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y
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,
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d
o
th
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s
[
1
]
,
[
2
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.
I
n
d
u
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m
o
to
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s
(
I
Ms)
h
av
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co
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p
licated
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n
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am
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3
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[
4
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T
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DC
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[
5
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.
Du
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[
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,
[
7
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.
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iq
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[
8
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.
T
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o
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ar
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s
en
s
itiv
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to
v
a
r
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in
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[
9
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Var
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1
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f
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[
1
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m
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1715
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witch
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Me
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p
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g
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els
[
1
8
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.
An
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d
s
tr
u
ctu
r
e
o
f
th
e
co
n
tr
o
l
s
y
s
tem
is
f
u
zz
y
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
[
1
9
]
.
T
h
e
lack
o
f
r
ig
o
r
o
u
s
d
esig
n
p
r
o
ce
d
u
r
es
f
o
r
th
e
f
u
zz
y
r
u
les
an
d
th
eir
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
,
h
o
wev
er
,
is
a
s
ig
n
if
ican
t
d
r
awb
ac
k
o
f
t
h
is
ap
p
r
o
ac
h
[
2
0
]
.
T
o
d
ea
l
with
th
is
c
h
allen
g
e,
ad
a
p
tiv
e
f
u
zz
y
s
lid
in
g
-
m
o
d
e
co
n
tr
o
l
s
y
s
tem
s
h
av
e
b
ee
n
p
r
esen
ted
[
2
1
]
.
Fo
r
th
e
co
n
t
r
o
l
o
f
I
M
b
ase
d
o
n
f
ield
-
o
r
ien
ted
co
n
tr
o
l,
a
v
ar
iety
o
f
ad
ap
tiv
e
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
l
alg
o
r
ith
m
s
h
av
e
b
ee
n
p
r
esen
ted
i
n
r
ec
en
t
y
ea
r
s
[
2
2
]
-
[
2
4
]
.
T
h
ese
alg
o
r
ith
m
s
'
ad
ap
tatio
n
p
r
in
cip
les
wer
e
cr
ea
ted
u
s
in
g
L
y
ap
u
n
o
v
s
tab
ilit
y
t
h
e
o
r
y
.
T
h
e
n
o
n
lin
ea
r
s
y
s
tem
is
th
e
m
ajo
r
a
p
p
licatio
n
f
o
r
th
is
ap
p
r
o
ac
h
.
I
t
o
f
f
e
r
s
th
e
f
lex
ib
le
r
u
les
n
ee
d
ed
t
o
au
t
o
m
atica
lly
ad
ap
t
to
L
y
ap
u
n
o
v
s
tab
ilit
y
co
n
d
itio
n
s
.
T
o
tak
e
ad
v
an
ta
g
e
o
f
SMC
's
ca
p
ac
ity
to
d
ea
l
with
u
n
ce
r
tain
ties
,
m
o
d
ellin
g
m
is
tak
es,
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
an
d
th
e
f
lex
ib
ilit
y
an
d
g
en
er
ic
f
u
n
ctio
n
ap
p
r
o
x
im
atio
n
p
r
o
p
e
r
ty
o
f
f
u
zz
y
s
y
s
tem
s
,
m
an
y
r
ec
en
t
s
tu
d
ies
h
av
e
u
s
ed
th
e
ad
ap
tiv
e
f
u
zz
y
s
lid
in
g
-
m
o
d
e
c
o
n
tr
o
l
a
p
p
r
o
ac
h
.
Mo
r
e
o
v
er
,
it
ca
n
b
e
ch
allen
g
in
g
at
tim
es
to
p
r
ec
is
ely
p
i
n
p
o
in
t
th
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
p
ar
am
ete
r
s
o
f
ty
p
e
-
1
f
u
zz
y
s
y
s
tem
s
.
I
t
is
p
o
s
s
ib
le
to
ad
d
r
ess
s
o
m
e
am
b
ig
u
ities
in
th
e
an
tec
ed
en
t
s
ec
tio
n
an
d
co
v
er
a
wid
er
v
ar
iety
o
f
m
e
m
b
er
s
h
ip
f
u
n
c
tio
n
s
b
y
u
s
in
g
ty
p
e
-
2
m
em
b
er
s
h
i
p
f
u
n
ctio
n
s
[
2
5
]
.
T
h
is
p
ap
er
'
s
p
r
im
ar
y
in
n
o
v
ati
o
n
is
th
e
d
esig
n
o
f
a
h
y
b
r
id
s
l
id
in
g
-
m
o
d
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
(
SM
-
FLC)
b
ased
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
s
tr
ateg
y
f
o
r
in
d
u
ctio
n
m
o
to
r
d
r
iv
es,
wh
ich
in
co
r
p
o
r
ate
s
f
u
zz
y
ad
ap
tatio
n
in
to
th
e
s
lid
in
g
-
m
o
d
e
co
n
t
r
o
l
s
ch
em
e
to
d
y
n
am
ically
c
o
m
p
en
s
ate
f
o
r
to
r
q
u
e
an
d
f
lu
x
er
r
o
r
s
.
T
h
e
g
o
al
o
f
th
e
s
u
g
g
ested
ap
p
r
o
ac
h
is
to
less
e
n
in
tr
in
s
ic
to
r
q
u
e
a
n
d
f
lu
x
r
ip
p
les,
ch
atter
in
g
,
p
ar
a
m
eter
s
en
s
itiv
ity
,
an
d
s
u
b
p
ar
lo
w
-
s
p
ee
d
p
er
f
o
r
m
a
n
ce
o
f
tr
ad
itio
n
al
DT
C
,
f
ix
ed
g
ain
c
o
n
tr
o
l
tech
n
i
q
u
es.
Fo
r
im
p
r
o
v
ed
to
r
q
u
e
tr
ac
k
i
n
g
,
d
ec
r
ea
s
ed
elec
tr
o
m
ag
n
etic
to
r
q
u
e
r
ip
p
le,
im
p
r
o
v
ed
f
lu
x
r
eg
u
latio
n
,
q
u
ic
k
tr
an
s
ien
t
r
esp
o
n
s
e,
an
d
in
cr
ea
s
ed
r
o
b
u
s
tn
ess
ag
ain
s
t
lo
ad
d
is
tu
r
b
an
ce
s
an
d
m
o
t
o
r
p
ar
a
m
eter
v
ar
iatio
n
s
,
th
e
s
u
g
g
ested
co
n
tr
o
ller
co
m
b
i
n
es
th
e
ad
ap
tiv
e
n
o
n
lin
ea
r
d
ec
is
io
n
-
m
ak
in
g
ca
p
a
b
ilit
y
o
f
f
u
zz
y
l
o
g
ic
with
th
e
r
o
b
u
s
tn
ess
o
f
s
lid
in
g
m
o
d
e
co
n
tr
o
l.
I
n
t
h
i
s
p
a
p
e
r
,
a
n
e
w
s
p
e
e
d
c
o
n
t
r
o
l
l
e
r
b
a
s
e
d
o
n
a
d
a
p
t
i
v
e
s
li
d
i
n
g
-
m
o
d
e
f
u
z
z
y
c
o
n
t
r
o
l
l
e
r
s
i
s
p
r
e
s
e
n
t
e
d
f
o
r
d
i
r
e
c
t
f
i
e
l
d
-
o
r
i
e
n
t
e
d
c
o
n
t
r
o
l
o
f
I
M
.
G
i
v
e
n
t
h
e
i
r
w
e
ll
-
k
n
o
w
n
r
e
s
is
t
a
n
c
e
t
o
n
o
i
s
e
a
n
d
p
a
r
a
m
et
er
c
h
a
n
g
e
s
,
a
d
a
p
t
i
v
e
s
l
i
d
i
n
g
-
mode
f
u
z
z
y
c
o
n
t
r
o
l
l
e
r
s
w
o
u
l
d
b
e
a
b
e
t
t
e
r
o
p
t
i
o
n
f
o
r
d
e
a
l
i
n
g
w
i
t
h
t
h
e
I
M'
s
u
n
k
n
o
w
n
p
a
r
a
m
e
t
e
r
s
a
n
d
c
h
a
n
g
i
n
g
l
o
a
d
.
T
h
e
c
o
n
t
r
o
l
l
e
r
b
e
c
o
m
e
s
m
o
r
e
r
e
l
i
a
b
l
e
a
n
d
ef
f
i
c
i
e
n
t
t
h
r
o
u
g
h
t
h
e
u
s
e
o
f
SM
C
.
F
u
zz
y
a
d
a
p
t
i
v
e
s
l
i
d
i
n
g
c
o
n
t
r
o
l
le
r
s
.
MA
T
L
AB
/
S
i
m
u
li
n
k
i
s
u
s
e
d
t
o
s
i
m
u
l
at
e
t
h
e
s
u
g
g
e
s
t
e
d
a
p
p
r
o
a
c
h
.
T
h
e
s
i
m
u
l
a
ti
o
n
r
e
s
u
l
ts
d
e
m
o
n
s
t
r
a
t
e
t
h
e
s
u
g
g
es
t
e
d
c
o
n
t
r
o
l
l
e
r
'
s
h
i
g
h
-
p
e
r
f
o
r
m
a
n
c
e
a
b
i
l
i
t
y
t
o
c
o
n
t
r
o
l
t
h
e
s
y
s
t
e
m
.
T
h
e
ac
q
u
i
r
e
d
r
e
s
u
l
t
s
a
r
e
c
o
m
p
a
r
e
d
w
i
t
h
t
h
o
s
e
o
f
e
x
i
s
tin
g
c
o
n
t
r
o
l
l
e
r
s
.
W
h
e
n
c
o
m
p
a
r
ed
t
o
e
x
i
s
t
i
n
g
c
o
n
t
r
o
l
l
e
r
s
,
t
h
e
c
o
m
p
a
r
i
s
o
n
'
s
f
i
n
d
i
n
g
s
d
e
m
o
n
s
t
r
a
t
e
t
h
at
t
h
e
s
u
g
g
e
s
t
e
d
t
e
c
h
n
i
q
u
e
i
s
m
o
r
e
r
es
is
t
a
n
t
t
o
n
o
i
s
e
a
n
d
p
a
r
a
m
e
t
e
r
f
l
u
c
t
u
a
ti
o
n
s
.
T
h
er
e
ar
e
f
i
v
e
s
ec
tio
n
s
to
th
is
ess
ay
:
i)
Dir
ec
t
f
ield
-
o
r
ien
ted
co
n
tr
o
l
o
f
I
M
a
n
d
th
e
n
o
n
lin
ea
r
m
o
d
e
l
o
f
I
M
ar
e
in
t
r
o
d
u
ce
d
in
s
ec
ti
o
n
2
;
ii)
T
h
e
ad
ap
tiv
e
s
lid
in
g
-
m
o
d
e
f
u
zz
y
c
o
n
tr
o
ller
is
d
is
cu
s
s
ed
in
s
ec
tio
n
3
;
iii)
T
h
e
s
im
u
latio
n
s
etu
p
a
n
d
r
esu
lts
ar
e
d
is
p
lay
ed
in
s
ec
tio
n
4
.
Als
o
,
s
im
u
latio
n
r
esu
lts
ar
e
co
n
tr
asted
with
th
o
s
e
o
f
an
ex
is
tin
g
co
n
t
r
o
ller
;
an
d
I
n
s
ec
tio
n
5
,
th
e
co
n
clu
s
io
n
s
ar
e
d
is
p
lay
ed
.
2.
DIRE
CT
F
I
E
L
D
-
O
RIE
NT
E
D
CO
NT
RO
L
O
F
I
N
DUC
T
I
O
N
M
O
T
O
R
I
n
o
r
d
er
to
r
ep
r
esen
t
a
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
in
a
m
o
d
el,
s
o
m
e
ass
u
m
p
tio
n
s
a
r
e
m
a
d
e,
s
u
ch
as:
A
s
in
u
s
o
id
al
m
ag
n
etic
f
ield
(
MM
F)
is
p
r
o
d
u
ce
d
b
y
d
is
tr
ib
u
tin
g
th
e
s
tato
r
win
d
in
g
s
alo
n
g
th
e
air
g
ap
.
T
h
e
n
u
m
b
er
is
1
6
.
T
h
e
r
o
to
r
h
as
a
s
q
u
ir
r
el
-
ca
g
e
s
h
a
p
e,
a
n
d
th
e
g
ap
b
etwe
en
t
h
e
two
m
ac
h
in
es st
ay
s
th
e
s
am
e
s
ize.
I
n
b
o
th
ca
s
es,
th
e
co
ils
a
r
e
id
en
tical.
W
e
d
o
n
o
t
ac
co
u
n
t
f
o
r
lo
s
s
es
d
u
e
t
o
s
atu
r
atio
n
o
f
t
h
e
s
tato
r
win
d
in
g
s
,
h
y
s
ter
esis
,
o
r
ed
d
y
cu
r
r
en
ts
.
B
o
th
[
1
7
]
an
d
[
1
8
]
.
T
h
e
I
n
d
u
cti
o
n
Mo
to
r
'
s
d
y
n
am
ic
b
eh
a
v
io
r
in
s
tatio
n
ar
y
ac
tio
n
(
α
,
β)
is
d
escr
ib
ed
b
elo
w,
b
ase
d
o
n
th
e
g
iv
e
n
.
I
n
th
e
s
tatio
n
ar
y
r
ef
er
e
n
ce
(
α
,
β),
th
e
s
tato
r
v
o
ltag
e
v
ec
to
r
V
s
is
p
r
esen
ted
b
y
:
α
=
ϕ
α
+
(
1
)
β
=
ϕ
β
+
β
(
2
)
̅
=
ϕ
̅
̅
̅
̅
+
̅
(
3
)
T
h
e
v
o
ltag
e,
s
tato
r
f
lu
x
,
an
d
s
tato
r
cu
r
r
en
t
co
m
p
o
n
en
ts
in
th
e
c
o
n
c
o
r
d
a
n
t
r
ef
e
r
en
c
e
(
alp
h
a,
b
eta)
ar
e
r
ep
r
esen
ted
b
y
(
V
sα
,
V
sβ
)
,
(
ϕ
sα
,
ϕ
ssβ
)
,
(
is
α
,
is
β),
r
esp
ec
tiv
ely
.
T
h
e
s
y
m
b
o
l
R
s
s
tan
d
s
f
o
r
s
tato
r
r
esis
tan
ce
.
As
s
ee
n
in
th
e
C
o
n
co
r
d
an
ce
r
ef
er
en
ce
(
α
,
β
)
,
r
o
to
r
f
lo
w'
s
tim
e
d
er
iv
at
iv
e
is
:
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
:
171
4
-
1
7
2
7
1716
{
}
=
−
R
{
r
}
−
{
m
}
Φ
(
4
)
{
}
=
−
{
}
−
{
}
Φ
(
5
)
(
α
,
β
)
r
ep
r
esen
t
th
e
cu
r
r
e
n
t
co
m
p
o
n
en
ts
o
f
th
e
r
o
to
r
a
n
d
(
ϕ
α
,
ϕ
β
)
r
ep
r
esen
t
th
e
f
lu
x
co
m
p
o
n
en
ts
o
f
th
e
r
o
to
r
.
T
h
e
s
y
m
b
o
ls
an
d
ω
s
tan
d
f
o
r
r
o
to
r
r
esis
tan
ce
an
d
m
o
to
r
s
p
ee
d
.
Fig
u
r
e
1
r
e
p
r
esen
ts
th
e
co
n
tr
o
l
d
iag
r
am
o
f
a
s
lid
in
g
-
mode
f
u
z
zy
lo
g
ic
co
n
tr
o
ller
-
b
ased
in
d
u
ctio
n
m
o
to
r
.
Fig
u
r
e
1
.
C
o
n
tr
o
l d
iag
r
am
o
f
a
s
lid
in
g
-
m
o
d
e
f
u
zz
y
lo
g
ic
co
n
t
r
o
ller
-
b
ased
in
d
u
ctio
n
m
o
to
r
On
e
way
to
ex
p
r
ess
th
e
s
tato
r
f
lu
x
v
ec
to
r
ϕ
co
m
p
o
n
e
n
ts
is
as
:
ϕ
{
α
}
=
{
}
{
α
}
+
M
{
α
}
(
6
)
ϕ
β
=
β
+
β
(
7
)
ϕ
̅
̅
̅
̅
=
̅
+
̅
(
8
)
On
e
way
to
ex
p
r
ess
th
e
s
tato
r
f
lu
x
v
ec
to
r
ϕ
an
d
its
co
n
s
titu
en
t
s
is
as
:
=
+
(
9
)
=
+
(
1
0
)
̅
̅
̅
=
̅
+
̅
(
1
1
)
L
etter
s
L
s
,
L
r
,
an
d
M
s
tan
d
f
o
r
s
tato
r
,
r
o
to
r
,
a
n
d
m
u
tu
a
l
in
d
u
ctan
ce
,
r
esp
ec
tiv
el
y
.
T
h
e
f
o
llo
win
g
is
a
n
ab
b
r
ev
iated
e
x
p
lan
atio
n
o
f
h
o
w
m
ec
h
an
ical
m
o
to
r
s
wo
r
k
.
ℎ
=
−
−
ℎ
(
1
2
)
T
em
s
tan
d
s
f
o
r
to
r
q
u
e,
T
l
f
o
r
l
o
ad
to
r
q
u
e,
J
f
o
r
r
o
to
r
m
o
tio
n
,
an
d
f
f
o
r
v
is
co
u
s
f
r
ictio
n
al
f
o
r
ce
.
B
elo
w
is
th
e
f
o
r
m
u
la
f
o
r
ca
lc
u
latin
g
th
e
ele
ctr
o
m
ag
n
etic
to
r
q
u
e
o
f
th
e
m
o
to
r
.
=
3
2
(
ϕ
α
β
−
ϕ
β
α
)
(
1
3
)
T
h
e
p
o
le
p
air
s
ar
e
in
d
icate
d
b
y
.
T
h
e
f
o
llo
win
g
f
ig
u
r
e
s
h
o
ws
th
e
in
d
u
ctio
n
m
o
to
r
'
s
s
tate
m
o
d
el,
wh
ic
h
is
d
ef
in
ed
b
y
th
e
tim
e
d
er
iv
ativ
e
o
f
s
tato
r
cu
r
r
en
t
an
d
f
lu
x
co
m
p
o
n
en
ts
.
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
S
lid
in
g
-
mo
d
e
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
b
a
s
ed
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l a
n
d
r
ip
p
le
…
(
S
.
S
u
jith
a
)
1717
α
=
−
1
σ
(
1
+
1
)
α
−
ω
α
+
1
σ
ϕ
α
+
ω
σ
ϕ
β
+
1
α
α
(
1
4
)
β
=
−
1
σ
(
1
+
1
)
β
−
ω
β
+
1
σ
ϕ
β
+
ω
σ
ϕ
α
+
1
β
β
(
1
5
)
ϕ
α
=
α
+
α
(
1
6
)
ϕ
β
=
β
+
β
(
1
7
)
3.
CO
NT
RO
L
L
E
R
DE
SI
G
N
I
n
an
u
n
ce
r
tai
n
s
lid
in
g
m
o
d
e
r
eg
u
lato
r
,
th
e
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
is
also
k
n
o
wn
as
v
ar
iab
le
s
tr
u
ctu
r
e
co
n
tr
o
l.
Sy
s
tem
s
ta
b
ilit
y
is
en
h
an
ce
d
b
y
in
cl
u
d
i
n
g
f
u
zz
y
l
o
g
ic
c
o
n
tr
o
l
with
t
h
e
s
tan
d
ar
d
s
lid
in
g
m
o
d
e
co
n
t
r
o
l
.
No
m
atter
h
o
w
co
m
p
lex
o
r
n
o
n
lin
ea
r
th
e
s
itu
atio
n
,
a
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
ca
n
h
a
n
d
l
e
it.
C
o
m
p
ar
ed
to
th
e
o
r
ig
in
al
PI
co
n
tr
o
ller
an
d
th
e
m
o
r
e
tr
ad
itio
n
al
t
y
p
e
2
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
,
its
co
n
tr
o
l
r
esp
o
n
s
e
is
s
lo
wer
[
1
1
]
.
T
o
e
n
s
u
r
e
th
e
s
m
o
o
th
o
p
e
r
atio
n
o
f
a
f
u
zz
y
s
lid
in
g
m
o
d
e
co
n
tr
o
ll
er
,
it
is
n
ec
ess
ar
y
to
d
esig
n
b
o
t
h
th
e
s
lid
in
g
s
u
r
f
ac
e
an
d
t
h
e
co
n
tr
o
l
r
u
le.
E
v
en
t
u
ally
,
all
p
o
s
s
ib
le
p
ath
s
th
r
o
u
g
h
th
e
s
tates
o
f
th
e
s
y
s
tem
will
lead
to
th
e
s
am
e
p
o
in
t,
s
=
0
.
As
a
r
esu
lt,
th
e
s
lid
in
g
s
u
r
f
ac
e
b
ec
o
m
es
a
d
esira
b
le
f
lat
s
u
r
f
ac
e.
T
h
e
co
n
tr
o
l
law
s
tates
th
at
all
tr
aj
ec
to
r
ies
h
av
e
an
u
p
p
er
b
o
u
n
d
o
n
th
e
am
o
u
n
t
o
f
tim
e
th
ey
h
av
e
to
r
ea
c
h
th
e
s
lid
in
g
m
an
if
o
ld
,
a
n
d
th
at
o
n
c
e
th
er
e,
th
ey
ca
n
all
s
tay
th
er
e
f
o
r
ev
er
.
Af
te
r
th
e
"Reach
in
g
Ph
ase,
"
wh
en
th
e
s
tate
tr
ajec
to
r
ies
g
o
f
r
o
m
th
eir
b
eg
in
n
in
g
s
tates
to
th
e
s
lid
in
g
m
an
if
o
l
d
,
c
o
m
es
th
e
"Slid
in
g
Ph
ase,
"
wh
en
th
e
y
s
tay
o
n
th
e
m
an
if
o
ld
.
T
h
e
p
h
a
s
es
o
f
r
ea
ch
in
g
an
d
s
lid
in
g
ar
e
b
o
th
d
ictated
b
y
th
e
c
o
n
tr
o
l
law.
T
h
e
p
r
o
ce
s
s
is
s
h
o
wn
in
s
lid
in
g
m
o
d
e
in
Fig
u
r
e
2
.
(
)
=
−
(
)
,
(
)
=
1
(
1
8
)
An
y
th
in
g
th
at
p
r
o
d
u
ce
s
ch
atte
r
in
g
,
an
o
s
cillatio
n
p
h
en
o
m
en
o
n
,
s
h
o
u
l
d
b
e
av
o
id
ed
in
elec
tr
ical
d
r
iv
es.
T
h
eir
lim
itatio
n
s
ar
e
en
tire
l
y
with
o
u
t
m
e
r
it.
Su
b
s
titu
tin
g
o
r
e
n
h
an
cin
g
th
e
s
ig
n
u
m
f
u
n
cti
o
n
with
co
n
ti
n
u
o
u
s
f
u
n
ctio
n
s
lik
e
s
atu
r
atio
n
ca
n
r
ed
u
ce
th
is
in
f
lu
en
ce
.
I
t
is
p
o
s
s
ib
le
f
o
r
a
d
y
n
am
ic
s
y
s
tem
to
h
av
e
a
th
in
b
o
u
n
d
ar
y
lay
e
r
wh
en
th
ese
f
u
n
ctio
n
s
ar
e
co
n
tin
u
o
u
s
.
I
n
Fig
u
r
e
3
,
we
ca
n
s
ee
th
e
ch
atter
in
g
ef
f
ec
t.
Op
tim
izin
g
th
e
co
n
t
r
o
l
s
y
s
tem
'
s
p
er
f
o
r
m
a
n
ce
is
as
s
im
p
le
as
m
o
d
if
y
in
g
th
e
c
o
n
s
tan
t
"M
"
with
r
esp
e
ct
to
th
e
am
p
litu
d
e
an
d
r
ate
o
f
ch
a
n
g
e
o
f
th
e
er
r
o
r
s
ig
n
al.
Fig
u
r
e
4
s
h
o
ws
th
e
FS
MC
co
n
tr
o
l
ar
c
h
itectu
r
e.
T
h
e
s
witch
i
n
g
s
u
r
f
ac
e
is
d
ef
i
n
ed
b
y
t
h
e
r
o
to
r
s
p
ee
d
er
r
o
r
.
R
em
o
v
in
g
t
h
e
f
alse sig
n
al
an
d
all
o
f
its
d
er
i
v
ativ
es is
wh
at
th
e
co
n
tr
o
l la
w
is
all
ab
o
u
t.
(
)
=
(
)
−
(
)
(
1
9
)
=
̇
+
1
+
2
∫
(
2
0
)
3
.
1
.
M
a
t
hema
t
ica
l f
o
rm
ula
t
i
o
n o
f
t
he
s
lid
ing
-
m
o
de
f
uzzy
lo
g
ic
co
ntr
o
ller
Fo
r
th
e
in
d
u
ctio
n
-
m
o
to
r
s
p
ee
d
-
co
n
tr
o
l sy
s
tem
,
d
ef
in
e
th
e
s
p
e
ed
tr
ac
k
in
g
er
r
o
r
as
:
(
)
=
∗
(
)
−
(
)
(
2
1
)
wh
er
e
∗
(
)
is
th
e
r
ef
er
e
n
ce
r
o
to
r
s
p
ee
d
,
an
d
(
)
is
th
e
ac
tu
al
r
o
to
r
s
p
ee
d
.
I
ts
d
er
i
v
ativ
e
is
:
̇
(
)
=
∗
̇
(
)
−
̇
(
)
(
2
2
)
Fro
m
th
e
m
ec
h
a
n
ical
d
y
n
am
ic
s
o
f
th
e
in
d
u
ctio
n
m
o
to
r
g
iv
en
in
th
e
m
an
u
s
cr
ip
t,
=
̇
−
−
(
2
3
)
wh
er
e
T
e
is
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
T
L
is
th
e
lo
ad
to
r
q
u
e,
J
is
th
e
r
o
to
r
in
er
tia,
a
n
d
f
is
th
e
v
is
co
u
s
-
f
r
ictio
n
co
ef
f
icien
t.
T
h
e
r
ef
o
r
e
,
̇
=
∗
−
1
̇
(
−
−
)
(
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
:
171
4
-
1
7
2
7
1718
Fig
u
r
e
2
.
Sli
d
in
g
m
o
d
e
o
p
e
r
atio
n
Fig
u
r
e
3
.
C
h
atter
in
g
p
h
e
n
o
m
e
n
o
n
Fig
u
r
e
4
.
Pro
p
o
s
ed
c
o
n
tr
o
ller
3
.
2
.
Select
io
n a
nd
deriv
a
t
io
n o
f
t
he
s
lid
ing
s
urf
a
ce
Sin
ce
th
e
o
b
jectiv
e
o
f
t
h
e
co
n
tr
o
ller
is
to
f
o
r
ce
th
e
s
p
ee
d
er
r
o
r
to
ze
r
o
,
a
f
ir
s
t
-
o
r
d
er
s
lid
in
g
s
u
r
f
ac
e
ca
n
b
e
s
elec
ted
as
=
f
o
r
th
e
s
p
ee
d
-
co
n
tr
o
l
lo
o
p
.
Ho
we
v
er
,
t
o
im
p
r
o
v
e
tr
a
n
s
ien
t
tr
ac
k
in
g
an
d
ex
p
licitly
in
co
r
p
o
r
ate
th
e
er
r
o
r
d
y
n
am
ic
s
,
a
p
r
o
p
o
r
tio
n
al
-
i
n
teg
r
al
s
lid
in
g
s
u
r
f
ac
e
ca
n
b
e
f
o
r
m
u
lated
as
(
2
5
)
.
(
)
=
(
)
+
(
)
̇
(
2
5
)
wh
er
e
λ
>
0
is
th
e
s
lid
in
g
-
s
u
r
f
ac
e
co
ef
f
icien
t.
Su
b
s
titu
tin
g
th
e
s
p
ee
d
-
er
r
o
r
d
y
n
am
ics g
iv
es
:
=
∗
̇
−
−
−
+
(
∗
−
)
(
2
6
)
On
th
e
s
lid
in
g
m
an
i
f
o
ld
,
=
0
an
d
h
en
ce
˙
+
=
0
,
th
e
r
esu
ltin
g
er
r
o
r
d
y
n
am
ics ar
e
:
e
(
)
=
(
0
)
,
−
(
2
7
)
wh
ich
d
em
o
n
s
tr
ates
th
at
th
e
tr
ac
k
in
g
er
r
o
r
co
n
v
er
g
es
ex
p
o
n
en
tially
to
war
d
ze
r
o
wh
e
n
λ
>
0
.
T
h
u
s
,
in
cr
ea
s
in
g
λ
g
en
er
ally
p
r
o
d
u
ce
s
f
aster
er
r
o
r
c
o
n
v
e
r
g
en
ce
,
alth
o
u
g
h
ex
ce
s
s
iv
ely
lar
g
e
v
al
u
es
ca
n
in
c
r
ea
s
e
co
n
tr
o
l
ef
f
o
r
t
an
d
s
en
s
itiv
ity
to
m
ea
s
u
r
em
e
n
t n
o
is
e.
3
.
3
.
Sliding
-
m
o
de
co
ntr
o
l la
w
T
h
e
co
n
v
en
tio
n
al
s
lid
in
g
-
m
o
d
e
co
n
tr
o
l in
p
u
t c
an
b
e
ex
p
r
ess
ed
as
(
2
8
)
:
=
+
(
2
8
)
wh
er
e
u
e
q
is
th
e
eq
u
iv
alen
t
co
n
tr
o
l
r
e
q
u
ir
ed
to
m
ain
tai
n
s
=
0
,
wh
ile
u
s
w
is
th
e
s
witch
in
g
/r
ea
ch
in
g
co
m
p
o
n
en
t.
T
h
e
eq
u
iv
ale
n
t c
o
n
tr
o
l is o
b
tain
ed
f
r
o
m
th
e
in
v
a
r
ian
ce
co
n
d
itio
n
˙
=
0
.
Fo
r
th
e
s
elec
ted
s
u
r
f
ac
e
:
s
˙
=
¨
+
˙
(
2
9
)
T
h
e
s
witch
in
g
co
m
p
o
n
e
n
t is co
n
v
en
tio
n
ally
ex
p
r
ess
ed
as
(
3
0
)
:
=
−
(
)
(
3
0
)
wh
er
e
K
>
0
is
th
e
s
witch
i
n
g
g
ain
.
Ho
we
v
er
,
th
e
d
is
co
n
tin
u
o
u
s
s
ig
n
f
u
n
ctio
n
p
r
o
d
u
ce
s
h
ig
h
-
f
r
e
q
u
en
c
y
ch
atter
in
g
,
w
h
ich
is
p
a
r
ticu
lar
ly
u
n
d
esira
b
le
in
elec
tr
ical
d
r
i
v
es.
T
h
e
m
an
u
s
cr
ip
t
its
elf
id
e
n
tifie
s
ch
atter
in
g
as
a
m
ajo
r
lim
itatio
n
o
f
co
n
v
en
ti
o
n
al
SMC
an
d
s
u
g
g
ests
r
ep
lacin
g
th
e
d
is
co
n
tin
u
o
u
s
s
witch
in
g
f
u
n
ctio
n
with
a
co
n
tin
u
o
u
s
s
atu
r
atio
n
f
u
n
ctio
n
.
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
S
lid
in
g
-
mo
d
e
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
b
a
s
ed
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l a
n
d
r
ip
p
le
…
(
S
.
S
u
jith
a
)
1719
T
h
er
ef
o
r
e,
th
e
p
r
ac
tical
co
n
tr
o
l la
w
ca
n
b
e
wr
itten
as
(
3
1
)
:
=
−
(
)
(
3
1
)
wh
er
e
ϕ
>
0
d
ef
in
es th
e
b
o
u
n
d
ar
y
-
lay
er
t
h
ick
n
ess
:
(
)
=
{
1
,
>
,
|
|
≤
−
1
,
<
−
(
3
2
)
T
h
is
f
o
r
m
u
latio
n
r
ed
u
ce
s
th
e
c
h
atter
in
g
ass
o
ciate
d
with
th
e
c
o
n
v
en
tio
n
al
s
ig
n
f
u
n
ctio
n
.
3
.
4
.
F
uzzy
a
da
pta
t
i
o
n o
f
t
he
s
lid
ing
-
m
o
de
g
a
in
T
h
e
p
r
o
p
o
s
ed
SM
-
FLC
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
f
u
zz
y
n
o
n
lin
ea
r
d
ec
is
io
n
-
m
ak
in
g
.
T
h
e
m
an
u
s
c
r
ip
t
d
ef
in
es
th
e
r
o
to
r
-
s
p
ee
d
er
r
o
r
an
d
its
ch
an
g
e
as
th
e
p
r
in
ci
p
al
v
ar
iab
les
o
f
t
h
e
f
u
zz
y
c
o
n
tr
o
ller
,
with
m
em
b
e
r
s
h
ip
f
u
n
ctio
n
s
f
o
r
er
r
o
r
,
c
h
a
n
g
e
in
er
r
o
r
,
an
d
co
n
tr
o
ller
o
u
tp
u
t.
Acc
o
r
d
in
g
ly
,
d
ef
in
e
:
(
)
=
∗
(
)
−
(
)
(
3
3
)
an
d
∆
(
)
=
(
)
−
(
−
1
)
(
3
4
)
T
h
e
f
u
zz
y
co
n
tr
o
ller
g
e
n
er
ates a
n
ad
ap
tiv
e
co
r
r
ec
tio
n
/g
ain
:
=
[
,
∆
]
(
3
5
)
wh
er
e
F(
⋅
)
r
ep
r
esen
ts
th
e
f
u
zz
y
in
f
e
r
en
ce
m
ec
h
a
n
is
m
.
T
h
e
SM
-
FLC
co
n
tr
o
l
law
ca
n
co
n
s
eq
u
en
tly
b
e
ex
p
r
ess
ed
as
(
3
6
)
:
=
−
(
,
∆
)
(
3
6
)
wh
er
e
Kf
(
e,
Δ
e)
>
0
is
ad
j
u
s
ted
ac
co
r
d
in
g
to
t
h
e
in
s
tan
tan
eo
u
s
tr
ac
k
in
g
er
r
o
r
a
n
d
its
r
ate
o
f
ch
an
g
e.
Fo
r
lar
g
e
er
r
o
r
s
,
th
e
f
u
zz
y
c
o
n
tr
o
ller
ca
n
g
en
e
r
ate
a
la
r
g
er
co
n
tr
o
l
ac
tio
n
to
ac
ce
le
r
ate
co
n
v
er
g
e
n
c
e.
As
th
e
tr
ajec
to
r
y
ap
p
r
o
ac
h
es th
e
s
lid
in
g
s
u
r
f
ac
e
,
th
e
f
u
zz
y
o
u
t
p
u
t is r
ed
u
ce
d
,
t
h
er
eb
y
d
ec
r
ea
s
in
g
o
s
cillatio
n
s
an
d
co
n
tr
o
l e
f
f
o
r
t.
3
.
5
.
L
y
a
pu
no
v
s
t
a
bil
it
y
c
o
nd
it
io
n
T
o
estab
lis
h
s
tab
ilit
y
,
s
elec
t th
e
L
y
ap
u
n
o
v
ca
n
d
id
ate
f
u
n
ctio
n
:
=
1
2
2
(
3
7
)
wh
ich
s
atis
f
ies
V
>
0
,
≠
0
.
I
ts
tim
e
d
e
r
iv
ativ
e
is
˙
=
˙
.
Fo
r
asy
m
p
t
o
tic
s
tab
ilit
y
,
th
e
r
ea
ch
i
n
g
c
o
n
d
itio
n
m
u
s
t satis
f
y
˙
<
0
f
o
r
s
≠
0
.
Fo
r
t
h
e
id
ea
l switch
in
g
co
n
tr
o
ller
,
s
u
p
p
o
s
e
:
˙
=
(
)
−
(
)
(
3
8
)
wh
er
e
d
(
t)
r
ep
r
esen
ts
th
e
lu
m
p
ed
u
n
ce
r
tain
t
y
an
d
d
is
tu
r
b
an
ce
an
d
is
b
o
u
n
d
e
d
b
y
(
3
9
)
.
∣
(
)
∣
≤
.
(
3
9
)
T
h
en
:
˙
=
[
(
)
−
(
)
]
(
4
0
)
Sin
ce
s
s
g
n
(
s
)
=
∣
s
∣
,
we
o
b
tain
:
˙
=
(
)
−
∣
(
4
1
)
u
s
in
g
:
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
:
171
4
-
1
7
2
7
1720
(
)
≤
∣
∣
(
4
2
)
g
iv
es
:
˙
≤
−
(
−
)
∣
∣
(
4
3
)
T
h
er
ef
o
r
e,
th
e
s
u
f
f
icien
t stab
ilit
y
co
n
d
itio
n
is
:
>
0
(
4
4
)
wh
ich
g
u
ar
an
tee
˙
<
0
,
≠
0
.
Hen
ce
,
th
e
s
y
s
tem
tr
ajec
to
r
ies
ar
e
d
r
iv
en
to
war
d
th
e
s
lid
in
g
s
u
r
f
ac
e
an
d
th
e
s
p
ee
d
-
tr
ac
k
in
g
er
r
o
r
co
n
v
er
g
e
s
to
war
d
ze
r
o
.
3
.
6
.
F
uzzy
s
t
a
bil
it
y
co
ns
t
ra
i
nt
B
ec
au
s
e
Kf
is
g
en
e
r
ated
a
d
ap
tiv
ely
b
y
th
e
f
u
zz
y
c
o
n
tr
o
ller
,
th
e
f
u
zz
y
o
u
tp
u
t
s
h
o
u
ld
b
e
c
o
n
s
tr
ain
ed
s
u
ch
th
at
:
(
,
)
>
+
(
4
5
)
wh
er
e
η
>
0
is
a
p
o
s
itiv
e
r
o
b
u
s
tn
ess
m
ar
g
in
.
T
h
is
co
n
d
itio
n
is
im
p
o
r
tan
t
b
ec
au
s
e
t
h
e
f
u
zz
y
ad
a
p
tatio
n
s
h
o
u
ld
n
o
t
v
io
late
th
e
f
u
n
d
am
en
tal
S
MC
s
tab
il
ity
r
eq
u
ir
em
en
t.
T
h
e
f
u
zz
y
lo
g
ic
ch
a
n
g
es
th
e
m
ag
n
itu
d
e
o
f
th
e
co
n
t
r
o
l
ac
tio
n
,
wh
ile
th
e
s
lid
in
g
-
m
o
d
e
s
tr
u
ctu
r
e
g
iv
es
r
o
b
u
s
tn
ess
to
b
o
u
n
d
ed
u
n
ce
r
tain
ties
an
d
lo
a
d
d
is
tu
r
b
an
ce
s
.
T
h
e
s
p
ee
d
tr
ac
k
in
g
e
r
r
o
r
is
d
e
f
in
e
d
as
e
=
ω
m
∗
−
ω
m
,
wh
er
e
ω
m
∗
is
th
e
r
ef
er
en
ce
r
o
to
r
s
p
ee
d
,
an
d
ω
m
is
th
e
ac
tu
al
r
o
to
r
s
p
ee
d
.
T
o
en
s
u
r
e
r
ap
i
d
c
o
n
v
er
g
en
ce
o
f
th
e
s
p
ee
d
er
r
o
r
,
th
e
s
lid
in
g
s
u
r
f
ac
e
is
ch
o
s
en
as
=
+
̇
λ
wh
er
e
λ
>
0
is
th
e
co
n
v
er
g
e
n
ce
r
ate.
On
th
e
s
lid
in
g
m
an
if
o
ld
s
=
0
,
t
h
e
e
r
r
o
r
d
y
n
a
m
ics
b
ec
o
m
e
e˙
+
λe
=
0
,
y
ield
in
g
e(
t)
=
e(
0
)
e
−
λ
t,
wh
ich
co
n
f
ir
m
s
ex
p
o
n
en
tial
co
n
v
er
g
en
ce
o
f
th
e
tr
ac
k
in
g
er
r
o
r
.
T
h
e
c
o
n
tr
o
l
in
p
u
t
co
n
s
is
ts
o
f
an
eq
u
iv
alen
t c
o
m
p
o
n
en
t a
n
d
an
ad
ap
tiv
e
s
witch
in
g
co
m
p
o
n
en
t,
u
=
u
eq
−
K
f
s
at(
s
/ϕ
)
,
wh
er
e
K
f
is
g
en
er
ated
b
y
th
e
f
u
zz
y
co
n
tr
o
ller
u
s
in
g
th
e
s
p
ee
d
e
r
r
o
r
an
d
its
ch
a
n
g
e
as
in
p
u
ts
.
T
h
e
s
atu
r
ati
o
n
f
u
n
ctio
n
is
em
p
lo
y
ed
in
s
tead
o
f
th
e
d
is
co
n
tin
u
o
u
s
s
ig
n
f
u
n
ctio
n
to
r
ed
u
ce
ch
atter
i
n
g
.
Fo
r
s
tab
ilit
y
an
al
y
s
is
,
th
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
V=
1
/2
s
2
is
s
elec
ted
.
I
ts
d
er
iv
ativ
e
is
V
̇
=
s
s
.
C
o
n
s
id
er
in
g
a
b
o
u
n
d
ed
lu
m
p
ed
d
is
tu
r
b
a
n
ce
∣
d
(
t)
∣
≤d
max
,
th
e
s
witch
in
g
d
y
n
am
ics
s
atis
f
y
V
≤
−(
K
f
−d
max
)
∣
s
∣
.
T
h
er
ef
o
r
e,
s
elec
tin
g
th
e
f
u
zz
y
-
a
d
ap
ted
s
witch
in
g
g
ain
s
u
ch
th
a
t
K
f
>
d
max
>
0
g
u
ar
an
tees
V
<
0
,
s
atis
f
y
in
g
th
e
r
ea
ch
in
g
co
n
d
itio
n
s
s
<
0
.
C
o
n
s
eq
u
en
tly
,
th
e
s
y
s
tem
tr
ajec
to
r
ies
co
n
v
er
g
e
to
war
d
th
e
s
lid
in
g
m
an
if
o
ld
an
d
th
e
s
p
ee
d
tr
a
ck
in
g
er
r
o
r
ap
p
r
o
ac
h
es
ze
r
o
.
T
h
is
f
o
r
m
u
latio
n
illu
s
tr
ates
th
at
th
e
f
u
zz
y
ad
ap
tatio
n
en
h
a
n
ce
s
tr
an
s
ien
t
r
esp
o
n
s
e
an
d
m
ain
tai
n
s
th
e
r
o
b
u
s
tn
ess
an
d
s
tab
ilit
y
p
r
o
p
er
ties
o
f
th
e
s
lid
in
g
m
o
d
e
co
n
t
r
o
l.
Fig
u
r
e
5
an
d
Fig
u
r
e
6
in
d
icate
m
o
d
if
icatio
n
s
in
th
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
i
n
er
r
o
r
o
r
ch
an
g
e
in
er
r
o
r
,
r
esp
ec
tiv
ely
,
an
d
Fig
u
r
e
7
s
h
o
ws th
e
m
em
b
e
r
s
h
ip
f
u
n
c
tio
n
o
f
th
e
o
u
tp
u
t.
Fig
u
r
e
5
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
er
r
o
r
Fig
u
r
e
6
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
ch
a
n
g
e
in
er
r
o
r
Fig
u
r
e
7
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
o
u
tp
u
t
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
Dy
n
am
ic
m
o
d
elin
g
a
n
d
s
im
u
latio
n
o
f
a
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
t
o
r
was
p
er
f
o
r
m
ed
u
s
in
g
MA
T
L
AB
/S
im
u
lin
k
.
I
n
d
u
cti
o
n
m
o
to
r
p
o
wer
r
atin
g
s
,
l
o
w
an
d
h
i
g
h
,
wer
e
u
s
ed
t
o
test
th
e
m
o
d
el.
Ad
d
itio
n
ally
,
it
test
ed
u
n
d
er
th
r
ee
d
if
f
er
en
t
lo
ad
s
ce
n
ar
io
s
:
n
o
lo
ad
,
co
n
s
tan
t
lo
ad
,
an
d
v
ar
iab
le
lo
ad
.
T
h
e
o
u
tco
m
es a
r
e
e
x
am
in
ed
i
n
th
e
in
s
tan
ce
s
th
at
f
o
llo
w.
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
S
lid
in
g
-
mo
d
e
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
b
a
s
ed
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l a
n
d
r
ip
p
le
…
(
S
.
S
u
jith
a
)
1721
4
.
1
.
At
no
lo
a
d c
o
nd
it
io
ns
T
r
ad
itio
n
al
PI
an
d
FLSMC
s
p
ee
d
an
d
to
r
q
u
e
m
etr
ics
ar
e
d
is
p
lay
ed
in
Fig
u
r
e
8
an
d
Fig
u
r
e
9
,
r
esp
ec
tiv
ely
.
I
t seem
s
th
at
th
e
r
is
in
g
tim
e
d
ec
r
ea
s
es wh
en
th
e
s
lid
in
g
-
m
o
d
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
(
SMFLC)
is
in
clu
d
ed
i
n
th
e
s
im
u
latio
n
m
o
d
el
an
d
b
o
th
f
in
d
in
g
s
ar
e
c
o
llected
s
im
u
ltan
eo
u
s
ly
.
PI'
s
r
is
e
tim
e
is
0
.
3
4
3
5
s
ec
o
n
d
s
,
wh
er
ea
s
SMFLC
'
s
is
0
.
3
3
5
0
s
ec
o
n
d
s
.
T
h
e
g
r
ap
h
d
o
esn
'
t
s
h
o
w
a
litt
le
ch
an
g
e
in
T
r
,
M(
o
v
er
s
h
o
o
t)
,
an
d
T
s
.
Fig
u
r
e
1
0
d
em
o
n
s
tr
ate
s
th
e
v
ar
iatio
n
o
f
I
M'
s
to
r
q
u
e
an
d
s
p
ee
d
c
h
ar
ac
ter
is
tics
f
o
r
a
ll c
o
n
tr
o
ller
s
.
Fig
u
r
e
8
.
T
o
r
q
u
e
an
d
s
p
ee
d
ch
ar
ac
ter
is
tics
o
f
PI
co
n
tr
o
ller
Fig
u
r
e
9
.
T
o
r
q
u
e
an
d
s
p
ee
d
ch
ar
ac
ter
is
tics
o
f
SMFLC
co
n
tr
o
ller
Fig
u
r
e
1
0
.
T
o
r
q
u
e
an
d
Sp
ee
d
ch
ar
ac
ter
is
tics
o
f
I
M
u
s
in
g
PI
an
d
SMFLC co
n
tr
o
ller
s
4
.
2
.
At
co
ns
t
a
nt
lo
a
d
Fig
u
r
e
1
1
d
is
p
lay
s
th
e
t
o
r
q
u
e
p
ar
am
eter
s
f
o
r
PI
,
wh
ile
Fig
u
r
e
1
2
s
h
o
ws
th
e
s
p
ee
d
p
ar
a
m
eter
s
f
o
r
SMFLC.
W
h
en
a
1
4
Nm
l
o
a
d
is
ap
p
lied
q
u
ick
l
y
at
2
s
ec
o
n
d
s
,
b
o
th
to
r
q
u
e
an
d
s
p
ee
d
d
ec
r
ea
s
e.
At
1
.
9
4
6
6
s
ec
o
n
d
s
with
th
e
SMFL
co
n
tr
o
ller
an
d
1
.
8
7
8
7
s
ec
o
n
d
s
with
th
e
PI
co
n
tr
o
ller
,
th
e
m
o
to
r
s
ettles
af
ter
th
e
in
itial
tr
an
s
ien
t.
T
u
n
in
g
th
e
PI
co
n
tr
o
ller
at
r
ated
c
o
n
d
itio
n
s
allo
ws
f
o
r
a
f
air
co
m
p
ar
is
o
n
.
Fig
u
r
e
1
0
d
is
p
lay
s
th
e
s
im
u
lated
o
u
tco
m
es
f
o
r
a
m
o
t
o
r
s
tar
ted
with
a
co
n
s
tan
t
l
o
ad
o
f
4
.
5
Nm
.
Ho
w
well
t
h
e
d
r
iv
e
wo
r
k
s
i
n
co
n
tr
ast
to
m
o
r
e
co
n
v
en
tio
n
al
d
r
i
v
e
s
y
s
tem
s
th
at
r
ely
o
n
PI
an
d
SMF
L
C
.
T
h
e
PI
co
n
tr
o
ller
is
s
lo
we
r
to
g
et
u
p
to
s
p
ee
d
th
an
th
e
f
u
zz
y
co
n
tr
o
ller
w
h
e
n
a
c
o
n
s
tan
t
lo
ad
is
s
u
d
d
e
n
ly
ad
d
ed
.
I
n
Fig
u
r
e
1
3
,
we
ca
n
s
ee
h
o
w
t
h
e
to
r
q
u
e
an
d
s
p
ee
d
c
h
ar
ac
ter
is
tics
o
f
th
e
I
M
v
ar
y
f
o
r
ea
ch
co
n
tr
o
ller
.
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
:
171
4
-
1
7
2
7
1722
Fig
u
r
e
1
1
.
T
o
r
q
u
e
an
d
s
p
ee
d
c
h
ar
ac
ter
is
tics
o
f
th
e
PI
co
n
tr
o
l
ler
Fig
u
r
e
1
2
.
T
o
r
q
u
e
an
d
s
p
ee
d
c
h
ar
ac
ter
is
tics
o
f
SMFLC co
n
tr
o
ller
Fig
u
r
e
1
3
.
T
o
r
q
u
e
an
d
s
p
ee
d
c
h
ar
ac
ter
is
tics
o
f
I
M
u
s
in
g
PI
a
n
d
SMFLC co
n
tr
o
ller
s
Fig
u
r
e
1
4
.
T
o
r
q
u
e
an
d
s
p
ee
d
c
h
ar
ac
ter
is
tics
o
f
PI
co
n
tr
o
ller
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
S
lid
in
g
-
mo
d
e
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
b
a
s
ed
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l a
n
d
r
ip
p
le
…
(
S
.
S
u
jith
a
)
1723
4
.
3
.
At
v
a
ria
ble lo
a
d
Fig
u
r
e
1
5
s
h
o
ws th
at
th
e
s
p
ee
d
r
esp
o
n
s
e
is
q
u
ick
a
n
d
s
ea
m
l
ess
wh
en
em
p
lo
y
in
g
a
n
SMFL
co
n
tr
o
ller
,
in
co
n
tr
ast
to
a
PI
co
n
tr
o
ller
,
wh
ich
h
as
a
p
ea
k
at
0
.
6
s
ec
o
n
d
s
.
W
ith
an
SMFL
co
n
tr
o
ll
er
,
th
e
m
o
to
r
s
p
ee
d
r
ea
cts
q
u
ick
ly
an
d
h
as
0
%
s
te
ad
y
-
s
tate
er
r
o
r
;
it
f
o
llo
ws
its
r
ef
er
en
ce
.
Ho
wev
er
,
wh
en
th
e
s
tar
tin
g
cu
r
r
en
t
is
h
ig
h
,
th
e
PI
co
n
tr
o
ller
s
h
o
ws
s
tead
y
-
s
tate
in
ac
cu
r
ac
y
.
Kee
p
i
n
m
in
d
th
at
th
e
s
p
ee
d
r
esp
o
n
s
e
is
af
f
ec
ted
b
y
th
e
lo
ad
co
n
d
itio
n
s
.
T
h
is
is
a
d
r
awb
ac
k
o
f
a
PI
co
n
tr
o
ller
wh
e
n
th
e
o
p
er
atin
g
co
n
d
itio
n
s
ar
e
s
u
b
ject
to
ch
an
g
e.
I
ts
s
tead
y
-
s
tate
er
r
o
r
an
d
r
is
e
-
tim
e
m
etr
ics
ar
e
b
etter
m
et
b
y
th
e
SMFL
co
n
tr
o
ller
.
Fig
u
r
e
1
6
d
em
o
n
s
tr
ate
s
th
e
v
ar
iatio
n
o
f
I
M'
s
to
r
q
u
e
an
d
s
p
ee
d
ch
ar
ac
te
r
is
tics
f
o
r
all
co
n
tr
o
ller
s
.
T
ab
le
1
s
h
o
w
s
th
e
p
ar
am
eter
s
p
ec
if
icatio
n
o
f
th
e
p
r
o
p
o
s
ed
wo
r
k
.
Fo
r
d
if
f
e
r
en
t
lo
ad
s
itu
atio
n
s
,
T
ab
le
2
co
m
p
ar
es
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
PI
an
d
SMFLCC
co
n
tr
o
ller
s
in
s
tead
y
-
s
tate
an
d
tr
an
s
ien
t
o
p
er
atio
n
with
r
esp
ec
t
to
T
r
,
M(
o
v
er
s
h
o
o
t)
,
an
d
T
s
.
U
n
d
er
d
if
f
er
en
t
l
o
ad
co
n
d
itio
n
s
,
FLSMC
o
u
tp
er
f
o
r
m
s
PI
in
ter
m
s
o
f
r
is
e
tim
e,
s
ettlin
g
tim
e,
an
d
o
v
er
s
h
o
o
t,
as sh
o
wn
in
th
e
tab
les.
T
h
is
ca
u
s
es th
e
FLSM
C
co
n
tr
o
ller
to
s
u
r
p
ass
th
e
PI
co
n
tr
o
ller
in
p
er
f
o
r
m
a
n
ce
.
T
h
at
th
e
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
ca
n
r
esp
o
n
d
q
u
ick
ly
an
d
p
r
ec
is
ely
with
o
u
t
o
v
e
r
s
h
o
o
t
o
r
s
tead
y
-
s
t
ate
in
ac
cu
r
ac
y
is
d
em
o
n
s
tr
ate
d
h
er
e.
T
h
e
r
esu
lts
ar
e
s
h
o
win
g
s
p
ee
d
a
n
d
to
r
q
u
e
ch
ar
cter
is
tics
with
d
if
f
er
en
t c
o
n
tr
o
ller
s
lik
e
PI
wh
ich
ar
e
d
ep
icted
in
Fig
u
r
e
1
4
.
T
ab
le
1
.
Simu
latio
n
p
ar
am
eter
s
o
f
th
e
p
r
o
p
o
s
ed
SMFLC
-
b
ased
in
d
u
ctio
n
m
o
t
o
r
d
r
iv
e
C
a
t
e
g
o
r
y
P
a
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