I
nte
rna
t
io
na
l J
o
urna
l o
f
P
o
w
er
E
lect
ro
nics
a
nd
Driv
e
Sy
s
t
e
m
s
(
I
J
P
E
DS)
Vo
l.
1
2
,
No
.
4
,
Dec
em
b
er
202
1
,
p
p
.
2
0
0
6
~
2
0
1
7
I
SS
N:
2088
-
8694
,
DOI
: 1
0
.
1
1
5
9
1
/i
j
p
ed
s
.
v
1
2
.i
4
.
pp
2
0
0
6
-
2
0
1
7
2006
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
p
e
d
s
.
ia
esco
r
e.
co
m
Speed con
trol in
DC and
AC d
riv
es
Reinel
B
elt
rá
n Ag
uedo
1
,
Ani
a
L
us
s
ó
n Ce
rv
a
nte
s
2
,
J
o
s
é
R
ica
rdo
Nuñez
Alv
a
re
z
3
,
Yo
la
nd
a
L
lo
s
a
s
Albu
er
ne
4
1,
2
Un
id
a
d
e
A
c
a
d
ê
m
ic
a
d
o
Ca
b
o
d
e
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a
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to
A
g
o
stin
h
o
(UA
CS
A
),
Un
iv
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rsid
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d
e
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e
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ra
l
Ru
ra
l
d
e
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b
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g
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c
o
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Bra
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il
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En
e
rg
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De
p
a
rt
m
e
n
t,
Un
iv
e
rsid
a
d
d
e
la Co
sta
(CUC),
Ba
rra
n
q
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il
la,
Co
lo
m
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ia
4
El
e
c
tri
c
a
l
En
g
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e
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rin
g
De
p
a
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n
t,
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d
T
é
c
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ica
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e
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n
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b
í
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),
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o
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Ecu
a
d
o
r
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Ma
y
22
,
2
0
21
R
ev
i
s
ed
Sep
7
,
2
0
21
A
cc
ep
ted
Sep
14
,
2
0
21
T
h
re
e
sp
e
e
d
-
c
o
n
tro
l
stra
teg
ies
f
o
r
DC
a
n
d
A
C
d
riv
e
s
a
r
e
p
re
se
n
ted
in
th
is
stu
d
y
:
a
p
ro
p
o
rti
o
n
a
l
i
n
teg
ra
l
d
e
riv
a
ti
v
e
(P
ID)
c
o
n
tr
o
l
stra
teg
y
;
a
n
in
tern
a
l
m
o
d
e
l
c
o
n
tr
o
l
(I
M
C);
a
n
d
a
sta
te
-
sp
a
c
e
c
o
n
tro
l
b
y
p
o
le
a
ss
ig
n
m
e
n
t
w
it
h
f
u
ll
sta
te
o
b
se
rv
e
r
(ES
S
O).
T
h
e
th
re
e
stra
te
g
ies
a
r
e
a
p
p
li
e
d
to
a
c
a
se
stu
d
y
,
d
e
m
o
n
stra
ti
n
g
th
e
p
o
ten
t
ial
o
f
e
a
c
h
o
n
e
.
Ex
p
e
rim
e
n
tal
id
e
n
ti
f
ica
ti
o
n
w
a
s
u
se
d
to
o
b
tain
t
h
e
d
riv
e
m
o
d
e
ls
u
se
d
f
o
r
th
e
sy
n
th
e
sis
o
f
th
e
c
o
n
tro
ll
e
rs.
T
h
e
th
re
e
stra
teg
ies
sh
o
w
e
d
sa
ti
sfa
c
to
ry
re
su
lt
s
w
h
e
n
c
o
m
p
a
re
d
w
it
h
th
e
re
q
u
irem
e
n
ts
i
m
p
o
se
d
o
n
t
h
e
sy
ste
m
,
in
a
d
d
it
i
o
n
t
o
t
h
e
g
o
o
d
re
jec
ti
o
n
o
f
d
istu
r
b
a
n
c
e
s.
Ho
w
e
v
e
r,
th
e
IM
C
stra
teg
y
sh
o
w
e
d
it
se
lf
to
b
e
a
l
it
tl
e
so
f
ter
a
n
d
w
it
h
n
o
m
a
x
i
m
u
m
o
v
e
rsh
o
o
t,
w
h
ich
in
so
m
e
c
a
se
s
a
n
d
so
m
e
a
p
p
li
c
a
ti
o
n
s
is u
su
a
ll
y
a
re
strictio
n
.
K
ey
w
o
r
d
s
:
DC
an
d
AC
d
r
iv
es
Mo
to
r
co
n
tr
o
l
P
o
le
p
lace
m
en
t
State
o
b
s
er
v
er
State
s
p
ac
e
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
J
o
s
é
R
icar
d
o
Nu
ñ
ez
A
lv
ar
ez
E
n
er
g
y
Dep
ar
t
m
e
n
t
Un
i
v
er
s
id
ad
d
e
la
C
o
s
ta
(
C
UC
)
C
alle
5
8
#
5
5
-
6
6
,
C
P
0
8
0
0
0
2
.
B
ar
r
an
q
u
illa,
A
tlá
n
tico
,
C
o
lo
m
b
ia
E
m
ail: j
n
u
n
ez
2
2
@
c
u
c.
ed
u
.
co
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
d
ev
elo
p
m
e
n
t
o
f
s
cie
n
c
e
an
d
tech
n
o
lo
g
y
h
a
s
also
in
cr
ea
s
ed
th
e
q
u
alit
y
,
ef
f
i
cien
c
y
,
a
n
d
p
r
o
d
u
ctiv
it
y
o
f
i
n
d
u
s
tr
ial
s
er
v
ices
a
n
d
p
r
o
ce
s
s
es.
Mo
d
er
n
in
d
u
s
tr
y
h
as
a
w
id
e
v
ar
iet
y
o
f
m
ec
h
an
i
s
m
s
th
a
t
r
eq
u
ir
e
s
p
ee
d
co
n
tr
o
l
at
d
if
f
e
r
en
t
p
o
in
ts
in
t
h
e
p
r
o
d
u
ctio
n
p
r
o
ce
s
s
.
T
h
ese
m
ec
h
a
n
is
m
s
ar
e
a
f
u
n
d
a
m
en
tal
r
eq
u
ir
e
m
en
t
f
o
r
r
o
tatin
g
elec
tr
ical
m
ac
h
i
n
es,
b
asicall
y
d
ir
ec
t
cu
r
r
en
t
(
DC
)
an
d
alter
n
atin
g
cu
r
r
en
t
(
AC
)
m
o
to
r
s
.
T
h
e
DC
m
o
to
r
o
f
f
er
s
f
ac
ilit
ie
s
f
o
r
s
p
ee
d
co
n
tr
o
l,
w
h
ic
h
ca
n
b
e
ac
tiv
ated
,
f
o
r
ex
a
m
p
le,
t
h
r
o
u
g
h
t
h
e
i
n
s
er
tio
n
o
f
r
esis
to
r
s
i
n
th
e
ar
m
at
u
r
e,
an
d
th
r
o
u
g
h
t
h
e
v
ar
ia
tio
n
o
f
ar
m
at
u
r
e
v
o
lta
g
e
o
r
cu
r
r
en
t
i
n
th
e
f
ield
.
T
h
ese
m
o
to
r
s
,
d
esp
ite
th
eir
li
m
itatio
n
s
in
u
s
e,
h
av
e
en
j
o
y
ed
to
tal
h
e
g
e
m
o
n
y
i
n
th
e
in
d
u
s
tr
ial
f
ield
f
o
r
d
ec
ad
es
[
1
]
.
On
th
e
o
n
e
h
a
n
d
,
th
e
co
s
t
o
f
th
e
AC
m
o
to
r
is
o
n
e
-
s
i
x
t
h
o
f
t
h
at
o
f
a
DC
m
o
to
r
o
f
th
e
s
a
m
e
p
o
w
er
a
n
d
r
eq
u
ir
es
les
s
m
a
in
te
n
a
n
ce
.
O
n
t
h
e
o
th
er
,
t
h
e
m
o
to
r
p
r
o
v
id
es
n
o
s
p
ee
d
co
n
tr
o
l
f
ac
ilit
ies,
w
h
ic
h
w
er
e
at
f
ir
s
t
ac
h
iev
ed
th
r
o
u
g
h
th
e
W
ar
d
L
eo
n
ar
d
s
y
s
te
m
,
g
iv
e
n
th
e
i
m
p
o
s
s
ib
ilit
y
o
f
i
m
p
le
m
e
n
ti
n
g
a
v
ar
iab
le
s
p
ee
d
d
r
iv
e
f
r
o
m
an
elec
tr
ical
s
y
s
te
m
o
f
co
n
s
tan
t
v
o
lta
g
e
an
d
f
r
eq
u
en
cies;
e
s
p
ec
iall
y
i
f
t
h
e
d
r
iv
e
r
m
u
s
t
b
e
o
f
h
i
g
h
r
eliab
ilit
y
an
d
ef
f
ic
ien
c
y
,
h
a
v
e
a
w
id
e
r
an
g
e
o
f
s
p
ee
d
s
an
d
m
o
d
er
ate
in
itial
co
s
ts
.
Fo
r
all
th
o
s
e
r
ea
s
o
n
s
,
t
h
e
DC
m
o
to
r
h
a
s
v
ir
t
u
all
y
b
ee
n
u
n
r
iv
aled
f
o
r
s
o
m
e
y
ea
r
s
[
2
]
,
[
3
]
.
Var
iab
le
f
r
eq
u
e
n
c
y
co
n
v
er
te
r
s
h
a
v
e
b
ee
n
i
n
tr
o
d
u
ce
d
w
i
th
t
h
e
d
e
v
elo
p
m
e
n
t
o
f
s
e
m
i
co
n
d
u
cto
r
d
ev
ices,
i
m
p
r
o
v
i
n
g
t
h
e
tech
n
i
ca
l
ch
ar
ac
ter
is
tics
o
f
th
is
t
y
p
e
o
f
d
r
iv
e
to
th
e
p
o
in
t
w
h
er
e
it
is
s
u
p
er
io
r
to
its
n
ea
r
est
r
iv
al
s
b
ec
au
s
e
it
p
er
m
i
ts
h
i
g
h
-
p
r
ec
is
io
n
,
ef
f
icien
t,
an
d
q
u
alit
y
s
p
ee
d
r
eg
u
latio
n
[
4
]
-
[
6
]
.
T
h
u
s
,
in
r
ec
en
t
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:
2088
-
8694
S
p
ee
d
c
o
n
tr
o
l in
DC
a
n
d
A
C
d
r
ives
(
R
ein
el
B
eltr
á
n
A
g
u
ed
o
)
2007
y
ea
r
s
a
w
id
e
v
ar
ie
t
y
o
f
co
n
tr
o
l
tech
n
iq
u
e
s
h
av
e
b
ee
n
d
e
v
elo
p
ed
an
d
ap
p
lied
,
s
u
ch
as,
f
o
r
ex
a
m
p
le,
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
an
d
f
ield
-
o
r
ien
ted
co
n
tr
o
l
(
FOC
)
,
w
h
i
ch
h
a
v
e
d
o
m
i
n
ated
th
e
m
ar
k
e
t
f
o
r
d
ec
ad
es [
7
]
-
[
9
]
.
T
h
e
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
er
iv
ati
v
e
(
P
I
D)
co
n
tr
o
ller
h
as
also
b
ee
n
w
id
el
y
u
s
ed
i
n
s
p
ee
d
r
eg
u
latio
n
,
i
n
co
m
b
i
n
atio
n
w
it
h
o
th
er
tech
n
iq
u
es,
s
u
ch
a
s
f
u
zz
y
lo
g
ic,
n
eu
r
al
n
et
w
o
r
k
s
,
p
r
ed
ict
iv
e
co
n
tr
o
l,
an
d
ad
ap
tiv
e
co
n
tr
o
l,
f
o
r
p
r
o
p
er
tu
n
i
n
g
o
f
s
u
ch
d
r
iv
er
s
[
1
0
]
-
[
1
4
]
.
Oth
er
m
o
r
e
m
o
d
er
n
s
p
ee
d
co
n
tr
o
l
te
ch
n
iq
u
es
h
a
v
e
al
s
o
b
ee
n
ap
p
lied
,
s
u
ch
a
s
,
f
o
r
ex
a
m
p
le,
in
ter
n
al
m
o
d
el
co
n
tr
o
l
(
I
MC),
co
n
tr
o
l
b
y
p
o
le
as
s
i
g
n
m
en
t,
m
o
d
el
-
b
ased
p
r
ed
ictiv
e
co
n
tr
o
l (
MP
C
)
,
an
d
th
e
u
s
e
o
f
s
tate
o
b
s
er
v
er
s
,
a
m
o
n
g
o
th
er
s
[
1
5
]
-
[
1
8
]
.
T
h
e
p
r
esen
t
w
o
r
k
is
b
ased
o
n
th
e
ap
p
licatio
n
o
f
s
o
m
e
co
n
tr
o
l
tech
n
iq
u
es
i
n
th
e
s
p
ee
d
co
n
tr
o
l
o
f
DC
an
d
AC
d
r
iv
es.
Firstl
y
,
s
o
m
e
th
eo
r
etica
l
asp
ec
ts
o
f
P
I
D
c
o
n
tr
o
l
s
tr
ateg
ies,
in
ter
n
a
l
m
o
d
el
co
n
tr
o
l
(
I
MC),
an
d
co
n
tr
o
l
b
y
p
o
le
ass
i
g
n
m
en
t
a
r
e
d
is
cu
s
s
ed
i
n
a
g
e
n
er
al
w
a
y
.
Si
n
ce
th
e
o
b
j
ec
tiv
e
o
f
th
e
co
n
tr
o
l
s
y
s
te
m
i
s
n
o
r
m
all
y
to
en
s
u
r
e
th
at
t
h
e
o
u
tp
u
t
f
o
llo
w
s
a
r
ef
er
en
ce
with
ze
r
o
er
r
o
r
,
it
is
,
th
er
ef
o
r
e,
a
ty
p
e
1
f
o
llo
w
er
s
y
s
te
m
;
f
i
n
all
y
,
a
co
m
p
le
te
o
r
d
er
o
b
s
er
v
er
is
co
n
s
id
er
ed
in
co
n
j
u
n
ctio
n
w
i
th
t
h
e
t
y
p
e
1
f
o
llo
w
er
s
y
s
te
m
.
A
ll
th
e
co
n
tr
o
l
s
tr
ate
g
ies
f
o
r
s
p
ee
d
co
n
tr
o
l
ar
e
s
im
u
lated
u
s
in
g
Ma
tlab
an
d
th
e
r
es
u
lt
s
ar
e
v
alid
ated
in
an
ex
p
er
i
m
e
n
tal
f
ac
ilit
y
,
in
c
lu
d
i
n
g
b
o
th
th
e
D
C
an
d
t
h
e
A
C
d
r
i
v
e
t
y
p
es.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
P
I
D
co
ntr
o
l st
ra
t
eg
y
T
h
e
P
I
D
co
n
tr
o
ller
is
th
e
m
o
s
t
p
o
p
u
lar
an
d
w
id
el
y
u
s
ed
i
n
t
h
e
i
n
d
u
s
tr
y
,
b
ec
au
s
e
o
f
its
lo
w
co
s
t,
s
i
m
p
lic
it
y
,
an
d
t
h
e
g
o
o
d
d
y
n
a
m
ic
b
eh
a
v
io
r
o
f
th
e
co
n
tr
o
lled
p
r
o
ce
s
s
w
h
e
n
p
r
o
p
er
ly
tu
n
ed
.
I
t
is
esti
m
ated
th
a
t
ab
o
u
t
9
5
%
o
f
th
e
co
n
tr
o
l
m
es
h
es
u
s
e
t
h
e
P
I
D
an
d
th
e
p
r
o
p
o
r
tio
n
al
-
i
n
te
g
r
al
(
P
I
)
[
1
9
]
,
[
2
0
]
,
w
h
ich
i
n
it
s
id
ea
l
f
o
r
m
(
I
S
A
al
g
o
r
ith
m
)
is
r
ep
r
esen
ted
b
y
(
1
)
.
(
)
=
(
)
(
)
=
(
1
+
1
+
)
(
1
)
W
h
er
e
s
is
th
e
L
ap
lace
co
m
p
lex
v
ar
iab
le,
U(
s
)
th
e
co
n
tr
o
l
s
ig
n
a
l,
E
(
s
)
th
e
ac
tin
g
er
r
o
r
,
an
d
K
P
,
T
i,
an
d
T
d
r
ep
r
esen
t th
e
p
r
o
p
o
r
tio
n
al
g
ai
n
,
th
e
i
n
te
g
r
ativ
e,
a
n
d
th
e
d
er
iv
ati
v
e
ti
m
e,
r
esp
ec
tiv
el
y
T
u
n
in
g
a
co
n
tr
o
ller
i
s
a
m
a
tter
o
f
d
eter
m
i
n
i
n
g
th
e
b
est
co
m
b
in
atio
n
o
f
p
ar
a
m
eter
s
(
K
P
,
T
i
,
T
d
)
s
o
th
at
th
e
s
y
s
te
m
w
ill
r
esp
o
n
d
as
d
e
s
ir
ed
.
Am
o
n
g
th
e
v
ar
io
u
s
t
u
n
i
n
g
m
et
h
o
d
s
,
f
o
r
ex
a
m
p
le,
ar
e
th
o
s
e
b
ased
o
n
th
e
tr
an
s
ie
n
t
r
esp
o
n
s
e,
s
u
ch
a
s
Z
i
eg
ler
-
N
ich
o
l
s
an
d
C
o
h
e
n
-
C
o
o
n
,
th
o
s
e
b
ased
o
n
co
m
p
r
eh
e
n
s
iv
e
cr
iter
ia,
s
u
c
h
as
I
A
E
an
d
I
T
A
E
,
an
d
o
th
er
m
e
th
o
d
s
b
ased
o
n
co
m
p
u
tatio
n
al
an
d
in
telli
g
e
n
t
o
p
ti
m
izat
io
n
t
ec
h
n
iq
u
es,
s
u
c
h
as
g
en
et
ic
al
g
o
r
ith
m
s
a
n
d
f
u
z
z
y
lo
g
ic
[
2
1
]
-
[
2
3
]
.
Su
ch
m
et
h
o
d
s
w
ill
n
o
t
al
w
a
y
s
g
u
ar
an
tee
ac
ce
p
tab
l
e
d
eter
m
in
at
io
n
o
f
th
e
p
ar
am
e
te
r
s
;
h
o
w
e
v
er
,
th
e
y
s
er
v
e
as
a
s
tar
tin
g
p
o
in
t
f
o
r
f
i
n
er
p
ar
am
etr
ical
ad
j
u
s
t
m
en
t
s
to
s
atis
f
y
th
e
d
esi
g
n
co
n
d
itio
n
s
.
2
.
2
.
I
M
C
co
ntr
o
l st
r
a
t
eg
y
T
h
e
in
ter
n
al
m
o
d
el
co
n
tr
o
l
(
I
MC)
s
tr
ateg
y
co
n
s
id
er
s
th
e
p
r
o
ce
s
s
m
o
d
el
as
p
ar
t
o
f
th
e
co
n
tr
o
ller
.
T
h
e
p
r
o
j
ec
t
is
b
ased
o
n
th
e
ca
n
ce
llatio
n
o
f
p
o
les
an
d
ze
r
o
s
b
ec
au
s
e
t
h
e
s
tr
u
ctu
r
e
o
f
t
h
e
co
n
tr
o
ller
co
n
tain
s
t
h
e
in
v
er
s
e
o
f
t
h
e
p
r
o
ce
s
s
m
o
d
el
[
2
4
]
-
[
2
6
]
.
Fig
u
r
e
1
s
h
o
w
s
th
e
t
y
p
ica
l b
lo
ck
d
iag
r
a
m
o
f
th
e
I
MC st
r
ate
g
y
.
Fig
u
r
e
1
.
I
MC c
o
n
tr
o
l sch
e
m
e
[
4
]
T
y
p
icall
y
,
t
h
e
I
MC c
o
n
tr
o
ller
d
esig
n
is
d
o
n
e
i
n
t
w
o
s
tep
s
u
s
i
n
g
t
h
e
m
o
d
el
f
ac
to
r
in
g
m
e
th
o
d
.
Step
1
-
No
m
i
n
al
b
eh
a
v
io
r
: T
h
e
m
o
d
el
is
d
ec
o
m
p
o
s
ed
ac
co
r
d
in
g
to
e
x
p
r
ess
io
n
(
2
)
.
(
)
=
+
(
)
−
(
)
(
2
)
W
h
er
e
G
m+
(
s
)
is
th
e
n
o
n
-
i
n
v
e
r
tib
le
p
o
r
tio
n
,
co
n
tain
in
g
t
h
e
ze
r
o
s
to
th
e
r
i
g
h
t
o
f
t
h
e
co
m
p
lex
h
a
lf
-
p
la
n
e,
t
h
e
u
n
i
t
g
ain
an
d
e
v
e
n
t
u
all
y
t
h
e
ti
m
e
d
ela
y
,
an
d
G
m
-
(
s
)
i
s
t
h
e
i
n
v
er
tib
le
p
o
r
tio
n
,
co
n
tai
n
i
n
g
t
h
e
s
tab
le
ter
m
s
o
f
t
h
e
m
o
d
el.
T
h
u
s
,
th
e
id
ea
l c
o
n
tr
o
ll
er
is
th
e
in
v
e
r
s
e
o
f
th
e
i
n
v
er
tib
le
p
ar
t o
f
th
e
m
o
d
el.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
202
1
:
2006
–
2
0
1
7
2008
Step
2
-
P
er
f
o
r
m
an
ce
a
n
d
r
o
b
u
s
t
s
tab
ilit
y
:
A
lo
w
-
p
a
s
s
f
ilt
er
is
ad
d
ed
to
th
e
id
ea
l
co
n
tr
o
ller
to
g
en
er
ate
a
p
r
o
p
er
tr
an
s
f
er
f
u
n
c
tio
n
,
s
tr
ict
l
y
s
p
ea
k
i
n
g
,
a
n
d
to
e
n
s
u
r
e
th
a
t
th
e
co
n
tr
o
ller
is
p
h
y
s
icall
y
f
ea
s
ib
le.
I
n
a
d
d
itio
n
,
u
n
w
an
ted
h
ig
h
-
f
r
eq
u
en
c
y
b
eh
av
io
r
is
av
o
id
ed
,
an
d
m
ea
s
u
r
e
m
en
t
n
o
is
e
i
s
eli
m
i
n
ated
.
T
h
e
I
MC
co
n
tr
o
ller
is
r
ep
r
esen
ted
in
(
3
)
.
(
)
=
1
−
(
)
1
(
+
1
)
(
3
)
W
h
er
e
n
is
t
h
e
o
r
d
er
o
f
th
e
f
i
lter
an
d
m
u
s
t
b
e
c
h
o
s
en
in
s
u
ch
a
w
a
y
a
s
to
g
u
ar
an
tee
t
h
at
th
e
co
n
tr
o
ller
is
it
s
o
w
n
,
w
h
ich
i
s
u
s
u
all
y
eq
u
al
to
th
e
o
r
d
er
o
f
th
e
p
r
o
ce
s
s
w
h
e
n
ev
er
th
e
p
r
o
b
le
m
s
o
f
c
h
a
n
g
e
s
i
n
t
h
e
r
ef
er
e
n
ce
ar
e
ad
d
r
ess
ed
,
an
d
T
f
is
th
e
f
ilter
s
ettin
g
co
n
s
tan
t,
w
h
ic
h
v
ar
ie
s
t
h
e
r
esp
o
n
s
e
s
p
ee
d
o
f
t
h
e
clo
s
e
d
-
lo
o
p
s
y
s
te
m
.
2
.
3
.
Co
ntr
o
l st
ra
t
eg
y
by
po
le
pla
ce
m
e
nt
T
h
e
d
esig
n
o
f
s
tate
f
ee
d
b
ac
k
c
o
n
tr
o
ller
s
ass
u
m
es t
h
at
all
s
tat
e
v
ar
iab
les ar
e
m
ea
s
u
r
ab
le
a
n
d
av
ailab
le
f
o
r
in
p
u
t
f
ee
d
b
ac
k
t
h
r
o
u
g
h
a
m
atr
ix
o
f
g
a
in
s
,
K,
w
ith
co
n
s
ta
n
t
co
ef
f
icie
n
t
s
;
s
ee
F
ig
u
r
e
2
.
T
h
is
f
ee
d
b
ac
k
m
ea
n
s
th
at
t
h
e
p
o
les
m
a
y
b
e
in
a
clo
s
ed
lo
o
p
in
th
e
d
esire
d
p
o
s
itio
n
,
as
lo
n
g
as
th
e
s
y
s
te
m
i
s
in
a
co
m
p
letel
y
co
n
tr
o
llab
le
s
tate
[
2
6
]
.
Fig
u
r
e
2
.
State
f
ee
d
b
ac
k
co
n
tr
o
l sch
e
m
e
[
2
7
]
Fro
m
th
e
F
ig
u
r
e
2
y
o
u
g
et:
(
)
(
)
=
(
)
[
−
(
)
+
(
)
]
−
1
(
)
(
4
)
W
h
er
e
K
= [
k
1
, k
2
,
,
k
n
].
T
h
e
clo
s
ed
-
lo
o
p
p
o
les
ca
n
b
e
lo
ca
ted
b
y
ap
p
r
o
p
r
iate
ad
ju
s
t
m
e
n
t
o
f
th
e
ele
m
e
n
t
s
o
f
t
h
e
m
atr
ix
K
.
I
f
th
e
d
esire
d
lo
ca
tio
n
o
f
th
e
clo
s
ed
-
lo
o
p
p
o
les is
p
1
,p
n
,
th
en
th
e
c
h
ar
ac
ter
is
tic
eq
u
atio
n
o
f
th
e
s
y
s
te
m
g
iv
e
n
i
n
(
4
)
is
:
|
−
(
)
+
(
)
|
=
(
−
1
)
…
(
−
)
=
0
(
5
)
K
m
a
y
b
e
d
eter
m
in
ed
f
r
o
m
t
h
e
eq
u
alit
y
g
i
v
en
i
n
(
5
)
.
2
.
4
.
T
y
pe
1
f
o
llo
w
er
s
y
s
t
e
m
I
n
m
an
y
p
r
ac
tical
ap
p
licatio
n
s
,
th
e
o
u
tp
u
t
o
f
th
e
co
n
tr
o
l
s
y
s
te
m
m
u
s
t
f
o
llo
w
t
h
e
d
esire
d
r
ef
er
en
ce
an
d
elec
tr
ic
d
r
iv
es
ar
e
a
ty
p
ic
al
ca
s
e
o
f
s
u
ch
s
y
s
te
m
s
.
I
f
th
e
p
r
o
ce
s
s
is
o
f
ty
p
e
0
,
th
en
it
w
il
l
f
o
r
ex
a
m
p
le
b
e
u
n
ab
le
to
f
o
llo
w
a
s
tep
t
y
p
e
r
e
f
er
en
ce
w
it
h
a
n
u
ll
er
r
o
r
.
T
h
u
s
,
it
is
co
n
v
en
ie
n
t
to
u
s
e
a
t
y
p
e
1
f
o
llo
w
er
s
y
s
te
m
s
o
th
at
th
e
s
y
s
te
m
ca
n
f
o
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u
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.
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u
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3
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T
y
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1
f
o
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s
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e
m
[
2
7
]
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:
2088
-
8694
S
p
ee
d
c
o
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tr
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l in
DC
a
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d
A
C
d
r
ives
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R
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B
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g
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2009
Fo
r
th
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2
.
5
.
F
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llo
w
er
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y
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em
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pe
1
w
it
h
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t
a
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er
v
er
I
n
p
r
ac
tice,
it
is
n
o
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co
m
m
o
n
t
o
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av
e
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th
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ate
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en
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o
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s
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v
er
)
.
I
f
all
s
tate
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ar
iab
les
ar
e
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m
ated
,
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ee
Fig
u
r
e
4
,
th
en
it i
s
a
co
m
p
lete
o
r
d
er
o
b
s
er
v
er
[
2
7
]
.
I
n
(
8
)
d
ef
in
es t
h
e
o
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ate
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f
x(
t
)
is
t
h
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v
ec
to
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o
f
s
tates
F
i
g
u
r
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4
.
T
y
p
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1
f
o
l
l
o
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r
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m
w
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t
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v
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r
[
2
7
]
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t
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t
i
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f
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m
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8
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c
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n
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a
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(
9
)
,
w
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r
K
in
th
e
as
s
i
g
n
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n
t o
f
p
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le
s
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
Nex
t,
th
e
co
n
tr
o
l
s
tr
ate
g
ies
ar
e
s
y
n
t
h
esized
,
s
i
m
u
lated
,
an
d
ex
p
er
i
m
en
ta
ll
y
v
alid
at
ed
in
an
ex
p
er
i
m
e
n
tal
i
n
s
tal
latio
n
,
i
n
cl
u
d
in
g
th
e
t
w
o
t
y
p
es o
f
d
r
iv
e
s
,
DC
an
d
AC
.
3
.
1
.
Descript
io
n o
f
t
he
ex
peri
m
e
nta
l f
a
cilit
y
Fig
u
r
e
5
s
h
o
w
s
a
b
lo
ck
d
ia
g
r
a
m
o
f
t
h
e
ex
p
er
i
m
e
n
tal
i
n
s
talla
t
io
n
,
w
h
ic
h
h
a
s
a
D
C
d
r
iv
e,
co
n
s
i
s
ti
n
g
o
f
a
DC
m
o
to
r
(
5
)
o
f
1
0
V
/
1
.
5
A
an
d
a
m
a
x
i
m
u
m
s
p
ee
d
o
f
2
5
0
0
r
p
m
,
a
tach
o
m
eter
(
6
)
,
m
o
d
el
E
5
-
600
-
5
B
Z
-
CV
-
2
.
5
,
co
u
p
led
to
th
e
m
o
to
r
,
an
d
a
p
o
w
er
a
m
p
li
f
ier
(
4
)
,
to
f
ee
d
th
e
D
C
m
o
to
r
a
n
d
to
g
i
v
e
t
h
e
s
p
ee
d
co
m
m
a
n
d
.
T
h
er
e
is
lik
e
w
i
s
e
a
n
AC
d
r
iv
e,
w
it
h
a
n
AC
m
o
to
r
(
8
)
,
th
r
ee
-
p
h
ase
in
d
u
ctio
n
,
8
0
W
/2
2
0
V,
an
d
a
m
ax
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m
u
m
s
p
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d
o
f
2
4
6
0
r
p
m
,
w
it
h
a
f
r
eq
u
en
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y
r
a
n
g
e
o
f
3
to
6
0
Hz
an
d
a
v
ar
iab
le
s
p
ee
d
d
r
iv
e
A
F5
0
2
-
A
4
0
(
7
)
,
w
h
ic
h
i
s
co
m
p
lia
n
t
w
it
h
th
e
co
n
s
ta
n
t
V
/f
r
elatio
n
s
h
ip
.
T
h
e
en
tire
in
s
t
allatio
n
is
co
n
tr
o
lled
f
r
o
m
a
c
o
m
p
u
ter
(
1
)
an
d
a
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
202
1
:
2006
–
2
0
1
7
2010
S
A
D
P
C
L
8
1
8
(
2
)
w
as
u
s
ed
,
i
n
ter
n
al
to
th
e
co
m
p
u
ter
,
w
h
ic
h
h
as
a
m
ax
i
m
u
m
d
ata
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s
f
er
r
ate
o
f
1
0
0
k
Hz.
T
h
e
in
p
u
t
-
o
u
tp
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t c
o
n
n
ec
tio
n
s
ar
e
m
ad
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g
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e
x
ter
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m
o
d
u
le
P
C
L
D8
1
1
5
(
3
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.
A
ll si
g
n
al
s
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an
g
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f
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m
0
to
1
0
V
an
d
d
ata
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an
s
f
e
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n
e
b
y
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p
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a
m
.
F
i
g
u
r
e
5
.
E
x
p
e
r
i
m
e
n
t
a
l
i
n
s
t
a
l
l
a
t
i
o
n
3
.
2
.
M
o
dels
o
f
DC
a
nd
AC
driv
es
Fo
r
th
e
s
y
n
t
h
esi
s
o
f
th
e
co
n
tr
o
l
s
tr
ateg
ie
s
,
t
h
e
d
r
iv
e
s
w
er
e
m
o
d
eled
e
x
p
er
i
m
e
n
tall
y
,
ap
p
l
y
in
g
a
1
0
V
s
tep
as
in
p
u
t,
an
d
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s
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t,
t
h
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w
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5
s
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d
s
.
T
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in
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ata
w
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f
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in
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e
Ma
tlab
I
d
en
ti
f
icat
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n
T
o
o
l
b
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x
an
d
th
e
m
o
d
el
s
f
o
r
th
e
D
C
an
d
AC
d
r
iv
es
w
er
e
o
b
tain
e
d
,
g
iv
e
n
i
n
(
1
0
)
an
d
(
1
1
)
,
r
esp
ec
tiv
ely
.
Fi
g
u
r
es
6
(
a)
an
d
6
(
b
)
s
h
o
w
t
h
e
ex
p
er
i
m
en
tall
y
o
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tain
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r
esp
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n
s
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th
e
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s
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f
r
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th
e
m
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el
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b
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r
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e
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a
n
9
6
%.
(
)
=
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0
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24
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(
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=
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057
0
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125
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.
8273
+
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1
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(
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Fig
u
r
e
6
.
Mo
d
el
an
d
p
r
o
ce
s
s
r
esp
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n
s
e
:
(
a)
DC
d
r
iv
e,
(
b
)
A
C
d
r
iv
e
3
.
3
.
P
I
co
ntr
o
l st
ra
t
eg
y
f
o
r
t
he
DC
driv
e
T
h
e
m
o
d
el
g
iv
e
n
i
n
(
1
0
)
is
a
f
i
r
s
t
-
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r
d
er
m
o
d
el
w
ith
o
u
t d
ela
y
,
s
o
a
P
I
co
n
tr
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ller
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s
u
f
f
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n
t
to
s
atis
f
y
th
e
d
esi
g
n
r
eq
u
ir
e
m
e
n
ts
.
I
ts
t
u
n
in
g
,
p
er
f
o
r
m
ed
i
n
Ma
tlab
,
y
ie
ld
ed
th
e
f
o
llo
w
in
g
:
(
)
=
0
.
0003435
(
1
+
1
0
.
0244
)
(
1
2
)
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:
2088
-
8694
S
p
ee
d
c
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n
tr
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l in
DC
a
n
d
A
C
d
r
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(
R
ein
el
B
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á
n
A
g
u
ed
o
)
2011
T
h
e
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e
s
p
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p
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3
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M
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DC
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:
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(
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004
(
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Fo
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ir
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u
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
202
1
:
2006
–
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0
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7
2012
Fig
u
r
e
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.
C
o
n
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o
l stra
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n
th
e
DC
d
r
i
v
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3
.
9
.
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I
D
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ntr
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l st
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As
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I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2088
-
8694
S
p
ee
d
c
o
n
tr
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DC
a
n
d
A
C
d
r
ives
(
R
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B
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n
A
g
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ed
o
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o
m
p
ar
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g
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6
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it f
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h
at:
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r
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th
at
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y
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p
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y
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3
.
1
3
.
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ull
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t
a
t
us
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x
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in
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n
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e
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C
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o
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y
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atr
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5
1968
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5
0
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9
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e
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n
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.
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h
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h
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h
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n
d
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.
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m
ula
t
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n o
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l st
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t
eg
ies f
o
r
t
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AC
driv
e
Fig
u
r
e
8
s
h
o
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u
r
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u
r
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.
C
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A
C
d
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4.
VALI
DAT
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
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8
8
-
8694
I
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t J
P
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&
Dr
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t
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Vo
l.
12
,
No
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4
,
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er
202
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:
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te
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n
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er
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v
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g
atio
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:
2088
-
8694
S
p
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d
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Evaluation Warning : The document was created with Spire.PDF for Python.