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1534
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Desig
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ases
[
1
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T
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latest
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w
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d
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in
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[
3
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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Desig
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1535
Fig
u
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1
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T
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p
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ap
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co
n
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I
n
[
4
]
,
a
d
y
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a
m
ical
s
lid
in
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m
o
d
e
p
o
w
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l sc
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m
e
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o
r
DFI
G.
I
n
[
5
]
,
th
e
SM
C
m
et
h
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d
is
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m
p
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y
ed
to
co
n
tr
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l th
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to
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s
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ased
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th
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ted
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ter
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s
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el
y
m
iti
g
ated
in
[
6
]
.
On
e
m
aj
o
r
b
u
g
o
f
u
s
i
n
g
SM
C
in
p
r
ac
tical
ap
p
licatio
n
s
i
s
th
e
c
h
atter
in
g
.
C
h
atter
i
n
g
ca
u
s
es
s
e
v
er
al
d
am
a
g
e
s
to
t
h
e
m
ec
h
an
ical
co
m
p
o
n
en
ts
.
D
if
f
er
e
n
t
m
et
h
o
d
s
w
er
e
p
r
o
p
o
s
ed
to
m
i
n
i
m
ize
ch
atter
in
g
s
u
c
h
as
b
y
r
ep
lacin
g
t
h
e
s
ig
n
f
u
n
c
tio
n
w
it
h
s
at
u
r
atio
n
[
7
]
o
r
u
s
i
n
g
Qu
asi
-
SMC
a
n
d
f
u
zz
y
m
at
h
e
m
atic
s
[
8
]
.
I
n
[
9
]
a
o
p
tim
ized
s
lid
i
n
g
m
o
d
e
co
n
t
r
o
l
(
SMC
)
s
tr
ateg
y
to
m
ax
i
m
ize
e
x
is
te
n
ce
r
eg
io
n
f
o
r
s
i
n
g
le
-
p
h
ase
d
y
n
a
m
ic
v
o
ltag
e
r
esto
r
er
s
.
I
t
is
s
h
o
w
n
an
al
y
ticall
y
t
h
at
t
h
er
e
ex
is
t
s
an
o
p
ti
m
u
m
s
l
id
in
g
co
ef
f
icien
t
w
h
ich
en
lar
g
es
t
h
e
ex
is
te
n
ce
r
eg
io
n
o
f
t
h
e
s
lid
i
n
g
m
o
d
e
to
its
m
ax
i
m
u
m
.
A
l
s
o
,
it
is
p
o
in
ted
o
u
t
th
at
t
h
e
o
p
ti
m
u
m
s
lid
i
n
g
co
ef
f
icie
n
t
i
m
p
r
o
v
e
s
t
h
e
d
y
n
a
m
ic
r
esp
o
n
s
e.
I
n
[
1
0
]
th
e
a
u
th
o
r
p
r
o
p
o
s
es
a
S
MC
co
n
t
r
o
l
s
tr
ateg
y
w
h
ic
h
co
m
b
i
n
es
a
s
w
i
tch
ed
p
o
lic
y
w
ith
a
ti
m
e
-
b
ased
ad
ap
tatio
n
o
f
th
e
co
n
tr
o
l
g
ain
,
th
er
eb
y
allo
w
i
n
g
to
ef
f
ec
ti
v
el
y
d
ea
l
w
it
h
a
v
er
y
co
n
s
er
v
ati
v
e
p
r
io
r
k
n
o
w
led
g
e
o
f
t
h
e
u
p
p
er
b
o
u
n
d
s
o
n
t
h
e
u
n
ce
r
tai
n
ties
,
t
h
at
u
s
u
a
ll
y
lead
s
to
a
lar
g
e
co
n
tr
o
l
au
t
h
o
r
it
y
,
an
d
r
elate
d
p
er
f
o
r
m
an
ce
d
e
g
r
ad
atio
n
.
I
n
[
1
1
]
th
is
p
ap
er
p
r
o
p
o
s
es
t
w
o
m
o
d
el
-
f
r
ee
s
lid
in
g
m
o
d
e
co
n
tr
o
l
s
y
s
te
m
s
tr
u
c
tu
r
es.
T
h
e
n
e
w
s
tr
u
ct
u
r
es
ar
e
co
m
p
ar
ed
w
it
h
a
m
o
d
el
-
f
r
ee
in
telli
g
en
t
p
r
o
p
o
r
tio
n
al
-
i
n
teg
r
al
(
P
I
)
co
n
tr
o
l
s
y
s
te
m
s
tr
u
ct
u
r
e.
T
h
e
d
esig
n
a
n
d
i
m
p
le
m
e
n
tatio
n
o
f
ad
a
p
tiv
e
Seco
n
d
Or
d
er
Sli
d
in
g
Mo
d
e
C
o
n
tr
o
l f
o
r
a
f
o
u
r
w
h
ee
l
s
S
k
id
-
S
teer
ed
Mo
b
ile
R
o
b
o
t [
1
2
]
.
T
h
e
co
m
b
in
a
tio
n
o
f
a
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
alg
o
r
ith
m
an
d
f
u
zz
y
lo
g
ic
d
ev
elo
p
in
g
f
o
r
r
o
b
o
t
m
an
ip
u
lato
r
’
s
tr
aj
ec
to
r
y
[
1
3
]
.
T
h
is
p
ap
er
aim
s
to
p
r
o
p
o
s
e
a
SM
C
co
n
tr
o
l
s
c
h
e
m
e
b
ased
o
n
a
n
o
v
e
l
ex
p
o
n
en
t
ial
r
ea
ch
i
n
g
la
w
(
E
R
L
)
,
th
e
o
b
j
ec
tiv
e
o
f
th
i
s
p
ap
er
is
th
e
co
n
tr
o
l
o
f
ac
ti
v
e
a
n
d
r
ea
ctiv
e
p
o
w
er
s
i
n
th
e
v
ar
iab
le
s
p
ee
d
w
i
n
d
t
u
r
b
in
e.
T
h
e
n
o
n
li
n
ea
r
s
lid
i
n
g
m
o
d
e
c
o
n
tr
o
l
w
it
h
a
n
e
x
p
o
n
e
n
tial
r
ea
ch
in
g
la
w
is
u
s
ed
to
ac
h
iev
e
o
u
r
o
b
j
ec
tiv
e.
I
n
[
4
]
w
e
h
as
u
s
ed
t
h
e
co
n
v
en
t
i
o
n
al
s
lid
i
n
g
-
m
o
d
e
co
n
tr
o
l
to
co
n
tr
o
l
th
e
p
o
w
er
p
r
o
d
u
ce
d
b
y
a
w
in
d
t
u
r
b
in
e,
b
u
t
i
n
th
i
s
p
ap
er
,
w
e
w
ill
u
s
e
th
e
s
a
m
e
m
et
h
o
d
b
u
t
b
y
e
m
p
lo
y
in
g
a
n
e
x
p
o
n
en
t
ial
r
ea
ch
in
g
la
w
(
E
R
L
)
p
r
o
p
o
s
ed
b
y
Fallah
a
et
al.
to
ca
lc
u
late
t
h
e
co
n
tr
o
l la
w
[
1
4
]
.
T
h
e
ad
v
an
tag
e
o
f
t
h
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
is
t
h
at
allo
w
s
to
o
b
tain
a
g
o
o
d
r
ef
er
en
ce
tr
ac
k
i
n
g
an
d
t
h
e
s
u
p
p
r
ess
io
n
o
f
ch
atter
p
h
e
n
o
m
en
o
n
.
T
h
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
.
Fir
s
tl
y
,
I
n
S
ec
tio
n
2
,
th
e
SMC
co
n
v
e
n
tio
n
al
an
d
SMC
w
it
h
E
R
L
m
e
th
o
d
s
w
er
e
b
e
in
tr
o
d
u
ce
d
.
I
n
Sec
tio
n
3
,
t
h
e
E
R
L
b
ased
SMC
w
i
ll
b
e
u
tili
ze
d
in
th
e
co
n
tr
o
l
o
f
D
FIG
f
o
r
w
i
n
d
t
u
r
b
in
e
g
e
n
er
at
o
r
.
I
n
Sectio
n
4
,
s
i
m
u
la
tio
n
w
ill
b
e
co
n
d
u
cted
a
n
d
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
w
il
l b
e
test
ed
w
it
h
t
h
e
s
i
m
u
lat
io
n
r
es
u
lts
.
I
n
Sectio
n
6
,
th
e
co
n
clu
s
io
n
o
f
th
e
en
t
ir
e
p
ap
er
w
i
ll b
e
p
r
o
v
id
ed
.
2.
T
H
E
CO
N
T
RO
L
S
CH
E
M
E
I
n
th
is
s
ec
tio
n
,
f
ir
s
t
w
e
r
ep
r
e
s
en
t
t
h
e
th
eo
r
etica
l
s
tr
u
ctu
r
e
o
f
th
e
s
i
m
p
le
s
lid
i
n
g
m
o
d
e
a
n
d
also
th
e
ex
p
o
n
en
t
ial
s
lid
i
n
g
m
o
d
e
co
n
t
r
o
l f
o
r
th
e
g
en
er
al
d
y
n
a
m
ic
s
o
f
r
ig
id
s
y
s
te
m
s
.
2
.
1
.
Sli
di
ng
M
o
de
Co
ntr
o
l (
S
M
C
)
T
h
e
SMC
w
as
w
id
el
y
u
s
ed
in
th
e
li
ter
atu
r
e.
T
h
is
s
u
cc
e
s
s
i
s
d
u
e
to
its
s
i
m
p
licit
y
o
f
i
m
p
le
m
en
tatio
n
an
d
to
it
s
r
o
b
u
s
t
n
es
s
to
w
ar
d
s
t
h
e
p
ar
a
m
eter
v
ar
iatio
n
s
a
n
d
t
h
e
ex
ter
n
al
d
is
t
u
r
b
an
ce
s
.
I
t
i
s
t
o
b
e
s
w
itc
h
ed
w
it
h
th
e
d
is
co
n
ti
n
u
o
u
s
f
u
n
c
tio
n
s
o
f
th
e
d
y
n
a
m
ic
s
y
s
te
m
t
h
e
s
tr
u
c
tu
r
e
s
o
th
at
t
h
e
s
tate
v
ec
to
r
to
f
o
llo
w
a
tr
aj
ec
to
r
y
0
)
(
X
S
in
th
e
s
tate
s
p
ac
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1534
–
1
5
4
4
1536
2
.
1
.
1
.
Cho
ice
o
f
s
w
it
ching
s
urf
a
ce
T
h
e
s
u
r
f
ac
e
o
f
s
l
id
in
g
i
s
a
s
c
alar
f
u
n
c
tio
n
s
u
ch
as
th
e
er
r
o
r
o
n
t
h
e
v
ar
iab
le
to
ad
j
u
s
t
g
li
d
e
to
th
i
s
s
u
r
f
ac
e
an
d
ai
m
s
to
w
ar
d
s
th
e
o
r
ig
in
o
f
th
e
p
lan
o
f
p
h
ase.
So
,
th
e
s
u
r
f
ac
e
r
ep
r
esen
ts
t
h
e
w
is
h
ed
d
y
n
a
m
ic
b
eh
av
io
r
.
W
e
f
in
d
in
th
e
li
ter
atu
r
e
o
f
v
ar
io
u
s
f
o
r
m
s
o
f
th
e
s
u
r
f
ac
e,
a
m
o
n
g
w
h
ic
h
ea
ch
g
i
v
es
b
etter
p
er
f
o
r
m
a
n
ce
s
f
o
r
ce
r
tain
u
s
es
.
J
.
Slo
tin
e
p
r
o
p
o
s
es
a
s
h
ap
e
o
f
g
e
n
er
al
eq
u
atio
n
to
d
eter
m
in
e
t
h
e
s
u
r
f
ac
e
o
f
s
lid
in
g
w
h
ich
i
n
s
u
r
es t
h
e
co
n
v
er
g
en
ce
o
f
a
v
ar
iab
le
to
w
ar
d
s
its
w
is
h
ed
v
al
u
e,
[
5
]
:
)
(
)
(
)
(
1
X
e
t
X
S
r
x
(
1
)
w
h
er
e:
r
is
th
e
r
elativ
e
d
e
g
r
ee
o
f
th
e
s
lid
in
g
s
u
r
f
ac
e.
)
(
x
e
is
th
e
er
r
eu
r
x
is
a
co
n
s
tan
t.Co
n
ce
r
n
i
n
g
t
h
e
d
ev
elo
p
m
en
t o
f
th
e
co
n
tr
o
l la
w
.
T
h
e
p
ar
am
eter
s
o
f
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e
w
ill
b
e
ch
o
s
e
n
s
o
th
at
th
e
er
r
o
r
tr
a
j
ec
to
r
ies
w
il
l
s
tar
t
f
r
o
m
th
e
in
itial
p
o
in
t
to
t
h
e
s
lid
in
g
s
u
r
f
ac
e
an
d
co
n
tin
u
e
to
s
lid
e
n
ea
r
th
e
s
lid
in
g
s
u
r
f
ac
e.
T
h
e
f
ir
s
t
s
tag
e
i
s
ca
lled
th
e
r
ea
ch
in
g
s
ta
g
e
a
n
d
th
e
s
ec
o
n
d
s
tag
e
i
s
ca
lled
t
h
e
s
lid
i
n
g
s
ta
g
e.
I
n
t
h
e
s
lid
i
n
g
s
ta
g
e,
t
h
e
er
r
o
r
tr
a
j
ec
to
r
ies
w
ill
fo
llo
w
th
e
f
o
llo
w
in
g
L
y
ap
u
n
o
v
co
n
d
itio
n
,
)
(
2
1
)
(
2
X
S
X
V
(
2
)
I
ts
d
er
iv
ativ
e
g
i
v
en
b
y
:
X
S
X
S
X
V
(
3
)
2
.
1
.
2
.
Co
nv
er
g
ence
co
nd
it
io
n
On
e
m
u
s
t
d
ec
r
ea
s
e
o
f
t
h
e
L
y
a
p
u
n
o
v
f
u
n
c
tio
n
to
ze
r
o
.
Fo
r
th
is
p
u
r
p
o
s
e,
it
is
s
u
f
f
icie
n
t
to
a
s
s
u
r
e
th
at
is
d
er
iv
ati
v
e
n
e
g
ati
v
e.
So
:
)
(
)
(
)
(
X
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X
S
X
S
f
o
r
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(
4
)
w
h
er
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is
a
s
tr
ictl
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o
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itiv
e
c
o
n
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ta
n
t.
Satis
f
y
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ab
o
v
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n
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p
s
th
e
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y
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te
m
tr
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ies
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em
ai
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i
n
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o
n
th
e
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l
id
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g
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r
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e.
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e
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ee
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to
n
o
te
th
at
t
h
e
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v
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e
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atio
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is
d
if
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er
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t
f
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m
t
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e
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e
q
u
atio
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(
1
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.
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h
e
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in
e
q
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(
4
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s
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s
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o
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ea
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la
w
w
h
ile
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at
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n
(
1
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r
ep
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h
e
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r
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ac
e
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p
p
ar
en
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y
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it c
a
n
b
e
s
ee
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f
r
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m
e
q
u
a
tio
n
(
4
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th
a
t
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an
d
its
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er
iv
ati
v
e
S
h
av
e
d
if
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er
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t
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g
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s
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p
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o
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itiv
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th
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it
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iv
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ati
v
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ak
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r
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ea
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b
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l
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it
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o
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in
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n
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ai
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s
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o
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h
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ch
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w
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ar
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g
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ed
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th
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g
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u
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h
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ir
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o
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e
co
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ce
r
n
th
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attr
ac
tiv
it
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tate
tr
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y
to
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id
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o
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tativ
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n
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h
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latter
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s
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er
y
i
m
p
o
r
tan
t i
n
ter
m
s
o
f
ap
p
licatio
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o
f
n
o
n
-
li
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co
n
tr
o
l
tech
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iq
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es,
b
ec
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s
e
it
eli
m
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n
ates
t
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ter
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r
b
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Am
o
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g
t
h
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liter
atu
r
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o
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e
ca
n
c
h
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s
e
f
o
r
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co
n
tr
o
ller
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e
f
o
llo
w
i
n
g
e
x
p
r
ess
io
n
:
n
eq
u
u
u
(
5
)
w
h
er
e:
eq
u
th
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co
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tr
o
l
f
u
n
ctio
n
i
s
d
ef
i
n
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y
Ut
k
i
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ted
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o
l,
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tr
aj
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to
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r
esp
o
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s
e
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m
ai
n
s
o
n
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e
[
1
5
]
.
n
u
is
t
h
e
d
is
cr
ete
co
n
tr
o
l
w
h
ic
h
i
s
d
eter
m
in
ed
to
v
er
if
y
t
h
e
co
n
v
er
g
e
n
ce
co
n
d
itio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
Desig
n
a
n
d
A
n
a
lysi
s
o
f A
d
a
p
ti
ve
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lid
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l R
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La
w
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.
(
K
h
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elg
a
ce
m)
1537
X
S
s
i
g
n
K
u
n
(
6
)
T
w
o
m
aj
o
r
p
r
o
b
lem
s
ex
i
s
t
with
i
n
th
e
s
tu
d
y
o
f
SMC
t
h
eo
r
y
:
th
e
ch
a
tter
in
g
p
h
e
n
o
m
e
n
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n
an
d
th
e
ap
p
r
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h
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g
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p
ee
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h
ich
l
ar
g
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y
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m
p
ac
t
th
e
ap
p
licatio
n
o
f
SMC
.
T
h
e
ap
p
e
ar
an
ce
o
f
th
e
ch
atter
in
g
p
h
en
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m
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n
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ea
r
t
h
e
s
lid
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n
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m
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if
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ld
is
i
n
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v
itab
le
as
lo
n
g
as
th
e
h
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g
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s
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itch
i
n
g
la
w
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s
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t
ilized
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h
u
s
,
th
e
ap
p
ea
r
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ce
o
f
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atter
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estrict
s
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ts
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o
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p
licatio
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d
u
e
to
t
h
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f
ac
t
it
m
a
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cite
s
o
m
e
u
n
d
esira
b
l
e
h
ig
h
f
r
eq
u
e
n
c
y
d
y
n
a
m
ic
s
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f
u
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t
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s
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d
a
m
ag
e
s
to
th
e
s
y
s
te
m
.
L
iter
at
u
r
e
[
1
6
]
p
r
o
p
o
s
es
a
k
in
d
o
f
E
R
L
b
ased
SMC
tech
n
iq
u
e
w
h
ich
c
an
r
ed
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ce
th
e
c
h
atter
i
n
g
p
h
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o
m
e
n
o
n
to
a
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r
tain
ex
ten
t.
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n
o
r
d
er
to
f
u
r
th
er
ac
c
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ate
th
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r
ea
ch
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n
g
s
p
ee
d
f
r
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m
t
h
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in
itial
p
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i
n
t
to
th
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s
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id
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an
i
f
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ld
,
a
n
o
v
e
l
SMC
m
et
h
o
d
b
ased
o
n
E
R
L
will b
e
p
r
o
p
o
s
ed
in
th
is
s
ec
tio
n
.
2
.
2
.
Sli
di
ng
M
o
de
Co
ntr
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l
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h
E
x
po
nentia
l R
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ching
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a
w
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ith
t
h
e
aid
o
f
a
n
e
w
ap
p
r
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ac
h
o
f
c
h
o
o
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in
g
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n
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o
n
tr
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atter
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r
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ce
.
W
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ca
n
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t
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y
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e
x
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t
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p
r
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d
u
r
e
[
1
7
]
.
)
(
)
(
S
s
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g
n
S
N
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S
(
7
)
w
h
er
e
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e
S
N
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1
(
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(
8
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,
,
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d
ar
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all
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m
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t
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t
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(
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h
as
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ea
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th
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o
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s
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in
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atio
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(
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.
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p
ar
t
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3.
DF
I
G
W
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ND
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URB
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AP
P
L
I
CA
T
I
O
N
3
.
1
.
M
o
delin
g
o
f
t
he
w
ind
t
urbin
e
a
nd
g
ea
rbo
x
C
o
n
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a
w
in
d
t
u
r
b
in
e
p
r
o
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id
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it
h
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lad
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o
f
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g
t
h
R
r
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ltin
g
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n
a
g
e
n
er
ato
r
th
r
o
u
g
h
a
m
u
ltip
lier
o
f
s
p
ee
d
o
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ai
n
G
T
h
e
ae
r
o
d
y
n
a
m
ic
p
o
w
er
ap
p
ea
r
in
g
at
t
h
e
le
v
el
o
f
t
h
e
r
o
to
r
o
f
th
e
t
u
r
b
in
e.
I
t is
g
i
v
en
b
y
[
1
8
]
:
3
2
.
.
).
(
2
1
V
R
C
P
p
t
(
9
)
w
h
er
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is
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e
air
d
en
s
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,
R
is
th
e
b
lad
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g
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d
V
is
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y
.
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n
o
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g
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e
s
p
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d
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th
e
tu
r
b
in
e,
t
h
e
ae
r
o
d
y
n
a
m
ic
to
r
q
u
e
is
t
h
i
s
d
ir
ec
tl
y
d
eter
m
i
n
ed
b
y
:
t
t
a
e
r
P
T
(
1
0
)
T
h
e
m
u
ltip
lier
o
f
s
p
ee
d
,
w
h
i
ch
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s
ar
r
an
g
ed
b
et
w
ee
n
t
h
e
w
i
n
d
t
u
r
b
in
e
a
n
d
t
h
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g
e
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er
at
o
r
,
ai
m
s
a
t
ad
ap
tin
g
t
h
e
s
p
ee
d
o
f
t
h
e
tu
r
b
in
e,
r
ath
er
s
lo
w
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to
th
e
o
n
e
th
at
r
eq
u
ir
es
t
h
e
g
en
er
ato
r
.
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t
is
m
o
d
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b
y
f
o
llo
w
in
g
to
w
s
eq
u
atio
n
s
G
G
T
T
m
e
c
t
a
e
r
g
(
1
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1534
–
1
5
4
4
1538
w
h
er
e
g
T
is
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h
e
d
r
iv
in
g
to
r
q
u
e
o
f
th
e
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e
n
er
ato
r
an
d
m
e
c
is
th
e
g
en
e
r
ato
r
s
h
af
t sp
ee
d
.
T
h
e
p
o
w
er
co
ef
f
icien
t
r
ep
r
esen
ts
t
h
e
ae
r
o
d
y
n
a
m
ic
e
f
f
ic
ien
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y
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,
[
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ip
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[
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[
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.
Fig
u
r
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t f
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[
2
1
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:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
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w
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&
Dr
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t
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8
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ar
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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I
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w
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Dr
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t
I
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N:
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8
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694
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Fig
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r
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la
w
co
n
tr
o
l (
E
R
L
)
.
Fig
u
r
e
3
.
C
o
n
f
i
g
u
r
atio
n
o
f
t
h
e
p
o
w
er
co
n
tr
o
l o
f
t
h
e
DFI
G
w
i
th
SM
C
w
it
h
E
R
L
5.
RE
SU
L
T
AT
S AN
D
DI
SCU
SS
I
O
N
T
o
test
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
p
o
s
ed
E
R
L
b
ased
SMC
in
w
in
d
tu
r
b
i
n
e
ac
tiv
e/r
ea
c
tiv
e
p
o
w
er
r
eg
u
lat
io
n
;
a
co
m
p
ar
ati
v
e
s
t
u
d
y
i
s
co
n
d
u
c
ted
u
n
d
er
v
ar
iab
le
w
i
n
d
s
p
ee
d
s
ce
n
ar
io
s
.
A
7
.
5
KW
DFI
G
w
i
n
d
tu
r
b
in
e,
s
i
m
u
latio
n
m
o
d
el
is
c
o
n
s
tr
u
cted
i
n
Ma
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/Si
m
u
li
n
k
.
T
h
e
p
a
r
am
eter
s
u
ti
lized
ar
e
lis
ted
in
T
ab
le
1
.
T
ab
le
1
.
DFI
G
n
o
m
in
al
p
ar
a
m
eter
s
7
.
5
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W
3
8
0
/
6
6
0
V
5
0
H
z
P
=
2
R
s=
0
.
4
5
5
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h
m
R
r
=
0
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6
2
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h
m
M
=
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7
8
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L
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0
8
4
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L
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1
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T
ab
le
2
.
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u
r
b
in
e
p
ar
am
eter
s
D
i
a
me
t
e
r
=
1
3
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e
a
r
b
o
x
=
3
5
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u
mb
e
r
o
f
b
l
a
d
e
s=3
T
ab
le
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(
DFI
G+
T
UR
B
I
NE
)
p
ar
am
eter
s
J=0
.
3
1
2
5
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g
m
2
f
=
0
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0
0
6
7
3
K
g
.
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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0
8
8
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8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1534
–
1
5
4
4
1542
I
n
th
i
s
s
ec
tio
n
,
w
e
h
av
e
c
h
o
s
en
to
co
m
p
ar
e
th
e
p
er
f
o
r
m
an
ce
s
o
f
t
h
e
DFI
G
w
it
h
t
w
o
d
if
f
er
en
t
co
n
tr
o
ller
s
.
T
h
e
Sli
d
i
n
g
Mo
d
e
C
o
n
tr
o
l
w
i
ll
b
e
f
ir
s
t
tes
ted
an
d
w
ill
b
e
th
e
r
ef
er
e
n
ce
co
m
p
ar
ed
to
th
e
o
t
h
er
:
Sli
d
in
g
Mo
d
e
C
o
n
tr
o
l
w
it
h
ex
p
o
n
en
tial r
ea
ch
in
g
la
w
co
n
tr
o
l
(
E
R
L
)
.
Fig
u
r
es
4
an
d
5
s
h
o
w
th
e
s
i
m
u
latio
n
s
r
esu
l
ts
o
f
th
e
t
w
o
m
e
th
o
d
s
in
elec
tr
o
m
a
g
n
e
tic
to
r
q
u
e
co
n
tr
o
l,
ac
tiv
e
an
d
r
ea
ctiv
e
p
o
w
er
tr
ac
k
in
g
an
d
cu
r
r
en
t
s
tato
r
iq
u
e
an
d
r
o
to
r
iq
u
e.
W
h
at
n
ee
d
s
to
b
e
n
o
ted
is
th
at
th
e
p
ar
am
eter
s
u
t
ilized
in
th
e
p
r
o
g
r
a
m
m
i
n
g
o
f
t
h
e
SM
C
t
h
at
t
h
e
s
P
an
d
s
Q
ar
e
b
o
th
ch
o
s
e
n
to
b
e
2
5
an
d
β
is
f
i
x
ed
to
b
e
0
.
5
,
an
d
is
1
a
n
d
th
e
co
e
f
f
icien
ts
o
f
t
h
e
n
e
w
s
w
itc
h
i
n
g
f
u
n
ctio
n
i
n
e
q
u
a
ti
o
n
(
2
2
)
ar
e
b
o
th
ch
o
s
en
to
b
e
5
.
T
h
e
s
o
lv
er
s
ar
e
s
till
R
u
n
g
e
-
K
u
tta
(
o
d
e4
5
)
an
d
th
e
s
a
m
p
li
n
g
r
ate
is
2
5
μ
s
.
As
it
ca
n
b
e
f
i
g
u
r
ed
o
u
t
f
r
o
m
Fig
u
r
es
4
an
d
5
t
h
a
t
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
p
r
o
p
o
s
ed
E
R
L
b
ased
SM
C
is
b
ett
er
th
a
n
t
h
at
o
f
t
h
e
class
ical
SM
C
i
n
tr
ac
k
i
n
g
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
A
cti
v
e
an
d
r
ea
cti
v
e
p
o
w
er
.
Fu
r
t
h
er
m
o
r
e,
th
e
ch
at
ter
in
g
p
h
en
o
m
e
n
o
n
i
s
lar
g
el
y
r
ed
u
ce
d
.
I
t
is
ev
id
en
t
th
a
t
th
e
c
u
r
v
e
o
f
th
e
E
R
L
b
ased
SM
C
tr
ac
k
s
th
e
r
ef
er
en
ce
v
al
u
e
p
r
ec
is
el
y
w
i
th
litt
le
c
h
atter
s
.
W
h
en
u
ti
lizi
n
g
th
e
co
n
v
en
tio
n
al
SMC
ap
p
r
o
ac
h
e,
h
i
g
h
f
r
eq
u
en
c
y
c
h
atter
s
w
it
h
h
ig
h
a
m
p
lit
u
d
e
ex
is
t.
T
h
ese
ch
atter
s
ar
e
ca
u
s
ed
b
y
th
e
d
i
s
co
n
tin
u
o
u
s
s
w
itc
h
i
n
g
f
u
n
ct
io
n
o
f
t
h
e
co
n
tr
o
l in
p
u
t.
W
h
en
t
h
e
E
R
L
b
ased
SMC
a
p
p
r
o
ac
h
is
u
tili
ze
d
,
th
e
d
is
co
n
tin
u
o
u
s
co
m
p
o
n
en
t
s
o
f
t
h
e
co
n
tr
o
l
in
p
u
t
h
av
e
r
ela
tiv
el
y
h
i
g
h
er
g
ai
n
s
,
m
a
k
in
g
t
h
e
c
h
atter
s
m
o
r
e
d
is
ti
n
cti
v
e.
T
h
e
d
is
co
n
ti
n
u
o
u
s
co
m
p
o
n
en
t
o
f
t
h
e
co
n
tr
o
l
in
p
u
t
a
u
to
m
atica
ll
y
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ec
r
ea
s
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ce
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tab
le
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d
th
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g
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e
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m
u
c
h
m
o
r
e
s
m
o
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n
d
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A
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p
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w
er P
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er P
s
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im
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s
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im
e
(
s
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R
ea
ctive
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o
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er Q
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(VAR)
R
ea
ctive
p
o
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er Q
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e
(
s
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T
im
e
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s
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C
u
r
r
en
t I
dr
(A)
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r
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im
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(
s
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im
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(
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
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lec
&
Dr
i
S
y
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t
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SS
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u
r
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w
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n
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o
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h
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G
w
ith
HOST
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u
r
e.
5
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o
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co
n
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o
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6.
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v
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r
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tr
ical
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er
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y
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it
h
a
d
o
u
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l
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d
u
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n
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e
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er
ato
r
b
y
t
h
e
w
a
y
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f
a
w
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n
d
tu
r
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in
e.
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ce
t
h
e
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m
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te
m
o
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el
o
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th
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w
i
n
d
c
h
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is
v
alid
ated
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e
s
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en
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ti
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e
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t
w
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n
o
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o
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t
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er
to
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eg
u
late
t
h
e
ac
ti
v
e
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d
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ea
cti
v
e
p
o
w
er
s
ex
ch
a
n
g
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b
et
w
ee
n
th
e
m
ac
h
in
e
an
d
th
e
g
r
id
.
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e
p
r
o
p
o
s
e
s
a
DFI
G
w
i
n
d
tu
r
b
in
e
co
n
tr
o
l
tech
n
iq
u
e
w
ith
a
n
o
v
el
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
te
ch
n
iq
u
e
u
n
d
er
v
ar
iab
le
w
in
d
s
p
ee
d
b
ased
o
n
n
o
v
el
ex
p
o
n
e
n
tial
r
ea
c
h
in
g
la
w
(
E
R
L
)
.
T
h
e
p
r
o
p
o
s
ed
SMC
is
s
u
p
p
o
s
ed
to
r
ed
u
ce
th
e
lev
el
o
f
ch
at
ter
in
g
p
h
e
n
o
m
e
n
o
n
an
d
ac
ce
ler
ate
th
e
r
ea
ch
in
g
p
r
o
ce
s
s
,
w
h
ic
h
h
as b
ee
n
v
er
i
f
ied
b
y
th
e
n
u
m
er
ical
s
i
m
u
lat
io
n
o
f
a
n
o
n
li
n
ea
r
co
n
t
r
o
lled
s
y
s
te
m
.
RE
F
E
R
E
NC
E
S
[1
]
A
.
Ro
sa
,
“
F
u
n
d
a
m
e
n
tals o
f
Re
n
e
w
a
b
le E
n
e
rg
y
P
ro
c
e
ss
e
s,
”
Aca
d
e
mic
Pre
ss
,
Bo
sto
n
,
M
A
,
USA
,
2
0
1
2
.
[2
]
K
.
Be
lg
a
c
e
m
,
“
F
u
z
z
y
L
o
g
ic
Co
n
tro
l
o
f
Do
u
b
le
-
F
e
d
I
n
d
u
c
ti
o
n
G
e
n
e
ra
to
r
W
in
d
T
u
rb
i
n
e
,
”
In
ter
n
a
ti
o
n
a
l
Rev
iew
o
f
mo
d
e
ll
i
n
g
a
n
d
simu
l
a
ti
o
n
(
IRE
M
OS
)
,
v
ol
/i
ss
u
e
:
6
(
01
)
,
2
0
1
3
.
[3
]
N.
W
a
tan
a
k
u
l,
“
A
n
A
p
p
li
c
a
ti
o
n
o
f
W
in
d
T
u
rb
in
e
G
e
n
e
ra
to
r
o
n
H
y
b
rid
P
o
w
e
r
Co
n
d
it
io
n
e
r
to
Im
p
ro
v
e
P
o
w
e
r
Qu
a
li
ty
,
”
In
ter
n
a
ti
o
n
a
l
Rev
iew
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
,
v
ol
/i
ss
u
e
:
7
(5
)
,
p
p
.
5
4
8
7
–
5
4
9
5
,
2
0
1
2
.
[4
]
K
.
Be
lg
a
c
e
m
,
“
S
li
d
in
g
M
o
d
e
Co
n
tr
o
l
o
f
a
Do
u
b
ly
-
f
e
d
In
d
u
c
ti
o
n
G
e
n
e
ra
to
r
f
o
r
W
in
d
E
n
e
rg
y
Co
n
v
e
rsio
n
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
E
n
e
rg
y
En
g
i
n
e
e
rin
g
,
v
ol
/i
ss
u
e
:
30
(
01
)
,
p
p
3
0
-
3
6
,
2
0
1
3
.
[5
]
O
.
Bo
u
g
h
a
z
i,
“
S
li
d
in
g
M
o
d
e
Ba
c
k
ste
p
p
in
g
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
to
r
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m (
IJ
PE
DS
)
,
v
ol
/i
ss
u
e
:
4
(
4
)
,
p
p
.
4
8
1
-
4
8
8
,
2
0
1
4
.
[6
]
M
e
ra
b
e
t
A
.
,
e
t
a
l.
,
“
Im
p
lem
e
n
tatio
n
o
f
slid
in
g
m
o
d
e
c
o
n
tr
o
l
sy
ste
m
f
o
r
g
e
n
e
ra
to
r
a
n
d
g
rid
sid
e
s
c
o
n
tro
l
o
f
w
in
d
e
n
e
rg
y
c
o
n
v
e
rsio
n
sy
ste
m
,”
IEE
E
T
ra
n
s
S
u
st
a
i
n
En
e
rg
y
,
v
o
l/
issu
e
:
7
(3
)
,
p
p
.
1
3
2
7
–
35
,
2
0
1
6
.
[7
]
L
iao
K
.
,
e
t
a
l.
,
“
A
slid
in
g
m
o
d
e
b
a
se
d
d
a
m
p
in
g
c
o
n
tro
l
o
f
DFIG
f
o
r
in
tera
re
a
p
o
w
e
r
o
sc
il
latio
n
s
,”
IEE
E
T
ra
n
s
S
u
sta
in
En
e
rg
y
,
v
o
l
/i
ss
u
e
:
8
(1
)
,
p
p
.
2
5
8
–
67
,
2
0
1
7
.
[8
]
H.
As
c
h
e
m
a
n
n
a
n
d
D.
S
c
h
in
d
e
le
,
“
S
li
d
in
g
-
m
o
d
e
c
o
n
tro
l
o
f
a
h
ig
h
sp
e
e
d
li
n
e
a
r
a
x
is
d
riv
e
n
b
y
p
n
e
u
m
a
ti
c
m
u
s
c
le
a
c
tu
a
to
rs,
”
IEE
E
T
ra
n
s.
On
I
n
d
u
s
tria
l
El
e
c
tro
n
ics
,
v
o
l
/i
ss
u
e
:
55
(
11
)
,
p
p
.
3
8
5
5
-
3
8
6
4
,
2
0
0
8
.
[9
]
B
.
Be
lk
a
c
e
m
,
“
H
y
b
rid
F
u
z
z
y
S
li
d
in
g
M
o
d
e
Co
n
tro
l
o
f
a
DFI
G
In
te
g
ra
ted
in
to
th
e
Ne
tw
o
rk
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(
IJ
PE
DS
)
,
v
ol
/i
ss
u
e
:
3
(
4
)
,
p
p
.
3
5
1
-
364
,
2
0
1
3
.
[1
0
]
S
.
Biri
c
ik
,
“
Op
ti
m
iz
e
d
S
li
d
in
g
m
o
d
e
c
o
n
tro
l
to
m
a
x
i
m
ize
e
x
is
ten
c
e
re
g
io
n
f
o
r
sin
g
le
-
p
h
a
se
d
y
n
a
m
i
c
v
o
lt
a
g
e
re
sto
re
rs,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
I
n
f
o
rm
a
ti
c
s
,
v
o
l
/i
ss
u
e
:
12
(
4
)
,
p
p
.
1
4
8
6
-
1
4
9
7
,
2
0
1
6
.
[1
1
]
A
.
P
isa
n
o
,
“
S
w
it
c
h
e
d
/t
im
e
-
b
a
se
d
a
d
a
p
tatio
n
f
o
r
se
c
o
n
d
-
o
r
d
e
r
slid
i
n
g
m
o
d
e
c
o
n
tro
l,
”
Au
to
ma
ti
c
a
,
v
o
l.
6
4
,
p
p
.
1
2
6
-
132
,
2
0
1
6
.
[1
2
]
R
.
Em
il
,
“
M
o
d
e
l
-
f
re
e
slid
in
g
m
o
d
e
c
o
n
tro
l
o
f
n
o
n
li
n
e
a
r
sy
ste
m
s
,”
Al
g
o
rith
ms
a
n
d
e
x
p
e
rime
n
ts,
I
n
fo
rm
a
t
io
n
S
c
ien
c
e
s
,
v
o
l.
3
8
1
,
p
p
.
1
7
6
-
1
9
2
,
2
0
1
7
.
[1
3
]
I
.
M
a
traji
a
n
d
A
.
Al
-
Du
rra
,
“
T
r
a
jec
to
r
y
trac
k
in
g
c
o
n
tro
l
o
f
s
k
id
-
ste
e
re
d
m
o
b
il
e
ro
b
o
t
b
a
se
d
o
n
a
d
a
p
ti
v
e
se
c
o
n
d
o
rd
e
r
sli
d
in
g
m
o
d
e
c
o
n
tro
l,
”
C
o
n
t
ro
l
En
g
i
n
e
e
rin
g
Pr
a
c
ti
c
e
,
v
o
l.
7
2
,
p
p
.
1
6
7
-
1
7
6
,
2
0
1
8
.
[1
4
]
M
o
u
ss
a
o
u
i,
e
t
a
l.
,
“
F
u
z
z
y
A
d
a
p
ti
v
e
S
li
d
in
g
-
M
o
d
e
Co
n
tro
l
S
c
h
e
m
e
f
o
r
Un
c
e
rta
in
Un
d
e
ra
c
tu
a
ted
S
y
ste
m
s
,”
Ad
v
a
n
c
e
s a
n
d
Ap
p
li
c
a
t
io
n
s in
No
n
li
n
e
a
r Co
n
tro
l
S
y
ste
ms
.
S
p
ri
n
g
e
r In
ter
n
a
t
io
n
a
l
Pu
b
li
sh
i
n
g
,
p
p
.
3
5
1
-
3
6
7
,
2
0
1
6
.
[1
5
]
F
a
ll
a
h
a
C
.
J
.
,
e
t
a
l.
,
“
S
li
d
in
g
-
m
o
d
e
r
o
b
o
t
c
o
n
tro
l
w
it
h
e
x
p
o
n
e
n
ti
a
l
re
a
c
h
in
g
law
,”
IEE
E
T
ra
n
s
In
d
El
e
c
tro
n
,
v
o
l/
issu
e
:
5
8
(2
)
,
p
p
.
6
0
0
–
10
,
2
0
1
1
.
[1
6
]
M
.
H.
Ra
h
m
a
n
,
e
t
a
l.
,
“
Co
n
tro
l
o
f
a
n
e
x
o
sk
e
leto
n
ro
b
o
t
a
rm
w
it
h
sli
d
in
g
m
o
d
e
e
x
p
o
n
e
n
ti
a
l
re
a
c
h
in
g
law
f
o
rc
e
,”
In
telli
g
e
n
t
R
o
b
o
ts
a
n
d
S
y
ste
ms
(
I
ROS
)
,
2
0
1
0
IE
EE
/R
S
J
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
.
I
EE
E,
2
0
1
0
.
[1
7
]
T.
K.
A
.
Bre
k
k
e
n
a
n
d
N.
M
o
h
a
n
,
“
Co
n
tro
l
o
f
a
d
o
u
b
ly
f
e
d
in
d
u
c
ti
o
n
w
in
d
g
e
n
e
ra
to
r
u
n
d
e
r
u
n
b
a
lan
c
e
d
g
rid
v
o
lt
a
g
e
c
o
n
d
i
ti
o
n
s,
”
IEE
E
T
ra
n
sa
c
ti
o
n
o
n
En
e
rg
y
Co
n
v
e
rs
io
n
,
v
o
l.
22
,
p
p
.
129
–
1
3
5
,
2
0
0
7
.
0
1
2
3
4
5
-
4
0
-
2
0
0
20
40
i
r
q
i
r
d
0
1
2
3
4
5
-
4
0
-
2
0
0
20
40
i
r
q
i
r
d
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