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s
o
r
s
(
DSP
s
)
co
n
tin
u
ed
to
ev
o
lv
e
as
th
e
b
est
co
n
tr
o
ller
s
th
at
o
f
f
e
r
f
ea
t
u
r
es
lik
e
ad
v
an
ce
d
PW
M
co
n
tr
o
l,
r
ea
l
-
tim
e
p
r
o
ce
s
s
in
g
an
d
h
ig
h
-
s
p
ee
d
f
ee
d
b
ac
k
lo
o
p
s
,
wh
ich
ar
e
cr
u
cial
f
o
r
im
p
lem
en
tin
g
f
in
e
-
g
r
ain
e
d
co
n
tr
o
l
s
tr
ateg
ies.
T
h
ey
h
a
v
e
p
r
o
v
e
d
its
ef
f
icien
cy
in
d
esig
n
in
g
ef
f
ec
tiv
e
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
(
PI)
ty
p
e
co
n
tr
o
ller
s
an
d
Mo
d
el
Pre
d
ictiv
e
C
o
n
tr
o
ller
s
f
o
r
p
h
o
to
v
o
ltaic
s
y
s
tem
s
an
d
p
o
wer
elec
tr
o
n
ic
co
n
v
er
ter
s
[
1
6
]
,
[
1
7
]
.
I
t
h
as
b
ee
n
p
r
o
v
en
ef
f
icien
t
f
o
r
ANN
-
b
ased
co
n
tr
o
l
o
f
f
iv
e
-
lev
el
in
v
e
r
ter
s
wh
ich
en
s
u
r
e
s
elec
tiv
e
h
ar
m
o
n
ic
elim
in
at
io
n
[
1
8
]
.
T
I
C
2
0
0
0
DSPs
o
f
f
er
a
p
r
ac
tical
a
n
d
s
i
m
p
le
co
n
tr
o
l
d
esig
n
f
o
r
DC
m
o
to
r
s
[
1
9
]
.
T
h
e
C
2
0
0
0
T
MS3
2
0
F2
8
3
8
8
D
h
as
b
ee
n
u
s
ed
to
d
ev
el
o
p
a
c
o
n
tr
o
l
p
latf
o
r
m
f
o
r
a
p
a
r
am
eter
esti
m
atio
n
m
eth
o
d
in
in
d
u
ctio
n
m
o
to
r
s
(
I
Ms)
[
2
0
]
.
Alt
h
o
u
g
h
th
e
u
s
e
o
f
D
SP
m
ic
r
o
c
o
n
t
r
o
lle
r
s
h
as
b
ee
n
wi
d
el
y
a
d
o
p
te
d
i
n
r
es
ea
r
c
h
an
d
wel
l d
i
s
cu
s
s
ed
i
n
th
e
l
ite
r
a
tu
r
e
,
t
h
e
y
c
o
m
e
wit
h
a
l
o
t
o
f
co
m
p
li
ca
t
e
d
al
g
o
r
i
th
m
s
a
n
d
c
o
d
es
f
o
r
t
h
e
im
p
l
em
en
t
ati
o
n
,
w
h
ic
h
c
an
b
e
tim
e
-
co
n
s
u
m
in
g
a
n
d
c
h
al
le
n
g
i
n
g
t
o
i
m
p
le
m
e
n
t
,
p
a
r
ti
cu
la
r
l
y
f
o
r
r
es
ea
r
c
h
e
r
s
u
n
f
am
i
lia
r
wi
th
th
e
c
o
d
i
n
g
en
v
i
r
o
n
m
e
n
t
[
1
0
]
.
I
n
t
h
is
c
o
n
t
ex
t
,
u
s
in
g
T
I
C
2
0
0
0
DSPs
wi
t
h
MA
T
L
AB
o
f
f
e
r
s
a
p
r
a
cti
ca
l
way
t
o
t
u
r
n
m
o
d
els
in
t
o
h
a
r
d
w
ar
e,
li
n
k
in
g
ac
a
d
e
m
ic
r
ese
a
r
c
h
,
e
m
b
ed
d
ed
s
y
s
te
m
d
esi
g
n
,
a
n
d
r
ea
l
-
wo
r
l
d
ap
p
l
ic
a
tio
n
s
[
2
1
]
.
T
h
e
u
s
e
o
f
MA
T
L
AB
/
S
im
u
li
n
k
E
m
b
e
d
d
e
d
C
o
d
e
r
t
o
o
ls
,
wit
h
o
u
t
m
a
n
u
al
co
d
i
n
g
,
o
f
f
er
s
tim
e
an
d
c
o
s
t
ef
f
i
cie
n
c
y
,
ac
c
ele
r
a
tes
e
x
e
c
u
ti
o
n
,
a
n
d
is
h
i
g
h
l
y
ef
f
e
cti
v
e
f
o
r
b
o
th
r
ese
ar
ch
a
n
d
in
d
u
s
t
r
i
al
c
o
n
tr
o
l
a
p
p
li
ca
t
io
n
s
[
2
2
]
.
T
h
e
E
m
b
e
d
d
e
d
C
o
d
e
r
g
e
n
e
r
at
es
t
h
e
c
o
d
e
au
to
m
a
tic
all
y
,
r
e
d
u
ci
n
g
th
e
ti
m
e
n
ee
d
e
d
f
o
r
s
o
lv
in
g
th
e
p
r
o
b
le
m
s
o
f
l
o
n
g
d
e
v
e
lo
p
m
e
n
t
c
y
c
les
a
n
d
c
o
m
p
lic
ate
d
p
r
o
g
r
am
m
i
n
g
f
o
r
tr
a
d
i
ti
o
n
al
e
m
b
e
d
d
e
d
s
y
s
t
em
d
esi
g
n
.
M
AT
L
AB
Sim
u
li
n
k
e
n
v
ir
o
n
m
e
n
t
c
an
als
o
b
e
u
s
ed
f
o
r
r
e
al
-
ti
m
e
s
i
m
u
l
ati
o
n
o
f
p
o
w
er
ele
ct
r
o
n
i
c
s
y
s
t
em
s
[
2
3
]
,
[
2
4
]
.
T
h
e
im
p
le
m
e
n
t
ati
o
n
o
f
th
e
cl
o
s
e
d
-
lo
o
p
v
/f
c
o
n
t
r
o
l
al
g
o
r
i
th
m
o
f
I
M
i
n
r
ea
l
t
im
e
u
s
i
n
g
MA
T
L
AB
/
Si
m
u
li
n
k
E
m
b
e
d
d
e
d
C
o
d
e
r
wi
th
T
M
S3
2
0
F
2
8
3
3
5
DSP
p
r
o
v
es
t
h
e
ac
c
ess
i
b
il
it
y
a
n
d
co
s
t
-
ef
f
e
cti
v
e
n
ess
o
f
D
SP
p
r
o
g
r
a
m
m
i
n
g
f
o
r
a
b
r
o
a
d
e
r
r
a
n
g
e
o
f
u
s
e
r
s
[
2
1
]
.
W
h
ile
T
I
C
2
0
0
0
DSPs
,
s
u
c
h
as
th
e
T
MS
3
2
0
F
2
8
0
0
4
9
C
,
o
f
f
er
s
i
g
n
if
ica
n
t
p
o
te
n
ti
al
,
t
h
e
li
te
r
at
u
r
e
p
r
o
v
i
d
es
li
m
i
te
d
s
tr
u
c
tu
r
ed
g
u
id
a
n
ce
f
o
r
th
ei
r
u
s
e
i
n
SR
M
o
p
e
r
a
ti
o
n
s
.
T
h
is
g
a
p
m
a
k
es
r
ea
l
-
ti
m
e
d
e
p
l
o
y
m
e
n
t
ch
all
en
g
i
n
g
f
o
r
n
o
v
i
ce
r
es
ea
r
c
h
e
r
s
.
T
h
e
e
x
is
t
in
g
SR
M
co
n
t
r
o
l
s
tu
d
i
es
o
f
te
n
lac
k
c
o
m
p
r
e
h
e
n
s
i
v
e
s
o
lu
ti
o
n
s
t
h
at
ad
d
r
ess
b
o
t
h
im
p
r
o
v
ed
t
r
a
n
s
i
e
n
t
r
esp
o
n
s
e
a
n
d
p
r
ac
tic
al
h
ar
d
war
e
i
m
p
le
m
en
tati
o
n
.
F
u
r
t
h
e
r
m
o
r
e
,
th
e
r
e
a
r
e
n
o
p
r
io
r
w
o
r
k
s
p
r
es
en
ti
n
g
a
MA
T
L
AB
-
i
n
te
g
r
a
te
d
DSP
-
b
ase
d
m
et
h
o
d
o
lo
g
y
wi
th
a
cl
ea
r
,
s
te
p
-
by
-
s
te
p
h
a
r
d
wa
r
e
im
p
le
m
e
n
t
ati
o
n
o
f
SR
M
.
C
o
m
p
ar
ati
v
e
e
v
a
lu
ati
o
n
s
o
f
P
I
an
d
A
NN
co
n
t
r
o
ll
er
s
als
o
r
e
m
ai
n
in
s
u
f
f
ici
e
n
tl
y
ex
p
l
o
r
e
d
,
p
a
r
ti
cu
la
r
l
y
co
n
ce
r
n
i
n
g
r
e
al
-
ti
m
e
p
er
f
o
r
m
a
n
ce
a
n
d
ea
s
e
o
f
i
m
p
le
m
e
n
ta
ti
o
n
.
T
h
u
s
,
th
e
p
r
o
p
o
s
e
d
wo
r
k
is
a
n
att
em
p
t
t
o
a
d
d
r
ess
t
h
e
a
b
o
v
e
is
s
u
es
w
it
h
t
h
e
f
o
ll
o
wi
n
g
m
a
jo
r
c
o
n
tr
ib
u
t
io
n
s
:
i
)
A
d
etai
le
d
s
te
p
-
by
-
s
te
p
h
a
r
d
wa
r
e
im
p
l
em
en
tat
io
n
m
et
h
o
d
o
l
o
g
y
f
o
r
SR
M,
ai
m
e
d
a
t
s
i
m
p
li
f
y
i
n
g
d
ep
lo
y
m
e
n
t
f
o
r
n
o
v
ice
r
esea
r
c
h
er
s
;
ii)
A
s
i
m
p
lif
ie
d
MA
T
L
AB
/
Si
m
u
li
n
k
b
as
ed
i
m
p
le
m
e
n
t
ati
o
n
o
f
h
a
r
d
wa
r
e
c
o
n
t
r
o
l,
el
im
in
ati
n
g
t
h
e
n
e
e
d
f
o
r
co
m
p
le
x
DSP
co
d
i
n
g
;
a
n
d
iii)
An
ef
f
i
cie
n
t
ANN
c
o
n
t
r
o
l
t
o
p
o
lo
g
y
a
n
d
its
h
a
r
d
wa
r
e
i
m
p
le
m
e
n
t
ati
o
n
d
e
m
o
n
s
tr
ati
n
g
i
m
p
r
o
v
e
d
t
r
a
n
s
i
en
t
p
e
r
f
o
r
m
a
n
c
e
co
m
p
a
r
e
d
wit
h
th
e
P
I
c
o
n
t
r
o
lle
r
s
.
T
h
e
o
r
g
a
n
izatio
n
o
f
th
e
wo
r
k
is
as
o
u
tlin
ed
:
i)
Se
ctio
n
2
ex
p
lain
s
th
e
f
u
n
ctio
n
in
g
o
f
th
e
SR
M
d
r
iv
e
alo
n
g
with
th
e
b
u
ild
in
g
o
f
a
MA
T
L
AB
m
o
d
el
u
s
in
g
f
in
i
te
elem
en
t
an
aly
s
is
(
FEA)
;
ii)
T
h
e
wo
r
k
i
n
g
o
f
SR
M
with
MA
T
L
AB
-
in
ter
f
ac
ed
m
icr
o
c
o
n
tr
o
ller
is
p
r
esen
ted
in
s
ec
tio
n
3
;
iii)
T
h
e
f
o
u
r
th
s
ec
tio
n
f
o
cu
s
es
o
n
th
e
im
p
lem
e
n
tatio
n
o
f
th
e
s
p
ee
d
co
n
t
r
o
ller
u
s
in
g
ANN
;
iv
)
W
h
ile
s
ec
tio
n
5
r
ep
o
r
ts
e
x
p
er
im
en
tal
r
esu
lts
an
d
ev
alu
atio
n
;
an
d
v
)
L
astl
y
,
th
e
f
in
al
co
n
clu
s
io
n
o
f
f
er
s
a
s
u
m
m
ar
y
o
f
f
i
n
d
in
g
s
an
d
o
b
s
er
v
atio
n
s
p
r
esen
ted
in
th
e
p
ap
e
r
.
2.
SRM
DR
I
VE
SYS
T
E
M
AN
D
SI
M
UL
A
T
I
O
N
A
NAL
YSI
S
S
R
M
s
a
r
e
d
e
s
i
g
n
e
d
w
i
t
h
a
s
i
m
p
l
e
c
o
n
s
t
r
u
c
t
i
o
n
,
f
e
a
t
u
r
i
n
g
p
r
o
j
e
c
t
e
d
s
t
at
o
r
a
n
d
r
o
t
o
r
p
o
l
e
s
.
A
m
o
n
g
t
h
e
m
a
n
y
c
o
n
v
e
r
t
e
r
t
o
p
o
l
o
g
i
es
e
x
p
l
o
r
e
d
,
t
h
e
as
y
m
m
e
t
r
i
c
h
a
l
f
b
r
i
d
g
e
c
o
n
v
e
r
t
e
r
p
r
o
v
e
d
t
o
b
e
t
h
e
m
o
s
t
p
r
e
v
a
l
e
n
t
p
o
w
e
r
co
n
v
er
ter
f
o
r
S
R
M
d
r
iv
e
s
[
2
5
]
-
[
2
7
]
.
D
i
f
f
e
r
e
n
t
p
h
a
s
es
o
f
SR
M
a
r
e
e
x
c
it
e
d
i
n
a
s
eq
u
e
n
t
i
a
l
m
a
n
n
e
r
t
o
d
e
v
e
l
o
p
a
c
o
n
t
i
n
u
o
u
s
t
o
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q
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m
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r
.
T
h
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m
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t
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is
c
o
u
p
l
e
d
w
it
h
a
l
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d
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g
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y
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em
e
q
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d
w
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h
a
s
p
r
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n
g
b
a
la
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e
a
r
r
a
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g
e
m
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n
t
.
A
s
im
u
latio
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an
aly
s
is
o
f
SR
M
u
n
d
er
s
tu
d
y
is
co
n
d
u
cted
f
o
r
an
al
y
zin
g
th
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c
o
n
d
u
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win
d
o
w
co
r
r
esp
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n
d
in
g
to
th
e
m
a
x
im
u
m
to
r
q
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e
as
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ap
p
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im
ate
P
an
d
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ain
.
T
h
e
s
im
u
latio
n
m
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d
el
is
d
ev
elo
p
e
d
with
an
elec
tr
ical
b
lo
ck
,
m
ec
h
an
ical
b
lo
c
k
,
PI
co
n
tr
o
ller
b
lo
ck
as
well
as
v
o
lta
g
e
s
ig
n
al
g
en
er
atio
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b
lo
ck
.
T
h
e
elec
tr
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b
lo
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is
m
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d
elled
u
s
in
g
(
1
)
-
(
3
)
[
1
0
]
,
[
2
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
A
N
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b
a
s
ed
s
p
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co
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tr
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w
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MATLAB
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Wil
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2245
=
+
(
,
)
(
1
)
(
,
)
=
∫
(
−
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0
(
2
)
=
(
,
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(
,
)
(
3
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w
h
er
e
,
,
,
an
d
co
r
r
esp
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d
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p
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cu
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v
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elled
u
s
in
g
th
e
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4
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=
+
+
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Her
e,
J,
B
,
ω
,
T
L
a
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T
e
,
r
ep
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s
en
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th
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tatio
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tia,
v
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s
f
r
ictio
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,
s
p
ee
d
,
l
o
ad
a
n
d
d
ev
elo
p
ed
to
r
q
u
e
r
esp
ec
tiv
ely
.
FEA
o
f
t
h
e
m
ac
h
in
e
u
n
d
er
s
tu
d
y
is
p
e
r
f
o
r
m
e
d
to
d
eter
m
in
e
in
d
u
ctan
ce
an
d
to
r
q
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a
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d
p
r
o
f
iles
f
o
r
d
if
f
er
en
t
r
o
t
o
r
p
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s
itio
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s
an
d
cu
r
r
en
t,
an
d
ar
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s
ed
f
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r
m
o
d
ellin
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th
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SR
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B
lo
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d
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r
am
r
ep
r
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tatio
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o
f
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h
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SR
M
f
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r
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im
u
latio
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in
MA
T
L
AB
en
v
ir
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n
m
en
t
is
as
g
iv
en
b
y
Fig
u
r
e
2
(
a)
.
Fig
u
r
es
2
(
b
)
an
d
2
(
c)
illu
s
tr
ates
a
3
D
p
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d
2
D
to
r
q
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p
lo
t
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esp
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tiv
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Fro
m
to
r
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r
o
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ile,
it
is
in
f
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r
e
d
th
at
t
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m
a
x
im
u
m
to
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ap
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s
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th
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d
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o
w
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21
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T
h
e
P
an
d
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co
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f
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0
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0
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0
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8
5
r
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I
n
SR
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m
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n
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ca
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witch
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at
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ig
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lo
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n
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t
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tr
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l
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ce
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eq
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iev
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r
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ip
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d
im
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am
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e
[
1
0
]
,
[
2
8
]
.
Her
e,
t
h
e
m
ac
h
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s
p
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d
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eg
u
lated
b
y
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th
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t
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r
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with
th
e
h
el
p
o
f
a
PI
co
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tr
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is
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n
e
o
f
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e
s
im
p
lest
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d
m
o
s
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co
m
m
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ly
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co
n
tr
o
l
s
tr
ateg
ies
in
SR
M
s
p
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d
co
n
tr
o
l.
Acc
u
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ate
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izatio
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at
s
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if
ic
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les
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n
e
ce
s
s
ar
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en
s
u
r
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th
e
r
eq
u
ir
ed
to
r
q
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p
r
o
d
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ctio
n
u
n
d
er
t
h
e
in
ten
d
e
d
lo
ad
co
n
d
itio
n
s
[
2
9
]
.
Fig
u
r
e
1
.
I
ll
u
s
tr
atio
n
o
f
t
h
e
d
e
v
elo
p
ed
SR
M
d
r
iv
e
s
y
s
tem
Vo
ltag
e
p
u
ls
es
ar
e
g
e
n
er
ated
u
s
in
g
th
e
MA
T
L
AB
f
u
n
cti
o
n
b
lo
ck
.
Fig
u
r
e
s
3
(
a
)
a
n
d
3
(
b
)
d
ep
ict
th
e
s
p
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d
co
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l
f
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if
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s
p
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s
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5
0
0
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8
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,
600
,
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n
d
7
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p
m
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at
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ts
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0
,
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0
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8
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s
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d
s
,
r
esp
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tiv
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n
d
th
e
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o
r
r
esp
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d
in
g
tu
r
n
-
on
a
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v
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at
n
o
lo
a
d
co
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d
itio
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t
h
e
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co
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tr
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ller
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T
h
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m
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el
is
s
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m
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lo
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1
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8
Nm
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d
Fig
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r
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4
(
a)
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d
4
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b
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p
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tr
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k
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to
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with
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a
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t
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s
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t
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d
er
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m
ic
co
n
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itio
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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
:
2243
-
2
2
5
6
2246
(
a)
(
b
)
(
c)
F
i
g
u
r
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2
.
S
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m
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la
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m
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d
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a
n
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c
h
a
r
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c
o
f
S
R
M
:
(
a
)
b
lo
c
k
d
i
a
g
r
a
m
,
(
b
)
L
-
θ
p
r
o
f
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l
e
,
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d
(
c
)
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e
-
i
-
θ
p
r
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f
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l
e
(
a)
(
b
)
Fig
u
r
e
3
.
Sp
ee
d
r
eg
u
latio
n
ch
a
r
ac
ter
is
tics
o
f
SR
M
u
n
d
er
n
o
-
l
o
ad
co
n
d
itio
n
u
s
in
g
PI
co
n
t
r
o
l
ler
:
(
a)
clo
s
ed
lo
o
p
s
p
ee
d
r
esp
o
n
s
e
an
d
(
b
)
tu
r
n
o
n
an
g
le
v
ar
iatio
n
f
o
r
test
s
p
ee
d
s
(
a)
(
b
)
Fig
u
r
e
4
.
E
lectr
ical
a
n
d
to
r
q
u
e
ch
ar
ac
ter
is
tics
o
f
th
e
SR
M:
(
a)
p
h
ase
v
o
lta
g
e,
cu
r
r
en
t,
a
n
d
i
n
d
u
ctan
ce
wav
ef
o
r
m
s
at
8
0
0
r
p
m
an
d
(
b
)
a
v
er
ag
e
d
ev
elo
p
e
d
to
r
q
u
e
o
f
1
.
8
Nm
at
s
p
ec
if
ied
test
co
n
d
it
io
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
A
N
N
b
a
s
ed
s
p
ee
d
co
n
tr
o
l o
f
s
w
itch
ed
r
elu
cta
n
ce
mo
to
r
u
s
in
g
MATLAB
-
in
terf
a
ce
d
…
(
V
ee
n
a
Wil
s
o
n
)
2247
3.
I
M
P
L
E
M
E
NT
A
T
I
O
N
O
F
M
AT
L
A
B
I
N
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D
DSP
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h
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co
m
b
in
atio
n
o
f
h
ig
h
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er
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o
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m
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ce
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teg
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ev
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b
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ak
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u
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(TI)
m
icr
o
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s
an
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ce
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t
ch
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e
f
o
r
SR
M
s
p
ee
d
co
n
tr
o
l
[
3
0
]
.
T
h
e
co
n
tr
o
l
lo
g
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p
r
o
d
u
cin
g
th
e
g
ate
p
u
ls
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is
im
p
lem
en
ted
u
s
in
g
t
h
e
T
I
m
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T
MS3
2
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F2
8
0
0
4
9
C
,
in
teg
r
ated
with
MA
T
L
AB
[
3
1
]
-
[
3
3
]
.
T
h
e
p
r
o
ce
s
s
o
f
co
n
v
e
r
tin
g
MA
T
L
AB
/Si
m
u
lin
k
m
o
d
els
in
to
ex
ec
u
tab
le
p
r
o
g
r
am
s
f
o
r
m
icr
o
co
n
tr
o
ller
s
in
v
o
lv
es
s
ev
er
al
s
tag
es,
wh
ich
u
tili
ze
to
o
ls
lik
e
MA
T
L
AB
,
Simu
lin
k
,
a
n
d
E
m
b
ed
d
e
d
C
o
d
er
,
in
teg
r
atin
g
with
d
ev
elo
p
m
en
t
en
v
ir
o
n
m
en
ts
s
u
ch
as
C
o
d
e
C
o
m
p
o
s
er
Stu
d
io
an
d
C
o
n
tr
o
l
SUI
T
E
.
T
h
e
im
p
lem
en
tatio
n
o
f
th
e
c
o
n
tr
o
l
lo
g
ic
in
th
e
h
ar
d
war
e
s
etu
p
i
s
d
is
p
lay
ed
in
a
s
eq
u
en
tial
m
an
n
er
as
s
h
o
wn
in
Fig
u
r
e
5
.
On
ce
it
is
en
s
u
r
ed
t
h
at
th
e
ab
o
v
e
s
o
f
twar
e
p
ac
k
a
g
es
an
d
s
u
p
p
o
r
ts
ar
e
in
s
talled
,
th
en
th
e
h
ar
d
war
e
im
p
lem
en
tatio
n
o
f
SR
M
is
in
it
iated
with
th
e
f
o
llo
win
g
s
tag
es
.
Fig
u
r
e
5
.
MA
T
L
AB
in
ter
f
ac
in
g
with
DSP co
n
tr
o
ller
3
.
1
.
P
uls
e
g
ener
a
t
io
n c
o
ntr
o
l lo
g
ic
I
n
itially
,
a
s
im
p
le
co
n
tr
o
l
lo
g
i
c
is
d
ev
elo
p
ed
s
ettin
g
a
r
am
p
s
ig
n
al
in
s
tead
o
f
r
o
to
r
p
o
s
itio
n
an
d
th
e
p
u
ls
es
ar
e
g
en
er
ated
as
g
iv
en
b
y
Fig
u
r
e
6
(
a
)
.
GPI
O
b
lo
ck
s
av
ailab
le
in
th
e
C
2
0
0
0
m
icr
o
c
o
n
tr
o
ller
b
lo
c
k
s
ets
ar
e
u
s
ed
to
o
u
tp
u
t
f
o
u
r
g
ate
p
u
ls
es
r
ep
r
esen
tin
g
f
o
u
r
p
h
ases
to
th
e
r
esp
ec
tiv
e
p
in
s
o
f
th
e
m
icr
o
co
n
tr
o
ller
.
I
n
th
e
n
ex
t
s
tag
e,
a
QE
P
s
en
s
o
r
with
4
0
9
6
p
p
r
r
eso
lu
tio
n
is
u
s
ed
f
o
r
p
o
s
itio
n
s
en
s
in
g
.
I
t
h
as
two
q
u
a
d
r
atu
r
e
ch
an
n
el
p
u
ls
es
(
A
&
B
)
,
p
r
o
d
u
cin
g
1
0
2
4
p
u
ls
es
p
er
r
ev
o
lu
t
io
n
an
d
a
q
u
ad
r
atu
r
e
in
d
ex
p
u
ls
e
wh
ich
in
d
icate
s
th
e
r
ef
er
e
n
ce
p
o
in
t
o
f
th
e
en
co
d
er
f
o
r
d
etec
tin
g
a
c
o
m
p
le
te
r
ev
o
lu
tio
n
.
T
h
e
q
u
a
d
r
atu
r
e
an
d
in
d
ex
p
u
ls
es
o
b
tain
ed
f
r
o
m
t
h
e
QE
P e
n
co
d
er
ar
e
as p
r
esen
ted
i
n
Fig
u
r
e
6
(
b
)
.
(
a)
(
b
)
Fig
u
r
e
6
.
Pu
ls
e
s
ig
n
al
g
e
n
er
ati
o
n
an
d
en
co
d
er
f
ee
d
b
ac
k
u
s
ed
in
SR
M
co
n
tr
o
l
:
(
a)
MA
T
L
A
B
p
u
ls
e
g
en
er
atio
n
b
lo
ck
s
an
d
(
b
)
QE
P e
n
c
o
d
er
p
u
ls
es (
A,
B
an
d
in
d
ex
p
u
ls
e)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
16
,
No
.
4
,
Dec
em
b
er
20
25
:
2243
-
2
2
5
6
2248
Usi
n
g
eQE
P
b
lo
ck
in
MA
T
L
AB
,
r
ea
l
tim
e
p
o
s
itio
n
co
u
n
t
is
o
b
tain
ed
wh
ich
is
th
en
u
s
e
d
f
o
r
p
u
ls
e
g
en
er
atio
n
[
3
4
]
.
T
h
is
in
cr
ea
s
in
g
co
u
n
t
v
al
u
e
is
co
n
v
er
ted
t
o
6
0
°
an
d
is
u
s
ed
f
o
r
g
ate
p
u
ls
e
g
en
er
atio
n
.
Pu
ls
e
g
en
er
atio
n
lo
g
ic
u
s
in
g
eQE
P
b
lo
ck
,
as
well
as
th
e
o
u
tp
u
t
p
u
ls
e
with
p
o
s
itio
n
r
am
p
s
ig
n
a
l
th
r
o
u
g
h
d
ig
ital
to
an
alo
g
co
n
v
er
ter
b
lo
ck
a
r
e
d
em
o
n
s
tr
ated
in
Fig
u
r
e
s
7
(
a)
an
d
7
(
b
)
.
On
ce
th
e
co
r
r
ec
t
p
u
ls
e
g
en
er
atio
n
is
ac
h
iev
ed
,
th
e
SR
M
m
o
to
r
is
m
ad
e
to
r
o
tate
b
y
p
r
o
v
i
d
in
g
8
g
a
te
p
u
ls
es to
th
e
4
-
p
h
ase
co
n
v
e
r
ter
.
(
a)
(
b
)
Fig
u
r
e
7
.
Pu
ls
e
g
en
e
r
atio
n
m
e
ch
an
is
m
b
ased
o
n
en
co
d
er
f
ee
d
b
ac
k
f
o
r
SR
M
co
n
tr
o
l
:
(
a
)
p
u
ls
e
g
en
er
atio
n
lo
g
ic
u
s
in
g
eQE
P b
lo
ck
a
n
d
(
b
)
o
u
t
p
u
t p
u
ls
es a
n
d
p
o
s
itio
n
r
am
p
s
ig
n
als
3
.
2
.
St
a
rt
ing
a
nd
re
a
l t
i
m
e
s
peed
m
o
nito
ring
o
f
SRM
Fo
r
s
tar
tin
g
SR
M,
an
in
itial
r
a
m
p
s
ig
n
al
is
g
i
v
en
as
th
e
p
o
s
itio
n
s
ig
n
al
a
n
d
th
e
p
h
ases
ar
e
ex
cited
in
a
s
eq
u
en
tial
m
an
n
er
.
T
h
e
r
o
to
r
s
lo
wly
ca
tch
es
th
e
e
x
cited
s
tato
r
p
o
les
a
n
d
o
n
ce
th
e
in
d
e
x
p
o
s
itio
n
is
r
ea
ch
ed
,
th
en
r
o
to
r
p
o
s
itio
n
is
r
eset,
a
f
ter
wh
ich
th
e
p
h
ase
h
av
in
g
lo
west
in
d
u
ctan
ce
v
alu
e
is
e
x
cited
f
ir
s
t.
T
h
is
is
f
o
llo
wed
b
y
an
ex
citatio
n
s
eq
u
en
ce
s
o
th
at
th
e
r
o
to
r
will
b
e
r
o
tated
in
an
ticlo
ck
wis
e
d
ir
ec
tio
n
.
Her
e,
t
h
e
p
h
ase
(
p
h
ase
C
)
wh
ic
h
is
h
av
in
g
lo
west
in
d
u
ctan
ce
v
alu
e
n
ex
t
to
th
e
in
d
e
x
p
o
s
itio
n
is
ex
ited
f
ir
s
t
a
n
d
th
e
p
h
ases
ar
e
e
x
cited
in
th
e
s
eq
u
en
ce
C
-
D
-
A
-
B
-
C
,
g
iv
in
g
a
c
o
n
tin
u
o
u
s
to
r
q
u
e
f
o
r
t
h
e
m
o
t
o
r
.
Fo
r
t
h
e
in
s
tan
tan
eo
u
s
s
p
ee
d
ca
lcu
lati
o
n
,
th
e
s
am
e
eQE
P
b
lo
ck
is
u
s
ed
with
s
p
ee
d
ca
lcu
latio
n
t
ab
.
T
h
e
tim
er
p
r
e
-
s
ca
ler
v
alu
es a
r
e
s
et
an
d
th
e
(
5
)
is
u
s
ed
to
ca
lcu
late
th
e
r
ea
l
-
tim
e
s
p
ee
d
.
Spe
e
d
in
r
p
m
=
D
is
t
a
nce
(
u
pe
v
e
nt
s
)
f
o
r
o
ne
r
e
v
o
u
l
t
io
n
Time
t
a
k
e
n(
s
e
c
o
nds
)
f
o
r
o
ne
r
e
v
o
l
u
t
io
n
×
60
=
1
Q
C
P
R
D
×
40
96
×
e
C
TP
/
F
sy
s
×
60
(
5
)
Her
e
QC
P
R
D,
eCT
P
an
d
F
sys
r
ep
r
esen
ts
q
u
ad
r
atu
r
e
ca
p
tu
r
e
p
er
io
d
r
eg
is
ter
,
e
n
h
an
ce
d
c
ap
tu
r
e
tim
e
r
p
er
io
d
,
an
d
s
y
s
tem
clo
ck
f
r
eq
u
e
n
c
y
r
e
s
p
ec
tiv
ely
.
3
.
3
.
O
f
f
s
et
a
nd
co
nd
uct
io
n windo
w
a
na
ly
s
is
Fo
r
an
8
/6
SR
M,
th
e
in
d
u
ctan
ce
p
r
o
f
ile
will
b
e
r
ep
ea
tin
g
f
o
r
ev
er
y
6
0
°
[
2
5
]
,
[
3
2
]
.
E
x
citatio
n
s
h
o
u
ld
b
e
ap
p
lied
d
u
r
i
n
g
th
e
p
o
s
itiv
e
to
r
q
u
e
r
eg
i
o
n
to
en
s
u
r
e
th
e
g
en
er
atio
n
o
f
m
o
to
r
in
g
t
o
r
q
u
e.
T
h
e
to
r
q
u
e
d
ev
elo
p
e
d
,
is
g
iv
en
b
y
th
e
(
6
)
,
wh
er
e
,
r
ep
r
esen
t
cu
r
r
en
t
an
d
in
d
u
ctan
ce
ch
a
n
g
e
with
an
g
l
e
r
esp
ec
tiv
ely
.
=
1
2
2
(
6
)
I
n
d
u
ctan
ce
p
r
o
f
iles
o
f
all
th
e
p
h
ases
ar
e
p
lo
tted
m
ea
s
u
r
in
g
in
d
u
ctan
ce
u
n
d
e
r
s
tatic
co
n
d
itio
n
.
An
aly
zin
g
th
e
in
d
u
ctan
ce
p
r
o
f
iles
,
th
e
p
h
ase
wi
th
m
in
im
u
m
in
d
u
ctan
ce
n
ex
t
to
th
e
in
d
ex
p
o
s
itio
n
is
f
o
u
n
d
to
h
av
e
an
o
f
f
s
et
o
f
1
0
°
f
r
o
m
th
e
ze
r
o
v
alu
e
o
f
r
o
to
r
p
o
s
itio
n
.
T
o
d
eter
m
in
e
co
n
d
u
ctio
n
win
d
o
w
co
r
r
esp
o
n
d
in
g
to
m
ax
im
u
m
to
r
q
u
e
g
en
e
r
atio
n
,
f
iv
e
d
if
f
er
e
n
t
ca
s
es,
as
illu
s
t
r
ated
in
Fig
u
r
e
8
,
wer
e
an
aly
z
ed
u
n
d
er
o
p
en
lo
o
p
o
p
er
atio
n
with
1
5
0
V
s
u
p
p
ly
.
Fro
m
m
ea
s
u
r
i
n
g
th
e
s
p
ee
d
,
it
is
f
o
u
n
d
th
at,
th
e
th
ir
d
ca
s
e
wi
th
2
3
°
co
n
d
u
ctio
n
s
(
-
2
°
ad
v
an
ce
an
g
le
co
m
m
u
tatio
n
to
2
1
°
)
is
p
r
o
v
e
d
to
h
av
e
t
h
e
m
ax
im
u
m
p
o
s
itiv
e
to
r
q
u
e
f
o
r
s
am
e
v
o
ltag
e.
T
h
is
is
v
er
y
clo
s
e
to
th
e
c
o
n
d
u
ctio
n
win
d
o
w
o
b
tain
ed
f
r
o
m
th
e
s
im
u
latio
n
r
esu
lts
.
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
A
N
N
b
a
s
ed
s
p
ee
d
co
n
tr
o
l o
f
s
w
itch
ed
r
elu
cta
n
ce
mo
to
r
u
s
in
g
MATLAB
-
in
terf
a
ce
d
…
(
V
ee
n
a
Wil
s
o
n
)
2249
Fig
u
r
e
8
.
C
o
n
d
u
ctio
n
win
d
o
w
an
aly
s
is
f
o
r
m
ax
im
u
m
T
e
4.
DE
V
E
L
O
P
M
E
N
T
O
F
ANN
CO
NT
RO
L
L
E
R
Usi
n
g
r
ea
l
-
tim
e
tr
ai
n
in
g
d
ata
co
llected
f
r
o
m
t
h
e
PI
s
p
ee
d
c
o
n
tr
o
ller
,
an
ANN
co
n
tr
o
ller
h
as
b
ee
n
d
ev
elo
p
e
d
.
Fo
r
th
e
s
tu
d
y
,
PI
co
n
tr
o
ller
is
ch
o
s
en
as
th
e
co
n
tr
o
ller
f
o
r
d
ata
co
llectio
n
d
u
e
to
its
well
-
estab
lis
h
ed
p
er
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o
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o
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p
licatio
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s
a
n
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its
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s
e
o
f
im
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lem
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n
tatio
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n
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tim
e
p
latf
o
r
m
s
lik
e
MA
T
L
AB
/Si
m
u
lin
k
[
7
]
.
T
h
o
u
g
h
p
r
o
p
o
r
tio
n
al
i
n
teg
r
al
an
d
d
e
r
iv
ativ
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(
PID
)
co
n
tr
o
ller
s
ar
e
also
a
g
o
o
d
o
p
tio
n
,
in
r
ea
l
-
tim
e
em
b
ed
d
ed
s
y
s
tem
s
,
th
e
d
er
iv
ativ
e
ter
m
ca
n
in
tr
o
d
u
ce
in
s
tab
ilit
y
d
u
e
t
o
s
am
p
lin
g
er
r
o
r
s
.
T
h
e
PI
co
n
tr
o
ller
o
n
th
e
o
t
h
er
h
an
d
,
g
iv
es
s
tab
le
an
d
co
n
s
is
ten
t
r
esp
o
n
s
es
f
o
r
g
en
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a
tin
g
tr
ain
in
g
d
ata.
Ho
wev
er
,
as
ANN
ca
n
b
ett
er
h
an
d
le
n
o
n
lin
ea
r
ities
an
d
ch
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n
g
c
o
n
d
itio
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s
with
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ig
h
er
ac
c
u
r
ac
y
a
n
d
r
o
b
u
s
tn
ess
,
PI
co
n
tr
o
ller
is
r
ep
lace
d
b
y
ANN
co
n
t
r
o
l in
th
e
p
r
o
p
o
s
ed
s
tu
d
y
.
4
.
1
.
I
m
ple
m
ent
a
t
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n o
f
P
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ba
s
ed
s
peed
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ntr
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l
in S
RM
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s
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y
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h
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n
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n
tr
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tp
u
t
f
r
o
m
PI
c
o
n
tr
o
ller
[
3
5
]
,
[
3
6
]
.
MA
T
L
AB
im
p
lem
en
tatio
n
o
f
clo
s
ed
l
o
o
p
l
o
g
ic
is
as
s
h
o
wn
i
n
Fig
u
r
e
9
.
T
h
e
MA
T
L
AB
b
l
o
ck
s
u
s
ed
f
o
r
h
a
r
d
war
e
d
ep
lo
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m
en
t
o
f
th
e
a
b
o
v
e
co
n
tr
o
l
is
as
s
h
o
wn
in
Fig
u
r
e
1
0
.
T
h
e
r
am
p
p
o
s
itio
n
co
u
n
t
o
b
tain
ed
f
r
o
m
th
e
eQE
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b
lo
ck
is
p
r
o
ce
s
s
ed
p
r
o
p
er
ly
with
r
esp
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t
to
th
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u
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ce
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r
o
f
ile
as
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d
ex
p
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to
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ate
3
6
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o
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ig
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h
e
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ate
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u
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g
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ated
ac
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r
d
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g
t
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th
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m
m
u
tatio
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T
h
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r
n
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f
f
an
g
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f
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at
2
3
°
wh
er
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n
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n
d
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ctio
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with
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co
n
tr
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ller
.
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h
e
g
ate
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ls
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g
en
er
ated
ar
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h
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u
ld
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e
u
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r
ANN
im
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lem
en
tatio
n
,
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e
r
ea
l
tim
e
r
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er
en
ce
s
p
ee
d
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tu
al
s
p
ee
d
,
cu
r
r
en
t
r
e
f
er
en
ce
an
d
tu
r
n
o
n
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g
le
ar
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co
llected
u
s
in
g
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o
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r
k
s
p
ac
e’
Simu
lin
k
b
lo
c
k
in
MA
T
L
AB
.
Fig
u
r
e
9
.
C
lo
s
ed
lo
o
p
o
p
er
atio
n
o
f
SR
M
P
os
it
ion
d
e
c
od
i
n
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u
s
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g
e
QE
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lock
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ls
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al
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as
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r
e
m
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P
I
f
or
t
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r
n
on
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RM
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C
M
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ont
r
olle
r
Supply
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on
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p
ar
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AT
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ar
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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8
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w
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Dr
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t
,
Vo
l.
16
,
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4
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20
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:
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u
r
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DSP in
ter
f
ac
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co
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l b
lo
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o
r
th
e
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ate
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g
en
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with
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d
ANN
co
n
tr
o
l
4
.
2
.
I
m
plem
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a
t
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n
o
f
ANN
ba
s
ed
s
peed
co
ntr
o
l
T
h
e
PI
co
n
tr
o
ller
is
o
n
e
o
f
th
e
s
im
p
lest
an
d
co
m
m
o
n
ly
u
s
e
d
co
n
tr
o
l
s
tr
ateg
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in
SR
M.
B
u
t
u
n
d
er
co
n
s
id
er
ab
le
p
e
r
tu
r
b
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n
s
o
r
s
y
s
tem
u
n
ce
r
tain
ties
,
th
e
r
esp
o
n
s
e
ca
n
b
e
s
lu
g
g
is
h
o
r
o
v
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s
h
o
o
t m
ay
o
cc
u
r
.
T
h
is
ca
n
b
e
o
v
er
co
m
e
b
y
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co
m
p
etitiv
e
ANN
co
n
tr
o
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wh
ic
h
u
s
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m
ac
h
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e
lear
n
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g
tec
h
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m
ap
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m
p
lex
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o
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r
r
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s
h
i
p
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etwe
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in
p
u
t
a
n
d
o
u
tp
u
t v
a
r
iab
les.
ANN
co
n
tr
o
ller
s
ca
n
b
e
d
esig
n
ed
to
lear
n
an
d
ad
a
p
t
to
c
h
an
g
i
n
g
o
p
er
at
in
g
co
n
d
itio
n
s
,
m
a
k
in
g
t
h
em
r
o
b
u
s
t
to
p
ar
am
eter
v
ar
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n
s
an
d
d
is
tu
r
b
a
n
ce
s
.
T
h
ey
h
av
e
f
aster
d
y
n
am
ic
r
esp
o
n
s
e,
r
ed
u
ce
d
o
v
er
s
h
o
o
t,
a
n
d
b
etter
s
tead
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s
tate
p
e
r
f
o
r
m
a
n
ce
co
m
p
ar
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to
PI
co
n
tr
o
ller
s
[
3
6
]
.
C
o
n
s
id
er
in
g
t
h
e
ad
v
an
tag
es
o
f
b
o
th
tech
n
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q
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es,
an
ANN
co
n
tr
o
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is
im
p
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wh
ich
is
tr
ain
ed
u
s
in
g
th
e
d
ata
o
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e
d
f
r
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m
th
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n
tr
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l.
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Simu
lin
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ANN
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lo
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d
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el
o
p
ed
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e
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et
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n
g
ap
p
licatio
n
wh
ich
is
im
p
lem
e
n
ted
as
s
h
o
wn
in
Fig
u
r
e
1
1
[
3
7
]
.
T
h
e
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es
s
u
ch
as
r
eg
r
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io
n
co
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f
icien
t
(
R
Valu
e)
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er
r
o
r
h
is
to
g
r
am
an
d
m
ea
n
s
q
u
ar
ed
e
r
r
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r
(
MSE
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ar
e
d
ep
icted
in
Fig
u
r
es
1
2
(
a)
-
1
2
(
c
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r
esp
ec
tiv
ely
.
T
h
e
d
ev
elo
p
ed
ANN
m
o
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el
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f
0
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0
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in
d
icatin
g
r
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s
o
n
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ly
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n
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e
clo
s
ed
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lo
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as
s
h
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Fig
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r
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1
0
,
th
e
ANN
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c
k
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with
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as o
u
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t is u
s
ed
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ep
lace
th
e
PI
b
lo
ck
.
Fig
u
r
e
1
1
.
Flo
wch
ar
t f
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r
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en
tin
g
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J Po
w
E
lec
&
Dr
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s
t
I
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2088
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u
r
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f
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n
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atio
n
o
f
tr
ai
n
ed
ANN
:
(
a)
R
-
v
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e
,
(
b
)
e
r
r
o
r
h
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to
g
r
am
,
an
d
(
c)
MSE
5.
E
XP
E
R
I
M
E
N
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L
I
M
P
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M
E
N
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h
e
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n
t
r
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ller
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f
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tiv
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n
ess
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alu
ated
ex
p
e
r
im
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tally
o
n
a
SR
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with
n
u
m
b
er
o
f
p
h
ases
(
N
ph
)
as
4
an
d
n
u
m
b
er
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f
s
tato
r
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p
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les
(
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s
/N
r
)
as
8
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as
r
ep
r
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ted
in
Fig
u
r
e
1
3
.
T
h
e
co
n
tr
o
l
l
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g
ic
is
ex
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a
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2
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ller
.
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h
e
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.
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als
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o
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a
d
as
well
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lo
ad
ed
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o
n
d
itio
n
u
s
in
g
PI
co
n
tr
o
ller
.
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h
e
P
an
d
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g
ai
n
s
o
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tain
ed
f
r
o
m
th
e
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im
u
latio
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aly
s
is
is
u
s
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f
o
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p
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d
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tr
o
l
i
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e
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ar
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h
e
tr
ai
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g
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ata
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th
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r
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f
e
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ic
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s
s
h
o
wn
in
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u
r
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s
1
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n
d
1
4
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b
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.
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r
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n
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with
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p
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co
n
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at
n
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h
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wn
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Fig
u
r
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1
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.
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e
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am
e
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eth
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o
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d
ata
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llectio
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also
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h
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u
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m
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8
Nm
ar
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Fig
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r
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1
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a
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n
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tr
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n
d
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is
s
h
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in
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u
r
e
1
6
(
b
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.
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ep
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r
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1
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(
b
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,
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n
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n
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ly
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m
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ar
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o
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Fig
u
r
e
1
5
)
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n
d
er
s
am
e
s
p
ee
d
co
n
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itio
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s
with
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n
tr
o
l
ler
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o
m
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ar
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g
le
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u
n
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er
l
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itio
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f
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co
n
tr
o
ller
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d
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n
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in
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u
r
e
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(
b
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p
r
o
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es
th
at
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s
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ik
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ch
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r
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h
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n
s
id
er
ab
ly
r
e
d
u
ce
d
b
y
u
s
in
g
A
NN
co
n
tr
o
ller
.
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
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&
Dr
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t
,
Vo
l.
16
,
No
.
4
,
Dec
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b
er
20
25
:
2243
-
2
2
5
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2252
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r
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[
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]
.
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n
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itio
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u
r
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1
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o
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ates
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u
r
e
1
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.
Har
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(
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Fig
u
r
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1
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.
Data
co
llectio
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s
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d
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tu
r
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-
o
n
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le
u
s
in
g
ANN
co
n
tr
o
l
Evaluation Warning : The document was created with Spire.PDF for Python.