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I
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9
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2
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A
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r
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9
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1077
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Evaluation Warning : The document was created with Spire.PDF for Python.
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.
Ste
p 5
:
Fin
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m
(
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1
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d
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p 6
:
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.
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p 7
:
R
ed
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r
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t r
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tep
2
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Ste
p 8
:
W
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en
all
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eg
io
n
s
h
a
v
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lo
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ed
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3.
M
AIN RES
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T
S
3
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1
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M
P
C
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ntr
o
ller
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nt
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t
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As
m
e
n
tio
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ed
i
n
[
1
7
]
,
cu
r
r
e
n
t
lo
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p
m
o
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el
o
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p
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a
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y
:
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22
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s
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i
v
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d
t
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L
(
30
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
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lec
&
C
o
m
p
E
n
g
I
SS
N:
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8
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8708
Mu
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a
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metric m
o
d
el
p
r
ed
ictive
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tr
o
l b
a
s
ed
o
n
la
g
u
err
e
mo
d
el
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N
g
u
ye
n
Ho
n
g
Q
u
a
n
g
)
1073
De
n
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h
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t
d
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sq
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re
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:
22
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s
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e
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L
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R
L
R
e
v
e
i
v
d
t
L
L
L
L
L
(
31
)
Def
i
n
e:
2
1
2
()
0
()
(
)
,
(
)
,
(
)
1
2
2
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s
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s
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mm
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s
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p
d
s
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s
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s
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UR
L
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v
t
i
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L
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t
B
t
u
t
RL
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R
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v
t
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LL
L
L
L
T
h
e
cu
r
r
en
t e
r
r
o
r
m
o
d
el
(
31
)
i
s
r
e
w
r
ite
n
as:
(
)
(
)
(
)
mm
dx
A
t
x
t
B
u
t
dt
(
32
)
Ob
tain
i
n
g
d
is
cr
ete
ti
m
e
m
o
d
el
f
r
o
m
(
32
)
b
y
u
s
in
g
Z
OH
m
et
h
o
d
:
(
1
)
(
)
(
)
(
)
mm
x
k
A
k
x
k
B
u
k
(
33
)
W
h
er
e:
()
s
AT
m
A
k
e
an
d
0
s
T
m
m
s
m
B
B
d
t
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B
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h
en
,
w
e
ca
n
ap
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l
y
MP
C
co
n
tr
o
ller
d
esig
n
ed
i
n
2
.
1
to
cu
r
r
en
t
lo
o
p
an
d
th
e
o
p
ti
m
a
l
co
n
tr
o
l
s
ig
n
al
i
s
p
r
esen
ted
in
(
20
)
.
3.
2
.
Co
ntr
o
l
des
ig
n f
o
r
o
utt
e
r
lo
o
p
L
et
u
s
co
n
s
id
er
m
o
d
el
o
f
P
ML
SM
p
r
o
p
o
s
ed
in
[
1
8
]
:
2
c
p
sq
sd
p
sq
sd
sq
dv
p
FF
dt
m
F
i
L
L
i
i
dx
v
dt
(
34
)
W
ith
o
u
t lo
s
s
o
f
g
e
n
er
alit
y
,
w
e
ch
o
o
s
e
d
esire
d
cu
r
r
en
t in
d
-
ax
is
o
n
d
-
q
co
o
r
d
in
ate:
0
d
sd
i
.
B
y
let
tin
g
12
,
dd
x
x
x
x
v
x
w
it
h
d
x
is
d
esire
d
p
o
s
itio
n
,
w
e
o
b
tai
n
th
e
m
o
d
el
in
s
t
ate
s
p
ac
e
as:
12
2
d
xx
x
a
u
d
x
(
35
)
w
h
er
e
2
p
p
a
,
sq
ui
an
d
c
F
d
m
.
Lemma
1
:
A
s
i
s
p
r
esen
ted
in
[
7
]
,
b
y
u
s
in
g
co
n
tr
o
ller
(
36
)
an
d
d
is
tu
r
b
an
ce
o
b
s
er
v
er
(
3
7
)
,
th
e
s
tate
v
ar
iab
les o
f
s
y
s
te
m
(
35
)
co
n
v
er
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e
s
to
a
b
all
ce
n
ter
ed
at
th
e
o
r
ig
i
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
n
t J
E
lec
&
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o
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p
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n
g
,
Vo
l.
9
,
No
.
2
,
A
p
r
il 2
0
1
9
:
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7
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1
2
2
1
1
ˆ
t
a
n
h
x
t
a
n
h
(
x
)
d
u
L
L
d
x
a
(
36
)
02
0
0
0
2
ˆ
()
()
d
d
t
K
x
K
K
a
u
x
K
x
(
37
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P
r
o
o
f:
L
et
d
u
a
u
x
,
w
e
o
b
tain
:
2
0
0
0
2
02
12
20
ˆ
()
xx
x
u
d
K
x
K
K
u
K
x
d
t
K
x
(
38
)
w
h
er
e
ˆ
d
d
d
.
C
h
o
o
s
e
L
y
ap
u
n
o
v
ca
n
d
id
ate
f
u
n
ctio
n
as
f
o
llo
w
s
:
2
22
12
2
2
21
1
1
1
t
a
n
h
t
a
n
h
2
2
2
V
L
x
x
L
x
d
(
39
)
Dif
f
er
en
t
iati
n
g
b
o
th
s
id
e
o
f
(
39
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alo
n
g
s
o
lu
tio
n
o
f
(
38
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w
it
h
r
esp
ec
t to
t
:
2
1
1
2
2
1
2
2
1
2
2
1
32
2
2
ta
n
h
1
ta
n
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ta
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h
1
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h
ta
n
h
V
L
x
x
x
L
x
u
d
d
d
L
x
x
L
x
(
40
)
Su
b
s
ti
tu
t
in
g
(
36
)
in
to
(
40
)
:
2
2
1
1
1
2
2
1
2
22
1
2
2
1
2
2
3
2
1
2
1
2
ta
n
h
1
ta
n
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ta
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ta
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ta
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4
V
L
x
x
L
x
L
x
d
k
x
L
x
L
x
L
x
d
d
k
(
41
)
Fro
m
(
38
)
:
2
0
0
0
0
2
0
0
2
0
ˆ
d
K
x
K
K
u
K
x
K
u
d
K
x
K
d
T
h
en
,
r
ef
er
to
:
0
d
d
K
d
(
42
)
R
e
w
r
iti
n
g
(
42
)
w
it
h
t
h
e
aid
o
f
(
41
)
:
2
22
1
1
1
2
1
2
2
1
2
0
1
3
2
1
t
a
n
h
1
t
a
n
h
t
a
n
h
4
V
L
x
x
L
L
k
x
L
x
K
d
d
d
k
(
43
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
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lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
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8708
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lti p
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ed
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d
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kk
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B
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d
ass
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a
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k
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ch
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s
en
ar
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itra
r
il
y
lar
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e
an
d
f
r
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m
(
5
9
)
,
L
e
m
m
a
1
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p
r
o
v
ed
.
4.
RE
SU
L
T
S AN
D
AN
AL
Y
SI
S
B
ase
o
n
th
e
ab
o
v
e
co
n
cl
u
s
io
n
s
,
th
e
s
i
m
u
latio
n
m
o
d
el
o
f
P
M
L
S
M
a
n
d
c
o
n
tro
ll
e
r
a
re
c
o
n
stru
c
ted
in
M
a
tl
a
b
e
n
v
iro
n
m
e
n
t.
T
h
e
p
a
r
am
eter
s
o
f
P
ML
SM
is
g
iv
e
n
:
P
a
r
a
me
t
e
r
V
a
l
u
e
N
u
mb
e
r
o
f
P
o
l
e
2
P
o
l
e
st
e
p
7
2
m
m
R
o
t
o
r
mass
3
.
5
k
g
P
h
a
se
c
o
i
l
R
e
si
st
a
n
c
e
3
.
1
d
-
a
x
i
s
i
n
d
u
c
t
a
n
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e
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a
x
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s
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t
a
n
c
e
F
l
u
x
4
.
1
mH
4
.
1
mH
0
.
8
W
b
Fig
u
r
e
1
an
d
Fig
u
r
e
2
d
escr
ib
e
th
e
r
esp
o
n
s
es
o
f
P
ML
SM
i
n
ca
s
es
u
n
co
n
s
tr
ain
ted
an
d
co
n
s
tr
ai
n
ted
MP
C
co
n
tr
o
ller
.
I
n
f
ir
s
t c
ase,
Fig
u
r
e
1
.
d
is
p
la
y
th
at
ac
t
u
al
tr
aj
ec
to
r
y
’
s
m
o
to
r
tr
ac
k
i
n
g
d
es
i
g
n
ed
tr
aj
ec
to
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y
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ast,
b
u
t
it
r
eq
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ir
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t
h
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lar
g
e
s
tar
ted
v
o
ltag
e.
T
h
is
is
a
r
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s
o
n
to
w
e
m
u
s
t
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o
n
stra
in
t
th
e
v
o
lt
a
g
e
in
p
u
t
.
Fig
u
r
e
2
.
s
h
o
w
s
r
esp
o
n
s
es o
f
m
o
to
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th
e
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n
p
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u
is
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it
e
d
b
y
m
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sq
uV
.
C
o
n
s
id
er
in
g
t
h
e
d
esire
d
tr
aj
ec
to
r
y
o
f
m
o
to
r
s
is
e
x
p
r
ess
ed
b
y
:
()
d
x
t
t
,
w
e
o
b
tain
f
o
llo
w
i
n
g
ef
f
icien
ts
:
Fig
u
r
e
1.
A
ct
u
al
tr
aj
ec
to
r
y
a
n
d
co
n
tr
o
l sig
n
al
w
i
th
u
n
co
n
s
tr
ain
ted
MP
C
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
9
,
No
.
2
,
A
p
r
il 2
0
1
9
:
1
0
6
7
-
1077
1076
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u
r
e
2.
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ct
u
al
tr
aj
ec
to
r
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n
d
co
n
tr
o
l sig
n
al
w
i
th
co
n
s
tr
ai
n
ted
MP
C
5.
CO
NCLU
SI
O
N
I
n
th
is
w
o
r
k
,
w
e
ap
p
l
y
ca
s
ca
d
e
co
n
tr
o
l
s
tr
ateg
y
f
o
r
p
o
ly
s
o
le
n
o
id
lin
ea
r
m
o
to
r
to
s
ap
ar
ate
th
e
m
o
to
r
in
to
o
u
ter
an
d
in
n
er
lo
o
p
.
T
h
e
o
f
f
li
n
e
MP
C
co
n
tr
o
ller
b
ased
o
n
MPP
m
et
h
o
d
w
as
p
r
o
p
o
s
e
d
f
o
r
in
n
er
lo
o
p
t
o
m
ak
e
m
o
to
r
cu
r
r
en
t
to
f
o
llo
w
t
h
e
r
ef
er
en
ce
s
i
g
n
al
f
r
o
m
t
h
e
o
u
ter
co
n
tr
o
ller
.
Op
ti
m
iza
tio
n
p
r
o
b
lem
in
t
h
e
MP
C
co
n
tr
o
ller
w
a
s
m
o
d
i
f
ie
d
b
y
u
s
in
g
a
L
a
g
u
er
r
e
Mo
d
el
ap
p
r
o
ac
h
to
r
ed
u
ce
th
e
n
u
m
b
er
o
f
o
p
ti
m
al
v
ar
iab
les.
T
h
e
m
aj
o
r
ad
v
an
ta
g
e
o
f
o
u
r
MP
C
co
n
tr
o
ller
l
ie
s
i
n
t
h
e
ab
ili
t
y
to
s
o
l
v
e
co
n
s
t
r
ain
ts
p
r
o
b
lem
an
d
r
ed
u
cin
g
a
m
o
u
n
t
o
f
ca
lc
u
lati
o
n
b
ec
au
s
e
t
h
e
o
p
ti
m
al
p
r
o
b
le
m
is
o
f
f
li
n
e
s
o
lv
ed
.
T
h
e
o
u
ter
co
n
tr
o
ller
w
as
d
esig
n
ed
b
ased
o
n
n
o
n
li
n
ea
r
d
am
p
i
n
g
m
et
h
o
d
to
g
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ar
a
n
te
e
th
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er
r
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r
b
et
w
ee
n
r
ea
l
an
d
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ef
er
en
ce
v
e
lo
cit
y
co
n
v
er
g
e
to
ar
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itra
r
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s
m
all
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al
u
e.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
is
r
esear
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as s
u
p
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ted
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y
R
e
s
ea
r
ch
Fo
u
n
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atio
n
f
u
n
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ed
b
y
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y
e
n
U
n
i
v
er
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y
o
f
T
ec
h
n
o
lo
g
y
.
RE
F
E
R
E
NC
E
S
[1
]
Ng
.
P
h
.
Q
u
a
n
g
,
J.
-
A
.
Ditt
rich
;
“
V
e
c
to
r
C
o
n
tr
o
l
o
f
T
h
re
e
-
P
h
a
se
A
C
M
a
c
h
in
e
s
–
S
y
ste
m
D
e
v
e
l
o
p
m
e
n
t
in
th
e
P
ra
c
ti
c
e
,”
2
n
d
Ed
it
io
n
2
0
1
5
,
S
p
ri
n
g
e
r
Be
rli
n
He
id
e
lb
e
rg
.
[2
]
Ja
c
e
k
F
.
G
iera
s,
Zb
ig
n
ie
w
J.
P
iec
h
,
Bro
n
islaw
T
o
m
c
z
u
k
,
“
L
in
e
a
r
S
y
n
c
h
ro
n
o
u
s
M
o
to
rs
T
ra
n
sp
o
rta
t
io
n
a
n
d
Au
to
m
a
ti
o
n
S
y
ste
ms
,”
2
n
d
E
d
it
i
o
n
.
CRC
p
re
ss
,
2
0
1
1
.
[3
]
I.
Bo
ld
e
a
;
L
in
e
a
r
El
e
c
tric M
a
c
h
in
e
s,
Dr
ive
s,
a
n
d
M
AGL
EV
s
Ha
n
d
b
o
o
k
,
CRC
p
re
ss
,
2
0
1
3
.
[4
]
Da
n
iel
A
u
sd
e
ra
u
,
Po
lys
o
le
n
o
i
d
–
L
in
e
a
ra
n
trieb
mit
g
e
n
u
tete
m S
ta
t
o
r
,
Zu
rich
.
P
h
D T
h
e
ss
is,
2
0
0
4
.
[5
]
Hu
il
a
i
L
i,
X
iao
m
in
L
i,
Zh
iy
u
a
n
L
i,
“
P
e
rf
o
rm
a
n
c
e
A
s
se
ss
m
e
n
t
a
n
d
Co
m
p
a
riso
n
o
f
Tw
o
Ty
p
e
s
L
i
n
e
a
r
M
o
t
o
rs
f
o
r
El
e
c
tro
m
a
g
n
e
ti
c
Ca
tap
u
lt
,
”
T
EL
K
OM
NIKA
(
T
e
l
e
c
o
mm
u
n
ica
ti
o
n
,
C
o
mp
u
t
in
g
,
El
e
c
tro
n
ics
a
n
d
C
o
n
tr
o
l),
2
0
1
4
A
p
r.
,
1
2
(
4
):
2
5
0
6
-
2
5
1
5
[6
]
Ya
n
g
Zeq
in
g
,
L
iu
L
ib
in
g
,
W
a
n
g
z
u
o
ji
e
,
Ch
e
n
Yi
n
g
sh
u
,
X
ia
o
Qu
a
n
y
a
n
g
,
“
S
tatic
a
n
d
D
y
n
a
m
i
c
Ch
a
ra
c
teristic
S
im
u
latio
n
o
f
F
e
e
d
S
y
ste
m
Dr
iv
e
n
b
y
L
in
e
a
r
M
o
to
r
in
Hig
h
S
p
e
e
d
C
o
m
p
u
ter
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m
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[8
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6
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–
2
6
6
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