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t
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l J
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l o
f
E
lect
rica
l a
nd
Co
m
p
ute
r
E
ng
in
ee
ring
(
I
J
E
C
E)
Vo
l.
10
,
No
.
1
,
Feb
r
u
ar
y
2020
,
p
p
.
265
~
274
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t
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m
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1
0
9
9
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@
u
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ed
u
.
iq
1.
I
NT
RO
D
UCT
I
O
N
B
r
u
s
h
le
s
s
D
C
(
B
L
D
C
)
m
o
to
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s
ca
n
b
e
u
s
ed
in
s
ev
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al
f
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s
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d
ap
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licatio
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s
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s
u
ch
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u
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ated
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o
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ter
s
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C
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x
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it
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s
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ed
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s
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m
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atin
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n
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tr
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ca
l
lo
s
s
es
a
n
d
h
i
g
h
p
o
w
er
d
en
s
it
y
[1
,
2
]
.
T
h
e
B
L
DC
m
o
to
r
s
h
av
e
n
o
b
r
u
s
h
es,
w
h
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h
p
r
o
lo
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g
s
th
e
li
f
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t
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m
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o
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m
o
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m
ain
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n
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d
d
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y
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th
ese
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o
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ch
ar
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ter
ized
b
y
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g
h
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o
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ag
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e
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to
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h
t
r
ati
o
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m
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k
e
t
h
e
m
s
u
itab
le
f
o
r
m
o
s
t
ap
p
licatio
n
[2
,
3
].
C
o
m
p
ar
ed
w
it
h
b
r
u
s
h
e
d
DC
m
o
to
r
s
a
n
d
in
d
u
ctio
n
m
ac
h
in
e
s
,
B
L
D
C
m
o
to
r
s
h
a
v
e
lo
w
er
i
n
er
tia
t
h
at
en
ab
les
f
a
s
ter
d
y
n
a
m
ic
r
e
s
p
o
n
s
e
to
r
ef
er
e
n
ce
co
m
m
an
d
s
.
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n
ad
d
itio
n
,
th
e
y
ar
e
m
o
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e
e
f
f
icien
t
d
u
e
to
t
h
e
p
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m
a
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n
t
m
a
g
n
ets t
h
at
ca
n
p
er
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o
r
m
w
it
h
v
ir
t
u
all
y
ze
r
o
r
o
to
r
lo
s
s
es [
3
-
5
]
.
B
L
DC
m
o
to
r
s
h
a
v
e
a
co
m
p
le
x
a
n
d
n
o
n
li
n
ea
r
m
o
d
el.
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o
o
v
er
co
m
e
th
e
co
n
tr
o
l
p
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le
m
,
a
n
o
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lin
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r
f
u
zz
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n
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o
ller
(
FLC)
is
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s
ed
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co
n
tr
o
l
th
e
s
p
ee
d
o
f
a
B
L
D
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m
o
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.
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h
is
in
tel
li
g
en
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co
n
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as
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s
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m
p
le
s
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u
ct
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r
e
a
n
d
is
r
ela
tiv
el
y
ea
s
y
to
i
m
p
le
m
e
n
t
d
u
e
to
its
m
o
d
est
f
u
zz
y
r
u
le
i
n
t
h
e
r
u
le
b
ase
[
6
,
7
]
.
R
ec
en
t
l
y
,
th
e
in
telli
g
en
t
co
n
tr
o
l
o
f
B
L
DC
m
o
to
r
s
h
a
s
elicit
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th
e
atte
n
tio
n
o
f
m
an
y
r
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s
ea
r
ch
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s
.
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r
e
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w
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f
th
e
m
o
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t
r
ele
v
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t
s
t
u
d
ies
i
s
p
r
esen
ted
in
th
i
s
p
ap
er
.
R
.
A
r
u
l
m
o
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h
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al
a
n
d
R
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n
d
ib
an
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ar
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a
co
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tio
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r
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p
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tio
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–
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teg
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ativ
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(
P
I
D)
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n
tr
o
ller
an
d
a
f
u
zz
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P
I
D
co
n
t
r
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ll
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ter
m
s
o
f
t
h
e
s
p
ee
d
co
n
tr
o
l
o
f
B
L
DC
m
o
to
r
s
.
T
h
e
r
esu
lts
w
er
e
o
b
tain
ed
u
s
in
g
M
A
T
L
A
B
/SIM
UL
I
NK
a
n
d
th
e
n
ex
p
er
i
m
e
n
tall
y
v
er
i
f
ied
.
T
h
e
s
i
m
u
lated
an
d
p
r
ac
tical
r
esu
lt
s
s
h
o
w
ed
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at
t
h
e
f
u
zz
y
P
I
D.
C
o
n
tr
o
ller
o
u
tp
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t
h
e
c
o
n
v
e
n
tio
n
al
P
I
D
co
n
tr
o
ller
[
8
]
.
E
.
B
less
y
a
n
d
M.
M
u
r
u
g
a
n
an
al
y
s
ed
a
B
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D
C
m
o
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m
o
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el
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d
d
esig
n
ed
an
F
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C
to
i
m
p
r
o
v
e
th
e
d
y
n
a
m
i
c
p
er
f
o
r
m
a
n
ce
o
f
s
p
ee
d
co
n
tr
o
l.
T
h
ey
co
m
p
ar
ed
th
e
f
u
zz
y
lo
g
ic
(
F
L
)
,
p
r
o
p
o
r
tio
n
al,
p
r
o
p
o
r
tio
n
al
–
in
te
g
r
al
an
d
P
I
D
co
n
tr
o
ller
s
to
ev
alu
ate
th
e
i
m
p
ac
t
o
f
ea
c
h
co
n
tr
o
ller
o
n
s
p
ee
d
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
[
9
]
.
Mo
h
a
m
m
ed
A
.
S
h
a
m
s
eld
i
n
a
n
d
A
d
el
A
.
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.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
265
-
274
266
EL
-
Sa
m
ah
y
p
r
ese
n
ted
t
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ee
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t
h
e
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th
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co
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tr
o
l
tech
n
iq
u
es
[
10
]
.
P
.
Har
i
Kr
is
h
n
an
a
n
d
M.
A
r
j
u
n
d
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[
1
1
].
Ak
h
ila
M.
an
d
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an
P
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in
tr
o
d
u
ce
d
an
ad
ap
tiv
e
n
eu
r
o
-
b
as
ed
f
u
zz
y
(
A
N
FIS)
co
n
tr
o
ller
f
o
r
elec
tr
ic
v
eh
ic
les
b
ased
o
n
B
L
DC
m
o
t
o
r
s
.
T
h
ey
ad
o
p
ted
a
r
eg
en
er
ativ
e
b
r
ak
i
n
g
s
tr
ateg
y
to
m
ai
n
tai
n
t
h
e
v
eh
ic
le’
s
s
tab
ilit
y
an
d
r
ec
o
v
er
e
n
er
g
y
,
th
er
eb
y
r
ed
u
cin
g
air
p
o
ll
u
ti
o
n
an
d
ac
h
ie
v
in
g
o
p
ti
m
u
m
en
er
g
y
u
tili
s
atio
n
.
T
h
e
s
i
m
u
latio
n
i
n
M
A
T
L
A
B
s
h
o
w
ed
th
at
t
h
e
A
NFI
S
-
b
as
ed
co
n
tr
o
ller
co
u
ld
r
a
p
id
ly
r
ea
ch
th
e
tar
g
et
an
d
o
v
er
co
m
e
th
e
co
m
p
le
x
it
y
o
f
th
e
p
r
o
b
lem
[
1
2
]
.
Sh
u
Xio
n
g
et
al.
d
ev
elo
p
ed
a
r
a
d
ial
b
a
s
is
f
u
n
ctio
n
(
R
B
F)
n
eu
r
al
n
et
w
o
r
k
w
i
th
a
P
I
D
co
n
tr
o
ller
to
o
v
er
co
m
e
t
h
e
r
es
p
o
n
s
e
lag
,
lo
w
p
r
ec
is
io
n
a
n
d
in
s
tab
il
it
y
p
r
o
b
le
m
s
d
u
e
to
th
e
u
s
e
o
f
t
h
e
clas
s
ica
l
P
I
D
co
n
tr
o
ller
in
th
e
s
p
ee
d
co
n
tr
o
l
o
f
B
L
DC
m
o
to
r
s
.
T
h
e
s
i
m
u
latio
n
r
esu
lt
s
s
h
o
w
ed
th
at
t
h
e
p
r
o
p
o
s
ed
in
tellig
e
n
t
co
n
tr
o
ller
co
u
ld
ef
f
ec
ti
v
el
y
i
m
p
r
o
v
e
t
h
e
p
er
f
o
r
m
a
n
c
e
o
f
th
e
co
n
tr
o
lled
s
y
s
te
m
an
d
p
r
o
v
id
e
f
a
s
ter
r
e
s
p
o
n
s
e
t
h
an
th
e
tr
ad
itio
n
al
P
I
D
co
n
tr
o
l
ler
[
1
3
].
Mu
h
a
m
m
ed
A
.
I
b
r
ah
i
m
etal
s
u
b
m
itted
a
n
o
p
ti
m
al
co
n
tr
o
l
d
esig
n
o
f
B
r
u
s
h
less
DC
m
o
to
r
s
p
ee
d
co
n
tr
o
l
b
ased
o
n
g
e
n
e
tic
alg
o
r
it
h
m
(
G
A
)
.
T
h
e
o
p
tim
iza
tio
n
m
et
h
o
d
is
e
m
p
lo
y
ed
to
f
i
n
d
o
p
ti
m
al
v
alu
es
o
f
P
r
o
p
o
r
tio
n
al
–
I
n
teg
r
a
l
-
Der
i
v
ati
v
e
(
P
I
D)
p
ar
am
eter
s
in
ter
m
s
o
f
b
etter
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
[
1
4
]
.
N.
N.
B
ah
ar
u
d
in
a
n
d
S.
M.
Ay
o
b
u
s
ti
lized
h
y
b
r
id
co
n
v
e
n
tio
n
al
an
d
in
te
lli
g
en
t
co
n
tr
o
ller
to
co
p
e
w
i
th
th
e
d
r
a
w
b
ac
k
o
f
b
o
th
co
n
tr
o
ller
s
.
T
h
e
co
n
v
e
n
tio
n
a
l
co
n
tr
o
ller
is
r
ep
r
ese
n
ted
b
y
lin
ea
r
co
n
tr
o
ller
s
s
u
c
h
as
P
I
,
PI
D
an
d
P
D
co
n
tr
o
ller
,
wh
ile
th
e
in
telli
g
en
t
co
n
tr
o
ller
is
d
esig
n
ed
b
ased
o
n
F
L
co
n
tr
o
l [
1
5
]
.
On
e
m
ai
n
is
s
u
e
in
co
n
tr
o
l
o
f
B
L
DC
m
o
to
r
is
h
o
w
to
d
es
ig
n
a
co
n
tr
o
ller
s
u
c
h
as
to
o
b
tain
h
ig
h
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
an
d
to
co
p
e
w
it
h
s
y
s
te
m
u
n
ce
r
tai
n
it
y
a
n
d
lo
ad
d
is
t
u
r
b
an
ce
.
T
h
e
c
o
n
v
en
tio
n
al
co
n
tr
o
ller
lack
s
t
h
e
ab
ilit
y
to
g
i
v
e
s
atis
f
ac
to
r
y
r
esp
o
n
s
e
s
u
n
d
er
p
ar
am
eter
v
ar
iatio
n
a
n
d
lo
ad
ap
p
licatio
n
.
T
h
er
ef
o
r
e,
FL
co
n
tr
o
ller
i
s
p
r
o
p
o
s
ed
to
r
ep
lace
th
e
cla
s
s
ica
l
co
n
tr
o
ller
s
to
s
o
l
v
e
t
h
e
d
e
g
r
ad
e
in
s
y
s
te
m
p
er
f
o
r
m
an
ce
d
u
e
t
o
u
n
c
er
tain
i
t
y
i
n
s
y
s
te
m
p
ar
am
ter
s
.
T
h
e
p
r
ese
n
t
w
o
r
k
co
m
p
ar
es a
T
y
p
e
1
F
L
C
(
T
1
FL
C
)
a
n
d
an
i
n
ter
v
al
T
y
p
e
2
FL
C
(
I
T
2
FL
C
)
f
o
r
th
e
s
p
ee
d
co
n
tr
o
l
o
f
B
L
DC
m
o
to
r
s
.
T
h
e
p
er
f
o
r
m
an
ce
o
f
ea
c
h
co
n
tr
o
ller
is
ass
ess
ed
i
n
ter
m
s
o
f
tr
a
n
s
ie
n
t a
n
d
s
tead
y
-
s
tate
ch
ar
ac
ter
is
ti
c
s
.
T
h
eir
p
er
f
o
r
m
a
n
ce
is
e
v
al
u
ated
in
M
A
T
L
A
B
.
2.
DYNA
M
I
C
M
O
DE
L
O
F
A
B
L
DC
M
O
T
O
R
A
B
L
D
C
m
o
to
r
is
a
th
r
ee
-
p
h
ase,
s
tar
-
co
n
n
ec
ted
,
f
o
u
r
-
p
o
l
e,
tr
ap
ez
o
i
d
al
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
(
E
MF)
t
y
p
e
w
it
h
a
t
h
r
ee
-
p
h
a
s
e
i
n
v
er
ter
.
F
ig
u
r
e
1
s
h
o
w
s
t
h
e
b
asic
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
s
p
ee
d
co
n
tr
o
l
f
o
r
a
B
L
DC
m
o
to
r
.
Fig
u
r
e
1
.
B
asic b
lo
ck
d
iag
r
a
m
o
f
th
e
s
e
n
s
o
r
-
less
d
r
i
v
e
o
f
a
B
L
D
C
m
o
to
r
T
h
e
T
h
e
v
o
ltag
e
eq
u
at
io
n
s
f
o
r
a
B
L
DC
m
o
to
r
ca
n
b
e
d
escr
ib
ed
b
y
th
e
f
o
llo
w
i
n
g
s
et
o
f
eq
u
atio
n
s
[
3
,
1
2
]:
(
)
(
)
(
)
(
1
)
(
)
(
)
(
)
(
2
)
(
)
(
)
(
)
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
Typ
e
1
ve
r
s
u
s
typ
e
2
fu
z
z
y
lo
g
i
c
s
p
ee
d
co
n
tr
o
ller
s
fo
r
b
r
u
s
h
less
DC
mo
to
r
s
(
Ha
yd
er Yo
u
s
if A
b
ed
)
267
w
h
er
e
,
an
d
ar
e
th
e
s
tato
r
p
h
ase
v
o
ltag
e
s
;
,
an
d
ar
e
th
e
p
h
ase
r
esis
tan
ce
s
o
f
th
e
s
tato
r
;
,
an
d
ar
e
th
e
cu
r
r
en
ts
o
f
th
e
s
t
ato
r
p
h
ases
;
,
an
d
ar
e
th
e
s
elf
-
in
d
u
ctan
ce
s
o
f
th
e
s
ta
to
r
w
i
n
d
in
g
s
;
,
,
,
,
an
d
ar
e
th
e
m
u
t
u
al
in
d
u
ctan
ce
s
a
m
o
n
g
s
t
t
h
e
s
tato
r
w
i
n
d
in
g
s
a
n
d
,
an
d
a
r
e
th
e
b
ac
k
E
MF
s
o
f
t
h
e
th
r
ee
p
h
ase
s
tato
r
s
[
3
,
1
2
]
.
Giv
e
n
t
h
e
s
y
m
m
etr
ic
s
tr
u
c
tu
r
e
a
n
d
e
q
u
al
r
esi
s
ta
n
ce
s
o
f
th
e
th
r
ee
s
tato
r
w
i
n
d
i
n
g
s
,
w
e
d
er
iv
e
(
4
)
(
5
)
w
h
er
e
is
th
e
s
el
f
-
in
d
u
ctan
ce
o
f
th
e
s
tato
r
an
d
M
is
th
e
m
u
tu
al
i
n
d
u
cta
n
ce
.
L
a
n
d
M
ar
e
in
d
ep
en
d
en
t
o
f
th
e
r
o
to
r
p
o
s
itio
n
.
T
h
e
th
r
ee
-
p
h
ase
s
tar
w
i
n
d
i
n
g
m
o
to
r
ca
n
b
e
ex
p
r
ess
ed
as f
o
llo
w
s
:
(
6
)
(
7
)
T
h
e
in
s
tan
tan
eo
u
s
i
n
d
u
ce
d
E
MFs ca
n
b
e
d
escr
ib
ed
b
y
(
)
(
8
)
(
)
(
9
)
(
)
(
1
0
)
w
h
er
e
is
th
e
r
o
to
r
an
g
u
lar
s
p
ee
d
an
d
is
th
e
r
o
to
r
p
o
s
itio
n
.
T
h
e
co
m
p
lete
m
o
d
el
f
o
r
a
B
L
DC
m
o
to
r
ca
n
b
e
w
r
itte
n
in
m
atr
i
x
f
o
r
m
u
s
in
g
(
1
)
,
(
2
)
an
d
(
3
)
as f
o
llo
w
s
[
1
6
]:
(
)
(
)
(
)
(
)
(
)
(
)
(
1
1
)
A
ll
p
h
a
s
e
r
esi
s
tan
ce
s
ar
e
eq
u
a
l
an
d
ca
n
b
e
d
esi
g
n
ated
b
y
(
R
)
b
ec
au
s
e
a
b
ala
n
ce
d
t
h
r
ee
-
p
h
ase
m
o
to
r
is
co
n
s
id
er
ed
.
T
h
er
ef
o
r
e,
(
1
1
)
ca
n
b
e
w
r
itte
n
as
f
o
llo
w
s
:
(
)
(
)
(
)
(
)
(
)
(
)
(
1
2
)
w
h
er
e
f
u
n
ctio
n
s
(
)
,
(
)
an
d
(
)
h
a
v
e
th
e
s
a
m
e
s
h
ap
e
as
,
an
d
w
it
h
a
m
a
x
i
m
u
m
m
ag
n
it
u
d
e
o
f
±
1
.
I
n
ad
d
itio
n
,
th
e
i
n
d
u
ce
d
E
M
Fs
h
a
v
e
r
o
u
n
d
ed
ed
g
es
r
at
h
er
t
h
an
s
h
ar
p
co
r
n
er
s
a
s
o
b
s
er
v
ed
i
n
th
e
tr
ap
ez
o
id
al
f
u
n
ctio
n
s
.
T
h
is
co
n
d
itio
n
i
s
attr
ib
u
ted
to
th
e
ti
m
e
d
er
iv
ati
v
e
o
f
t
h
e
f
lu
x
lin
k
ag
e
s
.
T
h
e
flu
x
d
en
s
it
y
f
u
n
ct
io
n
s
ar
e
s
m
o
o
th
w
it
h
o
u
t
s
u
d
d
en
ed
g
e
s
b
ec
a
u
s
e
t
h
e
flu
x
l
in
k
a
g
es
ar
e
f
r
i
n
g
in
g
a
n
d
co
n
ti
n
u
o
u
s
f
u
n
ctio
n
s
.
T
h
e
ex
p
r
ess
io
n
f
o
r
el
ec
tr
o
m
ag
n
etic
to
r
q
u
e
ca
n
b
e
w
r
itte
n
as
(
1
3
)
(
1
4
)
T
h
e
d
ev
elo
p
ed
to
r
q
u
e
is
u
s
ed
t
o
o
v
er
co
m
e
t
h
e
m
ec
h
a
n
ical
r
o
tatio
n
an
d
lo
ad
to
r
q
u
e,
w
h
ich
i
s
ex
p
r
ess
ed
as
:
(
1
5
)
3.
T
YP
E
-
1
F
L
C
AN
D
T
YP
E
-
2
F
L
C
(
T
1
F
L
C,
T
2
F
L
C)
T
h
e
d
esig
n
o
f
a
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
r
eq
u
ir
es
t
h
e
c
h
o
ice
o
f
m
e
m
b
er
s
h
ip
f
u
n
ct
i
o
n
s
.
T
h
e
m
e
m
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er
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h
ip
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n
ctio
n
s
s
h
o
u
ld
b
e
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o
s
en
s
u
ch
t
h
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th
e
y
co
v
er
th
e
w
h
o
le
u
n
i
v
er
s
e
o
f
d
is
c
o
u
r
s
e.
I
t
s
h
o
u
ld
b
e
tak
en
ca
r
e
th
at
t
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
o
v
er
lap
ea
ch
o
th
er
.
T
h
is
is
d
o
n
e
in
o
r
d
er
to
av
o
id
an
y
k
i
n
d
o
f
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.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
265
-
274
268
d
is
co
n
ti
n
u
i
t
y
w
it
h
r
esp
ec
t
to
t
h
e
m
i
n
o
r
ch
a
n
g
e
s
i
n
th
e
in
p
u
ts
[
1
7
,
1
8
]
.
T
2
FL
C
co
n
s
is
t
s
o
f
a
s
et
o
f
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
(
MF
s
)
th
a
t
o
p
e
r
ate
w
it
h
3
D
u
n
ce
r
tai
n
tie
s
,
w
h
er
ea
s
th
e
M
Fs
o
f
t
y
p
e
1
f
u
zz
y
s
e
t
s
o
p
er
ate
w
it
h
o
n
l
y
t
w
o
d
i
m
en
s
io
n
s
.
T
h
e
f
u
zz
y
s
e
t
s
o
f
MF
s
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
T
h
ese
f
u
zz
y
s
ets
ar
e
ca
p
ab
l
e
o
f
m
o
d
elli
n
g
a
n
d
h
an
d
li
n
g
u
n
ce
r
tai
n
ties
,
n
o
n
li
n
ea
r
ities
an
d
li
n
g
u
i
s
tic
v
ar
iab
les
r
e
lated
to
th
e
in
p
u
t
an
d
o
u
tp
u
t
o
f
F
L
C
s
b
y
m
o
d
ell
in
g
t
h
e
m
a
n
d
r
ed
u
cin
g
th
eir
e
f
f
ec
tiv
e
n
es
s
.
T
1
FL
C
f
u
zz
y
s
et
s
s
u
p
p
le
m
e
n
t
c
lass
ical
f
u
zz
y
s
ets‚
t
h
er
eb
y
clea
r
l
y
in
d
icati
n
g
th
e
p
r
ef
er
e
n
ce
s
o
f
I
T
2
FL
C
[
1
9
].
Fig
u
r
e
2
.
I
n
ter
v
al
f
u
zz
y
t
y
p
e
2
MF
s
tr
u
ct
u
r
e
T
h
e
m
at
h
e
m
atica
l
eq
u
at
io
n
f
o
r
a
s
y
s
te
m
i
s
r
eq
u
ir
ed
to
co
n
tr
o
l
p
r
ac
tical
s
y
s
te
m
s
b
ased
o
n
th
e
tr
ad
itio
n
a
l c
o
n
tr
o
l d
esi
g
n
.
Mo
s
t s
y
s
te
m
eq
u
atio
n
s
t
h
at
d
e
s
cr
ib
e
s
y
s
te
m
d
y
n
a
m
ics
ar
e
d
if
f
er
en
tial
eq
u
atio
n
s
ass
o
ciate
d
w
i
th
eit
h
er
co
n
tin
u
o
u
s
o
r
d
is
cr
ete
tim
e
s
y
s
te
m
s
.
I
n
r
ea
lit
y
,
m
o
s
t
p
h
y
s
ical
s
y
s
te
m
s
ar
e
co
m
p
lex
an
d
n
o
n
li
n
ea
r
.
An
ac
cu
r
ate
n
o
n
li
n
ea
r
m
o
d
el
is
d
if
f
ic
u
lt
to
d
ev
el
o
p
f
o
r
m
o
s
t
s
y
s
te
m
s
.
A
l
th
o
u
g
h
a
r
elativ
el
y
e
x
ac
t
m
o
d
el
ca
n
b
e
d
er
iv
ed
,
d
esig
n
in
g
a
co
n
tr
o
ller
th
at
ca
n
a
ch
iev
e
t
h
e
r
eq
u
ir
ed
d
y
n
a
m
ic
s
is
to
o
co
m
p
lex
,
p
ar
ticu
lar
l
y
f
o
r
tr
ad
itio
n
a
l
c
o
n
tr
o
l
d
esig
n
s
t
h
at
i
m
p
o
s
e
ce
r
tain
a
s
s
u
m
p
tio
n
s
o
n
a
s
y
s
te
m
(
e.
g
.
s
y
s
te
m
lin
ea
r
it
y
)
.
T
h
e
ad
v
a
n
tag
e
s
o
f
T
2
FL
C
s
o
v
er
T
1
FL
C
s
ca
n
b
e
s
u
m
m
ar
is
ed
as
f
o
llo
w
s
[
20
-
23
]:
a.
T
2
FL
C
s
ar
e
m
o
r
e
r
o
b
u
s
t t
h
a
n
T
1
FL
C
s
b
ec
au
s
e
th
e
y
ca
n
w
o
r
k
u
n
d
er
a
w
id
er
r
an
g
e
o
f
o
p
er
atin
g
co
n
d
itio
n
s
th
an
T
1
FLCs
.
I
n
ad
d
itio
n
,
T
2
FLCs
ca
n
d
ea
l
w
ith
n
o
is
e
a
n
d
lo
ad
ch
an
g
e
s
in
a
p
la
n
t.
b.
T
h
e
f
u
zz
y
s
ets
a
n
d
MFs
o
f
T
2
FLCs
ar
e
f
u
zz
y
.
Mo
r
eo
v
er
,
th
e
u
n
ce
r
tai
n
t
y
ca
n
h
an
d
le
a
n
d
m
o
d
el
n
u
m
er
ica
l
u
n
ce
r
tai
n
tie
s
,
n
o
n
li
n
ea
r
ities
a
n
d
lin
g
u
is
tic
v
ar
iab
les
t
h
at
ar
e
ac
co
m
p
an
ied
b
y
th
e
in
p
u
ts
a
n
d
o
u
tp
u
t
o
f
t
h
e
u
n
i
v
er
s
e
o
f
d
is
co
u
r
s
e
(
UOD)
f
o
r
FL
C
s
.
c.
T
h
e
u
n
ce
r
tain
t
y
o
f
t
y
p
e
2
f
u
zz
y
s
et
s
ca
n
ad
o
p
t
th
e
s
a
m
e
UOD
as
t
h
at
o
f
t
y
p
e
1
f
u
zz
y
s
ets
b
u
t
w
i
th
a
s
m
al
ler
n
u
m
b
er
o
f
lab
els.
T
h
e
f
o
llo
w
i
n
g
d
e
f
i
n
it
io
n
s
d
esc
r
ib
e
th
e
b
asic
m
at
h
e
m
atica
l c
o
n
ce
p
ts
f
o
r
T
2
FL
C
s
[
2
4
,
2
5
].
Def
ini
t
io
n 1
.
I
f
̃
d
en
o
tes t
y
p
e
2
f
u
zz
y
s
ets,
w
h
ic
h
is
c
h
ar
ac
te
r
i
s
ed
b
y
MF
̃
(
)
,
w
h
er
e
,
is
th
e
UOD
an
d
,
-
; th
en
̃
*
(
(
)
̃
(
)
)
,
-
+
(
1
6
)
w
h
er
e
̃
(
)
.
T
h
e
eq
u
atio
n
ca
n
b
e
ex
p
r
ess
ed
as
̃
̃
(
)
(
)
,
-
(
1
7
)
w
h
er
e
r
ep
r
esen
ts
t
h
e
u
n
io
n
o
v
er
all
ad
m
i
s
s
ib
le
an
d
.
Def
ini
t
io
n 2
.
A
2
D
s
y
s
te
m
w
it
h
ax
e
s
an
d
̃
(
)
is
k
n
o
w
n
a
s
th
e
v
er
tical
s
lice
o
f
̃
(
)
,
w
h
ich
i
s
r
ep
r
esen
ted
as
̃
(
)
̃
=
̃
(
)
(
)
,
-
,
(
1
8
)
w
h
er
e
(
)
an
d
̃
(
)
is
d
e
f
in
ed
a
s
t
h
e
s
ec
o
n
d
ar
y
M
F
an
d
s
ec
o
n
d
ar
y
s
et,
r
esp
ec
ti
v
el
y
.
T
h
e
p
r
im
ar
y
MF
o
f
is
d
esi
g
n
a
ted
b
y
an
d
is
t
h
e
d
o
m
ai
n
o
f
t
h
e
s
e
co
n
d
ar
y
m
e
m
b
er
s
h
ip
,
w
h
er
e
,
-
f
o
r
all
in
X.
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
Typ
e
1
ve
r
s
u
s
typ
e
2
fu
z
z
y
lo
g
i
c
s
p
ee
d
co
n
tr
o
ller
s
fo
r
b
r
u
s
h
less
DC
mo
to
r
s
(
Ha
yd
er Yo
u
s
if A
b
ed
)
269
Def
ini
t
io
n
3
.
T
h
e
a
m
p
lit
u
d
e
o
f
th
e
s
ec
o
n
d
ar
y
MF
i
s
d
ef
i
n
ed
as
th
e
s
ec
o
n
d
d
eg
r
ee
,
w
h
i
ch
is
r
ef
er
r
ed
to
as
th
e
s
ec
o
n
d
ar
y
g
r
ad
e.
Def
ini
t
io
n
4
.
T
h
e
b
o
u
n
d
ed
ar
ea
o
f
u
n
ce
r
tai
n
t
y
f
o
r
t
y
p
e
2
f
u
zz
y
s
et
̃
is
ca
lled
th
e
f
o
o
tp
r
in
t
o
f
u
n
ce
r
tai
n
t
y
(
FOU)
.
FOU
d
ef
i
n
es t
h
e
u
n
io
n
o
f
all
p
r
i
m
ar
y
MFs‚
w
h
ic
h
c
an
b
e
d
escr
ib
ed
as
(
̃
)
(
1
9
)
Def
ini
t
io
n
5
.
T
h
e
u
p
p
er
an
d
lo
w
er
MF
s
o
f
̃
ar
e
t
w
o
t
y
p
e
1
f
u
zz
y
s
ets,
w
h
er
e
t
h
e
b
o
u
n
d
ar
ies
o
f
(
̃
)
f
o
r
t
y
p
e
2
f
u
zz
y
s
ets
̃
ar
e
t
h
e
lo
w
er
a
n
d
u
p
p
er
b
o
u
n
d
s
o
f
t
y
p
e
1
f
u
zz
y
s
et
s
.
T
h
e
lo
w
er
M
F
is
d
escr
ib
ed
as
̃
̃
(
)
an
d
th
e
u
p
p
er
MF
is
d
ef
in
ed
a
s
̃
̃
̅
̅
̅
(
)
,
w
h
ich
i
n
d
icate
t
h
at
̃
̃
̅
̅
̅
(
)
(
̃
)
̅
̅
̅
̅
̅
̅
̅
̅
̅
̅
̅
,
(
2
0
)
̃
̃
(
)
(
̃
)
.
(
2
1
)
T
h
e
lo
w
er
a
n
d
u
p
p
er
MF
s
f
r
e
q
u
en
tl
y
e
x
i
s
t
b
ec
au
s
e
t
h
e
d
o
m
a
in
o
f
th
e
s
ec
o
n
d
ar
y
MF
s
is
l
i
m
ited
w
it
h
i
n
t
h
e
r
an
g
e
o
f
[
0
‚
1
]
.
T
h
e
s
tr
u
ct
u
r
e
o
f
th
e
i
n
ter
v
a
l
t
y
p
e
2
FL
m
e
m
b
er
s
h
ip
o
f
MF
w
it
h
its
s
ec
o
n
d
ar
y
MF
s
is
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
Fig
u
r
e
3
.
I
n
ter
v
al
f
u
zz
y
t
y
p
e
2
MF
s
tr
u
ct
u
r
e
w
it
h
its
s
e
co
n
d
a
r
y
M
Fs
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
I
n
T
h
e
ef
f
ec
tiv
e
n
es
s
o
f
T
1
FL
C
a
n
d
T
2
FL
C
f
o
r
th
e
s
p
ee
d
co
n
tr
o
l
o
f
B
L
DC
m
o
to
r
s
i
s
v
er
i
f
ied
th
r
o
u
g
h
s
i
m
u
lat
io
n
in
M
A
T
L
A
B
/SIM
U
L
I
NK
(
R
2
0
1
7
b
)
en
v
ir
o
n
m
en
t.
T
h
e
SIM
UL
I
NK
m
o
d
ell
in
g
o
f
F
L
C
-
b
ased
s
p
ee
d
co
n
tr
o
l
is
s
h
o
w
n
in
Fi
g
u
r
e
4
.
T
h
e
B
L
D
C
m
o
t
o
r
p
ar
am
eter
s
u
s
ed
t
h
r
o
u
g
h
o
u
t
th
e
s
i
m
u
latio
n
ar
e
lis
ted
in
T
ab
le
1
.
Fig
u
r
e
4
.
B
L
DC
m
o
to
r
w
it
h
T
1
FLC
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.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
265
-
274
270
T
ab
le
1
.
P
ar
am
eter
s
o
f
B
L
DC
m
o
to
r
M
o
t
o
r
P
a
r
a
me
t
e
r
s
V
a
l
u
e
s
N
u
mb
e
r
o
f
p
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x
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C
.
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I
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ased
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h
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C
Evaluation Warning : The document was created with Spire.PDF for Python.
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5.
CO
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/SIM
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ased
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s
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ter
m
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ie
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s
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s
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ar
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m
eter
s
.
RE
F
E
R
E
NC
E
S
[1
]
P
ra
sa
d
,
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t
a
l.
,
“
A
n
in
telli
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In
ter
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Co
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In
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M
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f
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r In
d
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Ap
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ti
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s (
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IA)
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p
.
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.
[2
]
Yu
sn
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rm
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DC
m
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”
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ter
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Po
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r
El
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tro
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Dr
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m
(
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PE
DS
),
v
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1
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,
p
p
.
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.
[3
]
Ba
p
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Na
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m
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V
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k
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Re
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M
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Bru
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d
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strial
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Fi
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st
In
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a
l
Co
n
fer
e
n
c
e
o
n
Co
n
tro
l
,
M
e
a
su
re
me
n
t
a
n
d
I
n
stru
me
n
t
a
ti
o
n
,
p
p
.
1
-
5
2
0
1
6
.
[4
]
A
.
H.
A
h
m
e
d
,
e
t
a
l.
,
“
Co
m
p
a
riso
n
b
e
tw
e
e
n
f
u
z
z
y
lo
g
ic
a
n
d
p
i
c
o
n
tro
l
f
o
r
th
e
sp
e
e
d
o
f
b
ld
c
m
o
to
r,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m (
I
J
PE
DS
),
v
o
l.
9
,
p
p
.
1
1
1
6
-
1
1
2
3
,
2
0
1
8
.
[5
]
G
.
G
.
R
.
S
e
k
h
a
r
a
n
d
B
.
Ba
n
a
k
a
r,
“
S
o
lar
P
V
f
e
d
n
o
n
-
iso
late
d
DC
-
DC
c
o
n
v
e
rter
f
o
r
B
L
DC
m
o
to
r
d
riv
e
w
it
h
sp
e
e
d
c
o
n
tro
l,
”
In
d
o
n
e
sia
n
J
o
u
r
n
a
l
o
f
E
lec
trica
l
En
g
in
e
e
rin
g
a
n
d
Co
mp
u
ter
S
c
ien
c
e
,
v
o
l.
1
3
,
p
p
.
3
1
3
-
3
23
,
2
0
1
9
.
[6
]
C
.
C
.
S
o
o
n
,
e
t
a
l
.
,
“
Co
n
tro
ll
e
rs
Ca
p
a
b
il
it
ies
w
it
h
Co
m
p
u
tatio
n
a
l
Tu
n
i
n
g
A
l
g
o
rit
h
m
in
No
n
li
n
e
a
r
El
e
c
tro
-
H
y
d
ra
u
li
c
A
c
tu
a
to
r
S
y
ste
m
,
”
J
o
u
rn
a
l
o
f
A
d
v
a
n
c
e
d
Res
e
a
rc
h
in
Fl
u
id
M
e
c
h
a
n
ics
a
n
d
T
h
e
rm
a
l
S
c
ien
c
e
s
,
v
o
l.
5
2
,
p
p
.
1
4
8
-
1
6
0
,
2
0
1
8
.
[7
]
N
.
H
.
Ja
b
a
ru
ll
a
h
,
e
t
a
l
.
,
“
M
a
x
im
u
m
P
o
w
e
r
P
o
in
t
T
ra
c
k
in
g
in
P
V
D
e
v
ice
:
M
a
teria
l,
E
ff
icie
n
c
y
a
n
d
M
o
d
e
ls
to
S
u
p
p
ly
No
n
-
L
in
e
a
r
DC
P
o
w
e
r
S
u
p
p
ly
,
”
J
o
u
rn
a
l
o
f
A
d
v
a
n
c
e
d
Res
e
a
rc
h
in
Fl
u
i
d
M
e
c
h
a
n
ics
a
n
d
T
h
e
rm
a
l
S
c
ien
c
e
s,
v
o
l.
5
3
,
p
p
.
1
5
7
-
1
6
4
,
2
0
1
9
.
[8
]
R.
A
ru
l
m
o
z
h
iy
a
l
a
n
d
R.
Ka
n
d
ib
a
n
,
“
De
sig
n
o
f
f
u
z
z
y
P
ID
c
o
n
tro
ll
e
r
f
o
r
b
ru
sh
les
s
DC
m
o
to
r,
”
2
0
1
2
In
ter
n
a
t
io
n
a
lC
o
n
fer
e
n
c
e
o
n
Co
m
p
u
ter
Co
mm
u
n
ica
ti
o
n
a
n
d
In
f
o
rm
a
ti
c
s
,
p
p
.
1
-
7
,
2
0
1
2
.
[9
]
Bles
s
y
,
e
t
a
l.
,
“
M
o
d
e
li
n
g
a
n
d
c
o
n
tro
ll
in
g
o
f
BL
DC
m
o
to
r
b
a
se
d
f
u
z
z
y
lo
g
ic,
”
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
In
fo
rm
a
t
io
n
Co
mm
u
n
ica
ti
o
n
a
n
d
Emb
e
d
d
e
d
S
y
ste
ms
(
ICICES
2
0
1
4
)
,
p
p
.
1
-
6
,
2
0
1
4
.
[1
0
]
S
h
a
m
se
ld
in
,
e
t
a
l.
,
“
S
p
e
e
d
c
o
n
tro
l
o
f
B
L
DC
m
o
to
r
b
y
u
sin
g
P
ID co
n
tro
l
a
n
d
se
lf
-
tu
n
in
g
f
u
z
z
y
P
ID c
o
n
tr
o
ll
e
r,
”
1
5
t
h
In
ter
n
a
t
io
n
a
l
W
o
rk
sh
o
p
o
n
Res
e
a
rc
h
a
n
d
E
d
u
c
a
ti
o
n
i
n
M
e
c
h
a
tro
n
i
c
s (
RE
M
)
,
p
p
. 1
-
9
,
2
0
1
4
.
[1
1
]
Krish
n
a
n
,
e
t
a
l.
,
“
Co
n
tr
o
l
o
f
BL
DC
m
o
to
r
b
a
se
d
o
n
a
d
a
p
t
iv
e
f
u
z
z
y
lo
g
ic
P
ID
c
o
n
tro
ll
e
r
,”
2
0
1
4
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Gr
e
e
n
Co
mp
u
ti
n
g
Co
mm
u
n
ica
ti
o
n
a
n
d
El
e
c
trica
l
E
n
g
i
n
e
e
rin
g
(
ICGCCEE),
p
p
.
1
-
5
,
2
0
1
4
.
[1
2
]
M.
Ak
h
il
a
a
n
d
P
.
Ra
tn
a
n
,
“
Bru
sh
les
s
DC
m
o
to
r
d
riv
e
w
it
h
re
g
e
n
e
ra
ti
v
e
b
ra
k
in
g
u
sin
g
a
d
a
p
ti
v
e
n
e
u
ro
b
a
se
d
f
u
z
z
y
in
f
e
re
n
c
e
s
y
ste
m
,
”
2
0
1
6
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
E
lec
trica
l,
El
e
c
tro
n
ics
,
a
n
d
Op
ti
miz
a
ti
o
n
T
e
c
h
n
i
q
u
e
s
(
ICEE
OT),
p
p
.
7
4
8
-
7
5
1
,
2
0
1
6
.
[1
3
]
X
io
n
g
,
e
t
a
l
.
,
“
Re
se
a
r
c
h
o
n
S
p
e
e
d
Co
n
tr
o
l
S
y
ste
m
o
f
Bru
sh
les
s
DC
M
o
to
r
Ba
se
d
o
n
Ne
u
ra
l
Ne
tw
o
rk
,
”
2
0
1
5
8
th
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
I
n
tel
li
g
e
n
t
C
o
mp
u
ta
ti
o
n
T
e
c
h
n
o
l
o
g
y
a
n
d
A
u
t
o
ma
ti
o
n
(
ICICT
A),
p
p
.
7
6
1
-
7
6
4
,
2
0
1
5
.
[1
4
]
M.
A
.
Ib
ra
h
im
,
e
t
a
l.
,
“
Op
t
im
a
l
P
ID
c
o
n
t
ro
ll
e
r
o
f
a
b
r
u
sh
les
s
D
C
m
o
to
r
u
si
n
g
g
e
n
e
ti
c
a
lg
o
rit
h
m
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m (
I
J
PE
DS
),
v
o
l.
1
0
,
p
p
.
8
2
2
-
830
,
2
0
1
9
.
[1
5
]
N.
N.
Ba
h
a
ru
d
i
n
a
n
d
S
.
M
.
Ay
o
b
,
“
Bru
s
h
les
s
DC
M
o
to
r
S
p
e
e
d
Co
n
tr
o
l
Us
i
n
g
S
in
g
le
I
n
p
u
t
F
u
z
z
y
P
I
Co
n
tro
l
ler
,”
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
a
n
d
Dr
ive
S
y
ste
m (
IJ
PE
DS
),
v
o
l.
9
,
p
p
.
1
9
5
2
-
1
9
6
6
,
2
0
1
8
.
[1
6
]
R.
Krish
n
a
n
,
“
P
e
rm
a
n
e
n
t
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s an
d
b
ru
sh
les
s DC mo
to
r
d
riv
e
s
,”
Bo
o
k
,
CRC
p
re
ss
,
2
0
0
9
.
[1
7
]
H
.
R
.
Kh
o
e
i
a
n
d
E
.
F
.
S
h
a
h
ra
k
i,
“
'
F
u
z
z
y
lo
g
ic
b
a
se
d
d
irec
t
p
o
w
e
r
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
t
d
r
iv
e
,
”
Bu
ll
e
ti
n
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
a
n
d
In
f
o
r
ma
ti
c
s
,
v
o
l.
5
,
p
p
.
2
9
6
-
3
0
6
,
2
0
1
6
.
[1
8
]
S
e
v
il
A
h
m
e
d
,
A
n
d
o
n
T
o
p
a
lo
v
,
Nik
o
lay
Di
m
it
ro
v
a
n
d
Eu
g
e
n
e
Bo
n
e
v
,
“
In
d
u
strial
Im
p
le
m
e
n
tatio
n
o
f
a
F
u
z
z
y
L
o
g
ic
Co
n
tr
o
ll
e
r
f
o
r
Bru
sh
les
s
DC
M
o
to
r
Driv
e
s
u
sin
g
th
e
P
ico
M
o
ti
o
n
Co
n
tr
o
l
F
ra
m
e
w
o
rk
,
”
IEE
E
8
th
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
In
tell
ig
e
n
t
S
y
ste
ms
,
9
7
8
-
1
-
5
0
9
0
,
2
0
1
6
.
[1
9
]
Oz
e
k
,
e
t
a
l.
,
“
A
so
f
t
w
a
r
e
to
o
l:
Ty
p
e
‐
2
f
u
z
z
y
lo
g
ic
to
o
lb
o
x
,
”
Co
mp
u
ter
A
p
p
li
c
a
ti
o
n
s
i
n
E
n
g
in
e
e
rin
g
Ed
u
c
a
ti
o
n
,
v
o
l.
1
6
,
p
p
.
1
3
7
-
1
4
6
,
2
0
0
8
.
[2
0
]
H.
Yin
g
,
“
F
u
z
z
y
c
o
n
tro
l
a
n
d
m
o
d
e
li
n
g
:
a
n
a
ly
ti
c
a
l
f
o
u
n
d
a
ti
o
n
s an
d
a
p
p
li
c
a
ti
o
n
s
,
”
W
il
e
y
-
IEE
E
P
re
ss
,
2
0
0
0
.
[2
1
]
P
a
ss
in
o
,
e
t
a
l
.
,
“
F
u
z
z
y
c
o
n
tro
l
,
”
M
e
n
lo
P
a
rk
,
CA
:
A
d
d
iso
n
-
w
e
sle
y
,
v
o
l.
4
2
,
1
9
9
8
.
[2
2
]
G
.
J.
Kl
ir
a
n
d
B
.
Yu
a
n
,
“
F
u
z
z
y
se
ts
a
n
d
f
u
z
z
y
lo
g
ic:
th
e
o
ry
a
n
d
a
p
p
li
c
a
ti
o
n
s
,
”
Ne
w
Je
rs
e
y
:
P
re
n
ti
c
e
Ha
ll
P
T
R,
v
o
l.
5
7
4
,
1
9
9
5
.
[2
3
]
Oz
e
k
,
e
t
a
l
.
,
“
A
so
f
t
w
a
re
to
o
l:
Ty
p
e
‐
2
f
u
z
z
y
lo
g
ic
to
o
lb
o
x
,
”
C
o
mp
u
ter
Ap
p
li
c
a
ti
o
n
s
in
En
g
in
e
e
rin
g
E
d
u
c
a
ti
o
n
,
v
o
l.
1
6
,
p
p
.
1
3
7
-
1
4
6
,
2
0
0
8
.
[2
4
]
M
e
n
d
e
l,
e
t
a
l
.
,
“
In
terv
a
l
t
y
p
e
-
2
f
u
z
z
y
lo
g
ic
s
y
ste
m
s
m
a
d
e
si
m
p
le,
”
IEE
E
tra
n
sa
c
ti
o
n
s
o
n
fu
zz
y
sy
ste
ms
,
v
ol
.
1
4
,
p
p
.
8
0
8
-
8
2
1
,
2
0
0
6
.
[2
5
]
A
li
re
z
a
S
a
d
e
g
h
ian
,
Je
rr
y
M
.
M
e
n
d
e
l
a
n
d
Ho
o
m
a
n
T
a
h
a
y
o
ri
,
“
A
d
v
a
n
c
e
s
in
Ty
p
e
-
2
F
u
z
z
y
S
e
ts
a
n
d
S
y
st
e
m
s,
”
Bo
o
k
,
S
p
rin
g
e
r
,
Ne
w
Y
o
rk
,
Pre
ss
,
2
0
1
3
.
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.
10
,
No
.
1
,
Feb
r
u
ar
y
2
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274
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