I
nte
rna
t
io
na
l J
o
urna
l o
f
Appl
ied P
o
wer
E
ng
i
neer
ing
(
I
J
AP
E
)
Vo
l.
10
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
,
p
p
.
2
4
4
~
2
5
2
I
SS
N:
2252
-
8
7
9
2
,
DOI
: 1
0
.
1
1
5
9
1
/ijap
e.
v
1
0
.
i3
.
p
p
2
4
4
-
252
244
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
a
p
e.
ia
esco
r
e.
co
m
Squirrel
ca
g
e ind
uction mo
tor p
re
dictive dir
ect
t
o
rq
ue contro
l
ba
sed o
n multi
-
st
ep delay
com
pens
a
tion
Na
j
im
a
ldi
n M
.
Abba
s
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
E
n
g
i
n
e
e
rin
g
,
Un
i
v
e
rsity
o
f
Kir
k
u
k
,
Ira
q
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Feb
22
,
2
0
21
R
ev
is
ed
Ma
r
1
6
,
2
0
21
Acc
ep
ted
J
u
n
1
4
,
2
0
21
Th
e
sq
u
irrel
c
a
g
e
i
n
d
u
c
ti
o
n
m
o
t
o
r
d
irec
t
t
o
rq
u
e
c
o
n
tro
l
m
a
in
p
ro
b
l
e
m
s
d
u
e
to
to
rq
u
e
a
n
d
larg
e
sta
to
r
fl
u
x
p
u
lsa
ti
o
n
.
I
n
t
h
is
a
n
im
p
ro
v
e
d
m
o
d
e
l
p
re
d
icti
v
e
d
irec
t
to
r
q
u
e
c
o
n
tro
l
a
lg
o
rit
h
m
c
o
n
sid
e
ri
n
g
m
u
lt
i
-
ste
p
d
e
lay
c
o
m
p
e
n
sa
ti
o
n
is
p
ro
p
o
se
d
.
At
e
a
c
h
sa
m
p
li
n
g
m
o
m
e
n
t,
p
re
d
ict
th
e
sta
to
r
f
lu
x
li
n
k
a
g
e
a
n
d
to
rq
u
e
a
t
th
e
n
e
x
t
m
o
m
e
n
t
u
n
d
e
r
e
a
c
h
v
o
lt
a
g
e
v
e
c
to
r.
T
h
e
o
p
ti
m
a
l
v
o
lt
a
g
e
v
e
c
to
r
d
e
v
iatio
n
fro
m
t
h
e
sta
to
r
flu
x
li
n
k
a
g
e
re
fe
re
n
c
e
v
a
lu
e
a
n
d
t
o
rq
u
e
re
fe
re
n
c
e
v
a
lu
e
a
re
se
lec
ted
a
s
t
h
e
m
in
imu
m
o
b
jec
ti
v
e
f
u
n
c
ti
o
n
.
Aim
in
g
a
t
th
e
p
ro
b
lem
o
f
o
n
e
-
sh
o
t
d
e
lay
in
d
i
g
it
a
l
c
o
n
tro
l
s
y
ste
m
s,
a
m
u
lt
i
-
ste
p
p
re
d
ictiv
e
d
e
lay
c
o
m
p
e
n
sa
ti
o
n
m
e
a
su
re
is
stu
d
ied
.
S
imu
lati
o
n
s
h
o
ws
th
a
t
th
e
a
lg
o
rit
h
m
c
a
n
e
ffe
c
ti
v
e
ly
re
d
u
c
e
to
rq
u
e
a
n
d
sta
t
o
r
flu
x
p
u
lsa
ti
o
n
,
re
d
u
c
e
c
u
rre
n
t
h
a
rm
o
n
ic d
isto
rti
o
n
,
a
n
d
s
o
lv
e
t
h
e
d
e
lay
p
r
o
b
lem
in
d
i
g
it
a
l
sy
ste
m
s.
K
ey
w
o
r
d
s
:
Dir
ec
t to
r
q
u
e
c
o
n
tr
o
l
I
n
d
u
ctio
n
m
o
to
r
Mo
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
Sq
u
ir
r
el
ca
g
e
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Najim
ald
in
M.
Ab
b
as
Dep
ar
tm
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
Un
iv
er
s
ity
o
f
Kir
k
u
k
Say
d
ah
,
Kir
k
u
k
,
I
r
aq
E
m
ail:
d
r
.
n
ajim
ald
in
5
6
@
g
m
ai
l.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
h
as
a
wid
e
r
an
g
e
o
f
a
p
p
licatio
n
s
b
ec
au
s
e
o
f
its
g
o
o
d
s
tatic
an
d
d
y
n
am
ic
p
er
f
o
r
m
an
ce
,
b
u
t
it
h
as
p
r
o
b
le
m
s
s
u
ch
as
lar
g
e
o
u
tp
u
t
s
tato
r
f
lu
x
an
d
t
o
r
q
u
e
r
i
p
p
le,
an
d
in
co
n
s
tan
t
s
witch
in
g
f
r
eq
u
e
n
cy
[
1
]
-
[
5
]
.
Dir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
was
p
r
o
p
o
s
e
d
b
y
M.
D
ep
en
b
r
o
c
k
[
6
]
i
n
th
e
1
9
8
0
s
.
I
n
o
r
d
e
r
to
s
o
lv
e
th
ese
p
r
o
b
lem
s
,
s
ch
o
la
r
s
h
av
e
p
r
o
p
o
s
ed
m
an
y
im
p
r
o
v
em
en
ts
.
I
n
p
ar
ticu
lar
,
liter
atu
r
e
[
7
]
a
n
d
[
8
]
p
r
o
p
o
s
ed
a
n
ew
ty
p
e
o
f
co
n
tr
o
l
tech
n
o
lo
g
y
-
m
o
d
el
p
r
ed
icti
v
e
d
ir
ec
t
to
r
q
u
e
co
n
t
r
o
l
(
MP
DT
C
)
tech
n
o
lo
g
y
,
wh
ich
is
s
im
p
le
in
p
r
in
ci
p
le
a
n
d
ea
s
y
to
h
an
d
le
n
o
n
lin
ea
r
co
n
s
tr
ain
ts
,
b
u
t
th
er
e
a
r
e
a
lo
t o
f
o
n
lin
e
ca
lcu
latio
n
s
in
th
e
MPDT
C
co
n
tr
o
l
p
r
o
ce
s
s
,
wh
ich
m
ay
ca
u
s
e
th
e
d
elay
p
r
o
b
lem
o
f
th
e
co
n
tr
o
l
s
y
s
tem
[
4
]
.
Ho
wev
er
,
in
p
r
ac
tical
ap
p
licatio
n
s
,
th
e
r
o
to
r
in
d
u
ctan
ce
will
ch
an
g
e
with
th
e
d
eg
r
ee
o
f
m
ag
n
etic
s
atu
r
atio
n
o
f
th
e
m
o
to
r
,
an
d
th
e
r
o
to
r
r
esis
tan
ce
will
b
e
af
f
ec
te
d
b
y
c
h
an
g
es
in
t
h
e
in
ter
n
al
tem
p
er
atu
r
e
o
f
t
h
e
m
o
to
r
[
9
]
-
[
1
3
]
.
T
h
e
d
ev
iatio
n
o
f
th
e
r
o
to
r
tim
e
co
n
s
tan
t
will
lead
to
wr
o
n
g
f
iel
d
o
r
ie
n
tatio
n
,
wh
ic
h
will
d
ete
r
io
r
ate
th
e
s
y
s
tem
co
n
tr
o
l
p
er
f
o
r
m
an
c
e
[
1
4
]
,
[
1
5
]
.
I
n
r
esp
o
n
s
e
to
th
is
p
r
o
b
le
m
,
m
an
y
s
ch
o
lar
s
h
av
e
co
n
d
u
cte
d
in
-
d
ep
th
r
esear
ch
an
d
p
r
o
p
o
s
ed
m
an
y
o
n
lin
e
d
ir
ec
t to
r
q
u
e
c
o
n
tr
o
l i
d
en
tific
atio
n
s
ch
em
es
[1
6
]
-
[
1
9
].
T
h
is
p
ap
er
in
tr
o
d
u
ce
s
DT
C
m
o
d
el
c
o
n
s
id
er
in
g
d
ela
y
c
o
m
p
en
s
atio
n
.
First,
i
n
tr
o
d
u
ce
th
e
d
etail
th
e
in
d
u
ctio
n
m
o
to
r
m
o
d
el;
s
ec
o
n
d
ly
,
d
e
r
iv
e
th
e
p
r
e
d
ictio
n
m
o
d
el
b
ased
o
n
th
e
an
aly
s
is
o
f
t
h
e
in
d
u
ctio
n
m
o
to
r
m
ath
em
atica
l
m
o
d
el,
a
n
d
p
r
ed
ict
th
e
p
r
ed
icted
v
alu
e
o
f
th
e
s
tato
r
f
lu
x
lin
k
a
g
e
a
n
d
t
o
r
q
u
e
in
2
s
tep
s
;
th
ir
d
ly
,
co
m
p
ar
e
th
e
p
r
e
d
icted
v
alu
e
o
f
th
e
s
tato
r
f
l
u
x
lin
k
a
g
e
an
d
to
r
q
u
e
with
t
h
e
ab
s
o
lu
te
v
alu
e
o
f
th
e
d
ev
iatio
n
b
etwe
en
th
e
r
ef
er
en
ce
v
alu
e
o
f
th
e
s
tato
r
f
lu
x
an
d
th
e
to
r
q
u
e
is
u
s
ed
as
th
e
o
b
jectiv
e
f
u
n
ctio
n
.
Fin
ally
,
th
e
v
o
ltag
e
v
ec
to
r
co
n
t
r
o
l in
d
u
ctio
n
m
o
t
o
r
is
s
elec
ted
to
m
in
im
i
ze
th
e
o
b
jectiv
e
f
u
n
ctio
n
v
alu
e
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
S
q
u
ir
r
el
ca
g
e
in
d
u
ctio
n
mo
t
o
r
p
r
ed
ictive
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l b
a
s
ed
o
n
mu
lti
-
s
tep
… (
N
a
j
ima
ld
in
M.
A
b
b
a
s
)
245
2.
RE
L
AT
E
D
WO
RK
T
h
e
f
lu
x
lin
k
a
g
e
a
n
d
t
o
r
q
u
e
o
f
th
e
in
d
u
ctio
n
m
o
to
r
in
t
h
e
two
-
p
h
ase
s
tatio
n
ar
y
c
o
o
r
d
i
n
ate
s
y
s
tem
ca
n
b
e
ex
p
r
ess
ed
as
(
1
)
-
(
5
)
[
20
]
.
d
d
=
−
(
1
)
d
d
=
+
(
2
)
=
−
+
(
3
)
=
+
(
4
)
=
3
2
{
⨂
}
(
5
)
W
h
er
e:
、
s
tato
r
an
d
r
o
to
r
r
e
s
is
tan
ce
;
、
s
tato
r
an
d
r
o
to
r
cu
r
r
en
t
v
ec
to
r
;
、
、
s
tato
r
s
elf
-
in
d
u
ctan
ce
,
r
o
to
r
s
elf
-
in
d
u
ctan
ce
an
d
m
u
tu
al
in
d
u
ctan
ce
;
r
o
to
r
an
g
u
lar
s
p
ee
d
;
m
o
to
r
p
o
le
p
air
n
u
m
b
er
.
3.
P
RO
P
O
SE
D
M
O
D
E
L
T
h
e
MPC
i
s
an
o
n
lin
e
o
p
tim
izatio
n
co
n
tr
o
l
alg
o
r
ith
m
b
ased
o
n
d
is
cr
ete
m
ath
em
atica
l
m
o
d
els.
I
ts
p
r
in
cip
le
is
s
im
p
le
an
d
it
h
as
th
e
ad
v
an
tag
es
o
f
ea
s
y
in
tr
o
d
u
ctio
n
o
f
n
o
n
lin
ea
r
co
n
s
tr
ai
n
ts
[
2
1
]
.
T
h
e
to
r
q
u
e
r
ef
er
en
ce
v
alu
e
∗
in
th
e
MPD
T
C
co
n
tr
o
l
s
y
s
tem
i
s
g
en
er
ated
b
y
th
e
s
p
ee
d
d
ev
iatio
n
o
f
th
e
p
r
o
p
o
r
tio
n
al
in
teg
r
al
(
PI)
r
eg
u
lato
r
,
an
d
th
e
s
tato
r
f
lu
x
r
ef
er
en
ce
v
alu
e
∗
is
s
et
to
th
e
r
ated
v
alu
e,
an
d
th
e
f
lu
x
o
b
s
e
r
v
atio
n
v
alu
e
is
d
eter
m
in
ed
b
y
th
e
s
tato
r
r
o
to
r
T
h
e
f
lu
x
lin
k
ag
e
o
b
s
er
v
er
ca
lcu
lates,
an
d
th
e
to
r
q
u
e
an
d
f
l
u
x
lin
k
a
g
e
p
r
ed
icto
r
p
r
ed
icts
th
e
to
r
q
u
e
an
d
f
lu
x
lin
k
ag
e
p
r
ed
ictio
n
v
alu
e,
an
d
th
e
n
estab
lis
h
es
th
e
o
b
jectiv
e
f
u
n
ctio
n
th
r
o
u
g
h
th
e
d
e
v
iatio
n
b
etwe
e
n
th
e
p
r
ed
icted
v
alu
e
an
d
th
e
r
ef
er
en
ce
v
al
u
e,
an
d
f
in
ally
s
elec
ts
th
e
v
o
ltag
e
v
ec
to
r
th
at
m
in
im
izes
th
e
o
b
jectiv
e
f
u
n
ctio
n
T
o
co
n
tr
o
l
th
e
in
d
u
ctio
n
m
o
to
r
.
T
h
e
MP
DT
C
co
n
tr
o
l
b
lo
ck
d
iag
r
am
th
at
th
is
tex
t
p
u
ts
f
o
r
war
d
is
s
h
o
wn
as
in
Fig
u
r
e
1
.
T
h
e
v
o
ltag
e
v
ec
t
o
r
o
f
t
h
e
two
-
lev
el
v
o
ltag
e
in
v
er
ter
is
s
h
o
wn
in
Fig
u
r
e
2
.
Fig
u
r
e
1
.
Pro
p
o
s
ed
m
o
d
el
p
r
e
d
ictio
n
d
ir
ec
t to
r
q
u
e
c
o
n
tr
o
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8
7
9
2
I
n
t J
Ap
p
l
Po
wer
E
n
g
,
Vo
l.
10
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
:
2
4
4
–
252
246
Fig
u
r
e
2
.
Vo
ltag
e
v
ec
to
r
o
f
tw
o
-
lev
el
in
v
e
r
ter
As
a
s
p
ec
ial
ca
s
e,
if
MPDT
C
s
elec
ts
a
ze
r
o
v
ec
to
r
,
0
o
r
7
is
s
elec
ted
b
ased
o
n
th
e
p
r
in
cip
l
e
o
f
s
witch
in
g
th
e
s
witch
s
tate
o
n
l
y
o
n
ce
.
Fo
r
ex
am
p
le,
th
e
in
v
e
r
ter
o
u
tp
u
t
v
o
ltag
e
v
ec
to
r
was
1
(
100
)
at
th
e
las
t
m
o
m
en
t,
th
e
n
th
e
ze
r
o
-
v
ec
to
r
s
elec
ted
at
th
e
cu
r
r
e
n
t
m
o
m
e
n
t
s
h
o
u
ld
b
e
0
(
100
)
,
s
o
th
at
th
e
s
witch
s
tate
o
n
ly
n
ee
d
s
to
b
e
s
witch
ed
o
n
ce
[
2
2
].
3
.
1
.
F
lux
lin
k
estim
a
t
io
n
I
n
th
is
p
ap
er
,
th
e
s
tato
r
f
l
u
x
o
b
s
er
v
er
u
s
es th
e
U
-
I
m
o
d
el
[2
3
]
,
[
2
4
]
.
C
u
r
r
en
t stato
r
f
lu
x
o
b
s
er
v
atio
n
.
̂
(
)
=
∫
[
(
)
−
(
)
]
d
(
6
)
T
h
e
r
o
t
o
r
c
u
r
r
en
t
is
ca
lcu
lated
b
y
(
3
)
,
an
d
th
en
th
e
ca
lc
u
lated
r
o
to
r
cu
r
r
en
t
eq
u
atio
n
is
s
u
b
s
titu
ted
in
to
(
4
)
to
o
b
tain
th
e
r
o
to
r
f
lu
x
e
q
u
atio
n
.
=
+
(
−
)
(
7
)
Ob
tain
th
e
o
b
s
er
v
ed
r
o
to
r
f
l
u
x
lin
k
ag
e
as
(
8
)
.
̂
=
̂
(
)
+
(
)
(
−
)
(
8
)
3
.
2
.
Sta
t
o
r
f
lux
a
nd
t
o
rque
predi
ct
io
n
T
h
e
E
u
ler
'
s
m
eth
o
d
ca
n
p
r
ed
ic
t
v
alu
e
o
f
t
h
e
f
lu
x
lin
k
ag
e
as
(
9
)
.
̂
(
)
=
̂
(
)
+
(
)
−
(
)
(
9
)
T
h
e
in
d
u
ctio
n
m
o
t
o
r
s
tato
r
cu
r
r
en
t
(
k
+
1
)
is
o
b
tain
ed
f
r
o
m
th
e
s
tato
r
d
y
n
a
m
ic
eq
u
atio
n
as
(
1
0
)
.
+
=
(
1
−
)
+
1
(
10
)
W
h
er
e:
=
/
s
tato
r
d
is
cr
ete
tim
e
co
n
s
tan
t;
=
m
o
to
r
leak
ag
e
in
d
u
ctan
ce
;
=
1
−
2
/
leak
ag
e
in
d
u
ctan
ce
co
ef
f
icie
n
t;
=
+
2
eq
u
i
v
alen
t
r
esis
tan
ce
;
=
/
r
o
t
o
r
co
u
p
lin
g
f
ac
to
r
;
=
r
o
to
r
elec
tr
o
m
ag
n
etic
tim
e
c
o
n
s
tan
t.
Use E
u
ler
'
s
m
eth
o
d
to
ex
p
an
d
(
1
0
)
to
o
b
tain
t
h
e
p
r
e
d
icted
v
a
lu
e
o
f
s
tato
r
cu
r
r
en
t a
t
k
+1
(
+
1
)
=
(
+
)
(
)
+
+
{
1
[
(
−
)
̂
(
)
+
(
)
]
}
(
1
1
)
Su
b
s
titu
tin
g
f
lu
x
(
k
+
1
)
an
d
s
tato
r
c
u
r
r
en
t
(
k
+
1
)
in
to
(
5
)
,
th
e
p
r
ed
icted
v
alu
e
o
f
t
o
r
q
u
e
at
k
+1
ca
n
b
e
o
b
tain
ed
(
+
1
)
=
3
2
[
(
+
1
)
⨂
(
+
1
)
]
(
1
2
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
S
q
u
ir
r
el
ca
g
e
in
d
u
ctio
n
mo
t
o
r
p
r
ed
ictive
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l b
a
s
ed
o
n
mu
lti
-
s
tep
… (
N
a
j
ima
ld
in
M.
A
b
b
a
s
)
247
T
h
e
to
r
q
u
e
ca
n
q
u
ick
ly
tr
ac
k
th
e
r
ef
er
en
ce
v
alu
e
wh
ile
k
ee
p
in
g
th
e
s
tato
r
f
lu
x
am
p
litu
d
e
co
n
s
tan
t,
s
o
th
e
o
b
jectiv
e
f
u
n
ctio
n
is
co
n
s
tr
u
ct
ed
[
9
]
=
|
∗
−
(
+
1
)
|
+
|
|
∗
|
−
|
(
+
1
)
|
|
(
1
3
)
W
h
er
e
th
e
weig
h
t c
o
ef
f
icien
t
o
f
th
e
λ
f
lu
x
lin
k
ag
e
am
p
litu
d
e.
3
.
3
.
M
ulti
-
s
t
ep
dela
y
co
m
pens
a
t
io
n
I
t c
an
b
e
s
ee
n
f
r
o
m
(
9
)
an
d
(
1
1
)
th
at
th
e
p
r
e
d
icted
v
alu
es o
f
f
lu
x
lin
k
ag
e
a
n
d
cu
r
r
en
t a
r
e
p
r
ed
icted
b
y
th
e
cu
r
r
en
t
(
)
an
d
v
o
ltag
e
(
)
m
ea
s
u
r
ed
at
th
e
cu
r
r
en
t
m
o
m
en
t
an
d
th
e
o
b
s
er
v
ed
f
lu
x
lin
k
ag
e
̂
(
)
Yes,
b
u
t
d
u
e
to
th
e
o
n
e
-
b
ea
t
d
elay
in
th
e
d
ig
ital
co
n
tr
o
l
s
y
s
tem
[
9
]
,
[
10
]
,
th
e
s
elec
ted
v
o
lt
ag
e
v
ec
to
r
will
n
o
t
b
e
u
p
d
ated
u
n
til
th
e
n
ex
t
m
o
m
en
t.
T
h
e
r
ef
o
r
e
,
th
e
cu
r
r
en
t
s
tato
r
cu
r
r
en
t
an
d
s
tato
r
f
lu
x
lin
k
ag
e
h
a
v
e
b
ec
o
m
e
(
+
1
)
an
d
̂
(
+
1
)
r
esp
ec
tiv
ely
.
T
h
er
ef
o
r
e
,
th
e
v
ar
ia
b
le
at
tim
e
+
1
is
u
s
ed
as
th
e
in
itial
v
alu
e,
an
d
th
e
v
a
r
iab
le
at
tim
e
+
2
is
p
r
ed
icted
to
elim
in
ate
th
e
in
f
lu
en
ce
o
f
o
n
e
s
tep
d
elay
.
T
h
e
s
p
ec
if
ic
co
m
p
en
s
atio
n
m
ea
s
u
r
es a
r
e
f
ir
s
t to
p
r
ed
ict
(
+
1
)
an
d
̂
(
+
1
)
ac
co
r
d
in
g
to
(
9
)
an
d
(
1
1
)
,
an
d
th
en
b
ased
on
(
+
1
)
an
d
̂
(
+
1
)
An
d
7
k
in
d
s
o
f
v
o
lta
g
e
v
ec
to
r
s
(
+
1
)
to
p
r
ed
ict
th
e
s
tate
v
ar
iab
les
at
+
2
tim
e.
Fin
ally
,
to
r
q
u
e
co
m
p
en
s
atio
n
b
ased
o
n
th
e
am
p
litu
d
e
o
f
th
e
s
tato
r
f
lu
x
lin
k
ag
e
at
+
2
,
ca
n
b
e
(
1
4
)
.
=
|
∗
−
(
+
2
)
|
+
|
|
∗
|
−
|
(
+
2
)
|
|
(
1
4
)
4.
RE
SU
L
T
AND
DI
SCUS
SI
O
N
I
n
o
r
d
er
t
o
v
er
i
f
y
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
a
b
o
v
e
-
m
en
tio
n
e
d
p
r
ed
ictiv
e
c
o
n
tr
o
l
alg
o
r
ith
m
,
th
is
p
ap
er
b
u
ild
s
an
MPDT
C
s
y
s
tem
s
im
u
latio
n
m
o
d
el
in
MA
T
L
AB
/Si
m
u
lin
k
[
2
]
.
T
h
e
m
o
to
r
p
ar
am
eter
s
o
f
th
is
m
o
d
el
ar
e
s
h
o
wn
in
T
a
b
le
1
.
T
h
e
s
a
m
p
lin
g
p
e
r
io
d
o
f
th
e
s
im
u
lat
io
n
s
y
s
tem
is
=
50
.
T
ab
le
1
.
Simu
latio
n
p
ar
am
eter
s
P
a
r
a
me
t
e
r
V
a
l
u
e
P
a
r
a
me
t
e
r
V
a
l
u
e
P
o
w
e
r
(
k
W
)
2
.
2
R
r
(
Ω
)
1
.
8
7
6
S
u
p
p
l
y
(
V
)
3
8
0
Lm (m
H
)
2
2
3
F
(
H
z
)
50
Ls
(
mH
)
2
3
2
p
2
Lr
(
mH
)
2
3
2
R
s (Ω)
3
.
1
2
5
Tn
(
N
.
m)
14
Ψ
s (W
b
)
0
.
9
2
Un
d
er
th
e
MPDT
C
co
n
tr
o
l
m
eth
o
d
co
n
s
id
er
in
g
d
elay
co
m
p
en
s
atio
n
,
th
e
n
o
-
lo
a
d
s
tar
t
-
u
p
o
f
th
e
m
o
to
r
r
u
n
s
t
o
1
5
r
ad
/s
,
th
e
s
p
e
ed
is
in
cr
ea
s
ed
to
7
5
r
ad
/s
in
0
.
3
s
,
a
n
d
th
en
th
e
s
p
ee
d
is
in
cr
ea
s
ed
to
1
5
0
r
ad
/s
in
0
.
5
s
.
T
h
e
s
im
u
latio
n
r
esu
l
ts
o
f
th
e
m
o
to
r
ar
e
s
h
o
w
n
in
Fig
u
r
e
3
.
Fro
m
Fig
u
r
e
3
,
it
c
an
b
e
s
ee
n
th
at
th
e
m
o
to
r
r
u
n
s
well
at
lo
w,
m
ed
i
u
m
an
d
h
ig
h
s
p
ee
d
s
an
d
ca
n
q
u
ick
ly
tr
ac
k
a
g
iv
en
s
p
ee
d
.
Af
ter
en
ter
in
g
th
e
s
tead
y
s
tate,
th
e
s
tato
r
cu
r
r
en
t
wav
ef
o
r
m
is
s
m
o
o
th
an
d
t
h
e
t
o
r
q
u
e
r
ip
p
le
is
s
m
all.
Fig
u
r
es
4
-
6
s
h
o
ws
th
e
s
im
u
la
tio
n
r
esu
lts
f
o
r
th
e
th
r
ee
co
n
tr
o
l
m
eth
o
d
s
o
f
DT
C
,
MPDT
C
with
an
d
with
o
u
t
p
r
o
p
o
s
ed
d
elay
c
o
m
p
en
s
atio
n
,
s
tar
t
th
e
m
o
to
r
with
n
o
lo
a
d
an
d
r
u
n
to
1
5
0
r
a
d
/s
,
ap
p
ly
lo
a
d
at
0
.
3
s
,
an
d
th
en
r
ev
er
s
e
to
-
1
5
0
r
ad
/s
at
0
.
5
s
.
T
ab
le
2
s
u
m
m
ar
izes
th
e
s
p
ee
d
d
r
o
p
v
alu
e
o
f
th
e
m
o
to
r
in
Fig
u
r
es
4
-
6
af
ter
th
e
r
ated
lo
ad
is
s
u
d
d
e
n
ly
ap
p
lied
to
th
e
m
o
to
r
in
0
.
3
s
an
d
th
e
to
r
q
u
e
r
ip
p
le
v
alu
e
af
t
er
s
tab
le
o
p
er
atio
n
o
f
th
e
m
o
to
r
.
T
ab
le
2
.
R
esu
lts
co
m
p
ar
is
o
n
C
o
n
t
r
o
l
M
e
t
h
o
d
S
p
e
e
d
d
r
o
p
(
r
a
d
/
s)
To
r
q
u
e
r
i
p
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N
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8
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5
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.
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2
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Po
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10
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3
,
Sep
tem
b
er
2
0
2
1
:
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4
4
–
252
248
(
a)
(b
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Fig
u
r
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3
.
Simu
latio
n
r
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o
f
s
p
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d
ch
an
g
e
;
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)
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d
wav
ef
o
r
m
,
(
b
)
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o
r
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e
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r
m
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c)
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ase
A
cu
r
r
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n
t
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r
m
(a
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(b
)
(c
)
Fig
u
r
e
4
.
T
h
e
s
im
u
latio
n
r
esu
l
ts
o
f
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l: (
a)
Sp
ee
d
wav
ef
o
r
m
,
(
b
)
T
o
r
q
u
e
wav
ef
o
r
m
,
(
c)
Ph
ase
A
cu
r
r
en
t w
av
ef
o
r
m
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I
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t J
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8
7
9
2
S
q
u
ir
r
el
ca
g
e
in
d
u
ctio
n
mo
t
o
r
p
r
ed
ictive
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l b
a
s
ed
o
n
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s
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… (
N
a
j
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ld
in
M.
A
b
b
a
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249
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b
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Fig
u
r
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5
.
T
h
e
s
im
u
latio
n
r
esu
l
t o
f
d
ir
ec
t to
r
q
u
e
c
o
n
tr
o
l w
ith
m
o
d
el
p
r
e
d
ictio
n
with
o
u
t d
ela
y
co
m
p
e
n
s
atio
n
:
(
a)
T
o
r
q
u
e
wav
e
f
o
r
m
,
(
b
)
Ph
a
s
e
A
cu
r
r
en
t w
av
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o
r
m
(
a)
(
b
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Fig
u
r
e
6
.
T
h
e
m
o
d
el
r
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lt with
d
elay
c
o
m
p
en
s
atio
n
t
o
p
r
e
d
i
ct
th
e
DT
C
:
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a)
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ee
d
wav
ef
o
r
m
,
(
b
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o
r
q
u
e
wav
ef
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r
m
,
(
c)
Ph
ase
A
cu
r
r
en
t w
av
ef
o
r
m
Fro
m
Fig
u
r
e
s
4
-
6
an
d
T
a
b
le
2
,
it
ca
n
b
e
s
ee
n
th
at
af
ter
th
e
r
ated
lo
ad
is
s
u
d
d
e
n
ly
a
p
p
lied
,
th
e
m
o
to
r
s
p
ee
d
d
r
o
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v
al
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es
o
f
th
ese
th
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n
tr
o
l
m
eth
o
d
s
ar
e
n
o
t
m
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ch
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i
f
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er
en
t,
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d
th
ey
all
q
u
ick
ly
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etu
r
n
to
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e
s
tead
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s
tate.
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h
e
to
r
q
u
e
r
ip
p
le
v
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e
o
f
th
e
in
d
u
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n
m
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t
o
r
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th
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lar
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est
wh
e
n
th
e
DT
C
m
eth
o
d
is
u
s
ed
,
an
d
th
e
to
r
q
u
e
r
ip
p
le
v
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e
is
th
e
s
m
allest
wh
en
th
e
MPDT
C
m
eth
o
d
with
d
elay
c
o
m
p
e
n
s
atio
n
is
u
s
ed
.
I
t
is
p
r
o
v
e
d
th
at
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C
with
d
el
ay
co
m
p
en
s
atio
n
h
as
th
e
b
est
s
tead
y
-
s
tate
an
d
d
y
n
am
ic
p
er
f
o
r
m
an
ce
.
Un
d
e
r
th
e
t
h
r
ee
co
n
tr
o
l
m
eth
o
d
s
o
f
DT
C
,
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C
with
o
u
t
d
elay
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m
p
en
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atio
n
an
d
MPDT
C
with
d
elay
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m
p
en
s
atio
n
,
th
e
cu
r
r
en
t
h
a
r
m
o
n
ic
s
p
ec
tr
u
m
o
f
th
e
m
o
to
r
with
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ated
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o
ad
an
d
s
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le
o
p
e
r
atio
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at
4
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is
s
h
o
wn
in
Fig
u
r
e
7
.
Fro
m
Fig
u
r
e
7
,
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ca
n
b
e
s
ee
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at
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h
e
s
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r
a
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h
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s
e
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r
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t T
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th
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l m
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r
e
1
7
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5
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9
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9
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5
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at
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-
p
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ase
c
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r
r
en
t
T
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o
f
th
e
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with
d
elay
co
m
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en
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atio
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allest,
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d
th
e
a
-
p
h
ase
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r
r
en
t
wav
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o
r
m
h
a
s
n
o
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g
e
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s
,
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d
th
e
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e
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o
r
m
is
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elativ
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s
m
o
o
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h
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Fig
u
r
e
8
s
h
o
ws
th
e
two
c
o
n
tr
o
l
m
eth
o
d
s
o
f
DT
C
,
MPDT
C
with
o
u
t
d
elay
co
m
p
en
s
atio
n
an
d
MP
DT
C
with
d
elay
co
m
p
e
n
s
atio
n
,
th
e
s
tato
r
f
lu
x
tr
ajec
to
r
y
o
f
th
e
m
o
t
o
r
.
Fro
m
Fig
u
r
e
8
,
it
ca
n
b
e
s
ee
n
th
at
th
e
DT
C
f
lu
x
tr
ajec
to
r
y
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cle
h
as
lar
g
er
p
u
ls
atio
n
,
esp
ec
ially
wh
en
th
e
s
ec
to
r
is
s
witch
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,
th
e
p
u
ls
atio
n
is
g
r
ea
ter
,
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d
th
e
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C
f
lu
x
tr
ajec
to
r
y
s
tu
d
ie
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ap
er
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as
n
o
o
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g
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d
th
e
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ls
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n
is
s
m
all,
esp
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ially
in
th
e
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C
m
eth
o
d
with
d
elay
co
m
p
e
n
s
atio
n
,
th
e
p
u
ls
atio
n
o
f
th
e
f
l
u
x
tr
ajec
to
r
y
is
s
m
aller
,
wh
ich
p
r
o
v
es th
e
e
f
f
ec
tiv
en
ess
o
f
co
n
s
id
er
in
g
d
elay
co
m
p
en
s
atio
n
.
(
a)
Fig
u
r
e
7
.
I
n
d
u
cti
o
n
m
o
to
r
p
h
a
s
e
cu
r
r
en
t h
a
r
m
o
n
ic
s
p
ec
tr
u
m
:
(
a)
DT
C
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8
7
9
2
I
n
t J
Ap
p
l
Po
wer
E
n
g
,
Vo
l.
10
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
:
2
4
4
–
252
250
(
b
)
(
c)
Fig
u
r
e
7
.
I
n
d
u
cti
o
n
m
o
to
r
p
h
a
s
e
cu
r
r
en
t h
a
r
m
o
n
ic
s
p
ec
tr
u
m
:
(
b
)
DT
C
with
o
u
t p
r
o
p
o
s
ed
m
o
d
el
,
(
c)
DT
C
with
p
r
o
p
o
s
ed
m
o
d
el
(
co
n
tin
u
ed
)
(
a)
(
b
)
(
c)
Fig
u
r
e
8
.
Stato
r
f
lu
x
tr
ajec
to
r
y
cir
cle
:
(
a)
Dir
ec
t
to
r
q
u
e
co
n
tr
o
l
,
(
b
)
DT
C
with
o
u
t
p
r
o
p
o
s
ed
m
o
d
el
,
(
c
)
DT
C
with
p
r
o
p
o
s
ed
m
o
d
el
5.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
s
tu
d
y
a
s
q
u
ir
r
el
c
ag
e
in
d
u
ctio
n
m
o
to
r
m
o
d
el
p
r
ed
ictiv
e
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
m
eth
o
d
,
b
u
ild
s
an
in
d
u
ctio
n
m
o
to
r
m
o
d
el
f
o
r
s
im
u
latio
n
,
an
d
s
tu
d
ies
a
m
u
lti
-
s
tep
p
r
ed
ictiv
e
d
elay
co
m
p
en
s
atio
n
m
eth
o
d
f
o
r
t
h
e
o
n
e
-
s
h
o
t
d
ela
y
p
r
o
b
le
m
in
th
e
d
ig
ital
co
n
tr
o
l
s
y
s
tem
.
T
h
e
MPDT
C
m
eth
o
d
ca
n
g
r
ea
tly
r
ed
u
ce
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
Ap
p
l Po
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E
n
g
I
SS
N:
2252
-
8
7
9
2
S
q
u
ir
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el
ca
g
e
in
d
u
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n
mo
t
o
r
p
r
ed
ictive
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l b
a
s
ed
o
n
mu
lti
-
s
tep
… (
N
a
j
ima
ld
in
M.
A
b
b
a
s
)
251
to
r
q
u
e
an
d
f
lu
x
p
u
ls
atio
n
,
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d
r
ed
u
ce
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r
r
e
n
t
h
ar
m
o
n
ics.
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h
e
s
im
u
latio
n
r
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lts
s
h
o
w
th
at
th
e
m
o
d
el
p
r
ed
icts
th
at
th
e
d
ir
ec
t to
r
q
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e
c
o
n
tr
o
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u
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n
m
o
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tatic
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n
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r
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o
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s
s
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d
h
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o
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r
ac
ticab
ilit
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ACK
NO
WL
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DG
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M
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NT
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T
h
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au
th
o
r
g
r
a
te
f
u
l
to
Dep
a
r
tm
en
t o
f
E
lectr
ical
E
n
g
in
ee
r
i
n
g
,
Un
iv
er
s
ity
o
f
Kir
k
u
k
f
o
r
th
e
ir
s
u
p
p
o
r
t.
RE
F
E
R
E
NC
E
S
[1
]
S
.
S
.
Ke
re
a
m
,
A
.
N
.
Ab
d
a
ll
a
a
n
d
M
.
R
.
B
.
Da
u
d
,
“
No
n
l
in
e
a
r
d
y
n
a
m
ic
in
v
e
rse
c
o
n
tr
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ll
e
r
b
a
se
d
in
fi
e
ld
o
rien
ted
wit
h
S
VPW
M
c
u
rre
n
t
c
o
n
tro
l
,
”
J
o
u
r
n
a
l
S
c
ien
c
e
&
T
e
c
h
n
o
lo
g
y
,
v
o
l
.
2
5
,
p
p
.
37
-
4
4
,
2
0
1
7
.
[2
]
L.
S
o
ll
y
,
A
.
N
.
A
b
d
a
ll
a
,
Z
.
Kh
a
li
d
in
,
a
n
d
Z
.
Lu
b
is
,
“
Ad
a
p
ti
v
e
s
p
e
e
d
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stim
a
ti
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in
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c
ti
o
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m
o
t
o
r
b
a
se
d
o
n
n
e
u
ra
l
n
e
two
rk
in
v
e
rse
c
o
n
tr
o
l
,
”
Pro
c
e
d
i
a
En
g
i
n
e
e
rin
g
,
v
o
l.
1
5
,
p
p
.
4
1
8
8
-
4
1
9
3
,
2
0
1
1
,
d
o
i:
1
0
.
1
0
1
6
/j
.
p
ro
e
n
g
.
2
0
1
1
.
0
8
.
7
8
6
.
[3
]
C.
D.
Tran
,
P
.
Bra
n
d
ste
tt
e
r,
M
.
C
.
H
.
Ng
u
y
e
n
,
S
.
D
.
H
o
,
B
.
H
.
Di
n
h
a
n
d
P
.
N
.
P
h
a
m
,
“
A
ro
b
u
st
d
i
a
g
n
o
sis
m
e
th
o
d
fo
r
sp
e
e
d
se
n
so
r
fa
u
lt
b
a
se
d
o
n
sta
to
r
c
u
rre
n
ts
in
t
h
e
RF
OC
i
n
d
u
c
ti
o
n
m
o
to
r
d
riv
e
,
”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
m
p
u
ter
E
n
g
i
n
e
e
rin
g
(IJ
ECE
)
,
v
o
l.
1
0
,
n
o
.
3
,
p
p
.
3
0
3
5
-
3
0
4
6
,
2
0
2
0
,
d
o
i
:
1
0
.
1
1
5
9
1
/i
jec
e
.
v
1
0
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3
.
p
p
3
0
3
5
-
3
0
4
6
.
[4
]
L.
S
o
ll
y
,
A
.
N
Ab
d
a
ll
a
h
,
Z
.
b
i
n
Kh
a
li
d
i
n
,
Z
.
Lu
b
is
a
n
d
M
a
Jie
,
“
A
fa
st
in
d
u
c
ti
o
n
m
o
t
o
r
sp
e
e
d
e
sti
m
a
ti
o
n
b
a
se
d
o
n
h
y
b
rid
p
a
rti
c
le
sw
a
rm
o
p
ti
m
i
z
a
ti
o
n
(HP
S
O)
,
”
P
h
y
sic
s
Pro
c
e
d
ia
,
v
o
l.
2
5
,
p
p
.
2
1
0
9
-
2
1
1
5
,
2
0
1
0
,
d
o
i
:
1
0
.
1
0
1
6
/
j.
p
h
p
r
o
.
2
0
1
2
.
0
3
.
3
5
7
.
[5
]
H.
F
.
Ra
sh
a
g
,
S
.
P
.
Ko
h
,
K.H.
C
h
o
n
g
,
S
.
K.
T
io
n
g
,
Na
d
ia
M
.
L.
Ta
n
a
n
d
A.
N.
Ab
d
a
ll
a
,
“
Hig
h
p
e
rfo
r
m
a
n
c
e
o
f
sp
a
c
e
v
e
c
to
r
m
o
d
u
lati
o
n
d
irec
t
to
r
q
u
e
c
o
n
tro
l
S
VM
-
DTC
b
a
se
d
o
n
a
m
p
li
tu
d
e
v
o
lt
a
g
e
a
n
d
sta
t
o
r
flu
x
a
n
g
le
,
”
Res
.
J
.
o
f
Ap
p
.
S
c
i.
,
En
g
.
a
n
d
T
e
c
h
.
,
v
o
l
.
5
,
n
o
.
1
5
,
p
p
.
3
9
3
4
-
3
9
4
0
,
2
0
1
3
.
[6
]
M.
De
p
e
n
b
r
o
c
k
,
“
Dire
c
t
se
lf
c
o
n
tro
l
(DSC)
o
f
in
v
e
rter
-
fe
d
in
d
u
c
ti
o
n
m
a
c
h
in
e
,
”
IEE
E
T
ra
n
s.
o
n
P
o
w
e
r
El
e
c
tro
n
ics
,
v
o
l.
3
,
n
o
.
4
,
p
p
.
4
2
0
-
4
2
9
,
1
9
8
8
.
[7
]
S
.
Ya
n
g
,
P
.
Ca
o
a
n
d
X.
Z
h
a
n
g
,
“
S
tab
il
it
y
a
n
a
ly
sis
o
f
q
-
a
x
is
ro
t
o
r
flu
x
b
a
se
d
m
o
d
e
l
re
fe
re
n
c
e
a
d
a
p
ti
v
e
sy
ste
m
u
p
d
a
t
in
g
r
o
to
r
ti
m
e
c
o
n
sta
n
t
in
in
d
u
c
ti
o
n
m
o
to
r
d
r
iv
e
s,
”
i
n
CE
S
T
r
a
n
sa
c
ti
o
n
s
o
n
E
lec
trica
l
M
a
c
h
i
n
e
s
a
n
d
S
y
ste
ms
,
v
o
l.
1
,
n
o
.
2
,
p
p
.
1
0
9
-
1
1
6
,
2
0
1
7
,
d
o
i:
1
0
.
2
3
9
1
9
/T
E
M
S
.
2
0
1
7
.
7
9
6
1
2
9
2
.
[8
]
R.
G
h
o
n
i
,
A
h
m
e
d
N.
A
b
d
a
ll
a
,
a
n
d
Zah
im
S
u
j
o
d
,
“
Dire
c
t
to
r
q
u
e
c
o
n
tr
o
l
fo
r
m
a
tri
x
c
o
n
v
e
rter
-
f
e
d
t
h
re
e
p
h
a
se
in
d
u
c
ti
o
n
m
o
to
r
wit
h
h
y
b
rid
P
S
O
,
”
J
o
u
r
n
a
l
o
f
T
h
e
o
re
ti
c
a
l
a
n
d
Ap
p
li
e
d
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
.
v
o
l.
13
,
n
o
.
1
,
p
p
.
36
-
4
0
,
2
0
1
0
.
[9
]
R.
M
in
i
,
S
h
a
b
a
n
a
Ba
c
k
e
r
P
.
,
B.
Ha
ri
ra
m
S
a
th
e
e
sh
,
Din
e
sh
M
.
N
,
“
Lo
w
sp
e
e
d
e
stim
a
ti
o
n
o
f
se
n
so
rles
s
DTC
in
d
u
c
ti
o
n
m
o
to
r
d
ri
v
e
u
si
n
g
M
R
AS
with
n
e
u
ro
fu
z
z
y
a
d
a
p
ti
v
e
c
o
n
tro
ll
e
r
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
mp
u
ter
E
n
g
in
e
e
rin
g
(IJ
ECE
)
,
v
o
l.
8
,
n
o
.
5
,
p
p
.
2
6
9
1
-
2
7
0
2
,
2
0
1
8
,
d
o
i:
1
0
.
1
1
5
9
1
/i
jec
e
.
v
8
i5
.
p
p
2
6
9
1
-
2
7
0
2
.
[1
0
]
T.
En
g
lert
a
n
d
K.
G
ra
ich
e
n
,
“
No
n
li
n
e
a
r
m
o
d
e
l
p
re
d
ictiv
e
t
o
rq
u
e
c
o
n
tro
l
a
n
d
se
t
p
o
i
n
t
c
o
m
p
u
tati
o
n
o
f
i
n
d
u
c
ti
o
n
m
a
c
h
in
e
s fo
r
h
i
g
h
p
e
rfo
rm
a
n
c
e
a
p
p
li
c
a
ti
o
n
s
,
”
C
o
n
tr
o
l
E
n
g
i
n
e
e
rin
g
Pra
c
ti
c
e
,
v
o
l.
9
9
,
p
.
1
0
4
4
1
5
,
2
0
2
0
.
[1
1
]
A.
N.
A
b
d
a
ll
a
,
Z
.
Lu
b
is,
M
.
b
i
n
M
o
h
a
m
e
d
,
Z
.
M
.
Ali
a
n
d
M
.
A
.
M
.
Hu
ss
i
n
,
“
A
n
e
w
se
ries
-
p
a
ra
ll
e
l
h
y
b
ri
d
e
lec
tri
c
v
e
h
icle
c
o
n
fig
u
ra
ti
o
n
b
a
se
d
o
n
a
n
i
n
d
u
c
ti
o
n
m
o
to
r
c
o
u
p
led
t
o
a
D
C
m
a
c
h
in
e
,
”
S
c
ien
ti
fi
c
Res
e
a
rc
h
a
n
d
Essa
y
s
,
v
o
.
5
,
n
o
.
2
4
,
p
p
.
4
0
3
4
-
4
0
4
3
,
2
0
1
0
.
[1
2
]
S
.
M
a
it
i
,
C.
Ch
a
k
ra
b
o
rt
y
,
Y.
Ho
r
i
a
n
d
M
.
C
.
Ta,
“
M
o
d
e
l
re
fe
re
n
c
e
a
d
a
p
ti
v
e
c
o
n
tr
o
ll
e
r
-
b
a
se
d
r
o
t
o
r
re
sista
n
c
e
a
n
d
sp
e
e
d
e
stim
a
ti
o
n
tec
h
n
iq
u
e
s
f
o
r
v
e
c
to
r
c
o
n
tro
l
led
in
d
u
c
ti
o
n
m
o
to
r
d
r
iv
e
u
ti
l
izin
g
re
a
c
ti
v
e
p
o
we
r
,
”
in
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tr
o
n
ics
,
v
o
l
.
5
5
,
n
o
.
2
,
p
p
.
5
9
4
-
6
0
1
,
F
e
b
.
2
0
0
8
,
d
o
i:
1
0
.
1
1
0
9
/T
IE.
2
0
0
7
.
9
1
1
9
5
2
.
[1
3
]
T.
G
.
Nic
o
lás
,
Y
.
A
.
G
.
G
ó
m
e
z
,
a
n
d
F
.
E
.
H
.
Ve
las
c
,
“
P
a
ra
m
e
ter
e
stim
a
ti
o
n
o
f
t
h
re
e
-
p
h
a
se
li
n
e
a
r
i
n
d
u
c
t
io
n
m
o
t
o
r
b
y
a
DS
P
-
b
a
se
d
e
lec
tri
c
-
d
ri
v
e
s
s
y
ste
m
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
a
n
d
Co
m
p
u
ter
E
n
g
i
n
e
e
rin
g
,
v
o
l.
1
0
,
n
o
.
1
,
p
p
.
6
2
6
-
6
3
6
,
2
0
2
0
,
d
o
i:
1
0
.
1
1
5
9
1
/i
jec
e
.
v
1
0
i1
.
p
p
6
2
6
-
6
3
6
.
[1
4
]
S
.
M
.
N.
Ha
sa
n
a
n
d
I.
Hu
sa
in
,
“
A
lu
e
n
b
e
rg
e
r
–
sli
d
i
n
g
m
o
d
e
o
b
se
rv
e
r
fo
r
o
n
li
n
e
p
a
ra
m
e
ter
e
stim
a
ti
o
n
a
n
d
a
d
a
p
tatio
n
in
h
i
g
h
-
p
e
rfo
rm
a
n
c
e
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s
,
”
i
n
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stry
Ap
p
li
c
a
t
io
n
s
,
v
o
l.
4
5
,
n
o
.
2
,
p
p
.
772
-
7
8
1
,
M
a
rc
h
-
a
p
ril
2
0
0
9
,
d
o
i:
1
0
.
1
1
0
9
/
TIA.
2
0
0
9
.
2
0
1
3
6
0
2
.
[1
5
]
V.
R.
Je
v
re
m
o
v
ic,
V.
Va
sic
,
D.P
.
M
a
rc
e
ti
c
a
n
d
B.
Je
ften
ic
,
“
S
p
e
e
d
se
n
so
rles
s
c
o
n
tr
o
l
o
f
i
n
d
u
c
ti
o
n
m
o
to
r
b
a
se
d
o
n
re
a
c
ti
v
e
p
o
we
r
with
r
o
to
r
ti
m
e
c
o
n
sta
n
t
i
d
e
n
ti
fica
ti
o
n
,
”
IE
T
El
e
c
tri
c
Po
we
r
Ap
p
l
ica
ti
o
n
s
,
v
o
l
.
4
,
n
o
.
6
,
p
p
.
4
6
2
-
4
7
3
,
2
0
1
0
,
d
o
i:
1
0
.
1
0
4
9
/
iet
-
e
p
a
.
2
0
0
9
.
0
2
0
8
.
[1
6
]
K.
Wan
g
,
B.
C
h
e
n
,
G
.
S
h
e
n
,
W.
Ya
o
,
K.
Lee
a
n
d
Z.
L
u
,
“O
n
li
n
e
u
p
d
a
ti
n
g
o
f
ro
t
o
r
ti
m
e
c
o
n
sta
n
t
b
a
se
d
o
n
c
o
m
b
in
e
d
v
o
lt
a
g
e
a
n
d
c
u
rre
n
t
m
o
d
e
flu
x
o
b
se
rv
e
r
f
o
r
sp
e
e
d
-
se
n
so
rles
s
A
C
d
riv
e
s
,
”
i
n
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l.
6
1
,
n
o
.
9
,
p
p
.
4
5
8
3
-
4
5
9
3
,
S
e
p
t.
2
0
1
4
,
d
o
i:
1
0
.
1
1
0
9
/T
IE.
2
0
1
3
.
2
2
8
8
2
2
7
.
[1
7
]
B.
Ka
ra
n
a
y
il
,
M
.
F
.
Ra
h
m
a
n
a
n
d
C.
G
ra
n
th
a
m
,
“
On
li
n
e
sta
to
r
a
n
d
r
o
to
r
re
sista
n
c
e
e
stim
a
ti
o
n
sc
h
e
m
e
u
sin
g
a
rti
fi
c
ial
n
e
u
ra
l
n
e
two
rk
s
f
o
r
v
e
c
to
r
c
o
n
tr
o
ll
e
d
sp
e
e
d
se
n
so
rles
s
i
n
d
u
c
ti
o
n
m
o
to
r
d
ri
v
e
,
”
i
n
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tro
n
ics
,
v
o
l.
5
4
,
n
o
.
1
,
p
p
.
1
6
7
-
1
7
6
,
F
e
b
.
2
0
0
7
,
d
o
i:
1
0
.
1
1
0
9
/T
I
E.
2
0
0
6
.
8
8
8
7
7
8
.
[1
8
]
Xin
g
Yu
,
M
.
W.
D
u
n
n
ig
a
n
a
n
d
B
.
W.
Wi
ll
iam
s,
“
A n
o
v
e
l
r
o
t
o
r
re
sista
n
c
e
id
e
n
ti
fica
ti
o
n
m
e
th
o
d
f
o
r
a
n
in
d
irec
t
ro
t
o
r
flu
x
-
o
rien
tate
d
c
o
n
tr
o
ll
e
d
in
d
u
c
ti
o
n
m
a
c
h
in
e
sy
ste
m
,
”
in
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
P
o
we
r
El
e
c
tro
n
ics
,
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,
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.
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rtme
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in
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ficia
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n
tel
li
g
e
n
c
e
,
a
n
d
o
p
ti
m
iza
ti
o
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.