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in
ee
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(
I
J
E
CE
)
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
,
p
p
.
171
~
181
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c
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(DT
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b
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p
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h
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a
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h
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m
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e
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c
e
d
th
a
t
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s t
h
a
n
t
h
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c
las
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DT
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K
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w
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d
s
:
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t
t
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r
q
u
e
c
o
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tr
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Fu
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lid
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d
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rticle
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n
d
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CC B
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li
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se
.
C
o
r
r
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s
p
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A
uth
o
r
:
Ah
m
ed
Ma
s
s
o
u
m
,
Facu
lt
y
o
f
E
lectr
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E
n
g
in
ee
r
in
g
,
Dj
illali L
iab
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Un
i
v
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s
i
t
y
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Sid
i B
el
A
b
b
ès
,
A
lg
er
ia
.
E
m
ail: a
h
m
a
s
s
o
u
m
@
y
a
h
o
o
.
f
r
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
asy
n
c
h
r
o
n
o
u
s
m
o
to
r
in
th
e
in
d
u
s
tr
ial
ap
p
licatio
n
s
h
as
m
an
y
ad
v
a
n
ta
g
es
s
u
ch
as
t
h
e
r
o
b
u
s
tn
es
s
,
its
lo
w
co
s
t,
its
p
er
f
o
r
m
an
ce
s
an
d
th
e
m
ai
n
ten
a
n
ce
s
i
m
p
lici
t
y
.
P
o
w
er
elec
tr
o
n
ics a
n
d
n
u
m
er
ical
co
n
tr
o
l e
n
s
u
r
e
to
d
ay
to
co
n
s
id
er
th
e
co
n
tr
o
l
o
f
th
e
v
ar
iab
le
s
p
ee
d
.
Ap
p
ly
i
n
g
t
h
e
v
ar
io
u
s
tec
h
n
o
l
o
g
ies,
t
h
e
s
cie
n
ti
f
i
c
d
ev
elo
p
ed
d
if
f
er
en
t
co
n
tr
o
l
ap
p
r
o
ac
h
es
to
o
v
er
co
m
e,
i
n
elec
tr
ical
m
ac
h
in
e
s
,
th
e
f
l
u
x
an
d
t
h
e
to
r
q
u
e.
So
,
th
e
s
it
u
atio
n
h
a
s
h
o
w
e
v
er
ch
an
g
ed
d
r
a
m
atica
ll
y
w
it
h
t
h
e
ad
v
e
n
t
o
f
DT
C
[
1
]
an
d
s
p
ee
d
s
e
n
s
o
r
les
s
co
n
tr
o
l
[
2
]
.
Sin
ce
1
9
8
5
,
th
e
DT
C
w
as
co
m
p
letl
y
u
s
ed
f
o
r
i
n
d
u
ctio
n
m
o
to
r
.
T
h
e
to
r
q
u
e
an
d
th
e
f
l
u
x
h
a
v
e
to
b
e
co
r
r
ec
tly
e
s
ti
m
ated
.
A
co
r
r
ec
t
esti
m
a
tio
n
o
f
t
h
e
to
r
q
u
e
an
d
th
e
f
l
u
x
en
ab
le
DT
C
to
d
e
v
el
o
p
f
ast
to
r
q
u
e
a
n
d
f
l
u
x
co
n
tr
o
l
[
3
]
.
A
f
ter
all,
to
r
q
u
e,
f
lu
x
,
an
d
cu
r
r
en
t
p
u
l
s
a
tio
n
s
o
cc
u
r
in
s
tead
y
s
tate
o
p
er
atio
n
.
T
h
e
y
ar
e
r
ep
r
o
d
u
ce
d
in
to
r
q
u
e,
f
lu
x
a
n
d
s
p
ee
d
esti
m
atio
n
.
T
o
o
v
er
co
m
e
s
o
m
e
o
f
t
h
e
d
esav
a
n
ta
g
es
o
f
DT
C
,
m
an
y
t
ec
h
n
iq
u
es
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
[
4
,
5
]
.
Am
o
n
g
th
e
s
e
s
o
lu
tio
n
s
p
r
o
p
o
s
ed
:
DT
C
w
i
th
Sp
ac
e
Vec
t
o
r
Mo
d
u
latio
n
(
DT
C
-
SVM)
[
6
,
7
]
;
D
T
C
b
ased
o
n
ar
tif
icial
i
n
telli
g
en
ce
tec
h
n
iq
u
es
[
8
,
9
]
.
T
h
e
n
ee
d
f
o
r
s
en
s
o
r
less
s
p
ee
d
co
n
tr
o
l
o
f
i
n
d
u
ctio
n
m
ac
h
in
e
s
h
a
s
b
ec
o
m
e
r
eq
u
ier
e
d
.
T
h
e
m
ec
h
an
ica
l
s
p
ee
d
s
e
n
s
o
r
n
ee
d
s
m
ai
n
ten
a
n
ce
i
n
m
an
y
ap
p
lic
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n
w
h
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m
a
k
e
th
e
s
en
s
o
r
in
tallatio
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d
i
f
f
icu
lt
.
Fo
r
th
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ad
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an
ta
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es,
m
o
s
t
in
d
u
s
tr
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ad
m
it
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cc
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d
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F
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r
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DT
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w
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to
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a
te
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m
ec
h
a
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p
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.
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.
11
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
1
:
1
7
1
-
1
81
172
W
h
en
t
h
is
m
ec
h
an
ical
s
e
n
s
o
r
is
r
e
m
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esti
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m
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w
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f
lu
x
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at
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s
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s
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M
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A
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ased
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ed
[
1
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zz
y
Sli
d
in
g
Mo
d
e
C
o
n
tr
o
ller
(
FS
MC)
f
o
r
s
e
n
s
o
r
les
s
s
p
ee
d
d
r
iv
e.
T
h
e
DT
C
p
r
in
cip
le
o
f
th
e
I
M
is
d
escr
ib
ed
in
th
e
s
ec
o
n
d
s
ec
tio
n
.
T
h
e
t
h
ir
d
s
ec
tio
n
is
d
ev
o
ted
to
th
e
p
r
esen
tatio
n
o
f
th
e
DT
C
-
SVM.
Sectio
n
f
o
u
r
is
d
ed
icate
d
to
th
e
ap
p
licatio
n
o
f
MRAS
to
th
e
DT
C
-
SVM
-
I
M.
Sen
s
o
r
less
m
o
to
r
b
ased
o
n
FS
MS
C
f
o
r
DT
C
-
SV
M
is
an
al
y
ze
d
in
f
if
t
h
s
ec
t
io
n
.
I
n
th
e
s
ix
t
h
s
ec
t
io
n
th
e
s
i
m
u
latio
n
r
esu
l
ts
o
f
t
h
e
s
t
u
d
ied
co
n
tr
o
l
to
p
o
lo
g
y
ar
e
p
r
esen
ted
.
A
t
t
h
e
en
d
co
n
cl
u
s
io
n
s
a
n
d
p
er
s
p
ec
tiv
es
w
il
l b
e
d
is
cu
s
s
ed
in
t
h
e
s
e
v
en
t
h
s
ec
tio
n
.
2.
P
RINCI
P
L
E
O
F
D
T
C
I
n
F
ig
u
r
e
1
,
t
h
e
class
ical
DT
C
b
lo
ck
d
iag
r
a
m
is
p
r
esen
ted
.
T
w
o
d
if
f
er
en
t
h
y
s
ter
er
is
r
eg
u
lato
r
s
ar
e
u
s
ed
to
co
n
tr
o
l
t
h
e
m
a
g
n
it
u
d
es
o
f
t
h
e
s
tato
r
f
l
u
x
an
d
to
r
q
u
e
.
T
h
e
s
elec
tio
n
o
f
th
e
r
i
g
h
t
v
o
ltag
e
v
ec
to
r
ac
co
r
d
in
g
to
th
e
s
w
i
tch
i
n
g
p
r
o
ce
s
s
is
g
i
v
en
i
n
T
ab
l
e
1
.
Fig
u
r
e
1
.
C
lass
ical
s
p
ee
d
r
eg
u
lato
r
u
s
in
g
ST
-
DT
C
T
ab
le
1
.
B
asin
g
s
w
itc
h
i
n
g
∅
s
C
e
z
1
z
2
z
3
z
4
z
5
z
6
d
c
=
1
V
3
V
4
V
5
V
6
V
1
V
2
d
∅
=
o
d
c
=
o
V
0
V
7
V
0
V
7
V
0
V
7
d
c
=
−
1
V
5
V
6
V
1
V
2
V
3
V
4
d
c
=
1
V
2
V
3
V
4
V
5
V
6
V
1
d
∅
=
1
d
c
=
o
V
7
V
0
V
7
V
0
V
7
V
0
d
c
=
−
1
V
6
V
1
V
2
V
3
V
4
V
5
T
h
e
s
tato
r
f
lu
x
a
n
d
o
u
tp
u
t
to
r
q
u
e
ca
n
b
e
e
s
ti
m
ated
b
y
u
s
i
n
g
o
n
l
y
t
h
e
c
u
r
r
en
t
a
n
d
v
o
lta
g
e
m
ea
s
u
r
e
m
e
n
t
s
.
T
h
e
co
n
tr
o
l
o
f
th
e
clo
s
i
n
g
an
d
t
h
e
o
p
en
in
g
in
v
er
ter
s
w
itc
h
es
i
s
en
s
u
r
e
d
b
y
th
e
co
m
p
u
ted
v
alu
e
s
o
f
s
tato
r
f
l
u
x
a
n
d
to
r
q
u
e.
T
h
e
s
tate’
s
ch
an
g
e
s
o
f
th
e
s
w
i
tch
e
s
ar
e
r
elate
d
t
o
th
e
ev
o
lu
tio
n
o
f
th
e
elec
tr
o
m
ag
n
etic
s
tate
o
f
th
e
m
o
to
r
.
T
h
e
o
u
ter
s
p
ee
d
co
n
tr
o
l
lo
o
p
is
as
s
u
r
ed
b
y
a
P
I
co
n
tr
o
ller
to
ac
co
m
p
li
s
h
q
u
ic
k
r
esp
o
n
s
e
an
d
ac
ce
p
tab
le
o
v
er
s
h
o
o
t a
n
d
s
tatic
er
r
o
r
[
1
1
,
1
2
]
.
2
.
1
.
Co
ntr
o
l o
f
s
t
a
t
o
r
f
lux
T
h
e
(
1
)
u
s
in
g
v
o
ltag
e
m
o
d
el,
p
er
m
i
ts
to
esti
m
ate
s
tato
r
f
l
u
x
:
∅
̅
=
∫
(
̅
−
̅
)
(
1
)
Ω
r
∗
−
+
a
bc
∅
s
∗
θ
s
Ω
r
I
a
b
c
IM
ST
-
DTC
S
a
b
c
d
c
d
∅
S
tato
r
f
lu
x
a
n
d
to
rq
u
e
e
stim
a
to
r
T
e
−
V
a
b
c
+
∅
s
V
d
α
β
V
αβ
−
+
S
V
I
V
d
TG
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
DTC
b
a
s
ed
o
n
S
V
M fo
r
in
d
u
ctio
n
mo
to
r
s
en
s
o
r
less
d
r
ive
w
it
h
fu
z
z
y
s
lid
in
g
mo
d
e
s
p
ee
d
.
.
.
(
S
a
r
r
a
Ma
s
s
o
u
m)
173
w
h
e
n
th
e
r
esis
tan
ce
o
f
t
h
e
s
ta
t
o
r
is
ab
o
n
d
o
n
ed
in
h
i
g
h
s
p
ee
d
o
p
er
atin
g
s
ta
tu
s
.
T
h
e
a
m
p
lit
u
d
e
o
f
v
o
lta
g
e
v
ec
to
r
ca
n
b
e
u
s
ed
to
d
eter
m
i
n
e
t
h
e
i
n
s
ta
n
ta
n
eo
u
s
f
l
u
x
s
p
ee
d
.
DC
l
in
k
v
o
lta
g
e
V
dc
,
in
v
er
ter
s
w
i
tch
in
g
s
tate
s
S
a
,
S
b
,
an
d
S
c
an
d
th
e
m
o
to
r
li
n
e
c
u
r
r
en
ts
I
ab
c
ar
e
u
s
ed
to
co
m
p
u
te
V
̅
s
an
d
I
̅
s
.
T
h
e
f
o
llo
w
in
g
eq
u
at
io
n
g
iv
e
s
th
e
r
elatio
n
s
h
ip
b
et
w
ee
n
th
e
r
o
to
r
f
lu
x
a
n
d
s
tato
r
f
l
u
x
:
∅
̅
(
+
1
)
≈
∅
̅
(
)
+
̅
o
r
∆
∅
̅
(
)
=
̅
(
2
)
∅
̅
=
⁄
1
+
∅
̅
(
3
)
T
h
e
s
tato
r
f
lu
x
an
g
le
is
ca
lc
u
l
ated
b
y
:
=
(
∅
∅
)
⁄
2
.
2
.
Co
ntr
o
l
o
f
elec
t
ro
m
a
g
net
ic
t
o
rque
T
h
e
elec
tr
o
m
a
g
n
et
ic
to
r
q
u
e
is
r
elate
d
to
th
e
s
tato
r
an
d
r
o
to
r
f
lu
x
v
ec
to
r
b
y
th
e
f
o
llo
w
i
n
g
e
x
p
r
ess
io
n
:
=
3
2
(
∅
−
∅
)
(
4
)
3.
SVM
-
DT
C
P
RINCI
P
L
E
I
t
ca
n
b
e
s
h
o
w
n
th
at
ST
-
DT
C
d
r
iv
e
h
as
a
g
o
o
d
d
y
n
a
m
ic
r
esp
o
n
s
e
b
u
t
lar
g
e
to
r
q
u
e
r
i
p
p
le
an
d
th
e
f
r
eq
u
en
c
y
o
f
s
w
itc
h
i
n
g
f
o
r
th
e
VSI
.
T
h
is
p
r
o
b
lem
s
m
a
y
b
e
m
as
ter
ed
b
y
t
h
e
SV
M
b
ased
DT
C
m
e
th
o
d
w
h
ic
h
i
s
p
r
ese
n
ted
i
n
t
h
is
s
e
ctio
n
.
I
n
th
is
s
tr
ate
g
y
,
th
e
d
-
q
co
o
r
d
in
ates
o
f
th
e
r
ef
er
en
c
e
v
o
lta
g
e
v
ec
to
r
ar
e
d
er
iv
ed
d
ir
ec
tly
f
r
o
m
t
h
e
s
tate
o
f
th
e
o
u
tp
u
ts
o
f
t
h
e
to
r
q
u
e
a
n
d
f
l
u
x
r
e
g
u
la
to
r
s
.
T
h
e
ex
p
r
ess
io
n
o
f
t
h
e
v
o
lta
g
e
co
o
r
d
in
ates is
:
{
∗
=
(
2
−
1
)
∗
=
(
2
−
1
)
−
∅
∗
(
5
)
c
f
,
c
T
∈
[
0
,
1
]
ar
e
r
esp
ec
tiv
el
y
t
h
e
o
n
-
o
f
f
co
n
tr
o
ller
b
in
ar
y
o
u
tp
u
t
o
f
th
e
m
ag
n
it
u
d
e
s
tato
r
f
l
u
x
an
d
th
e
to
r
q
u
e;
K
d
,
K
q
ar
e
co
ef
f
icien
ts
t
h
at
b
elo
n
g
to
th
e
in
ter
v
al
[
0
,
1
]
;
E
is
t
h
e
d
c
li
n
k
v
o
ltag
e.
E
x
p
r
ess
io
n
(
5
)
ca
n
b
e
g
iv
e
n
b
y
F
ig
u
r
e
2
.
Fig
u
r
e
2
.
Descr
ip
tio
n
o
f
t
h
e
v
o
ltag
e
v
ec
to
r
g
e
n
er
atio
n
T
h
e
s
p
ac
e
v
ec
to
r
o
f
th
e
p
h
ase
v
o
ltag
e
s
,
in
t
h
e
s
tat
io
n
ar
y
f
r
a
m
e
w
o
r
k
,
ca
n
b
e
w
r
itte
n
as:
̅
=
2
3
[
+
2
3
+
4
3
]
(
6
)
SVM
is
an
al
g
o
r
ith
m
f
o
r
th
e
co
n
tr
o
l
o
f
p
u
ls
e
w
id
th
m
o
d
u
latio
n
(
P
W
M)
d
esti
n
ed
to
s
y
n
t
h
esize
a
r
eq
u
ir
ed
v
o
ltag
e
s
p
ac
e
v
ec
t
o
r
at
th
e
i
n
v
er
ter
o
u
tp
u
t
ter
m
i
n
als.
T
h
e
o
p
er
atio
n
o
f
SVM
i
s
to
d
ec
o
m
p
o
s
e
V
̅
s
in
to
th
e
s
u
m
o
f
th
e
t
w
o
ad
j
ac
en
t
ac
tiv
e
v
o
lta
g
e
s
p
ac
e
v
ec
t
o
r
s
o
f
th
e
in
v
er
ter
an
d
o
f
ze
r
o
s
p
ac
e
v
ec
to
r
s
an
d
b
y
ap
p
l
y
i
n
g
th
e
m
t
h
e
m
o
d
u
la
t
io
n
p
er
io
d
T
ec
eq
u
al
to
th
e
w
ei
g
h
ts
o
f
t
h
at
s
u
m
.
I
f
V
̅
s
is
as
s
h
o
wn
in
F
ig
u
r
e
3
,
it
m
a
y
b
e
d
ev
id
ed
in
to
:
S
c
S
b
S
a
S
V
M
U
qs
∗
U
ds
∗
+
-
e
j
θ
K
d
E
(
2
c
f
−
1
)
c
f
ω
s
∅
s
∗
K
q
E
(
2
c
T
−
1
)
c
T
U
α
s
∗
U
β
s
∗
θ
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.
11
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
1
:
1
7
1
-
1
81
174
Fig
u
r
e
3
.
V
̅
s
Dec
o
m
p
o
s
itio
n
̅
=
1
̅
1
+
2
̅
2
+
̅
+
7
̅
7
(
7
)
1
=
̅
1
̅
1
,
2
=
̅
2
̅
2
,
+
7
=
1
−
1
−
2
T
h
e
eq
u
al
am
p
lit
u
d
e
o
f
(
2
3
)
⁄
E
an
d
a
p
h
ase
o
f
(
k
−
1
)
π
3
⁄
ac
co
m
p
lis
h
th
e
ac
tiv
e
s
p
ac
e
v
ec
to
r
s
(
k
=
1
,
2
,
…
,
6
)
.
T
h
e
lef
t
t
w
o
s
p
ac
e
v
ec
to
r
s
(
k
=
0
,
7
)
ar
e
ze
r
o
v
ec
to
r
s
[
1
3
-
1
7
]
,
a
nd
th
e
in
v
er
ter
v
o
lta
g
e
s
p
ac
e
v
ec
to
r
s
V
̅
k
(
k
=
1
,
2
)
ar
e
i
m
p
le
m
en
ted
f
o
r
:
T
k
=
a
k
T
ec
,
k
=
1
,
2
,
0
,
7
;
b
y
co
n
tr
o
lli
n
g
s
w
itc
h
es,
s
ee
Fig
u
r
e
4
:
Fig
u
r
e
4
.
SVM
s
w
itc
h
co
m
m
a
n
d
s
4.
M
RAS
T
O
E
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ca
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r
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m
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co
r
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ec
t
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w
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u
til
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h
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ac
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a
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es.
I
n
t
h
is
p
ar
t
th
e
m
o
d
e
l
re
f
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n
c
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a
d
a
p
ti
v
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s
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st
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m
(M
RA
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se
d
[
1
8
,
1
9
]
.
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h
e
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er
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b
l
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o
f
th
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MR
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m
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F
i
g
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r
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5
.
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h
e
d
esig
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MR
AS,
an
d
i
n
ad
d
itio
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to
an
A
d
ap
tativ
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m
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h
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i
s
m
,
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co
n
tr
u
cted
o
f
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w
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m
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el
s
:
r
e
f
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n
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th
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r
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el
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s
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r
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as
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u
t
t
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tp
u
t
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h
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er
r
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g
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tp
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ts
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w
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b
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ad
ap
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h
a
n
i
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P
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esti
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te
th
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r
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d
w
h
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ch
is
f
ed
b
ac
k
to
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ad
j
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tab
le
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o
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el
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p
d
ate
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ated
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n
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th
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est
tr
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k
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g
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m
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l
is
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ed
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h
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r
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y
o
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t
h
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ate
d
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ar
am
eter
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n
b
e
in
cr
ea
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till
t
h
e
M
R
A
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i
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co
n
s
id
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as
a
clo
s
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s
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te
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e.
R
e
lati
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h
at
d
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t
h
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ato
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ilter
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[
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S
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T
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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
DTC
b
a
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175
Fig
u
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5
.
C
lass
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MR
AS
s
tr
u
ctu
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f
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s
p
ee
d
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m
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4
.
1
.
E
qu
a
t
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f
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o
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l
T
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ce
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f
lu
x
t
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i
v
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b
y
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∅
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∫
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4
.
2
.
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3
.
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ated
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ated
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5.
CO
NT
RO
L
U
SI
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G
F
U
Z
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Y
SL
I
DIN
G
M
O
DE
FS
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s
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n
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s
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e
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ar
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eter
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n
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t
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r
ec
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y
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o
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an
d
[
2
7
,
2
8
]
.
C
o
n
s
id
er
in
g
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h
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m
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h
a
n
ic
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eq
u
atio
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,
th
e
s
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in
g
m
o
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p
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o
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f
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th
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d
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-
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M
d
r
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m
a
y
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e
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ed
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(
1
1
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w
h
er
e
is
t
h
e
s
p
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o
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th
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r
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r
(
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ad
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d
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e
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:
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1
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w
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=
−
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T
h
e
er
r
o
r
o
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th
e
s
p
ee
d
is
d
ef
in
ed
as:
(
)
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(
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−
∗
(
)
(
1
4
)
C
o
m
b
in
in
g
(
1
3
)
w
it
h
(
1
4
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d
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er
iv
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(
1
4
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g
iv
es:
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(
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(
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{
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+
(
)
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(
1
5
)
Re
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m
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A
d
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m
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A
d
a
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me
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ω
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s
αβ
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αβ
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αβ
ε
ω
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.
11
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
1
:
1
7
1
-
1
81
176
d
(
t)
i
s
th
e
l
u
m
p
ed
u
n
ce
r
tai
n
t
y
g
iv
e
n
b
y
:
(
)
=
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(
)
+
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+
(
1
6
)
an
d
:
̅
(
)
=
(
)
+
∗
(
1
7
)
S
w
itc
h
in
g
s
u
r
f
ac
e
s
(
t)
f
r
o
m
a
an
d
b
is
d
ef
in
ed
as:
(
)
=
(
)
−
∫
(
+
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(
)
0
(
1
8
)
So
th
at
th
e
s
lid
i
n
g
s
u
r
f
ac
e
(
)
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̇
(
)
=
0
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th
en
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er
r
o
r
m
a
y
b
e
d
ef
i
n
ed
b
y
:
̇
(
)
=
(
+
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(
)
(
1
9
)
w
h
er
e
k
is
a
lin
ea
r
n
eg
a
tiv
e
g
a
in
[
2
9
]
.
T
h
e
la
w
th
a
t d
ef
i
n
e
th
e
co
n
tr
o
l o
f
th
e
s
p
ee
d
ca
n
b
e
g
iv
e
n
b
y
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̅
=
(
)
−
(
(
)
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(
2
0
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w
h
er
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ec
o
g
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ized
as
co
n
tr
o
l
g
ain
.
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h
is
g
ai
n
is
u
s
ed
t
o
ad
ap
t
th
e
s
l
id
in
g
m
o
d
e
co
n
d
itio
n
.
T
h
e
s
ig
n
f
u
n
ctio
n
u
s
ed
in
t
h
is
s
lid
in
g
m
o
d
e
co
n
tr
o
l is g
iv
e
n
b
y
:
(
)
=
{
1
>
0
0
=
0
−
1
<
0
(
2
1
)
B
y
s
u
b
s
tit
u
ti
n
g
(
1
7
)
in
to
(
2
0
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,
th
e
o
u
tp
u
t
o
f
t
h
e
s
p
ee
d
co
n
tr
o
ller
b
ased
o
n
s
lid
in
g
m
o
d
e
te
ch
n
iq
u
e
is
r
ep
r
esen
ted
b
y
t
h
e
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
∗
.
T
h
e
p
r
in
cip
le
o
f
th
e
co
n
tr
o
l
la
w
(
SM
C
)
f
o
r
∗
c
an
b
e
d
iv
id
ed
in
to
t
w
o
p
ar
ts
:
eq
u
iv
ale
n
t
co
n
t
r
o
l
w
h
ich
d
e
s
cr
ib
e
th
e
ac
tio
n
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th
e
co
n
tr
o
l
u
s
ed
w
h
en
e
v
er
th
e
s
y
s
te
m
is
o
n
th
e
s
lid
i
n
g
m
o
d
e
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d
s
w
it
ch
in
g
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n
tr
o
l
w
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ar
a
n
t
ee
s
th
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e
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n
ce
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eq
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ier
e
m
e
n
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o
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i
n
g
m
o
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e.
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g
lecti
n
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B,
t
h
e
eq
u
at
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n
s
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o
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d
b
ec
o
m
e:
{
=
(
)
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−
(
(
)
)
(
2
2
)
An
ap
p
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o
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h
o
f
s
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n
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n
[
6
]
:
(
)
=
1
2
2
(
)
(
2
3
)
T
h
e
L
y
ap
u
n
o
v
th
eo
r
y
is
b
as
ed
o
n
th
e
f
ac
t
th
at
if
th
e
ex
p
r
ess
io
n
o
f
̇
(
)
is
n
eg
ativ
e,
th
i
s
w
ill
g
u
ar
a
n
tee
attr
ac
ti
v
e
co
n
d
itio
n
o
f
th
e
s
lid
in
g
m
o
d
e
.
W
h
en
th
e
s
lid
i
n
g
s
u
r
f
ac
e
S
(
t
)
is
att
ain
ed
,
it
w
il
l
s
ta
y
m
o
v
i
n
g
o
n
it
t
ill
it
r
ea
ch
e
s
t
h
e
o
r
ig
in
as
y
m
p
to
tica
ll
y
[
3
0
]
.
Ho
ld
th
e
d
i
f
f
er
e
n
tial
o
f
(
2
3
)
an
d
r
ep
lacin
g
f
r
o
m
th
e
d
if
f
er
en
tiel o
f
(
1
8
)
:
̇
(
)
=
(
)
̇
(
)
=
(
)
{
̇
(
)
−
(
+
)
(
)
}
≤
0
(2
4
)
Su
b
s
ti
tu
te
f
r
o
m
(
1
5
)
in
to
(
2
4
)
:
(
)
̇
=
(
)
{
̅
̅
̅
(
)
+
(
)
−
(
)
}
(
2
5
)
Usi
n
g
(
2
0
)
g
iv
e
s
:
(
)
̇
=
(
)
{
−
(
(
)
)
−
(
)
}
≤
0
(
2
6
)
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
DTC
b
a
s
ed
o
n
S
V
M fo
r
in
d
u
ctio
n
mo
to
r
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s
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less
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r
ive
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lid
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p
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.
(
S
a
r
r
a
Ma
s
s
o
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m)
177
T
o
g
u
ar
an
tee
th
at
(
2
6
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w
ill
s
ta
y
n
e
g
ati
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e,
t
h
e
v
a
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e
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g
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o
l g
a
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p
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u
m
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ed
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ig
u
it
y
d
(
t
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,
i.e
.
≥
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(
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|
(
2
7
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On
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h
e
o
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a
n
d
,
it is
d
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icu
lt p
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ac
ticall
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m
ate
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h
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ce
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C
o
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eq
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en
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l
y
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a
n
d
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o
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er
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m
e
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h
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e
f
f
e
ct
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ter
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al
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r
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atio
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h
e
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itti
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g
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n
tr
o
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ai
n
β
h
as
to
b
e
s
elec
ted
b
i
g
s
u
f
f
icie
n
tl
y
[
8
,
1
1
]
.
Hen
ce
,
th
e
eq
u
atio
n
(
2
0
)
,
th
at
d
ef
i
n
e
th
e
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w
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n
tr
o
l
s
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ee
d
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ill
e
n
s
u
r
e
th
e
e
n
tit
y
o
f
th
e
s
w
itc
h
i
n
g
s
u
r
f
ac
e
s
(
t
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in
(
1
8
)
an
d
w
h
e
n
th
e
f
u
n
ctio
n
e(
t)
o
f
th
e
er
r
o
r
ar
r
iv
es
at
th
e
s
lid
i
n
g
s
u
r
f
ac
e,
th
e
s
y
s
te
m
w
ill
b
e
s
u
p
er
v
i
s
ed
b
y
eq
u
atio
n
(
1
9
)
th
at
is
e
v
e
r
y
ti
m
e
i
n
v
ar
iab
le
[
2
6
]
.
Far
th
er
m
o
r
e,
th
e
co
n
tr
o
l
s
y
s
te
m
w
ill
b
e
in
d
i
f
f
er
en
t
to
Δa
,
Δ
b
an
d
th
e
p
er
tu
r
b
atio
n
.
A
n
ap
p
licatio
n
o
f
th
e
s
i
g
n
f
u
n
cti
o
n
in
th
e
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
(
2
0
)
w
ill
g
e
n
er
ate
f
l
u
ct
u
atio
n
s
d
u
e
to
t
h
e
d
i
s
co
n
ti
n
u
o
u
s
co
n
tr
o
l
ac
tio
n
t
h
at
g
e
n
er
ate
t
r
o
u
b
le
w
h
e
n
th
e
s
y
s
te
m
ap
p
r
o
ch
es
t
h
es
u
r
f
ac
e
o
f
s
lid
in
g
[
2
7
]
.
T
o
s
o
lv
e
th
i
s
p
h
e
n
o
m
e
n
o
n
,
F
u
z
z
y
lo
g
ic
co
m
b
i
n
ed
w
it
h
s
lid
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n
g
m
o
d
e
is
u
s
ed
.
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h
e
f
u
zz
y
i
n
f
er
en
ce
s
y
s
te
m
r
ep
lace
s
t
h
e
s
atu
r
atio
n
f
u
n
ct
io
n
to
eli
m
i
n
ate
th
e
f
lu
c
tu
at
io
n
s
.
T
h
e
F
u
zz
y
s
li
d
in
g
m
o
d
e
co
n
tr
o
ller
is
a
SIS
O
(
s
in
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le
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n
p
u
t
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le
o
u
tp
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co
n
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o
ller
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ased
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f
u
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lo
g
ic
w
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h
is
d
eig
n
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an
d
b
ased
o
n
‘
I
F….T
HE
N’
r
u
les.
T
h
e
in
f
er
en
ce
m
e
th
o
d
is
d
escr
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ed
b
y
u
s
i
n
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th
e
m
ax
-
m
i
n
m
et
h
o
d
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h
e
ce
n
ter
o
f
t
h
e
ar
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d
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u
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f
ier
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s
u
s
ed
to
o
b
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e
cr
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s
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u
tp
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t.
T
h
e
f
u
zz
y
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g
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co
n
tr
o
ller
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s
es t
h
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I
f
-
T
h
en
r
u
l
es th
at
m
a
y
b
e
d
ef
i
n
ed
as [
3
1
-
3
3
]
:
I
f
s
is
B
N
th
e
n
is
B
ig
g
er
I
f
s
is
MN
t
h
e
n
is
B
ig
I
f
s
is
J
Z
t
h
e
n
is
Me
d
iu
m
I
f
s
is
MP
th
e
n
is
S
m
all
I
f
s
is
B
P
th
en
is
S
m
aller
W
h
er
e
B
N:
B
ig
Neg
ati
v
e;
MN
: M
ed
iu
m
Ne
g
ati
v
e;
J
Z
: J
u
s
t
Z
er
o
; M
P
: M
ed
iu
m
P
o
s
iti
v
e;
B
P
: B
ig
P
o
s
itiv
e.
T
h
e
tr
ial
er
r
o
r
is
u
s
ed
to
o
b
tain
t
h
e
m
e
m
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er
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h
ip
f
u
n
ctio
n
s
f
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th
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in
p
u
t
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n
d
o
u
tp
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t
o
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t
h
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co
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tr
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ller
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ased
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n
f
u
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y
lo
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ic
to
g
u
ar
a
n
tee
b
est e
f
f
icien
c
y
,
s
ee
F
ig
u
r
e
6
:
Fig
u
r
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6
.
Fu
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lid
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w
itc
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RE
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D
D
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m
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in
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T
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s
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h
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w
t
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d
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m
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w
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o
u
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h
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an
d
s
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r
o
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T
h
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d
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r
b
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r
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ted
r
ap
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ly
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M
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5
r
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5
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sf
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5
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M
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m
am
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50
100
s
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f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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8
8
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8708
I
n
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E
lec
&
C
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m
p
E
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g
,
Vo
l.
11
,
No
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1
,
Feb
r
u
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1
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th
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e
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F
ig
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u
r
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Fig
u
r
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Fig
u
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(
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I
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p
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g
I
SS
N:
2
0
8
8
-
8708
DTC
b
a
s
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S
V
M fo
r
in
d
u
ctio
n
mo
to
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s
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179
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e
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h
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FS
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s
p
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d
co
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f
o
r
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DT
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ick
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s
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T
ests
o
f
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s
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s
:
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r
test
in
g
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h
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r
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s
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e
s
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o
f
t
h
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te
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g
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Var
iatio
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m
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if
icatio
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tat
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ig
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a
f
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e
f
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o
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d
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ee
Fig
u
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11
.
Fig
u
r
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1
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h
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ce
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ad
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1
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ed
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les
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w
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F
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r
e
1
3
,
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ed
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les
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ed
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Fig
u
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11
.
Sp
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f
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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.
11
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
1
:
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1
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81
180
Fig
u
r
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12
.
R
esp
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n
s
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w
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th
r
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r
in
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tia
=
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5
Fig
u
r
e
13
.
P
I
w
it
h
ST
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DT
C
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d
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SVM
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DT
C
7.
CO
NCLU
SI
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N
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co
n
tr
o
l
s
tr
ate
g
y
f
o
r
i
n
d
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cti
o
n
m
o
to
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w
it
h
o
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t
s
p
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d
s
e
n
o
r
,
d
ev
elo
p
ed
o
n
a
DT
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SVM
,
h
as
b
ee
n
d
escr
ib
ed
.
Fro
m
r
esp
o
n
s
es,
it
w
a
s
p
r
o
v
en
t
h
at
th
e
p
r
o
p
o
s
ed
f
u
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y
s
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g
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ller
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b
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s
t to
e
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ter
n
a
l
ch
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n
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led
ad
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s
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r
esp
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n
s
e
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n
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er
s
h
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o
t,
ze
r
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s
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y
s
tate
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r
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g
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d
tr
ac
k
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ef
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e
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s
p
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.
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h
e
test
o
f
r
o
b
u
s
t
n
es
s
h
as p
r
o
v
e
n
th
at
it i
s
in
s
en
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le
to
lo
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ch
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s
.
W
ith
th
e
ap
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licatio
n
o
f
th
e
p
ar
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eter
v
ar
iat
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n
s
an
d
ex
t
er
n
al
lo
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tu
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n
,
th
e
d
ec
o
u
p
lin
g
b
et
w
ee
n
t
h
e
s
tato
r
f
l
u
x
a
n
d
t
h
e
to
r
q
u
e
i
s
p
r
eser
v
ed
.
T
h
e
c
h
atter
i
n
g
h
a
s
b
ee
n
d
ec
r
ea
s
ed
in
to
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a
n
d
f
l
u
x
.
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h
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f
u
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y
s
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i
n
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m
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co
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tr
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ller
p
r
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d
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ce
s
r
ed
u
ctio
n
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n
f
l
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x
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d
in
to
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e
r
ip
p
les.
T
h
e
f
u
zz
y
lo
g
ic
f
u
n
ctio
n
o
f
th
e
FS
M
C
is
r
ea
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w
i
t
h
o
u
t
ta
k
in
g
i
n
to
ac
co
u
n
t
t
h
e
m
ac
h
i
n
e
m
o
d
el.
W
ith
r
ed
u
c
ed
f
lu
x
an
d
to
r
q
u
e
ch
atter
i
n
g
,
it c
a
n
b
e
d
ed
u
ce
d
th
at
cu
r
r
en
t h
a
r
m
o
n
ic
s
an
d
v
ib
r
atio
n
s
ar
e
d
ec
r
ea
s
ed
.
RE
F
E
R
E
NC
E
S
[1
]
I.
T
a
k
a
h
a
sh
i
a
n
d
T
.
No
g
u
c
h
i,
“
A
n
e
w
q
u
ick
re
sp
o
n
se
a
n
d
h
ig
h
e
f
f
i
c
ien
c
y
c
o
n
tro
l
stra
teg
y
o
f
a
n
in
d
u
c
ti
o
n
m
o
to
r,
”
in
Pro
c
e
e
d
in
g
s
o
f
IE
EE
T
r
a
n
sa
c
ti
o
n
s o
n
I
n
d
u
stry
Ap
p
l
ica
t
io
n
s
,
v
o
l.
I
A
-
2
2
,
n
o
.
5
,
p
p
.
8
2
0
-
8
2
7
,
1
9
8
6
.
[2
]
A.
P
a
lad
u
g
u
a
n
d
H.
B
.
Ch
o
w
d
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