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m
m
u
n
co
n
s
i
s
ts
o
n
r
ep
lacin
g
th
e
s
i
g
n
f
u
n
ctio
n
b
y
a
co
n
tin
u
o
u
s
ap
p
r
o
x
i
m
atio
n
i
n
v
ic
in
i
t
y
o
f
t
h
e
s
lid
in
g
s
u
r
f
ac
e
[
1
4
]
,
o
r
u
s
in
g
t
h
e
eq
u
i
v
ale
n
t
co
m
m
a
n
d
[
1
1
]
,
b
u
t th
e
m
o
s
t i
n
ter
esti
n
g
w
a
y
i
s
to
u
s
e
h
i
g
h
o
r
d
er
s
lid
in
g
m
o
d
es
.
T
h
is
p
ap
er
d
ev
elo
p
an
d
i
m
p
lem
en
t
in
r
ea
l
ti
m
e
a
f
a
s
t
an
d
r
o
b
u
s
t
co
n
tr
o
ller
u
s
in
g
t
h
e
Su
p
e
r
-
T
w
is
ti
n
g
alg
o
r
ith
m
[
1
5
]
f
o
r
s
p
ee
d
co
n
tr
o
l
o
f
a
B
L
DC
m
o
to
r
.
T
h
e
Su
p
er
-
T
w
is
ti
n
g
s
lid
i
n
g
m
o
d
e
co
n
t
r
o
ller
(
S
T
SMC
)
is
a
n
o
n
li
n
ea
r
co
n
tr
o
ller
t
h
at
i
s
a
p
ar
t
o
f
v
ar
iab
le
s
tr
u
ct
u
r
e
co
n
t
r
o
ller
s
,
it
is
b
ased
o
n
t
h
e
h
i
g
h
o
r
d
er
s
lid
in
g
m
o
d
e
th
eo
r
y
,
i
n
o
r
d
er
to
r
em
ed
y
t
h
e
ch
a
ter
in
g
p
r
o
b
le
m
o
f
cla
s
s
ical
s
l
id
in
g
m
o
d
e
co
n
tr
o
lle
r
s
,
ca
n
ce
li
n
g
a
ls
o
th
e
u
p
p
er
d
er
iv
ativ
e
s
o
f
th
e
s
l
id
in
g
s
u
r
f
ac
e
[
1
6
-
1
8
]
.
I
n
f
ac
t,
th
i
s
i
n
f
o
r
m
atio
n
o
n
t
h
e
d
er
iv
ativ
e
i
s
u
n
p
lea
s
an
t
f
o
r
au
to
m
atio
n
s
p
ec
ialis
t
s
.
So
,
in
1
9
9
3
A
.
lev
an
t
i
n
tr
o
d
u
ce
d
th
e
Su
p
er
T
w
i
s
ti
n
g
al
g
o
r
ith
m
th
at
j
u
s
t
r
eq
u
ir
e
s
in
f
o
r
m
atio
n
o
n
t
h
e
s
lid
in
g
v
ar
iab
le
an
d
it
i
s
ap
p
licab
le
o
n
s
y
s
te
m
s
w
it
h
r
elati
v
e
d
eg
r
ee
1
.
T
h
is
co
n
tr
o
ller
h
a
s
b
ee
n
u
s
ed
s
u
cc
ess
f
u
ll
y
i
n
elec
tr
ical
m
ac
h
i
n
es
co
n
tr
o
l,
in
d
u
c
tio
n
m
ac
h
in
e
[
1
9
]
,
DFI
G
[
2
0
]
,
an
d
d
ev
elo
p
m
e
n
t
o
f
s
tate
o
b
s
er
v
er
s
f
o
r
n
o
n
-
li
n
e
ar
s
y
s
te
m
s
[
2
1
]
.
T
h
e
p
ap
e
r
is
o
r
g
an
ized
as
f
o
l
lo
w
s
:
th
e
s
ec
o
n
d
s
ec
tio
n
p
r
es
en
ts
t
h
e
b
r
u
s
h
les
s
m
o
to
r
m
o
d
el
an
d
its
o
p
er
atin
g
p
r
in
cip
le.
T
h
e
t
h
i
r
d
s
ec
tio
n
p
r
esen
t
s
t
h
e
S
u
p
er
-
T
w
i
s
ti
n
g
alg
o
ti
th
m
t
h
eo
r
y
an
d
d
eter
m
in
e
s
th
e
b
r
u
s
h
le
s
s
m
o
to
r
co
n
tr
o
l
la
w
u
s
in
g
t
h
i
s
co
m
m
a
n
d
t
y
p
e.
T
h
e
las
t
s
ec
t
io
n
p
r
es
en
ts
a
n
d
d
is
c
u
tes
th
e
ex
p
er
i
m
en
tal
r
esu
l
ts
ap
p
lie
d
o
n
a
B
r
u
s
h
les
s
m
o
to
r
o
f
3
KW
,
8
0
V,
3
0
0
0
r
p
m
.
2.
M
O
DE
L
I
N
G
O
F
B
RUSH
L
E
SS
DC
M
O
T
O
R
T
h
e
eq
u
iv
alen
t
m
o
d
el
o
f
th
e
B
L
DC
M
d
r
iv
e
s
y
s
te
m
w
it
h
t
h
e
ass
u
m
p
tio
n
o
f
t
h
r
ee
-
p
h
ase
s
y
m
m
etr
ic
s
tato
r
w
i
n
d
in
g
s
is
s
h
o
w
n
in
F
ig
u
r
e
1
.
Fig
u
r
e
1
.
T
h
e
f
u
ll b
r
id
g
e
d
r
iv
i
n
g
cir
c
u
it o
f
B
L
DC
m
o
to
r
T
h
e
ter
m
i
n
al
v
o
ltag
e
eq
u
a
tio
n
o
f
th
r
ee
-
p
h
ase
s
tato
r
w
i
n
d
i
n
g
s
is
ex
p
r
ess
ed
as:
a
a
a
a
b
b
b
b
c
c
c
c
di
V
R
i
L
e
dt
di
V
R
i
L
e
dt
di
V
R
i
L
e
dt
(
1
)
a
a
b
b
c
c
em
e
i
e
i
e
i
T
(
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.
9
,
No
.
4
,
A
u
g
u
s
t 2
0
1
9
:
3
0
3
2
-
3040
3034
w
h
er
e
R
is
th
e
s
tato
r
r
esis
ta
n
ce
,
L
is
t
h
e
s
tat
o
r
in
d
u
cta
n
ce
,
V
a
,
V
b
an
d
V
c
ar
e
th
e
ter
m
in
a
l
v
o
ltag
e
s
o
f
th
e
t
h
r
ee
-
p
h
ase
s
tato
r
w
i
n
d
i
n
g
r
esp
ec
tiv
el
y
;
i
a
,
i
b
an
d
i
c
ar
e
t
h
e
s
tato
r
cu
r
r
en
ts
;
e
a
,
e
b
a
n
d
e
c
ar
e
th
e
p
h
a
s
e
b
ac
k
E
MFs;
T
em
an
d
Ω
r
ep
r
esen
t e
lectr
o
m
ag
n
etic
to
r
q
u
e
an
d
r
o
to
r
an
g
u
lar
v
elo
cit
y
r
esp
ec
ti
v
el
y
.
T
h
e
co
n
tr
o
lled
b
r
u
s
h
less
D
C
m
o
to
r
co
n
s
i
s
ts
o
f
a
th
r
ee
p
h
ase
w
i
n
d
in
g
s
s
tato
r
w
h
ic
h
ar
e
s
tar
co
n
n
ec
ted
a
n
d
a
p
er
m
a
n
e
n
t
m
ag
n
et
r
o
to
r
Fig
u
r
e
1
.
T
h
e
m
o
t
o
r
is
o
p
er
atin
g
i
n
t
w
o
p
h
a
s
es
co
n
d
u
ctio
n
m
o
d
e
i
n
w
h
ic
h
ea
ch
p
h
a
s
e
v
o
lta
g
e
is
e
n
er
g
ized
f
o
r
an
in
ter
v
al
o
f
1
2
0
elec
tr
ical
d
eg
r
ee
s
ac
co
r
d
in
g
to
r
o
to
r
elec
tr
ical
p
o
s
itio
n
.
B
asicall
y
,
th
er
e
ar
e
s
ix
d
i
f
f
er
e
n
t
s
ec
to
r
s
,
in
w
h
ic
h
j
u
s
t
t
w
o
p
h
ase
s
ar
e
p
o
w
er
ed
;
o
n
e
is
co
n
n
ec
ted
to
th
e
p
o
s
iti
v
e
ter
m
i
n
al
o
f
th
e
D
C
b
u
s
+V
DC
a
n
d
t
h
e
o
th
er
to
-
V
DC
,
Fi
g
u
r
e
2
.
T
h
e
r
o
to
r
p
o
s
itio
n
i
s
d
eter
m
in
ed
u
s
i
n
g
t
h
r
ee
Hal
l
E
f
f
ec
t
s
e
n
s
o
r
s
i
n
s
tal
led
i
n
t
h
e
s
tato
r
w
it
h
a
s
h
if
t
o
f
1
2
0
elec
tr
ical
d
e
g
r
ee
s
.
Fi
g
u
r
e
2
s
h
o
w
s
th
e
d
if
f
er
en
t p
o
s
s
ib
ilit
ie
s
to
s
u
p
p
ly
t
h
e
m
o
to
r
a
cc
o
r
d
in
g
to
th
e
r
o
to
r
p
o
s
itio
n
.
Fig
u
r
e
2
.
Six
s
tep
s
s
w
itc
h
i
n
g
s
eq
u
en
ce
3.
B
L
DC
M
O
T
O
R
CO
NT
RO
L
SCH
E
M
E
3
.
1
.
S
i
m
pl
if
ica
t
io
n o
f
t
he
m
o
del
T
h
e
elec
tr
ic
m
o
d
el
o
f
t
h
e
b
r
u
s
h
les
s
m
o
to
r
Fi
g
u
r
e
3
,
an
d
d
if
f
er
en
t
p
o
w
er
s
u
p
p
lies
o
f
t
h
e
s
ta
to
r
p
h
ases
d
ep
en
d
in
g
o
n
t
h
e
r
o
to
r
p
o
s
itio
n
ar
e
g
i
v
en
r
esp
ec
ti
v
el
y
in
T
ab
le
1
.
T
ab
le
1
.
T
r
u
th
tab
le
o
f
h
all
ef
f
ec
t sen
s
o
r
s
a
n
d
g
ate
s
tate
S
e
q
H
a
l
l
S
e
n
so
r
s
A
c
t
i
v
e
sw
i
t
c
h
e
s
P
h
a
se
s c
u
r
r
e
n
t
s
C
B
A
C
B
A
1
1
0
1
Q1
-
Q4
O
F
F
DC
-
D
C
+
2
1
0
0
Q5
-
Q4
D
C
+
DC
-
O
F
F
3
1
1
0
Q5
-
Q2
D
C
+
O
F
F
DC
-
4
0
1
0
Q3
-
Q2
O
F
F
D
C
+
DC
-
5
0
1
1
Q3
-
Q6
DC
-
D
C
+
O
F
F
6
0
0
1
Q1
-
Q6
DC
-
O
F
F
D
C
+
Fig
u
r
e
3
.
T
h
e
B
L
DC
m
o
to
r
cir
cu
it
R
a
R
b
R
c
i
a
i
b
i
c
L
a
L
b
L
c
e
b
e
a
e
c
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
R
ea
l time
imp
leme
n
ta
tio
n
o
f a
s
u
p
er tw
is
t
in
g
co
n
tr
o
l o
f a
B
LDC
mo
to
r
(
A
l
i Mo
u
s
mi
)
3035
C
o
n
s
id
er
th
e
f
ir
s
t seq
u
e
n
ce
ch
ar
ac
ter
ized
b
y
:
-
,
0
0
-
a
b
c
a
b
a
b
e
m
i
i
I
i
w
i
t
h
U
e
e
K
E
(
3
)
T
h
e
th
r
ee
p
h
ases
o
f
t
h
e
m
o
to
r
ar
e
s
y
m
m
etr
ica
l
R
a
= R
b
a
n
d
L
a
= L
b
.
So
:
(
-
)
a
a
a
a
dI
V
R
I
L
M
e
dt
(
4
)
(
-
)
b
b
b
b
dI
V
R
I
L
M
e
dt
(
5
)
w
h
er
e
M
is
th
e
m
u
t
u
al
s
tat
o
r
i
n
d
u
cta
n
ce
.
T
h
u
s
t
h
e
ex
p
r
es
s
io
n
o
f
U
ab
is
:
a
b
a
b
a
a
m
dI
U
V
V
2
R
I
2
(
L
M
)
2
E
dt
(
6
)
P
o
s
in
g
2
,
2
(
-
)
2
a
a
m
R
R
L
L
M
a
n
d
E
E
(
7
)
W
e
o
b
tain
th
e
s
a
m
e
ex
p
r
ess
io
n
o
f
t
h
eDC
m
o
to
r
elec
tr
ical
eq
u
atio
n
:
ab
dI
U
R
I
L
E
dt
(
8
)
I
n
th
e
s
a
m
e
w
a
y
,
s
t
u
d
y
i
n
g
th
e
o
th
er
zo
n
es,
lead
to
th
e
elec
tr
i
ca
l
eq
u
atio
n
o
f
a
DC
m
o
to
r
.
T
h
e
co
n
tr
o
l
o
f
th
e
s
el
f
-
d
r
iv
e
n
B
L
D
C
m
o
t
o
r
is
th
er
ef
o
r
e
s
i
m
ilar
to
a
s
ep
ar
ately
e
x
cite
d
DC
m
o
to
r
w
h
er
e
th
e
s
p
ee
d
i
s
d
ir
ec
tl
y
p
r
o
p
o
r
tio
n
al
to
th
e
v
o
ltag
e
ap
p
lied
to
th
e
m
o
to
r
ter
m
i
n
als;
A
n
d
to
c
h
an
g
e
t
h
i
s
v
o
ltag
e,
w
e
at
tack
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d
tech
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ic
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ese
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ch
in
m
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o
cc
o
(
C
NR
S
T
)
.
RE
F
E
R
E
NC
E
S
[1
]
Y.
S
h
i,
e
t
a
l.
,
“
A
n
e
w
a
p
p
ro
a
c
h
o
f
m
in
im
izin
g
c
o
m
m
u
tatio
n
to
rq
u
e
rip
p
le
f
o
r
b
lu
s
h
les
s
d
c
m
o
to
r
b
a
se
d
o
n
d
c
–
d
c
c
o
n
v
e
rter,”
IEE
E
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l
/i
ss
u
e
:
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(
10
)
,
p
p
.
3
4
8
3
-
3
4
9
0
,
2
0
1
0
.
[2
]
P
.
A
g
ra
wa
l,
e
t
a
l.
,
“
Co
m
p
a
ra
ti
v
e
stu
d
y
o
f
f
u
z
z
y
lo
g
ic
Ba
se
d
S
p
e
e
d
Co
n
tr
o
l
o
f
M
u
lt
i
lev
e
l
In
v
e
rt
e
r
f
e
d
Bru
s
h
les
s
DC
M
o
to
r
Driv
e
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(
IJ
PE
DS
),
v
ol
/i
ss
u
e
:
4
(
1
)
,
p
p
.
7
0
-
80
,
2
0
1
4
.
[3
]
J.
S
.
P
ar
k
a
n
d
K.
D.
Lee
,
“
De
sig
n
a
n
d
i
m
p
le
m
e
n
tatio
n
o
f
BL
DC
M
o
to
r
w
it
h
In
teg
ra
ted
Driv
e
Circu
it
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
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n
d
Dr
ive
S
y
ste
m (
IJ
PE
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)
,
v
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l
/
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e
:
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(
3
)
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p
p
.
1
1
0
9
-
1
1
1
6
,
2
0
1
7
.
[4
]
M.
A
.
S
h
a
m
s
e
ld
in
e
t
a
l
.
,
“
P
e
rf
o
rm
a
n
c
e
S
tu
d
y
o
f
En
h
a
n
c
e
d
No
n
-
L
in
e
a
r
P
ID
Co
n
tro
l
A
p
p
l
ied
o
n
Bru
sh
les
s
DC
M
o
to
r
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
s
tem
(
IJ
PE
DS
)
,
v
o
l
/i
ss
u
e
:
9
(
2
)
,
p
p
.
536
-
5
4
5
,
2
0
1
8
.
[5
]
L
.
P
.
G
u
o
,
e
t
a
l.
,
“
Co
m
p
a
ra
ti
v
e
e
v
a
lu
a
ti
o
n
o
f
slid
in
g
m
o
d
e
fu
z
z
y
c
o
n
tro
ll
e
r
a
n
d
P
ID
c
o
n
tro
ll
e
r
f
o
r
a
b
o
o
st
c
o
n
v
e
rter
,
”
El
e
c
tricPo
we
r S
y
ste
ms
Res
e
a
rc
h
,
v
o
l
/i
ss
u
e
:
81
(
1
)
,
p
p
.
9
9
-
1
0
6
,
2
0
1
1
.
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
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p
E
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Vo
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9
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No
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4
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A
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g
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s
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0
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-
3040
3040
[6
]
C
.
Ya
n
,
e
t
a
l.
,
“
I
m
p
le
m
e
n
tatio
n
o
f
a
P
S
O
b
a
se
d
On
li
n
e
De
sig
n
o
f
a
n
Op
ti
m
a
l
Ex
c
it
a
ti
o
n
Co
n
tr
o
ll
e
r
,
”
2
0
0
8
IEE
E
S
wa
n
n
I
n
telli
g
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n
c
e
S
y
mp
o
si
u
m
,
p
p
.
1
-
7
,
2
0
0
8
.
[7
]
M
.
A
.
F
n
a
e
ich
,
e
t
a
l.
,
“
F
u
z
z
y
lo
g
ic
a
n
d
slid
in
g
-
m
o
d
e
c
o
n
tr
o
ls
a
p
p
li
e
d
t
o
se
x
-
p
h
a
se
in
d
u
c
t
io
n
m
a
c
h
in
e
w
it
h
o
p
e
n
p
h
a
se
s,”
IE
EE
T
r
a
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l
/i
ss
u
e
:
57
(
1
)
,
p
p
.
3
5
4
-
3
6
4
,
2
0
1
0
.
[8
]
H.
S
.
Ch
o
i,
e
t
a
l.
,
“
G
lo
b
a
l
slid
in
g
-
m
o
d
e
c
o
n
tro
l
im
p
ro
v
e
d
d
e
sig
n
f
o
r
a
b
ru
s
h
les
s
DC
m
o
to
r,
”
IEE
E
Co
n
tro
l
S
y
ste
ms
M
a
g
a
zin
e
,
v
o
l.
2
1
,
p
p
.
2
7
-
3
5
,
2
0
0
1
.
[9
]
M
.
Ha
b
b
a
b
,
e
t
a
l
.
,
“
Re
a
l
ti
m
e
i
m
p
le
m
e
n
tatio
n
o
f
a
f
u
z
z
y
a
d
a
p
tativ
e
P
I
-
slid
i
n
g
m
o
d
e
c
o
n
tro
ll
e
r
f
o
r
In
d
u
c
ti
o
n
m
a
c
h
in
e
c
o
n
tro
l
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
mp
u
te
r E
n
g
in
e
e
rin
g
(
IJ
ECE
),
v
o
l
/i
ss
u
e
:
8
(
5
)
,
p
p
.
2
8
8
3
-
2
8
9
3
,
2
0
1
8
.
[1
0
]
V
.
Bre
g
e
a
u
lt
,
“
Q
u
e
l
q
u
e
s
c
o
n
tri
b
u
ti
o
n
s
à
la
th
é
o
rie
d
e
la
c
o
m
m
a
n
d
e
p
a
r
m
o
d
e
s
g
li
ss
a
n
t
,
”
L
a
b
o
r
a
to
ire
IRCCyN
,
Eco
le Cen
tra
l
d
e
Na
n
tes
,
2
0
1
0
.
[1
1
]
V
.
Utk
in
,
e
t
a
l.
,
“
S
l
id
i
n
g
M
o
d
e
Co
n
tr
o
l
i
n
El
e
c
tro
m
e
c
h
a
n
ica
l
S
y
ste
m
s
,
”
S
y
ste
ms
a
n
d
Co
n
tro
l
.
T
a
y
lo
r
&
Fra
n
c
is
,
L
o
n
d
o
n
,
1
9
9
9
.
[1
2
]
V
.
Utk
in
,
“
S
li
d
in
g
M
o
d
e
s i
n
C
o
n
t
ro
l
Op
t
im
iza
ti
o
n
,”
S
p
ri
n
g
e
r,
Be
rli
n
,
1
9
9
2
.
[1
3
]
V
.
Utk
in
,
“
S
l
id
i
n
g
M
o
d
e
Co
n
tr
o
l
in
El
e
c
tro
-
M
e
c
h
a
n
ica
l
S
y
st
e
m
s
,
”
CRC
Pre
ss
,
S
e
c
o
n
d
e
d
it
i
o
n
,
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u
to
ma
ti
o
n
a
n
d
Co
n
tro
l
E
n
g
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e
rin
g
,
2
0
0
9
.
[1
4
]
J.
A
.
Bu
rto
n
a
n
d
A
.
S.
I.
Zi
n
o
b
e
r
,
“
Co
n
ti
n
u
o
u
s a
p
p
r
o
x
im
a
ti
o
n
o
f
v
a
riab
le stru
c
tu
re
c
o
n
tro
l
,
”
In
t.
J
.
S
y
ste
ms
S
c
ien
c
e
,
v
o
l/
issu
e
:
1
7
(6
)
,
p
p
.
8
7
5
-
8
8
5
,
1
9
8
6
.
[1
5
]
A
.
L
e
v
a
n
t,
“
S
li
d
i
n
g
o
rd
e
r
a
n
d
slid
in
g
a
c
c
u
ra
c
y
in
slid
i
n
g
m
o
d
e
c
o
n
tro
l
,
”
In
t.
J
.
C
o
n
tr
o
l
,
v
o
l
/i
ss
u
e
:
58
(
6
)
,
p
p
.
1
2
4
7
-
1
2
6
3
,
1
9
9
3
.
[1
6
]
A
.
L
e
v
a
n
t
,
“
Ho
m
o
g
e
n
e
it
y
a
p
p
ro
a
c
h
to
h
ig
h
-
o
r
d
e
r
slid
in
g
m
o
d
e
d
e
sig
n
,”
Au
to
ma
ti
c
a
,
v
o
l/
issu
e
:
4
1
(
5
)
,
p
p
.
8
2
3
-
8
3
0
,
2
0
0
5
.
[1
7
]
A
.
Ba
c
c
io
tt
i
a
n
d
L
.
Ro
sie
r
,
“
L
i
a
p
u
n
o
v
f
u
n
c
ti
o
n
s
a
n
d
sta
b
il
it
y
in
c
o
n
tr
o
l
th
e
o
ry
,
”
L
e
c
tu
re
n
o
tes
in
c
o
n
tr
o
l
a
n
d
in
fo
rm
a
ti
o
n
sc
ien
c
e
s
,
S
p
r
in
g
e
r,
2
0
0
1
.
[1
8
]
A
.
Lev
a
n
t,
“
P
rin
c
i
p
les
o
f
2
-
slid
in
g
m
o
d
e
d
e
sig
n
,
”
Au
to
ma
ti
c
a
,
v
o
l.
4
3
p
p
.
5
7
6
-
5
8
6
,
2
0
0
7
.
[1
9
]
S.
Di
G
e
n
a
ro
,
e
t
a
l
.
,
“
S
e
n
so
rles
s
h
ig
h
o
rd
e
r
slid
i
n
g
m
o
d
e
c
o
n
t
r
o
l
o
f
in
d
u
c
ti
o
n
m
o
to
rs
w
it
h
c
o
r
e
lo
ss
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tr
o
n
ics
,
v
o
l/
issu
e
:
6
1
(6
)
,
p
p
.
2
6
7
8
-
2
6
8
9
,
2
0
1
4
.
[2
0
]
B.
Be
lt
ra
n
,
e
t
a
l.
,
“
S
e
c
o
n
d
-
o
rd
e
r
slid
in
g
m
o
d
e
c
o
n
tro
l
o
f
a
d
o
u
b
l
y
f
e
d
in
d
u
c
ti
o
n
g
e
n
e
ra
to
r
d
r
iv
e
n
w
in
d
tu
rb
i
n
e
,
”
IEE
E
T
ra
n
s.
E
n
e
rg
y
Co
n
v
e
rs
,
vo
l
/i
ss
u
e
:
27
(
2
)
,
p
p
:
2
6
1
-
2
6
9
,
2
0
1
2
.
[2
1
]
J.
L
iu
,
e
t
a
l
.
,
“
A
d
a
p
ti
v
e
g
a
in
se
c
o
n
d
-
o
rd
e
r
sli
d
in
g
m
o
d
e
o
b
se
rv
e
r
d
e
sig
n
f
o
r
sw
it
c
h
in
g
p
o
w
e
r
c
o
n
v
e
rters
,
”
Co
n
tro
l
En
g
i
n
e
e
rin
g
Pra
c
ti
c
e
,
v
o
l/
issu
e
:
3
0
(
9
)
,
p
p
.
1
2
4
-
1
3
1
,
2
0
1
4
.
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