I
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io
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l J
o
urna
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f
P
o
wer
E
lect
ro
nics
a
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Driv
e
S
y
s
t
em
(
I
J
P
E
DS)
Vo
l.
16
,
No
.
3
,
Sep
tem
b
er
20
25
,
p
p
.
1
6
7
3
~
16
8
6
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SS
N:
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4
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pp
1
6
7
3
-
16
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1673
J
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ttp
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co
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Ca
ncella
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f
p
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dic distu
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ua
l start
induction
driv
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sed o
n a
no
v
el robus
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trol s
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Art
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y:
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Sep
2
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2
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4
R
ev
is
ed
Ma
y
1
2
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2
0
2
5
Acc
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2
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Th
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b
a
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c
a
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c
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ll
a
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s
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a
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th
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t
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s
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e
iv
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m
u
c
h
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tt
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t
io
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e
sp
e
c
ially
f
o
r
t
h
e
n
o
n
li
n
e
a
r
d
ri
v
e
sy
ste
m
s
a
s
th
e
d
u
a
l
sta
rt
i
n
d
u
c
ti
o
n
m
o
t
o
r
(DSI
M
).
In
t
h
is
p
a
p
e
r,
a
n
e
w
ro
b
u
st
a
d
a
p
ti
v
e
h
y
b
rid
stra
teg
y
b
a
se
d
o
n
a
n
imp
r
o
v
e
d
v
a
riab
le
-
g
a
in
q
u
a
si
-
c
o
n
ti
n
u
o
u
s
t
h
ir
d
-
o
rd
e
r
slid
in
g
m
o
d
e
(VG
QST
OSM
)
a
lg
o
ri
th
m
in
teg
ra
ted
wit
h
RC
a
n
d
a
lo
a
d
to
rq
u
e
d
istu
r
b
a
n
c
e
e
stim
a
to
r
h
e
l
p
s
t
o
re
d
u
c
e
c
h
a
tt
e
rin
g
,
c
a
n
c
e
l
t
h
e
p
e
ri
o
d
ic
a
n
d
e
x
ten
d
e
d
l
o
a
d
d
ist
u
rb
a
n
c
e
s
,
a
n
d
e
n
h
a
n
c
e
trac
k
i
n
g
p
e
rfo
rm
a
n
c
e
e
ffe
c
ti
v
e
ly
.
B
y
u
sin
g
th
ir
d
-
o
r
d
e
r
slid
in
g
m
o
d
e
wi
th
v
a
riab
le
g
a
i
n
d
e
p
e
n
d
e
n
t
o
n
t
h
e
m
a
g
n
it
u
d
e
o
f
th
e
sli
d
in
g
v
a
riab
le,
th
is p
ro
p
o
sa
l
a
ims
to
b
e
a
d
a
p
ti
v
e
.
It
p
ro
v
id
e
s
h
ig
h
e
r
g
a
in
w
h
e
n
fa
r
fr
o
m
th
e
slid
in
g
su
rfa
c
e
(is
larg
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),
lea
d
in
g
to
fa
ste
r
c
o
n
v
e
rg
e
n
c
e
a
n
d
l
o
we
r
g
a
in
wh
e
n
c
lo
se
to
th
e
slid
i
n
g
s
u
rfa
c
e
(is
sm
a
ll
),
p
o
ten
t
ially
re
d
u
c
in
g
c
h
a
tt
e
rin
g
fu
r
th
e
r
a
n
d
d
e
c
re
a
sin
g
c
o
n
tro
l
e
ffo
rt
n
e
a
r
th
e
e
q
u
il
i
b
riu
m
.
Th
e
ro
b
u
st
n
e
ss
o
f
t
h
e
p
r
o
p
o
se
d
c
o
n
tr
o
ll
e
r
is
imp
ro
v
e
d
b
e
c
a
u
se
th
e
a
d
a
p
ti
v
e
g
a
i
n
m
e
c
h
a
n
ism
e
ffe
c
ti
v
e
ly
c
o
m
p
e
n
sa
tes
fo
r
u
n
c
e
rtain
ti
e
s
o
r
d
istu
r
b
a
n
c
e
s.
F
u
rth
e
rm
o
re
,
a
p
lu
g
-
in
RC
is
i
n
teg
ra
ted
in
t
o
th
e
imp
ro
v
e
d
hi
gh
-
o
r
d
e
r
slid
i
n
g
m
o
d
e
stru
c
tu
re
(DRV
G
QST
OSM
)
,
a
n
d
a
n
e
stim
a
ted
lo
a
d
to
r
q
u
e
d
ist
u
rb
a
n
c
e
v
a
lu
e
is
a
lso
u
se
d
t
o
h
e
lp
id
e
n
ti
fy
a
n
d
p
ro
a
c
ti
v
e
l
y
e
li
m
in
a
te
d
istu
r
b
a
n
c
e
s.
Th
e
sy
ste
m
sta
b
il
it
y
is
a
ss
u
re
d
u
sin
g
Ly
a
p
u
n
o
v
th
e
o
r
y
t
h
e
v
irt
u
a
l
c
o
n
tro
l
v
e
c
to
rs'
o
u
tp
u
ts
a
re
c
h
o
se
n
b
a
se
d
o
n
Ly
a
p
u
n
o
v
t
h
e
o
r
y
.
S
im
u
latio
n
re
s
u
lt
s
o
b
tain
e
d
u
si
n
g
th
e
M
ATLA
B
so
ftwa
re
c
o
n
firm t
h
e
trac
k
i
n
g
a
n
d
h
a
rm
o
n
i
c
d
istu
rb
a
n
c
e
re
jec
ti
o
n
p
e
rfo
rm
a
n
c
e
a
s w
e
ll
a
s
th
e
ro
b
u
stn
e
ss
o
f
th
e
p
ro
p
o
se
d
c
o
n
tro
l
stra
teg
y
.
K
ey
w
o
r
d
s
:
Dis
tu
r
b
an
ce
ca
n
ce
llatio
n
Du
al
s
tar
t in
d
u
ctio
n
m
o
to
r
FOC
v
ec
to
r
co
n
tr
o
l
Hig
h
-
o
r
d
e
r
s
lid
in
g
m
o
d
e
R
ep
etitiv
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co
n
tr
o
l
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
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s
p
o
nd
ing
A
uth
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r
:
Ng
o
c
T
h
u
y
Ph
am
Dep
ar
tm
en
t
o
f
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lectr
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E
n
g
i
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r
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T
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h
n
o
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y
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I
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d
u
s
tr
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Un
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s
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f
Ho
C
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C
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C
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Vietn
am
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m
ail:
p
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u
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v
n
,
n
g
o
c
p
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am
1
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m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
d
u
al
s
tar
t
in
d
u
ctio
n
m
o
to
r
(
DSI
M
)
d
r
iv
es
ar
e
o
n
e
o
f
th
e
m
u
ltip
h
ase
m
o
to
r
d
r
i
v
es
th
at
h
av
e
g
ar
n
er
e
d
s
ig
n
if
ican
t
r
esear
ch
atten
tio
n
in
r
ec
e
n
t
d
ec
ad
es.
T
h
ey
ar
e
i
n
cr
ea
s
in
g
ly
em
p
l
o
y
ed
i
n
h
i
g
h
-
p
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in
d
u
s
tr
ial
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p
licatio
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s
d
e
m
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d
in
g
h
i
g
h
-
q
u
ality
co
n
tr
o
l,
r
eliab
ilit
y
,
an
d
f
au
lt
to
ler
a
n
ce
.
T
h
eir
ap
p
licatio
n
is
p
ar
ticu
lar
ly
n
o
tab
le
in
t
h
e
tr
a
n
s
p
o
r
tatio
n
s
ec
to
r
,
in
clu
d
in
g
elec
tr
ic
v
eh
icles
(
E
Vs),
s
h
ip
s
,
an
d
ae
r
o
n
a
u
tics
.
DSI
Ms
ar
e
p
r
o
g
r
ess
iv
ely
r
e
p
lacin
g
tr
ad
itio
n
al
th
r
ee
-
p
h
a
s
e
in
d
u
ctio
n
m
o
t
o
r
s
in
AC
d
r
iv
es
wh
er
e
h
ig
h
r
eliab
ilit
y
,
ac
cu
r
ac
y
,
s
af
ety
,
a
n
d
f
au
lt
to
ler
a
n
ce
a
r
e
p
ar
am
o
u
n
t
[
1
]
-
[
3
]
.
Desp
ite
th
e
o
u
ts
t
an
d
in
g
ad
v
a
n
tag
es,
DSI
M
h
as
it
s
in
h
er
en
t
p
r
o
b
l
em
s
o
f
n
o
n
lin
ea
r
ity
an
d
co
u
p
lin
g
,
wh
ich
ar
e
ch
allen
g
es
f
o
r
co
n
tr
o
l
s
y
s
tem
s
d
esig
n
.
Ad
d
itio
n
ally
,
t
h
e
ex
t
er
n
al
d
is
tu
r
b
a
n
ce
s
,
s
u
ch
as
s
u
d
d
en
lo
ad
ch
a
n
g
es,
p
e
r
io
d
ic
d
is
tu
r
b
an
ce
s
,
also
d
ec
r
ea
s
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
d
r
iv
es.
T
o
ad
d
r
ess
th
ese
ch
allen
g
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ad
v
an
ce
d
co
n
tr
o
l
m
eth
o
d
s
b
a
s
ed
o
n
m
o
d
er
n
v
ec
t
o
r
co
n
tr
o
l
s
tr
ateg
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h
av
e
b
ee
n
d
ev
elo
p
ed
f
o
r
DSI
M
d
r
iv
es.
I
n
th
at,
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
s
tan
d
s
o
u
t
as
a
r
elativ
ely
s
im
p
le
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.
16
,
No
.
3
,
Sep
tem
b
er
20
25
:
1673
-
16
86
1674
s
tr
ateg
y
.
I
ts
ad
v
an
tag
es
in
clu
d
e
f
ast
to
r
q
u
e
r
esp
o
n
s
e,
r
ed
u
c
ed
d
ep
en
d
e
n
ce
o
n
m
ac
h
i
n
e
p
ar
am
eter
v
ar
iatio
n
s
,
an
d
a
s
im
p
ler
im
p
lem
e
n
tatio
n
d
u
e
to
th
e
ab
s
en
ce
o
f
c
o
o
r
d
in
ate
tr
an
s
f
o
r
m
atio
n
s
an
d
cu
r
r
en
t
co
n
tr
o
l
l
o
o
p
s
.
Ho
wev
er
,
DT
C
s
u
f
f
er
s
f
r
o
m
s
ig
n
if
ican
t
d
r
awb
ac
k
s
:
h
i
g
h
s
witch
in
g
f
r
eq
u
en
cy
,
co
n
s
id
er
a
b
le
to
r
q
u
e
an
d
f
lu
x
r
ip
p
les,
m
ec
h
a
n
ical
v
i
b
r
atio
n
an
d
n
o
is
e,
an
d
p
o
o
r
c
o
n
tr
o
l
p
e
r
f
o
r
m
a
n
ce
in
lo
w
-
s
p
ee
d
o
p
er
a
tin
g
r
a
n
g
es
[
4
]
-
[
7
].
f
ield
-
o
r
ien
ted
co
n
tr
o
l
(
FOC
)
,
i
n
co
n
tr
ast
to
DT
C
,
o
f
f
er
s
f
ast
to
r
q
u
e
r
esp
o
n
s
e,
a
wid
e
s
p
ee
d
co
n
tr
o
l
r
an
g
e,
a
n
d
h
ig
h
ef
f
icien
c
y
ac
r
o
s
s
v
ar
y
in
g
lo
ad
co
n
d
itio
n
s
,
ac
h
iev
ed
b
y
d
ec
o
u
p
lin
g
to
r
q
u
e
an
d
f
lu
x
co
n
tr
o
l.
Pro
b
lem
s
r
elate
d
to
t
o
r
q
u
e
an
d
f
lu
x
r
ip
p
les,
n
o
is
e,
m
ec
h
an
ical
v
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b
r
a
tio
n
,
an
d
lo
w
-
s
p
ee
d
o
p
er
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n
d
o
n
o
t
ap
p
ea
r
in
FOC
.
FO
C
'
s
m
ain
d
is
ad
v
an
tag
es
ar
e
its
h
ig
h
s
en
s
itiv
ity
to
m
ac
h
in
e
p
ar
a
m
eter
v
ar
iatio
n
s
an
d
its
s
ig
n
if
ican
t
co
m
p
lex
ity
,
s
tem
m
in
g
f
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m
th
e
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ee
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ate
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s
f
o
r
m
atio
n
s
an
d
m
u
ltip
le
co
n
t
r
o
l
v
ar
iab
les.
T
h
e
tr
ad
itio
n
al
FOC
im
p
lem
en
tatio
n
s
u
s
in
g
p
r
o
p
o
r
tio
n
al
-
i
n
teg
r
a
l
(
PI)
co
n
tr
o
ller
s
with
f
ix
ed
co
ef
f
icien
ts
o
f
ten
f
ail
to
m
ee
t th
e
s
tr
in
g
en
t
q
u
ality
d
em
an
d
s
o
f
h
ig
h
-
p
er
f
o
r
m
an
ce
d
r
iv
es [
8
]
-
[
1
0
]
.
Mo
d
er
n
an
d
in
tellig
en
t
co
n
tr
o
l
tech
n
iq
u
es
h
av
e
b
ee
n
p
r
o
p
o
s
ed
to
ad
d
r
ess
th
ese
p
r
o
b
lem
s
[
1
1
]
-
[
1
6
]
.
Am
o
n
g
th
e
m
,
s
lid
in
g
m
o
d
e
(
SM)
co
n
tr
o
l
is
o
n
e
o
f
th
e
m
o
s
t
p
r
o
m
in
en
t
m
eth
o
d
s
.
I
t
h
as
b
ee
n
wid
ely
u
s
ed
in
m
an
y
in
d
u
s
tr
ial
ap
p
licatio
n
s
d
u
e
to
its
r
o
b
u
s
tn
ess
ag
ain
s
t
d
is
tu
r
b
an
ce
s
,
r
elativ
e
s
im
p
licity
,
an
d
ea
s
e
o
f
tu
n
in
g
an
d
im
p
lem
en
tatio
n
[
1
4
]
-
[
1
6
]
.
Ho
wev
er
,
th
e
m
ajo
r
d
is
ad
v
a
n
tag
e
o
f
co
n
v
en
tio
n
al
SM
co
n
tr
o
l
is
th
e
ch
atter
in
g
p
h
en
o
m
en
o
n
.
Sev
er
al
m
eth
o
d
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
to
elim
in
ate
o
r
allev
iate
th
is
u
n
wa
n
ted
ef
f
ec
t.
E
f
f
ec
tiv
e
ap
p
r
o
ac
h
es
in
clu
d
e
em
p
lo
y
in
g
h
ig
h
er
-
o
r
d
er
s
lid
in
g
m
o
d
e
(
HOSM)
co
n
tr
o
l
tech
n
iq
u
es
[
1
7
]
.
Qu
asi
-
co
n
tin
u
o
u
s
th
ir
d
-
o
r
d
er
s
lid
in
g
m
o
d
e
(
QC
T
OSM)
co
n
tr
o
l
is
an
ad
v
an
ce
d
v
er
s
io
n
o
f
HOSM
co
n
tr
o
l
d
esig
n
ed
to
m
itig
ate
ch
atter
in
g
wh
ile
p
r
eser
v
in
g
r
o
b
u
s
tn
ess
.
T
o
d
ate,
s
ig
n
if
ican
t
r
esear
ch
h
as
b
ee
n
co
n
d
u
cte
d
o
n
HOSM
co
n
tr
o
l
[
1
8
]
,
[
1
9
]
.
Ho
wev
er
,
m
an
y
o
f
th
ese
s
tu
d
ies
o
p
er
ate
u
n
d
er
th
e
ass
u
m
p
tio
n
th
at
n
o
n
lin
ea
r
s
y
s
tem
s
ar
e
p
r
im
ar
ily
af
f
ec
ted
b
y
g
en
er
al,
b
o
u
n
d
e
d
d
is
tu
r
b
an
ce
s
.
I
n
r
ea
lity
,
n
u
m
er
o
u
s
n
o
n
lin
ea
r
i
n
d
u
s
tr
ial
p
r
o
ce
s
s
es
(
m
ec
h
an
ical,
r
o
b
o
tics
,
an
d
p
o
wer
d
is
tr
ib
u
tio
n
)
a
r
e
d
is
tu
r
b
an
ce
s
ca
n
b
e
h
ar
m
o
n
ic
s
ig
n
als,
t
h
e
d
io
d
e
r
ec
tifie
r
s
,
an
d
p
o
wer
co
n
v
er
ter
s
ca
n
b
e
co
n
s
id
er
ed
as
a
g
en
er
at
o
r
o
f
t
h
ese
n
o
n
-
d
esire
d
h
a
r
m
o
n
ic
c
u
r
r
en
ts
[
2
0
]
,
C
o
g
g
in
g
to
r
q
u
e,
th
at
ca
u
s
ed
b
y
th
e
m
is
alig
n
m
en
t
b
etwe
en
s
tato
r
an
d
r
o
t
o
r
is
th
e
im
p
o
r
ta
n
t
p
er
io
d
ic
d
is
tu
r
b
a
n
ce
s
af
f
ec
ts
r
o
tatin
g
m
ec
h
an
ical
m
ac
h
in
es
[
2
1
]
.
Or
th
e
p
e
r
io
d
i
c
d
is
tu
r
b
an
ce
s
th
at
ap
p
ea
r
d
u
e
to
th
e
ec
ce
n
tr
icity
o
f
th
e
tr
a
ck
in
th
e
h
ar
d
d
is
k
d
r
iv
es
[
2
2
]
,
d
u
e
t
o
th
e
in
ter
ac
t
io
n
b
etwe
en
th
e
r
i
g
id
h
u
b
an
d
f
lex
ib
le
ap
p
e
n
d
ag
e
d
u
r
in
g
attitu
d
e
m
an
eu
v
er
in
g
in
s
p
ac
ec
r
af
t
[
2
3
]
.
T
h
er
e
f
o
r
e,
t
h
e
m
ajo
r
ch
allen
g
e
o
f
n
o
n
lin
e
ar
d
r
iv
es
in
th
e
p
r
esen
ce
o
f
p
e
r
io
d
ic
d
is
tu
r
b
an
ce
s
is
th
e
d
esig
n
o
f
a
n
ac
cu
r
ate
c
o
n
tr
o
l e
n
s
u
r
in
g
g
o
o
d
tr
ac
k
in
g
a
n
d
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
p
er
f
o
r
m
an
ce
s
.
E
f
f
ec
tiv
e
h
a
r
m
o
n
ic
d
is
tu
r
b
an
c
e
ca
n
ce
llatio
n
is
cr
u
cial
f
o
r
m
an
y
co
n
tr
o
l
a
p
p
licatio
n
s
,
p
ar
ticu
lar
ly
i
n
d
r
iv
e
s
y
s
tem
s
.
Sev
er
al
s
tr
ate
g
ies
ex
is
t,
o
f
ten
d
ep
en
d
in
g
o
n
th
e
av
ailab
le
s
y
s
tem
k
n
o
wled
g
e.
I
f
b
o
th
th
e
s
y
s
tem
m
o
d
el
a
n
d
d
is
tu
r
b
a
n
ce
f
r
eq
u
en
cy
ar
e
p
r
ec
is
ely
k
n
o
w
n
,
th
e
in
ter
n
al
m
o
d
el
p
r
in
cip
l
e
(
I
MP)
allo
ws
f
o
r
ef
f
ec
tiv
e
f
ee
d
b
ac
k
co
m
p
e
n
s
atio
n
[
2
4
]
.
I
f
o
n
ly
th
e
s
y
s
tem
m
o
d
el
is
k
n
o
wn
,
a
d
is
tu
r
b
an
c
e
o
b
s
er
v
er
(
DO)
ca
n
b
e
em
p
lo
y
ed
to
esti
m
ate
th
e
h
ar
m
o
n
ic
d
is
tu
r
b
an
ce
[
2
5
]
.
W
h
en
th
e
s
y
s
tem
m
o
d
el
is
u
n
ce
r
t
ain
o
r
u
n
av
ailab
le,
ad
ap
tiv
e
c
o
n
tr
o
l
tech
n
iq
u
es
[
2
6
]
o
r
f
ee
d
f
o
r
war
d
m
eth
o
d
s
[
2
7
]
b
ec
o
m
e
r
elev
a
n
t.
Ad
a
p
tiv
e
co
n
t
r
o
l
m
et
h
o
d
s
b
ased
o
n
f
ee
d
b
ac
k
ca
n
also
b
e
p
r
o
p
o
s
ed
to
tack
le
k
n
o
wn
a
n
d
u
n
k
n
o
wn
d
is
tu
r
b
an
ce
f
r
eq
u
en
cies
[
2
8
]
,
[
2
9
]
.
Ho
wev
er
,
it
g
en
e
r
ally
r
eq
u
ir
es
s
o
m
e
ex
tr
a
in
f
o
r
m
atio
n
a
n
d
s
tr
u
ctu
r
al
ass
u
m
p
tio
n
s
r
e
g
ar
d
in
g
th
e
s
y
s
tem
.
Har
m
o
n
ic
d
is
tu
r
b
an
ce
s
p
r
ese
n
t
in
th
e
s
y
s
tem
ca
n
also
b
e
id
en
tifie
d
,
ch
ar
ac
ter
ize
d
,
an
d
m
itig
ated
u
s
in
g
th
e
ac
tiv
e
d
is
tu
r
b
an
c
e
r
ejec
tio
n
c
o
n
tr
o
l
(
ADRC
)
f
r
am
ewo
r
k
.
I
n
th
is
tech
n
iq
u
e,
to
tal
d
is
tu
r
b
an
ce
o
f
th
e
s
y
s
tem
co
n
s
is
ts
o
f
all
th
e
u
n
ce
r
tain
elem
en
ts
,
s
ee
n
f
r
o
m
th
e
p
lan
t
p
er
s
p
ec
tiv
e
as
an
in
p
u
t
-
ad
d
itiv
e.
W
ith
AD
R
C
,
th
e
d
etailed
an
aly
tical
r
ep
r
esen
tati
o
n
o
f
th
e
s
y
s
tem
is
n
o
t
r
e
q
u
ir
ed
f
o
r
c
o
n
tr
o
l
s
y
n
th
esis
;
it
p
r
i
o
r
itizes
th
e
is
s
u
e
o
f
ag
g
r
eg
ated
d
is
tu
r
b
a
n
ce
in
f
lu
e
n
ce
o
n
th
e
c
o
n
tr
o
lled
o
u
tp
u
t
i
s
co
n
tin
u
o
u
s
ly
m
itig
ated
.
T
h
e
co
n
tr
o
l
d
esig
n
ca
n
b
e
ac
h
iev
e
d
th
r
o
u
g
h
o
n
lin
e
r
e
co
n
s
tr
u
ctio
n
o
f
t
h
e
to
tal
d
is
tu
r
b
an
ce
b
y
m
ea
n
s
o
f
a
s
p
ec
iali
ze
d
o
b
s
er
v
er
.
T
h
e
ef
f
ec
tiv
en
ess
o
f
ADRC
h
as
b
ee
n
v
er
if
ied
in
n
u
m
er
o
u
s
p
r
o
ce
s
s
an
d
m
o
tio
n
ap
p
licatio
n
s
[
2
9
]
,
[
3
0
]
.
T
h
e
r
esu
lt
[
3
1
]
,
ADRC
was
ap
p
lied
to
co
m
p
en
s
ate
f
o
r
th
e
h
ar
m
o
n
ic
d
is
tu
r
b
an
ce
,
co
m
b
in
i
n
g
th
ese
d
is
tu
r
b
an
ce
r
ejec
tio
n
s
tr
ateg
ies
with
d
i
s
tu
r
b
an
ce
o
b
s
er
v
er
s
an
d
co
m
p
en
s
atio
n
is
r
eq
u
ir
ed
to
g
iv
e
a
g
o
o
d
d
is
tu
r
b
an
ce
ca
n
ce
llatio
n
ef
f
icien
cy
,
b
u
t
th
is
m
ak
es
th
e
co
n
tr
o
l sy
s
tem
m
o
r
e
co
m
p
lex
[
3
1
]
,
[
3
2
]
.
I
n
co
n
tr
ast
to
th
e
ab
o
v
e
s
o
lu
t
io
n
s
,
[
3
3
]
d
ev
elo
p
s
a
u
n
iq
u
e
d
is
tu
r
b
an
ce
r
ejec
tio
n
s
ch
em
e
f
o
r
h
ig
h
ly
u
n
ce
r
tain
s
y
s
tem
s
s
u
b
jecte
d
t
o
h
ar
m
o
n
ic
d
is
tu
r
b
an
ce
s
with
u
n
k
n
o
wn
/k
n
o
wn
f
r
e
q
u
en
cies.
R
ep
etitiv
e
co
n
tr
o
l
(
R
C
)
was
p
r
o
v
en
to
b
e
an
ef
f
e
ctiv
e
to
o
l
to
r
ejec
t d
is
tu
r
b
an
ce
an
d
en
h
a
n
ce
th
e
co
n
tr
o
l
p
e
r
f
o
r
m
an
ce
th
r
o
u
g
h
its
r
ep
ea
ted
lear
n
i
n
g
p
r
o
ce
s
s
.
H
o
wev
er
,
it
f
ac
es
th
e
s
tab
ilit
y
p
r
o
b
le
m
an
d
th
e
in
a
b
ilit
y
t
o
co
n
s
id
er
ce
r
tain
ch
ar
ac
ter
is
tics
o
f
p
r
o
ce
s
s
es
[
3
3
]
,
[
3
4
]
.
T
o
o
v
er
co
m
e
th
es
e,
m
u
ch
r
esear
ch
f
o
c
u
s
es
o
n
im
p
r
o
v
in
g
th
e
R
C
d
esig
n
f
o
r
n
o
n
-
lin
ea
r
s
y
s
tem
s
[
3
5
]
-
[
3
7
]
.
E
s
p
ec
ially
,
a
m
o
d
if
ied
R
C
b
ased
o
n
d
is
tu
r
b
an
c
e
o
b
s
er
v
er
(
MRC
)
was
d
ev
elo
p
ed
to
en
s
u
r
e
th
e
h
ig
h
-
f
r
eq
u
en
cy
s
tab
ilit
y
an
d
lo
w
-
f
r
eq
u
en
cy
p
er
io
d
ic
d
is
t
u
r
b
an
ce
s
r
esis
tan
ce
ab
ilit
y
o
f
th
e
co
n
tr
o
l
s
tr
ateg
y
.
A
r
o
b
u
s
t
p
lu
g
-
in
R
C
with
p
h
ase
co
m
p
en
s
atio
n
was
p
r
o
p
o
s
ed
in
[
3
5
]
.
An
o
th
er
ap
p
r
o
ac
h
th
at
th
e
c
o
m
b
in
atio
n
o
f
R
C
with
SM,
an
I
I
R
lo
w
-
p
ass
f
ilter
was
ap
p
lied
in
s
id
e
th
e
in
ter
n
al
m
o
d
el
o
f
R
C
to
im
p
r
o
v
e
th
e
s
tab
ilit
y
r
o
b
u
s
tn
ess
,
is
d
ev
elo
p
ed
in
[
3
6
]
.
T
h
e
ar
ticle
[
3
7
]
,
a
m
u
lti
-
m
o
d
el
id
en
tific
atio
n
in
p
r
esen
ce
o
f
th
e
p
er
io
d
ic
d
is
tu
r
b
an
ce
with
an
ad
ap
tiv
e
f
ilter
is
u
s
ed
to
d
ec
o
u
p
le
th
e
d
is
tu
r
b
an
ce
an
d
a
d
is
cr
ete
r
ep
etitiv
e
s
lid
in
g
m
o
d
e
m
u
lti
-
co
n
tr
o
l
ar
e
d
e
v
elo
p
e
d
to
d
e
al
th
e
p
r
o
b
lem
o
f
s
tab
ilit
y
o
f
th
e
s
y
s
tem
s
,
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
P
a
p
er’s sh
o
u
ld
b
e
th
e
few
est p
o
s
s
ib
le
th
a
t a
cc
u
r
a
tely
d
escr
ib
e
…
(
F
ir
s
t A
u
th
o
r
)
1675
p
r
o
p
o
s
ed
co
n
tr
o
l
tech
n
iq
u
e
in
[
3
7
]
also
co
m
b
i
n
ed
m
u
lti
-
m
o
d
el
SM
c
o
n
tr
o
l
with
R
C
to
en
h
an
ce
th
e
c
o
n
tr
o
l
p
er
f
o
r
m
an
ce
s
o
f
n
o
n
lin
ea
r
s
y
s
tem
s
.
A
d
is
tu
r
b
an
ce
r
ejec
tio
n
r
ep
etitiv
e
s
ec
o
n
d
-
o
r
d
er
s
lid
in
g
m
o
d
e
(
DR
R
I
SO
SM)
co
n
tr
o
l
s
ch
em
e
u
s
in
g
im
p
r
o
v
ed
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
I
SOSM)
tech
n
iq
u
e
c
o
m
b
in
ed
with
R
C
is
d
ev
elo
p
ed
[
3
8
]
.
T
h
e
im
p
r
o
v
em
en
t
in
[
3
8
]
p
r
o
v
i
d
es
s
u
p
e
r
io
r
co
n
tr
o
l
a
n
d
d
is
tu
r
b
an
ce
r
ejec
tio
n
ca
p
ab
ilit
y
.
Ho
wev
er
,
I
SOSM
with
co
n
s
tan
t
g
ain
o
f
STA
o
f
f
er
s
n
o
n
-
ad
ap
tiv
e
c
o
n
tr
o
l
a
u
th
o
r
ity
.
T
h
ese
g
ain
s
ar
e
a
co
m
p
r
o
m
is
e
;
th
ey
ca
n
b
e
to
o
lo
w
f
o
r
f
ast
co
n
v
er
g
en
ce
w
h
en
f
ar
f
r
o
m
th
e
s
u
r
f
ac
e
,
o
r
u
n
n
ec
ess
ar
ily
h
i
g
h
(
r
is
k
in
g
c
h
atter
in
g
/h
ig
h
c
o
n
tr
o
l
ef
f
o
r
t)
wh
e
n
n
ea
r
t
h
e
s
u
r
f
a
ce
.
Per
f
o
r
m
an
ce
m
ig
h
t
b
e
les
s
co
n
s
is
ten
t
ac
r
o
s
s
v
ar
y
in
g
o
p
er
atin
g
co
n
d
itio
n
s
co
m
p
ar
ed
to
a
well
-
d
esig
n
e
d
v
ar
iab
le
g
ain
s
ch
em
e.
I
n
th
is
p
ap
er
,
to
th
o
r
o
u
g
h
ly
s
o
lv
e
th
e
p
r
o
b
lem
s
o
f
p
e
r
io
d
i
c
h
ar
m
o
n
ic
d
is
tu
r
b
an
ce
a
n
d
a
cc
u
r
ately
tr
ac
k
h
ig
h
-
p
er
f
o
r
m
a
n
ce
DSI
M
d
r
iv
es,
a
n
ew
im
p
r
o
v
ed
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l m
eth
o
d
is
p
r
o
p
o
s
ed
.
T
h
e
m
ain
co
n
tr
i
b
u
tio
n
s
ar
e
s
u
m
m
ar
ized
as
f
o
llo
ws:
i)
T
h
e
p
r
o
p
o
s
ed
c
o
n
tr
o
l
em
p
lo
y
s
an
im
p
r
o
v
ed
v
ar
iab
le
-
g
ain
q
u
asi
-
co
n
tin
u
o
u
s
th
ir
d
-
o
r
d
er
s
lid
in
g
m
o
d
e
(
VGQST
OSM)
p
r
o
v
id
es
a
s
m
o
o
th
er
c
o
n
tr
o
l
to
o
l
co
m
p
ar
ed
to
SOSM.
T
h
is
p
o
t
en
tially
lead
s
to
u
ltra
-
lo
w
to
r
q
u
e
r
ip
p
le
an
d
m
in
im
al
v
ib
r
at
io
n
,
o
f
f
e
r
s
s
u
p
er
io
r
ch
atter
in
g
s
u
p
p
r
ess
io
n
co
m
p
ar
ed
to
SOSM,
an
d
h
ig
h
er
p
r
ec
i
s
io
n
.
Fu
r
th
er
m
o
r
e
,
b
y
m
ak
i
n
g
th
e
g
ain
d
ep
en
d
en
t
o
n
th
e
m
ag
n
itu
d
e
o
f
th
e
s
lid
in
g
v
ar
ia
b
le,
th
is
p
r
o
p
o
s
al
aim
s
to
b
e
ad
ap
tiv
e.
I
t
p
r
o
v
id
es
h
i
g
h
er
g
ai
n
wh
e
n
f
a
r
f
r
o
m
th
e
s
lid
in
g
s
u
r
f
ac
e
(
is
l
ar
g
e)
,
lead
in
g
to
f
aster
co
n
v
e
r
g
en
ce
an
d
lo
wer
g
ain
wh
en
clo
s
e
to
th
e
s
lid
in
g
s
u
r
f
ac
e
(
is
s
m
all)
,
p
o
ten
tially
r
ed
u
cin
g
ch
atter
in
g
f
u
r
t
h
er
an
d
d
ec
r
ea
s
in
g
c
o
n
tr
o
l
ef
f
o
r
t
n
e
ar
th
e
eq
u
ilib
r
iu
m
.
T
h
e
r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
is
im
p
r
o
v
e
d
b
ec
au
s
e
th
e
ad
ap
tiv
e
g
ain
m
e
ch
an
is
m
ef
f
ec
tiv
ely
co
m
p
en
s
ates
f
o
r
u
n
ce
r
tain
tie
s
o
r
ex
ten
d
ed
a
n
d
p
e
r
io
d
ic
lo
ad
d
is
tu
r
b
an
ce
s
.
ii)
T
o
s
p
ec
if
ically
im
p
r
o
v
e
h
ar
m
o
n
ic
d
is
tu
r
b
an
ce
r
ejec
tio
n
in
FOC
-
b
ased
DSI
M
d
r
iv
es,
a
lo
ad
to
r
q
u
e
d
is
tu
r
b
a
n
ce
esti
m
ato
r
f
o
r
d
is
tu
r
b
an
ce
id
en
tific
atio
n
a
n
d
a
p
lu
g
-
in
R
C
co
m
b
in
ed
with
th
e
VGQST
OSM
s
tr
u
ctu
r
e
ar
e
p
r
o
p
o
s
ed
to
r
ejec
t
th
e
p
er
io
d
ic
d
is
tu
r
b
an
ce
.
Mo
r
eo
v
er
,
t
h
e
s
y
s
tem
s
tab
ilit
y
o
f
th
e
s
y
s
tem
was
ass
u
r
ed
b
y
th
e
v
ir
tu
al
co
n
tr
o
l
v
ec
to
r
s
o
u
tp
u
t o
f
s
p
ee
d
an
d
cu
r
r
en
t c
o
n
tr
o
l lo
o
p
s
is
ch
o
s
en
b
ased
o
n
L
y
a
p
u
n
o
v
th
e
o
r
y
.
T
h
is
p
ap
er
co
n
s
is
ts
o
f
f
o
u
r
p
ar
ts
:
i)
T
h
e
m
ath
em
atica
l
m
o
d
el
o
f
th
e
DSI
M
d
r
iv
e
is
g
iv
en
in
s
ec
tio
n
2
;
ii)
Sectio
n
3
is
d
ev
o
ted
to
th
e
d
ev
elo
p
m
en
t
o
f
a
n
ew
d
is
cr
ete
r
ep
etitiv
e
s
lid
in
g
m
o
d
el
co
n
tr
o
ller
;
iii)
Simu
latio
n
r
esu
lts
ar
e
p
r
esen
ted
in
s
ec
tio
n
4
; a
n
d
v
)
Sect
io
n
5
c
o
n
clu
d
es.
2.
M
O
DE
L
O
F
DSI
M
DR
I
VE
A
DSI
M
d
r
iv
e
s
y
s
tem
co
n
s
is
t
s
o
f
a
DSI
M
f
ed
b
y
a
s
ix
-
p
h
as
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
(
SP
VSI
)
an
d
a
DC
lin
k
,
as
s
h
o
wn
in
Fig
u
r
e
1.
I
n
th
is
co
n
f
ig
u
r
atio
n
,
th
e
SP
VSI
ac
ts
a
s
th
e
p
r
im
ar
y
p
o
wer
co
n
v
er
ter
,
d
eliv
er
in
g
th
e
a
p
p
r
o
p
r
iate
v
o
ltag
e
an
d
f
r
e
q
u
en
c
y
r
eq
u
ir
ed
f
o
r
th
e
DSI
M
to
o
p
er
ate
e
f
f
ici
en
tly
.
Me
an
wh
ile,
th
e
DC
lin
k
s
er
v
es
as
a
n
en
e
r
g
y
b
u
f
f
e
r
,
h
elp
in
g
to
m
ain
ta
in
v
o
ltag
e
s
tab
ilit
y
an
d
en
ab
l
in
g
th
e
in
v
er
ter
to
p
r
o
v
id
e
d
y
n
am
ic
an
d
r
esp
o
n
s
i
v
e
co
n
tr
o
l o
f
t
h
e
m
o
to
r
.
Fig
u
r
e
1
.
A
DSI
M
d
r
iv
e
g
e
n
er
al
d
iag
r
am
T
h
e
v
ec
to
r
s
p
ac
e
d
ec
o
m
p
o
s
itio
n
(
VSD)
tech
n
iq
u
e
was
ap
p
lied
to
tr
an
s
f
o
r
m
th
e
o
r
ig
in
al
s
ix
-
d
im
en
s
io
n
al
s
p
ac
e
o
f
th
e
m
ac
h
in
e
in
to
th
r
ee
two
-
d
im
e
n
s
io
n
al
o
r
th
o
g
o
n
al
s
u
b
s
p
ac
es
in
th
e
s
tatio
n
ar
y
r
ef
er
en
ce
f
r
am
e
(
DQ)
,
(
x
-
y
)
an
d
(
z
l
-
z2
)
th
r
o
u
g
h
a
tr
an
s
f
o
r
m
atio
n
m
atr
ix
6
×
6
in
(
1
)
.
So
m
e
b
asic
x
b
y
c
z
a
O
V
d
+
_
V
as
+
_
V
ds
+
_
V
bs
+
_
V
es
+
_
V
cs
+
_
V
fs
D
C
L
i
n
k
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.
16
,
No
.
3
,
Sep
tem
b
er
20
25
:
1673
-
16
86
1676
ass
u
m
p
tio
n
s
h
av
e
b
ee
n
m
ad
e
to
d
ev
elo
p
th
e
DSI
M
m
o
d
el
.
T
h
e
win
d
in
g
s
ar
e
ass
u
m
ed
to
b
e
s
in
u
s
o
id
ally
d
is
tr
ib
u
ted
: T
h
e
m
a
g
n
etic
s
atu
r
atio
n
,
th
e
m
u
tu
al
leak
a
g
e
in
d
u
ctan
ce
s
,
an
d
th
e
co
r
e
l
o
s
s
es a
r
e
n
eg
lecte
d
.
(
1
)
T
h
e
elec
tr
ical
m
atr
ix
eq
u
atio
n
s
in
th
e
s
tatio
n
ar
y
r
ef
er
en
ce
f
r
am
e
f
o
r
th
e
s
tato
r
an
d
th
e
r
o
t
o
r
m
ay
b
e
wr
itten
as
(
2
)
:
[
]
=
[
]
[
]
+
(
[
]
[
]
+
[
]
[
]
)
0
=
[
]
[
]
+
(
[
]
[
]
+
[
]
[
]
)
(
2
)
wh
er
e:
[
V
]
,
[
I
]
,
[
R
]
,
[
L]
,
an
d
[
Lm]
ar
e
v
o
ltag
e,
c
u
r
r
en
t
,
r
esis
tan
ce
,
s
elf
,
an
d
m
u
tu
al
i
n
d
u
ctan
ce
v
ec
to
r
s
,
r
esp
ec
tiv
ely
.
p
is
th
e
d
if
f
er
en
tial
o
p
er
ato
r
.
Su
b
s
cr
ip
ts
r
an
d
s
ar
e
r
elate
d
to
th
e
r
o
to
r
an
d
s
tato
r
r
esis
tan
ce
,
r
esp
ec
tiv
ely
.
Sin
ce
th
e
r
o
to
r
is
a
s
q
u
ir
r
el
ca
g
e,
[
V
]
is
eq
u
al
t
o
ze
r
o
.
T
h
e
elec
tr
o
m
ec
h
an
ical
en
er
g
y
co
n
v
er
s
io
n
o
n
ly
ta
k
es
p
lace
in
th
e
o
n
ly
tak
es
p
lace
in
D
-
Q
s
u
b
s
p
ac
e
,
an
d
th
e
o
t
h
er
s
u
b
s
p
ac
es
j
u
s
t
p
r
o
d
u
ce
lo
s
s
es.
T
h
er
ef
o
r
e,
th
e
co
n
tr
o
l
is
b
ased
o
n
d
eter
m
in
in
g
th
e
ap
p
lie
d
v
o
lta
g
e
in
th
e
DQ
r
ef
er
e
n
c
e
f
r
am
e.
W
ith
th
is
tr
an
s
f
o
r
m
atio
n
,
th
e
DSI
M
co
n
tr
o
l te
ch
n
iq
u
e
lik
e
a
class
ical
t
h
r
ee
-
p
h
ase
I
M
FOC
.
T
h
e
m
o
m
en
t e
q
u
atio
n
wh
en
ex
p
r
ess
ed
,
is
as
(
3
)
:
=
3
(
−
)
(
3
)
wh
er
e:
T
e
,
P
,
Ψ
rD
,
Ψ
rQ
,
i
rD
,
i
rQ
ar
e
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
n
u
m
b
er
o
f
p
o
le
p
air
s
,
t
h
e
r
o
t
o
r
f
l
u
x
,
an
d
th
e
r
o
t
o
r
c
u
r
r
en
t
,
r
esp
ec
tiv
el
y
.
L
ik
e
AC
d
r
iv
es,
m
o
to
r
c
o
n
tr
o
l
i
n
a
s
tatic
r
ef
er
e
n
ce
f
r
am
e
is
d
if
f
icu
lt
;
th
er
ef
o
r
e
,
t
h
e
tr
an
s
f
o
r
m
atio
n
o
f
th
e
DSI
M
m
o
d
el
to
d
q
r
o
tatin
g
r
ef
er
en
ce
f
r
am
e
is
n
ec
ess
ar
y
b
y
u
s
in
g
a
tr
an
s
f
o
r
m
atio
n
m
atr
ix
:
=
[
(
)
−
(
)
(
)
(
)
]
(
4
)
wh
er
e
δ
is
th
e
r
o
to
r
an
g
u
lar
p
o
s
itio
n
r
ef
er
r
ed
t
o
th
e
s
tato
r
.
I
n
FOC
,
th
e
r
o
t
o
r
f
lu
x
a
n
d
t
o
r
q
u
e
ar
e
c
o
n
tr
o
lled
b
y
th
e
i
sd
an
d
i
sq
c
o
m
p
o
n
en
ts
.
W
e
h
av
e:
=
0
;
=
.
T
h
e
s
p
ac
e
v
ec
t
o
r
d
if
f
er
en
tial
eq
u
atio
n
s
d
escr
ib
e
th
e
m
o
d
el
m
o
to
r
d
y
n
am
ics as
(
5
)
an
d
(
6
)
.
{
=
3
2
(
)
−
−
′
=
−
1
=
−
+
+
+
=
−
+
+
+
(
5
)
wh
er
e:
=
1
−
2
;
=
;
=
2
+
2
2
;
=
2
2
;
=
1
;
=
;
′
=
(
6
)
u
sd
,
u
sq
;
i
sd
,
i
sq
:
T
h
e
co
m
p
o
n
e
n
ts
o
f
s
in
d
u
ctan
ce
;
e
a
n
d
s
tato
r
cu
r
r
en
t,
r
esp
ec
tiv
ely
;
=
T
h
e
c
o
m
p
o
n
en
ts
o
f
s
tato
r
v
o
ltag
e
an
d
s
tato
r
cu
r
r
e
n
t,
r
esp
ec
tiv
ely
;
ѱ
r
d
,
ѱ
r
q
:
R
o
to
r
f
lu
x
co
m
p
o
n
en
ts
;
T
e
,
T
L
:
E
lectr
o
m
ag
n
etic
an
d
l
o
ad
to
r
q
u
e;
d
-
q
:
Sy
n
c
h
r
o
n
o
u
s
an
d
s
tatio
n
ar
y
ax
is
r
ef
er
e
n
ce
f
r
am
e
q
u
a
n
titi
es,
r
esp
ec
tiv
ely
;
ω
r
:
th
e
an
g
u
lar
v
elo
city
(
m
ec
h
a
n
ical
s
p
ee
d
)
,
ω
r
=
(
2
/P)
ω
re
;
ω
re,
ω
sl
,
ω
e
:
th
e
elec
tr
ical
s
p
ee
d
r
esp
ec
tiv
ely
R
o
to
r
an
d
s
lip
an
g
u
lar
an
d
s
y
n
c
h
r
o
n
o
u
s
a
n
g
u
lar
v
el
o
city
;
L
s
,
L
r
:
Stato
r
an
d
r
o
to
r
in
d
u
cta
n
ce
s
;
L
m
:
Mu
tu
al
in
d
u
ctan
ce
;
R
s
,
R
r
:
Stato
r
an
d
r
o
to
r
r
esis
tan
ce
s
;
J
:
th
e
in
er
tia
o
f
m
o
to
r
a
n
d
lo
ad
;
:
T
o
tal
lin
k
ag
e
co
ef
f
i
cien
t;
B
:
Fric
tio
n
co
ef
f
icien
t;
τ
r
:
R
o
to
r
an
d
s
tato
r
tim
e
co
n
s
tan
t.
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
th
e
s
lip
f
r
eq
u
en
cy
ca
n
b
e
ex
p
r
ess
ed
in
dq
r
ef
er
en
ce
f
r
a
m
e:
6
3
1
3
1
10
2
2
2
2
1
3
1
3
01
2
2
2
2
1
3
1
3
1
10
3
2
2
2
2
1
3
1
3
01
2
2
2
2
1
0
1
0
1
0
0
1
0
1
0
1
T
−
−
−
−−
=
−
−
−
−−
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
P
a
p
er’s sh
o
u
ld
b
e
th
e
few
est p
o
s
s
ib
le
th
a
t a
cc
u
r
a
tely
d
escr
ib
e
…
(
F
ir
s
t A
u
th
o
r
)
1677
=
3
2
;
=
=
(
7
)
3.
DRVG
ST
AH
O
SM
S
T
RUC
T
URE F
O
R
F
O
C
O
F
SPIM
D
RIVE
S
3
.
1
.
Desig
n t
he
o
ute
r
s
peed
a
nd
f
lux
lo
o
p
T
h
e
class
ic
SM
p
r
o
v
id
es
h
ig
h
-
ac
cu
r
ac
y
s
o
lu
tio
n
s
an
d
is
r
o
b
u
s
t
f
o
r
a
wid
e
r
an
g
e
o
f
co
n
tr
o
l
p
r
o
b
lem
s
u
n
d
er
u
n
ce
r
tain
ty
co
n
d
itio
n
s
.
Ho
wev
er
,
th
e
m
ain
r
estrictio
n
o
f
th
is
co
n
tr
o
l
m
eth
o
d
is
th
at
h
ig
h
-
f
r
e
q
u
en
c
y
co
n
tr
o
l
s
witch
in
g
m
ay
ea
s
ily
ca
u
s
e
u
n
ac
ce
p
tab
le
p
r
ac
tical
co
m
p
licatio
n
s
(
c
h
atter
in
g
ef
f
ec
t)
[
3
9
]
-
[
4
1
]
.
T
o
o
v
er
co
m
e
th
is
p
r
o
b
lem
,
in
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
,
we
p
r
o
p
o
s
e
u
s
in
g
a
n
im
p
r
o
v
ed
o
r
d
er
s
ec
o
n
d
s
lid
in
g
tech
n
iq
u
e,
w
h
ich
is
d
ev
el
o
p
e
d
b
ased
o
n
[
3
9
]
.
T
h
e
s
ec
o
n
d
o
r
d
er
s
lip
s
u
r
f
ac
es
ac
co
r
d
in
g
to
th
e
r
o
to
r
f
lu
x
,
s
p
ee
d
co
m
p
o
n
en
ts
ar
e
d
ef
in
ed
as
(
8
)
:
(
)
=
[
1
(
)
2
(
)
]
=
[
+
4
.
|
|
1
/
2
(
)
+
3
.
|
|
1
/
2
(
)
]
(
8
)
wh
er
e:
λ
1,
2
ar
e
p
o
s
itiv
e
co
ef
f
icien
ts
.
T
h
e
r
o
to
r
f
lu
x
,
s
p
ee
d
ar
e
d
ef
in
ed
as (
9
)
.
{
=
∗
−
=
∗
−
(
9
)
I
n
th
e
p
r
esen
ce
o
f
p
e
r
io
d
ic
d
is
tu
r
b
an
ce
s
,
th
e
s
ec
o
n
d
-
o
r
d
er
s
lid
in
g
m
o
d
e
co
n
tr
o
l
p
er
f
o
r
m
an
ce
d
ec
r
ea
s
es
co
n
s
id
er
ab
ly
.
T
o
d
ea
l
with
th
i
s
p
r
o
b
lem
,
a
co
m
b
i
n
atio
n
o
f
r
ep
etitiv
e
co
n
tr
o
l
with
i
m
p
r
o
v
e
d
SOSM
co
n
tr
o
l
is
d
ev
elo
p
e
d
b
ased
o
n
[
3
7
]
,
[
3
9
]
.
W
e
s
u
p
p
o
s
e
th
at
th
e
d
is
tu
r
b
a
n
ce
v
ec
to
r
d
m
(
k
)
is
p
er
io
d
ic
wi
th
th
e
p
er
io
d
N
(
)
=
[
1
(
)
2
(
)
]
=
[
1
(
−
)
2
(
−
)
]
=
(
−
)
(
1
0
)
B
ased
o
n
th
e
co
n
d
itio
n
o
f
d
is
tu
r
b
an
ce
r
ejec
tio
n
[
3
8
]
,
th
e
s
lid
in
g
f
u
n
ctio
n
s
v
ec
to
r
is
th
en
g
i
v
en
as
(
1
1
)
:
(
+
1
)
=
(
)
+
[
1
(
1
(
)
)
2
(
2
(
)
)
]
+
[
(
)
−
(
−
)
]
(
1
1
)
wh
er
e:
μ
1,
2
a
r
e
p
o
s
itiv
e
co
e
f
f
ic
ien
ts
.
T
h
e
co
n
tr
o
l
ex
p
r
ess
io
n
o
f
th
e
n
ew
s
y
s
tem
[
3
8
]
is
(
1
2
)
:
[
(
)
]
=
[
(
)
+
[
(
)
]
]
(
1
2
)
wh
er
e:
v
ec
to
r
[
(
)
]
ar
e
d
esig
n
e
d
b
ased
o
n
im
p
r
o
v
e
d
q
u
asi
-
co
n
tin
u
o
u
s
th
r
ee
-
o
r
d
er
s
lid
in
g
-
m
o
d
e
co
n
tr
o
ller
s
co
m
b
in
e
v
ar
iab
le
g
ain
q
u
asi
-
co
n
tin
u
o
u
s
th
ir
d
o
r
d
er
s
lid
in
g
m
o
d
e
(
VGQST
OSM)
[
3
8
]
-
[
41]
,
a
n
d
th
ey
ar
e
d
e
f
in
ed
as
(
1
3
)
:
[
(
)
]
=
[
1
(
)
2
(
)
]
=
[
1
(
,
)
̈
1
+
2
(
̇
1
+
|
1
|
2
/
3
(
|
1
|
)
)
(
|
̇
1
|
+
|
1
|
2
/
3
)
−
1
/
2
|
̈
1
|
+
2
(
|
̇
1
|
+
|
1
|
2
/
3
)
1
/
2
2
(
,
)
̈
2
+
2
(
̇
2
+
|
2
|
2
/
3
(
|
2
|
)
)
(
|
̇
2
|
+
|
2
|
2
/
3
)
−
1
/
2
|
̈
2
|
+
2
(
|
̇
2
|
+
|
2
|
2
/
3
)
1
/
2
]
(
1
3
)
wh
er
e:
1
(
,
)
=
1
2
(
|
1
|
)
+
3
2
|
1
|
1
/
2
(
|
1
|
)
+
2
|
1
|
;
2
(
,
)
=
1
2
(
|
2
|
)
+
3
2
|
2
|
1
/
2
(
|
2
|
)
+
2
|
2
|
;
ℎ
;
>
0
[
(
)
]
ar
e
th
e
d
is
tu
r
b
an
ce
v
ec
to
r
s
b
e
g
iv
en
th
e
s
y
s
tem
to
ca
n
ce
l
p
er
io
d
ic
d
is
tu
r
b
an
ce
s
an
d
th
ey
ar
e
d
ef
in
ed
:
[
(
)
]
=
[
1
(
)
2
(
)
]
=
[
(
)
+
1
(
1
(
+
1
)
)
(
)
+
2
(
2
(
+
1
)
)
]
(
1
4
)
wh
er
e:
γ
1,
2,
3
,
4
ar
e
p
o
s
itiv
e
co
ef
f
icien
ts
.
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
ar
e
ch
o
s
en
:
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.
16
,
No
.
3
,
Sep
tem
b
er
20
25
:
1673
-
16
86
1678
=
1
2
[
1
2
+
2
2
]
=
1
2
[
1
(
)
2
+
2
(
)
2
]
(
1
5
)
Dif
f
er
en
tiatin
g
b
o
th
s
id
es
in
(
1
5
)
,
we
g
et
(
1
6
)
an
d
(
1
7
)
.
=
[
1
(
)
1
(
)
+
2
(
)
2
(
)
]
(
1
6
)
{
1
(
)
=
[
+
1
.
|
|
1
/
2
(
)
]
2
(
)
=
[
+
2
.
|
|
1
/
2
(
)
]
⇒
{
1
(
)
=
[
∗
−
]
+
[
1
.
|
|
1
/
2
(
)
]
2
(
)
=
[
∗
−
]
+
[
2
.
|
|
1
/
2
(
)
]
(
1
7
)
On
th
e
o
th
er
h
an
d
,
to
s
atis
f
y
th
e
s
tab
ilit
y
co
n
d
itio
n
ac
c
o
r
d
in
g
to
L
y
ap
u
n
o
v
th
e
o
r
y
,
th
e
s
lid
in
g
s
u
r
f
ac
e
d
if
f
er
en
tial f
u
n
ctio
n
is
ch
o
s
en
as
(
1
8
)
.
(
)
=
−
[
(
)
+
(
)
]
(
1
8
)
C
o
m
b
in
in
g
(
1
6
)
-
(
1
8
)
,
i
*
sd
,
i
*
sq
v
ir
tu
al
v
ec
to
r
s
ar
e
ch
o
s
en
f
o
r
t
h
e
o
u
ter
s
p
ee
d
an
d
f
lu
x
lo
o
p
:
{
∗
(
)
=
{
∗
+
1
+
[
1
.
|
|
1
/
2
(
)
]
+
[
1
(
)
+
1
(
)
]
}
∗
(
)
=
1
{
∗
+
+
′
+
[
2
.
|
|
1
/
2
(
)
]
+
[
2
(
)
+
2
(
)
]
}
(
1
9
)
I
n
(
1
9
)
,
i
*
sd
an
d
i
*
sq
v
ir
tu
al
c
o
n
tr
o
l
v
ec
to
r
s
ar
e
ch
o
s
en
t
o
s
atis
f
y
th
e
co
n
tr
o
l
o
b
jectiv
es
,
an
d
t
h
ey
ar
e
th
e
r
ef
er
en
ce
in
p
u
ts
f
o
r
ca
lcu
latin
g
u
*
sd
,
u
*
sq
v
ir
tu
al
co
n
tr
o
l
v
ec
to
r
s
.
Ѱ
rd
r
o
to
r
f
lu
x
is
id
en
tifie
d
b
y
th
e
cu
r
r
e
n
t
m
o
d
el.
T
h
e
lo
ad
to
r
q
u
e
T
L
is
esti
m
ated
:
^
=
1
1
+
0
[
(
3
2
)
^
−
]
(
2
0
)
wh
er
e:
τ
0
is
tim
e
g
ain
;
an
d
p
is
d
if
f
er
en
tial.
3
.
2
.
Desig
n t
he
inn
er
curr
en
t
lo
o
p c
o
ntr
o
ls
T
h
e
im
p
r
o
v
ed
n
o
n
lin
ea
r
s
lip
s
u
r
f
ac
e
ac
co
r
d
in
g
to
th
e
c
u
r
r
en
t
co
m
p
o
n
en
ts
is
d
ef
in
ed
as
(
2
1
)
:
(
)
=
[
3
(
)
4
(
)
]
=
[
+
1
.
|
|
1
/
2
(
)
+
2
.
|
|
1
/
2
(
)
]
(
2
1
)
wh
er
e:
λ
3
,
4
ar
e
p
o
s
itiv
e
co
ef
f
icien
ts
.
T
h
e
s
tato
r
cu
r
r
e
n
t e
r
r
o
r
s
ar
e
d
ef
in
e
d
in
(
2
2
)
.
{
=
∗
−
=
∗
−
(
2
2
)
W
e
s
u
p
p
o
s
e
th
at
th
e
d
is
tu
r
b
a
n
ce
v
ec
to
r
d
m
(
k
)
is
p
er
i
o
d
ic
wit
h
th
e
p
er
i
o
d
N
.
(
)
=
[
3
(
)
4
(
)
]
=
[
3
(
−
)
4
(
−
)
]
=
(
−
)
(
2
3
)
B
ased
o
n
th
e
co
n
d
itio
n
o
f
d
is
tu
r
b
an
ce
r
ejec
tio
n
[
5
1
]
,
th
e
s
lid
in
g
f
u
n
ctio
n
s
v
ec
to
r
is
th
en
g
i
v
en
as f
o
llo
ws:
(
+
1
)
=
(
)
+
[
3
(
3
(
)
)
4
(
4
(
)
)
]
+
[
(
)
−
(
−
)
]
(
2
4
)
wh
er
e:
μ
3,
4
ar
e
p
o
s
itiv
e
co
ef
f
ic
ien
ts
.
T
h
e
co
n
tr
o
l e
x
p
r
ess
io
n
o
f
th
e
n
ew
s
y
s
tem
is
(
2
5
)
:
[
(
)
]
=
[
(
)
+
(
)
]
(
2
5
)
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
P
a
p
er’s sh
o
u
ld
b
e
th
e
few
est p
o
s
s
ib
le
th
a
t a
cc
u
r
a
tely
d
escr
ib
e
…
(
F
ir
s
t A
u
th
o
r
)
1679
wh
er
e:
v
ec
to
r
[
(
)
]
ar
e
d
esig
n
ed
b
ased
o
n
q
u
asi
-
co
n
tin
u
o
u
s
th
r
ee
-
o
r
d
er
s
lid
in
g
-
m
o
d
e
co
n
tr
o
ller
s
[
8
]
co
m
b
in
in
g
VGQST
OSM
[
3
8
]
-
[
41]
,
a
n
d
th
ey
ar
e
d
ef
in
e
d
as
(
2
6
)
:
[
(
)
]
=
[
3
(
)
4
(
)
]
=
[
3
(
,
is
)
̈
3
+
2
(
̇
3
+
|
3
|
2
/
3
(
3
)
)
(
|
̇
3
|
+
|
3
|
2
/
3
)
−
1
/
2
|
̈
3
|
+
2
(
|
̇
3
|
+
|
3
|
2
/
3
)
1
/
2
4
(
,
is
)
̈
4
+
2
(
̇
4
+
|
4
|
2
/
3
(
4
)
)
(
|
̇
4
|
+
|
4
|
2
/
3
)
−
1
/
2
|
̈
4
|
+
2
(
|
̇
4
|
+
|
4
|
2
/
3
)
1
/
2
]
(
2
6
)
wh
er
e:
3
(
,
is
)
1
2
(
|
3
|
)
+
3
2
|
3
|
1
/
2
(
|
1
|
)
+
2
|
3
|
;
4
(
,
isq
)
=
1
2
(
|
4
|
)
+
3
2
|
2
|
1
/
2
(
|
1
|
)
+
2
|
2
|
;
ℎ
;
>
0
[
(
)
]
ar
e
th
e
d
is
tu
r
b
an
ce
v
ec
t
o
r
s
b
e
g
iv
en
th
e
s
y
s
tem
to
ca
n
ce
l p
e
r
io
d
ic
d
is
tu
r
b
an
ce
s
an
d
th
ey
a
r
e
d
ef
in
ed
in
(
2
7
)
:
[
(
)
]
=
[
3
(
)
4
(
)
]
=
[
(
)
+
3
(
3
(
+
1
)
)
(
)
+
4
(
4
(
+
1
)
)
]
(
2
7
)
wh
er
e:
γ
1,
2,
3
,
4
ar
e
p
o
s
itiv
e
co
ef
f
icien
ts
.
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
ar
e
ch
o
s
en
:
=
1
2
[
3
2
+
4
2
]
=
1
2
[
3
(
)
2
+
4
(
)
2
]
(
2
8
)
Dif
f
er
en
tiate
b
o
th
s
id
es
i
n
(
1
5
)
we
g
et:
=
[
3
(
)
3
(
)
+
4
(
)
4
(
)
]
(
2
9
)
{
3
(
)
=
[
+
3
.
|
|
1
/
2
(
)
]
4
(
)
=
[
+
4
.
|
|
1
/
2
(
)
]
⇒
{
3
(
)
=
[
∗
−
]
+
[
3
.
|
|
1
/
2
(
)
]
4
(
)
=
[
∗
−
]
+
[
4
.
|
|
1
/
2
(
)
]
(
3
0
)
On
th
e
o
th
er
h
an
d
,
to
s
atis
f
y
th
e
s
tab
ilit
y
co
n
d
itio
n
ac
c
o
r
d
in
g
to
L
y
ap
u
n
o
v
th
e
o
r
y
,
th
e
s
lid
in
g
s
u
r
f
ac
e
d
if
f
er
en
tial f
u
n
ctio
n
is
ch
o
s
en
as
(
3
1
)
.
(
)
=
−
[
(
)
+
(
)
]
(
3
1
)
C
o
m
b
in
in
g
ex
p
r
ess
io
n
s
in
(
29
)
an
d
in
(
31
)
,
u
*
sd
,
u
*
sq
v
ir
tu
al
co
n
tr
o
l v
ec
t
o
r
s
ar
e
ch
o
s
en
as
(
3
2
)
.
{
∗
(
)
=
{
∗
+
−
−
+
[
3
.
|
|
1
/
2
(
)
]
+
[
3
(
)
+
3
(
)
]
}
∗
(
)
=
{
∗
+
−
−
+
[
4
.
|
|
1
/
2
(
)
]
+
[
4
(
)
+
4
(
)
]
}
(
3
2
)
wh
er
e:
λ
3,
4
;
μ
3
,
4;
γ
3,
4
ar
e
p
o
s
itiv
e
co
ef
f
icien
ts
3
.
3
.
St
a
bil
it
y
a
na
ly
s
is
T
h
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
o
f
t
h
e
s
y
s
tem
is
d
ef
in
ed
in
(
1
5
)
.
T
a
k
in
g
th
e
d
if
f
er
en
tiatio
n
o
f
b
o
th
s
id
es
o
f
th
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
,
we
g
et
(
1
6
)
.
C
o
m
b
in
in
g
(
1
6
)
-
(
1
8
)
we
g
et
(
3
3
)
.
=
−
[
1
(
)
[
1
(
)
+
1
(
)
]
+
2
(
)
[
2
(
)
+
2
(
)
]
+
3
(
)
[
3
(
)
+
3
(
)
]
+
4
(
)
[
4
(
)
+
4
(
)
]
]
(
3
3
)
Fro
m
(
3
3
)
we
g
et:
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.
16
,
No
.
3
,
Sep
tem
b
er
20
25
:
1673
-
16
86
1680
<
0
ℎ
∀
{
;
;
>
0
}
(
3
4
)
T
h
u
s
,
th
e
s
y
s
tem
is
alwa
y
s
s
ta
b
le
ac
co
r
d
in
g
to
L
y
ap
u
n
o
v
s
tab
ilit
y
th
eo
r
y
.
4.
SI
M
UL
I
NK
AND
D
I
SCU
SS
I
O
N
T
h
e
p
er
f
o
r
m
an
ce
o
f
th
e
DR
VGQST
OSM
co
n
tr
o
ller
f
o
r
FOC
o
f
DSI
M
d
r
iv
es
i
s
v
alid
ate
d
th
r
o
u
g
h
s
im
u
latio
n
u
s
in
g
MA
T
L
AB
s
o
f
twar
e.
T
o
i
n
cr
ea
s
e
th
e
r
eli
ab
ilit
y
,
co
m
p
ar
is
o
n
f
r
am
ew
o
r
k
s
ar
e
estab
lis
h
ed
,
s
im
ilar
s
u
r
v
ey
s
ar
e
also
im
p
lem
en
ted
f
o
r
SOSM
co
n
tr
o
l
in
[
1
7
]
,
DR
R
I
SOSM
co
n
tr
o
l
in
[
3
8
]
,
th
ese
co
m
p
ar
is
o
n
to
m
ak
e
clea
r
l
y
th
e
s
ec
o
n
d
o
r
d
er
s
lid
in
g
m
o
d
e
co
n
tr
o
l
s
h
o
ws
th
at
th
e
n
co
m
b
in
atio
n
R
C
co
n
tr
o
l
an
d
im
p
r
o
v
ed
HOSM
co
n
tr
o
l
g
iv
e
a
d
ea
l
h
as
s
u
p
er
io
r
p
e
r
f
o
r
m
a
n
ce
in
ter
m
s
o
f
h
ar
m
o
n
ic
im
m
u
n
ity
an
d
ac
cu
r
ate
tr
ac
k
in
g
o
f
th
e
r
e
f
er
e
n
ce
s
p
ee
d
,
th
e
PI
co
n
tr
o
ller
is
also
ch
o
s
en
to
m
ak
e
th
e
c
r
ea
te
co
m
p
ar
is
o
n
d
ata
b
ec
au
s
e
it
is
n
o
w
s
till
th
e
s
ta
n
d
ar
d
s
o
lu
tio
n
an
d
th
e
m
o
s
t
wid
ely
u
s
ed
s
o
lu
tio
n
in
in
d
u
s
tr
y
an
d
e
n
g
in
ee
r
i
n
g
p
r
ac
tice.
Ad
d
itio
n
ally
,
DR
VGQST
OSM
co
n
tr
o
l
is
al
s
o
co
m
p
ar
ed
with
o
th
er
latest
m
eth
o
d
s
in
[
1
5
]
,
[
2
8
]
,
to
co
n
f
ir
m
th
e
e
f
f
ec
tiv
en
ess
o
f
t
h
e
p
r
o
p
o
s
ed
co
n
t
r
o
l
s
tr
u
ctu
r
e.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
e
SP
I
M
d
r
iv
e
s
y
s
tem
is
s
h
o
wn
in
Fig
u
r
e
2
.
I
n
th
ese
s
im
u
latio
n
s
,
a
s
ix
-
p
h
ase
s
q
u
ir
r
e
l
-
ca
g
e
ty
p
e
I
M
with
th
e
r
ated
p
ar
am
eter
s
is
g
iv
e
n
as
f
o
llo
ws
:
1
H
P,
6
-
p
h
ase,
2
2
0
V
,
5
0
Hz
,
4
p
o
les,
1
4
5
0
r
p
m
.
R
s
=
1
0
.
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Vec
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ctu
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1
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T
h
e
d
y
n
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r
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n
c
e
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e
d
y
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a
m
ic
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er
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o
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m
an
c
e
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t
h
e
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VGQST
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SM
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n
tr
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ller
was c
o
n
f
ir
m
ed
th
r
o
u
g
h
th
e
s
tar
tin
g
an
d
r
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m
o
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e
in
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t
ests
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Fig
u
r
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3
s
h
o
ws
th
e
s
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,
to
r
q
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e,
cu
r
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en
t
,
an
d
r
o
to
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x
r
esp
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s
es
as
th
e
r
ef
er
en
ce
s
p
ee
d
in
cr
ea
s
es
f
r
o
m
0
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o
1
4
4
0
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p
m
at
t
=
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5
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;
th
en
r
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v
er
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ed
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4
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r
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t
t
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4
s
,
r
esp
ec
tiv
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,
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d
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ea
s
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to
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0
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t
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5
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ated
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ad
a
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t
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1
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5
s
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h
is
s
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r
v
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ca
r
r
ied
o
u
t
b
ased
o
n
th
e
e
x
p
er
im
en
ts
in
[
1
6
]
,
in
wh
ic
h
FC
co
m
b
in
ed
with
th
e
SOS
M
(
FS
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C
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s
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p
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is
in
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o
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ied
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SOSM c
o
n
tr
o
l in
[
1
8
]
,
an
d
DR
R
I
SOSM
co
n
tr
o
l
in
[
3
8
]
to
g
et
c
o
m
p
ar
is
o
n
d
ata.
T
h
e
r
esu
lts
s
h
o
w
th
at
th
e
D
R
VGQST
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co
n
tr
o
ller
ca
n
p
r
o
v
id
e
f
aster
d
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n
am
ic
r
esp
o
n
s
es
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d
s
tab
ilizatio
n
tim
e.
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h
e
s
tar
t
-
u
p
tim
e
f
r
o
m
0
to
1
4
4
0
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p
m
i
n
th
e
ca
s
e
o
f
th
e
d
r
iv
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s
y
s
tem
u
s
in
g
PI,
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DR
R
I
S
OSM
,
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d
D
R
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co
n
tr
o
ller
s
is
0
.
1
9
s
,
0
.
1
2
5
s
,
0
.
1
0
5
s,
an
d
0
.
0
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s
,
r
e
s
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ec
tiv
ely
.
At
t
=
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.
5
s
,
t
h
e
r
ated
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u
e
is
a
p
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li
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e
g
ativ
ely
a
f
f
ec
tin
g
th
e
p
e
r
f
o
r
m
a
n
ce
of
th
e
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n
tr
o
ller
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ca
u
s
in
g
a
s
u
d
d
e
n
s
p
ee
d
d
r
o
p
o
f
2
9
.
1
1
r
p
m
(
2
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0
6
%)
an
d
tak
in
g
0
.
1
3
5
s
to
s
tab
ilize
.
T
h
e
s
tead
y
s
tate
er
r
o
r
(
SS
er
r
o
r
)
is
3
.
8
9
r
p
m
(
0
.
2
7
%).
T
h
e
lo
ad
d
is
tu
r
b
an
c
e
also
im
p
ac
ted
th
e
p
er
f
o
r
m
a
n
ce
o
f
SOSM
[
1
8
]
,
DR
R
I
SO
SM
[
3
8
]
co
n
tr
o
ller
s
,
an
d
th
e
p
r
o
p
o
s
ed
DR
VGQST
OSM
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n
tr
o
ller
,
b
u
t
t
h
ese
co
n
tr
o
l
s
tr
ateg
ies
p
er
f
o
r
m
ed
q
u
i
te
well
;
th
e
s
p
ee
d
d
is
to
r
tio
n
s
wer
e
n
o
t
to
o
s
e
r
io
u
s
d
u
e
to
th
e
lo
ad
d
is
tu
r
b
an
ce
b
ein
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i
d
en
tifie
d
a
n
d
p
u
t
in
to
SOSM,
DR
R
I
S
OSM
,
an
d
D
R
VGQS
T
OSM
co
n
tr
o
ller
s
,
wh
ich
in
d
ir
ec
tly
h
elp
s
ef
f
ec
tiv
ely
r
e
co
n
s
tr
u
ct
th
e
lo
ad
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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-
8
6
9
4
P
a
p
er’s sh
o
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b
e
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few
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o
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r
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tely
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(
F
ir
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t A
u
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1681
d
is
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r
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an
ce
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n
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o
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aster
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m
p
e
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atio
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th
an
PI
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n
tr
o
l.
T
h
e
s
p
ee
d
d
r
o
p
o
f
SOSM
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d
DR
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S
OSM
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en
ap
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ly
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ad
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ce
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p
m
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ilize,
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r
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alm
o
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ze
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R
I
SO
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C
o
m
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ar
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g
Simu
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k
r
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lts
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it
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y
to
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ee
th
at
DR
VGQ
STOSM
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n
tr
o
ls
th
e
lo
ad
d
is
tu
r
b
an
ce
b
etter
.
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h
e
tr
an
s
ien
t
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ar
am
eter
s
o
f
t
h
e
DR
VGQST
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SM
p
r
o
p
o
s
ed
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n
tr
o
ller
a
r
e
5
.
1
2
r
p
m
(
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3
5
%
d
r
o
p
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s
p
ee
d
d
r
o
p
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d
0
.
0
0
3
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to
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tab
ilize,
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er
r
o
r
alm
o
s
t
ze
r
o
.
At
tim
e
t
=
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.
5
s
,
th
e
s
p
ee
d
is
r
e
v
er
s
ed
d
ir
ec
tly
f
r
o
m
1
4
4
0
r
p
m
to
-
1
4
4
0
r
p
m
.
As
s
o
o
n
as
t
h
e
s
p
ee
d
r
ev
er
s
al
is
ap
p
lied
,
th
e
to
r
q
u
e
is
im
m
e
d
iately
r
ev
er
s
ed
,
th
e
m
o
to
r
s
tar
ts
to
d
ec
eler
ate
to
r
ea
ch
0
s
p
ee
d
,
an
d
th
e
n
ac
ce
ler
ates
in
th
e
o
p
p
o
s
ite
d
ir
ec
tio
n
an
d
s
tab
ilizes
at
-
1
4
4
0
r
p
m
.
T
h
e
to
tal
r
ev
er
s
al
tim
e
o
f
th
e
DSI
M
d
r
iv
e
s
y
s
tem
u
s
in
g
PI,
SOSM,
DR
R
I
SOSM
,
an
d
DR
VG
QSTO
SM
co
n
tr
o
ller
s
is
0
.
2
8
3
s
,
0
.
2
1
7
s
,
0
.
1
8
8
s
,
a
n
d
0
.
1
2
1
s
,
r
esp
ec
tiv
ely
.
W
h
en
o
b
s
er
v
in
g
t
h
e
FS
OSMC
co
n
t
r
o
ller
in
[
1
5
]
u
n
d
er
v
ar
iab
le
s
p
ee
d
an
d
to
r
q
u
e
d
is
tu
r
b
an
ce
s
h
o
wn
th
at
th
is
s
tr
ateg
y
also
p
er
f
o
r
m
s
th
e
g
o
o
d
r
ev
e
r
s
al
;
h
o
wev
er
,
to
r
q
u
e
an
d
r
o
to
r
f
lu
x
o
s
cillatio
n
s
ap
p
ea
r
d
u
r
in
g
th
e
s
u
r
v
ey
,
an
d
th
e
c
h
atter
in
g
p
h
e
n
o
m
en
o
n
h
as n
o
t b
ee
n
elim
in
a
ted
.
Fig
u
r
e
3
.
Per
f
o
r
m
an
c
e
o
f
PI,
SOSM,
DR
R
I
SOSM
,
an
d
DR
V
GQST
OSM
co
n
tr
o
ller
s
u
n
d
er
r
ev
er
s
e
s
p
ee
d
As
we
k
n
ew
,
to
d
ea
l
with
th
e
tr
ac
k
in
g
an
d
h
ar
m
o
n
ic
d
is
tu
r
b
an
ce
r
ejec
tio
n
p
er
f
o
r
m
an
ce
an
d
r
o
b
u
s
tn
ess
o
f
th
e
co
n
tr
o
ller
s
,
a
DR
VG
QSTO
S
M
co
n
tr
o
l stra
t
eg
y
with
im
p
r
o
v
ed
HOSM
co
m
b
in
ed
with
R
C
i
s
p
r
o
p
o
s
ed
u
s
in
g
th
e
v
ar
iab
le
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ap
tiv
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ain
s
k
(
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th
at
a
r
e
f
u
n
ctio
n
s
o
f
th
e
s
y
s
tem
'
s
s
tate,
s
p
ec
if
ically
ad
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tin
g
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ased
o
n
th
e
m
ag
n
itu
d
e
o
f
th
e
s
s
lid
in
g
v
ar
iab
les.
T
h
ese
g
ain
s
in
cr
ea
s
e
wh
en
th
e
s
y
s
tem
s
tate
is
f
ar
f
r
o
m
t
h
e
s
lid
in
g
s
u
r
f
ac
e
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|
s
i|
is
lar
g
e)
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d
d
ec
r
ea
s
e
wh
en
th
e
s
tate
is
clo
s
e
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|
s
i
|
is
s
m
all)
,
m
ak
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g
t
h
e
co
n
tr
o
l
ef
f
o
r
t
au
to
m
atica
lly
ad
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s
t
to
th
e
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y
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tem
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s
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r
o
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ity
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h
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ain
f
ar
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r
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m
o
tes
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ast
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n
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er
g
e
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ce
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ain
n
ea
r
b
y
r
e
d
u
ce
s
ch
atter
in
g
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B
y
r
ed
u
ci
n
g
th
is
g
ain
n
ea
r
th
e
s
lid
in
g
s
u
r
f
ac
e,
th
e
h
ig
h
-
f
r
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en
c
y
s
witch
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atter
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g
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in
h
er
e
n
t
in
SMC
ca
n
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e
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ig
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ica
n
tly
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ate
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I
t
also
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el
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s
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o
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tially
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r
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e
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er
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o
r
m
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ce
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f
f
er
a
b
etter
b
alan
ce
b
etwe
en
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ast
tr
an
s
ien
t
r
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o
n
s
e
an
d
s
m
o
o
th
s
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-
s
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eh
a
v
io
r
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d
m
ay
u
s
e
co
n
tr
o
l
en
er
g
y
m
o
r
e
ef
f
icien
tly
b
y
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o
id
in
g
u
n
n
ec
ess
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ily
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ig
h
g
ai
n
s
wh
en
th
e
s
y
s
tem
is
alr
ea
d
y
n
ea
r
th
e
tar
g
et.
R
C
is
also
in
teg
r
ated
in
to
VGQST
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to
f
u
r
th
er
e
n
h
an
ce
n
o
i
s
e
ca
n
ce
llatio
n
.
I
t
is
th
ese
th
in
g
s
th
at
en
ab
le
th
e
p
r
o
p
o
s
ed
DR
VGQST
OS
M
co
n
tr
o
ller
to
p
r
o
v
i
d
e
s
u
p
er
io
r
co
n
tr
o
l a
n
d
d
is
tu
r
b
an
ce
r
ejec
tio
n
ca
p
ab
ilit
y
.
4
.
2
.
T
est
f
o
r
r
o
bu
s
t
nes
s
a
g
a
ins
t
ha
rm
o
nic dis
t
urba
nce
I
n
th
is
p
ar
t,
t
o
v
alid
ate
th
e
r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
ed
co
n
t
r
o
ller
,
th
e
f
ir
s
t
test
was
p
er
f
o
r
m
ed
with
a
h
ar
m
o
n
ic
lo
a
d
d
is
tu
r
b
an
ce
a
d
d
ed
to
th
e
s
y
s
tem
.
Sp
ec
if
ically
,
th
e
test
is
im
p
lem
en
ted
w
ith
th
e
m
o
to
r
lo
ad
h
av
in
g
a
s
ig
n
i
f
ican
t
c
o
g
g
in
g
to
r
q
u
e
d
u
e
to
th
e
m
o
to
r
an
d
lo
ad
b
ei
n
g
co
u
p
led
b
y
a
c
o
u
p
ler
b
el
o
w
,
wh
e
r
e
co
n
s
id
er
ab
le
m
is
alig
n
m
en
t
a
p
p
ea
r
s
[
2
8
]
.
T
h
e
d
r
iv
e
s
y
s
tem
ap
p
ea
r
s
to
h
a
v
e
s
tr
o
n
g
to
r
q
u
e
h
ar
m
o
n
ic
co
m
p
o
n
en
ts
;
th
e
m
o
s
t
s
ig
n
if
i
ca
n
t
o
r
d
er
s
ar
e
th
e
f
ir
s
t,
f
o
u
r
th
,
an
d
1
2
th
.
T
h
e
f
ir
s
t
an
d
f
o
u
r
th
h
ar
m
o
n
ics
ar
e
p
r
esen
t
d
u
e
to
t
h
e
m
is
alig
n
m
e
n
t
o
f
th
e
s
y
s
tem
,
a
n
d
th
e
1
2
th
h
ar
m
o
n
ic
is
g
e
n
er
ated
b
y
t
h
e
m
u
tu
al
t
o
r
q
u
e
an
d
co
g
g
in
g
co
m
p
o
n
e
n
ts
o
f
th
e
lo
ad
,
b
o
t
h
at
th
e
s
am
e
f
r
eq
u
e
n
c
y
[
2
8
]
.
I
n
th
is
p
ar
t,
t
h
e
s
p
ee
d
was
s
u
r
v
ey
ed
at
1
0
0
r
p
m
an
d
6
0
0
r
p
m
with
a
n
e
x
ten
d
ed
h
ar
m
o
n
ics
lo
ad
ac
tiv
ate
d
at
t
=
1
s
.
T
h
e
h
ar
m
o
n
ic
to
r
q
u
e
d
is
tu
r
b
an
ce
ca
n
b
e
d
escr
ib
ed
i
n
ter
m
s
o
f
t
h
e
r
o
to
r
p
o
s
itio
n
,
θ
,
as
:
(
)
=
(
)
+
(
)
(
3
5
)
wh
er
e
Ts
,
Tc
ar
e
th
e
mth
h
a
r
m
o
n
ic
s
in
e
a
n
d
co
s
in
e
c
o
m
p
o
n
en
ts
.
I
n
th
is
ca
s
e,
at
1
0
0
an
d
6
0
0
r
p
m
s
p
ee
d
,
th
e
h
ar
m
o
n
ic
f
r
eq
u
e
n
cies
ap
p
ea
r
1
.
6
6
,
6
.
6
6
,
2
0
Hz
,
an
d
at
1
0
,
4
0
,
an
d
1
2
0
Hz
,
r
esp
ec
tiv
ely
,
(
t
h
e
f
ir
s
t,
f
o
u
r
th
,
an
d
12
th
h
ar
m
o
n
ic
o
r
d
er
s
)
.
Fig
u
r
e
4
illu
s
tr
ates
th
e
s
p
ee
d
a
n
d
t
o
r
q
u
e
r
esp
o
n
s
es
f
o
r
PI,
SOSM,
an
d
t
h
e
p
r
o
p
o
s
ed
DR
VGQ
STOSM
co
n
tr
o
ller
s
u
n
d
er
th
ese
co
n
d
itio
n
s
.
T
h
e
r
esu
lts
in
d
icate
th
at
th
e
P
I
co
n
tr
o
ller
,
wh
ile
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.
16
,
No
.
3
,
Sep
tem
b
er
20
25
:
1673
-
16
86
1682
attem
p
tin
g
s
p
ee
d
r
eg
u
latio
n
,
s
u
f
f
er
s
f
r
o
m
s
ig
n
if
ican
t
p
er
f
o
r
m
an
ce
d
e
g
r
ad
atio
n
d
u
e
to
its
f
ix
ed
g
ain
s
(
Kp
,
Ki)
an
d
th
e
ab
s
en
ce
o
f
a
to
r
q
u
e
esti
m
atio
n
m
ec
h
an
is
m
.
T
h
is
lead
s
to
th
e
lar
g
est
s
p
ee
d
an
d
to
r
q
u
e
o
s
cillatio
n
s
wh
en
h
ar
m
o
n
ic
d
is
tu
r
b
an
ce
s
ar
e
p
r
esen
t.
T
h
e
SOSM
co
n
tr
o
ller
p
e
r
f
o
r
m
s
r
ea
s
o
n
ab
l
y
well
u
n
d
e
r
n
o
r
m
al
to
r
q
u
e
d
is
tu
r
b
an
ce
s
b
u
t
s
tr
u
g
g
les
with
h
ar
m
o
n
ic
d
is
tu
r
b
an
ce
s
,
ex
h
ib
itin
g
in
c
r
ea
s
ed
s
p
ee
d
an
d
to
r
q
u
e
o
s
cillatio
n
s
,
alb
eit
s
m
aller
t
h
an
th
o
s
e
o
b
s
er
v
ed
with
t
h
e
PI
c
o
n
tr
o
ller
.
C
o
m
p
a
r
ativ
ely
,
th
e
ad
a
p
tiv
e
f
ee
d
f
o
r
war
d
co
n
tr
o
ller
(
AFC
)
p
r
esen
ted
in
[
2
8
]
u
n
d
er
h
ar
m
o
n
ic
d
is
tu
r
b
an
ce
c
o
n
d
itio
n
s
s
h
o
ws
an
in
ab
ilit
y
to
co
m
p
letely
r
ejec
t
all
ex
ter
n
al
d
is
tu
r
b
an
ce
s
.
I
n
co
n
tr
ast,
th
e
p
r
o
p
o
s
ed
DR
VGQST
OSM
c
o
n
tr
o
ller
ef
f
ec
tiv
el
y
elim
in
ates
h
ar
m
o
n
ic
e
f
f
ec
ts
,
e
n
s
u
r
in
g
r
o
b
u
s
t
a
n
d
s
tab
le
o
p
er
atio
n
at
b
o
t
h
s
p
ee
d
s
,
1
0
0
(
s
h
o
wn
in
Fig
u
r
e
4
(
a)
)
an
d
6
0
0
r
p
m
(
s
h
o
w
n
in
Fig
u
r
e
4
(
b
)
)
.
(
a)
(
b
)
Fig
u
r
e
4
.
T
h
e
s
p
ee
d
,
t
o
r
q
u
e,
is
q
to
r
q
u
e
cu
r
r
en
t r
esp
o
n
s
es o
f
PI,
SOSM,
DR
VG
QSTO
SM
u
n
d
er
h
ar
m
o
n
ic
to
r
q
u
e
d
is
tu
r
b
an
ce
at
(
a)
1
0
0
r
p
m
an
d
(
b
)
600
r
p
m
A
s
ec
o
n
d
test
to
co
n
f
ir
m
th
e
r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
s
to
s
tep
lo
ad
d
is
tu
r
b
an
ce
s
is
co
n
d
u
cte
d
,
an
d
th
e
s
p
ee
d
is
k
ep
t
co
n
s
tan
t
at
1
4
4
0
r
p
m
.
T
h
is
in
v
esti
g
atio
n
r
e
p
licates
th
e
test
co
n
d
itio
n
s
o
u
tlin
ed
in
[
2
5
]
u
n
d
er
s
tep
to
r
q
u
e
d
is
tu
r
b
an
ce
at
h
ig
h
s
p
ee
d
,
lo
ad
to
r
q
u
e
is
s
et
u
p
:
T
L
=
[
7
,
0
,
-
7
,
0
,
7
]
N
m
at
t
=
[
0
,
0
.
8
,
1
.
6
,
2
.
1
,
3
]
s
.
T
h
e
r
esu
ltin
g
wa
v
ef
o
r
m
s
,
s
h
o
wn
in
Fig
u
r
e
5
,
s
h
o
w
th
at
th
e
PI
co
n
t
r
o
ller
'
s
p
er
f
o
r
m
an
ce
was
s
ig
n
if
ican
tly
af
f
ec
ted
b
y
th
e
l
o
ad
to
r
q
u
e
d
i
s
tu
r
b
an
ce
s
.
Ob
s
er
v
e
th
e
s
u
b
p
l
o
t
(
zo
o
m
Fig
u
r
e
5
)
at
tim
e
t
=
3
s
wh
en
ap
p
l
y
in
g
a
s
tep
lo
ad
d
is
tu
r
b
an
ce
,
t
h
e
PI
co
n
tr
o
ller
h
as
s
tead
y
s
tate
an
d
tr
an
s
ien
t
p
ar
am
eter
s
q
u
ite
lar
g
e
(
s
p
ee
d
d
r
o
p
is
2
5
.
3
r
p
m
(
1
.
7
6
%),
c
o
n
v
er
g
en
ce
tim
e
is
0
.
0
7
s
,
s
tead
y
s
tate
er
r
o
r
(
SS
er
r
o
r
)
is
4
.
6
3
r
p
m
(
0
.
3
2
%))
.
T
h
is
s
tep
lo
ad
d
is
tu
r
b
an
ce
also
im
p
ac
ted
th
e
SOSM
an
d
DR
VG
QSTO
S
M
co
n
tr
o
ller
s
;
h
o
we
v
er
,
th
ei
r
p
er
f
o
r
m
an
ce
was
co
n
s
id
er
ab
l
y
b
e
tter
th
an
PI
c
o
n
tr
o
ller
.
B
o
th
s
tr
ateg
ies
ef
f
ec
tiv
el
y
m
itig
ate
s
p
ee
d
d
is
to
r
tio
n
s
b
ec
au
s
e
th
e
lo
ad
d
is
tu
r
b
an
ce
is
esti
m
ated
an
d
in
co
r
p
o
r
ated
i
n
to
th
eir
r
esp
ec
tiv
e
co
n
tr
o
l
laws.
T
h
e
in
h
er
en
t
r
o
b
u
s
tn
ess
o
f
SM
co
n
tr
o
l
f
u
r
th
er
co
n
tr
ib
u
tes
to
ef
f
ec
tiv
e
d
is
tu
r
b
an
ce
r
ec
o
n
s
tr
u
ctio
n
a
n
d
f
aster
co
m
p
en
s
atio
n
co
m
p
ar
ed
to
t
h
e
PI
co
n
tr
o
ller
.
Fo
r
SOSM,
th
e
d
r
o
p
s
p
ee
d
is
9
.
8
5
r
p
m
(
0
.
6
8
%),
th
e
c
o
n
v
er
g
e
tim
e
is
0
.
0
0
8
9
s
,
SS
er
r
o
r
is
1
.
2
3
r
p
m
(
0
.
0
8
5
%).
No
tab
ly
,
th
e
DR
V
GQST
O
SM
co
n
tr
o
ller
,
u
tili
zin
g
a
co
m
b
in
atio
n
o
f
an
im
p
r
o
v
ed
h
ig
h
-
o
r
d
er
s
lid
in
g
m
o
d
e
s
tr
u
ctu
r
e
with
v
ar
iab
le
g
ain
an
d
RC
,
ac
h
iev
ed
s
u
p
er
i
o
r
d
y
n
am
i
c
an
d
SS
p
er
f
o
r
m
an
ce
co
m
p
ar
ed
to
th
e
s
tan
d
a
r
d
SOSM
co
n
tr
o
ller
,
with
a
d
r
o
p
s
p
ee
d
is
5
.
8
1
r
p
m
(
0
.
4
%),
a
co
n
v
er
g
e
n
ce
tim
e
is
0
.
0
0
3
s
,
SS
er
r
o
r
is
0
.
0
8
r
p
m
(
0
.
0
0
5
%).
Fro
m
th
e
a
b
o
v
e
co
m
p
ar
ativ
e
an
aly
s
es
co
n
f
ir
m
e
d
th
at
th
e
p
r
o
p
o
s
ed
DR
VGQST
O
SM
s
ch
em
e
o
f
f
e
r
s
s
u
p
er
io
r
o
v
er
all
co
n
tr
o
l
ca
p
ab
ilit
y
.
I
t
tr
ac
k
s
th
e
r
ef
er
e
n
ce
s
p
ee
d
q
u
ick
ly
a
n
d
ac
cu
r
ately
,
an
d
it
also
d
em
o
n
s
tr
atin
g
r
o
b
u
s
tn
ess
ag
ain
s
t
lo
ad
d
is
tu
r
b
an
ce
s
.
W
h
en
co
m
p
ar
in
g
with
th
e
r
esu
lts
in
[
1
7
]
,
[
28
]
,
[
3
8
]
s
h
o
wn
th
e
DR
VGQ
STOSM
co
n
tr
o
ller
p
r
o
v
id
es
m
o
r
e
ef
f
e
ctiv
e
co
n
tr
o
l
to
o
ls
with
lo
w
s
tead
y
-
s
tate
er
r
o
r
,
r
ed
u
ce
d
t
o
r
q
u
e
r
ip
p
le,
an
d
b
etter
o
v
er
all
d
y
n
am
ic
c
o
n
tr
o
l
p
er
f
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