I
nte
rna
t
io
na
l J
o
urna
l o
f
P
o
wer
E
lect
ro
nics
a
nd
Driv
e
S
y
s
t
em
(
I
J
P
E
DS)
Vo
l.
16
,
No
.
4
,
Dec
em
b
er
20
25
,
p
p
.
2
2
7
1
~
2
2
7
9
I
SS
N:
2
0
8
8
-
8
6
9
4
,
DOI
: 1
0
.
1
1
5
9
1
/ijp
ed
s
.
v
16
.
i
4
.
p
p
2
2
7
1
-
2
2
7
9
2271
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
p
e
d
s
.
ia
esco
r
e.
co
m
Ba
ckstepping
co
n
trol in spe
ed loo
p
co
mbined wi
th
lo
a
d t
o
rque
o
bse
rv
er
-
ESO
f
o
r
IPMSM
in
elect
r
ic vehicle
An Th
i H
o
a
i Th
u Anh
1
,
T
ra
n H
un
g
Cuo
ng
2
,
Ng
uy
en
Va
n H
o
a
1
1
F
a
c
u
l
t
y
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
,
U
n
i
v
e
r
si
t
y
o
f
Tr
a
n
sp
o
r
t
a
n
d
C
o
m
mu
n
i
c
a
t
i
o
n
s
,
H
a
n
o
i
,
V
i
e
t
n
a
m
2
F
a
c
u
l
t
y
o
f
El
e
c
t
r
i
c
a
l
a
n
d
El
e
c
t
r
o
n
i
c
En
g
i
n
e
e
r
i
n
g
,
T
h
u
y
l
o
i
U
n
i
v
e
r
si
t
y
,
H
a
n
o
i
,
V
i
e
t
n
a
m
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Oct
2
5
,
2
0
2
4
R
ev
is
ed
Oct
3
,
2
0
2
5
Acc
ep
ted
Oct
1
7
,
2
0
2
5
El
e
c
tri
c
v
e
h
icle
s
a
re
g
a
in
i
n
g
p
o
p
u
larity
d
u
e
t
o
th
e
ir
e
n
v
iro
n
m
e
n
ta
l
frien
d
li
n
e
ss
a
n
d
th
e
n
e
e
d
to
c
o
n
s
e
rv
e
d
win
d
l
in
g
fo
ss
il
fu
e
l
re
so
u
rc
e
s.
In
th
is
field
,
in
terio
r
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
(IP
M
)
m
o
to
rs
a
re
c
o
n
si
d
e
re
d
th
e
to
p
c
h
o
ice
fo
r
p
r
o
p
u
lsio
n
sy
ste
m
s
d
u
e
t
o
t
h
e
ir
h
ig
h
e
fficie
n
c
y
,
h
i
g
h
t
o
rq
u
e
-
to
-
c
u
rre
n
t
ra
ti
o
,
d
u
ra
b
il
it
y
,
a
n
d
lo
w
n
o
ise
.
To
o
p
ti
m
ize
th
e
sp
e
e
d
c
o
n
tro
l
p
e
rfo
rm
a
n
c
e
o
f
I
P
M
m
o
to
rs
i
n
th
e
p
re
se
n
c
e
o
f
d
istu
r
b
a
n
c
e
s,
a
n
o
n
l
in
e
a
r
s
p
e
e
d
c
o
n
tro
l
a
lg
o
rit
h
m
fo
r
IP
M
sy
ste
m
s
u
sin
g
th
e
b
a
c
k
ste
p
p
in
g
m
e
th
o
d
is
d
e
v
e
lo
p
e
d
i
n
th
is
p
a
p
e
r.
A
d
d
it
io
n
a
ll
y
,
a
l
o
a
d
to
rq
u
e
o
b
se
rv
e
r
u
sin
g
th
e
e
x
te
n
d
e
d
sta
te
o
b
se
rv
e
r
(ES
O)
m
e
th
o
d
is
imp
l
e
m
e
n
ted
to
e
n
a
b
le
t
h
e
sy
ste
m
to
re
sp
o
n
d
q
u
ick
ly
a
n
d
a
c
c
u
ra
tely
to
lo
a
d
c
h
a
n
g
e
s
wh
il
e
m
in
imiz
i
n
g
t
h
e
e
ffe
c
ts
o
f
d
istu
r
b
a
n
c
e
s,
t
h
e
re
b
y
e
n
h
a
n
c
i
n
g
th
e
o
p
e
ra
ti
o
n
a
n
d
re
li
a
b
i
li
ty
o
f
e
lec
tri
c
v
e
h
icle
s.
Th
e
sim
u
latio
n
re
s
u
lt
s
,
c
o
n
d
u
c
ted
i
n
M
ATLAB
/S
imu
li
n
k
,
d
e
m
o
n
stra
te
t
h
a
t
th
e
c
o
m
b
i
n
a
ti
o
n
o
f
b
a
c
k
ste
p
p
i
n
g
c
o
n
tr
o
l
a
n
d
E
S
O
o
ffe
rs
g
o
o
d
sta
b
il
it
y
f
o
r
t
h
e
m
o
t
o
r
sy
ste
m
,
wh
il
e
m
it
i
g
a
ti
n
g
t
h
e
i
m
p
a
c
t
o
f
d
istu
r
b
a
n
c
e
s
a
n
d
lo
a
d
v
a
riatio
n
s.
Th
is
is
a
n
im
p
o
rtan
t
ste
p
in
o
p
ti
m
izin
g
t
h
e
c
o
n
tro
l
sy
ste
m
o
f
e
lec
tri
c
v
e
h
i
c
les
,
c
o
n
tri
b
u
ti
n
g
t
o
th
e
imp
r
o
v
e
m
e
n
t
o
f
p
e
rfo
rm
a
n
c
e
a
n
d
re
li
a
b
il
it
y
i
n
e
lec
tri
c
v
e
h
icle
a
p
p
li
c
a
ti
o
n
s
.
K
ey
w
o
r
d
s
:
B
ac
k
s
tep
p
in
g
E
x
ten
d
ed
s
tate
o
b
s
er
v
er
I
n
ter
io
r
p
er
m
an
e
n
t m
ag
n
et
s
y
n
ch
r
o
n
o
u
s
m
o
t
o
r
L
o
ad
to
r
q
u
e
o
f
elec
tr
ic
v
e
h
icle
Sli
d
in
g
m
o
d
e
c
o
n
t
r
o
l
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
:
T
r
an
Hu
n
g
C
u
o
n
g
Facu
lty
o
f
E
lectr
ical
an
d
E
lectr
o
n
ic
E
n
g
in
ee
r
in
g
,
T
h
u
y
l
o
i U
n
iv
er
s
ity
Han
o
i,
Vietn
am
E
m
ail:
cu
o
n
g
th
@
tlu
.
ed
u
.
v
n
1.
I
NT
RO
D
UCT
I
O
N
I
n
th
e
2
1
s
t
ce
n
tu
r
y
,
th
e
d
ev
elo
p
m
en
t
an
d
a
p
p
licatio
n
o
f
elec
tr
ic
v
eh
icle
(
E
V)
tech
n
o
lo
g
y
h
a
v
e
b
ec
o
m
e
a
p
r
o
m
i
n
en
t
tr
en
d
in
t
h
e
au
to
m
o
tiv
e
in
d
u
s
tr
y
.
E
lectr
ic
v
eh
icles
h
elp
r
ed
u
ce
en
v
ir
o
n
m
en
tal
p
o
llu
tio
n
,
co
n
s
er
v
e
f
o
s
s
il
f
u
el
r
eso
u
r
ce
s
,
an
d
p
r
o
v
i
d
e
h
ig
h
o
p
er
atio
n
al
ef
f
icien
cy
[
1
]
.
W
ith
h
ig
h
ef
f
icien
cy
,
to
r
q
u
e
g
en
er
atio
n
ca
p
ab
ilit
ies,
an
d
a
wid
e
r
an
g
e
o
f
s
p
ee
d
a
d
ju
s
tm
en
ts
,
in
ter
io
r
p
e
r
m
an
en
t
m
ag
n
et
(
I
PM)
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
s
ar
e
o
p
ti
m
al
f
o
r
elec
tr
ic
v
eh
icle
p
r
o
p
u
l
s
io
n
s
y
s
tem
s
.
I
PM
m
o
to
r
s
ar
e
o
f
ten
c
o
n
tr
o
lled
b
y
p
r
o
p
o
r
tio
n
al
–
i
n
teg
r
al
(
PI
)
o
r
p
r
o
p
o
r
tio
n
al
–
in
teg
r
al
–
d
er
i
v
a
tiv
e
(
PID
)
co
n
tr
o
ller
s
,
b
u
t
th
ey
s
u
f
f
er
f
r
o
m
d
r
awb
ac
k
s
s
u
ch
as
s
u
s
ce
p
tib
ilit
y
to
p
ar
am
eter
d
is
tu
r
b
an
ce
s
,
in
ad
eq
u
ate
ad
a
p
tab
ilit
y
to
lo
ad
ch
an
g
es,
an
d
wea
k
n
o
is
e
im
m
u
n
ity
[
2
]
.
T
h
er
ef
o
r
e,
m
an
y
n
o
n
lin
ea
r
co
n
tr
o
l
m
eth
o
d
s
h
a
v
e
b
ee
n
ap
p
lied
to
im
p
r
o
v
e
co
n
tr
o
l
p
er
f
o
r
m
an
ce
in
s
y
s
tem
s
with
d
is
tu
r
b
an
ce
s
an
d
p
ar
a
m
eter
v
ar
iatio
n
s
,
s
u
ch
as
ad
ap
tiv
e
f
u
zz
y
s
lid
in
g
co
n
tr
o
l
[
3
]
,
[
4
]
,
in
tellig
en
t c
o
n
tr
o
l
[
5
]
,
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
[
6
]
,
an
d
Dir
ec
t p
r
ed
ictiv
e
s
p
ee
d
c
o
n
tr
o
l
[
7
]
.
Am
o
n
g
th
es
e
me
th
o
d
s
,
b
ac
k
s
tep
p
in
g
d
em
o
n
s
tr
ates
a
r
elativ
ely
s
im
p
le
co
n
t
r
o
ller
,
allo
win
g
f
o
r
g
r
a
d
u
al
co
m
p
u
tatio
n
th
r
o
u
g
h
s
ev
er
al
s
tep
s
,
with
f
ee
d
b
ac
k
co
n
tr
o
l
m
ak
in
g
th
e
clo
s
ed
-
lo
o
p
s
y
s
tem
s
tab
le
ac
co
r
d
in
g
to
L
y
ap
u
n
o
v
th
eo
r
y
.
At
ea
ch
s
tep
,
a
v
ir
tu
al
co
n
tr
o
l
v
ar
iab
le
is
s
e
lecte
d
,
an
d
in
ter
m
ed
iate
co
n
tr
o
l
laws
ar
e
d
esig
n
ed
to
s
tab
ilize
th
e
s
u
b
s
y
s
tem
o
f
th
e
o
r
ig
in
al
s
y
s
tem
[
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
.
4
,
Dec
em
b
er
20
25
:
2271
-
2
2
7
9
2272
C
o
n
tr
o
llin
g
I
PM
m
o
t
o
r
s
also
f
ac
es
ch
allen
g
es
d
u
e
to
n
o
n
lin
ea
r
ity
in
th
e
m
o
d
el
an
d
lo
ad
to
r
q
u
e
d
is
tu
r
b
an
ce
s
.
Ach
iev
in
g
h
i
g
h
co
n
tr
o
ller
p
er
f
o
r
m
a
n
ce
r
eq
u
i
r
es
ac
cu
r
ate
m
ea
s
u
r
em
en
t
an
d
d
eter
m
in
atio
n
o
f
u
n
k
n
o
wn
p
ar
a
m
eter
s
[
9
]
.
L
o
ad
to
r
q
u
e
is
ess
en
tial
f
o
r
m
o
n
ito
r
in
g
o
p
e
r
atio
n
al
s
tates
to
im
p
r
o
v
e
m
o
to
r
ef
f
icien
cy
.
Sen
s
o
r
s
ca
n
d
ir
ec
t
ly
m
ea
s
u
r
e
it,
b
u
t
d
ir
ec
t
m
ea
s
u
r
em
en
t
h
as
m
an
y
s
h
o
r
tco
m
in
g
s
,
an
d
in
s
tallin
g
s
en
s
o
r
s
is
a
ls
o
d
if
f
icu
lt
(
ch
allen
g
es
in
co
n
s
tr
u
ctio
n
,
h
ig
h
in
s
tallatio
n
co
s
ts
,
an
d
r
ed
u
ce
d
m
ec
h
an
ical
s
y
s
tem
d
u
r
ab
ilit
y
)
;
i
n
m
a
n
y
ca
s
es,
it
i
s
ev
en
im
p
o
s
s
ib
le
to
in
s
tall
s
en
s
o
r
s
[
1
0
]
,
[
1
1
]
.
Ad
d
itio
n
ally
,
ch
an
g
es
i
n
ter
r
ain
d
u
r
in
g
m
o
v
em
en
t
a
n
d
th
e
im
p
ac
t
o
f
e
x
ter
n
al
f
o
r
ce
s
an
d
d
i
s
tu
r
b
an
ce
s
p
o
s
e
ch
alle
n
g
es
in
lo
ad
m
ea
s
u
r
em
en
t.
W
ith
v
eh
icle
lo
ad
s
,
th
e
v
eh
ic
le
is
in
f
lu
en
ce
d
b
y
r
o
llin
g
r
e
s
is
tan
ce
,
f
r
ictio
n
,
in
e
r
tia,
an
d
ae
r
o
d
y
n
am
ic
d
r
a
g
[
1
2
]
.
T
h
ese
r
esis
tiv
e
f
o
r
ce
s
r
ed
u
ce
v
e
h
icle
ef
f
icien
cy
an
d
s
p
ee
d
wh
ile
in
cr
ea
s
in
g
f
u
el
c
o
n
s
u
m
p
tio
n
.
Ma
n
y
o
b
s
er
v
atio
n
m
eth
o
d
s
h
av
e
b
ee
n
d
ev
elo
p
ed
a
n
d
a
p
p
lied
t
o
ad
d
r
ess
th
is
is
s
u
e.
L
o
ad
to
r
q
u
e
i
d
en
tific
atio
n
m
eth
o
d
s
in
clu
d
e
m
o
d
el
r
ef
er
en
ce
ad
ap
tiv
e
c
o
n
tr
o
l
(
MRAC
)
[
1
3
]
,
Kalm
a
n
f
ilter
s
[
1
4
]
,
an
d
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
(
SMO)
[
1
5
]
.
Du
e
t
o
its
s
im
p
licity
an
d
r
o
b
u
s
tn
ess
in
th
e
f
ac
e
o
f
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
,
SMO
is
in
cr
ea
s
in
g
ly
r
ec
eiv
i
n
g
att
en
tio
n
.
Sli
d
in
g
m
o
d
e
o
b
s
er
v
er
s
co
m
p
r
is
e
m
et
h
o
d
s
s
u
ch
as
th
e
d
is
tu
r
b
an
ce
o
b
s
er
v
er
,
d
elay
e
d
o
u
tp
u
t o
b
s
e
r
v
er
,
e
x
ten
d
e
d
s
tate
o
b
s
er
v
er
(
E
SO)
,
in
teg
r
a
l
-
ch
ai
n
d
i
f
f
er
en
ti
ato
r
,
an
d
h
i
g
h
-
g
ain
o
b
s
er
v
er
(
HGO)
[
1
6
]
.
Am
o
n
g
th
ese
o
b
s
er
v
e
r
s
,
E
SO
is
task
ed
with
m
o
n
ito
r
in
g
an
d
esti
m
atin
g
d
ir
ec
t
d
is
tu
r
b
an
ce
s
an
d
er
r
o
r
s
in
m
o
d
ellin
g
t
h
e
o
b
ject
co
m
p
ar
ed
to
r
ea
lity
.
T
h
u
s
,
ev
e
n
with
a
m
o
d
el
with
lo
w
ac
cu
r
ac
y
,
it
is
s
til
l
p
o
s
s
ib
le
to
d
esig
n
a
g
o
o
d
-
q
u
ality
c
o
n
tr
o
ll
er
,
th
er
eb
y
in
d
i
r
ec
tly
s
im
p
lify
i
n
g
th
e
m
o
d
el.
An
y
d
if
f
er
en
ce
s
in
th
e
m
o
d
el
will
n
o
t
af
f
ec
t
th
e
co
n
tr
o
l
m
ec
h
an
is
m
s
,
in
clu
d
in
g
all
d
is
tu
r
b
an
ce
s
in
th
e
ex
ten
d
ed
s
tate
v
ar
iab
les
[
1
7
]
.
H
o
n
g
x
i
a
a
n
d
J
i
n
g
t
a
o
[
1
8
]
p
r
o
p
o
s
e
a
m
et
h
o
d
f
o
r
e
s
ti
m
a
ti
n
g
m
o
t
o
r
l
o
a
d
t
o
r
q
u
e
a
n
d
s
p
e
ed
u
s
i
n
g
a
n
a
d
a
p
t
i
v
e
ex
ten
d
ed
K
a
l
m
a
n
f
i
l
te
r
(
A
E
K
F
)
,
w
h
e
r
e
t
h
e
c
o
v
a
r
i
an
c
e
m
a
t
r
i
x
o
f
n
o
i
s
e
is
e
s
t
i
m
a
te
d
.
I
n
c
o
n
t
r
a
s
t
,
t
h
e
s
p
e
e
d
a
n
d
l
o
a
d
t
o
r
q
u
e
o
f
t
h
e
i
n
d
u
c
t
i
o
n
m
o
t
o
r
a
r
e
es
t
i
m
at
e
d
b
y
E
K
F
[
1
8
]
.
T
a
m
i
e
t
a
l
.
[
9
]
p
r
o
p
o
s
e
s
a
m
e
t
h
o
d
f
o
r
e
s
t
i
m
a
t
i
n
g
r
o
t
o
r
s
p
e
e
d
,
l
o
a
d
t
o
r
q
u
e
,
a
n
d
p
a
r
a
m
e
t
e
r
s
o
f
p
e
r
m
an
e
n
t
m
a
g
n
e
t
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
s
u
s
i
n
g
e
x
t
e
n
d
e
d
s
t
a
te
o
b
s
e
r
v
e
r
(
E
S
O
)
.
L
i
a
n
et
a
l
.
[
1
9
]
u
t
i
l
i
z
e
a
s
li
d
i
n
g
m
o
d
e
o
b
s
e
r
v
a
t
i
o
n
-
b
a
s
e
d
l
o
a
d
t
o
r
q
u
e
o
b
s
e
r
v
a
t
i
o
n
m
e
t
h
o
d
a
n
d
t
w
o
m
e
t
h
o
d
s
f
o
r
d
e
t
e
r
m
i
n
i
n
g
t
h
e
i
n
e
r
ti
a
m
o
m
e
n
t
f
o
r
P
MS
M
d
r
i
v
e
s
y
s
t
e
m
s
.
M
ia
o
e
t
a
l
.
[
2
0
]
i
n
t
h
e
i
r
w
o
r
k
,
a
p
p
l
y
t
o
r
q
u
e
e
s
t
i
m
a
t
i
o
n
a
n
d
m
a
x
i
m
u
m
t
o
r
q
u
e
p
e
r
a
m
p
e
r
e
(
M
T
P
A
)
f
i
tt
i
n
g
s
t
r
at
e
g
i
es
u
s
i
n
g
a
f
r
e
s
h
l
y
d
e
v
e
l
o
p
e
d
m
o
d
e
l
f
o
r
I
P
M
s
y
n
c
h
r
o
n
o
u
s
m
a
c
h
i
n
e
s
.
M
a
n
h
et
a
l
.
[
2
1
]
a
p
p
l
y
HGO
-
b
a
s
e
d
s
e
n
s
o
r
le
s
s
c
o
n
t
r
o
l
f
o
r
s
p
e
e
d
c
o
n
t
r
o
l
o
f
b
e
a
r
i
n
g
-
l
e
s
s
s
y
n
c
h
r
o
n
o
u
s
m
o
t
o
r
s
.
K
i
m
e
t
a
l
.
[
2
2
]
u
s
e
s
a
m
in
i
m
i
z
e
d
d
i
s
t
u
r
b
a
n
c
e
o
b
s
e
r
v
e
r
p
r
o
p
o
s
e
d
t
o
m
i
t
i
g
a
t
e
t
h
e
e
f
f
e
c
ts
o
f
DC
o
f
f
s
e
t
a
n
d
h
a
r
m
o
n
i
c
d
i
s
t
o
r
t
i
o
n
b
y
d
e
p
lo
y
i
n
g
a
d
a
p
t
i
v
e
f
r
e
q
u
e
n
c
y
o
b
s
e
r
v
a
t
i
o
n
o
b
s
e
r
v
e
r
s
.
W
a
n
g
e
t
a
l
.
[
2
3
]
p
r
e
s
e
n
t
s
a
n
a
d
a
p
t
i
v
e
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
(
S
MC
)
m
e
t
h
o
d
c
o
m
b
i
n
e
d
w
i
t
h
a
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
(
D
T
O
)
.
H
o
w
e
v
e
r
,
t
h
e
a
b
o
v
e
w
o
r
k
s
h
av
e
n
o
t
p
r
o
p
o
s
e
d
a
b
a
c
k
s
t
e
p
p
i
n
g
c
o
n
t
r
o
l
l
e
r
f
o
r
t
h
e
m
o
t
o
r
s
p
ee
d
l
o
o
p
n
o
r
a
p
p
l
i
e
d
t
h
e
E
SO
m
et
h
o
d
t
o
o
b
s
e
r
v
e
t
h
e
l
o
a
d
t
o
r
q
u
e
.
T
h
e
r
e
f
o
r
e
,
t
h
is
p
a
p
e
r
p
r
o
p
o
s
es t
h
e
d
es
i
g
n
o
f
a
b
a
c
k
s
t
e
p
p
i
n
g
c
o
n
t
r
o
l
l
e
r
f
o
r
a
s
p
ee
d
l
o
o
p
c
o
m
b
i
n
e
d
w
i
t
h
a
l
o
a
d
t
o
r
q
u
e
o
b
s
e
r
v
e
r
,
s
p
e
c
i
f
ic
a
l
l
y
a
n
E
S
O
,
f
o
r
I
P
M
s
y
n
c
h
r
o
n
o
u
s
m
o
t
o
r
s
u
s
e
d
i
n
e
l
e
ct
r
i
c
v
e
h
i
cl
e
s
.
F
i
n
al
l
y
,
t
h
e
a
cc
u
r
a
c
y
o
f
t
h
e
p
r
o
p
o
s
e
d
m
et
h
o
d
s
w
i
ll
b
e
v
e
r
i
f
i
e
d
t
h
r
o
u
g
h
s
i
m
u
l
at
i
o
n
r
e
s
u
lt
s
o
b
t
ai
n
e
d
u
s
in
g
M
A
T
L
AB
/
Si
m
u
l
i
n
k
s
o
f
t
w
ar
e
.
2.
M
O
DE
L
I
NG
T
H
E
E
L
E
CT
RIC VEH
I
CL
E
SY
ST
E
M
2
.
1
.
T
he
m
a
t
hem
a
t
ic
a
l m
o
d
el
o
f
t
he
I
P
M
m
o
t
o
r
I
n
th
e
d
-
q
c
o
o
r
d
i
n
a
t
e
s
y
s
tem
,
th
e
I
PMSM
m
o
d
el
ca
n
b
e
r
ep
r
esen
ted
as
(
1
)
[
2
4
]
,
[
2
5
]
:
{
=
−
1
+
+
1
=
−
−
1
+
1
−
=
+
=
=
3
2
(
−
(
−
)
)
−
=
(
1
)
w
h
er
e:
U
sd
an
d
U
sq
v
o
ltag
e
in
th
e
d
an
d
q
-
ax
is
s
tato
r
f
r
am
e
,
i
sd
an
d
i
sq
is
c
u
r
r
e
n
t
in
th
e
d
an
d
q
-
ax
is
s
tato
r
f
r
am
e
,
Rs
is
s
tato
r
r
esis
tan
ce
,
L
sd
an
d
L
sq
is
s
tato
r
in
d
u
ctan
ce
in
th
e
d
an
d
q
-
ax
is
,
ω
s
is
th
e
m
o
to
r
an
g
u
lar
v
elo
city
,
ψ
p
is
m
ag
n
eto
m
o
tiv
e
f
o
r
ce
,
p
p
is
s
ev
er
al
m
o
to
r
p
o
les
,
T
e
is
o
u
tp
u
t
to
r
q
u
e
o
f
th
e
m
o
to
r
;
,
ar
e
Stato
r
f
lu
x
lin
k
ag
e
o
n
th
e
d
an
d
q
-
ax
is
;
T
L
is
lo
ad
to
r
q
u
e,
J
is
r
o
to
r
in
er
tia
,
=
is
s
tato
r
d
-
ax
is
tim
e
co
n
s
tan
t,
=
s
tato
r
q
-
ax
is
tim
e
co
n
s
tan
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
B
a
ck
s
tep
p
in
g
c
o
n
tr
o
l in
s
p
ee
d
lo
o
p
c
o
mb
in
ed
w
ith
lo
a
d
to
r
q
u
e
o
b
s
erver
-
E
S
O
fo
r
… (
A
n
T
h
i H
o
a
i Th
u
A
n
h
)
2273
2
.
2
.
M
o
delin
g
t
he
f
o
rc
es a
ct
i
ng
o
n t
he
ca
r
W
h
en
a
ca
r
is
r
u
n
n
in
g
o
n
th
e
r
o
ad
,
th
er
e
ar
e
s
ev
er
al
p
r
im
ar
y
ty
p
es
o
f
r
esis
tan
ce
f
o
r
ce
s
,
wh
ich
is
s
h
o
wn
in
Fig
u
r
e
1
:
r
o
llin
g
r
e
s
i
s
t
a
n
ce
,
f
r
ictio
n
al
r
esis
tan
ce
,
a
ir
r
esis
tan
ce
,
an
d
in
er
tia.
Fric
tio
n
al
r
esis
tan
ce
is
ty
p
ically
m
u
ch
s
m
aller
th
an
th
e
o
th
er
co
m
p
o
n
en
ts
,
s
o
it
will
b
e
n
eg
lecte
d
in
th
e
m
o
d
el
[
1
2
]
.
T
h
e
air
r
esis
tan
ce
is
ca
lcu
lated
ac
co
r
d
in
g
to
th
e
f
o
r
m
u
la:
=
1
2
(
ℎ
+
)
2
(
2
)
T
h
e
r
o
llin
g
f
r
ictio
n
f
o
r
ce
ca
n
b
e
ca
lcu
lated
as f
o
llo
ws (
co
n
s
id
er
in
g
r
o
llin
g
f
r
ictio
n
o
n
a
r
ig
i
d
s
u
r
f
ac
e)
:
=
(
1
)
w
ith
:
=
0
.
01
(
1
+
3
.
6
100
ℎ
)
(
2
)
wh
er
e:
is
th
e
air
d
en
s
ity
;
C
d
is
th
e
co
ef
f
icien
t
o
f
air
r
esis
tan
ce
(
ty
p
ically
: 0
.
2
<
C
d
<
0
.
4
)
;
A
f
is
th
e
f
r
o
n
tal
ar
ea
o
f
th
e
v
eh
icle'
s
b
o
d
y
(
c
r
o
s
s
-
s
ec
tio
n
al
ar
ea
)
;
v
w
ind
is
th
e
win
d
s
p
ee
d
;
g
is
g
r
a
v
itatio
n
al
ac
ce
ler
atio
n
;
α
is
g
r
ad
ien
t;
f
v
r
o
llin
g
r
esis
tan
ce
co
ef
f
icien
t;
v
veh
is
th
e
v
eh
icle
s
p
ee
d
.
Fig
u
r
e
1
.
T
h
e
f
o
r
ce
s
ac
tin
g
o
n
an
elec
tr
ic
ca
r
3.
CO
NT
RO
L
D
E
S
I
G
N
Fig
u
r
e
2
d
ep
icts
th
e
co
n
tr
o
l
s
tr
u
ctu
r
e
b
ased
o
n
f
ield
-
o
r
ie
n
ted
co
n
tr
o
l
(
FOC
)
f
o
r
th
e
I
PM
m
o
to
r
ap
p
lied
in
elec
tr
ic
v
eh
icles.
T
h
e
s
tr
u
ctu
r
e
u
tili
s
es
a
PI
co
n
tr
o
ller
f
o
r
c
u
r
r
en
t
co
n
tr
o
l
a
n
d
th
e
b
ac
k
s
tep
p
i
n
g
m
eth
o
d
f
o
r
th
e
s
p
ee
d
co
n
tr
o
ll
er
f
o
r
th
e
s
p
ee
d
lo
o
p
t
o
en
h
a
n
ce
s
y
s
tem
s
tab
ilit
y
.
Ad
d
itio
n
ally
,
th
e
ex
ten
d
e
d
o
b
s
er
v
er
is
u
s
ed
to
m
o
n
ito
r
th
e
lo
a
d
to
r
q
u
e,
f
ac
ilit
atin
g
th
e
ac
cu
r
ate
e
s
tim
atio
n
o
f
d
is
tu
r
b
a
n
ce
s
an
d
en
v
ir
o
n
m
en
tal
ef
f
ec
ts
.
3
.
1
.
Desig
nin
g
t
he
lo
a
d t
o
rque
o
bs
er
v
er
-
ex
t
ended sta
t
e
o
bs
er
v
er
W
h
en
co
n
tr
o
llin
g
I
PM
m
o
to
r
s
,
u
n
d
er
s
tan
d
in
g
ev
e
r
y
s
tate
is
th
e
k
ey
to
s
m
o
o
th
an
d
ef
f
icie
n
t
o
p
e
r
atio
n
.
T
o
ac
h
iev
e
th
is
,
we
n
ee
d
an
o
b
s
er
v
er
-
th
e
E
SO.
T
h
is
o
b
s
er
v
er
h
elp
s
u
s
m
o
n
ito
r
wh
at
ca
n
n
o
t
b
e
d
ir
ec
tly
o
b
s
er
v
ed
,
ai
d
in
g
i
n
s
m
o
o
th
e
r
an
d
m
o
r
e
r
o
b
u
s
t m
o
to
r
o
p
e
r
atio
n
.
E
SO m
eth
o
d
is
d
esig
n
ed
a
s
f
o
llo
ws [
1
6
]
.
{
̂
̇
1
=
̂
2
+
1
(
−
̂
1
)
̂
̇
2
=
+
̂
+
2
2
(
−
̂
1
)
̂
=
3
3
(
−
̂
1
)
(
5
)
W
h
er
e
̂
1
,
̂
2
,
̂
ar
e
th
e
o
b
s
er
v
er
s
tates,
>
0
is
th
e
g
ain
,
(
−
̂
1
)
is
th
e
o
b
s
er
v
atio
n
er
r
o
r
,
u
is
th
e
co
n
tr
o
l
in
p
u
t,
1
,
2
,
3
ar
e
p
o
s
itiv
e
co
n
s
tan
ts
s
atis
f
y
in
g
th
e
Hu
r
witz
s
tab
ilit
y
cr
iter
io
n
.
Fro
m
th
e
m
o
tio
n
in
[
1
]:
−
=
⇒
=
(
−
)
⇒
̇
=
−
(
6
)
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
.
4
,
Dec
em
b
er
20
25
:
2271
-
2
2
7
9
2274
S
u
b
s
titu
tin
g
[
5
]
,
we
o
b
tain
:
{
̂
̇
=
+
̂
+
2
2
(
−
̂
)
̂
̇
=
3
3
(
−
̂
)
=
−
=
>
=
−
3
3
(
−
̂
)
(
7
)
T
h
e
s
tab
ilit
y
ca
n
b
e
p
r
o
v
e
d
as
f
o
llo
ws:
T
h
e
er
r
o
r
b
etwe
en
t
h
e
ac
tu
al
v
alu
es a
n
d
t
h
e
o
b
s
er
v
ed
v
alu
es is
f
o
u
n
d
b
y
th
e
v
ec
to
r
as
(
8
)
:
=
[
1
2
3
]
(
8
)
w
h
er
e:
1
=
1
−
̂
1
2
;
2
=
2
−
̂
2
;
3
=
−
̂
(
9
)
Dif
f
er
en
tiatin
g
th
e
e
r
r
o
r
v
alu
e
s
,
we
o
b
tain
an
e
q
u
atio
n
i
n
th
e
f
o
r
m
:
̇
=
̄
+
̄
̇
(
3
)
w
ith
:
=
(
−
1
1
0
−
2
0
1
−
3
0
0
)
C
o
n
s
id
er
in
g
th
e
ch
a
r
ac
ter
is
tic
eq
u
atio
n
o
f
m
atr
ix
A,
we
h
av
e
:
|
−
|
=
|
+
1
−
1
0
2
−
1
3
0
|
=
0
(
1
1
)
Fro
m
in
[
1
1
]
,
we
o
b
tain
:
3
+
1
2
+
2
+
3
=
0
(
1
2
)
C
h
o
o
s
e
k
1
,k
2
,k
3
s
u
ch
th
at
A
is
Hu
r
witz;
th
er
e
ex
is
ts
a
u
n
iq
u
e
p
o
s
itiv
e
d
ef
in
ite,
s
y
m
m
etr
ic
m
atr
ix
P
s
ati
s
f
y
in
g
th
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
f
o
r
ev
e
r
y
p
o
s
itiv
e
d
e
f
in
ite,
s
y
m
m
etr
ic
m
atr
ix
Q
g
iv
e
n
as
(
1
3
)
.
+
+
=
0
(
1
3
)
C
h
o
o
s
e
th
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
as
(
1
4
)
.
0
=
(
1
4
)
T
ak
in
g
th
e
d
er
iv
ativ
e
o
f
V
0
,
w
e
o
b
tain
:
̇
0
=
̇
+
̇
=
(
̄
+
̄
̇
)
+
(
̄
+
̄
̇
)
=
̄
+
(
̄
̇
)
+
̄
+
̄
̇
=
(
̄
+
̄
)
+
2
̄
̇
≤
+
2
‖
̄
‖
.
‖
‖
.
|
̇
|
(
1
5
)
a
n
d
̇
0
≤
−
‖
‖
2
‖
̄
‖
‖
‖
(
1
6
)
w
h
er
e
−
is
th
e
s
m
allest
eig
en
v
alu
e
o
f
Q
.
T
o
en
s
u
r
e
̇
0
≤
0
,
th
e
co
ef
f
icien
t
is
ch
o
s
en
to
s
atis
f
y
th
e
co
n
d
itio
n
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
B
a
ck
s
tep
p
in
g
c
o
n
tr
o
l in
s
p
ee
d
lo
o
p
c
o
mb
in
ed
w
ith
lo
a
d
to
r
q
u
e
o
b
s
erver
-
E
S
O
fo
r
… (
A
n
T
h
i H
o
a
i Th
u
A
n
h
)
2275
‖
‖
2
‖
̄
‖
‖
‖
(
1
7
)
I
n
th
is
ca
s
e,
th
e
o
b
s
er
v
atio
n
e
r
r
o
r
will
co
n
v
er
g
e
to
t
h
e
v
icin
ity
o
f
.
T
h
er
e
f
o
r
e,
th
e
s
tab
ilit
y
o
f
t
h
e
m
eth
o
d
h
as b
ee
n
p
r
o
v
en
.
Fig
u
r
e
2
.
T
h
e
FOC
co
n
tr
o
l str
u
ctu
r
e
f
o
r
th
e
I
PM
m
o
to
r
i
n
an
elec
tr
ic
ca
r
3
.
2
.
Desig
nin
g
a
ba
ck
s
t
eppin
g
co
ntr
o
ller
f
o
r
t
he
s
peed
lo
o
p
B
ac
k
s
tep
p
in
g
is
a
s
tr
aig
h
tf
o
r
war
d
m
eth
o
d
t
h
at
ca
n
b
e
ef
f
ec
tiv
ely
ap
p
lied
to
n
o
n
lin
ea
r
s
y
s
tem
s
.
I
t
em
p
lo
y
s
L
y
ap
u
n
o
v
'
s
m
eth
o
d
to
s
elec
t
co
n
tr
o
l
s
ig
n
als,
d
r
iv
in
g
th
e
co
n
tr
o
lled
v
ar
ia
b
le
to
war
d
s
th
e
d
esire
d
v
alu
e.
Star
tin
g
f
r
o
m
in
(
1
)
an
d
ap
p
l
y
in
g
th
e
B
ac
k
s
tep
p
in
g
th
eo
r
y
,
with
th
e
er
r
o
r
s
ig
n
al
d
e
f
in
ed
as
e
,
we
h
a
v
e:
=
∗
−
(
1
8
)
T
ak
in
g
th
e
d
er
iv
ativ
e
o
f
b
o
th
s
id
es,
we
o
b
tain
:
̇
=
̇
∗
−
̇
=
̇
∗
−
(
−
)
(
1
9
)
Acc
o
r
d
in
g
t
o
th
e
L
y
ap
u
n
o
v
s
t
ab
ilit
y
cr
iter
io
n
,
a
p
o
s
itiv
e
d
ef
in
ite
f
u
n
ctio
n
V
1
is
r
eq
u
ir
e
d
t
o
s
tab
ilize
in
(
1
9
)
at
th
e
o
r
ig
in
.
T
h
u
s
,
th
e
f
u
n
ctio
n
V
1
is
ch
o
s
en
as
(
2
0
)
.
1
=
1
2
2
(
2
0
)
T
ak
in
g
th
e
d
er
iv
ativ
e
o
f
V
1
,
we
o
b
tain
̇
1
=
.
̇
.
C
h
o
o
s
e
th
e
co
n
tr
o
l p
ar
am
eter
k
>
0
s
u
ch
th
at:
̇
=
−
⇒
̇
=
.
(
−
)
=
−
2
<
0
(
2
1
)
Su
b
s
titu
tin
g
in
to
in
(
2
0
)
,
we
o
b
tain
:
̇
∗
−
(
−
)
=
−
⇒
=
+
(
+
̇
∗
)
(
2
2
)
W
h
e
r
e
J
i
s
t
h
e
i
n
e
r
t
i
a
,
p
p
i
s
t
h
e
p
o
l
e
p
a
i
r
,
a
n
d
T
L
i
s
t
h
e
l
o
a
d
t
o
r
q
u
e
e
s
t
i
m
a
t
e
d
b
y
t
h
e
E
S
O
d
e
s
i
g
n
e
d
i
n
s
e
c
t
i
o
n
3
.
1
.
4.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
Par
t
4
p
r
esen
ts
s
im
u
latio
n
r
e
s
u
lts
o
f
r
esp
o
n
s
es,
in
clu
d
i
n
g
s
p
ee
d
,
cu
r
r
en
ts
,
elec
tr
o
m
a
g
n
e
tic
to
r
q
u
e,
esti
m
ated
lo
ad
t
o
r
q
u
e
,
a
n
d
a
ctu
al
lo
ad
to
r
q
u
e,
to
v
er
if
y
t
h
e
ad
v
an
tag
es
o
f
th
e
b
ac
k
s
tep
p
in
g
co
n
t
r
o
ller
f
o
r
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
.
4
,
Dec
em
b
er
20
25
:
2271
-
2
2
7
9
2276
s
p
ee
d
co
n
tr
o
l
c
o
m
b
in
e
d
with
th
e
E
SO
f
o
r
th
e
elec
t
r
ic
ca
r
,
as
s
h
o
wn
in
F
ig
u
r
e
1
.
Simu
latio
n
p
ar
am
eter
s
wer
e
co
llected
f
r
o
m
th
e
I
PM
tr
ac
tio
n
m
o
to
r
,
an
d
th
e
ca
r
'
s
s
p
ec
if
icatio
n
s
ar
e
in
T
ab
les 1
a
n
d
2
.
T
h
e
s
p
ee
d
r
esp
o
n
s
e
in
Fig
u
r
e
3
u
s
es
th
e
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
m
eth
o
d
,
an
d
th
e
f
ee
d
b
ac
k
s
p
ee
d
cl
o
s
ely
f
o
llo
ws
th
e
r
ef
er
en
ce
s
p
ee
d
.
B
ac
k
s
tep
p
in
g
h
as
ef
f
ec
tiv
ely
ad
ju
s
ted
th
e
m
o
to
r
s
p
ee
d
to
m
atch
th
e
r
ef
er
e
n
ce
s
p
ee
d
.
Ho
wev
er
,
at
th
e
in
itia
l
s
tar
tu
p
,
th
e
f
ee
d
b
ac
k
s
p
ee
d
o
s
cillates
ar
o
u
n
d
0
.
1
5
s
,
as
th
e
tr
an
s
itio
n
f
r
o
m
ac
ce
ler
atio
n
to
s
tead
y
-
s
tate
an
d
ev
en
d
ec
eler
atio
n
h
as
a
s
lig
h
t
o
v
er
s
h
o
o
t,
b
u
t
th
is
is
v
er
y
s
m
all,
in
s
ig
n
if
ican
t,
an
d
q
u
ic
k
ly
r
etu
r
n
s
to
tr
ac
k
th
e
s
et
v
alu
e.
T
h
is
d
em
o
n
s
tr
ates
th
e
co
n
tr
o
ller
'
s
ab
ilit
y
to
h
an
d
le
s
u
d
d
en
ch
a
n
g
es
s
u
ch
as
ac
ce
ler
atio
n
an
d
d
ec
el
er
atio
n
.
Ov
e
r
all,
with
th
e
m
o
t
o
r
'
s
s
p
ee
d
r
esp
o
n
s
e,
as
s
h
o
w
n
ab
o
v
e
,
we
ca
n
s
ee
th
at
th
e
s
y
s
tem
,
u
s
in
g
th
e
B
S
P
co
n
tr
o
ller
,
ex
h
ib
its
g
o
o
d
s
tab
ilit
y
ev
en
in
th
e
p
r
esen
ce
o
f
d
is
tu
r
b
a
n
ce
s
an
d
ex
ter
n
al
f
ac
to
r
s
.
Fig
u
r
e
4
illu
s
tr
ates
th
e
r
esu
lts
o
f
th
e
cu
r
r
en
ts
i
sd
a
n
d
i
sq
.
Fr
o
m
th
ese
r
esu
lts
,
we
ca
n
o
b
s
er
v
e
th
at
th
e
two
cu
r
r
en
ts
,
i
sd
an
d
i
sq
,
h
av
e
b
ee
n
s
u
cc
ess
f
u
lly
d
ec
o
u
p
led
.
T
h
e
i
sd
cu
r
r
en
t
h
as
b
ee
n
c
o
n
tr
o
lled
to
b
e
less
th
an
0
,
allo
win
g
th
e
m
o
to
r
to
g
e
n
er
ate
a
lar
g
e
to
r
q
u
e
ev
e
n
wh
en
o
p
er
atin
g
at
s
p
ee
d
s
h
i
g
h
er
t
h
an
th
e
r
ated
s
p
ee
d
.
T
ab
le
1
.
Par
am
eter
s
o
f
th
e
I
P
M
m
o
to
r
P
a
r
a
me
t
e
r
s
S
y
mb
o
l
s
V
a
l
u
e
s
S
t
a
t
o
r
r
e
s
i
st
a
n
c
e
R
s
6
.
5
e
-
3
(
O
h
m)
d
-
a
x
i
s
i
n
d
u
c
t
a
n
c
e
L
sd
1
.
5
9
7
e
-
3
(
H
)
q
-
a
x
i
s
i
n
d
u
c
t
a
n
c
e
L
sq
2
.
0
5
7
e
-
3
(
H
)
I
n
e
r
t
i
a
J
0
.
0
9
(
k
g
.
m
2)
P
o
l
e
p
a
i
r
s
p
p
4
D
C
v
o
l
t
a
g
e
V
dc
5
5
0
(
V
)
T
ab
le
2
.
T
h
e
s
p
ec
if
icatio
n
s
o
f
an
elec
tr
ic
ca
r
P
a
r
a
me
t
e
r
s
V
a
l
u
e
s
U
n
i
t
s
V
e
h
i
c
l
e
+
l
o
a
d
m
a
ss
2
0
1
8
Kg
W
h
e
e
l
r
a
d
i
u
s
0
.
3
m
Tr
a
n
sm
i
ssi
o
n
r
a
t
i
o
9
.
7
3
M
a
x
i
m
u
m
sp
e
e
d
1
3
0
K
m/
h
D
e
n
si
t
y
o
f
a
i
r
1
.
2
5
K
m/
m
3
R
o
l
l
i
n
g
r
e
si
s
t
a
n
c
e
c
o
e
f
f
i
c
i
e
n
t
0
.
0
2
Fig
u
r
e
3
.
Sp
ee
d
r
esp
o
n
s
e
u
s
in
g
th
e
b
ac
k
s
tep
p
in
g
c
o
n
tr
o
ller
Fig
u
r
e
4
.
T
h
e
r
esu
lts
o
f
th
e
cu
r
r
en
ts
I
sd
-
I
sq
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
B
a
ck
s
tep
p
in
g
c
o
n
tr
o
l in
s
p
ee
d
lo
o
p
c
o
mb
in
ed
w
ith
lo
a
d
to
r
q
u
e
o
b
s
erver
-
E
S
O
fo
r
… (
A
n
T
h
i H
o
a
i Th
u
A
n
h
)
2277
I
n
Fig
u
r
e
5
,
at
t
=
0
.
2
s
,
co
r
r
e
s
p
o
n
d
in
g
to
t
h
e
r
ated
s
p
ee
d
o
f
1
2
0
0
r
p
m
,
th
e
to
r
q
u
e
ten
d
s
t
o
d
ec
r
ea
s
e
to
allo
w
f
o
r
ac
ce
ler
atio
n
,
as
th
e
v
o
ltag
e
h
as
r
ea
ch
e
d
th
e
r
ated
lev
el
an
d
ca
n
n
o
t
in
cr
ea
s
e
f
u
r
th
er
.
T
h
is
is
p
ar
ticu
lar
ly
s
u
itab
le
f
o
r
elec
tr
ic
v
eh
icles,
as
o
p
tim
izin
g
th
e
t
o
r
q
u
e
c
u
r
v
e
h
elp
s
en
h
an
ce
t
h
e
m
o
to
r
'
s
ef
f
icien
cy
an
d
p
er
f
o
r
m
a
n
ce
wh
ile
m
in
im
izin
g
en
er
g
y
co
n
s
u
m
p
tio
n
.
Fig
u
r
e
6
s
h
o
ws
th
at
th
e
o
b
s
er
v
ed
to
r
q
u
e
r
esu
lts
clo
s
ely
m
at
ch
th
e
ac
tu
al
v
alu
es.
At
s
tate
tr
an
s
itio
n
p
o
in
ts
,
th
e
o
b
s
er
v
ed
v
alu
es
o
s
cillate
s
lig
h
tly
b
u
t
q
u
ick
ly
r
etu
r
n
t
o
clo
s
ely
f
o
llo
w
t
h
e
ac
tu
al
v
alu
es.
T
h
is
p
o
s
itiv
e
o
u
tco
m
e
in
d
icate
s
th
at
th
e
o
b
s
er
v
e
r
h
as
ac
c
u
r
ately
an
d
e
f
f
ec
tiv
ely
esti
m
ated
th
e
to
r
q
u
e
cu
r
v
e.
T
h
e
s
im
ilar
ity
b
etwe
en
th
e
o
b
s
er
v
ed
an
d
ac
tu
al
t
o
r
q
u
e
cu
r
v
es
in
d
icate
s
th
at
th
e
o
b
s
er
v
atio
n
s
y
s
tem
r
esp
o
n
d
s
well
to
en
v
ir
o
n
m
en
tal
ch
a
n
g
es a
n
d
ca
n
ac
cu
r
ately
esti
m
ate
to
r
q
u
e
u
n
d
er
v
ar
io
u
s
co
n
d
itio
n
s
.
Fig
u
r
e
5
.
T
h
e
r
esu
lts
o
f
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
Fig
u
r
e
6
.
T
o
r
q
u
e
esti
m
ated
u
s
in
g
E
SO a
n
d
ac
t
u
al
to
r
q
u
e
5.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
in
tr
o
d
u
ce
s
th
e
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
m
eth
o
d
f
o
r
th
e
s
p
ee
d
co
n
tr
o
l
lo
o
p
an
d
t
h
e
ex
ten
d
ed
s
tate
o
b
s
er
v
er
(
E
SO)
to
e
n
h
an
ce
s
tab
ilit
y
in
I
PM
m
o
to
r
s
f
o
r
elec
tr
ic
v
eh
icles.
Usi
n
g
th
e
B
ac
k
s
tep
p
in
g
m
eth
o
d
,
a
r
o
b
u
s
t
co
n
tr
o
ller
h
a
s
b
ee
n
d
esig
n
ed
to
m
in
im
is
e
e
r
r
o
r
s
in
co
n
tr
o
llin
g
th
e
s
p
ee
d
o
f
th
e
I
PM
m
o
to
r
,
s
ig
n
if
ican
tly
im
p
r
o
v
i
n
g
th
e
ac
cu
r
ac
y
an
d
r
esp
o
n
s
e
o
f
th
e
s
y
s
tem
.
Ad
d
itio
n
ally
,
th
e
in
teg
r
a
tio
n
o
f
th
e
ex
ten
d
ed
s
tate
o
b
s
er
v
er
(
E
S
O)
en
ab
les
th
e
esti
m
atio
n
o
f
lo
ad
t
o
r
q
u
e
,
allo
win
g
f
o
r
t
h
e
co
n
s
id
er
atio
n
o
f
u
n
ce
r
tain
ties
s
u
ch
as
c
h
an
g
es
in
o
p
e
r
atin
g
c
o
n
d
itio
n
s
,
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
an
d
o
th
e
r
f
ac
to
r
s
th
at
m
ay
af
f
ec
t
th
e
m
o
to
r
'
s
s
tab
ili
ty
in
ac
tu
al
o
p
er
atin
g
s
itu
atio
n
s
.
Simu
latio
n
r
esu
lts
h
av
e
d
em
o
n
s
tr
ated
th
e
v
alid
ity
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
m
eth
o
d
s
in
co
n
tr
o
llin
g
th
e
I
PM
m
o
to
r
'
s
s
p
ee
d
wh
ile
m
itig
atin
g
th
e
ef
f
ec
ts
o
f
lo
ad
to
r
q
u
e.
Ultim
ately
,
th
is
r
esear
ch
c
o
n
t
r
ib
u
tes
to
t
h
e
d
e
v
elo
p
m
e
n
t
o
f
m
o
r
e
ad
v
a
n
ce
d
co
n
tr
o
l
m
eth
o
d
s
an
d
au
to
m
atic
co
n
tr
o
l sy
s
tem
s
f
o
r
elec
tr
ic
v
e
h
icles a
n
d
r
elate
d
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
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
.
4
,
Dec
em
b
er
20
25
:
2271
-
2
2
7
9
2278
F
UNDING
I
NF
O
R
M
A
T
I
O
N
Ou
r
p
ap
e
r
is
f
in
an
cially
s
u
p
p
o
r
ted
b
y
th
e
Un
i
v
er
s
ity
o
f
T
r
an
s
p
o
r
t
an
d
C
o
m
m
u
n
icatio
n
s
(
UT
C
)
an
d
T
h
u
y
lo
i U
n
i
v
er
s
ity
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
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
c
e
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
So
Va
Fo
I
R
D
O
E
Vi
Su
P
Fu
An
T
h
i H
o
ai
T
h
u
An
h
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
T
r
an
Hu
n
g
C
u
o
n
g
✓
✓
✓
✓
✓
✓
✓
✓
✓
Ng
u
y
en
Van
Ho
a
✓
✓
✓
✓
✓
C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
:
M
e
t
h
o
d
o
l
o
g
y
So
:
So
f
t
w
a
r
e
Va
:
Va
l
i
d
a
t
i
o
n
Fo
:
Fo
r
mal
a
n
a
l
y
s
i
s
I
:
I
n
v
e
s
t
i
g
a
t
i
o
n
R
:
R
e
so
u
r
c
e
s
D
:
D
a
t
a
C
u
r
a
t
i
o
n
O
:
W
r
i
t
i
n
g
-
O
r
i
g
i
n
a
l
D
r
a
f
t
E
:
W
r
i
t
i
n
g
-
R
e
v
i
e
w
&
E
d
i
t
i
n
g
Vi
:
Vi
su
a
l
i
z
a
t
i
o
n
Su
:
Su
p
e
r
v
i
s
i
o
n
P
:
P
r
o
j
e
c
t
a
d
mi
n
i
st
r
a
t
i
o
n
Fu
:
Fu
n
d
i
n
g
a
c
q
u
i
si
t
i
o
n
CO
NF
L
I
C
T
O
F
I
N
T
E
R
E
S
T
ST
A
T
E
M
E
NT
Au
th
o
r
s
s
tate
n
o
co
n
f
lict o
f
in
t
er
est
.
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
i
n
g
s
o
f
th
is
s
tu
d
y
a
r
e
o
p
en
ly
a
v
ailab
le
in
th
is
p
ap
er
.
R
E
FE
R
E
N
C
E
S
[
1
]
T.
W
a
n
,
Z
.
C
h
e
n
,
a
n
d
D
.
Li
u
,
“
R
e
se
a
r
c
h
o
n
u
s
e
r
c
h
a
r
a
c
t
e
r
i
s
t
i
c
s
a
n
d
d
e
m
a
n
d
t
r
e
n
d
e
v
o
l
u
t
i
o
n
o
f
c
o
mp
a
c
t
h
y
b
r
i
d
e
l
e
c
t
r
i
c
c
a
r
s,”
J
o
u
rn
a
l
o
f
I
n
n
o
v
a
t
i
o
n
a
n
d
D
e
v
e
l
o
p
m
e
n
t
,
v
o
l
.
1
,
n
o
.
1
,
p
p
.
2
4
–
2
8
,
2
0
2
2
,
d
o
i
:
1
0
.
5
4
0
9
7
/
j
i
d
.
v
1
i
1
.
3
7
9
4
.
[
2
]
Y
.
Li
u
,
B
.
Zh
o
u
,
a
n
d
S
.
F
a
n
g
,
“
S
l
i
d
i
n
g
mo
d
e
c
o
n
t
r
o
l
o
f
P
M
S
M
b
a
se
d
o
n
a
n
o
v
e
l
d
i
s
t
u
r
b
a
n
c
e
o
b
s
e
r
v
e
r
,
”
i
n
2
0
0
9
4
t
h
I
EEE
C
o
n
f
e
re
n
c
e
o
n
I
n
d
u
st
r
i
a
l
E
l
e
c
t
r
o
n
i
c
s
a
n
d
Ap
p
l
i
c
a
t
i
o
n
s
,
I
C
I
E
A
2
0
0
9
,
2
0
0
9
,
p
p
.
1
9
9
0
–
1
9
9
4
.
d
o
i
:
1
0
.
1
1
0
9
/
I
C
I
EA
.
2
0
0
9
.
5
1
3
8
5
5
1
.
[
3
]
L.
S
u
n
,
X
.
Z
h
a
n
g
,
L
.
S
u
n
,
a
n
d
K
.
Z
h
a
o
,
“
N
o
n
l
i
n
e
a
r
s
p
e
e
d
c
o
n
t
r
o
l
f
o
r
P
M
S
M
sy
s
t
e
m
u
s
i
n
g
sl
i
d
i
n
g
-
m
o
d
e
c
o
n
t
r
o
l
a
n
d
d
i
st
u
r
b
a
n
c
e
c
o
m
p
e
n
sa
t
i
o
n
t
e
c
h
n
i
q
u
e
s,”
I
E
EE
T
ra
n
s
a
c
t
i
o
n
s
o
n
P
o
w
e
r
E
l
e
c
t
r
o
n
i
c
s
,
v
o
l
.
2
8
,
n
o
.
3
,
p
p
.
1
3
5
8
–
1
3
6
5
,
2
0
1
3
,
d
o
i
:
1
0
.
1
1
0
9
/
TPE
L.
2
0
1
2
.
2
2
0
6
6
1
0
.
[
4
]
N
.
J.
P
a
t
i
l
,
D
.
R
.
H
.
C
h
i
l
e
,
a
n
d
D
.
L
.
M
.
W
a
g
h
mar
e
,
“
F
u
z
z
y
a
d
a
p
t
i
v
e
c
o
n
t
r
o
l
l
e
r
s
f
o
r
s
p
e
e
d
c
o
n
t
r
o
l
o
f
P
M
S
M
d
r
i
v
e
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
C
o
m
p
u
t
e
r A
p
p
l
i
c
a
t
i
o
n
s
,
v
o
l
.
1
,
n
o
.
1
1
,
p
p
.
9
1
–
9
8
,
2
0
1
0
,
d
o
i
:
1
0
.
5
1
2
0
/
2
3
3
-
3
8
7
.
[
5
]
M
.
S
i
n
g
h
a
n
d
A
.
C
h
a
n
d
r
a
,
“
A
p
p
l
i
c
a
t
i
o
n
o
f
a
d
a
p
t
i
v
e
n
e
t
w
o
r
k
-
b
a
se
d
f
u
z
z
y
i
n
f
e
r
e
n
c
e
sy
s
t
e
m
f
o
r
se
n
s
o
r
l
e
s
s
c
o
n
t
r
o
l
o
f
P
M
G
-
b
a
s
e
d
w
i
n
d
t
u
r
b
i
n
e
w
i
t
h
n
o
n
l
i
n
e
a
r
-
l
o
a
d
-
c
o
mp
e
n
sa
t
i
o
n
c
a
p
a
b
i
l
i
t
i
e
s
,
”
I
EEE
T
ra
n
s
a
c
t
i
o
n
s
o
n
P
o
w
e
r
E
l
e
c
t
r
o
n
i
c
s
,
v
o
l
.
2
6
,
n
o
.
1
,
p
p
.
1
6
5
–
1
7
5
,
2
0
1
1
,
d
o
i
:
1
0
.
1
1
0
9
/
TPEL.
2
0
1
0
.
2
0
5
4
1
1
3
.
[
6
]
R
.
J.
W
a
i
a
n
d
H
.
H
.
C
h
a
n
g
,
“
B
a
c
k
s
t
e
p
p
i
n
g
w
a
v
e
l
e
t
n
e
u
r
a
l
n
e
t
w
o
r
k
c
o
n
t
r
o
l
f
o
r
i
n
d
i
r
e
c
t
f
i
e
l
d
-
o
r
i
e
n
t
e
d
i
n
d
u
c
t
i
o
n
mo
t
o
r
d
r
i
v
e
,
”
I
EEE
T
r
a
n
s
a
c
t
i
o
n
s
o
n
N
e
u
r
a
l
N
e
t
w
o
r
k
s
,
v
o
l
.
1
5
,
n
o
.
2
,
p
p
.
3
6
7
–
3
8
2
,
2
0
0
4
,
d
o
i
:
1
0
.
1
1
0
9
/
TN
N
.
2
0
0
4
.
8
2
4
4
1
1
.
[
7
]
N
.
M
.
N
e
y
a
,
S
.
S
a
b
e
r
i
,
a
n
d
B
.
M
o
z
a
f
a
r
i
,
“
D
i
r
e
c
t
p
r
e
d
i
c
t
i
v
e
s
p
e
e
d
c
o
n
t
r
o
l
o
f
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
mo
t
o
r
f
e
d
b
y
mat
r
i
x
c
o
n
v
e
r
t
e
r
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
P
o
w
e
r
El
e
c
t
ro
n
i
c
s
a
n
d
D
r
i
v
e
S
y
st
e
m
s
,
v
o
l
.
1
1
,
n
o
.
4
,
p
p
.
2
1
8
3
–
2
1
9
3
,
2
0
2
0
,
d
o
i
:
1
0
.
1
1
5
9
1
/
i
j
p
e
d
s
.
v
1
1
.
i
4
.
p
p
2
1
8
3
-
2
1
9
3
.
[
8
]
M
.
K
a
r
a
b
a
c
a
k
a
n
d
H
.
I
.
Es
k
i
k
u
r
t
,
“
S
p
e
e
d
a
n
d
c
u
r
r
e
n
t
r
e
g
u
l
a
t
i
o
n
o
f
a
p
e
r
man
e
n
t
m
a
g
n
e
t
s
y
n
c
h
r
o
n
o
u
s
mo
t
o
r
v
i
a
n
o
n
l
i
n
e
a
r
a
n
d
a
d
a
p
t
i
v
e
b
a
c
k
st
e
p
p
i
n
g
c
o
n
t
r
o
l
,
”
M
a
t
h
e
m
a
t
i
c
a
l
a
n
d
C
o
m
p
u
t
e
r
M
o
d
e
l
l
i
n
g
,
v
o
l
.
5
3
,
n
o
.
9
–
1
0
,
p
p
.
2
0
1
5
–
2
0
3
0
,
2
0
1
1
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
mcm
.
2
0
1
1
.
0
1
.
0
3
9
.
[
9
]
R
.
Ta
m
i
,
D
.
B
o
u
t
a
t
,
G
.
Zh
e
n
g
,
F
.
K
r
a
t
z
,
a
n
d
R
.
El
G
o
u
r
i
,
“
R
o
t
o
r
sp
e
e
d
,
l
o
a
d
t
o
r
q
u
e
a
n
d
p
a
r
a
me
t
e
r
s
e
st
i
ma
t
i
o
n
s
o
f
a
p
e
r
m
a
n
e
n
t
mag
n
e
t
sy
n
c
h
r
o
n
o
u
s
mo
t
o
r
u
s
i
n
g
e
x
t
e
n
d
e
d
o
b
ser
v
e
r
f
o
r
ms
,
”
I
ET
C
o
n
t
r
o
l
T
h
e
o
ry
a
n
d
A
p
p
l
i
c
a
t
i
o
n
s
,
v
o
l
.
1
1
,
n
o
.
9
,
p
p
.
1
4
8
5
–
1
4
9
2
,
2
0
1
7
,
d
o
i
:
1
0
.
1
0
4
9
/
i
e
t
-
c
t
a
.
2
0
1
6
.
0
2
2
6
.
[
10
]
K
.
H
o
r
v
a
t
h
a
n
d
M
.
K
u
s
l
i
t
s,
“
M
o
d
e
l
-
b
a
s
e
d
d
e
v
e
l
o
p
m
e
n
t
o
f
i
n
d
u
c
t
i
o
n
m
o
t
o
r
c
o
n
t
r
o
l
a
l
g
o
r
i
t
h
ms
w
i
t
h
m
o
d
u
l
a
r
a
r
c
h
i
t
e
c
t
u
r
e
,
”
i
n
Pro
c
e
e
d
i
n
g
s
-
2
0
1
6
I
EEE
I
n
t
e
r
n
a
t
i
o
n
a
l
P
o
w
e
r
E
l
e
c
t
r
o
n
i
c
s a
n
d
M
o
t
i
o
n
C
o
n
t
ro
l
C
o
n
f
e
re
n
c
e
,
PE
MC
2
0
1
6
,
2
0
1
6
,
p
p
.
1
3
3
–
1
3
8
.
d
o
i
:
1
0
.
1
1
0
9
/
EPEP
E
M
C
.
2
0
1
6
.
7
7
5
1
9
8
7
.
[
1
1
]
G
.
K
u
j
u
n
d
ž
i
ć
,
M
.
V
a
ša
k
,
a
n
d
J.
M
a
t
u
šk
o
,
“
Est
i
ma
t
i
o
n
o
f
v
r
l
a
b
a
t
t
e
r
y
st
a
t
e
s
a
n
d
p
a
r
a
m
e
t
e
r
s
u
s
i
n
g
s
i
g
ma
-
p
o
i
n
t
K
a
l
ma
n
f
i
l
t
e
r
,
”
i
n
I
EEC
,
2
0
1
5
,
p
p
.
2
0
4
–
2
1
1
.
d
o
i
:
1
0
.
1
1
0
9
/
ED
P
E
.
2
0
1
5
.
7
3
2
5
2
9
5
.
[
1
2
]
S
.
K
r
i
s
h
n
a
m
o
o
r
t
h
y
a
n
d
P
.
P
.
K
.
P
a
n
i
k
k
a
r
,
“
A
c
o
m
p
r
e
h
e
n
s
i
v
e
r
e
v
i
e
w
o
f
d
i
f
f
e
r
e
n
t
e
l
e
c
t
r
i
c
mo
t
o
r
s
f
o
r
e
l
e
c
t
r
i
c
v
e
h
i
c
l
e
s
a
p
p
l
i
c
a
t
i
o
n
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
Po
w
e
r
El
e
c
t
r
o
n
i
c
s
a
n
d
D
ri
v
e
S
y
s
t
e
m
s
(
I
J
PED
S
)
,
v
o
l
.
1
5
,
n
o
.
1
,
p
p
.
7
4
–
9
0
,
2
0
2
4
,
d
o
i
:
1
0
.
1
1
5
9
1
/
i
j
p
e
d
s
.
v
1
5
.
i
1
.
p
p
7
4
-
9
0
.
[
1
3
]
S
u
r
y
a
k
a
n
t
,
M
.
S
r
e
e
j
e
t
h
,
a
n
d
M
.
S
i
n
g
h
,
“
I
mp
r
o
v
e
d
a
n
f
i
s
-
b
a
se
d
M
R
A
C
o
b
serv
e
r
f
o
r
se
n
so
r
l
e
ss
c
o
n
t
r
o
l
o
f
P
M
S
M
,
”
J
o
u
rn
a
l
o
f
I
n
t
e
l
l
i
g
e
n
t
a
n
d
F
u
zzy
S
y
st
e
m
s
,
v
o
l
.
4
2
,
n
o
.
2
,
p
p
.
1
0
6
1
–
1
0
7
3
,
2
0
2
2
,
d
o
i
:
1
0
.
3
2
3
3
/
JI
F
S
-
1
8
9
7
7
2
.
[
1
4
]
P
.
N
i
e
d
e
r
m
a
y
r
,
L.
A
l
b
e
r
t
i
,
S
.
B
o
l
o
g
n
a
n
i
,
a
n
d
R
.
A
b
l
,
“
I
mp
l
e
me
n
t
a
t
i
o
n
a
n
d
e
x
p
e
r
i
m
e
n
t
a
l
v
a
l
i
d
a
t
i
o
n
o
f
u
l
t
r
a
h
i
g
h
-
s
p
e
e
d
P
M
S
M
sen
s
o
r
l
e
ss
c
o
n
t
r
o
l
b
y
me
a
n
s
o
f
e
x
t
e
n
d
e
d
K
a
l
m
a
n
f
i
l
t
e
r
,
”
I
EE
E
J
o
u
rn
a
l
o
f
Em
e
r
g
i
n
g
a
n
d
S
e
l
e
c
t
e
d
T
o
p
i
c
s
i
n
P
o
w
e
r
E
l
e
c
t
r
o
n
i
c
s
,
v
o
l
.
1
0
,
n
o
.
3
,
p
p
.
3
3
3
7
–
3
3
4
4
,
N
o
v
.
2
0
2
2
,
d
o
i
:
1
0
.
1
1
0
9
/
JES
TPE.
2
0
2
0
.
3
0
4
1
0
2
6
.
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
B
a
ck
s
tep
p
in
g
c
o
n
tr
o
l in
s
p
ee
d
lo
o
p
c
o
mb
in
ed
w
ith
lo
a
d
to
r
q
u
e
o
b
s
erver
-
E
S
O
fo
r
… (
A
n
T
h
i H
o
a
i Th
u
A
n
h
)
2279
[
15]
H
.
D
i
n
g
,
X
.
Z
o
u
,
a
n
d
J.
Li
,
“
S
e
n
so
r
l
e
ss
c
o
n
t
r
o
l
st
r
a
t
e
g
y
o
f
p
e
r
m
a
n
e
n
t
ma
g
n
e
t
sy
n
c
h
r
o
n
o
u
s
m
o
t
o
r
b
a
se
d
o
n
f
u
z
z
y
sl
i
d
i
n
g
mo
d
e
o
b
s
e
r
v
e
r
,
”
I
EEE
Ac
c
e
ss
,
v
o
l
.
1
0
,
p
p
.
3
6
7
4
3
–
3
6
7
5
2
,
2
0
2
2
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
2
2
.
3
1
6
4
5
1
9
.
[
16
]
J.
Li
u
a
n
d
X
.
W
a
n
g
,
Ad
a
p
t
i
v
e
sl
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
f
o
r me
c
h
a
n
i
c
a
l
s
y
st
e
m
s
.
C
h
i
n
a
,
2
0
1
1
.
d
o
i
:
1
0
.
1
0
0
7
/
9
7
8
-
3
-
642
-
2
0
9
0
7
-
9
_
6
.
[
17
]
T.
P
.
V
a
n
a
n
d
K
.
T.
V
a
n
,
“
D
i
sc
u
ssi
o
n
o
n
t
h
e
a
c
t
i
v
e
d
i
s
t
u
r
b
a
n
c
e
r
e
j
e
c
t
i
o
n
c
o
n
t
r
o
l
(
AD
RC
)
m
e
t
h
o
d
,
”
i
n
I
S
S
N
,
2
0
1
5
,
p
p
.
6
1
–
6
5
.
[
1
8
]
Y
.
H
o
n
g
x
i
a
a
n
d
H
.
Ji
n
g
t
a
o
,
“
S
p
e
e
d
a
n
d
l
o
a
d
t
o
r
q
u
e
e
st
i
ma
t
i
o
n
o
f
i
n
d
u
c
t
i
o
n
m
o
t
o
r
s
b
a
se
d
o
n
a
n
a
d
a
p
t
i
v
e
e
x
t
e
n
d
e
d
K
a
l
ma
n
f
i
l
t
e
r
,
”
I
EEC
,
v
o
l
.
4
3
3
,
n
o
.
4
4
0
,
p
p
.
4
3
3
-
4
4
0
,
Jan
.
2
0
1
2
.
[
1
9
]
C
.
Li
a
n
,
F
.
X
i
a
o
,
S
.
G
a
o
,
a
n
d
J.
Li
u
,
“
Lo
a
d
t
o
r
q
u
e
a
n
d
m
o
m
e
n
t
o
f
i
n
e
r
t
i
a
i
d
e
n
t
i
f
i
c
a
t
i
o
n
f
o
r
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
mo
t
o
r
d
r
i
v
e
s
b
a
s
e
d
o
n
s
l
i
d
i
n
g
m
o
d
e
o
b
ser
v
e
r
,
”
I
EEE
T
r
a
n
s
a
c
t
i
o
n
s
o
n
P
o
w
e
r
E
l
e
c
t
ro
n
i
c
s
,
v
o
l
.
3
4
,
n
o
.
6
,
p
p
.
5
6
7
5
–
5
6
8
3
,
Ju
n
.
2
0
1
9
,
d
o
i
:
10
.
1
1
0
9
/
TPE
L.
2
0
1
8
.
2
8
7
0
0
7
8
.
[
2
0
]
Y
.
M
i
a
o
,
H
.
G
e
,
M
.
P
r
e
i
n
d
l
,
J
.
Y
e
,
B
.
C
h
e
n
g
,
a
n
d
A
.
Ema
d
i
,
“
M
TPA
f
i
t
t
i
n
g
a
n
d
t
o
r
q
u
e
e
s
t
i
mat
i
o
n
t
e
c
h
n
i
q
u
e
b
a
s
e
d
o
n
a
n
e
w
f
l
u
x
-
l
i
n
k
a
g
e
m
o
d
e
l
f
o
r
i
n
t
e
r
i
o
r
-
p
e
r
m
a
n
e
n
t
-
mag
n
e
t
s
y
n
c
h
r
o
n
o
u
s ma
c
h
i
n
e
s,
”
I
EE
E
T
ra
n
sa
c
t
i
o
n
s
o
n
I
n
d
u
s
t
ry
Ap
p
l
i
c
a
t
i
o
n
s
,
v
o
l
.
5
3
,
n
o
.
6
,
p
p
.
5
4
5
1
–
5
4
6
0
,
Ju
n
.
2
0
1
7
,
d
o
i
:
1
0
.
1
1
0
9
/
TI
A
.
2
0
1
7
.
2
7
2
6
9
8
0
.
[
2
1
]
T.
N
.
M
a
n
h
,
D
.
Q
.
P
h
a
m
,
D
.
N
.
Q
u
a
n
g
,
a
n
d
L
.
N
.
Tu
n
g
,
“
S
e
n
so
r
l
e
ss
s
p
e
e
d
c
o
n
t
r
o
l
o
f
P
M
S
M
–
m
a
g
n
e
t
i
c
b
e
a
r
i
n
g
u
si
n
g
h
i
g
h
-
g
a
i
n
o
b
s
e
r
v
e
r
,
”
MC
\
&A
,
v
o
l
.
1
,
n
o
.
1
,
J
u
n
.
2
0
2
0
.
[
2
2
]
H
.
S
.
K
i
m
,
S
.
K
.
S
u
l
,
H
.
Y
o
o
,
a
n
d
J
.
O
h
,
“
D
i
st
o
r
t
i
o
n
-
m
i
n
i
mi
z
i
n
g
f
l
u
x
o
b
ser
v
e
r
f
o
r
I
P
M
S
M
b
a
s
e
d
o
n
f
r
e
q
u
e
n
c
y
-
a
d
a
p
t
i
v
e
o
b
s
e
r
v
e
r
s,”
I
EEE
T
r
a
n
sa
c
t
i
o
n
s
o
n
Po
w
e
r
El
e
c
t
ro
n
i
c
s
,
v
o
l
.
3
5
,
n
o
.
2
,
p
p
.
2
0
7
7
–
2
0
8
7
,
Ju
n
.
2
0
2
0
,
d
o
i
:
1
0
.
1
1
0
9
/
TPE
L.
2
0
1
9
.
2
9
2
0
6
9
1
.
[
2
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
,
M
a
r
.
2
0
1
9
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
1
9
.
2
9
0
3
4
3
9
.
[
2
4
]
Z.
Z
h
a
n
g
a
n
d
X
.
L
i
u
,
“
A
d
u
t
y
r
a
t
i
o
c
o
n
t
r
o
l
s
t
r
a
t
e
g
y
t
o
r
e
d
u
c
e
b
o
t
h
t
o
r
q
u
e
a
n
d
f
l
u
x
r
i
p
p
l
e
s
o
f
D
TC
f
o
r
p
e
r
man
e
n
t
m
a
g
n
e
t
sy
n
c
h
r
o
n
o
u
s m
a
c
h
i
n
e
s,”
I
EEE
Ac
c
e
ss
,
v
o
l
.
7
,
p
p
.
1
1
8
2
0
–
1
1
8
2
8
,
J
a
n
.
2
0
1
9
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
1
9
.
2
8
9
2
1
2
1
.
[
25
]
H
.
W
a
n
g
,
C
.
L
i
,
G
.
Zh
a
n
g
,
Q
.
G
e
n
g
,
a
n
d
T.
S
h
i
,
“
M
a
x
i
mu
m
t
o
r
q
u
e
p
e
r
a
mp
e
r
e
(
M
TPA
)
c
o
n
t
r
o
l
o
f
I
P
M
S
M
s
y
st
e
ms
b
a
s
e
d
o
n
c
o
n
t
r
o
l
l
e
r
p
a
r
a
me
t
e
r
s
se
l
f
-
mo
d
i
f
i
c
a
t
i
o
n
,
”
I
E
EE
T
ra
n
s
a
c
t
i
o
n
s
o
n
V
e
h
i
c
u
l
a
r
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
6
9
,
n
o
.
3
,
p
p
.
2
6
1
3
–
2
6
2
0
,
Ja
n
.
2
0
2
0
,
d
o
i
:
1
0
.
1
1
0
9
/
TV
T.
2
0
2
0
.
2
9
6
8
1
3
3
.
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
An
Th
i
H
o
a
i
Th
u
Anh
re
c
e
iv
e
d
h
e
r
E
n
g
i
n
e
e
r
(1
9
9
7
)
a
n
d
M
.
S
c
.
(2
0
0
2
)
d
e
g
re
e
s in
In
d
u
strial
A
u
to
m
a
ti
o
n
En
g
in
e
e
ri
n
g
fro
m
Ha
n
o
i
Un
i
v
e
rsity
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
l
o
g
y
a
n
d
c
o
m
p
lete
d
P
h
.
D
.
d
e
g
re
e
i
n
2
0
2
0
fro
m
Th
e
Un
iv
e
rsity
o
f
Tran
sp
o
rt
a
n
d
Co
m
m
u
n
ica
ti
o
n
s
(UTC).
No
w,
sh
e
is
a
lec
tu
re
r
a
t
th
e
F
a
c
u
lt
y
o
f
E
lec
tri
c
a
l
a
n
d
El
e
c
tro
n
ic
En
g
in
e
e
rin
g
a
t
th
e
Un
iv
e
rsity
o
f
Tran
sp
o
rt
a
n
d
C
o
m
m
u
n
ica
ti
o
n
s
(UTC).
He
r
in
tere
sts
in
c
lu
d
e
c
o
n
tro
ll
in
g
p
o
we
r
e
lec
tro
n
ic
c
o
n
v
e
rters
,
c
o
n
t
ro
ll
i
n
g
e
lec
tri
c
m
o
to
r
d
riv
e
s,
a
n
d
s
a
v
in
g
e
n
e
rg
y
so
l
u
ti
o
n
s
f
o
r
in
d
u
stry
a
n
d
tran
sp
o
rtatio
n
.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
at
e
m
a
il
:
h
ta
n
h
.
k
t
d
@u
tc.ed
u
.
v
n
.
Tr
a
n
H
u
n
g
Cuo
n
g
re
c
e
i
v
e
d
h
is
E
n
g
i
n
e
e
r
(
2
0
1
0
)
;
a
n
d
M
.
Sc
.
(
2
0
1
3
)
d
e
g
re
e
s
i
n
In
d
u
strial
A
u
to
m
a
ti
o
n
En
g
in
e
e
ri
n
g
fro
m
Ha
n
o
i
Un
i
v
e
rsity
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
l
o
g
y
a
n
d
c
o
m
p
lete
d
P
h
.
D
.
d
e
g
re
e
in
2
0
2
0
fro
m
Ha
n
o
i
Un
iv
e
rsit
y
o
f
S
c
ie
n
c
e
(HU
S
T).
No
w,
h
e
is
a
lec
tu
re
r
a
t
th
e
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ic
En
g
in
e
e
rin
g
a
t
T
h
u
y
Lo
i
Un
i
v
e
rsity
(
TL
U).
His
c
u
rre
n
t
i
n
tere
sts
in
c
lu
d
e
p
o
w
e
r
e
lec
tro
n
ic
c
o
n
v
e
rters
a
n
d
e
lec
tri
c
m
o
to
r
d
ri
v
e
s,
c
o
n
v
e
rti
n
g
e
lec
tri
c
it
y
fro
m
re
n
e
wa
b
le
e
n
e
rg
y
so
u
rc
e
s
t
o
t
h
e
g
rid
,
a
n
d
sa
v
i
n
g
e
n
e
rg
y
so
l
u
ti
o
n
s
f
o
r
th
e
g
rid
a
n
d
tran
s
p
o
rtati
o
n
.
H
e
c
a
n
b
e
c
o
n
ta
c
ted
at
e
m
a
il
:
c
u
o
n
g
th
@
tl
u
.
e
d
u
.
v
n
.
Ng
u
y
e
n
Va
n
H
o
a
is
a
fo
u
rth
-
y
e
a
r
stu
d
e
n
t
m
a
jo
rin
g
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
a
t
th
e
Un
i
v
e
rsity
o
f
Tra
n
sp
o
r
t
a
n
d
Co
m
m
u
n
ica
ti
o
n
s
(UTC)
,
Vie
t
n
a
m
.
His
c
u
rre
n
t
in
tere
sts
in
c
lu
d
e
p
o
we
r
e
lec
tro
n
ics
a
n
d
e
l
e
c
tri
c
d
riv
e
c
o
n
tr
o
l,
w
h
ich
a
re
a
p
p
li
e
d
i
n
t
h
e
tran
s
p
o
rtati
o
n
a
n
d
i
n
d
u
stry
.
H
e
c
a
n
b
e
c
o
n
tac
ted
at
e
m
a
il
:
h
o
a
2
0
1
5
0
3
7
6
3
@lm
s.
u
t
c
.
e
d
u
.
v
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.