I
nte
rna
t
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l J
o
urna
l o
f
Appl
ied P
o
wer
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ng
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neer
ing
(
I
J
AP
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)
Vo
l.
1
3
,
No
.
4
,
Dece
m
b
er
20
2
4
,
p
p
.
8
6
2
~
8
7
3
I
SS
N:
2252
-
8
7
9
2
,
DOI
:
1
0
.
1
1
5
9
1
/ijap
e
.
v
1
3
.
i
4
.
pp
862
-
873
862
J
o
ur
na
l ho
m
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:
h
ttp
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//ij
a
p
e
.
ia
esco
r
e.
co
m
A
new
optima
l sp
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ce vector mo
dul
a
tion with
DTC
s
witching
stra
tegy
f
o
r ind
uc
tion mo
tor con
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Ahm
a
d O
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De
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Sep
1
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2
0
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3
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ev
is
ed
J
u
n
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3
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2
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4
Acc
ep
ted
J
u
l 1
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2
0
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4
Eff
o
rts
t
o
a
c
h
ie
v
e
sw
ift
a
n
d
p
r
e
c
ise
d
y
n
a
m
ic
to
rq
u
e
c
o
n
tro
l
h
a
v
e
b
e
e
n
c
e
n
tral
in
AC
d
riv
e
re
se
a
rc
h
.
Re
c
e
n
t
a
d
v
a
n
c
e
m
e
n
ts
in
e
m
b
e
d
d
e
d
c
o
m
p
u
ter
sy
ste
m
s
h
a
v
e
h
ig
h
l
ig
h
ted
d
irec
t
to
rq
u
e
c
o
n
tr
o
l
(DTC)
a
n
d
fiel
d
-
o
rien
ted
c
o
n
tro
l
(F
OC)
a
s
k
e
y
m
e
th
o
d
s
f
o
r
e
n
h
a
n
c
i
n
g
to
r
q
u
e
d
y
n
a
m
ics
,
b
o
t
h
u
t
il
izin
g
sp
a
c
e
v
e
c
to
r
m
o
d
u
latio
n
(S
V
M
)
to
o
p
ti
m
ize
v
o
l
tag
e
so
u
rc
e
in
v
e
rter
p
o
siti
o
n
i
n
g
.
T
h
is
stu
d
y
in
tr
o
d
u
c
e
s
a
n
o
v
e
l
sy
n
th
e
sis b
y
i
n
teg
ra
ti
n
g
DTC
with
S
VM
to
a
d
d
re
ss
li
m
it
a
ti
o
n
s i
n
c
o
n
v
e
n
t
io
n
a
l
DTC,
wh
ich
s
u
ffe
rs fro
m
li
m
it
e
d
v
o
lt
a
g
e
v
e
c
to
r
a
v
a
il
a
b
il
i
ty
,
lea
d
in
g
t
o
u
n
d
e
sira
b
le
to
r
q
u
e
b
e
h
a
v
io
r
a
n
d
sig
n
ifi
c
a
n
t
c
u
rre
n
t
flu
c
t
u
a
ti
o
n
s.
Th
e
p
rima
ry
g
o
a
l
is
to
d
e
v
e
lo
p
a
n
o
p
ti
m
a
l
sw
it
c
h
in
g
m
o
d
u
lat
o
r
fo
r
t
h
e
fa
ste
st
to
rq
u
e
re
sp
o
n
se
th
ro
u
g
h
th
e
c
o
m
b
in
e
d
a
p
p
li
c
a
ti
o
n
o
f
DTC
a
n
d
S
VM
.
Th
e
p
ro
p
o
se
d
stra
teg
y
o
p
t
imiz
e
s
DC
b
u
s
u
sa
g
e
,
re
d
u
c
e
s
to
r
q
u
e
flu
c
t
u
a
ti
o
n
s,
m
i
n
imiz
e
s
to
tal
h
a
rm
o
n
ic
d
i
sto
rti
o
n
in
AC
m
o
to
r
c
u
rre
n
t
,
d
e
c
re
a
se
s
sw
i
tch
in
g
lo
ss
e
s,
a
n
d
e
n
su
re
s
se
a
m
l
e
ss
d
ig
it
a
l
sy
ste
m
in
teg
ra
ti
o
n
.
S
imu
latio
n
s
u
sin
g
M
ATLAB/
S
imu
li
n
k
d
e
m
o
n
stra
te
sig
n
ifi
c
a
n
t
t
o
rq
u
e
,
c
u
rre
n
t,
a
n
d
fl
u
x
li
n
k
a
g
e
ri
p
p
le
re
d
u
c
ti
o
n
s,
v
a
li
d
a
ti
n
g
t
h
e
a
p
p
ro
a
c
h
'
s
e
ffe
c
ti
v
e
n
e
ss
.
Th
is
in
t
e
g
ra
ti
o
n
o
v
e
rc
o
m
e
s
e
sta
b
li
sh
e
d
li
m
it
a
ti
o
n
s,
e
x
ten
d
i
n
g
th
e
c
a
p
a
b
il
it
ies
o
f
m
o
to
r
c
o
n
tr
o
l
m
e
th
o
d
o
lo
g
ies
a
n
d
o
ffe
rin
g
e
n
h
a
n
c
e
d
p
e
rf
o
rm
a
n
c
e
a
n
d
o
p
e
ra
ti
o
n
a
l
i
n
teg
rit
y
i
n
in
d
u
c
ti
o
n
m
o
t
o
r
d
riv
e
sy
ste
m
s.
K
ey
w
o
r
d
s
:
Dir
ec
t to
r
q
u
e
c
o
n
tr
o
l
Field
-
o
r
ien
ted
co
n
tr
o
l
I
n
d
u
ctio
n
m
o
to
r
co
n
tr
o
l
I
n
v
er
ter
Sp
ac
e
v
ec
to
r
m
o
d
u
latio
n
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ah
m
ad
Om
ar
Dea
b
Dep
ar
tm
en
t o
f
E
lectr
ical
an
d
E
lectr
o
n
ics E
n
g
in
ee
r
i
n
g
Vel
T
ec
h
R
an
g
ar
ajan
Dr
.
Sag
u
n
th
ala
R
&
D
I
n
s
titu
te
o
f
Scie
n
ce
an
d
T
ec
h
n
o
l
o
g
y
Av
ad
i
-
Vel
T
ec
h
R
o
ad
Vel
Na
g
ar
,
Av
ad
i,
C
h
en
n
ai,
T
am
il N
ad
u
,
I
n
d
ia
E
m
ail: a
h
m
ad
o
m
a
r
d
ea
b
9
4
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
E
f
f
o
r
ts
to
ac
h
iev
e
s
wif
t
an
d
p
r
ec
is
e
d
y
n
am
ic
to
r
q
u
e
co
n
tr
o
l
h
av
e
lo
n
g
b
ee
n
a
ce
n
tr
al
f
o
cu
s
in
AC
d
r
iv
es
r
esear
ch
.
I
n
r
ec
e
n
t
y
ea
r
s
,
ad
v
an
ce
m
e
n
ts
in
e
m
b
ed
d
ed
co
m
p
u
ter
s
y
s
tem
s
h
av
e
p
r
o
p
el
led
two
p
r
o
m
in
e
n
t
m
eth
o
d
o
l
o
g
ies,
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
an
d
f
ield
-
o
r
ien
ted
co
n
t
r
o
l
(
FOC
)
,
to
th
e
f
o
r
ef
r
o
n
t
as
p
iv
o
tal
av
en
u
es
f
o
r
en
h
an
cin
g
to
r
q
u
e
d
y
n
am
ics
[
1
]
.
B
o
th
ap
p
r
o
a
ch
es
u
tili
ze
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
(
SVM)
to
p
o
s
itio
n
th
e
v
o
ltag
e
s
o
u
r
ce
i
n
v
er
ter
with
in
th
e
o
v
er
m
o
d
u
l
atio
n
r
ea
lm
,
aim
in
g
f
o
r
o
p
ti
m
al
to
r
q
u
e
r
esp
o
n
s
e.
T
h
is
s
tu
d
y
p
io
n
ee
r
s
a
n
o
v
el
s
y
n
th
esis
b
y
in
teg
r
atin
g
DT
C
with
SVM,
ad
d
r
ess
in
g
in
h
er
e
n
t
lim
itatio
n
s
p
r
esen
t
in
co
n
v
e
n
tio
n
al
DT
C
s
ch
em
e
s
.
T
r
ad
itio
n
al
DT
C
,
co
n
s
tr
ain
ed
b
y
lim
ited
v
o
ltag
e
v
ec
t
o
r
av
ailab
ilit
y
to
th
e
m
o
to
r
,
r
esu
lts
in
u
n
d
esira
b
le
t
o
r
q
u
e
b
eh
a
v
io
r
s
an
d
p
r
o
n
o
u
n
ce
d
cu
r
r
en
t
f
lu
ct
u
atio
n
s
[
2
]
-
[
6
]
.
I
n
th
is
p
ap
er
,
we
p
r
o
p
o
s
e
th
e
n
o
v
el
m
eth
o
d
o
f
SVM
with
DT
C
is
to
f
o
r
m
u
late
an
o
p
tim
al
s
witch
in
g
m
o
d
u
lato
r
d
esig
n
ed
t
o
elicit
th
e
s
wif
test
ac
h
iev
ab
le
t
o
r
q
u
e
r
esp
o
n
s
e.
T
h
is
is
ac
h
iev
ed
th
r
o
u
g
h
th
e
s
y
m
b
i
o
tic
ap
p
licatio
n
o
f
DT
C
an
d
SVM.
A
k
ey
s
tr
en
g
th
o
f
th
e
p
r
o
p
o
s
ed
s
tr
ateg
y
lies
in
its
a
b
ilit
y
to
o
p
tim
ize
DC
b
u
s
u
s
ag
e,
d
am
p
e
n
to
r
q
u
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
A
n
ew o
p
tima
l sp
a
ce
ve
cto
r
m
o
d
u
la
tio
n
w
ith
DTC
s
w
itch
in
g
s
tr
a
teg
y
fo
r
in
d
u
ctio
n
…
(
A
h
ma
d
Oma
r
Dea
b
)
863
f
lu
ctu
atio
n
s
,
atten
u
ate
to
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
in
AC
m
o
to
r
cu
r
r
en
t,
m
itig
ate
s
witch
in
g
lo
s
s
es,
an
d
en
s
u
r
e
s
ea
m
less
in
teg
r
atio
n
in
to
d
i
g
ital
s
y
s
tem
s
.
T
h
e
SVM
-
DT
C
co
n
f
ig
u
r
atio
n
is
m
eticu
lo
u
s
l
y
s
im
u
lated
u
s
in
g
MA
T
L
AB
/
S
im
u
lin
k
,
d
em
o
n
s
t
r
atin
g
r
em
ar
k
a
b
le
r
ed
u
ctio
n
s
in
to
r
q
u
e,
cu
r
r
en
t,
an
d
f
lu
x
li
n
k
ag
e
r
ip
p
le.
T
h
is
s
u
b
s
tan
tiates
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
d
ev
is
ed
ap
p
r
o
ac
h
,
p
o
s
itio
n
in
g
it
as
a
s
ig
n
if
ican
t
s
tr
id
e
to
war
d
ac
h
iev
i
n
g
en
h
an
ce
d
d
y
n
a
m
ic
co
n
tr
o
l
in
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
s
y
s
tem
s
.
B
y
s
u
cc
ess
f
u
lly
o
v
er
co
m
in
g
estab
lis
h
ed
lim
itatio
n
s
[2
]
-
[
6
]
,
th
e
f
u
s
io
n
o
f
DT
C
an
d
SVM
ex
ten
d
s
th
e
f
r
o
n
tier
s
o
f
m
o
t
o
r
co
n
tr
o
l
m
eth
o
d
o
lo
g
ies,
o
f
f
er
in
g
n
ewf
o
u
n
d
p
o
ten
tial f
o
r
im
p
r
o
v
ed
p
er
f
o
r
m
an
ce
an
d
o
p
er
atio
n
al
in
te
g
r
ity
.
2.
T
O
RQ
UE
CO
N
T
RO
L
T
E
C
H
NIQU
E
S
T
h
e
two
d
o
m
in
an
t
s
en
s
o
r
less
co
n
tr
o
l
m
eth
o
d
o
lo
g
ies
f
o
r
in
d
u
ctio
n
m
ac
h
in
es
(
I
Ms)
ar
e
f
ield
-
o
r
ien
te
d
co
n
tr
o
l
(
FOC
)
an
d
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
.
B
o
th
f
ield
-
o
r
ien
ted
co
n
tr
o
l
an
d
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
n
eg
ate
th
e
n
ec
ess
ity
f
o
r
c
o
o
r
d
in
ate
tr
an
s
f
o
r
m
atio
n
s
,
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M
)
s
ig
n
al
g
en
er
ato
r
s
,
c
u
r
r
e
n
t
co
n
tr
o
ller
s
,
o
r
p
o
s
itio
n
e
n
co
d
er
s
,
wh
ich
ca
n
in
tr
o
d
u
ce
d
elay
s
an
d
m
an
d
ate
th
e
u
tili
z
atio
n
o
f
m
e
ch
an
ical
tr
an
s
d
u
ce
r
s
.
Desp
ite
its
s
im
p
l
icity
,
DT
C
o
f
f
er
s
s
wif
t,
in
s
tan
tan
eo
u
s
to
r
q
u
e
co
n
tr
o
l
i
n
b
o
th
s
tead
y
-
s
tate
an
d
tr
an
s
ien
t
o
p
er
atin
g
c
o
n
d
itio
n
s
,
in
alig
n
m
en
t
with
its
f
u
n
d
am
en
tal
co
n
tr
o
l
m
ec
h
a
n
is
m
[
7
]
.
Giv
e
n
th
e
im
p
er
ativ
e
n
ee
d
f
o
r
elec
tr
ic
v
eh
icle
(
E
V)
d
r
iv
e
s
y
s
tem
s
to
ex
h
ib
it
r
ap
i
d
to
r
q
u
e
r
esp
o
n
s
es,
co
s
t
-
ef
f
ec
tiv
en
ess
,
r
eliab
ilit
y
,
an
d
r
o
b
u
s
tn
ess
,
DT
C
p
r
o
v
es to
b
e
p
ar
ticu
lar
ly
a
d
v
an
tag
eo
u
s
f
o
r
E
V
a
p
p
licatio
n
s
.
DT
C
'
s
f
u
n
d
am
en
tal
p
r
in
cip
le
r
ev
o
lv
es
ar
o
u
n
d
th
e
d
ir
ec
t
s
el
ec
tio
n
o
f
s
tato
r
v
o
ltag
e
v
ec
t
o
r
s
b
ased
o
n
d
y
n
am
ic
d
is
cr
ep
a
n
cies,
th
er
eb
y
av
o
id
in
g
th
e
c
o
m
p
lex
ities
o
f
f
ield
-
o
r
ien
te
d
co
n
tr
o
l.
T
h
e
f
o
u
n
d
atio
n
al
wo
r
k
b
y
T
ak
ah
ash
i
an
d
Dep
en
b
r
o
ck
in
tr
o
d
u
ce
d
th
is
m
eth
o
d
o
lo
g
y
,
i
n
v
o
lv
in
g
th
e
c
o
m
p
ar
is
o
n
o
f
r
ef
er
en
ce
an
d
ac
tu
al
to
r
q
u
e
al
o
n
g
with
s
tato
r
f
lu
x
l
in
k
ag
e
v
alu
es
[
8
]
.
B
y
elim
in
at
in
g
th
e
r
eq
u
ir
e
m
en
t
f
o
r
in
t
r
icate
f
ield
o
r
ie
n
tatio
n
an
d
in
n
e
r
cu
r
r
en
t
r
eg
u
latio
n
lo
o
p
s
,
DT
C
ac
h
iev
es
b
o
th
r
ap
id
an
d
p
r
ec
is
e
to
r
q
u
e
r
es
p
o
n
s
es,
m
ak
in
g
it
p
ar
ticu
lar
ly
s
u
itab
le
f
o
r
s
atu
r
a
ted
v
o
ltag
e
o
p
er
atio
n
s
.
E
m
b
r
ac
in
g
th
is
p
r
in
cip
le
f
ac
ili
tates
d
ec
o
u
p
led
co
n
tr
o
l
o
v
er
f
l
u
x
an
d
to
r
q
u
e
with
o
u
t
th
e
n
ec
ess
ity
f
o
r
co
o
r
d
in
ate
tr
a
n
s
f
o
r
m
atio
n
s
,
PW
M
p
u
ls
e
g
en
er
ato
r
s
,
o
r
o
th
er
in
tr
icate
co
n
tr
o
l
s
tr
ateg
ies.
T
h
is
ap
p
r
o
ac
h
in
v
o
lv
es
em
p
lo
y
i
n
g
two
h
y
s
te
r
esis
co
n
tr
o
ller
s
,
d
ep
icted
in
Fig
u
r
e
1
,
to
d
eter
m
in
e
th
e
m
o
to
r
'
s
in
p
u
t
v
o
ltag
e.
T
h
ese
co
n
tr
o
ller
s
s
elec
t
th
e
ap
p
r
o
p
r
iate
v
o
ltag
e
v
ec
to
r
s
f
r
o
m
an
in
v
er
te
r
'
s
lo
o
k
u
p
tab
le,
en
s
u
r
in
g
th
at
s
tato
r
f
lu
x
an
d
to
r
q
u
e
r
em
ai
n
with
in
th
e
lim
its
d
ef
in
ed
b
y
two
h
y
s
ter
esis
b
an
d
s
,
as
s
h
o
wn
i
n
Fig
u
r
e
2
[
9
]
.
T
h
e
ass
o
ciate
d
s
witch
in
g
tab
le,
illu
s
tr
ated
in
T
ab
le
1
,
d
ictates
th
e
v
o
ltag
e
v
ec
t
o
r
b
ased
o
n
th
e
s
tato
r
f
lu
x
p
o
s
itio
n
an
d
th
e
r
eq
u
ir
ed
v
ar
iatio
n
s
i
n
s
tato
r
f
lu
x
m
a
g
n
itu
d
e
an
d
to
r
q
u
e
[
1
0
]
.
T
h
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
te
r
(
VSI
)
co
m
p
r
is
es
two
ze
r
o
v
o
ltag
e
v
ec
to
r
s
an
d
s
ix
v
o
ltag
e
v
ec
t
o
r
s
th
at
ar
e
u
n
if
o
r
m
ly
s
p
ac
e
d
an
d
p
o
s
s
ess
eq
u
al
am
p
litu
d
es.
Fig
u
r
e
3
p
r
o
v
id
es
a
v
is
u
aliza
tio
n
o
f
th
e
VSI
'
s
v
o
ltag
e
v
ec
to
r
s
.
Fig
u
r
e
1
.
T
h
e
b
lo
c
k
d
iag
r
am
o
f
g
en
er
al
DT
C
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
1
3
,
No
.
4
,
Dece
m
b
er
20
2
4
:
8
6
2
-
873
864
(
a)
(
b
)
Fig
u
r
e
2
.
Hy
s
ter
esis
-
b
ased
co
m
p
ar
is
o
n
: (
a)
s
tato
r
f
lu
x
a
n
d
(
b
)
to
r
q
u
e
T
ab
le
1
.
Switch
in
g
tab
le
F
l
u
x
e
r
r
o
r
p
o
s
i
t
i
o
n
To
r
q
u
e
e
r
r
o
r
p
o
si
t
i
o
n
S
e
c
I
S
e
c
I
I
S
e
c
I
I
I
S
e
c
I
V
S
e
c
V
S
e
c
V
I
1
1
V2
V3
V4
V5
V6
V1
0
V7
V0
V7
V0
V7
V0
-
1
V6
V1
V2
V3
V4
V5
0
1
V3
V4
V5
V6
V1
V2
0
V0
V7
V0
V7
V0
V7
-
1
V5
V6
V1
V2
V3
V4
Fig
u
r
e
3
.
VSI
v
o
ltag
e
v
ec
t
o
r
s
Desp
ite
its
s
im
p
licity
,
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
f
ac
es
s
e
v
er
al
n
o
ta
b
le
ch
allen
g
es.
T
h
e
b
asic
DT
C
s
tr
ateg
y
u
tili
zin
g
h
y
s
ter
esis
c
o
n
tr
o
ller
s
ex
h
ib
its
s
ev
er
al
n
o
t
ewo
r
th
y
d
r
aw
b
ac
k
s
.
T
h
ese
in
clu
d
e
f
lu
ctu
atio
n
s
in
in
v
er
ter
s
witch
in
g
f
r
e
q
u
en
c
y
,
co
n
s
id
er
ab
le
to
r
q
u
e
f
lu
ctu
at
io
n
s
,
an
d
a
r
esu
ltin
g
in
c
r
ea
s
ed
r
eq
u
ir
em
en
t
f
o
r
s
am
p
lin
g
to
ad
d
r
ess
d
ig
ital im
p
lem
en
tatio
n
co
n
ce
r
n
s
[
1
1
]
-
[
1
3
]
.
=
2
3
(
−
+
2
)
(
1
)
=
1
√
3
(
−
)
(
2
)
=
(
3
)
=
+
2
√
3
(
4
)
|
|
=
√
2
+
2
(
5
)
=
3
2
(
−
)
(
6
)
=
∫
(
−
)
(
7
)
=
∫
(
−
)
(
8
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
A
n
ew o
p
tima
l sp
a
ce
ve
cto
r
m
o
d
u
la
tio
n
w
ith
DTC
s
w
itch
in
g
s
tr
a
teg
y
fo
r
in
d
u
ctio
n
…
(
A
h
ma
d
Oma
r
Dea
b
)
865
3.
P
RO
P
O
SE
D
DT
C
WI
T
H
S
P
ACE VE
CT
O
R
M
O
DU
L
A
T
I
O
N
SY
ST
E
M
I
n
th
is
s
ec
tio
n
,
we
will
in
tr
o
d
u
ce
th
e
DT
C
-
SVM
m
eth
o
d
o
lo
g
y
,
wh
ich
em
p
lo
y
s
a
cl
o
s
ed
-
lo
o
p
ap
p
r
o
ac
h
f
o
r
t
o
r
q
u
e
c
o
n
tr
o
l.
T
h
e
s
ch
em
atic
r
ep
r
esen
tatio
n
o
f
th
is
co
n
f
ig
u
r
atio
n
is
illu
s
tr
ate
d
in
Fig
u
r
e
4
.
DT
C
in
v
o
lv
es
th
e
an
ticip
atio
n
o
f
th
e
v
o
ltag
e
r
e
q
u
ir
ed
to
ac
h
i
ev
e
a
p
r
ed
ef
in
ed
o
u
tp
u
t
to
r
q
u
e,
lev
er
a
g
in
g
a
n
in
d
u
ctio
n
m
o
to
r
m
o
d
el
[
1
4
]
,
[
1
5
]
.
I
n
s
tan
tan
e
o
u
s
s
tato
r
f
lu
x
an
d
o
u
tp
u
t
to
r
q
u
e
ca
n
b
e
ascer
tain
ed
u
s
in
g
s
o
lely
cu
r
r
en
t
a
n
d
v
o
ltag
e
i
n
f
o
r
m
atio
n
.
Su
b
s
eq
u
en
tly
,
th
e
v
o
ltag
e
ess
en
tial
to
s
teer
th
e
f
lu
x
an
d
to
r
q
u
e
to
war
d
s
th
e
d
esire
d
lev
els
with
in
a
s
p
ec
if
i
ed
tim
ef
r
am
e
is
p
r
o
jecte
d
th
r
o
u
g
h
th
e
u
tili
za
tio
n
o
f
an
in
d
u
ctio
n
m
o
to
r
m
o
d
el.
T
h
e
o
b
jectiv
e
o
f
th
e
DT
C
-
SVM
ap
p
r
o
ac
h
,
d
is
tin
ct
f
r
o
m
co
n
v
en
tio
n
al
DT
C
,
ce
n
ter
s
o
n
ap
p
r
o
x
im
atin
g
a
r
ef
er
en
ce
s
tato
r
v
o
ltag
e
v
ec
t
o
r
V*
S
f
o
r
th
e
p
u
r
p
o
s
e
o
f
o
r
ch
e
s
tr
atin
g
th
e
p
o
wer
g
ate
o
p
er
ati
o
n
s
o
f
th
e
in
v
er
ter
with
co
n
s
is
ten
t
s
witch
in
g
f
r
eq
u
en
cy
.
T
h
e
in
v
e
r
ter
ca
n
n
o
w
g
en
er
ate
a
v
o
ltag
e
v
ec
to
r
with
v
a
r
y
in
g
d
ir
e
ctio
n
an
d
m
ag
n
itu
d
e
d
u
r
in
g
ea
ch
s
am
p
lin
g
in
ter
v
al.
As
a
r
esu
lt,
v
ar
iatio
n
s
in
s
tato
r
f
lu
x
d
ev
iati
o
n
s
ca
n
m
a
n
if
est
in
d
iv
er
s
e
d
ir
ec
tio
n
s
an
d
m
ag
n
it
u
d
es,
lead
in
g
to
s
m
o
o
th
er
alter
atio
n
s
in
to
r
q
u
e.
I
n
th
e
latter
p
ar
t
o
f
th
e
1
9
8
0
s
,
a
team
o
f
Ger
m
an
r
esear
ch
er
s
in
tr
o
d
u
ce
d
th
e
co
n
ce
p
t
o
f
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
(
SVM)
f
o
r
th
e
f
ir
s
t
tim
e.
Sin
ce
th
en
,
ex
ten
s
iv
e
in
v
esti
g
atio
n
s
h
av
e
b
ee
n
u
n
d
er
tak
e
n
co
n
ce
r
n
in
g
th
e
d
q
th
eo
r
y
an
d
th
e
u
tili
za
tio
n
o
f
SVM
m
eth
o
d
o
lo
g
ies.
SVM
te
ch
n
iq
u
es
o
f
f
er
a
s
p
ec
tr
u
m
o
f
a
d
v
an
tag
es,
en
c
o
m
p
ass
in
g
en
h
an
ce
d
u
tili
za
tio
n
o
f
th
e
DC
b
u
s
,
d
im
in
is
h
ed
t
o
r
q
u
e
f
lu
ctu
atio
n
s
,
r
ed
u
ce
d
to
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
(
T
HD)
i
n
t
h
e
cu
r
r
e
n
t
o
f
th
e
AC
m
o
to
r
,
m
in
im
ized
s
witch
in
g
lo
s
s
es,
an
d
s
ea
m
le
s
s
in
teg
r
atio
n
in
to
d
ig
ital
s
y
s
tem
s
.
W
ith
in
th
e
f
r
am
ewo
r
k
o
f
th
e
d
ir
ec
t
to
r
q
u
e
c
o
n
tr
o
l
(
DT
C
)
p
ar
ad
ig
m
,
th
e
SVM
m
eth
o
d
o
lo
g
y
is
im
p
lem
en
ted
with
in
e
ac
h
cy
cle
p
er
io
d
t
o
ascer
tain
th
e
r
eq
u
is
ite
v
o
ltag
e
s
p
ac
e
v
ec
to
r
f
o
r
p
r
ec
is
e
r
ec
alib
r
atio
n
o
f
f
lu
x
an
d
to
r
q
u
e
d
is
cr
ep
an
cies
[
1
6
]
.
T
h
e
in
teg
r
atio
n
o
f
SVM
with
DT
C
h
as
s
ig
n
if
ican
tly
cu
r
tailed
to
r
q
u
e
r
ip
p
le,
m
ain
ta
in
in
g
a
co
n
s
is
ten
t
s
witch
in
g
f
r
eq
u
e
n
cy
[
1
7
]
-
[
1
9
]
.
T
h
e
co
m
p
u
tatio
n
o
f
th
e
s
tato
r
f
lu
x
v
ec
to
r
,
d
e
n
o
ted
as Ψ_
s
,
a
n
d
th
e
r
esu
ltan
t
m
o
to
r
t
o
r
q
u
e,
T
_
em
,
ca
n
b
e
ac
co
m
p
lis
h
ed
u
s
in
g
(
9
)
an
d
(
1
0
)
.
T
h
ese
eq
u
atio
n
s
p
r
im
ar
ily
r
ely
o
n
f
am
iliar
ity
with
th
e
v
o
lta
g
e
v
ec
t
o
r
p
r
ev
io
u
s
ly
e
m
p
lo
y
e
d
,
th
e
c
o
m
p
u
ted
s
tato
r
cu
r
r
en
t,
a
n
d
th
e
s
tato
r
r
esis
tan
ce
.
=
(
−
)
∆
(
9
)
=
3
2
2
(
×
)
(
1
0
)
Up
o
n
d
eter
m
in
in
g
th
e
m
a
g
n
it
u
d
e
o
f
t
h
e
c
u
r
r
en
t
s
tato
r
f
lu
x
an
d
th
e
r
esu
ltin
g
to
r
q
u
e,
it
b
e
co
m
es
p
o
s
s
ib
le
to
ca
lcu
late
th
e
n
ec
ess
ar
y
m
o
d
if
i
ca
tio
n
to
attain
th
e
d
esire
d
v
al
u
es
b
y
th
e
e
n
d
o
f
th
e
o
n
g
o
in
g
s
witch
in
g
in
ter
v
al
[
2
0
]
-
[
2
3
]
.
T
h
e
v
o
ltag
e
ess
en
tial
f
o
r
n
u
llify
in
g
to
r
q
u
e
an
d
f
lu
x
d
is
cr
ep
an
cies
is
d
ir
ec
tly
ascer
tain
ed
.
T
h
is
an
ticip
ated
v
o
ltag
e
is
s
u
b
s
eq
u
en
tly
im
p
lem
en
te
d
,
with
th
e
u
tili
za
tio
n
o
f
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
(
SVM)
to
g
en
er
ate
th
e
v
o
ltag
e
p
atter
n
s
.
I
n
ca
s
es
wh
er
e
th
e
in
v
er
ter
is
u
n
ab
le
to
d
eliv
er
th
e
n
ec
ess
ar
y
v
o
ltag
e,
th
e
v
o
ltag
e
v
ec
to
r
th
at
s
teer
s
to
r
q
u
e
an
d
f
lu
x
clo
s
er
to
th
e
d
esire
d
lev
el
is
ch
o
s
en
an
d
m
ain
tain
ed
th
r
o
u
g
h
o
u
t
th
e
cy
cle
d
u
r
atio
n
[
2
4
]
,
[
2
5
]
.
Fig
u
r
e
4
.
Pro
p
o
s
ed
s
y
s
tem
b
lo
ck
d
iag
r
am
(
DT
C
-
SVM)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
1
3
,
No
.
4
,
Dece
m
b
er
20
2
4
:
8
6
2
-
873
866
T
h
e
f
o
llo
win
g
eq
u
atio
n
s
ca
n
b
e
u
s
ed
to
co
m
p
u
te
th
e
s
witch
i
n
g
tim
es
.
∗
=
+
(
1
1
)
T
h
e
v
alu
es o
f
Vsd
an
d
Vsq
ar
e
o
b
tain
ed
f
r
o
m
th
e
s
u
itab
le
v
o
ltag
e
v
ec
to
r
s
co
r
r
esp
o
n
d
in
g
t
o
ea
ch
s
ec
to
r
:
∗
=
1
+
2
(
1
2
)
√
2
3
[
0
s
in
0
]
+
√
2
3
[
c
os
(
3
)
s
in
(
3
)
]
(
1
3
)
=
√
2
3
[
c
os
s
in
]
(
1
4
)
=
s
i
n
(
3
−
)
s
i
n
(
3
)
(
1
5
)
=
(
)
s
i
n
(
3
)
(
1
6
)
0
=
7
=
−
−
(
1
7
)
d
u
r
in
g
th
e
tim
e
p
e
r
io
d
0
≤
≤
3
,
wh
er
e
=
|
∗
|
√
2
3
.
Du
r
in
g
th
e
p
h
ase
o
f
s
tead
y
-
s
tate
o
p
er
atio
n
,
th
e
r
ef
e
r
en
ce
v
e
cto
r
,
in
d
icate
d
as
V*
s
an
d
d
ef
in
ed
b
y
an
u
n
ch
an
g
in
g
am
p
litu
d
e
an
d
f
r
eq
u
en
cy
,
is
r
ec
o
r
d
ed
at
r
eg
u
l
ar
in
ter
v
als
o
f
T
z.
W
ith
in
th
is
d
ef
in
ed
s
am
p
lin
g
p
er
io
d
,
th
e
i
n
v
er
ter
ex
p
e
r
ien
c
es
tr
an
s
itio
n
s
b
etwe
en
d
if
f
er
e
n
t
s
witch
in
g
s
tates,
o
cc
u
p
y
in
g
th
em
f
o
r
v
ar
y
in
g
s
p
an
s
o
f
tim
e.
T
h
is
c
o
n
tr
o
lled
m
o
d
u
latio
n
g
u
ar
a
n
tees
th
at
t
h
e
m
ea
n
s
p
ac
e
v
ec
to
r
f
o
r
m
u
la
ted
o
v
e
r
th
e
co
u
r
s
e
o
f
th
e
s
am
p
lin
g
in
ter
v
al
alig
n
s
ac
cu
r
ately
with
th
e
s
am
p
led
ch
ar
ac
ter
is
tics
o
f
th
e
r
ef
er
en
ce
v
ec
to
r
i
n
r
eg
a
r
d
s
to
b
o
th
m
ag
n
itu
d
e
an
d
o
r
ien
tat
io
n
[
2
6
]
-
[
2
8
]
.
T
h
e
p
er
m
is
s
ib
le
ar
r
a
y
o
f
s
witch
in
g
s
tates
with
in
T
z
en
c
o
m
p
ass
es
n
o
t
o
n
ly
th
e
two
ze
r
o
s
tates
b
u
t
also
th
e
ac
tiv
e
s
tates,
SA
an
d
SB
,
o
r
ch
estra
ted
th
r
o
u
g
h
v
ec
to
r
s
V1
a
n
d
V
2
,
s
er
v
in
g
to
estab
lis
h
th
e
b
o
u
n
d
s
o
f
th
e
s
ec
to
r
'
s
in
it
iatio
n
an
d
co
n
clu
s
io
n
,
as
v
is
u
ally
d
ep
icted
in
Fig
u
r
e
5
.
Activ
e
s
witch
in
g
s
tates
s
p
ec
if
ically
d
en
o
te
t
h
e
two
m
o
d
es,
SA
a
n
d
SB
,
with
SA
r
ep
r
esen
tin
g
in
v
er
ter
s
tates
(
0
0
1
)
,
(
1
0
0
)
,
o
r
(
0
1
0
)
,
an
d
SB
s
y
m
b
o
lizin
g
in
v
er
ter
s
witch
in
g
s
tates
(
1
0
1
)
,
(
1
1
0
)
,
o
r
(
0
1
0
)
,
(
0
1
1
)
.
T
h
e
tim
e
in
te
r
v
als
a
ttrib
u
ted
to
ac
tiv
e
s
witch
in
g
s
tates,
n
am
ely
T
A
an
d
T
B
,
ar
e
d
ef
in
ed
as
ac
tiv
e
v
ec
to
r
p
er
io
d
s
.
Ad
d
itio
n
ally
,
th
e
tem
p
o
r
al
s
p
an
s
lin
k
ed
to
n
u
ll
s
witch
in
g
s
tates,
S0
(
0
0
0
)
a
n
d
S7
(
1
1
1
)
,
ar
e
d
en
o
ted
as
n
u
ll
v
ec
to
r
p
e
r
io
d
s
,
T
0
an
d
T
7
.
B
y
in
teg
r
atin
g
t
h
e
s
p
ac
e
v
ec
to
r
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M)
m
eth
o
d
o
lo
g
y
with
in
DT
C
,
n
o
t
o
n
ly
is
th
e
tr
an
s
ien
t
p
er
f
o
r
m
a
n
ce
an
d
r
o
b
u
s
tn
ess
o
f
DT
C
r
etain
ed
,
b
u
t
th
e
am
p
litu
d
e
f
lu
ctu
atio
n
s
o
f
th
e
s
tead
y
-
s
tate
to
r
q
u
e
ar
e
also
m
itig
ate
d
[
2
9
]
.
Fu
r
t
h
er
m
o
r
e,
th
e
in
v
er
t
er
'
s
co
n
tin
u
o
u
s
an
d
f
u
lly
a
d
ju
s
tab
le
s
witch
in
g
f
r
eq
u
e
n
cy
r
em
ai
n
s
a
p
r
o
m
in
en
t f
ea
tu
r
e
[
3
0
]
.
Fig
u
r
e
5
.
B
o
u
n
d
ar
ies o
f
th
e
s
ec
to
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
A
n
ew o
p
tima
l sp
a
ce
ve
cto
r
m
o
d
u
la
tio
n
w
ith
DTC
s
w
itch
in
g
s
tr
a
teg
y
fo
r
in
d
u
ctio
n
…
(
A
h
ma
d
Oma
r
Dea
b
)
867
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
s
im
u
latio
n
s
eg
m
en
t
e
n
c
o
m
p
ass
es
th
e
cr
ea
tio
n
an
d
a
s
s
es
s
m
en
t
o
f
th
e
tailo
r
ed
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
m
eth
o
d
o
lo
g
ies.
T
h
ese
m
eth
o
d
o
lo
g
ies
wer
e
co
n
ce
iv
ed
a
n
d
s
u
b
s
eq
u
e
n
tly
s
im
u
lated
u
s
in
g
th
e
MA
T
L
AB
/S
im
u
lin
k
en
v
i
r
o
n
m
en
t,
as
d
e
p
icted
in
Fig
u
r
e
6
.
T
o
m
o
d
el
th
e
s
y
s
tem
,
an
in
d
u
ctio
n
m
o
to
r
is
u
tili
ze
d
,
an
d
its
p
er
tin
e
n
t sp
ec
if
icatio
n
s
ar
e
d
etailed
in
T
a
b
le
2
.
Fig
u
r
e
6
.
Simu
latio
n
s
etu
p
f
o
r
SVM
-
DT
C
co
n
tr
o
lled
in
d
u
cti
o
n
m
o
t
o
r
s
y
s
tem
T
ab
le
2
.
T
ec
h
n
ical
s
p
ec
if
icatio
n
o
f
th
e
in
d
u
ctio
n
m
o
to
r
P
a
r
a
me
t
e
r
V
a
l
u
e
S
t
a
t
o
r
r
e
s
i
st
a
n
c
e
=
1
.
405
Ω
R
o
t
o
r
i
n
d
u
c
t
a
n
c
e
=
0
.
005839
S
t
a
t
o
r
i
n
d
u
c
t
a
n
c
e
=
0
.
005839
B
a
se
sp
e
e
d
=
1430
F
r
e
q
u
e
n
c
y
=
50
R
o
t
o
r
r
e
si
s
t
a
n
c
e
=
1
.
395
Ω
M
u
t
u
a
l
i
n
d
u
c
t
a
n
c
e
=
0
.
1722
P
h
a
se
v
o
l
t
a
g
e
=
240
I
n
e
r
t
i
a
=
0
.
003
2
4
.
1
.
Sim
ula
t
i
o
n
s
et
up
a
nd
m
o
t
o
r
m
o
del
E
x
p
lo
r
in
g
th
e
in
tr
icac
ies
o
f
ad
v
an
ce
d
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
s
tr
ateg
ies
n
ec
es
s
itated
th
e
d
ev
elo
p
m
e
n
t
o
f
a
r
o
b
u
s
t
s
im
u
l
atio
n
f
r
am
ewo
r
k
,
m
eticu
lo
u
s
l
y
cr
af
ted
with
in
th
e
v
er
s
atile
MA
T
L
AB
/S
im
u
lin
k
s
o
f
twar
e.
T
h
is
p
latf
o
r
m
s
er
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er
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ap
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ly
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co
r
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ate
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h
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o
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a
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eth
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ical
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im
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io
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o
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th
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p
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o
p
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e
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m
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if
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o
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ly
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s
h
ed
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aw
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ac
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th
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y
n
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ic
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o
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tex
t o
f
m
o
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n
tr
o
l sy
s
tem
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
1
3
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No
.
4
,
Dece
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b
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20
2
4
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6
2
-
873
868
4
.
2
.
M
o
t
o
r
s
elec
t
io
n a
nd
da
t
a
inco
rpo
ra
t
io
n
Fo
r
th
e
p
u
r
p
o
s
e
o
f
s
y
s
tem
m
o
d
elin
g
,
a
n
asy
n
ch
r
o
n
o
u
s
m
o
to
r
was
s
elec
ted
as
th
e
co
r
e
c
o
m
p
o
n
en
t.
T
h
e
in
h
er
en
t
ch
ar
ac
te
r
is
tics
a
n
d
p
ar
am
eter
s
o
f
th
is
m
o
to
r
,
cr
u
cial
f
o
r
ac
cu
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ate
s
im
u
latio
n
,
wer
e
ex
tr
ac
ted
f
r
o
m
p
er
tin
e
n
t
d
atash
ee
ts
.
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h
ese
s
p
ec
if
icatio
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,
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r
o
v
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g
a
s
o
lid
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o
u
n
d
atio
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f
o
r
th
e
m
o
d
el,
ar
e
co
m
p
r
eh
e
n
s
iv
ely
o
u
tlin
ed
in
T
ab
le
1
.
4
.
3
.
DT
C
s
chem
e
des
ig
n a
nd
im
plem
ent
a
t
io
n
T
o
en
h
a
n
ce
th
e
p
er
f
o
r
m
a
n
ce
o
f
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
,
in
n
o
v
ativ
e
s
ch
em
es
wer
e
m
eticu
lo
u
s
ly
f
o
r
m
u
lated
with
t
h
e
s
p
ec
if
ic
a
im
o
f
r
ef
i
n
in
g
an
d
o
p
tim
izin
g
its
o
p
er
atio
n
al
ef
f
icien
c
y
.
T
h
e
s
e
n
o
v
el
s
tr
ateg
ies,
ca
r
ef
u
lly
d
esig
n
ed
to
m
ee
t
p
r
ed
ef
in
ed
o
b
jectiv
es,
wer
e
s
u
b
s
eq
u
en
tly
tr
an
s
lated
i
n
to
f
u
n
ctio
n
al
Simu
lin
k
b
lo
ck
s
.
T
h
is
tr
an
s
f
o
r
m
atio
n
f
ac
ilit
ated
th
e
s
ea
m
les
s
in
teg
r
atio
n
o
f
th
e
co
n
ce
p
tu
al
en
h
a
n
ce
m
en
ts
in
to
th
e
s
im
u
latio
n
en
v
ir
o
n
m
en
t,
allo
w
in
g
f
o
r
a
r
ea
l
-
tim
e
ass
ess
m
en
t o
f
th
eir
im
p
ac
t o
n
t
h
e
asy
n
ch
r
o
n
o
u
s
m
o
to
r
.
4
.
4
.
Sim
ula
t
i
o
n
a
rc
hite
ct
ure
a
nd
ev
a
lua
t
io
n
T
h
e
MA
T
L
AB
/Si
m
u
lin
k
p
latf
o
r
m
f
ac
ilit
ated
th
e
c
o
n
s
tr
u
ctio
n
o
f
a
d
y
n
a
m
ic
s
im
u
latio
n
ar
c
h
itectu
r
e.
T
h
is
ar
ch
itectu
r
e
in
tr
icate
ly
in
teg
r
ated
th
e
m
o
d
if
ied
DT
C
s
tr
ateg
ies
with
th
e
asy
n
ch
r
o
n
o
u
s
m
o
to
r
m
o
d
el.
T
h
e
r
esu
ltan
t
s
im
u
latio
n
s
en
a
b
led
th
e
s
y
s
tem
atic
o
b
s
er
v
atio
n
a
n
d
an
aly
s
is
o
f
th
e
m
o
to
r
'
s
b
eh
a
v
io
r
u
n
d
e
r
v
ar
io
u
s
o
p
er
atio
n
al
co
n
d
itio
n
s
.
B
y
e
s
tab
lis
h
in
g
th
is
r
o
b
u
s
t
s
im
u
latio
n
s
etu
p
a
n
d
ac
cu
r
ately
i
n
co
r
p
o
r
atin
g
m
o
to
r
s
p
ec
if
icatio
n
s
,
th
e
s
im
u
latio
n
s
ec
tio
n
o
f
th
is
s
tu
d
y
lay
s
th
e
f
o
u
n
d
atio
n
f
o
r
co
m
p
r
eh
e
n
s
iv
e
in
s
ig
h
ts
in
to
th
e
p
er
f
o
r
m
an
ce
en
h
an
ce
m
e
n
ts
o
f
f
er
ed
b
y
th
e
p
r
o
p
o
s
ed
DT
C
s
ch
em
es.
Fig
u
r
es
7
to
1
1
illu
s
tr
ate
th
e
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
o
f
a
n
in
d
u
ctio
n
m
o
to
r
u
n
d
e
r
SV
M
-
DT
C
.
I
n
Fig
u
r
e
7
,
we
o
b
s
er
v
e
th
e
p
u
l
s
e
s
eq
u
en
ce
s
f
o
r
s
witch
es
S1
-
S6
,
o
b
tain
e
d
v
ia
s
p
ac
e
v
ec
to
r
PW
M
tech
n
iq
u
e.
No
tab
ly
,
S1
'
s
p
u
ls
es
ar
e
co
m
p
lem
en
tar
y
to
th
o
s
e
o
f
S4
,
as
ar
e
S2
'
s
to
S5
's,
an
d
S3
'
s
to
S6
'
s
.
T
h
is
s
y
m
m
etr
y
in
p
u
ls
e
b
eh
av
io
r
co
n
t
r
ib
u
tes
to
co
o
r
d
i
n
ated
s
witch
o
p
er
atio
n
with
in
th
e
SVM
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DT
C
s
tr
at
eg
y
.
T
h
e
o
b
tain
e
d
s
im
u
latio
n
r
esu
lts
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o
ld
p
iv
o
tal
im
p
licatio
n
s
in
s
h
o
wca
s
i
n
g
th
e
ef
f
icac
y
o
f
th
e
p
r
o
p
o
s
ed
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
a
p
p
r
o
ac
h
in
t
eg
r
ated
with
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
,
esp
ec
ially
in
c
o
m
p
ar
is
o
n
t
o
p
r
i
o
r
m
eth
o
d
o
l
o
g
ies.
T
h
is
s
ec
tio
n
p
r
o
v
id
es
a
co
m
p
r
eh
en
s
iv
e
a
n
aly
s
is
o
f
ea
ch
f
ig
u
r
e'
s
o
u
tco
m
es,
alo
n
g
with
a
s
u
cc
in
ct
co
m
p
ar
is
o
n
h
ig
h
lig
h
tin
g
th
e
s
ig
n
if
ican
ce
o
f
th
e
p
r
e
s
en
t w
o
r
k
.
Fig
u
r
e
7
.
Switch
in
g
p
u
ls
e
p
att
er
n
s
f
o
r
SVM
-
DT
C
in
in
d
u
ctio
n
m
o
t
o
r
co
n
tr
o
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
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n
g
I
SS
N:
2252
-
8
7
9
2
A
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p
tima
l sp
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d
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la
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in
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(
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869
4
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4
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1
.
Sta
t
o
r
f
lux
dy
na
m
ics
I
n
Fig
u
r
e
8
,
th
e
s
tato
r
f
lu
x
b
eh
av
io
r
is
u
n
v
eiled
.
T
h
is
f
ig
u
r
e
p
r
o
v
id
es a
clea
r
v
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u
aliza
tio
n
o
f
h
o
w
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e
p
r
o
p
o
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ed
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s
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ac
e
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ec
to
r
m
o
d
u
latio
n
in
f
lu
en
ce
s
th
e
s
tato
r
f
lu
x
,
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ce
n
t
u
atin
g
th
e
p
r
ec
is
e
co
n
tr
o
l
ac
h
iev
ed
u
n
d
er
d
y
n
am
ic
co
n
d
itio
n
s
.
C
o
m
p
ar
in
g
th
ese
r
esu
lts
to
p
r
ev
io
u
s
ap
p
r
o
ac
h
es
u
n
d
er
s
co
r
es
th
e
ad
v
an
ce
m
e
n
ts
in
ac
h
iev
in
g
o
p
tim
ized
s
tato
r
f
lu
x
r
e
g
u
latio
n
,
th
er
eb
y
e
n
h
an
cin
g
o
v
er
all
m
o
t
o
r
p
er
f
o
r
m
a
n
ce
.
4
.
4
.
2
.
Ro
t
o
r
f
lux
v
a
ri
a
t
io
n
T
h
e
r
o
to
r
f
lu
x
tr
en
d
s
ar
e
d
ep
ic
ted
in
Fig
u
r
e
9
.
T
h
is
f
i
g
u
r
e
u
n
v
eils
th
e
r
o
to
r
f
lu
x
'
s
b
eh
a
v
io
r
with
in
th
e
p
r
o
p
o
s
ed
DT
C
f
r
a
m
ewo
r
k
,
u
n
d
er
s
co
r
in
g
th
e
r
o
b
u
s
tn
ess
an
d
ac
cu
r
ac
y
o
f
th
e
ap
p
r
o
ac
h
in
m
ain
tain
in
g
d
esire
d
f
lu
x
lev
els.
B
y
co
n
tr
asti
n
g
th
ese
o
u
tco
m
es
with
th
o
s
e
o
f
ea
r
lier
m
eth
o
d
s
,
t
h
e
p
r
o
g
r
ess
ac
h
iev
ed
b
ec
o
m
es
ev
id
en
t,
s
o
lid
if
y
in
g
th
e
claim
th
at
th
e
p
r
o
p
o
s
ed
DT
C
with
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
y
ield
s
im
p
r
o
v
ed
r
o
to
r
f
lu
x
d
y
n
am
ics.
Fig
u
r
e
8
.
Stato
r
f
lu
x
d
y
n
am
ics
in
p
r
o
p
o
s
ed
SVM
-
DT
C
in
d
u
c
tio
n
m
o
to
r
s
y
s
tem
Fig
u
r
e
9
.
R
o
to
r
f
lu
x
v
ar
iatio
n
in
SVM
-
DT
C
co
n
tr
o
lled
in
d
u
ctio
n
m
o
to
r
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
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n
g
,
Vo
l.
1
3
,
No
.
4
,
Dece
m
b
er
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2
4
:
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6
2
-
873
870
4
.
4
.
3
.
L
ine v
o
lt
a
g
e
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ent
Fig
u
r
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1
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p
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a
d
u
al
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ep
i
ctio
n
o
f
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ltag
e
an
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r
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n
t
p
r
o
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iles
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h
e
u
p
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tio
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s
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ates
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eh
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ile
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e
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o
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s
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o
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r
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en
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.
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co
m
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iew
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ig
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ter
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r
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e
n
t
u
n
d
er
th
e
p
r
o
p
o
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ed
ap
p
r
o
ac
h
.
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h
e
ju
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o
s
itio
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h
ese
asp
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ts
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h
asizes
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e
s
ea
m
les
s
i
n
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r
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n
ac
h
ie
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ed
in
th
e
DT
C
s
y
s
tem
.
T
h
is
ad
v
an
ce
m
e
n
t,
co
m
p
ar
ed
to
p
r
ec
ed
in
g
w
o
r
k
,
ex
em
p
lifie
s
th
e
ac
h
iev
em
e
n
t
o
f
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h
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ce
d
v
o
ltag
e
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cu
r
r
en
t
co
n
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o
l sy
n
c
h
r
o
n
izatio
n
,
a
c
r
u
cial
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h
iev
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en
t f
o
r
m
o
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o
r
s
tab
ilit
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.
Fig
u
r
e
1
0
.
L
in
e
v
o
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e
an
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cu
r
r
en
t b
e
h
av
io
r
i
n
SVM
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DT
C
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ctio
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to
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n
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o
l
Fig
u
r
e
1
1
.
Sp
ee
d
an
d
to
r
q
u
e
p
r
o
f
iles
in
p
r
o
p
o
s
ed
SVM
-
DT
C
in
d
u
ctio
n
m
o
to
r
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J Ap
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n
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-
8
7
9
2
A
n
ew o
p
tima
l sp
a
ce
ve
cto
r
m
o
d
u
la
tio
n
w
ith
DTC
s
w
itch
in
g
s
tr
a
teg
y
fo
r
in
d
u
ctio
n
…
(
A
h
ma
d
Oma
r
Dea
b
)
871
4
.
4
.
4
.
Sp
ee
d a
nd
t
o
rque
dy
n
a
m
ics
I
n
Fig
u
r
e
1
1
,
th
e
s
p
ee
d
an
d
t
o
r
q
u
e
v
ar
iatio
n
s
a
r
e
p
o
r
tr
ay
e
d
.
T
h
is
tan
d
em
v
is
u
aliza
tio
n
ac
ce
n
tu
ates
th
e
ag
ilit
y
an
d
p
r
ec
is
io
n
o
f
t
h
e
p
r
o
p
o
s
ed
DT
C
m
eth
o
d
o
lo
g
y
.
T
h
e
u
p
p
e
r
s
eg
m
en
t
p
o
r
tr
a
y
s
s
p
ee
d
,
wh
ile
th
e
lo
wer
s
eg
m
en
t
ex
h
ib
its
to
r
q
u
e
d
y
n
am
ics.
A
co
m
p
a
r
ativ
e
an
aly
s
is
with
p
r
io
r
r
esear
ch
r
ev
ea
ls
th
at
th
e
p
r
o
p
o
s
ed
DT
C
with
s
p
ac
e
v
e
cto
r
m
o
d
u
latio
n
n
o
t
o
n
ly
m
ain
tain
s
s
p
ee
d
s
tab
ilit
y
b
u
t
als
o
ex
h
ib
its
s
u
p
er
io
r
to
r
q
u
e
r
esp
o
n
s
e,
s
ig
n
if
ican
tly
im
p
r
o
v
in
g
tr
an
s
ien
t m
o
to
r
p
er
f
o
r
m
an
ce
.
4
.
4
.
5
.
Co
m
pa
r
a
t
iv
e
s
ig
nifica
nce:
enha
ncem
ent
s
a
nd
in
s
ig
hts
T
h
e
p
iv
o
tal
s
ig
n
if
ica
n
ce
o
f
th
i
s
s
tu
d
y
lies
in
its
ab
ilit
y
to
im
p
r
o
v
e
u
p
o
n
co
n
v
en
tio
n
al
DT
C
s
tr
ateg
ies.
B
y
in
teg
r
atin
g
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
o
lo
g
y
d
em
o
n
s
tr
ates
im
p
r
o
v
e
d
co
n
tr
o
l
p
r
ec
is
io
n
in
s
tato
r
an
d
r
o
to
r
f
l
u
x
,
en
h
a
n
ce
d
s
y
n
ch
r
o
n
izatio
n
b
etwe
e
n
v
o
ltag
e
an
d
c
u
r
r
en
t,
a
n
d
o
p
tim
ized
s
p
ee
d
an
d
to
r
q
u
e
r
esp
o
n
s
e.
T
h
is
a
d
v
an
c
em
en
t
s
ig
n
if
ies
a
m
ar
k
ed
lea
p
f
r
o
m
p
r
e
v
io
u
s
wo
r
k
,
o
f
f
er
i
n
g
a
m
o
r
e
ef
f
ec
tiv
e,
ac
cu
r
ate,
an
d
s
tab
le
co
n
tr
o
l
ap
p
r
o
ac
h
f
o
r
in
d
u
ctio
n
m
o
t
o
r
o
p
er
atio
n
s
.
T
h
e
p
r
o
p
o
s
ed
a
p
p
r
o
ac
h
'
s
ab
ilit
y
to
ad
d
r
ess
an
d
im
p
r
o
v
e
u
p
o
n
k
e
y
m
o
to
r
co
n
tr
o
l
asp
ec
ts
ac
ce
n
tu
ates
its
r
elev
an
ce
an
d
a
p
p
l
icab
ilit
y
with
in
th
e
r
ea
lm
o
f
m
o
to
r
d
r
iv
e
s
y
s
tem
s
.
5.
CO
NCLU
SI
O
N
T
h
e
in
teg
r
atio
n
o
f
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
(
SVM)
wi
th
in
th
e
d
ir
ec
t
to
r
q
u
e
c
o
n
tr
o
l
(
DT
C
)
f
r
am
ewo
r
k
h
as
ef
f
ec
tiv
ely
a
d
d
r
ess
ed
s
ig
n
if
ican
t
s
h
o
r
tc
o
m
in
g
s
,
n
o
tab
ly
th
e
p
r
o
n
o
u
n
c
ed
f
lu
x
a
n
d
to
r
q
u
e
r
ip
p
les.
T
h
is
in
n
o
v
ativ
e
am
a
lg
am
atio
n
h
as
y
ield
ed
s
u
b
s
tan
tial
im
p
r
o
v
em
en
ts
in
d
y
n
a
m
ic
co
n
tr
o
l
ac
r
o
s
s
d
iv
er
s
e
o
p
e
r
atio
n
al
s
ce
n
ar
io
s
,
en
co
m
p
ass
in
g
l
o
ad
v
ar
iatio
n
s
,
s
p
ee
d
r
ev
er
s
als,
an
d
lo
w
-
s
p
ee
d
o
p
e
r
atio
n
.
T
h
e
s
u
cc
ess
f
u
l
r
ed
u
ctio
n
i
n
to
r
q
u
e
r
ip
p
le
ac
h
iev
ed
th
r
o
u
g
h
SVM
-
DT
C
,
wh
ile
s
im
u
ltan
e
o
u
s
ly
p
r
eser
v
i
n
g
a
co
n
s
is
ten
t
s
witch
in
g
f
r
eq
u
en
c
y
,
u
n
d
er
s
co
r
es
t
h
e
m
eth
o
d
'
s
co
m
p
eten
ce
.
T
h
e
v
alid
atio
n
o
f
th
ese
ad
v
an
ce
m
e
n
ts
was
co
n
d
u
cted
th
r
o
u
g
h
c
o
m
p
r
eh
en
s
iv
e
s
im
u
latio
n
s
u
tili
zin
g
MA
T
L
AB
/
Simu
lin
k
.
T
h
e
o
u
t
co
m
es
s
u
b
s
tan
tiate
th
e
s
u
p
er
io
r
ity
o
f
th
e
p
r
o
p
o
s
ed
DT
C
s
ch
em
e
co
m
p
a
r
ed
t
o
e
x
is
tin
g
co
u
n
ter
p
ar
ts
.
T
h
e
am
a
s
s
ed
ev
id
en
ce
p
o
in
ts
to
a
n
o
tab
le
en
h
an
ce
m
e
n
t
in
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
in
d
u
cti
o
n
m
o
to
r
(
I
M)
d
r
iv
e.
T
h
e
s
alien
t
im
p
r
o
v
em
en
ts
en
co
m
p
ass
n
o
t
o
n
ly
r
ef
in
e
d
t
o
r
q
u
e
co
n
tr
o
l
an
d
m
in
im
ized
f
lu
x
r
ip
p
le
b
u
t
also
th
e
o
v
e
r
all
r
o
b
u
s
tn
ess
an
d
o
p
er
atio
n
al
i
n
teg
r
ity
o
f
th
e
s
y
s
tem
.
I
n
s
u
m
m
atio
n
,
th
e
o
u
tc
o
m
es
af
f
ir
m
t
h
at
th
e
p
r
o
p
o
s
ed
DT
C
ap
p
r
o
ac
h
is
h
ig
h
ly
c
o
m
p
atib
le
with
I
M
d
r
i
v
e
o
p
e
r
atio
n
s
.
B
y
e
f
f
ec
tiv
ely
cir
cu
m
v
en
tin
g
h
is
to
r
ical
lim
it
atio
n
s
an
d
f
o
s
ter
in
g
en
h
an
ce
d
p
e
r
f
o
r
m
an
ce
attr
ib
u
tes,
th
e
SVM
-
DT
C
m
eth
o
d
em
er
g
es
as
a
n
o
tewo
r
th
y
co
n
tr
ib
u
tio
n
to
th
e
r
ea
lm
o
f
m
o
to
r
d
r
i
v
e
s
y
s
tem
s
.
T
h
e
r
esu
lts
o
b
tain
ed
th
r
o
u
g
h
s
im
u
l
atio
n
s
an
d
s
u
b
s
eq
u
en
t
an
aly
s
es
f
ir
m
ly
s
u
p
p
o
r
t
th
e
co
n
clu
s
io
n
t
h
at
th
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
s
tan
d
s
as
a
co
m
m
en
d
ab
le
s
o
lu
ti
o
n
f
o
r
th
e
ef
f
ic
ien
t
an
d
o
p
tim
ize
d
o
p
er
atio
n
o
f
I
M
d
r
iv
es.
ACK
NO
WL
E
DG
E
M
E
NT
T
h
is
m
an
u
s
cr
ip
t is su
p
p
o
r
ted
b
y
th
e
Vel
T
ec
h
R
esear
ch
Dev
elo
p
m
en
t Fu
n
d
.
RE
F
E
R
E
NC
E
S
[
1
]
K
.
V
.
P
r
a
v
e
e
n
k
u
mar a
n
d
T.
V
i
n
a
y
K
u
mar,
“
S
p
a
c
e
v
e
c
t
o
r
m
o
d
u
l
a
t
e
d
d
i
r
e
c
t
t
o
r
q
u
e
c
o
n
t
r
o
l
o
f
a
n
o
p
e
n
-
e
n
d
w
i
n
d
i
n
g
i
n
d
u
c
t
i
o
n
m
o
t
o
r
d
r
i
v
e
w
i
t
h
t
h
r
e
e
-
l
e
v
e
l
i
n
v
e
r
si
o
n
,
”
i
n
I
EC
O
N
2
0
2
1
–
4
7
t
h
A
n
n
u
a
l
C
o
n
f
e
r
e
n
c
e
o
f
t
h
e
I
EEE
I
n
d
u
st
ri
a
l
E
l
e
c
t
r
o
n
i
c
s
S
o
c
i
e
t
y
,
O
c
t
.
2
0
2
1
,
p
p
.
1
–
6
,
d
o
i
:
1
0
.
1
1
0
9
/
I
EC
O
N
4
8
1
1
5
.
2
0
2
1
.
9
5
8
9
4
9
3
.
[
2
]
N
.
I
.
N
a
h
i
n
,
M
d
.
K
.
H
o
sa
i
n
,
S
.
P
.
B
i
s
w
a
s,
M
.
B
i
sw
a
s
,
S
.
M
o
n
d
a
l
,
a
n
d
Z.
F
e
r
d
o
u
s
i
,
“
A
n
i
mp
r
o
v
e
d
d
i
r
e
c
t
t
o
r
q
u
e
c
o
n
t
r
o
l
s
c
h
e
me
f
o
r
P
W
M
i
n
v
e
r
t
e
r
b
a
se
d
s
o
l
a
r
P
V
a
r
r
a
y
f
e
d
i
n
d
u
c
t
i
o
n
m
o
t
o
r
d
r
i
v
e
s
,
”
i
n
2
0
2
2
1
2
t
h
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
El
e
c
t
r
i
c
a
l
a
n
d
C
o
m
p
u
t
e
r
E
n
g
i
n
e
e
r
i
n
g
(
I
C
EC
E)
,
D
e
c
.
2
0
2
2
,
p
p
.
3
0
4
–
307
,
d
o
i
:
1
0
.
1
1
0
9
/
I
C
EC
E
5
7
4
0
8
.
2
0
2
2
.
1
0
0
8
8
8
9
2
.
[
3
]
A
.
K
.
S
a
h
o
o
a
n
d
R
.
K
.
Je
n
a
,
“
A
c
o
m
p
r
e
h
e
n
si
v
e
a
n
a
l
y
s
i
s o
f
i
n
d
u
c
t
i
o
n
mo
t
o
r
d
i
r
e
c
t
t
o
r
q
u
e
c
o
n
t
r
o
l
f
o
r
e
l
e
c
t
r
i
c
v
e
h
i
c
l
e
a
p
p
l
i
c
a
t
i
o
n
s,”
i
n
2
0
2
2
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
I
n
t
e
l
l
i
g
e
n
t
C
o
n
t
ro
l
l
e
r
a
n
d
C
o
m
p
u
t
i
n
g
f
o
r
S
m
a
r
t
P
o
w
e
r
(
I
C
I
C
C
S
P)
,
J
u
l
.
2
0
2
2
,
p
p
.
1
–
5
,
d
o
i
:
1
0
.
1
1
0
9
/
I
C
I
C
C
S
P
5
3
5
3
2
.
2
0
2
2
.
9
8
6
2
5
1
4
.
[
4
]
A
.
S
o
y
e
d
,
K
.
A
m
e
n
i
,
O
.
H
a
s
n
a
o
u
i
,
a
n
d
F
.
B
a
c
h
a
,
“
D
T
C
-
S
V
M
c
o
n
t
r
o
l
f
o
r
i
n
d
u
c
t
i
o
n
mo
t
o
r
d
r
i
v
e
s
f
e
d
b
y
sp
a
r
se
mat
r
i
x
c
o
n
v
e
r
t
e
r
,”
i
n
2
0
2
1
I
EEE
2
n
d
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
S
i
g
n
a
l
,
C
o
n
t
ro
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