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.
Pre
cise
co
n
tr
o
l
o
v
er
to
r
q
u
e
an
d
s
p
ee
d
is
s
till
d
if
f
icu
lt
to
ac
h
iev
e
,
th
o
u
g
h
.
D
esp
ite
b
ein
g
wid
ely
u
tili
ze
d
,
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
(
PI)
co
n
tr
o
l
ler
s
p
er
f
o
r
m
p
o
o
r
ly
wh
en
p
ar
am
eter
s
ar
e
c
h
an
g
e
d
o
r
d
is
tu
r
b
ed
.
Alth
o
u
g
h
s
tu
r
d
y
,
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
(
SMC
)
h
as
ch
atter
in
g
.
B
y
co
m
b
in
in
g
f
u
zz
y
lo
g
ic
with
SMC
,
th
e
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
(
FS
MC)
r
ed
u
ce
s
ch
atter
in
g
wh
ile
p
r
eser
v
in
g
r
o
b
u
s
tn
ess
b
y
ad
ap
tiv
ely
ad
ju
s
tin
g
th
e
s
witch
in
g
g
ain
.
T
h
is
wo
r
k
u
s
es
a
L
an
d
s
m
an
co
n
v
e
r
ter
to
co
m
p
ar
e
PI
an
d
FS
MC
co
n
tr
o
ller
s
f
o
r
a
B
L
DC
m
o
to
r
d
r
iv
e
[
9
]
-
[
1
1
]
.
B
y
o
f
f
er
in
g
a
s
tead
y
an
d
co
n
tr
o
lled
DC
s
u
p
p
ly
,
th
e
L
an
d
s
m
a
n
co
n
v
e
r
ter
s
u
cc
ess
f
u
lly
r
ed
u
ce
s
v
o
ltag
e
s
win
g
s
an
d
r
ip
p
le
f
r
o
m
th
e
r
ec
tifie
d
AC
in
p
u
t,
im
p
r
o
v
in
g
th
e
p
er
f
o
r
m
a
n
ce
o
f
B
L
DC
m
o
to
r
s
.
T
h
is
g
u
a
r
an
te
es
a
s
tead
y
DC
b
u
s
f
o
r
th
e
in
v
er
ter
,
allo
win
g
f
o
r
p
r
ec
is
e
co
n
tr
o
l
s
ig
n
al
g
en
er
ati
o
n
,
b
etter
s
p
ee
d
co
n
tr
o
l,
less
t
o
r
q
u
e
r
ip
p
le,
an
d
in
cr
ea
s
ed
o
v
er
all
p
er
f
o
r
m
a
n
ce
.
I
t
also
im
p
r
o
v
es
p
o
wer
q
u
ality
b
y
lo
wer
in
g
h
ar
m
o
n
ic
d
is
to
r
tio
n
.
W
h
ile
ea
r
lier
r
esear
ch
h
as
l
o
o
k
ed
at
PI
,
f
u
zz
y
,
an
d
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
s
tr
ateg
ies,
th
e
m
ajo
r
ity
eith
er
co
n
c
en
tr
ate
o
n
t
r
ad
itio
n
al
DC
-
DC
co
n
v
er
ter
s
o
r
h
a
n
d
le
so
p
h
is
ticated
co
n
v
er
ter
s
an
d
i
n
tellig
en
t
co
n
tr
o
ller
s
s
ep
ar
atel
y
.
T
h
er
e
is
s
till
litt
le
in
teg
r
ated
u
s
e
o
f
a
L
an
d
s
m
an
co
n
v
er
ter
with
a
f
u
zz
y
s
lid
in
g
m
o
d
e
c
o
n
tr
o
ller
(
FS
MC),
esp
ec
ially
in
d
y
n
am
ic
E
V
o
p
e
r
atio
n
en
v
i
r
o
n
m
e
n
ts
.
I
n
o
r
d
er
to
clo
s
e
th
is
g
ap
,
th
is
p
ap
er
co
m
p
ar
es
PI
an
d
FS
MC
c
o
n
tr
o
ller
s
f
o
r
a
B
L
DC
m
o
to
r
f
ed
b
y
a
L
an
d
s
m
an
co
n
v
er
ter
,
with
a
f
o
c
u
s
o
n
tr
a
n
s
ien
t r
esp
o
n
s
e,
d
is
tu
r
b
an
ce
r
ej
ec
tio
n
,
an
d
ap
p
licab
ilit
y
f
o
r
E
V
ap
p
licatio
n
s
.
Fig
u
r
e
1
.
Ov
e
r
all
b
lo
ck
d
iag
r
a
m
o
f
th
e
s
p
ee
d
co
n
tr
o
l o
f
B
L
DC
m
o
to
r
2.
SYST
E
M
AND
CO
NV
E
R
T
E
R
DE
SI
G
N
T
h
e
p
r
o
p
o
s
ed
B
L
DC
m
o
to
r
d
r
iv
in
g
s
y
s
tem
h
as
a
h
ier
ar
c
h
ic
al
co
n
tr
o
l
d
esig
n
.
T
o
cr
ea
te
a
DC
in
p
u
t,
th
e
s
in
g
le
-
p
h
ase
AC
s
u
p
p
ly
is
f
ir
s
t
r
ec
tifie
d
an
d
f
ilter
ed
.
A
L
an
d
s
m
an
DC
–
DC
co
n
v
er
ter
is
th
en
u
s
ed
to
co
n
tr
o
l
th
is
v
o
ltag
e
in
o
r
d
er
t
o
p
r
eser
v
e
a
s
tab
le
DC
-
lin
k
u
n
d
er
v
ar
io
u
s
in
p
u
t
an
d
lo
a
d
cir
cu
m
s
tan
ce
s
.
T
h
e
B
L
DC
m
o
to
r
is
p
o
wer
ed
b
y
a
v
o
ltag
e
s
o
u
r
c
e
in
v
er
ter
(
VSI
)
th
at
r
ec
eiv
es
t
h
e
r
eg
u
lated
DC
.
A
ca
s
ca
d
ed
co
n
tr
o
l
tec
h
n
iq
u
e
is
u
s
ed
,
in
wh
ich
th
e
o
u
ter
lo
o
p
u
s
es
s
p
ee
d
er
r
o
r
to
g
en
e
r
ate
th
e
r
ef
er
en
ce
DC
v
o
ltag
e
wh
ile
th
e
in
n
er
lo
o
p
co
n
tr
o
ls
th
e
co
n
v
er
ter
d
u
t
y
c
y
cle.
Acc
u
r
ate
s
p
ee
d
tr
ac
k
in
g
a
n
d
s
tr
o
n
g
d
is
tu
r
b
an
ce
r
ejec
tio
n
ar
e
g
u
ar
a
n
teed
b
y
t
h
e
s
p
ee
d
co
n
tr
o
ller
,
w
h
ich
is
b
u
ilt
u
s
in
g
eith
er
a
PI
o
r
a
f
u
zz
y
-
b
ased
s
l
id
in
g
m
o
d
e
co
n
tr
o
ller
.
Fig
u
r
e
1
s
h
o
ws
th
e
o
v
e
r
all
co
n
f
ig
u
r
atio
n
o
f
th
e
s
y
s
tem
.
2
.
1
.
M
o
t
o
r
s
pecif
ica
t
io
ns
T
h
e
B
L
DC
m
o
to
r
u
s
ed
in
th
is
s
im
u
latio
n
h
as a
r
ate
d
o
u
tp
u
t
o
f
1
.
2
k
W
at
4
8
V.
T
h
is
g
r
a
d
e
is
ju
s
tifie
d
s
in
ce
it
r
ep
r
esen
ts
a
co
n
v
en
tio
n
al,
h
ig
h
-
p
o
wer
B
L
DC
m
o
to
r
d
esig
n
ed
f
o
r
in
d
u
s
tr
ial
u
s
ag
e.
T
h
e
4
8
V
r
atin
g
is
wid
ely
u
tili
s
ed
in
co
m
m
er
cial
an
d
in
d
u
s
tr
ial
ap
p
licatio
n
s
,
p
r
o
v
id
in
g
a
s
u
itab
le
b
le
n
d
o
f
h
ig
h
-
p
o
wer
o
u
tp
u
t
a
n
d
s
af
e
o
p
er
atin
g
v
o
ltag
e.
T
h
is
ap
p
r
o
ac
h
en
ab
les
a
d
ir
ec
t
an
d
ap
p
r
o
p
r
iate
co
m
p
ar
is
o
n
o
f
th
e
co
n
tr
o
ller
s
'
p
er
f
o
r
m
an
ce
u
n
d
er
n
o
r
m
al
o
p
er
atin
g
s
ettin
g
s
.
T
ab
le
1
s
h
o
ws th
e
s
p
ec
if
icatio
n
s
o
f
th
e
B
L
DC
m
o
to
r
r
atin
g
.
T
ab
le
1
.
Sp
ec
if
icatio
n
o
f
B
L
D
C
m
o
to
r
r
atin
g
P
a
r
a
me
t
e
r
V
a
l
u
e
U
n
i
t
R
a
t
e
d
p
o
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e
r
1
.
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I
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2088
-
8
6
9
4
Desig
n
o
f P
I
a
n
d
fu
z
z
y
-
b
a
s
ed
s
lid
in
g
mo
d
e
co
n
tr
o
ller
fo
r
s
p
ee
d
co
n
tr
o
l o
f B
LDC
mo
to
r
…
(
S
.
S
a
h
a
n
a
)
1875
T
h
e
ch
o
s
en
B
L
DC
m
o
to
r
r
ati
n
g
o
f
1
.
2
k
W
at
4
8
V
is
a
n
e
x
ce
llen
t
ch
o
ice
f
o
r
a
two
-
wh
ee
l
er
elec
tr
ic
v
eh
icle
(
E
V)
b
ec
au
s
e
o
f
its
b
alan
ce
d
m
ix
o
f
p
o
wer
,
e
f
f
icien
cy
,
an
d
s
af
ety
.
A
1
.
2
k
W
en
g
i
n
e
d
eliv
er
s
en
o
u
g
h
p
o
wer
f
o
r
all
u
s
u
al
r
id
in
g
s
ce
n
ar
io
s
,
s
u
ch
as
r
ap
id
ac
ce
ler
atio
n
f
r
o
m
a
s
to
p
,
m
ain
tain
in
g
s
tab
le
cr
u
is
in
g
s
p
ee
d
s
,
an
d
s
u
cc
ess
f
u
lly
clim
b
in
g
in
clin
es.
T
h
is
g
u
ar
an
tees
th
at
th
e
u
s
er
h
as
a
d
y
n
am
ic
an
d
r
esp
o
n
s
iv
e
r
id
in
g
ex
p
er
ien
ce
.
Mo
r
e
o
v
er
,
th
e
4
8
V
o
p
er
atin
g
v
o
ltag
e
is
a
wid
ely
ac
ce
p
ted
s
tan
d
ar
d
f
o
r
lig
h
t
E
Vs
b
ec
au
s
e
it
s
tr
ik
es
a
cr
itical
b
alan
ce
:
it'
s
h
ig
h
en
o
u
g
h
to
m
in
im
is
e
cu
r
r
en
t
d
r
a
w,
r
ed
u
ci
n
g
h
ea
t
lo
s
s
es
an
d
a
llo
win
g
f
o
r
a
m
o
r
e
co
m
p
ac
t
a
n
d
ef
f
icien
t
b
atter
y
p
ac
k
d
esig
n
,
wh
ile
r
em
ain
in
g
with
in
a
lo
w
-
v
o
ltag
e
r
an
g
e
t
h
at
p
r
i
o
r
itis
es
r
id
er
s
af
ety
.
As
a
r
esu
lt,
th
is
m
o
to
r
r
atin
g
is
a
p
r
ac
tical
a
n
d
ac
ce
p
ta
b
le
ch
o
ice
th
at
f
u
lf
ils
th
e
r
ea
l
-
wo
r
ld
p
er
f
o
r
m
an
ce
n
ee
d
s
an
d
d
esig
n
lim
its
o
f
a
m
o
d
er
n
E
V
b
ik
e.
2
.
2
.
Sy
s
t
e
m
mo
dellin
g
T
h
e
L
an
d
s
m
an
co
n
v
er
ter
as
s
h
o
wn
in
Fig
u
r
e
2
,
is
a
n
o
v
el
DC
-
DC
co
n
v
er
ter
ar
ch
itectu
r
e
th
a
t
co
m
b
in
es
th
e
f
ea
tu
r
es
o
f
b
u
c
k
-
b
o
o
s
t
an
d
C
u
k
co
n
v
er
ter
s
,
r
esu
ltin
g
in
a
co
n
tr
o
lled
DC
o
u
tp
u
t
v
o
ltag
e
with
b
etter
p
er
f
o
r
m
an
ce
.
I
n
elec
tr
ic
v
eh
icl
e
(
E
V)
d
r
iv
e
ap
p
licatio
n
s
,
it
is
ty
p
ically
u
s
ed
to
co
n
n
ec
t
th
e
r
ec
t
if
ied
AC
s
u
p
p
ly
to
th
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
(
VSI
)
th
at
p
o
wer
s
th
e
B
L
DC
m
o
to
r
.
2
.
2
.
1
.
I
np
ut
s
t
a
g
e
T
h
e
s
in
g
le
-
p
h
ase
AC
p
o
wer
s
u
p
p
ly
is
f
ir
s
t
f
ilter
ed
to
elim
in
ate
h
ig
h
-
f
r
e
q
u
en
c
y
h
ar
m
o
n
ics
b
e
f
o
r
e
b
ein
g
r
ec
tifie
d
u
s
in
g
a
b
r
id
g
eless
d
esig
n
.
T
h
is
elim
in
ates
th
e
tr
ad
itio
n
al
d
io
d
e
b
r
id
g
e
r
ec
ti
f
ier
an
d
d
ec
r
ea
s
es
co
n
d
u
ctio
n
lo
s
s
es,
r
esu
ltin
g
in
h
ig
h
er
e
f
f
icien
c
y
.
T
h
e
r
e
ctif
ied
DC
is
s
en
t to
th
e
L
an
d
s
m
an
co
n
v
er
ter
.
2
.
2
.
2
.
E
nerg
y
s
t
o
ra
g
e
a
nd
t
r
a
ns
f
er
T
h
e
co
n
v
er
ter
u
s
es
two
in
d
u
ct
o
r
s
,
two
ca
p
ac
ito
r
s
,
a
n
d
co
n
tr
o
lled
s
witch
es
to
s
to
r
e
an
d
tr
an
s
m
it
en
er
g
y
.
Du
r
in
g
th
e
s
witch
-
on
s
tate,
th
e
in
p
u
t
in
d
u
cto
r
s
to
r
es
en
er
g
y
,
wh
ile
th
e
ca
p
ac
ito
r
s
en
d
s
en
er
g
y
to
th
e
lo
ad
v
ia
th
e
o
u
t
p
u
t
in
d
u
cto
r
.
Du
r
in
g
th
e
s
witch
OFF
s
tate,
th
e
in
d
u
cto
r
'
s
s
to
r
ed
en
e
r
g
y
is
r
elea
s
ed
v
ia
t
h
e
d
io
d
e,
c
h
ar
g
i
n
g
th
e
in
ter
m
ed
iate
ca
p
ac
ito
r
a
n
d
s
en
d
in
g
en
er
g
y
to
th
e
l
o
ad
.
T
h
is
d
u
al
en
e
r
g
y
-
tr
an
s
f
e
r
s
y
s
tem
m
ain
tain
s
co
n
tin
u
o
u
s
p
o
wer
f
lo
w
wh
ile
m
in
im
izin
g
cu
r
r
en
t r
i
p
p
les at
b
o
th
th
e
i
n
p
u
t a
n
d
o
u
t
p
u
t.
Fig
u
r
e
2
.
Desig
n
o
f
L
an
d
s
m
an
co
n
v
er
te
r
2
.
2
.
3
.
Vo
lt
a
g
e
re
g
ula
t
io
n
T
h
e
L
an
d
s
m
an
co
n
v
er
ter
'
s
o
u
tp
u
t
DC
v
o
ltag
e
is
r
eg
u
lated
b
y
ad
ju
s
tin
g
th
e
d
u
ty
cy
cle
o
f
th
e
s
witch
in
g
d
ev
ices.
A
clo
s
ed
-
lo
o
p
c
o
n
tr
o
l
ap
p
r
o
ac
h
,
w
h
ich
u
s
u
ally
em
p
lo
y
s
a
PI
co
n
tr
o
ller
o
r
i
n
tellig
en
t
co
n
tr
o
l
(
s
u
ch
as
f
u
zz
y
-
b
ased
s
lid
in
g
m
o
d
e)
,
ch
an
g
es
th
e
d
u
ty
r
atio
d
e
p
en
d
i
n
g
o
n
th
e
r
ef
er
en
ce
s
p
ee
d
an
d
v
o
ltag
e
er
r
o
r
.
T
h
is
ass
u
r
es
th
at
th
e
B
L
DC
m
o
to
r
r
ec
eiv
es
a
c
o
n
s
tan
t
DC
co
n
n
ec
tio
n
v
o
ltag
e,
r
eg
ar
d
less
o
f
s
u
p
p
l
y
o
r
lo
ad
f
lu
ctu
atio
n
s
.
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
:
1873
-
1
8
8
4
1876
2
.
2
.
4
.
P
urpo
s
e
o
f
L
a
nd
s
m
a
n
co
nv
er
t
er
in B
L
DC
m
o
t
o
r
driv
e
f
o
r
E
V
a
pp
lica
t
io
ns
T
h
e
L
an
d
s
m
an
c
o
n
v
e
r
ter
is
a
h
y
b
r
id
DC
–
DC
to
p
o
lo
g
y
th
at
co
m
b
in
es
b
u
c
k
an
d
b
o
o
s
t
ch
ar
ac
ter
is
tics
,
m
ak
in
g
it
s
u
itab
le
f
o
r
elec
tr
ic
two
-
wh
ee
ler
B
L
DC
m
o
to
r
d
r
i
v
es.
I
t
s
u
p
p
lies
a
r
eg
u
lated
D
C
-
lin
k
v
o
ltag
e
to
th
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
(
VSI
)
,
en
s
u
r
in
g
s
tab
le
m
o
to
r
p
er
f
o
r
m
an
ce
u
n
d
er
v
ar
y
i
n
g
s
u
p
p
ly
a
n
d
b
atter
y
c
o
n
d
itio
n
s
.
T
h
e
co
n
v
er
ter
also
r
e
d
u
ce
s
s
witch
in
g
s
tr
ess
,
im
p
r
o
v
in
g
ef
f
icien
cy
an
d
r
eliab
ilit
y
,
an
d
s
u
p
p
o
r
ts
b
id
ir
ec
tio
n
al
p
o
wer
f
lo
w
f
o
r
r
e
g
en
er
ativ
e
b
r
ak
in
g
,
t
h
er
eb
y
en
h
a
n
cin
g
d
r
i
v
i
n
g
r
a
n
g
e
[
1
2
]
-
[
1
4
]
.
Desp
it
e
a
h
ig
h
er
c
o
m
p
o
n
en
t
co
u
n
t,
it
o
f
f
er
s
ad
v
an
ta
g
es
s
u
ch
as
im
p
r
o
v
e
d
DC
-
lin
k
v
o
lt
ag
e
r
eg
u
latio
n
,
r
ed
u
ce
d
in
p
u
t
cu
r
r
en
t
r
ip
p
le,
an
d
in
h
er
en
t
p
o
wer
f
ac
to
r
co
r
r
ec
ti
o
n
wh
en
in
te
r
f
ac
ed
with
an
AC
s
o
u
r
ce
.
I
t
also
p
r
o
v
i
d
es
b
etter
v
o
ltag
e
g
ai
n
an
d
d
y
n
am
ic
p
e
r
f
o
r
m
an
ce
.
Ad
d
itio
n
ally
,
its
h
ig
h
ef
f
icien
cy
,
r
ed
u
ce
d
h
ar
m
o
n
ic
d
is
to
r
tio
n
,
an
d
p
r
ec
is
e
d
u
ty
cy
cle
co
n
tr
o
l
e
n
ab
le
ac
c
u
r
ate
s
p
ee
d
r
eg
u
latio
n
an
d
s
u
itab
ilit
y
f
o
r
g
r
id
-
c
o
n
n
ec
te
d
o
p
er
atio
n
.
Ov
er
all,
it
s
er
v
es
as
a
co
m
p
ac
t,
ef
f
icien
t,
an
d
r
eliab
l
e
s
o
lu
tio
n
f
o
r
m
o
d
er
n
E
V
a
p
p
l
icatio
n
s
[
1
5
]
,
[
1
6
]
.
2
.
2
.
5
.
Co
ntr
o
ller
f
o
r
co
nv
er
t
er
I
n
elec
tr
ic
two
-
wh
ee
ler
ap
p
lica
tio
n
s
,
ef
f
ec
tiv
e
L
an
d
s
m
an
c
o
n
v
er
ter
c
o
n
tr
o
l
is
ess
en
tial
f
o
r
m
ain
tain
in
g
B
L
DC
m
o
to
r
s
p
ee
d
an
d
DC
-
lin
k
v
o
ltag
e
.
A
PI
co
n
tr
o
ller
is
co
m
m
o
n
l
y
u
s
ed
d
u
e
to
its
s
im
p
licity
,
g
en
er
atin
g
th
e
d
u
t
y
cy
cle
b
ased
o
n
s
p
ee
d
er
r
o
r
.
T
h
e
p
r
o
p
o
r
tio
n
al
ter
m
en
s
u
r
es
f
ast
r
esp
o
n
s
e,
wh
i
le
th
e
in
teg
r
al
ter
m
elim
in
ates
s
tead
y
-
s
tate
er
r
o
r
.
Ho
wev
er
,
its
p
e
r
f
o
r
m
an
ce
d
eg
r
ad
es
u
n
d
er
s
u
d
d
en
lo
ad
v
a
r
iatio
n
s
an
d
p
ar
am
ete
r
u
n
ce
r
tain
ties
ty
p
ical
o
f
E
V
o
p
er
atio
n
.
T
o
o
v
er
co
m
e
th
ese
li
m
itatio
n
s
,
a
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
(
FS
MC)
is
em
p
lo
y
ed
.
I
t
co
m
b
in
es
th
e
r
o
b
u
s
tn
ess
o
f
s
lid
in
g
m
o
d
e
co
n
tr
o
l
with
th
e
a
d
ap
tiv
e
ca
p
ab
i
lity
o
f
f
u
zz
y
lo
g
ic,
en
ab
lin
g
im
p
r
o
v
ed
tr
an
s
ien
t
r
esp
o
n
s
e,
r
ed
u
c
ed
c
h
atter
in
g
,
an
d
ac
c
u
r
ate
s
p
ee
d
tr
ac
k
in
g
u
n
d
er
v
ar
y
in
g
co
n
d
itio
n
s
.
As
a
r
esu
lt,
th
e
FS
MC
-
b
ased
s
y
s
tem
o
f
f
er
s
en
h
a
n
ce
d
ef
f
icien
c
y
,
s
tab
ilit
y
,
an
d
r
eliab
ilit
y
co
m
p
ar
ed
to
co
n
v
e
n
tio
n
al
PI
co
n
tr
o
l,
m
a
k
in
g
it we
ll su
ited
f
o
r
E
V
ap
p
l
icatio
n
s
.
2
.
3
.
Desig
n o
f
L
a
nd
s
m
a
n
co
nv
er
t
er
T
h
e
L
an
d
s
m
an
c
o
n
v
er
te
r
'
s
s
p
ec
if
icatio
n
s
d
ep
en
d
o
n
th
e
B
L
DC
m
o
to
r
r
atin
g
s
an
d
th
e
in
te
n
d
ed
DC
-
lin
k
v
o
ltag
e.
T
h
e
L
a
n
d
s
m
an
c
o
n
v
er
ter
f
o
r
d
r
iv
in
g
a
B
L
DC
m
o
to
r
in
two
-
wh
ee
ler
E
V
ap
p
l
icatio
n
s
is
d
esig
n
ed
ar
o
u
n
d
th
e
m
o
t
o
r
'
s
r
ated
n
ee
d
s
an
d
th
e
p
ec
u
liar
ities
o
f
th
e
in
p
u
t
AC
s
u
p
p
l
y
[
1
7
]
.
T
h
e
co
n
v
er
ter
is
p
o
wer
ed
b
y
a
s
in
g
le
-
p
h
ase
AC
s
u
p
p
ly
o
f
2
3
0
V
R
MS,
5
0
Hz,
wh
ich
,
af
ter
r
ec
tific
atio
n
,
p
r
o
d
u
ce
s
a
p
ea
k
v
o
ltag
e
o
f
r
o
u
g
h
ly
3
2
5
v
o
lts
.
T
o
en
s
u
r
e
th
e
B
L
DC
m
o
to
r
'
s
s
tead
y
f
u
n
ctio
n
in
g
,
th
e
co
n
v
er
ter
s
ets
th
e
D
C
-
lin
k
v
o
ltag
e
to
4
8
V,
wh
ich
m
atch
es th
e
m
o
to
r
'
s
r
ated
n
ee
d
s
.
W
ith
th
e
m
o
to
r
r
ated
at
1
.
2
k
W
,
th
e
co
n
v
er
te
r
m
u
s
t b
e
ab
le
to
p
r
o
d
u
ce
th
e
r
eq
u
ir
e
d
p
o
wer
wh
ile
r
etai
n
in
g
ef
f
icien
cy
an
d
v
o
ltag
e
s
tab
ilit
y
.
A
5
0
k
Hz
s
witch
in
g
f
r
eq
u
en
cy
with
a
2
0
μ
s
p
er
io
d
b
ala
n
ce
s
d
y
n
am
ic
r
esp
o
n
s
iv
en
ess
,
s
witch
in
g
lo
s
s
es,
an
d
f
ilter
s
ize.
B
ec
au
s
e
th
e
co
n
v
er
ter
r
u
n
s
in
b
o
o
s
t m
o
d
e
to
in
cr
ea
s
e
v
o
ltag
e
u
n
d
e
r
lo
w
i
n
p
u
t
cir
cu
m
s
tan
c
es,
th
e
m
ax
im
u
m
d
u
ty
c
y
cle
is
s
et
at
0
.
8
,
en
s
u
r
i
n
g
en
o
u
g
h
v
o
ltag
e
g
ai
n
wh
ile
m
in
im
izin
g
in
s
tab
ilit
y
[
9
]
.
T
h
is
s
p
ec
if
ic
atio
n
f
r
am
ewo
r
k
s
ets
th
e
L
an
d
s
m
an
co
n
v
er
ter
'
s
o
p
er
atio
n
al
lim
itatio
n
s
an
d
p
r
o
v
i
d
es
co
n
s
is
ten
t
p
er
f
o
r
m
an
ce
u
n
d
er
c
h
an
g
in
g
s
u
p
p
ly
an
d
lo
a
d
s
itu
atio
n
s
.
2
.
3
.
1
.
I
nd
uct
o
r
des
ig
n
T
o
m
ain
tain
a
co
n
s
tan
t
c
u
r
r
en
t
an
d
av
o
id
d
is
co
n
tin
u
o
u
s
o
p
e
r
atio
n
,
wh
ich
m
ig
h
t
r
esu
lt
in
in
cr
ea
s
ed
v
o
ltag
e
s
tr
ess
,
th
e
in
d
u
ct
o
r
s
m
u
s
t
b
e
b
ig
en
o
u
g
h
to
f
u
n
cti
o
n
in
co
n
tin
u
o
u
s
co
n
d
u
ctio
n
m
o
d
e
(
C
C
M)
.
T
h
e
m
in
im
u
m
in
d
u
ctan
ce
f
o
r
C
C
M
is
d
eter
m
in
ed
to
g
u
ar
a
n
tee
th
at
th
e
in
d
u
cto
r
cu
r
r
en
t
n
ev
er
r
ea
ch
es z
er
o
.
-
Av
er
ag
e
i
n
d
u
cto
r
cu
r
r
en
t (
I
L
)
: T
h
e
in
d
u
cto
r
s
m
u
s
t b
e
a
b
le
t
o
h
an
d
le
at
least th
e
f
u
ll
-
lo
ad
cu
r
r
en
t
o
f
2
5
A.
-
R
ip
p
le
cu
r
r
e
n
t (
Δ
I
L
)
: T
o
m
ai
n
tain
C
C
M,
we
allo
w
f
o
r
a
2
0
% r
ip
p
le
cu
r
r
e
n
t r
elativ
e
to
t
h
e
av
er
ag
e
c
u
r
r
en
t.
=
0
.
20
⋅
_
≈
0
.
20
⋅
25
=
5
Min
im
u
m
in
d
u
ctan
ce
f
o
r
th
e
f
o
r
war
d
(
b
o
o
s
t)
m
o
d
e:
T
h
e
m
i
n
im
u
m
in
d
u
ctan
ce
(
L
m
in
)
is
d
eter
m
in
ed
t
o
k
ee
p
th
e
in
d
u
cto
r
cu
r
r
en
t f
r
o
m
g
o
in
g
b
elo
w
ze
r
o
.
Her
e'
s
(
1
)
.
=
.
2
.
∆
.
(
1
)
Fo
r
b
o
o
s
t m
o
d
e,
th
e
r
eq
u
ir
ed
d
u
ty
cy
cle
(
D
)
is
(
2
)
.
=
1
−
(
2
)
T
h
e
wo
r
s
t c
ase
o
cc
u
r
s
at
th
e
l
o
west b
atter
y
v
o
ltag
e
,
=
42
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
Desig
n
o
f P
I
a
n
d
fu
z
z
y
-
b
a
s
ed
s
lid
in
g
mo
d
e
co
n
tr
o
ller
fo
r
s
p
ee
d
co
n
tr
o
l o
f B
LDC
mo
to
r
…
(
S
.
S
a
h
a
n
a
)
1877
=
1
−
42
48
=
0
.
125
=
42
.
0
.
125
5
.
50
.
10
3
=
21
µ
T
o
en
s
u
r
e
a
s
af
ety
m
ar
g
in
,
we
ch
o
o
s
e
a
s
tan
d
ar
d
v
alu
e
th
at
is
at
least
twice
th
e
lo
we
s
t
ca
lcu
lated
v
alu
e.
Hen
ce
,
th
e
s
elec
ted
v
alu
e
:
1
=
2
=
100
.
2
.
3
.
2
.
Ca
pa
cit
o
r
des
ig
n
T
h
e
ca
p
ac
ito
r
s
C
1
a
n
d
C
2
ar
e
im
p
o
r
tan
t
to
th
e
co
n
v
er
ter
'
s
b
r
id
g
eless
o
p
er
atio
n
.
T
h
ey
ar
e
ch
ar
g
ed
to
th
e
m
ax
im
u
m
v
o
ltag
e
o
f
th
e
AC
s
o
u
r
ce
.
Fo
r
a
2
3
0
V
R
MS
s
o
u
r
ce
,
th
e
p
ea
k
v
o
ltag
e
is
=
230
√
2
≈
325
.
−
R
ip
p
le
v
o
ltag
e
(
Δ
V
C
)
:
W
e
d
e
s
ig
n
f
o
r
a
m
ax
i
m
u
m
r
ip
p
le
v
o
ltag
e
o
f
5
%
o
f
th
e
p
ea
k
v
o
l
tag
e
ac
r
o
s
s
th
e
ca
p
ac
ito
r
,
wh
ich
is
0
.
05
×
325
≈
16
.
25
.
−
R
ip
p
le
cu
r
r
en
t
:
T
h
e
r
ip
p
le
c
u
r
r
en
t
eq
u
als
th
e
a
v
er
ag
e
in
p
u
t
cu
r
r
e
n
t
to
th
e
co
n
v
er
te
r
,
wh
i
ch
is
ab
o
u
t
th
e
m
o
to
r
'
s
r
ated
cu
r
r
en
t.
I
=
2
5
A
.
−
C
ap
ac
itan
ce
(
C
)
: T
h
e
ca
p
ac
itan
ce
is
d
esig
n
ed
to
ac
co
m
m
o
d
a
te
th
e
r
ip
p
le
cu
r
r
e
n
t d
u
r
i
n
g
a
s
in
g
le
s
witch
in
g
p
er
io
d
.
=
∆
.
(
3
)
=
25
50
∗
10
3
∗
16
.
25
=
30
.
7
µ
A
s
tan
d
ar
d
r
o
b
u
s
t v
alu
e
is
s
elec
ted
f
o
r
b
o
th
ca
p
ac
ito
r
s
.
1
=
2
=
47
µ
2
.
3
.
3
.
DC
lin
k
a
nd
inp
ut
ca
pa
cit
o
r
des
ig
n
T
h
e
ca
p
ac
ito
r
s
m
u
s
t
h
an
d
le
t
h
is
v
o
ltag
e
an
d
th
e
r
ip
p
le
cu
r
r
en
t
ass
o
ciate
d
with
th
e
e
n
er
g
y
tr
an
s
f
er
.
T
h
e
ca
p
ac
ito
r
s
f
ilter
o
u
t
v
o
ltag
e
r
ip
p
le
a
n
d
s
tab
ilize
th
e
DC
b
u
s
v
o
ltag
e.
W
e
d
esig
n
th
em
t
o
m
ain
tain
th
e
r
i
p
p
le
v
o
ltag
e
to
a
r
ea
s
o
n
ab
le
lev
el,
u
s
u
ally
1
% o
f
th
e
n
o
m
i
n
al
v
o
l
tag
e.
−
Ou
tp
u
t
ca
p
ac
ito
r
(C
out
)
: T
h
is
ca
p
ac
ito
r
s
tab
ilizes th
e
4
8
V
D
C
b
u
s
f
o
r
th
e
m
o
to
r
.
=
.
∆
.
(
4
)
Ass
u
m
in
g
a
m
ax
im
u
m
d
u
ty
cy
cle
o
f
D
max
=
0
.
8
(
f
o
r
b
o
o
s
t
o
p
er
atio
n
)
an
d
a
r
i
p
p
le
v
o
l
tag
e
(
ΔV
out
)
o
f
1
%
o
f
4
8
V,
wh
ich
is
0
.
4
8
V.
=
25
∗
0
.
8
50
∗
10
3
∗
0
.
48
=
667
µ
T
o
b
e
s
af
e,
we
c
h
o
o
s
e
a
s
tan
d
ar
d
v
alu
e
h
ig
h
e
r
th
an
t
h
is
.
Hen
ce
,
th
e
s
elec
ted
v
alu
e
o
f
th
e
o
u
tp
u
t c
a
p
ac
ito
r
is
,
=
1000
−
I
n
p
u
t
ca
p
ac
ito
r
(
C
in
)
:
T
h
is
ca
p
ac
ito
r
f
ilter
s
th
e
r
ip
p
le
f
r
o
m
th
e
in
p
u
t
AC
s
o
u
r
ce
.
Hen
ce
,
th
e
s
elec
ted
v
alu
e
o
f
th
e
in
p
u
t c
ap
ac
ito
r
is
,
=
220
.
2
.
3
.
4
.
Switc
h
s
elec
t
io
n
T
h
e
s
witch
es
(
SW
1
an
d
SW
2
)
an
d
d
io
d
es
(
D
1
a
n
d
D
2
)
m
u
s
t
h
av
e
ap
p
r
o
p
r
iate
v
o
ltag
e
a
n
d
cu
r
r
en
t
r
atin
g
s
to
h
an
d
le
th
e
s
tr
ess
es d
u
r
in
g
o
p
er
atio
n
.
−
Vo
ltag
e
r
atin
g
:
T
h
e
s
witch
es
m
u
s
t
with
s
tan
d
a
v
o
ltag
e
g
r
ea
ter
th
an
th
e
m
a
x
im
u
m
DC
lin
k
v
o
ltag
e
o
f
4
8
V.
Hen
ce
,
a
s
af
ety
m
ar
g
in
is
ess
en
tial
,
an
d
th
e
s
elec
ted
v
o
ltag
e
r
atin
g
s
h
o
u
l
d
b
e
g
r
ea
ter
th
a
n
6
0
V
−
C
u
r
r
en
t
r
atin
g
:
T
h
e
s
witch
es
m
u
s
t
b
e
ab
le
to
ca
r
r
y
th
e
f
u
ll
-
lo
ad
cu
r
r
e
n
t
o
f
2
5
A
p
lu
s
th
e
r
ip
p
le
cu
r
r
en
t.
Hen
ce
,
th
e
s
elec
ted
cu
r
r
e
n
t r
at
in
g
s
h
o
u
ld
b
e
g
r
ea
ter
th
an
3
0
A.
T
h
e
r
atin
g
s
o
f
th
e
d
esig
n
e
d
co
m
p
o
n
e
n
ts
o
f
th
e
L
a
n
d
s
m
an
c
o
n
v
er
ter
ar
e
s
h
o
wn
in
T
ab
le
2
.
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
:
1873
-
1
8
8
4
1878
T
ab
le
2
.
Sp
ec
if
icatio
n
o
f
L
a
n
d
s
m
an
co
n
v
e
r
ter
C
o
m
p
o
n
e
n
t
S
e
l
e
c
t
e
d
v
a
l
u
e
I
n
d
u
c
t
o
r
s
(
L1
,
L
2
)
1
0
0
μH
C
a
p
a
c
i
t
o
r
s (
C
1
,
C
2
)
4
7
μF
I
n
p
u
t
c
a
p
a
c
i
t
o
r
(
C
i
n
)
2
2
0
μF
O
u
t
p
u
t
c
a
p
a
c
i
t
o
r
(C
out
)
1
0
0
0
μF
S
w
i
t
c
h
e
s
(
S
W
1
,
S
W
2
)
R
a
t
e
d
>
6
0
V
,
>
3
0
A
S
w
i
t
c
h
i
n
g
f
r
e
q
u
e
n
c
y
(
f
sw
)
50
Hz
3.
DE
S
I
G
N
O
F
CO
NT
RO
L
L
E
R
I
n
o
r
d
er
to
en
s
u
r
e
s
tead
y
an
d
p
r
ec
is
e
f
u
n
ctio
n
in
g
u
n
d
e
r
all
cir
cu
m
s
tan
ce
s
,
th
e
co
n
t
r
o
ller
i
s
ess
en
tia
l
in
co
n
tr
o
llin
g
t
h
e
s
p
ee
d
o
f
a
B
L
DC
m
o
to
r
p
o
wer
ed
b
y
a
L
an
d
s
m
an
co
n
v
e
r
ter
.
B
y
co
n
tin
u
o
u
s
ly
co
m
p
ar
in
g
th
e
r
ef
er
en
ce
a
n
d
r
ea
l
s
p
ee
d
s
an
d
m
o
d
if
y
i
n
g
th
e
c
o
n
v
er
te
r
'
s
p
o
wer
f
lo
w
ac
co
r
d
i
n
g
ly
,
it
m
ai
n
tain
s
th
e
in
ten
d
ed
m
o
to
r
s
p
ee
d
.
A
ca
s
ca
d
e
d
co
n
tr
o
l
s
tr
u
ctu
r
e
is
u
s
ed
to
d
o
th
is
,
with
th
e
in
n
er
lo
o
p
co
n
tr
o
llin
g
th
e
DC
-
lin
k
v
o
ltag
e
an
d
th
e
o
u
ter
lo
o
p
co
n
tr
o
llin
g
s
p
ee
d
.
Ad
d
itio
n
ally
,
th
e
co
n
t
r
o
ller
allo
ws
f
o
r
ef
f
icien
t r
ejec
tio
n
o
f
d
is
tu
r
b
an
ce
s
lik
e
lo
ad
f
lu
ctu
atio
n
s
,
g
u
a
r
an
t
ee
in
g
m
in
im
al
d
eg
r
a
d
atio
n
an
d
s
m
o
o
th
o
p
er
ati
o
n
.
I
n
g
en
er
al
,
it
m
ain
tain
s
p
o
wer
q
u
ality
wh
ile
im
p
r
o
v
in
g
s
y
s
tem
r
o
b
u
s
tn
ess
,
r
esp
o
n
s
iv
en
ess
,
an
d
ef
f
icien
c
y
[
1
2
].
T
h
e
PI
a
n
d
FS
MC
co
n
tr
o
ller
s
o
f
a
B
L
DC
m
o
to
r
d
r
iv
e
m
a
n
ag
e
th
e
m
o
to
r
'
s
s
p
ee
d
an
d
g
u
ar
an
tee
th
at
its
p
er
f
o
r
m
a
n
ce
s
tay
s
s
tead
y
u
n
d
er
d
if
f
er
en
t
o
p
e
r
atin
g
cir
cu
m
s
tan
ce
s
.
W
h
ile
th
ey
h
av
e
th
e
s
am
e
g
o
al,
th
ey
d
o
it
v
ia
v
a
r
io
u
s
c
o
n
tr
o
l
m
ec
h
an
is
m
s
,
wh
ich
r
esu
lts
in
d
iv
er
s
e
p
e
r
f
o
r
m
an
ce
ch
ar
ac
ter
is
tics
.
3
.
1
.
P
I
co
ntr
o
ller
T
h
e
p
r
o
p
o
r
tio
n
al
–
in
teg
r
al
(
PI)
co
n
tr
o
ller
is
u
s
ed
t
o
r
eg
u
late
B
L
DC
m
o
to
r
s
p
ee
d
b
y
m
in
i
m
izin
g
th
e
er
r
o
r
b
etwe
en
r
ef
e
r
en
ce
an
d
ac
tu
al
v
alu
es.
T
h
e
p
r
o
p
o
r
tio
n
al
t
er
m
(
K
p
)
p
r
o
v
i
d
es
an
im
m
ed
iate
r
esp
o
n
s
e
to
s
p
ee
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er
r
o
r
,
e
n
ab
lin
g
f
ast
co
r
r
ec
tio
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,
wh
ile
th
e
in
teg
r
al
ter
m
(
K
i
)
elim
in
ates
s
tead
y
-
s
tate
er
r
o
r
to
en
s
u
r
e
ac
c
u
r
ate
tr
ac
k
in
g
.
T
h
is
s
tr
u
ctu
r
e
o
f
f
er
s
a
s
im
p
le
an
d
r
eliab
le
co
n
tr
o
l
s
tr
ateg
y
,
th
o
u
g
h
its
p
er
f
o
r
m
a
n
ce
m
ay
d
eg
r
a
d
e
u
n
d
er
n
o
n
lin
ea
r
ities
an
d
s
u
d
d
en
d
is
tu
r
b
an
ce
s
.
A
ca
s
ca
d
ed
co
n
tr
o
l
ap
p
r
o
ac
h
i
s
em
p
lo
y
ed
,
co
n
s
is
tin
g
o
f
an
o
u
ter
s
p
ee
d
lo
o
p
an
d
an
in
n
er
v
o
ltag
e
lo
o
p
.
T
h
e
s
p
ee
d
er
r
o
r
is
d
ef
i
n
ed
as
(
5
)
.
(
)
=
−
(
)
(
5
)
T
h
e
co
r
r
esp
o
n
d
i
n
g
co
n
tr
o
ller
o
u
tp
u
t,
wh
ic
h
ac
ts
as th
e
r
ef
er
en
ce
v
o
ltag
e
(V
ref
)
,
is
g
iv
en
b
y
(
6
)
.
(
)
=
⋅
(
)
+
∫
(
)
(
6
)
I
n
th
e
in
n
er
lo
o
p
,
th
e
DC
-
lin
k
v
o
ltag
e
er
r
o
r
is
ca
lcu
lated
as
(
7
)
.
(
)
=
−
_
(
)
(
7
)
T
h
e
PI
co
n
tr
o
ller
th
en
g
en
er
at
es th
e
d
u
ty
cy
cle
f
o
r
t
h
e
L
an
d
s
m
an
co
n
v
er
ter
as
(
8
)
.
(
)
=
⋅
(
)
+
∫
(
)
(
8
)
T
h
is
ca
s
ca
d
ed
PI
s
tr
u
ctu
r
e
e
n
s
u
r
es
ef
f
ec
tiv
e
s
p
ee
d
r
eg
u
latio
n
b
y
c
o
o
r
d
i
n
atin
g
v
o
ltag
e
co
n
tr
o
l
an
d
m
o
to
r
d
y
n
am
ics.
3
.
2
.
F
uzzy
ba
s
ed
s
lid
i
ng
m
o
de
co
ntr
o
l
T
h
e
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
(
S
MC)
is
a
r
o
b
u
s
t
n
o
n
lin
ea
r
te
ch
n
iq
u
e
th
at
d
r
iv
es
th
e
s
y
s
tem
s
tate
to
a
p
r
ed
ef
in
e
d
s
lid
in
g
s
u
r
f
ac
e
a
n
d
m
ain
tain
s
it
th
er
e,
en
s
u
r
i
n
g
s
t
r
o
n
g
d
is
tu
r
b
an
ce
r
ejec
tio
n
an
d
r
o
b
u
s
tn
ess
ag
ain
s
t
u
n
ce
r
tain
ties
[
1
7]
-
[
2
0
]
.
I
t
o
p
e
r
ates
in
two
p
h
ases
:
a
r
ea
ch
in
g
p
h
ase
th
at
f
o
r
ce
s
th
e
s
tate
t
o
th
e
s
u
r
f
ac
e
u
s
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g
h
ig
h
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g
ai
n
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n
tr
o
l,
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n
d
a
s
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ase
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n
s
u
r
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g
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u
ilib
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m
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Ho
wev
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n
v
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tio
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SMC
s
u
f
f
er
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f
r
o
m
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atter
in
g
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u
e
t
o
h
ig
h
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f
r
eq
u
e
n
cy
s
witch
in
g
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T
o
m
itig
ate
th
is
,
a
f
u
zz
y
s
l
id
in
g
m
o
d
e
co
n
tr
o
ller
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FS
MC)
i
s
em
p
lo
y
ed
,
wh
er
e
f
u
zz
y
lo
g
ic
ad
a
p
tiv
ely
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s
ts
th
e
s
wi
tch
in
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g
ain
,
r
ed
u
ci
n
g
ch
atter
in
g
wh
ile
r
etain
in
g
r
o
b
u
s
tn
ess
.
T
h
e
s
lid
in
g
s
u
r
f
ac
e
is
d
e
f
in
ed
as
(
9
)
.
=
⋅
+
∫
(
9
)
W
h
er
e
λ
is
weig
h
tin
g
co
n
s
tan
t
.
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
Desig
n
o
f P
I
a
n
d
fu
z
z
y
-
b
a
s
ed
s
lid
in
g
mo
d
e
co
n
tr
o
ller
fo
r
s
p
ee
d
co
n
tr
o
l o
f B
LDC
mo
to
r
…
(
S
.
S
a
h
a
n
a
)
1879
A
Ma
m
d
an
i
-
ty
p
e
f
u
zz
y
in
f
e
r
e
n
ce
s
y
s
tem
(
FIS)
u
s
es
S
an
d
Ṡ
as
in
p
u
ts
to
g
en
er
ate
ad
ap
ti
v
e
g
ain
K
.
T
h
e
tr
ian
g
u
lar
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
with
s
ev
en
lin
g
u
is
tic
v
ar
iab
les
(
NB
to
P
B
)
f
o
r
m
a
4
9
-
r
u
le
b
ase,
en
s
u
r
in
g
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ec
tiv
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atin
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h
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n
tr
o
l
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co
m
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iv
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t
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d
s
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m
p
o
n
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ts
(
1
0
)
.
=
−
∗
(
)
(
10
)
T
h
e
eq
u
iv
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n
t c
o
n
tr
o
l is ex
p
r
ess
ed
as
(
1
1
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.
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̇
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1
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T
h
e
f
in
al
co
n
tr
o
l o
u
tp
u
t
:
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+
(
12
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Fig
u
r
e
3
p
r
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th
e
r
u
le
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b
as
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s
u
r
f
ac
e
g
en
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ated
b
y
th
e
f
u
zz
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ce
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tem
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n
d
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e
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m
p
lete
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et
o
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4
9
f
u
zz
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u
les u
s
ed
to
d
eter
m
in
e
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ad
ap
tiv
e
s
witch
in
g
g
ain
is
lis
ted
in
T
ab
le
3
.
Fig
u
r
e
3
.
R
u
le
b
ase
o
f
th
e
FIS
T
ab
le
3
.
Fu
zz
y
r
u
le
b
ase
\
̇
NB
NM
NS
Z
PS
PM
PB
NB
PB
PB
PB
PM
PM
PS
Z
NM
PB
PB
PM
PM
PS
Z
NS
NS
PB
PM
PM
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Z
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NM
Z
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PM
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Z
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NM
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PM
PS
Z
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NB
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NM
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NB
NB
NB
4.
P
RO
P
O
SE
D
SYS
T
E
M
T
h
e
s
u
g
g
ested
B
L
DC
m
o
to
r
d
r
iv
e
s
y
s
tem
is
in
ten
d
ed
f
o
r
elec
tr
ic
two
-
wh
ee
ler
ap
p
lic
atio
n
s
an
d
o
p
er
ates
o
n
a
s
in
g
le
-
p
h
ase
2
3
0
V,
5
0
Hz
AC
s
u
p
p
ly
.
T
h
e
in
p
u
t
AC
is
r
ec
tifie
d
a
n
d
f
ed
in
to
a
b
r
id
g
eless
L
an
d
s
m
an
c
o
n
v
e
r
ter
,
wh
ich
ass
u
r
es
ef
f
ec
tiv
e
DC
-
DC
co
n
v
er
s
io
n
a
n
d
p
r
o
v
id
es
a
r
eg
u
lated
4
8
V
DC
-
lin
k
v
o
ltag
e
s
u
f
f
icien
t
f
o
r
th
e
B
L
DC
m
o
to
r
d
r
iv
e.
T
h
e
c
o
n
v
e
r
t
er
s
witch
es
at
a
f
r
eq
u
en
cy
o
f
5
0
k
Hz,
an
d
its
d
u
ty
cy
cle
is
m
o
d
if
ied
to
m
ain
tain
a
s
tead
y
v
o
ltag
e
u
n
d
er
c
h
an
g
in
g
lo
ad
a
n
d
i
n
p
u
t
cir
c
u
m
s
tan
ce
s
.
T
h
e
r
eg
u
lated
DC
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
:
1873
-
1
8
8
4
1880
o
u
tp
u
t
f
r
o
m
th
e
c
o
n
v
e
r
ter
is
s
en
t
in
to
th
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
(
VSI
)
,
w
h
ich
g
e
n
er
ates
elec
tr
o
n
ically
co
m
m
u
tated
s
ig
n
als
to
p
o
wer
th
e
B
L
DC
m
o
to
r
.
T
h
is
ar
r
an
g
em
en
t
g
u
ar
an
tees
b
etter
v
o
lt
ag
e
co
n
tr
o
l,
lo
wer
r
ip
p
le
co
n
te
n
t,
an
d
d
ep
e
n
d
ab
le
p
er
f
o
r
m
an
ce
o
f
th
e
m
o
to
r
d
r
i
v
e
s
y
s
tem
.
A
clo
s
ed
-
lo
o
p
f
ee
d
b
ac
k
s
y
s
tem
th
at
co
n
tin
u
o
u
s
ly
co
m
p
a
r
e
s
th
e
ac
tu
al
s
p
ee
d
with
th
e
r
ef
er
en
ce
to
p
r
o
d
u
ce
an
er
r
o
r
s
ig
n
al
is
u
s
ed
to
c
o
n
tr
o
l
th
e
B
L
DC
m
o
to
r
s
p
ee
d
.
E
ith
er
a
PI
co
n
tr
o
ller
o
r
a
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
(
FS
MC)
h
an
d
les
th
is
p
r
o
b
lem
.
T
h
e
FS
MC
im
p
r
o
v
es
d
y
n
a
m
ic
r
esp
o
n
s
iv
en
es
s
th
r
o
u
g
h
a
d
ap
tiv
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tu
n
in
g
an
d
d
u
r
ab
ilit
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,
wh
ile
th
e
PI
co
n
tr
o
ller
g
u
ar
a
n
tees
g
o
o
d
s
tead
y
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s
tate
p
er
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o
r
m
an
c
e.
T
o
m
ain
tain
th
e
in
ten
d
ed
s
p
ee
d
,
t
h
e
c
o
n
tr
o
ller
o
u
tp
u
t
m
o
d
if
ies
th
e
co
n
v
er
te
r
d
u
t
y
cy
cle
u
s
in
g
th
e
r
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er
e
n
ce
v
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e.
Mo
to
r
s
p
ee
d
,
to
r
q
u
e,
a
n
d
DC
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lin
k
v
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ltag
e
ar
e
u
s
ed
to
ass
ess
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y
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t
em
p
er
f
o
r
m
an
ce
.
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h
e
s
im
u
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ar
a
m
eter
s
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d
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m
p
o
n
en
t r
atin
g
s
a
d
o
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ted
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o
r
th
e
MA
T
L
AB
/Si
m
u
lin
k
m
o
d
el
ar
e
s
u
m
m
ar
ized
in
T
ab
le
4
.
T
ab
le
4
.
Simu
latio
n
p
ar
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eter
s
an
d
co
m
p
o
n
en
t
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atin
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s
P
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me
t
e
r
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l
u
e
s
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n
p
u
t
v
o
l
t
a
g
e
v
i
n
4
8
V
R
a
t
e
d
p
o
w
e
r
(
B
LD
C
m
o
t
o
r
)
P
1
.
2
k
W
S
w
i
t
c
h
i
n
g
f
r
e
q
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e
n
c
y
f
sw
5
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z
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a
n
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n
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c
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o
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s
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1
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4
5
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,
5
0
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H
I
n
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e
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med
i
a
t
e
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a
c
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r
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e
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a
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2
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o
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e
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1
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t
o
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c
t
a
n
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e
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4
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mH
To
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e
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5
5
N
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A
T
h
e
MA
T
L
AB
/Si
m
u
lin
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en
v
ir
o
n
m
en
t
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u
s
ed
to
cr
e
ate
th
e
m
o
d
el
in
Fig
u
r
e
4
,
w
h
ich
d
e
p
icts
a
f
u
ll
AC
-
f
ed
B
L
DC
m
o
to
r
d
r
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e
with
in
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ated
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n
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d
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s
ed
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l
o
o
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n
t
r
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l.
T
h
e
L
an
d
s
m
an
co
n
v
er
ter
'
s
s
witch
in
g
tr
an
s
ien
ts
ar
e
p
r
ec
is
ely
ca
p
tu
r
e
d
b
y
an
ODE
4
(
R
u
n
g
e
-
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tta)
s
o
l
v
er
w
ith
a
f
ix
ed
s
tep
s
ize
o
f
1
×1
0
−6
s
,
an
d
t
h
e
FS
MC
is
co
n
s
tr
u
cted
u
s
in
g
a
n
S
-
Fu
n
cti
o
n
to
m
in
im
ize
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m
p
u
tatio
n
al
tim
e.
T
ab
le
4
lis
ts
im
p
o
r
tan
t
m
et
r
ics
an
d
r
atin
g
s
.
B
o
th
co
n
tr
o
ller
s
ac
co
m
p
lis
h
a
d
eq
u
ate
s
p
ee
d
r
eg
u
latio
n
,
ac
c
o
r
d
in
g
t
o
s
im
u
latio
n
d
ata,
b
u
t
th
e
FS
MC
p
er
f
o
r
m
s
b
etter
in
ter
m
s
o
f
q
u
ick
e
r
d
y
n
am
ic
r
esp
o
n
s
e,
b
etter
d
is
tu
r
b
an
ce
r
ejec
tio
n
,
an
d
m
o
r
e
s
ea
m
less
r
ef
er
en
ce
tr
ac
k
in
g
.
A
d
i
o
d
e
b
r
id
g
e
r
ec
tifie
r
i
s
u
s
ed
to
co
n
v
er
t
th
e
s
y
s
tem
'
s
2
3
0
V,
5
0
Hz
AC
s
u
p
p
ly
to
DC
af
ter
it
h
as
b
ee
n
co
n
d
itio
n
e
d
b
y
an
L
C
f
ilter
an
d
tr
an
s
f
o
r
m
er
.
A
L
an
d
s
m
an
co
n
v
er
ter
co
n
tr
o
ls
th
is
DC
to
k
ee
p
th
e
D
C
-
lin
k
s
tead
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n
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er
a
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ar
iety
o
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cir
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m
s
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ce
s
.
A
th
r
ee
-
p
h
ase
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o
l
tag
e
s
o
u
r
ce
in
v
er
ter
r
ec
eiv
es
th
e
r
eg
u
lated
o
u
tp
u
t
an
d
u
s
es
g
ate
s
ig
n
als
s
y
n
ch
r
o
n
ized
wit
h
r
o
to
r
p
o
s
itio
n
f
r
o
m
Hall
s
en
s
o
r
s
to
o
p
er
ate
th
e
B
L
DC
m
o
to
r
.
Acc
u
r
ate
p
er
f
o
r
m
an
ce
ev
alu
atio
n
is
m
ad
e
p
o
s
s
ib
le
b
y
th
e
m
o
to
r
o
p
er
atin
g
u
n
d
er
ac
tu
al
lo
ad
cir
cu
m
s
tan
ce
s
.
I
n
o
r
d
er
t
o
p
r
o
v
id
e
an
er
r
o
r
s
ig
n
al,
a
clo
s
ed
-
l
o
o
p
co
n
tr
o
l
ap
p
r
o
ac
h
is
u
s
ed
i
n
wh
ich
th
e
ac
t
u
al
m
o
to
r
s
p
ee
d
is
co
n
tin
u
o
u
s
ly
co
m
p
ar
ed
with
th
e
r
ef
e
r
en
ce
.
T
o
ac
h
iev
e
th
e
r
eq
u
ir
e
d
d
y
n
am
i
c
p
er
f
o
r
m
an
ce
,
t
h
e
PI
o
r
FS
MC
co
n
tr
o
ller
m
o
d
i
f
ies
th
e
DC
–
DC
co
n
v
er
ter
d
u
t
y
cy
cle
an
d
i
n
v
er
ter
s
witch
in
g
b
ased
o
n
th
is
in
ac
cu
r
ac
y
.
Fig
u
r
e
4
.
Simu
lin
k
m
o
d
el
o
f
s
p
ee
d
co
n
tr
o
l o
f
B
L
DC
m
o
to
r
with
co
n
tr
o
ller
T
h
e
f
u
zz
y
co
n
tr
o
ller
b
alan
ce
s
co
m
p
u
tatio
n
al
ef
f
icien
cy
a
n
d
s
en
s
itiv
ity
b
y
u
s
in
g
s
ev
e
n
tr
ian
g
le
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
with
er
r
o
r
(
e)
a
n
d
ch
an
g
e
in
er
r
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r
(
Δ
e)
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p
u
ts
.
I
n
o
r
d
er
to
m
i
n
im
ize
ch
atter
in
g
,
th
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
Desig
n
o
f P
I
a
n
d
fu
z
z
y
-
b
a
s
ed
s
lid
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g
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n
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o
ller
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r
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l o
f B
LDC
mo
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r
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(
S
.
S
a
h
a
n
a
)
1881
r
u
le
b
ase
g
u
ar
an
tees
lo
w
g
ain
clo
s
e
to
s
tead
y
s
ta
te
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d
s
tr
o
n
g
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n
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o
l
g
ain
d
u
r
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n
g
s
ig
n
if
i
ca
n
t
m
is
tak
es.
T
h
i
s
m
ak
es it p
o
s
s
ib
le
to
ef
f
ec
tiv
el
y
co
n
t
r
o
l v
o
ltag
e,
t
o
r
q
u
e,
an
d
s
p
ee
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in
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o
th
tr
an
s
ien
t a
n
d
s
te
ad
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tate
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itu
atio
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.
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m
p
o
r
ta
n
t
m
etr
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lik
e
m
o
to
r
s
p
ee
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,
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
,
s
tato
r
cu
r
r
en
t,
a
n
d
DC
-
lin
k
v
o
ltag
e
ar
e
u
s
ed
to
tr
ac
k
s
y
s
tem
p
er
f
o
r
m
an
ce
.
5.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
T
h
e
s
im
u
latio
n
r
esu
lts
g
iv
e
a
co
m
p
r
eh
e
n
s
iv
e
co
m
p
ar
is
o
n
o
f
th
e
p
r
o
p
o
r
tio
n
al
-
i
n
teg
r
al
(
PI)
co
n
tr
o
ller
an
d
th
e
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
(
FS
MC)
f
o
r
c
o
n
tr
o
llin
g
th
e
s
p
ee
d
o
f
t
h
e
B
L
DC
m
o
to
r
.
T
h
e
e
x
am
in
atio
n
f
o
cu
s
es
o
n
v
ar
io
u
s
p
er
f
o
r
m
a
n
c
e
asp
ec
ts
s
u
ch
as
tr
an
s
ien
t
r
esp
o
n
s
e,
d
y
n
am
ic
a
n
d
s
tead
y
s
tate
r
esp
o
n
s
e,
r
ea
ctio
n
d
u
r
in
g
s
tar
tin
g
an
d
th
e
s
y
s
tem
'
s
ca
p
ac
ity
to
with
s
tan
d
a
s
ev
e
r
e
lo
ad
d
is
r
u
p
tio
n
.
As
illu
s
tr
ated
in
Fig
u
r
e
5
,
th
e
L
an
d
s
m
an
co
n
v
er
ter
r
ec
tifie
s
an
d
r
eg
u
lates
a
2
3
0
V
AC
s
u
p
p
ly
to
m
ain
tain
a
4
8
V
DC
-
lin
k
v
o
ltag
e
f
o
r
b
o
th
co
n
tr
o
ller
s
,
g
u
ar
a
n
teein
g
th
e
p
o
wer
s
tag
e
o
p
er
ates
as
in
ten
d
ed
.
T
h
e
FS
MC
h
as
a
m
o
r
e
s
t
ab
le
v
o
ltag
e
p
r
o
f
ile,
s
u
g
g
esti
n
g
b
etter
co
n
tr
o
l
p
er
f
o
r
m
an
ce
,
ev
e
n
if
b
o
th
c
o
n
tr
o
lle
r
s
r
ea
ch
th
e
s
et
p
o
i
n
t.
5
.
1
.
T
ra
ns
ient
re
s
po
ns
e
T
h
e
tr
an
s
ien
t
r
esp
o
n
s
e
s
h
o
wn
in
Fig
u
r
e
6
ass
ess
es
th
e
m
o
to
r
’
s
b
eh
av
io
r
f
r
o
m
th
e
m
o
m
e
n
t
a
co
m
m
an
d
is
in
itiated
u
n
til
it
s
tab
ilizes
at
t
h
e
tar
g
et
s
p
ee
d
o
f
4
5
0
0
R
PM.
As
s
u
m
m
ar
ized
in
T
ab
le
5
,
th
e
FS
MC
o
u
tp
er
f
o
r
m
s
th
e
PI
co
n
tr
o
ller
o
n
all
m
ajo
r
p
er
f
o
r
m
an
ce
in
d
icato
r
s
.
T
h
e
FS
MC
d
em
o
n
s
tr
ates
a
n
o
tab
ly
f
aster
r
is
e
tim
e
o
f
0
.
0
6
4
s
ec
o
n
d
s
v
er
s
u
s
0
.
1
8
0
s
e
co
n
d
s
f
o
r
t
h
e
PI
co
n
tr
o
ller
,
r
ef
lectin
g
a
m
o
r
e
r
esp
o
n
s
iv
e
s
y
s
tem
.
I
t
also
ac
h
iev
es
a
m
in
im
al
o
v
er
s
h
o
o
t
o
f
0
.
1
7
%,
en
s
u
r
in
g
a
s
m
o
o
th
an
d
ac
cu
r
at
e
ap
p
r
o
ac
h
to
th
e
s
etp
o
i
n
t,
wh
i
le
th
e
PI
co
n
tr
o
ller
ex
h
ib
its
a
h
i
g
h
er
o
v
e
r
s
h
o
o
t
o
f
2
.
1
3
%,
ca
u
s
in
g
o
s
cillatio
n
s
.
Ad
d
itio
n
ally
,
th
e
FS
MC r
ea
ch
es st
ea
d
y
-
s
tate
at
th
e
d
esire
d
s
p
ee
d
with
in
0
.
2
1
2
s
ec
o
n
d
s
,
s
ig
n
if
ican
tly
q
u
ick
e
r
th
a
n
th
e
PI
co
n
tr
o
ller
’
s
0
.
6
2
2
s
ec
o
n
d
s
.
T
h
is
en
h
an
ce
d
tr
an
s
ien
t
p
er
f
o
r
m
a
n
ce
r
esu
lts
f
r
o
m
t
h
e
FS
MC’s
ad
ap
tiv
e
co
n
tr
o
l
g
ain
,
wh
ic
h
allo
ws
r
a
p
id
co
n
v
er
g
en
ce
to
t
h
e
s
etp
o
in
t w
h
ile
m
in
im
izin
g
e
x
c
ess
iv
e
o
s
cillatio
n
s
.
T
ab
le
5
.
T
r
a
n
s
ien
t r
esp
o
n
s
e
ch
ar
ac
ter
is
tics
S
p
e
c
i
f
i
c
a
t
i
o
n
P
I
c
o
n
t
r
o
l
l
e
r
F
u
z
z
y
S
M
C
R
i
se
t
i
me
(
s)
0
.
1
8
0
0
.
0
6
4
O
v
e
r
sh
o
o
t
(
%)
2
.
1
3
0
.
1
7
S
e
t
t
l
i
n
g
t
i
me
(
s)
0
.
6
2
2
0
.
2
1
2
Fig
u
r
e
5
.
Simu
lin
k
r
esu
lts
o
f
i
n
p
u
t c
h
a
r
ac
ter
is
tics
Fig
u
r
e
6
.
Simu
lin
k
r
esu
lts
o
f
c
o
m
p
ar
is
o
n
o
f
o
u
tp
u
t
ch
ar
ac
ter
is
tics
f
o
r
PI
an
d
FS
M
C
co
n
tr
o
ller
5
.
2
.
Dy
na
m
ic
re
s
po
ns
e
a
nd
s
t
ea
dy
s
t
a
t
e
re
s
po
ns
e
Fig
u
r
e
7
illu
s
tr
ates
th
at
th
e
FS
MC
co
n
tr
o
ller
s
ig
n
if
ican
tly
o
u
tp
er
f
o
r
m
s
th
e
PI
co
n
tr
o
l
ler
in
b
o
th
d
y
n
am
ic
r
esp
o
n
s
e
an
d
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
.
I
n
th
e
to
r
q
u
e
–
s
p
ee
d
ch
ar
ac
ter
is
tics
,
th
e
PI
co
n
tr
o
ller
d
is
p
lay
s
lar
g
e
f
lu
ctu
atio
n
s
d
u
r
in
g
s
tar
tu
p
,
with
to
r
q
u
e
e
x
ce
ed
in
g
1
0
0
Nm
,
r
ef
lectin
g
a
n
ag
g
r
ess
iv
e
an
d
less
co
n
tr
o
lled
r
esp
o
n
s
e.
C
o
n
v
er
s
ely
,
th
e
FS
MC d
eliv
er
s
a
s
m
o
o
th
er
an
d
m
o
r
e
s
tab
le
to
r
q
u
e
p
r
o
f
ile,
q
u
i
ck
ly
r
ea
ch
in
g
s
tead
y
-
s
tate
o
p
er
atio
n
with
m
in
im
al
v
ar
iatio
n
.
T
h
is
lead
s
t
o
b
etter
tr
a
n
s
ien
t
h
an
d
lin
g
an
d
m
o
r
e
c
o
n
s
is
ten
t
p
er
f
o
r
m
a
n
ce
,
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
:
1873
-
1
8
8
4
1882
p
ar
ticu
lar
ly
u
n
d
er
lo
a
d
co
n
d
itio
n
s
.
W
h
en
a
lo
ad
is
ap
p
lied
at
t
=
0
.
5
s
ec
o
n
d
s
,
th
e
FS
MC
ex
h
ib
its
o
n
ly
a
s
lig
h
t
d
ev
iatio
n
a
n
d
r
ec
o
v
er
s
alm
o
s
t
im
m
ed
iately
,
wh
ile
t
h
e
PI
co
n
tr
o
ller
r
ea
cts
m
o
r
e
s
lo
wly
an
d
s
h
o
ws
n
o
ticea
b
l
e
o
s
cillatio
n
s
.
T
h
e
to
r
q
u
e
–
c
u
r
r
e
n
t
r
elat
io
n
s
h
ip
co
n
f
ir
m
s
th
e
f
u
n
d
am
en
tal
p
r
o
p
o
r
tio
n
ality
(
T
=
KT
*
I
a)
,
with
b
o
th
co
n
tr
o
ller
s
d
is
p
lay
i
n
g
a
lin
ea
r
t
r
en
d
,
th
er
eb
y
v
alid
atin
g
t
h
e
m
o
to
r
m
o
d
el.
Ho
wev
er
,
th
e
FS
MC
p
r
o
d
u
ce
s
a
clea
n
an
d
co
n
s
is
ten
t
lin
ea
r
cu
r
v
e,
r
ef
lectin
g
p
r
ec
is
e
cu
r
r
en
t
co
n
tr
o
l,
wh
ile
t
h
e
PI
co
n
tr
o
ller
ex
h
ib
its
g
r
ea
ter
d
is
p
er
s
io
n
,
esp
ec
ially
d
u
r
in
g
h
i
g
h
-
cu
r
r
en
t
tr
an
s
ien
t
ev
en
ts
.
R
eg
ar
d
in
g
t
h
e
s
p
ee
d
–
cu
r
r
en
t
ch
ar
ac
ter
is
ti
cs,
th
e
PI
co
n
tr
o
ller
ex
p
er
ien
ce
s
a
lar
g
e
i
n
r
u
s
h
cu
r
r
en
t
ex
ce
ed
in
g
1
0
0
0
A
d
u
r
in
g
s
tar
tu
p
,
i
n
d
icatin
g
an
a
g
g
r
ess
iv
e
an
d
less
o
p
tim
ize
d
r
esp
o
n
s
e.
I
n
co
n
tr
ast,
th
e
FS
M
C
lim
it
s
th
e
p
ea
k
cu
r
r
en
t
to
ap
p
r
o
x
im
ately
2
0
0
A,
en
a
b
lin
g
a
s
m
o
o
th
er
an
d
m
o
r
e
ef
f
icien
t star
tu
p
.
T
h
is
r
e
d
u
ctio
n
in
cu
r
r
en
t stre
s
s
en
h
an
ce
s
s
y
s
tem
r
eliab
ilit
y
an
d
o
v
e
r
all
co
n
tr
o
l p
er
f
o
r
m
a
n
ce
.
5
.
3
.
L
o
a
d dis
t
urba
nce
re
j
ec
t
io
n per
f
o
rm
a
nce
T
h
e
lo
ad
d
is
tu
r
b
a
n
ce
test
(
Fig
u
r
e
6
)
ass
ess
es
th
e
co
n
tr
o
ller
’
s
ca
p
ab
ilit
y
to
m
ain
tain
m
o
to
r
s
p
ee
d
wh
e
n
a
s
u
d
d
e
n
to
r
q
u
e
o
f
1
.
0
Nm
is
a
p
p
lied
at
t =
0
.
5
s
ec
o
n
d
s
d
u
r
in
g
o
p
er
atio
n
at
4
5
0
0
R
PM.
As
d
etailed
in
T
ab
le
6
,
th
e
FS
MC
d
em
o
n
s
tr
ates
s
u
p
e
r
io
r
r
esil
ien
ce
.
T
h
e
PI
c
o
n
tr
o
lle
r
ex
p
er
ien
ce
s
a
s
p
ee
d
d
r
o
p
o
f
1
8
5
R
PM,
wh
er
ea
s
th
e
FS
MC
lim
its
th
e
d
r
o
p
to
ju
s
t
4
5
R
PM,
in
d
icatin
g
b
etter
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
.
Ad
d
it
io
n
ally
,
th
e
FS
MC
r
esto
r
es
s
p
ee
d
to
t
h
e
s
etp
o
in
t
with
in
0
.
0
4
s
ec
o
n
d
s
,
s
ig
n
if
ic
an
tly
f
aster
th
a
n
th
e
PI
co
n
t
r
o
ller
’
s
0
.
1
6
-
s
ec
o
n
d
r
ec
o
v
er
y
tim
e
(
s
)
.
T
h
is
u
n
d
er
s
co
r
es
th
e
FS
M
C
’
s
ad
ap
tab
i
lity
an
d
ef
f
ec
tiv
en
ess
in
h
an
d
lin
g
s
u
d
d
en
lo
ad
ch
an
g
es.
Fig
u
r
e
8
f
u
r
th
er
illu
s
tr
ates
th
at
th
e
FS
MC
p
r
o
d
u
ce
s
lo
wer
cu
r
r
en
t
an
d
to
r
q
u
e
r
ip
p
le
co
m
p
ar
e
d
to
th
e
PI
co
n
tr
o
ller
.
B
y
r
ep
lacin
g
th
e
ab
r
u
p
t
s
witch
in
g
c
h
ar
ac
ter
is
ti
c
o
f
co
n
v
en
tio
n
al
SMC
with
a
s
m
o
o
th
f
u
zz
y
-
b
ased
co
n
tr
o
l
ac
tio
n
,
th
e
FS
MC
ef
f
ec
tiv
ely
r
ed
u
ce
s
ch
atter
in
g
w
h
ile
m
ain
tain
in
g
r
o
b
u
s
t
p
er
f
o
r
m
an
ce
.
Pra
ctica
lly
s
p
ea
k
in
g
,
s
tan
d
a
r
d
p
o
wer
el
ec
tr
o
n
ic
co
m
p
o
n
en
ts
an
d
in
ex
p
en
s
iv
e
d
ig
ital
co
n
t
r
o
ller
s
s
u
ch
as
DSPs
o
r
m
icr
o
co
n
tr
o
ller
s
ca
n
b
e
u
s
ed
t
o
im
p
lem
en
t th
e
s
u
g
g
ested
co
n
tr
o
l te
ch
n
iq
u
e
[
2
1
]
-
[
2
7
]
.
T
ab
le
6
.
L
o
ad
d
is
tu
r
b
an
ce
r
es
p
o
n
s
e
ch
ar
ac
ter
is
tics
S
p
e
c
i
f
i
c
a
t
i
o
n
P
I
c
o
n
t
r
o
l
l
e
r
F
u
z
z
y
S
M
C
S
p
e
e
d
d
r
o
p
(
R
P
M
)
1
8
5
45
R
e
c
o
v
e
r
y
t
i
me
0
.
1
6
0
.
0
4
Fig
u
r
e
7
.
Simu
lin
k
r
esu
lts
o
f
d
y
n
am
ic
r
esp
o
n
s
e
Fig
u
r
e
8
.
Simu
lin
k
r
esu
lts
o
f
c
u
r
r
en
t a
n
d
p
o
wer
6.
CO
NCLU
SI
O
N
T
h
is
r
esear
ch
co
m
p
ar
es
th
e
s
p
ee
d
co
n
tr
o
l
o
f
B
L
DC
m
o
to
r
p
o
wer
ed
b
y
a
L
an
d
s
m
an
DC
-
DC
co
n
v
er
ter
u
s
in
g
PI
an
d
f
u
zz
y
-
b
ased
s
lid
i
n
g
m
o
d
e
co
n
tr
o
ller
s
.
Acc
o
r
d
in
g
to
s
im
u
latio
n
s
tu
d
ies,
th
e
f
ix
ed
-
g
ain
c
o
n
s
tr
u
ctio
n
o
f
th
e
PI
c
o
n
tr
o
ller
ca
u
s
es
p
o
o
r
er
tr
an
s
ien
t
r
esp
o
n
s
e
a
n
d
less
r
o
b
u
s
tn
ess
u
n
d
er
lo
ad
d
is
tu
r
b
an
ce
s
,
ev
en
th
o
u
g
h
it
o
f
f
er
s
r
esp
ec
tab
le
s
tead
y
-
s
ta
te
p
er
f
o
r
m
an
ce
.
T
h
e
FS
MC,
o
n
th
e
o
th
er
h
an
d
,
p
er
f
o
r
m
s
b
et
ter
d
y
n
am
ically
,
as
s
ee
n
b
y
its
q
u
ick
er
r
is
e
tim
e,
r
ed
u
ce
d
o
v
er
s
h
o
o
t,
q
u
ic
k
er
s
ettlin
g
tim
e,
an
d
im
p
r
o
v
ed
d
is
tu
r
b
an
ce
r
ejec
tio
n
.
T
h
e
F
SMC
'
s
a
d
a
p
t
a
b
ili
ty
en
ab
l
es i
t
to
s
u
c
ce
s
s
f
u
ll
y
lo
we
r
c
h
at
ter
in
g
w
h
il
e
p
r
es
er
v
i
n
g
t
h
e
s
li
d
in
g
m
o
d
e
co
n
t
r
o
l'
s
in
tr
in
s
ic
r
es
ili
en
ce
.
I
n
o
r
d
e
r
t
o
p
r
o
v
i
d
e
a
s
te
ad
y
DC
-
li
n
k
v
o
lta
g
e
a
n
d
e
n
h
a
n
c
e
o
v
er
all
s
y
s
te
m
p
e
r
f
o
r
m
a
n
c
e,
t
h
e
L
an
d
s
m
a
n
c
o
n
v
e
r
te
r
is
ess
e
n
ti
al
.
I
n
o
r
d
er
to
ev
al
u
at
e
r
ea
l
-
t
im
e
p
e
r
f
o
r
m
an
c
e,
s
w
itc
h
i
n
g
l
o
s
s
es
,
an
d
t
h
e
r
m
al
b
e
h
a
v
i
o
r
u
n
d
e
r
r
ea
lis
tic
o
p
e
r
at
i
n
g
s
e
tti
n
g
s
,
f
u
tu
r
e
wo
r
k
w
ill
c
o
n
c
en
tr
at
e
o
n
e
x
p
e
r
im
e
n
t
al
v
ali
d
ati
o
n
.
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