Intern
ati
o
n
a
l
Jo
u
r
n
a
l
of
P
o
we
r El
ec
tr
on
i
c
s
an
d D
r
i
v
e
S
y
stem
(I
JPE
D
S)
V
o
l.
11
, N
o
. 2, Jun
e
20
20
, pp
. 85
1
~
85
8
I
SSN
:
208
8-8
6
9
4
, D
O
I:
10.
115
91
/i
jp
e
d
s.v
1
1
.i2
.
p
p85
1-8
58
8
51
Jo
urn
a
l
h
o
me
pa
ge
: h
t
t
p
:/
/ijpe
d
s.
i
a
e
s
c
o
re.
c
o
m
Application of direct MR
AC in
PI controller for DC-DC boost
converter
Lun
d
e Ardh
ent
a
, R
a
madhani K
u
rnia
w
a
n
Su
bro
t
o
De
pa
rt
me
nt
o
f
Ele
c
t
r
i
c
a
l
Engi
neeri
n
g
,
B
r
a
w
i
j
a
ya
U
n
i
v
e
r
si
t
y
,
In
do
nesi
a
A
r
ticle In
fo
A
B
S
T
RAC
T
A
r
tic
le
h
i
st
o
r
y:
Rec
e
i
v
ed
Ju
l
27
,
20
19
Re
vise
d
Oc
t 2
2
, 2
019
A
c
ce
p
t
ed
Jan
9,
202
0
Almos
t
al
l
elec
tr
o
n
ic co
mp
onen
t
s
requ
ire
a
DC p
o
w
e
r
su
pply
at p
r
esen
t d
a
ys
.
T
h
e
ne
e
d
s of DC po
we
r
su
pp
li
es from
l
o
w v
o
ltag
e
sc
ale
s
, me
di
um
vo
lt
a
g
e
s
su
ch as gen
e
ra
tors
,
to
high
v
o
ltag
e sca
l
es fo
r
h
i
g
h
vo
ltag
e
el
ectr
i
city
tran
smission
.
Th
e imp
r
ov
em
en
t
of P
I
con
t
ro
ller p
e
rfo
rman
ces is
p
r
esen
ted
in
th
is
p
a
per
.
Th
e
a
d
ap
ta
t
i
on
g
a
in
s
i
m
pr
o
v
e
tr
ans
i
en
t
r
e
spo
n
s
e
o
f
DC
-
D
C
B
o
ost
Converter
several op
erat
ing conditi
o
n
s.
M
a
ssach
us
etts
Inst
it
ut
e
of
Tech
no
log
y
(M
IT) ru
le
is
app
l
ie
d
as
an
adap
tiv
e
mech
an
is
m to
d
e
termin
e th
e
op
tima
l con
t
ro
l
param
e
ters
in
s
o
me
con
d
i
t
ion
s
. Th
e
us
ed
ad
ap
tiv
e
con
t
rol
tech
n
i
que
is
Dir
ect M
o
del
R
e
fer
e
nce
A
d
ap
tiv
e
C
o
n
t
ro
l
(M
RA
C),
this
method
as abl
e
to
co
nt
ro
l s
y
s
t
em
in
s
o
me v
a
riou
s
in
put vo
ltag
e
.
Th
e
p
r
op
osed
meth
od
h
a
s
a s
t
a
b
l
e
r
e
sp
on
se an
d
ab
le
t
o
r
e
a
c
h
th
e mod
e
l r
e
f
e
r
e
nc
e
smoo
th
ly
.
Howeve
r, the
r
e
spons
e
of the
system
h
a
s ins
t
an
tan
e
ous
ly
o
v
e
r
s
hoo
t and
follo
w
s
the
resp
on
se back
o
f
m
o
del
r
e
fer
e
nce
.
The r
e
sp
on
ses o
f
p
r
op
osed
con
t
ro
ll
e
r
h
a
ve
sho
r
t
per
i
o
d
of
ris
e
t
i
me
, s
e
ttling
ti
me
,
and
ov
ersh
o
o
t.
Ke
yw
ords:
Boost
C
o
nve
rt
er
PI
DMR
A
C
A
d
ap
ta
tio
n G
a
in
Th
is
is a
n
o
p
en
acces
s a
r
ticle
un
d
e
r the
C
C
B
Y
-SA
licens
e
.
Corres
p
o
n
din
g
A
u
t
h
or:
Lu
nde
A
r
d
h
e
n
t
a
,
Depa
rt
me
nt o
f
Ele
c
t
r
i
c
a
l
Engi
ne
eri
n
g
,
B
r
a
w
ija
y
a
Un
iv
e
r
sity
M
T
H
a
r
yon
o S
t
. 16
7
M
a
l
a
ng
,
I
ndo
n
e
sia
Ema
i
l
:
l
u
nd
e.
ardh
en
ta
@
u
b
.
a
c
.i
d
1.
IN
TR
O
DUCTION
No
wad
a
y
s
,
t
h
e h
i
g
h
e
f
f
i
c
i
e
n
c
y
is su
ita
b
le
t
o
bu
ild
t
h
e
e
l
e
c
tr
on
i
c
d
e
v
i
c
e
s
an
d pow
e
r
c
onver
t
e
r
h
a
s an
i
m
po
rt
a
n
t
r
o
le
i
n
t
h
is
syst
em
. The
st
ep
pe
d up o
r
d
o
w
n DC
vol
t
a
ge is
t
h
e
pu
rp
ose of
p
o
w
e
r c
o
n
v
e
r
t
e
r,
e
v
en
t
houg
h
usin
g a
t
r
a
n
s
f
o
r
me
r ar
e
c
o
mm
o
n
l
y
us
ed in
AC
v
o
l
t
a
g
e. A co
n
v
ent
i
on
a
l
po
we
r
c
onve
rt
er sti
l
l
a
n
opt
io
n
in
indu
st
ry su
ch
as
i
n
du
stry o
f
b
a
tte
r
y
ch
arg
e
r,
un
i
n
te
rr
upt
ed
p
o
w
e
r
s
upp
lie
s,
and
o
t
h
e
r
en
e
r
gy c
onve
rsi
o
n
system
s
[1-7].
It
i
s
r
e
qu
ir
ed e
l
e
c
t
r
on
ic
co
mp
on
en
ts
t
o
r
e
a
c
h
th
e de
sir
e
d v
o
l
ta
g
e
.
Re
cen
t p
o
we
r
con
v
e
rte
r
com
p
o
n
e
n
t
s
h
a
ve
hi
gh q
u
al
i
t
y an
d hi
g
h
ef
fi
ci
enc
y
.
O
n
e
of t
h
e
m
i
s
D
C
-DC
bo
ost
c
o
n
v
e
r
t
e
r whi
c
h
have
u
t
i
liz
a
tio
n
t
o
step
th
e
ou
tpu
t
vo
lt
ag
e
u
p
[
8
, 9].
In
o
r
d
e
r
to
c
r
e
a
te
t
h
e D
C
-D
C bo
o
s
t c
onve
r
t
er
r
a
p
i
d
ch
an
g
e
s of
re
nsp
ons
e,
i
t
must
w
o
rk
in
hi
g
h
fr
eq
ue
nc
y [10
,
1
1
]
.
In
t
h
is c
o
ndit
i
o
n,
D
C
-D
C
bo
ost
c
o
nve
rt
er
r
e
qui
res
cont
rol
l
e
r t
o
ma
nage
t
h
e de
si
r
e
d va
lue
.
A
d
a
p
ti
ve
co
nt
rol
s
a
r
e wi
de
l
y
u
s
e
d
by
re
sear
chers t
o
s
o
lve
dy
nami
c
p
r
obl
ems [1
2-1
8
]
a
nd s
o
me
o
f
t
h
em
use
P
I
D
a
s
i
t
s c
o
ntr
o
l
st
ruc
t
u
r
e.
Co
nv
ent
i
onal
P
I
D i
s
base
d
o
n
a
mat
h
ema
t
i
c
a
l
mo
de
l, s
u
c
h
t
h
at
i
t
has
st
ab
i
lity
,
r
e
l
i
a
b
ilit
y
a
n
d
con
t
ro
l c
a
p
a
b
i
l
i
tie
s.
Conv
e
n
ti
on
al
PI
D con
t
ro
lle
r
s are
eff
e
ct
i
v
e
in
l
i
n
ear syst
em
s, b
u
t
it
i
s
no
t su
ita
ble
fo
r non
-
lin
ea
r sy
st
em
s a
n
d h
i
g
h
-
o
r
d
e
r sys
t
em
s.
D
e
te
rm
in
a
tio
n
o
f
PI
D
p
a
r
a
m
e
t
e
r
s
h
a
s
b
e
e
n
use
d
i
n
ma
n
y
ways
[1
9
]
.
S
e
vera
l
met
h
o
d
s have t
h
ei
r o
w
n a
d
vant
a
g
e
s
and
dra
w
ba
c
k
s
t
o
de
te
rmi
n
e
P
I
D
para
met
e
rs
for
rea
c
hi
ng
st
abl
e
syste
m
.
T
h
e
fi
xe
d p
a
ramet
e
r
i
n
P
I
D
co
nt
rol
l
e
r
is
n
o
t q
u
i
t
e
r
obust
or not
a
b
l
e
to
ada
p
t a
nd t
h
e
r
efo
r
e t
h
e
ada
p
t
i
ve c
ont
rol
l
e
r
t
e
chni
q
u
e
s
is re
qui
red
i
m
p
r
o
v
e
syst
em
re
sp
o
n
se
[2
0, 2
1
]. S
e
ve
ral
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
Int
J
P
o
w
Ele
c
& D
r
i
S
y
st, V
o
l
.
1
1
,
N
o
.
2, Ju
ne
20
2
0
:
8
5
1
–
858
85
2
ada
p
ti
ve
c
o
nt
rol
t
e
c
hni
ques
a
r
e e
m
pl
oye
d
t
o
fi
x
t
h
i
s
pro
b
l
e
m
a
n
d
one
o
f
t
h
e
m
u
s
e
Di
re
ct
M
o
del
R
e
fe
renc
e
A
d
ap
tiv
e
C
o
n
t
ro
l
(DM
R
A
C
)
[2
2
,
23
].
D
M
RA
C pe
rf
or
manc
es a
r
e
pr
ov
ide
d
b
y
mo
d
e
l
as r
e
f
e
ren
c
e,
it
me
a
n
s
th
e
p
l
a
n
t r
e
sp
on
se
m
u
st
fo
l
l
ow
m
o
d
e
l
r
e
spon
se
.
Th
e
f
o
llow
i
ng
p
a
rame
ter
ad
ju
st
me
n
t
mec
h
a
n
ism
is
ca
lc
u
l
a
t
e
d
by
usi
n
g
Mass
ac
hu
se
tt
s Insti
t
ut
e of
Te
c
h
nol
og
y
(M
IT)
rul
e
[2
4, 2
5
]
. In
o
r
der t
o
fi
n
d
o
u
t
the
re
s
ponse
o
f
b
o
o
st
c
o
nv
ert
e
r
a
s
a non
-
lin
e
a
r
syste
m
,
th
e
p
a
p
e
r o
f
f
e
rs
D
M
R
A
C
in
PI
con
t
r
o
lle
r a
s
an al
te
rn
a
t
i
v
e
co
n
t
ro
l
l
er
to
com
p
en
sat
e
for i
nput
volt
a
ge
varia
t
io
ns.
2.
PROP
OSE
D
ME
THO
D
Thi
s
sec
t
ion
d
e
sc
ri
bes a
DC
-DC
bo
ost
co
nve
rt
e
r
m
o
del
and
deri
vat
i
o
n o
f
a
d
a
p
t
a
t
i
o
n
gai
n
usi
n
g
D
M
RA
C.
2.1.
DC
-
D
C
B
o
ost
Co
n
v
er
ter
M
o
d
e
l
D
C
-D
C
boost
c
o
n
v
e
r
t
e
r
i
s
c
o
mmo
n
ly
use
d
i
n
DC
syste
m
a
n
d
al
so
k
n
o
w
n a
s
st
ep
up
DC
con
v
e
r
t
e
r.
It
has si
mpl
e
c
o
n
f
i
g
urat
i
o
n a
nd
one
o
f
n
o
n-is
o
l
at
ed p
o
we
r c
o
nve
rt
er a
s
sho
w
n
i
n
F
i
gu
re
1
.
The
o
u
tp
ut
v
o
l
t
a
g
e
dema
nd
m
u
st
be
gre
a
t
e
r t
h
a
n
the
i
n
put
vo
l
t
a
g
e a
n
d c
ont
inu
o
u
s
.
It
uti
l
i
zes t
w
o
semi
c
o
n
d
u
ct
o
r
s s
u
c
h
a
s
a
cont
rol
l
e
d
po
wer
devi
ce,
a
n
d a
n
unc
o
n
t
r
ol
le
d
de
vi
ce.
Th
ey c
o
nsi
s
t
bas
i
cal
l
y
o
f
a
n
in
duc
t
o
r
in
se
ri
e
s
a
n
d
ca
paci
t
o
r i
n
pa
ra
ll
el
.
Vi
n
R
C
D
S
w
it
c
h
is
O
N
S
w
it
c
h
is
O
F
F
L
Vi
n
R
C
L
Vi
n
R
C
L
F
i
g
u
r
e
1
.
D
C
-D
C boo
st
co
nve
rt
er
sta
t
e
s
; switc
h
ON
a
n
d
sw
it
ch
O
FF
The
c
u
rre
nt of i
nduc
t
o
r
L
i
a
n
d vol
t
a
ge
of ca
p
aci
t
o
r
C
v
are
th
e ma
in
p
a
ram
e
ter
s
. Du
rin
g
th
e
sw
itch
is
O
N
,
eq
uat
i
on
(1)
sp
ec
ify
L
i
and
(2) is
deri
ve
d t
o
o
b
t
a
i
n
C
v
.
d
t
di
L
V
L
in
(1)
R
v
dt
dv
C
C
C
0
(2)
Du
ri
ng
th
e
sw
i
t
c
h
is O
F
F,
th
e in
du
c
t
o
r
re
le
ases
th
e c
h
arg
e
to
t
h
e c
a
p
ac
itor
a
n
d
lo
ad
. Th
e c
o
nd
iti
o
n
of
C
v
is
defi
ned
in
(3
) a
n
d
L
i
c
a
n b
e
sh
ow
ed
in
(4
).
dt
di
L
V
v
L
in
c
(3)
R
v
dt
dv
C
i
C
C
L
(4)
Acco
rdi
n
g to t
h
e ON a
nd
OFF
st
at
e,
t
h
e
a
v
era
g
e
va
l
u
e
of
m
odel
fo
r b
o
o
st co
n
v
ert
e
r i
s
sh
own in
sta
t
e spa
ce
as
(
5
).
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
Ap
pl
i
c
at
ion
of
di
re
ct
M
RAC i
n
P
I
c
ont
rol
l
e
r for
DC-
D
C
bo
ost
c
onve
r
t
e
r (L
unde
Ar
dhe
nt
a)
8
53
in
C
L
C
L
V
L
v
i
RC
d
C
d
L
d
dt
dv
dt
di
0
1
1
1
1
0
(5)
In
orde
r t
o
defi
ne
t
h
e
smal
l
s
i
gna
l
mo
del
of b
o
o
s
t c
o
nve
rt
er, s
u
bst
i
t
u
ti
ng
eve
r
y
va
ri
abl
e
i
s
re
qui
re
d
.
Eac
h
para
met
e
r i
s
pre
s
e
n
te
d
i
n
st
ea
dy
st
at
e pa
rt
a
n
d
s
m
al
l signa
l
va
ria
t
i
on a
s
fol
l
ow
s,
in
in
in
c
c
c
L
L
L
v
V
v
v
V
v
i
I
i
d
D
d
ˆ
ˆ
ˆ
ˆ
(6)
R
v
V
i
I
d
D
d
t
v
V
d
C
v
V
d
D
v
V
dt
i
I
d
L
c
c
L
L
c
c
c
c
in
in
L
L
ˆ
ˆ
ˆ
1
ˆ
ˆ
ˆ
1
ˆ
ˆ
(7)
Th
e st
ea
dy
st
a
t
e v
a
r
i
ab
l
e
s
b
e
c
o
me
z
e
r
o
by
d
e
r
i
v
i
ng
t
h
ese te
r
m
s a
n
d
th
e mu
l
tip
l
i
ca
ti
o
n
re
su
l
t
s
o
f
sma
l
l
si
gna
l
v
a
ri
at
ion
are
ne
gl
ec
te
d. T
h
e s
m
a
l
l si
g
n
al
m
odel
for i
n
d
u
c
t
or
cu
rre
n
t
a
n
d
c
a
p
ac
i
t
o
r
v
o
l
ta
ge o
f
bo
ost c
o
nve
rte
r
a
s
gi
ve
n b
y
(8).
R
C
v
C
I
d
i
D
dt
v
d
L
v
D
v
V
d
dt
i
d
c
L
L
c
c
in
c
L
ˆ
ˆ
ˆ
1
ˆ
ˆ
1
ˆ
ˆ
ˆ
(8)
The
de
rive
d
t
r
ansfe
r
fu
nc
ti
on
(
9
) fr
om the
out
put
vol
t
a
ge
to
the
dut
y
cy
cl
e sh
ow
s the
effec
t
o
f
t
h
e
d
u
t
y
cy
cl
e mod
i
fy
th
e
c
a
p
ac
i
t
o
r
vo
lt
ag
e
w
h
e
n
t
h
e
du
ty cy
c
l
e p
e
rf
or
ms.
2
2
1
1
)
(
ˆ
)
(
ˆ
D
s
R
L
LCs
s
LI
V
D
s
d
s
v
L
c
c
(9)
2.2.
Di
re
ct
Model
Re
fer
e
n
ce
Adapti
ve
Contr
o
l wi
th PI Control
l
e
r
A
d
a
p
ti
ve
c
ont
r
o
l syst
em is a
c
ont
rol s
y
ste
m
t
h
at
has a
d
j
u
st
ed co
nt
rol
pa
ra
me
te
rs ac
co
rdi
ng t
o
so
me
di
st
urba
nces.
I
n
D
M
R
A
C
,
t
h
e
desire
d
syst
e
m
pe
rfo
rma
n
ce
is sta
t
ed in
a
re
fe
re
nc
e
mo
de
l
.
F
i
g
u
re
2
sho
w
s t
h
e
bl
oc
k di
ag
ram
of t
h
e D
M
R
A
C
.
The
co
nt
rol
par
a
met
e
rs
are
c
h
a
nge
d
bas
e
d
on
er
ro
r
fe
e
dbac
k
,
w
h
i
c
h i
s
t
h
e
di
ffe
re
nce
be
t
w
een
t
h
e
ou
t
p
ut
s
y
st
em
a
n
d
t
h
e
o
u
t
put
of re
fere
nce
mo
del
.
T
h
e st
ru
c
t
u
r
e
of D
M
R
A
C
i
s
divi
de
d
i
n
t
w
o l
oops,
t
h
e i
nne
r l
o
o
p
and
o
u
t
e
r
lo
o
p
. T
h
e P
I
c
o
n
t
roll
e
r
i
s
em
pl
oye
d i
n
t
h
is
resea
r
ch
beca
u
s
e
t
h
e
st
ru
c
t
ur
e
o
f
PI co
n
t
ro
l
l
er
is sim
p
le
to
ex
ec
ute
in
imp
l
emen
ta
ti
o
n
.
PI
c
o
n
t
r
o
lle
r is on
e
of sing
le inp
u
t
s
i
n
g
l
e
out
put
(S
IS
O) met
h
o
d
,
t
h
i
s
c
ont
rol
l
e
r
ha
s n
o
abi
l
it
y
to fol
l
o
w
t
h
e
di
versit
y
o
f
e
nvi
ro
nme
n
t
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
Int
J
P
o
w
Ele
c
& D
r
i
S
y
st, V
o
l
.
1
1
,
N
o
.
2, Ju
ne
20
2
0
:
8
5
1
–
858
85
4
R
e
f
ere
n
ce
Mo
de
l
Ad
j
u
s
t
m
e
n
t
me
ch
a
n
i
s
m
C
o
n
t
ro
l
l
er
Pl
a
n
t
Yp
Ym
U
C
ont
ro
l
l
e
r
Pa
r
a
m
e
t
e
r
R
Fi
gu
re
2.
Di
re
c
t
mo
del
re
fe
re
n
c
e
a
d
a
p
t
i
ve
c
ont
rol
The
b
oost
c
o
n
v
e
r
t
e
r is
2n
d orde
r
syst
e
m
, suc
h
t
h
at
t
h
e
desc
r
i
be
d syst
em
b
y
2
n
d
or
der
mod
e
l as:
2
1
2
2
1
a
s
a
s
b
s
b
s
U
s
Y
p
(10
)
The
re
fe
ren
c
e
mo
del
i
n
2nd
o
r
de
r
s
y
ste
m
gi
ven
b
y
:
3
2
2
1
3
3
2
2
1
am
s
am
s
am
s
bm
s
bm
s
bm
s
U
s
Y
m
(11
)
Th
e te
rm
o
f
PI
c
o
n
t
r
o
ll
er
as:
s
K
K
s
Y
s
R
s
U
i
p
p
(12
)
Tran
sfe
r
f
unc
ti
on
of b
oost
c
o
nve
rt
er a
n
d P
I
cont
rol
l
e
r
is
i
p
i
p
p
K
s
K
b
s
b
a
s
a
s
s
K
s
K
b
s
b
s
R
s
Y
2
1
2
1
2
2
1
(13
)
An
d
s
R
K
s
K
b
s
b
a
s
a
s
s
K
s
K
b
s
b
s
Y
i
p
i
p
p
2
1
2
1
2
2
1
(14
)
Th
e
d
i
ff
er
en
ce
b
e
tw
e
e
n
th
e outp
u
t
sy
st
em and
r
e
fer
e
n
c
e
mod
e
l
:
m
p
Y
Y
(15
)
Th
e f
o
rm of
cost
f
u
n
c
tion
is
c
h
o
s
en
by
:
2
2
1
J
(16
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
Ap
pl
i
c
at
ion
of
di
re
ct
M
RAC i
n
P
I
c
ont
rol
l
e
r for
DC-
D
C
bo
ost
c
onve
r
t
e
r (L
unde
Ar
dhe
nt
a)
8
55
Wh
er
e
indi
ca
te
s
t
h
e e
r
ro
r
b
e
t
w
e
e
n
pla
n
t
o
u
t
p
ut a
n
d mo
d
e
l
refe
re
nce
o
u
t
p
ut. T
h
e
has no
fix
v
a
lu
e
a
n
d
i
t
is se
t in
s
u
c
h
a
way
su
ch
t
h
at
J
i
s
mi
ni
mi
ze
d t
o
z
e
ro. In
MIT
rule
,
Ne
gat
i
v
e
gra
d
ie
nt
of
J
is
n
e
ed
ed
t
o
d
e
t
e
rmin
e tim
e
ra
te
o
f
ch
ang
e
o
f
as show
n in
(
17)
.
J
dt
d
(17
)
p
p
p
p
p
p
K
Y
Y
J
K
J
dt
dK
(18
)
Wh
er
e;
J
,
1
p
Y
Parameters
p
K
and
i
K
are
det
e
rmi
n
ed
b
y
a
p
p
l
yi
n
g
M
I
T
gra
d
i
e
nt
rul
e
s
(19
)
.
p
p
p
p
p
p
p
K
Y
Y
J
K
J
dt
dK
i
p
p
i
i
i
i
K
Y
Y
J
K
J
dt
dK
(19
)
Wh
er
e,
J
,
1
y
i
p
i
d
p
d
p
p
p
K
b
s
K
b
K
b
K
b
a
s
K
b
K
b
a
s
a
s
b
s
b
s
Y
s
R
K
Y
2
2
1
2
2
2
1
1
2
3
1
2
1
(20
)
i
p
i
d
p
d
p
i
p
K
b
s
K
b
K
b
K
b
a
s
K
b
K
b
a
s
a
b
s
b
s
Y
s
R
K
Y
2
2
1
2
2
2
1
1
2
3
1
2
1
(21
)
F
r
o
m
e
qua
t
i
on
(2
0) an
d (21
)
, i
t
i
s
obt
a
i
ne
d,
p
p
K
Y
,
i
p
K
Y
a
s
eq
ua
ti
o
n
(
22)
a
nd
(2
3).
i
p
i
d
p
d
p
p
p
p
p
K
b
s
K
b
K
b
K
b
a
s
K
b
K
b
a
s
a
s
b
s
b
s
Y
s
R
K
J
dt
dK
2
2
1
2
2
2
1
1
2
3
1
2
1
(22
)
i
p
i
d
p
d
p
i
i
i
i
K
b
s
K
b
K
b
K
b
a
s
K
b
K
b
a
s
a
b
s
b
s
Y
s
R
K
J
dt
dK
2
2
1
2
2
2
1
1
2
3
1
2
1
(23
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-86
94
I
n
t J
P
o
w
El
ec
&
D
r
i S
y
st
,
V
o
l
.
11,
N
o
.
2,
J
u
ne
20
2
0
:
8
51
– 85
8
85
6
1
b
,
2
b
,
1
a
, an
d
2
a
have
an
unk
no
w
n
nu
mbe
r
.
3.
RESEARCH M
E
THOD
Th
e r
e
sear
ch
i
s
b
a
se
d o
n
th
e o
u
t
pu
t vo
lta
ge
g
e
n
e
r
a
te
d by
th
e boo
st
co
nv
er
te
r
w
h
ich
h
a
s
no
t b
een
pr
ope
rl
y
re
g
u
l
a
t
e
d. T
h
i
s
pr
o
b
l
e
m
occu
r
s
w
h
en
t
h
e
r
e
are
c
h
a
nge
s
in i
n
p
u
t
volt
a
g
e
,
r
e
fe
r
e
nc
e
vol
ta
ge,
a
n
d
t
h
e
l
o
ad.
This
r
e
se
ar
ch t
h
at
wi
ll
be c
a
r
r
i
ed
out
i
n
a b
oost
c
o
n
v
er
te
r
usi
ng a
PID
c
o
nt
r
o
ll
e
r
and a
b
oost
c
o
nve
r
t
e
r
si
mula
ti
on
usi
ng
D
M
RAC
.
The c
o
n
v
e
n
t
i
o
nal
c
o
ntr
o
ll
er
P
I
D
i
s
ut
il
i
z
e
d
t
o
co
mpa
r
e
t
h
e pr
o
pose
d
c
o
nt
r
o
l
l
e
r
t
h
at
ve
ri
fi
ed
b
y
va
r
y
i
n
g
in
put
vol
t
a
ge
. Ta
bl
e 1
prese
n
ts t
h
e
par
a
met
e
r
s
of
boost
c
o
nve
rt
er
.
Tabl
e 1. DC-
D
C
b
oost
c
o
nve
r
t
e
r
pa
ramet
e
r
s
Pa
ra
met
e
r
S
y
m
bol V
a
lue
I
nput V
o
ltage
in
V
V
12
I
nducta
nce
L
mH
7
.
4
Re
sist
ance
R
10
0
Ca
pac
ita
nce
C
F
470
B
y
u
s
ing
t
h
e
s
e
p
a
same
te
r
s
, th
e
mo
de
l of
D
C
-D
C
b
o
o
s
t co
nv
er
te
r (5)
is u
t
i
liz
ed
as
a
p
l
an
t of
the
sy
ste
m
. Th
e
d
e
r
i
v
a
t
i
on
DM
RA
C b
a
sed on
PI
con
t
ro
ll
er
ob
t
a
i
n
(
22)
a
n
d
(23
)
, th
ese e
q
u
a
tio
n
s
a
r
e th
e ad
ap
tiv
e
co
n
t
ro
l
l
e
r
model
.
Th
e
v
a
l
u
e
of
g
a
mma
s
is
sp
ec
if
ie
d to a
c
hi
ev
e
th
e a
p
pr
op
r
i
a
t
e
r
e
sp
on
se
.
S
o
m
e
sc
en
ar
i
o
s
f
o
r
ch
a
n
g
i
ng
t
h
e
in
pu
t v
o
lta
ge
an
d
lo
a
d
are
set
to
f
i
n
d
ou
t t
h
e
r
e
sp
on
se o
f
t
h
e
pr
opo
sed
c
o
n
t
r
o
lle
r
.
4.
R
E
SU
LTS AN
D ANA
LY
SIS
The
pe
r
f
o
r
m
an
c
e
o
f
b
o
o
st
c
o
nve
r
t
er
i
n
pr
o
pose
d
c
ontr
o
ll
e
r
is
p
r
o
v
e
n
i
n
si
mul
a
t
i
o
n
s
u
c
h
t
h
at
an
y
ch
a
n
g
e
d
re
sp
on
se
s a
r
e a
b
l
e
t
o
b
e
ob
serv
ed
.
Th
e
i
n
pu
t
vo
l
t
ag
e an
d
r
e
sist
o
r
lo
ad of
b
o
o
st co
nv
er
te
r
a
r
e 12
V
an
d 100
Ω
, r
e
sp
ec
tiv
e
l
y.
R
e
f
er
en
c
e
vo
lt
ag
e
is s
e
t
to
b
e
48
V
an
d t
h
e v
a
lue
of
g
a
mm
as
as fo
ll
o
w
in
g,
5
3
10
7
10
2
i
p
The c
o
m
p
ari
s
o
n
o
f
c
o
n
v
e
n
t
i
ona
l
PI
D
a
nd a
d
a
p
ti
ve
PI
i
n
b
oost c
o
nve
rt
e
r
i
s
sho
w
n
i
n
F
i
gur
e
3
a
n
d
Fig
u
re
4.
In
cre
a
s
i
n
g
o
f
th
e i
n
pu
t vo
l
t
a
g
e
f
r
om
V
12
to
V
24
a
t
0.
3s ma
kes t
h
e l
i
t
t
l
e
osc
i
l
l
a
t
i
on in out
pu
t
vol
t
a
ge
.
The
p
r
o
pose
d
c
o
ntr
o
ll
er
c
a
n re
ac
h s
t
e
a
dy sta
t
e le
ss
t
h
an
0.
03s
wi
th a
sl
i
ght
ove
r
s
ho
ot
. T
h
e t
r
a
n
si
ent
r
e
sp
o
n
se
o
f
pr
op
ose
d
co
nt
r
o
l
l
er ha
s a
go
od
r
e
sp
o
n
se
an
d
same re
s
p
o
n
se
to re
fe
r
e
nce
mo
de
l.
I
n
Fi
g
u
re
3,
t
e
nsi
o
n str
e
s
s
of
p
r
o
p
o
se
d c
o
nt
r
o
l
l
e
r
i
s
m
o
r
e
st
a
b
le
e
v
en
t
h
o
u
gh t
h
e
in
V
i
s
c
h
an
ge
d a
t
0.
3s.
The
co
n
v
e
n
ti
o
n
al
PI
D n
e
e
d
s 0.
06s
to
wa
rd
th
e r
e
fe
r
e
n
c
e
mod
e
l
w
h
en
t
h
er
e
is
an
in
cr
ea
se
in
the
in
pu
t v
o
l
t
a
g
e
.
F
i
gu
re
3.
O
u
tp
ut
v
o
l
t
a
ge
re
nspo
nse
o
f
DC-
D
C b
oost
c
o
nve
r
t
e
r
w
i
t
h
c
h
a
n
gi
ng
i
n
put
v
o
lt
a
g
e
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
P
o
w
Elec &
Dri Sy
st
I
SSN
: 2
0
8
8
-8
69
4
Ap
pli
c
ati
o
n
of
di
rec
t
MRAC
i
n
P
I
c
ontr
o
l
l
e
r f
o
r
DC
-
D
C
bo
ost
c
onvert
e
r
(
L
u
nde
Ar
dhe
nt
a)
8
57
Fi
gu
re
4.
O
u
t
p
ut v
o
l
t
a
g
e r
e
ns
po
nse
o
f
DC
-
D
C
b
oost
c
o
nve
r
t
er wi
th
cha
n
gi
ng
l
o
a
d
In s
e
c
o
nd sc
e
n
ar
i
o
,
the
loa
d
i
s
cha
n
g
e
d to
3
00
Ω
a
t
0.
3
s, a s
m
al
l
os
c
i
l
l
a
t
i
on o
c
cu
r
s
a
nd f
i
na
ll
y
f
o
ll
o
w
s
t
h
e
r
e
f
e
renc
e
m
o
del
.
The
t
r
ansi
e
n
t
r
e
sp
onse
of
t
h
e
p
r
o
p
o
se
d c
ont
r
o
ll
er
sh
ow
s
it
has
f
a
st
re
sp
o
n
se t
o
a
c
hi
eve
the
v
o
l
t
a
ge
re
fer
e
nce
,
t
h
e
l
o
a
d
c
h
a
nge
ma
kes c
o
nve
nt
i
o
nal
P
I
D
re
q
u
ir
es
m
o
re t
i
m
e.
T
h
e
v
o
l
t
a
g
e
de
via
t
i
o
n
in
p
r
o
p
o
se
d c
o
ntr
o
l
l
e
r
b
y
6.
25
% f
o
r
0.
01 s
,
thi
s
r
e
s
p
o
n
se
i
s
qui
t
e
fast
t
h
an
c
o
n
v
e
n
t
i
o
nal
P
I
D
c
ont
r
o
ll
er
.
The
out
p
u
t
v
o
l
t
a
g
e
of
t
h
e
c
h
an
gi
ng
l
o
a
d
i
s
s
how
n
i
n
Fi
g
u
re
4.
Ho
we
ver
,
t
h
e
pr
o
p
ose
d
co
nt
rol
l
e
r
ha
s s
h
o
r
t
e
r
os
c
i
l
a
t
i
on com
p
are
d
t
o
co
nve
nt
i
onal
P
I
D
c
ont
r
o
ll
er
, t
h
e
vol
ta
ge
de
vi
at
i
on
i
n
l
e
ss
t
h
an P
I
D
c
ont
r
o
ll
er
.
5.
CO
NCL
US
IO
N
I
n
t
h
is
p
a
p
e
r,
D
M
RA
C i
s
cho
s
en
for
co
n
t
r
o
lli
n
g
D
C
-
D
C
bo
o
s
t
conv
er
te
r, t
h
is m
e
th
od is
sa
tisf
i
e
d
for
its
co
n
t
ro
l
l
e
r
str
u
ct
ur
e and
go
od p
e
r
f
o
r
ma
nc
e
in
v
a
r
i
ou
s
i
n
pu
t vo
lta
g
e
s
a
n
d l
o
a
d
s. Th
e pr
opo
sed
sy
st
e
m
i
s
sta
b
le
a
n
d ab
le to r
e
a
c
h
mod
e
l re
fer
e
n
ce p
e
rf
e
c
t
l
y
w
ith sh
or
te
r
re
co
v
e
ry
time.
Ho
w
e
v
e
r
,
th
e
r
e
sp
on
se
of
t
h
e
syst
em has
ins
t
ant
a
ne
o
u
sl
y o
v
e
r
s
h
oot a
n
d v
o
l
t
a
ge
de
vi
at
ion.
The
ri
se ti
m
e
,
set
t
l
i
ng
t
i
m
e
,
an
d
o
v
e
r
sh
o
o
t
fo
r
ste
p
re
spon
se
to
fo
llow
t
h
e
r
e
spon
s
e
of
mo
d
e
l
r
e
f
e
r
e
n
ce
a
r
e
some
ob
je
ct
iv
e
s
t
h
at
d
e
te
r
m
in
e
wh
et
her
the
a
d
apt
a
t
i
on
gai
n
s w
o
r
k
pr
o
p
e
rl
y.
T
h
e a
d
a
p
t
a
t
i
o
n
gai
n
s de
te
rmi
n
e
t
h
e
suc
ces
s of
a
d
a
p
ti
ve
c
ont
r
o
l
.
The
ad
a
p
ta
tio
n
g
a
ins of
th
e pro
p
o
s
ed
co
n
t
r
o
lle
r
a
r
e
ob
ta
in
ed
by e
m
p
i
r
i
c
a
l
g
a
in
s.
AC
K
N
OWLEDGEMENTS
T
h
e
r
e
s
ear
ch p
r
o
j
ec
t
w
a
s su
ppo
rt
e
d
by
U
n
i
v
e
r
sita
s B
r
aw
ij
ay
a
t
h
roug
h
L
e
m
b
a
g
a
P
e
n
e
li
tia
n
d
a
n
Pen
g
ab
di
an
M
a
syara
k
at
Uni
v
ersit
a
s Bra
w
i
j
a
ya
(LPPM
–
UB).
RE
FE
RE
NC
ES
[1]
M
o
stafa Mo
sa
,
M
o
hammad
B.
S
h
admand
,
Rob
e
rt S
.
Balog
,
Ha
itham
Ab
u
Ru
b,
"
E
ffi
cient
m
a
xi
m
u
m
po
wer
po
in
t
tra
c
k
in
g u
s
i
ng
m
o
d
e
l pr
e
d
i
c
ti
v
e
c
o
n
t
rol for pho
to
vo
lt
aic
system
s un
de
r d
y
n
a
m
i
c
we
ath
e
r c
o
n
d
i
t
i
o
n
"
,
Re
ne
wa
bl
e
Power Generation
IE
T
, vo
l. 11
,
no
. 1
1
,
pp.
14
01-14
0
9
,
20
17.
[2]
Tedj
ani M
e
sb
a
h
i,
N
a
ss
im
Ri
zo
u
g
, F
o
uad
Kh
e
n
fri,
P
a
tri
c
k
B
a
rth
o
lomeüs
, P
h
ilipp
e
Le
M
o
ig
ne,
"
D
y
n
amic
al
modelling and
emulation of
L
i
-
i
on batt
eries–sup
e
rcapaci
t
ors
hybrid power
suppl
y
for
el
ectric vehi
cl
e applications",
Ele
c
trica
l
S
y
s
t
e
m
s
in T
r
ans
po
rtatio
n I
E
T
,
vol
.
7, n
o
.
2, p
p
.
16
1-1
6
9
,
20
17.
[3]
Xi
Z
h
a
ng,
Ch
en
gl
ia
n
g
Yin,
H
u
a
Ba
i,
"Fi
x
e
d
-b
ou
nd
a
r
y
-
la
ye
r
Sli
d
i
n
g-m
o
de an
d Va
ri
a
b
le
Swi
t
c
h
in
g
Fr
e
q
u
e
n
c
y
Co
ntrol for
a B
i
d
i
rec
t
io
na
l
DC–
D
C Co
nv
erter in
H
y
b
r
id
En
ergy
S
t
o
r
age
S
y
stem"
,
El
ectr
i
c Pow
e
r
Com
p
o
n
en
ts
an
d
Sy
ste
m
s
, v
o
l.
45
,
p
p
.
147
4,
20
17
.
[4]
H
a
ss
an F
a
th
aba
d
i, "P
lug
-
in Hy
b
r
id El
ectr
i
c V
e
h
i
cles (P
HE
V
s
): Rep
l
a
c
ing
Int
e
rna
l
Co
m
b
us
tion
En
g
i
ne
with
C
l
e
a
n
an
d
Ren
e
wab
l
e
Energy
B
a
sed
A
u
xiliary
P
o
wer S
o
urces"
,
IEE
E
T
r
an
sa
c
t
io
ns on
Po
we
r E
l
e
c
t
ro
nic
s
, 20
18
.
[5]
M.
Le
pa
no
v
,
Y.
Ro
z
a
n
o
v
,
"Mu
l
t
i
fu
nc
t
i
o
n
a
l
re
gu
la
t
o
r
ba
se
d
on
SME
S
a
n
d p
o
we
r e
l
ec
t
r
on
ic
c
o
n
v
e
r
t
e
r for i
n
cre
a
s
e
of power
quality
and power
sup
p
ly
r
e
liabil
i
t
y
",
4th
In
ter
n
a
t
iona
l Co
n
f
eren
ce
on
Po
wer
En
gine
e
r
ing
En
erg
y
an
d
El
ec
tric
al D
r
i
ves
, p
p
. 13
87
-1
39
1
,
20
13.
[6]
C. M.
Ni
rm
a
l
Mu
ku
nd
a
n
, P.
Ja
y
a
pra
k
a
s
h
,
"
A
ne
w bi
na
ry hy
b
r
id
ca
sc
a
d
e
d
H-b
r
i
dge
m
u
lti
l
e
v
e
l
c
onve
rte
r
for p
o
we
r
qu
a
l
i
t
y a
ppli
c
a
t
io
ns",
Proc
.
IEEE
7
t
h
Po
we
r In
dia
I
n
te
rn
at
io
na
l
C
o
n
f
e
r
e
n
ce
(P
IICON)
, pp
.
1-6
,
N
o
v
.
2
016
.
[7]
M
a
n
o
ran
j
an
S
a
h
o
o
,
S
i
v
a
K
u
mar
K, "H
ig
h G
a
in
S
t
ep Up
DC-DC Co
nv
erter for
D
C
M
i
cro-Gri
d
A
p
p
l
icatio
n"
,
Inf
o
rma
t
i
o
n an
d
A
u
t
o
ma
ti
on fo
r
S
u
sta
i
n
a
b
i
l
ity (ICIA
f
S
)
20
14 7t
h
In
te
rna
t
i
o
n
a
l
Conf
e
r
e
n
ce
, 20
14
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
Int
J
P
o
w
Ele
c
& D
r
i
S
y
st, V
o
l
.
1
1
,
N
o
.
2, Ju
ne
20
2
0
:
8
5
1
–
858
85
8
[8]
R.
K.
Sub
r
ot
o,
L
.
Ardhe
nt
a,
a
nd E
.
Ma
u
l
a
n
a,
“
A
no
ve
l o
f
a
d
a
p
t
i
ve
sli
d
i
n
g
mo
de
c
ontro
lle
r
wit
h
ob
se
rv
e
r
fo
r
DC/DC bo
ost c
o
nv
e
r
te
r
s
in ph
ot
ovo
lt
a
i
c
syste
m
”
,
20
17
5th In
ter
n
a
t
iona
l
Co
nf
eren
ce
on
Elec
trical
,
Ele
c
tron
ics
an
d
In
fo
rmat
io
n
E
ngi
ne
e
r
in
g
(ICE
E
IE)
, p
p
.
9–1
4
,
20
17.
[9]
M.
Fo
rou
z
e
s
h
,
Y.
P.
Siwa
ko
t
i
,
S. A. Gorji
,
F.
Bl
aabjerg,
B.
L
e
hman, "Step-U
p
DC-DC Conver
t
e
rs
:
A
Co
m
p
re
h
e
nsi
v
e
R
e
vi
e
w
o
f
Vol
t
a
g
e
-
Bo
osti
ng Tec
h
n
i
qu
e
s
T
o
po
lo
gi
e
s
a
nd App
lic
a
t
i
o
ns",
IE
EE
Tran
sa
c
t
i
o
n
s
on
P
o
wer E
l
ectronics
,
vo
l.
32,
no. 12,
pp.
91
43
-91
78,
Dec
2
0
1
7
.
[10]
M
u
h
a
mmad
H
.
R
a
sh
id
,
“P
ow
er
El
e
c
tr
o
n
i
c
s
–
C
i
r
c
ui
ts
,
D
e
vi
ces
an
d
A
ppl
ic
at
io
ns
”,
3r
d ed
., Pre
n
ti
ce
Ha
ll o
f
Ind
i
a
.
[11]
Mo
ha
n
N.
,
Un
del
a
n
d
T.
M.,
a
n
d Rob
b
i
n
s
W.
P
.
,
“
P
o
w
e
r
E
l
e
c
t
ronic
s
:
Co
nv
e
r
te
rs,
App
l
i
c
at
io
ns,
a
nd
De
sig
n
”
,
Ne
w
York
: W
i
l
e
y
,
199
5.
[12]
W
e
ic
h
a
o
Sun
,
Yifu
Z
h
a
ng,
Yup
i
n
g
Hu
a
n
g,
Hu
ij
un
Ga
o,
O
k
ya
y
Ka
y
n
a
k
,
"
T
ra
n
s
i
e
n
t
-Pe
rfo
rm
a
n
ce
-Gu
a
ra
ntee
d
R
o
bu
st
Ad
a
p
ti
ve
C
o
nt
r
o
l a
n
d I
t
s A
p
p
l
ica
t
ion
t
o
Pre
c
ision Motio
n Co
nt
rol Sy
ste
m
s"
,
I
n
dustrial Elec
tronic
s
I
E
E
E
Tran
sa
c
t
i
o
ns o
n
,
vo
l.
63
,
n
o
.
1
0
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,
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16
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Jia
n
fe
ng
Lia
o, Zh
e
n
g
Che
n
,
Bin Ya
o,
"
P
e
rform
a
n
ce
-Orie
n
te
d
Co
o
r
di
na
te
d Ad
a
p
t
i
ve
Ro
bu
st
Co
nt
rol
for
Four-
Wh
ee
l In
d
e
p
e
nd
en
tly
D
r
iv
en
S
k
id
S
t
eer
M
o
bile
Rob
o
t",
Acces
s
I
E
E
E
,
vo
l. 5
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04
8-19
05
7, 2
0
1
7
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Chien-Ch
ih
We
n
g
, Wen
-
S
hyo
ng
Y
u
, "H
∞
tr
a
c
king
adap
tive
fuzzy
in
teg
r
al
s
l
iding
mod
e
co
ntro
l for
par
a
ll
e
l
manipu
lators"
,
Sy
ste
ms Ma
n
an
d Cy
be
rn
e
t
ic
s
(SM
C
) 2
0
1
0
IEE
E
In
te
rn
atio
nal Co
nfe
r
e
n
ce
on
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0
4
,
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10
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[15]
Ab
hish
ek Nay
a
k, Bidy
adh
a
r S
u
bu
dh
i, "
D
iscr
e
t
e b
acks
t
e
p
pi
ng c
o
n
t
rol
of mag
n
e
tic
l
e
vitation
syste
m
with
a
n
o
n
l
i
n
ea
r s
t
at
e est
i
m
a
to
r"
,
In
d
i
a
Co
nferenc
e
(IN
D
I
CON) 20
16
IEEE
Ann
u
a
l
,
pp
.
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,
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016
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M.
Ha
sh
e
m
i, J
.
As
ka
r
i
, J.
G
h
ai
s
a
r
i
, M. K
a
m
a
li
,
"A
da
pt
iv
e co
ntrolle
r
d
e
s
i
g
n
f
o
r n
o
n
lin
ear
sy
stems
wi
th t
i
m
e
-
vary
in
g s
t
ate
de
l
a
ys"
,
Ele
c
trical
En
gine
ering
(IC
EE) 20
14
22
nd
I
r
a
n
ia
n
Co
nferen
ce on
,
p
p
.
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2,
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Z.-J.
Yan
g
,
K.
Kun
i
tos
h
i, S
.
Kan
ae,
and
K
.
Wada
,
“Adap
tiv
e ro
bu
st
ou
tp
u
t
-
f
ee
d
b
a
c
k
con
t
ro
l
of
a
magne
tic
Lev
i
t
a
tion
sy
stem
by
K-fi
lter
ap
pro
ach,”
I
EEE T
r
ans. Ind.
El
ectron
,
vo
l.
55,
no.
1,
p
p
. 3
9
0
–
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99,
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0
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Ch
ih
-Min
Li
n, Mi
ng
-Hun
g
L
i
n,
Ch
u
n
-W
e
n
Che
n
, "
S
oP
C-Ba
se
d
Ad
a
p
ti
v
e
PID
Con
t
rol
Syste
m
De
sig
n
fo
r
Magnet
i
c
Levitati
on
S
y
stem",
Syste
m
s J
o
urna
l IEEE
, vo
l.
5
,
no.
2
,
pp
.
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7
8
-2
87
,
2
011
.
[19]
K. H.
An
g,
G.
Ch
on
g,
a
n
d Y.
L
i
,
“
P
ID c
o
n
t
ro
l
sy
st
e
m
a
n
al
ysis,
de
sig
n
, a
n
d te
chn
o
l
o
g
y
,
”
IEEE Tran
sac
t
io
ns on
Con
t
r
o
l Sys
t
em
T
echno
lo
gy
,
vo
l.
1
3
,
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pp
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D. E. S
e
b
o
rg
, T.F
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g
a
r
and
D.A
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M
e
llich
am
p
,
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roces
s D
y
n
a
m
i
c
and
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”
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editi
on, Wiley
:
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04
.
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B
.
W
.
B
e
q
u
e
t
t
,
“
P
r
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ces
s
Co
nt
r
o
l
M
o
d
e
ll
ing
an
d S
i
mu
la
t
i
o
n
”
,
New J
e
r
s
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ti
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E.
Lavre
t
s
k
y
an
d
K
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Wis
e
,
“Ro
b
u
s
t and
ad
ap
tive
con
t
ro
l:
With
aero
s
pa
ce
app
l
ica
t
io
ns
, s
e
r
.
A
d
v
a
n
ced
tex
t
bo
ok
s
in co
n
t
ro
l
and
sig
n
al pro
cess
i
n
g
”
,
L
o
nd
on
an
d
Ne
w Y
o
rk: S
p
ring
e
r
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13.
[23]
M.
Krst
ic
, I. Kane
l
l
a
k
o
p
o
u
l
o
s,
an
d P.
V.
Ko
ko
tov
i
c
,
“
N
on
li
ne
a
r
a
n
d
a
d
a
p
t
i
ve
c
ont
ro
l de
si
gn
”
,
Ne
w Yo
rk:
Wi
le
y,
19
95
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[24]
P.
C.
Pa
rk
s,
“
L
i
a
pu
no
v
Re
d
e
si
g
n
of
Mo
de
l Re
fe
renc
e
Ad
a
p
ti
v
e
Cont
rol
System
s”
,
I
E
EE
T
r
a
n
s
a
ct
io
n o
n
Au
tom
a
t
i
c
Cont
r
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l
, v
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l
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1,
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,
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Zh
uo
yu
n
Nie,
D
o
ng
sh
eng
Gu
o,
Qing
gu
o
Wang
,
Ru
ijuan
L
i
u,
L
a
ich
e
n
g
Yan,
"
A
n
a
lys
i
s
an
d
de
sign
o
f
ex
tend
e
d
state
obs
erver
w
ith ref
e
ren
c
e
m
o
d
e
l",
Co
nt
rol
a
nd
De
c
i
sio
n
Co
n
f
e
r
e
n
c
e
(CCDC) 2016
Chi
n
e
s
e
, p
p
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589
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4
,
20
16
.
BIOGRAPHIES
OF AUTH
O
R
S
Lun
d
e
A
r
dhen
t
a
w
a
s
b
o
rn
in
Ea
s
t
Java P
r
o
v
in
ce
, I
ndo
nes
i
a,
in
19
8
8
.
He
is cu
rrent
ly a ju
nior
lec
t
u
r
e
r
at D
e
par
t
men
t
o
f
El
ectr
i
c
a
l
Eng
i
ne
ering
,
Un
iv
ersity
of
Br
aw
ijay
a
, In
do
nes
i
a. H
e
rece
ived
th
e
M
.
S
.
d
e
gr
ee
in
Dep
a
rtmen
t
o
f
El
ectr
i
cal
En
gin
eer
ing,
Natio
n
a
l
ChiaY
i
U
n
ivers
i
ty
,
Ta
i
w
a
n
in 20
15
.
He
c
o
m
p
l
e
te
d
h
i
s
Ba
c
h
el
or de
gree
i
n
De
pa
rt
m
e
nt
of
E
l
e
c
t
ri
ca
l
E
ngin
e
e
r
i
n
g
,
U
n
iversity
of
Braw
ijay
a, In
do
nes
i
a in
2
0
1
1
.
Hi
s
r
e
search
in
teres
t
s
in
clud
e
renew
a
ble
energy
ap
plication
s
,
lin
ear
con
t
ro
l an
d
d
i
g
i
ta
liz
e
d
co
ntro
l te
chn
i
q
u
es
, a
n
d
po
wer el
ec
tron
ic
s
.
Ramadh
ani Ku
r
n
iawan
S
ubro
t
o
rece
iv
ed
B.Eng
deg
r
ee
in
El
ec
trical
En
gin
eer
ing
from S
e
pu
lu
h
N
o
p
e
m
b
er Ins
t
u
t
u
t
e o
f
Tech
no
lo
g
y
,
S
u
rabay
a
,
In
don
esia
in
20
12
and
th
e M
.
Eng
a
nd
M
.
S
c
de
g
r
e
e
s
fro
m
Sep
u
l
u
h
No
pe
m
b
e
r
In
st
ut
ute
of T
echn
o
l
o
gy
a
n
d
Na
tio
na
l Tai
w
a
n
Univ
e
r
sit
y
o
f
S
c
ienc
e
an
d T
ech
no
lo
gy
,
Taip
ei
, Taiwan
in
2
014
. H
e
is
curr
en
tly
a l
ectu
r
er
in
Br
aw
ijaya
U
n
iversity
, M
a
la
n
g
, Ind
ones
i
a.
H
i
s res
e
a
r
ch
in
te
re
s
t
s
in
clu
d
e
p
o
we
r
c
o
nv
er
ters
mod
e
lling
and
co
ntrol,
no
nl
in
ea
r
contro
l,
ad
ap
ti
v
e
c
ontro
l,
a
nd powe
r
qu
a
l
i
t
y.
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