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.
11, N
o.
1, Mar
ch 20
20,
p
p.
242~
2
5
0
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v11
.
i
1.pp
2
42-
25
0
242
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//
i
j
ped
s
.
i
ae
sc
ore.
c
o
m
Ne
w mode
l
of elec
t
ric tr
ac
ti
on dr
i
ve
base
d
sliding mode
contr
o
ll
er
i
n f
i
eld-ori
e
nt
ed co
n
t
r
ol
o
f
in
d
u
c
t
io
n m
o
t
o
r
fe
d by
multile
v
e
l inver
ter
C
h
aymae
L
a
o
u
f
i
1
,
Z
o
uha
ir
S
a
d
o
u
ne
2
,
A
h
med
Abbo
u
3
, Moh
am
med
Akh
e
rraz
4
1
,
3,
4
Dep
a
rt
men
t
of
Electri
cal E
ngineer
i
n
g
,
M
oh
am
m
e
d V
Un
iv
ersit
y
,
M
o
rocco
2
Ph
ysic
s De
p
a
rt
me
nt,
I
b
n
To
f
a
il Uni
v
ersity,
Mor
o
cco
\
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
Re
ce
i
v
e
d
Ju
n
9
,
2019
R
e
v
i
s
e
d
Jul
8
,
2
019
Ac
ce
p
t
ed
No
v
1
4
,
2
019
Th
is
pap
er pres
e
nt
s a n
e
w
mo
de
l
of
e
lectri
c
tract
io
n d
r
iv
e
f
o
r
e
l
ectri
c vehicl
e.
Th
e
sli
d
in
g
m
ode
s
peed
r
egu
l
ato
r
i
nco
r
porat
ed
i
nto
Fiel
d
Ori
e
nt
e
d
C
o
n
t
r
o
l
i
s
us
ed
t
o
cont
ro
l
th
e
i
ndu
cti
o
n
m
o
t
o
r
f
e
d
by
t
he
f
i
v
e
l
e
vels
N
eut
ral
Poin
t
Clam
p
e
d
in
verter
(
N
P
C).
T
h
e
sim
u
l
a
ti
on
res
u
l
t
s
s
h
o
w
ed
t
he
h
i
gh
perf
o
r
man
ces
d
y
n
am
ics
an
d
h
i
gh
ro
bu
stn
e
ss
o
f
t
h
e
su
gg
ested
m
o
d
e
l,
t
h
a
t
a
r
e
ref
l
ect
e
d
b
y
f
a
s
t
er
s
t
a
rt
up
a
n
d
good
s
peed
t
racki
n
g
p
e
rf
orm
a
nce
s
in
t
e
r
ms
o
f
response
time,
o
scillations
a
nd
d
isturbance
r
e
j
ecti
o
n.
A
l
s
o,
a
com
p
arativ
e
st
ud
y
b
e
tween
d
iff
e
ren
t
i
nv
erter
topolog
i
es:
two
levels
i
nverte
r,
t
hree
l
e
vels
NP
C
in
verter
a
nd
f
iv
e
l
e
vel
s
N
P
C
i
nv
erter
h
a
s
been
carried
o
ut.
F
r
o
m
t
h
e
sp
ectral
an
alysis
,
th
e
fi
ve
l
ev
els
N
P
C
i
nvert
er
f
ed
d
riv
e
p
rovi
des
better
dy
nam
i
cs
o
f
voltag
e
a
n
d
c
urren
t
w
ith
r
edu
ced
t
o
t
al
h
arm
oni
c
di
st
ortion
(THD).
K
eyw
ord
s
:
Elec
tric
ve
h
ic
l
e
Indirect rotor
f
ield-oriented-
con
t
ro
l
Ind
u
ct
i
on m
o
to
r
Mu
lt
ile
ve
l in
ve
r
t
e
r
s
S
lid
ing
mode
re
g
u
l
a
t
or
Th
is
is a
n
o
p
en acces
s a
r
ti
cle u
n
d
e
r t
h
e
CC
B
Y
-S
A
li
cens
e
.
Corres
pon
d
i
n
g
Au
th
or:
Ch
ay
mae
La
ouf
i
,
D
e
pa
rtme
nt
o
f
El
e
c
t
rica
l
Eng
i
ne
eri
ng,
Mo
ham
m
e
d
V
U
nive
rsi
t
y,
The
Moha
mm
adia
S
c
h
o
o
l
o
f
En
gi
nee
r
s,
R
a
b
at,
M
o
r
o
cc
o.
Em
ail:
l
a
o
u
f
i.c
h
a
y
ma
e@
gm
ai
l.com
1.
I
N
TR
OD
U
C
TI
O
N
D
u
r
i
n
g
l
on
g
y
ear
s,
t
he
e
lec
t
ric
ve
hic
l
e
ha
s
be
en
c
ons
trai
n
e
d
b
y
l
ow
er
a
u
t
o
n
o
m
y
,
lo
ng
loa
d
ing
time
,
and
h
i
g
h
e
r
m
a
n
u
f
ac
t
u
r
i
n
g
c
o
s
t,
c
om
pare
d
t
o
t
he
t
her
m
a
l
v
eh
ic
le
.
N
ow
ada
y
s,
w
i
t
h
the
a
w
ar
eness
of
g
l
o
bal
w
a
r
m
ing
an
d
t
h
e
de
p
l
et
i
on
o
f
f
o
s
si
l
e
n
er
gy
r
esource
s
a
n
d
the
de
ve
l
opm
e
n
t
of
t
he
l
ith
i
u
m
-
io
n
ba
t
t
e
r
y
,
t
he
elec
tr
ic
v
e
h
ic
le
h
as
b
ecom
e
a
n
i
n
tere
sti
ng
o
b
j
e
c
t
o
f
st
u
dy
and
is
s
tart
i
n
g
to
b
e
m
a
rke
t
e
d
t
o
t
h
e
gener
a
l
pu
b
lic
[1-5]
.
T
he
p
ro
pu
ls
i
o
n
o
f
t
he
e
lectric
ve
h
i
c
l
e
is
e
n
s
ur
ed
by
a
n
elec
tric
t
rac
tio
n
dri
v
e
com
p
o
s
ed
o
f
e
l
e
c
tr
ic
motors
a
n
d
c
onve
r
t
ers
[6-9].
D
e
s
pi
te
t
he
a
dva
n
t
a
g
e
s
o
f
thi
s
e
l
e
c
t
ric
t
r
a
c
ti
o
n
d
ri
ve
s
uc
h
as
f
as
t
ac
ce
le
rati
on,
hi
gh
ef
fi
cie
n
c
y
o
f
e
l
ec
t
r
i
c
m
o
t
ors,
i
t
re
ma
i
n
s a
l
e
ver for
im
pr
ovem
e
n
t
t
o boos
t
the
pe
rform
a
nc
es
o
f
t
h
e
t
o
rque
and
the
spee
d con
t
ro
l a
n
d fur
t
he
r m
i
nimize
t
he
v
ibr
a
t
i
ons.
Rese
arc
h
ers
ar
e
cons
ta
nt
ly
e
x
p
lor
i
n
g
t
he
i
mpr
o
ved
mo
de
ls
o
f
e
l
e
ct
ri
c
t
r
ac
t
i
o
n
d
r
iv
es
.
Th
e
in
du
cti
on
ma
chine
fe
d
b
y
t
w
o
l
e
v
e
l
i
nv
er
t
e
rs
i
s
wid
e
l
y
u
se
d
to
p
ro
p
e
l
an
e
l
ec
t
r
i
c
v
e
h
i
c
le
[
1
0
,
11].
H
o
w
e
ver,
t
his
mod
e
l
pos
es som
e li
m
i
ta
ti
o
n
s suc
h
a
s:
t
h
e
v
o
l
ta
ge
s
tre
s
se
s
e
xpe
rie
n
ce
d
b
y
t
he
s
w
i
tc
hes
g
e
ner
a
te
d
b
y
t
h
e
d
i
r
ect
vo
lta
ge
a
nd
t
he
g
e
n
e
r
at
io
n
of
v
ol
ta
ge
w
ave
s
w
ith
h
ar
m
oni
c
dis
t
o
r
t
ion,
w
hi
c
h
c
auses
increased
motor
harm
on
ics di
st
ort
i
o
n
l
osse
s
and
ac
o
u
stic
n
o
i
se
d
urin
g
ste
a
dy-s
t
ate
o
p
era
tio
n.
I
n
o
r
de
r
to
i
m
p
ro
ve
t
h
e
perform
ance
s
of
t
h
i
s
e
l
e
c
t
ric
trac
t
i
on
d
rive
m
ode
l,
t
he
a
u
t
h
o
rs
i
n
[1
2]
p
rop
o
se
t
he
u
se
o
f
t
h
e
D
i
r
e
c
t
F
ie
ld
Ori
e
n
t
ed
C
o
n
t
ro
l
(DFO
C
)
o
f
i
ndu
cti
o
n
moto
r
po
we
re
d
by
th
e
fi
v
e
le
v
e
l
s
n
e
u
tra
l
p
oi
nt
i
nve
r
t
er
f
or
e
l
e
ctric
loc
o
m
o
ti
ve.
I
n
[
1
3
],
t
he
a
u
t
h
o
rs sug
ges
t
a
c
om
par
a
t
i
ve s
tu
dy o
f
t
w
o
i
n
v
erter
to
po
log
i
es
:
fi
ve
l
eve
l
s
a
n
d
seve
n
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
Ne
w m
o
de
l of
ele
c
t
r
i
c
t
r
ac
t
i
on
dr
i
v
e
ba
se
d s
lid
in
g m
ode
c
ont
ro
l
l
e
r
in f
i
e
l
d
-
orie
nte
d
.
..
(
Chaym
a
e
L
aouf
i
)
24
3
leve
ls
i
nve
r
t
er
f
e
e
d
i
ng
t
he
i
nduc
tio
n
ma
ch
i
n
e.
T
he
se
s
t
u
d
i
es
s
h
ow
t
he
e
ff
i
c
ie
nc
y
of
m
ul
t
i
l
e
ve
l
in
ver
t
e
r
s
to
miti
ga
te
t
he
o
s
c
il
la
t
i
o
n
s
o
f
t
h
e
t
orq
u
e
an
d
th
e
harm
oni
q
u
es
o
f
th
e
c
u
rre
n
t
wi
t
h
out
a
ny
i
mp
ro
v
e
me
nt
i
n
so
me
perform
ance
s l
i
ke
r
esp
o
n
s
e
ti
me
.
I
n
t
h
i
s
p
a
p
e
r
,
a
n
e
w
m
o
d
e
l
o
f
e
l
e
c
t
r
i
c
t
r
a
c
t
i
o
n
d
r
i
v
e
w
i
t
h
h
i
g
h
p
er
for
m
ance
s
dyna
mic
s
a
n
d
h
ig
h
rob
u
st
n
e
ss
i
s
s
u
g
g
es
te
d.
T
he
s
lid
i
ng
m
o
de
s
pe
ed
r
egu
l
a
t
or
[
1
4
-1
9]
a
p
p
l
i
e
d
to
t
he
c
on
tr
ol
c
ha
in
o
f
the
fie
l
d
orie
nte
d
c
o
n
t
ro
l
of
t
he
i
nd
uc
t
i
on
m
o
t
o
r
p
o
w
e
red
by
t
h
e
fi
ve
l
ev
e
l
s
N
e
u
t
ra
l
P
o
i
n
t
C
l
a
m
pe
d
(
N
P
C
)
invert
er
.
A
com
p
ara
t
i
v
e
st
ud
y
of
t
he
f
i
v
e
l
e
vel
s
,
t
h
e
t
h
r
e
e
le
vel
s
N
P
C
i
n
v
e
rt
e
r
s
and
t
h
e
co
nv
en
tio
n
a
l
t
w
o
l
e
v
e
ls
i
nv
ert
e
r
i
s
p
re
sent
e
d
[
20
-25
]
.
Th
is
a
r
tic
l
e
i
s
st
r
u
c
t
ured
a
s
fo
l
l
ow
s
:
t
he
f
ie
ld
o
rien
te
d
c
o
n
t
r
ol
m
od
el
i
s
p
r
e
s
e
n
t
e
d
in
t
h
e
s
e
c
ond
para
grap
h.
P
a
r
agra
p
h
s
3
an
d
4
prese
n
t
t
h
e
t
h
eor
y
o
f
var
i
o
u
s
i
n
v
e
r
ters:
t
w
o
le
ve
ls,
t
h
r
e
e
leve
l
s
a
n
d
f
i
v
e
le
ve
ls
N
P
C
i
n
v
e
r
t
e
r
s
.
T
h
e
f
i
f
t
h
p
a
r
a
g
r
a
p
h
i
n
t
r
o
d
u
c
e
s
t
h
e
s
l
i
d
i
n
g
m
o
d
e
re
gula
t
or
.
The
sim
u
l
a
tio
n
r
e
su
lt
s
w
i
l
l
b
e
dic
u
sse
d a
n
d eva
l
ua
t
e
d
in t
he
l
as
t par
a
gra
p
h.
2.
FIELD-ORIEN
T
E
D CONTROL
The
as
y
n
chr
o
n
ous
m
a
c
h
i
ne
i
s
d
i
f
f
ic
u
lt
t
o
c
o
n
tr
ol,
gi
ve
n
th
e
n
o
n
-l
in
e
a
ri
ty
o
f
it
s
mat
h
emat
i
cal
m
od
el
and
the
c
o
m
p
le
x
c
o
up
li
ng
be
tw
ee
n
t
h
e
r
o
tor
a
nd
t
h
e
s
t
at
or.
F
i
e
l
d-O
r
ien
t
e
d
C
o
n
t
r
o
l
(
F
O
C)
h
as
b
ee
n
pr
op
ose
d
in
1
97
1
by
B
l
a
sh
ke
a
s
a
n
a
ppr
opria
te
s
ol
ut
i
on
for
t
h
e
cou
p
l
i
n
g
prob
l
e
m
.
T
hi
s
com
m
a
nd
ha
s
bee
n
m
a
d
e
pos
si
b
l
e
t
h
r
oug
h
the de
ve
lo
p
m
e
n
t
of se
m
ic
on
d
u
c
t
or
t
ech
n
o
l
o
gie
s
a
nd ca
lc
ula
t
i
o
n
u
n
its (
D
S
P
)
.
The
fie
l
d
orie
nte
d
c
o
n
tr
ol
c
ons
is
t
s
o
f
ad
j
u
st
in
g
se
par
a
te
l
y
t
he
f
i
e
l
d
a
n
d
t
h
e
t
o
r
q
u
e
,
b
a
s
e
d
o
n
t
h
e
orie
nta
t
io
n
o
f
t
he
f
iel
d
.
The
c
h
o
i
ce
o
f orien
t
ati
o
n
a
x
es
c
a
n
be
m
a
d
e
acc
or
di
n
g
t
o
o
n
e
o
f
t
he fie
l
d
d
ire
c
t
i
ons of
the
ma
chi
n
e,
t
he
s
tat
o
r
fie
l
d,
t
he
r
otor
f
i
e
l
d
o
r
t
h
e
gap
fie
l
d
.
I
n
t
h
is
a
rt
ic
le,
t
h
e
I
n
d
i
r
e
c
t
R
ot
or-
F
ield
O
rien
ted
Con
t
ro
l
(IRFO
C)
a
p
p
lie
d
to
t
he
e
lec
t
r
i
c pow
e
r
t
rain
o
f
e
l
ec
tric
v
eh
ic
le
i
s
stu
d
i
ed.
T
h
e
c
o
ncep
t
of
t
h
i
s
drive
i
s
base
d
on
t
he
o
r
i
e
n
ta
t
i
o
n
o
f
t
he
r
o
t
or
f
ie
ld
Φ
r
o
n
th
e
d
i
r
e
c
t
a
x
i
s
of
t
he
P
a
r
k
re
fe
renc
e
fr
am
e
(d,
q)
.
This
c
o
n
cept
i
s
e
xp
re
sse
d
by
[
15
]:
Φ
Φ
a
nd
Φ
0
(1)
S
o
,
acc
ordi
n
g
t
o
t
h
e
i
n
d
u
c
tio
n
ma
ch
ine
mo
de
l
an
d
the
(1)
,
t
he
e
x
p
ressi
ons
o
f
the
e
l
e
c
t
rom
a
gne
tic
tor
que
a
n
d
t
he
r
ot
or fi
e
l
d
a
r
e
:
Φ
M
i
(2)
C
p
Φ
i
(3)
The
rot
o
r
fie
l
d
c
a
n the
r
efor
e o
n
l
y
be
r
e
gu
la
te
d by
the
d
i
re
ct c
ompo
ne
nt o
f t
h
e
st
a
t
or
cur
rent i
sd
and
the t
o
rq
ue
b
y t
h
e qua
drat
ure
com
p
o
n
e
n
t
of
t
he
s
t
a
tor
cur
r
ent i
sq
,
w
h
ic
h
a
r
e
c
o
mple
t
e
ly
d
e
c
o
u
p
le
d.
F
ig
ure
1
show
s a
schem
a
tic
r
epr
e
sen
t
a
t
io
n o
f
I
RF
O
C
a
ppl
ied
to
t
he e
lectr
i
c
p
o
w
e
r
t
ra
i
n
o
f el
ect
ri
c
v
e
hi
cl
e
.
F
i
gure
1.
S
chem
atic
r
epre
sent
ati
o
n of
I
RF
O
C
a
ppl
ie
d
t
o
t
he
e
l
e
c
tric
p
ow
er
t
rain
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.
11,
N
o.
1
, Ma
r
202
0
:
242
–
25
0
24
4
3.
CONVE
N
T
IONAL TW
O
LEVELS
V
OLTAGE
S
OU
RCE INVER
T
E
R
The
t
w
o
le
ve
ls
v
o
l
t
a
ge
i
n
v
e
r
t
e
r
has
bee
n
w
ide
l
y
u
s
ed
i
n
t
h
e
a
r
e
a
o
f
A
C
in
du
ct
i
o
n
mo
t
o
r
d
r
i
v
es.
Th
e
schem
a
t
i
c
r
e
pre
s
e
n
tat
i
on
of
t
he
t
w
o
l
e
v
e
l
s
inve
r
t
er
c
ircu
it
i
s
g
i
ve
n
b
y
F
i
g
ur
e
2.
I
t
cons
ists
o
f
t
h
re
e
ar
ms
(
A,
B,
C
),
e
a
c
h
c
o
mpose
d
o
f
tw
o
IG
BT
a
nd
tw
o
an
ti
para
lle
l
dio
d
e
s
.
T
he
c
o
n
tr
ol
o
f
t
h
e
sw
itc
hes
of
o
ne
a
r
m
i
s
com
p
lem
e
ntar
y.
T
ab
le
1
s
h
o
w
s
the
d
i
ffere
n
t
c
o
n
f
ig
urat
io
ns
o
f
th
e
swit
c
h
es
,
t
o
w
h
i
ch
c
o
rres
p
ond
t
h
e
v
olt
a
g
e
vec
t
or
s
app
l
ie
d
to the
m
ach
ine
.
F
i
gure
2.
S
c
h
em
atic r
epre
sent
atio
n
of t
he
tw
o
leve
l
s
in
verter
pow
er
circ
u
it
Tab
l
e
1.
S
w
itc
hi
n
g
sta
tes
for
t
w
o
le
vel
s
in
v
e
r
te
r
On
O
ff
E
/2
Of
f
On
-
E/2
4.
MULT
I
L
E
V
EL INVERT
ERS TOPO
LOGIES
4.1.
Th
r
ee-
l
e
vels in
v
e
r
te
r
The
e
l
em
en
tary
c
once
p
t
o
f
t
h
e
t
hree
l
e
v
el
s
NP
C
in
ver
t
e
r
i
s
t
o
g
ene
r
ate
a
thr
ee
le
ve
ls
o
ut
p
u
t
v
o
lta
ge
us
i
n
g
t
w
o
s
u
p
e
rim
pose
d
s
w
i
t
c
he
s
e
a
c
h
f
e
d
b
y
a
se
par
a
te
D
C
vo
lta
g
e
.
T
h
e
pow
e
r
c
ircu
it
o
f
the
t
h
ree
leve
ls
N
P
C
in
verter
(
F
i
gure
3)
c
o
n
si
sts
of
t
hree
a
rm
s
c
ons
itue
d
o
f
fou
r
swi
t
c
h
e
s
c
o
nn
ect
ed
i
n
se
ri
e
a
n
d
t
w
o
me
d
i
an
di
ode
s. E
ach
s
w
i
tc
h con
s
is
t
s
o
f a
n
IG
B
T
an
d a
n
ant
i
p
ara
l
l
e
l
dio
de.
F
i
gure
3.
S
che
m
a
t
i
c
re
p
rese
nta
t
i
o
n of t
he
t
hr
ee
leve
ls N
P
C
in
v
e
rter
powe
r
c
i
r
cu
it
Tab
l
e
2
sh
ow
s
the
on
ly
p
o
ssi
bl
e
se
q
u
e
n
ce
o
f
s
w
itc
h
c
o
mm
and
s
t
ha
t
ma
k
e
s
the
s
y
ste
m
f
u
lly
c
on
tro
lla
bl
e
a
t
three
le
vel
s
a
n
d
m
ake
s
i
t
p
o
ssib
l
e
to
e
xp
l
o
i
t
t
he
three
p
oss
i
bl
e
leve
l
s
o
f t
h
e
ou
tpu
t
v
ol
ta
ge
;0
;
.
Tab
l
e
2.
S
w
itc
hi
n
g
sta
tes for thre
e
l
e
vel
s
vo
l
t
a
ge
i
n
v
e
r
ter
S
j1
S
j2
S
j3
S
j4
V
ao
On
O
n
Of
f
O
f
f
E/2
Off
O
n
O
n
Off
0
Off
O
ff
On
O
n
-E/
2
4.2
Five
-lev
els
in
vert
er
The
thr
ee-
p
h
as
e
fi
ve
l
e
v
e
l
s
NPC
inve
rter
c
o
n
s
i
sts
o
f
t
hree
a
rm
s
a
nd
four
D
C
v
o
l
t
a
g
e
so
urc
e
s.
E
ac
h
arm
consi
t
u
ed
o
f
e
i
g
h
t
swi
t
ch
es
c
o
n
n
e
cte
d
i
n
se
ries
a
n
d
s
i
x
m
ed
ian
d
i
od
e
s
.
Eac
h
s
w
i
tc
h
c
ons
is
t
s
o
f
a
n
I
G
B
T
and
an a
n
tip
ar
alle
l d
i
o
d
e
(Fig
ure
4).
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
Ne
w m
o
de
l of
ele
c
t
r
i
c
t
r
ac
t
i
on
dr
i
v
e
ba
se
d s
lid
in
g m
ode
c
ont
ro
l
l
e
r
in f
i
e
l
d
-
orie
nte
d
.
..
(
Chaym
a
e
L
aouf
i
)
24
5
F
i
gure
4.
S
c
h
em
atic r
epre
se
nta
tio
n
of t
he
f
iv
e
l
e
vel
s
N
P
C
i
nve
r
ter
pow
er
circ
u
i
t
Tab
l
e
3
sh
ow
s
the
on
ly
p
o
ssi
bl
e
se
q
u
e
n
ce
o
f
s
w
itc
h
c
o
mm
and
s
t
ha
t
ma
k
e
s
the
s
y
ste
m
f
u
lly
c
on
tro
lla
bl
e
a
t
fi
ve
l
e
v
els a
nd
ma
kes it p
o
ss
i
b
l
e
t
o e
x
plo
i
t t
h
e
fi
ve p
oss
i
b
l
e
leve
ls
o
f t
h
e
ou
t
p
u
t
v
o
l
ta
ge
;
;
0;
;
).
Tab
l
e
3.
S
w
itc
hi
n
g
sta
tes for five
le
v
e
l
s
i
n
ve
rter
S
j1
S
j2
S
j3
S
j4
S
j5
S
j6
S
j7
S
j8
V
ao
O
n
O
n
O
n
O
n
Of
f
Of
f
Of
f
Of
f
E/2
Of
f
O
n
O
n
O
n
O
n
Of
f
Of
f
Of
f
E/4
Of
f
Of
f
O
n
O
n
O
n
O
n
Of
f
Of
f
0
Of
f
Of
f
Of
f
O
n
O
n
O
n
O
n
Of
f
-
E
/4
Of
f
Of
f
Of
f
Of
f
O
n
O
n
On
O
n
-
E
/2
5.
SLIDING
M
O
DE REGU
L
ATOR
Cla
s
s
i
ca
l
c
o
ntr
o
l
law
s
o
f
ty
p
e
P
I
a
r
e
e
ffe
ct
ive
for
co
ntro
l
lin
g
l
inear
sys
t
ems
w
i
th
c
onstant
param
e
ters
.
H
o
w
e
ve
r,
t
he
se
c
on
tro
l
l
aw
s
a
r
e
insu
ffic
ie
nt
f
or
n
o
n
l
i
n
e
a
r
sys
t
em
s,
h
avi
n
g
var
i
a
b
l
e
p
ara
m
e
t
ers
or
s
ubj
ec
t
to
di
st
urba
nces.
S
l
id
i
n
g
m
ode
c
on
tro
l
o
f
va
ri
able
s
tr
uc
tur
e
s
ys
tem
s
pr
o
v
i
de
s
a
s
o
lut
i
o
n
t
o
the
s
e
pro
b
l
e
ms.
I
t
s
impor
ta
nce
l
i
e
s
i
n
:
h
i
g
h
pre
c
is
i
o
n,
f
a
s
t
d
y
n
a
m
i
c
re
sponse
,
s
ta
b
ili
ty,
s
i
m
p
l
i
c
i
ty
o
f
de
sig
n
an
d
im
pl
e
m
e
n
t
a
t
i
on
and
ro
bus
tne
ss
t
o
v
a
r
ia
t
i
o
n
o
f
i
n
t
e
rna
l
o
r
ex
t
e
r
n
al
p
a
r
am
ete
r
s.
T
h
e
c
on
c
e
pt
o
f
th
e
sl
id
ing
mo
d
e
r
eg
u
l
a
t
or
i
s
to
c
o
nst
r
a
i
n
th
e
t
r
aj
ec
to
ri
es
o
f
t
h
e
sy
st
em
t
o
rea
c
h
a
g
i
v
e
n
surf
a
ce
,
sli
d
in
g
s
u
rface
,
a
n
d
the
n
r
em
ain
ther
e
un
t
i
l
e
q
uil
i
b
ri
u
m
poi
n
t
.
Thi
s
d
ri
v
e
i
s
don
e
i
n
t
wo
s
t
e
p
s
:
th
e
c
onve
rg
ence
t
ow
ards
t
he
s
urface
a
nd
t
h
en
t
he
s
l
i
d
i
n
g
a
l
ong
i
t
.
The
mode
l
of t
he
in
d
u
ct
io
n
mot
o
r
used t
o c
a
l
c
ul t
he
sli
di
n
g
m
od
e
con
t
ro
l [14,
15]
(
F
i
gure
5)
i
s:
i
ω
i
ϕ
ωϕ
V
(4)
ω
i
i
ωϕ
ωϕ
V
(5)
i
ϕ
ω
ω
ϕ
(6)
i
ω
ω
ϕ
ϕ
(
7
)
C
ϕ
i
ϕ
i
(
8
)
The
sl
id
i
ng s
u
rfa
ce
and
its de
r
iva
t
ive a
r
e
defi
ned
as
:
S
ω
ω
ω
(
9)
(10)
The
ex
pre
s
si
on
of the
spe
e
d
is
subs
ti
tute
d
in
(
10)
:
ω
Φ
i
ω
C
(11)
By
i
ntr
oduc
ing
th
e
c
o
n
t
r
o
l
cur
r
e
n
t
i
i
i
in
t
o (11)
, w
e
obta
i
n
:
Φ
i
Φ
i
ω
C
(12)
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.
11,
N
o.
1
, Ma
r
202
0
:
242
–
25
0
24
6
W
ith
:
i
:
Equ
i
va
l
e
n
t
c
om
ma
nd
(equi
vale
n
t
c
urrent),
it
is
a
c
ont
in
uo
us
f
u
n
c
t
i
o
n
t
h
a
t
i
s
use
d
t
o
hol
d
the
v
a
ria
b
l
e
on t
h
e
sli
d
i
n
g surfa
c
e
. I
t
is
obt
aine
d from
the
i
n
va
ria
n
ce
co
n
d
iti
ons
of
the
s
urf
a
ce.
i
:
D
i
sco
n
ti
nuou
s
c
o
mma
n
d
(d
i
s
co
nti
nuo
us
c
u
r
re
n
t
),
w
h
i
c
h
f
o
r
ce
s
t
he
t
rajec
t
ories
o
f
t
h
e
s
ys
tem
to
con
v
er
ge t
ow
a
r
ds the
s
l
i
d
i
n
g surfa
ce.
There
f
ore
, t
he
e
qu
iva
l
e
n
t
cuu
r
e
n
t is de
duc
t
e
d from the i
n
v
a
rian
ce
c
ond
i
t
i
ons o
f t
h
e
surfa
ce
(S
(
ω
)
= 0
,
0
a
nd
i
0
)
:
.
i
Φ
ω
C
(13)
The
d
i
sc
on
t
i
n
u
ous c
ur
rent is d
e
duc
te
d from
the
con
v
erge
nc
e
cond
i
tio
n
S
ω
0
:
i
K
Si
gn
S
ω
(14)
F
i
gure
5.
S
c
h
em
atic r
epre
sent
atio
n
of t
he
sl
i
di
n
g
m
ode
s
pe
ed
r
e
gu
lat
o
r
6.
SIMU
L
A
TION
R
ESULT
S
AN
D
ANALYS
I
S
To
e
xam
i
ne
t
h
e
e
ffe
ct
ive
n
ess
of
t
he
s
u
g
g
es
ted
mo
del
of
e
lec
t
r
i
c
t
rac
t
i
o
n
dri
v
e
usi
ng
the
s
l
id
ing
mode
s
pe
e
d
r
e
gula
t
or
i
n
IRF
O
C
t
o
d
r
i
ve
t
h
e
a
sync
hro
n
o
u
s
m
otor
s
u
p
p
li
ed
b
y
t
h
e
fi
ve
l
eve
l
s
NPC
i
n
ve
rter
,
a
series
o
f
sim
u
la
tio
ns
h
as
b
e
e
n
p
er
form
ed
u
sing
Ma
tla
b/S
i
m
u
lin
k.
A
f
re
quenc
y
c
a
rr
i
e
r
of
1
00
0
H
z
i
s
c
hose
n
.
The
D
C
v
o
l
ta
ge
s
o
u
rce
is
6
0
0
V
.
T
h
e
tota
l
harm
on
ic
d
i
s
tort
i
o
n
(
T
HD)
v
alues
are
m
e
a
s
ured
u
s
i
ng
t
h
e
P
o
w
e
rgui F
F
T
bloc
k
. A
com
par
a
ti
ve a
na
l
y
s
i
s betw
ee
n
t
h
e sug
g
e
s
te
d mode
l an
d
t
h
e
c
o
n
v
e
n
ti
ona
l mo
de
l
us
in
g
the
P
I
s
p
e
ed
r
egu
l
a
t
or
i
n
IR
F
O
C
to
d
rive
t
he
a
s
ync
hro
n
o
u
s
ma
ch
i
n
e
s
up
pli
e
d
by
t
wo
l
ev
el
s
i
nve
rt
er
i
s
prese
n
t
e
d.
A
t
st
a
r
t
up,
a
r
efe
r
enc
e
s
pee
d
(
REF
)
c
or
respo
n
d
i
ng
to
t
he
nom
ina
l
s
pee
d
(
147
rad
/
s)
o
f
th
e
in
duc
t
i
on
m
achi
n
e
ha
s
be
e
n
a
p
p
l
i
e
d
,
an
d
at
t
he
m
om
en
t
t
=
4s,
the
r
esisti
ve
t
orque
h
as
b
ee
n
i
n
c
r
ease
d
,
fo
l
l
ow
e
d
by
a
chan
ge
i
n th
e
dir
ect
io
n of
r
o
t
a
t
i
on
of
t
he
i
nd
u
c
t
io
n
ma
chi
n
e
at t
=8s.
A
s
s
h
o
w
n
i
n
F
i
g
u
re
6
t
o
F
i
gur
e
8,
t
he
s
ugge
st
e
d
m
o
d
e
l
u
si
ng
t
he
s
l
i
di
ng
m
o
d
e
r
e
gul
a
t
o
r
i
n
IRFO
C
w
ith
t
h
e
f
ive
l
e
vel
s
N
P
C
i
n
v
e
r
ter
pow
er
s
upp
ly
p
rese
nts
t
h
e
g
o
o
d
spe
e
d
trac
kin
g
p
e
rfo
r
m
a
n
ces
i
n
t
e
r
m
s
of
respo
n
se
time
,
o
sc
illa
t
i
o
n
s
a
n
d
d
i
s
t
ur
bance
r
e
ject
i
on.
A
s
show
n
i
n
Ta
b
l
e
4,
t
he
r
e
s
p
onse
time
,
t
he
s
ta
rt
in
g
curr
ent
a
n
d
t
h
e
tor
que
a
r
e
s
ig
n
i
fica
nt
l
y
r
educ
e
d
w
it
h
th
e
su
gge
st
ed
m
o
d
e
l
c
o
mp
a
r
e
d
t
o
th
e
c
o
nv
en
ti
onal
mode
l.
S
o,
it
c
a
n
be
c
o
n
c
l
ude
d
t
h
at
t
h
e
s
u
g
g
e
ste
d
e
lec
t
r
i
c
t
r
a
c
ti
on
dri
v
e
o
f
t
he
e
lec
t
r
i
c
v
e
hic
l
e
pr
ov
ide
s
f
aster
st
a
r
t
up
w
i
t
h
r
e
duce
d
t
or
q
u
e
a
n
d
curr
en
t
(F
igure
9
to
F
i
gure
1
2
)
.
This
m
odel
i
s
a
p
rom
i
si
ng
s
o
lu
tio
n
to
overc
ome
t
h
e
pro
b
lem
of
e
n
e
rgy
c
o
nsum
pt
io
n
o
f
t
h
e
e
lec
t
ric
ve
hi
c
l
e
a
t
s
tart
up.
I
n
a
d
d
iti
on,
t
he
u
se
o
f
t
h
e
sl
i
d
in
g
mo
d
e
r
eg
ul
a
t
o
r
m
ak
es
i
t
po
ssi
bl
e
to
r
ej
e
c
t
p
erfe
ctl
y
t
h
e
di
s
t
urba
n
c
es,
w
h
i
c
h
is
s
ui
ta
ble
to
e
nsu
r
e
th
e
road
s
afe
t
y.
O
n
t
he
o
ther
h
a
nd,
a
c
o
m
par
a
ti
v
e
a
na
l
y
si
s
be
t
w
ee
n
the
v
a
r
i
o
u
s
s
t
r
uc
ture
s
o
f
t
he
i
n
v
erte
rs
a
pp
lie
d
t
o
IRF
O
C
us
ing
t
h
e
s
l
id
ing
m
o
d
e
r
egu
l
a
t
or
i
n
te
rm
s
of
t
he
h
a
r
m
onic
d
is
t
o
r
t
i
o
n
has
be
e
n
c
a
rried
o
u
t
.
F
i
gu
re
13
to
F
ig
ure1
5
s
h
ow
t
he
pha
se
v
olta
ge
s
u
p
p
l
yi
ng
t
he
a
sy
nc
hron
o
u
s
m
oto
r
.
Thu
s
,
i
t
i
s
s
ee
n
t
h
at
by
in
c
r
e
m
e
n
ti
ng
the le
ve
l of
t
he
inver
t
e
r
,
th
e
pha
se
v
ol
ta
ge
V
an
be
c
om
es a
pp
rox
i
m
a
te
ly
s
in
uso
i
da
l.
F
r
om
t
he
s
pec
t
r
a
l
a
n
a
l
ys
i
s
o
f
th
e
sta
t
or
c
ur
rent
w
a
v
ef
orm
s
,
i
t
i
s
f
o
u
nd
tha
t
by
inc
r
em
ent
i
n
g
t
he
l
ev
e
l
of
t
he
i
n
v
e
r
ter,
t
he
r
e
s
ult
i
ng
t
o
ta
l
h
a
rm
on
i
c
d
i
s
t
o
rt
io
n
(TH
D
)
dec
r
ea
se
s.
I
t
can
t
he
refor
e
b
e
in
ferr
ed
t
h
a
t
t
h
e
fi
ve
l
e
v
el
s
in
v
e
r
t
e
r
pow
eri
n
g
the
m
o
t
o
r
pro
v
ide
s
b
e
tter
v
o
lta
ge
a
n
d
c
urr
e
nt
w
ave
f
o
r
ms
w
ith
r
e
duce
d
T
H
D
com
p
are
d
t
o th
e
conve
n
t
i
o
na
l tw
o
l
e
vel
s
and
t
h
r
ee
le
vel
s
in
v
e
r
t
e
r
s (F
igure
16 t
o
F
i
g
ur
e 18
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
Ne
w m
o
de
l of
ele
c
t
r
i
c
t
r
ac
t
i
on
dr
i
v
e
ba
se
d s
lid
in
g m
ode
c
ont
ro
l
l
e
r
in f
i
e
l
d
-
orie
nte
d
.
..
(
Chaym
a
e
L
aouf
i
)
24
7
F
i
gur
e 6.
S
peed
r
espo
nse
of e
l
e
ctr
i
c
trac
tio
n dr
ive
m
odel u
s
i
n
g slidi
n
g m
ode
r
egula
t
or
i
n IRF
O
C of
a
s
yn
c
h
rono
us mo
t
o
r
sup
pli
e
d b
y
f
i
v
e
l
e
v
e
l
s
NPC
in
verte
r
F
i
gure
7.
S
p
e
ed
r
espo
nse
of e
l
e
ctr
i
c
trac
tio
n dr
ive
m
odel
u
s
i
n
g P
I
r
egula
t
or
i
n
IR
F
O
C supp
l
i
e
d
by
con
v
e
n
t
i
ona
l t
w
o
l
e
ve
ls i
nver
t
er
F
i
gure
8.
Compa
rison
o
f
spe
e
d
r
espo
nse of t
w
o
elec
t
r
i
c
tra
ct
i
o
n
dri
v
e
models
:
(
a
)
IRF
O
C
u
si
ng
sl
id
ing
mode
re
g
u
l
a
t
or
w
it
h five
l
e
v
e
l
s N
P
C
in
ver
t
e
r
,
(b)
IRF
O
C usin
g P
I
regu
l
a
t
or w
i
t
h t
h
e
con
v
e
n
t
i
ona
l t
w
o le
ve
ls i
nver
t
er
.
F
i
gure
9.
E
l
e
ct
rom
a
gne
tic
t
or
que r
esp
o
n
s
e
o
f
elec
t
r
i
c
tra
c
t
i
o
n
dri
ve
m
ode
l
u
s
in
g
sl
i
d
i
n
g m
ode r
egula
t
or in
I
R
F
O
C
of a
syn
c
hro
n
o
u
s m
o
t
o
r
supp
li
e
d
b
y five
leve
l
s
NP
C
i
n
v
e
rt
er
Fi
g
u
r
e 10
. El
e
c
t
ro
ma
gn
et
i
c
to
r
q
u
e
re
s
po
nse
of
ele
c
tr
ic
t
r
act
io
n dri
v
e
mode
l
us
i
n
g
P
I
re
gul
a
t
or
i
n
IRF
O
C of asyn
c
hr
o
nous
m
ot
o
r
s
upp
lie
d
b
y
t
he
con
v
e
n
t
i
ona
l t
w
o
l
e
ve
ls i
nver
t
e
r
F
i
gure
1
1
.
S
t
ator
c
urr
e
nt r
esponse
of ele
c
t
ric
tra
c
ti
on
dri
v
e m
odel
usin
g sl
i
d
in
g
m
ode
re
g
u
l
a
t
or
in
IRF
O
C
of
a
s
yn
c
h
rono
us mo
t
o
r
sup
pli
e
d b
y
f
i
v
e
l
ev
els
NPC
in
verter
A
l
so,
c
o
mpa
r
i
ng
t
h
e
r
e
sp
o
n
se
s
of
t
he
s
ta
t
o
r
c
u
rre
nt
a
n
d
t
he
t
or
q
u
e
of
d
if
fere
n
t
m
ode
l
s
u
s
i
n
g
t
he
slid
i
ng
m
o
de
r
egu
l
at
or
i
n
IRF
O
C
of
a
sy
nc
hr
on
o
u
s
m
o
t
o
r
su
p
p
lie
d
by
d
i
ffe
rent
i
nv
ert
e
rs
t
o
p
o
lo
gie
s
:
the
con
v
e
n
t
i
ona
l t
w
o l
e
vel
s
i
n
v
erter
, t
he
thre
e
le
v
e
l
s N
P
C inve
r
t
er
an
d
t
he fi
v
e
l
e
ve
ls N
P
C
i
n
v
erter
,
it is
o
b
s
e
r
ved
from
t
he
F
i
g
u
r
e
9
to
F
igur
e
1
2
t
ha
t
b
y
u
sing
t
he
f
i
v
e
le
vel
s
i
n
verte
r
t
he
t
or
que
a
n
d
curre
nt
r
i
p
p
l
e
s
a
r
e
re
d
u
ced
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
242
–
25
0
24
8
F
i
gur
e
1
2
.
S
t
ator
c
ur
r
e
nt
r
espons
e
of
e
le
c
t
r
i
c
tr
a
c
t
i
o
n
d
r
i
ve
m
ode
l
u
s
i
n
g
P
I
r
egula
t
or
i
n
I
R
F
O
C
o
f
a
s
yn
c
h
rono
us mo
t
o
r
sup
pli
e
d b
y
t
h
e conv
e
n
ti
on
a
l
tw
o
l
e
vel
s
i
n
v
e
r
ter
F
i
gur
e
1
3
.
P
h
a
s
e
vo
lt
a
g
e
of
t
h
e
c
onve
n
t
i
o
na
l
tw
o
leve
ls
i
n
v
e
r
ter
Fig
u
r
e 14
.
Ph
ase v
o
ltag
e
o
f
t
h
e th
ree lev
e
ls
N
PC
in
v
e
r
t
e
r
Fi
g
u
r
e
1
5
.
Ph
a
s
e
v
o
l
t
ag
e
o
f
t
h
e
f
i
v
e
l
e
v
e
l
s
N
P
C
in
verter
F
i
gur
e
1
6
.
The
har
m
onic
spe
c
t
r
u
m
of
t
he
s
ta
tor
cu
r
r
e
nt
w
ith
t
he
con
v
e
n
t
i
ona
l
t
w
o
le
ve
ls
i
nver
t
er
F
i
gur
e
1
7
.
The
har
m
onic
sp
e
c
t
r
u
m
of t
he
s
ta
tor
cu
rr
ent with t
he
t
hree
l
e
v
e
l
s
N
PC
i
n
v
e
r
t
e
r
F
i
gur
e
1
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.
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Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
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N
:
2088-
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Ne
w m
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l of
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c
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ac
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on
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ode
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ro
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9
Tab
l
e
4.
P
erform
anc
e
c
om
p
a
rison o
f
t
wo m
o
d
el
s:
(
a)
IRFOC
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sl
i
d
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g
mode
re
gul
a
t
or
w
it
h fi
ve
le
v
e
l
s
N
P
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i
nve
rter,
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IRF
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or
w
ith
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r
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sponse
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int
146
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a
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0.
17
s
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6
s
Re
sponse
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m
e
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i
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-
146
ra
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28
s
11.
25
s
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l
e
c
t
ro
m
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gne
ti
c
to
rque
a
t
st
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r
tup
36
N
.
m
68.
58
N.m
E
l
ec
tro
m
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gne
ti
c t
o
r
que
a
t
th
e
c
h
a
n
g
e
of the
d
i
r
e
cti
on
of
r
ota
t
ion
of
t
he
m
otor
-
25.
6
2
N
.m
-
94.
1
8
N
.m
S
t
a
t
or
c
ur
re
nt
a
t
st
a
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tup
S
t
a
t
or c
urre
nt a
t
th
e
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h
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nge
o
f
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h
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direc
tion
of
r
ota
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ion
of
t
he
m
otor
11.
61
A
19.
06
A
7.
CONCL
U
S
ION
Th
is
a
rt
icle
s
u
gge
sts
a
new
mode
l
o
f
e
lec
t
ric
tra
c
t
i
o
n
d
ri
ve
o
f
e
lec
t
ric
veh
i
c
l
e
u
s
in
g
slid
i
ng
m
o
d
e
spee
d
regu
lat
o
r
a
pplie
d
to
I
RF
O
C
o
f
a
s
y
n
c
h
ro
no
us
m
ot
or
pow
e
r
ed
b
y
t
he
f
ive
le
ve
ls
n
eu
tral
p
o
i
nt
c
lam
p
ed
(NP
C
)
inver
t
e
r
.
Thi
s
m
ode
l
has
been
c
o
m
pare
d
w
i
t
h
t
he
c
o
nve
n
t
i
o
n
a
l
m
ode
l
us
in
g
t
h
e
co
nve
n
t
i
ona
l
P
I
regu
la
tor
app
l
ie
d
t
o
I
RF
O
C
o
f
as
ync
hro
n
o
u
s
m
o
t
o
r
pow
e
r
ed
by
the
c
on
ve
nt
i
ona
l
t
w
o
leve
l
s
i
n
v
e
r
t
e
r
.
In
a
d
dit
i
o
n
,
a
c
o
m
p
a
rat
i
v
e
s
t
udy
b
et
we
en
d
i
ffe
ren
t
i
nv
e
r
t
e
rs
t
op
ol
og
ies
ha
s
bee
n
m
ade
.
F
rom
the
sim
u
l
a
t
i
on
resul
t
s,
t
he
s
ug
ges
t
e
d
m
o
d
e
l
s
how
e
d
h
i
g
h
perf
orma
n
c
e
s
i
n
term
s
of
r
es
po
nse
t
i
m
e
,
o
scil
l
a
tio
ns
a
nd
di
st
urba
nce
re
je
cti
o
n.
T
he
u
se
o
f
th
e
fi
ve
l
e
v
e
l
s
N
P
C
i
nve
rt
er
pro
v
i
d
es
c
ur
r
e
nt
a
n
d
v
ol
ta
g
e
w
a
v
e
f
orm
s
w
i
t
h
a
re
d
u
ced
t
ot
al
h
armo
n
i
c di
st
o
r
t
i
o
n
.
REFE
RENCES
[1]
S
.
P
ell
e
tier
“
G
o
o
ds
D
i
s
t
r
ib
u
tion
with
E
l
ectri
c
Veh
i
cl
e
s
:
Re
v
i
ew
a
nd
R
esearch
P
erspect
iv
es,”
T
r
an
sport
a
tio
n
Sc
ie
nc
e
, Vol. 5
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,
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a
go
ian
and
F
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ari
a
siu
“
P
red
i
cti
o
n
o
f
E
lect
ric
V
ehi
c
le
R
an
g
e
:
A
Co
m
p
rehen
s
i
v
e
Rev
i
ew
o
f
Cu
rrent
I
ss
ues
and
Chall
e
ng
es,
”
Ener
gi
es
,
V
ol.
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N
o
.
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p
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n
g
,
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i
an
d
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a
“Comparat
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ve
L
if
e
Cycl
e
En
ergy
a
nd
G
H
G
Em
issi
on
A
naly
si
s
f
o
r
BEVs
a
nd
P
hEVs
:
A
Cas
e
S
tu
dy
in
C
hi
na,
”
Ener
g
i
es
,
Vol
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1
2,
N
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p
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J
.
H
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M
.
Lang
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et
a
l
.,
“El
ect
ric
v
e
hicl
e
rental
a
nd
el
ectric
v
ehi
c
le
a
do
pti
on,
”
Res
e
arch
in
T
r
an
sport
a
tio
n
E
c
on
om
ics
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H
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Z
akaria,
M
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H
am
id,
E.
M
.
Abd
e
ll
atif
a
nd
A
.
Im
ane,
"
Rec
e
nt
A
d
van
cem
ents
a
n
d
D
evel
opm
en
ts
f
or
Elect
ric
V
e
hi
cle
T
e
ch
no
lo
gy
,"
2
0
1
9
In
ter
nat
io
nal Conference o
f
Co
mpu
t
er
Sci
e
nce an
d
R
e
newab
l
e E
n
ergies
(
I
CCSRE)
,
A
g
ad
ir,
Mo
rocco
, 20
1
9
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[6]
E
.
V
.
B
e
l
o
u
s
o
v
,
M
.
A
.
G
r
i
g
o
r
’
e
v
,
a
n
d
A
.
A
.
G
r
y
z
l
o
v
,
“
A
n
E
l
e
c
t
r
i
c
Tracti
o
n
Dri
v
e
f
o
r
Elect
ric
Vehi
cles
,”
Russian
E
l
ect
r
i
cal En
gineeri
n
g
,
Vol
.
8
8
,
N
o. 4
, pp
.
18
5-1
8
8, 20
1
7
.
[7]
J.
E
l
Ha
y
e
k,
A
.
Ge
nini
a
nd
G
.
Ska
r
p
e
towsk
i
,
"
A
l
a
b
ora
t
o
r
y
te
st
bench
f
o
r
el
ectri
cal
t
racti
o
n
dri
v
es,
"
20
08
In
ter
n
a
t
io
nal Conf
eren
c
e
on
El
ectri
cal
M
a
c
h
i
nes an
d S
y
stem
s
, W
uh
a
n
,
p
p
.
10
2
2
-1
02
6, 2
00
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[8]
S
y
chev
D
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N
aum
o
v
i
ch
N
.I.,
Kh
ayat
ov
E.S
,
“
Dyn
a
mic
and
t
echno
l
o
g
ical
t
racti
o
n
d
r
iv
e
p
a
ramet
e
rs
opt
i
mi
zation
,
”
Pr
ocedi
a
E
ngin
e
e
r
in
g
,
Vol.
1
29,
pp.
987
-99
1
,
2015.
[9]
Z
.
W
ang,
Z
.
Z
h
eng,
Y
.
Li
a
nd
G
.
Li,
“
M
o
dula
tion
and
control
str
ateg
y
f
o
r
electri
c
traction
dri
v
e
s
y
s
t
em
o
f
rail
tr
a
n
si
t
v
e
hi
c
l
e
s
,
”
D
i
a
n
g
ong
Ji
sh
u
X
u
eba
o
/
T
ransa
c
ti
on
s of Ch
ina E
l
ect
rotechn
i
ca
l S
o
ci
e
t
y,
V
o
l
.
3
1,
N
o.
2
4
,
pp.
2
2
3
-
23
2,
2
01
6.
[10]
B.
T
ab
bache,
M
.
Ben
b
o
u
zid
,
A
.
K
h
elo
u
i,
J
.
M
.
Bou
rg
eot
and
A
.
M
a
m
o
u
n
e.
“PWM
Inv
e
rter-F
ed Ind
ucti
on
M
o
t
or-
Bas
e
d E
l
ect
rical Vehi
c
les
F
a
ult-To
leran
t
Co
n
t
r
ol,
”
20
13
IEEE IE
CON
,
Vien
ne,
Au
str
i
a
.
p
p
. 82
0
4
-8
20
9, 2
01
3.
[11]
B.
M
.
Jos
h
i
and
M.
C
.
Chand
o
rk
ar,
“
T
wo
-m
ot
o
r
s
i
n
g
l
e-i
nvert
er
f
i
e
l
d
-
ori
e
nted
i
n
d
u
c
tio
n
m
ach
in
e
d
r
iv
e
dyn
am
ic
p
e
rf
orm
a
nce,
”
Sa
dha
na
,
Vol.
3
9
,
P
art
2,
pp.
3
9
1–40
7,
2
01
4.
[12]
M
.
Es-Sa
a
di
,
M.
K
ha
fa
lla
h
a
n
d
Ha
mid
Ch
a
i
k
h
y
,
“
Us
in
g
th
e
Fiv
e
-L
e
v
e
l
N
P
C
I
n
v
e
r
t
e
r
t
o
I
m
p
r
o
v
e
t
h
e
F
O
C
Co
nt
rol
of
t
h
e
Asy
nch
r
ono
us
M
achi
n
e”,
Int
e
rn
atio
nal
Jo
ur
na
l of Po
wer
El
ec
t
r
o
n
ics
an
d
Dri
ve S
y
st
em (
I
J
P
ED
S)
,
V
o
l
.
9
,
No
4
,
pp
.
1
4
5
7
-14
6
6
,
2
018.
[13]
A
.
Bendai
k
h
a
a
nd
S
.
S
aad,
“
C
o
m
parat
i
v
e
S
tu
dy
o
f
F
iv
e-Lev
e
l
an
d
S
e
v
en-L
evel
I
nv
erter
Co
nt
roll
ed
b
y
S
p
ac
e
V
ecto
r
P
ulse
W
id
th
M
od
u
l
atio
n,”
Inter
n
a
t
i
o
n
a
l J
o
u
r
na
l o
f
Power
E
l
ectr
onics
an
d
D
r
i
ve
Sys
t
em
(
I
J
P
ED
S
)
, Vo
l
. 8
,
N
o
2
,
p
p
.
7
5
5
-766,
2
0
17.
[14]
C.
L
ao
ufi,
A
.
Abb
ou
and
M
.
A
kh
erraz,“
R
eal
T
im
e
Com
p
arat
ive
An
al
ysis
o
f
Several
Intellig
ent
S
p
eed
C
ontroll
e
rs
A
p
p
l
i
e
d
to
t
he
D
irect
T
orqu
e
Co
nt
rol
of
A
s
y
n
c
hro
nou
s
M
achi
n
e,
”
Pr
oceedi
n
g
o
f
th
e Futu
r
e
T
echn
o
lo
gi
es
Con
f
e
r
e
n
c
e
(
F
T
C
) 20
18
, Adv
a
n
c
e
s
in
In
te
llig
e
n
t
Sy
ste
ms
a
n
d
Co
mpu
tin
g 88
1,
e
d
i
t
e
d
by
Ko
he
i
A
r
ai,
Rah
u
l
Bh
at
ia
a
n
d
Su
priya
Kapoo
r,
S
p
r
i
n
g
er
Na
tu
re S
w
it
zer
l
a
n
d
AG
20
19
,
V
ol
2
,
p
p.
797
-82
6
,
2
0
19.
[15]
C.
L
aouf
i,
A
.
Abb
o
u
and
M
.
A
kh
erraz,
“
Co
mparati
v
e
S
t
u
d
y
betw
een
D
iff
e
rent
S
p
eed
C
on
tro
ller
T
echni
qu
es
A
p
p
l
i
e
d
to
t
he
I
nd
irect
F
ie
l
d
-Orien
ted
Con
t
rol
of
a
n
Ind
u
ct
ion
M
a
ch
in
e-P
e
rf
o
r
m
a
nces
a
nd
L
imi
t
s
,
”
Wse
a
s
T
r
an
sa
ctio
ns on
S
y
stem
s a
nd Co
n
t
r
o
l
,
Vol.
1
0
,
pp.
3
60
-37
2
,
2
015.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
242
–
25
0
25
0
[16]
S
.
K
rim
,
S
.
Gda
i
m,
A
.
Mti
b
aa
an
d
M
.
F
.
Mim
ouni
,
"Real
tim
e
i
m
p
l
em
entat
i
on
o
f
DTC
based
on
s
lid
in
g
m
o
de
sp
eed
c
on
tro
l
l
e
r
o
f
a
n
in
du
cti
o
n
m
o
to
r,
"
20
15
16
th In
te
rn
at
io
na
l C
o
n
f
e
r
e
n
c
e
on
Sc
ie
n
c
e
s
a
nd Te
c
h
niq
u
e
s
of
Au
toma
tic
Con
t
ro
l a
nd Com
puter En
g
i
neeri
n
g
(
S
T
A
)
,
M
o
n
a
stir,
p
p
.
9
4
-
10
0,
201
5.
[17]
F
.
A
.
P
a
t
a
k
o
r
,
M
.
S
u
l
a
i
m
a
n
a
n
d
Z
.
I
b
r
a
h
i
m
,
“
S
l
i
d
i
n
g
M
o
d
e
S
p
e
e
d
Cont
rol
f
o
r
In
ducti
o
n
Motor
D
r
i
v
es
w
i
t
h
St
ate-
De
pe
n
d
e
n
t
Ga
in
M
e
t
ho
d,”
Internat
io
nal R
eview of
E
l
ectrical Eng
i
n
eeri
n
g
,
Vo
l.
8
,
N
o
8
,
p
p
.
1
44
6-145
3,
2
01
3.
[18]
S
.
A
bd
erazak
a
n
d
N
.
F
a
ri
d,
"
Co
m
p
arati
v
e
study
b
etween
S
lidi
ng
m
od
e
co
ntroll
er
a
nd
F
u
z
z
y
S
lidin
g
m
o
de
con
t
ro
ll
e
r
i
n
a
s
p
eed
c
o
n
t
r
ol
f
o
r
d
ou
bl
y
f
e
d
in
d
u
ctio
n
m
o
t
o
r,
"
20
16
4
t
h
In
ter
n
a
t
i
onal Confer
ence on
Co
nt
ro
l
En
gi
neeri
ng
&
In
for
m
ati
o
n
T
echn
o
lo
gy
(CE
I
T)
,
H
a
m
ma
me
t,
2
01
6.
[19]
L.
N
anda,
et al.
,
"A
c
omparative
st
udies
o
f
di
f
f
e
rent
t
opologies
o
f
multi-
level
i
n
v
erter
with
S
IMULINK
,"
20
17
IEEE Inter
national Con
f
erenc
e
on
Invent
i
ve Systems
and Con
t
rol
,
2
01
7.
[20]
M
.
R
a
s
heed
,
R.
O
m
a
r
an
d
M.
S
u
l
aiman
,
“
Design
a
n
d
D
ev
elo
p
m
e
nt
M
u
lt
il
evel
I
nv
erter
Based
o
n
M
o
d
u
l
atio
n
Ind
e
x
(M
a)
f
o
r
Harm
o
nic
Reduct
i
o
n
,
”
W
o
rld
Appl
ied
Sc
i
e
nces
Jou
r
na
l
,
Vol
3
4
,
pp
.
7
6
0
-7
89
,
2016
.
[21]
K.
S
aty
a
narayan
a
,
B.
A
njan
eyul
u
and
K.
S
iv
a
Pras
a
d
,
“P
erf
o
rmanc
e
Im
p
r
ovem
e
n
t
o
f
M
u
lti
Level
In
verter
f
ed
Vect
or
C
o
n
t
r
olled Ind
u
cti
o
n
M
o
tor
D
r
iv
e
f
o
r Low
S
p
eed
O
perati
on
s,”
In
te
rn
at
io
na
l
J
o
urna
l o
f
P
o
we
r Ele
c
t
ron
i
c
s
an
d D
r
i
ve Sys
t
e
m
(
I
JPE
D
S
)
, Vo
l
.
4
,
No
. 1
,
p
p
. 5
1-6
0
, 20
1
4
.
[22]
N
.
A
.
Y
u
s
o
f
,
N
.
M
.
S
a
p
a
r
i
,
H
.
M
o
k
h
l
i
s
a
n
d
J
.
S
e
l
v
a
r
a
j
,
"
A
c
o
m
p
a
ra
tive
s
tu
dy
o
f
5
-
le
ve
l
and
7-level
mu
l
t
ilevel
in
vert
er
c
o
n
n
ect
ed
t
o
t
h
e
g
r
i
d
,
"
2
012
IEE
E
Int
e
rn
at
ion
a
l Con
f
eren
ce on
Power
an
d En
erg
y
(
P
ECo
n
)
,
Ki
nab
a
l
u
,
pp
.
5
42
-5
47
,
2
0
1
2
.
[23]
A.I.
M
asw
o
od,
Ooi
H.
P
.
Gabriel
and
E
ssam
A
.
A
l
-
Amm
a
r,
“
C
o
m
p
ara
ti
ve
s
t
u
d
y
o
f
mu
ltilevel
inverters
under
un
bal
a
nced
vol
tag
e
i
n
a s
i
n
g
le
D
C
lin
k,
”
IE
T Power
Elect
ro
n
i
cs
, V
ol
.
6,
N
o
8,
p
p
.
1
53
0-15
43
,
2
013.
[24]
B.
C
h
,
U
.
R.
M
udu
li
and
R.
K
.
Behera,
"Perf
o
rm
ance
Co
m
p
aris
on
o
f
F
i
v
e
-P
has
e
T
h
r
ee-Lev
e
l
N
P
C
t
o
F
i
v
e-P
h
ase
Tw
o-L
e
vel
Voltage
S
ou
rce
In
ve
rter,
"
20
18
IEEE
Inter
natio
na
l Con
f
er
ence
on
P
o
wer
El
ectr
onics,
D
r
i
ves
an
d
En
erg
y
Sys
t
em
s
(
P
EDE
S
)
,
Ch
e
n
na
i,
2
01
8
.
[25]
C.
Z
ha
n
g
,
C.
H
u,
G
.
Fa
n
g
,
H
.
Li
a
nd
Z
.
Qia
n
,
"
A
n
imp
r
ov
e
d
S
VP
WM
s
tra
t
eg
y
f
o
r
th
ree-l
e
vel
ac
t
i
v
e
N
P
C
invert
er,"
2
0
1
7
12
th
IEEE
Conferen
ce
on In
du
str
i
al
Electr
o
n
i
cs
and
Ap
plicat
io
n
s
(
I
CIEA)
,
Si
em
R
eap,
p
p
.
2
9
2
-
29
6,
2
0
17.
BIOGRAPHI
E
S
OF
AUT
HORS
Ch
a
y
m
ae
L
A
O
U
F
I
:
Was
bo
rn
i
n
Ou
azzan
e,
M
o
r
occo
,
o
n
j
u
l
ly
22,
1
9
8
1
.
R
ecei
ved
th
e
“El
ectri
cal
E
ngi
neeri
n
g
D
e
gree”
f
rom
P
o
l
y
t
echn
i
c
F
acult
y
o
f
M
o
n
s,
B
elgiu
m
i
n
20
08
.
S
h
e
is
a
r
esear
c
h
s
t
ud
ent
at
M
oham
m
a
dia
S
c
h
o
o
l
’s
o
f
E
n
g
i
neers
,
R
ab
at,
Mo
rocco
.
Hi
s
current
a
rea
o
f
i
nterest
is
rel
a
t
e
d
to
t
he
i
n
n
ov
ati
v
e
co
nt
ro
l
st
rategi
es
f
or
A
C m
achin
e
dri
ves.
Z
ouhair
SADOUNE:
W
a
s
born
i
n
SK
HI
R
A
T,
M
orocco,
on
N
ovem
ber
16,
1
9
8
4
.
Recei
ved
th
e
"
E
l
ectri
cal
E
n
e
rg
y
deg
r
e
e
"
f
ro
m
P
o
l
y
t
echn
i
c
F
a
cu
lt
y
o
f
M
ons,
Be
lgi
u
m
,
i
n
200
9.
H
e
receiv
e
d
w
i
th
h
on
ors
t
h
e
P
h
.D
.
d
e
gree
In
p
hys
ics
(Pi
ezoelect
rici
ty),
F
ac
ulty
o
f
s
c
ience,
R
abat
,
M
o
rocco
i
n
2
0
1
3
h
e
h
a
s
b
e
e
n
a
P
r
o
f
e
s
s
o
r
a
t
F
a
c
u
l
t
y
o
f
S
c
i
e
n
c
e
,
I
b
n
T
o
f
a
i
l
Uni
v
ersity
,
K
e
nitra,
M
oro
cco.
H
i
s
cu
rren
t
ar
ea
of
i
n
t
erest
is
r
elat
ed
t
o
Elect
rical
e
n
g
i
n
eerin
g,
el
ec
t
r
ical
m
ach
in
e,
p
ow
er
e
l
ectro
nics
,
p
i
ezoel
ectri
city, ren
e
wabl
e energ
y
.
A
h
m
e
d
A
B
B
O
U
:
W
a
s
b
o
r
n
i
n
A
g
a
d
i
r
,
M
o
r
o
c
c
o
,
o
n
s
e
p
t
e
m
b
e
r
1
9
,
1
9
7
3
. He
r
ecei
ved wi
th
h
o
n
o
r
s
t
h
e
P
h
.D.
d
e
gree
i
n
i
ndu
st
rial
e
l
e
ctro
nics
a
n
d
e
lec
t
rical
m
achi
nes
fro
m
Moh
a
mm
a
d
ia
S
cho
o
l
’
s
o
f
E
ngi
neers
,
R
abat
,
M
o
rocco
i
n
2
0
09.
S
in
ce
20
10
,
he
h
as
b
een
a
P
r
of
essor
o
f
P
ower
E
l
ectro
n
i
cs
an
d
E
l
ect
ric
d
r
iv
es
a
t
M
o
hammadi
a
S
c
h
o
o
l
’s
o
f
En
gin
eers,
R
ab
at
,
M
o
r
occo,
He
h
as
p
re
s
e
nt
ed
p
a
pers
a
t
nat
i
on
al
a
nd
i
ntern
a
ti
o
n
al
c
o
n
f
e
ren
ces
o
n
th
e
E
l
ectri
cal
m
ach
in
es,
P
o
w
e
r
El
ectro
ni
cs
an
d
Elect
rical
d
riv
e
s
H
i
s
current
a
re
a
o
f
i
nteres
t
is
r
el
ated
t
o
th
e
inn
o
v
a
ti
ve
c
ont
ro
l
strat
e
gi
es
f
or
A
C
m
achin
e Drives
, renew
abl
e
energ
y
Moham
m
e
d
AKHERRAZ:
G
raduat
ed
f
rom
the
Moham
m
a
dia
School
’s
o
f
En
gin
eers,
R
abat,
M
o
ro
cco
i
n
1
980.
I
n
198
3
he
w
as
g
ran
t
ed
a
F
ul
brig
h
t
s
cho
l
arsh
ip
t
o
pursue
hi
s
post-g
r
adu
a
te
studies.
He
earn
e
d
t
h
e
Ph.
D
d
eg
ree
in
1
987
from
U
W
,
Seattle.
He
j
o
i
ned
th
e
EE
d
epart
m
ent
o
f
t
h
e
M
o
ham
m
a
d
i
a
S
c
h
o
o
l
’s
o
f
En
gi
neers,
R
abat
,
M
o
rocco
,
w
h
er
e
h
e
’
s
pr
esen
tl
y
a
p
r
of
ess
o
r
of
P
o
wer
E
l
ect
ro
n
i
cs
a
nd
E
lectri
c
d
r
ives
.
He
p
ub
lish
ed
num
ero
u
s
pa
pe
rs
i
n
in
te
rn
a
t
io
na
l
jo
urn
a
ls
an
d
co
nf
erenc
e
s
.
H
is
a
reas
o
f
i
n
t
e
res
t
s
are:
P
ow
er
E
l
ectronics
,
E
lect
ric
d
r
iv
es,
Co
m
puter
M
o
d
e
li
ng o
f
Power Elect
ron
i
cs c
ircui
t
s,
s
ystems
a
nd drives
.
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