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S
witch
e
d
re
lu
c
tan
c
e
m
o
to
rs
(S
RM
s)
h
a
v
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g
a
in
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d
a
lo
t
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p
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s,
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d
m
a
c
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e
to
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th
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ise
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h
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in
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ters
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ti
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n
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l
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n
d
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m
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ro
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ise
d
S
BB
(I
S
BB).
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e
o
th
e
r
c
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tro
l
sc
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m
e
is
a
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I
c
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with
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sh
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d
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TS
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h
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c
o
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n
d
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s
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re
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(
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).
K
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w
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d
s
:
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b
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b
ir
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alg
o
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ith
m
Sp
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Switch
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rticle
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CC B
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SA
li
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C
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M.
Up
an
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a
Dep
ar
tm
en
t o
f
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an
d
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lectr
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n
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u
p
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m
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in
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D
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Switch
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r
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m
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r
s
(
SR
Ms
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ar
e
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g
m
o
r
e
atten
tio
n
in
cu
r
r
en
t
m
o
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d
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g
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p
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m
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m
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n
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Per
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a
n
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m
ag
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s
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ch
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o
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s
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o
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r
s
ar
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wid
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f
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d
h
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r
id
elec
tr
ic
v
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cle
ap
p
licatio
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s
,
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d
th
ese
m
o
to
r
s
p
r
o
v
id
e
h
ig
h
er
p
o
wer
d
e
n
s
ity
,
b
u
t
with
r
esp
e
ct
to
th
e
co
n
s
tr
u
ctio
n
al
asp
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t,
p
er
m
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t
m
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n
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q
u
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wh
ich
d
em
an
d
s
r
ar
e
ea
r
th
m
etals
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SR
Ms
h
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e
th
e
ad
v
an
tag
e
of
a
d
ju
s
tab
le
s
p
ee
d
d
r
iv
e
[
1
]
.
SR
Ms
h
av
e
th
e
in
h
er
en
t
ca
p
a
b
ilit
y
to
ad
ap
t
t
o
v
a
r
iab
le
s
p
ee
d
[
2
]
.
W
h
en
th
e
p
er
f
o
r
m
an
ce
o
f
SR
Ms
is
co
m
p
ar
ed
with
th
at
o
f
p
er
m
a
n
en
t
m
a
g
n
et
m
o
to
r
s
f
o
r
a
co
m
m
o
n
s
witch
in
g
f
r
eq
u
en
cy
,
SR
Ms
p
r
o
d
u
ce
less
s
witch
in
g
lo
s
s
co
m
p
ar
ed
t
o
p
er
m
an
e
n
t
m
ag
n
et
m
o
t
o
r
s
[
3
]
.
SR
Ms
h
av
e
g
ain
ed
s
cien
tific
p
o
p
u
lar
it
y
d
u
e
t
o
n
u
m
er
o
u
s
ad
v
an
ta
g
e
s
,
as
th
ey
p
r
o
d
u
ce
b
etter
ef
f
icien
c
y
wh
e
n
c
o
m
p
a
r
ed
to
in
d
u
ctio
n
m
o
to
r
s
f
o
r
th
e
s
am
e
r
atin
g
[
4
]
.
As
th
er
e
is
ad
v
an
ce
m
e
n
t
in
th
e
f
ield
o
f
p
o
wer
s
witch
in
g
d
ev
ic
es,
SR
M
s
h
av
e
b
ec
o
m
e
s
u
itab
l
e
f
o
r
m
a
n
y
m
o
to
r
d
r
iv
e
a
p
p
lic
atio
n
s
[
5
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
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8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
17
,
No
.
3
,
Sep
tem
b
er
20
26
:
16
59
-
1
6
7
4
1660
Sin
ce
SR
M
s
ar
e
g
ain
in
g
a
lo
t
o
f
p
o
p
u
la
r
ity
,
th
er
e
is
a
n
ee
d
to
im
p
r
o
v
e
s
p
ee
d
co
n
t
r
o
l,
to
r
q
u
e
r
ip
p
le
m
in
im
izatio
n
,
a
n
d
e
f
f
icien
cy
[
6
]
.
T
h
e
ch
alle
n
g
es
in
SR
Ms
ar
e
h
ig
h
to
r
q
u
e
r
ip
p
les,
ac
o
u
s
tic
n
o
is
e
p
r
o
d
u
ctio
n
,
a
n
d
n
o
n
lin
ea
r
b
eh
av
i
o
r
[
7
]
-
[
9
]
.
T
h
e
p
r
o
p
o
s
ed
wo
r
k
f
o
cu
s
es
o
n
im
p
r
o
v
in
g
th
e
s
p
ee
d
p
r
o
f
ile
an
d
cu
r
r
en
t
p
r
o
f
ile.
I
m
p
r
o
v
i
n
g
t
h
e
c
u
r
r
en
t
p
r
o
f
ile
im
p
r
o
v
es
th
e
t
o
r
q
u
e
p
r
o
f
ile
as
well.
I
m
p
r
o
v
i
n
g
th
e
s
p
ee
d
p
r
o
f
ile
o
f
th
e
SR
M
en
h
an
ce
s
its
ap
p
licatio
n
in
v
ar
io
u
s
d
ir
ec
tio
n
s
.
T
h
e
s
p
e
ed
co
n
tr
o
l
o
f
SR
M
is
ac
h
iev
ed
b
y
m
an
y
ad
ap
tiv
e
co
n
tr
o
ller
s
th
r
o
u
g
h
wh
ich
t
h
e
ef
f
ec
tiv
en
ess
o
f
th
e
SR
M
ca
n
b
e
d
em
o
n
s
tr
ated
[
1
0
]
.
C
o
m
m
o
n
ly
u
s
ed
co
n
tr
o
ller
s
f
o
r
SR
M
ar
e
PI
c
o
n
tr
o
ller
s
.
T
h
e
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
er
iv
ativ
e
(
PID
)
co
n
tr
o
ller
is
ef
f
ec
tiv
e
in
m
itig
atin
g
r
ip
p
les
o
f
to
r
q
u
e,
p
r
o
v
id
es
d
y
n
am
ic
r
esp
o
n
s
e
to
d
is
tu
r
b
an
ce
,
an
d
en
s
u
r
es
ac
cu
r
ate
m
o
to
r
s
p
ee
d
co
n
tr
o
l
[
1
1
]
.
A
PI
-
tu
n
e
d
co
n
v
er
ter
ca
n
p
r
o
v
i
d
e
m
o
r
e
p
o
wer
d
en
s
ity
,
b
etter
p
r
o
f
icien
cy
,
a
n
d
a
s
m
aller
m
o
to
r
d
r
iv
e
s
tr
u
ctu
r
e
[
1
2
]
.
T
h
e
m
ajo
r
asp
ec
t
th
at
co
n
tr
ib
u
tes
to
en
h
an
cin
g
t
h
e
s
p
ee
d
a
n
d
to
r
q
u
e
p
r
o
f
ile
o
f
SR
M
is
t
h
e
tu
r
n
-
on
an
d
tu
r
n
-
o
f
f
an
g
les.
Ap
p
r
o
p
r
iate
tu
r
n
-
on
an
d
tu
r
n
-
o
f
f
an
g
les
co
m
b
in
ed
with
t
h
e
co
n
t
r
o
ller
en
h
a
n
ce
th
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
SR
M.
I
m
p
lem
en
tatio
n
o
f
m
etah
eu
r
is
tic
alg
o
r
ith
m
s
t
o
d
eter
m
in
e
th
e
t
u
r
n
-
on
a
n
d
tu
r
n
-
o
f
f
an
g
les
h
elp
s
in
alig
n
in
g
th
e
r
o
to
r
an
d
s
tato
r
p
o
s
itio
n
o
f
th
e
SR
M
;
th
e
r
ig
h
t
alig
n
m
en
t
im
p
r
o
v
es
th
e
cu
r
r
en
t
p
r
o
f
ile,
th
e
r
ef
o
r
e
en
h
a
n
cin
g
th
e
to
r
q
u
e
p
r
o
f
ile
o
f
th
e
SR
M.
Me
tah
eu
r
is
tic
tech
n
iq
u
es
s
u
ch
as
s
atin
b
o
wer
b
ir
d
(
SB
B
)
h
av
e
g
ain
e
d
im
p
o
r
tan
c
e
r
ec
en
tly
;
m
ain
ly
,
its
ch
a
o
tic
s
elec
tio
n
asp
ec
t
p
r
o
v
id
es b
en
e
f
it
in
e
n
h
an
ci
n
g
t
h
e
p
er
f
o
r
m
an
ce
o
f
th
e
s
y
s
tem
[
1
3
]
.
Me
tah
e
u
r
is
tic
alg
o
r
ith
m
s
s
u
ch
as
p
a
r
ticle
s
war
m
o
p
tim
izatio
n
(
PS
O)
h
a
v
e
b
ee
n
im
p
lem
en
ted
alo
n
g
with
a
PI
c
o
n
tr
o
ller
to
en
h
a
n
ce
th
e
s
p
ee
d
r
e
g
u
latio
n
o
f
SR
M
[
1
4
]
.
C
o
m
p
u
tatio
n
o
f
o
p
tim
al
p
ar
a
m
eter
s
ca
n
b
e
o
b
tai
n
ed
b
y
th
e
im
p
lem
en
tatio
n
o
f
g
en
etic
al
g
o
r
ith
m
(
GA)
[
1
5
]
,
wh
ale
o
p
tim
izatio
n
alg
o
r
ith
m
(
W
OA)
[
1
6
]
,
g
r
av
i
t
atio
n
al
s
ea
r
ch
o
p
tim
izatio
n
(
GSO)
[
1
7
]
,
an
d
a
n
t
co
lo
n
y
o
p
tim
izatio
n
(
AC
O)
[
1
8
]
.
Gr
e
y
wo
lf
o
p
tim
izatio
n
m
im
ics
th
e
lead
er
s
h
ip
,
h
ier
ar
c
h
y
,
an
d
s
o
cial
d
y
n
am
ics
o
f
r
ea
l
g
r
ey
wo
lv
es.
T
h
e
asp
e
cts
o
f
h
u
n
tin
g
,
p
r
e
y
s
ea
r
ch
an
d
p
r
ey
en
cir
cle
an
d
p
r
e
y
attac
k
in
g
ca
n
b
e
im
p
lem
en
ted
to
d
eter
m
in
e
t
h
e
o
p
tim
al
p
ar
am
eter
s
o
f
th
e
SR
M
[
1
9
]
.
T
h
is
s
ets
th
e
p
lat
f
o
r
m
f
o
r
th
e
r
esear
ch
to
in
teg
r
ate
th
r
e
e
m
etah
eu
r
i
s
tic
alg
o
r
ith
m
s
alo
n
g
with
th
e
co
n
tr
o
ller
.
T
h
e
in
h
er
en
t
n
at
u
r
e
o
f
SR
Ms
m
ak
es
ac
h
iev
i
n
g
th
e
b
est
p
er
f
o
r
m
an
ce
with
th
ese
n
o
n
lin
ea
r
ch
ar
ac
ter
is
tics
a
ch
allen
g
e.
C
h
o
o
s
in
g
th
e
m
etah
eu
r
is
tic
alg
o
r
ith
m
t
o
d
eter
m
in
e
th
e
b
est
s
witch
in
g
an
g
le
en
h
an
ce
s
th
e
o
v
er
all
p
er
f
o
r
m
an
ce
o
f
t
h
e
m
ac
h
i
n
e
[
2
0
]
.
Op
tim
ized
co
n
d
u
ctio
n
an
g
le
w
ith
co
n
tr
o
l
s
tr
ateg
y
ex
p
an
d
s
th
e
o
p
e
r
atin
g
r
eg
io
n
an
d
o
v
er
all
p
er
f
o
r
m
an
ce
o
f
th
e
m
ac
h
in
e
[
2
1
]
.
An
ad
a
p
tiv
e
tu
r
n
-
on
a
n
g
le
f
u
n
ctio
n
al
o
n
g
with
a
co
n
tr
o
l
s
tr
ateg
y
im
p
r
o
v
es
th
e
o
v
e
r
all
ef
f
icien
cy
o
f
th
e
SR
M
,
alo
n
g
with
th
e
ab
ilit
y
to
ad
ap
t
to
ch
a
n
g
es
in
s
p
ee
d
a
n
d
lo
a
d
t
o
r
q
u
e
[
2
2
]
.
T
r
a
d
itio
n
al
co
n
t
r
o
ller
s
ar
e
u
s
ed
to
a
ch
iev
e
th
e
r
ated
o
r
r
ef
er
en
ce
s
p
ee
d
;
u
s
in
g
a
m
eta
h
eu
r
is
tic
alg
o
r
ith
m
g
iv
es a
b
et
ter
d
im
en
s
io
n
to
th
is
o
b
jectiv
e
[
2
3
]
.
T
h
e
h
ea
r
t
o
f
SR
M
o
p
er
atio
n
is
en
er
g
izin
g
th
e
s
tato
r
p
o
les,
wh
ich
cr
ea
tes
m
ag
n
etic
f
lu
x
;
th
e
f
lu
x
p
u
lls
th
e
n
ea
r
est
u
n
m
a
g
n
etiz
e
d
r
o
to
r
p
o
le.
E
n
er
g
izin
g
th
e
s
t
ato
r
p
o
les
p
a
v
es
th
e
way
f
o
r
t
h
e
im
p
lem
en
tatio
n
o
f
a
p
o
wer
elec
tr
o
n
ic
c
o
n
v
er
te
r
.
Fo
r
a
n
SR
M
d
r
iv
e,
th
e
p
o
we
r
co
n
v
er
ter
,
w
h
ich
p
e
r
f
o
r
m
s
DC
-
DC
co
n
v
er
s
io
n
,
p
lay
s
an
im
p
o
r
tan
t
r
o
le
i
n
p
r
o
v
id
in
g
u
n
i
p
o
lar
c
u
r
r
e
n
t
f
o
r
e
ac
h
win
d
in
g
[
2
4
]
.
T
h
e
o
th
er
i
m
p
o
r
tan
t
n
o
n
lin
ea
r
asp
ec
t
o
f
SR
M
is
th
e
to
r
q
u
e
p
r
o
f
ile.
T
h
e
in
h
er
e
n
t
n
atu
r
e
o
f
to
r
q
u
e
r
ip
p
le
lim
its
th
e
ap
p
lic
atio
n
o
f
SR
M
[
2
5
]
;
h
en
ce
f
o
r
th
,
t
h
e
f
o
cu
s
s
h
if
ts
to
im
p
r
o
v
in
g
t
h
e
to
r
q
u
e
p
r
o
f
i
le
an
d
b
etter
s
p
ee
d
r
eg
u
latio
n
o
f
th
e
SR
M.
I
n
co
n
s
id
er
atio
n
of
t
h
e
liter
atu
r
e,
im
p
r
o
v
em
e
n
t
in
th
e
s
p
ee
d
p
r
o
f
ile,
cu
r
r
en
t
p
r
o
f
ile
,
an
d
to
r
q
u
e
p
r
o
f
ile
with
th
e
im
p
lem
en
tatio
n
o
f
a
m
etah
e
u
r
is
tic
tech
n
iq
u
e
s
ets th
e
s
tag
e
f
o
r
a
r
esear
ch
h
o
ts
p
o
t in
SR
M.
T
h
e
p
r
o
p
o
s
ed
wo
r
k
aim
s
to
d
ev
elo
p
an
im
p
r
o
v
is
ed
to
r
q
u
e
s
h
ar
in
g
f
u
n
ctio
n
(
T
SF
)
to
im
p
r
o
v
e
th
e
to
r
q
u
e
p
r
o
f
ile,
en
ab
lin
g
th
e
SR
M
f
o
r
ex
p
an
d
ed
ap
p
licatio
n
.
T
h
e
h
ea
r
t
o
f
th
e
p
r
o
p
o
s
ed
wo
r
k
is
th
e
im
p
r
o
v
is
ed
SB
B
(
I
SB
B
)
m
etah
eu
r
i
s
tic
tec
h
n
iq
u
e
to
co
m
p
u
te
th
e
m
u
lti
-
o
b
jectiv
e
p
ar
am
eter
s
,
n
am
ely
,
t
o
r
q
u
e
r
ip
p
le,
T
HD,
an
d
s
p
ee
d
er
r
o
r
.
I
SB
B
i
s
im
p
lem
en
ted
to
d
eter
m
in
e
th
e
θ
on
,
θ
off
,
an
d
co
n
tr
o
ller
g
ain
s
f
o
r
PI
to
co
m
p
u
te
th
e
m
u
ltio
b
jectiv
e
f
u
n
ctio
n
at
d
if
f
er
en
t lo
ad
to
r
q
u
e
an
d
s
p
ee
d
co
n
d
itio
n
s
.
T
h
is
p
r
o
p
o
s
ed
wo
r
k
aim
s
to
d
ev
elo
p
an
I
SB
B
alg
o
r
ith
m
to
d
eter
m
in
e
th
e
θ
off
,
g
ain
p
a
r
am
eter
s
o
f
PI
co
n
tr
o
ller
f
o
r
s
p
ee
d
r
eg
u
latio
n
an
d
to
r
q
u
e
r
i
p
p
le
m
in
im
izat
io
n
f
o
r
SR
M
,
alo
n
g
with
d
eter
m
in
in
g
th
e
to
r
q
u
e
r
is
in
g
tim
e
(
T
r
)
an
d
t
o
r
q
u
e
s
ettlin
g
tim
e
(
T
s
)
.
T
h
e
d
esig
n
m
eth
o
d
o
l
o
g
y
is
p
r
esen
ted
f
o
r
4
d
if
f
er
en
t
co
n
tr
o
l
s
tr
ateg
ies,
n
am
ely
th
e
SB
B
w
ith
PI
co
n
tr
o
ller
an
d
h
y
s
ter
esis
cu
r
r
en
t
co
n
tr
o
l
(
HC
C
)
,
I
SB
B
with
PI
co
n
tr
o
ller
an
d
HC
C
,
SB
B
with
PI,
T
SF
a
n
d
HC
C
,
I
SB
B
with
PI,
T
SF
a
n
d
HC
C
.
2.
M
E
T
H
O
DO
L
O
G
Y
6
/4
SR
M
is
co
n
s
id
er
ed
f
o
r
th
e
p
r
o
p
o
s
ed
wo
r
k
.
SR
M
wo
r
k
s
o
n
th
e
p
r
in
cip
le
o
f
v
ar
iab
le
r
elu
ctan
ce
;
th
e
r
o
to
r
p
o
les
tr
y
co
n
s
tan
tly
to
alig
n
in
th
e
lo
west
r
elu
ct
an
ce
p
ath
.
Fo
r
a
n
SR
M,
θ
on
,
an
d
θ
off
a
n
g
les
ar
e
b
asically
th
e
r
o
to
r
p
o
s
itio
n
s
f
o
r
wh
ich
p
h
ase
win
d
in
g
s
g
et
en
er
g
ized
o
r
d
e
-
en
er
g
ized
,
r
esp
ec
tiv
ely
.
T
h
e
θ
on
is
b
asically
wh
er
e
th
e
cu
r
r
e
n
t
s
tar
ts
to
f
lo
w
in
th
e
p
h
ase
win
d
in
g
a
n
d
θ
off
is
b
asically
wh
er
e
th
e
cu
r
r
en
t
is
s
to
p
p
ed
also
ca
lled
th
e
m
a
x
im
u
m
in
d
u
cta
n
ce
r
eg
i
o
n
.
As
p
er
th
e
6
/4
SR
M
g
en
er
ic
m
o
d
el
o
f
MA
T
L
AB
,
b
ased
o
n
th
e
m
a
g
n
etiza
tio
n
ch
ar
ac
te
r
is
tics
o
f
th
e
m
ac
h
in
e
,
in
d
u
cta
n
ce
r
is
es
b
etwe
en
1
0
°
to
4
5
°
o
f
th
e
r
o
to
r
p
o
s
itio
n
.
Fo
r
th
e
p
r
o
p
o
s
ed
s
tr
ateg
y
,
θ
on
is
f
ix
ed
an
d
θ
off
is
co
m
p
u
ted
b
y
th
e
SB
B
alg
o
r
ith
m
.
T
h
e
r
e
aso
n
f
o
r
m
an
u
ally
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
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&
Dr
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t
I
SS
N:
2088
-
8
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9
4
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o
ve
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r
o
vised
s
a
tin
b
o
w
er
b
ir
d
a
lg
o
r
ith
m
fo
r
s
p
ee
d
co
n
tr
o
l a
n
d
t
o
r
q
u
e
r
ip
p
le
…
(
M.
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p
a
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)
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ettin
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o
th
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lie
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in
th
e
p
o
s
itiv
e
d
θ/d
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r
eg
io
n
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f
th
e
θ
on
is
to
o
ea
r
ly
,
cu
r
r
en
t
s
tar
ts
to
d
ev
elo
p
in
th
e
lo
w
in
d
u
ctan
ce
r
eg
i
o
n
,
p
r
a
ctica
lly
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in
g
t
o
co
p
p
er
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s
s
;
if
th
e
θ
on
is
ch
o
s
en
to
o
late
l
ea
d
s
to
in
s
u
f
f
icien
t
to
r
q
u
e
d
ev
elo
p
m
en
t.
Hen
ce
,
t
o
av
o
i
d
th
e
ab
o
v
e
-
m
en
tio
n
ed
two
co
n
d
itio
n
s
,
θ
on
is
s
et
m
an
u
ally
,
a
n
d
θ
off
is
co
m
p
u
ted
t
h
r
o
u
g
h
th
e
alg
o
r
it
h
m
.
T
h
e
f
o
llo
win
g
e
q
u
atio
n
s
ar
e
u
s
ed
to
ca
lcu
late
th
e
p
ar
a
m
eter
s
o
f
th
e
SR
M.
T
h
e
eq
u
iv
ale
n
t v
o
ltag
e
o
f
SR
M
p
er
p
h
ase
is
g
iv
e
n
in
(
1
)
.
=
+
(
,
)
(
1
)
is
th
e
te
r
m
in
al
v
o
ltag
e,
is
th
e
r
esis
tan
ce
,
is
th
e
f
l
u
x
lin
k
a
g
e,
L
is
th
e
in
d
u
cta
n
ce
,
a
n
d
θ
is
th
e
r
o
to
r
p
o
s
itio
n
.
T
h
e
t
o
r
q
u
e
eq
u
atio
n
f
o
r
SR
M
is
g
iv
en
in
(
2
)
.
=
1
2
2
(
)
(
2
)
Po
s
it
iv
e
t
o
r
q
u
e
o
cc
u
r
s
w
h
e
n
dL
(
θ
)
d
θ
>
0
,
t
h
is
is
t
h
e
f
i
r
s
t
cr
ite
r
i
o
n
t
o
co
m
p
u
te
th
e
θ
of
f
u
s
i
n
g
th
e
a
lg
o
r
it
h
m
.
T
h
e
(
3
)
is
u
s
e
d
to
c
alc
u
l
at
e
t
h
e
el
ec
t
r
i
ca
l
a
n
g
l
e
b
e
twe
en
t
h
e
t
wo
al
ig
n
e
d
p
o
s
iti
o
n
s
.
T
h
e
e
q
u
ati
o
n
is
g
i
v
e
n
as
(
3
)
.
=
360
0
(
3
)
N
r
is
th
e
n
u
m
b
er
o
f
r
o
to
r
p
o
le
s
,
h
en
ce
θ
c
=
9
0
°
f
o
r
N
r
=
4
,
s
in
ce
it is
a
6
/4
S
R
M.
W
ith
th
is
ca
lcu
latio
n
θ
aligned
is
90
°
th
is
is
s
ec
o
n
d
c
r
iter
ia
to
c
o
m
p
u
te
th
e
θ
off
u
s
in
g
th
e
alg
o
r
ith
m
,
s
o
cu
r
r
en
t
s
to
p
s
b
ef
o
r
e
9
0
°
.
C
u
r
r
en
t
d
ec
ay
is
ca
lcu
lated
u
s
in
g
(
4
)
.
=
(
4
)
T
h
e
(
5
)
an
d
(
6
)
is
u
s
ed
to
c
o
m
p
u
te
th
e
r
o
to
r
s
p
ee
d
an
d
cu
r
r
en
t
d
ec
ay
with
r
o
to
r
p
o
s
itio
n
r
esp
ec
tiv
ely
.
I
n
teg
r
atin
g
(
6
)
lead
s
to
(
7
)
.
=
ꙍ
(
5
)
(
,
)
=
ꙍ
(
6
)
=
−
ꙍ
(
7
)
2
.
1
.
O
pti
m
iza
t
io
n t
e
chniq
ue
:
I
SB
B
a
lg
o
rit
hm
SB
B
alg
o
r
ith
m
is
b
ased
o
n
th
e
life
o
f
th
e
s
atin
b
o
wer
b
ir
d
.
Attr
ac
tiv
e
b
o
wer
s
ar
e
cr
ea
ted
b
y
th
e
m
ale
s
atin
b
o
wer
b
ir
d
s
to
attr
ac
t
th
e
f
em
ale
s
atin
b
o
wer
b
ir
d
s
.
S
B
B
al
go
r
it
h
m
s
ar
e
v
er
s
at
il
e
,
a
nd
t
h
ei
r
i
m
pr
o
v
e
d
v
er
s
i
o
n
s
ar
e
pr
o
ve
n
t
o
f
et
c
h
m
or
e
a
c
cu
r
a
te
r
e
s
ul
t
s
[
26
]
,
[
27
]
.
I
n
th
e
p
r
o
p
o
s
ed
wo
r
k
,
th
e
co
n
v
en
tio
n
al
SB
B
is
im
p
r
o
v
is
ed
b
y
in
co
r
p
o
r
atin
g
ch
ao
tic
in
itializatio
n
,
ad
ap
tiv
e
ex
p
lo
r
atio
n
,
an
d
elite
p
r
eser
v
atio
n
.
T
h
e
s
tag
es
o
f
th
e
I
SB
B
ar
e
as f
o
llo
ws.
i)
C
h
ao
tic
in
itializatio
n
:
I
n
t
h
is
p
h
ase,
th
e
alg
o
r
ith
m
b
e
g
in
s
with
th
e
f
o
r
m
atio
n
o
f
an
in
itial
s
et
o
f
b
o
wer
s
with
in
th
e
s
p
ec
if
ied
s
ea
r
ch
s
p
ac
e,
wh
er
e
ev
er
y
b
o
wer
`
s
p
o
s
itio
n
r
ep
r
esen
ts
a
ca
n
d
id
ate
s
o
lu
tio
n
.
C
h
ao
tic
p
o
p
u
latio
n
in
itializatio
n
h
elp
s
in
h
av
in
g
a
u
n
if
o
r
m
d
is
tr
ib
u
tio
n
f
o
r
t
h
e
s
ea
r
ch
s
p
ac
e
f
o
r
ev
er
y
b
o
wer
;
d
iv
er
s
ity
o
f
th
e
in
itial
p
o
p
u
la
tio
n
is
m
ax
im
ize
d
an
d
r
ed
u
ce
s
tr
ap
p
in
g
in
lo
ca
l
m
i
n
im
a.
D
ec
is
io
n
v
ec
to
r
s
ar
e
d
ef
in
ed
as
θ
off
,
K
p
,
an
d
K
i
g
ain
v
alu
es
o
f
PI
co
n
tr
o
ller
.
Dec
is
io
n
v
ar
iab
le
b
o
u
n
d
s
ar
e
r
ep
r
esen
ted
as
in
(
8
)
-
(
1
0
)
.
Up
p
er
b
o
u
n
d
s
(
)
an
d
lo
wer
b
o
u
n
d
s
(
)
ar
e
in
itialized
f
o
r
th
e
b
o
wer
cr
ea
tio
n
.
T
h
e
(
1
1
)
an
d
(
1
2
)
a
r
e
u
s
ed
to
co
m
p
u
te
th
e
i
n
itial b
o
wer
s
.
≤
≤
(
8
)
≤
≤
(
9
)
≤
≤
(
1
0
)
+
1
=
4
(
1
−
)
(
1
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
17
,
No
.
3
,
Sep
tem
b
er
20
26
:
16
59
-
1
6
7
4
1662
=
+
(
−
)
(
1
2
)
ii)
E
v
alu
atio
n
a
n
d
a
d
ap
tiv
e
ex
p
l
o
r
atio
n
:
T
h
is
is
a
m
ate
attr
ac
tio
n
p
r
o
ce
s
s
.
I
n
t
h
is
s
tag
e,
e
v
alu
atio
n
o
f
th
e
attr
ac
tiv
en
ess
o
f
th
e
b
o
wer
i
s
ca
r
r
ied
o
u
t
b
y
th
e
f
em
ale
b
ir
d
s
.
T
h
is
s
tag
e
s
u
p
p
o
r
ts
th
e
ad
ap
tab
ilit
y
o
f
b
o
wer
b
ir
d
s
b
ased
o
n
th
e
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
.
T
h
e
ad
a
p
tiv
e
ex
p
lo
r
atio
n
p
ar
am
eter
is
m
ath
em
atica
lly
f
o
r
m
u
lated
as
f
o
llo
ws.
T
h
e
(
1
3
)
r
ep
r
esen
ts
th
e
ev
alu
atio
n
f
u
n
ctio
n
.
T
h
e
e
v
alu
atio
n
p
a
r
a
m
eter
s
ar
e
e
s
th
e
s
p
ee
d
er
r
o
r
,
T
HD
,
an
d
t
o
r
q
u
e
r
ip
p
le
(
R
)
,
ca
lcu
lated
u
s
in
g
(
1
4
)
-
(
1
6
)
,
r
esp
ec
tiv
el
y
.
Ad
ap
tiv
e
ex
p
lo
r
atio
n
is
m
ath
em
atica
lly
f
o
r
m
u
lated
as
p
er
(
1
7
)
.
=
1
+
2
+
3
(
1
3
)
=
ꙍ
−
ꙍ
(
1
4
)
=
−
(
1
5
)
=
√
∑
|
|
2
=
2
|
|
(
1
6
)
=
0
(
1
−
)
2
(
1
7
)
iii)
E
n
h
an
ce
d
lear
n
in
g
an
d
b
etter
s
o
cial
in
ter
ac
tio
n
:
Sin
ce
th
e
d
iv
er
s
ity
asp
ec
t
is
co
n
s
id
e
r
ed
,
b
o
wer
b
ir
d
s
co
m
p
ete
with
m
u
ltip
le
in
d
iv
id
u
als
an
d
lear
n
as
well.
T
h
is
a
s
p
ec
t
is
m
ath
em
atica
lly
f
o
r
m
u
lated
as
s
h
o
wn
in
(
1
8
)
.
=
+
(
−
)
+
(
0
,
1
)
(
1
8
)
iv
)
Pre
s
er
v
atio
n
o
f
th
e
elite:
T
h
is
s
tag
e
is
ab
o
u
t
p
r
eser
v
atio
n
o
f
th
e
b
est
o
r
th
e
elite
b
o
wer
.
T
h
e
b
est
s
o
lu
tio
n
is
p
r
eser
v
ed
in
th
is
s
tag
e
,
wh
ic
h
is
m
ath
em
ati
ca
lly
f
o
r
m
u
late
d
as p
er
(
1
9
)
.
=
{
,
(
)
<
(
)
,
,
ℎ
(
1
9
)
v)
Selectio
n
an
d
ev
o
lu
tio
n
o
f
b
o
wer
:
In
th
e
s
elec
tio
n
p
r
o
ce
s
s
,
it
is
th
e
s
elec
tio
n
o
f
th
e
b
est
b
o
wer
b
y
th
e
f
em
ale
b
ir
d
s
.
T
h
e
ev
o
lu
tio
n
s
tag
e
is
r
elate
d
to
an
iter
atio
n
l
o
o
p
;
t
h
e
p
r
o
ce
s
s
r
e
p
ea
ts
u
n
til
co
n
v
er
g
en
ce
is
m
et.
T
h
at
is
,
th
e
p
r
o
ce
s
s
co
n
ti
n
u
es
till
th
e
last
iter
atio
n
v
alu
e.
I
n
th
is
s
tag
e
,
th
e
alg
o
r
ith
m
will
p
r
o
v
id
e
th
e
o
p
tim
al
v
alu
es o
f
θ
off
, K
p
,
an
d
K
i
.
2
.
2
.
Co
ntr
o
l
s
chem
e
1
:
P
I
co
ntr
o
ller
wit
h H
CC
PI
co
n
tr
o
ller
is
im
p
lem
en
te
d
t
o
co
n
t
r
o
l
th
e
s
p
ee
d
o
f
t
h
e
SR
M
an
d
r
ed
u
ce
th
e
tr
a
n
s
ien
t
r
e
s
p
o
n
s
e
o
f
th
e
s
y
s
tem
[
2
8
]
.
PI
co
n
tr
o
lle
r
s
,
wh
en
tu
n
ed
with
alg
o
r
ith
m
s
,
p
r
o
d
u
c
e
b
etter
r
esu
lts
wh
en
co
m
p
ar
ed
to
a
co
n
v
en
tio
n
al
PI
co
n
tr
o
ller
[
2
9
]
.
I
n
teg
r
al
p
er
f
o
r
m
an
ce
cr
iter
i
a
o
f
th
e
PI
co
n
tr
o
ller
ca
n
b
e
i
m
p
r
o
v
e
d
b
y
u
s
in
g
an
alg
o
r
ith
m
[
3
0
]
.
Selectin
g
t
h
e
ad
ap
tiv
e
g
ain
v
alu
es
f
o
r
th
e
PI
co
n
tr
o
ller
is
r
e
q
u
ir
ed
f
o
r
q
u
ick
ly
a
d
ju
s
tin
g
to
v
ar
y
in
g
lo
ad
c
o
n
d
itio
n
s
[
3
1
]
.
T
h
e
(
2
0
)
r
e
p
r
esen
ts
th
e
s
p
ee
d
co
n
tr
o
l f
o
r
th
e
PI
co
n
tr
o
ller
.
(
)
=
(
)
+
∫
(
)
(
)
0
(
2
0
)
Fig
u
r
e
1
r
ep
r
esen
ts
th
e
b
lo
ck
d
iag
r
am
o
f
co
n
tr
o
l
s
ch
em
e
1
f
o
r
SR
M
d
r
i
v
e.
T
h
e
c
o
m
p
o
n
e
n
ts
o
f
t
h
e
SR
M
d
r
iv
e
ar
e
as
f
o
llo
ws.
I
n
th
e
H
-
b
r
i
d
g
e
co
n
v
er
ter
,
6
MO
SF
E
T
s
alo
n
g
with
th
o
s
e
s
ix
d
io
d
es
ar
e
im
p
lem
en
ted
f
o
r
th
e
co
n
t
r
o
l
o
f
a
6
/4
SR
M.
Sin
ce
it
is
a
6
/
4
SR
M,
th
er
e
ar
e
th
r
ee
p
h
ase
s
,
n
am
ely
p
h
ase
A,
p
h
ase
B
,
p
h
ase
C
.
T
h
e
d
esig
n
ated
s
witch
es
an
d
d
io
d
es
f
o
r
p
h
ase
A
ar
e
S1
,
S2
,
D1
,
D2
.
Si
m
ilar
ly
f
o
r
p
h
ase
B
,
S3
,
S4
an
d
D3
,
D4
,
an
d
f
o
r
p
h
ase
C
,
th
e
s
witch
e
s
ar
e
S5
,
S6
,
an
d
D5
,
D6
.
Ph
ases
ar
e
en
e
r
g
ized
in
a
s
eq
u
en
ce
.
I
f
p
h
ase
A
is
m
ad
e
to
e
n
er
g
iz
e
,
th
e
o
th
er
two
p
h
ases
ar
e
k
ep
t
id
le
;
s
im
ilar
ly
,
th
e
s
am
e
t
ec
h
n
iq
u
e
is
ap
p
lied
wh
en
p
h
ase
B
an
d
p
h
ase
C
a
r
e
en
er
g
ized
.
T
h
e
ac
tu
al
r
o
to
r
p
o
s
itio
n
is
m
ea
s
u
r
e
d
in
ter
m
s
o
f
θ.
T
h
e
ac
t
u
al
s
p
ee
d
o
f
th
e
r
o
to
r
is
m
ea
s
u
r
e
d
an
d
c
o
m
p
a
r
ed
with
th
e
r
ef
e
r
en
ce
s
p
ee
d
;
th
e
d
if
f
e
r
en
ce
in
s
p
ee
d
g
en
e
r
ates
an
er
r
o
r
.
T
h
e
er
r
o
r
is
g
iv
en
as
an
in
p
u
t
to
th
e
cu
r
r
e
n
t
co
n
tr
o
ller
;
th
e
o
u
tp
u
t
o
f
th
e
c
u
r
r
en
t
co
n
t
r
o
ller
an
d
th
e
lo
g
ic
d
esig
n
ed
to
en
er
g
ize
th
e
p
h
as
e
s
eq
u
en
ce
a
r
e
u
s
ed
to
g
e
n
er
a
te
g
ate
s
witch
in
g
p
u
ls
es
.
T
h
is
o
u
tp
u
t
is
f
ed
t
o
an
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
N
o
ve
l imp
r
o
vised
s
a
tin
b
o
w
er
b
ir
d
a
lg
o
r
ith
m
fo
r
s
p
ee
d
co
n
tr
o
l a
n
d
t
o
r
q
u
e
r
ip
p
le
…
(
M.
U
p
a
n
ya
)
1663
H
-
b
r
id
g
e
co
n
v
er
ter
,
wh
ich
i
n
tu
r
n
d
r
iv
es
th
e
SR
M
m
o
to
r
.
C
o
m
m
o
n
ly
u
s
ed
co
n
tr
o
l
m
e
th
o
d
s
in
SR
M
ar
e
a
s
y
m
m
etr
i
ca
l
h
alf
-
b
r
id
g
e
co
n
v
er
ter
s
with
a
h
y
s
ter
esis
cu
r
r
en
t
co
n
tr
o
ller
[
3
2
]
.
HC
C
is
k
n
o
wn
f
o
r
its
h
ig
h
ef
f
icien
cy
[
3
3
]
.
H
-
b
r
id
g
e
co
n
v
er
ter
s
ar
e
wid
el
y
p
r
ef
er
r
ed
f
o
r
th
eir
a
v
ailab
ilit
y
in
th
e
m
ar
k
e
t;
m
ass
p
r
o
d
u
ctio
n
o
f
th
e
co
n
v
er
ter
is
av
ailab
le
,
a
n
d
r
ep
lace
m
e
n
t
in
th
e
ev
e
n
t
o
f
f
ailu
r
e
is
ea
s
y
[
3
4
]
.
HC
C
m
eth
o
d
is
wid
ely
u
s
ed
f
o
r
s
tatio
n
ar
y
o
r
r
o
tatin
g
f
r
am
ewo
r
k
[
3
5
]
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
c
o
n
tr
o
l sch
em
e
1
f
o
r
SR
M
d
r
iv
e
2
.
3
.
Co
ntr
o
l schem
e
2
:
P
I
co
ntr
o
ller
wit
h T
SF
a
nd
H
CC
Fig
u
r
e
2
r
ep
r
esen
ts
th
e
b
lo
ck
d
iag
r
am
o
f
c
o
n
tr
o
l
s
ch
em
e
2
,
wh
ich
in
clu
d
es
a
PI
co
n
tr
o
ll
er
,
t
o
r
q
u
e
s
h
ar
in
g
f
u
n
ctio
n
(
T
SF
)
b
lo
c
k
,
to
r
q
u
e
to
c
u
r
r
en
t
c
o
n
v
e
r
ter
,
h
y
s
ter
esis
b
lo
ck
co
m
b
in
e
d
with
g
atin
g
lo
g
ic,
a
n
d
H
-
b
r
id
g
e
co
n
v
er
ter
with
SR
M.
T
SF
s
ar
e
co
n
tr
o
l
tech
n
iq
u
es
im
p
lem
en
ted
to
m
in
im
iz
e
to
r
q
u
e
r
ip
p
les
i
n
SR
Ms.
Key
ty
p
es
in
clu
d
e
cu
b
ic,
s
in
u
s
o
id
al,
ex
p
o
n
e
n
tial,
lin
ea
r
,
h
y
b
r
id
,
an
d
h
ig
h
e
r
-
o
r
d
er
p
o
ly
n
o
m
ial
f
u
n
ctio
n
s
.
Fo
r
t
h
e
p
r
o
p
o
s
ed
c
o
n
tr
o
l
s
ch
em
e,
a
q
u
in
tic
p
o
ly
n
o
m
ial
is
u
s
ed
in
T
SF
,
wh
ic
h
is
a
h
ig
h
e
r
-
o
r
d
er
p
o
ly
n
o
m
ial
f
u
n
ctio
n
.
T
h
e
a
d
v
an
tag
e
o
f
a
q
u
in
tic
p
o
ly
n
o
m
ial
is
th
at
it
o
f
f
e
r
s
a
h
ig
h
er
d
eg
r
ee
o
f
f
r
ee
d
o
m
,
allo
win
g
f
o
r
a
s
m
o
o
th
p
r
o
f
ile
an
d
lo
wer
to
r
q
u
e
r
ip
p
le.
T
h
e
b
asic q
u
in
tic
p
o
ly
n
o
m
ial
is
r
ep
r
esen
ted
in
(
2
1
)
.
(
)
=
0
+
1
1
+
2
2
+
3
3
+
4
4
+
5
5
(
2
1
)
T
h
is
is
a
f
if
th
-
o
r
d
er
p
o
ly
n
o
m
ial,
an
d
s
ix
co
n
d
itio
n
s
ar
e
n
ee
d
ed
to
d
eter
m
in
e
it.
T
h
e
s
ix
b
o
u
n
d
a
r
y
co
n
d
itio
n
s
ar
e
as
f
o
llo
ws
.
T
h
e
f
ir
s
t
two
co
n
d
itio
n
s
ar
e
with
r
esp
ec
t
to
to
r
q
u
e
lev
el
.
At
tu
r
n
-
o
n
,
to
r
q
u
e
b
ein
g
m
in
i
m
u
m
an
d
at
f
u
ll c
o
n
d
u
ctio
n
,
t
o
r
q
u
e
b
ein
g
m
a
x
im
u
m
is
r
ep
r
esen
ted
in
(
2
2
)
an
d
(
2
3
)
,
r
esp
ec
tiv
ely
.
(
0
)
=
0
(
2
2
)
(
1
)
=
1
(
2
3
)
Su
b
s
titu
tin
g
(
2
2
)
,
th
e
b
asic q
u
in
tic
p
o
ly
n
o
m
ial
eq
u
atio
n
is
d
er
iv
ed
as sh
o
wn
in
(
2
4
)
.
(
0
)
=
0
,
0
=
0
(
2
4
)
Su
b
s
titu
tin
g
(
23
)
,
th
e
b
asic q
u
in
tic
p
o
ly
n
o
m
ial
eq
u
atio
n
is
d
e
r
iv
ed
as r
ep
r
esen
ted
in
(
2
5
)
.
(
1
)
=
1
,
0
+
1
+
2
+
3
+
4
+
5
=
1
(
2
5
)
Fo
r
th
e
3
rd
an
d
4
th
b
o
u
n
d
ar
y
c
o
n
d
itio
n
s
,
th
e
f
ir
s
t
d
er
i
v
ativ
e
o
f
th
e
q
u
in
tic
p
o
ly
n
o
m
ial
i
s
r
ep
r
esen
ted
b
y
(
2
6
)
,
co
n
s
id
er
ed
f
o
r
s
m
o
o
th
cu
r
r
en
t
o
p
er
atio
n
w
h
er
e
th
e
c
u
r
r
e
n
t e
n
tr
y
an
d
e
x
it
ar
e
s
m
o
o
t
h
.
′
(
)
=
c
1
+
2
c
2
+
3c
3
z
2
+
4c
4
z
3
+
5c
5
z
4
(
2
6
)
W
ith
th
e
im
p
lem
en
tatio
n
o
f
th
e
f
ir
s
t b
o
u
n
d
ar
y
co
n
d
itio
n
,
th
e
co
ef
f
icien
t C1
is
o
b
tain
e
d
as p
er
(
2
7
)
.
′
(
0
)
=
0
,
1
=
0
(
2
7
)
W
ith
th
e
im
p
lem
en
tatio
n
of
th
e
s
ec
o
n
d
b
o
u
n
d
ar
y
c
o
n
d
itio
n
,
th
e
f
ir
s
t d
er
iv
ativ
e
(
2
6
)
an
d
(
2
9
)
ar
e
o
b
tain
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
17
,
No
.
3
,
Sep
tem
b
er
20
26
:
16
59
-
1
6
7
4
1664
′
(
1
)
=
0
,
(
2
8
)
2
2
+
3
3
+
4
4
+
5
5
=
0
(
2
9
)
As
a
5
th
an
d
6
th
b
o
u
n
d
a
r
y
co
n
d
itio
n
,
t
h
e
s
ec
o
n
d
d
er
iv
ativ
e
o
f
th
e
q
u
in
tic
p
o
ly
n
o
m
ial
r
e
p
r
esen
ted
in
(
3
0
)
is
co
n
s
id
er
ed
to
av
o
id
th
e
s
u
d
d
e
n
r
is
e
in
ac
ce
ler
atio
n
o
f
to
r
q
u
e
an
d
f
o
r
a
s
m
o
o
th
er
tr
a
n
s
itio
n
o
f
to
r
q
u
e.
"
(
)
=
2
c
2
+
6c
3
z
+
12c
4
z
2
+
20c
5
z
3
(
3
0
)
W
ith
th
e
im
p
lem
en
tatio
n
o
f
th
e
1
s
t
b
o
u
n
d
a
r
y
co
n
d
itio
n
to
t
h
e
s
ec
o
n
d
d
er
iv
ativ
e
,
C
2
is
o
b
t
ain
ed
as
r
ep
r
esen
ted
in
(
3
1
)
.
I
m
p
lem
en
tatio
n
of
s
ec
o
n
d
ar
y
c
o
n
d
itio
n
l
ea
d
s
to
(
3
2
)
.
′′
(
0
)
=
0
,
2
2
=
0
(
3
1
)
′′
(
1
)
=
0
,
6
3
+
12
4
+
20
5
=
0
(
3
2
)
W
ith
C
0
=0
,
C
1
=0
,
C
2
=0
,
th
e
r
em
ain
in
g
p
o
ly
n
o
m
ia
l is r
ep
r
ese
n
ted
in
(
3
3
)
.
(
)
=
3
3
+
4
4
+
5
5
(
3
3
)
Fro
m
th
e
f
u
n
ctio
n
c
o
n
d
itio
n
,
(
3
4
)
is
o
b
tain
e
d
.
3
+
4
+
5
=
1
(
3
4
)
So
lv
in
g
th
e
f
i
r
s
t d
er
iv
ativ
e
o
f
(
3
3
)
,
(
3
5
)
is
o
b
tain
ed
.
3
3
+
4
4
+
5
5
=
0
(
3
5
)
So
lv
in
g
th
e
s
ec
o
n
d
d
e
r
iv
ativ
e
o
f
(
3
3
)
,
(
3
6
)
is
o
b
tain
ed
.
6
3
+
12
4
+
20
5
=
0
(
3
6
)
So
lv
in
g
(
3
5
)
an
d
(
3
6
)
s
im
u
lta
n
eo
u
s
ly
,
v
al
u
es o
f
th
e
c
o
ef
f
ici
en
ts
ar
e
d
er
iv
ed
.
3
=
5
3
5
,
c
5
=
6
,
c
4
=
−
15
,
3
=
10
W
ith
th
e
s
u
b
s
titu
tio
n
o
f
all
th
e
co
ef
f
icien
ts
,
th
e
b
asic q
u
in
t
ic
p
o
ly
n
o
m
ial
is
d
ed
u
ce
d
to
(
3
7
)
.
(
)
=
10
3
−
15
4
+
6
5
(
3
7
)
=
−
−
(
3
8
)
I
n
t
h
e
p
r
o
p
o
s
e
d
w
o
r
k
,
al
g
o
r
it
h
m
p
r
o
v
i
d
es
t
h
e
θ
of
f
,
q
u
i
n
t
ic
p
o
l
y
n
o
m
ia
l
s
er
v
es
as
a
b
est
c
h
o
ic
e
as
it
b
asi
ca
ll
y
w
o
r
k
s
f
o
r
p
o
s
iti
o
n
b
ase
d
w
h
i
ch
a
r
e
b
asic
all
y
θ
on
a
n
d
θ
of
f
.
T
SF
b
l
o
c
k
s
r
e
ce
i
v
e
t
h
e
θ
on
a
n
d
θ
of
f
f
r
o
m
t
h
e
alg
o
r
it
h
m
;
b
as
e
d
o
n
t
h
e
c
o
n
d
u
cti
o
n
r
e
g
i
o
n
o
f
th
e
p
h
ases
,
T
S
F
p
r
o
v
id
es
t
h
e
e
n
a
b
l
in
g
f
u
n
cti
o
n
t
o
t
h
e
r
es
p
ec
ti
v
e
to
r
q
u
e
-
to
-
c
u
r
r
e
n
t
co
n
t
r
o
ll
er
.
T
h
e
to
r
q
u
e
-
to
-
cu
r
r
e
n
t
c
o
n
tr
o
l
le
r
b
l
o
c
k
s
r
e
ce
iv
e
t
h
e
r
ef
er
e
n
ce
to
r
q
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e
f
r
o
m
t
h
e
P
I
co
n
t
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ll
er
a
n
d
t
h
e
en
a
b
li
n
g
f
u
n
cti
o
n
f
r
o
m
t
h
e
T
SF
b
l
o
ck
.
As
p
e
r
(
3
9
)
m
e
n
ti
o
n
e
d
,
t
o
r
q
u
e
is
c
o
n
v
er
te
d
to
c
u
r
r
e
n
t.
T
h
e
r
a
w
r
e
f
e
r
e
n
ce
c
u
r
r
e
n
t
is
n
o
t
d
ir
ec
t
ly
u
s
e
d
as
it
ca
u
s
es
s
u
d
d
e
n
cu
r
r
e
n
t
t
r
a
n
s
it
io
n
s
,
m
o
r
e
c
u
r
r
e
n
t
r
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p
p
le
,
an
d
p
o
o
r
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o
m
m
u
tat
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b
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h
a
v
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o
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,
c
au
s
i
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g
m
o
r
e
s
tr
ess
o
n
t
h
e
co
n
v
e
r
t
er
.
He
n
c
e
,
a
d
a
p
t
iv
e
s
m
o
o
t
h
i
n
g
is
i
m
p
le
m
e
n
t
ed
in
t
h
e
t
o
r
q
u
e
-
to
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c
u
r
r
e
n
t
c
o
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v
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ter
b
l
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k
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b
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ti
n
g
as
p
e
r
th
e
eq
u
at
io
n
s
,
r
es
p
e
cti
v
e
ly
.
∗
=
(
)
+
(
1
−
(
)
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(
3
9
)
=
√
2
(
4
0
)
(
)
=
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(
)
(
4
1
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4
2
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T
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4
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c
o
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ib
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ap
tiv
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s
m
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r
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d
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m
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At
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n
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d
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n
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co
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m
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th
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SF
r
eg
io
n
will b
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s
m
all
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as i
t
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th
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s
tag
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
6
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o
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r
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s
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tin
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b
ir
d
a
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o
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ith
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(
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1665
wh
er
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ts
to
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ev
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ately
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f
t
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m
m
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tatio
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d
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ce
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e
s
tr
e
s
s
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ter
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Du
r
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g
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h
e
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ig
h
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SF
r
eg
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e
en
a
b
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d
s
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lin
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t
will
b
e
m
ax
i
m
u
m
,
lead
i
n
g
to
q
u
ic
k
er
to
r
q
u
e
r
esp
o
n
s
e,
f
aster
to
r
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e
estab
lis
h
m
en
t,
an
d
ad
ap
tiv
e
s
m
o
o
th
in
g
.
Du
r
in
g
c
o
m
m
u
tatio
n
in
th
e
SR
M,
th
er
e
is
a
s
u
d
d
en
ch
an
g
e
in
in
d
u
ctan
ce
ca
u
s
in
g
th
e
cu
r
r
en
t
to
la
g
an
d
d
ip
in
t
o
r
q
u
e
;
th
e
b
o
o
s
tin
g
ter
m
co
m
p
e
n
s
ates
th
e
lag
in
tr
an
s
ien
ts
.
As
p
er
(
40
)
,
b
o
o
s
tin
g
is
p
r
o
p
o
r
tio
n
al
to
T
SF
;
co
m
p
en
s
atio
n
au
to
m
atica
lly
ad
ap
ts
to
to
r
q
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e
d
em
an
d
.
Du
r
in
g
t
h
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o
n
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o
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tin
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b
ec
o
m
es
n
eg
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b
le
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o
id
in
g
u
n
n
ec
ess
ar
y
cu
r
r
e
n
t in
jectio
n
.
Du
r
in
g
th
e
h
i
g
h
to
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e
r
eg
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n
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o
o
s
tin
g
is
m
ax
im
u
m
,
lead
in
g
to
q
u
ick
to
r
q
u
e
b
u
ild
u
p
.
Fig
u
r
e
2
.
B
lo
ck
d
iag
r
am
o
f
c
o
n
tr
o
l sch
em
e
2
f
o
r
SR
M
d
r
iv
e
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
A
s
im
u
latio
n
m
o
d
el
o
f
t
h
e
6
/
4
SR
M
is
b
u
i
lt
in
MA
T
L
AB
/Si
m
u
lin
k
to
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aly
z
e
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e
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er
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o
r
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ce
o
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th
e
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M
with
r
esp
ec
t
to
s
p
ee
d
an
d
to
r
q
u
e
r
ip
p
le
m
in
im
iza
tio
n
f
o
r
th
e
d
if
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er
en
t
c
o
n
tr
o
l
s
ch
em
es
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p
o
s
ed
.
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h
e
d
if
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er
en
t
co
n
tr
o
l
s
ch
em
es
,
alo
n
g
with
th
e
alg
o
r
ith
m
,
ar
e
im
p
lem
en
ted
f
o
r
4
d
if
f
e
r
en
t
c
ases
.
T
h
e
SB
B
an
d
I
SB
B
alg
o
r
ith
m
s
co
m
p
u
te
th
e
θ
off
,
k
p
,
k
i
f
o
r
t
h
e
g
iv
e
n
r
ef
e
r
en
ce
s
p
ee
d
an
d
lo
ad
to
r
q
u
e
(
T
L
)
v
alu
e.
Fig
u
r
e
3
r
ep
r
esen
ts
th
e
MA
T
L
AB
/
Si
m
u
lin
k
m
o
d
el
o
f
th
e
p
r
o
p
o
s
ed
wo
r
k
.
T
h
e
alg
o
r
ith
m
is
i
n
co
r
p
o
r
ated
i
n
to
th
e
Simu
lin
k
m
o
d
el
to
c
o
m
p
u
te
t
h
e
p
ar
am
eter
s
o
f
t
h
e
co
n
tr
o
ller
an
d
θ
off
,
f
o
r
th
e
g
i
v
en
r
ef
e
r
e
n
ce
s
p
ee
d
an
d
lo
a
d
to
r
q
u
e.
T
h
e
alg
o
r
ith
m
is
ca
r
r
ied
o
u
t
f
o
r
a
p
o
p
u
latio
n
s
ize
o
f
1
0
;
th
e
iter
atio
n
co
u
n
t
is
1
0
.
T
o
v
er
i
f
y
th
e
p
er
f
o
r
m
an
ce
,
4
d
if
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er
en
t
co
n
d
itio
n
s
ar
e
co
n
s
id
er
ed
,
n
am
ely
d
if
f
er
en
t
r
o
t
o
r
s
p
ee
d
s
(
1
5
0
0
r
p
m
an
d
1
0
0
0
r
p
m
)
an
d
d
if
f
er
e
n
t
lo
ad
to
r
q
u
es
(
2
Nm
an
d
3
Nm
)
.
T
h
e
I
SB
B
is
co
m
p
ar
ed
with
ex
is
tin
g
alg
o
r
ith
m
s
,
n
am
ely
PS
O,
GA,
W
OA,
GSO
,
an
d
AC
O.
3
.
1
.
Ca
s
e
1
TL
=
2
Nm
a
n
d
r
e
f
e
r
en
ce
s
p
ee
d
1
5
0
0
r
p
m
.
T
ab
le
1
r
e
p
r
ese
n
t
s
th
e
r
es
u
l
ts
o
f
d
i
f
f
er
e
n
t
c
o
n
tr
o
l st
r
at
e
g
ies
f
o
r
c
ase
1
.
F
o
r
th
e
c
o
n
t
r
o
l
s
c
h
e
m
e
SB
B
w
it
h
PI
a
n
d
HC
C
,
t
h
e
ac
h
i
e
v
e
d
t
o
r
q
u
e
r
i
p
p
l
e
is
1
.
6
5
,
a
n
d
th
e
s
p
ee
d
in
i
tial
ly
h
as
a
s
m
a
ll
d
ip
at
0
.
2
s
.
T
h
e
c
o
n
t
r
o
l
s
c
h
e
m
e
wit
h
I
S
B
B
,
PI
,
a
n
d
HC
C
h
as
ac
h
i
ev
e
d
a
t
o
r
q
u
e
r
i
p
p
le
o
f
1
.
5
5
.
I
n
t
h
is
co
n
t
r
o
l
s
c
h
e
m
e
,
t
h
e
s
p
e
ed
f
a
ce
s
a
s
m
all
d
i
p
.
F
o
r
t
h
e
c
o
n
t
r
o
l
s
c
h
e
m
e
wit
h
SB
B
,
PI,
T
SF
,
a
n
d
HC
C
,
th
e
t
o
r
q
u
e
r
i
p
p
le
is
1
.
3
9
.
I
n
t
h
e
I
SB
B
c
o
n
t
r
o
l
s
c
h
em
e
wit
h
PI,
T
SF
,
a
n
d
HC
C
,
th
e
g
ai
n
p
ar
am
ete
r
v
al
u
es
a
r
e
co
m
p
a
r
at
iv
el
y
l
ess
c
o
m
p
ar
ed
t
o
o
t
h
e
r
s
c
h
e
m
es
.
T
h
e
t
o
r
q
u
e
r
i
p
p
le
is
1
.
2
9
,
an
d
th
e
s
p
ee
d
er
r
o
r
is
l
ess
c
o
m
p
ar
ed
to
t
h
e
o
t
h
e
r
3
s
c
h
e
m
es
.
Fi
g
u
r
e
4
(
a
)
r
e
p
r
ese
n
ts
t
h
e
s
p
e
ed
c
o
m
p
a
r
is
o
n
p
l
o
t
f
o
r
al
l
th
e
4
c
o
n
t
r
o
l
s
c
h
e
m
es
o
f
c
ase
1
.
Fi
g
u
r
e
4
(
b
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r
e
p
r
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en
ts
t
h
e
to
r
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e
p
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f
ile
c
o
m
p
ar
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o
n
f
o
r
all
t
h
e
4
c
o
n
tr
o
l
s
c
h
e
m
es
o
f
ca
s
e
1
.
I
t
is
v
e
r
y
ev
i
d
en
t
th
at
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m
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le
m
e
n
t
ati
o
n
o
f
a
d
a
p
ti
v
e
T
SF
h
as
r
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lt
ed
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n
a
b
et
te
r
to
r
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e
p
r
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il
e
wit
h
less
s
h
ar
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s
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k
es
as
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m
p
a
r
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d
t
o
c
o
n
t
r
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l
s
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h
e
m
es
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h
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d
HC
C
,
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u
e
to
th
e
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m
p
le
m
e
n
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f
a
d
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p
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v
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s
m
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t
h
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n
g
an
d
ad
a
p
ti
v
e
b
o
o
s
t
in
g
.
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g
u
r
e
4
(
c
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e
p
r
ese
n
ts
t
h
e
c
u
r
r
e
n
t
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n
d
f
l
u
x
p
r
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ile
wit
h
th
e
P
I
a
n
d
HC
C
co
n
t
r
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l
s
ch
em
e.
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g
u
r
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4
(
d
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e
p
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n
ts
t
h
e
c
u
r
r
e
n
t
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n
d
f
l
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x
p
r
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f
il
e
f
o
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t
h
e
c
o
n
t
r
o
l s
c
h
e
m
e
wit
h
P
I
,
i
m
p
r
o
v
is
e
d
T
SF
,
a
n
d
HC
C
.
T
h
e
f
l
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x
a
n
d
c
u
r
r
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n
t
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il
e
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h
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m
p
r
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e
d
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SF
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r
e
m
o
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n
if
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m
,
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n
d
t
h
e
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p
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th
e
c
u
r
r
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n
t
p
r
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il
e
h
as
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m
p
r
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v
e
d
as
co
m
p
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r
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d
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t
h
e
c
u
r
r
en
t a
n
d
f
l
u
x
p
r
o
f
ile
o
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
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8
8
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6
9
4
I
n
t J Po
w
E
lec
&
Dr
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s
t
,
Vo
l.
17
,
No
.
3
,
Sep
tem
b
er
20
26
:
16
59
-
1
6
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ch
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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
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u
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Fig
u
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6
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Fig
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6
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ased
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tr
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l
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C
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T
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s
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d
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to
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le
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1
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ch
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r
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a
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n
d
8
(
b
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p
r
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t
t
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p
h
s
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=
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,
1
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p
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d
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m
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SR
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ates
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ter
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