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,
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201
8
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77
~
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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SN
:
208
9
-
48
56
IJ
RA
V
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.
7
,
N
o
.
2
,
J
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2
01
8
:
77
–
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b
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[1
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I
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t
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a
je
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b
r
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[
1
0
]
.
T
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c
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di
t
i
ons
of
c
o
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ge
nc
e
e
na
bl
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o t
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1]
a
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u
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1
2
2
(
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(
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To
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k t
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e
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t
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on
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n t
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w
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n s
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n
[
18]
,
t
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3.
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1
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I
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208
9
-
48
56
IJ
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IJ
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:
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48
56
E
x
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[
7
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[
1
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19
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IJ
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IJ
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48
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
208
9
-
48
56
IJ
RA
V
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.
7
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
IS
S
N
:
2089
-
48
56
E
x
p
one
nt
i
al
R
e
ac
hi
ng
L
aw
an
d
Se
n
s
or
l
e
s
s
D
T
C
I
M
C
o
n
t
r
o
l
wi
t
h
Ne
u
r
a
l
N
e
t
wo
r
k
…
(
L
e
g
r
i
o
u
i
S
a
i
d
)
85
Th
e
s
t
a
b
i
l
i
t
y
o
f
t
h
e
s
y
s
t
e
m
r
e
s
p
o
n
s
e
at
l
o
w
an
d
zer
o
s
p
eed
h
as
b
ee
n
ch
ec
k
e
d
b
y
a
r
ect
a
n
g
u
l
ar
c
om
m
a
nd
s
t
a
r
t
i
ng
f
r
om
z
e
r
o
t
o 30
0 r
pm
a
nd w
i
t
h
5
0
%
o
f
t
h
e
r
a
t
e
d
l
o
a
d
t
o
r
q
u
e
.
by (
7.
a
)
an
d
(7
.
b
)
w
e h
av
e
s
een
a
ve
r
y g
o
od
s
t
a
b
i
l
i
t
y
a
nd
d
yna
m
ic
r
e
s
po
ns
e
c
om
pa
r
e
d t
o
[
8
]
w
h
o
r
eal
i
ze
d
t
h
e
s
am
e
w
o
rk
but w
it
h
a
m
ech
an
i
cal
ad
a
p
t
at
i
o
n
w
i
t
h
a
Pi
r
e
gu
la
tor
f
o
r
t
h
e
e
s
t
i
m
a
t
i
o
n
of
t
he
s
ta
t
or
r
e
s
i
s
t
an
ce
,
w
h
i
c
h
f
e
l
l
i
n
t
o
a
ch
at
t
er
i
n
g
pr
oblé
m
at
l
o
w
s
p
eed
w
i
t
h
an
av
er
ag
e
r
e
s
pons
e
t
i
m
e
.
O
n the
ot
he
r
ha
nd,
w
e
ha
ve
not
ic
e
d in
t
h
e
es
t
i
m
at
ed
an
d
act
u
al
s
p
ee
d
al
s
o
t
h
e
es
t
i
m
at
e
d
p
ar
am
et
er
s
p
r
es
en
t
s
d
i
g
i
t
al
n
o
i
s
es
w
h
i
ch
a
r
e n
o
t
ab
l
e
f
r
o
m
t
h
e
pul
s
a
t
i
o
ns
i
n t
he
s
pe
e
d
f
i
g
ur
e
s
;
t
h
i
s
i
s
m
a
i
n
l
y
r
e
l
a
t
e
d
t
o
t
h
e
i
n
c
r
e
m
e
n
t
a
l
e
n
c
o
d
e
r
a
n
d
d
S
P
A
CE
c
a
r
d
r
e
s
o
l
u
t
i
o
n
[
20
]
.
Ne
ve
r
t
he
l
e
s
s
,
a
t
z
e
r
o
r
e
f
e
r
e
nc
e
,
t
he
s
e
ns
o
r
l
e
s
s
d
r
i
ve
s
ho
ws
a
go
o
d
s
t
a
bi
l
i
t
y
.
T
he
t
or
q
ue
p
r
e
s
e
nt
s
g
o
o
d
dy
na
m
i
c
s
,
but
os
c
i
l
l
a
t
i
ons
oc
c
ur
a
s
i
t
c
a
n
b
e
s
e
e
n
i
n
t
he
wa
ve
f
or
m
s
.
6.
C
O
N
CL
US
I
O
N
I
n t
hi
s
a
r
t
i
c
l
e
,
w
e
p
r
e
s
e
nt
e
d t
he
i
m
pl
e
m
e
nt
a
t
i
on o
f
a
D
T
C
c
ont
r
ol
w
i
t
ho
u
t
a
s
pe
e
d
s
e
ns
or
us
i
n
g t
he
r
o
t
o
r
f
l
u
x
M
RA
S
-
b
a
s
e
d
.
F
u
r
t
h
e
r
m
o
r
e
,
w
e
d
e
a
l
t
w
i
t
h
t
h
e
r
e
s
o
l
u
t
i
o
n
o
f
t
h
e
p
r
o
b
l
e
m
s
o
f
p
a
r
a
m
e
t
e
r
s
’
v
a
r
i
a
t
i
o
n
s
by
a
n onl
i
n
e
e
s
t
i
m
a
t
i
o
n
o
f
t
h
e
s
t
a
t
o
r
r
es
i
s
t
an
ce a
n
d
t
h
e
i
n
v
er
s
e
o
f
r
o
t
o
r
-
t
i
m
e co
n
s
t
an
t
.
W
e
c
h
an
g
ed
t
h
e
c
on
ve
nt
i
ona
l
P
I
c
o
nt
r
ol
l
e
r
by
t
w
o t
y
pe
s
of
no
n
-
l
i
n
e
a
r
r
e
g
u
l
a
t
o
r
s
;
a
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
l
e
r
w
i
t
h
a
r
e
a
c
h
i
n
g
l
a
w
m
e
t
h
o
d
i
n
t
he
s
pe
e
d
c
o
n
t
r
ol
,
a
n
d a
ne
u
r
a
l
ne
t
wo
r
k c
o
nt
r
ol
l
e
r
i
n
t
he
onl
i
ne
p
ar
am
et
er
s
es
t
i
m
at
i
o
n
.
W
e
va
l
i
da
t
e
d
o
ur
s
t
udi
e
s
w
i
t
h t
h
e
e
x
pe
r
i
m
e
nt
a
l r
e
s
ul
t
s
t
ha
t
h
a
ve
s
ho
w
n g
o
od
dy
na
m
i
c
s
in b
ot
h hi
gh
a
nd l
o
w
s
p
ee
d
s
,
a
n
d
e
v
en
at
zer
o
s
p
ee
d
r
e
f
er
e
n
ce.
O
ur
ne
xt
w
o
r
k
wi
l
l
f
oc
us
o
n a
m
or
e
s
t
a
bl
e
M
R
A
S
m
e
t
hod
,
a
n
d o
n
g
e
n
e
r
a
l
i
z
i
n
g
a
l
l
t
h
e
a
d
a
p
t
a
t
i
o
n
m
e
c
h
a
n
i
s
m
s
b
y
a
n
o
n
l
i
n
e
a
r
a
r
t
i
f
i
c
i
a
l
n
e
u
r
a
l
n
e
t
w
o
r
k
c
o
n
t
r
o
l
l
e
r
.
R
EF
ER
EN
C
E
[1]
Is
a
o.
T
a
ka
h
a
s
hi
,
T
os
hi
hi
ko
.
N
ogu
c
hi
,
“
T
a
k
e
a
L
oo
k Ba
c
k U
pon
t
h
e P
as
t
D
ec
a
d
e
o
f
D
i
re
c
t
T
orqu
e
C
ont
rol
”
,
I
E
C
ON.
23rd Int
e
rn
a
t
i
on
a
l
Conf
e
re
n
c
e
o
n
V
ol
2
,
Is
s
ue
,
9
14 N
ov 1997 P
a
ge
(S
):
546
–
551
.
[2]
J
.
W
.
F
i
n
c
h
A
nd D
.
G
i
a
our
i
s
,
“
Cont
rol
l
e
d
A
C
E
l
e
c
t
r
i
c
a
l
D
ri
ve
s
”
,
IE
E
E
T
r
a
ns
a
c
t
i
ons
O
n
Indus
t
ri
a
l
E
l
e
c
t
roni
c
s
,
V
o
l
.
55,
N
o.
1,
P
p.
1
-
1
1,
F
e
brua
r
y
200
8
.
[3]
Idri
s
,
N
.
R.
N
.
,
Y
at
i
m
, A
.H
.M
.
, “
Re
duc
e
d
T
orque
Ri
ppl
e
A
nd Co
ns
t
a
nt
T
o
rque
S
w
i
t
c
hi
ng F
re
qu
e
nc
y
S
t
ra
t
e
g
y
F
o
r
D
i
re
c
t
T
o
rque
Cont
rol
O
f
In
duc
t
i
on
M
a
c
h
i
n
e
”
,
A
ppl
i
e
d
P
ow
e
r E
l
e
c
t
roni
c
s
Confe
r
e
nc
e
A
nd
E
xpos
i
t
i
on
,
P
a
ge
(S
):
154
–
1
61 V
ol
.
1
,
2000
.
[4]
M.
B
o
u
ssa
k
,
K
.
J
a
rra
y
,
“
A H
i
g
h
-
P
e
rform
a
nc
e
S
e
ns
orl
e
s
s
Indi
re
c
t
S
t
a
t
or F
l
ux
O
ri
e
nt
a
t
i
on
Cont
rol
O
f Induc
t
i
on M
ot
o
r
D
ri
ve
”
,
IE
E
E
T
r
a
ns
a
c
t
i
ons
O
n In
dus
t
ri
a
l
E
l
e
c
t
ron
i
c
s
,
V
ol
.
53
,
N
o
.
1,
F
e
brua
r
y
2
00
6.
[5]
M
.
Ci
rri
nc
i
one
,
G
.
Ci
rri
n
c
i
one
,
“
A
n E
nha
nc
e
d
N
e
ur
a
l
M
RA
S
S
e
ns
orl
e
s
s
T
e
c
h
ni
que
Ba
s
e
d
O
n
M
i
nor
-
Com
pone
nt
-
An
a
l
y
s
i
s f
or
I
nduc
t
i
on
M
ot
ord
ri
ve
s
’
’,
IE
E
E
IS
I
E
2005,
J
une
20
-
23,
2005
,
D
ubro
vni
k,
Cro
a
t
i
a
.
[6]
G
o
u
i
ch
i
ch
e A
b
d
el
m
ad
j
i
d
,
“
S
e
ns
orl
e
s
s
S
l
i
di
ng
M
ode
V
e
c
t
or
C
ont
rol
of Indu
c
t
i
on M
ot
or D
ri
v
e
s
’
’,
Int
e
rna
t
i
on
a
l
J
ourna
l
of P
ow
e
r E
l
e
c
t
ron
i
c
s
a
nd
D
ri
ve
S
y
s
t
e
m
(I
J
P
E
D
S
)
V
ol
.
2,
N
o.
3,
S
e
pt
e
m
be
r
2
012,
pp
.
277~
28
4
.
[7]
C.
S
c
ha
ude
r
,
“
A
da
pt
i
ve
S
pe
e
d
Ide
nt
i
f
i
c
a
t
i
on
F
or
V
e
c
t
or Cont
rol
O
f Induc
t
i
on M
ot
ors
W
i
t
hout
Rot
a
t
i
on
a
l
T
ra
ns
d
uc
e
rs
”
,
IE
E
E
T
r
a
ns
a
c
t
i
ons
O
n Ind
us
t
r
y
A
ppl
i
c
a
t
i
ons
,
V
ol
.
2
8,
N
o.
5,
P
p.
1054
-
1061,
S
e
pt
e
m
be
r/
O
c
t
o
be
r
1992
.
[8]
Z
i
ch
en
g
L
i
,
“
Rot
or S
pe
e
d
a
nd
S
t
a
t
or R
e
s
i
s
t
a
nc
e
Ide
n
t
i
fi
c
a
t
i
on
S
c
he
m
e
for S
e
n
s
orl
e
s
s
Induc
t
i
o
n M
ot
or D
ri
v
e
s
”
,
T
E
L
K
O
M
N
I
K
A
,
V
o
l
.1
1
, N
o
.1
, J
an
u
ar
y
2
0
1
3
,
pp
.
503~
512
.
[9]
J
.
H
ol
t
z
A
nd J
.
Q
ua
n,
“
D
ri
ft
A
nd P
a
ra
m
e
t
e
r
Co
m
pe
ns
a
t
e
d F
L
u
x E
s
t
i
m
a
t
or
F
or P
e
rs
i
s
t
e
nt
Z
e
ro
S
t
a
t
or
F
re
que
n
c
y
O
pe
ra
t
i
on
O
f S
e
ns
orl
e
s
s
Cont
rol
l
e
d Induc
t
i
on M
o
t
ors
”
,
I
E
E
E
T
r
a
n
s
a
c
t
i
ons
O
n Indu
s
t
r
y
A
ppl
i
c
a
t
i
ons
,
V
ol
.
39,
N
o.
4
,
P
p.
1052
-
1060,
J
ul
y
/
A
ugus
t
2003
.
[10]
V
.
I
.
U
t
ki
n,
“
S
l
i
di
ng
M
ode
Cont
rol
D
e
s
i
gn
P
ri
nc
i
pl
e
s
a
n
d
A
ppl
i
c
a
t
i
ons
t
o
E
l
ect
r
i
c D
r
i
v
es
”
,
IE
E
E
T
r
a
ns
.
Ind.
E
l
e
c
t
.
Vo
l
40
,
1993
, Pp
.
23
–
36
.
[11]
S
.
Bol
ogna
n
i
,
L
.
P
e
re
t
t
i
,
A
nd
M
.
Z
i
g
l
i
ot
t
o,
“
P
a
ra
m
e
t
e
r
S
e
ns
i
t
i
vi
t
y
A
na
l
y
s
i
s
O
f
A
n Im
prove
d
O
pe
n
-
L
oop S
pe
e
d
E
st
i
m
a
t
e
F
or Ind
uc
t
i
on
M
ot
or D
r
i
ve
s
”
,
I
E
E
E
T
r
an
s
. P
o
w
er
E
l
ec
t
r
o
n
i
cs
,
V
o
l
.
23
,
20
08
,
Pp
.
2125
–
2
135
.
[12]
V
e
ra
n V
a
s
i
c
´
,
S
l
oboda
n N
.
V
ukos
a
vi
c
A
nd E
m
i
l
L
e
vi
,
“
A
S
t
a
t
or
Re
s
i
s
t
a
nc
e
E
s
t
i
m
a
t
i
on S
c
he
m
e
F
or S
pe
e
d S
e
ns
orl
e
s
s
Rot
or F
l
ux
O
ri
e
nt
e
d Indu
c
t
i
on
M
ot
or D
ri
ve
s”
,
I
E
E
E
T
ra
ns
a
c
t
i
on
s
O
n E
ne
r
g
y
Co
nve
rs
i
on,
V
ol
.
1
8,
N
o.
4
,
D
e
c
e
m
be
r
2003
.
[13]
Z
er
i
k
at
.
M
.
,
Ch
e
kroun.
S
,
“
A
Ro
bus
t
m
ra
s
-
S
e
ns
orl
e
s
s
S
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Induc
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1
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P
a
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(S
):
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.
[14]
G
a
doue
,
S
.
M
.
,
Gi
a
o
u
r
i
s,
D.
,
F
i
n
ch
,
J
.W
., "
A
N
eu
r
al
N
et
w
o
r
k
B
as
e
d S
t
a
t
or C
urre
nt
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RA
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O
bs
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rve
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or
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pe
e
d
S
e
ns
orl
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s
s
Induc
t
i
on
M
ot
or D
r
i
ve
s
"
,
Indus
t
ri
a
l
E
l
e
c
t
roni
c
s
,
200
8.
IS
IE
2008.
I
E
E
E
Int
e
rna
t
i
on
a
l
S
y
m
pos
i
um
O
n,
V
ol
.
,
N
o.
,
P
p.
65
0,
655
,
J
une
30
2008
-
J
ul
y
2 200
8
.
[15]
M
. G
r
zes
i
ak
a
nd
B.
U
fna
l
s
ki
,
"
N
e
u
r
a
l
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ta
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lu
x
Es
tim
a
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y
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g
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r
ep
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o
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s
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g
"
,
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roc
.
IE
E
E
A
F
RICO
N,
2004
.
[16]
A.
B
a
-
Ra
z
z
ouk
,
A
.
Che
ri
t
i
,
G
.
O
l
i
vi
e
r
,
A
nd P
.
S
i
c
a
rd,
"
F
i
e
l
d O
ri
e
nt
e
d Con
t
rol
O
f Induc
t
i
on
M
ot
ors
U
s
i
ng N
e
ura
l
N
e
t
w
ork D
e
c
ou
pl
e
rs
"
,
I
E
E
E
T
r
a
ns
a
c
t
i
ons
O
n P
o
w
e
r E
l
e
c
t
roni
c
s
,
V
ol
.
12
,
Pp
.
752
-
763
,
1997
.
[17]
Ingh,
B.
, J
a
i
n
, P
.,
M
i
tta
l,
A
.
P
.
;
G
u
p
ta
,
J
.
R
P
,
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N
eu
ra
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w
ork
Ba
s
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T
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ri
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hi
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ropul
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Sy
s
t
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m
"
,
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ec
t
r
i
c
a
nd
H
y
bri
d
V
e
hi
c
l
e
s
,
2006
.
IC
E
H
V
'
06.
IE
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E
Confe
re
nc
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O
n,
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ol
.
,
N
o.
,
P
p.
1
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e
c
.
200
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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56
IJ
RA
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une
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8
:
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86
[18]
I
F
al
l
ah
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,
C
.J
.;
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aad
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.;
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an
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, H
.Y
.;
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l
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d
d
a
d
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.,
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ode
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P
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,
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201
1
.
[19]
N
. P
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m
(IJ
P
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D
S
)
V
ol
.
2,
N
o.
2
,
J
un
e
2012,
pp.
225~
231
.
[20]
T
.
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o
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ow
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s
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nd
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.
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t
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r
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RA
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p
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T
ra
ns
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n Ind
.
E
l
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.
,
V
o
l
.
57,
201
0,
P
p.
1296
–
1308.
B
I
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P
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ES
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F
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U
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H
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R
S
L
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gr
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i
d
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s
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i
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i
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l
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9
8
9
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h
e
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s
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h
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ory of
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t
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E
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h M
a
s
t
e
r of
m
a
na
ge
m
e
nt
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ra
ns
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or
m
a
t
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on o
f
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e
c
t
r
i
c
a
l
En
e
r
g
y
f
r
o
m
U
n
i
v
e
r
s
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t
y
o
f
C
o
n
s
t
a
n
t
i
ne
1 A
l
ge
r
i
a
(2013).
H
e
o
b
t
a
i
n
ed
L
i
cen
ce D
eg
r
e
e
i
n c
ont
rol
a
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ra
ns
f
or
m
a
t
i
on o
f
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l
e
c
t
r
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c
a
l
E
ne
rgy f
rom
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t
i
t
u
t
e
t
he
s
c
i
e
nc
e
s
o
f
T
e
c
hnol
ogy i
n
2011.
H
i
s
re
s
e
a
rc
he
s
a
r
e
i
n f
i
e
l
ds
of
c
ont
rol
s
y
s
t
e
m
s
,
pow
e
r e
l
e
c
t
roni
c
s
,
e
l
e
c
t
ri
c
a
l
dri
ve
a
nd
p
ar
am
et
er
i
d
e
n
t
i
f
i
c
a
t
i
o
n
.
Re
z
gui
S
a
l
a
h
E
ddi
ne
:
w
a
s
born
i
n
Cons
t
a
nt
i
n
e
,
A
l
ge
ri
a
i
n
1971.
In 2015
he
r
e
c
e
i
ve
d
t
he
P
h
.
D
.
de
gre
e
s
i
n
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l
e
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t
ri
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a
l
E
ngi
n
e
e
ri
ng a
t
t
h
e
U
ni
v
e
rs
i
t
y
of
M
e
nt
o
uri
'
s
brot
he
rs
o
f Cons
t
a
nt
i
ne
.
Curre
nt
l
y
he
i
s
w
orki
ng a
s
l
e
c
t
u
re
r a
nd
he
i
s
r
es
ear
ch
er
m
em
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er
i
n
C
o
n
s
t
an
t
i
n
e
E
l
e
ct
r
o
t
ech
n
i
cs
L
ab
o
r
a
t
o
r
y
. H
i
s
r
es
ear
ch
i
n
t
er
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t
s
i
n
cl
u
d
e m
o
d
er
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co
n
t
r
o
l
t
h
eo
r
y
ap
p
l
i
cat
i
o
n
s
,
el
e
ct
r
i
c m
ach
i
n
es
,
pow
e
r e
l
e
c
t
roni
c
s
a
nd dri
v
e
s
.
Be
na
l
l
a
H
oc
i
n
e
:
w
a
s
born i
n
Cons
t
a
nt
i
ne
,
A
l
g
e
ri
a
i
n 1957.
H
e
re
c
e
i
ve
d
t
he
M
s
.
C.
,
a
nd D
oc
t
or
a
t
e
e
ngi
ne
e
r de
gr
e
e
s
i
n pow
e
r e
l
e
c
t
roni
c
s
,
from
t
he
N
a
t
i
on
a
l
P
ol
yt
e
c
hn
i
c
Ins
t
i
t
ut
e
of
T
oul
ous
e
,
F
ra
nc
e
,
re
s
pe
c
t
i
ve
l
y
,
i
n 1981
,
a
nd 1984.
In
199
5,
he
re
c
e
i
v
e
d t
he
P
h.
D
.
d
e
gre
e
s
i
n E
l
e
c
t
ri
c
a
l
E
ngi
ne
e
ri
ng fro
m
uni
ve
rs
i
t
y
of J
us
s
i
e
u
-
Pa
r
i
s
V
I;
F
ra
nc
e
.
S
i
nc
e
19
96,
he
i
s
c
urr
e
nt
l
y
prof
e
s
s
or of
E
l
e
c
t
ri
c
a
l
E
ngi
ne
e
ri
ng
i
n D
e
p
a
rt
m
e
nt
of E
l
e
c
t
ri
c
a
l
E
ngi
ne
e
r
i
ng a
t
Cons
t
a
nt
i
ne
U
ni
ve
rs
i
t
y
A
l
ge
ri
a
.
Evaluation Warning : The document was created with Spire.PDF for Python.