T
E
L
K
O
M
N
I
K
A
T
elec
o
m
m
un
ica
t
io
n Co
m
pu
t
ing
E
lect
ro
nics
a
nd
Co
ntr
o
l
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
,
p
p
.
329
~
342
I
SS
N:
1
6
9
3
-
6
9
3
0
,
DOI
: 1
0
.
1
2
9
2
8
/TE
L
KOM
NI
KA.
v
24
i
1
.
2
7
4
5
9
329
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//jo
u
r
n
a
l.u
a
d
.
a
c.
id
/in
d
ex
.
p
h
p
/TELK
OM
N
I
K
A
Im
pro
v
ed disturb
a
nce re
je
ction o
f
i
nduction mo
tor
d
riv
es using
PI
–
VG
STA
SM
co
ntrol a
nd
torque
disturba
nce
estim
a
tion
Ng
o
c
T
hu
y
P
ha
m
,
Duc
T
hu
a
n L
e,
T
ha
n
h T
i
nh
P
ha
m
D
e
p
a
r
t
me
n
t
o
f
El
e
c
t
r
i
c
a
l
En
g
i
n
e
e
r
i
n
g
Te
c
h
n
o
l
o
g
y
,
I
n
d
u
s
t
r
i
a
l
U
n
i
v
e
r
si
t
y
o
f
H
o
C
h
i
M
i
n
h
C
i
t
y
,
H
o
C
h
i
M
i
n
h
,
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
Au
g
7
,
2
0
2
5
R
ev
is
ed
No
v
26
,
2
0
2
5
Acc
ep
ted
Dec
8
,
2
0
2
5
In
d
u
c
ti
o
n
m
o
t
o
r
(I
M
)
d
riv
e
s
o
ft
e
n
su
ffe
r
p
e
rfo
rm
a
n
c
e
d
e
g
ra
d
a
ti
o
n
u
n
d
e
r
lo
a
d
v
a
riatio
n
s
a
n
d
p
a
ra
m
e
ter
u
n
c
e
rtain
ti
e
s
wh
e
n
u
sin
g
c
o
n
v
e
n
t
io
n
a
l
p
ro
p
o
rti
o
n
a
l
–
in
teg
ra
l
(P
I)
-
b
a
se
d
field
-
o
rie
n
ted
c
o
n
tro
l
(F
OC).
T
o
a
d
d
re
s
s
th
e
se
issu
e
s,
th
is stu
d
y
p
ro
p
o
se
s a
c
o
m
p
o
site c
o
n
tro
l
fra
m
e
wo
rk
c
o
m
b
in
in
g
a
P
I
re
g
u
lato
r
in
th
e
s
p
e
e
d
l
o
o
p
w
it
h
a
Ly
a
p
u
n
o
v
-
b
a
se
d
v
a
riab
le
-
g
a
in
su
p
e
r
-
twisti
n
g
a
lg
o
rit
h
m
(VG
S
TA)
f
o
r
t
h
e
i
n
n
e
r
c
u
rre
n
t
l
o
o
p
s
t
o
e
n
h
a
n
c
e
ro
b
u
stn
e
ss
a
g
a
i
n
st
d
istu
rb
a
n
c
e
s
a
n
d
p
a
ra
m
e
ter
v
a
riatio
n
s.
In
a
d
d
it
i
o
n
,
a
lo
a
d
to
rq
u
e
o
b
se
rv
e
r
is
d
e
v
e
l
o
p
e
d
t
o
e
stim
a
te
u
n
k
n
o
wn
d
ist
u
rb
a
n
c
e
s
in
re
a
l
ti
m
e
a
n
d
g
e
n
e
ra
te
a
n
e
q
u
i
v
a
len
t
c
o
m
p
e
n
sa
ti
o
n
c
u
rre
n
t,
t
h
e
re
b
y
imp
ro
v
i
n
g
d
istu
r
b
a
n
c
e
re
jec
ti
o
n
.
Un
l
ik
e
e
x
isti
n
g
a
p
p
r
o
a
c
h
e
s,
th
e
p
r
o
p
o
se
d
stra
teg
y
a
c
h
iev
e
s
a
b
a
lan
c
e
b
e
twe
e
n
sim
p
li
c
it
y
,
r
o
b
u
stn
e
ss
,
a
n
d
sm
o
o
th
c
o
n
tro
l
b
y
in
teg
ra
ti
n
g
c
las
sic
a
l
P
I
c
o
n
tr
o
l
with
h
ig
h
e
r
-
o
r
d
e
r
sli
d
in
g
m
o
d
e
tec
h
n
iq
u
e
s
a
n
d
a
d
a
p
t
iv
e
o
b
se
rv
e
r
d
y
n
a
m
ics
.
F
u
rt
h
e
rm
o
re
,
th
e
c
o
n
tr
o
ll
e
r
a
n
d
o
b
se
rv
e
r
g
a
in
s
a
re
o
p
ti
m
ize
d
u
si
n
g
p
a
rti
c
le
sw
a
rm
o
p
ti
m
iza
ti
o
n
(
P
S
O)
t
o
imp
ro
v
e
c
o
n
v
e
rg
e
n
c
e
a
n
d
re
d
u
c
e
o
v
e
rsh
o
o
t
u
n
d
e
r
u
n
c
e
rtain
c
o
n
d
it
io
n
s.
S
imu
latio
n
re
su
lt
s
d
e
m
o
n
stra
te
a
c
c
u
ra
te
sp
e
e
d
re
g
u
lati
o
n
,
e
ffe
c
ti
v
e
c
h
a
tt
e
rin
g
re
d
u
c
ti
o
n
,
a
n
d
re
l
iab
le
o
p
e
ra
ti
o
n
u
n
d
e
r
lo
a
d
a
n
d
p
a
ra
m
e
ter
v
a
riati
o
n
s.
Du
e
to
it
s
l
o
w
c
o
m
p
u
tati
o
n
a
l
c
o
m
p
lex
i
ty
a
n
d
h
i
g
h
ro
b
u
st
n
e
ss
,
th
e
p
r
o
p
o
se
d
m
e
th
o
d
is
we
l
l
su
it
e
d
f
o
r
i
n
d
u
strial
d
ri
v
e
sy
ste
m
s a
n
d
e
lec
tri
c
m
o
b
il
it
y
a
p
p
li
c
a
ti
o
n
s.
K
ey
w
o
r
d
s
:
Field
-
o
r
ien
ted
co
n
tr
o
l
I
n
d
u
ctio
n
m
o
to
r
Par
ticle
s
war
m
o
p
tim
izatio
n
Seco
n
d
-
o
r
d
er
s
lid
in
g
m
o
d
e
d
is
tu
r
b
an
ce
r
ejec
tio
n
Su
p
er
-
twis
tin
g
alg
o
r
ith
m
to
r
q
u
e
esti
m
atio
n
Var
iab
le
-
g
ain
s
u
p
e
r
-
twis
tin
g
alg
o
r
ith
m
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
:
Ng
o
c
T
h
u
y
Ph
am
Dep
ar
tm
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
T
ec
h
n
o
l
o
g
y
,
I
n
d
u
s
tr
ial
Un
iv
er
s
ity
o
f
Ho
C
h
i M
in
h
C
ity
1
2
Ng
u
y
en
Van
B
ao
s
tr
ee
t,
Ha
n
h
T
h
o
n
g
war
d
,
7
0
0
0
0
0
Ho
C
h
i M
in
h
,
Vietn
am
E
m
ail:
Ng
o
cp
h
am
1
0
2
0
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
th
r
ee
-
p
h
ase
in
d
u
cti
o
n
m
o
to
r
(
I
M
)
h
as
lo
n
g
b
ee
n
r
ec
o
g
n
ized
as
th
e
wo
r
k
h
o
r
s
e
o
f
t
h
e
m
o
d
e
r
n
in
d
u
s
tr
y
,
o
win
g
to
its
s
im
p
le
c
o
n
s
tr
u
ctio
n
,
h
ig
h
r
eliab
ilit
y
,
l
o
w
co
s
t,
a
n
d
r
o
b
u
s
t
o
p
er
atio
n
al
ca
p
ab
ilit
ies,
ev
en
in
th
e
m
o
s
t d
em
a
n
d
in
g
en
v
ir
o
n
m
en
ts
[
1
]
,
[
2
]
.
Fro
m
d
o
m
esti
c
ap
p
licatio
n
s
s
u
ch
as p
u
m
p
s
an
d
f
an
s
to
c
o
m
p
lex
in
d
u
s
tr
ial
s
y
s
tem
s
lik
e
s
teel
m
ills
,
elev
ato
r
s
,
an
d
,
m
o
r
e
r
ec
en
tly
,
elec
tr
ic
v
eh
icles,
th
e
p
r
esen
ce
o
f
th
e
in
d
u
ctio
n
m
o
to
r
is
in
d
is
p
en
s
a
b
le
[
3
]
,
[
4
]
.
H
o
wev
er
,
th
e
in
h
e
r
en
t
n
atu
r
e
o
f
th
e
I
M
is
th
at
o
f
a
n
o
n
lin
ea
r
,
m
u
lti
-
in
p
u
t
-
m
u
lti
-
o
u
tp
u
t
(
MI
MO
)
s
y
s
tem
with
p
a
r
am
eter
s
th
at
v
ar
y
with
o
p
e
r
atin
g
co
n
d
itio
n
s
,
m
ak
in
g
its
h
ig
h
-
p
er
f
o
r
m
an
ce
co
n
tr
o
l a
s
ig
n
i
f
ican
t scien
tific
ch
allen
g
e
[
5
]
,
[
6
]
.
T
o
u
n
lo
ck
t
h
e
f
u
ll
p
o
ten
tial
o
f
th
e
in
d
u
ctio
n
m
o
to
r
,
th
e
f
ield
-
o
r
ien
te
d
co
n
tr
o
l
(
FOC
)
m
et
h
o
d
o
lo
g
y
was
d
ev
elo
p
ed
an
d
h
as
s
in
ce
b
ec
o
m
e
th
e
g
o
ld
s
tan
d
ar
d
f
o
r
h
ig
h
-
p
er
f
o
r
m
an
ce
d
r
iv
es
[
7
]
,
[
8
]
.
T
h
e
co
r
e
p
r
in
cip
le
o
f
FOC
is
to
tr
an
s
f
o
r
m
th
e
d
y
n
am
ic
m
o
d
el
o
f
th
e
I
M
f
r
o
m
th
e
s
tatio
n
ar
y
r
ef
er
en
ce
f
r
am
e
to
a
s
y
n
ch
r
o
n
o
u
s
d
q
r
ef
er
en
ce
f
r
a
m
e,
th
er
eb
y
d
ec
o
u
p
lin
g
th
e
s
t
ato
r
cu
r
r
e
n
t
co
m
p
o
n
en
ts
.
T
h
e
d
ir
ec
t
-
ax
is
cu
r
r
en
t
co
m
p
o
n
en
t
(
)
is
u
s
ed
to
co
n
tr
o
l
th
e
r
o
to
r
f
l
u
x
,
wh
ile
th
e
q
u
ad
r
atu
r
e
-
a
x
is
cu
r
r
en
t
co
m
p
o
n
en
t
(
)
co
n
tr
o
ls
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e.
T
h
is
d
ec
o
u
p
lin
g
e
f
f
ec
tiv
ely
m
a
k
es
th
e
I
M
b
eh
av
e
lik
e
a
s
ep
a
r
ately
ex
cited
d
ir
ec
t
cu
r
r
en
t
(
DC
)
m
o
to
r
,
en
ab
lin
g
f
ast
to
r
q
u
e
r
esp
o
n
s
e
an
d
p
r
ec
i
s
e
s
p
ee
d
co
n
tr
o
l
[
9
]
,
[
1
0
]
.
T
h
e
co
n
v
e
n
tio
n
al
FOC
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
3
2
9
-
342
330
s
tr
u
ctu
r
e
ty
p
ically
em
p
lo
y
s
a
ca
s
ca
d
ed
ar
r
an
g
em
e
n
t
o
f
lin
e
ar
p
r
o
p
o
r
tio
n
al
-
i
n
teg
r
al
(
PI)
c
o
n
tr
o
ller
s
:
o
n
e
f
o
r
th
e
o
u
ter
s
p
ee
d
lo
o
p
an
d
two
f
o
r
th
e
in
n
er
id
a
n
d
iq
cu
r
r
e
n
t l
o
o
p
s
[
1
1
]
.
Desp
ite
its
p
r
o
v
e
n
ef
f
ec
tiv
en
e
s
s
an
d
wid
esp
r
ea
d
a
p
p
licatio
n
d
u
e
to
d
esig
n
s
im
p
licity
,
th
is
class
ic
PI
-
PI
s
tr
u
ctu
r
e
r
ev
ea
ls
in
h
e
r
en
t
lim
itatio
n
s
wh
en
f
ac
ed
with
th
e
in
c
r
ea
s
in
g
ly
s
tr
in
g
en
t
d
em
an
d
s
o
f
m
o
d
er
n
ap
p
licatio
n
s
[
1
2
]
,
[
1
3
]
.
Firstl
y
,
PI
co
n
tr
o
ller
s
ar
e
lin
ea
r
an
d
ar
e
tu
n
e
d
f
o
r
o
p
tim
al
p
er
f
o
r
m
an
ce
at
a
s
p
ec
if
i
c
o
p
er
atin
g
p
o
in
t.
C
o
n
s
eq
u
en
tl
y
,
th
eir
co
n
tr
o
l
q
u
ality
d
e
g
r
a
d
es
s
ig
n
if
ican
tly
wh
en
th
e
s
y
s
tem
is
s
u
b
jecte
d
to
lo
ad
v
ar
iatio
n
s
,
p
ar
am
ete
r
u
n
ce
r
tain
ties
,
an
d
u
n
m
o
d
eled
ex
ter
n
al
d
is
tu
r
b
an
ce
s
[
1
4
]
.
Seco
n
d
ly
,
a
m
ajo
r
ch
allen
g
e
in
in
d
ir
ec
t
FOC
is
i
ts
s
tr
o
n
g
d
ep
en
d
en
c
y
o
n
th
e
a
cc
u
r
ac
y
o
f
m
o
to
r
p
ar
a
m
eter
s
,
esp
ec
ially
th
e
r
o
to
r
tim
e
co
n
s
tan
t
(
=
/
)
.
T
h
e
r
o
t
o
r
r
e
s
is
tan
ce
(
)
ca
n
v
a
r
y
b
y
u
p
to
1
0
0
%
o
f
its
n
o
m
in
al
v
alu
e
d
u
e
to
th
er
m
al
ef
f
ec
ts
,
ca
u
s
in
g
er
r
o
r
s
in
th
e
s
lip
f
r
eq
u
en
cy
ca
lcu
latio
n
an
d
lead
in
g
to
an
in
ac
cu
r
a
te
f
ield
o
r
ien
tatio
n
[1
5
]
,
[
1
6
]
.
T
h
is
d
etu
n
in
g
r
esu
lts
in
p
er
f
o
r
m
an
ce
d
eg
r
a
d
atio
n
,
in
cr
ea
s
ed
p
o
wer
lo
s
s
es,
an
d
ca
n
e
v
en
lead
to
s
y
s
tem
in
s
tab
ilit
y
[
1
7
]
,
[
18
]
.
T
h
ir
d
ly
,
th
e
o
u
ter
s
p
ee
d
lo
o
p
with
its
PI
co
n
tr
o
ller
h
as
a
lim
ited
b
an
d
wid
th
,
lead
in
g
to
a
s
lu
g
g
is
h
r
esp
o
n
s
e
to
s
u
d
d
en
lo
a
d
to
r
q
u
e
ch
a
n
g
e
s
[
19
]
.
T
h
is
ca
u
s
es
u
n
d
esira
b
l
e
s
p
ee
d
d
r
o
p
s
an
d
p
r
o
lo
n
g
ed
r
ec
o
v
er
y
tim
es,
wh
ich
ar
e
u
n
ac
ce
p
tab
le
in
a
p
p
lic
atio
n
s
r
eq
u
ir
in
g
h
ig
h
d
y
n
am
ic
s
tiff
n
ess
,
s
u
ch
as
co
m
p
u
ter
n
u
m
e
r
ical
co
n
tr
o
l (
C
NC
)
m
ac
h
in
e
to
o
ls
an
d
in
d
u
s
tr
ial
r
o
b
o
tics
[
2
0
]
,
[
2
1
].
T
o
ad
d
r
ess
th
e
af
o
r
em
e
n
tio
n
ed
ch
allen
g
es,
th
e
r
esear
c
h
co
m
m
u
n
ity
h
as
p
r
o
p
o
s
ed
n
u
m
er
o
u
s
ad
v
an
ce
d
co
n
tr
o
l
s
tr
ateg
ies.
No
n
lin
ea
r
tech
n
iq
u
es
s
u
ch
as
s
li
d
in
g
m
o
d
e
c
o
n
tr
o
l
(
SMC
)
,
b
a
ck
s
tep
p
in
g
co
n
tr
o
l,
n
eu
r
al
n
etwo
r
k
h
av
e
b
ee
n
a
p
p
lied
to
r
ep
lace
PI
co
n
tr
o
ller
s
f
o
r
en
h
an
ce
d
r
o
b
u
s
tn
ess
[
2
2
]
-
[2
4
]
.
Am
o
n
g
th
ese,
SMC
is
d
is
tin
g
u
is
h
ed
b
y
its
ab
s
o
lu
te
r
o
b
u
s
tn
ess
to
m
at
ch
ed
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
.
Ho
wev
er
,
co
n
v
en
tio
n
al
f
ir
s
t
-
o
r
d
er
SMC
s
u
f
f
er
s
f
r
o
m
th
e
d
etr
im
en
tal
c
h
atter
in
g
p
h
en
o
m
en
o
n
,
wh
ich
ca
n
in
d
u
ce
to
r
q
u
e
r
ip
p
les
an
d
ex
cite
u
n
d
esire
d
m
ec
h
an
ical
r
eso
n
an
ce
s
[
2
5
]
-
[
2
8
]
.
T
o
o
v
er
c
o
m
e
th
is
is
s
u
e,
s
ec
o
n
d
-
o
r
d
er
s
lid
in
g
m
o
d
e
(
SOSM)
co
n
tr
o
ller
s
,
s
u
ch
as
th
e
s
u
p
er
-
twis
tin
g
alg
o
r
ith
m
,
v
ar
iab
le
-
g
ai
n
s
u
p
er
-
twis
tin
g
alg
o
r
ith
m
(
VGST
A)
h
av
e
em
er
g
ed
as
a
s
u
p
er
io
r
s
o
lu
tio
n
,
ef
f
ec
tiv
e
ly
elim
in
atin
g
ch
atter
in
g
wh
ile
p
r
eser
v
in
g
th
e
ex
ce
llen
t
r
o
b
u
s
tn
ess
p
r
o
p
er
tie
s
o
f
SMC
[
29
]
-
[
3
4
]
.
Fu
r
t
h
er
m
o
r
e,
h
y
b
r
id
co
n
t
r
o
l
s
tr
ateg
ies
also
h
av
e
attr
ac
ted
co
n
s
id
er
ab
le
atten
tio
n
,
as
th
e
ir
in
teg
r
ated
s
tr
u
ct
u
r
e
e
n
ab
le
s
th
e
ex
p
lo
itatio
n
o
f
t
h
e
s
tr
e
n
g
th
s
o
f
d
if
f
er
en
t
co
n
tr
o
l
a
p
p
r
o
ac
h
es
wh
ile
m
itig
atin
g
th
eir
in
h
er
en
t
lim
itatio
n
s
,
th
er
eb
y
im
p
r
o
v
i
n
g
th
e
d
y
n
am
ic
p
er
f
o
r
m
a
n
ce
an
d
o
v
er
all
ef
f
icien
cy
o
f
d
r
i
v
e
s
y
s
tem
s
[
3
5
]
-
[
39
]
.
I
n
p
a
r
a
llel,
to
tack
le
th
e
p
r
o
b
lem
o
f
lo
ad
d
is
tu
r
b
an
ce
s
,
d
is
tu
r
b
an
ce
o
b
s
er
v
er
s
(
DOB)
h
av
e
b
ee
n
d
e
v
elo
p
e
d
to
ac
ti
v
ely
esti
m
ate
an
d
c
o
m
p
en
s
at
e
f
o
r
th
ese
e
x
ter
n
al
ef
f
ec
ts
.
T
h
ese
o
b
s
er
v
er
s
ac
t
as
a
f
ee
d
f
o
r
war
d
c
h
an
n
el,
s
i
g
n
if
ican
tly
im
p
r
o
v
in
g
th
e
s
y
s
tem
’
s
d
is
tu
r
b
an
ce
r
ejec
tio
n
ca
p
ab
ilit
y
with
o
u
t a
f
f
ec
tin
g
th
e
s
tab
ilit
y
o
f
th
e
clo
s
ed
lo
o
p
[
4
0
]
,
[4
1
].
Mo
tiv
ated
b
y
t
h
e
f
o
r
eg
o
in
g
a
n
aly
s
is
,
th
is
p
ap
e
r
p
r
o
p
o
s
es
a
r
o
b
u
s
t
h
y
b
r
id
co
n
tr
o
l
s
tr
u
ctu
r
e
f
o
r
a
n
in
d
u
ctio
n
m
o
to
r
d
r
i
v
e
u
s
in
g
PI
-
VGST
ASM
co
n
tr
o
l
an
d
to
r
q
u
e
d
is
tu
r
b
an
ce
esti
m
atio
n
(
PI
VGST
ASM
T
E
)
to
s
im
u
ltan
eo
u
s
ly
ac
h
iev
e
f
ast
d
y
n
am
ic
r
esp
o
n
s
e
an
d
s
u
p
e
r
io
r
d
is
tu
r
b
an
ce
r
ejec
tio
n
ca
p
ab
ili
ties
.
T
h
e
p
r
o
p
o
s
ed
s
tr
u
ctu
r
e
co
m
p
r
is
es:
(
i)
a
co
n
v
en
tio
n
al
PI
co
n
t
r
o
ller
f
o
r
th
e
o
u
ter
s
p
ee
d
lo
o
p
to
en
s
u
r
e
ze
r
o
s
tead
y
-
s
tate
er
r
o
r
an
d
s
tr
aig
h
tf
o
r
wa
r
d
tu
n
i
n
g
;
(
ii)
SOSM
co
n
tr
o
ller
s
b
ased
o
n
VGST
A
f
o
r
th
e
in
n
er
an
d
cu
r
r
en
t
lo
o
p
s
,
d
esig
n
ed
to
ac
h
iev
e
f
ast,
p
r
e
cise
cu
r
r
en
t
r
esp
o
n
s
e
wh
ile
co
m
p
letely
elim
in
atin
g
ch
att
er
in
g
;
an
d
(
iii)
th
e
co
r
n
er
s
to
n
e
o
f
th
is
r
esear
ch
,
t
h
e
d
esig
n
o
f
a
n
o
n
lin
ea
r
d
is
tu
r
b
an
ce
o
b
s
er
v
er
to
ac
cu
r
ately
e
s
tim
ate
th
e
“to
r
q
u
e
d
is
tu
r
b
an
ce
,
”
wh
ich
in
clu
d
es
th
e
ex
ter
n
al
lo
ad
to
r
q
u
e
an
d
o
th
er
s
y
s
tem
u
n
ce
r
tain
ties
.
T
h
is
esti
m
ated
v
alu
e
is
f
ed
f
o
r
war
d
to
th
e
r
ef
er
en
ce
co
m
m
an
d
,
c
r
ea
tin
g
a
p
r
o
ac
tiv
e
an
d
r
ap
i
d
d
is
tu
r
b
an
c
e
co
m
p
en
s
atio
n
m
ec
h
an
is
m
.
T
o
en
s
u
r
e
r
o
b
u
s
t
an
d
h
ig
h
-
p
e
r
f
o
r
m
an
ce
co
n
t
r
o
l
f
o
r
b
o
t
h
th
e
d
is
tu
r
b
an
ce
o
b
s
er
v
er
an
d
th
e
co
n
tr
o
ller
f
o
r
in
th
e
in
n
er
cu
r
r
en
t
lo
o
p
s
wh
ich
u
s
in
g
th
e
VGST
A
r
eq
u
ir
e
ap
p
r
o
p
r
iate
tu
n
in
g
o
f
s
ev
er
al
k
e
y
p
ar
am
eter
s
.
Ma
n
u
al
tu
n
in
g
o
f
th
ese
p
ar
am
eter
s
is
tim
e
-
co
n
s
u
m
in
g
an
d
m
ay
lead
t
o
s
u
b
o
p
tim
al
p
er
f
o
r
m
a
n
ce
,
p
ar
ticu
lar
ly
u
n
d
er
n
o
n
lin
ea
r
o
p
er
atin
g
co
n
d
itio
n
s
o
f
th
e
in
d
u
ctio
n
m
o
to
r
d
r
i
v
es
(
I
MD
s
)
[
4
2
]
,
[
4
3
]
.
T
o
o
v
er
co
m
e
th
is
lim
itatio
n
,
p
a
r
ticle
s
war
m
o
p
tim
izatio
n
(
P
SO)
was
ad
o
p
ted
as
an
o
f
f
l
in
e
g
lo
b
al
s
ea
r
c
h
tech
n
iq
u
e.
T
h
e
m
a
i
n
c
o
n
t
r
i
b
u
t
i
o
n
s
o
f
t
h
is
p
a
p
e
r
a
r
e
s
u
m
m
a
r
i
z
e
d
a
s
f
o
l
l
o
w
s
:
i
)
p
r
o
p
o
s
i
n
g
a
h
y
b
r
i
d
c
o
n
t
r
o
l
s
t
r
u
ct
u
r
e
t
h
a
t
s
y
n
e
r
g
i
s
t
i
c
al
l
y
c
o
m
b
i
n
e
s
P
I
,
V
G
S
T
A
SM
,
a
n
d
a
t
o
r
q
u
e
d
i
s
t
u
r
b
a
n
c
e
o
b
s
e
r
v
e
r
;
i
i
)
a
d
e
t
a
i
l
e
d
VG
S
T
A
S
M
-
b
a
s
e
d
c
u
r
r
e
n
t
c
o
n
t
r
o
l
l
e
r
,
w
h
i
c
h
e
n
h
a
n
c
e
s
t
h
e
t
r
a
n
s
i
e
n
t
r
es
p
o
n
s
e
a
n
d
r
o
b
u
s
t
n
e
s
s
o
f
t
h
e
i
n
n
e
r
co
n
t
r
o
l
l
o
o
p
w
i
t
h
o
u
t
i
n
d
u
c
i
n
g
c
h
a
t
t
e
r
i
n
g
;
i
i
i
)
d
e
v
e
lo
p
i
n
g
a
n
e
f
f
e
c
t
i
v
e
d
i
s
t
u
r
b
a
n
c
e
o
b
s
e
r
v
e
r
b
a
s
e
d
o
n
V
G
S
T
A
SM
a
n
d
i
n
t
e
g
r
a
t
i
n
g
i
t
i
n
t
o
t
h
e
c
o
n
t
r
o
l
a
r
c
h
i
t
e
ct
u
r
e
a
s
a
f
e
e
d
f
o
r
w
a
r
d
c
o
m
p
e
n
s
a
tio
n
c
h
a
n
n
e
l
,
t
h
e
r
e
b
y
s
i
g
n
i
f
i
c
an
t
l
y
i
m
p
r
o
v
i
n
g
t
h
e
d
y
n
a
m
i
c
s
t
i
f
f
n
e
s
s
a
n
d
l
o
a
d
d
i
s
t
u
r
b
a
n
c
e
r
e
j
e
c
t
i
o
n
c
a
p
a
b
i
l
it
y
o
f
t
h
e
d
r
i
v
e
;
a
n
d
iv
)
u
s
i
n
g
P
S
O
a
s
a
n
o
f
f
l
i
n
e
g
l
o
b
a
l
s
e
a
r
c
h
t
e
c
h
n
i
q
u
e
f
o
r
t
h
e
p
a
r
a
m
e
t
e
r
s
o
f
o
b
s
e
r
v
e
r
a
n
d
c
o
n
t
r
o
l
.
T
h
e
r
e
m
a
i
n
d
e
r
o
f
t
h
i
s
p
a
p
e
r
is
o
r
g
a
n
i
z
e
d
a
s
f
o
l
l
o
w
s
.
S
e
c
t
i
o
n
2
p
r
es
e
n
ts
t
h
e
m
at
h
em
a
t
i
c
a
l
m
o
d
e
l
o
f
t
h
e
i
n
d
u
c
ti
o
n
m
o
t
o
r
a
n
d
t
h
e
p
r
i
n
c
i
p
l
es
o
f
f
i
e
l
d
-
o
r
i
e
n
t
e
d
c
o
n
t
r
o
l
(
F
OC
)
a
n
d
d
e
t
a
il
s
t
h
e
d
es
i
g
n
o
f
t
h
e
p
r
o
p
o
s
e
d
c
o
n
t
r
o
l
s
t
r
u
c
t
u
r
e
,
i
n
c
l
u
d
i
n
g
t
h
e
P
I
s
p
e
e
d
c
o
n
t
r
o
l
l
e
r
,
t
h
e
V
G
S
T
A
S
M
c
u
r
r
e
n
t
c
o
n
t
r
o
l
ler
s
,
a
n
d
t
h
e
d
i
s
t
u
r
b
a
n
c
e
o
b
s
e
r
v
e
r
.
S
e
c
t
i
o
n
3
p
r
e
s
e
n
t
s
th
e
s
i
m
u
l
a
t
i
o
n
a
n
d
e
x
p
e
r
i
m
e
n
t
a
l
r
es
u
l
ts
.
Fi
n
a
l
l
y
,
se
c
t
i
o
n
4
p
r
o
v
i
d
e
s
t
h
e
c
o
n
c
l
u
s
i
o
n
s
o
f
t
h
i
s
r
es
e
a
r
c
h
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
I
mp
r
o
ve
d
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
o
f in
d
u
ctio
n
mo
t
o
r
d
r
ives u
s
in
g
P
I
–
V
G
S
TAS
M c
o
n
tr
o
l
…
(
N
g
o
c
Th
u
y
P
h
a
m
)
331
2.
M
E
T
H
O
D
2
.
1
.
M
o
del o
f
ind
uct
io
n m
o
t
o
r
driv
es
I
n
th
is
s
tu
d
y
,
th
e
FOC
tech
n
iq
u
e
r
ec
o
g
n
ize
d
as
th
e
d
o
m
in
an
t
ap
p
r
o
ac
h
in
in
d
u
s
tr
ial
m
o
to
r
d
r
iv
e
ap
p
licatio
n
s
is
em
p
lo
y
ed
[
1
]
.
W
h
en
th
e
r
o
to
r
f
lu
x
is
p
e
r
f
ec
tly
alig
n
ed
with
th
e
d
-
ax
is
,
th
e
q
u
ad
r
atu
r
e
-
ax
is
f
lu
x
co
m
p
o
n
en
t
b
ec
o
m
es
ze
r
o
,
allo
win
g
th
e
cu
r
r
e
n
t
co
m
p
o
n
en
t
s
;
to
in
d
ep
en
d
en
tly
r
e
g
u
late
th
e
r
o
to
r
f
lu
x
an
d
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e.
T
h
e
d
y
n
am
ic
b
eh
av
io
r
o
f
th
e
in
d
u
ctio
n
m
o
t
o
r
ca
n
th
en
b
e
ex
p
r
ess
ed
b
y
th
e
f
o
llo
win
g
s
p
ac
e
-
v
ec
to
r
d
if
f
er
e
n
tial e
q
u
atio
n
s
:
'
3
2
1
()
sq
rd
sd
rr
sq
sq
sd
sq
sd
sd
sq
sd
r
r
s
L
rd
m
rd
s
s
e
r
e
rd
s
s
e
r
rd
d
L
T
i
dt
J
J
dL
i
dt
di
ai
i
dt
di
ai
i
dt
PB
L
L
b
c
u
L
L
bR
c
u
=
=−
=−
−−
=−
+
+
+
+
+
+
(
1
)
wh
er
e:
=
1
−
2
;
=
;
=
2
+
2
2
;
=
2
2
;
=
1
;
=
;
′
=
;
;
;
:
t
h
e
co
m
p
o
n
en
ts
o
f
s
tato
r
v
o
ltag
e
an
d
s
tato
r
c
u
r
r
en
t,
r
esp
ec
tiv
ely
,
,
:
r
o
to
r
f
lu
x
co
m
p
o
n
en
ts
;
,
:
e
lectr
o
m
ag
n
etic
an
d
lo
ad
to
r
q
u
e;
−
;
−
:
s
y
n
ch
r
o
n
o
u
s
an
d
s
tatio
n
ar
y
ax
is
r
ef
er
en
ce
f
r
am
e
q
u
an
titi
es,
r
esp
ec
tiv
ely
;
:
th
e
an
g
u
lar
v
elo
cit
y
(
m
ec
h
an
ical
s
p
ee
d
)
,
=
(
2
/
)
;
,
,
:
th
e
elec
tr
ical
s
p
ee
d
r
esp
ec
tiv
ely
r
o
t
o
r
a
n
d
s
lip
an
g
u
lar
an
d
s
y
n
c
h
r
o
n
o
u
s
a
n
g
u
la
r
v
el
o
city
;
,
:
s
tato
r
an
d
r
o
to
r
in
d
u
ctan
ce
s
;
:
m
u
tu
al
in
d
u
cta
n
ce
;
,
:
st
ato
r
an
d
r
o
to
r
r
esis
tan
ce
s
;
:
th
e
in
er
tia
o
f
m
o
to
r
an
d
l
o
ad
;
:
t
o
tal
lin
k
a
g
e
co
ef
f
icien
t;
:
nu
m
b
er
o
f
p
o
le
p
air
s
;
:
f
r
ictio
n
co
ef
f
icien
t
;
:
ro
to
r
an
d
s
tato
r
tim
e
co
n
s
tan
t.
T
h
e
ele
ctr
o
m
ag
n
etic
to
r
q
u
e
a
n
d
t
h
e
s
lip
f
r
eq
u
e
n
cy
ca
n
b
e
e
x
p
r
es
s
ed
in
r
ef
e
r
en
ce
f
r
am
e:
=
3
2
(
2
)
=
(
3
)
2
.
2
.
Sp
ee
d
pro
po
rt
io
na
l
–
int
eg
ra
l
co
ntr
o
ller
des
ig
n
I
n
th
e
o
u
ter
-
l
o
o
p
o
f
th
e
FOC
s
tr
u
ctu
r
e,
a
PI
co
n
tr
o
ller
is
ad
o
p
ted
to
r
eg
u
late
th
e
r
o
to
r
s
p
ee
d
o
f
th
e
I
M.
T
h
e
PI
co
n
tr
o
ller
g
en
er
at
es
a
to
r
q
u
e
-
p
r
o
d
u
cin
g
cu
r
r
en
t
r
ef
er
en
ce
∗
b
ased
o
n
th
e
s
p
ee
d
tr
ac
k
in
g
er
r
o
r
=
∗
−
,
wh
er
e
∗
,
ar
e
th
e
r
ef
er
en
ce
an
d
ac
tu
al
r
o
to
r
s
p
ee
d
s
,
r
esp
ec
tiv
ely
.
T
h
e
PI
s
p
ee
d
co
n
tr
o
ller
is
g
iv
en
b
y
:
(
)
=
+
(
4
)
T
h
e
m
ec
h
an
ical
d
y
n
a
m
ics o
f
t
h
e
in
d
u
ctio
n
m
o
t
o
r
ar
e
m
o
d
ele
d
as:
(
)
=
+
1
(
5
)
wh
er
e:
is
th
e
to
r
q
u
e
co
n
s
tan
t,
=
/
is
th
e
m
ec
h
an
ical
tim
e
co
n
s
tan
t,
is
th
e
r
o
t
o
r
in
e
r
tia,
is
th
e
v
is
co
u
s
f
r
ictio
n
co
e
f
f
icien
t.
T
h
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
o
f
t
h
e
s
p
ee
d
c
o
n
tr
o
l lo
o
p
i
s
th
en
d
er
iv
e
d
as:
∗
(
)
(
)
=
(
+
)
⋅
(
+
1
)
1
+
(
+
)
⋅
(
+
1
)
(
6
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
3
2
9
-
342
332
T
o
d
esig
n
th
e
PI
g
ain
s
,
th
e
d
e
n
o
m
in
ato
r
o
f
(
9
)
is
eq
u
ated
wi
th
th
e
s
tan
d
ar
d
s
ec
o
n
d
-
o
r
d
e
r
s
y
s
tem
:
2
+
2
+
2
(
7
)
C
o
m
p
ar
in
g
th
e
co
ef
f
icien
ts
y
i
eld
s
:
2
=
+
1
(
8
)
2
=
(
9
)
B
y
s
elec
tin
g
th
e
d
esire
d
d
am
p
in
g
r
atio
/
ze
ta
an
d
n
at
u
r
al
f
r
e
q
u
en
cy
/
o
m
eg
a_
n
,
th
e
PI
p
ar
am
eter
s
ca
n
b
e
co
m
p
u
ted
as:
=
2
−
1
,
=
2
(
1
0
)
T
y
p
ically
,
=0
.
7
0
7
=
0
.
7
0
7
is
ch
o
s
en
to
en
s
u
r
e
a
cr
itically
d
a
m
p
ed
r
esp
o
n
s
e,
an
d
is
s
elec
te
d
ac
co
r
d
in
g
to
th
e
r
eq
u
ir
e
d
s
p
ee
d
lo
o
p
b
an
d
w
id
th
.
A
b
lo
c
k
d
iag
r
a
m
o
f
th
e
s
p
ee
d
co
n
tr
o
l lo
o
p
is
s
h
o
wn
in
Fig
u
r
e
1.
*
ω
r
-
()
=+
is
ps
K
C
s
K
s
()
1
=
+
t
m
K
Gs
s
ω
r
Fig
u
r
e
1
.
A
b
lo
ck
d
iag
r
am
o
f
t
h
e
s
p
ee
d
co
n
tr
o
l lo
o
p
2
.
3
.
SM
C
des
ig
n
wit
h t
he
V
G
ST
A
f
o
r
in t
he
inn
er
curr
e
nt
lo
o
ps
I
n
th
is
p
ar
t,
a
h
ig
h
-
o
r
d
er
n
o
n
lin
ea
r
s
lid
in
g
co
n
tr
o
l
alg
o
r
ith
m
b
ased
o
n
L
y
a
p
u
n
o
v
s
tab
ilit
y
th
eo
r
y
u
s
in
g
th
e
VGST
A
is
p
r
o
p
o
s
ed
f
o
r
th
e
in
n
er
cu
r
r
en
t
lo
o
p
s
to
in
cr
ea
s
e
r
o
b
u
s
tn
ess
o
f
o
v
er
all
s
y
s
tem
,
m
in
im
izin
g
th
e
e
f
f
ec
ts
o
f
p
a
r
am
eter
v
ar
iatio
n
s
an
d
u
n
f
o
r
eseen
d
is
tu
r
b
an
ce
s
in
th
e
co
n
tr
o
l
p
r
o
ce
s
s
.
T
h
e
cu
r
r
en
t e
r
r
o
r
t
r
ac
k
in
g
f
u
n
ctio
n
d
ef
in
ed
:
is
=
i
∗
−
;
isq
=
i
∗
−
(
1
1
)
T
h
e
c
o
r
r
e
s
p
o
n
d
i
n
g
n
o
n
l
i
n
e
a
r
s
li
p
s
u
r
f
a
c
e
a
c
c
o
r
d
i
n
g
t
o
t
h
e
c
u
r
r
e
n
t
c
o
m
p
o
n
e
n
t
s
is
d
e
f
i
n
e
d
a
s
f
o
l
l
o
w
s
[
4
4
]
,
[
4
5
]:
{
1
=
is
+
1
|
∫
is
|
1
/
2
(
∫
is
)
2
=
isq
+
2
|
∫
isq
|
1
/
2
(
∫
isq
)
(
1
2
)
C
o
m
b
in
in
g
(
1
)
,
tak
i
n
g
th
e
tim
e
d
if
f
er
en
tial o
n
b
o
th
s
id
es o
f
(
1
2
)
,
we
g
et:
1
=
is
+
[
1
|
∫
is
|
1
/
2
(
∫
is
)
]
∗
−
1
[
-
a
i
sd
+
L
sq
+
b
R
rd
+
c
u
sd
]
+
[
1
|
∫
is
|
1
/
2
(
∫
is
)
]
=
−
1
2
=
isq
+
2
|
∫
isq
|
1
/
2
(
∫
isq
)
=
∗
−
1
[
-
a
i
sq
-
L
sd
-
b
rd
+
c
u
sq
]
+
[
2
|
∫
isq
|
1
/
2
(
∫
isq
)
]
=
−
2
(
1
3
)
I
n
th
is
p
r
o
p
o
s
ed
we
s
elec
t th
e
1
,
2
s
witch
in
g
co
n
tr
o
l f
u
n
ctio
n
s
:
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
I
mp
r
o
ve
d
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
o
f in
d
u
ctio
n
mo
t
o
r
d
r
ives u
s
in
g
P
I
–
V
G
S
TAS
M c
o
n
tr
o
l
…
(
N
g
o
c
Th
u
y
P
h
a
m
)
333
{
1
(
)
=
1
(
,
is
)
[
1
1
(
1
)
+
1
∫
2
(
1
)
0
]
2
(
)
=
2
(
,
isq
)
[
2
1
(
2
)
+
2
∫
2
(
2
)
0
]
(
1
4
)
wh
er
e:
1
(
,
is
)
=
1
(
1
)
;
2
(
,
isq
)
=
2
(
2
)
1
(
)
=
|
|
1
/
2
(
)
+
3
;
2
(
)
=
1
2
(
)
+
3
2
3
|
|
1
/
2
(
)
+
3
2
W
ith
=
1
:2
,
1
,
2
,
3
,
1
,
2
,
1
,
2
ar
e
p
o
s
itiv
e
c
o
ef
f
icien
ts
.
Fr
o
m
(
1
3
)
-
(
1
4
)
th
e
v
ir
t
u
al
co
n
tr
o
l
f
u
n
ctio
n
s
o
f
th
e
cu
r
r
en
t c
o
n
tr
o
l lo
o
p
ar
e
d
eter
m
in
e
d
as f
o
llo
ws:
{
∗
=
{
1
(
)
+
∗
+
[
1
|
∫
is
|
1
/
2
(
∫
is
)
]
}
+
+
1
[
a
i
sd
-
L
sq
-
b
R
rd
]
∗
=
{
2
(
)
+
∗
+
[
2
|
∫
isq
|
1
/
2
(
∫
isq
)
]
}
+
+
1
[
a
i
sq
+
L
sd
+
b
rd
]
(
1
5
)
W
e
s
elec
t th
e
L
y
ap
u
n
o
v
f
u
n
cti
o
n
:
=
1
2
[
1
2
+
2
2
]
(
1
6
)
Dif
f
er
en
tiate
b
o
th
s
id
es o
f
(
1
6
)
,
co
m
b
i
n
e
with
f
o
r
m
u
las (
1
3
)
an
d
(
1
4
)
to
g
et:
=
1
1
+
2
2
(
1
7
)
=
−
1
(
,
is
)
1
[
1
(
1
)
+
∫
2
(
1
)
0
]
−
2
(
,
isq
)
2
[
1
(
2
)
+
∫
2
(
2
)
0
]
Fro
m
(
1
7
)
,
we
s
ee
th
at
th
e
d
i
f
f
er
en
tial
o
f
th
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
is
alwa
y
s
n
eg
ativ
e.
T
h
er
ef
o
r
e,
th
e
s
y
s
tem
is
alwa
y
s
s
tab
le.
2
.
4
.
Desig
n o
f
t
he
a
da
ptiv
e
VG
ST
AS
M
di
s
t
urba
nce
o
b
s
er
v
er
T
h
e
d
y
n
am
ics
o
f
th
e
I
M
ar
e
c
o
m
m
o
n
l
y
d
escr
ib
ed
in
th
e
s
y
n
ch
r
o
n
o
u
s
r
o
tatin
g
r
e
f
er
en
ce
f
r
am
e
(
−
f
r
am
e)
,
u
n
d
er
th
e
FOC
ass
u
m
p
tio
n
,
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
th
e
r
o
t
o
r
s
p
ee
d
ar
e
e
x
p
r
ess
ed
as
in
(
2
)
.
On
t
h
e
o
th
e
r
h
an
d
,
we
also
h
av
e:
⋅
=
−
−
⋅
(
1
8
)
wh
er
e:
is
th
e
m
ec
h
an
ical
r
o
t
o
r
s
p
ee
d
,
is
th
e
to
tal
m
o
m
e
n
t
o
f
in
e
r
tia
o
f
th
e
m
o
to
r
an
d
lo
ad
,
is
th
e
v
is
co
u
s
f
r
ictio
n
co
e
f
f
icien
t,
is
th
e
ex
ter
n
al
lo
a
d
to
r
q
u
e.
Fo
r
co
n
tr
o
l
d
esig
n
,
we
ca
n
co
m
b
in
e
th
ese
eq
u
atio
n
s
.
L
et
,
=
3
/
2
b
e
th
e
n
o
m
in
al
to
r
q
u
e
co
n
s
tan
t.
T
h
e
(
1
8
)
b
ec
o
m
es:
=
−
−
1
(
1
9
)
wh
er
e:
is
th
e
-
ax
is
s
tato
r
cu
r
r
en
t,
wh
ich
ac
ts
as
th
e
to
r
q
u
e
-
p
r
o
d
u
cin
g
c
u
r
r
e
n
t,
is
th
e
n
u
m
b
er
o
f
p
o
le
p
air
s
,
,
ar
e
th
e
m
u
tu
al
a
n
d
r
o
t
o
r
in
d
u
ctan
ce
s
,
r
esp
ec
tiv
ely
,
is
th
e
co
n
s
tan
t r
o
to
r
f
lu
x
lin
k
ag
e
.
2
.
4
.
1
.
Co
ntr
o
l
pro
blem
f
o
rmula
t
io
n
T
h
e
co
n
tr
o
l
o
b
jectiv
e
is
to
d
es
ig
n
a
co
n
tr
o
ller
f
o
r
th
e
-
ax
is
cu
r
r
en
t
s
u
ch
th
at
th
e
r
o
to
r
s
p
e
ed
ac
cu
r
ately
tr
ac
k
s
a
d
esire
d
r
ef
er
en
ce
s
p
ee
d
∗
,
d
esp
ite
th
e
p
r
esen
ce
o
f
u
n
ce
r
tain
t
ies
an
d
ex
ter
n
al
d
is
tu
r
b
an
ce
s
.
L
et
u
s
d
e
f
in
e
th
e
s
tate
v
ar
iab
les
f
o
r
th
e
s
p
ee
d
c
o
n
tr
o
l
lo
o
p
as
₁
=
∗
−
∗
(
tr
ac
k
in
g
er
r
o
r
)
an
d
₂
=
.
T
h
e
s
y
s
tem
d
y
n
am
ics
ca
n
b
e
ex
p
r
ess
ed
in
a
s
im
p
lifie
d
s
tate
-
s
p
ac
e
f
o
r
m
s
u
itab
le
f
o
r
co
n
tr
o
lle
r
d
esig
n
:
2
(
)
=
+
(
)
(
2
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
3
2
9
-
342
334
wh
er
e:
=
is
th
e
co
n
tr
o
l
in
p
u
t,
(
/
)
ar
e
th
e
n
o
m
in
al
s
y
s
tem
p
ar
am
eter
s
,
(
)
is
th
e
d
is
tu
r
b
an
ce
,
d
ef
in
ed
as:
(
)
=
−
−
1
+
(
)
(
2
1
)
h
er
e,
(
)
r
ep
r
esen
ts
th
e
ef
f
ec
ts
o
f
p
ar
am
eter
v
a
r
iatio
n
s
(
,
)
an
d
u
n
m
o
d
eled
n
o
n
lin
ea
r
ities
.
2
.
4
.
2
.
Desig
n o
f
t
he
a
da
ptiv
e
VG
ST
AS
M
di
s
t
urba
nce
o
b
s
er
v
er
T
h
is
s
ec
tio
n
p
r
esen
ts
th
e
d
esi
g
n
o
f
a
n
o
v
el
d
ir
ec
t
ad
a
p
tiv
e
h
ig
h
e
r
-
o
r
d
er
s
lid
in
g
m
o
d
e
d
i
s
tu
r
b
an
ce
o
b
s
er
v
er
(
OB
)
.
T
h
e
o
b
s
er
v
er
’
s
g
o
al
is
to
p
r
o
v
id
e
a
h
ig
h
-
p
r
ec
is
io
n
,
r
ea
l
-
tim
e
esti
m
atio
n
(
)
o
f
th
e
lu
m
p
ed
d
is
tu
r
b
an
ce
(
)
.
T
h
e
lu
m
p
ed
d
is
tu
r
b
an
ce
(
)
is
a
co
n
tin
u
o
u
s
ly
d
if
f
er
en
tiab
le
f
u
n
ctio
n
,
an
d
its
f
ir
s
t
tim
e
d
er
iv
ativ
e
(
)
is
b
o
u
n
d
ed
b
y
an
u
n
k
n
o
wn
p
o
s
itiv
e
co
n
s
tan
t
,
|
(
)
|
≤
.
W
e
d
esig
n
th
e
o
b
s
er
v
er
to
d
ir
ec
tly
esti
m
ate
(
)
.
L
et
is
an
in
ter
n
al
s
tate
v
ar
iab
le
o
f
t
h
e
o
b
s
er
v
er
.
I
ts
d
y
n
am
ics ar
e
d
ef
in
e
d
as:
(
)
=
+
̂
(
2
2
)
wh
er
e
is
th
e
esti
m
ated
d
is
tu
r
b
an
ce
.
A
s
lid
in
g
v
a
r
iab
le
is
d
ef
in
ed
u
s
in
g
m
ea
s
u
r
ab
le
an
d
in
t
er
n
al
s
tates:
(
)
=
(
)
−
(
)
(
2
3
)
T
h
e
d
er
iv
ati
v
e
o
f
th
e
s
lid
in
g
v
ar
iab
le
s
ca
n
b
e
ca
lcu
lated
b
y
s
u
b
tr
ac
tin
g
(
2
2
)
f
r
o
m
t
h
e
tim
e
d
er
iv
ativ
e
o
f
(
wh
ich
is
₂
f
r
o
m
(
2
0
)
)
:
(
)
=
.
−
=
(
+
)
−
(
+
̂
)
(
2
4
)
(
)
=
−
̂
(
2
5
)
L
et
=
−
̂
b
e
t
h
e
d
is
tu
r
b
an
ce
esti
m
atio
n
er
r
o
r
.
T
h
e
(
2
5
)
s
h
o
ws
t
h
at
th
e
d
er
iv
ativ
e
o
f
o
u
r
co
m
p
u
tab
le
s
lid
in
g
v
ar
ia
b
le
is
ex
ac
tly
eq
u
al
to
th
e
esti
m
atio
n
er
r
o
r
.
T
o
d
r
iv
e
t
h
e
esti
m
atio
n
er
r
o
r
to
z
er
o
,
we
m
u
s
t
f
ir
s
t
d
r
iv
e
th
e
s
lid
in
g
v
ar
iab
le
to
ze
r
o
in
f
in
ite
tim
e.
W
e
e
m
p
lo
y
th
e
VGST
A
to
ac
h
iev
e
th
is
,
th
e
d
er
iv
ativ
e
o
f
:
̈
(
)
=
=
−
̂
(
2
6
)
W
e
d
esig
n
th
e
law
f
o
r
to
b
e
a
n
ad
ap
tiv
e
VGST
A
th
at
co
u
n
t
er
ac
ts
th
e
u
n
k
n
o
wn
p
er
tu
r
b
atio
n
(
)
:
̂
(
)
=
(
)
(
2
7
)
(
)
=
3
(
,
is
)
[
3
1
(
(
)
)
+
3
∫
2
(
(
)
)
0
]
(
2
8
)
w
h
er
e:
{
3
(
,
is
)
=
(
)
(
(
)
)
1
(
(
)
)
=
|
(
)
|
1
/
2
(
(
)
)
+
3
(
)
2
(
(
)
)
=
1
2
(
(
)
)
+
3
2
3
|
(
)
|
1
/
2
(
(
)
)
+
3
2
(
)
Fro
m
(
1
9
)
-
(
2
1
)
,
t
h
e
d
is
tu
r
b
a
n
c
e
co
m
p
en
s
atio
n
c
u
r
r
e
n
t
ca
n
b
e
co
m
p
u
te
d
as:
=
(
−
̂
)
(
2
9
)
Acc
o
r
d
in
g
ly
,
th
e
to
tal
r
e
f
er
en
c
e
cu
r
r
en
t is g
iv
e
n
b
y
:
=
∗
+
(
3
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
I
mp
r
o
ve
d
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
o
f in
d
u
ctio
n
mo
t
o
r
d
r
ives u
s
in
g
P
I
–
V
G
S
TAS
M c
o
n
tr
o
l
…
(
N
g
o
c
Th
u
y
P
h
a
m
)
335
2
.
4
.
3
.
Ada
ptiv
e
la
ws a
nd
s
t
a
bil
it
y
a
na
ly
s
is
T
h
e
k
ey
in
n
o
v
atio
n
is
th
e
d
esig
n
o
f
th
e
ad
a
p
tiv
e
laws
f
o
r
₁
(
)
an
d
₂
(
)
to
elim
in
ate
th
e
n
ee
d
f
o
r
k
n
o
win
g
t
h
e
b
o
u
n
d
.
W
e
p
r
o
p
o
s
e
th
e
“
in
cr
ea
s
e
-
wh
en
-
n
ee
d
e
d
”
ad
ap
tiv
e
laws:
1
(
)
=
{
1
⋅
|
|
,
if
|
|
>
0
−
2
⋅
1
(
)
,
if
|
|
≤
0
(
3
1
)
2
(
)
=
{
3
⋅
|
|
,
if
|
|
>
0
−
4
⋅
2
(
)
,
if
|
|
≤
0
(
3
2
)
wh
er
e:
is
th
e
s
lid
in
g
v
ar
iab
le
d
ef
in
ed
i
n
(
2
3
)
,
₁
,
₂
,
₃
,
₄
ar
e
p
o
s
itiv
e
d
esig
n
c
o
n
s
tan
ts
th
at
d
eter
m
in
e
th
e
ad
ap
tatio
n
r
ates,
₀
is
a
s
m
all
p
o
s
itiv
e
co
n
s
tan
t
d
e
f
in
in
g
th
e
wid
th
o
f
th
e
b
o
u
n
d
ar
y
lay
e
r
a
r
o
u
n
d
th
e
s
lid
in
g
s
u
r
f
ac
e
=
0
.
I
t
s
h
o
u
ld
b
e
em
p
h
asized
th
at
th
e
ad
ap
tiv
e
g
ain
s
1
(
)
an
d
2
(
)
ar
e
n
o
t
co
n
s
tan
t
v
alu
es,
b
u
t
ar
e
d
y
n
am
ically
u
p
d
ated
o
n
li
n
e
ac
co
r
d
in
g
t
o
(
3
1
)
a
n
d
(
3
2
)
.
I
n
p
r
ac
tice,
at
ea
ch
tim
e
i
n
s
tan
t,
th
e
v
alu
es
o
f
1
(
)
an
d
2
(
)
ar
e
o
b
tain
ed
b
y
in
teg
r
ati
n
g
th
eir
r
esp
ec
tiv
e
d
if
f
er
e
n
tial
eq
u
atio
n
s
.
W
h
en
th
e
s
lid
in
g
v
ar
iab
le
is
lar
g
er
th
an
th
e
th
r
esh
o
ld
0
,
th
e
g
ain
s
in
cr
ea
s
e
p
r
o
p
o
r
tio
n
ally
to
∣
∣
,
wh
ich
en
h
an
ce
s
th
e
d
is
tu
r
b
an
ce
r
ejec
tio
n
ca
p
a
b
ilit
y
.
C
o
n
v
er
s
ely
,
wh
en
∣
∣
f
alls
b
elo
w
0
,
th
e
g
ain
s
d
ec
ay
ex
p
o
n
en
tially
,
th
u
s
p
r
ev
en
tin
g
u
n
n
ec
ess
ar
ily
lar
g
e
v
alu
es
an
d
r
ed
u
cin
g
ch
atter
in
g
.
T
h
is
“
in
cr
ea
s
e
-
wh
en
-
n
ee
d
ed
”
m
ec
h
a
n
is
m
elim
in
ates
th
e
n
ee
d
f
o
r
p
r
io
r
k
n
o
wled
g
e
o
f
t
h
e
d
is
tu
r
b
an
ce
b
o
u
n
d
,
wh
ile
en
s
u
r
in
g
f
in
ite
-
tim
e
co
n
v
er
g
e
n
ce
an
d
r
o
b
u
s
tn
ess
o
f
th
e
ad
a
p
tiv
e
VGST
A.
T
h
e
s
tab
ilit
y
o
f
t
h
e
co
m
p
lete
ad
ap
tiv
e
o
b
s
er
v
er
s
y
s
tem
,
d
escr
ib
ed
b
y
(
2
4
)
–
(
2
8
)
,
ca
n
b
e
r
ig
o
r
o
u
s
ly
estab
lis
h
ed
u
s
in
g
L
y
ap
u
n
o
v
th
eo
r
y
.
T
h
e
a
n
aly
s
is
s
h
o
ws
t
h
at
all
er
r
o
r
s
ig
n
als
an
d
ad
ap
tiv
e
g
ain
s
r
em
ain
u
n
if
o
r
m
ly
u
ltima
tely
b
o
u
n
d
e
d
(
UUB).
C
o
n
s
eq
u
en
tly
,
th
e
d
is
tu
r
b
an
ce
esti
m
atio
n
er
r
o
r
co
n
v
er
g
es
to
a
s
m
all,
u
s
er
-
d
ef
in
ed
n
eig
h
b
o
r
h
o
o
d
o
f
th
e
o
r
ig
in
with
in
f
in
it
e
tim
e
.
Fu
r
th
er
m
o
r
e,
th
e
esti
m
ated
o
u
tp
u
t
̂
(
)
,
o
b
tain
ed
t
h
r
o
u
g
h
th
e
in
teg
r
at
io
n
in
(
2
7
)
,
p
r
o
v
i
d
es
a
co
n
tin
u
o
u
s
a
n
d
ac
c
u
r
ate
a
p
p
r
o
x
im
atio
n
o
f
th
e
ac
tu
al
d
is
tu
r
b
an
ce
.
2
.
5
.
P
SO
-
ba
s
ed
o
pti
m
iza
t
io
n o
f
co
ntr
o
ller
g
a
ins
T
o
en
s
u
r
e
r
o
b
u
s
t
an
d
h
ig
h
-
p
er
f
o
r
m
an
ce
co
n
tr
o
l,
th
e
A
d
ap
tiv
e
VGST
ASM
d
is
tu
r
b
an
ce
o
b
s
er
v
er
an
d
th
e
VGST
A
f
o
r
in
th
e
in
n
er
cu
r
r
en
t
lo
o
p
s
r
eq
u
ir
e
ap
p
r
o
p
r
iate
tu
n
in
g
o
f
s
ev
er
al
k
e
y
p
ar
am
eter
s
.
Ma
n
u
al
tu
n
in
g
o
f
th
ese
p
ar
a
m
eter
s
is
tim
e
-
co
n
s
u
m
in
g
an
d
m
ay
lea
d
to
s
u
b
o
p
tim
al
p
er
f
o
r
m
a
n
ce
,
p
ar
ticu
lar
ly
u
n
d
er
n
o
n
lin
ea
r
o
p
er
atin
g
co
n
d
itio
n
s
o
f
th
e
I
MD
s
.
T
o
o
v
er
co
m
e
th
is
lim
itatio
n
,
PS
O
was
ad
o
p
ted
as
an
o
f
f
lin
e
g
lo
b
al
s
ea
r
ch
tech
n
iq
u
e.
T
h
e
o
p
tim
izatio
n
o
b
jectiv
e
was d
ef
i
n
ed
as a
m
u
lti
-
cr
iter
ia
c
o
s
t f
u
n
ctio
n
:
(
)
=
1
1
(
)
+
2
2
(
)
+
3
3
(
)
(
3
3
)
wh
er
e
1
(
)
r
ep
r
esen
ts
th
e
in
teg
r
al
o
f
s
q
u
a
r
ed
s
p
ee
d
e
r
r
o
r
,
2
(
)
q
u
a
n
t
if
ies
h
ig
h
-
f
r
eq
u
e
n
cy
o
s
cillatio
n
s
o
f
th
e
co
n
tr
o
l
s
ig
n
al
,
an
d
3
(
)
r
ef
lects
th
e
to
tal
en
er
g
y
o
f
th
e
c
o
n
tr
o
l
in
p
u
t.
T
h
e
weig
h
tin
g
c
o
ef
f
icien
t
s
1
;
2
;
3
wer
e
s
elec
ted
ac
co
r
d
in
g
to
th
e
d
esire
d
tr
ad
e
-
o
f
f
b
etwe
e
n
tr
ac
k
in
g
ac
cu
r
ac
y
,
s
m
o
o
th
n
ess
,
an
d
en
er
g
y
ef
f
icien
cy
.
Stan
d
a
r
d
PS
O
v
elo
city
an
d
p
o
s
itio
n
u
p
d
ates w
er
e
em
p
lo
y
e
d
:
+
1
=
+
1
1
(
−
)
+
2
2
(
−
)
+
1
=
+
+
1
(
3
4
)
wh
er
e
is
th
e
in
er
tia
weig
h
t,
1
;
2
ar
e
co
g
n
itiv
e
an
d
s
o
cial
lear
n
in
g
co
ef
f
icien
ts
,
an
d
an
d
g
d
en
o
te
th
e
p
er
s
o
n
al
a
n
d
g
lo
b
al
b
est
s
o
lu
ti
o
n
s
.
C
o
n
s
tr
ictio
n
f
ac
to
r
s
an
d
v
elo
city
clam
p
in
g
wer
e
ap
p
lied
to
e
n
s
u
r
e
s
tab
ilit
y
an
d
co
n
v
er
g
e
n
ce
.
T
h
e
PS
O
ad
ap
tiv
e
f
u
n
ctio
n
is
ch
o
s
en
as f
o
llo
ws:
=
∫
|
(
)
|
0
(
3
5
)
T
h
e
s
war
m
o
p
tim
izatio
n
alg
o
r
ith
m
is
im
p
lem
en
ted
as
s
h
o
w
n
in
Fig
u
r
e
2
.
T
h
e
o
p
tim
izati
o
n
p
r
o
ce
s
s
s
to
p
p
ed
wh
e
n
eith
e
r
th
e
m
a
x
im
u
m
iter
atio
n
lim
it
was
r
ea
ch
ed
o
r
im
p
r
o
v
em
en
ts
o
v
er
f
iv
e
co
n
s
ec
u
tiv
e
iter
atio
n
s
f
ell
b
elo
w
a
p
r
eset
to
ler
an
ce
.
T
h
e
g
l
o
b
al
b
est
p
ar
ticle
y
ield
ed
th
e
o
p
tim
al
o
f
f
li
n
e
p
ar
a
m
eter
s
an
d
s
lid
in
g
-
m
o
d
e
g
ain
s
,
wh
ich
w
er
e
later
u
s
ed
as
in
itial
v
alu
es
f
o
r
o
n
lin
e
ad
a
p
tatio
n
.
B
y
e
m
p
lo
y
in
g
PS
O
as
a
g
lo
b
al
o
p
tim
izer
,
t
h
e
p
r
o
p
o
s
ed
s
ch
em
e
ac
h
iev
ed
a
n
ea
r
-
o
p
tim
al
s
tar
tin
g
p
o
in
t,
e
n
s
u
r
in
g
f
a
s
t
co
n
v
er
g
e
n
ce
a
n
d
s
tr
o
n
g
p
er
f
o
r
m
a
n
ce
co
n
s
is
ten
cy
ac
r
o
s
s
v
ar
io
u
s
o
p
er
atin
g
co
n
d
itio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
3
2
9
-
342
336
I
ni
t
a
l
i
z
a
t
i
on
I
ni
t
a
l
i
z
e
pa
r
t
i
c
l
e
s
pos
i
t
i
ons
a
nd
v
e
l
oc
i
t
i
e
s
E
va
l
ua
t
e
i
ni
t
i
a
l
f
i
t
ne
s
s
I
ni
t
a
l
i
z
e
P
be
s
t
a
nd
G
be
s
t
W
hi
l
e
(
n
ot
c
onve
r
g
e
nc
e
A
N
D
not
m
a
x
i
t
e
r
a
t
i
on
)
Y
e
s
R
e
t
ur
n
G
be
s
t
a
n
d
P
be
s
t
U
p
da
t
e
ve
l
oc
i
t
y
U
p
da
t
e
pos
i
t
i
on
E
va
l
ua
t
e
f
i
t
ne
s
s
U
p
da
t
e
P
be
s
t
U
p
da
t
e
G
b
e
s
t
No
Fig
u
r
e
2
.
PS
O
alg
o
r
ith
m
f
lo
w
ch
ar
t
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
o
v
alid
ate
th
e
ef
f
ec
tiv
en
es
s
an
d
s
u
p
er
io
r
ity
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
y
,
co
m
p
r
eh
en
s
iv
e
s
im
u
latio
n
s
ar
e
co
n
d
u
cted
in
th
e
MA
T
L
AB
/Si
m
u
lin
k
en
v
ir
o
n
m
en
t.
T
h
e
p
a
r
am
eter
s
r
at
in
g
s
o
f
th
e
1
.
5
k
W
in
d
u
ctio
n
m
o
to
r
u
s
ed
in
th
e
s
im
u
latio
n
ar
e:
4
0
0
V,
5
0
Hz,
2
p
o
le,
2
8
8
0
r
p
m
,
=
1
.
9
7
Ω
,
=
1
.
9
6
Ω
,
=
0
.
0
1
5
4
H,
=
0
.
0
1
5
4
H,
=
0
.
3
5
8
5
H,
=
0
.
0
0
2
4
2
k
g
.
m
2
,
=
0
.
0
0
0
5
.
T
h
e
s
im
u
latio
n
m
o
d
el
is
p
r
esen
ted
in
Fig
u
r
e
3
.
T
o
e
v
al
u
ate
p
er
f
o
r
m
an
ce
,
co
m
p
ar
is
o
n
s
wer
e
m
ad
e
ag
ain
s
t
th
e
co
n
v
en
tio
n
al
PI,
th
e
PI
–
SOSM
co
n
tr
o
l
s
tr
ateg
y
with
a
to
r
q
u
e
o
b
s
er
v
er
b
ased
o
n
s
u
p
e
r
-
twis
tin
g
alg
o
r
ith
m
(
PI
SOSM
OB
)
,
an
d
s
ev
er
al
ad
v
an
ce
d
m
eth
o
d
s
f
r
o
m
t
h
e
liter
atu
r
e
in
[
4
0
]
-
[4
2
]
,
[
4
4
].
IM
P
WM
i
n
ve
r
te
r
S
um
S
um
α
β
/
ab
c
d
q
/
α
β
S
M
c
o
n
t
r
o
l
α
β
/
ac
b
d
q
/
α
β
PI
S
um
S
p
e
e
d
e
n
c
od
e
r
ψ
*
ω
_
+
+
_
+
_
v
v
θ
e
PI
S
um
R
otor
F
l
u
x
O
b
s
e
r
ve
r
S
M
D
i
s
t
u
r
b
u
n
c
e
O
b
se
r
v
e
r
S
um
i
sq
*
i
sq
d
i
s
sd
*
i
r
r
ω
r
*
P
S
O
o
f
f
l
i
n
e
i
sq
C
1
;
C
2
K
a
;
K
b
;
K
c
;
K
d
VG
S
T
A
ψ
r
^
Fig
u
r
e
3
.
T
h
e
v
ec
to
r
co
n
t
r
o
l o
f
I
M
d
r
iv
e
u
s
in
g
PI_
VGST
A
c
o
n
tr
o
l
3
.
1
.
T
ra
c
k
ing
perf
o
r
m
a
nce
a
nd
lo
a
d t
o
rque
dis
t
urba
nce
re
j
ec
t
io
n
T
o
ev
alu
ate
t
h
e
d
y
n
am
ic
p
er
f
o
r
m
an
ce
a
n
d
d
is
tu
r
b
an
ce
r
eje
ctio
n
ca
p
ab
ilit
y
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
y
,
th
r
ee
co
n
tr
o
ller
s
wer
e
co
m
p
a
r
ativ
ely
test
ed
u
n
d
er
id
en
tical
c
o
n
d
itio
n
s
:
th
e
co
n
v
e
n
tio
n
al
PI
co
n
tr
o
ller
,
th
e
PI
–
SOSM
OB
,
an
d
th
e
p
r
o
p
o
s
ed
PI
–
VGST
ASM
with
to
r
q
u
e
esti
m
atio
n
ap
p
r
o
ac
h
th
at
b
ased
o
n
VGST
ASM.
T
h
e
r
ef
er
en
ce
s
p
ee
d
v
ar
ied
b
etwe
en
+3
1
5
r
ad
/s
,
–
3
1
5
r
a
d
/s
,
an
d
7
0
r
a
d
/
s
,
in
clu
d
in
g
s
ev
er
al
r
ev
er
s
al
an
d
lo
ad
d
is
tu
r
b
an
ce
ev
en
ts
with
s
tep
lo
ad
to
r
q
u
e
T
L
o
f
7
Nm
is
ap
p
lied
at
=
0
.
2
s
an
d
r
em
o
v
ed
at
=
0
.
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
I
mp
r
o
ve
d
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
o
f in
d
u
ctio
n
mo
t
o
r
d
r
ives u
s
in
g
P
I
–
V
G
S
TAS
M c
o
n
tr
o
l
…
(
N
g
o
c
Th
u
y
P
h
a
m
)
337
F
i
g
u
r
e
4
(
a
)
s
h
o
w
s
t
h
e
s
p
e
e
d
t
r
a
c
k
i
n
g
p
e
r
f
o
r
m
a
n
c
e
o
f
t
h
e
t
h
r
e
e
c
o
n
t
r
o
l
l
e
r
s
.
T
h
e
P
I
s
c
h
e
m
e
e
x
h
i
b
i
t
s
a
s
l
o
w
e
r
t
r
a
n
s
ie
n
t
r
es
p
o
n
s
e
wi
t
h
a
n
o
t
i
c
e
a
b
l
e
o
v
e
r
s
h
o
o
t
,
w
h
il
e
th
e
P
I
–
S
OS
M
o
b
s
e
r
v
e
r
s
i
g
n
i
f
i
ca
n
t
l
y
i
m
p
r
o
v
e
s
r
is
e
t
i
m
e
a
n
d
s
u
p
p
r
e
s
s
es
o
s
c
il
l
a
ti
o
n
s
.
T
h
e
p
r
o
p
o
s
e
d
P
I
–
V
G
S
T
ASM
T
E
d
e
m
o
n
s
t
r
a
t
e
s
t
h
e
f
a
s
t
e
s
t
c
o
n
v
e
r
g
e
n
c
e
t
o
t
h
e
r
e
f
e
r
e
n
c
e
s
p
e
e
d
,
a
c
h
i
e
v
i
n
g
a
s
et
t
l
i
n
g
t
i
m
e
o
f
0
.
0
3
6
3
s
,
w
h
i
c
h
is
1
1
.
5
%
s
h
o
r
t
e
r
t
h
a
n
t
h
a
t
o
f
t
h
e
P
I
–
S
OS
M
OB
a
n
d
1
7
.
7
%
s
h
o
r
t
e
r
t
h
a
n
t
h
e
b
as
i
c
P
I
c
o
n
t
r
o
l
.
M
o
r
e
o
v
e
r
,
t
h
e
o
v
e
r
s
h
o
o
t
is
e
f
f
ec
t
i
v
e
l
y
m
i
n
i
m
i
ze
d
t
o
0
.
0
1
1
4
r
a
d
/
s
,
c
o
n
f
i
r
m
i
n
g
t
h
e
s
u
p
e
r
i
o
r
t
r
a
n
s
i
en
t
s
t
a
b
i
l
it
y
o
f
t
h
e
h
y
b
r
i
d
VG
ST
A
S
M
-
b
as
e
d
c
u
r
r
e
n
t
l
o
o
p
.
F
i
g
u
r
e
4
(
b
)
s
h
o
w
n
t
h
a
t
,
t
h
e
t
o
r
q
u
e
o
f
t
h
e
P
I
c
o
n
t
r
o
l
ler
e
x
h
i
b
i
t
s
r
e
l
a
ti
v
e
l
y
h
i
g
h
r
i
p
p
le
d
u
r
i
n
g
s
u
d
d
e
n
l
o
a
d
c
h
a
n
g
e
s
,
w
h
i
l
e
t
h
e
SO
SM
o
b
s
e
r
v
e
r
h
e
l
p
s
t
o
r
e
d
u
c
e
t
o
r
q
u
e
c
h
a
t
t
e
r
i
n
g
.
T
h
e
V
G
ST
AS
M
-
b
a
s
e
d
e
s
t
i
m
a
ti
o
n
f
u
r
t
h
e
r
s
m
o
o
t
h
s
t
h
e
t
o
r
q
u
e
r
e
s
p
o
n
s
e
,
m
a
i
n
t
ai
n
i
n
g
s
t
a
b
l
e
t
o
r
q
u
e
c
o
m
p
e
n
s
a
t
i
o
n
w
i
t
h
m
i
n
i
m
a
l
o
s
c
i
ll
a
t
i
o
n
a
m
p
l
i
t
u
d
e
.
T
h
is
i
m
p
r
o
v
e
m
e
n
t
r
e
s
u
l
ts
f
r
o
m
t
h
e
v
a
r
i
a
b
l
e
g
a
i
n
s
u
p
e
r
-
tw
i
s
t
i
n
g
a
l
g
o
r
i
t
h
m
’
s
a
d
a
p
ti
v
e
n
a
t
u
r
e
,
w
h
i
c
h
m
i
t
i
g
at
e
s
h
i
g
h
-
f
r
eq
u
e
n
c
y
d
i
s
t
u
r
b
a
n
c
e
s
w
i
t
h
o
u
t
s
a
c
r
i
f
i
ci
n
g
r
e
s
p
o
n
s
e
s
p
e
e
d
.
Fig
u
r
es
4
(
c)
an
d
(
d
)
d
ep
ict
t
h
e
in
s
tan
tan
eo
u
s
s
p
ee
d
er
r
o
r
an
d
cu
r
r
en
t,
r
esp
ec
tiv
ely
.
T
h
e
PI
–
VGST
ASM
T
E
p
r
o
d
u
ce
s
th
e
s
m
allest
s
p
ee
d
d
ev
iatio
n
,
with
n
ea
r
-
ze
r
o
s
tead
y
-
s
tate
er
r
o
r
u
n
d
er
b
o
th
l
o
ad
a
n
d
s
p
ee
d
tr
an
s
ien
ts
.
Me
an
wh
ile,
th
e
cu
r
r
en
t
r
esp
o
n
s
e
o
f
t
h
e
p
r
o
p
o
s
ed
m
eth
o
d
r
em
ain
s
s
m
o
o
th
an
d
well
-
r
eg
u
lated
,
d
em
o
n
s
tr
atin
g
ef
f
ec
tiv
e
d
ec
o
u
p
lin
g
b
etwe
en
to
r
q
u
e
an
d
f
lu
x
c
o
m
p
o
n
en
ts
.
T
a
b
le
1
s
u
m
m
ar
izes
th
e
p
er
f
o
r
m
an
ce
i
n
d
ices
f
o
r
th
e
t
h
r
ee
co
n
tr
o
l
s
ch
em
es.
T
h
e
p
r
o
p
o
s
ed
PI
VGST
ASM
T
E
ac
h
iev
es
th
e
lo
west
in
teg
r
al
o
f
s
q
u
a
r
ed
er
r
o
r
(
I
SE
)
=
9
.
1
5
×1
0
⁻⁴,
in
teg
r
al
o
f
ab
s
o
lu
te
er
r
o
r
(
I
AE
)
=
0
.
0
1
4
1
,
a
n
d
r
o
o
t
m
ea
n
s
q
u
ar
e
er
r
o
r
(
R
MSE
)
_
s
p
ee
d
=
0
.
0
5
9
4
,
in
d
icatin
g
r
e
m
ar
k
a
b
le
p
r
ec
is
io
n
an
d
n
o
is
e
im
m
u
n
ity
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
4
.
C
o
m
p
a
r
ativ
e
tr
ac
k
i
n
g
an
d
d
is
tu
r
b
an
ce
r
ejec
tio
n
an
d
o
b
s
er
v
e
r
p
er
f
o
r
m
a
n
ce
:
(
a)
s
p
ee
d
r
esp
o
n
s
e
f
o
r
two
co
n
tr
o
ller
s
tr
ateg
y
,
(
b
)
to
r
q
u
e
r
esp
o
n
s
e,
(
c)
s
p
ee
d
tr
ac
k
i
n
g
er
r
o
r
,
a
n
d
(
d
)
cu
r
r
en
t
f
o
r
t
h
r
ee
co
n
t
r
o
ller
s
T
ab
le
1
.
I
n
d
ices f
o
r
ev
alu
atin
g
co
n
tr
o
l
p
er
f
o
r
m
an
ce
C
o
n
t
r
o
l
st
r
a
t
e
g
y
S
e
t
t
l
i
n
g
t
i
me
O
v
e
r
sh
o
o
t
ISE
IAE
R
M
S
E
_
s
p
e
ed
PI
0
.
0
4
4
1
0
.
4
4
0
7
0
.
0
2
1
7
0
.
0
7
5
1
0
.
2
8
9
0
P
I
S
O
S
M
O
B
0
.
0
4
1
0
0
.
0
9
3
4
0
.
0
0
4
0
0
.
0
2
8
2
0
.
1
2
4
4
P
I
V
G
S
T
A
S
M
TE
0
.
0
3
6
3
0
.
0
1
1
4
9
.
1
5
0
4
e
-
4
0
.
0
1
4
1
0
.
0
5
9
4
C
o
m
p
ar
ed
with
th
e
Fu
zz
y
–
PI
m
eth
o
d
in
[
4
1
]
,
t
h
e
ap
p
r
o
ac
h
f
ails
to
m
ain
tain
s
tab
ilit
y
d
u
r
in
g
ze
r
o
-
cr
o
s
s
in
g
r
ev
er
s
als,
lead
in
g
to
t
r
an
s
ien
t ir
r
eg
u
lar
ities
.
T
h
e
h
y
b
r
id
STA
–
SMC
with
f
u
zz
y
lo
g
ic
co
m
p
en
s
atio
n
in
[4
2
]
ac
h
iev
e
d
f
ast r
ec
o
v
er
y
(
4
m
s
)
an
d
n
eg
lig
ib
le
s
tead
y
-
s
tate
er
r
o
r
,
b
u
t r
esid
u
al
s
p
ee
d
an
d
to
r
q
u
e
o
s
cillatio
n
s
r
em
ain
ed
d
u
e
t
o
in
co
m
p
lete
ch
atter
in
g
s
u
p
p
r
ess
io
n
.
T
h
e
ad
ap
tiv
e
Fu
zz
y
–
PI
in
[
4
4
]
im
p
r
o
v
e
d
ze
r
o
-
s
p
ee
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
3
2
9
-
342
338
tr
an
s
itio
n
s
m
o
o
th
n
ess
b
u
t
s
h
o
wed
s
lo
wer
co
n
v
er
g
en
ce
an
d
lar
g
er
s
tead
y
-
s
tate
er
r
o
r
u
n
d
er
v
ar
y
in
g
lo
a
d
s
.
L
ik
ewise,
th
e
n
o
n
lin
ea
r
DT
C
with
a
s
u
p
er
-
twis
tin
g
MR
AS
o
b
s
er
v
er
r
ed
u
ce
d
s
p
ee
d
d
r
o
p
(
9
7
2
r
ad
/s
,
≈
4
.
2
%)
an
d
s
tead
y
-
s
tate
er
r
o
r
(
2
8
r
a
d
/s
,
≈
2
.
8
%),
y
et
in
tr
o
d
u
ce
d
n
o
ti
ce
ab
le
o
s
cillatio
n
s
.
I
n
co
n
tr
ast,
th
e
p
r
o
p
o
s
ed
PI
–
VGST
ASM
T
E
co
n
tr
o
ller
ac
h
iev
es
th
e
b
est
o
v
er
all
p
er
f
o
r
m
a
n
ce
,
o
f
f
er
in
g
f
aster
tr
an
s
ien
ts
,
m
i
n
im
al
to
r
q
u
e
r
ip
p
le,
an
d
s
m
a
ller
tr
ac
k
in
g
er
r
o
r
s
.
B
y
in
teg
r
atin
g
VGST
ASM
-
b
ased
to
r
q
u
e
esti
m
atio
n
in
to
th
e
cu
r
r
en
t
l
o
o
p
,
it
e
n
s
u
r
es
b
o
th
h
i
g
h
ac
cu
r
ac
y
a
n
d
s
tr
o
n
g
r
o
b
u
s
tn
ess
ag
ain
s
t
lo
ad
d
is
tu
r
b
a
n
ce
s
id
ea
l f
o
r
h
ig
h
-
p
er
f
o
r
m
a
n
ce
in
d
u
ctio
n
m
o
to
r
d
r
iv
es.
3
.
2
.
Ro
bu
s
t
nes
s
t
est
a
g
a
ins
t
pa
ra
m
et
er
un
ce
rt
a
inty
T
o
v
er
if
y
th
e
r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
ed
PI
–
VGST
ASM
T
E
co
n
tr
o
ller
,
co
m
p
ar
ativ
e
s
im
u
latio
n
s
wer
e
co
n
d
u
cte
d
u
n
d
er
two
m
ain
p
ar
am
eter
d
is
tu
r
b
an
ce
s
:
(
i)
a
1
0
0
%
in
cr
ea
s
e
in
th
e
r
o
to
r
r
esis
tan
ce
an
d
(
ii)
a
1
0
0
%
in
cr
ea
s
e
in
t
h
e
to
tal
m
o
m
en
t
o
f
i
n
er
tia
.
I
n
b
o
t
h
ca
s
es,
all
co
n
tr
o
l
g
ain
s
wer
e
k
ep
t
co
n
s
tan
t
at
th
eir
n
o
m
in
al
v
alu
es.
3
.
2
.
1
.
I
nfluence
o
f
ro
t
o
r
re
s
is
t
a
nce
v
a
ria
t
io
n
Fig
u
r
es
5
(
a
)
an
d
(
b
)
p
r
esen
ts
th
e
s
p
ee
d
an
d
to
r
q
u
e
r
esp
o
n
s
es
wh
en
th
e
r
o
to
r
r
esis
ta
n
ce
is
d
o
u
b
le
d
.
T
h
e
co
n
v
en
tio
n
al
P
I
co
n
tr
o
ller
ex
h
ib
its
a
s
ig
n
if
ican
t
d
eg
r
a
d
atio
n
,
ch
ar
ac
ter
i
ze
d
b
y
o
s
cillato
r
y
b
eh
av
io
r
an
d
s
lo
wer
co
n
v
er
g
e
n
ce
to
t
h
e
r
ef
e
r
en
ce
s
p
ee
d
.
T
h
e
PI
–
SOSM
OB
im
p
r
o
v
es
d
is
tu
r
b
an
ce
r
ejec
tio
n
th
r
o
u
g
h
s
lid
in
g
ac
tio
n
,
b
u
t
r
e
s
id
u
al
r
ip
p
les
an
d
a
s
lig
h
tly
d
elay
ed
tr
an
s
ien
t
r
em
ain
ev
i
d
en
t.
I
n
c
o
n
tr
ast,
th
e
p
r
o
p
o
s
ed
PI
–
VGST
ASM
T
E
s
tr
u
ctu
r
e
d
em
o
n
s
tr
ates
s
u
p
er
io
r
r
esil
ien
ce
,
m
ain
tain
in
g
s
m
o
o
th
to
r
q
u
e
a
n
d
s
tab
le
s
p
ee
d
tr
ac
k
in
g
r
esp
o
n
s
e
with
o
u
t n
o
ticea
b
le
o
v
er
s
h
o
o
t.
T
h
is
im
p
r
o
v
em
en
t
s
tem
s
f
r
o
m
th
e
en
h
a
n
ce
d
d
is
tu
r
b
an
ce
esti
m
atio
n
ca
p
ab
ilit
y
o
f
t
h
e
VGST
ASM
o
b
s
er
v
er
,
wh
ic
h
m
o
d
els
th
e
v
ar
iatio
n
o
f
as
a
lu
m
p
ed
d
is
tu
r
b
an
ce
(
)
.
B
y
co
m
p
en
s
atin
g
th
is
ter
m
in
r
ea
l
tim
e,
th
e
c
o
n
tr
o
ller
p
r
eser
v
es
f
ast
co
n
v
er
g
en
ce
an
d
s
tab
le
d
y
n
am
ics,
ev
e
n
u
n
d
er
s
ev
er
e
e
lectr
ical
p
ar
am
ete
r
d
r
if
t.
Fu
r
th
er
an
al
y
s
is
at
h
ig
h
o
p
er
a
tin
g
s
p
ee
d
s
(
2
8
0
r
ad
/s
)
(
Fig
u
r
e
5
(
a
)
)
,
th
e
v
ar
iatio
n
in
h
as
a
m
u
c
h
s
tr
o
n
g
er
in
f
lu
en
ce
t
o
s
p
ee
d
an
d
to
r
q
u
e.
Un
d
er
th
is
co
n
d
itio
n
,
th
e
PI
c
o
n
tr
o
l
s
tr
ateg
y
s
h
o
w
n
o
ticea
b
le
o
v
er
s
h
o
o
t
a
n
d
o
s
cillatio
n
s
.
Me
an
wh
ile,
th
e
PI_
SOSM
OB
a
n
d
PI
–
VGST
ASM
T
E
co
n
tr
o
l
ler
m
ain
tain
s
m
o
r
e
s
tab
le
o
p
er
atio
n
.
T
h
is
r
o
b
u
s
tn
ess
ar
is
e
s
b
ec
au
s
e
th
e
v
ar
iatio
n
in
m
o
d
eled
as
p
ar
t
o
f
th
e
d
is
tu
r
b
an
ce
(
)
,
wh
ich
is
ef
f
ec
tiv
ely
esti
m
ated
an
d
co
m
p
e
n
s
ated
b
y
d
is
tu
r
b
an
ce
o
b
s
er
v
er
,
in
p
ar
ticu
lar
,
th
e
PI
–
VGST
ASM
T
E
s
tr
ateg
y
d
em
o
n
s
tr
ates
a
s
u
p
er
io
r
ity
o
v
e
r
th
e
PI
–
SOSM
OB
b
ec
au
s
e
it
em
p
lo
y
s
th
e
VG
STA
alg
o
r
ith
m
f
o
r
b
o
th
th
e
cu
r
r
en
t
co
n
tr
o
ller
an
d
th
e
d
is
tu
r
b
an
ce
o
b
s
er
v
er
,
wh
ile
all
co
n
tr
o
ller
an
d
o
b
s
er
v
er
co
ef
f
icien
ts
ar
e
o
p
tim
ally
tu
n
e
d
u
s
in
g
t
h
e
PS
O
alg
o
r
ith
m
.
T
h
ese
en
h
a
n
ce
m
en
ts
s
ig
n
if
ican
tly
im
p
r
o
v
e
th
e
d
is
tu
r
b
an
ce
r
ejec
tio
n
ca
p
ab
ilit
y
a
n
d
o
v
er
al
l r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
.
(
a)
(
b
)
Fig
u
r
e
5
.
Sp
ee
d
r
esp
o
n
s
e
u
n
d
e
r
v
ar
iatio
n
:
(
a)
s
p
ee
d
a
n
d
to
r
q
u
e
r
esp
o
n
s
e
at
h
i
g
h
s
p
ee
d
2
8
0
r
ad
/s
an
d
(
b
)
s
p
ee
d
a
n
d
to
r
q
u
e
r
esp
o
n
s
e
at
lo
w
s
p
ee
d
1
0
r
ad
/s
Evaluation Warning : The document was created with Spire.PDF for Python.