I
nte
rna
t
io
na
l J
o
urna
l o
f
P
o
wer
E
lect
ro
nics
a
nd
Driv
e
S
y
s
t
em
(
I
J
P
E
DS)
Vo
l.
1
7
,
No
.
1
,
Ma
r
ch
2
0
2
6
,
p
p
.
1
8
0
~
1
9
4
I
SS
N:
2
0
8
8
-
8
6
9
4
,
DOI
: 1
0
.
1
1
5
9
1
/ijp
ed
s
.
v
1
7
.
i1
.
p
p
1
8
0
-
194
180
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
p
e
d
s
.
ia
esco
r
e.
co
m
Fuzzy lo
g
ic dir
ect
t
o
rque
co
ntrol o
f
induct
io
n
mo
tors
using
three
-
lev
el N
PC
i
nv
erte
r
J
a
m
ila
Chenna
ne
1
,
L
a
hcen
O
ub
o
ub
k
er
1
,
M
o
ha
m
ed
Ak
hs
a
s
s
i
2
1
M
S
3
E
L
a
b
o
r
a
t
o
r
y
,
F
a
c
u
l
t
y
o
f
A
p
p
l
i
e
d
S
c
i
e
n
c
e
s
o
f
A
i
t
M
e
l
l
o
u
l
,
I
b
n
Z
o
h
r
U
n
i
v
e
r
s
i
t
y
,
A
g
a
d
i
r
,
M
o
r
o
c
c
o
2
LG
EM
S
La
b
o
r
a
t
o
r
y
,
N
a
t
i
o
n
a
l
S
c
h
o
o
l
o
f
A
p
p
l
i
e
d
S
c
i
e
n
c
e
s
o
f
A
g
a
d
i
r
,
I
b
n
Zo
h
r
U
n
i
v
e
r
si
t
y
,
A
g
a
d
i
r
,
M
o
r
o
c
c
o
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Oct
2
,
2
0
2
5
R
ev
is
ed
J
an
1
8
,
2
0
2
6
Acc
ep
ted
Feb
1
5
,
2
0
2
6
In
d
u
c
ti
o
n
m
o
t
o
r
d
riv
e
s
a
re
e
x
ten
siv
e
ly
u
se
d
fo
r
th
e
ir
r
o
b
u
st
n
e
ss
a
n
d
e
fficie
n
c
y
,
b
u
t
p
re
c
ise
c
o
n
tro
l
re
m
a
in
s
d
iffi
c
u
lt
u
n
d
e
r
d
y
n
a
m
ic
c
o
n
d
it
io
n
s.
Co
n
v
e
n
ti
o
n
a
l
d
irec
t
t
o
rq
u
e
c
o
n
tro
l
o
ffe
rs
a
sim
p
le
stru
c
tu
re
a
n
d
fa
st
re
sp
o
n
se
,
b
u
t
is
li
m
it
e
d
b
y
t
o
rq
u
e
rip
p
le,
f
lu
x
d
isto
rt
io
n
,
a
n
d
p
o
o
r
l
o
w
-
sp
e
e
d
p
e
rfo
rm
a
n
c
e
.
Th
is
p
a
p
e
r
p
ro
p
o
se
s
a
fu
z
z
y
lo
g
ic
-
b
a
se
d
d
irec
t
to
r
q
u
e
c
o
n
tr
o
l
(F
DTC)
c
o
m
b
in
e
d
wit
h
a
th
re
e
-
l
e
v
e
l
n
e
u
tral
p
o
i
n
t
c
lam
p
e
d
(NPC
)
in
v
e
rter.
A
fu
z
z
y
i
n
fe
re
n
c
e
sy
ste
m
(F
IS
)
re
p
lac
e
s
th
e
h
y
ste
re
sis
c
o
m
p
a
r
a
to
rs
a
n
d
sw
it
c
h
in
g
tab
le,
wh
il
e
sp
e
e
d
r
e
g
u
latio
n
is
imp
r
o
v
e
d
u
si
n
g
a
P
I
-
f
u
z
z
y
c
o
n
tro
ll
e
r.
M
ATLAB/
S
imu
li
n
k
si
m
u
latio
n
s
u
n
d
e
r
sp
e
e
d
v
a
riatio
n
s
a
n
d
l
o
a
d
d
istu
r
b
a
n
c
e
s
d
e
m
o
n
stra
te
re
d
u
c
e
d
to
r
q
u
e
a
n
d
fl
u
x
rip
p
les
,
sm
o
o
th
e
r
fl
u
x
traje
c
to
ries
,
imp
r
o
v
e
d
c
u
rre
n
t
wa
v
e
fo
rm
s,
a
n
d
fa
ste
r
tran
sie
n
t
re
sp
o
n
se
c
o
m
p
a
re
d
wit
h
c
las
sic
a
l
DTC.
T
h
e
se
re
su
lt
s
c
o
n
firm
t
h
a
t
th
e
F
D
TC
–
NPC
a
p
p
ro
a
c
h
p
r
o
v
i
d
e
s
a
ro
b
u
st
a
n
d
e
fficie
n
t
so
l
u
ti
o
n
fo
r
a
d
v
a
n
c
e
d
a
p
p
li
c
a
ti
o
n
s
su
c
h
a
s in
d
u
strial
a
u
to
m
a
ti
o
n
,
re
n
e
wa
b
le en
e
rg
y
,
a
n
d
e
lec
tri
c
v
e
h
icl
e
s.
K
ey
w
o
r
d
s
:
Dir
ec
t to
r
q
u
e
c
o
n
tr
o
l
Fu
zz
y
lo
g
ic
I
n
d
u
ctio
n
m
o
to
r
NPC
in
v
er
ter
R
en
ewa
b
le
en
er
g
y
T
o
r
q
u
e
r
ip
p
le
r
ed
u
ctio
n
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
:
J
am
ila
C
h
en
n
an
e
MS3
E
L
ab
o
r
ato
r
y
,
Facu
lty
o
f
Ap
p
lied
Scien
ce
s
o
f
Ait M
ello
u
l,
I
b
n
Z
o
h
r
Un
iv
er
s
ity
Ag
ad
ir
,
Mo
r
o
cc
o
E
m
ail:
jam
ila.
ch
en
n
an
e@
g
m
a
il.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
I
n
d
u
ctio
n
m
o
to
r
(
I
M)
d
r
iv
es a
r
e
s
till
u
s
ed
in
cu
r
r
en
t in
d
u
s
tr
ial
s
y
s
tem
s
b
ec
au
s
e
th
ey
ar
e
m
o
r
e
r
o
b
u
s
t,
r
eliab
le,
an
d
co
s
t
-
ef
f
ec
tiv
e
t
h
an
DC
m
ac
h
in
es
[
1
]
,
[
2
]
.
T
h
ey
a
r
e
wid
ely
u
s
ed
in
au
t
o
m
atio
n
,
r
en
ewa
b
le
en
er
g
y
,
an
d
elec
tr
ic
ca
r
ap
p
li
ca
tio
n
s
wh
er
e
ac
cu
r
ate
to
r
q
u
e
an
d
f
lu
x
c
o
n
tr
o
l
ar
e
cr
itical
.
Nev
er
th
eless
,
th
e
n
o
n
lin
ea
r
d
y
n
a
m
ics an
d
p
a
r
a
m
eter
f
lu
ctu
atio
n
s
o
f
I
Ms m
ak
e
th
eir
co
n
tr
o
l in
tr
in
s
ically
d
if
f
icu
lt.
Fo
llo
win
g
th
e
ad
v
e
n
t
o
f
p
o
wer
elec
tr
o
n
ics,
m
u
ltil
ev
el
in
v
er
ter
to
p
o
lo
g
ies,
p
ar
ticu
lar
ly
th
e
th
r
ee
-
lev
el
n
eu
tr
al
p
o
in
t
clam
p
e
d
(
NPC
)
in
v
er
ter
,
h
a
v
e
em
er
g
e
d
as
ef
f
icien
t
s
o
lu
tio
n
s
th
at
p
r
o
v
id
e
d
ec
r
ea
s
ed
h
ar
m
o
n
ic
d
is
to
r
tio
n
,
r
ed
u
ce
d
v
o
ltag
e
s
tr
ess
,
an
d
im
p
r
o
v
ed
o
u
tp
u
t
q
u
ality
[
3
]
-
[
5
]
.
Dir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
,
f
ir
s
t
d
ev
elo
p
e
d
b
y
T
ak
ah
ash
i
an
d
No
g
u
ch
i
[
4
]
an
d
la
ter
r
ef
in
ed
b
y
Dep
en
b
r
o
ck
[
5
]
,
is
well
-
k
n
o
wn
f
o
r
its
s
im
p
le
s
tr
u
ctu
r
e,
q
u
ick
to
r
q
u
e
r
esp
o
n
s
e,
an
d
litt
le
r
eli
an
ce
o
n
m
ac
h
in
e
p
ar
am
eter
s
[
6
]
.
Ho
wev
e
r
,
t
h
e
s
tan
d
ar
d
two
-
lev
el
DT
C
h
as
s
ig
n
if
ican
t
to
r
q
u
e
an
d
f
lu
x
r
ip
p
les,
as
well
as
v
ar
iab
le
s
w
itch
in
g
f
r
eq
u
en
cy
,
p
ar
ticu
lar
ly
at
lo
w
s
p
ee
d
s
[
7
]
.
Ad
v
an
ce
d
ap
p
r
o
ac
h
es,
s
u
ch
as
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
(
S
VM
)
[
8
]
an
d
m
o
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
(
MPC
)
[
9
]
,
ad
d
r
ess
th
ese
d
if
f
icu
lties
wh
ile
in
cr
ea
s
in
g
co
m
p
lex
ity
an
d
p
r
o
ce
s
s
in
g
b
u
r
d
en
.
T
o
ad
d
r
ess
th
ese
co
n
s
tr
ain
ts
,
in
tellig
en
t
co
n
tr
o
l
ap
p
r
o
ac
h
es
h
av
e
b
ee
n
im
p
lem
en
te
d
in
to
DT
C
s
y
s
tem
s
.
Fu
zz
y
lo
g
ic
co
n
tr
o
l
(
FLC)
h
as
s
h
o
wed
ex
ce
p
tio
n
al
ca
p
ac
ity
to
h
an
d
le
n
o
n
lin
ea
r
ities
an
d
p
ar
am
eter
f
lu
ctu
atio
n
s
wh
ile
m
ai
n
tain
in
g
r
o
b
u
s
tn
ess
an
d
q
u
ick
d
y
n
am
ics.
T
h
e
u
s
e
o
f
f
u
zz
y
r
e
aso
n
in
g
allo
ws
f
o
r
co
n
tin
u
o
u
s
v
o
ltag
e
-
v
ec
to
r
s
elec
tio
n
,
s
m
o
o
th
er
elec
tr
o
m
a
g
n
etic
tr
an
s
itio
n
s
,
an
d
n
ea
r
-
co
n
s
tan
t
s
witch
in
g
f
r
eq
u
e
n
cy
[
1
0
]
-
[1
6
]
.
Fu
r
th
er
m
o
r
e,
co
u
p
lin
g
FLC
with
th
e
e
n
lar
g
ed
v
o
ltag
e
-
v
ec
to
r
s
et
o
f
t
h
e
th
r
ee
-
le
v
el
NPC
in
v
er
ter
in
cr
ea
s
es
f
lu
x
tr
ajec
to
r
y
s
m
o
o
th
n
ess
,
r
ed
u
ce
s
to
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
(
T
HD)
,
a
n
d
im
p
r
o
v
es
s
tead
y
-
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
lo
g
ic
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l o
f in
d
u
ctio
n
mo
to
r
s
u
s
in
g
t
h
r
ee
-
leve
l NPC
in
ve
r
te
r
(
Ja
mila
C
h
en
n
a
n
e
)
181
s
tate
ef
f
icien
cy
.
Desp
ite
th
ese
b
en
ef
its
,
f
ew
r
esear
ch
h
as
th
o
r
o
u
g
h
ly
e
x
am
in
ed
f
u
zz
y
i
n
f
e
r
en
ce
m
ec
h
a
n
is
m
s
in
m
u
ltil
ev
el
in
v
er
te
r
-
f
ed
DT
C
s
ch
em
es.
I
n
p
ar
ticu
lar
,
th
e
co
m
b
in
e
d
u
s
e
o
f
f
u
zz
y
d
ec
i
s
io
n
lay
er
s
an
d
t
h
e
r
ich
er
v
o
ltag
e
-
v
ec
to
r
s
tr
u
ctu
r
e
o
f
th
r
ee
-
le
v
el
NPC
in
v
er
ter
s
h
as
r
ec
eiv
ed
in
s
u
f
f
icien
t
atten
tio
n
f
o
r
in
c
r
ea
s
in
g
to
r
q
u
e
r
ip
p
le
s
u
p
p
r
ess
io
n
an
d
lo
w
-
s
p
ee
d
r
o
b
u
s
tn
ess
u
n
d
er
d
y
n
am
ic
o
p
er
atin
g
c
o
n
d
itio
n
s
.
T
h
is
wo
r
k
p
r
esen
ts
an
im
p
r
o
v
ed
f
u
zz
y
d
ir
ec
t
to
r
q
u
e
co
n
t
r
o
l
(
FDTC)
tech
n
iq
u
e
f
o
r
i
n
d
u
ct
io
n
m
o
to
r
d
r
iv
es
b
ased
o
n
a
th
r
ee
-
lev
el
NPC
in
v
er
ter
.
T
h
e
f
u
zz
y
in
f
er
en
ce
s
y
s
tem
s
u
b
s
titu
tes
tr
ad
itio
n
al
h
y
s
ter
esis
co
m
p
ar
ato
r
s
an
d
lo
o
k
u
p
tab
les
f
o
r
v
o
ltag
e
-
v
ec
to
r
s
elec
tio
n
,
a
n
d
a
PI
-
Fu
zz
y
s
p
ee
d
r
eg
u
lato
r
im
p
r
o
v
es
ad
ap
tab
ilit
y
an
d
tr
a
n
s
ien
t
r
esp
o
n
s
e.
T
h
e
p
r
o
p
o
s
ed
FDTC
-
NPC
tech
n
iq
u
e
is
test
ed
u
s
in
g
MA
T
L
AB
/S
im
u
lin
k
s
im
u
latio
n
s
u
n
d
er
v
ar
io
u
s
lo
a
d
an
d
s
p
ee
d
s
itu
atio
n
s
,
wh
ich
s
h
o
w
r
ed
u
ce
d
to
r
q
u
e
an
d
f
lu
x
r
ip
p
les,
en
h
an
ce
d
s
tead
y
-
s
tate
p
r
ec
is
io
n
,
an
d
s
u
p
er
io
r
d
y
n
am
ic
b
e
h
av
io
r
wh
en
co
m
p
ar
ed
to
class
ical
DT
C
.
2.
M
E
T
H
O
DO
L
O
G
Y
O
F
DT
C
AND
T
H
RE
E
-
L
E
V
E
L
I
NV
E
RT
E
RS
2
.
1
.
P
rinciple
o
f
c
o
nv
ent
io
na
l
direct
t
o
rque
co
ntr
o
l
DT
C
,
in
itially
in
tr
o
d
u
ce
d
b
y
T
ak
ah
ash
i
an
d
No
g
u
ch
i
[
4
]
a
n
d
later
r
ef
in
ed
b
y
Dep
en
b
r
o
ck
[
5
]
,
is
a
well
-
estab
lis
h
ed
tech
n
iq
u
e
f
o
r
h
ig
h
-
p
er
f
o
r
m
a
n
ce
I
M
d
r
iv
es
.
I
t
d
ir
ec
tl
y
co
n
tr
o
ls
elec
tr
o
m
ag
n
etic
to
r
q
u
e
a
n
d
s
tato
r
f
lu
x
with
o
u
t
r
eq
u
ir
i
n
g
co
o
r
d
in
ate
tr
an
s
f
o
r
m
atio
n
s
o
r
p
u
ls
e
wid
th
m
o
d
u
latio
n
,
o
f
f
e
r
in
g
a
s
im
p
ler
a
n
d
f
aster
alter
n
ativ
e
t
o
FOC
[
8
]
.
As
illu
s
tr
ated
in
Fig
u
r
e
1
,
th
e
class
ical
DT
C
s
tr
u
ctu
r
e
in
clu
d
es
a
f
lu
x
a
n
d
t
o
r
q
u
e
esti
m
ato
r
,
h
y
s
ter
esis
co
m
p
a
r
a
to
r
s
,
a
s
ec
to
r
s
elec
to
r
,
a
n
d
a
v
o
ltag
e
v
ec
to
r
s
witch
in
g
tab
le.
T
h
e
esti
m
ated
to
r
q
u
e
an
d
f
l
u
x
ar
e
co
n
tin
u
o
u
s
ly
co
m
p
ar
ed
with
th
eir
r
ef
er
en
ce
v
alu
es,
an
d
th
e
r
esu
lt
in
g
co
n
tr
o
l
s
ig
n
als
d
eter
m
in
e
th
e
in
v
er
ter
’
s
s
witch
in
g
s
tates.
W
h
ile
DT
C
p
r
o
v
id
es
f
ast
r
esp
o
n
s
iv
e
n
ess
an
d
r
esis
tan
ce
to
p
ar
am
eter
f
lu
ctu
atio
n
s
,
it
s
u
f
f
er
s
f
r
o
m
s
ig
n
if
ican
t
to
r
q
u
e
r
ip
p
le
an
d
v
ar
ia
b
le
s
witch
in
g
b
e
h
av
io
r
,
r
esu
ltin
g
in
p
o
o
r
p
er
f
o
r
m
an
ce
at
l
o
w
r
o
tati
o
n
al
s
p
ee
d
s
.
T
h
ese
r
estrictio
n
s
en
co
u
r
a
g
e
th
e
em
p
lo
y
m
e
n
t o
f
m
u
ltip
le
in
v
er
ter
s
an
d
ad
a
p
tiv
e
co
n
tr
o
l
tech
n
i
q
u
es
to
in
cr
ea
s
e
to
r
q
u
e
s
m
o
o
th
n
ess
,
f
lu
x
m
an
ag
e
m
en
t,
an
d
s
tab
le
s
tate
p
er
f
o
r
m
an
ce
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
th
e
co
n
v
e
n
tio
n
al
DT
C
ap
p
lied
t
o
a
th
r
ee
-
le
v
el
in
v
er
ter
-
f
ed
I
M
2
.
2
.
M
a
t
hema
t
ica
l
m
o
delin
g
T
h
e
d
y
n
a
m
ic
b
e
h
a
v
i
o
r
o
f
t
h
e
I
M
i
n
t
h
e
s
ta
ti
o
n
a
r
y
(
,
)
r
ef
er
e
n
ce
f
r
a
m
e
c
an
b
e
e
x
p
r
ess
e
d
b
y
t
h
e
s
tat
o
r
v
o
l
ta
g
e
e
q
u
at
io
n
s
d
er
i
v
e
d
f
r
o
m
t
h
e
c
lass
i
ca
l
DT
C
f
o
r
m
u
la
ti
o
n
a
n
d
v
e
ct
o
r
c
o
n
t
r
o
l
t
h
e
o
r
y
[
2
]
,
[
5
]
,
[
7
]
-
[
9
]
.
T
h
ese
co
m
p
o
n
en
ts
ar
e
g
i
v
en
b
y
(
1
)
.
=
+
Ф
=
+
Ф
(
1
)
T
h
e
s
tato
r
-
f
lu
x
co
m
p
o
n
e
n
ts
ar
e
o
b
tain
ed
b
y
in
teg
r
atin
g
th
e
v
o
ltag
e
eq
u
atio
n
s
,
wh
ich
f
o
r
m
th
e
b
asis
o
f
f
lu
x
esti
m
atio
n
in
DT
C
s
ch
em
es
[
2
]
,
[
5
]
,
[
8
]
:
Ф
=
∫
(
−
)
0
Ф
=
∫
(
−
)
0
(
2
)
T
h
e
s
tato
r
f
lu
x
is
m
ath
em
atica
lly
d
ef
in
ed
b
y
(
3
)
.
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.
17
,
No
.
1
,
Ma
r
c
h
20
26
:
180
-
194
182
Ф
=
√
Ф²
+
Ф²
(
3
)
T
h
e
s
tato
r
f
lu
x
an
g
le
is
d
eter
m
in
ed
u
s
in
g
(
4
)
.
=
−
1
(
Ф
Ф
⁄
)
(
4
)
T
h
ese
q
u
an
titi
es
ar
e
cr
u
cial
f
o
r
r
ea
l
-
tim
e
s
ec
to
r
id
en
tific
at
io
n
an
d
to
r
q
u
e/f
lu
x
co
n
tr
o
l
in
DT
C
an
d
FDTC
alg
o
r
ith
m
s
[
7
]
,
[
8
]
,
[
17
]
.
T
h
e
e
lectr
o
m
ag
n
etic
to
r
q
u
e
d
ev
elo
p
ed
b
y
t
h
e
m
ac
h
in
e
is
g
iv
en
b
y
(
5
)
.
=
(
Ф
−
Ф
)
(
5
)
T
h
is
ap
p
r
o
ac
h
,
d
e
v
elo
p
e
d
b
y
T
ak
ah
ash
i
an
d
No
g
u
ch
i
[
4
]
an
d
r
e
v
is
ed
b
y
Dep
en
b
r
o
ck
[
5
]
,
p
r
o
v
id
es
th
e
m
ath
em
atica
l
f
o
u
n
d
atio
n
f
o
r
DT
C
.
T
h
e
(
1
)
-
(
4
)
d
ef
in
e
t
h
e
elec
tr
o
m
ag
n
etic
in
ter
ac
tio
n
o
f
s
tato
r
v
o
ltag
e
,
,
cu
r
r
en
t,
a
n
d
f
lu
x
v
ec
t
o
r
s
.
T
h
ey
ar
e
n
u
m
er
ically
im
p
lem
e
n
ted
in
th
e
DT
C
esti
m
ato
r
to
esti
m
ate
th
e
in
s
tan
tan
eo
u
s
elec
tr
o
m
ag
n
etic
to
r
q
u
e
a
n
d
s
tato
r
f
lu
x
,
wh
ic
h
ar
e
th
en
c
o
n
tin
u
ally
co
m
p
a
r
e
d
to
th
eir
r
ef
er
en
ce
v
alu
es
u
s
in
g
h
y
s
ter
esis
co
n
tr
o
ller
s
.
T
h
e
ab
o
v
e
f
o
r
m
u
latio
n
h
as
u
n
d
er
g
o
n
e
e
x
ten
s
iv
e
v
alid
atio
n
f
o
r
b
o
th
tr
ad
itio
n
al
an
d
m
u
ltil
ev
el
in
v
e
r
ter
-
f
ed
DT
C
s
y
s
tem
s
[
8
]
,
[
9
]
.
2
.
3
.
Switc
hin
g
l
o
g
ic
a
nd
s
ec
t
o
r
s
elec
t
io
n
I
n
co
n
v
en
tio
n
al
DT
C
,
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
s
tato
r
f
l
u
x
f
r
o
m
(
1
)
-
(
4
)
a
r
e
co
m
p
a
r
ed
t
o
r
ef
er
en
ce
s
v
ia
h
y
s
ter
esis
co
m
p
ar
ato
r
s
,
m
ain
tain
in
g
v
al
u
es
with
in
to
ler
an
ce
b
an
d
s
th
r
o
u
g
h
r
ea
l
-
tim
e
s
witch
in
g
s
tate
ad
ju
s
tm
en
ts
[
9
]
,
[
1
0
]
.
T
wo
i
n
d
ep
en
d
e
n
t
co
n
tr
o
ller
s
f
o
r
f
lu
x
an
d
to
r
q
u
e
g
en
er
ate
b
in
ar
y
o
u
tp
u
ts
f
o
r
ex
a
m
p
le
f
lu
x
s
ig
n
al
wh
ich
,
co
m
b
in
e
d
with
s
tato
r
f
lu
x
p
o
s
itio
n
(
,
)
,
s
elec
t
th
e
ap
p
lied
v
o
ltag
e
v
e
cto
r
.
T
h
is
en
ab
les r
ap
id
to
r
q
u
e
r
esp
o
n
s
e
with
o
u
t c
o
o
r
d
in
ate
tr
an
s
f
o
r
m
a
tio
n
s
o
r
PW
M
m
o
d
u
lato
r
s
[
1
1
]
.
=
{
+
1
Ф
<
Ф
(
F
l
ux
mus
t
in
c
r
e
a
s
e
)
−
1
Ф
>
Ф
(
F
l
ux
mus
t
de
c
r
e
a
s
e
)
(
6
)
As
s
h
o
wn
in
Fig
u
r
e
2
,
th
is
two
-
lev
el
d
ec
is
io
n
p
r
o
ce
s
s
s
t
ab
ilizes
th
e
f
lu
x
am
p
litu
d
e
a
r
o
u
n
d
its
r
ef
er
en
ce
v
alu
e
Ф
∗
an
d
p
r
e
v
en
ts
ex
ce
s
s
iv
e
o
s
cillatio
n
s
.
T
h
e
to
r
q
u
e
co
m
p
ar
ato
r
,
o
n
th
e
o
th
er
h
an
d
,
ev
alu
ates
th
e
to
r
q
u
e
e
r
r
o
r
∆
=
∗
−
an
d
g
e
n
er
ates
a
d
is
cr
ete
co
n
tr
o
l
s
ig
n
al
∈
{
−
2
,
−
1
,
0
,
+
1
,
+
2
}
,
co
r
r
esp
o
n
d
in
g
to
lar
g
e
p
o
s
itiv
e,
s
m
all
p
o
s
itiv
e,
ze
r
o
,
s
m
al
l
n
eg
ativ
e,
a
n
d
la
r
g
e
n
eg
ativ
e
to
r
q
u
e
v
ar
iatio
n
s
.
T
h
is
f
iv
e
-
lev
el
q
u
a
n
tizatio
n
en
ab
les
f
in
er
to
r
q
u
e
co
n
tr
o
l
an
d
s
m
o
o
th
e
r
elec
tr
o
m
ag
n
e
tic
tr
an
s
itio
n
s
th
an
co
n
v
en
tio
n
al
two
-
lev
el
m
et
h
o
d
s
[
1
2
]
,
[
1
3
]
.
T
h
e
DT
C
alg
o
r
ith
m
ass
es
s
es
b
o
th
f
lu
x
an
d
to
r
q
u
e
er
r
o
r
r
at
e
,
esti
m
ates
th
e
s
tato
r
f
lu
x
s
e
cto
r
u
s
in
g
(
4
)
,
an
d
s
elec
ts
a
v
o
ltag
e
v
e
cto
r
f
r
o
m
th
e
tr
i
p
let
(
,
,
)
[
1
2
]
,
[
1
3
]
.
A
two
-
lev
el
in
v
er
ter
u
s
es
s
ix
6
0
°
s
e
c
t
o
r
s
i
n
t
h
e
(
α
,
β
)
p
l
a
n
e
,
b
u
t
a
t
h
r
e
e
-
l
e
v
el
NP
C
u
s
es
t
w
e
l
v
e
3
0
°
s
e
ct
o
r
s
f
o
r
b
et
t
e
r
v
o
lt
a
g
e
-
v
e
c
t
o
r
r
e
s
o
l
u
t
i
o
n
a
n
d
s
m
o
o
t
h
e
r
f
l
u
x
t
r
a
n
s
it
i
o
n
s
[
1
4
]
-
[1
6
]
.
T
h
i
s
s
e
l
ec
t
i
n
g
m
e
c
h
a
n
is
m
g
u
a
r
a
n
t
e
e
s
q
u
i
c
k
t
o
r
q
u
e
r
e
s
p
o
n
s
e
a
n
d
r
e
l
i
a
b
i
li
t
y
u
n
d
er
v
ar
io
u
s
lo
a
d
s
.
Ho
wev
er
,
th
e
lim
ited
v
ec
to
r
s
in
two
-
le
v
el
in
v
er
ter
s
g
e
n
er
ate
to
r
q
u
e
r
ip
p
le
an
d
v
ar
iab
le
s
witch
in
g
f
r
eq
u
e
n
cy
,
wh
ic
h
s
u
p
p
o
r
ts
th
e
NPC
to
p
o
lo
g
y
'
s
s
u
p
er
io
r
s
tead
y
-
s
tate
an
d
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
.
I
n
s
tato
r
-
f
lu
x
r
eg
u
latio
n
,
a
two
-
lev
el
h
y
s
ter
esis
co
m
p
ar
ato
r
is
em
p
lo
y
ed
to
en
s
u
r
e
th
e
f
lu
x
m
ag
n
itu
d
e
r
em
ain
s
with
in
a
s
p
ec
if
ied
to
ler
an
ce
b
an
d
o
f
∓
Δ
Ф
.
As
s
h
o
wn
in
Fig
u
r
e
3
,
th
e
co
m
p
ar
ato
r
p
r
o
d
u
ce
s
th
e
d
is
cr
ete
co
n
tr
o
l
s
ig
n
al
∈
[
−
1
,
1
]
,
wh
ich
s
ig
n
if
ies
if
th
e
ca
lc
u
lated
s
tato
r
f
lu
x
ex
ce
e
d
s
its
r
ef
er
en
ce
b
ey
o
n
d
th
e
p
er
m
is
s
ib
le
h
y
s
ter
esis
b
o
u
n
d
ar
ies [
9
]
,
[
1
0
]
.
Fig
u
r
e
2
.
Fiv
e
-
le
v
el
h
y
s
ter
esis
co
m
p
ar
ato
r
u
s
ed
f
o
r
elec
tr
o
m
ag
n
etic
to
r
q
u
e
r
eg
u
lat
io
n
Fig
u
r
e
3
.
T
wo
-
lev
el
h
y
s
ter
esis
co
m
p
ar
ato
r
f
o
r
s
tato
r
-
f
lu
x
r
e
g
u
latio
n
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
lo
g
ic
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l o
f in
d
u
ctio
n
mo
to
r
s
u
s
in
g
t
h
r
ee
-
leve
l NPC
in
ve
r
te
r
(
Ja
mila
C
h
en
n
a
n
e
)
183
W
h
en
th
e
esti
m
ated
f
lu
x
e
x
ce
ed
s
th
e
u
p
p
er
lim
it
o
f
t
h
e
b
an
d
,
a
n
eg
ativ
e
c
o
n
tr
o
l
ac
tio
n
is
im
p
lem
en
ted
to
d
im
in
is
h
th
e
f
lu
x
m
a
g
n
itu
d
e;
co
n
v
er
s
ely
,
wh
en
it
d
r
o
p
s
b
elo
w
t
h
e
lo
w
er
lim
it,
a
p
o
s
itiv
e
co
n
tr
o
l
ac
tio
n
is
en
ac
te
d
to
r
esto
r
e
it.
T
h
is
h
y
s
ter
esis
-
b
ased
tech
n
iq
u
e
g
u
ar
an
tees
th
at
th
e
s
tato
r
-
f
l
u
x
am
p
litu
d
e
r
em
ain
s
co
n
s
tr
ain
ed
ar
o
u
n
d
its
r
ef
er
en
ce
v
alu
e
wh
ile
m
ain
tain
in
g
th
e
r
a
p
id
d
y
n
am
ic
r
esp
o
n
s
e
an
d
s
tr
u
ctu
r
al
s
im
p
licity
in
h
er
en
t i
n
tr
ad
itio
n
al
DT
C
s
ch
em
es.
2
.
4
.
E
x
t
ens
io
n t
o
t
he
t
hree
-
lev
el
NP
C
inv
er
t
er
I
n
th
is
to
p
o
lo
g
y
,
as
illu
s
tr
ated
in
Fig
u
r
e
4
,
t
h
e
to
tal
DC
-
lin
k
v
o
ltag
e
is
s
y
m
m
etr
ically
d
iv
id
ed
ac
r
o
s
s
two
s
er
ies
-
co
n
n
ec
ted
ca
p
ac
ito
r
s
,
p
r
o
d
u
cin
g
t
h
r
e
e
d
is
tin
ct
o
u
tp
u
t
v
o
ltag
e
l
ev
els
p
er
p
h
ase:
(
+
2
⁄
,
0
,
−
2
⁄
)
[
18
]
,
[
1
9
]
.
T
h
is
ar
r
an
g
em
e
n
t r
ed
u
ce
s
v
o
ltag
e
s
tr
ess
o
n
s
witc
h
in
g
d
ev
ices a
n
d
im
p
r
o
v
es th
e
o
u
tp
u
t w
av
e
f
o
r
m
q
u
ality
c
o
m
p
ar
ed
to
c
o
n
v
e
n
tio
n
al
two
-
le
v
el
in
v
er
ter
s
T
h
e
s
witch
in
g
s
tates
o
f
th
e
d
ev
ices
d
eter
m
in
e
th
e
in
s
tan
t
an
eo
u
s
p
h
ase
v
o
ltag
e
ap
p
lied
to
th
e
m
o
to
r
s
tato
r
win
d
in
g
.
T
h
e
c
o
r
r
esp
o
n
d
in
g
b
in
a
r
y
s
witch
in
g
f
u
n
ctio
n
s
f
o
r
th
e
u
p
p
e
r
an
d
lo
wer
b
r
an
c
h
es
ca
n
b
e
ex
p
r
ess
ed
as (
7
)
.
1
=
1
2
,
0
=
3
4
ith
the
∈
{
+
1
,
0
−
1
}
,
(
7
)
T
h
e
co
r
r
esp
o
n
d
i
n
g
p
h
ase
-
to
-
n
eu
tr
al
v
o
ltag
e
o
f
p
h
ase
∈
{
,
,
}
is
ex
p
r
ess
ed
as (
8
)
.
=
2
=
2
(
1
−
0
)
(
8
)
W
h
er
e
1
=
1
co
r
r
esp
o
n
d
s
to
+
2
⁄
,
0
=
1
co
r
r
esp
o
n
d
s
to
−
2
⁄
an
d
b
o
th
eq
u
al
to
0
r
ep
r
esen
ts
th
e
ze
r
o
s
tate
co
n
n
ec
ted
to
th
e
m
id
p
o
i
n
t
th
r
o
u
g
h
th
e
clam
p
in
g
d
io
d
es.
T
h
e
o
u
tp
u
t
p
h
ase
v
o
ltag
es
(
,
,
)
r
elativ
e
to
th
e
n
eu
tr
al
p
o
in
t
ar
e
ex
p
r
ess
ed
as (
9
)
.
[
]
=
[
2
−
1
−
1
−
1
2
−
1
−
1
−
1
2
]
{
[
11
21
31
]
−
[
10
20
30
]
}
(
9
)
T
h
e
s
witch
in
g
co
m
b
in
atio
n
s
y
ield
2
7
s
tates,
1
9
o
f
wh
ich
c
o
r
r
esp
o
n
d
to
d
if
f
e
r
en
t
v
o
ltag
e
v
ec
to
r
s
in
th
e
(
α
,
β)
p
lan
e
[
2
0
]
.
Vec
to
r
s
ar
e
d
iv
id
e
d
in
to
th
r
ee
t
y
p
e
s
b
ased
o
n
th
eir
m
a
g
n
itu
d
e:
lar
g
e,
m
ed
i
u
m
,
a
n
d
s
m
all.
L
ar
g
e
v
ec
to
r
s
allo
w
f
o
r
q
u
ic
k
to
r
q
u
e
an
d
f
lu
x
f
l
u
ctu
atio
n
s
,
wh
ile
m
e
d
iu
m
v
ec
to
r
s
p
r
o
v
id
e
s
m
o
o
th
er
tr
an
s
ien
t tr
an
s
itio
n
s
.
Sm
all
v
ec
to
r
s
en
s
u
r
e
p
r
ec
is
io
n
f
lu
x
c
o
n
tr
o
l a
n
d
litt
le
to
r
q
u
e
r
ip
p
le.
Fig
u
r
e
5
illu
s
tr
ates
th
eir
s
p
atial
o
r
g
a
n
izatio
n
,
with
b
ig
v
ec
t
o
r
s
f
o
r
m
in
g
th
e
o
u
ter
h
ex
a
g
o
n
,
m
ed
i
u
m
v
ec
to
r
s
in
i
n
ter
m
ed
iate
p
lace
s
,
an
d
s
m
all
v
ec
to
r
s
co
n
ce
n
tr
ated
ar
o
u
n
d
t
h
e
p
lan
e'
s
co
r
e.
Fig
u
r
e
6
s
h
o
ws
h
o
w
t
h
e
(
α
,
β)
p
lan
e
is
d
iv
i
d
ed
i
n
to
twelv
e
e
q
u
al
3
0
°
s
ec
to
r
s
to
allo
w
f
o
r
r
ea
l
-
tim
e
s
tato
r
-
f
lu
x
p
o
s
itio
n
an
d
v
ec
to
r
s
elec
tio
n
.
T
h
is
s
u
b
d
iv
is
io
n
e
n
h
an
ce
s
t
o
r
q
u
e
an
d
f
l
u
x
m
an
ag
em
en
t
b
y
r
ed
u
cin
g
v
ec
to
r
s
tep
s
an
d
r
esu
ltin
g
in
m
o
r
e
u
n
if
o
r
m
f
lu
x
tr
ajec
to
r
ies [
2
1
]
,
[
2
2
].
Fig
u
r
e
4
.
Stru
ctu
r
e
o
f
th
e
th
r
e
e
-
lev
el
NPC
in
v
er
ter
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.
17
,
No
.
1
,
Ma
r
c
h
20
26
:
180
-
194
184
T
h
e
p
r
im
a
r
y
s
witch
in
g
c
o
m
b
i
n
atio
n
s
f
o
r
ea
ch
p
h
ase
leg
a
r
e
s
u
m
m
ar
ized
in
T
ab
le
1
,
wh
er
e
“ON
”
an
d
“OFF”
d
en
o
te
co
n
d
u
ctin
g
an
d
n
o
n
-
c
o
n
d
u
ctin
g
s
tates
o
f
th
e
p
o
wer
d
ev
ices,
r
esp
ec
t
iv
ely
.
T
h
is
to
p
o
l
o
g
y
k
ee
p
s
th
e
DC
-
lin
k
v
o
ltag
e
b
al
an
ce
d
a
n
d
allo
ws
f
o
r
s
y
m
m
et
r
ical
o
p
er
atio
n
.
T
h
is
r
e
d
u
ce
s
s
witch
in
g
s
tr
ess
an
d
h
ar
m
o
n
ic
d
is
to
r
tio
n
.
T
h
e
e
x
tr
a
v
o
ltag
e
lev
el
im
p
r
o
v
es
cu
r
r
e
n
t
q
u
ality
an
d
lo
we
r
s
ac
o
u
s
tic
n
o
is
e
c
o
m
p
ar
e
d
t
o
th
e
two
-
lev
el
in
v
er
ter
[2
3
]
.
W
h
en
u
s
ed
in
DT
C
,
th
e
NP
C
in
v
er
ter
allo
ws
f
o
r
s
m
o
o
th
e
r
tr
an
s
itio
n
s
in
to
r
q
u
e
an
d
f
lu
x
,
a
n
ea
r
ly
c
o
n
s
tan
t
s
witch
in
g
f
r
eq
u
en
cy
,
a
n
d
b
ett
er
lo
w
-
s
p
ee
d
s
tab
ilit
y
.
T
h
is
m
ak
es
it
a
s
u
itab
le
p
latf
o
r
m
f
o
r
b
etter
co
n
tr
o
l stra
teg
ies lik
e
FDTC.
2
.
5
.
Co
ntr
o
l r
ule t
a
ble f
o
r
D
T
C
wit
h t
hree
-
lev
el
NP
C
inv
er
t
er
I
n
th
r
ee
-
lev
el
NPC
-
b
ased
DT
C
,
v
o
ltag
e
v
ec
t
o
r
s
elec
tio
n
u
s
es
th
e
tr
ip
let
(
,
,
)
to
r
ep
r
esen
t
f
lu
x
er
r
o
r
,
to
r
q
u
e
e
r
r
o
r
,
an
d
s
tato
r
-
f
lu
x
s
ec
to
r
.
T
h
is
h
elp
s
ch
o
o
s
e
f
r
o
m
2
7
s
witch
in
g
s
tates
(
1
9
u
n
i
q
u
e
v
ec
to
r
s
)
[
20
]
,
[
21
]
.
T
h
e
ex
p
a
n
d
ed
v
ec
to
r
s
et
allo
ws
f
o
r
b
etter
co
n
tr
o
l.
L
ar
g
e
v
ec
t
o
r
s
h
a
n
d
le
q
u
ic
k
to
r
q
u
e
c
h
an
g
es,
wh
ile
s
m
all
an
d
m
ed
iu
m
v
ec
t
o
r
s
r
ed
u
ce
s
witch
in
g
s
tr
ess
an
d
cu
r
r
e
n
t
d
is
to
r
tio
n
.
T
h
is
r
esu
lts
in
s
m
o
o
th
er
f
lu
x
p
a
t
h
s
a
n
d
a
m
o
r
e
s
t
a
b
le
s
w
i
tc
h
i
n
g
f
r
e
q
u
e
n
c
y
[
2
2
]
-
[
2
4
]
.
T
a
b
l
e
2
s
u
m
m
a
r
i
z
es
t
h
e
s
e
c
t
o
r
-
b
a
s
e
d
l
o
g
i
c
.
I
t
l
i
n
k
s
e
ac
h
3
0
°
s
e
c
t
o
r
t
o
t
h
e
c
o
n
t
r
o
l
a
c
ti
o
n
n
e
e
d
e
d
f
o
r
a
c
c
u
r
a
t
e
t
o
r
q
u
e
r
e
g
u
l
a
t
i
o
n
a
n
d
s
ta
b
l
e
d
r
i
v
e
p
e
r
f
o
r
m
a
n
c
e
[
2
5
]
,
[
2
6
]
.
Fig
u
r
e
5
.
Sp
ac
e
-
v
ec
to
r
r
ep
r
ese
n
tatio
n
o
f
t
h
e
2
7
s
witch
in
g
s
tates o
f
th
e
NPC
in
v
er
ter
Fig
u
r
e
6
.
Secto
r
d
iv
is
io
n
o
f
th
e
(
,
)
f
lu
x
p
la
n
e
f
o
r
th
r
ee
-
lev
el
NPC
in
v
er
ter
s
witch
in
g
T
ab
le
1
.
Switch
in
g
c
o
m
b
in
ati
o
n
s
an
d
c
o
r
r
esp
o
n
d
in
g
o
u
tp
u
t
lev
els f
o
r
a
s
in
g
le
NPC
in
v
er
t
er
leg
S
w
i
t
c
h
i
n
g
st
a
t
e
1
1
2
3
4
O
u
t
p
u
t
v
o
l
t
a
g
e
+1
ON
ON
ON
O
F
F
O
F
F
2
⁄
0
O
F
F
O
F
F
ON
ON
O
F
F
0
-
1
O
F
F
O
F
F
O
F
F
ON
ON
−
2
⁄
T
ab
le
2
.
Switch
in
g
tab
le
f
o
r
D
T
C
with
a
th
r
ee
-
lev
el
NPC
in
v
er
ter
1
2
7
8
⁄
1
0
⁄
1
0
⁄
1
0
⁄
1
0
+2
5
8
+2
5
8
+2
14
17
+2
14
17
+1
4
7
+1
4
7
+1
13
16
+1
13
16
0
19
20
0
20
19
0
19
20
0
20
19
-
1
16
13
-
1
16
13
-
1
7
4
-
1
7
4
-
2
17
14
-
2
2
17
-
2
8
5
-
2
11
5
3
4
9
10
⁄
1
0
⁄
1
0
⁄
1
0
⁄
1
0
+2
8
11
+2
8
11
+2
17
2
+2
17
2
+1
7
10
+1
7
10
+1
16
1
+1
16
1
0
19
20
0
20
19
0
19
20
0
20
19
-
1
1
16
-
1
1
16
-
1
10
7
-
1
10
7
-
2
2
17
-
2
5
2
-
2
11
8
-
2
14
11
5
6
11
12
⁄
1
0
⁄
1
0
⁄
1
0
⁄
1
0
+2
11
14
+2
11
14
+2
2
5
+2
2
5
+1
10
13
+1
10
13
+1
1
4
+1
1
4
0
19
20
0
20
19
0
19
20
0
20
19
-
1
4
1
-
1
4
1
-
1
13
10
1
13
10
-
2
5
2
-
2
8
5
-
2
14
11
-
2
17
14
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
lo
g
ic
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l o
f in
d
u
ctio
n
mo
to
r
s
u
s
in
g
t
h
r
ee
-
leve
l NPC
in
ve
r
te
r
(
Ja
mila
C
h
en
n
a
n
e
)
185
2
.
6
.
I
P
s
peed
co
ntr
o
ller
s
y
nthesis
T
h
e
I
P
s
p
ee
d
c
o
n
tr
o
ller
is
wid
ely
u
s
ed
i
n
h
ig
h
-
p
er
f
o
r
m
a
n
c
e
I
M
d
r
iv
es
f
o
r
its
f
ast
d
y
n
a
m
ics
an
d
its
ab
ilit
y
to
elim
in
ate
ze
r
o
s
in
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
,
en
s
u
r
in
g
a
c
o
n
tin
u
o
u
s
to
r
q
u
e
r
ef
er
e
n
ce
d
u
r
in
g
tr
an
s
ien
ts
[
2
7
]
,
[
2
8
]
.
As
s
h
o
w
n
in
Fig
u
r
e
7
,
th
e
s
p
ee
d
e
r
r
o
r
Ω
∗
(
)
−
Ω
(
)
is
p
r
o
ce
s
s
ed
th
r
o
u
g
h
p
r
o
p
o
r
t
io
n
al
an
d
in
te
g
r
al
p
ath
s
s
ca
led
b
y
Ω
,
Ω
r
esp
ec
tiv
ely
,
to
g
en
er
ate
th
e
r
ef
er
en
ce
to
r
q
u
e
(
)
wh
ich
g
o
v
er
n
s
th
e
m
ac
h
in
e’
s
elec
tr
o
m
a
g
n
etic
r
es
p
o
n
s
e
[
2
9
]
.
T
h
e
m
ec
h
a
n
ical
d
y
n
am
ics o
f
th
e
I
M
ca
n
b
e
m
o
d
eled
as:
(
)
=
1
+
(
10
)
a
s
s
u
m
in
g
n
o
ex
ter
n
al
lo
ad
d
is
tu
r
b
an
ce
s
=
0
,
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
b
etwe
e
n
r
ef
er
en
ce
s
p
ee
d
Ω
∗
(
)
an
d
ac
tu
al
s
p
ee
d
Ω
(
)
is
g
iv
en
b
y
[
3
0
]
:
Ω
(
)
Ω
∗
(
)
=
1
1
1
Ω
2
+
1
1
Ω
+
1
(1
1
)
w
h
er
e
th
e
p
a
r
am
eter
s
1
an
d
1
ar
e
d
ef
in
ed
b
y
:
τ
1
=
Ω
+
(1
2
)
1
=
Ω
Ω
+
(1
3
)
h
er
e,
Ω
an
d
Ω
d
en
o
te
th
e
p
r
o
p
o
r
ti
o
n
al
an
d
in
teg
r
al
g
ai
n
s
o
f
th
e
I
P c
o
n
tr
o
ller
,
r
esp
ec
tiv
el
y
.
T
o
ac
h
iev
e
an
ap
er
io
d
ic
s
p
ee
d
r
esp
o
n
s
e,
th
e
co
n
tr
o
ller
g
ain
s
m
u
s
t satis
f
y
:
Ω
=
1
4
1
τ
1
(1
4
)
a
n
d
u
n
d
er
th
ese
c
o
n
d
itio
n
s
,
th
e
eq
u
iv
alen
t tim
e
c
o
n
s
tan
t o
f
t
h
e
clo
s
ed
-
lo
o
p
d
y
n
am
ics b
ec
o
m
es:
τ
2
=
2
τ
1
(1
5
)
c
o
n
s
eq
u
en
tly
,
th
e
p
r
o
p
o
r
tio
n
al
g
ain
is
o
b
tain
ed
as
(
1
6
)
.
Ω
=
−
τ
1
τ
1
(1
6
)
T
h
is
s
y
s
tem
atic
tu
n
in
g
m
eth
o
d
en
s
u
r
es
s
m
o
o
th
to
r
q
u
e
r
esp
o
n
s
e,
s
tr
o
n
g
d
is
tu
r
b
a
n
ce
r
eje
ctio
n
,
an
d
s
tab
le
o
p
er
atio
n
ac
r
o
s
s
a
wid
e
r
an
g
e
o
f
s
p
ee
d
s
.
T
h
e
I
P
co
n
tr
o
ller
th
u
s
p
r
o
v
id
es
an
ef
f
ec
tiv
e
b
alan
ce
b
etwe
en
s
im
p
licity
,
r
o
b
u
s
tn
ess
,
an
d
d
y
n
am
ic
ac
cu
r
ac
y
in
DT
C
–
NPC
-
b
ased
d
r
iv
es
[
2
7
]
,
[
3
0
]
.
Fig
u
r
e
7
.
C
lo
s
ed
-
lo
o
p
s
p
ee
d
r
eg
u
latio
n
u
s
in
g
an
I
P c
o
n
tr
o
lle
r
3.
F
UZ
Z
Y
D
I
R
E
CT
T
O
RQ
UE
CO
NT
RO
L
3
.
1
.
P
rinciple o
f
F
DT
C
A
co
m
b
in
atio
n
o
f
h
y
s
ter
esis
co
m
p
ar
ato
r
s
an
d
f
ix
e
d
s
witch
in
g
tab
les,
co
n
v
e
n
tio
n
al
DT
C
h
as
p
o
o
r
lo
w
-
s
p
ee
d
ef
f
icien
cy
,
v
ar
iab
le
s
witch
in
g
f
r
e
q
u
en
c
y
,
a
n
d
to
r
q
u
e
r
i
p
p
le.
B
y
s
u
b
s
titu
tin
g
an
FIS
f
o
r
th
em
,
th
e
FDTC
ap
p
r
o
ac
h
s
o
lv
es
th
ese
p
r
o
b
lem
s
an
d
p
er
m
its
ad
ap
tiv
e
an
d
co
n
tin
u
o
u
s
v
o
ltag
e
-
v
ec
to
r
s
elec
tio
n
[
3
1
]
-
[
33
]
.
T
o
f
in
d
th
e
id
ea
l
in
v
e
r
ter
v
ec
to
r
th
at
m
in
im
izes
f
lu
x
a
n
d
to
r
q
u
e
d
ev
iatio
n
s
wh
ile
m
ain
tain
in
g
n
eu
t
r
al
-
p
o
in
t
b
alan
ce
,
th
e
f
u
zz
y
b
lo
c
k
in
th
e
p
r
o
p
o
s
ed
FDTC
–
NPC
s
ch
em
e,
as
illu
s
tr
ated
in
Fig
u
r
e
8
,
p
r
o
ce
s
s
es
th
e
s
tato
r
f
lu
x
er
r
o
r
¹,
t
o
r
q
u
e
er
r
o
r
,
an
d
s
tato
r
f
l
u
x
an
g
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.
17
,
No
.
1
,
Ma
r
c
h
20
26
:
180
-
194
186
T
h
e
in
p
u
t
v
ar
iab
les o
f
th
e
f
u
zz
y
s
y
s
tem
ar
e
d
ef
in
e
d
as
(
1
7
)
.
Ф
=
Ф
∗
−
Ф
=
∗
−
(1
7
)
W
h
er
e
Ф
∗
an
d
∗
ar
e
th
e
r
ef
er
e
n
ce
s
tato
r
f
lu
x
an
d
to
r
q
u
e,
r
esp
ec
tiv
ely
.
T
h
e
co
n
tr
o
l
o
b
jectiv
e
i
s
to
m
in
im
ize
b
o
th
e
r
r
o
r
s
with
in
th
e
p
e
r
m
is
s
ib
le
to
ler
an
ce
b
an
d
:
{
|
Ф
|
,
|
|
}
.
T
h
e
f
u
zz
y
in
f
er
en
ce
m
ec
h
a
n
is
m
p
r
o
ce
s
s
es
th
ese
in
p
u
ts
th
r
o
u
g
h
a
r
u
le
b
ase
th
at
r
elate
s
f
lu
x
a
n
d
to
r
q
u
e
e
r
r
o
r
s
to
a
co
r
r
esp
o
n
d
i
n
g
o
u
tp
u
t
v
o
ltag
e
v
ec
to
r
:
=
(
Ф
,
,
)
(1
8
)
T
h
e
f
u
zz
y
m
ap
p
in
g
f
u
n
ctio
n
(
.
)
d
ir
ec
tly
s
y
n
th
esizes
th
e
o
p
tim
al
v
o
ltag
e
v
ec
to
r
f
r
o
m
ex
p
e
r
t
r
u
les
an
d
th
e
s
ec
to
r
in
d
ex
.
T
h
is
in
tellig
en
t
s
elec
tio
n
y
ield
s
s
m
o
o
th
er
elec
t
r
o
m
ag
n
etic
tr
a
n
s
ien
ts
an
d
in
h
er
en
t
ad
ap
tab
ilit
y
to
n
o
n
lin
ea
r
ities
,
cu
lm
in
atin
g
in
a
m
ar
k
ed
r
ed
u
ctio
n
o
f
to
r
q
u
e
r
ip
p
le,
a
q
u
asi
-
co
n
s
tan
t
s
witch
in
g
f
r
e
q
u
en
c
y
,
an
d
en
h
an
ce
d
lo
w
-
s
p
ee
d
s
tab
ilit
y
,
all
with
o
u
t in
cu
r
r
i
n
g
s
ig
n
if
ica
n
t c
o
m
p
u
tatio
n
al
o
v
e
r
h
ea
d
[
3
4
].
3
.
2
.
F
uzzy
infe
re
nce
m
ec
ha
nis
m
,
rule
ba
s
e
des
ig
n,
a
nd
NP
C
v
o
lt
a
g
e
v
ec
t
o
r
decisi
o
n pro
ce
s
s
T
h
e
m
ain
id
ea
o
f
t
h
e
p
r
o
p
o
s
ed
FDTC
-
NPC
s
ch
em
e
is
a
FIS
th
at
r
ep
lace
s
th
e
tr
ad
itio
n
al
h
y
s
ter
esis
co
m
p
ar
ato
r
s
an
d
s
witch
in
g
tab
le.
T
h
is
s
m
ar
t
lay
er
co
n
tin
u
o
u
s
ly
m
ap
s
th
e
s
tato
r
-
f
lu
x
er
r
o
r
∆
Ф
,
th
e
to
r
q
u
e
er
r
o
r
∆
,
an
d
s
tato
r
f
lu
x
s
ec
to
r
in
to
th
e
b
est
NP
C
v
o
ltag
e
v
ec
to
r
.
T
h
is
im
p
r
o
v
es
to
r
q
u
e
s
m
o
o
th
n
ess
,
r
ed
u
ce
s
r
ip
p
le,
an
d
k
ee
p
s
a
n
e
ar
ly
co
n
s
tan
t
s
witch
in
g
f
r
e
q
u
e
n
cy
[3
5
]
,
[
3
6
]
.
T
h
e
in
p
u
ts
ar
e
f
u
zz
if
ied
u
s
in
g
two
lev
els
f
o
r
f
lu
x
(
Ne
g
ativ
e,
Po
s
itiv
e)
,
f
iv
e
f
o
r
to
r
q
u
e
(
NL
,
NS,
Z
,
PS
,
PL)
,
a
n
d
twelv
e
3
0
°
s
ec
to
r
s
f
o
r
t
h
e
f
lu
x
an
g
le,
as
s
h
o
wn
in
Fig
u
r
e
9
.
A
r
u
le
-
b
ased
ap
p
r
o
ac
h
,
cr
ea
te
d
f
r
o
m
th
e
d
r
iv
e'
s
d
y
n
am
ic
b
eh
av
io
r
,
d
ete
r
m
in
es
th
e
b
est v
o
ltag
e
v
ec
t
o
r
to
r
ed
u
ce
er
r
o
r
s
an
d
k
ee
p
n
eu
tr
al
-
p
o
i
n
t b
alan
ce
.
E
ac
h
f
u
zz
y
r
u
le
f
o
l
lo
ws th
e
f
o
r
m
:
=
if
(
Ф
=
)
a
n
d
(
=
)
a
n
d
(
=
)
the
n
(
=
)
(1
9
)
W
h
er
e
,
an
d
r
ep
r
esen
t
f
u
zz
y
s
ets
f
o
r
f
lu
x
,
to
r
q
u
e,
an
d
s
ec
to
r
,
an
d
d
en
o
tes
o
n
e
o
f
th
e
2
7
p
o
s
s
ib
le
in
v
er
ter
v
ec
t
o
r
s
.
=
∫
(
)
Ω
∫
(
)
Ω
(
20
)
T
h
is
en
ab
les
s
ea
m
less
tr
an
s
i
ti
o
n
s
b
etwe
en
v
ec
to
r
s
an
d
p
r
e
v
en
ts
o
s
cillatio
n
s
o
f
to
r
q
u
e.
T
h
e
en
tire
r
u
le
b
ase
ca
n
b
e
v
iewe
d
as
a
wh
o
le
f
r
o
m
T
ab
le
3
,
it
m
a
p
s
ea
ch
o
f
t
h
e
twelv
e
r
eg
io
n
s
N
1
–
N
12
t
o
in
d
iv
id
u
al
co
n
tr
o
l
ac
tio
n
s
.
T
h
e
lo
g
ic
f
o
r
th
ese
s
elec
tio
n
s
co
n
s
id
er
s
h
ig
h
v
o
ltag
e
v
ec
to
r
s
f
o
r
to
r
q
u
e
co
r
r
ec
tio
n
as
its
to
p
ch
o
ice,
f
o
llo
wed
b
y
m
ed
iu
m
an
d
f
in
al
ly
s
m
all
v
o
ltag
e
v
ec
to
r
s
f
o
r
f
in
e
-
tu
n
ed
co
n
tr
o
l
[
3
7
]
,
[
3
8
]
.
Fig
u
r
e
8
.
Stru
ctu
r
e
o
f
th
e
p
r
o
p
o
s
ed
FDTC sch
em
e
f
o
r
a
th
r
ee
-
lev
el
NPC
in
v
er
ter
-
f
ed
I
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
F
u
z
z
y
lo
g
ic
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l o
f in
d
u
ctio
n
mo
to
r
s
u
s
in
g
t
h
r
ee
-
leve
l NPC
in
ve
r
te
r
(
Ja
mila
C
h
en
n
a
n
e
)
187
I
n
th
e
FDTC
s
ch
em
e,
o
u
tp
u
t
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
ar
e
as
s
ig
n
ed
d
ir
ec
tly
to
t
h
e
in
v
er
te
r
'
s
v
o
ltag
e
v
ec
to
r
s
.
T
h
is
m
eth
o
d
allo
ws
f
o
r
f
lex
i
b
le
d
ec
is
io
n
-
m
a
k
in
g
a
n
d
r
em
o
v
es
th
e
s
u
d
d
en
s
tate
ch
an
g
es
co
m
m
o
n
in
h
y
s
ter
esis
co
m
p
ar
ato
r
s
.
T
h
e
o
u
tco
m
e
is
a
s
m
o
o
th
er
to
r
q
u
e
r
esp
o
n
s
e,
less
f
lu
x
o
s
cillatio
n
,
an
d
b
etter
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
in
th
r
ee
-
lev
el
NPC
in
v
er
ter
-
f
ed
d
r
iv
es [
1
6
]
,
[
2
1
]
,
[
2
5
]
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
9
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
s
o
f
th
e
f
u
zz
y
c
o
n
tr
o
ller
i
n
p
u
t a
n
d
o
u
tp
u
t v
a
r
iab
les:
(
a)
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
o
f
s
tato
r
-
f
lu
x
er
r
o
r
,
(
b
)
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
o
f
to
r
q
u
e
er
r
o
r
,
(
c)
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
f
o
r
s
tato
r
-
f
lu
x
a
n
g
le,
an
d
(
d
)
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
o
f
th
e
o
u
tp
u
t c
o
n
tr
o
l
v
ar
iab
le
T
ab
le
3
.
R
u
le
-
b
ased
s
witch
in
g
tab
le
f
o
r
FDTC
(
E
ac
h
3
0
° secto
r
d
ef
in
es th
e
v
o
ltag
e
-
v
ec
to
r
s
elec
tio
n
b
ased
o
n
f
lu
x
an
d
to
r
q
u
e
f
u
zz
y
s
tates)
1
2
7
8
⁄
1
0
⁄
1
0
⁄
1
0
⁄
1
0
Pl
5
8
Pl
5
8
Pl
14
17
Pl
14
17
PS
4
7
PS
4
7
PS
13
16
PS
13
16
Z
19
20
Z
20
19
Z
19
20
Z
20
19
NS
16
13
NS
16
13
NS
7
4
NS
7
4
NL
17
14
NL
2
17
NL
8
5
NL
11
5
3
4
9
10
⁄
1
0
⁄
1
0
⁄
1
0
⁄
1
0
Pl
8
11
Pl
8
11
Pl
17
2
Pl
17
2
PS
7
10
PS
7
10
PS
16
1
PS
16
1
Z
19
20
Z
20
19
Z
19
20
Z
20
19
NS
1
16
NS
1
16
NS
10
7
NS
10
7
NL
2
17
NL
5
2
NL
11
8
NL
14
11
5
6
11
12
⁄
1
0
⁄
1
0
⁄
1
0
⁄
1
0
Pl
11
14
Pl
11
14
Pl
2
5
Pl
2
5
PS
10
13
PS
10
13
PS
1
4
PS
1
4
Z
19
20
Z
20
19
Z
19
20
Z
20
19
NS
4
1
NS
4
1
NS
13
10
NS
13
10
NL
5
2
NL
8
5
NL
14
11
NL
17
14
-
0
.
0
4
-
0
.
0
2
0
0
.
0
2
0
.
0
4
0
0
.
2
0
.
4
0
.
6
0
.
8
1
D
e
l
t
a
-
f
l
u
x
s
D
e
g
r
e
e
o
f
m
e
m
b
e
r
s
h
i
p
N
P
-
0
.
1
-
0
.
0
5
0
0
.
0
5
0
.
1
0
0
.
2
0
.
4
0
.
6
0
.
8
1
D
e
l
t
a
-
C
e
D
e
g
r
e
e
o
f
m
e
m
b
e
r
s
h
i
p
NL
Z
PS
NS
PL
-3
-2
-1
0
1
2
3
0
0
.
2
0
.
4
0
.
6
0
.
8
1
T
e
t
a
s
D
e
g
r
e
e
o
f
m
e
m
b
e
r
s
h
i
p
Se
c
t
2
Se
c
t
4
Se
c
t
6
Se
c
t
8
Se
c
t
1
0
Se
c
t
1
2
Se
c
t
3
Se
c
t
5
Se
c
t
7
Se
c
t
9
Se
c
t
1
1
Se
c
t
1
0
0
.
2
0
.
4
0
.
6
0
.
8
1
0
0
.
2
0
.
4
0
.
6
0
.
8
1
S1
D
e
g
r
e
e
o
f
m
e
m
b
e
r
s
h
i
p
0
1
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.
17
,
No
.
1
,
Ma
r
c
h
20
26
:
180
-
194
188
3
.
3
.
PI
-
f
uzzy
s
peed
co
ntr
o
ller
s
y
nthesis
T
h
e
FDTC
-
NP
C
m
ac
h
in
e’
s
p
er
f
o
r
m
a
n
ce
is
co
n
tr
o
lled
b
y
its
ex
ter
n
al
s
p
ee
d
lo
o
p
.
I
n
o
r
d
er
t
o
im
p
r
o
v
e
th
e
f
lex
ib
ilit
y
an
d
o
v
er
co
m
e
th
e
f
ix
ed
-
g
ain
co
n
s
tr
ain
t o
f
a
tr
ad
itio
n
al
I
P c
o
n
tr
o
ller
,
t
h
e
p
ap
er
also
in
tr
o
d
u
ce
s
a
co
n
tr
o
l
s
tr
ateg
y
u
s
in
g
a
h
y
b
r
id
co
n
tr
o
l
ap
p
r
o
ac
h
ca
ll
ed
th
e
“PI
-
f
u
zz
y
r
e
g
u
lato
r
”
.
I
t
co
m
b
in
es
th
e
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
c
o
n
tr
o
l
s
tr
ateg
y
f
o
r
ac
cu
r
ate
co
n
tr
o
l
in
a
s
h
o
r
t
s
p
an
o
f
tim
e
with
th
e
‘
f
u
zz
y
’
ac
tio
n
o
f
th
e
f
u
zz
y
i
n
f
er
en
ce
s
y
s
tem
[3
9
]
,
[
40
]
.
Fig
u
r
e
1
0
s
h
o
ws
th
e
p
r
o
ce
s
s
o
f
co
n
tr
o
llin
g
th
e
s
p
ee
d
s
u
s
in
g
th
e
e
r
r
o
r
in
s
p
ee
d
s
,
i.e
.
,
th
e
ac
t
u
al
s
p
ee
d
,
=
Ω
∗
−
Ω
*
,
th
e
ac
tu
al
s
p
ee
d
’
s
d
er
iv
ativ
e
⁄
,
o
f
th
e
s
p
ee
d
s
.
T
h
e
r
esu
lt’s
in
f
lu
en
ce
o
n
th
e
p
r
o
p
o
r
tio
n
al
in
teg
r
al
g
ain
s
is
u
tili
ze
d
,
wh
ic
h
ac
ts
o
n
t
h
e
ac
tu
al
s
p
ee
d
r
ef
e
r
en
ce
,
en
s
u
r
in
g
a
n
o
p
tim
al
to
r
q
u
e
[
41
]
.
T
h
e
f
u
zz
if
icatio
n
p
r
o
ce
s
s
d
ef
i
n
es sev
en
lin
g
u
is
tic
ter
m
s
f
o
r
ea
ch
in
p
u
t
v
ar
iab
le
(
NB
,
NM
,
NS,
Z
,
PS
,
PM,
PB
)
.
Fu
zz
if
icatio
n
u
s
es
t
r
ian
g
u
lar
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
with
s
ev
en
lin
g
u
is
tic
ter
m
s
f
o
r
all
v
ar
iab
les:
NB
:
n
eg
ativ
e
b
ig
,
NM
:
n
eg
a
tiv
e
m
ed
iu
m
,
NS:
n
eg
ativ
e
s
m
all,
PB
:
p
o
s
itiv
e
b
ig
,
PS
:
p
o
s
itiv
e
s
m
all,
PM
:
p
o
s
itiv
e
m
ed
iu
m
,
a
n
d
Z
R
: z
er
o
.
T
ab
le
4
lis
ts
th
e
f
u
zz
y
r
u
les
th
at
r
elate
th
e
er
r
o
r
an
d
its
r
ate
o
f
ch
an
g
e
to
co
n
tr
o
l
ac
tio
n
s
,
wh
ile
Fig
u
r
e
1
1
s
h
o
ws
th
e
co
r
r
esp
o
n
d
in
g
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
.
T
h
is
r
u
le
-
b
ased
f
u
zz
y
s
tr
u
ctu
r
e
p
r
o
v
id
es
s
m
o
o
t
h
co
n
tr
o
l
d
y
n
am
ics
with
in
h
er
en
t
n
o
n
lin
ea
r
ity
ad
a
p
tatio
n
.
B
y
d
y
n
am
ically
m
o
d
u
latin
g
th
e
co
n
tr
o
l
ef
f
o
r
t,
it
m
in
im
izes
o
v
er
s
h
o
o
t,
im
p
r
o
v
es
s
ettl
in
g
tim
e,
an
d
en
h
a
n
ce
s
d
is
tu
r
b
an
ce
r
ejec
tio
n
.
T
h
e
r
esu
ltin
g
PI
–
f
u
zz
y
co
n
tr
o
ller
th
er
e
b
y
en
s
u
r
es
r
o
b
u
s
t
ad
ap
tiv
e
s
p
ee
d
r
e
g
u
latio
n
ac
r
o
s
s
th
e
en
tire
o
p
er
atin
g
r
an
g
e,
f
o
r
m
in
g
a
s
y
n
er
g
is
tic
in
teg
r
atio
n
with
th
e
FDTC
–
NP
C
s
ch
em
e
[4
2
]
.
Fig
u
r
e
1
0
.
B
lo
ck
d
iag
r
a
m
o
f
th
e
PI
-
f
u
zz
y
s
p
ee
d
co
n
tr
o
ller
T
ab
le
4
.
Fu
zz
y
r
u
les f
o
r
th
e
PI
-
f
u
zz
y
s
p
ee
d
co
n
t
r
o
ller
(
E
ac
h
r
u
le
d
ef
in
es th
e
o
u
tp
u
t c
o
n
tr
o
l a
ctio
n
ac
co
r
d
in
g
to
th
e
er
r
o
r
a
n
d
its
d
er
iv
ativ
e
)
⁄
PB
PM
PS
ZR
NS
NM
NB
NB
EZ
NS
NM
NB
NB
NB
NB
NM
PS
EZ
NS
NM
NB
NB
NB
NS
PM
PS
EZ
NS
NM
NB
NB
ZR
PB
PM
PS
EZ
NS
NM
NB
PS
PB
PB
PM
PS
EZ
NS
NM
PM
PB
PB
PB
PM
PS
EZ
NS
PB
PB
PB
PB
PB
PM
PS
EZ
Fig
u
r
e
1
1
.
Me
m
b
er
s
h
ip
f
u
n
cti
o
n
s
o
f
th
e
PI
f
u
zz
y
co
n
tr
o
ller
i
n
p
u
ts
an
d
o
u
tp
u
t
-1
-
0
.
5
0
0
.
5
1
0
0
.
2
0
.
4
0
.
6
0
.
8
1
e
D
e
g
r
e
e
o
f
m
e
m
b
e
r
s
h
i
p
NG
NM
NP
EZ
PP
PM
PG
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
lo
g
ic
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l o
f in
d
u
ctio
n
mo
to
r
s
u
s
in
g
t
h
r
ee
-
leve
l NPC
in
ve
r
te
r
(
Ja
mila
C
h
en
n
a
n
e
)
189
4.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
AND
DIS
CUSS
I
O
N
4
.
1
.
Sim
ula
t
i
o
n set
up
a
nd
m
o
delin
g
T
h
e
p
r
o
p
o
s
ed
FDTC
–
NPC
s
y
s
tem
was
im
p
lem
en
ted
in
MA
T
L
AB
/Si
m
u
lin
k
R
2
0
2
2
b
b
y
in
teg
r
atin
g
th
e
f
lu
x
an
d
to
r
q
u
e
esti
m
atio
n
b
lo
ck
s
,
t
h
e
f
u
zz
y
v
o
ltag
e
-
v
ec
t
o
r
s
elec
tio
n
m
ec
h
an
is
m
,
a
n
d
t
h
e
h
y
b
r
id
PI
–
f
u
zz
y
s
p
ee
d
r
eg
u
lato
r
i
n
tr
o
d
u
ce
d
i
n
s
ec
tio
n
3
.
T
h
e
to
tal
s
im
u
latio
n
lay
o
u
t
is
d
e
p
icted
in
Fig
u
r
e
1
2
,
an
d
Fig
u
r
e
1
3
illu
s
tr
ates
th
e
d
etailed
s
tr
u
ct
u
r
e
o
f
th
e
f
u
zz
y
DT
C
co
n
tr
o
ller
an
d
its
co
u
p
lin
g
with
th
e
th
r
ee
-
lev
el
NPC
in
v
er
ter
.
T
h
e
p
r
o
p
o
s
ed
lay
o
u
t
p
r
o
v
id
es
a
p
r
ac
tical
s
im
u
latio
n
en
v
ir
o
n
m
e
n
t
f
o
r
ev
alu
atin
g
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
d
r
iv
e
s
y
s
tem
.
T
h
e
p
ar
am
eter
s
in
v
o
l
v
ed
in
th
e
s
im
u
latio
n
p
r
o
ce
s
s
o
f
th
e
elec
tr
ical,
m
ec
h
an
ical,
an
d
in
v
er
ter
s
y
s
tem
s
ar
e
p
r
o
v
id
ed
in
T
ab
le
5
.
T
h
e
d
esig
n
o
f
th
e
ex
p
er
im
en
t
h
as
b
ee
n
co
n
d
u
cted
in
a
way
th
at
it
is
ab
le
to
ev
alu
ate
th
e
tr
an
s
ien
t
r
esp
o
n
s
e
as
wel
l
as
th
e
s
tead
y
-
s
tate
r
e
s
p
o
n
s
e
o
f
th
e
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
s
y
s
tem
u
n
d
er
v
ar
io
u
s
lo
a
d
in
g
a
n
d
s
p
ee
d
s
.
T
h
e
d
esig
n
o
f
th
e
e
x
p
er
im
e
n
t
allo
ws
o
n
e
to
m
ak
e
a
co
m
p
ar
is
o
n
b
etwe
en
th
e
tr
ad
itio
n
al
DT
C
m
eth
o
d
a
n
d
t
h
e
p
r
o
p
o
s
ed
FDTC/NP
C
m
eth
o
d
.
Fig
u
r
e
1
2
.
MA
T
L
AB
/Si
m
u
lin
k
m
o
d
el
o
f
th
e
p
r
o
p
o
s
ed
FDT
C
–
NPC
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
Fig
u
r
e
1
3
.
I
n
ter
n
al
s
tr
u
ctu
r
e
o
f
th
e
p
r
o
p
o
s
ed
FDTC sch
em
e
Evaluation Warning : The document was created with Spire.PDF for Python.