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d
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f
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Ba
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sim
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re
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a
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sp
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h
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h
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d
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sig
n
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n
d
a
c
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c
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d
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in
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ter
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©
2
01
6
In
s
t
it
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te o
f
A
d
v
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n
c
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d
E
n
g
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e
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rin
g
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c
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rig
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.
C
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p
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:
H.
Oth
m
an
i
,
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i
v
er
s
ité
d
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u
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E
l M
a
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'
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s
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L
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1
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,
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m
ail:
h
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m
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f
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1.
I
NT
RO
D
UCT
I
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T
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DC
m
ac
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as
f
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p
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m
a
n
y
f
ie
ld
s
in
th
e
ea
r
l
y
s
i
x
tie
s
.
B
u
t
t
h
is
m
ac
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in
e
h
as
a
h
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p
r
ice
b
o
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m
a
n
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f
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a
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.
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ls
o
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p
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is
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m
ited
d
u
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to
th
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co
m
m
u
tato
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an
d
b
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u
s
h
.
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ad
d
itio
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to
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h
at
it
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en
s
iti
v
e
to
co
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r
o
s
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n
v
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m
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ts
.
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w
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s
t
h
e
t
h
r
ee
-
p
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ase
in
d
u
ctio
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is
t
h
e
m
o
s
t
u
s
ed
w
o
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ld
w
id
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m
o
to
r
.
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h
is
m
ac
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ch
ar
ac
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ized
b
y
a
r
o
b
u
s
t
a
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d
s
i
m
p
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d
esig
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.
T
h
e
p
r
o
g
r
ess
ac
h
ie
v
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in
p
o
w
er
el
ec
tr
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n
ics
an
d
m
icr
o
elec
tr
o
n
ic
s
led
to
th
e
d
ev
elo
p
m
e
n
t
an
d
i
m
p
le
m
en
ta
tio
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o
f
co
m
p
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x
al
g
o
r
it
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m
s
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o
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u
s
i
n
g
th
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i
n
d
u
ct
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n
m
ac
h
i
n
e
w
h
e
n
t
h
e
s
p
ee
d
i
s
v
ar
iab
le
li
k
e
t
h
e
s
c
alar
co
n
tr
o
l
[
1
4
]
o
r
th
e
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l
[
1
7
]
.
Vec
to
r
co
n
tr
o
l
in
tr
o
d
u
ce
d
b
y
B
lasch
k
e
is
a
r
at
h
er
ef
f
ec
ti
v
e
s
tr
ate
g
y
.
I
t
co
n
s
is
ts
to
e
m
u
late
t
h
e
o
p
er
atio
n
o
f
th
e
in
d
u
ctio
n
m
ac
h
in
e
to
t
h
at
o
f
t
h
e
D
C
m
ac
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in
e
b
y
d
ec
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u
p
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e
f
lo
w
r
elati
v
e
to
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
[5
].
T
h
e
m
o
s
t
u
s
ed
co
n
tr
o
ller
in
v
ec
t
o
r
co
n
tr
o
l
s
tr
ateg
y
i
s
t
h
e
P
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co
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tr
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ller
s
i
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it
h
a
s
g
o
o
d
p
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f
o
r
m
a
n
ce
i
n
s
o
m
e
c
o
n
d
itio
n
s
[
2
5
].
A
cc
o
r
d
in
g
to
th
e
ad
o
p
ted
m
et
h
o
d
f
o
r
s
ett
in
g
t
h
e
p
ar
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m
eter
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o
f
th
is
co
n
tr
o
ller
,
w
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ca
n
lis
t
t
wo
m
aj
o
r
k
in
d
s
.
I
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th
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f
ir
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t
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p
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th
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m
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ar
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b
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m
et
h
o
d
s
s
u
c
h
as
Z
ei
g
ler
an
d
Nico
le
[8
].
T
h
is
s
tatic
co
n
f
i
g
u
r
atio
n
m
i
g
h
t
m
a
k
e
th
e
co
n
tr
o
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s
en
s
i
b
le
to
p
ar
am
etr
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v
ar
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n
.
I
n
t
h
e
s
ec
o
n
d
t
y
p
e
th
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co
n
tr
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s
tr
u
ctu
r
e
is
th
e
s
a
m
e
e
x
ce
p
t
th
at
th
er
e
w
ill
b
e
a
r
ea
l
ti
m
e
co
n
f
i
g
u
r
atio
n
o
f
t
h
e
p
ar
a
m
eter
s
.
T
h
is
ad
ap
tatio
n
m
ak
es
th
i
s
co
n
t
r
o
ller
r
o
b
u
s
t
to
p
ar
a
m
eter
s
ch
a
n
g
es.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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IJ
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[
1
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b
y
s
l
id
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m
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co
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tr
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[
16
]
b
y
h
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r
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P
ar
ticle
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Op
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izatio
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Fu
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].
T
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ev
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g
o
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esen
ted
t
h
e
s
tep
s
to
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e
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h
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m
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v
e
d
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n
tr
o
ller
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zz
y
Gain
-
Sc
h
ed
u
li
n
g
P
r
o
p
o
r
tio
n
al
–
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n
teg
r
al
co
n
tr
o
ller
)
.
A
t
th
e
e
n
d
w
e
h
a
v
e
s
i
m
u
lated
t
h
e
co
n
tr
o
l stra
teg
y
w
it
h
th
e
th
r
ee
co
n
tr
o
ller
an
d
w
e
h
a
v
e
c
o
m
m
e
n
ted
th
e
o
b
tai
n
ed
r
esu
lt
s
.
2.
M
O
DE
L
O
F
T
H
E
I
NDUC
T
I
O
N
M
O
T
O
R
T
h
e
m
o
d
eli
n
g
s
tep
o
f
t
h
e
in
d
u
ctio
n
m
ac
h
i
n
e
is
es
s
e
n
tial
f
o
r
th
e
d
ev
elo
p
m
e
n
t
o
f
co
n
tr
o
l
la
w
s
.
Ou
r
m
o
d
el
i
s
b
ased
o
n
th
e
t
h
e
o
r
y
o
f
P
ar
k
.
T
h
is
th
eo
r
y
is
b
ased
o
n
t
w
o
p
r
o
ce
s
s
i
n
g
;
t
h
e
tr
an
s
f
o
r
m
atio
n
o
f
C
o
n
co
r
d
ia
w
h
ich
r
ed
u
ce
s
th
e
s
ize
o
f
th
e
m
atr
ix
(
t
h
r
ee
-
p
h
a
s
e
to
tw
o
-
p
h
a
s
e)
,
an
d
P
ar
k
tr
a
n
s
f
o
r
m
atio
n
w
h
ic
h
en
s
u
r
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t
h
e
p
a
s
s
a
g
e
o
f
t
h
e
m
a
g
n
i
tu
d
es
alter
n
a
tiv
e
s
to
co
n
ti
n
u
o
u
s
q
u
a
n
titi
e
s
.
W
e
c
h
o
s
e
t
h
e
tr
an
s
f
o
r
m
at
io
n
o
f
C
o
n
co
r
d
ia
an
d
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o
t
t
h
at
o
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l
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a
u
s
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t
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e
f
ir
s
t
en
s
u
r
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t
h
e
co
n
s
er
v
atio
n
o
f
i
n
s
ta
n
ta
n
eo
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s
p
o
w
e
r
w
h
ile
t
h
e
s
ec
o
n
d
en
s
u
r
es
th
e
p
r
eser
v
atio
n
o
f
th
e
m
o
d
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les
(
th
e
a
m
p
lit
u
d
es)
w
h
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n
o
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ap
p
r
o
p
r
iate
f
o
r
th
is
t
y
p
e
o
f
co
n
tr
o
l.
P
ar
k
tr
an
s
f
o
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m
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n
i
s
d
ef
i
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ed
b
y
:
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).
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(
θ
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s
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sq
sd
(
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s
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m
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an
d
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d
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c
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s
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c
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(
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ical
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f
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is
:
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T
T
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d
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(
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ea
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d
,
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e
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o
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is
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t
o
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q
u
e
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d
J
is
th
e
m
o
m
e
n
t o
f
i
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er
tia
.
A
p
p
l
y
in
g
t
h
e
th
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r
e
m
o
f
Fer
r
ar
i,
w
e
g
et
)
,
,
(
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(
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b
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b
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p
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s
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p
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n
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i
L
n
T
(
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M
is
t
h
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y
cl
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m
u
t
u
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in
d
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ce
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n
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s
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e
n
u
m
b
er
o
f
p
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p
air
s
,
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r
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th
e
c
y
clic
r
o
to
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d
u
cta
n
ce.
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f
w
e
ap
p
ly
t
h
e
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s
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to
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e
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s
(
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e
g
et
:
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r
M
p
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L
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T
(
1
0
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e
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sd
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t
(
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s
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t
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i
s
)
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d
is
th
e
r
o
to
r
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(d
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i
s
)
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d
r
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o
to
r
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a
g
n
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f
l
o
w
(q
-
a
x
is
)
.
3.
CO
NT
RO
L
L
L
AW
W
e
h
av
e
ta
k
en
in
t
h
i
s
w
o
r
k
t
h
e
Field
Or
ie
n
tated
C
o
n
tr
o
l.
I
n
th
is
s
tr
ateg
y
,
t
h
e
d
-
a
x
is
co
m
p
o
n
en
t
o
f
th
e
s
tato
r
cu
r
r
en
t
ac
t
s
as
e
x
cit
e
m
en
t
an
d
allo
w
ad
j
u
s
t
in
g
t
h
e
v
al
u
e
o
f
t
h
e
m
a
g
n
et
ic
f
lo
w
on
t
h
e
m
ac
h
i
n
e.
T
h
e
q
-
ax
i
s
co
m
p
o
n
e
n
t
ac
t
s
as
th
e
i
n
d
u
ce
d
cu
r
r
e
n
t
a
n
d
co
n
tr
o
ls
t
h
e
to
r
q
u
e.
T
h
e
ai
m
o
f
th
i
s
s
tr
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y
is
to
f
i
n
d
a
la
w
as
[T
em
=K
i
]
w
h
ich
ca
n
d
ir
ec
tl
y
co
n
tr
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l
t
h
e
to
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t
.
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h
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u
ar
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n
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m
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ter
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s
.
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f
w
e
ca
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ce
l
[
rq
=
0
]
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d
[
rd
=
r
]
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e
t
o
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u
e
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ill
d
ep
en
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n
i
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d
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b
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es:
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Fig
u
r
e
1
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lo
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Diag
r
a
m
Sc
h
e
m
atic
o
f
t
h
e
C
o
n
tr
o
l Str
ateg
y
3
.
1
.
I
nv
er
t
er
T
h
e
in
v
er
ter
u
s
ed
i
s
co
m
p
o
s
e
d
o
f
th
r
ee
ar
m
s
m
o
u
n
ted
in
p
ar
allel.
I
n
ea
c
h
ar
m
s
t
w
o
I
GB
T
tr
an
s
i
s
to
r
s
ar
e
co
n
n
ec
ted
in
s
er
ies.
All
I
GB
T
tr
an
s
is
tr
o
r
s
ar
e
co
n
tr
o
lled
b
y
a
c
u
r
r
en
t
r
e
g
u
la
to
r
P
W
M
.
H
y
s
ter
e
s
is
c
u
r
r
en
t
co
n
tr
o
l
m
et
h
o
d
allo
w
s
s
w
itc
h
i
n
g
o
n
t
h
e
tr
a
n
s
i
s
to
r
s
w
h
en
th
e
er
r
o
r
b
etw
ee
n
t
h
e
s
ig
n
al
a
n
d
i
ts
s
et
s
e
x
ce
ed
s
t
h
e
s
etp
o
in
t
a
m
p
lit
u
d
e.
I
n
r
es
u
lt
t
h
e
ac
t
u
al
c
u
r
r
en
t
i
s
f
o
r
ce
d
to
f
o
llo
w
t
h
e
r
ef
er
e
n
ce
c
u
r
r
e
n
t
i
n
th
e
h
y
s
ter
esi
s
b
an
d
.
T
h
e
F
ig
u
r
e
2
illu
s
tr
ates t
h
e
o
p
er
atin
g
p
r
in
c
ip
le
o
f
th
e
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y
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ter
e
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eg
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Fig
u
r
e
2
.
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h
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Op
er
atin
g
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r
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cip
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t
h
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y
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R
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g
u
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3
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2
.
r
a
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lcula
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h
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r
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m
a
g
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tic
f
lo
w
i
s
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l
cu
lated
by
:
r
sd
M
r
p
i
L
.
1
(
1
2
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τ
r
=
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’
r
/
R
r
:
r
o
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ti
m
e
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n
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ta
n
t
,
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’
r
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M+
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r
an
d
p
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a
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lace
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er
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On
d
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ax
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h
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an
g
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lar
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r
elate
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ase
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f
th
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is
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ed
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y
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p
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(
1
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d
t
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1
4
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r
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ls
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3.
3
.
C
o
m
p
ute
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f
t
he
Curre
nt
Ref
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ence
s
T
h
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r
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er
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r
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t I
sd
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alcu
lated
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s
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n
g
t
h
e
r
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to
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f
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x
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ce
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r
b
y
t
h
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f
o
llo
w
in
g
r
elatio
n
:
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r
sd
L
i
*
*
(
1
5
)
p
M
r
r
em
sq
n
L
L
Φ
T
i
ˆ
*
*
(
1
6
)
4.
SPEE
D
CO
NT
RO
L
L
E
R
D
E
SI
G
N
I
n
o
r
d
er
to
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eth
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m
p
r
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v
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g
t
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s
p
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d
b
eh
av
io
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f
t
h
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d
u
ctio
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m
ac
h
in
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,
w
e
p
r
esen
t
i
n
th
i
s
s
ec
tio
n
t
h
e
co
n
t
r
o
ller
s
u
s
ed
on
t
h
is
w
o
r
k
.
W
e
s
tar
t
w
it
h
t
w
o
s
tat
i
c
co
n
f
i
g
u
r
e
d
co
n
tr
o
ler
s
:
th
e
P
i
co
n
tr
o
ller
an
d
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
.
T
h
en
w
e
co
m
b
i
n
e
th
ese
t
w
o
tec
h
n
ics
i
n
o
n
e
co
n
tr
o
ller
w
ith
a
r
ea
l
ti
m
e
co
n
f
i
g
u
r
atio
n
.
4
.
1
.
Cla
s
s
ic
Sp
ee
d Co
ntr
o
ller
T
h
e
P
I
(
p
r
o
p
o
r
tio
n
al
in
teg
r
al)
s
p
ee
d
co
n
tr
o
ller
s
c
h
e
m
e
i
s
g
i
v
en
b
y
th
e
Fi
g
u
r
e
3
.
W
e
d
id
n
o
t
c
h
o
o
s
e
th
e
P
id
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n
tr
o
ller
b
ec
au
s
e
it
m
a
y
af
f
ec
t
s
th
e
s
w
i
f
tn
e
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s
o
f
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es
p
o
n
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e.
Fig
u
r
e
3
.
T
h
e
L
o
o
p
o
f
S
p
ee
d
C
o
n
tr
o
l
w
it
h
P
i
C
o
n
tr
o
ller
r
e
f
is
th
e
r
e
f
er
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ce
s
p
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d
an
d
f
is
th
e
c
o
ef
f
icie
n
t
o
f
v
i
s
co
u
s
f
r
ic
tio
n
.
T
h
e
ca
lcu
latio
n
o
f
t
h
e
co
ef
f
icien
ts
K
p
an
d
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g
i
v
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n
b
y
t
h
e
f
o
l
w
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g
eq
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atio
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s
:
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p
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k
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ef
i
p
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]
2
2
2
1
1
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(
n
n
p
p
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(
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Evaluation Warning : The document was created with Spire.PDF for Python.
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led
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u
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s
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l su
m
m
ar
ized
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y
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F
ig
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r
e
4
[
1
1
].
Fig
u
r
e
4
.
T
h
e
L
o
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p
o
f
Sp
ee
d
C
o
n
tr
o
l
w
it
h
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L
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n
tr
o
ller
I
n
th
e
F
ig
u
r
e
4
,
as in
th
e
f
o
l
lo
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w
e
n
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te:
E
: th
e
er
r
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r
,
it is
d
ef
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n
ed
b
y
:
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e
f
k
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(
2
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e
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k
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k
dE
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1
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(
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1
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e
is
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e
s
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m
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g
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.
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h
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co
n
tr
o
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y
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1
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k
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em
(
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2
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T
h
e
d
esig
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f
a
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co
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tr
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r
eq
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ir
es th
e
cr
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s
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th
r
o
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g
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t
h
e
s
tep
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f
f
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zz
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f
icatio
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,
f
i
n
d
th
e
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ce
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les
an
d
th
e
s
tep
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f
d
e
f
f
u
zi
f
icatio
n
.
Fig
u
r
e
5
.
S
tep
s
to
D
esig
n
F
L
C
o
n
tr
o
ller
T
h
e
f
u
zz
i
f
icatio
n
is
th
e
f
ir
s
t
s
tep
to
d
esig
n
i
n
g
a
f
u
zz
y
co
n
tr
o
ller
.
A
t
t
h
i
s
lev
e
l
w
e
d
ef
in
e
t
h
e
m
e
m
b
er
s
h
ip
d
eg
r
ee
s
o
f
t
h
e
f
u
zz
y
v
ar
iab
le
to
i
ts
f
u
zz
y
s
et
ac
co
r
d
in
g
to
th
e
r
ea
l
v
al
u
e
o
f
t
h
e
in
p
u
t
v
ar
iab
le.
W
e
o
p
ted
f
o
r
tr
ian
g
u
lar
an
d
tr
ap
ez
o
id
al
f
u
n
ctio
n
s
f
o
r
t
h
e
in
p
u
t
v
ar
iab
les
(
Fig
u
r
e
6
)
.
T
h
ey
a
llo
w
ea
s
y
i
m
p
le
m
en
ta
tio
n
a
n
d
s
h
o
r
t
d
u
r
a
tio
n
w
h
e
n
ev
a
lu
ated
i
n
r
ea
l ti
m
e.
Th
r
o
u
g
h
th
e
i
n
f
er
e
n
ce
r
u
les
,
w
e
ca
n
s
et
t
h
e
d
ec
is
io
n
s
o
f
th
e
f
u
zz
y
co
n
tr
o
ller
.
T
h
e
y
ar
e
e
x
p
r
ess
ed
a
s
"
I
F
T
HE
N".
I
n
th
e
f
u
zz
y
r
u
l
es
w
e
i
n
v
o
lv
e
th
e
o
p
er
ato
r
s
"
A
ND"
an
d
"
OR
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.
T
h
e
o
p
er
ato
r
"
A
ND"
r
ef
er
s
v
ar
iab
les
w
it
h
in
a
r
u
le,
w
h
il
e
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e
"
OR
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p
e
r
ato
r
b
in
d
s
th
e
d
if
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er
en
t
r
u
le
s
.
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h
er
e
ar
e
a
s
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er
al
w
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y
s
to
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ter
p
r
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th
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t
w
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ato
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s
.
T
h
e
in
f
er
e
n
ce
m
eth
o
d
ca
lled
Ma
m
d
an
i
(
also
ca
lled
Ma
x
-
M
in
m
et
h
o
d
)
,
m
a
k
e
s
th
e
o
p
er
a
to
r
"
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b
y
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e
"
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"
f
u
n
ctio
n
an
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lin
k
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n
g
all
th
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les
(
"
OR
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p
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ato
r
)
is
e
n
s
u
r
ed
b
y
th
e
"
Max
"
fu
n
ctio
n
[4
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
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8
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F
u
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Ga
in
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ch
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P
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fo
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(
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1167
(
a)
.
E
(
k
)
(
b
)
.
d
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(
k
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Fig
u
r
e
6
.
Fu
zz
i
f
icatio
n
Step
T
ab
le
1
.
B
asic r
u
les f
o
r
t
h
e
s
p
ee
d
co
n
tr
o
ller
R
u
l
e
N
°
E
dE
T
em
*
1
P
P
P
2
P
Z
P
3
P
N
P
4
Z
P
P
5
Z
Z
Z
6
Z
N
N
7
N
P
N
8
N
Z
N
9
N
N
N
T
h
e
Def
u
zz
i
f
icat
io
n
co
n
v
er
ts
f
u
zz
y
s
ets
o
u
tp
u
t
i
n
to
a
s
u
itab
le
r
ea
l
v
ar
iab
le.
Sev
er
al
Def
u
zz
if
icatio
n
s
tr
ateg
ie
s
ex
i
s
t;
w
e
u
s
ed
th
e
m
eth
o
d
o
f
“
g
r
a
v
it
y
ce
n
ter
”
.
T
h
e
g
r
av
it
y
ce
n
ter
ab
s
ciss
a
o
f
th
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
r
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lti
n
g
f
r
o
m
t
h
e
in
f
er
en
ce
r
u
les i
s
th
e
o
u
tp
u
t
v
alu
e
o
f
th
e
co
n
tr
o
ller
.
W
e
h
av
e
t
h
er
ef
o
r
e:
dx
x
dx
x
x
out
)
(
)
(
(
2
3
)
χ
out
is
t
h
e
o
u
tp
u
t
v
al
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e
a
n
d
μ
is
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h
e
d
eg
r
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o
f
m
e
m
b
er
s
h
ip
.
T
h
is
is
t
h
e
m
et
h
o
d
w
h
ic
h
g
i
v
es
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e
n
er
all
y
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etter
r
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s
.
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h
e
r
esu
lts
ar
e
s
tab
le
r
elatio
n
s
h
ip
s
to
ch
a
n
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es i
n
f
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zz
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et
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,
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n
d
th
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e
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th
e
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y
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te
m
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n
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u
t
s
.
4
.
3
.
F
uzzy
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a
in
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P
I
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ntr
o
ller
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zz
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h
a
s
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p
p
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im
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ec
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I
an
d
t
h
e
F
L
co
n
t
r
o
ller
.
T
h
en
,
w
e
d
esi
g
n
ed
a
F
u
zz
y
Gain
-
Sch
ed
u
li
n
g
P
i
co
n
t
r
o
ller
.
W
e
n
o
te
th
at
th
e
P
i
s
u
p
er
v
is
ed
f
u
zz
y
in
h
er
i
ted
th
e
ad
v
a
n
ta
g
es
o
f
b
o
th
P
i
an
d
f
u
zz
y
C
o
n
tr
o
ller
.
W
e
n
o
t
e
th
at
t
h
e
r
i
s
e
t
i
m
e
w
it
h
a
f
u
zz
y
s
u
p
er
v
is
ed
P
i
co
n
tr
o
ller
is
f
a
s
t
an
d
also
r
o
b
u
s
t
ag
ain
s
t
t
h
e
r
ef
er
en
ce
c
h
a
n
g
i
n
g
an
d
th
e
i
m
p
o
s
itio
n
o
f
a
d
is
tu
r
b
an
ce
(
T
r
ch
an
g
e
).
RE
F
E
R
E
NC
E
S
[1
]
A.
G
o
u
ich
ich
e
,
M
.
S
.
Bo
u
c
h
e
rit
,
A
.
S
a
fa
,
Y.
Me
ss
e
le
m
,
"
S
e
n
so
rles
s
S
li
d
i
n
g
M
o
d
e
V
e
c
to
r
Co
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
o
to
r
Driv
e
"
.
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
i
v
e
S
y
ste
m,
V
o
l
.
3
,
No
.
3
,
p
p
.
2
7
7
-
2
8
4
,
2
0
1
2
.
[2
]
A
.
L
.
Ne
m
m
o
u
r,
F
.
M
e
h
a
z
z
e
m
,
A.
Kh
e
z
z
a
r,
M
.
Ha
c
il
,
L
.
L
o
u
z
e
,
R.
A
b
d
e
ss
e
m
e
d
,
"
No
n
li
n
e
a
r
c
o
n
t
ro
l
o
f
in
d
u
c
ti
o
n
mo
to
r
b
a
se
d
o
n
t
h
e
c
o
m
b
in
e
d
mu
lt
i
-
sc
a
l
a
r
ma
c
h
i
n
e
mo
d
e
l
a
n
d
b
a
c
k
ste
p
p
in
g
a
p
p
ro
a
c
h
"
,
In
d
u
st
rial
El
e
c
tro
n
ics
.
(IE
CON
)
3
5
t
h
A
n
n
u
a
l
C
o
n
f
e
re
n
c
e
o
f
IEE
E,
P
p
.
4
2
0
3
-
4
2
0
8
,
2
0
0
9
.
[3
]
D.
Ku
sb
ian
t
o
,
"
P
e
rf
o
rm
a
n
c
e
Co
m
p
a
riso
n
o
f
S
tartin
g
S
p
e
e
d
Co
n
t
ro
l
o
f
In
d
u
c
ti
o
n
m
o
to
r"
.
In
ter
n
a
t
io
n
a
l
J
o
u
r
n
a
l
o
f
Po
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m,
V
o
l.
1
,
No
.
1
,
p
p
.
4
7
-
5
7
,
2
0
1
1
.
[4
]
E.
H.
M
a
m
d
a
n
i,
"
Ap
p
l
ica
ti
o
n
o
f
fu
zz
y
a
l
g
o
rit
h
ms
fo
r
c
o
n
tro
l
o
f
simp
le
d
y
n
a
mic
p
la
n
t.
E
lec
trica
l
En
g
in
e
e
rs
"
,
P
r
o
c
e
e
d
in
g
s o
f
th
e
I
n
stit
u
t
io
n
,
V
o
l.
1
2
1
,
n
o
.
1
2
,
p
p
.
1
5
8
5
-
1
5
8
8
,
1
9
7
4
.
[5
]
F
.
Blas
c
h
k
e
,
"
T
h
e
p
rin
c
ip
le
o
f
f
i
e
ld
o
rien
ted
a
s
a
p
p
l
ied
t
o
th
e
n
e
w
T
ra
n
v
e
c
to
r
c
lo
se
d
-
lo
o
p
c
o
n
tro
l
sy
ste
m
f
o
r
ro
tatin
g
m
a
c
h
in
e
"
,
S
iem
e
n
s R
e
v
iew
,
v
o
l.
3
9
,
N
o
4
,
p
p
.
2
1
7
-
2
2
0
,
1
9
7
2
.
[6
]
G
.
Y
a
n
g
,
T
.
Ch
in
,
"
A
d
a
p
ti
v
e
-
S
p
e
e
d
Id
e
n
ti
f
ica
t
io
n
S
c
h
e
m
e
f
o
r
a
V
e
c
to
r
-
Co
n
tr
o
ll
e
d
S
p
e
e
d
S
e
n
s
o
rles
s
In
v
e
rter
-
In
d
u
c
ti
o
n
M
o
to
r
Driv
e
"
,
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
in
d
u
stri
a
l
e
lec
tro
n
i
c
s,
V
o
l.
2
9
,
N
o
4
,
1
9
9
3
[7
]
H.
Yin
g
,
"
Co
n
d
it
io
n
s
f
o
r
g
e
n
e
ra
l
M
a
m
d
a
n
i
f
u
z
z
y
c
o
n
tro
ll
e
rs
to
b
e
n
o
n
li
n
e
a
r"
,
NAF
IPS
An
n
u
.
M
e
e
ti
n
g
,
p
p
.
2
0
1
–
2
0
3
,
2
0
0
2
.
[8
]
J.G
.
Zi
g
h
ler,
N.B
Ni
c
h
o
ls,
"
Op
ti
m
u
m
se
tt
in
g
f
o
r
a
u
to
m
a
ti
c
c
o
n
tro
ll
e
rs"
.
T
ra
n
s,
AS
M
E,
v
o
l
6
4
,
p
p
7
5
9
-
7
6
8
.
p
p
.
1
2
8
-
1
3
1
,
1
9
4
2
.
[9
]
J.
L
e
e
,
"
On
m
e
th
o
d
s
f
o
r
im
p
ro
v
in
g
p
e
rf
o
r
m
a
n
c
e
o
f
P
I
-
ty
p
e
f
u
z
z
y
l
o
g
ic
c
o
n
tro
ll
e
rs"
,
IEE
E
T
ra
n
s.
F
u
zz
y
S
y
st
,
v
o
l.
1
,
n
o
.
4
,
p
p
.
2
9
8
–
3
0
1
,
1
9
9
3
.
[1
0
]
L
.
M
o
re
l,
H.
G
o
d
f
ro
id
,
A
.
M
irza
i
a
n
,
J.M
.
Ka
u
ffm
a
n
n
,
"
Do
u
b
le
fed
in
d
u
c
ti
o
n
ma
c
h
in
e
:
c
o
n
v
e
rte
r
o
p
ti
miza
ti
o
n
a
n
d
fi
e
ld
o
rie
n
ted
c
o
n
tro
l
wit
h
o
u
t
p
o
s
it
io
n
se
n
so
r"
,
IEE
P
ro
c
.
El
e
c
tr.
P
o
w
e
r
A
p
p
l,
v
o
l.
1
4
5
,
n
o
.
4
,
p
p
.
3
6
0
–
3
6
8
,
1
9
9
8
.
[1
1
]
L
.
Zad
e
h
,
F
u
zz
y
S
e
ts.
In
f
o
rm
a
ti
o
n
a
n
d
Co
n
tro
l
,
v
o
l.
8
,
p
p
.
3
3
8
-
3
5
3
,
1
9
6
5
.
[1
2
]
N.
Bo
u
n
a
r,
A
.
Bo
u
lk
ro
u
n
e
,
F
.
B
o
u
d
jem
a
,
M
.
M
'
S
a
a
d
,
M
.
F
a
rz
a
,
"
A
d
a
p
ti
v
e
f
u
z
z
y
v
e
c
to
r
c
o
n
tro
l
f
o
r
a
d
o
u
b
ly
-
f
e
d
in
d
u
c
ti
o
n
m
o
to
r"
,
Ne
u
ro
c
o
m
p
u
ti
n
g
,
v
o
l.
1
5
1
,
n
o
.
2
,
p
p
.
7
5
6
-
7
6
9
.
[1
3
]
P
.
C.
a
u
ss
,
An
a
lys
is
o
f
E
lec
tric ma
c
h
in
e
ry
,
IEE
E
P
re
ss
,
1
9
9
5
.
[1
4
]
P.
El
a
n
g
o
v
a
n
,
N.K.
M
o
h
a
n
ty
,
"
F
P
G
A
Ba
s
e
d
V
/f
Co
n
tr
o
l
o
f
T
h
re
e
P
h
a
se
In
d
u
c
ti
o
n
M
o
to
r
Driv
e
s
In
t
e
g
ra
ti
n
g
S
u
p
e
r
-
L
i
f
t
L
u
o
Co
n
v
e
rter"
.
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m,
Vo
l.
5
,
No
.
3
,
p
p
.
3
9
3
-
4
0
3
,
2
0
1
5
.
[1
5
]
R.
Ku
m
a
r
S
a
h
u
,
S
.
P
a
n
d
a
,
G
.
T
.
C
S
e
k
h
a
r,
"
A
n
o
v
e
l
h
y
b
rid
P
S
O
-
P
S
o
p
ti
m
ize
d
f
u
z
z
y
P
I
c
o
n
tr
o
ll
e
r
f
o
r
AG
C
in
m
u
lt
i
a
re
a
in
terc
o
n
n
e
c
ted
p
o
w
e
r
sy
ste
m
s"
.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
Po
we
r
&
En
e
rg
y
S
y
ste
ms
,
Vo
l.
6
4
,
p
p
.
880
–
8
9
3
,
2
0
1
5
.
[1
6
]
R.
Ra
jen
d
ra
n
,
N
.
De
v
a
ra
j
a
n
,
"
A
Co
m
p
a
ra
ti
v
e
P
e
rf
o
r
m
a
n
c
e
A
n
a
l
y
sis
o
f
T
o
rq
u
e
Co
n
tr
o
l
S
c
h
e
m
e
s
f
o
r
In
d
u
c
ti
o
n
M
o
to
r
Driv
e
s"
.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m,
V
o
l.
2
,
No
.
2
,
p
p
.
1
7
7
-
1
9
1
,
2
0
1
2
.
[1
7
]
S
.
E.
M
a
n
so
u
r,
"
T
u
n
n
ig
P
i
c
o
n
tr
o
l
lers
to
a
p
p
ro
x
im
a
te
si
m
p
li
f
ied
p
r
e
d
ictiv
e
c
o
n
tro
l
p
e
rf
o
r
m
a
n
c
e
"
,
IS
A
T
ra
n
sa
c
ti
o
n
s,
V
o
l
.
4
8
,
n
o
.
4
,
p
p
.
4
1
7
–
4
2
2
,
2
0
0
9
.
[1
8
]
S
.
P
a
d
m
a
n
a
b
a
n
,
J.I.
Da
y
a
F
.
Blaa
b
jerg
,
N.H.
M
ir
-
n
a
siri,
A
.
Ert
a
s,
"
Nu
m
e
ric
a
l
i
m
p
le
m
e
n
tatio
n
o
f
w
a
v
e
let
a
n
d
f
u
z
z
y
tran
sf
o
r
m
IF
OC f
o
r
th
re
e
-
p
h
a
se
i
n
d
u
c
t
io
n
m
o
to
r"
,
En
g
in
e
e
rin
g
S
c
i
e
n
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
,
2
0
1
5
.
[1
9
]
T
.
J.
A
stro
m
,
T
.
Ha
g
g
lu
n
d
,
"
A
u
to
m
a
ti
c
T
u
n
in
g
o
f
si
m
p
le
re
g
u
lato
rs
w
it
h
sp
e
c
i
f
ica
ti
o
n
s
o
n
p
h
a
se
a
n
d
a
m
p
li
tu
d
e
M
a
rg
in
s"
,
Au
to
m
a
ti
c
a
,
Vo
l.
2
0
,
N
o
.
5
,
p
p
.
6
4
5
-
6
5
1
,
1
9
8
4
.
[2
0
]
T
.
J.
A
stro
m
,
T
.
Ha
g
g
lu
n
d
,
"
A
u
to
m
a
ti
c
T
u
n
in
g
a
n
d
a
d
a
p
tatio
n
f
o
r
P
ID
c
o
n
tr
o
ll
e
rs"
,
Co
n
tro
l
a
n
d
e
n
g
in
e
e
rin
g
,
Pra
c
ti
c
e
,
Vo
l.
1
,
N
o
.
4
,
p
p
.
6
9
9
-
7
1
4
,
1
9
9
3
.
[2
1
]
Y.G
a
o
,
H.
W
a
n
g
,
Y
.
J.
L
iu
,
"
A
d
a
p
ti
v
e
f
u
z
z
y
c
o
n
tro
l
w
it
h
m
in
im
a
l
l
e
a
n
in
g
p
a
ra
m
e
ters
f
o
r
e
lec
tri
c
in
d
u
c
ti
o
n
m
o
to
rs"
,
Ne
u
ro
c
o
mp
u
ti
n
g
,
v
o
l
.
1
5
6
,
p
p
.
1
4
3
–
1
5
0
.
2
0
1
5
[2
2
]
Y.
T
a
n
g
,
L
.
X
u
,
"
F
u
z
z
y
lo
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IS
BN
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