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Du
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I
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1458
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(
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)
.
Af
ter
ap
p
l
y
i
n
g
t
h
e
r
o
to
r
f
ield
r
o
tatio
n
(
Fig
u
r
e
1
)
,
^
=
^
an
d
^
=
0
.
I
M
m
ac
h
i
n
e
r
elatio
n
s
b
ec
o
m
e
s
th
e
n
:
=
1
+
=
(
1
)
Fig
u
r
e.
1
Or
ien
tatio
n
o
f
th
e
r
o
to
r
f
ield
to
d
ax
is
o
f
th
e
(
d
,
q
)
r
ef
er
en
ce
B
ef
o
r
e
ap
p
ly
i
n
g
t
h
is
o
r
ie
n
tati
o
n
,
th
e
d
eter
m
i
n
atio
n
o
f
r
o
to
r
f
l
u
x
a
n
g
u
lar
p
o
s
itio
n
i
s
n
ec
e
s
s
ar
y
.
Dir
ec
t
f
ield
o
r
ien
ted
co
n
tr
o
l
(
DFO
C
)
an
d
I
n
d
ir
ec
t
f
ield
o
r
ien
ted
co
n
tr
o
l
(
I
FOC
)
ar
e
th
e
t
w
o
m
et
h
o
d
s
u
s
ed
to
o
b
tain
th
is
p
o
s
itio
n
.
Usi
n
g
e
q
u
at
io
n
2
,
^
an
d
^
ar
e
esti
m
ated
u
s
in
g
an
d
r
esp
ec
ti
v
el
y
,
a
n
d
ar
e
co
m
p
ar
ed
to
∗
an
d
∗
.
As s
h
o
w
n
i
n
Fi
g
u
r
e
2
to
r
q
u
e
an
d
f
l
u
x
ar
e
d
ir
ec
tl
y
co
n
tr
o
lled
in
DFOC
.
{
=
[
(
+
)
(
1
+
)
ℳ
+
ℳ
]
−
=
(
+
)
+
+
ℳ
^
=
1
+
^
=
=
∫
(
Ω
+
∗
∗
)
(
2
)
Fig
u
r
e
2
s
h
o
w
s
t
h
e
co
n
tr
o
l str
ateg
y
s
ch
e
m
e
o
f
D
FO
C
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
Usi
n
g
th
e
F
ive
-
Leve
l NPC
I
n
ve
r
ter to
I
mp
r
o
ve
th
e
F
OC
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o
n
tr
o
l o
f th
e
A
s
yn
ch
r
o
n
o
u
s
....
(
Mo
u
n
a
E
s
-
S
a
a
d
i)
1459
Fig
u
r
e
2
.
Dir
ec
t Field
o
r
ien
ted
co
n
tr
o
l stra
teg
y
s
ch
e
m
e
o
f
I
M
u
s
i
n
g
t
w
o
le
v
el
i
n
v
er
ter
T
o
en
s
u
r
e
d
ec
o
u
p
led
co
n
tr
o
l
f
o
r
to
r
q
u
e
an
d
f
lu
x
,
o
m
p
e
n
s
ati
o
n
ter
m
s
f
em
d
an
d
f
em
q
(e
q
u
atio
n
3
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ar
e
ad
d
ed
t
o
o
b
tain
a
d
an
d
q
ax
es c
o
m
p
letel
y
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d
ep
en
d
e
n
t.
{
=
=
+
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(
3
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E
q
u
atio
n
2
s
h
o
w
s
t
h
at
h
o
w
p
o
s
itio
n
θ
s
an
d
v
o
ltag
e
s
v
sq
,
v
sd
ar
e
ca
lcu
lated
.
Us
in
g
P
ar
k
p
o
s
itio
n
θ
s
,
v
sq
,
a
n
d
v
sd
ar
e
tr
an
s
f
o
r
m
ed
a
n
d
in
j
ec
ted
to
th
e
t
w
o
lev
e
ls
i
n
v
er
ter
.
A
s
in
u
s
o
id
al
p
u
ls
e
w
id
th
m
o
d
u
latio
n
i
s
u
s
ed
to
co
n
tr
o
l
th
i
s
in
v
er
ter
(
F
ig
u
r
e
3
)
.
I
n
SP
W
M
m
o
d
u
latio
n
,
P
u
ls
es
r
es
u
lt
in
g
f
r
o
m
th
e
c
o
m
p
ar
is
o
n
b
et
w
ee
n
a
s
in
u
s
o
id
al
r
ef
er
e
n
ce
s
i
g
n
al
a
n
d
tr
ian
g
u
lar
ca
r
r
ier
ar
e
in
j
ec
ted
to
th
e
s
w
itch
e
s
,
to
o
b
tain
tw
o
v
o
lta
g
e
le
v
els.
Fig
u
r
e
3
.
P
r
in
cip
le
o
f
th
e
SP
W
M
t
w
o
lev
el
s
co
n
tr
o
l stra
te
g
y
3.
I
M
P
RO
VE
M
E
NT
O
F
DF
O
C
ST
RA
T
E
G
Y
F
O
R
I
M
Mu
ltil
e
v
el
co
n
v
er
s
io
n
s
tr
u
ct
u
r
es
co
n
s
tit
u
te
a
s
o
lu
tio
n
to
im
p
r
o
v
e
th
e
p
er
f
o
r
m
a
n
ce
s
g
iv
en
b
y
th
e
class
ical
s
tr
u
ct
u
r
es
w
it
h
t
w
o
v
o
ltag
es
le
v
els.
Fo
r
m
ed
iu
m
v
o
ltag
e
h
ig
h
p
o
w
er
ap
p
licatio
n
s
as
r
ail
w
a
y
tr
ac
tio
n
ap
p
licatio
n
s
,
th
e
co
s
t
o
f
s
e
m
i
co
n
d
u
cto
r
d
ev
ices
is
i
n
cr
ea
s
e
d
.
Mu
ltil
ev
e
l
s
tr
u
ct
u
r
es
o
f
f
er
a
r
ed
u
ctio
n
o
f
th
e
v
o
ltag
e
s
tr
es
s
t
h
at
co
m
p
e
n
s
at
es
f
o
r
t
h
e
i
n
cr
ea
s
ed
n
u
m
b
er
o
f
d
ev
ice
s
[
1
0
]
,
[1
1
]
.
A
ls
o
t
h
i
s
s
tr
u
ct
u
r
es
o
f
f
er
t
h
e
ad
v
an
ta
g
e
o
f
r
ed
u
cin
g
th
e
s
i
ze
o
f
th
e
o
u
tp
u
t
f
il
ter
b
y
lo
w
er
i
n
g
t
h
e
to
tal
h
ar
m
o
n
ic
co
n
ten
t.
T
h
en
,
to
r
q
u
e
r
ip
p
les
f
o
r
m
o
to
r
d
r
iv
e
ap
p
lic
atio
n
s
w
ill
b
e
r
ed
u
ce
d
.
E
v
en
if
,
Stack
C
ell
an
d
Neu
tr
al
p
o
in
t
p
ilo
ted
in
v
er
ter
s
h
av
e
a
w
id
e
i
n
d
u
s
tr
ial
s
p
r
ea
d
m
o
s
tl
y
i
n
m
ed
i
u
m
v
o
ltag
e
ap
p
licatio
n
s
.
T
h
e
y
h
a
v
e
d
i
s
ad
v
a
n
tag
e
s
l
ik
e
u
n
eq
u
a
l
s
w
itc
h
es
lo
s
s
e
s
d
is
tr
ib
u
t
io
n
.
T
o
s
o
lv
e
th
is
p
r
o
b
le
m
,
NP
C
in
v
er
ter
is
th
e
m
u
ltil
e
v
el
in
v
er
te
r
ch
o
s
en
to
b
e
u
s
ed
to
r
ep
lace
th
e
t
w
o
le
v
el
s
i
n
v
er
ter
[
1
2
]
,
[1
3
].
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
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1457
–
1
4
6
6
1460
3
.
1
.
P
rinciple o
f
t
he
f
iv
e
lev
el
N
P
C
inv
er
t
er
As
s
h
o
w
n
i
n
F
ig
u
r
e
4
,
ea
ch
l
eg
o
f
t
h
e
NP
C
i
n
v
er
ter
co
n
ta
in
s
s
ix
c
la
m
p
ed
d
io
d
es
an
d
e
ig
h
t
o
th
er
v
er
tical
I
GB
T
s
.
T
o
o
b
tain
th
e
f
i
v
e
v
o
lta
g
e
lev
el
s
,
s
w
itc
h
es
ar
e
f
o
llo
w
i
n
g
s
w
i
tch
in
g
s
tate
s
as
s
h
o
w
n
in
T
ab
le
1
.
Fig
u
r
e
5
s
h
o
w
s
th
e
f
o
u
r
ca
r
r
ier
s
SP
W
M
co
n
tr
o
l stra
teg
y
u
s
in
g
f
o
r
o
n
e
leg
o
f
t
h
e
NP
C
in
v
er
ter
[1
4
]
,
[1
5
]
.
Fig
u
r
e.
4
.
Stru
ct
u
r
e
o
f
a
f
i
v
e
-
le
v
el
NP
C
in
v
er
el
u
r
b
r
u
s
h
T
ab
le
1
.
B
asic s
w
i
tch
i
n
g
o
f
t
h
e
f
iv
e
le
v
el
s
NP
C
in
v
er
ter
V
o
l
t
a
g
e
V
a
S
w
i
t
c
h
i
n
g
st
a
t
e
T
4
2
+
T
3
+
T
2
+
T
1
+
T
4
2
-
T3
-
T2
-
T1
-
V
d
c
/
4
1
1
1
1
0
0
0
0
V
d
c
/
2
0
1
1
1
1
0
0
0
0
0
0
1
1
1
1
0
0
V
d
c
/
4
0
0
0
1
1
1
1
0
-
V
d
c
/
2
0
0
0
0
1
1
1
1
Fig
u
r
e
5
.
SP
W
M
o
f
th
e
NP
C
5
-
lev
el
i
n
v
er
ter
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
Usi
n
g
th
e
F
ive
-
Leve
l NPC
I
n
ve
r
ter to
I
mp
r
o
ve
th
e
F
OC
C
o
n
tr
o
l o
f th
e
A
s
yn
ch
r
o
n
o
u
s
....
(
Mo
u
n
a
E
s
-
S
a
a
d
i)
1461
T
h
e
F
ig
u
r
e
6
s
h
o
w
s
t
h
e
o
u
t
p
u
t
v
o
ltag
e
s
o
f
th
e
f
i
v
e
lev
e
ls
NP
C
in
v
er
ter
s
ili
m
u
la
ted
in
m
atlab
/
s
i
m
u
li
n
k
w
h
er
e
w
e
o
b
s
er
v
ed
t
h
e
f
i
v
e
v
o
ltag
e
le
v
els
.
Fig
u
r
e
6.
O
u
tp
u
t
v
o
ltag
e
s
o
f
t
h
e
f
i
v
e
le
v
els NP
C
i
n
v
er
ter
3
.
2
.
I
m
pro
v
e
m
ent
o
f
DF
O
C
s
t
ra
t
e
g
y
us
ing
NP
C
f
iv
e
lev
els inv
er
t
er
T
o
im
p
r
o
v
e
th
e
tr
a
n
s
ie
n
t
a
n
d
s
tead
y
s
tate
p
er
f
o
r
m
a
n
ce
s
o
f
DFOC
s
tr
ate
g
y
f
o
r
I
M,
an
d
to
r
ed
u
ce
v
o
ltag
e
s
tr
es
s
i
n
s
e
m
ico
n
d
u
c
t
o
r
s
esp
ec
iall
y
f
o
r
h
i
g
h
p
o
w
er
ap
p
licatio
n
s
,
i
n
s
tead
o
f
th
e
t
w
o
le
v
el
s
i
n
v
er
ter
a
f
i
v
e
lev
els
NP
C
i
n
v
er
ter
is
u
s
ed
w
ith
a
n
ap
p
r
o
p
r
iate
SP
W
M
co
n
tr
o
l
s
tr
ateg
y
.
A
s
s
h
o
w
n
in
Fig
u
r
e
7
,
all
th
e
o
th
er
b
lo
ck
s
o
f
DFO
C
s
tr
ate
g
y
s
c
h
e
m
e
s
till
u
n
c
h
a
n
g
ea
b
le
[
1
6
].
Fig
u
r
e
7
.
Field
o
r
ien
ted
co
n
tr
o
l stra
teg
y
s
c
h
e
m
e
o
f
I
M
u
s
in
g
f
i
v
e
lev
el
i
n
v
er
ter
NP
C
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
AND
DIS
CUSS
I
O
N
T
o
v
er
if
y
e
f
f
ec
ti
v
en
e
s
s
o
f
u
s
i
n
g
f
i
v
e
lev
el
s
NP
C
i
n
v
er
ter
,
s
i
m
u
lat
io
n
s
ar
e
m
ad
e
f
o
r
a
h
i
g
h
p
o
w
er
m
ed
iu
m
v
o
ltag
e
ap
p
licatio
n
w
h
ic
h
is
r
ail
w
a
y
tr
ac
tio
n
ap
p
licatio
n
.
A
s
i
m
u
latio
n
te
s
t
o
n
th
e
B
B
3
6
0
0
0
lo
co
m
o
ti
v
e
i
n
d
u
ctio
n
m
ac
h
i
n
e
w
it
h
p
ar
a
m
eter
s
p
r
ese
n
ted
in
T
A
B
L
E
.
6
h
as b
ee
n
p
er
f
o
r
m
ed
.
I
n
th
i
s
s
ec
tio
n
th
e
t
w
o
s
tr
ateg
i
es: DFO
C
o
f
I
M
s
u
p
p
lied
b
y
t
w
o
le
v
els i
n
v
er
ter
2
L
_
DFO
C
an
d
DFO
C
o
f
I
M
s
u
p
p
lied
b
y
NP
C
f
i
v
e
le
v
els i
n
v
er
ter
5
L
_
DFO
C
ar
e
co
m
p
ar
ed
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I
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[1
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A
BB Re
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[5
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,
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ra
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d
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[7
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H.
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t
a
l.
,
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]
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“
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2
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.
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g
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p
.
1
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3
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,
2
0
1
3
.
[1
3
]
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.
G
e
y
e
r,
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o
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irec
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to
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m
,
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EEE
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d
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stry
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s
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l/
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:
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(
5
)
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2
0
1
2
.
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4
]
J.
Ro
d
rig
u
e
z
,
e
t
a
l.
,
“
M
u
lt
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e
v
e
l
In
v
e
rters
;
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su
rv
e
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o
f
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g
ies
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c
o
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tro
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a
n
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p
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li
c
a
ti
o
n
s,”
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EE
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ra
n
s.
I
n
d
.
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e
c
tro
n
.,
v
ol
/i
ss
u
e
:
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4
)
,
p
p
.
7
2
4
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8
,
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2
.
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5
]
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Kie
f
e
rn
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o
rf
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e
t
a
l.
,
“
A
NP
C
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5
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tec
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to
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e
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ti
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ter
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t
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S
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m o
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P
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r E
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tro
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trica
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Dr
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to
m
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ly
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2
0
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0
.
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6
]
T
.
Bru
c
k
n
e
r,
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t
a
l.
,
“
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e
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fa
r
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ra
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o
n
In
d
.
Ap
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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
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
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4
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Dec
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0
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:
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