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1
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[
2
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3
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.
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[
4
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.
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s
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to
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ac
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t
r
aj
ec
to
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y
tr
a
c
k
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[
5
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-
[
7
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.
Ma
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s
h
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w
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h
a
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PS
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c
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tr
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s
ass
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d
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f
u
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i
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v
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s
a
p
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to
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p
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b
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r
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ac
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[
8
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.
Ho
w
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t
h
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d
v
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f
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9
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.
MO
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I
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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4
I
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t J Po
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&
Dr
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t
,
Vo
l.
16
,
No
.
4
,
Dec
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b
er
20
25
:
2321
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2
3
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1
2322
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an
d
f
i
n
all
y
th
e
a
v
o
i
d
a
n
c
e
o
f
p
r
em
at
u
r
e
co
n
v
e
r
g
e
n
c
e
,
wh
ic
h
r
es
u
l
ts
i
n
co
n
v
e
r
g
e
n
c
e
t
o
w
ar
d
s
a
l
o
c
al
s
o
l
u
ti
o
n
r
a
th
e
r
t
h
an
a
d
esi
r
e
d
g
l
o
b
al
s
o
l
u
ti
o
n
[
1
2
]
,
[
1
3
]
.
Sli
d
in
g
m
o
d
e
c
o
n
tr
o
l (
SMC
)
i
s
a
r
o
b
u
s
t c
o
n
tr
o
l te
ch
n
iq
u
e
f
o
r
s
tab
ilizin
g
d
y
n
am
ic
s
y
s
tem
s
[
1
4
]
,
[
1
5
]
.
I
ts
f
u
n
d
am
en
tal
p
r
i
n
cip
le
is
t
o
cr
ea
te
a
s
lid
in
g
s
u
r
f
ac
e
in
th
e
s
y
s
tem
s
tate
s
p
ac
e
[
1
6
]
,
[
1
7
]
,
en
s
u
r
in
g
th
e
m
o
tio
n
to
war
d
a
d
esire
d
eq
u
ilib
r
iu
m
.
T
h
e
s
lid
in
g
s
u
r
f
a
ce
o
f
SOSMC
im
p
r
o
v
es
co
n
tr
o
l
ac
cu
r
ac
y
an
d
d
is
tu
r
b
an
ce
r
ejec
tio
n
[
1
8
]
-
[
2
0
]
.
T
OSMC
f
u
r
th
er
in
co
r
p
o
r
ates
th
ir
d
-
o
r
d
er
d
er
iv
ativ
es
f
o
r
h
i
g
h
er
ac
c
u
r
ac
y
an
d
s
tab
ilit
y
.
T
h
ese
m
eth
o
d
s
in
cr
e
ase
th
e
co
m
p
lex
ity
;
h
o
wev
er
,
th
eir
r
o
b
u
s
t
p
e
r
f
o
r
m
an
ce
m
ak
es
th
em
s
u
itab
le
f
o
r
ap
p
licatio
n
s
r
eq
u
ir
i
n
g
h
i
g
h
ac
cu
r
ac
y
an
d
s
tab
ilit
y
[
2
1
]
-
[
2
5
]
.
T
h
e
o
b
jectiv
e
o
f
th
is
wo
r
k
i
s
to
co
m
p
ar
e
th
r
ee
i
n
n
o
v
ativ
e
s
tr
ateg
ies
o
f
th
e
DSI
M
d
r
iv
e
u
n
d
e
r
ex
tr
em
e
o
p
e
r
atin
g
co
n
d
itio
n
s
,
in
o
r
d
er
to
d
eter
m
in
e
th
e
tec
h
n
iq
u
e
th
at
p
r
o
v
i
d
es
b
etter
en
er
g
y
ef
f
icien
c
y
an
d
r
ed
u
ce
d
lo
s
s
es
f
o
r
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
T
h
e
s
im
u
latio
n
r
e
s
u
lts
u
n
d
er
MA
T
L
AB
/Si
m
u
li
n
k
clea
r
ly
illu
s
tr
ate
th
e
s
u
p
er
io
r
ity
o
f
th
e
MO
A
-
F
T
OSMC
tech
n
iq
u
e,
s
h
o
win
g
s
tr
o
n
g
r
o
b
u
s
tn
ess
ag
ain
s
t
s
p
e
ed
v
ar
iatio
n
s
a
n
d
a
co
n
s
id
er
ab
le
r
ed
u
ctio
n
o
f
th
e
ch
atter
in
g
p
h
en
o
m
en
o
n
.
T
h
e
an
aly
s
is
also
in
d
icate
s
th
at
th
i
s
s
tr
ateg
y
ac
h
iev
es
th
e
lo
west
h
ar
m
o
n
ic
d
is
to
r
tio
n
o
f
th
e
s
tato
r
cu
r
r
en
t
(
T
HD)
.
Fu
r
th
er
m
o
r
e,
it
s
u
cc
ess
f
u
lly
m
in
im
izes
th
e
er
r
o
r
cr
iter
ia
(
I
T
AE
,
I
T
SE,
an
d
I
SE
)
,
co
n
f
ir
m
in
g
its
ef
f
ec
tiv
en
ess
in
im
p
r
o
v
in
g
d
y
n
am
ic
r
esp
o
n
s
es.
I
n
ad
d
itio
n
,
th
e
o
p
tim
izatio
n
p
r
o
ce
s
s
d
em
o
n
s
tr
ates
th
at
th
e
MA
O
alg
o
r
ith
m
co
m
b
i
n
ed
with
t
h
e
F
T
SOSMC
r
eg
u
lato
r
co
n
v
er
g
es
r
ap
id
ly
to
war
d
th
e
o
p
tim
al
s
o
lu
tio
n
with
f
ewe
r
iter
atio
n
s
,
r
ein
f
o
r
ci
n
g
th
e
c
o
n
tr
ib
u
tio
n
o
f
th
is
ap
p
r
o
ac
h
co
m
p
ar
ed
t
o
p
r
e
v
io
u
s
ly
r
ep
o
r
ted
s
tu
d
ies.
T
ab
le
1.
Per
f
o
r
m
an
ce
co
m
p
a
r
is
o
n
f
o
r
s
p
ee
d
r
ev
e
r
s
al
A
p
p
r
o
a
c
h
I
A
E
I
S
E
I
TSE
M
O
A
-
S
O
S
M
C
6
2
.
9
0
4
7
9
8
1
.
9
1
4
e
+
0
4
M
O
A
-
TO
S
M
C
3
9
.
7
1
3
4
1
6
6
1
.
6
0
2
e
+
0
4
M
O
A
-
F
TO
S
M
C
3
1
.
8
8
4
0
3
5
1
.
4
0
1
e
+
0
4
2.
M
AT
H
E
M
AT
I
CA
L
M
O
D
E
L
O
F
DSI
M
T
h
e
d
y
n
am
ic
eq
u
atio
n
s
o
f
th
e
DSI
M
ca
n
b
e
r
ep
o
r
ted
in
(
d
,
q
)
ax
es a
s
(
1
)
[5
]
,
[
6]
.
{
V
d
s
1
=
R
s1
i
d
s
1
+
d
φ
d
s
1
dt
−
ω
s
φ
q
s
1
V
q
s
1
=
R
s1
i
q
s
1
+
d
φ
q
s
1
dt
−
ω
s
φ
d
s
1
V
d
s
2
=
R
s1
i
d
s
2
+
d
φ
d
s
2
dt
−
ω
s
φ
q
s
2
V
q
s
2
=
R
s2
i
q
s
2
+
d
φ
q
s
2
dt
−
ω
s
φ
d
s
2
V
dr
=
0
=
R
r
i
dr
+
d
φ
dr
dt
+
(
ω
s
−
ω
r
)
φ
qr
V
qr
=
0
=
R
r
i
qr
+
d
φ
qr
dt
+
(
ω
s
−
ω
r
)
φ
dr
(
1
)
Fo
r
s
tu
d
y
in
g
t
h
e
d
y
n
am
ic
b
e
h
av
io
r
,
th
e
(
2
)
o
f
m
o
tio
n
is
ad
d
ed
.
J
d
Ω
r
dt
=
T
em
−
T
r
−
f
r
Ω
r
(
2
)
T
h
e
m
o
d
el
o
f
th
e
DSI
M
h
as b
ee
n
co
m
p
leted
b
y
t
h
e
ex
p
r
ess
io
n
o
f
th
e
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
T
em
g
iv
en
as (
3
)
.
T
em
=
p
Lm
L
m
+
L
r
(
φ
dr
(
i
q
s
1
+
i
q
s
2
)
−
φ
qr
(
i
d
s
1
+
i
d
s
2
)
)
(
3
)
3.
M
AT
H
E
M
AT
I
CA
L
M
O
D
E
L
O
F
I
F
O
C
I
n
d
ir
ec
t
v
ec
to
r
co
n
tr
o
l
is
a
te
ch
n
iq
u
e
th
at
r
elies
o
n
class
ical
PI
-
ty
p
e
r
eg
u
lato
r
s
.
Ho
wev
e
r
,
th
ese
PI
r
eg
u
lato
r
s
en
co
u
n
ter
d
if
f
icu
lti
es
in
ad
ju
s
tin
g
th
e
g
ain
s
d
u
e
t
o
th
e
n
o
n
-
lin
ea
r
ity
an
d
th
e
h
ig
h
co
m
p
lex
ity
o
f
th
e
s
y
s
tem
[
2
1
]
.
I
n
th
e
ap
p
licatio
n
o
f
I
FOC
to
a
DSI
M,
t
h
e
"
d
"
ax
is
o
f
th
e
f
r
am
e
(
d
q
)
is
alig
n
ed
with
th
e
r
o
t
o
r
f
lu
x
,
with
:
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
I
mp
r
o
ve
men
t o
f D
S
I
M c
o
n
tr
o
l u
s
in
g
fu
z
z
y
th
ir
d
-
o
r
d
er sl
id
in
g
mo
d
e
a
p
p
r
o
a
c
h
… (
R
a
h
ma
B
elka
id
)
2323
φ
qr
=
0
;
φ
dr
=
φ
r
(
4
)
T
h
e
to
r
q
u
e
is
(
5
)
.
C
em
=
P
L
m
L
m
+
L
r
[
(
i
s
q
1
+
i
s
q
2
)
φ
r
]
(
5
)
T
h
en
we
ca
n
h
av
e
th
e
r
ef
er
e
n
c
e
v
o
ltag
es
V
d
s
1
∗
,
V
q
s
1
∗
,
V
d
s
2
∗
,
V
q
s
2
∗
b
ased
o
n
DSI
M
.
{
v
d
s
1
=
∗
=
R
s1
i
s
d
1
+
L
s1
d
dt
i
s
d
1
−
w
s
∗
(
L
s1
i
s
q
1
+
T
r
φ
r
∗
w
gl
∗
)
v
s
q
1
=
∗
=
R
s1
i
s
q
1
+
L
s1
d
dt
i
s
q
1
−
w
s
∗
(
L
s1
i
s
d
1
+
φ
r
∗
)
v
s
d
2
=
∗
=
R
s2
i
s
d
2
+
L
s2
d
dt
i
s
d
2
−
w
s
∗
(
L
s2
i
s
q
2
+
T
r
φ
r
∗
w
gl
∗
)
v
s
q
2
∗
=
R
s2
i
s
q
2
+
L
s2
d
dt
i
s
q
2
−
w
s
∗
(
L
s2
i
s
d
2
+
φ
r
∗
)
(
6
)
T
h
e
o
r
ien
tatio
n
an
g
le
θ
φ
r
_
es
t
ar
e
(
7
)
.
θ
φ
r
_
es
t
=
ta
n
−
1
d
φ
dr
_
es
t
φ
qr
_
es
t
(
7
)
4.
P
RE
S
E
NT
AT
I
O
N
O
F
M
AY
F
L
Y
O
P
T
I
M
I
Z
A
T
I
O
N
A
L
G
O
RIT
H
M
T
E
CH
NIQU
E
T
h
e
M
O
A
w
a
s
es
t
a
b
li
s
h
e
d
b
y
Z
e
r
v
o
u
d
a
k
i
s
a
n
d
T
s
a
f
a
r
a
k
i
s
[
1
0
]
;
i
t
p
r
e
s
e
n
t
s
a
c
o
m
b
i
n
a
ti
o
n
o
f
c
l
a
s
s
i
c
a
l
o
p
t
i
m
i
z
a
ti
o
n
m
e
t
h
o
d
s
s
u
c
h
as
P
S
O
,
G
A
,
a
n
d
t
h
e
F
i
r
e
f
l
y
a
l
g
o
r
i
t
h
m
.
I
t
i
s
a
b
l
e
t
o
p
r
o
v
i
d
e
a
r
o
b
u
s
t
a
p
p
r
o
a
c
h
t
o
a
d
j
u
s
t
t
h
e
b
es
t
g
a
i
n
s
k
i
a
n
d
k
p
o
f
a
s
p
e
e
d
c
o
n
t
r
o
l
l
e
r
i
n
a
d
o
u
b
l
e
-
s
t
a
r
i
n
d
u
c
t
i
o
n
m
a
c
h
i
n
e
d
r
i
v
e
s
y
s
t
e
m
.
T
h
e
a
p
p
r
o
p
r
i
a
t
e
c
o
m
b
i
n
a
t
i
o
n
o
f
t
h
e
s
e
t
h
r
e
e
o
p
ti
m
i
z
at
i
o
n
s
t
r
a
t
e
g
ie
s
a
i
m
s
t
o
o
v
e
r
c
o
m
e
t
h
e
s
h
o
r
t
c
o
m
i
n
g
s
t
h
at
m
a
y
h
i
n
d
e
r
t
h
e
u
s
e
o
f
a
s
i
n
g
l
e
a
l
g
o
r
i
t
h
m
t
o
s
o
m
e
e
x
t
e
n
t
a
n
d
t
o
e
n
h
a
n
c
e
t
h
e
c
a
p
a
b
i
l
i
ti
e
s
o
f
t
h
e
c
o
m
b
i
n
e
d
a
l
g
o
r
i
t
h
m
t
o
i
m
p
r
o
v
e
i
t
s
p
e
r
f
o
r
m
a
n
c
e
[
1
2
]
.
M
O
A
is
a
n
e
f
f
i
c
i
e
n
t
a
n
d
i
n
n
o
v
a
t
i
v
e
t
o
o
l
i
n
s
p
i
r
e
d
b
y
t
h
e
m
i
g
r
a
t
o
r
y
b
e
h
a
v
i
o
r
o
f
m
a
y
f
l
i
e
s
.
I
t
i
s
u
s
e
d
t
o
s
i
m
u
l
a
t
e
f
o
r
a
g
i
n
g
a
n
d
r
e
p
r
o
d
u
c
t
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Evaluation Warning : The document was created with Spire.PDF for Python.
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I
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16
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4
,
Dec
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b
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20
25
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3
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u
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ates
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r
is
es
th
r
ee
in
p
u
ts
g
iv
en
b
y
(
1
5
)
-
(
1
8
)
.
U(
t)
=
U
1
(
t)
+
U
2
(
t)
+
U
3
(
t)
(
1
5
)
U
1
(
t)
=
β
1
.
√
ǀ
S
Ω
ǀ
.
(
S
Ω
)
(
1
6
)
U
2
(
t)
=
β
2
.
∫
(
S
Ω
)
dt
(
1
7
)
U
3
(
t)
=
β
3
.
(
S
Ω
)
(
1
8
)
T
h
e
(
1
9
)
s
h
o
ws th
e
o
u
tp
u
t
o
f
t
h
e
p
r
o
p
o
s
ed
FTOSM
m
eth
o
d
:
U(
t)
=
β
1
.
√
ǀ
S
Ω
ǀ
.
(
S
Ω
)
+
β
2
.
∫
(
S
Ω
)
dt
+
β
3
.
(
S
Ω
)
(
19)
Fig
u
r
e
2
s
h
o
ws a
b
l
o
ck
d
ia
g
r
a
m
o
f
th
e
f
u
zz
y
th
ir
d
-
o
r
d
e
r
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
FTOSM
C
)
s
tr
ateg
y
.
Fig
u
r
e
1
.
T
h
e
T
OSMC s
tr
ateg
y
Fig
u
r
e
2
.
T
h
e
FTOSM
C
s
tr
ate
g
y
T
o
g
en
e
r
ate
th
e
f
u
zz
y
s
y
s
tem
,
we
d
ef
in
ed
s
ev
en
f
u
zz
y
s
ets,
wh
ich
ar
e
r
e
p
r
esen
ted
b
y
th
e
tr
ian
g
u
lar
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
s
h
o
wn
in
Fig
u
r
e
s
3
an
d
4
,
r
esp
ec
tiv
ely
.
T
h
ese
s
ets
ar
e
(
NB
,
NM
,
NS,
Z
E
,
PS
,
PM,
PB
)
.
T
h
e
ch
o
ice
o
f
th
e
tr
ia
n
g
u
lar
s
h
ap
e
o
f
t
h
e
f
u
zz
y
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
u
s
ed
is
ju
s
tifie
d
b
y
th
e
ea
s
e
o
f
th
eir
d
esig
n
an
d
allo
ws
f
o
r
b
e
tter
ad
ju
s
tm
en
t
o
f
th
ei
r
g
eo
m
etr
ic
p
ar
am
eter
s
,
wh
ich
o
f
f
er
s
a
b
etter
ad
ap
tatio
n
o
f
th
is
s
lid
in
g
f
u
zz
y
co
n
tr
o
ller
to
th
e
o
p
e
r
atin
g
c
o
n
d
itio
n
s
o
f
th
e
m
ac
h
in
e.
I
t
is
also
cr
u
cial
to
em
p
h
asize
th
at
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
I
mp
r
o
ve
men
t o
f D
S
I
M c
o
n
tr
o
l u
s
in
g
fu
z
z
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d
-
o
r
d
er sl
id
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g
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R
a
h
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elka
id
)
2325
th
e
tr
an
s
itio
n
o
f
th
e
d
if
f
er
en
t
f
u
zz
y
in
f
er
en
ce
r
u
les
is
ex
ec
u
ted
m
o
r
e
j
u
d
icio
u
s
ly
,
t
h
an
k
s
t
o
th
e
s
m
o
o
t
h
s
h
ap
e
o
f
th
ese
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
.
T
h
e
f
u
zz
y
in
f
er
en
ce
ta
b
le
a
d
o
p
ted
u
s
es
th
e
Ma
m
d
a
n
i
m
o
d
el
,
wh
ich
is
d
e
f
in
ed
b
y
th
e
m
in
im
u
m
,
wh
ich
is
s
y
m
b
o
lized
b
y
“m
in
”
to
ca
lcu
la
te
th
e
d
eg
r
ee
μ
(
Δ
S)
with
r
esp
ec
t
to
ea
ch
r
u
le,
f
o
r
ex
am
p
le,
[
μ
(
Δ
S)
=
m
in
μ
(
s
)
,
µ
(
̇
)
]
.
T
h
e
n
o
r
m
alize
d
o
u
tp
u
t f
u
n
ctio
n
is
r
ep
r
esen
ted
b
y
th
e
f
o
ll
o
win
g
r
elatio
n
:
(
)
=
∑
(
Δ
)
Δ
=
1
∑
(
Δ
)
=
1
(
2
0
)
Fig
u
r
e
3
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
s
f
o
r
in
p
u
t v
alu
es
,
̇
F
i
g
u
r
e
4
.
M
e
m
b
e
r
s
h
i
p
f
u
n
c
ti
o
n
s
f
o
r
o
u
t
p
u
t
v
a
l
u
e
(
)
6.
I
M
P
L
E
M
E
NT
A
T
I
O
N
O
F
M
O
A
-
F
T
O
S
M
C
T
E
CH
N
I
Q
UE
T
h
e
d
if
f
er
e
n
t
s
tag
es
o
f
th
e
MO
A
ar
e
r
ep
r
esen
ted
b
y
t
h
e
f
l
o
wch
ar
t
in
Fig
u
r
e
5
,
wh
er
e
g
-
b
est
is
th
e
g
lo
b
al
o
p
tim
al
s
o
lu
tio
n
a
n
d
p
-
b
est
is
th
e
o
p
tim
al
l
o
ca
tio
n
[
2
6
]
.
T
ab
le
1
p
r
esen
ts
th
e
p
er
f
o
r
m
an
ce
c
o
m
p
ar
is
o
n
o
f
co
n
tr
o
l
s
tr
ateg
ies
d
u
r
in
g
s
p
ee
d
r
ev
e
r
s
al
.
T
h
e
in
p
u
t
a
n
d
o
u
tp
u
t
p
a
r
am
eter
s
with
th
eir
co
r
r
esp
o
n
d
i
n
g
v
alu
es
o
f
th
e
MO
A
ar
e
illu
s
tr
ated
in
T
ab
le
2
.
Fig
u
r
e
5
.
Flo
wch
ar
t illu
s
tr
atin
g
th
e
im
p
lem
e
n
tatio
n
o
f
th
e
M
OA
T
ab
le
2
.
MO
A
p
ar
a
m
eter
s
ettin
g
P
a
r
a
me
t
e
r
M
e
a
n
i
n
g
V
a
l
u
e
P
a
r
a
me
t
e
r
M
e
a
n
i
n
g
V
a
l
u
e
M
a
x
I
t
e
r
N
P
o
p
N
P
o
p
f
g
g
d
a
m
p
R
a
n
d
o
m f
l
i
g
h
t
c
o
e
f
f
i
c
i
e
n
t
N
u
mb
e
r
o
f
ma
l
e
s
N
u
mb
e
r
o
f
f
e
ma
l
e
s
G
r
a
v
i
t
a
t
i
o
n
a
l
c
o
e
f
f
i
c
i
e
n
t
I
n
e
r
t
i
a
d
a
mp
i
n
g
r
a
t
i
o
2
0
1
0
10
0
.
9
8
1
a
1
/
a
2
/
a
3
B
e
t
a
D
fl
D
a
n
c
e
d
a
m
p
/
f
l
d
a
m
p
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mb
e
r
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t
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Le
a
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i
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e
f
f
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t
D
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n
c
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s
i
g
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t
c
o
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f
f
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t
C
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e
f
f
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p
t
i
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d
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n
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e
Th
e
d
a
m
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1
/
1
.
5
/
1
.
5
2
5
1
0
.
8
/
0
.
9
9
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
.
4
,
Dec
em
b
er
20
25
:
2321
-
2
3
3
1
2326
7.
RE
SU
L
T
S AN
A
L
YS
I
S AN
D
DIS
CU
SS
I
O
N
T
o
illu
s
tr
ate
th
e
co
n
tr
i
b
u
tio
n
m
ad
e
to
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
I
FOC
co
n
tr
o
l
o
n
DSI
M,
th
e
MO
A
is
u
s
ed
to
ad
ju
s
t
th
e
b
est
p
r
o
p
o
r
tio
n
al
an
d
in
teg
r
al
g
ain
s
o
f
th
e
s
p
ee
d
r
eg
u
lato
r
.
T
h
ese
g
ain
s
ar
e
r
ein
f
o
r
ce
d
b
y
r
o
b
u
s
t
tec
h
n
iq
u
es
th
at
allo
w
t
h
e
s
y
s
tem
to
ju
d
ici
o
u
s
ly
f
o
llo
w
its
r
ef
er
en
c
e
s
p
ee
d
.
T
h
e
tec
h
n
iq
u
es
c
o
n
s
id
er
ed
in
th
is
ca
s
e
ar
e,
r
esp
ec
tiv
ely
,
SOSM
C
,
T
OSM
C
,
an
d
f
in
ally
FTOSM
C
.
I
t is cr
u
cial
to
p
er
f
o
r
m
a
s
im
u
latio
n
o
f
th
e
s
y
s
tem
u
s
in
g
Simu
lin
k
u
n
d
er
th
e
MA
T
L
AB
en
v
ir
o
n
m
e
n
t
to
co
m
p
ar
e
th
e
t
h
r
ee
s
tr
ate
g
ies
an
d
v
alid
ate
th
e
p
er
f
o
r
m
an
ce
an
d
r
o
b
u
s
tn
ess
o
f
ea
ch
r
eg
u
lato
r
u
n
d
e
r
d
if
f
er
en
t
l
o
ad
a
n
d
d
is
tu
r
b
a
n
c
e
co
n
d
itio
n
s
.
T
h
is
co
m
p
ar
is
o
n
h
elp
s
d
eter
m
in
e
t
h
e
m
o
s
t
ap
p
r
o
p
r
iate
tech
n
i
q
u
e
f
o
r
o
p
tim
al
s
y
s
tem
o
p
er
atio
n
.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
is
s
im
u
latio
n
is
p
r
esen
ted
in
Fig
u
r
e
6
.
Fig
u
r
e
6
.
B
lo
ck
d
iag
r
am
o
f
th
e
(
I
FOC
)
co
m
b
in
ed
with
MO
A
-
FTOSM
C
f
o
r
th
e
(
DSI
M)
F
i
g
u
r
e
7
i
ll
u
s
t
r
at
e
s
t
h
e
s
y
s
t
e
m
’
s
r
e
s
p
o
n
s
e
t
o
tw
o
k
e
y
e
v
e
n
t
s
:
a
r
e
f
e
r
e
n
c
e
s
p
e
e
d
c
h
a
n
g
e
f
r
o
m
3
0
0
r
a
d
/
s
t
o
4
0
r
a
d
/
s
a
t
t
=
2
.
5
s
,
a
n
d
t
h
e
a
p
p
l
i
c
a
t
i
o
n
o
f
a
+
2
0
N
.
m
l
o
a
d
t
o
r
q
u
e
d
i
s
t
u
r
b
a
n
c
e
a
t
t
=
2
s
.
Fr
o
m
t
h
e
z
o
o
m
e
d
-
i
n
v
i
e
w
o
f
t
h
e
t
h
r
e
e
r
es
p
o
n
s
e
c
u
r
v
e
s
,
t
h
e
r
e
f
e
r
e
n
ce
s
p
e
e
d
t
r
a
c
k
i
n
g
p
e
r
f
o
r
m
a
n
c
e
o
f
e
a
c
h
c
o
n
t
r
o
l
l
er
c
a
n
b
e
e
f
f
e
c
t
i
v
e
l
y
e
v
a
l
u
a
t
e
d
.
T
h
e
M
O
A
-
S
O
SM
C
c
o
n
t
r
o
l
l
e
r
e
x
h
i
b
i
t
s
a
s
i
g
n
i
f
i
c
an
t
d
e
v
i
a
t
i
o
n
a
t
t
h
e
m
o
m
e
n
t
o
f
d
i
s
t
u
r
b
a
n
c
e
a
n
d
a
n
o
t
i
c
e
a
b
l
e
d
el
a
y
i
n
r
e
ac
h
i
n
g
t
h
e
n
e
w
r
e
f
e
r
e
n
c
e
s
p
e
e
d
,
i
n
d
i
c
a
t
i
n
g
w
e
a
k
e
r
d
is
t
u
r
b
a
n
c
e
r
ej
e
c
t
i
o
n
a
n
d
s
l
o
we
r
d
y
n
a
m
i
c
r
e
s
p
o
n
s
e
.
T
h
e
M
O
A
-
T
O
S
MC
c
o
n
t
r
o
ll
e
r
p
e
r
f
o
r
m
s
b
e
t
t
e
r
,
wi
t
h
i
m
p
r
o
v
e
d
d
i
s
t
u
r
b
a
n
c
e
h
a
n
d
l
i
n
g
a
n
d
f
a
s
t
e
r
c
o
n
v
e
r
g
e
n
c
e
t
o
t
h
e
n
e
w
s
p
e
e
d
,
t
h
o
u
g
h
s
o
m
e
d
e
l
a
y
i
s
s
t
il
l
e
v
i
d
e
n
t
.
I
n
c
o
n
t
r
a
s
t
,
t
h
e
M
O
A
-
F
T
O
SM
C
c
o
n
t
r
o
l
l
e
r
d
e
m
o
n
s
t
r
at
e
s
c
l
e
a
r
l
y
s
u
p
e
r
i
o
r
p
e
r
f
o
r
m
a
n
c
e
,
e
x
h
i
b
i
t
in
g
r
o
b
u
s
t
d
i
s
t
u
r
b
a
n
c
e
r
ej
e
c
ti
o
n
a
t
t
=
2
s
a
n
d
r
a
p
i
d
,
a
c
c
u
r
a
t
e
t
r
a
c
k
i
n
g
o
f
t
h
e
r
e
f
e
r
e
n
c
e
s
p
e
e
d
a
t
t
=
2
.
5
s
.
T
h
es
e
r
esu
l
t
s
c
o
n
f
i
r
m
t
h
e
M
O
A
-
F
T
OSM
C
'
s
e
f
f
e
ct
i
v
e
n
es
s
i
n
a
c
h
i
e
v
i
n
g
b
o
t
h
h
i
g
h
-
s
p
e
e
d
r
e
s
p
o
n
s
e
a
n
d
s
t
r
o
n
g
r
o
b
u
s
t
n
es
s
a
g
ai
n
s
t
e
x
te
r
n
a
l
d
is
t
u
r
b
a
n
c
e
s
.
T
h
e
test
s
co
n
d
u
cted
u
n
d
er
s
p
ee
d
an
d
lo
ad
v
ar
iatio
n
s
co
n
f
i
r
m
th
at
th
is
in
n
o
v
ativ
e
h
y
b
r
i
d
ap
p
r
o
ac
h
co
m
b
in
es
(
MO
A
-
FTOSM
C
)
,
(
MO
A
-
T
OSMC),
an
d
(
MO
A
-
SOSM
C
)
.
MO
A
-
FTOSM
C
is
b
o
th
p
r
o
m
is
in
g
a
n
d
h
ig
h
ly
ef
f
ec
tiv
e.
I
t
c
o
n
s
is
ten
tly
d
eliv
er
s
im
p
r
o
v
ed
an
d
r
elia
b
le
p
er
f
o
r
m
a
n
ce
in
ter
m
s
o
f
r
esp
o
n
s
e
tim
e,
r
is
e
tim
e,
s
ettlin
g
tim
e,
o
v
er
s
h
o
o
t,
d
is
tu
r
b
an
ce
r
ejec
tio
n
,
an
d
s
tead
y
-
s
tate
er
r
o
r
r
ed
u
ctio
n
.
F
i
g
u
r
e
8
c
l
e
a
r
l
y
s
h
o
ws
t
h
a
t
t
h
e
s
t
a
t
o
r
c
u
r
r
e
n
t
o
f
t
h
e
M
O
A
-
F
T
O
S
MC
t
ec
h
n
i
q
u
e
e
x
h
i
b
i
ts
l
es
s
c
h
a
t
t
e
r
i
n
g
a
n
d
r
i
p
p
l
e
,
w
h
i
l
e
m
a
i
n
ta
i
n
i
n
g
i
t
s
s
i
n
u
s
o
i
d
a
l
s
h
a
p
e
m
o
r
e
e
f
f
e
c
t
i
v
e
l
y
.
Si
m
i
l
a
r
l
y
,
F
i
g
u
r
e
9
i
l
l
u
s
t
r
at
es
t
h
e
e
l
e
c
t
r
o
m
a
g
n
e
t
ic
t
o
r
q
u
e
p
r
o
f
i
l
e
u
n
d
e
r
a
s
p
e
e
d
v
a
r
ia
t
i
o
n
at
t
=
2
.
5
s
a
n
d
t
h
e
a
p
p
l
i
c
at
i
o
n
o
f
a
2
0
N
m
l
o
a
d
t
o
r
q
u
e
at
t
=
2
s
.
I
n
t
h
i
s
s
c
e
n
a
r
i
o
,
t
h
e
MO
A
-
F
T
O
S
MC
s
t
r
a
t
e
g
y
(
d
e
p
i
cte
d
i
n
b
l
u
e
)
e
f
f
e
c
ti
v
e
l
y
t
r
a
c
k
s
th
e
l
o
a
d
c
o
m
m
a
n
d
,
e
x
h
i
b
i
t
i
n
g
o
n
l
y
m
i
n
o
r
o
v
e
r
s
h
o
o
t
s
a
n
d
a
s
i
g
n
i
f
i
c
a
n
t
r
e
d
u
ct
i
o
n
i
n
c
h
a
t
t
e
r
i
n
g
c
o
m
p
a
r
e
d
t
o
t
h
e
o
t
h
e
r
t
w
o
m
e
t
h
o
d
s
:
M
O
A
-
SO
SM
C
a
n
d
MO
A
-
T
OS
MC
.
I
t
is
a
ls
o
n
o
t
e
w
o
r
t
h
y
th
a
t
t
h
e
M
O
A
-
T
O
SM
C
s
t
r
at
e
g
y
(
s
h
o
w
n
i
n
g
r
e
e
n
)
o
u
t
p
e
r
f
o
r
m
s
t
h
e
M
O
A
-
S
OS
MC
a
p
p
r
o
a
c
h
(
i
n
r
e
d
)
,
d
e
l
i
v
e
r
i
n
g
m
o
r
e
s
t
a
b
l
e
a
n
d
s
a
ti
s
f
a
ct
o
r
y
t
o
r
q
u
e
b
e
h
a
v
i
o
r
.
Fig
u
r
e
1
0
d
ep
icts
th
e
v
ar
iatio
n
s
o
f
th
e
r
o
to
r
f
lu
x
co
m
p
o
n
e
n
ts
in
th
e
q
-
an
d
d
-
ax
is
r
e
f
er
en
ce
f
r
am
es.
As
ex
p
ec
ted
,
th
e
q
-
a
x
is
co
m
p
o
n
en
t
r
em
ai
n
s
at
ze
r
o
,
wh
ile
t
h
e
d
-
ax
is
co
m
p
o
n
e
n
t
clo
s
ely
tr
ac
k
s
its
r
ef
er
en
ce
v
alu
e
o
f
1
W
b
.
Fo
r
th
e
MO
A
-
FTOSM
C
co
n
tr
o
ller
,
s
lig
h
t
r
ip
p
les
ap
p
ea
r
d
u
r
in
g
s
p
ee
d
c
h
an
g
es,
b
u
t
o
v
er
all
p
er
f
o
r
m
an
ce
is
s
u
p
er
io
r
to
th
e
o
th
er
two
tech
n
iq
u
es,
wh
ich
s
h
o
w
m
o
r
e
s
ig
n
if
ican
t d
e
v
iatio
n
s
.
T
o
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
(
T
HD)
q
u
an
tifie
s
th
e
d
is
to
r
tio
n
o
f
elec
tr
ical
s
ig
n
al
wav
ef
o
r
m
s
r
elativ
e
to
th
eir
f
u
n
d
am
en
tal
f
r
e
q
u
en
c
y
c
o
m
p
o
n
en
ts
.
A
lo
wer
T
HD
v
al
u
e
r
ef
lects h
ig
h
er
ef
f
icien
cy
a
n
d
im
p
r
o
v
ed
s
y
s
tem
p
er
f
o
r
m
an
ce
.
T
h
is
is
clea
r
ly
d
em
o
n
s
tr
ated
b
y
th
e
MO
A
-
F
T
OSMC
ap
p
r
o
ac
h
,
as
illu
s
tr
ated
in
Fig
u
r
e
1
1
,
wh
ich
s
h
o
ws
th
e
T
HD
o
f
th
e
s
tato
r
cu
r
r
en
t.
T
h
e
MO
A
-
FTOSM
C
ac
h
iev
es
a
T
HD
o
f
a
p
p
r
o
x
im
ately
1
5
.
2
6
%,
s
ig
n
if
ican
tly
lo
wer
th
an
t
h
o
s
e
o
f
th
e
o
th
e
r
two
s
tr
ateg
ies:
MO
A
-
T
OSMC
at
1
8
.
8
4
%
an
d
MO
A
-
SOSMC
at
2
0
.
4
2
%.
E
le
v
ated
T
HD
v
alu
e
s
r
esu
lt
in
d
is
to
r
ted
cu
r
r
en
t
a
n
d
v
o
ltag
e
wa
v
ef
o
r
m
s
,
ca
u
s
in
g
to
r
q
u
e
a
n
d
p
o
wer
ir
r
eg
u
lar
ities
th
at
ca
n
u
ltima
tely
co
m
p
r
o
m
is
e
s
y
s
tem
r
elia
b
ilit
y
.
T
ab
le
3
p
r
esen
ts
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
MO
A
-
FTOSM
C
co
n
tr
o
ller
.
V
ds
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
I
mp
r
o
ve
men
t o
f D
S
I
M c
o
n
tr
o
l u
s
in
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fu
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z
y
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ir
d
-
o
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d
er sl
id
in
g
mo
d
e
a
p
p
r
o
a
c
h
… (
R
a
h
ma
B
elka
id
)
2327
Fig
u
r
e
7
.
Sp
ee
d
v
ar
iatio
n
f
r
o
m
3
0
0
r
a
d
/s
to
4
0
r
ad
/s
Fig
u
r
e
8
.
T
o
r
q
u
e
with
s
p
ee
d
v
ar
iatio
n
f
r
o
m
3
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a
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ad
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Fig
u
r
e
9
.
E
lectr
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m
ag
n
etic
t
o
r
q
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e
r
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e
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r
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en
ts
: d
-
ax
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f
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x
a
n
d
q
-
ax
is
f
lu
x
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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:
2
0
8
8
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4
I
n
t J Po
w
E
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&
Dr
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s
t
,
Vo
l.
16
,
No
.
4
,
Dec
em
b
er
20
25
:
2321
-
2
3
3
1
2328
(
a)
(b
)
(
c)
Fig
u
r
e
1
1
.
FF
T
an
aly
s
is
o
f
th
e
s
tato
r
cu
r
r
en
t
f
o
r
(
a)
MO
A
-
SOSMC
,
(
b
)
MO
A
-
T
OSMC
,
a
n
d
(
c)
MO
A
-
FTOSM
C
Fig
u
r
e
1
2
p
r
o
v
id
es
a
d
etailed
an
aly
s
is
o
f
th
e
f
itn
ess
f
u
n
ctio
n
ev
o
lu
tio
n
,
s
h
o
wca
s
in
g
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
MO
A
wh
en
co
m
b
in
e
d
with
th
e
th
r
ee
s
tu
d
ied
a
p
p
r
o
ac
h
es.
T
h
e
v
is
u
aliza
tio
n
h
i
g
h
lig
h
ts
s
ig
n
if
ican
t
d
if
f
er
en
ce
s
in
p
er
f
o
r
m
an
ce
:
a)
T
h
e
cu
r
v
e
r
ep
r
esen
te
d
b
y
t
h
e
b
lack
d
o
tted
lin
e
co
r
r
esp
o
n
d
s
to
th
e
MO
A
-
FTOSM
C
tech
n
i
q
u
e,
id
en
tifie
d
b
y
th
e
c
o
o
r
d
i
n
ates
(
x
=
1
4
.
0
3
,
y
=
0
.
0
0
1
4
1
)
.
T
h
is
ap
p
r
o
ac
h
ac
h
iev
es
n
ea
r
-
ze
r
o
v
alu
es
o
n
t
h
e
x
-
ax
is
an
d
co
n
v
er
g
es
to
war
d
an
o
p
tim
al
s
o
lu
tio
n
,
s
tab
ilizin
g
b
y
th
e
f
o
u
r
th
iter
atio
n
.
T
h
is
b
eh
av
io
r
s
ig
n
if
ies
th
e
r
em
ar
k
ab
le
a
n
d
s
atis
f
ac
to
r
y
p
e
r
f
o
r
m
a
n
ce
o
f
th
e
tr
ain
in
g
s
y
s
tem
,
o
u
tp
e
r
f
o
r
m
in
g
th
e
o
th
er
s
tr
ateg
ies.
b)
I
n
co
n
t
r
ast,
th
e
o
th
er
two
ap
p
r
o
ac
h
es e
x
h
ib
it sl
o
wer
co
n
v
er
g
en
ce
an
d
less
ef
f
ec
tiv
e
o
p
tim
i
za
tio
n
:
-
MO
A
-
SOSM
C
:
R
ep
r
esen
ted
b
y
th
e
r
e
d
cu
r
v
e,
with
co
o
r
d
in
ates
(
x
=
1
9
.
1
1
,
y
=
0
.
0
0
3
6
6
7
)
,
i
t
d
em
o
n
s
tr
ates p
r
o
l
o
n
g
e
d
ex
p
l
o
r
atio
n
o
f
th
e
s
ea
r
ch
s
p
ac
e
with
o
u
t a
ch
iev
in
g
d
esire
d
c
o
n
v
e
r
g
en
ce
.
-
MO
A
-
T
OSMC
:
Dep
icted
b
y
th
e
b
lu
e
cu
r
v
e
,
with
co
o
r
d
i
n
a
tes
(
x
=
1
6
.
2
4
,
y
=
0
.
0
0
2
7
4
7
)
,
it
also
s
tr
u
g
g
les to
o
p
tim
ize
ef
f
icien
tly
,
r
esu
ltin
g
in
s
u
b
o
p
tim
al
p
ar
a
m
eter
s
elec
tio
n
.
T
h
ese
o
b
s
er
v
atio
n
s
u
n
d
er
s
c
o
r
e
th
e
s
u
p
e
r
io
r
ity
o
f
th
e
MO
A
-
FTOSM
C
tech
n
iq
u
e,
wh
ich
r
ap
id
ly
an
d
ef
f
icien
tly
co
n
v
er
g
es
to
t
h
e
o
p
tim
al
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I
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Dr
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ased
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d
its
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ile
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tly
s
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p
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ain
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ch
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ac
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n
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ce
to
o
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tim
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o
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tio
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s
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ewe
r
iter
atio
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s
.
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latio
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r
esu
lts
d
em
o
n
s
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ate
im
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e
d
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s
tab
ili
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h
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ce
d
d
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tio
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d
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ce
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ted
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ic.
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o
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er
,
th
e
t
h
ir
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-
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s
lid
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ig
n
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ican
tly
d
im
in
is
h
es
th
e
ch
atter
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g
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t
wh
ile
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g
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ess
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id
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ter
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icien
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d
s
m
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s
p
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d
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eg
u
latio
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.
F
UNDING
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NF
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h
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wo
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lectr
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f
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,
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.
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ax
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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
i Sy
s
t
,
Vo
l.
16
,
No
.
4
,
Dec
em
b
er
20
25
:
2321
-
2
3
3
1
2330
CO
NF
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Au
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est.
DATA AV
AI
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AB
I
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Y
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with
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p
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ater
ials
.
RE
F
E
R
E
NC
E
S
[
1
]
K
.
H
a
m
i
t
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c
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e
,
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.
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h
e
k
k
a
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.
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m
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r
,
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n
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.
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o
u
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e
l
l
a
g
,
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A
n
e
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o
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.
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4
.
[
2
]
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.
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.
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.
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a
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[
3
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.
B
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a
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a
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,”
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n
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t
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l
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o
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.
1
4
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p
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1
1
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,
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