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d
a
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p
h
a
se
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rm
a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
r
o
n
o
u
s
m
o
to
r
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P
M
S
M
)
a
p
p
li
e
s
to
e
lec
tri
c
d
riv
e
s.
Bu
t
d
u
e
to
it
s
str
u
c
tu
re
a
n
d
c
o
n
tro
l
sc
h
e
m
e
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M
S
M
su
ffe
rs
fro
m
rip
p
le
p
e
rf
o
rm
a
n
c
e
wh
e
n
a
c
o
n
tr
o
l
sc
h
e
m
e
li
k
e
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irec
t
t
o
rq
u
e
c
o
n
tr
o
l
(
DTC
)
is
u
se
d
.
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is
wo
rk
u
se
s
a
sim
p
le
s
c
h
e
m
e
to
g
e
n
e
ra
te
sw
it
c
h
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g
sig
n
a
ls
a
n
d
d
e
term
in
e
d
u
t
y
ra
ti
o
s
.
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e
d
u
t
y
ra
ti
o
is
o
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tain
e
d
fro
m
th
e
Vo
lt
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se
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o
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d
b
a
lan
c
e
.
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witch
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n
g
sig
n
a
l
g
e
n
e
ra
ti
o
n
is
p
e
rfo
rm
e
d
in
th
e
DTC
sc
h
e
m
e
b
y
in
c
o
r
p
o
ra
ti
n
g
th
e
e
ff
e
c
ts
o
f
d
u
t
y
ra
ti
o
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t
o
rq
u
e
e
rro
r,
flu
x
e
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o
r,
a
n
d
se
c
to
r
n
u
m
b
e
r.
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e
ll
in
g
ti
m
e
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tain
e
d
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n
v
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se
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d
s
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sin
g
th
e
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fe
re
n
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e
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g
e
m
a
g
n
it
u
d
e
a
n
d
se
c
to
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u
m
b
e
r.
Bu
t
v
o
lt
a
g
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sta
te
se
lec
ti
o
n
is
d
o
n
e
u
sin
g
t
h
e
DTC
lo
o
k
u
p
ta
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le.
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i
n
c
e
th
e
DTC
lo
o
k
u
p
tab
le
is
u
se
d
fo
r
vo
lt
a
g
e
sta
te
se
lec
ti
o
n
o
n
l
y
o
n
e
a
c
ti
v
e
a
n
d
o
n
e
n
u
ll
v
o
lt
a
g
e
is
u
se
d
.
Bo
t
h
a
c
ti
v
e
a
n
d
n
u
ll
v
o
lt
a
g
e
p
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ri
o
d
s
a
re
d
iv
id
e
d
in
t
o
two
p
a
rts
a
n
d
e
a
c
h
v
o
lt
a
g
e
v
e
c
to
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is ap
p
l
ied
twice
in
o
n
e
t
o
tal
sw
it
c
h
in
g
p
e
rio
d
.
T
h
e
p
r
o
p
o
se
d
sc
h
e
m
e
is
tes
ted
in
M
ATLAB
2
0
2
1
b
.
S
imu
latio
n
re
su
lt
s
i
n
d
ica
te
th
a
t
th
e
m
e
th
o
d
is
e
ffe
c
ti
v
e
in
term
s
o
f
d
y
n
a
m
ics
a
n
d
h
a
rm
o
n
ics
.
Th
e
sc
h
e
m
e
to
r
q
u
e
rip
p
le
is
1
2
.
5
%
.
Li
k
e
wise
,
th
e
flu
x
ri
p
p
le
a
n
d
h
a
rm
o
n
ic
a
re
0
.
6
9
%
a
n
d
0
.
7
9
%
,
re
sp
e
c
ti
v
e
ly
.
Ad
d
it
i
o
n
a
ll
y
,
th
e
s
c
h
e
m
e
is
e
ff
e
c
ti
v
e
fo
r
b
o
th
f
o
u
r
q
u
a
d
ra
n
ts
a
n
d
wid
e
-
sp
e
e
d
o
p
e
ra
ti
o
n
.
Ve
rifi
c
a
ti
o
n
o
f
th
e
p
r
o
p
o
se
d
sc
h
e
m
e
is
d
o
n
e
wit
h
OPAL
-
RT
(OP4
5
0
0
).
T
h
e
sc
h
e
m
e
a
p
p
e
a
rs t
o
b
e
e
ffe
c
ti
v
e
.
K
ey
w
o
r
d
s
:
D
ir
ec
t to
r
q
u
e
c
o
n
tr
o
l
Du
ty
r
atio
Fo
u
r
-
q
u
a
d
r
an
t
r
ip
p
le
PMSM
SVP
W
M
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
B
er
h
an
u
Deg
g
e
f
a
L
em
m
a
C
o
lleg
e
o
f
E
lectr
ical
an
d
C
o
m
p
u
ter
E
n
g
in
ee
r
in
g
,
Dir
e
Daw
a
Un
iv
er
s
ity
Dir
e
Daw
a,
E
th
io
p
ia
E
m
ail:
b
ez
ak
iy
y
a@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
I
n
d
r
iv
e
a
p
p
licatio
n
s
,
a
f
ast
d
y
n
am
ic
r
esp
o
n
s
e
is
r
eq
u
ir
ed
to
r
esp
o
n
d
o
n
tim
e
to
a
n
y
ex
ter
n
a
l
d
is
tu
r
b
an
ce
.
I
t
is
r
ec
o
m
m
en
d
ed
to
u
s
e
d
ir
ec
t
to
r
q
u
e
co
n
t
r
o
l
wh
en
ev
e
r
a
f
ast
r
esp
o
n
s
e
is
r
eq
u
ir
ed
[
1
]
,
[
2
]
.
A
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
D
T
C
)
alg
o
r
ith
m
r
esu
lts
in
s
i
g
n
if
ican
t
to
r
q
u
e
r
ip
p
les
wh
en
ap
p
lied
to
p
h
ase
p
er
m
an
en
t
m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
(
PMSM
)
[
3
]
-
[
6
]
.
Field
wea
k
en
in
g
is
in
teg
r
ated
i
n
to
DT
C
f
o
r
PMSM
co
n
tr
o
l
in
[
7
]
.
T
h
is
co
n
tr
o
l
s
ch
em
e
is
r
ec
o
m
m
en
d
e
d
wh
e
n
d
r
iv
i
n
g
a
m
o
to
r
ab
o
v
e
its
r
ated
s
p
ee
d
.
I
t
was
m
en
tio
n
ed
in
[
8
]
th
at
a
n
ad
a
p
tiv
e
m
o
d
el
ca
n
im
p
r
o
v
e
r
ip
p
le
p
er
f
o
r
m
an
ce
c
o
m
p
ar
e
d
to
co
n
v
en
tio
n
al
DT
C
.
E
x
ten
d
ed
f
in
ite
d
u
t
y
r
ed
u
ce
s
to
r
q
u
e
a
n
d
f
l
u
x
f
l
u
ctu
atio
n
s
[
9
]
.
I
t
is
p
o
s
s
ib
le
to
ac
h
iev
e
m
u
ltip
le
v
o
ltag
e
o
u
tp
u
ts
u
s
in
g
a
m
id
p
o
in
t
s
at
u
r
atio
n
c
o
n
tr
o
ller
[
1
0
]
.
Satu
r
atio
n
co
n
tr
o
ller
s
im
p
r
o
v
e
s
te
ad
y
-
s
tate
r
esp
o
n
s
e.
Acc
o
r
d
in
g
to
[
1
1
]
,
to
r
q
u
e
r
ip
p
le
ca
n
b
e
r
ed
u
ce
d
with
o
u
t
t
r
u
s
t
an
d
f
lu
x
g
ain
tu
n
in
g
.
T
o
o
b
tain
th
e
f
astes
t
d
y
n
am
ic
r
esp
o
n
s
e
an
d
o
p
tim
a
l
s
tead
y
s
tate,
a
d
u
ty
r
atio
b
a
s
ed
o
n
r
o
o
t
m
ea
n
s
q
u
a
r
ed
er
r
o
r
m
in
im
izatio
n
is
ap
p
lied
to
d
eter
m
in
e
a
d
u
ty
r
atio
f
o
r
o
p
tim
al
to
r
q
u
e
r
i
p
p
le
r
e
d
u
ctio
n
[
1
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
DTC
o
f P
MS
M b
a
s
ed
o
n
a
s
imp
le
d
u
ty
r
a
tio
a
p
p
r
o
a
c
h
w
ith
r
ip
p
le
r
ed
u
ctio
n
s
ch
eme
(
B
erh
a
n
u
Deg
g
efa
)
809
T
h
e
[
1
3
]
,
[
1
4
]
,
th
e
d
u
ty
r
atio
is
co
m
p
u
ted
to
m
in
im
ize
t
o
r
q
u
e
an
d
f
l
u
x
r
ip
p
le.
An
ea
s
y
m
eth
o
d
f
o
r
co
m
p
u
tin
g
th
e
d
u
ty
r
atio
th
at
o
n
ly
co
n
s
id
er
s
to
r
q
u
e
an
d
s
p
ee
d
er
r
o
r
s
is
p
r
esen
ted
in
[
1
5
]
.
Fix
ed
s
witch
in
g
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M
)
-
b
ased
DT
C
is
f
o
r
war
d
e
d
f
o
r
th
e
PMSM
d
r
iv
e
in
[
1
6
]
.
T
h
e
d
u
ty
cy
cle
o
p
tim
izatio
n
is
p
e
r
f
o
r
m
ed
b
y
tak
in
g
th
e
s
u
m
o
f
ac
tu
al
ch
a
n
g
es
d
u
e
to
a
p
p
lied
v
o
ltag
e
an
d
s
ettin
g
it
e
q
u
al
t
o
an
er
r
o
r
.
Du
t
y
r
atio
m
an
ip
u
latio
n
o
f
DT
C
b
ased
o
n
a
PMS
M
d
r
iv
e
s
u
p
p
lied
b
y
a
h
y
b
r
id
v
o
ltag
e
v
ec
to
r
was
p
r
o
p
o
s
ed
in
[
1
7
]
.
A
h
y
b
r
id
v
e
cto
r
is
s
u
p
p
lied
ac
co
r
d
in
g
to
t
h
e
s
u
b
s
ec
to
r
with
in
th
e
co
n
v
e
n
tio
n
al
s
ec
to
r
.
T
h
e
co
n
v
en
tio
n
al
s
ec
to
r
is
d
iv
id
ed
in
to
f
iv
e
s
u
b
s
ec
to
r
s
an
d
d
if
f
er
en
t
v
o
ltag
e
co
m
b
in
atio
n
s
ar
e
s
elec
ted
f
o
r
ea
c
h
s
u
b
s
ec
to
r
.
Du
ty
is
co
m
p
u
ted
as th
e
r
atio
o
f
er
r
o
r
to
m
ax
im
u
m
co
m
p
en
s
atio
n
o
b
tain
e
d
wh
e
n
v
o
ltag
e
is
ap
p
lied
f
o
r
t
h
e
e
n
tire
p
er
io
d
.
Op
tim
al
v
o
ltag
e
-
b
ased
DT
C
f
o
r
a
b
r
u
s
h
less
DC
m
o
to
r
is
p
r
esen
ted
in
[
1
8
]
.
T
h
e
m
ain
d
is
ad
v
an
tag
e
o
f
t
h
is
wo
r
k
is
h
ig
h
h
ar
m
o
n
ics,
wh
ich
s
ig
n
if
ican
tly
im
p
ac
t
t
h
e
d
r
iv
e
s
y
s
te
m
.
T
h
e
lo
o
k
u
p
tab
le
was
r
ep
lace
d
with
f
u
zz
y
lo
g
ic
to
in
clu
d
e
th
e
m
ag
n
itu
d
e
o
f
th
e
er
r
o
r
an
d
th
e
s
ig
n
o
f
t
h
e
er
r
o
r
[
1
9
]
.
T
h
is
m
eth
o
d
h
as
a
b
etter
r
esp
o
n
s
e
th
an
co
n
v
en
tio
n
al
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
b
ec
au
s
e
it
a
p
p
lies
d
i
f
f
er
en
t
v
ec
to
r
s
f
o
r
d
if
f
er
en
t
le
v
els
o
f
er
r
o
r
.
B
u
t
in
th
is
s
ch
em
e
,
also
o
n
e
v
ec
t
o
r
s
tay
s
f
o
r
th
e
wh
o
le
p
er
io
d
o
n
ce
it
is
ap
p
lied
b
ased
o
n
th
e
g
iv
en
c
r
iter
ia.
T
h
e
wo
r
k
in
[
2
0
]
p
r
esen
ts
a
n
o
v
el
co
n
tr
o
l
s
tr
ateg
y
f
o
r
a
f
iv
e
-
p
h
ase
p
er
m
an
e
n
t
m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
(
5
P
-
PMSM)
f
o
cu
s
in
g
o
n
s
en
s
o
r
less
s
p
ee
d
r
eg
u
latio
n
.
I
t
in
teg
r
ates
a
g
en
etic
alg
o
r
ith
m
(
GA)
with
a
b
ac
k
s
te
p
p
in
g
c
o
n
tr
o
l
m
eth
o
d
to
o
p
tim
ize
s
y
s
tem
p
er
f
o
r
m
a
n
ce
.
T
h
e
wo
r
k
in
c
o
r
p
o
r
ates
th
e
GA
to
d
eter
m
in
e
th
e
b
est
co
n
t
r
o
l
g
ain
s
,
ad
d
r
ess
in
g
th
e
lim
itatio
n
s
o
f
tr
ad
itio
n
al
em
p
i
r
ical
tu
n
in
g
m
eth
o
d
s
an
d
s
lid
in
g
m
o
d
el
o
b
s
er
v
er
to
esti
m
ate
th
e
elec
tr
o
m
o
tiv
e
f
o
r
ce
,
r
o
to
r
p
o
s
itio
n
,
an
d
m
o
to
r
s
p
ee
d
,
r
e
d
u
cin
g
th
e
n
ee
d
f
o
r
p
h
y
s
ical
s
en
s
o
r
s
an
d
en
h
a
n
cin
g
s
y
s
tem
r
e
liab
ilit
y
.
T
h
e
wo
r
k
p
r
esen
ted
in
[
2
1
]
,
d
is
cu
s
s
es
t
h
e
an
aly
tical
d
esig
n
o
f
s
elf
-
s
en
s
in
g
co
n
tr
o
l
(
SS
C
)
f
o
r
PMSM
u
s
in
g
a
q
u
asi
-
d
ir
ec
t
(
QD)
ca
lcu
latio
n
m
eth
o
d
.
T
h
e
f
o
cu
s
is
o
n
s
im
p
lify
in
g
th
e
co
m
m
is
s
io
n
in
g
o
f
SS
C
s
y
s
tem
s
,
m
ak
in
g
th
em
m
o
r
e
ac
ce
s
s
ib
le
f
o
r
a
wid
er
r
an
g
e
o
f
a
p
p
licatio
n
s
.
T
h
e
wo
r
k
in
[
2
2
]
p
r
esen
ts
a
n
o
v
el
m
eth
o
d
f
o
r
co
n
tr
o
llin
g
PMSM
u
s
in
g
a
co
m
p
en
s
ated
d
u
ty
r
atio
o
p
tim
ize
d
DT
C
s
ch
em
e.
T
h
e
p
r
im
ar
y
aim
is
to
r
ed
u
ce
th
e
r
ip
p
le
m
ag
n
itu
d
e
in
th
e
d
ev
el
o
p
ed
to
r
q
u
e,
wh
ich
is
a
co
m
m
o
n
is
s
u
e
in
co
n
v
en
tio
n
al
DT
C
s
y
s
tem
s
.
T
h
e
wo
r
k
p
r
esen
ted
in
[
2
3
]
f
o
c
u
s
o
n
t
h
e
h
ig
h
f
id
elity
a
n
d
co
m
p
u
t
atio
n
al
ef
f
icien
cy
o
f
th
e
f
in
i
te
-
elem
en
t
an
aly
s
is
(
FEA)
-
b
ased
m
o
d
el
to
p
r
esen
t
a
p
er
f
o
r
m
an
ce
p
r
ed
ictio
n
s
tr
ateg
y
f
o
r
DT
C
o
f
PMSM
u
n
d
er
d
if
f
e
r
en
t
p
u
ls
e
s
elec
to
r
s
.
T
h
e
wo
r
k
p
r
esen
ted
in
[
2
4
]
f
o
cu
s
o
n
a
n
o
v
el
s
lid
i
n
g
b
a
n
d
f
o
r
to
r
q
u
e
a
n
d
f
lu
x
h
y
s
ter
esis
co
n
tr
o
ller
s
to
im
p
r
o
v
e
th
e
cu
r
r
en
t
to
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
(
T
HD
)
with
a
s
p
ec
ial
f
o
cu
s
o
n
lo
w
-
s
p
ee
d
r
eg
io
n
s
.
T
h
e
p
r
o
p
o
s
ed
DT
C
s
ch
em
es
o
f
f
e
r
s
m
o
o
th
lo
w
-
s
p
ee
d
o
p
er
atio
n
with
o
n
ly
a
m
ar
g
in
al
in
cr
ea
s
e
in
s
witch
in
g
f
r
eq
u
e
n
cy
.
T
h
e
wo
r
k
in
[
2
5
]
p
r
esen
ts
th
e
m
o
d
el
p
r
e
d
ictiv
e
co
n
tr
o
l
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
MC
-
DT
C
)
m
eth
o
d
th
at
em
p
lo
y
s
r
esid
u
al
v
ec
to
r
s
(
R
Vs).
W
h
er
ea
s
th
e
wo
r
k
p
r
esen
ted
b
y
[
2
6
]
,
f
o
cu
s
es
o
n
d
ea
d
b
ea
t
co
n
tr
o
l
th
eo
r
y
,
o
f
f
er
in
g
im
p
r
o
v
e
d
s
te
ad
y
-
s
tate
an
d
tr
a
n
s
ien
t
p
er
f
o
r
m
an
ce
f
o
r
PMSM
d
r
iv
es
b
y
m
in
im
izin
g
s
tato
r
cu
r
r
en
t
r
ip
p
les
a
n
d
o
p
tim
izin
g
to
r
q
u
e
d
y
n
a
m
ics.
By
em
p
lo
y
i
n
g
a
n
o
v
el
m
ax
im
u
m
to
r
q
u
e
p
er
am
p
e
r
e
(
MT
PA
)
b
ased
r
ef
e
r
en
ce
ca
lcu
latio
n
a
n
d
r
ed
u
cin
g
c
o
m
p
u
tatio
n
al
c
o
m
p
lex
ity
.
W
h
er
ea
s
th
e
wo
r
k
in
[
2
7
]
p
r
esen
ts
a
p
r
o
p
o
r
tio
n
al
-
p
lu
s
-
in
teg
r
al
r
es
o
n
an
t
(
PI
-
R
E
S)
co
n
tr
o
ller
-
b
ased
m
o
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
(
MPC
)
ap
p
r
o
ac
h
f
o
r
PMSM
d
r
iv
es,
ef
f
ec
tiv
ely
m
in
im
izin
g
to
r
q
u
e
r
ip
p
les an
d
im
p
r
o
v
in
g
cu
r
r
en
t c
o
n
tr
o
l
p
er
f
o
r
m
an
ce
.
T
h
is
p
ap
er
p
r
esen
ts
a
m
eth
o
d
to
d
eter
m
in
e
d
u
ty
r
atio
s
with
o
u
t
o
p
tim
izin
g
t
h
e
co
s
t
f
u
n
ctio
n
.
B
y
u
s
in
g
th
is
m
eth
o
d
,
th
e
d
u
ty
r
a
tio
is
ca
lcu
lated
with
o
u
t
th
e
s
lo
p
e.
I
n
th
is
wo
r
k
,
th
e
o
p
p
o
s
ite
o
f
DT
C
-
SVPW
M
is
p
er
f
o
r
m
ed
.
I
n
DT
C
-
SVPW
M
,
to
r
q
u
e
a
n
d
f
l
u
x
er
r
o
r
ar
e
u
s
ed
f
o
r
r
ef
e
r
en
ce
v
o
ltag
e
g
e
n
e
r
atio
n
.
T
h
e
c
o
n
tr
o
l
s
ig
n
al
is
g
en
er
ate
d
f
r
o
m
d
wel
lin
g
tim
e
c
o
m
p
u
ted
u
s
in
g
a
v
o
lt
-
s
ec
o
n
d
b
alan
ce
.
T
h
is
wo
r
k
u
s
es
th
e
r
ef
er
en
ce
f
r
o
m
th
e
c
o
n
tr
o
ller
o
u
tp
u
t
an
d
f
ee
d
f
o
r
war
d
f
o
r
ca
lcu
latin
g
d
wellin
g
tim
e.
T
ak
in
g
th
e
d
wel
lin
g
tim
e,
a
s
ig
n
o
f
to
r
q
u
e
e
r
r
o
r
,
a
s
ig
n
o
f
f
l
u
x
er
r
o
r
,
an
d
f
lu
x
s
ec
to
r
n
u
m
b
e
r
,
th
e
s
witch
in
g
s
ig
n
al
is
g
en
er
ate
d
.
On
ly
o
n
e
ac
tiv
e
v
o
ltag
e
is
u
s
ed
in
th
is
m
eth
o
d
.
T
h
e
n
u
ll
v
o
ltag
e
is
ap
p
lied
i
n
s
u
ch
a
wa
y
th
at
th
e
n
u
m
b
er
o
f
co
m
m
u
tatio
n
s
is
lo
w.
T
h
e
s
am
e
ac
tiv
e
v
o
ltag
e
i
s
u
s
ed
in
a
two
-
in
ter
v
al
g
ap
.
2.
M
E
T
H
O
D
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
co
n
s
is
ts
o
f
f
o
u
r
m
ain
c
o
m
p
o
n
en
ts
:
th
e
s
witch
in
g
s
ig
n
al
p
r
o
ce
s
s
in
g
u
n
it,
in
v
er
ter
,
m
o
to
r
,
a
n
d
f
ee
d
b
ac
k
s
y
s
tem
,
ea
ch
p
lay
in
g
a
cr
u
ci
al
r
o
le
in
en
s
u
r
i
n
g
ef
f
icien
t
m
o
to
r
co
n
tr
o
l.
T
h
e
s
witch
in
g
s
ig
n
al
p
r
o
ce
s
s
in
g
u
n
it
is
r
esp
o
n
s
ib
le
f
o
r
g
en
e
r
atin
g
ac
cu
r
ate
c
o
n
tr
o
l
s
ig
n
als
to
d
r
iv
e
th
e
in
v
er
ter
.
T
h
is
p
r
o
ce
s
s
b
eg
in
s
with
th
e
co
m
p
u
tatio
n
o
f
d
wellin
g
tim
e,
wh
ich
d
eter
m
in
es
h
o
w
lo
n
g
ea
ch
s
witch
in
th
e
in
v
er
ter
r
em
ain
s
ac
tiv
e
with
in
a
s
witch
in
g
cy
cle.
Usi
n
g
th
is
d
wellin
g
tim
e,
th
e
d
u
ty
r
atio
is
th
en
ca
lcu
lated
,
co
n
tr
o
llin
g
th
e
p
u
ls
e
wid
th
o
f
th
e
s
witch
in
g
s
ig
n
als
f
o
r
p
r
ec
i
s
e
m
o
d
u
latio
n
.
T
o
en
s
u
r
e
r
ea
l
-
tim
e
ac
cu
r
ac
y
,
th
e
to
r
q
u
e
er
r
o
r
is
co
m
p
u
ted
b
y
c
o
m
p
ar
in
g
th
e
ac
tu
al
m
o
to
r
to
r
q
u
e
with
t
h
e
r
e
f
er
en
ce
to
r
q
u
e,
en
ab
lin
g
d
y
n
am
ic
ad
ju
s
tm
en
ts
.
Similar
ly
,
th
e
f
lu
x
er
r
o
r
is
d
eter
m
in
ed
b
y
e
v
a
lu
atin
g
th
e
d
ev
iatio
n
b
etwe
e
n
th
e
m
ea
s
u
r
ed
f
lu
x
an
d
its
r
ef
e
r
en
ce
v
alu
e,
en
s
u
r
in
g
e
f
f
icien
t
e
n
er
g
y
u
s
e
a
n
d
s
tab
le
o
p
e
r
atio
n
.
An
o
th
e
r
es
s
en
tial
s
tep
is
th
e
d
eter
m
in
atio
n
o
f
th
e
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ased
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is
co
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d
in
ated
c
o
n
tr
o
l
s
tr
ateg
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o
p
tim
izes
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
:
8
0
8
-
8
1
6
810
m
o
to
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e
r
f
o
r
m
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ce
,
e
n
h
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tab
ilit
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d
en
ab
les
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s
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lo
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y
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tem
f
o
r
p
r
ec
is
e
s
p
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d
an
d
to
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q
u
e
r
eg
u
latio
n
.
T
h
is
ca
n
b
e
s
ee
n
in
Fig
u
r
e
1
.
T
h
e
d
etails
o
f
s
witch
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g
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ig
n
al
g
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atio
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d
th
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atio
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e
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d
th
is
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r
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p
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h
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iag
r
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ep
icted
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Fig
u
r
e
2
.
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h
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iag
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Fig
u
r
e
2
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a)
i
n
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icate
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e
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s
ed
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o
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iag
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ep
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u
r
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2
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in
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icate
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m
p
ar
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DT
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u
ty
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DT
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d
th
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p
r
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h
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k
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g
e
n
d
f
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th
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ictu
r
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g
iv
en
in
a
d
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p
icted
in
Fig
u
r
e
2
(
b
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.
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h
is
f
u
n
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g
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ates
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ig
n
als
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f
lu
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r
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s
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m
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d
tim
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p
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eg
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itializin
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ased
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ly
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ab
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1
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ased
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{
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icted
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atin
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im
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4
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3
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V
4
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1
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V5
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V
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1
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1
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(
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s
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s
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f
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a
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Fig
u
r
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1
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ates th
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m
in
atio
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d
s
witch
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ig
n
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g
en
er
at
io
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
DTC
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o
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ated
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ased
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n
th
ese
f
o
u
r
p
ar
am
eter
s
.
I
n
ad
d
itio
n
t
o
th
e
f
o
u
r
p
a
r
am
eter
s
m
en
tio
n
ed
h
er
e,
th
e
to
tal
s
witch
in
g
p
e
r
io
d
is
d
iv
id
ed
in
to
f
o
u
r
p
ar
ts
.
A
tim
e
s
p
an
is
d
ete
r
m
in
ed
b
y
u
s
in
g
th
e
f
o
u
r
lo
g
ic
AND
g
ates
s
h
o
wn
in
Fig
u
r
e
2
.
B
ased
o
n
th
e
t
o
r
q
u
e
er
r
o
r
,
f
lu
x
e
r
r
o
r
,
s
ec
to
r
n
u
m
b
er
,
an
d
tim
e,
th
e
v
o
ltag
e
s
tate
is
ap
p
lied
.
Fo
r
i
n
s
tan
ce
,
if
th
e
Δ
T
is
p
o
s
itiv
e,
Δ
ψ
is
ze
r
o
,
an
d
th
e
s
ec
to
r
n
u
m
b
er
is
s
ix
,
th
e
v
o
ltag
e
s
tate
is
s
elec
ted
b
ased
o
n
th
e
tim
e
s
p
a
n
.
Fo
r
ca
s
e
m
en
tio
n
ed
a
b
o
v
e
,
f
o
r
th
e
tim
e
s
p
an
0
→T
1
,
T
1
→T
1
+0
.
5
T
0
,
T
1
+
0
.
5
T
0
→T
1
+T
2
+0
.
5
T
0
,
a
n
d
T
1
+T
2
+
0
.
5
T
0
→T
s
,
v
o
ltag
e
s
tate
is
V2
(
1
1
0
)
,
V7
(
1
1
1
)
,
V2
(
1
1
0
)
an
d
V7
(
1
1
1
)
r
esp
ec
tiv
ely
.
Fo
r
th
e
p
er
io
d
f
r
o
m
0
→0
.
5
T
s
p
,
th
e
ac
tiv
e
v
o
ltag
e
is
ap
p
lied
,
wh
er
ea
s
f
o
r
th
e
tim
e
f
r
o
m
0
.
5
T
s
p
→0
.
5
T
0
+0
.
5
T
s
p
,
th
e
n
u
ll
v
o
ltag
e
is
u
s
ed
.
I
n
th
e
s
am
e
f
ash
io
n
,
f
o
r
th
e
tim
e
f
r
o
m
0
.
5
T
0
+
0
.
5
T
s
p
→T
s
p
+0
.
5
T
0
,
ac
tiv
e
v
o
ltag
e
is
ap
p
lied
.
W
h
er
ea
s
f
o
r
t
h
e
last
s
p
an
f
o
r
t
h
e
tim
e
f
r
o
m
T
s
p
+0
.
5
T
0
→T
s
,
th
e
n
u
ll
v
o
lt
ag
e
is
u
s
ed
.
T
h
e
ad
v
an
tag
e
o
f
th
is
s
ch
em
e
is
r
ed
u
cin
g
th
e
ef
f
ec
t
o
f
in
er
tial
f
o
r
ce
s
.
T
h
e
n
u
ll
v
o
ltag
e
is
s
e
lecte
d
b
ased
o
n
th
e
s
ch
em
e
t
h
at
en
h
an
ce
s
th
e
r
ed
u
ctio
n
o
f
th
e
co
m
m
u
tatio
n
n
u
m
b
er
.
B
o
th
v
o
ltag
es
ar
e
ap
p
lied
twice
in
o
n
e
s
witch
in
g
p
er
io
d
.
T
h
is
s
ch
em
e
is
em
p
lo
y
ed
to
r
ed
u
ce
th
e
r
ip
p
le
lev
el.
Fig
u
r
e
2
(
b
)
d
ep
i
cts
th
e
ad
v
a
n
tag
es
o
f
th
e
s
ch
e
m
e
ass
u
m
in
g
T
1
=
T
2
an
d
T
s
p
is
th
e
s
u
m
o
f
T
1
an
d
T
2
.
As
th
e
n
u
m
b
er
o
f
p
a
r
titi
o
n
s
in
cr
ea
s
es
,
th
e
lev
el
o
f
to
r
q
u
e
r
ip
p
le
d
ec
r
ea
s
es.
Fo
r
s
p
ec
if
ic
n
,
Δ
Ψ
,
an
d
Δ
T
,
wh
en
n
r
ep
r
esen
ts
s
ec
to
r
n
u
m
b
er
,
Δ
Ψ
,
an
d
Δ
T
ar
e
er
r
o
r
s
in
f
lu
x
an
d
to
r
q
u
e
;
th
e
v
o
ltag
e
is
u
s
ed
in
th
e
s
eq
u
en
ce
d
e
p
icted
in
Fig
u
r
e
2
(
b
)
,
s
h
o
wn
in
b
lack
co
lo
r
.
A
lin
e
in
r
e
d
in
Fig
u
r
e
2
(
b
)
in
d
icate
s
th
e
to
r
q
u
e
r
esp
o
n
s
e
with
o
u
t
a
d
u
ty
r
atio
,
an
d
a
lin
e
in
g
r
ee
n
in
d
icate
s
th
e
to
r
q
u
e
r
esp
o
n
s
e
with
a
d
u
ty
r
atio
.
T
h
e
b
lack
co
lo
r
lin
e
s
h
o
ws wh
en
b
o
th
ac
tiv
e
an
d
n
u
ll v
o
ltag
es a
r
e
a
p
p
l
ied
twice
b
y
d
iv
i
d
in
g
th
e
tim
e
in
to
two
p
ar
ts
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
MA
T
L
AB
2
0
2
1
b
is
u
s
ed
f
o
r
s
im
u
latio
n
,
with
d
ata
f
r
o
m
T
ab
le
2
.
Fig
u
r
e
3
s
h
o
ws
r
esu
lts
at
co
n
s
tan
t
s
p
ee
d
an
d
to
r
q
u
e
,
ev
alu
atin
g
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
.
I
n
th
e
s
im
u
latio
n
,
to
s
ee
th
e
d
y
n
am
ics
an
d
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
,
th
e
r
ef
er
en
ce
s
p
ee
d
an
d
lo
ad
t
o
r
q
u
e
wer
e
k
ep
t
at
is
k
ep
t
at
7
5
2
r
p
m
an
d
5
Nm
,
an
d
th
e
s
im
u
latio
n
was d
o
n
e.
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
:
8
0
8
-
8
1
6
812
T
ab
le
2
.
Data
u
s
ed
i
n
th
e
s
im
u
latio
n
P
a
r
a
me
t
e
r
M
a
g
n
P
a
r
a
me
t
e
r
M
a
g
n
I
n
d
u
c
t
a
n
c
e
1
0
.
5
mH
M
a
g
n
e
t
f
l
u
x
0
.
7
2
5
W
b
F
r
e
q
u
e
n
c
y
1
0
k
H
z
R
a
t
e
d
c
u
r
r
e
n
t
1
0
A
R
e
si
st
a
n
c
e
1
.
1
2
o
h
m
p
o
w
e
r
3
.
7
k
W
P
o
l
e
p
a
i
r
4
sp
e
e
d
1
5
0
0
r
p
m
(
a)
(
b
)
(
c)
(
d
)
(
e)
(f)
(
g
)
(
h
)
Fig
u
r
e
3
.
Stead
y
-
s
tate
p
er
f
o
r
m
an
ce
o
f
th
e
p
r
o
p
o
s
ed
s
ch
em
e:
(
a)
s
p
ee
d
r
esp
o
n
s
e,
(
b
)
to
r
q
u
e
r
esp
o
n
s
e,
(
c)
f
lu
x
m
ag
n
itu
d
e,
(
d
)
f
lu
x
a
n
g
le,
(
e)
s
ec
to
r
n
u
m
b
e
r
,
(
f
)
cu
r
r
en
t w
av
ef
o
r
m
,
(
g
)
v
o
ltag
e
wav
e
f
o
r
m
,
an
d
(
h
)
f
lu
x
p
lo
t
Fig
u
r
e
3
illu
s
tr
ates
th
e
s
tea
d
y
-
s
tate
p
er
f
o
r
m
an
ce
o
f
th
e
p
r
o
p
o
s
ed
s
ch
em
e.
T
h
e
s
p
ee
d
r
esp
o
n
s
e
(
Fig
u
r
e
3
(
a)
)
,
to
r
q
u
e
r
esp
o
n
s
e
(
Fig
u
r
e
3
(
b
)
)
,
a
n
d
f
lu
x
m
ag
n
i
tu
d
e
(
Fig
u
r
e
3
(
c
)
)
a
r
e
s
h
o
wn
alo
n
g
with
t
h
e
f
lu
x
an
g
le
(
Fig
u
r
e
3
(
d
)
)
an
d
s
ec
to
r
n
u
m
b
er
(
Fig
u
r
e
3
(
e)
)
.
Fig
u
r
es
3
(
f
)
an
d
3
(
g
)
d
is
p
lay
th
e
c
u
r
r
en
t
a
n
d
v
o
ltag
e
wav
ef
o
r
m
s
,
wh
ile
Fig
u
r
e
3
(
h
)
p
r
o
v
id
es
th
e
f
lu
x
p
l
o
t,
co
llectiv
ely
r
ep
r
esen
tin
g
th
e
s
y
s
tem
'
s
b
eh
av
io
r
u
n
d
er
s
tead
y
-
s
tate
co
n
d
itio
n
s
.
T
h
e
r
is
e
tim
e
f
o
r
th
e
s
p
ee
d
is
3
.
5
x
1
0
-
3
s
ec
o
n
d
s
,
wh
er
ea
s
th
e
s
ettlin
g
tim
e
is
7
x
1
0
-
3
s
ec
o
n
d
s
.
An
o
v
er
s
h
o
o
t
is
1
6
%.
T
h
e
r
atio
o
f
r
ip
p
le
f
r
o
m
r
ef
er
en
ce
to
m
ax
im
u
m
d
e
v
iatio
n
ca
n
b
e
u
s
ed
to
r
ep
r
esen
t r
ip
p
le
p
er
f
o
r
m
an
ce
.
W
h
en
Δ
m
ax
im
u
m
d
e
v
iatio
n
f
r
o
m
th
e
r
ef
er
en
ce
.
%
=
0
.
5
0
.
5
(
+
)
×
100
(
3
)
PMSM
i
s
m
o
s
tly
u
s
ed
in
ap
p
licatio
n
s
wh
er
e
s
p
ee
d
r
ev
er
s
a
l
is
r
eq
u
ir
ed
.
Dep
en
d
i
n
g
o
n
th
e
s
itu
atio
n
,
to
r
q
u
e
m
ay
b
e
ap
p
lied
.
T
h
e
r
esu
lts
s
h
o
wn
in
Fig
u
r
e
4
ar
e
tak
e
n
to
ass
es
s
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
s
ch
em
e
f
o
r
f
o
u
r
-
q
u
ad
r
a
n
t o
p
er
atio
n
.
T
h
e
s
p
ee
d
an
d
to
r
q
u
e
wer
e
k
e
p
t c
o
n
s
tan
t,
an
d
th
e
d
ir
ec
tio
n
o
f
m
o
tio
n
an
d
s
ig
n
o
f
lo
ad
to
r
q
u
e
wer
e
c
h
an
g
e
d
to
s
ee
th
e
p
er
f
o
r
m
an
ce
in
all
f
o
u
r
q
u
ad
r
a
n
ts
.
T
h
e
d
iag
r
am
s
in
Fig
u
r
e
4
(
a
)
t
o
Fig
u
r
e
4
(
i
)
wer
e
d
r
awn
b
y
tak
in
g
th
e
s
im
u
latio
n
at
d
if
f
er
en
t
s
p
ee
d
lev
els.
T
h
e
s
p
ee
d
is
v
ar
ied
f
r
o
m
2
5
0
to
1
0
0
0
,
an
d
t
h
e
m
en
tio
n
ed
v
ar
iab
les we
r
e
ca
lcu
lated
.
A
p
o
wer
lo
s
s
r
atio
is
ca
lcu
lated
b
y
d
iv
id
i
n
g
h
ar
m
o
n
ic
cu
r
r
en
t lo
s
s
b
y
to
tal
c
u
r
r
e
n
t lo
s
s
.
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
DTC
o
f P
MS
M b
a
s
ed
o
n
a
s
imp
le
d
u
ty
r
a
tio
a
p
p
r
o
a
c
h
w
ith
r
ip
p
le
r
ed
u
ctio
n
s
ch
eme
(
B
erh
a
n
u
Deg
g
efa
)
813
(
a)
(
b
)
(
c)
(
d
)
(
e)
(f)
(
g
)
(
h
)
(
i)
Fig
u
r
e
4
.
Sh
o
ws th
e
f
o
u
r
q
u
a
d
r
an
t o
p
e
r
atio
n
o
f
PMSM
with
a
p
r
o
p
o
s
ed
co
n
t
r
o
l sch
em
e
:
(
a
)
f
o
u
r
q
u
a
d
r
an
t
o
p
er
atio
n
o
f
th
e
m
o
to
r
,
(
b
)
f
lu
x
an
g
le,
(
c)
f
lu
x
s
ec
to
r
,
(
d
)
s
p
e
ed
,
(
e)
t
o
r
q
u
e
,
(
f
)
cu
r
r
en
t,
(
g
)
v
o
ltag
e,
(
h
)
to
r
q
u
e
r
ip
p
le
an
d
cu
r
r
e
n
t h
ar
m
o
n
ic
p
er
f
o
r
m
a
n
ce
,
an
d
(
i)
p
er
ce
n
tag
e
o
f
s
p
ee
d
o
v
er
s
h
o
o
t a
n
d
h
ar
m
o
n
ic
p
o
wer
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s
s
to
to
tal
ac
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e
p
o
wer
lo
s
s
4.
E
XP
E
R
I
M
E
N
T
A
L
VE
R
I
F
I
CATI
O
N
Har
d
war
e
-
in
-
th
e
-
lo
o
p
(
HI
L
)
s
im
u
latio
n
is
a
p
o
wer
f
u
l
tech
n
iq
u
e
u
s
ed
to
ev
alu
ate
th
e
e
f
f
i
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cy
o
f
co
n
tr
o
l
m
et
h
o
d
s
b
y
in
teg
r
atin
g
r
ea
l
-
tim
e
h
a
r
d
war
e
with
s
o
f
twar
e
-
b
ased
s
im
u
latio
n
s
.
T
h
is
ap
p
r
o
ac
h
en
a
b
les
r
ig
o
r
o
u
s
v
alid
atio
n
an
d
test
in
g
o
f
co
n
t
r
o
l
alg
o
r
ith
m
s
u
n
d
er
r
ea
lis
tic
o
p
er
atin
g
co
n
d
itio
n
s
b
ef
o
r
e
d
e
p
lo
y
in
g
th
em
in
r
ea
l
-
wo
r
ld
ap
p
licatio
n
s
.
Fig
u
r
e
5
(
a)
illu
s
tr
ates
th
e
HI
L
s
y
s
tem
lay
o
u
t,
wh
ich
co
n
s
is
ts
o
f
th
e
OPAL
-
R
T
OP4
5
0
0
r
ea
l
-
tim
e
s
im
u
lato
r
an
d
a
d
esk
to
p
co
m
p
u
ter
.
T
h
e
OP4
5
0
0
s
er
v
es
as
th
e
co
r
e
co
m
p
u
tatio
n
al
u
n
it,
ca
p
ab
le
o
f
r
u
n
n
in
g
h
i
g
h
-
f
i
d
elity
s
im
u
latio
n
s
wh
ile
in
ter
f
ac
in
g
with
ex
ter
n
al
co
n
tr
o
ller
s
.
T
h
e
d
esk
to
p
co
m
p
u
ter
is
r
esp
o
n
s
ib
le
f
o
r
m
o
n
ito
r
in
g
,
co
n
f
i
g
u
r
in
g
,
an
d
an
aly
zin
g
th
e
s
im
u
latio
n
r
esu
lts
in
r
ea
l
tim
e.
T
h
e
r
esu
lts
o
b
tain
ed
f
r
o
m
th
e
HI
L
s
y
s
tem
,
as
s
h
o
wn
in
Fig
u
r
es
5
(
b
)
to
5
(
e)
,
d
e
m
o
n
s
tr
ate
th
e
s
y
s
tem
’
s
r
esp
o
n
s
e
u
n
d
er
s
p
ec
if
ic
o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
e
ex
p
er
im
en
tal
s
etu
p
was
s
u
b
jecte
d
to
a
lo
ad
to
r
q
u
e
o
f
8
Nm
wh
ile
m
ain
tain
in
g
a
r
o
tatio
n
al
s
p
ee
d
o
f
7
5
2
r
p
m
.
T
h
e
r
esu
lts
d
ep
icted
in
Fig
u
r
e
5
,
ac
co
r
d
in
g
to
(
3
)
,
th
e
m
ag
n
itu
d
e
o
f
r
ip
p
le
f
o
r
s
p
ee
d
an
d
f
lu
x
is
0
.
2
6
5
a
n
d
1
.
3
7
%,
r
esp
ec
tiv
el
y
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T
h
is
in
d
icate
s
th
at
th
e
s
p
ee
d
an
d
f
lu
x
r
ip
p
le
ar
e
s
m
all.
Ad
d
itio
n
ally
,
th
e
cu
r
r
en
t,
v
o
ltag
e,
a
n
d
f
lu
x
wav
ef
o
r
m
s
ar
e
d
is
to
r
tio
n
-
f
r
ee
.
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
:
8
0
8
-
8
1
6
814
(
a)
(
b
)
(
c)
(
d
)
(
e)
Fig
u
r
e
5
.
S
h
o
ws th
e
r
ea
l
-
tim
e
s
im
u
latio
n
s
ch
em
e
wh
en
(
a
)
r
e
al
-
tim
e
s
im
u
lato
r
,
(
b
)
s
p
ee
d
r
e
s
p
o
n
s
e,
(
c)
to
r
q
u
e
r
esp
o
n
s
e,
(
d
)
cu
r
r
e
n
t
,
an
d
(
e
)
f
lu
x
m
ag
n
itu
d
e
5.
CO
NCLU
SI
O
N
A
s
im
p
le
an
d
im
p
r
o
v
ed
DT
C
s
ch
em
e
f
o
r
PMS
M
was
p
r
o
p
o
s
ed
in
th
is
s
tu
d
y
.
B
o
th
d
u
ty
r
atio
d
eter
m
in
atio
n
an
d
s
witch
in
g
s
ig
n
al
g
en
er
atio
n
ar
e
s
im
p
le
in
th
is
s
ch
em
e.
T
h
e
d
u
ty
r
atio
is
ca
lcu
lated
f
r
o
m
th
e
Vo
lt
-
s
ec
o
n
d
b
ala
n
ce
p
r
i
n
cip
le
f
o
r
s
p
ac
e
v
ec
to
r
p
u
ls
e
wid
th
m
o
d
u
latio
n
.
DT
C
s
ch
em
es
g
en
er
ate
s
witch
in
g
s
ig
n
als
b
y
in
co
r
p
o
r
atin
g
d
u
ty
r
atio
ef
f
ec
ts
in
to
th
e
s
witch
in
g
s
ig
n
al
g
en
er
atio
n
.
Acc
o
r
d
in
g
to
th
e
r
esu
lts
,
th
e
s
ch
em
e
p
er
f
o
r
m
s
well.
I
n
a
d
d
itio
n
,
th
e
s
ch
em
e
is
ef
f
ec
tiv
e
f
o
r
f
o
u
r
q
u
a
d
r
an
ts
,
v
a
r
iab
le
to
r
q
u
e,
an
d
s
p
ee
d
o
p
er
atio
n
.
T
h
e
h
ar
d
war
e
r
esu
lt a
ls
o
p
r
o
v
es th
e
e
f
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
s
ch
em
e.
ACK
NO
WL
E
DG
M
E
N
T
S
W
e
ex
p
r
ess
o
u
r
g
r
atitu
d
e
to
Dir
e
Daw
a
Un
iv
er
s
ity
f
o
r
p
er
m
itti
n
g
u
s
to
u
tili
ze
th
e
av
ailab
le
lab
o
r
ato
r
y
eq
u
i
p
m
en
t f
o
r
th
is
p
r
o
ject.
Ho
wev
e
r
,
we
d
id
n
o
t r
ec
eiv
e
an
y
f
u
n
d
s
f
o
r
th
is
wo
r
k
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
Th
er
e
is
no
f
u
n
d
is
r
ec
eiv
ed
f
o
r
th
is
wo
r
k
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
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M
E
N
T
T
h
is
jo
u
r
n
al
u
s
es
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
n
o
m
y
(
C
R
ed
iT)
to
r
ec
o
g
n
ize
in
d
iv
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Na
m
e
o
f
Aut
ho
r
C
M
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Vi
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h
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u
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f
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a
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Srin
iv
asan
Pra
d
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an
e
✓
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T
o
le
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tik
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o
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Getu
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m
a
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eta
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Neg
asa
Mu
leta
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is
a
✓
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C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
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e
t
h
o
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f
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w
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:
Fo
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r
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r
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:
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v
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d
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t
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:
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:
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T
ST
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h
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ar
ticle
is
o
u
r
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r
ig
in
al
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k
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a
n
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co
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s
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s
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o
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tr
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R
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th
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s
d
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lar
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th
at
th
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e
ar
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n
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o
n
f
licts
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f
i
n
ter
est.
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
DTC
o
f P
MS
M b
a
s
ed
o
n
a
s
imp
le
d
u
ty
r
a
tio
a
p
p
r
o
a
c
h
w
ith
r
ip
p
le
r
ed
u
ctio
n
s
ch
eme
(
B
erh
a
n
u
Deg
g
efa
)
815
DATA AV
AI
L
AB
I
L
I
T
Y
T
h
e
d
ata
th
at
s
u
p
p
o
r
t
th
e
f
in
d
in
g
s
o
f
th
is
s
tu
d
y
ar
e
av
ailab
le
f
r
o
m
th
e
co
r
r
esp
o
n
d
in
g
au
t
h
o
r
,
[
BD
]
,
u
p
o
n
r
ea
s
o
n
ab
le
r
eq
u
est.
RE
F
E
R
E
NC
E
S
[
1
]
A
.
N
y
i
t
r
a
i
,
G
.
S
z
a
b
ó
,
a
n
d
S
.
R
.
H
o
r
v
á
t
h
,
“
P
a
r
a
me
t
e
r
d
e
t
e
r
m
i
n
a
t
i
o
n
a
n
d
d
r
i
v
e
c
o
n
t
r
o
l
a
n
a
l
y
s
i
s
o
f
a
x
i
a
l
f
l
u
x
p
e
r
man
e
n
t
m
a
g
n
e
t
sy
n
c
h
r
o
n
o
u
s
mo
t
o
r
s
,
”
Pe
r
i
o
d
i
c
a
Po
l
y
t
e
c
h
n
i
c
a
E
l
e
c
t
r
i
c
a
l
E
n
g
i
n
e
e
r
i
n
g
a
n
d
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
,
v
o
l
.
6
6
,
n
o
.
2
,
p
p
.
2
0
5
–
2
1
4
,
M
a
y
2
0
2
2
,
d
o
i
:
1
0
.
3
3
1
1
/
P
P
e
e
.
1
9
7
1
4
.
[
2
]
M
.
Zi
g
l
i
o
t
t
o
,
“
P
e
r
m
a
n
e
n
t
ma
g
n
e
t
s
y
n
c
h
r
o
n
o
u
s
m
o
t
o
r
d
r
i
v
e
s
,
”
i
n
P
o
w
e
r
El
e
c
t
ro
n
i
c
C
o
n
v
e
rt
e
rs
a
n
d
S
y
st
e
m
s:
Fro
n
t
i
e
rs
a
n
d
Ap
p
l
i
c
a
t
i
o
n
s
,
2
0
1
5
,
p
p
.
3
1
3
–
3
3
2
.
d
o
i
:
1
0
.
1
0
4
9
/
P
B
P
O
0
7
4
E_
c
h
1
0
.
[
3
]
Q
.
W
a
n
g
,
H
.
Y
u
,
M
.
W
a
n
g
,
a
n
d
X
.
Q
i
,
“
A
n
i
mp
r
o
v
e
d
sl
i
d
i
n
g
mo
d
e
c
o
n
t
r
o
l
u
si
n
g
d
i
s
t
u
r
b
a
n
c
e
t
o
r
q
u
e
o
b
s
e
r
v
e
r
f
o
r
p
e
r
ma
n
e
n
t
mag
n
e
t
s
y
n
c
h
r
o
n
o
u
s
mo
t
o
r
,
”
I
E
EE
A
c
c
e
ss
,
v
o
l
.
7
,
p
p
.
3
6
6
9
1
–
3
6
7
0
1
,
2
0
1
9
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
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9
.
2
9
0
3
4
3
9
.
[
4
]
K
.
Li
a
n
d
Y
.
W
a
n
g
,
“
M
a
x
i
m
u
m
t
o
r
q
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e
p
e
r
a
mp
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r
e
(
M
TPA
)
c
o
n
t
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f
o
r
I
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ted
a
t
e
m
a
il
:
b
e
z
a
k
iy
y
a
@g
m
a
il
.
c
o
m
o
r
b
e
rh
a
n
u
.
d
e
g
g
e
fa
@d
d
u
.
e
d
u
.
e
t.
S
r
in
iv
a
sa
n
Pra
d
a
b
a
n
e
wa
s
b
o
r
n
in
P
o
n
d
ich
e
rry
,
In
d
ia
1
9
8
3
.
He
re
c
e
iv
e
d
h
is
g
ra
d
u
a
te
d
e
g
re
e
fr
o
m
P
o
n
d
ich
e
n
y
Un
iv
e
rsity
i
n
2
0
0
5
a
n
d
h
is
p
o
st
-
g
ra
d
u
a
te
d
e
g
re
e
fr
o
m
An
n
a
Un
iv
e
rsity
in
2
0
0
8
.
He
re
c
e
iv
e
d
h
is
P
h
.
D.
fro
m
NITW
in
2
0
1
6
.
He
d
id
h
is
p
o
st
-
d
o
c
to
ra
l
re
se
a
rc
h
in
th
e
Un
i
ted
Kin
g
d
o
m
in
2
0
2
1
.
He
p
u
b
li
sh
e
d
m
a
n
y
a
rti
c
les
in
r
e
p
u
tab
le
j
o
u
r
n
a
ls.
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
m
u
l
ti
lev
e
l
in
v
e
rters
,
WM
sc
h
e
m
e
s,
i
n
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,
e
lec
tri
c
v
e
h
icle
s,
in
teg
ra
ti
o
n
o
f
re
n
e
wa
b
le
e
n
e
rg
y
,
DC
m
o
to
r
d
ri
v
e
s,
BLDC
d
ri
v
e
s,
P
M
S
M
d
riv
e
s,
LI
M
d
r
iv
e
s,
p
ro
p
u
lsi
o
n
tec
h
n
o
lo
g
y
fo
r
v
e
h
ic
les
,
m
e
a
su
re
m
e
n
t
te
c
h
n
iq
u
e
s,
o
p
e
n
-
e
n
d
wi
n
d
i
n
g
d
r
iv
e
s,
d
riv
e
r
c
ircu
it
s,
a
n
d
d
i
g
it
a
l
c
o
n
tr
o
l.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
sp
ra
d
a
b
a
n
e
@n
it
w.ac
.
in
.
To
le
S
u
tik
n
o
is
a
lec
tu
re
r
a
n
d
th
e
h
e
a
d
o
f
t
h
e
m
a
ste
r
p
ro
g
ra
m
o
f
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
a
t
t
h
e
F
a
c
u
lt
y
o
f
I
n
d
u
str
ial
Tec
h
n
o
lo
g
y
a
t
Un
i
v
e
rsitas
Ah
m
a
d
Da
h
lan
(UA
D)
in
Yo
g
y
a
k
a
rta,
In
d
o
n
e
sia
.
He
re
c
e
iv
e
d
h
is
b
a
c
h
e
lo
r
o
f
e
n
g
in
e
e
rin
g
fro
m
Un
iv
e
rsitas
Dip
o
n
e
g
o
ro
in
1
9
9
9
,
m
a
ste
r
o
f
e
n
g
in
e
e
rin
g
fr
o
m
Un
iv
e
rsitas
G
a
d
jah
M
a
d
a
i
n
2
0
0
4
,
a
n
d
d
o
c
t
o
r
o
f
p
h
il
o
so
p
h
y
i
n
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
fr
o
m
Un
i
v
e
rsiti
Tek
n
o
lo
g
i
M
a
lay
sia
i
n
2
0
1
6
.
All
t
h
re
e
d
e
g
re
e
s
a
re
i
n
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
.
He
h
a
s
b
e
e
n
a
P
ro
fe
ss
o
r
a
t
UA
D
in
Yo
g
y
a
k
a
rta,
In
d
o
n
e
sia
,
sin
c
e
Ju
l
y
2
0
2
3
,
f
o
ll
o
win
g
h
is
ten
u
re
a
s
a
n
a
ss
o
c
iate
p
ro
fe
ss
o
r
in
Ju
n
e
2
0
0
8
.
He
is
th
e
Ed
it
o
r
-
in
-
Ch
ief
o
f
TE
LKOMNIKA
a
n
d
h
e
a
d
o
f
th
e
Emb
e
d
d
e
d
S
y
ste
m
s
a
n
d
P
o
we
r
El
e
c
tro
n
ics
Re
se
a
rc
h
G
ro
u
p
(ES
P
ERG
).
He
is
o
n
e
o
f
t
h
e
t
o
p
2
%
o
f
re
se
a
rc
h
e
rs
wo
rld
wi
d
e
,
a
c
c
o
rd
in
g
t
o
S
tan
fo
r
d
Un
i
v
e
rsity
a
n
d
El
se
v
ier
BV'
s
li
st
o
f
t
h
e
m
o
st
in
f
lu
e
n
t
ial
sc
ien
ti
sts
fr
o
m
2
0
2
1
t
o
t
h
e
p
re
se
n
t
.
His
re
se
a
rc
h
in
tere
sts
c
o
v
e
r
d
ig
it
a
l
d
e
sig
n
,
i
n
d
u
strial
a
p
p
li
c
a
ti
o
n
s
,
in
d
u
str
ial
e
lec
tro
n
ics
,
i
n
d
u
strial
i
n
fo
rm
a
ti
c
s,
p
o
we
r
e
lec
tro
n
ics
,
m
o
t
o
r
d
ri
v
e
s,
re
n
e
wa
b
le
e
n
e
rg
y
,
F
P
G
A
a
p
p
li
c
a
ti
o
n
s,
e
m
b
e
d
d
e
d
s
y
ste
m
s,
a
rt
ifi
c
ial
in
telli
g
e
n
c
e
,
i
n
telli
g
e
n
t
c
o
n
tro
l,
d
ig
it
a
l
li
b
ra
ries
,
a
n
d
i
n
fo
rm
a
ti
o
n
tec
h
n
o
l
o
g
y
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
to
le@
te.u
a
d
.
a
c
.
id
.
G
e
tu
G
irm
a
Re
ta
wa
s
b
o
r
n
i
n
Ars
i,
E
th
i
o
p
ia
n
1
9
8
9
.
He
re
c
e
iv
e
d
h
is
B.
S
c
.
a
n
d
M
.
S
c
.
fro
m
Dire
Da
wa
a
n
d
Ad
d
is
Ab
a
b
a
Un
iv
e
rsit
y
i
n
2
0
1
4
a
n
d
2
0
1
8
,
re
sp
e
c
ti
v
e
ly
.
His
re
se
a
rc
h
a
re
a
is
o
p
ti
m
iza
ti
o
n
tec
h
n
iq
u
e
s
fo
r
m
a
n
u
fa
c
tu
rin
g
,
su
p
p
ly
c
h
a
i
n
m
a
n
a
g
e
m
e
n
t
sy
ste
m
,
p
ro
d
u
c
t
o
p
ti
m
iza
ti
o
n
,
p
r
o
d
u
c
t
d
e
sig
n
,
fa
c
il
it
y
a
n
d
s
y
ste
m
lay
o
u
t,
a
n
d
q
u
a
li
ty
sy
ste
m
m
a
n
a
g
e
m
e
n
t.
He
p
u
b
li
sh
e
s m
o
re
t
h
a
n
5
j
o
u
r
n
a
ls an
d
2
b
o
o
k
s
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
g
e
tu
ie2
1
@g
m
a
il
.
c
o
m
.
Ne
g
a
sa
Mu
let
a
Fey
isa
wa
s
b
o
rn
i
n
1
9
8
7
.
He
h
a
s
g
o
t
h
is
B.
S
c
.
a
n
d
M
.
S
c
.
fro
m
Ad
a
m
a
S
c
ien
c
e
a
n
d
Tec
h
n
o
l
o
g
y
Un
i
v
e
rsity
,
Et
h
io
p
ia
,
i
n
2
0
1
2
a
n
d
2
0
1
6
,
re
sp
e
c
ti
v
e
l
y
,
wit
h
sp
e
c
ializa
ti
o
n
i
n
El
e
c
tri
c
a
l
P
o
we
r
En
g
in
e
e
rin
g
.
He
g
o
t
h
is
P
h
.
D.
fro
m
NIT
Wara
n
g
a
l
,
I
n
d
ia,
in
2
0
2
3
.
His
re
se
a
rc
h
a
re
a
is
o
p
ti
m
iza
ti
o
n
o
f
h
y
b
ri
d
re
n
e
wa
b
le
e
n
e
rg
y
,
p
o
we
r
sy
ste
m
q
u
a
li
t
y
,
sta
b
il
it
y
,
a
n
d
re
a
l
-
ti
m
e
p
o
we
r
sy
ste
m
c
o
n
tro
l
a
n
d
o
p
e
ra
ti
o
n
.
H
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
n
e
g
ish
a
2
0
0
5
@g
m
a
il
.
c
o
m
.
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