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©
2018
In
s
ti
t
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te o
f
A
d
v
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c
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d
E
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Al
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C
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p
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:
Dj
am
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Facu
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Dep
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m
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t o
f
E
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E
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in
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,
Dr
.
Mo
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ar
Un
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.
E
m
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d
_
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a
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.
f
r
1.
I
NT
RO
D
UCT
I
O
N
No
w
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a
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s
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s
ev
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w
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DFI
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o
r
p
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m
p
ed
s
to
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s
y
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s
[1
-
2
]
.
T
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DFI
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s
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ite
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[3
-
4
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.
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[
5
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.
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6
]
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e
f
l
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x
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ik
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D
C
m
o
to
r
,
[
7
]
.
T
h
e
co
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tr
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l
law
s
u
s
in
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th
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P
I
D
ty
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T
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s
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itiv
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p
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s
,
d
is
tu
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b
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,
an
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lin
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r
ities
,
[
8
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8792
I
J
A
P
E
Vo
l.
7
,
No
.
3
,
Dec
em
b
er
2
0
1
8
:
2
3
5
–
2
5
0
236
B
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m
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eq
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m
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s
,
[
5
]
,
[
9
]
.
I
n
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d
er
to
ac
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g
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1
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[
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1
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.
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a
n
d
ca
s
e
o
f
i
m
p
l
e
m
en
tatio
n
.
T
h
e
s
lid
i
n
g
m
o
d
e
(
S
MO
)
b
elo
n
g
s
to
th
e
g
r
o
u
p
o
f
clo
s
ed
lo
o
p
o
b
s
er
v
er
s
.
I
t i
s
a
d
eter
m
i
n
is
tic
t
y
p
e
o
f
o
b
s
er
v
er
b
ec
au
s
e
it
is
b
ased
o
n
a
d
et
er
m
i
n
is
t
ic
m
o
d
el
o
f
th
e
s
y
s
te
m
[
1
3
]
.
T
h
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
:
s
ec
tio
n
2
d
y
n
a
m
ic
m
o
d
el
o
f
DFI
M
is
r
ep
o
r
ted
;
p
r
in
cip
l
e
o
f
f
ield
-
o
r
ien
ted
co
n
tr
o
ller
is
g
iv
e
n
i
n
s
ec
tio
n
3
.
T
h
e
p
r
o
p
o
s
ed
s
o
lu
tio
n
is
p
r
ese
n
ted
in
s
ec
tio
n
4
.
I
n
s
ec
tio
n
5
,
r
esu
l
ts
o
f
s
i
m
u
la
tio
n
te
s
ts
ar
e
r
ep
o
r
ted
.
Fin
all
y
,
s
ec
tio
n
6
d
r
a
w
s
co
n
clu
s
io
n
s
.
2.
DO
UB
L
Y
F
E
D
I
NDUC
T
I
O
N
M
O
DE
L
T
h
e
ch
ain
o
f
en
er
g
y
co
n
v
er
s
io
n
ad
o
p
ted
f
o
r
th
e
p
o
w
er
s
u
p
p
ly
o
f
th
e
DFI
M
co
n
s
is
ts
o
f
tw
o
co
n
v
er
ter
s
,
o
n
e
o
n
th
e
s
tato
r
an
d
th
e
o
th
er
o
n
e
o
n
th
e
r
o
to
r
.
A
f
ilter
is
in
s
er
ted
b
etw
ee
n
th
e
tw
o
co
n
v
er
ter
s
,
as
s
h
o
w
n
in
Fig
u
r
e
1.
Fig
u
r
e
1
.
Gen
er
al
s
ch
e
m
e
o
f
DFI
M
d
r
iv
e
in
s
tallatio
n
T
h
e
s
tr
u
ctu
r
e
o
f
DFI
M
is
v
er
y
co
m
p
lex
.
T
h
er
ef
o
r
e,
in
o
r
d
er
to
d
ev
elo
p
a
m
o
d
el,
it
is
n
ec
ess
ar
y
to
co
n
s
id
er
th
e
f
o
llo
w
in
g
s
im
p
lif
y
in
g
ass
u
m
p
tio
n
s
:
th
e
m
ac
h
in
e
is
s
y
m
m
etr
ical
w
ith
co
n
s
tan
t
air
g
ap
;
th
e
m
ag
n
etic
cir
cu
it
is
n
o
t
s
atu
r
ated
an
d
it
is
p
er
f
ec
tly
lam
in
ated
,
w
ith
th
e
r
esu
lt
th
at
th
e
ir
o
n
lo
s
s
es
an
d
h
y
s
ter
esis
ar
e
n
eg
lig
ib
le
an
d
o
n
ly
th
e
w
in
d
in
g
s
ar
e
d
r
iv
en
b
y
cu
r
r
en
ts
;
th
e
f
.
m
.
m
cr
ea
ted
in
o
n
e
p
h
ase
o
f
s
tato
r
an
d
r
o
to
r
ar
e
s
in
u
s
o
id
al
d
is
tr
ib
u
tio
n
s
alo
n
g
th
e
g
ap
[
1
4
]
.
B
y
th
is
m
ea
n
s
,
a
d
y
n
am
ic
m
o
d
el
o
f
th
e
d
o
u
b
ly
f
ed
i
n
d
u
ctio
n
m
o
to
r
in
s
tatio
n
ar
y
r
ef
er
en
ce
f
r
am
e
ca
n
b
e
ex
p
r
ess
ed
b
y
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
A
P
E
I
SS
N:
2252
-
8792
Ro
b
u
st S
p
e
e
d
-
se
n
so
rle
ss
Vec
to
r
Co
n
tro
l
o
f
DFIM
Dr
ive
Us
in
g
S
li
d
in
g
M
o
d
e
Ro
t
o
r F
l
u
x
Ob
se
rv
e
r
…
(
Dj
am
il
a
Ch
e
rifi
)
237
J
C
J
f
i
i
L
L
p
dt
d
v
T
i
T
L
dt
d
v
T
i
T
L
dt
d
v
K
v
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K
i
i
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d
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L
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i
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dt
d
r
sd
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rd
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r
rd
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r
m
rq
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qr
rd
r
sd
r
m
rd
rq
sq
s
rq
r
rd
sq
sq
s
sq
rd
sd
s
rq
rd
r
sq
s
sd
sd
)
(
1
.
.
1
1
.
1
.
2
(
1
)
w
it
h
:
.
;
1
;
;
.
1
;
;
2
.
p
L
L
L
L
L
L
K
T
R
L
T
R
L
T
r
s
m
r
s
m
r
s
s
s
r
r
r
T
h
e
elec
tr
o
m
a
g
n
et
ic
to
r
q
u
e
is
ex
p
r
ess
ed
b
y
:
)
.
.
(
sd
rq
sq
rd
r
m
em
i
i
L
L
p
T
(
2
)
3.
VE
C
T
O
R
CO
NT
RO
L
B
Y
DIRE
C
T
RO
T
O
R
F
L
UX
O
RI
E
NT
AT
I
O
N
T
h
e
m
ain
o
b
j
ec
tiv
e
o
f
th
e
v
ec
to
r
co
n
tr
o
l
o
f
DFI
M
is
as
in
DC
m
ac
h
in
es,
to
in
d
ep
en
d
en
tly
co
n
tr
o
l
th
e
to
r
q
u
e
an
d
th
e
f
lu
x
;
th
is
is
d
o
n
e
b
y
u
s
in
g
a
d
-
q
r
o
tatin
g
r
ef
er
en
ce
f
r
am
e
s
y
n
ch
r
o
n
o
u
s
ly
w
ith
th
e
r
o
to
r
f
lu
x
s
p
ac
e
v
ec
to
r
.
T
h
e
d
-
ax
is
is
th
en
alig
n
ed
w
ith
th
e
r
o
to
r
f
lu
x
s
p
ac
e
v
ec
to
r
[
6
]
.
Un
d
er
th
is
co
n
d
itio
n
w
e
g
et:
0
rq
,
rd
r
(
3
)
F
ig
u
r
e
2
s
h
o
w
s
th
e
s
tr
u
ct
u
r
e
f
o
r
th
e
r
o
to
r
f
ield
o
r
ien
tatio
n
o
n
th
e
d
-
a
x
is
.
Fig
u
r
e
2
.
R
o
to
r
f
ield
o
r
ien
tati
o
n
o
n
th
e
d
-
a
x
i
s
So
,
w
e
ca
n
w
r
ite
:
)
.
(
sq
rd
r
m
em
i
L
L
p
T
(
4
)
d
Stato
r
ax
is
R
o
to
r
ax
is
q
rd
r
0
θ
s
θ
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
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8792
I
J
A
P
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Vo
l.
7
,
No
.
3
,
Dec
em
b
er
2
0
1
8
:
2
3
5
–
2
5
0
238
Fo
r
th
e
d
ir
ec
t
r
o
to
r
f
lu
x
o
r
ien
tatio
n
(
DFOC
)
o
f
DFI
M,
ac
cu
r
ate
k
n
o
w
led
g
e
o
f
th
e
m
ag
n
itu
d
e
an
d
p
o
s
itio
n
o
f
th
e
r
o
to
r
f
lu
x
v
ec
to
r
is
n
ec
ess
ar
y
.
I
n
a
DFI
M
m
o
to
r
m
o
d
e,
as
s
tato
r
an
d
r
o
to
r
cu
r
r
en
ts
ar
e
m
ea
s
u
r
ab
le,
th
e
r
o
to
r
f
lu
x
ca
n
b
e
esti
m
ated
(
ca
lcu
lated
)
.
T
h
e
f
lu
x
esti
m
ato
r
ca
n
b
e
o
b
tain
ed
b
y
th
e
f
o
llo
w
in
g
eq
u
atio
n
s
,
[
1
5
]:
22
1
a
n
d
t
a
n
rs
r
β
r
α
r
β
r
α
φθ
(
5
)
3
.
1
.
Sli
di
ng
m
o
de
s
peed
co
ntr
o
l
A
Sli
d
in
g
Mo
d
e
C
o
n
tr
o
ller
(
SMC
)
is
a
Var
iab
le
Stru
ctu
r
e
C
o
n
tr
o
ller
(
VSC
)
.
SMC
m
eth
o
d
is
a
k
in
d
o
f
r
o
b
u
s
t
co
n
tr
o
l
tech
n
iq
u
e
w
h
ich
is
ex
ten
s
iv
ely
u
tili
ze
d
in
n
o
n
lin
ea
r
s
y
s
tem
s
w
h
er
e
p
ar
am
eter
u
n
ce
r
tain
ties
ex
is
t.
B
asically
,
a
VSC
in
clu
d
es
s
ev
er
al
d
if
f
er
en
t
co
n
tin
u
o
u
s
f
u
n
ctio
n
s
th
at
ca
n
m
ap
p
lan
t
s
tate
to
a
co
n
tr
o
l
s
u
r
f
ac
e,
w
h
er
ea
s
s
w
itch
in
g
am
o
n
g
d
if
f
er
en
t
f
u
n
ctio
n
s
is
d
eter
m
in
ed
b
y
p
lan
t
s
tate
r
ep
r
esen
ted
b
y
a
s
w
itch
in
g
f
u
n
ctio
n
[
1
6
].
T
h
e
d
esig
n
o
f
th
e
co
n
tr
o
l sy
s
tem
w
ill
b
e
d
em
o
n
s
tr
ated
f
o
r
a
f
o
llo
w
in
g
n
o
n
lin
ea
r
s
y
s
tem
,
[1
7
]:
)
,
(
).
,
(
)
,
(
t
x
u
t
x
B
t
x
f
x
(
6
)
w
h
er
e
:
n
x
is
th
e
s
t
a
te
v
ec
to
r
m
u
is
th
e
co
n
tr
o
l v
ec
to
r
m
n
t
x
f
)
,
(
T
h
e
co
n
tr
o
l la
w
s
ati
s
f
ies t
h
e
p
r
ec
ed
en
t c
o
n
d
itio
n
s
i
s
p
r
esen
t
ed
in
th
e
f
o
llo
w
in
g
f
o
r
m
:
n
u
u
u
eq
,
))
(
s
g
n
(
x
S
k
u
f
n
(
7
)
w
h
er
e
u
is
th
e
co
n
tr
o
l
v
ec
to
r
,
eq
u
is
th
e
eq
u
iv
alen
t
co
n
tr
o
l
v
ec
to
r
,
n
u
is
th
e
s
w
itch
in
g
p
ar
t
o
f
th
e
co
n
tr
o
l
(
th
e
co
r
r
ec
tio
n
f
ac
to
r
)
,
f
k
is
th
e
co
n
tr
o
ller
g
ain
.
eq
u
ca
n
b
e
o
b
tain
ed
b
y
co
n
s
id
er
in
g
th
e
co
n
d
itio
n
f
o
r
th
e
s
lid
in
g
r
eg
im
en
,
0
)
(
x
S
.
T
h
e
eq
u
iv
alen
t c
o
n
tr
o
l k
ee
p
s
t
h
e
s
tate
v
ar
iab
le
o
n
s
lid
i
n
g
s
u
r
f
ac
e,
o
n
ce
th
e
y
r
ea
ch
it.
Fo
r
a
d
ef
in
ed
f
u
n
ct
io
n
,
[
18
]
:
0
)
(
,
1
0
)
(
,
0
0
)
(
,
1
))
(
s
g
n
(
x
S
if
x
S
if
x
S
if
x
S
(
8
)
3
.
1
.
1
.
Sp
ee
d
co
ntr
o
l
Sp
ee
d
ad
j
u
s
t
m
e
n
t i
s
d
o
n
e
b
y
co
n
tr
o
llin
g
th
e
s
tato
r
cu
r
r
en
t
sq
I
.
So
,
th
e
co
m
m
an
d
la
w
ca
n
b
e
ex
p
r
ess
ed
as:
n
sq
eq
sq
r
ef
sq
I
I
I
(
9
)
T
h
e
ex
p
r
ess
io
n
o
f
t
h
e
s
p
ee
d
co
n
tr
o
l su
r
f
ac
e
h
as t
h
e
f
o
r
m
:
r
ef
S
)
(
(
1
0
)
T
h
e
d
er
iv
ativ
e
o
f
t
h
e
s
u
r
f
ac
e
i
s
r
e
f
S
)
(
(
1
1
)
W
ith
th
e
m
ec
h
an
ica
l e
q
u
atio
n
eq
u
al
to
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
A
P
E
I
SS
N:
2252
-
8792
Ro
b
u
st S
p
e
e
d
-
se
n
so
rle
ss
Vec
to
r
Co
n
tro
l
o
f
DFIM
Dr
ive
Us
in
g
S
li
d
in
g
M
o
d
e
Ro
t
o
r F
l
u
x
Ob
se
rv
e
r
…
(
Dj
am
il
a
Ch
e
rifi
)
239
J
f
C
J
p
I
L
J
L
P
r
r
ef
rd
sq
r
m
.
.
.
(
1
2
)
B
y
r
ep
lacin
g
th
e
m
ec
h
an
ical
eq
u
atio
n
in
th
e
eq
u
atio
n
o
f
th
e
s
w
itch
in
g
s
u
r
f
ac
e,
th
e
d
er
iv
ativ
e
o
f
th
e
s
u
r
f
ac
e
b
ec
o
m
es:
J
f
C
J
p
I
L
J
L
P
S
r
r
e
f
rd
sq
r
m
r
e
f
.
.
.
)
(
(
1
3
)
B
y
r
ep
lacin
g
th
e
cu
r
r
en
t
sq
I
b
y
th
e
cu
r
r
en
t
n
sq
eq
sq
r
ef
sq
I
I
I
,
it
is
f
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o
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tatio
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f
th
e
f
lo
w
.
Evaluation Warning : The document was created with Spire.PDF for Python.