de
sign
of
PID
c
ontro
lle
r fo
r fo
u
r
Do
F l
o
we
r lim
b
e
x
osk
e
le
t
on,
"
App
l
i
e
d Ma
th
ematica
l
Mo
delling
,
vo
l.
72,
pp
. 1
7
-2
7
,
2
0
1
9
.
[26]
E. Da
le,
et
al.,
Pro
cess
Dyn
a
m
i
cs
an
d Co
ntrol
,
John
Wile
y &
Sons ,
2n
d
e
d
it
io
n, 200
4.
[27]
L. Ja
co
bso
n
,
et a
l
.,
G
e
ne
tic
a
l
g
o
r
i
th
ms
in
Java
ba
sics
,
Sp
ri
ng
e
r
,
20
15
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-86
94
In
t
J
Po
w
Ele
c
&
Dri
Sy
st,
Vol.
1
1
,
No
. 2
,
Jun
e
2
020
:
10
47
–
1
054
1
054
BIO
G
RA
PHIES
OF AU
THOR
S
M
o
h
a
m
m
ad
So
le
ima
n
i A
m
i
r
i
re
ce
iv
ed
the
Ba
c
h
elo
r
d
e
gree
in
me
ch
an
ica
l
en
g
i
n
e
e
r
i
n
g
fr
om t
h
e
Qa
z
v
i
n
I
s
la
mi
c
Az
ad
U
n
ive
r
si
ty,
I
r
a
n
,
i
n
2
011,
an
d
Ma
st
e
r
in
Mec
h
a
n
ic
al
a
n
d
cont
rol
syst
em
en
gi
nee
r
in
g
f
r
o
m
Ah
ra
r
i
n
s
t
i
t
ut
e
of
t
e
c
h
n
o
lo
gy
a
n
d
hi
g
h
er
ed
uc
at
io
n,
I
r
a
n
,
in 2
016
. H
e
is
cur
r
e
n
t
ly
w
o
rk
ing
t
o
w
a
rd
th
e
Ph
.D. d
e
gr
ee
in Me
ch
a
n
ic
a
l
and
c
o
n
t
r
o
l
sy
st
ems eng
i
n
eer
ing at
th
e
N
a
tion
a
l Un
i
v
e
r
sity of
M
a
la
y
s
ia
. H
i
s
r
e
se
arc
h
i
n
ter
e
sts in
c
l
u
d
e
a
u
tom
a
t
i
on
,
ro
bo
tic
s a
n
d c
o
n
t
ro
l syste
m
.
Mo
h
d
Fa
i
s
a
l
Ibra
h
i
m
r
e
c
e
i
ved
B.
E
ng.
a
n
d
M.
En
g.
d
e
gree
s
in
e
l
e
c
t
ri
ca
l a
n
d
el
ec
t
r
on
ic
e
n
gi
ne
e
r
in
g
fro
m
Un
iv
e
r
si
ti
T
e
kn
ol
o
g
i
Ma
la
ysia
,
i
n
2
0
0
2
a
n
d 20
06
,
re
sp
e
c
ti
ve
ly
,
a
n
d
t
h
e
P
h
.
D
.
d
e
gre
e
fro
m
th
e
Uni
v
e
r
sit
y
of Ade
l
ai
de i
n
20
15. Curre
nt
ly, he i
s
a se
ni
or le
c
t
u
r
er i
n
th
e Ce
ntre
for Integr
ated
S
y
stems En
g
i
n
eer
in
g and
A
dvan
ced Tec
h
nolog
ies
(In
te
gra),
U
n
iv
ersiti
Keb
a
n
g
s
aan
M
a
lays
ia
(UK
M
). H
i
s resear
ch
intere
st
s are i
n
intell
igence
system
s, ev
o
l
ut
io
na
ry
ro
bo
t
i
c
s
a
n
d optim
i
s
a
tio
n. Sin
ce jo
inin
g UKM si
nc
e
2
0
0
7
, he h
a
s
c
o
n
d
u
c
te
d
v
a
ri
ou
s re
se
a
r
c
h
wo
rks, led
few
res
earch
g
r
an
t pr
o
j
ec
ts an
d
ap
po
inted
a
s
an
in
du
strial
cons
ultan
t
.
Rizau
ddin
Ra
mli re
ceiv
e
d
the
Bach
e
l
o
r
d
e
g
r
ee
in
m
ech
an
ical
en
gin
eerin
g
fr
om
th
e
Kyoto
Un
ivers
i
ty,
J
a
p
a
n
,
in
199
7
,
th
e
M
a
ster in
mech
a
n
ical and
sys
t
e
m
eng
i
n
e
erin
g
and
P
h
.D
. deg
r
e
e
in
m
a
n
u
fa
ctu
r
in
g
sy
stem
from
th
e G
i
fu
U
n
iversi
ty
,
Jap
a
n,
in
2
0
0
5
and
2
0
0
8
,
resp
ectively
.
He
is
current
ly
an
As
so
ciate P
r
o
f
esso
r in
th
e D
e
p
a
rtmen
t
of
M
ech
a
n
ica
l
and M
a
terials
,
F
a
cul
t
y
o
f
En
gine
erin
g an
d
Bu
ilt Environ
m
ent
,
Nat
i
o
n
al
Univers
i
ty o
f
Mal
a
ysia.
His r
e
search interest
s
in
clu
d
e
In
tell
ig
e
n
t m
a
nu
facturin
g
sy
stems,
ro
bo
ti
cs,
con
t
rol
and arti
ficial
i
n
telli
g
e
nt.
Evaluation Warning : The document was created with Spire.PDF for Python.