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1552
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RAC
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ticle
his
to
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y:
R
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Au
g
5
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2
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4
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ev
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y
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s
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st
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tec
h
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p
p
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t
o
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c
ti
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n
m
o
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IM
).
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h
e
p
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ry
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o
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d
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c
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th
e
h
a
rm
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ti
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s
a
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d
fl
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c
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a
ti
o
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s
a
ss
o
c
iate
d
with
t
h
e
e
lec
tri
c
a
l
c
u
rre
n
t,
fl
u
x
v
a
riatio
n
s,
a
n
d
g
e
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e
ra
ted
to
r
q
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e
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wh
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le
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rin
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ially
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n
d
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v
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riab
le
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e
e
d
c
o
n
d
i
ti
o
n
s.
To
a
c
h
iev
e
th
is,
w
e
in
tr
o
d
u
ce
a
n
in
telli
g
e
n
t
c
o
n
tr
o
l
s
y
ste
m
th
a
t
u
ti
li
z
e
s
a
h
y
b
rid
n
e
u
r
o
-
fu
z
z
y
in
fe
re
n
c
e
m
o
d
e
l
(AN
F
IS
),
th
r
o
u
g
h
th
e
a
p
p
l
ica
ti
o
n
o
f
th
e
b
a
c
k
p
r
o
p
a
g
a
ti
o
n
m
e
th
o
d
.
T
h
e
D
TC
-
AN
F
IS
tec
h
n
iq
u
e
is
c
o
m
p
a
re
d
wit
h
t
h
e
trad
it
io
n
a
l
DTC
-
P
I
m
e
th
o
d
a
n
d
sim
u
late
d
u
sin
g
M
ATLAB/S
i
m
u
li
n
k
in
d
iffere
n
t
sc
e
n
a
rio
s.
Th
e
o
b
tai
n
e
d
re
su
lt
s
re
v
e
a
l
a
sig
n
ifi
c
a
n
t
imp
r
o
v
e
m
e
n
t
in
p
e
rfo
rm
a
n
c
e
o
v
e
r
DTC
-
P
I,
wit
h
s
u
p
e
rio
r
re
su
lt
s
o
v
e
r
a
wid
e
s
p
e
e
d
ra
n
g
e
.
K
ey
w
o
r
d
s
:
ANFI
S
Dir
ec
t to
r
q
u
e
c
o
n
tr
o
l
Fu
zz
y
lo
g
ic
I
n
d
u
ctio
n
m
o
to
r
PI
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
:
L
ao
u
f
i A
b
d
elh
aq
Dep
ar
tm
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
Facu
lty
o
f
Scien
ce
s
a
n
d
T
ec
h
n
o
lo
g
y
Un
iv
er
s
ity
Mu
s
tap
h
a
Stam
b
o
u
li o
f
Ma
s
ca
r
a
B
P.
3
0
5
,
R
o
u
te
E
l M
am
o
u
n
ia,
Ma
s
ca
r
a
2
9
0
0
0
,
Alg
er
ia
E
m
ail:
ab
d
elh
aq
.
la
o
u
f
i@
u
n
iv
-
m
ascar
a.
d
z
NO
M
E
N
CL
A
T
UR
E
,
:
E
lectr
o
m
ag
n
etic
to
r
q
u
e
a
n
d
r
esis
tan
ce
,
:
Stato
r
an
d
r
o
to
r
in
d
u
ctan
ce
s
,
:
Stato
r
cu
r
r
en
t
:
Mu
tu
al
in
d
u
ctan
ce
,
: R
o
to
r
cu
r
r
e
n
ts
:
Nu
m
b
er
o
f
p
o
le
p
air
s
,
: S
tato
r
f
lu
x
:
Mo
m
en
t o
f
in
er
tia
,
:
R
o
to
r
f
lu
x
:
Fric
tio
n
co
ef
f
icien
t
:
Stato
r
an
g
u
lar
elec
tr
ical
s
p
ee
d
,
,
:
Seq
u
en
ce
o
f
th
e
DT
C
,
:
Stato
r
an
d
r
o
to
r
r
esis
tan
ce
s
,
:
T
h
e
DC
v
o
ltag
e
o
f
th
e
b
atter
y
A
V
,
B
V
,
C
V
: I
n
v
er
ter
o
u
tp
u
t v
o
ltag
es
1.
I
NT
RO
D
UCT
I
O
N
Sin
ce
th
e
1
9
5
0
s
,
with
th
e
f
ir
s
t
ad
v
an
ce
s
in
ar
tific
ial
in
tellig
en
ce
[
1
]
,
[
2
]
,
th
e
d
em
an
d
f
o
r
lab
o
r
in
s
ec
to
r
s
s
u
ch
as
m
an
u
f
ac
t
u
r
in
g
,
f
ar
m
in
g
,
an
d
s
er
v
ice
i
n
d
u
s
tr
i
es
h
as
g
r
ad
u
ally
r
ed
u
ce
d
.
I
n
p
ar
ticu
lar
,
ar
tific
ial
in
tellig
en
ce
[
3
]
,
[
4
]
,
a
s
u
b
f
iel
d
o
f
co
m
p
u
ter
s
cien
ce
,
f
o
c
u
s
es
o
n
th
e
cr
ea
tio
n
o
f
s
y
s
tem
s
d
esig
n
ed
to
p
r
o
ce
s
s
d
ata,
lear
n
f
r
o
m
it,
a
n
d
g
e
n
e
r
ate
p
r
ed
ictio
n
s
o
r
d
ec
is
io
n
s
b
ased
o
n
th
e
in
s
ig
h
ts
g
ain
ed
.
T
h
is
tech
n
o
lo
g
y
,
o
r
ien
ted
to
wa
r
d
s
p
r
e
d
ictio
n
,
m
ak
es
it
p
o
s
s
ib
le
to
p
r
o
ce
s
s
lar
g
e
am
o
u
n
ts
o
f
in
f
o
r
m
atio
n
an
d
g
e
n
er
ate
u
s
ef
u
l
p
r
ed
ictio
n
s
,
t
h
u
s
o
f
f
er
in
g
c
o
n
cr
ete
an
d
r
ap
id
s
o
lu
tio
n
s
.
T
h
is
s
tu
d
y
e
x
p
lo
r
es
d
if
f
er
e
n
t
t
y
p
es
o
f
in
tellig
en
t
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
I
mp
r
o
ve
men
t d
ir
ec
t to
r
q
u
e
co
n
tr
o
l o
f in
d
u
ctio
n
mo
to
r
u
s
in
g
r
o
b
u
s
t
in
tellig
en
ce
…
(
La
o
u
fi A
b
d
elh
a
q
)
1553
co
n
tr
o
ls
,
a
n
d
we
will
s
p
ec
if
i
ca
lly
im
p
lem
en
t
a
h
y
b
r
id
c
o
m
m
an
d
tech
n
iq
u
e
u
s
in
g
a
n
e
u
r
o
-
f
u
zz
y
in
f
er
e
n
ce
m
o
d
el
(
ANFI
S)
to
en
h
an
ce
th
e
p
er
f
o
r
m
an
ce
o
f
d
ir
ec
t t
o
r
q
u
e
co
n
tr
o
l
(DTC
)
ap
p
lied
t
o
in
d
u
ctio
n
m
ac
h
in
es
[
5
]
.
ANFI
S
co
n
tr
o
l
was
d
ev
elo
p
ed
th
r
o
u
g
h
th
e
co
m
b
in
atio
n
o
f
t
wo
in
tellig
en
t
co
n
t
r
o
l
ap
p
r
o
ac
h
es:
n
eu
r
al
n
etwo
r
k
with
f
u
zz
y
lo
g
ic.
T
h
is
m
er
g
ed
f
r
am
ewo
r
k
,
b
u
ilt
u
p
o
n
b
o
th
ar
tific
ial
n
eu
r
al
m
o
d
els
an
d
f
u
zz
y
r
ea
s
o
n
in
g
m
ec
h
a
n
is
m
s
,
tak
es
ad
v
an
tag
e
o
f
th
e
r
esp
ec
tiv
e
s
tr
en
g
th
s
o
f
ea
ch
m
et
h
o
d
[
6
]
.
I
n
th
is
s
tr
u
ctu
r
e,
th
e
n
eu
r
al
co
m
p
o
n
e
n
t
is
r
esp
o
n
s
ib
le
f
o
r
d
er
iv
in
g
f
u
zz
y
r
u
l
es
f
r
o
m
in
p
u
t
d
ata,
wh
ile
th
e
f
u
zz
y
s
ets
ar
e
co
n
tin
u
o
u
s
ly
r
e
f
in
ed
d
u
r
i
n
g
th
e
tr
ain
in
g
p
h
ase.
T
h
e
s
u
p
e
r
v
is
ed
lear
n
in
g
alg
o
r
ith
m
allo
ws
th
e
n
eu
r
o
-
f
u
zz
y
n
etwo
r
k
s
to
lear
n
co
m
p
lex
r
elatio
n
s
h
ip
s
b
y
a
n
aly
zin
g
s
ets
o
f
ex
am
p
les
c
o
m
p
o
s
ed
o
f
in
p
u
ts
an
d
t
h
eir
co
r
r
esp
o
n
d
in
g
o
u
t
p
u
ts
[
7
]
.
W
i
th
th
is
h
y
b
r
id
m
eth
o
d
,
ANFI
S
co
n
n
ec
ts
in
p
u
ts
a
n
d
o
u
tp
u
ts
u
s
in
g
a
s
u
p
er
v
is
ed
lear
n
in
g
tech
n
iq
u
e,
w
h
ile
in
te
g
r
atin
g
h
u
m
an
e
x
p
er
tis
e
to
r
e
f
in
e
th
e
r
esu
lts
.
I
n
t
r
o
d
u
c
e
d
b
y
T
a
k
a
h
a
s
h
i
i
n
1
9
8
5
,
t
h
e
D
T
C
t
ec
h
n
i
q
u
e
i
s
c
h
a
r
a
ct
e
r
i
z
e
d
b
y
it
s
s
im
p
l
i
c
i
t
y
o
f
i
m
p
l
e
m
e
n
t
a
ti
o
n
a
n
d
it
s
e
f
f
i
ci
e
n
c
y
[
8
]
.
M
a
n
y
w
o
r
k
s
h
a
v
e
m
a
d
e
i
t
p
o
s
s
i
b
l
e
t
o
s
p
e
c
i
f
y
a
n
d
r
e
f
in
e
t
h
e
m
o
d
e
ll
i
n
g
o
f
t
h
i
s
a
p
p
r
o
a
c
h
[
8
]
,
[
9
]
.
DT
C
a
llo
w
s
d
et
e
r
m
i
n
i
n
g
t
h
e
c
o
n
t
r
o
l
q
u
a
n
t
i
t
i
es
,
s
u
c
h
as
t
h
e
s
t
at
o
r
f
l
u
x
a
n
d
t
h
e
p
r
o
d
u
c
e
d
t
o
r
q
u
e
,
o
n
l
y
f
r
o
m
t
h
e
r
e
a
d
i
n
g
s
o
f
t
h
e
s
t
a
t
o
r
c
u
r
r
e
n
t
s
,
w
i
t
h
o
u
t
u
s
i
n
g
m
e
c
h
a
n
i
c
a
l
s
e
n
s
o
r
s
.
I
n
i
t
s
b
a
s
ic
s
t
r
u
c
t
u
r
e
[
1
0
]
.
T
h
i
s
t
e
c
h
n
i
q
u
e
d
i
r
e
ct
l
y
s
el
e
c
ts
a
v
o
l
t
a
g
e
v
e
ct
o
r
f
r
o
m
a
co
m
m
u
t
a
t
i
o
n
t
a
b
l
e
,
i
n
a
c
c
o
r
d
a
n
c
e
w
i
t
h
t
h
e
p
r
i
n
c
i
p
l
e
o
f
d
i
r
e
c
t
c
o
n
t
r
o
l
,
i
n
o
r
d
e
r
t
o
r
eg
u
l
a
t
e
t
h
e
c
o
n
v
e
r
t
e
r
.
T
h
is
m
e
ch
a
n
i
s
m
e
n
s
u
r
es
a
f
as
t
t
o
r
q
u
e
r
es
p
o
n
s
e
.
H
o
w
e
v
e
r
,
t
h
is
m
e
t
h
o
d
al
s
o
h
as
s
o
m
e
d
r
a
w
b
a
c
k
s
.
T
h
e
u
s
e
o
f
h
y
s
t
e
r
e
s
i
s
c
o
n
t
r
o
l
l
e
r
s
a
ll
o
w
s
m
a
i
n
t
a
i
n
i
n
g
t
h
e
t
o
r
q
u
e
a
n
d
s
t
a
t
o
r
f
l
u
x
e
r
r
o
r
s
w
i
t
h
i
n
a
cc
e
p
t
a
b
l
e
b
o
u
n
d
s
,
b
u
t
i
t
g
e
n
e
r
a
t
es
a
s
i
g
n
i
f
ic
a
n
t
t
o
r
q
u
e
r
i
p
p
l
e
[
1
1
]
,
[
1
2
]
.
O
t
h
e
r
l
i
m
i
ta
t
i
o
n
s
o
f
c
o
n
v
e
n
t
i
o
n
a
l
D
T
C
i
n
c
l
u
d
e
h
i
g
h
t
o
r
q
u
e
r
i
p
p
l
e
,
a
v
e
r
a
g
e
t
o
r
q
u
e
t
h
a
t
m
a
y
n
o
t
m
a
t
c
h
t
h
e
e
x
a
c
t
d
e
m
a
n
d
,
a
n
d
v
a
r
i
a
b
l
e
s
wi
t
c
h
i
n
g
f
r
e
q
u
e
n
c
y
,
w
h
i
c
h
m
a
y
a
f
f
e
c
t
t
h
e
o
v
e
r
a
l
l
s
y
s
t
e
m
p
e
r
f
o
r
m
a
n
c
e.
T
o
o
v
e
r
co
m
e
th
ese
lim
itatio
n
s
,
r
esear
ch
er
s
h
av
e
s
u
g
g
est
ed
m
an
y
co
n
tr
o
l
tech
n
iq
u
es,
in
clu
d
in
g
n
o
n
lin
ea
r
s
tr
ateg
ies,
ad
v
an
ce
d
m
eth
o
d
s
,
an
d
ar
tific
ial
in
te
llig
en
ce
ap
p
r
o
ac
h
es,
all
aim
i
n
g
to
e
n
h
an
ce
th
e
ef
f
ec
tiv
en
ess
o
f
co
n
v
en
tio
n
al
DT
C
[
1
1
]
,
[
1
3
]
.
I
n
t
h
is
s
tu
d
y
,
we
ex
p
lo
r
ed
a
n
d
d
ev
el
o
p
ed
a
n
in
tellig
en
t
co
n
tr
o
l
ap
p
r
o
ac
h
u
s
in
g
th
e
h
y
b
r
id
n
eu
r
o
-
f
u
zz
y
in
f
er
en
ce
m
o
d
el
ap
p
lied
to
DT
C
f
o
r
asy
n
c
h
r
o
n
o
u
s
m
o
t
o
r
s
.
T
o
ev
alu
ate
th
e
r
eliab
ilit
y
o
f
th
is
tech
n
iq
u
e,
we
ca
r
r
ied
o
u
t
a
c
o
m
p
ar
is
o
n
o
f
th
is
tech
n
iq
u
e
an
d
th
e
co
n
v
en
tio
n
al
DT
C
with
a
PI
co
n
tr
o
ller
.
2.
M
E
T
H
O
D
2
.
1
.
M
o
dellin
g
o
f
I
M
T
o
m
o
n
ito
r
an
d
r
eg
u
late
th
e
b
eh
av
io
r
o
f
th
e
in
d
u
ctio
n
m
ac
h
in
e,
a
m
ath
em
atica
l
m
o
d
el
is
n
ec
ess
ar
y
.
Fo
r
th
is
p
u
r
p
o
s
e,
we
h
av
e
d
ef
in
ed
th
e
s
tate
v
ec
to
r
,
wh
ic
h
co
n
s
is
ts
o
f
th
e
elec
tr
ical
c
u
r
r
en
ts
in
t
h
e
s
tato
r
(
,
)
,
an
d
th
e
m
ag
n
etic
f
lu
x
in
t
h
e
r
o
to
r
(
,
)
[
1
4
]
.
T
h
e
co
m
p
let
e
m
o
d
el
o
f
th
e
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
e
is
ex
p
r
ess
ed
as
(
1
)
[
1
5
]
,
[
1
6
]
.
{
=
1
[
−
(
+
(
)
2
)
+
+
2
+
+
]
=
1
[
−
−
(
+
(
)
2
)
−
+
2
+
]
=
−
−
+
(
−
)
=
−
−
−
(
−
)
=
2
(
−
)
−
−
(
1
)
W
h
er
e
th
e
co
ef
f
icien
t
o
f
d
is
p
e
r
s
io
n
is
=
1
−
2
.
2
.
2
.
T
wo
-
lev
el
v
o
lt
a
g
e
inv
er
t
er
m
o
del
A
th
r
ee
-
p
h
ase
in
v
er
ter
f
u
n
c
tio
n
s
as
a
s
tatic
D
C
-
AC
co
n
v
er
ter
ca
p
ab
le
o
f
g
e
n
er
at
in
g
th
r
ee
s
y
m
m
etr
ical
o
u
tp
u
t
v
o
ltag
es
with
co
n
tr
o
llab
le
am
p
litu
d
e
an
d
f
r
eq
u
en
cy
.
I
n
th
e
m
o
d
elin
g
p
r
o
ce
s
s
,
th
e
co
n
v
er
ter
is
tr
ea
ted
as
a
two
-
lev
el
v
o
ltag
e
s
o
u
r
ce
in
v
e
r
ter
VSI
-
2
L
[
1
7
]
,
Fig
u
r
e
1
r
ep
r
es
en
ts
th
e
eq
u
iv
alen
t
s
ch
em
atic
o
f
a
two
-
lev
el
th
r
e
e
-
p
h
ase
v
o
ltag
e
in
v
e
r
ter
u
s
ed
to
s
u
p
p
l
y
an
asy
n
ch
r
o
n
o
u
s
m
o
to
r
.
T
h
is
d
iag
r
a
m
h
ig
h
lig
h
ts
th
e
p
o
wer
c
o
n
v
e
r
s
io
n
s
tr
u
ctu
r
e
a
n
d
th
e
o
p
er
ati
n
g
p
r
in
cip
le
o
f
th
e
in
v
e
r
ter
.
T
h
e
m
ath
e
m
atica
l
m
o
d
el
o
f
a
two
-
lev
el
v
o
ltag
e
i
n
v
er
ter
p
r
esen
ted
b
y
[
1
7
]
,
[
1
8
]
.
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
.
3
,
Sep
tem
b
er
20
25
:
1552
-
1
5
6
5
1554
[
]
=
3
|
2
−
1
−
1
−
1
2
−
1
−
1
−
1
2
|
|
|
(
2
)
Fig
u
r
e
1
.
Vo
ltag
e
s
o
u
r
ce
in
v
er
ter
2
.
3
.
P
rinciple
o
f
t
r
a
ditio
na
l
direct
t
o
rque
co
ntr
o
l
Fig
u
r
e
2
illu
s
tr
ates
th
e
f
u
n
d
am
en
tal
s
tr
u
ctu
r
e
o
f
t
h
e
tr
ad
itio
n
al
DT
C
d
r
iv
e,
as
p
r
o
p
o
s
ed
b
y
T
ak
ah
ash
i.
T
h
is
d
ia
g
r
am
h
ig
h
lig
h
ts
th
e
co
n
tr
o
l
ar
ch
itectu
r
e
an
d
th
e
m
ain
co
m
p
o
n
en
ts
in
v
o
lv
ed
in
to
r
q
u
e
an
d
s
tato
r
f
lu
x
r
e
g
u
latio
n
.
I
t
in
clu
d
es
th
e
f
o
llo
win
g
f
u
n
d
am
en
ta
l
co
m
p
o
n
en
ts
:
to
r
q
u
e
an
d
f
lu
x
esti
m
ato
r
s
,
a
s
et
o
f
h
y
s
ter
esis
co
n
tr
o
ller
s
,
a
s
ec
to
r
ca
lcu
latio
n
u
n
it,
a
n
d
a
l
o
o
k
-
u
p
tab
le
f
o
r
o
p
tim
al
s
witch
in
g
v
ec
to
r
s
[
1
9
]
,
[
2
0
]
.
{
(
)
=
∫
(
0
−
)
=
=
=
(
−
)
(
3
)
Fig
u
r
e
2
.
T
r
ad
itio
n
al
DT
C
-
b
as
ed
PI
co
n
tr
o
ller
f
o
r
an
in
d
u
cti
o
n
m
ac
h
i
n
e
2
.
3
.
1
.
E
s
t
im
a
t
o
r
f
o
r
elec
t
r
o
ma
g
net
ic
t
o
rque
a
nd
m
a
g
net
ic
f
lux
B
ef
o
r
e
ap
p
r
o
ac
h
in
g
th
e
s
tu
d
y
o
f
th
e
f
lu
x
c
o
n
tr
o
ller
,
we
d
e
f
i
n
e
th
e
co
m
p
u
tatio
n
al
s
tep
s
n
ec
ess
ar
y
to
esti
m
ate
th
e
s
tato
r
f
l
u
x
a
m
p
lit
u
d
e.
T
h
u
s
,
f
r
o
m
th
e
(
4
)
,
we
w
ill
estab
lis
h
th
e
d
ec
o
m
p
o
s
itio
n
o
f
th
e
f
lu
x
v
ec
to
r
alo
n
g
th
e
ax
es
(
,
)
eith
er
[
1
5
]
,
[
2
1
]
.
=
+
(
4
)
{
=
∫
(
0
−
)
=
∫
(
0
−
)
⬚
(
5
)
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
I
mp
r
o
ve
men
t d
ir
ec
t to
r
q
u
e
co
n
tr
o
l o
f in
d
u
ctio
n
mo
to
r
u
s
in
g
r
o
b
u
s
t
in
tellig
en
ce
…
(
La
o
u
fi A
b
d
elh
a
q
)
1555
T
h
e
co
m
p
o
u
n
d
v
o
ltag
es
an
d
o
f
o
b
tain
f
r
o
m
th
e
m
ea
s
u
r
e
d
in
p
u
t
v
o
lta
g
e
o
f
th
e
i
n
v
er
t
er
,
th
e
co
n
tr
o
l
s
itu
atio
n
of
,
,
an
d
,
b
y
a
p
p
ly
in
g
th
e
C
o
n
co
r
d
ia
tr
an
s
f
o
r
m
atio
n
,
we
o
b
tain
[
2
2
]
:
=
ds
+
qs
(
6
)
{
ds
=
√
2
3
c
(
−
1
2
(
+
)
)
qs
=
1
√
2
c
(
−
)
(
7
)
T
h
e
cu
r
r
en
ts
,
ar
e
also
o
b
tain
ed
b
y
th
e
C
o
n
co
r
d
ia
tr
an
s
f
o
r
m
atio
n
,
f
r
o
m
t
h
e
m
ea
s
u
r
e
d
c
u
r
r
en
ts
eith
er
[
1
3
]
.
=
+
(
8
)
{
=
√
2
3
c
as
=
√
2
3
(
bs
−
cs
)
(
9
)
T
h
e
m
o
d
u
lu
s
o
f
t
h
e
s
tato
r
f
lu
x
is
(
1
0
)
.
=
√
2
+
2
=
−
1
(1
0
)
Fro
m
th
e
e
x
p
r
ess
io
n
o
f
t
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
,
we
c
an
esti
m
ate
th
e
to
r
q
u
e
o
n
ly
f
r
o
m
t
h
e
s
tato
r
m
ag
n
itu
d
es f
lu
x
,
an
d
cu
r
r
en
ts
,
.
W
e
th
en
o
b
tain
t
h
e
f
o
llo
wi
n
g
f
o
r
m
o
f
th
e
to
r
q
u
e:
T)
s
s
s
s
em
α
β
β
α
p(
φ
I
φ
I
=−
(
1
1
)
2
.
3
.
2
.
H
y
s
t
er
esis
co
ntr
o
llers f
o
r
elec
t
ro
m
a
g
net
ic
t
o
rque
a
nd
m
a
g
net
ic
f
lux
T
h
e
d
ev
iatio
n
b
etwe
en
th
e
r
e
f
er
en
ce
s
tato
r
f
lu
x
an
d
th
e
esti
m
ated
s
tato
r
f
lu
x
is
m
an
ag
e
d
u
s
in
g
a
two
-
s
tag
e
h
y
s
ter
esis
co
n
tr
o
ller
th
at
g
en
er
ates th
e
latter
0
o
r
1
f
o
llo
win
g
th
e
(
9
)
an
d
(
1
0
)
[
2
3
]
.
=
1
if
≤
|
∗
|
−
|
|
(
1
2
)
=
0
if
≤
|
∗
|
+
|
|
(
1
3
)
T
h
e
d
if
f
e
r
en
ce
b
etwe
en
th
e
r
e
f
er
en
ce
to
r
q
u
e
a
n
d
th
e
esti
m
at
ed
to
r
q
u
e
is
co
n
tr
o
lled
in
a
th
r
ee
-
lev
el
h
y
s
ter
esis
co
n
tr
o
ller
th
at
g
en
er
ates th
e
la
tter
-
1
o
r
1
o
r
0
f
o
llo
win
g
t
h
e
(
1
4
)
-
(
1
6
)
[
2
3
]
.
=
1
if
≺
|
∗
|
−
|
|
(
1
4
)
=
−
1
if
≺
|
∗
|
+
|
|
(
1
5
)
=
0
if
|
∗
|
−
|
|
≺
≺
|
∗
|
+
|
|
(
1
6
)
2
.
3
.
3
.
Sect
o
r
s
elec
t
io
n a
nd
s
wit
ching
t
a
ble
T
h
e
tr
u
t
h
tab
le
f
o
r
th
e
ch
ec
k
s
tr
u
ctu
r
e
is
d
ev
elo
p
ed
u
s
in
g
th
e
o
u
tp
u
ts
o
f
th
e
c
h
ec
k
er
s
an
d
t
h
e
N
f
ield
lo
ca
tio
n
s
s
u
ch
th
at:
=
(
)
(
1
7
)
T
h
e
s
p
ac
e
o
f
ev
o
l
u
tio
n
o
f
in
th
e
co
n
s
id
er
ed
r
ef
e
r
en
ce
f
r
a
m
e
is
d
ec
o
m
p
o
s
ed
in
6
zo
n
es
N
(
1
to
6
)
.
T
h
i
s
ch
o
ice
is
d
ictated
b
y
a
co
n
ce
r
n
f
o
r
a
m
o
r
e
r
ig
o
r
o
u
s
co
n
tr
o
l a
n
d
s
u
ch
th
at:
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
.
3
,
Sep
tem
b
er
20
25
:
1552
-
1
5
6
5
1556
−
6
+
(
−
1
)
3
≤
<
6
+
(
−
1
)
3
(18)
T
ab
le
1
ap
p
lies
th
e
s
witch
in
g
tab
le
as
in
tr
o
d
u
ce
d
b
y
th
e
s
elec
ted
v
o
ltag
e
v
ec
to
r
,
wh
ich
i
s
d
ec
o
m
p
o
s
ed
an
d
th
en
ap
p
lied
t
o
th
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
[
2
4
]
.
T
ab
le
2
s
h
o
ws
th
e
s
eq
u
e
n
ce
o
f
t
h
e
DT
C
co
m
m
a
n
d
ap
p
lied
d
ir
ec
tly
to
th
e
v
o
ltag
e
in
v
er
te
r
.
B
y
s
elec
tin
g
o
n
e
o
f
th
e
tw
o
n
u
ll
v
ec
t
o
r
s
⃗
0
or
⃗
7
.
The
r
o
tatio
n
o
f
t
h
e
f
lu
x
s
to
p
an
d
r
esu
lts
in
a
d
ec
r
ea
s
e
in
th
e
to
r
q
u
e
T
em
.
Alter
n
ativ
ely
,
V
0
⃗
⃗
⃗
⃗
o
r
V
7
⃗
⃗
⃗
⃗
is
ch
o
s
en
to
m
in
im
ize
th
e
n
u
m
b
er
o
f
s
witch
es o
n
th
e
in
v
er
ter
.
=
√
2
3
[
+
2
3
+
4
3
]
(
1
9
)
T
ab
le
1
.
T
a
k
ah
ash
i v
ec
to
r
s
elec
tio
n
tab
le
[
2
5
]
N
1
2
3
4
5
6
=
=
1
2
3
4
5
6
1
=
0
7
0
7
0
0
7
7
=
−
1
6
1
2
3
4
5
=
=
1
3
4
5
6
1
2
=
0
0
7
0
7
0
7
=
−
1
5
6
1
2
3
4
T
ab
le
2
.
Vo
ltag
e
v
ec
to
r
g
en
er
atio
n
m
o
d
e
1
2
3
4
5
7
0°
-
60°
60°
-
1
2
0
°
1
2
0
°
-
1
8
0
°
1
8
0
°
-
2
4
0
°
2
4
0
°
-
3
0
0
°
3
0
0
°
-
3
6
0
°
1
2
3
4
5
6
6
1
2
3
4
5
5
6
1
2
3
4
1
0
1
1
0
0
1
1
0
0
1
0
0
1
1
0
0
1
2
.
4
.
Desig
n o
f
f
uzzy
lo
g
ic
c
o
ntr
o
ller
I
n
o
r
d
er
to
co
n
tr
o
l
o
r
s
tu
d
y
a
p
h
y
s
ical
s
y
s
tem
,
it
is
n
ec
ess
ar
y
to
co
n
s
tr
u
ct
a
m
ath
em
ati
ca
l
m
o
d
el,
k
n
o
win
g
th
at
all
p
h
y
s
ical
s
y
s
tem
s
ar
e
n
o
n
-
lin
ea
r
.
Un
less
we
ca
n
ap
p
ly
th
e
p
r
in
cip
les
o
f
p
h
y
s
ics,
it
b
ec
o
m
es
ch
allen
g
in
g
to
d
ev
el
o
p
an
a
cc
u
r
ate
n
o
n
-
lin
ea
r
m
o
d
el
f
r
o
m
m
ea
s
u
r
em
e
n
t
d
ata
an
d
s
y
s
tem
id
en
tific
atio
n
m
eth
o
d
s
.
W
h
at'
s
m
o
r
e,
I
t is f
r
eq
u
en
tly
to
o
co
m
p
licated
to
i
m
p
lem
en
t in
c
o
n
tr
o
ller
d
ev
elo
p
m
en
t
[
2
6
]
-
[
2
8
]
.
Alter
n
ativ
ely
,
f
u
zz
y
co
n
tr
o
l o
f
f
er
s
a
s
tr
u
ctu
r
ed
ap
p
r
o
ac
h
to
r
ep
r
esen
t
an
d
ap
p
ly
a
h
u
m
an
-
lik
e
co
n
tr
o
l
m
o
d
el
[
2
6
]
.
I
t
em
p
lo
y
s
o
n
ly
a
s
m
all
s
u
b
s
et
o
f
f
u
zz
y
m
ath
e
m
atics,
wh
ich
is
n
o
t
o
n
l
y
m
at
h
em
atica
lly
s
im
p
le
b
u
t
also
co
n
ce
p
tu
ally
ac
ce
s
s
ib
le.
Fig
u
r
e
3
p
r
o
v
id
es
a
d
etailed
an
aly
s
is
o
f
th
e
f
u
n
d
am
en
tal
n
o
tio
n
s
,
v
o
ca
b
u
lar
y
,
a
n
d
ca
lcu
latio
n
s
o
f
f
u
zz
y
s
ets
an
d
f
u
zz
y
lo
g
ic.
T
h
e
f
u
zz
y
co
n
tr
o
ller
s
tr
u
ctu
r
e
d
ar
o
u
n
d
f
o
u
r
m
ain
co
m
p
o
n
en
ts
th
at
d
ef
in
e
its
ar
ch
itectu
r
e
an
d
o
p
er
atin
g
m
ec
h
a
n
is
m
[
2
9
]
,
[
3
0
]
:
-
T
h
e
f
u
zz
if
icatio
n
b
lo
ck
tr
an
s
f
o
r
m
s
th
e
cr
is
p
in
p
u
ts
in
to
f
u
z
zy
v
alu
es
t
h
at
ca
n
b
e
m
atch
e
d
ag
ain
s
t
th
e
s
to
r
ed
r
u
les.
-
T
h
e
k
n
o
wled
g
e
b
ase
c
o
n
tain
s
a
co
llectio
n
o
f
f
u
zz
y
r
u
les th
at
en
ca
p
s
u
late
th
e
co
n
tr
o
l stra
te
g
y
.
-
T
h
e
in
f
er
en
ce
e
n
g
in
e
d
ete
r
m
i
n
es
wh
ich
r
u
les
ar
e
ap
p
licab
l
e
b
ased
o
n
th
e
cu
r
r
en
t
in
p
u
ts
an
d
co
m
p
u
tes
th
e
ap
p
r
o
p
r
iate
f
u
zz
y
o
u
tp
u
ts
.
-
T
h
e
d
ef
u
zz
if
icatio
n
b
lo
ck
t
r
a
n
s
lates
th
e
f
u
zz
y
o
u
tp
u
ts
g
en
er
ated
b
y
th
e
in
f
er
en
ce
e
n
g
in
e
in
to
p
r
ec
is
e
co
n
tr
o
l a
ctio
n
s
s
en
t to
t
h
e
s
y
s
tem
[
2
8
]
,
[
2
9
]
.
Fig
u
r
e
3
.
Fu
zz
y
lo
g
ic
c
o
n
tr
o
ll
er
s
tr
u
ctu
r
e
2
.
5
.
D
esig
n o
f
ANF
I
S
co
ntr
o
ller
T
h
e
ANFI
S
r
ep
r
esen
ts
a
h
y
b
r
i
d
in
tellig
en
t
a
p
p
r
o
a
ch
th
at
u
n
i
f
ies
f
u
zz
y
l
o
g
ic
r
ea
s
o
n
in
g
with
th
e
s
elf
-
lear
n
in
g
ab
ilit
y
o
f
n
e
u
r
al
n
et
wo
r
k
s
.
T
h
is
p
ar
ad
i
g
m
allo
ws
o
p
tim
izin
g
th
e
p
er
f
o
r
m
an
ce
o
f
in
tellig
en
t
s
y
s
tem
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
I
mp
r
o
ve
men
t d
ir
ec
t to
r
q
u
e
co
n
tr
o
l o
f in
d
u
ctio
n
mo
to
r
u
s
in
g
r
o
b
u
s
t
in
tellig
en
ce
…
(
La
o
u
fi A
b
d
elh
a
q
)
1557
b
y
in
teg
r
atin
g
th
e
k
n
o
wled
g
e
ac
q
u
ir
ed
d
u
r
in
g
th
e
lear
n
i
n
g
p
r
o
ce
s
s
[
2
5
]
,
[
2
7
]
.
T
h
is
s
y
s
tem
u
s
es
a
f
ir
s
t
-
o
r
d
er
T
ak
ag
i
-
Su
g
e
n
o
-
Kan
g
f
u
zz
y
m
o
d
el,
wh
ich
f
ir
s
t
g
en
er
ates
an
in
itial
f
u
zz
y
s
y
s
tem
.
T
h
e
ANF
I
S
co
n
tr
o
ller
tak
es
th
e
er
r
o
r
an
d
its
r
ate
o
f
ch
an
g
e
as
in
p
u
ts
.
T
o
o
p
tim
ize
s
y
s
tem
p
er
f
o
r
m
a
n
ce
an
d
d
r
iv
e
th
e
er
r
o
r
to
ze
r
o
,
ad
ap
tiv
e
lear
n
i
n
g
tech
n
iq
u
es
ar
e
em
p
lo
y
e
d
to
a
d
ju
s
t
th
e
p
ar
am
eter
s
d
y
n
am
ically
.
Du
r
in
g
th
e
in
f
e
r
en
ce
an
d
r
u
le
-
d
ef
in
itio
n
p
h
ase,
a
b
ac
k
-
p
r
o
p
a
g
atio
n
m
eth
o
d
is
e
m
p
lo
y
ed
t
o
f
i
n
e
-
tu
n
e
th
e
s
tr
u
ct
u
r
e
o
f
t
h
e
n
e
u
r
al
n
etwo
r
k
,
allo
win
g
it
to
en
h
a
n
ce
th
e
r
u
le
b
ase
a
n
d
cr
ea
te
f
u
zz
y
lo
g
ic
f
u
n
ctio
n
s
f
o
r
b
o
t
h
in
p
u
ts
as
well
as
o
u
tp
u
ts
.
T
h
e
i
n
p
u
t
m
em
b
e
r
s
h
ip
f
u
n
ctio
n
s
o
f
t
h
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
r
elate
d
to
th
e
s
p
ee
d
er
r
o
r
(
e)
an
d
th
e
ch
an
g
e
in
s
p
ee
d
e
r
r
o
r
(
d
e)
ar
e
s
h
o
wn
in
Fig
u
r
es
4
(
a)
an
d
4
(
b
)
,
r
esp
ec
tiv
ely
,
w
h
ile
th
e
o
u
tp
u
t
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
o
f
th
e
f
u
zz
y
co
n
tr
o
l
ler
ar
e
illu
s
tr
ated
in
Fig
u
r
e
4
(
c)
.
T
h
e
alo
n
g
with
ass
o
ciate
d
f
u
zz
y
r
u
les
ca
n
b
e
f
o
u
n
d
in
T
ab
le
3
.
Su
c
h
a
p
r
o
ce
s
s
d
ep
en
d
s
o
n
a
m
eticu
lo
u
s
ly
f
ilter
ed
d
ataset,
en
s
u
r
in
g
h
ig
h
ac
cu
r
ac
y
an
d
o
p
tim
al
co
m
p
u
tatio
n
al
ef
f
icien
cy
[
3
1
]
,
[
3
2
]
.
Fig
u
r
e
5
illu
s
tr
ates
an
o
v
er
all
ar
ch
itectu
r
e
d
e
s
cr
ib
in
g
th
e
ANFI
S
n
eu
r
o
-
f
u
zz
y
s
y
s
tem
,
as
in
tr
o
d
u
ce
d
b
y
J
an
g
,
b
ased
o
n
a
f
lex
ib
le
n
etwo
r
k
th
at
co
m
b
in
es
th
e
ch
ar
ac
ter
is
tics
o
f
f
u
zz
y
in
f
e
r
en
ce
s
y
s
tem
s
with
ad
ap
tiv
e
lear
n
in
g
m
ec
h
an
is
m
s
,
m
ak
in
g
it
a
p
o
wer
f
u
l
to
o
l
f
o
r
v
ar
io
u
s
in
tellig
en
t
ap
p
licatio
n
s
[
3
0
]
,
[
3
1
]
.
(
a)
(
b
)
(
c)
Fig
u
r
e
4
.
ANFI
S c
o
n
tr
o
ller
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
: (
a)
i
n
p
u
t
s
p
ee
d
er
r
o
r
e,
(
b
)
ch
an
g
e
i
n
s
p
ee
d
d
e,
an
d
(
c)
o
u
tp
u
t m
em
b
e
r
s
h
ip
d
u
T
ab
le
3
.
R
u
le
-
b
ased
lear
n
in
g
a
lg
o
r
ith
m
to
ela
b
o
r
ate
ANFI
S
E
dE
n
pn
z
pp
p
n
n
N
pn
pn
z
pn
n
pn
pn
z
p
z
n
pn
z
pp
p
pp
n
z
pp
pp
p
p
z
pp
pp
p
p
Fig
u
r
e
5
.
Glo
b
al
ar
ch
itectu
r
e
f
o
r
n
eu
r
o
-
f
u
zz
y
ANFI
S
[
3
3
]
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
.
3
,
Sep
tem
b
er
20
25
:
1552
-
1
5
6
5
1558
I
n
th
is
s
y
s
tem
,
A1
,
A2
,
an
d
B
1
,
B
2
r
ep
r
esen
t
f
u
zz
y
co
l
lectio
n
s
with
in
th
e
p
r
em
is
e
p
ar
t,
T
h
e
p
ar
am
eter
s
p
i
a
n
d
q
i
ar
e
c
o
n
f
ig
u
r
atio
n
c
o
ef
f
icien
ts
ad
j
u
s
ted
th
r
o
u
g
h
o
u
t
th
e
tr
ain
in
g
p
h
a
s
e.
T
h
e
s
tr
u
ctu
r
e
o
f
th
e
ANFI
S m
o
d
el
in
clu
d
es f
iv
e
d
is
tin
ct
lay
er
s
,
d
etailed
b
elo
w
[
3
4
]
:
-
L
ay
er
1
:
T
h
is
in
itial
la
y
er
,
r
ef
er
r
ed
t
o
as
th
e
f
u
zz
i
f
icatio
n
la
y
er
,
tr
a
n
s
f
o
r
m
s
c
r
is
p
in
p
u
ts
in
to
f
u
zz
y
v
al
u
es.
E
ac
h
n
o
d
e'
s
o
u
tp
u
t in
th
is
lay
e
r
is
ca
lcu
lated
u
s
in
g
th
e
f
o
llo
win
g
ex
p
r
ess
io
n
(
1
3
)
[
3
5
]
:
1
,
=
µ
(
)
=
(
−
(
−
)
2
)
(
1
3
)
W
h
er
e:
I
is
th
e
in
d
ex
of
th
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
,
x
is
th
e
in
p
u
t
to
th
e
n
o
d
e,
an
d
{σ
i,
b
i,
ci
}
ar
e
th
e
in
itial
p
ar
am
eter
s
d
ef
in
e
d
at
th
e
s
tar
t
o
f
th
e
tr
ai
n
in
g
p
r
o
ce
s
s
.
-
L
ay
er
2
:
I
n
th
is
lay
er
,
ea
ch
n
o
d
e
co
m
p
u
tes
th
e
f
ir
in
g
s
tr
en
g
t
h
o
f
a
r
u
le.
T
h
e
o
u
tp
u
t
o
f
n
o
d
e
i
is
ca
lcu
lated
u
s
in
g
(
1
4
)
:
2
=
=
µ
(
1
)
.
µ
(
2
)
.
=
1
,
2
(
1
4
)
-
L
ay
er
3
:
R
esp
o
n
s
ib
le
f
o
r
n
o
r
m
alizin
g
th
e
f
ir
i
n
g
s
tr
en
g
th
s
o
f
th
e
r
u
les,
th
is
s
tag
e
p
r
o
d
u
c
es
a
n
o
r
m
alize
d
v
alu
e
at
n
o
d
e
i,
co
m
p
u
ted
u
s
in
g
th
e
(
1
5
)
[
3
5
]
:
=
∑
=
1
(
15)
-
L
ay
er
4
:
T
h
is
lay
er
is
r
esp
o
n
s
ib
le
f
o
r
d
ef
u
zz
if
icatio
n
an
d
g
en
er
atin
g
th
e
r
esu
lts
.
At
ea
ch
n
o
d
e,
th
e
weig
h
ted
r
esu
lts
o
f
th
e
c
o
r
r
esp
o
n
d
in
g
r
u
le
a
r
e
co
m
p
u
ted
.
T
h
e
(
16
)
is
u
s
ed
t
o
ca
lcu
late
th
es
e
v
alu
es
[
3
6
]
.
4
=
=
(
+
+
)
.
(
1
6
)
T
o
f
in
e
-
t
u
n
e
p
ar
am
eter
s
with
i
n
th
e
ANFI
S
m
o
d
el,
th
e
least
s
q
u
ar
es
an
d
b
ac
k
-
p
r
o
p
ag
atio
n
m
eth
o
d
s
ar
e
u
s
ed
jo
in
tly
.
Fig
u
r
e
6
p
r
esen
ts
th
e
r
esu
lts
o
f
th
e
tr
ain
in
g
s
tep
,
wh
er
e
f
iv
e
Gau
s
s
ian
m
em
b
e
r
s
h
ip
f
u
n
ctio
n
s
ar
e
ap
p
lied
f
o
r
th
e
DT
C
-
ANFI
S
[
3
7
]
.
Fig
u
r
e
6
.
Netwo
r
k
s
tr
u
ctu
r
e
f
o
r
DT
C
-
ANFI
S
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
o
ac
cu
r
ately
s
im
u
late
th
e
s
y
s
tem
's
b
eh
av
io
r
,
we
m
o
d
ele
d
th
e
d
esire
d
cir
cu
it
u
s
in
g
MA
T
L
A
B
s
im
u
latio
n
s
o
f
twar
e.
T
h
e
g
lo
b
al
b
lo
ck
is
s
tr
u
ctu
r
e
d
in
to
t
wo
m
ain
b
lo
c
k
s
:
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
an
d
t
h
e
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
I
mp
r
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men
t d
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o
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f in
d
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mo
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s
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tellig
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La
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b
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em
o
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ated
in
F
ig
u
r
e
7
.
Fig
u
r
e
8
p
r
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a
clo
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e
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u
p
o
f
th
e
Simu
lin
k
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el
o
f
th
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in
d
u
ctio
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m
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to
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,
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ig
h
lig
h
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g
its
k
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p
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u
ch
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ath
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atica
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ter
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F
ig
u
r
e
9
p
r
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d
etail
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Simu
lin
k
m
o
d
el
o
f
th
e
DT
C
c
o
n
tr
o
l,
en
c
o
m
p
as
s
in
g
to
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q
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e
a
n
d
f
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x
r
eg
u
latio
n
,
o
p
tim
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o
ltag
e
v
ec
to
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s
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tio
n
,
as we
ll a
s
th
e
two
-
lev
el
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v
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ter
m
o
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el,
en
s
u
r
in
g
p
r
ec
is
e
an
d
e
f
f
ec
tiv
e
m
o
to
r
co
n
tr
o
l.
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n
th
is
s
ec
tio
n
o
f
o
u
r
s
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d
y
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w
e
co
n
d
u
ct
a
n
aly
s
is
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d
co
m
p
a
r
is
o
n
test
s
th
r
o
u
g
h
MA
T
L
AB
Simu
lin
k
.
T
h
e
p
ar
am
ete
r
s
o
f
th
e
in
d
u
c
tio
n
m
ac
h
in
e
an
d
th
e
d
u
al
-
le
v
el
v
o
ltag
e
i
n
v
er
ter
u
s
ed
in
th
e
s
im
u
latio
n
ar
e
s
u
m
m
ar
ized
in
T
ab
le
4
.
T
h
e
in
v
er
ter
o
p
er
ates
with
a
DC
v
o
ltag
e
o
f
5
0
0
V
an
d
a
s
witch
in
g
f
r
eq
u
e
n
cy
o
f
1
0
k
Hz.
T
h
ese
p
ar
am
eter
s
s
e
r
v
e
as
th
e
r
ef
e
r
en
ce
f
o
r
ev
al
u
atin
g
th
e
ef
f
icien
c
y
a
n
d
b
e
h
av
io
r
o
f
th
e
DT
C
co
n
tr
o
ller
in
te
g
r
ated
with
th
e
ANFI
S
co
n
tr
o
ller
.
T
h
ese
ex
p
er
im
en
ts
aim
to
v
alid
ate
th
e
o
v
er
all
s
y
s
tem
p
er
f
o
r
m
an
ce
an
d
d
em
o
n
s
tr
ate
its
r
o
b
u
s
tn
ess
.
Fig
u
r
e
7
.
Glo
b
al
b
l
o
ck
d
ia
g
r
a
m
illu
s
tr
atin
g
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
ap
p
lied
to
an
IM
i
n
MA
T
L
AB
/S
im
u
lin
k
Fig
u
r
e
8
.
I
n
d
u
cti
o
n
m
ac
h
in
e
m
o
d
el
in
MA
T
L
AB
/Si
m
u
lin
k
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
.
3
,
Sep
tem
b
er
20
25
:
1552
-
1
5
6
5
1560
Fig
u
r
e
9
.
Dir
ec
t
to
r
q
u
e
c
o
n
tr
o
l
(
DT
C
)
m
o
d
el
in
MA
T
L
AB
/Si
m
u
lin
k
T
ab
le
4
.
C
h
ar
ac
ter
is
tics
o
f
th
e
in
d
u
ctio
n
m
ac
h
in
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r
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a
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n
e
ss
V
a
l
u
e
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r
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a
t
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V
a
l
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e
R
a
t
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d
p
o
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r
1
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5
kw
R
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r
r
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s
t
a
n
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0
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R
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t
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ates
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,
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ated
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atin
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ess
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ain
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.
Fig
u
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1
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(
a)
d
ep
icts
th
e
r
o
to
r
s
p
ee
d
r
esp
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e,
h
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h
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e
s
p
ee
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to
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d
s
th
e
r
ef
er
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o
b
s
er
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ed
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with
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o
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ized
r
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o
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e
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o
f
0
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1
5
s
,
d
em
o
n
s
tr
atin
g
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ce
llen
t
r
ea
cti
v
ity
.
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r
eo
v
e
r
,
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e
r
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o
n
s
e
r
em
ain
s
s
tab
le,
f
r
ee
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r
o
m
u
n
wan
ted
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,
en
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u
r
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g
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ec
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e
an
d
r
o
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u
s
t tr
a
ck
in
g
o
f
th
e
r
e
f
er
en
ce
s
p
ee
d
.
Fig
u
r
e
1
0
(
b
)
p
r
o
v
id
es
a
d
eta
iled
zo
o
m
o
n
th
e
r
o
to
r
s
p
ee
d
r
esp
o
n
s
e
b
etwe
en
0
.
2
8
s
an
d
0
.
5
s
,
co
r
r
esp
o
n
d
in
g
to
th
e
in
tr
o
d
u
c
tio
n
o
f
th
e
r
esis
tiv
e
to
r
q
u
e.
Du
r
in
g
th
is
d
is
tu
r
b
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ce
,
a
s
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h
t
d
ec
r
ea
s
e
o
f
2
.
5
r
ad
/s
in
th
e
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ef
e
r
en
ce
s
p
ee
d
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er
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ed
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we
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er
,
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n
k
s
to
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e
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tem
’
s
s
p
ee
d
,
r
o
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u
s
t
n
ess
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d
s
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ilit
y
,
th
e
s
y
s
tem
in
s
tan
tly
co
r
r
ec
ts
t
h
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iatio
n
,
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win
g
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o
r
a
s
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o
o
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r
ec
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e
r
etu
r
n
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ce
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ee
d
with
o
u
t n
o
ticea
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le
f
l
u
ctu
atio
n
s
.
Fig
u
r
e
1
0
(
c)
p
r
esen
ts
th
e
ev
o
lu
tio
n
o
f
th
e
s
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r
cu
r
r
en
t.
A
t
s
tar
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ican
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c
u
r
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5
A
in
less
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an
0
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1
s
,
d
u
e
to
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e
in
itial in
r
u
s
h
cu
r
r
en
t.
Su
b
s
eq
u
en
tly
,
t
h
e
cu
r
r
e
n
t stab
ilizes
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d
ad
o
p
ts
a
s
m
o
o
th
s
in
u
s
o
i
d
al
wav
ef
o
r
m
with
s
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h
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r
ip
p
les,
r
ef
lectin
g
t
h
e
g
o
o
d
d
y
n
am
ic
b
eh
av
i
o
r
a
n
d
s
tab
ilit
y
o
f
th
e
s
y
s
tem
.
F
i
g
u
r
e
1
0
(
d
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i
l
l
u
s
t
r
a
t
es
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h
e
e
v
o
l
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t
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o
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o
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e
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t
r
o
m
a
g
n
e
t
i
c
t
o
r
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e
.
A
t
s
t
a
r
t
u
p
,
a
h
i
g
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p
e
a
k
t
o
r
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e
,
r
e
a
c
h
i
n
g
4
0
N
m
o
b
s
e
r
v
e
d
d
u
e
t
o
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h
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i
n
i
t
i
al
a
c
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le
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t
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o
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n
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it
i
o
n
s
.
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u
b
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e
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e
n
t
l
y
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h
e
t
o
r
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e
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t
a
b
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li
z
es
a
r
o
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n
d
0
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m
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t
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h
a
r
m
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c
o
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t
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n
d
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A
t
t
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3
s
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e
n
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r
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is
t
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v
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o
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e
o
f
1
0
N
m
i
s
a
p
p
l
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d
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n
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n
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t
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r
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e
ct
r
o
m
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e
t
i
c
t
o
r
q
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e
i
s
o
b
s
e
r
v
e
d
,
a
ll
o
w
i
n
g
t
h
e
s
y
s
t
e
m
t
o
c
o
m
p
e
n
s
a
t
e
f
o
r
t
h
e
d
i
s
t
u
r
b
a
n
ce
.
T
h
i
s
c
o
r
r
e
c
t
i
o
n
,
a
c
c
o
m
p
a
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y
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r
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d
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c
t
i
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a
n
d
r
e
a
d
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u
s
t
m
e
n
t
o
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h
a
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m
o
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c
s
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o
n
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i
r
m
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t
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y
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f
f
e
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s
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n
h
a
n
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n
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o
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t
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o
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s
.
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h
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r
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lt
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d
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m
o
n
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t
r
a
t
e
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e
ll
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n
t
r
o
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s
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n
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s
s
o
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t
h
e
s
y
s
t
e
m
,
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ts
r
e
a
c
t
i
v
it
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o
l
o
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d
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t
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s
,
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n
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t
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a
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u
r
e
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e
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s
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m
e
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B
e
n
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h
m
a
r
k
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en
ch
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ar
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illu
s
tr
ates
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s
y
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tem
's
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eh
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io
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ed
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m
s
p
ee
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s
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m
p
a
r
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g
t
h
e
p
e
r
f
o
r
m
a
n
ce
o
f
two
co
n
tr
o
l
s
tr
ateg
ies:
DT
C
-
ANFI
S
(
s
o
lid
r
ed
cu
r
v
e)
a
n
d
DT
C
-
PI
(
d
ash
ed
b
l
u
e
cu
r
v
e)
.
T
h
e
s
p
ee
d
r
ef
er
en
ce
f
o
llo
ws
a
tr
ap
ez
o
i
d
al
p
r
o
f
ile
d
ef
in
ed
as
f
o
llo
ws:
f
r
o
m
0
s
to
0
.
3
5
s
,
th
e
s
p
ee
d
r
ea
c
h
es
+5
0
r
ad
/s
;
f
r
o
m
0
.
3
5
s
to
0
.
7
5
s
,
it
d
r
o
p
s
to
0
r
ad
/s
,
m
ar
k
in
g
a
cr
itical
tr
an
s
itio
n
p
h
ase;
an
d
f
r
o
m
0
.
7
5
s
to
1
s
,
i
t
r
ea
ch
es
-
5
0
r
ad
/s
.
T
h
is
s
p
ee
d
v
ar
iatio
n
,
p
ar
ticu
l
ar
ly
th
e
ze
r
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cr
o
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s
in
g
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ase,
p
r
o
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es
a
r
elev
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t
test
s
ce
n
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io
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o
r
ass
ess
in
g
th
e
ac
cu
r
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y
,
r
esp
o
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iv
en
ess
,
an
d
r
o
b
u
s
tn
ess
o
f
th
e
co
n
t
r
o
ller
s
.
B
en
ch
m
ar
k
2
clea
r
ly
h
ig
h
l
ig
h
ts
th
e
a
b
ilit
y
o
f
b
o
th
s
tr
ateg
ies
to
ac
cu
r
ately
tr
ac
k
th
e
im
p
o
s
ed
r
ef
er
e
n
ce
s
,
wh
ile
also
u
n
d
er
lin
in
g
th
e
ad
v
an
tag
es
o
f
t
h
e
in
tellig
en
t A
NFI
S
-
b
ased
co
n
tr
o
l.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
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lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
I
mp
r
o
ve
men
t d
ir
ec
t to
r
q
u
e
co
n
tr
o
l o
f in
d
u
ctio
n
mo
to
r
u
s
in
g
r
o
b
u
s
t
in
tellig
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…
(
La
o
u
fi A
b
d
elh
a
q
)
1561
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
1
0
.
B
en
ch
m
ar
k
1
tr
ajec
to
r
y
tr
ac
k
i
n
g
an
d
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
p
er
f
o
r
m
an
ce
with
th
e
DT
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-
ANFI
S
ap
p
r
o
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h
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o
r
n
o
m
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al
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ee
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: (
a)
r
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to
r
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ee
d
r
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e,
(
b
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zo
o
m
o
n
t
h
e
r
o
t
o
r
s
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ee
d
,
(
c)
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tat
o
r
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r
r
en
t,
an
d
(
d
)
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
Fig
u
r
e
1
1
s
h
o
ws
th
e
r
esp
o
n
s
e
o
f
r
o
to
r
s
p
ee
d
an
d
h
ig
h
lig
h
ts
s
u
ch
p
er
f
o
r
m
a
n
ce
d
if
f
er
e
n
ce
s
b
etwe
en
DT
C
-
ANFI
S
an
d
DT
C
-
PI.
At
s
tar
tu
p
,
DT
C
-
ANFI
S
ac
h
iev
es
a
r
is
e
t
im
e
o
f
0
.
0
8
s
,
wh
ile
DT
C
-
PI
r
eq
u
ir
es
0
.
1
5
s
,
d
em
o
n
s
tr
atin
g
th
e
f
aster
r
esp
o
n
s
e
o
f
DT
C
-
ANFI
S.
I
n
s
tead
y
-
s
tate
o
p
er
atio
n
,
D
T
C
-
ANFI
S
en
s
u
r
es
g
r
ea
ter
s
tab
ilit
y
th
an
DT
C
-
PI,
p
r
o
v
id
in
g
p
r
ec
is
e
an
d
r
elia
b
le
r
ef
er
e
n
ce
tr
ac
k
in
g
.
I
n
tr
a
n
s
ien
t
m
o
d
e,
DT
C
-
ANFI
S
en
ab
les
f
aster
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d
s
m
o
o
th
er
s
p
ee
d
tr
an
s
itio
n
s
,
wh
e
r
ea
s
DT
C
-
PI
ex
h
ib
its
less
co
n
tr
o
lled
v
a
r
iatio
n
s
.
I
n
th
e
th
ir
d
p
h
ase
o
f
th
e
g
r
ap
h
,
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C
-
PI
lead
s
to
an
u
n
s
tab
le
s
y
s
tem
,
wh
ile
DT
C
-
ANFI
S
m
ain
tain
s
ex
ce
llen
t
s
tab
ilit
y
,
co
n
f
ir
m
in
g
its
r
o
b
u
s
tn
ess
an
d
ef
f
icien
cy
i
n
s
p
ee
d
co
n
tr
o
l.
T
a
b
le
5
p
r
esen
ts
a
co
m
p
ar
is
o
n
o
f
th
e
m
ea
n
s
q
u
ar
e
d
er
r
o
r
s
(
MSE
)
b
etwe
en
th
e
DT
C
-
ANFI
S
an
d
DT
C
-
PI
co
n
tr
o
l
s
tr
ateg
ies,
o
f
f
er
in
g
an
ass
ess
m
en
t
o
f
th
eir
p
er
f
o
r
m
an
ce
with
r
eg
a
r
d
to
ac
cu
r
ac
y
a
n
d
co
n
tr
o
l e
f
f
icien
cy
.
Evaluation Warning : The document was created with Spire.PDF for Python.