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[
4
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[
6
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1
5
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.
T
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–
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2
2
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Sy
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2
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lid
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(
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151
elec
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m
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h
an
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tr
ac
k
in
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s
y
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tem
with
d
if
f
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p
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lead
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In
[
2
3
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b
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tatio
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,
jet,
an
d
af
f
ec
ts
th
e
q
u
ality
o
f
th
e
co
n
tr
o
ller
ca
u
s
in
g
er
r
o
r
s
wh
en
co
n
tr
o
llin
g
[
2
]
,
[
5
]
,
[
6
]
,
[
9
]
,
[
1
4
]
,
[
1
7
]
,
[
1
8
]
,
[
2
4
]
.
T
h
is
p
ap
er
p
r
esen
ts
th
e
p
r
o
b
l
em
o
f
im
p
r
o
v
in
g
t
h
e
q
u
ality
o
f
th
e
p
o
s
itio
n
tr
ac
k
in
g
co
n
tr
o
ller
f
o
r
th
e
au
to
m
atic
co
n
tr
o
l
s
y
s
tem
o
f
t
h
e
lead
s
cr
ew
u
s
in
g
AC
s
er
v
o
m
o
to
r
s
ap
p
lied
in
m
ac
h
in
e
to
o
ls
.
I
n
in
d
u
s
tr
ial
p
r
o
d
u
ctio
n
,
C
NC
p
r
o
ce
s
s
in
g
m
ac
h
in
es
s
u
ch
as
lath
es,
m
illi
n
g
m
ac
h
in
es,
an
d
d
r
illi
n
g
m
ac
h
in
es
[
2
5
]
.
T
h
e
s
im
u
latio
n
r
esear
ch
r
esu
lts
wil
l
b
e
th
e
b
asis
f
o
r
ca
lcu
latio
n
r
esear
ch
,
s
y
s
tem
d
esig
n
,
ev
alu
atio
n
,
s
ettin
g
u
p
th
e
co
n
tr
o
l
alg
o
r
ith
m
o
f
th
e
tr
ac
k
i
n
g
elec
tr
ic
d
r
iv
e
s
y
s
tem
,
an
d
i
n
o
r
d
er
t
o
ap
p
ly
it
to
th
e
ac
tu
a
l
p
r
o
d
u
ctio
n
in
th
e
in
d
u
s
tr
y
t
o
d
ay
,
[
8
]
,
[
1
0
]
,
[
1
2
]
,
[
1
5
]
–
[
2
0
]
.
2.
B
UI
L
DI
NG
M
A
T
H
E
M
A
T
I
CAL M
O
D
E
L
F
O
R
AN
E
L
E
CT
RIC DR
I
V
E
SYS
T
E
M
I
n
th
is
p
a
r
t,
th
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
is
s
y
n
t
h
esized
f
o
r
a
tr
ac
k
in
g
elec
tr
ic
d
r
iv
e
s
y
s
tem
af
ter
co
n
s
id
er
in
g
th
e
m
ath
em
atica
l
m
o
d
el
o
f
lead
s
cr
ew
is
b
ein
g
as
:
f
o
r
m
ac
h
in
e
to
o
ls
th
at
u
s
e
s
er
v
o
m
o
to
r
d
r
iv
en
lead
s
cr
ew,
o
n
th
e
a
x
is
o
f
r
o
tatio
n
o
f
t
h
e
d
ev
ice
is
p
er
f
o
r
m
e
d
s
ep
ar
ately
,
s
o
th
er
e
is
n
o
l
o
s
s
o
f
g
en
e
r
ality
wh
en
we
co
n
s
id
er
t
h
e
d
y
n
am
ics
o
f
t
h
e
s
cr
ew.
T
h
e
d
r
iv
etr
ain
t
r
ac
k
in
g
to
th
is
p
o
s
itio
n
.
Fro
m
th
er
e,
we
h
a
v
e
a
m
o
d
el
o
f
th
e
c
o
n
tr
o
l
s
tr
u
ctu
r
e
o
f
th
e
elec
tr
o
m
ec
h
an
ical
d
r
iv
e
s
y
s
tem
o
f
a
m
ac
h
in
e
to
o
l
u
s
in
g
an
AC
s
er
v
o
m
o
to
r
t
o
co
n
tr
o
l
a
b
all
s
cr
ew
as
s
h
o
wn
in
Fig
u
r
e
1
,
co
m
p
o
n
e
n
t
J
motor
is
th
e
m
o
m
en
t
o
f
in
er
tia
o
f
th
e
m
o
to
r
attac
h
e
d
to
th
e
lead
s
cr
ew
with
f
lex
ib
le
c
o
u
p
lin
g
,
ω
an
g
u
lar
s
p
ee
d
r
ep
r
esen
ts
th
e
co
n
tr
o
l
p
o
s
itio
n
o
f
th
e
m
o
to
r
with
th
e
lead
s
cr
ew,
[
3
]
,
[
6
]
,
[
1
6
]
,
[
1
9
]
.
T
h
en
we
g
o
t
o
s
u
r
v
e
y
th
e
tr
an
s
m
is
s
io
n
m
o
d
el
o
f
t
h
e
elec
tr
o
m
ec
h
an
ical
co
n
tr
o
l
s
y
s
tem
o
f
th
e
lead
s
cr
ew
o
f
th
e
p
r
o
ce
s
s
in
g
m
ac
h
in
e
as
s
h
o
wn
in
Fig
u
r
e
2
,
in
clu
d
in
g
:
L
le
n
g
th
o
f
b
all
s
cr
ew,
x
(
t)
d
is
p
lace
m
en
t
co
n
tr
o
l
v
alu
e
o
f
k
n
if
e,
m
t
weig
h
t
o
f
th
e
t
o
o
l
tab
le
attac
h
ed
to
th
e
lead
s
cr
ew,
in
ad
d
itio
n
,
th
er
e
ar
e
b
r
ac
k
ets,
jo
in
ts
,
s
ea
t b
ases
,
an
d
n
u
ts
.
C
o
n
t
r
o
l
l
e
r
P
o
w
e
r
c
o
n
v
e
r
t
e
r
E
x
e
c
u
t
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v
e
s
e
r
v
o
e
n
g
i
n
e
T
h
e
a
c
t
u
a
t
o
r
L
e
a
d
s
c
r
e
w
W
o
r
k
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n
g
r
a
n
g
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o
f
l
e
a
d
s
c
r
e
w
d
r
i
v
e
m
oto
r
J
P
o
w
e
r
s
u
p
p
l
y
F
l
e
x
i
b
l
e
c
o
u
p
l
i
n
g
d
Fig
u
r
e
1
.
Mo
d
el
o
f
elec
tr
o
m
ec
h
an
ical
tr
ac
k
in
g
d
r
iv
e
s
y
s
tem
co
n
tr
o
llin
g
lea
d
s
cr
ew
u
s
in
g
s
er
v
o
m
o
to
r
A
C
s
e
r
v
o
m
o
t
o
r
C
o
u
p
l
i
n
g
B
a
l
l
n
u
t
B
e
a
r
i
n
g
L
(
t)
x
C
a
r
r
i
a
g
e
m
t
Fig
u
r
e
2
.
T
h
e
tr
an
s
v
er
s
e
s
lid
e
d
r
iv
e
s
y
s
tem
co
n
tr
o
ls
th
e
lead
s
cr
ew
o
f
C
NC
m
ac
h
in
e
to
o
ls
Ass
u
m
in
g
th
at
th
e
tr
an
s
v
e
r
s
e
s
lid
e
m
o
v
es
with
a
h
o
r
i
zo
n
tal
v
elo
city
,
th
e
f
r
ictio
n
b
etwe
e
n
th
e
lead
s
cr
ew
an
d
th
e
n
u
t,
th
e
lead
s
cr
ew
s
y
s
tem
an
d
th
e
g
u
id
e
r
o
d
is
s
aid
t
o
alwa
y
s
h
av
e
n
o
n
l
in
ea
r
u
n
ce
r
tain
ties
.
Fro
m
th
e
m
o
d
el
is
d
escr
ib
e
d
as
Fig
u
r
e
1
;
Fig
u
r
e
2
,
s
tu
d
y
i
n
g
th
e
d
y
n
am
ic
m
o
d
el
o
f
th
e
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tr
o
m
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n
ical
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ac
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tem
co
n
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o
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g
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lead
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cr
ew
with
th
e
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n
p
u
t
o
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th
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y
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θ
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T
h
e
o
u
tp
u
t
is
th
e
p
o
s
itio
n
o
f
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
13
,
No
.
1
,
M
ar
c
h
20
22
:
150
-
158
152
r
ec
ip
r
o
ca
tin
g
r
o
tatio
n
a
n
g
le
o
f
th
e
lead
s
cr
ew
.
Diag
r
am
th
e
d
r
iv
e
s
y
s
tem
b
l
o
ck
f
r
o
m
th
e
co
n
tr
o
l
s
ig
n
al
to
th
e
p
o
s
itio
n
o
f
th
e
lead
s
cr
ew
d
ev
ice
s
y
s
tem
is
s
h
o
wn
in
F
ig
u
r
e
3
.
g
r
1/
s
1
/
(
)
J
s
B
+
d
x
Fig
u
r
e
3
.
Stru
ctu
r
e
d
iag
r
am
o
f
th
e
elec
tr
o
m
ec
h
a
n
ical
tr
ac
k
in
g
d
r
iv
e
s
y
s
tem
o
f
th
e
lead
s
cr
ew
s
y
s
tem
I
n
wh
ich
,
th
e
e
n
g
in
e
t
o
r
q
u
e
will g
en
er
ate
r
o
tatio
n
o
f
th
e
m
o
t
o
r
s
h
af
t w
ith
th
e
in
f
lu
en
ce
o
f
m
o
m
en
t o
f
in
er
tia
J
a
n
d
v
is
co
u
s
f
r
ictio
n
B
,
[
1
7
]
,
[
2
0
]
,
[
2
5
]
.
C
o
m
p
o
n
en
t
is
th
e
co
n
v
er
s
io
n
f
ac
to
r
f
r
o
m
th
e
a
n
g
u
lar
s
p
ee
d
(
o
r
p
o
s
itio
n
)
o
f
th
e
m
o
to
r
s
h
a
f
t
to
th
e
r
ec
ip
r
o
ca
tin
g
p
o
s
itio
n
o
f
th
e
lead
s
cr
ew
s
y
s
tem
w
ith
th
e
f
o
llo
win
g
r
elatio
n
s
h
ip
:
(
)
=
̇
(
)
(
1
)
Fro
m
th
e
s
tr
u
ctu
r
e
d
iag
r
am
we
h
av
e:
̈
=
−
̇
+
−
(
2
)
Her
e
we
p
u
t
=
;
=
;
=
,
f
r
o
m
h
er
e
we
h
av
e
th
e
eq
u
atio
n
d
escr
ib
in
g
th
e
lead
s
cr
ew
co
n
tr
o
l
s
y
s
tem
f
o
r
m
ac
h
in
e
to
o
ls
d
escr
ib
e
d
as th
e
f
o
llo
win
g
eq
u
atio
n
:
̈
=
−
̇
+
−
(
3
)
W
ith
th
e
in
p
u
t
co
n
tr
o
l
s
ig
n
al
o
f
th
e
s
y
s
tem
as
th
e
cr
af
t
ax
i
s
o
f
m
ac
h
in
e
s
et
to
r
q
u
e,
t
h
e
c
o
n
tr
o
l
s
y
n
th
esis
in
s
lid
in
g
m
o
d
e
is
p
er
f
o
r
m
e
d
is
b
ein
g
as
:
3.
T
H
E
CO
N
T
RO
L
L
E
R
SYN
T
H
E
S
I
S
M
E
T
H
O
D
I
N
S
L
I
DING
M
O
D
E
T
h
e
s
y
n
th
esize
co
n
tr
o
ller
i
n
s
lid
in
g
m
o
d
e:
L
et
b
e
th
e
d
esire
d
tr
ajec
to
r
y
,
d
e
f
in
e
=
−
as
th
e
tr
ac
k
in
g
er
r
o
r
.
T
h
e
c
o
n
tr
o
l
s
tr
u
ctu
r
e
h
er
e
is
im
p
lem
e
n
ted
as
a
clo
s
ed
-
lo
o
p
s
tr
u
ctu
r
e,
th
en
o
n
ly
t
h
e
o
u
tp
u
t
r
ec
ip
r
o
ca
tin
g
p
o
s
itio
n
an
d
o
u
tp
u
t
v
elo
city
o
f
th
e
lead
s
cr
e
w
co
n
tr
o
l
s
y
s
tem
ar
e
m
ea
s
u
r
ed
an
d
f
ed
b
ac
k
to
cr
ea
te
a
co
n
tr
o
l la
w.
T
h
e
s
lid
i
n
g
v
ar
ia
b
le
is
s
elec
ted
is
b
ein
g
as
:
=
̇
+
(
4
)
Sin
ce
th
e
tr
ac
k
in
g
er
r
o
r
will
co
n
v
er
g
e
to
ze
r
o
in
an
ex
p
o
n
e
n
tial
f
o
r
m
,
th
e
co
n
v
e
r
g
en
ce
s
p
e
ed
d
ep
en
d
s
o
n
th
e
ch
o
ice
o
f
th
e
co
ef
f
icien
t w
ith
c
>
0,
th
en
th
e
er
r
o
r
is
→
∞
=
0
af
ter
a
p
er
io
d
o
f
tim
e
≥
0
,
th
e
tr
ac
k
in
g
er
r
o
r
is
with
in
th
e
r
an
g
e
ac
ce
p
ta
b
le
b
eh
av
i
o
r
o
f
th
e
d
e
v
ice.
Su
b
s
titu
tin
g
th
e
v
alu
e
=
−
in
(
4
)
a
n
d
d
if
f
er
en
tial w
ith
tim
e
we
h
a
v
e
:
̇
=
̈
+
̇
=
̈
−
̈
+
̇
=
̈
+
̇
−
+
+
̇
(
5
)
I
n
th
is
s
tu
d
y
,
it
is
ex
p
ec
ted
th
at
th
e
ev
alu
atio
n
er
r
o
r
co
m
p
o
n
en
ts
will
b
e
ze
r
o
.
T
h
u
s
,
we
m
u
s
t
ch
o
o
s
e
th
e
co
n
s
tan
t e
v
alu
atio
n
r
u
le
o
n
th
e
b
asis
o
f
L
y
ap
u
n
o
v
f
u
n
ctio
n
f
o
r
ex
p
r
ess
io
n
(
5
)
is
b
ei
n
g
as
:
1
=
1
2
2
(
6
)
Dif
f
er
en
tiatin
g
(
6
)
with
r
esp
ec
t to
tim
e
we
h
av
e:
̇
1
=
̇
=
(
̈
+
̇
−
+
+
̇
)
(
7
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
S
lid
in
g
mo
d
e
co
n
tr
o
l str
a
teg
y
b
a
s
ed
lea
d
s
crew
co
n
tr
o
l d
esig
n
in
…
(
Tr
a
n
Du
c
C
h
u
ye
n
)
153
Acc
o
r
d
in
g
to
th
e
p
r
in
cip
le
o
f
s
tab
ilit
y
th
eo
r
y
o
f
L
y
ap
u
n
o
v
f
u
n
ctio
n
,
it
is
n
ec
ess
ar
y
to
ch
o
o
s
e
th
e
co
n
tr
o
l
s
ig
n
al
is
b
ein
g
as
:
=
1
[
̈
+
̇
+
̇
+
̂
+
(
)
]
(
8
)
T
h
e
s
elec
tio
n
ac
co
r
d
in
g
t
o
(
8
)
is
to
en
s
u
r
e
ac
co
r
d
in
g
to
th
e
p
r
o
p
er
ty
o
f
th
e
n
eg
ativ
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
.
T
h
en
ce
in
f
e
r
r
ed
:
̇
1
=
(
̈
+
̇
−
[
1
[
̈
+
̇
+
̇
+
+
(
)
]
]
+
+
̇
)
=
(
̈
+
̇
+
̈
−
̇
−
̇
−
(
)
−
+
+
̇
)
=
(
−
(
)
)
=
−
|
|
≤
0
(
9
)
T
h
e
p
r
o
p
o
s
ed
co
n
tr
o
l
law
as
ab
o
v
e
h
as
e
n
s
u
r
ed
th
e
c
o
n
v
er
g
en
ce
o
f
s
tate
v
ar
iab
les
ac
co
r
d
in
g
to
co
n
tr
o
l
th
e
o
r
y
with
L
y
a
p
u
n
o
v
co
n
tr
o
l
f
u
n
ctio
n
.
Desig
n
a
n
d
an
al
y
s
is
o
f
s
tab
ilit
y
o
n
th
e
b
asis
o
f
a
s
tate
o
b
s
er
v
er
:
Fo
r
th
e
lead
s
cr
ew
d
r
iv
e
s
y
s
tem
,
d
ep
en
d
in
g
o
n
th
e
ty
p
e
a
n
d
s
i
ze
o
f
th
e
lead
s
cr
ew,
d
u
r
in
g
th
e
s
y
s
tem
'
s
o
p
er
atio
n
u
n
d
er
v
ar
i
o
u
s
co
n
d
itio
n
s
,
th
er
e
ar
e
m
an
y
ty
p
es
o
f
d
is
tu
r
b
an
ce
s
af
f
ec
ti
n
g
th
e
s
y
s
tem
s
u
ch
as
f
o
r
ce
f
r
ictio
n
,
th
e
i
n
f
lu
en
ce
o
f
th
e
g
ap
,
th
e
elastic
f
ac
to
r
an
d
th
e
s
tiff
n
ess
o
f
th
e
l
ea
d
s
cr
ew,
an
d
th
e
m
ac
h
in
in
g
r
ea
ctio
n
.
T
h
is
n
o
is
e
h
as
d
if
f
er
en
t
c
h
ar
ac
ter
is
tics
th
at
af
f
ec
t
th
e
s
ig
n
al
r
e
ce
p
tio
n
f
r
o
m
t
h
e
co
n
tr
o
ller
.
W
h
en
th
e
lead
s
cr
ew
r
o
tates,
th
e
n
o
is
e
co
m
p
o
n
en
t
d
u
e
to
th
e
r
ea
ctio
n
also
h
as
a
s
m
all
v
ar
iatio
n
with
tim
e,
th
en
we
ca
n
a
p
p
ly
t
h
e
s
tate
o
b
s
er
v
er
p
r
o
p
o
s
ed
b
y
[
5
]
,
[
1
3
]
is
b
ei
n
g
as
:
̂
̇
=
1
(
̂
−
̇
)
(
10
)
̂
̇
=
−
̂
+
−
2
(
̂
−
̇
)
−
̇
(
11
)
wh
er
e,
̂
is
an
esti
m
ate
o
f
an
d
̂
is
an
esti
m
ate
o
f
̇
,
c
1
>
0
,
c
2
>
0
,
s
im
ilar
to
th
e
a
b
o
v
e
with
t
h
e
ex
p
ec
tatio
n
th
at
th
e
e
v
alu
atio
n
er
r
o
r
c
o
m
p
o
n
en
t
will
g
r
ad
u
ally
a
p
p
r
o
ac
h
ze
r
o
.
W
e
ch
o
o
s
e
th
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
is
b
ein
g
as
:
2
=
1
2
1
̃
2
+
1
2
̃
2
(
12
)
B
ec
au
s
e
f
o
r
th
e
s
et
o
f
o
b
s
er
v
er
s
,
it is
n
ec
ess
ar
y
to
o
b
s
er
v
e
th
e
r
ea
l u
n
m
ea
s
u
r
ed
co
m
p
o
n
e
n
ts
(
it i
s
n
ec
ess
ar
y
to
esti
m
ate
th
ese
co
m
p
o
n
en
ts
)
to
en
s
u
r
e
a
s
tab
le
s
y
s
tem
(
ac
co
r
d
in
g
t
o
th
e
th
eo
r
y
o
f
s
tab
ilit
y
o
f
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
)
.
Fo
r
̃
=
−
̂
,
̃
=
̇
−
̂
.
T
h
e
d
if
f
er
en
tial (
1
2
)
o
f
th
e
L
y
ap
u
n
o
v
f
u
n
c
tio
n
h
as th
e
f
o
r
m
:
̇
2
=
1
1
̃
̃
̇
+
̃
̃
̇
=
1
1
̃
(
̇
−
̂
̇
)
+
̃
(
̈
−
̂
̇
)
(
13
)
Su
b
s
titu
tin
g
(
1
0
)
,
(
1
1
)
an
d
(
2
)
in
to
(
1
3
)
we
g
et
th
e
f
o
llo
win
g
:
̇
2
=
1
1
̃
(
̇
−
1
(
̂
−
̇
)
)
+
̃
(
−
̇
+
−
−
(
−
̂
+
−
2
(
̂
−
̇
)
−
̇
)
)
=
1
1
̃
̇
−
̃
(
̂
−
̇
)
+
̃
(
−
+
̂
+
2
(
̂
−
̇
)
)
=
1
1
̃
̇
+
̃
̃
+
̃
(
−
̃
−
2
̃
)
=
1
1
̃
̇
−
2
̃
2
(
1
4
)
W
h
en
th
e
n
o
is
e
d
is
s
m
all
in
tim
e
an
d
lim
ited
,
with
c
1
h
av
i
n
g
a
s
u
itab
le
v
alu
e,
t
h
en
is
o
b
ta
in
ed
(
1
/
1
)
.
̇
≈
0
,
h
er
e
it is
ap
p
r
o
p
r
iate
to
c
h
o
o
s
e
c
2
.
So
,
we
h
av
e:
̇
2
=
1
1
̃
̇
−
2
̃
2
≤
0
(
15
)
T
h
u
s
,
n
o
is
e
d
ca
n
b
e
esti
m
ated
b
y
d
esig
n
in
g
a
n
o
is
e
o
b
s
er
v
er
an
d
f
o
r
n
o
is
e
co
m
p
en
s
atio
n
ca
n
b
e
im
p
lem
en
ted
in
f
ee
d
b
ac
k
c
o
n
tr
o
l.
Desig
n
a
co
n
tr
o
ller
i
n
s
lid
in
g
m
o
d
e
with
an
o
b
s
er
v
er
th
at
ev
alu
ates
th
e
n
o
n
lin
ea
r
co
m
p
o
n
en
t:
Sam
e
as
ab
o
v
e,
h
er
e
we
ch
o
o
s
e
th
e
s
lid
in
g
v
ar
iab
le
as
ex
p
r
ess
io
n
(
4
)
,
(
5
)
with
>
0
,
we
ch
o
o
s
e
th
e
L
y
ap
u
n
o
v
f
u
n
ct
io
n
is
b
ein
g
as
:
3
=
1
2
2
(
16
)
Fro
m
th
er
e,
r
ep
lace
th
e
v
alu
e
=
−
in
(
1
6
)
an
d
an
d
tim
e
d
if
f
er
e
n
tial e
x
p
r
ess
io
n
(
1
6
)
g
et:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
13
,
No
.
1
,
M
ar
c
h
20
22
:
150
-
158
154
̇
3
=
̇
=
(
̈
+
̇
−
+
+
̇
)
(
17
)
T
o
r
ed
u
ce
o
s
cillatio
n
o
n
t
h
e
s
lid
in
g
s
u
r
f
ac
e,
it is
p
o
s
s
ib
le
to
b
u
ild
an
d
s
elec
t th
e
co
n
tr
o
l sig
n
al
is
b
ein
g
as
:
=
1
[
̈
+
̇
+
̇
+
̂
+
(
)
]
(
18
)
W
ith
̂
b
ein
g
th
e
co
m
p
o
n
en
t o
f
th
e
esti
m
ated
v
alu
es o
f
d
an
d
̃
=
−
̂
.
W
e
g
et:
̇
3
=
(
̈
+
̇
+
+
̇
−
[
1
[
̈
+
̇
+
̇
+
̂
+
(
)
]
]
)
=
(
̈
+
̇
−
̈
−
̇
−
̇
−
̂
−
(
)
+
+
̇
)
=
(
−
̂
−
(
)
)
=
̃
−
|
|
(
1
9
)
W
ith
th
e
co
ef
f
icien
t
k
ch
o
s
en
s
atis
f
y
in
g
≥
|
̃
|
,
we
ca
n
g
et:
̇
3
=
̃
−
|
|
≤
0
(
20
)
T
h
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
o
f
a
f
u
lly
clo
s
ed
s
y
s
tem
ca
n
b
e
e
x
p
r
ess
ed
as:
=
2
+
3
=
1
2
1
̃
2
+
1
2
̃
2
+
1
2
2
(
21
)
Dif
f
er
en
tiate
(
2
1
)
,
we
g
et:
̇
=
̇
2
+
̇
3
=
1
1
̃
̃
̇
+
̃
̃
̇
+
̇
(
22
)
Su
b
s
titu
tin
g
(
1
3
)
an
d
(
2
0
)
in
to
(
2
2
)
,
we
h
av
e:
̇
=
̇
2
+
̇
3
=
1
1
̃
̇
−
2
̃
2
+
̃
−
|
|
≤
0
(
23
)
T
h
en
g
et
th
e
v
alu
e
̇
≤
0
.
L
im
itin
g
o
s
cillatio
n
o
n
th
e
s
lid
in
g
s
u
r
f
ac
e
f
o
r
th
e
c
o
n
tr
o
ller
:
o
n
e
lim
itatio
n
o
f
th
e
s
lid
in
g
m
o
d
e
co
n
tr
o
l
m
o
d
e
is
th
e
ch
atter
in
g
p
h
en
o
m
en
o
n
o
n
th
e
s
lid
in
g
s
u
r
f
ac
e,
wh
ich
n
e
g
ativ
ely
af
f
ec
ts
th
e
s
y
s
tem
an
d
th
e
ac
tu
ato
r
.
T
o
lim
it
th
e
o
s
cillatio
n
o
n
th
e
s
lid
i
n
g
s
u
r
f
ac
e,
we
u
s
e
th
e
s
atu
r
atio
n
f
u
n
ctio
n
in
s
tead
o
f
th
e
s
ig
n
f
u
n
ctio
n
in
t
h
e
co
n
tr
o
l
law
(
1
8
)
,
[
2
]
.
T
h
e
s
atu
r
ati
o
n
(
s
at)
f
u
n
ctio
n
is
d
escr
ib
ed
as
(
2
4
)
.
Fro
m
t
h
er
e,
we
h
av
e
th
e
s
atu
r
atio
n
f
u
n
ctio
n
g
r
a
p
h
as
s
h
o
wn
in
Fig
u
r
e
4
as
s
h
o
wn
in
.
T
h
en
,
it
will
r
ed
u
ce
th
e
o
s
cillatio
n
o
n
th
e
s
lid
in
g
s
u
r
f
ac
e
f
r
o
m
u
s
i
n
g
th
e
s
atu
r
atio
n
f
u
n
ctio
n
in
s
tead
o
f
th
e
s
ig
n
f
u
n
ctio
n
,
b
r
in
g
in
g
h
ig
h
r
esu
lts
f
o
r
th
e
co
n
tr
o
l sy
s
tem
,
[
2
]
,
[
8
]
,
[
1
4
]
,
[
2
5
]
.
(
)
=
{
1
,
>
,
|
|
≤
,
=
1
/
−
1
<
−
(
24
)
1
-
1
()
s
sat
s
0
Fig
u
r
e
4
.
T
h
e
s
atu
r
atio
n
f
u
n
cti
o
n
g
r
a
p
h
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
o
g
et
an
ass
ess
m
en
t
o
f
th
e
q
u
ality
o
f
t
h
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
,
th
e
au
th
o
r
s
b
u
ild
s
im
u
l
atio
n
s
o
n
MA
T
L
AB
-
Simu
lin
k
f
o
r
th
e
m
o
d
el
o
b
ject
o
f
a
b
all
s
cr
e
w
s
y
s
tem
u
s
in
g
an
AC
s
er
v
o
m
o
to
r
.
T
h
is
is
a
p
er
m
an
en
t
m
a
g
n
et
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
(
PMSM)
with
a
co
n
v
en
tio
n
al
pr
o
p
o
r
tio
n
al
in
teg
r
al
d
er
iv
ativ
e
(
PID
)
co
n
tr
o
ller
a
n
d
a
s
lip
co
n
tr
o
lle
r
h
as
b
ee
n
p
r
o
p
o
s
ed
,
[
8
]
,
[
9
]
,
[
1
1
]
.
Par
am
eter
s
V
P
,
V
I
ar
e
s
e
lecte
d
o
n
th
e
b
asis
o
f
e
x
p
er
im
en
tal
m
eth
o
d
Z
eig
l
er
Nich
o
ls
.
Af
te
r
ch
o
o
s
in
g
p
a
r
am
eter
s
V
P
,
V
I
,
we
ca
n
ca
lcu
late
p
ar
am
eter
s
V
P
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
S
lid
in
g
mo
d
e
co
n
tr
o
l str
a
teg
y
b
a
s
ed
lea
d
s
crew
co
n
tr
o
l d
esig
n
in
…
(
Tr
a
n
Du
c
C
h
u
ye
n
)
155
an
d
d
.
H
o
wev
er
,
d
u
e
to
t
h
e
ex
p
er
im
en
tal
d
esig
n
,
t
o
im
p
r
o
v
e
th
e
co
n
tr
o
l
q
u
ality
: sh
o
r
t tr
a
n
s
ien
t tim
e
an
d
s
m
all
o
v
er
s
h
o
o
t,
it
is
n
ec
ess
ar
y
to
a
d
ju
s
t
two
m
o
r
e
p
ar
a
m
eter
s
Vp
an
d
d
.
T
h
e
s
et
o
f
co
r
r
ec
tio
n
p
ar
am
ete
r
s
f
o
u
n
d
ar
e:
V
P
=0
.
0
1
;
d
=
0
.
9
8
(
with
T
=0
.
0
0
2
)
.
Qu
al
ity
o
f
p
r
o
p
o
r
tio
n
al
in
teg
r
al
(
PI
)
co
n
tr
o
ller
af
ter
s
elec
tio
n
ca
lcu
latio
n
:
K
P
=0
.
3;
K
I
=0
.
0
0
0
1
.
I
n
a
d
d
itio
n
,
th
e
au
th
o
r
s
u
s
e
PID
d
esig
n
co
n
tr
o
l
s
o
f
t
war
e
to
d
esig
n
th
e
co
n
tr
o
ller
.
T
ec
h
n
ical
p
ar
am
et
er
s
in
clu
d
e:
s
p
ee
d
0
-
1
2
m
m
/s
,
lo
ad
9
5
Kg
N,
f
ix
ed
-
le
n
g
th
ap
er
tu
r
e
f
u
ll
-
s
tr
o
k
e
lead
s
cr
ew
L
=5
0
0
m
m
,
with
m
o
v
in
g
d
is
tan
ce
to
th
e
lef
t
o
f
lead
s
cr
ew
L
1
=1
9
cm
,
r
ig
h
t
s
h
if
t
L
2
=2
3
cm
,
m
ax
im
u
m
len
g
th
o
f
lea
d
s
cr
ew
ex
clu
d
in
g
jo
i
n
ts
is
5
0
0
m
m
,
an
d
m
in
im
u
m
len
g
t
h
is
5
m
m
in
s
cr
ew
p
itch
o
f
lead
s
cr
ew.
T
h
e
o
u
ter
wid
th
o
f
th
e
lead
s
cr
ew
s
y
s
tem
i
s
1
2
0
m
m
,
th
e
to
o
l
tab
le
wid
th
is
1
0
5
m
m
,
an
d
th
e
to
o
lp
ath
le
n
g
th
is
1
2
0
m
m
.
T
r
av
el
tim
e
to
th
e
e
n
d
o
f
th
e
j
o
u
r
n
ey
with
th
e
m
ax
im
u
m
s
p
ee
d
t
=
3
.
1
5
s
with
t
h
e
p
ar
am
eter
s
:
=
10
,
=
10
,
=
1388
.
61
(
/
)
/
(
2
)
.
AC
s
er
v
o
m
o
to
r
with
d
r
iv
er
p
an
aso
n
ic
MA
DDT
1
2
0
7
h
as
p
a
r
am
eter
s
:
m
o
to
r
p
o
wer
P=2
0
0
W
,
r
ate
d
s
p
ee
d
n
rate
=
3
0
0
0
r
p
m
,
cu
r
r
e
n
t
I
=
2
A,
v
o
ltag
e
U
=
2
0
0
V,
f
r
e
q
u
en
c
y
5
0
-
60
Hz,
en
co
d
er
c
o
u
n
tin
g
2
5
0
0
S/R
,
an
d
th
e
m
o
to
r
s
h
af
t
e
n
d
h
a
s
a
s
o
f
t
jo
in
t
th
at
is
lin
k
ed
to
th
e
lead
s
cr
ew
s
y
s
tem
.
W
o
r
k
in
g
s
tr
u
ct
u
r
e
with
c
o
n
v
er
ted
m
o
m
e
n
t
o
f
i
n
er
tia
=
0
.
12
2
.
T
o
ev
alu
ate
th
e
r
esu
lts
,
we
p
er
f
o
r
m
a
p
o
s
itio
n
tr
ac
k
in
g
s
im
u
latio
n
f
o
r
th
e
ax
is
o
f
th
e
lea
d
s
cr
ew
d
r
iv
er
with
th
e
p
ar
am
eter
s
g
i
v
en
is
b
ein
g
:
1
=
0
.
05
/
,
1
=
0
.
03
2
,
1
=
0
.
06
2
/
,
1
=
4000
,
Δ
=
0
.
10
,
c
=
1
5
,
a
n
d
k
=
5
0
.
Simu
latio
n
r
esu
lts
:
p
er
f
o
r
m
ed
with
a
co
n
v
en
tio
n
al
PID
p
o
s
iti
o
n
co
n
tr
o
ller
as
s
h
o
wn
in
Fig
u
r
e
5
.
T
h
e
s
im
u
latio
n
r
esu
lts
wi
th
th
e
s
li
d
in
g
m
o
d
e
co
n
tr
o
ller
an
d
th
e
n
o
is
e
o
b
s
er
v
er
ar
e
b
ein
g
as.
E
v
alu
atio
n
o
f
r
esu
lts
:
co
m
p
ar
in
g
th
e
v
al
u
e
o
f
th
e
le
ad
s
cr
ew
p
o
s
itio
n
tr
ac
k
i
n
g
co
n
tr
o
ller
,
we
f
o
u
n
d
th
at,
with
a
co
n
v
e
n
tio
n
al
PID
co
n
tr
o
ller
,
t
h
e
s
etu
p
tim
e
f
o
r
th
e
s
y
s
tem
to
f
o
llo
w
t
h
e
s
et
s
ig
n
al
is
ab
o
u
t
0
.
7
s
;
th
e
o
v
er
c
o
r
r
ec
tio
n
is
7
%,
th
e
lar
g
est
tr
ac
k
in
g
er
r
o
r
is
ab
o
u
t
1
2
.
3
%
Fig
u
r
e
5
.
W
ith
th
e
s
li
d
in
g
c
o
n
tr
o
ller
co
m
b
i
n
ed
wit
h
th
e
s
tate
o
b
s
er
v
er
,
we
h
av
e
a
s
et
tim
e
f
o
r
th
e
d
r
i
v
e
s
y
s
tem
to
tr
ac
k
in
g
th
e
s
ig
n
al
as
th
e
s
et
s
p
ee
d
an
d
th
e
ac
tu
al
s
p
ee
d
alwa
y
s
f
o
llo
ws
th
e
s
et
v
alu
e
Fig
u
r
e
6
,
th
e
n
o
is
e
s
ig
n
al
esti
m
atio
n
v
alu
e
d
1
an
d
th
e
p
ar
am
eter
esti
m
atio
n
er
r
o
r
o
f
th
e
co
n
tr
o
ller
s
h
o
w
t
h
at
a
g
o
o
d
w
o
r
k
in
g
o
b
s
er
v
er
alwa
y
s
p
r
o
v
i
d
es
f
u
ll
in
f
o
r
m
atio
n
ab
o
u
t
th
e
co
n
tr
o
ller
Fig
u
r
e
7
.
Similar
ly
,
with
th
e
in
p
u
t
co
n
tr
o
l
s
ig
n
al
u
1
(
t)
as
s
h
o
w
n
in
F
ig
u
r
e
8
,
th
e
q
u
ality
o
f
tr
ac
k
in
g
th
e
p
o
s
itio
n
o
f
th
e
lead
s
cr
ew
s
y
s
tem
wh
en
u
s
in
g
th
e
p
r
o
p
o
s
ed
s
lid
in
g
co
n
tr
o
ll
er
as
s
h
o
wn
in
F
ig
u
r
e
9
is
also
b
etter
th
a
n
th
at
o
f
th
e
lead
s
cr
ew
s
y
s
tem
with
c
o
n
v
en
tio
n
al
PID
c
o
n
tr
o
ller
s
im
u
latio
n
r
esu
lts
Fig
u
r
e
5
.
Mo
r
eo
v
er
,
th
ese
r
esu
lts
co
m
p
ar
e
with
th
e
liter
atu
r
e
[
1
9
]
,
[
2
3
]
,
t
h
e
r
esu
lts
o
f
t
h
is
p
a
p
er
ar
e
b
etter
,
b
ec
au
s
e
th
e
r
e
a
r
e
s
m
aller
tr
ac
k
in
g
er
r
o
r
s
,
lead
in
g
to
b
etter
co
n
tr
o
l q
u
ality
.
Fro
m
th
e
r
esu
lts
o
f
tr
ac
k
in
g
th
e
tr
ajec
to
r
y
o
f
t
h
e
lead
s
cr
ew
s
y
s
tem
d
ev
ice,
we
f
in
d
th
at,
with
a
co
n
v
en
tio
n
al
PID
c
o
n
tr
o
ller
,
t
h
e
o
v
e
r
d
r
iv
e
o
f
th
e
p
o
s
itio
n
c
o
n
tr
o
ller
is
lar
g
e,
t
h
e
tr
a
n
s
ien
t
tim
e
is
lar
g
e,
an
d
th
e
er
r
o
r
o
f
tr
ac
k
in
g
th
e
en
d
p
o
in
t
tr
ajec
to
r
y
o
f
th
e
c
o
n
tr
o
lle
r
is
lar
g
e
.
As
f
o
r
th
e
p
r
o
p
o
s
ed
s
lid
in
g
c
o
n
tr
o
ller
co
m
b
in
ed
with
s
tate
o
b
s
er
v
er
,
we
f
in
d
th
at
th
e
tr
ac
k
in
g
q
u
ali
ty
o
f
th
e
co
n
tr
o
ller
h
as h
ig
h
ac
cu
r
ac
y
.
T
h
e
ac
tu
al
tr
ajec
to
r
y
o
f
th
e
lea
d
s
cr
ew
s
y
s
tem
h
as
ca
p
tu
r
ed
th
e
s
et
tr
ajec
to
r
y
with
a
v
er
y
s
m
all
er
r
o
r
(
0
»
)
,
th
e
tr
an
s
ien
t
tim
e
is
s
m
all,
th
e
o
v
er
s
h
o
o
t is
v
er
y
s
m
all.
T
i
m
e
[
s
]
P
o
s
i
t
i
v
e
-
a
n
g
l
e
s
e
t
p
o
s
i
t
i
o
n
x
1
d
r
e
a
l
p
o
s
i
t
i
o
n
x
1
d
Fig
u
r
e
5
.
T
h
e
r
o
tatio
n
al
ax
is
p
o
s
itio
n
o
f
lead
s
cr
ew
s
y
s
tem
wh
en
u
s
in
g
PID
co
n
tr
o
ller
P
o
s
i
t
i
v
e
-
a
n
g
l
e
s
e
t
s
p
e
e
d
r
e
a
l
s
p
e
e
d
T
i
m
e
[
s
]
Fig
u
r
e
6
.
R
ea
l sp
ee
d
an
d
s
et
s
p
ee
d
o
f
lead
s
cr
ew
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
13
,
No
.
1
,
M
ar
c
h
20
22
:
150
-
158
156
d
1
e
s
t
i
m
a
t
e
d
1
d
1
a
n
d
e
s
t
i
m
a
t
e
d
1
e
s
t
i
m
a
t
e
d
e
r
r
o
r
d
1
e
s
t
i
m
a
t
e
d
e
r
r
o
r
Fig
u
r
e
7
.
R
esu
lt o
f
n
o
is
e
s
ig
n
al
esti
m
atio
n
d
1
an
d
esti
m
atio
n
er
r
o
r
w
h
en
th
e
lea
d
s
cr
ew
s
y
s
tem
is
wo
r
k
in
g
T
i
m
e
[
s
]
T
h
e
c
o
n
t
r
o
l
i
n
p
u
t
Fig
u
r
e
8
.
T
h
e
co
n
tr
o
l sig
n
al
in
p
u
t u
1
(
t)
s
e
t
p
o
s
i
t
i
o
n
r
e
a
l
p
o
s
i
t
i
o
n
T
i
m
e
[
s
]
P
o
s
i
t
i
v
e
-
a
n
g
l
e
Fig
u
r
e
9
.
T
h
e
ax
ial
p
o
s
itio
n
o
f
th
e
lead
s
cr
ew
d
ev
ice
w
h
en
u
s
in
g
th
e
p
r
o
p
o
s
ed
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
T
h
r
o
u
g
h
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e
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im
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th
e
f
o
llo
win
g
o
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s
er
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ati
o
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s
ar
e
m
ad
e:
th
e
co
n
tr
o
l
q
u
ality
o
f
th
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p
r
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p
o
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ed
s
lid
in
g
c
o
n
tr
o
ller
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m
u
ch
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ig
h
er
th
an
th
at
o
f
th
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c
o
n
v
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tio
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al
PID
co
n
tr
o
ller
:
in
ter
m
s
o
f
tr
an
s
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o
v
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ec
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s
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k
s
[
1
7
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,
[
1
9
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,
[
2
0
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,
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2
3
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,
th
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ap
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On
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Fro
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Facu
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Un
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No
.
4
5
6
Min
h
Kh
ai
R
o
ad
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Hai
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.
RE
F
E
R
E
NC
E
S
[
1
]
M
.
J
u
f
e
r
,
“
E
l
e
c
t
r
i
c
D
r
i
v
e
s
:
d
e
si
g
n
m
e
t
h
o
d
o
l
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g
y
,
”
J
o
h
n
W
i
l
e
y
&
S
o
n
s,
F
e
b
r
u
a
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y
2
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3
,
d
o
i
:
1
0
.
1
0
0
2
/
9
7
8
1
1
1
8
6
2
2
7
3
5
.
[
2
]
V
.
U
t
k
i
n
,
J
.
G
u
l
d
n
e
r
,
a
n
d
J
.
S
h
i
,
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S
l
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d
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g
Mo
d
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C
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l
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M
e
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y
s
t
e
m
s
,
”
C
R
C
P
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ss
,
Ja
n
u
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y
2
0
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7
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d
o
i
:
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0
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2
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/
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7
8
1
4
2
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1
9
.
[
3
]
S
.
F
i
l
i
z
a
d
e
h
,
“
E
l
e
c
t
r
i
c
Ma
c
h
i
n
e
s
a
n
d
D
ri
v
e
s:
Pri
n
c
i
p
l
e
s
,
C
o
n
t
r
o
l
,
M
o
d
e
l
i
n
g
,
a
n
d
S
i
m
u
l
a
t
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o
n
,
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C
R
C
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ss
,
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e
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0
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3
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d
o
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7
8
1
3
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5
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6
9
6
5
1
.
[
4
]
A
.
M.
A
n
n
a
sw
a
m
y
,
“
R
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b
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s
t
Ad
a
p
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l
,
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i
n
:
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a
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l
J.
,
S
a
ma
d
T.
(
e
d
s)
E
n
c
y
c
l
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o
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t
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.
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1.
[
5
]
J.
P
y
r
h
ö
n
e
n
,
V
.
H
r
a
b
o
v
c
o
v
á
,
a
n
d
R
.
S
.
S
e
m
k
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n
,
“
El
e
c
t
ri
c
a
l
M
a
c
h
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n
e
D
ri
v
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s
C
o
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t
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l
:
A
n
i
n
t
r
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d
u
c
t
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o
n
,
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Jo
h
n
W
i
l
e
y
&
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s
L
t
d
.
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K
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0
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0
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7
8
1
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1
9
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7
9
.
[
6
]
A
.
B
a
c
c
i
o
t
t
i
,
“
S
t
a
b
i
l
i
t
y
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n
d
C
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t
ro
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f
L
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t
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m
s
,
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p
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7
8
-
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5
-
5.
[
7
]
A
.
Ema
d
i
,
“
Ad
v
a
n
c
e
d
E
l
e
c
t
ri
c
D
r
i
v
e
Ve
h
i
c
l
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s
,
”
C
R
C
P
r
e
ss
i
s
a
n
i
m
p
r
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n
t
o
f
T
a
y
l
o
r
&
F
r
a
n
c
i
s
G
r
o
u
p
,
a
n
I
n
f
o
r
ma
b
u
s
i
n
e
ss,
S
p
r
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n
g
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r
I
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t
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r
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t
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;
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o
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0
.
[
8
]
M
.
S
t
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i
n
b
e
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g
e
r
,
M
.
H
o
r
n
,
a
n
d
L
.
F
r
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d
man
,
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V
a
ri
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b
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-
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t
ru
c
t
u
re
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t
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m
s
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n
d
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l
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-
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f
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m
t
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o
r
y
t
o
p
r
a
c
t
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c
e
,
”
N
e
w
Y
o
r
k
,
N
Y
,
U
S
A
:
S
p
r
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n
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e
r
I
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t
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o
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/
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-
3
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3
6
6
2
1
-
6.
[
9
]
L
.
K
e
v
i
c
z
k
y
,
R
.
B
a
r
s,
J
.
H
e
t
t
h
é
ss
y
,
a
n
d
C
.
B
á
n
y
á
sz
,
“
C
o
n
t
r
o
l
E
n
g
i
n
e
e
r
i
n
g
:
MA
T
L
AB
E
x
e
r
c
i
se
s
,
”
P
u
b
l
i
s
h
i
n
g
b
y
S
p
r
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g
e
r
N
a
t
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a
p
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P
t
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,
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A
,
2
0
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9
,
d
o
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:
1
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1
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7
8
-
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8
1
-
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2
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1
.
[
1
0
]
T.
Z
h
a
n
g
a
n
d
J.
S
u
,
“
C
o
l
l
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s
i
o
n
-
f
r
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e
p
l
a
n
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i
n
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t
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m
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p
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t
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f
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h
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b
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b
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t
g
r
i
n
d
i
n
g
s
y
st
e
m
,
”
I
n
t
.
J
.
Ad
v
.
R
o
b
o
t
.
S
y
s
t
.
,
v
o
l
.
1
5
,
n
o
.
4
,
p
p
.
1
–
1
3
,
Ju
l
y
-
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g
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s
t
2
0
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8
,
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o
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:
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0
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1
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7
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7
2
9
8
8
1
4
1
8
7
9
3
7
7
8
.
[
1
1
]
D
.
P
.
N
a
m,
N
.
H
.
Q
u
a
n
g
,
N
.
N
.
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u
n
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,
a
n
d
T.
T.
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.
Y
e
n
,
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A
d
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m
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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I
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t J Po
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Vo
l.
13
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No
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1
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M
ar
c
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20
22
:
150
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158
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2
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B
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RAP
H
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S O
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AUTH
O
RS
Tr
a
n
Duc
Chu
y
e
n
re
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iv
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th
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h
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d
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re
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in
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d
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strial
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t
o
m
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ti
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fr
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m
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Qu
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Tec
h
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ica
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v
e
rsity
(
M
TA),
Ha
n
o
i,
Vie
t
n
a
m
in
2
0
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6
.
No
w,
wo
r
k
s
a
t
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
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En
g
in
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rin
g
,
Un
i
v
e
rsity
o
f
Ec
o
n
o
m
ics
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h
n
o
l
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g
y
f
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r
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d
u
stries
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is
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r
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n
tl
y
th
e
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re
sid
e
n
t
o
f
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u
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ien
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lt
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lec
tri
c
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l
En
g
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rin
g
.
Tra
n
Du
c
Ch
u
y
e
n
′
s
m
a
in
re
se
a
rc
h
e
s:
e
lec
tri
c
m
a
c
h
in
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,
d
ri
v
e
sy
ste
m
,
c
o
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tro
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th
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r
y
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p
o
we
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tro
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d
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p
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ti
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d
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ro
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ra
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rk
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ti
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ro
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t
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m
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ti
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n
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n
tro
l
,
a
n
d
a
rti
ficia
l
i
n
telli
g
e
n
c
e
.
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c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
t
d
c
h
u
y
e
n
@
u
n
e
ti
.
e
d
u
.
v
n
.
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n
H
a
i
N
g
u
y
e
n
wa
s
b
o
rn
in
1
9
8
0
.
HC
M
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Un
i
v
e
rsity
o
f
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h
n
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l
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g
y
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n
d
Ed
u
c
a
ti
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n
(HCMUTE
)
in
2
0
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a
n
d
re
c
e
iv
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d
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.
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u
to
m
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ti
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re
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t
o
m
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ti
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t
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v
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TA)
i
n
2
0
1
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r
o
m
2
0
0
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to
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h
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n
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th
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lt
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tri
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a
d
o
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rtme
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h
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ll
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lo
g
y
a
n
d
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ro
fo
re
str
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o
f
Vie
t
n
a
m
.
M
a
in
re
se
a
rc
h
d
irec
ti
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n
:
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n
telli
g
e
n
t
c
o
n
tro
l
,
p
ro
c
e
ss
c
o
n
tro
l
,
d
riv
e
sy
ste
m
,
p
o
we
r
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le
c
tro
n
ics
a
n
d
a
p
p
li
c
a
ti
o
n
,
a
d
a
p
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iv
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c
o
n
tr
o
l,
fu
z
z
y
lo
g
ic
c
o
n
tr
o
l,
a
u
t
o
m
a
ti
c
ro
b
o
t
c
o
n
tro
l
,
a
n
d
m
o
ti
o
n
c
o
n
t
ro
l.
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c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
h
a
i
n
d
.
n
g
u
y
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n
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g
m
a
il
.
c
o
m
.
Ph
u
o
n
g
Na
m
D
a
o
re
c
e
iv
e
d
th
e
P
h
.
D.
d
e
g
re
e
i
n
In
d
u
strial
Au
to
m
a
ti
o
n
fr
o
m
Ha
n
o
i
U
n
iv
e
rsit
y
o
f
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c
ien
c
e
a
n
d
Tec
h
n
o
l
o
g
y
,
Ha
n
o
i,
Vie
tn
a
m
in
2
0
1
3
.
C
u
rre
n
tl
y
,
h
e
h
o
ld
s th
e
p
o
siti
o
n
a
s
lec
tu
re
r
a
t
Ha
n
o
i
U
n
iv
e
rsity
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
l
o
g
y
,
Vie
t
n
a
m
.
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
c
o
n
tro
l
o
f
ro
b
o
t
ic
sy
ste
m
s
a
n
d
ro
b
u
st
/ad
a
p
ti
v
e
,
o
p
ti
m
a
l
c
o
n
tr
o
l.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
n
a
m
.
d
a
o
p
h
u
o
n
g
@h
u
st.ed
u
.
v
n
.
Ng
u
y
e
n
Anh
Tu
a
n
wa
s b
o
rn
in
1
9
8
4
.
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is wo
rk
in
g
a
t
th
e
F
a
c
u
lt
y
o
f
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
,
Un
i
v
e
rsity
o
f
Eco
n
o
m
ics
-
Tec
h
n
o
l
o
g
y
fo
r
I
n
d
u
stries
;
M
in
istr
y
o
f
I
n
d
u
stry
a
n
d
Trad
e
th
e
so
c
ialist
re
p
u
b
li
c
o
f
Vie
tn
a
m
.
He
re
c
e
iv
e
d
th
e
P
h
.
D.
d
e
g
re
e
in
m
e
c
h
a
n
ica
l
e
n
g
in
e
e
rin
g
fro
m
Ha
n
o
i
Un
i
v
e
rsi
ty
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
lo
g
y
,
H
a
n
o
i,
Vie
tn
a
m
i
n
2
0
1
8
.
His
re
se
a
rc
h
in
tere
sts
in
c
l
u
d
e
p
re
c
isio
n
e
n
g
i
n
e
e
rin
g
,
imp
a
c
t
o
f
tec
h
n
o
l
o
g
ica
l
p
a
ra
m
e
ters
o
n
s
u
rfa
c
e
q
u
a
li
t
y
o
f
wo
r
k
p
iec
e
c
u
tt
in
g
o
n
to
o
l
m
a
c
h
i
n
e
s.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
n
a
tu
a
n
.
c
k
@u
n
e
ti
.
e
d
u
.
v
n
.
Ng
u
y
e
n
V
a
n
T
o
a
n
wa
s
b
o
r
n
in
1
9
8
2
.
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g
ra
d
u
a
ted
a
s
a
n
E
n
g
i
n
e
e
r
o
f
El
e
c
tri
c
a
l
En
g
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n
e
e
rin
g
a
n
d
Tec
h
n
o
lo
g
y
,
m
a
jo
rin
g
in
A
u
to
m
a
ti
o
n
a
t
U
n
iv
e
rsity
o
f
Eco
n
o
m
ic
a
n
d
In
d
u
strial
Tec
h
n
o
lo
g
y
.
Re
c
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d
a
m
a
ste
r'
s
d
e
g
re
e
in
Co
n
tro
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En
g
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n
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rin
g
a
n
d
Au
to
m
a
ti
o
n
fro
m
th
e
U
n
iv
e
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o
f
Tran
sp
o
r
t
a
n
d
Co
m
m
u
n
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s,
2
0
1
3
.
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r
o
m
2
0
0
8
u
n
ti
l
n
o
w
h
e
h
a
s
b
e
e
n
a
lec
tu
re
r
in
t
h
e
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l,
Un
iv
e
rsity
o
f
Eco
n
o
m
ics
-
Tec
h
n
o
lo
g
y
f
o
r
In
d
u
stries
;
M
in
istr
y
o
f
In
d
u
str
y
a
n
d
Trad
e
th
e
so
c
ialist
re
p
u
b
li
c
o
f
Vie
t
n
a
m
.
M
a
in
re
se
a
rc
h
d
irec
ti
o
n
:
i
n
telli
g
e
n
t
c
o
n
tro
l
,
P
L
C
a
n
d
m
icro
c
o
n
tro
ll
e
r,
in
d
u
strial
e
lec
tri
c
a
l
c
o
n
tro
l
,
a
n
d
p
o
we
r
su
p
p
l
y
s
y
ste
m
c
o
n
tro
l.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
n
v
to
a
n
@u
n
e
ti
.
e
d
u
.
v
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.