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,
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20
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6
,
p
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845
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I
SS
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2252
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,
DOI
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1
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857
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s,
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sp
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p
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,
a
n
d
e
n
e
rg
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e
fficie
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c
y
.
Th
e
se
re
su
lt
s
h
ig
h
li
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h
t
t
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p
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n
ti
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f
t
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telli
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t
a
n
d
a
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t
o
n
o
m
o
u
s e
lec
tri
c
m
o
b
il
it
y
sy
ste
m
s.
K
ey
w
o
r
d
s
:
E
lectr
ic
v
eh
icle
Fo
u
r
-
wh
ee
l d
r
iv
e
elec
tr
ic
v
eh
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Fu
zz
y
lo
g
ic
Gen
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alize
d
p
r
e
d
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co
n
tr
o
l
MA
T
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AB
/S
im
u
lin
k
Su
p
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v
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tr
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T
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s
ien
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tead
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s
tate
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p
tim
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T
h
is i
s
a
n
o
p
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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
:
Djam
ila
Allali
L
ab
o
r
ato
r
y
o
f
C
o
n
tr
o
l a
n
d
Op
t
im
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n
o
f
E
lectr
ical
E
n
er
g
y
Sy
s
tem
s
(
C
AO
SEE
)
,
Facu
lty
o
f
T
ec
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n
o
lo
g
y
Un
iv
er
s
ity
T
ah
r
i M
o
h
am
m
ed
o
f
B
ec
h
ar
B
ec
h
ar
,
Alg
er
ia
E
m
ail:
allali.
d
jam
ila@
u
n
iv
-
b
ec
h
ar
.
d
z
,
elec
.
allali@
g
m
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co
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1.
I
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UCT
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E
lectr
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icles
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E
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ar
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ain
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b
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en
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ef
f
ic
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an
d
lo
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h
az
ar
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m
is
s
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s
r
elate
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to
r
o
ad
tr
an
s
p
o
r
t
[
1
]
.
R
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in
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v
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s
in
p
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an
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t
m
ag
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m
ater
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tech
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p
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2
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I
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3
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[
4
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.
Nev
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d
m
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an
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p
r
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b
lem
s
[
5
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
2
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8
7
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2
I
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p
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,
Vo
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1
5
,
No
.
2
,
J
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n
e
20
2
6
:
845
-
857
846
W
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zz
y
p
r
ed
ictiv
e
co
n
tr
o
ller
.
T
h
e
h
y
b
r
id
ad
ap
tiv
e
co
n
tr
o
l
m
eth
o
d
i
n
tr
o
d
u
ce
d
in
th
is
wo
r
k
in
teg
r
ates
th
e
b
en
ef
its
o
f
GPC
an
d
f
u
zz
y
lo
g
ic
co
n
tr
o
l
(
FLC
)
allo
win
g
f
o
r
to
r
q
u
e
ac
cu
r
ac
y
lo
wer
en
e
r
g
y
u
s
ag
e
an
d
in
cr
ea
s
e
d
r
esil
ien
ce
,
ag
ain
s
t
p
ar
am
eter
ch
an
g
es
an
d
lo
ad
f
lu
ctu
atio
n
s
.
T
h
e
ap
p
r
o
ac
h
in
clu
d
es
cr
ea
tin
g
m
o
d
els
o
f
th
e
tr
ac
tio
n
s
y
s
tem
elem
en
ts
d
ev
elo
p
in
g
s
u
itab
le
c
o
n
tr
o
ller
s
a
n
d
p
er
f
o
r
m
i
n
g
s
im
u
latio
n
-
b
ased
test
s
to
ev
alu
ate
th
e
s
y
s
tem
s
d
y
n
am
ic
b
eh
a
v
io
r
an
d
en
e
r
g
y
p
er
f
o
r
m
an
ce
.
E
m
p
lo
y
in
g
wh
ee
ls
p
o
wer
ed
i
n
d
ep
en
d
en
tly
o
f
f
er
s
a
s
u
b
s
titu
te
f
o
r
class
ic
m
ec
h
an
ical
tr
an
s
m
is
s
io
n
s
etu
p
s
,
in
clu
d
in
g
d
if
f
er
e
n
tials
an
d
co
n
s
tan
t
v
elo
city
jo
in
ts
.
R
eg
ar
d
less
o
f
b
ein
g
ar
r
an
g
ed
in
wh
ee
l,
r
ea
r
-
wh
ee
l
o
r
f
o
u
r
-
wh
ee
l d
r
iv
e
lay
o
u
ts
th
i
s
d
esig
n
allo
ca
tes
a
s
ep
ar
ate
el
ec
tr
ic
m
o
to
r
to
ev
e
r
y
wh
ee
l
f
r
eq
u
en
tly
r
em
o
v
in
g
th
e
n
ec
ess
ity
,
f
o
r
r
ed
u
ce
r
s
.
Of
th
e
tr
ad
itio
n
al
d
if
f
er
en
tial
an
elec
tr
o
n
ic
d
if
f
er
en
tial
is
u
tili
ze
d
,
allo
win
g
f
o
r
s
ep
ar
ate
r
eg
u
latio
n
o
f
ea
c
h
m
o
to
r
’
s
to
r
q
u
e
an
d
v
elo
city
.
M
o
to
r
s
b
u
ilt
in
to
t
h
e
wh
ee
ls
s
im
p
lify
th
e
d
r
iv
etr
ain
b
o
o
s
t
to
r
q
u
e
ac
c
u
r
ac
y
e
n
h
an
c
e
b
r
ak
in
g
ef
f
icien
cy
a
n
d
c
r
ea
te
ex
tr
a
r
o
o
m
th
at
ca
n
b
e
u
tili
ze
d
f
o
r
b
atter
y
p
ac
k
s
[
7
]
,
[
8
]
.
Ad
d
itio
n
ally
,
th
is
r
es
ea
r
ch
p
r
esen
ts
an
in
-
d
ep
th
ex
a
m
in
atio
n
o
f
th
e
c
o
m
p
r
o
m
is
es
r
elate
d
to
u
n
s
p
r
u
n
g
m
ass
,
th
er
m
al
r
e
g
u
latio
n
,
an
d
th
e
i
n
tr
icac
ies
o
f
g
ea
r
in
teg
r
a
tio
n
o
f
f
er
in
g
d
esig
n
r
ec
o
m
m
e
n
d
atio
n
s
f
o
r
m
u
lti
-
m
o
to
r
elec
tr
ic
v
eh
icle
s
etu
p
s
.
Desp
ite
th
ese
b
en
ef
its
th
is
m
et
h
o
d
b
r
in
g
s
ab
o
u
t c
o
m
p
licatio
n
s
s
u
ch
as u
n
s
p
r
u
n
g
m
ass
,
co
m
p
lex
g
ea
r
in
teg
r
atio
n
,
an
d
t
h
er
m
al
m
a
n
ag
em
e
n
t c
h
allen
g
es d
u
r
i
n
g
b
r
ak
in
g
[
9
]
.
I
n
th
is
wo
r
k
,
we
f
o
cu
s
o
n
th
e
d
esig
n
a
n
d
co
n
tr
o
l
o
f
a
m
u
lti
-
m
o
to
r
elec
tr
ic
d
r
iv
etr
ai
n
,
wh
er
e
ea
c
h
wh
ee
l
is
in
d
ep
en
d
en
tly
p
o
wer
ed
.
T
h
is
ar
ch
itectu
r
e
en
ab
les
p
r
ec
is
e
to
r
q
u
e
allo
ca
tio
n
an
d
d
y
n
am
ic
ad
ap
tab
ilit
y
,
p
r
o
v
id
in
g
a
s
o
lid
f
o
u
n
d
atio
n
f
o
r
th
e
n
ex
t
g
en
er
atio
n
o
f
ad
v
an
ce
d
elec
tr
ic
v
eh
icle
co
n
tr
o
l
s
y
s
tem
s
.
T
h
e
r
esu
lts
d
em
o
n
s
tr
ate
th
at
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
FLC
-
GP
C
ap
p
r
o
ac
h
o
u
t
p
er
f
o
r
m
s
co
n
v
en
tio
n
al
PI
co
n
tr
o
ller
s
in
ter
m
s
o
f
tr
an
s
ie
n
t
r
esp
o
n
s
e,
s
tead
y
-
s
tate
f
lu
ct
u
atio
n
r
ed
u
ctio
n
,
a
n
d
o
v
e
r
all
en
er
g
y
ef
f
icien
c
y
,
h
ig
h
lig
h
tin
g
its
p
o
ten
tial f
o
r
p
r
ac
tical
E
V
im
p
lem
en
tatio
n
s
.
2.
P
RE
S
E
NT
AT
I
O
N
O
F
T
H
E
E
L
E
C
T
RIC V
E
H
I
C
L
E
M
O
DE
L
ST
U
DI
E
D
Fig
u
r
e
1
illu
s
tr
ates
a
p
r
o
to
ty
p
e
E
V.
T
h
is
m
o
d
el
f
ea
tu
r
es
a
f
o
u
r
-
wh
ee
l
in
d
u
ctio
n
m
o
to
r
d
r
i
v
e
s
y
s
tem
[
1
0
]
,
with
ea
ch
wh
e
el
in
d
ep
e
n
d
en
tly
co
n
tr
o
lled
b
y
a
d
ed
icat
ed
m
o
to
r
,
f
o
r
m
in
g
an
elec
tr
o
n
ic
d
if
f
er
en
tial.
T
h
is
co
n
f
ig
u
r
atio
n
en
ab
les
p
r
ec
is
e
ad
ju
s
tm
en
t
o
f
in
s
tan
tan
eo
u
s
s
p
ee
d
a
n
d
t
o
r
q
u
e
f
o
r
e
ac
h
d
r
iv
e
wh
ee
l,
allo
win
g
th
e
v
eh
icle
to
ef
f
ec
tiv
ely
ad
a
p
t
to
v
ar
y
in
g
d
r
iv
in
g
co
n
d
itio
n
s
.
Steer
in
g
is
p
r
o
v
id
ed
b
y
th
e
two
f
r
o
n
t
wh
ee
ls
.
T
h
e
f
o
u
r
i
n
d
iv
id
u
al
in
-
wh
ee
l
m
o
to
r
s
p
r
o
v
id
e
p
r
o
p
u
ls
io
n
to
th
e
E
V
,
ea
ch
co
n
n
ec
ted
t
o
a
ce
n
tr
alize
d
co
n
tr
o
l
s
y
s
tem
.
T
h
e
elec
tr
o
n
ic
d
if
f
e
r
en
tial
co
n
tin
u
o
u
s
ly
ca
lcu
lates
an
d
a
d
ju
s
ts
s
p
ee
d
an
d
to
r
q
u
e
r
eq
u
ir
e
m
en
ts
f
o
r
ea
ch
m
o
t
o
r
,
e
n
s
u
r
in
g
s
y
n
ch
r
o
n
ized
p
e
r
f
o
r
m
an
ce
a
n
d
o
p
tim
al
o
p
er
atio
n
d
u
r
in
g
m
an
e
u
v
er
s
s
u
ch
as
co
r
n
er
in
g
,
ac
ce
ler
atio
n
,
a
n
d
r
eg
e
n
er
ativ
e
b
r
a
k
in
g
[
1
1
]
.
T
h
e
co
n
tr
o
l
s
tr
ateg
y
a
p
p
lied
in
th
is
m
o
d
el
is
d
esig
n
e
d
to
d
y
n
am
ically
ad
ap
t
m
o
to
r
s
p
e
ed
an
d
to
r
q
u
e
to
r
ea
l
-
tim
e
v
eh
icle
d
y
n
am
ics.
Par
ticu
lar
atten
tio
n
is
g
iv
en
to
to
r
q
u
e
d
is
tr
ib
u
tio
n
an
d
lo
ad
b
alan
cin
g
b
etwe
en
d
r
iv
e
wh
ee
l
s
,
to
m
ax
im
ize
en
er
g
y
ef
f
icien
cy
,
en
h
an
ce
v
eh
icle
s
tab
ilit
y
,
an
d
r
ed
u
ce
m
ec
h
a
n
ical
s
tr
ess
o
n
th
e
d
r
iv
etr
ain
.
Fig
u
r
e
1.
Mo
t
o
r
g
ea
r
d
is
tr
ib
u
t
ed
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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n
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8
7
9
2
E
n
h
a
n
ci
n
g
to
r
q
u
e
p
erfo
r
ma
n
c
e
in
elec
tr
ic
fo
u
r
-
w
h
ee
l d
r
ive
s
ystems
u
s
in
g
fu
z
z
y
GP
C
(
Dja
mila
A
lla
li
)
847
3.
DYNA
M
I
C
V
E
H
I
C
L
E
M
O
DE
L
T
o
ac
cu
r
ately
d
escr
ib
e
th
e
b
e
h
av
io
r
o
f
an
elec
tr
ic
v
e
h
icle,
it is
n
ec
ess
ar
y
to
d
eter
m
in
e
th
e
t
o
r
q
u
e
an
d
an
g
u
lar
v
el
o
cities
ap
p
lied
to
th
e
wh
ee
ls
,
alo
n
g
with
th
eir
in
ter
ac
tio
n
with
th
e
r
o
ad
s
u
r
f
ac
e.
T
h
is
in
v
o
lv
es
cr
ea
tin
g
a
lo
n
g
itu
d
in
al
d
y
n
a
m
ic
m
o
d
el
o
f
t
h
e
v
eh
icle,
w
h
ich
ac
co
u
n
ts
f
o
r
ex
ter
n
al
f
o
r
ce
s
in
f
lu
en
cin
g
its
m
o
tio
n
.
As
s
h
o
wn
in
Fig
u
r
e
2
,
th
e
to
tal
f
o
r
ce
(
FR
)
r
eq
u
ir
e
d
to
p
r
o
p
el
t
h
e
elec
tr
ic
v
e
h
icle
f
o
r
war
d
is
th
e
s
u
m
o
f
s
ev
er
al
c
o
m
p
o
n
en
ts
d
e
r
iv
e
d
f
r
o
m
th
e
b
alan
ce
o
f
m
ec
h
a
n
ical
f
o
r
ce
s
ac
tin
g
o
n
th
e
v
eh
icle
[
1
2
]
-
[
1
4
]
.
T
h
is
p
r
o
p
u
ls
iv
e
f
o
r
ce
m
u
s
t b
e
g
en
e
r
ated
b
y
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
f
r
o
m
t
h
e
elec
tr
ic
m
o
to
r
s
,
wh
ich
is
r
eg
u
late
d
ac
co
r
d
in
g
to
v
eh
icle
s
p
ee
d
an
d
s
p
ec
if
ic
r
o
ad
co
n
d
itio
n
s
.
T
h
is
d
y
n
am
ic
m
o
d
el
p
r
o
v
i
d
es
a
f
o
u
n
d
atio
n
al
f
r
am
ewo
r
k
f
o
r
d
e
v
elo
p
in
g
c
o
n
tr
o
l
s
tr
ateg
ies,
en
s
u
r
in
g
o
p
tim
al
en
er
g
y
u
tili
za
tio
n
,
v
e
h
icle
s
tab
ilit
y
,
an
d
ef
f
icien
t a
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ap
tab
ilit
y
to
d
iv
er
s
e
d
r
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in
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en
v
ir
o
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e
n
ts
[
1
4
]
,
[1
5
].
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h
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)
(
3
)
W
h
i
l
e
g
i
s
t
h
e
a
c
c
e
le
r
a
t
i
o
n
o
f
g
r
a
v
i
t
y
(
m
/
s
2
)
;
m
i
s
t
h
e
t
o
t
a
l
m
a
s
s
o
f
t
h
e
v
e
h
i
c
l
e
(
k
g
)
;
C
R
i
s
t
h
e
t
i
r
e
r
o
l
l
i
n
g
r
e
s
is
t
a
n
c
e
c
o
e
f
f
i
ci
e
n
t
an
d
α
i
s
t
h
e
r
o
a
d
s
l
o
p
e
a
n
g
l
e
(
r
a
d
)
;
A
f
i
s
t
h
e
f
r
o
n
t
a
l
a
r
e
a
o
f
t
h
e
v
e
h
i
c
l
e
(
m
2
)
;
ρ
ai
r
i
s
t
h
e
m
a
s
s
d
e
n
s
i
t
y
o
f
a
i
r
(
k
g
/
m
3
)
;
R
w
is
t
h
e
w
h
ee
l
r
a
d
i
u
s
(
m
)
;
C
d
i
s
t
h
e
a
e
r
o
d
y
n
a
m
i
c
d
r
a
g
c
o
e
f
f
ic
i
e
n
t
a
n
d
V
veh
i
s
t
h
e
v
e
h
i
c
l
e
s
p
ee
d
(
m
/
s
)
.
T
h
e
p
a
r
a
m
e
t
e
r
s
o
f
t
h
e
el
e
c
t
r
i
c
v
e
h
i
c
le
m
o
d
e
l
a
r
e
s
h
o
w
n
i
n
T
a
b
l
e
1
.
Fig
u
r
e
2
.
Fo
r
ce
s
e
x
er
ted
o
n
th
e
f
o
u
r
-
wh
ee
l d
r
i
v
e
E
V
T
ab
le
1
.
Par
am
eter
s
o
f
th
e
ele
ctr
ic
v
eh
icle
m
o
d
el
P
a
r
a
me
t
e
r
s
V
a
l
u
e
s
W
h
e
e
l
r
a
d
i
u
s
(
R
w
)
=
0
.
3
2
m
F
r
o
n
t
a
l
a
r
e
a
(
A
f
)
=
2
.
60
2
V
e
h
i
c
l
e
m
a
ss (m
)
M
=
1
3
0
0
k
g
A
e
r
o
d
y
n
a
m
i
c
d
r
a
g
c
o
e
f
f
i
c
i
e
n
t
(
C
d
)
=
0
.
3
2
R
o
l
l
i
n
g
r
e
si
s
t
a
n
c
e
c
o
e
f
f
i
c
i
e
n
t
(
C
r
)
=
0
.
0
1
A
i
r
d
e
n
s
i
t
y
(
)
=
1
.
2
/
3
4.
G
E
NE
R
AT
E
P
RE
D
I
C
T
I
V
E
CO
NT
RO
L
O
F
T
H
E
E
L
E
C
T
RIC
V
E
H
I
C
L
E
Gen
er
alize
d
p
r
ed
ictiv
e
co
n
tr
o
l
(
GPC
)
is
an
ad
v
an
ce
d
co
n
tr
o
l
tech
n
iq
u
e
u
s
ed
to
m
i
n
im
ize
v
ar
iab
ilit
y
in
p
r
o
ce
s
s
p
ar
am
eter
s
.
I
t
p
r
ed
icts
f
u
tu
r
e
s
y
s
tem
b
eh
av
io
r
an
d
s
elec
ts
th
e
m
o
s
t
ap
p
r
o
p
r
i
ate
co
n
tr
o
l
ac
tio
n
s
b
ased
o
n
a
p
r
ed
ef
in
ed
m
o
d
el
an
d
o
p
er
atio
n
al
co
n
s
tr
ain
ts
.
As
s
h
o
wn
in
Fig
u
r
e
3
,
GPC
co
m
p
u
tes
o
p
tim
al
co
n
tr
o
l
in
p
u
ts
o
v
er
a
p
r
ed
icti
o
n
h
o
r
iz
o
n
,
ef
f
ec
ti
v
ely
d
r
iv
in
g
th
e
p
r
o
ce
s
s
to
war
d
th
e
d
esire
d
s
et
p
o
in
t
wh
ile
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
1
5
,
No
.
2
,
J
u
n
e
20
2
6
:
845
-
857
848
r
esp
ec
tin
g
co
n
s
tr
ain
ts
an
d
p
er
f
o
r
m
an
ce
cr
iter
ia.
I
n
th
is
wo
r
k
,
th
e
p
r
ed
ictio
n
h
o
r
izo
n
was
s
et
to
Np
=
2
0
s
tep
s
,
s
elec
ted
b
ased
o
n
th
e
f
ast
elec
tr
o
m
ec
h
an
ical
d
y
n
a
m
ics
o
f
t
h
e
tr
ac
tio
n
m
o
to
r
.
Simu
latio
n
s
t
u
d
ies
d
em
o
n
s
tr
ated
th
at
th
is
v
alu
e
p
r
o
v
id
es su
f
f
ici
en
t p
r
ed
ictio
n
ca
p
ab
ilit
y
with
o
u
t u
n
n
ec
ess
ar
y
c
o
m
p
u
tatio
n
al
o
v
er
h
ea
d
.
I
n
F
i
g
u
r
e
3
,
t
h
e
p
r
e
d
i
c
t
o
r
ca
lc
u
l
a
t
es
t
h
e
p
r
o
c
es
s
'
s
d
y
n
a
m
i
c
e
v
o
l
u
t
i
o
n
[
(
+
1
)
,
.
.
.
,
(
+
)
]
,
a
t
e
a
c
h
t
i
m
e
i
n
s
t
a
n
t
t
f
o
r
N
s
te
p
s
a
h
e
a
d
.
T
h
i
s
p
r
e
d
i
c
ti
o
n
r
e
l
ie
s
o
n
d
y
n
a
m
i
c
p
a
r
a
m
e
te
r
s
m
e
a
s
u
r
e
d
a
t
t
i
m
e
t
a
n
d
f
u
t
u
r
e
c
o
n
t
r
o
l
r
e
g
u
l
a
t
i
o
n
s
[
(
)
,
(
+
1
)
,
.
.
.
,
(
+
)
]
.
F
u
t
u
r
e
c
o
n
t
r
o
l
a
c
t
i
o
n
s
f
o
r
o
p
t
i
m
i
za
t
i
o
n
a
r
e
g
e
n
e
r
a
t
e
d
a
t
e
a
c
h
t
i
m
e
s
t
e
p
[
1
6
]
.
Ad
d
itio
n
a
lly
,
th
e
c
o
n
tr
o
l
h
o
r
izo
n
was
tu
n
ed
to
Nc
=
5
s
tep
s
to
e
n
s
u
r
e
a
b
alan
ce
b
etwe
en
co
n
tr
o
l
f
lex
ib
ilit
y
a
n
d
co
m
p
u
tatio
n
al
ef
f
icien
c
y
.
L
a
r
g
er
v
a
lu
es
o
f
Nc
in
cr
ea
s
ed
co
m
p
u
t
atio
n
al
co
m
p
lex
ity
with
o
u
t sig
n
if
ican
t p
er
f
o
r
m
a
n
ce
im
p
r
o
v
e
m
en
ts
,
wh
ile
s
m
aller
v
alu
es r
ed
u
ce
d
co
n
tr
o
l a
u
th
o
r
ity
.
Fig
u
r
e
3
.
GPC
c
o
n
ce
p
t
d
iag
r
a
m
: N
-
h
o
r
izo
n
co
n
tr
o
l p
r
o
ce
d
u
r
e
GPC
is
o
n
e
o
f
th
e
m
o
s
t
wid
e
ly
u
s
ed
p
r
ed
ictiv
e
c
o
n
tr
o
l
alg
o
r
ith
m
s
[
1
7
]
,
[1
8
]
.
I
t
r
etain
s
t
h
e
d
esig
n
f
lex
ib
ilit
y
an
d
h
ig
h
-
p
er
f
o
r
m
a
n
ce
ch
ar
ac
ter
is
tics
o
f
th
e
GM
V/PP
ap
p
r
o
ac
h
,
an
d
ef
f
ec
tiv
ely
ad
d
r
ess
es
s
tead
y
-
s
tate
o
f
f
s
ets
u
s
in
g
t
h
e
c
o
n
tr
o
lled
au
t
o
-
r
eg
r
ess
iv
e
in
teg
r
at
ed
m
o
v
in
g
av
e
r
ag
e
(
C
AR
I
MA
)
m
o
d
el.
Un
lik
e
d
y
n
am
ic
m
atr
ix
co
n
tr
o
l (
DM
C
)
,
GPC
u
s
es
a
C
AR
I
MA
m
o
d
el
with
ad
ju
s
tab
le
p
r
e
d
ictio
n
a
n
d
co
n
tr
o
l
h
o
r
izo
n
s
to
m
ee
t
s
p
ec
if
ic
co
n
tr
o
l
o
b
je
ctiv
es,
m
ak
in
g
it
well
-
s
u
ited
f
o
r
in
d
u
s
tr
ial
ap
p
licatio
n
s
with
n
o
n
-
s
tatio
n
ar
y
d
is
tu
r
b
an
ce
s
[
19
]
.
T
h
is
m
o
d
el
in
g
ap
p
r
o
ac
h
n
o
t
o
n
ly
en
h
a
n
c
es
p
r
ed
ictio
n
ac
c
u
r
ac
y
b
u
t
also
o
p
tim
izes
f
u
tu
r
e
co
n
tr
o
l
ac
tio
n
s
b
y
m
in
im
izin
g
a
m
u
lti
-
s
tag
e
c
o
s
t
f
u
n
ctio
n
.
I
n
c
o
r
p
o
r
atin
g
d
is
tu
r
b
a
n
ce
s
in
to
th
e
m
o
d
el
is
ess
en
tial
f
o
r
id
en
tify
in
g
th
e
o
p
tim
al
co
n
tr
o
ller
s
tr
u
ctu
r
e.
T
h
e
co
s
t
f
u
n
ctio
n
ad
o
p
ted
in
t
h
is
s
tu
d
y
f
o
llo
ws
a
q
u
ad
r
atic
s
tr
u
ctu
r
e
th
at
p
en
al
izes
b
o
th
tr
ac
k
in
g
er
r
o
r
an
d
r
ap
id
v
ar
iatio
n
s
o
f
th
e
co
n
t
r
o
l
in
p
u
t,
en
s
u
r
in
g
s
m
o
o
th
to
r
q
u
e
r
eg
u
latio
n
an
d
ac
cu
r
ate
s
p
ee
d
tr
ac
k
in
g
.
T
h
e
t
u
n
in
g
o
f
th
e
p
r
ed
ictio
n
a
n
d
co
n
tr
o
l
h
o
r
izo
n
s
was
p
er
f
o
r
m
ed
jo
in
tly
to
g
u
ar
an
tee
o
p
tim
al
tr
an
s
ien
t a
n
d
s
tead
y
-
s
tate
p
er
f
o
r
m
a
n
ce
.
(
−
1
)
(
)
=
(
−
1
)
(
−
1
)
+
(
−
1
)
(
)
∆
(
−
1
)
⁄
(
4
)
I
n
b
o
th
s
ce
n
ar
io
s
(
wh
eth
er
in
th
e
s
p
ee
d
lo
o
p
o
r
th
e
c
u
r
r
e
n
t
lo
o
p
)
,
t
h
e
GPC
co
n
tr
o
l
s
tr
ateg
y
r
elies
o
n
th
e
C
AR
I
MA
m
o
d
el
f
o
r
p
r
ed
i
ctiv
e
p
u
r
p
o
s
es.
W
h
er
e
(
−
1
)
is
th
e
c
o
n
tr
o
l,
(
)
is
th
e
p
r
o
ce
s
s
o
u
tp
u
t,
e
(
t
)
is
th
e
ze
r
o
m
ea
n
wh
ite
n
o
is
e,
∆
(
−
1
)
=
1
−
−
1
,
A
an
d
B
ar
e
p
o
ly
n
o
m
e
in
b
a
ck
war
d
s
h
if
t
o
p
er
at
o
r
z
-
1
.
T
h
e
p
r
ed
ictiv
e
o
u
tp
u
t in
t
h
e
j
-
th
e
p
r
ed
ictio
n
s
tep
o
v
er
th
e
c
o
s
tin
g
h
o
r
izo
n
s
N
1
≤
j
≤
N
2
is
d
o
n
e
b
y
(
5
)
.
(
+
)
=
(
−
1
)
(
)
+
(
−
1
)
∆
(
−
1
)
+
(
−
1
)
∆
(
+
−
1
)
+
(
−
1
)
(
+
)
(
5
)
T
h
e
p
o
ly
n
o
m
ials
F
j
,
G
j
,
a
n
d
H
j
ar
e
d
eter
m
in
ed
b
y
s
o
lv
in
g
th
e
Dio
p
h
an
ti
n
e
eq
u
atio
n
,
lead
i
n
g
to
th
e
GPC
law,
wh
ich
m
in
im
izes
a
s
p
ec
if
ic
co
s
t
f
u
n
ctio
n
.
T
o
g
en
er
ate
th
e
p
r
ed
icted
o
u
tp
u
ts
̂
(
+
⁄
)
,
we
u
s
e
t
h
e
p
r
ed
ictio
n
m
o
d
el
f
r
o
m
(
5
)
[
2
0
]
.
T
h
e
p
r
ed
icted
v
alu
e
f
o
r
j
g
r
ea
ter
th
an
t
r
elies o
n
f
u
tu
r
e
co
n
tr
o
l in
p
u
ts
(
+
)
wh
ich
ar
e
ess
en
tial f
o
r
ac
h
iev
in
g
t
h
e
GP
C
s
tr
ateg
y
b
y
m
in
im
izin
g
th
e
co
s
t f
u
n
ctio
n
.
(
1
,
2
,
)
=
∑
(
)
[
̂
(
+
⁄
)
−
(
+
)
]
2
2
=
1
+
∑
(
)
[
Δ
u
(
t
+
j
−
1
)
]
2
=
1
(
6
)
T
h
e
weig
h
tin
g
f
ac
to
r
λ
was
tu
n
ed
to
0
.
8
,
b
ased
o
n
ex
ten
s
i
v
e
s
im
u
latio
n
-
b
ased
s
en
s
itiv
ity
an
aly
s
is
.
T
h
is
v
alu
e
p
r
o
v
id
es
an
o
p
tim
al
co
m
p
r
o
m
is
e
b
etwe
en
m
i
n
im
izin
g
tr
ac
k
in
g
er
r
o
r
an
d
av
o
id
in
g
ex
ce
s
s
iv
e
co
n
tr
o
l
ef
f
o
r
t
th
at
m
ay
ca
u
s
e
to
r
q
u
e
r
ip
p
le
o
r
in
cr
ea
s
ed
s
tr
ess
o
n
th
e
p
o
wer
co
n
v
er
ter
.
T
h
e
b
lo
ck
d
iag
r
am
i
n
F
r
e
e
r
e
s
pons
e
F
or
c
e
d
r
e
s
pons
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
E
n
h
a
n
ci
n
g
to
r
q
u
e
p
erfo
r
ma
n
c
e
in
elec
tr
ic
fo
u
r
-
w
h
ee
l d
r
ive
s
ystems
u
s
in
g
fu
z
z
y
GP
C
(
Dja
mila
A
lla
li
)
849
Fig
u
r
e
4
illu
s
tr
ates
th
e
GPC
l
o
o
p
.
Her
e
,
H(
z
)
is
th
e
n
o
m
i
n
al
p
lan
t
tr
an
s
f
er
f
u
n
ctio
n
,
an
d
(
)
r
ep
r
esen
ts
in
p
u
t
d
is
tu
r
b
an
ce
s
,
i
n
clu
d
in
g
p
ar
a
m
eter
u
n
ce
r
tain
ties
a
n
d
g
r
id
v
o
ltag
e
d
is
to
r
tio
n
s
[
2
1
]
.
T
h
e
m
atr
ix
p
o
ly
n
o
m
ials
F
(
z
)
an
d
G
p
(
z
)
s
e
r
v
e
as f
ee
d
b
ac
k
f
ilter
s
f
o
r
th
e
s
y
s
tem
r
esp
o
n
s
e.
Fig
u
r
e
4
.
C
lo
s
ed
-
lo
o
p
d
iag
r
am
o
f
th
e
GPC
co
n
tr
o
ller
5.
F
UZ
Z
Y
L
O
G
I
C
CO
N
T
RO
L
(
F
L
C)
O
F
T
H
E
E
L
E
C
T
RI
C
VE
H
I
C
L
E
I
n
th
is
s
ec
tio
n
,
th
e
PI
s
p
ee
d
c
o
n
tr
o
ller
(
PI)
is
r
ep
lace
d
with
an
FLC.
T
h
e
p
r
o
p
o
s
ed
c
o
n
tr
o
l
s
y
s
tem
h
as
two
in
p
u
ts
:
th
e
f
ir
s
t
is
th
e
d
esire
d
m
o
to
r
s
p
ee
d
(
_
∗
)
.
T
h
e
s
ec
o
n
d
is
a
f
ee
d
b
ac
k
s
ig
n
al,
r
ep
r
esen
tin
g
th
e
ac
tu
al
m
o
to
r
s
p
ee
d
(
_
)
[2
2
].
T
h
e
FLC
co
n
tr
o
ller
is
ap
p
lied
to
t
h
is
s
y
s
tem
to
co
n
tr
o
l
th
e
in
d
u
ctio
n
m
o
to
r
s
p
ee
d
.
T
h
e
FLC
is
f
ed
a
s
p
e
ed
er
r
o
r
s
ig
n
al
(
e
)
to
d
eter
m
in
e
th
e
m
ea
s
u
r
ed
r
o
to
r
s
p
ee
d
(
_
)
.
T
h
e
in
p
u
t
v
ar
iab
les
f
o
r
th
e
FLC
ar
e
th
e
s
p
ee
d
er
r
o
r
(
e)
a
n
d
th
e
r
ate
o
f
ch
an
g
e
o
f
th
e
s
p
ee
d
er
r
o
r
(
Δ
e)
[2
3
]
,
[2
4
]
.
T
h
e
o
u
tp
u
t
v
ar
iab
le
is
th
e
r
ef
e
r
en
c
e
to
r
q
u
e
v
alu
e
(
_
∗
)
f
o
r
th
e
GPC
[
2
5
].
{
=
_
∗
−
_
Δ
=
(
)
−
(
−
1
)
(
7
)
T
h
e
in
d
ices k
a
n
d
k
-
1
d
e
n
o
te
t
h
e
cu
r
r
e
n
t a
n
d
p
r
ev
i
o
u
s
s
tate
o
f
th
e
s
y
s
tem
,
r
esp
ec
tiv
ely
.
I
n
th
e
p
r
o
p
o
s
ed
FLC
d
esig
n
,
b
o
th
in
p
u
t
v
ar
ia
b
les
(
e
an
d
Δ
e)
ar
e
d
escr
ib
ed
u
s
in
g
tr
ian
g
u
lar
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
with
f
iv
e
lin
g
u
is
tic
ter
m
s
:
n
eg
ativ
e
b
ig
(
NB
)
,
n
eg
ativ
e
s
m
all
(
NS
)
,
z
er
o
(
Z
)
,
p
o
s
itiv
e
sm
all
(
PS
)
,
an
d
p
o
s
itiv
e
b
ig
(
PB
)
.
T
h
e
o
u
tp
u
t
to
r
q
u
e
r
ef
er
e
n
ce
(
_
∗
)
is
also
r
ep
r
esen
ted
u
s
in
g
th
e
s
am
e
ty
p
e
an
d
n
u
m
b
er
o
f
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
to
en
s
u
r
e
s
m
o
o
th
c
o
n
t
r
o
l
ac
tio
n
.
Fu
r
th
er
m
o
r
e,
th
e
r
u
le
b
ase
co
n
s
is
ts
o
f
2
5
f
u
zz
y
r
u
les
co
n
s
tr
u
cted
i
n
a
s
tan
d
ar
d
Ma
m
d
an
i
f
r
am
ewo
r
k
.
T
h
ese
r
u
les
d
ef
in
e
t
h
e
n
o
n
lin
ea
r
r
elatio
n
s
h
ip
b
etwe
en
th
e
in
p
u
t
er
r
o
r
d
y
n
a
m
ics
an
d
th
e
r
eq
u
ir
ed
to
r
q
u
e
ac
tio
n
.
T
h
e
r
u
les
wer
e
f
o
r
m
u
l
ated
b
ased
o
n
ex
p
er
t
k
n
o
wled
g
e
o
f
m
o
to
r
b
e
h
av
io
r
,
en
s
u
r
in
g
f
ast
r
esp
o
n
s
e
d
u
r
in
g
ac
ce
ler
atio
n
an
d
s
tab
le
p
er
f
o
r
m
a
n
ce
u
n
d
e
r
s
tead
y
-
s
tate
co
n
d
itio
n
s
.
T
h
e
i
n
f
er
en
ce
m
ec
h
an
is
m
u
s
ed
is
th
e
Ma
m
d
an
i
m
ax
–
m
in
in
f
er
en
ce
m
eth
o
d
,
s
elec
ted
f
o
r
its
r
o
b
u
s
tn
ess
an
d
s
u
itab
ilit
y
f
o
r
h
a
n
d
lin
g
n
o
n
lin
ea
r
ities
in
elec
tr
ic
tr
ac
tio
n
s
y
s
tem
s
.
Fin
ally
,
to
co
n
v
e
r
t th
e
f
u
zz
y
o
u
tp
u
t
in
t
o
a
cr
is
p
to
r
q
u
e
co
m
m
an
d
,
th
e
ce
n
tr
o
id
(
ce
n
ter
o
f
g
r
a
v
ity
)
d
e
f
u
zz
if
icatio
n
m
eth
o
d
is
em
p
lo
y
ed
d
u
e
t
o
its
ac
cu
r
ac
y
an
d
s
m
o
o
th
o
u
tp
u
t c
h
ar
ac
ter
is
tics
.
6.
P
RO
P
O
SE
D
F
L
C
-
G
P
C
AP
P
RO
ACH
A
f
o
u
r
-
wh
ee
l
-
m
o
u
n
ted
,
in
d
e
p
en
d
en
t
ax
ial
f
lo
w
m
o
to
r
el
ec
tr
ic
v
eh
icle
m
o
d
el
is
co
n
s
id
er
ed
to
ev
alu
ate
th
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
p
r
o
p
o
s
ed
FLC
-
GPC
ap
p
r
o
a
ch
.
T
h
e
b
asic
s
y
s
tem
s
p
ec
if
icatio
n
s
(
T
ab
le
1
)
ar
e
:
v
eh
icle
m
ass
: 1
3
0
0
k
g
,
r
ated
m
o
to
r
to
r
q
u
e:
2
5
0
Nm
,
b
atter
y
v
o
ltag
e:
4
0
0
V,
wh
ee
l r
ad
iu
s
: 0
.
3
2
m
.
Nu
m
b
e
r
o
f
au
to
n
o
m
o
u
s
wh
ee
ls
: 4
.
All
s
im
u
latio
n
s
wer
e
p
er
f
o
r
m
e
d
u
s
in
g
MA
T
L
AB
/Si
m
u
lin
k
with
a
1
m
s
s
am
p
lin
g
tim
e,
tak
in
g
in
to
ac
co
u
n
t
r
ea
lis
tic
r
o
ad
lo
ad
s
,
s
lo
p
e
v
ar
iatio
n
s
,
an
d
p
ar
am
etr
ic
u
n
ce
r
tain
ties
.
T
h
ese
co
n
d
itio
n
s
wer
e
d
esig
n
ed
to
s
im
u
late
r
ea
l
-
wo
r
l
d
d
r
i
v
in
g
s
itu
atio
n
s
an
d
ev
alu
ate
th
e
co
n
tr
o
ller
'
s
r
esil
ien
ce
to
d
is
tu
r
b
a
n
ce
s
an
d
n
o
n
s
p
ec
if
ic
v
eh
icle
-
f
r
am
e
in
t
er
ac
tio
n
s
.
T
h
e
s
y
s
tem
'
s
p
er
f
o
r
m
an
ce
is
ev
alu
ated
u
s
in
g
s
ev
er
al
q
u
an
titativ
e
m
etr
ics,
in
clu
d
in
g
:
−
T
r
an
s
ien
t
r
esp
o
n
s
e
im
p
r
o
v
e
m
en
t
r
atio
:
Dete
r
m
in
ed
b
y
co
m
p
ar
in
g
r
is
e
tim
e
an
d
o
v
er
s
h
o
o
t
r
ed
u
ctio
n
with
a
co
n
v
e
n
tio
n
al
PI
co
n
tr
o
l sy
s
tem
.
−
Stead
y
-
s
tate
o
s
cillatio
n
r
atio
:
C
alcu
lated
b
y
th
e
d
ev
iatio
n
o
f
th
e
ac
tu
al
s
p
ee
d
f
r
o
m
th
e
r
ef
er
en
ce
s
p
ee
d
u
n
d
er
l
o
ad
v
a
r
iatio
n
s
.
−
E
n
er
g
y
co
n
s
u
m
p
tio
n
r
atio
: D
e
r
iv
ed
f
r
o
m
th
e
m
o
to
r
'
s
elec
tr
ical
in
p
u
t d
u
r
in
g
t
h
e
ex
ec
u
te
d
d
r
iv
e
cy
cle.
−
Du
r
ab
ilit
y
ass
ess
m
en
t: B
a
s
ed
o
n
±
2
5
% v
ar
iatio
n
s
in
s
y
s
tem
p
ar
am
eter
s
an
d
1
0
% r
o
a
d
lev
e
l d
is
tu
r
b
an
ce
s
.
T
h
ese
m
etr
ics
p
r
o
v
id
e
a
co
m
p
r
eh
en
s
iv
e
f
r
a
m
ewo
r
k
f
o
r
co
m
p
ar
in
g
PI
co
n
tr
o
ller
s
,
s
tan
d
alo
n
e
GPC
s
,
an
d
h
y
b
r
id
FLC
-
GPC
s
,
h
ig
h
lig
h
t
in
g
th
e
s
u
p
e
r
io
r
ity
o
f
th
e
h
y
b
r
id
s
tr
ateg
y
in
ter
m
s
o
f
d
u
r
ab
ilit
y
,
en
er
g
y
ef
f
icien
cy
,
a
n
d
d
y
n
am
ic
r
esp
o
n
s
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
1
5
,
No
.
2
,
J
u
n
e
20
2
6
:
845
-
857
850
7.
P
RO
P
O
SE
D
SPE
E
D
CY
CL
E
F
O
R
T
H
E
4
WD
E
L
E
C
T
R
I
C
VE
H
I
CL
E
I
n
o
u
r
s
tu
d
y
,
b
e
f
o
r
e
ca
lcu
latin
g
th
e
r
ef
er
e
n
ce
to
r
q
u
e
f
o
r
ea
ch
m
o
to
r
,
we
p
r
o
p
o
s
ed
a
s
h
o
r
t
9
-
s
ec
o
n
d
s
p
ee
d
p
r
o
f
ile
o
v
er
a
d
ef
in
ed
t
r
ajec
to
r
y
to
ev
alu
ate
t
h
e
to
r
q
u
e
co
n
tr
o
l
ef
f
icien
cy
o
f
th
e
f
u
zz
y
GPC
s
tr
ateg
y
f
o
r
th
e
4
W
DE
V
s
y
s
tem
.
T
h
is
tr
ajec
to
r
y
is
d
iv
id
e
d
in
to
s
ev
en
s
u
cc
ess
iv
e
s
tag
es.
I
n
th
e
f
ir
s
t
s
tag
e,
th
e
v
e
h
icle
tr
av
els
alo
n
g
a
s
tr
aig
h
t
r
o
ad
at
a
co
n
s
tan
t
s
p
ee
d
o
f
3
1
.
2
k
m
/h
.
I
n
t
h
e
s
ec
o
n
d
s
tag
e,
a
lef
t
t
u
r
n
is
ex
ec
u
ted
with
a
s
teer
in
g
an
g
le
o
f
−6
°.
I
n
th
e
th
ir
d
s
tag
e,
th
e
v
eh
icle
r
esu
m
es
s
tr
aig
h
t
-
lin
e
m
o
tio
n
at
th
e
s
am
e
s
p
ee
d
.
I
n
th
e
f
o
u
r
th
s
tag
e,
th
e
4
W
DE
V
s
y
s
tem
clim
b
s
a
1
0
-
d
e
g
r
ee
i
n
clin
e
at
3
1
.
5
k
m
/h
to
s
im
u
late
ac
ce
ler
atio
n
o
n
a
s
lo
p
e
.
I
n
th
e
f
if
t
h
s
tag
e,
th
e
v
e
h
icl
e
r
etu
r
n
s
to
a
s
tr
aig
h
t
r
o
ad
at
3
1
.
2
k
m
/h
.
I
n
th
e
s
ix
th
s
tag
e,
a
r
ig
h
t
tu
r
n
is
p
er
f
o
r
m
ed
with
a
s
teer
in
g
a
n
g
le
o
f
6
°.
Fin
ally
,
d
u
r
in
g
th
e
last
s
tag
e,
th
e
v
eh
icle
u
n
d
e
r
g
o
es
a
d
ec
eler
atio
n
p
h
ase
f
o
llo
wed
b
y
cr
u
is
in
g
a
t
3
1
k
m
/h
.
T
h
e
r
o
a
d
co
n
s
tr
ai
n
ts
f
o
r
ea
ch
s
tag
e
ar
e
lis
ted
in
T
ab
le
2
,
an
d
th
e
tr
ajec
to
r
y
s
tag
es a
r
e
illu
s
tr
ated
in
Fig
u
r
e
5
.
T
a
b
l
e
2
.
S
p
e
e
d
c
y
c
le
d
e
s
c
r
i
p
t
i
o
n
P
h
a
se
s
Ti
me
(
s)
Ev
e
n
t
i
n
f
o
r
m
a
t
i
o
n
S
p
e
e
d
(
k
m/
h
)
S
t
e
e
r
i
n
g
a
n
g
l
e
[
°
]
01
0
<
t
<
2
.
8
S
t
a
r
t
u
p
31
.
2
0
02
2
.
8
<
t
<
3
.
9
Le
f
t
t
u
r
n
31
-
6
03
3
.
9
<
t
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4
.
5
st
r
a
i
g
h
t
r
o
a
d
31
0
04
4
.
5
<
t
<
5
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C
l
i
mb
i
n
g
s
l
o
p
e
1
0
%
31
.
5
0
05
5
.
7
<
t
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.
5
st
r
a
i
g
h
t
r
o
a
d
31
.
2
0
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6
.
5
<
t
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7
.
5
R
i
g
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t
t
u
r
n
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+6
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7
.
5
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t
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9
st
r
a
i
g
h
t
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o
a
d
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0
F
i
g
u
r
e
5
.
T
r
a
j
e
ct
o
r
y
t
r
a
v
e
l
e
d
b
y
t
h
e
E
V
4
W
D
v
e
h
i
c
l
e
8.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
Usi
n
g
th
e
m
o
d
el
s
h
o
wn
in
Fig
u
r
e
6
,
we
c
o
n
d
u
cted
s
im
u
latio
n
s
to
an
aly
ze
t
h
e
b
eh
a
v
io
r
o
f
th
e
s
teer
in
g
s
y
s
tem
.
Fig
u
r
es
7
an
d
8
p
r
esen
t
th
e
v
eh
icle
s
p
ee
d
r
esp
o
n
s
e
u
n
d
er
PI,
GPC
,
an
d
f
u
zz
y
GPC
co
n
tr
o
l
s
tr
ateg
ies
f
o
r
b
o
th
co
n
s
tan
t
a
n
d
v
ar
iab
le
s
p
ee
d
s
ce
n
ar
i
o
s
.
Fig
u
r
e
7
co
m
p
ar
es
th
e
m
o
t
o
r
s
p
ee
d
[
k
m
/h
]
o
f
a
n
elec
tr
ic
v
eh
icle
u
n
d
er
d
if
f
er
e
n
t
co
n
tr
o
l
s
tr
ateg
ies
(
PI,
GP
C
,
an
d
f
u
zz
y
GPC
)
o
v
er
tim
e
(
s
)
.
I
n
itially
,
all
co
n
tr
o
ller
s
p
r
o
d
u
ce
r
a
p
id
ac
ce
ler
atio
n
f
r
o
m
0
to
ap
p
r
o
x
im
at
ely
3
1
k
m
/h
with
in
0
.
6
s
,
with
f
u
zz
y
GPC
clo
s
ely
f
o
llo
win
g
t
h
e
r
e
f
er
en
ce
s
p
ee
d
o
f
3
1
.
4
k
m
/h
.
T
h
e
zo
o
m
e
d
-
i
n
v
iew
f
r
o
m
0
.
2
t
o
0
.
6
s
h
ig
h
lig
h
ts
th
e
s
u
p
er
io
r
p
er
f
o
r
m
an
ce
o
f
f
u
zz
y
GPC
,
wh
ich
r
ea
ch
es
3
1
.
2
k
m
/
h
with
m
in
im
al
o
v
er
s
h
o
o
t
co
m
p
ar
ed
to
PI
an
d
GPC
.
An
o
th
er
zo
o
m
f
r
o
m
5
s
to
5
.
5
s
illu
s
tr
ates
th
at
f
u
zz
y
GPC
m
ain
tain
s
s
tab
ilit
y
n
ea
r
3
1
.
0
k
m
/h
d
esp
ite
d
is
tu
r
b
an
ce
s
,
wh
ile
PI
an
d
G
PC
s
h
o
w
s
lig
h
t
d
ev
iatio
n
s
,
co
n
f
ir
m
in
g
th
at
f
u
zz
y
GPC
is
m
o
r
e
ef
f
ec
tiv
e
at
d
eliv
er
in
g
ac
c
u
r
ate
an
d
s
tab
le
s
p
ee
d
co
n
tr
o
l u
n
d
er
v
a
r
io
u
s
o
p
er
atin
g
co
n
d
itio
n
s
.
Fig
u
r
e
8
p
r
esen
ts
a
co
m
p
ar
ati
v
e
an
aly
s
is
o
f
th
e
m
o
to
r
s
p
ee
d
[
k
m
/h
]
o
v
e
r
a
9
-
s
ec
o
n
d
in
te
r
v
al
u
s
in
g
f
u
zz
y
GPC
(
b
lu
e
lin
e)
an
d
s
tan
d
ar
d
GPC
(
r
ed
lin
e)
co
n
tr
o
l
s
tr
ateg
ies.
B
o
th
co
n
tr
o
ller
s
ex
h
ib
it
a
r
ap
id
in
itial
r
esp
o
n
s
e,
with
s
p
ee
d
r
is
in
g
f
r
o
m
r
est
t
o
a
p
p
r
o
x
im
ately
3
1
.
2
k
m
/h
with
in
th
e
f
ir
s
t
0
.
2
s
,
a
s
s
h
o
wn
in
th
e
f
ir
s
t
zo
o
m
ed
-
i
n
in
s
et
(
0
to
0
.
6
s
)
.
W
h
ile
b
o
th
s
tab
ilize
q
u
ick
ly
,
GPC
s
h
o
ws
a
n
o
ticea
b
le
o
v
e
r
s
h
o
o
t.
B
o
th
s
tr
ateg
ies
m
ain
tain
a
co
n
s
tan
t
s
p
ee
d
n
ea
r
3
1
.
2
k
m
/h
u
n
til
a
d
is
tu
r
b
an
ce
at
4
.
5
s
.
T
h
e
s
y
s
tem
’
s
r
esp
o
n
s
e
to
two
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
E
n
h
a
n
ci
n
g
to
r
q
u
e
p
erfo
r
ma
n
c
e
in
elec
tr
ic
fo
u
r
-
w
h
ee
l d
r
ive
s
ystems
u
s
in
g
fu
z
z
y
GP
C
(
Dja
mila
A
lla
li
)
851
s
u
cc
ess
iv
e
p
er
tu
r
b
atio
n
s
is
ill
u
s
tr
ated
in
th
e
s
ec
o
n
d
in
s
et
(
4
.
5
to
5
.
7
s
)
.
At
4
.
5
s
,
b
o
th
c
o
n
tr
o
ller
s
tr
ac
k
th
e
in
cr
ea
s
e
to
3
6
k
m
/h
,
with
f
u
z
zy
GPC
o
f
f
er
in
g
a
s
m
o
o
th
e
r
tr
an
s
itio
n
.
At
6
.
5
s
,
wh
en
s
p
ee
d
d
ec
r
ea
s
es
b
ac
k
t
o
3
1
.
2
k
m
/h
,
f
u
zz
y
GPC
p
r
o
v
id
es
a
well
-
d
am
p
e
d
an
d
p
r
ec
is
e
r
esp
o
n
s
e,
wh
ile
s
tan
d
ar
d
GPC
s
h
o
ws
a
p
r
o
n
o
u
n
ce
d
d
ec
eler
atio
n
b
e
f
o
r
e
s
tab
ilizin
g
.
Ov
er
all,
b
o
th
s
tr
ateg
ies
m
ain
tain
3
1
.
2
k
m
/h
at
th
e
en
d
,
b
u
t
f
u
zz
y
GPC
ex
h
ib
its
s
u
p
er
io
r
tr
an
s
ien
t r
esp
o
n
s
e
an
d
s
tab
ilit
y
d
u
r
in
g
d
is
tu
r
b
an
ce
s
.
Fig
u
r
e
6
d
em
o
n
s
tr
ates
v
eh
icl
e
s
p
ee
d
v
ar
iatio
n
s
u
n
d
e
r
a
f
u
zz
y
GPC
s
tr
ateg
y
.
R
ath
er
t
h
an
u
s
in
g
co
n
v
en
tio
n
al
co
n
tr
o
ller
s
,
t
h
e
f
u
zz
y
GPC
ap
p
r
o
ac
h
en
h
a
n
ce
s
lo
o
p
r
eliab
ilit
y
a
n
d
r
esp
o
n
s
e
q
u
ality
.
I
t
en
s
u
r
es
o
p
tim
al
tr
ajec
to
r
y
tr
ac
k
in
g
i
n
th
e
p
r
esen
ce
o
f
ex
ter
n
al
d
is
tu
r
b
an
ce
s
an
d
p
ar
a
m
eter
v
a
r
iatio
n
s
,
o
f
f
er
in
g
a
s
ig
n
if
ican
t
ad
v
an
tag
e
in
ad
a
p
t
iv
e
co
n
tr
o
l.
T
o
h
i
g
h
lig
h
t
th
e
i
m
p
ac
t
o
f
d
is
tu
r
b
an
ce
s
ca
u
s
ed
b
y
r
esis
tiv
e
to
r
q
u
e,
s
u
b
s
eq
u
en
t
f
ig
u
r
es
illu
s
tr
ate
th
e
s
y
s
tem
's
d
y
n
am
ic
r
esp
o
n
s
e
i
n
two
d
if
f
er
en
t
s
ce
n
ar
io
s
.
T
o
f
u
r
th
er
e
v
alu
ate
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
,
T
a
b
le
3
p
r
o
v
id
es
a
co
m
p
ar
ativ
e
an
aly
s
is
b
etwe
en
th
e
PI,
GPC
,
an
d
th
e
p
r
o
p
o
s
ed
f
u
zz
y
GPC
s
tr
ateg
ies.
T
h
e
co
m
p
ar
is
o
n
h
ig
h
l
ig
h
ts
im
p
r
o
v
e
m
en
ts
in
s
p
ee
d
-
tr
ac
k
in
g
ac
c
u
r
ac
y
,
o
v
er
s
h
o
o
t
r
ed
u
ctio
n
,
d
is
tu
r
b
an
ce
r
ejec
tio
n
ca
p
a
b
ilit
y
,
an
d
o
v
er
all
r
o
b
u
s
tn
ess
.
T
h
e
r
esu
lts
clea
r
ly
in
d
icate
th
at
th
e
p
r
o
p
o
s
ed
f
u
zz
y
GPC
co
n
tr
o
ller
o
u
tp
er
f
o
r
m
s
b
o
t
h
PI
an
d
s
tan
d
ar
d
GPC
,
p
ar
ticu
lar
ly
in
ter
m
s
o
f
tr
an
s
ien
t
b
eh
av
io
r
,
o
v
e
r
s
h
o
o
t m
i
n
im
izatio
n
,
an
d
r
o
b
u
s
tn
ess
ag
ain
s
t d
is
tu
r
b
an
ce
s
.
Fig
u
r
e
6
.
T
h
e
co
n
f
ig
u
r
atio
n
o
f
th
e
f
o
u
r
in
-
wh
ee
l
m
o
to
r
d
r
iv
e
s
s
p
ee
d
co
n
tr
o
l stra
teg
y
Fig
u
r
e
7
.
C
o
m
p
a
r
is
o
n
b
etwe
e
n
PI,
GPC
,
an
d
f
u
zz
y
GPC
at
co
n
s
tan
t sp
ee
d
s
Fig
u
r
e
8
.
C
o
m
p
a
r
is
o
n
b
etwe
e
n
PI,
GPC
,
an
d
f
u
zz
y
GPC
at
v
ar
iab
le
s
p
ee
d
s
0
1
2
3
4
5
6
7
8
9
-5
0
5
10
15
20
25
30
35
T
i
m
e
i
n
s
e
c
M
o
t
o
r
S
p
e
e
d
[
K
m
/
h
]
f
1
0
.
2
0
.
4
0
.
6
30
32
4
.
5
5
5
.
5
3
0
.
6
3
0
.
8
31
3
1
.
2
3
1
.
4
3
1
.
6
PI
G
P
C
F
u
z
z
y
G
P
C
0
1
2
3
4
5
6
7
8
9
-5
0
5
10
15
20
25
30
35
40
T
i
m
e
i
n
s
e
c
M
o
t
o
r
S
p
e
e
d
[
K
m
/
h
]
f
1
2
3
25
30
4
.
5
5
5
.
5
6
6
.
5
32
34
36
F
u
z
z
y
G
P
C
G
P
C
PI
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
1
5
,
No
.
2
,
J
u
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e
20
2
6
:
845
-
857
852
T
a
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3
.
C
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aly
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PI,
GPC
,
an
d
th
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p
r
o
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ed
f
u
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GPC
s
tr
ateg
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2
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1
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s
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Fig
u
r
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s
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th
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r
s
p
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v
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iatio
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o
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s
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ateg
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im
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atin
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at
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s
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.
T
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r
ef
lects
th
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s
y
s
tem
's
r
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u
s
tn
ess
ag
ain
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t
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is
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r
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an
ce
s
.
B
y
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teg
r
atin
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t
h
e
p
r
ed
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o
p
tim
izatio
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o
f
GPC
with
th
e
ad
ap
tiv
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ca
p
ab
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o
f
f
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lo
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th
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f
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GPC
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y
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en
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r
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p
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ac
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n
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er
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io
u
s
d
y
n
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ic
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o
n
d
itio
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.
Fig
u
r
e
1
0
tr
ac
k
s
t
h
e
an
g
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lar
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cities
o
f
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d
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(
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,
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)
.
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g
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f
th
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t
wh
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ile
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e
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ter
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tab
ilit
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.
T
h
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b
eh
av
io
r
h
ig
h
lig
h
ts
th
e
f
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zz
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tem
'
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d
ap
t
to
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d
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tr
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r
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h
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cin
g
v
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ilit
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an
d
wh
ee
l
s
y
n
ch
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izatio
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r
o
s
s
v
ar
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in
g
d
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g
co
n
d
itio
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s
.
Fig
u
r
es
1
1
an
d
1
2
illu
s
tr
ate
t
h
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
f
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y
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tr
ateg
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in
m
an
ag
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g
m
o
to
r
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d
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tiv
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to
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n
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n
all
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wh
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el
-
d
r
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elec
tr
ic
v
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icle.
I
n
iti
ally
,
th
e
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r
v
es
C
em
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t
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All
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ee
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ized
to
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2
7
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m
to
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itiate
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t,
f
o
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a
r
ap
id
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ze
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in
d
i
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tin
g
th
at
th
e
v
e
h
icle
r
ea
ch
e
s
a
s
tan
d
s
till
.
Su
b
s
eq
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en
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to
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cc
u
r
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s
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s
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n
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s
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g
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r
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y
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ics.
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n
s
tan
tan
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u
s
ch
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ar
e
m
a
r
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with
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ts
,
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r
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s
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s
e
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o
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t
ad
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s
tm
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ts
.
Me
an
wh
ile,
th
e
r
esis
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to
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e
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em
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n
eg
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n
til
4
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,
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en
s
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ar
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ly
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m
b
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an
d
5
s
b
e
f
o
r
e
s
tab
ilizin
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.
T
h
is
b
e
h
av
io
r
in
d
icate
s
a
s
u
d
d
en
o
n
s
et
o
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esis
tan
ce
,
h
an
d
led
e
f
f
icien
tly
b
y
th
e
co
n
t
r
o
l
s
y
s
tem
.
T
h
ese
r
esu
lts
d
em
o
n
s
tr
ate
th
e
f
u
zz
y
GPC
’
s
ab
ilit
y
to
r
eg
u
late
to
r
q
u
e
an
d
r
ejec
t
d
is
tu
r
b
an
ce
s
ef
f
ec
tiv
ely
in
elec
tr
ic
v
eh
icle
t
r
ac
tio
n
s
y
s
tem
s
.
Fig
u
r
es
1
3
an
d
1
4
d
ep
ict
th
e
s
teer
in
g
an
g
le
[
°]
o
f
an
elec
tr
ic
v
eh
icle
o
v
e
r
tim
e
(
s
)
u
s
in
g
th
e
f
u
zz
y
GPC
co
n
tr
o
l
s
tr
ateg
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,
u
n
d
e
r
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o
th
co
n
s
tan
t
an
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v
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le
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p
ee
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co
n
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itio
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.
I
n
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o
th
ca
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a
s
im
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p
atter
n
is
o
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s
er
v
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e
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g
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n
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ain
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t
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f
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o
m
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o
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s
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o
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ly
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er
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til
6
.
5
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o
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s
.
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is
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Fig
u
r
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.
Mo
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p
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f
o
r
f
u
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GPC
at
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s
tan
t
s
p
ee
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Fig
u
r
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1
0
.
An
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t sp
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8
7
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2
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lectr
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ates
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ates r
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