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m
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th
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tatio
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ter
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b
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s
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I
C
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s
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win
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f
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c
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s
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E
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d
p
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f
o
r
m
a
n
ce
im
p
r
o
v
em
e
n
ts
[
1
]
-
[
4
]
.
Am
o
n
g
th
e
m
o
to
r
o
p
tio
n
s
f
o
r
E
Vs,
in
d
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m
o
to
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s
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I
Ms)
ar
e
p
o
p
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lar
d
u
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to
th
ei
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r
o
b
u
s
tn
ess
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co
s
t
-
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ess
,
an
d
h
ig
h
in
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to
r
q
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e,
d
esp
ite
l
im
itatio
n
s
s
u
ch
as
ef
f
icien
cy
l
o
s
s
es
[
5
]
-
[
9
]
.
C
o
n
tr
o
l
s
tr
ateg
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lik
e
f
ield
-
o
r
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ted
co
n
tr
o
l
(
FOC
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ar
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co
m
m
o
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ly
u
s
ed
f
o
r
I
Ms,
o
f
f
er
in
g
in
d
e
p
en
d
e
n
t c
o
n
tr
o
l o
f
r
o
to
r
f
lu
x
an
d
t
o
r
q
u
e
[
9
]
.
T
h
is
p
ap
er
ex
p
lo
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th
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r
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le
o
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o
p
tim
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o
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th
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y
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im
p
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o
v
in
g
in
d
u
ctio
n
m
o
to
r
p
e
r
f
o
r
m
an
ce
in
E
Vs,
f
o
cu
s
in
g
o
n
ac
tiv
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d
is
tu
r
b
an
ce
r
ejec
tio
n
c
o
n
tr
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l
(
ADRC
)
to
h
an
d
le
u
n
k
n
o
w
n
s
y
s
tem
d
is
tu
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b
an
ce
s
[
1
0
]
,
[
1
1
]
.
W
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ile
tr
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ex
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m
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p
ti
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cr
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ac
to
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g
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m
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if
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th
at
in
co
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p
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ates
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s
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ith
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1
2
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1
3
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.
W
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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6
9
3
-
6
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TEL
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T
elec
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m
u
n
C
o
m
p
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t E
l Co
n
tr
o
l
,
Vo
l.
2
3
,
No
.
5
,
Octo
b
e
r
2
0
2
5
:
1
4
2
7
-
1
4
3
8
1428
th
e
liter
atu
r
e:
tr
ad
itio
n
al
AD
R
C
n
eg
lects
en
er
g
y
u
s
e
in
d
i
s
tu
r
b
an
ce
r
ejec
tio
n
,
a
n
d
c
u
r
r
e
n
t
co
n
tr
o
l
s
ch
em
es
o
f
ten
r
ely
o
n
c
o
n
v
e
n
tio
n
al
alg
o
r
ith
m
s
,
o
v
e
r
lo
o
k
i
n
g
n
ewe
r
o
r
h
y
b
r
i
d
ap
p
r
o
ac
h
es.
T
o
im
p
r
o
v
e
p
er
f
o
r
m
an
ce
,
we
p
r
o
p
o
s
e
u
s
in
g
a
d
v
an
ce
d
m
et
h
o
d
s
to
o
p
tim
ize
ADRC
p
ar
am
eter
s
,
with
a
s
p
ec
if
ic
f
o
c
u
s
o
n
d
is
tu
r
b
an
ce
weig
h
tin
g
[
1
4
]
-
[
1
9
]
.
T
h
is
ap
p
r
o
ac
h
s
h
o
ws
th
at
d
is
tu
r
b
an
ce
weig
h
tin
g
co
u
ld
im
p
r
o
v
e
th
e
s
y
s
tem
’
s
ef
f
icien
cy
wh
ile
m
ain
tain
in
g
r
o
b
u
s
tn
ess
.
C
o
n
s
id
er
in
g
th
e
ab
o
v
e,
o
u
r
m
ain
co
n
tr
ib
u
tio
n
in
clu
d
es:
T
h
e
im
p
lem
en
tatio
n
o
f
a
m
o
d
if
ied
ADRC
wh
er
e
d
is
tu
r
b
an
ce
weig
h
tin
g
is
co
n
s
id
er
ed
,
s
h
o
win
g
im
p
r
o
v
e
d
p
er
f
o
r
m
a
n
ce
,
a
n
d
d
em
o
n
s
tr
atin
g
t
h
at
th
e
d
is
tu
r
b
an
ce
weig
h
tin
g
v
alu
e
d
ep
e
n
d
s
o
n
t
h
e
ch
o
s
en
p
er
f
o
r
m
an
ce
cr
iter
ia.
Simu
lati
o
n
r
esu
lts
co
m
p
ar
e
t
h
e
tr
ad
iti
o
n
al
ADRC
with
th
e
m
o
d
if
ied
v
er
s
io
n
u
n
d
er
t
h
e
r
o
to
r
FOC
s
ch
em
e,
o
p
tim
izi
n
g
en
e
r
g
y
u
s
e
an
d
p
e
r
f
o
r
m
an
ce
.
E
x
p
er
im
en
tal
r
esu
lts
f
u
r
th
er
v
alid
ate
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l sch
em
e.
T
h
is
p
ap
er
is
s
tr
u
ctu
r
ed
as:
s
ec
tio
n
2
r
ev
iews
th
e
m
eth
o
d
,
b
r
ief
ly
d
escr
ib
in
g
th
e
d
y
n
am
i
cs
o
f
E
Vs
an
d
I
Ms
u
n
d
er
th
e
FOC
s
ch
em
e,
alo
n
g
with
th
e
p
r
o
b
lem
s
tatem
en
t
an
d
th
e
o
p
tim
al
co
n
tr
o
l
d
esig
n
u
s
in
g
a
m
o
d
if
ied
ADRC
.
Sectio
n
3
p
r
esen
ts
th
e
r
esu
lts
an
d
d
is
cu
s
s
io
n
,
in
clu
d
in
g
s
im
u
latio
n
o
u
tco
m
es
a
n
d
ex
p
er
im
en
tal
f
i
n
d
in
g
s
.
Sectio
n
4
co
n
cl
u
d
es th
e
p
a
p
er
.
2.
M
E
T
H
O
D
T
h
is
s
ec
tio
n
in
tr
o
d
u
ce
s
th
e
d
y
n
am
ics
o
f
E
Vs
an
d
I
Ms
,
o
u
tli
n
es
th
e
co
n
tr
o
l
p
r
o
b
lem
,
a
n
d
p
r
esen
ts
a
ca
s
e
s
tu
d
y
u
s
in
g
a
h
y
b
r
id
alg
o
r
ith
m
f
o
r
co
n
tr
o
ller
tu
n
in
g
.
2
.
1
.
I
nd
uct
io
n m
o
t
o
r
a
nd
elec
t
ric
v
ehicle
dy
na
m
ics
2
.
1
.
1
Vehicle
d
y
na
m
ics
EV
s
d
y
n
am
ics
in
v
o
lv
e
f
o
r
ce
s
s
u
ch
as
r
o
llin
g
r
esis
tan
ce
(
)
,
a
er
o
d
y
n
am
ic
d
r
ag
(
)
an
d
clim
b
in
g
r
esis
tan
ce
(
)
,
in
f
lu
en
ci
n
g
r
o
ad
[
2
0
]
-
[
2
2
]
.
T
h
e
t
o
tal
r
o
ad
lo
ad
i
s
ex
p
r
ess
ed
as:
=
+
+
+
(
1
)
wh
er
e
th
e
f
o
r
ce
s
ar
e:
=
c
os
(
)
,
=
1
2
(
+
0
)
,
=
±
s
in
(
)
,
=
(
2
)
Her
e,
is
th
e
v
eh
icle
m
ass
,
g
r
av
ity
,
th
e
s
lo
p
e
an
g
le,
a
n
d
d
ep
en
d
s
o
n
tire
p
r
ess
u
r
e
an
d
s
p
ee
d
.
is
th
e
d
r
ag
co
e
f
f
icien
t,
0
th
e
h
ea
d
win
d
s
p
ee
d
,
th
e
v
eh
icle
s
p
ee
d
,
air
d
en
s
ity
,
th
e
f
r
o
n
tal
ar
ea
,
an
d
Sto
k
es
’
co
ef
f
icien
t.
is
o
f
ten
n
eg
lig
i
b
le
co
m
p
ar
e
d
to
.
W
h
ile
th
e
to
tal
m
o
to
r
to
r
q
u
e
(
)
is
:
(
)
=
(
)
+
+
(
)
(
3
)
wh
er
e
(
)
r
elate
s
to
wh
ee
l to
r
q
u
e,
th
e
wh
ee
l r
ad
i
u
s
,
th
e
tr
an
s
m
is
s
io
n
r
atio
,
an
d
th
e
s
h
af
t f
r
icti
o
n
to
r
q
u
e.
T
h
e
m
o
to
r
to
r
q
u
e
d
y
n
a
m
ic
(
4
)
:
=
(
)
−
(
)
(
4
)
wh
er
e
(
)
is
m
o
to
r
to
r
q
u
e,
an
d
is
th
e
to
tal
m
o
to
r
in
er
tia:
=
+
1
2
(
)
2
+
1
2
(
)
2
(
1
−
)
(
5
)
wh
er
e
is
m
o
to
r
in
er
tia,
th
e
wh
ee
l m
ass
,
an
d
wh
ee
l sli
p
p
ag
e.
2
.
1
.
2
.
I
nd
uct
io
n
m
o
t
o
r
I
Ms
,
wid
ely
u
s
ed
in
E
Vs,
ar
e
o
f
ten
co
n
tr
o
lled
with
r
o
to
r
FOC
[
2
3
]
,
[
2
4
]
,
le
v
er
ag
in
g
C
lar
k
e
(
/
s
ch
em
e)
an
d
Par
k
(
/
s
ch
em
e)
tr
an
s
f
o
r
m
atio
n
s
:
[
(
)
(
)
]
=
[
c
os
(
(
)
)
s
in
(
(
)
)
−
s
in
(
(
)
)
c
os
(
(
)
)
]
[
(
)
(
)
]
,
=
ta
n
−
1
(
)
,
(
)
=
√
(
)
2
+
(
)
2
(
6
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t
E
l Co
n
tr
o
l
Op
tima
l a
ctive
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
co
n
tr
o
l wi
th
a
p
p
lica
tio
n
s
in
elec
tr
ic
ve
h
icles
(
Ju
a
n
Q
u
ec
a
n
-
Herr
era
)
1429
w
h
er
e
r
ep
r
esen
ts
th
e
cu
r
r
e
n
ts
an
d
v
o
lta
g
es.
T
h
u
s
,
th
e
d
y
n
a
m
ic
in
d
u
ctio
n
m
o
to
r
m
o
d
el
u
n
d
er
FOC
s
ch
em
e
is
:
(
)
=
(
)
(
7
)
(
)
=
(
)
(
)
−
1
(
)
(
8
)
(
)
=
−
(
)
+
(
)
(
9
)
(
)
=
−
(
)
+
(
)
+
(
)
(
)
+
2
(
)
(
)
+
1
(
)
(
1
0
)
(
)
=
−
(
)
+
(
)
−
(
)
(
)
+
(
)
(
)
(
)
+
1
(
)
(
1
1
)
(
)
=
(
)
+
(
)
(
)
(
1
2
)
T
h
e
p
ar
am
eter
s
ar
e:
=
,
=
,
=
2
2
,
=
1
−
2
Key
v
ar
iab
les
in
clu
d
e:
r
o
to
r
p
o
s
itio
n
(
)
,
an
g
u
lar
s
p
ee
d
(
)
,
lo
ad
to
r
q
u
e
(
)
,
an
d
m
a
g
n
etic
f
lu
x
(
)
.
(
)
an
d
(
)
r
ep
r
esen
t
v
o
ltag
es,
wh
i
le
(
)
an
d
(
)
ar
e
s
tato
r
cu
r
r
en
ts
u
n
d
er
d
/q
.
an
d
ar
e
r
o
to
r
an
d
s
tato
r
r
esis
tan
ce
s
;
an
d
ar
e
r
o
to
r
an
d
s
tato
r
in
d
u
ctan
ce
s
;
is
m
ag
n
etizin
g
in
d
u
ctan
ce
an
d
th
e
p
o
le
p
air
co
u
n
t.
T
h
e
FO
C
o
f
f
er
s
co
n
tr
o
l
o
v
er
d
ir
ec
t
cu
r
r
en
t
(
(
)
)
,
q
u
a
d
r
atu
r
e
cu
r
r
en
t
(
(
)
)
,
f
lu
x
m
ag
n
itu
d
e,
an
d
a
n
g
u
lar
s
p
ee
d
[
2
5
]
.
2
.
2
.
P
r
o
blem
s
t
a
t
e
m
ent
a
nd
o
ptim
a
l c
o
ntr
o
l desig
n
2
.
2
.
1
.
P
ro
blem
s
t
a
t
em
ent
C
o
n
s
id
er
in
g
th
e
d
y
n
am
ics
o
f
th
e
in
d
u
ctio
n
m
o
to
r
an
d
it
s
co
n
tr
o
l
u
s
in
g
ADRC
,
th
e
f
o
llo
win
g
p
er
f
o
r
m
an
ce
cr
iter
io
n
is
p
r
o
p
o
s
ed
:
=
∫
(
1
(
)
+
2
(
)
+
3
(
)
)
,
.
0
(
)
≤
,
i
∈
{
1
,
2
,
3
,
…
,
n
}
,
∈
.
(
1
3
)
I
n
(
14
)
,
(
)
r
ep
r
esen
ts
th
e
m
o
to
r
’
s
p
o
wer
co
n
s
u
m
p
tio
n
,
ca
lcu
la
ted
as
th
e
s
u
m
o
f
th
e
ab
s
o
l
u
te
v
alu
es
o
f
th
e
p
r
o
d
u
ct
o
f
c
u
r
r
en
ts
an
d
v
o
ltag
es
u
n
d
er
th
e
two
-
p
h
ase
/
s
ch
em
e
u
s
in
g
C
lar
k
e
’
s
tr
an
s
f
o
r
m
atio
n
.
T
h
e
ter
m
(
)
d
en
o
tes
th
e
an
g
u
lar
s
p
ee
d
tr
ac
k
in
g
er
r
o
r
,
an
d
(
)
r
ep
r
esen
ts
th
e
s
ettlin
g
tim
e,
weig
h
ted
b
y
th
e
o
p
er
ati
o
n
tim
e.
T
h
e
weig
h
ts
1
,
2
an
d
3
b
alan
ce
th
e
r
elativ
e
im
p
o
r
tan
ce
o
f
t
h
ese
co
m
p
o
n
en
ts
.
T
o
im
p
r
o
v
e
t
h
e
p
er
f
o
r
m
an
ce
o
f
co
n
tr
o
l
laws,
it
is
ess
en
tia
l
to
ad
d
r
ess
th
e
lim
itatio
n
s
o
f
cu
r
r
e
n
t
ADR
C
m
eth
o
d
s
.
W
h
ile
p
ar
a
m
eter
tu
n
i
n
g
i
n
ADRC
u
s
in
g
o
p
tim
izatio
n
al
g
o
r
ith
m
s
e
n
h
a
n
ce
s
p
er
f
o
r
m
an
ce
,
it
o
f
ten
o
v
er
l
o
o
k
s
en
er
g
y
ef
f
ici
en
cy
.
T
h
is
h
ig
h
lig
h
ts
th
e
n
ee
d
f
o
r
a
n
ew
ADRC
-
b
ased
c
o
n
tr
o
l
s
ch
em
e
th
at
ex
p
licitly
in
co
r
p
o
r
ates e
n
er
g
y
co
n
s
u
m
p
tio
n
co
n
s
id
er
atio
n
s
.
−
Glo
b
al
o
p
tim
u
m
i
n
ADRC
ap
p
r
o
ac
h
-
m
o
tiv
atio
n
al
ex
am
p
le
C
o
n
s
id
er
th
e
n
o
n
lin
ea
r
s
y
s
tem
:
̇
1
(
)
=
λ
x
1
(
t
)
,
̇
2
(
)
=
β
x
1
2
(
t
)
+
α
x
2
(
t
)
+
ζ
u
(
t
)
,
{
β
,
α
,
ζ
,
λ
}
∈
R
,
(
1
4
)
wh
er
e
∈
−
en
s
u
r
es st
ab
ilit
y
.
Fo
r
=
−
1
an
d
=
=
=
1
,
u
n
d
er
ADRC
,
th
e
s
y
s
tem
b
ec
o
m
es:
̇
2
(
)
=
x
1
2
(
t
)
+
x
2
(
t
)
+
u
(
t
)
→
̇
=
κ
u
(
t
)
+
ξ
(
t
)
,
(
1
5
)
with
ξ
(
t
)
=
x
1
2
(
t
)
+
x
2
(
t
)
wh
er
e
=
1
.
T
h
e
d
is
tu
r
b
an
ce
d
y
n
am
ics
ar
e
̇
(
)
=
−
ξ
(
t
)
+
2
x
2
(
)
+
(
)
.
T
h
u
s
,
th
e
ex
ten
d
e
d
s
y
s
tem
d
y
n
a
m
ics,
co
n
s
id
er
in
g
th
e
d
is
tu
r
b
an
ce
m
o
d
el,
ar
e:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
2
3
,
No
.
5
,
Octo
b
e
r
2
0
2
5
:
1
4
2
7
-
1
4
3
8
1430
[
̇
1
(
)
̇
2
(
)
̇
(
)
]
=
[
−
1
0
0
0
0
1
0
2
−
1
]
[
1
(
)
2
(
)
(
)
]
+
[
0
1
1
]
(
)
.
(
1
6
)
Usi
n
g
a
lin
ea
r
q
u
a
d
r
atic
r
eg
u
l
ato
r
(
L
QR
)
f
r
am
ewo
r
k
,
th
e
o
p
tim
al
co
n
tr
o
l g
ai
n
s
ar
e:
=
−
[
0
1
.
707
0
.
07071
]
.
(
1
7
)
T
h
e
r
esu
ltin
g
co
n
tr
o
l
law
is
(
)
=
−
1
.
707
2
(
)
−
0
.
7071
(
)
.
T
h
is
d
em
o
n
s
tr
ates
th
at
th
e
d
is
tu
r
b
an
ce
s
h
o
u
ld
n
o
t
b
e
f
u
l
ly
r
ejec
ted
f
o
r
o
p
tim
al
p
er
f
o
r
m
an
ce
.
C
o
n
s
eq
u
en
tly
,
th
is
r
esear
ch
p
r
o
p
o
s
es
th
e
co
n
tr
o
l stra
teg
y
s
h
o
wn
in
Fig
u
r
e
1
,
wh
ich
in
co
r
p
o
r
ates d
is
tu
r
b
an
ce
weig
h
tin
g
in
th
e
ADRC
s
ch
em
e:
Fig
u
r
e
1
.
Pro
p
o
s
ed
c
o
n
tr
o
l str
ateg
y
T
h
e
p
r
o
p
o
s
ed
s
tr
ateg
y
in
clu
d
es
d
is
tu
r
b
an
ce
weig
h
tin
g
v
ia
p
ar
am
eter
an
d
s
tab
ilit
y
g
ain
tu
n
in
g
th
r
o
u
g
h
ac
h
iev
ed
v
ia
er
r
o
r
s
tate
f
ee
d
b
ac
k
.
T
o
o
p
tim
iz
e
b
o
th
d
is
tu
r
b
an
ce
weig
h
tin
g
an
d
co
n
tr
o
ller
p
ar
am
eter
s
ef
f
ec
tiv
ely
,
an
o
p
ti
m
izatio
n
alg
o
r
ith
m
is
r
eq
u
ir
e
d
.
−
Hy
b
r
id
a
lg
o
r
ith
m
A
h
y
b
r
id
al
g
o
r
ith
m
is
em
p
l
o
y
ed
in
th
is
r
esear
ch
d
u
e
to
th
e
co
m
p
le
x
ity
o
f
t
h
e
p
r
o
b
lem
.
T
h
e
alg
o
r
ith
m
is
co
m
p
o
s
ed
o
f
th
r
ee
s
u
b
-
alg
o
r
ith
m
s
:
T
h
e
PS
O
alg
o
r
ith
m
,
TS
,
an
d
SA
.
T
h
e
alg
o
r
ith
m
d
iag
r
a
m
is
s
h
o
wn
in
Fig
u
r
e
2
.
Fig
u
r
e
2
.
Hy
b
r
id
alg
o
r
ith
m
s
c
h
em
e
Par
ticles in
itializa
tio
n
:
i
n
th
is
s
tep
,
th
e
p
ar
ticles o
f
th
e
tr
ad
itio
n
al
PS
O
alg
o
r
ith
m
ar
e
in
itialized
.
C
o
m
p
u
te
th
e
p
er
f
o
r
m
a
n
ce
o
f
an
y
p
a
r
ticle:
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
ea
ch
p
a
r
ticle
is
co
m
p
u
ted
b
ased
o
n
a
p
r
ed
ef
in
e
d
p
er
f
o
r
m
a
n
ce
cr
iter
i
o
n
.
Up
d
ate
n
ew
p
o
s
itio
n
s
:
n
ew
p
o
s
itio
n
s
ar
e
co
m
p
u
ted
f
o
llo
win
g
th
e
tr
ad
itio
n
al
PS
O
s
ch
em
e.
Fin
d
b
est:
1
:
t
h
e
b
est p
ar
ticle
is
s
elec
ted
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t
E
l Co
n
tr
o
l
Op
tima
l a
ctive
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
co
n
tr
o
l wi
th
a
p
p
lica
tio
n
s
in
elec
tr
ic
ve
h
icles
(
Ju
a
n
Q
u
ec
a
n
-
Herr
era
)
1431
C
o
m
p
u
te
n
ew
p
o
s
itio
n
s
a
n
d
s
p
ee
d
s
:
a
ll
n
ew
p
o
s
itio
n
s
an
d
s
p
ee
d
s
a
r
e
co
m
p
u
te
d
co
n
s
id
er
in
g
th
e
p
ar
ticles
u
p
d
ated
i
n
f
o
r
m
atio
n
.
C
an
d
id
ate
s
o
lu
tio
n
:
1
:
t
h
e
b
est
s
o
lu
tio
n
f
r
o
m
th
e
PS
O
alg
o
r
it
h
m
,
1
,
is
u
s
ed
as
th
e
in
itial
s
o
l
u
tio
n
f
o
r
th
e
SA a
lg
o
r
ith
m
.
SA p
r
o
ce
s
s
:
2
:
t
h
e
SA a
lg
o
r
ith
m
p
r
o
ce
s
s
es th
e
in
itial so
lu
tio
n
an
d
p
r
o
d
u
ce
s
a
n
ew
b
est s
o
l
u
tio
n
,
2
.
C
an
d
id
ate
s
o
lu
tio
n
:
2
:
t
h
e
b
est
s
o
lu
tio
n
f
r
o
m
th
e
SA
alg
o
r
it
h
m
,
2
,
is
u
s
ed
as
th
e
ca
n
d
id
ate
s
o
lu
tio
n
f
o
r
th
e
T
S a
lg
o
r
ith
m
.
T
S p
r
o
ce
s
s
:
3
:
t
h
e
T
S a
lg
o
r
ith
m
p
r
o
ce
s
s
es th
e
ca
n
d
id
ate
s
o
lu
ti
o
n
an
d
p
r
o
d
u
ce
s
a
n
ew
b
est s
o
lu
tio
n
,
3
.
Selectio
n
o
f
th
e
g
lo
b
al
b
est
b
etwe
en
1
,
2
,
3
:
t
h
e
b
est
s
o
lu
tio
n
i
s
s
elec
ted
f
r
o
m
1
,
2
an
d
3
.
I
f
th
e
ter
m
in
atio
n
co
n
d
itio
n
is
n
o
t m
et,
th
e
alg
o
r
ith
m
is
r
ep
ea
ted
.
−
C
o
n
tr
o
l d
esig
n
T
h
e
co
n
tr
o
l
d
esig
n
c
o
n
s
id
er
s
th
e
d
y
n
am
ics
o
f
an
g
u
lar
s
p
ee
d
,
d
ir
ec
t
cu
r
r
e
n
t,
an
d
q
u
a
d
r
at
u
r
e
cu
r
r
e
n
t
with
in
th
e
f
r
am
ewo
r
k
o
f
ADRC
,
b
ased
o
n
th
e
s
y
s
tem
d
y
n
am
ics f
r
o
m
Sectio
n
2
.
1
.
2
.
d
ω
(
t
)
=
μ
ψ
d
(
t
)
i
q
(
t
)
+
ξ
ω1
(
t
)
,
di
d
(
t
)
=
1
u
d
(
t
)
+
ξ
1
(
t
)
,
di
q
(
t
)
=
1
u
q
(
t
)
+
ξ
1
(
t
)
(
1
8
)
wh
er
e
1
(
)
,
1
(
)
an
d
1
(
)
r
ep
r
esen
t
u
n
if
ied
d
is
tu
r
b
a
n
ce
s
f
o
r
ea
c
h
co
n
tr
o
lled
v
ar
iab
le.
T
h
ese
d
y
n
am
ics ar
e
s
im
p
lifie
d
as f
ir
s
t
-
o
r
d
er
s
y
s
tem
s
f
o
r
co
n
tr
o
l d
es
ig
n
:
dy
(
t
)
=
κ
u
(
t
)
+
ξ
(
t
)
(
1
9
)
wh
er
e
(
)
is
th
e
o
u
tp
u
t,
(
)
th
e
co
n
tr
o
l
s
ig
n
al,
an
av
er
ag
e
v
alu
e,
an
d
(
)
th
e
u
n
if
ied
d
is
tu
r
b
an
ce
.
B
y
in
tr
o
d
u
cin
g
th
e
tr
ac
k
in
g
er
r
o
r
e
y
(
t
)
=
y
(
t
)
−
y
∗
(
t
)
an
d
u
s
in
g
an
i
n
ter
n
al
m
o
d
el
ass
u
m
in
g
co
n
s
tan
t
d
is
tu
r
b
an
ce
,
th
e
ex
ten
d
ed
s
tate
is
d
ef
in
ed
as
x
1
(
)
=
(
)
an
d
2
(
)
=
(
)
,
lead
in
g
to
th
e
s
tate
-
s
p
ac
e
d
y
n
am
ics:
[
̇
1
(
)
̇
2
(
)
]
=
[
0
1
0
0
]
[
1
(
)
2
(
)
]
+
[
0
]
(
)
+
[
0
1
]
(
)
(
2
0
)
with
th
e
o
u
tp
u
t:
x
1
(
)
=
(
)
=
[
1
0
]
[
1
(
)
2
(
)
]
(
2
1
)
u
s
in
g
th
e
ex
ten
d
ed
s
tate
o
b
s
er
v
er
(
E
SO)
,
th
e
esti
m
ated
s
tate
s
(
̂
(
)
an
d
̂
(
)
)
f
ac
ilit
ate
th
e
co
n
tr
o
l la
w
f
o
r
ea
ch
v
ar
iab
le.
Fo
r
an
g
u
lar
s
p
e
ed
:
(
)
=
(
)
(
)
+
(
)
(
2
2
)
with
th
e
co
n
tr
o
l la
w:
(
)
=
1
(
)
(
−
̂
(
)
−
̂
(
)
)
(
2
3
)
Su
b
s
titu
tin
g
in
to
th
e
d
y
n
am
ics
an
d
ex
p
r
ess
in
g
in
th
e
l
a
p
lace
d
o
m
ain
:
(
+
)
(
)
=
(
1
−
)
(
)
−
ξω
Δ
ξ
ω
(
s
)
−
k
ω
Δ
e
ω
(
s
)
(
2
4
)
wh
er
e
m
an
ag
es
s
tab
ilit
y
,
r
eg
u
lates
tr
ac
k
in
g
p
er
f
o
r
m
a
n
c
e,
an
d
Δ
r
ep
r
esen
ts
th
e
esti
m
atio
n
er
r
o
r
.
W
h
ile
f
o
r
th
e
d
ir
ec
t c
u
r
r
e
n
t d
y
n
am
ics:
(
)
=
1
(
)
+
(
)
(
2
5
)
th
e
co
n
tr
o
l la
w
is
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
2
3
,
No
.
5
,
Octo
b
e
r
2
0
2
5
:
1
4
2
7
-
1
4
3
8
1432
(
)
=
(
−
̂
(
)
−
̂
(
)
)
(
2
6
)
lead
in
g
t
o
s
im
ilar
s
tab
ilit
y
a
n
d
p
er
f
o
r
m
an
ce
tr
ad
e
-
o
f
f
s
as
an
g
u
lar
s
p
ee
d
.
T
h
e
q
u
a
d
r
at
u
r
e
c
u
r
r
en
t
co
n
tr
o
l
f
o
llo
ws
an
alo
g
o
u
s
p
r
in
ci
p
les.
I
n
s
u
m
m
a
r
y
,
,
,
an
d
r
ep
r
ese
n
t
d
is
tu
r
b
an
ce
weig
h
tin
g
p
ar
a
m
eter
s
,
wh
ile
,
,
an
d
m
an
a
g
e
s
tab
ilit
y
.
T
o
s
im
p
lify
o
p
tim
izatio
n
an
d
m
ain
tain
lin
ea
r
ity
,
=
1
is
s
elec
ted
.
Fig
u
r
e
3
illu
s
tr
ates
th
e
in
d
u
cti
o
n
m
o
to
r
u
n
d
e
r
th
e
FOC
s
ch
em
e,
wh
er
e
th
e
p
r
o
p
o
s
ed
h
y
b
r
i
d
alg
o
r
it
h
m
is
u
s
ed
f
o
r
o
f
f
lin
e
o
p
tim
izatio
n
.
Fig
u
r
e
3
.
Pro
p
o
s
ed
c
o
n
tr
o
l sch
em
e
T
h
e
co
n
tr
o
ller
s
,
an
d
,
b
ased
o
n
th
e
Fig
u
r
e
3
,
in
c
o
r
p
o
r
ate
f
lu
x
esti
m
ato
r
s
f
o
r
th
e
r
o
to
r
FOC
s
ch
em
e:
̂
(
)
=
−
η
̂
(
)
+
(
)
,
̂
(
)
=
−
(
)
+
(
)
̂
(
)
(
2
7
)
A
s
atu
r
atio
n
s
ch
em
e
en
s
u
r
es
th
e
co
n
tr
o
l
s
ig
n
al
r
em
ai
n
s
with
in
p
r
ac
tical
b
o
u
n
d
s
,
wh
il
e
o
f
f
lin
e
s
im
u
latio
n
d
eter
m
in
es
d
is
tu
r
b
an
ce
weig
h
tin
g
p
ar
am
eter
s
an
d
ev
alu
ate
s
th
e
v
eh
icle
d
y
n
am
ics
th
r
o
u
g
h
a
d
ir
ec
t
cu
r
r
en
t
(
DC
)
g
en
er
ato
r
.
−
I
n
d
u
ctio
n
o
f
m
o
to
r
an
d
v
eh
icl
e
p
ar
am
eter
s
Deta
ils
th
e
p
ar
am
eter
s
o
f
th
e
in
d
u
ctio
n
m
o
to
r
an
d
th
e
elec
t
r
ic
v
eh
icle:
th
e
n
o
m
in
al
s
p
ee
d
p
er
p
o
le
p
air
is
1
5
0
0
r
p
m
,
o
p
e
r
atin
g
at
7
0
V
an
d
5
0
Hz
with
a
n
o
m
in
al
c
u
r
r
en
t
o
f
1
.
2
A.
T
h
e
s
tato
r
an
d
r
o
to
r
r
esis
tan
ce
s
ar
e
6
.
5
7
5
Ω
an
d
1
9
.
5
7
7
Ω
,
r
esp
ec
tiv
ely
.
T
h
e
n
o
m
in
al
to
r
q
u
e
is
0
.
6
Nm
,
an
d
th
e
n
o
m
in
al
p
o
wer
is
1
0
0
W
.
T
h
e
m
o
to
r
’
s
m
ag
n
eti
za
tio
n
in
d
u
ctan
ce
is
2
4
3
.
4
m
H,
wh
ile
th
e
r
o
to
r
an
d
s
tato
r
leak
ag
e
in
d
u
ctan
ce
s
ar
e
5
.
4
m
H
an
d
5
5
.
2
m
H,
r
e
s
p
ec
tiv
ely
.
R
eg
ar
d
in
g
th
e
v
e
h
icle,
its
m
ass
is
9
8
Kg
,
wit
h
a
wh
ee
l
r
ad
iu
s
o
f
0
.
3
5
9
4
m
an
d
a
f
ix
ed
g
ea
r
r
at
io
o
f
9
.
7
3
.
T
h
e
f
r
o
n
tal
a
r
ea
m
ea
s
u
r
es
2
.
4
2
an
d
th
e
air
d
en
s
it
y
is
1
.
1
8
3
9
3
.
T
h
e
ae
r
o
d
y
n
am
ic
d
r
ag
c
o
ef
f
ic
ien
t is 0
.
2
4
,
th
e
r
o
llin
g
r
esis
tan
ce
co
ef
f
icien
t is 0
.
0
0
2
,
an
d
is
5
.
3
4
7
5
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
s
ec
tio
n
p
r
esen
ts
s
im
u
latio
n
an
d
ex
p
er
im
en
tal
r
esu
lts
.
T
h
e
d
is
tu
r
b
a
n
ce
weig
h
tin
g
is
d
eter
m
in
ed
th
r
o
u
g
h
th
e
s
im
u
latio
n
r
esu
lts
,
an
d
th
e
p
ar
am
eter
t
u
n
in
g
is
v
alid
ated
th
r
o
u
g
h
th
e
ex
p
e
r
im
e
n
tal
r
esu
lts
.
3
.
1
.
Sim
ula
t
i
o
n
r
esu
lt
s
3
.
1
.
1
.
Ref
er
ence
co
ns
idered
T
h
is
s
u
b
s
ec
tio
n
p
r
esen
ts
an
an
aly
s
is
u
s
in
g
t
h
e
h
y
b
r
id
alg
o
r
ith
m
u
n
d
e
r
o
f
f
lin
e
s
im
u
latio
n
.
I
t
co
m
p
ar
es
tr
ad
itio
n
al
ADRC
with
a
m
o
d
if
ied
ADR
C
b
ased
o
n
d
is
tu
r
b
an
ce
weig
h
tin
g
.
T
h
e
r
ef
er
en
ce
u
s
ed
in
th
e
o
p
tim
izatio
n
p
r
o
b
lem
s
is
s
h
o
wn
in
Fig
u
r
e
4
an
d
is
b
ased
o
n
th
e
u
r
b
a
n
d
y
n
a
m
o
m
ete
r
d
r
iv
in
g
s
ch
ed
u
le
(
UDDS
)
,
co
m
m
o
n
ly
u
s
ed
in
el
ec
tr
ic
v
eh
icle
test
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t
E
l Co
n
tr
o
l
Op
tima
l a
ctive
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
co
n
tr
o
l wi
th
a
p
p
lica
tio
n
s
in
elec
tr
ic
ve
h
icles
(
Ju
a
n
Q
u
ec
a
n
-
Herr
era
)
1433
Fig
u
r
e
4
.
R
ef
er
e
n
ce
f
o
r
th
e
o
p
tim
izatio
n
p
r
o
b
le
m
s
T
h
e
weig
h
tin
g
p
ar
am
eter
s
f
o
r
th
e
co
s
t
f
u
n
ctio
n
wer
e
s
elec
ted
th
r
o
u
g
h
s
im
u
latio
n
test
s
.
T
h
e
co
m
p
a
r
is
o
n
b
etwe
en
th
e
tr
ad
itio
n
al
ADRC
an
d
th
e
m
o
d
if
ied
v
er
s
io
n
was
b
ased
o
n
th
e
f
o
llo
win
g
o
p
tim
i
za
tio
n
p
r
o
b
lem
s
.
3
.
1
.
2
.
ADRC
(
dis
t
urba
nce
re
j
ec
t
io
n
)
=
∫
(
0
.
35
(
)
+
50
(
)
+
500
(
)
)
160
0
.
(
2
8
)
S.t
60
≤
≤
300
,
60
≤
≤
300
,
60
≤
≤
300
.
T
h
e
o
b
jectiv
e
o
f
th
e
f
ir
s
t
o
p
tim
izatio
n
p
r
o
b
lem
is
to
tu
n
e
th
e
p
ar
am
eter
s
o
f
th
e
co
n
tr
o
l
law
to
g
u
ar
an
tee
th
e
s
tab
ilit
y
o
f
th
e
s
y
s
tem
.
I
n
th
i
s
ca
s
e,
d
i
s
tu
r
b
an
ce
weig
h
tin
g
is
n
o
t
co
n
s
id
er
ed
,
in
o
th
er
wo
r
d
s
k
ξ
iq
=
k
ξ
id
=
k
ξω
=
1
.
3
.
1
.
3
.
M
o
dified
ADRC
(
di
s
t
u
rba
nce
weig
hting
)
Fo
r
th
is
ca
s
e,
th
e
o
p
tim
izatio
n
p
r
o
b
lem
is
g
iv
en
b
y
:
=
∫
(
0
.
35
(
)
+
50
(
)
+
500
(
)
)
160
0
.
(
2
9
)
S.t
60
≤
≤
300
,
60
≤
≤
300
,
60
≤
≤
300
,
0
.
990
≤
k
ξ
iq
≤
1
.
1
,
0
.
990
≤
k
ξ
id
≤
1
.
1
.
I
n
th
is
ca
s
e,
th
e
d
is
tu
r
b
a
n
ce
w
eig
h
tin
g
f
o
r
th
e
c
u
r
r
e
n
ts
is
co
n
s
id
er
ed
,
an
d
th
e
co
n
s
tr
ain
ts
o
f
all
v
ar
iab
les f
o
r
b
o
th
o
p
tim
izatio
n
p
r
o
b
lem
s
ar
e
r
elate
d
to
th
e
ADRC
ca
p
ab
ilit
ies an
d
n
u
m
er
ical
s
tab
ilit
y
.
3
.
1
.
4
.
Resul
t
s
o
f
t
he
f
irst
co
m
pa
riso
n a
na
ly
s
is
Par
am
eter
s
f
o
r
th
e
h
y
b
r
id
alg
o
r
ith
m
u
s
ed
to
tu
n
e
c
o
n
tr
o
l
s
tr
ateg
ies.
Fo
r
tu
n
in
g
,
,
an
d
in
d
is
tu
r
b
an
ce
r
ejec
tio
n
,
t
h
r
ee
v
ar
iab
les
ar
e
o
p
tim
ized
with
lim
its
r
an
g
in
g
f
r
o
m
6
0
to
3
0
0
.
T
h
e
alg
o
r
ith
m
em
p
lo
y
s
1
0
p
ar
ticles an
d
a
m
a
x
im
u
m
o
f
3
0
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atio
n
s
,
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d
2
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et
to
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7
,
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d
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er
tia
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g
h
ts
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d
at
0
.
9
an
d
0
.
2
,
r
esp
ec
tiv
ely
.
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h
e
in
itial
tem
p
er
atu
r
e
is
1
0
o
r
5
,
with
an
a
n
n
ea
lin
g
r
ate
o
f
0
.
7
.
A
t
ab
u
lis
t
o
f
len
g
th
1
0
,
a
n
eig
h
b
o
r
h
o
o
d
s
ize
o
f
3
,
an
d
3
TS
iter
atio
n
s
ar
e
also
u
s
ed
.
Fo
r
tu
n
in
g
,
,
,
,
an
d
,
f
iv
e
v
ar
ia
b
les
ar
e
o
p
tim
ized
with
lim
its
f
r
o
m
(
6
0
,
6
0
,
6
0
,
0
.
9
9
0
,
0
.
9
9
0
)
to
(
3
0
0
,
3
0
0
,
3
0
0
,
1
.
1
,
1
.
1
)
,
u
s
in
g
th
e
s
am
e
s
etu
p
.
T
h
e
i
n
itial
tem
p
er
atu
r
e
is
ad
ju
s
ted
d
ep
en
d
i
n
g
o
n
th
e
c
u
r
r
en
t
te
m
p
er
atu
r
e
a
n
d
th
e
co
m
p
ar
is
o
n
b
etwe
en
PS
O
an
d
h
y
b
r
id
p
e
r
f
o
r
m
an
ce
:
if
t
h
e
tem
p
er
atu
r
e
is
1
o
r
th
e
h
y
b
r
id
al
g
o
r
ith
m
o
u
tp
er
f
o
r
m
s
PS
O,
th
e
n
ew
in
i
tial
tem
p
er
atu
r
e
is
s
et
to
5
to
r
ef
in
e
th
e
s
ea
r
ch
s
p
ac
e.
C
o
n
s
id
er
in
g
th
e
r
esu
lts
,
d
is
tu
r
b
an
ce
weig
h
tin
g
d
em
o
n
s
tr
ates
b
etter
p
er
f
o
r
m
a
n
ce
co
m
p
ar
ed
t
o
d
is
tu
r
b
an
ce
r
ejec
tio
n
,
alth
o
u
g
h
th
e
n
u
m
b
er
o
f
iter
atio
n
s
s
u
g
g
ests
th
at
it m
ay
in
v
o
lv
e
h
i
g
h
er
c
o
m
p
lex
ity
,
as f
u
r
t
h
er
d
etailed
i
n
T
ab
le
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
2
3
,
No
.
5
,
Octo
b
e
r
2
0
2
5
:
1
4
2
7
-
1
4
3
8
1434
T
ab
le
1
.
R
esu
lts
o
f
tu
n
in
g
-
d
is
tu
r
b
an
ce
r
ejec
tio
n
an
d
d
is
tu
r
b
a
n
ce
weig
h
tin
g
V
a
r
i
a
b
l
e
D
i
st
u
r
b
a
n
c
e
w
e
i
g
h
t
i
n
g
D
i
st
u
r
b
a
n
c
e
r
e
j
e
c
t
i
o
n
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1
.
0
5
4
2
60
3
0
0
3
0
0
3
0
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0
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1
.
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2
7
3
N
o
t
c
o
n
s
i
d
e
r
e
d
1
.
1
N
o
t
c
o
n
s
i
d
e
r
e
d
N
u
mb
e
r
o
f
i
t
e
r
a
t
i
o
n
s
23
3
3
.
2
.
E
x
perim
ent
a
l
r
esu
lt
s
3
.
2
.
1
.
E
x
perim
ent
a
l c
o
nd
it
io
ns
T
h
e
f
o
llo
win
g
co
n
d
itio
n
s
wer
e
tak
en
in
to
ac
c
o
u
n
t
f
o
r
t
h
e
ex
p
er
im
en
t:
−
I
n
th
is
r
esear
ch
ex
p
er
im
en
t,
t
h
e
s
y
s
tem
’
s
s
lo
p
e
i
s
d
is
r
eg
ar
d
ed
,
an
d
th
e
d
y
n
am
ics
ar
e
m
o
d
eled
u
s
in
g
a
DC
m
o
to
r
.
T
h
e
o
b
jectiv
e
is
to
m
o
d
el
th
e
m
ac
h
in
e
’
s
cu
r
r
en
t
r
ef
e
r
en
ce
to
d
escr
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e
th
e
to
r
q
u
e
.
C
o
n
s
eq
u
en
tly
,
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e
clim
b
i
n
g
f
o
r
ce
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o
t
co
n
s
id
er
e
d
,
m
ea
n
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n
g
=
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th
e
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o
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p
e
a
n
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le
is
ig
n
o
r
e
d
)
,
an
d
is
ex
clu
d
ed
(
as p
e
r
(
1
)
).
−
Fo
r
th
e
E
SO
d
esig
n
in
th
e
in
d
u
ctio
n
m
o
t
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r
,
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en
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alu
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ciate
d
with
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r
r
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ts
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e
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d
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en
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ee
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ted
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h
e
r
ef
er
e
n
ce
f
o
r
th
e
d
ir
ec
t c
u
r
r
en
t is set to
a
co
n
s
tan
t v
alu
e
o
f
∗
(
)
=
1
.
2
[
A]
.
3
.
2
.
2
.
E
x
perim
ent
a
l set
up
T
h
is
s
u
b
s
ec
tio
n
d
etails
th
e
e
x
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er
im
en
tal
im
p
lem
en
tatio
n
o
f
co
n
tr
o
l
s
tr
ateg
ies,
in
v
o
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in
g
a
g
lo
b
al
ex
p
er
im
en
t
co
m
p
ar
in
g
two
co
n
tr
o
l
s
tr
ateg
ies:
o
n
e
f
o
cu
s
ed
o
n
d
is
tu
r
b
an
ce
r
ejec
tio
n
an
d
th
e
o
th
er
o
n
d
is
tu
r
b
an
ce
weig
h
tin
g
,
with
ea
ch
s
tr
ateg
y
u
n
d
er
g
o
i
n
g
te
n
tr
ials
to
m
itig
ate
u
n
ce
r
tain
ti
es
in
m
ea
s
u
r
em
e
n
t
eq
u
ip
m
en
t
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d
m
o
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co
n
d
itio
n
s
.
T
h
e
s
y
s
tem
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s
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g
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lar
s
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ee
d
r
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e
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er
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,
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d
th
e
co
s
t
an
d
s
tan
d
ar
d
d
ev
iatio
n
o
f
b
o
t
h
s
tr
ateg
ies ar
e
co
m
p
ar
e
d
.
T
h
e
ex
p
er
im
en
tal
s
etu
p
in
clu
d
es
an
in
d
u
ctio
n
m
o
to
r
,
a
n
X
PC
tar
g
et
f
o
r
r
ea
l
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tim
e
c
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n
tr
o
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a
th
r
ee
-
p
h
ase
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ec
tifie
r
,
th
r
ee
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p
h
ase
in
v
er
ter
,
DC
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DC
co
n
v
er
ter
,
an
d
m
ea
s
u
r
em
en
t
s
y
s
tem
s
f
o
r
v
o
ltag
es
an
d
cu
r
r
en
ts
.
T
h
e
s
y
s
tem
o
p
er
ates
b
y
co
n
n
e
ctin
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ee
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r
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ich
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r
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ly
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ig
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g
et.
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h
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in
v
er
ter
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ilter
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y
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ilter
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r
i
v
es
an
in
d
u
ctio
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o
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r
co
n
n
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to
a
DC
m
o
to
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th
at
ac
ts
as
a
lo
a
d
,
wit
h
th
e
DC
m
o
to
r
’
s
cu
r
r
e
n
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r
eg
u
lated
b
y
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DC
-
DC
co
n
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er
ter
.
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h
e
en
tire
s
etu
p
,
in
clu
d
in
g
m
ea
s
u
r
e
m
en
t
in
s
tr
u
m
en
ts
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n
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o
l
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ig
n
als,
is
m
an
ag
ed
in
r
ea
l
-
tim
e
u
s
in
g
MA
T
L
AB
,
with
co
m
p
o
n
en
ts
in
ter
co
n
n
ec
ted
th
r
o
u
g
h
a
tr
an
s
m
is
s
io
n
co
n
tr
o
l
p
r
o
to
co
l/in
ter
n
et
p
r
o
to
c
o
l
(
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C
P/IP)
.
T
h
e
ex
p
er
im
en
tal
s
etu
p
is
illu
s
tr
ated
in
Fig
u
r
e
5
.
Fig
u
r
e
5
.
E
x
p
er
im
e
n
tal
s
etu
p
3
.
2
.
3
.
E
x
perim
ent
a
l r
esu
lt
s
I
n
th
is
s
u
b
s
ec
tio
n
,
th
e
ex
p
er
i
m
en
tal
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etu
p
o
f
Fig
u
r
e
5
was u
s
ed
u
s
in
g
t
h
e
co
n
tr
o
l p
ar
am
e
ter
s
lis
ted
in
T
ab
le
1
.
A
c
o
m
p
ar
is
o
n
b
etwe
en
th
e
tr
ad
itio
n
al
ADRC
an
d
th
e
m
o
d
if
ied
v
e
r
s
io
n
was
m
ad
e
u
s
in
g
d
if
f
er
e
n
t
p
er
f
o
r
m
an
ce
cr
iter
ia.
R
esu
lts
s
h
o
w
th
e
m
o
d
if
ied
v
er
s
io
n
o
u
tp
er
f
o
r
m
s
th
e
tr
a
d
itio
n
al
ADRC
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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icted
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u
r
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6
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lates
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ical
u
r
b
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ar
io
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o
m
m
u
n
icatio
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ls
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h
e
a
n
aly
s
is
in
clu
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es
d
is
tu
r
b
an
ce
r
ejec
tio
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d
d
is
tu
r
b
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weig
h
tin
g
s
tr
ateg
ies,
f
o
cu
s
in
g
o
n
e
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er
g
y
u
s
e,
p
er
f
o
r
m
a
n
ce
,
an
d
co
s
t v
ar
iatio
n
s
.
−
C
o
m
p
ar
is
o
n
a
n
aly
s
is
T
ab
le
1
lis
ts
th
e
p
ar
a
m
eter
s
f
o
r
im
p
le
m
en
tatio
n
s
.
Fig
u
r
es
6
(
a)
an
d
(
b
)
s
h
o
w
th
e
ar
ith
m
etic
m
ea
n
(
AM
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o
f
an
g
u
lar
s
p
ee
d
r
es
p
o
n
s
e
an
d
co
s
ts
f
o
r
b
o
th
s
tr
ateg
ies.
Dis
tu
r
b
an
ce
weig
h
tin
g
s
h
o
ws
g
r
ea
ter
v
ar
iab
ilit
y
b
u
t
h
ig
h
er
o
v
er
all
p
er
f
o
r
m
an
ce
,
w
h
ile
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is
tu
r
b
a
n
ce
r
ejec
tio
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in
c
u
r
s
h
ig
h
e
r
c
o
s
ts
,
s
h
o
win
g
th
at
d
is
tu
r
b
an
ce
weig
h
tin
g
ca
n
i
m
p
r
o
v
e
th
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
d
is
tu
r
b
an
ce
r
ejec
tio
n
alg
o
r
ith
m
.
Ad
d
itio
n
ally
,
en
er
g
y
a
n
d
p
er
f
o
r
m
an
ce
a
r
e
e
v
alu
ated
u
s
in
g
p
ar
am
eter
s
(
(
)
)
an
d
(
(
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,
d
ef
in
e
d
as
(
)
=
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(
(
)
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0
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(
)
=
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|
(
)
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(
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0
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3
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wh
er
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)
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ep
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wer
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n
d
(
)
is
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e
tr
ac
k
in
g
er
r
o
r
.
F
ig
u
r
es
6
(
c)
an
d
(
d
)
illu
s
tr
ate
th
ese
p
ar
am
eter
s
,
s
h
o
win
g
b
etter
p
er
f
o
r
m
a
n
ce
f
o
r
th
e
d
is
tu
r
b
an
ce
weig
h
tin
g
s
tr
ateg
y
.
T
o
ass
ess
co
s
t
v
ar
iatio
n
,
p
ar
am
eter
is
u
s
ed
,
wh
er
e
=
(
A
r
i
t
hm
et
i
c
m
ean
of
co
s
t
s
S
t
an
d
ar
d
d
ev
i
at
i
o
n
of
co
s
t
s
)
.
Fo
r
th
e
d
is
tu
r
b
an
ce
r
ejec
tio
n
c
ase
th
e
p
ar
am
eter
is
eq
u
al
to
4
.
7
8
8
,
wh
ile
f
o
r
th
e
d
is
tu
r
b
an
ce
weig
h
tin
g
c
ase
th
e
v
alu
e
is
e
q
u
al
to
9
.
8
0
4
,
s
h
o
win
g
h
ig
h
e
r
co
s
t
v
ar
iab
ilit
y
f
o
r
d
is
tu
r
b
an
ce
weig
h
tin
g
d
u
e
to
its
n
o
n
lin
ea
r
c
o
n
tr
o
l sch
em
e.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
6
.
E
x
p
er
im
e
n
tal
r
esu
lts
; (
a)
an
g
u
lar
s
p
ee
d
c
o
m
p
ar
is
o
n
,
(
b
)
co
s
t c
o
m
p
a
r
is
o
n
,
(
c
)
p
ar
am
eter
,
an
d
(
d
)
p
ar
am
eter
4.
CO
NCLU
SI
O
N
I
Ms
ar
e
wid
ely
u
s
ed
in
E
Vs
d
u
e
to
th
eir
r
o
b
u
s
tn
ess
an
d
ef
f
i
cien
cy
.
Ho
wev
er
,
v
eh
icle
r
a
n
g
e
r
em
ain
s
a
cr
itical
co
n
ce
r
n
.
T
h
is
wo
r
k
p
r
o
p
o
s
ed
a
m
o
d
if
ied
ADRC
ap
p
r
o
ac
h
,
in
c
o
r
p
o
r
atin
g
a
d
is
t
u
r
b
an
ce
weig
h
tin
g
f
ac
to
r
an
d
tu
n
in
g
its
p
ar
am
et
er
s
th
r
o
u
g
h
a
m
eta
h
eu
r
is
tic
alg
o
r
ith
m
.
T
h
is
m
eth
o
d
d
em
o
n
s
tr
ated
im
p
r
o
v
ed
p
er
f
o
r
m
an
ce
co
m
p
a
r
ed
to
tr
a
d
itio
n
al
tech
n
iq
u
es.
Nev
er
t
h
eless
,
th
e
in
cr
ea
s
ed
co
m
p
lex
ity
o
f
th
e
p
r
o
b
lem
m
ay
lim
it
th
e
ca
p
ab
ilit
ies
o
f
co
n
v
e
n
tio
n
al
ADRC
,
esp
ec
ially
wh
en
co
m
p
lete
d
is
tu
r
b
an
ce
r
ejec
t
io
n
is
n
o
t
ac
h
iev
e
d
.
As
a
r
esu
lt,
th
e
d
is
tu
r
b
a
n
ce
weig
h
tin
g
f
ac
t
o
r
was
d
esig
n
e
d
to
r
em
ain
clo
s
e
to
o
n
e
,
ac
c
o
u
n
tin
g
f
o
r
s
y
s
tem
u
n
ce
r
tain
ties
an
d
th
e
n
o
n
lin
e
ar
d
y
n
am
ics
o
f
th
e
in
d
u
ctio
n
m
o
to
r
.
Ho
wev
er
,
th
is
s
tr
ateg
y
r
ep
r
esen
ts
a
n
ew
o
p
p
o
r
tu
n
ity
f
o
r
ADRC
-
r
elate
d
o
p
tim
izatio
n
p
r
o
b
lem
s
b
ec
au
s
e
th
e
tr
ad
itio
n
al
m
eth
o
d
o
lo
g
y
d
o
es
n
o
t
co
n
s
id
er
th
e
im
p
ac
t
o
f
in
co
r
p
o
r
atin
g
co
n
tr
o
l
f
lex
ib
ilit
y
i
n
to
th
e
d
esig
n
b
ec
au
s
e
t
h
e
m
et
h
o
d
o
lo
g
y
ass
u
m
es
p
e
r
f
ec
t
d
is
tu
r
b
an
ce
r
ejec
tio
n
.
Fo
r
f
u
t
u
r
e
wo
r
k
,
it
is
r
ec
o
m
m
en
d
ed
to
ex
ten
d
th
is
a
p
p
r
o
ac
h
to
o
th
er
ty
p
es
o
f
m
o
to
r
s
,
in
teg
r
atin
g
d
is
tu
r
b
an
ce
weig
h
t
in
g
s
tr
ateg
ies
with
alter
n
ativ
e
m
etah
eu
r
is
tic
alg
o
r
ith
m
s
co
m
m
o
n
ly
f
o
u
n
d
in
th
e
liter
atu
r
e
to
v
alid
ate
its
g
en
er
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y
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d
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er
f
o
r
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r
o
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s
d
if
f
er
en
t m
o
t
o
r
d
r
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tem
s
.
ACK
NO
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DG
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M
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th
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Un
iv
er
s
id
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d
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io
n
al
d
e
C
o
lo
m
b
ia
f
o
r
th
eir
s
u
p
p
o
r
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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D
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C
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