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th
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b
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m
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]
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I
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T
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p
ac
ity
to
d
ir
ec
tly
esti
m
ate
th
e
m
o
t
o
r
s
p
ee
d
wh
ich
is
f
ast
s
p
ee
d
r
esp
o
n
s
e
b
u
t
th
e
d
o
wn
s
id
e
is
th
at
E
K
F
n
ee
d
s
h
ea
v
y
o
n
-
lin
e
4
×
4
m
atr
ix
co
m
p
u
tin
g
wh
ich
b
ec
o
m
e
a
ch
allen
g
in
g
is
s
u
e
f
o
r
a
f
ix
-
p
o
in
ted
p
r
o
ce
s
s
o
r
s
y
s
tem
[
9
-
1
2
]
.
T
h
e
elec
tr
o
m
o
tiv
e
f
o
r
ce
in
d
u
c
ed
b
y
r
o
to
r
m
ag
n
et
in
th
e
p
h
a
s
es
o
f
s
tato
r
ar
e
ca
lled
as
“b
ac
k
E
MF”,
wh
ich
co
n
tain
d
ata
ab
o
u
t th
e
s
p
ee
d
an
d
p
o
s
itio
n
o
f
th
e
r
o
to
r
ax
is
.
I
ts
s
h
ap
e
an
d
v
alu
e
o
f
alter
n
atin
g
wav
ef
o
r
m
r
ep
r
esen
t
th
e
in
f
o
r
m
atio
n
o
f
th
e
s
p
ee
d
an
d
lo
ca
tio
n
o
f
r
o
to
r
m
ag
n
et
ax
is
r
esp
ec
tiv
ely
[
1
3
]
.
Fo
r
m
e
d
iu
m
an
d
h
ig
h
s
p
ee
d
,
B
ac
k
-
E
MF
is
th
e
m
o
s
t
s
u
itab
le
m
eth
o
d
to
d
etec
t
th
e
r
o
t
o
r
lo
ca
tio
n
with
o
u
t
en
c
o
d
er
o
r
r
eso
lv
e
r
b
y
u
tili
zin
g
th
e
B
ac
k
-
E
MF
f
r
o
m
th
e
m
o
to
r
m
o
d
el.
T
h
e
co
n
s
tr
ain
t
o
f
th
e
B
ac
k
-
E
MF
m
eth
o
d
is
r
o
to
r
p
o
s
itio
n
d
eter
m
in
atio
n
is
r
elate
d
to
th
e
s
p
ee
d
,
th
e
ac
cu
r
ac
y
d
ec
r
ea
s
e
a
t
lo
w
an
d
ze
r
o
r
o
tatio
n
al
s
p
ee
d
,
in
o
th
er
wo
r
d
,
th
e
m
o
to
r
eq
u
atio
n
elem
e
n
t
co
n
ta
in
in
g
th
e
r
o
to
r
p
o
s
itio
n
d
ata
g
et
to
o
s
m
all
to
b
e
d
etec
ted
[
1
3
-
1
6
]
.
Sli
d
in
g
m
o
d
e
is
a
n
o
n
-
lin
ea
r
m
o
d
el
th
at
u
ti
lize
th
e
s
witch
in
g
law
in
g
o
v
er
n
in
g
th
e
s
y
s
tem
.
SMO
f
o
r
PMSM
ex
p
lo
it
th
e
m
is
m
atch
b
etwe
en
t
h
e
esti
m
a
ted
an
d
m
ea
s
u
r
em
en
t
v
alu
e
o
f
s
tato
r
cu
r
r
en
t
to
ac
q
u
ir
e
th
e
B
ac
k
-
E
MF
th
at
en
co
m
p
ass
es
th
e
r
o
to
r
lo
ca
tio
n
an
d
s
p
ee
d
d
ata.
No
n
eth
eless
,
th
e
ch
atter
in
g
p
h
en
o
m
en
o
n
is
th
e
m
ain
d
r
awb
ac
k
o
f
SMO.
T
h
e
ch
atter
in
g
ca
u
s
es
s
y
s
tem
o
s
ci
llatio
n
,
p
er
f
o
r
m
an
ce
to
s
lu
g
g
is
h
an
d
u
n
s
tead
in
ess
to
th
e
s
y
s
tem
[
1
7
]
,
ev
en
th
o
u
g
h
SMO
m
et
h
o
d
is
lo
w
s
en
s
itiv
ity
to
ac
t
u
al
m
o
d
el,
it
is
m
o
r
e
r
o
b
u
s
t
an
d
h
av
e
e
x
ce
llen
t
p
er
f
o
r
m
an
ce
[
1
7
-
2
0
]
.
MRAS
p
er
f
o
r
m
an
ce
is
ex
ce
llen
t
in
th
e
r
eg
io
n
o
f
m
e
d
iu
m
to
h
ig
h
s
p
ee
d
to
c
o
n
tr
o
l
t
h
e
PMSM.
T
h
e
MRAS
est
im
a
tes th
e
m
o
to
r
B
ac
k
-
E
MF
wh
er
e
th
e
r
o
to
r
p
o
s
itio
n
d
ata
ca
n
b
e
r
et
r
iev
ed
.
T
r
ad
itio
n
al
d
esig
n
is
b
u
ilt
o
n
L
y
a
p
u
n
o
v
m
eth
o
d
an
d
esti
m
atio
n
law
is
in
t
en
d
ed
in
m
ak
in
g
s
u
r
e
t
h
e
esti
m
ated
s
tate
co
n
v
er
g
e
to
th
e
ac
tu
al
v
alu
es.
T
h
er
e
a
r
e
s
ix
p
ar
am
eter
s
t
o
b
e
tu
n
ed
an
d
th
e
co
n
n
ec
tio
n
b
etwe
en
t
h
ese
p
ar
am
eter
s
an
d
th
e
esti
m
ato
r
p
er
f
o
r
m
an
ce
is
in
d
ir
ec
t,
h
e
n
ce
th
e
esti
m
ato
r
p
a
r
am
eter
s
n
ee
d
to
b
e
tu
n
e
d
m
an
u
ally
[
2
1
-
2
2
]
.
So
f
ar
,
v
ar
io
u
s
class
es
o
f
s
en
s
o
r
less
m
eth
o
d
ar
e
r
ev
iewe
d
in
th
is
liter
atu
r
e
r
ev
iew.
I
t
p
r
esen
ts
th
e
p
r
o
s
an
d
co
n
s
f
o
r
ea
ch
m
eth
o
d
.
I
t
also
d
is
cu
s
s
es
ab
o
u
t
th
e
s
u
it
ab
ilit
y
o
f
t
h
e
m
eth
o
d
s
.
T
h
e
m
ain
in
ter
est
in
t
h
is
r
esear
ch
is
to
h
av
e
s
en
s
o
r
less
co
n
tr
o
l
at
lo
w
s
p
ee
d
an
d
s
tan
d
s
till
,
th
er
ef
o
r
e
th
is
p
r
o
ject
p
r
o
p
o
s
es
to
u
s
e
s
ig
n
al
in
jectio
n
m
eth
o
d
to
s
o
lv
e
th
e
p
r
o
b
lem
o
f
p
o
o
r
p
er
f
o
r
m
an
ce
o
f
PMSM
d
r
iv
es
to
d
etec
t
r
o
to
r
p
o
s
itio
n
an
d
s
p
ee
d
at
lo
w
an
d
ze
r
o
s
p
ee
d
.
Fig
u
r
e
1
s
h
o
ws
th
e
o
v
er
all
b
lo
ck
d
iag
r
am
o
f
h
ig
h
f
r
e
q
u
en
c
y
s
ig
n
al
in
jectio
n
wh
er
e
th
e
d
etec
tio
n
o
f
r
o
to
r
p
o
s
itio
n
i
s
ac
co
m
p
lis
h
ed
v
ia
in
jectio
n
o
f
ad
d
itio
n
al
s
ig
n
als
(
cu
r
r
en
t/
v
o
ltag
e)
u
s
in
g
f
u
n
d
am
e
n
tal
ex
citatio
n
.
T
h
is
ap
p
lied
s
ig
n
als
with
th
e
m
a
g
n
etic
r
o
to
r
s
alien
cy
o
f
t
h
e
m
o
to
r
,
r
esu
ltin
g
th
u
s
s
u
b
s
eq
u
en
t
v
o
ltag
e
an
d
cu
r
r
en
t
to
o
b
tain
r
o
to
r
p
o
s
itio
n
d
ata.
T
h
e
d
r
awb
ac
k
o
f
th
e
cu
r
r
en
t
in
jectio
n
is
th
e
b
an
d
wid
t
h
esti
m
atio
n
wh
i
ch
co
n
tr
o
lled
b
y
th
e
cu
r
r
en
t
c
o
n
tr
o
ller
.
Me
a
n
wh
ile
th
e
b
a
n
d
wid
th
esti
m
atio
n
is
co
n
tr
o
lled
b
y
th
e
o
b
s
er
v
e
r
b
an
d
wid
th
f
o
r
th
e
v
o
ltag
e
in
jectio
n
m
eth
o
d
[
2
3
-
2
5
]
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
M
o
dellin
g
o
f
P
M
SM
s
e
ns
o
rless
driv
es
Fig
u
r
e
1
ex
p
lain
s
h
ig
h
f
r
eq
u
en
cy
v
o
ltag
e
in
jectio
n
in
t
o
th
e
PMSM
d
r
iv
es.
T
h
e
r
eq
u
ir
ed
c
o
m
p
o
n
e
n
t
is
s
p
ee
d
co
n
tr
o
ller
,
v
ec
to
r
tr
an
s
f
o
r
m
atio
n
,
PW
M
g
en
er
ato
r
,
h
ig
h
f
r
eq
u
en
cy
v
o
ltag
e
in
jectio
n
in
d
-
q
ax
is
,
cu
r
r
e
n
t
esti
m
ato
r
,
an
d
d
em
o
d
u
latio
n
p
r
o
ce
s
s
an
d
s
p
ee
d
o
b
s
er
v
e
r
.
T
h
e
co
m
p
a
r
is
o
n
b
etwe
en
r
ef
er
en
ce
s
p
ee
d
an
d
esti
m
ated
s
p
ee
d
will
p
r
o
d
u
ce
s
p
ee
d
er
r
o
r
wh
ich
is
f
ed
to
s
p
ee
d
co
n
tr
o
ller
a
n
d
its
o
u
tp
u
t
will
b
e
u
s
ed
f
o
r
v
ec
to
r
tr
an
s
f
o
r
m
atio
n
wh
ich
ca
n
tr
a
n
s
f
o
r
m
d
-
q
r
ef
e
r
en
ce
c
u
r
r
e
n
t
to
th
r
ee
-
p
h
ase
r
e
f
er
en
ce
cu
r
r
e
n
t.
T
h
e
th
r
ee
-
p
h
ase
r
ef
er
en
ce
c
u
r
r
e
n
t
wh
ich
a
r
e
th
en
co
m
p
a
r
ed
with
ac
t
u
al
cu
r
r
en
t
m
ea
s
u
r
ed
f
r
o
m
PMSM,
will
p
r
o
d
u
ce
cu
r
r
en
ts
er
r
o
r
s
in
th
e
PW
M
g
en
er
ato
r
wh
ich
ar
e
th
en
u
s
ed
to
g
en
e
r
ate
s
witch
in
g
s
ig
n
al
f
o
r
th
e
in
v
er
ter
.
T
h
e
r
o
to
r
p
o
s
itio
n
(
θ
re
)
is
esti
m
ated
u
s
in
g
s
ig
n
al
in
jectio
n
s
ch
em
e.
T
h
e
r
o
to
r
s
p
ee
d
ca
n
th
en
b
e
esti
m
ated
u
s
in
g
in
teg
r
ato
r
in
s
p
ee
d
o
b
s
er
v
er
[
1
4
]
.
2
.
2
.
E
x
t
er
na
l
hig
h f
re
qu
ency
ro
t
a
t
ing
v
o
lt
a
g
e
s
ig
na
l inj
e
ct
io
n
T
h
e
in
jecte
d
v
o
ltag
es a
t f
r
eq
u
en
cy
ω
i a
r
e
g
iv
en
as
:
[
]
=
[
(
−
2
3
)
(
+
2
3
)
]
w
h
er
e
θi
= ω
i
t
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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L
KOM
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KA
T
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o
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m
u
n
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p
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o
l
Hig
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fr
eq
u
en
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s
ig
n
a
l
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jectio
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meth
o
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less
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.
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(
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Sen
s
o
r
less
PMSM
d
r
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es u
s
in
g
h
ig
h
f
r
e
q
u
en
c
y
s
ig
n
al
in
jectio
n
T
h
en
th
e
th
r
ee
p
h
ase
in
jecte
d
v
o
ltag
e
ar
e
tr
an
s
f
o
r
m
ed
in
to
d
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n
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am
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e
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d
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ted
as f
o
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−
2
3
[
+
(
−
2
3
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+
(
−
4
3
)
]
=
−
2
3
[
+
(
−
2
3
)
+
(
−
4
3
)
]
(
2
)
Me
an
wh
ile,
th
e
in
jecte
d
f
r
eq
u
en
cy
o
f
s
tato
r
cu
r
r
e
n
t c
an
b
e
wr
itten
as
:
[
]
=
[
1
−
2
(
2
(
−
)
)
−
1
+
2
(
2
(
−
)
)
]
(
3
)
w
h
er
e,
1
=
(
+
2
)
(
+
2
)
2
−
(
−
2
)
2
;
(
4
)
2
=
(
−
2
)
(
+
2
)
2
−
(
−
2
)
2
;
T
h
e
d
-
a
x
is
cu
r
r
en
t is th
en
tr
an
s
f
o
r
m
ed
in
to
esti
m
ated
r
o
to
r
r
ef
er
en
ce
f
r
am
e
wh
ich
y
ield
as
s
h
o
wn
in
(
5
)
=
(
)
+
(
)
(
5
)
As s
h
o
wn
in
(
5
)
ca
n
b
e
r
ewr
itten
as
:
=
2
[
{
2
(
−
)
}
]
(
6
)
As
s
h
o
wn
in
(
6
)
,
it
h
as
th
e
in
f
o
r
m
atio
n
a
b
o
u
t
r
o
to
r
p
o
s
itio
n
er
r
o
r
.
Hig
h
f
r
e
q
u
en
c
y
r
ev
o
lv
i
n
g
v
o
lta
g
e
in
jectio
n
is
f
o
r
m
ed
b
y
t
h
r
ee
-
p
h
ase
v
o
ltag
e
v
ec
to
r
u
s
in
g
as
s
h
o
wn
in
(
1
)
with
i
n
jectio
n
v
o
ltag
e
(
V
i
)
an
d
h
ig
h
f
r
eq
u
e
n
cy
,
(
f
i
)
wh
ich
ar
e
t
h
en
t
r
an
s
f
o
r
m
ed
in
to
d
-
q
ax
is
u
s
in
g
Par
k
-
C
lar
k
e
tr
an
s
f
o
r
m
atio
n
.
T
h
e
d
-
q
a
x
es
v
o
ltag
e
will
u
n
d
er
g
o
tr
a
n
s
f
o
r
m
atio
n
in
to
esti
m
ated
p
o
s
itio
n
r
ef
er
e
n
ce
f
r
am
e
an
d
th
e
o
u
tp
u
t
will
b
e
a
d
d
ed
with
d
-
q
ax
es
vo
ltag
e
in
r
o
to
r
-
r
ef
er
e
n
ce
f
r
a
m
e.
T
h
is
s
u
b
s
y
s
tem
is
s
h
o
wn
i
n
Fig
u
r
e
2
[
1
4
]
,
f
o
r
th
e
ab
c
to
d
-
q
a
x
is
co
n
v
er
s
io
n
,
th
e
co
s
in
e
an
d
s
in
e
wa
v
e
g
en
e
r
ato
r
is
u
s
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
18
,
No
.
6
,
Dec
em
b
e
r
2
0
2
0
:
3
3
1
5
-
3
3
2
3
3318
Fig
u
r
e
2
.
Vo
ltag
e
in
jectio
n
f
o
r
PMSM
b
lo
ck
d
iag
r
am
W
h
ile
Fig
u
r
e
3
d
ep
ict
B
an
d
-
Pa
s
s
f
ilter
th
at
is
u
s
ed
to
s
ep
ar
ate
th
e
in
jecte
d
s
ig
n
al
f
r
o
m
th
e
f
u
n
d
am
en
tal
co
m
p
o
n
en
t.
T
h
e
B
an
d
-
Pas
s
f
ilter
ed
s
ig
n
al
is
th
en
,
d
em
o
d
u
lated
a
n
d
m
u
ltip
lied
with
s
in
(
θ
i
)
to
o
b
tain
th
e
r
eq
u
ir
ed
r
o
to
r
p
o
s
itio
n
.
T
h
e
o
u
tp
u
t
s
ig
n
al
is
f
u
r
th
er
p
r
o
c
ess
ed
b
y
a
lo
w
-
p
ass
f
ilter
to
elim
in
ate
th
e
s
ec
o
n
d
h
ar
m
o
n
ic
co
m
p
o
n
e
n
ts
,
s
o
th
at
th
e
p
o
s
itio
n
er
r
o
r
ca
n
b
e
r
e
d
u
ce
d
b
ef
o
r
e
f
ed
t
o
th
e
co
n
tr
o
ller
.
Fig
u
r
e
4
e
x
p
lain
s
th
at
a
tr
ac
k
in
g
o
b
s
er
v
er
is
n
ec
ess
ar
y
to
ex
tr
ac
t
th
e
in
f
o
r
m
atio
n
o
f
r
o
t
o
r
p
o
s
itio
n
an
d
m
o
to
r
s
p
ee
d
f
r
o
m
th
e
p
o
s
itio
n
er
r
o
r
.
T
h
e
r
o
to
r
p
o
s
itio
n
ca
n
b
e
c
alcu
l
ated
ea
s
ily
b
y
u
s
in
g
in
te
g
r
ato
r
g
i
v
en
th
at
th
e
r
o
to
r
esti
m
ated
s
p
ee
d
is
d
e
ter
m
in
ed
co
r
r
ec
tly
.
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
s
ig
n
al
(
7
)
is
ad
d
ed
at
th
e
o
u
tp
u
t
o
f
PID
co
n
tr
o
ller
f
o
r
f
aster
d
y
n
am
ic
p
e
r
f
o
r
m
an
ce
[
1
4
]
.
T
h
e
elec
tr
ic
to
r
q
u
e
a
n
d
“B”
is
th
e
d
am
p
in
g
co
e
f
f
icien
t
is
wr
itten
as:
(
7
)
Fig
u
r
e
3
.
Dem
o
d
u
latio
n
Fig
u
r
e
4
.
R
o
to
r
p
o
s
itio
n
an
d
s
p
ee
d
o
b
s
er
v
er
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
T
h
e
p
ar
am
eter
f
o
r
PMSM
wh
ich
b
ein
g
u
s
ed
in
s
im
u
latio
n
ar
e
as f
o
llo
ws;
s
am
p
lin
g
tim
e
is
s
et
to
b
e
1e
-
6
s
ec
o
n
d
s
,
th
e
in
jecte
d
f
r
eq
u
en
cy
,
(
f
i
)
is
2
KHz
an
d
am
p
li
tu
d
e
(
V
i
)
is
1
0
V
.
W
h
ile
th
e
m
o
to
r
s
p
ec
if
icatio
n
is
tab
u
lated
in
T
ab
le
1
.
3
.
1
.
O
pera
t
io
n f
ro
m
s
t
a
nd
s
t
ill wit
ho
ut
lo
a
d
T
h
e
r
ef
er
e
n
ce
s
p
ee
d
is
s
et
at
0
r
p
m
an
d
1
0
0
r
p
m
.
Fig
u
r
e
5
s
h
o
ws
th
e
s
p
ee
d
,
to
r
q
u
e
a
n
d
s
tato
r
cu
r
r
e
n
t
r
esp
o
n
s
e
at
1
0
0
r
p
m
wh
ic
h
is
at
lo
w
s
p
ee
d
.
T
h
e
r
esu
lts
p
r
o
v
e
th
at
th
e
s
y
s
tem
is
ab
le
t
o
o
p
er
ate
f
r
o
m
s
tan
d
s
till
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Hig
h
fr
eq
u
en
cy
s
ig
n
a
l
in
jectio
n
meth
o
d
fo
r
s
en
s
o
r
less
.
.
.
(
Ju
r
ifa
Ma
t La
z
i
)
3319
an
d
th
en
m
atch
it
r
e
f
er
en
ce
s
p
ee
d
at
lo
w
s
p
ee
d
.
T
h
e
s
p
ee
d
r
esp
o
n
s
e
h
as
a
h
ig
h
o
v
e
r
s
h
o
o
t
d
u
e
to
d
if
f
icu
lty
o
f
th
e
o
b
s
er
v
er
to
esti
m
ate
th
e
s
p
ee
d
d
u
r
i
n
g
in
itial c
o
n
d
itio
n
w
h
ich
th
e
cu
r
r
en
t a
n
d
v
o
ltag
e
ar
e
ze
r
o
.
T
ab
le
1
Mo
to
r
s
p
ec
if
icatio
n
S
e
c
t
i
o
n
S
p
e
c
i
f
i
c
a
t
i
o
n
o
f
mo
t
o
r
D
e
t
a
i
l
s
P
r
e
set
mo
d
e
l
0
5
:
8
N
m
3
0
0
V
d
c
2
0
0
0
R
P
M
–
1
0
N
m
S
t
a
t
o
r
p
h
a
se
r
e
si
s
t
a
n
c
e
(
o
h
m)
0
.
9
5
8
5
Ω
I
n
d
u
c
t
a
n
c
e
s[
L
d
(
H
)
Lq
(
H
)
]
[
0
.
0
0
5
2
5
,
0
.
0
0
5
2
5
]
F
l
u
x
l
i
n
k
a
g
e
e
st
a
b
l
i
s
h
e
d
b
y
ma
g
n
e
t
s (
V
.
s)
0
.
1
8
2
7
V
o
l
t
a
g
e
C
o
n
s
t
a
n
t
(
V
_
p
e
a
k
L
-
L
/
k
r
p
m)
:
1
3
2
.
5
5
2
5
To
r
q
u
e
C
o
n
st
a
n
t
(
N
.
m
/
A
_
p
e
a
k
)
:
1
.
0
9
6
2
I
n
e
r
t
i
a
,
f
r
i
c
t
i
o
n
f
a
c
t
o
r
,
p
o
l
e
p
a
i
r
s [ J(
k
g
.
m^
2
)
F
(
N
.
m.s)
p
(
)
]
[
0
.
0
0
0
6
3
2
9
,
0
.
0
0
0
3
0
3
5
,
4
]
(
a)
(
b
)
(
c)
Fig
u
r
e
5
.
T
h
e
r
esp
o
n
s
e
at
1
0
0
r
p
m
f
o
r
f
r
ee
ac
ce
ler
atio
n
;
(
a
)
s
p
ee
d
,
(
b
)
to
r
q
u
e,
(
c)
I
abc
3
.
2
.
Ste
p
s
peed
cha
ng
e
in re
f
er
ence
s
peed
wit
ho
ut
lo
a
d
Fig
u
r
e
6
s
h
o
w
th
e
r
esp
o
n
s
es
o
f
s
p
ee
d
,
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
s
tato
r
cu
r
r
e
n
t
r
esp
o
n
s
e
with
o
u
t
lo
ad
.
I
n
itially
,
th
e
r
ef
er
en
ce
s
p
ee
d
is
s
et
a
t
1
0
0
r
p
m
an
d
th
en
at
th
e
tim
e
=
3
s
ec
o
n
d
,
th
e
s
p
ee
d
ch
an
g
e
to
50
r
p
m
.
At
3
s
,
th
e
s
p
ee
d
is
ch
an
g
e
f
r
o
m
1
0
0
r
p
m
to
5
0
r
p
m
,
it
ca
n
b
e
d
ed
u
ce
d
th
at
th
e
a
c
tu
al
s
p
ee
d
f
o
llo
ws
th
at
o
f
r
e
f
er
en
ce
s
p
ee
d
with
lo
w
u
n
d
e
r
s
h
o
o
t.
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
d
ec
r
ea
s
e
to
-
0
.
9
9
4
2
Nm
wh
en
th
e
s
p
ee
d
is
ch
an
g
e
b
u
t
alm
o
s
t
r
ea
ch
ze
r
o
to
r
q
u
e
af
ter
s
o
m
e
tim
e.
T
h
e
s
tato
r
cu
r
r
en
t
in
cr
ea
s
es
at
3
s
wh
en
th
e
s
p
ee
d
is
ch
an
g
e
,
it th
en
d
e
cr
ea
s
es a
n
d
s
tab
ilized
q
u
ick
ly
,
th
e
f
r
eq
u
en
cy
o
f
th
e
cu
r
r
e
n
t is 0
.
8
3
3
Hz.
3
.
3
.
F
o
rwa
rd
t
o
re
v
er
s
e
o
pe
ra
t
io
n wit
ho
ut
lo
a
d
Fig
u
r
e
7
s
h
o
w
th
e
r
esp
o
n
s
es
o
f
s
p
ee
d
,
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
s
tato
r
cu
r
r
e
n
t
r
esp
o
n
s
e
with
o
u
t
lo
ad
.
I
n
itially
,
th
e
r
ef
e
r
en
ce
s
p
ee
d
is
s
et
at
1
0
0
r
p
m
a
n
d
th
en
at
th
e
tim
e
=
3
s
ec
o
n
d
,
th
e
s
p
ee
d
is
r
ev
er
s
e
to
n
eg
ativ
e
1
0
0
r
p
m
.
Fig
u
r
e
7
d
e
p
ict
wh
en
th
e
s
p
ee
d
r
ev
er
s
e
at
3
s
,
th
e
s
p
ee
d
r
esp
o
n
s
e
o
s
cillates m
o
r
e
co
m
p
a
r
ed
to
th
e
s
p
ee
d
wh
en
th
e
m
o
to
r
is
s
tar
ted
wi
th
r
ef
er
e
n
ce
s
p
ee
d
o
f
1
0
0
r
p
m
,
ev
en
t
u
ally
th
e
ac
tu
al
s
p
ee
d
is
ab
le
to
tr
ac
k
th
e
r
ef
er
e
n
ce
s
p
ee
d
v
e
r
y
well,
wh
ile
th
e
d
ev
elo
p
ed
to
r
q
u
e
wh
ich
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wh
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ee
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ze
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p
lied
to
th
e
m
o
to
r
.
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h
e
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tato
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r
r
en
t
r
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e
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ee
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d
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d
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ase
im
m
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iately
to
ar
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0
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0
2
A,
th
e
f
r
eq
u
en
cy
o
f
th
e
cu
r
r
en
t is 1
.
6
7
5
Hz.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
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Vo
l.
18
,
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6
,
Dec
em
b
e
r
2
0
2
0
:
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1
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-
3
3
2
3
3320
3
.
4
.
Rev
er
s
e
t
o
f
o
rwa
rd
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pe
ra
t
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n wit
ho
ut
lo
a
d
Fi
g
u
r
e
8
s
h
o
w
th
e
r
esp
o
n
s
es
o
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s
p
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,
elec
tr
o
m
ag
n
etic
to
r
q
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e
an
d
s
tato
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cu
r
r
en
t
r
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n
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e
with
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n
itially
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th
e
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ef
er
e
n
ce
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et
at
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ativ
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at
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er
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e
to
p
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1
0
0
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p
m
.
Fig
u
r
e
8
d
e
s
cr
ib
e
th
e
s
p
ee
d
r
esp
o
n
s
e
wh
ich
h
as
a
h
ig
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er
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ativ
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ter
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ile,
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atch
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p
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with
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ly
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wh
ile,
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e
v
elo
p
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q
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in
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to
2
.
7
1
Nm
wh
en
t
h
e
s
p
ee
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o
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er
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n
ch
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g
e
f
r
o
m
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e
to
f
o
r
war
d
a
n
d
as
th
e
ca
s
e
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ef
o
r
e,
it
wen
t d
o
wn
to
alm
o
s
t
ze
r
o
in
v
alu
e.
L
astl
y
th
e
s
tato
r
cu
r
r
en
t
r
esp
o
n
s
e
wh
i
ch
h
av
e
alm
o
s
t
th
e
s
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e
ch
ar
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ter
is
tic
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e
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e
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th
s
am
e
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r
eq
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e
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cy
o
f
1
.
6
75
Hz.
(
a)
(
b
)
(
c)
Fig
u
r
e
6
.
T
h
e
r
esp
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n
s
e
o
f
s
tep
s
p
ee
d
ch
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g
e
in
r
e
f
er
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ce
;
(
a
)
s
p
ee
d
,
(
b
)
t
o
r
q
u
e
, (
c
)
I
abc
(
a)
(
b
)
(
c)
Fig
u
r
e
7.
T
h
e
r
esp
o
n
s
e
f
o
r
f
o
r
war
d
to
r
ev
er
s
e
o
p
er
atio
n
;
(
a)
s
p
ee
d
,
(
b
)
t
o
r
q
u
e
an
d
(
c)
I
abc
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
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l
Hig
h
fr
eq
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en
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s
ig
n
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l
in
jectio
n
meth
o
d
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r
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r
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.
.
.
(
Ju
r
ifa
Ma
t La
z
i
)
3321
(
a)
(
b
)
(
c)
Fig
u
r
e
8.
T
h
e
r
esp
o
n
s
e
f
o
r
r
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er
s
e
to
f
o
r
war
d
o
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e
r
atio
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;
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a
)
s
p
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d
,
(
b
)
t
o
r
q
u
e
, (
c)
I
abc
4.
CO
NCLU
SI
O
N
On
o
th
er
h
an
d
,
PMSM
s
en
s
o
r
less
d
r
iv
es
u
s
in
g
h
ig
h
f
r
eq
u
e
n
c
y
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ig
n
al
in
jectio
n
is
m
o
d
elled
u
s
in
g
s
p
ee
d
an
d
p
o
s
itio
n
esti
m
ato
r
eq
u
atio
n
s
.
An
d
o
n
ly
s
tato
r
cu
r
r
e
n
t
is
u
s
ed
as
f
ee
d
b
ac
k
in
th
e
d
r
iv
e
s
y
s
tem
n
o
t
th
e
s
p
ee
d
o
r
p
o
s
itio
n
o
f
th
e
r
o
t
o
r
.
T
h
e
s
e
n
s
o
r
less
d
r
iv
e
s
y
s
tem
is
an
aly
ze
d
b
ased
o
n
s
ev
er
al
ca
s
es
s
u
ch
as
f
r
ee
ac
ce
ler
atio
n
,
s
tep
ch
an
g
e
in
r
ef
e
r
en
ce
s
p
ee
d
,
f
o
r
war
d
to
r
ev
e
r
s
e
o
p
e
r
atio
n
an
d
r
e
v
er
s
e
to
f
o
r
war
d
o
p
er
atio
n
.
T
h
e
tr
a
n
s
ien
t
r
esp
o
n
s
es
f
r
o
m
th
is
ca
s
es
wer
e
q
u
ite
g
o
o
d
an
d
ac
ce
p
tab
le
o
r
in
o
th
er
wo
r
d
,
th
er
e
is
clo
s
e
co
n
n
ec
tio
n
b
etwe
en
th
eo
r
y
an
d
s
im
u
latio
n
,
m
o
s
t
im
p
o
r
tan
t
o
f
all,
t
h
e
h
ig
h
f
r
e
q
u
en
cy
in
jectio
n
ca
n
b
e
u
s
ed
to
d
etec
t
r
o
to
r
p
o
s
itio
n
an
d
s
p
ee
d
at
ze
r
o
an
d
lo
w
s
p
e
ed
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
e
au
th
o
r
wo
u
l
d
lik
e
to
ac
k
n
o
wled
g
e
“Cen
tr
e
o
f
R
o
b
o
tic
an
d
I
n
d
u
s
tr
ial
Au
to
m
atio
n
”
(
C
E
R
I
A)
,
“Cen
tr
e
o
f
R
esear
ch
an
d
I
n
n
o
v
atio
n
Ma
n
a
g
em
en
t”
(
C
R
I
M)
,
Un
iv
er
s
itiTek
n
ik
al
Ma
lay
s
ia
Me
lak
a
(
UT
eM
)
an
d
Min
is
tr
y
o
f
Hig
h
er
E
d
u
ca
tio
n
Ma
lay
s
ia
(
MO
HE
)
f
o
r
s
u
p
p
o
r
t
in
g
th
is
p
r
o
ject.
RE
F
E
R
E
NC
E
S
[1
]
C.
Orte
g
a
,
e
t
a
l
.,
“
S
e
n
so
rles
s
d
irec
t
to
r
q
u
e
c
o
n
tr
o
l
o
f
a
su
rfa
c
e
m
o
u
n
t
e
d
P
M
S
M
u
sin
g
h
ig
h
fre
q
u
e
n
c
y
in
jec
ti
o
n
,
”
2
0
0
6
IEE
E
In
ter
n
a
ti
o
n
a
l
S
y
mp
o
si
u
m o
n
In
d
u
stri
a
l
El
e
c
tro
n
ics
,
p
p
.
2
3
3
2
-
2
3
3
7
,
Ju
ly
2
0
0
6
.
[2
]
G
.
Wan
g
,
L.
Ya
n
g
,
G
.
Zh
a
n
g
,
X.
Zh
a
n
g
a
n
d
D
.
Xu
,
“
C
o
m
p
a
ra
ti
v
e
in
v
e
sti
g
a
ti
o
n
o
f
p
se
u
d
o
ra
n
d
o
m
h
ig
h
-
fre
q
u
e
n
c
y
sig
n
a
l
in
jec
ti
o
n
sc
h
e
m
e
s
fo
r
se
n
so
rles
s
IP
M
S
M
d
riv
e
s
,
”
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
Po
we
r
El
e
c
tro
n
ics
,
v
o
l.
3
2
,
n
o
.
3
,
p
p
.
2
1
2
3
-
2
1
3
2
,
M
a
rc
h
2
0
1
7
.
[3
]
A.
H.
Alm
a
rh
o
o
n
,
Z
.
Q.
Zh
u
a
n
d
P
.
L.
Xu
,
“
Im
p
ro
v
e
d
p
u
lsa
ti
n
g
sig
n
a
l
in
jec
ti
o
n
u
sin
g
z
e
ro
-
se
q
u
e
n
c
e
c
a
rrier v
o
lt
a
g
e
fo
r
se
n
so
rles
s
c
o
n
tro
l
o
f
d
u
a
l
th
re
e
-
p
h
a
se
PMSM,
”
I
EE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
E
n
e
rg
y
Co
n
v
e
rs
io
n
,
v
o
l.
3
2
,
n
o
.
2
,
p
p
.
4
3
6
-
4
4
6
,
Ju
n
e
2
0
1
7
.
[4
]
A.
P
ii
p
p
o
,
M
.
Hin
k
k
a
n
e
n
a
n
d
J.
Lu
o
m
i,
“
S
e
n
s
o
rles
s
c
o
n
tr
o
l
o
f
P
M
S
M
d
r
iv
e
s
u
sin
g
a
c
o
m
b
i
n
a
ti
o
n
o
f
v
o
lt
a
g
e
m
o
d
e
l
a
n
d
HF
si
g
n
a
l
i
n
jec
ti
o
n
,”
Co
n
fer
e
n
c
e
Rec
o
rd
o
f
t
h
e
2
0
0
4
IEE
E
In
d
u
stry
Ap
p
li
c
a
t
io
n
s
Co
n
fer
e
n
c
e
,
2
0
0
4
,
3
9
th
IA
S
An
n
u
a
l
M
e
e
ti
n
g
,
p
p
.
9
6
4
-
9
7
0
,
Oc
t
o
b
e
r
2
0
0
4
[5
]
Ti
a
n
x
iao
He
,
Jia
n
b
o
C
h
u
,
“
Ad
a
p
t
i
v
e
o
b
se
rv
e
r
e
n
h
a
n
c
e
d
with
l
o
w
-
fre
q
u
e
n
c
y
sig
n
a
l
i
n
jec
ti
o
n
f
o
r
se
n
s
o
rles
s
c
o
n
tr
o
l
o
f
PMSM
,”
2
2
n
d
In
ter
n
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
El
e
c
trica
l
M
a
c
h
in
e
sa
n
d
S
y
ste
ms
(ICEM
S
)
,
A
u
g
u
st 2
0
1
9
.
[6
]
Terra
s
Tah
a
r,
Ha
tan
i
Ka
d
a
,
“
S
e
n
so
rles
s
DTC
o
f
IP
M
S
M
fo
r
e
m
b
e
d
d
e
d
sy
ste
m
s
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m (IJ
PE
DS
)
,
v
o
l
.
1
1
,
n
o
.
1
,
p
p
.
86
-
9
6
,
M
a
rc
h
2
0
2
0
.
[7
]
M
o
u
sta
fa
Zair,
Ab
d
e
l
d
jeb
a
r
Ha
z
z
a
b
,
“
M
RAS
sp
e
e
d
se
n
s
o
rles
s
v
e
c
to
r
c
o
n
tr
o
l
o
f
i
n
d
u
c
ti
o
n
m
o
t
o
r
d
riv
e
s
u
sin
g
p
re
d
ictiv
e
a
d
a
p
tati
o
n
m
e
c
h
a
n
ism
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
r
n
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(I
J
PE
DS
)
,
v
o
l.
9
,
n
o.
4
,
p
p
.
1
5
2
3
-
1
5
3
3
,
De
c
e
m
b
e
r
2
0
1
8
.
[8
]
Z.
I
b
ra
h
im,
J.
M
.
Laz
i
a
n
d
M
.
S
u
laim
a
n
,
“
I
n
d
e
p
e
n
d
e
n
t
sp
e
e
d
se
n
so
rles
s
c
o
n
tr
o
l
o
f
d
u
a
l
p
a
ra
ll
e
l
P
M
S
M
b
a
se
d
o
n
F
iv
e
-
Leg
I
n
v
e
rter,
”
I
n
ter
n
a
ti
o
n
a
l
M
u
lt
i
-
Co
n
fer
e
n
c
e
o
n
S
y
ste
ms
,
S
ig
n
a
ls & De
v
ice
s
,
p
p
.
1
-
6
,
M
a
rc
h
2
0
1
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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6
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2
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2
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:
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3
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3
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3322
[9
]
M
.
S
.
Term
izi,
e
t
a
l
.
,
“
S
e
n
s
o
rles
s
P
M
S
M
d
riv
e
s
u
si
n
g
e
x
ten
d
e
d
k
a
lma
n
fil
ter
(EKF
),
”
2
0
1
7
I
EE
E
Co
n
fer
e
n
c
e
o
n
En
e
rg
y
Co
n
v
e
rs
io
n
(CENCON)
,
p
p
.
1
4
5
-
1
5
0
,
Oc
t
o
b
e
r
2
0
1
7
.
[1
0
]
Y.
S.
Ku
n
g
,
a
n
d
Ng
u
y
e
n
Tru
n
g
Hie
u
,
“
S
imu
li
n
k
/
M
o
d
e
lsim
co
-
si
m
u
latio
n
o
f
EKF
-
b
a
se
d
se
n
so
r
les
s
PMSM
d
ri
v
e
s
”
.
2
0
1
3
IE
EE
1
0
t
h
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
P
o
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
(PE
DS
)
,
p
p
.
7
0
9
-
7
1
3
,
Ap
r
i
l
2
0
1
3
.
[1
1
]
Z.
Yin
,
G
.
Li
,
Y.
Zh
a
n
g
a
n
d
J.
Li
u
,
“
S
y
m
m
e
tri
c
-
stro
n
g
-
trac
k
in
g
-
e
x
ten
d
e
d
-
k
a
lma
n
-
fil
ter
-
b
a
se
d
se
n
so
rles
s
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
t
o
r
d
riv
e
s
f
o
r
m
o
d
e
li
n
g
e
rr
o
r
re
d
u
c
ti
o
n
,
”
IEE
E
Tran
s
a
c
ti
o
n
s
o
n
I
n
d
u
strial
In
f
o
rm
a
ti
c
s,
v
o
l
.
1
5
,
n
o
.
2
,
p
p
.
6
50
-
6
6
2
,
F
e
b
ru
a
ry
2
0
1
9
.
[1
2
]
G
.
R.
G
o
p
in
a
th
a
n
d
S
.
P
.
Da
s,
“
An
e
x
ten
d
e
d
k
a
lma
n
fi
lt
e
r
b
a
se
d
se
n
so
rles
s
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
ro
n
o
u
s
m
o
t
o
r
d
riv
e
with
im
p
ro
v
e
d
d
y
n
a
m
ic
p
e
rf
o
rm
a
n
c
e
,
”
2
0
1
8
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Po
we
r
El
e
c
tro
n
i
c
s,
Dr
ive
s
a
n
d
En
e
rg
y
S
y
ste
ms
(PE
DES
)
,
p
p
.
1
-
6
,
De
c
e
m
b
e
r
2
0
1
8
.
[1
3
]
M
.
Tu
rsi
n
i,
R.
P
e
trella
a
n
d
A.
S
c
a
fa
ti
,
“
S
p
e
e
d
a
n
d
p
o
siti
o
n
e
stim
a
ti
o
n
fo
r
p
m
s
y
n
c
h
ro
n
o
u
s
m
o
t
o
r
with
b
a
c
k
-
EM
F
o
b
se
rv
e
r
,
”
F
o
u
rtiet
h
IA
S
A
n
n
u
a
l
M
e
e
ti
n
g
.
Co
n
fer
e
n
c
e
Rec
o
rd
o
f
th
e
2
0
0
5
I
n
d
u
stry
A
p
p
li
c
a
ti
o
n
s
C
o
n
fer
e
n
c
e
,
v
o
l.
3
,
p
p
.
2
0
8
3
-
2
0
9
0
,
Oc
t
o
b
e
r
2
0
0
5
.
[1
4
]
O.
C.
Kiv
a
n
c
a
n
d
S
.
B
.
Oz
tu
r
k
,
“
S
e
n
so
rles
s
P
M
S
M
d
r
iv
e
b
a
se
d
o
n
sta
to
r
fe
e
d
fo
rwa
rd
v
o
lt
a
g
e
e
stim
a
ti
o
n
imp
r
o
v
e
d
with
M
RAS
m
u
l
ti
p
a
ra
m
e
ter es
ti
m
a
ti
o
n
,
”
IEE
E/
AS
M
E
T
ra
n
sa
c
ti
o
n
s o
n
M
e
c
h
a
tr
o
n
ics
,
v
o
l
.
2
3
,
n
o
.
3
,
p
p
.
1
3
2
6
-
1
3
3
7
,
Ju
n
e
2
0
1
8.
[1
5
]
M
.
Nic
o
la,
C
.
Nic
o
la
a
n
d
A.
Vi
n
ti
lă,
“
S
e
n
s
o
rles
s
c
o
n
tr
o
l
o
f
m
u
l
ti
-
m
o
to
rs
P
M
S
M
u
si
n
g
b
a
c
k
-
EM
F
slid
i
n
g
m
o
d
e
o
b
se
rv
e
r
,
”
2
0
1
9
E
lec
tric V
e
h
icle
s In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
(EV
)
,
p
p
.
1
-
6
,
Oc
to
b
e
r
2
0
1
9
.
[1
6
]
M.
J.
C
o
rley
a
n
d
R.
D.
Lo
re
n
z
,
“
Ro
to
r
p
o
siti
o
n
a
n
d
v
e
lo
c
it
y
e
stim
a
ti
o
n
f
o
r
a
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
r
o
n
o
u
s
m
a
c
h
in
e
a
t
sta
n
d
stil
l
a
n
d
h
i
g
h
sp
e
e
d
s
,
”
I
n
d
u
stry
Ap
p
li
c
a
ti
o
n
s
C
o
n
fer
e
n
c
e
,
1
9
9
6
.
T
h
irty
-
Fi
rs
t
IA
S
An
n
u
a
l
M
e
e
ti
n
g
,
IA
S
'9
6
.
,
Co
n
fer
e
n
c
e
Rec
o
rd
o
f
t
h
e
1
9
9
6
I
EE
E
,
v
o
l.
1
,
p
p
.
3
6
-
4
1
,
Oc
t
o
b
e
r
1
9
9
6
[1
7
]
V.
S
rik
a
n
th
a
n
d
A.
A.
Du
tt
,
“
A
c
o
m
p
a
ra
ti
v
e
st
u
d
y
o
n
th
e
e
ffe
c
t
o
f
sw
it
c
h
in
g
f
u
n
c
ti
o
n
in
S
M
O
fo
r
P
M
S
M
d
ri
v
e
s
”
.
2
0
1
2
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
P
o
we
r
E
lec
tro
n
ics
,
Dr
ive
s
a
n
d
E
n
e
rg
y
S
y
ste
ms
(PE
DES
)
,
p
p
.
1
-
6
,
De
c
e
m
b
e
r
2
0
1
2
.
[1
8
]
Z.
M
a
a
n
d
X.
Zh
a
n
g
,
“
F
P
G
A
im
p
lem
e
n
tatio
n
o
f
se
n
so
rles
s
slid
in
g
m
o
d
e
o
b
se
rv
e
r
wit
h
a
n
o
v
e
l
r
o
tatio
n
d
irec
ti
o
n
d
e
tec
ti
o
n
f
o
r
P
M
S
M
d
ri
v
e
s
,
”
IEE
E
Acc
e
ss
,
v
o
l.
6
,
p
p
.
5
5
5
2
8
-
5
5
5
3
6
,
S
e
p
tem
b
e
r
2
0
1
8
.
[1
9
]
Y.
S
a
a
d
i,
R.
S
e
h
a
b
,
A.
C
h
a
ib
e
t,
M
.
Bo
u
k
h
n
ifer
a
n
d
D.
Dia
ll
o
,
“
S
e
n
so
rles
s
c
o
n
tr
o
l
o
f
sw
it
c
h
e
d
re
l
u
c
tan
c
e
m
o
to
r
f
o
r
EV
a
p
p
li
c
a
ti
o
n
u
si
n
g
a
slid
i
n
g
m
o
d
e
o
b
se
rv
e
r
wit
h
u
n
k
n
o
wn
i
n
p
u
ts,
”
2
0
1
8
IE
EE
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
In
d
u
stria
l
T
e
c
h
n
o
lo
g
y
(ICIT
)
,
p
p
.
5
1
6
-
5
2
1
,
F
e
b
r
u
a
ry
2
0
1
8
.
[2
0
]
C.
Jia
n
b
o
,
e
t
a
l
.
,
“
An
imp
ro
v
e
d
sli
d
in
g
m
o
d
e
o
b
se
rv
e
r
fo
r
p
o
siti
o
n
s
e
n
so
rles
s
v
e
c
to
r
c
o
n
tro
l
d
riv
e
o
f
P
M
S
M
,
”
2
0
0
9
IEE
E
6
t
h
I
n
ter
n
a
ti
o
n
a
l
Po
we
r E
l
e
c
tro
n
ics
a
n
d
M
o
ti
o
n
Co
n
tro
l
C
o
n
fer
e
n
c
e
,
p
p
.
1
8
9
8
-
1
9
0
2
,
M
a
y
2
0
0
9
.
[2
1
]
Z.
Q.
G
u
o
a
n
d
S
.
K.
P
a
n
d
a
,
“
A
n
o
v
e
l
d
e
sig
n
o
f
ro
t
o
r
p
o
sit
io
n
e
sti
m
a
to
r
fo
r
se
n
so
rles
s
c
o
n
tr
o
l
o
f
S
P
M
S
M
o
p
e
ra
ti
n
g
a
t
m
e
d
iu
m
a
n
d
h
i
g
h
sp
e
e
d
s
,
”
2
0
1
5
IEE
E
1
1
th
I
n
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
P
o
we
r
El
e
c
tro
n
i
c
s
a
n
d
Dr
ive
,
p
p
.
1
0
8
0
-
1
0
8
5
,
Ju
n
e
2
0
1
5
.
[2
2
]
H.
Wan
g
,
X.
G
e
a
n
d
Y.
Li
u
,
“
S
e
c
o
n
d
-
o
r
d
e
r
slid
i
n
g
-
m
o
d
e
M
RAS
o
b
se
rv
e
r
-
b
a
se
d
se
n
so
rles
s
v
e
c
to
r
c
o
n
tr
o
l
o
f
li
n
e
a
r
in
d
u
c
ti
o
n
m
o
to
r
d
ri
v
e
s
fo
r
m
e
d
iu
m
-
lo
w
sp
e
e
d
m
a
g
lev
a
p
p
l
ica
ti
o
n
s
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tro
n
ics
,
v
o
l.
6
5
,
n
o
.
1
2
,
p
p
.
9
9
3
8
-
9
9
5
2
,
D
e
c
e
m
b
e
r
2018
.
[2
3
]
E.
D.
M.
F
e
rn
a
n
d
e
s,
e
t
a
l
.,
“
A
c
o
m
p
a
ra
ti
v
e
e
v
a
lu
a
ti
o
n
o
f
sig
n
a
l
i
n
j
e
c
ti
o
n
m
e
th
o
d
s
fo
r
P
M
S
M
se
lf
-
se
n
sin
g
c
o
n
tro
l
,
”
2
0
1
3
Br
a
zili
a
n
P
o
we
r E
lec
tro
n
ics
Co
n
fer
e
n
c
e
,
p
p
.
8
2
1
-
8
2
7
,
Oc
t
o
b
e
r
2
0
1
3
.
[2
4
]
Wan
g
G
.
,
Ya
n
g
L
.
,
Zh
a
n
g
G
.
,
Zh
a
n
g
X
.
,
Xu
D
.,
“
Co
m
p
a
ra
ti
v
e
in
v
e
sti
g
a
ti
o
n
o
f
p
se
u
d
o
ra
n
d
o
m
h
ig
h
-
fre
q
u
e
n
c
y
sig
n
a
l
i
n
jec
ti
o
n
sc
h
e
m
e
s
fo
r
se
n
so
rles
s
IP
M
S
M
d
ri
v
e
s
,
”
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
Po
we
r
El
e
c
tro
n
ics
,
v
o
l.
3
2
,
n
o
.
3
,
pp.
2
1
2
3
-
2
1
3
2
,
M
a
rc
h
2
0
1
7
.
[2
5
]
Wan
g
S
.
,
Ya
n
g
K
.
,
C
h
e
n
K
.,
“
An
imp
r
o
v
e
d
p
o
sit
io
n
-
se
n
so
rles
s
c
o
n
tr
o
l
m
e
t
h
o
d
a
t
lo
w
sp
e
e
d
fo
r
P
M
S
M
b
a
se
d
o
n
h
ig
h
-
fre
q
u
e
n
c
y
si
g
n
a
l
i
n
jec
ti
o
n
i
n
to
a
ro
tatin
g
re
fe
re
n
c
e
fra
m
e
,
”
IEE
E
Acc
e
ss
,
v
ol
.
7
,
p
p
.
8
6
5
1
0
-
8
6
5
2
1
,
J
u
n
e
2
0
1
9
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
T
a
n
J
iun
n
L
i
n
He
h
as
r
eceiv
ed
a
b
ach
elo
r
’
s
d
e
g
r
ee
in
electr
ical
en
g
in
eer
in
g
(
Ma
jo
r
in
g
in
I
n
d
u
s
tr
ial
Po
wer
)
f
r
o
m
Un
iv
er
s
iti
T
ek
n
ik
al
Ma
lay
s
ia
Me
l
ak
a
in
2
0
1
7
.
No
w
h
e
is
wo
r
k
in
g
as
an
electr
ical
en
g
in
eer
at
p
r
iv
ate
s
ecto
r
.
His
in
ter
est
i
s
in
Po
wer
E
lect
r
o
n
ic
&
AC
Mo
to
r
d
r
i
v
es.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Hig
h
fr
eq
u
en
cy
s
ig
n
a
l
in
jectio
n
meth
o
d
fo
r
s
en
s
o
r
less
.
.
.
(
Ju
r
ifa
Ma
t La
z
i
)
3323
J
u
r
ifa
b
in
ti
Ma
t
L
a
z
i
re
c
e
iv
e
d
h
e
r
Ba
c
h
e
lo
r'
s
d
e
g
re
e
i
n
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
fr
o
m
Un
iv
e
rsiti
Tek
n
o
l
o
g
i
M
a
lay
sia
in
2
0
0
1
.
S
h
e
th
e
n
o
b
tain
e
d
h
e
r
M
a
ste
r
o
f
S
c
ien
c
e
d
e
g
re
e
in
El
e
c
tri
c
a
l
P
o
we
r
En
g
i
n
e
e
rin
g
fro
m
Un
iv
e
rsity
Un
iv
e
rsiti
Tek
n
o
lo
g
i
M
a
lay
sia
,
i
n
2
0
0
3
.
S
h
e
re
c
e
iv
e
d
h
e
r
P
h
.
D
d
e
g
re
e
fro
m
U
n
iv
e
rsity
U
n
iv
e
rsiti
Tek
n
ik
a
l
M
a
la
y
sia
M
e
lak
a
i
n
2
0
1
6
.
S
h
e
h
a
s se
rv
e
d
a
s a
n
a
c
a
d
e
m
ic sta
ff
a
t
Un
iv
e
rsiti
Tek
n
ik
a
l
M
a
lay
sia
M
e
lak
a
(UTe
M
)
sin
c
e
2
0
0
1
a
n
d
sh
e
is
c
u
rre
n
tl
y
a
se
n
io
r
l
e
c
tu
re
r.
He
r
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
M
a
c
h
i
n
e
Driv
e
s
e
sp
e
c
ially
in
S
e
n
so
rles
s a
n
d
P
M
S
M
d
ri
v
e
s,
P
o
we
r
El
e
c
tro
n
ics
a
n
d
P
o
we
r
S
y
ste
m
.
Md
H
a
irul
Niz
a
m
T
a
li
b
wa
s
b
o
rn
in
M
a
lay
sia
,
i
n
1
9
7
6
.
He
re
c
e
iv
e
d
h
is
B
.
S
.
i
n
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
fro
m
t
h
e
Un
i
v
e
rsiti
T
e
k
n
o
l
o
g
i
M
a
lay
sia
(UT
M
),
Jo
h
o
r
,
M
a
lay
sia
,
i
n
1
9
9
9
,
M
.
S
.
in
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
fr
o
m
th
e
Un
iv
e
rsity
o
f
No
t
ti
n
g
h
a
m
,
No
tt
in
g
h
a
m
,
UK
,
in
2
0
0
5
a
n
d
P
h
D
fr
o
m
t
h
e
U
n
iv
e
rsiti
Tek
n
i
k
a
l
M
a
lay
sia
M
e
lak
a
(UTe
M
),
M
a
lay
sia
in
2
0
1
6
.
He
is
c
u
rre
n
tl
y
a
se
n
i
o
r
lec
tu
re
r
a
t
UTe
M
.
His
m
a
in
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
p
o
we
r
e
lec
tro
n
ics
,
fu
z
z
y
lo
g
ic co
n
tro
l
a
n
d
m
o
t
o
r
d
ri
v
e
s.
Zu
lk
ifi
li
e
Ibr
a
h
i
m
wa
s
b
o
rn
in
1
9
6
6
i
n
M
a
lay
sia
.
He
re
c
e
iv
e
d
h
i
s
B.
En
g
.
d
e
g
re
e
fro
m
t
h
e
Un
iv
e
rsity
o
f
Tec
h
n
o
lo
g
y
(UTM
)
,
M
a
lay
sia
in
1
9
8
9
a
n
d
h
is P
h
D
d
e
g
re
e
fro
m
t
h
e
L
iv
e
rp
o
o
l
Jo
h
n
M
o
o
re
s
U
n
iv
e
rsit
y
,
UK
in
1
9
9
9
.
He
is
c
u
rre
n
tl
y
a
P
r
o
fe
ss
o
r
a
t
Un
iv
e
rsiti
Tek
n
ik
a
l
M
a
lay
sia
M
e
l
a
k
a
(UTe
M
)
,
M
a
l
a
y
sia
.
His
m
a
in
re
se
a
rc
h
in
tere
sts
a
re
re
late
d
t
o
p
o
we
r
Eec
tro
n
ics
,
fu
z
z
y
lo
g
ic co
n
tro
l
,
e
m
b
e
d
d
e
d
s
y
ste
m
d
e
sig
n
a
n
d
e
lec
tri
c
m
o
to
r
d
riv
e
s.
Az
r
ita
Alia
s
wa
s
b
o
rn
in
M
a
lay
s
ia,
in
1
9
7
8
.
S
h
e
re
c
e
iv
e
d
h
e
r
B.
En
g
i
n
El
e
c
tri
c
a
l
(Co
n
tr
o
l
a
n
d
I
n
stru
m
e
n
tati
o
n
)
(H
o
n
s)
a
n
d
M
.
E
n
g
(
El
e
c
tri
c
a
l)
fro
m
t
h
e
Un
i
v
e
rsiti
Tek
n
o
lo
g
i
M
a
lay
sia
,
in
2
0
0
0
a
n
d
2
0
0
3
,
re
sp
e
c
ti
v
e
ly
,
a
n
d
h
e
r
P
h
D
fr
o
m
Un
i
v
e
rsity
o
f
M
a
lay
a
in
2
0
1
5
.
S
h
e
is
a
se
n
io
r
lec
tu
re
r
a
t
t
h
e
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
U
n
iv
e
rsiti
T
e
k
n
ik
a
l
M
a
lay
sia
M
e
lak
a
(UTe
M
).
He
r
m
a
in
re
se
a
rc
h
in
tere
sts
a
re
in
m
o
d
e
li
n
g
,
c
o
n
tro
l
s
y
st
e
m
s
a
n
a
ly
sis
a
n
d
p
o
we
r
e
lec
tro
n
ics
a
p
p
li
c
a
ti
o
n
e
n
g
i
n
e
e
rin
g
sy
ste
m
s.
Ahm
a
d
S
h
u
k
r
i
A
b
u
Ha
sim
wa
s
b
o
r
n
in
1
9
7
9
i
n
M
a
lay
sia
.
H
e
re
c
e
iv
e
d
h
is
Dip
l
o
m
a
,
Ba
c
h
e
lo
r'
s
a
n
d
M
a
ste
r
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
fr
o
m
Un
iv
e
rsiti
Tek
n
o
lo
g
i
M
a
ra
,
M
a
lay
sia
,
in
2
0
0
0
,
2
0
0
4
,
a
n
d
2
0
0
8
,
re
sp
e
c
ti
v
e
ly
.
W
h
il
e
h
e
re
c
e
iv
e
d
h
is
P
h
.
D
a
t
Un
i
v
e
rsit
i
Tek
n
i
k
a
l
M
a
la
y
sia
M
e
lak
a
in
2
0
1
6
.
He
is
c
u
rre
n
tl
y
a
se
n
i
o
r
lec
tu
re
r
a
t
Un
iv
e
rsiti
P
e
rtah
a
n
a
n
Na
sio
n
a
l
M
a
lay
sia
.
His
m
a
in
re
s
e
a
rc
h
a
re
a
s
a
re
re
late
d
to
p
o
we
r
e
lec
tro
n
ic,
d
riv
e
sy
ste
m
s
a
n
d
re
n
e
wa
b
le en
e
rg
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.