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K
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w
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s
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B
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DC
m
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Fu
zz
y
-
PI
co
n
tr
o
l
Sep
ar
ate
P a
n
d
I
g
ain
c
o
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tr
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s
Sp
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r
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Sp
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r
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latio
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T
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s
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c
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e
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a
rticle
u
n
d
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r th
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CC BY
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
T
r
u
o
n
g
Ph
u
o
c
Ho
a
Po
wer
E
lectr
o
n
ics R
esear
ch
L
ab
o
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ato
r
y
,
Facu
lty
o
f
E
lectr
ica
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d
E
lectr
o
n
ics E
n
g
in
ee
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i
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Ho
C
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i M
in
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C
ity
Un
iv
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s
ity
o
f
T
ec
h
n
o
lo
g
y
(
HC
MU
T
)
VNU
-
HC
M
Ho
C
h
i M
in
h
C
ity
,
Vietn
am
E
m
ail:
tp
h
o
a@
h
cm
u
t.e
d
u
.
v
n
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
er
a
o
f
i
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d
u
s
tr
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m
ad
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s
ig
n
if
ican
t
co
n
tr
ib
u
ti
o
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s
b
y
in
v
en
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m
o
to
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s
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I
n
p
ar
ticu
lar
,
ca
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b
o
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b
r
u
s
h
ed
d
ir
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cu
r
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en
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(
DC
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elec
tr
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m
o
to
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s
ar
e
co
m
m
o
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ly
u
s
ed
with
s
o
m
e
d
is
ad
v
an
tag
es
co
n
ce
r
n
in
g
m
ain
ten
a
n
ce
co
s
ts
an
d
n
o
ap
p
licatio
n
i
n
h
az
ar
d
o
u
s
ar
ea
s
[
1
]
.
As
a
r
esu
lt,
b
r
u
s
h
less
m
o
to
r
s
(
B
L
DC
)
wer
e
d
ev
elo
p
ed
t
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a
d
d
r
ess
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is
s
u
es
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av
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b
ec
o
m
e
a
n
in
cr
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in
g
l
y
cr
iti
ca
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tech
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o
r
elec
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v
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icles
an
d
in
d
u
s
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ial
ap
p
licatio
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.
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o
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tr
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a
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m
o
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e
d
if
f
icu
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an
a
DC
m
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r
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s
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it
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eq
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ir
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ch
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izatio
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ag
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etic
f
ield
with
th
e
r
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to
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p
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itio
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,
th
u
s
r
eq
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ir
in
g
ad
d
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al
r
ec
o
g
n
itio
n
o
f
th
e
m
o
to
r
s
p
ee
d
an
d
p
o
s
itio
n
[
2
]
.
B
L
DC
m
o
to
r
s
ar
e
u
s
ed
in
m
an
y
d
if
f
er
e
n
t
ap
p
licatio
n
s
,
in
clu
d
in
g
h
o
u
s
eh
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ld
ap
p
lian
c
es
s
u
ch
as
wash
in
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m
ac
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es,
d
r
y
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r
s
,
a
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p
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ess
o
r
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ip
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t
in
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to
m
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tiv
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i
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u
s
tr
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s
u
ch
as
elec
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s
teer
in
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y
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tem
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,
f
u
el
p
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m
p
s
,
elec
tr
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v
eh
icle
en
g
in
es,
an
d
r
o
b
o
tic
a
r
m
s
[
3
]
,
[
4
]
.
Fr
o
m
t
h
e
ab
o
v
e
ap
p
licatio
n
s
,
in
m
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s
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d
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to
d
if
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ce
s
in
m
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lo
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,
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s
p
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will
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ctu
ate
in
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an
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T
h
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n
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ee
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co
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p
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am
ic
ch
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ac
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is
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f
th
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m
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r
is
n
ec
ess
ar
y
to
s
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v
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th
ese
ap
p
licatio
n
s
[
5
]
,
[
6
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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&
Dr
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s
t
I
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N:
2088
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8
6
9
4
E
n
h
a
n
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d
s
p
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eg
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la
tio
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P
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I
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in
co
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fu
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(
Min
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Du
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P
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a
m)
2281
A
class
ical
co
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tr
o
ller
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s
u
ch
as
p
r
o
p
o
r
tio
n
al
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ter
esis
co
n
tr
o
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s
,
wo
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k
s
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th
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lo
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alg
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ith
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ased
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b
ac
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s
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g
m
ea
s
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r
em
e
n
t
d
ev
ices
[
7
]
-
[
9
]
.
B
u
t
th
ese
c
o
n
v
e
n
tio
n
al
co
n
tr
o
ller
s
a
r
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n
o
t
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f
ec
tiv
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with
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ar
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n
in
s
p
e
ed
,
s
en
s
itiv
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d
s
p
ar
am
eter
ch
an
g
es
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d
n
o
n
-
lin
ea
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s
y
s
tem
s
.
Als
o
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th
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o
f
ten
s
u
f
f
e
r
f
r
o
m
p
o
o
r
d
is
tu
r
b
an
ce
r
ejec
tio
n
an
d
h
a
v
e
th
e
p
o
ten
tial
to
h
av
e
a
lo
n
g
r
esp
o
n
s
e
tim
e.
T
h
er
ef
o
r
e,
it
is
n
ee
d
ed
to
r
esear
c
h
an
im
p
r
o
v
ed
co
n
tr
o
l a
lg
o
r
ith
m
f
o
r
th
e
B
L
DC
m
o
to
r
.
C
u
r
r
en
tly
,
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
(
PI)
c
o
n
tr
o
ller
s
a
r
e
b
ei
n
g
wid
ely
ap
p
lied
in
m
an
y
tech
n
ical
f
ield
s
th
an
k
s
to
th
eir
s
im
p
licity
,
d
u
r
ab
ilit
y
,
an
d
th
e
ab
ilit
y
to
ea
s
ily
ad
ju
s
t
co
n
tr
o
l
p
a
r
am
eter
s
[
1
0
]
.
Ho
we
v
er
,
PI
co
n
tr
o
ller
s
also
h
av
e
s
ig
n
if
ica
n
t
d
is
ad
v
an
tag
es.
C
o
n
tr
o
ller
p
ar
am
eter
s
elec
tio
n
m
eth
o
d
s
s
u
ch
as
th
e
Z
ieg
ler
–
Nich
o
ls
law
m
ay
n
o
t
g
u
ar
a
n
tee
h
ig
h
–
s
p
ee
d
p
er
f
o
r
m
an
ce
an
d
r
esp
o
n
s
e
[
1
1
]
.
I
n
ad
d
itio
n
,
co
n
v
e
n
tio
n
al
PI
co
n
tr
o
ller
s
h
av
e
f
ix
ed
p
ar
am
eter
s
,
lead
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g
to
th
e
s
y
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tem
b
ein
g
ea
s
ily
u
n
s
tab
le
to
ex
ter
n
al
in
f
lu
en
ce
s
an
d
lack
in
g
a
d
ap
tab
ilit
y
[
1
2
]
.
T
h
e
au
th
o
r
s
in
[
1
3
]
p
r
esen
t
a
th
ir
d
-
h
ar
m
o
n
ic
v
o
ltag
e
co
m
b
in
ed
with
a
PLL
-
b
ased
p
o
s
itio
n
esti
m
ato
r
to
ac
h
iev
e
a
wid
e
-
s
p
ee
d
c
o
n
tr
o
l
r
an
g
e
,
b
u
t
it
r
eq
u
ir
es
a
s
tar
t
-
u
p
r
o
u
tin
e
at
v
er
y
lo
w
s
p
ee
d
an
d
ca
r
ef
u
l PL
L
tu
n
in
g
.
An
o
th
er
s
tu
d
y
p
r
esen
ts
a
f
u
zz
y
s
p
ee
d
co
n
tr
o
ller
in
te
g
r
ated
with
a
f
r
o
n
t
-
en
d
PF
C
C
u
k
co
n
v
er
ter
[
1
4
]
.
Nev
er
th
eless
,
it
em
p
h
asizes
p
o
wer
-
q
u
ality
c
o
n
d
itio
n
in
g
a
n
d
r
ep
o
r
ts
p
r
im
ar
ily
s
im
u
latio
n
r
esu
lts
with
o
u
t
a
n
in
n
er
d
q
-
FOC
s
p
ee
d
co
n
tr
o
l
lo
o
p
.
T
h
ese
m
eth
o
d
s
s
till
h
av
e
s
o
m
e
is
s
u
es,
s
u
ch
as
r
elian
ce
o
n
f
ix
e
d
PI
g
ai
n
s
an
d
a
lac
k
o
f
h
ar
d
war
e
v
alid
a
tio
n
u
n
d
er
d
if
f
er
e
n
t
s
p
ee
d
c
o
m
m
an
d
s
.
So
m
e
co
n
v
en
tio
n
al
m
eth
o
d
s
h
a
v
e
b
ee
n
p
r
esen
ted
to
im
p
r
o
v
e
B
L
DC
m
o
to
r
co
n
tr
o
l
p
er
f
o
r
m
an
ce
.
F
o
r
ex
am
p
le,
g
en
etic
alg
o
r
ith
m
s
(
GA)
h
av
e
b
ee
n
u
tili
ze
d
f
o
r
o
p
tim
izin
g
co
n
t
r
o
l
p
ar
am
eter
s
,
b
u
t
th
e
y
r
eq
u
i
r
e
o
f
f
lin
e
ev
alu
atio
n
an
d
a
r
e
h
a
r
d
to
im
p
lem
en
t
i
n
r
ea
l
-
tim
e
ap
p
licatio
n
s
[
1
5
]
,
[
1
6
]
.
T
h
e
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
SMC
)
m
eth
o
d
p
r
o
v
id
es
r
o
b
u
s
tn
ess
ag
ain
s
t
p
ar
am
eter
v
ar
iatio
n
s
,
b
u
t
it
o
f
ten
in
tr
o
d
u
ce
s
c
h
atter
in
g
,
w
h
ich
ca
n
ca
u
s
e
m
o
to
r
n
o
is
e
[
1
7
]
.
Similar
ly
,
H
-
in
f
in
ity
co
n
tr
o
ller
s
p
r
o
v
id
e
s
tab
ilit
y
u
n
d
er
d
is
tu
r
b
a
n
ce
s
b
u
t
it
o
f
ten
r
esu
lts
in
h
ig
h
-
o
r
d
er
co
n
tr
o
ller
s
an
d
r
eq
u
ir
es
ca
r
e
f
u
l
s
elec
tio
n
o
f
weig
h
tin
g
f
u
n
ctio
n
s
[
1
8
]
.
T
h
e
s
e
m
eth
o
d
s
s
till
f
ac
e
is
s
u
es
s
u
ch
as
t
h
e
n
ee
d
f
o
r
d
etailed
m
o
d
els
an
d
tu
n
in
g
e
x
p
er
tis
e,
wh
ich
a
d
d
s
im
p
lem
e
n
tatio
n
co
m
p
lex
ity
a
n
d
p
o
ten
tial
in
co
m
p
atib
ilit
y
with
ex
is
tin
g
f
ix
ed
-
g
ain
PI
s
y
s
tem
s
.
Fo
r
to
r
q
u
e
r
ip
p
le,
s
witch
in
g
-
t
ab
le
to
r
q
u
e
c
o
n
tr
o
l
with
m
u
lti
-
s
lo
p
e
v
ec
to
r
s
elec
tio
n
r
ed
u
ce
s
r
ip
p
le
with
o
u
t
tim
e
-
d
u
r
atio
n
o
p
tim
izatio
n
,
th
u
s
av
o
id
in
g
th
e
h
ig
h
c
o
m
p
u
tatio
n
al
co
s
t
o
f
p
r
ed
ictiv
e/h
y
b
r
id
co
n
tr
o
ller
s
[
1
9
]
.
An
o
th
er
s
tu
d
y
p
r
esen
ts
f
u
zz
y
-
PI
tu
n
ed
b
y
PS
O
im
p
r
o
v
es
s
p
ee
d
tr
a
n
s
ien
t
an
d
d
am
p
i
n
g
co
m
p
ar
ed
with
f
ix
ed
-
g
ain
PI,
wh
en
in
teg
r
al
o
f
tim
e
-
weig
h
ted
ab
s
o
lu
te
er
r
o
r
is
u
s
ed
as
an
o
b
jectiv
e
[
2
0
]
.
Nev
er
th
eless
,
th
e
m
u
lti
-
s
lo
p
e
v
ec
to
r
s
elec
tio
n
is
s
en
s
itiv
e
to
to
r
q
u
e/f
lu
x
esti
m
atio
n
er
r
o
r
,
a
n
d
PS
O
-
tu
n
e
d
f
u
zz
y
-
PI
ty
p
ically
r
elies
o
n
o
f
f
lin
e
o
p
tim
izatio
n
a
n
d
a
f
i
x
ed
r
u
le
b
ase,
s
o
its
p
er
f
o
r
m
a
n
ce
ca
n
d
eg
r
ad
e
u
n
d
e
r
s
h
if
ted
o
p
er
atin
g
p
o
in
t
.
Ad
d
it
io
n
ally
,
m
o
d
el
p
r
e
d
ictiv
e
co
n
t
r
o
l
(
MPC
)
o
f
f
er
s
ad
v
an
ce
d
c
o
n
tr
o
l
b
y
p
r
ed
ictin
g
f
u
tu
r
e
m
o
to
r
b
eh
a
v
io
r
.
Ho
w
ev
er
,
it
r
e
q
u
ir
es
p
r
ec
is
e
an
d
p
r
io
r
k
n
o
wled
g
e
o
f
th
e
s
y
s
tem
m
o
d
el
a
n
d
p
ar
am
eter
s
,
m
ak
in
g
it less
ef
f
ec
tiv
e
in
s
y
s
tem
s
with
h
ig
h
u
n
c
er
tain
ty
o
r
v
ar
iab
ilit
y
[
2
1
]
,
[
2
2
]
.
I
n
th
is
p
ap
er
,
th
e
s
ep
ar
ated
P a
n
d
I
g
ain
co
n
t
r
o
ller
s
in
a
f
u
zz
y
-
PI
f
r
am
ewo
r
k
ar
e
p
r
o
p
o
s
ed
f
o
r
s
ev
er
al
k
ey
a
d
v
an
tag
es.
T
h
ey
d
o
n
o
t
r
eq
u
ir
e
a
n
ac
cu
r
ate
s
y
s
tem
m
o
d
el,
m
a
k
in
g
it
s
u
itab
l
e
f
o
r
th
e
n
o
n
lin
ea
r
ch
ar
ac
ter
is
tics
o
f
B
L
D
C
m
o
to
r
s
[
2
3
]
.
I
n
ad
d
itio
n
,
th
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
u
s
es
two
f
u
z
zy
lo
g
ic
co
n
tr
o
ller
s
in
s
tead
o
f
o
n
e
co
n
t
r
o
ller
t
o
a
d
ap
tiv
ely
a
d
ju
s
t
th
e
p
r
o
p
o
r
tio
n
al
an
d
in
teg
r
al
g
ain
s
b
ased
o
n
th
e
er
r
o
r
an
d
its
d
er
iv
ativ
e.
T
h
e
u
s
e
o
f
two
s
ep
ar
ate
f
u
zz
y
co
n
t
r
o
ller
en
h
an
ce
s
th
e
co
n
tr
o
ller
r
esp
o
n
s
e
an
d
s
tab
ilit
y
.
I
n
in
d
u
s
tr
ial
wo
r
k
in
g
co
n
d
itio
n
s
,
th
e
B
L
D
C
m
o
to
r
u
s
u
all
y
o
p
er
ates
u
n
d
er
s
ig
n
if
ican
t
s
witch
in
g
n
o
is
e,
elec
tr
o
m
ag
n
etic
in
ter
f
er
en
ce
,
an
d
b
ac
k
E
MF
f
lu
ct
u
atio
n
s
,
wh
ich
r
ed
u
ce
th
e
c
o
n
tr
o
l
ac
c
u
r
ac
y
.
I
n
a
d
d
itio
n
t
o
th
e
ad
ap
tiv
e
f
u
zz
y
-
PI
co
n
tr
o
l,
th
is
s
tu
d
y
ad
o
p
ts
a
m
ed
ian
f
ilter
to
f
ilter
o
u
t
th
e
B
L
DC
m
o
to
r
cu
r
r
e
n
t
s
ig
n
al
f
r
o
m
p
u
ls
e
n
o
is
e
o
r
s
p
ik
es.
T
h
is
en
h
an
ce
m
en
t
en
s
u
r
es
a
cl
ea
n
er
cu
r
r
e
n
t
s
ig
n
al
th
at
im
p
r
o
v
es
ac
cu
r
ate
an
d
co
n
tr
o
l r
esp
o
n
s
es in
n
o
is
y
in
d
u
s
tr
ial
co
n
d
itio
n
s
.
T
h
e
f
ea
s
ib
ilit
y
o
f
th
e
f
u
zz
y
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
is
ev
alu
ated
th
r
o
u
g
h
MA
T
L
AB
-
Simu
lin
k
s
im
u
latio
n
s
u
n
d
er
v
ar
i
o
u
s
co
n
d
itio
n
s
.
No
is
e
an
d
s
p
ik
es
ar
e
also
em
u
lated
in
th
e
s
im
u
l
atio
n
s
to
ass
ess
th
e
s
y
s
tem
n
o
is
e
r
ejec
tio
n
p
er
f
o
r
m
an
ce
,
d
em
o
n
s
tr
atin
g
th
e
ef
f
e
ctiv
en
ess
o
f
t
h
e
s
ep
ar
ated
P
a
n
d
I
g
ai
n
c
o
n
tr
o
ller
s
in
a
f
u
zz
y
-
PI
f
r
am
ewo
r
k
with
a
m
ed
ian
f
ilter
.
I
n
ad
d
itio
n
,
ex
p
er
im
en
tal
v
alid
atio
n
is
ca
r
r
ied
o
u
t
u
s
in
g
B
L
DC
p
r
o
to
ty
p
e,
T
ex
as
I
n
s
tr
u
m
en
ts
T
MS3
2
0
F2
8
3
7
9
D
m
icr
o
co
n
tr
o
ller
.
A
s
er
ies
o
f
ex
p
er
im
en
tal
s
ce
n
ar
io
s
ar
e
ex
am
in
ed
to
ev
alu
ate
th
e
c
o
n
tr
o
l p
er
f
o
r
m
an
ce
w
h
en
r
e
f
er
en
c
e
s
p
ee
d
s
ar
e
ch
an
g
ed
ab
r
u
p
tly
.
2.
M
AT
H
E
M
AT
I
CA
L
M
O
D
E
L
O
F
B
L
D
C
2
.
1
.
B
L
DC
m
a
t
hema
t
ics m
o
del
I
n
th
is
s
ec
tio
n
,
th
e
m
ath
em
atica
l
m
o
d
el
o
f
th
e
B
L
DC
m
o
to
r
an
d
its
n
o
n
lin
ea
r
ity
ar
e
ex
a
m
in
ed
.
As
d
ep
icted
in
th
e
cr
o
s
s
-
s
ec
tio
n
al
v
iew
o
f
a
B
L
D
C
m
o
to
r
in
Fig
u
r
e
1
,
AX,
B
Y,
an
d
C
Z
r
ep
r
esen
t
th
e
d
is
tin
ct
p
o
le
p
air
s
.
Fig
u
r
e
2
illu
s
tr
ates
th
e
r
elatio
n
s
h
ip
am
o
n
g
t
h
e
p
h
ase
v
o
ltag
e
eq
u
atio
n
s
o
f
ea
c
h
win
d
in
g
.
B
ec
au
s
e
th
e
th
r
ee
p
h
ases
ar
e
id
en
tical,
f
o
r
s
im
p
lific
atio
n
,
o
n
ly
p
h
as
e
A
is
an
aly
ze
d
.
T
h
e
p
h
ase
-
to
-
g
r
o
u
n
d
v
o
ltag
e
in
p
h
ase
A
ca
n
b
e
e
x
p
r
ess
ed
as:
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
:
2280
-
2
2
9
5
2282
=
=
+
,
(
1
)
W
h
e
r
e
is
p
h
ase
v
o
lt
ag
e;
is
p
h
ase
c
u
r
r
en
t;
is
p
h
ase
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i
n
d
u
ce
d
E
MF,
an
d
is
p
h
ase
r
es
is
ta
n
c
e.
T
h
e
f
l
u
x
in
(
1
)
c
an
b
e
w
r
itt
e
n
as
(
2
)
:
{
=
=
+
+
+
(
)
,
(
2
)
wh
er
e
is
p
er
m
an
en
t
m
ag
n
et
(
PM)
f
lu
x
lin
k
ag
e
o
f
p
h
ase
A;
is
th
e
p
o
s
itio
n
an
g
le
o
f
th
e
r
o
to
r
;
is
th
e
s
elf
-
in
d
u
ctan
ce
o
f
p
h
ase
A;
a
n
d
,
ar
e
m
u
tu
al
in
d
u
ctan
ce
o
f
p
h
ase
A
with
p
h
ase
B
a
n
d
p
h
a
s
e
C
.
T
h
e
m
ag
n
itu
d
e
o
f
(
)
d
ep
en
d
s
o
n
th
e
m
ag
n
etic
f
ield
d
is
tr
ib
u
tio
n
o
f
PM
in
th
e
air
g
ap
.
W
h
en
th
e
r
o
to
r
r
o
tates
an
ticlo
ck
wis
e,
th
e
ef
f
ec
tiv
e
f
lu
x
in
p
h
ase
A
ch
an
g
es
r
elativ
e
to
th
e
r
o
to
r
p
o
s
itio
n
.
T
h
en
,
s
u
b
s
titu
tin
g
(
2
)
in
t
o
(
1
)
r
esu
lts
in
(
3
)
.
=
+
(
+
+
)
+
(
3
)
W
h
er
e
r
ep
r
esen
ts
th
e
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
(
b
ac
k
-
E
MF)
f
o
r
p
h
ase
A
in
a
PM
S
M.
B
ec
au
s
e
o
f
th
e
b
alan
ce
d
t
h
r
ee
p
h
ases
,
th
e
m
u
tu
al
in
d
u
ctio
n
o
f
th
e
t
h
r
e
e
p
h
ases
is
th
e
s
am
e
=
=
=
.
B
ec
au
s
e
th
e
s
tato
r
h
as
a
Y
-
co
n
n
ec
ted
,
th
e
r
elatio
n
s
h
ip
o
f
p
h
ase
cu
r
r
e
n
t
is
estab
lis
h
ed
+
=
−
,
a
n
d
th
e
(
3
)
is
th
en
s
im
p
lifie
d
as:
=
+
(
−
)
+
(
4
)
T
h
e
b
ac
k
-
E
MF
is
also
d
ef
in
e
d
ac
co
r
d
i
n
g
to
[
2
4
]
:
=
2
(
)
=
(
)
(
5
)
W
h
er
e
an
d
ar
e
th
e
m
ax
im
u
m
v
alu
es
o
f
PM
d
en
s
ity
d
is
tr
ib
u
tio
n
i
n
air
g
ap
a
n
d
f
lu
x
lin
k
ag
e
o
f
ea
ch
win
d
in
g
,
=
2
;
(
)
is
b
ac
k
-
E
MF
wav
e
f
o
r
m
f
u
n
ctio
n
o
f
p
h
ase
A.
E
x
ten
d
in
g
f
r
o
m
p
h
ase
A
to
th
r
ee
p
h
ases
,
th
e
m
atr
ix
f
o
r
m
o
f
p
h
ase
-
to
-
p
h
ase
v
o
ltag
e
in
(
6
)
ca
n
b
e
o
b
tain
ed
as:
[
]
=
[
−
0
0
−
−
0
]
[
]
+
[
−
−
0
0
−
−
−
0
−
]
[
]
+
[
−
−
−
]
(
6
)
F
r
o
m
t
h
e
m
a
t
r
i
x
i
n
(
6
)
,
t
h
e
s
i
m
p
l
e
c
i
r
c
u
it
i
n
c
l
u
d
i
n
g
r
e
s
is
t
a
n
c
e
,
i
n
d
u
c
t
a
n
c
e
,
a
n
d
b
a
c
k
E
M
F
i
s
s
h
o
w
n
i
n
F
i
g
u
r
e
2
.
I
n
F
i
g
u
r
e
2
,
i
t
ca
n
b
e
s
e
e
n
t
h
a
t
t
h
e
s
t
a
t
o
r
c
u
r
r
e
n
t
is
t
h
e
p
o
s
s
i
b
l
e
c
o
n
t
r
o
l
v
a
r
i
a
b
le
i
n
t
h
e
B
L
DC
s
y
s
te
m
.
(
a)
(
b
)
Fig
u
r
e
1
.
B
L
DC
cr
o
s
s
-
s
ec
tio
n
al
v
iew
an
d
s
ch
em
atic:
(
a)
cr
o
s
s
-
s
ec
tio
n
al
v
iew
an
d
(
b
)
B
L
DC
s
c
h
em
atic
d
iag
ra
m
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
E
n
h
a
n
ce
d
s
p
ee
d
r
eg
u
la
tio
n
u
s
in
g
s
ep
a
r
a
te
P
a
n
d
I
g
a
in
co
n
t
r
o
ller
s
in
a
fu
z
z
y
-
PI
…
(
Min
h
Du
c
P
h
a
m)
2283
Fig
u
r
e
2
.
T
h
e
s
im
p
lifie
d
eq
u
iv
alen
t c
ir
cu
it o
f
B
L
DC
m
o
to
r
2
.
2
.
Dy
na
m
ic
B
L
DC
m
a
t
hem
a
t
ics mo
del
B
L
DC
m
o
to
r
p
er
f
o
r
m
a
n
ce
,
lik
e
DC
m
o
to
r
s
,
ca
n
b
e
ass
ess
ed
v
ia
en
er
g
y
tr
an
s
f
er
.
Po
we
r
f
r
o
m
th
e
s
o
u
r
ce
is
m
ain
ly
tr
an
s
f
er
r
ed
t
o
th
e
r
o
t
o
r
elec
tr
o
m
a
g
n
etica
ll
y
,
g
en
e
r
atin
g
to
r
q
u
e,
with
s
o
m
e
lo
s
s
es
in
co
p
p
er
an
d
ir
o
n
.
T
h
is
elec
tr
o
m
ag
n
etic
p
o
wer
eq
u
als
th
e
s
u
m
o
f
ea
ch
p
h
ase
cu
r
r
en
t
m
u
ltip
lied
b
y
its
b
ac
k
-
EMF
,
wh
ich
is
ca
lcu
lated
as
(
7
)
.
=
+
+
(
7
)
I
g
n
o
r
i
n
g
th
e
m
ec
h
an
ical
lo
s
s
an
d
s
tr
ay
lo
s
s
,
th
e
elec
tr
o
m
ag
n
etic
p
o
wer
is
to
tally
tu
r
n
ed
i
n
to
k
in
etic
en
er
g
y
a
n
d
ca
n
b
e
r
ep
r
esen
ted
as:
=
=
+
+
,
(
8
)
w
h
er
e
r
ep
r
esen
ts
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
r
ep
r
esen
ts
an
g
u
lar
v
elo
city
o
f
r
o
tatio
n
.
Su
b
s
t
itu
tin
g
in
(
5
)
in
to
(
8
)
with
p
is
p
o
le
p
air
s
,
th
e
t
o
r
q
u
e
(
9
)
ca
n
b
e
r
ep
r
esen
ted
a
s
:
=
[
(
)
+
(
)
+
(
)
]
,
(
9
)
T
o
f
u
lly
d
escr
ib
e
th
e
elec
tr
o
m
ec
h
an
ical
s
y
s
tem
m
ath
em
atica
lly
in
Fig
u
r
e
3
,
th
e
m
o
tio
n
e
q
u
atio
n
is
estab
lis
h
ed
:
−
=
+
,
(
1
0
)
wh
er
e
is
th
e
lo
ad
to
r
q
u
e;
is
r
o
to
r
m
o
m
en
t o
f
in
er
tia
an
d
is
v
is
co
u
s
f
r
ictio
n
co
e
f
f
icien
t.
Fro
m
(
1
0
)
,
th
e
p
h
ase
cu
r
r
e
n
ts
,
,
ch
an
g
e,
th
e
elec
tr
o
m
a
g
n
eti
c
to
r
q
u
e
will
v
ar
y
an
d
ch
an
g
e
s
in
th
e
m
o
to
r
s
p
ee
d
.
I
n
d
if
f
er
e
n
t
o
p
er
atin
g
co
n
d
itio
n
s
wh
er
e
th
e
m
o
m
e
n
t
o
f
i
n
er
tia
an
d
t
h
e
v
is
co
u
s
f
r
ictio
n
co
ef
f
icien
t
ex
h
ib
it
n
o
n
lin
e
ar
b
eh
av
io
r
,
an
y
ch
an
g
e
in
m
u
s
t
ad
ap
t
to
r
ef
lect
th
ese
n
o
n
lin
ea
r
ch
ar
ac
ter
is
tics
.
T
h
is
h
ig
h
lig
h
ts
th
e
lim
itatio
n
o
f
co
n
v
en
tio
n
al
lin
ea
r
co
n
tr
o
ller
s
with
f
ix
ed
g
ain
as
th
ey
s
tr
u
g
g
le
to
m
a
n
ag
e
th
e
B
L
DC
s
p
ee
d
ef
f
ec
tiv
ely
u
n
d
e
r
co
m
p
lex
an
d
v
ar
ied
c
o
n
d
itio
n
s
.
Fig
u
r
e
3
.
Simp
lifie
d
r
o
tatio
n
al
s
y
s
tem
with
lo
ad
e
T
m
L
T
M
o
t
o
r
L
o
a
d
v
B
J
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
:
2280
-
2
2
9
5
2284
3.
I
NNE
R
F
I
E
L
D
O
RIE
NT
E
D
CO
NT
RO
L
L
O
O
P
AND
T
H
E
O
UT
E
R
CO
NV
E
N
T
I
O
NAL
SPE
E
D
CO
NT
RO
L
B
AS
E
D
O
N
A
L
I
NE
A
R
C
O
NT
RO
L
L
E
R
3
.
1
.
I
nn
er
F
O
C
co
ntr
o
l lo
o
p
T
r
an
s
f
o
r
m
in
g
th
e
cu
r
r
en
ts
in
t
o
th
e
d
q
f
r
a
m
e
s
im
p
lifie
s
co
n
tr
o
l
with
o
u
t
lo
s
in
g
th
e
o
r
ig
i
n
al
s
y
s
tem
ch
ar
ac
ter
is
tics
.
T
h
is
tr
an
s
f
o
r
m
atio
n
d
ec
o
u
p
les
th
e
f
lu
x
an
d
to
r
q
u
e
co
m
p
o
n
en
ts
,
co
r
r
esp
o
n
d
in
g
to
th
e
s
tato
r
cu
r
r
en
ts
alo
n
g
t
h
e
d
-
a
x
is
an
d
q
-
ax
is
,
r
esp
ec
tiv
ely
,
wh
ich
m
ak
es
m
an
ag
in
g
t
h
e
s
y
s
tem
ea
s
ier
b
y
allo
win
g
f
o
r
s
ep
ar
ate
co
n
tr
o
l
o
f
t
h
e
f
lu
x
an
d
to
r
q
u
e
co
m
p
o
n
e
n
ts
[
2
5
]
.
In
(
1
1
)
s
h
o
ws
h
o
w
th
e
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
is
co
n
tr
o
lled
in
th
e
d
q
f
r
am
e
.
=
3
2
[
+
(
−
)
]
(
1
1
)
I
n
(
1
1
)
,
t
h
e
t
o
r
q
u
e
d
e
p
en
d
s
o
n
th
e
s
tato
r
f
lu
x
lin
k
a
g
e
(
)
an
d
th
e
c
u
r
r
e
n
t
alo
n
g
th
e
q
-
ax
is
(
)
,
with
a
co
u
p
lin
g
ter
m
in
v
o
lv
i
n
g
th
e
d
-
a
x
is
cu
r
r
en
t
(
)
,
an
d
is
n
u
m
b
er
o
f
p
o
le
p
air
s
.
I
n
th
e
in
n
er
FOC
co
n
tr
o
l
lo
o
p
,
th
e
q
-
a
x
is
cu
r
r
en
t
(
)
is
co
n
tr
o
lled
to
r
eg
u
la
te
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
wh
ile
d
-
ax
is
cu
r
r
en
t (
)
is
u
s
u
ally
s
et
to
ze
r
o
to
m
in
im
ize
lo
s
s
es
an
d
s
im
p
li
f
y
co
n
tr
o
l.
B
y
r
eg
u
latin
g
to
(
=
0
)
,
t
h
e
(
1
1
)
b
ec
o
m
es
=
3
2
.
T
h
e
in
n
e
r
FOC
co
n
tr
o
l
eq
u
atio
n
f
o
r
r
e
g
u
lat
in
g
th
e
cu
r
r
en
ts
in
th
e
d
-
q
r
ef
er
en
ce
f
r
am
e
is
ex
p
r
ess
ed
in
(
1
2
)
:
{
_
=
(
0
−
)
+
∫
(
0
−
)
_
=
(
−
)
+
∫
(
−
)
(
1
2
)
wh
er
e
is
s
et
at
0
,
an
d
an
d
ar
e
co
n
tr
o
l g
ain
s
,
r
esp
ec
tiv
ely
.
T
h
e
in
n
er
FOC
co
n
tr
o
l
lo
o
p
r
e
g
u
lates
an
d
th
o
u
g
h
th
e
co
r
r
esp
o
n
d
i
n
g
d
q
v
o
ltag
es
_
an
d
_
.
T
h
ey
ar
e
f
ed
in
to
t
h
e
s
p
ac
e
v
ec
to
r
Pu
ls
e
W
id
th
Mo
d
u
latio
n
(
SVPW
M)
b
lo
ck
to
g
en
er
ate
th
e
p
u
ls
e
s
ig
n
als f
o
r
th
e
B
L
DC
in
v
er
ter
d
r
i
v
er
[
2
6
]
.
3
.
2
.
O
ute
r
co
nv
ent
io
na
l sp
ee
d c
o
ntr
o
l
b
a
s
ed
o
n
a
lin
ea
r
c
o
ntr
o
ller
B
y
u
s
i
n
g
t
h
e
F
OC
c
o
n
t
r
o
l
l
o
o
p
,
t
h
e
r
e
l
a
ti
o
n
s
h
i
p
b
e
t
we
e
n
a
n
d
m
o
t
o
r
s
p
e
e
d
i
s
e
x
p
r
e
s
s
e
d
a
s
(
1
3
)
.
=
2
3
(
+
+
)
(
1
3
)
T
h
is
(
1
3
)
s
h
o
ws
th
at
th
e
q
-
ax
i
s
cu
r
r
en
t
(
)
in
s
tato
r
ca
n
b
e
u
s
ed
to
co
n
tr
o
l
t
h
e
m
ec
h
a
n
ical
m
o
to
r
s
p
ee
d
.
B
y
co
n
tr
o
llin
g
,
th
e
co
n
tr
o
ller
ca
n
d
ir
ec
tly
r
eg
u
late
th
e
m
o
to
r
s
p
ee
d
(
)
.
T
h
e
co
n
v
e
n
tio
n
al
PI
co
n
tr
o
ller
in
th
e
s
p
ee
d
co
n
tr
o
l
lo
o
p
is
d
esig
n
e
d
to
m
in
im
ize
th
e
er
r
o
r
b
etwe
e
n
th
e
r
ef
er
en
ce
s
p
ee
d
(
)
an
d
t
h
e
ac
tu
al
s
p
ee
d
(
)
.
T
h
e
c
o
n
tr
o
ller
in
(
1
4
)
is
d
ef
in
ed
as
(
1
4
)
.
_
=
+
∫
(
1
4
)
wh
er
e
(
=
−
)
.
T
h
e
c
o
n
v
e
n
tio
n
al
PI
c
o
n
tr
o
ller
ca
n
b
e
r
ep
r
esen
ted
in
b
o
th
th
e
S
-
d
o
m
ain
a
n
d
th
e
Z
-
d
o
m
ain
,
as
(
1
5
)
.
{
_
(
)
=
+
;
_
(
)
=
+
2
+
1
−
1
;
(
1
5
)
T
h
e
PI
co
n
tr
o
ller
in
S
d
o
m
a
in
is
u
s
ed
f
o
r
c
o
n
tin
u
o
u
s
-
tim
e
s
y
s
tem
s
to
an
aly
ze
f
r
eq
u
en
cy
r
esp
o
n
s
e
an
d
s
tab
ilit
y
,
an
d
th
e
Z
-
d
o
m
ain
is
ap
p
lied
f
o
r
d
is
cr
ete
-
tim
e
m
icr
o
co
n
tr
o
ller
with
s
am
p
lin
g
p
er
io
d
.
T
h
e
co
n
v
en
tio
n
al
B
L
DC
co
n
tr
o
l
b
l
o
ck
d
iag
r
am
is
s
h
o
wn
in
Fig
u
r
e
4
.
Alth
o
u
g
h
PI
c
o
n
tr
o
ller
s
a
r
e
s
im
p
le
with
s
m
all
c
o
m
p
u
tatio
n
b
u
r
d
e
n
,
th
e
co
n
v
en
tio
n
al
PI
co
n
tr
o
ller
h
as
s
o
m
e
lim
itatio
n
s
.
First,
th
e
f
ix
ed
p
r
o
p
o
r
tio
n
al
(
)
an
d
in
t
eg
r
al
(
)
g
ain
s
ar
e
ty
p
ically
tu
n
ed
f
o
r
s
p
ec
if
ic
o
p
er
atin
g
s
p
ee
d
co
n
d
itio
n
.
T
h
is
m
ak
es
it
less
ef
f
ec
tiv
e
u
n
d
er
v
ar
y
in
g
lo
a
d
s
o
r
s
p
ee
d
r
ef
e
r
en
ce
s
,
wh
ich
m
ay
ca
u
s
e
h
ig
h
s
p
ee
d
o
v
e
r
s
h
o
o
t
an
d
u
n
d
er
s
h
o
o
t.
Ad
d
itio
n
ally
,
th
e
f
ix
ed
I
co
n
tr
o
ller
m
a
y
n
o
t
b
e
s
en
s
itiv
e
to
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
wh
ich
in
cr
ea
s
e
th
e
s
ett
lin
g
tim
es
wh
en
th
e
s
p
ee
d
r
ef
er
en
ce
s
u
d
d
en
ly
ch
an
g
es.
Fu
r
th
er
m
o
r
e
,
m
ay
n
o
t
b
e
id
ea
l
(
=
0
)
d
u
e
to
n
o
is
e
in
m
ea
s
u
r
em
e
n
ts
an
d
lim
ited
co
n
tr
o
ller
b
an
d
wid
th
,
s
o
th
at
th
e
s
y
s
tem
ch
ar
ac
ter
is
tics
b
ec
o
m
e
n
o
n
lin
ea
r
.
T
h
ese
lim
itatio
n
s
h
ig
h
lig
h
t
th
e
n
ee
d
f
o
r
ad
ap
tiv
e
co
n
tr
o
l
s
tr
ateg
ies,
s
u
ch
as
th
e
f
u
zz
y
-
PI
co
n
tr
o
ller
,
to
im
p
r
o
v
e
p
er
f
o
r
m
a
n
ce
u
n
d
e
r
d
y
n
a
m
ic
co
n
d
itio
n
s
an
d
d
is
tu
r
b
an
ce
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
E
n
h
a
n
ce
d
s
p
ee
d
r
eg
u
la
tio
n
u
s
in
g
s
ep
a
r
a
te
P
a
n
d
I
g
a
in
co
n
t
r
o
ller
s
in
a
fu
z
z
y
-
PI
…
(
Min
h
Du
c
P
h
a
m)
2285
Fig
u
r
e
4.
C
o
n
v
en
tio
n
al
PI
c
o
n
tr
o
ller
f
o
r
s
p
ee
d
r
e
g
u
latio
n
4.
P
RO
P
O
SE
D
E
NH
ANC
E
D
SPEE
D
RE
G
U
L
A
T
I
O
N
USI
NG
SE
P
A
RAT
E
P
AND
I
G
AIN
CO
NT
RO
L
L
E
RS I
N
F
UZ
Z
Y
-
P
I
F
RAM
E
WO
RK
4
.
1
.
B
a
s
ic
idea
o
f
pr
o
po
s
ed
enha
nced
s
peed
r
eg
ula
t
io
n
T
o
o
v
er
c
o
m
e
th
e
co
n
v
en
tio
n
al
PI
is
s
u
e,
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
u
tili
ze
s
two
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
s
(
FLCs
)
,
wh
ich
is
k
n
o
wn
f
o
r
th
eir
r
o
b
u
s
tn
ess
to
ad
d
r
ess
th
e
s
y
s
tem
u
n
ce
r
tain
ties
an
d
n
o
n
li
n
ea
r
ch
ar
ac
ter
is
tics
.
FLC
d
o
es
n
o
t
r
eq
u
ir
e
an
ac
cu
r
ate
m
ath
em
atica
l
m
o
d
el
o
f
th
e
s
y
s
tem
,
s
o
it
i
s
s
u
itab
le
f
o
r
B
L
DC
m
o
to
r
d
r
iv
e
with
u
n
ce
r
tain
ties
an
d
n
o
n
li
n
ea
r
ch
ar
ac
te
r
is
tics
.
T
h
e
f
u
zz
y
co
n
tr
o
ller
r
u
le
-
b
ased
s
y
s
tem
allo
ws
it
to
co
n
tin
u
o
u
s
ly
ad
a
p
t
th
e
s
p
ee
d
er
r
o
r
,
a
n
d
its
d
er
iv
ativ
e
b
as
ed
o
n
th
e
r
ea
l
-
tim
e
f
ee
d
b
ac
k
.
I
n
s
tead
o
f
u
s
in
g
a
s
in
g
le
f
u
zz
y
co
n
tr
o
ller
to
ad
ju
s
t
b
o
th
p
r
o
p
o
r
tio
n
al
an
d
in
teg
r
al
g
ain
s
s
im
u
ltan
eo
u
s
ly
,
th
is
ap
p
r
o
ac
h
em
p
lo
y
s
two
s
ep
ar
ate
f
u
zz
y
l
o
g
ic
co
n
tr
o
ller
s
f
o
r
ad
a
p
tiv
ely
ad
j
u
s
tin
g
th
e
p
r
o
p
o
r
tio
n
al
(
)
an
d
in
teg
r
a
l (
)
g
ain
s
.
4
.
2
.
T
he
a
do
ptio
n
o
f
media
n f
ilte
r
in B
L
DC
curr
e
nt
f
ilte
ring
Ad
d
itio
n
ally
,
th
e
m
ed
ian
f
ilter
is
in
teg
r
ated
at
th
e
in
p
u
t
o
f
t
h
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
to
e
n
h
an
ce
th
e
n
o
is
e
r
ejec
tio
n
.
A
s
in
u
s
o
id
a
l
wav
e
with
an
am
p
litu
d
e
o
f
1
an
d
2
0
0
s
am
p
les
p
er
p
er
io
d
s
er
v
es
as
a
r
ep
r
esen
tativ
e
ex
am
p
le
f
o
r
a
f
ee
d
b
ac
k
c
u
r
r
en
t
s
ig
n
al.
Fu
n
c
tio
n
p
u
ls
ed
n
o
is
e
is
ad
d
ed
in
t
r
o
d
u
cin
g
im
p
u
ls
iv
e
n
o
is
e
in
to
a
s
ig
n
al
at
a
s
in
g
le
t
im
e
s
tep
.
T
o
em
u
late
th
e
p
u
ls
ed
n
o
is
e,
th
e
f
u
n
ctio
n
g
e
n
er
ates
a
r
a
n
d
o
m
n
u
m
b
er
b
etwe
en
0
an
d
1
.
I
f
th
is
n
u
m
b
er
ex
ce
ed
s
th
e
s
p
ec
if
ied
th
r
esh
o
ld
(
r
an
d
o
m
≥
th
r
esh
o
ld
;
th
r
esh
o
ld
=
0
.
7
)
,
a
p
u
ls
e
o
f
m
ag
n
itu
d
e
(
p
u
ls
e
v
alu
e
=
5
)
is
ad
d
ed
to
t
h
e
s
ig
n
al.
T
h
e
p
o
lar
ity
o
f
th
e
p
u
ls
e
(
p
o
s
itiv
e
o
r
n
eg
ativ
e
)
is
also
r
an
d
o
m
l
y
d
eter
m
in
e
d
.
Ot
h
er
wis
e,
n
o
n
o
is
e
is
ad
d
ed
.
T
h
e
em
u
lated
cu
r
r
en
t sig
n
al
is
th
en
ca
lcu
lated
as:
=
+
;
=
_
=
±
5
(
1
6
)
T
h
e
f
u
n
ctio
n
r
etu
r
n
s
th
e
p
o
ten
tially
n
o
is
e
-
co
r
r
u
p
te
d
s
ig
n
al
v
alu
e
(
y
)
f
o
r
th
e
cu
r
r
en
t
tim
e
s
tep
.
T
h
e
s
tu
d
y
u
tili
ze
s
a
r
ea
l
-
tim
e
m
ed
i
an
f
ilter
with
a
m
o
v
in
g
win
d
o
w
to
s
m
o
o
th
tim
e
-
s
er
ies
d
ata,
an
d
d
ata
with
in
th
e
win
d
o
w
is
th
en
s
o
r
ted
(
s
o
r
ted
Data
)
.
Fo
r
an
o
d
d
-
s
ized
win
d
o
w
(
n
)
,
th
e
m
ed
ian
is
th
e
m
i
d
d
l
e
elem
en
t:
=
(
+
1
2
)
(
1
7
)
Fo
r
an
ev
e
n
-
s
ized
win
d
o
w
(
n
)
,
th
e
m
ed
ian
is
th
e
m
i
d
d
le
elem
en
t:
=
(
(
2
)
+
(
2
+
1
)
)
2
(
1
8
)
T
h
e
s
ig
n
al
with
n
o
is
e
an
d
a
f
ter
ap
p
ly
i
n
g
m
e
d
ian
f
ilter
is
s
h
o
wn
in
Fig
u
r
e
5
u
s
in
g
Alg
o
r
ith
m
1
.
T
h
e
b
lu
e
wav
ef
o
r
m
r
ep
r
esen
ts
th
e
n
o
is
y
s
ig
n
al,
c
h
ar
ac
ter
ized
b
y
p
u
ls
ed
n
o
is
e,
wh
ile
th
e
r
ed
wav
ef
o
r
m
r
ep
r
esen
ts
th
e
s
ig
n
al
af
ter
ap
p
ly
in
g
th
e
m
ed
ian
f
ilter
.
T
h
e
r
ed
s
ig
n
al
a
f
ter
f
ilter
in
g
h
as
s
ig
n
if
ica
n
tly
r
em
o
v
ed
th
e
p
u
ls
e
d
n
o
is
e
an
d
h
as
a
n
eg
lig
ib
le
p
h
ase
d
elay
,
th
er
eb
y
im
p
r
o
v
i
n
g
th
e
s
ig
n
al
q
u
ality
to
f
ee
d
in
t
o
two
s
ep
ar
ate
f
u
zz
y
co
n
tr
o
ller
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
:
2280
-
2
2
9
5
2286
Fig
u
r
e
5
.
Sig
n
al
with
n
o
is
e
an
d
af
ter
ap
p
ly
in
g
m
ed
ian
f
ilter
Alg
o
r
ith
m
1
.
Alg
o
r
ith
m
f
o
r
Me
d
ian
f
ilter
f
o
r
p
u
ls
ed
s
ig
n
al
f
i
lter
in
g
I
n
p
u
t:
No
is
e
C
u
r
r
en
t Sig
n
al,
W
in
d
o
w
Size
Ou
tp
u
t
: M
ed
ian
Fil
ter
ed
C
u
r
r
e
n
t Sig
n
al
% Sh
if
t d
ata
with
in
th
e
win
d
o
w
win
d
o
wDa
ta
=
[
win
d
o
wDa
ta(
2
:en
d
)
,
i
n
p
u
tData]
;
% Ap
p
ly
th
e
m
ed
ia
n
f
ilter
s
o
r
ted
Data
=
s
o
r
t(
win
d
o
wDa
t
a)
;
n
=
len
g
th
(
win
d
o
wDa
ta)
;
if
m
o
d
(
n
,
2
)
==
0
o
u
tp
u
t =
(
s
o
r
ted
Data
(
n
/2
)
+
s
o
r
ted
Data
(
n
/2
+
1
)
)
/
2
;
else
o
u
tp
u
t =
s
o
r
te
d
Data
(
(
n
+
1
)
/
2
)
;
en
d
4
.
3
.
T
he
des
ig
n o
f
a
f
uzzy
l
o
g
ic
co
ntr
o
ller
T
h
e
co
n
tr
o
l
v
ar
iab
les
f
u
zz
y
(
P
)
an
d
f
u
zz
y
(
I
)
a
r
e
o
u
tp
u
ts
o
f
t
wo
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
s
,
allo
win
g
th
e
ad
ju
s
tm
en
t
o
f
th
e
p
ar
am
eter
s
o
f
th
e
PI
co
n
tr
o
ller
.
T
h
e
in
p
u
t
co
ef
f
icien
t
is
n
o
r
m
alize
d
to
th
e
s
ca
le
o
f
[
-
1
;
1
]
an
d
b
ec
o
m
es
a
c
r
is
p
in
p
u
t
o
f
FLC
.
B
ased
o
n
ex
p
e
r
ien
ce
,
t
h
e
o
u
tp
u
ts
f
u
zz
y
(
P
)
an
d
f
u
zz
y
(
I
)
with
d
if
f
er
en
t
g
ain
co
ef
f
icien
ts
in
a
r
an
g
e
o
f
0
.
4
to
1
an
d
0
.
5
to
1
.
T
h
e
f
u
z
zy
s
ets
ar
e
d
ef
in
e
d
as
f
o
llo
w
s
:
s
p
ee
d
er
r
o
r
=
{
,
,
,
,
}
an
d
th
e
d
er
iv
ativ
e
o
f
th
e
er
r
o
r
=
{
,
,
,
,
}
.
NB
,
NS,
Z
E
,
PS
,
an
d
PB
r
ep
r
esen
t
n
e
g
ativ
e
b
ig
,
n
eg
at
iv
e
s
m
all,
ze
r
o
,
p
o
s
itiv
e
s
m
a
ll
,
an
d
p
o
s
itiv
e
b
ig
.
T
h
e
o
u
t
p
u
t
o
f
b
o
th
f
u
zz
y
co
n
tr
o
ller
s
is
s
im
ilar
,
wr
itte
n
as
(
)
=
(
)
=
{
,
,
,
}
,
wh
er
e
S,
MS,
M,
B
,
an
d
VB
r
ep
r
esen
t
s
m
all,
m
ed
iu
m
,
m
e
d
iu
m
,
b
ig
,
an
d
v
er
y
b
ig
.
T
h
e
f
u
zz
y
r
u
le
tab
les
ar
e
p
r
o
v
id
e
d
in
T
ab
le
1
,
an
d
th
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
in
p
u
t
an
d
o
u
tp
u
t is sh
o
wn
in
Fig
u
r
e
6
.
T
h
e
co
n
tr
o
l
s
u
r
f
ac
es
s
h
o
wn
i
n
Fig
u
r
e
s
7
(
a)
an
d
7
(
b
)
r
ep
r
e
s
en
t
th
e
n
o
n
lin
ea
r
b
eh
a
v
io
r
o
f
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
s
c
o
m
p
ar
e
d
t
o
tr
ad
itio
n
al
PI
co
n
tr
o
ller
s
.
Un
li
k
e
th
e
lin
ea
r
co
n
t
r
o
l
r
esp
o
n
s
e
o
f
a
PI
co
n
tr
o
ller
,
f
u
zz
y
co
n
tr
o
l
s
u
r
f
ac
es
ex
h
i
b
it
a
m
o
r
e
co
m
p
lex
,
n
o
n
lin
ea
r
r
e
latio
n
s
h
ip
b
etwe
en
th
e
in
p
u
t
v
ar
iab
les
(
er
r
o
r
an
d
d
er
iv
ativ
e
o
f
e
r
r
o
r
)
an
d
th
e
c
o
n
tr
o
l
o
u
tp
u
t.
T
h
is
allo
ws
th
e
s
y
s
tem
to
d
y
n
am
ically
ad
ju
s
t
t
h
e
co
n
tr
o
ller
g
ain
s
b
ased
o
n
r
e
al
-
tim
e
in
p
u
ts
,
wh
i
ch
en
h
a
n
ce
s
th
e
f
lex
ib
ilit
y
an
d
ad
ap
tab
ilit
y
o
f
th
e
s
y
s
tem
.
T
h
e
ad
v
a
n
tag
e
o
f
t
h
e
f
u
zz
y
c
o
n
tr
o
l
s
u
r
f
ac
e
o
v
er
a
co
n
v
en
t
io
n
al
PI
co
n
tr
o
ller
lies
in
its
ab
ilit
y
to
h
an
d
le
u
n
ce
r
tain
ty
an
d
n
o
n
lin
ea
r
ity
in
th
e
s
y
s
tem
.
W
h
ile
P
I
co
n
tr
o
ller
s
u
s
e
f
ix
e
d
p
r
o
p
o
r
tio
n
al
an
d
in
teg
r
al
g
ain
s
,
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
ca
n
m
o
d
if
y
th
ese
g
ain
s
ac
co
r
d
in
g
t
o
th
e
o
p
e
r
atin
g
co
n
d
itio
n
s
,
lead
in
g
t
o
b
etter
p
e
r
f
o
r
m
an
ce
in
s
y
s
te
m
s
with
v
ar
y
in
g
d
y
n
am
ics
o
r
e
x
ter
n
al
d
is
tu
r
b
an
ce
s
.
Ad
d
itio
n
ally
,
t
h
e
f
u
zz
y
co
n
tr
o
ller
s
ca
n
o
p
er
ate
o
v
e
r
a
wid
e
r
an
g
e
o
f
i
n
p
u
t
co
n
d
itio
n
s
,
en
s
u
r
in
g
r
o
b
u
s
t
p
er
f
o
r
m
a
n
ce
ac
r
o
s
s
d
if
f
er
en
t
s
ce
n
ar
io
s
.
T
h
is
r
esu
lts
in
f
aster
r
esp
o
n
s
e
tim
es,
r
ed
u
ce
d
o
v
er
s
h
o
o
t,
an
d
b
etter
s
tab
ilit
y
co
m
p
ar
ed
t
o
co
n
v
en
tio
n
al
PI
co
n
tr
o
ller
s
,
wh
ich
ar
e
o
f
ten
lim
ited
b
y
t
h
eir
f
ix
ed
-
g
ain
n
atu
r
e
.
T
h
e
c
o
m
b
in
ed
p
r
o
p
o
s
ed
B
L
DC
co
n
tr
o
l
b
lo
ck
d
ia
g
r
am
i
s
s
h
o
wn
in
Fig
u
r
e
8
.
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
E
n
h
a
n
ce
d
s
p
ee
d
r
eg
u
la
tio
n
u
s
in
g
s
ep
a
r
a
te
P
a
n
d
I
g
a
in
co
n
t
r
o
ller
s
in
a
fu
z
z
y
-
PI
…
(
Min
h
Du
c
P
h
a
m)
2287
T
ab
le
1
.
R
u
le
-
b
ased
f
o
r
P
an
d
I
g
ain
s
R
u
l
e
-
b
a
se
f
o
r
P
g
a
i
n
r
e
g
u
l
a
t
i
o
n
R
u
l
e
-
b
a
se
f
o
r
I
g
a
i
n
r
e
g
u
l
a
t
i
o
n
e
\
de
NB
NS
Z
PS
PB
e
\
de
NB
NS
Z
PS
PB
NB
VB
VB
Z
PS
PB
NB
VB
VB
Z
PS
PB
NS
VB
B
Z
PS
PB
NS
VB
VB
Z
PS
PB
Z
B
S
Z
PS
PB
Z
M
M
Z
PS
PB
PS
S
VB
Z
PS
PB
PS
S
M
Z
PS
PB
PB
VB
VB
Z
PS
PB
PB
VB
B
Z
PS
PB
Fig
u
r
e
6
.
T
h
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
in
p
u
t a
n
d
o
u
tp
u
t
(
a)
(
b
)
Fig
u
r
e
7
.
C
o
n
tr
o
l su
r
f
ac
es o
f
f
u
zz
y
(
P)
an
d
f
u
zz
y
(
I
)
:
(
a)
f
u
zz
y
(
P
)
s
u
r
f
ac
e
a
n
d
(
b
)
f
u
zz
y
(
I
)
s
u
r
f
ac
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
:
2280
-
2
2
9
5
2288
Fig
u
r
e
8
.
Pro
p
o
s
ed
FOC
co
n
tr
o
l a
lg
o
r
ith
m
5.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
A
NALYS
I
S
I
n
o
r
d
er
to
v
e
r
if
y
th
e
e
f
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
f
u
z
zy
c
o
n
tr
o
ller
,
th
e
B
L
DC
s
y
s
tem
is
ex
am
in
ed
with
p
ar
am
eter
s
lis
ted
in
T
ab
le
2
.
T
h
e
co
n
v
en
tio
n
al
PI
co
n
tr
o
ller
is
u
s
ed
to
co
m
p
a
r
e
with
th
e
p
r
o
p
o
s
ed
m
eth
o
d
t
o
h
i
g
h
lig
h
t
t
h
e
ad
v
a
n
tag
es
o
f
th
e
s
ep
ar
ate
P
an
d
I
g
ain
co
n
tr
o
ller
ap
p
r
o
ac
h
.
T
h
e
B
L
DC
s
y
s
tem
is
ev
alu
ated
t
h
r
o
u
g
h
s
ce
n
ar
io
s
with
d
if
f
er
e
n
t
s
p
ee
d
c
o
n
tr
o
l
v
alu
es.
Fig
u
r
e
9
s
h
o
ws
th
e
co
n
tr
o
l
p
e
r
f
o
r
m
an
ce
o
f
th
e
co
n
v
e
n
tio
n
al
an
d
p
r
o
p
o
s
ed
Fu
zz
y
lo
g
ic
c
o
n
tr
o
ller
s
.
I
n
Fig
u
r
e
s
9
(
a)
an
d
9
(
b
)
,
th
e
o
v
er
all
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
r
an
g
es
f
r
o
m
0
to
1
0
s
.
I
n
th
e
f
ir
s
t
test
s
ce
n
ar
io
(
E
v
en
t
1
)
,
th
e
s
p
ee
d
r
ef
er
e
n
ce
is
in
cr
ea
s
ed
f
r
o
m
4
0
0
R
PM
to
1
0
0
0
R
PM.
T
h
e
co
n
v
en
tio
n
al
P
I
co
n
tr
o
ller
s
h
o
ws
an
o
v
er
s
h
o
o
t
in
g
p
er
ce
n
tag
e
(
OP)
o
f
1
4
.
4
%
with
a
r
esp
o
n
s
e
tim
e
o
f
2
.
3
s
ec
o
n
d
s
.
I
n
co
n
tr
ast,
th
e
p
r
o
p
o
s
ed
f
u
zz
y
co
n
tr
o
ller
h
as a
r
ed
u
ce
d
o
v
e
r
s
h
o
o
t o
f
8
.
5
% with
th
e
s
am
e
r
esp
o
n
s
e
tim
e
o
f
2
.
3
s
ec
o
n
d
s
.
T
h
e
s
ec
o
n
d
s
ce
n
ar
io
f
u
r
th
er
in
v
esti
g
ates
th
e
co
n
t
r
o
ller
b
e
h
av
io
r
d
u
r
in
g
a
m
o
r
e
s
u
b
s
tan
tial
s
p
ee
d
in
cr
ea
s
e,
f
r
o
m
1
0
0
0
R
PM
to
2
0
0
0
R
PM,
as
s
h
o
wn
in
Fi
g
u
r
e
s
9
(
c)
an
d
9
(
d
)
.
T
h
is
s
c
en
ar
io
s
im
u
lates
an
ag
g
r
ess
iv
e
ac
ce
ler
atio
n
d
em
a
n
d
.
Un
d
er
th
ese
co
n
d
itio
n
s
,
t
h
e
lim
itatio
n
s
o
f
th
e
c
o
n
v
e
n
t
io
n
al
PI
co
n
tr
o
ller
b
ec
o
m
e
m
o
r
e
ap
p
ar
en
t w
ith
o
v
er
s
h
o
o
t o
f
1
2
.
1
% a
n
d
r
is
e
tim
e
o
f
0
.
5
4
s
ec
o
n
d
s
.
T
h
e
h
ig
h
o
v
er
s
h
o
o
t sh
o
ws th
at
th
e
f
ix
ed
g
ain
s
o
f
th
e
PI
co
n
tr
o
ller
ca
n
n
o
t
ad
ap
t
th
e
ch
an
g
in
g
d
y
n
am
ics
o
f
th
e
s
y
s
tem
.
I
n
co
n
tr
ast,
th
e
p
r
o
p
o
s
ed
f
u
zz
y
co
n
tr
o
ller
r
e
d
u
ce
s
th
e
o
v
er
s
h
o
o
t
to
6
.
7
%
wi
th
r
is
e
tim
e
o
f
0
.
5
4
s
ec
o
n
d
s
.
T
h
is
r
esu
lt
s
h
o
ws
th
e
ad
ap
tab
ilit
y
o
f
t
h
e
p
r
o
p
o
s
ed
c
o
n
tr
o
l a
p
p
r
o
ac
h
,
wh
ich
ad
ju
s
tin
g
its
co
n
tr
o
l
p
ar
am
eter
s
to
m
i
n
im
ize
o
v
er
s
h
o
o
t.
T
h
e
th
ir
d
ev
e
n
t
ex
am
i
n
es
th
e
co
n
tr
o
ller
r
esp
o
n
s
e
to
a
d
ec
r
ea
s
e
in
th
e
r
ef
er
en
ce
s
p
ee
d
,
f
r
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