I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
p
ute
r
E
ng
in
ee
ring
(
I
J
E
CE
)
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
,
p
p
.
815
~
826
I
SS
N:
2
0
88
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v
1
1
i
1
.
pp
8
1
5
-
826
815
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ec
e.
ia
esco
r
e.
co
m
Particle
sw
a
r
m
o
pti
m
i
z
a
tion
-
ba
sed
stato
r re
sis
tance
o
bserv
er
for speed
senso
rle
ss
induct
io
n
m
o
tor driv
e
Sa
ng
Da
ng
H
o
1
,
P
e
t
r
P
a
la
ck
y
2
,
M
a
r
t
in K
ucha
r
3
,
P
a
v
el
B
ra
nd
s
t
et
t
er
4
,
Cuo
ng
Dinh
T
r
a
n
5
1
,5
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
E
n
g
in
e
e
rin
g
,
T
o
n
D
u
c
T
h
a
n
g
Un
iv
e
rsit
y
,
V
ietn
a
m
1,
2,
3,
4
,
5
F
a
c
u
l
ty
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
a
n
d
C
o
m
p
u
ter S
c
ien
c
e
,
VS
B
-
T
e
c
h
n
ica
l
Un
iv
e
rsit
y
o
f
Os
tr
a
v
a
,
Cz
e
c
h
Re
p
u
b
l
ic
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
an
1
7
,
2
0
2
0
R
ev
i
s
ed
A
u
g
1
1
,
2
0
2
0
A
cc
ep
ted
A
u
g
22
,
2
0
2
0
T
h
is
p
a
p
e
r
p
re
se
n
ts
a
d
iff
e
r
e
n
t
tec
h
n
iq
u
e
f
o
r
th
e
o
n
li
n
e
sta
to
r
re
sista
n
c
e
e
sti
m
a
ti
o
n
u
sin
g
a
p
a
rti
c
le
s
w
a
r
m
o
p
ti
m
iza
ti
o
n
(P
S
O)
b
a
se
d
a
lg
o
rit
h
m
f
o
r
r
o
to
r
f
lu
x
o
rien
ted
c
o
n
tr
o
l
sc
h
e
m
e
s
o
f
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s
w
it
h
o
u
t
a
ro
to
r
sp
e
e
d
se
n
so
r.
F
irst,
a
c
o
n
v
e
n
ti
o
n
a
l
p
ro
p
o
rt
io
n
a
l
-
i
n
teg
ra
l
c
o
n
tr
o
ll
e
r
-
b
a
se
d
sta
to
r
re
sista
n
c
e
e
sti
m
a
ti
o
n
tec
h
n
iq
u
e
is
u
se
d
f
o
r
a
sp
e
e
d
se
n
so
rle
ss
c
o
n
tro
l
sc
h
e
m
e
w
it
h
t
w
o
d
iffere
n
t
m
o
d
e
l
re
f
e
re
n
c
e
a
d
a
p
ti
v
e
s
y
ste
m
(M
R
A
S
)
c
o
n
c
e
p
ts
.
F
i
n
a
ll
y
,
a
n
o
v
e
l
m
e
th
o
d
f
o
r
th
e
sta
to
r
re
sista
n
c
e
e
stim
a
ti
o
n
b
a
se
d
o
n
th
e
P
S
O
a
lg
o
rit
h
m
is
p
re
se
n
ted
f
o
r
th
e
tw
o
M
R
A
S
-
t
y
p
e
o
b
se
rv
e
rs.
S
im
u
latio
n
re
su
lt
s
i
n
t
h
e
M
a
tl
a
b
/S
im
u
li
n
k
e
n
v
iro
n
m
e
n
t
sh
o
w
g
o
o
d
a
d
a
p
tab
il
it
y
o
f
th
e
p
ro
p
o
se
d
e
st
im
a
ti
o
n
m
o
d
e
l
w
h
il
e
th
e
sta
to
r
re
sista
n
c
e
is
v
a
ried
to
2
0
0
%
o
f
th
e
n
o
m
i
n
a
l
v
a
lu
e
.
T
h
e
re
su
lt
s
a
lso
c
o
n
f
ir
m
m
o
re
a
c
c
u
ra
te
sta
to
r
re
sista
n
c
e
a
n
d
ro
to
r
s
p
e
e
d
e
stim
a
ti
o
n
in
c
o
m
p
a
riso
n
w
it
h
th
e
c
o
n
v
e
n
ti
o
n
a
l
tec
h
n
i
q
u
e
.
K
ey
w
o
r
d
s
:
I
n
d
u
ctio
n
m
o
to
r
P
ar
ticle
s
w
ar
m
o
p
ti
m
izatio
n
R
o
to
r
f
lu
x
o
r
ien
ted
co
n
tr
o
l
Sen
s
o
r
les
s
d
r
iv
e
Stato
r
r
esis
tan
ce
e
s
ti
m
atio
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
:
Ma
r
tin
K
u
ch
ar
,
Facu
lt
y
o
f
E
lectr
ical
E
n
g
in
ee
r
in
g
a
n
d
C
o
m
p
u
ter
Scie
n
ce
,
VSB
-
T
ec
h
n
ical
U
n
i
v
er
s
it
y
o
f
Ost
r
av
a
,
1
7
.
,
lis
to
p
ad
u
1
5
/
2
1
7
2
,
7
0
8
3
3
Ost
r
av
a
-
P
o
r
u
b
a,
C
ze
ch
R
ep
u
b
lic
.
E
m
ail:
m
ar
ti
n
.
k
u
ch
ar
@
v
s
b
.
cz
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
r
o
t
o
r
f
lu
x
o
r
ien
ted
c
o
n
tr
o
l
(
R
FOC
)
h
a
s
b
ee
n
d
ev
elo
p
ed
an
d
em
p
lo
y
ed
w
id
el
y
in
a
n
en
o
r
m
o
u
s
n
u
m
b
er
o
f
in
d
u
s
tr
ial
ap
p
licati
o
n
s
w
i
t
h
in
d
u
c
tio
n
m
o
to
r
s
(
I
M)
[
1
,
2
]
.
Fu
r
th
er
m
o
r
e,
n
u
m
er
o
u
s
s
p
ee
d
s
en
s
o
r
les
s
co
n
tr
o
l
s
ch
e
m
e
s
h
a
v
e
b
ee
n
ap
p
lied
f
o
r
th
e
R
FOC
s
y
s
te
m
s
b
ec
au
s
e
o
f
r
ec
en
t
s
i
g
n
if
ica
n
t
e
n
h
a
n
ce
m
en
ts
i
n
th
e
co
m
p
u
ta
tio
n
al
p
o
w
er
o
f
m
o
d
er
n
g
e
n
er
atio
n
s
o
f
m
ic
r
o
p
r
o
c
ess
o
r
s
.
On
e
o
f
th
e
p
o
p
u
lar
tech
n
iq
u
es
is
th
e
m
o
d
el
r
ef
er
en
ce
ad
ap
tiv
e
s
y
s
te
m
(
M
R
A
S)
co
n
ce
p
t
,
w
h
i
ch
co
u
ld
p
r
o
v
id
e
th
e
co
r
r
ec
t
a
n
d
s
tab
le
esti
m
ated
r
o
to
r
s
p
ee
d
in
a
w
id
e
o
p
er
atin
g
r
an
g
e
[3
-
8
]
.
Nev
er
t
h
ele
s
s
,
b
o
th
th
e
s
y
s
te
m
s
:
t
h
e
R
FO
C
an
d
r
o
to
r
s
p
ee
d
esti
m
atio
n
b
ased
o
n
t
h
e
M
R
AS
ar
e
s
o
s
e
n
s
it
iv
e
to
t
h
e
I
M
p
ar
a
m
eter
s
,
s
u
c
h
a
s
t
h
e
s
tato
r
a
n
d
r
o
to
r
r
esis
ta
n
ce
.
T
h
ese
p
ar
am
eter
s
ar
e
af
f
ec
te
d
b
y
th
e
I
M
p
ar
ticu
lar
o
p
er
atin
g
te
m
p
er
atu
r
e.
T
h
e
d
if
f
er
e
n
ce
b
et
w
ee
n
t
h
e
r
ea
l
an
d
e
s
ti
m
ated
v
al
u
es
lead
s
to
th
e
u
n
i
n
te
n
d
ed
o
p
er
atio
n
al
s
tatu
s
a
n
d
h
e
n
ce
,
to
th
e
p
o
o
r
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
o
f
th
e
d
r
iv
e.
T
h
er
ef
o
r
e,
th
e
is
s
u
es
o
f
t
h
e
I
M
p
ar
am
eter
s
v
ar
iatio
n
an
d
th
eir
i
m
p
ac
t
o
n
t
h
e
p
er
f
o
r
m
an
ce
o
f
I
M
d
r
iv
es
b
elo
n
g
to
th
e
ac
t
u
al
r
esear
ch
to
p
ics
in
r
ec
en
t
y
ea
r
s
[
5
-
1
8
]
.
A
r
ev
ie
w
o
n
t
h
e
s
u
b
j
ec
t
o
f
th
e
s
tato
r
an
d
r
o
to
r
r
esis
tan
ce
s
es
ti
m
atio
n
f
o
r
s
p
ee
d
s
en
s
o
r
less
I
M
d
r
iv
es
is
r
ep
o
r
ted
in
[
9
]
.
I
n
[
1
0
]
,
a
cl
o
s
ed
-
lo
o
p
s
tato
r
f
lu
x
esti
m
ato
r
in
s
tato
r
f
lu
x
o
r
ien
ted
co
n
tr
o
l
s
y
s
te
m
s
a
s
s
u
m
ed
th
at
th
e
s
tato
r
r
es
is
ta
n
ce
v
ar
i
atio
n
s
ca
u
s
ed
f
lu
x
ca
lc
u
lat
io
n
er
r
o
r
s
.
I
n
[
1
1
]
,
a
MR
AS
b
as
ed
r
o
to
r
s
p
ee
d
an
d
s
tato
r
r
esis
ta
n
ce
esti
m
at
o
r
is
p
r
esen
ted
.
A
f
ir
s
t
-
o
r
d
er
ad
a
p
tiv
e
o
b
s
er
v
er
is
s
u
g
g
e
s
ted
i
n
[
1
2
]
to
esti
m
ate
th
e
er
r
o
r
d
y
n
a
m
ic
s
,
w
h
ile
i
n
[
1
3
,
1
4
]
,
an
ad
ap
tiv
e
f
u
ll
-
o
r
d
er
o
b
s
er
v
e
r
is
u
s
ed
.
I
n
g
e
n
er
al,
i
n
[
1
0
-
1
4
]
,
an
ad
ap
tiv
e
r
ef
er
e
n
ce
m
o
d
el
with
p
r
o
p
o
r
tio
n
al
-
in
teg
r
a
l
(
P
I
)
o
r
in
teg
r
ated
co
n
tr
o
ller
is
p
r
o
p
o
s
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
815
-
826
816
I
n
r
ec
en
t
y
ea
r
s
,
ar
ti
f
icial
i
n
te
llig
e
n
ce
(
A
I
)
b
ased
tech
n
iq
u
e
s
an
d
s
o
f
t
co
m
p
u
ti
n
g
m
et
h
o
d
s
s
u
c
h
as
f
u
zz
y
lo
g
ic
(
FL
)
s
y
s
te
m
s
,
ar
ti
f
icial
n
eu
r
al
n
et
w
o
r
k
s
(
ANNs
)
,
n
eu
r
al
-
f
u
zz
y
(
N
F)
s
y
s
te
m
s
,
g
en
etic
al
g
o
r
it
h
m
s
(
GA
)
,
p
ar
ticle
s
w
ar
m
o
p
ti
m
iz
atio
n
(
P
SO)
m
et
h
o
d
s
,
etc.
,
h
av
e
b
ee
n
w
id
el
y
u
s
ed
f
o
r
r
ec
o
g
n
itio
n
a
n
d
co
n
tr
o
l
o
f
n
o
n
li
n
ea
r
d
y
n
a
m
ic
s
y
s
te
m
s
i
n
p
o
w
er
elec
tr
o
n
ics
an
d
A
C
d
r
iv
es
as
p
r
esen
ted
in
[
5
,
15
-
2
9
]
.
So
m
e
o
f
t
h
ese
m
et
h
o
d
s
ar
e
u
n
i
v
er
s
al
f
u
n
ct
io
n
ap
p
r
o
x
i
m
ato
r
s
,
th
e
o
t
h
e
r
s
ar
e
g
en
er
al
-
p
u
r
p
o
s
e
s
to
c
h
asti
c
o
p
ti
m
izatio
n
m
et
h
o
d
s
etc.
a
n
d
t
h
eir
ap
p
lica
tio
n
i
n
th
e
f
ield
o
f
elec
tr
ical
d
r
iv
es
ca
n
lead
to
b
etter
p
er
f
o
r
m
an
ce
o
f
elec
tr
ical
d
r
iv
es
t
h
a
n
co
n
v
e
n
tio
n
al
co
n
t
r
o
l
m
et
h
o
d
s
.
T
h
e
p
r
o
b
lem
o
f
I
M
p
ar
a
m
eter
s
esti
m
at
io
n
is
d
is
cu
s
s
ed
i
n
[
1
6
]
,
wh
er
e
au
t
h
o
r
s
p
r
o
p
o
s
ed
a
n
ew
m
et
h
o
d
w
h
ic
h
co
m
b
i
n
es
A
N
Ns
a
n
d
NF
to
esti
m
ate
t
h
e
s
tato
r
an
d
r
o
to
r
r
esis
ta
n
ce
s
i
m
u
lta
n
eo
u
s
l
y
w
h
i
ls
t
in
[
1
7
]
,
o
n
ly
ANNs
ar
e
u
s
ed
to
esti
m
ate
t
h
e
s
ta
to
r
an
d
r
o
to
r
r
esis
tan
ce
f
o
r
a
s
p
ee
d
s
en
s
o
r
less
R
FO
C
s
y
s
t
e
m
.
Si
m
ilar
to
[
1
7
]
,
au
th
o
r
s
in
[
1
8
]
also
u
tili
ze
s
A
NN
s
f
o
r
th
e
o
n
lin
e
esti
m
atio
n
o
f
th
e
s
ta
to
r
r
esis
tan
ce
f
o
r
Dir
ec
t T
o
r
q
u
e
C
o
n
tr
o
l (
DT
C
)
o
f
I
M
d
r
iv
es
w
it
h
o
u
t a
s
p
ee
d
s
en
s
o
r
.
T
h
e
P
SO
alg
o
r
it
h
m
w
as
f
ir
s
t
i
n
tr
o
d
u
ce
d
b
y
Ke
n
n
ed
y
an
d
E
b
er
h
ar
t
i
n
1
9
9
5
[
2
1
,
22]
.
I
t
is
ch
ar
ac
ter
ized
as
s
i
m
p
le
i
n
co
n
ce
p
t,
ea
s
y
to
i
m
p
le
m
e
n
t,
a
n
d
co
m
p
u
tatio
n
all
y
e
f
f
icien
t
m
o
r
e
th
an
m
a
n
y
o
th
er
h
eu
r
i
s
tic
tec
h
n
iq
u
es.
T
h
is
p
a
p
er
p
r
o
p
o
s
es
a
n
o
v
el
m
e
th
o
d
o
f
th
e
o
n
lin
e
s
tato
r
r
esis
ta
n
ce
esti
m
a
tio
n
u
s
i
n
g
th
e
P
SO
a
lg
o
r
it
h
m
f
o
r
MR
AS
b
ased
s
p
ee
d
s
e
n
s
o
r
les
s
R
FO
C
s
c
h
e
m
es
o
f
I
M
d
r
iv
e
s
.
C
o
n
ce
p
ts
in
[
1
1
,
1
7
,
1
8
]
ar
e
co
n
s
id
er
ed
to
s
u
g
g
e
s
t
a
s
i
m
p
le
m
eth
o
d
co
n
ce
r
n
in
g
t
h
e
o
n
lin
e
s
tato
r
r
esis
tan
ce
a
n
d
r
o
to
r
s
p
ee
d
esti
m
atio
n
s
i
m
u
lta
n
eo
u
s
l
y
.
First,
t
o
c
h
ec
k
t
h
e
co
r
r
ec
t
f
u
n
ctio
n
o
f
t
h
e
p
r
esen
ted
m
eth
o
d
,
t
w
o
r
o
to
r
s
p
ee
d
o
b
s
er
v
er
s
(
r
o
to
r
f
l
u
x
-
b
ased
M
R
A
S
(
R
F
-
M
R
AS)
an
d
c
u
r
r
en
t
-
b
ased
M
R
AS
(
C
B
-
MR
AS)
ar
e
s
eq
u
e
n
tiall
y
ap
p
lied
w
i
th
a
co
n
v
en
tio
n
al
P
I
-
b
ased
s
tato
r
r
esis
tan
ce
e
s
ti
m
ato
r
(
P
I
-
SR
E
,
d
escr
ib
ed
in
[
1
1
]
)
.
Fin
all
y
,
th
e
p
r
o
p
o
s
ed
tech
n
iq
u
e
u
s
i
n
g
th
e
P
SO
alg
o
r
it
h
m
b
ased
s
tato
r
r
esis
ta
n
ce
esti
m
ato
r
(
P
SO
-
SR
E
)
i
s
also
ap
p
lied
w
it
h
t
h
e
s
a
m
e
co
n
d
i
ti
o
n
s
as
t
h
e
P
I
-
S
R
E
.
S
i
m
u
latio
n
r
e
s
u
l
ts
i
n
th
e
Ma
t
lab
/Si
m
u
lin
k
e
n
v
ir
o
n
m
en
t
co
n
f
ir
m
a
b
etter
p
er
f
o
r
m
an
ce
o
f
th
e
P
SO
-
SR
E
f
o
r
th
e
R
F
-
M
R
A
S
a
n
d
CB
-
M
R
A
S o
b
s
er
v
er
s
i
n
co
m
p
ar
is
o
n
w
it
h
th
e
co
n
v
e
n
tio
n
a
l P
I
-
SR
E
(
s
ee
c
h
ap
ter
4
f
o
r
th
e
s
i
m
u
latio
n
r
es
u
lt
s
)
.
2.
CO
NVEN
T
I
O
NA
L
M
RAS
F
O
R
RO
T
O
R
SPE
E
D
AND
ST
A
T
O
R
RE
SI
S
T
AN
CE
E
S
T
I
M
AT
I
O
N
T
h
e
b
lo
ck
d
iag
r
a
m
s
o
f
t
h
e
M
R
A
S
s
c
h
e
m
es
f
o
r
th
e
r
o
to
r
s
p
ee
d
an
d
s
tato
r
r
esis
tan
ce
e
s
ti
m
atio
n
ar
e
p
r
esen
ted
in
Fi
g
u
r
e
s
1
an
d
2
.
I
n
th
ese
s
ch
e
m
e
s
,
th
e
co
n
v
en
t
io
n
al
P
I
-
b
ased
m
ec
h
an
i
s
m
s
tato
r
r
esis
ta
n
ce
esti
m
ato
r
(
P
I
-
SR
E
)
w
it
h
r
o
to
r
s
p
ee
d
esti
m
a
tio
n
m
ec
h
an
is
m
s
b
a
s
ed
o
n
t
h
e
R
F
-
MR
AS
an
d
C
B
-
MR
AS
ar
e
s
eq
u
en
tiall
y
p
r
ese
n
ted
.
T
h
e
p
r
in
cip
le
o
f
th
e
R
F
-
M
R
AS,
C
B
-
MR
AS,
an
d
P
I
-
SR
E
ar
e
d
is
cu
s
s
ed
in
th
e
f
o
llo
w
i
n
g
s
u
b
s
ec
tio
n
s
.
2
.
1
.
R
o
t
o
r
s
peed
esti
m
a
t
io
n
ba
s
ed
o
n RF
-
M
RAS
As
s
h
o
w
n
i
n
Fi
g
u
r
e
1
,
th
e
s
tr
u
ctu
r
e
o
f
th
e
R
F
-
MR
AS
i
n
cl
u
d
es
t
w
o
m
o
d
els:
th
e
r
ef
er
e
n
ce
(
v
o
lta
g
e)
m
o
d
el
u
s
es
t
h
e
s
tato
r
v
o
lta
g
e
s
(
u
S
,
u
S
)
an
d
s
tato
r
cu
r
r
en
t
s
(
i
S
,
i
S
)
to
ca
lcu
late
th
e
co
m
p
o
n
en
t
s
o
f
th
e
r
o
to
r
f
l
u
x
v
ec
to
r
(
V
R
,
V
R
)
w
h
ile
th
e
ad
ap
ti
v
e
(
cu
r
r
e
n
t)
m
o
d
el
u
s
e
s
t
h
e
s
tato
r
cu
r
r
en
t
s
a
n
d
es
ti
m
ated
r
o
to
r
s
p
ee
d
^
R
to
ca
lcu
late
th
e
r
o
to
r
f
l
u
x
co
m
p
o
n
e
n
t
s
(
I
R
,
I
R
)
to
o
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
a
m
o
f
R
F
-
M
R
A
S
w
i
th
P
I
-
S
R
E
T
h
e
er
r
o
r
o
f
th
e
esti
m
ated
r
o
to
r
f
lu
x
co
m
p
o
n
en
ts
b
et
w
ee
n
th
ese
t
w
o
m
o
d
els
is
u
s
ed
as
an
i
n
p
u
t
s
ig
n
al
to
th
e
P
I
m
ec
h
an
i
s
m
f
o
r
tr
ac
k
in
g
t
h
e
esti
m
ated
r
o
to
r
s
p
ee
d
^
R
,
as
f
o
llo
w
s
[
3
]
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
P
a
r
ticle
s
w
a
r
m
o
p
timiz
a
tio
n
-
b
a
s
ed
s
ta
to
r
r
esis
ta
n
ce
o
b
s
erver fo
r
…
(
S
a
n
g
Da
n
g
Ho
)
817
ˆ
ˆ
V
R
R
S
S
S
S
S
m
V
R
R
S
S
S
S
S
m
L
u
R
i
dt
L
i
L
L
u
R
i
dt
L
i
L
(
1
)
1
ˆˆ
1
ˆˆ
II
m
R
S
R
R
R
RR
II
m
R
S
R
R
R
RR
L
i
dt
TT
L
i
dt
TT
(
2
)
0
ˆ
0
;
0
I
V
I
V
R
R
R
R
t
R
P
I
PI
K
K
dt
KK
(
3
)
w
h
er
e
R
^
S
,
R
R
=
esti
m
a
ted
s
tato
r
r
esis
ta
n
ce
an
d
r
o
to
r
r
esis
tan
ce
,
L
S
,
L
R
=
s
tato
r
an
d
r
o
to
r
in
d
u
ctan
ce
,
L
m
=
m
u
t
u
al
i
n
d
u
cta
n
ce
,
T
R
=
L
R
/R
R
=
r
o
to
r
tim
e
co
n
s
tan
t,
=1
-
L
2
m
/(
L
S
L
R
)
=
to
tal
leak
ag
e
f
ac
to
r
.
2
.
2
.
R
o
t
o
r
s
peed
esti
m
a
t
io
n
ba
s
ed
o
n CB
-
M
RAS
T
h
e
C
B
-
MR
A
S
s
tr
u
ct
u
r
e
f
o
r
th
e
r
o
to
r
s
p
ee
d
esti
m
a
tio
n
w
it
h
t
h
e
s
tato
r
r
esis
tan
ce
ad
ap
tatio
n
is
p
r
esen
ted
in
Fi
g
u
r
e
2
.
Fig
u
r
e
2
.
B
lo
ck
d
iag
r
a
m
o
f
CB
-
MR
AS
w
it
h
P
I
-
SR
E
T
h
is
s
ch
e
m
e
h
as
o
n
e
m
o
r
e
b
l
o
ck
f
o
r
th
e
c
u
r
r
en
t
e
s
ti
m
atio
n
an
d
a
d
if
f
er
en
t
ad
ap
ti
v
e
m
ec
h
an
i
s
m
f
o
r
th
e
r
o
to
r
s
p
ee
d
esti
m
atio
n
co
m
p
ar
ed
to
th
e
R
F
-
MR
AS,
as
f
o
llo
w
s
[
2
0
]
:
1
2
3
1
2
3
1
ˆˆ
ˆ
1
ˆˆ
ˆ
R
R
II
S
S
R
R
S
i
II
S
S
R
R
S
i
i
K
u
K
K
i
d
t
T
i
K
u
K
K
i
d
t
T
(
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
815
-
826
818
w
h
er
e
2
1
2
3
1
2
1
1
1
ˆ
1
,
,
,
,
,
m
R
S
m
S
R
m
r
i
m
m
R
m
r
S
R
m
L
L
R
L
L
L
L
L
K
K
K
C
T
C
L
C
L
T
C
L
L
R
T
L
(
5
)
an
d
0
ˆˆ
(
)
(
)
ˆ
II
S
S
R
S
S
R
t
R
P
I
i
i
i
i
K
K
dt
(
6
)
2
.
3
.
PI
-
ba
s
ed
m
ec
ha
ni
s
m
f
o
r
s
t
a
t
o
r
re
s
is
t
a
nce
esti
m
a
t
o
r
T
h
e
P
I
-
SR
E
w
a
s
p
r
o
p
o
s
ed
an
d
ev
a
lu
ated
f
o
r
t
h
e
s
tab
il
it
y
ac
co
r
d
in
g
to
P
o
p
o
v
’
s
cr
iter
io
n
b
y
th
e
a
u
t
h
o
r
s
i
n
[
1
1
]
.
T
h
i
s
b
l
o
c
k
u
s
e
s
t
h
e
e
s
t
im
a
t
e
d
r
o
t
o
r
f
l
u
x
c
o
m
p
o
n
e
n
t
s
f
r
o
m
t
h
e
v
o
l
t
a
g
e
(
,
)
VV
RR
a
n
d
c
u
r
r
e
n
t
m
o
d
e
l
(
,
)
II
RR
t
o
e
s
t
i
m
a
t
e
t
h
e
s
t
a
t
o
r
r
e
s
i
s
t
a
n
c
e
v
i
a
t
h
e
e
r
r
o
r
s
i
g
n
a
l
Rs
,
w
h
ic
h
i
s
d
e
f
i
n
e
d
a
s
(
7
)
[
1
1
]
:
0
(
)
(
)
ˆ
0
;
0
V
I
V
I
R
s
R
R
S
R
R
S
t
S
P
R
s
R
s
I
R
s
R
s
P
R
s
I
R
s
ii
R
K
K
d
t
KK
(
7
)
3.
P
RO
P
O
SE
D
S
T
AT
O
R
R
E
S
I
ST
ANC
E
E
S
T
I
M
AT
I
O
N
B
ASE
D
O
N
P
SO
A
L
G
O
RI
T
H
M
3
.
1
.
P
SO
a
lg
o
rit
hm
T
h
e
P
SO
alg
o
r
ith
m
is
a
n
ex
ce
llen
t
co
m
p
u
tatio
n
a
l
o
p
ti
m
izati
o
n
m
et
h
o
d
m
o
tiv
ated
b
y
t
h
e
p
r
o
ce
s
s
o
f
h
u
n
ti
n
g
f
o
o
d
o
f
a
f
lo
c
k
o
f
b
ir
d
s
o
r
f
is
h
i
n
t
h
e
w
ild
[
2
1
,
22
]
.
W
ith
th
e
ad
v
a
n
ta
g
es
s
u
c
h
as
s
i
m
p
lici
t
y
,
s
tab
le
c
o
n
v
e
r
g
e
n
c
e
a
n
d
g
o
o
d
c
o
m
p
u
t
a
t
i
o
n
a
l
e
f
f
i
c
i
e
n
c
y
e
t
c
.
,
t
h
e
PS
O
h
a
s
b
e
e
n
p
o
p
u
l
a
r
l
y
a
p
p
l
i
e
d
t
o
r
e
s
o
l
v
e
a
l
a
r
g
e
r
a
n
g
e
o
f
o
p
t
i
m
i
z
a
t
i
o
n
p
r
o
b
l
e
m
s
,
s
u
c
h
a
s
a
d
a
p
t
i
v
e
t
u
n
i
n
g
o
f
c
o
n
t
r
o
l
l
e
r
g
a
i
n
s
[
2
3
-
2
5
]
,
p
a
r
a
m
e
t
e
r
s
i
d
e
n
t
i
f
i
c
a
t
i
o
n
[
2
6
]
,
lo
s
s
m
in
i
m
izat
io
n
o
f
elec
tr
ic
d
r
iv
e
[
2
7
]
.
I
n
th
e
P
SO,
t
h
e
b
ir
d
is
ca
lled
“
p
ar
ticle”
an
d
c
o
n
s
tit
u
te
a
s
w
ar
m
.
E
ac
h
p
ar
ticle
in
d
icate
s
a
ca
n
d
id
ate
s
o
lu
tio
n
to
t
h
e
p
r
o
b
lem
.
T
h
e
p
ar
ticles
ad
j
u
s
t
th
eir
p
o
s
itio
n
s
b
y
tr
av
e
l
li
n
g
th
r
o
u
g
h
a
m
u
ltid
i
m
en
s
io
n
al
s
p
ec
if
ied
s
ea
r
c
h
in
g
r
a
n
g
e.
W
h
ile
th
e
j
o
u
r
n
e
y
,
ea
ch
p
ar
ticle
a
d
j
u
s
ts
it
s
lo
ca
tio
n
ac
co
r
d
in
g
to
th
e
p
r
ev
io
u
s
b
e
s
t
p
o
s
itio
n
o
f
ea
c
h
i
n
d
iv
id
u
a
l
(
ca
lled
as
P
b
est
)
an
d
th
e
g
lo
b
al
b
est
p
o
s
itio
n
(
c
a
l
l
e
d
a
s
G
b
e
s
t
)
a
s
s
h
o
w
n
i
n
F
i
g
u
r
e
3
.
Fig
u
r
e
3
.
I
llu
s
tr
atio
n
o
f
ad
j
u
s
ti
n
g
v
elo
cit
y
a
n
d
p
ar
ticle
p
o
s
iti
o
n
o
f
P
SO a
lg
o
r
ith
m
[
2
1
]
I
n
e
a
c
h
i
t
e
r
a
t
i
o
n
,
t
h
e
m
o
d
i
f
i
c
a
t
i
o
n
o
f
v
e
l
o
c
i
t
y
a
n
d
l
o
c
a
t
i
o
n
o
f
e
a
c
h
a
g
e
n
t
c
a
n
b
e
d
e
t
e
r
m
i
n
e
d
b
y
e
m
p
l
o
y
i
n
g
t
h
e
c
u
r
r
e
n
t
s
p
e
e
d
a
n
d
t
h
e
d
i
s
t
a
n
c
e
f
r
o
m
P
b
e
s
t
t
o
G
b
e
s
t
,
a
s
p
r
e
s
e
n
t
e
d
i
n
t
h
e
f
o
l
l
o
w
i
n
g
e
q
u
a
t
i
o
n
s
[
2
2
]
:
`
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
P
a
r
ticle
s
w
a
r
m
o
p
timiz
a
tio
n
-
b
a
s
ed
s
ta
to
r
r
esis
ta
n
ce
o
b
s
erver fo
r
…
(
S
a
n
g
Da
n
g
Ho
)
819
(
1
)
(
)
(
)
(
)
1
1
2
2
(
1
)
(
)
(
1
)
((
–
))
k
k
k
k
i
i
i
i
i
i
k
k
k
i
i
i
V
w
V
c
R
a
n
d
P
b
e
s
t
X
c
R
a
n
d
G
b
e
s
t
X
X
X
V
(
8
)
w
h
er
e
i
=
d
en
o
te
ea
ch
p
ar
ticle
,
k
=
d
is
cr
ete
ti
m
e
i
n
d
ex
,
X
i
=
p
o
s
itio
n
o
f
i
th
p
ar
ticle
,
V
i
=
v
elo
cit
y
o
f
i
th
p
ar
ticle
,
w
=
in
er
tia
f
u
n
ctio
n
,
c
1,
2
=
ac
ce
ler
atio
n
co
n
s
ta
n
ts
(
s
el
f
-
co
n
f
id
e
n
ce
)
,
R
a
n
d
1,
2
=
a
r
an
d
o
m
n
u
m
b
er
o
n
an
i
n
te
r
v
al
[
0
,
1
]
,
P
b
est
i
=
b
est p
o
s
itio
n
f
o
u
n
d
b
y
i
th
p
a
r
ticle
(
p
er
s
o
n
al
b
est)
,
Gb
est
i
=
b
est p
o
s
itio
n
f
o
u
n
d
b
y
s
w
ar
m
(
g
lo
b
al
b
est)
.
I
n
Fig
u
r
e
4
,
th
e
m
aj
o
r
s
tep
s
in
th
e
p
r
o
ce
d
u
r
e
o
f
th
e
P
SO a
r
e
d
escr
ib
ed
as f
o
llo
w
s
[
2
1
]
:
Step
1
:
Gen
er
ate
a
p
o
p
u
latio
n
o
f
p
ar
ticles
w
it
h
r
an
d
o
m
lo
ca
t
io
n
s
a
n
d
v
elo
cities
i
n
d
d
i
m
en
s
io
n
s
o
f
th
e
p
r
o
b
lem
s
p
ac
e
w
i
th
i
n
t
h
e
a
llo
w
ab
le
r
an
g
e.
Step
2
:
E
v
alu
a
te
th
e
o
b
j
ec
tiv
e
f
u
n
ct
i
o
n
o
f
ea
c
h
p
ar
ticle
i
n
th
e
s
war
m
.
I
f
t
h
e
c
u
r
r
en
t
v
al
u
e
is
b
etter
th
a
n
th
e
p
r
ev
io
u
s
P
b
est,
t
h
en
P
b
es
t
is
r
ep
lace
d
b
y
t
h
e
cu
r
r
e
n
t
v
al
u
e.
I
f
th
e
b
es
t
v
a
lu
e
o
f
P
b
est
is
b
etter
th
an
t
h
e
p
r
ev
io
u
s
Gb
es
t,
th
e
Gb
est
v
a
lu
e
is
r
ep
lace
d
b
y
th
e
b
est
v
a
lu
e,
a
n
d
t
h
e
lo
ca
tio
n
o
f
a
p
ar
ticl
e
w
it
h
t
h
e
b
est v
a
lu
e
i
s
s
to
r
ed
.
Step
3
:
Mo
d
if
y
t
h
e
s
ea
r
ch
i
n
g
p
o
in
t o
f
ea
ch
p
ar
ticle
ac
co
r
d
in
g
to
(
8
)
.
Step
4
:
T
h
e
lo
o
p
ter
m
i
n
ati
n
g
co
n
d
itio
n
i
s
c
h
ec
k
ed
to
d
eter
m
i
n
e
i
f
i
t
h
a
s
b
ee
n
ac
h
ie
v
ed
(
b
ased
o
n
o
b
j
ec
tiv
e
f
u
n
ctio
n
v
al
u
e
s
o
r
n
u
m
b
er
o
f
in
ter
ac
tio
n
)
,
i
f
n
o
t
s
at
is
f
ied
,
th
e
n
t
h
e
p
r
o
ce
s
s
is
r
ep
ea
ted
f
r
o
m
s
tep
2
.
Oth
er
w
i
s
e
,
th
e
al
g
o
r
ith
m
is
s
t
o
p
p
ed
.
Fig
u
r
e
4
.
Step
s
in
P
SO a
lg
o
r
it
h
m
3
.
2
.
P
SO
-
ba
s
ed
s
t
a
t
o
r
re
s
is
t
a
nce
esti
m
a
t
io
n
m
ec
ha
nis
m
I
n
th
i
s
r
esear
ch
,
t
h
e
P
SO
-
S
R
E
as
s
h
o
w
n
i
n
Fi
g
u
r
e
5
is
s
u
g
g
e
s
ted
to
r
ep
lace
th
e
P
I
-
S
R
E
,
an
d
its
p
r
in
cip
le
is
d
is
cu
s
s
ed
b
elo
w
.
E
q
u
atio
n
s
(
1
)
an
d
(
2
)
f
r
o
m
s
ec
tio
n
2
ca
n
b
e
r
e
w
r
itte
n
as:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
815
-
826
820
ˆ
ˆ
V
RS
R
S
S
S
s
m
V
RS
R
S
S
S
S
m
d
di
L
u
R
i
L
dt
L
dt
d
di
L
u
R
i
L
dt
L
dt
(
9
)
1
ˆ
1
ˆ
I
II
R
m
S
R
R
R
R
R
I
R
II
m
S
R
R
R
R
R
d
L
i
T
dt
T
d
L
i
T
dt
T
(
1
0
)
Ass
u
m
in
g
t
h
at
t
h
e
o
b
tain
ed
r
o
to
r
f
lu
x
co
m
p
o
n
e
n
ts
f
r
o
m
t
h
e
v
o
ltag
e
a
n
d
cu
r
r
e
n
t
m
o
d
el
ar
e
eq
u
al.
Fro
m
(
9
)
an
d
(
1
0
)
,
th
e
f
o
llo
w
i
n
g
eq
u
atio
n
s
ca
n
b
e
o
b
tain
ed
:
2
ˆ
ˆ
II
S
m
m
m
S
S
S
S
S
R
R
R
R
R
R
R
R
d
i
L
L
L
L
u
R
i
i
d
t
L
T
L
T
L
(
1
1
)
2
ˆ
ˆ
S
II
m
m
m
S
S
S
S
S
R
R
R
R
R
R
R
R
di
L
L
L
L
u
R
i
i
d
t
L
T
L
T
L
(
1
2
)
T
r
an
s
f
o
r
m
atio
n
o
f
(
1
1
)
to
a
d
i
s
cr
ete
t
y
p
e
is
d
ef
i
n
ed
as:
1
2
3
4
ˆˆ
(
)
(
1
)
(
1
)
(
1
)
(
1
)
II
S
R
R
S
S
i
k
B
k
B
k
B
u
k
B
i
k
(
1
3
)
w
h
er
e
1
2
3
2
4
[
/
(
)
]
[
/
(
)
]
ˆ
[
/
(
)
]
[
(
/
)
]
/
(
)
ˆ
[
1
(
/
)
(
/
)
(
/
(
)
)
]
S
S
m
R
R
S
S
m
R
R
SS
S
S
S
S
S
m
R
R
B
T
L
L
L
T
B
T
L
L
L
B
T
L
B
T
L
R
T
L
L
L
T
(
1
4
)
E
q
u
ati
o
n
(
1
4
)
s
h
o
w
s
h
o
w
to
esti
m
ate
th
e
s
ta
to
r
cu
r
r
en
t
w
h
ile
th
e
s
ta
to
r
r
esis
ta
n
ce
is
v
ar
iab
le.
T
h
e
w
ei
g
h
t
s
B
1
,
B
2
,
B
3
ar
e
d
ir
ec
tl
y
co
m
p
u
ted
f
r
o
m
t
h
e
r
o
t
o
r
s
p
ee
d
,
m
o
to
r
p
ar
am
eter
s
,
an
d
s
a
m
p
l
in
g
ti
m
e.
A
ll
m
o
to
r
p
ar
a
m
eter
s
ar
e
as
s
u
m
ed
to
r
e
m
ain
u
n
c
h
a
n
g
ed
d
u
r
in
g
th
e
o
p
er
atio
n
al
co
n
d
it
io
n
s
ex
ce
p
t
th
e
s
ta
to
r
r
esis
ta
n
ce
.
T
h
e
er
r
o
r
f
u
n
ct
io
n
o
f
t
h
e
cu
r
r
e
n
t
i
S
is
g
i
v
en
:
2
2
11
ˆ
(
)
(
)
22
SS
E
i
k
i
k
(
1
5
)
Si
m
i
lar
l
y
,
tr
an
s
f
o
r
m
atio
n
o
f
(
1
2
)
to
a
d
is
cr
ete
t
y
p
e
is
d
ef
in
ed
as:
1
2
3
4
ˆˆ
(
)
(
1
)
(
1
)
(
1
)
(
1
)
II
S
R
R
S
S
i
k
B
k
B
k
B
u
k
B
i
k
(
1
6
)
2
2
11
ˆ
(
)
(
)
22
SS
E
i
k
i
k
(
1
7
)
W
ith
th
e
p
r
o
p
o
s
ed
P
SO
alg
o
r
ith
m
,
t
h
e
R
S
v
al
u
e
o
f
B
4
w
ei
g
h
t
w
i
ll
b
e
s
ea
r
ch
ed
s
o
th
at
th
e
f
it
n
es
s
f
u
n
ctio
n
F
is
m
in
i
m
ized
:
F
E
E
(
1
8
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
P
a
r
ticle
s
w
a
r
m
o
p
timiz
a
tio
n
-
b
a
s
ed
s
ta
to
r
r
esis
ta
n
ce
o
b
s
erver fo
r
…
(
S
a
n
g
Da
n
g
Ho
)
821
T
h
e
p
r
o
ce
d
u
r
e
o
f
th
e
P
SO
alg
o
r
ith
m
f
o
r
th
e
s
tato
r
r
esis
ta
n
c
e
esti
m
a
tio
n
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
5
is
also
b
ased
o
n
th
e
s
a
m
e
p
r
o
ce
d
u
r
e
as
d
escr
ib
ed
in
t
h
e
p
r
ev
io
u
s
s
u
b
s
ec
tio
n
3
.
1
,
s
ee
Fi
g
u
r
e
4
,
in
cl
u
d
in
g
t
h
e
s
tep
s
as f
o
llo
w
s
:
Fo
r
m
u
la
te
th
e
in
itial
p
o
p
u
latio
n
an
d
in
itia
l
p
o
s
itio
n
r
an
d
o
m
l
y
o
f
ea
ch
p
ar
ticle
(
R
S
)
in
a
r
an
g
e
o
f
th
e
s
ea
r
ch
in
g
s
p
ac
e
(
f
r
o
m
0
.
5
to
2
.
5
o
f
th
e
n
o
m
i
n
al
s
tato
r
r
es
is
tan
ce
v
al
u
e)
.
C
alcu
l
ate
th
e
f
it
n
es
s
f
u
n
ctio
n
o
f
ea
ch
p
ar
ticle
u
s
in
g
(
1
3
)
to
(
1
8
)
.
Fin
d
t
h
e
in
d
i
v
id
u
al
b
est o
f
ea
ch
p
ar
ticle.
Fin
d
t
h
e
g
lo
b
al
b
est in
t
h
e
e
n
ti
r
e
p
o
p
u
latio
n
.
Up
d
ate
th
e
v
elo
cit
y
a
n
d
p
o
s
iti
o
n
o
f
ea
ch
p
ar
ticle
ac
co
r
d
in
g
t
o
(
8
)
.
R
ep
ea
t
s
tep
2
to
s
tep
5
u
n
til t
h
e
cr
iter
io
n
is
s
ati
s
f
ied
.
A
p
p
l
y
t
h
e
o
p
ti
m
ized
s
tato
r
r
esis
tan
ce
v
al
u
e
to
th
e
s
y
s
te
m
.
Fig
u
r
e
5
.
Stru
ct
u
r
e
o
f
P
SO
-
b
a
s
ed
s
tato
r
r
esis
tan
ce
e
s
ti
m
ato
r
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
T
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
i
s
i
m
p
le
m
e
n
ted
in
t
h
e
Ma
tlab
/Si
m
u
li
n
k
en
v
ir
o
n
m
en
t
t
o
o
b
tain
th
e
s
i
m
u
latio
n
r
esu
lts
.
T
h
e
m
en
tio
n
ed
tec
h
n
iq
u
e
s
f
o
r
t
h
e
o
n
li
n
e
s
tato
r
r
esi
s
tan
ce
est
i
m
atio
n
(
P
I
-
SR
E
a
n
d
P
SO
-
S
R
E
)
ar
e
s
eq
u
en
t
iall
y
te
s
ted
w
it
h
t
h
e
s
p
ee
d
s
e
n
s
o
r
les
s
co
n
tr
o
l
s
c
h
e
m
es
(
R
F
-
M
R
A
S
an
d
C
B
-
MR
AS)
f
o
r
th
e
R
FOC
s
y
s
te
m
o
f
t
h
e
I
M
d
r
iv
e
ac
co
r
d
in
g
to
a
b
lo
ck
d
iag
r
a
m
s
h
o
w
n
i
n
Fi
g
u
r
e
6
(
s
ee
in
ap
p
en
d
ix
)
.
T
h
e
s
i
m
u
latio
n
i
s
ca
r
r
ied
o
u
t
o
n
a
th
r
ee
-
p
h
a
s
e
s
q
u
ir
r
el
ca
g
e
I
M,
w
h
o
s
e
p
ar
a
m
eter
s
ar
e
g
iv
e
n
i
n
T
ab
le
1
.
Fig
u
r
e
7
(
a)
illu
s
tr
ates
th
e
r
atio
o
f
s
tep
ch
a
n
g
e
s
o
f
t
h
e
s
tato
r
r
esis
tan
ce
,
a
n
d
t
h
e
r
ef
er
en
ce
s
o
f
t
h
e
r
o
to
r
s
p
ee
d
an
d
lo
ad
to
r
q
u
e
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
7(
b)
.
I
n
Fig
u
r
e
8
,
th
e
r
atio
b
et
w
ee
n
t
h
e
es
ti
m
ate
d
an
d
ac
tu
al
v
alu
e
s
o
f
th
e
s
tato
r
r
esis
ta
n
ce
u
s
i
n
g
th
e
P
I
-
S
R
E
an
d
P
S
O
-
S
R
E
f
o
r
th
e
R
F
-
MR
AS
ar
e
p
r
esen
ted
,
r
esp
ec
tiv
el
y
.
Si
m
i
lar
l
y
,
Fig
u
r
e
9
d
is
p
la
y
s
th
e
P
I
-
S
R
E
a
n
d
P
SO
-
SR
E
f
o
r
th
e
C
B
-
MR
AS.
Fi
g
u
r
e
s
1
0
an
d
1
1
s
h
o
w
s
th
e
er
r
o
r
s
o
f
th
e
ac
tu
al
an
d
e
s
ti
m
ated
r
o
to
r
s
p
ee
d
o
f
t
h
e
t
wo
MR
A
S
-
t
y
p
e
o
b
s
er
v
er
s
w
h
e
n
u
s
i
n
g
t
h
e
P
I
-
S
R
E
an
d
P
SO
-
SR
E
,
s
eq
u
e
n
tiall
y
.
T
h
e
r
esu
l
ts
o
f
t
h
e
r
o
to
r
s
p
ee
d
an
d
m
o
to
r
to
r
q
u
e
r
esp
o
n
d
s
ar
e
s
h
o
w
n
i
n
Fig
u
r
e
s
1
2
an
d
1
3
f
o
r
th
e
P
I
/PS
O
-
SR
E
a
n
d
th
e
R
F/C
B
-
MR
AS,
r
esp
ec
tiv
el
y
.
T
ab
le
1
.
P
ar
am
eter
s
o
f
i
n
d
u
c
ti
o
n
m
o
to
r
S
y
mb
o
l
Q
u
a
n
t
i
t
y
V
a
l
u
e
s
P
n
r
a
t
e
d
p
o
w
e
r
3
.
3
k
W
V
n
r
a
t
e
d
v
o
l
t
a
g
e
3
8
0
V
R
S
st
a
t
o
r
r
e
si
st
a
n
c
e
4
.
1
7
9
L
S
st
a
t
o
r
i
n
d
u
c
t
a
n
c
e
0
.
2
0
9
H
R
R
r
o
t
o
r
r
e
si
st
a
n
c
e
2
.
1
1
8
L
R
r
o
t
o
r
i
n
d
u
c
t
a
n
c
e
0
.
2
0
9
H
L
m
mu
t
u
a
l
i
n
d
u
c
t
a
n
c
e
0
.
1
9
2
H
p
p
o
l
e
p
a
i
r
n
u
mb
e
r
2
J
mo
me
n
t
o
f
i
n
e
r
t
i
a
0
,
0
4
7
k
g
.
m
2
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
815
-
826
822
(
a
)
(
b
)
Fig
u
r
e
7
.
(
a)
I
llu
s
tr
atio
n
o
f
v
ar
iatio
n
r
atio
b
et
w
ee
n
ch
a
n
g
ed
an
d
n
o
m
i
n
al
s
tato
r
r
esis
ta
n
ce
,
(
b
)
R
ef
er
en
ce
s
o
f
r
o
to
r
s
p
ee
d
an
d
lo
ad
to
r
q
u
e
Fig
u
r
e
8
.
R
atio
o
f
esti
m
ated
a
n
d
ac
tu
al
v
alu
e
s
o
f
s
tato
r
r
esis
ta
n
ce
f
o
r
R
F
-
M
R
AS
w
ith
P
I
-
S
R
E
an
d
P
SO
-
S
R
E
Fig
u
r
e
9
.
R
atio
o
f
esti
m
ated
a
n
d
ac
tu
al
v
alu
e
s
o
f
s
tato
r
r
esis
ta
n
ce
f
o
r
C
B
-
M
R
AS
w
ith
P
I
-
S
R
E
an
d
P
SO
-
S
R
E
Fig
u
r
e
10
.
E
r
r
o
r
o
f
ac
tu
al
an
d
esti
m
ated
r
o
to
r
s
p
ee
d
f
o
r
R
F
-
MR
AS
w
it
h
P
I
-
S
R
E
an
d
P
SO
-
S
R
E
Fig
u
r
e
11
.
E
r
r
o
r
o
f
ac
tu
al
an
d
esti
m
ated
r
o
to
r
s
p
ee
d
f
o
r
C
B
-
M
R
A
S
w
it
h
PI
-
S
R
E
a
n
d
P
SO
-
S
R
E
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
P
a
r
ticle
s
w
a
r
m
o
p
timiz
a
tio
n
-
b
a
s
ed
s
ta
to
r
r
esis
ta
n
ce
o
b
s
erver fo
r
…
(
S
a
n
g
Da
n
g
Ho
)
823
Fig
u
r
e
12
.
R
o
to
r
s
p
ee
d
r
esp
o
n
d
s
o
f
R
F
-
M
R
A
S a
n
d
CB
-
M
R
A
S
u
s
i
n
g
P
I
-
SR
E
a
n
d
P
SO
-
S
R
E
Fig
u
r
e
13
.
Mo
to
r
t
o
r
q
u
e
r
esp
o
n
d
s
o
f
R
F
-
MR
AS a
n
d
CB
-
M
R
A
S
u
s
i
n
g
P
I
-
SR
E
a
n
d
P
SO
-
S
R
E
T
o
s
h
o
w
m
o
r
e
clea
r
l
y
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
ab
o
v
e
m
en
t
io
n
ed
esti
m
ato
r
s
,
w
e
ap
p
l
y
t
h
e
I
n
teg
r
al
o
f
th
e
ti
m
e
w
ei
g
h
ted
ab
s
o
lu
te
er
r
o
r
(
I
T
A
E
)
cr
iter
io
n
(
d
ef
i
n
ed
b
y
(
1
9
)
)
to
ev
alu
ate
th
e
er
r
o
r
b
et
w
ee
n
th
e
e
s
ti
m
ated
an
d
r
ea
l
v
al
u
e
o
f
th
e
s
tato
r
r
esis
tan
ce
(
E
S
R
)
,
r
o
to
r
s
p
ee
d
d
if
f
er
en
ce
(
R
S
D
)
,
an
d
th
e
er
r
o
r
b
et
w
ee
n
th
e
r
e
f
er
en
ce
a
n
d
r
ea
l
m
o
to
r
to
r
q
u
e
(
E
M
T
)
.
T
h
ese
f
ac
to
r
s
ar
e
p
r
esen
ted
in
T
ab
le
2
.
0
()
I
T
AE
t
e
t
dt
(
1
9
)
w
h
er
e
t
is
t
h
e
ti
m
e
an
d
e
(
t
)
is
t
h
e
d
if
f
er
en
ce
b
et
w
ee
n
a
s
et
p
o
in
t a
n
d
co
n
tr
o
lled
v
ar
iab
le.
As
s
h
o
w
n
in
Fi
g
u
r
e
8
a
n
d
9
an
d
th
e
f
ir
s
t
r
o
w
i
n
T
ab
le
2
,
it
in
d
icate
s
t
h
at
t
h
e
p
r
o
p
o
s
ed
P
SO
-
S
R
E
g
iv
e
s
m
o
r
e
ac
cu
r
ate
a
n
d
s
tab
l
e
r
esp
o
n
s
e
s
o
f
t
h
e
s
tato
r
r
esi
s
tan
ce
e
s
ti
m
atio
n
t
h
an
t
h
e
co
n
v
e
n
tio
n
al
P
I
-
S
R
E
d
o
es.
E
ac
h
ti
m
e
t
h
e
s
tato
r
r
esi
s
tan
ce
h
a
s
a
s
tep
ch
a
n
g
e
(
at
t
=
0
.
4
;
0
.
8
;
1
.
2
;
1
.
6
s
,
s
ee
Fig
u
r
e
7
a)
)
,
as
w
ell
as
th
e
r
o
to
r
s
p
ee
d
an
d
to
r
q
u
e
c
h
an
g
e
s
as
s
h
o
w
n
in
Fi
g
u
r
e
7
b
)
,
th
e
P
SO
-
S
R
E
o
s
cilla
tes
s
li
g
h
tl
y
f
o
r
a
v
er
y
s
h
o
r
t
ti
m
e
a
n
d
s
tab
ilize
s
q
u
ic
k
l
y
w
i
th
e
x
ce
lle
n
t
tr
ac
k
i
n
g
,
e
v
en
w
h
en
th
e
s
tato
r
r
esis
ta
n
ce
in
cr
ea
s
es
t
w
ice
th
e
o
r
ig
i
n
al
v
al
u
e.
Me
an
w
h
i
le,
th
e
P
I
-
SR
E
g
i
v
e
s
m
o
r
e
o
v
er
s
h
o
o
t
s
,
f
lu
ct
u
atio
n
,
an
d
w
o
r
s
e
r
esp
o
n
s
i
v
e
tr
ac
k
in
g
,
esp
ec
iall
y
d
u
r
i
n
g
2
0
0
%
o
f
th
e
n
o
m
i
n
al
s
tato
r
r
esis
tan
ce
(
at
t
=
1
.
6
to
2
s
).
Fig
u
r
e
s
1
0
,
1
1
an
d
t
h
e
s
ec
o
n
d
r
o
w
i
n
T
ab
le
2
also
p
r
o
v
e
th
e
ad
v
an
ta
g
es
in
th
e
r
o
to
r
s
p
ee
d
esti
m
atio
n
o
f
th
e
b
o
th
M
R
A
S
w
h
e
n
o
p
er
ate
w
it
h
t
h
e
p
r
o
p
o
s
ed
P
SO
-
S
R
E
.
T
h
e
R
SD
v
a
lu
e
s
o
b
tain
ed
f
r
o
m
t
h
e
t
w
o
MR
A
S
-
t
y
p
e
o
b
s
er
v
er
s
w
it
h
t
h
e
P
SO
-
S
R
E
ar
e
s
m
aller
th
a
n
th
o
s
e
f
r
o
m
t
h
e
PI
-
SR
E
.
T
h
e
o
v
er
s
h
o
o
t
an
d
o
s
cillatio
n
o
f
t
h
e
R
F/
C
B
-
M
R
AS
w
it
h
t
h
e
P
SO
-
S
R
E
ar
e
al
w
a
y
s
s
m
aller
a
n
d
s
t
ill
k
ee
p
t
h
e
co
r
r
ec
t
r
esp
o
n
s
e
i
n
th
e
w
id
e
r
an
g
e
o
f
th
e
s
tato
r
r
esis
ta
n
ce
v
al
u
e
s
.
T
h
e
E
MT
v
alu
es p
r
o
v
id
ed
b
y
th
e
b
o
th
MR
AS
-
t
y
p
e
o
b
s
er
v
er
s
w
it
h
t
h
e
P
I
/P
SO
-
SR
E
(
th
e
th
ir
d
r
o
w
o
f
T
ab
le
2
)
ar
e
alm
o
s
t
eq
u
al,
b
u
t
t
h
e
R
F/
C
B
-
MR
AS
s
c
h
e
m
e
s
u
s
in
g
t
h
e
P
SO
-
S
R
E
g
iv
e
b
etter
r
esp
o
n
s
es
a
n
d
s
m
o
o
th
er
r
o
to
r
s
p
ee
d
an
d
m
o
t
o
r
to
r
q
u
e
th
an
th
o
s
e
o
f
t
h
e
PI
-
SR
E
as s
h
o
w
n
in
F
ig
u
r
e
s
1
2
an
d
13
.
T
ab
le
2
.
C
o
m
p
ar
is
o
n
s
o
f
R
F/
C
B
-
M
R
A
S
w
it
h
P
I
/P
SO
-
S
R
E
I
TA
E
RF
-
M
R
A
S
w
i
t
h
P
I
-
S
R
E
RF
-
M
R
A
S
w
i
t
h
P
S
O
-
S
R
E
CB
-
M
R
A
S
w
i
t
h
P
I
-
S
R
E
CB
-
M
R
A
S
w
i
t
h
P
S
O
-
S
R
E
ESR
(
10
-
2
)
9
.
0
1
2
.
8
7
8
.
5
4
2
.
9
1
RS
D
4
.
8
3
4
2
.
1
1
1
3
.
9
3
7
2
.
1
0
5
EM
T
3
.
2
7
4
2
.
7
7
3
2
.
8
4
9
2
.
7
4
6
5.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
in
tr
o
d
u
ce
s
a
n
o
v
e
l
tech
n
iq
u
e
co
n
ce
r
n
in
g
t
h
e
o
n
li
n
e
esti
m
atio
n
o
f
t
h
e
s
tato
r
r
esis
tan
c
e
u
s
i
n
g
th
e
P
SO
alg
o
r
ith
m
ap
p
lied
to
th
e
MRAS
b
ased
s
p
ee
d
s
en
s
o
r
les
s
R
FO
C
o
f
I
M
d
r
iv
es.
T
h
e
s
im
u
lat
io
n
r
esu
lt
s
co
n
f
ir
m
th
a
t
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
ab
le
to
id
en
ti
f
y
v
ar
iatio
n
s
o
f
th
e
s
tato
r
r
esi
s
tan
c
e
an
d
co
n
v
er
g
e
t
o
a
s
tead
y
-
s
tate
an
d
s
tab
le
v
a
lu
e
w
h
e
n
th
e
s
tato
r
r
esis
ta
n
ce
in
cr
ea
s
es
to
2
0
0
%
o
f
th
e
n
o
m
i
n
al
v
al
u
e.
T
h
e
p
r
o
p
o
s
ed
tech
n
iq
u
e
al
s
o
s
h
o
w
s
th
e
e
x
ce
lle
n
t
d
y
n
a
m
ic
r
esp
o
n
d
o
f
th
e
r
o
to
r
s
p
ee
d
an
d
s
tato
r
r
esis
tan
c
e
esti
m
atio
n
i
n
co
m
p
ar
is
o
n
w
it
h
th
e
co
n
v
e
n
tio
n
al
P
I
b
ased
m
e
ch
an
i
s
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
815
-
826
824
AP
P
E
NDI
X
Fig
u
r
e
6
.
B
lo
ck
d
iag
r
a
m
o
f
M
R
A
S b
ased
s
e
n
s
o
r
les
s
R
FO
C
o
f
I
M
d
r
iv
e
w
i
th
S
R
E
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
is
w
o
r
k
w
a
s
s
u
p
p
o
r
ted
b
y
P
r
o
j
ec
t
r
eg
.
n
o
.
SP
2
0
20
/
1
2
8
-
St
u
d
en
t
Gr
an
t
C
o
m
p
eti
tio
n
o
f
VSB
-
T
ec
h
n
ical
Un
i
v
er
s
i
t
y
o
f
O
s
tr
a
v
a,
2
0
20.
RE
F
E
R
E
NC
E
S
[1
]
P
.
V
a
s,
“
V
e
c
to
r
c
o
n
tr
o
l
o
f
A
C
m
a
c
h
in
e
s
,”
Cla
re
n
d
o
n
Pre
ss
,
Ox
fo
rd
,
1
9
9
0
.
[2
]
E.
L
e
v
i,
“
Hig
h
P
e
rf
o
rm
a
n
c
e
Dri
v
e
s
,”
Co
u
rs
e
n
o
tes
,
L
iv
e
rp
o
o
l
Jo
h
n
M
o
o
re
s Un
iv
e
rsity
,
2002.
[3
]
P
.
V
a
s,
“
S
e
n
so
rles
s
V
e
c
to
r
C
o
n
tr
o
l
a
n
d
Dire
c
t
T
o
rq
u
e
C
o
n
t
ro
l,
”
O
x
fo
rd
Un
iv.
Pre
ss
,
UK,
1
9
9
0
.
[4
]
P
.
Bra
n
d
ste
tt
e
r,
“
S
e
n
s
o
rles
s
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
t
o
r
Us
in
g
M
o
d
if
ied
M
RA
S
,
”
In
ter
n
a
ti
o
n
a
l
Rev
iew
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
(
IRE
E),
v
o
l.
7
,
n
o
.
3
,
p
p
.
4
4
0
4
-
4
4
1
1
,
2
0
1
2
.
[5
]
P
.
V
a
s,
“
A
rti
f
i
c
ial
-
in
telli
g
e
n
c
e
-
b
a
se
d
e
lec
tri
c
a
l
m
a
c
h
in
e
s a
n
d
d
riv
e
s,
”
Ox
fo
rd
S
c
ien
c
e
P
u
b
l
ica
ti
o
n
,
1
9
9
9
.
[6
]
M
.
Ra
sh
e
d
a
n
d
A
.
F
.
S
tro
n
a
c
h
,
“
A
st
a
b
le
b
a
c
k
-
EM
F
M
RA
S
-
b
a
se
d
se
n
so
rles
s
lo
w
-
sp
e
e
d
in
d
u
c
ti
o
n
m
o
to
r
d
r
iv
e
in
se
n
siti
v
e
to
sta
t
o
r
re
sista
n
c
e
v
a
riatio
n
,
”
I
EE
Pr
o
c
e
e
d
in
g
s
-
El
e
c
tric
Po
we
r A
p
p
.
,
v
o
l.
1
5
1
,
n
o
.
6
,
p
p
.
6
8
5
-
6
9
3
,
2
0
0
4
.
[7
]
C.
L
a
sc
u
,
e
t
a
l.
,
“
Co
m
p
a
ra
ti
v
e
st
u
d
y
o
f
a
d
a
p
ti
v
e
a
n
d
in
h
e
re
n
tl
y
se
n
so
rles
s
o
b
se
rv
e
rs
f
o
r
v
a
ri
a
b
le
-
sp
e
e
d
in
d
u
c
ti
o
n
-
m
o
to
r
d
riv
e
s,”
IEE
E
T
ra
n
sa
c
ti
o
n
s o
n
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l.
5
3
,
n
o
.
1
,
p
p
.
5
7
-
6
5
,
2
0
0
6
.
[8
]
E.
Zerd
a
li
a
n
d
E.
C.
M
e
n
g
ü
ç
,
“
No
v
e
l
Co
m
p
lex
-
V
a
lu
e
d
S
tato
r
C
u
rre
n
t
-
Ba
se
d
M
RA
S
Esti
m
a
to
rs
W
it
h
Diff
e
re
n
t
A
d
a
p
tatio
n
M
e
c
h
a
n
ism
s
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
str
u
me
n
ta
t
io
n
a
n
d
M
e
a
su
re
me
n
t
,
v
o
l.
6
8
,
n
o
.
1
0
,
2
0
1
9
.
[
9
]
J
.
C
h
e
n
a
n
d
J
.
H
u
a
n
g
,
“
S
t
a
b
l
e
s
i
m
u
l
t
a
n
e
o
u
s
s
t
a
t
o
r
a
n
d
r
o
t
o
r
r
e
s
i
s
t
a
n
c
e
s
i
d
e
n
t
i
f
i
c
a
t
i
o
n
f
o
r
s
p
e
e
d
s
e
n
s
o
r
l
e
s
s
i
n
d
u
c
t
i
o
n
m
o
t
o
r
d
r
i
v
e
s
:
R
e
v
i
e
w
a
n
d
n
e
w
r
e
s
u
l
t
s
,
”
I
E
E
E
T
r
a
n
s
a
c
t
i
o
n
s
o
n
P
o
w
e
r
E
l
e
c
t
r
o
n
i
c
s
,
v
o
l
.
3
3
,
n
o
.
1
0
,
p
p
.
8
6
9
5
-
8
7
0
9
,
2
0
1
8
.
[1
0
]
E.
D.
M
it
ro
n
ik
a
s,
e
t
a
l.
,
“
A
n
e
w
s
tato
r
re
sista
n
c
e
tu
n
in
g
m
e
th
o
d
f
o
r
sta
to
r
-
f
lu
x
-
o
rien
ted
v
e
c
to
r
-
c
o
n
tr
o
ll
e
d
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
,
”
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l.
4
8
,
n
o
.
6
,
p
p
.
1
1
4
8
-
1
1
5
7
,
2
0
0
1
.
[1
1
]
V
.
V
a
sic
,
e
t
a
l.
,
“
A
sta
to
r
re
sista
n
c
e
e
sti
m
a
ti
o
n
sc
h
e
m
e
f
o
r
sp
e
e
d
se
n
so
rles
s
ro
to
r
f
lu
x
o
rien
ted
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
En
e
rg
y
Co
n
v
e
rs
io
n
,
v
o
l.
1
8
,
n
o
.
4
,
p
p
.
4
7
6
-
4
8
3
,
2
0
0
3
.
[1
2
]
J.
Ch
e
n
,
e
t
a
l.
,
“
Re
sista
n
c
e
s
a
n
d
sp
e
e
d
e
stim
a
ti
o
n
in
se
n
so
r
les
s
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s
u
sin
g
a
m
o
d
e
l
w
it
h
k
n
o
w
n
re
g
re
ss
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
6
,
n
o
.
4
,
p
p
.
2
6
5
9
-
2
6
6
7
,
2
0
1
8
.
Evaluation Warning : The document was created with Spire.PDF for Python.