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[
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[
2
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I
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Vo
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Ma
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130
co
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two
-
d
eg
r
ee
-
of
-
f
r
ee
d
o
m
co
n
tr
o
ller
co
n
f
ig
u
r
atio
n
in
th
e
s
p
ee
d
co
n
tr
o
l lo
o
p
[
1
8
]
,
[
1
9
]
.
Alth
o
u
g
h
th
e
s
ev
e
r
al
m
eth
o
d
s
o
f
f
e
r
g
o
o
d
p
e
r
f
o
r
m
an
ce
,
th
e
co
m
p
u
tatio
n
al
b
u
r
d
en
an
d
co
m
p
lex
ity
o
f
u
s
ag
e
r
em
ai
n
s
ig
n
if
ican
t
co
n
c
er
n
s
.
Nev
er
t
h
eless
,
s
in
ce
th
e
p
r
o
p
o
r
tio
n
al
an
d
in
teg
r
al
(
PI)
co
n
tr
o
ller
ca
n
o
f
f
e
r
s
u
f
f
icien
t
d
y
n
am
ic
r
esp
o
n
s
e,
g
o
o
d
t
r
ac
k
in
g
p
er
f
o
r
m
a
n
ce
,
a
s
im
p
le
s
tr
u
ctu
r
e,
an
d
ea
s
e
o
f
im
p
lem
en
tatio
n
,
it
is
s
till
wid
ely
co
n
s
id
er
ed
in
m
o
t
o
r
d
r
iv
e
s
y
s
tem
s
[
8
]
.
T
h
e
PI
c
o
n
tr
o
ller
g
ain
s
ca
n
u
s
u
ally
b
e
d
eter
m
in
ed
b
y
u
s
in
g
eith
er
th
e
p
o
le
-
ze
r
o
ca
n
c
ellatio
n
(
PZC)
m
eth
o
d
[
2
0
]
-
[
2
2
]
o
r
th
e
p
o
le
p
lace
m
e
n
t
(
PP
)
m
eth
o
d
[
2
3
]
,
[
2
4
]
.
E
v
en
th
o
u
g
h
t
h
e
PZC
m
eth
o
d
is
s
i
m
p
le,
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
o
f
th
e
tr
ac
k
in
g
s
y
s
te
m
is
r
ed
u
ce
d
to
f
ir
s
t
o
r
d
er
.
I
n
co
n
tr
ast,
f
o
r
th
e
PP
m
eth
o
d
,
th
e
c
h
ar
ac
ter
is
tic
eq
u
atio
n
o
f
th
e
clo
s
ed
-
l
o
o
p
tr
a
n
s
f
er
f
u
n
ctio
n
is
m
ain
ly
u
tili
ze
d
.
B
o
th
th
e
d
am
p
in
g
r
at
io
an
d
n
atu
r
al
f
r
eq
u
en
cy
h
av
e
to
b
e
d
ef
in
e
d
p
r
o
p
er
ly
[
2
5
]
,
wh
ich
ca
n
d
ir
ec
tly
af
f
ec
t
th
e
d
r
i
v
e
s
y
s
tem
’
s
p
er
f
o
r
m
a
n
ce
,
r
esu
ltin
g
in
m
o
r
e
co
m
p
lex
ity
t
h
an
t
h
e
PZC
m
eth
o
d
.
C
o
n
s
eq
u
e
n
tly
,
th
e
d
y
n
am
ic
r
esp
o
n
s
e
an
d
tr
ac
k
in
g
ac
cu
r
ac
y
o
f
b
o
th
c
o
n
tr
o
ller
d
esig
n
m
eth
o
d
s
s
h
o
u
ld
b
e
r
ea
l
ized
.
T
h
is
ar
ticle
p
r
esen
ts
a
co
m
p
ar
ativ
e
an
aly
s
is
o
f
th
e
I
M
d
r
iv
e
s
y
s
tem
p
er
f
o
r
m
an
ce
,
r
eg
a
r
d
in
g
d
y
n
am
ic
r
esp
o
n
s
e
an
d
tr
ac
k
in
g
ac
c
u
r
ac
y
,
in
f
lu
e
n
ce
d
b
y
th
e
co
n
tr
o
lle
r
d
esig
n
b
etwe
en
th
e
PZC
an
d
PP
m
eth
o
d
s
.
T
h
e
b
an
d
wid
th
o
f
co
n
t
r
o
ller
s
f
o
r
b
o
th
m
eth
o
d
s
is
s
et
eq
u
a
lly
b
ased
o
n
th
e
FOC
s
tr
ateg
y
.
T
h
e
o
v
er
all
p
er
f
o
r
m
a
n
ce
co
m
p
ar
is
o
n
o
f
b
o
th
co
n
tr
o
ller
d
esig
n
m
eth
o
d
s
is
v
er
if
ied
b
y
s
im
u
latio
n
r
esu
lts
.
2.
I
NDUC
T
I
O
N
M
O
T
O
R
AN
D
F
I
E
L
D
-
O
RI
E
NT
E
D
CO
N
T
RO
L
2
.
1
.
M
a
t
hema
t
ica
l
m
o
del
T
h
e
d
-
a
x
is
an
d
q
-
ax
is
s
tato
r
v
o
ltag
es
an
d
in
d
u
ce
d
to
r
q
u
e
th
a
t
h
av
e
b
ee
n
ar
r
an
g
e
d
in
th
e
s
y
n
ch
r
o
n
o
u
s
r
ef
er
en
ce
f
r
am
e
ar
e
g
iv
en
in
(
1
)
-
(
3
)
,
r
esp
ec
tiv
ely
.
=
′
+
−
−
(
1
)
=
′
+
+
+
(
2
)
=
3
2
(
−
)
(
3
)
W
h
er
e
R
s
׳
=
R
s
+
R
r
(
L
m
/
L
r
)
2
d
en
o
tes
s
tato
r
tr
an
s
ien
t
r
esis
ta
n
ce
,
R
r
is
r
o
to
r
win
d
in
g
r
esis
tan
ce
,
L
m
is
m
u
tu
al
in
d
u
ctan
ce
,
L
s
,
L
r
ar
e
s
tato
r
an
d
r
o
t
o
r
in
d
u
ctan
ce
s
,
r
esp
ec
tiv
e
ly
,
e
,
sl
a
r
e
elec
tr
ic
a
n
g
u
la
r
an
d
s
lip
v
elo
cities,
P
is
p
o
le
p
air
s
,
dr
,
qr
ar
e
r
o
to
r
f
lu
x
-
lin
k
ag
e
o
f
d
-
an
d
q
-
ax
es,
r
esp
ec
tiv
ely
,
an
d
=
(
1
−
(
2
/
)
)
is
leak
ag
e
co
ef
f
icien
t.
T
h
e
in
d
u
ce
d
to
r
q
u
e
ca
n
also
b
e
r
ep
r
esen
ted
b
y
co
n
s
id
er
in
g
t
h
e
m
ec
h
an
ical
elem
e
n
ts
,
as g
iv
en
in
(
4
)
.
=
+
+
(
4
)
W
h
er
e
J
,
B
d
en
o
te
m
o
m
e
n
t o
f
in
er
tia
an
d
f
r
ictio
n
co
e
f
f
icien
t,
r
esp
ec
tiv
ely
,
m
is
m
ec
h
an
ical
an
g
u
lar
v
elo
city
,
an
d
T
L
is
th
e
lo
ad
-
to
r
q
u
e.
2
.
2
.
F
ield o
rient
ed
co
ntr
o
l
o
f
ind
uct
io
n m
o
t
o
rs
T
h
e
FOC
s
tr
ateg
y
,
as
s
h
o
wn
in
Fig
u
r
e
1
,
is
th
e
v
ec
t
o
r
co
n
tr
o
l
m
eth
o
d
th
at
h
av
e
b
ee
n
wid
ely
ap
p
lied
in
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
s
y
s
tem
s
d
u
e
to
lo
w
-
to
r
q
u
e
r
ip
p
le
an
d
lo
w
ac
o
u
s
tic
n
o
is
e.
T
h
is
ap
p
r
o
ac
h
allo
ws
b
o
th
r
o
to
r
f
lu
x
-
lin
k
ag
e
an
d
to
r
q
u
e
to
b
e
co
n
tr
o
lled
s
e
p
ar
ately
th
r
o
u
g
h
t
h
e
c
o
n
tr
o
l
o
f
d
-
a
x
is
an
d
q
-
ax
is
cu
r
r
en
ts
,
r
esp
ec
tiv
ely
[
7
]
.
I
n
d
ee
d
,
th
e
d
-
ax
is
r
ef
er
en
ce
cu
r
r
en
t
is
d
ef
i
n
ed
b
y
(
5
)
,
wh
ile
th
e
q
-
a
x
is
r
ef
er
en
ce
cu
r
r
en
t
is
d
eter
m
in
ed
in
ac
c
o
r
d
a
n
ce
with
th
e
s
p
ee
d
co
n
t
r
o
l
lo
o
p
[
1
8
]
.
T
h
e
s
lip
an
g
u
lar
v
el
o
city
an
d
elec
tr
ical
an
g
u
lar
p
o
s
itio
n
,
wh
ich
a
r
e
u
tili
ze
d
in
th
e
FOC
s
y
s
tem
,
ca
n
b
e
ca
lcu
lated
b
y
(
6
)
a
n
d
(
7
)
,
r
esp
ec
tiv
el
y
.
∗
=
(
5
)
=
(
6
)
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
Dyn
a
mic
r
esp
o
n
s
e
a
n
a
lysi
s
o
f
in
d
u
ctio
n
m
o
to
r
d
r
ive
in
flu
en
c
ed
b
y
co
n
tr
o
ller
…
(
P
a
n
u
w
a
t
K
a
ewma
)
131
=
∫
=
∫
(
+
)
(
7
)
W
h
er
e
sl
is
s
lip
an
g
u
lar
v
elo
city
in
r
ad
/s
,
an
d
*
in
d
icate
s
th
e
r
ef
er
en
ce
v
alu
e.
T
h
e
clo
s
ed
-
lo
o
p
d
iag
r
a
m
s
w
ith
th
e
PI
co
n
tr
o
ller
o
f
b
o
th
d
-
ax
is
c
u
r
r
e
n
t
an
d
s
p
ee
d
c
o
n
tr
o
ls
ar
e
ex
p
r
ess
ed
in
Fig
u
r
es
2
(
a)
an
d
2
(
b
)
,
r
esp
ec
tiv
ely
.
T
h
o
s
e
c
an
also
b
e
ar
r
an
g
ed
in
t
o
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
e
r
f
u
n
ctio
n
th
at
is
u
tili
ze
d
to
d
esig
n
th
e
co
n
tr
o
ller
g
ain
s
o
f
d
-
q
ax
is
cu
r
r
e
n
ts
an
d
s
p
ee
d
co
n
tr
o
l
lo
o
p
s
,
a
s
g
iv
en
in
(
8
)
-
(
1
0
)
[
2
0
]
.
(
)
∗
(
)
=
,
+
,
2
(
)
+
(
′
+
,
)
+
,
(
8
)
(
)
∗
(
)
=
,
+
,
2
(
)
+
(
′
+
,
)
+
,
(
9
)
(
)
∗
(
)
=
(
+
)
2
+
(
+
)
+
(
1
0
)
W
h
er
e
s
d
en
o
tes
a
co
m
p
lex
f
r
eq
u
en
cy
d
o
m
ain
in
L
a
p
lace
tr
an
s
f
o
r
m
,
k
pc,
d
,
k
ic
,
d
,
k
pc,
q
,
k
ic,
q
a
r
e
p
r
o
p
o
r
tio
n
al
an
d
in
teg
r
al
g
ain
s
o
f
d
-
ax
is
an
d
q
-
ax
is
cu
r
r
en
t
co
n
tr
o
ller
s
,
r
esp
e
ctiv
ely
,
k
ps
,
k
is
a
r
e
p
r
o
p
o
r
tio
n
a
l
an
d
in
te
g
r
al
g
ai
n
s
o
f
s
p
ee
d
co
n
tr
o
ller
,
an
d
k
T
=
1
.
5
(
L
m
/
L
r
)·
P
dr
.
Fig
u
r
e
1
.
C
o
n
tr
o
l d
iag
r
am
b
as
ed
o
n
t
h
e
FOC
m
eth
o
d
f
o
r
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
s
(
a)
(
b
)
Fig
u
r
e
2
.
C
u
r
r
e
n
t a
n
d
s
p
ee
d
c
o
n
tr
o
ls
with
th
e
PI
co
n
tr
o
ller
:
(
a)
d
-
a
x
is
cu
r
r
en
t a
n
d
(
b
)
s
p
ee
d
IM
-
dc
V
+
Spe
e
d
c
al
c
ul
at
i
on
E
nc
od
e
r
G
at
e
s
i
gna
l
s
PI
S
V
P
W
M
dq
PI
PI
Sl
i
p c
al
c
ul
at
i
on
*
ds
i
*
qs
i
m
*
m
,
ds
de
c
v
,
qs
de
c
v
*
ds
v
*
qs
v
*
v
*
v
ds
i
qs
i
sl
e
m
+
+
+
-
+
-
+
-
+
+
abc
dq
i
i
abc
i
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
6
,
No
.
1
,
Ma
r
c
h
20
2
5
:
129
-
137
132
3.
CO
NT
RO
L
L
E
R
DE
SI
G
N
M
E
T
H
O
DS
3
.
1
.
P
o
le
-
ze
ro
c
a
ncella
t
io
n
m
et
ho
d
T
h
e
p
o
le
-
ze
r
o
ca
n
ce
llatio
n
(
PZC)
m
eth
o
d
is
g
en
er
ally
em
p
l
o
y
ed
to
d
esig
n
th
e
PI
co
n
tr
o
ller
g
ain
s
in
b
o
th
DC
an
d
AC
d
r
iv
e
s
y
s
tem
s
d
u
e
to
its
s
im
p
licity
,
wh
er
e
o
n
ly
m
ac
h
in
e
p
a
r
am
eter
s
an
d
b
an
d
wid
th
s
elec
tio
n
ar
e
r
eq
u
ir
ed
.
Fo
r
th
e
cu
r
r
en
t c
o
n
tr
o
l lo
o
p
,
as illu
s
tr
ated
in
Fi
g
u
r
e
2
(
a)
,
th
e
ze
r
o
o
f
th
e
PI
co
n
tr
o
ller
(
-
k
ic,
d
/
k
pc
,
d
)
is
s
et
to
ca
n
ce
l
th
e
d
o
m
in
an
t
p
o
le
o
f
th
e
m
o
to
r
(
-
R
s
׳
/
σ
L
s
)
,
lea
v
in
g
o
n
l
y
th
e
ze
r
o
at
th
e
o
r
ig
i
n
.
Acc
o
r
d
in
g
ly
,
th
e
clo
s
ed
-
lo
o
p
tr
a
n
s
f
er
f
u
n
ctio
n
o
f
th
e
cu
r
r
en
t
co
n
tr
o
l
will
b
e
r
ed
u
ce
d
to
f
ir
s
t
-
o
r
d
er
[
2
0
]
,
[
2
1
]
.
T
h
e
b
an
d
wid
th
o
f
th
e
cu
r
r
en
t
co
n
tr
o
l
lo
o
p
is
n
o
r
m
ally
d
ef
in
ed
as
at
least
1
0
ti
m
es
lo
wer
th
an
th
e
s
witch
in
g
f
r
eq
u
en
c
y
(
f
s
)
[
7
]
.
T
h
e
cu
r
r
en
t
co
n
t
r
o
ller
g
ain
s
o
f
b
o
th
d
-
ax
is
an
d
q
-
ax
is
PI
co
n
tr
o
ller
s
ca
n
s
im
p
ly
b
e
d
esig
n
ed
b
y
(
1
1
)
an
d
(
1
2
)
,
r
esp
ec
tiv
ely
.
,
=
,
,
=
′
(
1
1
)
,
=
,
,
=
′
(
1
2
)
W
h
er
e
ω
bc
is
th
e
b
an
d
wid
th
o
f
cu
r
r
en
t c
o
n
tr
o
l l
o
o
p
,
ω
bc
= 2
f
s
/1
0
.
Fo
r
th
e
s
p
ee
d
co
n
tr
o
l
l
o
o
p
,
as
ex
p
r
ess
ed
in
Fig
u
r
e
2
(
b
)
,
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
co
n
s
is
ts
o
f
th
e
m
ec
h
an
ical
co
m
p
o
n
en
ts
m
en
tio
n
ed
in
(
4
)
.
T
h
e
c
o
n
tr
o
ller
g
ain
s
ca
n
b
e
d
eter
m
in
e
d
s
im
ilar
ly
to
th
e
ca
s
e
o
f
th
e
cu
r
r
en
t
c
o
n
tr
o
l
lo
o
p
,
wh
ic
h
th
e
ze
r
o
o
f
t
h
e
PI
co
n
tr
o
ller
(
-
k
is
/
k
ps
)
is
d
esig
n
ed
to
ca
n
ce
l
th
e
d
o
m
in
an
t
p
o
le
o
f
th
e
s
p
ee
d
co
n
tr
o
l
lo
o
p
(
-
B
/
J
)
.
T
h
e
to
r
q
u
e
co
n
s
tan
t
(
k
T
)
is
co
n
s
id
er
ed
to
tr
an
s
f
o
r
m
th
e
to
q
u
e
q
u
an
tity
in
to
th
e
q
-
ax
is
r
ef
er
e
n
ce
cu
r
r
en
t
to
s
u
p
p
o
r
t
th
e
c
u
r
r
en
t
co
n
tr
o
l
lo
o
p
b
ased
o
n
th
e
FOC
s
tr
ateg
y
,
as
illu
s
tr
ated
in
Fig
u
r
e
1
.
T
h
e
PI
co
n
tr
o
ller
g
ai
n
s
f
o
r
th
e
s
p
ee
d
co
n
t
r
o
l lo
o
p
c
an
b
e
d
esig
n
e
d
b
y
(
1
3
)
.
=
,
=
(
1
3
)
W
h
er
e
k
p
s
,
k
is
ar
e
p
r
o
p
o
r
tio
n
al
an
d
i
n
teg
r
al
g
ain
s
o
f
s
p
ee
d
c
o
n
tr
o
ller
,
r
esp
ec
tiv
ely
,
an
d
ω
bs
is
th
e
b
a
n
d
wid
th
o
f
s
p
ee
d
co
n
tr
o
l lo
o
p
,
ω
bs
=
ω
bc
/
1
0
.
3
.
2
.
P
o
le
pla
ce
m
ent
m
et
ho
d
T
h
e
p
o
le
p
lace
m
e
n
t
(
PP
)
m
et
h
o
d
is
b
ased
o
n
an
an
aly
s
is
o
f
th
e
cl
o
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
c
tio
n
o
f
th
e
I
M,
as
m
en
tio
n
ed
in
(
8
)
-
(
1
0
)
f
o
r
th
e
d
-
q
ax
is
cu
r
r
en
ts
an
d
s
p
ee
d
co
n
tr
o
l
lo
o
p
s
,
r
esp
ec
tiv
ely
.
I
n
th
is
m
eth
o
d
,
th
e
d
en
o
m
in
at
o
r
o
f
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
ex
p
r
ess
ed
in
th
e
s
-
d
o
m
ain
,
wh
ich
h
a
s
b
ee
n
ca
lled
th
e
ch
ar
ac
ter
is
tic
eq
u
atio
n
,
is
ar
r
an
g
ed
in
to
th
e
s
ec
o
n
d
-
o
r
d
er
p
o
l
y
n
o
m
ial
f
u
n
ctio
n
th
at
is
co
m
m
o
n
ly
co
n
s
id
er
e
d
in
th
e
co
n
tr
o
l
s
y
s
tem
.
Fo
r
th
e
d
-
ax
is
cu
r
r
en
t
c
o
n
tr
o
l
lo
o
p
,
t
h
e
ch
ar
ac
ter
is
tic
eq
u
atio
n
ca
n
b
e
ar
r
an
g
ed
an
d
co
m
p
ar
ed
to
t
h
e
co
n
tr
o
l
f
u
n
c
tio
n
th
at
c
o
n
s
is
ts
o
f
d
am
p
in
g
r
atio
(
)
an
d
n
at
u
r
al
f
r
eq
u
e
n
cy
(
n
)
,
as
s
h
o
wn
in
(
1
4
)
.
De
f
in
itely
,
it c
a
n
b
e
c
o
n
s
id
er
ed
id
en
tically
f
o
r
th
e
q
-
ax
is
cu
r
r
e
n
t c
o
n
tr
o
l l
o
o
p
.
I
n
o
r
d
er
t
o
ac
h
ie
v
e
h
i
g
h
p
er
f
o
r
m
an
ce
i
n
th
e
d
r
i
v
e
s
y
s
tem
,
th
e
d
am
p
i
n
g
r
atio
an
d
th
e
n
atu
r
al
f
r
eq
u
e
n
cy
s
h
o
u
ld
b
e
d
ef
in
ed
a
p
p
r
o
p
r
iately
b
ec
au
s
e
th
ey
ca
n
d
ir
ec
tly
a
f
f
e
ct
th
e
d
y
n
a
m
ic
r
esp
o
n
s
e
an
d
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
o
f
th
e
co
n
tr
o
ller
.
2
+
(
′
+
,
)
+
,
⇒
2
+
2
+
2
(
1
4
)
T
h
e
n
atu
r
al
f
r
e
q
u
en
c
y
ca
n
b
e
p
r
esen
ted
in
a
r
elate
d
eq
u
atio
n
o
f
th
e
b
an
d
wid
t
h
an
d
d
am
p
i
n
g
r
atio
,
as
g
iv
en
b
y
(
1
5
)
[
2
2
]
,
[
2
3
]
.
T
h
e
b
an
d
wid
th
is
s
im
p
ly
d
ef
in
ed
a
s
a
f
u
n
ctio
n
o
f
th
e
s
witch
in
g
f
r
eq
u
en
c
y
,
wh
ile
th
e
d
am
p
in
g
r
atio
ca
n
b
e
s
et
at
0
.
7
0
7
(
=
0
.
7
0
7
)
,
wh
i
ch
is
th
e
o
p
tim
al
p
o
in
t
o
f
th
e
s
ec
o
n
d
-
o
r
d
er
p
o
ly
n
o
m
ial
f
u
n
ctio
n
i
n
th
e
co
n
tr
o
l
s
y
s
tem
[
2
3
]
,
[
2
4
]
.
I
n
d
ee
d
,
it
ca
n
b
e
co
n
s
id
er
e
d
s
im
ilar
ly
in
th
e
ca
s
e
o
f
th
e
s
p
ee
d
co
n
tr
o
l lo
o
p
.
=
√
1
−
2
2
+
√
2
−
4
2
+
4
4
(
1
5
)
B
y
co
n
s
id
er
in
g
th
e
ch
ar
ac
t
er
is
tic
eq
u
atio
n
e
x
p
r
ess
ed
i
n
(
1
4
)
,
th
e
c
u
r
r
en
t
co
n
tr
o
l
ler
g
ain
s
o
f
b
o
th
th
e
d
-
an
d
q
-
ax
es c
an
b
e
d
esig
n
ed
as g
iv
en
in
(
1
6
)
a
n
d
(
1
7
)
,
r
esp
ec
tiv
ely
.
,
=
2
−
′
,
,
=
2
(
1
6
)
,
=
2
−
′
,
,
=
2
(
1
7
)
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
Dyn
a
mic
r
esp
o
n
s
e
a
n
a
lysi
s
o
f
in
d
u
ctio
n
m
o
to
r
d
r
ive
in
flu
en
c
ed
b
y
co
n
tr
o
ller
…
(
P
a
n
u
w
a
t
K
a
ewma
)
133
Fo
r
th
e
s
p
ee
d
co
n
tr
o
l lo
o
p
,
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
is
u
tili
ze
d
,
as
af
o
r
em
en
tio
n
e
d
in
(
1
0
)
,
in
wh
ich
th
e
m
o
m
en
t
o
f
i
n
er
tia
an
d
f
r
ictio
n
co
e
f
f
icien
t
ar
e
co
n
s
id
er
ed
.
T
h
e
d
e
n
o
m
in
at
o
r
o
f
th
e
s
p
ee
d
tr
an
s
f
er
f
u
n
ctio
n
is
s
im
ilar
ly
ar
r
an
g
ed
to
b
e
th
e
s
ec
ond
-
o
r
d
er
p
o
ly
n
o
m
ial
f
u
n
ctio
n
,
as in
th
e
ca
s
e
o
f
th
e
cu
r
r
en
t c
o
n
t
r
o
l
lo
o
p
in
d
icate
d
in
(
1
4
)
.
He
n
ce
,
th
e
PI
co
n
tr
o
ller
g
ain
s
b
ased
o
n
th
e
PP
m
eth
o
d
o
f
th
e
s
p
ee
d
co
n
tr
o
l lo
o
p
ca
n
b
e
d
eter
m
in
ed
as g
i
v
en
b
y
(
1
8
)
.
=
(
2
)
−
,
=
2
(
1
8
)
I
t
is
n
o
ted
th
at
t
h
e
s
atu
r
atio
n
o
f
in
teg
r
atio
n
in
b
o
th
cu
r
r
e
n
t
an
d
s
p
ee
d
co
n
tr
o
l
l
o
o
p
s
b
ased
o
n
th
e
PP
m
eth
o
d
m
i
g
h
t
h
a
p
p
en
d
u
e
to
th
e
h
ig
h
in
teg
r
al
g
ain
,
wh
ich
is
p
r
o
p
o
r
tio
n
al
t
o
th
e
s
q
u
a
r
ed
n
atu
r
al
f
r
eq
u
en
cy
,
as
m
en
tio
n
ed
in
(
1
6
)
-
(
1
8
)
.
T
h
er
e
f
o
r
e,
t
h
e
a
n
ti
-
win
d
u
p
is
cr
u
ci
ally
r
eq
u
i
r
ed
t
o
av
o
id
t
h
e
o
v
e
r
-
in
teg
r
atio
n
in
th
e
co
n
tr
o
ller
[
2
5
]
,
b
u
t
it
m
ig
h
t
n
o
t
b
e
r
e
q
u
ir
ed
i
n
th
e
PZC
m
e
th
o
d
.
Ho
we
v
er
,
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
cti
o
n
b
ased
o
n
th
e
PZC m
eth
o
d
is
r
e
d
u
ce
d
to
th
e
f
ir
s
t
-
o
r
d
er
,
w
h
ich
m
ig
h
t a
f
f
ec
t t
h
e
d
r
i
v
e
s
y
s
tem
’
s
p
er
f
o
r
m
a
n
ce
.
4.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
VE
RIF
I
CA
T
I
O
N
A
s
q
u
ir
r
el
ca
g
e
t
y
p
e
t
h
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
t
o
r
4
.
3
k
W
i
s
co
n
s
id
er
ed
to
d
em
o
n
s
tr
ate
t
h
e
d
y
n
am
ic
p
er
f
o
r
m
an
ce
o
f
b
o
th
cu
r
r
en
t
a
n
d
s
p
ee
d
co
n
tr
o
ller
s
ca
u
s
ed
b
y
th
e
d
esig
n
m
eth
o
d
s
.
T
h
e
m
o
to
r
p
ar
am
eter
s
ar
e
in
d
icate
d
in
T
ab
le
1
.
T
h
e
d
-
ax
is
cu
r
r
en
t
r
ef
er
en
ce
is
s
et
at
6
.
3
A,
co
r
r
esp
o
n
d
in
g
to
t
h
e
r
o
to
r
f
lu
x
r
eq
u
ir
em
en
t
o
f
th
e
m
o
to
r
.
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4
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4
Fig
u
r
e
3
s
h
o
ws
th
e
to
r
q
u
e
r
es
p
o
n
s
e
c
o
m
p
ar
e
d
b
etwe
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th
e
PZC
an
d
PP
m
eth
o
d
s
.
T
h
e
l
o
a
d
to
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e
is
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n
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ich
r
a
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ly
ch
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g
es
f
r
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m
n
o
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ad
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0
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m
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0
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at
0
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2
s
,
wh
ile
th
e
m
o
to
r
s
p
ee
d
is
m
ain
tain
ed
at
5
0
0
r
p
m
to
v
er
i
f
y
th
e
cu
r
r
en
t
co
n
tr
o
l
lo
o
p
p
er
f
o
r
m
an
ce
.
T
h
e
r
esu
lts
s
h
o
w
th
at
th
e
PZC
m
eth
o
d
p
r
o
v
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es
a
p
er
ce
n
t
o
v
e
r
s
h
o
o
t
(
%OS)
o
f
ar
o
u
n
d
2
6
%,
as
illu
s
tr
ated
in
Fig
u
r
e
3
(
a)
,
lo
wer
t
h
an
th
e
PP
m
eth
o
d
,
wh
ich
is
ap
p
r
o
x
im
ately
3
2
%,
as
s
h
o
wn
in
Fig
u
r
e
3
(
b
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.
I
t
al
s
o
co
r
r
esp
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n
d
s
to
th
e
r
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lt
o
f
th
e
q
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ax
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r
r
en
t
f
o
llo
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th
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r
in
cip
le
o
f
v
ec
to
r
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n
tr
o
l,
as
s
h
o
wn
in
Fig
u
r
e
4
,
in
wh
ich
th
e
o
v
er
s
h
o
o
ts
o
f
th
e
q
-
ax
is
cu
r
r
en
t
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
6
,
No
.
1
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Ma
r
c
h
20
2
5
:
129
-
137
134
o
f
th
e
PZC
an
d
PP
m
eth
o
d
s
a
r
e
ar
o
u
n
d
3
0
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2
%,
r
esp
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tiv
ely
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er
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e
d
y
n
a
m
ic
r
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e
o
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th
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to
r
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e
an
d
q
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a
x
is
cu
r
r
en
t
b
ase
d
o
n
th
e
PP
m
eth
o
d
is
f
aster
th
an
th
e
PZC
m
eth
o
d
.
T
h
e
r
is
e
tim
e
(
t
r
)
an
d
s
ettlin
g
tim
e
(
t
s
)
o
f
th
e
q
-
ax
is
cu
r
r
en
t
b
ased
o
n
th
e
PZC
m
eth
o
d
ar
e
a
r
o
u
n
d
0
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3
3
1
m
s
an
d
1
.
6
2
1
m
s
,
r
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ely
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wh
ile
th
o
s
e
r
esu
lts
o
f
th
e
PP
m
eth
o
d
ar
e
ab
o
u
t
0
.
2
1
4
m
s
an
d
1
.
1
9
1
m
s
,
r
esp
ec
tiv
ely
.
Fig
u
r
e
5
s
h
o
ws
th
e
tr
ac
k
in
g
d
-
ax
is
cu
r
r
en
t
o
f
b
o
t
h
co
n
tr
o
ller
d
esig
n
m
eth
o
d
s
.
T
h
e
r
o
t
o
r
f
l
u
x
ca
n
ac
h
iev
e
th
e
s
ettin
g
v
al
u
e
co
r
r
esp
o
n
d
in
g
to
g
o
o
d
tr
ac
k
in
g
o
f
th
e
f
lu
x
-
g
e
n
er
ated
d
-
ax
is
cu
r
r
e
n
t.
Fu
r
th
e
r
m
o
r
e,
t
h
e
PP
m
eth
o
d
ca
n
al
s
o
p
r
o
v
i
d
e
a
b
ette
r
tr
ac
k
in
g
ac
c
u
r
ac
y
o
f
th
e
m
ac
h
in
e
s
p
ee
d
th
an
th
e
PZC
m
et
h
o
d
,
as
s
p
ec
if
ied
in
Fig
u
r
e
6
.
B
y
m
ain
tain
in
g
th
e
r
ef
er
en
ce
s
p
ee
d
at
5
0
0
r
p
m
o
p
er
atin
g
with
th
e
lo
ad
t
o
r
q
u
e
c
h
an
g
e
c
o
n
d
itio
n
s
as
ab
o
v
e
m
e
n
tio
n
ed
,
th
e
s
tead
y
-
s
tate
er
r
o
r
(
e
ss
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o
f
th
e
m
ac
h
in
e
s
p
ee
d
b
ased
o
n
th
e
PZC
m
eth
o
d
is
ap
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x
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ately
0
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2
1
3
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wh
ile
it
is
0
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0
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0
1
%
f
o
r
t
h
e
PP
m
et
h
o
d
,
wh
ich
is
n
ea
r
ly
ze
r
o
.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at,
f
o
r
th
e
cu
r
r
en
t
co
n
t
r
o
l
lo
o
p
v
e
r
if
icatio
n
s
,
alth
o
u
g
h
t
h
e
PZC
m
eth
o
d
ca
n
p
r
o
v
id
e
a
lo
w
p
e
r
ce
n
t
o
v
e
r
s
h
o
o
t
co
m
p
a
r
ed
to
th
e
PP
m
e
th
o
d
,
wh
e
n
th
e
lo
ad
to
r
q
u
e
s
u
d
d
e
n
ly
ch
an
g
es,
th
e
PP
m
eth
o
d
ex
h
ib
its
th
e
m
er
it
o
f
f
ast
d
y
n
am
ic
r
esp
o
n
s
e
an
d
g
o
o
d
tr
ac
k
in
g
ac
cu
r
ac
y
th
at
ca
n
b
e
o
b
s
er
v
ed
f
r
o
m
th
e
s
tead
y
-
s
tate
er
r
o
r
.
(
a)
(
b
)
Fig
u
r
e
3
.
T
o
r
q
u
e
r
esp
o
n
s
e
with
a
m
ain
tain
ed
s
p
ee
d
o
f
5
0
0
r
p
m
:
(
a)
PZC an
d
(
b
)
PP
(
a)
(
b
)
Fig
u
r
e
4
.
q
-
ax
is
cu
r
r
en
t r
esp
o
n
s
e
with
a
m
ain
tain
ed
s
p
ee
d
o
f
5
0
0
r
p
m
:
(
a)
PZC an
d
(
b
)
PP
(
a)
(
b
)
Fig
u
r
e
5
.
d
-
ax
is
cu
r
r
en
t r
esp
o
n
s
e
with
a
m
ain
tain
ed
s
p
ee
d
o
f
5
0
0
r
p
m
:
(
a)
PZC an
d
(
b
)
PP
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
Dyn
a
mic
r
esp
o
n
s
e
a
n
a
lysi
s
o
f
in
d
u
ctio
n
m
o
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in
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en
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b
y
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n
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o
ller
…
(
P
a
n
u
w
a
t
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135
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ik
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o
r
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e
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ee
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e
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ce
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ee
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itially
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ef
in
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a
t
5
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u
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ly
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1
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p
m
at
0
.
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s
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th
n
o
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ad
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with
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ad
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q
u
e
co
n
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itio
n
s
,
as
illu
s
tr
ated
in
Fig
u
r
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an
d
8
,
r
esp
ec
tiv
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.
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r
th
e
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e
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r
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r
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n
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e
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ee
d
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m
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n
d
0
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1
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0
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0
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p
m
,
as
in
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icate
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in
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u
r
e
7
(
a)
.
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an
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ile,
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ased
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n
th
e
PP
m
eth
o
d
,
th
e
s
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y
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s
tate
er
r
o
r
s
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o
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e
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ee
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0
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p
m
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d
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0
0
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o
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t
ze
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o
,
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s
h
o
wn
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Fig
u
r
e
7
(
b
)
.
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ec
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s
e
th
e
co
n
t
r
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ller
b
an
d
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t
h
o
f
b
o
th
m
eth
o
d
s
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u
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ef
in
ed
,
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h
e
d
y
n
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ic
r
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o
n
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s
id
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to
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s
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,
r
esp
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.
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also
co
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esp
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d
s
to
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to
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th
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e,
th
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ca
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p
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v
id
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b
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tr
ac
k
in
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ac
cu
r
ac
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th
a
n
th
e
PZC m
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o
d
in
all
v
er
if
ie
d
co
n
d
itio
n
s
.
RE
F
E
R
E
NC
E
S
[
1
]
K
.
I
n
d
r
i
a
w
a
t
i
,
F
.
P
.
W
i
j
a
y
a
,
a
n
d
C
.
M
u
f
i
t
,
“
I
mp
l
e
m
e
n
t
a
t
i
o
n
o
f
d
i
st
u
r
b
a
n
c
e
o
b
serv
e
r
f
o
r
s
e
n
so
r
l
e
ss
s
p
e
e
d
e
s
t
i
m
a
t
i
o
n
i
n
i
n
d
u
c
t
i
on
mo
t
o
r
,
”
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
rn
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l
o
f
Po
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ro
n
i
c
s
a
n
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r
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e
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s
,
v
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l
.
1
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,
n
o
.
2
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p
p
.
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–
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2
,
2
0
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s
.
v
1
3
.
i
2
.
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p
7
2
4
-
7
3
2
.
[
2
]
B
.
W
a
n
g
,
J
.
Zh
a
n
g
,
Y
.
Y
u
,
X
.
Z
h
a
n
g
,
a
n
d
D
.
X
u
,
“
U
n
i
f
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e
d
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o
m
p
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x
v
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t
o
r
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l
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-
w
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k
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n
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n
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c
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t
r
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f
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o
n
mo
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o
r
h
i
g
h
-
sp
e
e
d
d
r
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v
e
s,
”
I
EE
E
T
r
a
n
s
a
c
t
i
o
n
s
o
n
P
o
w
e
r
El
e
c
t
r
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n
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c
s
,
v
o
l
.
3
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o
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p
.
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9
/
TP
EL.
2
0
2
0
.
3
0
3
4
2
4
6
.
[
3
]
H
.
B
a
c
h
i
r
i
,
B
.
G
a
sb
a
o
u
i
,
A
.
G
h
e
z
o
u
a
n
i
,
a
n
d
N
.
N
a
i
r
,
“
I
mp
r
o
v
e
d
d
i
r
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c
t
t
o
r
q
u
e
c
o
n
t
r
o
l
st
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a
t
e
g
y
p
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f
o
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m
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s
o
f
e
l
e
c
t
r
i
c
v
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h
i
c
l
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s
i
n
d
u
c
t
i
o
n
mo
t
o
r
,
”
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n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
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o
w
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r
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e
c
t
r
o
n
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c
s
a
n
d
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ri
v
e
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y
s
t
e
m
s
,
v
o
l
.
1
3
,
n
o
.
2
,
p
p
.
7
1
6
–
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2
3
,
2
0
2
2
,
d
o
i
:
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0
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1
5
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j
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d
s
.
v
1
3
.
i
2
.
p
p
7
1
6
-
7
2
3
.
[
4
]
H
.
G
a
sh
t
i
l
,
V
.
P
i
c
k
e
r
t
,
D
.
J
.
A
t
k
i
n
s
o
n
,
M
.
D
a
h
i
d
a
h
,
a
n
d
D
.
G
i
a
o
u
r
i
s,
“
I
mp
r
o
v
e
d
v
o
l
t
a
g
e
b
o
u
n
d
a
r
y
w
i
t
h
m
o
d
e
l
-
b
a
s
e
d
c
o
n
t
r
o
l
a
l
g
o
r
i
t
h
m
f
o
r
i
n
c
r
e
a
s
e
d
t
o
r
q
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e
i
n
t
h
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f
i
e
l
d
w
e
a
k
e
n
i
n
g
r
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g
i
o
n
o
f
i
n
d
u
c
t
i
o
n
ma
c
h
i
n
e
s,
”
I
E
EE
T
r
a
n
sa
c
t
i
o
n
s
o
n
T
r
a
n
sp
o
rt
a
t
i
o
n
El
e
c
t
r
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f
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c
a
t
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n
,
v
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l
.
7
,
n
o
.
3
,
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p
.
1
6
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0
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1
6
1
4
,
2
0
2
1
,
d
o
i
:
1
0
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1
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0
9
/
TT
E.
2
0
2
0
.
3
0
4
8
3
0
6
.
[
5
]
C
.
J
u
n
g
,
C
.
R
.
C
.
T
o
r
r
i
c
o
,
a
n
d
E
.
G
i
o
v
a
n
i
C
a
r
a
t
i
,
“
A
d
a
p
t
i
v
e
l
o
ss
mo
d
e
l
c
o
n
t
r
o
l
f
o
r
r
o
b
u
s
t
n
e
ss
a
n
d
e
f
f
i
c
i
e
n
c
y
i
m
p
r
o
v
e
m
e
n
t
o
f
i
n
d
u
c
t
i
o
n
m
o
t
o
r
d
r
i
v
e
s
,
”
I
EEE
T
r
a
n
s
a
c
t
i
o
n
s
o
n
I
n
d
u
s
t
ri
a
l
El
e
c
t
r
o
n
i
c
s
,
v
o
l
.
6
9
,
n
o
.
1
1
,
p
p
.
1
0
8
9
3
–
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0
9
0
3
,
2
0
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2
,
d
o
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:
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1
1
0
9
/
TI
E.
2
0
2
1
.
3
1
2
5
6
4
8
.
[
6
]
S
.
A
d
i
g
i
n
t
l
a
a
n
d
M
.
V
.
A
w
a
r
e
,
“
R
o
b
u
st
f
r
a
c
t
i
o
n
a
l
o
r
d
e
r
sp
e
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d
c
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n
t
r
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l
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r
s
f
o
r
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n
d
u
c
t
i
o
n
m
o
t
o
r
u
n
d
e
r
p
a
r
a
me
t
e
r
v
a
r
i
a
t
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o
n
s
a
n
d
l
o
w
sp
e
e
d
o
p
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t
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g
r
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g
i
o
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s,”
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T
ra
n
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a
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n
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:
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.
2
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.
[
7
]
S
.
M
.
Y
a
n
g
a
n
d
K
.
W
.
Li
n
,
“
A
u
t
o
mat
i
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Evaluation Warning : The document was created with Spire.PDF for Python.