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k
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g
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m
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C
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A
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Un
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d
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UI
Dep
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C
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p
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s
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J
ak
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1
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4
2
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I
n
d
o
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m
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y
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s
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@
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u
i.a
c.
id
1.
I
NT
RO
D
UCT
I
O
N
I
n
d
u
s
tr
y
u
s
es in
d
u
ctio
n
m
o
to
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s
with
ca
g
e
r
o
to
r
s
ex
ten
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iv
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e
to
th
eir
r
o
b
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s
t d
esig
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af
f
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in
co
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ar
is
o
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to
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th
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s
o
f
th
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s
am
e
class
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I
n
u
s
e
,
a
s
p
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ad
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s
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t
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eq
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ir
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n
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o
l
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p
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th
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p
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a
n
d
th
en
a
f
ee
d
b
ac
k
s
y
s
tem
is
r
eq
u
ir
ed
,
wh
ich
is
r
o
to
r
s
p
ee
d
in
f
o
r
m
atio
n
.
T
wo
m
eth
o
d
s
wer
e
u
s
ed
to
co
llect
t
h
e
r
o
to
r
s
p
ee
d
i
n
f
o
r
m
atio
n
:
s
e
n
s
o
r
-
b
ased
an
d
s
p
ee
d
-
s
en
s
o
r
le
s
s
.
I
n
s
y
s
tem
s
with
s
en
s
o
r
s
,
th
e
u
s
e
o
f
en
co
d
er
s
o
f
ten
ca
n
n
o
t
d
etec
t
v
er
y
lo
w
an
d
v
er
y
h
i
g
h
s
p
ee
d
s
.
T
o
o
v
er
co
m
e
th
is
p
r
o
b
lem
,
a
s
en
s
o
r
less
s
p
ee
d
co
n
tr
o
l
s
y
s
tem
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d
esig
n
ed
b
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ap
p
l
y
in
g
cu
r
r
en
t
v
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to
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n
tr
o
l
to
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n
tr
o
l
a
n
d
esti
m
ate
th
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s
p
ee
d
,
wh
ich
is
f
ed
b
ac
k
t
o
th
e
s
y
s
tem
[
1
]
-
[
8
]
.
I
n
d
u
ctio
n
m
o
to
r
s
ca
n
b
e
p
r
ec
is
ely
d
r
iv
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b
y
a
s
in
g
le
in
v
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ter
r
u
n
n
in
g
a
s
in
g
le
in
d
u
ctio
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m
o
t
o
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b
y
th
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u
s
e
o
f
th
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f
ield
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ted
co
n
tr
o
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a
p
p
r
o
ac
h
o
f
s
en
s
o
r
less
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to
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co
n
tr
o
l.
On
th
e
o
th
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h
a
n
d
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a
s
in
g
le
in
v
er
ter
ca
n
p
o
wer
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ev
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al
in
d
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n
m
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t
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r
s
co
n
n
ec
t
ed
in
p
ar
allel
f
o
r
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d
u
s
tr
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s
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r
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p
u
ls
io
n
,
as in
r
ailr
o
ad
tr
ac
tio
n
s
y
s
tem
s
[
9
]
,
[
1
0
]
.
Du
e
to
h
ar
d
war
e
m
i
n
im
izatio
n
an
d
co
s
t
r
ed
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ctio
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,
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u
ltip
le
in
d
u
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n
m
o
to
r
s
,
co
n
s
id
er
e
d
o
n
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lar
g
e
m
o
to
r
,
ca
n
b
e
d
r
iv
e
n
b
y
a
s
in
g
le
in
v
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ter
u
n
d
er
th
e
s
am
e
s
p
ec
if
icatio
n
s
an
d
r
atin
g
.
Ho
wev
er
,
wh
e
n
an
u
n
ev
en
lo
ad
to
r
q
u
e
is
ap
p
lied
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th
e
p
e
r
f
o
r
m
a
n
ce
b
ec
o
m
e
s
u
n
s
tab
le
[
1
1
]
.
C
o
n
tr
o
l
with
f
ield
wea
k
en
in
g
is
o
n
e
m
eth
o
d
to
im
p
r
o
v
e
th
e
p
er
f
o
r
m
an
ce
o
f
i
n
d
u
ctio
n
m
o
t
o
r
s
.
W
ith
th
is
m
eth
o
d
,
s
p
ee
d
s
th
at
ca
n
ex
ce
ed
th
e
n
o
m
in
al
s
p
ee
d
ca
n
b
e
ac
h
ie
v
ed
.
S.H.
Kim
an
d
S.K.
Su
l
u
s
ed
f
ield
wea
k
en
in
g
in
m
ax
im
u
m
to
r
q
u
e
o
p
er
atio
n
s
[
1
2
]
,
B
r
iz
et
a
l.
[
1
3
]
u
s
ed
cu
r
r
en
t a
n
d
v
o
ltag
e
r
eg
u
latio
n
to
ac
h
iev
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r
ev
o
lu
tio
n
s
ab
o
v
e
n
o
m
i
n
al
r
ev
o
lu
tio
n
s
.
Ker
k
m
an
et
a
l
.
u
s
in
g
in
d
ir
ec
t
f
ield
-
o
r
ien
te
d
co
n
tr
o
l
in
th
e
ap
p
licatio
n
o
f
f
ield
wea
k
en
in
g
[
1
4
]
.
I
n
t
h
is
r
esear
ch
,
th
e
m
o
to
r
r
o
tati
o
n
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esti
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ated
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an
o
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s
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r
v
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ax
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ef
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ield
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lim
its
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o
to
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r
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tatio
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ca
n
b
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o
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d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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&
Dr
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s
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I
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N:
2088
-
8
6
9
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in
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2059
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in
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RE
S
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2
.
1
.
M
a
t
hem
a
t
ica
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delin
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2
.
1
.
1
.
I
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uct
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m
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l
T
h
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d
u
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m
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m
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m
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it c
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[
0
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1
2
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1
2
√
3
1
2
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3
1
2
1
2
1
2
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[
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(
1
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T
h
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Par
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[
]
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[
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[
]
(
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T
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e
m
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m
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d
el
is
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esig
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ed
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d
q
a
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d
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f
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d
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o
n
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is
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3
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(
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1
5
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3
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Vr
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10
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as
[
1
6
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[
1
7
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=
(
−
−
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+
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1
(
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T
h
e
s
tato
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o
ltag
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q
u
atio
n
o
n
th
e
d
q
a
x
is
is
as (
1
1
)
an
d
(
1
2
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
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
:
2058
-
2
0
6
7
2060
=
+
−
+
2
(
1
1
)
=
+
−
+
2
(
1
2
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T
h
e
f
l
u
x
m
o
d
e
l
g
i
v
e
s
t
h
e
m
a
g
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i
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u
d
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d
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d
i
n
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e
(
1
3
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-
(
1
6
)
.
=
(
−
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(
1
3
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=
+
∗
(
1
4
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=
(
1
5
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(
1
−
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(
1
6
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2
.
1
.
2
.
Desig
n o
f
co
ntr
o
llers
I
n
(
1
7
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,
th
e
s
p
ee
d
co
n
tr
o
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s
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ep
r
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r
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r
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Sin
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n
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o
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im
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as
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n
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o
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t
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er
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a
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at
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y
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with
it
[
1
8
]
.
T
h
e
s
p
ee
d
co
n
tr
o
ller
o
u
t
p
u
t is f
in
ite,
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wh
en
it r
ea
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es th
is
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th
e
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r
atio
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t v
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t
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eset to
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r
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tar
t v
alu
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in
t
h
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p
r
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v
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s
iter
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to
p
r
e
v
en
t th
e
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to
p
p
in
g
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h
en
o
m
en
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n
.
∗
=
∫
(
∗
−
^
)
−
^
(
1
7
)
Val
u
es
wit
h
a
"*
"
s
i
g
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i
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d
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ca
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ted
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f
iel
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wea
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ai
m
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g
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u
r
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t
an
d
v
o
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ag
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im
it
eq
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ati
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r
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x
p
r
ess
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d
i
n
(
1
8
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a
n
d
(
1
9
)
[
1
2
]
.
∗
2
+
∗
2
≤
2
(
1
8
)
∗
2
+
∗
2
≤
2
(
1
9
)
"Field
wea
k
en
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g
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d
o
n
e
b
y
co
n
tr
o
llin
g
th
e
d
-
a
x
is
s
tato
r
r
e
f
er
en
ce
cu
r
r
e
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an
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r
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a
m
ax
im
u
m
q
-
ax
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tato
r
r
ef
er
en
ce
cu
r
r
en
t
lim
it,
as
s
h
o
wn
in
Fig
u
r
e
1
.
T
h
e
f
iel
d
wea
k
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i
n
g
c
o
n
tr
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eq
u
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s
ca
n
b
e
ex
p
r
ess
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in
(
2
0
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an
d
(
2
1
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[
1
9
]
.
∗
=
∫
(
2
−
2
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+
(
2
−
2
)
(
2
0
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∗
=
√
2
−
2
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1
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T
h
e
cu
r
r
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n
t v
ec
to
r
c
o
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tr
o
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s
ed
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PI,
b
u
t th
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co
n
tr
o
ller
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n
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ly
c
o
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y
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1
1
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a
n
d
(
1
2
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m
u
s
t b
e
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ized
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s
in
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p
lin
g
as in
e
q
u
atio
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s
(
2
2
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t
o
(
2
5
)
[
1
6
]
,
[
1
7
]
,
[
2
0
]
.
=
+
=
+
(
2
2
)
=
+
=
+
(
2
3
)
=
−
+
(
1
−
)
(
2
4
)
=
+
(
1
−
)
(
2
5
)
W
ith
v
cd
an
d
v
cq
b
ein
g
th
e
co
u
p
lin
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v
o
ltag
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sd
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sq
ar
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v
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B
ased
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th
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o
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e
d
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u
p
lin
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eq
u
atio
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a
n
d
th
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g
en
er
al
f
o
r
m
u
la
o
f
th
e
PI
co
n
tr
o
ller
as (
2
6
)
a
n
d
(
2
7
)
.
(
+
)
=
(
+
)
∗
−
(
+
)
(
2
6
)
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
S
in
g
le
o
b
s
erver sp
ee
d
s
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)
Usi
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th
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o
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tan
t f
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T
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r
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2
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1
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3
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O
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in re
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O
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am
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M
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3
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[
2
1
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.
[
]
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[
−
−
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1
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0
0
0
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(
1
−
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0
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−
1
−
−
1
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[
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[
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[
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(
3
2
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[
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[
11
0
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22
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[
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[
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[
]
=
[
1
0
0
1
0
0
0
0
]
[
]
y
=Cx
(
3
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
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
:
2058
-
2
0
6
7
2062
wh
er
e
=
1
−
(
2
⁄
)
;
=
⁄
.
Use th
e
L
u
en
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er
g
er
o
b
s
er
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er
to
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m
ate
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e
in
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u
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o
n
m
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t
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r
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s
p
ar
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eter
s
.
T
h
e
f
o
llo
win
g
r
ep
r
esen
ts
th
e
(
3
4
)
a
n
d
(
3
5
)
:
̂
=
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+
+
(
)
(
3
4
)
̂
=
̂
(
3
5
)
T
h
e
o
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s
er
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er
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ee
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b
ac
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icate
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ated
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alu
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y
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e
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ig
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wh
er
e,
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[
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̂
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;
=
[
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;
=
[
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;
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[
̂
̂
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T
h
e
o
b
s
e
r
v
e
r
m
o
d
e
l
'
s
ei
g
e
n
v
a
l
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e
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s
de
t
(
−
(
−
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a
n
d
t
h
e
i
n
d
u
c
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n
m
o
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r
m
o
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e
l
'
s
e
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g
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l
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e
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t
(
−
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T
h
e
v
a
l
u
e
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f
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i
s
o
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ta
i
n
e
d
a
s
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h
e
o
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s
e
r
v
e
r
'
s
r
ei
n
f
o
r
c
e
m
e
n
t
f
ee
d
b
a
c
k
(
3
7
)
,
u
s
i
n
g
t
h
e
d
e
r
i
v
e
d
(
3
6
)
.
|
−
|
=
|
−
(
−
|
(
3
6
)
T
h
en
we
g
et
(
3
7
)
.
=
[
1
2
3
4
−
2
1
−
4
3
]
(
3
7
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W
h
er
e
1
=
(
−
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11
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22
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,
2
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22
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3
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11
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21
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11
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=
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0
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y
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m
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r
r
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n
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r
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r
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n
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r
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ay
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et
th
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ated
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ee
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̂
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n
(
3
8
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illu
s
tr
ates
h
o
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iv
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u
s
in
g
L
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n
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v
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r
y
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2
2
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(
̂
−
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(
̂
−
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(
3
8
)
W
h
er
e
=
̂
−
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d
=
̂
−
.
2
.
1
.
4
.
I
nd
uct
io
n
m
o
t
o
r
pa
ra
l
lel
v
ec
t
o
r
co
ntr
o
l
W
ith
th
e
s
am
e
m
o
to
r
s
p
ec
if
ic
atio
n
s
,
two
in
d
u
ctio
n
m
o
to
r
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ca
n
b
e
r
eg
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d
ed
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s
in
g
le,
h
u
g
e
m
o
to
r
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No
n
eth
eless
,
th
e
s
tato
r
cu
r
r
en
ts
will
v
ar
y
if
th
e
to
r
q
u
e
lo
ad
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o
n
th
e
m
o
to
r
s
ar
e
n
o
t
b
alan
ce
d
.
B
ec
au
s
e
it
is
u
s
ed
to
o
p
e
r
ate
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m
o
t
o
r
s
,
th
e
s
tato
r
c
u
r
r
en
t
th
at
is
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lo
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d
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r
o
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th
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e
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ter
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s
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e
s
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lit
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o
r
tio
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(
1
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d
2
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.
T
h
e
c
u
r
r
en
t
f
lo
w
o
f
two
in
d
u
ctio
n
m
o
to
r
s
o
p
er
atin
g
in
p
a
r
allel
is
d
is
p
lay
ed
in
Fig
u
r
e
2
.
T
h
e
(
3
9
)
an
d
(
4
0
)
s
h
o
w
th
e
av
er
ag
e
cir
c
u
latin
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c
u
r
r
e
n
t
b
etw
ee
n
th
e
two
m
o
to
r
s
as
well
as
th
e
av
er
ag
e
s
tato
r
cu
r
r
en
t c
alcu
lated
u
s
in
g
th
e
av
er
ag
e
a
n
d
d
if
f
er
e
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ce
tec
h
n
iq
u
es
[
2
3
]
:
̅
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(
1
+
2
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2
(
3
9
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Δ
̅
=
(
2
−
1
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/
2
(
4
0
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Mo
to
r
1
'
s
an
d
Mo
to
r
2
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s
s
tato
r
cu
r
r
en
ts
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e
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lay
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v
ar
iab
les
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d
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r
esp
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tiv
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h
e
cu
r
r
en
t
s
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r
co
m
m
an
d
to
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eg
u
late
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e
av
er
ag
e
to
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e
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4
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er
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x
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2
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i
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tain
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u
s
in
g
th
e
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d
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ctio
n
m
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to
r
'
s
v
ec
to
r
m
o
d
el
[
2
4
]
-
[
2
6
]
.
̅
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=
(
(
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′
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W
h
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e
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eter
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o
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th
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two
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m
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ar
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d
as b
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tical,
m
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at
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alu
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o
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Δ
̅
′
is
ze
r
o
.
W
h
er
e
̅
=
(
1
+
2
)
/
2
.
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
S
in
g
le
o
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s
erver sp
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2063
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IM
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Fig
u
r
e
2
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r
r
en
t f
l
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r
o
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g
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n
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o
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co
n
n
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ted
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ar
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2
.
2
.
Co
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t
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n o
f
t
he
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et
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d
Fig
u
r
e
3
s
h
o
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e
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n
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ig
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r
ati
o
n
o
f
th
e
s
en
s
o
r
less
p
ar
allel
in
d
u
ctio
n
m
o
t
o
r
o
r
i
g
in
.
An
ad
ap
tiv
e
s
p
ee
d
o
b
s
er
v
er
is
p
r
esen
t
f
o
r
e
v
er
y
m
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to
r
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as
d
em
o
n
s
tr
ated
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elo
w.
T
h
e
co
n
f
ig
u
r
atio
n
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
is
s
h
o
wn
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Fig
u
r
e
4
.
T
h
e
av
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a
g
e
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d
d
if
f
er
en
ce
ca
lcu
latin
g
m
ec
h
a
n
is
m
s
g
et
m
o
to
r
cu
r
r
en
t
f
r
o
m
th
e
in
v
er
ter
.
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h
e
v
o
ltag
e
f
r
o
m
th
e
i
n
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er
ter
an
d
th
e
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r
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en
ts
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r
o
d
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ce
d
b
y
t
h
e
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er
ag
e
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n
d
d
if
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e
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en
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p
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s
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es
ar
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s
f
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e
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r
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m
a
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an
d
V
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e
th
e
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u
en
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er
o
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er
v
e
r
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s
in
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ts
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ter
co
n
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er
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h
e
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n
f
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its
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an
s
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o
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atio
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at
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m
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s
e
o
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th
e
s
tato
r
r
e
f
er
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f
r
a
m
e.
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h
e
m
o
to
r
s
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d
,
s
tato
r
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r
r
en
t,
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d
r
o
to
r
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x
ar
e
all
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ated
b
y
t
h
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L
u
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e
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o
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s
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t,
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ter
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d
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r
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t f
r
o
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m
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r
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3
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Dis
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r
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o
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ce
d
a
n
d
u
n
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ce
d
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ad
to
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u
e
ar
e
u
s
ed
to
s
h
o
w
s
en
s
o
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less
v
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to
r
co
n
tr
o
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s
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g
an
I
P
s
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ee
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n
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o
ller
.
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latio
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e
r
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n
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s
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MA
T
L
AB
/Si
m
u
lin
k
C
-
Me
x
S
-
Fu
n
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n
.
T
h
e
r
ea
lizatio
n
o
f
th
e
p
r
o
p
o
s
ed
p
a
r
allel
m
o
to
r
s
y
s
tem
co
n
f
ig
u
r
atio
n
m
o
d
el
is
s
h
o
wn
in
Fig
u
r
e
5
.
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h
e
s
im
u
lated
n
o
m
in
al
m
o
to
r
s
p
ee
d
is
1
3
8
0
r
p
m
,
o
r
1
4
4
.
5
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a
d
/s
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.
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h
e
p
ar
am
ete
r
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e
d
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p
lay
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T
a
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le
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.
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l
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l
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F
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2
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e
e
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o
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s
e
r
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e
r
M1
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s2
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i
s1
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lc
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la
t
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&
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v
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e
s
t
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r2
e
s
t
+
+
+
+
+
+
+
-
-
-
ω
r
e
s
t
Fig
u
r
e
3
.
Par
allel
in
d
u
ctio
n
m
o
to
r
o
r
i
g
in
al
co
n
f
ig
u
r
atio
n
IM
1
IM
2
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
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
:
2058
-
2
0
6
7
2064
Δ
C
a
l
c
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l
a
t
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o
n
&
A
v
e
r
a
g
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RE
F
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R
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NC
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1
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BIO
G
RA
PH
IES
O
F
AU
TH
O
R
S
Ag
u
s
S
u
p
r
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jitn
o
wa
s
b
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rn
in
S
e
m
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ra
n
g
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I
n
d
o
n
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sia
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b
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re
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rin
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m
S
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lt
a
n
Ag
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n
g
in
1
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8
a
n
d
ma
ste
r'
s
d
e
g
re
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in
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tri
c
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g
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rin
g
a
t
Un
i
v
e
rsity
In
d
o
n
e
sia
(UI)
in
2
0
0
4
.
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is
c
u
rre
n
tl
y
a
n
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tri
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t
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th
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v
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rsitas
In
d
o
n
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sia
(UI)
a
n
d
a
n
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lec
tri
c
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l
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n
g
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rin
g
lec
tu
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Un
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Isla
m
S
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lt
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n
Ag
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n
g
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re
se
a
rc
h
in
tere
sts
a
re
in
c
o
n
tro
l
sy
ste
m
,
r
o
b
o
ti
c
,
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t
ric
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riv
e
,
p
o
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lec
tro
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ics
,
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n
d
re
n
e
wa
b
le
e
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e
rg
y
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
a
g
u
s.su
p
ra
ji
tn
o
@u
i
.
a
c
.
id
.
Fer
i
Yusiv
a
r
wa
s
b
o
r
n
i
n
Ba
n
d
u
n
g
,
I
n
d
o
n
e
sia
.
He
is
a
lec
tu
re
r
in
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e
c
tri
c
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l
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g
i
n
e
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rin
g
De
p
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rtme
n
t
a
t
t
h
e
U
n
iv
e
rsitas
I
n
d
o
n
e
sia
(UI),
Wes
t
Ja
v
a
,
I
n
d
o
n
e
sia
.
He
re
c
e
iv
e
d
h
is
b
a
c
h
e
lo
r
d
e
g
re
e
in
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c
tri
c
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l
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g
in
e
e
rin
g
a
t
U
n
iv
e
rsit
y
o
f
I
n
d
o
n
e
si
a
in
1
9
9
2
,
a
n
d
c
o
m
p
lete
d
h
is
d
o
c
to
r
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g
re
e
i
n
2
0
0
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a
t
Was
e
d
a
Un
iv
e
rsity
,
Ja
p
a
n
.
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is
c
u
rre
n
tl
y
th
e
h
e
a
d
o
f
th
e
re
se
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rc
h
c
e
n
ter
fo
r
Ad
v
a
n
c
e
d
Ve
h
icle
s
(
RCAV
e
)
,
Un
iv
e
rsitas
In
d
o
n
e
sia
.
His
re
se
a
rc
h
in
tere
sts
a
re
in
c
o
n
tro
l
sy
ste
m
,
e
lec
tri
c
a
l
d
riv
e
,
p
o
we
r
e
l
e
c
tro
n
ics
,
a
n
d
re
n
e
wa
b
le
e
n
e
rg
y
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
y
u
siv
a
r@e
n
g
.
u
i.
a
c
.
id
.
Abd
u
l
H
a
li
m
wa
s
b
o
rn
in
Ja
k
a
rta,
In
d
o
n
e
sia
.
He
is
a
lec
tu
re
r
in
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
De
p
a
rtme
n
t
a
t
t
h
e
U
n
iv
e
rsitas
I
n
d
o
n
e
sia
(UI),
Wes
t
Ja
v
a
,
I
n
d
o
n
e
sia
.
He
re
c
e
iv
e
d
h
is
b
a
c
h
e
lo
r
a
n
d
m
a
ste
r
d
e
g
re
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i
n
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c
tri
c
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l
En
g
i
n
e
e
rin
g
a
t
Ke
io
U
n
iv
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rsity
,
Ja
p
a
n
in
1
9
9
5
a
n
d
1
9
9
7
,
a
n
d
a
lso
c
o
m
p
lete
d
h
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d
o
c
to
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g
re
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in
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a
t
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o
k
y
o
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n
stit
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te
o
f
Tec
h
n
o
lo
g
y
,
Ja
p
a
n
.
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is
c
u
rre
n
tl
y
t
h
e
lec
tu
re
r
in
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e
c
tri
c
a
l
En
g
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n
e
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rin
g
a
t
Un
iv
e
rsitas
In
d
o
n
e
sia
.
His
re
se
a
r
c
h
in
tere
sts
a
re
in
c
o
n
tr
o
l
sy
ste
m
e
n
g
i
n
e
e
rin
g
,
p
o
we
r
s
y
ste
m
e
n
g
i
n
e
e
rin
g
,
c
o
m
p
u
ter
sim
u
lati
o
n
,
i
n
telli
g
e
n
t
e
n
g
in
e
e
rin
g
,
a
n
d
a
p
p
li
e
d
m
a
th
e
m
a
ti
c
s.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
i
l
:
a
.
h
a
li
m
@u
i
.
a
c
.
id
.
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