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I
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[
1
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y
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th
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tato
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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Vo
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67
156
I
n
co
n
tr
ast,
DT
C
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tili
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s
a
p
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-
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m
in
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witch
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ltag
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to
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VV)
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elec
tio
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f
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th
e
I
M
[
3
]
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C
o
m
p
ar
ed
to
th
e
FOC
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DT
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h
as
a
s
im
p
ler
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tr
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ctu
r
e
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d
d
o
es
n
o
t
r
eq
u
ir
e
a
m
o
d
u
la
to
r
.
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also
o
f
f
e
r
s
s
im
p
ler
im
p
lem
en
tatio
n
an
d
b
etter
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esi
lien
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ar
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ar
iatio
n
s
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er
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o
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ig
h
ly
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lu
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tics
o
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th
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y
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ter
esis
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tr
o
ller
s
,
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ich
ca
n
ca
u
s
e
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ig
h
to
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u
e
r
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p
p
le
an
d
v
ar
ia
b
le
s
witch
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g
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r
e
q
u
en
cy
[
4
]
.
Mo
d
if
ied
DT
C
m
eth
o
d
s
[
5
]
–
[
7
]
s
tr
iv
e
to
ad
d
r
ess
th
ese
lim
itatio
n
s
an
d
,
to
a
c
er
tain
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te
n
t,
h
a
v
e
m
i
tig
ated
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ese
is
s
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es.
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er
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is
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en
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m
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icate
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ctu
r
e
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d
im
p
lem
en
tatio
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R
ec
en
tly
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th
e
ap
p
licatio
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m
o
d
el
p
r
e
d
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co
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l
(
MP
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to
th
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M
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as
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ain
ed
a
lo
t
o
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atten
tio
n
am
o
n
g
r
esear
c
h
er
s
[
8
]
,
[
9
]
.
Fo
r
p
o
we
r
elec
tr
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n
ics
co
n
v
er
ter
s
with
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ix
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o
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th
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MPC
k
n
o
wn
as
f
in
ite
co
n
tr
o
l
s
et
-
p
r
e
d
ictiv
e
to
r
q
u
e
co
n
tr
o
l
(
FC
S
-
PTC)
tech
n
iq
u
e
,
s
im
p
lifie
s
im
p
lem
en
tatio
n
a
n
d
r
e
d
u
ce
s
e
x
ec
u
tio
n
tim
e
[
1
0
]
.
T
h
e
o
p
tim
i
za
tio
n
s
tag
e
o
f
FC
S
-
PTC
in
v
o
lv
es
s
elec
tin
g
a
VV
th
at
m
in
im
izes
a
co
s
t
f
u
n
ctio
n
.
T
h
e
two
m
ain
v
ar
iab
les
th
at
d
ef
in
e
th
e
c
o
s
t
f
u
n
ctio
n
o
f
th
e
FC
S
-
PT
C
ar
e
th
e
to
r
q
u
e
an
d
f
lu
x
.
Sin
ce
to
r
q
u
e
a
n
d
f
lu
x
a
r
e
f
u
n
d
am
e
n
tally
d
if
f
e
r
en
t,
em
p
lo
y
in
g
a
weig
h
tin
g
f
a
cto
r
(
W
F)
to
ass
ig
n
d
if
f
er
en
t
p
r
i
o
r
ities
to
th
ese
co
n
tr
o
l
v
ar
iab
les
is
co
m
m
o
n
.
T
h
u
s
,
W
F’s
s
elec
t
io
n
af
f
ec
ts
th
e
d
y
n
am
ic
ch
ar
ac
ter
is
tics
o
f
th
e
co
n
tr
o
l
v
ar
i
ab
les
an
d
,
h
en
ce
,
th
e
d
r
i
v
e
p
er
f
o
r
m
an
ce
.
T
h
e
r
ef
o
r
e
,
th
is
p
ap
er
s
ee
k
s
to
clar
if
y
th
e
im
p
ac
t
o
f
W
F
s
elec
tio
n
o
n
th
e
co
n
t
r
o
l
p
er
f
o
r
m
a
n
ce
o
f
th
e
d
r
iv
e.
T
h
e
an
al
y
s
is
is
s
im
p
lifie
d
th
r
o
u
g
h
its
im
p
lem
en
tatio
n
u
s
in
g
a
d
SP
AC
E
co
n
tr
o
ller
b
o
a
r
d
–
d
etails
o
n
th
e
im
p
lem
en
tatio
n
u
s
in
g
C
co
d
es
ar
e
d
is
cu
s
s
ed
an
d
p
r
esen
te
d
in
th
is
p
ap
e
r
.
2.
M
O
DE
L
L
I
NG
A
T
H
R
E
E
-
P
H
ASE
I
N
DUC
T
I
O
N
M
O
T
O
R
A
m
o
r
e
co
m
p
ac
t
an
d
co
n
v
en
i
en
t
way
o
f
m
o
d
ellin
g
a
s
y
m
m
etr
ical
th
r
ee
-
p
h
ase
s
y
s
tem
is
t
o
u
s
e
s
p
ac
e
v
ec
to
r
(
also
k
n
o
wn
as
s
p
ac
e
p
h
aso
r
)
eq
u
atio
n
s
.
B
y
ex
p
r
ess
in
g
th
e
th
r
ee
-
p
h
ase
I
M
u
s
in
g
s
p
a
ce
v
ec
to
r
eq
u
atio
n
s
as in
(
1
)
to
(
5
)
,
th
e
an
aly
s
is
o
f
a
s
y
m
m
etr
ical
th
r
ee
-
p
h
ase
I
M
b
ec
o
m
es m
o
r
e
s
tr
aig
h
tf
o
r
war
d
[
1
1
]
,
[
1
2
]
.
=
+
⁄
(
1
)
0
=
+
⁄
−
(
2
)
=
+
(
3
)
=
+
(
4
)
=
(
3
2
⁄
)
ℑ
(
∗
)
(
5
)
W
h
e
r
e
,
,
ar
e
t
h
e
s
tat
o
r
v
o
lta
g
e
,
s
t
at
o
r
f
l
u
x
,
a
n
d
r
o
to
r
f
l
u
x
s
p
a
ce
v
e
ct
o
r
s
,
r
es
p
ec
ti
v
el
y
.
Al
s
o
is
t
h
e
ele
ctr
o
m
a
g
n
et
ic
t
o
r
q
u
e
(
e
x
p
r
es
s
ed
i
n
te
r
m
s
o
f
s
ta
to
r
c
u
r
r
e
n
t
a
n
d
s
tat
o
r
f
l
u
x
s
p
ac
e
v
ec
t
o
r
s
)
an
d
,
a
n
d
a
r
e
t
h
e
s
tat
o
r
a
n
d
r
o
to
r
r
es
is
ta
n
c
es,
r
e
s
p
e
cti
v
e
ly
.
M
ea
n
w
h
i
le
,
t
h
e
s
ta
to
r
a
n
d
r
o
t
o
r
c
u
r
r
e
n
t
s
p
ac
e
v
e
c
to
r
s
a
r
e
r
e
p
r
ese
n
t
ed
as
a
n
d
.
N
ex
t,
,
a
n
d
i
n
d
i
ca
t
ed
th
e
s
ta
to
r
s
el
f
-
i
n
d
u
ct
a
n
ce
,
r
o
t
o
r
s
el
f
-
i
n
d
u
cta
n
c
e
,
a
n
d
m
u
tu
al
in
d
u
ct
an
ce
,
r
es
p
ec
t
iv
el
y
.
L
astl
y
,
t
h
e
is
th
e
ele
ct
r
i
ca
l
r
o
t
o
r
s
p
ee
d
,
a
n
d
th
e
p
a
ir
o
f
p
o
les
is
la
b
elle
d
as
.
T
h
e
s
tato
r
an
d
r
o
to
r
c
u
r
r
en
ts
,
a
s
in
(
6
)
an
d
(
7
)
ca
n
b
e
o
b
tain
e
d
b
y
m
an
ip
u
latin
g
(
3
)
a
n
d
(
4
)
.
Me
an
wh
ile,
(
5
)
ca
n
b
e
ex
p
r
ess
ed
in
ter
m
s
o
f
th
e
d
-
q
q
u
a
n
titi
es
(
s
ca
lar
)
as
in
(
8
)
f
o
r
th
e
to
r
q
u
e.
All
o
f
t
h
ese
eq
u
atio
n
s
ar
e
u
s
ed
f
o
r
t
h
e
esti
m
atio
n
an
d
p
r
ed
ictio
n
s
o
f
co
n
tr
o
l p
a
r
am
eter
s
in
FC
S
-
PT
C
.
=
[
1
(
−
2
)
⁄
]
(
−
)
(
6
)
=
[
1
(
−
2
)
⁄
]
(
−
)
(
7
)
=
(
3
2
⁄
)
[
(
)
−
(
)
]
(
8
)
3.
M
O
DE
L
L
I
NG
A
T
H
R
E
E
-
P
H
ASE
VO
L
T
AG
E
SO
URC
E
I
NV
E
R
T
E
R
Fig
u
r
e
1
(a
)
d
ep
icts
a
two
-
lev
el,
th
r
ee
-
p
h
ase
v
o
ltag
e
s
o
u
r
ce
i
n
v
er
ter
(
VSI
)
u
tili
zin
g
s
ix
in
s
u
lated
-
g
ate
b
ip
o
lar
tr
an
s
is
to
r
s
(
I
GB
T
s
)
f
o
r
p
o
wer
s
witch
es
,
with
an
in
p
u
t
v
o
ltag
e
V
DC
an
d
th
e
o
u
tp
u
t
c
o
n
n
ec
ted
to
a
th
r
ee
-
p
h
ase
I
M.
E
ac
h
I
GB
T
,
lab
elle
d
Q
1
th
r
o
u
g
h
Q
6
,
p
o
s
s
ess
es
an
in
ter
n
al
an
ti
-
p
ar
allel
d
i
o
d
e
to
o
f
f
er
a
f
r
ee
wh
ee
lin
g
p
ath
f
o
r
th
e
cu
r
r
en
t w
h
e
n
th
e
I
GB
T
is
tu
r
n
ed
o
f
f
.
T
h
e
o
u
tp
u
t
v
o
ltag
e
o
f
th
e
s
p
ac
e
v
ec
to
r
th
at
is
ap
p
lied
to
th
e
I
M
is
co
n
tr
o
lled
b
y
ad
ju
s
tin
g
th
e
s
witch
in
g
s
tates
o
f
th
e
p
o
wer
s
witch
es.
W
h
ile
m
o
d
u
lato
r
s
ar
e
co
m
m
o
n
ly
u
s
ed
,
th
e
o
u
tp
u
t
v
o
ltag
e
o
f
a
VSI
ca
n
also
b
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
I
mp
leme
n
ta
tio
n
o
f fin
ite
c
o
n
tr
o
l
s
et
-
p
r
ed
ictive
to
r
q
u
e
co
n
tr
o
l b
a
s
ed
o
n
th
e
d
S
p
a
ce
…
(
R
o
z
a
n
a
A
lik
)
157
co
n
tr
o
lled
b
y
d
i
r
ec
tly
co
n
tr
o
ll
in
g
th
e
s
witch
in
g
s
tates
o
f
th
e
p
o
wer
s
witch
es
w
ith
o
u
t
r
eq
u
ir
in
g
a
m
o
d
u
lat
o
r
.
L
ik
ewise,
PTC
u
tili
ze
s
an
o
p
tim
izatio
n
s
tag
e
with
in
th
e
alg
o
r
ith
m
to
d
eter
m
in
e
th
e
ap
p
r
o
p
r
iate
VVs
,
wh
ich
i
s
tr
an
s
lated
in
to
s
witch
in
g
s
tates.
Fig
u
r
e
1
(
b
)
illu
s
tr
ates
th
e
VVs
f
o
r
a
two
-
lev
el
t
h
r
ee
-
p
h
ase
VSI
,
wh
ich
co
n
s
is
ts
o
f
s
ix
ac
ti
v
e
VVs
(
v
1
-
v
6
)
an
d
two
ze
r
o
VVs
(
v
0
a
n
d
v
7
)
.
T
h
ese
VVs
ca
n
b
e
r
eso
lv
ed
in
to
th
eir
r
esp
ec
tiv
e
d
an
d
q
c
o
m
p
o
n
en
ts
,
as
lis
ted
in
T
ab
le
1
.
Usi
n
g
a
3
–
p
h
ase
VSI
,
eig
h
t
p
o
s
s
ib
le
s
witc
h
in
g
s
tates
(
o
r
VVs)
ca
n
b
e
im
p
lem
en
ted
.
T
h
e
(
9
)
d
escr
ib
es
th
e
m
ath
em
atica
l
r
elatio
n
s
h
ip
b
etwe
en
th
e
o
u
t
p
u
t
v
o
ltag
e
(
s
tato
r
v
o
ltag
e)
s
p
ac
e
v
ec
to
r
an
d
t
h
e
s
witch
in
g
s
tates
o
f
th
e
VSI
.
I
n
th
is
eq
u
atio
n
,
V
dc
r
e
p
r
esen
t
s
th
e
in
p
u
t
DC
lin
k
v
o
ltag
e
t
o
th
e
VSI
,
wh
ile
th
e
s
witch
in
g
s
tates
o
f
ea
ch
leg
ar
e
r
ep
r
esen
ted
b
y
S
A
,
S
B
,
an
d
S
C
.
T
h
e
u
p
p
er
s
witch
o
f
a
leg
b
e
in
g
ON
co
r
r
esp
o
n
d
s
to
a
s
witch
in
g
s
tate
o
f
1
,
w
h
ile
th
e
lo
wer
s
witch
o
f
a
le
g
b
ein
g
ON
co
r
r
esp
o
n
d
s
to
0
.
v
s
=
2
3
⁄
V
dc
(
S
A
+
α
S
B
+
α
2
S
C
)
(
9
)
W
h
er
e,
α
=
e
j
2π
3
a
n
d
α
2
=
e
j
4π
3
.
(
a)
(
b
)
Fig
u
r
e
1
.
VSI
co
n
f
ig
u
r
atio
n
T
ab
le
1
.
Vo
ltag
e
v
ec
to
r
s
f
o
r
e
ac
h
s
witch
in
g
s
tates o
f
2
L
VSI
v
n
S
=
[
S
A
S
B
S
C
]
v
s
=
v
d
+
j
v
q
v
0
0
0
0
0
v
1
1
0
0
(
2
3
⁄
)
V
dc
v
2
1
1
0
(
1
3
⁄
+ j
√
3
3
⁄
)
V
dc
v
3
0
1
0
(
−
1
3
⁄
+
j
√
3
3
⁄
)
V
dc
v
4
0
1
1
−
(
2
3
⁄
)
V
v
5
0
0
1
(
−
1
3
⁄
−
j
√
3
3
⁄
)
V
v
6
1
0
1
(
1
3
⁄
-
j
√
3
3
⁄
)
V
dc
v
7
1
1
1
0
4.
F
I
NI
T
E
CO
N
T
RO
L
SE
T
-
P
RE
DIC
T
I
VE
T
O
RQ
UE
C
O
NT
RO
L
Fig
u
r
e
d
ep
icts
th
e
b
lo
ck
d
ia
g
r
am
o
f
FC
S
-
PTC.
I
t
co
m
p
r
is
es
th
r
ee
s
ig
n
if
ican
t
s
tag
es
[
9
]
,
[
1
0
]
:
esti
m
atio
n
,
p
r
ed
ictio
n
a
n
d
o
p
ti
m
izatio
n
.
4
.
1
.
E
s
t
im
a
t
io
n
E
s
tim
atin
g
s
tato
r
f
lu
x
i
n
I
Ms
i
s
cr
u
cial
f
o
r
an
y
co
n
tr
o
l
s
tr
ateg
ies.
T
r
ad
itio
n
ally
,
v
o
ltag
e
-
b
a
s
ed
m
o
d
els
wer
e
em
p
lo
y
e
d
d
u
e
to
t
h
eir
s
im
p
licity
[
1
3
]
,
[
1
4
]
.
Ho
wev
er
,
lim
itatio
n
s
lik
e
in
v
er
ter
n
o
n
lin
ea
r
ities
an
d
cu
r
r
e
n
t
m
ea
s
u
r
em
en
t
er
r
o
r
s
led
to
o
f
f
s
et
is
s
u
es.
C
o
n
s
eq
u
en
tly
,
cu
r
r
e
n
t
-
b
ased
m
o
d
els
h
av
e
g
ain
e
d
f
av
o
r
[
1
5
]
–
[
1
7
]
.
T
o
esti
m
ate
th
e
s
tato
r
f
lu
x
,
th
e
r
o
to
r
f
lu
x
eq
u
atio
n
in
(
2
)
is
d
is
cr
etize
d
u
s
in
g
f
o
r
war
d
E
u
ler
’
s
eq
u
atio
n
m
eth
o
d
,
th
u
s
g
iv
in
g
(
10
)
.
̂
(
)
=
̂
(
−
1
)
+
[
(
)
−
(
1
(
)
⁄
−
(
)
)
̂
(
−
1
)
]
(
1
0
)
W
h
er
e,
T
s
is
th
e
s
am
p
lin
g
tim
e
.
Fin
ally
,
th
e
s
tato
r
f
lu
x
,
̂
,
is
esti
m
ated
u
s
in
g
th
e
f
lu
x
lin
k
ag
e
eq
u
atio
n
s
in
(
3
)
an
d
(
4
)
,
r
esu
ltin
g
in
(
1
1
).
̂
(
)
=
(
⁄
)
̂
(
)
+
(
)
(
−
2
⁄
)
(
1
1
)
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.
1
7
,
No
.
1
,
Ma
r
c
h
20
2
6
:
155
-
1
67
158
Fig
u
r
e
2
.
A
d
etailed
b
lo
ck
d
ia
g
r
am
o
f
FC
S
-
PTC
4
.
2
.
P
re
dict
io
n
T
h
e
p
r
ed
ictio
n
s
tag
e
r
eq
u
ir
es
p
r
ed
ictin
g
two
v
a
r
iab
les:
s
ta
to
r
f
lu
x
an
d
to
r
q
u
e.
B
y
ap
p
l
y
in
g
E
u
ler
d
is
cr
etiza
tio
n
o
n
(
1
)
,
th
e
s
tato
r
f
lu
x
ca
n
b
e
p
r
ed
icted
u
s
in
g
(
12
).
̂
(
+
1
)
=
̂
(
)
+
−
(
)
(
1
2
)
T
h
e
(
5
)
s
h
o
ws
th
e
d
ir
ec
t
r
elat
io
n
s
h
ip
b
etwe
en
to
r
q
u
e
p
r
ed
i
ctio
n
an
d
s
tato
r
f
lu
x
an
d
cu
r
r
en
t.
T
h
er
e
f
o
r
e,
th
e
to
r
q
u
e
p
r
ed
ictio
n
is
ex
p
r
ess
ed
u
s
in
g
th
e
p
r
ed
icte
d
s
tato
r
f
lu
x
an
d
cu
r
r
e
n
t v
alu
es a
s
(
13
).
T
o
p
r
ed
ict
th
e
to
r
q
u
e,
a
p
r
ed
ictio
n
o
f
t
h
e
s
tato
r
cu
r
r
e
n
t
̂
(
+
1
)
is
r
eq
u
ir
ed
(
as seen
in
(
1
3
)
)
.
I
t c
an
b
e
s
h
o
wn
th
at
th
e
s
tato
r
cu
r
r
en
t
o
f
I
M
ca
n
b
e
ex
p
r
ess
ed
as
(
1
4
)
[
1
8
]
,
[
1
9
]
.
(
+
1
)
=
3
2
⁄
ℑ
[
̂
(
+
1
)
̂
(
+
1
)
]
(
1
3
)
(
+
1
)
=
(
1
+
⁄
)
(
)
+
+
⁄
[
1
⁄
[
(
⁄
−
)
̂
(
)
+
(
)
]
]
(
1
4
)
I
n
(
1
4
)
,
r
ep
r
esen
ts
th
e
tr
an
s
ien
t
tim
e
co
n
s
tan
t
o
f
th
e
s
tato
r
,
k
r
is
th
e
r
o
to
r
co
u
p
lin
g
f
ac
to
r
an
d
τ
r
is
th
e
r
o
to
r
tim
e
co
n
s
tan
t.
I
n
ev
itab
ly
,
th
e
s
am
p
lin
g
p
r
o
ce
s
s
in
tr
o
d
u
ce
s
a
d
elay
in
h
ar
d
war
e
im
p
lem
en
tatio
n
[
1
0
]
,
[
2
0
]
.
T
h
er
ef
o
r
e,
th
e
p
r
e
d
icted
to
r
q
u
e
an
d
f
lu
x
r
eq
u
ir
e
a
d
elay
co
m
p
e
n
s
atio
n
w
h
ich
ca
n
b
e
o
b
tain
e
d
b
y
ex
te
n
d
in
g
th
e
p
r
ed
ictio
n
s
o
f
to
r
q
u
e
an
d
f
lu
x
to
th
e
n
ex
t
s
am
p
lin
g
tim
e
(
k
+
2
)
,
u
s
in
g
t
h
e
(
k
+
1
)
v
alu
es
as
th
e
in
itial
v
alu
es.
Fin
ally
,
in
(
15
)
-
(
17
)
s
h
o
w
th
e
p
r
ed
icted
t
o
r
q
u
e
a
n
d
f
l
u
x
e
x
p
r
ess
io
n
s
.
̂
(
+
2
)
=
̂
(
+
1
)
+
−
(
+
1
)
(
1
5
)
(
+
2
)
=
(
1
+
⁄
)
(
+
1
)
+
(
+
)
⁄
[
1
⁄
[
(
⁄
−
)
̂
(
+
1
)
+
(
)
]
]
(
1
6
)
(
+
2
)
=
3
2
⁄
ℑ
[
̂
(
+
2
)
̂
(
+
2
)
]
(
1
7
)
I
n
th
is
wo
r
k
,
o
n
l
y
o
n
e
o
f
th
e
two
ze
r
o
VVs
is
s
elec
ted
s
in
ce
th
is
will si
m
p
lify
th
e
im
p
lem
en
tatio
n
.
As
f
ar
as
th
e
to
r
q
u
e
a
n
d
f
lu
x
r
es
p
o
n
s
es
ar
e
co
n
ce
r
n
ed
,
b
o
th
v
ec
to
r
s
(
v
0
an
d
v
7
)
will
p
r
o
d
u
ce
th
e
s
am
e
ef
f
ec
t.
T
h
er
ef
o
r
e,
wh
en
ev
e
r
ze
r
o
V
V
is
s
e
lecte
d
,
v
0
will
b
e
u
s
e
d
.
Su
b
s
eq
u
en
tly
,
o
n
ly
s
ev
en
VV
ar
e
u
s
ed
in
th
e
im
p
lem
en
tatio
n
,
wh
ic
h
ar
e
v
0
,
v
1
, v
2
, v
3
, v
4
,
v
5
,
an
d
v
6
.
4
.
3
.
O
pti
m
iza
t
io
n
T
h
e
o
p
tim
izatio
n
s
tag
e
is
p
er
f
o
r
m
ed
b
y
m
in
im
izin
g
th
e
co
s
t
f
u
n
ctio
n
.
In
(
18
)
s
h
o
ws
a
t
y
p
ical
co
s
t
f
u
n
ctio
n
f
o
r
FC
S
–
PTC,
wh
ich
is
u
s
ed
in
th
is
p
ap
er
.
=
|
∗
−
(
+
2
)
|
+
|
∗
−
(
+
2
)
|
(
1
8
)
I
n
t
h
is
e
q
u
at
i
o
n
,
∗
a
n
d
∗
ar
e
th
e
r
ef
er
e
n
ce
t
o
r
q
u
e
an
d
r
e
f
e
r
e
n
c
e
s
t
at
o
r
f
l
u
x
a
n
d
is
t
h
e
f
l
u
x
W
F
wh
ic
h
d
et
e
r
m
i
n
es t
h
e
s
i
g
n
i
f
i
ca
n
t
o
f
s
t
ato
r
f
l
u
x
e
r
r
o
r
r
el
ati
v
e
t
o
t
h
e
t
o
r
q
u
e
e
r
r
o
r
.
T
h
e
co
s
t
f
u
n
c
ti
o
n
c
alc
u
l
ates
th
e
e
r
r
o
r
s
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
leme
n
ta
tio
n
o
f fin
ite
c
o
n
tr
o
l
s
et
-
p
r
ed
ictive
to
r
q
u
e
co
n
tr
o
l b
a
s
ed
o
n
th
e
d
S
p
a
ce
…
(
R
o
z
a
n
a
A
lik
)
159
b
et
we
en
t
h
e
t
o
r
q
u
e
a
n
d
f
l
u
x
r
e
f
e
r
e
n
c
es
a
n
d
t
h
e
ir
p
r
e
d
ic
te
d
v
a
lu
es
f
o
r
e
v
e
r
y
p
o
s
s
i
b
l
e
VV.
T
h
e
V
V
th
at
g
iv
es
th
e
s
m
al
lest
v
al
u
e
o
f
t
h
e
c
o
s
t
f
u
n
ct
io
n
is
t
h
en
s
e
lec
te
d
a
n
d
i
m
p
le
m
e
n
te
d
u
s
i
n
g
t
h
e
VS
I
b
ase
d
o
n
(
9
)
a
n
d
T
a
b
l
e
1
.
T
h
e
W
F
p
lay
s
a
cr
u
cial
r
o
le
in
th
e
co
s
t
f
u
n
ctio
n
in
d
eter
m
in
i
n
g
th
e
r
elativ
e
im
p
o
r
tan
ce
o
f
to
r
q
u
e
an
d
f
lu
x
co
n
tr
o
l in
PTC o
f
I
M
s
[
2
1
]
.
T
h
e
c
o
n
tr
o
l v
ar
iab
les (
i.e
.
f
lu
x
an
d
t
o
r
q
u
e)
in
th
e
co
s
t f
u
n
ctio
n
h
av
e
d
if
f
er
e
n
t
ty
p
es in
ter
m
s
o
f
u
n
its
an
d
m
a
g
n
itu
d
es,
s
o
a
W
F is
u
tili
ze
d
t
o
en
s
u
r
e
f
air
o
p
tim
izatio
n
.
Ho
wev
er
,
s
elec
tin
g
th
e
W
F
v
alu
e
is
n
o
t
s
im
p
le,
ev
en
with
th
e
s
im
p
le
an
d
in
tu
itiv
e
id
ea
o
f
PTC
an
d
its
ca
p
ab
ilit
y
t
o
h
an
d
le
n
o
n
lin
ea
r
ity
an
d
co
n
s
tr
ain
ts
,
esp
ec
ially
wh
en
th
e
co
n
tr
o
l
v
ar
iab
les
ar
e
o
f
eq
u
al
im
p
o
r
tan
ce
[
1
7
]
,
[
2
1
]
–
[
2
3
]
.
Fo
r
ex
am
p
le,
i
f
is
s
et
to
a
r
elativ
ely
h
ig
h
v
alu
e
,
th
en
a
h
ig
h
er
p
r
io
r
ity
will b
e
g
iv
en
to
th
e
f
lu
x
c
o
n
tr
o
l i
n
s
tead
o
f
th
e
t
o
r
q
u
e
co
n
tr
o
l
,
a
n
d
th
is
,
in
tu
r
n
,
ca
n
c
au
s
e
h
ig
h
er
to
r
q
u
e
r
i
p
p
le
.
I
f
,
o
n
th
e
o
th
er
h
an
d
,
is
s
elec
ted
to
b
e
to
o
lo
w,
th
e
n
m
o
r
e
p
r
io
r
ity
will
g
o
to
to
r
q
u
e
co
n
tr
o
l
,
wh
ich
ca
n
ca
u
s
e
u
n
n
ec
ess
ar
ily
h
ig
h
f
lu
x
r
ip
p
l
e
.
Fu
r
th
er
m
o
r
e
,
th
e
s
elec
tio
n
o
f
W
Fs
d
ep
en
d
s
o
n
th
e
o
p
er
atin
g
c
o
n
d
itio
n
s
[
2
4
]
.
T
h
is
p
ap
er
will
h
ig
h
lig
h
t
th
e
s
ig
n
if
ican
ce
o
f
th
is
in
f
er
en
ce
b
y
im
p
lem
e
n
tin
g
th
e
FC
S
-
PT
C
with
a
v
er
y
lo
w
o
f
5
an
d
a
r
elativ
ely
h
ig
h
o
f
3
0
.
5.
H
ARDWA
R
E
I
M
P
L
E
M
E
N
T
AT
I
O
N
AND
C
P
RO
G
RA
M
DE
V
E
L
O
P
M
E
NT
Fig
u
r
e
3
d
is
p
lay
s
th
e
h
ar
d
war
e
s
etu
p
in
th
is
p
ap
er
.
I
t
co
m
p
r
is
es
a
DS1
1
0
4
co
n
tr
o
ller
b
o
ar
d
f
r
o
m
d
SP
AC
E
,
s
p
ee
d
en
co
d
e
r
,
I
M,
g
ate
d
r
iv
e
r
s
,
3
p
h
ase
VSI
,
cu
r
r
en
t
s
en
s
o
r
s
,
a
n
d
a
DC
p
o
wer
s
u
p
p
ly
.
T
h
e
FC
S
-
P
T
C
c
o
n
t
r
o
l
a
l
g
o
r
i
t
h
m
is
i
m
p
l
em
e
n
t
e
d
t
o
a
1
8
6
W
,
1
4
2
5
r
p
m
,
t
h
r
e
e
-
p
h
a
s
e
s
q
u
i
r
r
el
c
a
g
e
I
M
as
s
h
o
w
n
i
n
F
i
g
u
r
e
3
.
An
in
cr
em
en
tal
s
p
ee
d
e
n
co
d
e
r
with
2
0
4
8
p
u
ls
es
p
er
r
ev
o
l
u
tio
n
s
am
p
led
at
0
.
0
0
1
s
is
u
s
ed
to
m
o
n
ito
r
an
d
m
ea
s
u
r
e
th
e
m
o
to
r
s
p
ee
d
.
De
tailed
p
ar
am
eter
s
f
o
r
th
e
I
M
ca
n
b
e
f
o
u
n
d
i
n
T
ab
le
2
.
Fig
u
r
e
4
p
r
o
v
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I
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ase
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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
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:
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5
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3
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T
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ph
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m
o
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le
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h
ese
s
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ca
p
ac
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ce
o
f
0
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4
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ated
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5
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r
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g
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he
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o
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T
C
T
h
e
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4
is
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o
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d
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elo
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ed
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y
d
SP
AC
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n
c.
I
t
c
o
m
p
r
is
es
a
m
aster
p
r
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s
s
o
r
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th
e
MPC
8
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0
Po
wer
PC
,
an
d
a
s
lav
e
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u
b
s
y
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tem
th
at
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lizes
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e
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f
r
o
m
T
ex
as
I
n
s
tr
u
m
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ts
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n
ter
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etwe
en
th
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o
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d
an
d
h
a
r
d
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e
is
estab
lis
h
ed
th
r
o
u
g
h
d
ig
ital
I
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,
as
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d
DA
C
ch
an
n
els
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r
o
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id
ed
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n
th
e
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o
a
r
d
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n
g
en
er
al,
th
er
e
ar
e
two
m
eth
o
d
s
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ailab
le
f
o
r
p
r
o
g
r
a
m
m
in
g
th
e
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,
wh
ich
ar
e
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escr
ib
e
d
b
elo
w:
i
)
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y
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n
s
tr
u
ctin
g
th
e
co
n
tr
o
l
alg
o
r
ith
m
u
s
in
g
Simu
lin
k
,
wh
ic
h
is
th
en
co
m
p
iled
an
d
u
p
lo
ad
ed
to
th
e
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1
0
4
f
o
r
r
ea
l
–
tim
e
ex
ec
u
tio
n
.
I
n
th
is
ca
s
e
,
th
e
in
ter
f
ac
e
b
etwe
en
th
e
b
o
ar
d
an
d
th
e
h
ar
d
wa
r
e
is
f
ac
ilit
ated
th
r
o
u
g
h
th
e
Simu
lin
k
lib
r
ar
y
p
r
o
v
id
e
d
b
y
d
SP
AC
E
.
C
o
n
s
eq
u
en
tly
,
t
h
er
e
is
n
o
n
ee
d
f
o
r
p
r
o
f
icien
c
y
in
a
s
p
ec
if
ic
p
r
o
g
r
a
m
m
in
g
lan
g
u
ag
e
to
p
r
o
g
r
am
th
e
b
o
ar
d
.
T
h
e
C
p
r
o
g
r
a
m
is
au
to
m
atica
lly
g
en
er
ated
f
r
o
m
Simu
lin
k
,
co
m
p
iled
,
a
n
d
u
p
lo
ad
e
d
to
th
e
b
o
a
r
d
,
m
ak
in
g
it
th
e
s
im
p
lest
an
d
q
u
ic
k
est
m
eth
o
d
f
o
r
p
r
o
g
r
am
m
i
n
g
.
Ho
wev
er
,
it
is
im
p
o
r
tan
t
to
n
o
te
th
at
th
e
g
en
er
ated
C
p
r
o
g
r
a
m
is
n
o
t
o
p
tim
ized
,
r
esu
ltin
g
i
n
u
n
n
ec
ess
ar
ily
h
ig
h
s
am
p
lin
g
tim
e
a
n
d
s
u
b
s
eq
u
en
tly
r
e
d
u
cin
g
th
e
co
n
tr
o
l
b
a
n
d
wid
th
.
Fo
r
co
m
p
lex
co
n
tr
o
l
alg
o
r
ith
m
s
,
s
u
ch
as
th
o
s
e
en
co
u
n
ter
ed
in
FC
S
–
PTC
th
at
co
n
tain
m
u
ltip
le
p
r
e
d
ictio
n
s
an
d
esti
m
atio
n
s
,
th
e
s
am
p
lin
g
tim
e
ca
n
b
ec
o
m
e
u
n
ac
ce
p
tab
ly
h
ig
h
.
ii
)
B
y
m
an
u
ally
wr
itin
g
C
p
r
o
g
r
am
s
(
h
an
d
co
d
in
g
)
u
s
in
g
C
f
u
n
ctio
n
s
f
r
o
m
th
e
r
ea
l
-
tim
e
l
ib
r
ar
y
p
r
o
v
i
d
ed
b
y
d
SP
AC
E
,
th
e
C
co
d
es
ar
e
th
en
co
m
p
iled
,
lin
k
e
d
,
a
n
d
u
p
lo
a
d
e
d
to
t
h
e
DS1
1
0
4
.
T
h
is
m
eth
o
d
is
u
n
d
o
u
b
ted
ly
m
o
r
e
ef
f
icien
t th
an
th
e
p
r
ev
io
u
s
o
n
e,
as th
e
C
p
r
o
g
r
am
is
tailo
r
ed
to
th
e
s
p
ec
if
ic
n
ee
d
s
.
Ho
wev
er
,
it c
o
m
es
with
th
e
d
r
awb
ac
k
o
f
b
ein
g
ti
m
e
-
co
n
s
u
m
in
g
an
d
ted
io
u
s
.
W
h
en
d
ea
lin
g
with
d
etailed
co
n
tr
o
l a
lg
o
r
ith
m
s
,
s
u
ch
as FC
S
-
PTC,
t
h
e
s
ec
o
n
d
m
eth
o
d
ap
p
e
ar
ed
to
b
e
th
e
o
p
tim
al
ch
o
ice
.
E
m
p
lo
y
in
g
th
e
h
an
d
-
co
d
e
d
C
p
r
o
g
r
am
e
n
ab
les
ac
h
iev
in
g
a
r
em
ar
k
ab
le
s
am
p
lin
g
tim
e
o
f
4
0
µs
s
o
m
eth
in
g
u
n
attain
ab
le
u
s
in
g
Simu
lin
k
.
T
h
e
in
ter
f
ac
e
b
etwe
en
a
u
s
er
an
d
th
e
s
y
s
tem
is
estab
lis
h
ed
v
ia
C
o
n
tr
o
lDesk
,
a
s
o
f
twar
e
p
r
o
v
id
ed
b
y
d
SP
AC
E
.
W
ith
in
th
e
C
o
n
tr
o
lDesk
en
v
ir
o
n
m
en
t,
u
s
er
s
ca
n
d
o
wn
lo
ad
ap
p
licatio
n
s
to
th
e
DS1
1
0
4
,
co
n
f
ig
u
r
e
v
ir
tu
al
in
s
tr
u
m
en
tatio
n
f
o
r
m
o
n
ito
r
in
g
p
u
r
p
o
s
es,
an
d
ev
en
p
e
r
f
o
r
m
r
eal
-
tim
e
au
to
m
atio
n
a
n
d
co
n
tr
o
lle
r
f
in
e
-
tu
n
in
g
.
I
n
g
en
er
al,
FC
S
-
PTC
co
n
s
is
t
s
o
f
3
s
tag
es:
esti
m
atio
n
,
p
r
ed
ictio
n
an
d
o
p
tim
izatio
n
–
th
is
h
as
b
ee
n
d
is
cu
s
s
ed
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
.
T
o
im
p
lem
en
t
th
e
p
r
ed
ictio
n
an
d
o
p
tim
izatio
n
s
tag
es,
a
lo
o
p
s
tr
u
ctu
r
e
is
u
s
ed
.
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.
1
7
,
No
.
1
,
Ma
r
c
h
20
2
6
:
155
-
1
67
162
As
d
is
cu
s
s
ed
ea
r
lier
,
to
co
m
p
e
n
s
ate
f
o
r
t
h
e
d
ela
y
d
u
e
to
th
e
i
m
p
lem
en
tatio
n
,
th
e
p
r
ed
ictio
n
at
th
e
(
k
+
2
)
th
s
am
p
le
(
in
s
tead
o
f
(
k
+1
)
th
)
is
u
s
ed
.
T
h
e
alg
o
r
ith
m
f
o
r
th
e
esti
m
atio
n
,
p
r
ed
ictio
n
a
n
d
o
p
tim
izatio
n
s
t
ag
es is
as f
o
llo
ws:
E
s
tim
ate
th
e
T
o
r
q
u
e
a
n
d
Stato
r
Flu
x
(
k
th
s
am
p
le
)
–
e
q
u
atio
n
s
(
1
0
)
a
n
d
(
1
1
)
Pre
d
ict
T
o
r
q
u
e
an
d
Stato
r
Flu
x
f
o
r
(
k
+1
)
th
s
am
p
le
–
e
q
u
atio
n
s
(
1
2
)
,
(
1
3
)
an
d
(
1
4
)
Fo
r
v
o
ltag
e
v
ec
to
r
=
0
to
6
Pre
d
ict
T
o
r
q
u
e
a
n
d
Stato
r
Flu
x
f
o
r
(
k
+2
)
th
s
am
p
le
,
u
s
in
g
(
k
+1
)
th
v
alu
es
as
th
e
in
itial
c
o
n
d
itio
n
–
eq
u
atio
n
s
(
1
5
)
,
(
1
6
)
an
d
(
1
7
)
C
alcu
late
co
s
t f
u
n
ctio
n
b
ased
o
n
eq
u
atio
n
(
1
8
)
C
h
o
o
s
e
th
e
v
o
ltag
e
v
ec
to
r
th
at
g
iv
es m
in
im
u
m
c
o
s
t f
u
n
ctio
n
,
VV
min
Ap
p
ly
th
e
VV
min
s
witch
in
g
s
tate
to
th
e
VSI
.
6.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
s
ec
tio
n
will
elab
o
r
ate
o
n
th
e
ex
p
e
r
im
en
tal
r
esu
lts
o
b
tain
ed
f
o
r
FC
S
-
PTC
u
s
in
g
two
d
if
f
er
en
t
W
F
v
alu
es.
Fo
r
clar
ity
,
th
e
c
o
n
tr
o
l
d
r
iv
es
ar
e
la
b
elled
as
PTC5
an
d
PTC3
0
.
PTC5
r
ef
e
r
s
to
FC
S
-
PTC
with
a
W
F
o
f
5
,
an
d
PTC3
0
r
ef
er
s
to
FC
S
-
PTC with
a
W
F o
f
3
0
.
6
.
1
.
Sp
ee
d dy
na
m
ic
perf
o
r
ma
nce
T
h
e
p
er
f
o
r
m
an
ce
o
f
PTC5
an
d
PTC3
0
d
u
r
in
g
ac
ce
ler
atio
n
(
f
r
o
m
a
s
tan
d
s
till
)
an
d
s
p
ee
d
r
ev
er
s
al
is
an
aly
ze
d
to
ev
alu
ate
t
h
e
s
p
ee
d
d
y
n
am
ic
ch
a
r
ac
ter
is
tics
.
T
h
is
is
co
n
d
u
cted
b
y
ac
ce
ler
atin
g
th
e
m
o
to
r
f
r
o
m
a
s
tan
d
s
till
to
its
r
ated
s
p
ee
d
o
f
1
5
0
r
ad
/s
,
f
o
llo
wed
b
y
a
s
p
ee
d
r
ev
er
s
al
to
1
5
0
r
ad
/s
as
s
h
o
wn
in
Fig
u
r
e
5
.
B
o
th
r
esu
lts
d
em
o
n
s
tr
ate
ex
ce
llen
t
d
y
n
am
ic
p
er
f
o
r
m
an
ce
s
f
o
r
all
m
eth
o
d
s
.
T
h
is
o
b
s
er
v
atio
n
s
u
g
g
ests
th
at
th
e
d
y
n
am
ic
r
esp
o
n
s
es o
f
th
e
s
p
ee
d
r
esp
o
n
s
es o
f
all
m
et
h
o
d
s
ar
e
co
m
p
ar
a
b
le.
(
a)
(
b
)
Fig
u
r
e
5
.
Sp
ee
d
ac
ce
ler
atio
n
a
n
d
r
ev
e
r
s
al
p
er
f
o
r
m
an
ce
:
(
a
)
P
T
C
5
an
d
(
b
)
PTC3
0
6
.
2
.
Ste
a
dy
-
s
t
a
t
e
a
na
ly
s
is
T
h
e
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
s
o
f
PTC5
an
d
PTC3
0
ar
e
co
m
p
ar
ed
in
ter
m
s
o
f
th
e
f
lu
x
a
n
d
to
r
q
u
e
r
ip
p
les
an
d
T
HD
o
f
th
e
p
h
as
e
cu
r
r
e
n
t
(
T
HD
I
)
at
t
h
r
ee
d
if
f
er
en
t
o
p
er
atin
g
s
p
ee
d
s
o
f
3
0
r
ad
/s
,
8
0
r
a
d
/s
,
an
d
150
r
ad
/s
.
C
o
m
p
ar
is
o
n
s
o
n
f
lu
x
an
d
to
r
q
u
e
r
ip
p
les ar
e
m
ad
e
b
ased
o
n
th
e
in
s
tan
tan
e
o
u
s
wa
v
ef
o
r
m
s
o
f
th
e
f
lu
x
an
d
to
r
q
u
e
,
a
n
d
f
u
r
th
er
an
aly
z
ed
u
s
in
g
th
e
f
lu
x
a
n
d
to
r
q
u
e
s
t
an
d
ar
d
d
ev
iatio
n
s
as th
e
p
e
r
f
o
r
m
an
ce
in
d
e
x
.
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
leme
n
ta
tio
n
o
f fin
ite
c
o
n
tr
o
l
s
et
-
p
r
ed
ictive
to
r
q
u
e
co
n
tr
o
l b
a
s
ed
o
n
th
e
d
S
p
a
ce
…
(
R
o
z
a
n
a
A
lik
)
163
6
.
2
.
1
.
F
lux
re
s
po
ns
e
T
h
e
ex
p
er
im
e
n
tal
r
esu
lts
o
f
th
e
s
tead
y
-
s
tate
f
lu
x
wav
ef
o
r
m
s
at
th
ese
s
tead
y
-
s
tate
s
p
ee
d
s
ar
e
p
r
esen
ted
in
Fig
u
r
e
6
.
I
t
is
o
b
s
er
v
ed
th
at
PTC5
h
as
th
e
p
o
o
r
est
f
l
u
x
r
esp
o
n
s
e.
T
h
is
o
cc
u
r
r
e
d
b
ec
au
s
e
o
f
th
e
r
elativ
ely
lo
w
f
lu
x
co
n
tr
o
l
p
r
i
o
r
ity
co
m
p
ar
ed
to
th
e
to
r
q
u
e
co
n
t
r
o
l.
Sp
ec
if
ic
ally
,
th
e
f
lu
x
c
o
n
tr
o
l
is
h
ig
h
ly
s
en
s
itiv
e
to
th
e
VV
s
elec
tio
n
at
lo
w
s
p
ee
d
s
.
C
o
n
s
eq
u
en
tly
,
th
e
f
lu
x
r
esp
o
n
s
e
is
in
f
er
io
r
to
o
th
er
m
eth
o
d
s
,
r
esu
ltin
g
in
a
d
is
to
r
ted
f
lu
x
wav
ef
o
r
m
.
N
o
n
eth
eless
,
as th
e
s
p
ee
d
in
cr
ea
s
es,
th
e
f
lu
x
r
esp
o
n
s
e
g
ets b
etter
.
Fo
r
f
u
r
th
er
an
aly
s
is
,
ea
ch
m
eth
o
d
ca
lcu
lates
a
s
tan
d
ar
d
d
ev
i
atio
n
o
f
th
e
s
tead
y
-
s
tate
f
lu
x
r
esp
o
n
s
e
,
σ
ψ
to
an
aly
ze
t
h
e
r
ip
p
les.
T
ab
le
3
s
u
m
m
ar
izes
th
e
e
x
p
er
im
e
n
t
al
r
esu
lts
at
th
r
ee
s
tead
y
-
s
tate
s
p
ee
d
s
ettin
g
s
o
f
30
r
ad
/s
,
8
0
r
ad
/s
,
an
d
1
5
0
r
ad
/s
.
T
h
e
r
esu
lts
in
d
icate
th
at
at
a
s
p
ee
d
o
f
3
0
r
ad
/s
,
th
e
PTC5
ex
h
ib
its
th
e
h
ig
h
est
σ
ψ
,
wh
ich
is
0.
0
1
3
1
.
B
y
im
p
l
em
en
tin
g
PTC3
0
with
a
h
ig
h
W
F,
wh
ich
is
3
0
with
in
t
h
e
s
y
s
tem
,
a
t
least
3
5
%
r
ed
u
ctio
n
i
n
σ
ψ
is
o
b
s
er
v
ed
.
(
a)
(
b
)
(
c)
Fig
u
r
e
6
.
Flu
x
r
esp
o
n
s
e
f
o
r
F
C
S
-
PT
C
with
W
F o
f
5
an
d
3
0
at
d
if
f
er
en
t sp
ee
d
s
:
(
a)
3
0
r
ad
/s
,
(
b
)
8
0
r
ad
/s
,
an
d
(
c)
1
5
0
r
ad
/s
6
.
2
.
2
.
T
o
rque
re
s
po
ns
e
T
h
e
ex
p
er
im
en
tal
r
esu
lts
o
f
th
e
to
r
q
u
e
wav
ef
o
r
m
s
at
th
ese
s
tead
y
-
s
tate
s
p
ee
d
s
ar
e
p
r
esen
ted
in
Fig
u
r
e
7
.
I
n
o
r
d
er
to
f
u
r
th
e
r
ev
alu
ate
th
e
s
tead
y
s
tate
to
r
q
u
e
r
ip
p
le,
th
e
s
tan
d
ar
d
d
ev
iatio
n
o
f
th
e
to
r
q
u
e,
σ
T
f
o
r
b
o
th
s
ch
em
es
is
ev
alu
ated
an
d
p
r
esen
ted
in
T
ab
le
3
,
PTC5
p
r
o
d
u
c
es
th
e
lo
west
σ
T
at
all
s
p
ee
d
s
.
Ho
wev
er
,
PTC5
also
,
ac
co
r
d
in
g
to
th
e
p
r
ev
io
u
s
d
is
cu
s
s
io
n
in
s
ec
tio
n
6
.
1
.
1
,
PTC5
p
r
o
d
u
ce
s
th
e
h
ig
h
est
f
lu
x
r
ip
p
le.
T
h
u
s
,
a
lo
wer
v
alu
e
o
f
th
e
W
F
ca
n
o
n
ly
f
u
lf
il
th
e
to
r
q
u
e
r
ip
p
le
r
eq
u
ir
em
en
t
s
in
ce
m
o
r
e
p
r
i
o
r
ity
is
g
iv
en
to
th
e
to
r
q
u
e
co
n
tr
o
l
th
an
t
h
e
f
lu
x
c
o
n
tr
o
l
b
u
t,
at
th
e
s
am
e
tim
e,
s
ac
r
if
ices
th
e
f
lu
x
co
n
tr
o
l,
th
u
s
r
esu
ltin
g
i
n
a
h
ig
h
er
f
lu
x
r
ip
p
le.
No
n
et
h
eless
,
PTC3
0
p
r
o
v
id
es h
ig
h
e
r
σ
T
ev
e
n
th
o
u
g
h
it h
as lo
w
f
lu
x
r
ip
p
le.
T
ab
le
3.
Flu
x
r
ip
p
le,
t
o
r
q
u
e
r
i
p
p
le
,
an
d
cu
r
r
en
t h
ar
m
o
n
ic
d
is
to
r
tio
n
f
o
r
PTC5
an
d
PTC3
0
u
n
d
er
t
h
r
ee
d
if
f
er
en
t sp
ee
d
s
S
p
e
e
d
(
r
a
d
/
s)
P
TC
5
P
TC
3
0
30
80
1
5
0
30
80
1
5
0
σ
ψ
0
.
0
1
3
1
0
.
0
1
1
5
0
.
0
1
0
4
0
.
0
0
6
5
0
.
0
0
6
6
0
.
0
0
6
7
σ
T
0
.
0
1
0
1
0
.
0
1
0
1
0
.
0
9
9
8
0
.
1
3
9
0
0
.
1
4
1
0
0
.
1
4
3
0
TH
D
I
(
%)
3
6
.
8
1
2
5
.
3
6
2
0
.
7
4
1
4
.
9
2
1
5
.
2
6
1
5
.
0
5
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.
1
7
,
No
.
1
,
Ma
r
c
h
20
2
6
:
155
-
1
67
164
(
a)
(
b
)
(
c)
Fig
u
r
e
7
.
T
o
r
q
u
e
r
esp
o
n
s
e
f
o
r
FC
S
-
PT
C
with
W
F o
f
5
an
d
3
0
at
d
if
f
er
e
n
t
s
p
ee
d
s
:
(
a)
30
r
ad
/s
, (
b
)
8
0
r
ad
/s
,
an
d
(
c)
1
5
0
r
ad
/s
6
.
2
.
3
.
T
o
t
a
l ha
r
m
o
nic dis
t
o
rt
io
n o
f
t
he
s
t
a
t
o
r
curr
ent
(
T
H
D
I
)
T
h
e
T
HD
o
f
th
e
c
u
r
r
e
n
t
m
ea
s
u
r
es
th
e
d
is
to
r
tio
n
o
f
t
h
e
c
u
r
r
en
t
wav
e
f
o
r
m
d
u
e
t
o
th
e
p
r
esen
ce
o
f
h
ar
m
o
n
ics,
wh
ic
h
ar
e
m
u
ltip
l
es
o
f
th
e
f
u
n
d
am
en
tal
f
r
eq
u
e
n
cy
.
T
h
e
h
ig
h
e
r
th
e
h
ar
m
o
n
ics,
th
e
m
o
r
e
d
is
to
r
ted
t
h
e
cu
r
r
en
t
wav
ef
o
r
m
.
T
h
is
p
ap
er
an
aly
ze
s
th
e
%THD
f
o
r
b
o
th
s
im
u
latio
n
an
d
ex
p
e
r
im
e
n
tal
u
s
in
g
th
e
FF
T
an
aly
s
is
f
r
o
m
Po
wer
g
u
i
MA
T
L
AB
/
Simu
lin
k
with
a
m
ax
im
u
m
f
r
e
q
u
en
c
y
o
f
1
0
0
k
Hz.
Fig
u
r
e
8
p
r
esen
ts
th
e
ex
p
er
im
en
tal
r
esu
lts
f
o
r
th
e
c
u
r
r
en
t
wav
ef
o
r
m
o
f
b
o
th
m
eth
o
d
s
at
th
r
ee
d
i
f
f
er
en
t
s
p
ee
d
s
o
f
3
0
r
a
d
/s
,
8
0
r
ad
/s
,
an
d
1
5
0
r
a
d
/s
.
Fro
m
th
ese
f
ig
u
r
es,
it c
an
b
e
o
b
s
er
v
ed
th
at
at
s
p
ee
d
s
o
f
3
0
r
ad
/s
an
d
8
0
r
ad
/
s
,
th
e
PT
C
5
cu
r
r
en
t
ap
p
ea
r
s
to
b
e
s
ig
n
if
i
ca
n
tly
d
is
to
r
ted
co
m
p
a
r
ed
to
th
e
PTC3
0
.
T
o
g
ain
m
o
r
e
in
s
ig
h
ts
,
T
ab
le
3
s
u
m
m
ar
izes
th
e
% T
HD
I
f
o
r
th
e
cu
r
r
en
t.
I
t
is
well
r
ec
o
g
n
ized
t
h
at
th
e
T
HD
I
is
h
ig
h
ly
in
f
lu
en
ce
d
b
y
th
e
to
r
q
u
e
an
d
f
lu
x
r
i
p
p
les
o
f
in
d
u
ctio
n
m
o
to
r
d
r
iv
es
[
2
5
]
.
T
h
e
f
lu
x
r
e
s
p
o
n
s
e
m
ain
ly
in
f
lu
en
ce
d
th
e
lo
w
h
ar
m
o
n
ics
co
m
p
o
n
en
ts
o
f
th
e
s
tato
r
cu
r
r
en
t
.
I
n
co
n
tr
ast,
th
e
to
r
q
u
e
r
esp
o
n
s
e
in
f
lu
e
n
ce
d
t
h
e
h
ig
h
h
ar
m
o
n
i
c
co
m
p
o
n
en
ts
o
f
th
e
s
tato
r
cu
r
r
en
t
o
r
th
e
s
witch
in
g
f
r
eq
u
e
n
cy
o
f
th
e
in
v
e
r
ter
.
As
s
h
o
wn
in
th
e
s
tu
d
y
[
2
5
]
,
i
t
is
r
ev
ea
led
th
at
th
e
f
lu
x
co
n
tr
o
l
d
o
m
in
ates
m
o
r
e
th
an
th
e
to
r
q
u
e
c
o
n
tr
o
l
i
n
d
eter
m
in
i
n
g
th
e
T
HD
I
o
f
th
e
d
r
iv
e
s
y
s
te
m
.
Fo
r
th
is
r
ea
s
o
n
,
it
ca
n
b
e
s
e
en
th
at
th
e
an
aly
s
is
of
th
e
T
HD
I
c
o
n
d
u
cted
in
t
h
is
s
ec
tio
n
f
o
r
PTC5
a
n
d
PTC3
0
p
r
o
d
u
ce
s
a
n
al
m
o
s
t
s
im
ilar
p
att
er
n
to
th
at
o
b
tain
e
d
in
th
e
f
lu
x
an
aly
s
is
p
r
esen
ted
i
n
s
ec
tio
n
6
.
2
.
1
.
Ho
we
v
er
,
it g
e
ts
b
etter
at
h
ig
h
s
p
ee
d
,
wh
ich
i
s
1
5
0
r
ad
/s
.
T
h
e
r
esu
lts
in
Fig
u
r
e
8
d
ep
ict
th
at
PTC5
ex
h
ib
its
th
e
h
ig
h
e
s
t
%THD
I
,
in
d
icatin
g
th
e
m
o
s
t
d
is
to
r
ted
cu
r
r
en
t
wav
ef
o
r
m
.
T
h
is
o
b
s
er
v
atio
n
alig
n
s
with
ex
p
ec
tatio
n
s
,
as
PT
C
5
is
also
r
ec
o
r
d
ed
to
ex
h
ib
it
th
e
h
ig
h
f
lu
x
r
ip
p
le
at
lo
w
s
p
ee
d
s
,
as
d
ep
icted
in
Fig
u
r
e
6
.
Me
an
wh
ile,
PTC3
0
p
r
o
d
u
ce
s
th
e
lo
west
%
T
HD
I
at
all
s
p
ee
d
s
.
T
h
is
s
u
g
g
ests
th
at
ac
h
iev
in
g
o
p
tim
al
f
lu
x
a
n
d
to
r
q
u
e
p
er
f
o
r
m
an
ce
u
s
in
g
a
co
n
s
tan
t
W
F
ac
r
o
s
s
all
s
p
ee
d
o
p
er
atio
n
s
is
im
p
o
s
s
ib
le.
I
t
also
im
p
lies
th
at
f
lu
x
co
n
tr
o
l
s
h
o
u
ld
b
e
p
r
io
r
itized
at
lo
wer
s
p
ee
d
s
an
d
to
r
q
u
e
co
n
tr
o
l
at
h
ig
h
er
s
p
ee
d
s
.
T
h
is
h
ig
h
lig
h
ts
th
e
im
p
o
r
tan
ce
o
f
s
elec
tin
g
an
ap
p
r
o
p
r
iate
W
F
v
alu
e
f
o
r
ea
c
h
s
p
ee
d
co
n
d
itio
n
t
o
m
in
im
ize
to
r
q
u
e
an
d
f
lu
x
r
ip
p
le.
Evaluation Warning : The document was created with Spire.PDF for Python.