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in
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CC B
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SA
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C
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r
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A
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r
:
Du
c
T
h
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Dep
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lectr
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g
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I
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d
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s
tr
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Un
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s
ity
o
f
Ho
C
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C
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Vietn
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E
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ail:
led
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@
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u
.
v
n
1.
I
NT
RO
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n
d
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m
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to
r
s
(
I
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Sin
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1
9
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[
1
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,
f
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-
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(
FOC
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h
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8
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415
ty
p
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s
[
2
]
–
[
5
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.
T
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n
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ased
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tate
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m
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n
ce
[
6
]
,
[
7
]
.
L
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PI
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tific
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r
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k
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r
tain
ties
[
8
]
–
[
1
0
]
.
Alth
o
u
g
h
th
ese
in
tellig
en
t
h
y
b
r
id
co
n
tr
o
ller
s
ex
h
ib
i
t
s
u
p
er
io
r
a
d
ap
tab
ilit
y
,
th
e
y
o
f
ten
e
n
tail
h
ig
h
co
m
p
u
tatio
n
al
co
s
t,
co
m
p
lex
d
esig
n
p
r
o
ce
s
s
es,
an
d
lack
r
ig
o
r
o
u
s
th
e
o
r
etica
l
s
tab
ilit
y
g
u
a
r
an
tees
f
ac
to
r
s
th
at
h
in
d
er
th
eir
p
r
ac
tical
in
d
u
s
tr
i
al
ad
o
p
tio
n
.
Am
o
n
g
r
o
b
u
s
t
n
o
n
lin
ea
r
co
n
tr
o
l
tech
n
i
q
u
es,
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
(
SMC
)
h
as
attr
ac
ted
co
n
s
id
e
r
ab
le
atten
tio
n
d
u
e
t
o
its
in
h
er
en
t
r
o
b
u
s
tn
ess
ag
ain
s
t
p
a
r
am
eter
v
ar
iatio
n
s
,
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
an
d
u
n
m
o
d
eled
d
y
n
a
m
ics
[
1
1
]
–
[
1
3
]
.
T
h
e
class
ical
f
ir
s
t
-
o
r
d
e
r
SM
C
(
FOSMC
)
en
s
u
r
es
s
tr
o
n
g
r
o
b
u
s
tn
ess
u
n
d
er
m
atc
h
ed
u
n
ce
r
tain
ties
b
u
t
s
u
f
f
e
r
s
f
r
o
m
ch
atter
in
g
,
w
h
ich
m
a
y
ex
cite
u
n
m
o
d
eled
h
ig
h
-
f
r
eq
u
e
n
cy
d
y
n
am
ics
an
d
ca
u
s
e
m
ec
h
an
ical
wea
r
[
1
4
]
,
[
1
5
]
.
T
o
allev
iate
th
is
is
s
u
e,
h
ig
h
er
-
o
r
d
e
r
SMC
(
HOSMC)
ap
p
r
o
ac
h
es
s
u
ch
a
s
th
e
s
u
p
er
-
twis
tin
g
alg
o
r
ith
m
(
STA)
h
av
e
b
ee
n
d
ev
el
o
p
ed
,
o
f
f
er
in
g
f
in
ite
-
tim
e
co
n
v
er
g
en
ce
with
s
ig
n
if
ican
tl
y
r
ed
u
ce
d
ch
atter
in
g
[
1
6
]
–
[
2
0
]
.
Me
an
wh
ile,
a
d
v
an
ce
m
e
n
t
s
in
s
lid
in
g
s
u
r
f
ac
e
d
esig
n
h
a
v
e
i
n
tr
o
d
u
ce
d
ter
m
i
n
al
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
T
S
MC)
an
d
n
o
n
s
in
g
u
lar
ter
m
in
al
SMC
(
NT
SMC
)
f
o
r
m
u
latio
n
s
.
W
h
ile
T
SMC
ac
h
iev
es
f
in
ite
-
tim
e
co
n
v
er
g
en
ce
,
it
s
u
f
f
er
s
f
r
o
m
a
s
i
n
g
u
lar
ity
n
ea
r
th
e
eq
u
ilib
r
iu
m
p
o
in
t.
I
n
co
n
tr
ast,
th
e
NT
SMC
f
o
r
m
u
latio
n
elim
in
ates
th
is
s
in
g
u
lar
ity
,
en
s
u
r
in
g
b
o
u
n
d
ed
c
o
n
tr
o
l
ef
f
o
r
t a
n
d
r
o
b
u
s
t f
in
ite
-
tim
e
c
o
n
v
er
g
en
ce
[
2
1
]
–
[
2
7
]
.
Un
lik
e
p
r
ev
io
u
s
h
y
b
r
i
d
PI
–
SMC
s
ch
em
es,
th
is
p
ap
er
in
tr
o
d
u
ce
s
an
en
tire
l
y
n
e
w
h
y
b
r
id
co
n
f
ig
u
r
atio
n
th
at
in
teg
r
ates
n
o
n
s
in
g
u
lar
ter
m
in
al
d
y
n
am
i
cs
with
h
ig
h
er
-
o
r
d
er
c
o
n
tin
u
o
u
s
co
n
tr
o
l
ac
tio
n
,
th
er
eb
y
u
n
if
y
in
g
f
in
ite
-
tim
e
co
n
v
er
g
en
ce
with
o
u
t
s
in
g
u
lar
ity
an
d
en
s
u
r
in
g
e
n
h
an
ce
d
s
m
o
o
th
n
ess
in
th
e
co
n
tr
o
l
r
esp
o
n
s
e.
T
h
e
AST
A
–
NT
SMC
co
m
p
o
n
en
t
g
u
a
r
an
tees
r
ap
id
f
in
ite
-
tim
e
c
o
n
v
er
g
en
ce
,
s
u
p
er
i
o
r
r
o
b
u
s
tn
ess
ag
ain
s
t
p
ar
a
m
eter
v
ar
iatio
n
s
an
d
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
an
d
s
m
o
o
th
co
n
t
r
o
l
e
f
f
o
r
t
o
win
g
to
th
e
h
ig
h
er
-
o
r
d
e
r
co
n
tin
u
ity
o
f
th
e
s
u
p
er
-
twis
tin
g
alg
o
r
ith
m
.
T
h
e
PI
co
m
p
o
n
en
t,
o
n
t
h
e
o
th
er
h
an
d
,
p
r
eser
v
es
s
tead
y
-
s
tate
ac
cu
r
ac
y
an
d
al
lo
ws
in
tu
itiv
e
g
ain
tu
n
i
n
g
,
m
ain
tain
in
g
in
d
u
s
tr
ial
s
im
p
licity
an
d
p
r
ac
tical
im
p
lem
en
tatio
n
f
ea
s
ib
ilit
y
.
Mo
r
eo
v
e
r
,
th
e
p
r
o
p
o
s
ed
a
d
ap
tiv
e
m
ec
h
an
is
m
d
y
n
am
ically
a
d
j
u
s
ts
th
e
s
witch
in
g
g
ain
s
o
f
th
e
STA
law
in
ac
c
o
r
d
an
ce
with
th
e
i
n
s
tan
tan
eo
u
s
s
lid
in
g
d
y
n
am
ics,
s
ig
n
if
ic
an
tly
im
p
r
o
v
in
g
th
e
co
n
tr
o
ller
’
s
r
o
b
u
s
tn
ess
an
d
ad
ap
tab
ilit
y
u
n
d
e
r
tim
e
-
v
a
r
y
in
g
o
p
er
atin
g
c
o
n
d
itio
n
s
.
Ad
d
itio
n
ally
,
t
h
e
h
y
b
r
id
PI
–
ASTA
–
NT
SMC
s
tr
u
ctu
r
e
is
also
em
p
lo
y
e
d
f
o
r
t
h
e
f
l
u
x
c
o
n
tr
o
l
l
o
o
p
,
f
o
r
m
in
g
an
in
te
g
r
ated
d
u
al
-
lo
o
p
ar
ch
itectu
r
e
th
at
ac
h
ie
v
es
s
u
p
er
io
r
t
o
r
q
u
e
s
m
o
o
th
n
ess
,
f
lu
x
s
tab
ilit
y
,
an
d
o
v
er
all
d
r
i
v
e
ef
f
icien
c
y
.
T
h
e
g
lo
b
al
s
tab
ilit
y
an
d
r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
ar
e
r
ig
o
r
o
u
s
ly
estab
lis
h
ed
th
r
o
u
g
h
L
y
ap
u
n
o
v
-
b
ased
an
aly
s
is
,
co
n
f
ir
m
in
g
th
e
f
in
ite
-
tim
e
c
o
n
v
er
g
en
ce
o
f
t
h
e
clo
s
ed
-
lo
o
p
I
M
d
r
iv
e
s
y
s
tem
.
T
h
e
m
ajo
r
co
n
tr
ib
u
tio
n
s
o
f
th
is
p
ap
er
ar
e
s
u
m
m
ar
ized
as
f
o
llo
ws:
i
)
A
n
o
v
el
h
y
b
r
id
PI
–
ASTA
–
NT
SMC
co
n
tr
o
l
s
tr
ateg
y
is
d
ev
elo
p
e
d
f
o
r
FOC
-
b
ased
I
M
d
r
iv
es,
en
a
b
lin
g
in
teg
r
at
ed
s
p
ee
d
an
d
f
lu
x
r
eg
u
latio
n
with
s
tead
y
-
s
tate
p
r
ec
is
io
n
,
f
in
ite
-
tim
e
c
o
n
v
er
g
en
ce
,
an
d
a
d
ap
tiv
e
r
o
b
u
s
t
n
ess
with
in
a
u
n
if
ied
f
r
am
ewo
r
k
;
ii
)
A
L
y
a
p
u
n
o
v
-
b
ased
s
tab
ilit
y
an
aly
s
is
is
p
r
esen
ted
to
r
ig
o
r
o
u
s
ly
estab
lis
h
g
lo
b
al
f
in
ite
-
tim
e
co
n
v
er
g
en
ce
o
f
th
e
clo
s
ed
-
lo
o
p
s
y
s
tem
u
n
d
e
r
p
ar
am
et
er
v
ar
ia
tio
n
s
an
d
e
x
ter
n
al
d
is
tu
r
b
an
ce
s
;
an
d
iii
)
C
o
m
p
r
eh
en
s
iv
e
s
im
u
latio
n
s
u
n
d
er
wid
e
-
s
p
ee
d
o
p
er
a
tio
n
,
lo
a
d
to
r
q
u
e
d
is
tu
r
b
an
c
es,
an
d
p
ar
am
ete
r
u
n
ce
r
tain
ties
q
u
an
titativ
ely
d
e
m
o
n
s
tr
ate
th
e
s
u
p
er
i
o
r
ity
o
f
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
o
v
er
c
o
n
v
en
tio
n
al
PI
an
d
PI
–
FOSMC
s
ch
em
es.
T
h
e
r
em
ain
d
e
r
o
f
t
h
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
ws
:
i)
Sectio
n
2
r
e
v
iews
th
e
f
u
n
d
a
m
en
tal
p
r
in
cip
les
o
f
FOC
f
o
r
I
M
d
r
i
v
es
;
ii)
Sect
io
n
3
d
etails
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
PI
–
ASTA
–
NT
SMC
co
n
tr
o
ller
an
d
its
s
tab
ilit
y
an
aly
s
is
;
iii)
Sectio
n
4
p
r
esen
ts
s
im
u
latio
n
r
esu
lts
an
d
co
m
p
ar
ativ
e
e
v
alu
atio
n
s
;
an
d
iv
)
Fin
ally
,
s
ec
tio
n
5
co
n
clu
d
es th
e
p
ap
er
with
k
ey
f
in
d
in
g
s
an
d
d
ir
ec
tio
n
s
f
o
r
f
u
tu
r
e
wo
r
k
.
2.
M
AT
H
E
M
AT
I
CA
L
M
O
D
E
L
O
F
I
M
D
s
T
h
e
in
d
u
ctio
n
m
o
t
o
r
(
I
M)
m
o
d
el
in
th
e
s
y
n
ch
r
o
n
o
u
s
ly
r
o
tatin
g
r
ef
e
r
en
ce
f
r
am
e,
s
er
v
i
n
g
as
t
h
e
f
o
u
n
d
atio
n
o
f
f
ield
-
o
r
ien
ted
c
o
n
tr
o
l
(
FOC
)
,
is
ex
p
r
ess
ed
in
s
tate
-
s
p
ac
e
f
o
r
m
as
(
1
)
[
2
8
]
.
̇
(
)
=A
(
)
+
(
)
(
1
)
W
h
er
e:
x
,
A
,
B
,
an
d
u
a
r
e
s
tate
v
ec
to
r
s
,
s
tate
m
atr
ix
,
in
p
u
t m
atr
ix
,
co
n
tr
o
l in
p
u
t
,
an
d
th
ey
c
an
b
e
d
e
f
in
ed
as:
(
)
=
[
]
(
)
=
[
]
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.
17
,
No
.
1
,
Ma
r
c
h
20
26
:
414
-
4
24
416
=
[
11
0
13
14
15
0
11
−
14
13
25
0
−
1
0
−
−
1
−
−
−
(
−
)
]
=
[
1
0
0
0
1
0
0
0
0
0
0
0
0
0
−
1
]
W
ith
;
;
;
;
;
ar
e
co
m
p
o
n
en
ts
o
f
th
e
s
tato
r
’
s
cu
r
r
en
t,
s
tato
r
’
s
v
o
ltag
e
,
an
d
r
o
to
r
’
s
f
lu
x
in
th
e
r
ef
er
en
ce
f
r
am
e.
Te
,
T
L
:
e
lectr
o
m
ag
n
etic
an
d
lo
ad
to
r
q
u
e;
r
esp
ec
tiv
el
y
;
ω
r
:
th
e
an
g
u
lar
v
elo
city
(
m
ec
h
an
ical
s
p
ee
d
)
,
ω
r
=
(
2
/
P
)
ω
re
;
ω
re
,
ω
sl
,
ω
e
:
th
e
elec
tr
ical
s
p
ee
d
,
r
esp
ec
tiv
ely
r
o
t
o
r
a
n
d
s
lip
an
g
u
lar
a
n
d
s
y
n
ch
r
o
n
o
u
s
an
g
u
lar
v
elo
city
;
p
:
n
u
m
b
er
o
f
p
o
le
p
air
s
.
Ls
,
Lr
:
s
ta
to
r
an
d
r
o
to
r
in
d
u
ct
an
ce
s
;
Lm
:
m
u
tu
al
in
d
u
ctan
ce
;
R
s
,
R
r
:
s
tato
r
an
d
r
o
to
r
r
esis
tan
ce
s
;
J
:
th
e
in
er
tia
o
f
m
o
to
r
an
d
lo
ad
;
:
t
o
tal
l
in
k
ag
e
co
e
f
f
icien
t;
B
: f
r
ictio
n
co
e
f
f
icien
t;
an
d
:
r
o
to
r
tim
e
co
n
s
tan
t.
B
ased
o
n
th
e
d
y
n
am
ics
o
f
I
M
in
th
e
s
tato
r
f
ix
ed
r
ef
e
r
en
c
e
f
r
am
e,
th
e
s
tato
r
f
lu
x
ca
n
b
e
esti
m
ated
s
u
ch
as:
=
;
=
1
−
2
;
=
;
=
3
2
;
=
11
=
−
1
(
+
2
)
;
13
=
;
14
=
−
;
15
=
−
;
25
=
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
th
e
s
lip
f
r
eq
u
en
cy
ca
n
b
e
ex
p
r
ess
ed
in
th
e
d
q
r
ef
e
r
en
ce
f
r
a
m
e:
{
=
∫
(
−
)
0
=
∫
(
−
)
0
(
2
)
T
h
e
s
tato
r
an
d
r
o
to
r
f
lu
x
lin
k
a
g
e
p
h
as
e
is
g
iv
en
b
y
(
3
)
.
=
√
2
+
2
;
≈
(
3
)
T
o
r
q
u
e
ca
n
b
e
ca
lcu
lated
as (
4
)
.
=
3
2
(
−
)
(
4
)
T
h
e
m
ec
h
an
ical
d
y
n
a
m
ics f
o
llo
w:
=
−
−
(
5
)
3.
NO
VE
L
H
Y
B
RI
D
P
I
–
AS
T
A
-
NT
S
M
ST
R
AT
E
G
Y
3
.
1
.
Sp
ee
d c
o
ntr
o
l st
ra
t
e
g
y
T
h
is
s
u
b
s
ec
tio
n
in
tr
o
d
u
ce
s
th
e
p
r
o
p
o
s
ed
a
d
ap
tiv
e
PI
–
ASTA
–
NT
SMC
s
p
ee
d
co
n
tr
o
l
f
r
a
m
ewo
r
k
f
o
r
in
d
u
ctio
n
m
o
to
r
d
r
iv
es.
T
h
e
c
o
n
tr
o
ller
in
teg
r
ates
a
co
n
v
en
ti
o
n
al
PI
r
eg
u
lato
r
with
an
a
d
a
p
tiv
e
s
u
p
er
-
twis
tin
g
alg
o
r
ith
m
d
esig
n
ed
o
n
a
n
o
n
s
i
n
g
u
lar
ter
m
in
al
s
lid
in
g
m
o
d
e
co
n
tr
o
l
s
u
r
f
ac
e.
W
ith
in
th
is
h
y
b
r
id
s
tr
u
ctu
r
e,
th
e
PI
r
eg
u
lato
r
en
s
u
r
es
s
tead
y
-
s
tate
ac
cu
r
ac
y
an
d
c
o
n
tr
o
l
s
im
p
licity
,
wh
ile
th
e
NT
S
MC
-
b
ased
s
u
r
f
ac
e
g
u
ar
an
tees f
in
ite
-
tim
e
c
o
n
v
e
r
g
en
ce
an
d
elim
in
ates th
e
s
in
g
u
l
ar
ity
is
s
u
es o
f
co
n
v
e
n
tio
n
al
T
SMC
.
T
h
e
ad
ap
tiv
e
m
ec
h
an
is
m
em
b
ed
d
ed
in
t
h
e
STA
law
co
n
tin
u
o
u
s
ly
ad
ju
s
ts
th
e
s
witch
in
g
g
a
in
s
in
r
ea
l
tim
e
ac
co
r
d
in
g
to
th
e
in
s
tan
tan
eo
u
s
s
lid
in
g
d
y
n
am
ics.
T
h
is
s
elf
-
tu
n
in
g
f
ea
t
u
r
e
en
a
b
l
es
th
e
co
n
tr
o
ller
to
m
ain
tain
o
p
tim
al
p
er
f
o
r
m
a
n
c
e
u
n
d
e
r
p
a
r
am
eter
v
ar
iatio
n
s
,
lo
ad
d
is
tu
r
b
an
ce
s
,
a
n
d
tim
e
-
v
ar
y
in
g
o
p
er
atin
g
co
n
d
itio
n
s
,
with
o
u
t
r
eq
u
ir
in
g
p
r
io
r
k
n
o
wled
g
e
o
f
u
n
ce
r
tain
t
y
b
o
u
n
d
s
.
C
o
n
s
eq
u
e
n
tly
,
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
s
im
u
ltan
eo
u
s
ly
ac
h
iev
es h
ig
h
r
o
b
u
s
tn
ess
,
im
p
r
o
v
ed
a
d
ap
tab
i
lity
,
an
d
ef
f
ec
tiv
e
ch
atter
in
g
s
u
p
p
r
ess
io
n
.
C
o
m
p
ar
ed
with
co
n
v
en
tio
n
al
PI
an
d
PI
–
FOSMC
ap
p
r
o
ac
h
e
s
,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
o
f
f
er
s
f
o
u
r
m
ajo
r
ad
v
an
tag
es:
i)
f
aster
tr
an
s
ien
t
r
es
p
o
n
s
e
an
d
s
h
o
r
te
r
s
ettlin
g
tim
e,
ii)
r
ed
u
ce
d
o
v
er
s
h
o
o
t
an
d
to
r
q
u
e
r
ip
p
le,
iii)
ad
ap
tiv
e
r
o
b
u
s
tn
ess
ag
ain
s
t
p
ar
a
m
eter
an
d
lo
a
d
v
ar
iatio
n
s
,
an
d
iv
)
en
h
an
ce
d
s
tead
y
-
s
tate
p
r
ec
is
io
n
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
A
n
o
ve
l h
y
b
r
id
P
I
a
n
d
a
d
a
p
tive
s
u
p
er
-
tw
is
tin
g
s
lid
in
g
mo
d
e
co
n
tr
o
ller
fo
r
… (
Du
c
Th
u
a
n
Le
)
417
m
in
im
ized
ch
atter
i
n
g
e
f
f
ec
ts
.
T
h
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ate
g
y
,
t
h
er
ef
o
r
e
,
e
n
s
u
r
es
s
m
o
o
t
h
elec
tr
o
m
a
g
n
etic
to
r
q
u
e,
r
ed
u
ce
d
m
ec
h
a
n
ical
s
tr
ess
,
an
d
h
ig
h
d
y
n
am
ic
r
el
iab
ilit
y
,
p
r
o
v
id
in
g
a
p
r
ac
tical
h
ig
h
-
p
er
f
o
r
m
a
n
ce
s
o
lu
tio
n
f
o
r
in
d
u
s
tr
ial
I
M
d
r
iv
e
s
y
s
tem
s
.
B
ased
o
n
th
is
s
tr
u
ct
u
r
e,
th
e
tr
ac
k
in
g
e
r
r
o
r
s
ar
e
d
ef
in
ed
as
(
6
)
.
(
)
=
∗
(
)
−
(
)
(
6
)
T
o
g
u
a
r
an
tee
f
in
ite
-
tim
e
c
o
n
v
er
g
en
ce
an
d
av
o
id
s
in
g
u
lar
itie
s
,
th
e
p
r
o
p
o
s
ed
s
lid
in
g
s
u
r
f
ac
e
is
d
ef
in
ed
as
(
7
)
.
(
)
=
(
)
+
1
|
(
)
|
/
(
(
)
)
;
ℎ
:
1
>
0
;
>
0
&
0
<
<
1
(
7
)
T
h
e
d
er
iv
ativ
e
o
f
th
e
s
lid
in
g
s
u
r
f
ac
e
is
g
iv
en
b
y
(
8
)
.
̇
(
)
=
̇
(
)
+
1
|
(
)
|
(
/
)
−
1
(
)
+
|
|
(
/
)
[
(
(
)
)
]
(
8
)
T
h
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
is
s
elec
ted
as
(
9
)
.
(
)
=
1
2
2
(
)
(
9
)
I
ts
d
er
iv
ativ
e
ca
n
o
b
tain
:
(
)
=
(
)
̇
(
)
(
1
0
)
T
o
s
atis
f
y
:
(
)
<
0
t
h
en
:
(
)
̇
(
)
<
0
.
Fro
m
(
8
)
,
a
h
y
b
r
id
PI
+
ASTA
_
NT
SMC
co
n
tr
o
l
law
is
d
esig
n
ed
as
(
1
1
)
an
d
(
1
2
)
.
̇
(
)
=
−
1
(
)
=
−
1
[
(
)
+
∫
(
)
0
+
AS
(
)
]
(
1
1
)
AS
(
)
=
(
(
)
)
+
(
)
(
1
2
)
W
h
er
e:
{
(
(
)
)
=
1
(
)
|
(
)
|
1
/
2
(
(
)
)
(
)
=
1
(
)
∫
(
(
)
)
0
.
T
h
e
v
ir
tu
al
co
n
tr
o
l v
ec
to
r
∗
is
d
esig
n
ed
as
(
1
3
)
.
∗
=
2
3
{
̇
∗
+
∗
+
+
(
)
}
(
1
3
)
3
.
2
.
F
lux
c
o
ntr
o
l st
ra
t
e
g
y
Acc
u
r
ate
r
o
to
r
-
f
lu
x
r
e
g
u
latio
n
is
ess
en
tial
f
o
r
lin
ea
r
to
r
q
u
e
p
r
o
d
u
ctio
n
,
lo
w
to
r
q
u
e
r
ip
p
le,
an
d
h
ig
h
ef
f
icien
cy
in
f
ield
-
o
r
ien
ted
i
n
d
u
ctio
n
m
o
to
r
d
r
i
v
es.
C
o
n
v
en
tio
n
al
PI
-
b
ased
f
lu
x
co
n
t
r
o
l
d
eg
r
ad
es
u
n
d
er
p
ar
am
eter
v
ar
iatio
n
s
,
m
a
g
n
eti
c
s
atu
r
atio
n
,
in
v
er
ter
n
o
n
lin
e
ar
ities
,
an
d
r
ap
id
lo
ad
ch
an
g
es,
lead
in
g
to
f
lu
x
o
s
cillatio
n
s
an
d
r
e
d
u
ce
d
to
r
q
u
e
s
m
o
o
t
h
n
ess
.
T
o
ad
d
r
ess
th
ese
lim
itatio
n
s
,
th
e
f
l
u
x
lo
o
p
in
th
is
wo
r
k
a
d
o
p
ts
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
PI
–
AST
A
–
NT
SMC
s
tr
u
ctu
r
e,
wh
ich
c
o
m
b
in
es
PI
ac
tio
n
with
an
a
d
a
p
tiv
e
s
u
p
er
-
twis
tin
g
ter
m
o
n
a
n
o
n
s
in
g
u
lar
ter
m
in
al
s
lid
in
g
s
u
r
f
ac
e
to
ac
h
iev
e
tim
e
-
ad
ap
tiv
e
f
lu
x
r
e
g
u
lati
o
n
with
f
in
ite
-
tim
e
co
n
v
er
g
en
ce
a
n
d
m
in
im
al
ch
a
tter
in
g
.
T
h
e
r
o
t
o
r
f
lu
x
is
o
b
ta
in
ed
f
r
o
m
a
cu
r
r
en
t
-
m
o
d
el
-
b
a
s
ed
esti
m
ato
r
.
T
h
e
r
esu
ltin
g
f
l
u
x
t
r
ac
k
in
g
er
r
o
r
is
d
ef
in
ed
as (
1
4
)
.
(
)
=
∗
(
)
−
̂
(
)
(
1
4
)
W
h
er
e
∗
(
)
d
en
o
tes
th
e
r
e
f
er
en
ce
f
lu
x
an
d
̂
(
)
is
th
e
esti
m
ated
r
o
to
r
f
lu
x
.
T
h
e
h
y
b
r
id
PI
–
ASTA
–
NT
SMC
f
lu
x
co
n
tr
o
ller
u
s
es
(
)
to
g
en
er
a
te
th
e
d
-
ax
is
cu
r
r
en
t
r
e
f
er
en
ce
,
en
s
u
r
in
g
r
a
p
id
,
r
o
b
u
s
t
f
lu
x
co
n
v
e
r
g
en
c
e
wh
ile
av
o
id
in
g
ex
ce
s
s
iv
e
co
n
tr
o
l
ac
tiv
ity
an
d
s
tead
y
-
s
tat
e
o
s
cillatio
n
s
.
T
h
e
s
lid
in
g
s
u
r
f
ac
e
is
d
esig
n
ed
ac
co
r
d
in
g
to
th
e
n
o
n
s
in
g
u
lar
t
er
m
in
al
f
u
n
ctio
n
:
(
)
=
(
)
+
2
|
(
)
|
/
(
(
)
)
;
ℎ
:
2
>
0
;
>
0
&
0
<
<
1
(
1
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.
17
,
No
.
1
,
Ma
r
c
h
20
26
:
414
-
4
24
418
T
h
e
L
y
ap
u
n
o
v
f
u
n
ct
io
n
is
s
elec
ted
as (
1
6
)
.
(
)
=
1
2
2
(
)
(
1
6
)
I
ts
d
er
iv
ativ
e
ca
n
o
b
tain
:
(
)
=
(
)
̇
(
)
(
1
7
)
t
o
s
atis
f
y
:
(
)
<
0
t
h
en
:
(
)
̇
(
)
<
0
.
B
ased
o
n
th
e
d
er
iv
ed
s
lid
in
g
s
u
r
f
ac
e,
th
e
co
n
tr
o
l
law
is
d
esig
n
ed
as
(
1
8
)
.
̇
(
)
=
−
2
(
)
=
−
2
[
(
)
+
∫
(
)
0
+
AS
(
)
]
(
1
8
)
W
h
er
e:
(
)
=
(
(
)
)
+
(
)
; w
ith
:
{
(
(
)
)
=
2
(
)
|
(
)
|
1
/
2
(
(
)
)
(
)
=
2
(
)
∫
(
(
)
)
0
T
h
e
v
ir
tu
al
c
o
n
tr
o
l
v
ec
to
r
is
q
i
s
d
esig
n
ed
as (
1
9
)
.
∗
(
)
=
[
∗
+
1
∗
+
(
)
+
∫
(
)
0
+
AS
(
)
]
(
1
9
)
3
.
3
.
Ada
ptiv
e
g
a
in la
ws (
AST
A
g
a
ins
)
a
nd
L
y
a
pu
no
v
s
t
a
bil
it
y
a
na
ly
s
is
T
h
e
g
ain
s
(
)
an
d
(
)
ar
e
u
p
d
ated
u
s
in
g
an
a
d
ap
tiv
e
law
o
f
th
e
f
o
r
m
:
̇
(
)
=
{
|
|
+
(
−
1
)
,
(
)
>
,
,
>
0
,
ℎ
(
=
:
;
=
1
:
2
)
(
2
0
)
W
h
er
e
>
0
an
d
>
0
ar
e
ad
ap
tatio
n
a
n
d
d
a
m
p
in
g
co
e
f
f
icien
ts
,
r
esp
ec
tiv
ely
.
T
h
is
r
u
le
en
s
u
r
es
th
a
t
th
e
g
ain
s
in
cr
ea
s
e
wh
en
th
e
s
lid
in
g
v
ar
iab
le
d
ev
iates
f
r
o
m
z
er
o
(
in
d
icatin
g
lar
g
e
r
u
n
ce
r
ta
in
ty
)
an
d
d
ec
r
ea
s
e
s
m
o
o
th
ly
wh
e
n
th
e
s
y
s
tem
a
p
p
r
o
ac
h
es
eq
u
ilib
r
iu
m
,
th
u
s
b
alan
cin
g
c
h
atter
in
g
s
u
p
p
r
ess
io
n
an
d
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
.
T
h
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
is
s
elec
ted
as (
2
1
)
.
(
)
=
(
)
+
(
)
=
1
2
[
2
(
)
+
2
(
)
]
(
2
1
)
C
o
m
b
in
in
g
(
1
0
)
,
(
1
1
)
,
(
1
7
)
,
an
d
(
1
8
)
we
g
et:
(
)
=
(
)
+
(
)
=
(
)
̇
(
)
+
(
)
̇
(
)
(
)
=
=
−
{
1
(
)
[
(
)
+
∫
(
)
0
+
AS
(
)
]
+
2
(
)
[
(
)
+
∫
(
)
0
+
AS
(
)
]
}
;
1
:
2
>
0
(
2
2
)
If
(
)
>
0
,
f
r
o
m
(
7
)
an
d
(
1
5
)
we
h
av
e
(
)
>
0
,
co
m
b
in
in
g
(
1
2
)
,
(
1
3
)
,
(
1
8
)
,
a
n
d
(
1
9
)
we
h
av
e
̇
(
)
<
0
.
T
h
er
ef
o
r
e
(
)
<
0
.
If
(
)
<
0
,
f
r
o
m
(
7
)
a
n
d
(
1
5
)
we
h
av
e
(
)
<
0
,
co
m
b
in
in
g
(
1
2
)
,
(
1
3
)
,
(
1
8
)
an
d
(
1
9
)
we
h
av
e
̇
(
)
>
0
.
T
h
er
ef
o
r
e
(
)
<
0
.
Fro
m
(
2
2
)
we
h
av
e:
(
)
<
0
∀
(
)
;
=
:
.
T
h
u
s
,
th
e
s
y
s
tem
is
alwa
y
s
s
tab
le
ac
co
r
d
in
g
to
L
y
ap
u
n
o
v
s
tab
ilit
y
th
eo
r
y
.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
h
y
b
r
i
d
PI
–
ASTA
_
NT
SMC
s
ch
em
e
wa
s
ex
am
in
ed
in
MA
T
L
AB
/S
im
u
lin
k
2
0
2
3
b
u
s
in
g
a
s
q
u
ir
r
el
-
ca
g
e
in
d
u
ctio
n
m
o
to
r
m
o
d
el.
T
h
e
m
o
to
r
s
p
ec
if
icatio
n
s
ar
e:
400
V,
5
0
Hz,
2
p
o
le,
2
8
8
0
r
p
m
,
R
s
=
1
.
9
7
Ω
,
R
r
=
1
.
9
6
Ω
,
L
s
=
0
.
0
1
5
4
H,
L
r
=
0
.
0
1
5
4
H,
L
m
=
0
.
3
5
8
5
H,
J
=
0
.
0
0
2
4
2
k
g
.
m
2
, B
=
0
.
0
0
0
5
.
T
h
e
c
o
m
p
lete
s
im
u
latio
n
s
tr
u
ctu
r
e
is
d
ep
icted
i
n
Fig
u
r
e
1
.
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
A
n
o
ve
l h
y
b
r
id
P
I
a
n
d
a
d
a
p
tive
s
u
p
er
-
tw
is
tin
g
s
lid
in
g
mo
d
e
co
n
tr
o
ller
fo
r
… (
Du
c
Th
u
a
n
Le
)
419
4
.
1
.
Dy
na
m
ic
perf
o
r
m
a
nce
e
v
a
lua
t
io
n und
er
ra
t
ed
lo
a
d
m
o
m
ent
Fig
u
r
e
2
an
d
T
ab
le
1
p
r
esen
t
th
e
co
m
p
a
r
ativ
e
d
y
n
am
ic
r
esp
o
n
s
es
o
f
th
e
co
n
v
en
tio
n
al
PI,
PI
–
FOSM
C
,
an
d
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
PI
–
ASTA
–
NT
SMC
co
n
tr
o
ller
s
u
n
d
er
r
ated
l
o
ad
co
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d
itio
n
s
.
As
o
b
s
er
v
ed
,
th
e
p
r
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p
o
s
ed
h
y
b
r
id
co
n
tr
o
ller
ac
h
iev
es
t
h
e
f
astes
t
tr
an
s
ien
t
an
d
m
o
s
t
ac
c
u
r
ate
s
tead
y
-
s
tate
p
er
f
o
r
m
an
c
e
am
o
n
g
all
s
ch
e
m
es.
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an
titativ
ely
,
th
e
s
ettlin
g
tim
e
is
r
ed
u
c
ed
f
r
o
m
0
.
0
6
7
1
s
(
PI)
an
d
0
.
0
5
9
4
s
(
PI
–
FOSMC
)
to
0
.
0
4
0
7
s
,
r
ep
r
esen
tin
g
i
m
p
r
o
v
e
m
en
ts
o
f
3
9
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4
%
an
d
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5
%,
r
esp
ec
tiv
ely
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T
h
e
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v
er
s
h
o
o
t
is
n
ea
r
ly
elim
in
ated
,
d
ec
r
ea
s
in
g
f
r
o
m
0
.
6
6
3
4
r
ad
/s
(
PI)
an
d
0
.
3
8
3
4
r
ad
/s
(
PI
–
FOSMC
)
to
o
n
ly
0
.
0
0
9
1
r
ad
/s
with
th
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
.
T
h
ese
s
u
b
s
tan
tial
im
p
r
o
v
e
m
en
ts
in
tr
an
s
ien
t
b
eh
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io
r
ar
is
e
f
r
o
m
th
e
f
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ite
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tim
e
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n
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er
g
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ce
p
r
o
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ty
o
f
th
e
NT
SMC
s
u
r
f
ac
e
an
d
th
e
h
ig
h
er
-
o
r
d
e
r
co
n
tin
u
ity
o
f
th
e
ad
a
p
tiv
e
s
u
p
er
-
twis
tin
g
alg
o
r
ith
m
(
ASTA
)
,
wh
ich
to
g
eth
er
s
u
p
p
r
ess
o
s
cillatio
n
s
an
d
m
itig
ate
th
e
ch
atter
in
g
p
h
en
o
m
en
o
n
in
h
er
en
t
to
co
n
v
en
tio
n
al
s
lid
in
g
-
m
o
d
e
d
r
iv
es.
Mo
r
eo
v
e
r
,
th
e
I
SE
(
0
.
0
0
3
5
)
an
d
I
AE
(
0
.
0
2
5
6
)
in
d
ices
o
f
th
e
p
r
o
p
o
s
e
d
co
n
tr
o
ller
ar
e
c
o
n
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er
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l
y
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m
aller
th
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th
o
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e
o
f
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0
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7
3
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1
1
0
5
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a
n
d
PI
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FOSMC
(
0
.
0
0
4
9
,
0
.
0
3
3
7
)
,
co
n
f
ir
m
in
g
th
at
th
e
o
v
er
all
tr
a
ck
in
g
-
er
r
o
r
e
n
er
g
y
is
m
in
im
iz
ed
.
I
n
ad
d
itio
n
to
im
p
r
o
v
ed
s
p
ee
d
r
eg
u
latio
n
,
Fig
u
r
e
2
s
h
o
ws
th
at
th
e
Hy
b
r
id
PI
–
ASTA
–
N
T
SMC
also
y
ield
s
a
m
u
ch
s
m
o
o
th
er
an
d
m
o
r
e
s
tab
le
r
o
to
r
-
f
lu
x
tr
ajec
to
r
y
.
W
h
er
ea
s
th
e
PI
an
d
PI
–
FOSM
C
co
n
tr
o
ller
s
ex
h
ib
it
n
o
ticea
b
le
f
lu
x
o
s
cillatio
n
s
an
d
co
u
p
lin
g
ef
f
ec
ts
d
u
r
in
g
ac
ce
le
r
atio
n
an
d
d
ec
eler
atio
n
,
th
e
p
r
o
p
o
s
ed
s
tr
ateg
y
m
ain
tain
s
a
n
alm
o
s
t
co
n
s
tan
t
f
lu
x
m
a
g
n
itu
d
e
with
n
eg
lig
ib
le
r
ip
p
le.
T
h
is
en
h
an
c
ed
f
lu
x
r
e
g
u
latio
n
,
en
ab
led
b
y
th
e
h
y
b
r
id
PI
–
ASTA
–
NT
SMC
f
lu
x
lo
o
p
,
en
s
u
r
es
f
in
ite
-
tim
e
f
l
u
x
co
n
v
er
g
e
n
ce
an
d
ef
f
ec
tiv
ely
co
m
p
en
s
ates
f
o
r
i
n
v
er
ter
n
o
n
lin
ea
r
ities
an
d
m
ag
n
etic
s
atu
r
atio
n
.
As
a
r
esu
lt,
to
r
q
u
e
p
r
o
d
u
ctio
n
r
e
m
ain
s
lin
ea
r
,
to
r
q
u
e
r
ip
p
le
is
r
ed
u
c
ed
,
an
d
cu
r
r
en
t
s
tr
ess
is
m
in
im
ized
.
C
o
n
s
eq
u
en
tly
,
th
e
R
MSE
o
f
s
p
ee
d
an
d
to
r
q
u
e
d
ec
r
ea
s
es
to
0
.
1
1
5
6
an
d
0
.
1
7
7
5
,
c
o
r
r
esp
o
n
d
in
g
t
o
im
p
r
o
v
e
m
en
ts
o
f
o
v
e
r
7
2
%
in
s
p
ee
d
ac
cu
r
ac
y
an
d
1
6
%
in
t
o
r
q
u
e
s
m
o
o
th
n
ess
co
m
p
ar
ed
with
PI
c
o
n
tr
o
l.
Ov
er
all,
th
e
d
u
al
-
lo
o
p
h
y
b
r
i
d
s
tr
u
c
tu
r
e
en
a
b
les
well
-
co
o
r
d
in
ate
d
to
r
q
u
e
–
f
lu
x
d
ec
o
u
p
lin
g
an
d
d
eliv
er
s
r
ap
id
tr
an
s
i
en
t r
ec
o
v
er
y
with
m
in
im
al
r
ip
p
le,
co
n
s
is
ten
t w
ith
th
e
s
tab
ilit
y
an
aly
s
is
in
s
ec
tio
n
3
.
Fro
m
th
e
o
b
ta
in
e
d
s
u
r
v
e
y
r
esu
lts
,
it is
e
asy
t
o
s
ee
th
at
th
e
p
r
o
p
o
s
e
d
s
t
r
u
ct
u
r
e
p
r
o
v
id
es a
s
m
o
o
t
h
e
r
a
n
d
m
o
r
e
e
n
e
r
g
y
-
e
f
f
ic
ie
n
t
c
o
n
t
r
o
l
e
f
f
o
r
t
.
T
h
e
c
o
n
ti
n
u
o
u
s
h
i
g
h
er
-
o
r
d
e
r
AS
T
A
f
o
r
m
u
lat
io
n
g
e
n
e
r
a
tes
b
o
u
n
d
e
d
co
n
t
r
o
l
d
e
r
i
v
ati
v
es
,
w
h
i
c
h
s
i
g
n
if
i
ca
n
tl
y
r
ed
u
ce
s
h
i
g
h
-
f
r
e
q
u
e
n
cy
s
wit
c
h
i
n
g
a
cti
v
it
y
c
o
m
p
a
r
e
d
w
it
h
P
I
–
FOSMC
.
T
h
is
b
e
h
a
v
i
o
r
n
o
t
o
n
ly
m
iti
g
ates
c
h
at
te
r
i
n
g
b
u
t
als
o
d
ec
r
ea
s
es
v
o
l
ta
g
e
s
tr
ess
an
d
th
er
m
al
l
o
a
d
i
n
g
o
n
t
h
e
in
v
e
r
t
er
p
o
we
r
d
e
v
ic
es.
A
d
d
it
i
o
n
all
y
,
t
h
e
c
o
n
t
r
o
ll
er
is
m
o
r
e
r
esis
ta
n
t
t
o
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s
e
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y
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li
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.
S
in
ce
th
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ASTA
te
r
m
a
v
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a
p
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e
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g
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n
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ti
o
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d
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n
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t
ea
d
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s
es
a
c
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ti
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o
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s
ap
p
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o
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ati
o
n
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q
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a
n
ti
za
ti
o
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a
n
d
s
am
p
li
n
g
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tte
r
a
r
e
e
f
f
ec
t
iv
el
y
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ilt
er
e
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o
u
t
.
T
h
is
m
ak
es
t
h
e
co
n
t
r
o
ll
er
h
ig
h
l
y
s
u
it
a
b
le
f
o
r
r
e
al
-
ti
m
e
D
SP
im
p
le
m
e
n
t
ati
o
n
,
w
h
e
r
e
li
m
it
ed
s
a
m
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li
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g
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at
es
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d
d
i
g
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t
al
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o
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n
d
e
g
r
a
d
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ir
s
t
-
o
r
d
er
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li
d
i
n
g
m
o
d
e
s
ch
em
es.
F
r
o
m
a
c
o
m
p
u
tati
o
n
al
p
er
s
p
e
cti
v
e,
t
h
e
h
y
b
r
i
d
P
I
–
ASTA
–
N
T
SMC
al
g
o
r
it
h
m
m
a
in
t
ai
n
s
a
li
g
h
tw
ei
g
h
t
ar
i
th
m
e
tic
s
t
r
u
ct
u
r
e.
I
ts
p
e
r
-
cy
cle
c
o
m
p
u
t
ati
o
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al
l
o
a
d
is
co
m
p
a
r
a
b
le
t
o
P
I
–
FOSMC
a
n
d
f
a
r
l
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er
t
h
a
n
ad
v
a
n
ce
d
p
r
e
d
i
cti
v
e
o
r
AN
N
-
b
ase
d
co
n
t
r
o
ll
er
s
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e
n
s
u
r
i
n
g
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ll
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m
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ati
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i
lit
y
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h
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o
w
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c
o
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t
T
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C
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r
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ce
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r
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i
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ve
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te
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S
um
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um
α
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ab
c
d
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um
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F
l
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e
ob
s
e
r
ve
r
+
_
θ
e
T
L
V
d
c
Sa
-
Sb
-
Sc
Fig
u
r
e
1
.
Simu
latio
n
m
o
d
el
o
f
h
y
b
r
i
d
PI
-
ASTA
-
NT
SMC
alg
o
r
ith
m
b
ased
FOC
T
ab
le
1
.
I
n
d
ices f
o
r
ev
alu
atin
g
co
n
tr
o
l
p
er
f
o
r
m
an
ce
C
o
n
t
r
o
l
st
r
a
t
e
g
y
S
e
t
t
l
i
n
g
t
i
me
O
v
e
r
sh
o
o
t
I
S
E
I
A
E
R
M
S
E
s
p
e
e
d
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l
0
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1
7
7
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.
17
,
No
.
1
,
Ma
r
c
h
20
26
:
414
-
4
24
420
Fig
u
r
e
2
.
Per
f
o
r
m
an
c
e
o
f
PI,
PI
-
FOSMC
,
an
d
h
y
b
r
id
PI
-
ASTA
_
NT
SMC
u
n
d
er
th
e
v
a
r
iab
le
s
p
ee
d
4
.
2
.
Ro
bu
s
t
nes
s
ev
a
lua
t
io
n und
er
lo
a
d dis
t
urba
nce
T
h
e
r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
e
d
co
n
tr
o
ller
was f
u
r
th
er
e
v
alu
a
ted
u
n
d
er
s
u
d
d
en
l
o
ad
to
r
q
u
e
v
ar
iatio
n
s
,
as
s
h
o
wn
in
Fig
u
r
e
3
.
Un
d
e
r
a
s
tep
d
is
tu
r
b
an
ce
,
th
e
co
n
v
en
ti
o
n
al
PI
co
n
tr
o
ller
e
x
h
ib
its
lar
g
e
s
p
ee
d
d
ev
iatio
n
s
an
d
p
r
o
lo
n
g
ed
r
ec
o
v
er
y
,
in
d
icatin
g
wea
k
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
ca
p
ab
ilit
y
.
T
h
e
PI
–
FOSM
C
im
p
r
o
v
es
r
esil
ien
ce
b
y
en
f
o
r
cin
g
a
s
lid
in
g
m
o
d
e
,
b
u
t
th
e
f
ix
ed
-
g
ain
s
witch
in
g
in
d
u
ce
s
o
b
s
er
v
a
b
le
ch
atter
in
g
in
b
o
th
s
p
ee
d
an
d
elec
tr
o
m
ag
n
etic
to
r
q
u
e.
B
y
c
o
n
tr
ast,
th
e
Hy
b
r
id
PI
–
ASTA
–
NT
SMC
ex
h
ib
its
s
u
p
er
io
r
r
o
b
u
s
tn
ess
an
d
f
ast
d
is
tu
r
b
an
ce
r
ejec
tio
n
.
W
h
en
th
e
e
x
ter
n
al
lo
ad
to
r
q
u
e
ab
r
u
p
tly
c
h
an
g
es,
th
e
ad
ap
tiv
e
ASTA
m
ec
h
an
is
m
in
s
tan
tly
in
cr
ea
s
es
its
s
wi
tch
in
g
g
ain
to
co
u
n
te
r
ac
t
th
e
d
is
tu
r
b
an
ce
,
en
s
u
r
in
g
th
e
s
lid
in
g
v
ar
iab
le
q
u
ick
ly
c
o
n
v
e
r
g
es
to
ze
r
o
.
A
s
th
e
tr
an
s
ien
t
s
u
b
s
id
es,
th
e
ad
ap
tiv
e
law
s
m
o
o
th
ly
r
ed
u
c
es
th
e
co
n
tr
o
l
g
ain
,
th
er
eb
y
m
ai
n
tain
in
g
c
o
n
tin
u
o
u
s
co
n
tr
o
l
an
d
ef
f
e
ctiv
ely
s
u
p
p
r
ess
in
g
ch
atter
in
g
.
T
h
is
d
y
n
a
m
ic
g
ain
ad
a
p
tatio
n
r
esu
lts
in
f
in
ite
-
tim
e
r
ec
o
v
er
y
o
f
th
e
s
p
ee
d
t
o
its
r
e
f
er
en
ce
with
in
a
n
eg
lig
ib
le
d
ev
iatio
n
o
f
±
0
.
5
%,
wh
ile
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
r
ap
id
ly
s
tab
ilizes with
o
u
t o
v
er
s
h
o
o
t.
Fu
r
th
er
m
o
r
e
,
th
e
r
o
to
r
f
l
u
x
r
e
m
ain
s
tig
h
tly
r
eg
u
lated
d
u
r
i
n
g
th
e
en
tire
d
is
tu
r
b
a
n
ce
p
er
i
o
d
,
in
d
icatin
g
s
tr
o
n
g
f
lu
x
d
ec
o
u
p
lin
g
an
d
ef
f
ec
tiv
e
co
m
p
en
s
atio
n
o
f
m
ag
n
etic
cr
o
s
s
-
co
u
p
lin
g
ef
f
ec
t
s
.
T
h
is
s
tab
le
f
lu
x
p
r
o
f
ile
co
n
tr
ib
u
tes
to
co
n
s
is
te
n
t
to
r
q
u
e
g
en
e
r
atio
n
an
d
r
e
d
u
ce
d
s
tato
r
cu
r
r
en
t
s
tr
ess
,
f
u
r
th
er
d
em
o
n
s
tr
atin
g
th
e
s
y
n
er
g
y
b
etwe
en
t
h
e
s
p
ee
d
a
n
d
f
l
u
x
c
o
n
tr
o
l
lo
o
p
s
.
C
o
m
p
ar
ed
with
PI,
PI
–
FOSMC
,
th
e
h
y
b
r
id
c
o
n
tr
o
ller
r
ed
u
ce
s
b
o
th
to
r
q
u
e
r
ip
p
le
a
n
d
in
teg
r
al
o
f
ab
s
o
lu
te
er
r
o
r
(
I
AE
)
s
ig
n
if
ican
tly
,
co
n
f
ir
m
i
n
g
its
ad
ap
tiv
e
an
d
d
is
tu
r
b
an
ce
-
to
ler
a
n
t
ch
a
r
ac
ter
i
s
tics
.
I
n
ad
d
itio
n
,
th
e
s
lid
in
g
-
m
o
d
e
s
tr
u
ctu
r
e
em
b
ed
d
e
d
in
th
e
ASTA
–
NT
SMC
f
r
am
ewo
r
k
in
h
er
en
tly
s
tr
en
g
t
h
en
s
r
o
b
u
s
tn
ess
ag
ain
s
t
m
atch
ed
d
is
tu
r
b
an
ce
s
s
u
ch
as
lo
a
d
to
r
q
u
e
v
ar
iatio
n
s
.
B
ec
au
s
e
lo
ad
to
r
q
u
e
en
ter
s
t
h
e
m
ec
h
a
n
ical
d
y
n
am
ics
th
r
o
u
g
h
th
e
s
am
e
ch
a
n
n
el
as
th
e
co
n
tr
o
l
in
p
u
t,
th
e
s
lid
in
g
-
m
o
d
e
ter
m
n
atu
r
ally
c
o
m
p
en
s
ates
f
o
r
th
is
d
is
tu
r
b
a
n
ce
o
n
ce
th
e
s
y
s
tem
r
ea
ch
es
t
h
e
s
lid
in
g
s
u
r
f
ac
e.
T
h
is
m
ea
n
s
th
at
th
e
p
r
o
p
o
s
e
d
co
n
tr
o
ller
ca
n
r
ejec
t
s
u
d
d
e
n
o
r
s
u
s
tain
ed
l
o
ad
v
ar
iatio
n
s
with
o
u
t
r
e
q
u
ir
in
g
ex
p
licit
d
is
tu
r
b
an
ce
esti
m
atio
n
.
T
h
e
c
o
m
b
in
atio
n
o
f
a
n
o
n
s
in
g
u
lar
ter
m
i
n
al
s
lid
in
g
s
u
r
f
a
ce
an
d
an
ad
ap
tiv
e
s
u
p
er
-
twis
tin
g
law
en
s
u
r
es
th
at
th
e
s
y
s
tem
is
d
r
iv
e
n
to
war
d
th
e
s
lid
in
g
m
an
if
o
l
d
in
f
in
it
e
tim
e
an
d
r
em
ain
s
in
s
en
s
itiv
e
to
lo
ad
p
er
tu
r
b
a
tio
n
s
,
m
o
d
elin
g
in
ac
c
u
r
ac
ie
s
,
an
d
p
ar
am
eter
d
r
if
t.
T
h
ese
r
esu
lts
clea
r
ly
d
em
o
n
s
tr
ate
th
at
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
co
n
tr
o
ller
in
teg
r
ates
ad
ap
tiv
e
r
o
b
u
s
tn
ess
an
d
s
m
o
o
th
co
n
tr
o
l
ef
f
o
r
t
with
in
a
s
in
g
le
f
r
am
ewo
r
k
,
allo
win
g
th
e
I
M
d
r
iv
e
to
m
ain
tain
s
tab
le
p
er
f
o
r
m
an
ce
ev
en
u
n
d
er
s
ev
er
e
lo
a
d
d
is
tu
r
b
an
ce
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
A
n
o
ve
l h
y
b
r
id
P
I
a
n
d
a
d
a
p
tive
s
u
p
er
-
tw
is
tin
g
s
lid
in
g
mo
d
e
co
n
tr
o
ller
fo
r
… (
Du
c
Th
u
a
n
Le
)
421
Fig
u
r
e
3
.
Per
f
o
r
m
an
c
e
o
f
PI,
PI
-
FOSMC
,
an
d
h
y
b
r
id
PI
-
ASTA
_
NT
SMC
u
n
d
er
th
e
v
a
r
iab
le
t
o
r
q
u
e
4
.
3
.
Ro
bu
s
t
nes
s
ev
a
lua
t
io
n und
er
pa
ra
m
et
er
v
a
ria
t
io
ns
(
re
s
is
t
a
nce
cha
ng
es)
I
n
th
is
r
o
b
u
s
tn
ess
test
,
t
h
e
l
o
a
d
t
o
r
q
u
e
w
as
k
ep
t
c
o
n
s
ta
n
t
a
t
its
r
a
te
d
v
al
u
e
o
f
7
N
.
m
,
w
h
il
e
th
e
r
o
t
o
r
r
esis
ta
n
c
e
w
as
i
n
c
r
e
ase
d
b
y
2
0
0
%
at
t
h
e
b
e
g
i
n
n
i
n
g
o
f
t
h
e
s
i
m
u
lat
io
n
.
B
e
ca
u
s
e
r
o
t
o
r
r
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ta
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ce
h
as
a
d
o
m
i
n
an
t
i
n
f
lu
e
n
ce
o
n
f
l
u
x
d
y
n
a
m
ics
,
t
o
r
q
u
e
p
r
o
d
u
cti
o
n
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an
d
t
h
e
o
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er
all
s
ta
b
i
lit
y
o
f
t
h
e
in
d
u
c
ti
o
n
m
o
t
o
r
co
n
t
r
o
l
l
o
o
p
—
m
u
c
h
g
r
e
ate
r
t
h
a
n
t
h
e
we
a
k
e
r
,
s
ec
o
n
d
a
r
y
e
f
f
e
cts
o
f
s
ta
to
r
r
es
is
ta
n
c
e
o
n
l
y
v
a
r
i
ati
o
n
is
co
n
s
i
d
e
r
e
d
i
n
t
h
is
r
o
b
u
s
t
n
ess
s
u
r
v
ey
.
T
h
is
c
o
n
d
i
ti
o
n
e
m
u
lat
e
s
s
e
v
e
r
e
t
h
e
r
m
al
s
tr
ess
o
r
d
e
g
r
ad
ati
o
n
o
f
t
h
e
r
o
to
r
ca
g
e
,
w
h
ic
h
s
h
o
r
te
n
s
t
h
e
r
o
t
o
r
t
im
e
co
n
s
t
a
n
t
a
n
d
d
i
r
ec
tl
y
i
n
f
lu
e
n
ce
s
t
h
e
f
l
u
x
–
to
r
q
u
e
co
u
p
li
n
g
a
n
d
ele
ctr
o
m
a
g
n
et
ic
d
y
n
am
ics
o
f
t
h
e
i
n
d
u
ct
io
n
m
o
to
r
.
As
s
h
o
w
n
i
n
Fi
g
u
r
e
4
,
t
h
e
c
o
n
v
e
n
t
io
n
al
PI
a
n
d
PI
–
FOS
MC
co
n
t
r
o
ll
er
s
ex
h
i
b
i
t
s
u
b
s
ta
n
ti
al
ly
d
e
g
r
a
d
e
d
p
e
r
f
o
r
m
a
n
c
e
i
n
t
h
e
h
i
g
h
-
s
p
ee
d
o
p
er
ati
n
g
r
a
n
g
e:
b
o
th
c
o
n
tr
o
ll
e
r
s
s
h
o
w
la
r
g
e
s
te
a
d
y
-
s
t
ate
s
p
e
e
d
e
r
r
o
r
a
n
d
ele
v
a
te
d
s
p
ee
d
e
r
r
o
r
e
n
e
r
g
y
,
wit
h
c
o
r
r
esp
o
n
d
i
n
g
l
y
h
i
g
h
e
r
R
MSE
v
al
u
es
a
n
d
in
cr
ea
s
ed
to
r
q
u
e
r
i
p
p
le
.
T
h
es
e
d
eg
r
ad
ati
o
n
s
ar
e
c
o
n
s
is
te
n
t
w
it
h
r
ed
u
ce
d
t
o
r
q
u
e
p
r
o
d
u
cti
o
n
ca
p
a
b
il
it
y
at
a
f
i
x
e
d
c
u
r
r
en
t
wh
e
n
t
h
e
r
o
t
o
r
t
im
e
c
o
n
s
ta
n
t
is
s
h
o
r
t
en
e
d
.
I
n
co
n
t
r
ast,
t
h
e
h
y
b
r
i
d
PI
–
AS
T
A
–
NT
SMC
c
o
n
tr
o
l
le
r
m
ai
n
t
ai
n
s
ex
ce
l
le
n
t
p
er
f
o
r
m
a
n
ce
d
esp
ite
th
e
2
0
0
%
r
o
t
o
r
-
r
esis
ta
n
ce
i
n
c
r
ea
s
e
.
Owi
n
g
t
o
t
h
e
ad
ap
ti
v
e
AST
A
law
,
th
e
c
o
n
t
r
o
l
g
a
in
au
to
m
a
tic
all
y
r
is
e
s
d
u
r
i
n
g
t
r
a
n
s
i
e
n
t
f
l
u
x
d
e
v
ia
tio
n
a
n
d
s
m
o
o
th
ly
d
e
cr
ea
s
es
o
n
c
e
th
e
s
li
d
i
n
g
v
ar
iab
le
a
p
p
r
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ac
h
es
ze
r
o
,
e
n
s
u
r
in
g
f
i
n
i
te
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ti
m
e
co
n
v
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r
g
e
n
c
e
o
f
b
o
t
h
s
p
ee
d
a
n
d
f
l
u
x
wit
h
o
u
t
i
n
d
u
ci
n
g
ch
att
er
in
g
.
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h
e
r
o
t
o
r
f
l
u
x
t
r
a
je
ct
o
r
y
r
em
ain
s
n
e
ar
ly
c
o
n
s
t
an
t
an
d
we
ll
-
d
ec
o
u
p
le
d
f
r
o
m
t
h
e
to
r
q
u
e
c
h
a
n
n
e
l,
p
r
es
er
v
i
n
g
l
i
n
e
ar
el
ec
t
r
o
m
a
g
n
eti
c
t
o
r
q
u
e
p
r
o
d
u
ct
io
n
.
C
o
n
s
eq
u
en
tl
y
,
th
e
t
o
r
q
u
e
wa
v
e
f
o
r
m
ex
h
i
b
its
m
i
n
i
m
al
r
i
p
p
le
a
n
d
n
e
g
li
g
i
b
l
e
o
f
f
s
et
ev
e
n
u
n
d
e
r
t
h
e
ele
v
a
te
d
r
o
t
o
r
r
esis
t
an
ce
,
w
h
il
e
th
e
s
p
ee
d
r
es
p
o
n
s
e
clo
s
el
y
tr
ac
k
s
its
r
ef
er
e
n
c
e
w
it
h
th
e
s
m
a
lles
t
I
SE
,
I
A
E
,
an
d
R
MSE
v
al
u
es
a
m
o
n
g
all
c
o
m
p
a
r
ed
s
c
h
e
m
es
.
Fu
r
th
er
m
o
r
e
,
b
ec
au
s
e
th
e
r
o
to
r
f
lu
x
m
a
g
n
itu
d
e
is
ef
f
ec
tiv
ely
m
ain
tain
ed
,
th
e
s
tato
r
cu
r
r
en
t
am
p
litu
d
e
r
em
ain
s
s
tab
le,
p
r
ev
en
tin
g
ex
c
ess
iv
e
co
p
p
er
lo
s
s
o
r
o
v
e
r
h
ea
t
in
g
.
T
h
is
d
em
o
n
s
tr
ates
th
at
th
e
h
y
b
r
i
d
co
n
tr
o
ller
n
o
t
o
n
l
y
s
u
s
tain
s
p
r
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is
e
s
p
ee
d
an
d
to
r
q
u
e
co
n
tr
o
l u
n
d
e
r
s
ev
er
e
p
ar
am
eter
v
ar
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n
b
u
t
also
p
r
eser
v
es
c
u
r
r
en
t
ef
f
icien
cy
a
n
d
th
er
m
al
r
eliab
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y
o
f
t
h
e
d
r
iv
e.
T
h
ese
r
esu
lts
co
n
f
ir
m
th
e
th
eo
r
etica
l
r
o
b
u
s
tn
ess
an
aly
s
is
p
r
esen
ted
in
s
ec
tio
n
3
,
wh
e
r
e
ad
ap
tiv
e
g
ain
m
o
d
u
latio
n
an
d
n
o
n
s
in
g
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lar
te
r
m
in
al
s
lid
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n
s
u
r
e
g
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b
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f
i
n
ite
-
tim
e
s
tab
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y
an
d
p
ar
am
eter
in
s
en
s
itiv
ity
.
Ov
er
all,
th
e
p
r
o
p
o
s
ed
Hy
b
r
id
PI
–
ASTA
–
NT
SMC
ac
h
iev
es
s
u
p
er
io
r
p
ar
am
eter
r
o
b
u
s
tn
ess
,
r
ed
u
ce
d
to
r
q
u
e
r
ip
p
le,
an
d
en
h
an
ce
d
f
lu
x
–
t
o
r
q
u
e
lin
ea
r
ity
co
m
p
a
r
ed
wit
h
co
n
v
en
tio
n
al
PI
an
d
PI
–
FOSMC
co
n
tr
o
ller
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
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4
I
n
t J Po
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Dr
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s
t
,
Vo
l.
17
,
No
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1
,
Ma
r
c
h
20
26
:
414
-
4
24
422
Fig
u
r
e
4
.
Per
f
o
r
m
an
c
e
o
f
PI,
PI
-
FOSMC
,
an
d
h
y
b
r
id
PI
-
ASTA
_
NT
SMC
u
n
d
er
th
e
v
a
r
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n
s
r
esis
tan
ce
s
5.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
h
as
p
r
o
p
o
s
ed
a
n
o
v
el
h
y
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r
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d
PI
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co
n
tr
o
l
s
ch
em
e
f
o
r
h
ig
h
-
p
e
r
f
o
r
m
a
n
ce
in
d
u
ctio
n
m
o
t
o
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d
r
iv
es
(
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MD
s
)
.
T
h
e
h
y
b
r
i
d
ar
c
h
itectu
r
e
co
m
b
in
es
th
e
s
tead
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s
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ac
cu
r
ac
y
o
f
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r
eg
u
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r
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th
e
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tiv
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r
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b
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s
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ess
o
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s
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er
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twis
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f
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o
n
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n
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n
s
in
g
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ter
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al
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s
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r
f
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e.
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h
e
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m
ec
h
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is
m
d
y
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am
ically
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n
es
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witch
in
g
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,
en
s
u
r
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g
f
in
ite
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tim
e
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n
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er
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e
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ce
,
s
tr
o
n
g
d
is
tu
r
b
an
ce
r
ejec
tio
n
,
an
d
c
h
atter
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g
s
u
p
p
r
ess
io
n
.
A
L
y
ap
u
n
o
v
-
b
ased
a
n
aly
s
is
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o
n
f
ir
m
e
d
th
e
f
in
ite
-
tim
e
s
tab
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o
f
th
e
clo
s
ed
lo
o
p
.
Simu
latio
n
r
esu
lts
u
n
d
er
th
r
ee
r
ep
r
esen
tativ
e
s
ce
n
ar
io
s
—
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e
-
s
p
ee
d
o
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with
r
ated
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ad
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d
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en
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d
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b
a
n
ce
s
,
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d
a
2
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r
o
to
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tan
ce
in
cr
ea
s
e
at
a
co
n
s
tan
t 7
N.
m
lo
ad
—
v
alid
ated
th
e
co
n
tr
o
ller
’
s
s
u
p
er
io
r
ity
.
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h
e
p
r
o
p
o
s
ed
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ch
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e
r
ed
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ce
d
th
e
s
ettlin
g
tim
e
to
0
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0
4
0
7
s
,
ac
h
iev
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g
3
9
.
4
%
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d
3
1
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%
im
p
r
o
v
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e
n
ts
o
v
er
PI
an
d
P
I
–
FOSMC
,
wh
ile
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o
s
t
e
li
m
in
atin
g
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o
t
(
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9
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d
/s
)
an
d
m
i
n
im
izin
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SE,
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AE
,
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d
R
MSE
in
d
ices.
E
v
en
u
n
d
er
s
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er
e
p
ar
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m
eter
v
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n
,
it
m
ain
tain
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ac
cu
r
ate
s
p
ee
d
tr
a
ck
in
g
an
d
s
tab
le
to
r
q
u
e
,
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er
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s
co
n
v
en
tio
n
al
m
eth
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ited
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n
if
ican
t
d
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ad
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at
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h
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s
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w
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h
e
c
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r
r
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n
t
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n
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r
est
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i
cte
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to
MA
T
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/Si
m
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k
s
i
m
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lat
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h
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d
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n
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v
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As
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t
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k
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e
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p
l
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n
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t
h
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p
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e
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2
0
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p
l
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n
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ar
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(
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a
n
d
la
b
o
r
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o
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x
p
e
r
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[
1
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