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1180
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ra
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P
M
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se
d
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e
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e
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y
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s.
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e
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riab
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d
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o
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d
i
ti
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s.
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h
e
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o
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p
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ris
o
n
is
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rried
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t
t
h
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g
h
d
e
tailed
si
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u
latio
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s
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sid
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tro
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g
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e
ti
c
t
o
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q
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e
re
sp
o
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se
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sta
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flu
x
b
e
h
a
v
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sp
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e
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re
g
u
latio
n
,
a
n
d
ro
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st
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e
ss
to
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i
stu
rb
a
n
c
e
s
a
n
d
p
a
ra
m
e
ter
v
a
riatio
n
s.
T
h
e
re
su
lt
s
sh
o
w
t
h
a
t
DTC
p
ro
v
i
d
e
s
a
fa
st
d
y
n
a
m
ic
re
sp
o
n
se
with
a
re
lativ
e
ly
sim
p
le
c
o
n
tr
o
l
stru
c
t
u
re
,
b
u
t
s
u
ffe
rs
fro
m
to
r
q
u
e
a
n
d
flu
x
r
i
p
p
les
a
n
d
se
n
siti
v
it
y
to
p
a
ra
m
e
ter
v
a
riatio
n
s.
In
c
o
n
tras
t,
S
M
C
d
e
m
o
n
stra
tes
h
ig
h
e
r
ro
b
u
stn
e
ss
a
g
a
in
st
u
n
c
e
rtain
ti
e
s
a
n
d
d
ist
u
rb
a
n
c
e
s,
wit
h
sm
o
o
t
h
e
r
to
r
q
u
e
c
h
a
ra
c
teristics
a
n
d
im
p
ro
v
e
d
sp
e
e
d
re
g
u
latio
n
.
Ov
e
ra
ll
,
t
h
e
stu
d
y
in
d
ica
tes
th
a
t
SMC
is
a
p
ro
m
isi
n
g
a
p
p
ro
a
c
h
f
o
r
e
n
h
a
n
c
in
g
th
e
sta
b
il
it
y
a
n
d
p
e
rfo
rm
a
n
c
e
o
f
P
M
S
G
-
b
a
se
d
win
d
e
n
e
rg
y
sy
ste
m
s.
F
u
tu
re
wo
rk
m
a
y
e
x
p
lo
re
h
y
b
r
id
stra
teg
ies
c
o
m
b
i
n
in
g
th
e
fa
st
re
sp
o
n
se
o
f
DTC
with
th
e
ro
b
u
stn
e
ss
o
f
S
M
C,
a
s
we
ll
a
s
in
telli
g
e
n
t
c
o
n
tr
o
l
tec
h
n
i
q
u
e
s
t
o
fu
r
th
e
r
o
p
ti
m
ize
e
n
e
rg
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x
trac
ti
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n
.
K
ey
w
o
r
d
s
:
Dir
ec
tly
to
co
n
tr
o
l D
T
C
E
f
f
icien
cy
Mo
d
elin
g
PMSM
Sli
d
in
g
m
o
d
e
c
o
n
tr
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l
Stab
ilit
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W
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d
tu
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b
in
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T
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s
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rticle
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r th
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CC B
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li
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C
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s
p
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A
uth
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Dib
Djalel
Dep
ar
tm
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E
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E
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n
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er
s
io
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s
tem
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W
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C
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Fig
u
r
e
1
)
.
A
m
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e
v
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io
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s
tech
n
o
lo
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s
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win
d
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c
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r
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ato
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av
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ed
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id
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wev
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r
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t
h
e
ef
f
ec
tiv
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tr
o
l
o
f
PMSG
-
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ased
win
d
tu
r
b
in
e
s
y
s
tem
s
r
em
ain
s
a
s
ig
n
if
ican
t
ch
a
llen
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b
ec
au
s
e
o
f
th
e
n
o
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lin
ea
r
ch
ar
ac
ter
is
tics
o
f
th
e
m
ac
h
in
e,
p
ar
am
eter
u
n
ce
r
t
ain
ties
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an
d
th
e
h
ig
h
ly
v
a
r
iab
l
e
n
atu
r
e
o
f
win
d
c
o
n
d
itio
n
s
.
C
o
n
v
en
tio
n
al
lin
ea
r
co
n
tr
o
l
tech
n
iq
u
es
s
u
ch
as
p
r
o
p
o
r
tio
n
al
–
in
teg
r
al
(
PI)
an
d
p
r
o
p
o
r
tio
n
a
l
–
in
teg
r
al
–
d
er
iv
ativ
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(
PID
)
co
n
tr
o
ller
s
ar
e
wid
ely
u
s
ed
in
elec
tr
ical
d
r
i
v
e
s
y
s
tem
s
.
Nev
er
th
eless
,
th
ese
co
n
tr
o
ller
s
o
f
ten
s
h
o
w
lim
ited
p
er
f
o
r
m
a
n
ce
wh
en
d
ea
lin
g
with
n
o
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lin
ea
r
ities
,
p
ar
am
eter
v
ar
iatio
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s
,
an
d
ex
ter
n
al
d
is
tu
r
b
a
n
ce
s
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m
m
o
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c
o
u
n
ter
e
d
in
win
d
en
e
r
g
y
ap
p
licatio
n
s
[
1
]
.
C
o
n
s
eq
u
en
tly
,
a
d
v
an
ce
d
n
o
n
lin
e
ar
co
n
tr
o
l
s
tr
ateg
ies
h
av
e
b
ee
n
in
cr
ea
s
in
g
ly
in
v
esti
g
ated
to
im
p
r
o
v
e
t
h
e
r
o
b
u
s
tn
e
s
s
an
d
d
y
n
am
ic
r
esp
o
n
s
e
o
f
s
u
ch
s
y
s
tem
s
.
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
S
lid
in
g
-
mo
d
e
a
s
s
is
ted
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l fo
r
r
elia
b
le
w
in
d
tu
r
b
in
e
o
p
era
tio
n
(
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eh
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l O
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a
s
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a
)
1181
Am
o
n
g
t
h
ese
s
tr
ateg
ies,
d
ir
ec
t
to
r
q
u
e
co
n
t
r
o
l
(
DT
C
)
a
n
d
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
(
SMC
)
[
2
]
,
[
3
]
h
a
v
e
em
er
g
ed
as p
r
o
m
is
in
g
ap
p
r
o
ac
h
es f
o
r
th
e
c
o
n
tr
o
l
o
f
p
e
r
m
an
e
n
t m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
ac
h
i
n
es
(
PMSM)
.
DT
C
is
p
ar
ticu
lar
ly
attr
ac
tiv
e
b
ec
a
u
s
e
o
f
its
s
im
p
le
co
n
tr
o
l
s
tr
u
ctu
r
e
an
d
f
ast
d
y
n
am
ic
r
esp
o
n
s
e,
as
it
d
ir
ec
tly
r
eg
u
lates
th
e
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
in
g
cu
r
r
en
t
co
n
tr
o
l
l
o
o
p
s
o
r
c
o
o
r
d
in
ate
tr
an
s
f
o
r
m
atio
n
s
.
Desp
ite
th
ese
ad
v
a
n
tag
es,
class
ical
DT
C
s
u
f
f
er
s
f
r
o
m
ce
r
tain
d
r
awb
ac
k
s
,
s
u
ch
as
to
r
q
u
e
an
d
f
lu
x
r
ip
p
les
as
well
as
s
en
s
iti
v
ity
to
p
ar
am
ete
r
v
ar
iatio
n
s
.
On
th
e
o
th
er
h
an
d
,
SMC
is
well
k
n
o
wn
f
o
r
its
s
tr
o
n
g
r
o
b
u
s
tn
ess
ag
ain
s
t
m
o
d
el
u
n
ce
r
tain
ties
an
d
e
x
ter
n
al
d
is
tu
r
b
an
ce
s
.
I
ts
n
o
n
lin
ea
r
co
n
t
r
o
l
s
tr
u
ctu
r
e
allo
ws
th
e
s
y
s
tem
to
m
ai
n
tain
s
tab
le
o
p
er
atio
n
ev
en
u
n
d
er
s
ev
er
e
o
p
er
atin
g
co
n
d
itio
n
s
.
As
a
r
esu
lt,
SMC
h
as
b
ee
n
wid
ely
in
v
esti
g
ated
an
d
ap
p
lie
d
in
elec
tr
ic
d
r
i
v
e
s
y
s
tem
s
to
en
h
an
ce
p
er
f
o
r
m
an
ce
a
n
d
r
elia
b
ilit
y
[
4
]
.
Sev
er
al
s
tu
d
ies
in
th
e
liter
atu
r
e
h
av
e
e
x
p
lo
r
e
d
th
e
a
p
p
licatio
n
o
f
t
h
ese
co
n
tr
o
l
s
tr
ateg
ies
to
PMSM
.
Fo
r
in
s
tan
ce
,
s
o
m
e
wo
r
k
s
h
a
v
e
in
v
esti
g
ated
DT
C
alg
o
r
ith
m
s
f
o
r
m
u
lti
-
p
h
ase
PMSM
s
u
p
p
lied
b
y
m
u
ltip
le
in
v
er
ter
s
,
h
i
g
h
lig
h
tin
g
th
ei
r
p
o
ten
tial
f
o
r
h
ig
h
-
p
o
wer
in
d
u
s
tr
ial
ap
p
licatio
n
s
s
u
ch
as
tr
ac
tio
n
an
d
n
av
al
p
r
o
p
u
ls
io
n
[
5
]
,
[
6
]
.
Oth
e
r
s
tu
d
ies
h
av
e
f
o
c
u
s
ed
o
n
im
p
r
o
v
in
g
SMC
tech
n
iq
u
es,
in
clu
d
in
g
th
e
d
ev
elo
p
m
en
t
o
f
s
u
p
er
-
twis
tin
g
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
s
an
d
co
m
p
en
s
atio
n
s
tr
ateg
ies
to
r
ed
u
ce
s
p
ee
d
o
v
er
s
h
o
o
t
an
d
im
p
r
o
v
e
d
y
n
am
ic
p
er
f
o
r
m
a
n
ce
.
Ad
d
itio
n
ally
,
h
y
b
r
id
a
p
p
r
o
ac
h
es
c
o
m
b
in
in
g
DT
C
with
s
lid
in
g
m
o
d
e
tech
n
iq
u
es
h
av
e
b
ee
n
p
r
o
p
o
s
ed
t
o
r
ed
u
ce
to
r
q
u
e
r
ip
p
le,
s
tab
ilize
s
witch
in
g
f
r
eq
u
en
cy
,
an
d
en
h
a
n
ce
o
v
e
r
all
s
y
s
tem
r
o
b
u
s
tn
ess
.
Fig
u
r
e1
.
PMSG c
o
n
n
ec
ted
to
t
h
e
win
d
t
u
r
b
i
n
e
Desp
ite
th
e
co
n
s
id
er
ab
le
r
esear
ch
co
n
d
u
cted
in
th
is
ar
ea
,
a
co
m
p
r
eh
e
n
s
iv
e
co
m
p
a
r
ativ
e
ev
alu
atio
n
o
f
DT
C
an
d
SMC
wh
en
ap
p
lied
to
PMSG
-
b
ased
win
d
tu
r
b
in
e
s
y
s
tem
s
r
em
ain
s
an
im
p
o
r
tan
t
to
p
ic
f
o
r
in
v
esti
g
atio
n
.
T
h
e
r
ef
o
r
e
,
th
is
wo
r
k
aim
s
to
a
n
aly
ze
a
n
d
c
o
m
p
ar
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
DT
C
an
d
SMC
ap
p
lied
to
a
PMSG
u
s
ed
in
win
d
e
n
e
r
g
y
c
o
n
v
e
r
s
io
n
s
y
s
tem
s
[
7
]
-
[
9
]
.
T
h
e
c
o
m
p
ar
is
o
n
f
o
cu
s
es
o
n
k
e
y
p
e
r
f
o
r
m
an
ce
cr
iter
ia
in
clu
d
in
g
to
r
q
u
e
r
esp
o
n
s
e,
s
tato
r
f
lu
x
b
eh
av
io
r
,
s
p
ee
d
r
eg
u
latio
n
,
an
d
r
o
b
u
s
tn
ess
u
n
d
er
d
is
tu
r
b
an
ce
s
an
d
p
a
r
am
eter
v
ar
iatio
n
s
.
T
h
e
r
esu
lts
p
r
o
v
i
d
e
v
alu
a
b
le
in
s
i
g
h
ts
in
to
th
e
ad
v
a
n
tag
es
an
d
lim
itatio
n
s
o
f
ea
ch
co
n
tr
o
l stra
teg
y
a
n
d
th
ei
r
s
u
itab
ilit
y
f
o
r
m
o
d
er
n
win
d
tu
r
b
in
e
ap
p
licatio
n
s
.
2.
M
E
T
H
O
D
T
h
e
m
eth
o
d
o
l
o
g
y
ad
o
p
ted
in
th
is
s
tu
d
y
is
s
tr
u
ctu
r
e
d
ar
o
u
n
d
f
o
u
r
m
ain
c
o
m
p
o
n
en
ts
.
First,
th
e
m
o
d
elin
g
o
f
th
e
PMSM
is
d
e
v
elo
p
ed
b
ased
o
n
f
u
n
d
am
e
n
tal
elec
tr
o
m
ag
n
etic
p
r
i
n
cip
les,
a
llo
win
g
an
ac
cu
r
ate
r
ep
r
esen
tatio
n
o
f
th
e
elec
tr
ical
an
d
m
ec
h
a
n
ical
d
y
n
am
ics
o
f
th
e
s
y
s
tem
.
T
h
e
n
,
t
h
e
s
y
n
ch
r
o
n
o
u
s
m
ac
h
in
e
th
eo
r
y
[
1
0
]
-
[
1
2
]
an
d
its
m
ath
e
m
atica
l
m
o
d
elin
g
ar
e
p
r
esen
ted
u
s
in
g
th
e
d
q
r
ef
er
e
n
ce
f
r
am
e,
wh
ich
s
im
p
lifie
s
th
e
an
aly
s
is
an
d
co
n
tr
o
l
d
esig
n
b
y
tr
an
s
f
o
r
m
in
g
th
e
th
r
ee
-
p
h
ase
v
ar
iab
les
in
to
a
two
-
ax
is
r
o
tatin
g
co
o
r
d
in
ate
s
y
s
tem
.
Su
b
s
eq
u
en
tly
,
a
n
S
MC
s
tr
ateg
y
is
d
esig
n
ed
to
en
s
u
r
e
r
o
b
u
s
t
p
er
f
o
r
m
an
ce
ag
ain
s
t
p
ar
am
eter
u
n
ce
r
tain
ties
an
d
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
with
a
p
ar
ticu
lar
f
o
cu
s
o
n
ac
h
iev
i
n
g
p
r
ec
is
e
tr
a
ck
in
g
o
f
r
ef
er
en
ce
s
ig
n
als.
Fin
ally
,
s
im
u
latio
n
r
esu
lts
ar
e
an
aly
ze
d
to
e
v
alu
ate
th
e
ef
f
ec
tiv
en
ess
o
f
t
h
e
p
r
o
p
o
s
ed
c
o
n
tr
o
l
ap
p
r
o
ac
h
in
te
r
m
s
o
f
d
y
n
a
m
ic
r
esp
o
n
s
e,
s
tab
ilit
y
,
an
d
tr
ac
k
in
g
ac
cu
r
ac
y
.
T
h
e
o
v
er
all
s
tu
d
y
is
co
n
clu
d
ed
b
y
h
ig
h
lig
h
tin
g
th
e
ad
v
an
tag
es a
n
d
p
o
ten
tial im
p
r
o
v
em
en
ts
o
f
t
h
e
im
p
lem
en
ted
m
eth
o
d
.
3.
M
O
DE
L
I
NG
O
F
P
E
R
M
AN
E
NT
M
AG
N
E
T
I
C
SYN
CH
RO
NO
US MACH
I
NE
T
h
e
m
o
d
elin
g
o
f
a
PMSM
in
v
o
lv
es
d
ev
elo
p
in
g
a
m
ath
em
a
tical
r
ep
r
esen
tatio
n
,
o
f
ten
u
s
i
n
g
th
e
d
-
q
r
ef
er
en
ce
f
r
am
e
an
d
Par
k
'
s
tr
an
s
f
o
r
m
[
1
3
]
-
[
1
5
]
,
to
d
escr
ib
e
i
ts
elec
tr
ical
an
d
m
ec
h
an
ical
b
e
h
av
io
r
.
T
h
is
m
o
d
el
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
.
3
,
Sep
tem
b
er
20
2
6
:
1
1
8
0
-
1
1
8
9
1182
ty
p
ically
in
clu
d
es d
if
f
er
e
n
tial
eq
u
atio
n
s
f
o
r
v
o
ltag
es,
cu
r
r
en
t
s
,
an
d
f
l
u
x
lin
k
ag
es,
as
well
as
a
to
r
q
u
e
eq
u
atio
n
,
to
f
ac
ilit
ate
an
aly
s
is
,
d
esig
n
,
a
n
d
co
n
t
r
o
l o
f
th
e
m
o
to
r
f
o
r
ap
p
licatio
n
s
lik
e
elec
tr
ic
v
eh
icle
s
[
16
]
.
T
h
e
e
lectr
ic
an
d
m
ag
n
etic
eq
u
atio
n
s
p
er
m
an
en
t
m
a
g
n
et
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
in
d
q
f
r
am
e
(
Fig
u
r
e
2
)
ar
e
ex
p
r
ess
ed
as
(
1
)
-
(
4
)
.
Φ
=
+
(
1
)
Φ
=
(
2
)
=
+
−
(
3
)
=
+
+
+
Φ
(
4
)
T
h
e
eq
u
i
v
alen
t
cir
cu
it
o
f
t
h
e
p
er
m
a
n
en
t
m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
is
s
h
o
wn
i
n
Fig
u
r
e
3
.
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
o
f
th
e
PMSM
is
g
iv
en
b
y
(
5
)
.
=
{
(
−
)
+
Φ
}
(
5
)
Fig
u
r
e
2
.
R
ep
r
esen
tatio
n
o
f
th
e
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
p
e
r
m
an
e
n
t m
ag
n
et
[
1
6
]
Fig
u
r
e
3
.
Mo
d
elin
g
o
f
th
e
PM
SM
in
th
e
d
-
q
f
r
am
e
3
.
1
.
Cha
ra
c
t
er
iza
t
io
n o
f
ma
nu
f
a
ct
ured
t
er
ra
co
t
t
a
briqu
et
t
es
co
ntr
o
l o
f
s
t
a
t
o
r
f
lux
T
h
e
s
tato
r
f
lu
x
v
ec
to
r
ca
n
b
e
esti
m
ated
u
s
in
g
th
e
m
ea
s
u
r
ed
c
u
r
r
en
t
an
d
v
o
ltag
e
v
e
cto
r
s
.
T
h
e
esti
m
atio
n
is
p
er
f
o
r
m
ed
as
d
escr
ib
ed
in
[
1
7
]
,
[
1
8
]
.
T
h
e
d
if
f
er
en
tial
an
d
in
teg
r
al
f
o
r
m
s
o
f
th
e
s
tato
r
f
lu
x
esti
m
atio
n
ar
e
g
iv
en
i
n
(
6
)
an
d
(
7
)
,
r
esp
ec
tiv
ely
.
d
(
)
dt
=
−
(
6
)
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
S
lid
in
g
-
mo
d
e
a
s
s
is
ted
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l fo
r
r
elia
b
le
w
in
d
tu
r
b
in
e
o
p
era
tio
n
(
N
eh
a
l O
u
a
s
s
il
a
)
1183
(
t)
=
∫
(
0
s
–
)
d
t
(
7
)
Neg
lectin
g
th
e
s
tato
r
r
esis
tan
ce
,
we
f
in
d
(
8
)
.
(
t)
=
0
+
∫
0
s
d
t
(
8
)
W
h
er
e
0
is
th
e
in
itial
s
tato
r
f
l
u
x
lin
k
ag
e
at
th
e
in
s
tan
t
o
f
s
witch
in
g
,
d
u
r
in
g
th
e
s
witch
in
g
in
ter
v
al,
ea
ch
v
o
ltag
e
v
ec
to
r
is
co
n
s
tan
t
an
d
th
e
s
tato
r
f
lu
x
lin
k
ag
e
o
f
a
P
MSM
ca
n
b
e
ex
p
r
ess
ed
in
th
e
Statio
n
ar
y
r
ef
er
en
ce
f
r
am
e
as
(
9
)
an
d
(
1
0
)
[
19
]
.
(
K+
1
)
=
Φ
(
)
+
V
(
9
)
Δ
=
-
0
=
(
1
0
)
T
h
e
(
1
0
)
im
p
lies
th
at
th
e
e
n
d
o
f
th
e
s
tato
r
f
l
u
x
v
ec
t
o
r
will m
o
v
e
in
th
e
d
ir
ec
tio
n
o
f
th
e
ap
p
l
ied
v
o
ltag
e
v
ec
to
r
.
3
.
2
.
E
lect
ro
m
a
g
net
ic
t
o
rque
co
ntr
o
l
E
lectr
o
m
ag
n
etic
to
r
q
u
e
c
o
n
tr
o
l
is
a
k
ey
asp
ec
t
in
ac
h
iev
in
g
p
r
ec
is
e
r
eg
u
latio
n
o
f
th
e
d
y
n
am
ic
b
eh
av
i
o
r
o
f
elec
tr
ical
m
ac
h
in
es,
p
ar
ticu
lar
ly
in
a
p
p
licatio
n
s
s
u
ch
as
win
d
tu
r
b
i
n
es,
wh
er
e
r
ap
id
v
a
r
iatio
n
s
in
o
p
er
atin
g
co
n
d
itio
n
s
o
cc
u
r
.
T
h
e
o
b
jectiv
e
o
f
t
o
r
q
u
e
co
n
t
r
o
l
is
to
en
s
u
r
e
th
at
th
e
m
a
ch
in
e
d
ev
el
o
p
s
th
e
r
eq
u
ir
ed
to
r
q
u
e
in
r
esp
o
n
s
e
to
lo
ad
an
d
s
p
ee
d
d
e
m
an
d
s
,
wh
ile
m
in
im
izin
g
o
s
cillatio
n
s
an
d
m
ax
im
izin
g
ef
f
icien
cy
.
On
e
o
f
th
e
m
o
s
t
wid
ely
ap
p
lied
s
tr
ateg
ies
f
o
r
th
is
p
u
r
p
o
s
e
is
DT
C
,
wh
ic
h
en
a
b
les
f
ast
an
d
ac
cu
r
ate
ad
ju
s
tm
en
t
o
f
b
o
th
to
r
q
u
e
a
n
d
f
lu
x
with
o
u
t
r
eq
u
ir
i
n
g
co
m
p
lex
c
o
o
r
d
i
n
ate
tr
an
s
f
o
r
m
atio
n
s
o
r
cu
r
r
e
n
t
r
eg
u
lato
r
s
.
I
n
th
e
DT
C
ap
p
r
o
ac
h
,
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
th
e
s
tato
r
f
lu
x
lin
k
ag
e
ar
e
co
n
tin
u
o
u
s
ly
esti
m
ated
f
r
o
m
m
ea
s
u
r
ed
v
o
l
tag
es
an
d
cu
r
r
e
n
ts
.
T
h
ese
esti
m
ated
v
alu
es
ar
e
th
en
c
o
m
p
ar
ed
ag
ain
s
t
th
eir
r
esp
ec
tiv
e
r
ef
e
r
en
ce
v
alu
es
[
2
0
]
.
T
h
e
d
if
f
er
e
n
ce
s
,
d
e
f
in
ed
a
s
to
r
q
u
e
er
r
o
r
an
d
f
lu
x
e
r
r
o
r
,
a
r
e
u
s
ed
as
in
p
u
ts
to
two
h
y
s
ter
esis
co
m
p
ar
ato
r
s
.
T
h
e
to
r
q
u
e
h
y
s
ter
esis
co
n
tr
o
ller
en
s
u
r
es th
at
th
e
d
ev
el
o
p
ed
t
o
r
q
u
e
r
em
ain
s
with
in
th
e
p
r
escr
ib
ed
b
a
n
d
a
r
o
u
n
d
it
s
r
ef
er
en
ce
,
wh
ile
th
e
f
lu
x
h
y
s
ter
esis
co
n
tr
o
ller
r
eg
u
lates
th
e
am
p
litu
d
e
o
f
t
h
e
s
tato
r
f
lu
x
lin
k
ag
e
[
2
1
]
,
[2
2
].
T
h
e
o
u
tp
u
ts
o
f
th
e
h
y
s
ter
e
s
is
co
m
p
ar
ato
r
s
ar
e
th
en
u
s
ed
to
d
eter
m
in
e
th
e
ap
p
r
o
p
r
iate
s
witch
in
g
s
tate
o
f
th
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
th
r
o
u
g
h
a
tab
le
o
f
o
p
tim
u
m
s
witch
in
g
(
T
OS
)
.
T
h
is
s
witch
in
g
tab
le
m
ap
s
th
e
to
r
q
u
e
an
d
f
lu
x
er
r
o
r
s
ig
n
als
to
t
h
e
m
o
s
t
s
u
itab
le
v
o
ltag
e
v
ec
to
r
th
at
will
co
r
r
ec
t
t
h
e
d
ev
iatio
n
s
.
B
y
d
y
n
am
ically
s
elec
tin
g
th
e
in
v
er
ter
s
witch
in
g
s
tates,
th
e
DT
C
m
eth
o
d
en
s
u
r
es
d
ir
ec
t
co
n
tr
o
l
o
f
elec
tr
o
m
ag
n
etic
t
o
r
q
u
e
an
d
s
t
ato
r
f
lu
x
with
o
u
t
th
e
n
ee
d
f
o
r
in
ter
m
e
d
iate
cu
r
r
en
t
co
n
tr
o
ller
s
o
r
m
o
d
u
latio
n
s
tag
es.
T
h
e
m
ain
ad
v
an
ta
g
es
o
f
elec
tr
o
m
ag
n
etic
to
r
q
u
e
co
n
tr
o
l
u
s
in
g
DT
C
in
clu
d
e:
i)
Fas
t
to
r
q
u
e
r
esp
o
n
s
e
,
o
win
g
to
th
e
d
ir
ec
t
co
n
t
r
o
l
s
tr
u
ctu
r
e
;
ii)
R
o
b
u
s
tn
ess
ag
ain
s
t
p
ar
am
eter
v
ar
iatio
n
s
,
esp
ec
ially
s
tato
r
r
esis
tan
ce
;
iii)
Simp
lifie
d
co
n
tr
o
l
im
p
lem
en
tatio
n
,
av
o
i
d
in
g
th
e
c
o
m
p
lex
ity
o
f
tr
a
d
itio
n
al
f
ie
ld
-
o
r
ien
ted
co
n
tr
o
l.
Ho
wev
er
,
DT
C
is
also
as
s
o
ciate
d
with
ce
r
tain
d
r
awb
ac
k
s
s
u
ch
as
to
r
q
u
e
a
n
d
f
l
u
x
r
ip
p
le
s
d
u
e
to
th
e
u
s
e
o
f
h
y
s
ter
esis
co
n
tr
o
ller
s
an
d
v
ar
i
ab
le
s
witch
in
g
f
r
eq
u
e
n
cy
.
T
h
ese
lim
itatio
n
s
m
o
tiv
ate
th
e
e
x
p
lo
r
atio
n
o
f
m
o
r
e
ad
v
an
ce
d
n
o
n
lin
ea
r
co
n
tr
o
l stra
teg
ies,
s
u
ch
as
SM
C
,
wh
ich
ca
n
en
h
an
ce
p
er
f
o
r
m
an
ce
b
y
r
e
d
u
cin
g
o
s
cillatio
n
s
an
d
im
p
r
o
v
in
g
s
y
s
tem
r
o
b
u
s
tn
ess
[2
3
]
,
[
2
4
]
.
T
h
e
h
y
s
ter
esis
-
b
ased
d
ec
is
io
n
r
u
les
f
o
r
s
tato
r
f
lu
x
an
d
elec
tr
o
m
ag
n
etic
to
r
q
u
e
c
o
n
tr
o
l
ar
e
s
u
m
m
ar
ized
i
n
(
1
1
)
.
|
|
−
|
|
≦
ℎ
=
0
|
|
−
|
|
≧
ℎ
=
1
|
|
−
|
|
<
|
|
ℎ
=
−
1
|
|
−
|
|
=
|
|
ℎ
=
0
|
|
−
|
|
>
|
|
ℎ
=
1
(
1
1
)
4.
SYNCH
RO
NO
US
M
ACH
I
NE
T
H
E
O
RY
AND
M
O
DE
L
I
NG
A
s
y
n
ch
r
o
n
o
u
s
m
ac
h
in
e
is
an
elec
tr
o
m
ec
h
an
ical
d
e
v
ice
th
at
o
p
er
ates
at
a
s
p
ee
d
d
ir
ec
tly
p
r
o
p
o
r
tio
n
al
to
th
e
f
r
eq
u
e
n
cy
o
f
th
e
s
u
p
p
l
y
v
o
ltag
e,
k
n
o
wn
as
th
e
s
y
n
c
h
r
o
n
o
u
s
s
p
ee
d
[2
5
],
[2
6
]
.
De
p
en
d
in
g
o
n
th
e
r
o
to
r
co
n
s
tr
u
ctio
n
,
s
y
n
ch
r
o
n
o
u
s
m
ac
h
in
es
ar
e
class
if
ied
in
to
two
m
ain
ca
teg
o
r
ies:
m
ac
h
in
es
with
a
s
alien
t
-
p
o
le
(
r
elu
ctan
ce
)
r
o
to
r
an
d
th
o
s
e
w
ith
a
p
er
m
an
en
t
m
a
g
n
et
r
o
to
r
.
I
n
th
is
s
tu
d
y
,
th
e
f
o
c
u
s
is
p
lace
d
o
n
th
e
PMSM
d
u
e
to
its
h
ig
h
ef
f
icien
cy
,
co
m
p
ac
t
s
ize,
an
d
s
u
p
er
io
r
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
in
r
en
ewa
b
le
en
er
g
y
ap
p
licatio
n
s
s
u
ch
as win
d
tu
r
b
i
n
es.
T
h
e
PMSM
co
n
s
is
t
s
o
f
a
r
o
to
r
em
b
ed
d
ed
with
p
er
m
a
n
e
n
t
m
ag
n
ets,
wh
ich
estab
lis
h
a
co
n
s
tan
t
m
ag
n
etic
f
ield
.
T
h
e
r
o
t
o
r
p
o
l
es
ar
e
d
is
tr
ib
u
ted
ax
ially
a
n
d
s
y
m
m
etr
ically
ar
o
u
n
d
th
e
r
o
t
o
r
s
u
r
f
ac
e,
en
s
u
r
in
g
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
.
3
,
Sep
tem
b
er
20
2
6
:
1
1
8
0
-
1
1
8
9
1184
u
n
if
o
r
m
f
lu
x
d
is
tr
ib
u
tio
n
in
th
e
air
g
ap
.
I
n
s
y
n
ch
r
o
n
o
u
s
o
p
er
atio
n
,
th
e
in
ter
ac
tio
n
b
et
wee
n
th
e
s
tato
r
i
s
r
o
tatin
g
m
a
g
n
etic
f
ield
,
g
en
er
ated
b
y
th
e
th
r
ee
-
p
h
ase
AC
s
u
p
p
ly
,
an
d
th
e
r
o
t
o
r
’
s
s
tatio
n
ar
y
m
a
g
n
etic
f
ield
p
r
o
d
u
ce
d
b
y
th
e
p
er
m
an
e
n
t
m
ag
n
ets
r
esu
lts
in
th
e
g
en
e
r
a
tio
n
o
f
elec
tr
o
m
ag
n
etic
to
r
q
u
e.
T
h
is
to
r
q
u
e
is
th
e
f
u
n
d
am
e
n
tal
m
ec
h
an
is
m
b
y
w
h
ich
elec
tr
ical
en
er
g
y
is
co
n
v
e
r
ted
in
to
m
ec
h
an
ical
en
er
g
y
.
T
h
e
an
g
u
lar
s
p
ee
d
o
f
th
e
PM
SM
is
lo
ck
ed
to
th
e
s
u
p
p
ly
f
r
eq
u
en
cy
o
f
th
e
s
tato
r
v
o
ltag
es
,
m
ea
n
in
g
th
at
th
e
r
o
to
r
o
p
e
r
ates sy
n
ch
r
o
n
o
u
s
ly
with
th
e
r
o
tatin
g
m
ag
n
etic
f
ield
.
T
o
ac
h
iev
e
th
e
d
esire
d
s
p
ee
d
o
r
to
r
q
u
e,
th
e
p
h
ase
v
o
ltag
es
m
u
s
t
b
e
ad
j
u
s
ted
ac
co
r
d
in
g
to
th
e
r
o
to
r
a
n
g
u
lar
p
o
s
itio
n
.
T
h
er
ef
o
r
e,
ac
c
u
r
ate
m
ea
s
u
r
em
en
t
o
r
esti
m
atio
n
o
f
th
e
r
o
to
r
p
o
s
itio
n
is
r
eq
u
ir
ed
,
ty
p
ically
p
er
f
o
r
m
e
d
u
s
in
g
en
co
d
er
s
,
Hal
l
-
ef
f
ec
t
s
en
s
o
r
s
,
o
r
o
b
s
er
v
er
-
b
ased
esti
m
ato
r
s
.
U
n
lik
e
in
d
u
ctio
n
m
ac
h
i
n
es,
wh
ich
allo
w
s
lip
b
etwe
en
th
e
r
o
to
r
an
d
th
e
s
tato
r
f
ield
s
,
PMSM
s
o
p
er
ate
s
tr
ic
tly
at
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
.
Dy
n
am
ic
v
ar
iatio
n
s
in
s
p
ee
d
ar
e
o
b
tain
ed
b
y
co
n
tr
o
llin
g
th
e
s
u
p
p
ly
f
r
e
q
u
e
n
cy
o
f
th
e
th
r
ee
-
p
h
ase
s
tato
r
v
o
ltag
es.
T
h
is
f
ea
tu
r
e
m
ak
e
s
PMSM
s
h
ig
h
ly
s
u
itab
le
f
o
r
v
ar
iab
le
-
s
p
ee
d
win
d
en
er
g
y
s
y
s
tem
s
,
wh
er
e
p
o
wer
elec
tr
o
n
ic
co
n
v
e
r
ter
s
ca
n
r
eg
u
late
f
r
eq
u
en
cy
an
d
v
o
ltag
e
ac
co
r
d
in
g
to
win
d
co
n
d
itio
n
s
.
Fo
r
co
n
tr
o
l
an
d
an
aly
s
is
,
th
e
d
y
n
am
ic
m
o
d
el
o
f
th
e
Per
m
an
en
t
PMSG
is
o
f
ten
ex
p
r
ess
ed
in
th
e
d
-
q
r
o
tatin
g
r
e
f
er
en
ce
f
r
am
e.
I
n
t
h
is
f
r
am
e,
th
e
q
-
ax
is
lea
d
s
th
e
d
-
a
x
is
b
y
9
0
°
with
r
esp
ec
t
to
t
h
e
d
ir
ec
tio
n
o
f
r
o
tatio
n
,
s
im
p
lify
in
g
th
e
r
ep
r
esen
tatio
n
o
f
v
o
ltag
es,
cu
r
r
en
ts
,
a
n
d
f
lu
x
lin
k
ag
es.
T
h
e
m
ath
em
atica
l
f
o
r
m
u
latio
n
p
r
o
v
id
es
a
f
o
u
n
d
a
tio
n
f
o
r
an
aly
zin
g
a
n
d
co
n
tr
o
l
lin
g
PMSMs
u
n
d
er
v
ar
iab
le
o
p
e
r
atin
g
c
o
n
d
itio
n
s
.
B
y
tr
an
s
f
o
r
m
in
g
th
e
m
ac
h
in
e
m
o
d
el
in
to
th
e
d
-
q
r
ef
e
r
en
ce
f
r
am
e,
th
e
s
y
s
tem
b
ec
o
m
es
ea
s
ier
to
co
n
tr
o
l
w
h
ile
p
r
eser
v
in
g
ac
cu
r
ac
y
in
r
ep
r
esen
tin
g
its
d
y
n
am
ic
b
eh
av
i
o
r
.
T
h
is
f
r
am
ewo
r
k
is
ess
en
tial
f
o
r
im
p
lem
en
tin
g
a
d
v
an
ce
d
c
o
n
tr
o
l
tech
n
iq
u
es
s
u
c
h
as
DT
C
an
d
SMC
in
win
d
e
n
er
g
y
a
p
p
licatio
n
s
[2
4
]
.
T
h
e
m
ath
e
m
atica
l m
o
d
el
o
f
th
e
PMSM
in
th
e
d
-
q
r
ef
er
en
ce
f
r
am
e
is
g
iv
e
n
b
y
(
1
2
)
–
(
1
5
)
.
=
+
−
(
1
2
)
=
+
−
(
1
3
)
=
+
(
1
4
)
=
(
1
5
)
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
is
g
iv
en
b
y
(
1
6
)
[2
4
]
,
[
2
5
]
.
=
3
2
(
(
−
)
+
(
1
6
)
5.
DE
SCR
I
P
T
I
O
N
O
F
SL
I
DIN
G
M
O
DE
CO
N
T
RO
L
T
h
e
im
p
lem
en
tatio
n
o
f
t
h
is
co
n
tr
o
l
m
eth
o
d
r
e
q
u
ir
es m
ain
ly
t
h
r
ee
s
tep
s
.
5
.
1
.
Sli
din
g
s
urf
a
ce
s
T
h
ey
pr
o
p
o
s
e
a
f
o
r
m
o
f
g
en
e
r
al
eq
u
atio
n
to
d
ete
r
m
in
e
th
e
s
lid
in
g
s
u
r
f
ac
e
[
2
6
]
.
T
h
e
m
a
th
em
atica
l
f
o
r
m
u
latio
n
o
f
t
h
e
s
lid
in
g
s
u
r
f
ac
e,
er
r
o
r
f
u
n
ctio
n
,
a
n
d
L
y
a
p
u
n
o
v
s
tab
ilit
y
co
n
d
itio
n
is
p
r
ese
n
ted
in
(
1
7
)
–
(
1
9
)
.
(
,
)
=
(
+
)
n
-
1
(
)
(
17)
Her
e,
(
)
is
th
e
er
r
o
r
in
th
e
o
u
tp
u
t state
an
d
is
a
p
o
s
itiv
e
co
ef
f
i
cien
t.
(
)
=
(
)
−
(
)
(
1
8
)
T
h
e
co
n
v
er
g
e
n
ce
co
n
d
itio
n
is
d
ef
in
ed
b
y
th
e
e
q
u
atio
n
o
f
L
y
ap
u
n
o
v
:
̇
≺
0
(
1
9
)
5
.
2
.
Co
ntr
o
ller
d
esig
n
C
o
n
s
eq
u
en
tly
,
th
e
s
tr
u
ctu
r
e
o
f
a
c
o
n
tr
o
ller
co
n
s
is
ts
o
f
t
wo
p
ar
ts
:
a
f
i
r
s
t
co
n
ce
r
n
in
g
th
e
ex
ac
t
l
in
ea
r
izatio
n
an
d
a
s
ec
o
n
d
s
tab
ilizin
g
[
2
7
].
(
)
=
(
)
+
(
2
0
)
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
S
lid
in
g
-
mo
d
e
a
s
s
is
ted
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l fo
r
r
elia
b
le
w
in
d
tu
r
b
in
e
o
p
era
tio
n
(
N
eh
a
l O
u
a
s
s
il
a
)
1185
(
)
c
o
r
r
esp
o
n
d
s
to
th
e
e
q
u
iv
alen
t
co
n
tr
o
l
s
u
g
g
ested
[
2
8
]
,
it
is
c
alcu
lated
o
n
b
asis
o
f
th
e
s
y
s
tem
b
eh
av
i
o
r
alo
n
g
th
e
s
lid
in
g
m
o
d
e
d
escr
ib
ed
b
y
(
2
1
)
a
n
d
(
2
2
)
.
̇
(
,
)
=
0
(
2
1
)
=
−
(
)
(
2
2
)
5
.
3
.
Sim
ula
t
i
o
n a
nd
r
esu
lt
s
B
ased
o
n
th
e
af
o
r
em
en
tio
n
ed
d
escr
ip
tio
n
o
f
th
e
s
y
s
tem
an
d
its
o
p
er
atin
g
m
o
d
es,
th
e
s
im
u
latio
n
m
o
d
el
o
f
th
e
s
tu
d
ied
s
y
s
tem
is
d
ev
elo
p
ed
in
MA
T
L
AB
.
T
h
e
s
im
u
latio
n
m
o
d
el
is
p
r
esen
ted
as
f
o
llo
ws.
Fig
u
r
e
4
illu
s
tr
ates th
e
d
ev
elo
p
ed
s
im
u
latio
n
m
o
d
el
o
f
th
e
s
tu
d
ied
s
y
s
tem
.
Fig
u
r
e
4
.
Gen
e
r
al
s
im
u
latio
n
b
lo
ck
o
f
PMSG/
w
in
d
-
tu
r
b
in
e
6.
ANALY
SI
S O
F
R
E
SU
L
T
S
T
h
e
co
m
p
a
r
ativ
e
an
aly
s
is
o
f
s
im
u
latio
n
(
Fig
u
r
e
4
)
r
esu
lts
r
e
v
ea
ls
clea
r
d
is
tin
ctio
n
s
b
etwe
en
th
e
two
co
n
tr
o
l
s
tr
ateg
ies.
Fo
r
to
r
q
u
e
co
n
tr
o
l,
DT
C
ac
h
iev
es
r
ap
id
d
y
n
am
ic
r
esp
o
n
s
e
with
m
in
i
m
al
co
m
p
u
tatio
n
al
co
m
p
lex
ity
; h
o
wev
er
,
n
o
ticea
b
le
to
r
q
u
e
r
ip
p
les ar
e
o
b
s
er
v
e
d
,
wh
ich
m
a
y
lead
to
m
ec
h
an
i
ca
l stre
s
s
an
d
r
ed
u
ce
s
y
s
tem
life
tim
e.
I
n
co
n
tr
ast,
SMC
m
ain
tain
s
a
s
m
o
o
th
er
to
r
q
u
e
r
esp
o
n
s
e
with
n
e
g
l
ig
ib
le
o
s
cillatio
n
s
,
d
em
o
n
s
tr
atin
g
s
u
p
e
r
io
r
r
o
b
u
s
tn
ess
u
n
d
er
s
u
d
d
en
win
d
s
p
ee
d
v
ar
iatio
n
s
an
d
p
ar
am
eter
u
n
ce
r
tain
ties
(F
ig
u
r
es
5
an
d
6
)
.
I
n
ter
m
s
o
f
f
lu
x
c
o
n
tr
o
l,
DT
C
p
r
o
v
id
es
ac
cu
r
ate
f
lu
x
t
r
ac
k
in
g
b
u
t
is
s
en
s
itiv
e
to
s
tato
r
r
esis
tan
ce
v
ar
iatio
n
s
an
d
tem
p
er
atu
r
e
ef
f
ec
ts
.
SMC
,
o
n
th
e
o
th
er
h
a
n
d
,
e
x
h
ib
its
a
s
tab
le
f
lu
x
tr
ajec
to
r
y
th
at
r
em
ain
s
co
n
s
is
ten
t
ev
en
u
n
d
er
p
a
r
am
eter
d
ev
iatio
n
s
,
e
n
s
u
r
in
g
r
eliab
le
m
ac
h
i
n
e
p
er
f
o
r
m
a
n
ce
.
Sp
ee
d
r
eg
u
latio
n
r
esu
lts
f
u
r
th
e
r
co
n
f
ir
m
th
at
SMC
o
f
f
er
s
f
aster
s
e
ttli
n
g
tim
es
an
d
s
m
aller
o
v
er
s
h
o
o
t
co
m
p
ar
ed
to
DT
C
,
p
ar
ticu
lar
ly
u
n
d
er
a
b
r
u
p
t c
h
an
g
es in
win
d
s
p
ee
d
(F
ig
u
r
es 7
an
d
8
)
.
Ov
er
all,
th
e
in
te
g
r
atio
n
o
f
SMC
in
to
PMSM
-
b
ased
win
d
en
er
g
y
s
y
s
tem
s
en
h
an
ce
s
th
e
ef
f
icien
cy
o
f
p
o
wer
ex
tr
ac
tio
n
,
r
ed
u
ce
s
s
tr
e
s
s
o
n
th
e
m
ec
h
an
ical
co
m
p
o
n
en
ts
,
an
d
en
s
u
r
es
s
tab
le
o
p
er
atio
n
u
n
d
er
f
lu
ctu
atin
g
en
v
ir
o
n
m
en
ta
l
co
n
d
itio
n
s
.
T
h
ese
f
in
d
in
g
s
s
u
g
g
est
th
at
SMC
ca
n
b
e
c
o
n
s
id
er
ed
a
m
o
r
e
r
eliab
le
alter
n
ativ
e
to
co
n
v
en
tio
n
al
DT
C
f
o
r
ad
v
an
ce
d
win
d
en
er
g
y
co
n
v
er
s
io
n
s
y
s
te
m
s
.
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
.
3
,
Sep
tem
b
er
20
2
6
:
1
1
8
0
-
1
1
8
9
1186
Fig
u
r
e
5
.
E
v
o
lu
tio
n
o
f
t
h
e
t
o
r
q
u
e
(
SMC
)
Fig
u
r
e
6
.
E
v
o
lu
tio
n
o
f
t
h
e
cu
r
r
en
ts
(
DT
C
)
Fig
u
r
e
7
.
E
v
o
lu
tio
n
o
f
t
h
e
t
o
r
q
u
e
(
DT
C
)
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
S
lid
in
g
-
mo
d
e
a
s
s
is
ted
d
ir
ec
t to
r
q
u
e
co
n
tr
o
l fo
r
r
elia
b
le
w
in
d
tu
r
b
in
e
o
p
era
tio
n
(
N
eh
a
l O
u
a
s
s
il
a
)
1187
Fig
u
r
e
8
.
E
v
o
lu
tio
n
o
f
t
h
e
cu
r
r
en
ts
(
SMC
)
7.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
p
r
esen
ted
a
c
o
m
p
ar
ativ
e
in
v
esti
g
atio
n
o
f
two
ad
v
an
ce
d
co
n
tr
o
l
s
tr
ateg
ies,
DT
C
an
d
SMC
,
ap
p
lied
to
a
PMSG
in
teg
r
ated
in
a
win
d
tu
r
b
in
e
(
a
er
o
g
en
e
r
ato
r
)
f
o
r
win
d
en
er
g
y
co
n
v
er
s
io
n
.
T
h
e
an
aly
s
is
was
ca
r
r
ied
o
u
t
th
r
o
u
g
h
d
etailed
s
im
u
latio
n
r
esu
lts
,
f
o
cu
s
in
g
o
n
k
ey
p
er
f
o
r
m
a
n
ce
asp
ec
ts
s
u
ch
as
elec
tr
o
m
ag
n
etic
t
o
r
q
u
e
r
esp
o
n
s
e,
s
tato
r
f
lu
x
b
eh
av
i
o
r
,
s
p
ee
d
r
e
g
u
latio
n
,
an
d
r
o
b
u
s
tn
ess
u
n
d
er
d
is
tu
r
b
an
ce
s
an
d
p
ar
am
eter
u
n
ce
r
tain
ties
.
T
h
e
s
im
u
l
ati
o
n
r
es
u
lts
d
em
o
n
s
t
r
ate
d
t
h
at
t
h
e
D
T
C
s
t
r
at
e
g
y
e
n
s
u
r
es
a
f
ast
d
y
n
a
m
ic
r
es
p
o
n
s
e
an
d
b
en
ef
its
f
r
o
m
a
r
el
ati
v
e
ly
s
im
p
l
e
co
n
t
r
o
l
s
t
r
u
ct
u
r
e
,
w
h
i
ch
m
ak
es
i
t
att
r
ac
ti
v
e
f
o
r
p
r
a
cti
ca
l
im
p
le
m
e
n
t
ati
o
n
.
N
ev
er
th
el
ess
,
t
h
is
m
e
th
o
d
e
x
h
i
b
its
s
i
g
n
if
ica
n
t
t
o
r
q
u
e
a
n
d
f
l
u
x
r
i
p
p
les
an
d
s
h
o
ws
s
en
s
iti
v
i
ty
t
o
p
a
r
a
m
e
te
r
v
a
r
i
ati
o
n
s
,
w
h
i
ch
m
ay
a
f
f
ec
t t
h
e
o
v
e
r
a
ll
p
er
f
o
r
m
a
n
ce
o
f
th
e
wi
n
d
e
n
er
g
y
c
o
n
v
e
r
s
i
o
n
s
y
s
te
m
.
I
n
co
n
tr
ast,
th
e
SMC
ap
p
r
o
ac
h
p
r
o
v
i
d
es
b
etter
r
o
b
u
s
tn
ess
a
g
ain
s
t
m
o
d
el
u
n
ce
r
tain
ties
an
d
ex
ter
n
al
d
is
tu
r
b
an
ce
s
.
I
t
also
en
s
u
r
es
s
m
o
o
th
er
t
o
r
q
u
e
b
eh
a
v
io
r
a
n
d
m
o
r
e
s
tab
le
s
p
ee
d
r
e
g
u
latio
n
,
wh
ich
ar
e
ess
en
tial
f
o
r
r
eliab
le
o
p
er
ati
o
n
an
d
ef
f
icien
t
en
er
g
y
co
n
v
er
s
io
n
in
wi
n
d
tu
r
b
in
e
s
y
s
tem
s
o
p
er
atin
g
u
n
d
er
v
a
r
iab
le
win
d
co
n
d
itio
n
s
.
T
h
er
ef
o
r
e,
th
e
o
b
tain
ed
r
esu
lts
in
d
icate
th
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7
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1
8
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.
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[
19
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[
20
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[
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[
22
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[
23
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[
26
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[
27
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A
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c
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s,
a
n
d
sh
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w
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d
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p
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ti
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lec
tu
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t
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h
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U
n
iv
e
rsity
o
f
Co
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sta
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fo
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th
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y
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b
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fo
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jo
in
i
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g
t
h
e
Un
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ss
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.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
o
u
a
ss
il
a
.
n
e
h
a
l@u
n
i
v
.
teb
e
ss
a
.
d
z
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
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1189
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Dja
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rre
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w
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th
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in
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in
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n
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h
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is
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re
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in
se
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jo
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rn
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ls.
Hi
s
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rc
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in
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sts a
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:
p
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s,
p
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,
a
n
d
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n
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le en
e
rg
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.
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c
a
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c
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tac
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a
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m
a
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:
jale
l.
d
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d
z
.
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h
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s
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t
ly
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rk
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a
s
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p
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r
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t
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k
o
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c
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th
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p
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rtme
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t
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f
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e
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tri
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n
g
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t
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Un
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v
e
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o
f
An
n
a
b
a
,
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e
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He
h
a
s
p
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ip
a
ted
in
se
v
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ra
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tern
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v
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ra
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p
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v
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s
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tern
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ti
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a
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j
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u
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a
ls.
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re
se
a
rc
h
in
tere
sts
in
c
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p
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tro
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p
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c
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n
v
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rters
,
d
e
sig
n
o
f
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lec
tri
c
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l
m
a
c
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s,
c
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n
tro
l
,
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n
d
p
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ty
/ren
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e
n
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rg
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He
c
a
n
b
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c
o
n
tac
ted
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t
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m
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:
b
il
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l.
m
a
g
h
n
i@
u
n
i
v
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a
n
n
a
b
a
.
d
z
.
Dib
No
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a
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.
c
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id
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m
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g
u
isti
c
s
a
t
th
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Un
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e
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y
o
f
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f
a
x
,
Tu
n
isia.
S
h
e
o
b
tain
e
d
h
e
r
m
a
ste
r’s
d
e
g
re
e
in
th
e
sc
ien
c
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o
f
la
n
g
u
a
g
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s
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n
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g
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in
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g
l
ish
lan
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u
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g
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a
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d
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it
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ra
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re
fro
m
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e
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r
d
o
c
to
ra
l
re
se
a
rc
h
fo
c
u
se
s
o
n
su
b
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d
isc
ip
li
n
a
ry
v
a
riatio
n
in
a
c
a
d
e
m
ic
d
isc
o
u
rse
.
S
h
e
p
a
rti
c
ip
a
ted
in
a
c
a
d
e
m
ic
se
m
i
n
a
rs,
li
n
g
u
isti
c
a
n
a
l
y
sis
wo
r
k
sh
o
p
s,
a
n
d
c
o
l
lab
o
ra
ti
v
e
d
isc
u
ss
io
n
s
o
n
d
isc
o
u
rse
stu
d
ies
a
n
d
sy
ste
m
ic
fu
n
c
ti
o
n
a
l
li
n
g
u
i
stics
.
Are
a
s
o
f
e
x
p
e
rti
se
:
sy
ste
m
ic
fu
n
c
ti
o
n
a
l
li
n
g
u
isti
c
s,
d
isc
o
u
rse
a
n
a
ly
sis,
a
c
a
d
e
m
ic
writi
n
g
,
g
e
n
re
st
u
d
ies
,
a
n
d
lan
g
u
a
g
e
sc
ien
c
e
s.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
n
o
u
re
lh
o
u
d
a
.
d
ib
@flsh
s.u
-
sfa
x
.
t
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.