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l J
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urna
l o
f
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lect
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-
1993
1983
J
o
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l ho
m
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e
:
h
ttp
:
//ia
e
s
jo
u
r
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a
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lin
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p
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/I
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C
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A New
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o
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Ada
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Ro
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ha
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a
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a
-
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a
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,
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Abdel
m
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m
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l M
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,
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iv
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p
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h
a
v
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en
p
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tech
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ta
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[
1
]
.
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latter
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w
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I
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Vo
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g
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s
t
2
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1
7
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1
9
8
3
–
1
9
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3
1984
of
r
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to
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s
p
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d
,
s
o
th
e
o
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s
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v
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f
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o
lu
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[
5
-
7
].
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to
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to
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[
8
]
.
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G
O
F
T
H
E
SYS
T
E
M
2
.
1
.
M
o
delin
g
o
f
I
nd
uct
io
n M
a
c
hin
e
T
h
e
d
y
n
a
m
ic
eq
u
a
tio
n
s
o
f
i
n
d
u
ctio
n
m
ac
h
i
n
e
in
t
h
e
s
y
n
ch
r
o
n
o
u
s
l
y
r
o
tati
n
g
r
e
f
er
en
ce
f
r
a
m
e
ar
e
ex
p
r
ess
ed
as
:
{
(
)
(
)
(
1
)
W
h
er
e
,
,
,
,
,
,
an
d
ar
e
d
q
a
x
is
s
tato
r
cu
r
r
en
t,
d
q
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is
s
tato
r
v
o
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g
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d
q
ax
is
r
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to
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f
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q
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is
r
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r
cu
r
r
en
t
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o
to
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tr
ic
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g
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lar
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ls
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t
io
n
,
s
tato
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elec
tr
ic
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g
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lar
p
u
l
s
atio
n
,
d
q
ax
is
s
tat
o
r
f
lu
x
,
s
tato
r
r
esis
ta
n
ce
an
d
r
o
to
r
r
esis
tan
ce
r
esp
ec
tiv
el
y
.
T
h
e
s
tato
r
an
d
th
e
r
o
to
r
f
lu
x
ar
e
d
ef
in
ed
as
,
-
,
-
,
-
,
-
,
-
,
-
(
2
)
W
h
er
e
,
an
d
M
ar
e
s
tato
r
in
d
u
ctan
ce
,
r
o
to
r
in
d
u
ctan
ce
a
n
d
m
u
tu
al
i
n
d
u
c
tan
ce
r
esp
ec
ti
v
el
y
.
T
h
e
lo
ad
to
r
q
u
e
ac
ts
as a
d
is
tu
r
b
an
ce
v
ia
th
e
m
ec
h
an
ica
l r
o
tatio
n
(
(
)
)
(
3
)
W
h
er
e
,
,
an
d
ar
e
lo
ad
to
r
q
u
e,
m
o
m
e
n
t
o
f
i
n
er
tia,
v
is
co
u
s
f
r
ictio
n
co
e
f
f
icie
n
t
a
n
d
n
u
m
b
er
o
f
p
o
le
p
a
ir
s
r
esp
ec
tiv
el
y
.
T
h
e
m
o
d
el
o
f
an
i
n
d
u
ctio
n
m
a
ch
in
e
ca
n
b
e
e
x
p
r
ess
ed
in
a
s
t
ate
s
p
ac
e
r
ep
r
esen
tatio
n
.
B
y
c
o
n
s
id
er
in
g
th
e
s
tato
r
cu
r
r
en
ts
,
t
h
e
r
o
to
r
f
lu
x
an
d
th
e
r
o
to
r
elec
tr
ic
an
g
u
lar
p
u
l
s
atio
n
as
s
tate
v
ar
iab
l
es
an
d
t
w
o
co
n
tr
o
l
in
p
u
t
s
.
2
.
2
.
M
o
delin
g
o
f
t
he
I
nv
er
t
er
T
h
e
v
ar
io
u
s
s
w
i
tch
e
s
ar
e
ass
u
m
ed
p
er
f
ec
t.
W
e
ca
n
r
ep
lace
th
e
ar
m
o
f
th
e
i
n
v
er
ter
w
ith
o
n
e
o
r
t
w
o
s
w
itc
h
es p
o
s
itio
n
s
m
o
d
eled
b
y
a
lo
g
ic
f
u
n
ct
io
n
.
T
h
e
latter
is
d
ef
in
ed
as
f
o
llo
w
s
:
{
(
4
)
L
et
,
w
it
h
i
*
+
an
d
*
+
th
e
s
w
i
tch
i
n
g
f
u
n
ctio
n
o
f
t
h
e
s
w
itc
h
ass
o
ciate
d
w
i
t
h
th
e
ar
m
i o
f
t
h
i
s
in
v
er
ter
.
T
h
e
r
elatio
n
s
h
ip
s
b
et
w
ee
n
t
h
ese
d
i
f
f
er
en
t
f
u
n
ctio
n
s
ar
e
ex
p
r
ess
e
d
b
y
:
(
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
A
N
ew I
n
d
u
ctio
n
Mo
to
r
A
d
a
p
t
ive
R
o
b
u
s
t V
ec
to
r
C
o
n
tr
o
l B
a
s
ed
o
n
B
a
ck
s
tep
p
in
g
(
Mh
a
med
Ma
d
a
r
k
)
1985
T
h
e
p
o
ten
tials
o
f
th
e
n
o
d
es
A
,
B
an
d
C
o
f
th
e
i
n
v
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ter
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elati
v
e
to
th
e
p
o
in
t M
ar
e
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iv
e
n
b
y
:
,
-
,
-
(
6
)
W
e
ca
n
also
ex
p
r
ess
p
h
a
s
e
v
o
l
tag
es
f
r
o
m
li
n
e
v
o
lta
g
es a
s
f
o
l
lo
w
s
:
(
7
)
Usi
n
g
(
7
)
,
th
e
ex
p
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ess
io
n
o
f
p
h
ase
v
o
ltag
e
s
ar
e
f
o
r
m
u
lated
b
y
[
]
[
]
[
]
(
8
)
W
e
ch
o
o
s
e
L
et
[
]
[
]
[
]
;
[
]
(
)
[
]
;
0
1
(
)
[
]
W
ith
(
)
[
(
)
.
/
.
/
(
)
.
/
.
/
]
is
d
-
q
tr
an
s
f
o
r
m
atio
n
.
T
h
e
in
v
er
ter
m
o
d
el
in
t
h
e
d
-
q
r
ef
er
en
ce
f
r
a
m
e
is
g
i
v
en
b
y
,
-
,
-
(
9
)
E
I
N
V
E
R
T
E
R
K
1
1
K
1
2
K
2
1
K
3
1
K
2
2
K
3
2
i
1
i
3
i
2
Fig
u
r
e
1
.
Stru
ct
u
r
e
o
f
a
th
r
ee
p
h
ase
in
v
er
ter
2
.
3
.
M
o
delin
g
o
f
t
he
Sy
s
t
e
m
T
h
e
m
o
d
el
o
f
a
n
i
n
d
u
ctio
n
m
ac
h
i
n
e
ca
n
b
e
f
o
r
m
u
late
d
in
a
s
tate
s
p
ac
e
r
ep
r
esen
tatio
n
.
B
y
co
n
s
id
er
in
g
th
e
s
tato
r
cu
r
r
en
ts
,
th
e
r
o
to
r
f
lu
x
an
d
t
h
e
r
o
to
r
el
ec
tr
ic
an
g
u
lar
p
u
ls
at
io
n
as
s
tat
e
v
ar
iab
les
an
d
th
e
s
w
itc
h
in
g
f
u
n
ctio
n
s
(
)
y
ie
ld
in
g
t
h
e
f
o
llo
w
i
n
g
f
i
f
t
h
–
o
r
d
er
m
o
d
el.
̇
(
)
(
1
0
)
W
ith
:
⌊
⌋
is
th
e
s
tate
v
ec
to
r
,
[
]
is
th
e
co
n
tr
o
l v
ec
to
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
4
,
A
u
g
u
s
t
2
0
1
7
:
1
9
8
3
–
1
9
9
3
1986
(
)
[
.
/
(
)
(
)
]
;
0
1
(
)
;
;
;
⁄
(
)
(
⁄
)
;
(
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(
)
;
;
;
(
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⁄
;
⁄
.
Fro
m
th
e
s
tate
s
p
ac
e
r
ep
r
esen
tatio
n
,
w
e
ca
n
s
ee
t
h
at
t
h
e
d
y
n
a
m
ic
m
o
d
el
o
f
in
d
u
ctio
n
m
a
ch
in
e
an
d
th
e
i
n
v
er
ter
is
s
tr
o
n
g
l
y
co
u
p
le
d
n
o
n
li
n
ea
r
m
u
lti
v
ar
iab
le
s
y
s
t
e
m
.
T
h
e
ai
m
o
b
j
ec
tiv
es
i
s
to
c
h
o
o
s
e
,
i
n
s
u
c
h
a
w
a
y
as
to
f
o
r
ce
th
e
s
p
ee
d
an
d
th
e
r
o
to
r
fl
u
x
to
tr
ac
k
g
i
v
en
r
ef
er
e
n
ce
v
alu
e
s
d
en
o
ted
b
y
an
d
r
esp
ec
tiv
el
y
,
to
d
esig
n
a
n
a
d
ap
tatio
n
la
w
s
̂
an
d
̂
to
o
n
-
li
n
e
esti
m
ate
t
h
e
v
alu
e
o
f
r
o
to
r
ti
m
e
co
n
s
ta
n
t,
esti
m
ate
t
h
e
v
al
u
e
o
f
lo
ad
to
r
q
u
e
an
d
tr
ac
k
th
eir
v
ar
iatio
n
s
.
2
.
4
.
I
nd
irec
t
F
ield O
rie
nte
d Co
n
t
ro
l
T
h
is
co
n
tr
o
l
s
tr
ateg
y
is
b
ase
d
o
n
th
e
o
r
ien
tatio
n
o
f
th
e
f
lu
x
v
ec
to
r
alo
n
g
d
-
a
x
is
,
w
h
i
ch
ca
n
b
e
ex
p
r
ess
ed
b
y
co
n
s
id
er
in
g
,
a
n
d
(
11)
Usi
n
g
(
1
1
)
,
w
e
eli
m
i
n
ate
all
t
h
e
ter
m
s
w
ith
q
u
ad
r
at
u
r
e
co
m
p
o
n
en
t
o
f
r
o
to
r
f
lu
x
an
d
r
ed
u
ce
th
e
f
i
v
e
eq
u
atio
n
i
n
(
1
0
)
to
th
is
ex
p
r
es
s
io
n
o
f
t
h
e
s
y
n
c
h
r
o
n
o
u
s
an
g
u
l
ar
s
p
ee
d
.
(
1
2
)
I
f
t
h
e
ab
o
v
e
co
n
d
it
io
n
i
s
s
a
tis
f
ied
,
th
e
d
ec
o
u
p
li
n
g
o
f
t
h
e
r
o
to
r
v
o
ltag
e
eq
u
atio
n
s
i
s
r
ea
lized
.
T
o
w
h
at
ex
ten
t
t
h
is
d
ec
o
u
p
li
n
g
i
s
ac
t
u
all
y
ac
h
ie
v
ed
w
ill
d
ep
en
d
o
n
th
e
ac
c
u
r
ac
y
o
f
m
o
to
r
p
ar
am
eter
s
u
s
ed
.
On
-
li
n
e
p
ar
am
eter
ad
ap
tiv
e
tec
h
n
iq
u
e
is
e
m
p
lo
y
ed
to
tu
n
e
th
e
v
al
u
e
o
f
th
ese
p
ar
a
m
eter
s
u
s
ed
in
t
h
e
co
n
tr
o
ller
w
h
ic
h
co
m
b
i
n
es B
ac
k
s
tep
p
in
g
an
d
t
h
e
in
d
ir
ec
t f
ield
o
r
ien
ted
(
I
FO
)
co
n
tr
o
l te
ch
n
iq
u
es.
To
d
esig
n
th
e
n
o
n
li
n
ea
r
co
n
tr
o
l
an
d
th
e
ad
ap
tatio
n
la
w
b
as
ed
o
n
th
e
tech
n
iq
u
e
o
f
B
ac
k
s
t
ep
p
in
g
,
w
e
u
s
e
a
s
i
m
p
li
f
ied
m
o
d
el
o
f
i
n
d
u
ctio
n
m
ac
h
i
n
e
i
n
o
r
d
er
to
d
ev
elo
p
a
s
i
m
p
le
al
g
o
r
ith
m
t
h
at
ca
n
b
e
i
m
p
le
m
e
n
ted
ea
s
il
y
.
T
h
e
s
i
m
p
li
f
ied
m
o
d
el
o
f
in
d
u
ctio
n
m
ac
h
i
n
e
is
o
b
tain
e
d
b
y
s
ett
in
g
an
d
to
ze
r
o
in
(
1
0
).
̇
(
)
(
1
3
)
W
ith
:
⌊
⌋
is
th
e
s
tate
v
ec
to
r
,
[
]
is
th
e
co
n
tr
o
l v
ec
to
r
An
d
(
)
[
(
)
(
)
(
)
(
)
]
[
]
W
h
ich
i
s
a
f
o
u
r
t
h
o
r
d
er
m
o
d
el
.
3.
ADAP
T
I
VE
B
ACK
S
T
E
P
P
I
NG
CO
N
T
RO
L
B
ac
k
s
tep
p
in
g
is
a
r
ec
u
r
s
iv
e
L
y
ap
u
n
o
v
-
b
ased
s
c
h
e
m
e
f
o
r
th
e
class
o
f
s
tr
ict
f
ee
d
b
ac
k
s
y
s
t
e
m
s
.
T
h
e
m
ai
n
id
ea
o
f
B
ac
k
s
tep
p
in
g
i
s
to
d
esig
n
a
r
ec
u
r
s
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n
tr
o
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b
y
ch
o
o
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n
g
s
o
m
e
v
ar
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le
s
a
v
ir
t
u
al
co
n
tr
o
l
a
n
d
d
esig
n
in
g
f
o
r
th
e
m
i
n
ter
m
ed
i
ate
co
n
tr
o
l
la
w
s
.
T
h
is
ap
p
r
o
ac
h
g
u
ar
an
tee
s
g
lo
b
al
o
r
r
eg
io
n
al
r
eg
u
la
tio
n
an
d
tr
ac
k
in
g
p
r
o
p
r
ieties.
A
n
i
m
p
o
r
tan
t
ad
v
an
tag
e
o
f
t
h
e
d
esig
n
o
f
B
ac
k
s
tep
p
in
g
d
esig
n
s
tab
il
izin
g
co
n
tr
o
ller
s
is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
A
N
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n
d
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ctio
n
Mo
to
r
A
d
a
p
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R
o
b
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s
t V
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to
r
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n
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o
l B
a
s
ed
o
n
B
a
ck
s
tep
p
in
g
(
Mh
a
med
Ma
d
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f
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in
g
a
s
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by
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a
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o
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ith
m
.
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h
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tech
n
iq
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e
h
a
s
al
s
o
th
e
f
le
x
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ilit
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to
a
v
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id
ca
n
ce
ll
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tio
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s
a
n
d
ac
h
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v
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tab
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a
n
d
tr
ac
k
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s
in
g
t
h
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tiv
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r
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b
u
s
t c
o
n
tr
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l
[9
-
1
2
].
T
h
e
p
r
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cip
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b
j
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tiv
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C
h
o
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th
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l
v
ec
to
r
in
s
u
ch
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t
h
at:
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as
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tp
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t to
b
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co
n
tr
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(
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-
(
1
5
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.
1
.
C
ontr
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L
aw
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p1
:
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e
d
ef
in
e
th
e
v
ar
iab
le
r
ep
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th
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r
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et
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d
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ith
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t
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o
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tio
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ak
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h
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ti
m
e
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er
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e
h
av
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8
)
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n
th
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s
s
tep
,
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r
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j
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tiv
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v
ir
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l c
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w
h
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a
k
es
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tate.
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e
ca
n
n
o
w
s
elec
t a
n
ap
p
r
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tu
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tr
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l
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h
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g
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(
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(
̇
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1
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h
er
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s
a
p
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itiv
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co
n
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tan
t.
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et
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e
th
e
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ar
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ep
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r
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et
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ee
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th
e
ac
t
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al
an
d
v
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t
u
al
co
n
tr
o
l
(
2
0
)
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h
en
th
e
ti
m
e
d
er
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ati
v
e
o
f
b
ec
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m
e
s
̇
̃
(
2
1
)
Ste
p2
:
W
e
d
ef
in
e
̃
̂
;
̂
.
/
.
/
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;
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.
/
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;
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;
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̂
;
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ith
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t
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u
n
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tio
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2
2
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T
h
e
ti
m
e
d
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v
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o
f
L
y
ap
u
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o
v
f
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n
ct
io
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ca
n
d
id
ate
ca
n
b
e
co
m
p
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ted
as f
o
llo
w
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n
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8708
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J
E
C
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Vo
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g
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2
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7
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3
–
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9
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3
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(
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2
5
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p3
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e
d
ef
in
e
th
e
v
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r
ep
r
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tin
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e
er
r
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r
b
et
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an
d
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2
6
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h
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d
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u
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tio
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ca
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d
id
ate
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2
7
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ts
d
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w
i
th
r
esp
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t to
ti
m
e
is
̇
(
2
8
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n
th
i
s
s
tep
,
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u
r
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b
j
ec
tiv
e
is
to
d
esig
n
a
v
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tu
a
l c
o
n
tr
o
l la
w
wh
ich
m
a
k
es
.
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i
n
e
a
v
ir
tu
al
co
n
tr
o
l
let
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it
h
(
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m
ea
n
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v
ar
iab
le
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tate
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th
e
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tate.
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e
ca
n
n
o
w
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t a
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ap
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h
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g
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9
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(
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(
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3
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h
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p
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et
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al
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tr
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3
2
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h
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m
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m
e
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(
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(
3
3
)
Ste
p 4
:
W
e
d
ef
in
e
(
3
4
)
C
o
n
s
id
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a
L
y
ap
u
n
o
v
f
u
n
c
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
A
N
ew I
n
d
u
ctio
n
Mo
to
r
A
d
a
p
t
ive
R
o
b
u
s
t V
ec
to
r
C
o
n
tr
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l B
a
s
ed
o
n
B
a
ck
s
tep
p
in
g
(
Mh
a
med
Ma
d
a
r
k
)
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(
3
5
)
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ts
d
er
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ativ
e
w
i
th
r
esp
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t to
ti
m
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n
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l in
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t
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la
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n L
aw
s
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p 5
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n
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L
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9
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m
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n
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0
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5
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d
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4.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
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h
e
alg
o
r
ith
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p
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ap
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ab
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2
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
4
,
A
u
g
u
s
t
2
0
1
7
:
1
9
8
3
–
1
9
9
3
1990
T
h
e
co
n
tr
o
ller
g
ai
n
s
h
a
v
e
b
ee
n
c
h
o
s
en
as
f
o
llo
w
s
.
T
h
e
ad
a
p
tatio
n
g
ain
s
ar
e
ch
o
s
en
as
γ
γ
.
T
h
e
ch
o
ice
o
f
co
n
tr
o
ll
er
g
ain
s
an
d
ad
a
p
tatio
n
g
ain
s
is
n
o
t
ar
b
itra
r
y
.
T
h
er
f
o
r
e,
i
f
th
is
c
h
o
ice
is
co
r
r
ec
t,
w
e
o
b
tain
th
e
h
ig
h
p
er
f
o
r
m
an
ce
s
o
f
th
e
co
n
tr
o
ller
.
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f
th
e
er
r
o
r
b
et
w
ee
n
t
h
e
r
o
to
r
f
l
u
x
an
d
its
r
ef
er
e
n
ce
is
in
cr
ea
s
in
g
.
So
w
e
lo
s
e
th
e
in
f
o
r
m
a
tio
n
w
h
ic
h
en
ab
les
t
h
e
ad
ap
tatio
n
la
w
t
o
tr
ac
k
ch
an
g
es
o
f
r
o
to
r
tim
e
co
n
s
tan
t.
T
o
o
b
tain
g
o
o
d
p
er
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o
r
m
a
n
ce
o
f
t
h
e
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n
tr
o
ller
,
w
e
m
u
s
t r
esp
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t th
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s
o
r
d
er
o
f
co
n
tr
o
ller
g
a
in
s
,
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d
γ
.
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h
e
in
itial
v
al
u
e
o
f
t
h
e
r
o
to
r
r
esis
ta
n
ce
is
c
h
o
s
en
a
s
th
e
n
o
m
in
al
v
a
lu
e
0
,
7
Ω
an
d
it
in
cr
ea
s
es
r
ap
id
ly
to
0
,
8
4
Ω
.
T
h
e
in
itial
v
alu
e
o
f
th
e
lo
ad
to
r
q
u
e
is
ch
o
s
e
n
as 0
N
m
.
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n
t
h
is
s
tu
d
y
,
th
e
m
o
to
r
is
r
u
n
n
i
n
g
u
n
lo
ad
ed
,
at
t
>5
s
it
s
et
at
1
4
N
m
.
T
h
e
r
o
to
r
f
lu
x
is
r
eq
u
ir
ed
to
tr
ac
k
a
co
n
s
ta
n
t
r
ef
er
e
n
ce
v
al
u
e
o
f
1
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b
,
th
e
r
o
to
r
s
p
ee
d
is
r
eq
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ir
ed
to
tr
ac
k
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n
s
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t
s
r
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o
f
5
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<
t<7
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s
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d
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s
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t<9
s
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h
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m
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li
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m
o
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el
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t
h
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g
i
v
e
n
in
F
ig
u
r
e
2
.
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h
e
tim
e
h
is
to
r
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th
e
ac
t
u
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d
d
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o
f
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h
e
f
l
u
x
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s
p
ee
d
,
r
o
to
r
tim
e
co
n
s
ta
n
t
a
n
d
lo
ad
to
r
q
u
e
ar
e
r
ep
o
r
te
d
o
n
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i
g
u
r
es
3
,
Fig
u
r
e
4
,
Fi
g
u
r
e
5
an
d
Fi
g
u
r
e
6
.
T
h
e
b
lo
c
in
d
u
ctio
n
m
ac
h
i
n
e
“I
M‟
‟
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P
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f
P
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e
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s
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its
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m
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le
m
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li
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ea
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it
y
o
f
it
s
s
tead
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tate
to
r
q
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e
-
s
lip
c
h
ar
ac
ter
is
t
ics [
1
3
]
,
[
1
4
]
,
[
1
5
]
.
T
h
e
n
o
v
el
ap
p
r
o
ac
h
p
r
o
p
o
s
ed
in
t
h
i
s
p
ap
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w
as
tes
ted
in
M
A
T
L
AB
/SIM
L
I
NK
en
v
ir
o
n
m
e
n
t,
an
d
th
e
o
b
tain
ed
r
esu
lts
p
r
o
v
ed
its
f
ea
s
ib
ili
t
y
.
T
h
is
tech
n
iq
u
e
h
a
s
a
g
o
o
d
d
y
n
a
m
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c
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er
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a
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ce
b
u
t
is
d
i
f
f
icu
l
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to
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p
le
m
e
n
t
co
m
p
ar
ed
to
th
e
f
ir
s
t
o
n
e.
T
h
is
is
d
u
e
to
th
e
co
m
p
le
x
it
y
o
f
c
h
o
o
s
in
g
ap
p
r
o
p
r
iate
co
n
tr
o
ller
s
g
ain
s
.
T
o
v
alid
ate
ex
p
er
i
m
en
tal
l
y
t
h
ese
r
es
u
lt
s
t
h
e
n
ex
t
s
t
u
d
y
w
ill b
e
co
n
s
ec
r
ated
to
d
ev
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p
a
R
ap
id
C
o
n
tr
o
l Pr
o
to
ty
p
i
n
g
b
e
n
ch
.
T
h
e
latter
in
clu
d
es:
a.
An
i
n
d
u
ctio
n
m
ac
h
i
n
e
th
at
w
i
l
l b
e
co
n
tr
o
lled
b
y
th
e
d
ev
elo
p
ed
ap
p
r
o
ac
h
;
b.
A
D
C
m
o
to
r
th
a
t
w
ill b
e
u
s
ed
to
p
r
o
v
id
e
lo
ad
to
r
q
u
e;
c.
A
t
h
r
ee
p
h
ase
I
GB
T
in
v
er
ter
co
n
tr
o
lled
b
y
s
i
n
u
s
o
id
al
P
W
M
o
p
er
atin
g
at
1
0
k
Hz;
d.
A
T
MS3
2
0
C
4
0
d
ig
ital sig
n
al
p
r
o
ce
s
s
o
r
co
n
n
ec
ted
to
P
C
b
u
s
;
e.
A
s
e
t o
f
A
/D
a
n
d
D/
A
co
n
v
er
ter
s
b
o
ar
d
s
;
f.
A
P
C
u
s
ed
to
d
ev
elo
p
,
d
eb
u
g
an
d
d
o
w
n
lo
ad
co
n
tr
o
l p
r
o
g
r
a
m
s
;
g.
Stato
r
cu
r
r
en
ts
a
n
d
r
o
to
r
s
p
ee
d
ar
e
m
ea
s
u
r
ed
b
y
u
s
i
n
g
Hall
ef
f
ec
t
s
e
n
s
o
r
s
an
d
s
h
a
f
t
en
co
d
er
r
esp
ec
tiv
el
y
.
T
h
e
f
lu
x
ca
n
n
o
t
b
e
m
ea
s
u
r
ed
an
d
m
u
s
t
b
e
esti
m
ated
f
r
o
m
ac
ce
s
s
ib
le
m
ea
s
u
r
ed
v
ar
iab
les.
T
h
e
f
r
eq
u
en
c
y
o
f
r
o
to
r
f
l
u
x
is
d
ed
u
ce
d
f
r
o
m
t
h
e
f
if
th
eq
u
atio
n
o
f
t
h
e
d
y
n
a
m
ic
m
o
d
el.
T
h
e
co
n
tr
o
l
la
w
,
ad
ap
tatio
n
la
w
s
an
d
r
o
to
r
f
l
u
x
e
s
ti
m
atio
n
alg
o
r
ith
m
s
,
w
i
ll
b
e
w
r
itte
n
in
C
co
d
e
an
d
d
o
w
n
lo
ad
ed
to
th
e
DSP
in
o
r
d
er
to
i
m
p
le
m
en
t
th
e
n
e
w
v
ec
to
r
co
n
tr
o
l
ap
p
r
o
ac
h
,
an
d
to
esti
m
a
te
th
e
ac
t
u
al
v
alu
e
s
o
f
r
o
to
r
ti
m
e
co
n
s
ta
n
t,
lo
ad
to
r
q
u
e,
r
o
to
r
f
lu
x
an
d
its
s
p
ati
al
p
o
s
itio
n
.
6.
CO
NCLU
SI
O
N
Si
m
u
latio
n
w
o
r
k
,
ca
r
r
ied
o
u
t
in
t
h
i
s
w
o
r
k
,
d
e
m
o
n
s
tr
at
es
th
at
t
h
e
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
i
s
s
atis
f
ac
to
r
y
.
Mo
r
eo
v
er
,
u
s
in
g
th
e
ad
ap
tiv
e
B
a
ck
s
tep
p
i
n
g
,
t
h
e
r
o
b
u
s
t
n
e
s
s
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
c
h
e
m
e
i
s
g
u
ar
a
n
teed
.
C
o
m
b
in
in
g
B
ac
k
s
tep
p
in
g
a
n
d
i
n
d
ir
ec
t
f
ield
o
r
ien
ted
co
n
tr
o
l
tec
h
n
iq
u
e
s
co
n
s
ti
tu
te
s
a
n
e
w
ap
p
r
o
ac
h
f
o
r
h
ig
h
p
er
f
o
r
m
a
n
c
e
co
n
tr
o
l
d
r
iv
es
o
f
in
d
u
ctio
n
m
ac
h
in
e.
T
h
e
r
ec
u
r
s
iv
e
o
n
-
li
n
e
esti
m
a
tio
n
p
r
ed
icts
an
d
tr
ac
k
s
q
u
ic
k
l
y
an
d
ac
c
u
r
at
el
y
th
e
d
es
ir
ed
v
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o
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o
to
r
t
i
m
e
co
n
s
tan
t a
n
d
lo
ad
to
r
q
u
e.
RE
F
E
R
E
NC
E
S
[1
]
Ba
-
Ra
z
z
o
u
k
,
A
.
Ch
é
rit
i,
G
.
Oliv
ier,
“
Arti
fi
c
ia
l
Ne
u
ra
l
Ne
tw
o
rk
s
Ro
to
r
T
ime
C
o
n
sta
n
t
A
d
a
p
t
a
ti
o
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i
n
In
d
ire
c
t
Fi
e
ld
Or
ien
ted
Co
n
tro
l
Dr
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s”
,
I
EE
E
P
o
w
e
r
El
e
c
tro
n
ics
S
p
e
c
ialists
Co
n
f
e
re
n
c
e
,
IEE
E
-
P
E
S
C‟9
6
,
v
o
l.
1
,
p
p
.
7
0
1
-
7
0
7
,
Ju
i
n
1
9
9
6
.
[2
]
Ba
-
Ra
z
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o
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k
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A
.
Ch
é
rit
i,
P
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S
ica
rd
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“
Im
p
le
m
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o
f
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a
se
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l
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m
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m
a
to
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d
u
c
t
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n
M
o
to
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s
Ro
to
r
T
im
e
-
Co
n
sta
n
t”,
IEE
E
T
ra
n
sa
c
ti
o
n
s o
n
P
o
we
r E
lec
tr
o
n
ics
,
v
o
l.
1
7
,
p
p
.
5
3
4
-
5
4
2
,
Ju
ly
2
0
0
2
.
[3
]
F
a
a
-
Je
n
g
L
in
,
Ho
-
M
in
g
S
u
,
“
A
Hig
h
-
P
e
rf
o
rm
a
n
c
e
In
d
u
c
ti
o
n
M
a
c
h
in
e
Driv
e
w
it
h
On
-
li
n
e
Ro
to
r
T
i
m
e
-
Co
n
sta
n
t
Esti
m
a
ti
o
n
”
,
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
E
n
e
rg
y
Co
n
v
e
rs
io
n
,
v
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l.
1
2
,
p
p
.
2
9
7
-
3
0
3
,
De
c
e
m
b
e
r
1
9
9
7
.
[4
]
Dw
a
y
n
e
Telf
o
rd
,
M
a
tt
h
e
w
W
.
Du
n
n
ig
a
n
,
Ba
rry
W
.
W
il
li
a
m
s,
“
On
li
n
e
I
d
e
n
ti
f
ica
ti
o
n
o
f
In
d
u
c
ti
o
n
M
a
c
h
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n
e
El
e
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tri
c
a
l
P
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ra
m
e
ters
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c
to
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tro
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”
,
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sa
c
ti
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s
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n
In
d
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a
l
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e
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ics
,
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2
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A
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g
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[5
]
M
.
Zerb
o
,
A
.
Ba
-
ra
z
z
o
u
k
,
P
.
S
ica
rd
,
“
Re
a
l
-
ti
m
e
F
lu
x
a
n
d
T
o
rq
u
e
Es
ti
m
a
to
r
f
o
r
In
d
u
c
ti
o
n
M
a
c
h
in
e
s”
,
IEE
E
Ca
n
a
d
i
a
n
C
o
n
fer
e
n
c
e
o
n
El
e
c
tric
a
l
a
n
d
Co
mp
u
ter
E
n
g
i
n
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e
rin
g
CC
GEI’0
4
,
v
o
l.
4
,
p
p
.
2
1
5
9
-
2
1
6
2
,
M
a
i
2
0
0
4
.
[6
]
Ch
ich
-
Yi
Hu
a
n
g
,
T
ien
-
Ch
i
C
h
e
n
,
Ch
i
n
g
-
L
ien
Hu
a
n
g
,
“
R
o
b
u
st
Co
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
o
t
o
r
w
it
h
a
Ne
u
ra
l
-
Ne
tw
o
rk
L
o
a
d
T
o
rq
u
e
Esti
m
a
to
r
a
n
d
a
Ne
u
ra
l
-
Ne
tw
o
rk
Id
e
n
ti
f
ica
ti
o
n
”,
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tro
n
ics
, v
o
l.
4
6
,
p
p
.
9
9
0
-
9
9
8
,
Oc
to
b
e
r1
9
9
9
.
[7
]
W
e
n
-
Jie
h
W
a
n
g
,
J
e
n
n
-
Yih
Ch
e
n
,
“
A
Ne
w
S
li
d
in
g
M
o
d
e
P
o
siti
o
n
C
o
n
tro
ll
e
r
w
it
h
A
d
a
p
ti
v
e
L
o
a
d
T
o
rq
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e
Es
ti
m
a
to
r
f
o
r
a
n
In
d
u
c
t
io
n
M
o
to
r”
,
IEE
E
T
r
a
n
s
a
c
ti
o
n
s
o
n
En
e
rg
y
Co
n
v
e
rs
io
n
,
v
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l.
1
4
,
p
p
.
4
1
3
-
4
1
8
,
S
e
p
tem
b
e
r1
9
9
9
.
[8
]
Af
e
f
F
e
k
ih
,
F
a
h
m
id
a
N.
c
h
o
w
d
h
u
ry
,
“
On
No
n
li
n
e
a
r
Co
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
o
t
o
rs
:
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m
p
a
riso
n
o
f
T
wo
Ap
p
ro
a
c
h
e
s
”
,
P
r
o
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e
e
d
in
g
o
f
th
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2
0
0
4
A
m
e
ric
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n
Co
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l
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e
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sto
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ss
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se
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s
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l.
2
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p
p
.
1
1
3
5
-
1
1
4
0
,
Ju
ly
2
0
0
4
.
[9
]
F.
J.
L
in
,
P
.
H
.
S
h
e
n
,
S.
P.
Hs
u
,
“
A
d
a
p
ti
v
e
Ba
c
k
ste
p
p
in
g
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li
d
in
g
M
o
d
e
C
o
n
tr
o
l
fo
r
L
in
e
a
r
In
d
u
c
t
io
n
M
o
to
r
Driv
e
”
,
IEE
E
Pro
c
,
El
e
c
.
Po
we
r A
p
p
l
,
v
o
l
.
1
4
9
,
p
p
.
1
8
4
–
1
9
4
,
M
a
y
2
0
0
2
.
[1
0
]
Hs
in
-
Ja
n
g
S
h
e
ih
,
Ku
o
-
Ka
i
S
h
y
u
,
“
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n
li
n
e
a
r
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li
d
in
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-
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o
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e
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o
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n
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h
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d
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ti
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e
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a
c
k
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A
p
p
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o
a
c
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o
r
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d
u
c
ti
o
n
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o
to
r
Driv
e
”
,
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
In
d
u
str
i
a
l
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e
c
tro
n
ics
,
v
o
l
.
4
6
,
p
p
.
3
8
0
-
3
8
9
,
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p
ril
1
9
9
9
.
[1
1
]
Ch
e
n
li
a
n
g
W
a
n
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n
L
in
,
“
M
u
l
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a
riab
le
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d
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ti
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e
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c
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n
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o
l:
A
No
r
m
Esti
m
a
ti
o
n
A
p
p
ro
a
c
h
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,
IEE
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ra
n
sa
c
ti
o
n
s
o
n
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to
ma
ti
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n
tr
o
l
,
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l
.
5
7
,
p
p
.
9
8
9
–
9
9
5
,
A
p
ril
2
0
1
2
.
[1
2
]
E
-
J.Hw
a
n
g
,
H.
S.
Ka
n
g
,
C
-
H
.
Hy
u
n
,
M.
P
a
rk
,
“
R
o
b
u
st
Ba
c
k
ste
p
p
in
g
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o
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tr
o
l
Ba
se
d
o
n
L
y
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p
u
n
o
v
Re
d
e
sig
n
f
o
r
S
k
id
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tee
re
d
w
h
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led
m
o
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il
e
ro
b
o
ts”
,
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ter
n
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ti
o
n
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l
J
o
u
rn
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l
o
f
A
d
v
a
n
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e
d
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o
b
o
ti
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sy
ste
ms
,
v
o
l.
1
0
,
p
p
.
1
-
8
,
2
0
1
3
.
[1
3
]
A
.
Ba
-
R
a
z
z
o
u
k
,
A
.
Ch
é
rit
i,
V
.
Ra
jag
o
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a
lan
,
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a
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i
m
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I
m
p
l
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m
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tatio
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a
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to
r
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ime
-
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o
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sta
n
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li
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e
Esti
m
a
ti
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n
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c
h
e
m
e
”
,
IEE
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In
tern
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ti
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a
l
C
o
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f
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re
n
c
e
o
n
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n
d
u
strial
El
e
c
tro
n
ics
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n
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o
l,
In
str
u
m
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n
tatio
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a
n
d
A
u
to
m
a
ti
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n
,
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EE
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IECON
,
v
o
l
.
2
,
p
p
.
9
2
7
-
9
3
2
,
N
o
v
e
m
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e
r
1
9
9
9
.
[1
4
]
M
.
S
a
ra
v
a
n
a
n
,
R.
Na
n
d
a
k
u
m
a
r,
G
.
V
e
e
ra
b
a
laji,
“
Eff
e
c
tu
a
l
S
VPW
M
T
e
c
h
n
iq
u
e
s
a
n
d
Im
p
le
m
e
n
t
a
ti
o
n
o
f
F
P
G
A
Ba
se
d
In
d
u
c
ti
o
n
M
o
to
r
Driv
e
”,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Rec
o
n
fi
g
u
ra
b
le
a
n
d
Emb
e
d
d
e
d
S
y
ste
ms
,
v
o
l.
1
,
p
p
.
1
1
-
1
8
,
2
0
1
2
.
[1
5
]
S
a
b
e
r
Krim
,
S
o
u
f
ien
G
d
a
i
m
,
A
b
d
e
ll
a
ti
f
M
ti
b
a
a
,
M
o
h
a
m
e
d
F
a
o
u
z
i
M
im
o
u
n
i,
“
F
P
G
A
-
Ba
se
d
I
m
p
le
m
e
n
tatio
n
Dire
c
t
T
o
rq
u
e
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
to
r”
,
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
v
o
l.
5
,
p
p
.
2
9
3
-
3
0
4
,
2
0
1
5
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
M
h
a
m
e
d
M
a
d
a
r
k
wa
s
b
o
rn
in
S
e
tt
a
t
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M
o
rro
c
c
o
,
in
1
9
8
7
.
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is
a
P
h
.
D.
st
u
d
e
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t
.
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re
c
e
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e
d
h
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s
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S
c
.
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e
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re
e
in
m
a
th
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g
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ro
m
S
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c
e
a
n
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T
e
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h
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ica
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F
a
c
u
lt
y
,
Ha
s
sa
n
1
st
U
n
iv
e
rsity
,
S
e
tt
a
t,
M
o
ro
c
c
o
,
i
n
2
0
1
3
,
t
h
e
M
.
S
c
.
d
e
g
re
e
in
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u
to
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ti
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,
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ig
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n
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a
c
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lt
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ss
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n
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rsity
,
S
e
tt
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t,
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o
ro
c
c
o
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in
2
0
1
5
.
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re
se
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rc
h
in
tere
sts
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d
e
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d
a
p
ti
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e
ro
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u
st
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o
n
l
in
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n
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r
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tro
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sig
n
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n
e
c
ted
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V
sy
ste
m
s.
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h
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a
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r
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.
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)
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i
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strial
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ro
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iv
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ro
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h
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re
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ter
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n
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d
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i
n
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9
9
8
.
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ro
m
1
9
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o
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0
3
,
h
e
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s
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L
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tu
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in
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tri
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ter
En
g
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g
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UQ
T
R.
In
S
e
p
tem
b
e
r
1
9
9
8
,
h
e
jo
i
n
e
d
th
e
Hy
d
ro
-
Qu
e
b
e
c
In
d
u
strial
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se
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h
Ch
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ir
o
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o
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r
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n
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tri
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a
l
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rg
y
,
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R,
w
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a
s
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P
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l
Re
se
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rc
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ti
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w
o
rk
in
g
o
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h
ig
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p
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rm
a
n
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telli
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t
c
o
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tri
c
a
l
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in
c
e
Ju
n
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2
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0
9
,
h
e
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ro
f
e
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it
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a
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Re
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a
ff
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iate
d
to
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S
y
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m
s
A
n
a
l
y
sis
a
n
d
In
f
o
r
m
a
ti
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P
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in
g
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a
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to
ry
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b
o
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a
t
th
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a
c
u
lt
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ien
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e
s
e
t
T
e
c
h
n
iq
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e
s,
U
n
iv
e
rsité
Ha
ss
a
n
1
er
o
f
S
e
tt
a
t,
M
o
r
o
c
c
o
.
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se
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rc
h
in
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