I
nte
rna
t
io
na
l J
o
urna
l o
f
P
o
wer
E
lect
ro
nics
a
nd
Driv
e
S
y
s
t
em
(
I
J
P
E
DS)
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
,
p
p
.
1
6
8
8
~
1
7
0
1
I
SS
N:
2
0
8
8
-
8
6
9
4
,
DOI
: 1
0
.
1
1
5
9
1
/ijp
ed
s
.
v
1
7
.
i
3
.
p
p
1
6
8
8
-
1
7
0
1
1688
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
p
e
d
s
.
ia
esco
r
e.
co
m
Perf
o
rma
nce
inde
x
f
o
r
optimiza
tion
method
ba
sed
on
PMSM
drives
usi
ng
ABC
a
nd
PS
O
L
eo
ng
H
ui E
e
1
,
J
urif
a
M
a
t
L
a
zi
1
,
M
o
hd
Ruza
ini
H
a
s
him
1
,
M
d H
a
irul Niz
a
m
T
a
lib
1
,
A
zr
it
a
Alia
s
1
,
Ang
g
un
Anug
ra
h
2
1
D
e
p
a
r
t
me
n
t
o
f
El
e
c
t
r
i
c
a
l
En
g
i
n
e
e
r
i
n
g
,
F
a
c
u
l
t
y
o
f
E
l
e
c
t
r
i
c
a
l
T
e
c
h
n
o
l
o
g
y
a
n
d
En
g
i
n
e
e
r
i
n
g
,
U
n
i
v
e
r
si
t
y
T
e
k
n
i
k
a
l
M
a
l
a
y
si
a
M
e
l
a
k
a
(
U
Te
M
)
,
M
e
l
a
k
a
,
M
a
l
a
y
s
i
a
2
F
a
k
u
l
t
i
Te
k
n
o
l
o
g
i
I
n
d
u
st
r
i
,
I
n
st
i
t
u
t
T
e
k
n
o
l
o
g
i
P
a
d
a
n
g
,
P
a
d
a
n
g
,
I
n
d
o
n
e
si
a
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Oct
1
3
,
2
0
2
5
R
ev
is
ed
Au
g
3
,
2
0
2
6
Acc
ep
ted
Au
g
1
4
,
2
0
2
6
Th
e
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
ro
n
o
u
s
m
o
t
o
r
(P
M
S
M
)
is
c
o
m
m
o
n
l
y
u
se
d
i
n
in
d
u
strial
a
n
d
h
o
m
e
a
p
p
l
ian
c
e
s
fo
r
it
s
h
ig
h
e
fficie
n
c
y
a
n
d
d
y
n
a
m
ic
p
e
rfo
rm
a
n
c
e
.
I
n
th
is
re
se
a
rc
h
,
a
P
M
S
M
d
riv
e
b
a
se
d
o
n
fiel
d
-
o
rien
ted
c
o
n
tro
l
(F
OC)
is
d
e
sig
n
e
d
a
n
d
sim
u
late
d
u
sin
g
M
ATLAB/S
im
u
li
n
k
.
Th
e
sp
e
e
d
c
o
n
tr
o
ll
e
r
o
f
t
h
e
d
r
iv
e
i
s
tu
n
e
d
u
si
n
g
th
e
tri
a
l
-
a
n
d
-
e
rr
o
r
m
e
th
o
d
.
Ho
we
v
e
r,
th
e
m
e
th
o
d
re
q
u
ires
m
o
re
ti
m
e
fo
r
tes
ti
n
g
a
n
d
a
d
ju
stm
e
n
t
o
f
th
e
sp
e
e
d
c
o
n
tr
o
ll
e
r
t
o
g
e
n
e
ra
te
a
n
o
p
t
ima
l
o
u
tp
u
t
re
sp
o
n
se
.
T
h
u
s
,
p
a
rti
c
le
sw
a
rm
o
p
ti
m
iza
ti
o
n
(P
S
O)
a
n
d
a
rti
ficia
l
b
e
e
c
o
lo
n
y
(
ABC)
a
lg
o
rit
h
m
s,
wh
ich
re
q
u
ire
les
s
c
o
m
p
u
tatio
n
a
l
e
ffo
rt
a
n
d
e
ffe
c
ti
v
e
l
y
p
r
o
d
u
c
e
g
o
o
d
re
sp
o
n
se
s,
a
re
u
se
d
t
o
o
p
ti
m
ize
t
h
e
sp
e
e
d
c
o
n
tr
o
ll
e
r
o
f
th
e
d
ri
v
e
.
P
S
O
a
n
d
ABC
a
lso
o
f
fe
r
a
n
a
t
trac
ti
v
e
o
p
ti
m
iza
ti
o
n
fra
m
e
wo
rk
b
e
c
a
u
s
e
o
f
t
h
e
ir
in
d
e
p
e
n
d
e
n
t
,
a
g
n
o
stic
m
o
d
e
l
str
u
c
tu
re
s,
g
lo
b
a
l
se
a
rc
h
in
g
c
a
p
a
b
il
it
y
,
a
n
d
lo
w
-
lo
a
d
re
a
l
-
ti
m
e
c
a
lcu
latio
n
.
In
th
is
stu
d
y
,
th
e
re
su
lt
s
o
b
tai
n
e
d
fro
m
d
iffere
n
t
t
u
n
in
g
m
e
th
o
d
s
a
re
c
o
m
p
a
re
d
to
d
e
term
in
e
t
h
e
b
e
st
o
p
ti
m
iza
ti
o
n
m
e
th
o
d
o
f
th
e
s
p
e
e
d
c
o
n
tro
ll
e
r
in
th
e
P
M
S
M
d
r
iv
e
u
n
d
e
r
d
iffere
n
t
o
p
e
ra
ti
o
n
s.
Oth
e
r
th
a
n
th
a
t,
p
e
rfo
rm
a
n
c
e
m
e
a
su
re
s
su
c
h
a
s
in
teg
ra
l
sq
u
a
re
e
rro
r
(IS
E)
,
i
n
teg
ra
l
a
b
so
l
u
te
e
rr
o
r
(IAE),
a
n
d
i
n
teg
ra
l
ti
m
e
a
b
so
lu
te
e
rro
r
(IT
AE)
,
wh
ic
h
a
re
c
o
m
m
o
n
l
y
u
se
d
t
o
m
e
a
su
re
th
e
e
ffe
c
ti
v
e
n
e
ss
o
f
a
c
o
n
tro
ll
e
r,
a
re
a
lso
d
isc
u
ss
e
d
.
Th
e
re
su
lt
s
sh
o
w
th
a
t
th
e
P
M
S
M
d
r
iv
e
b
a
se
d
o
n
t
h
e
ITAE
c
rit
e
rio
n
u
si
n
g
th
e
ABC
a
lg
o
ri
th
m
g
iv
e
s
b
e
tt
e
r
p
e
rfo
rm
a
n
c
e
u
n
d
e
r
d
iffere
n
t
c
o
n
d
it
i
o
n
s.
K
ey
w
o
r
d
s
:
AB
C
alg
o
r
ith
m
Op
tim
izatio
n
Per
f
o
r
m
an
ce
i
n
d
ex
PMSM
d
r
iv
es
PS
O
alg
o
r
ith
m
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
J
u
r
if
a
Ma
t L
az
i
Dep
ar
tm
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
Facu
lty
o
f
E
lectr
ical
E
n
g
in
ee
r
in
g
Un
iv
er
s
iti T
ek
n
ik
al
Ma
lay
s
ia
Me
lak
a
(
UT
eM
)
Du
r
ian
T
u
n
g
g
al,
Me
lak
a
,
Ma
l
ay
s
ia
E
m
ail: ju
r
if
a@
u
tem
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
A
p
er
m
an
en
t
m
ag
n
et
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
(
PMSM)
is
a
th
r
ee
-
p
h
ase
alter
n
atin
g
cu
r
r
en
t
(
AC
)
s
y
n
ch
r
o
n
o
u
s
elec
tr
ic
m
o
to
r
th
at
r
u
n
s
at
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
with
th
e
s
u
p
p
ly
o
f
an
AC
s
o
u
r
ce
.
I
t
is
p
o
p
u
lar
d
u
e
to
its
f
ast
r
esp
o
n
s
e,
h
ig
h
ef
f
ic
ien
cy
,
h
i
g
h
p
o
wer
d
en
s
ity
,
h
i
g
h
d
y
n
am
ic
p
er
f
o
r
m
an
ce
,
an
d
ab
ilit
y
to
m
ain
tain
f
u
ll
to
r
q
u
e
at
lo
w
s
p
ee
d
[
1
]
,
[
2
]
.
PMSM
is
w
id
ely
u
s
ed
in
m
an
y
ap
p
licatio
n
s
s
u
ch
a
s
elec
tr
ic
v
eh
icles,
r
o
b
o
tics
,
s
er
v
o
d
r
i
v
es,
lar
g
e
p
o
wer
s
y
s
tem
s
,
an
d
s
o
m
e
h
o
m
e
ap
p
lian
ce
s
.
I
n
o
r
d
er
to
m
a
k
e
t
h
e
task
s
o
f
PMSM
ea
s
ily
co
n
tr
o
lled
o
r
r
e
d
u
ce
t
h
e
r
ip
p
les
o
f
to
r
q
u
e
in
PMSM,
s
o
m
e
co
n
t
r
o
l
s
ch
em
es
ar
e
r
eq
u
ir
ed
.
I
n
g
e
n
er
al,
th
e
co
n
tr
o
l
tec
h
n
iq
u
es
o
f
m
o
to
r
d
r
iv
es
to
elim
in
ate
to
r
q
u
e
r
i
p
p
l
es
ca
n
b
e
ca
teg
o
r
ized
as
s
ca
la
r
co
n
t
r
o
l
a
n
d
v
ec
to
r
co
n
tr
o
l
[
3
]
,
[
4
]
.
Vec
to
r
co
n
tr
o
l,
s
u
ch
as
f
ield
-
o
r
ie
n
ted
c
o
n
tr
o
l
(
FOC
)
an
d
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
,
is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
P
erfo
r
ma
n
ce
in
d
ex
fo
r
o
p
timiz
a
tio
n
meth
o
d
b
a
s
ed
o
n
P
MS
M
d
r
ives u
s
in
g
A
B
C
and
P
S
O
(
Leo
n
g
Hu
i E
e
)
1689
co
m
m
o
n
l
y
u
s
ed
to
co
n
tr
o
l
th
e
o
u
tp
u
t
p
er
f
o
r
m
an
ce
o
f
PMSM.
Gen
er
ally
,
m
o
s
t
o
f
th
e
PMSM
d
r
iv
es
u
s
e
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
(
PI)
o
r
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
-
d
if
f
e
r
e
n
tial
(
PID
)
co
n
tr
o
ller
s
to
co
n
tr
o
l
th
e
o
u
t
p
u
t
p
er
f
o
r
m
an
ce
[
5
]
,
[
6
]
.
I
n
o
r
d
er
to
ad
ju
s
t
th
e
co
n
tr
o
ller
p
ar
am
eter
s
,
th
er
e
ar
e
m
an
y
t
ec
h
n
iq
u
es,
s
u
ch
as
co
n
v
en
tio
n
al
tu
n
in
g
m
eth
o
d
s
o
r
s
to
ch
asti
c
o
p
tim
izatio
n
alg
o
r
ith
m
s
,
th
at
ca
n
b
e
u
s
ed
[
7
]
.
T
h
e
co
n
v
en
tio
n
al
m
eth
o
d
s
,
s
u
ch
as
tr
ial
a
n
d
er
r
o
r
an
d
Z
ieg
ler
-
Nich
o
ls
,
ar
e
ea
s
y
to
u
n
d
e
r
s
tan
d
an
d
u
s
e
f
o
r
c
o
n
tr
o
ller
tu
n
in
g
[
8
]
,
[
9
]
.
Ho
we
v
er
,
c
o
n
v
e
n
tio
n
al
m
eth
o
d
s
r
eq
u
ir
e
a
l
o
n
g
e
r
tim
e
f
o
r
test
in
g
an
d
ad
ju
s
tm
e
n
t
o
f
th
e
co
n
t
r
o
ller
p
ar
am
eter
s
.
I
n
ad
d
itio
n
,
th
e
c
o
n
tr
o
ller
p
a
r
am
eter
s
o
b
tain
e
d
u
s
in
g
co
n
v
e
n
tio
n
al
m
eth
o
d
s
ar
e
n
o
lo
n
g
er
s
u
itab
le
to
g
en
er
ate
o
p
tim
u
m
p
er
f
o
r
m
an
ce
if
th
e
s
p
ee
d
o
r
co
n
d
itio
n
ch
an
g
ed
wh
e
r
e
it
m
ay
ca
u
s
e
th
e
p
er
f
o
r
m
an
ce
o
f
PMSM
d
r
iv
es
to
d
eg
r
a
d
e.
T
h
u
s
,
o
p
tim
izatio
n
alg
o
r
ith
m
s
s
u
ch
as
p
a
r
ticle
s
war
m
o
p
tim
iza
tio
n
(
PS
O)
,
g
en
etic
alg
o
r
ith
m
(
GA)
,
d
if
f
er
e
n
tial
ev
o
lu
tio
n
(
DE
)
,
ar
tific
ial
b
ee
co
lo
n
y
(
AB
C
)
alg
o
r
ith
m
,
an
d
s
o
o
n
,
wh
ich
ar
e
s
im
p
le,
ef
f
ec
tiv
e
,
an
d
f
aster
,
c
an
au
to
m
atica
lly
tu
n
e
th
e
co
n
t
r
o
ller
g
ai
n
s
b
ased
o
n
d
if
f
e
r
en
t
o
p
er
atio
n
s
.
I
n
th
e
p
r
ev
io
u
s
s
tu
d
y
[
10
]
,
PS
O
o
p
ti
m
izatio
n
an
d
Z
ieg
ler
-
Nich
o
ls
’
m
eth
o
d
ar
e
u
s
ed
to
o
b
tain
th
e
PI
p
ar
a
m
eter
s
f
o
r
m
in
im
izin
g
th
e
s
tead
y
-
s
tate
er
r
o
r
o
f
th
e
s
p
ee
d
o
f
th
e
PMSM
d
r
iv
e.
T
h
e
p
a
r
t
i
c
l
e
s
w
a
r
m
o
p
ti
m
i
z
at
i
o
n
(
P
S
O
)
is
a
m
et
a
h
e
u
r
is
t
i
c
a
l
g
o
r
i
t
h
m
t
h
a
t
wa
s
i
n
v
e
n
t
e
d
b
y
K
en
n
e
d
y
a
n
d
E
b
e
r
h
a
r
t
.
I
t
i
s
b
a
s
e
d
o
n
t
h
e
i
d
e
a
o
f
s
w
a
r
m
i
n
t
e
ll
i
g
e
n
c
e
,
s
k
i
l
l
ed
t
o
s
o
l
v
e
c
o
m
p
o
u
n
d
m
a
t
h
e
m
a
t
i
c
a
l
p
r
o
b
l
e
m
s
i
n
t
h
e
e
n
g
i
n
e
e
r
i
n
g
f
i
e
l
d
.
A
r
a
n
d
o
m
g
l
o
b
a
l
s
e
a
r
c
h
t
h
r
o
u
g
h
a
n
n
-
d
i
m
e
n
s
i
o
n
a
l
p
r
o
b
l
e
m
w
a
s
e
x
e
cu
t
e
d
t
o
i
m
p
r
o
v
e
a
n
o
b
j
e
c
t
i
v
e
f
u
n
c
ti
o
n
o
f
t
h
e
p
r
o
b
l
e
m
b
y
k
e
e
p
i
n
g
i
n
f
o
r
m
e
d
o
f
th
e
s
w
a
r
m
l
o
c
a
ti
o
n
a
n
d
v
e
l
o
cit
y
[
1
1
]
,
[
1
2
]
.
T
h
i
s
t
e
c
h
n
i
q
u
e
c
a
n
u
s
u
a
l
l
y
b
e
u
s
e
d
f
o
r
a
n
o
b
j
e
c
t
i
v
e
f
u
n
c
t
i
o
n
t
h
a
t
ca
n
n
o
t
b
e
d
e
r
i
v
e
d
.
I
t
s
o
p
e
r
a
t
i
o
n
i
s
v
e
r
y
s
i
m
p
l
e
a
n
d
h
a
s
s
t
r
o
n
g
c
o
n
v
e
r
g
e
n
c
e
t
o
t
h
e
o
p
t
i
m
u
m
s
o
l
u
t
i
o
n
.
A
n
o
t
h
e
r
r
e
s
e
a
r
c
h
s
t
u
d
y
i
n
[
1
3
]
u
s
e
d
t
h
e
P
SO
a
l
g
o
r
i
t
h
m
c
o
m
b
i
n
e
d
w
i
t
h
t
h
e
d
ee
p
d
e
t
er
m
i
n
i
s
ti
c
p
o
li
c
y
g
r
a
d
i
e
n
t
(
D
DP
G
)
al
g
o
r
i
t
h
m
t
o
t
r
a
c
k
t
h
e
s
p
e
e
d
c
o
n
t
r
o
l
o
f
t
h
e
P
M
SM
d
r
i
v
e
.
T
h
e
r
e
s
u
l
ts
s
h
o
w
e
d
t
h
a
t
t
h
e
t
r
a
n
s
i
e
n
t
r
e
s
p
o
n
s
e
o
f
t
h
e
P
M
S
M
d
r
i
v
e
h
a
s
i
m
p
r
o
v
e
d
w
h
e
n
a
l
o
a
d
i
s
a
p
p
l
i
e
d
.
B
as
e
d
o
n
t
h
e
r
es
e
a
r
ch
[
1
4
]
,
[
1
5
]
s
h
o
w
e
d
t
h
a
t
t
h
e
P
S
O
a
l
g
o
r
i
t
h
m
c
a
n
f
i
n
d
t
h
e
o
p
t
i
m
u
m
P
I
g
a
i
n
s
t
o
p
r
o
d
u
c
e
b
e
t
t
e
r
s
p
e
e
d
p
e
r
f
o
r
m
a
n
c
e
i
n
s
t
e
a
d
y
-
s
t
a
te
e
r
r
o
r
o
f
th
e
P
MS
M
d
r
i
v
e
w
h
e
n
c
o
m
p
ar
e
d
t
o
t
h
e
h
e
u
r
is
tic
m
e
t
h
o
d
.
P
r
e
v
i
e
w
s
t
u
d
y
[
1
6
]
u
s
e
d
a
P
I
c
o
n
t
r
o
l
l
e
r
t
h
a
t
i
s
a
d
j
u
s
te
d
u
s
i
n
g
t
w
o
a
p
p
r
o
a
c
h
e
s
:
m
a
n
u
a
l
t
u
n
i
n
g
a
n
d
t
h
e
n
u
s
i
n
g
t
h
e
P
S
O
m
e
t
h
o
d
.
T
h
e
s
y
s
t
e
m
s
a
r
e
t
es
t
e
d
u
n
d
e
r
d
i
f
f
e
r
e
n
t
o
p
e
r
a
t
i
n
g
c
o
n
d
i
t
i
o
n
s
.
T
h
e
s
i
m
u
l
a
t
i
o
n
r
e
s
u
lt
s
d
e
m
o
n
s
t
r
a
t
e
a
g
o
o
d
r
e
s
p
o
n
s
e
w
i
t
h
s
h
o
r
t
r
e
c
o
v
e
r
y
t
i
m
e
a
n
d
al
i
g
n
w
it
h
e
x
p
e
r
i
m
e
n
ta
l
t
e
s
t
i
n
g
.
In
[
1
7
]
a
n
d
[
1
8
]
,
t
h
e
P
M
SM
d
r
i
v
e
s
,
t
u
n
e
d
b
y
o
p
t
i
m
i
z
a
t
i
o
n
s
u
c
h
a
s
P
S
O
,
a
r
e
a
ls
o
c
o
n
t
r
o
l
l
e
d
b
y
t
h
e
f
u
z
z
y
l
o
g
i
c
c
o
n
t
r
o
l
l
e
r
(
F
L
C
)
.
I
n
[
1
7
]
,
t
h
e
p
r
o
p
o
s
e
d
m
e
t
h
o
d
i
s
a
c
o
m
b
i
n
a
t
i
o
n
o
f
s
y
m
b
i
o
t
i
c
o
r
g
a
n
i
s
m
s
e
a
r
c
h
(
S
OS
)
,
PS
O
,
a
n
d
s
e
w
i
n
g
t
r
a
i
n
e
e
-
b
a
s
e
d
o
p
t
i
m
i
z
at
i
o
n
(
S
T
B
O
)
,
n
a
m
e
d
S
P
S
-
FC
-
T
M
FS
.
W
h
i
l
e
t
h
e
F
L
C
wi
t
h
t
u
n
e
d
a
n
d
d
e
f
o
r
m
e
d
m
e
m
b
e
r
s
h
i
p
f
u
n
c
t
i
o
n
s
(
T
M
FS
)
is
c
a
ll
e
d
FC
-
T
M
F
S
.
B
as
e
d
o
n
t
h
e
r
e
s
u
l
t
s
,
i
t c
a
n
b
e
c
o
n
c
l
u
d
e
d
t
h
a
t
a
d
v
a
n
c
ed
d
e
v
e
l
o
p
m
e
n
t
c
a
n
b
e
a
c
c
o
m
p
l
i
s
h
e
d
b
y
u
s
i
n
g
a
s
t
an
d
a
r
d
F
L
C
o
r
t
u
n
e
d
u
s
i
n
g
i
n
n
o
v
a
t
i
v
e
o
r
s
t
a
t
e
-
of
-
t
h
e
-
a
r
t
o
p
t
i
m
i
z
a
t
i
o
n
a
l
g
o
r
i
t
h
m
s
.
O
t
h
e
r
t
h
a
n
PS
O
,
a
s
w
a
r
m
-
b
ase
d
m
e
t
a
-
h
e
u
r
i
s
t
i
c
a
l
g
o
r
it
h
m
t
h
a
t
u
s
es
t
h
e
i
n
te
l
li
g
e
n
t
s
ea
r
c
h
i
n
g
b
e
h
a
v
i
o
r
o
f
h
o
n
e
y
b
e
e
s
,
w
h
i
c
h
w
a
s
i
n
t
r
o
d
u
c
e
d
i
n
2
0
0
5
b
y
K
a
r
a
b
o
g
a
[
1
9
]
a
n
d
i
t
i
s
k
n
o
w
n
a
s
t
h
e
A
B
C
al
g
o
r
i
t
h
m
.
Pre
v
iew
s
tu
d
y
[
2
0
]
,
th
e
AB
C
alg
o
r
ith
m
is
u
s
ed
to
o
p
tim
ize
t
h
e
m
atr
ix
g
ain
t
h
at
in
f
lu
e
n
ce
s
th
e
o
u
tp
u
t
o
f
th
e
lin
ea
r
q
u
ad
r
atic
g
au
s
s
ian
(
L
QG)
co
n
t
r
o
ller
,
p
r
o
d
u
ci
n
g
a
b
etter
clo
s
ed
-
lo
o
p
s
y
s
tem
tr
an
s
ien
t
r
esp
o
n
s
e
in
a
lar
g
e
an
ten
n
a
s
er
v
o
co
n
tr
o
l
s
y
s
tem
.
T
h
e
r
esu
lts
s
h
o
wed
th
at
th
e
co
n
tr
o
l
ef
f
ec
t
o
f
weig
h
t
o
p
tim
izatio
n
f
o
r
an
L
QG
s
y
s
tem
u
s
in
g
th
e
A
B
C
alg
o
r
ith
m
o
n
a
lar
g
e
an
ten
n
a
s
er
v
o
is
b
etter
th
an
th
at
o
f
th
e
co
n
v
e
n
tio
n
a
l
tr
ial
-
an
d
-
er
r
o
r
m
eth
o
d
,
with
i
m
p
r
o
v
e
d
r
a
p
id
ity
,
s
tab
ilit
y
,
a
n
d
o
v
e
r
s
h
o
o
t
in
th
e
s
y
s
tem
.
B
e
s
id
es
th
at,
th
e
ty
p
es
o
f
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es
th
at
ar
e
u
s
ed
f
o
r
s
elec
tio
n
an
d
tu
n
in
g
o
f
co
n
tr
o
ller
p
a
r
am
eter
s
ar
e
also
im
p
o
r
tan
t.
T
h
e
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es
,
also
ca
lled
p
er
f
o
r
m
an
ce
in
d
ices
,
ar
e
u
s
ed
to
co
m
p
ar
e
th
e
q
u
ality
o
f
co
n
tr
o
lled
r
esp
o
n
s
es
in
o
r
d
er
to
d
eter
m
in
e
wh
ich
p
er
f
o
r
m
an
ce
m
ea
s
u
r
e
is
m
o
r
e
s
u
itab
l
e
u
s
ed
i
n
d
if
f
er
en
t
co
n
tr
o
lled
s
y
s
tem
s
.
I
n
th
is
r
esear
ch
,
th
e
m
ain
p
u
r
p
o
s
e
is
to
m
o
d
el
th
e
PMSM
d
r
iv
e
u
s
in
g
o
p
tim
izatio
n
tu
n
in
g
b
ased
o
n
th
e
AB
C
alg
o
r
ith
m
.
T
h
en
,
v
er
if
y
th
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
p
r
o
p
o
s
ed
im
p
r
o
v
em
en
t
m
eth
o
d
u
s
in
g
th
e
AB
C
alg
o
r
ith
m
co
m
p
ar
ed
to
th
e
co
n
v
en
tio
n
al
tr
ial
-
an
d
-
er
r
o
r
m
et
h
o
d
an
d
PS
O.
Af
ter
th
at,
d
eter
m
in
e
th
e
s
u
itab
le
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es
o
r
er
r
o
r
cr
iter
io
n
u
s
ed
f
o
r
tu
n
i
n
g
th
e
s
p
ee
d
co
n
tr
o
ller
in
th
e
PMSM
d
r
iv
e.
Sin
ce
th
e
d
ev
elo
p
m
e
n
t
o
f
th
e
ar
r
an
g
em
en
t
f
o
r
s
u
r
f
ac
e
-
m
o
u
n
ted
PMSM
is
ea
s
ier
an
d
h
as
h
ig
h
r
e
lu
ctan
ce
as
well
as
lar
g
e
an
d
e
f
f
ec
tiv
e
u
n
if
o
r
m
ai
r
g
ap
s
,
wh
ich
m
ak
e
th
e
s
alien
cy
e
f
f
ec
t
n
eg
lig
ib
le,
th
is
r
es
ea
r
ch
is
f
o
cu
s
ed
o
n
th
e
o
p
er
atio
n
o
f
a
s
u
r
f
ac
e
-
m
o
u
n
ted
PMSM
d
r
iv
e.
T
h
is
s
tu
d
y
d
em
o
n
s
tr
ates
th
e
s
ig
n
if
ican
ce
o
f
PS
O
an
d
AB
C
alg
o
r
ith
m
s
as
ef
f
icien
t
o
p
t
im
izatio
n
f
r
am
ewo
r
k
s
f
o
r
elec
tr
ic
m
o
to
r
d
r
iv
e
s
y
s
tem
s
.
B
y
en
ab
lin
g
th
e
o
p
tim
izatio
n
o
f
co
n
tr
o
lle
r
p
ar
am
ete
r
s
in
an
o
f
f
lin
e
o
r
s
em
i
-
o
f
f
lin
e
o
p
er
ati
o
n
,
PS
O
an
d
AB
C
ef
f
ec
tiv
ely
ad
d
r
ess
n
o
n
lin
ea
r
ities
,
p
ar
am
eter
u
n
ce
r
tain
ties
,
an
d
co
n
f
lictin
g
p
er
f
o
r
m
an
ce
o
b
jectiv
es
with
o
u
t
in
cr
ea
s
in
g
o
n
lin
e
c
o
m
p
u
tatio
n
al
b
u
r
d
en
.
T
h
eir
m
o
d
el
-
ag
n
o
s
tic
n
atu
r
e
f
u
r
t
h
er
e
n
h
a
n
ce
s
r
o
b
u
s
tn
ess
co
m
p
a
r
ed
t
o
p
r
ed
ictiv
e
a
n
d
lear
n
in
g
-
b
ased
co
n
tr
o
ller
s
.
T
h
e
n
o
v
elty
o
f
th
is
wo
r
k
:
˗
Sy
s
tem
atic
co
m
p
ar
is
o
n
o
f
PS
O
-
an
d
AB
C
-
b
ased
o
p
tim
izatio
n
with
d
if
f
er
e
n
t
p
e
r
f
o
r
m
an
ce
in
d
ices
s
u
ch
as
I
SE,
I
AE
,
an
d
I
T
AE
th
at
a
r
e
c
o
m
m
o
n
l
y
u
s
ed
in
m
ea
s
u
r
in
g
t
h
e
ef
f
ec
tiv
en
ess
o
f
PMSM
d
r
i
v
e
p
er
f
o
r
m
an
ce
.
˗
Dem
o
n
s
tr
atio
n
o
f
im
p
r
o
v
ed
p
er
f
o
r
m
a
n
ce
–
co
m
p
lex
ity
tr
a
d
e
-
o
f
f
s
with
o
u
t o
n
lin
e
o
p
tim
izatio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
168
8
-
1
7
0
1
1690
˗
A
f
l
e
x
i
b
l
e
o
p
t
i
m
i
z
at
i
o
n
f
r
a
m
e
w
o
r
k
a
p
p
l
i
c
a
b
l
e
a
c
r
o
s
s
d
i
f
f
e
r
e
n
t
m
o
t
o
r
t
y
p
e
s
a
n
d
c
o
n
t
r
o
l
o
p
t
i
m
i
z
a
t
i
o
n
a
l
g
o
r
i
t
h
m
s
.
T
h
is
s
tu
d
y
estab
lis
h
es
P
SO
an
d
AB
C
as
p
r
ac
tical
an
d
s
ca
lab
le
alter
n
ativ
es
f
o
r
ad
v
a
n
ce
d
m
o
to
r
d
r
iv
e
o
p
tim
izatio
n
.
2.
M
O
DE
L
L
I
NG
O
F
P
M
S
M
D
RIVE
Fig
u
r
e
1
p
r
esen
ts
th
e
eq
u
iv
al
en
t
cir
cu
it
o
f
th
e
PMSM
in
th
e
d
-
q
r
ef
er
e
n
ce
f
r
am
e.
B
ased
o
n
th
e
eq
u
iv
alen
t c
ir
cu
it,
th
e
eq
u
atio
n
s
o
f
an
d
ar
e
s
h
o
wn
in
(
1
)
a
n
d
(
2
)
[
1
]
.
=
+
+
(
1
)
=
-
+
(
2
)
T
h
e
f
lu
x
lin
k
ag
e
is
ex
p
r
ess
ed
b
y
(
3
)
an
d
(
4
)
.
=
(
3
)
=
+
(
4
)
W
h
er
e
r
ef
er
to
s
tato
r
r
esis
tan
ce
,
an
d
r
ef
er
to
th
e
s
tato
r
cu
r
r
en
t
in
th
e
d
-
q
r
o
tatin
g
f
r
am
e
,
r
ef
er
to
th
e
elec
tr
ical
s
p
ee
d
o
f
th
e
r
o
t
o
r
,
an
d
r
ef
er
to
s
tato
r
f
lu
x
li
n
k
ag
es
in
th
e
d
-
q
r
o
tatin
g
f
r
a
m
e,
an
d
r
ef
er
to
in
d
u
ctan
ce
in
th
e
d
-
q
ax
es
an
d
r
ef
e
r
to
th
e
p
e
r
m
an
e
n
t
m
ag
n
et
f
lu
x
lin
k
a
g
e.
B
y
s
u
b
s
titu
tin
g
(
3
)
an
d
(
4
)
in
to
(
1
)
an
d
(
2
)
.
=
+
(
+
)
+
(
)
=
+
+
+
= (
+
)
+
+
(
5
)
=
−
(
)
+
(
+
)
=
-
+
+
+
=
-
+ (
+
)
+
(
6
)
W
h
en
(
5
)
a
n
d
(
6
)
ar
e
a
r
r
an
g
ed
in
m
atr
ix
f
o
r
m
.
[
]
=
[
+
−
+
]
[
]
+
[
]
(
7
)
T
h
e
to
r
q
u
e
eq
u
atio
n
is
s
h
o
wn
in
(
8
)
.
=
3
2
(
2
)(
−
)
(
8
)
Sin
ce
=
+
an
d
=
wh
er
e
=
,
=
3
2
(
2
)
(
(
+
)
−
)
=
3
2
(
2
)(
+
−
)
=
3
2
(
2
)(
+
(
−
)
)
=
3
2
(
2
)(
+
(
−
)
)
(
9
)
T
h
e
s
elec
ted
PMSM
ty
p
e
is
s
u
r
f
ac
e
-
m
o
u
n
ted
; th
e
r
ef
o
r
e
,
=
.
=
3
2
(
2
)(
)
(
1
0
)
T
h
e
m
ec
h
an
ical
t
o
r
q
u
e
is
g
iv
e
n
as
(
1
1
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
P
erfo
r
ma
n
ce
in
d
ex
fo
r
o
p
timiz
a
tio
n
meth
o
d
b
a
s
ed
o
n
P
MS
M
d
r
ives u
s
in
g
A
B
C
and
P
S
O
(
Leo
n
g
Hu
i E
e
)
1691
=
+ B
+ j
(
1
1
)
T
h
er
ef
o
r
e,
th
e
m
ec
h
an
ical
s
p
e
ed
is
g
iv
en
b
y
(
1
2
)
:
=
∫
(
=
+
B
)
d
t
(
1
2
)
a
nd
=
(
2
)
(
1
3
)
w
h
er
e
J
=
r
o
t
o
r
in
e
r
tia
,
B
=
m
ec
h
an
ical
d
am
p
i
n
g
,
a
n
d
=
m
e
ch
an
ical
lo
ad
to
r
q
u
e
.
Fig
u
r
e
1
.
E
q
u
iv
alen
t c
ir
c
u
it f
o
r
PMSM
m
o
d
el
in
d
-
q
r
ef
e
r
en
ce
f
r
am
e
2
.
1
.
Sim
uli
nk
a
nd
pa
ra
m
et
e
r
d
esig
n
o
f
t
he
P
M
SM
d
riv
e
Fig
u
r
e
2
d
e
p
icts
th
e
s
ch
em
atic
d
iag
r
am
o
f
th
e
PMSM.
Pro
p
o
r
tio
n
al
a
n
d
in
teg
r
al
(
PI)
c
o
n
tr
o
ller
is
a
f
ee
d
b
ac
k
co
n
tr
o
l
lo
o
p
th
at
c
alcu
lates
th
e
co
n
tr
o
l
s
ig
n
al
b
y
co
m
p
ar
in
g
o
u
tp
u
t
an
d
r
ef
e
r
en
ce
s
ig
n
als.
I
t
i
s
im
p
o
r
tan
t
to
ac
h
iev
e
ze
r
o
s
tead
y
-
s
tate
er
r
o
r
with
o
u
t
s
ig
n
if
ic
an
tly
af
f
ec
tin
g
t
h
e
tr
an
s
ien
t
r
e
s
p
o
n
s
e
in
a
co
n
tr
o
l
s
y
s
tem
.
T
h
er
e
ar
e
s
o
m
e
m
eth
o
d
s
u
s
ed
to
tu
n
e
th
e
p
ar
am
eter
s
o
f
a
PI
co
n
tr
o
ller
,
s
u
ch
as
co
n
v
en
tio
n
al
tr
ial
an
d
e
r
r
o
r
o
r
t
h
e
Z
i
e
g
l
e
r
-
N
i
c
h
o
ls
m
e
t
h
o
d
.
In
t
h
i
s
r
e
s
e
a
r
c
h
,
t
h
e
t
r
i
al
-
a
n
d
-
e
r
r
o
r
m
e
t
h
o
d
i
s
u
s
e
d
t
o
o
b
t
a
i
n
t
h
e
c
o
n
t
r
o
l
l
e
r
g
a
i
n
s
f
o
r
g
ettin
g
an
o
p
tim
u
m
r
esp
o
n
s
e.
Ho
wev
er
,
it
r
eq
u
i
r
es
a
lar
g
e
n
u
m
b
er
o
f
tr
ials
an
d
tim
e
to
o
b
tain
o
p
tim
al
co
n
tr
o
ller
g
ain
s
;
th
u
s
,
an
o
th
er
tech
n
iq
u
e
t
h
at
ca
n
au
to
m
atica
lly
an
d
ef
f
ec
tiv
ely
o
p
tim
ize
th
e
co
n
tr
o
ller
g
ain
s
,
s
u
ch
as
GA,
PS
O,
an
d
AB
C
alg
o
r
ith
m
s
,
is
s
u
g
g
ested
.
An
o
th
er
s
ig
n
if
ican
t
p
r
o
ce
s
s
in
PMS
M
d
r
iv
e
is
th
e
tr
an
s
f
o
r
m
atio
n
o
f
th
e
d
-
q
r
o
tatin
g
f
r
am
e
to
th
e
th
r
ee
-
p
h
ase
r
ef
er
en
ce
.
B
ased
o
n
th
e
m
ath
em
atica
l
m
o
d
ellin
g
an
d
eq
u
iv
alen
t
cir
cu
it
o
f
PMSM,
th
e
s
y
s
tem
i
s
o
p
er
ated
in
th
e
d
-
q
f
r
am
e
d
u
e
to
its
s
im
p
licity
,
b
ec
au
s
e
an
AC
th
r
ee
-
p
h
ase
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
h
av
i
n
g
wi
n
d
in
g
s
th
at
a
r
e
s
ep
ar
ated
b
y
1
2
0
°
ap
a
r
t
is
m
o
r
e
co
m
p
lex
.
T
h
e
am
p
litu
d
e
o
f
c
u
r
r
en
t,
v
o
ltag
e
,
an
d
f
lu
x
lin
k
ag
e
o
f
a
s
tatio
n
ar
y
th
r
ee
-
p
h
ase
r
ef
er
en
ce
is
tim
e
-
v
ar
y
in
g
,
wh
ich
lead
s
to
d
if
f
icu
lty
an
d
ch
allen
g
in
g
o
n
s
y
s
tem
m
o
d
ellin
g
[
2
1
]
.
T
h
u
s
,
th
e
d
-
q
f
r
am
e
is
s
u
g
g
ested
,
wh
ich
f
o
c
u
s
es
o
n
f
lu
x
-
an
d
t
o
r
q
u
e
-
p
r
o
d
u
ci
n
g
cu
r
r
en
ts
.
I
n
th
is
p
r
o
ce
s
s
,
th
e
Par
k
tr
an
s
f
o
r
m
atio
n
is
u
s
ed
to
co
n
v
er
t
th
r
ee
-
p
h
ase
v
o
ltag
e
an
d
cu
r
r
en
t
to
d
q
0
ax
is
v
ar
ia
b
les,
wh
er
ea
s
th
e
in
v
er
s
e
Par
k
tr
an
s
f
o
r
m
atio
n
is
u
s
ed
to
ch
a
n
g
e
th
e
v
o
ltag
e
an
d
cu
r
r
e
n
t in
d
q
0
ax
is
v
ar
ia
b
les to
an
AC
th
r
ee
-
p
h
ase
s
ig
n
al.
B
ased
o
n
th
e
r
esear
ch
in
[
1
0
]
,
th
er
e
ar
e
two
c
o
n
d
itio
n
s
.
First,
wh
en
th
e
r
o
tatin
g
d
-
q
f
r
am
e
is
alig
n
ed
alo
n
g
th
e
A
-
a
x
is
at
t
=
0
,
th
e
eq
u
atio
n
s
o
f
t
h
e
p
ar
k
an
d
in
v
er
s
e
p
ar
k
tr
a
n
s
f
o
r
m
atio
n
s
ar
e
g
iv
en
b
y
(
1
4
)
an
d
(
1
5
)
.
T
h
e
s
ec
o
n
d
co
n
d
itio
n
is
wh
en
th
e
d
-
q
f
r
am
e
is
r
o
tated
9
0
°
b
e
h
in
d
th
e
A
-
a
x
is
;
th
e
e
q
u
atio
n
s
o
f
th
e
p
ar
k
an
d
in
v
er
s
e
p
ar
k
tr
an
s
f
o
r
m
atio
n
s
ar
e
g
iv
en
b
y
(
1
6
)
an
d
(
1
7
)
.
I
n
th
is
r
esear
ch
,
th
e
s
ettin
g
o
f
th
e
d
-
q
r
o
tatin
g
f
r
am
e
is
alig
n
ed
9
0
°
b
eh
i
n
d
t
h
e
A
-
ax
is
;
th
u
s
,
th
e
eq
u
atio
n
u
s
ed
in
th
e
b
l
o
ck
th
at
c
o
n
v
e
r
ts
d
-
q
cu
r
r
e
n
t
to
a
th
r
ee
-
p
h
ase
s
ig
n
al
is
b
ased
o
n
(
1
7
)
.
T
h
e
s
ettin
g
o
f
d
q
0
to
th
r
ee
-
p
h
ase
cu
r
r
en
t
is
d
o
n
e
u
s
in
g
(
1
8
)
-
(
2
0
)
.
[
0
]
=
2
3
[
c
os
c
os
(
−
2
3
)
c
os
(
+
2
3
)
−
s
in
−
s
in
(
−
2
3
)
−
s
in
(
+
2
3
)
1
/
2
1
/
2
1
/
2
]
[
]
(
1
4
)
[
]
=
[
c
os
−
s
in
1
c
os
(
−
2
3
)
−
s
in
(
−
2
3
)
1
c
os
(
+
2
3
)
s
in
(
+
2
3
)
1
]
[
0
]
(
1
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
168
8
-
1
7
0
1
1692
[
0
]
=
2
3
[
s
in
s
in
(
−
2
3
)
s
in
(
+
2
3
)
c
os
c
os
(
−
2
3
)
c
os
(
+
2
3
)
1
/
2
1
/
2
1
/
2
]
[
]
(
1
6
)
[
]
=
[
s
in
c
os
1
s
in
(
−
2
3
)
c
os
(
−
2
3
)
1
s
in
(
+
2
3
)
c
os
(
+
2
3
)
1
]
[
0
]
(
1
7
)
=
co
s
θ
+
s
in
θ
(
1
8
)
=
co
s
(
θ
-
2
3
)
+
s
in
(
θ
-
2
3
)
(
1
9
)
=
co
s
(
θ
+
2
3
)
+
s
in
(
θ
+
2
3
)
(
2
0
)
Nex
t,
th
e
h
y
s
ter
esis
co
n
tr
o
lle
r
is
u
s
ed
to
co
n
tr
o
l
th
e
cu
r
r
en
t
f
lo
w
in
th
e
i
n
v
er
ter
.
I
t
p
r
o
d
u
ce
s
a
r
ef
er
en
ce
s
ig
n
al
f
o
r
th
e
cu
r
r
en
t
with
in
a
h
y
s
ter
esis
b
an
d
to
k
ee
p
th
e
cu
r
r
en
t
f
r
o
m
s
tr
ay
in
g
o
u
ts
id
e
th
e
r
ef
er
en
ce
.
I
n
ad
d
itio
n
,
t
h
e
p
er
f
o
r
m
an
ce
m
ea
s
u
r
e,
also
ca
lled
th
e
c
o
s
t
f
u
n
ctio
n
,
ca
n
a
f
f
ec
t
t
h
e
o
u
tp
u
t
r
esp
o
n
s
e
o
f
th
e
PMSM
d
r
iv
e.
I
t
is
u
s
ed
to
m
ea
s
u
r
e
th
e
e
f
f
ec
tiv
en
ess
o
f
a
p
o
ten
tial
s
o
lu
tio
n
.
T
h
er
e
ar
e
m
an
y
ty
p
es
o
f
p
er
f
o
r
m
an
ce
cr
iter
ia,
s
u
c
h
as
k
ee
p
in
g
th
e
m
ax
im
u
m
d
ev
iati
o
n
e
r
r
o
r
as
s
m
all
as
p
o
s
s
ib
le,
ac
h
iev
in
g
a
s
h
o
r
ter
s
ettlin
g
tim
e
,
an
d
m
in
im
izin
g
th
e
in
teg
r
al
o
f
er
r
o
r
s
in
o
r
d
er
to
ac
h
iev
e
t
h
e
d
esire
d
s
et
p
o
in
t.
Per
f
o
r
m
an
ce
in
d
ices,
also
k
n
o
wn
as m
ea
s
u
r
es o
f
co
n
tr
o
l sy
s
tem
p
er
f
o
r
m
a
n
ce
,
ar
e
u
s
ed
to
co
m
p
a
r
e
th
e
q
u
ality
o
f
co
n
tr
o
lled
r
esp
o
n
s
es
[
2
0
]
.
I
n
th
is
r
esear
ch
,
th
e
o
u
tp
u
t
o
f
th
e
PMSM
d
r
iv
e
is
f
o
cu
s
ed
o
n
th
e
s
tead
y
-
s
tate
er
r
o
r
o
f
th
e
o
u
tp
u
t
s
p
ee
d
.
T
h
e
wid
ely
u
s
ed
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es
ar
e
in
teg
r
al
s
q
u
ar
e
er
r
o
r
(
I
SE)
,
in
t
eg
r
al
ab
s
o
lu
te
er
r
o
r
(
I
AE
)
,
an
d
in
te
g
r
al
tim
e
a
b
s
o
lu
te
er
r
o
r
(
I
T
AE
)
[
2
2
]
.
I
SE
is
a
m
ea
s
u
r
e
t
h
at
ca
n
elim
in
ate
lar
g
e
er
r
o
r
s
f
aste
r
th
r
o
u
g
h
in
teg
r
atio
n
o
f
th
e
s
q
u
ar
e
o
f
th
e
er
r
o
r
o
v
er
tim
e,
an
d
th
is
will
p
r
o
v
id
e
a
f
ast
r
esp
o
n
s
e
f
o
r
th
e
c
o
n
tr
o
l
s
y
s
tem
.
I
AE
is
a
m
ea
s
u
r
e
th
at
ca
n
p
r
o
d
u
ce
less
s
u
s
tain
ed
o
s
cillatio
n
o
r
ca
n
elim
in
ate
th
e
s
m
all
er
r
o
r
b
y
in
teg
r
atin
g
th
e
ab
s
o
lu
te
er
r
o
r
o
v
er
tim
e.
I
T
AE
is
a
m
ea
s
u
r
e
th
at
ca
n
p
r
o
d
u
ce
s
y
s
tem
s
th
at
s
ettle
m
o
r
e
q
u
ick
l
y
th
an
I
SE
an
d
I
AE
b
y
in
teg
r
atin
g
th
e
ab
s
o
lu
te
e
r
r
o
r
m
u
lt
ip
lied
b
y
tim
e
o
v
er
tim
e.
T
h
e
eq
u
atio
n
s
o
f
th
e
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es
f
o
r
th
e
s
tead
y
-
s
tate
er
r
o
r
ar
e
s
h
o
wn
in
(
2
1
)
-
(
2
3
)
[
2
2
].
I
SE
=
∫
2
(
)
∞
0
(
2
1
)
I
AE
=
∫
|
(
)
|
∞
0
(
2
2
)
I
T
AE
=
∫
|
(
)
|
∞
0
(
2
3
)
Fig
u
r
e
2
.
Desig
n
o
f
PMSM
d
r
i
v
e
[
1
8
]
I
n
th
is
r
esear
ch
,
th
e
PI
co
n
tr
o
ller
is
tu
n
e
d
b
y
th
e
c
o
n
v
e
n
tio
n
al
tr
ial
-
an
d
-
er
r
o
r
m
eth
o
d
.
T
h
e
PI
g
ain
s
ar
e
r
an
d
o
m
l
y
ad
ju
s
ted
to
f
ig
u
r
e
o
u
t
th
e
s
u
itab
le
v
alu
e
th
at
ca
n
p
r
o
d
u
ce
a
b
etter
tr
an
s
ie
n
t
r
esp
o
n
s
e
o
f
th
e
s
p
ee
d
.
Sin
ce
th
e
tr
ial
-
an
d
-
e
r
r
o
r
tu
n
in
g
m
eth
o
d
r
eq
u
i
r
es
a
lo
n
g
er
tim
e
f
o
r
test
in
g
an
d
a
d
ju
s
tm
en
t,
it
is
n
o
t
ef
f
ec
tiv
ely
u
s
ed
to
tu
n
e
th
e
PI
p
ar
am
eter
s
u
n
d
er
d
if
f
er
en
t
o
p
er
atio
n
s
o
r
d
if
f
er
en
t
r
ate
d
s
p
ee
d
s
.
Hen
ce
,
th
e
AB
C
a
lg
o
r
ith
m
an
d
PS
O
alg
o
r
ith
m
ar
e
s
elec
ted
to
o
p
tim
i
ze
th
e
p
ar
am
eter
s
o
f
th
e
c
o
n
t
r
o
ller
to
o
b
tain
a
n
o
p
tim
u
m
r
esp
o
n
s
e
ef
f
ec
tiv
el
y
in
th
is
r
esear
ch
.
Fo
r
th
e
p
ar
am
eter
s
o
f
th
e
PMSM
d
r
i
v
e
co
m
p
o
n
e
n
ts
,
th
e
s
ettin
g
s
ar
e
s
h
o
wn
in
T
ab
le
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
P
erfo
r
ma
n
ce
in
d
ex
fo
r
o
p
timiz
a
tio
n
meth
o
d
b
a
s
ed
o
n
P
MS
M
d
r
ives u
s
in
g
A
B
C
and
P
S
O
(
Leo
n
g
Hu
i E
e
)
1693
T
ab
le
1
.
Par
am
eter
s
o
f
PMSM
d
r
iv
e
s
y
s
tem
N
u
mb
e
r
o
f
p
h
a
s
e
s
3
-
p
h
a
s
e
V
d
c
2
2
0
V
N
u
mb
e
r
o
f
p
o
l
e
p
a
i
r
s
4
S
t
a
t
o
r
p
h
a
se
r
e
si
s
t
a
n
c
e
,
R
s
2
.
8
7
5
Ω
A
r
mat
u
r
e
i
n
d
u
c
t
a
n
c
e
,
L
0
.
0
0
1
5
3
H
I
n
e
r
t
i
a
,
J
0
.
0
0
0
8
K
g
.
m^
2
V
i
sco
u
s
d
a
mp
i
n
g
,
F
0
N
.
m
.
s
R
a
t
e
d
t
o
r
q
u
e
,
10
Nm
S
p
e
e
d
r
a
n
g
e
1
0
0
0
r
p
m,
1
5
0
0
r
p
m,
2
0
0
0
r
p
m,
3
0
0
0
r
p
m
2.
2
.
AB
C
a
lg
o
rit
h
m
T
h
e
A
B
C
a
l
g
o
r
i
t
h
m
c
o
n
s
i
s
t
s
o
f
t
h
r
e
e
(
3
)
m
a
i
n
c
o
m
p
o
n
e
n
t
s
,
w
h
i
c
h
a
r
e
e
m
p
l
o
y
e
d
b
e
e
s
,
u
n
e
m
p
l
o
y
e
d
b
e
e
s
,
a
n
d
f
o
o
d
s
o
u
r
c
e
s
[
1
9
]
,
[
2
0
]
,
[2
4
]
.
I
t
c
a
n
al
s
o
c
a
t
e
g
o
r
i
z
e
th
e
b
e
e
s
a
s
e
m
p
l
o
y
e
d
b
e
es
,
w
h
il
e
t
h
e
o
n
l
o
o
k
e
r
a
n
d
s
c
o
u
t
b
e
es
a
r
e
u
n
e
m
p
l
o
y
e
d
b
ee
s
.
T
h
e
n
u
m
b
e
r
o
f
e
m
p
l
o
y
e
d
b
e
e
s
i
s
s
i
m
i
l
a
r
t
o
t
h
e
n
u
m
b
e
r
o
f
s
o
u
r
c
e
s
b
e
c
a
u
s
e
o
f
t
h
e
a
s
s
u
m
p
ti
o
n
t
h
a
t
o
n
e
e
m
p
l
o
y
e
d
b
e
e
i
s
o
n
l
y
f
o
r
o
n
e
s
o
u
r
c
e
.
T
h
e
e
m
p
l
o
y
e
d
a
n
d
u
n
e
m
p
l
o
y
e
d
b
e
e
s
s
e
a
r
c
h
f
o
r
t
h
e
f
o
o
d
s
o
u
r
c
e
t
h
a
t
i
s
n
e
a
r
t
h
e
i
r
c
o
l
o
n
y
.
T
h
e
c
o
n
c
e
p
t
o
f
t
h
e
b
e
e
s
s
e
a
r
c
h
i
n
g
f
o
r
f
o
o
d
i
s
t
h
a
t
t
h
e
y
w
il
l
p
r
o
d
u
c
e
p
o
s
i
t
i
v
e
f
e
e
d
b
a
c
k
w
h
e
n
f
o
r
a
g
e
r
s
f
i
n
d
a
n
a
b
u
n
d
a
n
t
f
o
o
d
s
o
u
r
c
e
,
b
u
t
t
h
e
y
w
i
l
l
p
r
o
d
u
c
e
n
e
g
a
t
i
v
e
f
e
e
d
b
a
c
k
w
h
e
n
f
o
r
a
g
e
r
s
g
i
v
e
b
a
c
k
b
y
a
b
a
n
d
o
n
i
n
g
p
o
o
r
f
o
o
d
s
o
u
r
c
e
s
[
2
4
]
.
T
h
u
s
,
t
h
e
e
m
p
l
o
y
e
d
b
e
e
s
s
e
a
r
c
h
f
o
r
t
h
e
f
o
o
d
s
o
u
r
c
e
,
t
h
e
n
c
o
m
e
b
a
c
k
t
o
t
h
ei
r
h
i
v
e
to
d
a
n
c
e
t
o
t
h
e
o
n
l
o
o
k
e
r
b
e
es
.
O
n
l
o
o
k
e
r
b
e
e
s
w
i
l
l
c
h
o
o
s
e
t
h
e
b
e
s
t
s
o
u
r
c
e
o
f
f
o
o
d
b
a
s
e
d
o
n
t
h
e
d
a
n
c
e
s
o
f
e
m
p
l
o
y
e
d
b
e
e
s
.
I
n
a
m
o
r
e
d
e
t
a
i
l
e
d
u
n
d
e
r
s
t
a
n
d
i
n
g
,
t
h
e
e
m
p
l
o
y
e
d
b
ee
s
m
o
v
e
t
o
t
h
e
f
o
o
d
s
o
u
r
c
e
t
h
a
t
is
i
n
t
h
ei
r
m
e
m
o
r
y
a
n
d
s
e
a
r
c
h
t
h
e
c
l
o
s
e
s
t
n
e
i
g
h
b
o
r
i
n
g
f
o
o
d
s
o
u
r
c
e
.
T
h
e
n
,
t
h
e
y
w
i
l
l
e
v
al
u
a
t
e
t
h
e
n
e
c
t
a
r
a
m
o
u
n
t
o
n
t
h
e
f
o
o
d
s
o
u
r
c
e
a
n
d
d
a
n
c
e
a
t
t
h
e
h
i
v
e
i
n
f
r
o
n
t
o
f
o
n
l
o
o
k
e
r
b
e
e
s
.
T
h
e
o
n
l
o
o
k
e
r
b
e
e
s
w
a
t
c
h
t
h
e
d
a
n
c
e
a
n
d
c
h
o
o
s
e
t
h
e
b
es
t
f
o
o
d
s
o
u
r
c
e
,
w
h
i
c
h
i
s
a
n
a
b
u
n
d
a
n
t
a
m
o
u
n
t
o
f
n
e
c
t
a
r
.
O
t
h
e
r
em
p
l
o
y
e
d
b
e
e
s
t
h
at
a
b
a
n
d
o
n
t
h
e
f
o
o
d
s
o
u
r
c
e
w
i
l
l
b
e
c
o
m
e
s
c
o
u
t
b
e
es
a
n
d
c
o
n
t
i
n
u
e
s
e
a
r
c
h
i
n
g
f
o
r
a
n
e
w
f
o
o
d
s
o
u
r
c
e
.
Fig
u
r
e
3
.
B
lo
ck
d
iag
r
am
t
h
at
c
ar
r
ied
er
r
o
r
s
ig
n
al
f
o
r
o
p
tim
iz
atio
n
co
n
tr
o
ller
g
ain
s
u
s
in
g
AB
C
alg
o
r
ith
m
Fig
u
r
e
3
s
h
o
ws
th
e
er
r
o
r
s
ig
n
al
o
b
tain
ed
f
r
o
m
th
e
PMSM
d
r
iv
e
is
ca
r
r
ied
to
th
e
wo
r
k
s
p
ac
e
in
MA
T
L
AB
to
o
p
tim
ize
th
e
PI
p
ar
am
eter
s
u
s
in
g
th
e
AB
C
al
g
o
r
ith
m
.
First,
AB
C
in
itialize
th
e
f
o
o
d
s
o
u
r
ce
o
r
p
o
p
u
latio
n
o
f
SN w
ith
a
r
an
d
o
m
d
is
tr
ib
u
tio
n
in
a
s
ea
r
ch
s
p
ac
e
wh
er
e
th
e
SN is th
e
p
o
p
u
latio
n
s
ize.
L
et
th
e
ℎ
s
o
lu
tio
n
in
th
e
p
o
p
u
latio
n
with
d
im
en
s
io
n
n
wh
ich
is
also
th
e
em
p
lo
y
e
d
b
ee
s
ar
e
r
ep
r
esen
t
b
y
=
{
,
1
,
,
2
,
…
…
,
,
}
.
E
v
er
y
em
p
l
o
y
ed
b
ee
will
s
ea
r
ch
an
d
g
en
er
ate
a
n
ew
o
r
b
etter
s
o
lu
tio
n
in
n
eig
h
b
o
u
r
in
g
s
o
u
r
ce
f
r
o
m
e
x
is
tin
g
lo
ca
tio
n
with
e
q
u
ati
o
n
,
=
,
+
,
(
,
−
,
)
wh
er
e
,
is
r
an
d
o
m
l
y
s
elec
ted
s
o
lu
tio
n
(
i
is
n
o
t
eq
u
al
to
j)
,
k
is
r
an
d
o
m
ly
s
elec
ted
d
im
en
s
io
n
in
d
e
x
b
etwe
en
1
to
n
an
d
,
is
r
an
d
o
m
ly
s
elec
ted
n
u
m
b
e
r
b
etwe
en
[
-
1
,
1
]
.
Nex
t,
if
th
e
f
itn
ess
o
f
is
b
etter
th
an
,
th
e
p
o
s
itio
n
will u
p
d
ate
to
.
Oth
er
wis
e,
it will r
em
ain
its
o
r
ig
in
al
.
T
h
is
is
th
e
p
r
o
ce
s
s
o
f
em
p
lo
y
e
d
b
ee
s
to
s
ea
r
ch
f
o
r
a
n
ew
s
o
u
r
ce
.
Af
ter
t
h
at,
th
ey
will
s
h
ar
e
th
e
in
f
o
r
m
atio
n
o
f
th
e
f
o
o
d
s
o
u
r
ce
th
r
o
u
g
h
wag
g
le
d
an
ce
.
T
h
e
o
n
lo
o
k
er
b
ee
s
will
ch
o
o
s
e
th
e
b
etter
s
o
u
r
ce
(
s
o
lu
tio
n
)
b
as
ed
o
n
th
e
ev
al
u
atio
n
o
f
th
e
n
ec
tar
am
o
u
n
t
o
f
th
e
s
o
u
r
ce
with
(
2
4
)
[
2
5
]
:
=
∑
=
1
(
2
4
)
a
n
d
th
e
f
itn
ess
ca
n
b
e
ca
lcu
lat
ed
with
(
2
5
)
[
2
4
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
168
8
-
1
7
0
1
1694
=
{
1
1
+
≥
0
1
+
(
)
<
0
}
(
2
5
)
r
ep
r
esen
ts
th
e
f
itn
ess
v
alu
e
o
f
th
e
ℎ
s
o
lu
tio
n
in
th
e
p
o
p
u
lati
o
n
.
W
h
en
th
e
o
n
lo
o
k
er
b
ee
s
s
elec
t
a
b
etter
f
o
o
d
s
o
u
r
ce
,
t
h
e
p
r
e
v
io
u
s
ly
ex
p
lo
r
ed
f
o
o
d
s
o
u
r
ce
s
o
f
ce
r
tain
em
p
lo
y
ed
b
ee
s
ar
e
ab
a
n
d
o
n
e
d
,
an
d
th
o
s
e
em
p
lo
y
ed
b
ee
s
ar
e
co
n
v
er
ted
i
n
to
s
co
u
t
b
ee
s
.
T
h
e
s
co
u
t b
ee
s
th
en
co
n
tin
u
e
s
ea
r
ch
in
g
f
o
r
n
ew
f
o
o
d
s
o
u
r
ce
s
to
r
ep
lace
th
e
ab
a
n
d
o
n
ed
o
n
es a
c
co
r
d
in
g
to
(
2
6
)
.
,
=
+
,
x
(
-
)
(
2
6
)
W
h
er
e
,
is
a
r
an
d
o
m
ly
g
e
n
er
at
ed
n
u
m
b
er
with
in
t
h
e
r
an
g
e
[
0
,
1
]
f
o
llo
win
g
a
n
o
r
m
al
d
is
tr
ib
u
tio
n
,
is
th
e
lo
wer
b
o
u
n
d
ar
y
o
f
ℎ
d
im
en
s
io
n
.
T
h
e
p
r
o
ce
s
s
is
r
ep
ea
ted
u
n
til
all
iter
atio
n
s
ar
e
co
m
p
leted
o
r
th
e
o
p
tim
u
m
s
o
lu
tio
n
is
ac
h
iev
ed
.
2.
3
.
P
SO
a
lg
o
rit
h
m
T
h
e
PS
O
alg
o
r
ith
m
o
p
er
ates
b
y
h
av
i
n
g
a
s
war
m
o
f
p
a
r
ticles
th
at
move
ar
o
u
n
d
in
th
e
s
ea
r
ch
s
p
ac
e.
T
h
e
tr
av
els
o
f
elem
en
ts
ar
e
g
u
id
ed
b
y
th
eir
lo
ca
l
b
est
p
o
s
itio
n
(
)
in
th
e
s
ea
r
ch
s
p
ac
e,
as
well
as
b
y
th
e
g
lo
b
al
b
est
p
o
s
itio
n
(
)
[
1
1
]
.
W
h
en
th
e
p
ar
ticles f
in
d
an
im
p
r
o
v
ed
o
r
o
p
tim
al
p
o
s
itio
n
,
th
e
y
will b
ec
o
m
e
a
n
ew
g
u
id
e
f
o
r
t
h
e
m
o
v
em
en
t
o
f
th
e
p
ar
ticle
s
war
m
.
T
h
e
p
a
r
ticles
will
au
to
m
atica
lly
u
p
d
a
te
th
e
n
ew
p
o
s
itio
n
an
d
v
elo
city
.
T
h
is
p
r
o
ce
s
s
is
r
ep
ea
ted
with
n
u
m
er
o
u
s
iter
ati
o
n
s
u
n
til an
o
p
tim
al
s
o
lu
tio
n
i
s
ac
h
iev
ed
.
Fig
u
r
e
4
s
h
o
ws
th
at
th
e
er
r
o
r
s
ig
n
al
o
b
tain
ed
f
r
o
m
th
e
PMSM
d
r
iv
e
is
ca
r
r
ie
d
to
th
e
wo
r
k
s
p
ac
e
i
n
MA
T
L
AB
to
o
p
tim
ize
th
e
PI
p
ar
am
eter
s
u
s
in
g
th
e
PS
O
alg
o
r
ith
m
.
At
iter
atio
n
t,
th
e
ℎ
p
ar
ticle
is
ch
ar
ac
ter
ized
b
y
a
v
ec
to
r
to
r
ep
r
esen
t
its
p
o
s
itio
n
.
T
h
e
v
ec
t
o
r
is
u
s
ed
to
illu
s
tr
ate
its
v
elo
city
.
I
n
itially
,
wh
en
iter
atio
n
t
=
0
,
th
e
p
o
s
itio
n
s
an
d
th
e
v
elo
cities
o
f
th
e
p
ar
ticles
ar
e
ass
u
m
ed
r
an
d
o
m
ly
f
r
o
m
th
e
s
ea
r
ch
s
p
ac
e.
E
ac
h
p
ar
ticle
will c
h
an
g
e
its
p
o
s
itio
n
p
er
iter
atio
n
b
y
u
s
in
g
(
2
7
)
[
1
1
]
.
+
1
=
+
+
1
(
2
7
)
T
h
e
u
p
d
ated
v
elo
city
o
f
th
e
p
ar
ticles
d
ep
en
d
s
o
n
th
e
cu
r
r
en
t
v
elo
city
an
d
th
e
weig
h
ted
d
if
f
er
en
ce
o
f
v
ec
to
r
s
(
-
)
an
d
(
-
)
wh
ich
is
p
r
esen
ted
in
(
2
8
)
.
+
1
= ω
+
1
1
(
-
)
+
2
2
(
-
)
(
2
8
)
T
h
e
p
ar
am
eter
s
o
f
1
an
d
2
ar
e
ch
o
s
en
r
an
d
o
m
ly
b
etwe
en
0
an
d
1
,
wh
ile
th
e
p
ar
am
eter
s
o
f
1
an
d
2
as
in
d
iv
id
u
al
ac
ce
ler
atio
n
co
ef
f
icien
t
an
d
g
lo
b
al
ac
ce
ler
atio
n
co
ef
f
icien
ts
ar
e
co
m
m
o
n
ly
s
et
b
etwe
en
0
an
d
2
.
T
h
e
p
ar
ticles
will
u
p
d
ate
th
eir
lo
ca
l
b
est
p
o
s
itio
n
(
)
if
th
e
e
x
is
tin
g
n
ew
p
o
s
itio
n
is
b
etter
o
r
s
m
aller
th
an
.
T
h
e
will
also
b
e
u
p
d
ated
if
th
e
cu
r
r
en
t
o
f
th
e
ℎ
p
ar
ticle
is
b
etter
th
an
th
e
.
T
h
is
p
r
o
ce
s
s
is
r
ep
ea
ted
u
n
til all
ite
r
atio
n
s
t
th
at
h
av
e
b
ee
n
s
et
in
t
h
e
alg
o
r
ith
m
.
Fig
u
r
e
4
.
B
lo
ck
d
iag
r
am
t
h
at
c
ar
r
ies th
e
er
r
o
r
s
ig
n
al
f
o
r
o
p
ti
m
izatio
n
o
f
c
o
n
tr
o
ller
g
ain
s
u
s
in
g
PS
O
alg
o
r
ith
m
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
PMSM'
s
r
ef
er
en
ce
s
p
ee
d
r
an
g
e
is
1
0
0
0
to
3
0
0
0
r
p
m
.
T
h
e
PMSM
d
r
iv
e
is
o
p
er
ated
u
n
d
er
d
if
f
er
en
t
co
n
d
itio
n
s
.
First,
th
e
PMSM
d
r
iv
e
is
te
s
ted
u
n
d
er
f
o
r
war
d
an
d
r
ev
er
s
e
o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
en
,
th
e
tr
an
s
ien
t
r
esp
o
n
s
es,
s
u
ch
as
p
er
ce
n
tag
e
o
v
e
r
s
h
o
o
t
(
%
OS)
,
r
is
e
tim
e
(
T
r
)
,
an
d
s
ettlin
g
tim
e
(
T
s
)
,
a
r
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
P
erfo
r
ma
n
ce
in
d
ex
fo
r
o
p
timiz
a
tio
n
meth
o
d
b
a
s
ed
o
n
P
MS
M
d
r
ives u
s
in
g
A
B
C
and
P
S
O
(
Leo
n
g
Hu
i E
e
)
1695
m
o
n
ito
r
ed
.
Fin
ally
,
th
e
o
p
tim
izatio
n
p
er
f
o
r
m
an
ce
i
n
d
ices
,
in
clu
d
in
g
I
SE,
I
AE
,
an
d
I
T
AE
,
ar
e
an
aly
ze
d
u
s
in
g
th
e
AB
C
an
d
PS
O
alg
o
r
ith
m
s
3
.
1
.
F
o
rwa
rd
a
nd
re
v
er
s
e
o
pera
t
io
n
Fig
u
r
e
5
s
h
o
ws
th
e
s
p
ee
d
p
er
f
o
r
m
a
n
ce
o
f
th
e
PMSM
d
r
iv
e
af
ter
tu
n
in
g
u
s
in
g
th
e
tr
ial
-
an
d
-
er
r
o
r
m
eth
o
d
,
th
e
PS
O
alg
o
r
ith
m
,
an
d
th
e
AB
C
alg
o
r
ith
m
u
n
d
er
f
o
r
war
d
an
d
r
ev
er
s
e
o
p
er
a
tio
n
.
T
h
e
tr
an
s
ien
t
r
esp
o
n
s
e
o
f
th
e
PMSM
d
r
iv
e
s
p
ee
d
is
tab
u
lated
in
T
ab
le
2
.
T
h
e
in
p
u
t
s
ig
n
al
is
s
et
to
ze
r
o
in
itially
an
d
in
cr
ea
s
es
to
1
0
0
0
r
p
m
af
ter
a
d
elay
o
f
0
.
0
3
s
.
Af
ter
0
.
0
8
s
,
th
e
r
ef
er
en
c
e
s
p
ee
d
o
f
t
h
e
PMSM
r
etu
r
n
s
to
ze
r
o
.
B
ased
o
n
th
e
r
esu
lt
in
Fig
u
r
e
5
,
th
e
s
p
ee
d
o
f
th
e
PMSM
d
r
iv
e
ca
n
f
o
llo
w
th
e
r
ef
e
r
en
c
e
s
p
ee
d
,
wh
er
e
th
e
r
ef
er
en
ce
s
p
ee
d
is
v
ar
ied
.
B
ased
o
n
th
e
d
ata
in
T
a
b
le
2
,
th
e
p
er
ce
n
tag
e
o
f
o
v
er
s
h
o
o
t,
%OS,
o
b
tain
e
d
f
r
o
m
th
e
s
p
ee
d
o
p
tim
ized
b
y
d
if
f
e
r
en
t
m
eth
o
d
s
is
th
e
s
am
e.
Ho
we
v
er
,
th
e
PS
O
alg
o
r
ith
m
ca
n
g
en
er
ate
th
e
o
u
t
p
u
t
s
p
ee
d
o
f
th
e
PMSM
d
r
iv
e
w
ith
lo
wer
s
ettlin
g
tim
e,
T
s
,
a
n
d
r
is
e
tim
e,
T
r
.
T
h
e
r
ef
o
r
e
,
t
u
n
in
g
o
f
th
e
s
p
ee
d
co
n
tr
o
ller
f
o
r
th
e
PMSM
d
r
iv
e
u
s
in
g
th
e
PS
O
alg
o
r
ith
m
is
b
etter
f
o
r
c
o
p
in
g
with
th
e
in
s
tr
u
ctio
n
wh
er
e
th
e
r
ated
s
p
ee
d
is
s
u
d
d
en
l
y
ch
a
n
g
ed
.
Fig
u
r
e
5
.
Sp
ee
d
o
f
PMSM
d
r
i
v
es u
n
d
er
f
o
r
war
d
an
d
r
ev
e
r
s
e
o
p
er
atio
n
T
ab
le
2
.
T
r
a
n
s
ien
t r
esp
o
n
s
es o
b
tain
ed
b
y
d
if
f
e
r
en
t te
ch
n
i
q
u
e
s
u
n
d
er
f
o
r
war
d
an
d
r
ev
er
s
e
o
p
er
atio
n
.
Tu
n
i
n
g
me
t
h
o
d
Kp
Ki
%OS
Ts
Tr
Tr
i
a
l
a
n
d
e
r
r
o
r
30
10
6
.
0
8
1
%
1
.
5
2
0
ms
8
0
5
.
1
5
4
μs
PSO
2
3
.
1
9
8
1
0
.
7
7
4
3
6
.
0
8
1
%
1
.
1
1
2
ms
8
0
0
.
8
9
7
μs
A
B
C
30
2
9
.
9
2
7
1
6
.
0
8
1
%
1
.
4
9
2
ms
8
0
3
.
9
5
1
μs
3
.
2
.
P
er
f
o
r
m
a
nce
ind
ex
us
in
g
AB
C
a
lg
o
rit
hm
B
y
ch
an
g
in
g
t
h
e
ar
r
an
g
em
en
t
o
f
th
e
b
lo
c
k
d
iag
r
am
,
th
e
p
e
r
f
o
r
m
an
ce
m
ea
s
u
r
es
ca
n
b
e
ch
a
n
g
ed
.
T
h
e
ch
an
g
es
to
th
e
Simu
lin
k
b
l
o
ck
o
f
th
e
PMSM
d
r
iv
e
s
y
s
tem
ar
e
d
ep
icted
in
Fig
u
r
e
6
.
T
h
e
s
a
m
e
AB
C
co
d
in
g
is
th
en
u
s
ed
to
o
b
tain
th
e
PI
p
ar
am
eter
s
,
wh
ich
ca
n
ac
h
iev
e
z
er
o
o
r
v
er
y
s
m
all
s
tead
y
-
s
tate
er
r
o
r
.
At
th
e
en
d
o
f
th
e
s
im
u
latio
n
,
th
e
f
i
n
al
v
al
u
es
o
f
PI
p
ar
am
eter
s
,
av
er
a
g
e
o
b
jectiv
e
f
u
n
ctio
n
v
alu
e
,
tr
an
s
ien
t
r
esp
o
n
s
e
,
a
n
d
s
tead
y
-
s
tate
er
r
o
r
o
b
tain
ed
ar
e
p
r
esen
ted
in
T
a
b
le
3
.
I
n
th
is
r
esear
ch
,
th
e
m
o
s
t
im
p
o
r
tan
t
r
esu
lt
f
o
c
u
s
es
o
n
th
e
s
tead
y
-
s
tate
er
r
o
r
p
r
o
d
u
ce
d
in
th
e
s
p
ee
d
p
er
f
o
r
m
an
ce
.
Sin
ce
th
e
PI
co
n
tr
o
ller
o
f
th
e
PMSM
d
r
iv
e
is
o
p
tim
ized
u
s
in
g
th
e
AB
C
a
lg
o
r
ith
m
,
a
s
u
itab
le
p
er
f
o
r
m
an
ce
m
ea
s
u
r
e
n
ee
d
s
t
o
b
e
id
en
tifie
d
to
o
b
tain
th
e
o
u
tp
u
t
s
p
ee
d
o
f
th
e
PMSM
w
ith
lo
w
s
tead
y
-
s
tate
er
r
o
r
.
B
ased
o
n
t
h
e
d
ata
o
b
tai
n
ed
in
T
ab
le
3
,
th
e
PMSM
d
r
iv
e
b
ased
o
n
th
e
I
T
AE
c
r
iter
io
n
ca
n
g
en
e
r
ate
th
e
o
u
tp
u
t
s
p
ee
d
with
less
s
tea
d
y
-
s
tate
er
r
o
r
wh
en
co
m
p
ar
ed
to
th
e
I
SE
an
d
I
AE
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es.
Alth
o
u
g
h
it
p
r
o
d
u
ce
d
a
r
esp
o
n
s
e
with
h
ig
h
er
o
v
er
s
h
o
o
t,
s
e
ttli
n
g
tim
e
,
an
d
r
is
e
tim
e
wh
e
n
co
m
p
ar
ed
to
th
e
r
esp
o
n
s
es
o
b
tain
e
d
b
ased
o
n
th
e
I
SE
a
n
d
I
AE
er
r
o
r
c
r
iter
ia
,
it
ca
n
ac
h
iev
e
a
clo
s
er
ap
p
r
o
ac
h
to
th
e
r
ated
s
p
ee
d
o
f
th
e
PMSM
d
r
iv
e.
I
n
th
is
s
ec
tio
n
,
th
e
PMSM
d
r
iv
e
b
ased
o
n
th
e
I
SE
p
er
f
o
r
m
a
n
ce
in
d
ex
g
i
v
es
th
e
wo
r
s
t
r
esp
o
n
s
e
in
ter
m
s
o
f
s
tead
y
-
s
tate
er
r
o
r
,
w
h
er
ea
s
th
e
PMSM
d
r
iv
e
b
ased
o
n
t
h
e
I
T
AE
p
er
f
o
r
m
an
ce
in
d
ex
ca
n
p
r
o
d
u
ce
a
b
etter
r
es
p
o
n
s
e
in
ter
m
s
o
f
s
tead
y
-
s
tate
er
r
o
r
wh
e
n
th
e
s
y
s
tem
is
o
p
ti
m
ized
b
y
th
e
AB
C
alg
o
r
ith
m
.
Sin
ce
th
e
s
im
u
latio
n
is
ca
r
r
ied
o
u
t
f
o
r
5
0
iter
at
io
n
s
,
th
e
d
ata
o
f
th
e
g
lo
b
al
m
in
im
u
m
,
wh
ich
is
k
n
o
wn
as th
e
o
b
jectiv
e
f
u
n
ctio
n
v
alu
e
o
r
th
e
e
r
r
o
r
,
ar
e
an
al
y
z
ed
as sh
o
wn
in
Fig
u
r
e
7
.
Fig
u
r
e
7
s
h
o
ws
th
e
av
e
r
ag
e
o
b
jectiv
e
f
u
n
ctio
n
v
al
u
e
wh
e
r
e
th
e
PMSM
d
r
iv
e
is
o
p
tim
i
ze
d
b
y
th
e
AB
C
alg
o
r
ith
m
b
ased
o
n
I
SE,
I
AE
,
an
d
I
T
AE
e
r
r
o
r
c
r
iter
ia.
As
th
e
r
ef
er
en
ce
s
p
ee
d
in
cr
e
ases
,
th
e
o
b
jectiv
e
f
u
n
ctio
n
v
alu
e
is
h
ig
h
er
.
B
ased
o
n
th
e
o
u
tc
o
m
es
f
r
o
m
Fig
u
r
e
7
,
it
ca
n
b
e
co
n
clu
d
ed
th
at
t
h
e
co
n
tr
o
l
m
ea
s
u
r
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
168
8
-
1
7
0
1
1696
I
T
AE
is
m
o
r
e
s
u
itab
le
f
o
r
th
e
p
ar
am
eter
tu
n
in
g
o
f
th
e
PMSM
d
r
iv
e.
T
h
is
is
b
ec
au
s
e
it
ca
n
g
iv
e
v
er
y
s
m
all
o
b
jectiv
e
f
u
n
ctio
n
v
alu
es
in
e
v
er
y
iter
atio
n
c
o
m
p
ar
e
d
with
th
e
co
n
tr
o
l m
ea
s
u
r
es
o
f
I
SE
a
n
d
I
AE
.
T
h
er
e
f
o
r
e,
it
ca
n
b
etter
co
n
tr
o
l
th
e
o
u
tp
u
t
s
p
ee
d
o
f
th
e
PMSM
d
r
iv
e,
f
o
llo
win
g
its
r
ated
s
p
ee
d
with
ze
r
o
o
r
v
er
y
s
m
all
s
tead
y
-
s
tate
er
r
o
r
co
m
p
ar
ed
to
th
e
o
th
er
2
co
n
tr
o
l m
ea
s
u
r
es.
Fig
u
r
e
6
.
T
h
e
ch
a
n
g
es
in
Simu
lin
k
b
lo
ck
s
b
ased
o
n
d
if
f
er
e
n
t
er
r
o
r
c
r
iter
ia
[
1
8
]
Fig
u
r
e
7
.
Av
e
r
ag
e
o
b
jectiv
e
f
u
n
ctio
n
v
alu
es o
b
tain
ed
f
r
o
m
A
B
C
o
p
tim
izatio
n
T
ab
le
3
.
T
r
a
n
s
ien
t r
esp
o
n
s
es f
o
r
th
e
AB
C
alg
o
r
ith
m
R
a
t
e
d
s
p
e
e
d
(
r
p
m)
P
e
r
f
o
r
ma
n
c
e
me
a
su
r
e
A
v
e
.
o
b
j
.
f
u
n
c
t
i
o
n
v
a
l
u
e
Kp
Ki
%OS
(
%)
Ts
(
ms)
Tr
(
ms)
(
r
p
m)
1
0
0
0
I
S
E
4
.
4
0
7
6
7
5
2
.
9
1
8
3
9
.
9
9
9
6
9
.
3
4
1
3
.
4
9
6
0
.
5
6
8
22
I
A
E
0
.
0
6
3
2
9
4
6
.
2
0
3
0
9
.
9
8
6
4
1
3
.
0
6
8
1
.
1
8
3
0
.
5
7
3
12
I
TA
E
0
.
0
0
0
0
4
3
9
.
9
9
8
0
9
.
9
6
5
7
2
6
.
0
4
2
3
.
5
4
1
0
.
2
9
0
8
1
5
0
0
I
S
E
1
2
.
8
2
4
8
5
2
2
.
8
4
2
2
10
5
.
8
5
1
3
.
3
1
4
0
.
8
1
2
21
I
A
E
0
.
1
1
7
3
3
1
5
.
0
7
6
3
10
6
.
9
8
9
1
.
0
6
6
0
.
8
2
4
13
I
TA
E
0
.
0
0
0
0
7
1
9
.
9
6
5
7
10
1
3
.
2
8
1
3
.
3
6
4
0
.
5
5
5
7
2
0
0
0
I
S
E
2
7
.
8
3
3
1
6
4
2
.
8
5
9
5
10
3
.
6
4
6
0
.
9
3
0
1
.
0
7
1
19
I
A
E
0
.
1
8
8
4
4
0
4
.
7
5
0
2
9
.
9
7
6
7
5
.
8
5
1
0
.
9
7
5
1
.
0
7
8
13
I
TA
E
0
.
0
0
0
1
2
1
9
.
9
4
8
0
10
5
.
8
5
1
1
.
4
5
1
1
.
0
8
1
8
3
0
0
0
I
S
E
8
5
.
1
2
2
3
0
0
3
.
9
2
2
8
10
2
.
5
7
7
1
.
2
3
5
1
.
5
9
7
12
I
A
E
0
.
3
8
8
3
4
8
6
.
4
0
6
5
9
.
9
9
0
9
3
.
6
4
6
1
.
3
0
9
1
.
5
9
2
8
I
TA
E
0
.
0
0
0
3
2
7
9
.
9
7
6
4
9
.
9
9
6
8
6
.
2
5
0
1
.
4
4
9
0
.
9
3
2
5
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
P
erfo
r
ma
n
ce
in
d
ex
fo
r
o
p
timiz
a
tio
n
meth
o
d
b
a
s
ed
o
n
P
MS
M
d
r
ives u
s
in
g
A
B
C
and
P
S
O
(
Leo
n
g
Hu
i E
e
)
1697
Fig
u
r
es
8
an
d
9
s
h
o
w
th
e
s
t
an
d
ar
d
d
ev
iatio
n
an
d
s
tan
d
ar
d
er
r
o
r
o
f
th
e
o
b
jectiv
e
f
u
n
ct
io
n
v
alu
es
o
b
tain
ed
f
r
o
m
th
e
s
im
u
latio
n
.
B
ased
o
n
th
e
s
tatis
tical
r
e
s
u
lts
,
th
e
s
u
itab
le
p
er
f
o
r
m
a
n
c
e
in
d
ex
u
s
ed
in
th
e
o
p
tim
izatio
n
o
f
s
p
ee
d
co
n
tr
o
l
f
o
r
PMSM
u
s
in
g
th
e
AB
C
alg
o
r
ith
m
is
I
T
AE
.
T
h
is
p
r
o
v
es
ag
ain
th
at
th
e
s
elec
tio
n
in
Fig
u
r
e
7
is
co
r
r
ec
t.
T
h
is
is
b
ec
au
s
e
it
ca
n
g
en
er
ate
a
lo
wer
o
b
jectiv
e
f
u
n
ctio
n
v
alu
e
an
d
h
as
th
e
lo
west
s
tan
d
ar
d
d
e
v
iatio
n
an
d
s
tan
d
ar
d
er
r
o
r
wh
en
co
m
p
ar
ed
with
th
e
p
er
f
o
r
m
a
n
ce
in
d
ices
I
SE
an
d
I
AE
.
I
t
is
also
p
r
o
v
en
th
at
th
e
r
esu
lts
o
b
tain
ed
f
r
o
m
o
p
tim
izatio
n
o
f
t
h
e
s
p
ee
d
co
n
tr
o
ller
b
ased
o
n
I
T
AE
in
PMSM
ar
e
m
o
r
e
ac
c
u
r
ate
o
r
clo
s
er
to
t
h
e
ex
p
ec
ted
s
o
lu
tio
n
.
T
h
is
is
b
ec
au
s
e
a
lo
wer
s
tan
d
ar
d
d
ev
iatio
n
in
d
icate
s
th
at
th
e
v
alu
e
o
b
tain
e
d
is
clo
s
er
to
th
e
m
ea
n
v
alu
e
o
f
th
e
o
b
jectiv
e
f
u
n
ctio
n
.
T
h
er
e
f
o
r
e,
t
h
e
o
u
tp
u
t
s
p
ee
d
o
f
th
e
PMSM
d
r
iv
e
th
at
is
t
u
n
ed
b
as
ed
o
n
I
T
AE
cr
iter
ia
ca
n
ac
h
ie
v
e
th
e
r
ef
er
e
n
ce
s
p
ee
d
o
f
th
e
PMSM
o
r
h
av
e
v
e
r
y
litt
le
s
tead
y
-
s
tate
er
r
o
r
.
Fig
u
r
e
8
.
Stan
d
a
r
d
d
e
v
iatio
n
o
f
o
b
jectiv
e
f
u
n
ctio
n
Fig
u
r
e
9
.
Stan
d
a
r
d
er
r
o
r
o
f
o
b
j
ec
tiv
e
f
u
n
ctio
n
v
alu
es
3
.
3
.
P
er
f
o
r
m
a
nce
ind
ex
us
in
g
P
SO
a
lg
o
ri
t
hm
T
h
e
s
p
ee
d
co
n
tr
o
l
o
f
PMSM
is
th
en
o
p
tim
ized
b
y
u
s
in
g
t
h
e
PS
O
alg
o
r
ith
m
.
T
h
e
PI
co
n
tr
o
ller
in
th
e
PMSM
d
r
iv
e
is
tu
n
ed
b
y
th
e
PS
O
alg
o
r
ith
m
in
5
0
iter
atio
n
s
.
As
m
en
tio
n
ed
in
th
e
r
esu
lts
s
ec
tio
n
,
wh
ich
u
s
es
AB
C
o
p
tim
izatio
n
,
th
e
r
esu
lts
ar
e
f
o
cu
s
ed
o
n
th
e
o
u
tp
u
t
s
p
e
ed
o
f
th
e
PMSM
wi
th
ze
r
o
o
r
v
er
y
s
m
all
s
tead
y
-
s
tate
er
r
o
r
.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
co
n
tr
o
l
s
y
s
tem
is
also
test
ed
b
ased
o
n
3
ty
p
es
o
f
er
r
o
r
cr
iter
ia
,
s
u
ch
as
I
SE,
in
teg
r
al
ab
s
o
lu
te
er
r
o
r
(
I
AE
)
,
an
d
in
te
g
r
al
tim
e
-
weig
h
t
ed
ab
s
o
lu
te
e
r
r
o
r
(
I
T
AE
)
,
in
o
r
d
er
t
o
c
o
m
p
ar
e
th
e
q
u
ality
o
f
th
e
co
n
t
r
o
lled
r
esp
o
n
s
e
an
d
d
eter
m
in
e
wh
ic
h
m
e
asu
r
e
is
s
u
itab
le
f
o
r
s
p
ee
d
co
n
tr
o
l
o
f
th
e
PMSM.
T
h
e
f
in
al
v
alu
es
o
f
PI
g
ain
s
,
av
er
ag
e
f
itn
ess
v
alu
e,
o
v
er
s
h
o
o
t,
s
ettlin
g
tim
e,
r
is
e
t
im
e
,
an
d
s
tead
y
-
s
tate
er
r
o
r
o
b
tain
ed
f
r
o
m
t
h
e
s
p
ee
d
r
esp
o
n
s
e
o
f
th
e
PMSM
d
r
iv
e
a
r
e
tab
u
lated
in
T
ab
le
4
.
B
ased
o
n
th
e
d
ata
o
b
tain
ed
,
th
e
PMSM
d
r
iv
e
b
ased
o
n
th
e
I
T
AE
cr
iter
io
n
ca
n
g
en
er
ate
th
e
o
u
tp
u
t
s
p
ee
d
with
ze
r
o
o
r
s
m
all
s
tead
y
-
s
tate
er
r
o
r
wh
e
n
c
o
m
p
ar
e
d
t
o
I
SE
an
d
I
AE
p
er
f
o
r
m
a
n
ce
m
ea
s
u
r
es.
Alth
o
u
g
h
it
is
u
n
ab
le
to
p
r
o
d
u
ce
th
e
b
est
tr
an
s
ien
t r
esp
o
n
s
e
wh
e
n
c
o
m
p
ar
ed
to
t
h
e
r
esp
o
n
s
es
o
b
tain
e
d
b
ased
o
n
I
SE
an
d
I
AE
er
r
o
r
cr
iter
ia,
it
ca
n
ac
h
ie
v
e
th
e
r
ef
e
r
en
ce
s
p
ee
d
o
f
th
e
PMSM
d
r
iv
e
with
an
er
r
o
r
n
o
t
m
o
r
e
th
a
n
6
r
p
m
.
I
n
s
u
m
m
ar
y
,
th
e
PMSM
d
r
iv
e
b
a
s
ed
o
n
th
e
I
T
AE
p
er
f
o
r
m
an
ce
in
d
ex
th
at
is
o
p
tim
ized
b
y
t
h
e
PS
O
alg
o
r
ith
m
ca
n
g
iv
e
th
e
b
est
r
esp
o
n
s
e
o
n
th
e
o
u
tp
u
t
s
p
ee
d
o
f
th
e
PMSM
d
r
iv
e
with
v
er
y
lo
w
s
tead
y
-
s
tate
er
r
o
r
wh
e
n
co
m
p
ar
ed
to
th
e
o
th
er
two
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es.
Fig
u
r
e
1
0
s
h
o
ws
th
e
av
e
r
ag
e
g
lo
b
al
b
est
f
itn
ess
v
alu
e
w
h
er
e
th
e
PMSM
d
r
iv
e
is
o
p
tim
ized
b
y
th
e
PS
O
alg
o
r
ith
m
b
ased
o
n
I
SE
,
I
AE
,
an
d
I
T
AE
er
r
o
r
cr
iter
i
a.
As
th
e
r
ated
s
p
ee
d
in
cr
ea
s
es,
th
e
g
lo
b
al
b
est
f
itn
ess
v
alu
e
also
i
n
cr
ea
s
es.
B
ased
o
n
th
e
o
u
tc
o
m
es
f
r
o
m
Fig
u
r
e
1
0
,
it
ca
n
b
e
s
u
m
m
ar
i
ze
d
th
at
t
h
e
c
o
n
tr
o
l
m
ea
s
u
r
es
I
T
AE
ar
e
b
etter
f
o
r
th
e
p
ar
am
eter
tu
n
in
g
o
f
th
e
P
MSM
d
r
iv
e
to
ac
h
iev
e
lo
w
s
tead
y
-
s
tate
er
r
o
r
.
T
h
is
is
b
ec
au
s
e
it
ca
n
g
iv
e
v
er
y
s
m
all
f
itn
ess
v
alu
es
in
ev
er
y
iter
atio
n
co
m
p
ar
ed
with
th
e
co
n
tr
o
l
m
ea
s
u
r
es
o
f
I
SE
an
d
I
AE
.
T
h
er
ef
o
r
e,
it
ca
n
b
et
ter
co
n
tr
o
l
t
h
e
o
u
t
p
u
t
s
p
ee
d
o
f
th
e
PMSM
d
r
iv
e,
f
o
ll
o
win
g
i
ts
r
ated
s
p
ee
d
with
ze
r
o
o
r
v
er
y
s
m
all
s
tead
y
-
s
tate
er
r
o
r
c
o
m
p
a
r
ed
to
I
SE
an
d
I
AE
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es.
Fig
u
r
es 1
1
an
d
1
2
s
h
o
w
th
e
s
tan
d
ar
d
d
e
v
iatio
n
an
d
s
tan
d
a
r
d
er
r
o
r
o
f
th
e
f
itn
ess
v
alu
es o
b
t
ain
ed
f
r
o
m
th
e
PS
O
o
p
tim
izatio
n
o
f
th
e
PMSM
d
r
iv
e
b
ased
o
n
d
if
f
er
e
n
t
p
er
f
o
r
m
an
ce
in
d
ices
.
B
ased
o
n
th
e
r
esu
lts
,
th
e
s
u
itab
le
p
er
f
o
r
m
an
ce
in
d
e
x
u
s
ed
in
th
e
o
p
tim
izatio
n
o
f
s
p
ee
d
co
n
tr
o
l
f
o
r
PMSM
u
s
in
g
th
e
PS
O
alg
o
r
ith
m
is
I
T
AE
.
T
h
is
is
b
ec
au
s
e
i
t
ca
n
g
en
er
ate
a
lo
wer
f
itn
ess
v
alu
e
an
d
h
as
th
e
lo
west
s
tan
d
ar
d
d
ev
iatio
n
a
n
d
s
tan
d
ar
d
er
r
o
r
w
h
en
c
o
m
p
ar
e
d
with
th
e
p
er
f
o
r
m
an
ce
in
d
ic
es
I
SE
an
d
I
AE
.
T
h
e
lo
wer
s
tan
d
ar
d
d
e
v
iatio
n
in
d
icate
s
th
at
th
e
v
alu
e
o
b
tain
ed
is
clo
s
e
to
th
e
m
ea
n
v
alu
e
o
f
th
e
o
b
jectiv
e
f
u
n
ctio
n
.
T
h
er
ef
o
r
e
,
th
e
o
u
tp
u
t
s
p
ee
d
o
f
t
h
e
PMSM
d
r
iv
e
th
a
t
is
tu
n
ed
b
ased
o
n
I
T
AE
cr
it
er
ia
ca
n
ac
h
ie
v
e
th
e
r
ated
s
p
e
ed
o
f
t
h
e
PMSM
o
r
h
av
e
v
er
y
litt
le
s
tead
y
-
s
tate
er
r
o
r
.
B
ased
o
n
th
e
an
aly
s
is
in
T
ab
le
5
,
it
ca
n
b
e
co
n
clu
d
ed
th
at
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
PMSM
d
r
iv
e
b
ased
o
n
I
T
A
E
e
r
r
o
r
c
r
i
t
e
r
i
a
is
m
o
r
e
s
u
i
ta
b
l
e
f
o
r
b
o
t
h
AB
C
a
n
d
PS
O
o
p
t
i
m
i
z
at
i
o
n
o
f
t
h
e
s
p
e
e
d
c
o
n
t
r
o
lle
r
.
T
h
i
s
i
s
b
ec
a
u
s
e
Evaluation Warning : The document was created with Spire.PDF for Python.