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[
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1
9
7
2
[
2
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3
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[
4
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Me
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Dep
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[
5
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,
T
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[
6
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as
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tech
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iq
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o
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b
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to
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I
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ad
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itio
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to
s
o
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ad
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
2088
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8
6
9
4
Dir
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f in
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to
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m
)
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ep
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s
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esp
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e,
DT
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s
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s
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en
t
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d
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[
7
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.
Ho
wev
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DT
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h
as
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ly
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h
ar
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s
u
ch
as:
h
ig
h
s
witch
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eq
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en
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,
to
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q
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o
s
cillatio
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,
m
ec
h
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n
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is
e,
lo
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f
f
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s
p
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d
r
an
g
e,
m
o
to
r
v
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atio
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[
8
]
-
[
1
0
]
.
T
o
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p
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th
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f
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ce
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GA,
[
1
1
]
-
[
1
9
]
.
T
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c
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s
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s
[
1
4
]
.
Ho
wev
er
,
th
e
u
s
e
o
f
AI
h
as
a
m
ajo
r
d
is
ad
v
an
tag
e
in
r
eq
u
ir
i
n
g
a
m
icr
o
co
n
tr
o
ller
with
s
tr
o
n
g
co
m
p
u
tin
g
s
p
ee
d
,
f
ast
r
esp
o
n
s
e
,
an
d
co
m
p
le
x
h
ar
d
war
e
co
n
f
ig
u
r
atio
n
.
T
h
is
in
cr
ea
s
es
th
e
co
s
t
an
d
m
ak
e
s
it
d
if
f
icu
lt
t
o
ap
p
ly
wid
ely
in
in
d
u
s
tr
ial
p
r
o
d
u
ctio
n
.
Sev
er
al
o
th
e
r
c
o
n
tr
o
l
s
tr
ateg
ies
h
av
e
b
ee
n
p
r
o
p
o
s
e
d
f
o
r
s
p
ee
d
co
n
tr
o
ller
s
to
im
p
r
o
v
e
th
e
p
h
en
o
m
e
n
o
n
o
f
to
r
q
u
e
r
ip
p
le,
wh
ic
h
cr
ea
tes
s
h
ak
in
g
o
f
th
e
r
o
to
r
s
h
af
t,
esp
ec
ially
at
lo
w
s
p
ee
d
s
[
2
0
]
-
[
3
7
]
.
T
h
is
ap
p
r
o
ac
h
all
o
ws
f
o
r
s
im
p
le
d
r
iv
e
s
y
s
tem
d
esig
n
,
im
p
r
o
v
e
d
p
er
f
o
r
m
an
ce
,
r
ed
u
ce
d
h
ar
d
war
e
r
eq
u
ir
em
en
ts
,
a
n
d
h
ig
h
p
r
ac
ticality
f
o
r
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
Ho
wev
er
,
s
im
u
latio
n
an
d
e
x
p
er
im
e
n
tal
r
esu
lts
in
th
ese
s
tr
ateg
ies
s
h
o
w
th
at
th
e
to
r
q
u
e
r
ip
p
l
e
p
h
en
o
m
en
o
n
s
till
r
em
ain
s
r
elativ
ely
s
ig
n
if
ican
t.
An
o
th
e
r
ap
p
r
o
ac
h
to
e
n
h
an
ce
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
I
MD
s
u
s
in
g
th
e
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
s
tr
ateg
y
an
d
im
p
r
o
v
e
th
e
to
r
q
u
e
r
i
p
p
le
p
r
o
b
lem
is
to
im
p
r
o
v
e
th
e
q
u
ality
o
f
th
e
I
M
f
lu
x
o
b
s
er
v
e
r
p
r
o
p
o
s
ed
in
[
3
8
]
-
[
4
2
]
.
Ho
wev
er
,
th
ese
s
tr
ateg
ies
s
t
ill
s
h
o
w
th
at
th
e
im
p
r
o
v
em
en
t
o
f
th
e
r
ip
p
le
is
s
u
e
h
as n
o
t b
ee
n
f
u
lly
ad
d
r
ess
ed
.
First
-
o
r
d
er
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
FOSMC
)
is
a
wid
ely
r
ec
o
g
n
ized
r
o
b
u
s
t
co
n
tr
o
l
m
eth
o
d
d
ev
elo
p
e
d
f
o
r
n
o
n
lin
ea
r
s
y
s
tem
s
with
u
n
ce
r
tain
ties
.
T
h
is
ap
p
r
o
ac
h
ex
h
ib
its
s
tr
o
n
g
r
esis
tan
ce
t
o
d
is
tu
r
b
a
n
ce
s
an
d
u
n
ce
r
tain
ties
,
p
r
o
v
id
ed
th
at
th
ese
elem
en
ts
s
atis
f
y
th
e
m
atch
in
g
c
o
n
d
itio
n
–
m
ea
n
in
g
th
e
y
af
f
ec
t
t
h
e
s
y
s
tem
th
r
o
u
g
h
th
e
s
am
e
ch
a
n
n
el
as
th
e
co
n
tr
o
l
in
p
u
t.
Key
ad
v
a
n
tag
es
o
f
FOSMC
in
clu
d
e
it
s
r
elativ
ely
s
im
p
le
d
esig
n
s
tr
u
ctu
r
e
an
d
its
ab
ilit
y
to
r
e
d
u
ce
th
e
o
r
d
er
o
f
th
e
s
y
s
tem
'
s
s
tate
eq
u
atio
n
s
o
n
ce
o
n
th
e
s
lid
in
g
s
u
r
f
ac
e.
Ho
wev
er
,
FOSMC
also
p
o
s
s
ess
es
in
h
er
en
t
lim
itatio
n
s
.
Sp
ec
if
ically
,
its
ap
p
licab
ilit
y
is
lim
ited
to
s
y
s
tem
s
with
a
r
elativ
e
d
eg
r
ee
o
f
o
n
e
with
r
esp
ec
t
to
th
e
co
n
tr
o
l
i
n
p
u
t.
Fu
r
th
er
m
o
r
e,
an
in
h
er
e
n
t
d
r
awb
ac
k
is
th
e
'
ch
atter
in
g
'
p
h
en
o
m
en
o
n
,
c
h
a
r
ac
ter
ized
b
y
h
i
g
h
-
f
r
eq
u
e
n
cy
o
s
cillatio
n
s
o
f
t
h
e
co
n
tr
o
l
s
ig
n
al
with
f
in
ite
am
p
litu
d
e.
T
h
is
ca
n
ex
cite
u
n
m
o
d
eled
h
ig
h
-
f
r
eq
u
e
n
cy
d
y
n
a
m
ics an
d
d
eg
r
ad
e
s
y
s
tem
p
er
f
o
r
m
an
ce
.
T
o
s
u
r
m
o
u
n
t th
e
p
r
ev
i
o
u
s
ly
m
en
tio
n
ed
lim
itatio
n
s
o
f
FOSMC
,
th
e
h
ig
h
er
-
o
r
d
er
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
HOSMC)
tech
n
iq
u
e
h
as
em
er
g
ed
[
4
3
]
,
[
4
4
]
.
HOSMC
p
r
o
v
id
es
d
is
tin
ct
ad
v
an
tag
es
b
y
cir
cu
m
v
e
n
tin
g
t
h
e
r
elativ
e
d
eg
r
ee
o
n
e
co
n
s
tr
ain
t,
im
p
r
o
v
in
g
p
r
ec
is
io
n
in
d
is
cr
ete
-
tim
e
im
p
lem
en
tatio
n
s
,
an
d
atten
u
atin
g
th
e
ch
atter
in
g
p
h
en
o
m
e
n
o
n
[
4
4
]
,
[
4
5
]
.
I
n
c
o
n
tr
ast
to
co
n
v
en
tio
n
al
FOSMC
,
wh
ich
f
r
eq
u
en
tl
y
u
tili
ze
s
L
y
ap
u
n
o
v
s
tab
ilit
y
th
eo
r
y
f
o
r
its
d
esig
n
,
HOSMC
alg
o
r
ith
m
s
ar
e
ty
p
ically
d
ev
elo
p
e
d
u
s
in
g
h
o
m
o
g
e
n
eity
co
n
ce
p
ts
[
4
4
]
.
Nev
er
th
eless
,
a
co
m
p
r
e
h
en
s
iv
e
in
v
esti
g
atio
n
in
to
t
h
e
an
aly
s
is
an
d
d
ev
elo
p
m
en
t
o
f
th
ese
H
OSMC
alg
o
r
ith
m
s
,
alo
n
g
with
th
eir
ef
f
ec
tiv
e
in
t
eg
r
atio
n
with
estab
lis
h
ed
n
o
n
lin
ea
r
co
n
tr
o
l
t
h
eo
r
y
,
r
em
ain
s
an
ar
ea
r
eq
u
i
r
in
g
f
u
r
th
er
e
x
p
lo
r
atio
n
.
L
y
a
p
u
n
o
v
th
eo
r
y
is
b
r
o
a
d
ly
ac
k
n
o
wled
g
ed
as
a
co
r
n
er
s
to
n
e
i
n
th
e
an
aly
s
is
o
f
n
o
n
lin
ea
r
s
y
s
tem
s
an
d
s
er
v
es
as
a
p
o
ten
t
m
eth
o
d
o
lo
g
y
f
o
r
th
e
d
esig
n
o
f
n
o
n
lin
ea
r
f
ee
d
b
ac
k
co
n
t
r
o
ller
s
[
4
6
]
,
[
4
7
]
.
C
o
n
s
eq
u
en
tly
,
r
ec
en
t
r
esear
ch
en
d
ea
v
o
r
s
h
a
v
e
c
o
n
ce
n
tr
ate
d
o
n
th
e
an
aly
s
is
an
d
d
esig
n
o
f
HOSMC
s
th
r
o
u
g
h
th
e
ap
p
licatio
n
o
f
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
.
C
er
tain
s
tu
d
ies
[
4
8
]
,
[
4
9
]
h
av
e
d
em
o
n
s
tr
ated
th
e
s
u
cc
ess
f
u
l
ad
ap
tatio
n
o
f
L
y
ap
u
n
o
v
'
s
m
eth
o
d
o
lo
g
y
f
o
r
s
ec
o
n
d
-
o
r
d
er
d
is
co
n
ti
n
u
o
u
s
alg
o
r
ith
m
s
.
As
an
illu
s
tr
atio
n
,
v
ar
io
u
s
ty
p
es
o
f
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
,
en
co
m
p
ass
in
g
wea
k
ly
d
if
f
er
en
tiab
le,
s
tr
o
n
g
ly
d
if
f
er
e
n
tiab
le,
an
d
n
o
n
-
d
if
f
er
en
tiab
le
f
o
r
m
s
,
h
a
v
e
b
ee
n
p
u
t
f
o
r
war
d
f
o
r
well
-
k
n
o
wn
HOSM
alg
o
r
it
h
m
s
s
u
ch
as
twis
tin
g
an
d
s
u
p
e
r
-
twis
tin
g
.
Desp
ite
th
ese
ad
v
an
ce
s
,
en
d
ea
v
o
r
s
to
co
n
s
tr
u
ct
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
f
o
r
g
e
n
er
al
HOSM
alg
o
r
ith
m
s
h
av
e
b
ee
n
lim
ited
,
an
d
th
eir
s
u
cc
ess
h
as
n
o
t
p
ar
a
lleled
th
at
ac
h
iev
ed
f
o
r
s
ec
o
n
d
-
o
r
d
e
r
s
lid
in
g
m
o
d
es.
San
ch
ez
an
d
Mo
r
e
n
o
[
5
0
]
p
r
o
p
o
s
ed
a
g
en
e
r
alize
d
f
r
am
ewo
r
k
f
o
r
th
e
co
n
s
tr
u
ctio
n
o
f
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
ap
p
lic
ab
le
to
HOSMs.
A
s
ig
n
if
ican
t
lim
itatio
n
o
f
t
h
is
m
eth
o
d
o
l
o
g
y
,
h
o
wev
e
r
,
lies
in
its
r
elian
ce
o
n
o
b
tain
in
g
ex
p
l
icit
s
o
lu
tio
n
s
f
o
r
th
e
ass
o
ciate
d
d
if
f
er
en
tial
in
clu
s
io
n
(
DI
)
,
a
d
e
p
en
d
e
n
cy
th
at
s
u
b
s
tan
tially
r
estricts
it
s
p
r
ac
tical
ap
p
licatio
n
to
s
y
s
tem
s
wh
o
s
e
o
r
d
er
d
o
es
n
o
t
ex
ce
ed
two
.
Mo
r
e
r
ec
en
tly
,
n
o
v
el
av
en
u
es
o
f
r
esear
ch
h
av
e
m
ater
ialized
[
5
1
]
,
with
th
e
o
b
jectiv
e
o
f
b
r
o
ad
e
n
in
g
th
e
s
co
p
e
o
f
L
y
ap
u
n
o
v
f
u
n
ctio
n
d
ev
elo
p
m
en
t
to
en
c
o
m
p
ass
s
y
s
tem
s
o
f
ar
b
itra
r
y
o
r
d
er
.
Fu
r
th
e
r
m
o
r
e
,
alter
n
ativ
e
s
tr
ateg
ies
h
av
e
b
ee
n
in
v
esti
g
ated
f
o
r
th
e
f
o
r
m
u
latio
n
o
f
HOSMC
tech
n
iq
u
es
lev
er
ag
i
n
g
estab
lis
h
ed
n
o
n
lin
ea
r
co
n
tr
o
l
p
ar
ad
ig
m
s
[
5
2
]
.
Su
c
h
a
s
tr
ateg
y
i
n
itially
em
p
lo
y
s
a
co
n
tin
u
o
u
s
co
n
tr
o
l
law
to
ac
h
iev
e
f
in
ite
-
tim
e
s
tab
ilizatio
n
f
o
r
a
n
id
ea
l
(
u
n
p
er
tu
r
b
ed
)
c
h
ain
o
f
in
teg
r
ato
r
s
.
Su
b
s
eq
u
en
tly
,
a
L
y
ap
u
n
o
v
-
b
a
s
ed
r
ed
esig
n
is
in
co
r
p
o
r
ated
,
u
tili
zin
g
a
d
is
co
n
tin
u
o
u
s
co
n
t
r
o
l
m
ec
h
an
is
m
,
to
b
o
ls
ter
th
e
r
o
b
u
s
tn
ess
ch
ar
ac
ter
is
tics
o
f
th
e
clo
s
ed
-
lo
o
p
s
y
s
tem
.
T
h
e
co
n
tr
o
ller
s
y
n
th
e
s
ized
th
r
o
u
g
h
th
i
s
p
r
o
ce
s
s
d
em
o
n
s
tr
ates
ef
f
icac
y
in
r
ejec
tin
g
m
atc
h
ed
,
b
o
u
n
d
ed
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
,
wh
ich
th
e
n
o
m
in
al
co
n
tin
u
o
u
s
co
n
tr
o
l la
w,
o
p
er
atin
g
in
is
o
latio
n
,
is
u
n
ab
le
to
ad
eq
u
ately
ad
d
r
ess
.
No
twith
s
tan
d
in
g
its
b
en
ef
its
,
th
is
p
ar
ticu
lar
m
eth
o
d
o
lo
g
y
n
ec
ess
itates
an
in
itially
f
o
r
m
u
lated
co
n
tin
u
o
u
s
co
n
tr
o
ller
t
h
at
en
s
u
r
es
f
in
ite
-
tim
e
co
n
v
er
g
en
ce
.
Fu
r
th
er
m
o
r
e
,
th
e
r
esu
ltan
t
clo
s
ed
-
lo
o
p
d
y
n
am
ics
d
o
n
o
t
e
x
h
ib
it
h
o
m
o
g
en
eity
.
C
o
n
s
eq
u
en
tly
,
t
h
e
o
b
jectiv
e
o
f
d
e
v
elo
p
in
g
a
g
e
n
u
in
ely
h
o
m
o
g
en
e
o
u
s
h
ig
h
er
-
o
r
d
er
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
H
OSMC)
s
tr
ateg
y
,
g
r
o
u
n
d
ed
in
L
y
ap
u
n
o
v
s
tab
ilit
y
th
e
o
r
y
,
r
e
m
ain
s
an
ar
ea
th
at
r
eq
u
ir
es
co
m
p
r
eh
e
n
s
iv
e
r
eso
lu
tio
n
.
T
h
e
p
r
in
ci
p
le
o
f
h
o
m
o
g
en
eity
is
o
f
p
ar
a
m
o
u
n
t
im
p
o
r
tan
ce
f
o
r
t
h
e
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
:
1586
-
1
5
9
7
1588
ev
o
lu
tio
n
o
f
HOSMC,
as
i
t
e
n
d
o
ws
th
e
s
y
s
tem
with
f
av
o
r
ab
le
ch
ar
ac
ter
is
tics
an
d
s
tr
ea
m
l
in
es
th
e
ev
alu
atio
n
o
f
b
o
th
f
in
ite
-
tim
e
s
tab
ilit
y
an
d
o
p
e
r
atio
n
al
ac
cu
r
ac
y
.
D
ev
iatin
g
f
r
o
m
estab
lis
h
ed
q
u
asi
-
co
n
tin
u
o
u
s
an
d
n
ested
HOSM
co
n
tr
o
l
s
tr
ateg
i
es,
th
e
HOSM
co
n
tr
o
ller
d
etai
led
in
th
e
cu
r
r
e
n
t
wo
r
k
is
f
o
r
m
u
lated
th
r
o
u
g
h
th
e
u
tili
za
tio
n
o
f
s
p
ec
if
ically
c
h
o
s
en
h
o
m
o
g
en
e
o
u
s
co
n
tr
o
l
L
y
a
p
u
n
o
v
f
u
n
ctio
n
s
(
C
L
Fs
)
.
Su
c
h
C
L
Fs
f
ac
ilit
ate
an
iter
ativ
e
p
r
o
ce
s
s
f
o
r
g
en
e
r
atin
g
co
n
tin
u
o
u
s
ly
d
if
f
er
en
tiab
le
f
u
n
ctio
n
s
,
t
h
er
eb
y
cir
cu
m
v
en
ti
n
g
th
e
r
e
q
u
ir
em
e
n
t
f
o
r
s
o
p
h
is
ticated
m
ath
em
atic
al
f
o
r
m
alis
m
s
o
f
te
n
lin
k
ed
with
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
th
at
lack
co
n
tin
u
o
u
s
d
if
f
er
en
tiab
ilit
y
.
T
h
r
o
u
g
h
th
e
ad
o
p
tio
n
o
f
a
th
eo
r
etica
l
f
o
u
n
d
atio
n
r
o
o
te
d
in
L
y
ap
u
n
o
v
m
eth
o
d
s
,
th
e
d
esig
n
p
r
o
ce
s
s
f
o
r
HOSM
co
n
tr
o
ller
s
ca
n
b
e
s
ig
n
if
ican
tly
ad
v
a
n
c
ed
.
T
h
is
n
o
t
o
n
ly
en
a
b
les
th
e
f
o
r
m
u
latio
n
o
f
a
d
iv
er
s
e
r
an
g
e
o
f
h
o
m
o
g
en
e
o
u
s
co
n
tr
o
l
laws
b
u
t
also
co
n
cu
r
r
en
tly
p
e
r
m
its
a
m
o
r
e
t
h
o
r
o
u
g
h
e
x
p
lo
r
atio
n
o
f
co
m
p
lex
n
o
n
lin
ea
r
s
y
s
tem
b
eh
av
io
r
s
th
at
h
av
e
h
is
to
r
ically
p
r
esen
ted
an
aly
tical
d
if
f
icu
lti
es
with
in
th
e
s
co
p
e
o
f
p
r
ev
ailin
g
HOSM
m
eth
o
d
o
lo
g
ies.
T
h
is
ap
p
r
o
ac
h
u
lt
im
ately
f
ac
ilit
ates
th
e
d
e
v
el
o
p
m
en
t
o
f
r
o
b
u
s
t
co
n
tr
o
ller
s
with
a
s
im
p
lifie
d
s
t
r
u
ctu
r
e,
e
n
s
u
r
in
g
th
at
th
e
clo
s
ed
-
lo
o
p
s
y
s
tem
m
ain
tain
s
h
o
m
o
g
en
eity
T
o
ad
d
r
ess
th
e
is
s
u
es
an
aly
ze
d
ab
o
v
e,
th
is
p
ap
er
p
r
esen
ts
a
n
o
v
el
s
lid
in
g
m
o
d
e
co
n
tr
o
l
s
tr
ateg
y
f
o
r
th
e
o
u
ter
s
p
ee
d
lo
o
p
to
e
n
h
a
n
ce
th
e
r
o
b
u
s
tn
ess
an
d
p
er
f
o
r
m
an
ce
o
f
DT
C
-
b
ased
I
M
d
r
i
v
e
s
y
s
tem
s
.
First,
a
n
o
n
lin
ea
r
s
lid
in
g
s
u
r
f
ac
e
is
d
esig
n
ed
to
tr
ac
k
th
e
I
M
s
p
ee
d
er
r
o
r
.
C
o
m
p
ar
ed
to
tr
a
d
itio
n
al
lin
ea
r
s
lid
in
g
s
u
r
f
ac
es,
th
is
ap
p
r
o
ac
h
en
ab
les
f
in
ite
-
tim
e
co
n
v
er
g
e
n
ce
,
wh
ich
is
an
ess
en
tial
f
ea
tu
r
e
in
ap
p
licatio
n
s
r
eq
u
ir
in
g
h
ig
h
p
r
ec
is
io
n
a
n
d
f
ast
r
esp
o
n
s
e.
Ad
d
itio
n
ally
,
th
e
n
o
n
lin
ea
r
s
lid
in
g
s
u
r
f
ac
e
o
f
f
e
r
s
g
r
ea
ter
f
lex
ib
ilit
y
in
s
h
a
p
in
g
th
e
s
y
s
tem
d
y
n
am
ics
d
u
r
i
n
g
t
h
e
s
lid
in
g
m
o
tio
n
,
h
elp
i
n
g
to
r
e
d
u
ce
o
v
e
r
s
h
o
o
t
an
d
im
p
r
o
v
e
s
ettlin
g
tim
e.
Nex
t,
a
h
ig
h
e
r
-
o
r
d
er
s
lid
in
g
m
o
d
e
(
HOSM)
co
n
tr
o
l
law
is
d
esig
n
ed
u
s
in
g
L
y
a
p
u
n
o
v
s
tab
ilit
y
th
eo
r
y
to
d
eter
m
in
e
th
e
s
y
s
tem
'
s
v
ir
tu
al
co
n
tr
o
l
in
p
u
t.
T
h
is
a
p
p
r
o
ac
h
ef
f
ec
t
iv
ely
m
itig
ates
th
e
ch
atter
in
g
p
h
en
o
m
en
o
n
a
n
d
e
n
s
u
r
es
th
e
s
tab
ilit
y
o
f
t
h
e
d
r
i
v
e
s
y
s
tem
.
T
h
e
r
esu
ltin
g
co
n
tr
o
l
ac
tio
n
,
f
ilter
ed
th
r
o
u
g
h
th
e
s
y
s
tem
'
s
in
h
er
en
t
in
teg
r
atio
n
lay
er
s
in
HOSM,
lead
s
to
s
ig
n
if
ican
tly
s
m
o
o
th
er
s
tate
tr
ajec
to
r
ies
co
m
p
ar
ed
t
o
f
ir
s
t
-
o
r
d
e
r
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
s
.
Fin
ally
,
an
ad
ap
tiv
e
s
lid
in
g
co
n
tr
o
l
g
ain
f
o
r
th
e
HOSM
co
n
tr
o
ller
is
d
esig
n
ed
.
Usi
n
g
a
g
ain
u
p
d
ate
law,
th
e
co
n
tr
o
l
ler
au
to
n
o
m
o
u
s
ly
d
eter
m
i
n
es
an
ap
p
r
o
p
r
iate
g
ain
v
alu
e
at
ea
ch
m
o
m
e
n
t
to
co
m
p
en
s
ate
f
o
r
c
u
r
r
e
n
t
u
n
ce
r
ta
in
ties
an
d
d
is
tu
r
b
an
ce
s
,
with
o
u
t
r
e
q
u
ir
in
g
p
r
io
r
k
n
o
wled
g
e
o
f
t
h
eir
u
p
p
er
b
o
u
n
d
s
.
T
h
is
s
ig
n
if
ican
tly
s
im
p
l
if
ies
co
n
tr
o
ller
d
esig
n
,
m
ak
i
n
g
it
m
o
r
e
p
r
ac
tical
wh
ile
s
u
b
s
tan
tially
r
ed
u
cin
g
t
h
e
am
p
litu
d
e
a
n
d
f
r
e
q
u
en
c
y
o
f
h
ig
h
-
f
r
e
q
u
en
c
y
co
n
tr
o
l
s
ig
n
als.
C
o
n
s
eq
u
en
tly
,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
m
in
im
iz
es
ch
atter
in
g
wh
ile
m
ain
tain
i
n
g
s
y
s
tem
s
tab
ilit
y
an
d
c
o
n
v
e
r
g
en
ce
.
T
h
is
en
s
u
r
es
th
at
th
e
c
o
n
tr
o
l
g
ain
is
d
y
n
a
m
ically
ad
ju
s
ted
to
ad
a
p
t
to
o
p
er
atin
g
c
o
n
d
itio
n
s
,
I
M
p
ar
a
m
eter
v
ar
iatio
n
s
,
an
d
ex
ter
n
al
d
is
tu
r
b
an
ce
s
.
W
ith
t
h
is
s
tr
ateg
y
,
th
e
co
n
tr
o
l
b
ec
o
m
es
m
o
r
e
ad
a
p
tiv
e,
all
o
win
g
f
o
r
b
etter
s
p
ee
d
r
eg
u
latio
n
,
p
r
o
v
id
in
g
ac
cu
r
ate
co
m
p
e
n
s
atio
n
o
f
b
o
u
n
d
ed
s
m
o
o
th
u
n
ce
r
tain
ties
/d
is
tu
r
b
an
ce
s
alo
n
g
with
th
eir
d
er
iv
ativ
es
to
k
n
o
wn
f
u
n
ctio
n
s
,
elim
in
atin
g
o
v
er
s
h
o
o
t,
o
p
tim
izin
g
tr
an
s
ien
t
r
esp
o
n
s
e,
an
d
m
in
im
izin
g
to
r
q
u
e
r
ip
p
le
p
r
o
b
lem
s
co
m
m
o
n
ly
f
o
u
n
d
in
I
M
d
r
i
v
e
s
y
s
tem
s
u
s
in
g
DT
C
tech
n
iq
u
es.
T
h
e
s
u
b
s
e
q
u
e
n
t
s
e
c
t
i
o
n
o
f
f
e
r
s
a
c
o
n
c
i
s
e
o
v
e
r
v
i
e
w
o
f
D
T
C
:
i
)
S
e
c
t
i
o
n
3
e
l
a
b
o
r
a
t
e
s
o
n
t
h
e
e
n
h
a
n
c
e
d
D
T
C
m
e
t
h
o
d
o
l
o
g
y
s
p
e
c
i
f
i
c
a
l
l
y
a
p
p
l
i
e
d
t
o
t
h
e
I
M
D
s
;
i
i
)
T
h
e
r
e
a
f
t
e
r
,
a
n
e
x
a
m
i
n
a
t
i
o
n
o
f
t
h
e
r
e
s
e
a
r
c
h
f
i
n
d
i
n
g
s
,
p
r
o
c
u
r
e
d
v
i
a
s
i
m
u
l
a
t
i
o
n
s
c
o
n
d
u
c
t
e
d
i
n
t
h
e
M
A
T
L
A
B
-
S
i
m
u
l
i
n
k
e
n
v
i
r
o
n
m
e
n
t
,
i
s
d
e
t
a
i
l
e
d
i
n
s
e
c
t
i
o
n
4
;
a
n
d
i
i
i
)
S
e
c
t
i
o
n
5
e
n
c
a
p
s
u
l
a
t
e
s
t
h
e
p
r
i
m
a
r
y
c
o
n
t
r
i
b
u
t
i
o
n
s
s
t
e
m
m
i
n
g
f
r
o
m
t
h
i
s
s
t
u
d
y
a
n
d
i
n
c
o
r
p
o
r
a
t
e
s
a
r
e
l
e
v
a
n
t
d
i
s
c
u
s
s
i
o
n
.
2.
I
M
DYN
AM
I
CS U
NDER D
T
C:
A
M
A
T
H
E
M
A
T
I
CA
L
RE
P
RE
SE
NT
A
T
I
O
N
A
s
y
s
tem
'
s
d
y
n
am
ics
ca
n
b
e
r
ep
r
esen
ted
in
s
tate
-
s
p
ac
e
f
o
r
m
b
y
th
e
m
ath
em
atica
l
ex
p
r
e
s
s
io
n
s
a
s
s
h
o
wn
in
(
1
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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t
I
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N:
2088
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8
6
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4
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ased
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
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t
,
Vo
l.
16
,
No
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3
,
Sep
tem
b
er
20
25
:
1586
-
1
5
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(
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(
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=
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1
1
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b
in
in
g
(
10
)
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d
(
11
)
,
t
h
e
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ir
tu
al
co
n
tr
o
l
v
ec
to
r
i
sq
is
d
esi
g
n
ed
as
(
1
2
)
:
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
Dir
ec
t to
r
q
u
e
co
n
tr
o
l o
f in
d
u
ctio
n
mo
to
r
u
s
in
g
a
n
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ve
l sli
d
i
n
g
mo
d
e
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o
n
tr
o
l
(
N
g
o
c
Th
u
y
P
h
a
m
)
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=
1
[
∗
+
+
1
+
(
∗
−
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−
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(
1
2
)
wh
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e
is
a
p
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s
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iv
e
co
n
s
ta
n
t,
is
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tiv
e
h
ig
h
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s
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s
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An
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ased
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10
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,
(
1
4
)
we
g
et
(
1
6
)
.
=
−
<
0
∀
(
1
6
)
R
ef
er
en
ce
to
r
q
u
e
ca
n
b
e
ca
lcu
lated
as
(
1
7
)
.
∗
=
3
2
(
1
7
)
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
Fig
u
r
e
3
illu
s
tr
ates
th
e
b
lo
ck
d
iag
r
am
o
f
t
h
e
co
n
tr
o
l
s
y
s
te
m
.
I
n
th
is
s
tu
d
y
,
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
s
u
g
g
ested
AHOSM
alg
o
r
ith
m
f
o
r
th
e
I
M
d
r
iv
e
s
y
s
tem
is
e
v
alu
ated
a
n
d
b
en
ch
m
ar
k
ed
a
g
ain
s
t
an
I
M
d
r
i
v
e
s
y
s
tem
th
at
em
p
lo
y
s
co
n
v
en
tio
n
al
DT
C
.
T
o
v
er
if
y
th
e
ef
f
icac
y
o
f
th
e
d
e
v
elo
p
ed
al
g
o
r
ith
m
,
MA
T
L
AB
/S
im
u
lin
k
s
o
f
twar
e
is
u
tili
ze
d
.
T
h
e
p
ar
am
eter
s
f
o
r
t
h
e
in
d
u
ctio
n
m
o
to
r
ar
e
as
f
o
llo
ws:
4
0
0
V,
5
0
Hz,
4
-
p
o
le,
1
4
3
0
r
p
m
,
R
s
=
1
.
4
0
5
Ω
,
R
r
=
1
.
3
9
5
Ω
,
L
s
=
0
.
0
0
5
8
3
9
H,
L
r
=
0
.
0
0
5
8
3
9
H,
L
m
=
0
.
1
7
2
2
H,
J
=
0
.
0
1
3
1
k
g
.
m
2
,
B
1
=0
.
0
0
2
9
8
5
.
IM
V
ol
tage
s
ou
r
c
e
i
n
ve
r
te
r
S
um
S
um
S
w
i
tc
h
i
n
g
Tab
l
e
F
l
u
x
Co
m
p
arat
or
T
orq
u
e
C
om
p
ar
at
or
F
l
u
x, To
r
q
u
e
Es
ti
ma
tor
A
H
O
S
M
C
on
t
r
ol
l
e
r
S
um
S
p
e
e
d
e
n
c
od
e
r
ψ
*
ω*
Sb
Sa
Sc
F
l
u
x
Te
ω
r
_
+
+
_
+
_
S
a
,S
b,S
c
V
d
c
N
Fig
u
r
e
3
.
Simu
latio
n
m
o
d
el
o
f
th
e
AHOSM
alg
o
r
ith
m
-
b
ased
DT
C
C
ase
1
:
I
n
th
is
s
ce
n
ar
io
,
th
e
I
M
s
p
ee
d
in
itially
r
is
e
s
f
r
o
m
0
r
ad
/s
to
1
0
0
r
ad
/s
an
d
s
u
b
s
eq
u
en
tly
to
1
4
0
r
ad
/s
at
t
=
0
.
4
s
.
I
t
th
en
r
ed
u
ce
s
to
1
0
0
r
ad
/s
at
t
=
0
.
8
s
ec
.
T
h
e
to
r
q
u
e
r
em
ain
s
co
n
s
tan
t
at
1
6
N.
m
(
ap
p
r
o
x
im
ately
2
/3
o
f
th
e
r
a
ted
lo
ad
to
r
q
u
e)
.
T
h
e
ch
a
r
ac
ter
is
tics
f
o
r
s
p
ee
d
an
d
to
r
q
u
e
ar
e
d
ep
icted
in
Fig
u
r
es
4
an
d
5
,
r
esp
ec
tiv
ely
.
T
h
e
o
u
tco
m
es
p
r
esen
ted
in
Fi
g
u
r
e
4
,
alo
n
g
with
Z
o
o
m
1
an
d
Z
o
o
m
2
,
in
d
icate
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
:
1586
-
1
5
9
7
1592
th
at:
th
e
co
n
tr
o
l
s
tr
ateg
y
in
tr
o
d
u
ce
d
in
th
is
wo
r
k
y
ield
s
an
ex
ce
llen
t
s
p
ee
d
r
esp
o
n
s
e.
T
h
e
r
o
to
r
'
s
s
p
ee
d
co
n
s
is
ten
tly
tr
ac
k
s
th
e
r
ef
e
r
en
ce
s
p
ee
d
,
ex
h
i
b
itin
g
m
in
im
al
er
r
o
r
an
d
a
lo
w
o
s
cillatio
n
am
p
litu
d
e.
I
n
co
n
tr
ast,
th
e
co
n
v
en
tio
n
al
PI
m
eth
o
d
r
esu
lts
in
a
s
lo
wer
s
p
ee
d
r
es
p
o
n
s
e,
a
co
n
s
id
er
a
b
le
d
is
cr
e
p
an
cy
b
etwe
en
th
e
f
ee
d
b
ac
k
r
o
t
o
r
s
p
ee
d
a
n
d
th
e
r
ef
er
en
ce
v
alu
e,
an
d
s
ig
n
i
f
ican
t
o
s
cillatio
n
am
p
litu
d
e
th
r
o
u
g
h
o
u
t
o
p
e
r
atio
n
.
As
illu
s
tr
ated
b
y
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
in
Fig
u
r
e
5
,
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
m
itig
ates th
e
to
r
q
u
e
r
ip
p
le
is
s
u
e,
m
ain
tain
in
g
a
lo
w
a
n
d
c
o
n
s
is
ten
tly
s
tab
le
o
s
cillatio
n
am
p
litu
d
e
d
u
r
in
g
o
p
er
atio
n
.
(
a)
(
b
)
Fig
u
r
e
4
.
C
o
m
p
a
r
is
o
n
o
f
m
o
to
r
s
p
ee
d
r
esp
o
n
s
es d
u
r
in
g
s
tep
ch
an
g
es: (
a)
u
tili
zin
g
a
co
n
v
en
tio
n
al
PI
co
n
tr
o
ller
(
Z
o
o
m
1
)
an
d
(
b
)
em
p
l
o
y
in
g
th
e
AHOSM
co
n
tr
o
ller
(
Z
o
o
m
2
)
(
a)
(
b
)
Fig
u
r
e
5
.
Dep
ictio
n
o
f
elec
tr
o
m
ag
n
etic
to
r
q
u
e
b
e
h
av
io
r
:
(
a)
PI
co
n
tr
o
ller
,
a
n
d
(
b
)
AHOSM
co
n
tr
o
ller
C
ase
2
:
Un
d
er
th
ese
co
n
d
itio
n
s
,
th
e
m
o
to
r
s
p
ee
d
is
m
ain
tain
ed
at
a
s
tead
y
1
3
8
r
ad
/s
.
Simu
ltan
eo
u
s
ly
,
th
e
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
is
elev
ated
f
r
o
m
1
2
N.
m
to
2
5
N
.
m
at
t
=
0
.
4
s
ec
,
a
n
d
s
u
b
s
eq
u
en
tly
r
e
d
u
ce
d
to
1
2
N.
m
at
t
=
0
.
8
s
ec
.
T
h
e
r
esp
ec
tiv
e
s
p
ee
d
an
d
to
r
q
u
e
r
esp
o
n
s
e
ch
ar
ac
ter
is
tics
f
o
r
th
is
s
ce
n
ar
io
ar
e
p
r
esen
ted
in
Fig
u
r
es
6
a
n
d
7
.
T
h
e
to
r
q
u
e
r
e
s
p
o
n
s
e
s
h
o
wn
i
n
Fig
u
r
e
7
f
u
r
t
h
er
s
u
b
s
tan
tiates
th
at
th
e
AHOSM
alg
o
r
ith
m
p
u
t
f
o
r
th
b
y
th
e
au
th
o
r
s
m
ar
k
ed
l
y
en
h
an
ce
s
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
I
M
d
r
iv
e
s
y
s
tem
with
DT
C
.
T
h
e
is
s
u
e
o
f
to
r
q
u
e
r
ip
p
le
is
co
n
s
id
er
ab
ly
allev
iated
,
with
th
e
o
s
cil
lat
io
n
am
p
litu
d
e
d
im
in
is
h
ed
b
y
o
v
er
5
0
%
wh
en
co
m
p
ar
ed
to
th
e
tr
a
d
itio
n
al
PI
tech
n
iq
u
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
Dir
ec
t to
r
q
u
e
co
n
tr
o
l o
f in
d
u
ctio
n
mo
to
r
u
s
in
g
a
n
o
ve
l sli
d
i
n
g
mo
d
e
c
o
n
tr
o
l
(
N
g
o
c
Th
u
y
P
h
a
m
)
1593
(
a)
(
b
)
Fig
u
r
e
6
.
I
ll
u
s
tr
atio
n
o
f
m
o
to
r
s
p
ee
d
d
y
n
a
m
ics u
n
d
er
s
tep
ch
an
g
es: (
a)
em
p
l
o
y
in
g
a
co
n
v
en
tio
n
al
PI
co
n
tr
o
ller
,
a
n
d
(
b
)
u
tili
zin
g
th
e
AHOM
S c
o
n
tr
o
ller
(
a)
(
b
)
Fig
u
r
e
7
.
R
ep
r
esen
tatio
n
o
f
el
ec
tr
o
m
ag
n
etic
to
r
q
u
e
c
h
ar
ac
te
r
is
tics
: (
a)
PI
co
n
tr
o
l a
n
d
(
b
)
AHOSM
co
n
tr
o
l
C
ase
3
:
I
n
th
is
i
n
s
tan
ce
,
th
e
s
tato
r
r
esis
tan
ce
o
f
th
e
m
o
to
r
i
s
alter
ed
,
in
cr
ea
s
in
g
to
1
5
0
%
an
d
th
en
2
0
0
%
o
f
its
n
o
m
in
al
v
alu
e.
T
h
e
m
o
to
r
s
p
ee
d
is
h
el
d
co
n
s
tan
t
at
1
2
0
r
ad
/s
,
a
n
d
th
e
m
o
to
r
lo
ad
to
r
q
u
e
is
also
m
ain
tain
ed
at
th
e
r
ated
lo
ad
t
o
r
q
u
e
(
2
5
N.
m
)
.
T
h
e
s
p
ee
d
r
e
s
p
o
n
s
e
is
d
is
p
lay
ed
in
Fig
u
r
e
8
.
T
h
e
in
v
esti
g
atio
n
f
in
d
in
g
s
r
e
v
ea
l
th
at
ev
en
with
v
ar
iatio
n
s
in
th
e
m
o
to
r
'
s
s
tat
o
r
r
esis
tan
ce
,
th
e
I
M
d
r
iv
e
s
y
s
tem
em
p
lo
y
in
g
t
h
e
AHOSM
m
eth
o
d
d
em
o
n
s
tr
at
es
a
h
ig
h
ly
f
a
v
o
r
ab
le
s
p
ee
d
r
esp
o
n
s
e.
T
h
is
u
n
d
er
s
co
r
es
t
h
e
ad
ap
tab
ilit
y
an
d
s
tab
ilit
y
o
f
th
e
d
r
iv
e
s
y
s
tem
p
r
o
p
o
s
ed
b
y
th
e
a
u
th
o
r
s
in
t
h
is
r
esear
ch
.
(
a)
(
b
)
Fig
u
r
e
8
.
Mo
t
o
r
s
p
ee
d
b
eh
av
i
o
r
u
n
d
er
v
a
r
y
in
g
s
tato
r
r
esis
tan
ce
: u
s
in
g
(
a)
-
PI
an
d
(
b
)
-
AHOSM
co
n
tr
o
ller
C
ase
4
:
I
n
th
is
s
tu
d
y
,
a
co
m
p
r
eh
en
s
iv
e
in
v
esti
g
atio
n
is
co
n
d
u
cted
to
ev
al
u
ate
th
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
p
r
o
p
o
s
ed
AHOSM
alg
o
r
ith
m
in
co
m
p
ar
is
o
n
with
an
ar
tifi
cial
n
eu
r
al
n
etwo
r
k
-
b
ased
s
tr
ateg
y
p
r
esen
ted
in
[
3
2
]
.
Fig
u
r
e
9
(
a)
illu
s
tr
ates
th
e
s
p
ee
d
r
esp
o
n
s
e
o
f
th
e
A
HOSM
alg
o
r
ith
m
u
n
d
e
r
r
ated
lo
ad
co
n
d
itio
n
s
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
16
,
No
.
3
,
Sep
tem
b
er
20
25
:
1586
-
1
5
9
7
1594
allo
win
g
f
o
r
a
d
ir
ec
t
co
m
p
ar
i
s
o
n
with
th
e
r
esu
lts
r
ep
o
r
te
d
in
[
3
2
]
.
T
h
e
f
in
d
in
g
s
in
d
icate
th
at
th
e
AHOSM
alg
o
r
ith
m
,
d
esp
ite
its
s
im
p
licity
an
d
lack
o
f
co
m
p
lex
c
o
m
p
u
tatio
n
s
o
r
h
ig
h
h
a
r
d
war
e
r
eq
u
ir
em
en
ts
,
d
eliv
e
r
s
s
ig
n
if
ican
tly
b
etter
s
p
ee
d
r
es
p
o
n
s
e
th
an
th
e
ap
p
r
o
ac
h
in
[
3
2
]
.
T
h
e
m
o
t
o
r
s
p
ee
d
c
o
n
s
is
ten
tly
f
o
llo
ws
th
e
r
ef
er
en
ce
s
p
ee
d
with
o
u
t
a
n
y
n
o
ticea
b
le
s
p
ee
d
r
ip
p
le
o
s
cillatio
n
s
d
u
r
i
n
g
o
p
er
atio
n
.
Fig
u
r
e
9
(
b
)
p
r
esen
ts
th
e
to
r
q
u
e
r
esp
o
n
s
e
o
f
th
e
AHOSM
alg
o
r
ith
m
at
a
f
ix
e
d
s
p
ee
d
o
f
1
3
8
r
ad
/s
,
s
er
v
in
g
as
a
b
a
s
is
f
o
r
co
m
p
ar
is
o
n
with
th
e
r
esu
lts
in
[
3
2
]
.
T
h
e
r
e
s
u
lts
clea
r
ly
d
em
o
n
s
tr
ate
th
at,
in
co
n
tr
ast
t
o
th
e
n
e
u
r
al
n
etwo
r
k
-
b
ased
ap
p
r
o
ac
h
in
[
3
2
]
,
wh
ich
r
eq
u
ir
es
ex
ten
s
iv
e
co
m
p
u
tatio
n
s
,
th
e
p
r
o
p
o
s
ed
AHOSM
alg
o
r
ith
m
ac
h
iev
es
a
h
ig
h
er
-
q
u
ality
d
r
iv
e
s
y
s
tem
,
ch
ar
ac
ter
ize
d
b
y
s
tab
le
to
r
q
u
e
a
n
d
lo
wer
o
s
cillatio
n
am
p
litu
d
e.
(
a)
(
b
)
Fig
u
r
e
9
.
Per
f
o
r
m
an
c
e
o
f
t
h
e
p
r
o
p
o
s
ed
AHOSM
alg
o
r
ith
m
:
(
a)
u
n
d
e
r
v
ar
ia
b
le
s
p
ee
d
co
n
d
it
io
n
s
an
d
(
b
)
u
n
d
er
v
ar
iab
le
lo
ad
t
o
r
q
u
e
co
n
d
itio
n
s
T
h
u
s
,
th
r
o
u
g
h
th
e
s
u
r
v
e
y
r
esu
lts
an
d
ev
alu
ati
o
n
a
n
aly
s
es
p
e
r
f
o
r
m
e
d
in
th
e
ab
o
v
e
ca
s
es,
w
e
s
ee
th
at:
W
ith
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
y
,
th
e
g
ain
u
p
d
ate
law
ca
n
au
to
n
o
m
o
u
s
ly
d
eter
m
in
e
a
s
u
f
f
icien
tly
lar
g
e
g
ain
v
alu
e
d
y
n
a
m
ically
to
co
m
p
e
n
s
ate
f
o
r
th
e
lev
el
o
f
u
n
ce
r
t
ain
ties
an
d
d
is
tu
r
b
an
ce
s
with
o
u
t
r
eq
u
ir
i
n
g
p
r
io
r
k
n
o
wled
g
e
o
f
th
eir
u
p
p
e
r
b
o
u
n
d
.
T
h
is
m
ak
es
th
e
c
o
n
tr
o
ller
d
esig
n
ea
s
ier
an
d
m
o
r
e
p
r
ac
tic
al.
I
n
s
tead
o
f
u
s
in
g
a
f
ix
ed
lar
g
e
g
ain
,
th
e
ad
a
p
tiv
e
h
ig
h
er
-
o
r
d
e
r
s
lid
in
g
m
o
d
e
(
AHOSM
)
ap
p
r
o
ac
h
ca
n
ac
h
iev
e:
Sm
o
o
th
er
r
esp
o
n
s
e
d
u
e
to
r
ed
u
ce
d
o
s
c
illatio
n
am
p
litu
d
e;
Po
ten
tial
en
er
g
y
s
av
in
g
s
b
y
a
v
o
id
i
n
g
u
n
n
ec
ess
ar
ily
lar
g
e
co
n
tr
o
l
s
ig
n
als
wh
en
d
is
tu
r
b
a
n
ce
s
ar
e
s
m
all;
R
ed
u
ce
d
ac
tu
ato
r
wea
r
an
d
tear
s
in
ce
th
e
co
n
tr
o
l
s
ig
n
al
is
les
s
ag
g
r
ess
iv
e;
Ma
in
tain
ed
r
o
b
u
s
tn
ess
:
d
esp
ite
th
e
v
ar
y
in
g
g
ain
,
th
e
ad
ap
tiv
e
laws
ar
e
f
o
r
m
u
lated
u
s
in
g
L
y
ap
u
n
o
v
s
tab
ilit
y
p
r
in
cip
les
t
o
ascer
tain
th
at
th
e
g
ain
co
n
s
i
s
ten
tly
r
em
ain
s
at
a
s
u
f
f
icien
t le
v
el
f
o
r
s
u
s
tain
in
g
th
e
s
lid
in
g
m
o
d
e
o
p
e
r
atio
n
a
n
d
to
s
ec
u
r
e
th
e
s
y
s
tem
'
s
r
esi
lien
t
s
tab
ilit
y
wh
en
f
ac
ed
wit
h
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
.
T
h
is
co
n
t
r
ib
u
tes
to
im
p
r
o
v
in
g
th
e
p
er
f
o
r
m
a
n
ce
o
f
I
M
d
r
iv
e
s
y
s
tem
s
u
s
in
g
DT
C
.
5.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
p
r
o
p
o
s
es
a
n
ew
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
tech
n
iq
u
e
u
s
in
g
h
ig
h
-
o
r
d
er
s
lid
in
g
m
o
d
e
co
n
tr
o
l
co
m
b
in
ed
with
a
n
ad
a
p
tiv
e
co
ef
f
icien
t
b
ased
o
n
L
y
ap
u
n
o
v
s
tab
ilit
y
th
eo
r
y
f
o
r
I
M
d
r
iv
e
s
y
s
tem
s
u
s
in
g
DT
C
.
T
h
e
p
r
o
p
o
s
ed
s
tr
ateg
y
h
as
b
r
o
u
g
h
t
ab
o
u
t
m
an
y
in
ter
esti
n
g
r
esu
lts
.
I
n
p
ar
ticu
lar
,
th
e
r
ip
p
le
to
r
q
u
e
p
r
o
b
lem
th
at
o
f
ten
ap
p
ea
r
s
wh
e
n
u
s
in
g
DT
C
h
as
b
ee
n
s
ig
n
if
ican
tly
i
m
p
r
o
v
e
d
.
Hig
h
d
y
n
a
m
ic
r
esp
o
n
s
e
an
d
ad
a
p
tab
ilit
y
to
ch
an
g
es
in
lo
a
d
an
d
m
o
to
r
p
ar
am
eter
s
.
W
ith
an
ex
tr
em
el
y
s
im
p
le
d
esig
n
an
d
lo
w
co
m
p
u
tatio
n
al
v
o
l
u
m
e,
th
e
AHOSM
s
tr
ateg
y
ca
n
b
e
ap
p
lied
to
h
ig
h
-
q
u
ality
d
r
iv
e
s
y
s
tem
s
with
o
u
t
r
eq
u
ir
in
g
t
o
o
m
u
c
h
h
a
r
d
war
e
d
esig
n
co
s
t.
Ho
wev
er
,
th
e
u
s
e
o
f
DT
C
tech
n
iq
u
e
with
a
tr
ad
itio
n
al
s
witch
b
o
ar
d
s
till
ca
n
n
o
t
co
m
p
letely
elim
in
ate
th
e
r
ip
p
le
to
r
q
u
e
p
r
o
b
lem
.
T
h
is
is
co
n
s
id
er
ed
a
lim
itatio
n
o
f
th
is
p
ap
er
a
n
d
a
n
ew
r
esear
ch
d
ir
ec
tio
n
in
th
e
f
u
tu
r
e
th
at
th
e
au
th
o
r
a
n
d
h
is
c
o
lleag
u
es
h
o
p
e
t
o
ca
r
r
y
o
u
t
to
f
u
r
th
er
e
n
h
an
ce
th
e
p
er
f
o
r
m
an
ce
o
f
I
M
d
r
iv
e
s
y
s
tem
s
u
s
in
g
DT
C
.
On
th
e
o
th
er
h
an
d
,
in
th
e
n
ea
r
f
u
tu
r
e,
th
e
au
th
o
r
s
will
b
u
ild
h
ar
d
war
e
to
ev
alu
ate
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
co
n
tr
o
l
s
tr
ateg
y
th
at
th
e
g
r
o
u
p
p
r
o
p
o
s
ed
an
d
ap
p
ly
it
to
s
p
ec
if
ic
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
Au
th
o
r
s
s
tate
n
o
f
u
n
d
in
g
in
v
o
lv
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
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&
Dr
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s
t
I
SS
N:
2088
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8
6
9
4
Dir
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DATA AV
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AB
I
L
I
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Y
T
h
e
d
ata
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at
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u
p
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o
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r
esp
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th
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r
,
[
NP]
,
u
p
o
n
r
ea
s
o
n
ab
le
r
eq
u
est.
RE
F
E
R
E
NC
E
S
[
1
]
P
.
V
a
s,
S
e
n
so
r
l
e
ss
v
e
c
t
o
r
a
n
d
d
i
re
c
t
t
o
rq
u
e
c
o
n
t
r
o
l
.
O
x
f
o
r
d
U
n
i
v
e
r
si
t
y
P
r
e
ssO
x
f
o
r
d
,
1
9
9
8
.
d
o
i
:
1
0
.
1
0
9
3
/
o
so
/
9
7
8
0
1
9
8
5
6
4
6
5
2
.
0
0
1
.
0
0
0
1
.
[
2
]
M
.
Y
a
n
o
,
S
.
A
b
e
,
a
n
d
E.
O
h
n
o
,
“
H
i
st
o
r
y
o
f
p
o
w
e
r
e
l
e
c
t
r
o
n
i
c
s
f
o
r
mo
t
o
r
d
r
i
v
e
s
i
n
Ja
p
a
n
,
”
I
EE
E
C
o
n
f
e
r
e
n
c
e
o
n
t
h
e
H
i
s
t
o
r
y
o
f
El
e
c
t
r
o
n
i
c
s
(
C
H
E)
,
p
p
.
1
–
1
1
,
2
0
0
4
.
[
3
]
D
.
A
r
u
n
D
o
m
i
n
i
c
a
n
d
T.
R
.
C
h
e
l
l
i
a
h
,
“
A
n
a
l
y
si
s
o
f
f
i
e
l
d
-
o
r
i
e
n
t
e
d
c
o
n
t
r
o
l
l
e
d
i
n
d
u
c
t
i
o
n
mo
t
o
r
d
r
i
v
e
s
u
n
d
e
r
se
n
so
r
f
a
u
l
t
s
a
n
d
a
n
o
v
e
r
v
i
e
w
o
f
s
e
n
s
o
r
l
e
ss sc
h
e
mes,
”
I
S
A
T
ra
n
sa
c
t
i
o
n
s
,
v
o
l
.
5
3
,
n
o
.
5
,
p
p
.
1
6
8
0
–
1
6
9
4
,
S
e
p
.
2
0
1
4
,
d
o
i
:
1
0
.
1
0
1
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2
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[
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3
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4
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[
1
5
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[
1
6
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A
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