I
nte
rna
t
io
na
l J
o
urna
l o
f
I
nfo
rm
a
t
ics a
nd
Co
m
m
un
ica
t
io
n T
ec
hn
o
lo
g
y
(
I
J
-
I
CT
)
Vo
l.
14
,
No
.
3
,
Dec
em
b
er
20
25
,
p
p
.
1
0
9
5
~
1
107
I
SS
N:
2252
-
8
7
7
6
,
DOI
:
1
0
.
1
1
5
9
1
/iji
ct
.
v14
i
3
.
pp
1
0
9
5
-
1
107
1095
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ict.
ia
esco
r
e.
co
m
Adv
a
nced contro
l
t
echni
ques
for pe
rforma
nce imp
ro
v
ement of
a
x
ia
l f
lu
x
ma
chin
es
K
a
lpa
na
Anum
a
la
,
Ra
m
esh
B
a
bu
Velig
a
t
la
D
e
p
a
r
t
me
n
t
o
f
El
e
c
t
r
i
c
a
l
a
n
d
El
e
c
t
r
o
n
i
c
s
En
g
i
n
e
e
r
i
n
g
,
JN
TU
,
H
y
d
e
r
a
b
a
d
,
V
a
l
l
u
r
u
p
a
l
l
i
N
a
g
e
sh
w
a
r
a
R
a
o
V
i
g
n
a
n
a
Jy
o
t
h
i
I
n
st
i
t
u
t
e
o
f
E
n
g
i
n
e
e
r
i
n
g
a
n
d
Te
c
h
n
o
l
o
g
y
(
V
N
R
V
JI
ET),
H
y
d
e
r
a
b
a
d
,
I
n
d
i
a
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Ma
y
1
9
,
2
0
2
4
R
ev
is
ed
Ma
r
1
6
,
2
0
2
5
Acc
ep
ted
J
u
n
9
,
2
0
2
5
Th
e
to
p
o
l
o
g
ica
l
a
d
v
a
n
c
e
m
e
n
ts
in
twin
r
o
to
r
a
x
ial
flu
x
i
n
d
u
c
ti
o
n
m
o
to
r
s
(TRAx
F
IM
s)
h
a
v
e
sp
u
rre
d
t
h
e
in
tere
st
in
p
e
rfo
rm
a
n
c
e
o
p
ti
m
iz
a
ti
o
n
a
n
d
c
o
n
tro
l
stra
teg
ies
fo
r
e
lec
tri
c
v
e
h
icle
(EV)
a
p
p
li
c
a
ti
o
n
s
in
p
a
rti
c
u
lar.
T
h
is
p
a
p
e
r
i
n
v
e
stig
a
tes
f
o
r
t
h
e
e
n
h
a
n
c
e
d
p
e
rf
o
rm
a
n
c
e
o
f
m
u
lt
i
-
lev
e
l
in
v
e
rters
(M
LIs)
fe
d
TRAx
F
IM
s
wit
h
d
i
ffe
re
n
t
a
d
v
a
n
c
e
d
c
o
n
tr
o
l
tec
h
n
i
q
u
e
s.
T
h
e
p
e
rfo
rm
a
n
c
e
e
v
a
lu
a
ti
o
n
is
d
o
n
e
u
n
d
e
r
v
a
riab
le
sp
e
e
d
c
o
n
d
it
i
o
n
s
a
t
c
o
n
sta
n
t
to
rq
u
e
a
n
d
v
ice
v
e
rsa
.
Th
e
TR
Ax
F
IM
s
o
ffe
r
u
n
i
q
u
e
a
d
v
a
n
tag
e
s
li
k
e
h
i
g
h
p
o
we
r
d
e
n
si
ty
,
h
i
g
h
e
fficie
n
c
y
a
n
d
m
o
st
su
it
a
b
le
fo
r
EV
a
p
p
l
ic
a
ti
o
n
s.
Th
e
p
e
rfo
rm
a
n
c
e
a
n
a
ly
sis
o
f
M
LIs
f
e
d
TRAx
F
IM
h
a
s
b
e
e
n
c
a
rried
o
u
t
wit
h
p
ro
p
o
rti
o
n
a
l
-
i
n
teg
ra
l
(P
I),
f
u
z
z
y
c
o
n
t
ro
ll
e
rs,
a
n
d
a
rti
ficia
l
n
e
u
ra
l
n
e
two
r
k
(AN
N)
c
o
n
tro
ll
e
rs.
Th
e
P
I
c
o
n
tro
ll
e
r
p
ro
v
i
d
e
s
a
c
o
n
v
e
n
ti
o
n
a
l
c
o
n
tro
l
a
p
p
ro
a
c
h
,
w
h
il
e
th
e
f
u
z
z
y
a
n
d
AN
N
c
o
n
tro
ll
e
rs
se
rv
e
a
s
a
d
v
a
n
c
e
d
c
o
n
tro
l
stra
teg
ies
.
Th
e
i
n
teg
ra
ti
o
n
o
f
M
LIs
a
n
d
a
d
v
a
n
c
e
d
c
o
n
tr
o
l
tec
h
n
i
q
u
e
s
with
TRAx
F
IM
s
a
ims
to
e
n
h
a
n
c
e
d
y
n
a
m
ic
re
sp
o
n
se
,
sta
b
il
it
y
a
n
d
e
ffici
e
n
c
y
.
T
h
e
p
ro
p
o
se
d
c
o
n
tr
o
l
stra
teg
ies
a
re
e
v
a
lu
a
ted
th
r
o
u
g
h
e
x
ten
siv
e
M
ATLAB
sim
u
latio
n
s
a
n
d
t
h
e
p
o
te
n
ti
a
l
o
f
M
LIs
fe
d
TRAx
F
I
M
s
is
e
m
p
h
a
si
z
e
d
fo
r
EV
a
p
p
li
c
a
ti
o
n
s.
K
ey
w
o
r
d
s
:
ANN
co
n
tr
o
ller
Fu
zz
y
co
n
tr
o
ller
Mu
lti
-
lev
el
in
v
er
ter
Pro
p
o
r
tio
n
al
-
in
teg
r
al
T
win
r
o
to
r
ax
ial
f
lu
x
in
d
u
cti
o
n
m
o
to
r
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
:
Kalp
an
a
An
u
m
ala
Dep
ar
tm
en
t o
f
E
lectr
ical
an
d
E
lectr
o
n
ics E
n
g
in
ee
r
i
n
g
Vallu
r
u
p
alli
Nag
eswar
a
R
ao
Vig
n
an
a
J
y
o
th
i I
n
s
titu
te
o
f
E
n
g
in
ee
r
in
g
a
n
d
T
ec
h
n
o
l
o
g
y
(
VNRVJ
I
E
T
)
,
J
NT
U
Hy
d
er
ab
ad
,
I
n
d
ia
E
m
ail: k
alp
an
a.
an
u
m
ala1
0
@
g
m
ail.
co
m
,
an
u
m
ala.
k
alp
a
n
a@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
r
ap
i
d
ad
v
an
ce
m
e
n
t
o
f
e
lectr
ic
v
eh
icle
(
E
V)
tech
n
o
l
o
g
y
h
as
s
p
u
r
r
e
d
s
ig
n
if
ica
n
t
in
ter
est
in
o
p
tim
izin
g
elec
tr
ic
m
o
to
r
d
esi
g
n
s
to
m
ee
t
th
e
d
em
an
d
s
o
f
m
o
d
er
n
tr
an
s
p
o
r
tatio
n
.
I
n
th
is
co
n
tex
t,
th
e
c
h
o
ice
b
etwe
en
r
ad
ial
f
lu
x
in
d
u
cti
o
n
m
o
to
r
s
(
R
FIM
s
)
an
d
ax
ial
f
l
u
x
in
d
u
ctio
n
m
o
to
r
s
(
AFI
Ms)
h
as
em
er
g
ed
as
a
cr
u
cial
co
n
s
id
er
atio
n
f
o
r
E
V
p
r
o
p
u
ls
io
n
s
y
s
tem
s
.
W
h
ile
R
FIM
s
h
av
e
tr
ad
itio
n
ally
b
ee
n
f
av
o
r
e
d
f
o
r
th
eir
s
im
p
licity
an
d
wid
esp
r
ea
d
u
s
e,
th
e
e
m
er
g
e
n
ce
o
f
a
x
ial
f
lu
x
d
esig
n
s
p
r
esen
ts
a
co
m
p
ellin
g
alter
n
ativ
e
d
u
e
to
th
eir
p
o
ten
tial
f
o
r
h
ig
h
er
p
o
w
er
d
en
s
ity
an
d
ef
f
icie
n
cy
.
On
e
n
o
tab
le
v
ar
ian
t
o
f
ax
ial
f
lu
x
i
n
d
u
ctio
n
m
o
to
r
s
is
th
e
T
R
AFI
M,
wh
ich
o
f
f
er
s
u
n
iq
u
e
ad
v
a
n
tag
es
in
ter
m
s
o
f
co
m
p
ac
tn
ess
an
d
p
er
f
o
r
m
a
n
c
e.
T
h
e
co
m
p
a
r
is
o
n
b
etwe
en
R
FIM
s
an
d
AFI
Ms
u
n
d
er
s
co
r
es
th
e
im
p
o
r
tan
ce
o
f
u
n
d
er
s
tan
d
i
n
g
th
ei
r
r
esp
ec
tiv
e
ch
ar
ac
ter
is
tics
an
d
p
er
f
o
r
m
an
ce
attr
ib
u
tes.
R
FIM
s
ty
p
ically
f
ea
tu
r
e
a
r
a
d
ia
l
ar
r
an
g
e
m
en
t
o
f
s
tato
r
a
n
d
r
o
to
r
co
m
p
o
n
e
n
ts
,
f
ac
ilit
atin
g
s
im
p
ler
co
n
s
tr
u
ctio
n
an
d
m
ain
ten
an
ce
.
I
n
c
o
n
tr
ast,
AFI
Ms
ad
o
p
t
a
co
n
f
ig
u
r
atio
n
w
h
e
r
e
th
e
m
ag
n
etic
f
lu
x
f
lo
ws
p
ar
allel
t
o
th
e
ax
is
o
f
r
o
tatio
n
,
r
esu
ltin
g
in
a
m
o
r
e
c
o
m
p
ac
t
d
esig
n
a
n
d
p
o
ten
tially
h
ig
h
e
r
p
o
wer
d
en
s
ity
.
T
R
AFI
M,
a
s
p
ec
ialized
v
ar
ia
n
t
o
f
AFI
Ms,
s
tan
d
s
o
u
t
f
o
r
its
twin
r
o
to
r
c
o
n
f
ig
u
r
atio
n
,
wh
ich
f
u
r
th
er
e
n
h
an
ce
s
its
p
o
wer
o
u
t
p
u
t a
n
d
ef
f
icien
cy
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
7
6
I
n
t J I
n
f
&
C
o
m
m
u
n
T
ec
h
n
o
l
,
Vo
l.
14
,
No
.
3
,
Dec
em
b
er
20
25
:
1
0
9
5
-
1
1
0
7
1096
C
en
tr
al
to
th
e
d
ev
elo
p
m
en
t
an
d
o
p
tim
izatio
n
o
f
T
R
AFI
Ms
is
th
e
p
r
o
ce
s
s
o
f
m
o
d
elin
g
,
wh
ich
in
v
o
lv
es
ac
cu
r
ately
ca
p
t
u
r
in
g
th
e
m
o
to
r
'
s
d
y
n
am
ic
b
e
h
av
io
r
an
d
p
er
f
o
r
m
an
ce
ch
a
r
ac
ter
is
tics
.
B
y
em
p
lo
y
in
g
s
o
p
h
is
ticated
m
o
d
elin
g
tech
n
iq
u
es,
r
esear
ch
er
s
ca
n
g
ain
i
n
s
ig
h
ts
in
to
th
e
co
m
p
lex
in
t
er
ac
tio
n
s
b
etwe
en
elec
tr
o
m
ag
n
etic
f
ield
s
,
m
ec
h
an
ical
co
m
p
o
n
e
n
ts
,
an
d
co
n
t
r
o
l
s
tr
ateg
ies
with
in
th
e
T
R
AFI
M
s
y
s
tem
.
T
h
is
m
o
d
elin
g
p
r
o
ce
s
s
s
er
v
es
as
a
f
o
u
n
d
atio
n
f
o
r
d
esig
n
o
p
ti
m
izatio
n
,
co
n
tr
o
l
alg
o
r
ith
m
d
ev
elo
p
m
e
n
t,
a
n
d
p
er
f
o
r
m
an
ce
ev
alu
atio
n
,
u
lti
m
ately
p
av
in
g
th
e
wa
y
f
o
r
t
h
e
ad
v
an
ce
m
en
t
o
f
T
R
AFI
M
tech
n
o
lo
g
y
in
th
e
co
n
tex
t
o
f
EV
p
r
o
p
u
ls
io
n
.
Du
al
r
o
to
r
s
y
s
tem
s
r
ep
r
esen
t
a
r
em
ar
k
ab
le
ad
v
a
n
ce
m
en
t
in
en
g
in
ee
r
in
g
,
o
f
f
er
in
g
in
n
o
v
ativ
e
s
o
l
u
tio
n
s
to
a
v
ar
i
ety
o
f
c
h
allen
g
e
s
ac
r
o
s
s
d
iv
e
r
s
e
in
d
u
s
tr
ies
[
1
]
,
[
2
]
.
At
th
e
ir
co
r
e,
d
u
al
r
o
to
r
s
y
s
tem
s
f
ea
tu
r
e
two
r
o
tatin
g
co
m
p
o
n
en
ts
d
esig
n
e
d
to
wo
r
k
s
y
n
er
g
is
tically
in
ac
h
iev
in
g
s
p
ec
if
ic
task
s
o
r
f
u
n
ctio
n
s
.
T
h
ese
r
o
tatin
g
co
m
p
o
n
en
ts
,
co
m
m
o
n
ly
r
ef
e
r
r
ed
t
o
as
r
o
to
r
s
,
ca
n
tak
e
v
ar
io
u
s
f
o
r
m
s
d
e
p
en
d
in
g
o
n
th
e
ap
p
licatio
n
,
r
a
n
g
in
g
f
r
o
m
b
lad
es
attac
h
ed
to
a
ce
n
t
r
al
h
u
b
in
av
iatio
n
to
t
u
r
b
in
es
in
f
lu
id
d
y
n
am
ics
s
y
s
tem
s
an
d
b
ey
o
n
d
.
T
h
is
d
u
al
-
r
o
to
r
c
o
n
f
ig
u
r
atio
n
h
ar
n
ess
es
th
e
p
o
wer
o
f
c
o
o
r
d
in
ated
m
o
tio
n
to
e
n
h
an
c
e
p
er
f
o
r
m
an
ce
,
e
f
f
icien
cy
,
a
n
d
v
er
s
atility
in
n
u
m
er
o
u
s
ap
p
licat
io
n
s
[
3
]
,
[
4
]
.
On
e
p
r
o
m
in
e
n
t
d
o
m
ain
wh
e
r
e
d
u
al
r
o
to
r
s
y
s
tem
s
f
in
d
ex
ten
s
iv
e
ap
p
licatio
n
is
in
th
e
r
ea
lm
o
f
av
iatio
n
.
Helico
p
ter
s
e
q
u
ip
p
ed
with
tan
d
e
m
o
r
co
ax
ial
r
o
to
r
s
e
x
em
p
lify
th
e
u
tili
za
tio
n
o
f
d
u
al
r
o
to
r
co
n
f
ig
u
r
atio
n
s
[
5
]
,
[
6
]
.
B
y
le
v
er
ag
in
g
two
r
o
to
r
s
in
s
tead
o
f
o
n
e,
th
ese
air
cr
a
f
t
ca
n
ac
h
ie
v
e
en
h
a
n
ce
d
liftin
g
ca
p
ac
ity
,
s
tab
ilit
y
,
a
n
d
m
an
eu
v
er
ab
ilit
y
,
o
f
f
er
i
n
g
a
d
v
an
ta
g
es
o
v
er
tr
ad
itio
n
al
s
in
g
le
-
r
o
to
r
d
esig
n
s
[
7
]
,
[
8
]
.
T
h
e
twin
r
o
to
r
ax
ial
f
lu
x
m
ac
h
i
n
es
h
av
in
g
lar
g
e
r
d
iam
eter
s
o
f
f
er
an
attr
ac
tiv
e
alter
n
ati
v
e
f
o
r
win
d
e
n
er
g
y
co
n
v
er
s
io
n
s
y
s
tem
[
9
]
.
Fu
r
th
e
r
m
o
r
e,
u
n
m
a
n
n
ed
ae
r
ial
v
eh
ic
les
(
UAVs
)
an
d
d
r
o
n
es
f
r
eq
u
en
tly
em
p
lo
y
d
u
al
r
o
to
r
s
etu
p
s
to
im
p
r
o
v
e
c
o
n
tr
o
l,
ag
ilit
y
,
an
d
p
ay
l
o
ad
ca
p
ac
ity
,
d
em
o
n
s
tr
atin
g
th
e
ad
ap
tab
ilit
y
an
d
ef
f
ec
tiv
en
ess
o
f
th
is
co
n
f
ig
u
r
a
tio
n
ac
r
o
s
s
v
ar
io
u
s
ae
r
o
s
p
ac
e
ap
p
licatio
n
s
.
Mo
r
eo
v
er
,
d
u
al
r
o
to
r
s
y
s
tem
s
p
lay
a
s
ig
n
if
ican
t
r
o
le
in
r
en
ewa
b
le
en
er
g
y
an
d
in
d
u
s
tr
ial
m
ac
h
in
er
y
s
ec
to
r
s
.
I
n
th
e
r
en
ewa
b
le
en
er
g
y
s
ec
to
r
,
win
d
tu
r
b
in
es
f
ea
tu
r
in
g
d
u
al
r
o
to
r
s
h
av
e
g
ain
ed
p
r
o
m
in
e
n
ce
d
u
e
to
th
eir
ab
ilit
y
to
ca
p
tu
r
e
m
o
r
e
win
d
en
er
g
y
an
d
in
cr
ea
s
e
ef
f
icien
cy
co
m
p
a
r
e
d
to
s
in
g
le
-
r
o
to
r
d
esig
n
s
[
1
0
]
,
[
1
1
]
.
Ad
d
itio
n
ally
,
in
in
d
u
s
tr
ial
m
ac
h
in
er
y
ap
p
licatio
n
s
s
u
ch
as
m
ix
er
s
,
b
len
d
er
s
,
a
n
d
ag
itato
r
s
,
d
u
al
r
o
to
r
co
n
f
i
g
u
r
atio
n
s
en
s
u
r
e
th
o
r
o
u
g
h
m
ix
in
g
an
d
b
len
d
in
g
o
f
m
ater
ials
,
en
h
an
cin
g
p
r
o
d
u
ctiv
ity
an
d
q
u
ality
in
s
ec
to
r
s
s
u
ch
as
ch
em
ical
p
r
o
ce
s
s
in
g
,
f
o
o
d
p
r
o
d
u
ctio
n
,
an
d
p
h
ar
m
ac
eu
ti
ca
l
m
an
u
f
ac
tu
r
in
g
.
T
h
e
v
e
r
s
atility
an
d
p
er
f
o
r
m
an
ce
b
en
e
f
i
ts
o
f
f
er
ed
b
y
d
u
al
r
o
to
r
s
y
s
tem
s
u
n
d
er
s
co
r
e
th
ei
r
i
m
p
o
r
t
a
n
c
e
i
n
s
h
a
p
i
n
g
t
h
e
la
n
d
s
c
a
p
e
o
f
m
o
d
e
r
n
e
n
g
i
n
e
e
r
in
g
a
n
d
i
n
n
o
v
a
t
i
o
n
a
c
r
o
s
s
m
u
lt
i
p
l
e
i
n
d
u
s
t
r
ie
s
[
1
2
]
,
[
1
3
]
.
T
h
e
q
u
est
f
o
r
en
h
a
n
cin
g
th
e
p
er
f
o
r
m
an
ce
an
d
co
n
t
r
o
l
o
f
e
lectr
ic
m
o
to
r
s
h
as
b
ee
n
a
d
r
i
v
in
g
f
o
r
ce
b
eh
in
d
tech
n
o
l
o
g
ical
ad
v
an
c
em
en
ts
in
v
ar
i
o
u
s
in
d
u
s
tr
ies
[
1
4
]
,
[
1
5
]
.
On
e
s
u
ch
a
r
e
a
o
f
f
o
cu
s
is
th
e
o
p
tim
izatio
n
o
f
twin
r
o
t
o
r
ax
i
al
f
lu
x
in
d
u
ctio
n
m
o
to
r
s
(
T
R
Ax
FIM
s
)
,
wh
ich
h
av
e
g
ar
n
er
e
d
in
cr
ea
s
in
g
in
ter
est
d
u
e
to
th
eir
u
n
iq
u
e
ch
ar
ac
ter
i
s
tics
an
d
p
o
ten
tial
ap
p
licatio
n
s
.
T
R
Ax
FIM
s
,
wi
th
th
eir
co
m
p
ac
t
d
esig
n
,
h
ig
h
p
o
wer
d
en
s
ity
,
an
d
ef
f
icien
c
y
,
o
f
f
er
p
r
o
m
is
in
g
s
o
lu
tio
n
s
f
o
r
d
iv
er
s
e
in
d
u
s
tr
ial
task
s
.
Ho
wev
er
,
ac
h
iev
in
g
o
p
tim
al
p
er
f
o
r
m
a
n
ce
an
d
p
r
ec
is
e
co
n
tr
o
l
in
T
R
Ax
FIM
s
p
r
es
en
ts
ch
allen
g
es
o
win
g
t
o
th
eir
co
m
p
lex
d
y
n
am
ics
an
d
n
o
n
lin
ea
r
ch
ar
ac
ter
is
tics
[
1
6
]
,
[
1
7
]
.
T
o
a
d
d
r
ess
th
e
s
e
ch
allen
g
es
an
d
u
n
lo
c
k
th
e
f
u
ll
p
o
ten
tial
o
f
T
R
Ax
FIM
s
,
r
esear
ch
er
s
an
d
en
g
in
ee
r
s
h
av
e
tu
r
n
ed
to
in
n
o
v
ativ
e
s
tr
ateg
ies
an
d
tech
n
o
lo
g
ies.
Mu
lti
-
lev
el
in
v
er
ter
s
(
ML
I
s
)
em
er
g
e
as
a
p
r
o
m
is
in
g
s
o
lu
tio
n
to
en
h
a
n
ce
m
o
to
r
co
n
tr
o
l
p
r
ec
is
io
n
an
d
ef
f
icien
cy
.
ML
I
s
en
ab
le
th
e
s
y
n
th
esis
o
f
o
u
tp
u
t
v
o
ltag
e
wav
ef
o
r
m
s
with
m
u
ltip
le
v
o
ltag
e
lev
els,
lead
in
g
to
s
m
o
o
th
er
o
p
er
atio
n
,
r
ed
u
ce
d
h
ar
m
o
n
ic
d
is
to
r
tio
n
,
an
d
im
p
r
o
v
ed
ef
f
icien
cy
.
B
y
lev
er
ag
in
g
ML
I
s
,
it
b
ec
o
m
es
p
o
s
s
ib
le
to
ac
h
iev
e
f
in
e
r
co
n
tr
o
l
o
v
er
m
o
to
r
s
p
ee
d
,
to
r
q
u
e,
a
n
d
o
v
er
all
p
er
f
o
r
m
an
ce
,
th
er
eb
y
m
ax
im
izin
g
th
e
ca
p
ab
ilit
ies
o
f
T
R
Ax
FIM
s
in
v
ar
io
u
s
in
d
u
s
t
r
ial
ap
p
licatio
n
s
[
1
8
]
,
[
1
9
]
.
T
h
e
in
teg
r
atio
n
o
f
ad
v
an
ce
d
co
n
tr
o
l
tech
n
iq
u
es
o
f
f
er
s
a
p
at
h
way
to
f
u
r
th
er
en
h
an
ce
th
e
p
er
f
o
r
m
an
ce
a
n
d
v
e
r
s
atility
o
f
T
R
Ax
FIM
s
[
2
0
]
.
I
n
win
d
tu
r
b
in
e
s
y
s
tem
s
(
W
T
Ss
)
,
d
ir
ec
t
p
o
wer
c
o
n
tr
o
l
(
DP
C
)
is
em
p
lo
y
e
d
to
co
n
tr
o
l
th
e
d
o
u
b
ly
-
f
ed
in
d
u
ctio
n
g
e
n
er
ato
r
s
(
DFI
G'
s
)
en
er
g
y
[
2
1
]
.
I
n
o
r
d
er
to
e
x
am
in
e
th
e
n
o
n
lin
ea
r
b
eh
a
v
i
o
r
o
f
a
d
u
al
-
r
o
to
r
b
ea
r
in
g
-
ca
s
in
g
f
r
am
ewo
r
k
,
th
i
s
r
esear
ch
p
r
o
p
o
s
es
an
alter
ed
v
er
s
io
n
o
f
th
e
HB
-
AFT
ap
p
r
o
ac
h
[
2
2
]
.
W
ith
2
8
4
lev
els
o
f
f
r
ee
d
o
m
,
th
e
eq
u
atio
n
s
f
o
r
m
o
tio
n
o
f
a
d
u
al
-
r
o
to
r
b
ea
r
in
g
-
ca
s
in
g
s
tr
u
ct
u
r
e
ex
p
o
s
ed
to
th
e
u
n
eq
u
al
s
tim
u
latio
n
o
f
th
e
two
r
o
to
r
s
ar
e
d
ev
elo
p
ed
.
I
n
an
ae
r
o
en
g
in
e
d
u
al
-
r
o
to
r
s
tr
u
ctu
r
e,
in
ter
-
s
h
af
t
r
u
b
-
im
p
ac
t,
o
r
th
e
r
u
b
-
i
m
p
ac
t
am
o
n
g
two
r
o
to
r
s
,
co
u
ld
tr
a
n
s
p
ir
e.
T
h
is
r
es
ea
r
ch
is
th
e
in
itial
ef
f
o
r
t
t
o
s
tu
d
y
th
e
i
n
ter
-
s
h
af
t
r
u
b
-
im
p
ac
t
n
o
n
lin
ea
r
d
y
n
a
m
ics
o
f
a
d
u
al
-
r
o
to
r
s
y
s
tem
s
[
2
3
]
.
B
y
tak
i
n
g
in
t
o
ac
co
u
n
t
th
e
in
ter
-
s
h
af
t
f
r
ictio
n
ac
tio
n
s
,
th
e
d
y
n
am
ic
m
o
d
e
ls
o
f
a
co
m
p
licated
d
u
al
-
r
o
to
r
s
y
s
tem
is
co
n
s
tr
u
cted
u
tili
zin
g
th
e
th
r
ee
-
d
im
en
s
io
n
al
(
3D
)
f
in
ite
m
ater
ial
co
m
p
o
n
e
n
t
ap
p
r
o
ac
h
.
T
h
e
wo
r
k
t
h
at
is
b
ein
g
g
iv
e
n
ass
ess
es
an
d
en
h
an
ce
s
th
e
ef
f
icien
cy
o
f
d
u
al
-
r
o
to
r
t
u
r
b
in
es
th
at
ar
e
m
o
u
n
ted
i
n
s
id
e
o
f
d
esig
n
e
d
d
u
cts
[
2
4
]
.
C
o
m
p
ar
i
n
g
d
u
a
l
-
r
o
to
r
win
d
tu
r
b
in
e
(
DR
W
T
)
an
d
s
in
g
le
-
r
o
to
r
win
d
tu
r
b
in
e
(
SR
W
T
)
,
th
e
im
p
ac
t
o
f
v
ar
io
u
s
o
p
e
r
atin
g
cir
c
u
m
s
tan
ce
s
o
n
th
e
r
ec
o
v
er
e
d
en
er
g
y
was
co
n
tr
a
s
ted
.
T
h
ese
co
n
d
itio
n
s
o
f
o
p
e
r
atio
n
,
wh
ich
we
r
e
ass
e
s
s
ed
u
s
in
g
th
e
m
u
ltip
le
-
v
ar
iate
s
tatis
tical
ap
p
r
o
ac
h
b
a
s
ed
o
n
r
esp
o
n
s
e
s
u
r
f
ac
es,
in
v
o
lv
e
th
e
k
i
n
d
o
f
DR
W
T
s
et
u
p
in
th
e
d
u
ct'
s
th
r
o
a
t
p
o
r
tio
n
,
th
e
s
ep
ar
atio
n
am
o
n
g
a
tu
r
b
in
e'
s
two
r
o
to
r
s
,
an
d
th
e
o
v
er
all
f
lo
w
s
p
ee
d
with
in
th
e
d
u
ct
t
h
r
o
at.
T
h
is
wo
r
k
in
v
esti
g
ates
a
d
u
al
-
r
o
to
r
b
ea
r
in
g
-
c
o
u
p
li
n
g
m
is
alig
n
ed
s
y
s
tem
s
with
b
lad
e
-
ca
s
in
g
f
r
ictio
n
u
s
in
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J I
n
f
&
C
o
m
m
u
n
T
ec
h
n
o
l
I
SS
N:
2252
-
8
7
7
6
A
d
va
n
ce
d
co
n
tr
o
l te
ch
n
iq
u
es f
o
r
p
erfo
r
ma
n
ce
imp
r
o
ve
men
t o
f a
xia
l flu
x
ma
c
h
in
es
(
K
a
lp
a
n
a
A
n
u
ma
la
)
1097
co
m
p
u
tatio
n
al
m
o
d
ellin
g
an
d
m
ea
s
u
r
em
en
ts
f
r
o
m
ex
p
er
im
e
n
ts
to
u
n
v
eil
th
e
n
o
n
lin
ea
r
v
ib
r
atio
n
f
ea
tu
r
es
o
f
a
r
ea
l d
u
al
-
r
o
to
r
ae
r
o
tu
r
b
in
e
wi
th
th
is
f
r
ictio
n
[
2
5
]
.
T
h
e
k
ey
c
o
n
tr
ib
u
tio
n
s
o
f
th
e
a
r
ticle
is
,
−
P
e
r
f
o
r
m
a
n
c
e
e
v
a
l
u
at
i
o
n
t
h
r
o
u
g
h
M
A
T
L
AB
s
i
m
u
l
at
i
o
n
s
u
n
d
e
r
v
a
r
i
a
b
l
e
s
p
e
e
d
c
o
n
d
i
ti
o
n
s
w
h
ile
m
a
i
n
t
a
i
n
i
n
g
c
o
n
s
t
a
n
t
t
o
r
q
u
e
a
n
d
v
i
c
e
v
e
r
s
a
,
p
r
o
v
i
d
i
n
g
i
n
s
i
g
h
t
s
i
n
t
o
t
h
e
d
y
n
a
m
i
c
b
e
h
a
v
i
o
r
o
f
T
R
A
x
F
I
Ms
.
−
Ad
d
r
ess
in
g
ch
allen
g
es
in
o
p
tim
izin
g
T
R
Ax
FIM
s
'
p
er
f
o
r
m
an
ce
a
n
d
co
n
tr
o
l
d
u
e
t
o
t
h
eir
co
m
p
le
x
d
y
n
am
ics an
d
n
o
n
lin
ea
r
ch
a
r
a
cter
is
tics
.
−
I
n
v
esti
g
atio
n
o
f
th
r
e
e
ad
v
a
n
c
ed
co
n
tr
o
l
s
tr
ateg
ies
p
r
o
p
o
r
ti
o
n
al
-
in
teg
r
al
(
PI)
,
f
u
zz
y
,
an
d
a
rti
ficia
l
n
e
u
ra
l
n
e
two
rk
(
ANN)
c
o
n
tr
o
ller
s
f
o
r
im
p
r
o
v
e
d
d
y
n
am
ic
r
esp
o
n
s
e
a
n
d
r
o
b
u
s
tn
ess
.
−
I
n
teg
r
atio
n
o
f
ML
I
s
an
d
a
d
v
an
ce
d
co
n
tr
o
l
tech
n
iq
u
es
aim
in
g
to
en
h
an
ce
ef
f
icien
c
y
,
s
tab
ilit
y
,
an
d
r
esp
o
n
s
e
s
p
ee
d
o
f
T
R
Ax
FIM
s
.
T
h
e
p
ap
e
r
is
o
r
g
a
n
ized
as
f
o
ll
o
ws
:
p
r
o
b
lem
s
tatem
en
t
is
p
r
e
s
en
ted
in
s
ec
tio
n
2
a
n
d
s
ec
tio
n
3
.
Sectio
n
4
an
d
5
g
iv
es th
e
m
eth
o
d
o
lo
g
y
an
d
r
es
u
lts
an
d
d
is
cu
s
s
io
n
.
Sectio
n
6
co
n
clu
d
es th
e
a
r
ticle.
2.
P
RO
B
L
E
M
ST
A
T
E
M
E
NT
T
h
e
ex
is
tin
g
m
eth
o
d
s
f
o
r
o
p
tim
izin
g
p
er
f
o
r
m
an
ce
an
d
co
n
tr
o
l
s
tr
ateg
ies
o
f
T
R
Ax
FIM
s
in
E
V
ap
p
licatio
n
s
f
ac
e
lim
itatio
n
s
d
u
e
to
th
e
c
o
m
p
le
x
d
y
n
am
ic
s
an
d
n
o
n
lin
ea
r
ch
a
r
ac
ter
is
tics
o
f
th
ese
m
o
to
r
s
.
W
h
ile
T
R
Ax
FIM
s
o
f
f
er
h
ig
h
p
o
wer
d
en
s
ity
an
d
ef
f
icien
c
y
,
ac
h
iev
in
g
o
p
tim
al
p
e
r
f
o
r
m
an
ce
an
d
c
o
n
tr
o
l
r
em
ain
s
ch
allen
g
i
n
g
.
T
h
er
e
f
o
r
e,
th
is
s
tu
d
y
aim
s
to
ad
d
r
e
s
s
th
ese
lim
itatio
n
s
b
y
in
v
esti
g
atin
g
en
h
an
ce
d
p
er
f
o
r
m
an
ce
a
n
d
co
n
tr
o
l
s
tr
at
eg
ies
u
tili
zin
g
ML
I
s
a
n
d
a
d
v
a
n
ce
d
c
o
n
tr
o
l
tech
n
iq
u
es.
T
h
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
in
teg
r
ates
ML
I
s
to
en
h
an
ce
m
o
to
r
c
o
n
tr
o
l
p
r
ec
is
io
n
an
d
e
f
f
i
cien
cy
,
wh
ile
also
e
x
p
lo
r
in
g
t
h
e
ef
f
e
ctiv
en
ess
o
f
th
r
ee
ad
v
an
ce
d
co
n
tr
o
l
s
tr
ateg
ies
PI,
f
u
zz
y
,
an
d
ANN
co
n
tr
o
ller
s
.
Un
lik
e
co
n
v
e
n
tio
n
al
m
eth
o
d
s
,
th
ese
ad
v
an
ce
d
c
o
n
tr
o
l
s
tr
ateg
ies
o
f
f
er
im
p
r
o
v
ed
d
y
n
am
ic
r
esp
o
n
s
e
an
d
r
o
b
u
s
tn
ess
,
allo
win
g
f
o
r
m
o
r
e
ef
f
icien
t
a
n
d
r
eliab
le
elec
tr
ic
m
o
to
r
s
y
s
tem
s
.
T
h
r
o
u
g
h
ex
ten
s
iv
e
MA
T
L
AB
s
im
u
latio
n
s
u
n
d
er
v
ar
iab
l
e
s
p
ee
d
co
n
d
itio
n
s
,
th
e
ef
f
ec
t
iv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
s
tr
ateg
ies
is
ev
alu
ated
;
aim
in
g
to
d
em
o
n
s
tr
ate
im
p
r
o
v
ed
m
o
t
o
r
co
n
tr
o
l
p
r
ec
is
io
n
,
r
ed
u
ce
d
e
n
er
g
y
co
n
s
u
m
p
tio
n
,
an
d
en
h
an
ce
d
d
y
n
a
m
ic
r
esp
o
n
s
e.
T
h
u
s
,
b
y
a
d
d
r
es
s
in
g
th
e
lim
itatio
n
s
o
f
ex
is
tin
g
m
eth
o
d
s
an
d
lev
er
ag
in
g
ad
v
a
n
ce
d
co
n
t
r
o
l
tech
n
iq
u
es,
th
is
s
tu
d
y
s
ee
k
s
to
p
av
e
th
e
way
f
o
r
o
p
tim
izin
g
th
e
p
er
f
o
r
m
a
n
ce
o
f
T
R
Ax
FIM
s
in
EV
ap
p
licatio
n
s
,
lead
in
g
t
o
m
o
r
e
ef
f
icien
t
a
n
d
r
eliab
le
elec
tr
ic
m
o
to
r
s
y
s
tem
s
[
2
6
]
.
3.
P
RO
P
O
SE
D
CO
NT
RO
L
S
T
RAT
E
G
I
E
S F
O
R
T
RAx
F
I
M
s
U
T
I
L
I
Z
I
NG
M
L
I
s
T
h
e
m
eth
o
d
o
lo
g
y
en
c
o
m
p
a
s
s
es
a
co
m
p
r
eh
en
s
iv
e
ex
p
lo
r
atio
n
o
f
v
ar
i
o
u
s
elec
tr
ic
m
o
to
r
co
n
f
ig
u
r
atio
n
s
an
d
c
o
n
tr
o
l
tech
n
iq
u
es
to
o
p
tim
ize
th
e
p
er
f
o
r
m
an
ce
o
f
T
R
Ax
FIM
s
in
EV
ap
p
licatio
n
s
.
I
t
in
clu
d
es
th
e
in
v
esti
g
atio
n
o
f
s
in
g
le
s
tato
r
in
d
u
ctio
n
m
o
t
o
r
s
,
b
o
th
a
x
ial
an
d
r
a
d
ial
ty
p
e,
as
well
as
th
e
s
p
ec
ialized
d
u
al
r
o
to
r
s
in
g
le
s
tato
r
I
M
co
n
f
ig
u
r
atio
n
,
aim
i
n
g
to
u
n
d
er
s
tan
d
th
eir
o
p
er
atio
n
al
p
r
in
cip
les
an
d
p
er
f
o
r
m
an
ce
ch
ar
ac
ter
is
tics
.
Ad
d
itio
n
ally
,
th
e
s
tu
d
y
d
elv
e
s
in
to
th
e
u
tili
za
tio
n
o
f
ML
I
s
to
en
h
an
ce
m
o
to
r
co
n
tr
o
l
p
r
ec
is
io
n
an
d
e
f
f
icien
cy
.
Fu
r
th
e
r
m
o
r
e,
ad
v
a
n
ce
d
co
n
tr
o
l
s
tr
ateg
ies
s
u
ch
as
PI,
f
u
zz
y
,
a
n
d
ANN
co
n
tr
o
ller
s
ar
e
e
x
p
lo
r
e
d
to
i
m
p
r
o
v
e
d
y
n
a
m
ic
r
esp
o
n
s
e
an
d
r
o
b
u
s
tn
ess
.
B
y
in
teg
r
atin
g
th
e
s
e
m
eth
o
d
o
lo
g
ies,
th
e
r
esear
ch
aim
s
to
d
ev
elo
p
c
o
m
p
r
eh
e
n
s
iv
e
in
s
ig
h
ts
in
to
t
h
e
o
p
tim
izatio
n
o
f
T
R
Ax
FIM
p
er
f
o
r
m
a
n
ce
,
p
a
v
in
g
th
e
way
f
o
r
m
o
r
e
ef
f
icien
t a
n
d
r
eliab
le
elec
tr
ic
m
o
to
r
s
y
s
tem
s
in
EV
ap
p
licatio
n
s
.
3
.
1
.
T
win
ro
t
o
r
a
x
ia
l f
lux
IM
T
h
e
T
R
Ax
FIM
is
a
s
p
ec
ialized
co
n
f
i
g
u
r
atio
n
d
esig
n
e
d
to
e
n
h
an
ce
m
o
t
o
r
p
e
r
f
o
r
m
an
ce
a
n
d
ef
f
icien
cy
b
y
u
tili
zin
g
two
r
o
to
r
s
with
in
a
s
in
g
le
s
ta
to
r
ass
em
b
ly
.
I
n
th
is
u
n
iq
u
e
d
esig
n
,
a
co
m
m
o
n
s
tato
r
is
s
h
ar
ed
b
y
two
s
ep
ar
ate
r
o
to
r
ass
em
b
lies
,
ea
ch
p
o
s
itio
n
ed
o
n
o
p
p
o
s
ite
s
id
es
o
f
th
e
s
tato
r
.
W
h
en
alter
n
atin
g
cu
r
r
en
t
is
s
u
p
p
lied
to
th
e
s
tato
r
win
d
in
g
s
,
it
cr
ea
tes
a
r
o
tatin
g
m
a
g
n
etic
f
ield
with
in
t
h
e
m
o
to
r
,
as
in
co
n
v
en
tio
n
al
s
in
g
le
-
r
o
to
r
in
d
u
ctio
n
m
o
to
r
s
.
Ho
wev
er
,
in
T
R
Ax
FIM
s
,
th
e
p
r
esen
ce
o
f
two
r
o
to
r
s
in
tr
o
d
u
ce
s
ad
d
itio
n
al
c
o
m
p
lex
ities
to
th
e
m
o
to
r
o
p
er
atio
n
.
B
o
th
r
o
to
r
s
ar
e
s
u
b
je
ct
to
th
e
r
o
tatin
g
m
ag
n
etic
f
ie
ld
p
r
o
d
u
ce
d
b
y
th
e
s
tato
r
,
lead
in
g
to
th
e
in
d
u
ctio
n
o
f
cu
r
r
en
ts
i
n
th
eir
r
esp
ec
ti
v
e
co
n
d
u
cto
r
s
.
As
a
r
esu
lt,
ea
ch
r
o
to
r
ex
p
e
r
ien
ce
s
elec
tr
o
m
ag
n
etic
f
o
r
ce
s
th
at
p
r
o
d
u
ce
to
r
q
u
e,
ca
u
s
in
g
th
em
to
r
o
tate
in
o
p
p
o
s
ite
d
ir
ec
tio
n
s
.
T
h
e
co
m
b
in
ed
r
o
tatio
n
al
m
o
tio
n
o
f
th
e
two
r
o
to
r
s
p
r
o
v
id
es
e
n
h
an
ce
d
to
r
q
u
e
o
u
tp
u
t
a
n
d
m
ec
h
an
ical
p
o
wer
co
m
p
ar
ed
to
s
in
g
le
-
r
o
to
r
i
n
d
u
ctio
n
m
o
to
r
s
.
T
h
e
u
t
i
l
i
z
at
i
o
n
o
f
d
u
a
l
r
o
t
o
r
s
i
n
a
s
i
n
g
l
e
s
t
at
o
r
c
o
n
f
i
g
u
r
a
t
io
n
a
l
l
o
w
s
f
o
r
i
n
c
r
e
a
s
e
d
p
o
we
r
d
e
n
s
i
t
y
,
i
m
p
r
o
v
e
d
e
f
f
i
c
i
e
n
c
y
,
a
n
d
e
n
h
a
n
c
e
d
p
e
r
f
o
r
m
a
n
c
e
i
n
T
R
A
x
F
I
M
s
.
B
y
d
i
s
t
r
i
b
u
t
i
n
g
t
h
e
t
o
r
q
u
e
p
r
o
d
u
c
t
i
o
n
b
e
t
w
e
e
n
t
w
o
r
o
t
o
r
s
,
DR
I
M
s
c
a
n
a
c
h
ie
v
e
h
i
g
h
e
r
t
o
r
q
u
e
-
to
-
w
e
i
g
h
t
r
at
i
o
s
a
n
d
s
m
o
o
t
h
e
r
o
p
e
r
a
t
i
o
n
,
m
a
k
i
n
g
t
h
e
m
s
u
it
a
b
l
e
f
o
r
a
p
p
l
i
c
a
t
i
o
n
s
r
e
q
u
i
r
i
n
g
h
i
g
h
to
r
q
u
e
o
u
t
p
u
t
a
n
d
p
r
e
c
i
s
e
c
o
n
t
r
o
l
.
A
d
d
i
t
i
o
n
al
l
y
,
t
h
e
d
u
a
l
-
r
o
t
o
r
d
e
s
i
g
n
o
f
f
e
r
s
r
e
d
u
n
d
a
n
c
y
a
n
d
f
a
u
l
t
t
o
l
e
r
a
n
c
e,
a
s
t
h
e
m
o
t
o
r
c
a
n
c
o
n
ti
n
u
e
t
o
o
p
e
r
a
t
e
e
v
e
n
i
f
o
n
e
r
o
t
o
r
e
x
p
e
r
i
en
c
e
s
f
a
i
l
u
r
e
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
7
6
I
n
t J I
n
f
&
C
o
m
m
u
n
T
ec
h
n
o
l
,
Vo
l.
14
,
No
.
3
,
Dec
em
b
er
20
25
:
1
0
9
5
-
1
1
0
7
1098
3
.
2
.
M
ulti
-
lev
el
inv
er
t
er
ML
I
s
p
lay
a
cr
u
cial
r
o
le
i
n
en
h
an
cin
g
m
o
to
r
co
n
tr
o
l b
y
p
r
o
v
id
in
g
a
m
o
r
e
r
ef
i
n
ed
a
n
d
p
r
ec
i
s
e
v
o
ltag
e
m
o
d
u
latio
n
co
m
p
a
r
ed
to
tr
a
d
it
io
n
al
in
v
er
ter
s
.
B
y
s
y
n
t
h
esizin
g
o
u
tp
u
t v
o
ltag
e
wa
v
ef
o
r
m
s
with
m
u
ltip
le
lev
els,
ML
I
s
en
ab
le
s
m
o
o
th
er
tr
an
s
itio
n
s
b
etwe
en
v
o
ltag
e
s
tates,
r
e
s
u
ltin
g
in
r
e
d
u
ce
d
h
ar
m
o
n
ic
d
is
to
r
tio
n
an
d
im
p
r
o
v
e
d
p
o
wer
q
u
ality
.
T
h
is
f
in
er
c
o
n
tr
o
l
o
v
er
v
o
ltag
e
m
o
d
u
latio
n
allo
ws
f
o
r
o
p
tim
ized
en
er
g
y
u
tili
za
tio
n
,
en
h
an
ce
d
d
y
n
a
m
ic
r
esp
o
n
s
e,
an
d
in
cr
ea
s
ed
ef
f
icien
cy
in
m
o
to
r
o
p
e
r
atio
n
.
Ad
d
itio
n
ally
,
ML
I
s
o
f
f
er
g
r
ea
ter
f
lex
ib
ilit
y
in
ad
ju
s
tin
g
m
o
to
r
s
p
ee
d
an
d
to
r
q
u
e
ac
r
o
s
s
v
ar
io
u
s
o
p
er
atin
g
co
n
d
itio
n
s
,
m
ak
i
n
g
th
em
in
v
alu
a
b
le
f
o
r
ac
h
iev
in
g
s
u
p
er
i
o
r
p
er
f
o
r
m
an
ce
an
d
r
esp
o
n
s
iv
en
ess
in
i
n
d
u
s
tr
ial
ap
p
licatio
n
s
.
ML
I
s
s
tan
d
as
a
p
r
o
m
is
in
g
s
o
lu
tio
n
to
au
g
m
en
t
m
o
to
r
c
o
n
tr
o
l
p
r
ec
is
io
n
an
d
ef
f
icien
cy
in
th
e
co
n
tex
t
o
f
T
R
Ax
F
I
Ms.
ML
I
s
o
f
f
er
a
s
ig
n
if
ican
t
ad
v
an
ce
m
en
t
o
v
er
tr
ad
itio
n
al
in
v
e
r
ter
s
b
y
s
y
n
t
h
esizin
g
o
u
tp
u
t
v
o
ltag
e
wav
ef
o
r
m
s
with
m
u
ltip
le
v
o
ltag
e
lev
els,
lead
i
n
g
to
s
m
o
o
th
er
o
p
er
atio
n
an
d
r
ed
u
ce
d
h
ar
m
o
n
ic
d
is
to
r
tio
n
.
I
n
th
e
r
ea
l
m
o
f
T
R
Ax
FIM
s
,
wh
er
e
p
r
ec
is
e
co
n
tr
o
l o
f
m
o
to
r
s
p
ee
d
an
d
to
r
q
u
e
is
p
ar
am
o
u
n
t,
th
e
in
teg
r
atio
n
o
f
ML
I
s
o
p
en
s
u
p
n
ew
av
en
u
es
f
o
r
en
h
an
cin
g
p
er
f
o
r
m
a
n
ce
an
d
r
esp
o
n
s
iv
en
ess
.
T
ab
le
1
s
h
o
ws th
e
s
witch
in
g
tab
le
f
o
r
ML
I
.
T
ab
le
1
.
Switch
in
g
tab
le
f
o
r
ML
I
S
.
N
O
O
/
P
v
o
l
t
a
g
e
l
e
v
e
l
C
u
r
r
e
n
t
d
i
r
e
c
t
i
o
n
1
2
3
4
5
6
7
1
5
V
d
c
Ln
-
S3
-
V
d
c
3
-
V
d
c
1
-
S4
-
C
-
S7
-
Lp
0
0
1
1
0
0
1
2
4
V
d
c
Ln
-
S3
-
V
d
c
3
-
V
d
c
1
-
S4
-
S6
-
Lp
0
0
1
1
0
1
0
3
3
V
d
c
Ln
-
S2
-
V
d
c
1
-
S4
-
C
-
S7
-
Lp
0
1
0
1
0
0
1
4
2
V
d
c
Ln
-
S2
-
V
d
c
1
-
S4
-
S6
-
Lp
0
1
0
1
0
1
0
5
V
d
c
Ln
-
S1
-
S4
-
C
-
S7
-
Lp
1
0
0
1
0
0
1
6
0
Ln
-
S1
-
S4
-
S6
-
Lp
1
0
0
1
0
1
0
7
-
V
d
c
Ln
-
S3
-
S5
-
C
-
S6
-
Lp
0
0
1
0
1
1
0
8
-
2
V
d
c
Ln
-
S2
-
V
d
c
3
-
S5
-
S7
-
Lp
0
1
0
0
1
0
1
9
-
3
V
d
c
Ln
-
S2
-
V
d
c
3
-
S5
-
C
-
S6
-
Lp
0
1
0
0
1
1
0
10
-
4
V
d
c
Ln
-
S1
-
V
d
c
1
-
V
d
c
3
-
S5
-
S7
-
Lp
1
0
0
0
1
0
1
11
-
5
V
d
c
Ln
-
S1
-
V
d
c
1
-
V
d
c
3
-
S5
-
C
-
S6
-
Lp
1
0
0
0
1
1
0
T
h
e
u
t
i
l
iz
a
t
i
o
n
o
f
M
L
I
s
i
n
T
R
A
x
F
I
M
s
e
n
a
b
l
es
f
i
n
e
r
c
o
n
t
r
o
l
o
v
e
r
m
o
t
o
r
o
p
e
r
a
ti
o
n
,
a
ll
o
w
i
n
g
f
o
r
o
p
t
i
m
i
z
e
d
e
n
e
r
g
y
u
ti
l
i
z
at
i
o
n
an
d
i
m
p
r
o
v
e
d
d
y
n
a
m
i
c
r
e
s
p
o
n
s
e
.
B
y
g
e
n
e
r
at
i
n
g
o
u
t
p
u
t
v
o
l
tag
e
w
a
v
e
f
o
r
m
s
w
i
t
h
m
u
l
t
i
p
l
e
l
e
v
e
ls
,
M
L
I
s
f
a
c
i
l
it
a
te
s
m
o
o
t
h
e
r
t
r
a
n
s
i
ti
o
n
s
b
e
t
w
e
en
v
o
l
t
a
g
e
s
t
a
t
es
,
m
i
n
i
m
i
z
i
n
g
v
o
l
t
a
g
e
d
i
s
t
o
r
ti
o
n
a
n
d
r
e
d
u
c
i
n
g
e
l
e
c
t
r
o
m
a
g
n
e
t
i
c
i
n
t
e
r
f
e
r
e
n
c
e
.
T
h
e
i
n
v
e
r
t
e
r
c
i
r
c
u
i
t
i
s
d
e
p
i
c
t
e
d
i
n
F
i
g
u
r
e
1
.
F
i
g
u
r
e
2
s
h
o
w
s
a
t
r
i
g
g
e
r
i
n
g
c
i
r
c
u
i
t
i
n
a
n
i
n
v
e
r
t
e
r
p
r
o
v
i
d
e
s
g
a
t
e
p
u
l
s
es
t
o
p
o
w
e
r
e
l
e
c
t
r
o
n
i
c
s
w
i
t
c
h
es
a
t
a
p
p
r
o
p
r
i
a
t
e
i
n
t
e
r
v
a
ls
.
I
t
e
n
s
u
r
e
s
c
o
r
r
e
c
t
s
w
it
c
h
i
n
g
s
e
q
u
e
n
c
e
a
n
d
ti
m
i
n
g
f
o
r
c
o
n
v
e
r
t
i
n
g
D
C
t
o
AC
o
u
t
p
u
t
w
i
t
h
d
es
i
r
e
d
w
a
v
e
f
o
r
m
a
n
d
f
r
e
q
u
e
n
c
y
.
Fig
u
r
e
1
.
I
n
v
er
te
r
cir
cu
it
Fig
u
r
e
2
.
T
r
ig
g
er
i
n
g
cir
cu
it
3
.
3
.
Co
ntr
o
llers
3
.
3
.
1
.
P
ro
po
rt
io
na
l
-
inte
g
ra
l
co
ntr
o
ller
T
h
e
PI
co
n
tr
o
ller
s
er
v
es
as
a
f
u
n
d
am
en
tal
co
m
p
o
n
en
t
in
m
o
to
r
c
o
n
tr
o
l
s
y
s
tem
s
,
p
la
y
in
g
a
p
iv
o
tal
r
o
le
in
r
e
g
u
latin
g
m
o
to
r
s
p
ee
d
,
to
r
q
u
e,
a
n
d
p
o
s
itio
n
.
B
y
c
o
m
p
ar
in
g
th
e
d
esire
d
r
ef
e
r
en
ce
s
ig
n
al
with
th
e
ac
tu
al
o
u
tp
u
t,
t
h
e
PI
co
n
tr
o
ller
g
en
er
ates
a
c
o
n
tr
o
l
s
i
g
n
al
t
h
at
ad
ju
s
ts
th
e
m
o
to
r
'
s
o
p
er
atio
n
p
r
o
p
o
r
tio
n
ally
to
th
e
er
r
o
r
s
ig
n
al
an
d
its
in
teg
r
al
o
v
er
tim
e.
T
h
is
d
u
al
-
ac
ti
o
n
ap
p
r
o
ac
h
en
s
u
r
es
s
tab
le
an
d
p
r
ec
is
e
co
n
tr
o
l,
m
in
im
izin
g
s
tead
y
-
s
tate
er
r
o
r
an
d
o
s
cillatio
n
s
wh
ile
en
a
b
lin
g
r
ap
i
d
r
esp
o
n
s
e
to
c
h
a
n
g
es
in
o
p
e
r
atin
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J I
n
f
&
C
o
m
m
u
n
T
ec
h
n
o
l
I
SS
N:
2252
-
8
7
7
6
A
d
va
n
ce
d
co
n
tr
o
l te
ch
n
iq
u
es f
o
r
p
erfo
r
ma
n
ce
imp
r
o
ve
men
t o
f a
xia
l flu
x
ma
c
h
in
es
(
K
a
lp
a
n
a
A
n
u
ma
la
)
1099
co
n
d
itio
n
s
.
T
h
e
s
im
p
licity
,
r
o
b
u
s
tn
ess
,
an
d
ef
f
ec
tiv
en
ess
o
f
th
e
PI
co
n
t
r
o
ller
m
ak
e
it
a
c
o
r
n
er
s
to
n
e
in
m
o
to
r
co
n
tr
o
l a
p
p
licatio
n
s
,
p
r
o
v
id
in
g
r
eliab
le
an
d
ef
f
icien
t
p
er
f
o
r
m
an
ce
ac
r
o
s
s
a
wid
e
r
a
n
g
e
o
f
E
V
s
y
s
tem
s
.
I
n
th
e
i
n
itial
lay
o
u
t
m
eth
o
d
,
a
tr
ad
itio
n
al
PI
c
o
n
tr
o
ller
is
ad
d
ed
to
r
eg
u
late
th
e
s
p
ee
d
o
f
a
n
im
p
licit
f
ield
-
o
r
ien
ted
I
M
o
r
d
er
.
Ad
d
i
tio
n
ally
,
th
e
b
e
g
in
n
i
n
g
co
n
d
it
io
n
is
ex
am
in
ed
.
A
p
h
ase
-
lo
c
k
ed
lo
o
p
tech
n
i
q
u
e
th
at
co
o
r
d
in
ates
with
th
e
u
tili
ties
v
o
ltag
e
r
eg
u
latio
n
co
n
v
er
t
er
f
o
r
m
u
las
ar
e
in
clu
d
e
d
in
th
e
s
u
g
g
ested
co
n
tr
o
l
f
r
am
ewo
r
k
,
as
s
h
o
wn
in
Fig
u
r
e
3
.
T
h
e
p
h
ase
win
d
s
(
,
,
an
d
)
ar
e
tr
an
s
f
o
r
m
ed
in
to
a
d
–
q
f
r
am
es
f
r
o
m
a
–
b
–
c
d
im
en
s
io
n
s
.
Sev
er
al
tr
a
n
s
f
o
r
m
atio
n
s
m
a
y
b
e
u
s
ed
to
c
h
ar
ac
ter
ize
th
e
elem
en
ts
o
f
d
–
q.
[
]
=
√
2
3
[
(
)
(
−
2
3
)
(
+
2
3
)
(
)
(
−
2
3
)
(
+
2
3
)
]
*
[
]
(
1
)
No
r
m
al
an
d
o
s
cillato
r
y
elem
e
n
ts
ar
e
n
o
w
in
cl
u
d
ed
i
n
th
e
c
o
m
p
u
tatio
n
o
f
ac
tiv
e
a
n
d
r
ea
ctiv
e
p
o
wer
.
T
o
g
et
th
e
av
er
ag
e
elem
en
ts
o
f
th
e
ac
tiv
e
p
o
wer
an
d
r
ea
cti
v
e
p
o
wer
o
u
tp
u
ts
,
n
ev
er
th
eles
s
,
two
ex
ter
n
al
PI
-
cir
cu
its
ar
e
em
p
l
o
y
ed
.
Acc
o
r
d
in
g
to
th
e
s
u
b
s
eq
u
en
t
co
n
v
e
r
s
io
n
s
,
th
is
PI
g
e
n
er
ates
ac
tiv
e
cu
r
r
e
n
t
r
ef
e
r
en
ce
s
(
∗
)
an
d
r
ea
ctiv
e
cu
r
r
en
t r
e
f
er
en
ce
s
(
∗
).
∗
=
(
-
P) +
∫
(
−
)
dt
(
2
)
∗
=
(
-
Q)
+
∫
(
−
)
dt
(
3
)
W
h
en
,
f
o
r
th
e
PI
co
n
tr
o
ller
s
i
n
u
s
e,
k
i
is
th
e
f
u
n
d
am
en
tal
v
ar
iab
le
an
d
is
th
e
in
v
e
r
s
e
p
r
o
p
o
r
tio
n
al
v
ar
ia
b
le.
T
h
e
elec
tr
ical
p
o
wer
b
en
c
h
m
ar
k
is
ca
lled
Pre
f
,
an
d
t
h
e
r
e
ac
tiv
e
en
er
g
y
n
ee
d
e
d
b
y
th
e
elec
tr
ical
s
u
p
p
ly
is
r
ef
er
r
ed
to
as
.
T
h
e
in
n
e
r
p
r
esen
t
lo
o
p
a
n
d
th
e
o
u
ts
id
e
v
o
ltag
e
lo
o
p
ar
e
in
teg
r
ated
to
p
r
o
v
id
e
th
e
c
o
n
tr
o
l.
T
h
e
elec
tr
ical
r
ef
er
en
ce
,
wh
ich
is
em
p
lo
y
ed
to
r
eg
u
late
th
e
i
n
n
e
r
lo
o
p
,
is
p
r
o
d
u
ce
d
th
r
o
u
g
h
th
e
co
m
p
a
r
is
o
n
o
f
th
e
r
ef
er
en
ce
v
o
ltag
e
o
f
t
h
e
cu
r
r
e
n
t
with
th
e
r
ea
l
v
o
ltag
e
in
th
e
o
u
ter
l
o
o
p
.
As
a
r
esu
lt,
b
y
c
o
n
tr
asti
n
g
th
e
v
alu
es
o
f
th
e
lin
e
c
u
r
r
en
ts
ac
q
u
ir
ed
f
r
o
m
th
e
p
a
r
k
tr
a
n
s
f
o
r
m
atio
n
,
th
e
in
s
id
e
PI
lo
o
p
s
ar
e
p
r
o
d
u
ce
d
.
[
]
=
1
[
+
+
3
∗
+
−
3
∗
]
(4
)
[
]
=
√
2
3
[
(
)
(
)
(
−
2
3
)
(
−
2
3
)
(
+
2
3
)
(
+
2
3
)
]
*
[
]
(
5
)
Fig
u
r
e
3
.
PI
c
o
n
tr
o
ller
cir
cu
it
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
7
6
I
n
t J I
n
f
&
C
o
m
m
u
n
T
ec
h
n
o
l
,
Vo
l.
14
,
No
.
3
,
Dec
em
b
er
20
25
:
1
0
9
5
-
1
1
0
7
1100
3
.
3
.
2
.
F
uzzy
co
ntr
o
ller
I
n
th
e
p
u
r
s
u
it
o
f
en
h
an
cin
g
th
e
p
er
f
o
r
m
a
n
ce
an
d
co
n
tr
o
l
s
tr
ateg
ies
f
o
r
T
R
Ax
FIM
s
u
s
in
g
ML
I
s
an
d
ad
v
an
ce
d
co
n
tr
o
l
tech
n
i
q
u
es,
th
e
f
u
zz
y
co
n
tr
o
ller
e
m
er
g
e
s
as
a
s
ig
n
if
ican
t
p
lay
er
.
Fu
z
zy
lo
g
ic
c
o
n
tr
o
ller
(
FLC
)
o
f
f
er
s
a
u
n
iq
u
e
ap
p
r
o
ac
h
to
m
o
to
r
co
n
tr
o
l
b
y
in
c
o
r
p
o
r
ati
n
g
h
u
m
a
n
-
lik
e
r
ea
s
o
n
in
g
an
d
lin
g
u
is
tic
v
ar
iab
les
to
h
an
d
le
co
m
p
le
x
an
d
u
n
ce
r
tain
s
y
s
tem
s
.
W
ith
in
th
e
f
r
am
ewo
r
k
o
f
th
e
p
r
o
p
o
s
e
d
s
tu
d
y
,
th
e
f
u
zz
y
c
o
n
tr
o
ller
is
em
p
lo
y
e
d
to
o
p
tim
ize
th
e
d
y
n
am
ic
r
esp
o
n
s
e
an
d
ef
f
icien
c
y
o
f
T
R
Ax
FIM
s
u
n
d
er
v
a
r
iab
le
s
p
ee
d
co
n
d
itio
n
s
wh
ile
en
s
u
r
i
n
g
co
n
s
tan
t to
r
q
u
e
o
u
tp
u
t.
T
h
e
u
tili
za
tio
n
o
f
th
e
f
u
zz
y
c
o
n
tr
o
ller
with
in
th
e
c
o
n
tex
t
o
f
T
R
Ax
FIM
s
p
r
esen
ts
s
ev
er
al
d
is
tin
ct
ad
v
an
tag
es.
Firstl
y
,
FLC
o
f
f
e
r
s
in
h
er
en
t
r
o
b
u
s
tn
ess
to
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
,
m
a
k
in
g
it
well
-
s
u
ited
f
o
r
r
ea
l
-
wo
r
ld
ap
p
licatio
n
s
wh
er
e
s
y
s
tem
d
y
n
am
ics
m
a
y
v
ar
y
o
r
b
e
p
o
o
r
ly
u
n
d
er
s
to
o
d
.
M
o
r
eo
v
er
,
b
y
in
teg
r
atin
g
th
e
f
u
zz
y
c
o
n
tr
o
lle
r
with
ML
I
s
,
as
p
r
o
p
o
s
ed
in
t
h
e
s
tu
d
y
,
th
e
o
v
er
all
p
e
r
f
o
r
m
a
n
ce
an
d
ef
f
icien
c
y
o
f
T
R
Ax
FIM
s
ca
n
b
e
f
u
r
th
er
en
h
an
ce
d
.
T
h
r
o
u
g
h
r
ig
o
r
o
u
s
s
im
u
latio
n
s
tu
d
ies
an
d
ex
p
er
im
en
tal
v
alid
atio
n
,
th
e
ef
f
icac
y
o
f
t
h
e
f
u
zz
y
c
o
n
tr
o
ller
in
o
p
tim
izin
g
T
R
Ax
FIM
p
er
f
o
r
m
a
n
ce
ca
n
b
e
th
o
r
o
u
g
h
l
y
ev
alu
ate
d
,
p
av
in
g
th
e
way
f
o
r
its
p
r
ac
tical
im
p
lem
en
tatio
n
in
EV
p
r
o
p
u
ls
io
n
s
y
s
tem
s
an
d
o
th
er
E
V
ap
p
licatio
n
s
.
T
h
e
f
u
zz
y
cir
cu
it is
d
ep
icted
in
Fig
u
r
e
4
.
W
ith
in
th
is
f
r
am
ewo
r
k
,
FL
C
s
ef
f
ec
tiv
ely
h
an
d
le
th
e
c
o
m
p
lex
d
y
n
am
ics
in
h
er
e
n
t
i
n
DR
AFI
M
s
y
s
tem
s
,
en
ab
lin
g
s
m
o
o
th
an
d
ac
cu
r
ate
r
eg
u
latio
n
o
f
m
o
to
r
s
p
ee
d
,
to
r
q
u
e,
an
d
o
t
h
er
o
p
er
atio
n
al
p
ar
a
m
eter
s
.
B
y
lev
er
ag
in
g
lin
g
u
is
tic
v
ar
ia
b
les an
d
f
u
zz
y
lo
g
ic
r
u
les,
FLCs
ad
ap
tiv
ely
ad
ju
s
t c
o
n
tr
o
l a
ctio
n
s
b
ased
o
n
r
ea
l
-
tim
e
f
ee
d
b
ac
k
f
r
o
m
s
en
s
o
r
s
an
d
s
y
s
tem
s
tates.
T
h
is
ad
ap
tiv
e
ca
p
ab
ilit
y
is
p
ar
ticu
lar
l
y
ad
v
a
n
tag
eo
u
s
i
n
d
y
n
am
ic
o
p
er
ati
n
g
c
o
n
d
itio
n
s
,
wh
er
e
co
n
v
en
tio
n
al
co
n
tr
o
l
s
tr
ateg
ies
m
ay
s
tr
u
g
g
le
to
m
ain
tain
o
p
tim
a
l
p
er
f
o
r
m
an
ce
.
Fu
r
t
h
er
m
o
r
e,
FLCs
ex
ce
l
in
h
an
d
lin
g
im
p
r
ec
is
e
o
r
in
co
m
p
lete
in
f
o
r
m
atio
n
,
m
ak
in
g
th
e
m
well
-
s
u
ited
f
o
r
DR
AFI
M
s
y
s
tem
s
wh
er
e
u
n
ce
r
tain
ties
in
lo
ad
co
n
d
itio
n
s
o
r
e
n
v
ir
o
n
m
en
tal
f
ac
t
o
r
s
ar
e
p
r
e
v
alen
t.
I
n
co
n
ju
n
ctio
n
with
MLI
s
an
d
n
eu
r
al
n
etwo
r
k
c
o
n
tr
o
ller
s
,
F
L
C
s
co
n
tr
ib
u
te
to
th
e
o
v
er
all
s
o
p
h
is
ticatio
n
an
d
ef
f
ec
tiv
en
ess
o
f
th
e
c
o
n
tr
o
l
s
y
s
tem
.
MLI
s
p
r
o
v
i
d
e
h
ig
h
-
q
u
ality
v
o
ltag
e
wav
ef
o
r
m
s
an
d
r
ed
u
ce
d
h
ar
m
o
n
ic
d
is
to
r
tio
n
,
en
h
an
cin
g
th
e
r
o
b
u
s
tn
ess
an
d
ef
f
icien
cy
o
f
th
e
m
o
to
r
d
r
iv
e
s
y
s
tem
.
Me
an
wh
ile,
n
eu
r
al
n
etwo
r
k
co
n
tr
o
ller
s
o
f
f
er
lear
n
in
g
ca
p
a
b
ilit
ies
an
d
ad
ap
tab
ilit
y
to
ch
an
g
in
g
s
y
s
tem
d
y
n
am
ics,
f
u
r
t
h
er
r
ef
i
n
in
g
c
o
n
tr
o
l
s
tr
ateg
ies
an
d
im
p
r
o
v
in
g
o
v
er
all
p
er
f
o
r
m
a
n
ce
.
T
h
r
o
u
g
h
th
e
s
y
n
er
g
is
tic
in
teg
r
atio
n
o
f
FLCs
,
MLI
s
,
an
d
n
eu
r
al
n
etwo
r
k
c
o
n
tr
o
ller
s
,
a
d
v
an
ce
d
co
n
tr
o
l
s
tr
ateg
ies
f
o
r
DR
AFI
M
s
y
s
tem
s
ac
h
iev
e
s
u
p
er
io
r
l
ev
els
o
f
p
r
ec
is
io
n
,
ef
f
icien
cy
,
an
d
r
eliab
ilit
y
.
T
h
is
co
m
p
r
eh
en
s
iv
e
ap
p
r
o
ac
h
n
o
t
o
n
ly
o
p
tim
izes
m
o
to
r
p
er
f
o
r
m
an
ce
b
u
t
also
f
ac
ilit
ates
s
ea
m
less
in
teg
r
atio
n
in
to
d
iv
er
s
e
in
d
u
s
tr
ial
an
d
au
to
m
o
tiv
e
ap
p
licatio
n
s
,
wh
er
e
s
tr
in
g
en
t
p
er
f
o
r
m
an
ce
r
e
q
u
ir
em
e
n
ts
an
d
d
y
n
am
ic
o
p
er
atin
g
co
n
d
itio
n
s
ar
e
co
m
m
o
n
p
lace
.
Fig
u
r
e
4
.
Fu
zz
y
co
n
tr
o
ller
cir
c
u
it
3
.
3
.
3
.
Art
if
icia
l
neura
l
net
wo
rk
co
ntr
o
ller
T
h
e
ANN
co
n
tr
o
ller
s
er
v
es
as
a
s
o
p
h
is
ticated
co
n
tr
o
l
s
tr
at
eg
y
with
in
th
e
f
r
am
ewo
r
k
o
f
en
h
an
ce
d
p
er
f
o
r
m
an
ce
an
d
co
n
t
r
o
l
s
tr
a
teg
ies
f
o
r
T
R
Ax
FIM
s
u
s
in
g
ML
I
s
an
d
ad
v
a
n
ce
d
co
n
tr
o
l
tech
n
iq
u
es.
I
n
th
is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J I
n
f
&
C
o
m
m
u
n
T
ec
h
n
o
l
I
SS
N:
2252
-
8
7
7
6
A
d
va
n
ce
d
co
n
tr
o
l te
ch
n
iq
u
es f
o
r
p
erfo
r
ma
n
ce
imp
r
o
ve
men
t o
f a
xia
l flu
x
ma
c
h
in
es
(
K
a
lp
a
n
a
A
n
u
ma
la
)
1101
co
n
tex
t,
t
h
e
ANN
co
n
tr
o
ller
o
p
er
ates
b
y
e
m
u
latin
g
th
e
s
tr
u
c
tu
r
e
an
d
f
u
n
ctio
n
o
f
b
io
l
o
g
ical
n
eu
r
al
n
etwo
r
k
s
to
lear
n
an
d
a
d
ap
t
to
c
o
m
p
lex
m
o
to
r
d
y
n
am
ics.
T
h
e
ANN
co
n
tr
o
ller
ca
n
ef
f
ec
tiv
ely
m
o
d
el
th
e
n
o
n
lin
ea
r
r
elatio
n
s
h
ip
s
b
etwe
en
m
o
to
r
i
n
p
u
ts
an
d
o
u
t
p
u
ts
,
en
a
b
lin
g
p
r
ec
is
e
an
d
ad
a
p
tiv
e
c
o
n
tr
o
l
o
f
T
R
Ax
FIM
s
u
n
d
er
v
ar
y
in
g
o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
is
ad
v
an
ce
d
c
o
n
tr
o
l
s
tr
ateg
y
o
f
f
e
r
s
s
ev
er
al
ad
v
an
tag
es,
i
n
clu
d
in
g
t
h
e
ab
ilit
y
to
h
an
d
le
u
n
ce
r
tain
ties
an
d
n
o
n
lin
ea
r
ities
in
h
er
e
n
t
in
T
R
Ax
FIM
s
y
s
tem
s
,
th
er
eb
y
en
h
an
cin
g
m
o
to
r
p
er
f
o
r
m
an
ce
,
e
f
f
icien
cy
,
an
d
s
tab
il
ity
.
I
n
th
e
p
r
o
p
o
s
ed
f
r
am
ewo
r
k
,
t
h
e
ANN
co
n
tr
o
ller
p
lay
s
a
p
i
v
o
tal
r
o
le
in
o
p
tim
izin
g
th
e
p
er
f
o
r
m
a
n
ce
o
f
T
R
Ax
FIM
s
b
y
d
y
n
am
icall
y
ad
ju
s
tin
g
co
n
tr
o
l
p
ar
am
ete
r
s
b
ased
o
n
r
ea
l
-
tim
e
m
o
to
r
r
esp
o
n
s
es.
T
h
r
o
u
g
h
ex
ten
s
iv
e
tr
ain
in
g
o
n
h
is
to
r
ica
l d
ata
an
d
iter
ativ
e
le
ar
n
in
g
p
r
o
ce
s
s
es,
th
e
AN
N
co
n
tr
o
ller
ca
n
r
ef
in
e
its
co
n
tr
o
l
p
o
licies
to
ac
h
iev
e
d
esire
d
m
o
to
r
p
er
f
o
r
m
an
ce
o
b
jectiv
e
s
,
s
u
ch
as
m
in
im
izin
g
s
p
ee
d
v
ar
iatio
n
s
,
r
ed
u
ci
n
g
s
ettlin
g
tim
e,
an
d
en
h
a
n
cin
g
en
er
g
y
e
f
f
icien
cy
.
Ad
d
itio
n
al
ly
,
th
e
ANN
co
n
tr
o
ller
o
f
f
e
r
s
th
e
f
lex
ib
ilit
y
to
ad
ap
t
to
ch
a
n
g
in
g
o
p
er
atin
g
c
o
n
d
itio
n
s
an
d
s
y
s
tem
u
n
ce
r
tai
n
ties
,
en
s
u
r
in
g
r
o
b
u
s
t
an
d
r
eliab
le
m
o
to
r
c
o
n
tr
o
l
in
d
iv
er
s
e
in
d
u
s
tr
ial
ap
p
licati
o
n
s
.
B
y
in
teg
r
atin
g
th
e
ANN
co
n
tr
o
ller
with
ML
I
s
an
d
o
th
er
ad
v
an
ce
d
co
n
tr
o
l
tech
n
iq
u
es,
th
e
p
r
o
p
o
s
ed
f
r
a
m
ewo
r
k
aim
s
to
u
n
lo
ck
th
e
f
u
ll p
o
ten
tial o
f
T
R
Ax
FIM
s
,
p
av
in
g
th
e
way
f
o
r
m
o
r
e
ef
f
icien
t a
n
d
r
esp
o
n
s
iv
e
elec
tr
ic
m
o
to
r
s
y
s
tem
s
in
v
ar
io
u
s
in
d
u
s
tr
ial
s
ec
to
r
s
.
Fig
u
r
e
5
s
h
o
w
s
th
e
ANN
c
ir
cu
it.
Fig
u
r
e
5
.
ANN
co
n
tr
o
ller
cir
c
u
it
T
ab
le
s
2
to
4
o
u
tlin
es
th
e
p
ar
am
eter
s
f
o
r
an
ANN
em
p
l
o
y
ed
in
a
m
o
to
r
c
o
n
tr
o
l
s
y
s
tem
.
T
h
ese
p
ar
am
eter
s
in
clu
d
e
elec
tr
ical,
m
ec
h
an
ical,
a
n
d
c
o
n
tr
o
l
c
h
ar
ac
ter
is
tics
o
f
th
e
s
y
s
tem
,
s
u
ch
as
win
d
in
g
in
d
u
ctan
ce
s
,
r
esis
tan
ce
s
,
r
o
to
r
d
im
en
s
io
n
s
,
an
d
tim
e
co
n
s
tan
ts
.
T
h
ey
ar
e
ess
en
tial
f
o
r
a
c
cu
r
ately
m
o
d
elin
g
an
d
s
im
u
latin
g
th
e
m
o
to
r
'
s
b
eh
av
io
r
,
f
ac
ilit
atin
g
p
r
ec
is
e
co
n
tr
o
l
an
d
o
p
tim
izatio
n
s
tr
ateg
ies.
T
h
e
tab
le
p
r
o
v
id
es
k
ey
v
alu
es
n
ec
ess
ar
y
f
o
r
th
e
ANN
to
ef
f
ec
tiv
ely
p
r
ed
ict
an
d
r
eg
u
late
th
e
m
o
to
r
'
s
p
er
f
o
r
m
an
ce
,
en
s
u
r
in
g
ef
f
icien
t a
n
d
r
eliab
le
o
p
er
atio
n
ac
r
o
s
s
v
ar
io
u
s
o
p
er
a
tin
g
co
n
d
itio
n
s
.
T
ab
le
2
.
MO
T
OR
p
ar
am
eter
s
P
a
r
a
me
t
e
r
s
f
P
Ls
Lr
1
Lr
2
Lm
1
Lm
2
rs
rr1
rr2
H
V
a
l
u
e
s
50
6
/
2
0
.
7
3
e
-
3
1
.
1
e
-
3
1
.
2
e
-
3
5
6
.
6
3
e
-
3
5
8
.
7
4
e
-
3
0
.
3
4
5
0
.
3
4
7
0
.
4
0
4
0
.
2
5
0
.
0
1
T
ab
le
3
.
Der
iv
e
d
MO
T
OR
p
ar
am
eter
eq
u
atio
n
s
P
a
r
a
me
t
e
r
s
ℎ
ℎ
V
a
l
u
e
s
(
1
/
2
)
*
(
(
Lm1
^
2
/
Lr
1
)
+
(
Lm2
^
2
/
Lr
2
)
)
(
1
/
2
)
*
(
(
Lm2
^
2
/
Lr
2
)
-
(
Lm1
^
2
/
Lr
1
)
)
(
1
/
2
)
*
(
(
r
r
1
/
Lr
1
)
+
(
r
r
2
/
Lr
2
)
)
(
1
/
2
)
*
(
(
r
r
1
/
Lr
1
)
+
(
r
r
2
/
Lr
2
)
)
;
(
1
/
2
)
*
(
(
r
r
2
/
Lr
2
)
-
(
r
r
1
/
Lr
1
)
)
;
(
1
/
2
)
*
(
(
r
r
2
/
Lr
2
)
-
(
r
r
1
/
Lr
1
)
)
T
ab
le
4
.
T
im
e
c
o
n
s
tan
ts
an
d
a
d
d
itio
n
al
MO
T
OR
ch
ar
ac
ter
is
tics
P
a
r
a
me
t
e
r
s
1
1
2
2
V
a
l
u
e
s
1e
-
3;
5
0
e
-
6;
Lr
1
/
r
r
1
1
/
Tr
1
Lr
2
/
r
r
2
1
/
Tr
2
2
.
2
8
5
0
.
3
4
7
0
.
8
3
5
1
.
3
5
0
.
3
9
5
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
r
esu
lts
o
b
tain
ed
f
r
o
m
th
e
s
tu
d
y
ar
e
im
p
lem
en
ted
in
MA
T
L
AB
to
f
ac
ilit
ate
th
e
ev
alu
atio
n
o
f
p
er
f
o
r
m
an
ce
m
etr
ics.
T
h
r
o
u
g
h
MA
T
L
AB
s
im
u
latio
n
s
,
th
e
ef
f
ec
tiv
en
ess
an
d
ef
f
icien
c
y
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
o
l
o
g
ies,
in
clu
d
in
g
th
e
in
teg
r
atio
n
o
f
ML
I
s
an
d
ad
v
an
ce
d
co
n
tr
o
l
tech
n
iq
u
es
s
u
ch
as
PI,
f
u
zz
y
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
7
6
I
n
t J I
n
f
&
C
o
m
m
u
n
T
ec
h
n
o
l
,
Vo
l.
14
,
No
.
3
,
Dec
em
b
er
20
25
:
1
0
9
5
-
1
1
0
7
1102
ANN
co
n
tr
o
ller
s
ar
e
ass
ess
ed
.
T
h
is
r
ig
o
r
o
u
s
ev
al
u
atio
n
p
r
o
ce
s
s
en
ab
les
a
t
h
o
r
o
u
g
h
an
aly
s
is
o
f
th
e
p
er
f
o
r
m
an
ce
en
h
a
n
ce
m
en
ts
ac
h
iev
ed
b
y
th
e
im
p
lem
e
n
ted
s
tr
ateg
ies
in
o
p
tim
izin
g
T
R
A
x
FIM
s
f
o
r
in
d
u
s
tr
ial
ap
p
lic
atio
n
s
.
4
.1
.
O
utput
s
o
f
P
I
co
ntr
o
lle
r
4
.
1
.
1
.
Ro
t
o
r
s
peed
T
h
e
r
o
to
r
s
p
ee
d
g
r
a
p
h
in
Fig
u
r
e
s
6
an
d
7
,
with
tim
e
d
ep
ic
ted
o
n
th
e
x
-
ax
is
an
d
r
o
to
r
s
p
ee
d
lev
els
p
lo
tted
o
n
t
h
e
y
-
a
x
is
,
o
f
f
e
r
s
a
d
etailed
in
s
ig
h
t
in
to
th
e
p
er
f
o
r
m
an
ce
o
f
a
PI
co
n
t
r
o
ller
in
r
eg
u
latin
g
th
e
s
p
ee
d
o
f
th
e
s
ec
o
n
d
r
o
to
r
i
n
a
d
u
al
-
r
o
to
r
s
y
s
tem
o
v
er
tim
e.
T
h
is
g
r
ap
h
p
r
o
v
id
es
cr
u
cial
in
f
o
r
m
atio
n
r
eg
ar
d
in
g
th
e
d
y
n
am
ic
b
eh
av
io
r
an
d
s
tab
ilit
y
o
f
t
h
e
s
p
ee
d
c
o
n
tr
o
l
p
r
o
ce
s
s
,
s
h
o
wca
s
in
g
h
o
w
th
e
PI
co
n
tr
o
ller
ad
ju
s
ts
th
e
r
o
to
r
s
p
ee
d
to
tr
ac
k
th
e
d
esir
ed
r
ef
er
en
ce
s
p
ee
d
s
etp
o
in
t.
Flu
ctu
atio
n
s
,
tr
en
d
s
,
o
r
d
e
v
ia
tio
n
s
in
r
o
to
r
s
p
ee
d
o
v
er
tim
e
in
d
icate
th
e
c
o
n
tr
o
ller
'
s
ef
f
ec
tiv
en
ess
in
m
ain
t
ain
in
g
s
tab
le
an
d
ac
cu
r
ate
s
p
ee
d
co
n
tr
o
l,
wh
ile
o
v
er
s
h
o
o
t
o
r
s
ettlin
g
tim
e
ca
n
r
ev
ea
l
asp
ec
ts
o
f
co
n
tr
o
ller
r
esp
o
n
s
iv
en
ess
an
d
tu
n
in
g
.
B
y
an
aly
zin
g
th
e
r
o
to
r
s
p
ee
d
g
r
ap
h
,
en
g
i
n
ee
r
s
ca
n
e
v
alu
ate
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
PI
co
n
tr
o
ller
,
i
d
en
tify
p
o
te
n
tial
is
s
u
es
s
u
ch
as
o
s
cillatio
n
s
o
r
s
tead
y
-
s
tate
e
r
r
o
r
,
a
n
d
f
in
e
-
tu
n
e
c
o
n
tr
o
ller
p
a
r
am
eter
s
to
o
p
tim
ize
s
p
ee
d
r
e
g
u
latio
n
a
n
d
en
s
u
r
e
s
m
o
o
th
an
d
r
eliab
le
o
p
er
atio
n
o
f
th
e
d
u
al
-
r
o
t
o
r
s
y
s
tem
.
Fig
u
r
e
6
.
R
o
to
r
1
s
p
ee
d
Fig
u
r
e
7
.
R
o
to
r
2
s
p
ee
d
4
.
1
.
2
.
T
o
rque
T
h
e
to
r
q
u
e
g
r
ap
h
in
Fig
u
r
e
8
,
with
tim
e
d
ep
icted
o
n
th
e
x
-
ax
is
an
d
to
r
q
u
e
lev
els
p
lo
tted
o
n
th
e
y
-
ax
is
,
o
f
f
er
s
a
d
etailed
r
ep
r
esen
tatio
n
o
f
th
e
d
y
n
am
ic
r
esp
o
n
s
e
an
d
p
er
f
o
r
m
an
ce
o
f
a
s
y
s
tem
co
n
tr
o
lled
b
y
a
PI
co
n
tr
o
ller
o
v
e
r
tim
e.
T
h
is
g
r
ap
h
p
r
o
v
id
es c
r
itical
in
s
ig
h
ts
in
t
o
h
o
w
th
e
PI
co
n
tr
o
ller
r
eg
u
lat
es to
r
q
u
e
o
u
tp
u
t to
m
ain
tain
d
esire
d
lev
els,
r
ef
le
ctin
g
th
e
s
y
s
tem
'
s
ab
ilit
y
to
g
en
er
ate
th
e
n
ec
ess
ar
y
m
ec
h
an
ical
f
o
r
ce
wh
ile
ad
h
er
in
g
t
o
co
n
t
r
o
l
o
b
jectiv
es
.
Flu
ctu
atio
n
s
,
tr
en
d
s
,
o
r
d
ev
i
atio
n
s
in
to
r
q
u
e
o
v
er
tim
e
r
ev
ea
l
th
e
co
n
tr
o
ller
'
s
r
esp
o
n
s
iv
en
ess
,
s
tab
ilit
y
,
an
d
ef
f
ec
tiv
en
ess
in
ac
h
iev
in
g
an
d
m
ain
tain
in
g
th
e
tar
g
et
t
o
r
q
u
e
s
etp
o
i
n
t.
B
y
an
aly
zin
g
th
e
to
r
q
u
e
g
r
a
p
h
,
e
n
g
in
ee
r
s
ca
n
ev
alu
at
e
th
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
PI
co
n
tr
o
ller
,
id
en
tify
p
o
ten
tial
is
s
u
es
s
u
ch
as
o
v
er
s
h
o
o
t,
s
ettlin
g
tim
e,
o
r
s
tead
y
-
s
tate
er
r
o
r
,
an
d
f
in
e
-
t
u
n
e
co
n
tr
o
ller
p
a
r
a
m
eter
s
to
o
p
tim
ize
to
r
q
u
e
r
eg
u
latio
n
an
d
e
n
s
u
r
e
e
f
f
icien
t a
n
d
r
eliab
le
o
p
e
r
atio
n
o
f
th
e
s
y
s
tem
f
o
r
v
ar
i
o
u
s
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
Fig
u
r
e
8
.
T
o
r
q
u
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J I
n
f
&
C
o
m
m
u
n
T
ec
h
n
o
l
I
SS
N:
2252
-
8
7
7
6
A
d
va
n
ce
d
co
n
tr
o
l te
ch
n
iq
u
es f
o
r
p
erfo
r
ma
n
ce
imp
r
o
ve
men
t o
f a
xia
l flu
x
ma
c
h
in
es
(
K
a
lp
a
n
a
A
n
u
ma
la
)
1103
4
.2
.
O
utput
o
f
f
uzzy
c
o
ntr
o
l
ler
4
.
2
.
1
.
Ro
t
o
r
s
peed
T
h
e
r
o
to
r
s
p
ee
d
g
r
ap
h
,
co
n
tr
o
lled
b
y
th
e
f
u
zz
y
co
n
tr
o
ller
,
p
r
esen
ts
a
v
is
u
al
r
ep
r
esen
tatio
n
o
f
th
e
m
o
to
r
'
s
r
o
tatio
n
al
b
eh
av
io
r
u
n
d
er
th
e
in
f
lu
e
n
ce
o
f
th
e
co
n
tr
o
ller
'
s
in
p
u
t
s
ig
n
als.
F
ig
u
r
e
s
9
an
d
1
0
s
er
v
es
as
a
cr
itical
to
o
l
f
o
r
ev
alu
atin
g
th
e
ef
f
ec
tiv
en
ess
o
f
t
h
e
f
u
zz
y
c
o
n
tr
o
ller
in
r
eg
u
latin
g
r
o
to
r
s
p
ee
d
o
v
er
tim
e.
B
y
an
aly
zin
g
t
h
e
tr
ajec
to
r
y
o
f
th
e
s
p
ee
d
cu
r
v
e,
e
n
g
in
ee
r
s
ca
n
ass
ess
th
e
co
n
tr
o
ller
'
s
ab
ilit
y
to
m
ain
tain
s
tab
le
o
p
er
atio
n
,
m
in
im
ize
d
ev
iatio
n
s
f
r
o
m
th
e
d
esire
d
s
p
ee
d
s
etp
o
in
t,
an
d
r
esp
o
n
d
p
r
o
m
p
tly
to
ch
an
g
es
in
lo
ad
o
r
en
v
ir
o
n
m
en
tal
co
n
d
i
tio
n
s
.
An
y
d
ev
iatio
n
s
o
r
o
s
cillatio
n
s
o
b
s
er
v
ed
in
th
e
s
p
ee
d
c
u
r
v
e
m
a
y
in
d
icate
ar
ea
s
f
o
r
f
u
r
th
er
r
ef
in
e
m
en
t
o
r
a
d
ju
s
tm
en
t
o
f
th
e
f
u
zz
y
co
n
t
r
o
ller
p
a
r
am
eter
s
to
o
p
tim
ize
its
p
er
f
o
r
m
an
ce
a
n
d
e
n
s
u
r
e
p
r
ec
is
e
co
n
tr
o
l
o
f
r
o
to
r
s
p
ee
d
.
Fig
u
r
e
9
.
R
o
to
r
1
sp
eed
Fig
u
r
e
1
0
.
R
o
to
r
2
s
p
ee
d
4
.
2
.
2
.
T
o
rque
T
h
e
to
r
q
u
e
g
r
ap
h
in
Fig
u
r
e
1
1
,
g
o
v
er
n
ed
b
y
th
e
f
u
zz
y
co
n
tr
o
ller
,
p
r
o
v
id
es
cr
itical
in
s
ig
h
ts
in
to
th
e
m
o
to
r
'
s
to
r
q
u
e
o
u
tp
u
t
in
f
lu
e
n
ce
d
b
y
th
e
c
o
n
tr
o
ller
'
s
in
p
u
t
s
ig
n
als.
T
h
is
g
r
ap
h
s
er
v
e
s
as
a
f
u
n
d
am
en
tal
in
d
icato
r
o
f
th
e
f
u
zz
y
co
n
t
r
o
ller
's
ef
f
ec
tiv
en
ess
in
r
eg
u
lati
n
g
to
r
q
u
e
p
r
o
d
u
ctio
n
o
v
er
ti
m
e.
An
aly
zin
g
t
h
e
to
r
q
u
e
cu
r
v
e
allo
ws
en
g
in
ee
r
s
to
ass
e
s
s
th
e
co
n
tr
o
ller
's
ab
ili
ty
to
m
ain
tain
co
n
s
is
ten
t
to
r
q
u
e
lev
els,
m
in
im
ize
d
ev
iatio
n
s
f
r
o
m
th
e
d
esire
d
to
r
q
u
e
s
etp
o
in
t,
a
n
d
s
wif
tly
ad
ap
t
to
ch
an
g
es
in
o
p
er
atio
n
a
l
co
n
d
itio
n
s
o
r
lo
a
d
d
em
an
d
s
.
An
y
ir
r
eg
u
lar
ities
o
r
f
l
u
ctu
atio
n
s
o
b
s
er
v
ed
in
t
h
e
to
r
q
u
e
cu
r
v
e
m
ay
in
d
icate
ar
ea
s
f
o
r
f
u
r
th
er
o
p
tim
izatio
n
o
r
ad
ju
s
tm
en
t
o
f
th
e
f
u
zz
y
c
o
n
tr
o
ller
p
ar
am
ete
r
s
to
en
h
an
ce
its
p
er
f
o
r
m
a
n
ce
an
d
en
s
u
r
e
p
r
ec
is
e
co
n
tr
o
l o
f
m
o
t
o
r
to
r
q
u
e.
Fig
u
r
e
1
1
.
T
o
r
q
u
e
4
.3
.
O
utput
o
f
ANN
co
ntr
o
ll
er
4
.
3
.
1
.
Ro
t
o
r
s
peed
T
h
e
r
o
to
r
s
p
ee
d
g
r
a
p
h
g
en
er
at
ed
b
y
th
e
ANN
c
o
n
tr
o
ller
d
e
p
icts
th
e
d
y
n
am
ic
r
esp
o
n
s
e
o
f
t
h
e
m
o
to
r
u
n
d
er
th
e
in
f
lu
en
ce
o
f
th
e
co
n
tr
o
ller
'
s
in
p
u
t
s
ig
n
als.
Fig
u
r
e
s
1
2
an
d
1
3
p
r
o
v
id
es
v
alu
ab
le
in
s
ig
h
ts
in
to
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
7
6
I
n
t J I
n
f
&
C
o
m
m
u
n
T
ec
h
n
o
l
,
Vo
l.
14
,
No
.
3
,
Dec
em
b
er
20
25
:
1
0
9
5
-
1
1
0
7
1104
ef
f
ec
ti
v
en
ess
o
f
th
e
ANN
co
n
tr
o
ller
in
r
eg
u
latin
g
r
o
to
r
s
p
ee
d
o
v
er
tim
e.
B
y
an
aly
zin
g
th
e
tr
ajec
to
r
y
o
f
th
e
s
p
ee
d
cu
r
v
e,
en
g
in
ee
r
s
ca
n
as
s
ess
th
e
co
n
tr
o
ller
'
s
ab
ilit
y
to
m
ain
tain
s
tab
le
o
p
er
atio
n
,
m
in
im
ize
d
ev
iatio
n
s
f
r
o
m
th
e
d
esire
d
s
p
ee
d
s
etp
o
in
t,
an
d
r
esp
o
n
d
p
r
o
m
p
tly
to
c
h
an
g
es
in
lo
a
d
o
r
o
p
er
atin
g
c
o
n
d
itio
n
s
.
Mo
r
eo
v
e
r
,
d
ev
iatio
n
s
o
r
o
s
cillatio
n
s
in
th
e
s
p
ee
d
cu
r
v
e
m
a
y
in
d
icate
ar
ea
s
f
o
r
f
u
r
th
er
o
p
tim
izatio
n
o
r
f
in
e
-
tu
n
in
g
o
f
t
h
e
ANN
co
n
tr
o
ller
p
ar
a
m
eter
s
to
en
h
an
ce
its
p
er
f
o
r
m
a
n
ce
an
d
e
n
s
u
r
e
o
p
tim
al
m
o
to
r
o
p
er
atio
n
.
4
.
3
.
2
.
T
o
rque
T
h
e
to
r
q
u
e
g
r
a
p
h
in
Fig
u
r
e
1
4
,
g
o
v
er
n
ed
b
y
th
e
ANN
co
n
tr
o
ller
,
o
f
f
er
s
v
alu
ab
le
in
s
ig
h
t
s
in
to
th
e
m
o
to
r
'
s
to
r
q
u
e
o
u
tp
u
t
as
in
f
lu
en
ce
d
b
y
t
h
e
co
n
tr
o
ller
'
s
in
p
u
t
s
ig
n
als.
T
h
is
g
r
a
p
h
s
er
v
es
as
a
cr
itical
in
d
icato
r
o
f
th
e
ANN
co
n
tr
o
ller
'
s
ef
f
ec
tiv
en
ess
in
r
eg
u
latin
g
to
r
q
u
e
p
r
o
d
u
ctio
n
o
v
e
r
tim
e.
An
aly
zin
g
th
e
to
r
q
u
e
cu
r
v
e'
s
b
eh
av
io
r
allo
ws
en
g
in
ee
r
s
to
ass
e
s
s
th
e
co
n
tr
o
ller
'
s
ab
ilit
y
to
m
ain
tain
co
n
s
is
ten
t
to
r
q
u
e
lev
els,
m
in
im
ize
d
ev
iatio
n
s
f
r
o
m
th
e
d
esire
d
t
o
r
q
u
e
s
et
-
p
o
in
t,
a
n
d
s
wif
tly
ad
ap
t
to
ch
an
g
es
in
o
p
er
atin
g
co
n
d
itio
n
s
o
r
lo
ad
d
em
an
d
s
.
An
y
d
ev
iatio
n
s
o
r
f
lu
ctu
atio
n
s
o
b
s
er
v
ed
in
t
h
e
to
r
q
u
e
c
u
r
v
e
m
ay
in
d
icate
ar
ea
s
f
o
r
f
u
r
th
er
o
p
tim
izatio
n
o
r
f
in
e
-
tu
n
in
g
o
f
th
e
ANN
co
n
tr
o
ller
p
ar
am
ete
r
s
to
en
h
an
ce
its
p
er
f
o
r
m
a
n
ce
an
d
en
s
u
r
e
p
r
ec
is
e
co
n
t
r
o
l o
f
m
o
t
o
r
to
r
q
u
e.
Fig
u
r
e
1
2
.
R
o
to
r
1
s
p
ee
d
Fig
u
r
e
1
3
.
R
o
to
r
2
s
p
ee
d
Fig
u
r
e
14.
T
o
r
q
u
e
Evaluation Warning : The document was created with Spire.PDF for Python.