T
E
L
K
O
M
N
I
K
A
T
elec
o
m
m
un
ica
t
io
n,
Co
m
pu
t
ing
,
E
lect
ro
nics
a
nd
Co
ntr
o
l
Vo
l.
18
,
No
.
4
,
Octo
b
er
2
0
2
0
,
p
p
.
2
7
1
8
~
27
2
8
I
SS
N:
1
6
9
3
-
6
9
3
0
,
ac
cr
ed
ited
First Gr
ad
e
b
y
Kem
en
r
is
tek
d
i
k
ti,
Dec
r
ee
No
: 2
1
/E/KPT
/2
0
1
8
DOI
: 1
0
.
1
2
9
2
8
/TE
L
KOM
NI
K
A.
v
1
8
i5
.
1
4
3
7
7
2718
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//jo
u
r
n
a
l.u
a
d
.
a
c.
id
/in
d
ex
.
p
h
p
/TELK
OM
N
I
K
A
M
o
deling
and co
ntrol o
f
do
uble
sta
r induc
tion ma
chi
ne
by
a
ctive distur
ba
nc
e re
je
ction co
n
tro
l
Aichet
o
un
e
O
um
a
r
1
,
Ra
chid Cha
k
ib
2
,
M
o
ha
m
ed
Cherk
a
o
ui
3
1,
3
M
o
h
a
m
m
e
d
ia S
c
h
o
o
l
o
f
En
g
i
n
e
e
rs,
M
o
h
a
m
m
e
d
V Un
i
v
e
rsity
,
M
o
ro
c
c
o
2
Lab
o
ra
to
r
y
o
f
In
n
o
v
a
ti
o
n
i
n
M
a
n
a
g
e
m
e
n
t
a
n
d
E
n
g
i
n
e
e
rin
g
fo
r
En
t
e
rp
rise
,
M
o
r
o
c
c
o
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Oct
20
,
2
0
1
9
R
ev
is
ed
Ap
r
7
,
2
0
2
0
Acc
ep
ted
May
1
,
2
0
2
0
Th
is
p
a
p
e
r
a
ims
to
c
o
n
tr
ib
u
te
to
th
e
m
o
d
e
li
n
g
a
n
d
c
o
n
tro
l
o
f
th
e
d
o
u
b
le
sta
r
in
d
u
c
ti
o
n
m
a
c
h
in
e
(DSIM
)
b
y
a
ro
b
u
st
m
e
th
o
d
c
a
ll
e
d
a
c
ti
v
e
d
istu
r
b
a
n
c
e
re
jec
ti
o
n
c
o
n
tro
l
(AD
RC).
T
h
e
AD
RC
h
a
s
b
e
c
o
m
e
in
th
e
las
t
d
e
c
a
d
e
o
n
e
o
f
t
h
e
m
o
st
imp
o
rta
n
t
tec
h
n
iq
u
e
s
o
f
re
g
u
lati
o
n
.
T
h
is
m
e
th
o
d
is
b
a
se
d
o
n
th
e
u
se
o
f
a
n
ES
O
(E
x
ten
d
e
d
S
tat
e
Ob
se
rv
e
r)
w
h
ich
e
stim
a
tes
in
re
a
l
-
ti
m
e
a
n
d
a
t
th
e
sa
m
e
ti
m
e
th
e
e
x
tern
a
l
d
istu
rb
a
n
c
e
s
a
n
d
t
h
e
e
rro
rs
d
u
e
to
t
h
e
v
a
riatio
n
s
o
f
th
e
p
a
ra
m
e
ters
o
f
th
e
m
a
c
h
in
e
a
n
d
t
o
t
h
e
u
n
c
e
rtain
ti
e
s
o
f
m
o
d
e
li
n
g
.
T
h
e
two
sta
to
rs
o
f
DSIM
a
re
p
o
we
re
d
b
y
t
h
re
e
-
p
h
a
se
i
n
v
e
rters
b
a
se
d
o
n
tran
sisto
rs
a
n
d
M
LI
c
o
n
tro
l
a
n
d
th
e
e
n
t
ire sy
ste
m
is mo
d
e
led
in
P
a
rk
'
s refe
re
n
c
e
.
We an
a
ly
z
e
in
t
h
e
M
a
tl
a
b
/S
imu
l
in
k
e
n
v
iro
n
m
e
n
t
th
e
d
y
n
a
m
ic
b
e
h
a
v
io
r
o
f
t
h
e
sy
ste
m
a
n
d
t
h
e
d
if
fe
re
n
t
AD
RC
c
o
n
tro
ll
e
rs
u
n
d
e
r
d
if
fe
re
n
t
o
p
e
ra
ti
n
g
c
o
n
d
i
ti
o
n
s.
Th
e
re
su
lt
h
a
s d
e
m
o
n
stra
ted
th
e
p
e
rfo
rm
a
n
c
e
a
n
d
e
ffe
c
ti
v
e
n
e
ss
o
f
t
h
e
AD
RC
.
K
ey
w
o
r
d
s
:
ADR
C
DSI
M
E
SO
MLI
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
:
Aich
eto
u
n
e
Ou
m
a
r
,
Dep
ar
tm
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
M
o
h
am
m
e
d
ia
Sch
o
o
l
o
f
E
n
g
in
ee
r
s
,
Un
iv
er
s
ity
V
Mo
h
am
m
e
d
,
R
ab
at,
Mo
r
o
cc
o
.
E
m
ail:
aich
eto
u
n
a.
m
a
h
m
o
u
d
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
in
cr
ea
s
e
o
f
th
e
p
o
wer
o
f
th
e
elec
tr
ical
m
ac
h
in
es
b
r
in
g
s
to
lig
h
t
s
ev
er
al
p
r
o
b
lem
s
as
well
at
th
e
lev
el
o
f
th
e
m
ac
h
in
e
as
o
f
t
h
e
in
v
er
ter
wh
ich
p
r
o
v
i
d
es
its
p
o
wer
.
T
h
e
s
tatic
s
witch
es
o
f
t
h
e
in
v
er
ter
m
u
s
t
b
e
s
ized
to
s
witch
lar
g
e
cu
r
r
en
t
s
wh
ich
r
esu
lt
in
m
o
r
e
p
o
w
er
lo
s
s
an
d
ac
ce
ler
ated
ag
in
g
o
f
th
e
elec
tr
o
n
ic
co
m
p
o
n
en
ts
o
f
th
e
i
n
v
er
ter
.
T
h
e
p
o
l
y
-
p
h
ase
m
ac
h
in
es o
f
f
er
a
v
er
y
in
ter
esti
n
g
alter
n
ativ
e
t
o
r
ed
u
cin
g
s
tr
ess
o
n
m
ac
h
in
e
win
d
in
g
s
an
d
c
o
n
v
e
r
ter
s
wi
tch
es [
1
]
.
T
h
ese
m
ac
h
in
es
ar
e
u
s
u
ally
co
m
p
o
s
ed
o
f
s
ev
er
al
s
tato
r
s
allo
win
g
s
eg
m
en
tatio
n
an
d
r
e
d
u
ctio
n
o
f
p
o
wer
p
e
r
p
h
ase.
T
h
e
u
s
e
o
f
t
h
e
d
o
u
b
le
s
tar
in
d
u
ctio
n
m
ac
h
in
e
(
DSI
M)
h
as
in
cr
ea
s
ed
c
o
n
s
id
er
ab
ly
in
r
ec
e
n
t
y
ea
r
s
[
2
]
,
esp
ec
ially
in
h
ig
h
-
p
o
wer
ap
p
licati
o
n
s
s
u
ch
as
r
a
il
tr
ac
tio
n
,
s
h
ip
p
r
o
p
u
ls
io
n
,
el
ec
tr
ical
an
d
h
y
b
r
i
d
v
eh
icles,
am
o
n
g
o
th
er
s
[
2
,
3
]
.
T
h
e
co
n
f
i
g
u
r
atio
n
o
f
th
e
DSI
M
is
s
im
ilar
to
a
th
r
ee
-
p
h
ase
asy
n
ch
r
o
n
o
u
s
ca
g
e
m
ac
h
in
e
with
two
s
tato
r
win
d
in
g
s
o
f
f
s
et
in
s
p
ac
e
b
y
an
a
n
g
le
g
en
e
r
ally
eq
u
al
to
π/6
.
E
ac
h
s
tar
win
d
in
g
is
p
o
wer
ed
b
y
a
p
o
wer
elec
tr
o
n
i
cs c
o
n
v
er
ter
[
4
]
.
T
h
e
d
o
u
b
le
s
tar
in
d
u
ctio
n
m
ac
h
in
e
h
as
s
ev
er
al
a
d
v
an
ta
g
es
o
v
er
th
e
th
r
ee
-
p
h
ase
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
e
s
u
ch
as
th
e
d
is
tr
ib
u
tio
n
o
f
p
o
wer
o
v
er
s
ev
er
al
p
h
ases
,
th
e
p
o
s
s
ib
ilit
y
o
f
to
r
q
u
e
r
e
d
u
c
ti
o
n
an
d
im
p
r
o
v
e
d
r
eliab
ilit
y
th
an
k
s
to
th
e
ab
ilit
y
to
o
p
er
ate
th
e
DSI
M
with
o
n
e
o
r
m
o
r
e
p
h
ases
in
d
ef
au
l
t
[
5
,
6
]
.
Ho
wev
er
,
th
e
DSI
M
s
till
h
as
s
o
m
e
p
r
o
b
lem
s
m
ain
ly
r
elate
d
to
th
e
r
at
e
o
f
h
ar
m
o
n
ics
in
cu
r
r
en
ts
d
u
e
to
t
h
e
p
r
esen
ce
o
f
p
o
wer
co
n
v
er
ter
s
,
th
e
n
o
n
-
lin
e
ar
ity
o
f
its
d
y
n
am
ic
m
o
d
el
an
d
th
e
co
m
p
le
x
ity
o
f
its
co
n
tr
o
l [
7
]
.
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
Mo
d
elin
g
a
n
d
co
n
tr
o
l o
f d
o
u
b
l
e
s
ta
r
in
d
u
ctio
n
ma
ch
i
n
e
b
y
…
(
A
ich
eto
u
n
e
Ou
ma
r
)
2719
T
h
e
m
ath
em
atica
l
m
o
d
el
o
f
D
SIM
in
th
e
th
r
ee
-
p
h
ase
r
ef
er
en
ce
an
d
Par
k
'
s
r
ef
er
en
ce
is
s
im
ilar
to
th
at
o
f
th
e
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
ac
h
in
e,
b
u
t
with
a
h
ig
h
er
n
u
m
b
er
o
f
m
ag
n
itu
d
es
an
d
e
q
u
a
tio
n
s
.
I
n
th
is
ar
ticle
we
h
av
e
c
h
o
s
en
t
o
u
s
e
v
ec
to
r
co
n
tr
o
l
with
f
ield
-
o
r
ie
n
ted
c
o
n
tr
o
l
to
o
p
e
r
ate
th
e
DSI
M
as
an
in
d
ep
en
d
en
t
ex
citatio
n
DC
m
ac
h
in
e,
allo
win
g
f
o
r
d
ec
o
u
p
lin
g
b
etwe
en
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
an
d
r
o
t
o
r
f
lu
x
[
8
]
.
T
h
e
p
u
r
p
o
s
e
o
f
t
h
is
d
ec
o
u
p
lin
g
i
s
to
co
n
t
r
o
l th
e
s
p
ee
d
o
f
th
e
m
ac
h
in
e
a
n
d
to
m
ai
n
tain
co
n
s
tan
t r
o
to
r
f
l
u
x
.
T
h
e
co
n
tr
o
l o
f
th
e
d
o
u
b
le
s
tar
in
d
u
ctio
n
m
ac
h
in
e
is
o
f
ten
b
y
a
PI
r
eg
u
lato
r
.
T
h
is
r
eg
u
lato
r
h
as sh
o
wn
in
r
ef
er
en
ce
[
7
]
th
eir
p
e
r
f
o
r
m
an
ce
s
an
d
ef
f
ec
tiv
en
ess
in
th
e
co
n
tr
o
l
o
f
DSI
M.
B
u
t
it
h
a
s
s
o
m
e
d
if
f
icu
lty
in
p
ar
am
eter
v
ar
iatio
n
s
an
d
lo
ad
d
is
tu
r
b
an
ce
.
T
h
e
p
r
o
b
lem
p
o
s
ed
b
y
th
e
s
en
s
itiv
ity
lead
th
e
PI
r
eg
u
lato
r
to
lo
s
e
its
p
er
f
o
r
m
an
ce
.
I
n
th
is
co
n
tex
t,
r
esear
ch
er
s
ar
e
s
ee
k
in
g
to
r
ep
lace
it with
o
th
er
r
eg
u
latio
n
t
ec
h
n
iq
u
es to
av
o
id
s
en
s
itiv
ity
to
th
e
v
ar
iatio
n
o
f
m
ac
h
in
e
p
ar
a
m
eter
s
.
Du
e
to
t
h
e
lim
itatio
n
p
r
esen
ted
b
y
th
e
PI
r
eg
u
lato
r
a
n
d
to
im
p
r
o
v
e
th
e
c
o
n
tr
o
l
o
f
DSI
M,
we
u
s
e
a
r
o
b
u
s
t c
o
n
tr
o
l stra
teg
y
b
ased
o
n
t
h
e
co
n
tr
o
l
o
f
DSI
M
r
o
to
r
cu
r
r
en
ts
b
y
ADR
C
(
ac
tiv
e
d
is
tu
r
b
an
ce
r
ej
ec
tio
n
co
n
t
r
o
l
)
co
n
tr
o
l lo
o
p
s
.
T
h
e
ADRC
is
a
n
o
n
-
lin
ea
r
r
eg
u
lato
r
th
at
esti
m
ates
an
d
co
m
p
en
s
ates
in
r
ea
l
-
tim
e
th
e
ex
ter
n
al
d
is
tu
r
b
an
ce
s
an
d
in
ter
n
al
d
is
tu
r
b
an
ce
s
d
u
e
to
m
o
d
elin
g
u
n
ce
r
tain
ties
an
d
m
ac
h
in
e
p
a
r
am
ete
r
v
ar
iatio
n
s
[
9
,
1
0
]
.
T
h
is
ADR
C
co
n
tr
o
l
s
tr
ateg
y
is
b
as
ed
o
n
a
n
ex
ten
d
ed
s
tate
o
b
s
er
v
er
k
n
o
wn
as
E
SO
(
E
x
ten
d
ed
State
Ob
s
er
v
er
)
,
wh
ich
allo
ws
in
s
tan
tan
eo
u
s
est
im
atio
n
o
f
all
d
is
tu
r
b
a
n
ce
s
af
f
ec
tin
g
th
e
m
ac
h
in
e
[
9
,
1
0
]
.
T
h
i
s
esti
m
atio
n
is
u
s
ed
in
th
e
g
en
e
r
atio
n
o
f
th
e
c
o
n
tr
o
l sig
n
al
allo
win
g
th
e
d
ec
o
u
p
li
n
g
o
f
th
e
s
y
s
tem
f
r
o
m
its
d
is
tu
r
b
an
ce
s
[
1
0
]
.
T
h
e
o
u
tlin
e
o
f
th
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
ws.
Sectio
n
2
is
d
ev
o
ted
to
th
e
m
o
d
elin
g
o
f
DSI
M.
W
e
d
ev
elo
p
also
th
e
p
r
in
cip
le
a
n
d
p
er
f
o
r
m
a
n
ce
o
f
th
e
ADRC
co
n
tr
o
l
s
tr
ateg
y
,
th
e
n
its
im
p
lem
en
tatio
n
f
o
r
th
e
v
ec
to
r
co
n
tr
o
l
o
f
DSI
M.
I
n
s
ec
tio
n
3
,
we
p
r
esen
t
th
e
r
esu
lts
o
f
th
e
s
tu
d
y
o
f
th
e
d
y
n
am
ic
b
eh
a
v
io
r
o
f
th
e
m
ac
h
in
e
u
n
d
er
d
if
f
e
r
en
t o
p
er
atin
g
co
n
d
itio
n
s
.
An
d
a
co
n
clu
s
io
n
is
tak
en
in
s
ec
tio
n
4
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
DSI
M
m
o
del
2
.
1
.
1
.
Repre
s
ent
a
t
io
n o
f
t
he
DSI
M
T
h
e
DSI
M
s
tu
d
ied
i
n
th
is
ar
tic
le
is
s
q
u
ir
r
el
-
ca
g
e
in
d
u
ctio
n
m
o
to
r
.
I
ts
s
tato
r
is
co
m
p
o
s
ed
o
f
two
c
o
ils
co
u
p
led
in
s
tar
a
n
d
o
f
f
s
et
b
y
an
a
n
g
le
α
=
π/6
[
1
1
]
.
Fig
u
r
e
1
illu
s
tr
ates
th
e
r
o
to
r
an
d
s
tato
r
win
d
in
g
s
o
f
th
e
DSI
M
[
1
2
]
.
W
ith
θ
1
,
θ
2
ar
e
r
esp
ec
tiv
ely
t
h
e
an
g
les
b
etwe
en
th
e
r
o
to
r
p
h
ase
r
a
an
d
th
e
s
tato
r
p
h
ases
(
sa
1
)
an
d
(
sa
2
).
α
is
th
e
o
f
f
s
et
an
g
le
b
etwe
en
th
e
s
tar
win
d
in
g
s
(
sa
1
)
an
d
(
sa
2
).
Fig
u
r
e
1
.
DSI
M
win
d
i
n
g
s
2
.
1
.
2
.
P
a
r
k
re
f
er
ence
o
f
DSI
M
m
o
del
Par
k
'
s
m
o
d
el
co
n
s
is
ts
o
f
tr
an
s
f
o
r
m
in
g
a
th
r
ee
-
p
h
ase
s
y
s
tem
(
A,
B
,
C
)
in
to
a
two
-
p
h
ase
s
y
s
tem
(
d
,
q
)
,
wh
ile
m
ain
tain
in
g
p
o
wer
an
d
t
h
e
elec
tr
o
m
o
tiv
e
f
o
r
ce
.
Fig
u
r
e
2
s
h
o
ws
th
e
r
o
to
r
an
d
s
tato
r
win
d
in
g
s
o
f
th
e
DSI
M
in
th
e
Par
k
r
ef
er
en
ce
[
1
3
]
.
W
h
er
e
θs
1
,
θs
2
,
θ
r
ar
e
r
esp
ec
tiv
ely
th
e
an
g
les
b
etwe
en
t
h
e
ax
is
d
a
n
d
th
e
s
tato
r
p
h
ases
(
s
a
1
)
,
(
s
a
2
)
an
d
th
e
r
o
to
r
p
h
ase
r
a.
T
h
e
eq
u
atio
n
s
o
f
th
e
v
o
ltag
es,
in
th
e
two
-
p
h
ase
r
ef
er
en
ce
(
d
,
q
)
ar
e
ex
p
r
ess
ed
b
y
t
h
e
s
y
s
tem
o
f
(
1
)
[
1
2
-
1
4
]
:
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
.
5
,
Octo
b
e
r
2
0
2
0
:
2
7
1
8
-
2728
2720
{
1
=
1
1
+
1
−
1
2
=
2
2
+
2
−
2
1
=
1
1
+
1
+
1
2
=
2
2
+
2
+
2
0
=
+
−
0
=
+
+
(
1
)
with
=
−
.
T
h
e
f
lu
x
[
1
2
-
1
4
]
:
{
1
=
1
1
+
(
1
+
2
+
)
2
=
2
2
+
(
1
+
2
+
)
1
=
1
1
+
(
1
+
2
+
)
2
=
1
2
+
(
1
+
2
+
)
=
+
(
1
+
2
+
)
=
+
(
1
+
2
+
)
(
2
)
T
h
e
ex
p
r
ess
io
n
o
f
to
r
q
u
e
[
1
4
,
1
5
]
:
=
+
(
(
1
+
2
)
−
(
1
+
2
)
)
(
3
)
Fig
u
r
e
2
.
DSI
M
m
o
d
el
in
Par
k
’
s
r
ef
er
en
ce
2
.
2
.
Act
i
v
e
dis
t
urba
nce
re
j
ec
t
io
n c
o
ntr
o
l st
ra
t
e
g
y
T
h
e
ac
tiv
e
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
c
o
n
tr
o
l
was
in
tr
o
d
u
ce
d
b
y
Han
in
1
9
9
5
[
1
6
]
.
I
t
is
a
r
o
b
u
s
t
co
m
m
a
n
d
b
ased
o
n
th
e
ex
te
n
s
io
n
o
f
th
e
s
y
s
tem
m
o
d
el
b
y
a
s
u
p
p
lem
e
n
tal
an
d
f
ictitio
u
s
s
tate
v
ar
iab
le
r
ep
r
esen
tin
g
all
t
h
e
u
s
er
ca
n
n
o
t
co
n
tr
o
l
i
n
th
e
m
ath
em
atica
l
m
o
d
el
o
f
th
e
s
y
s
tem
co
n
tr
o
lled
[
1
7
]
.
All
r
ea
l
d
is
tu
r
b
an
ce
s
a
n
d
m
o
d
elin
g
u
n
ce
r
tain
ties
ar
e
r
ep
r
esen
ted
in
th
is
v
ir
tu
al
s
tate,
th
e
esti
m
atio
n
o
f
wh
ic
h
is
en
s
u
r
ed
b
y
a
n
e
x
ten
d
ed
s
tate
o
b
s
er
v
er
(
E
SO)
[
1
8
-
2
1
]
.
Usi
n
g
th
is
esti
m
ated
s
tate,
a
c
o
n
tr
o
l
s
ig
n
al
is
g
e
n
er
ated
t
o
d
ec
o
u
p
le
t
h
e
s
y
s
tem
f
r
o
m
th
e
ac
tu
al
d
is
tu
r
b
a
n
ce
a
ctin
g
p
r
o
ce
s
s
.
T
h
e
ADRC
ap
p
licatio
n
allo
ws
th
e
u
s
er
to
t
r
ea
t
th
e
s
y
s
tem
as
a
s
im
p
ler
m
o
d
el
b
ec
au
s
e
th
e
n
eg
ativ
e
ef
f
ec
ts
o
f
e
x
ter
n
al
d
is
tu
r
b
an
ce
s
an
d
u
n
ce
r
tain
ties
o
f
m
o
d
elin
g
ar
e
co
m
p
en
s
ated
in
r
ea
l tim
e.
T
o
illu
s
tr
ate
th
e
p
r
in
cip
le
o
f
th
e
ADRC
,
we
co
n
s
id
er
th
e
f
o
llo
win
g
s
y
s
tem
f
ir
s
t o
r
d
e
r
[
2
2
,
2
3
]
:
′
(
)
=
(
)
+
0
(
)
(
4
)
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
Mo
d
elin
g
a
n
d
co
n
tr
o
l o
f d
o
u
b
l
e
s
ta
r
in
d
u
ctio
n
ma
ch
i
n
e
b
y
…
(
A
ich
eto
u
n
e
Ou
ma
r
)
2721
with
,
(
)
an
d
(
)
ar
e
th
e
in
p
u
t
an
d
o
u
tp
u
t
m
ag
n
itu
d
es
o
f
th
e
s
y
s
tem
.
(
)
r
ep
r
esen
ts
th
e
s
u
m
o
f
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
m
o
d
elin
g
er
r
o
r
s
an
d
/
o
r
ch
a
n
g
es
in
s
y
s
tem
p
ar
am
eter
s
.
0
is
a
p
ar
am
eter
k
n
o
w
n
f
r
o
m
th
e
s
y
s
tem
u
n
d
er
s
tu
d
y
.
T
h
e
s
tate
v
ar
iab
l
e
r
ep
r
esen
tatio
n
o
f
th
e
f
ir
s
t
-
o
r
d
er
s
y
s
tem
is
d
escr
ib
ed
as f
o
ll
o
ws [
2
4
]
:
{
̇
1
=
2
+
0
̇
2
=
̇
=
1
(
5
)
T
h
e
b
asic
id
ea
o
f
t
h
e
ADRC
is
to
im
p
lem
en
t
an
ex
ten
d
ed
s
tate
o
b
s
er
v
er
(
E
SO)
th
at
p
r
o
v
id
es
an
esti
m
ate
̂
(
)
s
u
ch
th
at
th
e
ef
f
e
ct
o
f
(
)
o
n
t
h
e
s
y
s
tem
ca
n
b
e
co
m
p
en
s
a
ted
.
T
h
e
s
y
s
tem
co
n
tr
o
l sch
em
e
is
illu
s
tr
ated
b
y
th
e
Fig
u
r
e
3
[
2
5
,
2
6
]
:
Fig
u
r
e
3
.
ADRC
s
tr
u
ctu
r
e
o
f
a
f
ir
s
t o
r
d
er
s
y
s
tem
is
th
e
g
ain
o
f
th
e
p
r
o
p
o
r
tio
n
al
r
eg
u
lato
r
w
h
ich
ac
ts
o
n
̂
(
)
r
ath
er
th
an
o
n
th
e
ac
tu
al
o
u
tp
u
t
(
)
.
I
ts
v
alu
e
is
ch
o
s
en
ac
co
r
d
i
n
g
to
th
e
d
esire
d
r
esp
o
n
s
e
tim
e
o
f
th
e
s
y
s
tem
s
tu
d
ied
in
a
clo
s
ed
lo
o
p
.
E
S
O
is
a
L
u
en
b
er
g
er
’
s
o
b
s
er
v
er
th
at
esti
m
ates th
e
in
t
er
n
al
s
tate
v
ar
iab
les o
f
th
e
s
y
s
tem
f
r
o
m
t
h
e
co
n
tr
o
l in
p
u
t a
n
d
th
e
o
u
tp
u
t.
T
h
e
s
tr
u
ctu
r
e
o
f
th
is
o
b
s
er
v
er
is
ex
p
r
ess
ed
b
y
th
e
f
o
llo
win
g
m
o
d
el
[
2
4
-
2
7
]
:
{
̂
̇
(
)
=
(
−
)
̂
(
)
+
(
)
+
(
)
̂
(
)
=
̂
(
)
(
6
)
with
−
=
(
−
1
1
−
2
0
)
;
=
(
0
0
)
;
=
(
1
2
)
;
=
(
1
0
)
1
,
2
ar
e
th
e
g
ain
s
o
f
th
e
ex
ten
d
ed
s
tate
o
b
s
er
v
er
an
d
ar
e
g
en
er
all
y
d
eter
m
in
ed
b
y
th
e
p
o
le
p
lace
m
en
t
tech
n
iq
u
e.
T
h
e
r
ig
o
r
o
u
s
d
eter
m
in
atio
n
o
f
th
ese
g
ain
s
m
ak
es
it
p
o
s
s
ib
le
to
g
u
ar
an
tee
to
th
e
o
b
s
er
v
er
a
s
p
ee
d
an
d
s
en
s
itiv
ity
to
th
e
ap
p
r
o
p
r
iate
n
o
is
es.
1
=
2
∗
0
,
2
=
0
2
ω
0
an
d
ω
c
ar
e
r
esp
ec
tiv
ely
th
e
E
SO
cu
t
-
o
f
f
(
b
r
ea
k
)
p
u
ls
e
an
d
t
h
e
clo
s
ed
lo
o
p
s
y
s
tem
cu
t
-
o
f
f
p
u
l
s
e.
T
h
e
p
o
les
o
f
th
e
o
b
s
er
v
er
s
h
o
u
ld
b
e
p
lac
ed
to
th
e
lef
t
o
f
th
e
p
o
le
o
f
th
e
clo
s
ed
lo
o
p
t
o
h
av
e
f
aster
d
y
n
am
ics.
0
=
3
~
10
,
=
2
.
3
.
I
m
plem
ent
a
t
i
o
n o
f
AD
RC
in DS
I
M
co
ntr
o
l
2
.
3
.
1
.
Vec
t
o
r
c
o
ntr
o
l
T
o
m
ak
e
th
e
co
n
t
r
o
l
o
f
th
e
ele
ctr
o
m
ag
n
etic
to
r
q
u
e
o
f
t
h
e
DSI
M
in
d
ep
en
d
en
t
f
r
o
m
th
e
r
o
to
r
f
lu
x
,
we
o
r
ien
t th
e
latter
in
t
h
e
d
ir
ec
t a
x
is
o
f
Par
k
'
s
r
ef
er
en
ce
an
d
we
k
ee
p
it c
o
n
s
tan
t [
2
8
]
:
{
=
=
0
(
7
)
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
is
th
u
s
ex
p
r
ess
ed
b
y
:
=
+
(
(
1
+
2
)
)
(
8
)
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
.
5
,
Octo
b
e
r
2
0
2
0
:
2
7
1
8
-
2728
2722
T
h
e
f
lu
x
ex
p
r
ess
io
n
s
o
f
(
2
)
b
e
co
m
e:
{
1
=
(
1
+
)
1
+
2
+
2
=
1
+
(
1
+
)
2
+
1
=
(
1
+
)
1
+
2
2
=
1
+
(
1
+
)
2
=
−
(
1
+
2
)
+
=
−
(
1
+
2
)
+
(
9
)
with
e
an
d
d
ar
e
co
n
s
tan
ts
:
=
+
,
=
+
.
B
y
r
ep
lacin
g
in
(
1
)
,
th
e
ex
p
r
es
s
io
n
s
o
f
r
o
to
r
f
lu
x
a
n
d
cu
r
r
en
t
s
g
iv
en
b
y
(
9
)
,
we
ex
p
r
ess
th
e
d
ir
ec
t a
n
d
q
u
ad
r
atu
r
e
co
m
p
o
n
e
n
ts
o
f
th
e
s
tato
r
v
o
ltag
es b
y
:
1
=
1
1
+
1
1
−
(
(
1
+
)
1
+
2
)
(
1
0
)
1
=
1
1
+
1
1
+
(
(
1
+
)
1
+
2
+
)
(
1
1
)
2
=
2
2
+
2
2
−
(
1
+
(
2
+
)
2
)
(
1
2
)
2
=
1
2
+
2
2
+
(
1
+
(
2
+
)
2
+
)
(
1
3
)
fo
r
a
d
ec
o
u
p
lin
g
b
etwe
en
th
e
q
u
an
titi
es d
an
d
q
,
we
p
u
t th
es
e
ex
p
r
ess
io
n
s
o
f
ten
s
io
n
in
th
e
f
o
r
m
:
1
=
1
+
1
(
1
4
)
1
=
1
+
1
(
1
5
)
2
=
2
+
2
(
1
6
)
2
=
2
+
2
(
1
7
)
with
:
1
=
−
(
(
1
+
)
1
+
2
)
(
1
8
)
1
=
(
(
1
+
)
1
+
2
+
)
(
1
9
)
2
=
−
(
1
+
(
2
+
)
2
)
(
2
0
)
2
=
(
1
+
(
2
+
)
2
+
)
(
2
1
)
an
d
1
=
1
1
+
1
1
(
22)
1
=
1
1
+
1
1
(
2
3
)
2
=
2
2
+
2
2
(
2
4
)
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
Mo
d
elin
g
a
n
d
co
n
tr
o
l o
f d
o
u
b
l
e
s
ta
r
in
d
u
ctio
n
ma
ch
i
n
e
b
y
…
(
A
ich
eto
u
n
e
Ou
ma
r
)
2723
2
=
1
2
+
2
2
(
2
5
)
Fig
u
r
e
4
s
h
o
ws
th
e
d
ir
e
ct
f
ield
-
o
r
ien
ted
c
o
n
tr
o
l
(
DFOC
)
u
s
ed
f
o
r
th
e
c
o
n
tr
o
l
o
f
th
e
DSI
M.
T
h
is
m
eth
o
d
is
b
ased
o
n
th
e
esti
m
atio
n
o
f
th
e
r
o
to
r
f
lu
x
m
o
d
u
le
(
ψ
r
)
an
d
th
e
p
h
ase
(
θ
s
)
.
Fig
u
r
e
4
.
Dir
ec
t
f
ield
-
o
r
ien
te
d
co
n
tr
o
l
o
f
th
e
DSI
M
−
E
s
tim
atio
n
o
f
Fro
m
th
e
s
y
s
tem
s
o
f
(
1
)
an
d
(
2
)
we
d
ed
u
ce
:
=
+
(
1
+
2
)
−
+
(
2
6
)
h
en
ce
th
e
e
x
p
r
ess
io
n
s
o
f
th
e
r
o
to
r
f
lu
x
:
=
1
+
.
(
1
+
2
)
(
2
7
)
with
=
+
−
E
s
tim
atio
n
d
e
=
∫
(
2
8
)
wh
er
e
=
+
T
h
e
ex
p
r
ess
io
n
o
f
is
o
b
tain
ed
f
r
o
m
(
1
)
an
d
(
2
)
:
=
+
(
1
+
2
)
(
2
9
)
=
∫
(
+
+
(
1
+
2
)
)
(
3
0
)
2
.
3
.
2
.
Sy
nthesis
o
f
t
he
ADRC
re
g
ula
t
o
rs
T
h
e
s
tr
ateg
y
co
n
s
is
ts
o
f
co
n
tr
o
llin
g
th
e
s
tato
r
cu
r
r
e
n
ts
o
f
th
e
DSI
M
b
y
ADRC
r
eg
u
lato
r
s
.
Fro
m
(
2
2
-
2
5
)
,
th
e
s
tato
r
c
u
r
r
e
n
ts
o
f
th
e
DSI
M
ca
n
b
e
ex
p
r
ess
ed
b
y
:
1
,
2
=
−
1
1
,
2
+
1
1
,
2
(3
1)
an
d
1
,
2
=
−
1
1
,
2
+
1
1
,
2
(
3
2
)
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
.
5
,
Octo
b
e
r
2
0
2
0
:
2
7
1
8
-
2728
2724
W
e
p
u
t th
ese
ex
p
r
ess
io
n
s
in
th
e
f
o
llo
win
g
f
o
r
m
:
1
,
2
=
1
,
2
(
)
+
0
1
,
2
1
,
2
(
)
(
3
3
)
an
d
1
,
2
=
1
,
2
(
)
+
0
1
,
2
1
,
2
(
)
(
3
4
)
with
:
1
,
2
(
)
=
−
1
,
2
+
(
1
−
0
1
,
2
)
1
,
2
;
1
,
2
(
)
=
1
,
2
;
0
1
,
2
=
1
an
d
:
1
,
2
(
)
=
−
1
,
2
+
(
1
−
0
1
,
2
)
1
,
2
;
1
,
2
(
)
=
1
,
2
;
0
1
,
2
=
1
1
,
2
(
)
an
d
1
,
2
(
)
r
ep
r
esen
t
th
e
to
tal
d
is
tu
r
b
an
ce
s
r
esp
ec
tiv
ely
af
f
e
ctin
g
th
e
cu
r
r
en
ts
is
d
1
,
is
d
2
,
is
q
1
and
is
q
2
.
1
,
2
(
)
an
d
1
,
2
(
)
ar
e
r
esp
ec
tiv
ely
th
e
co
n
t
r
o
l
in
p
u
ts
o
f
th
e
cu
r
r
e
n
t
co
n
tr
o
l
lo
o
p
s
is
d
1
,
is
d
2
,
is
q
1
an
d
is
q
2
.
0
1
,
2
an
d
0
1
,
2
ar
e
th
e
k
n
o
wn
p
ar
ts
o
f
th
e
s
y
s
tem
p
ar
am
eter
s
.
B
y
c
h
o
o
s
in
g
a
s
u
itab
le
r
esp
o
n
s
e
tim
e,
w
e
ea
s
ily
d
eter
m
in
e
th
e
p
ar
am
eter
s
,
1
an
d
2
o
f
th
e
ADRC
r
eg
u
lato
r
s
s
o
th
at
th
e
s
tato
r
cu
r
r
e
n
ts
f
o
llo
w
p
e
r
f
ec
tly
th
eir
r
ef
er
en
ce
s
as sh
o
wn
in
Fig
u
r
e
5
.
Fig
u
r
e
5
.
Dir
ec
t
m
et
h
o
d
(
DFOC
)
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
I
n
o
r
d
er
to
v
er
if
y
t
h
e
p
er
f
o
r
m
an
ce
an
d
t
h
e
r
o
b
u
s
tn
ess
o
f
th
e
ac
tiv
e
d
is
tu
r
b
an
c
e
r
ejec
t
io
n
co
n
tr
o
l
ap
p
lied
to
th
e
DSI
M,
th
e
m
a
ch
in
e
m
o
d
el
a
n
d
its
v
ec
to
r
c
o
n
tr
o
l
u
s
in
g
t
h
e
ADRC
r
eg
u
lato
r
s
ar
e
s
im
u
lated
in
th
e
Ma
tlab
/Si
m
u
lin
k
en
v
ir
o
n
m
en
t.
T
h
e
DSI
M
s
tu
d
ied
in
th
is
p
ap
er
is
f
ed
b
y
two
v
o
ltag
e
in
v
er
ter
s
at
two
lev
els,
its
elec
tr
ical
an
d
m
ec
h
an
ical
p
ar
am
eter
s
with
th
e
r
eg
u
lato
r
s
g
ain
ar
e
g
iv
en
in
th
e
ap
p
en
d
ix
.
I
n
th
is
s
ec
tio
n
,
th
r
ee
test
s
ar
e
s
im
u
lat
ed
.
T
h
e
f
ir
s
t
test
is
d
ev
o
ted
to
illu
s
tr
atin
g
th
e
r
esp
o
n
s
e
o
f
th
e
m
ac
h
in
e
in
th
e
lo
ad
v
ar
iatio
n
test
.
I
n
th
e
s
ec
o
n
d
te
s
t,
we
in
v
er
t th
e
s
p
ee
d
d
ir
ec
tio
n
.
T
h
e
th
i
r
d
test
is
th
e
r
o
b
u
s
tn
ess
test
.
3
.
1
.
L
o
a
d
v
a
ria
t
io
n
t
est
T
h
e
DSI
M
r
u
n
s
em
p
ty
u
n
til
tim
e
t
=
2
s
,
wh
en
we
in
tr
o
d
u
c
e
a
lo
ad
to
r
q
u
e
o
f
1
6
N.
m
,
at
t
=
4
s
we
ch
an
g
e
th
e
lo
ad
t
o
r
q
u
e
f
r
o
m
1
6
N.
m
to
1
0
N.
m
.
W
e
n
o
te
f
r
o
m
Fig
u
r
e
6
th
at
th
e
s
p
ee
d
o
f
th
e
DSI
M
f
o
llo
ws its
r
ef
er
en
ce
ev
e
n
af
ter
th
e
lo
a
d
v
ar
iatio
n
f
r
o
m
0
to
1
6
an
d
f
r
o
m
1
6
to
1
0
.
Alm
o
s
t
n
o
o
v
er
ta
k
in
g
o
r
d
is
tu
r
b
an
ce
ca
n
m
o
v
e
th
e
s
p
ee
d
awa
y
f
r
o
m
its
r
ef
er
en
ce
.
W
e
also
f
in
d
th
at
t
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
v
ar
ies p
r
o
p
o
r
ti
o
n
al
ly
to
th
e
s
tato
r
c
u
r
r
e
n
ts
in
q
u
ad
r
atu
r
e
is
q
1
an
d
is
q
2
,
an
d
it
is
in
d
ep
en
d
en
t
o
f
th
e
r
o
to
r
f
lu
x
wh
ich
is
k
ep
t
co
n
s
tan
t.
T
h
e
cu
r
r
e
n
ts
o
f
ea
ch
s
tato
r
win
d
in
g
o
f
th
e
DSI
M
ar
e
p
er
f
ec
tly
s
in
u
s
o
id
al
an
d
th
eir
am
p
litu
d
es d
ep
en
d
o
n
th
e
lo
ad
co
n
d
itio
n
s
.
T
h
e
co
n
tr
o
l
s
tr
ateg
y
im
p
lem
en
ted
b
ased
o
n
ADRC
r
eg
u
lato
r
s
p
e
r
f
ec
tly
ac
h
ie
v
es
a
d
ec
o
u
p
lin
g
b
etwe
en
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
o
f
th
e
DSI
M
an
d
th
e
r
o
to
r
f
l
u
x
.
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
Mo
d
elin
g
a
n
d
co
n
tr
o
l o
f d
o
u
b
l
e
s
ta
r
in
d
u
ctio
n
ma
ch
i
n
e
b
y
…
(
A
ich
eto
u
n
e
Ou
ma
r
)
2725
Fig
u
r
e
6
.
Op
e
r
atio
n
o
f
th
e
DSI
M
co
n
tr
o
lled
b
y
ADRC
r
eg
u
la
to
r
s
with
lo
ad
v
ar
iatio
n
3
.
2
.
Sp
ee
d
inv
er
s
io
n t
est
T
h
is
test
co
n
s
is
ts
to
s
im
u
late
th
e
ADRC
co
m
m
an
d
with
ch
an
g
in
g
s
p
ee
d
r
ef
er
e
n
ce
at
4
s
an
d
b
y
ap
p
ly
in
g
a
lo
ad
o
f
1
6
N.
m
at
t
=
2
s
.
Fig
u
r
e
7
illu
s
tr
ate
s
th
e
e
v
o
lu
tio
n
o
f
elec
tr
ical
q
u
a
n
titi
es
an
d
m
ec
h
an
ics
o
f
th
e
DSI
M
u
n
d
er
th
ese
o
p
er
ati
n
g
c
o
n
d
itio
n
s
.
T
h
e
r
o
tatio
n
s
p
ee
d
⍵
r
ch
a
n
g
es
d
i
r
ec
tio
n
at
t
=
4
s
an
d
g
o
es
f
r
o
m
1
0
0
r
a
d
/s
to
-
1
0
0
r
a
d
/s
af
ter
a
tr
an
s
ien
t r
eg
im
e
ab
o
u
t 0
.
3
5
s
.
T
h
is
in
v
er
s
io
n
o
f
s
p
ee
d
d
ir
ec
ti
o
n
is
ac
co
m
p
an
ie
d
b
y
a
ch
an
g
e
in
th
e
o
r
d
er
o
f
th
e
p
h
ases
o
f
th
e
s
tato
r
cu
r
r
en
ts
,
a
d
is
tu
r
b
a
n
ce
o
f
th
e
elec
tr
o
m
ag
n
etic
t
o
r
q
u
e
an
d
th
e
cu
r
r
e
n
t
is
q
1
f
o
r
a
s
h
o
r
t
tim
e
b
ef
o
r
e
th
e
y
r
et
u
r
n
to
th
eir
in
itial
r
ef
er
en
ce
v
al
u
es.
T
h
e
r
o
to
r
f
l
u
x
is
m
ain
tain
ed
co
n
s
tan
t
an
d
in
d
ep
en
d
en
t
o
f
th
e
v
ar
iatio
n
o
f
th
e
to
r
q
u
e.
T
h
e
esti
m
atio
n
an
d
th
e
co
m
p
en
s
atio
n
o
f
t
h
e
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
d
u
e
to
th
e
v
ar
iatio
n
o
f
th
e
lo
ad
an
d
th
e
ch
an
g
e
o
f
r
ef
er
en
ce
s
p
ee
d
,
b
y
th
e
ADRC
r
eg
u
lato
r
s
allo
wed
th
e
s
y
s
tem
to
h
av
e
v
er
y
s
atis
f
ac
to
r
y
p
er
f
o
r
m
an
ce
.
Fig
u
r
e
7
.
Op
e
r
atio
n
o
f
th
e
DSI
M
with
in
v
er
s
io
n
s
p
ee
d
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
.
5
,
Octo
b
e
r
2
0
2
0
:
2
7
1
8
-
2728
2726
3
.
3
.
Ro
bu
s
t
nes
s
t
est
T
h
e
r
o
b
u
s
tn
ess
test
co
n
s
i
s
ts
o
f
v
ar
y
in
g
th
e
r
o
t
o
r
r
esis
to
r
R
r
,
th
e
m
o
m
en
t
o
f
in
er
tia
J
an
d
th
e
s
tato
r
in
d
u
ctan
ce
s
o
f
th
e
DSI
M.
I
n
d
ee
d
,
th
e
r
eg
u
lato
r
s
'
ca
lcu
latio
n
s
ar
e
b
ased
o
n
f
u
n
ctio
n
s
wh
o
s
e
p
ar
am
eter
s
ar
e
ass
u
m
ed
to
b
e
f
ix
e
d
.
Ho
we
v
er
,
in
a
r
ea
l
s
y
s
tem
,
th
ese
p
ar
a
m
eter
s
ar
e
s
u
b
ject
to
v
a
r
iatio
n
s
d
r
iv
en
b
y
d
if
f
e
r
en
t
p
h
y
s
ical
p
h
en
o
m
en
a.
Fig
u
r
e
8
s
h
o
ws
th
e
ev
o
lu
tio
n
o
f
th
e
s
tato
r
cu
r
r
e
n
ts
,
th
e
s
p
ee
d
o
f
r
o
tatio
n
a
n
d
t
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
o
f
th
e
DSI
M
d
u
r
in
g
a
v
ar
iatio
n
o
f
1
0
0
% o
f
th
e
v
alu
e
o
f
th
e
r
o
to
r
r
esis
tan
ce
R
r
,
th
e
m
o
m
en
t
o
f
in
er
tia
J
an
d
th
e
s
tato
r
i
n
d
u
ctan
ce
s
at
tim
e
o
f
3
s
.
T
h
e
v
ar
iatio
n
s
o
f
th
ese
p
ar
a
m
eter
s
h
av
e
alm
o
s
t
n
o
in
f
l
u
en
ce
o
n
th
e
m
ac
h
in
e'
s
o
p
er
atio
n
b
ec
a
u
s
e
th
e
ADRC
co
n
tr
o
ller
s
m
ak
e
it
p
o
s
s
ib
le
to
au
to
m
atica
lly
co
m
p
en
s
ate
f
o
r
th
e
d
is
tu
r
b
an
ce
s
d
u
e
to
th
ese
v
ar
iatio
n
s
.
T
h
e
tr
ac
k
in
g
o
f
th
e
r
ef
e
r
en
ce
is
s
till
en
s
u
r
ed
an
d
th
e
s
tab
ilit
y
o
f
th
e
s
y
s
tem
is
n
o
t a
f
f
ec
ted
b
y
t
h
ese
p
ar
am
eter
v
a
r
iatio
n
s
.
Fig
u
r
e
8
.
Op
e
r
atio
n
o
f
th
e
DSI
M
with
r
o
to
r
r
esis
to
r
v
a
r
iatio
n
,
th
e
m
o
m
e
n
t o
f
i
n
er
tia
v
ar
iati
o
n
an
d
th
e
s
tato
r
in
d
u
ctan
ce
s
v
a
r
iatio
n
s
(
R
r
=
2
*
R
rn
,
J
=
2
*
J
n
an
d
L
s1,
2
=2
*
L
s1,
2)
at
t=3
s
4.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
is
d
ed
icate
d
to
p
r
esen
t
co
n
tr
o
l
o
f
DSI
M
u
s
in
g
th
e
ADRC
co
m
m
an
d
.
T
h
e
m
o
d
el
o
f
th
e
d
o
u
b
le
s
tar
in
d
u
ctio
n
m
ac
h
in
e
in
th
e
Par
k
r
ef
er
en
ce
s
y
s
te
m
h
as
b
ee
n
d
ev
elo
p
ed
an
d
t
h
e
ADR
C
th
eo
r
ies
ar
e
also
p
r
esen
ted
.
T
h
is
co
m
m
a
n
d
allo
ws
th
e
co
m
p
en
s
atio
n
o
f
all
ex
ter
n
al
d
is
tu
r
b
a
n
ce
s
,
m
o
d
elin
g
er
r
o
r
s
an
d
p
ar
am
etr
ic
v
a
r
iatio
n
s
o
f
th
e
s
y
s
tem
.
T
h
ese
d
i
s
tu
r
b
an
ce
s
r
ep
r
esen
t
th
e
m
ain
co
n
ce
r
n
in
elec
t
r
ical
d
r
iv
e
s
y
s
tem
s
.
W
e
h
av
e
s
ee
n
th
r
o
u
g
h
th
e
r
es
u
lts
o
b
tain
ed
in
t
h
is
ar
ticle,
th
at
th
e
co
n
tr
o
l
b
y
t
h
e
ac
tiv
e
d
i
s
tu
r
b
an
ce
r
ejec
tio
n
co
n
tr
o
l
ADRC
o
f
f
er
s
v
er
y
g
o
o
d
p
er
f
o
r
m
a
n
ce
s
an
d
r
o
b
u
s
tn
e
s
s
b
ec
au
s
e
it
allo
w
s
h
av
in
g
a
s
tab
le
o
p
er
atio
n
b
y
elim
in
atin
g
th
e
ef
f
ec
t o
f
th
e
d
is
tu
r
b
an
ce
s
d
u
e
m
ain
l
y
to
th
e
v
ar
iatio
n
o
f
th
e
m
ac
h
in
e
p
ar
am
eter
s
,
th
e
v
ar
iatio
n
o
f
th
e
lo
ad
c
o
n
d
itio
n
s
an
d
th
e
ch
an
g
e
o
f
th
e
s
p
ee
d
o
f
r
o
tatio
n
.
T
h
e
co
n
tr
o
l b
y
ADRC
ca
n
b
e
a
v
er
y
in
te
r
esti
n
g
s
o
lu
ti
o
n
f
o
r
t
h
e
s
y
s
tem
s
u
s
in
g
d
o
u
b
le
s
tar
in
d
u
ctio
n
m
ac
h
in
e
s
u
ch
as
elec
tr
ical
v
eh
icles,
r
ail
tr
ac
tio
n
,
m
ar
in
e
elec
tr
ic
p
r
o
p
u
ls
io
n
an
d
win
d
g
en
er
ato
r
s
to
n
a
m
e
b
u
t
f
ew.
AP
P
E
NDI
X
Par
am
eter
s
o
f
th
e
DSI
M:
R
ated
p
o
wer
4
.
5
KW
Nu
m
b
er
o
f
p
o
le
p
air
s
P
= 2
Stato
r
an
d
r
o
to
r
r
esis
to
r
s
:
R
S1
= R
S2
=0
.
8
6
Ω,
R
r
=0
.
3
6
Ω.
Stato
r
an
d
r
o
to
r
in
d
u
ctan
ce
s
:
L
S1
= L
S2
=0
.
1
8
4
H,
L
r
=0
.
0
2
4
6
H.
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
Mo
d
elin
g
a
n
d
co
n
tr
o
l o
f d
o
u
b
l
e
s
ta
r
in
d
u
ctio
n
ma
ch
i
n
e
b
y
…
(
A
ich
eto
u
n
e
Ou
ma
r
)
2727
Mu
tu
al
in
d
u
ctan
ce
:
L
m
=
0
.
0
5
3
7
H
Mo
m
en
t o
f
i
n
er
tia:
J
= 0
.
0
2
5
kg
.
m2
C
o
ef
f
icien
t o
f
f
r
ictio
n
:
K
f
= 0
.
0
0
1
N
ms/
r
a
d
Par
am
eter
s
o
f
th
e
ADRC
r
eg
u
lato
r
s
o
f
th
e
s
tato
r
cu
r
r
e
n
ts
:
=
379
.
1709
,
b
0
=
5
.
4
3
4
8
,
β
1
=
7
.
5
8
3
4
e+0
3
,
β
2
=1
.
4
3
7
7
e+0
7
.
Par
am
eter
s
o
f
th
e
PI
r
e
g
u
lato
r
s
o
f
th
e
r
o
t
o
r
f
lu
x
:
=
37
.
7358
,
=
175
.
0632
.
Par
am
eter
s
o
f
th
e
PI
r
e
g
u
lato
r
s
o
f
s
p
ee
d
:
=
1
.
1865
,
=
11
.
8850
.
RE
F
E
R
E
NC
E
S
[1
]
Ak
p
a
m
a
E
.
J
.
,
An
i
h
L
.
U.
,
“
M
o
d
e
ll
in
g
a
n
d
S
imu
latio
n
o
f
M
u
lt
i
p
h
a
se
In
d
u
c
ti
o
n
M
a
c
h
i
n
e
,”
I
n
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
En
g
i
n
e
e
rin
g
I
n
n
o
v
a
t
io
n
&
Res
e
a
rc
h
,
v
o
l.
4
,
n
o
.
5
,
p
p
.
7
3
2
-
7
3
6
,
2
0
1
5
.
[2
]
S
li
m
e
n
e
M
.
B
.
,
Kh
li
fi
M
.
A.
,
“
M
o
d
e
li
n
g
a
n
d
d
ig
it
a
l
fiel
d
-
o
rien
ted
c
o
n
tr
o
l
f
o
r
d
o
u
b
le
sta
r
i
n
d
u
c
ti
o
n
m
o
to
r
d
ri
v
e
,”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
A
p
p
li
e
d
El
e
c
tro
ma
g
n
e
ti
c
s a
n
d
M
e
c
h
a
n
ics
,
v
o
l
.
56
,
n
o
.
4
,
p
p
.
5
1
1
-
5
2
0
,
2
0
1
8
.
[3
]
Az
ib
A
.
,
Zi
a
n
e
D
.
,
Re
k
i
o
u
a
T
.
,
T
o
u
n
z
i
A.
,
“
Ro
b
u
st
n
e
ss
o
f
t
h
e
d
ire
c
t
to
r
q
u
e
c
o
n
tro
l
o
f
d
o
u
b
le
sta
r
i
n
d
u
c
ti
o
n
m
o
t
o
r
i
n
fa
u
lt
c
o
n
d
it
i
o
n
,”
Rev
.
Ro
u
m.
S
c
i.
T
e
c
h
.
Él
e
c
t
.
e
t
É
n
e
rg
,
v
o
l.
61
,
n
o
.
2
,
p
p
.
1
4
7
-
1
5
2
,
2
0
1
6
.
[4
]
Ti
r
Z
.
,
S
o
u
fi
Y
.
,
Ha
sh
e
m
n
ia
M
.
N
.
,
M
a
li
k
O
.
,
M
a
ro
u
a
n
i
K.
,
“
F
u
z
z
y
l
o
g
ic
f
ield
o
rien
te
d
c
o
n
tr
o
l
o
f
d
o
u
b
le
sta
r
in
d
u
c
ti
o
n
m
o
t
o
r
d
riv
e
,”
El
e
c
trica
l
En
g
in
e
e
rin
g
,
v
o
l.
99
,
p
p
.
4
9
5
-
5
0
3
,
2
0
1
7
.
[5
]
Lay
a
d
i
N
.
,
Dje
rio
u
i
A
.
,
Zeg
h
lac
h
e
S
.
,
M
e
k
k
i
H
.
,
H
o
u
a
ri
A
.
,
Be
n
k
h
o
ris
M
.
,
Be
rra
b
a
h
F.
,
“
Ne
w
F
a
u
lt
T
o
lera
n
t
Co
n
tr
o
l
Ba
se
d
on
Ba
c
k
ste
p
p
i
n
g
C
o
n
tr
o
ll
e
r
fo
r
Do
u
b
le
S
tar
In
d
u
c
ti
o
n
M
a
c
h
in
e
,”
Rev
.
R
o
u
m.
S
c
i.
T
e
c
h
n
.
-
Él
e
c
tro
tec
h
n
.
e
t
Én
e
rg
.
,
v
o
l.
64
,
n
o
.
3
,
p
p
.
2
7
5
-
2
8
0
,
2
0
1
9
.
[6
]
Bo
u
k
h
a
lfa
G
.,
Be
lk
a
c
e
m
S
.
,
Ch
ik
h
i
A
.
,
Be
n
a
g
g
o
u
n
e
S
.
,
“
Dire
c
t
to
rq
u
e
c
o
n
tr
o
l
o
f
d
u
a
l
sta
r
in
d
u
c
ti
o
n
m
o
t
o
r
u
si
n
g
a
fu
z
z
y
-
P
S
O
h
y
b
rid
a
p
p
r
o
a
c
h
,”
A
p
p
li
e
d
Co
m
p
u
ti
n
g
a
n
d
I
n
f
o
rm
a
ti
c
s
,
p
p
.
1
-
17
,
2
0
1
8
.
[7
]
M
e
ra
b
e
t
E
.
,
Ab
d
e
ss
e
m
e
d
R
.
,
Am
ime
u
r
H
.
,
Ha
m
o
u
d
i
F
.
,
“
F
iel
d
Ori
e
n
ted
Co
n
tro
l
o
f
a
Du
a
l
S
tar
I
n
d
u
c
ti
o
n
M
a
c
h
i
n
e
Us
in
g
F
u
z
z
y
Re
g
u
lato
rs
,
CIP.
S
é
t
if
,
p
p
.
1
-
7
,
2
0
0
7
.
[8
]
Laz
re
g
M
.
H
.
,
Be
n
taa
ll
a
h
A.
,
“
S
p
e
e
d
se
n
so
rles
s
v
e
c
to
r
c
o
n
tro
l
o
f
d
o
u
b
le
sta
r
in
d
u
c
ti
o
n
m
a
c
h
in
e
u
si
n
g
re
d
u
c
e
d
o
rd
e
r
o
b
se
rv
e
r
a
n
d
M
RAS
e
stim
a
to
r
,”
T
h
e
5
t
h
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
El
e
c
trica
l
En
g
in
e
e
rin
g
Bo
u
m
e
rd
e
s
(ICEE
-
B)
,
p
p
.
1
-
6
,
2
0
1
7
.
[9
]
Wan
g
F
.
,
Li
u
E
.
,
Wan
g
R
.
,
Z
h
a
n
g
W
.
,
Ya
n
g
Y.
,
“
An
a
p
p
ro
a
c
h
t
o
imp
ro
v
e
a
c
ti
v
e
d
ist
u
rb
a
n
c
e
re
j
e
c
ti
o
n
c
o
n
tro
l
,”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
C
o
n
tr
o
l
,
v
o
l.
9
3
,
n
o
.
5
,
p
p
.
1
0
6
3
-
7
3
,
2
0
2
0
.
[1
0
]
Ch
a
law
a
n
e
H
.
,
Essa
d
k
i
A
.
,
Na
ss
e
r
T
.
,
Arb
a
o
u
i
M
.
,
“
A
Ne
w
Ro
b
u
st
Co
n
tr
o
l
Ba
se
d
o
n
Ac
ti
v
e
Dist
u
rb
a
n
c
e
Re
jec
ti
o
n
Co
n
tr
o
ll
e
r
fo
r
S
p
e
e
d
S
e
n
so
rles
s
In
d
u
c
ti
o
n
M
o
t
o
r
,”
3
rd
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
El
e
c
trica
l
a
n
d
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
ies
(ICEI
T
)
,
p
p
.
1
-
6
,
2
0
1
7
.
[1
1
]
Ab
d
e
n
A
.
,
B
o
u
c
h
e
t
ta
A
.
,
Bo
u
g
h
a
z
i
O
.
,
Ba
g
h
d
a
d
i
A
.
,
B
o
u
ss
e
rh
a
n
e
I
.
K.
,
“
Do
u
b
le
sta
r
in
d
u
c
ti
o
n
m
a
c
h
in
e
u
si
n
g
n
o
n
li
n
e
a
r
in
teg
ra
l
b
a
c
k
ste
p
p
i
n
g
c
o
n
tro
l
,”
I
n
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
,
v
o
l
.
10
,
n
o
.
1
,
p
p
.
27
-
40
,
2
0
1
9
.
[1
2
]
Y
oub
L
.
,
Be
l
k
a
c
e
m
S
.
,
Na
c
e
ri
F
.
,
Ce
rn
a
t
M
.
,
P
e
s
q
u
e
r
L
.
G
.
,
“
De
sig
n
o
f
a
n
Ad
a
p
t
iv
e
F
u
z
z
y
Co
n
tro
l
S
y
ste
m
fo
r
Du
a
l
S
tar In
d
u
c
ti
o
n
M
o
t
o
r
Driv
e
s
,”
A
d
v
a
n
c
e
s in
El
e
c
trica
l
a
n
d
C
o
mp
u
te
r E
n
g
i
n
e
e
rin
g
,
v
o
l.
18
,
n
o
.
3
,
p
p
.
37
-
44
,
2
0
1
8
.
[1
3
]
Bo
u
k
h
a
lfa
G
.
,
Be
lk
a
c
e
m
S
.
,
C
h
ik
h
i
A
.
,
Be
n
a
g
g
o
u
n
e
S
.
,
“
G
e
n
e
ti
c
a
lg
o
rit
h
m
a
n
d
p
a
rti
c
le
sw
a
rm
o
p
ti
m
iza
ti
o
n
t
u
n
e
d
fu
z
z
y
P
ID
c
o
n
tr
o
ll
e
r
o
n
d
irec
t
to
rq
u
e
c
o
n
tr
o
l
o
f
d
u
a
l
sta
r
in
d
u
c
ti
o
n
m
o
to
r
,”
J
o
u
rn
a
l
o
f
Ce
n
tr
a
l
S
o
u
th
Un
ive
rs
it
y
,
v
o
l.
26
,
n
o
.
7
,
p
p
.
1
8
8
6
-
1
8
9
6
,
2
0
1
9
.
[1
4
]
Ou
m
a
r
A
.
,
Ch
a
k
ib
R
.
,
C
h
e
rk
a
o
u
i
M
.
,
“
P
e
rfo
rm
a
n
c
e
a
n
d
C
h
a
ra
c
teristics
o
f
Do
u
b
le
S
tar
In
d
u
c
ti
o
n
M
a
c
h
in
e
,”
8
t
h
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
S
y
ste
ms
a
n
d
C
o
n
tr
o
l
(IC
S
C)
,
p
p
.
1
-
6
,
2
0
1
9
.
[1
5
]
Be
n
to
u
h
a
m
i
L.
A
.
,
Be
n
d
jed
d
o
u
Y
.
,
M
e
ra
b
e
t
E.
,
“
Ne
u
r
o
-
fu
z
z
y
c
o
n
tr
o
l
o
f
a
d
u
a
l
sta
r
in
d
u
c
ti
o
n
m
a
c
h
i
n
e
,”
J
o
u
rn
a
l
o
f
Po
we
r T
e
c
h
n
o
lo
g
ies
,
v
o
l.
9
8
,
n
o
.
1
,
p
p
.
7
0
-
7
9
,
2
0
1
8
.
[1
6
]
Arb
a
o
u
i
M
.
,
Essa
d
k
i
A
.
,
Na
ss
e
r
T
.
,
Ch
a
law
a
n
e
H.
,
“
C
o
m
p
a
ra
ti
v
e
A
n
a
ly
sis
o
f
AD
RC
&
P
I
C
o
n
tr
o
ll
e
r
s
Us
e
d
in
Wi
n
d
Tu
rb
i
n
e
S
y
ste
m
Driv
i
n
g
a
DF
IG
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ren
e
wa
b
le
En
e
rg
y
Res
e
a
rc
h
,
v
o
l.
7
,
n
o
.
4
,
pp.
1
8
1
6
-
1
8
2
4
,
2
0
1
7
.
[1
7
]
Ch
a
k
ib
R
.
,
Essa
d
k
i
A
.
,
Ch
e
rk
a
o
u
i
M
.
,
“
M
o
d
e
li
n
g
a
n
d
C
o
n
tr
o
l
o
f
a
Wi
n
d
S
y
ste
m
b
a
se
d
o
n
a
D
F
IG
b
y
Ac
ti
v
e
Distu
rb
a
n
c
e
Re
jec
ti
o
n
Co
n
tro
l
,”
I
n
ter
n
a
ti
o
n
a
l
Rev
iew
o
n
M
o
d
e
ll
i
n
g
a
n
d
S
imu
l
a
ti
o
n
s
,
v
o
l.
7
,
n
o
.
4
,
p
p
.
626
-
6
3
7
,
2
0
1
4
.
[1
8
]
Wan
g
F
.
,
Wan
g
R
.
J
.
,
Li
u
E
.,
“
An
a
ly
sis
a
n
d
T
u
n
i
n
g
fo
r
Ac
ti
v
e
Distu
rb
a
n
c
e
Re
jec
ti
o
n
C
o
n
tro
l
,”
M
a
t
h
e
ma
ti
c
a
l
Pro
b
lem
s in
En
g
in
e
e
rin
g
,
v
o
l.
2
0
1
9
,
p
p
.
1
-
12
,
2
0
1
9
.
[1
9
]
Ch
a
k
ib
M
.
,
Na
ss
e
r
T
.
,
Essa
d
k
i
A.
,
“
Co
m
p
a
ra
ti
v
e
stu
d
y
o
f
a
c
ti
v
e
d
i
stu
rb
a
n
c
e
re
jec
ti
o
n
c
o
n
tro
l
with
RS
T
c
o
n
tr
o
l
fo
r
v
a
riab
le
win
d
sp
e
e
d
t
u
rb
i
n
e
b
a
se
d
o
n
d
o
u
b
ly
fe
d
i
n
d
u
c
ti
o
n
g
e
n
e
ra
to
r
c
o
n
n
e
c
ted
to
t
h
e
g
rid
,”
In
ter
n
a
t
i
o
n
a
l
jo
u
rn
a
l
o
f
in
telli
g
e
n
t
e
n
g
in
e
e
rin
g
&
sy
ste
ms
,
v
o
l.
1
3
,
n
o
.
1
,
p
p
.
2
4
8
-
2
5
8
,
2
0
1
9
.
[2
0
]
Ku
a
n
g
Z
.
,
Du
B
.
, C
u
i
S
.
,
C
h
a
n
C
.
C.
,
“
S
p
e
e
d
C
o
n
tr
o
l
o
f
L
o
a
d
To
r
q
u
e
F
e
e
d
F
o
rwa
rd
C
o
m
p
e
n
sa
ti
o
n
Ba
se
d
o
n
Li
n
e
a
r
Ac
ti
v
e
Distu
rb
a
n
c
e
Re
jec
ti
o
n
f
o
r
F
iv
e
-
P
h
a
se
P
M
S
M
,”
IEE
E
Acc
e
ss
,
v
o
l
.
7
,
p
p
.
1
5
9
7
8
7
-
1
5
9
7
9
6
,
2
0
1
9
.
[2
1
]
Ch
a
k
ib
R
.
,
Essa
d
k
i
A
.
,
Ch
e
rk
a
o
u
i
M
.
,
“
P
a
rti
c
ip
a
ti
o
n
o
f
DFIG
win
d
tu
rb
i
n
e
c
o
n
tr
o
ll
e
d
b
y
a
c
ti
v
e
d
istu
r
b
a
n
c
e
re
jec
ti
o
n
c
o
n
tro
l
in
p
rima
ry
fre
q
u
e
n
c
y
c
o
n
t
ro
l
,”
In
ter
n
a
ti
o
n
a
l
re
v
iew o
f
e
lec
trica
l
e
n
g
i
n
e
e
rin
g
,
v
o
l.
1
1
,
n
o
.
1
2
,
p
p
.
1
8
3
,
2
0
1
6
.
[2
2
]
Arb
a
o
u
i
M
.
,
Essa
d
k
i
A
.
,
Kh
a
rc
h
o
u
f
I
.
,
Na
ss
e
r
T.
,
“
A
Ne
w
Ro
b
u
st
Co
n
tr
o
l
by
Ac
ti
v
e
Dist
u
r
b
a
n
c
e
R
e
jec
ti
o
n
Co
n
tr
o
l
Ap
p
li
e
d
o
n
Wi
n
d
Tu
r
b
in
e
S
y
ste
m
Ba
se
d
o
n
D
o
u
b
ly
F
e
d
I
n
d
u
c
ti
o
n
G
e
n
e
r
a
to
r
DFIG
,”
2
0
1
7
In
ter
n
a
ti
o
n
a
l
Re
n
e
wa
b
l
e
a
n
d
S
u
sta
i
n
a
b
le E
n
e
rg
y
Co
n
fer
e
n
c
e
(IR
S
EC),
2
0
1
7
.
[2
3
]
He
rb
st
G
.
,
“
A
S
imu
lativ
e
S
tu
d
y
o
n
Ac
ti
v
e
Distu
r
b
a
n
c
e
Re
jec
ti
o
n
Co
n
tro
l
(AD
RC)
a
s
a
C
o
n
tro
l
To
o
l
fo
r
P
ra
c
ti
ti
o
n
e
rs
,
”
El
e
c
tro
n
ics
,
v
o
l.
2
,
n
o
.
3
,
p
p
.
2
4
6
-
2
7
9
,
2
0
1
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.