In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
11, N
o.
1, Mar
ch 20
20,
p
p.
477~
4
8
6
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v11
.
i
1.pp
4
77-
48
6
477
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
j
p
eds.i
a
esco
re
.com
Intellige
nt fuzzy sliding mode c
on
troller based on FPGA for the
speed c
ontrol of
a BLD
C
motor
A
r
u
n
P
r
a
s
a
d
K
.
M
,
U
s
h
a
N
a
i
r
S
c
ho
ol
o
f
E
ngin
eeri
n
g
,
C
och
i
n Un
iv
ersit
y
o
f
S
c
i
e
nce
and
Tech
no
l
o
gy,
I
nd
ia
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
ce
i
v
e
d
Jul 8,
2019
Re
vise
d A
ug
9
, 2019
Ac
ce
p
t
ed
Oc
t
2
2
,
2
019
Brus
hl
e
s
s
DC
(
BL
DC)
m
o
tors
a
re
o
ne
o
f
the
m
o
st
w
ide
l
y
us
ed
m
oto
rs
f
or
vari
ou
s
in
dustrial
ap
pl
icati
o
n
s
d
u
e
t
o
t
h
e
i
r
h
i
gh
eff
i
c
i
ency
,
h
igh
t
o
rq
ue
t
o
wei
g
h
t
r
atio
a
nd
el
im
i
n
ation
of
m
echan
ical
c
om
m
u
tato
r.
T
he
s
e
m
o
tor
s
op
erate
i
n
w
ide
ran
g
e
o
f
s
p
eeds
and
ne
ces
si
ta
te
p
recis
e
s
peed
c
on
trol
tech
ni
ques
,
f
or
t
hei
r
nonli
n
ear
m
od
el,
ins
e
ns
eitiv
e
t
o
p
aram
ete
r
vari
at
ions
and
ex
ternal
d
ist
u
rb
ances,
wh
e
n
u
s
e
d
i
n
v
arious
s
ensiti
ve
a
pp
li
cations.
Co
nv
e
n
tion
a
l
PI
a
nd
o
th
e
r
e
xist
in
g
c
o
ntro
lle
rs
p
ro
du
c
e
high
o
v
e
rs
ho
ot
a
nd
in
creased
r
i
s
e
tim
e
and
s
e
tt
li
ng
t
i
m
e
.
Th
e
p
e
rfo
rm
ance
of
B
LDC
m
o
t
o
r
i
s
enh
a
nc
ed
u
si
ng
a
F
uzzy
S
li
d
i
ng
Mo
de
C
o
n
t
r
oller
(F
S
M
C
)
whose
gai
n
is
in
te
l
l
i
g
ently
v
aried
wi
th
t
he
h
el
p
o
f
a
F
uzzy
I
n
f
er
en
ce
S
ys
tem
(
F
IS
).
F
o
r
t
hi
s
pu
rpo
s
e,
a
s
uitab
l
e
F
S
M
C
i
s
desi
gned
,
s
im
ulated
a
nd
i
m
p
lement
ed
u
s
i
n
g
FPGA.
T
he
s
i
m
u
l
a
t
io
n
re
sul
t
s
a
r
e
va
lid
a
te
d
us
ing
Ha
rd
wa
re
i
n
th
e lo
op
(HIL
)
sim
u
l
a
tio
n
as
w
e
l
l
as
act
ual
hardware
i
m
p
l
e
m
e
nta
t
io
n.
G
reat
i
m
p
ro
ve
me
n
t
i
n
th
e
tran
s
i
ent
perf
orm
a
n
ce
is
achi
e
ved
when
c
omp
a
red
t
o
c
h
a
tt
er
f
r
ee
S
M
C,
F
u
zzy
P
I and
co
n
v
en
ti
onal P
I
co
n
tro
l
l
e
r.
K
eyw
ord
s
:
BL
D
C
m
otors
FPGA
Fu
zz
y
l
ogi
c
F
u
z
z
y sl
id
ing
mode
con
tro
l
Har
d
ware-i
n
-
l
o
op
si
m
ul
at
ion
S
lid
ing
mode
c
ontro
l
Th
is
is a
n
o
p
en acces
s a
r
ti
cle u
n
d
e
r t
h
e
CC
B
Y
-S
A
li
cens
e
.
Corres
pon
d
i
n
g
Au
th
or:
Aru
n
Pras
ad
K
.M
.,
S
c
hoo
l
o
f
Eng
i
n
ee
ri
ng,
Coc
h
in
U
ni
versi
t
y o
f
S
cie
n
ce
and Te
c
h
n
o
l
o
g
y
,
U
n
i
v
ersi
ty
R
oa
d,
S
outh K
a
l
a
ma
ssery,
K
a
la
ma
sse
r
y, K
och
i
,
K
e
r
a
la
682022,
Ind
ia
Em
ail:
kma
r
un
prasa
d
@
g
ma
il.c
o
m
1.
I
N
TR
OD
U
C
TI
O
N
Brus
h
l
ess
D
C
(BLD
C
) m
o
t
o
r
s
ar
e
i
nc
rea
s
in
g
l
y
ga
i
n
i
ng im
po
rtance
i
n
vari
o
us
a
ppl
ica
tio
n fie
l
ds suc
h
as
a
eros
pac
e
,
aut
o
m
o
ti
ve,
m
e
dica
l,
i
n
dustr
ia
l
a
n
d
c
ons
um
er
e
qu
i
pm
ent,
m
a
c
hine
t
o
o
l
d
rives,
f
a
n
s
i
n
H
V
A
C
and refri
gera
ti
on [1].The
y
a
re muc
h pre
f
er
red o
v
er co
nve
n
t
i
o
nal
i
nd
uc
ti
on m
achi
n
es
due
to
t
h
e
i
r
l
o
w
e
r
inert
i
a
all
o
w
i
ng
for
fa
ster
d
ynam
i
c
r
e
sp
onse
t
o
r
efe
r
enc
e
c
om
ma
nds,
low
er
m
ainte
n
a
n
c
e
d
ue
t
o
t
h
e
e
lim
ina
t
i
on
o
f
me
cha
n
ic
al
c
o
m
m
u
tator
an
d
hig
h
e
r
e
ffic
i
e
n
c
y
pro
v
i
de
d
b
y
t
he
u
se
o
f
p
e
rm
anent
ma
g
n
et
s
whic
h
re
su
l
t
s
in
vir
t
ua
l
l
y
z
e
r
o
r
ot
or
l
osse
s
[2
-
3
].
T
he
B
LD
C
m
o
tors
a
re
h
i
g
hl
y
p
ref
e
rred
over
b
r
u
s
h
e
d
D
C
m
o
tors
i
n
high
tor
que
t
o
w
e
i
g
ht
r
atio
a
ppl
ic
a
t
i
o
ns
due
t
o
t
h
e
i
r
hi
g
h
pow
er
d
e
n
si
ty
[
4-5
]
.
The
re
pl
a
c
e
m
e
n
t
of
m
ec
h
a
nica
l
com
m
uta
t
or
i
n
c
o
n
v
e
n
t
i
ona
l
D
C
m
otor
s
w
ith
e
le
c
t
ron
i
c
de
vice
s
in
B
LDC
mo
to
rs
p
rovi
d
e
s
hi
gh
r
e
l
i
a
b
i
l
i
t
y
,
bu
t at
t
he
cos
t of pre
ci
se e
lect
ron
i
c
con
t
ro
l m
e
c
h
ani
s
m
for
i
t
s
smo
ot
h
func
t
i
on
i
n
g
.
P
r
oport
i
o
n
a
l
-p
l
u
s-
Inte
gra
l
(
P
I
)
c
ontro
l
te
ch
n
i
que
i
s
t
h
e
m
o
st
c
om
mon
l
y
u
s
ed
m
e
t
h
od
fo
r
the
spe
e
d
con
t
ro
l
o
f
B
L
D
C
mot
o
rs
[
6]
.
Thi
s
c
o
n
t
ro
l
is
n
o
t
c
a
p
a
b
le
e
no
ugh
i
n
d
ea
l
i
ng
w
i
t
h
s
y
s
tem
unce
r
ta
i
n
t
i
es
s
uch
as
para
me
ter
var
i
a
t
i
o
n
a
nd
e
x
terna
l
d
istur
b
a
n
ce
s
d
u
e
t
o
i
ts
f
i
x
ed
na
t
u
re
o
f
t
h
e
con
t
ro
l
l
er
p
a
r
a
m
e
t
ers
K
p
a
n
d
K
i
.
In
order
t
o
o
verc
ome
t
h
e
a
b
o
v
e
li
m
i
t
a
tio
ns
o
f
con
v
e
n
t
i
ona
l
P
I
c
ont
r
o
l
l
er,
a
F
u
z
z
y
P
I
c
ont
r
o
l
l
er
i
s
use
d
i
n
w
h
ic
h
the
K
p
a
n
d
K
i
a
re
v
a
r
ied
i
n
t
e
lli
ge
nt
l
y
acc
ord
i
ng
t
o
t
he
v
ar
ia
tio
n
o
f
e
rror
s
ig
na
l
an
d
i
t
s
r
a
te
o
f
c
h
a
nge
[
7]
.
A
n
op
tim
al
P
ID
c
on
tro
l
ler
usi
n
g
G
e
ne
ti
c
A
l
gor
ithm
(G
A
)
b
as
ed
o
n
I
S
E
e
rror
criteri
on
r
e
s
u
l
t
s
i
n
improve
d
tim
e
respo
n
se
[
8].
H
o
w
e
ver
P
I
c
on
tro
l
lers
do
n
o
t
w
o
rk
w
e
l
l
w
i
t
h
n
o
n
l
i
n
e
a
r
an
d
c
o
m
p
le
x
sys
t
em
s.
A
dap
tive
[9
]
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
477
–
48
6
47
8
ba
ck
s
t
e
p
p
i
n
g
[
1
0
]
a
n
d
sl
i
d
in
g
m
o
de
t
ec
hn
i
que
s
[
1
1]
a
r
e
c
on
tr
o
l
t
e
c
h
n
iq
ue
s
th
at
f
i
n
d
s
a
pp
li
c
a
ti
on
s
i
n
v
a
r
i
o
u
s
e
l
e
c
tr
ic
d
r
i
ves
a
nd
m
a
n
u
fa
c
t
u
r
ing
i
ndus
tr
ies
w
h
er
e
hig
h
p
r
e
cis
i
o
n
c
o
n
t
r
o
l
is
r
e
quir
e
d,
e
ven
tho
u
g
h
t
he
y
ar
e
c
o
mple
x
a
n
d
e
xpe
ns
ive
.
S
lid
i
ng
M
ode
C
on
t
r
ol
(
S
M
C)
can
h
a
n
d
l
e
u
n
ce
rta
i
n
and
no
nli
n
ea
r
sy
st
e
m
s
and
i
s
r
obust
a
g
a
i
ns
t
exter
n
a
l
d
i
s
t
u
r
b
anc
e
s
a
n
d
p
ar
a
m
e
t
e
r
v
ar
i
a
tio
ns
[
12]
.
C
o
n
v
e
n
t
i
ona
l
S
M
C
h
a
s
be
en
s
ucce
s
s
f
u
ll
y
im
pl
e
m
e
n
te
d
to
c
on
t
r
ol
d
r
i
ve
s
ys
tem
s
l
i
k
e
D
C
m
o
t
or
a
nd
BLD
C
m
o
t
or
[
13]
.
H
o
w
e
ve
r
,
S
MC
i
s
h
i
gh
l
y
p
r
o
ne
to
c
ha
t
t
er
ing,
a
p
h
e
n
o
me
n
o
n
of
h
i
g
h
fr
e
q
ue
ncy
o
s
ci
lla
ti
on
s
in
t
h
e
o
ut
p
u
t
d
u
e
t
o
th
e
hi
gh
fre
qu
en
cy
s
wi
t
c
h
i
ng
of
t
h
e
c
on
tr
o
l
a
ctio
n.
T
his
lim
it
a
t
ion
is
o
v
e
r
c
om
e
usi
ng
a
bo
un
da
r
y
l
a
y
er
a
r
ound
t
h
e
slid
in
g
s
u
r
f
a
c
e
,
by
r
e
plac
in
g
t
h
e
d
i
sc
on
t
i
n
u
ous
s
w
itc
hi
n
g
f
unc
tio
n
w
i
th
a
c
on
tin
uo
u
s
f
o
r
m
m
ost
l
y
by
a
sa
t
u
r
a
tio
n
f
unc
t
i
on
[1
4]
a
n
d
ha
s
bee
n
a
pp
lie
d
f
o
r
the
c
o
n
t
r
o
l
o
f
A
ct
i
v
e
Ma
gne
t
i
c
Be
ar
in
g
[
15
].
F
u
zzy
L
og
ic
C
ontroller
(F
LC)
[
1
6
-
1
7
]
is c
ap
ab
le
of
h
a
nd
l
i
n
g
i
m
p
re
cise an
d
unc
er
ta
in
d
esc
i
on m
a
k
i
n
g
p
r
o
b
l
e
m
s
a
nd
ha
s
bee
n
s
u
c
c
e
ssf
u
l
l
y
ap
p
l
ied
t
o
va
r
i
ous
i
n
d
u
str
i
a
l
c
ontr
o
l
s
y
ste
m
s
like
Bal
l
and
B
e
am
s
y
s
tem
[1
8]
,
D
C
m
otor
s
[
19]
a
nd
I
n
d
u
c
t
i
on
motor
s
[20
]
.
B
y
c
o
m
b
i
ni
ng
t
h
e
i
nte
l
li
g
e
nc
e
of
F
u
z
z
y
l
og
i
c
w
i
t
h
th
e
SMC
,
t
h
e
co
n
t
ro
ll
e
r
g
ai
n
of
S
MC
c
an
b
e
su
ita
b
l
y
var
i
e
d
.
A
n
F
PG
A
is
a
l
a
r
ge-
s
c
a
le
i
n
t
egr
a
te
d
c
i
r
c
u
i
t,
f
or
w
hic
h
t
he
h
ar
d
ware
c
o
n
figu
ration
can
b
e
ch
ang
e
d
by
p
r
ogr
am
ming,
w
her
eas
t
he
A
p
p
l
ica
t
ion
S
p
ec
if
i
c
I
nt
e
g
r
a
te
d
Ch
i
p
(
A
SI
C
)
like
Di
g
i
ta
l
S
i
gna
l
Proc
ess
o
r
(
D
S
P
)
a
r
e
h
a
v
ing
a
pr
e
d
e
t
er
m
i
ne
d,
u
nc
han
g
e
a
b
l
e
h
ar
dw
ar
e
fu
nc
ti
o
n
[
2
1-
2
2
]
.
F
P
G
A
is
s
ucc
e
ss
fu
l
l
y
us
ed
f
or
t
h
e
i
m
pl
e
m
e
n
ta
t
i
on
o
f
ai
r
c
raf
t
c
ont
ro
l
[
2
3
]
,
h
y
b
r
i
d
p
ower
s
y
s
t
e
m
[2
4
]
a
n
d
m
a
ny
mo
re.
T
h
e
co
mp
l
e
x
c
o
mpu
t
a
t
io
n
i
n
t
he
F
uzz
y
S
MC
u
s
i
ng
F
P
G
A
i
s
pr
e
f
er
r
e
d
d
u
e
t
o
t
he
f
a
s
t
com
p
u
t
a
tio
na
l
abi
l
ity,
r
econf
ig
ur
ab
le
ha
r
d
w
a
r
e
c
ons
tr
uc
ti
o
n
,
l
o
w
p
o
w
e
r
cons
ump
t
i
o
n,
e
m
b
edde
d
pr
oc
es
so
r
a
n
d
sh
or
te
r
des
i
g
n
c
yc
l
e
.
Th
is
p
a
p
e
r
pr
esen
ts
a
v
a
r
i
a
ble
g
a
i
n
F
S
M
C
f
o
r
t
h
e
i
m
pr
ove
d
spe
e
d
c
ontr
o
l
o
f
B
LD
C
m
o
t
o
r
a
n
d
i
t
s
s
i
mula
ti
on,
H
IL
sim
u
la
ti
on
a
n
d
the
h
a
rdwar
e
i
mplem
e
nta
t
i
o
n
usin
g
F
P
GA.
Tra
n
sie
n
t
a
n
d
ste
a
dy
s
t
a
t
e
pe
r
f
o
r
m
ance
o
f
B
L
D
C
m
o
tor
is
c
om
p
a
r
e
d
w
i
t
h
t
ha
t
of
c
hat
t
er
f
r
e
e
S
M
C,
F
uzz
y
P
I
contr
ol
l
e
r
and
c
o
n
v
e
n
tio
n
a
l
P
I
c
ont
r
o
lle
r
.
T
he
t
r
an
si
ent
as
w
el
l
as
s
t
e
a
d
y
st
a
t
e
p
e
rfo
rman
c
e
a
re
g
re
a
tly
i
mp
ro
ve
d
w
h
e
n
t
he
g
ai
n
o
f
t
he
S
MC
i
s
i
n
tel
l
i
ge
n
tly
v
a
ried
u
sing
Fu
zzy
Lo
gic.
2.
BRUS
H
LESS
DC
M
OT
OR
A
B
L
D
C
m
oto
r
i
s
a
per
m
a
n
ent
ma
g
n
e
t
m
ot
or
w
hic
h
u
ses
pos
it
io
n
de
tec
t
or
s
and
in
ver
t
e
r
s
t
o
c
o
n
tr
ol
t
h
e
sp
e
e
d
a
nd
c
u
rren
t
.
Th
e
simp
l
i
fi
e
d
e
qui
va
l
e
nt
c
i
r
c
u
it
o
f
a
B
LD
C
dr
i
v
e
sys
t
em
i
s
gi
ven
in
F
ig
ur
e.
1.
T
h
e
sta
t
or
w
i
n
d
i
ng
s
A
,
B
,
C
ar
e
ener
giz
e
d
in
a
p
r
e
def
i
ned
s
e
que
nce
for
a
par
tic
u
l
a
r
d
irec
t
i
o
n
o
f
ro
ta
ti
on
a
n
d
r
e
ver
s
e
d
f
or
t
h
e
opp
osi
t
e
di
r
e
cti
o
n.
F
i
gur
e
1.
S
impli
f
ied
eq
u
i
va
le
nt
c
i
r
c
u
i
t
o
f
BLD
C
d
r
i
ve
s
ys
te
m
A
B
L
D
C
m
oto
r
w
ith
t
hr
ee
p
h
a
se
s
tar
connec
t
e
d
w
i
n
d
i
ng
s
is
r
epr
e
s
ented
b
y
the
fo
l
l
ow
in
g
equa
t
i
o
n
s
[
25]
.
)
(
)
(
)
(
b
a
b
a
b
a
ab
e
e
i
i
dt
d
L
i
i
R
v
(
1
)
)
(
)
(
)
(
c
b
c
b
c
b
bc
e
e
i
i
dt
d
L
i
i
R
v
(
2
)
)
(
)
(
)
(
a
c
a
c
a
c
ca
e
e
i
i
dt
d
L
i
i
R
v
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
Inte
ll
ige
n
t
fuzz
y
sl
i
d
i
n
g m
ode
con
t
r
o
ll
e
r
b
a
se
d on
FPG
A …
(Arun Pr
asa
d
K.
M)
47
9
L
T
B
dt
d
J
T
(
4
)
Where
i
s
the
resi
stance
p
e
r
pha
s
e
o
f
t
h
e
st
at
o
r
w
i
ndi
ng
,
i
s
the
in
duc
tance
per
phas
e
,
i
s
t
h
e
bac
k
E
MF
,
and
i
s
the
pha
s
e
c
urr
e
nt
o
f
t
h
e
“
A
”
phase
.
T
i
s
t
he
t
or
que
d
eve
l
o
p
ed,
T
L
i
s
t
h
e
l
o
a
d
t
o
r
q
u
e
,
J
i
s
t
h
e
mo
me
nt
o
f
i
n
erti
a
a
n
d
B
is
t
h
e
fri
ct
ion
co
eff
i
ci
e
n
t
.
T
h
e
p
a
ram
e
ters
o
f
the
selec
t
e
d
B
LD
C
m
o
t
o
r
are
gi
ve
n
in Ta
b
le
1.
Ta
ble
1.
B
LD
C
mot
o
r
para
me
t
e
rs
Motor Pa
r
a
me
t
e
rs
R
a
ting
Ra
t
e
d
sp
ee
d
3000
r
p
m
No
o
f
sta
t
or
pole
p
a
irs
4
Ra
t
e
d
torque
0
.
16
N m
Volt
a
g
e
C
onst
a
nt
146.
6
Torque
c
onsta
nt
1
.
4
N
-m
/
A
Re
sis
t
a
n
c
e
of
S
t
a
to
r
windi
ng
(
R
)
2.
875
oh
m
I
n
du
ct
an
ce o
f
S
t
a
t
o
r
w
i
n
d
i
ng
(
L
)
0.
0085H
Mo
me
nt of ine
r
ti
a
(
J
)
0.
0008
Kg
-m
2
Ma
xi
m
u
m
flux
linka
g
e
(
ψ
m
)
0.
175wb
Visc
ous
f
r
i
c
tion c
o
e
f
f
i
c
i
e
n
t
(
B
)
0.
001N-m
-s/ra
d
3.
SPEED CONTROL
The
s
p
ee
d
c
o
n
t
ro
l
o
f
B
LD
C
m
o
tor
is
s
im
il
ar
t
o
a
separ
a
t
e
ly
e
xc
i
te
d
D
C
m
o
t
or
w
her
e
t
he
s
peed
i
s
direc
t
l
y
p
ro
p
o
rti
o
nal
to
t
he
v
ol
t
a
ge
a
p
p
l
i
e
d
t
o
the
m
o
t
o
r
t
e
rm
i
na
ls.
In
o
rd
er
t
o
g
e
t
de
sire
d
s
p
ee
d,
t
h
i
s
v
o
l
t
a
g
e
ac
ross
the
m
o
tor
te
rmin
a
l
s
i
s
v
a
r
ie
d
by
a
p
pl
yi
n
g
p
r
o
per
P
W
M
s
i
g
n
a
l
s
o
f
v
a
ri
abl
e
d
uty
cy
c
l
e
.
H
ere
we
d
esi
gn
a FS
MC
an
d
c
ompa
re its perf
o
rm
ance
w
it
h
c
h
at
ter fre
e
SM
C
,
F
u
zz
y
P
I
an
d
c
o
nv
en
ti
on
al
P
I
c
o
nt
ro
lle
r
t
o
f
i
n
d
its
i
m
p
rove
me
n
t
.
3.1.
S
lid
in
g
mod
e
con
tr
o
l
A
Slid
in
g
Mo
de
C
o
n
t
rol
(SM
C
)
i
s
a
V
ar
ia
bl
e
S
t
r
u
ct
ure
C
o
n
t
r
o
ller
(
V
S
C)
w
here
t
her
e
a
re
s
eve
r
a
l
sub
s
ys
tem
s
a
n
d
s
w
i
t
c
hin
g
b
e
t
w
e
en
t
he
se
s
u
b
sy
st
e
m
s
a
r
e
do
ne
i
n
o
rde
r
t
o
br
in
g
t
h
e
pl
ant
sta
t
es
t
o
a
use
r
defi
ne
d
sli
d
in
g
surface
.
The ba
si
c
co
ntro
l
l
a
w
of
t
he c
o
nve
nt
io
n
a
l
S
M
C
is
g
i
v
en
a
s
:
)
(
s
ksign
u
(
5
)
Where
s
i
s
th
e
sw
itc
hi
n
g
f
u
n
c
t
i
on,
k
i
s
the
co
nt
rol
l
er
g
ai
n
co
nst
a
nt
a
n
d
si
gn
(
ꞏ
)
i
s
t
h
e
s
i
gn
um
fu
nc
ti
o
n
[14].
The
m
a
i
n
d
r
a
w
b
ac
k
of
c
o
n
v
e
n
t
i
o
n
a
l
S
M
C
i
s
cha
tte
ri
ng,
a
phe
n
o
m
e
n
o
n
of
h
i
g
h
fre
que
ncy
osc
illa
t
i
o
n
s
i
n
t
he
o
u
t
p
u
t.
T
hi
s
l
i
m
ita
t
i
on
is
ove
rc
om
e
by
r
e
p
l
a
c
i
ng
t
he
d
i
s
co
nt
inu
o
u
s
s
i
gn
um
f
unc
t
i
o
n
by
t
he
c
o
nti
n
u
o
u
s s
a
tu
ra
ti
on
f
un
cti
o
n
an
d
th
e
mo
dif
i
ed
c
on
t
r
ol
l
aw i
s
)
/
(
s
ksat
u
(
6
)
wh
ere
i
s
a
co
ns
t
a
n
t
p
ar
am
et
er
t
hat
de
n
o
te
s
the
b
o
u
n
d
ar
y
laye
r
th
ick
n
e
s
s
ar
ou
n
d
t
he
s
w
i
tc
hin
g
surfa
ce.
)
/
(
s
sat
is a saturati
o
n
f
u
nction def
ined as:
1
)
/
sgn(
1
)
/
(
s
if
s
s
if
s
s
sat
(
7
)
I
n
o
rder
t
o
gu
ara
n
t
e
e
t
h
e
t
r
aj
ec
t
o
r
i
e
s
o
f
t
h
e
sys
t
em
t
o
m
o
v
e
t
o
wa
rd
a
nd
st
ay
o
n
t
h
e
sl
id
ing
su
rf
a
c
e
from
a
ny in
i
tia
l
con
d
iti
on,
t
he
f
oll
o
w
i
ng c
o
n
d
i
o
n is t
o
b
e
sati
sfied:
s
s
s
(
8
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
477
–
48
6
48
0
wh
ere
η
i
s
a
st
rict
l
y
pos
i
t
i
ve
c
on
sta
n
t
w
h
ic
h
m
a
kes
the
sys
t
em
t
ra
j
e
ct
o
r
i
e
s
m
e
e
t
t
h
e
s
l
i
d
i
n
g
s
u
r
f
a
c
e
w
ithi
n
a
f
in
ite
time
.
T
he
t
ra
ns
i
e
n
t
r
esp
o
n
se
o
f
t
h
e
s
y
ste
m
i
s
d
eter
mi
ned
b
y
the
sli
d
i
n
g
sur
f
ac
e
o
f
t
he
S
M
C
i
f
the s
l
i
d
i
n
g
mode
exi
sts. The
e
rror
betw
ee
n the
refere
nce
speed
and
ac
tua
l
s
pe
e
d
is
g
i
ve
n
by
ref
e
(
9
)
wh
ere,
ω
,
ω
re
f
a
nd
e
a
r
e
t
h
e
actua
l
s
p
ee
d
a
nd
the
de
sire
d
refe
renc
e
s
p
ee
d
a
n
d
e
rror
i
n
s
p
e
e
d
re
sp
ec
ti
v
e
ly
.
Th
e
sl
i
d
in
g
su
rfa
c
e
s
i
s
t
a
k
e
n
a
s
a
f
u
n
c
t
i
o
n
o
f
t
h
e
t
r
a
c
k
i
n
g
e
r
r
o
r
e
,
i
t
s
inte
gral
edt
a
nd
i
t
s
r
a
te
of
c
ha
n
g
e
e
a
n
d
i
s
g
iv
en
by
edt
e
e
s
2
1
(
1
0
)
Where
λ
1
a
n
d
λ
2
a
r
e
s
u
r
f
a
c
e
p
a
r
a
m
e
t
e
r
s
w
h
o
s
e
v
a
l
u
e
s
d
e
t
e
r
m
i
n
e
t
h
e
s
l
o
p
e
o
f
t
h
e
s
l
i
d
i
ng
s
u
rf
a
ce
a
n
d
one
o
f
the
c
o
n
d
i
t
i
ons
f
or
t
h
e
e
xi
s
t
e
n
c
e
o
f
sli
d
i
n
g
s
u
rfa
ce
is
t
ha
t
t
h
e
va
l
u
es
o
f
the
s
e
p
a
ram
e
te
rs
a
re
s
t
r
ic
tl
y
p
o
s
i
t
i
v
e
re
al
c
o
n
st
ant
s
.
Th
e
v
a
lu
e
s
o
f
λ
1
and
λ
2
a
re
o
bta
i
ne
d
us
in
g
tria
l
and
er
ror
an
d
se
lec
t
ed
a
s
8
a
n
d
1
2
respe
c
t
i
ve
l
y
, so
t
h
a
t
t
he surfa
ce
a
l
w
ays ha
s
a
posit
i
v
e slo
p
e
a
nd the
swi
t
c
h
in
g
sur
f
ac
e
s
obe
ys e
q
u
a
tio
n
(8).
3.2.
Fu
zz
y sli
d
in
g
mod
e
con
trol
(
FSM
C
)
F
u
z
z
y
I
n
f
e
r
e
n
c
e
S
y
s
t
e
m
(
F
I
S
)
h
a
s
t
h
e
p
r
o
p
e
r
t
y
o
f
a
r
t
i
f
i
c
i
a
l
i
n
t
ell
i
g
e
n
ce
wi
th
a
f
uz
zi
fi
ca
t
i
on
uni
t,
dec
i
si
o
n
m
a
k
ing
un
i
t
a
n
d
d
e
f
uzz
i
f
i
c
a
t
io
n
u
n
i
t
.
The
f
u
zz
ifica
t
i
o
n
u
n
i
t
c
onve
r
t
s
t
h
e
i
n
p
u
t
s
t
o
corr
esp
o
n
d
i
n
g
f
u
zzy
v
alu
e
s
by
u
si
n
g
i
npu
t
memb
ersh
i
p
f
un
c
t
i
o
ns,
d
e
c
i
sio
n
maki
ng
unit
s
g
e
n
e
r
at
es
t
he
f
u
z
z
y
o
u
t
pu
ts
b
a
s
ed
on
fuz
z
y
ru
les
a
nd
de
fuzz
i
f
ic
ati
on
u
n
i
t
c
o
nver
t
s
i
t
b
ac
k
to
t
he
r
e
a
l
v
a
l
u
e
us
i
ng
t
h
e
ou
tpu
t
m
e
m
be
rsh
i
p
f
u
n
c
t
i
on
s. Th
e
ce
n
t
r
o
i
d
me
t
hod
i
s on
e
t
h
e
pop
ul
a
r
me
t
h
o
d
fo
r d
e
fuzz
i
f
ica
t
i
on
an
d i
t
is u
t
i
lize
d
he
r
e.
B
o
t
h
S
MC
a
n
d
F
LC
h
ave
s
p
e
c
i
f
ic
a
d
v
a
n
t
a
ge
s
a
nd
m
o
de
o
f
op
e
r
ati
o
n
s
in
a
c
h
ie
vi
n
g
c
ontro
l
un
der
u
n
c
ert
a
in
a
n
d
imp
r
e
c
i
se
c
ondit
i
o
n
s
.
Ho
wev
e
r
th
e
r
e
are
hig
h
l
y
d
e
m
a
nd
i
n
g
s
i
t
u
a
tio
ns
w
here
m
ore
a
ccur
a
t
e
a
n
d
p
r
e
c
i
s
e
co
nt
rol
sc
h
e
me
s
are
v
e
ry
e
ssen
t
i
a
l
.
T
o
a
d
d
r
es
s
su
ch
d
em
a
n
ds
i
n
BLD
C
m
ot
or
c
on
t
r
o
l
,
w
e
p
r
opose
a
su
i
t
a
b
le
c
om
b
i
na
t
i
o
n
o
f
S
M
C
a
n
d
F
L
C
i
n
o
r
d
er
t
o
ac
hi
e
v
e
im
pro
v
e
d
perfo
r
m
a
n
ce
from
t
h
e
e
xis
tin
g
tech
n
i
q
u
es.
Wi
th
h
i
g
her
va
lue
s
o
f
ga
in
k
o
f
S
M
C,
e
ve
n
tho
u
g
h
the
spe
e
d
of
r
espo
nse
o
f
t
h
e
s
ys
t
e
m
impr
ov
es,
the
c
h
a
tter
i
n
g
a
ls
o
i
n
c
r
ea
ses
si
m
u
lta
ne
ous
l
y
w
it
h
it.
H
ence
i
t
is
d
e
s
i
r
ab
le
t
o
ha
ve
h
i
g
h
v
a
lue
of
g
a
i
n
k
dur
i
n
g
trans
i
en
t
s
t
a
t
e
s
t
o
i
m
prove
t
h
e
s
pe
ed
o
f
re
s
p
o
n
se
a
nd
low
val
u
e
d
uri
ng
s
t
ead
y
s
t
ate
s
f
o
r
r
educ
i
n
g
the
c
h
at
ter
effec
t
.
In
t
he
p
rop
o
se
d
m
ode
o
f
c
o
m
b
ina
t
ion
,
t
he
v
a
l
ue
o
f
t
h
e
c
onsta
nt
k
i
n
t
h
e
c
o
nt
r
o
l
la
w
of
m
o
d
i
f
i
e
d
S
M
C
gi
ve
n by
eq
ua
t
i
o
n
(6)
i
s var
i
e
d
appr
opria
te
l
y
by a
F
u
zzy
I
nfe
r
e
nc
e
System
.
F
i
g
u
r
e
2
.
(
a
)
a
nd(
b)
F
uz
zy
I
npu
t
me
mbe
r
shi
p
fu
n
c
t
i
o
n for ‘
e
’
and ‘
de/d
t
’
F
o
r
the
pro
p
o
s
ed
c
on
tro
l
l
e
r,
t
he
e
rr
or
s
igna
l
e
a
n
d
its
r
ate
of
c
ha
nge
e
a
re
t
a
k
en
a
s
th
e
inp
u
t
to
t
h
e
FIS
a
n
d
th
e
v
a
l
u
e
of
c
on
t
r
ol
le
r
g
a
in
k
a
s
the
corr
esp
o
n
d
i
n
g
o
u
t
pu
t
.
T
he
i
np
u
t
m
em
bershi
p
func
t
i
on
fo
r
e
a
nd
e
a
re
g
i
v
e
n
i
n
F
i
g
u
r
e
2
(a)
and
(b
)
respec
ti
v
e
ly.
A
com
b
i
n
a
t
i
o
no
f
t
ri
a
ngul
a
r
a
n
d
t
r
a
p
e
z
o
i
d
a
l
me
mb
e
r
sh
ip
fu
nc
ti
o
n
s
are
u
s
ed
a
n
d
t
he
u
n
i
ver
s
e
of
d
i
s
cl
osure
for
e
i
s
t
a
ken
a
s
-
20
0
t
o
2
00
a
n
d
for
e
i
t
i
s
-
10
t
o
1
0.
T
he
assi
gne
d
inp
u
t
m
e
m
be
rship
f
u
nct
i
on
s
ar
e
N
e
ga
t
i
ve
B
ig
(
N
B
),
N
e
g
a
t
i
ve
S
m
a
ll
(N
S),
Zero
(
Z),
P
o
siti
ve
S
ma
l
l
(PS)
a
n
d
Po
sit
i
v
e
B
ig
(
PB)
for
e
a
nd
N
e
gat
i
ve
(
N
)
,
Zero
(
Z)
a
nd
P
o
s
i
t
i
v
e
(
P)
for
e
.
Th
e
o
u
tp
ut
m
emb
e
rshi
p
fu
nc
ti
o
n
s
as
s
how
n
i
n
F
ig
ur
e
3
ar
e
a
l
so
a
c
om
bina
tio
n
of
t
ria
n
g
ul
a
r
a
n
d
t
r
a
p
e
z
oi
d
a
l
f
u
n
c
t
i
on
s
with
t
he
-
200
-
100
0
10
0
20
0
0
0.
2
0.
4
0.
6
0.
8
1
I
n
put
v
ar
iab
l
e
'e'
D
egree
o
f
m
e
m
be
r
s
hi
p
NB
NS
P
B
PS
Z
-1
0
-5
0
5
10
0
0.
2
0.
4
0.
6
0.
8
1
I
nput
v
ar
iable
'
de/
dt
'
D
egr
ee
o
f
m
e
m
be
rs
hip
NZ
P
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
Inte
ll
ige
n
t
fuzz
y
sl
i
d
i
n
g m
ode
con
t
r
o
ll
e
r
b
a
se
d on
FPG
A …
(Arun Pr
asa
d
K.
M)
48
1
un
ive
r
se
o
f
d
i
s
c
lo
sure
a
s
0.5
to
1
.8.
T
h
e
as
s
i
gne
d
ou
tpu
t
m
em
be
rship
fu
nct
i
on
s
a
r
e
S
m
all
(
S
),
M
ed
i
u
m
(
M
)
,
Big
(B)
.
T
he fuzzy
r
u
l
es for t
hi
s F
I
S
are sho
w
n T
a
ble 2.
F
i
gure
3.
F
uzz
y
ou
t
pu
t
m
e
m
b
ershi
p
fu
n
c
t
i
o
n
for ‘
k
’
Ta
b
l
e
2.
F
uz
zy
r
ules
e
e
PB
PS
Z
NS
NB
P
B
M
M
S
B
Z
B
M
S
M
B
N
B
S
M
M
B
3.3.
PI
c
on
troller
an
d
fu
zz
y p
i
con
troller
The
c
ontro
l
l
a
w
of
a
o
f a
P
I
con
tro
lle
r is gi
v
en
b
y
:
dt
t
e
T
t
e
K
t
u
i
p
)
(
1
)
(
)
(
(
1
1
)
wh
ere
u(t)
i
s
t
he
c
o
n
tr
ol
s
i
g
nal(
in
p
u
t
t
o
t
h
e
p
la
nt),
K
p
i
s
the
prop
ort
i
on
a
l
g
a
i
n
c
o
nsta
nt,
e(
t
)
i
s
t
h
e
err
o
r sig
n
al
i
.
e
.
d
i
ffe
r
enc
e
be
t
w
een the
de
s
ire
d
in
p
u
t
an
d a
c
t
u
al
ou
t
pu
t
a
n
d
T
i
is t
he i
nte
g
r
a
l time
c
o
nsta
n
t
. The
cha
r
ac
t
e
ris
tic
r
esp
onse
o
f
t
he
s
ys
tem
i
s
a
f
f
ec
ted
by
eac
h
of
t
h
ese
c
o
e
f
f
i
c
i
e
n
t
s
a
n
d
h
e
n
c
e
th
e
s
e
a
r
e
a
ccu
ra
t
e
l
y
tu
ne
d
t
o
g
e
t
t
he
d
es
ire
d
s
ys
tem
pe
rform
a
n
c
e.
T
he
c
ontr
o
l
l
er
i
s
t
u
n
e
d
ac
cord
in
g
t
o
t
he
Z
e
i
gle
r-N
icho
l’s
a
l
go
rith
m.
C
o
n
v
e
n
t
i
ona
l
PI
c
ontro
l
l
er
i
s
st
a
b
le,
eff
i
c
i
e
n
t,
e
as
y
to
i
m
p
lem
e
n
t
and
i
s
h
i
ghl
y
re
li
able
w
h
e
n
u
s
ed
f
o
r
a
li
n
e
a
r
m
od
e
l
.
B
u
t
t
h
ese
c
o
nt
roll
ers
ca
nn
ot
p
erfo
rm
w
e
l
l
u
nd
er
t
h
e
p
rese
n
c
e
of
n
onl
i
n
ea
rit
i
e
s,
p
a
r
amet
e
r
s
varia
t
i
o
ns
a
nd
exter
n
al
d
istur
b
a
n
ce
s
d
u
e
to
i
t
s
f
i
x
e
d
n
at
ur
e
of
t
h
e
c
on
tro
ller
para
me
ters
K
p
a
n
d
K
i
.
Usi
n
g
a
F
u
z
z
y
P
I
c
o
n
t
rol
l
er
t
he
K
p
a
n
d
T
i
a
re
v
lue
s
a
re
v
ar
i
e
d
i
n
te
lli
ge
nt
ly
acc
ord
i
n
g
t
o
t
h
e
vari
ati
o
n
of
e
rror
signal
and
i
t
s
rate
o
f
cha
n
ge.
T
h
e
in
pu
t
s
t
o
t
h
e
f
u
z
z
y
i
n
fe
re
nc
e
s
y
s
t
e
m
a
r
e
t
h
e
e
r
ro
r
e
a
nd
i
t
s
rate
o
f
c
h
a
nge
e
a
n
d
the
o
u
tp
ut
i
s
K
p
h
e
r
e
.
T
h
e
f
u
z
z
y
r
u
l
e
b
a
s
e
i
s
f
o
r
m
e
d
i
n
s
u
c
h
a
w
a
y
t
h
a
t
t
h
e
c
o
n
tro
l
ler
ca
n
a
d
ap
t
t
o
c
ha
ng
es
i
n
the
system
p
ar
a
m
e
t
ers.
I
np
ut
a
nd
o
u
t
pu
t
m
e
m
b
ershi
p
f
u
n
ct
i
o
ns
a
r
e
s
h
o
w
n
in
F
ig
ure
4
(a
)
and
(b)
an
d
F
i
gure
.
5
r
e
spec
t
i
v
e
l
y
.
Trian
g
u
l
a
r
an
d
t
r
apez
oida
l
m
e
m
b
ership
f
u
n
c
t
i
o
n
s
a
re
u
se
d
a
n
d
th
e
un
iv
er
se
o
f
disclosu
r
e
i
s
t
a
k
e
n
as
-
30
0
t
o
300
f
o
r
e
a
nd
-
30
t
o
3
0
f
or
e
re
sp
ect
i
v
e
l
y
a
n
d
t
h
e
c
o
rre
s
p
ondi
n
g
f
u
z
z
y
rul
e
s
a
r
e
gi
ve
n
in
tab
l
e
3
wher
e N
B
,
NS,
Z, PS and
PB ha
s
t
h
e
sam
e expla
n
a
tio
n a
s
bef
o
re.
F
i
gure
4.
(
a) Inpu
t m
e
m
b
er
ship
f
u
n
c
t
i
o
n
e
F
i
gure
4.
(b)
Inpu
t m
e
m
b
er
shi
p
fu
n
c
t
i
o
n
e
0.
6
0.
8
1
1.
2
1.
4
1.
6
1.
8
0
0.
2
0.
4
0.
6
0.
8
1
O
u
tp
ut
v
ar
i
a
b
l
e
'
k
'
D
e
g
r
ee o
f
m
e
m
be
rs
hip
SM
B
-
300
-2
0
0
-1
0
0
0
10
0
20
0
30
0
0
0.
2
0.
4
0.
6
0.
8
1
In
p
u
t
v
a
r
i
a
b
l
e
'
e
'
D
e
g
r
e
e
o
f
m
e
mb
e
r
sh
i
p
NB
NS
PB
PS
Z
-3
0
-2
0
-1
0
0
10
20
30
0
0.
2
0.
4
0.
6
0.
8
1
Input
v
ar
iable 'de/
dt'
D
egr
ee
o
f
m
e
m
be
rs
hip
NB
Z
P
B
NS
P
S
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
477
–
48
6
48
2
F
i
gure
5. O
u
t
p
u
t m
e
m
b
er
shi
p
func
t
i
on
K
p
Table
3. F
uzzy Rul
es f
or
Fuzzy
P
I
E
e
NB
NS
Z
P
S
PB
NB
VS
S
M
M
V
S
NS
VS
S
N
M
V
S
Z
V
S
S
N
S
V
S
PS
VS
M
N
S
V
S
PB
VS
M
M
S
V
S
4.
HARDWARE IMPLE
M
E
NTATION
O
F
C
ONT
R
OLLER FOR
B
LD
C
MOT
O
R USING FPGA
F
i
eld
Pr
ogram
ma
ble
Ga
t
e
A
rr
ay
(
FPGA)
i
s
a
sem
i
c
o
ndu
c
t
o
r
d
e
v
ice
t
h
at
c
on
sis
t
s
o
f
a
n
a
rra
y
or
clu
s
ter
of
c
o
n
f
i
g
u
r
a
b
l
e
l
o
g
i
c
bl
oc
ks
(
CLB
s
)
c
o
nnec
t
e
d
t
hr
ou
gh
p
rogra
m
m
a
ble
i
n
ter
c
o
n
n
ec
ts.
F
P
G
A
s
a
re
a
n
i
d
e
a
l
choi
c
e
for
v
a
ri
ou
s
a
ppl
i
c
a
t
ion
s
d
u
e
t
o
th
e
i
r
p
r
og
ra
mma
b
l
e
n
a
t
ure
of
t
he
h
a
r
dw
ar
e
co
nfi
gura
t
i
o
n.
T
h
e
ma
jor
ap
pl
ica
t
io
n
are
a
s
of
F
PG
A
te
chn
o
l
o
g
y
s
uc
h
a
s
v
ide
o
a
n
d
s
i
g
n
a
l
p
r
o
ces
si
n
g
,
t
elec
omm
uni
cati
o
n,
e
m
b
e
d
d
e
d
a
n
d
el
ect
ri
c
a
l
co
nt
rol
sy
s
t
ems
[2
6
]
.
Th
e
s
i
ze
,
sp
e
e
d
a
n
d
t
he
num
ber
of
i
n
p
u
ts
a
n
d
o
utp
u
t
s
o
f
a
mode
rn F
P
G
A
is m
ore
effic
i
e
n
t t
h
an
t
h
a
t
of
A
S
I
C
l
i
k
e
D
S
P
p
ro
ce
s
sor
or m
icroproc
ess
o
r.
X
i
l
i
n
x
S
yst
e
m
G
e
ner
a
tor
i
s
a
D
SP
d
esi
gn
to
o
l
d
e
v
el
o
p
ed
by
X
i
l
i
n
x
for
the
imp
l
e
m
e
n
ta
ti
on
of
t
h
e
Ma
tla
b
/S
i
m
ul
ink
s
y
s
t
e
m
s.
T
his
s
o
ftw
a
re
a
ll
o
w
s
the use
o
f
t
he
S
i
m
ul
i
n
k
de
si
gn
e
n
v
i
r
o
nme
n
t
for
F
P
G
A
base
d
syste
m
d
esi
g
n.
T
he
X
i
lin
x
S
y
s
t
em
G
ene
r
ator
c
on
ta
in
s
X
ili
n
x
s
pe
c
i
f
ic
b
loc
k
s
e
t
s
w
i
th
a
dders,
r
e
gist
e
r
s,
me
mor
i
e
s
,
m
u
lti
pl
iers,
FFTs
,
fil
t
e
r
s
a
n
d
sim
ilar
o
t
he
r
app
l
ica
t
i
on
t
oo
l
s
t
h
a
t
c
a
n
be
u
sed
in
S
imu
l
i
n
k
env
i
ro
nm
en
t.
T
he
d
es
i
g
n
ste
p
s
i
n
cl
u
d
e
t
h
e
pl
a
cem
en
t
a
n
d
sy
nt
hes
is
o
f
these
bl
oc
ks
i
n
the
X
i
l
i
n
x
s
y
s
tem
gene
ra
tor
and
S
i
m
u
li
nk
env
i
r
onm
en
t t
o
ge
n
e
r
ate
progr
am
ming da
t
a
f
i
l
e
f
o
r
F
PG
A
.
4.1.
Har
d
war
e
in
th
e
l
oop
simu
l
ati
o
n
F
o
r
the
t
e
sti
n
g
and
va
li
da
tio
n
o
f
t
he
F
P
G
A
alg
o
ri
thms,
H
I
L
sim
u
la
tio
n
i
n
w
hic
h
t
he
h
ar
dw
are
is
inc
l
ude
d
i
n
t
h
e
s
imula
tio
n
loo
p
itse
l
f,
i
s
c
a
r
r
ied
ou
t.
F
or
t
h
i
s
t
h
e
co
ntr
o
l
a
l
gor
it
h
m
o
f
FSMC
w
h
ic
h
is
implem
e
n
te
d
u
s
ing
M
a
t
l
a
b
/
S
i
m
u
li
nk
a
n
d
X
i
l
i
nx
S
y
s
t
em
G
e
n
era
t
or
,
i
s
tr
ansl
a
t
ed
t
o
pr
ogram
min
g
l
a
n
g
u
a
g
e
suc
h
a
s
V
e
r
y
h
i
g
h
spe
e
d
H
a
r
d
w
a
re
d
e
s
crip
tio
n
La
ng
ua
ge
(V
HD
L
)
,
an
d
th
is
p
ro
gra
m
i
s
em
bed
d
ed
i
n
t
o
t
h
e
F
P
G
A
appl
ica
tio
n
bo
ard.
F
or
c
on
d
u
ct
i
n
g
the
H
I
L
simula
tio
n,
t
h
e
FPG
A
b
o
ard
is
c
on
ne
c
t
ed
t
o
the
com
p
u
t
er
t
h
ro
ugh
J
-t
ag
i
nt
erf
a
c
e
and
HIL
si
mu
l
a
t
i
on
i
s
sel
e
c
t
ed
i
n
th
e
s
ys
tem
ge
ner
a
tor
to
k
e
n
in
t
he
S
i
m
ul
in
k
env
i
ro
nm
en
t.
T
he
s
im
ula
t
io
n
is
t
he
n
s
t
arted
a
n
d
t
h
e
resu
lt
s
are
o
bs
erve
d
.
I
n
t
h
e
H
I
L
sim
u
lat
i
o
n
,
the
com
p
u
t
a
t
i
o
n
o
f
c
on
tro
l
le
r
pa
rt
(
System
g
e
n
er
at
or
p
ar
t
)
i
s
c
a
rr
i
e
d
o
ut
b
y
t
h
e
F
P
G
A
boar
d
a
n
d
r
est
of
t
he
si
m
u
lat
i
on i
s
ac
c
om
plis
he
d
b
y
the
c
omp
u
t
er
.
4.2.
Har
d
war
e
imp
lemen
t
ation
The
b
l
oc
k
d
i
ag
r
a
m
for
the
H
a
rdw
a
re
i
mplem
e
nta
t
io
n
of
s
pe
ed
c
o
n
t
ro
l
us
in
g
F
P
GA
o
f
BL
D
C
m
ot
or
is
s
h
o
w
n
i
n
F
i
gure
.
6.
T
he
B
LD
C
m
o
tor
is
s
up
p
lied
thr
o
ugh
a
t
h
re
e
pha
se
pow
e
r
M
O
S
F
ET
inve
rter
c
ircu
it.
The inp
u
t
to th
e
inv
e
r
t
er
i
s 24
V
D
C
gener
a
t
e
d
from
2
3
0
V
,
50
H
z
A
C
s
uppl
y b
y
u
s
i
n
g
a
trans
for
m
e
r
,
recti
f
ier
a
n
d
fil
t
er.
Th
e
si
gn
al
s
f
r
o
m
t
h
e
h
a
l
l
ef
fec
t
s
en
so
rs
a
re
u
se
d
f
or
t
he
m
ea
sur
e
m
e
nt
o
f
spee
d
a
nd
fo
r
the
elec
tr
on
i
c
c
om
m
u
tat
i
on.
The
F
PG
A board g
ener
ates the
firin
g pu
l
se
s c
o
rre
s
po
nd
i
n
g
t
o
th
e
c
on
t
r
o
l
a
c
t
io
n
. The
firi
n
g
p
u
l
se
s
are
app
l
ied
t
o
a
d
r
i
ve
r
circ
u
i
t
,
t
he
f
un
c
t
i
on
of
w
h
i
c
h
i
s
t
o
a
m
pl
i
f
y
t
h
e
fir
i
ng
p
u
l
ses
a
n
d
t
o
g
i
v
e
elec
tr
ical
i
so
l
a
tio
n
be
twe
e
n
t
h
e
FP
GA
boa
rd
a
n
d
t
he
g
a
t
e
o
f
t
he
M
O
S
F
E
Ts.
The
dri
v
er
c
i
r
cu
it
use
s
t
he
T
P
L
25
0 o
p
t
o
-co
u
p
l
e
r IC for the
e
l
e
c
t
r
i
c
a
l
is
o
la
t
i
on.
0.
4
0.
5
0.
6
0.
7
0.
8
0.
9
1
1.
1
0
0.
2
0.
4
0.
6
0.
8
1
O
u
t
p
u
t
v
ar
i
a
b
l
e
'
K
'
D
e
g
r
e
e
o
f
me
mb
e
r
sh
i
p
VS
M
N
S
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
I
n
t
e
l
l
i
g
en
t f
u
zz
y sli
d
i
ng
m
ode
con
t
r
o
ller
b
a
se
d on
FPG
A … (
A
run Pr
asa
d
K.
M
)
48
3
F
i
gur
e
6.
B
loc
k
d
ia
gr
a
m
f
or
t
he
i
m
p
lem
e
nta
tio
n
of
c
o
n
t
r
o
l
l
e
r
u
s
in
g F
P
GA
4
.
3
.
Im
p
l
emen
ta
tio
n
o
f f
u
zzy
S
MC o
f
B
L
DC
mo
to
r
o
n
FPGA
T
h
e
con
t
ro
l
alg
o
r
i
t
h
m
o
f
FSMC
i
s
t
r
an
sl
a
t
ed
t
o
VHDL
an
d
i
s
e
mb
e
dde
d
int
o
t
he
F
P
G
A
app
l
ica
t
i
o
n
boa
r
d
a
s
in
t
h
e
H
I
L
s
imula
tio
n.
T
he
X
ili
n
x
V
irte
x
4
F
P
GA
chip
i
s
us
ed
f
or
t
he
i
m
p
le
me
nta
tio
n
of
t
he
c
o
n
t
r
o
ller
.
T
he
c
o
n
tr
ol
a
l
g
or
i
t
hm
s
w
i
t
h
i
n
t
he
V
i
r
t
e
x
4
bl
oc
k
ar
e
d
e
si
gn
ed
w
i
t
h
Xil
i
n
x
sys
t
em
g
en
era
t
o
r
b
l
o
ck
se
t
s
.
The
i
n
pu
ts
t
o
the
F
P
G
A
a
r
e
t
he
s
ig
na
l
s
c
or
r
e
spo
n
d
i
n
g
t
o
t
he
v
ota
g
e
ge
ner
a
t
e
d
a
c
c
or
d
i
n
g
t
o
t
h
e
r
o
tor
pos
i
tio
n
of
t
he
m
ot
or
f
r
o
m
t
h
e
H
a
ll
Ef
fe
ct
s
ens
o
r
s
.
The
co
ntr
o
l
l
e
r
par
t
s
i
s
i
mp
lem
e
nt
ed
u
s
i
n
g
F
P
G
A
a
nd
t
h
e
o
u
tp
ut of
FPG
A is u
sed
f
o
r
f
i
ring
th
e
Po
wer M
O
SFETs
w
h
i
ch
in
tu
r
n
c
o
n
t
r
o
l
t
h
e
spee
d
of
t
he
m
ot
o
r
.
5.
RESU
L
T
S
A
ND DIS
C
U
S
S
I
ON
The
des
i
g
n
o
f
F
S
MC
f
or
t
he
s
pee
d
c
ontr
o
l
of
B
LD
C
mo
tor
is
c
ar
r
i
e
d
o
ut
a
nd
i
ts
e
ffec
t
iv
e
n
e
s
s
i
s
e
v
al
ua
te
d.
F
P
G
A
based
F
S
M
C
i
s
im
pl
e
m
e
n
ted
us
in
g
V
i
r
t
ex
4
F
P
G
A
b
oar
d
o
f
X
i
l
i
nx
a
nd
th
e
ou
tpu
t
i
s
c
o
mpa
r
ed
w
i
t
h
th
a
t
o
f
H
I
L
S
i
m
u
l
a
ti
on
a
nd
S
i
muli
n
k
s
imu
l
at
i
on.
C
o
n
t
r
o
l
a
l
g
o
r
i
t
h
m
usi
ng
F
S
M
C
,
m
odi
f
i
ed
S
M
C
,
F
u
z
z
y
P
I
an
d
P
I
c
o
n
t
r
ol
l
e
r
w
i
th
t
un
ed
v
a
l
u
e
s
of
p
a
r
a
m
et
ers
f
or
a
60
W BLD
C
m
ot
or
w
h
o
se par
a
m
e
t
er
s
a
r
e
gi
ven
i
n
T
a
b
l
e
.
1
,
is
s
i
m
u
l
a
t
ed.
A
l
o
ad
t
or
que
o
f
0.
1
6
N
m
is
a
ppl
ie
d
at
0
.
08
sec
o
nds
a
fter
s
tar
t
i
n
g.
F
igur
e
.
7
s
h
ow
s
the
s
t
ep
r
e
s
po
nse
o
f
t
he
s
ys
tem
usi
ng
the
s
e
f
o
ur
c
on
tr
o
l
l
er
s
f
o
r
a
r
e
fe
r
e
nc
e
s
p
ee
d
of
300
0
r
p
m.
T
he
t
r
an
si
ent
a
s
w
el
l
as
s
t
e
a
d
y
st
ate
p
e
rfo
rman
c
e
c
o
m
p
a
ri
so
n
i
s
g
iv
e
n
i
n
t
a
b
l
e 4.
I
t
is
obse
r
ve
d
t
h
a
t
F
S
M
C
h
a
s
the
low
e
st
r
ise
t
i
m
e
,
peak
ove
r
s
h
oot
a
n
d
s
e
ttl
in
g
ti
m
e
c
om
pa
r
e
d
to
m
o
d
i
f
i
e
d
S
MC,
F
u
zzy
P
I
and
P
I
c
on
tr
oller
s
.
The
pe
ak o
ve
r
s
ho
o
t
i
s com
p
le
tel
y
e
l
i
m
i
na
te
d
w
i
t
h
F
S
M
C a
nd
m
o
d
i
f
ie
d S
M
C
.
M
or
e
over
the
ste
a
d
y
s
t
at
e er
r
o
r
is
t
he
m
inim
u
m
w
it
h
F
S
M
C
c
ompa
r
e
d
t
o
t
he
o
the
r
s
e
l
e
c
ted
c
o
ntr
o
l
le
rs.
The
m
o
t
o
r
e
x
h
i
bi
ts
m
ome
n
tar
y
va
r
i
a
t
i
on
in
s
p
eed
w
he
n
su
dd
e
n
l
oa
d
is
a
p
p
l
i
ed
a
n
d
i
s
r
e
du
ce
d
t
o
mi
nimum
with
F
S
M
C
wh
ile
fo
r
o
t
h
e
rs
it
is
c
o
n
s
i
d
er
ab
le.
The
r
i
se
t
ime
is
r
educ
ed
d
ue
t
o
the
fa
st
act
i
on
of
s
l
i
d
i
n
g
mode
c
o
n
tr
ol
le
r
.
T
he
p
eak
o
v
e
r
s
ho
ot
a
n
d
se
ttl
ing
tim
e
a
r
e
r
e
duce
d
b
y
var
y
i
ng
i
t
s
con
t
r
o
l
l
e
r
g
a
i
n
a
ppr
o
p
ri
at
el
y
u
s
ing
a
fu
zzy
i
n
f
eren
ce
s
y
s
t
e
m.
Mor
e
over
the
s
p
eed
v
ar
i
a
tio
n
w
h
i
l
e
l
o
a
d
i
n
g
i
s
e
l
i
m
i
na
te
d
an
d
th
is
s
how
s
th
e
r
o
b
u
stne
ss
o
f
the
F
S
M
C
.
F
i
gu
r
e
8
s
h
ow
s
the
c
u
r
r
e
nt
w
a
v
ef
or
m
in
t
he
t
hr
e
e
p
hase
s
o
f
t
he
m
ot
or
.
I
t
i
s
ob
s
e
r
v
ed
t
h
a
t
th
e
st
a
r
t
i
ng
c
u
rre
n
t
i
s
sl
ig
htl
y
h
i
g
her
w
i
t
h
f
uzz
y
S
M
C
t
ha
n
t
h
a
t
w
i
t
h
ot
her
c
o
n
t
r
o
ller
s
,
bu
t
this
h
as
n
e
g
l
i
g
i
bl
e
effect
o
n
th
e
pe
rform
a
nc
e
a
s
t
he
s
tar
i
n
g
c
u
r
r
e
nt
l
a
s
ts
o
n
l
y
for
fe
w
m
i
llis
ec
o
n
d
s
an
d
t
h
e
r
e
is
o
n
l
y
neg
l
igi
b
le
v
ar
ia
t
i
o
n
unde
r
r
unning
c
ondition.
T
he
r
esults
c
le
arly
i
ndicate
th
at
t
he
p
erfor
ma
nce
is
g
r
e
atl
y
i
m
p
ro
ve
d
when
F
SM
C
i
s
u
se
d,
c
o
mpa
r
ed
t
o
o
t
her
t
h
ree
co
nt
rol
l
ers
i
n
t
er
ms
o
f
rise
t
im
e,
over
sh
oot
,
set
t
l
i
n
g
t
i
me
,
fl
u
c
tu
a
tio
n
in
s
p
e
ed
w
i
t
h
sud
d
e
n
l
o
a
d va
r
i
at
ion.
Th
i
s i
m
pr
ovem
e
n
t
i
n
t
h
e
pe
r
f
o
r
m
anc
e
c
har
a
c
t
eri
s
tic
s a
r
e
o
b
t
a
in
ed d
u
e
t
o
th
e
int
e
l
l
i
g
e
nt
va
r
i
a
t
i
on
of
t
he
c
ontr
o
l
l
er
g
ai
n
usi
ng
a
fuz
z
y
i
nfe
r
enc
e
s
yste
m
.
Ta
b
l
e
4.
P
e
r
f
or
ma
nce
com
p
ar
i
s
on
of
F
uzzy
S
M
C
&
P
I
P
e
r
f
o
r
man
ce
Ch
a
r
act
er
i
s
t
i
c
s
F
u
z
z
y
S
M
C
S
M
C
F
u
z
z
y
P
I
PI
R
i
s
e
ti
m
e
(
m
s
)
8
1
5
2
0
2
5
P
e
a
k
ove
rshoot
(
%)
0
0
2
.
5
3
S
e
tt
ling
ti
m
e
(
m
s
)
8
15
3
8
46
S
t
ea
d
y
s
t
a
t
e
e
r
r
or
(
%)
0
.
0
2
0.
04
0
.
0
5
0.
06
S
p
ee
d
v
a
ri
a
t
ions
w
he
n
sudde
nly
l
o
a
d
is
a
ppli
e
d
(%)
0.
25
3
4
5
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
477
–
48
6
48
4
F
i
gu
re
7
.
S
tep
re
sp
ons
e
wi
th
FSM
C
a
n
d
othe
r c
o
ntro
lle
rs
F
i
gu
re
8
.
Currentin t
he
t
hree
p
h
ases
F
i
g
u
re
.
9
Ste
p
R
e
s
po
nse
with
h
ard
w
are,
H
IL
s
imulatio
and
si
mula
ti
on
F
i
gure
10
.
S
p
eed
vai
ati
on
while lo
adin
g
F
i
gur
e
9
show
s
the
c
o
mpa
r
is
on
of
s
t
e
p
r
e
spo
n
se
o
f
the
F
S
MC
h
a
r
d
w
a
r
e
s
e
t
u
p
w
i
t
h
t
h
a
t
o
f
H
I
L
sim
u
la
ti
on
a
n
d
S
imu
l
i
n
k
s
i
m
u
lat
i
on
a
nd
F
igur
e
.
1
0
i
s
the
c
o
r
r
esp
o
n
d
in
g
spee
d
var
i
ati
o
n
w
h
i
l
e
l
o
adi
n
g.
C
o
mpa
r
is
on
o
f
the
r
e
s
u
l
t
s
o
f
t
r
a
nsi
e
nt
a
nd
s
t
e
ady
s
t
a
t
e
per
f
or
m
a
n
ce
i
s
gi
v
e
n
i
n
t
a
b
l
e
5
.
F
r
om
t
he
r
es
ults
i
t
is
f
o
und
t
h
a
t
t
he
r
ise
ti
m
e
a
nd
s
e
t
t
l
i
n
g
t
i
m
e
a
r
e
s
l
i
g
h
tly
i
n
c
r
eas
ed
w
i
t
h
HIL
si
mu
l
a
t
i
on
a
nd
a
ct
u
a
l
hard
wa
r
e
c
o
mpa
r
ed
t
o
r
e
spec
ti
ve
v
a
l
ue
s
of
S
i
m
ul
ink
sim
u
l
a
t
i
on
w
h
e
r
ea
s
pe
a
k
o
ve
r
s
ho
ot,
stea
dy
sta
t
e
er
r
o
r
a
n
d
spe
e
d
va
r
i
a
t
i
on
w
h
ile
l
o
a
di
ng
ar
e
com
p
ar
e
a
b
l
e
i
n
a
ll
t
he
t
hr
ee
case
s
.
T
he
s
l
i
g
h
t
incr
e
a
se
i
n
t
h
e
actua
l
va
lue
s
f
r
o
m
the
ha
r
d
w
a
r
e
s
et
up
is
d
ue
t
o
t
h
e
us
e
of
f
ixe
d
p
o
i
nt
v
a
r
iab
l
e
in
F
P
G
A
w
h
er
e
a
s
S
i
mul
i
nk
s
i
m
u
la
t
i
on
uses
fl
o
a
t
i
ng
p
oin
t
v
arib
l
e
s.
Tab
l
e
5.
P
er
for
m
anc
e
c
om
par
i
son
o
f
h
ar
d
w
ar
e
and
H
I
L
si
mula
t
i
o
n
an
d
si
m
u
lat
i
on
Pa
r
a
m
e
te
rs
S
i
m
ul
a
tion
HI
L
si
m
u
la
tion
Ac
tu
a
l
Hard
w
a
r
e
Ris
e
ti
m
e (
m
s
)
8
1
4
1
6
Pe
a
k
ove
r
s
hoot
(%
)
0
0
0
Se
t
tling time (
m
s)
8
14
1
6
Ste
a
d
y
st
a
t
e
e
r
r
o
r
(
%
)
0.
02
0
.
0
3
0.
03
Mo
m
e
nta
r
y
sp
ee
d va
riati
on
w
h
e
n
s
udde
nly
l
o
ad
i
s
a
ppli
e
d
(
%
)
0.
25
0
.
2
8
0.
33
6.
CONCLUSION
F
S
MC
f
or
t
he
s
pee
d
c
o
n
t
r
o
l
of
a
B
LD
C
motor
is
d
esi
g
ned
a
n
d
i
m
pl
e
m
ented
us
i
ng
F
P
G
A.
T
his
c
o
n
t
r
o
ller
i
n
te
gr
ates
t
he
i
n
t
e
l
lige
n
ce
o
f
F
uzz
y
l
og
ic
w
it
h
t
h
e
S
l
i
d
i
n
g
M
ode
t
ec
hn
i
q
ue
a
nd
t
h
e
c
o
n
t
r
o
l
l
e
r
g
ain
is a
p
p
r
o
pr
ia
te
l
y
va
r
ied
to
g
e
t
t
he
i
mpr
ove
d p
e
r
f
or
m
a
nc
e.
The
p
e
rfo
r
ma
n
ce
i
ndi
c
e
s
o
f
t
h
is
F
SM
C
f
o
r t
h
e
s
p
eed
c
o
n
t
r
o
l
o
f
B
L
D
C
m
o
tor
is
c
ompa
r
e
d
w
ith
t
ha
t
of
m
od
i
f
ie
d
S
M
C,
F
u
zz
y
P
I
a
nd
P
I
c
ontr
o
ller
t
o
e
va
lu
a
t
e
t
h
e
im
pr
o
v
em
ent
i
n
t
he
t
r
a
nsie
nt
a
n
d
s
te
ad
y
s
t
ate
va
lue
s
.
Th
e
P
I
c
o
ntr
o
lle
r
s
p
er
f
o
r
m
w
ell
un
der
un
dis
t
ur
b
e
d
c
o
n
d
it
i
o
n
s
a
n
d
its
d
es
ig
n
a
n
d
i
m
plem
en
ta
ti
o
n
a
r
e
q
u
ite
s
i
m
pl
e
a
n
d
easy
but
t
he
p
er
for
m
ance
b
ec
ome
s
p
o
o
r
un
de
r
dis
t
ur
be
d
co
n
d
i
t
i
on
l
i
k
e
s
u
d
de
n
c
h
an
ge
s
in
r
ef
er
e
n
c
e
s
pee
d
a
n
d
sud
d
e
n
c
ha
n
g
e
in
l
oad.
T
he
B
LD
C
0
0.
0
2
0.
0
4
0.
0
6
0.
0
8
0.
1
0.
1
2
0
50
0
10
0
0
15
0
0
20
0
0
25
0
0
30
0
0
sp
eed
ti
m
e
wi
t
h
F
uz
z
y
S
M
C
wi
t
h
S
M
C
wi
t
h
F
uz
z
y
P
I
wi
t
h
P
I
0
0.
0
2
0.
0
4
0.
0
6
0.
0
8
0.
1
0.
1
2
-2
0
0
20
40
ti
m
e
C
u
r
r
en
t
i
n
p
h
a
s
e
A
0
0.
0
2
0.
0
4
0.
0
6
0.
0
8
0.
1
0.
1
2
-2
0
0
20
40
ti
m
e
C
u
r
r
e
n
t
i
n
p
h
a
s
e
B
0
0.
0
2
0.
0
4
0.
0
6
0.
0
8
0.
1
0.
1
2
-4
0
-2
0
0
20
ti
m
e
C
u
r
r
e
n
t
i
n
p
h
a
s
e
C
Cu
r
r
e
n
t
w
i
t
h
F
u
z
zy
S
M
C
wi
t
h
S
M
C
w
i
t
h
F
u
z
zy
P
I
wi
t
h
P
I
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
Inte
ll
ige
n
t
fuzz
y
sl
i
d
i
n
g m
ode
con
t
r
o
ll
e
r
b
a
se
d on
FPG
A …
(Arun Pr
asa
d
K.
M)
48
5
motor
w
i
t
h
P
I
con
t
ro
l
l
er
s
ho
w
s
l
a
r
ge
o
v
e
rsho
o
t
,
hi
gh
se
tt
li
n
g
t
i
m
e
a
n
d
co
mp
ara
t
i
v
ely
l
a
rg
e
sp
eed
v
ari
a
ti
on
un
der
loa
d
e
d
c
on
d
iti
on.
T
he
t
rans
ie
n
t
a
s
w
e
ll
as
s
t
e
a
d
y
sta
t
e
p
erform
ance
a
re
i
m
p
roved
w
ith
F
uzzy
P
I
con
t
ro
l
l
er
i
n
whic
h
t
h
e
co
ntr
o
l
l
e
r
p
ara
m
eters
ar
e
var
i
e
d
u
s
i
n
g
a
Fu
zz
y
inf
e
re
n
ce
s
y
st
e
m
.
A
fu
rth
e
r
impro
v
e
m
e
n
t
i
n
t
he
p
erf
o
rm
a
n
ce
c
h
a
ra
cteris
ti
c
s
a
nd
s
p
ee
d
varia
t
i
o
n
w
i
t
h
s
u
dde
n
loa
d
in
g
i
s
o
b
t
ai
ne
d
us
i
n
g
modi
fie
d
cha
tt
er
fr
e
e
S
M
C.
F
S
MC
o
u
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MC,
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zz
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a
nd
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I
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t
e
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ms
its
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an
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trans
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perfo
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he
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versh
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i
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re
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mpr
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en
u
se
d
for
the
spe
e
d
c
o
n
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ro
l
o
f
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LD
C
mo
tor
.
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va
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t
ion
in
s
pe
ed
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th
e
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un
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e
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on
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s
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l
s
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ed
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d
w
he
n
F
S
MC
i
s
a
p
p
lie
d.
T
h
e
r
eal
iz
a
t
i
o
n
of
t
he
c
o
n
t
r
o
l
ler
is
car
ri
ed
o
u
t
us
i
n
g F
P
G
A
w
i
t
h
hi
g
h
com
p
uta
t
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ona
l
ab
i
l
i
t
y a
nd h
i
g
h
s
pee
d
.
T
h
e
pe
rform
a
n
c
e of
t
he
co
n
t
rol
l
er w
i
t
h
F
P
G
A
is
tes
t
ed
w
ith
H
IL
s
i
m
u
l
a
t
ion
a
n
d
t
h
e
act
ua
l
hardw
a
re
i
m
p
l
e
me
nt
a
t
i
on
.
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e
resul
t
s
o
f
a
c
t
u
al
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a
r
d
w
are
se
tup
,
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I
L
S
i
mula
t
i
o
n
a
n
d
S
im
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lin
k
sim
u
l
a
t
i
o
n
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f
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S
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f
or
t
he
s
pee
d
c
o
n
t
r
o
l
B
L
D
C
m
o
t
o
r
a
r
e
e
v
a
l
u
a
t
e
d
t
o
ide
n
tif
y
the
co
ntr
o
l
l
er
w
i
t
h
b
e
st
p
er
form
anc
e
.
H
oweve
r
,
th
e
FS
M
C
al
g
o
rit
h
m
bec
o
me
s
m
o
re
c
omple
x
a
n
d
henc
e s
u
i
t
a
b
le
f
or a
pp
lic
a
tio
n
s
w
here
ver
y pre
c
ise spe
e
d c
o
nt
r
o
l
i
s
n
e
ces
s
a
r
y
.
REFE
RENCES
[1
]
Li
u
,
G
,
Cu
i,
C
.,
W
a
ng
,
K.,
Han
,
B
.
Zhen
g
S.
,
"Sen
so
rl
e
s
s
co
n
t
ro
l
f
o
r
hi
gh
-s
peed
b
rus
h
les
s
D
C
mot
o
r
bas
e
d
on
t
he
li
ne-t
o-li
ne
b
ack
E
MF
,
"
IEEE
T
r
ans
act
i
o
n
s
on Po
wer Electr
onics
,
v
o
l
.
3
1
,
n
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,
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M
u
k
h
arjee,
A
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Ray
S
,
D
as
A
.,
"Devel
op
m
e
n
t
o
f
m
i
croco
n
t
r
o
l
le
r
b
a
sed
sp
eed
c
on
t
r
ol
s
chem
e
of
B
LD
C
m
o
tor
using
proteus
V
S
M
softw
a
re
,
"
In
tern
at
io
nal
Jou
r
nal
of E
l
ectr
onics
a
n
d
El
e
c
t
r
i
c
al
Eng
i
n
eerin
g
,
vo
l
.
2
,
no
.
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,
p
p
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[3]
G.
G
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Raja
S
ekh
a
r,
B
asav
araja
Ban
a
kar.,
"S
ol
ar
P
V
f
e
d
non
-i
s
o
l
a
ted
DC-D
C
con
v
ert
e
r
f
o
r
BLD
C
m
ot
or
d
ri
ve
w
it
h
sp
eed
c
on
trol
,
"
In
do
nes
i
an
Jou
r
na
l o
f
El
e
c
t
r
i
c
al
E
n
g
i
n
e
e
r
in
g an
d Com
p
u
t
er
S
c
ien
c
e
,
v
o
l
.
13,
no.
1
,
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3
-
32
3,
Ja
n
u
a
ry 2
01
9.
[4]
G. G
. Raja
S
ek
h
a
r
& Bas
a
v
a
raja Banakar
a, "
P
e
rf
o
r
man
ce
o
f
br
us
h
l
e
s
s
DC
d
r
i
v
e
w
i
t
h
sing
le
c
u
rre
nt
s
e
n
so
r
fe
d
fro
m
PV
w
i
t
h
h
i
gh
v
o
l
ta
ge
-
g
a
i
n
D
C
-DC
c
o
nv
e
r
te
r,
"
In
ter
natio
nal Jour
na
l o
f
P
o
wer El
ectro
n
i
cs a
n
d
Drive S
y
st
e
m
(I
J
P
E
D
S
)
, v
o
l
.
9
, no
. 1
,
p
p
. 3
3-4
5
, March
20
1
8
.
[5]
B
os
e,
B
.
K
.
,
"Pow
er
e
lect
ron
i
cs
a
nd
m
o
t
i
on
con
t
ro
l
techn
o
l
ogy
s
t
at
u
s
a
n
d
r
ece
n
t
t
end
s
,
"
IEEE T
r
an
sa
c
tio
ns
on
I
n
d
u
s
t
r
y
A
p
p
l
i
c
at
i
o
ns
,
v
o
l
.
29,
no.
5
,
p
p
.
9
0
2
-
90
9,
199
3.
[6
]
Ahme
d,A.M
,
A
li-Eld
in
,
A.
,
Elks
asy
,
M
.
S.,
Aree
d
,
F
.
F.
,
"Br
us
h
l
e
s
s
m
o
to
r
s
p
eed
c
on
trol
u
sin
g
b
o
t
h
p
i
c
ontroller
and
f
u
zzy
P
I con
t
ro
ller,
"
In
ter
nati
ona
l
J
o
ur
na
l of Co
mp
ut
er
A
pplica
t
i
o
n
s
, vo
l
.
10
9
, n
o.
5,
pp
.
29
-3
5
,
201
5.
[7
]
N. N.
Baharu
din
& S
. M
.
Ay
ob
, "
B
rushless
DC
m
o
tor
speed con
t
r
ol
u
sin
g
s
in
g
l
e
in
put f
uzzy
P
I
c
o
ntro
ll
er,
"
Int
e
rna
t
i
o
n
a
l
Jour
na
l of Po
wer El
ectr
onics
a
n
d
Dri
ve System
(
I
JPEDS)
,
vo
l.
9
,
no
.
4,
p
p.
1
95
2-1
966
,
Decem
ber
201
8.
[8]
M.
A
.
Ibrahim,
A
.
Kh.
Mahm
oo
d,
N
.
S
.
S
u
lta
n.,
"
O
pti
m
a
l
P
ID
c
o
nt
ro
ll
er
o
f
a
b
r
us
hl
e
s
s
D
C
m
o
t
or
u
si
ng
g
enet
ic
algorithm,
"
In
ter
natio
na
l Jo
urnal
of
Po
wer Elect
ron
i
cs
an
d D
r
ive S
y
st
em
(
I
JPEDS
)
,
v
o
l.
1
0
,
n
o
.
2
,
p
p
.
8
2
2
-
830,
Ju
ne
2
01
9
.
[9
]
Marin
o
,
R.
,
Per
e
sada,
S.,
Vali
gi,
P
.
,
"Ad
a
p
tiv
e
in
pu
t
-
o
u
tp
u
t
lin
eari
z
in
g
con
t
ro
l
of
i
nd
ucti
on
m
o
to
rs,
"
IEEE
Tran
sac
t
io
ns
on
Au
to
ma
tic
Con
t
ro
l
,
vo
l. 3
8
, no
.
2
,
p
p
.
2
08
-2
21
,
1993
.
[10
]
M
ehazz
em
,
F
.
,
Ream
a,
A
.
,
&
B
en
alla,
H.,
"
S
en
so
rless
n
onlin
ear
a
dap
t
i
v
e
b
a
ck
s
tep
p
in
g
cont
rol
o
f
i
nd
uc
t
i
on
mo
to
r
,
"
ICGST-
ACS
E
J
o
urna
l
,
vol.
8
,
n
o
.
3
,
pp
.
182
4-18
42
,
2
009
.
[11
]
P
e
ng
bin
g
,
Z.
&
Y
ao
yao,
S
.
,
"
A
dap
tiv
e
sl
id
i
n
g
mode
c
o
n
t
r
o
l
o
f
the
A-a
x
is
u
sed
for
blis
k
m
a
nu
f
a
ctu
r
ing
,
"
Chin
ese
J
o
urna
l o
f
Ae
ro
n
a
u
t
ic
s
, vo
l
. 2
7,
n
o
.
3
,
pp
. 7
08
-7
15
,
2
0
1
4
.
[12
]
Yo
un
g,
K
.D
.,
U
tki
n
,
V.
I.,
Ozg
uner,
U
.
,
"
A
c
o
n
t
r
ol
e
ng
in
ee
r'
s
guide
to
s
li
d
i
ng
mo
de
c
ont
r
ol
,"
IEEE Trans.
Control
Sys
.
T
ech
.
,
vol.
7
,
pp
.
3
2
8
-34
2
,
1999
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[1
3]
Utk
i
n
,
V
.I
.
,
"
Sli
d
in
g
m
o
d
e
c
o
n
t
r
ol
d
e
s
ig
n
pr
inc
i
ple
s
a
n
d
ap
plicat
ion
s
t
o
el
ectric
d
r
iv
e
s
,"
IEEE T
r
ansact
i
o
n
s
on
Ind
u
s
t
r
i
a
l
El
ectron
i
cs
, v
ol
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4
0
, n
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.
23
-26
,
1
99
3
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[1
4]
L
ee,
H
.
&
Ut
k
i
n
,
V
.I,
"C
hatt
ering
s
u
p
p
ress
io
n
methods
in
s
li
d
i
n
g
m
ode
c
on
trol
s
y
s
tem,
"
An
nu
al
Revi
ew in
Co
nt
rol
,
v
o
l.
3
1
, p
p.
17
9
-
1
8
8
, 20
0
7
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[1
5]
Husain,
A.R.
,
A
h
mad,
M
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N
.
&
Yat
i
m,
A
.
H.
M
.,
"
Chatt
e
ri
n
g
-
f
r
ee
S
l
i
d
in
g
Mo
d
e
C
o
n
t
r
ol
f
or
a
n
Act
i
ve
M
ag
net
i
c
Bearin
g,"
Int
e
rnat
ion
a
l
Jou
r
n
a
l of
M
ech
an
ical,
A
e
ro
spa
ce,
In
du
strial,
M
e
cha
t
r
oni
c
an
d
M
a
nufa
c
t
u
rin
g
En
gi
neeri
n
g
, vo
l
. 2
, n
o.
3,
p
p
.3
85
-39
1
, 2
00
8.
[16
]
M
am
dani
,
H.
,
"Ap
p
licat
ion
of
fuzzy
a
lg
orit
h
m
s f
o
r t
h
e
co
nt
ro
l
o
f
a
d
y
n
amic
plant
,"
Proc
e
e
ding
s o
f
IEE
,
1
974
,
vo
l.
121
n
o
.
1
2
,
pp
.
1
5
8
5
-
15
88
.
[1
7]
A
kra
m
H
.
Ahme
d
,
A
bd
E
l
Sa
m
i
e
B
.
K
otb
,
A
y
m
a
n
M
.
A
l
i
.
,
"
Co
mp
a
ris
on
between
f
uzzy
l
ogi
c
an
d
PI
c
on
tro
l
f
o
r
t
he
speed
o
f
B
L
DC
m
o
t
or,"
In
tern
a
t
io
nal Jo
ur
nal
o
f
Po
wer El
ec
tro
n
i
c
s
and
D
r
i
ve S
y
stem
(
I
JPEDS)
,
vol.
9
,
no.
3
,
pp
.
1
116
-11
2
3
, S
ept
e
m
b
er
2
01
8.
[18
]
E
m
h
e
m
ed
,
A
.
A
.
R.,
"F
uzzy
C
o
n
tro
l
f
o
r
N
onli
n
ear
B
all
an
d
B
eam
S
yst
e
m,"
In
ter
n
a
tio
nal Jou
r
nal
o
f
F
u
z
z
y L
ogic
Sys
t
ems
,
v
o
l
.
3
n
o
.
1
,
pp
.
2
5
-
3
1, 2
01
3.
[1
9]
P
ra
sa
d
K.M
.
A,
N
a
i
r,
U
.,
“
Se
n
s
orle
ss
f
uz
z
y
c
on
tro
l
o
f
a
D
C
moto
r
”
,
Nonli
n
ear
D
y
nam
ic
s
,
v
o
l
.
73,
n
o.
3,
p
p
.1
93
3-1
9
4
1
,
2
01
4.
[20
]
U
d
d
i
n
,
M.
N
.,
R
ad
wan,
S
.
&
Rahm
an
M
.
A.,
"
P
erf
o
rm
an
ces
o
f
f
u
zzy
l
og
ic
b
as
ed
i
nd
irect
v
ecto
r
c
ont
rol
f
o
r
induct
ion mo
tor
dri
v
e,"
IEEE Tra
n
s.
on Ind
u
str
y
Ap
plicatio
ns
,
vol.
3
8
,
n
o.
5
,
p
p
.
1
2
19-1
2
2
5
,
200
2.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
477
–
48
6
48
6
[21
]
Ku
ng
,
Y
.
S
.,
&
Tsai,
M
.
H
.,
"
F
P
G
A-b
a
sed
speed
c
on
trol
I
C
f
o
r
P
M
S
M
d
r
i
v
e
w
i
t
h
a
d
a
p
t
i
v
e
f
u
z
z
y
c
o
n
t
r
o
l
,
"
,
I
EEE
T
r
an
sactio
ns
on
Po
wer E
l
ectro
nics
, vo
l
.
22
,
no
. 6
,
p
p
.
2
4
7
6
-2
48
6
, 2
00
7.
[2
2]
C
h
o
u
,
H
.
H.,
K
u
n
g
,
Y.
S
.,
Q
uynh,
N
.
V.,
&
Cheng
,
S
.,
"
O
p
ti
m
i
z
e
d
F
P
GA
desig
n
,
v
e
rif
i
catio
n
and
i
m
p
l
em
entat
i
on
of
a
n
euro-f
uzzy
c
ont
r
oll
e
r
for
PMSM
d
ri
ves,"
Mathemat
ics and Computers in S
i
mul
a
t
i
on
,
vo
l.
9
0,
n
o
.
1,
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p.
2
8
-
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[2
3]
H
artley
,
E
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erez,
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u
ardi
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s
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i,
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.,
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erri
gan,
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.
C
.
an
d
Co
nstan
tinid
es,
G.A.,
"
P
red
i
ctive
con
t
ro
l
u
s
i
ng
an
F
PGA
w
i
t
h
a
ppl
ication
to
a
i
r
craf
t
cont
rol,
"
IEEE Tr
ans.
on Cont
rol
Sys
t
ems
Technology
,
v
o
l
.
2
2,
n
o
.
3
,
p
p
.
100
6-101
7,
2
01
4.
[2
4]
N
agaraj,
R.
&
P
a
n
ig
rahi
,
B.
K
.,
"
S
i
m
u
latio
n
and
hard
ware
i
mp
le
m
e
n
t
ati
o
n
o
f
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nt
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m
,
"
In
ter
n
a
t
i
onal J
o
u
r
na
l
o
f
Elect
ri
cal
En
ergy
,
vol.
3.
no.
2
,
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p
.
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6-93
,
2
0
1
5
.
[2
5]
K
ali
a
p
p
an
,
E.
,
& Ch
ell
a
mu
th
u
,
C.
,
"M
od
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ng,
sim
ul
a
t
i
on
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e
xpe
r
i
me
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t
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l
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ly
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ma
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nt m
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ushle
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C
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o
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ors
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o
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e
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orl
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o
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erati
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n
,
"
A
r
chi
ves of
E
l
ect
rica
l En
gi
neering
,
vo
l
.
6
4
,
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M
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,
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agni,
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o
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ur
in
o
,
V
.,
"A
r
eal-t
im
e
vers
ati
l
e
road
way
p
a
th
e
xtract
io
n
an
d
t
r
acki
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on
an
f
p
g
a
platfo
rm,"
Co
mp
ute
r
Vi
sion
an
d Imag
e
Un
de
rsta
nd
in
g
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l
.
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14
,
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o
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1
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4-1
1
7
9
,
201
0.
BIOGRAPHI
E
S
OF
AUT
HORS
Aru
n
P
rasad
K
.
M
.
(
B
.
Tech’9
6-M
.
T
ech’0
6)
r
eceived
the
B.Tech
a
nd
M
.
T
ech
d
eg
rees
i
n
El
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t
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ical
E
ng
ineeri
n
g
f
r
om
U
n
i
versi
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y
of
C
alicu
t
,
Ind
i
a
in
1
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6
and
U
n
i
v
ersi
ty
o
f
K
e
rala
i
n
20
06
resp
ectiv
ely
.
H
e
is
w
orking
a
s
an
A
ss
is
tan
t
P
rof
e
ss
or
i
n
M
o
d
el
E
n
g
i
n
eeri
ng
College,
Ko
chi,
I
n
d
i
a
.
H
e
i
s
p
r
es
ent
l
y
p
u
rs
ui
ng
P
h
.D.
i
n
E
l
e
c
t
rical
E
ng
i
ne
e
r
in
g
De
p
a
rtme
n
t
f
ro
m
Co
c
h
in
Un
iversit
y
of
S
c
ien
ce and
Tech
no
log
y
, Ko
c
hi, In
d
ia
.
Dr. Ush
a Na
i
r
is a g
r
adu
a
te an
d
p
os
t
g
r
aduat
e
i
n
Electri
cal E
ng
in
eering
.
S
h
e
has com
p
l
e
t
ed
h
er
Ph
.D.
i
n
20
0
9
fr
om Co
c
hin
Un
iv
ersit
y
o
f
Science an
d Techn
o
lo
gy
and
presen
tl
y
work
in
g
as
P
r
of
ess
o
r i
n
the Dep
a
r
t
m
ent of E
lect
rical En
g
i
n
eerin
g i
n
the
s
a
m
e
U
niv
e
rsi
t
y.
S
he
i
s
th
e
p
r
e
s
id
e
n
t o
f
th
e
p
ro
fe
ssion
a
l
b
od
y In
dia
n
So
c
ie
ty
o
f
Sys
t
e
m
s
fo
r Science
and
Eng
i
n
eerin
g
constituted by V
i
k
ram
Sarabhai S
pace Centre f
or
t
he
C
ochin
chap
t
e
r. H
er areas of interes
t
are
No
nli
n
ear D
yn
am
ical
A
nal
y
s
i
s
, Co
n
tro
l
S
yst
e
m
Des
i
g
n
, Tim
e
S
e
r
i
e
s A
n
a
l
ysis and
Renew
able
Ener
gy.
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