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p
r
ec
is
e
co
n
tr
o
l
o
v
e
r
h
o
w
th
e
m
o
to
r
o
p
er
ates
[
4
]
.
I
n
f
a
c
t
,
t
h
e
I
M
p
r
es
e
n
ts
a
h
ig
h
c
o
u
p
l
i
n
g
b
e
t
w
e
e
n
f
l
u
x
a
n
d
t
o
r
q
u
e
.
m
a
k
i
n
g
t
h
e
c
o
n
t
r
o
l
o
f
i
n
d
u
c
t
i
o
n
m
o
t
o
r
s
m
o
r
e
c
h
a
l
l
e
n
g
i
n
g
,
a
s
a
d
j
u
s
t
m
e
n
ts
t
o
o
n
e
p
a
r
a
m
e
t
e
r
i
n
e
v
i
t
a
b
l
y
i
n
f
l
u
e
n
c
e
t
h
e
o
t
h
er
.
T
o
a
d
d
r
e
s
s
t
h
i
s
c
o
m
p
l
e
x
i
t
y
,
t
h
e
r
es
e
a
r
c
h
e
r
s
h
av
e
d
e
v
e
l
o
p
e
d
m
a
n
y
c
o
n
t
r
o
l
p
r
o
p
o
s
i
t
i
o
n
s
,
s
u
c
h
as
s
c
a
l
a
r
c
o
n
t
r
o
l
,
v
e
c
t
o
r
c
o
n
t
r
o
l
,
o
r
f
i
e
l
d
-
o
r
i
e
n
t
e
d
c
o
n
t
r
o
l
(
F
OC
)
.
T
h
e
s
c
a
la
r
c
o
n
t
r
o
l
t
ec
h
n
i
q
u
e
is
w
i
d
e
l
y
r
e
c
o
g
n
i
z
e
d
f
o
r
i
t
s
s
i
m
p
le
s
t
r
u
c
t
u
r
e
a
n
d
e
a
s
e
o
f
i
m
p
l
e
m
e
n
t
a
ti
o
n
,
m
a
k
i
n
g
it
an
a
t
t
r
a
c
ti
v
e
s
o
l
u
t
i
o
n
t
h
a
t
ca
n
p
r
o
v
i
d
e
a
c
c
e
p
t
a
b
le
s
t
e
a
d
y
-
s
t
a
t
e
p
e
r
f
o
r
m
a
n
c
e
s
f
o
r
I
M
d
r
i
v
e
c
o
n
t
r
o
l
.
Y
e
t
s
c
a
la
r
c
o
n
t
r
o
l
r
e
v
e
a
l
s
l
i
m
it
a
t
i
o
n
s
u
n
d
e
r
t
r
an
s
i
e
n
ts
,
i
n
c
l
u
d
i
n
g
a
b
r
u
p
t
l
o
a
d
o
r
s
p
e
e
d
v
a
r
i
a
t
i
o
n
s
.
V
e
c
t
o
r
c
o
n
t
r
o
l
al
l
o
ws
f
o
r
a
c
cu
r
a
t
e
a
n
d
s
m
o
o
t
h
c
o
n
t
r
o
l
o
f
b
o
t
h
f
l
u
x
a
n
d
t
o
r
q
u
e
,
e
v
e
n
d
u
r
i
n
g
r
a
p
i
d
c
h
a
n
g
e
s
i
n
o
p
e
r
a
t
i
n
g
c
o
n
d
i
t
i
o
n
s
.
H
o
w
e
v
e
r
,
t
h
i
s
t
e
c
h
n
i
q
u
e
h
a
s
a
h
i
g
h
s
e
n
s
i
ti
v
i
t
y
t
o
t
h
e
m
a
c
h
i
n
e
p
a
r
a
m
e
t
e
r
s
v
a
r
i
a
ti
o
n
s
a
n
d
r
e
q
u
i
r
e
s
a
p
r
e
c
is
e
m
a
t
h
e
m
at
i
ca
l
m
o
d
e
l
o
f
t
h
e
I
M
,
a
c
c
u
r
a
t
e
m
e
a
s
u
r
e
m
e
n
t
,
a
n
d
s
o
p
h
is
t
i
ca
te
d
c
o
n
t
r
o
l
m
e
t
h
o
d
,
i
n
c
r
e
a
s
i
n
g
t
h
e
c
o
m
p
l
e
x
i
t
y
i
n
t
er
m
s
o
f
h
a
r
d
w
a
r
e
r
e
q
u
i
r
e
m
e
n
ts
,
c
o
m
p
u
t
a
t
i
o
n
a
l
r
es
o
u
r
c
e
s
,
a
n
d
im
p
l
e
m
e
n
t
a
t
i
o
n
[
5
]
.
T
h
e
p
r
o
p
o
s
itio
n
o
f
an
ad
ap
tiv
e
n
eu
r
al
f
u
zz
y
i
n
f
er
en
ce
s
y
s
tem
(
ANFI
S)
b
y
B
en
h
am
m
o
u
e
t
a
l
.
[
2
]
,
it
h
as
r
esu
lted
in
s
o
m
e
r
ip
p
les
in
th
e
law
s
p
ee
d
test
d
u
e
t
o
th
e
r
e
q
u
ir
em
e
n
t
ad
ap
tatio
n
o
f
th
e
co
n
tr
o
ller
s
.
Ho
wev
er
,
th
e
d
is
co
n
tin
u
o
u
s
n
atu
r
e
o
f
t
h
e
c
o
n
tr
o
l
law
in
SMC
ca
n
lead
to
h
ig
h
-
f
r
eq
u
e
n
cy
s
witch
in
g
,
also
k
n
o
wn
as
th
e
ch
atter
in
g
p
h
e
n
o
m
en
o
n
,
wh
ic
h
ca
n
p
r
o
p
ag
ate
th
r
o
u
g
h
o
u
t
th
e
s
y
s
tem
an
d
ca
u
s
e
a
r
a
n
g
e
o
f
u
n
d
esira
b
le
ef
f
ec
ts
[
6
]
.
T
o
m
itig
ate
th
ese
lim
itatio
n
s
,
v
ar
io
u
s
m
eth
o
d
s
an
d
ad
v
an
ce
d
p
r
o
p
o
s
itio
n
s
h
av
e
b
ee
n
d
ev
elo
p
e
d
to
m
in
im
ize
c
h
atter
in
g
wh
ile
p
r
eser
v
in
g
SMC
r
o
b
u
s
tn
ess
an
d
d
y
n
am
ic
p
er
f
o
r
m
a
n
ce
s
[
7
]
.
On
e
s
u
c
h
m
eth
o
d
is
t
h
e
b
o
u
n
d
ar
y
-
lay
e
r
s
tr
ateg
y
,
wh
ich
i
n
tr
o
d
u
ce
s
a
s
m
o
o
t
h
tr
an
s
itio
n
r
eg
io
n
ar
o
u
n
d
th
e
s
lid
in
g
s
u
r
f
ac
e.
T
h
is
ap
p
r
o
ac
h
m
ain
ta
in
s
th
e
s
y
s
tem
'
s
s
tab
ilit
y
an
d
r
o
b
u
s
tn
ess
wh
ile
s
ig
n
if
ica
n
tly
im
p
r
o
v
in
g
co
n
tr
o
l
s
m
o
o
th
n
ess
[
8
]
.
Ho
wev
er
,
it
h
as
s
ev
er
al
lim
itatio
n
s
,
in
clu
d
in
g
r
e
d
u
ce
d
r
o
b
u
s
tn
ess
,
r
esid
u
al
ch
atter
in
g
,
an
d
ch
allen
g
es
in
tu
n
in
g
th
e
b
o
u
n
d
ar
y
lay
er
th
ick
n
ess
.
T
o
a
d
d
r
ess
th
ese
is
s
u
es,
s
ev
er
al
ad
v
an
ce
d
an
d
h
y
b
r
id
co
n
tr
o
l
s
tr
ateg
ies
ar
e
o
f
ten
e
m
p
lo
y
ed
,
s
u
ch
as
h
ig
h
er
-
o
r
d
e
r
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
a
n
d
m
eth
o
d
s
th
at
co
m
b
in
e
SMC
with
ad
ap
tiv
e
co
n
tr
o
l a
n
d
in
tellig
en
ce
tech
n
i
q
u
es
,
s
u
ch
as n
eu
r
al
n
etwo
r
k
s
an
d
f
u
zz
y
lo
g
ic.
T
h
e
g
o
a
l
o
f
t
h
e
p
a
p
e
r
i
s
t
o
i
n
v
e
s
t
i
g
at
e
a
n
a
d
a
p
t
i
v
e
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
(
AS
MC
)
b
as
e
d
o
n
ex
p
o
n
e
n
t
i
a
l
r
e
a
c
h
i
n
g
l
a
w
d
es
i
g
n
u
s
i
n
g
a
f
u
z
z
y
l
o
g
i
c
s
y
s
t
e
m
f
o
r
4
W
D
E
V
s
p
e
e
d
c
o
n
t
r
o
l
.
T
h
e
o
u
t
e
r
s
p
e
e
d
l
o
o
p
e
m
p
l
o
y
s
a
f
u
z
z
y
a
d
a
p
t
i
v
e
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
(
F
A
SM
C
)
t
o
a
c
h
i
e
v
e
s
u
p
e
r
i
o
r
p
e
r
f
o
r
m
a
n
c
e
,
m
i
n
i
m
i
z
e
c
h
a
t
t
e
r
i
n
g
,
g
u
a
r
a
n
t
ee
s
t
a
b
il
i
t
y
/
r
o
b
u
s
t
n
e
s
s
,
a
n
d
i
m
p
r
o
v
e
E
V
d
y
n
a
m
i
c
r
e
s
p
o
n
s
e
[
4
]
.
A
n
a
l
y
s
is
o
f
r
e
c
e
n
t
r
es
e
a
r
c
h
i
n
[
9
]
,
a
h
y
b
r
i
d
f
u
z
z
y
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
(
S
MC
)
r
e
g
u
l
a
t
e
s
d
o
u
b
l
y
f
e
d
i
n
d
u
c
t
i
o
n
g
e
n
e
r
a
t
o
r
(
D
F
I
G
)
a
c
ti
v
e
/
r
e
a
cti
v
e
p
o
w
e
r
i
n
w
i
n
d
e
n
e
r
g
y
c
o
n
v
e
r
s
i
o
n
s
y
s
t
e
m
s
(
W
E
C
S
)
,
m
i
n
i
m
i
z
i
n
g
c
h
a
t
te
r
i
n
g
w
h
i
l
e
d
e
l
i
v
e
r
i
n
g
r
o
b
u
s
t
,
p
r
e
c
i
s
e
p
e
r
f
o
r
m
a
n
c
e
a
m
i
d
d
i
s
t
u
r
b
a
n
c
es
.
I
n
[
1
0
]
,
a
r
o
b
u
s
t
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
s
c
h
e
m
e
i
s
p
r
o
p
o
s
e
d
,
i
n
c
o
r
p
o
r
a
t
i
n
g
a
n
a
d
a
p
t
i
v
e
s
w
i
tc
h
i
n
g
g
a
i
n
a
n
d
a
n
i
n
t
e
g
r
a
l
a
c
ti
o
n
t
o
ef
f
e
c
t
i
v
e
l
y
m
it
i
g
a
t
e
t
h
e
i
n
f
l
u
e
n
ce
o
f
m
o
d
e
l
u
n
c
e
r
t
a
i
n
t
i
es
a
n
d
e
x
t
e
r
n
a
l
d
i
s
t
u
r
b
a
n
c
e
s
.
I
n
[
1
1
]
,
a
f
ast
a
n
d
s
m
o
o
th
s
ec
o
n
d
-
o
r
d
e
r
s
li
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
a
p
p
r
o
a
c
h
is
i
n
t
r
o
d
u
c
ed
to
e
n
h
a
n
c
e
p
o
we
r
ex
tr
ac
ti
o
n
p
e
r
f
o
r
m
an
ce
in
f
i
x
ed
-
p
it
ch
,
v
ar
ia
b
le
-
s
p
e
ed
W
E
C
S.
Mo
r
e
o
v
e
r
,
a
n
e
u
r
o
-
f
u
z
zy
s
c
h
e
m
e
f
o
u
n
d
e
d
o
n
t
h
e
T
ak
a
g
i
-
Su
g
en
o
-
Ka
n
g
(
T
SK
)
i
n
f
er
en
ce
s
t
r
u
ct
u
r
e
is
em
p
l
o
y
e
d
t
o
im
p
r
o
v
e
r
o
b
u
s
t
n
ess
a
n
d
t
o
p
r
o
v
id
e
r
el
ia
b
le
o
n
li
n
e
esti
m
a
ti
o
n
o
f
s
y
s
t
em
p
ar
am
et
er
s
u
n
d
e
r
u
n
c
er
tai
n
o
p
e
r
a
ti
n
g
c
o
n
d
iti
o
n
s
[
1
2
]
.
F
u
r
t
h
e
r
m
o
r
e
,
Nu
r
et
ti
n
a
n
d
I
n
a
n
ç
h
a
v
e
p
r
ese
n
te
d
a
h
y
b
r
i
d
f
u
zz
y
s
u
p
er
-
tw
is
tin
g
s
li
d
i
n
g
m
o
d
e
c
o
n
t
r
o
lle
r
(
HFSTSMC
)
f
o
r
I
M
v
e
ct
o
r
co
n
t
r
o
l
s
y
s
te
m
s
,
co
m
b
i
n
i
n
g
s
u
p
e
r
-
twis
ti
n
g
s
l
id
in
g
m
o
d
e
c
o
n
t
r
o
l
(
S
T
SMC
)
wit
h
a
f
u
zz
y
lo
g
i
c
c
o
n
t
r
o
lle
r
(
FLC
)
t
o
o
p
ti
m
iz
e
c
o
n
t
r
o
l
c
o
ef
f
ic
ie
n
ts
an
d
r
e
d
u
c
e
c
h
a
tte
r
i
n
g
w
h
il
e
m
ai
n
ta
in
in
g
h
i
g
h
t
r
a
ck
i
n
g
a
cc
u
r
a
cy
a
n
d
r
o
b
u
s
t
n
ess
.
T
h
e
a
u
t
h
o
r
s
i
n
[
1
3
]
in
tr
o
d
u
ce
a
r
o
b
u
s
t
t
r
aj
ec
to
r
y
tr
ac
k
i
n
g
c
o
n
tr
o
l
law
f
o
r
a
u
t
o
n
o
m
o
u
s
v
e
h
i
cl
es
u
s
i
n
g
a
h
i
g
h
e
r
-
o
r
d
e
r
q
u
asi
-
s
li
d
in
g
m
o
d
e
c
o
n
t
r
o
l
(
QSMC
)
c
o
m
b
in
e
d
wi
th
a
n
a
d
a
p
t
i
v
e
s
i
n
g
l
e
-
i
n
p
u
t
F
L
C
,
wh
ic
h
esti
m
at
es
p
er
t
u
r
b
at
io
n
s
o
n
li
n
e
an
d
e
n
s
u
r
es
g
l
o
b
a
l
asy
m
p
t
o
ti
c
s
ta
b
i
lit
y
v
ia
L
y
ap
u
n
o
v
t
h
eo
r
y
.
An
o
t
h
e
r
a
p
p
r
o
ac
h
p
r
o
p
o
s
es
a
f
u
z
z
y
ad
ap
ti
v
e
SM
C
c
o
n
tr
o
l
al
g
o
r
it
h
m
t
o
e
n
h
a
n
c
e
t
h
e
l
ate
r
a
l
s
t
a
b
ili
ty
o
f
d
is
t
r
i
b
u
te
d
d
r
i
v
e
E
Vs
b
y
ad
d
r
ess
i
n
g
s
y
s
te
m
p
a
r
a
m
e
te
r
p
e
r
t
u
r
b
ati
o
n
s
a
n
d
e
x
t
er
n
al
d
is
tu
r
b
a
n
ce
s
,
u
s
i
n
g
a
s
im
p
l
if
i
e
d
u
n
s
ce
n
t
e
d
Ka
lm
an
f
ilt
e
r
o
b
s
e
r
v
e
r
t
o
es
tim
at
e
c
r
i
tica
l
v
e
h
ic
le
s
t
ate
p
a
r
am
ete
r
s
a
n
d
r
o
ad
a
d
h
esi
o
n
c
o
e
f
f
ici
e
n
ts
[
1
4
]
.
Op
tim
iz
ed
f
u
zz
y
c
o
n
t
r
o
l
f
o
r
q
u
a
d
co
p
t
er
s
to
e
n
h
a
n
c
e
t
h
ei
r
b
e
h
a
v
i
o
r
h
as
b
e
en
p
r
o
p
o
s
e
d
i
n
[
1
5
]
,
w
h
e
r
e
o
t
h
e
r
h
y
b
r
i
d
c
o
n
tr
o
l
s
tr
a
te
g
ies
b
as
ed
o
n
a
d
ap
ti
v
e
f
u
zz
y
s
li
d
i
n
g
m
o
d
e
co
n
t
r
o
l
h
a
v
e
b
e
en
e
x
p
l
o
r
e
d
f
o
r
at
tit
u
d
e
s
ta
b
il
iz
ati
o
n
o
f
q
u
a
d
r
o
t
o
r
u
n
m
a
n
n
e
d
a
er
ial
v
eh
i
cl
es
(
U
AVs
)
[
1
6
]
.
I
n
th
is
a
p
p
r
o
ac
h
,
a
f
u
zz
y
l
o
g
ic
s
y
s
t
em
is
em
p
l
o
y
e
d
t
o
ap
p
r
o
x
i
m
a
te
s
y
s
te
m
u
n
ce
r
ta
in
ties
,
wh
ile
a
s
ec
o
n
d
-
o
r
d
er
au
x
il
ia
r
y
s
y
s
t
em
is
i
n
t
r
o
d
u
ce
d
t
o
c
o
u
n
t
e
r
ac
t
c
o
n
tr
o
l
in
p
u
t
s
at
u
r
at
io
n
.
Sy
s
te
m
s
ta
b
il
ity
is
en
s
u
r
e
d
t
h
r
o
u
g
h
L
y
a
p
u
n
o
v
-
b
as
ed
a
n
al
y
s
is
.
Si
m
ila
r
l
y
,
an
SMC
t
ec
h
n
i
q
u
e
f
o
r
ac
c
ele
r
ati
o
n
s
li
p
r
e
g
u
lat
i
o
n
i
n
b
att
er
y
e
le
ct
r
ic
v
e
h
i
cl
e
s
is
p
r
o
p
o
s
e
d
i
n
[
1
7
]
.
T
h
is
m
et
h
o
d
e
f
f
ec
t
iv
el
y
ad
d
r
ess
es
w
h
ee
l
s
li
p
d
u
r
i
n
g
i
n
i
tial
a
cc
ele
r
a
ti
o
n
b
y
a
d
a
p
ti
v
el
y
tu
n
i
n
g
th
e
s
wit
ch
in
g
f
u
n
c
ti
o
n
o
f
t
h
e
s
li
d
i
n
g
m
o
d
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
F
u
z
z
y
a
d
a
p
tive
s
lid
in
g
mo
d
e
co
n
tr
o
l wi
th
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p
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en
tia
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c
h
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… (
A
b
d
elh
a
mid
B
o
u
r
eg
b
a
)
109
co
n
t
r
o
ll
er
u
s
i
n
g
a
f
u
zz
y
a
lg
o
r
it
h
m
.
I
n
[
1
8
]
,
a
n
o
v
el
f
u
zz
y
s
li
d
in
g
m
o
d
e
p
r
o
p
o
r
ti
o
n
al
-
i
n
t
eg
r
a
l
c
o
n
t
r
o
l
(
F
SMP
I
F)
s
tr
a
te
g
y
is
i
n
t
r
o
d
u
c
ed
f
o
r
ac
t
iv
e
s
u
s
p
e
n
s
i
o
n
s
y
s
te
m
s
.
B
y
i
n
te
g
r
ati
n
g
P
I
c
o
n
tr
o
l
,
s
li
d
i
n
g
m
o
d
e
c
o
n
tr
o
l
,
a
n
d
f
u
z
z
y
lo
g
ic
,
t
h
is
h
y
b
r
i
d
co
n
t
r
o
ll
er
a
i
m
s
to
m
i
n
im
ize
v
e
h
i
cle
v
i
b
r
at
io
n
s
a
n
d
e
n
h
a
n
ce
r
id
e
c
o
m
f
o
r
t
.
S
ev
e
r
al
a
d
v
a
n
c
e
d
co
n
t
r
o
l
s
t
r
a
te
g
ies
h
av
e
b
ee
n
ex
p
l
o
r
e
d
f
o
r
e
le
ctr
ic
s
y
s
t
em
s
a
n
d
m
o
ti
o
n
c
o
n
tr
o
l
,
i
n
c
lu
d
i
n
g
(
S
T
SMC
)
[
1
2
]
,
ANFI
S
[
2
]
,
m
o
d
e
l
p
r
e
d
ic
ti
v
e
c
o
n
tr
o
l
(
MPC
)
[
1
9
]
,
f
r
ac
t
io
n
a
l
o
r
d
er
p
r
o
p
o
r
t
io
n
al
–
i
n
te
g
r
al
–
d
e
r
i
v
at
iv
e
(
P
I
D
)
[
2
0
]
,
[
2
1
]
,
a
n
d
f
u
z
z
y
-
P
I
c
o
n
t
r
o
ll
er
s
[
1
5
]
.
E
ac
h
a
p
p
r
o
ac
h
o
f
f
e
r
s
d
is
ti
n
ct
tr
ad
e
-
o
f
f
s
i
n
c
o
m
p
le
x
it
y
,
a
d
a
p
ta
b
i
lit
y
,
a
n
d
r
e
q
u
i
r
e
d
t
r
ai
n
i
n
g
e
f
f
o
r
t
.
C
o
m
p
ar
ed
t
o
th
ese
,
t
h
e
p
r
o
p
o
s
e
d
FA
SMC
c
o
m
b
i
n
es r
a
p
i
d
c
o
n
v
er
g
en
ce
a
n
d
r
o
b
u
s
t
n
ess
wit
h
a
d
ap
ti
v
e
tu
n
in
g
,
a
im
in
g
to
o
v
e
r
c
o
m
e
l
im
ita
ti
o
n
s
s
u
c
h
as
ch
att
er
in
g
i
n
c
lass
i
ca
l
S
MC
a
n
d
e
x
t
e
n
s
i
v
e
tr
a
in
in
g
i
n
n
eu
r
o
-
f
u
z
zy
m
et
h
o
d
s
.
T
h
is
c
o
m
p
a
r
at
iv
e
p
e
r
s
p
ec
ti
v
e
g
u
i
d
es th
e
d
e
v
el
o
p
m
e
n
t o
f
a
m
o
r
e
ef
f
i
cie
n
t a
n
d
p
r
ac
tic
al
c
o
n
tr
o
l
s
o
l
u
ti
o
n
.
T
a
b
l
e
1
c
o
m
p
a
r
es
s
o
m
e
co
n
t
r
o
ll
er
t
ec
h
n
iq
u
es.
B
u
ild
in
g
o
n
th
e
b
e
n
ef
its
r
ep
o
r
ted
in
th
e
af
o
r
em
en
tio
n
e
d
s
t
u
d
ies,
th
is
wo
r
k
e
m
p
lo
y
s
a
f
u
zz
y
lo
g
ic
–
b
ased
co
n
tr
o
ller
t
o
ap
p
r
o
p
r
iately
tu
n
e
th
e
s
y
s
tem
p
ar
am
ete
r
s
,
ε
an
d
K,
in
th
e
E
R
L
o
f
th
e
tr
ad
itio
n
al
SMC
b
ased
o
n
an
a
p
p
r
o
p
r
iate
alg
o
r
ith
m
to
im
p
r
o
v
e
th
e
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
s
a
g
ain
s
t
o
p
er
atin
g
c
o
n
d
itio
n
s
v
ar
iatio
n
s
an
d
ex
te
r
n
al
l
o
ad
.
T
h
e
wo
r
k
p
r
esen
ts
th
e
p
r
o
p
o
s
itio
n
o
f
a
n
o
v
el
SMC
s
tr
ateg
y
f
o
r
a
4
W
D
-
E
V,
in
teg
r
atin
g
an
E
R
L
an
d
a
f
u
zz
y
ad
ap
tiv
e
s
witch
in
g
g
ain
to
e
n
h
an
ce
s
p
ee
d
tr
ac
k
in
g
p
e
r
f
o
r
m
an
ce
.
I
t
h
ig
h
lig
h
ts
th
e
ch
allen
g
es
p
o
s
ed
b
y
c
h
at
ter
in
g
in
class
ical
SM
C
an
d
h
o
w
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
c
o
n
tr
o
ller
ef
f
ec
tiv
ely
r
ed
u
ce
s
th
is
is
s
u
e
wh
ile
im
p
r
o
v
in
g
r
o
b
u
s
tn
ess
ag
ain
s
t
u
n
c
er
tain
ties
an
d
d
is
tu
r
b
a
n
ce
s
.
I
n
g
en
e
r
al,
th
e
m
ai
n
o
b
jectiv
es o
f
th
is
s
tu
d
y
ca
n
b
e
s
u
m
m
ar
ized
as f
o
llo
ws:
−
A
m
ath
em
atica
l d
esig
n
p
r
o
ce
d
u
r
e
o
f
a
s
p
ee
d
co
n
tr
o
ller
b
ased
o
n
in
d
i
r
ec
t FOC
4
W
DE
V.
−
T
h
e
s
lid
in
g
m
o
d
e
co
n
tr
o
l c
h
all
en
g
es a
r
e
r
ed
u
ce
d
f
ir
s
t
u
s
in
g
a
n
ex
p
o
n
en
tial r
ea
ch
i
n
g
law.
−
T
h
e
p
ar
am
eter
s
o
f
th
e
ex
p
o
n
en
tial
r
ea
ch
in
g
law
ar
e
au
t
o
m
atica
lly
ch
an
g
e
d
b
y
a
f
u
z
zy
lo
g
ic
s
y
s
tem
d
esig
n
ed
b
ased
o
n
th
e
tr
an
s
ien
t a
n
d
s
tead
y
-
s
tate
co
n
d
itio
n
s
o
f
co
n
tr
o
l sy
s
tem
s
tates.
T
h
e
r
em
ain
d
er
o
f
th
is
p
ap
er
is
s
tr
u
ctu
r
ed
as
f
o
llo
ws
:
i)
Sectio
n
2
d
escr
ib
es
th
e
c
o
m
p
r
eh
en
s
iv
e
m
o
d
elin
g
o
f
th
e
E
V
p
r
o
p
u
ls
i
o
n
s
y
s
tem
;
ii)
T
h
e
f
o
r
m
u
latio
n
o
f
th
e
s
lid
in
g
m
o
d
e
s
p
ee
d
co
n
tr
o
ller
f
o
r
th
e
in
d
u
ctio
n
m
o
to
r
,
in
c
o
r
p
o
r
atin
g
an
ex
p
o
n
en
tial
r
ea
ch
in
g
law,
is
d
etailed
in
Sectio
n
3
;
iii
)
Sectio
n
4
p
r
esen
ts
th
e
d
e
v
elo
p
m
e
n
t
o
f
th
e
FA
SMC
s
ch
em
e
;
iv
)
T
h
e
elec
tr
o
n
i
c
d
if
f
e
r
en
tial
m
ec
h
an
is
m
im
p
lem
en
ted
f
o
r
v
e
h
icle
o
p
er
atio
n
is
d
is
cu
s
s
ed
in
Se
ctio
n
5
;
an
d
v
)
Sectio
n
6
r
ep
o
r
ts
an
d
an
aly
ze
s
th
e
s
im
u
latio
n
r
esu
lts
th
at
d
em
o
n
s
tr
ate
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
ies.
C
o
n
clu
d
in
g
r
e
m
ar
k
s
a
n
d
p
er
s
p
ec
tiv
es
f
o
r
f
u
tu
r
e
r
esear
c
h
ar
e
g
iv
en
in
th
e
f
in
al
s
ec
tio
n
.
T
ab
le
1
.
Dif
f
e
r
en
t c
o
n
tr
o
l te
ch
n
iq
u
es c
o
m
p
a
r
is
o
n
C
r
i
t
e
r
i
o
n
S
TSM
C
[
1
2
]
A
N
F
I
S
[
2
]
M
P
C
[
1
9
]
F
u
z
z
y
-
P
I
D
[
1
5
]
C
o
mp
l
e
x
i
t
y
M
e
d
i
u
m;
r
e
q
u
i
r
e
s g
a
i
n
t
u
n
i
n
g
a
n
d
c
h
a
t
t
e
r
i
n
g
R
e
q
u
i
r
e
s d
a
t
a
t
r
a
i
n
i
n
g
a
n
d
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e
t
w
o
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k
t
u
n
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n
g
N
e
e
d
s p
r
e
c
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se
mo
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e
l
l
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n
g
a
n
d
r
e
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l
c
o
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t
a
t
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o
n
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w
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m;
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mp
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e
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t
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n
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A
d
a
p
t
a
b
i
l
i
t
y
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o
o
d
;
r
o
b
u
st
t
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d
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st
u
r
b
a
n
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e
s
G
o
o
d
V
e
r
y
g
o
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d
;
a
n
t
i
c
i
p
a
t
e
s a
n
d
o
p
t
i
mi
z
e
s
c
o
n
t
r
o
l
M
o
d
e
r
a
t
e
;
l
i
mi
t
e
d
b
y
f
u
z
z
y
r
u
l
e
s d
e
si
g
n
Tr
a
i
n
i
n
g
e
f
f
o
r
t
Lo
w
;
b
a
si
c
t
u
n
i
n
g
n
e
e
d
e
d
H
i
g
h
;
r
e
q
u
i
r
e
s
su
b
st
a
n
t
i
a
l
t
r
a
i
n
i
n
g
d
a
t
a
M
e
d
i
u
m t
o
h
i
g
h
;
Lo
w
;
r
e
q
u
i
r
e
s i
n
i
t
i
a
l
f
u
z
z
y
r
u
l
e
set
u
p
C
o
n
t
r
o
l
p
e
r
f
o
r
man
c
e
G
o
o
d
st
a
b
i
l
i
t
y
;
c
h
a
t
t
e
r
i
n
g
p
o
ssi
b
l
e
S
u
p
e
r
i
o
r
r
e
sp
o
n
si
v
e
n
e
ss;
a
d
a
p
t
i
v
e
t
o
c
h
a
n
g
e
s
Ex
c
e
l
l
e
n
t
c
o
n
st
r
a
i
n
t
h
a
n
d
l
i
n
g
a
n
d
p
r
e
d
i
c
t
i
o
n
M
o
d
e
r
a
t
e
p
e
r
f
o
r
man
c
e
2.
M
O
DE
L
L
I
NG
O
F
E
V
DR
I
VING
E
f
f
ec
tiv
e
s
p
ee
d
co
n
tr
o
l
in
ac
co
r
d
an
ce
with
a
p
r
ed
ef
i
n
ed
d
r
iv
in
g
cy
cle
r
eq
u
ir
es
a
co
m
p
r
eh
en
s
iv
e
v
eh
icle
m
o
d
el.
T
h
e
v
eh
icle
m
o
d
el
r
ec
eiv
es
th
e
r
ef
e
r
en
ce
v
elo
city
f
r
o
m
th
e
p
r
ed
ef
in
ed
d
r
iv
in
g
cy
cle
as
its
in
p
u
t,
w
h
ile
th
e
co
n
t
r
o
l
s
y
s
te
m
in
ter
f
ac
es
d
ir
ec
tly
with
th
e
in
v
er
te
r
.
T
h
e
i
n
v
er
ter
p
lay
s
a
c
r
u
cial
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o
le
b
y
co
n
v
er
tin
g
th
e
DC
elec
tr
ical
e
n
er
g
y
f
r
o
m
th
e
b
atter
y
i
n
to
c
o
n
tr
o
lled
AC
v
o
ltag
e
an
d
cu
r
r
en
t
s
u
p
p
lied
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o
th
e
in
d
u
ctio
n
m
o
to
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.
T
h
e
I
M
th
en
co
n
v
er
ts
th
is
elec
tr
ical
en
er
g
y
in
to
m
ec
h
an
ical
p
o
wer
,
wh
ich
u
ltima
tely
p
r
o
p
els
th
e
v
eh
icle.
Fig
u
r
e
1
illu
s
tr
ates
th
e
m
ain
co
m
p
o
n
en
ts
o
f
th
e
elec
tr
ic
v
e
h
icle
p
r
o
p
u
ls
io
n
s
y
s
tem
an
d
em
p
h
asizes th
eir
co
o
r
d
in
ated
i
n
teg
r
atio
n
to
en
s
u
r
e
e
f
f
icien
t a
n
d
r
esp
o
n
s
iv
e
v
eh
icle
o
p
er
atio
n
[
2
2
]
.
2
.
1
.
E
V
dy
na
m
ic
m
o
del
T
h
e
u
s
e
o
f
a
d
y
n
am
ic
v
e
h
icle
m
o
d
el
is
ess
en
tial
f
o
r
im
p
r
o
v
in
g
th
e
o
v
er
all
ef
f
icien
cy
o
f
E
Vs,
as
it
en
ab
les
th
e
o
p
tim
izatio
n
o
f
p
r
o
p
u
ls
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s
y
s
tem
d
esig
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an
d
th
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ass
ess
m
en
t
o
f
v
eh
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p
er
f
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m
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ce
u
n
d
e
r
r
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itio
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s
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C
o
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V
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m
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g
at
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v
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V
o
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a
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way
in
clin
ed
at
an
an
g
le
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elativ
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to
th
e
h
o
r
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tal.
T
h
e
v
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h
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d
y
n
am
ics
ca
n
b
e
d
escr
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b
y
m
o
d
elin
g
th
e
E
V
as
a
r
ig
id
b
o
d
y
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u
b
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d
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s
ev
er
al
lo
n
g
itu
d
in
al
r
esis
tiv
e
f
o
r
ce
s
.
T
h
e
s
e
f
o
r
ce
s
in
clu
d
e
ae
r
o
d
y
n
am
i
c
d
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ag
ar
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in
g
f
r
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m
air
–
v
eh
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in
ter
ac
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,
r
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llin
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r
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tan
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d
u
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to
tire
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tact,
g
r
ad
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tan
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in
d
u
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d
b
y
r
o
a
d
s
lo
p
e,
an
d
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r
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tan
ce
as
s
o
ciate
d
with
v
ar
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n
s
in
v
eh
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p
ee
d
.
T
h
e
co
m
b
in
ed
ef
f
e
ct
o
f
th
ese
f
o
r
ce
s
d
eter
m
in
es
th
e
to
tal
tr
ac
tio
n
f
o
r
ce
r
eq
u
ir
e
d
f
o
r
v
e
h
icle
m
o
tio
n
an
d
d
ir
ec
tly
in
f
lu
en
ce
s
en
e
r
g
y
co
n
s
u
m
p
tio
n
as
well
as th
e
ef
f
ec
tiv
en
ess
o
f
th
e
ap
p
lied
co
n
tr
o
l stra
teg
ies,
as d
ep
icted
in
Fig
u
r
e
2
[
8
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
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t J Po
w
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lec
&
Dr
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s
t
,
Vo
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1
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Ma
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107
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110
Fig
u
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u
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ates th
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New
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⃗
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w
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=
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2
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2
(
3
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=
(
)
(
4
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=
(
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(
5
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=
(
6
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W
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tal
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r
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acc
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,
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,
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r
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V
V
,
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esp
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tiv
ely
.
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
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8
6
9
4
F
u
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p
tive
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d
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co
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A
b
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B
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r
eg
b
a
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=
ℎ
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d
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ℎ
(
7
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T
h
e
m
o
to
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2
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2
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e
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en
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(
1
3
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[
2
3
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,
[
2
4
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:
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d
i
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1
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3
2
.
.
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1
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w
h
er
e
R
s
,
R
r
d
e
n
o
te
th
e
s
tato
r
an
d
r
o
to
r
r
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to
r
s
,
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m
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s
,
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ar
e
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s
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in
d
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in
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ase,
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o
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ch
r
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s
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e
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an
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is
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e
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to
r
f
r
eq
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e
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cy
,
P
th
e
n
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m
b
e
r
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f
p
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p
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s
,
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th
e
r
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to
r
tim
e
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n
s
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t,
=
1
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[
2
(
)
⁄
]
r
ep
r
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ts
th
e
leak
ag
e
co
e
f
f
icien
t,
an
d
d
-
ax
is
an
d
q
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ax
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s
tato
r
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r
r
en
t,
an
d
d
-
ax
is
an
d
q
-
a
x
is
r
o
to
r
f
lu
x
,
an
d
ar
e
th
e
d
-
ax
is
an
d
q
-
a
x
is
s
tato
r
v
o
ltag
e,
=
(
+
(
⁄
)
2
)
.
An
d
th
e
elec
tr
o
m
ag
n
eti
c
to
r
q
u
e
ca
n
b
e
wr
itten
as g
i
v
en
in
(
1
4
)
.
=
3
2
(
−
)
(
1
4
)
Un
d
er
v
ec
t
o
r
co
n
tr
o
l,
t
h
e
in
d
u
ctio
n
m
o
t
o
r
e
x
h
ib
its
d
y
n
am
i
c
ch
ar
ac
ter
is
tics
an
alo
g
o
u
s
t
o
th
o
s
e
o
f
a
s
ep
ar
ately
ex
cited
DC
m
ac
h
in
e,
allo
win
g
i
n
d
ep
e
n
d
en
t
r
eg
u
latio
n
o
f
to
r
q
u
e
a
n
d
f
lu
x
.
W
h
e
n
p
er
f
ec
t
r
o
to
r
f
lu
x
o
r
ien
tatio
n
is
ac
h
ie
v
ed
,
t
h
e
q
u
ad
r
atu
r
e
co
m
p
o
n
e
n
t
o
f
th
e
r
o
to
r
f
l
u
x
,
b
ec
o
m
es
ze
r
o
.
C
o
n
s
eq
u
en
tly
,
th
e
s
y
s
tem
eq
u
atio
n
s
ca
n
b
e
e
x
p
r
e
s
s
ed
as sh
o
wn
in
(
1
5
)
an
d
(
1
6
)
:
=
0
(
1
5
)
=
=
c
on
s
ta
n
t
(
1
6
)
w
h
er
e:
is
th
e
r
o
to
r
f
lu
x
r
ated
v
alu
e
.
C
o
n
s
eq
u
en
tly
,
th
e
to
r
q
u
e
eq
u
atio
n
is
s
im
p
lifie
d
to
b
e
co
m
e
lik
e
a
DC
m
o
to
r
to
r
q
u
e
e
q
u
atio
n
as
(
1
7
)
.
=
3
2
(
1
7
)
An
d
th
e
s
lip
f
r
e
q
u
en
c
y
,
=
−
,
is
co
m
p
u
ted
b
y
(
1
8
)
:
=
1
∗
∗
(
18
)
wh
er
e
s
u
p
er
s
cr
ip
t (
*
)
r
e
p
r
esen
ts
r
ef
er
en
ce
v
alu
es.
3.
SL
I
DING
M
O
DE
CO
N
T
RO
L
B
A
SE
D
O
N
E
XP
O
NE
N
T
I
AL
RE
ACH
I
NG
L
AW
F
O
R
I
M
SP
E
E
D
CO
NT
RO
L
SMC
i
s
a
f
o
r
m
o
f
v
ar
iab
le
s
tr
u
ctu
r
e
co
n
tr
o
l.
I
t
is
r
ec
o
g
n
iz
ed
as
an
ex
ce
llen
t
tech
n
i
q
u
e
f
o
r
r
o
b
u
s
t
co
n
tr
o
ller
d
esig
n
ap
p
licab
le
t
o
d
iv
e
r
s
e
co
m
p
lex
n
o
n
lin
ea
r
s
y
s
tem
s
f
u
n
ctio
n
in
g
u
n
d
er
v
a
r
io
u
s
u
n
p
r
e
d
ictab
le
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.
1
7
,
No
.
1
,
Ma
r
c
h
20
2
6
:
107
-
1
22
112
co
n
d
itio
n
s
[
1
4
]
,
[
2
5
]
.
T
h
e
SMC
o
f
f
er
s
n
u
m
er
o
u
s
u
n
d
e
n
iab
le
b
en
e
f
its
,
in
clu
d
in
g
r
e
s
ilien
ce
to
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
ac
cu
r
ac
y
,
s
tab
ilit
y
,
an
d
in
s
en
s
itiv
ity
to
p
ar
am
eter
v
ar
iatio
n
s
with
in
th
e
co
n
tr
o
lled
s
y
s
tem
.
As
a
r
esu
lt,
SMC
h
as
b
ec
o
m
e
a
wid
ely
ad
o
p
ted
ap
p
r
o
ac
h
in
m
u
ltip
le
s
cien
tific
an
d
en
g
in
ee
r
in
g
f
ield
s
,
s
u
ch
as
elec
tr
ic
d
r
iv
es,
r
o
b
o
tics
,
n
o
n
l
in
ea
r
p
r
o
ce
s
s
r
eg
u
latio
n
,
an
d
au
to
m
o
tiv
e
s
y
s
tem
s
.
T
h
e
p
r
im
ar
y
o
b
jectiv
e
o
f
SMC
i
s
to
g
u
id
e
th
e
s
y
s
tem
tr
ajec
to
r
ies
to
war
d
a
d
esig
n
ated
s
lid
in
g
s
u
r
f
ac
e
an
d
m
ain
tain
th
eir
m
o
tio
n
alo
n
g
it th
r
o
u
g
h
an
a
p
p
r
o
p
r
iate
s
witch
in
g
co
n
tr
o
l stra
teg
y
[
2
5
]
-
[
2
7
]
.
W
h
en
th
e
tr
ac
k
in
g
er
r
o
r
is
c
o
n
s
id
er
ed
as
th
e
s
lid
in
g
s
u
r
f
a
ce
(
o
r
s
witch
in
g
f
u
n
ctio
n
)
in
th
e
s
p
ee
d
co
n
tr
o
l lo
o
p
,
it c
an
b
e
r
e
p
r
ese
n
ted
as
(
1
9
)
:
=
=
∗
−
(
19
)
w
h
er
e
∗
r
ep
r
esen
ts
th
e
d
esire
d
s
p
ee
d
.
T
h
e
d
er
iv
ativ
e
o
f
th
e
s
u
r
f
ac
e
is
f
o
u
n
d
as
(
2
0
)
.
̇
=
̇
∗
−
′
=
̇
∗
−
(
3
2
−
−
)
(
2
0
)
T
h
e
ex
p
o
n
e
n
tial
r
ea
ch
in
g
la
w
is
em
p
lo
y
ed
to
e
n
h
an
ce
t
h
e
d
y
n
am
ic
p
er
f
o
r
m
an
ce
o
f
th
e
s
y
s
tem
d
u
r
in
g
th
e
ap
p
r
o
ac
h
p
h
ase.
I
t
ca
n
b
e
m
ath
e
m
atica
lly
ex
p
r
ess
ed
as
(
2
1
)
:
̇
=
−
(
)
−
⋅
(
21)
wh
er
e
e
an
d
k
ar
e
p
o
s
itiv
e
co
n
s
tan
ts
.
Acc
o
r
d
in
g
to
th
e
p
r
in
ci
p
le
o
f
eq
u
iv
alen
t c
o
n
tr
o
l,
we
c
an
g
et
(
2
2
)
.
{
̇
=
̇
∗
−
(
3
2
−
−
)
=
−
(
)
−
⋅
(
2
2
)
T
h
e
q
-
a
x
is
cu
r
r
en
t
ex
p
r
ess
io
n
ca
n
b
e
o
b
tain
ed
as
(
2
3
)
.
=
2
3
(
̇
∗
+
+
+
(
)
+
⋅
)
(
2
3
)
T
h
e
L
y
a
p
u
n
o
v
f
u
n
c
t
i
o
n
s
e
l
e
c
t
e
d
f
o
r
t
h
e
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
s
y
s
t
e
m
i
s
d
e
f
i
n
e
d
a
s
(
2
4
)
.
=
1
2
2
(
2
4
)
T
h
e
d
e
r
i
v
ati
v
e
o
f
(
1
4
)
g
i
v
es
(
2
5
)
.
̇
=
̇
(
2
5
)
T
h
en
we
ca
n
g
et
(
2
6
)
.
{
̇
=
(
−
(
)
−
⋅
)
=
−
(
)
−
⋅
2
=
−
|
|
−
⋅
2
≤
0
(
2
6
)
Fo
r
en
s
u
r
i
n
g
h
ig
h
co
n
v
er
g
e
n
ce
s
p
ee
d
,
th
e
ter
m
̇
=
−
(
)
is
u
s
ed
,
wh
ile
to
r
ed
u
c
e
ch
atter
in
g
,
we
s
h
o
u
ld
d
esig
n
a
b
ig
g
er
v
alu
e
o
f
an
d
u
s
e
a
s
m
aller
v
alu
e
o
f
.
f
o
r
im
p
r
o
v
in
g
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
s
lid
in
g
m
o
d
e
co
n
t
r
o
l,
th
e
s
m
o
o
t
h
f
u
n
c
t
i
o
n
,
s
u
c
h
a
s
s
a
t
u
r
a
t
i
o
n
(
s
a
t
(
⋅
)
)
is
u
s
ed
in
s
tead
o
f
th
e
s
i
g
n
f
u
n
ctio
n
.
T
h
e
s
atu
r
atio
n
f
u
n
ctio
n
ca
n
b
e
ex
p
r
ess
ed
as
(
2
7
)
.
s
a
t
(
(
)
)
=
{
(
)
|
(
)
|
<
1
(
(
)
)
|
(
)
|
≥
1
(
2
7
)
Fig
u
r
e
3
d
e
p
icts
th
e
o
v
er
all
c
o
n
tr
o
l
b
lo
ck
d
ia
g
r
am
o
f
th
e
i
n
d
u
ctio
n
m
o
to
r
s
p
ee
d
r
eg
u
lati
o
n
u
s
in
g
SMC
with
th
e
E
R
L
.
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
F
u
z
z
y
a
d
a
p
tive
s
lid
in
g
mo
d
e
co
n
tr
o
l wi
th
ex
p
o
n
en
tia
l rea
c
h
in
g
… (
A
b
d
elh
a
mid
B
o
u
r
eg
b
a
)
113
Fig
u
r
e
3
.
Sp
ee
d
an
d
cu
r
r
e
n
t
co
n
tr
o
l te
ch
n
iq
u
e
b
ased
on
class
ical
SMC
4.
P
RO
P
O
SE
D
ADAP
T
I
V
E
F
UZ
Z
Y
SL
I
DI
NG
M
O
DE
C
O
NT
RO
L
I
n
th
e
e
x
p
o
n
en
tial
r
ea
ch
i
n
g
l
aw,
th
e
g
ain
s
a
n
d
r
em
ain
co
n
s
tan
t,
wh
ich
ca
n
lim
it
th
e
s
y
s
tem
’
s
d
y
n
am
ic
p
er
f
o
r
m
an
ce
a
n
d
r
o
b
u
s
tn
ess
u
n
d
er
c
h
a
l
l
e
n
g
i
n
g
o
p
er
atin
g
co
n
d
itio
n
s
.
T
o
o
v
er
c
o
m
e
th
is
lim
itatio
n
,
an
FA
SM
C
is
em
p
lo
y
ed
.
T
h
is
co
n
tr
o
ller
co
m
b
in
es
a
class
ical
s
lid
in
g
m
o
d
e
c
o
n
tr
o
ller
with
a
f
u
zz
y
lo
g
ic
s
y
s
tem
th
at
ad
ju
s
ts
th
e
p
ar
a
m
eter
s
b
ased
o
n
th
e
tr
an
s
ien
t
o
r
s
tea
d
y
-
s
tate
b
eh
a
v
io
r
o
f
th
e
s
y
s
tem
[
2
8
]
,
[
2
9
]
.
T
h
e
o
p
er
atin
g
p
r
in
cip
le
o
f
th
e
p
r
o
p
o
s
ed
ad
ap
tiv
e
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
with
f
u
zz
y
lo
g
ic
ad
ap
ta
tio
n
is
illu
s
tr
ated
in
Fig
u
r
e
4
.
Acc
o
r
d
in
g
ly
,
th
e
ex
p
o
n
en
tial
r
ea
c
h
in
g
law
o
f
th
e
class
ical
SMC
s
p
ee
d
co
n
tr
o
l
c
an
b
e
ex
p
r
ess
ed
as
(
2
8
)
[
1
4
]
.
̇
=
−
̂
(
)
−
̂
⋅
(
2
8
)
T
h
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
h
as
two
in
p
u
ts
an
d
two
o
u
t
p
u
ts
.
T
h
e
in
p
u
ts
to
th
e
FLC
ar
e
th
e
s
lid
in
g
s
u
r
f
ac
e
an
d
its
d
er
iv
ativ
e
̇
,
wh
ile
th
e
o
u
tp
u
ts
ar
e
th
e
s
witch
in
g
c
o
n
tr
o
l p
ar
am
eter
s
ε
an
d
k
.
Fig
u
r
e
4
.
Prin
cip
le
o
f
c
o
n
tr
o
l s
y
s
tem
with
ad
ap
tiv
e
f
u
zz
y
-
S
MC
T
h
e
in
f
er
e
n
ce
r
u
les
ar
e
d
e
r
i
v
ed
f
r
o
m
f
u
zz
y
s
ets
co
r
r
esp
o
n
d
in
g
to
th
e
in
p
u
t
v
a
r
iab
le
s
,
wh
ich
d
eter
m
in
e
th
e
d
eg
r
ee
o
f
m
e
m
b
er
s
h
ip
o
f
th
e
o
u
tp
u
t
v
a
r
ia
b
les
with
in
th
eir
r
esp
ec
tiv
e
s
u
b
s
ets.
T
r
ian
g
u
lar
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
ar
e
u
s
ed
f
o
r
t
h
e
in
p
u
t
v
ar
iab
les,
e
ac
h
o
f
wh
ic
h
is
d
ef
in
ed
b
y
f
iv
e
f
u
zz
y
s
ets:
b
ig
n
eg
ativ
e
(
B
N
)
,
m
ed
i
u
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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T
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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
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s
t
,
Vo
l.
1
7
,
No
.
1
,
Ma
r
c
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20
2
6
:
107
-
1
22
116
6.
SI
M
UL
A
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g
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n
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te
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n
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er
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ic
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n
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s
.
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e
v
eh
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ar
am
eter
s
an
d
s
y
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tem
s
p
ec
if
i
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tio
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em
p
lo
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ed
in
th
e
s
im
u
l
atio
n
s
ar
e
d
etailed
in
T
a
b
le
4.
6
.
1
.
CASE
0
1
Fig
u
r
e
9
p
r
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th
e
o
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tain
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im
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n
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er
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s
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ately
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D
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ce
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o
r
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ar
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ter
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s o
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v
ed
in
ig
u
r
e
9
(
a)
,
th
e
s
p
ee
d
s
o
f
th
e
I
Ms
o
n
all
f
o
u
r
wh
ee
ls
ar
e
id
e
n
tical,
co
n
f
ir
m
in
g
t
h
at
th
e
E
D
is
in
ac
tiv
e
in
th
is
test
.
Fig
u
r
e
9
(
b
)
illu
s
tr
ates
th
e
f
lu
x
r
esp
o
n
s
e
o
f
th
e
m
o
to
r
u
n
d
er
th
ese
co
n
d
itio
n
s
,
f
u
r
th
er
v
alid
atin
g
t
h
e
r
o
b
u
s
tn
ess
o
f
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
y
.
W
h
en
L
o
ad
to
r
q
u
es
ar
e
ap
p
lied
b
etwe
en
2
s
an
d
4
s
,
Fig
u
r
e
9
(
c)
s
h
o
ws
th
at
th
e
p
r
im
ar
y
v
ar
iatio
n
o
cc
u
r
s
in
th
e
d
ir
ec
t
to
r
q
u
e
r
esp
o
n
s
e,
an
d
in
th
e
v
ar
iatio
n
o
f
th
e
cu
r
r
e
n
t
in
t
h
e
s
am
e
in
ter
v
al
as
s
ee
n
in
Fig
u
r
e
9
(
d
)
.
T
h
e
d
e
v
elo
p
e
d
m
o
to
r
to
r
q
u
e
is
clea
r
ly
af
f
ec
ted
,
as
ev
id
en
ce
d
b
y
th
e
s
m
o
o
th
a
n
d
lo
g
ical
r
esp
o
n
s
e
in
th
e
cu
r
r
en
t
wav
ef
o
r
m
s
.
T
h
e
p
r
esen
ce
o
f
a
s
lo
p
e
co
n
tr
ib
u
tes
to
an
elec
tr
o
m
ag
n
etic
to
r
q
u
e
im
p
r
o
v
e
m
en
t
o
n
b
o
th
th
e
lef
t a
n
d
r
ig
h
t m
o
to
r
s
.
6
.
2
.
CASE
0
2
Fig
u
r
e
1
0
p
r
esen
ts
th
e
s
im
u
l
atio
n
r
esu
lts
f
o
llo
win
g
a
s
u
d
d
en
ch
a
n
g
e
i
n
th
e
s
p
ee
d
s
etp
o
in
t.
T
h
ese
test
s
,
p
er
f
o
r
m
ed
in
th
e
MA
T
L
AB
/Si
m
u
lin
k
en
v
ir
o
n
m
en
t
,
ar
e
d
esig
n
ed
to
ass
es
s
th
e
r
o
b
u
s
tn
ess
an
d
ad
ap
tab
ilit
y
o
f
t
h
e
p
r
o
p
o
s
ed
FA
SMC
s
tr
ateg
y
in
m
ain
tain
in
g
ac
cu
r
ate
s
p
ee
d
r
eg
u
l
atio
n
u
n
d
e
r
ab
r
u
p
t
d
is
tu
r
b
an
ce
s
.
T
h
e
r
esu
lts
d
em
o
n
s
tr
ate
th
e
co
n
tr
o
ller
’
s
ca
p
ab
ilit
y
to
q
u
ick
ly
r
ea
ct
a
n
d
s
tab
ilize
th
e
s
y
s
tem
,
h
ig
h
lig
h
tin
g
its
ef
f
ec
tiv
en
ess
in
h
an
d
li
n
g
d
y
n
am
ic
v
ar
iatio
n
s
.
Fig
u
r
e
1
0
(
a)
d
em
o
n
s
tr
at
es
th
e
m
o
to
r
s
p
ee
d
r
esp
o
n
s
e
ac
r
o
s
s
f
iv
e
s
p
ee
d
lev
els,
h
ig
h
lig
h
tin
g
p
r
ec
is
e
tr
ac
k
in
g
with
o
u
t
o
v
er
s
h
o
o
t
o
r
co
n
tr
o
l
e
r
r
o
r
s
.
Fig
u
r
e
1
0
(
b
)
illu
s
tr
ates
th
e
co
r
r
esp
o
n
d
in
g
f
lu
x
r
esp
o
n
s
e,
wh
ile
Fig
u
r
e
1
0
(
c)
d
is
p
lay
s
a
s
m
o
o
th
to
r
q
u
e
r
esp
o
n
s
e,
ev
en
at
l
o
w
s
p
ee
d
s
,
wh
ich
is
f
u
r
th
er
co
n
f
i
r
m
ed
b
y
th
e
s
tab
le
an
d
co
n
tin
u
o
u
s
cu
r
r
en
t
p
r
o
f
ile
as
illu
s
tr
ated
in
Fig
u
r
e
1
0
(
d
)
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
9
.
Simu
latio
n
r
esu
lts
:
(
a)
s
p
ee
d
r
esp
o
n
s
es a
n
d
its
r
ef
e
r
en
ce
[
r
p
m
]
,
(
b
)
f
lu
x
[
W
b
]
,
(
c)
elec
tr
o
m
ag
n
etic
to
r
q
u
e
[
N.
m
]
,
an
d
(
d
)
s
tato
r
cu
r
r
e
n
t (
A)
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