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Driv
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icle
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nfo
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S
T
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T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
u
l 1
7
,
2
0
2
3
R
ev
is
ed
Ap
r
3
0
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2
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2
4
Acc
ep
ted
Ma
y
2
2
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2
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2
4
Th
is
p
a
p
e
r
p
ro
p
o
se
s
a
n
o
n
li
n
e
a
r
ro
b
u
st
c
o
n
tro
l
fo
r
th
e
s
ix
-
p
h
a
se
in
d
u
c
ti
o
n
m
a
c
h
in
e
(S
P
IM
)
.
It
is
b
a
se
d
o
n
t
h
e
su
p
e
r
twisti
n
g
sl
id
i
n
g
m
o
d
e
(
S
TS
M
)
to
e
n
su
re
g
o
o
d
d
e
c
o
u
p
li
n
g
a
n
d
r
o
b
u
st
p
e
rfo
rm
a
n
c
e
.
Th
is
p
a
p
e
r
p
r
o
p
o
se
s
a
lso
a
c
o
m
p
a
ra
ti
v
e
stu
d
y
b
e
twe
e
n
S
TS
M
a
n
d
a
c
ti
v
e
d
ist
u
rb
a
n
c
e
re
jec
ti
o
n
c
o
n
tr
o
l
(AD
RC).
We
a
p
p
ly
th
e
ro
t
o
r
fiel
d
-
o
rien
ted
c
o
n
tr
o
l
t
o
e
n
su
re
th
e
d
e
c
o
u
p
li
n
g
b
e
twe
e
n
th
e
m
a
g
n
it
u
d
e
s
o
f
th
e
S
P
IM
.
T
h
e
n
we
stu
d
y
th
e
S
TS
M
c
o
n
tro
l
t
o
re
g
u
late
th
e
ro
t
o
r
sp
e
e
d
,
th
e
sta
to
r
c
u
rre
n
ts,
a
n
d
t
h
e
ro
to
r
fl
u
x
o
f
th
e
m
a
c
h
in
e
.
Th
e
S
TS
M
e
n
su
re
s
t
h
e
sa
m
e
p
e
rfo
rm
a
n
c
e
a
s
th
e
c
las
sic
a
l
slid
in
g
m
o
d
e
c
o
n
tr
o
l
with
t
h
e
a
d
v
a
n
tag
e
o
f
re
d
u
c
in
g
t
h
e
p
h
e
n
o
m
e
n
o
n
o
f
c
h
a
tt
e
rin
g
.
At
th
e
sa
m
e
ti
m
e
,
th
e
S
TS
M
c
o
m
m
a
n
d
is
c
o
m
p
a
re
d
to
t
h
e
AD
RC
c
o
m
m
a
n
d
.
T
h
e
AD
RC
is
o
n
e
o
f
t
h
e
ro
b
u
st
c
o
m
m
a
n
d
s
th
a
t
m
a
k
e
s
it
p
o
ss
ib
le
t
o
e
stim
a
te
a
n
d
e
li
m
in
a
te
in
tern
a
l
o
r
e
x
tern
a
l
d
ist
u
rb
a
n
c
e
s.
To
tes
t
th
e
ro
b
u
st
n
e
ss
o
f
t
h
e
S
T
S
M
a
n
d
t
h
e
AD
RC,
we
imp
lan
ted
t
h
e
m
in
S
i
m
u
li
n
k
/M
ATLAB
a
n
d
t
h
e
sim
u
la
ti
o
n
re
su
lt
s
sh
o
w t
h
e
e
ffe
c
ti
v
e
n
e
ss
o
f
t
h
e
S
TS
M
c
o
n
tr
o
l
c
o
m
p
a
re
d
t
o
th
e
AD
R
C
c
o
n
tr
o
l.
K
ey
w
o
r
d
s
:
ADR
C
Field
-
o
r
ien
ted
co
n
tr
o
l
No
n
lin
ea
r
r
o
b
u
s
t c
o
n
t
r
o
l
SP
I
M
STSM
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
:
Aich
eto
u
n
e
Ou
m
a
r
Dep
ar
tm
en
t o
f
Ph
y
s
ic,
Facu
lty
o
f
Scien
ce
s
an
d
T
ec
h
n
o
l
o
g
y
,
Un
iv
er
s
ity
o
f
No
u
ak
ch
o
tt
No
u
ak
ch
o
tt,
Ma
u
r
itan
ia
E
m
ail:
aich
eto
u
n
a.
m
a
h
m
o
u
d
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
I
n
th
e
f
ield
o
f
h
ig
h
p
o
wer
wh
ich
r
eq
u
ir
es
g
r
ea
t
r
eliab
ilit
y
,
t
h
e
s
ix
-
p
h
ase
in
d
u
ctio
n
m
ac
h
i
n
e
(
SP
I
M)
p
lay
s
a
v
er
y
im
p
o
r
tan
t
r
o
le.
T
h
e
SP
I
M
is
a
v
er
y
p
o
p
u
lar
m
u
lti
-
p
h
ase
m
ac
h
in
e.
I
t
h
as
m
u
ltip
le
ad
v
an
tag
es
co
m
p
ar
ed
with
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
ac
h
in
es,
s
u
ch
as
s
eg
m
en
tatio
n
,
r
eliab
ilit
y
,
an
d
m
in
im
izatio
n
o
f
r
o
to
r
lo
s
s
es
[
1
]
-
[
4
]
.
Ma
n
y
tech
n
i
q
u
e
s
o
f
co
n
tr
o
l a
r
e
ap
p
lied
to
th
e
SP
I
M
to
co
n
tr
o
l th
eir
m
ag
n
itu
d
es a
n
d
to
s
im
p
lify
its
co
m
p
lex
ity
,
s
u
ch
as
f
ield
-
o
r
ien
ted
co
n
tr
o
l.
h
o
we
v
er
,
th
e
u
s
e
o
f
lin
ea
r
r
eg
u
lat
o
r
s
m
ak
es
th
e
co
n
tr
o
l
s
en
s
itiv
e
to
th
e
v
ar
iatio
n
s
o
f
th
e
in
ter
n
a
l
an
d
e
x
ter
n
al
p
ar
am
eter
s
o
f
t
h
e
m
ac
h
in
e
wh
ich
is
wh
y
m
o
d
er
n
tec
h
n
iq
u
es
a
r
e
u
s
ed
to
in
cr
ea
s
e
th
e
r
o
b
u
s
tn
e
s
s
o
f
v
ec
to
r
co
n
tr
o
l
s
u
ch
as
s
lid
in
g
m
o
d
e,
ac
tiv
e
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
co
n
tr
o
l
(
ADRC
)
,
an
d
f
u
zz
y
lo
g
ic
[
5
]
.
T
h
e
s
lid
in
g
m
o
d
e
is
a
n
o
n
-
li
n
ea
r
c
o
n
tr
o
l,
r
o
b
u
s
t
a
g
ain
s
t
p
ar
am
etr
ic
v
a
r
iatio
n
s
o
f
th
e
m
ac
h
in
e
a
n
d
d
is
tu
r
b
an
ce
s
.
T
h
is
ap
p
r
o
ac
h
h
as
s
h
o
wn
its
p
e
r
f
o
r
m
an
ce
in
m
an
y
r
esear
c
h
wo
r
k
s
[
6
]
-
[
1
0
]
.
Desp
ite
its
ad
v
an
tag
es,
th
e
s
lid
in
g
m
o
d
e
s
till
h
as
d
is
ad
v
an
tag
es
r
elat
ed
to
th
e
p
h
en
o
m
e
n
o
n
o
f
ch
atter
in
g
an
d
o
th
er
m
ec
h
an
ical
p
r
o
b
lem
s
[
7
]
.
T
o
elim
in
ate
th
ese
in
co
n
v
en
ien
c
es,
a
m
eth
o
d
ca
lled
s
u
p
e
r
twis
tin
g
s
lid
in
g
m
o
d
e
(
STSM)
is
u
s
ed
wh
ich
is
an
alg
o
r
ith
m
o
f
th
e
s
ec
o
n
d
-
o
r
d
er
s
lid
in
g
m
o
d
e
[
1
1
]
.
T
h
e
STSM
r
ed
u
ce
s
th
e
p
h
en
o
m
en
o
n
o
f
ch
atter
in
g
[
1
2
]
-
[
1
4
]
.
T
h
e
m
eth
o
d
aim
s
to
ca
n
ce
l
th
e
s
lid
in
g
s
u
r
f
ac
e
an
d
its
d
r
if
t
in
a
f
in
ite
tim
e
[
1
5
]
.
An
o
th
er
n
o
n
lin
ea
r
co
n
tr
o
ller
i
s
b
ased
o
n
th
e
ap
p
r
o
ac
h
o
f
a
ctiv
e
d
is
tu
r
b
an
ce
r
ejec
tio
n
co
n
tr
o
l.
T
h
is
co
n
tr
o
l
is
in
h
er
ited
f
r
o
m
th
e
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
-
d
e
r
iv
ativ
e
(
PID
)
co
n
tr
o
ller
[
1
6
]
.
I
t
is
a
r
o
b
u
s
t
co
n
tr
o
l
th
at
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
15
,
No
.
4
,
Dec
em
b
er
20
24
:
2089
-
2
0
9
6
2090
esti
m
ates
an
d
co
m
p
e
n
s
ates
in
r
ea
l
tim
e
th
e
u
n
k
n
o
w
n
d
y
n
a
m
ics
an
d
d
is
tu
r
b
an
ce
s
.
T
h
e
ADR
C
ap
p
r
o
ac
h
is
estab
lis
h
ed
o
n
th
e
b
lo
ck
ca
lle
d
ex
ten
d
ed
s
tate
o
b
s
er
v
er
(
E
SO)
wh
ich
is
r
esp
o
n
s
ib
le
f
o
r
esti
m
atin
g
in
ter
n
al
an
d
ex
ter
n
al
d
is
tu
r
b
a
n
ce
[
1
7
]
-
[
2
0
]
.
Ou
r
aim
in
t
h
is
wo
r
k
is
to
c
o
m
p
ar
e
th
e
STSM
co
n
tr
o
l
a
n
d
th
e
ADRC
co
n
tr
o
l
b
y
a
p
p
ly
in
g
th
ese
two
ap
p
r
o
ac
h
es
to
co
n
tr
o
l
th
e
SP
I
M.
T
h
e
p
u
r
p
o
s
e
o
f
th
e
p
a
p
er
is
to
g
e
n
er
ate
a
r
o
b
u
s
t
co
n
tr
o
ller
b
ased
o
n
th
e
STSM
tech
n
iq
u
e
wh
ic
h
m
ak
es
it
p
o
s
s
ib
le
to
in
cr
ea
s
e
th
e
r
o
b
u
s
tn
ess
o
f
th
e
co
n
tr
o
l
ag
ain
s
t
v
a
r
iatio
n
s
in
m
ac
h
in
e
p
ar
am
eter
s
an
d
l
o
ad
v
ar
iatio
n
.
I
t
allo
ws
th
e
s
tab
ilit
y
o
f
th
e
m
ac
h
in
e
to
b
e
m
ain
tain
ed
with
g
r
ea
ter
s
p
ee
d
,
it
also
elim
in
ates
th
e
ch
atter
in
g
p
h
e
n
o
m
en
o
n
wh
ich
ca
u
s
es
lo
s
s
es
a
n
d
wea
r
to
th
e
m
ec
h
an
ical
s
y
s
tem
o
f
th
e
m
ac
h
in
e.
I
n
th
is
p
ap
er
,
th
e
SP
I
M
co
n
tr
o
l
ap
p
lied
is
th
e
r
o
to
r
f
ield
-
o
r
ien
ted
co
n
tr
o
l
to
en
s
u
r
e
th
e
d
ec
o
u
p
lin
g
b
etwe
en
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
th
e
r
o
to
r
f
lu
x
.
T
h
e
r
o
to
r
s
p
ee
d
,
s
tato
r
c
u
r
r
en
t,
an
d
r
o
to
r
f
lu
x
wer
e
r
e
g
u
lated
b
y
a
STSM
r
eg
u
lato
r
th
e
f
ir
s
t
tim
e
an
d
b
y
th
e
ADRC
r
eg
u
l
ato
r
th
e
s
ec
o
n
d
tim
e,
an
d
a
c
o
m
p
ar
is
o
n
b
etwe
en
th
ese
two
tech
n
iq
u
es.
T
h
e
p
ap
er
is
o
r
g
an
ized
as
i)
W
e
d
escr
i
b
e
SP
I
M
af
ter
we
p
r
esen
t
th
e
STSM
an
d
we
w
ill
ap
p
ly
it
to
th
e
co
n
t
r
o
l
o
f
SP
I
M
;
ii)
W
e
te
s
t
th
e
p
er
f
o
r
m
an
c
e
o
f
th
e
STSM
co
n
tr
o
l
u
n
d
er
l
o
ad
v
ar
iatio
n
a
n
d
we
m
ak
e
a
co
m
p
ar
is
o
n
b
etwe
en
t
h
is
co
n
tr
o
l a
n
d
th
e
ADRC
co
n
tr
o
l
,
an
d
iii)
W
e
f
in
is
h
with
a
co
n
clu
s
io
n
.
2.
P
RO
P
O
SE
D
M
E
T
H
O
D
2
.
1
.
Su
per
t
wis
t
i
ng
s
lid
i
ng
m
o
de
(
ST
S
M
)
T
h
e
class
ical
s
lid
in
g
m
o
d
e
p
r
o
d
u
ce
s
th
e
p
h
e
n
o
m
en
o
n
o
f
ch
atter
in
g
wh
ich
g
en
e
r
ates
a
d
an
g
er
o
u
s
v
ib
r
atio
n
o
f
th
e
s
y
s
tem
c
o
n
tr
o
l.
T
o
r
ed
u
ce
th
is
v
i
b
r
atio
n
m
an
y
s
o
lu
tio
n
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
,
o
n
e
o
f
th
o
s
e
s
o
lu
tio
n
s
is
th
e
s
ec
o
n
d
-
o
r
d
er
s
lid
in
g
m
o
d
e
b
y
ap
p
l
y
in
g
th
e
s
u
p
er
twis
tin
g
alg
o
r
ith
m
to
en
s
u
r
e
th
e
co
n
v
er
g
e
n
ce
o
f
th
e
s
lid
in
g
s
u
r
f
ac
e
an
d
its
d
er
iv
ativ
e
to
war
d
s
th
e
o
r
ig
in
i
n
a
f
in
ite
tim
e.
T
h
e
STSM
c
o
n
t
r
o
ller
is
d
ef
in
ed
as
th
e
f
ir
s
t
h
ig
h
er
-
o
r
d
er
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
.
T
h
is
alg
o
r
ith
m
twis
ts
ar
o
u
n
d
th
e
o
r
i
g
in
o
f
t
h
e
s
lid
in
g
p
lan
e
an
d
co
n
v
er
g
es to
war
d
s
th
e
o
r
ig
in
o
f
f
in
ite
tim
e
with
an
in
f
in
ite
n
u
m
b
er
o
f
r
o
tatio
n
s
[
2
1
]
-
[
2
3
]
.
C
o
n
s
id
er
an
in
p
u
t
s
y
s
tem
u
a
n
d
x
r
e
p
r
esen
t
th
e
s
tate
v
ar
ia
b
le
an
d
y
is
th
e
o
u
tp
u
t
d
ef
i
n
ed
b
y
(
1
)
an
d
(
2
)
.
T
h
e
s
lid
in
g
m
o
d
e
er
r
o
r
is
d
ef
in
ed
b
y
(
3
)
an
d
t
h
e
STSM
alg
o
r
ith
m
is
d
ef
in
e
d
b
y
(
4
)
an
d
(
5
)
.
=
(
,
)
+
(
,
)
(
1
)
=
(
,
)
(
2
)
=
∗
−
(
3
)
=
(
)
+
1
(
4
)
1
=
(
)
(
5
)
T
h
e
,
,
a
r
e
p
o
s
it
i
v
e
p
a
r
a
m
e
t
e
r
s
.
W
h
e
r
e
,
r
e
p
r
e
s
e
n
t
t
h
e
g
a
i
n
s
o
f
th
e
p
r
o
p
o
r
t
i
o
n
a
l
a
n
d
i
n
t
e
g
r
a
l
r
e
g
u
l
a
t
o
r
s
.
r
i
s
a
n
e
x
p
o
n
e
n
t
c
h
a
r
a
c
t
e
r
i
z
i
n
g
t
h
e
S
T
S
M
r
e
g
u
l
a
t
o
r
.
T
h
i
s
a
p
p
r
o
a
c
h
r
e
t
a
i
n
s
t
h
e
a
d
v
a
n
t
a
g
e
s
o
f
s
l
i
d
i
n
g
m
o
d
e
a
n
d
s
t
il
l
e
li
m
i
n
a
t
es
t
h
e
c
h
a
tt
e
r
i
n
g
p
h
e
n
o
m
e
n
o
n
.
F
i
g
u
r
e
1
i
l
l
u
s
t
r
at
es
t
h
e
g
r
a
p
h
i
c
a
l
r
e
p
r
es
e
n
t
a
ti
o
n
o
f
t
h
e
S
T
S
M
c
o
n
t
r
o
l
.
2
.
2
.
Descript
io
n o
f
SPIM
T
h
e
SP
I
M
h
as
two
m
ain
p
ar
ts
:
th
e
s
tato
r
an
d
th
e
r
o
to
r
.
th
e
s
tato
r
co
n
tain
s
two
t
h
r
ee
-
p
h
ase
win
d
in
g
s
,
co
u
p
led
in
a
s
tar
.
T
h
e
two
win
d
in
g
s
ar
e
s
h
if
ted
b
y
an
a
n
g
le
α
=
3
0
°
.
T
h
e
r
o
to
r
o
f
th
e
m
ac
h
in
e
is
a
s
q
u
ir
r
el
ca
g
e
[
2
4
]
,
[
2
5
]
.
T
h
e
v
o
ltag
e
e
q
u
atio
n
s
in
th
e
p
ar
k
r
ef
e
r
en
ce
ar
e
p
r
esen
ted
h
er
e
b
y
s
y
s
tem
1
,
as i
n
(
6
)
.
{
1
=
1
1
+
1
−
1
2
=
2
2
+
2
−
2
1
=
1
1
+
1
+
1
2
=
2
2
+
2
+
2
0
=
+
−
0
=
+
+
(
6
)
W
ith
=
−
.
T
h
e
f
lu
x
is
d
ef
i
n
ed
as (
7
).
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
N
o
n
lin
ea
r
r
o
b
u
s
t c
o
n
tr
o
l a
p
p
l
ied
to
th
e
s
ix
-
p
h
a
s
e
in
d
u
ctio
n
ma
ch
in
e
(
Ya
r
b
a
A
h
med
)
2091
{
1
=
1
1
+
(
1
+
2
+
)
2
=
2
2
+
(
1
+
2
+
)
1
=
1
1
+
(
1
+
2
+
)
2
=
1
2
+
(
1
+
2
+
)
=
+
(
1
+
2
+
)
=
+
(
1
+
2
+
)
(
7
)
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
th
e
m
ec
h
a
n
ical
eq
u
atio
n
ar
e
ex
p
r
ess
ed
b
y
(
8
)
a
n
d
(
9
)
r
esp
e
ctiv
ely
[
1
4
]
.
=
+
(
(
1
+
2
)
−
(
1
+
2
)
)
(
8
)
=
−
−
(
9
)
Fig
u
r
e
1
.
STSM
co
n
tr
o
l
2
.
3
.
ST
S
M
a
pp
lie
d t
o
SPIM
T
h
e
ap
p
licatio
n
o
f
th
e
STSM
co
m
m
an
d
is
r
ep
r
esen
ted
in
Fig
u
r
e
2
.
T
h
is
f
ig
u
r
e
s
h
o
ws
u
s
a
s
et
o
f
elem
en
ts
s
u
ch
th
at
o
n
e
elem
en
t
r
ep
r
esen
ts
th
e
m
ac
h
in
e,
a
n
o
th
er
r
ep
r
esen
ts
t
h
e
co
n
v
er
t
er
s
,
an
d
o
th
er
s
f
o
r
co
n
tr
o
llin
g
t
h
e
m
ac
h
in
e
in
ad
d
itio
n
to
an
esti
m
ato
r
o
f
th
e
an
g
u
lar
s
p
ee
d
an
d
th
e
r
o
to
r
f
l
u
x
.
All th
e
s
p
ee
d
,
f
lu
x
,
an
d
s
tato
r
cu
r
r
en
t r
e
g
u
latio
n
c
h
ain
s
ar
e
co
n
tr
o
lled
b
y
th
e
ST
SM
co
n
tr
o
ller
.
2
.
3
.
1
.
ST
SM
s
peed
co
ntr
o
lle
r
T
o
d
eter
m
in
e
th
e
STSM
s
p
ee
d
co
n
tr
o
l la
w,
we
d
ef
in
e
th
e
s
p
ee
d
s
lid
in
g
m
o
d
e
s
u
r
f
ac
e
g
iv
en
b
y
(
10
)
.
=
∗
−
(
1
0
)
W
h
er
e
∗
is
th
e
s
p
ee
d
r
ef
er
en
ce
an
d
th
e
m
ea
s
u
r
ed
s
p
ee
d
.
T
h
e
STSM
s
p
ee
d
co
n
tr
o
ller
is
u
s
ed
to
d
eter
m
in
e
th
e
r
ef
er
en
ce
cu
r
r
e
n
t
∗
(
s
u
m
o
f
d
ir
ec
t stato
r
cu
r
r
e
n
ts
1
∗
et
2
∗
)
,
g
i
v
en
b
y
(
1
1
)
.
∗
=
1
∗
+
2
∗
(
1
1
)
T
h
e
o
u
tp
u
t o
f
th
e
co
n
tr
o
ller
is
d
ef
in
ed
b
y
(
12
)
a
n
d
(
13
)
.
∗
=
(
)
+
0
∗
(
1
2
)
0
∗
=
(
)
(
1
3
)
2
.
3
.
2
.
ST
SM
ro
t
o
r
f
lux
co
ntr
o
ller
T
o
d
e
f
i
n
e
t
h
e
S
T
S
M
c
o
n
t
r
o
l
l
a
w
o
f
t
h
e
r
o
t
o
r
f
l
u
x
,
w
e
d
e
f
i
n
e
t
h
e
r
o
t
o
r
f
l
u
x
s
l
i
d
i
n
g
m
o
d
e
s
u
r
f
a
c
e
a
s
(
1
4
)
.
W
h
e
r
e
∗
r
e
p
r
e
s
e
n
t
s
t
h
e
r
e
f
e
r
e
n
c
e
v
a
l
u
e
o
f
t
h
e
r
o
t
o
r
f
l
u
x
a
n
d
i
s
t
h
e
e
s
t
i
m
a
t
e
d
f
l
u
x
.
T
h
e
f
l
u
x
c
o
n
t
r
o
l
l
e
r
a
l
l
o
w
s
d
e
t
e
r
m
i
n
i
n
g
t
h
e
r
e
f
e
r
e
n
c
e
c
u
r
r
e
n
t
∗
(
s
u
m
o
f
d
i
r
e
c
t
s
t
a
t
o
r
c
u
r
r
e
n
t
s
1
∗
e
t
2
∗
)
,
d
e
f
i
n
e
d
b
y
(
1
5
)
.
=
∗
−
(
1
4
)
∗
=
1
∗
+
2
∗
(
1
5
)
T
h
e
co
n
tr
o
l la
w
o
f
th
e
STSM
co
n
tr
o
ller
o
f
r
o
to
r
f
l
u
x
is
d
ef
in
ed
b
y
(
16
)
an
d
(
17
)
.
∗
=
(
)
+
0
∗
(
1
6
)
0
∗
=
(
)
(
1
7
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
15
,
No
.
4
,
Dec
em
b
er
20
24
:
2089
-
2
0
9
6
2092
Fig
u
r
e
2
.
STSM
co
n
tr
o
l a
p
p
lie
d
to
th
e
SP
I
M
(
DSI
M)
2
.
3
.
3
.
ST
SM
s
t
a
t
o
r
curr
ent
c
o
ntr
o
llers
I
n
th
is
p
ar
t,
we
d
eter
m
in
e
th
e
STSM
co
n
tr
o
ller
o
f
th
e
cu
r
r
en
t
co
m
p
o
n
en
t
1
,
th
e
o
th
er
cu
r
r
en
t
co
n
tr
o
ller
s
(
2
,
1
,
2
)
a
r
e
d
ete
r
m
in
ed
in
th
e
s
am
e
way
as
1
.
T
h
e
s
l
id
in
g
s
u
r
f
ac
e
o
f
1
is
d
e
f
in
ed
b
y
(1
8
)
.
1
∗
r
ep
r
esen
ts
th
e
cu
r
r
en
t
r
ef
er
en
ce
o
f
1
.
T
h
e
STSM
cu
r
r
en
t
c
o
n
tr
o
ller
is
u
s
ed
to
ca
lcu
late
th
e
r
ef
er
en
ce
v
o
ltag
e
1
d
ef
in
ed
b
y
(
1
9
)
an
d
(
2
0
)
.
1
=
1
∗
−
1
(
1
8
)
1
=
1
1
(
1
)
+
10
∗
(
1
9
)
10
∗
=
1
(
1
)
(
2
0
)
3.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
T
o
v
er
if
y
th
e
r
o
b
u
s
tn
ess
an
d
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
p
o
s
e
d
co
n
tr
o
l
b
ased
o
n
th
e
STSM
co
n
tr
o
l,
we
im
p
lem
en
t
th
e
co
n
f
ig
u
r
atio
n
o
f
Fig
u
r
e
2
in
MA
T
L
AB
/Si
m
u
lin
k
as
s
h
o
w
n
in
F
ig
u
r
e
3
.
I
n
th
is
s
ec
tio
n
,
we
s
tu
d
ied
two
test
s
:
i
n
th
e
f
ir
s
t
test
,
we
s
im
u
late
d
th
e
STSM
c
o
n
tr
o
l
a
p
p
lied
t
o
th
e
DSI
M
u
n
d
er
lo
ad
v
ar
iatio
n
wh
ile
i
n
th
e
s
ec
o
n
d
test
,
we
m
a
d
e
a
co
m
p
ar
is
o
n
b
etwe
en
th
e
STSM
co
n
tr
o
l
with
th
e
ADR
C
co
n
tr
o
l
(
th
e
co
n
f
ig
u
r
atio
n
p
r
esen
ted
in
th
e
r
ef
er
en
ce
[
2
6
]
,
[
2
7
]
)
.
T
h
e
co
e
f
f
icien
ts
f
o
r
t
h
e
STSM
co
n
tr
o
ller
s
ar
e
d
eter
m
in
ed
b
y
th
e
s
am
e
m
eth
o
d
p
r
esen
ted
in
th
e
r
ef
e
r
en
ce
[
2
2
]
.
Fig
u
r
e
3
.
STSM
co
n
tr
o
l
ap
p
lie
s
to
th
e
SP
I
M,
Simu
lin
k
b
lo
c
k
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
N
o
n
lin
ea
r
r
o
b
u
s
t c
o
n
tr
o
l a
p
p
l
ied
to
th
e
s
ix
-
p
h
a
s
e
in
d
u
ctio
n
ma
ch
in
e
(
Ya
r
b
a
A
h
med
)
2093
3
.
1
.
Sim
ula
t
io
n o
f
t
he
ST
SM
u
nd
er
lo
a
d v
a
ria
t
io
n
T
h
e
p
u
r
p
o
s
e
o
f
th
is
test
i
s
t
o
s
im
u
late
th
e
STSM
co
n
tr
o
l
u
n
d
er
lo
ad
v
a
r
iatio
n
.
T
h
e
s
im
u
latio
n
co
n
d
itio
n
s
ar
e
as
f
o
llo
ws:
i)
T
h
e
m
ac
h
in
e
r
u
n
s
em
p
ty
.
I
n
2
s
we
ch
an
g
e
th
e
lo
a
d
to
r
q
u
e
f
r
o
m
0
t
o
1
0
N.
m
;
ii)
T
h
e
r
ef
er
en
ce
s
p
ee
d
is
f
ix
ed
at
1
0
0
r
ad
/s
;
an
d
iii)
T
h
e
r
o
to
r
f
lu
x
is
m
ain
tain
ed
co
n
s
tan
t
at
0
.
7
W
b
.
T
h
e
r
esu
lts
o
f
th
e
s
im
u
latio
n
o
f
th
e
lo
a
d
test
ar
e
s
h
o
wn
in
Fig
u
r
es
4
-
7
.
Fig
u
r
es
4
-
7
p
r
esen
t
th
e
v
ar
iatio
n
o
f
th
e
r
o
to
r
s
p
ee
d
,
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
th
e
r
o
to
r
f
lu
x
,
an
d
th
e
s
tato
r
cu
r
r
en
t
r
esp
ec
t
iv
ely
.
Fr
o
m
Fig
u
r
e
4
,
we
ca
n
s
ee
th
at
th
e
s
p
ee
d
tr
ac
k
s
its
r
ef
er
en
ce
v
alu
e
with
a
n
eg
lecte
d
s
u
r
p
ass
.
T
h
e
to
r
q
u
e
in
tu
r
n
p
r
esen
ted
in
Fig
u
r
e
5
f
o
llo
ws
its
s
etp
o
in
t
with
a
s
tar
tin
g
to
r
q
u
e
o
f
1
8
N.
m
.
T
h
e
r
o
to
r
f
lu
x
il
lu
s
tr
ated
b
y
Fig
u
r
e
6
is
m
ain
tain
ed
at
0
.
7
W
b
an
d
in
d
ep
en
d
en
t
o
f
th
e
v
ar
iatio
n
o
f
th
e
to
r
q
u
e.
At
th
e
lev
el
o
f
th
e
s
tato
r
c
u
r
r
e
n
t
is
a1
,
as
s
h
o
w
n
in
Fig
u
r
e
7
,
it
is
clea
r
th
at
th
e
cu
r
v
e
is
p
e
r
f
ec
tl
y
s
in
u
s
o
id
al.
W
e
c
o
n
clu
d
e
f
r
o
m
th
is
test
th
at
th
e
STSM
p
r
o
v
es
its
ef
f
ec
tiv
en
ess
in
th
e
lo
ad
v
ar
iatio
n
a
n
d
m
ai
n
tain
s
th
e
r
o
to
r
f
lu
x
i
n
d
ep
e
n
d
en
t
t
o
th
e
elec
tr
o
m
a
g
n
etic
to
r
q
u
e.
3
.
2
.
Co
m
pa
riso
n bet
wee
n ST
S
M
a
nd
ADRC
co
ntr
o
ls
T
h
is
s
ec
tio
n
aim
s
to
v
er
if
y
th
e
r
o
b
u
s
tn
ess
an
d
th
e
p
er
f
o
r
m
an
ce
o
f
STSM
b
y
co
m
p
ar
in
g
it
with
th
e
ADR
C
co
n
tr
o
l
cited
in
th
e
r
ef
er
en
ce
[
2
6
]
,
[
2
7
]
.
B
o
th
co
n
f
ig
u
r
atio
n
s
ar
e
s
im
u
lated
u
n
d
er
t
h
e
s
am
e
s
im
u
latio
n
co
n
d
itio
n
s
in
s
ec
tio
n
3
.
1
.
T
w
o
test
s
ar
e
p
r
esen
ted
in
t
h
is
p
ar
t.
T
h
e
f
ir
s
t
r
e
p
r
esen
ts
th
e
lo
a
d
v
ar
iatio
n
test
an
d
th
e
s
ec
o
n
d
is
th
e
r
o
b
u
s
tn
ess
test
.
3
.
2
.
1
.
L
o
a
d v
a
ria
t
io
n
T
h
e
co
m
p
ar
is
o
n
is
m
ad
e
b
etw
ee
n
th
e
STSM
co
n
tr
o
l
an
d
th
e
ADR
C
co
n
tr
o
l
u
n
d
er
th
e
lo
a
d
v
ar
iatio
n
.
Fig
u
r
es
8
-
1
0
r
e
p
r
esen
t
th
e
s
im
u
latio
n
r
esu
lts
o
f
two
co
n
f
i
g
u
r
atio
n
s
cited
(
ADRC
-
ST
SM)
.
Fig
u
r
e
8
s
h
o
ws
th
e
r
o
to
r
s
p
ee
d
v
a
r
iatio
n
o
f
t
h
e
STSM
an
d
th
e
ADRC
.
W
e
ca
n
n
o
te
th
at
th
e
STSM
h
as
a
f
ast
er
r
esp
o
n
s
e
th
an
th
e
ADR
C
.
T
h
e
STSM
s
p
ee
d
h
as a
n
eg
lectin
g
o
v
er
tak
i
n
g
at
th
e
b
eg
in
n
in
g
b
u
t th
e
ADRC
d
o
esn
'
t
'
h
av
e
it.
Fro
m
Fig
u
r
e
9
,
we
ca
n
s
ee
th
at
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
o
f
th
e
two
co
n
f
ig
u
r
atio
n
s
tr
ac
k
s
its
r
ef
er
en
ce
.
W
e
r
em
ar
k
th
at
t
h
e
s
tar
tin
g
to
r
q
u
e
o
f
th
e
ADRC
is
1
8
.
5
N.
m
an
d
1
7
N.
m
f
o
r
th
e
STSM.
T
h
e
r
esp
o
n
s
e
f
r
o
m
th
e
STSM
is
f
aster
th
an
t
h
e
ADRC
.
Ab
o
u
t
th
e
cu
r
r
en
t
i
s
a1
,
we
n
o
te
th
at
th
e
two
cu
r
v
es
o
f
th
e
STSM
an
d
th
e
ADR
C
ar
e
s
in
u
s
o
id
al.
W
e
co
n
clu
d
e
f
r
o
m
th
is
test
th
at
th
e
STSM
h
as
a
f
aster
d
y
n
am
ics
r
esp
o
n
s
e
th
an
th
e
ADR
C
an
d
r
ed
u
ce
s
th
e
s
tar
tin
g
to
r
q
u
e.
Fig
u
r
e
4
.
Sp
ee
d
o
f
STSM
co
n
tr
o
l u
n
d
er
lo
a
d
v
ar
iatio
n
F
i
g
u
r
e
5
.
T
o
r
q
u
e
o
f
S
T
S
M
c
o
n
t
r
o
l
u
n
d
e
r
l
o
a
d
v
a
r
i
a
t
i
o
n
Fig
u
r
e
6
.
R
o
to
r
f
lu
x
o
f
STSM
co
n
tr
o
l u
n
d
er
lo
ad
v
ar
iatio
n
Fig
u
r
e
7
.
Stato
r
c
u
r
r
e
n
t (
is
a1
)
o
f
STSM
co
n
tr
o
l
u
n
d
er
l
o
ad
v
a
r
iatio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
15
,
No
.
4
,
Dec
em
b
er
20
24
:
2089
-
2
0
9
6
2094
Fig
u
r
e
8
.
Sp
ee
d
o
f
ADRC
STSM
u
n
d
er
lo
a
d
v
ar
iatio
n
Fig
u
r
e
9
.
ADRC
&
STSM
to
r
q
u
e
u
n
d
er
lo
a
d
v
a
r
iatio
n
Fig
u
r
e
1
0
.
C
u
r
r
en
t isa1
o
f
ST
SM
&
ADR
C
u
n
d
er
lo
ad
v
ar
iatio
n
Fig
u
r
e
1
1
.
Sp
ee
d
o
f
STSM
&
ADR
C
u
n
d
er
a
v
ar
iatio
n
o
f
5
0
% R
r
&
3
0
% j
3
.
2
.
2
.
Ro
bu
s
t
nes
s
t
est
T
h
e
r
o
b
u
s
tn
ess
test
co
n
s
i
s
ts
o
f
v
ar
y
in
g
th
e
r
o
to
r
r
esis
tan
ce
an
d
th
e
m
o
m
e
n
t
o
f
in
er
tia
o
f
th
e
m
ac
h
in
e
at
th
e
s
am
e
tim
e.
Fig
u
r
es
1
1
-
1
3
illu
s
tr
ate
th
e
ev
o
lu
tio
n
o
f
t
h
e
r
o
to
r
s
p
ee
d
,
elec
tr
o
m
ag
n
etic
t
o
r
q
u
e,
a
n
d
th
e
s
tato
r
cu
r
r
en
t
d
u
r
in
g
th
e
v
a
r
iatio
n
o
f
th
e
r
o
to
r
r
esis
tan
ce
to
5
0
%
o
f
its
n
o
m
in
al
v
alu
e
a
n
d
at
th
e
s
am
e
tim
e
v
ar
y
in
g
th
e
m
o
m
e
n
t
o
f
in
er
tia
b
y
3
0
%
o
f
its
n
o
m
i
n
al
v
alu
e.
Fro
m
Fig
u
r
es
1
1
an
d
1
2
we
ca
n
s
ee
t
h
at
th
e
r
o
to
r
s
p
ee
d
a
n
d
to
r
q
u
e
o
f
STSM
f
o
llo
w
th
eir
r
ef
er
en
ce
v
alu
es,
u
n
lik
e
th
e
ADR
C
s
p
ee
d
an
d
to
r
q
u
e
wh
e
r
e
is
clea
r
th
at
th
ese
cu
r
v
es
h
av
e
s
tr
o
n
g
r
ip
p
les
a
n
d
o
s
cillatio
n
s
.
T
h
e
s
tato
r
cu
r
r
en
t
in
tu
r
n
as
s
h
o
wn
in
F
ig
u
r
e
1
3
is
alwa
y
s
s
in
u
s
o
id
al.
T
h
e
ADRC
cu
r
r
en
t
is
n
’
t
s
in
u
s
o
id
al
an
d
h
as
a
s
tr
o
n
g
o
s
cillatio
n
.
I
n
co
n
clu
s
io
n
,
t
h
ese
r
esu
lts
s
h
o
w
th
e
f
r
ag
ilit
y
o
f
th
e
ADRC
co
n
tr
o
l
ag
ain
s
t
v
ar
iatio
n
s
in
r
o
to
r
r
esis
tan
ce
an
d
in
er
tia
at
th
e
s
am
e
tim
e.
I
t
also
s
h
o
ws
u
s
th
e
r
o
b
u
s
tn
ess
o
f
th
e
STSM.
Fig
u
r
e
1
2
.
T
o
r
q
u
e
o
f
STSM
&
ADR
C
u
n
d
er
a
v
ar
iatio
n
o
f
5
0
% o
f
R
r
&
3
0
% o
f
j
Fig
u
r
e
1
3
.
C
u
r
r
en
t isa1
o
f
th
e
STSM
&
ADR
C
u
n
d
er
a
v
ar
iatio
n
o
f
5
0
% o
f
R
r
&
3
0
% o
f
j
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
N
o
n
lin
ea
r
r
o
b
u
s
t c
o
n
tr
o
l a
p
p
l
ied
to
th
e
s
ix
-
p
h
a
s
e
in
d
u
ctio
n
ma
ch
in
e
(
Ya
r
b
a
A
h
med
)
2095
4.
CO
NCLU
SI
O
N
T
h
e
p
ap
er
ab
o
v
e
p
r
esen
ts
a
co
m
p
ar
is
o
n
s
tu
d
y
b
etwe
en
two
m
ajo
r
co
n
t
r
o
ls
wh
ich
ar
e
th
e
STSM
an
d
th
e
ADRC
.
E
ac
h
co
m
m
an
d
is
im
p
lem
en
ted
an
d
s
im
u
lated
i
n
Simu
lin
k
/MAT
L
AB
.
T
h
e
e
f
f
ec
tiv
en
ess
o
f
th
e
STSM
h
as
b
ee
n
test
ed
a
n
d
h
a
s
b
ee
n
co
m
p
ar
e
d
with
ADRC
co
n
tr
o
l
u
n
d
e
r
d
if
f
er
en
t
o
p
e
r
atin
g
co
n
d
itio
n
s
(
lo
ad
v
ar
iatio
n
,
v
ar
iatio
n
s
o
f
th
e
r
o
to
r
r
esis
tan
ce
,
an
d
th
e
m
o
m
e
n
t
o
f
in
er
tia)
.
T
h
e
two
co
n
tr
o
ls
h
av
e
s
h
o
wn
th
ei
r
r
o
b
u
s
tn
ess
an
d
p
e
r
f
o
r
m
an
ce
ag
ain
s
t
lo
ad
v
ar
iatio
n
s
an
d
h
av
e
also
en
s
u
r
e
d
th
e
d
ec
o
u
p
lin
g
b
etwe
en
th
e
m
ag
n
itu
d
es
o
f
t
h
e
SP
I
M.
T
h
e
STSM
co
n
tr
o
l
h
as
s
h
o
wn
th
at
is
f
ast
with
m
o
r
e
p
r
ec
is
io
n
co
m
p
ar
ed
to
th
e
ADRC
,
it
also
p
r
o
v
es
r
o
b
u
s
tn
ess
ag
ai
n
s
t
th
e
v
ar
iatio
n
s
o
f
th
e
r
o
to
r
r
esis
tan
ce
an
d
th
e
m
o
m
en
t
o
f
in
er
tia.
T
h
e
ADRC
co
n
tr
o
l
i
n
tu
r
n
h
as
s
h
o
wn
th
at
is
v
er
y
s
en
s
itiv
e
to
th
e
v
ar
iatio
n
o
f
m
ac
h
in
e
p
ar
am
eter
s
a
n
d
h
a
s
a
s
lo
wer
r
esp
o
n
s
e
tim
e
th
an
th
e
STSM.
T
h
e
m
ai
n
co
n
tr
ib
u
tio
n
s
o
f
th
is
wo
r
k
ar
e
i)
T
h
e
ap
p
licatio
n
o
f
STSM
to
co
n
tr
o
l th
e
SP
I
M
allo
ws
to
tak
e
in
to
ac
co
u
n
t
th
e
v
ar
iatio
n
o
f
two
p
a
r
am
eter
s
o
f
th
e
m
ac
h
i
n
e
at
th
e
s
a
m
e
tim
e
;
ii)
T
h
e
r
ip
p
les
o
f
th
e
to
r
q
u
e
an
d
th
e
r
o
to
r
f
lu
x
a
r
e
r
ed
u
ce
d
; a
n
d
iii)
A
co
m
p
ar
i
s
o
n
b
etwe
en
STSM
an
d
ADR
C
is
m
ad
e.
I
n
f
u
tu
r
e
s
tu
d
ies,
we
wan
t to
test
th
e
r
o
b
u
s
tn
ess
o
f
STSM
co
n
tr
o
l in
c
ase
o
f
f
ailu
r
e
o
f
SP
I
M
s
en
s
o
r
s
.
RE
F
E
R
E
NC
E
S
[
1
]
P
.
S
.
D
a
i
n
e
z
,
E
.
B
i
m,
D
.
G
l
o
s
e
,
a
n
d
R
.
M
.
K
e
n
n
e
l
,
“
M
o
d
e
l
i
n
g
a
n
d
p
a
r
a
me
t
e
r
i
d
e
n
t
i
f
i
c
a
t
i
o
n
o
f
a
d
o
u
b
l
e
-
st
a
r
i
n
d
u
c
t
i
o
n
m
a
c
h
i
n
e
s,”
i
n
2
0
1
5
I
EEE
I
n
t
e
r
n
a
t
i
o
n
a
l
El
e
c
t
r
i
c
Ma
c
h
i
n
e
s
&
D
r
i
v
e
s
C
o
n
f
e
re
n
c
e
(
I
EM
D
C
)
,
I
EEE,
M
a
y
2
0
1
5
,
p
p
.
7
4
9
–
7
5
5
.
d
o
i
:
1
0
.
1
1
0
9
/
I
EM
D
C
.
2
0
1
5
.
7
4
0
9
1
4
3
.
[
2
]
R
.
S
a
d
o
u
n
i
a
n
d
A
.
M
e
r
o
u
f
e
l
,
“
I
n
d
i
r
e
c
t
r
o
t
o
r
f
i
e
l
d
-
o
r
i
e
n
t
e
d
c
o
n
t
r
o
l
(
I
R
F
O
C
)
o
f
a
d
u
a
l
st
a
r
i
n
d
u
c
t
i
o
n
ma
c
h
i
n
e
(
D
S
I
M
)
u
si
n
g
a
f
u
z
z
y
c
o
n
t
r
o
l
l
e
r
,
”
A
c
t
a
P
o
l
y
t
e
c
h
n
i
c
a
H
u
n
g
a
ri
c
a
,
v
o
l
.
9
,
n
o
.
4
,
p
p
.
1
7
7
–
1
9
2
,
2
0
1
2
.
[
3
]
F
.
N
a
c
e
r
i
,
T.
L
a
a
m
a
y
a
d
,
S
.
B
e
l
k
a
c
e
m
,
a
n
d
M
.
B
e
n
b
r
a
h
i
m,
“
F
u
z
z
y
sl
i
d
i
n
g
m
o
d
e
s
p
e
e
d
c
o
n
t
r
o
l
l
e
r
d
e
s
i
g
n
o
f
i
n
d
u
c
t
i
o
n
m
o
t
o
r
d
r
i
v
e
s,
”
i
n
Pr
o
c
e
e
d
i
n
g
s
o
f
t
h
e
2
0
1
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
d
u
s
t
ri
a
l
E
n
g
i
n
e
e
ri
n
g
a
n
d
O
p
e
ra
t
i
o
n
s
Ma
n
a
g
e
m
e
n
t
I
st
a
n
b
u
l
,
T
u
rk
e
y
,
J
u
l
y
3
–
6
,
2
0
1
2
,
2
0
1
2
,
p
p
.
1
3
3
0
–
1
3
3
9
.
[
4
]
E.
J
.
A
k
p
a
m
a
a
n
d
L
.
U
.
A
n
i
h
,
“
M
o
d
e
l
l
i
n
g
a
n
d
si
m
u
l
a
t
i
o
n
o
f
m
u
l
t
i
p
h
a
s
e
i
n
d
u
c
t
i
o
n
m
a
c
h
i
n
e
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
ri
n
g
I
n
n
o
v
a
t
i
o
n
&
Re
s
e
a
rc
h
,
v
o
l
.
4
,
n
o
.
5
,
p
p
.
7
3
2
–
7
3
6
,
2
0
1
5
,
[
O
n
l
i
n
e
]
.
A
v
a
i
l
a
b
l
e
:
h
t
t
p
s:
/
/
w
w
w
.
i
j
e
i
r
.
o
r
g
/
a
d
m
i
n
i
st
r
a
t
o
r
/
c
o
mp
o
n
e
n
t
s
/
c
o
m
_
j
r
e
sea
r
c
h
/
f
i
l
e
s/
p
u
b
l
i
c
a
t
i
o
n
s/
I
JEI
R
_
1
7
0
4
_
F
i
n
a
l
.
p
d
f
[
5
]
M
.
B
e
n
S
l
i
me
n
e
a
n
d
M
.
A
.
K
h
l
i
f
i
,
“
M
o
d
e
l
i
n
g
a
n
d
d
i
g
i
t
a
l
f
i
e
l
d
-
o
r
i
e
n
t
e
d
c
o
n
t
r
o
l
f
o
r
d
o
u
b
l
e
s
t
a
r
i
n
d
u
c
t
i
o
n
m
o
t
o
r
d
r
i
v
e
,
”
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
Ap
p
l
i
e
d
El
e
c
t
r
o
m
a
g
n
e
t
i
c
s
a
n
d
Me
c
h
a
n
i
c
s
,
v
o
l
.
5
6
,
n
o
.
4
,
p
p
.
5
1
1
–
5
2
0
,
M
a
r
.
2
0
1
8
,
d
o
i
:
1
0
.
3
2
3
3
/
JA
E
-
1
6
0
1
3
6
.
[
6
]
B
.
B
.
S
e
r
e
i
r
,
A
.
Ta
h
o
u
r
,
a
n
d
A
.
A
i
ss
a
o
u
i
,
“
S
p
e
e
d
se
n
s
o
r
l
e
ss
c
o
n
t
r
o
l
o
f
a
n
a
s
y
n
c
h
r
o
n
o
u
s
a
sy
n
c
h
r
o
n
o
u
s
mac
h
i
n
e
(
La
c
o
mm
a
n
d
e
s
a
n
s
c
a
p
t
e
u
r
d
e
v
i
t
e
sse
d
’
u
n
e
ma
c
h
i
n
e
a
s
y
n
c
h
r
o
n
e
d
o
u
b
l
e
é
t
o
i
l
e
)
,
”
R
e
v
u
e
R
o
u
m
a
i
n
e
d
e
s
S
c
i
e
n
c
e
s
T
e
c
h
n
i
q
u
e
s
Él
e
c
t
r
o
t
e
c
h
n
i
q
u
e
e
t
Én
e
r
g
é
t
i
q
u
e
,
v
o
l
.
6
3
,
n
o
.
3
1
4
–
3
1
9
,
2
0
1
8
,
[
O
n
l
i
n
e
]
.
A
v
a
i
l
a
b
l
e
:
h
t
t
p
:
/
/
r
e
v
u
e
.
e
l
t
h
.
p
u
b
.
r
o
/
u
p
l
o
a
d
/
1
1
7
9
5
1
1
3
_
A
T
a
h
o
u
r
_
R
R
S
T
_
3
_
2
0
1
8
_
p
p
_
3
1
4
-
3
1
9
.
p
d
f
[
7
]
N
.
La
y
a
d
i
,
S
.
Ze
g
h
l
a
c
h
e
,
F
.
B
e
r
r
a
b
a
h
,
a
n
d
L
.
B
e
n
t
o
u
h
a
m
i
,
“
C
o
m
p
a
r
a
t
i
v
e
s
t
u
d
y
b
e
t
w
e
e
n
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
a
n
d
b
a
c
k
st
e
p
p
i
n
g
c
o
n
t
r
o
l
f
o
r
d
o
u
b
l
e
st
a
r
i
n
d
u
c
t
i
o
n
m
a
c
h
i
n
e
(
D
S
I
M
)
u
n
d
e
r
c
u
r
r
e
n
t
s
e
n
s
o
r
f
a
u
l
t
s,”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
I
n
f
o
rm
a
t
i
o
n
T
e
c
h
n
o
l
o
g
y
a
n
d
El
e
c
t
r
i
c
a
l
E
n
g
i
n
e
e
r
i
n
g
,
v
o
l
.
6
,
n
o
.
6
,
p
p
.
6
7
–
7
7
,
2
0
1
7
.
[
8
]
A
.
M
a
ss
o
u
m,
A
.
M
e
r
o
u
f
e
l
,
a
n
d
A
.
B
e
n
t
a
a
l
l
a
h
,
“
S
l
i
d
i
n
g
m
o
d
e
sp
e
e
d
c
o
n
t
r
o
l
l
e
r
f
o
r
a
v
e
c
t
o
r
c
o
n
t
r
o
l
l
e
d
d
o
u
b
l
e
st
a
r
i
n
d
u
c
t
i
o
n
mo
t
o
r
,
”
El
e
c
t
r
i
c
a
l
Re
v
i
e
w
Prze
g
l
ą
d
E
l
e
k
t
r
o
t
e
c
h
n
i
c
z
n
y
,
2
0
1
2
.
[
9
]
O
.
M
o
u
ss
a
,
R
.
A
b
d
e
ssem
e
d
,
S
.
B
e
n
a
g
g
o
u
n
e
,
a
n
d
e
t
H
.
B
e
n
g
u
e
sm
i
a
,
“
S
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
o
f
a
g
r
i
d
-
c
o
n
n
e
c
t
e
d
b
r
u
s
h
l
e
ss
d
o
u
b
l
y
f
e
d
i
n
d
u
c
t
i
o
n
g
e
n
e
r
a
t
o
r
,
”
E
u
r
o
p
e
a
n
J
o
u
r
n
a
l
o
f
E
l
e
c
t
r
i
c
a
l
En
g
i
n
e
e
r
i
n
g
,
v
o
l
.
2
1
,
n
o
.
5
,
p
p
.
4
2
1
–
4
3
0
,
2
0
1
9
.
[
1
0
]
H
.
A
mi
m
e
u
r
,
D
.
A
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I
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15
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4
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Dec
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