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icate
s
Var
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c
tu
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VSC
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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.
9
,
No
.
6
,
Dec
em
b
er
2
0
1
9
:
4
4
9
3
-
4
5
0
6
4496
A
s
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ase
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p
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b
ac
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k
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S
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Su
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n
v
alu
e
i
f
th
e
p
lan
t’
s
tr
aj
ec
to
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y
s
tate
is
“
ab
o
v
e”
t
h
is
s
u
r
f
ac
e
an
d
it
h
as
a
u
n
iq
u
e
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ain
v
al
u
e
w
h
e
n
tr
aj
ec
to
r
y
f
alls
“
b
elo
w
”
th
e
s
u
r
f
ac
e.
A
ct
u
al
s
w
i
tch
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g
r
eg
u
latio
n
s
ar
e
d
escr
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d
b
y
th
e
s
u
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f
ac
e.
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etai
n
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tr
aj
ec
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s
tate
o
f
t
h
e
p
lan
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o
n
t
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e
s
u
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f
ac
e
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n
s
u
cc
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s
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ti
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o
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ce
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s
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cted
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ics
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icate
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m
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ce
o
f
th
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y
s
te
m
u
n
d
er
co
n
tr
o
l.
T
h
e
co
n
f
i
g
u
r
ati
o
n
o
f
VS
C
ca
n
b
e
s
p
lit i
n
to
t
wo
m
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le
s
.
-
I
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th
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ir
s
t
p
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a
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h
as r
eq
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d
y
n
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m
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s
.
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t
h
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ec
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n
d
p
ar
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a
s
w
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tch
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co
n
tr
o
l
la
w
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s
m
o
d
elled
w
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m
o
v
e
s
t
h
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p
lan
t’
s
s
tate
to
s
w
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estricts to
th
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s
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ctio
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.
T
o
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th
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ec
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n
d
p
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t
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esig
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,
a
l
y
ap
u
n
o
v
ap
p
r
o
ac
h
is
u
s
ed
.
I
n
th
i
s
ap
p
r
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ac
h
a
g
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er
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ed
l
y
ap
u
n
o
v
f
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n
c
tio
n
w
h
ic
h
d
ef
i
n
es
t
h
e
tr
aj
ec
to
r
y
s
tate
m
o
v
e
m
en
t
to
w
ar
d
s
t
h
e
s
u
r
f
ac
e
is
f
o
r
m
ed
i
n
ter
m
s
o
f
s
u
r
f
ac
e.
T
h
e
“
g
a
in
s
”
o
f
ea
ch
s
w
itc
h
ed
co
n
tr
o
l
s
tr
u
ct
u
r
e
is
ch
o
s
en
s
u
c
h
t
h
at
t
h
e
d
er
iv
ati
v
e
o
f
t
h
e
l
y
ap
u
n
o
v
f
u
n
ctio
n
is
n
eg
a
tiv
e
d
e
f
in
ite
e
n
s
u
r
in
g
t
h
e
m
o
v
e
m
en
t
o
f
th
e
t
r
aj
ec
to
r
y
s
tate
to
th
e
s
u
r
f
ac
e.
T
h
is
co
n
tr
o
l
is
also
k
n
o
w
n
a
s
S
lid
in
g
Mo
d
e
co
n
tr
o
l
h
i
g
h
lig
h
ti
n
g
t
h
e
p
ar
t
o
f
s
li
d
in
g
m
o
d
e.
T
h
e
v
ar
iab
le
s
tr
u
c
tu
r
e
co
n
tr
o
l
s
y
s
te
m
m
a
y
b
e
f
o
r
m
u
lated
w
ith
o
u
t a
s
lid
in
g
m
o
d
e,
b
u
t s
u
ch
a
s
y
s
te
m
d
o
es n
o
t h
a
v
e
r
elate
d
ad
v
an
tag
es.
3
.
1
.
M
o
dellin
g
o
f
s
lid
ing
m
o
de
s
y
s
t
e
m
No
w
co
n
s
id
er
a
g
r
o
u
p
o
f
s
y
s
te
m
s
co
m
p
r
is
in
g
s
tate
m
o
d
e
l
w
it
h
n
o
n
-
li
n
ea
r
s
tate
v
ec
to
r
(
t)
an
d
lin
ea
r
co
n
tr
o
l v
ec
to
r
(
t)
in
th
e
f
o
r
m
as
[
2
2
]
̇
(
)
=
Φ
(
,
,
)
=
(
,
)
+
(
,
)
(
,
t)
(1
)
W
h
er
e
t
ϵ
an
d
(
,
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an
d
f
u
r
t
h
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r
m
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in
(
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p
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ed
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n
ti
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u
o
u
s
d
er
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w
it
h
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.
A
s
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n
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i
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e
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th
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s
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f
ac
e
a
n
d
h
a
s
r
eq
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ir
ed
d
y
n
a
m
ic
s
.
T
h
er
ef
o
r
e
b
y
f
o
llo
w
i
n
g
th
e
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
t
h
eo
r
y
[
1
4
]
,
th
e
s
tate
v
ar
iab
les
o
f
all
ar
ea
s
ar
e
s
e
n
s
ed
an
d
b
y
u
s
i
n
g
ap
p
r
o
p
r
iate
g
ain
s
t
h
e
s
tates
ar
e
m
u
l
tip
lied
an
d
ad
d
ed
to
g
et
h
er
f
o
r
th
e
co
n
s
tr
u
cti
o
n
o
f
s
lid
i
n
g
f
u
n
ct
io
n
ψ
(
,
)
.
T
h
e
h
y
s
ter
esi
s
b
lo
ck
s
u
s
tai
n
s
th
is
f
u
n
ct
io
n
to
ze
r
o
th
er
eb
y
th
e
s
li
d
i
n
g
s
u
r
f
ac
e
ca
n
b
e
o
u
tl
i
n
ed
as
ψ
(
,
)
=
∑
1
=
0
(
2
)
W
h
er
e
N
is
th
e
o
r
d
er
o
f
th
e
s
y
s
te
m
(
i.e
.
co
u
n
t o
f
s
ta
te
v
ar
iab
les)
C
o
n
s
id
er
in
g
s
ec
o
n
d
o
r
d
er
s
y
s
t
e
m
ψ
=
1
+
2
(
3
)
T
h
is
is
a
lin
ea
r
co
m
b
in
at
io
n
o
f
t
w
o
s
tate
v
ar
iab
les.
T
h
e
r
ela
tio
n
ψ
=
0
i
n
d
icate
s
a
li
n
e
i
n
p
h
ase
p
lan
e
w
h
ich
p
ass
es
f
r
o
m
o
r
ig
i
n
(
f
i
n
al
eq
u
il
ib
r
iu
m
p
o
in
t o
f
th
e
s
y
s
te
m
)
a
n
d
is
ca
lled
as sl
id
in
g
li
n
e
.
L
et
u
s
n
o
w
s
p
ec
if
y
t
h
e
f
o
llo
w
i
n
g
co
n
tr
o
l stra
teg
y
If
>
+
⇒
=
0
>
−
⇒
=
1
}
(
4
)
W
h
er
e
r
ep
r
esen
ts
an
ap
p
r
o
p
r
iate
h
y
s
ter
esi
s
b
an
d
.
L
i
k
e
w
i
s
e
t
h
e
p
h
a
s
e
p
la
n
e
is
s
p
l
it
to
t
w
o
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eg
io
n
s
p
ar
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o
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ed
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h
s
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n
g
li
n
e
a
n
d
in
d
iv
id
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al
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eg
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n
i
s
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elate
d
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n
e
o
f
th
e
t
w
o
s
u
b
to
p
o
lo
g
ies
r
ep
r
esen
ted
b
y
s
w
itc
h
p
o
s
itio
n
.
-
P
o
s
itio
n
o
f
th
e
s
y
s
te
m
co
n
ti
n
u
e
s
to
f
o
llo
w
t
h
e
p
h
ase
tr
aj
ec
to
r
y
as
lo
n
g
as
=
0
w
h
e
n
th
e
s
y
s
te
m
p
o
s
itio
n
s
cr
o
s
s
e
s
th
e
li
n
e
=
−
i.e
.
=
1
b
ased
o
n
eq
u
atio
n
.
-
T
h
e
s
y
s
te
m
p
o
s
it
io
n
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n
ti
n
u
es
to
f
o
llo
w
th
e
p
h
a
s
e
tr
aj
ec
to
r
y
as
lo
n
g
as
=
1
w
h
e
n
th
e
s
y
s
te
m
p
o
s
itio
n
s
cr
o
s
s
es th
e
li
n
e
=
+
i.e
.
=
0
b
ased
o
n
eq
u
atio
n
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
V
a
r
ia
b
le
s
tr
u
ctu
r
e
co
n
tr
o
l fo
r
a
n
is
o
la
ted
b
o
o
s
t
co
n
ve
r
ter u
s
ed
in
fu
el
ce
ll a
p
p
lica
tio
n
s
(
S
.
V
ija
ya
Ma
d
h
a
vi
)
4497
L
o
o
k
i
n
g
at
p
h
a
s
e
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ec
to
r
ie
s
in
clo
s
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e
s
s
to
s
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n
g
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e,
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e
y
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e
d
ir
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s
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n
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C
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n
ti
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m
u
tat
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n
s
ar
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u
n
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th
e
s
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n
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lead
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tio
n
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ich
m
a
k
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t
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y
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o
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n
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to
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in
al
eq
u
ilib
r
iu
m
p
o
in
t.
B
ased
o
n
th
e
t
h
eo
r
y
o
f
a
s
ati
s
f
a
cto
r
y
s
m
al
l
v
al
u
e
of
,
t
w
o
i
m
p
o
r
tan
t
r
eso
lu
tio
n
s
ar
e
d
er
iv
ed
f
r
o
m
t
h
e
ex
a
m
p
le
.
-
T
h
e
s
y
s
te
m
’
s
p
r
o
g
r
ess
i
s
i
n
d
ep
en
d
en
t
o
f
its
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ar
a
m
eter
s
w
h
en
it
i
s
i
n
s
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in
g
m
o
d
e
an
d
d
ep
en
d
s
o
n
l
y
o
n
c
h
o
s
en
s
lid
in
g
li
n
e.
E
x
a
m
p
le
i
n
Fi
g
u
r
e
4
is
s
y
s
te
m
w
i
th
f
ir
s
t
o
r
d
er
d
y
n
a
m
ics a
n
d
ti
m
e
co
n
s
t
an
t e
q
u
al
to
.
-
Su
p
p
o
s
e
o
r
d
er
o
f
th
e
o
r
ig
in
al
s
y
s
te
m
is
N
t
h
en
s
y
s
te
m
co
n
tr
o
l
d
y
n
a
m
ic
s
in
s
l
id
in
g
m
o
d
e
p
o
s
s
ess
o
r
d
er
N
-
1
as t
h
e
s
tate
v
ar
iab
les ar
e
r
estricte
d
b
y
ψ
=
0
Fig
u
r
e
4
.
Sli
d
in
g
s
u
r
f
ac
e
Her
e
u
s
i
n
g
t
h
e
a
m
p
lit
u
d
e
o
f
t
h
e
h
y
s
ter
esi
s
b
an
d
s
w
itc
h
i
n
g
f
r
eq
u
e
n
c
y
is
d
er
iv
ed
.
T
h
e
ab
ilit
ies
o
f
th
e
co
n
tr
o
l
tec
h
n
i
q
u
e
ar
e
n
o
w
v
is
ib
le
f
o
r
ap
p
licatio
n
i
n
s
w
i
tc
h
ed
m
o
d
e
p
o
w
er
s
u
p
p
lies
.
Uti
lizin
g
t
h
e
i
n
h
er
e
n
t
n
o
n
-
li
n
ea
r
n
at
u
r
e
o
f
th
e
s
e
c
o
n
v
er
ter
s
u
n
l
ik
e
to
s
u
b
s
tr
u
ct
u
r
es
co
n
s
tit
u
ti
n
g
t
h
e
s
y
s
te
m
an
d
its
r
ed
u
ctio
n
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
s
ar
e
p
r
o
d
u
ce
d
.
3
.
2
.
M
o
dellin
g
o
f
s
w
it
c
hin
g
s
urf
a
ce
T
o
m
o
d
el
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
f
o
r
t
h
e
s
i
m
p
le
s
ec
o
n
d
o
r
d
er
s
y
s
te
m
s
r
e
v
ie
w
ed
i
n
p
r
ev
io
u
s
s
ec
tio
n
,
ch
o
ice
o
f
p
ar
a
m
eter
is
en
o
u
g
h
.
C
h
o
ice
o
f
t
h
is
p
ar
a
m
e
ter
s
h
o
u
ld
s
at
is
f
y
t
h
e
f
o
llo
w
in
g
th
r
ee
co
n
s
tr
ai
n
ts
.
Dis
r
eg
ar
d
in
g
th
e
s
tar
ti
n
g
p
o
in
t
in
p
h
ase
p
lan
e
s
y
s
te
m
tr
aj
ec
to
r
ies
ar
e
n
ee
d
ed
to
cr
o
s
s
th
e
s
lid
in
g
li
n
e
w
h
ic
h
i
s
k
n
o
w
n
as
h
itti
n
g
co
n
d
itio
n
.
T
h
e
s
y
s
te
m
tr
aj
ec
to
r
ies
w
h
ic
h
a
r
e
n
ea
r
to
th
e
s
lid
in
g
l
in
e
i
n
b
o
th
th
e
r
eg
io
n
s
ar
e
m
an
a
g
ed
to
r
u
n
to
w
ar
d
s
t
h
e
lin
e
i
ts
el
f
a
n
d
is
k
n
o
w
n
as
e
xist
en
ce
co
n
d
itio
n
.
T
h
e
m
o
v
e
m
en
t
o
f
s
y
s
te
m
o
n
s
lid
in
g
li
n
e
(
i.e
.
s
h
i
f
ti
n
g
to
w
ar
d
s
eq
u
ilib
r
iu
m
p
o
in
t)
is
r
eg
ar
d
ed
as
s
ta
b
ilit
y
co
n
d
itio
n
.
3
.
3
.
E
x
i
s
t
ence
c
o
nd
it
io
n
I
n
th
i
s
co
n
d
itio
n
th
e
p
h
ase
tr
a
j
ec
to
r
ies
ar
e
n
ee
d
ed
to
m
o
v
e
to
w
ar
d
s
s
l
id
in
g
s
u
r
f
ac
e
b
y
litt
le
p
o
r
tio
n
ab
o
u
t
th
e
s
u
r
f
ac
e
i
ts
el
f
[
2
3
]
.
T
h
is
is
r
ea
ch
ed
b
y
in
ter
p
r
etin
g
a
s
u
itab
le
L
y
ap
u
n
o
v
f
u
n
ctio
n
V
(
,
,
ψ
)
.
Gen
er
all
y
i
t
is
ap
p
r
o
p
r
iate
to
s
elec
t
a
L
y
ap
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n
o
v
f
u
n
ctio
n
o
f
th
e
f
o
r
m
V
(
,
,
ψ
)
=
0
.
5
2
(
)
.
T
o
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e
d
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ce
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e
r
eq
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ir
ed
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ain
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o
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at
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e
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t
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e
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n
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t
s
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c
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at
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(
,
,
ψ
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0
.
5
2
=
(
)
(
)
=
.
̇
<
0
(5
)
So
,
w
h
e
n
t
h
e
d
is
ta
n
ce
s
to
th
e
s
u
r
f
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e
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cit
y
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its
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h
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e
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ite
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ig
n
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i
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e.
w
h
e
n
l
im
→
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0
̇
>
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an
d
l
im
→
+
0
̇
<
0
th
e
s
lid
i
n
g
m
o
d
e
ex
is
ts
o
n
a
d
is
co
n
ti
n
u
it
y
s
u
r
f
ace.
3
.
4
.
Sta
bil
it
y
co
nd
it
io
n
Mo
d
ellin
g
o
f
s
w
itc
h
i
n
g
s
u
r
f
a
ce
is
esti
m
ated
b
ased
o
n
h
o
w
th
e
s
y
s
te
m
u
n
d
er
s
ta
n
d
s
it
s
o
p
er
atio
n
in
s
lid
in
g
m
o
d
e.
T
h
e
p
ar
am
eter
s
o
f
s
w
itc
h
i
n
g
s
u
r
f
ac
e
d
ec
id
e
th
e
s
y
s
te
m
o
p
er
atio
n
.
I
f
in
an
y
ca
s
e
at
tain
in
g
m
o
d
el
o
f
s
w
i
tch
i
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g
s
u
r
f
ac
e
r
e
q
u
ir
e
lo
g
ica
l
r
ea
s
o
n
in
g
d
e
s
cr
ib
in
g
th
e
m
o
v
e
m
e
n
t
o
f
s
tate
tr
aj
ec
to
r
y
i
n
s
lid
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m
o
d
e
a
m
eth
o
d
ca
lled
E
q
u
iv
a
l
en
t c
o
n
tr
o
l is
n
ec
ess
ar
y
f
o
r
t
h
i
s
d
escr
ip
tio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
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&
C
o
m
p
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g
,
Vo
l.
9
,
No
.
6
,
Dec
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b
er
2
0
1
9
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4
4
9
3
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4
5
0
6
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3
.
5
.
E
qu
iv
a
lent
c
o
ntr
o
l
T
h
is
co
m
p
r
is
es
a
n
eq
u
i
v
alen
t
in
p
u
t
a
n
d
as
th
e
s
y
s
te
m
s
t
i
m
u
lates,
it
p
r
o
v
id
es
s
y
s
te
m
m
o
v
e
m
e
n
t
o
n
s
lid
in
g
s
u
r
f
ac
e
as
lo
n
g
as
th
e
i
n
itial
s
tate
is
o
n
.
L
et
u
s
ass
u
m
e
th
at
at
tim
e
1
p
lan
t’
s
s
tate
tr
a
j
ec
to
r
y
o
b
s
tr
u
cts
s
w
itc
h
in
g
s
u
r
f
ac
e
an
d
a
s
lid
in
g
m
o
d
e
ex
i
s
ts
.
T
h
is
in
d
icate
s
th
at,
f
o
r
all
t
≥
1
,
(
(
)
,
)
=
0
an
d
h
e
n
ce
̇
(
(
)
,
)
=
0
.
Utilizin
g
ch
ai
n
r
u
le
[
2
3
]
,
th
e
eq
u
iv
ale
n
t
co
n
tr
o
l
f
o
r
th
e
s
y
s
te
m
t
h
at
ca
n
b
e
in
ter
p
r
eted
as th
e
i
n
p
u
t
f
u
lf
ils
t
h
e
co
n
d
itio
n
̇
=
+
̇
=
+
(
,
)
+
(
,
)
=
0
(
6
)
Su
p
p
o
s
in
g
t
h
at
th
e
p
r
o
d
u
ct
m
a
tr
ix
(
,
)
is
n
o
n
-
s
i
n
g
u
lar
f
o
r
all
t a
n
d
,
o
n
e
ca
n
ca
lcu
late
as
=
−
[
(
,
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]
−
1
(
+
(
,
)
)
(
7
)
T
h
u
s
g
i
v
e
n
(
(
1
)
)
=
0
th
en
f
o
r
all
t
≥
1
th
e
s
y
s
te
m
d
y
n
a
m
ics o
n
s
w
itc
h
i
n
g
s
u
r
f
ac
e
s
ati
s
f
ie
s
̇
(
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=
[
1
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(
,
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[
(
,
)
]
−
1
]
(
,
)
−
(
,
)
[
(
,
)
]
−
1
(
8
)
T
h
is
s
h
o
w
s
d
y
n
a
m
ic
s
o
f
eq
u
iv
ale
n
t
s
y
s
te
m
o
n
s
lid
in
g
s
u
r
f
ac
e.
W
h
e
n
s
o
m
e
f
o
r
m
o
f
tr
ac
in
g
o
r
co
n
tr
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l
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ee
d
ed
b
y
t
h
e
co
n
tr
o
l s
y
s
te
m
t
h
en
t
h
e
o
p
er
atin
g
ter
m
i
s
p
r
esen
t.
Fo
r
ex
a
m
p
le,
w
h
e
n
(
,
)
=
∑
1
+
(
)
=
0
(
9
)
W
h
er
e
r
(
t)
b
eh
av
es a
s
a
“
r
e
f
er
en
ce
”
s
i
g
n
a
l.
3
.
6
.
Act
ua
l int
er
pret
a
t
io
n o
f
equiv
a
lent
co
ntr
o
l
A
r
ea
l
co
n
tr
o
l
is
t
h
at
it
al
w
a
y
s
e
n
co
m
p
as
s
es
a
s
lo
w
co
m
p
o
n
en
t
f
o
r
w
h
ich
a
h
i
g
h
r
ate
co
m
p
o
n
en
t
i
s
ad
d
ed
.
T
h
er
ef
o
r
e
th
e
co
n
tr
o
l stru
c
tu
r
e
i
s
d
ec
o
m
p
o
s
ed
as
(
,
)
=
(
,
)
+
(
,
)
(
1
0
)
I
n
w
h
ic
h
is
v
al
id
o
n
l
y
o
n
s
lid
i
n
g
s
u
r
f
ac
e
a
n
d
s
atis
f
ie
s
ac
tu
a
li
t
y
o
f
s
lid
in
g
m
o
d
e.
No
w
is
d
escr
ib
ed
as
(
,
)
=
(
)
(
1
1
)
W
h
er
e
(
)
=
|
|
(
1
2
)
T
h
e
s
lo
w
co
m
p
o
n
e
n
t
i
n
d
icate
s
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
lan
t
wh
ich
i
s
a
d
y
n
a
m
ic
d
ev
ice,
b
u
t
th
e
p
lan
t
’
s
r
ea
ctio
n
to
h
ig
h
r
ate
co
m
p
o
n
en
t
ca
n
b
e
n
eg
lecte
d
.
On
th
e
o
th
er
s
id
e
h
er
e
t
h
er
e
i
s
n
ee
d
f
o
r
i
n
te
r
ch
a
n
g
e
o
f
ac
tu
al
c
o
n
tr
o
l
in
th
e
m
o
v
e
m
e
n
t
(
1
2
)
w
it
h
co
n
tin
u
o
u
s
f
u
n
cti
o
n
(
,
)
th
at
d
o
es
n
o
t
p
o
s
s
ess
an
y
h
ig
h
r
ate
co
m
p
o
n
e
n
t.
T
h
u
s
th
e
s
lo
w
c
o
m
p
o
n
en
t
o
f
ac
t
u
al
co
n
tr
o
l
w
h
ic
h
i
s
t
h
e
a
v
er
ag
e
co
n
tr
o
l
v
alu
e
is
m
ad
e
eq
u
al
th
er
ef
o
r
e
b
y
u
s
in
g
f
ir
s
t
o
r
d
er
lin
ea
r
f
ilter
it
ca
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4.
O
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r
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r
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is
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eso
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ed
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I
n
co
n
s
tr
u
cti
n
g
th
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s
w
itc
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f
u
n
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o
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p
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m
p
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m
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ta
tio
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FB
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w
it
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s
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id
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g
m
o
d
e
co
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b
y
Fi
g
u
r
e
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
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p
E
n
g
I
SS
N:
2
0
8
8
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ter u
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p
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4499
Fig
u
r
e
5
.
I
FB
C
w
it
h
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
4
.
1
.
M
o
dellin
g
o
f
t
he
s
y
s
t
e
m
T
h
e
clo
s
ed
lo
o
p
d
y
n
a
m
ic
s
o
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I
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ar
e
r
ep
r
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ted
b
y
t
h
e
f
o
llo
w
i
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g
r
elatio
n
s
(
)
=
(
)
−
1
(
1
−
(
)
)
(
)
(
)
=
1
(
1
−
(
)
)
(
)
−
(
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}
(
1
3
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W
h
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(
)
=
{
1
,
0
<
<
0
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<
<
Her
e
(
)
is
n
o
th
in
g
b
u
t
s
w
i
tch
s
ta
te
o
r
w
h
en
a
v
er
ag
e
m
o
d
el
is
c
o
n
s
id
er
ed
[2
4
]
it
is
th
e
s
w
i
tch
d
u
t
y
c
y
cle
an
d
,
ar
e
in
d
u
cto
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r
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n
t
an
d
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u
tp
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t
v
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lta
g
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n
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m
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l
(
)
is
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e
(
4
)
.
4
.
2
.
Av
er
a
g
e
m
o
de
l o
f
I
F
B
C
As
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s
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tio
n
2
o
p
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atio
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o
f
I
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as
t
w
o
m
ai
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ter
v
als
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n
d
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eir
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en
tical
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r
cu
i
t
d
iag
r
a
m
s
ar
e
as sh
o
w
n
i
n
Fi
g
u
r
e
6
.
-
I
n
ter
v
al
1:
Her
e
all
t
h
e
f
o
u
r
s
w
itc
h
es
M1
-
M4
co
n
d
u
ct.
T
h
e
d
if
f
er
en
tial
eq
u
atio
n
s
f
o
r
th
is
in
ter
v
al
ar
e
w
r
itte
n
as
(
a)
(
b
)
Fig
u
r
e
6
.
E
q
u
iv
ale
n
t c
ir
cu
it
w
i
th
all
s
w
i
tch
e
s
an
d
t
w
o
d
iag
o
n
al
s
w
itc
h
es c
o
n
d
u
c
tin
g
,
(
a)
I
n
ter
v
al
1
,
(
b
)
I
n
ter
v
al
2
=
→
=
1
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1
4
)
+
=
0
→
=
−
1
(
1
5
)
[
]
=
[
0
0
0
−
1
]
[
]
+
[
1
0
]
(
1
6
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
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&
C
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p
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9
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1
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4
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3
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6
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-
I
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ter
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n
t
h
is
t
h
e
s
w
itc
h
es
M1
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d
M2
ar
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h
e
d
if
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er
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tia
l
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ar
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th
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ter
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itte
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as
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s
−
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1
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7
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=
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1
−
1
(
1
8
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[
]
=
[
0
−
1
1
−
1
]
[
]
+
[
1
0
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(
1
9
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Y=
=
=
[
0
1
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[
]
+
[
0
]
(
2
0
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T
h
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ter
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a
l
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n
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e
s
f
o
r
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1
-
d)
T
.
T
h
e
s
tate
eq
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atio
n
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o
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u
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t
in
b
o
th
t
h
e
o
p
er
atio
n
s
i
s
s
a
m
e
as
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2
0
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.
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av
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g
in
g
t
h
e
s
tat
e
eq
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atio
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s
ac
q
u
ir
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u
r
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n
g
h
alf
o
f
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h
e
s
w
i
tch
i
n
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a
r
el
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w
h
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as
th
e
f
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r
e
s
o
f
b
o
th
th
e
m
o
d
es
is
o
b
tain
ed
A
=
[
0
−
2
(
1
−
)
2
(
1
−
)
−
1
]
=
[
1
0
]
(
2
1
)
̇
=
[
0
−
2
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1
−
)
2
(
1
−
)
−
1
]
[
]
+
[
1
0
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(
2
2
)
=
+
=
[
0
1
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[
]
+
[
0
]
(
2
3
)
Her
e
d
is
th
e
co
n
tr
o
llin
g
p
ar
am
ete
r
o
f
t
h
e
s
y
s
te
m
an
d
i
s
s
a
m
e
as
4
.
3
.
Co
ntr
o
l
m
o
del
T
h
e
m
ai
n
in
te
n
tio
n
o
f
I
FB
C
co
n
tr
o
l
is
r
eg
u
latio
n
o
f
o
u
tp
u
t
v
o
ltag
e
to
a
r
ef
er
en
ce
v
alu
e
.
T
h
e
m
o
d
ellin
g
o
f
s
l
id
in
g
m
o
d
e
co
n
tr
o
ller
b
eg
in
s
w
i
th
s
el
ec
tio
n
o
f
s
lid
i
n
g
s
u
r
f
ac
e.
On
l
y
w
h
en
t
h
e
c
u
r
r
en
t
in
cr
ea
s
es
co
n
s
ta
n
tl
y
th
e
d
ir
ec
t
s
u
r
f
ac
e
in
cl
in
e
s
to
ze
r
o
.
Fo
r
s
o
lv
in
g
t
w
o
lo
o
p
co
n
tr
o
l
p
r
o
b
lem
,
g
en
er
all
y
a
ca
s
ca
d
e
co
n
tr
o
l
s
tr
u
ctu
r
e
is
e
m
p
lo
y
ed
.
Ou
tp
u
t
v
o
lta
g
e
lo
o
p
p
r
o
d
u
ce
s
th
e
r
ef
er
e
n
ce
cu
r
r
en
t
f
r
o
m
t
h
e
v
o
lta
g
e
er
r
o
r
an
d
in
n
er
cu
r
r
e
n
t lo
o
p
r
estricts i
n
d
u
cto
r
cu
r
r
en
t t
h
r
o
u
g
h
s
lid
i
n
g
m
o
d
e.
C
o
n
tr
o
lli
n
g
o
f
o
u
tp
u
t
v
o
lta
g
e
o
f
th
e
co
n
v
er
ter
s
atis
f
ie
s
s
tab
ilit
y
a
n
d
p
r
esen
ce
o
f
s
lid
i
n
g
m
o
d
e.
As
s
lid
in
g
m
o
d
e
is
ex
tr
e
m
el
y
a
n
o
n
-
li
n
ea
r
m
eth
o
d
,
it
is
v
er
y
to
u
g
h
to
o
b
tain
th
e
g
a
i
n
o
f
v
o
lta
g
e
lo
o
p
.
Mo
r
eo
v
er
,
as
SMC
ca
n
b
e
i
m
p
le
m
en
ted
o
n
l
y
to
r
eg
u
late
cu
r
r
en
t,
v
o
ltag
e
lo
o
p
w
i
ll
q
u
ic
k
l
y
r
e
s
p
o
n
d
f
o
r
an
y
h
ig
h
f
r
eq
u
e
n
c
y
p
h
e
n
o
m
e
n
a
a
n
d
u
n
ce
r
tai
n
tie
s
i
n
r
e
f
er
en
ce
c
u
r
r
en
t.
T
h
er
ef
o
r
e
to
en
h
an
ce
co
n
tr
o
ller
ca
p
ab
ilit
y
,
s
lid
in
g
s
u
r
f
ac
e
b
ased
co
n
tr
o
l
m
o
d
e
th
at
in
c
lu
d
es
o
u
tp
u
t
v
o
ltag
e
i
s
s
u
g
g
es
ted
.
Fo
r
th
e
I
FB
C
co
n
v
er
ter
th
e
s
y
s
te
m
ca
n
n
o
t
b
e
r
ep
r
es
en
ted
in
ca
n
o
n
ical
f
o
r
m
as
th
e
d
er
iv
ati
v
e
o
f
o
u
tp
u
t
v
o
lt
ag
e
b
ec
o
m
es
a
d
is
co
n
ti
n
u
o
u
s
v
ar
iab
le.
T
h
er
ef
o
r
e
as st
ate
v
ar
iab
les t
h
e
in
d
u
c
to
r
cu
r
r
en
t a
n
d
o
u
tp
u
t
v
o
lta
g
e
er
r
o
r
s
ar
e
s
elec
ted
1
=
−
2
=
−
}
(
2
4
)
Her
e
th
e
i
n
d
u
cto
r
c
u
r
r
en
t
r
e
f
er
en
ce
r
elies
u
p
o
n
o
p
er
atin
g
p
o
in
t
(
in
p
u
t
v
o
ltag
e
a
n
d
o
u
t
p
u
t
p
o
w
er
)
o
f
th
e
co
n
v
er
ter
.
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
V
a
r
ia
b
le
s
tr
u
ctu
r
e
co
n
tr
o
l fo
r
a
n
is
o
la
ted
b
o
o
s
t
co
n
ve
r
ter u
s
ed
in
fu
el
ce
ll a
p
p
lica
tio
n
s
(
S
.
V
ija
ya
Ma
d
h
a
vi
)
4501
4
.
4
.
E
x
i
s
t
ence
c
o
nd
it
io
n
T
h
e
r
elatio
n
s
o
f
th
e
I
FB
C
co
n
v
er
ter
s
y
s
te
m
in
ter
m
s
o
f
1
an
d
2
ar
e
w
r
itten
a
s
̇
=
+
̂
+
(
2
5
)
W
h
er
e
̇
=
[
1
̇
2
̇
]
A
=
[
0
−
2
2
−
1
]
=
[
2
(
2
+
)
−
2
(
1
+
)
]
=
[
−
2
−
+
2
]
̂
=
1
−
.
Su
p
p
o
s
e
f
o
r
a
s
h
o
r
t
ti
m
e
le
t
th
e
s
i
g
n
al
is
av
ailab
le
a
n
d
co
n
s
ta
n
t.
T
h
e
p
h
ase
tr
aj
ec
to
r
ie
s
of
th
e
s
y
s
te
m
ar
e
as s
h
o
w
n
i
n
Fi
g
u
r
e
7
an
d
th
e
s
lid
i
n
g
l
in
e
eq
u
a
tio
n
is
as
(
)
=
1
+
2
=
=
0
(
26
)
On
s
elec
ti
n
g
th
e
co
n
tr
o
l
la
w
(
4
)
it
is
s
im
p
l
y
o
b
s
er
v
ed
th
at
b
o
th
th
e
ex
i
s
ten
ce
a
n
d
r
ea
ch
in
g
co
n
d
itio
n
s
ar
e
f
u
lf
i
lled
(
th
e
p
ast o
n
e
at
le
ast i
n
a
s
m
a
ll r
eg
io
n
s
u
r
r
o
u
n
d
i
n
g
th
e
o
r
ig
i
n
)
.
T
h
e
s
lid
i
n
g
m
o
d
e
ex
is
te
n
ce
r
e
g
io
n
is
s
p
ec
if
ied
b
y
t
h
e
f
o
ll
o
w
in
g
i
n
eq
u
alit
ies
f
r
o
m
(
4
)
1
(
)
=
−
2
+
−
>
0
(
)
<
0
(
27
)
2
(
)
=
−
(
+
1
)
2
+
1
+
−
−
(
−
)
<
0
(
)
>
0
(2
8
)
T
h
e
r
elatio
n
s
1
(
)
=
0
an
d
2
(
)
=
0
d
escr
ib
e
t
w
o
lin
es
i
n
p
h
ase
p
lan
e
a
n
d
ar
e
as
s
h
o
w
n
in
Fi
g
u
r
e
8
.
Fig
u
r
e
7
.
P
h
ase
tr
aj
ec
to
r
ies an
d
s
lid
in
g
l
in
e
f
o
r
I
FB
C
Fig
u
r
e
8
.
E
x
is
te
n
ce
r
eg
io
n
s
i
n
p
h
ase
p
lan
e
On
e
m
u
s
t
m
a
k
e
s
u
r
e
t
h
at
b
o
th
t
h
e
in
ter
s
ec
tio
n
s
o
f
t
h
e
li
n
e
1
(
)
=
0
w
it
h
t
h
e
2
ax
is
an
d
o
f
2
(
)
=
0
w
it
h
1
ax
is
s
h
o
u
ld
b
e
p
o
s
itiv
e
as
ca
n
b
e
s
ee
n
to
d
eter
m
in
e
a
n
ex
is
ten
ce
r
eg
io
n
f
o
r
s
lid
in
g
m
o
d
e
th
at
i
n
v
o
l
v
es
o
r
ig
in
(
t
h
at
s
h
o
w
s
th
e
s
t
ea
d
y
s
tate
p
o
in
t)
.
T
h
is
li
m
itatio
n
f
r
o
m
t
h
e
ab
o
v
e
i
n
eq
u
alit
y
d
eter
m
i
n
es
th
e
g
ai
n
<
(
2
9
)
T
o
m
a
k
e
s
u
r
e
th
e
p
r
ese
n
ce
o
f
s
lid
in
g
m
o
d
e
at
least
i
n
a
r
eg
i
o
n
ab
o
u
t
th
e
s
tead
y
s
tate
o
p
er
atin
g
p
o
in
t,
th
e
co
ef
f
icie
n
t
o
f
s
lid
i
n
g
s
u
r
f
ac
e
is
s
elec
ted
in
s
u
ch
a
w
a
y
th
at
it
f
u
l
f
ils
t
h
e
(
2
9
)
.
A
s
th
e
latter
is
b
ased
o
n
th
e
co
n
v
er
ter
o
p
er
atin
g
p
o
in
t
(
o
u
tp
u
t
p
o
w
er
an
d
in
p
u
t
v
o
lta
g
e)
,
th
e
p
r
esu
m
p
tio
n
ab
o
u
t
a
v
ailab
ilit
y
o
f
c
u
r
r
en
t
r
ef
er
en
ce
s
i
g
n
al
is
n
o
t p
o
s
s
ib
l
e
p
r
ac
ticall
y
.
T
h
er
ef
o
r
e
to
o
b
t
ain
t
h
is
i
n
d
u
cto
r
c
u
r
r
en
t r
ef
er
e
n
ce
s
i
g
n
al
t
h
at
co
n
tr
o
ls
th
e
o
u
tp
u
t
v
o
ltag
e
o
f
co
n
v
er
ter
,
g
en
er
all
y
a
lo
w
-
p
ass
f
ilter
(
o
r
PI
c
o
n
tr
o
ller
)
is
em
p
lo
y
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
9
,
No
.
6
,
Dec
em
b
er
2
0
1
9
:
4
4
9
3
-
4
5
0
6
4502
Ob
v
io
u
s
l
y
all
t
h
e
f
ea
t
u
r
es
o
f
s
lid
in
g
co
n
tr
o
l
ar
e
co
n
s
id
er
ab
ly
a
f
f
ec
ted
b
y
t
h
is
ap
p
r
o
ac
h
.
At
f
ir
s
t
o
w
i
n
g
to
n
e
w
s
tate
v
ar
iab
le
3
,
th
e
o
r
d
er
o
f
th
e
s
y
s
te
m
is
in
cr
ea
s
ed
b
y
o
n
e.
T
h
er
ef
o
r
e
th
e
w
h
o
le
s
y
s
te
m
ca
n
b
e
ch
ar
ac
ter
is
ed
b
y
s
elec
ti
n
g
th
e
s
tate
v
ar
iab
les a
s
b
elo
w
1
=
2
=
−
3
=
∫
2
}
(
3
0
)
̇
=
+
̂
+
(
3
1
)
W
h
er
e
=
[
0
−
2
0
2
−
1
0
0
1
0
]
=
[
2
−
2
0
]
,
=
[
−
2
−
+
2
]
No
w
t
h
e
s
lid
i
n
g
l
in
e
t
u
r
n
s
in
to
a
s
lid
in
g
s
u
r
f
ac
e
i
n
p
h
ase
s
p
a
ce
(
)
=
1
+
2
+
1
3
=
=
0
(3
2
)
Her
e
τ
is
ti
m
e
co
n
s
ta
n
t
o
f
lo
w
-
p
ass
f
ilter
a
n
d
=
[
1
1
]
.
T
h
u
s
at
s
te
ad
y
s
tate
(
3
2
)
th
e
s
lid
in
g
s
u
r
f
ac
e
p
r
o
d
u
c
es z
er
o
o
u
tp
u
t v
o
ltag
e
e
r
r
o
r
w
it
h
o
u
t c
o
n
s
id
er
i
n
g
o
p
er
atin
g
p
o
in
t o
f
co
n
v
er
ter
[
2
5
]
.
4
.
5
.
Sta
bil
it
y
a
na
ly
s
is
T
h
e
s
y
s
te
m
s
tab
ili
t
y
i
s
p
o
s
s
ib
le
o
n
l
y
i
f
th
e
s
y
s
te
m
d
y
n
a
m
ics
i
n
s
l
id
in
g
r
u
le
p
r
o
v
id
e
p
ath
to
th
e
d
esire
d
eq
u
i
lib
r
iu
m
p
o
in
t.
I
t
is
s
u
g
g
ested
t
h
at
o
n
l
y
w
h
e
n
t
h
e
s
l
id
in
g
r
eg
i
m
e
is
a
ttai
n
e
d
th
e
d
y
n
a
m
ics
o
f
n
e
w
s
tate
v
ar
iab
les
1
,
2
an
d
3
ar
e
o
b
tain
ed
.
Fo
r
th
e
s
y
s
te
m
s
tate
t
o
s
lid
e
alo
n
g
t
h
e
s
u
r
f
ac
e
th
e
e
q
u
iv
ale
n
t
av
er
ag
e
co
n
tr
o
l
s
h
o
u
ld
b
e
i
m
p
le
m
en
ted
w
it
h
t
h
e
d
ef
i
n
ed
s
tate
s
p
ac
e
m
o
d
el
(
3
1
)
,
s
lid
i
n
g
s
u
r
f
ac
e
(
3
2
)
an
d
̇
(
)
=
0
an
d
is
g
i
v
e
n
b
y
=
1
−
+
2
−
(
2
+
)
(
2
+
)
−
1
(
33
)
So
f
ar
as
s
y
s
te
m
s
tab
ilit
y
i
s
co
n
s
id
er
ed
,
ap
p
ly
in
g
p
o
s
iti
v
e
v
alu
e
s
f
o
r
co
ef
f
ic
ien
t
s
o
f
ch
ar
ac
ter
is
tic
p
o
ly
n
o
m
ia
l,
w
e
o
b
tai
n
0
<
<
=
(
3
4
)
a
nd
>
(
1
−
)
2
1
1
+
2
(
1
−
)
(
3
5
)
T
h
u
s
th
e
(
3
4
)
an
d
(
3
5
)
r
ep
r
e
s
en
t
t
h
e
m
o
d
elli
n
g
r
elatio
n
s
f
o
r
s
li
d
in
g
m
o
d
e
co
n
tr
o
l
o
f
I
FB
C
co
n
v
er
ter
th
a
t
f
o
r
ce
s
o
u
tp
u
t
v
o
lta
g
e
to
ze
r
o
u
n
d
er
s
tead
y
s
tate.
4
.
6
.
Sw
it
ching
f
re
qu
ency
Gen
er
all
y
a
p
r
ac
tical
s
y
s
te
m
ca
n
n
o
t
b
e
s
w
i
tch
ed
at
i
n
f
i
n
ite
f
r
eq
u
en
c
y
,
s
o
a
h
y
s
ter
esi
s
b
an
d
ca
n
b
e
e
m
p
lo
y
ed
t
h
r
o
u
g
h
o
u
t
th
e
s
lid
in
g
li
n
e
s
o
t
h
at
t
h
e
s
w
itc
h
in
g
f
r
eq
u
e
n
c
y
is
s
ettled
at
r
eq
u
ir
ed
v
alu
e.
No
w
b
y
ex
a
m
in
i
n
g
th
e
Fig
u
r
e
9
th
e
s
witch
i
n
g
f
r
eq
u
e
n
c
y
ca
n
b
e
ev
al
u
ated
=
1
1
+
2
=
1
−
+
+
−
−
(
3
6
)
=
̇
=
̇
(
)
(
3
7
)
Evaluation Warning : The document was created with Spire.PDF for Python.