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f
an
s
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elev
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s
[
1
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-
[
8
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due
to
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w
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t,
h
ig
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,
r
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[
9
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-
[
1
2
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,
in
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o
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aster
r
esp
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e
to
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is
co
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[
1
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Fu
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m
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M
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ater
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1
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,
[
15]
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An
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ch
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s
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d
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[
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6
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v
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tan
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[
1
7
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-
[
1
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]
.
T
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ca
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also
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V/Hz,
an
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ar
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two
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tech
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iq
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.
T
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f
ir
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4
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T
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p
ac
t o
n
i
n
s
u
latio
n
[
2
6
]
.
Scalar
co
n
tr
o
l
is
o
n
ly
u
s
ed
in
ap
p
licatio
n
s
lik
e
p
u
m
p
s
wh
er
e
th
e
s
y
s
tem
’
s
d
y
n
am
ic
b
eh
av
io
r
p
er
f
o
r
m
an
ce
r
eq
u
i
r
em
en
ts
ar
e
less
d
em
an
d
in
g
[
2
7
]
.
B
ec
au
s
e
t
h
e
s
p
ee
d
o
f
r
o
to
r
will
b
e
s
o
m
ewh
at
s
lo
wer
th
a
n
th
e
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
an
d
f
r
e
q
u
en
cy
is
o
n
ly
c
o
n
tr
o
l
v
ar
ia
b
le
in
t
h
is
tech
n
iq
u
e,
t
h
e
m
o
to
r
’
s
s
p
ee
d
is
u
n
ab
le
t
o
ac
cu
r
ately
c
o
n
tr
o
lled
[
2
8
]
.
v
o
ltag
e
s
o
u
r
ce
ın
v
e
r
ter
s
h
a
v
e
b
ee
n
ty
p
ically
u
s
ed
to
co
n
t
r
o
l
s
p
ee
d
b
y
a
d
ju
s
tin
g
f
r
eq
u
e
n
cy
an
d
v
o
ltag
e
[
2
9
]
-
[
3
1
]
.
Field
o
r
ien
ted
c
o
n
tr
o
l
(
FOC
)
,
also
k
n
o
wn
as
v
ec
to
r
co
n
tr
o
l,
is
an
e
f
f
ec
tiv
e
way
to
r
eg
u
late
asy
n
ch
r
o
n
o
u
s
m
o
to
r
’
s
to
r
q
u
e,
s
p
ee
d
,
o
r
b
o
t
h
.
L
i
k
e
to
DC
m
ac
h
in
es,
FOC
d
iv
id
es
th
e
co
m
p
licated
s
tato
r
cu
r
r
en
ts
in
to
two
o
r
th
o
g
o
n
al
c
o
m
p
o
n
en
ts
,
o
n
e
o
f
wh
ich
co
n
tr
o
ls
s
p
ee
d
a
n
d
t
h
e
o
t
h
er
elec
tr
o
m
ag
n
etic
t
o
r
q
u
e
.
FOC
h
as
m
o
r
e
s
tab
ilit
y
,
q
u
ick
to
r
q
u
e
r
esp
o
n
s
e,
a
n
d
p
r
ec
is
e
s
p
ee
d
co
n
t
r
o
l
[
3
2
]
.
Acc
u
r
ate
r
o
to
r
f
lu
x
p
lace
m
en
t
m
u
s
t
b
e
o
b
tain
ed
in
o
r
d
e
r
to
ca
r
r
y
o
u
t
th
e
f
r
am
e
tr
a
n
s
f
o
r
m
atio
n
[
3
3
]
,
[
3
4
]
.
T
h
e
b
est
p
er
f
o
r
m
an
ce
o
v
er
th
e
in
v
er
ter
lo
s
s
es is
o
f
f
er
ed
b
y
a
h
y
s
ter
esis
-
b
an
d
p
u
ls
e
-
wid
th
m
o
d
u
latio
n
(
PW
M
)
[
3
5
]
.
Var
io
u
s
co
n
tr
o
l
tec
h
n
iq
u
es
h
av
e
b
ee
n
i
n
tr
o
d
u
ce
d
in
th
e
p
ast
in
wh
ich
th
e
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
h
av
e
p
r
o
v
e
d
to
b
e
m
o
s
t
co
m
m
o
n
ly
u
s
ed
tech
n
i
q
u
e.
W
ith
p
r
o
m
is
in
g
f
ea
tu
r
es
lik
e
q
u
ick
er
to
r
q
u
e
r
esp
o
n
s
e
an
d
en
h
an
ce
d
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
,
DT
C
h
as
b
ec
o
m
e
a
p
o
ten
t
in
s
tr
u
m
e
n
t
as
s
h
o
wn
in
Fig
u
r
e
1
.
Alth
o
u
g
h
t
h
e
ter
m
DT
C
o
f
ten
is
ass
o
ciate
d
with
h
y
s
ter
esis
m
eth
o
d
s
,
we
ca
n
class
if
y
also
in
d
ir
ec
t
s
elf
co
n
tr
o
l
(
I
SC
)
as
a
DT
C
m
eth
o
d
.
T
h
is
r
o
u
te
is
f
o
llo
wed
also
in
th
e
s
u
r
v
ey
o
n
DT
C
s
ch
em
es
g
i
v
en
in
[
3
6
]
.
T
o
r
q
u
e
r
ip
p
les
an
d
s
lo
w
s
tar
tu
p
wh
en
lo
ad
ch
an
g
es
ar
e
co
m
m
o
n
d
r
awb
ac
k
s
o
f
tr
ad
itio
n
al
DT
C
[
3
7
]
.
R
ec
en
t
ad
v
an
ce
m
e
n
ts
in
DT
C
s
y
s
tem
s
in
clu
d
e
th
e
u
s
e
o
f
u
n
if
ied
f
l
u
x
co
n
tr
o
l
s
ch
em
e
[
3
8
]
,
s
tato
r
f
lu
x
v
ec
to
r
co
n
tr
o
l
in
f
ield
wea
k
en
in
g
r
e
g
io
n
[
3
9
]
,
[
4
0
]
,
f
u
zz
y
lo
g
ic
[
4
1
]
,
FP
GA
[
4
2
]
,
[
4
3
]
.
An
ef
f
ec
tiv
e
co
n
tr
o
ller
f
o
r
th
e
DT
C
in
d
u
ctio
n
m
o
to
r
d
r
i
v
e
m
u
s
t
b
e
c
r
ea
ted
f
o
r
cr
u
cial
ap
p
licatio
n
s
.
T
h
e
d
if
f
icu
lty
o
f
an
ef
f
ec
tiv
e
PI
co
n
tr
o
ller
f
o
r
h
ig
h
p
er
f
o
r
m
an
ce
in
cr
ea
s
es
s
ig
n
if
ican
tly
s
in
ce
th
e
I
M
is
a
h
ea
v
ily
c
r
o
s
s
-
co
u
p
led
m
ac
h
i
n
e.
C
o
n
v
e
n
tio
n
ally
th
e
PI
c
o
n
tr
o
ll
er
s
ar
e
tu
n
e
d
b
y
Z
ieg
ler
Nich
o
ls
tu
n
i
n
g
m
eth
o
d
.
Ho
wev
e
r
,
it
is
o
b
s
er
v
ed
th
at
th
e
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
d
eter
io
r
ates
u
n
d
er
v
ar
i
ed
d
r
iv
e
o
p
er
atin
g
co
n
d
itio
n
s
.
Stu
d
ies
o
f
th
e
liter
atu
r
e
h
a
v
e
r
ev
ea
led
th
at
t
h
e
a
p
p
licatio
n
o
f
s
to
ch
asti
c
o
p
tim
iz
atio
n
tech
n
iq
u
es
to
ac
h
iev
e
th
e
o
p
tim
al
v
alu
es o
f
PI
co
n
tr
o
ller
s
is
b
ec
o
m
in
g
m
o
r
e
an
d
m
o
r
e
im
p
o
r
tan
t
[
4
4
]
-
[
4
9
]
.
Fig
u
r
e
1
.
Sch
em
atic
d
iag
r
am
o
f
DT
C
u
s
in
g
VSI
f
ed
I
M
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
41
,
No
.
3
,
Ma
r
ch
20
26
:
8
9
4
-
911
896
T
h
e
m
o
d
if
ied
DT
C
co
n
tr
o
ller
u
s
ed
in
th
e
p
r
o
p
o
s
ed
s
tu
d
y
r
ep
lace
s
th
e
h
y
s
ter
esis
co
n
tr
o
ller
s
f
o
r
to
r
q
u
e
a
n
d
f
l
u
x
with
PI
c
o
n
tr
o
ller
s
.
T
h
e
d
r
awb
ac
k
o
f
co
n
v
en
tio
n
al
DT
C
is
th
at
th
e
er
r
o
r
s
in
to
r
q
ue
,
f
lu
x
ar
e
with
in
th
e
d
esig
n
ated
b
an
d
li
m
its
,
wh
ich
r
estricts
th
e
r
an
g
e
o
f
s
witch
in
g
s
elec
tio
n
f
o
r
in
v
er
ter
[
5
0
]
,
[
5
1
]
.
I
n
th
e
m
o
d
if
ied
DT
C
th
e
d
if
f
er
en
ce
b
e
twee
n
th
e
r
ef
er
en
ce
an
d
ac
tu
al
s
p
ee
d
is
p
r
o
ce
s
s
ed
b
y
th
e
s
p
ee
d
PI
co
n
tr
o
ller
to
g
en
er
ate
a
to
r
q
u
e
co
m
m
an
d
as sh
o
wn
in
Fig
u
r
e
2
[
5
2
]
,
[
5
3
]
.
Ab
eb
e
et
a
l.
[
5
4
]
,
r
esear
ch
er
s
h
av
e
u
s
ed
s
p
ac
e
v
ec
t
o
r
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
SVPW
M)
m
eth
o
d
t
o
co
n
tr
o
l
th
e
i
n
v
e
r
ter
f
ed
I
M
u
n
d
er
DT
C
s
tr
ateg
y
as
s
h
o
w
n
in
Fig
u
r
e
3
.
Sh
an
k
ar
[
5
5
]
,
b
y
s
ep
ar
atin
g
th
e
m
o
to
r
’
s
f
lu
x
a
n
d
to
r
q
u
e
c
o
m
p
o
n
en
ts
,
s
ca
lar
co
n
tr
o
l
an
d
v
ec
to
r
c
o
n
tr
o
l
in
cr
ea
s
e
p
er
f
o
r
m
an
ce
,
in
clu
d
i
n
g
q
u
ick
e
r
r
ea
ctio
n
tim
es,
m
o
r
e
ac
c
u
r
ate
s
p
ee
d
an
d
to
r
q
u
e,
a
n
d
less
h
a
r
m
o
n
ic
d
is
to
r
tio
n
.
B
u
t
th
is
s
tu
d
y
h
as
n
o
t
a
p
p
lied
u
n
d
er
v
ar
io
u
s
lo
a
d
an
d
s
p
ee
d
co
n
d
itio
n
s
.
DT
C
h
as
h
ig
h
e
r
d
y
n
am
ic
r
esp
o
n
s
e
th
an
FOC
,
h
o
wev
er
it
h
as
is
s
u
es
lik
e
ex
ce
s
s
iv
e
to
r
q
u
e
r
ip
p
le
[
5
6
]
-
[
5
8
]
.
T
h
e
r
e
ar
e
s
ev
er
al
way
s
to
r
e
g
u
late
a
n
asy
n
c
h
r
o
n
o
u
s
m
o
to
r
’
s
s
p
ee
d
,
s
u
ch
as c
o
n
tr
o
l
o
f
r
o
to
r
r
esis
tan
ce
[
5
9
]
.
Fig
u
r
e
2
.
Sch
em
atic
d
iag
r
am
o
f
DT
C
u
s
in
g
PI
co
n
tr
o
ller
s
Fig
u
r
e
3
.
Sch
em
atic
d
iag
r
am
o
f
DT
C
u
s
in
g
PW
M
I
n
d
ir
ec
t v
ec
to
r
co
n
tr
o
l f
o
r
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
e
h
as p
r
esen
ted
in
[
6
0
]
,
wh
ich
p
r
o
v
id
e
h
ig
h
d
y
n
am
ic
r
esp
o
n
s
es
f
o
r
an
y
s
p
ee
d
as
s
h
o
wn
in
Fig
u
r
e
4
.
m
o
d
ellin
g
an
d
s
im
u
latio
n
o
f
in
d
i
r
ec
t
v
ec
to
r
co
n
tr
o
l
f
o
r
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
e
d
r
iv
e
u
s
in
g
two
a
n
d
f
iv
e
le
v
el
in
v
e
r
ter
s
h
as
b
ee
n
p
r
esen
ted
in
[
6
1
]
-
[
6
3
]
.
Hasan
et
a
l.
[
6
4
]
,
p
er
f
o
r
m
an
ce
o
f
s
p
ee
d
f
o
r
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
e
u
s
in
g
a
v
ec
to
r
co
n
tr
o
l
h
as
b
ee
n
p
r
esen
ted
.
T
h
e
m
ai
n
f
o
cu
s
is
to
m
o
n
ito
r
th
e
d
y
n
a
m
ic
s
p
ee
d
p
e
r
f
o
r
m
an
ce
o
f
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
e.
T
h
e
o
u
t
co
m
e
d
em
o
n
s
tr
ates
th
at
p
r
esen
ted
tech
n
iq
u
e
h
as
a
n
eg
lig
ib
le
elec
tr
o
m
ag
n
etic
t
o
r
q
u
e
r
i
p
p
le.
Kh
o
u
r
y
et
a
l.
[
6
5
]
,
cu
r
r
e
n
t
co
n
t
r
o
ller
an
d
s
p
ee
d
co
n
tr
o
ller
h
av
e
b
ee
n
d
esig
n
ed
u
s
in
g
PID
an
d
f
iel
d
wea
k
en
in
g
tech
n
i
q
u
es,
co
n
s
eq
u
en
tly
,
th
e
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
S
tu
d
y
o
f p
erfo
r
ma
n
ce
th
e
3
-
p
h
a
s
e
in
d
u
ctıo
n
mo
to
r
th
a
t
d
r
ives b
y
u
s
in
g
s
ca
la
r
… (
Omra
n
A
la
b
ed
a
lkh
a
mis
)
897
p
r
o
d
u
ce
d
g
o
o
d
tr
an
s
ien
t
a
n
d
s
tead
y
s
tate
r
esp
o
n
s
es
a
n
d
r
ea
ch
ed
t
h
e
in
te
n
d
ed
s
p
ee
d
.
Ma
n
y
ap
p
r
o
ac
h
es
h
av
e
b
ee
n
cr
ea
ted
an
d
r
esear
ch
ed
i
n
r
elatio
n
t
o
th
e
l
o
w
-
s
p
ee
d
o
p
er
atio
n
o
f
s
en
s
o
r
-
less
v
ec
to
r
c
o
n
tr
o
l
[
6
6
]
,
[
6
7
]
.
Fu
k
u
m
o
to
et
a
l.
[
6
8
]
,
Sev
er
al
o
b
s
er
v
e
r
s
ar
e
a
d
d
ed
to
th
e
s
e
n
s
o
r
-
less
v
ec
to
r
c
o
n
tr
o
l
to
im
p
r
o
v
e
p
er
f
o
r
m
a
n
ce
.
As
a
r
esu
lt,
cir
cu
it
co
m
p
le
x
ity
r
is
es
as
s
h
o
wn
[
6
9
]
.
T
h
e
p
er
f
o
r
m
i
n
g
o
f
in
d
ir
ec
t
v
ec
to
r
-
c
o
n
tr
o
lled
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
e
h
as
b
e
en
p
r
o
p
o
s
ed
with
m
an
y
lev
el
in
v
er
ter
s
at
[
7
0
]
.
Sp
ac
e
v
ec
to
r
-
b
ased
m
u
lti
-
lev
el
in
v
er
ter
(
ML
I
)
s
u
p
p
lied
v
ec
t
o
r
-
co
n
t
r
o
lled
asy
n
c
h
r
o
n
o
u
s
m
ac
h
in
e
an
aly
s
is
f
o
r
o
p
er
atio
n
o
f
lo
w
-
s
p
ee
d
,
as
illu
s
tr
ated
in
Fig
u
r
e
5
,
h
as
b
ee
n
p
r
esen
ted
in
.
Mo
t
o
r
p
er
f
o
r
m
an
ce
is
n
eg
ativ
ely
im
p
ac
ted
b
y
v
ar
iatio
n
s
in
lo
a
d
s
p
ee
d
.
T
h
is
cir
cu
m
s
tan
ce
is
o
n
e
o
f
th
e
p
r
o
b
lem
s
th
at
h
as
b
ee
n
s
tu
d
ied
f
r
o
m
th
e
p
ast
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p
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esen
t;
r
ec
o
m
m
en
d
atio
n
s
an
d
s
o
lu
tio
n
s
h
av
e
b
ee
n
d
ev
elo
p
ed
[7
1
].
J
ain
et
a
l.
[7
2
]
,
it
is
o
b
s
er
v
e
d
th
a
t
it
im
p
r
o
v
es
th
e
p
er
f
o
r
m
an
ce
o
f
co
n
v
en
tio
n
al
co
n
tr
o
l
tech
n
iq
u
es
wh
en
co
m
b
i
n
ed
with
p
r
o
p
o
r
tio
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al
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in
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r
al
-
d
er
iv
ativ
e
(
P
-
PIPI
D)
co
n
tr
o
ller
[7
3
].
Ma
n
y
s
t
u
d
ies
h
av
e
p
r
o
p
o
s
ed
co
n
tr
o
ls
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e
f
l
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x
to
im
p
r
o
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e
th
e
p
er
f
o
r
m
an
ce
o
f
s
p
ee
d
co
n
tr
o
l
[7
4
]
.
T
h
er
e
ar
e
tech
n
i
q
u
e
s
s
u
ch
as
Kalm
an
Fil
ter
,
p
lace
m
en
t
,
ad
ap
tiv
e
,
f
in
ite
elem
en
ts
,
o
b
s
er
v
er
b
ased
,
m
atr
ix
th
eo
r
y
,
s
en
s
o
r
-
less
[
7
5
]
-
[
84
].
Fig
u
r
e
4
.
Sch
em
atic
d
iag
r
am
o
f
in
d
ir
ec
t
v
ec
to
r
c
o
n
tr
o
l
Fig
u
r
e
5
.
T
h
e
co
n
ce
p
t f
o
r
m
u
lt
i
-
lev
el
in
v
er
ter
’
s
s
ch
em
atic
d
i
ag
r
am
I
n
s
p
ee
d
co
n
tr
o
l,
s
o
m
e
n
u
m
e
r
ical
an
aly
tic
tech
n
iq
u
es
ar
e
d
ir
ec
tly
ap
p
lied
s
u
ch
as
tech
n
iq
u
es
o
f
in
ter
p
o
latio
n
[
8
5
]
-
[8
8
]
.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
PI
s
p
ee
d
co
n
tr
o
ller
,
wh
ic
h
was
d
e
v
elo
p
ed
f
o
r
in
d
ir
ec
t
v
ec
to
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
5
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52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
41
,
No
.
3
,
Ma
r
ch
20
26
:
8
9
4
-
911
898
co
n
tr
o
l,
is
ex
am
i
n
ed
f
o
r
th
e
c
o
n
tr
o
l
s
y
s
tem
’
s
o
p
tim
al
r
esp
o
n
s
e
in
[
89
].
T
h
e
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
’
s
s
ettlin
g
tim
e
an
d
d
y
n
a
m
ic
r
esp
o
n
s
e
to
ab
r
u
p
t
lo
a
d
f
l
u
ctu
atio
n
s
a
r
e
co
m
p
ar
ed
with
th
e
PI
c
o
n
tr
o
ller
’
s
h
as
b
ee
n
p
r
esen
ted
in
[
9
0
]
.
Ho
lm
es
et
a
l.
[9
1
]
a
c
o
m
p
ar
is
o
n
o
f
cu
r
r
en
t
co
n
tr
o
l
tech
n
iq
u
es
b
ased
o
n
h
y
s
ter
esis
an
d
PI
h
as
b
ee
n
p
r
esen
ted
.
Kh
r
is
n
a
an
d
Mo
h
a
n
[9
2
]
,
an
aly
s
is
o
f
p
er
f
o
r
m
an
ce
f
o
r
v
ec
to
r
c
o
n
tr
o
lled
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
e
with
in
d
ir
ec
t
v
ec
to
r
-
co
n
tr
o
lled
tech
n
iq
u
es
was
p
r
o
p
o
s
ed
.
B
ased
to
th
e
v
ar
i
ab
les
o
f
m
ag
n
eti
c
s
atu
r
atio
n
th
at
h
av
e
b
ee
n
p
r
o
v
id
ed
in
[
9
3
]
,
[
9
4
]
,
th
e
c
o
n
v
en
tio
n
al
cu
r
r
e
n
t
d
is
tr
ib
u
tio
n
ap
p
r
o
ac
h
u
s
u
ally
p
r
o
v
id
es
th
e
id
ea
l
d
-
ax
is
cu
r
r
en
t
to
b
u
ild
a
s
tab
le
f
lu
x
lin
k
ag
e.
T
h
e
m
ax
im
u
m
to
r
q
u
e
p
e
r
am
p
er
e
(
MT
PA)
tech
n
iq
u
e
is
co
n
s
id
er
as
an
a
d
v
an
ce
d
v
ec
to
r
c
o
n
tr
o
l
tec
h
n
i
q
u
e
h
as
b
ee
n
p
r
esen
te
d
in
[
9
5
]
,
m
a
n
y
n
o
n
lin
ea
r
co
n
tr
o
l
tech
n
iq
u
es
av
ailab
le
s
u
ch
as
co
n
tr
o
l
o
f
n
e
u
r
al
n
etwo
r
k
[
9
6
]
-
[
1
0
0
]
.
I
n
Fig
u
r
e
6
,
T
h
e
g
au
s
s
ian
p
r
o
ce
s
s
-
b
ased
cu
r
r
en
t
d
is
tr
ib
u
t
io
n
ap
p
r
o
ac
h
was
p
u
t
o
u
t
in
[
1
0
1
]
.
T
h
is
tech
n
iq
u
e
ca
n
p
r
o
d
u
ce
h
ig
h
-
p
er
f
o
r
m
a
n
ce
o
u
tp
u
t
to
r
q
u
e
a
n
d
in
cr
ea
s
e
th
e
ac
cu
r
ac
y
o
f
s
y
n
ch
r
o
n
o
u
s
m
ac
h
in
e
cu
r
r
en
t
d
is
tr
ib
u
tio
n
[
1
0
2
]
-
[
1
0
6
]
.
T
ab
le
1
h
as
p
r
o
v
id
e
d
a
q
u
a
litativ
e
co
m
p
ar
i
s
o
n
b
etwe
en
co
n
t
r
o
l te
ch
n
i
q
u
e
s
co
m
p
ar
ab
le
s
tu
d
ies in
th
e
lit
er
atu
r
e,
in
a
d
d
itio
n
to
m
en
tio
n
in
g
th
e
a
d
v
an
tag
es
an
d
d
is
ad
v
a
n
tag
es o
f
ea
c
h
tec
h
n
iq
u
e.
Fig
u
r
e
6
.
C
u
r
r
e
n
t d
is
tr
ib
u
tio
n
m
o
d
el
-
b
ased
v
ec
to
r
c
o
n
tr
o
l
T
ab
le
1
.
A
b
r
ief
d
escr
ip
tio
n
o
f
co
n
tr
o
l m
et
h
o
d
s
R
e
se
a
r
c
h
C
o
n
t
r
o
l
a
p
p
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a
c
h
P
o
si
t
i
v
e
s
D
r
a
w
b
a
c
k
s
B
h
a
t
i
a
n
d
Y
a
d
a
v
[
1
6
]
D
i
r
e
c
t
t
o
r
q
u
e
c
o
n
t
r
o
l
f
a
st
e
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t
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u
e
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l
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d
p
e
r
f
o
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ma
n
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e
,
p
a
r
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me
t
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sen
s
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t
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v
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t
y
,
h
i
g
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o
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q
u
e
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a
n
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x
r
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p
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e
s
S
a
l
a
h
u
d
d
i
n
e
t
a
l
.
[
2
2
]
FM
-
P
I
,
o
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f
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x
e
d
-
mo
d
e
p
r
o
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o
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n
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G
a
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[
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]
F
O
C
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/
f
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mp
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p
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me
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n
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a
n
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Jag
a
n
n
a
t
h
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n
[
4
3
]
D
TC
f
o
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v
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l
t
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g
e
i
n
v
e
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To
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e
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o
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V
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q
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y
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S
e
n
s
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v
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t
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o
me
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su
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me
n
t
e
r
r
o
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s
G
o
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e
t
a
l
.
[
5
3
]
P
I
c
o
n
t
r
o
l
l
e
r
,
D
TC
Jay
a
o
p
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z
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t
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me
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e
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s.
p
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v
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t
r
o
l
A
l
e
x
a
n
d
e
r
e
t
a
l
.
[
6
1
]
I
n
d
i
r
e
c
t
v
e
c
t
o
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c
o
n
t
r
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l
F
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p
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[
6
2
]
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n
d
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c
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[
6
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ately
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o
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th
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an
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s
u
all
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e
lo
w
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f
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c
y
(
o
n
ly
5
0
%).
T
h
is
in
d
icate
s
th
at
th
e
m
o
to
r
d
o
es
n
o
t
t
u
r
n
h
alf
o
f
it
s
p
o
wer
i
n
to
p
r
o
d
u
ctiv
e
wo
r
k
.
Sin
ce
m
o
to
r
p
e
r
f
o
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m
a
n
ce
d
e
p
en
d
s
p
r
im
ar
ily
o
n
th
e
co
n
tr
o
l
s
tr
ateg
y
u
s
ed
,
n
ew
th
eo
r
ies
wer
e
s
u
g
g
ested
to
co
n
tr
o
l
th
ese
m
o
to
r
s
,
as
in
v
ec
to
r
an
d
s
ca
lar
co
n
tr
o
l.
T
h
is
s
tu
d
y
’
s
s
i
g
n
if
ican
ce
s
tem
s
f
r
o
m
b
ein
g
a
b
le
to
p
r
o
v
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d
e
th
e
in
v
es
to
r
with
a
m
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n
s
to
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t
th
e
p
r
ef
er
r
ed
c
o
n
tr
o
l m
et
h
o
d
t
o
o
p
er
ate
t
h
e
m
o
to
r
with
th
e
h
ig
h
est p
o
s
s
ib
le
ef
f
icien
cy
.
Acc
o
r
d
in
g
to
ab
o
v
e,
th
e
g
o
al
o
f
th
is
s
tu
d
y
is
to
im
p
r
o
v
e
a
m
o
d
el
u
s
es
s
ca
l
ar
an
d
v
ec
t
o
r
co
n
tr
o
l
m
eth
o
d
s
to
d
r
iv
e
a
3
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p
h
ase
s
q
u
ir
r
el
ca
g
e
in
d
u
ctio
n
m
o
to
r
.
ad
d
itio
n
ally
t
o
co
m
p
ar
is
o
n
b
etwe
en
s
ca
lar
an
d
v
ec
to
r
co
n
tr
o
l
to
an
al
y
ze
p
er
f
o
r
m
an
ce
o
f
ea
ch
s
y
s
tem
wh
en
o
p
er
atin
g
t
h
e
m
o
to
r
o
n
a
lo
ad
with
b
o
th
co
n
s
tan
t
an
d
v
ar
ia
b
le
s
p
ee
d
s
,
f
o
r
u
s
in
g
it in
p
r
ac
tical
ap
p
licatio
n
s
wh
i
ch
d
ep
e
n
d
in
g
o
n
t
h
is
k
in
d
o
f
e
lectr
ic
m
o
to
r
.
T
h
e
r
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lts
ar
e
s
o
im
p
o
r
tan
t
b
ec
au
s
e
th
ey
o
f
f
e
r
a
u
s
ef
u
l
p
r
ac
tical
co
m
p
ar
is
o
n
b
etwe
e
n
v
ec
to
r
a
n
d
s
ca
lar
co
n
tr
o
l
o
f
an
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
e
u
n
d
er
ac
t
u
al
v
a
r
iab
le
-
s
p
ee
d
an
d
b
id
ir
ec
tio
n
al
lo
ad
in
g
s
itu
atio
n
s
.
T
h
e
f
in
d
in
g
s
s
h
o
w
th
at
th
e
ch
o
ice
o
f
co
n
t
r
o
l
ap
p
r
o
ac
h
h
as
a
d
ir
ec
t
im
p
ac
t
o
n
in
v
er
ter
p
er
f
o
r
m
a
n
ce
,
to
r
q
u
e
r
ip
p
le,
s
p
ee
d
ac
c
u
r
ac
y
,
an
d
cu
r
r
en
t
s
tr
ess
.
T
h
is
p
r
o
v
id
es
en
g
in
ee
r
s
an
d
r
esear
ch
er
s
with
p
r
ec
is
e
g
u
id
elin
es
f
o
r
s
elec
tin
g
s
u
itab
le
m
o
to
r
co
n
tr
o
l
m
eth
o
d
s
b
ased
o
n
co
s
t
an
d
p
er
f
o
r
m
an
ce
cr
iter
ia.
T
h
e
s
im
u
latio
n
f
r
a
m
ewo
r
k
th
at
h
as b
ee
n
g
i
v
en
is
also
a
h
elp
f
u
l r
eso
u
r
ce
f
o
r
f
u
tu
r
e
s
ch
o
lar
ly
an
d
b
u
s
in
ess
s
tu
d
y
.
2.
M
E
T
H
O
D
I
n
th
is
r
esear
c
h
,
th
e
m
eth
o
d
o
f
d
r
iv
i
n
g
a
th
r
ee
-
p
h
ase
v
o
ltag
e
in
v
er
ter
u
s
in
g
th
e
tec
h
n
iq
u
e
s
o
f
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
(
SVM)
an
d
s
in
u
s
o
id
al
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
SP
W
M)
h
as
b
ee
n
ex
p
lain
ed
,
wh
ich
later
f
o
r
m
th
e
b
asis
f
o
r
two
d
r
iv
i
n
g
m
o
d
els
b
ased
o
n
v
ec
t
o
r
co
n
tr
o
l
an
d
s
ca
lar
co
n
tr
o
l
r
esp
e
ctiv
ely
.
T
h
e
m
o
d
els
h
av
e
b
ee
n
cr
ea
ted
u
s
in
g
t
h
e
MA
T
L
AB
/S
im
u
lin
k
en
v
ir
o
n
m
en
t.
I
n
ad
d
itio
n
to
c
r
ea
tin
g
a
m
o
d
el
r
ep
r
esen
tin
g
a
co
n
s
tan
t
-
an
d
v
ar
iab
le
-
s
p
ee
d
lo
ad
,
wh
ic
h
h
as
b
ee
n
ap
p
lie
d
to
th
e
d
r
iv
en
m
o
to
r
b
y
u
s
in
g
v
ec
to
r
a
n
d
s
c
alar
co
n
tr
o
l m
eth
o
d
s
,
th
e
n
p
er
f
o
r
m
an
ce
o
f
s
y
s
tem
h
as b
ee
n
co
m
p
ar
ed
in
ea
ch
ca
s
e.
2
.
1
.
P
rinciple o
f
s
ca
la
r
c
o
nt
ro
l
W
h
en
a
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
t
o
r
is
s
u
p
p
lied
with
a
c
o
n
s
tan
t
v
o
ltag
e
a
n
d
f
r
eq
u
en
c
y
,
it
o
f
ten
o
p
er
ates
as
a
co
n
s
tan
t
-
s
p
ee
d
m
ac
h
in
e.
Ma
n
y
i
n
d
u
s
tr
ial,
s
cien
tific
r
esear
ch
,
an
d
elec
tr
ic
al
s
y
s
tem
s
r
eq
u
ir
e
co
n
tr
o
llab
le
(
v
ar
iab
le
s
p
ee
d
)
i
n
d
u
ctio
n
m
o
to
r
s
th
at
ca
n
b
e
d
r
iv
en
b
y
p
r
ec
is
ely
ad
ju
s
tin
g
th
e
ir
s
p
ee
d
s
.
I
n
r
ec
e
n
t
y
ea
r
s
,
as
a
r
esu
lt
o
f
th
e
in
cr
ea
s
e
o
f
h
ar
d
war
e
d
ev
ices
u
s
ed
in
ap
p
licatio
n
s
,
th
e
n
ee
d
to
f
in
d
m
ec
h
an
is
m
s
to
d
r
iv
e
in
d
u
ctio
n
m
o
to
r
s
ac
co
r
d
in
g
to
th
e
c
o
n
tr
o
l
p
ar
am
eter
s
r
eq
u
ir
ed
in
th
o
s
e
ap
p
licatio
n
s
h
as in
cr
ea
s
ed
.
Scalar
co
n
tr
o
l
is
th
e
co
n
tr
o
l
o
f
o
n
l
y
th
e
am
p
litu
d
es
o
f
th
e
c
o
n
tr
o
l
v
ar
iab
les,
n
eg
lectin
g
th
e
ef
f
ec
ts
o
f
th
e
in
ter
co
n
n
ec
tio
n
b
etwe
en
th
ese
v
ar
iab
les in
th
e
in
d
u
ctio
n
m
ac
h
in
e.
Fo
r
e
x
am
p
le,
b
y
c
o
n
tr
o
llin
g
th
e
v
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ltag
e
am
p
litu
d
e,
th
e
f
lu
x
ca
n
b
e
c
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tr
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lled
,
a
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b
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tr
o
llin
g
th
e
f
r
eq
u
en
cy
o
r
s
lip
,
th
e
to
r
q
u
e
ca
n
b
e
co
n
t
r
o
lled
.
T
h
er
ef
o
r
e,
th
e
co
n
tr
o
l
alg
o
r
ith
m
ca
n
b
e
c
o
n
s
id
er
as
co
n
t
r
o
llin
g
th
e
m
o
t
o
r
b
y
ch
an
g
in
g
th
e
f
r
eq
u
en
cy
a
n
d
v
o
ltag
e
to
g
et
h
er
wh
ile
m
ain
ta
in
in
g
a
co
n
s
tan
t
r
ate
o
f
ch
an
g
e
(
V/f
=
co
n
s
tan
t)
,
b
y
s
u
p
p
ly
i
n
g
th
e
m
o
to
r
with
a
v
o
ltag
e
in
v
e
r
ter
th
at
ad
o
p
ts
th
e
p
r
in
cip
le
o
f
SP
W
M
.
Fig
u
r
e
7
h
as
d
em
o
n
s
tr
ated
th
e
clo
s
ed
lo
o
p
co
n
tr
o
l
u
s
ed
t
o
d
r
iv
e
a
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
u
s
in
g
th
e
co
n
tr
o
l
p
r
i
n
cip
le
V/f
.
T
h
e
o
p
er
atin
g
f
r
e
q
u
en
c
y
h
as
b
ee
n
d
eter
m
in
ed
b
ased
o
n
t
h
e
r
eq
u
ir
ed
s
p
ee
d
an
d
th
e
r
o
tatio
n
al
s
p
ee
d
m
ea
s
u
r
e
d
b
y
th
e
m
o
to
r
.
PI
c
o
n
tr
o
ller
h
as
u
s
ed
to
r
eg
u
late
th
e
s
lip
in
o
r
d
er
t
o
m
ain
tain
th
e
m
o
to
r
s
p
ee
d
at
th
e
d
esire
d
v
alu
e.
W
h
er
e
th
e
(
1
)
h
as
u
s
ed
to
lin
k
th
e
co
n
tr
o
l
v
ar
ia
b
les
f
lu
x
Ф
,
v
o
ltag
e
V,
an
g
u
lar
f
r
eq
u
e
n
cy
ω.
≈
=
1
2
(
1)
Fig
u
r
e
7
.
C
lo
s
ed
lo
o
p
co
n
tr
o
l
u
s
in
g
co
n
tr
o
l p
r
in
ci
p
le
V/f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
41
,
No
.
3
,
Ma
r
ch
20
26
:
8
9
4
-
911
900
T
h
e
r
esu
ltin
g
f
r
eq
u
e
n
cy
is
u
s
ed
to
d
eter
m
i
n
e
th
e
am
p
litu
d
e
an
d
a
n
g
le
o
f
th
e
v
o
ltag
e
u
s
ed
in
SP
W
M
th
at
will
d
r
iv
e
th
e
in
v
e
r
ter
.
Dr
iv
in
g
s
y
s
tem
s
b
ased
o
n
s
ca
lar
co
n
tr
o
l
h
a
v
e
s
o
m
e
wea
k
n
ess
es
in
th
eir
p
er
f
o
r
m
an
ce
,
b
u
t th
ey
ar
e
ea
s
y
to
im
p
lem
en
t a
n
d
ar
e
wid
ely
u
s
ed
in
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
B
u
t it
h
as b
ec
o
m
e
less
im
p
o
r
tan
t
n
o
wad
ay
s
d
u
e
t
o
th
e
s
u
p
er
io
r
p
er
f
o
r
m
a
n
ce
o
f
v
ec
to
r
co
n
tr
o
l
-
b
ased
d
r
iv
in
g
s
y
s
tem
s
r
eq
u
ir
ed
in
m
o
s
t a
p
p
licatio
n
s
.
2.1.1.
Sin
us
o
ida
l
pu
ls
e
widt
h m
o
du
la
t
io
n
(
SPWM
)
T
h
e
ty
p
ical
cir
cu
it
o
f
a
th
r
ee
-
p
h
ase
v
o
ltag
e
i
n
v
eter
th
at
u
s
es
th
e
p
u
ls
e
wid
th
m
o
d
u
lati
o
n
(
PW
M)
p
r
in
cip
le
is
d
e
p
icted
in
Fig
u
r
e
8
.
T
h
e
o
u
tp
u
t
s
ig
n
al
is
f
o
r
m
ed
b
y
th
e
s
ix
elec
tr
o
n
ic
s
witch
es,
n
u
m
b
er
ed
S
1
th
r
o
u
g
h
S
6
.
W
h
er
e
it
is
d
r
iv
en
u
s
in
g
s
witch
in
g
v
ar
iab
les
a,
a
’
,
b
,
b
’
,
c
,
c
’
.
W
h
en
th
e
u
p
p
er
tr
an
s
is
to
r
s
ar
e
clo
s
ed
(
s
wit
ch
ed
o
n
)
th
e
v
alu
es
o
f
a
,
b
,
c
a
r
e
all
eq
u
al
to
1
.
W
h
ile
th
e
lo
wer
tr
a
n
s
is
to
r
s
ar
e
o
p
e
n
(
s
witch
ed
o
f
f
)
wh
ich
m
ea
n
s
th
e
v
alu
es
o
f
a
’
,
b
’
,
c
’
a
r
e
all
eq
u
al
to
0
.
T
h
er
ef
o
r
e,
th
e
o
p
e
n
an
d
clo
s
e
s
tates
o
f
th
e
u
p
p
er
tr
an
s
is
to
r
ca
n
b
e
u
s
ed
to
d
ete
r
m
in
e
th
e
o
u
tp
u
t
v
o
ltag
e.
W
h
e
n
ap
p
ly
i
n
g
th
e
s
ca
lar
co
n
tr
o
l
s
y
s
tem
,
in
v
er
ter
h
as
b
ee
n
d
r
i
v
en
b
y
SP
W
M
m
eth
o
d
.
2
.
2
.
P
rinciple o
f
v
ec
t
o
r
c
o
nt
ro
l
T
h
e
d
i
s
c
o
v
e
r
y
o
f
v
e
c
t
o
r
c
o
n
t
r
o
l
d
a
t
e
s
b
a
c
k
t
o
e
a
r
l
y
1
9
7
0
,
T
h
i
s
m
e
t
h
o
d
h
a
s
b
e
e
n
u
s
e
d
t
o
d
e
m
o
n
s
t
r
a
t
e
t
h
a
t
i
n
d
u
c
t
i
o
n
m
o
t
o
r
s
c
a
n
b
e
d
r
i
v
e
n
a
s
i
f
t
h
e
y
w
e
r
e
DC
m
o
t
o
r
s
.
C
o
n
s
e
q
u
e
n
tl
y
,
i
t
o
f
f
e
r
s
g
o
o
d
d
r
i
v
e
e
f
f
i
c
i
e
n
c
y
f
o
r
i
n
d
u
c
t
i
o
n
m
o
t
o
r
s
.
V
e
ct
o
r
c
o
n
tr
o
l
d
e
a
ls
wi
t
h
t
h
e
a
m
p
l
i
t
u
d
e
a
n
d
p
h
a
s
e
a
n
g
l
e
o
f
t
h
e
m
o
t
o
r
’
s
v
e
c
t
o
r
v
a
r
i
a
b
l
es
.
I
t
d
e
c
o
u
p
l
e
s
b
o
t
h
v
e
c
t
o
r
o
f
s
t
a
to
r
a
n
d
r
o
t
o
r
c
u
r
r
e
n
t
s
o
t
h
e
y
c
a
n
b
e
c
o
n
t
r
o
l
l
e
d
s
e
p
a
r
at
e
l
y
,
g
i
v
i
n
g
a
f
a
s
t
r
es
p
o
n
s
e
.
2
.
2
.
1
.
P
rinciple o
f
pu
ls
e
widt
h m
o
du
la
t
io
n
(
P
WM
)
us
ing
s
pa
ce
v
ec
t
o
r
mo
du
la
t
io
n
(
SVM
)
SVM
m
eth
o
d
is
o
n
e
o
f
th
e
m
o
s
t
co
m
m
o
n
SVM
m
eth
o
d
u
s
ed
in
m
o
d
er
n
d
r
iv
e
s
y
s
tem
ap
p
licatio
n
s
.
T
h
e
clo
s
ed
l
o
o
p
co
n
tr
o
l
th
at
u
s
es
SVM
to
d
r
iv
e
a
th
r
ee
-
p
h
as
e
in
d
u
ctio
n
m
o
to
r
ca
n
b
e
s
ee
n
in
Fig
u
r
e
8.
PW
M
u
s
in
g
a
s
p
ac
e
v
ec
t
o
r
r
e
f
er
s
t
o
a
s
p
ec
if
ic
s
eq
u
e
n
ce
o
f
s
witch
in
g
th
e
u
p
p
er
tr
an
s
is
to
r
s
ta
te
o
f
a
th
r
e
e
-
p
h
ase
v
o
ltag
e
in
v
er
te
r
.
T
h
ey
a
r
e
em
p
lo
y
ed
f
o
r
m
o
r
e
d
ep
e
n
d
ab
le
u
tili
za
tio
n
o
f
th
e
v
o
ltag
e
s
o
u
r
ce
an
d
to
p
r
o
d
u
ce
less
d
is
to
r
ted
h
ar
m
o
n
ics in
th
e
o
u
t
p
u
t v
o
ltag
es o
r
in
th
e
cu
r
r
e
n
ts
d
eliv
er
ed
to
t
h
e
p
h
ases
o
f
an
AC
m
o
to
r
.
Fig
u
r
e
8
.
C
lo
s
ed
lo
o
p
co
n
tr
o
l
u
s
in
g
SVM
I
n
(
2
)
an
d
(
3
)
h
av
e
s
h
o
wn
th
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
v
e
cto
r
o
f
th
e
s
witch
in
g
v
ar
iab
le
[
,
,
]
an
d
b
o
t
h
th
e
lin
e
v
o
ltag
e
v
ec
to
r
[
]
an
d
th
e
p
h
ase
v
o
ltag
e
v
ec
to
r
[
]
r
esp
ec
tiv
ely
:
[
]
=
[
1
−
1
0
0
1
−
1
−
1
0
1
]
[
]
(
2
)
[
]
=
3
[
2
−
1
−
1
−
1
2
−
1
−
1
−
1
2
]
[
]
(
3
)
As
s
h
o
wn
in
Fig
u
r
e
9
,
th
er
e
a
r
e
eig
h
t
p
o
s
s
ib
le
co
n
f
i
g
u
r
atio
n
s
f
o
r
th
e
o
p
en
-
clo
s
e
m
atr
i
x
o
f
th
e
u
p
p
er
elec
tr
o
n
ic
s
witch
es.
Sin
ce
th
e
o
p
en
an
d
clo
s
e
s
tates
o
f
th
e
lo
wer
s
witch
es
ar
e
ex
ac
tly
o
p
p
o
s
ite
to
th
o
s
e
o
f
th
e
u
p
p
er
s
witch
es,
it
will
b
e
ea
s
ier
to
d
eter
m
in
e
th
em
af
ter
d
et
er
m
in
in
g
th
e
s
tate
o
f
th
e
u
p
p
e
r
s
witch
es.
B
ased
o
n
(
2
)
an
d
(
3
)
,
we
ca
n
f
in
d
th
e
o
ctal
s
witch
in
g
v
ec
to
r
s
,
th
e
r
esu
ltin
g
p
h
ase
v
o
ltag
es,
an
d
th
e
r
esu
lt
in
g
lin
e
v
o
ltag
es in
ter
m
s
o
f
th
e
DC
s
u
p
p
ly
v
o
ltag
e
V
dc
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
S
tu
d
y
o
f p
erfo
r
ma
n
ce
th
e
3
-
p
h
a
s
e
in
d
u
ctıo
n
mo
to
r
th
a
t
d
r
ives b
y
u
s
in
g
s
ca
la
r
… (
Omra
n
A
la
b
ed
a
lkh
a
mis
)
901
Fig
u
r
e
9
.
T
h
r
ee
-
p
h
ase
v
o
ltag
e
in
v
eter
u
s
es PW
M
p
r
in
cip
le
w
h
er
e
it is
:
=
[
]
=
2
3
[
1
−
1
2
⁄
−
1
2
⁄
0
√
3
2
⁄
−
√
3
2
⁄
1
2
⁄
1
2
⁄
1
2
⁄
]
=
[
]
w
h
er
e
f
r
ef
er
s
to
th
e
v
o
ltag
e
o
r
cu
r
r
e
n
t v
ar
iab
le.
T
o
ap
p
l
y
PW
M
u
s
in
g
s
p
ac
e
v
ec
to
r
,
th
e
v
o
ltag
e
eq
u
atio
n
s
in
th
e
r
e
f
er
en
ce
s
y
s
tem
ab
c
ca
n
b
e
co
n
v
er
ted
to
th
e
r
e
f
er
en
ce
s
y
s
tem
o
f
s
tato
r
d
q
,
wh
ich
co
n
s
is
ts
o
f
th
e
h
o
r
izo
n
tal
d
an
d
v
er
tical
q
ax
es.
T
h
u
s
,
th
e
two
r
e
f
er
en
tial statem
en
ts
h
av
e
th
e
f
o
llo
win
g
r
elatio
n
s
h
ip
:
=
(
4
)
T
h
e
s
ix
n
o
n
-
ze
r
o
v
ec
to
r
s
a
n
d
th
e
two
ze
r
o
v
ec
to
r
s
ca
n
b
e
id
en
tifie
d
.
W
h
er
e
th
e
s
ix
n
o
n
-
ze
r
o
v
ec
t
o
r
s
(
V
1
-
V
6
)
f
o
r
m
th
e
h
ex
ag
o
n
al
ax
es
o
f
th
e
s
h
ap
e
d
escr
ib
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I
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