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.
7
,
No
.
4
,
A
u
g
u
s
t
201
7
,
p
p
.
1
7
6
0
~
1
7
6
9
I
SS
N:
2088
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v7
i
4
.
p
p
1
7
6
0
-
1769
1760
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
JE
C
E
A Si
m
pli
fied
S
pee
d Contro
l
O
f
Ind
uction
M
o
tor ba
s
ed on a
L
o
w
C
o
st F
PGA
L
o
t
f
i C
ha
ra
a
bi
,
I
btihel
J
a
ziri
De
p
a
rte
m
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
L
.
S
.
E
-
ENIT
,
u
n
iv
e
rsité T
u
n
is
El
M
a
n
a
r
B
P
3
7
EL
Be
lv
é
d
è
r
e
,
1
0
0
2
T
u
n
is,
T
u
n
isia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
an
1
,
2
0
1
7
R
ev
i
s
ed
Ma
r
1
6
,
2
0
1
7
A
cc
ep
ted
Ma
r
3
0
,
2
0
1
7
T
h
is
p
a
p
e
r
in
v
e
stig
a
te
s
th
e
d
e
v
e
lo
p
m
e
n
t
o
f
a
si
m
p
li
f
ied
sp
e
e
d
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
to
r
b
a
se
d
o
n
i
n
d
irec
t
f
ield
o
rien
ted
c
o
n
tr
o
l
(F
OC).
A
n
o
rig
in
a
l
PI
-
P
c
o
n
tr
o
ll
e
r
is
d
e
sig
n
e
d
to
o
b
tain
g
o
o
d
p
e
rf
o
rm
a
n
c
e
s
f
o
r
sp
e
e
d
trac
k
in
g
.
Co
n
tr
o
ll
e
r
c
o
e
f
f
icie
n
ts
a
re
c
a
rrie
d
o
u
t
w
it
h
a
n
a
ly
ti
c
a
p
p
ro
a
c
h
.
T
h
e
a
lg
o
rit
h
m
is
im
p
le
m
e
n
ted
u
sin
g
a
lo
w
c
o
st
F
ield
P
r
o
g
ra
m
m
a
b
le
Ga
te
A
rr
a
y
(F
P
GA
).
T
h
e
i
m
p
le
m
e
n
tatio
n
is
f
o
ll
o
w
e
d
b
y
a
n
e
ff
i
c
ien
t
d
e
sig
n
m
e
th
o
d
o
lo
g
y
th
a
t
o
f
fe
rs
c
o
n
sid
e
ra
b
le
d
e
sig
n
a
d
v
a
n
tag
e
s.
T
h
e
m
a
in
a
d
v
a
n
tag
e
is
th
e
d
e
sig
n
o
f
re
u
sa
b
le
a
n
d
re
c
o
n
f
ig
u
ra
b
le
h
a
rd
w
a
r
e
m
o
d
u
les
f
o
r
th
e
c
o
n
tro
l
o
f
e
lec
tri
c
a
l
s
y
ste
m
s.
Ex
p
e
ri
m
e
n
tal
re
su
lt
s
c
a
r
ried
o
n
a
p
ro
to
ty
p
in
g
p
latf
o
r
m
a
r
e
g
i
v
e
n
to
il
lu
stra
te t
h
e
e
f
f
icie
n
c
y
a
n
d
th
e
b
e
n
e
f
it
s o
f
th
e
p
ro
p
o
se
d
a
p
p
ro
a
c
h
.
K
ey
w
o
r
d
:
Desig
n
e
f
f
icien
c
y
FOC
FP
GA
I
n
d
u
ctio
n
m
ac
h
i
n
e
P
I
c
o
n
tr
o
ller
Co
p
y
rig
h
t
©
2
0
1
7
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
L
o
tf
i C
h
ar
aa
b
i,
Dep
ar
te
m
en
t o
f
E
lectr
ical
E
n
g
in
ee
r
in
g
,
L
.
S.E
-
E
NI
T
,
u
n
iv
er
s
ité
T
u
n
is
E
l M
an
ar
B
P
3
7
E
L
B
elv
éd
èr
e,
1
0
0
2
T
u
n
is
,
T
u
n
is
ia.
E
m
ail:lo
t
f
i.c
h
ar
aa
b
i@
e
n
it.r
n
u
.
tn
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
Field
Or
ien
ted
C
o
n
tr
o
l
(
FOC
)
o
r
v
ec
to
r
co
n
tr
o
l
h
a
s
s
ee
n
r
ap
id
ex
p
an
s
io
n
i
n
r
ec
en
t
y
ea
r
s
.
T
h
e
FOC
ca
n
b
e
u
s
ed
to
v
ar
y
th
e
s
p
ee
d
o
f
a
n
i
n
d
u
ctio
n
m
o
to
r
o
v
er
a
w
id
e
r
a
n
g
e.
I
t
w
as
i
n
it
iall
y
d
ev
elo
p
ed
b
y
B
lasch
k
e
i
n
t
h
e
b
eg
in
n
i
n
g
o
f
1
9
7
0
s
[
1
]
.
T
h
e
FOC
ca
n
b
e
i
m
p
le
m
e
n
ted
i
n
t
w
o
w
a
y
s
I
n
d
ir
ec
t
an
d
D
ir
ec
t
co
n
tr
o
l
s
ch
e
m
e.
T
h
e
tech
n
iq
u
e
d
escr
ib
ed
in
th
is
w
o
r
k
is
b
ased
o
n
in
d
ir
ec
t
FOC
b
ec
au
s
e
th
er
e
is
n
o
d
ir
ec
t
ac
ce
s
s
to
th
e
r
o
to
r
cu
r
r
en
ts
.
I
n
d
ir
ec
t
v
ec
to
r
co
n
tr
o
l
o
f
th
e
r
o
to
r
cu
r
r
en
ts
is
ac
co
m
p
lis
h
ed
u
s
i
n
g
t
h
e
f
o
llo
w
i
n
g
d
ata:
a.
R
o
to
r
m
ec
h
a
n
ical
v
elo
cit
y
b.
I
n
s
ta
n
tan
eo
u
s
s
tato
r
p
h
ase
cu
r
r
en
ts
c.
R
o
to
r
elec
tr
ical
ti
m
e
co
n
s
tan
t
T
h
e
m
o
to
r
m
u
s
t
b
e
eq
u
ip
p
ed
w
it
h
s
tato
r
cu
r
r
en
t
s
s
en
s
o
r
s
an
d
a
r
o
to
r
v
elo
city
f
ee
d
b
ac
k
d
ev
ice.
T
r
a
d
itio
n
al
in
d
ir
ec
t v
ec
to
r
co
n
tr
o
l c
o
n
s
is
t
s
o
f
th
e
te
n
b
lo
ck
s
[
2
]
,
[
3
]
:
a.
C
lar
k
e
f
o
r
w
ar
d
tr
an
s
f
o
r
m
b
lo
c
k
b.
P
ar
k
f
o
r
w
ar
d
an
d
in
v
er
s
e
tr
an
s
f
o
r
m
b
lo
ck
c.
R
o
to
r
f
lu
x
an
g
le
es
ti
m
ato
r
b
lo
ck
d.
T
h
r
ee
P
I
co
n
tr
o
ller
b
l
o
ck
s
e.
Field
w
ea
k
e
n
in
g
b
lo
ck
f.
SVM
b
lo
ck
T
h
is
p
ap
er
p
r
esen
ts
a
s
i
m
p
li
f
ie
d
s
p
ee
d
co
n
tr
o
l o
f
in
d
u
ctio
n
Mo
to
r
w
h
ic
h
co
n
s
is
t
s
o
f
o
n
l
y
s
ix
b
lo
ck
s
:
a.
C
lar
k
e
i
n
v
er
s
e
tr
an
s
f
o
r
m
b
lo
c
k
b.
P
ar
k
in
v
er
s
e
tr
a
n
s
f
o
r
m
b
lo
ck
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
S
imp
lifi
ed
s
p
ee
d
C
o
n
tr
o
l O
f I
n
d
u
ctio
n
mo
to
r
b
a
s
ed
o
n
a
l
o
w
co
s
t F
P
GA
(
Lo
tfi
C
h
a
r
a
a
b
i
)
1761
c.
R
o
to
r
f
lu
x
an
g
le
es
ti
m
ato
r
b
lo
ck
d.
On
e
P
I
-
P
co
n
tr
o
ller
b
lo
ck
e.
Field
w
ea
k
e
n
in
g
b
lo
ck
f.
H
y
s
ter
e
s
is
b
lo
ck
Mic
r
o
p
r
o
ce
s
s
o
r
s
an
d
Dig
ital
s
ig
n
al
P
r
o
ce
s
s
o
r
s
(
DSP
)
b
ased
s
o
lu
tio
n
s
ar
e
av
ailab
le
f
o
r
d
ig
ital
AC
m
o
to
r
co
n
tr
o
l
ap
p
licatio
n
s
l
ik
e
DSP
I
C
f
a
m
il
y
f
r
o
m
Mi
cr
o
ch
ip
[
4
]
,
T
MS3
2
0
C
2
4
x
f
a
m
il
y
f
r
o
m
T
ex
as
I
n
s
tr
u
m
e
n
t
s
[
5
]
an
d
ST
M3
2
f
a
m
il
y
f
r
o
m
ST
Mic
r
o
elec
tr
o
n
ics
[
6
]
.
Nev
er
t
h
eles
s
,
h
ar
d
w
ar
e
s
o
lu
t
io
n
s
s
u
ch
as
FP
GAs
h
a
v
e
alr
ea
d
y
b
ee
n
u
s
e
d
w
it
h
s
u
cc
es
s
i
n
A
C
m
o
to
r
co
n
tr
o
l
an
d
d
r
iv
e
ap
p
licatio
n
s
s
u
ch
a
s
p
u
l
s
e
w
id
t
h
m
o
d
u
latio
n
(
P
W
M)
[
7
]
,
[
8
]
,
D
ir
ec
t T
o
r
q
u
e
C
o
n
tr
o
l o
f
in
d
u
ct
io
n
m
o
to
r
[
9
-
1
1
]
an
d
FOC
[
1
2
]
,
[
1
3
]
d
r
iv
es.
I
n
th
i
s
p
ap
er
,
a
s
i
m
p
lif
ied
s
p
e
ed
co
n
tr
o
l
o
f
an
in
d
u
c
tio
n
m
o
to
r
b
ased
a
lo
w
co
s
t
FP
G
A
is
p
r
o
p
o
s
ed
.
T
h
e
FP
GA
i
m
p
le
m
e
n
tatio
n
i
s
o
u
tlin
ed
b
y
a
n
ef
f
icie
n
t
d
esi
g
n
m
et
h
o
d
o
lo
g
y
w
h
ic
h
is
b
ase
d
o
n
m
o
d
u
lar
it
y
a
n
d
r
eu
s
ab
ilit
y
co
n
ce
p
ts
[
1
4
]
,
[
1
5
]
.
T
h
e
m
aj
o
r
b
en
ef
it
f
o
r
u
s
i
n
g
F
P
GA
is
t
h
e
ac
h
ie
v
e
m
e
n
t
o
f
th
e
d
ig
ital
co
n
tr
o
l
alg
o
r
it
h
m
w
i
t
h
in
a
f
e
w
µ
s
ec
o
n
d
[
1
6
]
.
T
h
e
ca
lcu
latio
n
ti
m
e,
i
n
clu
d
i
n
g
th
e
A
/D
co
n
v
er
s
io
n
ti
m
e
o
f
2
.
4
µs,
f
o
r
th
e
p
r
o
p
o
s
ed
F
P
GA
b
ased
co
n
tr
o
ller
is
o
n
l
y
eq
u
al
to
3
.
1
3
5
µs.
So
,
f
o
r
a
2
0
KHz
p
o
w
er
co
n
v
er
ter
,
th
e
d
i
g
ital
c
o
n
tr
o
l
f
ee
d
b
ac
k
ca
n
b
e
ap
p
r
o
x
im
ated
q
u
ite
clo
s
el
y
to
an
an
a
lo
g
u
e
o
n
e
b
ec
a
u
s
e
t
h
e
e
f
f
ec
t
s
o
f
s
a
m
p
lin
g
a
n
d
d
ela
y
i
n
t
h
e
f
ee
d
b
ac
k
lo
o
p
ar
e
s
m
all
co
m
p
ar
ed
to
th
e
p
r
o
ce
s
s
ti
m
e
s
ca
le
i
m
p
r
o
v
i
n
g
th
er
e
f
o
r
e
th
e
p
er
f
o
r
m
a
n
ce
s
o
f
th
e
co
n
tr
o
l.
T
h
e
f
ir
s
t
s
ec
tio
n
w
ill
d
etail
th
e
s
i
m
p
li
f
ied
s
p
ee
d
co
n
tr
o
l
s
tr
a
teg
y
o
f
a
n
in
d
u
ct
io
n
m
o
to
r
.
T
h
is
s
tr
ate
g
y
is
b
ased
o
n
i
n
d
ir
ec
t
FO
C
.
T
h
e
s
ec
o
n
d
s
ec
tio
n
w
il
l
p
r
esen
t
th
e
h
ar
d
w
ar
e
ar
c
h
itect
u
r
e
d
esig
n
b
ased
FP
G
A.
Fin
all
y
,
i
n
a
t
h
ir
d
s
ec
tio
n
,
s
o
m
e
ex
p
er
i
m
e
n
tal
r
es
u
lts
ca
r
r
ie
d
o
n
a
p
r
o
to
ty
p
in
g
p
lat
f
o
r
m
will
b
e
s
h
o
w
n
f
o
r
t
h
e
v
alid
atio
n
o
f
th
e
d
ev
elo
p
ed
co
n
tr
o
l s
y
s
te
m
.
2.
SI
M
P
L
I
F
I
E
D
SPE
E
D
CO
N
T
RO
L
S
T
RA
T
E
G
Y
2
.
1
.
P
rinciple o
f
t
he
P
ro
po
s
ed
C
o
ntr
o
l
S
t
ra
t
eg
y
T
h
e
w
ell
-
k
n
o
w
n
d
is
cr
ete
-
ti
m
e
m
o
d
el
o
f
a
s
q
u
ir
r
el
-
ca
g
e
i
n
d
u
ctio
n
m
o
to
r
in
th
e
d
q
r
e
f
er
en
c
e
f
r
a
m
e
i
s
u
s
ed
f
o
r
t
h
is
s
tu
d
y
.
T
h
e
v
o
lta
g
e,
th
e
s
tato
r
f
l
u
x
li
n
k
a
g
e
an
d
t
h
e
elec
tr
o
m
a
g
n
e
tic
to
r
q
u
e
E
q
u
atio
n
s
e
x
p
r
ess
ed
in
th
e
r
o
to
r
r
ef
er
en
ce
f
r
a
m
e
(
d
-
q
co
o
r
d
in
ates,
w
it
h
d
-
a
x
is
l
in
k
e
d
to
th
e
in
d
u
cto
r
)
ar
e:
=
(
+
)
+
−
(
+
)
…
(1
)
=
(
+
)
+
+
(
+
)
...
(
2
)
=
=
+
−
(
−
)
(
3
)
=
=
+
−
(
−
)
(
4
)
=
+
(
5
)
=
+
(
6
)
=
+
(
7
)
=
+
(
8
)
=
(
−
)
(
9
)
(
−
)
=
(
10
)
+
=
−
(
11
)
W
h
er
e
R
s
is
th
e
s
tato
r
r
esis
ta
n
ce
,
R
r
is
th
e
r
o
to
r
r
esis
tan
ce
,
L
m
th
e
s
tato
r
/r
o
to
r
m
u
t
u
al
in
d
u
ctan
ce
,
L
s
an
d
L
r
th
e
s
ta
to
r
-
r
o
to
r
in
d
u
ct
an
ce
s
,
p
th
e
n
u
m
b
er
o
f
p
o
le
p
air
s
,
ω
e
th
e
elec
tr
ical
v
elo
city
,
ω
r
is
th
e
an
g
u
lar
v
elo
cit
y
o
f
t
h
e
r
o
to
r
,
ω
sl
is
t
h
e
s
lip
v
e
lo
cit
y
,
u
s
d
a
n
d
u
s
q
th
e
d
-
q
co
m
p
o
n
e
n
ts
o
f
t
h
e
s
ta
to
r
v
o
ltag
e,
i
sd
an
d
i
sq
th
e
d
-
q
co
m
p
o
n
e
n
ts
o
f
t
h
e
s
tat
o
r
cu
r
r
en
t,
u
r
d
an
d
u
r
q
th
e
d
-
q
co
m
p
o
n
en
ts
o
f
t
h
e
r
o
to
r
v
o
lta
g
e,
i
rd
a
n
d
i
rq
th
e
d
-
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
7
6
0
–
1
7
6
9
1762
q
co
m
p
o
n
en
ts
o
f
t
h
e
r
o
to
r
cu
r
r
en
t,
ψ
sd
an
d
ψ
sq
th
e
d
-
q
co
m
p
o
n
en
t
s
o
f
th
e
s
tato
r
f
l
u
x
lin
k
a
g
e
,
ψ
rd
an
d
ψ
rq
th
e
d
-
q
co
m
p
o
n
en
ts
o
f
t
h
e
r
o
to
r
f
lu
x
li
n
k
a
g
e
a
n
d
T
e
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e.
T
h
e
r
o
to
r
f
lu
x
is
al
lo
w
ed
to
b
e
alig
n
ed
w
i
th
t
h
e
d
-
a
x
is
s
o
th
at
=
(
12
)
T
h
is
co
n
s
tr
ain
t c
an
b
e
r
ep
r
esen
ted
b
y
th
e
v
ec
to
r
d
iag
r
a
m
i
n
Fig
u
r
e
1.
Fig
u
r
e
1
.
I
n
d
u
ctio
n
m
ac
h
in
e
v
ec
to
r
d
iag
r
am
w
i
th
ψr
q
s
et
to
ze
r
o
Settin
g
ψ
rq
to
ze
r
o
in
E
q
u
atio
n
s
(
9
)
,
th
e
n
e
w
to
r
q
u
e
E
q
u
atio
n
b
ec
o
m
es.
=
(
)
(
13
)
I
f
E
q
u
atio
n
s
(
3
)
an
d
(
7
)
a
r
e
co
m
b
in
ed
u
s
i
n
g
t
h
e
co
n
s
tr
ain
t (
1
2
)
,
th
e
r
o
to
r
f
lu
x
E
q
u
atio
n
b
ec
o
m
e
s
=
(
14
)
W
h
er
e
s
d
en
o
tes th
e
d
i
f
f
er
en
ti
al
o
p
er
ato
r
d
/d
t
an
d
τ
r
th
e
r
o
to
r
ti
m
e
co
n
s
ta
n
t.
E
q
u
atio
n
(
1
4
)
im
p
lie
s
th
a
t th
e
r
o
to
r
f
lu
x
d
ep
en
d
s
o
n
l
y
o
n
t
h
e
s
tato
r
cu
r
r
en
t.
I
f
E
q
u
atio
n
s
(
4
)
an
d
(
8
)
a
r
e
co
m
b
in
ed
u
s
i
n
g
t
h
e
co
n
s
tr
ain
t (
1
2
)
,
th
e
s
lip
v
elo
cit
y
b
ec
o
m
e
s
=
−
(
15
)
Usi
n
g
E
q
u
atio
n
s
(
6
)
an
d
(
1
0
)
a
n
e
w
s
lip
v
e
lo
cit
y
E
q
u
at
io
n
c
an
b
e
d
ef
in
ed
=
(
16
)
So
,
th
e
s
lip
an
g
le
is
e
s
ti
m
ated
b
y
t
h
e
f
o
llo
w
in
g
r
elatio
n
:
=
∫
+
(
17
)
W
h
er
e
θ
sl0
is
th
e
i
n
itial
s
lip
an
g
le
w
h
ich
ca
n
b
e
s
et
to
ze
r
o
E
q
u
atio
n
(
1
0
)
g
iv
es
=
+
=
∫
+
(
18
)
Usi
n
g
E
q
u
atio
n
s
(
2
)
,
(
6
)
an
d
(
1
5
)
,
th
e
q
-
co
m
p
o
n
e
n
t
s
tato
r
v
o
l
tag
e
u
s
q
ca
n
b
e
ex
p
r
ess
ed
w
it
h
i
sd
,
i
sq
an
d
ψ
rd
=
(
+
2
)
+
+
(
)
(
19
)
Stato
r
f
r
a
m
e
R
o
to
r
d
-
ax
i
s
q
-
a
x
i
s
ω
r
ω
e
ω
e
θ
sl
θ
e
θ
r
ψ
r
i
s
i
sq
i
sd
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
S
imp
lifi
ed
s
p
ee
d
C
o
n
tr
o
l O
f I
n
d
u
ctio
n
mo
to
r
b
a
s
ed
o
n
a
l
o
w
co
s
t F
P
GA
(
Lo
tfi
C
h
a
r
a
a
b
i
)
1763
Fo
r
th
is
co
n
tr
o
l
s
tr
ateg
y
,
th
e
d
-
co
m
p
o
n
e
n
t
s
tato
r
cu
r
r
en
t
is
d
is
i
m
p
o
s
ed
to
o
b
tain
th
e
n
o
m
i
n
al
to
r
q
u
e.
Su
b
s
eq
u
e
n
tl
y
,
b
y
E
q
u
a
tio
n
(
1
4
)
,
th
e
d
-
co
m
p
o
n
e
n
t
o
f
t
h
e
r
o
to
r
f
lu
x
li
n
k
a
g
e
ψ
rd
b
ec
o
m
es
co
n
s
ta
n
t
in
s
tead
y
-
s
tate.
T
h
en
,
co
n
tr
o
llin
g
is
d
i
m
p
lies
co
n
tr
o
llin
g
t
h
e
to
r
q
u
e.
T
h
e
r
elate
d
co
n
t
r
o
l sch
e
m
e
is
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
Fig
u
r
e
2
.
P
r
in
cip
le
o
f
th
e
co
n
t
r
o
l stra
teg
y
2
.
2
.
PI
-
P
Co
ntr
o
ller
D
esig
n
T
h
e
P
I
-
P
r
eg
u
lato
r
is
i
n
tr
o
d
u
ce
d
in
to
th
e
co
n
tr
o
l
s
c
h
e
m
e
i
n
o
r
d
er
to
ac
h
iev
e
a
s
ec
o
n
d
o
r
d
er
s
y
s
te
m
w
it
h
a
d
a
m
p
i
n
g
co
e
f
f
icien
t ζ=
0
.
7
.
T
h
e
d
y
n
a
m
ic
m
o
d
el
o
f
t
h
e
s
p
ee
d
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
is
s
i
g
n
i
f
ica
n
tl
y
s
i
m
p
li
f
ied
,
an
d
ca
n
b
e
r
ea
s
o
n
ab
l
y
r
ep
r
esen
ted
b
y
t
h
e
b
lo
ck
d
iag
r
a
m
s
h
o
w
n
i
n
F
ig
u
r
e
3
.
τ
r
ep
r
esen
ts
th
e
ti
m
e
co
n
s
tan
t
f
o
r
th
e
d
es
ir
ed
cu
r
r
en
t
i
sq
Fig
u
r
e
3
.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
e
P
I
-
P
r
eg
u
lato
r
w
it
h
t
h
e
p
r
o
ce
s
s
Fig
u
r
e
4
.
P
r
eg
u
lato
r
ass
o
ciate
d
w
it
h
th
e
p
r
o
ce
s
s
T
h
e
g
o
al
o
f
t
h
e
P
r
eg
u
lato
r
i
s
t
o
o
b
tain
a
s
ec
o
n
d
o
r
d
er
s
y
s
te
m
w
i
th
r
ea
l
p
o
les i
n
clo
s
ed
lo
o
p
.
I
n
o
r
d
er
to
s
i
m
p
li
f
y
t
h
e
ca
lc
u
latio
n
w
e
n
e
g
lect
t
h
e
v
is
co
u
s
f
r
ictio
n
c
o
ef
f
icie
n
t
f
.
Fig
u
r
e
4
s
h
o
w
s
t
h
e
s
i
m
p
li
f
ied
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
P
r
eg
u
lato
r
w
it
h
th
e
p
r
o
ce
s
s
.
I
M
(d
,
q
)
(a
,
b
,
c
)
H
y
s
t
i
sd
*
i
sq
*
i
sa
*
i
sb
*
i
sc
*
c
1
c
2
c
3
θ
e
i
sa
i
sb
i
sc
θ
r
=
+
PI
-
P
+
-
=
4
1
2
3
5
1.
PI
-
P
c
o
n
t
r
o
l
l
e
r
b
l
o
ck
2.
A
n
g
l
e
a
n
d
sp
e
e
d
e
st
i
mat
o
r
b
l
o
c
k
3.
Dq
-
to
-
a
b
c
t
r
a
n
sf
o
r
m
b
l
o
c
k
4.
H
y
st
e
r
e
si
s c
o
n
t
r
o
l
l
e
r
b
l
o
c
k
5.
F
i
e
l
d
w
e
a
k
e
n
i
n
g
b
l
o
c
k
ω
r
*
+
-
+
+
-
+
-
1
+
PI
r
eg
u
lato
r
P
r
eg
u
lato
r
+
-
P
r
eg
u
lator
1
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
7
6
0
–
1
7
6
9
1764
T
h
e
clo
s
ed
lo
o
p
tr
an
s
f
er
f
u
n
cti
o
n
(
)
=
(
)
(
)
=
(
20
)
T
h
e
P
c
o
ef
f
icie
n
t
k
v
is
s
e
lecte
d
to
o
b
tain
a
d
o
u
b
le
r
ea
l p
o
le
c
alled
ω
n
=
(
21
)
T
h
e
n
,
th
e
tran
sf
e
r
f
u
n
c
ti
o
n
b
e
c
o
m
e
s
(
)
=
(
)
(
)
(
22
)
W
h
e
re
ω
n
=
1
/2
τ
T
h
e
P
I
r
eg
u
lato
r
is
in
tr
o
d
u
ce
d
b
ef
o
r
e
th
e
P
r
eg
u
lato
r
in
o
r
d
er
to
co
m
p
en
s
ate
th
e
r
ea
l
p
o
le
ω
n
an
d
to
o
b
tain
a
s
ec
o
n
d
o
r
d
er
s
y
s
te
m
i
n
clo
s
ed
lo
o
p
T
o
co
m
p
en
s
ate
th
e
r
ea
l p
o
le
ω
n
,
P
I
c
o
ef
f
icie
n
ts
m
u
s
t o
b
e
y
s
t
h
is
r
u
le
=
(
23
)
Usi
n
g
E
q
u
atio
n
(
2
3
)
,
th
e
g
lo
b
al
clo
s
ed
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
b
ec
o
m
es
(
)
=
(
)
(
)
=
(
24
)
T
h
en
,
f
o
r
a
d
esire
d
d
am
p
in
g
c
o
ef
f
icie
n
t
ζ
,
k
p
is
e
x
p
r
ess
ed
b
y
th
e
f
o
llo
w
i
n
g
E
q
u
atio
n
=
(
25
)
3.
ARCH
I
T
E
C
T
UR
E
DE
SI
G
N
T
h
e
p
u
r
p
o
s
e
o
f
th
is
s
ec
tio
n
is
to
d
ev
elo
p
a
d
is
cr
ete
-
ti
m
e
a
n
d
an
o
p
ti
m
ized
ar
ch
itect
u
r
e
b
as
ed
FP
GA
f
o
r
th
e
co
n
tr
o
l
al
g
o
r
ith
m
.
T
h
e
m
o
s
t
u
s
ed
d
i
s
cr
etiza
tio
n
m
et
h
o
d
is
b
ased
o
n
Fo
r
w
ar
d
s
h
i
f
t
a
p
p
r
o
x
im
a
tio
n
[
1
7
]
.
T
h
e
s
h
if
t f
o
r
m
ap
p
r
o
x
i
m
atio
n
is
g
i
v
e
n
b
y
=
(
26
)
W
h
er
e
T
is
th
e
s
a
m
p
li
n
g
p
er
io
d
.
As
s
h
o
w
n
i
n
F
ig
u
r
e
2
,
th
e
co
n
tr
o
l
alg
o
r
it
h
m
is
d
i
v
id
ed
in
t
o
f
o
u
r
m
o
d
u
les.
T
h
e
d
escr
ip
tio
n
o
f
t
h
e
d
if
f
er
e
n
t
m
o
d
u
les i
s
d
etailed
b
elo
w
.
PI
-
P
co
n
tr
o
ller
b
lo
ck
:
T
h
is
m
o
d
u
le
g
en
er
ates
t
h
e
d
ig
ital
v
a
lu
es
o
f
t
h
e
s
tato
r
co
m
p
o
n
e
n
t
r
ef
er
en
ce
s
i
sq
*
th
r
o
u
g
h
t
h
e
r
o
to
r
an
g
u
lar
v
elo
cit
y
er
r
o
r
.
T
h
e
d
is
cr
etiza
tio
n
o
f
th
e
P
I
-
P
alg
o
r
ith
m
u
s
i
n
g
t
h
e
Fo
r
w
ar
d
s
h
i
f
t
ap
p
r
o
x
im
a
tio
n
g
iv
e
s
{
(
)
=
(
)
−
(
)
(
)
=
(
)
+
(
)
(
)
=
(
−
1
)
+
(
)
(
)
=
(
(
)
−
(
)
)
(
27
)
W
h
er
e
K
p
, K
i
an
d
K
v
d
ep
en
d
s
o
n
k
p
, k
i
, k
v
an
d
T
T
h
e
d
ata
f
lo
w
g
r
ap
h
(
D
FG)
co
r
r
esp
o
n
d
in
g
to
th
e
P
I
-
P
alg
o
r
it
h
m
i
s
p
r
esen
ted
i
n
Fi
g
u
r
e
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
S
imp
lifi
ed
s
p
ee
d
C
o
n
tr
o
l O
f I
n
d
u
ctio
n
mo
to
r
b
a
s
ed
o
n
a
l
o
w
co
s
t F
P
GA
(
Lo
tfi
C
h
a
r
a
a
b
i
)
1765
Fig
u
r
e
5
.
(
a)
DFG
o
f
th
e
P
I
-
P
co
n
tr
o
ller
,
(
b
)
DFG
o
f
th
e
s
p
ee
d
an
d
an
g
le
es
ti
m
ato
r
A
n
g
le
a
n
d
s
p
ee
d
esti
ma
to
r
b
lo
ck
:
T
h
is
m
o
d
u
le
g
e
n
er
ates
th
e
r
o
to
r
v
elo
cit
y
ω
r
a
n
d
th
e
elec
tr
ica
l
an
g
le
θ
e
t
h
r
o
u
g
h
t
h
e
r
o
to
r
an
g
l
e
θ
r
.
T
h
e
r
o
to
r
an
g
le
is
p
r
o
v
id
ed
b
y
an
ab
s
o
l
u
te
co
d
er
.
T
h
e
d
is
cr
etiza
tio
n
o
f
E
q
u
at
i
o
n
(
1
8
)
p
r
o
v
id
es
th
e
d
is
cr
et
e
-
ti
m
e
E
q
u
atio
n
o
f
t
h
e
elec
t
r
ical
an
g
le
esti
m
ato
r
:
(
)
=
(
−
1
)
+
(
)
+
(
)
(
2
8
)
W
h
er
e
=
T
h
e
r
o
to
r
v
elo
cit
y
is
o
b
tain
ed
f
r
o
m
t
h
e
r
o
to
r
an
g
le
u
s
i
n
g
t
h
e
f
o
llo
w
in
g
E
q
u
atio
n
:
(
)
=
(
)
(
)
(
29
)
W
h
er
e
(
−
)
is
th
e
r
o
to
r
an
g
le
at
i
n
s
ta
n
t
+
.
Fig
u
r
e
5
s
h
o
w
s
th
e
DFG
o
f
t
h
e
esti
m
ato
r
dq
-
to
-
a
b
c
tr
a
n
s
fo
r
m
b
lo
ck
:
T
h
is
m
o
d
u
le
co
n
tai
n
s
th
e
d
q
-
to
-
a
b
c
tr
an
s
f
o
r
m
atio
n
.
I
t
g
en
er
ate
s
t
h
e
d
ig
ital
v
al
u
e
s
o
f
th
e
s
ta
to
r
cu
r
r
en
t r
ef
er
e
n
ce
s
i
sa
*
,
i
sb
*
an
d
i
sc
*
.
E
q
u
atio
n
(
3
0
)
s
h
o
w
s
a
m
atr
i
x
r
ep
r
esen
tati
o
n
o
f
th
i
s
m
o
d
u
le
(
)
=
[
√
−
√
√
−
√
−
√
]
[
(
)
−
(
)
(
)
(
)
]
[
]
(
30
)
Usi
n
g
tr
i
g
o
n
o
m
etr
ic
f
o
r
m
u
la,
E
q
u
atio
n
(
3
0
)
lead
s
to
th
e
E
q
u
atio
n
(
3
1
)
{
=
√
(
(
+
)
+
(
+
)
)
=
√
(
(
+
)
+
(
+
)
)
=
−
−
(
31
)
-
ω
r
(
k
)
ω
*
r
(
k
)
i(k
-
1)
u
(
k
)
e(
k
)
i
sq
(
k
)
K
p
K
i
i(k
)
+
+
K
v
-
Z
-
1
+
i
sq
(k
)
ω
r
(
k
)
θ
e
(k
-
1)
A
1
+
-
θ
r
(k
)
θ
e
(k
)
Z
-
d
1/Δ
T
Z
-
1
(
a)
(
b
)
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
7
6
0
–
1
7
6
9
1766
Fig
u
r
e
6
s
h
o
w
s
t
h
e
DF
G
co
r
r
esp
o
n
d
in
g
to
th
e
d
q
-
to
-
ab
c
tr
an
s
f
o
r
m
a
tio
n
m
o
d
u
le.
Fig
u
r
e
6
.
DFG
o
f
th
e
d
q
-
to
-
ab
c
tr
an
s
f
o
r
m
atio
n
e
s
ti
m
ato
r
H
y
s
ter
e
s
is
co
n
tr
o
ller
b
lo
ck
:
T
h
is
m
o
d
u
le
co
n
tai
n
s
t
h
r
ee
id
en
tical
h
y
s
ter
esis
co
n
tr
o
ller
s
.
I
t
g
en
er
ates
th
e
s
w
i
tch
i
n
g
s
tate
s
c
1
,
c
2
an
d
c
3
v
ia
th
e
co
m
p
ar
is
o
n
o
f
t
h
e
s
tato
r
cu
r
r
en
t
r
ef
er
e
n
ce
s
to
th
e
m
ea
s
u
r
ed
s
tato
r
cu
r
r
en
ts
.
4.
E
x
peri
m
e
nta
l
S
et
-
up
Fo
r
th
is
p
r
o
j
ec
t,
th
e
u
s
ed
FP
GA
tar
g
et
i
s
a
XC
2
s
1
0
0
f
r
o
m
Xili
n
x
I
n
c.
T
h
e
FP
G
A
b
as
ed
h
ar
d
w
ar
e
co
n
tr
o
l
s
y
s
te
m
in
c
lu
d
es
t
h
e
s
p
ee
d
co
n
tr
o
ller
,
an
A
D
co
n
v
e
r
ter
in
ter
f
ac
e
a
n
d
a
s
er
ial
i
n
t
e
r
f
ac
e
in
o
n
e
FP
G
A
ch
ip
.
Fig
u
r
e
7
s
h
o
w
s
t
h
e
co
r
r
esp
o
n
d
in
g
i
m
p
le
m
e
n
ted
ar
ch
ite
ctu
r
e.
Fig
u
r
e
7
.
FP
GA
b
ased
h
ar
d
w
a
r
e
co
n
tr
o
l s
y
s
te
m
T
h
e
s
er
ial
i
n
ter
f
ac
e
m
o
d
u
le
p
r
o
v
id
es
a
s
er
ial
co
m
m
u
n
icatio
n
b
et
w
ee
n
t
h
e
h
o
s
t
P
C
a
n
d
F
P
GA
.
T
h
e
co
n
tr
o
l
u
n
it
i
s
s
tar
ted
at
ea
c
h
r
is
in
g
ed
g
e
o
f
th
e
s
a
m
p
l
in
g
f
r
eq
u
en
c
y
F
s
.
I
t
ac
ti
v
ates
f
ir
s
tl
y
th
e
AD
a
n
d
co
d
er
in
ter
f
ac
e
w
h
ic
h
s
tar
ts
th
e
A
D
co
n
v
er
s
io
n
p
r
o
ce
s
s
.
AD
co
n
v
e
r
s
io
n
o
f
t
h
e
s
tato
r
c
u
r
r
en
ts
ta
k
es 2
.
4
µs.
W
h
e
n
th
e
co
n
v
er
s
i
o
n
p
r
o
ce
s
s
is
f
i
n
is
h
ed
,
th
e
A
D
i
n
ter
f
ac
e
m
o
d
u
le
r
ea
d
co
n
v
er
ted
d
ata
an
d
tr
ea
ts
th
e
m
to
g
en
er
ate
t
h
e
d
ig
ital
v
alu
e
s
o
f
t
h
e
m
ea
s
u
r
ed
s
tato
r
cu
r
r
en
t
s
i
sa
[
n
]
,
i
sb
[
n
]
an
d
i
sc
[
n
]
.
T
h
en
,
th
e
co
n
tr
o
l u
n
it
ac
tiv
ate
s
th
e
s
p
ee
d
co
n
tr
o
ller
m
o
d
u
le.
T
h
is
m
o
d
u
l
e
allo
w
s
t
h
e
g
e
n
er
atio
n
o
f
t
h
e
s
w
itc
h
in
g
s
tates
c
1
[
n
]
,
c
2
[
n
]
a
n
d
c
3
[
n
]
o
f
th
e
VSI
.
T
h
e
co
m
p
u
tatio
n
ti
m
e,
in
c
lu
d
i
n
g
t
h
e
AD
co
n
v
er
s
io
n
ti
m
e,
f
r
o
m
t
h
e
A
D
co
n
v
er
ter
s
tato
r
cu
r
r
en
ts
ac
q
u
i
s
itio
n
θ[
n
]
π/
2
1
1
π
/
6
π
+
+
+
Sin
Sin
Sin
Sin
i
s
d
[n]
i
s
q
[n]
x
x
x
x
+
+
x
x
i
s
a
[n]
i
s
c
[n]
+
π/
3
2
3
+
-
0
i
s
b
[n]
2
3
S
e
r
i
al
i
n
te
rfac
A
D
In
te
rfac
e
i
s
a
[n
]
i
s
b
[n
]
i
s
c
[n
]
Co
n
tr
o
l
U
n
i
t
ω
r
(n)
AD
i
sa
i
s
b
A
D
Co
n
t
r
o
l
Cl
o
c
k
4
0
M
Hz
D
IV
S
t
ar
t
Read
F
PGA
c
1
[n
c
2
[
n]
c
3
[
n]
Tx
Rx
F
s
θ
r
FO
C
c
o
nt
r
o
l
l
e
r
Co
d
e
r
In
te
rfac
e
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
S
imp
lifi
ed
s
p
ee
d
C
o
n
tr
o
l O
f I
n
d
u
ctio
n
mo
to
r
b
a
s
ed
o
n
a
l
o
w
co
s
t F
P
GA
(
Lo
tfi
C
h
a
r
a
a
b
i
)
1767
to
th
e
s
w
itc
h
in
g
s
tates
g
e
n
er
at
io
n
is
eq
u
al
to
3
.
1
3
5
µs.
B
y
c
o
m
p
ar
is
o
n
,
t
h
e
u
s
ed
d
ea
d
ti
m
e
o
f
t
h
e
u
s
ed
VSI
i
s
ab
o
u
t
3
.
3
µs.
So
th
e
co
m
p
u
tatio
n
ti
m
e
i
s
al
m
o
s
t
n
e
g
li
g
ib
le
a
n
d
th
e
d
i
g
ital
co
n
tr
o
l
f
ee
d
b
ac
k
ca
n
b
e
ap
p
r
o
x
im
a
ted
to
an
an
alo
g
o
n
e.
T
o
test
th
e
FP
GA
b
ased
co
n
tr
o
ller
,
a
test
b
ed
f
o
r
t
h
e
co
n
tr
o
l
o
f
an
in
d
u
ctio
n
m
ac
h
in
e
w
as
ass
e
m
b
led
.
Fi
g
u
r
e
8
s
h
o
w
s
t
h
e
p
r
o
to
ty
p
in
g
p
latf
o
r
m
.
Fig
u
r
e
8
.
P
r
o
t
o
ty
p
i
n
g
p
lat
f
o
r
m
(
a)
C
o
n
tr
o
l s
y
s
te
m
(
b
)
Gen
er
a
l v
ie
w
T
h
e
test
b
ed
is
co
m
p
o
s
ed
o
f
a
0
.
7
5
K
w
i
n
d
u
ct
io
n
m
o
to
r
p
r
o
v
id
ed
w
it
h
a
1
0
2
4
p
o
in
t
s
en
co
d
er
,
cu
r
r
en
t
s
en
s
o
r
s
an
d
a
co
n
tr
o
lled
lo
ad
f
o
r
lo
ad
to
r
q
u
e
g
en
e
r
atio
n
.
T
h
e
VSI
m
o
d
u
le
i
n
cl
u
d
es
a
t
h
r
ee
p
h
a
s
e
I
GB
T
b
ased
in
v
er
ter
,
a
2
2
0
0
µF
ca
p
ac
itan
ce
an
d
a
t
h
r
ee
p
h
ase
d
io
d
e
r
ec
tif
ier
.
An
A
D
co
n
v
er
s
io
n
cir
c
u
i
t
b
o
ar
d
is
u
s
ed
to
co
n
v
er
t
t
h
e
m
ea
s
u
r
ed
c
u
r
r
en
ts
an
d
a
n
in
v
er
t
er
in
ter
f
ac
e
cir
c
u
it
b
o
ar
d
allo
w
s
t
h
e
v
o
lta
g
e
le
v
el
ad
ap
tatio
n
o
f
th
e
s
w
i
tch
in
g
s
ta
tes f
o
r
th
e
co
n
tr
o
l o
f
th
e
i
n
v
er
t
er
.
Fig
u
r
e
9
.
(
a)
Stato
r
cu
r
r
en
t i
sa
f
o
r
s
p
ee
d
s
tep
in
p
u
t f
r
o
m
2
0
0
r
ad
/s
to
5
0
r
a
d
/s
(
B
an
d
w
id
th
=0
%Isn
,
an
d
Fs
=1
0
KHz
)
(
b
)
Stato
r
cu
r
r
en
t isa f
o
r
s
p
ee
d
s
tep
in
p
u
t
f
r
o
m
2
0
r
ad
/s
to
2
0
0
r
a
d
/s
(
B
an
d
w
id
t
h
=0
%Is
n
,
an
d
Fs
=1
0
K
Hz)
Du
r
in
g
e
x
p
er
i
m
e
n
tatio
n
,
t
h
e
DC
v
o
lta
g
e
s
o
u
r
ce
E
o
f
th
e
th
r
ee
p
h
ase
i
n
v
er
ter
is
s
et
to
4
0
0
V.
Fig
u
r
e
9
p
r
esen
ts
t
h
e
ex
p
er
i
m
en
tal
r
es
u
lts
o
f
th
e
s
tato
r
cu
r
r
en
t
is
a
f
o
r
an
h
y
s
ter
esi
s
co
n
tr
o
ller
b
an
d
w
id
t
h
eq
u
al
to
0
%
o
f
th
e
r
ated
lin
e
cu
r
r
en
t,
a
s
a
m
p
lin
g
f
r
eq
u
e
n
c
y
F
s
eq
u
al
to
1
0
KHz
an
d
d
if
f
er
en
t
v
al
u
es
o
f
th
e
s
p
ee
d
in
p
u
t.
Fig
u
re
10
p
r
esen
ts
th
e
s
p
ee
d
r
esp
o
n
s
e
o
f
th
e
s
y
s
te
m
f
o
r
r
am
p
i
n
p
u
t.
I
t
s
h
o
w
s
t
h
e
s
p
ee
d
r
esp
o
n
s
e
af
t
er
a
to
r
q
u
e
lo
ad
p
er
tu
r
b
atio
n
.
T
h
e
s
p
ee
d
r
esp
o
n
s
e
is
p
r
o
v
id
ed
b
y
th
e
s
er
ial
i
n
ter
f
ac
e
to
a
h
o
s
t P
C
.
E
x
p
er
i
m
e
n
tal
r
esu
lts
s
h
o
w
n
i
n
Fig
u
r
e
9
an
d
Fig
u
r
e
1
0
g
iv
e
p
r
o
o
f
th
at
th
e
co
n
tr
o
l
s
y
s
te
m
s
atis
f
y
t
h
e
b
asic
r
eq
u
ir
e
m
e
n
ts
o
f
t
h
e
co
n
tr
o
l
s
tr
ateg
y
a
n
d
v
alid
ate
t
h
er
ef
o
r
e
th
e
g
o
o
d
f
u
n
ctio
n
alit
y
o
f
th
e
s
y
s
te
m
.
T
h
e
s
a
m
e
e
x
p
er
i
m
e
n
t
h
as
b
ee
n
d
o
n
e
in
t
h
e
liter
atu
r
e
[
2
0
]
w
it
h
t
h
e
in
d
ir
ec
t
FO
C
w
h
ic
h
g
a
v
e
s
i
m
ilar
p
er
f
o
r
m
a
n
ce
s
.
T
ab
le
1
s
h
o
w
s
t
h
e
v
ar
iatio
n
o
f
th
e
ti
m
e
r
esp
o
n
s
e
f
o
r
th
e
in
d
ir
ec
t FOC
a
n
d
th
e
s
i
m
p
li
f
ied
in
d
ir
ec
t FOC
.
T
ab
le
1
.
Var
iatio
n
o
f
s
ettlin
g
t
i
m
e,
m
a
x
i
m
u
m
o
v
er
s
h
o
o
t
w
it
h
in
d
ir
ec
t FOC
C
o
n
t
r
o
l
l
e
r
I
n
d
i
r
e
c
t
F
O
C
S
i
mp
l
i
f
i
e
d
i
n
d
i
r
e
c
t
F
O
C
R
i
se
t
i
me
1
.
9
s
2
s
M
a
x
i
m
u
m
o
v
e
r
sh
o
o
t
i
n
(
%)
1
2
.
6
2
.
3
(
a)
F
P
G
A
A
D
c
o
n
v
e
rt
er
s
V
S
I
in
terf
a
c
e
b
o
a
rd
(
b
)
V
S
I
IM
Ho
st
PC
0
0
.
2
0
.
4
0
.
6
0
.
8
1
1
.2
1
.4
1
.6
1
.8
2
-
1
00
-
8
0
-
6
0
-
4
0
-
2
0
0
2
0
4
0
6
0
80
1
00
t
(
s)
isa
(
%
)
0
0
.
2
0.
4
0.
6
0.
8
1
1
.2
1
.4
1
.6
1
.8
2
-
1
00
-
8
0
-
6
0
-
4
0
-
2
0
0
2
0
4
0
6
0
8
0
1
00
t
(
s)
isa
(
%
)
(
a)
(
b
)
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
7
6
0
–
1
7
6
9
1768
Fig
u
r
e
1
0
.
(
a)
Sp
ee
d
r
esp
o
n
s
e
o
f
r
a
m
p
as f
u
n
ctio
n
o
f
ti
m
e
(
b
)
Sp
ee
d
r
esp
o
n
s
e
f
o
r
2
0
0
r
ad
/s
r
ef
er
en
ce
in
p
u
t
w
it
h
o
u
t a
n
d
w
it
h
to
r
q
u
e
lo
ad
5.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
p
r
esen
ts
t
h
e
i
m
p
l
e
m
en
tatio
n
o
n
a
FP
G
A
o
f
a
s
i
m
p
li
f
ied
s
p
ee
d
co
n
tr
o
l
f
o
r
in
d
u
ctio
n
m
ac
h
in
e.
T
h
e
co
n
tr
o
l
al
g
o
r
ith
m
is
b
a
s
ed
o
n
in
d
ir
ec
t
FOC
.
I
t
u
s
e
s
o
n
l
y
s
i
x
b
lo
ck
s
i
n
s
tead
o
f
te
n
b
lo
ck
s
.
A
P
I
-
P
r
eg
u
lato
r
is
d
esig
n
ed
to
o
b
tain
g
o
o
d
p
er
f
o
r
m
an
ce
s
f
o
r
s
p
ee
d
tr
ac
k
in
g
.
T
h
e
alg
o
r
ith
m
w
as
i
m
p
le
m
e
n
ted
o
n
a
lo
w
co
s
t
FP
G
A
.
T
h
e
im
p
le
m
en
tatio
n
h
as
r
ig
o
r
o
u
s
l
y
f
o
llo
w
ed
an
ef
f
ic
ien
t
d
esi
g
n
m
et
h
o
d
o
lo
g
y
.
T
h
is
m
et
h
o
d
o
lo
g
y
w
as
u
s
ed
w
it
h
s
u
cc
es
s
f
o
r
th
e
s
p
ee
d
co
n
tr
o
l
o
f
in
d
u
ctio
n
m
ac
h
i
n
e
u
s
in
g
FP
GA
b
ased
co
n
tr
o
ller
an
d
it
ca
n
b
e
co
n
s
id
er
ed
as
a
p
ar
t
o
f
a
p
r
o
ce
s
s
w
h
o
s
e
tar
g
et
is
th
e
cr
ea
tio
n
o
f
a
s
p
ec
if
i
c
elec
tr
ical
s
y
s
te
m
lib
r
ar
y
o
f
o
p
ti
m
ized
r
eu
s
ab
le
m
o
d
u
les
w
h
ic
h
w
ill e
n
s
u
r
e
a
g
r
ea
t f
lex
ib
il
it
y
f
o
r
th
e
d
esi
g
n
d
ev
elo
p
m
e
n
t.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
is
p
ap
er
w
as
s
u
p
p
o
r
ted
b
y
th
e
T
u
n
is
ia
n
Mi
n
is
tr
y
o
f
Hi
g
h
E
d
u
ca
t
io
n
an
d
R
e
s
ea
r
ch
:
UR
-
L
SE
-
E
NI
T
-
0
3
/UR
/ES0
5
RE
F
E
R
E
NC
E
S
[1
]
F
.
Blas
c
h
k
e
,
“
T
h
e
P
ri
n
c
ip
le
o
f
F
ield
Orie
n
tati
o
n
a
s
A
p
p
li
e
d
t
o
t
h
e
n
e
w
T
R
AN
S
V
ECT
OR
Clo
se
d
L
o
o
p
C
o
n
tr
o
l
S
y
st
e
m
f
o
r
Ro
tatin
g
F
ield
M
a
c
h
i
n
e
s”
,
S
iem
e
n
s R
e
v
.
,
v
o
l.
3
4
,
p
p
.
2
1
7
-
2
2
0
,
1
9
7
2
.
[2
]
N.
P
.
Q
u
a
n
,
J.
-
A
.
Ditt
ric
h
,
“
V
e
c
to
r
Co
n
tro
l
o
f
T
h
re
e
-
P
h
a
se
A
C
M
a
c
h
in
e
s
-
S
y
ste
m
De
v
e
lo
p
m
e
n
t
i
n
th
e
P
ra
c
ti
c
e
”
,
S
p
rin
g
e
r,
2
0
0
8
.
[3
]
Ha
fe
e
z
u
l
Ha
q
,
M
e
h
e
d
i
Ha
sa
n
I
m
r
a
n
,
H.Ib
ra
h
im
Ok
u
m
u
s,
M
o
h
a
m
m
a
d
Ha
b
ib
u
ll
a
h
,
“
S
p
e
e
d
Co
n
t
r
o
l
o
f
In
d
u
c
ti
o
n
M
o
to
r
u
sin
g
F
OC
M
e
th
o
d
”
,
In
t.
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
rin
g
Res
e
a
rc
h
a
n
d
A
p
p
l
ica
ti
o
n
s
,
v
o
l.
5
,
n
o
.
3
,
(
P
a
rt
-
1
)
M
a
rc
h
2
0
1
5
,
p
p
.
1
5
4
-
1
5
8
.
[4
]
A
N9
0
8
,
“
Us
in
g
th
e
d
s
P
IC3
0
F
f
o
r
V
e
c
to
r
C
o
n
tro
l
o
f
a
n
A
CIM
”
,
(DS0
0
9
0
8
),
M
icro
c
h
i
p
T
e
c
h
n
o
l
o
g
y
In
c
.
2
0
0
7
[5
]
Zh
e
n
y
u
Yu
,
“
S
p
a
c
e
-
V
e
c
to
r
P
W
M
W
it
h
T
M
S
3
2
0
C2
4
x
/F
2
4
x
u
sin
g
Ha
rd
w
a
re
a
n
d
S
o
f
t
w
a
re
De
t
e
r
m
in
e
d
S
w
it
c
h
in
g
P
a
tt
e
r
n
s”
,
A
p
p
li
c
a
ti
o
n
Re
p
o
r
t
S
P
RA
5
2
4
,
1
9
9
9
T
e
x
a
s In
stru
m
e
n
ts
I
n
c
o
rp
o
ra
ted
.
0
1
2
3
4
5
6
7
8
-
50
0
50
100
150
200
t
(
s
)
s
pe
e
d
(
r
a
d/s
)
(
a)
1.
1.
1.
2
2.
2.
2.
192
194
196
198
200
202
204
s
pe
e
d
(
r
a
d/s
)
W
i
t
h
o
ut
l
o
a
d
W
i
t
h
l
o
a
d
t
(
s
)
(
b
)
1
.
9
6
1
.
9
7
1
.
9
8
1
.
9
2
2
.
0
1
2
.
0
2
2
.
0
3
2
.
0
4
1
9
6
.
5
197
1
9
7
.
5
198
1
9
8
.
5
199
1
9
9
.
5
200
2
0
0
.
5
201
250
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
S
imp
lifi
ed
s
p
ee
d
C
o
n
tr
o
l O
f I
n
d
u
ctio
n
mo
to
r
b
a
s
ed
o
n
a
l
o
w
co
s
t F
P
GA
(
Lo
tfi
C
h
a
r
a
a
b
i
)
1769
[6
]
A
p
p
li
c
a
ti
o
n
n
o
te
(BR
S
T
M
3
2
M
C1
2
1
1
)
,
“
M
o
to
r
c
o
n
tr
o
l
w
it
h
S
T
M
3
2
®
3
2
‑
b
i
t
A
RM
®
‑
b
a
se
d
M
CU”
,
S
T
M
icro
e
lec
tro
n
ics
-
De
c
e
m
b
e
r
2
0
1
1
.
[7
]
Y.
T
z
o
u
,
H
-
J.
Hs
u
,
“
F
P
G
A
R
e
a
li
z
a
ti
o
n
o
f
S
p
a
c
e
-
V
e
c
to
r
P
W
M
c
o
n
tro
l
IC
f
o
r
t
h
re
e
-
p
h
a
se
P
W
M
In
v
e
rters
”
,
IEE
E
T
ra
n
s.
O
n
P
o
we
r E
lec
tro
n
ics
, v
o
l
.
1
2
,
n
o
.
6
,
p
p
.
9
5
3
-
9
6
3
,
N
o
v
e
m
b
e
r
1
9
9
7
.
[8
]
E.
M
o
n
m
a
ss
o
n
,
Y.
A.
Ch
a
p
u
is,
“
Co
n
tri
b
u
t
io
n
s
o
f
F
P
G
A
’s
to
th
e
Co
n
tr
o
l
o
f
El
e
c
tri
c
a
ls
S
y
ste
m
s,
a
Re
v
ie
w
”
IEE
E
In
d
u
stria
l
El
e
c
tro
n
ics
S
o
c
iety
Ne
wsle
tt
e
r
,
v
o
l.
4
9
,
n
o
.
4
,
p
p
.
8
-
1
5
,
De
c
e
m
b
e
r
2
0
0
2
.
[9
]
S
.
F
e
rre
ira,
F
.
Ha
f
f
n
e
r,
L
.
F
.
P
e
re
ira,
F
.
M
o
ra
e
s,
“
De
sig
n
a
n
d
Pr
o
to
ty
p
in
g
o
f
Dire
c
t
T
o
rq
u
e
C
o
n
t
ro
l
o
f
I
n
d
u
c
ti
o
n
M
o
to
rs
in
FP
GAs”
,
P
ro
c
e
e
d
in
g
s
o
f
th
e
1
6
th
S
y
m
p
o
siu
m
o
n
In
teg
ra
ted
Circu
it
s
a
n
d
S
y
ste
m
s
De
si
g
n
(S
BCCI’0
3
)
,
IEE
E,
2
0
0
3
.
[1
0
]
L
.
Ch
a
ra
a
b
i,
Eri
c
M
o
n
m
a
ss
o
n
,
M
.
A
Na
a
s
sa
n
i,
Ilh
e
m
S
la
m
a
-
Be
lk
h
o
d
ja,
“
F
PGA
-
b
a
se
d
DRF
C
a
n
d
DTF
S
C
A
lg
o
rit
h
ms
”
,
I
n
d
u
strial
E
lec
tro
n
i
c
s
S
o
c
iety
,
2
0
0
5
.
IECON
2
0
0
5
.
3
2
n
d
A
n
n
u
a
l
Co
n
f
e
re
n
c
e
o
f
IEE
E,
p
p
.
2
4
5
-
2
5
0
,
Ra
leig
h
,
No
rth
Ca
r
o
li
n
a
,
USA
,
No
v
6
t
o
1
0
,
2
0
0
5
.
[1
1
]
F
.
A
u
b
Bp
a
rt,
P
.
P
o
u
re
,
C.
G
ire
rd
,
Y.
A
.
Ch
a
p
u
is,
F
.
Bra
u
n
,
“
De
sig
n
a
n
d
S
im
u
latio
n
o
f
A
S
IC
-
b
a
se
d
S
y
st
e
m
Co
n
tr
o
l:
A
p
p
li
c
a
ti
o
n
to
Dire
c
t
T
o
rq
u
e
Co
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
a
c
h
in
e
”
,
IS
IE’
9
9
Bled
,
S
lo
v
e
n
ia,
IEE
E,
1
9
9
9
.
[1
2
]
B.
Ha
riram
,
N.
S
.
M
a
rim
u
th
u
,
“
A
V
HD
L
L
ib
ra
r
y
o
f
M
o
d
u
les
f
o
r
V
e
c
to
r
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
to
r”
,
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
E
lec
trica
l
a
n
d
P
o
we
r E
n
g
in
e
e
rin
g
,
v
o
l
.
1
,
n
o
.
2
,
p
p
.
2
2
5
-
2
5
9
,
M
e
d
w
e
ll
Jo
u
r
n
a
ls,
2
0
0
7
.
[1
3
]
Oz
k
a
n
AK
IN,
Irf
a
n
A
LAN
“
T
h
e
u
se
o
f
F
P
G
A
in
F
ield
-
Orie
n
ted
Co
n
tr
o
l
o
f
a
n
In
d
u
c
ti
o
n
M
a
c
h
i
n
e
”
,
T
u
rk
J
E
lec
En
g
&
Co
mp
S
c
i
, v
o
l
.
1
8
,
n
o.
6
,
2
0
1
0
.
[1
4
]
W.
M.
Na
o
u
a
r,
L
.
Ch
a
ra
a
b
i,
E.
M
o
n
m
a
ss
o
n
,
I.
S
lam
a
-
B
e
lk
h
o
d
ja,
“
Rea
li
za
ti
o
n
o
f
FP
GA
Rec
o
n
fi
g
u
ra
b
le
IP
_
Co
re
Fu
n
c
ti
o
n
s f
o
r t
h
e
Co
n
tro
l
o
f
El
e
c
trica
l
S
y
ste
ms
”
,
E
P
E
-
P
EM
C’
2
0
0
4
Co
n
f
.
P
r
o
c
.
,
Rig
a
,
L
a
tv
ia,
S
e
p
tem
b
e
r
2
0
0
4
.
[1
5
]
L.
Ch
a
ra
a
b
i,
E.
M
o
n
m
a
ss
o
n
,
I.
S.
Be
lk
h
o
d
ja,
“
Pre
se
n
t
a
ti
o
n
o
f
a
n
Ef
fi
c
ien
t
De
sig
n
M
e
th
o
d
o
lo
g
y
to
D
e
v
e
lo
p
IP
-
Co
re
Fu
n
c
ti
o
n
s
f
o
r
Co
n
tr
o
l
S
y
ste
ms
:
Ap
p
li
c
a
t
io
n
to
t
h
e
De
sig
n
o
f
a
n
A
n
ti
wi
n
d
u
p
PI
C
o
n
tr
o
ll
e
r”
,
I
EE
E
-
IECON’0
2
Co
n
f
.
P
ro
c
,
CD
-
R
o
m
,
S
e
v
il
la,
S
p
a
in
,
2
0
0
2
.
[1
6
]
T.
Yo
k
o
y
a
m
a
,
M
.
Ho
riu
c
h
i,
S.
S
h
im
o
g
a
ta,
“
In
sta
n
ta
n
e
o
u
s
De
a
d
b
e
a
t
Co
n
tro
l
fo
r
PW
M
In
v
e
r
ter
u
sin
g
FP
GA
b
a
se
d
Ha
rd
wa
re
Co
n
tro
l
ler
”
,
IEE
E
-
IE
CON
’0
3
Co
n
f
.
P
ro
c
,
CD
-
R
o
m
,
Ro
a
n
o
k
e
,
USA
,
No
v
e
m
b
e
r
2
0
0
3
.
[1
7
]
O.
V
a
in
i
o
,
S
.
J.
Ov
a
sk
a
,
a
n
d
J.
J.
P
a
sa
n
e
n
,
“
A
Dig
it
a
l
S
ig
n
a
l
P
r
o
c
e
ss
in
g
A
p
p
ro
a
c
h
to
Re
a
l
-
ti
m
e
A
C
M
o
to
r
M
o
d
e
li
n
g
,
”
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.
3
9
,
n
o
.
1
,
p
p
.
3
6
–
4
5
,
1
9
9
2
.
[1
8
]
T
.
G
ra
n
d
p
ierre
,
C.
L
a
v
re
n
n
e
,
Y.
S
o
re
l,
“
O
p
ti
mize
d
R
a
p
i
d
Pro
t
o
t
y
p
in
g
fo
r
Rea
l
-
T
ime
Emb
e
d
d
e
d
He
ter
o
g
e
n
e
o
u
s
M
u
lt
ip
ro
c
e
ss
o
r”
,
COD
ES
’9
9
7
t
h
In
tern
a
ti
o
n
a
l
W
o
rk
sh
o
p
o
n
Ha
rd
w
a
r
e
/S
o
f
t
w
a
re
Co
-
De
sig
n
Co
n
f
.
P
r
o
c
,
CD
Ro
m
,
Ro
m
e
,
Ital
y
,
M
a
y
1
9
9
9
.
[1
9
]
T
.
Ries
g
o
,
Y.
T
o
rro
ja,
E.
d
e
la
T
o
rre
,
“
De
sig
n
M
e
th
o
d
o
l
o
g
ies
Ba
s
e
d
o
n
Ha
rd
w
a
re
De
sc
rip
ti
o
n
L
a
n
g
u
a
g
e
s
”
,
IEE
E
.
T
ra
n
s.
O
n
In
d
u
stri
a
l
El
e
c
tro
n
ics
,
v
o
l.
4
6
,
n
o
.
1
,
p
p
.
3
-
1
2
,
F
e
b
ru
a
ry
1
9
9
9
.
[2
0
]
T
.
b
a
n
e
rjee
,
S
.
Ch
o
u
d
h
u
ri
,
K.Da
s
S
h
a
rm
a
,
“
S
p
e
e
d
T
ra
c
k
in
g
S
c
h
e
me
fo
r
FOC
b
a
se
d
In
d
u
c
ti
o
n
M
o
to
r
b
y
Fu
zz
y
C
o
n
tro
ll
e
r”
,
I
n
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
C
o
n
tr
o
l,
I
n
stru
m
e
n
tatio
n
,
En
e
rg
y
a
n
d
Co
m
m
u
n
ica
ti
o
n
(CI
EC),
2
0
1
4
.
AP
P
E
NDI
X
I
n
d
u
ctio
n
Ma
c
h
i
n
e
P
ar
a
m
eter
s
1
KW
,
2
3
0
V
,
5
0
Hz,
3
P
h
ases
,
Y
co
n
n
ec
tio
n
,
2
p
o
les
Stato
r
r
esis
tan
ce
=
7
.
2
Ω
R
o
to
r
r
esis
tan
ce
=
1
.
3
5
Ω
Stato
r
in
d
u
cta
n
ce
=
0
.
2
8
H
R
o
to
r
in
d
u
cta
n
ce
=
0
.
0
7
5
H
Mu
t
u
al
in
d
u
cta
n
ce
=
0
,
1
1
8
H
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Lo
tfi
Cha
r
a
a
b
i
re
c
e
iv
e
d
th
e
B.
S
d
e
g
re
e
a
n
d
th
e
M
.
S
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
f
ro
m
th
e
En
g
in
e
e
rin
g
sc
h
o
o
l
o
f
T
u
n
isia,
in
2
0
0
2
a
n
d
th
e
P
h
.
D.
f
ro
m
th
e
d
e
p
a
rtme
n
t
o
f
A
u
to
m
a
ti
c
Co
n
tro
l
s
y
ste
m
s
a
n
d
Co
m
p
u
ter
E
n
g
in
e
e
rin
g
,
u
n
iv
e
rsit
y
o
f
Ca
c
h
a
n
F
re
n
c
h
in
2
0
0
6
.
S
i
n
c
e
2
0
0
9
,
h
e
h
a
s
b
e
e
n
a
c
ti
v
e
l
y
c
o
o
p
e
ra
ti
n
g
in
in
d
u
strial
p
ro
jec
t
re
late
d
to
m
o
to
r
c
o
n
tro
l
a
lg
o
rit
h
m
d
e
sig
n
a
n
d
im
p
le
m
e
n
tatio
n
.
He
is
m
e
m
b
e
r
o
f
th
e
Re
se
a
rc
h
lab
o
ra
to
ry
L
S
E
o
f
th
e
T
u
n
isian
e
n
g
in
e
e
rin
g
sc
h
o
o
l.
Ib
tih
e
l
J
a
z
iri
re
c
e
iv
e
d
th
e
B.
S
d
e
g
re
e
in
In
d
u
strial
e
lec
tro
n
ic
En
g
in
e
e
rin
g
f
ro
m
th
e
En
g
in
e
e
rin
g
sc
h
o
o
l
o
f
S
o
u
ss
e
,
in
2
0
1
0
.
S
h
e
is
c
u
rre
n
tl
y
w
o
rk
in
g
to
w
a
rd
th
e
P
h
.
D
.
d
e
g
re
e
w
it
h
th
e
Un
iv
e
rsité
d
e
T
u
n
is
El
M
a
n
a
r,
E
c
o
le
Na
ti
o
n
a
le
d
'
In
g
é
n
ieu
rs
d
e
T
u
n
is,
L
a
b
o
ra
to
ire
d
e
s
S
y
stè
m
e
s
El
e
c
tri
q
u
e
s
(L
S
E
–
L
R1
1
ES
1
5
)
,
T
u
n
is,
T
u
n
is
ia.
He
r
m
a
in
re
se
a
r
c
h
in
tere
sts
in
c
lu
d
e
Co
-
d
e
sig
n
m
e
th
o
d
o
lo
g
y
f
o
r
m
o
to
r
c
o
n
tro
l
,
d
e
sig
n
a
n
d
im
p
lem
e
n
tatio
n
o
f
m
o
to
r
c
o
n
tro
l
a
lg
o
rit
h
m
s.
Evaluation Warning : The document was created with Spire.PDF for Python.