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[
9
-
1
1
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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Vo
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9
,
No
.
3
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Dec
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b
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2
0
2
0
:
2
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5
–
217
206
T
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o
s
ed
in
[
1
3
,
1
4
]
w
h
er
e
th
e
au
t
h
o
r
s
g
a
v
e
h
o
w
a
t
y
p
e
-
2
f
u
zz
y
s
y
s
te
m
c
a
n
b
e
u
s
ed
as
a
co
n
tr
o
l
s
y
s
te
m
.
T
w
o
ap
p
r
o
ac
h
es
m
a
y
b
e
co
n
s
id
er
ed
t
o
r
e
d
u
ce
th
e
co
m
p
u
tatio
n
al
b
u
r
d
en
w
h
i
le
p
r
eser
v
in
g
th
e
p
er
f
o
r
m
a
n
ce
a
n
d
th
e
ad
v
an
tag
e
s
o
f
a
t
y
p
e
-
2
f
u
zz
y
s
y
s
te
m
:
1
)
Usi
n
g
a
f
aster
t
y
p
e
-
r
ed
u
ctio
n
m
eth
o
d
.
Sev
er
al
alg
o
r
it
h
m
s
ar
e
b
ein
g
d
ev
elo
p
ed
f
o
r
th
is
p
u
r
p
o
s
e,
i
n
clu
d
i
n
g
th
e
m
o
d
i
f
ied
en
h
a
n
ce
d
Kar
n
ik
-
Me
n
d
el
(
ME
KM
)
m
e
th
o
d
[
1
5
]
,
en
h
an
ce
d
Kar
n
ik
-
Me
n
d
el
(
E
KM
)
m
eth
o
d
,
th
e
en
h
an
ce
d
iter
ati
v
e
alg
o
r
ith
m
w
it
h
s
to
p
co
n
d
itio
n
(
E
I
A
S
C
)
m
eth
o
d
an
d
m
an
y
o
t
h
er
m
eth
o
d
s
r
ep
o
r
ted
in
[
1
6
]
.
2
)
Usi
n
g
a
s
i
m
p
l
e
ar
ch
itectu
r
e
w
it
h
a
r
ed
u
ce
d
n
u
m
b
er
o
f
m
e
m
b
er
s
h
ip
f
u
n
c
tio
n
s
a
n
d
r
u
les.
T
h
is
p
ap
er
d
ev
elo
p
s
a
n
e
w
i
n
d
ir
ec
t
ad
ap
tiv
e
t
y
p
e
-
2
f
u
zz
y
co
n
tr
o
ller
(
I
A
FC
)
f
o
r
in
d
u
ct
io
n
m
o
to
r
s
b
ased
o
n
ME
KM
alg
o
r
it
h
m
.
T
h
e
p
r
o
p
o
s
ed
s
ch
e
m
e
i
s
b
a
s
ed
o
n
th
e
u
s
e
o
f
t
w
o
co
n
tr
o
ller
s
,
th
e
f
ir
s
t
o
n
e
d
eter
m
in
e
s
th
e
f
ee
d
b
ac
k
co
n
tr
o
l
b
y
u
s
in
g
t
y
p
e
-
2
f
u
zz
y
lo
g
ic
s
y
s
te
m
s
,
a
n
d
th
e
s
ec
o
n
d
o
n
e
g
en
er
ate
s
th
e
s
u
p
er
v
i
s
o
r
y
co
n
tr
o
l
(
SC
)
ac
tio
n
to
s
tab
ilize
t
h
e
w
h
o
le
s
y
s
te
m
w
h
en
it
te
n
d
to
b
e
u
n
s
tab
le.
T
h
e
r
est
o
f
th
e
p
ap
er
is
o
r
g
an
ized
as
f
o
ll
o
w
s
.
Sectio
n
2
d
escr
ib
es
b
r
ief
l
y
i
n
d
u
ct
io
n
m
o
to
r
m
o
d
el
an
d
its
v
ec
to
r
co
n
tr
o
l
.
P
r
o
b
lem
f
o
r
m
u
latio
n
is
g
i
v
e
n
in
s
ec
tio
n
3
.
I
n
s
ec
tio
n
4
w
e
p
r
o
p
o
s
e
th
e
d
esig
n
o
f
th
e
t
y
p
e
-
2
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
.
P
ar
am
eter
s
ad
ap
tat
io
n
is
d
e
s
cr
ib
ed
in
s
ec
tio
n
5
.
A
p
p
licatio
n
to
an
in
d
u
ctio
n
m
o
to
r
an
d
s
i
m
u
latio
n
r
esu
lt
s
ar
e
p
r
esen
ted
in
s
ec
t
io
n
6
.
Fin
all
y
,
t
h
e
co
n
cl
u
s
io
n
is
g
iv
en
i
n
s
ec
tio
n
7
.
2.
I
NDUC
T
I
O
N
M
O
T
O
R
AND
VE
C
T
O
R
CO
NT
RO
L
T
h
e
d
y
n
a
m
ic
b
e
h
av
io
u
r
o
f
an
in
d
u
ctio
n
m
ac
h
i
n
e
i
n
dq
s
y
n
c
h
r
o
n
o
u
s
r
ef
er
e
n
ce
is
d
escr
ib
ed
b
y
:
2
2
1
(
(
(
)
)
)
ds
m
m
r
m
s
r
ds
s
s
qs
dr
qr
r
ds
s
r
r
r
di
L
L
R
L
R
R
i
L
i
u
dt
L
L
L
L
(
1
)
2
2
1
(
(
(
)
)
)
qs
m
m
m
r
s
s
d
s
s
r
q
s
d
r
r
q
r
q
s
s
r
r
r
di
L
L
L
R
L
i
R
R
i
u
d
t
L
L
L
L
(
2
)
()
d
r
m
d
r
d
s
s
r
q
r
rr
dL
i
dt
T
T
(
3
)
()
q
r
q
r
m
q
s
s
r
d
r
rr
d
L
i
d
t
T
T
(
4
)
r
e
r
L
d
p
B
p
TT
d
t
J
J
J
(
5
)
w
h
e
r
e
u
ds
,
u
qs
a
r
e
d
-
a
n
d
q
-
a
x
i
s
s
t
a
t
o
r
v
o
l
t
a
g
e
s
;
i
ds
,
i
q
s
a
r
e
d
-
a
n
d
q
-
a
x
i
s
s
t
a
t
o
r
c
u
r
r
e
n
t
s
;
d
r
,
qr
a
r
e
d
-
a
n
d
q
-
a
x
i
s
r
o
t
o
r
f
l
u
x
l
i
n
k
a
g
e
s
;
s
,
r
a
r
e
s
t
a
t
o
r
a
n
g
u
l
a
r
f
r
e
q
u
e
n
c
y
a
n
d
r
o
t
o
r
e
l
e
c
t
r
i
c
a
l
a
n
g
u
l
a
r
s
p
e
e
d
;
R
s
,
R
r
a
r
e
s
ta
to
r
an
d
r
o
to
r
r
esis
ta
n
ce
s
;
L
s
,
L
r
a
n
d
L
m
a
r
e
s
tato
r
in
d
u
cta
n
ce
,
r
o
to
r
in
d
u
cta
n
ce
an
d
m
u
tu
a
l
in
d
u
c
tan
ce
;
r
r
r
T
L
R
is
th
e
r
o
to
r
ti
m
e
co
n
s
ta
n
t;
i
s
th
e
to
tal
lea
k
ag
e
f
ac
to
r
2
1
/
(
)
m
s
r
L
L
L
;
T
e
,
T
L
ar
e
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
an
d
l
o
a
d
t
o
r
q
u
e
;
p
i
s
t
h
e
n
u
m
b
e
r
o
f
p
o
l
e
s
;
J
i
s
t
h
e
i
n
e
r
t
i
a
l
m
o
m
e
n
t
o
f
t
h
e
m
o
t
o
r
;
a
n
d
B
i
s
v
i
s
c
o
u
s
f
r
i
c
t
i
o
n
c
o
e
f
f
i
c
i
e
n
t
.
T
h
e
p
r
o
d
u
c
e
d
e
l
e
c
t
r
o
m
a
g
n
e
t
i
c
t
o
r
q
u
e
c
a
n
b
e
w
r
i
t
t
e
n
i
n
t
e
r
m
s
o
f
s
t
a
t
o
r
c
u
r
r
e
n
t
s
a
n
d
r
o
t
o
r
f
l
u
x
e
s
a
s
:
()
m
e
qs
dr
ds
qr
r
pL
T
i
i
L
(
6
)
T
h
e
d
e
c
o
u
p
l
i
n
g
c
o
n
t
r
o
l
o
f
t
o
r
q
u
e
a
n
d
r
o
t
o
r
f
l
u
x
c
a
n
b
e
o
b
t
a
i
n
e
d
u
s
i
n
g
t
h
e
v
e
c
t
o
r
c
o
n
t
r
o
l
t
e
c
h
n
i
q
u
e
[
1
,
3
]
.
I
n
t
h
e
r
o
t
o
r
f
l
u
x
o
r
i
e
n
t
e
d
v
e
c
t
o
r
,
t
h
e
f
l
u
x
i
s
o
r
i
e
n
t
e
d
t
o
t
h
e
d
a
x
i
s
,
s
o
t
h
a
t
=
0
,
a
n
d
k
e
p
t
a
t
a
c
o
n
s
t
a
n
t
r
ated
v
alu
e
dr
=
r
.
A
t
s
tead
y
-
s
ta
te,
s
lip
an
g
u
lar
f
r
eq
u
e
n
c
y
ca
n
b
e
ex
p
r
es
s
ed
as:
m
r
q
s
s
l
s
r
rr
L
R
i
L
(
7
)
t
h
e
g
e
n
er
ated
m
o
to
r
to
r
q
u
e
T
e
(
6
)
is
r
ed
u
ce
d
to
a
lin
ea
r
f
u
n
ct
io
n
o
f
th
e
to
r
q
u
e
c
u
r
r
en
t c
o
m
p
o
n
en
t
i
qs
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
A
p
p
l P
o
w
er
E
n
g
I
SS
N:
2252
-
8792
S
ta
b
le
a
n
d
r
o
b
u
s
t c
o
n
tr
o
l str
a
teg
y
u
s
in
g
in
terva
l
-
va
l
u
ed
fu
z
z
y
s
ystems
(
N
a
d
ia
B
o
u
n
o
u
a
r
a
)
207
mr
e
qs
r
pL
Ti
L
(
8
)
t
h
e
ap
p
licatio
n
o
f
v
ec
to
r
co
n
tr
o
l in
th
e
c
u
r
r
en
t
m
o
d
el
o
f
I
M
l
ea
d
s
to
th
e
f
o
llo
w
i
n
g
eq
u
a
tio
n
s
:
m
rr
ds
rr
L
d
i
d
t
T
T
(
9
)
30
30
mr
qs
L
r
pL
dN
B
N
i
T
dt
J
J
L
J
(
1
0
)
w
h
er
e
r
is
th
e
r
o
to
r
f
lu
x
,
N
is
th
e
m
o
to
r
s
p
ee
d
e
x
p
r
ess
ed
i
n
r
ev
o
l
u
tio
n
p
er
m
i
n
u
t
e
an
d
(
i
ds
,
i
qs
)
ar
e
th
e
co
m
p
o
n
e
n
ts
o
f
s
tato
r
cu
r
r
e
n
t.
3.
P
RO
B
L
E
M
F
O
R
M
UL
AT
I
O
N
C
o
n
s
id
er
th
e
f
ir
s
t o
r
d
er
n
o
n
lin
e
ar
d
y
n
a
m
ical
s
y
s
te
m
o
f
t
h
e
f
o
r
m
:
(
)
(
)
x
f
x
g
x
u
d
yx
(
1
1
)
b
y
co
m
p
ar
i
n
g
(
9
)
an
d
(
1
0
)
w
i
th
(
1
1
)
w
e
h
av
e
:
Fo
r
th
e
f
l
u
x
m
o
d
el,
x
r
ep
r
esen
ts
t
h
e
f
l
u
x
r
,
rr
fT
,
mr
g
L
T
,
ds
ui
,
an
d
th
e
e
x
ter
n
a
l
p
er
tu
r
b
ati
o
n
0
d
;
Fo
r
th
e
s
p
ee
d
m
o
d
el,
x
r
ep
r
esen
ts
th
e
s
p
ee
d
N
,
f
B
N
J
,
30
m
r
r
g
p
L
J
L
,
u
=i
qs
,
an
d
30
L
d
T
J
.
No
te
th
at
th
e
s
tate
r
is
esti
m
ated
b
y
(
9
)
,
an
d
w
e
a
s
s
u
m
e
th
at
t
h
e
s
p
ee
d
i
s
av
ailab
le
f
o
r
m
ea
s
u
r
e
m
e
n
t.
T
h
e
co
n
tr
o
l
o
b
j
ec
tiv
e
is
to
f
in
d
a
f
ee
d
b
ac
k
co
n
tr
o
l
la
w
u
s
u
ch
t
h
at
to
m
a
k
e
th
e
s
tate
()
xt
tr
ac
k
a
g
iv
e
n
d
esire
d
b
o
u
n
d
ed
r
ef
er
en
ce
tr
aj
ec
to
r
y
()
m
yt
.
I
t
is
k
n
o
w
n
t
h
at
if
t
h
e
p
lan
t
m
o
d
el
is
n
o
t
k
n
o
w
n
,
it
is
in
t
u
iti
v
el
y
r
ea
s
o
n
ab
le
to
r
ep
lace
it
b
y
a
n
esti
m
ated
m
o
d
el
an
d
u
s
e
t
h
i
s
m
o
d
el
f
o
r
d
esi
g
n
in
g
t
h
e
co
n
tr
o
ller
.
T
h
is
is
t
h
e
b
asic
id
ea
o
f
a
n
in
d
ir
ec
t
ad
ap
tiv
e
co
n
tr
o
ller
,
in
w
h
ic
h
th
e
co
n
tr
o
ller
is
d
esig
n
ed
b
ased
o
n
an
esti
m
ated
m
o
d
el
o
f
t
h
e
p
lan
t
ass
u
m
i
n
g
t
h
i
s
m
o
d
el
is
t
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I
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8792
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I
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8792
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d
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(
1
8
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d
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Fig
u
r
e
3
.
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tece
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en
t t
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2
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m
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er
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ip
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ctio
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s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8792
I
n
t J
A
p
p
l P
o
w
er
E
n
g
,
Vo
l.
9
,
No
.
3
,
Dec
em
b
er
2
0
2
0
:
2
0
5
–
217
210
I
n
[
2
0
-
2
3
]
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l
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at
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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A
p
p
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o
w
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g
I
SS
N:
2252
-
8792
S
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211
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f
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te
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1
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e
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in
[
1
3
-
1
4
]
.
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p
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o
f
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b
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)
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o
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y
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s
in
g
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e
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Fs
()
f
x
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d
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g
x
,
r
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tiv
el
y
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as
s
h
o
w
n
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n
(
2
9
)
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d
(
3
0
)
.
R
ec
all
th
at
t
h
e
ab
o
v
e
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eth
o
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is
ap
p
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e
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en
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e
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u
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f
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f
l
u
x
a
n
d
s
p
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d
m
o
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els.
4.
P
ARAM
E
T
E
RS A
DAP
T
A
T
I
O
N
Her
e,
w
e
w
ill
d
ev
elo
p
th
e
I
AC
-
b
ased
t
y
p
e
-
2
f
u
zz
y
co
n
tr
o
ller
w
it
h
s
u
p
er
v
is
o
r
y
co
n
tr
o
l
s
ch
e
m
e.
A
p
p
l
y
in
g
(
1
4
)
to
(
1
1
)
an
d
af
ter
s
tr
aig
h
tf
o
r
w
ar
d
m
a
n
ip
u
lat
io
n
,
w
e
o
b
tain
t
h
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er
r
o
r
eq
u
atio
n
:
ˆ
ˆ
(
/
)
(
)
(
/
)
(
)
f
g
c
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k
e
f
x
f
x
g
x
g
x
u
d
(
3
1
)
w
e
k
n
o
w
t
h
at
t
h
er
e
ex
is
ts
a
u
n
iq
u
e
p
o
s
itiv
e
co
n
s
ta
n
t
p
w
h
ic
h
s
atis
f
ies t
h
e
L
y
ap
u
n
o
v
eq
u
a
tio
n
:
k
p
p
k
q
(
3
2
)
w
h
er
e
q
is
an
ar
b
itra
r
y
p
o
s
iti
v
e
co
n
s
ta
n
t.
L
et
2
1
2
e
V
p
e
,
th
en
u
s
in
g
(
3
0
)
an
d
(
3
2
)
w
e
h
av
e
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8792
I
n
t J
A
p
p
l P
o
w
er
E
n
g
,
Vo
l.
9
,
No
.
3
,
Dec
em
b
er
2
0
2
0
:
2
0
5
–
217
212
2
1
ˆ
ˆ
[
(
/
)
(
)
(
/
)
(
)
]
2
e
f
g
c
V
q
e
p
e
f
x
f
x
g
x
g
x
u
d
(
3
3
)
t
h
en
,
w
e
m
u
s
t
h
a
v
e
0
e
V
w
h
e
n
e
V
is
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ter
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lar
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o
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in
a
l c
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tr
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l b
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m
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cs
u
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b
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5.
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M
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w
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e
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ar
ticle
s
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ar
m
o
p
ti
m
iza
tio
n
(
P
SO)
tech
n
iq
u
e
as
ex
p
lain
ed
i
n
[
2
4
]
.
Du
r
in
g
o
p
ti
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izatio
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s
i
m
u
latio
n
s
,
s
w
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