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Fin
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b
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Dir
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DC
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h
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r
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m
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m
s
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d
f
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u
r
-
q
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ad
r
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t
o
p
er
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[
1
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,
[
2
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.
P
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tr
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s
y
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m
s
co
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[
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4
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
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KOM
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(
B
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1817
ac
co
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[
5
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.
A
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[
6
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–
[
9
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Fin
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s
w
itc
h
in
g
s
tates
o
f
th
e
p
o
w
er
co
n
v
er
ter
[
6
]
,
[
1
0
]
.
R
ath
er
th
a
n
co
m
p
u
ti
n
g
m
o
d
u
lato
r
r
ef
er
en
ce
s
ig
n
al
s
,
th
e
co
n
tr
o
ller
co
n
s
id
er
s
all
ad
m
is
s
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le
s
w
itc
h
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n
g
s
ta
te
s
an
d
s
elec
ts
t
h
e
o
p
ti
m
al
o
n
e
b
y
m
in
i
m
iz
in
g
a
co
s
t
f
u
n
ct
io
n
at
ea
ch
s
a
m
p
lin
g
in
s
ta
n
t.
I
n
th
i
s
w
a
y
t
h
e
P
W
M
s
tag
e
i
s
r
e
m
o
v
ed
,
an
d
cu
r
r
en
t,
v
o
ltag
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a
n
d
s
w
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g
co
n
s
tr
ain
ts
ca
n
b
e
in
co
r
p
o
r
ated
d
ir
ec
tly
in
to
t
h
e
o
p
tim
izatio
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[
7
]
,
[
1
1
]
.
Am
o
n
g
it
s
ad
v
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n
ta
g
es,
FC
S
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C
o
f
f
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a
f
ast
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tr
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n
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tr
o
n
g
d
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r
b
an
ce
r
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tio
n
,
a
co
n
tr
o
l
s
tr
u
ctu
r
e
w
ith
o
u
t
an
ex
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licit
m
o
d
u
lato
r
,
an
d
a
f
lex
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le
co
s
t
-
f
u
n
ctio
n
d
esig
n
[
6
]
,
[
1
0
]
.
I
n
m
a
n
y
p
o
w
er
-
elec
tr
o
n
ic
an
d
m
o
to
r
-
d
r
i
v
e
ap
p
licatio
n
s
,
p
r
ed
ictiv
e
co
n
tr
o
l
p
r
o
v
id
es
b
etter
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
t
h
a
n
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v
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n
tio
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al
P
I
-
P
W
M
co
n
tr
o
l
[
1
1
]
–
[
1
3
]
.
B
ec
au
s
e
F
C
S
-
M
P
C
ac
co
u
n
t
s
f
o
r
th
e
co
n
v
er
t
er
s
w
itc
h
in
g
s
tate
s
ex
p
licitl
y
,
it
i
s
w
ell
s
u
ited
to
th
e
H
-
b
r
id
g
e
-
f
ed
D
C
m
o
to
r
,
w
h
er
e
th
e
n
u
m
b
er
o
f
p
o
s
s
ib
le
s
w
itc
h
in
g
s
tates
is
s
m
al
l a
n
d
f
i
n
ite,
s
o
th
e
o
p
ti
m
i
za
tio
n
o
v
er
all
ca
n
d
id
ate
s
tate
s
r
em
a
in
s
co
m
p
u
ta
tio
n
all
y
li
g
h
t
.
Mo
s
t
r
ep
o
r
ted
FC
S
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MP
C
s
t
u
d
ies
tar
g
e
t
A
C
d
r
iv
e
s
,
g
r
i
d
-
co
n
n
ec
ted
in
v
er
ter
s
,
an
d
m
u
ltil
e
v
el
co
n
v
er
ter
s
,
w
h
er
e
r
ed
u
cin
g
cu
r
r
en
t
h
ar
m
o
n
ics
an
d
to
r
q
u
e
r
ip
p
le
is
an
ac
tiv
e
r
esear
ch
a
r
ea
[
1
4
]
–
[
1
6
]
.
B
y
co
n
tr
ast,
th
e
co
n
s
tr
ai
n
ed
FC
S
-
MP
C
o
f
a
n
H
-
b
r
id
g
e
-
f
ed
DC
m
o
to
r
d
r
iv
e,
in
w
h
ic
h
t
h
e
ar
m
at
u
r
e
-
c
u
r
r
en
t
li
m
i
t
is
en
f
o
r
ce
d
in
s
id
e
th
e
co
s
t
f
u
n
ctio
n
an
d
th
e
r
esu
lti
n
g
s
tead
y
-
s
tate
cu
r
r
en
t
q
u
alit
y
i
s
an
al
y
z
ed
ac
r
o
s
s
d
if
f
er
en
t
lo
ad
-
to
r
q
u
e
co
n
d
itio
n
s
,
h
as
r
ec
eiv
ed
co
m
p
ar
ativ
el
y
litt
le
atten
tio
n
.
T
h
is
w
o
r
k
ad
d
r
ess
es
t
h
at
g
ap
.
I
ts
co
n
tr
ib
u
tio
n
is
a
s
i
n
g
le
-
o
b
j
ec
tiv
e
FC
S
-
MP
C
co
s
t
f
u
n
ctio
n
th
at
co
m
b
i
n
e
s
s
p
ee
d
tr
ac
k
in
g
w
i
th
an
e
x
p
licit,
s
w
itc
h
ab
le
ar
m
at
u
r
e
-
c
u
r
r
en
t
co
n
s
tr
ain
t
f
o
r
an
H
-
b
r
id
g
e
D
C
d
r
iv
e,
to
g
et
h
er
w
ith
a
s
te
ad
y
-
s
tate
h
ar
m
o
n
ic
an
al
y
s
is
o
f
th
e
r
es
u
lt
in
g
ar
m
at
u
r
e
cu
r
r
en
t
u
n
d
er
f
ix
ed
-
s
p
ee
d
,
v
ar
iab
le
-
s
p
ee
d
,
an
d
lo
ad
-
d
is
t
u
r
b
an
ce
o
p
er
atio
n
.
T
h
is
p
ap
er
p
r
esen
ts
a
co
n
s
tr
ain
ed
F
C
S
-
MP
C
s
tr
ateg
y
f
o
r
a
DC
m
o
to
r
f
ed
b
y
a
n
H
-
b
r
id
g
e
co
n
v
er
ter
,
as
s
h
o
w
n
in
Fig
u
r
e
1
.
First,
a
d
is
cr
ete
-
ti
m
e
p
r
ed
ictio
n
m
o
d
e
l
f
o
r
th
e
ar
m
at
u
r
e
cu
r
r
en
t
a
n
d
s
p
ee
d
is
d
er
iv
ed
.
A
co
s
t
f
u
n
ctio
n
t
h
at
co
m
b
in
e
s
s
p
ee
d
-
tr
ac
k
in
g
p
er
f
o
r
m
a
n
ce
w
i
th
ar
m
at
u
r
e
-
c
u
r
r
en
t
li
m
itatio
n
is
th
e
n
co
n
s
tr
u
cted
,
an
d
a
co
n
s
tr
ain
t
-
b
ased
s
w
itc
h
i
n
g
-
s
elec
tio
n
r
u
le
i
s
d
esi
g
n
ed
t
o
k
ee
p
th
e
c
u
r
r
en
t
w
it
h
i
n
s
a
f
e
b
o
u
n
d
s
u
n
d
er
lo
ad
d
is
tu
r
b
an
ce
.
Fi
n
all
y
,
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
is
v
er
if
ied
th
r
o
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g
h
s
i
m
u
latio
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er
f
ix
e
d
-
s
p
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d
tr
a
ck
in
g
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v
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iab
le
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s
p
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d
tr
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k
in
g
,
lo
ad
-
t
o
r
q
u
e
v
ar
iatio
n
,
an
d
s
tead
y
-
s
ta
te
h
ar
m
o
n
ic
an
al
y
s
is
.
Fig
u
r
e
1
.
S
y
s
te
m
co
n
f
i
g
u
r
atio
n
o
f
a
f
i
n
ite
s
et
MP
C
H
-
b
r
id
g
e
f
e
d
DC
m
o
to
r
d
r
iv
e
2.
SYST
E
M
M
O
DE
L
I
N
G
T
h
e
DC
m
o
to
r
i
s
m
o
d
eled
u
s
i
n
g
clas
s
ical
elec
tr
ical
an
d
m
ec
h
an
ica
l
d
y
n
a
m
ic
eq
u
at
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n
s
d
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f
r
o
m
Kir
ch
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’
s
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la
w
a
n
d
Ne
w
to
n
’
s
s
ec
o
n
d
la
w
[
4
]
–
[
7
]
,
[
1
0
]
–
[
1
2
]
,
[
1
7
]
.
2
.
1
.
E
lect
rica
l a
nd
m
ec
ha
nic
a
l e
qu
a
t
io
n
A
p
p
l
y
in
g
Kir
ch
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’
s
v
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e
la
w
to
t
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ar
m
at
u
r
e
cir
cu
it
g
i
v
es:
=
+
+
(
1
)
=
(
2
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
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KOM
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K
A
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m
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l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
8
1
6
-
1826
1818
+
=
−
(
3
)
=
(
4
)
w
h
er
e
:
a.
:
m
o
to
r
ar
m
a
tu
r
e
v
o
ltag
e
b.
: a
r
m
atu
r
e
c
u
r
r
en
t
c.
:
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
(
b
ac
k
-
E
M
F)
d.
ω
:
r
o
to
r
s
p
ee
d
e.
: e
lectr
o
m
ag
n
etic
to
r
q
u
e
d
ev
el
o
p
ed
b
y
th
e
m
o
to
r
f.
:
lo
ad
to
r
q
u
e
g.
,
: a
r
m
at
u
r
e
r
esis
tan
ce
a
n
d
in
d
u
ctan
ce
h.
,
: b
ac
k
-
E
MF
a
n
d
to
r
q
u
e
co
n
s
t
an
ts
i.
,
: in
er
tia
an
d
v
i
s
co
u
s
f
r
ictio
n
co
ef
f
icie
n
t
s
T
h
e
(
1
)
-
(
4
)
r
ep
r
esen
t th
e
co
m
p
lete
co
n
tin
u
o
u
s
-
t
i
m
e
d
y
n
a
m
i
c
m
o
d
el
o
f
th
e
D
C
m
o
to
r
[
1
7
]
,
[
1
8
]
.
2
.
2
.
H
-
b
ridg
e
co
nv
er
t
er
m
o
del
2
.
2
.
1
.
Sw
it
ching
s
t
a
t
es a
nd
o
utput
v
o
lt
a
g
e
A
f
u
ll
H
-
b
r
id
g
e
co
n
v
er
ter
c
o
n
s
is
ts
o
f
f
o
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r
co
n
tr
o
lled
s
w
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h
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allo
w
in
g
b
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tio
n
al
v
o
ltag
e
ap
p
licatio
n
to
th
e
DC
m
o
to
r
[
1
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,
[
2
]
.
Th
e
s
w
itc
h
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n
g
f
u
n
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io
n
∈
{
+
1
,
−
1
}
d
ef
in
es t
h
e
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p
lied
v
o
ltag
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=
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(
5)
w
h
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:
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+
1
f
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v
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g
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,
=
−
1
r
ev
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s
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lta
g
e
,
an
d
is
th
e
DC
s
u
p
p
l
y
v
o
lta
g
e
.
T
h
u
s
,
t
h
e
co
n
v
er
ter
h
as
a
f
in
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te
co
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tr
o
l
s
et
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t
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o
s
s
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v
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s
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h
ich
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ak
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it
s
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ita
b
le
f
o
r
F
C
S
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MP
C
i
m
p
le
m
en
ta
tio
n
[
6
]
,
[
1
0
]
.
2
.
2
.
2
.
Dis
cr
et
e
-
t
i
m
e
f
o
r
m
ula
t
io
n
Fo
r
p
r
e
d
ictiv
e
co
n
tr
o
l,
th
e
co
n
tin
u
o
u
s
m
o
d
el
m
u
s
t
b
e
d
is
cr
etize
d
u
s
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g
s
a
m
p
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g
ti
m
e
Usi
n
g
f
o
r
w
ar
d
E
u
ler
ap
p
r
o
x
i
m
at
io
n
ap
p
ly
i
n
g
to
(
6
)
,
(
7
)
[
1
9
]
:
(
+
1
)
=
(
)
+
[
(
)
−
(
)
−
(
)
]
(
6
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(
+
1
)
=
(
)
+
[
(
)
−
(
)
−
(
)
]
(
7
)
T
h
ese
d
is
cr
ete
eq
u
atio
n
s
ar
e
u
s
ed
to
p
r
ed
ict
f
u
tu
r
e
cu
r
r
en
t
a
n
d
s
p
ee
d
v
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es
f
o
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ea
ch
p
o
s
s
ib
le
s
w
itc
h
i
n
g
s
tate
o
f
th
e
H
-
b
r
id
g
e
[
6
]
,
[
1
0
]
,
[
1
1
]
.
T
h
e
co
n
tr
o
ller
ev
alu
a
tes
t
h
e
p
r
ed
icted
s
tates
f
o
r
=
+
1
an
d
=
−
1
an
d
s
elec
ts
t
h
e
s
w
i
tch
i
n
g
s
tate
t
h
at
m
in
i
m
izes t
h
e
d
ef
i
n
ed
co
s
t f
u
n
ctio
n
.
3.
P
RO
P
O
SE
D
F
CS
-
M
P
C
ST
RAT
E
G
Y
T
h
e
FC
S
-
MP
C
i
n
Fi
g
u
r
e
2
o
p
er
ates
d
ir
ec
tl
y
o
n
th
e
d
is
cr
ete
s
w
itc
h
in
g
s
ta
tes
o
f
t
h
e
p
o
w
er
co
n
v
er
ter
.
A
t
ea
ch
s
a
m
p
li
n
g
i
n
s
ta
n
t,
FC
S
-
MP
C
ev
al
u
ate
s
th
e
p
r
ed
icted
s
y
s
te
m
r
esp
o
n
s
e
f
o
r
ev
er
y
ad
m
is
s
ib
le
s
w
itch
in
g
s
tate
an
d
s
elec
ts
th
e
s
tate
th
a
t
m
i
n
i
m
ize
s
a
co
s
t
f
u
n
ctio
n
[
1
0
]
,
[
1
1
]
.
B
ec
au
s
e
th
e
o
p
tim
al
s
tate
is
ap
p
lied
d
ir
ec
tl
y
to
th
e
co
n
v
er
ter
,
th
e
m
o
d
u
latio
n
s
ta
g
e
o
f
co
n
v
e
n
tio
n
al
P
W
M
co
n
tr
o
l
is
eli
m
i
n
ate
d
,
an
d
th
e
s
w
itc
h
i
n
g
d
ec
is
io
n
is
o
b
tain
ed
b
y
s
o
l
v
i
n
g
th
e
o
p
ti
m
i
za
tio
n
p
r
o
b
le
m
o
n
lin
e
w
it
h
i
n
ea
ch
s
a
m
p
li
n
g
p
er
io
d
[
2
0
]
,
[
2
1
]
.
Fig
u
r
e
2
.
B
lo
ck
di
ag
r
a
m
o
f
M
P
C
f
o
r
a
DC
m
o
to
r
d
r
iv
e
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
C
o
n
s
tr
a
in
ed
fin
ite
-
co
n
tr
o
l
-
s
et
p
r
ed
ictive
co
n
tr
o
l o
f a
n
H
-
b
r
id
g
e
d
ir
ec
t c
u
r
r
en
t
…
(
B
o
u
ir
i A
b
d
ess
ela
m
)
1819
3
.
1
.
P
re
dict
io
n
m
o
del
T
h
e
p
r
ed
ictiv
e
co
n
tr
o
ller
u
s
e
s
t
h
e
d
is
cr
ete
-
ti
m
e
m
o
d
el
d
er
iv
ed
i
n
s
ec
t
io
n
2
.
2.
2
.
Usi
n
g
a
s
a
m
p
li
n
g
p
er
io
d
,
th
e
f
o
r
w
ar
d
E
u
ler
d
is
c
r
etiza
tio
n
y
ield
s
:
(
+
1
)
=
(
)
+
[
(
)
−
(
)
−
(
)
]
(
8
)
(
+
1
)
=
(
)
+
[
(
)
−
(
)
−
(
)
]
(
9
)
A
t e
ac
h
s
a
m
p
li
n
g
i
n
s
ta
n
t
,
th
e
co
n
tr
o
ller
ev
alu
ate
s
th
e
t
w
o
p
o
s
s
ib
le
s
w
itc
h
i
n
g
s
tates o
f
th
e
H
-
b
r
id
g
e:
(
)
∈
{
+
,
−
}
(
1
0
)
Fo
r
ea
ch
ca
n
d
id
ate
s
w
itc
h
in
g
s
tate,
p
r
ed
icted
cu
r
r
en
t
(
+
1
)
an
d
s
p
ee
d
(
+
1
)
ar
e
co
m
p
u
ted
u
s
in
g
(
8
)
an
d
(
9
)
.
T
h
is
o
n
e
-
s
tep
-
a
h
ea
d
p
r
ed
ictio
n
p
r
in
cip
le
is
th
e
co
r
e
o
f
FC
S
-
MP
C
ap
p
lied
to
p
o
w
er
co
n
v
er
ter
s
an
d
elec
tr
ical
d
r
iv
es
[
1
0
]
,
[
1
1
]
.
3
.
2
.
Co
s
t
f
un
ct
io
n f
o
r
m
ula
t
i
o
n
T
h
e
o
p
tim
al
s
w
i
tch
i
n
g
s
tate
is
s
elec
ted
b
y
m
i
n
i
m
izin
g
a
co
s
t
f
u
n
ctio
n
,
d
esig
n
ed
to
ac
h
ie
v
e
s
p
ee
d
tr
ac
k
in
g
w
h
ile
li
m
iti
n
g
ar
m
at
u
r
e
cu
r
r
en
t.
a.
Sp
ee
d
tr
ac
k
in
g
ter
m
T
h
e
p
r
im
ar
y
co
n
tr
o
l o
b
j
ec
tiv
e
is
s
p
ee
d
tr
ac
k
in
g
:
=
(
∗
(
+
1
)
−
(
+
1
)
)
2
(
1
1
)
w
h
er
e
∗
is
t
h
e
r
ef
er
en
ce
s
p
ee
d
.
b.
C
u
r
r
en
t p
en
alt
y
ter
m
T
o
p
r
ev
en
t
ex
ce
s
s
i
v
e
ar
m
at
u
r
e
cu
r
r
en
t,
a
cu
r
r
en
t
p
en
al
t
y
ter
m
is
in
tr
o
d
u
ce
d
,
f
o
llo
w
i
n
g
th
e
co
n
s
tr
ain
t
-
h
a
n
d
lin
g
p
r
in
cip
le
u
s
ed
in
c
u
r
r
en
t
-
an
d
to
r
q
u
e
-
li
m
ited
p
r
ed
ictiv
e
d
r
iv
es
[
2
2
]
,
[
2
3
]
:
=
(
(
+
1
)
)
2
(
1
2
)
w
h
er
e
is
a
w
ei
g
h
ti
n
g
f
ac
t
o
r
th
at
d
eter
m
i
n
e
s
th
e
tr
ad
e
-
o
f
f
b
et
w
ee
n
s
p
ee
d
p
er
f
o
r
m
an
ce
an
d
cu
r
r
en
t
li
m
ita
tio
n
.
c.
T
o
tal
co
s
t f
u
n
ctio
n
T
h
e
to
tal
co
s
t f
u
n
ctio
n
b
ec
o
m
es:
=
+
(
1
3
)
=
(
∗
(
+
1
)
−
(
+
1
)
)
2
+
(
(
+
1
)
)
2
(
1
4
)
T
h
e
w
e
ig
h
ti
n
g
f
ac
to
r
s
d
eter
m
i
n
e
th
e
r
elati
v
e
p
r
io
r
ity
o
f
th
e
t
w
o
co
m
p
eti
n
g
o
b
j
ec
tiv
es.
A
lar
g
er
e
m
p
h
a
s
izes
s
p
ee
d
-
tr
ac
k
i
n
g
ac
cu
r
ac
y
an
d
y
ield
s
a
f
aster
tr
an
s
ie
n
t
r
esp
o
n
s
e,
b
u
t
it
allo
w
s
lar
g
er
ar
m
atu
r
e
-
cu
r
r
en
t
e
x
cu
r
s
io
n
s
d
u
r
in
g
tr
a
n
s
ie
n
t
s
;
a
lar
g
er
p
en
alize
s
c
u
r
r
en
t
m
o
r
e
s
tr
o
n
g
l
y
,
li
m
iti
n
g
cu
r
r
en
t
s
tr
ess
a
n
d
i
m
p
r
o
v
i
n
g
p
r
o
tectio
n
o
f
t
h
e
s
w
itc
h
e
s
at
th
e
co
s
t
o
f
a
s
lo
wer
s
p
ee
d
r
esp
o
n
s
e.
I
n
th
i
s
w
o
r
k
an
d
w
er
e
s
elec
ted
s
o
th
at
s
p
ee
d
tr
ac
k
in
g
d
o
m
i
n
ates
u
n
d
er
n
o
r
m
al
o
p
er
atio
n
w
h
ile
t
h
e
cu
r
r
en
t
t
er
m
r
e
m
ain
s
ac
tiv
e
en
o
u
g
h
to
b
o
u
n
d
tr
an
s
ie
n
t
cu
r
r
en
t,
w
it
h
t
h
e
h
ar
d
li
m
i
t
en
f
o
r
ce
d
s
ep
ar
ately
b
y
th
e
co
n
s
t
r
ain
t
ter
m
i
n
(
1
7
)
.
B
ec
au
s
e
th
e
t
w
o
o
b
j
ec
tiv
es
ar
e
ex
p
r
ess
ed
in
d
if
f
er
en
t
p
h
y
s
i
ca
l
u
n
it
s
,
th
e
f
ac
to
r
s
also
p
er
f
o
r
m
n
o
r
m
aliza
tio
n
;
th
eir
s
elec
t
io
n
t
h
er
ef
o
r
e
d
ir
ec
tl
y
a
f
f
ec
ts
b
o
th
tr
ac
k
i
n
g
p
er
f
o
r
m
a
n
ce
a
n
d
r
o
b
u
s
tn
e
s
s
to
lo
ad
v
ar
iatio
n
,
an
d
i
s
co
m
m
o
n
l
y
t
u
n
ed
o
f
f
li
n
e
as
d
is
cu
s
s
ed
in
[
2
1
]
.
T
h
e
s
w
i
tch
i
n
g
s
tate
m
i
n
i
m
izi
n
g
(
1
4
)
is
ap
p
lied
d
u
r
in
g
th
e
n
e
x
t
s
a
m
p
li
n
g
in
ter
v
al.
d.
C
u
r
r
en
t c
o
n
s
tr
ai
n
t a
l
g
o
r
ith
m
A
lt
h
o
u
g
h
th
e
p
en
alt
y
ter
m
r
e
d
u
ce
s
cu
r
r
en
t
m
a
g
n
it
u
d
e,
s
tr
ict
s
af
et
y
co
n
s
tr
ain
t
s
m
a
y
r
eq
u
ir
e
ex
p
licit
cu
r
r
en
t li
m
itat
io
n
.
A
cti
v
atio
n
m
ec
h
a
n
i
s
m
,
a
c
u
r
r
en
t t
h
r
es
h
o
ld
is
d
ef
in
ed
:
∣
(
+
1
)
∣
>
(
1
5
)
T
h
is
en
s
u
r
es h
ar
d
co
n
s
tr
ain
t
s
atis
f
ac
tio
n
,
co
n
s
is
te
n
t
w
it
h
co
n
s
tr
ai
n
ed
MP
C
th
eo
r
y
[
1
1
]
,
[
2
4
]
,
[
2
5
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
8
1
6
-
1826
1820
e.
C
o
n
s
tr
ain
t
-
b
ased
cu
r
r
en
t a
b
s
o
r
p
tio
n
s
tr
ateg
y
W
h
en
o
v
er
cu
r
r
en
t
is
p
r
ed
icted
,
th
e
co
n
tr
o
ller
s
elec
ts
th
e
s
w
i
tch
i
n
g
s
ta
te
th
at:
m
in
i
m
izes
s
p
ee
d
er
r
o
r
an
d
f
o
r
ce
s
cu
r
r
e
n
t
d
ec
a
y
to
w
a
r
d
s
af
e
li
m
its
.
I
n
a
D
C
m
o
to
r
f
ed
b
y
an
H
-
b
r
id
g
e,
s
e
lecti
n
g
t
h
e
o
p
p
o
s
ite
v
o
ltag
e
p
o
lar
ity
n
at
u
r
all
y
p
r
o
d
u
ce
s
cu
r
r
en
t r
ed
u
ctio
n
d
u
e
to
th
e
m
o
t
o
r
in
d
u
ctan
ce
:
≈
1
(
−
+
)
(
1
6
)
T
h
is
s
tr
ateg
y
i
s
b
ased
o
n
co
n
tr
o
llin
g
t
h
e
cu
r
r
en
t
s
to
m
ee
t
th
e
v
o
ltag
e
in
t
h
e
least
ti
m
e
an
d
w
ith
o
u
t
th
e
n
ee
d
f
o
r
ad
d
itio
n
al
p
er
ip
h
er
als,
a
f
ea
t
u
r
e
t
h
at
i
s
i
n
li
n
e
w
it
h
th
e
co
n
s
tr
ai
n
ts
h
a
n
d
led
b
y
p
r
ed
ictiv
e
co
n
tr
o
l.
[
1
0
]
,
[
2
1
]
.
W
h
en
th
e
co
n
s
tr
ai
n
t is ac
tiv
a
ted
,
th
e
co
s
t f
u
n
ctio
n
is
m
o
d
if
ied
as
:
=
{
,
∣
(
+
1
)
∣
<
+
(
∣
(
+
1
)
∣
−
)
2
,
∣
(
+
1
)
∣
≥
(
1
7
)
w
h
er
e
is
a
lar
g
e
p
en
al
t
y
f
ac
to
r
.
3
.
3
.
O
ptim
iza
t
io
n
p
ro
ce
du
r
e
T
h
e
o
p
tim
al
co
n
tr
o
l a
ctio
n
i
s
s
elec
ted
as:
(
)
=
a
r
g
(
)
∈
3
min
(
1
8
)
T
h
is
is
t
h
e
b
lo
c
k
d
iag
r
a
m
F
i
g
u
r
e
3
o
f
t
h
e
F
C
S
-
MP
C
f
o
r
th
e
H
-
b
r
id
g
e
-
f
ed
DC
m
o
to
r
,
w
h
er
e
t
h
e
p
r
esen
t
cu
r
r
en
t
a
n
d
s
p
ee
d
v
a
lu
e
s
ar
e
g
iv
e
n
to
th
e
p
r
ed
ictiv
e
m
o
d
el
to
p
r
ed
ict
th
e
f
u
tu
r
e
c
u
r
r
en
t
an
d
s
p
ee
d
v
al
u
es
.
B
ased
o
n
th
e
p
r
e
d
ictiv
e
v
alu
es,
a
co
s
t
f
u
n
ctio
n
is
co
m
p
u
ted
an
d
s
en
t
to
th
e
o
p
tim
ize
r
.
I
n
th
is
ca
s
e,
th
e
o
p
tim
izer
is
f
o
cu
s
ed
o
n
m
i
n
i
m
izi
n
g
th
e
co
s
t
f
u
n
ctio
n
w
h
ile
co
n
s
id
er
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g
t
h
e
cu
r
r
en
t
co
n
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tr
ain
t
s
.
Af
ter
m
i
n
i
m
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t
h
e
co
s
t
f
u
n
c
tio
n
,
th
e
o
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ti
m
al
s
w
itc
h
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ig
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als ar
e
s
en
t to
t
h
e
H
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b
r
id
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e
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o
r
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er
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o
o
b
tai
n
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e
d
esire
d
s
p
ee
d
in
th
e
D
C
m
o
to
r
.
Fig
u
r
e
3
.
B
lo
ck
di
ag
r
a
m
o
f
F
C
S
-
MP
C
f
o
r
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DC
m
o
to
r
d
r
iv
e
T
h
is
r
ea
l
-
ti
m
e
o
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ti
m
iza
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n
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s
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er
f
o
r
m
ed
w
it
h
o
u
t
a
m
o
d
u
l
ato
r
:
th
e
co
n
tr
o
ller
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an
d
les
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r
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n
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ain
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ir
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y
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r
o
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es
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f
ast
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ie
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r
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ap
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s
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f
u
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ctio
n
[
1
0
]
,
[
2
0
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,
[
2
1
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.
R
eg
ar
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m
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ad
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is
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ib
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=
+
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er
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a
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ates
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e
p
r
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8
)
-
(
9
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a
n
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e
co
s
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n
(
1
4
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t
w
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m
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ar
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m
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T
h
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f
i
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ite,
lo
w
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r
d
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alit
y
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n
tr
o
l
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et
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r
ac
tical
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ta
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AC
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FC
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e
t
h
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n
u
m
b
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ca
n
d
id
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e
v
o
ltag
e
v
ec
to
r
s
is
co
n
s
id
er
ab
ly
lar
g
er
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
C
o
n
s
tr
a
in
ed
fin
ite
-
co
n
tr
o
l
-
s
et
p
r
ed
ictive
co
n
tr
o
l o
f a
n
H
-
b
r
id
g
e
d
ir
ec
t c
u
r
r
en
t
…
(
B
o
u
ir
i A
b
d
ess
ela
m
)
1821
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
p
r
o
p
o
s
ed
FC
S
-
MP
C
s
tr
ateg
y
f
o
r
th
e
H
-
b
r
id
g
e
-
f
ed
DC
m
o
to
r
d
r
iv
e
is
ev
alu
ate
d
th
r
o
u
g
h
d
y
n
a
m
ic
a
n
d
s
tead
y
-
s
ta
te
s
i
m
u
latio
n
.
T
h
e
D
C
m
o
to
r
an
d
c
o
n
tr
o
ller
p
ar
am
eter
s
u
s
ed
in
all
s
i
m
u
la
tio
n
s
ar
e
s
u
m
m
ar
ized
in
T
ab
le
1
.
T
h
e
f
o
llo
w
in
g
s
u
b
s
ec
tio
n
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ex
a
m
i
n
e
s
p
ee
d
tr
ac
k
i
n
g
,
c
u
r
r
en
t
r
e
g
u
latio
n
,
an
d
to
r
q
u
e
r
esp
o
n
s
e
u
n
d
er
f
i
x
ed
-
s
p
ee
d
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ef
er
en
ce
tr
ac
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g
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ar
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le
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an
d
a
s
tep
lo
ad
-
to
r
q
u
e
d
is
tu
r
b
an
ce
.
T
ab
le
1
.
P
er
f
o
r
m
a
n
ce
in
d
ice
s
o
f
th
e
p
r
o
p
o
s
ed
FC
S
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co
n
tr
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ller
P
e
r
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o
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d
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(
b
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p
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r
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P
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(
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(
%)
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2
1
3
.
8
4
4
.
1
.
T
est:
f
ix
ed
-
s
peed
re
f
er
ence
t
ra
ck
ing
Fig
u
r
e
4
s
h
o
w
s
th
e
s
p
ee
d
-
tr
a
ck
in
g
p
er
f
o
r
m
a
n
ce
o
f
th
e
FC
S
-
MP
C
co
n
tr
o
ller
u
n
d
er
a
co
n
s
ta
n
t
s
et
-
p
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in
t
s
p
ee
d
o
f
1
0
0
r
a
d
/s
.
A
s
s
h
o
w
n
in
Fi
g
u
r
e
4
(
a)
,
th
e
m
o
to
r
s
p
ee
d
r
is
es
s
m
o
o
th
l
y
f
r
o
m
r
est
to
th
e
s
et
-
p
o
in
t
w
it
h
i
n
a
s
h
o
r
t
ti
m
e
(
ap
p
r
o
x
im
atel
y
0
.
2
s
)
w
i
th
o
u
t
o
v
er
s
h
o
o
t
an
d
w
it
h
lo
w
s
tead
y
-
s
tate
tr
ac
k
in
g
er
r
o
r
.
T
h
is
in
d
icate
s
t
h
at
m
i
n
i
m
izi
n
g
th
e
p
r
ed
ef
in
ed
co
s
t
f
u
n
ctio
n
y
ield
s
ac
cu
r
ate
s
p
ee
d
t
r
ac
k
in
g
,
as
a
ls
o
r
ef
lecte
d
b
y
t
h
e
s
m
al
l sp
ee
d
er
r
o
r
in
Fig
u
r
e
4
(
b
).
Fig
u
r
e
4
(
c)
s
h
o
w
s
th
e
ar
m
at
u
r
e
-
cu
r
r
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n
t
d
y
n
a
m
ic
s
d
u
r
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g
s
ta
r
t
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u
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d
r
eg
u
latio
n
f
o
r
th
e
0
–
1
0
0
r
ad
/s
tr
an
s
itio
n
.
T
h
e
in
itial p
ea
k
co
r
r
esp
o
n
d
s
to
th
e
ac
ce
ler
atio
n
to
r
q
u
e
r
eq
u
ir
ed
at
s
tar
t
-
u
p
;
t
h
e
c
u
r
r
en
t c
o
n
s
tr
ain
t in
th
e
p
r
ed
ictiv
e
m
o
d
el
th
e
n
b
ec
o
m
e
s
ac
ti
v
e
an
d
li
m
its
t
h
e
cu
r
r
en
t
to
th
e
p
r
ed
ef
in
ed
v
al
u
e.
I
n
s
tead
y
s
ta
te,
th
e
cu
r
r
en
t
is
n
ea
r
l
y
r
ip
p
le
-
f
r
ee
a
n
d
tr
ac
k
s
it
s
r
ef
er
e
n
ce
.
Si
m
ila
r
l
y
,
as
s
h
o
w
n
i
n
Fi
g
u
r
e
4
(
d
)
,
t
h
e
to
r
q
u
e
ex
h
ib
its
a
tr
an
s
ie
n
t
p
ea
k
an
d
th
en
s
et
tl
es
w
it
h
o
u
t
s
u
s
tain
ed
o
s
cillati
o
n
.
Fin
all
y
,
th
e
ar
m
at
u
r
e
v
o
ltag
e
in
Fi
g
u
r
e
4
(
e
)
s
h
o
w
s
t
h
e
ex
p
ec
ted
d
is
cr
ete
w
a
v
e
f
o
r
m
p
r
o
d
u
ce
d
b
y
t
h
e
F
C
S
s
tr
u
ct
u
r
e
o
f
th
e
F
C
S
-
MP
C
.
Ov
er
all,
t
h
e
s
p
ee
d
r
esp
o
n
s
e
is
f
ast a
n
d
th
e
s
tead
y
-
s
tate
s
p
ee
d
er
r
o
r
i
s
lo
w
.
(
a)
(
b
)
(
c)
(
d
)
(
e)
Fig
u
r
e
4
.
D
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
o
f
th
e
DC
m
o
to
r
d
r
iv
e
u
n
d
er
f
ix
ed
-
s
p
ee
d
r
ef
er
en
ce
tr
ac
k
in
g
u
s
in
g
t
h
e
p
r
o
p
o
s
ed
FC
S
-
MP
C
co
n
tr
o
ller
: (
a)
m
o
to
r
an
g
u
lar
s
p
ee
d
an
d
r
ef
er
en
ce
,
(
b
)
s
p
ee
d
tr
ac
k
in
g
e
r
r
o
r
,
(
c)
ar
m
atu
r
e
cu
r
r
en
t a
n
d
r
ef
er
e
n
ce
,
(
d
)
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
,
an
d
(
e)
ar
m
at
u
r
e
-
v
o
ltag
e
s
w
itc
h
i
n
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
8
1
6
-
1826
1822
4
.
2
.
T
est
:
v
a
ria
ble r
ef
er
ence
t
ra
ck
ing
I
n
Fi
g
u
r
e
5
,
th
e
r
e
f
er
en
ce
s
p
e
ed
is
ch
a
n
g
ed
i
n
a
s
tep
-
by
-
s
te
p
m
an
n
er
to
a
s
s
es
s
t
h
e
d
y
n
a
m
ic
tr
ac
k
i
n
g
ab
ilit
y
o
f
t
h
e
F
C
S
-
MP
C
co
n
t
r
o
ller
.
A
s
o
b
s
er
v
ed
in
F
ig
u
r
e
5
(
a)
,
th
e
ac
tu
al
s
p
ee
d
tr
ac
k
s
v
e
r
y
q
u
ic
k
l
y
an
d
ac
cu
r
atel
y
to
th
e
n
e
w
d
esire
d
r
ef
er
en
ce
s
p
ee
d
in
ea
ch
s
tep
c
h
an
g
e,
w
it
h
ze
r
o
s
tead
y
-
s
tate
er
r
o
r
.
T
h
e
ab
ilit
y
o
f
th
e
co
n
tr
o
ller
to
tr
ac
k
th
e
r
e
f
er
en
ce
s
p
ee
d
ac
cu
r
atel
y
i
n
b
o
th
asce
n
d
in
g
an
d
d
esce
n
d
in
g
tr
aj
ec
to
r
ies
w
i
th
n
o
o
v
er
s
h
o
o
t o
r
o
s
cilla
tio
n
s
co
n
f
i
r
m
s
it
s
r
o
b
u
s
tn
e
s
s
to
ch
a
n
g
i
n
g
r
ef
er
en
ce
s
.
As
s
h
o
w
n
i
n
F
ig
u
r
e
5
(
b
)
an
d
Fig
u
r
e
5
(
c
)
,
th
e
ar
m
atu
r
e
cu
r
r
en
t
a
n
d
elec
tr
o
m
ag
n
etic
t
o
r
q
u
e
r
is
e
i
m
m
ed
iatel
y
a
f
ter
ea
ch
s
tep
-
in
o
r
d
er
to
s
u
p
p
ly
th
e
r
eq
u
ir
ed
to
r
q
u
e.
T
h
ese
p
ea
k
s
ar
e
b
o
u
n
d
ed
b
y
th
e
cu
r
r
en
t
co
n
s
tr
ain
t
en
f
o
r
ce
d
w
it
h
i
n
th
e
p
r
ed
ictiv
e
co
n
tr
o
ller
.
A
f
ter
a
s
h
o
r
t
tr
an
s
ie
n
t,
th
e
y
s
et
tle
at
th
e
s
tead
y
-
s
tate
v
alu
e
s
co
r
r
esp
o
n
d
in
g
to
t
h
e
n
e
w
o
p
er
atin
g
p
o
in
t.
T
h
e
ar
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Fig
u
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u
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th
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
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DATA AV
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AB
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eq
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est.
RE
F
E
R
E
NC
E
S
[
1
]
R
.
W
.
Er
i
c
k
so
n
a
n
d
D
.
M
a
k
si
m
o
v
i
ć
,
Fu
n
d
a
m
e
n
t
a
l
s
o
f
P
o
w
e
r
E
l
e
c
t
r
o
n
i
c
s
.
B
o
s
t
o
n
,
M
A
:
S
p
r
i
n
g
e
r
U
S
,
2
0
0
1
.
d
o
i
:
1
0
.
1
0
0
7
/
b
1
0
0
7
4
7
.
[
2
]
N
.
M
o
h
a
n
,
T
.
M
.
U
n
d
e
l
a
n
d
,
a
n
d
W
.
P
.
R
o
b
b
i
n
s,
P
o
w
e
r
E
l
e
c
t
r
o
n
i
c
s:
C
o
n
v
e
rt
e
rs
,
A
p
p
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i
c
a
t
i
o
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s,
a
n
d
D
e
s
i
g
n
,
3
r
d
e
d
.
H
o
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o
k
e
n
,
N
J,
U
S
A
:
W
i
l
e
y
,
2
0
0
3
.
[
3
]
J.
H
o
l
t
z
,
“
P
u
l
sew
i
d
t
h
M
o
d
u
l
a
t
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n
f
o
r
El
e
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t
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o
n
i
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P
o
w
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r
C
o
n
v
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r
si
o
n
,
”
Pr
o
c
e
e
d
i
n
g
s
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f
t
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I
EEE
,
v
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l
.
8
2
,
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o
.
8
,
p
p
.
1
1
9
4
–
1
2
1
4
,
1
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9
4
,
d
o
i
:
1
0
.
1
1
0
9
/
5
.
3
0
1
6
8
4
.
[
4
]
K
.
O
g
a
t
a
,
M
o
d
e
r
n
C
o
n
t
ro
l
E
n
g
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,
5
t
h
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d
.
U
p
p
e
r
S
a
d
d
l
e
R
i
v
e
r
:
P
e
a
r
so
n
,
2
0
1
0
.
[
5
]
S
.
J.
Q
i
n
a
n
d
T
.
A
.
B
a
d
g
w
e
l
l
,
“
A
su
r
v
e
y
o
f
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n
d
u
st
r
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a
l
mo
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e
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p
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t
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v
e
c
o
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t
r
o
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t
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c
h
n
o
l
o
g
y
,
”
C
o
n
t
ro
l
En
g
i
n
e
e
ri
n
g
Pr
a
c
t
i
c
e
,
v
o
l
.
1
1
,
n
o
.
7
,
p
p
.
7
3
3
–
7
6
4
,
Ju
l
.
2
0
0
3
,
d
o
i
:
1
0
.
1
0
1
6
/
S
0
9
6
7
-
0
6
6
1
(
0
2
)
0
0
1
8
6
-
7.
[
6
]
S
.
K
o
u
r
o
,
P
.
C
o
r
t
é
s,
R
.
V
a
r
g
a
s
,
U
.
A
mm
a
n
n
,
a
n
d
J
.
R
o
d
r
í
g
u
e
z
,
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M
o
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p
r
e
d
i
c
t
i
v
e
c
o
n
t
r
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-
A
s
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l
e
a
n
d
p
o
w
e
r
f
u
l
M
e
t
h
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Evaluation Warning : The document was created with Spire.PDF for Python.