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p
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rm
a
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lu
a
ted
u
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g
th
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it
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K
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o
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d
s
:
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v
an
ce
d
m
o
to
r
c
o
n
tr
o
l
tech
n
iq
u
es
AI
-
b
ased
to
r
q
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e
r
ip
p
le
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s
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latio
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p
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CC B
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SA
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Dep
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.
co
m
1.
I
NT
RO
D
UCT
I
O
N
D
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m
o
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s
(
S
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-
s
p
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ed
d
r
iv
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a
p
p
l
i
ca
t
i
o
n
s
[
1
]
.
W
i
t
h
o
u
t
e
i
th
e
r
a
c
o
m
m
u
ta
t
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d
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en
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w
ab
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m
s
[
2
]
.
T
h
e
i
r
t
en
d
en
c
y
t
o
d
e
v
e
lo
p
to
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q
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r
ip
p
l
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s
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m
a
jo
r
d
r
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c
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R
M
s
,
d
e
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p
it
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t
h
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s
e
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d
v
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n
t
ag
e
s
.
T
h
e
p
r
im
ar
y
s
o
u
r
ce
s
o
f
to
r
q
u
e
r
ip
p
les
in
SR
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ar
is
e
f
r
o
m
th
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o
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lin
ea
r
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ter
d
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p
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g
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ex
citatio
n
cu
r
r
en
t,
an
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m
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g
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l
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x
[
3
]
.
T
h
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in
ter
ac
tio
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b
etwe
en
th
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s
alien
t
p
o
les
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f
th
e
s
tato
r
an
d
r
o
to
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lead
s
to
f
lu
ctu
atio
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s
in
o
u
tp
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t
to
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q
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e
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wh
ich
in
tu
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g
en
er
ate
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n
d
esira
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tic
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m
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ical
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tr
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h
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s
e
f
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tu
r
e
s
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a
d
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m
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en
s
i
t
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ap
p
l
i
ca
t
i
o
n
s
[
3
]
.
T
h
e
r
elu
ctan
ce
m
o
to
r
is
a
ty
p
e
o
f
s
y
n
ch
r
o
n
o
u
s
m
ac
h
in
e.
I
ts
s
tato
r
win
d
in
g
s
ar
e
wo
u
n
d
as
f
i
eld
co
ils
,
s
im
ilar
to
th
o
s
e
in
a
d
ir
ec
t
cu
r
r
en
t
(
DC
)
m
o
to
r
,
wh
ile
its
r
o
to
r
h
as
n
o
co
ils
o
r
m
a
g
n
ets.
Fig
u
r
e
1
s
h
o
ws
th
e
s
tr
u
ctu
r
e
o
f
a
s
witch
ed
r
elu
ct
an
ce
m
o
to
r
.
W
h
ile
b
o
th
th
e
s
tato
r
an
d
r
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t
o
r
ar
e
s
alien
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p
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l
es,
th
e
m
ac
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in
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is
co
n
s
id
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a
d
o
u
b
ly
s
alien
t m
ac
h
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e.
T
h
e
g
en
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ate
d
to
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q
u
e
in
a
s
w
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r
elu
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ce
m
o
to
r
is
d
u
e
to
r
elu
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ce
to
r
q
u
e.
T
h
e
r
o
to
r
alig
n
s
its
elf
wh
en
ev
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d
iam
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ically
o
p
p
o
s
ite
s
tato
r
p
o
les
ar
e
en
er
g
ized
.
I
n
a
m
a
g
n
etic
cir
cu
it,
th
e
r
o
to
r
n
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r
all
y
m
o
v
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to
war
d
th
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p
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s
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o
f
m
in
im
u
m
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u
p
o
n
e
x
citatio
n
.
W
h
en
two
r
o
t
o
r
p
o
les
alig
n
with
two
s
tato
r
p
o
les,
an
o
th
er
s
et
o
f
r
o
t
o
r
p
o
les r
em
ain
s
o
u
t o
f
alig
n
m
en
t w
ith
a
d
if
f
er
en
t set o
f
s
tato
r
p
o
les.
T
h
en
th
ese
s
tato
r
p
o
les ar
e
en
er
g
ized
,
b
r
i
n
g
in
g
t
h
e
r
o
to
r
p
o
les in
to
alig
n
m
en
t w
ith
th
em
[
4
]
,
[
5
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
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lec
&
Dr
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s
t
I
SS
N:
2088
-
8
6
9
4
To
r
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ip
p
les r
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p
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s
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to
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b
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tal
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in
Fig
u
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.
Fig
u
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2
ass
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ated
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2
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d
r
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to
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2
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b
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.
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t,
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l
at
i
o
n
s
,
wh
e
r
e
r
e
s
u
l
ts
wi
l
l
b
e
c
o
m
p
a
r
e
d
w
i
t
h
b
o
t
h
P
I
c
o
n
t
r
o
l
a
n
d
t
r
a
d
i
t
i
o
n
a
l
S
R
M
o
p
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r
a
t
i
o
n
w
i
t
h
o
u
t
t
o
r
q
u
e
c
o
m
p
e
n
s
at
i
o
n
.
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
To
r
q
u
e
r
ip
p
les r
ed
u
ctio
n
a
n
d
s
p
ee
d
co
n
tr
o
l o
f
a
s
w
itch
ed
r
elu
cta
n
ce
mo
to
r
b
a
s
ed
…
(
R
a
d
y
F
a
r
o
u
k
S
o
lima
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)
939
2.
M
E
T
H
O
D
2
.
1
.
S
im
u
l
a
t
i
o
n
s
et
u
p
T
o
en
s
u
r
e
r
ep
r
o
d
u
ci
b
ilit
y
an
d
p
r
o
v
id
e
a
clea
r
u
n
d
er
s
tan
d
in
g
o
f
th
e
m
eth
o
d
o
lo
g
y
,
a
d
etailed
d
escr
ip
tio
n
o
f
th
e
s
im
u
latio
n
s
etu
p
is
a
d
d
ed
b
elo
w.
T
h
e
s
im
u
latio
n
was
co
n
d
u
cted
u
s
in
g
M
AT
L
AB
/Si
m
u
lin
k
,
an
d
th
e
f
o
llo
win
g
to
o
ls
an
d
p
ar
am
eter
s
wer
e
em
p
lo
y
ed
.
T
h
e
s
im
u
latio
n
was
d
esig
n
ed
to
em
u
late
th
e
o
p
er
atio
n
o
f
a
s
witch
ed
r
el
u
ctan
ce
m
o
to
r
u
n
d
er
v
a
r
y
in
g
c
o
n
d
itio
n
s
.
MA
T
L
AB
/Si
m
u
lin
k
R
2
0
2
3
a
was u
tili
ze
d
,
in
co
r
p
o
r
atin
g
th
e
f
o
llo
win
g
k
e
y
co
m
p
o
n
en
ts
:
-
C
o
n
tr
o
ller
s
:
i)
f
u
zz
y
l
o
g
ic
co
n
tr
o
ller
an
d
ii)
p
r
o
p
o
r
tio
n
al
-
in
t
eg
r
al
(
PI)
c
o
n
tr
o
ller
.
-
Mo
to
r
m
o
d
el
:
s
witch
ed
r
elu
ct
an
ce
m
o
to
r
with
s
ix
s
tato
r
p
o
l
es a
n
d
f
o
u
r
r
o
t
o
r
p
o
les.
-
Hy
s
ter
esis
b
an
d
cu
r
r
en
t
co
n
t
r
o
ller
:
m
ain
tain
s
p
h
ase
c
u
r
r
en
ts
with
in
a
s
p
ec
if
ie
d
r
an
g
e
to
r
ed
u
ce
to
r
q
u
e
r
ip
p
les.
T
h
e
g
en
er
al
s
tr
u
ctu
r
e
o
f
th
e
s
im
u
latio
n
is
illu
s
tr
ated
in
Fi
g
u
r
e
5
.
T
h
e
d
iag
r
am
in
clu
d
es
th
e
SR
M
m
o
d
el,
to
r
q
u
e
co
n
tr
o
ller
,
s
p
e
ed
co
n
tr
o
ller
,
an
d
cu
r
r
en
t
c
o
n
tr
o
ller
.
T
h
ese
co
m
p
o
n
en
ts
a
r
e
in
ter
co
n
n
ec
ted
to
f
o
r
m
a
cl
o
s
ed
-
lo
o
p
s
y
s
tem
en
s
u
r
in
g
p
r
ec
is
e
to
r
q
u
e
r
ip
p
le
r
ed
u
ctio
n
an
d
s
p
ee
d
r
e
g
u
latio
n
.
2
.
2
.
F
u
z
z
y
l
o
g
i
c
s
p
e
e
d
co
n
t
ro
l
l
e
r
T
h
e
r
e
f
er
e
n
c
e
s
p
ee
d
in
p
u
t
f
e
d
t
o
th
e
s
p
ee
d
c
o
n
t
r
o
l
le
r
i
s
to
b
e
f
o
l
l
o
we
d
b
y
t
h
e
m
o
to
r
s
p
ee
d
.
I
n
th
i
s
w
o
r
k
,
a
f
u
z
zy
l
o
g
i
c
s
p
e
ed
co
n
t
r
o
l
le
r
i
s
d
e
s
ig
n
ed
w
h
ic
h
p
r
o
v
i
d
e
s
a
n
ap
p
r
o
p
r
i
a
t
e
r
e
f
e
r
en
c
e
t
o
r
q
u
e
s
ig
n
a
l
in
o
r
d
e
r
t
o
r
e
g
u
l
a
t
e
th
e
m
o
t
o
r
s
p
e
e
d
b
y
t
a
k
in
g
th
e
s
p
e
ed
e
r
r
o
r
a
s
a
n
i
n
p
u
t
.
F
i
g
u
r
e
6
d
e
p
i
c
t
s
th
e
s
t
r
u
c
tu
r
e
o
f
th
e
f
u
z
zy
lo
g
i
c
s
p
e
ed
co
n
tr
o
l
l
er
.
T
h
e
i
n
p
u
ts
to
t
h
e
f
u
z
z
y
l
o
g
i
c
c
o
n
tr
o
l
le
r
ar
e:
s
p
ee
d
er
r
o
r
(
e
=
r
ef
er
en
ce
s
p
ee
d
−
a
ct
u
al
s
p
ee
d
)
,
c
h
a
n
g
e
in
s
p
e
ed
er
r
o
r
(
Δ
e
)
.
T
h
e
o
u
t
p
u
t
is
t
h
e
r
ef
er
e
n
ce
to
r
q
u
e,
a
d
j
u
s
t
in
g
t
h
e
t
o
r
q
u
e
o
f
t
h
e
m
o
t
o
r
t
o
m
ai
n
ta
in
th
e
s
et
s
p
e
ed
.
T
h
e
c
o
n
t
r
o
lle
r
u
s
ed
h
e
r
e
e
n
h
a
n
ce
s
p
r
e
cisi
o
n
b
y
th
e
f
o
l
lo
w
in
g
s
ca
li
n
g
f
a
ct
o
r
s
:
G
es
=
3
,
Gd
es
=
2
,
G
dus
=
2
.
Fig
u
r
e
5
.
Simu
latio
n
s
et
u
p
o
f
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l o
f
SR
M
with
to
r
q
u
e
c
o
n
tr
o
ller
Fig
u
r
e
6
.
Fu
zz
y
lo
g
ic
s
p
ee
d
co
n
tr
o
ller
2
.
3
.
F
u
z
z
y
l
o
g
i
c
t
o
r
q
u
e
co
n
t
r
o
l
l
e
r
T
h
e
to
r
q
u
e
c
o
n
t
r
o
l
l
e
r
c
o
m
p
en
s
a
t
e
s
f
o
r
to
r
q
u
e
r
ip
p
l
e
s
b
y
c
o
m
p
a
r
in
g
th
e
a
c
t
u
a
l
t
o
r
q
u
e
w
i
t
h
th
e
r
e
f
er
e
n
ce
t
o
r
q
u
e
a
n
d
ad
j
u
s
t
i
n
g
t
h
e
m
o
to
r
cu
r
r
e
n
t
a
c
c
o
r
d
in
g
l
y
.
F
i
g
u
r
e
7
s
h
o
w
s
t
h
e
s
t
r
u
c
t
u
r
e
o
f
a
f
u
z
zy
l
o
g
ic
t
o
r
q
u
e
co
n
tr
o
l
le
r
.
T
h
e
c
o
n
t
r
o
l
l
e
r
ca
l
c
u
l
a
te
s
t
h
e
to
r
q
u
e
er
r
o
r
(
e
=
r
e
f
er
e
n
ce
t
o
r
q
u
e
−
a
c
t
u
a
l
to
r
q
u
e)
an
d
c
h
a
n
g
e
i
n
t
o
r
q
u
e
er
r
o
r
(
Δ
e
)
.
T
h
e
f
u
z
z
y
l
o
g
i
c
s
y
s
t
e
m
a
d
ju
s
ts
t
h
e
r
ef
e
r
en
c
e
c
u
r
r
en
t
s
ig
n
a
l
i
n
s
u
ch
a
w
ay
a
s
t
o
m
i
n
i
m
i
ze
t
h
e
t
o
r
q
u
e
r
i
p
p
l
e
s
.
T
h
e
s
c
a
l
in
g
f
a
c
to
r
s
f
o
r
th
e
to
r
q
u
e
c
o
n
t
r
o
l
l
e
r
a
r
e
:
G
et
=
1
,
Gd
et
=
1
,
G
dut
=
2
0
0
.
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.
16
,
No
.
2
,
J
u
n
e
20
25
:
9
3
6
-
94
8
940
2
.
4
.
C
u
r
re
n
t
co
n
t
ro
l
l
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r
d
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s
ig
n
T
h
e
cu
r
r
e
n
t
c
o
n
tr
o
l
l
er
a
i
m
s
to
r
eg
u
l
a
t
e
t
h
e
cu
r
r
e
n
t
to
t
h
e
S
R
M
s
u
c
h
t
h
a
t
th
e
a
c
tu
a
l
cu
r
r
en
t
f
o
l
lo
w
s
t
h
e
r
e
f
er
e
n
ce
cu
r
r
e
n
t
p
r
o
f
i
l
e.
T
h
i
s
n
a
tu
r
a
l
ly
b
e
c
o
m
e
s
t
h
e
b
a
s
i
s
f
o
r
a
n
y
t
o
r
q
u
e
r
e
g
u
l
a
t
i
o
n
a
n
d
r
ip
p
le
r
e
d
u
c
t
i
o
n
.
F
ig
u
r
e
8
d
e
p
i
c
t
s
th
e
s
c
h
e
m
e
f
o
r
c
u
r
r
en
t
co
n
tr
o
l
.
I
n
p
u
t
s
a
r
e
th
e
r
ef
e
r
en
c
e
s
i
g
n
a
l
f
r
o
m
th
e
t
o
r
q
u
e
c
o
n
t
r
o
l
le
r
,
p
h
a
s
e
c
u
r
r
en
t
s
,
a
n
d
r
o
t
o
r
p
o
s
i
t
io
n
m
e
a
s
u
r
e
d
b
y
th
e
p
h
ase
-
lo
ck
l
o
o
p
(
P
L
L
)
s
e
n
s
o
r
.
T
h
e
r
e
f
e
r
en
c
e
cu
r
r
e
n
t
i
s
c
o
m
p
ar
e
d
t
o
th
e
m
ea
s
u
r
ed
p
h
a
s
e
c
u
r
r
e
n
t.
T
h
i
s
e
r
r
o
r
i
s
th
e
n
f
e
d
in
t
o
a
h
y
s
t
e
r
e
s
i
s
b
a
n
d
c
o
n
t
r
o
l
le
r
to
g
e
n
e
r
a
t
e
g
a
te
s
i
g
n
a
l
s
f
o
r
th
e
b
r
id
g
e
c
o
n
v
e
r
t
er
.
T
h
e
P
L
L
s
en
s
o
r
p
r
o
v
id
e
s
r
o
t
o
r
p
o
s
i
t
i
o
n
f
e
e
d
b
ac
k
f
o
r
t
h
e
p
r
e
c
i
s
e
c
o
n
t
r
o
l
o
f
t
h
e
c
o
m
m
u
ta
t
i
o
n
a
n
g
l
e
s
in
th
e
m
o
to
r
.
F
i
g
u
r
e
9
s
h
o
w
s
t
h
e
h
y
s
t
e
r
e
s
i
s
cu
r
r
e
n
t
co
n
t
r
o
l
l
er
.
2
.
5
.
F
uzzy
lo
g
ic
co
ntr
o
ller
des
ig
n
T
h
e
f
u
zz
y
c
o
n
tr
o
ller
,
as
illu
s
t
r
ated
in
Fig
u
r
e
1
0
,
co
n
s
is
ts
o
f
co
m
p
o
n
en
ts
s
u
ch
as
f
u
zz
if
i
ca
tio
n
,
an
in
f
er
en
ce
m
ec
h
an
is
m
,
a
r
u
le
b
ase,
an
d
d
e
f
u
zz
if
icatio
n
[
2
2
]
,
[
2
3
]
.
I
t
r
e
g
u
lates
th
e
s
y
s
tem
o
u
tp
u
t
b
ased
in
p
u
t
r
ef
er
en
ce
.
B
o
th
th
e
in
p
u
t
a
n
d
o
u
tp
u
t
o
f
th
e
f
u
zz
y
c
o
n
tr
o
ller
ar
e
cr
is
p
v
alu
es.
T
h
e
f
u
zz
if
icatio
n
m
o
d
u
le
co
n
v
er
ts
cr
is
p
i
n
p
u
ts
in
to
f
u
zz
y
s
ets,
wh
er
ea
s
th
e
d
e
f
u
zz
if
ic
atio
n
m
o
d
u
le
tr
an
s
lates
f
u
zz
y
s
ets
b
ac
k
in
to
cr
is
p
o
u
tp
u
ts
[
2
4
]
,
[
2
5
]
.
T
h
e
e
r
r
o
r
(
e
)
an
d
th
e
ch
an
g
e
in
er
r
o
r
(
Δ
e
)
ar
e
in
p
u
t
v
ar
iab
les.
(
)
=
(
)
−
(
)
(
1
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
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lec
&
Dr
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s
t
I
SS
N:
2088
-
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6
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Evaluation Warning : The document was created with Spire.PDF for Python.
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Evaluation Warning : The document was created with Spire.PDF for Python.