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lect
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in
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do
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ha
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so
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o
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term
it
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t
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win
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c
h
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ra
c
teristics
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h
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sy
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sta
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iza
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n
.
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o
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li
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ifi
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a
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th
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ich
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p
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a
ted
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stim
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ted
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tch
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p
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term
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e
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o
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s.
T
h
e
n
g
e
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e
ti
c
a
lg
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rit
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m
(G
A)
is
a
p
p
li
e
d
to
re
-
tu
n
e
p
a
ra
m
e
ters
c
o
n
tro
ll
e
r
b
a
se
d
on
th
e
e
stim
a
ted
m
o
d
e
l.
T
h
e
stru
c
t
u
re
of
c
o
n
tro
l
ler
is
p
ro
p
o
rti
o
n
a
l
in
t
e
g
ra
l
(P
I)
c
o
n
tro
ll
e
r
due
to
th
e
m
o
st
a
p
p
li
c
a
b
le
in
i
n
d
u
stry
,
sim
p
le
str
u
c
tu
re
,
lo
w
c
o
st
a
n
d
h
ig
h
re
li
a
b
il
it
y
.
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b
u
st
n
e
ss
of
c
o
n
tro
ll
e
r
is
g
u
a
ra
n
tee
d
by
tak
in
g
sy
ste
m
u
n
c
e
rtain
ti
e
s
in
to
c
o
n
sid
e
ra
ti
o
n
.
Th
e
p
e
rfo
rm
a
n
c
e
of
th
e
p
r
o
p
o
se
d
c
o
n
tro
l
ler
h
a
s
b
e
e
n
c
a
rried
out
in
a
h
y
b
ri
d
win
d
-
d
ies
e
l
p
o
we
r
sy
ste
m
in
c
o
m
p
a
riso
n
with
p
re
v
i
o
u
s
wo
r
k
c
o
n
tr
o
ll
e
r.
S
imu
lat
io
n
re
su
l
ts
c
o
n
firm
th
a
t
d
a
m
p
i
n
g
e
ffe
c
t
of
th
e
p
r
o
p
o
se
d
c
o
n
tro
l
lers
a
re
m
u
c
h
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e
tt
e
r
th
a
t
of
th
e
c
o
n
v
e
n
t
io
n
a
l
c
o
n
tro
ll
e
rs
a
g
a
in
st
v
a
rio
u
s
o
p
e
ra
ti
n
g
.
K
ey
w
o
r
d
s
:
Ad
ap
tiv
e
co
n
tr
o
l
PI
co
n
tr
o
ller
Po
wer
s
y
s
tem
s
tab
ilizatio
n
R
o
b
u
s
t
co
n
tr
o
l
d
esig
n
Sm
ar
t
g
r
id
W
in
d
p
o
wer
T
h
is
is
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o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r
th
e
CC
BY
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
C
u
k
Su
p
r
iy
ad
i
Ali
Nan
d
a
r
Ag
en
cy
f
o
r
T
h
e
Ass
ess
m
en
t
a
n
d
Ap
p
licatio
n
of
T
ec
h
n
o
l
o
g
y
T
ec
h
n
o
lo
g
y
B
u
ild
in
g
2
5
1
2
n
d
Flo
o
r
,
Pu
s
p
ip
tek
Of
f
ice.
So
u
th
T
an
g
er
a
n
g
,
B
an
ten
,
I
n
d
o
n
esia
E
m
ail: c
u
k
.
s
u
p
r
iy
a
d
i@
b
p
p
t.g
o
.
id
1.
I
NT
RO
D
UCT
I
O
N
R
ec
en
tly
,
r
en
ewa
b
le
en
er
g
y
s
o
u
r
ce
s
b
ec
o
m
e
a
more
attr
ac
ti
v
e
ch
o
ice
f
o
r
elec
tr
icity
.
On
e
of
th
e
m
o
s
t
f
am
iliar
r
en
ewa
b
le
en
er
g
y
is
win
d
en
er
g
y
.
W
in
d
p
o
wer
as
one
of
r
e
n
ewa
b
le
en
er
g
y
s
o
u
r
ce
s
is
ex
p
ec
ted
to
be
ec
o
n
o
m
ically
attr
ac
tiv
e
wh
en
th
e
win
d
s
p
ee
d
in
th
e
p
r
o
p
o
s
e
d
s
ite
is
co
n
s
id
er
ab
le
f
o
r
elec
t
r
ical
g
en
er
atio
n
an
d
elec
tr
ic
en
er
g
y
in
th
at
s
ite
is
n
o
t
ea
s
ily
av
ailab
le
f
r
o
m
th
e
g
r
id
[
1
]
.
Ho
wev
er
,
th
e
in
ter
m
itte
n
ce
an
d
f
lu
ctu
atio
n
of
o
u
tp
u
t
p
o
wer
of
win
d
p
o
wer
g
en
er
atio
n
m
a
y
ca
u
s
e
a
s
er
io
u
s
p
r
o
b
lem
of
f
r
eq
u
en
cy
f
lu
ctu
atio
n
of
t
h
e
is
o
lated
m
icr
o
g
r
id
[
2
]
.
To
g
e
t
h
ig
h
q
u
ality
p
o
wer
s
y
s
tem
,
th
e
s
m
ar
t
g
r
id
tech
n
o
l
o
g
ies
a
p
p
licatio
n
s
s
u
ch
as
d
is
tr
ib
u
ted
en
e
r
g
y
s
to
r
ag
e
a
n
d
s
m
ar
t
co
n
t
r
o
ller
d
ev
ices
f
o
r
m
itig
atin
g
im
p
ac
ts
of
th
e
in
te
g
r
atio
n
of
r
en
ewa
b
le
en
er
g
y
g
en
er
atio
n
ar
e
h
ig
h
ly
n
ee
d
ed
[
3
]
.
Sev
er
al
co
n
tr
o
l
m
eth
o
d
s
f
o
r
f
r
eq
u
en
c
y
s
tab
ilizatio
n
by
ap
p
ly
in
g
p
itch
an
g
le
of
wi
n
d
p
o
wer
g
en
er
atio
n
h
av
e
b
ee
n
r
ep
o
r
te
d
[4
]
-
[
6
]
.
In
th
ese
wo
r
k
s
,
h
o
wev
er
,
th
ey
o
n
ly
f
o
cu
s
on
t
h
e
d
esig
n
of
p
itch
co
n
tr
o
ller
in
th
e
win
d
s
ite
with
o
u
t
co
n
s
id
er
in
g
g
o
v
er
n
o
r
co
n
tr
o
ller
in
th
e
d
iesel
s
id
e.
To
im
p
r
o
v
e
th
e
f
r
eq
u
e
n
cy
s
tab
ilit
y
in
is
o
late
d
p
o
wer
s
y
s
tem
,
s
o
m
e
p
r
ev
i
o
u
s
r
esear
ch
wo
r
k
s
h
av
e
s
u
c
ce
s
s
f
u
lly
p
r
o
p
o
s
ed
co
n
tr
o
l
d
esig
n
m
eth
o
d
s
of
t
h
e
p
itch
co
n
tr
o
ller
in
th
e
win
d
s
id
e
an
d
t
h
e
g
o
v
er
n
o
r
in
th
e
d
iesel
s
id
e
s
im
u
ltan
eo
u
s
ly
.
To
d
am
p
th
e
f
r
eq
u
en
cy
f
lu
ctu
atio
n
,
o
p
t
im
izatio
n
of
co
n
tr
o
ller
p
ar
a
m
eter
s
u
s
in
g
I
SE
tech
n
iq
u
e
[
7
]
an
d
f
u
zz
y
lo
g
i
c
[
8
]
h
av
e
b
ee
n
p
r
o
p
o
s
ed
.
In
[9
]
,
[
1
0
]
,
t
h
e
au
th
o
r
s
p
r
o
p
o
s
ed
lo
ad
f
r
eq
u
e
n
cy
co
n
tr
o
l
m
eth
o
d
with
c
o
m
b
in
i
n
g
a
PID
co
n
t
r
o
ller
a
n
d
a
d
is
tu
r
b
an
ce
o
b
s
er
v
e
r
f
o
r
la
r
g
e
p
en
etr
atio
n
of
win
d
p
o
wer
g
en
er
atio
n
s
.
T
h
is
wo
r
k
can
s
ig
n
if
ican
tly
im
p
r
o
v
e
th
e
p
er
f
o
r
m
a
n
ce
of
th
e
co
n
t
r
o
ller
s
an
d
p
o
wer
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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&
Dr
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I
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N:
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8
8
-
8
694
A
d
a
p
tive
r
o
b
u
s
t c
o
n
tr
o
l d
esig
n
to
en
h
a
n
ce
s
ma
r
t g
r
id
p
o
w
er sys
tem
…
(
K
h
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a
Herb
a
n
d
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)
2183
s
y
s
tem
.
Nev
er
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eless
,
u
n
d
er
th
e
s
u
d
d
e
n
ch
a
n
g
e
of
lo
a
d
d
e
m
an
d
s
an
d
r
an
d
o
m
win
d
p
o
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in
p
u
t,
th
e
p
itch
co
n
tr
o
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of
th
e
win
d
s
id
e
a
n
d
th
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o
v
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o
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of
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iesel
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id
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ay
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ab
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to
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f
ec
tiv
ely
co
n
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o
l
t
h
e
s
y
s
tem
f
r
eq
u
en
c
y
due
to
th
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s
lo
w
r
esp
o
n
s
e.
E
n
er
g
y
s
to
r
ag
es
s
u
c
h
as
f
u
e
l
ce
ll,
f
ly
wh
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l,
b
atter
y
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s
u
p
er
co
n
d
u
ctin
g
m
ag
n
etic
en
er
g
y
s
to
r
ag
e
(
SME
S),
wh
ich
ar
e
a
b
le
to
s
u
p
p
ly
an
d
ab
s
o
r
b
ac
tiv
e
p
o
wer
r
ap
id
ly
[
1
1
]
,
[
1
2
]
,
h
av
e
be
en
h
ig
h
ly
e
x
p
ec
ted
as
th
e
m
o
s
t
ef
f
ec
tiv
e
c
o
n
tr
o
ller
s
of
s
y
s
tem
f
r
eq
u
e
n
cy
.
Su
p
e
r
co
n
d
u
ctin
g
m
a
g
n
etic
en
e
r
g
y
s
to
r
ag
e
h
as
b
ee
n
s
u
cc
ess
f
u
lly
ap
p
lied
to
s
o
lv
e
m
an
y
p
r
o
b
lem
s
in
p
o
wer
s
y
s
tem
s
s
u
ch
as
an
im
p
r
o
v
em
en
t
of
p
o
wer
s
y
s
tem
d
y
n
am
ics
[
1
3
]
,
[
1
4
]
,
a
lo
ad
le
v
elin
g
[
1
5
]
,
a
f
r
eq
u
e
n
cy
co
n
tr
o
l
in
h
y
b
r
i
d
win
d
-
d
iesel
p
o
we
r
s
y
s
tem
s
[
1
6
]
-
[
18
]
.
Ho
wev
er
,
SME
S
is
v
er
y
co
s
tl
y
in
co
m
p
ar
is
o
n
with
th
e
co
m
m
o
n
en
e
r
g
y
s
to
r
a
g
e
s
u
ch
as
b
a
tter
y
.
In
[
1
9
]
,
[
2
0
]
,
d
esig
n
of
r
o
b
u
s
t
b
atter
y
co
n
tr
o
ller
in
a
h
y
b
r
id
win
d
-
d
iesel
p
o
wer
s
y
s
tem
by
H∞
co
n
tr
o
l
h
as
b
ee
n
p
r
o
p
o
s
ed
.
In
th
is
wo
r
k
,
t
h
e
c
o
n
tr
o
ller
h
as
p
r
es
en
ted
h
i
g
h
r
o
b
u
s
tn
ess
co
n
tr
o
ller
ag
ain
s
t
v
a
r
io
u
s
u
n
ce
r
tain
ties
.
Ho
wev
er
,
t
h
e
o
r
d
er
of
H∞
co
n
tr
o
ller
d
ep
en
d
s
on
th
at
of
th
e
p
la
n
t
an
d
t
h
e
w
eig
h
tin
g
f
u
n
ctio
n
s
of
th
e
co
n
t
r
o
ller
ca
n
n
o
t
be
s
el
ec
ted
ea
s
ily
.
T
h
is
lea
d
s
to
th
e
co
m
p
le
x
s
tr
u
ctu
r
e
co
n
tr
o
ller
in
co
m
p
ar
is
o
n
with
co
n
v
en
tio
n
al
PI
or
lead
/lag
c
o
m
p
en
s
ato
r
,
an
d
also
th
e
p
itc
h
an
d
b
atter
y
c
o
n
tr
o
ller
in
th
is
wo
r
k
h
av
e
b
ee
n
d
esig
n
ed
s
ep
ar
ately
wh
ile
th
e
co
n
tr
o
l
p
ar
a
m
eter
s
of
g
o
v
er
n
o
r
ar
e
f
ix
ed
.
T
h
is
m
eth
o
d
m
ay
not
be
a
b
le
to
g
u
ar
an
tee
th
e
well
co
o
r
d
in
at
ed
co
n
tr
o
l
b
etwe
en
g
o
v
er
n
o
r
,
p
itch
an
d
b
atter
y
co
n
tr
o
ller
.
To
en
h
a
n
ce
th
e
co
o
r
d
in
ate
d
co
n
tr
o
l,
th
e
s
im
u
l
tan
eo
u
s
o
p
tim
izatio
n
of
r
o
b
u
s
t
g
o
v
er
n
o
r
,
p
itch
a
n
d
b
atter
y
co
n
tr
o
ller
is
h
ig
h
ly
ex
p
ec
ted
.
T
h
is
p
ap
er
p
r
o
p
o
s
es
ad
ap
tiv
e
PI
p
itch
an
d
b
atter
y
c
o
n
tr
o
ll
er
u
s
in
g
a
s
y
s
tem
esti
m
ato
r
.
T
h
e
s
y
s
tem
esti
m
ato
r
is
d
ev
elo
p
ed
by
m
in
im
izin
g
m
is
m
atch
er
r
o
r
b
etwe
en
o
u
tp
u
t
s
ig
n
al
of
t
h
e
r
ea
l
s
y
s
tem
an
d
e
s
tim
ated
m
o
d
el
u
s
in
g
GA.
To
g
u
ar
an
te
e
p
er
f
o
r
m
an
ce
of
t
h
e
co
n
tr
o
ller
,
th
e
im
p
r
o
v
em
en
t
of
d
am
p
in
g
r
atio
is
ap
p
lied
to
f
o
r
m
u
late
an
o
p
tim
izatio
n
p
r
o
b
lem
.
GA
is
em
p
lo
y
ed
to
ac
h
iev
e
o
p
tim
u
m
or
n
ea
r
o
p
tim
u
m
f
o
r
th
e
co
n
tr
o
ller
p
ar
am
eter
s
.
As
a
r
esu
lt,
with
o
u
t
th
e
av
ailab
ilit
y
of
all
s
y
s
tem
p
ar
am
eter
s
an
d
ex
ac
t
m
o
d
e
ls
,
th
e
s
tead
y
s
tat
e
s
am
p
lin
g
d
ata
of
p
o
wer
s
y
s
tem
can
be
u
s
ed
to
co
n
s
tr
u
ct
th
e
s
y
s
tem
esti
m
ato
r
a
n
d
t
u
n
e
p
a
r
am
eter
s
of
co
n
tr
o
ller
s
T
h
is
p
ap
er
p
r
o
p
o
s
es
tech
n
iq
u
e
th
at
g
iv
es
ad
ap
tiv
ity
as
well
as
r
o
b
u
s
tn
ess
to
th
e
co
n
v
en
tio
n
al
ty
p
e
of
co
n
tr
o
ller
s
.
In
th
e
ad
a
p
tiv
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
,
th
e
p
ar
a
m
e
ter
s
of
co
n
tr
o
ller
ar
e
ch
a
n
g
ed
d
ep
en
d
in
g
on
th
e
co
n
d
itio
n
of
s
y
s
tem
o
p
er
atio
n
to
av
o
id
th
e
p
ar
am
eter
s
ch
a
n
g
es
to
o
f
r
eq
u
en
tly
so
th
at
th
e
p
ar
am
eter
alter
atio
n
is
done
at
th
e
r
ig
h
t
m
o
m
en
t.
T
h
is
d
em
an
d
s
f
o
r
a
m
eth
o
d
th
at
can
d
etec
t
wh
en
to
ch
a
n
g
e
th
e
p
ar
am
eter
s
an
d
a
m
eth
o
d
th
at
d
eter
m
in
es
h
o
w
th
ey
s
h
o
u
ld
be
ch
a
n
g
ed
.
T
h
e
id
en
tifie
d
m
o
d
el
is
u
s
ed
to
m
o
n
ito
r
d
is
cr
ep
an
cy
b
etwe
en
th
e
ac
t
u
al
p
o
wer
s
y
s
tem
o
u
tp
u
t
an
d
th
e
ex
p
ec
ted
o
u
tp
u
t
(
m
o
d
el
o
u
tp
u
t)
.
W
h
en
a
lar
g
e
d
is
cr
ep
a
n
cy
is
d
etec
ted
,
a
n
ew
s
et
of
co
n
tr
o
ller
p
ar
am
eter
s
is
d
eter
m
in
ed
to
ad
ap
t
to
th
e
n
ew
s
itu
atio
n
.
T
h
e
ef
f
ec
tiv
en
ess
of
p
r
o
p
o
s
ed
m
eth
o
d
is
ev
alu
ate
d
in
h
y
b
r
id
win
d
-
d
iesel
p
o
w
er
s
y
s
tem
in
co
m
p
ar
is
o
n
wit
h
th
e
co
n
v
en
tio
n
al
co
n
tr
o
ller
.
2.
SYST
E
M
M
O
D
E
L
I
NG
2.
1
.
H
y
brid
wind
-
die
s
el
po
w
er
s
y
s
t
em
I
n
Fig
u
r
e
1
d
ep
icts
th
e
b
asic
s
y
s
tem
co
n
f
ig
u
r
atio
n
of
an
is
o
lated
h
y
b
r
id
win
d
-
d
iesel
p
o
wer
s
y
s
tem
wh
ich
will
be
u
s
ed
to
d
esig
n
th
e
co
o
r
d
in
ate
d
r
o
b
u
s
t
f
r
e
q
u
en
cy
co
n
tr
o
ller
of
g
o
v
er
n
o
r
,
p
itch
an
d
b
atter
y
co
n
tr
o
ller
s
.
T
h
is
s
y
s
tem
co
n
s
is
ts
of
a
d
iese
l
g
en
er
ato
r
,
a
win
d
p
o
wer
g
en
e
r
atio
n
an
d
t
h
e
lo
ad
with
b
ase
ca
p
ac
ity
is
300
kW
[
7
]
.
T
h
e
r
ated
ca
p
ac
ities
of
win
d
p
o
wer
g
en
er
atio
n
an
d
d
iesel
ar
e
1
5
0
kW
an
d
150
k
W
,
r
esp
ec
tiv
ely
.
T
h
e
win
d
p
o
wer
g
en
er
atio
n
p
r
o
d
u
ce
s
an
ac
tiv
e
p
o
wer
f
lu
ctu
atio
n
,
an
d
th
e
d
iesel
is
u
s
ed
as
a
b
ac
k
up
to
s
u
p
p
ly
p
o
wer
to
s
y
s
tem
wh
en
win
d
p
o
wer
co
u
l
d
not
ad
eq
u
ately
p
r
o
v
id
e
p
o
wer
to
cu
s
to
m
er
.
To
s
o
lv
e
th
is
p
r
o
b
lem
,
th
e
s
y
s
tem
n
ee
d
s
to
m
ain
tain
i
n
g
t
h
e
b
alan
ce
of
r
ea
l
p
o
wer
b
etw
ee
n
s
u
p
p
ly
an
d
d
em
a
n
d
in
th
e
s
y
s
tem
.
In
th
is
s
tu
d
y
,
th
e
r
ea
l
p
o
wer
d
e
v
iatio
n
is
s
u
p
p
r
ess
ed
by
th
e
d
iesel
g
en
er
ato
r
,
th
e
win
d
p
o
wer
g
en
e
r
atio
n
,
an
d
th
e
b
atter
y
.
G
o
v
er
n
o
r
a
n
d
p
itch
co
n
tr
o
ller
a
r
e
eq
u
ip
p
e
d
in
t
h
e
d
iesel
s
id
e
an
d
th
e
win
d
s
id
e,
r
esp
ec
tiv
ely
,
to
h
el
p
b
alan
ce
th
e
d
is
tr
ib
u
ti
o
n
of
r
ea
l
p
o
wer
in
th
e
s
y
s
tem
.
H
o
wev
er
,
th
e
ab
ilit
y
of
th
e
g
o
v
e
r
n
o
r
an
d
p
itch
co
n
tr
o
ller
s
to
p
r
o
v
id
e
f
r
eq
u
en
cy
co
n
tr
o
l
is
not
ad
e
q
u
ate
d
u
e
to
t
h
eir
s
lo
w
r
esp
o
n
s
e.
Acc
o
r
d
in
g
ly
,
th
e
b
atter
y
en
er
g
y
s
to
r
ag
e
is
in
s
talled
in
th
e
s
y
s
tem
to
f
ast
co
m
p
e
n
s
ate
f
o
r
s
u
r
p
lu
s
or
in
s
u
f
f
icien
t
p
o
wer
d
em
an
d
s
,
a
n
d
m
in
im
ize
f
r
eq
u
e
n
cy
d
ev
iatio
n
.
2
.
2
.
P
i
t
ch
a
nd
ba
t
t
er
y
co
ntr
o
ller
m
o
del
T
h
e
b
atter
y
b
lo
ck
d
iag
r
am
is
d
ep
icted
in
Fig
u
r
e
2.
T
h
e
b
atter
y
d
iag
r
am
is
r
ep
r
esen
ted
with
two
tr
an
s
f
er
f
u
n
ctio
n
s
,
i.e
.
,
th
e
PI
b
ased
f
r
eq
u
e
n
cy
co
n
tr
o
ller
an
d
th
e
b
atter
y
m
o
d
el
an
d
.
B
ased
on
[
1
8
]
,
th
e
b
atter
y
can
be
m
o
d
eled
by
th
e
f
ir
s
t
-
o
r
d
er
tr
a
n
s
f
er
f
u
n
ctio
n
with
tim
e
co
n
s
tan
t
T
BATT
=
0
.
3
s
ec
.
In
th
is
wo
r
k
,
th
e
b
atter
y
co
n
tr
o
ller
is
p
r
ese
n
ted
by
p
r
ac
tically
a
1
s
t
o
r
d
e
r
PI
co
n
tr
o
ller
with
s
in
g
le
f
ee
d
b
ac
k
in
p
u
t
s
ig
n
al,
s
y
s
tem
f
r
eq
u
en
cy
d
e
v
iatio
n
(
Δ
f
S).
T
h
e
r
ated
ca
p
ac
ity
of
in
v
e
r
ter
is
15
kW
(
0
.
0
5
p
u
)
,
an
d
t
h
e
r
ated
ca
p
ac
ity
of
b
atter
y
is
30
k
W
h
.
No
te
th
at
t
h
e
s
y
s
tem
in
(
1
)
is
a
m
u
lti
-
in
p
u
t
m
u
lti
-
o
u
tp
u
t
(
MI
MO
)
s
y
s
te
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
218
2
–
2
1
9
0
2184
Fig
u
r
e
1.
B
asic
co
n
f
ig
u
r
atio
n
of
an
is
o
lated
p
o
wer
s
y
s
tem
w
ith
p
itch
an
d
b
atter
y
c
o
n
tr
o
ller
s
Fig
u
r
e
2.
B
lo
ck
d
iag
r
am
of
b
a
tter
y
with
th
e
co
n
t
r
o
ller
3.
P
RO
P
O
SE
D
ADAP
T
I
V
E
R
O
B
US
T
CO
NT
RO
L
L
E
R
Diag
r
am
of
th
e
p
r
o
p
o
s
ed
ad
ap
tiv
e
r
o
b
u
s
t
co
n
tr
o
l
d
esig
n
is
s
h
o
wn
in
Fig
u
r
e
3.
In
th
e
p
r
o
p
o
s
ed
ad
ap
tiv
e
co
n
tr
o
l,
a
s
y
s
tem
id
e
n
tific
atio
n
tech
n
iq
u
e
an
d
th
e
r
o
b
u
s
t
co
n
tr
o
ller
d
esig
n
m
eth
o
d
ar
e
c
o
m
b
in
e
d
in
to
an
in
d
ir
ec
t
ad
ap
tiv
e
c
o
n
tr
o
ller
d
esig
n
[
2
1
]
,
[
2
2
]
.
T
h
e
id
e
n
tifi
ed
m
o
d
el
is
u
s
ed
to
m
o
n
it
o
r
d
i
s
cr
ep
an
cy
b
etwe
en
th
e
ac
tu
al
p
o
wer
s
y
s
tem
o
u
tp
u
t
an
d
th
e
e
x
p
ec
ted
o
u
t
p
u
t
(
m
o
d
el
o
u
t
p
u
t)
.
T
h
e
n
ew
s
et
of
c
o
n
tr
o
ller
p
ar
am
eter
s
is
d
eter
m
in
ed
to
a
d
ap
t
to
t
h
e
n
ew
s
itu
atio
n
wh
en
a
lar
g
e
d
is
cr
ep
an
cy
is
d
etec
ted
.
T
h
e
r
o
b
u
s
t
co
n
tr
o
l
d
esig
n
is
ap
p
lied
to
g
u
ar
a
n
tee
r
o
b
u
s
tn
ess
of
co
n
tr
o
ller
.
T
h
e
s
ev
er
al
g
iv
en
id
en
tifie
d
m
o
d
els
an
d
co
r
r
esp
o
n
d
in
g
co
n
tr
o
ller
p
ar
am
eter
s
will
be
s
to
r
ed
in
m
em
o
r
y
,
so
th
at
we
h
av
e
m
o
d
el
a
n
d
c
o
n
tr
o
ller
b
a
n
k
s
.
T
h
e
m
o
d
el
an
d
co
n
tr
o
ller
b
an
k
h
a
v
e
an
ad
v
an
tag
e,
th
e
s
y
s
tem
re
-
u
s
es
th
em
in
th
e
s
im
ilar
s
itu
atio
n
s
with
o
u
t
m
o
d
e
l
id
en
tific
atio
n
an
d
co
n
tr
o
ller
p
ar
am
eter
s
re
-
tu
n
in
g
.
T
h
e
g
o
al
of
s
y
s
tem
id
e
n
tific
atio
n
is
to
ch
ar
ac
te
r
ize
th
e
d
y
n
am
ic
in
p
u
t
-
o
u
tp
u
t
r
elati
o
n
of
th
e
u
n
d
er
ly
i
n
g
p
r
o
ce
s
s
[
2
2
]
-
[
2
4
]
.
In
th
is
s
tu
d
y
,
o
u
tp
u
t
er
r
o
r
(
O
E
)
id
en
tific
atio
n
m
eth
o
d
is
u
s
ed
to
co
n
s
tr
u
ct
th
e
esti
m
ated
m
o
d
el
of
each
g
en
e
r
ato
r
b
ec
au
s
e
th
e
OE
m
o
d
el
is
ea
s
ily
co
m
p
u
t
ed
,
f
am
iliar
ly
u
s
ed
an
d
h
as
h
ig
h
ac
cu
r
ac
y
.
To
co
n
s
id
er
t
h
e
r
o
b
u
s
t
co
n
tr
o
l,
th
e
in
v
er
s
e
ad
d
iti
v
e
p
er
tu
r
b
atio
n
is
ap
p
lied
in
t
h
is
s
tu
d
y
[
2
5
]
,
[
2
6
]
.
By
m
in
im
izin
g
‖
(
)
/
(
1
+
(
)
(
)
)
‖
∞
,
th
e
r
o
b
u
s
t
s
tab
ilit
y
v
alu
e
of
th
e
clo
s
e
d
-
lo
o
p
s
y
s
tem
is
n
ea
r
o
p
tim
u
m
.
E
ac
h
s
tep
of
th
e
p
r
o
p
o
s
ed
m
e
th
o
d
f
o
r
m
o
d
el
id
e
n
tific
atio
n
,
an
d
a
d
ap
tiv
e
r
o
b
u
s
t
co
n
t
r
o
ller
d
esig
n
is
ex
p
lain
ed
as
s
h
o
wn
in
:
−
Step
1.
C
o
m
p
ar
is
o
n
of
th
e
r
ea
l
s
y
s
tem
an
d
th
e
esti
m
ated
m
o
d
el
:
In
th
is
s
tep
,
th
e
o
u
tp
u
t
s
ig
n
al
of
b
o
t
h
th
e
r
ea
l
a
n
d
th
e
esti
m
ated
s
y
s
tem
ar
e
co
m
p
a
r
ed
as
'
m
is
m
atch
er
r
o
r
'
an
d
th
e
esti
m
ated
m
o
d
el
will
be
u
p
d
ated
wh
en
e
v
er
th
e
m
is
m
atch
ex
ce
ed
s
p
r
ed
ete
r
m
in
e
d
b
o
u
n
d
(
Δε
).
W
h
en
th
e
o
p
er
atin
g
c
o
n
d
itio
n
of
th
e
r
ea
l
s
y
s
tem
move
to
a
n
ew
co
n
d
itio
n
an
d
th
e
m
is
m
atch
ex
ce
ed
s
th
e
p
r
ed
eter
m
in
e
d
b
o
u
n
d
,
th
e
s
y
s
tem
will
lo
o
k
at
m
em
o
r
y
to
ch
ec
k
th
e
av
ailab
ilit
y
of
t
h
e
m
atch
in
g
esti
m
ated
m
o
d
el.
If
th
e
m
e
m
o
r
y
h
as
th
e
m
atch
in
g
esti
m
ated
m
o
d
el,
th
en
th
e
s
y
s
tem
will
re
-
u
s
e
it
d
ir
ec
tly
with
o
u
t
m
o
d
el
id
e
n
tific
atio
n
an
d
co
n
tr
o
ller
p
ar
a
m
eter
s
tu
n
in
g
.
Oth
er
wis
e,
th
e
s
y
s
tem
will
d
ev
elo
p
a
n
ew
esti
m
ated
m
o
d
el
an
d
tu
n
e
co
n
tr
o
ller
p
ar
a
m
eter
.
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:
2
0
8
8
-
8
694
A
d
a
p
tive
r
o
b
u
s
t c
o
n
tr
o
l d
esig
n
to
en
h
a
n
ce
s
ma
r
t g
r
id
p
o
w
er sys
tem
…
(
K
h
a
md
a
Herb
a
n
d
o
n
o
)
2185
−
Step
2.
Dev
elo
p
a
n
ew
esti
m
ated
m
o
d
el
:
A
n
ew
esti
m
ated
m
o
d
el
is
d
ev
elo
p
ed
u
s
in
g
o
u
tp
u
t
er
r
o
r
(
OE
)
s
y
s
tem
id
en
tific
atio
n
so
t
h
at
th
e
m
is
m
atch
er
r
o
r
be
less
th
an
or
s
am
e
as
s
p
ec
if
icatio
n
.
−
Step
3.
Par
am
eter
s
tu
n
in
g
of
PI
co
n
tr
o
ller
Par
am
eter
s
of
th
e
‘
v
ir
tu
al
c
o
n
tr
o
ller
’
b
ased
on
th
e
n
ew
esti
m
ated
m
o
d
el
will
be
tu
n
e
d
by
in
cr
ea
s
in
g
th
e
d
am
p
in
g
r
atio
of
th
e
d
o
m
in
a
n
t
m
o
d
e
of
th
e
p
o
we
r
s
y
s
tem
an
d
co
n
s
id
er
i
n
g
s
y
s
tem
u
n
c
er
tain
ties
.
T
h
e
s
tr
u
ctu
r
e
of
c
o
n
tr
o
ller
is
s
h
o
wn
in
(
4
)
-
(
6
)
:
PI
co
n
tr
o
ller
:
=
+
,
(
4
)
W
h
er
e
:
K
P
is
a
co
n
tr
o
ller
g
ain
of
PI
co
n
tr
o
ller
.
K
I
is
an
in
teg
r
al
p
ar
am
eter
of
PI
co
n
tr
o
ller
.
T
h
e
f
o
llo
win
g
o
p
tim
izatio
n
p
r
o
b
lem
is
ap
p
lied
to
tu
n
e
c
o
n
tr
o
ller
p
ar
am
eter
s
,
Min
im
ize
+
)
1
/(
GK
G
(
5
)
Su
b
ject
to
spec
,
spec
(
6
)
T
h
is
o
p
tim
izatio
n
p
r
o
b
lem
is
s
o
lv
ed
by
m
eta
-
h
e
u
r
is
tic
m
eth
o
d
(
g
en
etic
alg
o
r
ith
m
)
[
2
7
]
.
−
Step
4.
Sto
r
e
th
e
n
ew
co
n
tr
o
ller
p
ar
am
eter
s
an
d
th
e
n
ew
esti
m
ated
m
o
d
el
a
n
d
in
th
e
m
em
o
r
y
.
Af
ter
th
e
n
ew
c
o
n
tr
o
ller
p
a
r
a
m
eter
is
s
u
cc
ess
f
u
lly
to
im
p
r
o
v
e
th
e
r
o
b
u
s
tn
ess
an
d
p
er
f
o
r
m
an
ce
of
t
h
e
s
y
s
tem
,
th
e
n
ew
co
n
tr
o
ller
p
ar
am
eter
s
an
d
th
e
n
ew
esti
m
ate
d
m
o
d
el
a
n
d
will
be
s
to
r
ed
in
t
h
e
m
em
o
r
y
to
be
u
s
ed
in
th
e
s
im
ilar
o
p
er
atin
g
co
n
d
itio
n
in
th
e
f
u
t
u
r
e
with
o
u
t
m
o
d
el
id
en
tific
atio
n
an
d
co
n
tr
o
ller
p
ar
am
eter
s
tu
n
in
g
.
−
S
t
e
p
5.
A
p
p
l
y
t
h
e
n
ew
c
o
n
t
r
o
l
le
r
p
a
r
a
m
e
t
e
r
s
to
t
h
e
r
e
a
l
c
o
n
t
r
o
l
l
e
r
in
t
h
e
a
ct
u
a
l
s
y
s
te
m
,
a
n
d
r
et
u
r
n
to
s
t
e
p
1
.
Fig
u
r
e
3.
Ar
c
h
itectu
r
e
d
iag
r
a
m
of
p
r
o
p
o
s
ed
in
d
ir
ec
t
a
d
ap
tiv
e
co
n
tr
o
l
4.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
4
.
1
.
Wind
cha
ra
ct
er
is
t
ic
in
Yo
g
y
a
k
a
rt
a
,
I
nd
o
nes
ia
Fig
u
r
e
4
s
h
o
ws
s
am
p
le
of
win
d
s
p
ee
d
in
Yo
g
y
a
k
ar
ta
f
o
r
a
week
f
r
o
m
Mo
n
d
a
y
to
T
h
u
r
s
d
ay
.
T
h
e
win
d
s
p
ee
d
s
ar
e
m
ea
s
u
r
ed
at
50
m
ab
o
v
e
th
e
g
r
o
u
n
d
.
W
in
d
d
ata
s
h
o
ws
th
at
I
n
d
o
n
esia
esp
ec
ially
Yo
g
y
ak
a
r
ta
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
218
2
–
2
1
9
0
2186
h
as
win
d
s
p
ee
d
a
v
er
ag
e
b
et
wee
n
4
-
6
m
/s
,
r
ea
lly
in
co
n
tr
ast
to
r
an
g
in
g
E
u
r
o
p
e
s
tate
with
in
9
-
12
m
/s
.
Ho
wev
er
,
th
e
win
d
f
l
u
ctu
atio
n
at
Yo
g
y
a
k
ar
ta
is
v
er
y
e
x
tr
em
e.
To
o
v
er
co
m
e
th
e
in
ter
m
itten
t
of
win
d
ch
ar
ac
ter
is
tics
,
th
is
p
ap
er
p
r
esen
ts
ad
ap
tiv
e
r
o
b
u
s
t
co
n
tr
o
l
d
esig
n
to
en
h
an
ce
s
m
ar
t
g
r
id
p
o
wer
s
y
s
tem
s
tab
ilizatio
n
.
4
.
2
.
Dev
el
o
p
estim
a
t
ed
m
o
d
el
First,
id
en
tific
atio
n
s
y
s
tem
s
h
o
u
ld
be
a
p
p
lied
to
co
n
s
tr
u
ct
esti
m
ated
m
o
d
el.
In
t
h
is
s
tu
d
y
,
th
e
esti
m
ated
m
o
d
el
is
r
ep
r
esen
te
d
by
a
tr
an
s
f
er
f
u
n
ctio
n
of
5
th
o
r
d
er
i
d
en
tical
to
th
e
o
r
d
er
of
th
e
is
o
lated
p
o
wer
s
y
s
tem
m
o
d
el.
T
h
e
p
er
io
d
of
d
ata
s
et
wh
ich
be
u
s
ed
in
th
e
id
en
tific
atio
n
s
y
s
tem
is
60
s.
T
h
e
d
if
f
er
en
t
s
et
of
d
ata
is
u
s
ed
to
v
alid
ate
th
e
esti
m
ated
m
o
d
el.
T
h
e
s
im
u
latio
n
r
esu
lts
of
an
g
u
lar
v
elo
ci
ty
d
ev
iatio
n
u
s
in
g
v
alid
atio
n
d
ata
is
s
h
o
wn
in
F
ig
u
r
e
5
.
T
h
e
s
im
u
latio
n
r
esu
lt
co
n
f
ir
m
s
t
h
at
th
e
e
r
r
o
r
b
et
wee
n
th
e
m
ea
s
u
r
ed
o
u
tp
u
t
of
th
e
r
ea
l
s
y
s
tem
an
d
th
e
esti
m
ated
m
o
d
el
ar
e
s
m
aller
th
an
s
p
ec
if
icatio
n
,
wh
er
e
t
h
e
esti
m
ated
m
o
d
el
f
it
is
9
3
.
1
4
%
.
T
h
e
r
esu
lt
s
s
h
o
w
th
at
th
e
esti
m
ated
m
o
d
el
h
a
s
a
s
im
ilar
ch
ar
ac
ter
is
tic
with
t
h
e
r
ea
l
s
y
s
tem
.
Fig
u
r
e
4.
W
in
d
c
h
ar
ac
ter
is
tics
at
Yo
g
y
ak
a
r
ta,
I
n
d
o
n
esia
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:
2
0
8
8
-
8
694
A
d
a
p
tive
r
o
b
u
s
t c
o
n
tr
o
l d
esig
n
to
en
h
a
n
ce
s
ma
r
t g
r
id
p
o
w
er sys
tem
…
(
K
h
a
md
a
Herb
a
n
d
o
n
o
)
2187
Fig
u
r
e
5.
Valid
atio
n
of
esti
m
a
ted
m
o
d
el
4
.
4
.
Co
ntr
o
ller
pa
ra
m
e
t
er
t
un
ing
B
ased
on
th
e
n
ew
e
s
tim
ated
m
o
d
el,
PI
co
n
tr
o
ller
p
ar
a
m
eter
s
ar
e
t
u
n
ed
u
s
in
g
th
e
p
r
o
p
o
s
ed
r
o
b
u
s
t
co
n
tr
o
l
d
esig
n
.
In
th
e
o
p
tim
i
za
tio
n
,
th
e
r
an
g
es
of
s
ea
r
ch
p
ar
am
eter
s
ar
e
s
et
as
s
h
o
wn
in
:
,
d
esire
d
d
am
p
in
g
r
atio
,
is
s
et
as
0.
3
,
,
d
esire
d
r
ea
l
p
ar
t,
is
s
et
as
-
0.
3.
K
P,
i,
min
an
d
K
P,
i,
max
,
m
in
i
m
u
m
an
d
m
ax
im
u
m
g
ain
s
of
p
itch
an
d
b
atter
y
co
n
t
r
o
ller
,
ar
e
s
et
as
1
an
d
30
0,
K
I,
i,
min
an
d
K
I,
i,
max
,
m
in
im
u
m
an
d
m
ax
im
u
m
in
teg
r
al
p
ar
am
eter
of
p
itch
a
n
d
b
atter
y
co
n
tr
o
ller
,
ar
e
s
et
as
0
.
0
1
a
n
d
40
.
Mo
r
eo
v
e
r
,
th
e
GA
p
ar
am
eter
s
ar
e
s
et
as
s
h
o
wn
in
:
cr
o
s
s
o
v
er
p
r
o
b
ab
ili
ty
is
0
.
9
,
m
u
tatio
n
p
r
o
b
ab
ilit
y
is
0
.
0
5
,
p
o
p
u
latio
n
s
ize
is
100
an
d
m
ax
im
u
m
g
en
er
atio
n
is
100.
In
s
im
u
lati
o
n
s
tu
d
ies,
th
e
p
er
f
o
r
m
an
ce
a
n
d
r
o
b
u
s
tn
ess
of
th
e
p
r
o
p
o
s
e
d
PI
co
n
t
r
o
ller
s
ar
e
co
m
p
ar
ed
with
th
o
s
e
of
PI
-
co
n
tr
o
ller
[
7
]
.
4
.
5
.
Appl
y
t
he
new
co
ntr
o
lle
r
pa
ra
m
et
er
s
to
t
he
a
ct
ua
l
c
o
ntr
o
ller
T
h
e
ef
f
ec
tiv
en
ess
,
p
er
f
o
r
m
a
n
ce
,
an
d
r
o
b
u
s
tn
ess
of
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
s
ar
e
ex
a
m
in
ed
by
s
im
u
latio
n
s
tu
d
ies
u
n
d
er
t
h
r
ee
o
p
er
atin
g
c
o
n
d
itio
n
s
as
s
h
o
wn
as
s
h
o
wn
in
:
−
C
ase
1:
Step
in
p
u
t
of
win
d
p
o
wer
In
ca
s
e
1
,
s
tep
in
c
r
ea
s
e
of
0
.
0
1
pu
on
th
e
s
y
s
tem
b
ase
of
3
0
0
k
W
in
th
e
win
d
p
o
wer
i
n
p
u
t
an
d
lo
ad
ch
an
g
e
a
r
e
ap
p
lied
to
th
e
s
y
s
tem
at
t
=
5
.0
s.
Fig
u
r
e
6
s
h
o
w
s
th
e
s
y
s
tem
f
r
eq
u
e
n
cy
d
ev
iati
o
n
.
In
s
y
s
tem
w
ith
PI
co
n
tr
o
ller
[
7
]
,
th
e
p
ea
k
f
r
eq
u
e
n
cy
d
e
v
iatio
n
is
v
er
y
lar
g
e
an
d
t
ak
es
lo
n
g
er
tim
e
to
r
ea
ch
s
tead
y
-
s
tate.
T
h
e
r
esu
lts
s
h
o
w
th
at
th
e
p
itch
co
n
tr
o
ller
a
n
d
th
e
g
o
v
e
r
n
o
r
in
th
e
p
r
ev
io
u
s
wo
r
k
do
n
o
t
wo
r
k
well.
On
th
e
o
th
er
h
a
n
d
,
in
ca
s
e
of
th
e
C
-
PI
co
n
tr
o
ller
an
d
th
e
p
r
o
p
o
s
ed
PI
co
n
tr
o
ller
a
r
e
a
b
le
to
r
ed
u
ce
f
r
eq
u
e
n
cy
d
e
v
iatio
n
s
ig
n
if
ican
tly
.
Fig
u
r
e
6.
Sy
s
tem
f
r
e
q
u
en
c
y
d
e
v
iatio
n
ag
ain
s
t
a
s
tep
ch
a
n
g
e
of
win
d
p
o
wer
0
5
10
15
20
25
30
-1
-
0
.
5
0
0
.
5
1
1
.
5
2
2
.
5
3
x
1
0
-4
T
i
m
e
(
s
e
c
)
S
ys
t
e
m
f
r
e
que
nc
y
de
vi
a
t
i
on
(
H
z
)
P
I
C
o
n
t
r
o
l
l
e
r
[
7
]
C
-
P
I
C
o
n
t
r
o
l
l
e
r
P
r
o
p
o
s
e
d
P
I
C
o
n
t
r
o
l
l
e
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
218
2
–
2
1
9
0
2188
−
C
ase
2:
E
x
tr
em
e
o
p
er
atin
g
co
n
d
itio
n
.
T
he
s
y
s
tem
is
ass
u
m
ed
ch
an
g
e
s
u
d
d
en
ly
by
ch
an
g
in
g
t
h
e
f
l
u
id
co
u
p
lin
g
(
Kf
c)
till
50
%
of
th
e
n
o
r
m
al
v
alu
es.
Kf
c
is
ch
o
s
en
b
ec
au
s
e
Kf
c
is
th
e
m
o
s
t
s
en
s
i
tiv
e
p
ar
am
eter
in
th
e
s
y
s
tem
.
It
m
ea
n
s
th
at
th
e
co
n
tr
o
l
r
esp
o
n
s
e
of
th
e
p
o
wer
s
y
s
tem
v
er
y
s
en
s
itiv
e
to
Kf
c
ch
an
g
es.
Fig
u
r
e
7
s
h
o
ws
th
e
r
esp
o
n
s
e
of
f
r
eq
u
e
n
cy
wh
en
Kf
c
is
d
ec
r
ea
s
ed
,
it
m
ay
ca
u
s
e
th
e
er
r
o
r
(
∆ε
)
is
in
cr
ea
s
in
g
u
n
til
3
6
%.
Fig
u
r
e
7.
Sy
s
tem
r
esp
o
n
s
e
wh
en
Kf
c
is
d
ec
r
ea
s
ed
by
50%
To
r
e
d
u
ce
∆ε,
t
h
e
p
r
o
p
o
s
ed
id
en
tific
atio
n
s
y
s
tem
m
et
h
o
d
is
ap
p
lied
to
s
ea
r
ch
n
ew
esti
m
ated
m
o
d
el.
As
a
r
esu
lt,
th
e
n
ew
esti
m
ated
m
o
d
el
ac
h
iev
e
d
p
e
r
ce
n
t
er
r
o
r
(
∆ε
)
m
o
d
el
f
o
r
60
Sec
s
im
u
latio
n
s
is
d
ec
r
ea
s
ed
u
n
til
ar
o
u
n
d
1
.
8
5
%
as
s
h
o
wn
in
Fig
u
r
e
8.
B
ased
on
th
e
n
e
w
esti
m
ated
m
o
d
el,
p
itch
an
d
b
atter
y
p
ar
am
eter
s
ar
e
tu
n
ed
u
s
in
g
th
e
o
b
jectiv
e
f
u
n
ctio
n
as
m
en
tio
n
e
d
in
(
5
)
.
T
h
en
th
e
n
ew
co
n
t
r
o
ller
p
ar
a
m
e
ter
s
ar
e
ap
p
lied
to
th
e
esti
m
ated
m
o
d
el
to
ch
ec
k
th
e
r
esp
o
n
s
e
of
th
e
g
iv
en
co
n
tr
o
ller
p
ar
am
eter
s
.
T
h
e
s
y
s
tem
r
esp
o
n
s
e
of
f
r
eq
u
e
n
cy
is
s
h
o
wn
in
Fig
u
r
e
9.
T
h
e
o
v
e
r
s
h
o
o
t
of
f
r
e
q
u
en
cy
f
lu
ctu
atio
n
in
ca
s
es
of
th
e
n
ew
co
n
tr
o
ller
p
ar
am
eter
s
is
m
u
ch
lo
wer
th
an
th
at
of
co
n
tr
o
ller
s
b
ef
o
r
e
tu
n
in
g
.
Af
ter
th
at,
th
e
n
ew
p
ar
a
m
eter
s
of
co
n
tr
o
ller
s
will
be
tr
an
s
f
er
r
e
d
to
th
e
r
e
al
s
y
s
tem
.
T
h
e
s
im
u
latio
n
r
esu
lt
af
ter
r
ea
l
s
y
s
tem
u
s
es
th
e
n
ew
c
o
n
tr
o
ller
p
ar
am
eter
s
d
e
p
icts
th
at
t
h
e
r
e
s
p
o
n
s
e
of
s
y
s
tem
f
r
eq
u
e
n
cy
d
ev
iatio
n
is
im
p
r
o
v
ed
s
ig
n
if
ican
tly
.
T
h
ese
r
esu
lts
s
h
o
w
th
at
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
of
ad
ap
tiv
e
c
o
n
tr
o
l
u
s
in
g
th
e
o
n
lin
e
s
y
s
tem
esti
m
ato
r
can
be
a
p
p
lied
s
u
cc
ess
f
u
lly
f
o
r
h
y
b
r
id
win
d
-
d
iesel
p
o
wer
s
y
s
tem
ag
ain
s
t
v
ar
io
u
s
co
n
d
itio
n
s
.
Fig
u
r
e
8.
Valid
atio
n
of
esti
m
a
ted
m
o
d
el
at
e
x
tr
em
e
co
n
d
itio
n
Fig
u
r
e
9.
Sy
s
tem
r
esp
o
n
s
e
af
t
er
co
n
tr
o
l
tu
n
in
g
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:
2
0
8
8
-
8
694
A
d
a
p
tive
r
o
b
u
s
t c
o
n
tr
o
l d
esig
n
to
en
h
a
n
ce
s
ma
r
t g
r
id
p
o
w
er sys
tem
…
(
K
h
a
md
a
Herb
a
n
d
o
n
o
)
2189
5.
CO
NCLU
SI
O
N
T
h
e
ad
ap
ti
v
e
r
o
b
u
s
t
co
n
tr
o
l
to
en
h
a
n
ce
f
r
eq
u
e
n
cy
s
tab
ilit
y
in
is
o
lated
h
y
b
r
i
d
win
d
-
d
iesel
p
o
wer
s
y
s
tem
h
as
b
ee
n
p
r
o
p
o
s
ed
in
th
is
wo
r
k
.
W
ith
o
u
t
th
e
av
aila
b
ilit
y
of
all
s
y
s
tem
p
ar
am
eter
s
an
d
ex
ac
t
m
o
d
els,
s
tead
y
s
tate
d
ata
o
b
tain
ed
f
r
o
m
p
o
wer
s
y
s
tem
can
be
u
s
ed
to
co
n
s
tr
u
ct
esti
m
ated
m
o
d
el
by
em
p
lo
y
in
g
EO
id
en
tific
atio
n
s
y
s
tem
.
T
h
e
esti
m
ated
m
o
d
el
ca
n
be
u
s
ed
to
t
u
n
e
PI
p
ar
a
m
eter
s
.
To
tak
e
s
y
s
tem
u
n
ce
r
tain
ties
in
to
co
n
s
id
er
atio
n
in
th
e
PI
p
ar
am
eter
s
o
p
tim
izatio
n
,
th
e
in
v
er
s
e
ad
d
itiv
e
p
er
tu
r
b
atio
n
h
as
b
ee
n
ap
p
lied
to
r
ep
r
esen
t
u
n
s
tr
u
ct
u
r
ed
s
y
s
te
m
u
n
ce
r
tain
ties
.
To
im
p
r
o
v
e
th
e
s
y
s
tem
r
o
b
u
s
t
s
tab
ili
ty
ag
ain
s
t
s
y
s
tem
u
n
ce
r
tain
ties
,
th
e
PI
co
n
tr
o
l
ler
pa
r
am
eter
s
h
av
e
b
ee
n
a
u
to
m
atica
lly
o
p
tim
ized
by
GA.
A
n
u
m
b
er
of
s
im
u
latio
n
test
s
in
th
e
h
y
b
r
id
win
d
-
d
iesel
p
o
wer
s
y
s
tem
co
n
f
ir
m
th
at
th
e
p
r
o
p
o
s
ed
c
o
n
tr
o
l
d
esig
n
is
e
f
f
ec
tiv
e
to
s
tab
ilize
th
e
s
y
s
tem
ag
ain
s
t
v
ar
io
u
s
co
n
d
itio
n
s
in
co
m
p
ar
is
o
n
with
th
e
co
n
v
en
tio
n
a
l
co
n
tr
o
ller
with
o
u
t
co
n
s
id
er
in
g
a
d
ap
tiv
ity
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
is
r
esear
ch
was
f
u
n
d
e
d
by
a
g
r
an
t
f
r
o
m
th
e
I
n
d
o
n
esia
E
n
d
o
wm
en
t
Fu
n
d
f
o
r
E
d
u
ca
tio
n
(
L
PDP)
Min
is
tr
y
of
Fin
an
ce
I
n
d
o
n
esia,
g
r
an
t
No
.
PR
J
-
3
0
/LPDP/2
0
2
0
.
RE
F
E
R
E
NC
E
S
[1
]
T.
Ac
k
e
rm
a
n
n
,
"
Wi
n
d
p
o
we
r
in
p
o
we
r
sy
ste
m
s,"
2
nd
Ed
it
io
n
,
J
o
h
n
W
il
e
y
&
Sons
L
t
d
,
2
0
0
5
.
[2
]
M.
E
.
G
o
u
v
e
ia
a
n
d
A.
M.
M
a
to
s
,
"
E
v
a
lu
a
ti
n
g
o
p
e
ra
ti
o
n
a
l
risk
in
a
p
o
we
r
s
y
ste
m
with
a
larg
e
a
m
o
u
n
t
of
win
d
p
o
we
r,
"
J
o
u
rn
a
l
of
E
lec
tric
Po
we
r
S
y
ste
ms
Res
e
a
rc
h
,
v
o
l
.
7
9
,
p
p
.
7
3
4
-
7
3
9
,
2
0
0
9
,
d
o
i:
1
0
.
1
0
1
6
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[3
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Aru
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rn
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n
k
in
s
,
J.
E
k
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k
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il
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in
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[4
]
T.
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jy
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,
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S
a
k
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m
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to
,
N.
Ura
sa
k
i,
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F
u
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a
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sh
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F
u
ji
ta an
d
H.
S
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k
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,
"
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in
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T
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[5
]
T.
S.
B
h
a
tt
i,
A.
A
.
F
.
Al
-
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d
e
m
i,
a
n
d
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Ba
n
sa
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"
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n
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m
ics
a
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d
c
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tro
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of
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s,"
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ter
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tt
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rfiel
d
,
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8
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[7
]
S.
C.
Tri
p
a
th
y
,
M.
Ka
lan
tar,
a
n
d
N.
D.
Ra
o
,
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m
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of
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]
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k
i
,
H.
O
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a
n
d
S
.
I
wa
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to
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stu
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q
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ra
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&
Distri
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[9
]
K.
Ab
e
,
S
.
Oh
b
a
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n
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.
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to
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w l
o
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2
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IEE
E
P
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r
En
g
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n
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0
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C.
Ch
o
k
p
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n
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su
wa
n
,
"
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b
u
st
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ic
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1
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D.
S
u
tan
t
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sy
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H.
J
.
Bo
e
n
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g
a
n
d
J.
F
.
Ha
u
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r,
"
C
o
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m
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Tes
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of
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n
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3
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M
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a
n
i,
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Tsu
j
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a
n
d
Y.
M
u
ra
k
a
m
i,
"
Ap
p
li
c
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ti
o
n
o
f
s
u
p
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o
n
d
u
c
ti
n
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a
g
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t
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ra
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o
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sy
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m
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rfo
rm
a
n
c
e
,
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n
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T
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s
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Po
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4
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J.
B.
X.
De
v
o
tt
a
a
n
d
M
.G
.
Ra
b
b
a
n
i
,
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a
ti
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of
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p
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o
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d
u
c
ti
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m
a
g
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ti
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y
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in
m
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a
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h
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s,"
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v
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5
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M
.
A
b
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lam
,
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P
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rso
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(S
M
ES
)
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in
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T
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[1
6
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S.
C.
Tri
p
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y
,
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n
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m
ic
sim
u
latio
n
of
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sy
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with
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[1
7
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L.
Xia
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j
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Y.
-
J.
S
o
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g
,
a
n
d
S
.
-
B.
Ha
n
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re
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ly
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m
a
n
d
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jp
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I
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Po
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E
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&
Dr
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s
t,
Vo
l.
12
,
No
.
4
,
Dec
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b
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2
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[1
8
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T.
S
e
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jy
u
,
A.
Ue
h
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,
A.
Yo
n
a
a
n
d
T.
F
u
n
a
b
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sh
i,
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re
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e
n
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o
n
tr
o
l
b
y
c
o
o
r
d
in
a
ti
o
n
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o
l
o
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win
d
tu
r
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i
n
e
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e
n
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to
r
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n
d
b
a
tt
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ry
u
sin
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c
o
n
tro
l,
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2
0
0
9
T
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sm
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n
&
Distrib
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3
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4
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OF
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RS
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S
u
p
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s
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ra
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n
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e
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tri
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l
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g
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p
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rtme
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a
d
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a
d
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e
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rn
e
d
h
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n
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sh
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p
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Tec
h
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field
of
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tere
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in
c
lu
d
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s
sm
a
rt
g
rid
p
o
we
r
sy
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m
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e
c
tri
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.
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h
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m
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a
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b
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r
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in
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ra
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n
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on
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p
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e
r
1
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,
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9
8
1
.
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h
a
s
d
o
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h
is
M
.
En
g
.
(M
.
T.
)
De
g
re
e
in
M
e
talu
rg
y
&
M
a
teria
l
En
g
i
n
e
e
rin
g
fro
m
Un
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rsity
of
In
d
o
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in
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0
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1
a
n
d
an
B.
E
n
g
(S
.
T.
)
fro
m
M
e
c
h
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g
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g
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p
a
rtme
n
t,
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ti
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n
a
l
In
stit
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te
of
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n
o
l
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y
in
2
0
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3
.
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is
c
u
rr
e
n
tl
y
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n
g
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r
at
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e
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y
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r
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se
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t
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n
d
Ap
p
li
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ti
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of
Tec
h
n
o
l
o
g
y
.
His
field
of
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n
tere
sts
in
c
lu
d
e
s
m
a
n
u
f
a
c
tu
rin
g
a
n
d
e
n
e
rg
y
p
o
we
r
sy
ste
m
.
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