I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Art
if
icia
l In
t
ellig
ence
(
I
J
-
AI
)
Vo
l.
1
4
,
No
.
6
,
Dec
em
b
er
2
0
2
5
,
p
p
.
4
6
2
3
~
4
6
3
5
I
SS
N:
2
2
5
2
-
8
9
3
8
,
DOI
: 1
0
.
1
1
5
9
1
/ijai.v
14
.i
6
.
p
p
4
6
2
3
-
4
6
3
5
4623
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
a
i
.
ia
esco
r
e.
co
m
Lo
w
-
speed sca
la
r
co
ntrol o
f
ind
ucti
o
n mo
tor by
f
uz
z
y
log
ic
Alf
o
ns
o
Alej
a
nd
ro
Sev
illa
-
H
ida
lg
o
1
,
Ro
s
s
y
Usca
m
a
it
a
-
Q
uis
pet
u
pa
1
,
J
uli
o
Cesa
r
H
er
re
ra
-
L
ev
a
no
2
,
L
im
berg
Wa
lt
er
Ut
rilla
M
eg
o
2
,
Ro
g
er
J
esu
s
Co
a
qu
ira
-
Ca
s
t
illo
1
1
L
I
E
C
A
R
L
a
b
o
r
a
t
o
r
y
,
F
a
c
u
l
t
y
o
f
E
l
e
c
t
r
i
c
a
l
,
E
l
e
c
t
r
o
n
i
c
,
C
o
m
p
u
t
e
r
a
n
d
M
e
c
h
a
n
i
c
a
l
E
n
g
i
n
e
e
r
i
n
g
,
U
n
i
v
e
r
s
i
d
a
d
N
a
c
i
o
n
a
l
d
e
S
a
n
A
n
t
o
n
i
o
A
b
a
d
d
e
l
C
u
s
c
o
,
C
u
s
c
o
,
P
e
r
u
2
TESLA
L
a
b
o
r
a
t
o
r
y
,
F
a
c
u
l
t
y
o
f
E
l
e
c
t
r
i
c
a
l
,
E
l
e
c
t
r
o
n
i
c
,
C
o
m
p
u
t
e
r
a
n
d
M
e
c
h
a
n
i
c
a
l
E
n
g
i
n
e
e
r
i
n
g
,
U
n
i
v
e
r
s
i
d
a
d
N
a
c
i
o
n
a
l
d
e
S
a
n
A
n
t
o
n
i
o
A
b
a
d
d
e
l
C
u
s
c
o
,
C
u
s
c
o
,
P
e
r
u
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Ma
r
1
5
,
2
0
2
5
R
ev
is
ed
Oct
0
1
,
2
0
2
5
Acc
ep
ted
Oct
1
6
,
2
0
2
5
Eff
o
rts
h
a
v
e
c
o
n
t
in
u
a
ll
y
b
e
e
n
d
irec
ted
to
wa
r
d
o
p
t
imiz
in
g
p
r
o
c
e
ss
e
s
in
v
a
rio
u
s
field
s,
a
n
d
th
e
a
p
p
l
ica
ti
o
n
i
n
i
n
d
u
c
ti
o
n
m
o
to
rs
is
n
o
e
x
c
e
p
t
io
n
.
S
c
a
lar
c
o
n
tr
o
l
V/f
o
ffe
rs
a
stra
ig
h
tf
o
rwa
rd
m
e
th
o
d
to
re
g
u
late
t
h
e
sp
e
e
d
o
f
a
t
h
re
e
-
p
h
a
se
in
d
u
c
ti
o
n
m
o
to
r
(TI
M
)
.
H
o
we
v
e
r,
it
fa
c
e
s
c
h
a
ll
e
n
g
e
s
a
t
l
o
w
sp
e
e
d
s
o
r
p
ro
p
o
rti
o
n
a
ll
y
a
t
l
o
w
fre
q
u
e
n
c
ies
,
o
ften
fa
il
in
g
to
o
p
e
ra
te
b
e
lo
w
2
0
%
o
f
it
s
ra
ted
sp
e
e
d
.
Th
is co
n
tr
o
l
t
y
p
ica
ll
y
p
a
irs
with
a
P
I
c
o
n
tr
o
ll
e
r
(P
IC)
fo
r
c
lo
se
d
-
lo
o
p
sp
e
e
d
re
g
u
latio
n
,
b
u
t
it
s
l
imit
e
d
c
o
n
tr
o
l
ra
n
g
e
h
in
d
e
rs
p
e
rfo
rm
a
n
c
e
a
t
lo
w
sp
e
e
d
s.
Alth
o
u
g
h
in
tell
ig
e
n
t
m
e
th
o
d
s
h
a
v
e
b
e
e
n
d
e
v
e
lo
p
e
d
to
imp
r
o
v
e
sc
a
lar
V/f
c
o
n
tro
l
,
a
tt
e
n
ti
o
n
is
o
ften
fo
c
u
se
d
o
n
h
ig
h
sp
e
e
d
s,
wh
il
e
c
o
n
tro
l
a
t
lo
w
sp
e
e
d
s is
o
v
e
rl
o
o
k
e
d
.
Th
is
p
a
p
e
r
p
re
se
n
ts t
h
e
sim
u
lati
o
n
o
f
a
fu
z
z
y
c
o
n
tr
o
ll
e
r
(F
C)
with
a
M
a
m
d
a
n
i
-
t
y
p
e
str
u
c
tu
re
d
e
sig
n
e
d
to
a
c
h
ie
v
e
e
ffe
c
ti
v
e
lo
w
-
sp
e
e
d
c
o
n
tro
l
o
f
a
TIM
u
si
n
g
t
h
e
V/f
sc
a
lar
c
o
n
tr
o
l
tec
h
n
i
q
u
e
.
Th
e
re
su
lt
s
n
o
t
o
n
l
y
sh
o
w
imp
ro
v
e
m
e
n
ts
in
o
v
e
rsh
o
o
t
a
n
d
se
tt
li
n
g
ti
m
e
b
u
t
a
ls
o
re
v
e
a
l
th
a
t
th
e
F
C
c
a
n
c
o
n
tro
l
sp
e
e
d
s
a
s
lo
w
a
s
6
.
0
6
%
o
f
th
e
ra
ted
sp
e
e
d
,
a
n
d
it
e
n
su
re
s
a
sta
rti
n
g
c
u
rre
n
t
b
e
l
o
w
th
e
d
e
sig
n
e
d
m
o
to
r
c
u
rre
n
t
u
n
d
e
r
l
o
a
d
.
Co
m
p
a
ra
ti
v
e
a
n
a
ly
sis
in
d
ica
tes
t
h
a
t
t
h
e
F
C
o
u
tp
e
rf
o
rm
s
t
h
e
P
IC
in
lo
w
-
s
p
e
e
d
c
o
n
tro
l,
a
n
d
it
p
r
o
v
i
d
e
s
a
n
o
p
ti
m
a
l
in
r
u
sh
c
u
rre
n
t
a
c
ro
ss
d
iffere
n
t
lo
w s
p
e
e
d
s.
K
ey
w
o
r
d
s
:
Fu
zz
y
co
n
tr
o
ller
L
o
w
s
p
ee
d
s
PI
co
n
tr
o
ller
T
h
r
ee
p
h
ase
in
d
u
ctio
n
m
o
to
r
V/f
s
ca
lar
co
n
tr
o
l
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
R
o
g
er
J
esu
s
C
o
aq
u
ir
a
-
C
asti
llo
L
I
E
C
AR
L
ab
o
r
ato
r
y
,
Facu
lty
o
f
E
lectr
ical,
E
lectr
o
n
ic,
C
o
m
p
u
ter
an
d
Me
ch
an
ical
E
n
g
in
ee
r
in
g
Un
iv
er
s
id
ad
Nac
io
n
al
d
e
San
An
to
n
io
Ab
ad
d
el
C
u
s
co
L
a
C
u
ltu
r
a
Av
en
u
e
7
3
3
C
u
s
co
,
C
u
s
co
,
Per
u
E
m
ail:
r
o
g
er
.
c
o
aq
u
ir
a@
u
n
s
aa
c.
ed
u
.
p
e
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
u
s
e
o
f
d
ir
ec
t
c
u
r
r
e
n
t
(
D
C
)
m
o
to
r
s
h
as
d
ec
lin
e
d
in
v
a
r
io
u
s
ap
p
licatio
n
s
,
i
n
clu
d
in
g
elec
tr
ic
an
d
h
y
b
r
id
v
e
h
icles
an
d
r
ailway
s
y
s
tem
s
[
1
]
,
[
2
]
.
As
a
r
esu
lt,
t
h
e
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
t
o
r
(
T
I
M)
h
as
b
ee
n
p
r
ef
er
r
e
d
o
v
er
DC
m
o
to
r
s
d
u
e
to
its
ea
s
e
o
f
m
ain
te
n
an
ce
,
h
ig
h
r
eliab
ilit
y
,
co
s
t
-
ef
f
e
ctiv
e
n
ess
,
s
im
p
le
d
esig
n
,
r
o
b
u
s
t
d
u
r
ab
ilit
y
,
a
n
d
ex
ce
lle
n
t
p
o
wer
-
to
-
weig
h
t
r
atio
[
3
]
.
C
o
n
s
eq
u
en
tly
,
th
e
r
e
h
as
b
ee
n
g
r
o
win
g
in
ter
est
in
ad
v
an
ce
d
co
n
tr
o
l te
ch
n
iq
u
es,
p
r
im
ar
ily
V/f
s
ca
lar
co
n
tr
o
l a
n
d
v
ec
to
r
c
o
n
tr
o
l.
I
t
is
n
o
ted
th
at
V/f
s
ca
lar
co
n
t
r
o
l
is
ch
o
s
en
f
o
r
its
s
im
p
licity
,
p
r
ac
ticality
,
an
d
co
s
t
-
ef
f
ec
tiv
en
ess
[
4
]
,
alth
o
u
g
h
it
s
tr
u
g
g
les
at
lo
w
s
p
ee
d
s
—
ty
p
ically
b
elo
w
2
0
%
o
f
th
e
m
o
to
r
’
s
n
o
m
in
al
s
p
ee
d
—
b
ec
au
s
e
th
e
f
lu
x
in
cr
ea
s
es
s
ig
n
if
ican
tly
,
lead
i
n
g
to
to
r
q
u
e
a
n
d
c
u
r
r
e
n
t
s
u
r
g
e
s
[
5
]
,
[
6
]
.
Ad
d
itio
n
ally
,
it
is
ac
k
n
o
wled
g
e
d
th
at
s
tar
tin
g
cu
r
r
en
ts
in
TIM
ca
n
r
ea
ch
u
p
t
o
ten
tim
es
th
e
r
ated
cu
r
r
en
t
[
4
]
,
[
7
]
,
[
8
]
,
in
cr
e
asin
g
r
is
k
s
to
elec
tr
ical
co
m
p
o
n
en
ts
,
p
o
ten
tially
o
v
er
l
o
ad
in
g
p
o
wer
s
y
s
tem
s
,
an
d
r
esu
ltin
g
in
ec
o
n
o
m
ic
d
r
awb
ac
k
s
[
9
]
.
Hen
ce
,
it
is
em
p
h
asized
th
at
m
eth
o
d
s
aim
ed
at
ac
h
iev
in
g
an
o
p
tim
al
p
e
ak
s
tar
tin
g
cu
r
r
en
t
an
d
a
s
u
ita
b
le
s
p
ee
d
r
esp
o
n
s
e,
esp
ec
ially
at
lo
w
f
r
eq
u
e
n
cies,
ar
e
ess
en
tial f
o
r
im
p
r
o
v
ed
m
o
t
o
r
p
er
f
o
r
m
a
n
ce
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
1
4
,
No
.
6
,
Dec
em
b
er
2
0
2
5
:
4
6
2
3
-
4
6
3
5
4624
P
I
c
o
n
tr
o
l
le
r
s
(
P
I
C
s
)
h
a
v
e
b
ee
n
f
r
e
q
u
e
n
t
ly
em
p
lo
y
ed
i
n
V
/f
s
c
a
l
a
r
co
n
tr
o
l
f
o
r
s
p
e
ed
r
e
g
u
l
a
t
i
o
n
i
n
T
I
M
s
[
1
0
]
,
[
1
1
]
,
an
d
a
r
e
r
ep
o
r
t
e
d
t
o
b
e
s
u
i
t
a
b
le
in
co
n
t
ex
t
s
w
h
e
r
e
a
d
e
t
a
i
l
ed
m
a
t
h
em
a
t
i
c
al
m
o
d
e
l
i
s
d
i
f
f
i
cu
l
t
t
o
e
s
t
a
b
l
i
s
h
d
u
e
t
o
r
e
s
o
u
r
c
e
c
o
n
s
t
r
a
i
n
t
s
an
d
co
m
p
l
e
x
o
p
er
a
t
i
o
n
s
[
8
]
,
[
1
2
]
.
T
h
e
ir
c
ap
a
ci
t
y
t
o
m
i
n
i
m
iz
e
o
r
e
l
i
m
i
n
a
t
e
s
t
e
ad
y
-
s
t
a
t
e
e
r
r
o
r
s
,
c
o
m
b
i
n
ed
w
i
t
h
a
s
i
m
p
l
e
s
t
r
u
c
t
u
r
e,
h
a
s
b
ee
n
em
p
h
a
s
i
z
e
d
[
1
3
]
,
a
l
t
h
o
u
g
h
th
e
i
r
p
e
r
f
o
r
m
a
n
c
e
i
s
l
i
m
i
t
ed
i
n
s
p
e
ed
r
e
s
p
o
n
s
e
an
d
u
n
d
er
l
o
ad
v
ar
i
a
t
i
o
n
s
[
1
4
]
.
T
h
e
s
e
d
r
a
wb
a
c
k
s
h
a
v
e
le
d
to
e
f
f
o
r
t
s
t
o
im
p
r
o
v
e
PI
C
th
r
o
u
g
h
e
n
h
a
n
c
ed
t
ec
h
n
i
q
u
e
s
[
1
5
]
,
[
1
6
]
,
y
e
t
d
i
f
f
i
c
u
l
t
ie
s
r
e
m
a
in
a
t
lo
w
s
p
e
ed
s
,
e
s
p
e
c
ia
l
l
y
c
o
n
ce
r
n
in
g
s
p
e
ed
r
e
s
p
o
n
s
e
an
d
in
r
u
s
h
c
u
r
r
en
t
m
a
n
ag
e
m
en
t
.
C
o
n
s
e
q
u
e
n
t
ly
,
f
u
z
z
y
l
o
g
ic
c
o
n
t
r
o
l
h
a
s
b
e
e
n
e
x
a
m
in
e
d
in
V
/f
s
c
a
la
r
c
o
n
t
r
o
l
f
o
r
T
I
M
s
[
1
7
]
,
[
1
8
]
,
w
h
er
e
i
t
h
a
s
b
e
e
n
r
e
c
o
g
n
i
ze
d
f
o
r
i
t
s
a
c
cu
r
a
cy
a
n
d
r
o
b
u
s
t
n
e
s
s
[
1
9
]
.
H
o
w
ev
e
r
,
a
l
th
o
u
g
h
im
p
r
o
v
e
m
en
t
s
in
t
r
an
s
i
e
n
t
b
eh
a
v
io
r
(
o
v
e
r
s
h
o
o
t,
s
e
t
tl
i
n
g
t
i
m
e,
a
n
d
r
i
s
e
t
i
m
e
)
h
a
v
e
b
e
en
i
d
e
n
t
if
i
e
d
,
th
e
a
d
v
an
t
a
g
e
s
o
f
f
u
zz
y
co
n
tr
o
l
l
e
r
s
(
F
C
)
a
t
l
o
w
s
p
e
e
d
s
h
av
e
r
ec
e
i
v
ed
l
i
m
i
te
d
a
t
t
e
n
t
i
o
n
,
a
s
p
r
e
s
e
n
t
ed
in
T
a
b
l
e
1
.
T
ab
le
1
.
Ap
p
r
o
ac
h
es o
f
f
u
zz
y
an
d
V/f
s
ca
lar
co
n
t
r
o
l in
T
I
Ms
Ty
p
e
o
f
a
n
a
l
y
si
s
A
d
v
a
n
t
a
g
e
s
D
i
sad
v
a
n
t
a
g
e
s
I
n
t
e
g
r
a
t
i
o
n
o
f
f
u
z
z
y
l
o
g
i
c
w
i
t
h
v
a
r
i
a
b
l
e
f
r
e
q
u
e
n
c
y
d
r
i
v
e
[
2
0
]
.
I
mp
r
o
v
e
d
e
n
e
r
g
y
e
f
f
i
c
i
e
n
c
y
,
r
e
a
l
-
t
i
m
e
sp
e
e
d
a
d
j
u
s
t
me
n
t
,
a
n
d
r
e
l
i
a
b
i
l
i
t
y
a
n
d
e
c
o
n
o
mi
c
a
l
l
y
b
e
n
e
f
i
c
i
a
l
.
H
i
g
h
i
n
i
t
i
a
l
c
o
st
s,
d
e
p
e
n
d
e
n
c
y
o
n
sp
e
c
i
a
l
i
z
e
d
h
a
r
d
w
a
r
e
t
h
a
t
c
a
n
l
e
a
d
t
o
a
c
c
e
ssi
b
i
l
i
t
y
p
r
o
b
l
e
ms.
D
e
v
e
l
o
p
m
e
n
t
o
f
a
n
o
p
t
i
ma
l
f
u
z
z
y
-
PI
C
[
2
1
]
.
R
e
d
u
c
e
d
c
o
mp
u
t
a
t
i
o
n
a
l
l
o
a
d
,
i
m
p
r
o
v
e
d
sp
e
e
d
r
e
sp
o
n
se
,
r
e
d
u
c
e
d
r
u
l
e
se
t
,
a
n
d
f
a
st
e
r
s
t
a
b
i
l
i
z
a
t
i
o
n
.
Li
mi
t
e
d
t
o
a
sp
e
c
i
f
i
c
r
p
m
r
a
n
g
e
(
1
3
0
0
-
1
7
2
5
r
p
m)
.
F
u
z
z
y
l
o
g
i
c
c
o
n
t
r
o
l
l
e
r
s
f
o
r
s
p
e
e
d
c
o
n
t
r
o
l
u
n
d
e
r
f
l
u
c
t
u
a
t
i
n
g
l
o
a
d
s
[
2
2
]
.
F
a
st
e
r
a
d
j
u
st
m
e
n
t
t
o
s
p
e
e
d
c
h
a
n
g
e
s,
r
o
b
u
st
n
e
s
s
a
g
a
i
n
st
l
o
a
d
d
i
s
t
u
r
b
a
n
c
e
s,
a
n
d
s
i
mp
l
i
f
i
e
s
c
o
n
t
r
o
l
sc
h
e
mes.
F
o
c
u
s
o
n
h
i
g
h
s
p
e
e
d
s
(
s
p
e
c
i
f
i
c
a
l
l
y
1
0
0
0
r
p
m)
,
p
o
t
e
n
t
i
a
l
l
y
l
i
m
i
t
e
d
l
o
w
e
r
sp
e
e
d
p
e
r
f
o
r
ma
n
c
e
.
I
t
is
n
o
ted
th
at
m
o
d
if
y
in
g
th
e
V/f
s
ca
lar
co
n
tr
o
l
ca
n
co
m
p
en
s
ate
f
o
r
to
r
q
u
e
at
lo
w
f
r
eq
u
en
cies,
b
ased
o
n
a
“T
o
r
q
u
e
b
o
o
s
t”
ap
p
r
o
ac
h
[
2
3
]
.
I
n
cr
ea
s
in
g
elec
tr
ical
s
tar
tin
g
to
r
q
u
e
is
ess
en
tial
to
o
v
er
co
m
e
m
ec
h
a
n
ical
to
r
q
u
e,
alth
o
u
g
h
it
in
d
u
ce
s
h
i
g
h
er
in
r
u
s
h
cu
r
r
e
n
ts
,
wh
ich
ar
e
a
k
ey
co
n
s
id
er
atio
n
f
o
r
m
o
t
o
r
s
tar
tu
p
[
2
4
]
.
T
h
e
eq
u
atio
n
s
in
[
2
5
]
s
h
o
w
th
at
th
e
s
tar
tin
g
to
r
q
u
e
d
ep
e
n
d
s
o
n
th
e
in
r
u
s
h
c
u
r
r
en
t
.
T
h
e
p
o
s
s
ib
ilit
y
o
f
a
f
u
zz
y
lo
g
ic
-
b
ased
to
r
q
u
e
co
m
p
en
s
atio
n
at
lo
w
f
r
e
q
u
en
cie
s
,
ter
m
ed
“Cu
r
r
en
t
c
o
m
p
en
s
atio
n
”,
is
co
n
s
id
er
ed
t
o
ac
h
ie
v
e
a
“T
o
r
q
u
e
b
o
o
s
t”
f
o
r
T
I
Ms
u
n
d
er
V/f
s
ca
lar
co
n
tr
o
l.
T
h
is
r
aises
th
e
q
u
esti
o
n
o
f
wh
eth
e
r
s
u
ch
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
(
FLC)
ca
n
d
eliv
er
a
n
ef
f
ec
tiv
e
s
p
ee
d
r
esp
o
n
s
e
a
n
d
o
p
tim
ize
in
r
u
s
h
cu
r
r
en
t
b
el
o
w
2
0
%
o
f
th
e
r
ate
d
s
p
ee
d
,
wh
ile
r
etain
in
g
t
h
e
im
p
r
o
v
em
e
n
ts
o
f
f
er
ed
b
y
t
h
e
FC
in
tr
an
s
ien
t
r
esp
o
n
s
e.
Hen
ce
,
th
is
wo
r
k
aim
s
to
en
h
an
ce
th
e
PI
C
f
o
r
V/f
s
p
ee
d
r
eg
u
latio
n
b
y
co
u
p
lin
g
a
PI
C
with
an
FLC
m
eth
o
d
.
T
h
e
o
b
jectiv
e
is
to
o
p
tim
ize
lo
w
-
s
p
ee
d
co
n
tr
o
l
r
esp
o
n
s
e,
m
an
ag
e
i
n
r
u
s
h
c
u
r
r
en
t,
an
d
en
lar
g
e
th
e
o
p
er
atio
n
al
co
n
tr
o
l
r
an
g
e
[
5
]
,
[
2
6
]
.
E
x
p
licit
cr
iter
ia
f
o
r
s
p
ee
d
an
d
cu
r
r
e
n
t
in
t
r
an
s
ien
t
s
ce
n
ar
io
s
ar
e
estab
lis
h
ed
to
en
ab
le
a
p
ar
am
et
er
co
m
p
ar
is
o
n
b
etwe
en
th
e
FC
an
d
th
e
PIC,
co
n
v
ey
in
g
m
ath
e
m
atica
l
o
b
jectiv
ity
.
2.
M
E
T
H
O
D
T
h
i
s
r
e
s
e
a
r
ch
in
v
o
l
v
e
s
t
h
e
d
ev
e
l
o
p
m
en
t
,
s
i
m
u
l
a
t
io
n
,
an
d
ev
a
l
u
a
t
io
n
o
f
a
f
u
z
zy
-
lo
g
i
c
–
en
h
a
n
ce
d
V
/
f
s
c
a
l
a
r
co
n
t
r
o
l
s
ch
e
m
e
f
o
r
a
T
I
M
,
l
e
v
er
ag
i
n
g
M
A
T
L
A
B
/
S
i
m
u
l
i
n
k
a
n
d
L
u
c
a
s
–
Nu
e
l
l
e’
s
t
o
o
lb
o
x
.
T
h
e
o
b
j
ec
t
i
v
e
i
s
t
o
p
r
o
v
id
e
a
n
AI
-
b
a
s
e
d
s
o
lu
t
i
o
n
t
o
t
h
e
c
h
a
l
le
n
g
e
s
o
f
s
c
a
la
r
V
/
f
co
n
t
r
o
l
a
t
lo
w
s
p
e
ed
s
.
F
i
r
s
t
,
t
h
e
V
/
f
s
c
a
l
ar
c
o
n
tr
o
l
s
y
s
t
e
m
w
a
s
d
e
s
i
g
n
e
d
;
n
e
x
t,
n
eg
a
t
iv
e
f
e
e
d
b
a
ck
w
a
s
im
p
l
e
m
e
n
t
ed
u
s
in
g
a
P
I
C
t
u
n
ed
v
i
a
p
ar
t
i
c
l
e
s
w
ar
m
o
p
t
i
m
iz
a
t
i
o
n
(
P
S
O
)
.
T
h
e
P
I
C
-
b
a
s
e
d
f
e
ed
b
a
ck
l
o
o
p
w
a
s
t
h
en
a
n
a
ly
z
ed
t
o
d
ev
e
lo
p
a
FC
-
b
a
s
e
d
f
e
ed
b
ac
k
l
o
o
p
w
i
t
h
i
n
th
e
s
c
a
la
r
V
/f
f
r
a
m
e
wo
r
k
.
F
i
n
a
l
l
y
,
b
o
t
h
th
e
PI
C
an
d
F
C
s
c
h
e
m
e
s
w
er
e
s
i
m
u
l
a
te
d
,
ev
a
lu
a
t
e
d
,
an
d
c
o
m
p
a
r
ed
in
t
er
m
s
o
f
s
p
e
e
d
an
d
c
u
r
r
e
n
t
r
e
s
p
o
n
s
e
s
o
v
e
r
a
p
r
e
d
ef
i
n
ed
s
p
e
e
d
r
an
g
e,
w
i
th
p
a
r
t
i
c
u
l
ar
em
p
h
a
s
i
s
o
n
l
o
w
-
s
p
e
ed
p
er
f
o
r
m
a
n
c
e.
F
i
g
u
r
e
1
s
h
o
w
s
th
e
o
v
e
r
a
l
l
b
l
o
c
k
d
i
ag
r
am
o
f
th
e
l
o
w
-
s
p
e
ed
s
c
a
l
a
r
V
/
f
c
o
n
t
r
o
l
s
y
s
t
e
m
w
i
t
h
t
h
e
F
C
,
d
e
t
a
i
l
in
g
t
h
e
k
e
y
c
o
m
p
o
n
en
t
s
a
n
d
th
e
ir
i
n
t
er
a
c
t
io
n
s
to
p
r
o
v
i
d
e
a
co
m
p
l
e
t
e
o
v
e
r
v
i
e
w
o
f
t
h
e
s
y
s
t
em
’
s
f
u
n
c
t
i
o
n
a
l
i
t
y
.
2
.
1
.
V/f
s
ca
la
r
co
ntr
o
l desig
n
2
.
1
.
1
.
V/f
re
la
t
io
n
B
ef
o
r
e
estab
lis
h
in
g
th
e
V/f
r
el
atio
n
s
h
ip
,
a
s
ca
lin
g
f
ac
to
r
o
f
1
/3
0
is
in
tr
o
d
u
ce
d
s
o
th
at
th
e
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
,
n
s
,
ca
n
b
e
h
an
d
led
co
n
v
en
ien
tly
in
r
ev
o
l
u
tio
n
s
p
er
m
in
u
te
(
r
p
m
)
.
T
h
is
co
n
v
er
s
io
n
a
p
p
ea
r
s
in
(
1
)
,
wh
ich
is
d
er
iv
ed
f
r
o
m
th
e
f
u
n
d
am
en
t
al
s
y
n
ch
r
o
n
o
us
-
s
p
ee
d
ex
p
r
ess
io
n
s
h
o
wn
in
(
2
)
.
I
n
b
o
th
e
q
u
at
io
n
s
,
f
d
en
o
tes
th
e
s
u
p
p
ly
f
r
e
q
u
en
c
y
(
Hz)
a
n
d
P r
ep
r
esen
ts
th
e
n
u
m
b
er
o
f
m
o
to
r
p
o
les.
=
1
30
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Lo
w
-
s
p
ee
d
s
ca
la
r
co
n
tr
o
l o
f in
d
u
ctio
n
mo
t
o
r
b
y
fu
z
z
y
lo
g
ic
(
A
lfo
n
s
o
A
leja
n
d
r
o
S
ev
illa
-
Hid
a
lg
o
)
4625
=
120
(
2
)
Un
d
er
th
e
ass
u
m
ed
lin
ea
r
V/f
p
r
o
f
ile,
th
e
s
tato
r
f
r
e
q
u
en
c
y
is
lim
ited
to
th
e
3
Hz
–
2
9
Hz
in
te
r
v
al,
wh
ich
co
r
r
esp
o
n
d
s
to
a
co
n
tr
o
llab
le
s
p
ee
d
r
an
g
e
o
f
1
0
0
r
p
m
–
8
0
0
r
p
m
.
An
ad
d
itio
n
al
to
ler
an
ce
b
an
d
is
s
p
ec
if
ied
,
n
ar
r
o
win
g
th
e
ef
f
ec
tiv
e
clo
s
ed
-
lo
o
p
r
a
n
g
e
to
9
0
r
p
m
–
8
7
0
r
p
m
to
en
s
u
r
e
r
eliab
le
o
p
er
atio
n
n
ea
r
th
e
ex
tr
em
e
p
o
in
ts
.
W
ith
in
th
is
b
a
n
d
,
th
e
m
o
d
u
latio
n
s
ig
n
al
s
en
t
t
o
th
e
in
s
u
lated
g
ate
b
ip
o
lar
tr
an
s
is
to
r
(
I
GB
T
)
c
o
n
tr
o
l
b
lo
ck
v
ar
ies
f
r
o
m
5
%
to
5
8
%
o
f
th
e
p
r
eset
2
2
0
V
DC
lin
k
v
o
ltag
e,
s
in
ce
th
e
v
o
ltag
e
is
n
o
r
m
alize
d
to
f
r
eq
u
en
cy
.
C
o
n
s
eq
u
en
tly
,
th
e
r
esu
ltin
g
V
/f
ch
ar
ac
ter
is
tic
is
d
ef
in
ed
b
y
(
3
)
,
wh
er
e
VV/f
is
th
e
o
u
tp
u
t
v
o
ltag
e
d
eter
m
in
e
d
b
y
th
e
V/f
r
atio
;
f
is
th
e
r
ef
er
e
n
ce
f
r
eq
u
en
cy
(
Hz)
;
A
is
th
e
r
ef
er
en
ce
v
al
u
e
co
r
r
esp
o
n
d
in
g
to
1
0
0
%
o
f
th
e
DC
lin
k
v
o
ltag
e;
a
n
d
f
m
a
x
is
th
e
m
ax
im
u
m
(
n
o
r
m
alize
d
)
f
r
eq
u
e
n
cy
f
o
r
th
e
V/f
r
atio
.
/
=
{
0
,
<
0
,
0
≤
≤
50
100
,
>
50
(
3
)
Fig
u
r
e
1
.
Fu
zz
y
co
n
tr
o
l b
lo
c
k
d
iag
r
am
2
.
1
.
2
.
Cla
rk
-
P
a
r
k
t
ra
ns
f
o
r
ma
t
io
n
T
h
e
C
lar
k
e
–
Par
k
tr
an
s
f
o
r
m
ati
o
n
is
u
s
ed
to
o
b
tain
th
r
ee
b
alan
ce
d
s
in
u
s
o
id
al
r
ef
er
en
ce
s
r
eq
u
i
r
ed
b
y
th
e
in
v
er
ter
’
s
m
o
d
u
latio
n
s
tag
e.
T
o
g
en
er
ate
th
e
p
u
ls
e
-
wid
th
m
o
d
u
latio
n
(
PW
M)
s
ig
n
als
f
o
r
th
e
in
v
er
ter
im
p
lem
en
ted
with
t
h
e
L
N
b
l
o
ck
s
,
th
e
I
GB
T
c
o
n
tr
o
l
b
lo
ck
m
u
s
t
r
ec
eiv
e
th
r
ee
-
p
h
ase
s
in
u
s
o
id
al
s
ig
n
als
th
at
en
co
d
e
b
o
th
th
e
d
esire
d
f
r
ac
ti
o
n
o
f
th
e
p
r
eset
DC
lin
k
v
o
ltag
e
an
d
th
e
s
witch
in
g
f
r
eq
u
e
n
c
y
d
em
an
d
ed
b
y
t
h
e
I
GB
T
s
.
T
h
ese
r
eq
u
ir
e
m
en
ts
ar
e
m
et
b
y
f
ir
s
t
ap
p
l
y
in
g
th
e
i
n
v
er
s
e
Par
k
tr
a
n
s
f
o
r
m
atio
n
to
th
e
v
o
ltag
e
r
ef
e
r
en
ce
o
b
tain
ed
f
r
o
m
t
h
e
V/f
r
atio
.
T
h
e
m
atr
ix
f
o
r
m
o
f
th
e
i
n
v
er
s
e
Par
k
tr
an
s
f
o
r
m
atio
n
is
g
iv
en
in
(
4
)
.
[
]
=
[
c
os
(
)
−
s
in
(
)
s
in
(
)
c
os
(
)
]
[
]
(
4
)
Her
e,
V
α
is
s
et
to
ze
r
o
,
an
d
V
β
,
wh
ich
s
tem
s
f
r
o
m
th
e
V/f
p
r
o
f
ile,
is
g
en
er
ated
b
y
an
L
N
i
n
teg
r
ato
r
b
l
o
ck
th
at
r
esets
ev
er
y
2
π
with
a
p
e
r
io
d
o
f
1
/
f
.
On
ce
th
e
Ds
an
d
Qs
co
m
p
o
n
e
n
ts
ar
e
o
b
tain
ed
,
a
m
o
d
if
ied
in
v
e
r
s
e
C
lar
k
e
tr
an
s
f
o
r
m
atio
n
,
ex
p
r
ess
ed
in
(
5
)
,
is
ap
p
lied
to
tr
an
s
late
th
ese
o
r
th
o
g
o
n
al
v
o
ltag
es
in
to
t
h
e
th
r
e
e
-
p
h
ase
r
ef
er
e
n
ce
s
r
eq
u
ir
ed
b
y
th
e
I
GB
T
s
witch
es.
I
n
(
5
)
,
Uc,
Vc,
a
n
d
W
c
c
o
n
s
titu
te
th
e
f
in
al
co
n
tr
o
l
s
ig
n
als
d
eliv
er
ed
to
th
e
I
GB
T
c
o
n
tr
o
l
b
lo
ck
.
E
ac
h
s
ig
n
al
s
im
u
ltan
eo
u
s
ly
en
co
d
es,
in
i
ts
am
p
lit
u
d
e,
th
e
p
er
ce
n
tag
e
o
f
th
e
in
v
er
ter
’
s
DC
lin
k
v
o
ltag
e
a
n
d
,
i
n
its
f
r
eq
u
e
n
cy
,
th
e
ca
r
r
ier
n
ee
d
e
d
f
o
r
ac
cu
r
ate
PW
M
g
en
er
atio
n
.
[
]
=
[
1
0
1
−
1
2
√
3
2
1
−
1
2
−
√
3
2
1
]
[
0
]
(
5
)
2
.
1
.
3
.
T
hree
-
ph
a
s
e
inv
er
t
er
T
h
e
th
r
ee
-
p
h
ase
in
v
er
ter
,
o
r
s
im
u
latio
n
co
n
v
er
te
r
b
lo
ck
,
s
y
n
th
esizes
th
e
m
o
to
r
p
h
ase
v
o
ltag
es
b
y
s
witch
in
g
its
in
s
u
lated
-
g
ate
b
i
p
o
lar
tr
a
n
s
is
to
r
s
in
r
esp
o
n
s
e
to
th
e
r
ef
er
en
c
e
s
ig
n
als.
T
h
ese
r
ef
er
en
ce
s
ig
n
als ar
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
1
4
,
No
.
6
,
Dec
em
b
er
2
0
2
5
:
4
6
2
3
-
4
6
3
5
4626
th
e
s
tan
d
ar
d
I
GB
T
co
n
t
r
o
l w
a
v
ef
o
r
m
s
g
e
n
er
ated
b
y
th
e
I
GB
T
c
o
n
tr
o
l
b
lo
ck
with
PW
M
at
8
k
Hz.
Du
r
in
g
ea
ch
ca
r
r
ier
p
er
io
d
,
th
e
s
im
u
latio
n
c
o
n
v
er
ter
b
lo
ck
c
o
m
b
in
es
th
e
I
GB
T
co
n
tr
o
l
s
ig
n
als,
th
e
m
ax
i
m
u
m
PW
M
co
u
n
ter
v
alu
e,
an
d
t
h
e
p
r
eset
DC
-
lin
k
v
o
ltag
e
to
co
m
p
u
te
th
e
in
s
tan
t
an
eo
u
s
o
u
tp
u
t
v
o
ltag
es
d
eliv
e
r
ed
to
th
e
m
o
to
r
[
2
7
]
.
Her
e,
Vd
c
is
s
u
p
p
lied
b
y
a
f
u
ll
-
wav
e
r
ec
tifie
r
co
n
n
ec
ted
t
o
th
e
th
r
ee
-
p
h
ase
m
ain
s
.
2
.
1
.
4
.
T
hree
-
ph
a
s
e
ind
uct
io
n
m
o
t
o
r
mo
del
T
h
e
d
y
n
am
ic
b
eh
av
io
r
o
f
th
e
d
r
iv
e
is
r
e
p
r
ese
n
t
ed
t
h
r
o
u
g
h
a
d
et
ail
e
d
T
I
M
m
o
d
e
l.
Fi
g
u
r
e
2
s
h
o
ws
t
h
e
s
in
g
le
-
p
h
ase
e
q
u
iv
al
en
t
ci
r
c
u
i
t
th
at
u
n
d
er
p
i
n
s
t
h
is
m
o
d
el
.
B
e
ca
u
s
e
t
h
e
t
h
r
ee
s
tat
o
r
p
h
ases
a
r
e
i
d
en
tic
al
an
d
t
h
e
s
u
p
p
l
y
is
p
er
f
e
ctl
y
b
al
an
ce
d
,
t
h
e
m
o
d
el
d
e
r
i
v
e
d
f
r
o
m
o
n
e
p
h
as
e
ca
n
b
e
ex
tr
ap
o
lat
ed
t
o
th
e
f
u
ll
m
ac
h
i
n
e
.
Acc
o
r
d
in
g
l
y
,
t
h
e
t
h
r
e
e
-
p
h
as
e
i
n
d
u
cti
o
n
m
o
d
el
b
l
o
ck
,
o
r
in
d
u
cti
o
n
m
o
d
e
l
b
l
o
c
k
,
f
r
o
m
th
e
L
u
c
as
–
Nü
lle
t
o
o
l
b
o
x
im
p
le
m
e
n
ts
t
h
e
m
o
to
r
d
y
n
a
m
i
cs
b
y
n
u
m
er
ica
ll
y
s
o
l
v
i
n
g
th
e
f
u
n
d
am
en
tal
e
q
u
a
ti
o
n
s
lis
te
d
in
(
6
)
to
(
8
).
Fig
u
r
e
2
.
I
n
d
u
cti
o
n
m
o
to
r
m
o
n
o
p
h
ase
eq
u
iv
alen
t c
ir
c
u
it
I
n
(
6
)
ex
p
r
ess
es
th
e
m
ec
h
an
ical
to
r
q
u
e
M
mech
as
th
e
r
atio
b
etwe
en
elec
tr
o
m
ag
n
etic
p
o
we
r
an
d
r
o
to
r
s
p
ee
d
,
wh
er
ea
s
in
(
7
)
lin
k
s
t
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
M
an
d
th
e
l
o
ad
to
r
q
u
e
M
L
t
o
th
e
r
o
to
r
’
s
an
g
u
lar
ac
ce
ler
atio
n
th
r
o
u
g
h
its
m
o
m
en
t
o
f
in
er
tia
J
.
I
n
(
8
)
p
r
o
v
id
es
a
s
tate
-
s
p
ac
e
d
escr
ip
tio
n
t
h
at
s
im
u
ltan
eo
u
s
ly
g
o
v
er
n
s
th
e
s
tato
r
cu
r
r
e
n
ts
(i
Sa
,
i
Sb
,
an
d
r
o
to
r
f
l
u
x
lin
k
a
g
es
(Ψ
Ra
,
Ψ
Rb
)
in
th
e
s
tatio
n
ar
y
α
−
β
f
r
am
e
,
u
s
in
g
m
ac
h
in
e
p
ar
am
eter
s
s
u
c
h
as
Ls
,
Lr
,
Lm
,
Rs
,
Rr
,
a
n
d
th
e
tim
e
co
n
s
tan
ts
Tσ
an
d
T
R
.
T
o
g
et
h
er
,
th
ese
eq
u
atio
n
s
ca
p
tu
r
e
th
e
elec
tr
o
m
ec
h
an
ical
co
u
p
lin
g
th
at
d
ef
in
es in
d
u
ctio
n
-
m
o
to
r
o
p
e
r
atio
n
.
ℎ
=
ℎ
=
3
2
(
−
)
(
6
)
=
−
(
7
)
[
(
)
(
)
(
)
(
)
]
=
[
−
1
−
−
1
−
0
−
1
(
−
)
0
−
(
−
)
−
1
]
[
→
(
)
→
(
)
(
)
(
)
]
+
[
1
0
0
1
0
0
0
0
]
.
[
(
)
(
)
]
(
8
)
T
h
e
s
y
m
b
o
ls
ap
p
ea
r
in
g
in
(
6
)
to
(
8
)
a
r
e
d
ef
i
n
ed
as f
o
llo
ws:
‒
(
)
,
(
)
s
tato
r
cu
r
r
en
t c
o
m
p
o
n
en
ts
in
t
h
e
a
an
d
b
ax
es a
t tim
e
t (
A)
.
‒
(
)
,
(
)
r
o
to
r
f
l
u
x
lin
k
a
g
e
co
m
p
o
n
e
n
ts
in
th
e
a
an
d
b
a
x
es a
t tim
e
t (
W
b
)
.
‒
,
a
n
g
u
lar
v
elo
cities:
tr
an
s
f
o
r
m
a
tio
n
an
d
r
o
to
r
(
r
ad
/s
)
.
‒
,
c
o
n
s
tan
ts
: r
elate
d
to
leak
ag
e
a
n
d
r
o
t
o
r
.
‒
,
,
i
n
d
u
ctan
ce
s
: m
ag
n
etizin
g
,
s
ta
to
r
,
an
d
r
o
to
r
(
H)
.
‒
n
u
m
b
e
r
o
f
p
o
le
p
air
s
.
‒
(
)
,
(
)
s
tato
r
v
o
ltag
e
co
m
p
o
n
en
ts
in
th
e
a
an
d
b
ax
es a
t tim
e
t (
V)
.
‒
ℎ
,
,
t
o
r
q
u
es: m
ec
h
a
n
ical,
elec
tr
o
m
ag
n
etic
an
d
l
o
ad
(
Nm
)
.
‒
J
-
i
n
er
tia
m
o
m
en
t
o
f
th
e
r
o
to
r
(
k
g
·
m
2
).
‒
σ
-
t
o
tal
leak
ag
e
c
o
ef
f
icien
t.
T
o
v
alid
ate
t
h
e
co
n
tr
o
l
s
tr
ate
g
y
,
th
e
L
u
ca
s
–
Nu
elle
in
d
u
cti
o
n
m
o
to
r
“SE
2
6
7
3
-
1
K6
”
wa
s
s
elec
ted
.
I
ts
n
am
ep
late
d
ata
ar
e
2
2
0
/3
8
0
V,
1
.
9
/1
.
1
A,
6
0
Hz,
0
.
3
7
k
W
,
1
6
5
0
r
p
m
,
an
d
p
o
wer
f
ac
to
r
o
f
0
.
7
6
.
T
h
e
elec
tr
ical
an
d
m
ec
h
an
ical
p
ar
am
eter
s
u
s
ed
in
th
e
m
o
d
el
ar
e
lis
ted
in
T
ab
le
2
.
E
m
p
l
o
y
in
g
m
a
n
u
f
ac
tu
r
er
-
s
p
ec
if
ied
v
alu
es
with
in
th
e
in
d
u
ctio
n
m
o
d
el
b
lo
ck
en
h
a
n
ce
s
th
e
r
ea
lis
m
o
f
th
e
s
im
u
latio
n
an
d
s
tr
en
g
th
e
n
s
th
e
co
r
r
elatio
n
b
etwe
en
n
u
m
e
r
ical
an
d
e
x
p
er
i
m
en
tal
r
esu
lts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Lo
w
-
s
p
ee
d
s
ca
la
r
co
n
tr
o
l o
f in
d
u
ctio
n
mo
t
o
r
b
y
fu
z
z
y
lo
g
ic
(
A
lfo
n
s
o
A
leja
n
d
r
o
S
ev
illa
-
Hid
a
lg
o
)
4627
T
ab
le
2
.
L
u
ca
s
-
Nu
elle
SE2
6
7
3
-
1
K6
elec
tr
ical
an
d
m
ec
h
a
n
ic
al
p
ar
am
eter
s
S
y
mb
o
l
D
e
scri
p
t
i
o
n
U
n
i
t
s
V
a
l
u
e
R
o
t
o
r
i
n
d
u
c
t
a
n
c
e
(
r
e
l
a
t
e
d
t
o
t
h
e
s
t
a
t
o
r
)
.
H
1
.
3
8
6
7
S
t
a
t
o
r
i
n
d
u
c
t
a
n
c
e
.
H
1
.
3
8
6
7
R
o
t
o
r
r
e
si
s
t
a
n
c
e
.
Ω
1
5
.
7
2
S
t
a
t
o
r
r
e
s
i
st
a
n
c
e
Ω
2
0
.
4
6
M
a
g
n
e
t
i
z
i
n
g
i
n
d
u
c
t
a
n
c
e
H
1
.
3
I
n
e
r
t
i
a
M
a
c
h
i
n
e
i
n
e
r
t
i
a
K
g
m
2
0
.
0
0
1
5
F
r
i
c
t
i
o
n
Th
e
f
r
i
c
t
i
o
n
m
o
me
n
t
,
w
h
i
c
h
d
e
p
e
n
d
s
o
n
t
h
e
r
o
t
a
t
i
n
g
sp
e
e
d
µ
1
1
7
e
M
a
c
h
i
n
e
p
o
l
e
n
u
m
b
e
r
4
2
.
2
.
P
I
co
ntr
o
l desig
n
Fo
r
PIC
d
esig
n
,
an
o
p
e
r
atio
n
al
s
p
ee
d
r
an
g
e
o
f
1
0
0
–
8
0
0
r
p
m
i
s
ad
o
p
ted
,
with
th
e
m
i
d
p
o
in
t
o
f
4
5
0
r
p
m
ch
o
s
en
as
th
e
n
o
m
in
al
o
p
er
ati
n
g
co
n
d
itio
n
.
T
h
e
c
o
n
tr
o
ller
g
ain
s
ar
e
tu
n
ed
b
y
a
PS
O
alg
o
r
i
th
m
,
wh
ich
s
ea
r
c
h
es
th
e
p
ar
am
eter
s
p
ac
e
to
o
b
tain
a
s
et
o
f
co
n
s
tan
ts
th
at
m
in
im
i
ze
th
e
d
ef
in
e
d
co
s
t
f
u
n
ctio
n
.
T
h
e
r
esu
ltin
g
PIC
is
im
p
lem
en
ted
in
a
ca
s
ca
d
e
co
n
f
ig
u
r
atio
n
,
as
illu
s
tr
ated
in
Fig
u
r
e
3
,
wh
er
e
r
(
k
)
d
e
n
o
tes
th
e
r
ef
er
en
ce
in
p
u
t,
y
(
k
)
th
e
m
ea
s
u
r
ed
s
p
ee
d
o
u
tp
u
t,
e(
k
)
th
e
er
r
o
r
,
u
(
k
)
t
h
e
co
n
tr
o
l
s
ig
n
al,
an
d
u
sat
(
k
)
th
e
s
atu
r
ated
c
o
n
tr
o
l
s
ig
n
al
a
p
p
lied
to
th
e
p
lan
t.
T
h
e
s
atu
r
atio
n
li
m
its
A
an
d
B
an
d
th
e
s
am
p
lin
g
p
er
io
d
T
s
ar
e
ex
p
licitly
s
h
o
wn
to
p
r
ev
en
t w
in
d
u
p
[
2
8
]
–
[
3
1
]
,
in
s
tab
ilit
y
,
an
d
o
v
e
r
cu
r
r
en
t c
o
n
d
itio
n
s
[
3
2
]
.
Fig
u
r
e
4
s
h
o
ws
th
e
cl
o
s
ed
-
lo
o
p
b
l
o
ck
d
iag
r
am
u
s
ed
to
tu
n
e
Kp
an
d
Ki
o
n
t
h
e
MA
T
L
A
B
/Si
m
u
lin
k
p
latf
o
r
m
.
T
h
e
PS
O
alg
o
r
ith
m
is
co
d
ed
in
M
-
s
cr
ip
t
a
n
d
in
ter
ac
ts
with
Simu
lin
k
th
r
o
u
g
h
it
er
ativ
e
s
im
u
latio
n
s
.
I
ts
v
elo
city
an
d
p
o
s
itio
n
u
p
d
at
es
in
(
1
0
)
an
d
(
1
1
)
,
r
esp
e
ctiv
ely
,
an
d
th
e
f
itn
ess
f
u
n
ctio
n
m
in
im
izes
th
e
ab
s
o
lu
te
s
p
ee
d
er
r
o
r
.
⃗
(
+
1
)
=
⃗
(
)
+
1
1
(
⃗
(
)
−
⃗
(
)
)
+
2
2
(
⃗
(
)
−
⃗
(
)
)
(
1
0
)
⃗
(
+
1
)
=
⃗
(
)
+
⃗
(
+
1
)
(
1
1
)
Fig
u
r
e
3
.
C
ascad
e
s
tr
u
ctu
r
e
o
f
a
d
is
cr
ete
PIC with
an
ti
-
win
d
u
p
Fig
u
r
e
4
.
C
lo
s
ed
-
lo
o
p
b
lo
c
k
d
i
ag
r
am
o
f
V/f
s
ca
lar
o
f
s
p
ee
d
c
o
n
tr
o
l
T
h
e
s
w
a
r
m
i
s
co
n
f
ig
u
r
ed
w
i
t
h
1
5
p
a
r
t
i
c
le
s
,
a
m
ax
i
m
u
m
o
f
2
0
i
t
e
r
at
i
o
n
s
,
a
c
c
e
l
er
a
t
i
o
n
c
o
e
f
f
i
c
i
en
t
s
c
1
=
c2
=
2
,
an
d
an
i
n
er
t
i
a
l
f
ac
t
o
r
th
a
t
d
ec
r
e
a
s
e
s
l
i
n
ea
r
ly
f
r
o
m
ω
m
a
x
=1
t
o
ω
m
i
n
=0
.
1
.
R
a
n
d
o
m
n
u
m
b
er
s
r
1
a
n
d
r
2
ar
e
u
n
i
f
o
r
m
l
y
d
r
a
wn
f
r
o
m
[
0
,
1
]
a
t
ev
e
r
y
i
t
e
r
a
t
i
o
n
t
o
m
a
i
n
t
a
in
s
e
a
r
c
h
d
i
v
er
s
i
t
y
.
U
n
d
er
t
h
e
s
e
s
e
t
t
in
g
s
,
t
h
e
a
lg
o
r
i
t
h
m
r
e
tu
r
n
s
K
p
=0
.
6
8
3
4
an
d
K
i
=
0
.
7
8
9
0
a
t
th
e
4
5
0
r
p
m
o
p
e
r
a
t
in
g
p
o
i
n
t
;
a
s
u
b
s
eq
u
en
t
f
in
e
a
d
j
u
s
t
m
en
t
y
i
e
l
d
s
f
i
n
a
l
v
a
lu
e
s
o
f
Kp
=
0
.
6
7
1
a
n
d
K
i
=
0
.
7
5
0
.
A
f
t
e
r
o
p
t
im
i
z
a
t
i
o
n
,
th
e
P
S
O
an
d
Ab
s
(
)
b
l
o
c
k
s
i
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
1
4
,
No
.
6
,
Dec
em
b
er
2
0
2
5
:
4
6
2
3
-
4
6
3
5
4628
F
i
g
u
r
e
4
a
r
e
r
e
m
o
v
e
d
,
a
n
d
th
e
t
u
n
e
d
Kp
a
n
d
K
i
c
o
n
s
t
a
n
t
s
a
r
e
h
a
r
d
-
c
o
d
e
d
in
t
o
th
e
P
I
C
,
c
o
m
p
le
t
i
n
g
t
h
e
c
o
n
tr
o
l
l
er
-
d
e
s
i
g
n
p
r
o
ce
d
u
r
e.
2
.
3
.
F
uzzy
co
ntr
o
l desig
n
Fo
r
FC
d
esig
n
,
th
e
PI
C
i
s
f
ir
s
t
ev
alu
ated
o
v
er
th
e
1
0
0
–
8
0
0
r
p
m
o
p
er
atin
g
r
a
n
g
e,
s
elec
tin
g
s
ev
er
al
m
id
p
o
in
ts
tu
n
ed
with
th
e
PSO
p
r
o
ce
d
u
r
e.
T
h
e
r
esu
ltin
g
d
ata
p
r
o
v
id
e
e
x
p
er
t
-
le
v
el
k
n
o
wled
g
e
th
at
is
en
co
d
ed
in
to
f
u
zz
y
r
u
les
aim
e
d
at
im
p
r
o
v
in
g
s
p
ee
d
r
e
g
u
latio
n
p
er
f
o
r
m
an
ce
with
f
u
zz
y
lo
g
ic.
Desig
n
r
e
q
u
ir
em
en
ts
ar
e
s
et
to
lim
it
th
e
in
r
u
s
h
cu
r
r
en
t
p
ea
k
to
1
.
5
2
A
(
≈
8
0
% o
f
th
e
r
ated
cu
r
r
en
t)
,
co
n
f
in
e
th
e
s
tead
y
-
s
tate
s
p
ee
d
er
r
o
r
to
±
5
r
p
m
,
ac
h
iev
e
a
s
ettlin
g
ti
m
e
b
elo
w
1
s
,
a
n
d
r
estrict
b
o
th
o
v
er
s
h
o
o
t a
n
d
u
n
d
er
s
h
o
o
t to
1
5
%.
Fig
u
r
e
5
p
r
o
v
id
es
a
n
o
v
e
r
v
ie
w
o
f
th
e
f
u
zz
y
-
c
o
n
tr
o
ller
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
.
T
h
e
FC
co
m
b
in
es
a
Ma
m
d
an
i
-
ty
p
e
FLC
with
a
co
n
v
en
tio
n
al
PI
C
wh
o
s
e
g
ain
s
K
p
an
d
Ki
ar
e
ad
a
p
tiv
ely
s
elec
ted
b
y
th
e
FLC.
T
h
e
u
n
iv
er
s
e
o
f
d
is
co
u
r
s
e
s
p
an
s
1
0
0
–
8
0
0
r
p
m
.
T
h
e
two
in
p
u
ts
—
r
ef
er
en
ce
s
p
ee
d
an
d
s
p
ee
d
er
r
o
r
—
ar
e
m
ap
p
ed
t
o
tr
ian
g
u
lar
m
em
b
er
s
h
i
p
f
u
n
ctio
n
s
,
wh
ile
th
e
two
o
u
tp
u
ts
—
Kp
an
d
Ki
—
ar
e
lik
ewise
r
ep
r
esen
ted
b
y
tr
ian
g
u
lar
s
ets.
As s
h
o
wn
in
Fig
u
r
e
5
(
a
)
,
s
p
ee
d
is
class
if
ied
as lo
w
(
L
V)
,
m
ed
i
u
m
(
MV
)
,
o
r
h
ig
h
(
HV)
;
th
e
v
elo
city
-
e
r
r
o
r
s
ets
ar
e
s
m
all
(
SE)
,
m
ed
iu
m
(
ME
)
,
an
d
lar
g
e
(
L
E
)
.
Fig
u
r
e
5
(
b
)
d
is
p
lay
s
th
e
o
u
tp
u
t
s
ets:
s
m
all
(
SP
)
,
m
ed
iu
m
(
MP)
,
an
d
lar
g
e
(
L
P)
f
o
r
Kp
;
an
d
s
m
all
(
SI)
,
m
ed
iu
m
(
MI
)
,
an
d
lar
g
e
(
L
I
)
f
o
r
Ki.
T
h
e
r
u
le
b
ase,
s
u
m
m
ar
ized
in
T
ab
le
3
,
c
o
m
p
r
is
es
n
in
e
“if
–
th
en
”
r
u
les
th
at
u
s
e
a
n
AND
co
n
ju
n
ctio
n
,
th
e
m
in
im
u
m
o
p
e
r
at
o
r
f
o
r
im
p
licatio
n
,
an
d
th
e
m
ax
im
u
m
o
p
er
ato
r
f
o
r
ag
g
r
eg
atio
n
.
Fo
llo
win
g
a
g
g
r
eg
atio
n
,
th
e
ce
n
tr
o
id
m
et
h
o
d
is
ap
p
lied
f
o
r
d
ef
u
zz
if
icatio
n
,
y
ield
in
g
cr
is
p
v
alu
es o
f
Kp
a
n
d
Ki
th
at
s
atis
f
y
th
e
af
o
r
em
en
tio
n
ed
p
e
r
f
o
r
m
an
ce
cr
iter
ia.
B
o
th
th
e
FLC
an
d
th
e
d
is
cr
ete
PI
co
n
tr
o
l
law
ar
e
im
p
lem
e
n
t
ed
in
a
MA
T
L
AB
f
u
n
ctio
n
b
lo
ck
with
in
th
e
MA
T
L
AB
/Si
m
u
lin
k
en
v
ir
o
n
m
en
t.
T
h
e
PI
e
q
u
atio
n
is
co
d
ed
in
d
if
f
e
r
en
ce
f
o
r
m
,
a
n
d
an
a
n
ti
-
win
d
u
p
lim
iter
—
im
p
lem
en
ted
b
y
s
atu
r
atin
g
th
e
co
n
tr
o
l
v
a
r
iab
le
b
et
wee
n
±
A
an
d
±
B
—
p
r
ev
e
n
ts
win
d
u
p
,
in
s
tab
ilit
y
,
an
d
o
v
er
cu
r
r
en
t.
Fig
u
r
e
1
p
r
esen
ts
th
e
co
m
p
lete
clo
s
ed
-
l
o
o
p
d
iag
r
am
o
f
th
e
s
y
s
tem
g
o
v
er
n
ed
b
y
t
h
e
FC
.
(
a)
(
b
)
Fig
u
r
e
5
.
Fu
zz
y
co
n
tr
o
ller
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
: (
a)
in
p
u
t
an
d
(
b
)
o
u
t
p
u
t
T
ab
le
3
.
Fu
zz
y
co
n
tr
o
ller
r
u
le
s
V
\
e
SE
ME
LE
LV
LP/L
I
M
P
/
M
I
S
P
/
S
I
MV
M
P
/
M
I
M
P
/
M
I
S
P
/
S
I
HV
S
P
/
S
I
M
P
/
M
I
S
P
/
S
I
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
C
l
o
s
e
d
-
l
o
o
p
r
e
s
p
o
n
s
e
s
o
f
t
h
e
V/
f
s
ca
l
a
r
c
o
n
t
r
o
l
s
c
h
e
m
e
w
e
r
e
ev
a
l
u
a
t
e
d
a
t
r
e
f
e
r
e
n
c
e
s
p
e
e
d
s
o
f
1
0
0
,
2
5
0
,
4
0
0
,
5
7
5
,
a
n
d
7
5
0
r
p
m
u
n
d
e
r
l
o
a
d
t
o
r
q
u
e
s
o
f
0
.
1
9
,
0
.
2
4
,
a
n
d
0
.
4
1
N
m
.
B
o
t
h
t
h
e
P
I
C
a
n
d
t
h
e
F
C
w
e
r
e
t
e
s
t
e
d
to
e
n
a
b
l
e
a
d
i
r
e
c
t
c
o
m
p
a
r
i
s
o
n
.
F
i
g
u
r
e
s
6
t
o
8
s
h
o
w
d
y
n
a
m
i
c
b
e
h
a
v
i
o
r
f
o
r
t
h
r
e
e
r
e
p
r
e
s
e
n
t
a
t
i
v
e
o
p
e
r
a
t
i
n
g
p
o
i
n
t
s
.
F
i
g
u
r
e
6
(
a
)
d
i
s
p
l
a
y
s
t
h
e
s
p
e
e
d
r
e
s
p
o
n
s
e
;
Fi
g
u
r
e
6
(
b
)
t
h
e
i
n
r
u
s
h
c
u
r
r
e
n
t
;
a
n
d
F
i
g
u
r
e
6
(
c
)
t
h
e
p
e
r
m
a
n
e
n
t
c
u
r
r
e
n
t
—
a
l
l
at
1
0
0
r
p
m
w
i
t
h
a
0
.
1
9
N
m
l
o
a
d
.
S
i
m
i
la
r
l
y
,
Fi
g
u
r
e
7
p
r
e
s
e
n
ts
t
h
e
s
a
m
e
r
es
p
o
n
s
e
s
a
t
a
2
5
0
r
p
m
r
e
f
e
r
e
n
c
e
w
i
t
h
a
0
.
2
4
N
m
l
o
a
d
,
w
h
i
l
e
F
i
g
u
r
e
8
s
h
o
w
s
t
h
e
s
a
m
e
r
es
p
o
n
s
es
a
t
a
1
0
0
r
p
m
r
e
f
e
r
e
n
c
e
w
i
t
h
a
0
.
2
1
N
m
l
o
a
d
.
T
ab
les
4
an
d
5
lis
t
th
e
p
r
in
cip
a
l
r
esp
o
n
s
e
in
d
ices
—
u
n
d
e
r
s
h
o
o
t,
u
n
d
er
s
h
o
o
t
tim
e,
s
ettlin
g
tim
e,
in
r
u
s
h
-
cu
r
r
en
t
R
MS,
an
d
p
er
m
an
en
t
-
cu
r
r
en
t
R
MS
—
ac
r
o
s
s
th
e
f
iv
e
r
ef
er
en
ce
s
p
ee
d
s
n
o
ted
ab
o
v
e
u
n
d
er
th
e
s
p
ec
if
ie
d
lo
ad
lev
els.
T
a
b
le
6
co
n
d
en
s
e
s
th
ese
d
ata
in
to
p
er
f
o
r
m
a
n
ce
d
if
f
er
e
n
tials
b
etwe
en
th
e
two
co
n
tr
o
ller
s
,
wh
ile
T
ab
le
7
s
u
m
m
ar
izes
th
e
tr
an
s
i
en
t
p
ar
am
eter
s
an
d
t
h
eir
v
ar
iat
io
n
in
th
e
lo
w
-
s
p
ee
d
r
o
b
u
s
tn
ess
test
co
n
d
u
cted
at
1
0
0
r
p
m
an
d
0
.
2
1
Nm
,
b
ased
o
n
th
e
d
y
n
am
ic
b
e
h
av
io
r
s
h
o
wn
in
Fig
u
r
e
8
.
T
h
e
r
o
b
u
s
tn
ess
s
ce
n
ar
io
s
d
ep
icte
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Lo
w
-
s
p
ee
d
s
ca
la
r
co
n
tr
o
l o
f in
d
u
ctio
n
mo
t
o
r
b
y
fu
z
z
y
lo
g
ic
(
A
lfo
n
s
o
A
leja
n
d
r
o
S
ev
illa
-
Hid
a
lg
o
)
4629
in
Fig
u
r
e
8
a
n
d
T
ab
le
7
d
eli
b
er
ately
ex
ce
e
d
th
e
o
r
i
g
in
al
d
esig
n
co
n
s
tr
ain
ts
an
d
illu
s
tr
ate
ea
ch
co
n
tr
o
ller
’
s
b
eh
av
io
r
u
n
d
er
d
e
m
an
d
in
g
co
n
d
itio
n
s
.
(
a)
(
b
)
(
c)
F
i
g
u
r
e
6
.
T
h
e
f
i
r
s
t
a
n
d
s
e
c
o
n
d
c
o
l
u
m
n
s
p
r
e
s
e
n
t
t
h
e
P
I
C
a
n
d
FC
r
e
s
p
o
n
s
e
s
r
es
p
e
c
ti
v
e
l
y
a
t
1
0
0
r
p
m
a
n
d
0
.
1
9
N
m
:
(
a)
s
p
ee
d
,
(
b
)
s
tar
t
-
u
p
cu
r
r
en
t,
an
d
(
c)
s
tead
y
-
s
tate
cu
r
r
en
t
(
a)
(
b
)
(
c)
F
i
g
u
r
e
7
.
T
h
e
f
i
r
s
t
a
n
d
s
e
c
o
n
d
c
o
l
u
m
n
s
p
r
e
s
e
n
t
t
h
e
P
I
C
a
n
d
FC
r
e
s
p
o
n
s
e
s
r
es
p
e
c
ti
v
e
l
y
a
t
2
5
0
r
p
m
a
n
d
0
.
2
4
N
m
:
(
a)
s
p
ee
d
,
(
b
)
s
tar
t
-
u
p
cu
r
r
en
t,
an
d
(
c)
s
tead
y
-
s
tate
cu
r
r
en
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
1
4
,
No
.
6
,
Dec
em
b
er
2
0
2
5
:
4
6
2
3
-
4
6
3
5
4630
(
a)
(
b
)
(
c)
Fig
u
r
e
8
.
T
h
e
s
p
ee
d
r
o
b
u
s
tn
es
s
test
at
lo
w
s
p
ee
d
(
1
0
0
r
p
m
a
n
d
0
.
2
1
Nm
)
:
(
a)
s
p
ee
d
,
(
b
)
s
tar
t
-
u
p
c
u
r
r
en
t,
an
d
(
c)
s
tead
y
-
s
tate
cu
r
r
e
n
t
T
ab
le
4
.
Sp
ee
d
an
d
c
u
r
r
e
n
t r
esp
o
n
s
e
p
ar
a
m
eter
s
at
1
0
0
,
2
5
0
,
an
d
4
0
0
r
p
m
P
a
r
a
me
t
e
r
P
I
C
FC
P
I
C
FC
P
I
C
FC
R
e
f
e
r
e
n
c
e
v
e
l
o
c
i
t
y
[
r
p
m]
1
0
0
2
5
0
4
0
0
Lo
a
d
[
N
m]
0
.
1
9
0
.
2
4
0
.
4
1
U
n
d
e
r
sh
o
o
t
[
%]
5
7
.
5
2
1
3
.
8
5
1
5
.
5
0
1
4
.
2
0
1
1
.
9
2
1
1
.
1
2
U
n
d
e
r
sh
o
o
t
t
i
m
e
[
s]
0
.
0
8
0
.
0
2
0
.
0
4
0
.
0
4
0
.
0
3
0
.
0
3
S
e
t
t
i
n
g
t
i
me
[
s]
1
.
9
2
0
.
3
9
0
.
3
8
0
.
3
1
0
.
8
5
0
.
7
2
I
n
r
u
sh
c
u
r
r
e
n
t
R
M
S
[
mA
]
5
4
1
.
0
1
1
4
9
0
.
5
8
8
6
1
.
9
6
9
1
2
.
8
7
1
2
8
6
.
2
3
1
3
3
5
.
0
2
P
e
r
man
e
n
t
c
u
r
r
e
n
t
R
M
S
[
mA
]
4
4
3
.
0
0
4
4
3
.
1
4
5
2
8
.
0
0
5
2
8
.
2
1
6
2
3
.
6
7
6
2
3
.
4
6
T
ab
le
5
.
Sp
ee
d
an
d
c
u
r
r
e
n
t r
esp
o
n
s
e
p
ar
a
m
eter
s
at
5
7
5
an
d
7
5
0
r
p
m
P
a
r
a
me
t
e
r
P
I
C
FC
P
I
C
FC
R
e
f
e
r
e
n
c
e
v
e
l
o
c
i
t
y
[
r
p
m]
5
7
5
7
5
0
Lo
a
d
[
N
m]
0
.
4
1
0
.
4
1
U
n
d
e
r
sh
o
o
t
[
%]
6
.
3
6
6
.
9
3
4
.
8
0
6
.
5
9
U
n
d
e
r
sh
o
o
t
t
i
m
e
[
s]
0
.
0
2
0
.
0
2
0
.
0
2
0
.
0
3
S
e
t
t
i
n
g
t
i
me
[
s]
0
.
4
3
0
.
2
9
2
.
3
3
0
.
4
3
I
n
r
u
sh
c
u
r
r
e
n
t
R
M
S
[
mA
]
1
6
6
8
.
7
7
1
4
5
9
.
4
7
1
9
9
9
1
3
7
7
.
4
4
4
P
e
r
man
e
n
t
c
u
r
r
e
n
t
R
M
S
[
mA
]
6
3
4
.
7
7
6
2
6
.
9
2
1
6
5
6
.
9
6
5
9
.
5
8
9
2
T
ab
le
6
.
Par
am
eter
s
co
m
p
ar
is
o
n
b
etwe
en
c
o
n
tr
o
ller
s
P
a
r
a
me
t
e
r
C
o
n
t
r
o
l
l
e
r
s
v
a
r
i
a
t
i
o
n
s
R
e
f
e
r
e
n
c
e
v
e
l
o
c
i
t
y
[
r
p
m]
1
0
0
2
5
0
4
0
0
5
7
5
7
5
0
Lo
a
d
[
N
m]
0
.
1
9
0
.
2
4
0
.
4
1
0
.
4
1
0
.
4
1
U
n
d
e
r
sh
o
o
t
[
%]
4
3
.
6
7
1
.
3
0
.
8
-
0
.
5
7
-
1
.
7
9
U
n
d
e
r
sh
o
o
t
t
i
m
e
[
s]
0
.
0
5
0
.
0
0
0
.
0
0
0
.
0
0
-
0
.
0
1
S
e
t
t
i
n
g
t
i
me
[
s]
1
.
5
3
0
.
0
7
0
.
1
3
0
.
1
4
1
.
9
0
I
n
r
u
sh
c
u
r
r
e
n
t
R
M
S
[
mA
]
-
9
4
9
.
5
7
-
5
0
.
9
1
-
4
8
.
7
9
2
0
9
.
3
0
6
2
1
.
5
5
P
e
r
man
e
n
t
c
u
r
r
e
n
t
R
M
S
[
mA
]
-
0
.
1
4
-
0
.
2
1
0
.
2
1
7
.
8
5
-
2
.
6
9
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Lo
w
-
s
p
ee
d
s
ca
la
r
co
n
tr
o
l o
f in
d
u
ctio
n
mo
t
o
r
b
y
fu
z
z
y
lo
g
ic
(
A
lfo
n
s
o
A
leja
n
d
r
o
S
ev
illa
-
Hid
a
lg
o
)
4631
T
ab
le
7
.
R
o
b
u
s
tn
ess
test
p
ar
am
eter
s
at
lo
w
s
p
ee
d
s
P
a
r
a
me
t
e
r
/
C
o
n
t
r
o
l
l
e
r
P
I
C
FC
V
a
r
i
a
t
i
o
n
R
e
f
e
r
e
n
c
e
v
e
l
o
c
i
t
y
[
r
p
m]
1
0
0
Lo
a
d
[
N
m]
0
.
2
1
U
n
d
e
r
sh
o
o
t
[
%]
u
n
d
e
t
e
r
m
i
n
e
d
1
5
.
8
1
N
o
t
c
o
mp
a
r
a
b
l
e
U
n
d
e
r
sh
o
o
t
t
i
m
e
[
s]
u
n
d
e
t
e
r
m
i
n
e
d
0
.
0
2
N
o
t
c
o
mp
a
r
a
b
l
e
S
e
t
t
i
n
g
t
i
me
[
s]
N
o
t
s
t
a
b
l
e
0
.
6
1
N
o
t
c
o
mp
a
r
a
b
l
e
I
n
r
u
sh
c
u
r
r
e
n
t
R
M
S
[
mA
]
6
5
7
.
2
6
1
5
0
8
.
2
6
-
8
5
1
.
0
0
P
e
r
man
e
n
t
c
u
r
r
e
n
t
R
M
S
[
mA
]
6
7
4
.
4
4
4
5
0
.
9
9
2
2
3
.
4
5
A
co
m
p
ar
ativ
e
an
al
y
s
is
b
etwe
en
th
e
FC
an
d
th
e
PIC
u
n
d
e
r
id
en
tical
d
esig
n
co
n
s
tr
ain
ts
co
n
f
ir
m
s
th
e
FC
’
s
s
u
p
er
io
r
tr
an
s
ien
t
p
e
r
f
o
r
m
an
ce
a
n
d
r
o
b
u
s
tn
ess
.
Acr
o
s
s
th
e
f
u
ll
s
p
ee
d
s
p
a
n
—
f
r
o
m
1
0
0
to
8
0
0
r
p
m
—
th
e
FC
s
h
o
r
ten
s
s
ettlin
g
tim
e
b
y
u
p
to
1
.
5
3
s
at
1
0
0
r
p
m
an
d
b
y
1
.
9
0
s
at
7
5
0
r
p
m
,
wh
ile
k
ee
p
in
g
th
e
s
tead
y
-
s
tate
s
p
ee
d
with
in
±
5
r
p
m
(
Fi
g
u
r
es
6
an
d
7
;
T
ab
les
4
t
o
6
)
.
T
h
ese
f
in
d
in
g
s
alig
n
with
ea
r
l
ier
s
tu
d
ies
s
h
o
win
g
th
at
FC
en
h
an
ce
s
th
e
d
y
n
am
i
c
r
esp
o
n
s
e
o
f
in
d
u
ctio
n
m
o
to
r
d
r
iv
es
at
m
e
d
iu
m
,
r
ated
,
an
d
ab
o
v
e
-
r
ate
d
s
p
ee
d
s
[
2
0
]
–
[
2
2
]
,
wh
ile
t
h
e
p
r
esen
t
wo
r
k
e
x
ten
d
s
th
is
ev
i
d
en
ce
b
y
v
a
lid
atin
g
a
co
n
v
en
tio
n
al
PI
-
b
ased
s
ca
lar
V/f
co
n
tr
o
l
s
ch
em
e
at
v
er
y
l
o
w
s
p
ee
d
s
.
Star
t
-
u
p
cu
r
r
e
n
t
o
f
f
er
s
an
o
th
e
r
clea
r
d
is
tin
ctio
n
.
T
h
r
o
u
g
h
o
u
t
th
e
en
tire
test
r
an
g
e,
th
e
FC
k
ee
p
s
th
e
in
r
u
s
h
cu
r
r
e
n
t
b
elo
w
th
e
1
.
5
2
A
d
esig
n
ce
ilin
g
as
ca
n
b
e
s
ee
n
in
Fig
u
r
es
6
(
b
)
a
n
d
7
(
b
)
—
ev
en
th
o
u
g
h
to
r
q
u
e
b
o
o
s
t r
aises
cu
r
r
en
t
d
em
an
d
at
lo
w
s
p
ee
d
s
—
wh
er
ea
s
th
e
PIC a
p
p
r
o
ac
h
es
o
r
s
u
r
p
ass
es th
at
t
h
r
esh
o
ld
at
s
ev
er
al
p
o
in
ts
.
At
1
0
0
r
p
m
,
t
h
e
to
r
q
u
e
-
b
o
o
s
t
ac
tio
n
elim
in
ates
th
e
o
v
er
s
h
o
o
t
(
2
3
.
2
%)
a
n
d
r
e
d
u
ce
s
th
e
ex
tr
em
e
u
n
d
er
s
h
o
o
t
(
5
7
.
5
2
%)
r
ec
o
r
d
ed
with
th
e
PIC
(
Fig
u
r
e
6
an
d
T
a
b
le
4
)
.
T
h
is
p
r
ev
e
n
ts
th
e
two
-
s
ec
o
n
d
s
tab
ilizatio
n
d
elay
th
at
r
en
d
er
s
th
e
PIC
r
es
p
o
n
s
e
u
n
ac
ce
p
ta
b
le.
Ad
ap
tiv
e
f
u
zz
y
s
ch
em
es
h
av
e
d
em
o
n
s
t
r
ated
r
ed
u
ctio
n
s
in
o
v
er
s
h
o
o
t
a
n
d
s
tab
ilizatio
n
tim
e
[
2
1
]
;
h
o
wev
er
,
t
h
e
im
p
r
o
v
em
en
ts
in
lo
w
-
s
p
ee
d
co
n
tr
o
l
o
b
s
er
v
ed
in
th
is
wo
r
k
ex
ce
ed
th
o
s
e
o
f
p
r
e
v
io
u
s
s
tu
d
i
es.
Alth
o
u
g
h
th
e
FC
o
cc
asio
n
ally
r
eg
is
ter
s
u
n
d
er
s
h
o
o
t
v
alu
es
m
ar
g
in
ally
h
ig
h
er
th
an
th
o
s
e
o
f
th
e
PIC
(
≤
1
.
7
9
%),
th
ese
ex
cu
r
s
io
n
s
r
em
ain
well
with
in
th
e
d
esig
n
lim
it,
wh
er
ea
s
th
e
PIC
v
io
lates
it
a
t
1
0
0
r
p
m
(
5
7
.
5
2
%)
a
n
d
2
5
0
r
p
m
(
1
5
.
5
0
%)
r
ep
r
esen
ted
in
Fig
u
r
es
6
(
a)
an
d
7
(
a
)
.
Su
ch
u
n
d
e
r
s
h
o
o
t
m
a
g
n
itu
d
es
u
n
d
er
m
in
e
o
p
tim
al
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
.
Mo
r
eo
v
er
,
ac
r
o
s
s
t
h
e
ev
alu
ated
r
an
g
e,
th
e
PIC
ex
h
ib
its
th
e
h
ig
h
est
p
ea
k
u
n
d
er
s
h
o
o
t
tim
e
—
f
o
u
r
tim
es
th
at
o
f
th
e
FC
.
Hen
ce
,
b
o
th
tech
n
iq
u
es
m
ain
tain
ad
eq
u
ate
s
tead
y
-
s
tate
cu
r
r
en
t
b
eh
av
io
r
with
o
u
t p
r
o
d
u
cin
g
s
i
d
e
ef
f
ec
ts
d
u
r
in
g
c
o
n
tin
u
o
u
s
o
p
er
atio
n
,
s
ee
Fig
u
r
e
6
(
c)
an
d
7
(
c)
.
T
h
e
lo
w
-
s
p
ee
d
r
o
b
u
s
tn
ess
tes
t
at
1
0
0
r
p
m
an
d
0
.
2
1
Nm
(
F
ig
u
r
e
8
an
d
T
a
b
le
7
)
ex
p
o
s
es
a
cr
itical
d
if
f
er
en
ce
in
th
e
s
am
e
p
ar
am
eter
s
an
aly
ze
d
a
b
o
v
e
f
o
r
th
e
two
co
n
tr
o
l
s
tr
ateg
ies.
Alth
o
u
g
h
th
e
PIC
s
h
o
ws
ap
p
ar
en
tly
ad
eq
u
ate
cu
r
r
en
t
w
av
ef
o
r
m
s
—
b
o
th
d
u
r
in
g
s
tar
t
-
u
p
an
d
in
s
tead
y
s
tate
as
s
h
o
wn
in
Fig
u
r
e
8
(
b
)
an
d
Fig
u
r
e
8
(
c
)
it
d
r
iv
es
th
e
s
p
ee
d
r
esp
o
n
s
e
in
to
a
n
u
n
r
ec
o
v
e
r
ab
le
co
llap
s
e,
in
d
icatin
g
an
i
n
s
u
f
f
icien
t
s
tab
ilit
y
m
ar
g
in
u
n
d
er
e
v
en
m
o
d
est
lo
a
d
d
is
tu
r
b
an
ce
s
,
wh
ic
h
is
o
b
s
er
v
ed
in
Fig
u
r
e
8
(
a)
.
B
y
co
n
tr
as
t,
th
e
F
C
m
ain
tain
s
a
p
ea
k
-
u
n
d
er
s
h
o
o
t
tim
e
co
m
p
a
r
ab
le
to
th
e
o
th
er
s
p
ee
d
ca
s
es,
k
ee
p
s
th
e
in
r
u
s
h
cu
r
r
e
n
t
b
elo
w
th
e
1
.
5
2
A
d
esig
n
lim
it,
an
d
ac
h
iev
es
a
s
tab
ilizatio
n
p
atter
n
th
at
m
ir
r
o
r
s
th
e
s
p
ee
d
r
o
b
u
s
tn
ess
r
ep
o
r
ted
f
o
r
f
u
zz
y
s
ch
em
es
in
p
r
ev
io
u
s
s
tu
d
ies
[
2
2
]
,
th
e
r
eb
y
d
em
o
n
s
tr
atin
g
a
n
ac
ce
p
tab
le
l
ev
el
o
f
r
o
b
u
s
tn
ess
at
lo
w
s
p
ee
d
.
A
s
a
r
e
s
u
l
t,
w
i
t
h
in
a
r
o
b
u
s
tn
e
s
s
m
a
r
g
in
o
f
0
.
2
1
Nm
,
th
e
P
I
C
m
u
s
t
b
e
r
u
l
e
d
o
u
t
,
wh
e
r
e
a
s
t
h
e
F
C
d
e
l
i
v
er
s
a
to
l
e
r
ab
l
e
r
e
s
p
o
n
s
e
;
i
t
s
o
n
ly
d
ev
i
a
t
i
o
n
f
r
o
m
t
h
e
s
p
e
c
i
f
i
ca
t
i
o
n
s
i
s
a
n
u
n
d
e
r
s
h
o
o
t
t
h
a
t
ex
c
e
ed
s
th
e
t
a
r
g
e
t b
y
j
u
s
t 0
.
8
1
%.
T
h
i
s
m
in
o
r
d
e
v
i
a
t
io
n
co
u
ld
b
e
e
l
i
m
in
a
t
e
d
b
y
f
i
n
e
-
t
u
n
i
n
g
th
e
f
u
z
zy
r
u
l
e
s
e
t
o
r
ad
j
u
s
t
i
n
g
t
h
e
m
e
m
b
e
r
s
h
ip
-
f
u
n
c
t
i
o
n
b
o
u
n
d
a
r
i
e
s
.
O
v
er
a
l
l
,
t
h
i
s
co
m
p
a
r
i
s
o
n
c
o
n
f
ir
m
s
th
a
t
th
e
F
C
r
e
t
a
in
s
a
c
c
ep
t
ab
l
e
r
o
b
u
s
t
n
e
s
s
ac
r
o
s
s
th
e
e
n
t
ir
e
s
p
e
e
d
r
an
g
e,
w
h
i
l
e
th
e
P
I
C
’
s
p
er
f
o
r
m
an
c
e
d
e
t
er
i
o
r
a
t
e
s
s
h
a
r
p
ly
a
s
o
p
e
r
a
t
in
g
c
o
n
d
i
t
i
o
n
s
d
ev
i
a
t
e
f
r
o
m
t
h
o
s
e
a
n
a
ly
z
ed
.
T
o
ex
te
n
d
t
h
e
d
is
cu
s
s
io
n
b
ey
o
n
d
th
e
tr
an
s
ien
t
r
esp
o
n
s
es
a
n
d
r
o
b
u
s
tn
ess
test
,
Fig
u
r
e
9
ex
am
in
es
a
±
5
0
r
p
m
s
p
ee
d
-
tr
a
ck
in
g
test
at
1
0
0
r
p
m
u
n
d
er
a
0
.
1
9
Nm
lo
ad
,
wh
er
e
Fig
u
r
e
9
(
a)
s
h
o
ws
th
e
s
p
ee
d
d
y
n
a
m
ic
r
esp
o
n
s
e.
R
elativ
e
to
th
e
PIC,
th
e
FC
r
e
d
u
ce
s
s
tar
t
-
u
p
o
v
er
s
h
o
o
t
an
d
u
n
d
er
s
h
o
o
t
b
y
8
3
.
6
6
%
an
d
7
6
%,
r
esp
ec
tiv
ely
,
an
d
s
h
o
r
ten
s
th
e
s
ettlin
g
tim
e
b
y
0
.
8
3
1
s
f
o
r
th
e
u
p
war
d
s
tep
a
n
d
0
.
7
1
9
s
f
o
r
t
h
e
d
o
wn
war
d
s
tep
.
T
h
e
FC
also
co
n
f
in
es
th
e
o
v
e
r
s
h
o
o
t
an
d
u
n
d
er
s
h
o
o
t
d
u
r
atio
n
to
o
n
ly
2
6
m
s
—
an
o
r
d
er
o
f
m
ag
n
itu
d
e
f
a
s
ter
th
an
th
e
PIC
—
th
er
eb
y
s
u
s
tain
in
g
tig
h
t
s
p
ee
d
r
eg
u
latio
n
ev
e
n
d
u
r
in
g
r
a
p
id
s
et
-
p
o
in
t
ch
a
n
g
es.
On
th
e
o
th
e
r
h
an
d
,
Fig
u
r
e
9
(
b
)
ex
am
in
es
th
e
t
r
an
s
ien
t
b
e
h
av
i
o
r
o
f
th
e
cu
r
r
en
t,
w
h
er
e
t
h
e
FC
’
s
s
tar
tin
g
cu
r
r
en
t
r
ea
ch
es
at
m
o
s
t
1
.
4
9
A.
Desp
ite
th
e
r
ep
etitiv
e
s
p
ee
d
ch
an
g
es,
th
e
FC
cu
r
r
en
t
m
ai
n
tain
s
th
e
s
am
e
p
er
f
o
r
m
an
ce
i
m
p
r
o
v
e
m
en
ts
.
T
h
is
r
esu
lt
co
r
r
o
b
o
r
ates
th
e
s
co
p
e
o
f
th
e
FC
’
s
r
o
b
u
s
tn
ess
an
d
tr
an
s
ien
t
r
esp
o
n
s
es
o
b
s
er
v
ed
at
lo
w
s
p
e
ed
an
d
m
ir
r
o
r
s
th
e
f
ast
-
ad
ap
tatio
n
b
eh
a
v
io
r
r
ep
o
r
ted
f
o
r
f
u
zz
y
s
ch
em
es
at
h
ig
h
er
s
p
ee
d
s
in
p
r
ev
io
u
s
s
tu
d
ies,
wh
ile
al
s
o
d
em
o
n
s
tr
atin
g
th
e
e
n
h
an
ce
d
s
tar
tin
g
p
e
r
f
o
r
m
an
ce
ac
h
iev
ed
in
th
is
r
esear
ch
—
f
u
r
th
e
r
h
ig
h
lig
h
tin
g
th
e
FC
’
s
s
u
p
er
io
r
ag
ilit
y
,
s
tab
ilit
y
,
a
n
d
o
v
er
all
p
er
f
o
r
m
a
n
ce
co
m
p
ar
ed
with
th
e
PIC.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
1
4
,
No
.
6
,
Dec
em
b
er
2
0
2
5
:
4
6
2
3
-
4
6
3
5
4632
(
a)
(
b
)
Fig
u
r
e
9
.
T
h
e
f
ir
s
t a
n
d
s
ec
o
n
d
co
lu
m
n
s
p
r
esen
t th
e
PIC a
n
d
FC
r
esp
o
n
s
es,
r
esp
ec
tiv
ely
,
in
th
e
lo
w
-
s
p
ee
d
v
ar
iatio
n
test
at
1
0
0
r
p
m
a
n
d
0
.
1
9
Nm
: (
a)
s
p
ee
d
an
d
(
b
)
cu
r
r
en
t
4.
CO
NCLU
SI
O
N
T
h
is
wo
r
k
p
r
esen
ted
a
co
m
p
a
r
ativ
e
an
aly
s
is
b
etwe
en
PIC
an
d
FC
in
V/f
s
ca
lar
s
p
ee
d
co
n
tr
o
l
o
f
a
T
I
M
at
lo
w
s
p
ee
d
s
,
s
u
p
p
o
r
ted
b
y
s
im
u
latio
n
s
co
n
d
u
cted
in
MA
T
L
AB
/Si
m
u
lin
k
u
s
in
g
L
u
ca
s
-
Nü
lle’
s
to
o
lb
o
x
f
o
r
p
r
ec
is
e
m
o
d
elin
g
.
T
h
e
r
esu
lts
co
n
f
ir
m
t
h
at
th
e
in
teg
r
ati
o
n
o
f
f
u
zz
y
lo
g
ic
s
ig
n
if
ican
tly
en
h
an
ce
s
s
p
ee
d
r
eg
u
latio
n
n
o
t
o
n
ly
at
lo
w
s
p
ee
d
s
b
u
t
a
ls
o
ac
r
o
s
s
m
ed
iu
m
r
an
g
es,
y
ield
in
g
s
u
p
er
i
o
r
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
.
T
h
e
FC
ac
h
iev
ed
ze
r
o
o
v
e
r
s
h
o
o
t
with
i
n
a
±
2
.
9
r
p
m
s
tab
ilit
y
m
ar
g
in
,
r
ed
u
ce
d
s
tab
ilizatio
n
tim
e
b
y
u
p
to
0
.
2
9
s
u
n
d
e
r
d
if
f
er
en
t
lo
a
d
co
n
d
itio
n
s
,
an
d
lim
ited
th
e
s
tar
tin
g
cu
r
r
e
n
t
to
b
elo
w
7
6
.
8
%
o
f
th
e
m
o
to
r
’
s
r
ated
v
alu
e,
en
s
u
r
in
g
ef
f
icien
t
co
n
tr
o
l
ac
r
o
s
s
th
e
lo
w
-
f
r
eq
u
e
n
cy
r
eg
io
n
.
C
o
m
p
ar
e
d
with
th
e
PIC,
th
e
F
C
co
n
s
i
s
t
en
tly
d
eliv
er
ed
b
ette
r
s
p
ee
d
tr
ac
k
in
g
a
n
d
in
r
u
s
h
-
cu
r
r
en
t
m
itig
atio
n
,
en
a
b
lin
g
o
p
er
at
io
n
at
ju
s
t
6
.
0
6
%
o
f
r
ated
s
p
ee
d
wh
ile
m
ain
tain
in
g
f
av
o
r
a
b
le
tr
an
s
ien
t
ch
a
r
ac
ter
is
tics
u
n
d
er
l
o
ad
.
Fu
t
u
r
e
e
f
f
o
r
ts
will
f
o
cu
s
o
n
im
p
lem
en
tin
g
th
ese
co
n
tr
o
l
s
tr
ateg
ies
in
a
p
h
y
s
ical
s
etu
p
to
v
alid
ate
th
e
s
im
u
latio
n
r
esu
lts
u
n
d
er
r
ea
l
o
p
er
atin
g
s
ce
n
ar
i
o
s
,
as
well
a
s
r
ef
in
in
g
th
e
f
u
zz
y
r
u
le
b
ase
an
d
m
em
b
er
s
h
i
p
f
u
n
ctio
n
s
to
f
u
r
th
e
r
en
h
an
ce
r
o
b
u
s
tn
ess
an
d
o
v
er
all
ef
f
icien
c
y
.
ACK
NO
WL
E
DG
M
E
N
T
S
T
h
is
r
esear
ch
was
s
u
p
p
o
r
ted
b
y
th
e
I
n
s
titu
tio
n
al
L
ab
o
r
at
o
r
y
f
o
r
R
esear
ch
,
E
n
tr
ep
r
e
n
e
u
r
s
h
ip
,
an
d
I
n
n
o
v
atio
n
in
Au
to
m
atic
C
o
n
tr
o
l
Sy
s
tem
s
,
Au
to
m
atio
n
,
an
d
R
o
b
o
tics
(
L
I
E
C
AR
)
an
d
th
e
L
ab
o
r
ato
r
y
o
f
R
en
ewa
b
le
E
n
er
g
ies,
Op
tical
C
o
m
m
u
n
icatio
n
s
E
n
g
in
ee
r
in
g
,
an
d
E
n
v
ir
o
n
m
en
tal
T
ec
h
n
o
lo
g
y
(
T
E
SLA)
at
th
e
Un
iv
er
s
id
ad
Nac
io
n
al
d
e
San
An
to
n
io
Ab
ad
d
el
C
u
s
co
(
UNSAAC).
W
e
also
s
in
ce
r
ely
th
an
k
R
o
y
D.
Peñ
a
Aleg
r
e
f
o
r
h
is
v
alu
ab
le
c
o
n
tr
ib
u
tio
n
to
th
e
d
ev
elo
p
m
en
t
o
f
th
is
r
esear
ch
ar
ticle.
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
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
M
E
N
T
T
h
is
jo
u
r
n
al
u
s
es
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
n
o
m
y
(
C
R
ed
iT)
to
r
ec
o
g
n
ize
in
d
iv
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.