I
AE
S
I
nte
rna
t
io
na
l J
o
urna
l o
f
Art
if
icia
l In
t
ellig
ence
(
I
J
-
AI
)
Vo
l.
6
,
No
.
2
,
J
u
n
e
2
0
1
7
,
p
p
.
79
~9
0
I
SS
N:
2252
-
8938
,
DOI
: 1
0
.
1
1
5
9
1
/i
j
ai.
v
6
.
i2
.
p
p
7
9
-
90
79
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
J
AI
I
m
pro
v
ed S
enso
rl
ess
Direc
t
To
rque
Contro
l of
Induc
tion M
o
tor
Using
F
u
zz
y
Lo
g
i
c and Neu
ra
l Ne
t
w
o
rk
Ba
sed Du
ty
Ra
tio
Co
ntroller
Su
dh
ee
r
H
1
,
K
o
da
d SF
2
,
Sa
r
v
esh
B
3
1
FST
-
IF
HE,
Hy
d
e
rb
a
d
2
De
p
a
rt
m
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
P
ES
I
n
st.
Of
T
e
c
h
.
&
M
a
n
a
g
e
m
e
n
t
3
De
p
a
rt
m
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
JN
T
U
A
n
a
n
tap
u
r
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Feb
1
2
,
2
0
1
7
R
ev
i
s
ed
A
p
r
1
6
,
2
0
1
7
A
cc
ep
ted
Ma
y
2
5
,
2
0
1
7
T
h
is
p
a
p
e
r
p
re
se
n
ts
im
p
ro
v
e
m
e
n
ts
in
Dire
c
t
T
o
rq
u
e
c
o
n
tr
o
l
o
f
a
n
in
d
u
c
ti
o
n
m
o
to
r
u
sin
g
F
u
z
z
y
lo
g
ic
w
it
h
F
u
z
z
y
lo
g
ic
a
n
d
n
e
u
ra
l
n
e
tw
o
rk
b
a
se
d
d
u
ty
ra
ti
o
c
o
n
tro
ll
e
r.
T
h
e
c
o
n
v
e
n
ti
o
n
a
l
DT
C
(CD
T
C)
o
f
in
d
u
c
ti
o
n
m
o
to
r
su
f
f
e
rs
f
ro
m
m
a
jo
r
d
ra
w
b
a
c
k
s
li
k
e
h
ig
h
to
rq
u
e
a
n
d
f
lu
x
rip
p
les
a
n
d
p
o
o
r
tran
sie
n
t
re
sp
o
n
se
.
T
o
rq
u
e
a
n
d
f
lu
x
rip
p
les
a
re
re
d
u
c
e
d
b
y
re
p
lac
in
g
h
y
ste
re
sis
c
o
n
tro
ll
e
r
a
n
d
sw
it
c
h
in
g
tab
le
w
it
h
F
u
z
z
y
lo
g
ic
s
w
it
c
h
in
g
c
o
n
tro
ll
e
r
(F
DT
C).
In
F
DT
C
th
e
se
lec
ted
sw
it
c
h
in
g
v
e
c
to
r
is
a
p
p
li
e
d
f
o
r
th
e
c
o
m
p
lete
sw
it
c
h
in
g
ti
m
e
p
e
rio
d
.
T
h
e
F
DT
C
ste
a
d
y
sta
te
p
e
rf
o
r
m
a
n
c
e
c
a
n
b
e
im
p
ro
v
e
d
b
y
u
sin
g
d
u
ty
ra
ti
o
c
o
n
tro
ll
e
r,
t
h
e
se
lec
te
d
sw
it
c
h
in
g
v
e
c
to
r
is
a
p
p
li
e
d
o
n
ly
f
o
r
th
e
ti
m
e
d
e
ter
m
in
e
d
b
y
th
e
d
u
ty
ra
ti
o
(δ
)
a
n
d
f
o
r
th
e
re
m
a
in
in
g
ti
m
e
p
e
rio
d
z
e
ro
sw
it
c
h
in
g
v
e
c
to
r
is
a
p
p
li
e
d
.
T
h
e
s
e
lec
ti
o
n
o
f
d
u
ty
ra
ti
o
u
sin
g
F
u
z
z
y
lo
g
ic
a
n
d
n
e
u
ra
l
n
e
tw
o
rk
s
is
p
ro
jec
ted
i
n
th
is
p
a
p
e
r.
T
h
e
e
ff
e
c
ti
v
e
n
e
ss
p
ro
p
o
se
d
m
e
th
o
d
s are
e
v
a
lu
a
ted
u
si
n
g
sim
u
latio
n
b
y
M
a
tl
a
b
/S
im
u
li
n
k
.
K
ey
w
o
r
d
:
Dir
ec
t to
r
q
u
e
co
n
tr
o
l (
DT
C
)
Neu
r
al
n
et
w
o
r
k
(
NN)
Fu
zz
y
lo
g
ic
s
w
itc
h
in
g
co
n
tr
o
ller
(
FL
S
C
)
I
n
d
u
ctio
n
m
o
to
r
(
I
M)
Co
p
y
rig
h
t
©
2
0
1
7
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Su
d
h
ee
r
H,
J
NT
U
A
n
an
tap
u
r
,
Facu
lt
y
o
f
Sc
ien
ce
a
n
d
T
ec
h
n
o
lo
g
y
,
I
FHE,
H
y
d
er
ab
ad
,
T
elan
g
an
a,
I
n
d
ia.
E
m
ail:
s
u
d
h
ee
r
_
h
r
aj
@
y
a
h
o
o
.
co
.
in
,
h
s
u
d
h
ee
r
@
if
h
ei
n
id
a.
o
r
g
1.
I
NT
RO
D
UCT
I
O
N
Dir
ec
t
T
o
r
q
u
e
an
d
Flu
x
C
o
n
tr
o
l
o
f
in
d
u
ctio
n
m
o
to
r
p
o
p
u
lar
l
y
k
n
o
w
n
a
s
DT
C
(
Dir
ec
t
T
o
r
q
u
e
co
n
tr
o
l)
w
as
i
n
tr
o
d
u
ce
d
b
y
T
ak
ah
a
s
h
i
an
d
Nag
u
ch
i
f
o
r
q
u
ic
k
r
esp
o
n
s
e
an
d
h
i
g
h
ef
f
icie
n
c
y
o
f
in
d
u
ctio
n
m
o
to
r
[1
-
2
]
.
Ov
er
t
h
e
y
ea
r
s
DT
C
e
m
er
g
ed
as
a
n
alter
n
ati
v
e
to
FO
C
(
Field
Or
ien
ted
C
o
n
tr
o
l)
d
u
e
to
ad
v
an
tag
e
s
li
k
e
ab
s
en
ce
o
f
co
-
o
r
d
in
ate
tr
an
s
f
o
r
m
atio
n
s
,
cu
r
r
en
t
lo
o
p
s
an
d
s
ep
ar
ate
v
o
ltag
e
m
o
d
u
latio
n
b
lo
c
k
[
3
-
4
]
.
Ho
w
e
v
er
,
co
n
v
e
n
tio
n
al
DT
C
(
C
DT
C
)
s
u
f
f
er
s
f
r
o
m
m
aj
o
r
d
r
aw
b
ac
k
s
li
k
e
h
i
g
h
to
r
q
u
e
an
d
f
l
u
x
r
ip
p
les
p
r
ed
o
m
i
n
an
t
l
y
at
a)
lo
w
s
p
ee
d
a
n
d
s
tar
t
-
u
p
[
5
-
7
]
b
)
Var
iab
le
s
w
itc
h
in
g
f
r
eq
u
en
c
y
v
ar
ies
ac
co
r
d
in
g
to
m
o
to
r
s
p
ee
d
,
h
y
s
ter
esi
s
b
an
s
i
n
to
r
q
u
e
an
d
f
l
u
x
lo
o
p
s
[
5
-
6
]
c)
cu
r
r
e
n
t
a
n
d
to
r
q
u
e
d
is
to
r
tio
n
w
h
e
n
s
ec
to
r
ch
a
n
g
es
[
7
]
.
I
n
o
r
d
er
to
o
v
er
co
m
e
th
e
d
i
s
ad
v
a
n
tag
e
s
s
ev
er
al
tech
n
iq
u
es
ar
e
d
ev
elo
p
ed
b
y
r
esear
c
h
es
d
u
r
i
n
g
li
k
e
d
ir
ec
t
s
elf
-
co
n
tr
o
l,
DT
C
w
ith
SV
M
an
d
DT
C
-
S
VM
w
it
h
Neu
r
o
-
F
u
zz
y
lo
g
ic
co
n
tr
o
ller
s
as
g
iv
e
n
in
[
8
]
.
I
m
p
r
o
v
ed
C
DT
C
w
it
h
m
u
lti
-
le
v
el
in
v
er
ter
s
,
m
a
tr
ix
i
n
v
er
ter
s
a
n
d
s
en
s
o
r
less
d
r
iv
e
ar
e
p
r
o
p
o
s
ed
in
[
9
-
1
1
]
.
T
h
e
ap
p
licatio
n
o
f
A
I
tech
n
iq
u
es
li
k
e
F
u
zz
y
lo
g
ic,
Neu
r
al
Net
w
o
r
k
s
,
Neu
r
o
-
Fu
zz
y
in
Dir
ec
t
T
o
r
q
u
e
co
n
tr
o
l
g
ain
ed
g
r
ea
t
atte
n
tio
n
in
late
y
ea
r
s
.
T
h
e
ex
ec
u
tio
n
o
f
th
e
C
DT
C
s
w
i
tch
in
g
tab
le
w
i
th
F
u
zz
y
is
g
iv
e
n
i
n
[
8
]
,
[
12
-
1
5
]
w
h
ic
h
r
es
u
lt
s
i
n
r
ed
u
ctio
n
o
f
to
r
q
u
e
an
d
f
lu
x
r
ip
p
les.
T
h
e
im
p
le
m
e
n
tatio
n
o
f
DT
C
w
ith
Neu
r
o
F
u
zz
y
co
n
tr
o
ller
is
g
i
v
en
b
y
[7
]
,
[
1
6
]
an
d
u
s
in
g
A
NN
i
s
g
iv
e
n
i
n
[
1
7
-
1
9
]
.
T
o
r
q
u
e
r
i
p
p
le
r
ed
u
ctio
n
in
DT
C
u
s
in
g
s
i
m
p
le
d
u
t
y
r
atio
co
n
tr
o
ller
is
f
ir
s
t
p
r
o
p
o
s
ed
in
[
2
0
]
.
T
h
e
d
u
t
y
r
atio
alg
o
r
i
th
m
p
r
o
p
o
s
ed
b
y
[
2
1
]
d
em
o
n
s
tr
ate
s
t
h
at
ac
ti
v
e
v
o
ltag
e
v
ec
to
r
is
g
i
v
en
o
n
l
y
f
o
r
a
p
ar
t
o
f
s
a
m
p
lin
g
p
er
io
d
w
h
ile
ze
r
o
v
o
lta
g
e
v
ec
to
r
is
a
p
p
lied
f
o
r
r
em
ai
n
i
n
g
ti
m
e
p
er
io
d
r
esu
lts
in
to
r
q
u
e
r
ip
p
le
r
e
d
u
ctio
n
.
I
m
p
le
m
en
tat
io
n
o
f
Fu
zz
y
lo
g
ic
d
u
t
y
r
atio
co
n
tr
o
ller
h
elp
to
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8938
IJ
-
AI
Vo
l.
6
,
No
.
1
,
Ma
r
ch
2
0
1
7
:
79
–
90
80
d
eter
m
in
e
t
h
e
o
p
ti
m
al
d
u
t
y
r
atio
to
m
ee
t
t
h
e
to
r
q
u
e
an
d
f
lu
x
co
m
m
an
d
[
2
2
-
2
4
]
.
I
n
th
i
s
p
ap
er
C
DT
C
f
ir
s
t
i
m
p
r
o
v
ed
u
s
i
n
g
Fu
zz
y
lo
g
ic
b
ased
s
w
itc
h
i
n
g
c
o
n
tr
o
ller
ca
lled
Fu
zz
y
DT
C
(
FDT
C
)
.
A
s
E
x
p
lain
ed
in
th
e
[
2
5
-
2
7
]
s
p
ee
d
s
en
s
o
r
eli
m
i
n
ati
o
n
w
a
s
i
m
p
o
r
tan
t
i
n
th
e
i
n
d
u
s
tr
y
.
T
h
e
Sen
s
o
r
less
co
n
tr
o
l
r
e
s
u
lt
s
in
lo
w
er
co
s
t,
r
ed
u
ce
d
h
ar
d
w
ar
e
co
m
p
lex
i
t
y
.
T
h
e
cu
r
r
en
t
b
ased
Mo
d
el
R
ef
er
en
ce
ad
ap
ti
v
e
s
y
s
te
m
(
M
R
A
S)
p
r
o
p
o
s
ed
b
y
J
ak
u
b
Vo
n
k
o
m
er
et.
al.
[
2
7
]
Fo
r
a
w
id
e
s
p
ee
d
r
an
g
e
o
f
o
p
er
atio
n
is
e
m
p
lo
y
ed
i
n
t
h
is
p
ap
er
f
o
r
esti
m
a
tio
n
o
f
m
o
to
r
s
p
ee
d
.
T
h
u
s
m
a
n
y
r
e
s
ea
r
ch
er
s
i
m
p
r
o
v
ed
C
DT
C
u
s
i
n
g
Fu
zz
y
lo
g
ic
o
r
Du
t
y
r
atio
co
n
tr
o
ller
.
I
n
th
i
s
p
ap
er
th
e
co
m
b
i
n
atio
n
o
f
b
o
t
h
F
DT
C
w
it
h
A
NN
a
n
d
F
u
zz
y
b
ased
d
u
t
y
r
atio
co
n
tr
o
ller
f
o
r
Sen
s
o
r
les
s
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
o
f
in
d
u
ctio
n
m
o
to
r
is
p
r
o
p
o
s
ed
.
So
b
ased
o
n
liter
atu
r
e
th
e
C
DT
C
is
f
ir
s
t
i
m
p
r
o
v
ed
b
y
a
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
(
F
L
C
)
w
h
ic
h
e
m
p
lo
y
s
1
8
0
f
u
zz
y
r
u
le
b
a
s
e.
T
h
e
S
w
itc
h
i
n
g
v
ec
to
r
o
f
t
h
e
Vo
lta
g
e
So
u
r
ce
I
n
v
er
ter
(
VSI
)
is
ch
o
s
e
n
b
ase
d
o
n
Fu
zz
y
lo
g
ic,
w
h
ic
h
is
t
u
n
ed
ac
co
r
d
in
g
r
an
g
e
o
f
f
lu
x
an
d
to
r
q
u
e
er
r
o
r
s
.
T
h
e
co
n
ce
p
t
o
f
d
u
t
y
r
atio
is
i
n
tr
o
d
u
ce
d
to
r
ed
u
ce
to
r
q
u
e
an
d
f
l
u
x
r
ip
p
le.
T
h
e
d
u
t
y
r
atio
is
d
ev
elo
p
ed
b
ased
o
n
t
w
o
A
I
tec
h
n
iq
u
es
F
u
zz
y
lo
g
ic
an
d
Ne
u
r
al
Net
w
o
r
k
s
.
T
h
e
s
p
ee
d
an
d
to
r
q
u
e
o
f
t
h
e
i
n
d
u
ctio
n
m
o
to
r
ar
e
esti
m
ated
b
ased
cu
r
r
en
t
b
ased
ad
ap
tiv
e
esti
m
ato
r
s
ch
e
m
e
as
s
u
g
g
ested
in
[
2
7
]
.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
FDT
C
w
it
h
F
u
zz
y
d
u
t
y
r
atio
(
FDR
)
an
d
Ne
u
r
al
Net
w
o
r
k
s
b
a
s
ed
d
u
t
y
r
atio
(
NND
R
)
i
s
a
s
s
e
s
s
ed
b
ased
o
n
s
i
m
u
lat
io
n
r
esu
lt
s
u
s
in
g
Ma
tlab
/S
i
m
u
li
n
k
So
f
t
w
ar
e.
Si
m
u
lat
io
n
r
es
u
lt
s
in
d
icate
t
h
at
t
h
er
e
is
co
n
s
id
er
ab
le
r
ed
u
ctio
n
in
to
r
q
u
e
an
d
f
lu
x
r
ip
p
les
u
s
i
n
g
FDT
C
w
ith
F
u
zz
y
o
r
NN
b
ase
d
d
u
t
y
r
atio
co
n
tr
o
ller
s
.
I
n
b
o
t
h
FDT
C
w
i
th
F
u
zz
y
DR
C
an
d
NN
DR
C
t
h
e
s
p
ee
d
o
f
i
n
d
u
ctio
n
m
o
to
r
tr
ac
k
s
t
h
e
r
ef
er
en
ce
s
p
ee
d
w
it
h
o
u
t
an
y
p
ea
k
o
v
er
s
h
o
o
ts
a
s
in
th
e
ca
s
e
o
f
C
DT
C
.
T
h
e
s
tato
r
cu
r
r
en
t
d
r
a
w
n
b
y
p
r
o
p
o
s
in
g
s
ch
e
m
e
s
co
n
tai
n
s
f
e
w
er
h
ar
m
o
n
ic
an
d
m
o
r
e
s
in
u
s
o
id
al
w
a
v
ef
o
r
m
s
co
m
p
ar
ed
to
C
DT
C
.
2.
CO
NVEN
T
I
O
NA
L
DI
RE
C
T
T
O
R
Q
U
E
C
O
NT
RO
L
(
C
DT
C)
T
h
e
I
n
d
u
ctio
n
m
o
to
r
m
o
d
el
r
ef
er
r
ed
to
th
e
s
t
at
io
n
ar
y
r
ef
er
en
ce
f
r
a
m
e
(
α
,
β)
is
d
e
v
elo
p
ed
in
Si
m
u
li
n
k
b
ased
o
n
th
e
s
tate
v
ar
iab
le
ap
p
r
o
ac
h
g
i
v
e
n
t
h
e
f
o
llo
w
i
n
g
eq
u
atio
n
s
.
T
h
e
m
o
d
el
d
escr
ib
ed
b
y
s
u
d
h
ee
r
et.
al.
i
n
[
5
]
,
[
3
1
]
is
u
s
ed
to
d
ev
elo
p
Sim
u
li
n
k
m
o
d
el
o
f
I
n
d
cu
tio
n
m
o
to
r
.
T
h
e
D
T
C
s
p
ee
d
co
n
tr
o
l
o
f
in
d
u
ctio
n
m
o
to
r
is
u
til
ized
f
o
r
h
i
g
h
e
x
ec
u
tio
n
a
n
d
q
u
ick
to
r
q
u
e
r
esp
o
n
s
e
ap
p
licatio
n
s
.
I
n
DT
C
T
o
r
q
u
e
an
d
Flu
x
o
f
in
d
u
ctio
n
m
o
to
r
ca
n
b
e
in
d
ep
en
d
en
tl
y
co
n
tr
o
ll
ed
b
y
s
e
lectin
g
t
h
e
o
p
tim
a
l
s
w
itc
h
i
n
g
v
ec
to
r
o
f
in
v
er
ter
b
ased
to
r
q
u
e
an
d
f
lu
x
er
r
o
r
s
[
1
]
,
[
3
]
.
T
h
e
s
elec
tio
n
o
f
in
v
er
ter
s
w
i
tch
i
n
g
v
ec
to
r
is
d
o
n
e
u
s
in
g
clas
s
ical
s
w
itc
h
in
g
tab
le
s
o
as
to
r
estri
ct
th
e
to
r
q
u
e
an
d
f
lu
x
w
it
h
i
n
th
e
h
y
s
ter
esis
b
a
n
d
th
er
eb
y
en
ab
li
n
g
f
a
s
t
tr
an
s
ien
t
r
esp
o
n
s
e
o
f
th
e
d
r
iv
e.
T
h
e
o
p
ti
m
al
s
e
lectio
n
o
f
s
w
itc
h
i
n
g
v
ec
to
r
d
ep
en
d
s
u
p
o
n
th
e
s
tato
r
f
l
u
x
p
o
s
itio
n
in
s
p
ac
e
v
ec
to
r
,
to
r
q
u
e
an
d
f
lu
x
er
r
o
r
.
T
h
e
ch
allen
g
e
s
in
DT
C
ar
e
an
ex
ac
t
est
i
m
a
tio
n
o
f
to
r
q
u
e
an
d
f
l
u
x
p
ar
a
m
eter
s
an
d
s
w
i
tch
i
n
g
tab
le.
Fi
g
u
r
e.
1
s
h
o
w
s
a
b
lo
c
k
d
iag
r
a
m
o
f
c
o
n
v
e
n
tio
n
al
DT
C
(
C
DT
C
)
w
it
h
cu
r
r
e
n
t
b
ased
ad
ap
tiv
e
T
o
r
q
u
e
an
d
Flu
x
o
b
s
er
v
er
.
T
h
e
in
d
u
ctio
n
m
o
to
r
is
f
ed
b
y
Vo
lta
g
e
So
u
r
ce
I
n
v
er
ter
(
VSI
)
.
B
ased
o
n
th
e
s
tato
r
cu
r
r
en
t
s
i
a
,
i
b
an
d
r
o
to
r
p
o
s
itio
n
th
e
f
l
u
x
,
to
r
q
u
e
an
d
s
p
ee
d
o
f
t
h
e
in
d
u
ctio
n
m
o
to
r
ar
e
esti
m
ated
.
T
h
e
esti
m
a
to
r
d
iag
r
a
m
is
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
T
h
e
Sp
ee
d
er
r
o
r
is
g
i
v
en
to
th
e
d
is
cr
ete
P
I
C
o
n
tr
o
ller
o
f
K
P
=
2
an
d
K
I
=
3
0
0
.
T
h
e
o
u
tp
u
t
o
f
P
I
co
n
tr
o
ller
is
lim
i
ted
u
s
i
n
g
s
atu
r
ato
r
T
e*
=
+/
-
8
N
-
m.
Fig
u
r
e
1
.
B
lo
ck
Diag
r
a
m
o
f
C
o
n
v
e
n
tio
n
al
DT
C
[
2
0
]
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
-
AI
I
SS
N:
2252
-
8938
I
mp
r
o
ve
d
S
en
s
o
r
less
Dir
ec
t T
o
r
q
u
e
C
o
n
tr
o
l o
f I
n
d
u
ctio
n
Mo
to
r
Usi
n
g
F
u
z
z
y
Lo
g
ic
and
… (
S
u
d
h
ee
r
H
)
81
T
h
e
esti
m
a
ted
to
r
q
u
e
T
e
is
c
o
m
p
ar
ed
w
it
h
r
e
f
er
en
ce
v
al
u
es
g
e
n
er
ates
a
to
r
q
u
e
er
r
o
r
(
et)
w
h
ic
h
i
s
p
r
o
ce
s
s
ed
th
r
o
u
g
h
th
r
ee
lev
e
l
h
y
s
ter
esi
s
co
m
p
ar
ato
r
in
o
r
d
er
to
lim
it
th
e
to
r
q
u
e
er
r
o
r
w
ith
i
n
h
y
s
ter
es
is
b
an
d
s
.
T
h
e
r
ef
er
en
ce
f
l
u
x
o
f
th
e
m
o
to
r
is
esti
m
ated
b
ased
o
n
m
o
to
r
p
ar
am
eter
s
g
i
v
e
n
b
y
:
Fig
u
r
e
2
.
B
lo
c
k
d
iag
r
a
m
o
f
Sp
ee
d
,
T
o
r
q
u
e
an
d
Flu
x
E
s
ti
m
at
o
r
√
(
1
)
T
h
e
esti
m
a
ted
f
l
u
x
i
s
co
m
p
a
r
ed
w
it
h
r
e
f
er
en
ce
f
l
u
x
g
e
n
er
ates
f
lu
x
er
r
o
r
(e
φ
)
w
h
ich
is
p
r
o
ce
s
s
ed
th
r
o
u
g
h
T
w
o
le
v
el
h
y
s
ter
esi
s
co
m
p
ar
ato
r
.
B
ased
o
n
th
e
s
ta
to
r
f
lu
x
an
g
le
p
o
s
itio
n
t
h
e
f
l
u
x
p
lan
e
i
s
d
iv
id
ed
in
to
s
i
x
s
ec
to
r
s
.
I
f
th
e
s
ta
to
r
f
lu
x
an
g
le
b
et
w
ee
n
-
30
0
to
+3
0
0
is
s
ec
to
r
1
,
+
3
0
0
to
+9
0
0
is
s
ec
to
r
2
.
T
h
e
d
ig
italis
ed
o
u
tp
u
t
s
o
n
it
,
e
φ
an
d
Secto
r
(
S
(
n
)
)
ar
e
g
iv
en
t
o
a
s
w
itch
in
g
tab
le
g
i
v
e
n
b
y
T
ab
le
1
.
,
w
h
ich
s
elec
ts
t
h
e
o
p
ti
m
al
s
w
itc
h
i
n
g
s
tate
s
o
,
S
b
, S
c
.
Fo
r
ex
a
m
p
le,
if
s
tato
r
f
l
u
x
l
ies i
n
s
ec
to
r
1
,
e
T
is
p
o
s
itiv
e
a
n
d
e
φ
i
s
P
o
s
itiv
e
t
h
en
t
h
e
m
o
to
r
h
as
to
ac
ce
ler
ate
to
r
ed
u
ce
t
h
e
ar
t
q
u
ick
l
y
v
ec
to
r
V
2
is
ap
p
lied
wh
i
ch
r
o
tates
t
h
e
f
l
u
x
in
clo
c
k
w
is
e
d
ir
ec
tio
n
.
I
f
s
tat
o
r
f
lu
x
l
ies
i
n
s
ec
to
r
1
,
e
T
is
n
eg
at
iv
e
an
d
e
φ
is
p
o
s
itiv
e,
th
en
t
h
e
m
o
to
r
h
as
to
d
ec
eler
ate
v
ec
to
r
V
6
i
s
ap
p
li
ed
w
h
ic
h
r
o
tates
th
e
f
lu
x
i
n
an
ti
-
clo
ck
w
i
s
e
d
ir
ec
tio
n
.
I
f
e
T
is
ze
r
o
s
w
itc
h
i
n
g
v
ec
to
r
V
7
o
r
V
0
i
s
ap
p
lied
.
T
h
e
s
w
itc
h
i
n
g
s
ec
to
r
i
s
s
e
lecte
d
b
ased
p
r
esen
t
s
ec
to
r
,
f
l
u
x
er
r
o
r
an
d
to
r
q
u
e
er
r
o
r
.
T
h
e
s
tato
r
f
l
u
x
m
a
g
n
i
tu
d
e
ca
n
b
e
co
n
tr
o
lled
b
y
s
elec
ti
n
g
o
n
e
o
f
t
h
e
a
v
ailab
le
v
o
lta
g
e
v
ec
t
o
r
s
th
at
w
ill
m
o
v
e
th
e
f
lu
x
i
n
th
e
d
esire
d
d
ir
ec
tio
n
[
1
5
]
.
T
ab
le
1
.
Sw
itch
in
g
T
ab
le
o
f
C
DT
C
S
e
c
t
o
r
I
II
III
IV
V
VI
T
o
r
q
u
e
F
l
u
x
T
=
0
F
=
0
V
5
V
6
V
1
V
2
V
3
V
4
F
=
1
V
6
V
1
V
2
V
3
V
4
V
5
T
=
1
F
=
0
V
3
V
4
V
5
V
6
V
1
V
2
F
=
1
V
2
V
3
V
4
V
5
V
6
V
1
3.
DT
C
US
I
N
G
F
U
Z
Z
Y
L
O
G
I
C
SWI
T
CH
I
N
G
CO
N
T
RO
L
L
E
R
T
h
e
m
aj
o
r
ca
u
s
e
f
o
r
h
ig
h
to
r
q
u
e
an
d
f
l
u
x
r
ip
p
les
d
u
e
to
f
i
x
ed
m
a
g
n
i
tu
d
e
h
y
s
ter
es
is
b
an
d
s
a
n
d
ap
p
licatio
n
o
f
s
w
itc
h
i
n
g
v
ec
t
o
r
f
o
r
th
e
co
m
p
lete
s
a
m
p
le
t
i
m
e
p
er
io
d
.
Fu
zz
y
L
o
g
ic
s
u
p
p
o
r
ts
th
e
v
ar
iab
le
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
w
h
ich
a
id
s
in
s
e
lecti
n
g
o
p
ti
m
al
s
w
i
tc
h
in
g
v
ec
to
r
.
I
n
C
DT
C
w
e
ca
n
ca
teg
o
r
ize
to
r
q
u
e
er
r
o
r
in
to
p
o
s
itiv
e,
n
e
g
ati
v
e
o
r
ze
r
o
.
B
u
t in
F
u
zz
y
lo
g
ic,
w
e
c
an
s
u
b
d
iv
id
e
t
h
e
p
o
s
iti
v
e
i
n
to
p
o
s
itiv
e
m
a
x
i
m
u
m
an
d
p
o
s
iti
v
e
m
i
n
i
m
u
m
.
U
s
i
n
g
Fu
zz
y
lo
g
ic
to
r
q
u
e
er
r
o
r
,
f
l
u
x
er
r
o
r
an
d
Stato
r
f
l
u
x
s
p
ac
e
ar
e
d
iv
id
ed
i
n
to
m
o
r
e
s
u
b
s
ec
tio
n
s
w
h
ich
en
ab
le
s
t
h
e
p
r
ec
is
e
an
d
o
p
ti
m
al
s
ele
ctio
n
o
f
t
h
e
s
w
i
tch
in
g
v
ec
to
r
.
I
n
t
h
i
s
s
ec
tio
n
th
e
C
DT
C
is
i
m
p
r
o
v
ed
u
s
i
n
g
F
u
zz
y
L
o
g
ic
C
o
n
tr
o
ller
(
F
L
C
)
.
A
s
d
ep
icted
in
Fig
u
r
e
3.
T
o
r
q
u
e
h
y
s
ter
es
is
b
a
n
d
,
f
l
u
x
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8938
IJ
-
AI
Vo
l.
6
,
No
.
1
,
Ma
r
ch
2
0
1
7
:
79
–
90
82
h
y
s
ter
esi
s
b
an
d
an
d
s
w
itc
h
i
n
g
tab
le
ar
e
r
ep
lace
d
b
y
F
L
C
.
F
u
zz
y
lo
g
ic
is
an
ex
p
er
t
b
ased
r
u
le
b
ased
s
y
s
te
m
b
y
w
h
ic
h
w
e
ca
n
i
m
p
le
m
e
n
t
ex
p
e
r
t
in
telli
g
en
ce
.
T
h
e
ex
p
er
t‟
s
i
n
tellig
e
n
ce
is
i
n
clu
d
ed
u
s
in
g
s
e
t
o
f
f
u
zz
y
r
u
le
s
.
I
n
f
u
zz
y
lo
g
ic
t
h
e
m
e
m
b
er
s
h
ip
v
alu
e
s
i
n
b
et
w
ee
n
0
a
n
d
1
ar
e
ass
i
g
n
ed
to
f
u
zz
y
i
n
p
u
t
s
a
n
d
o
u
tp
u
ts
.
F
L
C
h
a
s
t
h
r
ee
in
p
u
ts
Fl
u
x
er
r
o
r
(
s
*
-
s
)
,
T
o
r
q
u
e
er
r
o
r
(
T
e
*
-
T
e
)
,
s
e
cto
r
in
f
l
u
x
s
p
ac
e
(
s
)
an
d
o
n
e
o
u
tp
u
t
s
w
i
tch
i
n
g
s
tate
(
n
)
[
1
5
,
3
0
]
.
T
h
e
3
in
p
u
ts
ca
n
n
o
t
b
e
d
ir
ec
tly
ap
p
lied
to
FL
S
C
d
ir
ec
tl
y
.
T
h
e
th
r
ee
in
p
u
t
s
ar
e
f
u
zz
i
f
ied
b
ef
o
r
e
ap
p
ly
i
n
g
to
t
h
e
f
u
zz
y
r
u
le
b
ase
a
n
d
th
e
o
u
tp
u
t
o
f
F
L
SC
n
ee
d
to
b
e
d
ef
u
zz
if
ied
to
o
b
tain
a
cr
is
p
o
u
tp
u
t.
T
h
e
f
u
zz
i
f
icatio
n
i
s
d
o
n
e
b
y
r
e
p
r
esen
tin
g
t
h
e
in
p
u
ts
u
s
i
n
g
f
u
z
z
y
m
e
m
b
er
s
h
ip
f
u
n
c
tio
n
s
.
Fig
u
r
e
3
.
B
lo
ck
d
iag
r
a
m
o
f
D
T
FC
w
it
h
F
u
zz
y
o
r
NN
b
ased
d
u
t
y
R
atio
C
o
n
tr
o
ller
T
h
e
s
tato
r
f
lu
x
er
r
o
r
(
e
T
)
is
d
iv
id
ed
in
to
t
h
r
ee
lin
g
u
is
tic
v
ar
i
ab
les:
n
e
g
ati
v
e
(
N)
,
ze
r
o
(
Z
)
an
d
p
o
s
itiv
e
(
P
)
v
alu
es
T
h
e
N
a
n
d
P
v
ar
ia
b
les
ar
e
r
ep
r
esen
ted
b
y
tr
ap
e
zo
id
al
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
a
n
d
Z
b
y
tr
ia
n
g
u
lar
m
e
m
b
er
s
h
ip
f
u
n
c
tio
n
a
s
s
h
o
wn
i
n
Fig
u
r
e
4
(
a)
.
T
h
e
T
o
r
q
u
e
er
r
o
r
(
eφ
)
is
s
p
lit
in
to
f
iv
e
li
n
g
u
i
s
tic
v
ar
iab
les:
P
o
s
itiv
e
L
ar
g
e
(
P
L
)
,
P
o
s
itiv
e
S
m
all
(
P
S),
Neg
at
iv
e
S
m
al
l
(
NS)
an
d
Neg
a
tiv
e
L
ar
g
e
(
NL
)
.
T
h
e
NL
an
d
P
L
ar
e
r
ep
r
esen
ted
b
y
tr
ap
ez
o
id
al
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
an
d
NS,
Z
,
P
S
ar
e
r
e
p
r
esen
ted
b
y
tr
ia
n
g
u
lar
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
4
(
b
)
.
T
h
e
Stato
r
f
l
u
x
tr
aj
ec
to
r
y
i
s
d
i
v
id
ed
in
1
2
s
ec
to
r
s
(
θ
1
to
θ
12
)
[
1
3
]
,
[
1
9
]
,
[
3
0
]
.
A
ll
f
u
zz
y
v
ar
iab
le
s
ar
e
r
ep
r
esen
ted
b
y
is
o
s
ce
le
s
tr
ian
g
u
lar
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
s
o
f
6
0
0
w
id
e
an
d
an
o
v
er
lap
o
f
3
0
0
w
it
h
n
eig
h
b
o
r
h
o
o
d
f
u
zz
y
v
ar
iab
les.
So
th
at
ea
ch
f
u
zz
y
s
et
w
o
r
k
s
f
o
r
an
an
g
le
o
f
3
0
0
.
T
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
d
is
tr
ib
u
t
io
n
o
v
er
0
0
to
3
6
0
0
is
s
h
o
w
n
i
n
Fig
u
r
e
4
(
c)
.
T
h
e
o
u
tp
u
t
o
f
f
u
zz
y
co
n
tr
o
ller
„
n
‟
is
d
iv
id
ed
in
to
s
ev
e
n
s
w
i
tch
in
g
s
tate
s
(
o
n
e
ze
r
o
s
w
itc
h
i
n
g
s
tate
an
d
s
ix
ac
t
i
v
e
s
w
i
tch
i
n
g
s
tates)
as
s
h
o
w
n
i
n
Fig
u
r
e
5
.
E
ac
h
s
tate
is
r
ep
r
ese
n
ted
b
y
a
s
h
ar
p
tr
ian
g
u
lar
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
.
[
5
]
Fig
u
r
e
4
.
(
a)
Me
m
b
er
s
h
ip
f
u
n
ctio
n
(
MF)
o
f
Fl
u
x
E
r
r
o
r
(
b
)
T
o
r
q
u
e
E
r
r
o
r
an
d
(
c)
Stato
r
F
l
u
x
A
n
g
le
[
5
]
,
[
1
5
]
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
-
AI
I
SS
N:
2252
-
8938
I
mp
r
o
ve
d
S
en
s
o
r
less
Dir
ec
t T
o
r
q
u
e
C
o
n
tr
o
l o
f I
n
d
u
ctio
n
Mo
to
r
Usi
n
g
F
u
z
z
y
Lo
g
ic
and
… (
S
u
d
h
ee
r
H
)
83
Fig
u
r
e
5
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
s
(
MF)
O
u
tp
u
t S
w
itc
h
in
g
S
ec
to
r
o
f
FLC [
5
]
,
[
1
5
]
T
h
e
m
ap
p
in
g
o
f
I
n
p
u
t
s
an
d
o
u
tp
u
t
d
ep
en
d
s
u
p
o
n
r
u
le
b
ase
.
T
h
e
Fu
zz
y
r
u
le
i
s
d
ev
elo
p
ed
b
ased
o
n
ex
p
er
t
k
n
o
w
led
g
e
an
d
i
n
tu
itio
n
in
o
r
d
er
to
m
ee
t
th
e
o
b
j
ec
tiv
e
o
f
co
n
tr
o
lli
n
g
.
Sin
ce
t
h
er
e
ar
e
th
r
ee
MF‟
s
f
o
r
e
φ
,
f
i
v
e
MF
‟
s
f
o
r
e
T
a
n
d
t
w
el
v
e
MF‟
s
f
o
r
θ
s
i
g
n
al
s
s
o
3
×5
×
1
2
=
1
8
0
f
u
zz
y
r
u
les
ar
e
d
ev
e
lo
p
ed
to
s
elec
t
o
n
e
o
f
s
ev
e
n
MF
‟
s
f
o
r
th
e
o
u
tp
u
t
.
T
h
e
r
u
le
b
ase
p
r
o
p
o
s
ed
b
y
Su
d
h
ee
r
et.
al
i
n
[
5
]
,
[
1
5
]
is
em
p
lo
y
ed
.
T
h
e
f
u
zz
y
r
u
les
ar
e
d
ev
elo
p
ed
b
ased
o
n
m
i
n
-
m
a
x
f
u
zz
y
in
f
er
en
ce
m
e
th
o
d
.
T
h
e
f
u
zz
y
r
u
les
ar
e
d
ev
elo
p
ed
u
s
in
g
Min
-
Ma
x
m
e
th
o
d
.
Fo
r
ex
a
m
p
le:
R
u
le:
I
f e
T
is
P
L a
n
d
e
φ
is
P
a
n
d
θ
is
θ
1
th
en
o
u
tp
u
t is V
1.
T
h
e
m
i
n
i
m
u
m
o
f
m
e
m
b
er
s
h
i
p
f
u
n
ct
io
n
s
o
f
e
T
,
e
φ
an
d
θ
is
s
ele
cted
u
s
i
n
g
Fu
zz
y
AND
o
p
er
atio
n
.
T
h
u
s
th
e
o
u
tp
u
t
o
f
i
th
r
u
le
d
e
p
en
d
s
u
p
o
n
to
r
q
u
e
er
r
o
r
,
f
lu
x
er
r
o
r
an
d
s
tato
r
f
lu
x
p
o
s
itio
n
.
T
h
e
o
u
tp
u
t
o
f
th
e
FLC
i
s
i
n
f
u
zz
i
f
ied
f
o
r
m
.
T
h
e
f
u
zz
if
ied
o
u
tp
u
t
is
co
n
v
er
ted
in
to
cr
is
p
v
al
u
e
u
s
i
n
g
m
a
x
i
m
u
m
cr
iter
ia.
Ou
t
o
f
av
ailab
le
m
e
th
o
d
s
o
f
d
ef
u
zz
i
f
icatio
n
th
e
Me
a
n
o
f
Ma
x
i
m
a
(
Mo
M)
m
et
h
o
d
is
u
s
ed
.
T
h
e
o
u
tp
u
t
o
f
F
L
C
d
eter
m
in
e
s
t
h
e
s
w
itc
h
i
n
g
s
ec
t
o
r
Vn
(
n
=
0
to
6
)
n
ee
d
to
b
e
ap
p
lied
to
VSI
.
So
th
e
o
u
tp
u
t
is
co
n
v
er
ted
i
n
S
A
,
S
B
,
an
d
S
C
s
w
itc
h
i
n
g
s
i
g
n
al
u
s
i
n
g
B
o
o
lean
ex
p
r
es
s
io
n
.
4.
DUTY RA
T
I
O
CO
N
T
RO
L
L
E
R(
DR
C)
USI
N
G
F
U
Z
Z
Y
L
O
G
I
C
T
h
e
co
n
ce
p
t
o
f
d
u
t
y
r
atio
u
s
i
n
g
a
s
i
m
p
le
r
a
m
p
g
e
n
er
ato
r
is
in
tr
o
d
u
ce
d
b
y
D.
T
elf
o
r
d
et
al
[
2
0
]
an
d
d
u
t
y
r
atio
m
o
d
u
latio
n
b
y
P
en
g
ch
en
g
Z
h
u
et
al
[
2
1
]
.
T
h
e
im
p
le
m
e
n
tatio
n
o
f
F
u
zz
y
d
u
t
y
r
at
i
o
w
as
p
r
o
p
o
s
ed
b
y
I
v
ica
Ku
r
ic
et
al.
[
2
3
]
,
Y
S
Kis
h
o
r
e
B
ab
u
,
et
al
[
2
2
]
,
Su
d
h
ee
r
H
et
al
[
2
4
]
.
I
n
m
o
s
t
o
f
t
h
e
p
ap
er
s
[
3
1
-
3
5
]
th
e
d
u
t
y
r
atio
co
n
tr
o
ller
is
ap
p
lied
to
C
DT
C
f
o
r
to
r
q
u
e
r
ip
p
le
r
ed
u
ctio
n
.
I
n
t
h
is
p
ap
er
th
e
D
R
C
co
n
tr
o
ller
u
s
i
n
g
b
o
th
F
u
zz
y
an
d
Neu
r
al
Net
w
o
r
k
s
i
s
d
e
v
elo
p
ed
an
d
ap
p
lied
t
o
Fu
zz
y
DT
C
.
T
h
e
o
p
ti
m
al
D
u
t
y
r
atio
co
n
tr
o
ller
u
s
i
n
g
f
u
zz
y
lo
g
ic
i
s
d
ev
elo
p
ed
as
g
iv
e
n
b
y
Su
d
h
ee
r
H
et
al
[
3
1
]
.
T
h
e
b
asic
co
n
ce
p
t
o
f
d
u
t
y
r
atio
co
n
tr
o
l
i
s
ap
p
ly
i
n
g
th
e
ac
ti
v
e
s
w
itc
h
i
n
g
s
tate
o
f
VSI
f
o
r
j
u
s
t
en
o
u
g
h
ti
m
e
to
en
o
u
g
h
ti
m
e
to
ac
h
ie
v
e
th
e
to
r
q
u
e
an
d
f
l
u
x
r
ef
er
en
ce
v
al
u
es
[
2
1
-
22
]
,
[
3
1
]
.
T
h
e
Fu
zz
y
d
u
t
y
c
y
cle
co
n
tr
o
l
ler
d
eter
m
in
e
s
t
h
e
t
i
m
e
d
u
r
ati
o
n
f
o
r
w
h
ic
h
ac
ti
v
e
v
o
ltag
e
i
s
ap
p
lied
.
T
w
o
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
s
ar
e
u
s
ed
to
i
d
en
tify
t
h
e
o
p
ti
m
al
d
u
t
y
c
y
cle.
E
ac
h
f
u
zz
y
co
n
tr
o
ller
h
as
t
w
o
in
p
u
ts
,
T
o
r
q
u
e
e
r
r
o
r
(
T
e*
-
T
e)
,
s
ec
to
r
an
g
le
an
d
o
n
e
o
u
tp
u
t
d
u
t
y
r
atio
(
δ)
.
I
f
Stato
r
f
l
u
x
(
ψ
s
)
is
g
r
ea
t
er
th
an
t
h
e
r
ef
er
e
n
ce
f
l
u
x
(
ψ
s
*
)
f
u
zz
y
co
n
tr
o
ller
1
is
s
e
lect
ed
,
o
th
er
w
i
s
e
f
u
zz
y
co
n
tr
o
ller
2
[
3
1
]
.
T
h
e
s
elec
ted
Fu
zz
y
co
n
tr
o
ller
w
ill
b
r
in
g
f
o
r
th
th
e
d
u
t
y
r
at
io
(
b
etw
ee
n
0
to
1
)
b
ased
o
n
th
e
r
u
le
b
ase
g
i
v
en
i
n
T
ab
le
2
[
3
1
]
.
Ou
tp
u
t
o
f
F
u
zz
y
D
R
C
is
co
m
p
ar
ed
w
it
h
tr
ian
g
u
lar
s
i
g
n
al
o
f
s
a
m
e
f
r
eq
u
en
c
y
as
th
at
o
f
s
w
it
h
i
n
g
f
r
eq
u
en
c
y
o
f
VSI
to
g
en
er
ate
d
u
t
y
r
atio
b
et
w
ee
n
0
an
d
1
.
T
h
e
o
p
tim
al
d
u
t
y
r
atio
(
δ)
g
ets
m
u
ltip
lied
w
it
h
w
itc
h
in
g
s
ec
to
r
s
elec
ted
b
y
F
u
zz
y
lo
g
ic
s
i
w
t
h
cin
g
tab
le
[
3
1
]
.
T
h
e
in
p
u
ts
o
f
f
u
zz
y
co
n
tr
o
ller
s
T
o
r
q
u
e
(
e
T
)
,
Secto
r
a
n
g
le(
θ)
an
d
o
u
tp
u
t
d
u
t
y
c
y
c
le(
δ)
ar
e
r
ep
r
esen
ted
b
y
t
h
r
ee
li
n
g
u
is
t
ic
v
ar
iab
les:
s
m
all(
S),
Me
d
iu
m
(
M)
a
n
d
L
ar
g
e
(
L
)
r
ep
r
es
en
ted
b
y
tr
ian
g
u
lar
m
e
m
b
e
r
s
h
ip
f
u
n
ctio
n
s
as
s
h
o
w
n
i
n
Fi
g
u
r
e
6
.
[
3
1
-
3
2
]
.
Fig
u
r
e
6
.
I
n
p
u
t a
n
d
O
u
tp
u
t M
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
o
f
D
u
t
y
r
a
tio
C
o
n
tr
o
ller
(
DR
C
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8938
IJ
-
AI
Vo
l.
6
,
No
.
1
,
Ma
r
ch
2
0
1
7
:
79
–
90
84
T
ab
le
2
.
R
u
le
b
ase
f
o
r
Fu
zz
y
C
o
n
tr
o
ller
s
1
an
d
2
[
3
1
]
T
o
r
q
u
e
e
r
r
o
r
P
o
si
t
i
o
n
o
f
st
a
t
o
r
f
l
u
x
S
(
n
)
S
M
L
S
t
a
t
o
r
f
l
u
x
<
R
e
f
.
V
a
l
u
e
F
u
z
z
y
c
o
n
t
o
l
l
e
r
1
S
M
S
S
M
M
M
M
L
L
L
L
S
t
a
t
o
r
f
l
u
x
<
R
e
f
.
V
a
l
u
e
F
u
z
z
y
C
o
n
t
o
l
l
e
r
2
S
S
S
M
M
M
M
L
L
L
L
L
5.
DUTY RA
T
I
O
CO
N
T
RO
L
L
E
R
U
SI
N
G
N
E
URA
L
N
E
T
WO
RK
S
T
h
e
d
u
t
y
r
atio
co
n
tr
o
ller
i
s
i
m
p
le
m
e
n
ted
u
s
in
g
A
r
t
if
icial
Neu
r
al
Ne
t
w
o
r
k
s
.
Feed
f
o
r
w
ar
d
n
eu
r
a
l
n
et
w
o
r
k
w
i
th
o
n
e
h
id
d
en
la
y
er
is
tr
ain
ed
f
o
r
ev
al
u
atio
n
o
f
o
p
ti
m
al
d
u
t
y
r
atio
f
ed
to
FDT
C
o
f
I
n
d
u
ctio
n
m
o
to
r
.
T
h
e
n
eu
r
al
n
et
w
o
r
k
i
s
d
ev
el
o
p
ed
u
s
in
g
n
eu
r
al
n
et
w
o
r
k
t
o
o
lb
o
x
in
Ma
tlab
.
T
h
e
NND
R
C
h
as
th
r
ee
i
n
p
u
ts
T
o
r
q
u
e
er
r
o
r
,
R
ef
er
en
ce
f
l
u
x
,
s
tato
r
f
l
u
x
a
n
g
le
a
n
d
o
n
e
o
u
tp
u
t d
u
t
y
r
atio
.
T
h
e
8
0
0
0
0
s
a
m
p
les o
f
i
n
p
u
t
s
,
o
u
tp
u
t
ar
e
co
llected
to
d
ev
elo
p
th
e
n
eu
r
al
n
et.
On
t
y
p
i
n
g
“n
f
to
o
l”
i
n
co
m
m
a
n
d
w
in
d
o
w
w
e
ca
n
o
p
en
n
e
u
r
al
n
et
w
o
r
k
f
itti
n
g
to
o
l,
th
e
in
p
u
ts
an
d
tar
g
ets
a
r
e
i
m
p
o
r
ted
f
r
o
m
f
ile
s
t
o
r
ed
in
.
Ma
t
f
ile.
T
h
e
n
eu
r
al
n
et
tr
ain
i
n
g
is
b
eg
u
n
b
y
s
etti
n
g
v
alid
atio
n
an
d
test
i
n
g
as 1
5
% n
e
u
r
al
n
et
w
o
r
k
ar
ch
i
tectu
r
e
is
c
h
o
s
en
.
T
h
e
f
ee
d
f
o
r
w
ar
d
,
b
ac
k
p
r
o
p
ag
atio
n
n
e
u
r
al
n
et
w
i
th
o
n
e
h
id
d
en
la
y
er
is
s
elec
ted
.
T
h
e
h
id
d
en
la
y
er
o
f
2
0
n
eu
r
o
n
s
w
it
h
“
T
an
s
ig
”
(
s
ig
m
o
id
tr
a
n
s
f
er
f
u
n
ctio
n
)
is
s
elec
ted
an
d
o
u
tp
u
t
la
y
er
o
f
o
n
e
n
e
u
r
o
n
w
i
th
“
P
u
r
eli
n
”
(
li
n
ea
r
tr
a
n
s
f
er
f
u
n
c
tio
n
)
as
s
h
o
w
n
i
n
Fi
g
u
r
e
7
.
T
h
e
n
e
u
r
al
n
et
w
o
r
k
s
ar
e
tr
ain
e
d
u
s
i
n
g
L
e
v
e
n
b
u
r
g
-
M
ar
q
u
ar
d
t
alg
o
r
ith
m
.
A
NN
l
ea
r
n
s
b
y
ad
ap
tatio
n
o
f
w
ei
g
h
ts
in
o
r
d
er
to
co
n
f
o
r
m
to
th
e
tar
g
et
w
it
h
Me
a
n
s
q
u
ar
e
er
r
o
r
s
et
to
ze
r
o
.
T
h
e
b
est
v
alid
atio
n
at
1
0
0
0
ep
o
ch
is
s
h
o
w
n
in
Fig
u
r
e
8
.
On
ce
t
h
e
tr
ain
i
n
g
i
s
f
in
i
s
h
ed
th
e
n
eu
r
al
n
et
w
o
r
k
Si
m
u
li
n
k
b
lo
ck
is
g
e
n
er
at
ed
u
s
in
g
“g
en
s
i
m
”,
as
s
h
o
w
n
i
n
F
ig
u
r
e
9
.
W
h
ich
i
s
p
lace
d
in
t
h
e
Si
m
u
li
n
k
m
o
d
el
to
r
ep
lace
f
u
zz
y
lo
g
ic
b
ased
d
u
t
y
r
atio
co
n
tr
o
ller
.
T
h
e
tr
ain
ed
n
eu
r
al
n
etw
o
r
k
w
ill
s
e
lect
th
e
o
p
tim
a
l
d
u
t
y
r
atio
b
ased
o
n
t
h
e
to
r
q
u
e
er
r
o
r
,
r
ef
er
en
ce
f
l
u
x
a
n
d
s
tato
r
f
l
u
x
a
n
g
le
.
T
h
e
s
elec
ted
o
p
ti
m
al
d
u
t
y
r
atio
(
δ)
is
ap
p
lied
to
s
w
itc
h
i
n
g
v
ec
to
r
o
f
VSI
.
Fig
u
r
e
7
.
Neu
r
al
Net
w
o
r
k
s
b
a
s
ed
d
u
t
y
R
atio
C
o
n
tr
o
ller
A
r
c
h
itect
u
r
e
Fig
u
r
e
8
.
T
r
ain
in
g
p
er
f
o
r
m
a
n
c
e
o
f
NN
DR
C
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
-
AI
I
SS
N:
2252
-
8938
I
mp
r
o
ve
d
S
en
s
o
r
less
Dir
ec
t T
o
r
q
u
e
C
o
n
tr
o
l o
f I
n
d
u
ctio
n
Mo
to
r
Usi
n
g
F
u
z
z
y
Lo
g
ic
and
… (
S
u
d
h
ee
r
H
)
85
Fig
u
r
e
9
.
Si
m
u
li
n
k
M
o
d
el
o
f
Neu
r
al
Net
w
o
r
k
b
ased
DR
C
6.
RE
SU
L
T
S AN
D
AN
AL
Y
SI
S
I
n
o
r
d
er
to
test
t
h
e
e
f
f
ec
ti
v
en
e
s
s
o
f
F
u
zz
y
lo
g
ic
s
w
itch
in
g
co
n
tr
o
ller
w
it
h
F
u
zz
y
d
u
t
y
r
atio
co
n
tr
o
ller
an
d
Neu
r
al
Ne
t
w
o
r
k
b
ased
d
u
t
y
r
atio
co
n
tr
o
ller
in
i
m
p
r
o
v
e
m
en
t
o
f
d
y
n
a
m
ic
a
n
d
s
tead
y
s
tate
r
esp
o
n
s
e
o
f
d
r
iv
e,
r
esp
ec
tiv
e
Si
m
u
li
n
k
m
o
d
el
s
ar
e
s
i
m
u
lated
u
s
in
g
Ma
tlab
s
o
f
t
w
ar
e.
T
h
e
I
n
d
u
ct
io
n
m
o
to
r
in
itiall
y
s
u
b
j
ec
ted
to
a
r
ef
er
en
ce
s
p
ee
d
o
f
5
0
r
a
d
/s
ec
an
d
g
iv
e
n
a
s
u
d
d
en
ch
an
g
e
to
1
0
0
r
a
d
/s
ec
at
t
=0
.
4
s
ec
to
m
ea
s
u
r
e
tr
an
s
ie
n
t
an
d
s
tead
y
s
tate
b
eh
a
v
io
r
o
f
d
r
iv
e.
I
n
itiall
y
th
e
m
o
t
o
r
is
s
tar
ted
w
it
h
n
o
-
lo
ad
an
d
s
u
b
j
ec
ted
a
s
u
d
d
en
lo
ad
o
f
4
N
-
m
at
t=0
.
2
Sec
in
o
r
d
er
to
test
th
e
ef
f
ec
t
iv
e
n
es
s
o
f
f
ee
d
b
ac
k
lo
o
p
.
I
n
d
u
ctio
n
m
o
to
r
is
d
e
v
elo
p
ed
b
ased
o
n
th
e
p
ar
am
eter
s
lis
te
d
in
T
a
b
le
3
.
A
ll
s
i
m
u
latio
n
s
ar
e
ca
r
r
ied
o
v
er
a
s
am
p
li
n
g
ti
m
e
o
f
1
/1
0
0
0
0
Sec
w
h
ic
h
is
eq
u
i
v
ale
n
t t
o
s
a
m
p
lin
g
f
r
eq
u
e
n
c
y
o
f
1
0
k
Hz.
T
ab
le
3
.
I
n
d
u
ctio
n
m
o
to
r
P
ar
a
m
eter
s
S
y
mb
o
l
P
a
r
a
me
t
e
r
s
v
a
l
u
e
s
P
n
P
o
w
e
r
1
.
1
k
W
V
n
N
o
mi
n
a
l
V
o
l
t
a
g
e
4
0
0
/
2
3
0
V
I
n
N
o
mi
n
a
l
c
u
r
r
e
n
t
2
.
6
/
4
.
5
A
n
N
o
mi
n
a
l
S
p
e
e
d
1
4
2
0
r
p
m
F
F
r
e
q
u
e
n
c
y
5
0
H
z
p
P
a
i
r
p
o
l
e
2
Rs
S
t
a
t
o
r
r
e
si
st
a
n
c
e
7
.
6
Ω
Rr
R
o
t
o
r
r
e
si
st
a
n
c
e
3
.
6
Ω
Ls
S
t
a
t
o
r
i
n
d
u
c
t
a
n
c
e
0
.
6
0
1
5
H
Lr
R
o
t
o
r
i
n
d
u
c
t
a
n
c
e
0
.
6
0
1
5
H
L
m
M
u
t
u
a
l
i
n
d
u
c
t
a
n
c
e
0
.
5
7
9
6
H
J
M
o
me
n
t
o
f
i
n
e
r
t
i
a
0
.
0
0
4
9
K
g
·
m
2
Fig
u
r
e
1
1
.
(
a)
,
(
b
)
&
(
c)
illu
s
tr
ates
th
e
s
p
ee
d
r
esp
o
n
s
e
o
f
C
DT
C
,
FDT
C
w
ith
f
u
zz
y
DR
C
an
d
N
N
DR
C
.
Fi
g
u
r
e
1
1
(
a)
clea
r
l
y
i
n
d
icate
d
p
ea
k
o
v
er
s
h
o
o
t
w
h
e
n
th
e
m
o
to
r
is
s
u
b
j
ec
ted
to
s
tep
ch
an
g
e
i
n
r
e
f
er
en
c
e
s
p
ee
d
.
Fig
u
r
e
1
1
(
b
)
&
1
1
(
c)
s
h
o
w
s
t
h
at
t
h
e
s
p
ee
d
r
esp
o
n
s
e
i
s
s
m
o
o
th
w
i
th
o
u
t
a
n
y
o
v
er
s
h
o
o
ts
,
P
r
o
p
o
s
ed
FDT
C
w
it
h
t
h
e
d
u
t
y
r
atio
co
n
t
r
o
ller
ar
e
ab
le
t
o
tr
ac
k
s
m
o
o
th
l
y
th
e
s
u
d
d
en
v
ar
iatio
n
i
n
r
ef
e
r
en
ce
s
p
ee
d
.
Fig
u
r
e
1
2
.
(
a)
,
(
b
)
&
(
c)
illu
s
t
r
ates
th
e
T
o
r
q
u
e
r
esp
o
n
s
e
o
f
C
DT
C
,
FDT
C
w
ith
f
u
zz
y
DR
C
an
d
N
N
DR
C
.
F
ig
u
r
e
1
2
(
a)
clea
r
ly
in
d
i
ca
tes
h
i
g
h
to
r
q
u
e
r
ip
p
le
o
f
ar
o
u
n
d
r
ef
er
en
ce
v
al
u
e
(
4
±
1
.
2
N
-
m
)
d
u
e
to
p
r
esen
ce
o
f
h
y
s
ter
esi
s
b
an
d
an
d
co
n
v
e
n
tio
n
al
s
w
i
tch
in
g
tab
le.
Fig
u
r
e
1
2
(
b
)
&
(
c)
s
h
o
w
s
th
at
to
r
q
u
e
r
ip
p
les
ar
e
r
ed
u
ce
d
b
y
8
5
%
(
4
±
0
.
2
N
-
m
)
in
ca
s
e
o
f
FDT
C
w
ith
Fu
zz
y
DR
C
.
Fi
g
u
r
e
7
(
c)
il
lu
s
tr
ate
s
th
a
t
to
r
q
u
e
r
esp
o
n
s
e
is
s
m
o
o
t
h
er
an
d
le
s
s
r
ip
p
le
in
F
DT
C
w
ith
NN
DR
C
co
m
p
ar
ed
to
C
DT
C
an
d
FDT
C
w
it
h
Fu
zz
y
DR
C
.
(
a)
C
DT
C
(
a)
C
DT
C
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8938
IJ
-
AI
Vo
l.
6
,
No
.
1
,
Ma
r
ch
2
0
1
7
:
79
–
90
86
(
b
)
FD
T
C
w
it
h
F
u
zz
y
DR
C
(
b
)
FD
T
C
w
it
h
F
u
zz
y
DR
C
(
c)
FDT
C
w
ith
N
N
DR
C
(
c)
FDT
C
w
ith
N
N
DR
C
Fig
u
r
e
1
1
.
Sp
ee
d
r
esp
o
n
s
e
o
f
i
n
d
u
ctio
n
m
o
to
r
Fig
u
r
e
1
2
.
T
o
r
q
u
e
r
esp
o
n
s
e
o
f
in
d
u
ctio
n
m
o
to
r
Fig
u
r
e
1
3
.
(
a)
,
(
b
)
&
(
c)
illu
s
tr
ate
th
e
Fl
u
x
r
esp
o
n
s
e
o
f
C
DT
C
,
FDT
C
w
it
h
f
u
zz
y
DR
C
an
d
N
N
DR
C
.
Fi
g
u
r
e
1
3
(
a)
clea
r
ly
i
n
d
icate
s
h
i
g
h
f
l
u
x
r
ip
p
les
ar
o
u
n
d
r
ef
er
en
ce
v
a
lu
e
(
0
.
9
2
4
±
0
.
0
8
N
-
m
)
u
s
i
n
g
co
n
v
e
n
tio
n
al
s
w
itc
h
i
n
g
tab
le.
Fig
u
r
e
1
3
(
b
)
&
(
c)
s
h
o
w
s
t
h
a
t
Flu
x
r
ip
p
les
ar
e
r
ed
u
ce
d
b
y
7
5
%
(
0
.
9
2
4
±
0
.
0
2
N
-
m
)
in
ca
s
e
o
f
FDT
C
w
it
h
F
u
zz
y
D
R
C
an
d
FDT
C
w
it
h
N
N
DR
C
co
m
p
ar
ed
to
C
DT
C
.
Fig
u
r
e
1
4
.
(
a)
,
(
b
)
&
(
c)
illu
s
tr
ate
th
e
3
p
h
ase
Stato
r
cu
r
r
en
ts
d
r
a
w
n
b
y
i
n
d
u
ctio
n
m
o
to
r
u
s
i
n
g
C
DT
C
,
FDT
C
w
it
h
f
u
zz
y
D
R
C
an
d
NN
DR
C
.
Fig
u
r
e
1
4
(
a
)
clea
r
ly
i
n
d
icate
s
t
h
e
cu
r
r
en
t
d
r
a
w
n
u
s
i
n
g
C
DT
C
co
n
tain
s
lar
g
e
a
m
o
u
n
t
o
f
h
ar
m
o
n
ics
co
m
p
ar
ed
t
o
cu
r
r
en
ts
d
r
a
w
n
b
y
u
s
i
n
g
FDT
C
w
it
h
F
u
z
z
y
DR
C
an
d
FDT
C
w
it
h
NN
D
R
C
as d
ep
icted
in
Fig
u
r
e
1
4
(
b
)
&
1
4
(
c)
.
(
a)
C
DT
C
(
a)
C
DT
C
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
-
AI
I
SS
N:
2252
-
8938
I
mp
r
o
ve
d
S
en
s
o
r
less
Dir
ec
t T
o
r
q
u
e
C
o
n
tr
o
l o
f I
n
d
u
ctio
n
Mo
to
r
Usi
n
g
F
u
z
z
y
Lo
g
ic
and
… (
S
u
d
h
ee
r
H
)
87
(
b
)
FD
T
C
w
it
h
F
u
zz
y
DR
C
(
b
)
FD
T
C
w
it
h
F
u
zz
y
DR
C
(
c)
FDT
C
w
ith
N
N
DR
C
(
c)
FDT
C
w
ith
N
N
DR
C
Fig
u
r
e
1
3
.
Stato
r
Flu
x
r
esp
o
n
s
e
o
f
in
d
u
ct
io
n
m
o
to
r
Fig
u
r
e
1
4
.
Stato
r
cu
r
r
en
ts
o
f
i
n
d
u
ctio
n
m
o
to
r
(
a)
C
DT
C
(
b
)
FD
T
C
w
it
h
F
u
zz
y
DR
C
(
c)
FDT
C
w
ith
N
N
DR
C
Fig
u
r
e
1
5
.
Stato
r
Flu
x
T
r
aj
ec
t
o
r
y
p
ath
o
f
I
n
d
u
ct
io
n
m
o
to
r
Fig
u
r
e
1
5
.
(
a)
,
(
b
)
&
(
c)
illu
s
t
r
ate
th
e
f
l
u
x
tr
aj
ec
to
r
y
p
at
h
u
s
in
g
C
DT
C
,
FDT
C
w
it
h
f
u
zz
y
DR
C
a
n
d
NN
DR
C
.
Fi
g
u
r
e
1
5
(
b
)
clea
r
l
y
i
n
d
icate
s
t
h
at
s
m
o
o
t
h
f
l
u
x
tr
aj
ec
to
r
y
d
u
r
in
g
s
w
itc
h
o
f
s
t
ates
is
o
b
s
er
v
ed
i
n
FDT
C
w
it
h
F
u
zz
y
DR
C
co
m
p
ar
ed
to
o
th
er
tw
o
s
c
h
e
m
es
7.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
p
r
o
p
o
s
es
th
e
u
s
e
o
f
F
u
zz
y
lo
g
ic
co
n
tr
o
ller
alo
n
g
w
i
th
Fu
zz
y
a
n
d
Neu
r
al
Net
wo
r
k
b
ased
d
u
t
y
r
atio
co
n
tr
o
ller
f
o
r
i
m
p
r
o
v
e
m
e
n
t
s
i
n
Se
n
s
o
r
less
C
o
n
v
e
n
tio
n
al
DT
C
o
f
I
n
d
u
ctio
n
m
o
to
r
.
T
h
e
Fu
zz
y
L
o
g
ic
s
w
itc
h
in
g
co
n
tr
o
ller
s
elec
ts
o
p
tim
a
l
s
w
itc
h
in
g
s
tate
t
o
m
ee
t
th
e
to
r
q
u
e
d
e
m
an
d
a
n
d
r
ef
er
en
ce
s
p
ee
d
o
f
I
n
d
u
ctio
n
m
o
to
r
.
B
u
t
t
h
e
s
w
it
ch
in
g
s
tate
s
elec
ted
w
ill
b
e
ap
p
lied
f
o
r
an
e
n
tire
s
w
itc
h
i
n
g
p
er
io
d
.
Fu
zz
y
Du
t
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8938
IJ
-
AI
Vo
l.
6
,
No
.
1
,
Ma
r
ch
2
0
1
7
:
79
–
90
88
r
atio
co
n
tr
o
ller
s
an
d
Ne
u
r
al
Net
w
o
r
k
s
b
ased
Du
t
y
r
atio
c
o
n
tr
o
ller
g
e
n
er
ates
o
p
ti
m
al
d
u
t
y
r
atio
(
δ)
w
h
ic
h
in
d
icate
s
t
h
e
ti
m
e
f
o
r
w
h
ic
h
ac
tiv
e
s
w
i
tch
i
n
g
s
tate
is
ap
p
li
ed
an
d
ze
r
o
s
w
itc
h
i
n
g
s
tate
is
ap
p
lied
r
em
ai
n
i
n
g
ti
m
e.
Si
m
u
latio
n
r
es
u
lt
s
v
al
id
ate
th
at
Usi
n
g
FDT
C
w
ith
F
u
zz
y
DR
C
o
r
NN
DR
C
t
h
e
to
r
q
u
e
an
d
f
l
u
s
r
ip
p
les
ar
e
r
ed
u
ce
d
,
im
p
r
o
v
ed
d
y
n
a
m
i
c
an
d
s
tea
d
y
s
tate
r
esp
o
n
s
e
o
f
in
d
u
ctio
n
m
o
to
r
ca
n
b
e
ac
h
ie
v
ed
.
I
n
Fu
zz
y
DR
C
o
n
ce
th
e
r
u
le
b
ase
is
p
r
ep
ar
ed
it
w
i
ll
b
e
v
alid
ated
f
o
r
a
ll
ch
an
g
es
i
n
re
f
er
en
ce
s
p
ee
d
o
r
lo
ad
T
o
r
q
u
e.
I
n
NN
D
R
C
w
e
n
ee
d
to
r
etr
ain
t
h
e
n
eu
r
al
n
et
w
o
r
k
f
o
r
s
e
le
ctio
n
o
f
o
p
ti
m
al
d
u
t
y
r
atio
.
S
o
DT
C
w
it
h
F
u
zz
y
s
w
itc
h
in
g
co
n
tr
o
ller
an
d
Fu
zz
y
D
R
C
w
e
ca
n
ac
h
ie
v
e
f
as
t
d
y
n
a
m
ic
r
esp
o
n
s
e
an
d
i
m
p
r
o
v
ed
s
tead
y
r
esp
o
n
s
e
o
f
in
d
u
ctio
n
m
o
to
r
ca
n
b
e
ac
h
ie
v
ed
.
RE
F
E
R
E
NC
E
S
[1
]
I.
T
a
k
a
h
a
sh
i
a
n
d
T
.
No
g
u
c
h
i,
"
A
Ne
w
Qu
ick
-
R
e
sp
o
n
se
a
n
d
Hig
h
-
Eff
icie
n
c
y
Co
n
tro
l
S
trate
g
y
o
f
a
n
In
d
u
c
ti
o
n
M
o
to
r
,
"
in
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
In
d
u
stry
Ap
p
li
c
a
ti
o
n
s
,
v
o
l
.
IA
-
2
2
,
n
o
.
5
,
p
p
.
8
2
0
-
8
2
7
,
S
e
p
t.
1
9
8
6
.
d
o
i:
1
0
.
1
1
0
9
/T
IA
.
1
9
8
6
.
4
5
0
4
7
9
9
.
[2
]
I.
T
a
k
a
h
a
sh
i
a
n
d
Y.
O
h
m
o
ri,
"
Hig
h
-
p
e
rf
o
r
m
a
n
c
e
d
irec
t
to
rq
u
e
c
o
n
tro
l
o
f
a
n
in
d
u
c
ti
o
n
m
o
to
r,
"
in
IE
EE
T
ra
n
sa
c
ti
o
n
s
o
n
I
n
d
u
stry
Ap
p
li
c
a
t
io
n
s
,
v
o
l.
2
5
,
n
o
.
2
,
p
p
.
2
5
7
-
2
6
4
,
M
a
r/A
p
r
1
9
8
9
.
d
o
i:
1
0
.
1
1
0
9
/2
8
.
2
5
5
4
0
P
.
[3
]
P
e
ter
V
a
s,
“
se
n
so
rles
s
V
e
c
to
r
a
n
d
Dire
c
t
T
o
rq
u
e
Co
n
tro
l”,
Ox
f
o
rd
Un
iv
e
rsit
y
P
re
ss
,
1
9
9
8
.
[4
]
M
.
P
.
Ka
z
m
i
e
rk
o
w
sk
i
a
n
d
A
.
B.
Ka
sp
ro
w
icz
,
"
I
m
p
ro
v
e
d
d
irec
t
to
rq
u
e
a
n
d
f
lu
x
v
e
c
to
r
c
o
n
tro
l
o
f
P
W
M
in
v
e
rter
-
f
e
d
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,"
in
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
I
n
d
u
stria
l
El
e
c
tr
o
n
ics
,
v
o
l.
4
2
,
n
o
.
4
,
p
p
.
3
4
4
-
3
5
0
,
A
u
g
1
9
9
5
.
d
o
i:
1
0
.
1
1
0
9
/
4
1
.
4
0
2
4
7
2
.
[5
]
S
u
d
h
e
e
r
H,
S
a
rv
e
sh
B
a
n
d
K
o
d
a
d
S
F
“
Im
p
ro
v
e
d
F
u
z
z
y
L
o
g
ic
b
a
se
d
DT
C
o
f
In
d
u
c
ti
o
n
m
a
c
h
in
e
f
o
r
w
id
e
ra
n
g
e
o
f
sp
e
e
d
c
o
n
tr
o
l
u
sin
g
A
I
b
a
se
d
c
o
n
t
ro
ll
e
rs
”
J
o
u
rn
a
l
o
f
E
lec
trica
l
S
y
st
e
ms
,
1
2
-
2
(
2
0
1
6
)
.
3
0
1
-
3
1
4
.
[6
]
Ju
n
-
Ko
o
Ka
n
g
a
n
d
S
e
u
n
g
-
Ki
S
u
l,
"
Ne
w
d
irec
t
to
rq
u
e
c
o
n
tr
o
l
o
f
in
d
u
c
ti
o
n
m
o
to
r
f
o
r
m
in
im
u
m
to
rq
u
e
rip
p
le
a
n
d
c
o
n
sta
n
t
sw
it
c
h
in
g
f
re
q
u
e
n
c
y
,
"
i
n
IEE
E
T
r
a
n
sa
c
t
io
n
s
o
n
I
n
d
u
str
y
Ap
p
li
c
a
ti
o
n
s
,
v
o
l.
3
5
,
n
o
.
5
,
p
p
.
1
0
7
6
-
1
0
8
2
,
S
e
p
/Oc
t
1
9
9
9
.
d
o
i:
1
0
.
1
1
0
9
/2
8
.
7
9
3
3
6
8
.
[7
]
P
.
Z.
G
ra
b
o
w
sk
i,
M
.
P
.
Ka
z
m
ierk
o
w
sk
i,
B.
K.
Bo
se
a
n
d
F
.
Blaa
b
je
rg
,
"
A
si
m
p
le d
irec
t
-
to
rq
u
e
n
e
u
r
o
-
f
u
z
z
y
c
o
n
tro
l
o
f
P
W
M
-
in
v
e
rter
-
f
e
d
in
d
u
c
ti
o
n
m
o
t
o
r
d
r
iv
e
,
"
in
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l.
4
7
,
n
o
.
4
,
p
p
.
8
6
3
-
8
7
0
,
A
u
g
2
0
0
0
.
d
o
i
:
1
0
.
1
1
0
9
/
4
1
.
8
5
7
9
6
6
.
[8
]
F
a
ti
h
a
Zi
d
a
n
i,
Ra
c
h
id
Na
it
,
“
Dir
e
c
t
T
o
rq
u
e
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
to
r
w
it
h
F
u
z
z
y
M
in
im
iza
ti
o
n
T
o
rq
u
e
Rip
p
le”
,
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
.
5
6
(7
-
8
):
1
8
3
-
1
8
.
[9
]
Y.
Zh
a
n
g
,
J.
Zh
u
,
Z
.
Zh
a
o
,
W
.
X
u
a
n
d
D.
G
.
Do
rre
ll
,
"
A
n
I
m
p
ro
v
e
d
Dire
c
t
T
o
rq
u
e
Co
n
tro
l
f
o
r
T
h
re
e
-
L
e
v
e
l
In
v
e
rter
-
F
e
d
In
d
u
c
ti
o
n
M
o
t
o
r
S
e
n
so
rles
s
Dri
v
e
,
"
in
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Po
we
r
El
e
c
tro
n
ics
,
v
o
l
.
2
7
,
n
o
.
3
,
p
p
.
1
5
0
2
-
1
5
1
3
,
M
a
rc
h
2
0
1
2
.
d
o
i:
1
0
.
1
1
0
9
/T
P
EL
.
2
0
1
0
.
2
0
4
3
5
4
3
.
[1
0
]
S
.
S
.
S
e
b
tah
m
a
d
i,
H.
P
iras
teh
,
S
.
H.
A
g
h
a
y
Ka
b
o
li
,
A
.
Ra
d
a
n
a
n
d
S
.
M
e
k
h
il
e
f
,
"
A
1
2
-
S
e
c
to
r
S
p
a
c
e
Ve
c
to
r
S
w
it
c
h
in
g
S
c
h
e
m
e
f
o
r
P
e
rf
o
rm
a
n
c
e
I
m
p
ro
v
e
m
e
n
t
o
f
M
a
tri
x
-
Co
n
v
e
rter
-
Ba
se
d
DT
C
o
f
IM
Driv
e
,
"
in
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Po
we
r E
lec
tro
n
ics
,
v
o
l
.
3
0
,
n
o
.
7
,
p
p
.
3
8
0
4
-
3
8
1
7
,
J
u
ly
2
0
1
5
.
d
o
i:
1
0
.
1
1
0
9
/T
P
EL
.
2
0
1
4
.
2
3
4
7
4
5
7
.
[1
1
]
S
.
Ko
u
ro
,
R
.
Be
rn
a
l,
H.
M
iran
d
a
,
C.
A
.
S
il
v
a
a
n
d
J.
Ro
d
rig
u
e
z
,
"
Hig
h
-
P
e
rf
o
rm
a
n
c
e
T
o
rq
u
e
a
n
d
F
lu
x
Co
n
tr
o
l
f
o
r
M
u
lt
il
e
v
e
l
In
v
e
rter
F
e
d
In
d
u
c
ti
o
n
M
o
to
rs,"
i
n
I
EE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
P
o
we
r
El
e
c
tro
n
ics
,
v
o
l.
2
2
,
n
o
.
6
,
p
p
.
2
1
1
6
-
2
1
2
3
,
N
o
v
.
2
0
0
7
.
d
o
i:
1
0
.
1
1
0
9
/T
P
EL
.
2
0
0
7
.
9
0
9
1
8
9
.
[1
2
]
S
.
A
.
M
ir,
M
.
E.
El
b
u
l
u
k
a
n
d
D.
S
.
Zi
n
g
e
r,
"
F
u
z
z
y
i
m
p
le
m
e
n
tatio
n
o
f
d
irec
t
se
l
f
-
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
a
c
h
in
e
s,"
in
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stry
A
p
p
li
c
a
ti
o
n
s
,
v
o
l
.
3
0
,
n
o
.
3
,
p
p
.
7
2
9
-
7
3
5
,
M
a
y
-
Ju
n
e
1
9
9
4
.
d
o
i:
1
0
.
1
1
0
9
/
2
8
.
2
9
3
7
2
3
.
[1
3
]
S
.
G
d
a
i
m
,
A
.
M
ti
b
a
a
a
n
d
M
.
F
.
M
im
o
u
n
i,
"
De
sig
n
a
n
d
Ex
p
e
ri
m
e
n
tal
Im
p
le
m
e
n
tatio
n
o
f
DT
C
o
f
a
n
In
d
u
c
ti
o
n
M
a
c
h
in
e
Ba
se
d
o
n
F
u
z
z
y
L
o
g
ic
Co
n
tr
o
l
o
n
F
P
G
A
,
"
in
IEE
E
T
ra
n
sa
c
ti
o
n
s o
n
F
u
zz
y
S
y
ste
ms
,
v
o
l.
2
3
,
n
o
.
3
,
p
p
.
6
4
4
-
6
5
5
,
Ju
n
e
2
0
1
5
.
d
o
i
:
1
0
.
1
1
0
9
/T
F
UZZ.
2
0
1
4
.
2
3
2
1
6
1
2
.
[1
4
]
P
.
V
a
s,
A
.
F
.
S
tro
n
a
c
h
,
M
.
Ra
sh
e
d
a
n
d
M
.
Ne
u
r
o
th
,
"
Im
p
le
m
e
n
tatio
n
o
f
A
NN
-
b
a
s
e
d
se
n
so
rles
s
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,"
El
e
c
trica
l
M
a
c
h
in
e
s
a
n
d
Dr
ive
s,
1
9
9
9
.
Ni
n
th
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
(
Co
n
f
.
Pu
b
l
.
No
.
4
6
8
)
,
Ca
n
terb
u
ry
,
1
9
9
9
,
p
p
.
3
2
9
-
3
3
3
.
d
o
i:
1
0
.
1
0
4
9
/c
p
:1
9
9
9
1
0
4
5
.
[1
5
]
S
u
d
h
e
e
r
H,
Ko
d
a
d
S
F
a
n
d
S
a
rv
e
sh
B,
“
Dire
c
t
T
o
rq
u
e
a
n
d
F
lu
x
c
o
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
a
c
h
in
e
u
si
n
g
F
u
z
z
y
L
o
g
ic
c
o
n
tro
ll
e
r”
in
jo
u
rn
a
l
o
f
At
ti
d
e
l
l
A
“
Fo
n
d
Azio
n
e
Gio
rG
io
ro
n
c
h
i”
Italy
A
n
n
o
IXX
I,
2
0
1
6
-
n
.
3
p
p
:
2
4
3
-
2
5
3
.
[1
6
]
F
a
y
e
z
G
.
Are
e
d
,
Am
ira
Y.
Ha
i
k
a
l,
Re
h
a
m
H.
M
o
h
a
m
m
e
d
,
A
d
a
p
ti
v
e
n
e
u
ro
-
f
u
z
z
y
c
o
n
tro
l
o
f
a
n
in
d
u
c
ti
o
n
m
o
to
r,
Ai
n
S
h
a
ms
En
g
i
n
e
e
rin
g
J
o
u
r
n
a
l
,
V
o
l
u
m
e
1
,
Iss
u
e
1
,
S
e
p
te
m
b
e
r
2
0
1
0
,
P
a
g
e
s
7
1
-
7
8
,
I
S
S
N
2
0
9
0
-
4
4
7
9
,
h
tt
p
:
//
d
x
.
d
o
i.
o
rg
/1
0
.
1
0
1
6
/j
.
a
se
j.
2
0
1
0
.
0
9
.
0
0
8
.
[1
7
]
A
.
L
.
Orill
e
,
G
.
M
.
A
.
S
o
w
il
a
m
,
Pro
c
e
e
d
in
g
s
o
f
th
e
2
4
t
h
i
n
ter
n
a
ti
o
n
a
l
c
o
n
fer
e
n
c
e
o
n
c
o
mp
u
ter
s
a
n
d
in
d
u
stria
l
e
n
g
in
e
e
rin
g
A
p
p
li
c
a
ti
o
n
o
f
n
e
u
ra
l
n
e
two
rk
s
fo
r
d
ire
c
t
to
r
q
u
e
c
o
n
tr
o
l,
C
o
mp
u
ter
s
&
In
d
u
stria
l
E
n
g
in
e
e
rin
g
,
V
o
l
u
m
e
3
7
,
Iss
u
e
1
,
1
9
9
9
,
P
a
g
e
s 3
9
1
-
3
9
4
.
h
tt
p
:/
/
d
x
.
d
o
i
.
o
rg
/1
0
.
1
0
1
6
/
S
0
3
6
0
-
8
3
5
2
(
9
9
)
0
0
1
0
1
-
1
.
[1
8
]
X
u
e
z
h
i
W
u
a
n
d
L
ip
e
i
Hu
a
n
g
,
"
Dire
c
t
to
rq
u
e
c
o
n
tr
o
l
o
f
th
re
e
-
lev
e
l
in
v
e
rter
u
sin
g
n
e
u
ra
l
n
e
t
w
o
rk
s
a
s
s
w
it
c
h
in
g
v
e
c
to
r
se
lec
to
r,
"
In
d
u
stry
Ap
p
li
c
a
ti
o
n
s
Co
n
fer
e
n
c
e
,
2
0
0
1
.
T
h
irty
-
S
ixth
IA
S
A
n
n
u
a
l
M
e
e
ti
n
g
.
Co
n
fe
re
n
c
e
Rec
o
rd
o
f
th
e
2
0
0
1
IEE
E
,
Ch
ica
g
o
,
IL
,
USA
,
2
0
0
1
,
p
p
.
9
3
9
-
9
4
4
v
o
l.
2
.
d
o
i:
1
0
.
1
1
0
9
/IA
S
.
2
0
0
1
.
9
5
5
5
6
5
.
[1
9
]
S
.
G
d
a
im
,
A
.
M
ti
b
a
a
a
n
d
M
.
F
.
M
im
o
u
n
i,
“
Dire
c
t
T
o
rq
u
e
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
a
c
h
in
e
b
a
se
d
o
n
In
tell
ig
e
n
t
T
e
c
h
n
iq
u
e
s,"
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
mp
u
ter
Ap
p
l
ica
ti
o
n
s
(0
9
7
5
–
8
8
8
7
)
Vo
lu
m
e
1
0
–
No
.
8
,
No
v
e
m
b
e
r
2
0
1
0
,
p
p
.
2
9
-
3
4
.
[2
0
]
D.
T
e
l
f
o
rd
,
M
.
W
.
Du
n
n
ig
a
n
a
n
d
B.
W
.
W
il
li
a
m
s,
"
A
n
o
v
e
l
to
rq
u
e
-
rip
p
le
re
d
u
c
ti
o
n
stra
teg
y
f
o
r
d
irec
t
to
rq
u
e
c
o
n
tro
l
[o
f
in
d
u
c
ti
o
n
m
o
to
r
]
,
"
i
n
IE
EE
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tro
n
ics
,
v
o
l.
4
8
,
n
o
.
4
,
p
p
.
8
6
7
-
8
7
0
,
A
u
g
2
0
0
1
.
d
o
i:
1
0
.
1
1
0
9
/
4
1
.
9
3
7
4
2
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.