In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
10, N
o.
4, D
e
c
e
m
ber
201
9,
pp.
1797~
18
05
ISSN: 2088-
8694,
DOI
:
10.11591
/ijpeds.
v10.
i
4.pp1797-1805
1797
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
a
e
score
.
com
/
j
o
u
r
na
l
s
/
i
n
d
e
x
.
p
hp/IJ
PED
S
Design of a discr
e
te PID contr
ol
ler b
a
sed on identification dat
a
for a simscape buck
boost converter model
M
o
h
a
mm
ed
A
lm
aged
,
S
ala
m
Ib
r
ah
im
K
h
a
th
er
,
Ab
du
ll
a
I. A
b
d
u
lla
S
y
st
e
m
s
an
d
Cont
rol
En
g
i
neering
D
e
part
ment,
Col
l
ege
o
f
Elect
ro
n
ic
s
En
gine
e
r
in
g
, Nin
e
v
a
h
Un
i
v
e
rsi
t
y,
Iraq
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
ce
i
v
e
d
Mar
28,
2
0
1
9
Re
vise
d Ju
n 2
0
,
2019
A
c
c
e
pte
d
J
u
l
8
,
2019
Th
is
wo
r
k s
hows
th
e des
i
g
n
an
d
t
un
in
g p
r
oced
ure o
f
a
discret
e P
I
D
c
on
tr
o
l
le
r
f
o
r
regu
lati
ng
b
uck
b
oos
t
con
v
erter
circu
its
.
Th
e
bu
ck
b
o
o
s
t
c
o
nv
erter
m
odel
is
i
m
p
l
e
m
e
n
t
ed
u
si
ng
S
im
scap
e
M
a
t
l
ab
l
ibrary
w
it
ho
ut
h
av
i
n
g
t
o
deri
ve
a
com
p
lex
m
a
th
ematical
m
o
d
el.
A
new
t
unin
g
p
roces
s
of
d
ig
it
al
P
ID
con
t
ro
llers
b
a
sed
on
i
d
e
ntif
i
cation
dat
a
h
as
b
ee
n
p
r
opo
sed
.
S
i
m
u
l
ation
resu
l
t
s
are
int
r
od
uced
t
o
ex
ami
n
e
th
e
p
o
tential
s
o
f
t
h
e
d
e
s
i
g
n
ed
c
o
n
t
r
o
ller
in
power
elect
roni
c
appl
icat
io
ns
a
n
d
v
alid
a
t
e
the
cap
ab
ilit
y
a
nd
s
tabili
ty
o
f
t
h
e
con
t
ro
ller
u
n
d
er
s
up
pl
y
an
d
loa
d
p
erturb
ati
o
n
s
.
Desp
it
e
co
ntro
l
l
e
r
li
n
e
a
r
it
y
,
the
ne
w
a
p
pro
a
c
h
h
a
s
p
rove
d
to
b
e
succ
e
ssful
e
v
e
n
with
h
ig
h
l
y
n
on
li
near
sy
st
e
m
s
.
T
h
e
p
ropo
sed
co
ntro
ll
er
h
as
s
ucceed
ed
i
n
reject
in
g
all
t
h
e
di
st
urb
a
n
ces
e
f
f
ect
ivel
y
an
d
m
a
i
n
t
a
i
n
i
n
g
a
con
s
t
a
nt
out
pu
t
v
o
lt
ag
e
f
r
o
m
t
h
e
regulat
o
r.
K
eyw
ord
s
:
B
u
ck
Boo
st
C
on
v
e
r
t
ers
PID Co
nt
r
o
l
l
er
s
Sim
s
cape
Mat
l
a
b S
i
muli
n
k
N
o
n
line
a
r
S
y
st
em
s Tuni
ng
Co
pyri
gh
t © 2
019 In
stit
u
t
e
of Advanced
En
gi
neeri
n
g
an
d
S
c
ien
ce.
All
rights
res
e
rv
ed.
Corres
pon
d
i
n
g
Au
th
or:
M
o
h
a
mmed
Al
m
ag
e
d
,
S
y
stem
s a
n
d
Con
t
ro
l
Engi
nee
r
in
g D
e
partm
e
nt,
N
i
ne
vah
U
n
ive
r
sity,
U
n
i
v
ersi
ty S
tr
eet,
N
i
neva
h,
Mosu
l
, I
raq.
Em
ail:
moha
mm
ed.
youn
us@
u
o
n
i
ne
va
h.
edu.
iq
1.
I
N
TR
OD
U
C
TI
O
N
S
w
it
c
h
ing
m
o
de
c
o
n
v
er
t
e
rs
h
a
v
e
bee
n
w
i
d
ely
u
t
i
l
i
ze
d
i
n
c
ompu
ter
h
a
r
d
w
ar
e,
phot
o
v
o
ltaic
e
nerg
y
and
i
n
d
u
str
i
a
l
a
ppl
ica
t
i
o
ns
[
1
-
4].
D
C
-D
C
po
w
e
r
con
v
e
r
ters
a
r
e
t
he
m
ost
e
fficie
n
t
w
a
y
to
d
e
l
iver
a
s
ta
b
l
e
D
C
ou
tpu
t
r
egar
dl
e
s
s
of
l
oad
a
n
d
i
n
pu
t
vo
l
t
a
g
e
va
ria
tio
ns.
The
c
l
a
ssic
p
ow
er
c
on
verte
r
s
ar
e
gene
ral
l
y
c
l
a
s
si
fi
e
d
i
n
t
o
t
h
r
e
e
t
opo
lo
gi
e
s
,
bu
c
k–b
oo
st
,
b
u
c
k
an
d
bo
o
s
t
co
nv
e
r
t
e
rs. B
uc
k bo
os
t con
v
e
r
ter is a b
asic sw
i
tch
i
ng m
o
d
e
circ
u
i
t
in
w
hic
h
the
s
upp
lie
d
vo
ltage
c
a
n
be
large
r
or
sm
aller
t
h
a
n
t
he
i
n
p
u
t s
ourc
e
vol
ta
ge
leve
l
[
5].
Rec
e
n
t
l
y,
it
ha
s
bee
n
a
g
row
i
ng
c
o
n
ce
rn
t
o
w
a
r
ds
t
he
d
e
v
e
l
o
p
m
e
n
t
o
f
eff
ecti
v
e
co
n
t
ro
l
a
ppr
oac
h
es
t
o
enha
nc
e
t
h
e
be
hav
i
or
o
f
pow
e
r
c
on
ver
t
e
r
s.
H
ow
e
v
e
r
,
c
ontro
ll
i
n
g
th
e
s
e
c
onv
ert
e
rs
i
s
a
di
ffi
c
u
lt
t
ask
d
u
e
t
o
t
h
e
in
heri
te
d
na
t
u
re
o
f
n
o
n
l
i
ne
arit
y
ass
o
c
i
ate
d
w
it
h
p
o
w
e
r
sw
i
t
c
h
es
[
6
]
.
T
h
e
r
e
f
o
r
e
,
d
e
s
i
g
n
i
n
g
a
c
o
n
t
r
o
l
l
e
r
f
o
r
buc
k
bo
os
t
c
o
nver
t
er
i
s
n
o
rm
ally
a
c
c
o
mp
l
i
s
h
ed
by
a
p
prox
im
at
i
n
g
the
dy
na
mic
m
o
de
l
o
f
t
he
s
y
s
t
e
m.
T
he
mode
l
i
ng
o
f
buc
k
b
o
o
st
c
on
verter
c
i
r
cu
it
h
as
a
c
e
r
tain
a
mo
un
t
o
f
difficulti
e
s
m
a
in
ly
b
e
cau
se
o
f
th
e
no
n
l
i
n
ea
ri
t
y
a
nd
t
i
m
e
v
a
r
yi
ng
na
ture
o
f
pow
er
s
w
i
tche
s
[7,
8]
.
Line
a
r
izat
io
n
of
s
t
a
te
s
pa
c
e
a
ver
a
gin
g
appr
oa
ch
i
s
a
c
o
m
m
on
w
a
y
o
f
c
o
nve
r
tin
g
s
u
ch
tim
e
vary
in
g
a
n
d
n
o
n
lin
e
a
r
mo
d
e
l
s
i
nto
a
go
od
a
pp
rox
i
mat
i
o
n
line
a
r
m
o
del
f
o
r
buc
k
b
o
o
st
c
on
verte
r
c
ircu
it
[
9,
1
0].
S
e
vera
l
li
ne
ar
c
on
t
r
o
l
a
p
p
r
o
a
ch
es
w
ere
i
m
p
l
emen
t
e
d
on
the
s
e
co
n
v
er
ter
s
u
si
ng
t
h
eir
li
nea
r
m
o
d
e
l
s.
T
hese
t
ec
hn
i
que
s
co
m
p
rise
s
t
r
ateg
ies
re
lie
s
o
n
class
i
ca
l
fre
q
u
e
ncy
con
t
ro
l
a
ppr
oa
ch
s
uc
h
as
Z
i
e
gl
e
r
–N
ic
ho
l
a
nd
r
o
o
t
l
oc
us
[
1
1
-1
5].
H
owe
v
er,
m
o
st
o
f
t
h
ese
c
o
n
t
ro
l
t
h
eor
y
requ
ire
s
p
rec
i
se
line
a
r
m
a
the
m
a
t
ica
l
m
ode
ls
w
hic
h
i
s
di
ffi
c
u
l
t
to
a
c
h
ie
ve
d
ue
t
o
par
a
m
e
te
r
var
i
a
t
ion
tha
t
ca
use
s
a
s
i
g
n
i
fi
ca
nt cha
n
g
e i
n
ope
ra
ti
n
g
po
i
nts,
non-l
i
nea
r
ity
,
load
and i
n
pu
t vo
l
t
a
g
e
dis
t
urbanc
e
s
[1
6
-
1
8].
Thi
s
p
ap
e
r
i
nt
ro
du
c
e
s
a
sy
st
ema
t
i
c
a
pp
ro
ach
t
o
co
nst
r
u
c
t
a
mo
d
e
l
fo
r
D
C
-D
C
bu
c
k
b
oo
st
c
o
n
v
e
r
t
e
r
s
us
i
n
g
Ma
t
l
a
b
S
imsc
ape
S
i
mul
i
nk
l
ibr
a
ry.
The
m
e
t
h
od
i
s
q
u
ite
u
se
f
u
l
i
n
s
i
t
u
a
t
i
o
n
s
w
h
e
r
e
t
h
e
r
e
i
s
n
o
n
e
e
d
t
o
deri
ve
m
athe
m
a
tica
l
m
o
d
el
f
or
t
he
p
lan
t
.
It
w
il
l
a
l
s
o
e
l
i
mina
t
e
t
he
n
e
e
d
for
a
n
y
l
i
ne
a
r
izat
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on
p
r
ocess
an
d
opera
tin
g
p
o
i
n
t
s
re
str
i
c
t
i
o
n.
P
ID
i
s
a
d
o
mina
te
c
o
n
t
ro
l
l
e
r
d
ue
t
o
t
he
d
e
s
i
g
n
s
i
mpl
i
c
ity
a
n
d
g
o
od
tran
sie
n
t
a
n
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w El
ec &
D
ri S
y
s
t
Vo
l. 1
0
,
No
. 4
,
D
e
c
2
0
19
:
1
797
–
1
805
1
798
stea
dy
s
t
a
t
e
pe
r
f
or
m
a
nc
e.
T
unin
g
P
I
D
c
ontr
o
l
l
er
s
a
r
e
usua
l
l
y
a
c
c
o
m
p
l
i
sh
e
d
b
y
cla
s
s
i
ca
l
fr
e
que
ncy
r
e
s
p
o
n
se
tec
h
n
i
q
u
e
s
s
uc
h
as
r
oot
l
oc
u
s
-
t
y
p
e
an
d
Zi
egler
–
N
i
c
h
o
l
a
ppr
oa
che
s.
T
h
i
s
pa
per
w
i
l
l
s
how
a
n
ew
t
u
n
i
n
g
pr
o
c
ess
o
f
d
i
g
i
t
al
P
I
D
c
on
tro
lle
rs
b
a
s
ed
o
n
the
s
i
m
u
l
a
ti
on
d
ata
o
b
t
a
i
ne
d
f
r
o
m
the
co
ns
tr
ucte
d
S
i
m
s
ca
p
e
b
uck
bo
os
t
m
ode
l.
2.
CONVERTER
M
ODEL
LING
W
h
e
n
m
a
t
h
e
ma
t
i
c
a
l
m
od
el
o
f
t
h
e
sy
st
e
m
i
s
rea
d
il
y
av
ail
a
bl
e,
i
t
is
poss
i
b
l
e
to
e
mp
lo
y
se
v
e
r
a
l
de
si
gn
a
ppr
oac
h
es
f
or
calcu
la
t
i
n
g
t
h
e
p
a
r
am
eter
s
o
f
t
he
c
on
tro
l
ler
tha
t
w
i
l
l
a
c
h
ie
ve
t
he
d
es
ir
ed
r
e
s
ponse
of
t
he
p
la
n
t
.
Ho
wev
e
r,
i
n
mo
st
c
a
s
e
s
,
t
h
e
sy
st
e
m
i
s
e
x
t
r
emel
y
sop
h
i
s
ti
cat
ed
a
nd
h
igh
l
y
no
n
l
i
n
ea
r
s
o
t
ha
t
t
h
e
m
a
t
h
e
m
atica
l
m
odel
c
a
n
n
o
t
be
s
i
m
pl
y
der
i
ve
d.
T
hus,
an
a
nal
y
ti
cal
a
p
p
r
o
ac
h
t
o
t
he
c
o
n
tr
olle
r
de
si
gn
i
s
no
t
a
n
o
p
tion.
T
o
e
l
im
i
n
a
t
e
t
h
e
n
eed
f
or
a
ny
m
a
them
at
ica
l
m
o
d
el,
Ma
t
l
ab
S
i
m
ul
i
n
k
w
e
r
e
i
n
t
r
o
duc
e
d
.
Thi
s
a
ppr
oac
h
w
i
l
l
n
o
t
b
e
r
e
str
i
cte
d
by
t
h
e
val
i
d
it
y
of
l
i
n
ea
r
m
a
them
at
ical
m
o
d
e
l
nor
t
he
s
ma
l
l
sig
n
a
l
o
f
t
h
e
op
era
t
ion
poi
nt
.
Th
e
b
u
ck
bo
os
t
c
o
n
v
er
te
r
is
c
ons
t
r
uc
te
d
usi
n
g
S
i
msc
a
p
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ys
te
m
S
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pe
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c
t
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onta
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te
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s
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t
c
om
pr
ise
s
m
ode
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v
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c
o
mpo
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t
s
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o
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c
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t
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o
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t
ro
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al
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n
d
m
e
c
h
a
t
r
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n
i
c
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s
y
s
t
e
m
s
.
I
t
c
a
n
a
l
s
o
b
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u
s
e
d
i
n
d
e
v
e
l
o
p
i
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g
c
o
n
t
r
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l
s
ys
tem
s
a
nd
tes
t
i
n
g
pla
n
t
pe
r
f
o
r
m
a
n
c
e
.
The
m
odel
o
f
t
he
c
on
ver
t
e
r
c
on
st
r
u
c
t
e
d
i
n
S
i
msc
a
pe
e
lec
t
r
i
c
a
l
a
nd
p
ow
e
r
s
yste
m
is
s
how
n
in
F
igur
e
1.
F
i
gur
e
1.
B
uc
k
boost
co
n
v
er
te
r
m
odel
Mo
st
o
f
the
c
o
m
pone
n
t
s
w
e
r
e
i
ns
er
ted
fr
om
S
im
sc
ape
pow
er
s
ystem
l
i
b
r
a
r
y
.
H
o
w
e
ve
r
,
t
he
m
od
e
l
re
q
u
i
r
e
s
u
sing
a
v
a
ri
abl
e
r
esi
s
t
o
r
fro
m
Si
msc
a
p
e
el
ec
t
r
ic
al
l
i
b
rary
.
Th
u
s
,
a
Cu
rren
t
-
V
o
lta
g
e
S
i
m
scap
e
I
n
t
e
rfa
ce
b
l
oc
k
wa
s
use
d
a
s
an
i
deal
c
ou
p
l
i
n
g
be
tween
S
i
m
sca
p
e
P
o
w
e
r
S
y
ste
m
s
and
S
i
m
s
ca
pe
e
l
e
c
t
r
i
ca
l
c
i
r
c
u
it.
T
he
b
l
o
ck
a
c
t
s
as a
c
ur
r
e
nt
s
our
ce
on
the
S
i
m
s
ca
pe
P
ow
er System
s si
de an
d
a
s a
v
o
l
t
a
g
e s
ourc
e
o
n t
h
e
S
i
mscap
e
s
id
e. Th
e
v
alu
e
o
f
th
e co
mp
on
e
n
ts
o
f th
e
bu
ck
b
oo
s
t
co
n
v
e
r
ter
ar
e c
a
lcula
t
e
d
a
nd
lis
te
d
i
n
T
a
b
le
1
.
Tab
l
e
1. Con
ve
r
t
e
r
pa
r
am
ete
r
s spec
ifica
t
io
n
P
a
r
a
m
e
t
e
r
/
C
o
m
p
one
nt
V
a
lue
S
upply
Vol
t
a
g
e
18
V
D
e
si
r
e
d
Vol
t
a
g
e
Le
v
e
l
12,
24
V
S
w
i
t
c
h
ing
F
r
e
que
n
c
y
7800
H
z
E
quiva
l
e
nt
L
o
a
d Re
sistor
5
Ω
Ca
p
a
c
i
t
o
r
8200
μF
I
n
d
u
c
t
or
220
μH
R
i
ppl
e
1%
3.
S
I
MULAT
I
ONS
AN
D RES
U
LT
S
I
n
P
r
opor
t
i
o
n
a
l
I
nte
g
r
a
l
D
e
r
i
vat
i
ve
(
P
I
D)
c
on
tr
o
l
s
ystem
s
,
the
des
i
r
e
d
o
u
t
p
ut
i
s
c
o
m
p
a
r
e
d
w
it
h
t
h
e
a
c
tua
l
o
utp
u
t
a
nd
t
h
e
ob
ta
ine
d
e
r
r
or
i
s
pa
sse
d
t
o
t
h
e
co
ntr
o
ll
e
r
t
o
b
e
pr
oc
e
s
sed.
I
n
buc
k
b
oos
t
c
o
n
t
r
o
l
sy
stem
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
D
e
sig
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f
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i
s
c
re
t
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PI
D
cont
ro
ller b
a
se
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o
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ti
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s
cape
…
Mo
h
a
m
m
e
d Alm
a
ged
1
799
t
h
e
out
put
o
f
t
h
e
cont
r
o
l
l
e
r
i
s
a
dut
y
c
y
cle
wh
i
c
h
i
s
p
a
s
sed
to
t
h
e
p
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l
s
e
w
i
d
t
h
m
o
d
u
l
a
t
i
o
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g
e
n
e
r
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t
o
r
t
o
pr
oduc
e
a
pul
s
e
t
r
a
i
n
t
ha
t
dr
i
v
es
t
he
M
O
S
FET
p
o
w
e
r
sw
itc
h
w
i
th
adj
u
sta
b
l
e
d
u
t
y
cy
c
l
e.
T
h
e
s
c
h
e
m
at
i
c
o
f
c
l
o
s
e
lo
o
p
f
e
e
d
b
ac
k
c
o
n
t
r
o
l
of
buc
k
b
o
o
s
t
c
o
nver
t
e
r
m
odel
is
s
h
ow
n
i
n
F
i
g
ur
e
2.
F
i
gur
e
2.
F
eedba
ck
c
o
n
t
r
o
l
schem
a
ti
c
A
s
t
he
s
im
ula
t
i
o
n
mo
de
l
c
o
n
t
ai
ns
h
ig
h-
fr
e
que
nc
y
sw
i
t
c
h
in
g
a
nd
t
hu
s
cann
o
t
b
e
l
in
ea
ri
zed
,
t
h
e
k
e
y
c
h
al
le
ng
e
is
t
o
line
a
r
i
z
e
t
he
s
ys
tem
and
tu
n
e
t
he
P
I
D
g
ain
s
.
Th
u
s
,
w
h
e
n
c
l
i
c
ki
ng
t
h
e
t
un
e
but
ton
of
t
he
P
I
D
c
o
n
t
r
o
ller
,
P
I
D
T
une
r
w
i
l
l
t
r
y
t
o
l
i
near
i
z
e
t
h
e
pl
a
n
t
mode
l
.
H
o
w
e
ver
,
s
in
ce
t
h
e
m
o
de
l
h
a
s
di
sco
n
t
i
nui
t
i
es,
it
l
i
n
e
ari
z
es
t
o
z
e
ro
.
T
h
e
r
ef
o
r
e,
i
t
i
s
n
e
c
e
ssa
ry
t
o
i
d
ent
i
f
y
a
n
e
w
p
l
a
n
t
by
g
i
v
en
a
n
i
n
p
u
t
resp
on
se
a
nd
o
bt
ai
n
an
ou
t
p
u
t
d
a
t
a
fr
o
m
t
he
s
i
m
u
l
at
ion
m
o
del
to
b
ui
l
d
a
l
i
n
e
a
r
i
ze
d
t
r
a
ns
fer
fu
nc
ti
on.
T
his
is
achie
ve
d
by
te
mpor
a
l
l
y
di
sco
n
n
ec
t
i
ng
t
he
P
I
D
c
on
tr
o
l
ler
an
d inje
c
t
in
g
a st
e
p
s
i
g
nal
in
to
t
he
p
l
a
nt
.
In
t
hi
s
c
o
n
f
i
gura
t
io
n
,
t
h
e
s
t
e
p
in
put
i
s
g
iv
en
t
o
th
e
pl
a
n
t
in
s
t
ead
o
f
th
e
PID
o
u
t
p
u
t
wh
il
e
th
e
resul
tin
g
si
gn
al
i
s
fe
d
to
w
he
r
e
t
h
e
c
o
n
t
r
o
l
l
e
r
i
n
put
use
d
t
o
be.
Th
r
e
e
ou
tp
u
t
d
a
t
a
r
e
spo
n
ses
ar
e
gene
r
a
ted
a
s
s
how
n
i
n
F
i
g
ur
e
3.
T
he
se
a
r
e
t
h
e
o
ff
se
t
r
e
s
p
o
n
se
,
in
p
u
t
r
e
sponse
and
i
d
e
n
t
i
f
i
c
a
t
i
o
n
da
ta.
The
o
f
f
s
e
t
r
e
s
ponse
i
s
th
e co
ntroller
erro
r
o
f
t
h
e
offset d
uty
c
y
cle
v
a
lu
e
(
0
.
2
)
.
T
he
i
np
u
t
r
espo
nse
is
t
h
e
c
on
t
r
o
l
ler
er
r
o
r
of
t
he
c
omp
l
e
te
i
np
u
t
s
te
p
r
e
sponse
si
g
n
a
l
.
The
i
d
e
n
t
i
f
i
c
a
t
i
o
n
da
t
a
i
s
the
d
i
f
f
e
r
e
nce
be
t
w
e
e
n
t
he
o
ff
se
t
r
e
sponse
an
d
i
npu
t
r
e
sponse.
F
i
gur
e
3.
O
ut
p
u
t
da
ta
r
espo
ns
es
Th
e
si
mul
a
tio
n
re
su
lt
s
a
r
e
co
ll
ec
t
e
d
and
used
f
o
r
s
yst
e
m
i
d
e
n
ti
fica
t
i
o
n
t
o
ide
n
tif
y
a
tra
n
sfer
f
u
n
c
t
i
o
n
of
t
he co
n
v
er
t
e
r
. P
la
nt
i
den
t
i
f
ic
ati
o
n
t
o
o
l
bo
x
give
s
a
n
op
t
i
o
n
to
c
hoo
se
d
if
f
e
r
e
nt f
or
m
of
t
r
a
nsf
e
r
fu
nc
ti
o
n
s.
I
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
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86
94
I
n
t
J Po
w El
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ri S
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Vo
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No
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omp
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The
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tifie
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ated
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a
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ata
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us
trate
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i
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Fig
u
re
4.
F
i
gur
e
4.
I
dent
i
f
i
e
d
pla
n
t
str
u
c
t
ur
e
of
u
n
d
er
d
a
m
p
ed
p
o
l
e
pa
i
r
O
n
ce
t
h
e
t
r
a
ns
fe
r
f
unc
tio
n
h
a
s
be
e
n
o
b
t
ai
n
e
d,
P
I
D
T
une
r
au
t
o
m
a
t
i
c
a
l
l
y
c
o
m
p
u
t
e
s
P
I
D
c
o
n
t
r
o
l
l
e
r
ga
ins
to
m
ee
t
sys
t
em
r
equire
m
e
nts.
Base
d
on
the
sys
t
em
r
equ
i
re
m
e
n
t
,
i
t
i
s
p
oss
i
ble
m
a
ke
t
he
s
ys
t
e
m
step
r
e
spo
n
se
,
r
e
vel
e
d
i
n
F
igur
e
5,
s
l
o
w
e
r
or
f
a
s
t
e
r
a
s
w
ell
a
s
c
on
t
r
o
l
l
i
ng
t
h
e
pea
k
o
ve
r
s
h
oot
v
al
ue.
The
fo
l
l
ow
in
g
spec
if
ica
t
i
o
n
li
st
e
d
i
n
Ta
b
l
e
2
i
s
a
do
pte
d
:
F
i
gur
e
5.
T
une
d
ste
p
r
e
s
po
nse
Ta
b
l
e
2.
S
pecif
i
c
a
t
i
on
o
f
t
he
t
r
a
ns
ien
t
r
espo
ns
e
Pa
r
a
m
e
te
r
Va
lu
e
Ris
e
ti
m
e
20
m
s
S
e
tt
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me
35
m
s
O
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G
a
in
M
a
r
gin
In
f
.
Pha
s
e
Ma
r
g
i
n
71
°
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
D
e
sig
n
o
f
a
d
i
s
c
re
t
e
PI
D
cont
ro
ller b
a
se
d
o
n
iden
t
i
f
i
c
a
ti
o
n
da
t
a
fo
r a sim
s
cape
…
Mo
h
a
m
m
e
d Alm
a
ged
1
801
S
e
ver
a
l
simula
ti
o
n
r
uns
a
r
e
p
er
for
m
ed
t
o
vali
da
te
t
he
e
ffe
c
tive
ness
o
f
t
h
e
de
s
i
g
n
e
d
c
on
tr
ol
ler
.
F
igur
e
6(
a
)
r
eve
a
ls t
h
e
o
utp
u
t
r
e
sp
o
n
se
f
or
t
he
buc
k
bo
os
t
c
o
nver
t
e
r
a
t
a
c
o
n
s
t
a
nt
i
npu
t
vol
ta
g
e
o
f
18
V
a
nd
a
d
esi
r
e
d
r
e
fe
r
e
nc
e
vo
lta
ge
o
f
1
2
V
.
I
n
t
his
b
u
c
k
m
od
e,
a
n
ove
r
s
h
o
o
t
i
s
n
o
t
e
x
i
ste
n
t
in
t
he
c
a
p
tur
e
d
vo
lta
ge
r
e
s
ponse
,
w
h
i
l
e
t
h
e
r
i
se
t
im
e
and
se
ttl
i
n
g
t
i
me
a
r
e
a
ppr
ox
im
ate
l
y
70 m
s
a
nd
1
0
0
m
s
r
e
spec
t
i
ve
ly.
S
i
milar
l
y,
F
i
g
u
r
e
6
(
b)
r
e
vea
l
s
t
h
e
ou
t
p
u
t
r
esp
ons
e
o
f
t
he
c
o
nve
r
t
er
c
i
r
cui
t
f
or
t
he
s
a
me
c
onsta
nt
i
npu
t
v
o
lta
ge
a
nd
a
de
sir
e
d
ou
tpu
t
vo
l
t
age
of
2
4
V.
T
he
c
irc
u
it
w
ill
o
p
era
t
e
i
n
b
oo
st
m
o
d
e
a
nd
o
v
e
rsho
ot
a
l
s
o
do
es
not
a
p
p
e
ar
i
n
t
h
e
o
u
t
p
ut
r
e
spo
n
se
,
whil
e
the
r
i
se
t
i
m
e
a
nd
set
t
l
i
n
g
tim
e
are
appro
x
i
m
a
t
e
ly
45
ms
a
nd
6
5
m
s
r
e
spect
i
v
e
l
y.
F
igu
r
e
6(
c)
a
nd
F
i
g
u
r
e
6
(
d
)
sh
ow
t
he
c
on
tr
o
l
l
aw
s
ig
na
ls
o
f
b
u
c
k
a
nd
b
oos
t
mo
d
e
s
r
e
spec
t
i
ve
ly
.
Fr
om
t
he
o
b
t
ai
ne
d
tr
a
n
sie
n
t
r
e
s
p
o
n
se
d
ata,
i
t
c
a
n
b
e
s
um
m
a
r
i
ze
d
tha
t
t
he
c
on
ver
t
e
r
has
a
fas
t
er
r
espo
nse
in
b
oo
st
m
od
e
ope
r
a
ti
o
n
.
A
l
so
i
n
b
o
th
m
o
d
e
s
,
the
s
y
ste
m
s
how
s
a
sma
l
l
d
i
f
f
e
r
e
nc
e
i
n
t
ra
ns
ien
t
b
eha
v
io
r
in
t
e
r
m
of
r
i
s
e
tim
e
a
nd
se
t
tli
n
g
t
i
m
e
w
h
ile
i
t
r
e
ve
al
s
an
e
xa
c
t
p
ea
k
o
v
e
r
sh
oo
t
va
lu
e
.
H
owe
v
er,
the
simu
la
t
e
d
s
y
stem
r
e
s
p
ons
e
is
st
ill
cl
ose e
n
ou
g
h
t
o t
h
e
des
i
r
e
d
t
u
ne
d
pla
n
t re
sp
on
se
da
t
a
.
F
i
gur
e
6.
O
utp
u
t
v
o
l
t
a
ge
r
esp
ons
es
a
nd
co
n
t
r
o
l
la
w
sig
n
a
l
s
in
b
uc
k
and
b
o
o
st
m
odes
To
v
a
lida
t
e
the
ca
pa
bi
li
ty
a
n
d
rob
u
s
t
ne
ss
o
f
the
c
o
n
t
r
o
ller
,
t
h
e
r
e
sp
on
se
o
f
t
h
e
buc
k
b
o
o
s
t
c
o
n
v
er
t
e
r
is
e
xam
i
ne
d
u
nder
se
ve
r
a
l
type
s
o
f
d
i
s
t
u
r
b
anc
e
s
.
Th
is
f
ir
st
d
is
tur
b
a
n
c
e
is
a
s
ud
de
n
cha
nge
i
n
r
e
f
e
r
e
nc
e
vo
l
t
age
fr
om
1
2
t
o
2
4
V
w
h
ile
k
e
e
p
i
ng
t
h
e
i
n
p
u
t
v
o
ltage
u
ncha
n
g
e
a
b
l
e
a
t
1
8
V
.
Fi
gu
re
7
r
ev
e
a
l
s
t
h
e
o
ut
put
vo
l
t
age
r
e
sp
on
se
dur
i
ng
a
su
d
d
en
r
efe
r
enc
e
vol
tage
c
h
a
n
g
e
.
F
i
gur
e
7
.
O
u
tp
u
t
v
o
l
t
a
ge
r
esp
o
n
se
a
t
a
r
e
f
e
r
e
nce
vol
t
a
ge
s
u
d
d
e
n
cha
n
ge
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w El
ec &
D
ri S
y
s
t
Vo
l. 1
0
,
No
. 4
,
D
e
c
2
0
19
:
1
797
–
1
805
1
802
I
t
can
b
e
c
l
e
a
r
l
y
no
tic
ed
t
ha
t
t
h
e
r
e
sp
onse
ge
ner
a
t
e
d
in
t
he
f
i
r
s
t
pe
r
i
o
d
(
0-
0
.
5)
i
s
e
x
ac
tl
y
t
h
e
sam
e
a
s
the
r
e
sp
o
n
ses
gene
r
a
te
d
i
n
c
on
tin
u
o
u
s
buc
k
m
o
de
o
pe
r
a
t
i
o
n
w
h
i
l
e
a
s
t
h
e
refere
nce
v
o
l
t
age
c
h
an
ge
s,
a
s
ma
ll
di
ff
er
e
n
ce
i
n
t
h
e
r
ise
a
n
d se
tt
ing
t
i
m
e
s
ap
pea
r
s in
b
o
o
s
t
m
o
d
e
ye
t
ke
ep
i
ng
the
r
e
s
p
o
n
se
o
ver
d
a
m
pe
d.
A
lso,
th
e
r
i
pp
l
e
i
n
th
e
o
u
t
pu
t
vo
lt
a
g
e
ri
se
s
as
t
h
e
r
ef
e
r
e
n
c
e
vol
t
a
ge
i
n
c
re
ase.
A
n
o
t
h
er
t
e
s
t
is
p
er
form
ed
t
o
te
st
t
h
e
e
ffe
c
t
i
v
e
n
ess o
f
t
he co
n
tr
ol
ler
by
m
a
k
i
n
g
a
s
har
p
r
i
s
e
i
n
t
he
i
n
put
v
o
lta
ge f
r
o
m
(
18-
21
)
V
fo
l
l
ow
e
d
b
y
su
dde
n
f
a
l
l
f
r
o
m (
21-
1
5
)
V
w
h
ile
kee
pin
g
t
he
r
efe
r
e
n
c
e
vol
tage
c
o
n
s
t
an
t a
t
12 V
i
n
b
uc
k
m
o
de a
nd
2
4
V
b
o
o
st
m
ode
.
T
h
e
vol
t
a
g
e
t
ran
s
i
e
nt
b
eh
avio
r
a
t
s
t
e
p
ch
ang
e
i
n
i
npu
t
vo
lt
ag
e
f
o
r
bo
t
h
b
uck
a
nd
b
oost
m
odes
a
r
e
sh
o
w
n
i
n
F
i
g
u
r
e
8
a
n
d
F
igur
e
9
r
e
spec
ti
vel
y
.
F
i
gur
e
8.
B
uc
k
m
ode
out
p
u
t
v
o
l
t
a
g
e
r
e
spo
n
s
e
a
t
a
sudde
n
inp
u
t
v
o
l
tag
e
c
ha
nge
F
i
gur
e
9.
B
o
o
s
t
m
ode
o
u
t
pu
t
vo
l
t
age
r
e
sp
on
se
a
t
a
sudde
n
inp
u
t
vo
l
t
ag
e
cha
n
g
e
I
t
can
b
e
c
o
n
c
lude
d
t
h
a
t
t
h
e
c
on
tr
o
l
ler
h
a
s
succe
e
d
ed
t
o
ma
ke
a
r
a
p
i
d
r
e
c
o
v
e
r
y
o
f
t
h
e
o
u
t
p
u
t
r
e
spo
n
se
t
o
t
h
e
r
e
quir
e
d
r
e
fe
r
e
nc
e
sta
t
e.
H
ow
e
v
er
,
on
e
peak
h
as
o
cc
ur
r
e
d
a
t
e
a
c
h
i
n
p
u
t
vo
l
t
a
g
e
tr
ans
iti
on
a
n
d
it
s
leve
l
is
p
ro
por
ti
ona
l
t
o
t
h
e
t
o
t
a
l
c
h
a
n
g
e
in
t
he
i
n
p
u
t
v
olt
ag
e
v
a
lu
e.
F
in
a
l
l
y
,
to
t
est
t
h
e
robu
st
n
e
ss
o
f
th
e
de
sig
n
e
d
c
on
tr
ol
l
e
r
,
l
oa
d
var
y
in
g
tes
t
i
s
p
e
r
f
or
m
e
d
by
s
u
d
d
e
n
ly
c
han
g
i
n
g
t
he
r
esistanc
e
a
t
t
h
e
o
u
t
pu
t
of
t
h
e
buc
k
bo
os
t
c
o
nver
t
e
r
.
Thi
s
i
nv
o
l
ve
s
a
ste
p
i
nc
r
e
a
s
e
i
n
l
o
a
d
r
e
s
is
ta
nce
b
y
3
0
%
fr
om
t
he
n
om
ina
l
o
p
e
r
a
t
i
ng
po
i
n
t
f
o
l
l
ow
e
d
by
5
0
%
a
s
te
p
decr
ease
i
n
s
ta
tic
l
oa
d,
w
hile
k
e
ep
i
ng
bo
t
h
t
he
i
np
u
t
a
n
d
r
e
f
er
ence
v
o
lta
ges
c
o
n
s
ta
nt.
F
i
gu
r
e
10(
a)
a
nd
(
b
)
show
t
he
c
on
tr
o
lle
r
ou
t
p
u
t
v
o
l
ta
ge
r
e
s
po
nses
f
or
s
t
e
p
c
h
a
n
ges
in
l
o
a
d
r
e
si
s
t
a
n
ce
at
a
co
n
s
t
a
nt
i
n
put
v
olt
a
g
e
o
f
18
V
i
n
bot
h
bu
c
k
a
n
d
b
o
o
s
t
m
o
d
es.
I
n
bo
th
m
ode
s,
the
c
on
tr
ol
ler
ha
s
succ
ee
ded t
o
rejec
t t
h
e e
x
tern
a
l
p
erturba
tio
n
s
a
nd m
a
in
tai
n
the
o
utp
u
t
v
o
l
t
a
ge
unaf
f
ec
t
e
d.
A
l
s
o,
t
he
a
m
oun
t
of
r
i
p
p
le
v
a
r
ies
as
t
he
l
oa
d
c
u
r
r
e
nt
c
ha
nge
s.
S
imilar
l
y,
F
igur
e
10
(c)
and
Figu
re
1
0
(
d
)
r
ev
eal
th
e
lo
a
d
c
u
rren
t
s
at
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
D
e
sig
n
o
f
a
d
i
s
c
re
t
e
PI
D
cont
ro
ller b
a
se
d
o
n
iden
t
i
f
i
c
a
ti
o
n
da
t
a
fo
r a sim
s
cape
…
Mo
h
a
m
m
e
d Alm
a
ged
1
803
va
r
i
a
b
le
r
esis
ta
nce
va
l
u
e
in buc
k
a
n
d
b
o
o
s
t
m
ode
s
r
e
spe
c
t
i
v
e
l
y
wh
ile,
F
ig
ure
1
0
(
e)
a
n
d
Fig
u
r
e
10
(f)
s
h
ow
t
he
loa
d
p
ow
er
v
ar
i
a
ti
on
s
in
b
o
t
h
m
odes.
a
b
c
d
e
f
F
i
gur
e
1
0
.
O
u
tpu
t
v
ol
ta
ge
r
espo
nses,
loa
d
c
u
r
r
e
nt
a
nd
loa
d
pow
e
r
va
r
i
at
io
ns
F
r
om
t
he
o
bta
i
ned
r
e
su
l
t
s,
i
t
c
a
n
be
c
o
n
c
l
u
d
ed
t
ha
t
the
r
e
spo
n
s
e
i
s
o
ut
st
an
di
n
g
s
i
n
ce
th
e
d
e
si
gn
ed
c
o
n
t
r
o
ller
ha
s
s
u
cc
eede
d
i
n
r
e
j
e
c
t
i
n
g
a
ll
t
h
e
d
i
s
t
ur
ba
nces
e
ff
e
cti
v
e
l
y
an
d
m
a
in
ta
in
i
n
g
t
h
e ou
tpu
t
vo
lta
ge
a
t
t
h
e
se
t
r
e
fe
r
e
nc
e
st
ate.
T
h
e
o
u
t
pu
t
r
e
sp
onse
i
s
a
lm
ost
t
h
e
sa
me
a
s
the
r
e
spon
s
e
i
n
n
o
m
i
na
l
c
o
n
d
i
t
i
o
n
s
w
ith
s
om
e
m
i
nor
d
if
f
e
r
e
n
ces
i
n
t
h
e
r
i
se
time
,
s
e
t
ti
ng
t
i
m
e
a
nd
r
i
pp
le
v
al
ue.
4.
CONCLUSION
I
n
t
his
pa
pe
r
,
a
n
ew
a
p
p
r
o
a
c
h
f
or
d
es
i
g
n
i
ng
a
n
d
tu
n
i
n
g
di
g
i
t
a
l
PID
con
t
ro
l
l
ers
is
p
r
e
sente
d
f
or
r
e
gu
lat
i
ng
D
C
-
D
C
buc
k
b
o
o
st
c
o
nve
r
t
er
s.
T
he
d
e
s
ig
n
pr
oced
ur
e
w
a
s
ac
co
mp
li
sh
ed
w
i
t
h
o
u
t
any
ne
e
d
f
o
r
m
a
them
at
ica
l
d
eri
v
a
t
i
on
a
s
i
t
relie
s
on
a
M
a
t
l
a
b
S
im
scape
m
ode
l
i
ns
tead.
U
n
der
n
o
m
i
na
l
c
o
n
d
i
t
i
on,
t
he
c
o
n
t
r
o
ller
w
a
s
able
t
o
pr
oduc
e
fa
st
t
r
a
ns
i
e
n
t
r
espon
se
a
n
d
s
e
t
t
h
e
ou
tp
u
t
v
o
lta
ge
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loa
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
10,
N
o.
4
, Dec
201
9 :
1
7
9
7
– 1
805
1
804
vary
in
g
tes
t
w
as
p
e
rform
ed
b
y
c
o
n
n
ec
t
i
n
g
a
r
esisti
ve
l
oad
in
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e
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a
n
d
p
a
r
alle
l
w
i
th
t
h
e
o
utp
u
t
l
o
a
d
.
U
nder
loa
d
v
aria
ti
o
n
s,
t
he
c
o
n
t
r
o
lle
r
pr
od
uce
d
s
upe
rior
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ise
t
i
m
e
a
n
d
s
e
t
t
lin
g
t
i
m
e
b
u
t
t
he
r
ip
ple
w
a
s
hi
gher
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n
s
om
e
ca
se
s
a
n
d
l
o
w
e
r
i
n
o
t
h
er
s.
I
n
ove
ra
ll,
t
he
c
o
n
tr
olle
r
yie
l
de
d
r
obu
st
r
es
pon
se
i
n
n
o
m
i
n
al
o
p
e
rat
i
ng
c
ond
iti
o
n
s
as w
ell as
duri
n
g
par
a
m
e
ter
fl
uct
u
a
t
i
o
ns
a
n
d
e
xter
na
l
per
t
ur
ba
t
io
ns.
REFE
RENCES
[1]
S.
K
a
itwanidv
ilai,
P
.
O
l
rant
h
i
c
h
a
c
ha
t,
a
n
d
M
.
Pa
rn
ic
hk
un
,
"
F
i
xed
s
t
ruct
ure
robu
st
l
oop
s
hapin
g
c
o
n
t
r
oller
f
o
r
a
bu
c
k
-b
oo
st
c
on
ve
rte
r
u
sin
g
g
e
n
e
t
ic
a
lg
orith
m
,"
i
n
Pr
oceed
in
gs of
t
h
e in
ter
natio
na
l M
u
l
ti conf
eren
ce
o
f
eng
i
neer
s
an
d c
o
mp
ute
r
sc
ie
nt
is
ts
,
20
08.
[
2
]
M
.
H
.
T
o
d
o
r
o
v
i
c
,
L
.
P
a
l
m
a
,
a
n
d
P
.
E
n
j
e
t
i
,
"
D
e
s
i
g
n
o
f
a
w
i
d
e
i
npu
t
rang
e
DC-D
C
c
o
nv
erter
wi
th
a
r
ob
us
t
po
wer
co
nt
rol
schem
e
s
uitabl
e
f
o
r
f
u
e
l
cell
po
wer
con
v
ers
i
on
,"
i
n
Nin
e
t
eent
h
A
nnual
I
E
EE App
lied Power
El
ec
t
r
on
i
c
s
Co
nf
erence
and
Exp
o
s
i
tio
n, 2
0
0
4
. APEC'04
.
, 20
0
4
, pp
. 3
74
-3
79
.
[3
]
V.
V
iswa
n
a
th
a
,
"
M
i
c
r
o
c
on
tr
olle
r
ba
se
d
bid
i
re
c
t
io
n
a
l
bu
c
k
–
b
o
os
t
con
v
erter
f
o
r
ph
ot
o-vo
lt
aic
po
we
r
p
l
an
t,
"
J
o
ur
na
l
o
f
Electri
ca
l
Systems
an
d
In
fo
rmat
i
o
n
T
echn
o
l
ogy
, 20
1
7
.
[4]
M
.
K
aou
a
ne,
A.
B
o
u
k
h
el
if
a,
a
n
d
A
.
Ch
eriti,
"
R
eg
ul
ated
o
u
t
pu
t
vo
ltag
e
d
oub
le
s
w
i
tch
Bu
c
k
-Boo
st
c
on
verter
f
or
ph
otov
ol
ta
ic
e
n
e
rgy
a
p
p
l
ic
a
t
io
n,"
In
te
rna
t
io
na
l J
o
urna
l o
f
Hy
drog
e
n
En
e
r
g
y
,
vol. 4
1,
p
p
.
2
0
8
4
7
-208
57,
2
0
1
6
.
[5]
E.
W
.
Zur
i
t
a
-B
ust
a
m
a
n
t
e,
J
.
L
i
n
a
res
-
Fl
ores
,
E.
G
uzm
á
n-Ram
í
r
e
z
,
and
H.
S
ira-Ram
í
rez,
"
A
co
m
p
ari
s
o
n
b
etw
e
en
t
h
e
GP
I
and
P
I
D
con
t
rol
l
ers
f
o
r
the
stab
ilizat
ion
o
f
a
D
C–
DC
“
b
uck
”
c
on
vert
er:
A
fi
eld
p
r
og
ramm
ab
le
g
ate
array
imp
l
e
m
e
n
t
a
ti
on
,
"
IE
EE
Tran
sa
cti
o
n
s
o
n
In
du
s
t
ria
l
Electro
nics
,
vol
.
5
8
,
p
p
.
5
2
5
1
-
526
2,
2
0
11.
[6]
C.
Elm
as
,
O
.
D
eperl
i
o
g
l
u
,
and
H.
H
.
Say
a
n,
"
Ad
apt
i
ve
f
u
zzy
logi
c
cont
roller
f
o
r
DC–DC
converters
,"
Ex
p
e
rt
S
y
st
ems
wit
h
A
p
p
licati
ons
,
vol.
36,
p
p
.
1
5
4
0
-
15
4
8
,
20
09
.
[7]
S
.
E
shteh
a
rdi
h
a,
A
.
Ki
yo
u
m
arsi,
and
M
.
A
taei
,
"O
pti
m
izi
n
g
L
QR
a
n
d
p
o
l
e
place
m
e
nt
t
o
con
t
ro
l
buck
co
nv
erter
b
y
g
e
net
i
c al
go
rithm
,
" in
20
07 Int
e
rn
ation
a
l Conference o
n
Co
nt
rol, A
u
t
o
mati
on an
d
Syst
ems
,
2
0
07,
p
p.
2
19
5-2
200
.
[8]
R.
C
aceres
,
R.
R
oj
as,
and
O.
C
am
acho,
"
Robu
st
P
ID
c
on
tro
l
o
f
a
bu
c
k
-b
oo
st
D
C-AC
c
on
ve
rte
r
,
"
i
n
INTE
LEC.
T
w
en
ty-S
e
c
o
n
d
Int
e
rn
ation
a
l
T
e
leco
mm
uni
cat
i
o
n
s
Ener
gy
Co
nf
eren
ce
(
C
at.
No.
0
0
CH
37
13
1),
2
000,
pp.
1
8
0
-1
85.
[9]
K.
A
.
T
e
hrani
,
A
.
Amirahmadi
,
S
.
R
a
f
ie
i
,
G
.
G
r
iv
a
,
L
.
B
a
r
r
a
nd
o
n
,
M.
H
a
m
zaou
i
,
et
a
l.,
"Desi
g
n
of
f
racti
o
n
a
l
o
r
de
r
P
I
D
con
t
roller
fo
r
bo
os
t
co
nverter
b
as
ed
o
n
m
u
l
t
i
-
objecti
v
e
o
p
t
i
m
ization,"
in
Proceed
in
gs o
f
1
4
th In
ter
natio
nal
P
o
wer
El
ectr
onics a
n
d
M
o
ti
on Con
t
r
o
l
Con
f
eren
ce EPE-PEM
C 201
0
,
201
0,
p
p
. T3-17
9-T
3
-18
5
.
[
1
0
]
J
.
M
a
h
d
a
v
i
,
A
.
E
m
a
d
i
,
a
n
d
H
.
T
o
l
i
y
a
t
,
"
A
p
p
l
i
c
a
t
i
o
n
o
f
s
t
a
t
e
space
av
erag
in
g
m
e
th
od
t
o
slidin
g
m
o
de
c
o
n
t
r
ol
o
f
PW
M
D
C
/
D
C
c
o
n
v
ert
e
rs
,
"
i
n
IAS
'
9
7
.
Confer
en
ce Recor
d
of
t
h
e 19
97 I
EEE
In
d
u
st
ry Ap
plicatio
ns
Co
nf
e
r
enc
e
Thirty
-Se
c
on
d
IAS Ann
u
a
l
Me
e
t
i
n
g
,
1
99
7,
p
p.
820-8
27.
[11
]
S
.
I.
K
h
a
ther,
M
.
A
lm
aged
,
and
A.
I
.
A
b
d
u
llah,
"
F
r
act
ion
a
l
o
rder
b
ased
o
n
ge
n
e
ti
c
alg
o
rit
h
m
PID
con
t
roll
er
f
or
cont
rolling
the
speed
o
f
DC
m
otors,"
Internation
a
l Jour
na
l
of
E
n
g
i
neer
in
g &
T
echn
o
l
o
g
y
,
vo
l.
7
,
p
p
.
53
86
-53
9
2
,
20
18
.
[1
2]
L
.
Gu
o
,
J
.
Y.
H
u
n
g
,
a
n
d
R.
N
e
l
ms
,
"
C
o
m
pa
ra
tive
e
va
lua
t
io
n
o
f
s
l
i
ding
m
od
e
fuzzy
c
o
n
tro
l
l
e
r
and
P
I
D
cont
rol
l
er
f
o
r
a
b
o
o
s
t
converter,
"
E
l
ectric Power
Sys
t
em
s R
e
sear
ch
,
vol.
8
1
,
pp
.
9
9-10
6,
2
0
1
1
.
[1
3]
A
.
Pro
d
ic
a
n
d
D
.
Ma
ks
i
m
ov
ic
,
"Design
o
f
a
d
igital
PID
regu
lat
o
r
based
o
n
l
ook-u
p
t
ab
les
f
o
r
con
t
ro
l
of
h
ig
h
-
f
r
eq
uen
c
y
DC-DC
con
v
erters
,"
i
n
20
02 IEEE
Wo
rks
hop
o
n
Compu
t
ers
i
n
Po
wer
El
ec
t
r
o
n
i
c
s
,
20
0
2
. Pro
ceedi
ngs
,
20
02
,
p
p
. 1
8-2
2
.
[1
4]
A
.
Ke
lly
a
n
d
K
.
Rinn
e
,
"
Con
t
ro
l
o
f
D
C-DC
c
on
ve
rte
r
s
b
y
d
ir
ect
p
ol
e
pl
acem
e
n
t
and
ad
ap
tiv
e
f
e
edf
o
rward
gai
n
adjustme
nt
,
"
i
n
Twentieth
An
nu
a
l
IE
EE
A
p
p
l
ied Po
we
r
El
ectroni
cs
Confer
ence an
d Exp
o
s
i
tion,
2
005
. APEC
20
05
,
200
5,
p
p
. 1
970
-19
7
5
.
[15
]
M
.
Nam
n
abat,
M.
B
.
P
ood
eh,
an
d
S
.
E
sht
e
h
a
rd
ih
a
,
"
Co
mp
aris
o
n
t
h
e
co
ntrol
m
e
t
hods
i
n
i
m
p
r
ov
e
m
e
n
t
t
h
e
p
e
r
f
or
m
a
nce
of
t
he D
C
-
DC
co
n
v
e
r
t
er
,
"
i
n
20
07
7t
h In
ter
nat
on
al
Con
f
er
ence o
n
P
o
wer
Elect
ro
n
i
cs
,
20
07
, p
p
.
2
46
-
25
1.
[1
6]
A
.
C
a
va
l
l
o
,
G
.
Ca
n
c
ie
llo
,
a
n
d
B.
G
uida
,
"
S
up
e
r
vise
d
c
o
n
t
ro
l
o
f
b
uck
-
boo
st
c
onv
erters
f
o
r
aeron
auti
cal
ap
pl
icat
ions,"
Aut
o
ma
ti
ca
, v
o
l
.
8
3
, p
p.
73
-
8
0
,
20
17
.
[1
7]
A
.
J.
K
oshk
o
u
e
i
,
K
.
J
.
Bu
rn
ha
m
,
a
nd
A
.
S
.
Z
in
o
b
e
r
,
"
D
yn
a
m
i
c
sl
id
in
g
mo
de
c
o
n
trol
d
e
s
ig
n
,
"
IEE Pr
oceedi
n
g
s
-
Co
nt
rol
T
h
eory an
d A
pplicati
ons
, vo
l
.
15
2,
p
p.
39
2
-3
96
, 20
0
5
.
[18
]
L
.
G
uo,
J
.
Y.
H
un
g,
a
nd
R
.
M
.
N
e
l
m
s
,
"Ev
a
lu
atio
n
o
f
D
S
P
-b
a
sed
P
I
D
an
d
f
u
zzy
c
o
n
t
r
oll
e
rs
f
or
D
C–DC
co
nv
erters,
"
IE
EE
transaction
s
o
n
industri
a
l
e
l
ect
ronics
,
v
o
l
.
5
6
,
pp.
223
7-2
2
4
8
,
200
9.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
D
e
sig
n
o
f
a
d
i
s
c
re
t
e
PI
D
cont
ro
ller b
a
se
d
o
n
iden
t
i
f
i
c
a
ti
o
n
da
t
a
fo
r a sim
s
cape
…
Mo
h
a
m
m
e
d Alm
a
ged
1
805
BIOGRAPHI
E
S
OF
AUT
HORS
M
oham
m
ed
N
u
s
s
r
at
Y
o
unu
s
A
l
m
a
ged
rec
e
iv
ed
a
B
S
c
d
egr
ee
i
n
M
ec
h
a
t
ro
ni
cs
E
ng
in
eering
f
r
o
m
M
o
su
l Univers
i
ty in 20
11
.
After
t
h
e
g
r
adu
a
tio
n,
h
e start
e
d his
career
w
ork
i
ng
i
n
a po
wer
p
l
ant
as
a
f
i
e
l
d
eng
i
n
eer.
In
2
01
5,
h
e
ac
h
i
ev
ed
h
i
s
M
S
c
i
n
M
echat
ron
i
c
s
En
g
i
neeri
ng
f
r
om
N
ew
c
a
s
t
l
e
Un
iversit
y
.
Th
en,
he
s
tart
ed
h
is
a
c
a
dem
i
c
jo
urn
e
y
work
in
g
as
a
n
a
s
s
i
s
t
a
n
t
l
e
c
t
u
r
e
r
a
t
N
i
n
e
v
a
h
Un
iversit
y
.
H
i
s
cu
rrent
r
esearch
i
nteres
ts
i
n
c
lu
d
e
a
d
v
an
c
e
d
co
n
t
r
ol
s
t
r
ateg
i
e
s
an
d
op
ti
mizati
o
n
tech
niq
u
es
.
S
a
lam
Ibrahim
Khat
her
receiv
e
d
a
BS
c
deg
r
e
e
i
n
El
ectri
ca
l
Engin
eerin
g
f
r
o
m
M
os
ul
U
n
i
v
e
rsi
t
y
in
2
00
5.
I
n
20
08
,
h
e
a
ch
iev
e
d
his
M
S
c
in
E
lect
rical
E
n
g
i
n
eering
f
ro
m
Mosu
l
Univers
i
ty.
He
st
arted
his
career
w
ork
i
n
g
a
s
an
E
lectri
cal
E
ng
i
n
eer
i
n
t
h
e
P
o
w
er
P
lant
a
n
d
S
ubstati
ons
(
20
09
-
20
17).
T
h
en
,
he
s
tart
ed
h
i
s
a
c
a
dem
i
c
jo
urn
e
y
wo
rkin
g
as
a
n
ass
i
s
t
ant
lect
urer
a
t
Nin
e
vah
Un
iversit
y
.
H
i
s
m
a
jo
r
research
a
reas
a
r
e
P
o
w
er
a
nd
M
achi
n
es
,
Co
ntro
l
Sy
ste
m
s
a
n
d
Po
we
r
El
ec
t
r
onics
Ap
p
licati
ons.
Ab
dullah
Ibrahim
Abd
u
llah
Recei
ved
a
BS
c
deg
r
ee
in
E
lect
rical
a
n
d
E
l
ectronic
E
ngineeri
ng
f
r
o
m
A
l
-Rash
eed
E
n
g
in
eerin
g
and
S
c
ien
ce
Co
ll
ege
in
1
985
.
Af
ter
t
he
g
ra
d
u
a
tion
,
h
e
sta
r
te
d
his
care
e
r
w
o
rki
n
g
as
l
ect
urer
i
n
A
l
-Rash
eed
C
ol
le
g
e
.
In
1
9
9
5
,
h
e
a
chi
e
ved
h
i
s
M
S
c
in
C
o
n
t
r
o
l
En
gin
eerin
g
f
r
om
B
aghd
ad
U
ni
vers
ity.
T
h
en,
h
e
s
tart
ed
h
is
a
c
a
d
e
m
i
c
j
o
u
r
ney
work
in
g
as
a
lect
urer at Ni
nev
a
h
Un
iv
ersi
ty
.
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