In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
10, N
o.
1, Mar
ch 20
19,
p
p.
256~
2
6
4
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v10
.
i
1.pp
2
56-
26
4
256
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
a
e
score
.
com
/
j
o
u
r
na
l
s
/
i
n
d
e
x
.
p
hp/IJ
PED
S
Comp
ari
s
on
of the different cont
rolling techn
i
qu
es for buck
converter in LED app
lication
S
h
weth
a
D.V.,
La
ksh
m
an
R
ao
S
.
P
arag
on
d
Dep
a
rt
m
e
nt of Elect
rical
&
El
ect
ro
nics
En
g
i
n
eering,
M
an
ip
al Ins
tit
u
t
e o
f
T
ech
no
lo
g
y
, Mahe
, In
d
i
a
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
ce
i
v
e
d
Jan
1
5, 201
8
Re
vise
d S
e
p 26,
201
8
Ac
ce
p
t
ed
No
v
2
3
,
2
018
Thi
s
p
a
p
e
r
r
eco
un
ts
t
h
e
d
e
s
ig
n
a
n
d
c
o
nstruc
t
i
o
n
o
f
va
riou
s
c
o
nt
ro
lli
ng
tech
ni
ques
f
o
r
buck
co
nv
erter.
I
f
t
h
e
des
i
g
n
ed
c
on
tro
l
l
e
r
f
o
r
a
n
y
c
on
verter
i
s
no
t
p
r
op
er
w
hich
l
ead
s
t
o
h
ig
h
ov
ers
h
o
o
t
and
st
eady
st
ate
e
r
ro
r
,
and
its
dy
nam
i
c
resp
onse
v
a
ries
w
ith
c
ha
n
g
es
i
n
l
o
ad
,
es
p
ecial
ly
a
t
hi
g
h
load
c
urrent
con
d
i
t
i
ons
.
T
h
e
lead-l
ag
c
on
trol
ler
fo
r
t
h
e
co
nv
erter
i
s
d
esgin
ed
u
si
ng
clas
si
ca
l
cont
ro
l
theo
ry
,
Bod
e
P
lot
techn
i
q
u
e
is
u
sed
t
o
e
xam
i
n
e
the
stabil
ity
of
t
h
e
s
ystem.By
u
s
i
n
g
d
erav
e
t
iv
e
p
a
rt
o
f
the
P
I
D
con
t
roller
on
o
ut
pu
t
sig
n
al
in
s
t
ead
o
f
vo
lt
ag
e
error
si
gn
al,t
h
i
s
com
b
in
ati
on
of
c
o
n
t
r
ol
t
ec
hn
ique
r
edu
c
es
th
e
ov
ersho
o
t
a
n
d
set
tli
ng
time,and
ho
w
th
e
tran
si
ent
res
p
o
n
s
e
will
b
e
af
f
ected if
d
e
rav
e
ti
ve co
n
t
r
o
ller is i
n t
h
e fo
rward
pat
h
.
K
eyw
ord
s
:
Buc
k
c
on
ve
rter
LED applicati
on
Co
pyri
gh
t © 2
019 In
stit
u
t
e
of Advanced
En
gi
neeri
n
g
an
d
S
c
ien
ce.
All
rights
res
e
rv
ed.
Corres
pon
d
i
n
g
Au
th
or:
Sh
wet
h
a D.
V
.,
D
e
pa
rtme
nt
o
f
El
e
c
t
rica
l
&
El
ectro
nics
E
ng
ine
e
ri
ng,
M
a
n
i
p
a
l
In
sti
t
u
t
e
o
f
Te
c
hnol
og
y
,
M
a
h
e
,
In
d
i
a
.
Em
ail:
shw
e
t
h
adv
s
@
g
ma
i
l
.
c
om
1.
I
N
TR
OD
U
C
TI
O
N
Getting
good
transient
response
fo
r
the
low
and
high
frequency
c
o
n
v
erter
s
h
as
b
ee
n
t
h
e
m
a
in
a
im
o
f
the
c
o
n
v
erte
r
de
signe
rs,
bec
a
u
s
e
if
t
he
re
i
s
a
sud
d
e
n
i
ncre
as
e
in
l
oa
d
curr
ent,
t
he
i
nc
rea
s
ed
c
urre
nt
n
e
e
d
to
b
e
source
d
b
y
o
u
t
p
u
t
c
apac
itor,
i
f
th
e
s
y
s
t
em
r
e
s
po
nse
is
l
ow
t
he
sys
t
em
c
a
n
n
o
t
r
e
s
p
o
nd
quic
k
e
n
o
u
gh
to
incre
a
se
o
u
t
pu
t
su
ppl
y
c
u
rr
ent.
T
h
i
s
ca
use
s
a
s
ha
rp
d
i
p
i
n
t
h
e
o
u
t
p
u
t
v
olta
ge
.
The
s
l
ow
n
e
ss
of
t
he
s
yste
m
ca
use
s
t
he
v
o
l
ta
ge
t
o
ta
ke
a
l
on
g
t
i
me
t
o
rec
over
from
t
he
d
i
p
,
i
nc
rea
s
e
t
h
e
c
u
rren
t
t
o
l
e
ve
l
of
d
em
an
d,
a
nd
bu
ild
b
ac
k
v
o
l
t
a
ge
t
o
i
t
s
s
p
e
c
ifie
d
le
ve
l,
t
h
i
s
c
a
u
se
i
ns
uff
i
c
i
e
n
t
p
o
w
e
r
sup
p
l
y
t
o
t
he
s
om
e
of
t
he
b
l
o
ck
s
i
n
the s
y
stem
.
D
i
ffere
n
t
c
o
n
t
r
o
ll
in
g
tech
n
i
q
u
e
s
c
a
n
be
u
se
d
t
o
i
ncr
ease
th
e
S
a
t
a
ti
c
a
nd
d
ynam
i
c
per
f
orm
a
nc
e
such
a
s
a
d
p
a
ti
v
e
c
on
t
r
o
l
(
cu
rren
t
b
a
l
an
c
i
ng
on/
off
c
ont
rol
l
)
[1
],Li
n
ear
qua
dra
tic-G
a
u
s
s
ia
n
a
nd
lead
c
om
pe
nsa
t
or
[
2
]
,
f
r
a
c
t
i
o
n
a
l
o
r
d
e
r
c
o
n
t
r
o
l
[
3
]
,
P
I
D
c
o
n
t
r
o
l
[
4
]
,
P
a
r
t
i
c
l
e
s
w
a
r
m
optim
i
z
at
i
on-
based
P
I
D
c
ontro
l
l
er
[
5],
ne
ura
l
netw
ork
[6]
.
Whi
l
e
des
i
gn
ing
a
co
ntr
o
l
l
er
t
he
d
es
i
gner
s
h
ou
ld
b
e
m
ore
c
a
re
fu
l
o
n
p
lac
i
ng
t
h
e
Z
eros
a
n
d
P
oles
of the
lea
d-la
g c
o
n
t
ro
lle
r
t
o
g
e
t
go
o
d
tra
nsie
n
t
resp
o
n
se [7].
P
e
a
k
o
v
e
rshoot
a
nd
r
i
s
e t
i
me
c
an
b
e
d
e
cre
a
sed
by
incre
a
s
i
ng
t
h
e
ga
in
o
f
t
h
e
s
y
s
t
e
m
a
t
hi
g
h
er
f
reque
ncies
[8].
S
t
ea
d
y
s
tate
e
rror
c
a
n
be
i
m
p
ro
ved
b
y
i
nc
r
a
e
s
ing
the
gai
n
o
f
the
sys
t
e
m
a
t
low
e
r
fre
que
nc
ies,
L
ag
c
om
pens
ator
c
a
n
be
u
se
d
to
i
nc
rea
s
e
t
h
e
ga
in
o
f
t
h
e
syste
m
at
l
ow
e
r
f
r
e
qu
enc
i
e
s
.
Wi
t
h
t
he
u
se
o
f
lea
d
-
l
ag
v
a
l
ue
s
P
I
D
c
ontr
o
ller
is
d
esi
gne
d,
a
nd
t
h
at
P
ID
c
ontr
o
ller
i
s
con
f
ig
ure
d
in
t
o
di
ffe
re
nt c
o
n
fi
gura
t
i
o
n
,
by
p
l
a
c
in
g the
deri
v
a
t
i
v
e
of t
he P
ID
c
on
t
r
oller
o
u
t
o
f t
h
e forw
ar
d pa
t
h
w
ill
pre
v
e
n
t
the
impu
lses
a
s
a
pa
rt
o
f
t
h
e
c
o
n
t
ro
l
sig
n
a
l
[
9].
Th
i
s
p
ap
er
t
e
l
l
s
H
o
w
t
h
e
t
ran
s
i
e
n
t
r
e
s
pons
e
wi
l
l
be
a
ffec
t
e
d
for
t
h
e
differ
e
nt
c
on
fig
u
rat
i
o
n
of
t
he
P
ID
.
Mos
t
o
f
t
he
a
b
o
v
e
tech
n
i
ques
are
P
I
D
or
m
odi
fied
P
I
D
type
[
1
1
].
Th
is
p
a
p
er
g
i
v
es
d
i
ffe
ren
t
m
eth
o
d
s
f
o
r
cons
tr
uct
i
ng
a
P
I
D
c
ontr
ol
ler
on
t
h
e
bas
i
s
o
f
c
la
ssica
l
t
h
eor
y
of
c
o
n
t
r
ol
s
ys
t
e
m
usi
n
g
B
o
d
e
p
lo
t
tech
n
i
q
u
e
.
A
nd
a
l
s
o
g
i
v
es
how
t
he
c
on
tro
l
ler
pa
th
w
il
l
affec
t
t
he
s
ystem
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
C
o
m
p
a
r
i
s
o
n
o
f
the
di
ffe
re
nt
c
o
n
t
r
o
l
l
i
ng tec
h
niq
u
e
s
f
o
r
buc
k
conve
r
t
e
r in..
. (Shwe
t
ha
D
.
V.
)
25
7
respo
n
se.
Car
e
s
h
o
u
l
d
be
t
a
k
e
n
w
h
ile
d
es
i
g
n
i
ng
a
fe
e
dbac
k
pat
h.
H
ow
p
ro
por
ti
o
n
a
l
,
in
teg
r
al,
deriva
t
i
ve i
n
t
h
e
fe
ed
bac
k
p
at
h w
i
l
l
a
ffe
c
t
t
he
s
ys
tem
r
e
spons
e. D
iffe
ren
t
c
o
n
fi
g
urat
i
on o
f
c
on
tro
l
pa
t
hs
i
s
c
o
mpa
r
ed.
Th
is
p
a
p
er
i
s
s
t
ruc
t
ure
d
a
s
fo
llow
s
:
st
a
r
te
d
w
i
t
h
(
sect
io
n
2
)
s
ma
l
l
s
ig
na
l
m
odel
l
i
n
g
o
f
t
h
e
c
o
nv
erter
,
(sec
t
i
on
3)
d
e
t
ail
e
d
desi
g
n
p
r
o
ce
dur
e
for
a
des
i
g
n
o
f
lea
d
-lag
c
o
n
t
roll
e
r
u
si
ng
B
od
e
plo
t
t
ech
ni
q
u
e
.
(Se
c
t
i
on
4) S
imulat
io
n r
e
su
l
t
s
usi
n
g M
A
TLA
B.
(
S
ectio
n 5)
C
o
n
c
l
u
s
io
n.
2.
METHOD
Bu
c
k
c
onv
e
r
t
e
r
i
s
s
t
e
p
do
wn
c
h
opp
e
r
,
i
t
st
ep
s
do
wn
t
h
e
vol
t
a
g
e
from
i
t
s
i
n
p
u
t
t
o
ou
t
p
u
t
.
I
t
is
a group
of
s
w
i
tc
hed
mode
s
upp
l
y
,
ma
i
n
l
y
i
t
co
ns
ists
o
f
tw
o
sem
i
con
d
u
ct
o
r
a
n
d
one
e
n
e
rg
y
st
o
r
age
elem
ent,
s
tor
a
g
e
elem
en
t
ma
y
be
a
c
apa
c
i
tor
or
i
n
d
u
c
t
or
o
r
the
comb
i
n
a
t
i
o
n.
O
per
a
t
i
o
n
of
t
he
b
uck
co
nver
t
er
i
s
c
u
rrent
t
h
ro
ugh
t
h
e
i
nd
u
c
to
r
t
o
b
e
co
nt
rol
l
e
d
,
t
hi
s
i
s
d
on
e
by
u
si
n
g
t
w
o
swit
c
h
e
s
.
M
a
in
a
dv
a
n
t
a
g
e
o
f
usi
ng
Swi
t
c
h
and
di
o
d
e
is
v
olta
ge
d
ro
p
w
ill
be
z
e
r
o
d
u
r
i
ng
o
n
c
on
d
iti
o
n
a
n
d
cur
r
ent
f
l
ow
w
i
l
l
b
e
z
e
r
o
duri
ng
o
ff,
h
enc
e
pow
er
l
oss
d
u
r
in
g
o
n
a
n
d
o
ff
co
nd
i
t
i
o
n
w
i
ll
b
e
ze
ro,
he
nce
effi
c
i
e
n
cy
o
f
t
h
e
syst
em
w
ill
i
ncr
e
a
s
e
.
B
uc
k
c
o
n
v
e
r
t
e
r
s
a
r
e
u
s
e
d
w
h
e
r
e
t
h
e
D
C
o
u
t
p
u
t
v
o
l
t
a
g
e
n
e
e
d
s
t
o
b
e
l
o
w
e
r
than
t
he
d
c
i
n
pu
t
.
D
uri
ng
th
is
p
roc
e
s
s
if
there
is
i
nc
rea
s
e
in
s
te
p
c
u
r
r
ent,
t
he
e
n
tire
c
u
r
r
ent
i
n
c
r
e
a
se
w
ill
nee
d
t
o
b
e
s
o
u
rce
d
by
o
u
t
put
c
a
p
ac
i
t
or
,
if
t
he
syste
m
r
espo
n
s
e
is
s
low
the
n
s
yste
m
c
a
n
t
r
e
s
pon
d
qu
ic
kl
y
e
nou
gh
t
o
in
cr
ease
ou
tpu
t
s
up
p
l
y
curr
en
t
(due
t
o
po
or
t
ra
nsie
n
t
r
espo
nse).
t
h
i
s
c
a
u
se
s
s
h
arp
d
i
p
i
n
t
he
o
u
t
pu
t
v
ol
ta
ge
,
s
l
ow
ness
o
f
t
h
e
s
ys
tem
ca
us
es
t
he
vo
lta
ge t
o ta
ke a
lon
g t
i
me
to r
ecove
r from
th
e dip
[1
0],
[11].
2.1.
Bu
ck
con
vert
er
d
e
s
i
g
n
C
o
n
v
erte
rs w
il
l
w
o
rk
i
n
tw
o m
odes
a.
Co
nti
nuo
u
s
c
on
du
ct
ion
b.
D
i
sco
n
tin
uo
us c
on
duc
t
i
on
C
o
n
t
i
n
u
ous
c
o
nduc
tio
n
mode
i
s
m
o
re
a
dva
nta
g
e
ous
t
he
n
di
sco
n
tin
u
ou
s
co
ndu
c
t
i
o
n
.
D
isc
o
n
t
in
uou
s
mode
i
s
ha
vi
n
g
d
isa
d
van
t
a
g
e
of
h
igh
r
i
p
p
l
e
at
o
u
t
pu
t
vo
l
t
a
g
e,
h
i
g
h
ri
p
p
le
c
ur
rent
i
n
t
h
e
se
mic
ond
uc
t
o
r
s
,
and
hi
gh
f
l
u
x
d
ens
i
ty
i
n
t
h
e
in
duc
t
o
r
.
F
igure
1
s
how
s
the
b
l
oc
k
dia
g
r
am
o
f
th
e
buc
k
co
n
v
ert
e
r
havi
n
g
a
f
ee
dba
c
k
lo
op.
T
he
c
o
n
v
er
t
e
r
ma
in
l
y
c
on
sis
t
s
of
a
s
w
itc
h,
d
i
o
d
e
a
nd
L
C
l
ow
-pa
s
s
fil
t
er
w
it
h
non
li
nea
r
i
ties
suc
h
a
s
in
duc
t
o
r
re
si
s
t
anc
e
,
RL
,
a
n
d
ca
p
a
ci
t
o
r
r
e
sist
anc
e
,
RC
,
are
con
n
e
c
t
ed
i
n
s
e
ries
t
o
t
h
e
in
duc
tor
and
ca
p
a
citor
.
C
a
pac
i
t
o
r
r
e
si
sta
n
ce
R
c
i
n
t
rod
u
ce
s
a
zer
o
fre
q
ue
ncy
i
n
t
he
t
ra
n
s
f
e
r
f
u
n
c
t
i
o
n
.
T
a
b
l
e
1
s
h
o
w
s
b
u
c
k
con
v
er
t
e
r
spe
c
i
fica
tio
ns.
F
i
gur
e 1.
Cl
o
se
d lo
o
p
buc
k
co
nver
t
e
r
Lar
g
e
S
i
g
n
a
l
m
odal
:
Sw
itch
o
n
(
1
)
I
C
=I
L
V/R
(2
)
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, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
25
6 –
26
4
25
8
Sw
itch
o
ff
(
3
)
I
C
=I
L
V
/
R
(4
)
(
5
)
Sm
all sig
n
al m
oda
l
:
Sw
itch
o
n
L
̂
+
(-
̂
R-(
+(
D
|
-
)
(
6
)
L
̂
(
7
)
Sw
itch
O
ff
C
=
̂
)/R) (
)
+
̂
)/R)
(
D
|
)
(
8)
C
=
̂
/
(
9
)
Buc
k
c
on
ve
rter
outp
u
t
to
c
o
n
t
rol fu
nc
ti
on is
:
|
|
(
1
0
)
Tab
l
e 1.
Buc
k
con
v
erte
r spec
ifica
t
io
ns
P
a
r
a
m
e
t
e
r
S
y
m
bol
V
a
l
ue
Lo
ad
R
4
.4
Ω
S
e
ns
o
r
G
a
i
n
H
(
s
)
1
Sa
m
p
ling
P
e
r
i
od
Ts
1
μ
s
S
w
it
c
h
i
n
g
F
r
e
que
n
c
y
Fs
1
M
H
z
R
e
fe
re
nc
e
V
o
l
t
a
ge
Vr
ef
2
V
Inp
u
t Volta
g
e
Vi
n
3
.
6
V
Output
V
olt
a
g
e
V
out
2
v
F
ilte
r
C
a
p
a
c
itor
C
4.6 μF
F
ilte
r
Induc
tor
L
4.6 μH
Re
si
st
a
n
c
e
of
I
ndu
c
t
or
RL
504
m
Ω
R
e
s
i
s
t
an
ce o
f
C
a
p
a
c
i
t
o
r
RC
5
m
Ω
2.2.
C
on
tr
ol
le
r d
e
sign
F
i
gure
2
re
pr
esen
ts
t
he
b
o
d
e
pl
ot
o
f
t
h
e
ope
n
l
o
o
p
s
y
s
t
e
m
be
for
e
th
e
co
mp
e
n
s
a
t
i
o
n
,
G
m=
i
n
f,
P
m
=25
.
8˚(70.
8
k
H
z
),
both
ga
i
n
m
a
r
gi
n
a
nd
pha
se
m
a
r
gi
n
a
r
e
pos
i
t
i
v
e
,
sy
st
e
m
i
s
st
ab
le
.
Th
e
p
o
l
e
cau
se
s
a
pha
se
m
a
r
gi
n
of
25.
8˚
a
t
a
gai
n
cros
s
o
v
e
r
frequ
enc
y
o
f
70.
8kH
z
.It
ha
s
less
p
h
ase
m
a
rgin
i
t
sh
o
u
l
d
b
e
i
m
p
r
ov
ed
t
o
imp
r
o
v
e
t
h
e
t
ran
s
i
e
nt
r
e
s
pons
e
o
f
t
h
e
s
yst
e
m.
A
c
o
m
pens
a
t
or
s
ho
u
l
d
be
d
e
s
i
g
ne
d
t
o
g
et
t
h
e
hi
ghe
r
ga
i
n
a
t
l
o
w
e
r
fre
q
uenc
i
e
s
t
o
i
m
p
ro
ve the
s
tea
dy
sta
t
e re
spo
n
se
a
n
d
h
i
g
he
r
ga
in
a
t h
i
ghe
r
freq
u
e
n
c
i
es
t
o
impro
v
e
the
tr
ans
i
en
t
resp
on
se
a
nd
gai
n
a
t
the
sw
it
c
h
i
n
g
f
r
eque
nc
y
s
hou
l
d
b
e
u
n
i
ty
f
or
s
ta
ble
s
y
s
t
em
.
P
h
ase
ma
rgin sh
o
u
l
d be
i
n t
h
e
range
o
f
50°
t
o 6
0
° t
o
m
ee
t the
require
d
trans
i
ent r
e
spons
e
of the system
.
Open
l
oop
Trans
f
er
F
un
ction
TF
.
.
.
^
.
(
11)
Bode
d
ia
gra
m
of
Buc
k
c
on
ve
r
t
e
r
.
Gm=
G
ai
n
mar
g
in
P
m
=ph
a
se
m
a
r
gi
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
Compa
r
is
o
n
o
f
the dif
f
ere
n
t c
o
n
t
ro
ll
ing tec
h
ni
q
u
es for b
u
c
k
conve
r
te
r
in..
.
(
Shw
e
t
ha D.V.
)
25
9
F
i
gur
e
2.
B
o
d
e
plo
t
o
f
the
b
u
c
k
c
on
ve
r
t
er
b
ef
or
e
c
o
mpe
n
sa
t
i
on
2
.
3
.
S
tep
res
po
nse
o
f
the
u
n
c
o
m
pensa
t
ed
s
y
s
tem
P
eak
over
s
h
o
o
t
=57.
6,
r
ise
tim
e=
2
.
56
,
S
ett
l
i
n
g
time
=
4.
96
,
e
ss=
0.
76
4.
In
F
ig
ure
3
h
i
gh
O
ve
rsh
o
o
t
in
dic
a
t
e
s
a
n
o
ut
p
u
t
exc
e
e
d
in
g
its
f
i
na
l
st
e
a
dy-
s
t
ate
va
l
u
e,
w
hic
h
l
ea
ds
hi
g
h
d
i
s
t
o
r
t
i
o
n
i
n
t
o
t
he
s
ig
na
l,
d
is
tr
ot
ion
w
i
ll
aff
e
c
t
t
h
e
d
am
pi
n
g
,
se
ttli
n
g
ti
m
e
,
a
nd r
i
se
ti
m
e
.
Figure
3.
S
tep
re
spo
n
se
o
f
the
system
bef
ore com
p
en
sat
i
o
n
P
r
oce
dur
e
for
a
l
e
ad-
l
a
g
c
on
t
r
ol
ler
usi
ng
Bo
de
p
l
o
t
t
e
c
h
n
i
q
u
e.
a.
P
I
D
c
ontr
o
lle
r
is
d
es
ig
ne
d
us
in
g
b
o
d
e
plo
t
t
ec
hn
ique
,
ba
se
d
o
n
l
e
a
d
-l
ag
n
et
w
o
rk
.
Whi
l
e
d
e
sign
i
n
g
pid
c
o
n
t
r
o
ller
p
d
s
ho
u
l
d
be
d
es
ig
ned
f
i
r
s
t
t
h
e
n
p
i
sho
u
l
d
d
es
i
gn
o
t
her
w
i
s
e
pd
w
i
l
l
a
ffec
t
the
stea
d
y
s
tat
e
erro
r.
b.
S
e
lec
t
i
o
n
of
z
e
r
o
in
t
he
c
om
p
e
nsa
t
or
d
esi
g
n
cause
s
t
h
e
c
o
m
p
en
sa
to
r
to
d
i
f
f
e
r
e
n
t
i
a
te
t
h
e
e
rro
r
sign
al
a
nd
it
w
il
l
incr
ease
t
h
e
c
o
m
p
e
n
sa
t
o
r
ga
i
n
a
t
h
i
g
h
e
r
fre
que
nc
ie
s wit
h
a
sl
o
p
o
f
20
d
B
.
I
n
pr
ac
t
i
ca
l
s
y
s
t
em
s
ga
i
n
w
i
l
l
t
en
d
to
z
e
r
o
at
h
ig
he
r
f
r
e
que
n
c
ies
he
nc
e
com
p
e
n
sat
o
r
sho
u
l
d
c
o
nt
a
i
ne
h
i
gh
fr
e
q
ue
n
c
y
p
o
l
e
s
.
H
i
g
h
freque
n
c
y
p
o
le
w
ill
a
tte
n
u
a
t
e
the
n
o
i
se
a
t
t
h
e
h
i
ghe
r
fre
q
uenc
i
es.
I
f
t
he
g
a
i
n
of
t
he
s
y
s
tem
is
h
i
g
h
a
t
swi
t
c
hi
ng
f
r
e
qu
e
n
c
y
,
t
h
e
n
c
o
m
p
e
nsa
t
o
r
w
il
l
a
m
p
l
if
y
t
h
e
swit
c
h
in
g
har
m
onic
s
.
Wit
h
t
he
i
nc
r
e
a
s
e
i
n
ha
rm
onic
s
,
l
o
s
e
s
i
n
t
he
s
yste
m
will
incr
eas
es,
he
nce
c
o
mpe
n
sa
to
r
sh
o
u
l
d
c
o
n
t
a
i
n
po
le
a
t
a
fr
e
que
nc
y
less
the
n
t
he
s
witc
hi
n
g
frequ
e
n
cy.
Lea
d
c
om
pe
ns
a
t
or
=
(
1
2
)
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
ow
E
l
e
c
&
Dr
i
S
y
st,
Vol.
10,
N
o.
1
,
Mar
c
h
2
0
1
9
:
25
6
–
264
26
0
f
f
∗
∅
∅
(
1
3
)
=F
r
e
que
nc
y
at
w
hic
h
l
ea
d
c
o
m
p
ensa
t
o
r
po
le
i
s
pl
a
c
e
d
.
2
(
1
4
)
∗
∅
∅
(
1
5
)
=
F
r
e
que
nc
y
a
t
w
hic
h
l
e
a
d
co
m
p
ensa
tor
zer
o
is
p
lac
e
d
.
2
(
1
6
)
F
r
equenc
y
at
w
hi
c
h
m
axim
u
m
phase
o
ccur
s
i
s
-
f
m
a
x=
(
f
z
*
f
p
)
(
1
7
)
I
f
f
m
a
x
is
s
am
e
a
s
t
he
l
oo
p
g
a
in
c
r
o
ss
over
f
r
e
que
nc
y
fc
,
the
n
th
e
r
e
will
be
i
mpro
ve
me
nt
i
n
phas
e
mar
g
i
n
i
s
h
i
gh.
T
o
av
oid
e
c
han
g
in
g
in
c
ros
s
o
v
e
rfrequ
e
n
cy
,
t
o
i
m
p
r
ove
t
he
t
r
a
ns
i
e
nt
r
espo
nse
c
o
m
p
e
n
sa
tor
g
a
i
n
s
hou
l
d
b
e
un
ity
a
t
th
e
l
o
o
p
g
a
i
n
cro
s
s
ov
e
r
fre
qu
e
n
c
y
.
Th
e
l
ea
d
C
o
m
p
en
sat
o
r
wi
ll
d
e
c
r
ea
se
t
he
r
ise
tim
e
a
nd
se
tl
l
i
n
g
t
im
e.
S
ince
pha
se
m
a
r
gi
n
(
∅
w
ill
a
f
fe
ct
t
he
t
r
a
ns
ien
t
r
espo
n
s
e,
h
e
n
ce
phas
e
m
a
r
gin
wi
l
l
b
e
c
a
lcu
l
a
t
e
d
b
as
ed
o
n
the
tr
an
si
e
n
t
re
q
u
ir
em
ent.
P
ea
k
o
v
er
shoo
t
a
n
d
r
i
s
e
ti
m
e
w
i
l
l
de
pe
nd
o
n
t
he
v
a
l
ue
o
f
Q
(
Q
uali
ty
f
ac
tor
)
.
∅
(
1
8
)
A
l
w
a
ys
f
or
g
o
od
tr
ans
i
e
n
t
r
e
spo
n
se
Q
=
1
,
pha
se
m
ar
gin
is
i
n
v
er
se
l
y
r
e
l
a
t
e
d
t
o
t
h
e
Q
,
a
s
Q
v
a
l
u
e
i
s
low
p
h
ase
m
a
rgi
n
w
ill
i
n
cr
ea
se
.
Loop
ga
i
n
G
co
i
s
a
d
de
d
t
o
g
e
t
t
he
u
n
ity
g
ai
n
at
t
he
s
w
itc
hi
n
g
f
r
e
q
u
e
nc
y.
F
i
g
u
r
e
4
r
epr
e
sen
t
s
t
h
e
tr
a
n
s
i
en
t
r
e
spons
e
of
t
he
s
y
s
t
e
m
af
ter
the
Lead
C
om
p
e
nsa
t
i
o
n
%M
p
=
2
7
.
3
,
tr=
1
.9
6
,
e
s
s
=
0
.7
6
4
.
Fi
g
u
r
e
4
.
St
e
p
re
sp
on
se
o
f
th
e sy
st
em a
f
t
er l
ead
com
p
en
sat
i
o
n
F
i
gur
e
5.
B
o
d
e
of
l
ead
c
om
pe
nsa
t
or
Bode
p
l
o
t
of
t
he
d
e
s
i
g
ned
le
ad
c
omp
e
nsa
t
o
r
i
n
F
i
gur
e
5
h
a
vi
n
g
a
phase
c
om
pen
s
a
t
i
on
of
1
26
de
gr
e
e
a
t
8
1.
3
k
H
z
.
2
.
L
ag
c
ompe
nsa
t
or
i
s
u
s
e
d
t
o
im
pr
o
v
e
the
ga
in
a
t
l
o
w
er
f
r
e
qu
ency
,
h
e
nce
outp
u
t
i
s
r
e
gu
late
d a
t
dc.
G
c
=
G
c
o
1
(
1
9
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
Compa
r
is
o
n
o
f
the dif
f
ere
n
t c
o
n
t
ro
ll
ing tec
h
ni
q
u
es for b
u
c
k
conve
r
te
r
in..
.
(
Shw
e
t
ha D.V.
)
26
1
Th
is
c
om
pensa
t
or
w
i
l
l
i
ncr
e
a
s
e
the
dc
l
o
o
p
ga
i
n
,
i
f
t
he
d
c
l
o
o
p
g
a
i
n
i
s
v
e
r
y
l
a
r
g
e
,
t
h
i
s
c
a
u
s
e
s
t
h
e
e
r
r
o
r
of
t
he
d
c
c
o
mpo
n
e
n
t
t
o
z
e
r
o,
due
t
o
t
h
is
s
tea
d
y
s
t
a
t
e
er
r
o
r
c
a
n
b
e
r
e
g
u
l
a
t
e
d
,
a
n
d
t
h
e
d
i
s
t
u
r
b
a
n
c
e
-
t
o
-
o
/
p
tr
a
n
sf
er
f
u
n
c
t
i
on
a
ppr
oac
h
z
er
o
at
d
c
.
F
ig
u
r
e
6
show
s
s
i
m
u
li
nk
m
oda
l
of
t
he
s
y
s
tem
with
P
ID
c
on
n
t
ro
ller
.
F
i
g
u
r
e
7
s
ho
w
s
b
o
d
e
of
P
ID
c
om
p
e
ns
ator
.
F
i
gur
e
8
sh
ow
s
ste
p
r
es
po
nse
of
t
he
s
ys
t
e
m
a
f
t
e
r
P
I
D
c
o
mpe
n
sa
t
i
on.
F
i
g
ur
e
9
sh
o
w
s
sim
u
lin
k
moda
l
o
f
t
he
s
yste
m
w
ith
P
I
D
com
p
ensa
t
o
r
ha
v
i
n
g
P
D
out
o
f
fo
rwar
d
p
a
th
.
F
i
gur
e
6.
S
im
ul
i
n
k
modal
of
t
he
s
ys
t
e
m
w
i
t
h
P
I
D
c
o
n
n
t
r
o
ll
er
F
i
gur
e
7.
B
o
d
e
of
P
I
D
c
ompensa
t
or
F
i
g
u
r
e 8
.
S
tep
r
e
sp
on
se o
f th
e sy
stem af
t
er
PID com
p
ensa
tio
n
%Mp=
11
.
5
,t
r
=
9
.
9
8
,
e
s
s
=
1
If
t
h
e
P
D
co
ntroller
in
t
h
e
f
o
r
ward
p
ath
.
w
h
e
n
th
e
referen
ce
in
p
u
t
is
s
tep,
w
hic
h
i
ncr
e
ase
the
ove
r
s
ho
ot,
i
n
i
mpr
ove
d
P
I
D
con
t
r
o
l
l
e
r
d
er
i
v
a
t
i
v
e
is
out
o
f
the
f
o
r
w
ar
d
pa
t
h
w
h
i
c
h
w
il
l
de
cr
e
a
se
t
he
o
ver
s
h
o
t
a
nd
r
i
se
tim
e.
F
i
gur
e
9.
S
im
ul
i
n
k
m
odal
of
t
he
s
ystem
w
i
th
P
I
D
c
om
pensa
t
or
h
a
v
i
n
g
P
D
ou
t
o
f
for
w
ar
d
pat
h
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, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
25
6 –
26
4
26
2
C
l
ass
i
c
a
l P
I
D con
t
ro
l
l
e
r
:
(
2
0
)
Where
a
nd
a
r
e
the
in
tegra
l
a
nd
de
rivat
i
v
e
tim
es
r
e
s
pecti
v
e
l
y,
w
here
,
,
a
nd
a
r
e
t
h
e
prap
ot
i
ona
l,
d
eriva
t
i
v
e
an
d in
t
e
gra
l
c
o
n
sta
n
ts
, respec
tive
l
y.
D
e
s
ig
ne
d
lead-
l
a
g
com
pe
nsa
t
or:
(
2
1
)
Com
p
ar
i
n
g
the
(20)
and
(21)
D
e
sig
n
e
d
v
al
u
e
s of
t
he c
omp
e
nsa
t
or:
4
.1
033
6
.4
20
45
∗
1
0
=3
97
.38
6
and
2
.
6
6
2
6
∗
1
0
2.4.
D
iffe
ren
t con
f
igu
r
a
t
ion
of
th
e
s
yst
e
m
Co
nf
i
g
u
r
a
t
i
o
n
1
:
F
i
gure
1
0
r
e
p
rese
nti
n
g
a
MA
TLA
B
S
i
m
u
l
i
n
k
m
ode
l
of
P
ID
c
ont
r
o
lle
d
bu
c
k
c
on
ve
rt
e
r
.
Tra
n
sie
n
t
re
sponse
of
t
he
s
yst
e
m
aft
e
r
the
P
I
D
com
p
ensa
t
i
o
n
i
s
%M
p=
11
.5
,
ts=
1
.43
*
10
,tr=9.9*
10
,
e
ss=1.
P
I
D
c
o
n
t
r
o
lle
r
i
s
a
dde
d
in
t
he
f
o
r
w
a
rd
p
ath
t
o
i
m
p
ro
ve
t
h
e
t
ran
s
i
e
nt
a
nd
st
e
a
dy
sta
t
e
e
rror.
P
D
i
s
d
esi
g
ned to improve
t
he
p
hase
m
argi
n
a
zer
o
is
a
d
d
ed
t
o t
h
e
l
o
o
p
ga
i
n
a
t
a fre
q
u
e
nc
y
less
t
h
a
n
t
he
s
w
itc
h
i
n
g
f
r
e
q
u
enc
y
.
PI
a
n
d
PD
w
ill
i
n
c
r
ea
se
t
he
ga
i
n
a
t
l
o
w
e
r
a
n
d
h
i
gher
fre
q
ue
ncy
respe
c
t
i
ve
l
y
. P
ea
k over
s
ho
o
t
a
nd rise
t
i
m
e
of the
sy
s
t
e
m
is
i
mp
r
ove
d c
o
m
p
ar
ed t
o
t
h
e
u
n
c
om
pen
s
ate
d
sys
t
e
m.
F
i
gure
1
0
.
M
A
TLA
B
si
m
u
lin
k
mode
l o
f
P
ID
c
ontro
l
l
ed b
uc
k co
n
v
e
r
t
er
C
o
n
f
i
g
u
r
ation
2:
F
igure
1
1
r
epre
sents
t
h
e
MA
TLA
B
S
i
muli
n
k
m
ode
l
of
P
ID
–
D
O
O
S
t
e
p
r
e
sponse
o
f
the
sy
st
em
a
f
t
er
P
ID-DO
O
c
o
m
p
e
nsa
t
i
o
n
i
s
%
Mp=
6
.
6
7
,
ts=
1
.07*
10
,tr=
1.93
*
10
,
e
ss=1
.
In
P
ID-D
OO
con
f
ig
ura
tio
n
c
o
n
t
ro
l
l
e
r
u
se
d
i
s
P
ID,
But
t
h
e con
n
ec
t
i
o
n
of
t
h
e
P
ID
i
s
d
i
f
f
e
r
ent,
D
i
s no
t
a
dde
d in
t
he for
w
a
rd
pat
h
,
Be
ca
use
D
in
t
he
f
or
w
a
rd
p
a
t
h
w
i
l
l
a
ffec
t
t
h
e
er
ror
sig
n
a
l.
I
n
in
t
his
c
o
n
f
ig
urat
i
on
deriva
t
i
v
e
a
c
t
i
o
n
is
on
ly
o
n
t
h
e
ou
tp
u
t
s
i
g
nal.
it
w
i
l
l
p
reve
nt
t
h
e
d
er
i
v
a
t
i
v
e
pa
rt
o
f
the
ste
p
i
npu
t.
D
er
i
v
a
t
ive
o
f
t
he
i
n
p
u
t
sig
n
a
l
w
ill
i
n
c
r
ea
se t
h
e
d
am
pin
g
i
n t
h
e
sys
t
em
w
hic
h
lea
ds
t
o
i
n
cr
e
a
se
i
n
the
pe
a
k
ove
rs
ho
ot
a
n
d
r
i
s
e
time
.
F
i
gure
1
1
.
MA
TLA
B
simu
li
n
k
m
od
a
l
for
P
ID
-DO
O
c
ontr
o
lle
d b
u
c
k
co
nvert
e
r
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
C
o
m
p
a
r
i
s
o
n
o
f
the
di
ffe
re
nt
c
o
n
t
r
o
l
l
i
ng tec
h
niq
u
e
s
f
o
r
buc
k
conve
r
t
e
r in..
. (Shwe
t
ha
D
.
V.
)
26
3
C
o
n
f
i
g
u
r
ation
3:
F
i
gure
1
2
s
how
s
t
h
e
M
A
TLA
B
S
i
m
u
l
i
n
k
m
ode
l
o
f
t
he
c
on
ver
t
e
r
h
a
v
i
ng
P
I
i
n
the
fo
rw
a
r
d
pat
h
a
n
d
P
D
aft
e
r
the
impu
lse
resp
o
n
se.
S
t
ep
r
esponse
of
t
he
s
y
ste
m
i
s
%Mp=
51
%,t
s
=1
.0
7*
10
,t
r=
1
.
93*
10
,
e
ss=
1
In
t
hi
s
con
f
ig
ura
t
io
n
PI
i
s
pl
ace
d
in
t
h
e
f
o
r
wa
rd
p
a
t
h
wh
erea
s
P
D
i
s
pla
c
e
d
a
f
ter
t
h
e
P
I
c
ompe
n
s
a
t
i
o
n
a
l
on
g
w
ith
t
he
D
w
il
l
incre
a
se
t
he
g
ai
n
o
f
t
he
a
t
hig
h
er
f
r
e
q
u
e
n
cie
s
,
a
n
d
a
ls
o
PD
w
il
l
re
duc
e
t
h
e
e
ffe
c
t
o
f
t
h
e
PI
,
H
e
nc
e ga
in
a
t l
o
w
e
r fre
que
nci
e
s w
ill reduc
e le
ads
t
o
h
igh da
m
p
i
ng
.
Hen
c
e
p
e
ak
o
ve
r-sh
oo
t
i
n
c
r
ea
se
t
o
hi
gh
e
r
val
u
e,
th
i
s
co
nfig
ura
t
i
on is
n
o
t
sui
tab
l
e
for
th
e
ind
u
s
t
r
i
a
l
a
p
pl
ica
t
io
ns.
F
i
gure
1
2
. MA
TLA
B
sim
u
l
i
n
k
m
odal
for
P
I
D
contro
l
l
ed b
uc
k co
n
v
e
r
ter
P
I
i
n for
w
ard
path a
n
d
D
after
the
i
m
p
l
u
s
e r
e
spo
n
se
C
o
n
f
i
g
u
r
ation
4:
F
i
gure
13
r
e
p
rese
ntin
g
a
MA
TLA
B
S
i
mul
i
nk
m
o
de
l
of
t
he
c
o
nve
rter
w
ith
P
D
in
t
he
forw
a
r
d
pa
th
a
nd
P
I
i
s
p
l
ace
d
a
f
ter
t
h
e
impu
lse
resp
on
se
o
f
th
e
s
y
s
t
e
m.
T
r
a
n
s
i
e
nt
r
es
ponse
o
f
t
h
e
c
onv
ert
e
r
i
s
%Mp=
inf
,
t
s
=
5
.2
7*
10
,t
r
=
0
,
e
s
s=
0
.
In
t
his
c
o
nfi
g
ur
a
t
i
on
der
i
v
a
t
i
ve
i
s
place
d
in
f
orw
a
rd
p
at
h,
i
t
w
ill
di
ffe
re
nt
ia
te
t
h
e
e
rror
sig
n
a
l
,
he
n
ce
c
o
mp
ensa
to
r
e
f
fe
ct
on
th
e
e
r
r
or
s
ig
n
a
l
w
i
ll
be
l
ess.
G
ain
at
t
he
h
ig
her
fre
que
nc
ies
is
v
er
y
less,
w
hic
h
l
e
a
d
s
t
o
h
igh
pe
ak
o
ver
s
h
o
o
t
a
n
d
r
i
se
t
i
m
e
is
z
ero.
P
e
a
k
over
s
ho
o
t
i
s
a
l
m
o
st
in
fini
ty t
h
i
s t
y
pe of c
onf
igur
a
tio
n
cann
o
t
be
use
d
f
or
a
ny
ap
pl
i
cati
o
n
s
.
F
i
g
u
r
e
13.
MA
TLA
B sim
u
l
i
n
k
m
odal f
o
r P
I
D
contro
l
l
e
d
b
uck
co
n
v
er
t
e
r
D
in forw
a
rd
p
ath a
n
d
P
I
af
t
er
the
i
m
p
lus
e
r
espons
e
C
o
n
f
i
g
u
r
ation
5:
M
A
TLA
B
S
i
m
u
l
i
n
k
m
ode
l
o
f
t
he
c
o
nver
t
e
r
w
ith D
i
n fo
r
w
ard
path a
nd
P
is
p
lace
d a
f
te
r
the im
p
u
l
se
re
s
ponse
o
f
t
he
s
y
s
te
m
is show
n in F
ig
ure
14,an
d
t
r
ans
i
en
t re
sp
o
n
s
e
of
the
sim
u
la
t
e
s MA
TLA
B
S
i
m
u
l
i
n
k
m
ode
l
i
s
s
h
o
w
n
i
n Fig
u
re
15
w
ith
M
p
%
=6.6
7,
1
.
0
7
∗
1
0
,
1
.
9
2
∗
1
0
,
0
.D
i
s
place
d i
n
t
he
f
orw
a
rd pa
t
h
,
w
hic
h
l
ea
ds
t
o
reduc
tio
n i
n
p
ea
k
ov
ers
h
o
o
t
an
d
r
ise tim
e is
z
ero.
P
roport
i
o
n
a
l
con
t
ro
l
l
er
i
nc
rea
s
es the
d
c
ga
i
n
.
F
i
g
u
r
e
14.
MA
TLA
B sim
u
l
i
n
k
m
odal f
o
r P
I
D
contro
l
l
e
d
b
uck
co
n
v
er
t
e
r
D
in forw
a
rd
p
ath a
n
d
P
afte
r the
implu
s
e
respo
n
se
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, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
25
6 –
26
4
26
4
F
i
gur
e 1
5
.
S
t
e
p
re
s
ponse
o
f
t
h
e
system
a
f
ter
P
I
D
com
p
ensa
tio
n w
it
h P
D
out of for
w
ard
path
Wh
ile des
i
g
n
i
n
g
t
he com
p
e
ns
ator
t
r
a
n
s
i
e
n
t
re
s
p
onse
of t
he sys
te
m
w
ill be
d
e
p
e
n
d
o
n
the
s
ele
c
tio
n of
the c
l
ose
d
l
oo
p
pole,
p
o
l
e is s
e
l
e
c
t
e
d
base
d
on
the tra
n
si
e
n
t
s
p
e
ci
fi
cat
i
o
n
re
q
u
i
r
emen
t
.
3.
RESULT
ANALYSIS
C
o
m
p
a
r
in
g
a
l
l t
h
e
c
o
n
f
ig
u
r
at
i
o
n
s
s
h
o
w
s
t
hat
Co
nfi
gura
t
i
o
n
2 is
bet
t
er for ind
ustria
l
ap
p
l
i
cati
o
ns. F
o
r
any
a
p
p
lica
tio
n,
t
he
p
ea
k
ov
ersho
o
t
s
h
ou
ld
b
e
w
i
t
h
i
n
t
he
l
im
i
t
.
If
it
e
xc
ee
ds
t
he
l
imi
t
v
al
ue,
d
i
sturba
nces
i
n
the s
y
stem
w
il
l
incre
a
se
l
ead
i
ng t
o
la
r
ge
s
e
ttli
n
g
time
.
4.
CONCL
U
S
ION
Th
is
p
a
p
e
r
s
ys
t
e
ma
t
i
c
a
l
l
y
d
es
cribe
s
t
he
d
e
s
i
gn
proce
d
ur
e
for
di
f
f
e
re
nt
c
on
t
r
o
lli
ng
t
echni
q
u
e
s
b
a
sed
on
b
o
d
e
p
l
ot.
The
deri
ved
P
I
D
c
o
n
t
r
o
l
l
e
r
s
h
o
w
s
t
he
b
a
t
te
r
tr
ans
i
e
nt
r
esp
o
n
s
e
c
o
mp
are
d
t
o
t
h
e
un
c
o
mp
en
sat
e
d
sy
st
em,
a
n
d
ho
w
th
e
d
e
ri
v
a
ti
v
e
i
n
th
e
f
eed
b
a
c
k
l
oo
p
wil
l
a
ffe
ct
t
he
t
ra
ns
i
e
n
t
r
es
po
n
s
e.
D
erivat
i
v
e
in
t
h
e
fe
ed
bac
k
l
oo
p
w
i
l
l
i
n
t
r
o
d
u
ce
the
im
p
u
l
s
e
t
o
t
he
s
ys
t
e
m
whic
h
l
e
a
d
s
to
t
h
e
h
i
g
h
e
r
ov
e
r
s
h
oot
a
nd
r
i
s
e
t
i
m
e.
Con
f
ig
ur
at
i
o
n
4 and
5 w
i
ll s
h
ow
s the
effect
o
f t
h
e
deri
va
ti
v
e
i
n
t
h
e
f
o
r
w
ard
pat
h
.
C
o
m
p
a
r
in
g
a
l
l
the
c
o
nf
i
g
ura
t
ions,
c
o
nfig
ur
at
ion
tw
o
is
b
e
t
t
e
r
f
o
r
t
h
e
i
ndust
r
i
a
l
a
ppl
i
cati
o
n
s
.
F
o
r
a
n
y
a
p
pli
c
at
ion
s
p
eak
o
v
e
rsh
oot
s
h
oul
d
b
e
w
it
hi
n
t
h
e
l
i
m
i
t
,
i
f
i
t
e
xce
e
d
s the
l
i
m
it va
lue
d
i
stu
r
bance
s
i
n the system
w
ill
i
n
c
r
ea
se,
w
h
ic
h le
ad
s to
l
ar
ge se
t
t
l
i
n
g tim
e.
REFE
RENCES
[1]
Chen
W
an
g,
M
at
th
ew
A
rm
s
t
ro
n
g
a
n
d
S
h
a
dy
G
a
d
o
u
e,
“
S
y
stem
I
d
e
ntifi
cat
ion
an
d
A
d
ap
tiv
e
Co
ntro
l
o
f
a
D
C-DC
Con
v
erter
u
s
in
g
a
Curr
ent
Bal
a
nci
ng
O
N
/O
FF
Co
nt
rol
T
echni
qu
e
f
o
r
O
p
timal
T
r
ansi
ent
P
e
rf
o
r
m
a
n
ce”,
17
th
Eu
ro
pean
Confer
ence o
n
P
o
wer Elect
ro
n
i
cs
a
n
d
Ap
plicatio
ns
,
pp.1
-
10
,
1
0
th
s
ept
2015
.
[2]
Z
a
r
e
h
,
S
e
i
y
e
d
H
a
m
i
d
,
A
l
i
F
.
J
a
h
r
o
m
i
,
M
.
A
b
b
a
s
i
,
a
n
d
A
l
i
A
.
K
h
a
y
yat
,
"
Th
e
co
nt
r
o
l
of
a
t
herm
al
s
y
s
t
e
m
with
l
arge
tim
e
d
e
lay
usin
g
of
L
Q
G
a
n
d
L
ead-Com
p
e
ns
ator
",
IEE
E
Int
e
rn
ati
o
n
a
l
Co
nf
erence
on
M
echa
t
ro
n
i
cs
a
n
d
Automation
,
pp
. 18
4
2
–
184
7,
2010
.
[3]
Cald
eron,
A
.
J
.,
"
F
r
acti
o
n
a
l
o
r
der co
nt
rol
st
ra
tegi
es f
o
r
power
el
ectro
nic
buck
con
v
ert
e
rs," S
ig
na
l
Proces
si
ng, 20
0
6
.
[4]
R.M
.
N
elm
s
a
n
d
Lipin
g
Gu
o
.
"
P
I
D
con
t
ro
ll
er
m
o
d
ifi
cati
o
n
s
t
o
im
p
ro
ve
s
t
eady
-
stat
e
perf
orm
a
n
ce
o
f
d
igit
al
con
t
ro
llers
f
o
r b
u
ck
a
n
d
boo
st
c
on
vert
ers",
APEC
Sevent
eent
h
A
n
n
u
a
l
IE
EE
Ap
p
l
ied
Po
wer
E
l
ectr
o
nics
Confer
ence
and E
x
pos
ition
,
vo
l.
1,
p
p
3
8
1
-
38
8
,
2
00
2.
[5]
Alti
noz,
O.
T
o
l
ga
a
n
d
Ham
i
t
Erdem
,
"
Part
icle
s
warm
o
pt
imi
s
at
i
o
n
-based
P
ID
c
ontroller
tuni
ng
f
o
r
s
t
at
i
c
p
ower
con
v
erters
”,
Int.
J.
Po
w
er
El
ectroni
cs
,
Vo
l
.
7
, No
s
. 1
/
2
, 20
1
5
.
[6]
Hi
deno
ri
M
aru
t
a
,
H
iro
nob
u
T
a
nigu
c
h
i,
Y
ud
a
i
F
uruk
a
w
a
and
F
u
jio
K
uro
k
awa,
“
Imp
r
ov
ed
T
ran
s
ient
R
espo
ns
e
f
o
r
Wi
de
I
n
p
u
t
R
ange
o
f
DC-DC
Conv
erter
with
N
eu
ral
N
e
two
r
k
Based
D
ig
it
a
l
C
o
n
t
r
o
l
l
e
r
”
,
19th
European
Con
f
eren
ce on
Po
wer Elect
ro
n
i
cs a
nd App
l
i
c
atio
n
s
,
p
p
.
1-8,
2
0
17.
[7]
Ro
bert
W
.
Er
i
c
k
s
o
n
,
Dragan
Maksi
mo
vi
c. "F
u
n
d
am
ent
a
ls o
f
P
o
w
e
r E
lect
r
o
n
i
cs" , S
pring
e
r Na
tur
e
, 2
00
1.
[8]
Ab
hi
nav
Do
gra,
K
an
chan
P
al.
,
“
D
esig
n
o
f
B
uck-Bo
os
t
Co
nv
erter
f
o
r
Con
s
tant
V
o
ltage
A
ppl
i
cations
a
nd
I
ts
Tra
n
sie
n
t
R
e
sp
on
se
D
ue
T
o
Pa
ra
me
tr
ic Variation
of
P
I
Con
t
roll
er
”,
In
tern
atio
nal
Jo
ur
nal
o
f
In
nov
a
t
i
ve Res
e
ar
ch in
Sci
e
nce,
E
n
g
i
n
e
e
r
in
g a
nd T
echn
o
l
ogy
,
Vo
l.
3
,
p
p-1
357
9-1
3
5
88,
june
2
01
4.
[9]
Gh
ul
a
m
A
bb
a
s
a
nd
U
m
a
r
F
a
rooq
,
“
A
n
Imp
r
ov
ed
P
ID
C
o
n
troll
e
r
fo
r
S
witchi
ng
C
onv
erters
”,
1
1
t
h
Wo
rld C
o
n
g
re
ss
on Int
e
l
lige
n
t
C
ont
rol
a
nd Auto
ma
tio
n
Shen
y
an
g
,
pp.
144
5
–
1
450,
J
ul
y
4
t
h,
2
015.
[10]
Wi
es
,
Richard
,
B
i
p
i
n
S
a
t
a
valek
a
r,
A
shis
h
A
g
rawal,
J
av
adM
a
hd
avi
,
Al
i
Agah,
A
li
Emadi,
a
nd
Dan
i
el
J
eff
r
ey
S
h
o
rtt.
"
D
C-DC Con
ve
rte
r
s"
, Ind
us
tria
l Ele
c
t
ro
n
i
c
s
, 2
00
1.
[11]
K. Ogat
a
, “
M
o
d
ern
Co
nt
rol En
g
i
neerin
g,”
P
r
en
ti
ce-Hall
, 5
t
h Ed
it
i
o
n
, NJ, 2
01
0.
Evaluation Warning : The document was created with Spire.PDF for Python.