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p
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tain
s
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e
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t
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e
s.
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h
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teg
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t
ime
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b
so
lu
te
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rro
r
(
ITAE
)
p
e
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rm
a
n
c
e
in
d
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x
,
u
n
d
e
rs
h
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t
,
ri
p
p
le
o
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imp
o
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tan
t
q
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ti
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re
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se
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to
c
o
m
p
a
re
th
e
c
o
n
v
e
n
ti
o
n
a
l
d
riv
e
stru
c
tu
re
a
n
d
p
ro
p
o
se
d
d
ri
v
e
str
u
c
tu
re
wit
h
Ka
l
m
a
n
fil
ter.
Th
e
sim
u
latio
n
re
su
l
ts
c
o
n
f
irm
th
e
e
x
p
e
c
ted
d
y
n
a
m
ic
re
sp
o
n
se
o
f
th
e
p
ro
p
o
se
d
stru
c
tu
re
.
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
d
r
i
v
e
I
T
AE
p
er
f
o
r
m
an
ce
in
d
ex
Kalm
an
f
ilter
Pu
ls
e
-
wid
th
m
o
d
u
latio
n
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
:
Hau
Hu
u
Vo
Mo
d
elin
g
E
v
o
lu
tio
n
a
r
y
Alg
o
r
i
th
m
s
Simu
lat
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n
an
d
Ar
tific
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I
n
tellig
en
ce
Facu
lty
o
f
E
lectr
ic
al
an
d
E
lectr
o
n
ics E
n
g
in
ee
r
in
g
T
o
n
Du
c
T
h
an
g
U
n
iv
er
s
ity
1
9
Ng
u
y
en
Hu
u
T
h
o
S
tr
ee
t,
T
an
Ph
o
n
g
W
ar
d
,
Dis
tr
ict
7
,
Ho
C
h
i M
in
h
C
ity
,
Vietn
a
m
E
m
ail:
v
o
h
u
u
h
au
@
td
tu
.
ed
u
.
v
n
1.
I
NT
RO
D
UCT
I
O
N
I
n
d
u
ctio
n
m
o
to
r
s
(
I
Ms)
ar
e
u
s
ed
in
m
an
y
in
d
u
s
tr
ial
ap
p
licati
o
n
s
with
wid
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p
o
wer
r
an
g
e
f
r
o
m
s
ev
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al
h
u
n
d
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to
m
u
lti
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m
eg
awa
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r
iv
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b
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t/p
o
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d
h
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p
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/weig
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t
r
atio
s
[
1
]
.
T
wo
s
tr
ateg
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o
f
elec
tr
o
m
ag
n
etic
to
r
q
u
e
co
n
tr
o
l:
v
ec
to
r
c
o
n
tr
o
l
(
VC
)
an
d
d
i
r
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
ca
n
b
e
u
s
ed
in
h
ig
h
p
r
e
cisi
o
n
ad
ju
s
tab
le
-
s
p
ee
d
I
M
d
r
iv
e
s
.
T
h
ese
s
tr
ateg
ies g
iv
e
co
m
p
ar
ab
le
p
r
o
p
er
ties
.
Dir
ec
t
to
r
q
u
e
-
c
o
n
tr
o
lled
d
r
iv
e
s
wer
e
in
tr
o
d
u
ce
d
m
o
r
e
th
an
1
0
y
ea
r
s
later
th
a
n
v
ec
to
r
-
co
n
tr
o
lled
d
r
iv
es
[
2
]
.
T
h
e
ad
v
an
tag
e
o
f
th
e
DT
C
m
eth
o
d
s
is
th
eir
s
im
p
le
c
o
n
tr
o
l
s
tr
u
ct
u
r
es
th
at
d
ir
ec
tly
c
o
n
tr
o
l
th
e
to
r
q
u
e
with
o
u
t
m
an
y
f
r
am
e
tr
an
s
f
o
r
m
atio
n
s
[
3
]
,
an
d
th
er
ef
o
r
e,
th
ey
ar
e
s
im
p
le
to
s
im
u
late
o
n
co
m
p
u
ter
s
a
n
d
ea
s
y
to
im
p
lem
en
t
o
n
p
r
ac
tical
co
n
t
r
o
l
s
y
s
tem
s
.
D
T
C
s
tr
ateg
y
b
r
in
g
s
d
esire
d
el
ec
tr
o
m
ag
n
etic
to
r
q
u
e
c
o
n
tr
o
l
an
d
r
o
b
u
s
tn
ess
f
o
r
co
n
tr
o
lled
s
y
s
tem
s
[
2
]
.
T
h
er
e
ar
e
m
an
y
v
er
s
io
n
s
o
f
DT
C
s
u
ch
as
T
ak
ah
ash
i’
s
DT
C
m
et
h
o
d
(
T
-
DT
C
)
[
4
-
6
]
,
m
eth
o
d
with
d
iv
id
in
g
lo
cu
s
o
f
s
tato
r
f
lu
x
p
h
aso
r
in
to
twelv
e
s
ec
to
r
s
(
T
S
-
DT
C
)
[
7
]
,
m
eth
o
d
th
at
v
o
ltag
e
v
ec
to
r
co
m
p
o
n
en
ts
ar
e
p
r
o
p
o
r
tio
n
al
to
d
ev
iatio
n
s
o
f
f
lu
x
an
d
to
r
q
u
e
(
DVC
-
DT
C
)
[
8
]
,
p
u
ls
e
-
wid
th
m
o
d
u
latio
n
d
ir
ec
t
to
r
q
u
e
c
o
n
tr
o
l
(
PW
M
-
DT
C
)
[
2
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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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.
19
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
1
:
2
7
7
-
2
8
4
278
T
h
e
s
witch
in
g
f
r
e
q
u
en
c
y
is
alwa
y
s
c
o
n
s
tan
t
with
PW
M
-
DT
C
.
B
esid
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th
at,
th
e
P
W
M
tec
h
n
iq
u
e
als
o
e
n
s
u
r
es
th
e
r
eliab
le
IM
ex
cita
tio
n
an
d
lim
itatio
n
o
f
th
e
s
tato
r
cu
r
r
en
t
v
ec
t
o
r
,
r
ed
u
ce
s
s
witch
in
g
lo
s
s
es,
r
ip
p
le
o
f
f
lu
x
an
d
to
r
q
u
e
[9
]
.
C
u
r
r
en
t
s
en
s
o
r
s
ar
e
im
p
o
r
tan
t
p
ar
ts
o
f
DT
C
d
r
iv
e
s
tr
u
ctu
r
e
s
,
an
d
p
r
o
ce
s
s
ed
b
y
s
u
itab
le
alg
o
r
ith
m
s
.
I
n
th
e
p
ap
er
,
co
m
p
o
n
en
ts
o
f
s
tato
r
cu
r
r
en
t
v
ec
to
r
ar
e
ass
u
m
ed
to
b
e
d
is
to
r
d
ed
b
y
wh
ite
n
o
is
e
s
,
an
d
in
s
u
ch
ca
s
es,
Kalm
an
f
ilter
s
s
ee
m
to
b
e
th
e
m
o
s
t e
f
f
ec
ti
v
e
t
o
o
ls
.
Kalm
an
f
ilter
(
KF)
wh
i
ch
was
in
v
en
ted
6
0
y
ea
r
s
ag
o
[
1
0
,
1
1
]
,
was
ap
p
lied
to
s
m
o
o
th
n
o
is
ed
q
u
an
titi
es
in
v
ar
io
u
s
f
ield
s
[
1
2
]
f
o
r
ex
am
p
le
ch
ar
g
in
g
s
tate
esti
m
atio
n
o
f
lar
g
e
-
s
ca
le
b
atter
y
en
er
g
y
s
t
o
r
ag
e
s
y
s
tem
s
[
1
3
],
m
o
b
ile
r
o
b
o
t
n
av
ig
ati
o
n
[
1
4
]
,
im
p
ed
an
ce
p
ar
am
eter
s
esti
m
atio
n
f
o
r
m
ed
iu
m
t
r
an
s
m
is
s
io
n
l
in
e
[
1
5
]
,
esti
m
atio
n
o
f
th
e
an
g
le
b
etwe
en
r
ec
eiv
er
o
r
ien
tatio
n
an
d
r
ec
eiv
er
-
t
r
an
s
m
itter
lin
e
in
L
E
D
c
o
m
m
u
n
i
ca
tio
n
s
y
s
tem
[
1
6
]
,
wild
f
ir
e
p
r
o
g
r
ess
esti
m
atio
n
[
1
7
]
,
d
im
e
n
s
io
n
r
ed
u
ctio
n
in
X
-
r
ay
r
ec
o
n
s
tr
u
ctio
n
s
o
f
u
n
d
er
s
am
p
led
d
y
n
am
i
c
X
-
r
ay
to
m
o
g
r
ap
h
y
s
y
s
tem
[
1
8
].
T
h
e
Kalm
a
n
f
ilter
b
r
in
g
s
th
e
o
p
tim
al
esti
m
ato
r
s
f
o
r
lin
ea
r
s
y
s
tem
s
with
ad
d
itiv
e
in
d
ep
en
d
en
t
Gau
s
s
ian
p
r
o
ce
s
s
an
d
m
ea
s
u
r
em
en
t
n
o
is
e
s
.
I
n
p
r
ac
tice,
m
o
s
t
c
o
n
tr
o
l
s
y
s
tem
s
ar
e
n
o
n
lin
ea
r
,
e
x
ten
d
ed
Kalm
a
n
f
ilter
(
E
KF)
wh
ich
u
tili
ze
s
T
ay
lo
r
s
er
ies
ex
p
an
s
io
n
s
to
lin
ea
r
ize
a
n
o
n
lin
ea
r
d
y
n
am
ical
m
o
d
el
a
b
o
u
t
a
wo
r
k
in
g
p
o
in
t
was
m
ad
e
[
1
9
]
.
Fo
r
h
ig
h
ly
n
o
n
lin
ea
r
s
y
s
tem
s
,
u
n
s
ce
n
ted
Kalm
an
f
ilter
(
UKF)
u
s
es
th
e
p
r
in
cip
le
th
at
a
s
et
o
f
d
is
cr
etely
s
am
p
led
p
o
in
ts
ca
n
b
e
u
tili
ze
d
to
p
ar
a
m
eter
ize
m
ea
n
an
d
co
v
ar
ian
ce
with
o
u
t
lin
ea
r
izati
o
n
s
tep
s
[
2
0
]
.
I
n
ca
s
e
o
f
u
n
k
n
o
w
n
o
r
h
ig
h
ly
n
o
n
-
Gau
s
s
ian
in
p
u
ts
f
o
r
lin
ea
r
s
y
s
tem
s
,
Kitan
id
is
Kalm
an
f
i
lter
(
KKF)
was
d
ev
elo
p
ed
[
2
1
].
E
x
ten
d
ed
v
er
s
io
n
o
f
Kitan
id
is
Kalm
an
f
ilter
(
E
KKF)
f
o
r
n
o
n
lin
ea
r
s
y
s
tem
s
h
as
b
ee
n
also
u
s
ed
f
o
r
s
t
ate
an
d
p
ar
am
eter
esti
m
atio
n
[
2
2
]
.
State
an
d
n
o
is
e
co
v
ar
ian
ce
m
atr
ices
in
E
KF
w
er
e
s
elec
ted
b
y
d
if
f
e
r
en
tial
ev
o
lu
tio
n
alg
o
r
ith
m
s
[
2
3
]
.
I
n
d
esig
n
o
f
s
tato
r
cu
r
r
en
t
Kalm
an
f
ilter
s
,
d
is
cr
ete
-
tim
e
m
o
d
els
o
f
in
d
u
ctio
n
g
e
n
er
a
to
r
wer
e
o
b
tain
e
d
b
y
u
tili
zin
g
E
u
ler
d
if
f
er
en
ce
m
eth
o
d
[
2
4
,
2
5
].
Flu
x
a
n
d
s
p
ee
d
ar
e
esti
m
ated
u
s
in
g
f
lu
x
m
o
d
els
-
b
ased
E
KF
[
2
6
]
.
Fau
lts
d
etec
tio
n
ar
e
im
p
lem
en
ted
b
y
an
I
M
m
o
d
el
-
b
ased
E
KF
[
2
7
]
.
Gen
etic
al
g
o
r
ith
m
is
co
m
b
in
ed
with
an
I
M
m
o
d
el
-
b
ase
d
E
KF
to
tu
n
e
n
o
is
e
m
atr
ices
[
2
8
]
.
C
u
b
atu
r
e
Kalm
a
n
Fil
ter
esti
m
ates
lo
ad
to
r
q
u
e
u
s
in
g
I
M
s
tate
s
p
a
ce
m
o
d
el
[
2
9
].
An
I
M
m
o
d
el
-
b
ased
ad
ap
tiv
e
alg
o
r
ith
m
is
ad
d
ed
to
u
p
d
ate
s
y
s
tem
n
o
is
e
co
v
ar
ian
ce
m
atr
ix
in
E
KF
[
3
0
]
.
Sp
ee
d
,
lo
ad
to
r
q
u
e,
an
d
ef
f
icien
cy
ar
e
esti
m
a
ted
b
y
an
I
M
m
o
d
el
-
b
ased
E
KF
[
3
1
]
.
Stato
r
cu
r
r
e
n
ts
,
r
o
to
r
f
lu
x
es,
lo
a
d
in
clu
d
in
g
v
is
co
u
s
f
r
ictio
n
ar
e
esti
m
ated
u
s
in
g
E
KF
an
d
UK
F
alg
o
r
ith
m
s
[
3
2
]
.
I
n
th
e
p
ap
er
,
p
r
im
itiv
e
KF
is
u
tili
ze
d
f
o
r
th
e
filt
r
atio
n
o
f
s
t
ato
r
cu
r
r
en
t
v
ec
to
r
co
m
p
o
n
e
n
ts
in
ca
s
e
o
f
u
n
k
n
o
w
n
I
M
m
o
d
el
.
T
h
e
p
a
p
er
is
o
r
g
an
ized
in
th
e
s
ec
tio
n
s
tr
u
ctu
r
e
:
in
tr
o
d
u
ctio
n
-
c
o
n
tr
o
l
s
tr
u
ctu
r
e
o
f
in
d
u
cti
o
n
m
o
t
o
r
d
r
iv
e
u
s
in
g
Kalm
an
f
ilter
-
s
im
u
latio
n
r
esu
lts
-
co
n
cl
u
s
io
n
s
.
2.
CO
NT
RO
L
ST
R
UCTU
RE
O
F
I
NDUC
T
I
O
N
M
O
T
O
R
DRIV
E
USI
NG
K
AL
M
AN
F
I
L
T
E
R
Fig
u
r
e
1
s
h
o
ws th
e
p
r
o
p
o
s
ed
I
M
d
r
iv
e
s
tr
u
ctu
r
e
u
s
in
g
Kalm
an
Fil
ter
.
T
h
is
s
tr
u
ctu
r
e
is
m
o
d
if
ied
f
r
o
m
o
n
e
in
[
2
]
:
with
in
s
er
tio
n
o
f
KF
b
lo
ck
b
etwe
en
T
3
/2
b
lo
c
k
a
n
d
s
ig
n
al
ca
lcu
latio
n
b
lo
ck
.
T
h
e
b
lo
ck
co
m
p
u
tes
o
r
ien
tin
g
a
n
g
le
,
m
a
g
n
itu
d
e
o
f
s
tato
r
f
lu
x
v
ec
to
r
s
,
a
n
d
ele
ctr
o
m
ag
n
etic
to
r
q
u
e
T
e
ac
c
o
r
d
in
g
to
(
1
-
5
)
:
=
∫
(
−
_
)
(
1
)
=
∫
(
−
_
)
(
2
)
=
−
1
(
⁄
)
(
3
)
=
√
2
+
2
(
4
)
=
1
.
5
(
_
−
_
)
(
5
)
I
n
Fig
u
r
e
1
,
Kalm
an
f
ilter
is
u
s
ed
to
esti
m
ate
s
ta
to
r
cu
r
r
en
t
v
e
cto
r
co
m
p
o
n
en
ts
,
an
d
o
th
e
r
b
lo
ck
s
wer
e
d
escr
ib
ed
in
[
2
]
.
B
ec
au
s
e
o
f
u
n
k
n
o
w
n
I
M
m
ath
em
atica
l
m
o
d
el,
t
h
e
e
v
o
lu
tio
n
o
f
th
e
s
e
co
m
p
o
n
en
ts
f
r
o
m
tim
e
−
1
to
tim
e
is
s
im
p
lifie
d
ac
co
r
d
in
g
t
o
(
6
)
:
=
−
1
+
−
1
(
6
)
wh
er
e
=
[
]
:
s
tate
v
ec
to
r
,
F
is
th
e
s
tate
tr
an
s
itio
n
m
atr
ix
ap
p
lied
t
o
th
e
p
r
e
v
io
u
s
s
tate
v
ec
to
r
−
1
,
−
1
i
s
th
e
n
o
is
e
v
ec
to
r
th
at
i
s
a
s
s
u
m
ed
to
b
e
ze
r
o
-
m
ea
n
Gau
s
s
ian
with
th
e
co
v
ar
ian
ce
=
2
.
T
h
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
s
tate
v
ec
to
r
an
d
its
m
ea
s
u
r
em
en
t
at
th
e
cu
r
r
e
n
t tim
e
s
tep
is
ex
p
r
ess
ed
b
y
:
=
+
(
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
P
u
ls
e
-
w
id
th
mo
d
u
la
tio
n
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l in
d
u
ctio
n
mo
to
r
d
r
ive
w
ith
K
a
lma
n
filt
e
r
(
H.
H.
V
o
)
279
wh
er
e
is
th
e
m
ea
s
u
r
em
en
t
m
atr
ix
,
is
th
e
m
ea
s
u
r
em
e
n
t
n
o
is
e
v
ec
to
r
th
at
is
ass
u
m
ed
t
o
b
e
ze
r
o
-
m
ea
n
Gau
s
s
ian
with
th
e
co
v
a
r
ian
ce
=
2
.
P
r
ed
ictio
n
a
n
d
u
p
d
ate
s
tag
es
o
f
Kalm
an
f
ilter
alg
o
r
ith
m
ar
e
co
m
p
u
ted
ac
co
r
d
in
g
to
(
8
)
,
(
9
)
an
d
(
1
0
-
1
3
)
r
esp
ec
tiv
ely
:
̃
=
̂
−
1
(
8
)
̃
=
̂
−
1
+
(
9
)
̃
=
−
̃
(
1
0
)
=
̃
(
̃
+
)
−
1
(
1
1
)
̂
=
̃
+
̃
(
1
2
)
̂
=
(
−
)
̃
(
1
3
)
wh
er
e
̂
:
esti
m
ated
s
tate
v
ec
to
r
;
an
d
̃
:
p
r
ed
icted
s
tate
v
ec
to
r
.
Fig
u
r
e
1
.
C
o
n
tr
o
l stru
ctu
r
e
o
f
PW
M
-
DT
C
I
M
d
r
iv
e
with
Kal
m
an
f
ilter
3.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
T
wo
d
r
iv
e
s
tr
u
ctu
r
es
with
out
an
d
with
Kalm
an
f
ilter
in
g
wer
e
s
im
u
lated
u
s
in
g
Ma
tlab
-
Simu
lin
k
.
T
ab
le
1
lis
ts
p
ar
am
eter
s
o
f
s
i
m
u
lated
in
d
u
ctio
n
m
o
to
r
.
I
n
o
r
d
er
to
o
b
tain
r
ated
v
o
ltag
e
,
D
C
lin
k
is
ch
o
s
en
with
v
o
ltag
e
Vd
c
=
5
4
0
V.
S
p
ee
d
c
o
n
tr
o
ller
h
as
p
r
o
p
o
r
tio
n
al
g
ain
K
P
=
1
.
5
,
i
n
teg
r
al
tim
e
co
n
s
tan
t
T
I
=
0
.
0
5
s
,
lim
its
o
f
o
u
t
p
u
t
±
1
0
N
m.
T
h
e
co
n
tr
o
l
ler
is
tu
n
ed
b
y
f
in
d
i
n
g
cr
itical
v
alu
e
o
f
t
h
e
p
r
o
p
o
r
tio
n
al
co
m
p
o
n
en
t
[
3
3
]
,
an
d
th
e
in
teg
r
al
co
m
p
o
n
en
t
o
f
th
e
s
p
e
ed
co
n
tr
o
ller
is
s
et
to
ze
r
o
w
h
en
ev
er
o
n
e
o
f
two
lim
its
o
f
r
ef
er
en
ce
to
r
q
u
e
is
r
ea
ch
ed
.
T
h
e
s
witch
in
g
f
r
e
q
u
e
n
cy
o
f
s
p
ac
e
v
ec
to
r
PW
M
is
2
0
k
Hz.
T
im
e
g
r
ap
h
s
of
p
h
y
s
i
ca
l
q
u
an
titi
es
wer
e
ar
ch
iev
ed
f
r
o
m
th
e
s
im
u
lated
s
tr
u
ctu
r
es
at
th
e
ju
m
p
o
f
lo
ad
to
r
q
u
e
J
TL
(
s
ee
Fig
u
r
e
2
)
in
ca
s
e
o
f
d
if
f
er
e
n
t
v
alu
es
o
f
2
an
d
2
.
T
ab
le
1
.
Par
am
eter
s
o
f
s
im
u
lated
in
d
u
ctio
n
m
o
t
o
r
P
a
r
a
me
t
e
r
V
a
l
u
e
R
a
t
e
d
p
o
w
e
r
2
.
2
k
W
R
a
t
e
d
s
p
e
e
d
1
4
2
0
r
p
m
R
a
t
e
d
v
o
l
t
a
g
e
2
3
0
V
/
4
0
0
V
R
a
t
e
d
t
o
r
q
u
e
1
4
.
8
N
m
N
u
mb
e
r
o
f
p
o
l
e
p
a
i
r
s
2
M
o
me
n
t
o
f
i
n
e
r
t
i
a
0
.
0
0
4
7
k
g
m
2
S
t
a
t
o
r
r
e
s
i
st
a
n
c
e
3
.
1
7
9
S
t
a
t
o
r
i
n
d
u
c
t
a
n
c
e
0
.
2
0
9
H
M
a
g
n
e
t
i
z
i
n
g
i
n
d
u
c
t
a
n
c
e
0
.
1
9
2
H
R
o
t
o
r
r
e
si
s
t
a
n
c
e
2
.
1
1
8
R
o
t
o
r
t
i
me
c
o
n
s
t
a
n
t
0
.
0
9
8
7
s
T
h
e
in
teg
r
al
tim
e
a
b
s
o
lu
te
er
r
o
r
(
I
T
AE
)
f
o
r
tw
o
I
M
d
r
iv
e
s
tr
u
ctu
r
es
ar
e
lis
ted
in
T
ab
le
s
2
-
8
.
Fo
r
s
im
p
licity
,
ab
b
r
e
v
iatio
n
s
KF,
NF
r
esp
ec
tiv
ely
d
en
o
te
d
r
i
v
e
s
tr
u
ctu
r
es
with
Kalm
a
n
f
ilt
er
in
g
a
n
d
with
o
u
t
Kalm
an
f
ilter
in
g
.
I
n
m
o
s
t
ca
s
es,
I
T
AE
f
o
r
KF
is
s
m
aller
th
an
th
at
f
o
r
NF.
T
h
er
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I
M
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tili
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d
.
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T
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d
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SE
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3
4
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it
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ce
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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
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n
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l Co
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l
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19
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
1
:
2
7
7
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2
8
4
282
I
t is ea
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ee
th
at
s
tar
tin
g
d
u
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atio
n
f
o
r
NF is sh
o
r
ter
th
an
th
at
f
o
r
KF (
s
ee
Fig
u
r
e
3
)
.
T
h
e
r
ea
s
o
n
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o
r
th
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r
o
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lem
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Kalm
an
f
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ed
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ce
s
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ip
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o
f
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r
r
en
t
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ee
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u
r
e
4)
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d
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e
n
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ip
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o
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x
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ee
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u
r
e
5
)
,
a
n
d
th
e
r
ef
o
r
e
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it
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g
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en
s
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r
o
ce
s
s
o
f
r
ea
ch
in
g
r
ated
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alu
e
o
f
s
tato
r
f
lu
x
an
d
lim
it
o
f
s
tato
r
c
u
r
r
en
t.
I
n
Fi
g
u
r
e
2
,
at
tim
e
o
f
lo
ad
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tiv
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n
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lar
g
e
n
eg
ativ
e
in
s
tan
tan
eo
u
s
d
ev
iatio
n
o
f
m
o
to
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to
r
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e
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n
d
lo
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d
to
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ak
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s
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ee
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d
e
cr
ea
s
e
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u
ick
ly
f
o
r
b
o
th
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an
d
KF.
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ter
th
is
tim
e,
f
o
r
NF,
u
n
f
ilter
ed
s
tato
r
cu
r
r
en
ts
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n
tin
u
e
to
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iv
e
h
ig
h
r
ip
p
le
o
f
m
o
t
o
r
to
r
q
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e
w
h
ich
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n
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ir
ec
tly
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g
th
e
n
s
th
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ec
r
em
en
t
(
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ee
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u
r
e
3
)
.
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d
er
s
h
o
o
t
af
ter
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ad
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tiv
ati
o
n
o
f
s
p
ee
d
r
esp
o
n
s
es
f
o
r
NF
an
d
KF
is
1
7
.
2
r
p
m
an
d
5
.
1
r
p
m
r
esp
ec
tiv
ely
.
R
ip
p
les
o
f
s
tato
r
f
lu
x
m
ag
n
itu
d
e
in
th
e
f
ir
s
t
an
d
s
ec
o
n
d
h
alf
o
f
th
e
co
u
r
s
e
(
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HC
)
f
o
r
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ar
e
6
.
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d
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8
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s
m
aller
r
esp
ec
tiv
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th
an
th
o
s
e
f
o
r
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to
r
to
r
q
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e
r
ip
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le
in
th
e
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H
C
f
o
r
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e
r
ed
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ce
d
b
y
3
9
.
9
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d
2
5
.
7
%
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m
p
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r
ed
to
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e
f
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r
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s
p
ec
ially
,
r
ip
p
le
o
f
s
tato
r
cu
r
r
en
t
m
ag
n
itu
d
e
in
th
e
FS
H
C
f
o
r
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i
s
3
.
3
tim
es
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d
2
.
6
tim
es lo
wer
r
esp
ec
ti
v
e
ly
th
an
th
o
s
e
f
o
r
NF.
Fig
u
r
e
5
.
Stato
r
f
lu
x
es with
N
F (
u
p
p
er
)
an
d
KF w
ith
J
TL
=
9
Nm
,
2
=
2
,
2
=
2
4.
CO
NCLU
SI
O
N
S
T
h
e
PW
M
-
DT
C
I
M
d
r
iv
e
s
tr
u
ctu
r
e
u
s
in
g
s
im
p
lifie
d
Kalm
an
f
ilter
f
o
r
s
tato
r
cu
r
r
en
t
f
iltra
tio
n
in
ca
s
e
o
f
u
n
k
n
o
wn
I
M
m
o
d
el
was
p
r
esen
ted
in
th
e
p
ap
er
.
Simu
lati
o
n
s
wer
e
ca
r
r
ied
o
u
t
with
d
if
f
er
en
t
v
alu
es
o
f
lo
ad
to
r
q
u
e
ju
m
p
,
n
o
is
e
co
v
ar
ian
c
es.
T
h
e
p
r
o
p
o
s
ed
d
r
iv
e
s
tr
u
ctu
r
e
g
av
e
s
ig
n
if
ican
tly
s
m
all
er
I
T
AE
p
er
f
o
r
m
a
n
ce
in
d
ex
th
an
th
e
co
n
v
en
tio
n
al
d
r
iv
e
s
tr
u
ctu
r
e,
esp
ec
ially
at
h
i
g
h
lev
els
o
f
n
o
is
e
co
v
ar
ian
ce
s
.
T
h
e
E
KF
o
r
UKF
with
k
n
o
wled
g
e
o
f
I
M
m
ath
e
m
atica
l
m
o
d
el
ca
n
b
e
u
tili
ze
d
t
o
o
b
tain
h
ig
h
er
f
iltra
tio
n
ef
f
icien
cy
.
R
o
b
u
s
t
co
n
tr
o
l,
in
tellig
en
t
co
n
t
r
o
l
o
r
s
en
s
o
r
le
s
s
co
n
tr
o
l
tech
n
iq
u
es
ca
n
b
e
ap
p
lied
f
o
r
I
M
d
r
iv
e
with
f
ilter
ed
s
tato
r
cu
r
r
en
t
co
m
p
o
n
en
ts
.
RE
F
E
R
E
NC
E
S
[1
]
P
.
Va
s,
“
S
e
n
so
rles
s Ve
c
to
r
a
n
d
D
irec
t
To
rq
u
e
Co
n
tro
l
,
”
Ox
fo
rd
:
O
x
fo
rd
Un
ive
rs
it
y
Pre
ss
,
1
9
9
8
.
[2
]
P
.
Bra
n
d
ste
tt
e
r
,
e
t
a
l
.
,
“
I
n
d
u
c
ti
o
n
m
o
to
r
d
r
iv
e
wit
h
P
WM
d
irec
t
to
rq
u
e
c
o
n
tr
o
l,
”
2
0
1
7
1
8
th
I
n
ter
n
a
t
io
n
a
l
S
c
ien
ti
f
ic
Co
n
fer
e
n
c
e
o
n
El
e
c
tric P
o
we
r E
n
g
in
e
e
rin
g
(EP
E)
,
p
p
.
1
-
5
,
M
a
y
2
0
1
7
.
[3
]
S
.
S
.
Ha
k
a
m
i,
I.
M
.
Als
o
fy
a
n
i
a
n
d
K.
Lee
,
“
To
r
q
u
e
r
ip
p
le
re
d
u
c
ti
o
n
a
n
d
flu
x
-
d
r
o
o
p
m
i
n
imiz
a
ti
o
n
o
f
D
TC
wit
h
imp
ro
v
e
d
i
n
terle
a
v
in
g
CS
F
TC
o
f
IM
F
e
d
b
y
t
h
re
e
-
lev
e
l
NPC
i
n
v
e
rter
,
”
IEE
E
Acc
e
ss
,
v
o
l.
7
,
p
p
.
1
8
4
2
6
6
-
1
8
4
2
7
5
,
De
c
e
m
b
e
r
2019.
[4
]
M
.
De
p
e
n
b
ro
c
k
,
“
US4
6
7
8
2
4
8
d
ir
e
c
t
se
lf
-
c
o
n
tro
l
o
f
th
e
f
lu
x
a
n
d
ro
tary
m
o
m
e
n
t
o
f
a
ro
tary
-
f
ield
m
a
c
h
in
e
,
”
U
n
it
e
d
S
ta
tes
P
a
ten
t
,
Oc
t
o
b
e
r
1
9
8
4
.
[5
]
M
.
De
p
e
n
b
r
o
c
k
,
“
DE3
4
3
8
5
0
4
(A
1
)
-
M
e
th
o
d
a
n
d
De
v
ice
fo
r
Co
n
t
ro
ll
in
g
o
f
a
R
o
tatin
g
F
iel
d
M
a
c
h
i
n
e
,
”
Eu
ro
p
e
a
n
Pa
ten
t
Of
fi
c
e
,
Oc
t
o
b
e
r
1
9
8
4
.
[6
]
I.
Tak
a
h
a
sh
i
,
T.
N
o
g
u
c
h
i,
"
A
n
e
w
q
u
ic
k
-
re
sp
o
n
se
a
n
d
h
ig
h
-
e
fficie
n
c
y
c
o
n
tr
o
l
stra
teg
y
o
f
a
n
i
n
d
u
c
ti
o
n
m
o
t
o
r
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stry
A
p
p
li
c
a
ti
o
n
s
,
v
o
l.
IA
-
2
2
,
n
o
.
5
,
p
p
.
8
2
0
-
8
2
7
,
S
e
p
t
e
m
b
e
r
1
9
8
6
.
[7
]
B.
S
.
Ku
m
a
r,
R.
A.
G
u
p
ta
,
R.
Ku
m
a
r,
“
12
-
se
c
to
r
m
e
th
o
d
o
lo
g
y
o
f
t
o
rq
u
e
rip
p
le
re
d
u
c
ti
o
n
in
a
d
irec
t
to
rq
u
e
c
o
n
tro
ll
e
d
in
d
u
c
ti
o
n
m
o
t
o
r
d
riv
e
,
”
2
0
0
6
S
IC
E
-
ICAS
E
I
n
ter
n
a
ti
o
n
a
l
J
o
i
n
t
Co
n
f
e
re
n
c
e
,
p
p
.
3
5
8
7
-
3
5
9
2
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to
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r
2
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0
6
.
[8
]
P
.
Bra
n
d
ste
tt
e
r,
P
.
C
h
leb
is
a
n
d
P
.
P
a
lac
k
y
,
“
Dire
c
t
to
rq
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e
c
o
n
tro
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o
f
in
d
u
c
ti
o
n
m
o
to
r
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h
d
irec
t
c
a
lcu
l
a
ti
o
n
o
f
v
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l
tag
e
v
e
c
to
r
,
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Ad
v
a
n
c
e
s in
El
e
c
trica
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a
n
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mp
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ter
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4
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p
p
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1
7
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2
2
,
N
o
v
e
m
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2
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1
0
.
[9
]
S
.
A.
Va
e
z
i,
H.
Im
a
n
-
Ei
n
i
a
n
d
R.
Ra
z
i,
“
A
n
e
w
sp
a
c
e
v
e
c
to
r
m
o
d
u
latio
n
tec
h
n
i
q
u
e
fo
r
re
d
u
c
i
n
g
sw
it
c
h
in
g
l
o
ss
e
s
in
in
d
u
c
ti
o
n
m
o
t
o
r
DTC
-
S
VM
sc
h
e
m
e
,
”
2
0
1
9
1
0
th
In
ter
n
a
ti
o
n
a
l
P
o
we
r
El
e
c
tro
n
ics
,
Dr
ive
S
y
ste
ms
a
n
d
T
e
c
h
n
o
lo
g
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fer
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,
p
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1
8
4
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1
8
8
,
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e
b
r
u
a
ry
2
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1
9
.
[1
0
]
R.
E.
Ka
lma
n
,
“
A
n
e
w
a
p
p
ro
a
c
h
t
o
li
n
e
a
r
fil
teri
n
g
a
n
d
p
re
d
ict
io
n
p
ro
b
lem
s
,
”
T
ra
n
sa
c
ti
o
n
s
o
f
th
e
AS
M
E
,
J
o
u
rn
a
l
o
f
Ba
sic
En
g
in
e
e
rin
g
,
v
o
l
.
8
2
,
n
o
.
1
,
p
p
.
3
5
-
4
5
,
1
9
6
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
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m
p
u
t E
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ive
w
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a
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filt
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(
H.
H.
V
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)
283
[1
1
]
R.
E.
Ka
lma
n
a
n
d
R.
S
.
Bu
c
y
,
“
Ne
w
re
su
lt
s
in
li
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e
a
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fil
terin
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a
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d
p
re
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y
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ra
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sa
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5
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1
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[1
2
]
F
.
Au
g
e
r
,
e
t
a
l.
,
“
In
d
u
strial
a
p
p
l
ica
ti
o
n
s
o
f
th
e
Ka
lma
n
fil
ter
:
A
re
v
i
e
w
,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
In
d
u
st
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l
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lec
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ics
,
v
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6
0
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o
.
1
2
,
p
p
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4
5
8
-
5
4
7
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,
D
e
c
e
m
b
e
r
2013.
[1
3
]
S
.
P
e
n
g
,
e
t
a
l.
,
“
S
tate
o
f
c
h
a
rg
e
e
stim
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ti
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b
a
tt
e
ry
e
n
e
rg
y
st
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ra
g
e
sy
ste
m
s
b
a
se
d
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n
a
d
a
p
ti
v
e
u
n
sc
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n
ted
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lma
n
fil
ter wit
h
a
n
o
ise
sta
ti
stics
e
stim
a
to
r
,
”
IEE
E
Acc
e
ss
,
v
o
l
.
5
,
p
p
.
1
3
2
0
2
-
1
3
2
1
2
,
Ju
l
y
2
0
1
7
.
[1
4
]
H.
Ah
m
a
d
,
N
.
A.
Oth
m
a
n
a
n
d
M
.
S
.
Ra
m
li
,
“
A
s
o
lu
t
io
n
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o
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rti
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se
rv
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b
il
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te
n
d
e
d
k
a
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f
il
t
e
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m
o
b
il
e
r
o
b
o
t
n
a
v
ig
a
ti
o
n
,
”
T
E
L
KOM
NIKA
T
e
lec
o
mm
u
n
ica
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io
n
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m
p
u
t
in
g
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c
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ro
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ics
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d
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tro
l
,
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1
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1
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3
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1
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e
b
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ry
2
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1
8
.
[1
5
]
S
.
N.
A.
M
.
Am
in
,
e
t
a
l.
,
“
Ka
lma
n
fil
ter
e
stim
a
ti
o
n
o
f
imp
e
d
a
n
c
e
p
a
ra
m
e
ters
fo
r
m
e
d
iu
m
tran
sm
issio
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li
n
e
,
”
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ic
a
ti
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n
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o
mp
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n
g
El
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tro
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a
n
d
Co
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tro
l
,
v
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l
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1
6
,
n
o
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2
,
p
p
.
9
0
0
-
9
0
8
,
Ap
r
il
2
0
1
8
.
[1
6
]
P
.
B.
S
o
lan
k
i,
M
.
Al
-
Ru
b
a
iai
a
n
d
X.
Tan
,
"
Ex
ten
d
e
d
Ka
lma
n
fil
ter
-
b
a
se
d
a
c
ti
v
e
a
li
g
n
m
e
n
t
c
o
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tr
o
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f
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LE
D
o
p
ti
c
a
l
c
o
m
m
u
n
ica
ti
o
n
,
”
IEE
E/
AS
M
E
T
r
a
n
sa
c
ti
o
n
s
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n
M
e
c
h
a
tro
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ics
,
v
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l.
2
3
,
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o
.
4
,
p
p
.
1
5
0
1
-
1
5
1
1
,
A
u
g
u
st
2
0
1
8
.
[1
7
]
Z.
Li
n
,
H.
H.
T.
L
iu
a
n
d
M
.
W
o
tt
o
n
,
“
Ka
lma
n
fil
ter
-
b
a
se
d
larg
e
-
sc
a
le
wild
fire
m
o
n
i
to
ri
n
g
wi
th
a
s
y
ste
m
o
f
UAVs,
”
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
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l.
6
6
,
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o
.
1
,
p
p
.
6
0
6
-
6
1
5
,
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n
u
a
r
y
2
0
1
9
.
[1
8
]
J.
Ha
k
k
a
ra
in
e
n
,
e
t
a
l.
,
“
Un
d
e
rsa
m
p
led
d
y
n
a
m
ic
X
-
Ra
y
t
o
m
o
g
ra
p
h
y
with
d
ime
n
si
o
n
re
d
u
c
ti
o
n
Ka
lma
n
fil
ter
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Co
m
p
u
t
a
ti
o
n
a
l
I
ma
g
in
g
,
v
o
l.
5
,
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o
.
3
,
p
p
.
4
9
2
-
5
0
1
,
S
e
p
t
e
m
b
e
r
2
0
1
9
.
[1
9
]
B.
A.
M
c
El
h
o
e
,
“
An
a
ss
e
ss
m
e
n
t
o
f
th
e
n
a
v
i
g
a
ti
o
n
a
n
d
c
o
u
rse
c
o
rre
c
ti
o
n
s
f
o
r
a
m
a
n
n
e
d
fly
b
y
o
f
m
a
rs
o
r
v
e
n
u
s
,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
Aer
o
sp
a
c
e
a
n
d
E
lec
tro
n
ic S
y
ste
ms
,
v
o
l.
AE
S
-
2
,
n
o
.
4
,
p
p
.
6
1
3
-
6
2
3
,
J
u
ly
1
9
6
6
.
[2
0
]
S
.
J.
J
u
li
e
r
a
n
d
J.
K.
U
h
lma
n
n
,
“
Ne
w
e
x
ten
sio
n
o
f
th
e
Ka
lma
n
f
il
t
e
r
to
n
o
n
li
n
e
a
r
sy
ste
m
s
,
”
Pro
c
.
S
PIE
3
0
6
8
,
S
i
g
n
a
l
Pro
c
e
ss
in
g
,
S
e
n
so
r F
u
sio
n
,
a
n
d
T
a
rg
e
t
Rec
o
g
n
it
i
o
n
VI
,
p
p
.
1
8
2
-
1
9
3
,
Ju
l
y
1
9
9
7
.
[2
1
]
P
.
K.
Kitan
i
d
is,
“
Un
b
ias
e
d
m
in
i
m
u
m
-
v
a
rian
c
e
li
n
e
a
r
sta
te
e
stim
a
ti
o
n
,
”
Au
t
o
ma
t
ica
,
v
o
l.
2
3
,
n
o
.
6
,
p
p
.
7
7
5
-
7
7
8
,
No
v
e
m
b
e
r
1
9
8
7
.
[2
2
]
D.
Va
rsh
n
e
y
,
M
.
Bh
u
sh
a
n
a
n
d
S
.
C.
P
a
twa
rd
h
a
n
,
“
S
tate
a
n
d
p
a
ra
m
e
ter
e
stim
a
ti
o
n
u
sin
g
e
x
ten
d
e
d
k
it
a
n
id
is
Ka
lma
n
fil
ter
,
”
J
o
u
rn
a
l
o
f
Pr
o
c
e
ss
Co
n
tro
l
,
v
o
l.
7
6
,
p
p
.
9
8
-
1
1
1
,
A
p
r
il
2
0
1
9
.
[2
3
]
E.
Zerd
a
li
a
n
d
M
.
Ba
ru
t,
“
Th
e
c
o
m
p
a
riso
n
s
o
f
o
p
ti
m
ize
d
e
x
ten
d
e
d
Ka
lma
n
fil
ters
fo
r
s
p
e
e
d
-
se
n
so
rles
s
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
t
o
rs
,
”
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
4
,
n
o
.
6
,
p
p
.
4
3
4
0
-
4
3
5
1
,
Ju
n
e
2
0
1
7
.
[2
4
]
K.
S
.
Xia
h
o
u
,
X.
Li
n
a
n
d
Q.
H.
Wu
,
“
C
u
rre
n
t
se
n
so
r
fa
u
lt
-
t
o
lera
n
t
c
o
n
tro
l
o
f
DFIG
s
u
sin
g
sta
to
r
c
u
rre
n
t
re
g
u
lat
o
rs
a
n
d
Ka
lma
n
fil
ter,”
2
0
1
7
I
EE
E
P
o
we
r &
En
e
rg
y
S
o
c
iety
Ge
n
e
ra
l
M
e
e
ti
n
g
,
p
p
.
1
-
5
,
Ju
l
y
2
0
1
7
.
[2
5
]
A.
A.
Tan
v
ir
a
n
d
A.
M
e
ra
b
e
t,
“
Artifi
c
ial
n
e
u
ra
l
n
e
tw
o
rk
a
n
d
Ka
lma
n
fil
ter
fo
r
e
stim
a
ti
o
n
a
n
d
c
o
n
tr
o
l
in
sta
n
d
a
lo
n
e
in
d
u
c
ti
o
n
g
e
n
e
ra
to
r
win
d
e
n
e
r
g
y
DC
m
icro
g
rid
,
”
En
e
rg
ies
,
v
o
l.
1
3
,
n
o
.
7
,
Ap
ril
2
0
2
0
.
[2
6
]
U.
S
y
a
m
k
u
m
a
r
a
n
d
B.
Ja
y
a
n
a
n
d
,
“
A
re
d
u
c
e
d
o
r
d
e
r
sm
o
o
th
i
n
g
fil
t
e
r
fo
r
s
p
e
e
d
e
stim
a
ti
o
n
o
f
t
h
re
e
p
h
a
se
in
d
u
c
ti
o
n
m
o
to
r
,
”
T
ENCON 2
0
1
7
-
2
0
1
7
IE
EE
Reg
i
o
n
1
0
Co
n
fer
e
n
c
e
,
p
p
.
1
7
4
9
-
1
7
5
4
,
No
v
e
m
b
e
r
2
0
1
7
.
[2
7
]
A.
Ch
a
h
m
i
a
n
d
A.
Dj
o
u
d
i,
“
Dia
g
n
o
sis
o
f
th
e
i
n
d
u
c
ti
o
n
m
a
c
h
in
e
b
y
th
e
Ka
lma
n
fil
ter
,
”
2
0
1
7
5
t
h
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
El
e
c
trica
l
E
n
g
in
e
e
rin
g
-
Bo
u
me
rd
e
s (ICE
E
-
B)
,
p
p
.
1
-
7
,
Oc
to
b
e
r
2
0
1
7
.
[2
8
]
J.
M
o
h
a
n
a
Lak
sh
m
i
a
n
d
H.
N
.
S
u
r
e
sh
,
“
Ac
c
u
ra
c
y
imp
ro
v
e
m
e
n
t
o
f
i
n
d
u
c
ti
o
n
m
o
to
r
s
p
e
e
d
e
stim
a
ti
o
n
u
s
in
g
im
p
ro
v
ise
d
tu
n
i
n
g
o
f
e
x
te
n
d
e
d
Ka
lma
n
fi
lt
e
r
t
e
c
h
n
iq
u
e
,
”
2
0
1
8
IEE
E
1
3
th
I
n
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
In
d
u
stri
a
l
a
n
d
I
n
fo
rm
a
ti
o
n
S
y
ste
ms
(ICIIS
)
,
p
p
.
3
9
5
-
4
0
0
,
2
0
1
8
.
[2
9
]
K.
Ho
r
v
á
th
,
“
Cu
b
a
tu
re
Ka
lma
n
fil
ter
-
b
a
se
d
sp
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
a
c
h
in
e
s
,
”
2
0
1
8
2
0
t
h
I
n
ter
n
a
ti
o
n
a
l
S
y
mp
o
si
u
m o
n
El
e
c
tri
c
a
l
Ap
p
a
ra
t
u
s a
n
d
T
e
c
h
n
o
lo
g
ies
(S
IE
L
A)
,
p
p
.
1
-
4
,
Ju
n
e
2
0
1
8
.
[3
0
]
E.
Zerd
a
li
,
“
Ad
a
p
ti
v
e
e
x
ten
d
e
d
k
a
lma
n
fil
ter
f
o
r
sp
e
e
d
-
se
n
s
o
rles
s
c
o
n
tro
l
o
f
i
n
d
u
c
ti
o
n
m
o
to
rs
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
E
n
e
rg
y
Co
n
v
e
rs
io
n
,
v
o
l.
3
4
,
n
o
.
2
,
p
p
.
7
8
9
-
8
0
0
,
Ju
n
e
2
0
1
9
.
[3
1
]
A.
Tah
e
ri,
H.
Re
n
a
n
d
M
.
H.
Ho
la
k
o
o
ie,
“
S
e
n
so
rles
s
lo
ss
m
o
d
e
l
c
o
n
tro
l
o
f
t
h
e
six
-
p
h
a
se
i
n
d
u
c
ti
o
n
m
o
to
r
i
n
a
ll
s
p
e
e
d
ra
n
g
e
b
y
e
x
ten
d
e
d
Ka
lma
n
fi
lt
e
r
,
”
IEE
E
Acc
e
ss
,
v
o
l.
8
,
p
p
.
1
1
8
7
4
1
-
1
1
8
7
5
0
,
Ja
n
u
a
ry
2
0
2
0
.
[3
2
]
R.
Yild
iz,
M
.
Ba
r
u
t
a
n
d
E.
Zerd
a
li
,
“
A
c
o
m
p
re
h
e
n
siv
e
c
o
m
p
a
ris
o
n
o
f
e
x
ten
d
e
d
a
n
d
u
n
sc
e
n
ted
K
a
lma
n
fil
ters
fo
r
sp
e
e
d
-
se
n
so
rles
s
c
o
n
tro
l
a
p
p
li
c
a
ti
o
n
s
o
f
in
d
u
c
t
io
n
m
o
to
rs
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
In
f
o
r
ma
ti
c
s
,
v
o
l
.
1
6
,
n
o
.
1
0
,
p
p
.
6
4
2
3
-
6
4
3
2
,
O
c
to
b
e
r
2
0
2
0
.
[3
3
]
A.
O’D
wy
e
r,
“
Ha
n
d
b
o
o
k
o
f
P
I
a
n
d
P
ID
c
o
n
tr
o
ll
e
r
tu
n
n
in
g
ru
les
,
”
L
o
n
d
o
n
:
Imp
e
ria
l
Co
ll
e
g
e
Pre
ss
,
2
0
0
9
.
[3
4
]
D.
M
a
it
i
,
e
t
a
l.
,
“
Tu
n
in
g
P
ID
a
n
d
P
I/λD
δ
c
o
n
tro
l
lers
u
si
n
g
th
e
i
n
teg
ra
l
t
ime
a
b
so
lu
te
e
rro
r
c
ri
terio
n
,
”
2
0
0
8
4
t
h
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
I
n
fo
r
ma
ti
o
n
a
n
d
Au
t
o
ma
t
io
n
f
o
r S
u
sta
i
n
a
b
il
it
y
,
p
p
.
4
5
7
-
4
6
2
,
2
0
0
8
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
H
a
u
H
u
u
Vo
h
o
l
d
a
P
h
D
d
e
g
re
e
fro
m
Tec
h
n
ica
l
Un
i
v
e
rsity
o
f
Os
tr
a
v
a
(VSB
-
TUO),
Cz
e
c
h
Re
p
u
b
li
c
i
n
2
0
1
7
.
He
h
a
s
b
e
e
n
wo
rk
in
g
a
s
a
Lec
tu
re
r
a
t
F
a
c
u
lt
y
o
f
E
lec
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
En
g
i
n
e
e
rin
g
(
F
EE
E),
T
o
n
D
u
c
Th
a
n
g
Un
iv
e
rsity
(TD
TU),
Vie
tn
a
m
.
He
h
a
s
p
u
b
li
sh
e
d
1
0
c
o
n
fe
re
n
c
e
p
a
p
e
rs
a
n
d
5
j
o
u
r
n
a
l
p
a
p
e
rs.
His
c
u
rre
n
t
re
se
a
rc
h
i
n
tere
sts
a
re
in
telli
g
e
n
t
e
lec
tri
c
a
l
d
riv
e
s,
c
o
n
tro
l
th
e
o
r
y
a
n
d
r
o
b
o
ti
c
s.
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.
19
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
1
:
2
7
7
-
2
8
4
284
Dun
g
Q
u
a
n
g
Ng
u
y
e
n
re
c
e
iv
e
d
h
i
s
M
S
c
d
e
g
re
e
fro
m
T
o
m
sk
P
o
ly
tec
h
n
ic
Un
i
v
e
rsity
,
T
o
m
sk
Cit
y
,
Ru
ss
ia
i
n
2
0
1
2
.
He
is
n
o
w
a
P
h
D
S
tu
d
e
n
t
a
t
F
E
EE
,
TDTU
,
Vie
tn
a
m
.
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
a
p
p
l
ica
ti
o
n
s
o
f
Ka
lma
n
fil
ter
in
c
o
n
tro
l
sy
st
e
m
s;
id
e
n
ti
fica
ti
o
n
a
n
d
sy
n
th
e
sis i
n
fra
c
ti
o
n
a
l,
d
istri
b
u
ted
p
a
ra
m
e
ter sy
ste
m
s; n
o
n
-
li
n
e
a
r
sy
ste
m
;
P
LC
a
n
d
S
CAD
A
sy
ste
m
,
in
d
u
strial
c
o
m
m
u
n
ica
ti
o
n
n
e
t
wo
rk
s
,
ima
g
e
p
r
o
c
e
ss
in
g
.
Q
u
a
n
g
Th
a
n
h
N
g
u
y
e
n
h
o
l
d
h
is
M
S
c
d
e
g
re
e
fr
o
m
TDTU,
Vie
tn
a
m
in
2
0
1
9
.
He
is
p
re
p
a
rin
g
to
b
e
c
o
m
e
a
P
h
D
S
tu
d
e
n
t
a
t
F
EE
E,
TDTU,
Vie
tn
a
m
.
His
re
se
a
rc
h
in
tere
sts
in
c
l
u
d
e
a
p
p
li
c
a
ti
o
n
s o
f
in
tell
ig
e
n
t
c
o
n
tro
l
in
e
lec
tri
c
a
l
d
ri
v
e
s,
m
icro
c
o
n
tr
o
ll
e
r,
ro
b
o
ti
c
s,
S
CAD
A.
Cha
u
S
i
T
h
ien
Do
n
g
o
b
tain
e
d
h
e
r
P
h
D
d
e
g
re
e
fro
m
VSB
-
TUO,
Cz
e
c
h
Re
p
u
b
li
c
in
2
0
1
7
.
S
h
e
is
n
o
w
d
e
a
n
o
f
F
EE
E,
TDTU
,
Vie
tn
a
m
.
S
h
e
h
a
s
p
u
b
li
sh
e
d
1
5
c
o
n
fe
re
n
c
e
p
a
p
e
r
s
a
n
d
5
jo
u
r
n
a
l
p
a
p
e
rs.
He
r
re
se
a
rc
h
in
tere
sts fo
c
u
s o
n
m
o
d
e
r
n
c
o
n
tro
l
a
n
d
d
riv
e
s.
Th
in
h
Co
n
g
Tr
a
n
c
o
m
p
lete
d
h
i
s
P
h
D
d
e
g
re
e
a
t
VSB
-
TUO,
Cz
e
c
h
Re
p
u
b
li
c
in
2
0
1
8
.
He
se
rv
e
s
a
s a
Lec
tu
re
r
a
t
F
EE
E,
TDTU,
Vie
tn
a
m
.
He
h
a
s
p
u
b
li
sh
e
d
8
c
o
n
fe
re
n
c
e
p
a
p
e
rs
a
n
d
4
jo
u
r
n
a
l
p
a
p
e
rs.
His
re
se
a
rc
h
in
tere
sts
a
re
m
icro
c
o
n
tro
ll
e
r
sy
ste
m
s
a
n
d
in
tell
ig
e
n
t
e
lec
tri
c
a
l
d
riv
e
s.
Pa
v
e
l
Br
a
n
d
ste
tte
r
h
a
s
c
o
m
p
let
e
d
h
is
P
h
D
d
e
g
re
e
a
t
Br
n
o
Un
i
v
e
rsity
i
n
1
9
8
7
.
He
is
n
o
w
fu
ll
p
r
o
fe
ss
o
r
a
n
d
d
e
a
n
o
f
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l
E
n
g
i
n
e
e
rin
g
a
n
d
C
o
m
p
u
ter
S
c
ien
c
e
a
t
VSB
-
TUO,
Cz
e
c
h
Re
p
u
b
li
c
.
He
h
a
s
p
u
b
li
sh
e
d
m
o
re
t
h
a
n
5
0
c
o
n
fe
re
n
c
e
p
a
p
e
rs
a
n
d
2
5
jo
u
r
n
a
l
p
a
p
e
rs.
His
re
se
a
rc
h
in
t
e
re
sts
a
re
in
telli
g
e
n
t
m
e
th
o
d
s
in
p
o
we
r
e
lec
tro
n
ics
a
n
d
e
lec
tri
c
a
l
d
riv
e
s.
Evaluation Warning : The document was created with Spire.PDF for Python.