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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
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8
694
I
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t J
P
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w
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E
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&
Dr
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y
s
t
,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
345
–
3
5
6
346
Ma
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et
h
o
d
,
th
e
v
ec
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o
f
i
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p
u
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cu
r
r
en
t
is
k
ep
t
i
n
p
h
ase
w
it
h
v
ec
to
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o
f
i
n
p
u
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e.
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h
er
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s
in
th
e
n
e
x
t
m
et
h
o
d
th
e
h
ar
m
o
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ic
co
n
ten
t
o
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th
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n
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u
t
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n
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e
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ed
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ce
d
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y
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n
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o
lli
n
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i
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p
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r
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en
t
d
i
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lace
m
en
t
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le.
I
n
th
e
P
r
o
p
o
s
ed
co
n
tr
o
l
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ateg
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es
m
in
i
m
izin
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tp
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t
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r
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t
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is
to
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er
ad
icati
n
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en
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o
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m
m
etr
ic
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u
p
p
l
y
v
o
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e
is
a
ch
iev
ed
b
y
r
ed
u
ci
n
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th
e
ze
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o
v
ec
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r
s
.
Fig
u
r
e
1
.
Si
m
p
le
Ma
tr
i
x
C
o
n
v
er
ter
T
o
p
o
lo
g
y
I
n
o
r
d
er
to
ac
h
iev
e
t
h
e
ab
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e
r
e
s
u
l
t
a
n
o
v
el
co
m
p
en
s
atio
n
tec
h
n
iq
u
e
h
a
s
b
ee
n
p
r
o
p
o
s
ed
to
er
ad
icate
th
e
d
etr
i
m
en
ta
l
ef
f
ec
t
s
o
f
th
e
i
m
p
r
ec
i
s
e
i
n
p
u
t
v
o
lta
g
es
f
o
r
m
atr
ix
co
n
v
er
ter
co
n
tr
o
lled
w
it
h
SVM
m
o
d
u
latio
n
m
et
h
o
d
u
s
i
n
g
FOP
I
D
co
n
tr
o
ller
.
Un
d
er
clo
s
ed
lo
o
p
c
o
n
tr
o
l
o
f
DM
C
t
h
i
s
tech
n
i
q
u
e
p
r
o
d
u
ce
g
o
o
d
p
er
f
o
r
m
a
n
ce
f
o
r
d
if
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er
en
t
lo
ad
cu
r
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en
t.
I
n
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
a
s
u
itab
le
co
n
tr
o
l
tech
n
iq
u
e
is
u
s
ed
to
d
i
m
in
is
h
th
e
h
ar
m
o
n
ics
b
u
t
also
to
m
ain
tain
t
h
e
p
o
w
er
f
ac
to
r
n
ea
r
b
y
u
n
i
t
y
.
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h
eu
s
ef
u
l
n
e
s
s
o
f
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
is
p
r
o
v
en
u
s
in
g
f
e
w
s
i
m
u
latio
n
a
n
d
h
ar
d
w
ar
e
r
esu
lt
s
p
r
es
en
ted
f
o
r
b
o
th
P
I
D
an
d
FOP
I
D.
2.
CO
NT
RO
L
T
E
CH
NI
Q
U
E
L
atest
y
ea
r
t
h
er
e
ar
e
m
a
n
y
r
esear
c
h
p
r
o
p
o
s
ed
m
a
n
y
m
et
h
o
d
o
n
DM
C
.
Di
f
f
er
e
n
t
co
n
tr
o
l
tech
n
iq
u
e
s
w
a
s
f
o
llo
w
ed
b
o
th
i
n
v
ec
to
r
an
d
s
ca
lar
m
eth
o
d
s
.
Ma
n
y
p
ap
er
s
p
r
o
p
o
s
ed
o
n
s
ca
lar
co
n
tr
o
l
tech
n
iq
u
e
to
s
o
l
v
e
th
e
i
m
p
ac
t
o
n
u
n
b
alan
ce
d
s
u
p
p
ly
v
o
lta
g
e
[
4
]
[
5
]
[
6
]
.
Sin
ce
v
ec
to
r
co
n
tr
o
l
m
eth
o
d
i
s
p
r
o
p
o
s
ed
in
t
h
is
p
ap
er
d
u
e
to
th
e
ad
v
an
tag
e
d
i
s
cu
s
s
e
d
ea
r
lier
.
I
n
th
is
p
ap
er
th
e
f
o
c
u
s
i
s
o
n
h
ar
m
o
n
ic
s
co
n
tr
o
l
o
f
m
atr
i
x
co
n
v
er
ter
,
in
itial
l
y
t
h
e
b
asic
P
I
D
co
n
tr
o
ll
er
is
c
h
o
s
e
n
,
later
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s
li
g
h
t
m
o
d
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ied
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er
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io
n
o
f
P
I
D
i
s
u
s
ed
n
a
m
ed
FOP
I
D.
T
h
e
FOP
I
D
co
n
tr
o
ller
is
f
u
r
th
er
t
u
n
ed
u
s
in
g
P
SO.
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n
t
h
e
f
o
llo
w
i
n
g
s
u
b
c
h
ap
ter
th
e
d
etails
o
f
e
ac
h
tech
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iq
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e
w
as
d
is
cu
s
s
ed
an
d
co
r
r
esp
o
n
d
in
g
r
esu
lt
s
also
p
lo
tted
f
o
r
th
e
p
r
o
o
f
.
2
.
1
.
P
I
D
Co
ntr
o
l Techni
q
ue
Mo
s
t
o
f
th
e
ac
ad
e
m
ic
r
esear
ch
er
s
,
i
n
d
u
s
tr
ia
l
r
esear
ch
er
s
an
d
in
d
u
s
tr
ial
ap
p
licatio
n
ar
e
b
r
o
a
d
l
y
u
s
i
n
g
th
e
P
I
D
co
n
tr
o
l
tech
n
i
q
u
e
d
u
e
its
s
i
m
p
l
icit
y
,
s
u
p
er
i
o
r
p
er
f
o
r
m
an
ce
l
ik
e
m
i
n
i
m
al
o
v
er
s
h
o
o
t,
s
h
o
r
ter
s
ettli
n
g
ti
m
e
f
o
r
s
lo
w
er
s
y
s
te
m
s
.
T
h
e
m
ai
n
r
eq
u
ir
e
m
e
n
t
s
f
o
r
an
y
clo
s
ed
lo
o
p
co
n
tr
o
l
s
y
s
t
e
m
w
as
r
ej
ec
tio
n
o
f
th
e
d
is
t
u
r
b
an
ce
a
n
d
e
x
clu
s
io
n
o
f
n
o
is
e
to
ac
h
ie
v
e
t
h
e
s
u
s
ta
in
ed
t
h
e
s
tab
ili
t
y
an
d
r
o
b
u
s
t
n
ess
.
T
u
n
i
n
g
o
f
P
I
D
co
n
tr
o
ller
is
m
o
s
t
v
i
tal
is
s
u
e
i
n
in
d
u
s
tr
ial
an
d
p
lan
t
co
n
tr
o
ller
s
.
Du
e
to
ab
ilit
y
o
f
tu
n
i
n
g
t
h
e
p
ar
a
m
eter
s
li
k
e
p
r
o
p
o
r
tio
n
al,
in
teg
r
al
a
n
d
d
er
iv
ati
v
e
ar
e
p
h
y
s
icall
y
o
r
s
el
f
-
t
u
n
e
m
ec
h
a
n
icall
y
.
I
n
P
I
D
C
o
n
tr
o
lled
Dir
ec
t
Ma
tr
ix
C
o
n
v
er
ter
tech
n
iq
u
e
t
h
e
C
o
n
tr
o
l
v
ar
iab
les
o
f
th
e
P
I
D
co
n
tr
o
ller
s
elec
t
t
h
e
r
elev
a
n
t
s
w
itc
h
in
g
s
eq
u
en
ce
o
u
t
o
f
2
7
co
m
b
i
n
ati
o
n
[
7
]
.
T
h
e
2
7
s
w
itc
h
i
n
g
co
m
b
in
atio
n
i
s
r
eso
lu
te
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
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E
lectr
o
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&
Dr
i
S
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s
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I
SS
N:
2088
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8
694
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Dir
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ter fo
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Lo
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.
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347
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SV
M
alg
o
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ith
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o
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h
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f
d
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t
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o
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th
e
f
ix
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h
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P
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e
ch
o
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en
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ter
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s
m
e
th
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d
.
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o
r
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ch
iter
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n
th
e
ab
o
v
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p
ar
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s
ar
e
ch
a
n
g
e
d
s
till
to
g
e
t
r
eq
u
ir
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o
u
tp
u
t.
B
ased
o
n
th
e
er
r
o
r
o
u
tp
u
t
a
n
d
h
a
r
m
o
n
ic
s
,
th
e
tu
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g
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ar
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r
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.
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m
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n
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ter
.
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h
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Fig
u
r
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s
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ase
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l
y
v
o
lta
g
e
.
B
u
t
later
as
th
e
co
n
tr
o
ller
m
ak
e
s
th
e
lo
ad
cu
r
r
en
t
to
s
tead
y
s
tate
th
e
h
ar
m
o
n
ic
s
s
tar
t
r
ed
u
cin
g
.
T
h
e
q
u
alit
y
an
d
r
o
b
u
s
tn
e
s
s
o
f
t
h
e
co
n
tr
o
ller
as
to
b
e
i
m
p
r
o
v
is
ed
i
n
o
r
d
er
to
ac
h
iev
e
b
etter
p
er
f
o
r
m
a
n
ce
a
n
d
less
er
o
r
lo
w
er
h
ar
m
o
n
ic
d
is
to
r
at
io
n
.
T
h
er
ef
o
r
e,
th
e
co
n
v
e
n
tio
n
al
P
I
D
co
n
tr
o
ller
c
an
b
e
r
ep
lace
d
w
it
h
a
n
e
w
o
r
i
m
p
r
o
v
ed
P
I
D
co
n
tr
o
ller
.
Fra
ctio
n
al
o
r
d
er
P
I
D
co
n
tr
o
ller
w
ith
f
r
ac
t
io
n
al
o
r
d
er
o
f
I
a
n
d
D
i
s
u
s
ed
i
n
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
to
o
v
er
co
m
e
th
e
ab
o
v
e
p
r
o
b
lem
.
I
n
r
ec
en
t
y
ea
r
s
,
i
n
t
h
e
ar
ea
o
f
m
o
d
elin
g
an
d
co
n
tr
o
llin
g
f
r
ac
tio
n
al
ca
lcu
l
u
s
h
as
b
ee
n
p
la
y
s
v
ita
l
r
o
le.
T
h
e
FOP
I
D
h
as
t
w
o
ad
d
itio
n
a
l
p
ar
a
m
ete
r
s
lik
e
f
r
ac
tio
n
a
l
in
teg
r
atio
n
λ
an
d
t
h
e
o
r
d
er
o
f
f
r
ac
ti
o
n
al
d
er
iv
ati
v
e
δ,
alo
n
g
w
it
h
p
r
o
p
o
r
tio
n
al,
in
teg
r
al
an
d
d
er
iv
ativ
e
p
ar
am
eter
s
(
Kp
,
Ki,
an
d
Kd
)
in
P
I
D
C
o
n
tr
o
ller
.
T
h
er
ef
o
r
e,
th
e
FOP
I
D
h
as f
i
v
e
p
ar
am
eter
s
f
o
r
f
le
x
ib
le
co
n
tr
o
l.
Fig
u
r
e
7
.
Har
m
o
n
ic
An
al
y
s
i
s
u
s
i
n
g
P
I
D
C
o
n
tr
o
ller
f
o
r
Un
b
alan
ce
s
u
p
p
l
y
v
o
lta
g
e
Fig
u
r
e
8
.
Har
m
o
n
ic
An
al
y
s
i
s
u
s
i
n
g
P
I
D
C
o
n
tr
o
ller
f
o
r
B
alan
ce
s
u
p
p
l
y
v
o
lta
g
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i
S
y
s
t
I
SS
N:
2088
-
8
694
Ha
r
mo
n
ic
C
o
mp
a
r
is
o
n
o
f Th
r
ee
P
h
a
s
e
Dir
ec
t Ma
tr
ix
C
o
n
ve
r
ter fo
r
R
ea
ctive
Lo
a
d
…
(
K
.
V
.
K
a
n
d
a
s
w
a
my
)
349
2
.
2
.
F
ra
ct
io
na
l O
rder
P
I
D
Co
ntr
o
l Techni
q
ue
P
o
d
lu
b
n
y
[
8
]
w
a
s
p
r
o
p
o
s
ed
a
n
e
w
co
n
tr
o
l
tech
n
iq
u
e
n
a
m
e
d
Fra
ctio
n
al
Or
d
er
P
r
o
p
o
r
tio
n
al
I
n
teg
r
al
C
o
n
tr
o
l
(
FOP
I
D)
.
Sin
ce
,
th
is
co
n
tr
o
l
tech
n
iq
u
e
af
f
o
r
d
s
ex
tr
a
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
f
o
r
m
o
r
e
d
y
n
a
m
i
c
p
er
f
o
r
m
a
n
ce
co
m
p
ar
ed
w
it
h
e
ar
lier
m
eth
o
d
o
f
P
I
D
[
9
]
.
Sin
ce
FOP
I
D
p
r
o
d
u
ce
m
o
r
e
r
o
b
u
s
t
n
es
s
o
f
t
h
e
s
y
s
te
m
co
m
p
ar
ed
to
th
e
C
o
n
v
e
n
tio
n
al
P
I
D
C
o
n
tr
o
ller
FOP
I
D
alg
o
r
ith
m
g
i
v
es
b
etter
r
esu
lt
t
h
a
n
p
r
ev
io
u
s
[
1
0
]
.
R
ec
en
t
y
ea
r
s
th
e
F
OP
I
D
co
n
tr
o
ller
h
as
r
ec
eiv
ed
atten
tio
n
o
f
m
a
n
r
e
s
ea
r
ch
er
s
.
T
h
e
FOP
I
D
co
n
tr
o
ller
E
q
.
(
1
)
is
s
h
o
w
n
b
elo
w
.
(
S
)
K
I
PD
K
K
K
S
S
(
1
)
W
h
er
e
Kp
,
KI
,
an
d
Kd
,
λ
an
d
μ
ar
e
p
r
o
p
o
r
tio
n
al,
in
teg
r
al,
an
d
d
er
iv
ativ
e
g
ai
n
,
o
r
d
er
s
o
f
in
teg
r
al
an
d
d
er
iv
ativ
e
r
esp
ec
ti
v
el
y
.
I
n
th
e
ab
o
v
e
d
is
cu
s
s
io
n
s
t
h
e
h
ar
m
o
n
ics
o
b
tai
n
ed
b
y
u
s
i
n
g
co
n
v
e
n
tio
n
al
P
I
D
co
n
tr
o
ller
w
a
s
s
h
o
w
n
.
I
t
is
ev
id
en
t
t
h
at
h
ar
m
o
n
ic
s
o
b
tain
ed
b
y
u
s
in
g
ab
o
v
e
m
et
h
o
d
g
r
ea
ter
th
an
th
e
tan
g
ib
le.
T
h
e
s
a
m
e
ap
p
r
o
ac
h
w
a
s
ca
r
r
ied
o
u
t
u
s
i
n
g
d
if
f
er
en
t
co
n
tr
o
l
tech
n
iq
u
e.
T
h
e
o
r
d
er
o
f
th
e
P
I
D
p
ar
a
m
eter
ch
a
n
g
ed
a
n
d
n
a
m
ed
as
FOP
I
D
tech
n
iq
u
e.
T
h
e
b
est
v
al
u
e
o
f
F
OP
I
D
p
ar
am
eter
ar
e
d
eter
m
i
n
ed
f
o
r
o
p
ti
m
al
o
u
tco
m
es.
Usi
n
g
FOP
I
D
tec
h
n
iq
u
e
th
e
co
n
tr
o
l
p
ar
a
m
eter
s
ar
e
tu
n
ed
an
d
p
r
o
d
u
ce
th
e
b
est
r
es
u
lt
.
T
h
e
co
n
tr
o
l
p
ar
am
eter
s
ar
e
c
h
o
s
en
f
o
r
t
h
e
b
est
s
w
itc
h
in
g
s
eq
u
e
n
ce
i
n
o
r
d
er
to
g
et
co
n
tr
o
lled
c
u
r
r
en
t.
T
h
e
s
w
it
c
h
i
n
g
s
eq
u
e
n
ce
o
f
th
e
m
atr
i
x
co
n
v
er
ter
is
p
r
ev
io
u
s
l
y
d
eter
m
i
n
ed
b
y
s
ca
lar
an
d
v
ec
to
r
co
n
tr
o
l
m
et
h
o
d
.
T
h
e
s
w
itc
h
i
n
g
s
eq
u
en
ce
i
s
co
n
tr
o
lled
b
y
th
e
SVM
tec
h
n
iq
u
e
is
o
p
ti
m
ized
FOP
I
D.
B
ased
o
n
th
e
n
atu
r
e
o
f
th
e
lo
ad
an
d
s
u
p
p
l
y
v
o
ltag
e
th
e
lo
ad
cu
r
r
en
t
i
s
co
n
tr
o
lled
.
Fig
u
r
e
9
s
h
o
w
t
h
e
lo
ad
cu
r
r
en
t
o
b
tain
ed
w
h
e
n
t
h
e
s
u
p
p
l
y
v
o
lta
g
e
is
u
n
d
er
b
alan
ce
co
n
d
itio
n
.
T
h
e
tu
n
in
g
p
ar
a
m
eter
o
f
t
h
e
FOP
I
D
co
n
tr
o
ller
is
d
eter
m
in
ed
b
y
iter
atio
n
m
et
h
o
d
.
Fig
u
r
e
9
.
T
h
r
ee
p
h
ase
cu
r
r
en
t o
f
Dir
ec
t M
atr
ix
C
o
n
v
er
ter
u
s
i
n
g
FOP
I
D
C
o
n
tr
o
ller
I
n
th
e
ab
o
v
e
P
I
D
m
e
th
o
d
th
e
h
ar
m
o
n
ics o
b
tain
ed
w
a
s
in
itiall
y
h
ig
h
er
,
later
it s
ta
r
t d
i
m
in
is
h
ed
.
B
u
t if
th
e
h
ar
m
o
n
ic
s
lev
el
is
g
r
ea
te
r
it
lead
s
to
p
o
o
r
q
u
alit
y
o
f
p
o
w
er
.
Sin
ce
th
e
ai
m
o
f
th
e
an
y
co
n
tr
o
ller
is
to
r
ed
u
ce
th
e
h
ar
m
o
n
ic
to
ac
ce
p
tab
le
li
m
it
to
i
m
p
r
o
v
i
s
e
th
e
p
o
w
er
q
u
alit
y
[
1
1
]
[
1
2
]
.
I
n
Fig
u
r
e.
1
0
s
h
o
w
v
ar
iatio
n
o
f
th
e
h
ar
m
o
n
ics
lev
el
f
r
o
m
t
h
e
i
n
itial
s
tate
d
u
e
to
FOP
I
D
co
n
tr
o
ller
f
o
r
u
n
b
alan
ce
s
u
p
p
l
y
v
o
lta
g
e
a
F
ig
u
r
e.
1
1
s
h
o
w
t
h
e
v
ar
iatio
n
h
ar
m
o
n
ics
d
u
e
to
b
alan
ce
s
u
p
p
l
y
v
o
ltag
e.
I
t
i
s
p
r
o
v
e
n
f
r
o
m
t
h
e
an
al
y
s
is
t
h
e
F
OP
I
D
co
n
tr
o
ller
h
av
e
b
etter
r
o
b
o
u
s
tn
es
s
co
m
p
ar
e
to
P
I
D
co
n
tr
o
ller
.
Mo
r
eo
v
er
th
e
h
ar
m
o
n
ic
s
o
b
tain
ed
f
r
o
m
b
o
t
h
b
alan
ce
an
d
u
n
b
ala
n
ce
v
o
lta
g
e
is
n
o
t
m
u
ch
d
e
v
iatio
n
s
.
I
t
i
n
d
icate
th
at
F
OP
I
D
co
n
tr
o
l
tech
n
iq
u
e
b
etter
r
esu
lts
b
o
th
in
th
e
f
o
r
m
o
f
lo
ad
cu
r
r
en
t a
n
d
r
ed
u
ctio
n
o
f
Har
m
o
n
ics
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i S
y
s
t
,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
345
–
3
5
6
350
Fig
u
r
e
10
.
Har
m
o
n
ic
A
n
a
l
y
s
is
f
o
r
Un
b
alan
ce
s
u
p
p
l
y
v
o
ltag
e
u
s
i
n
g
FOP
I
D
(
T
r
ial
an
d
E
n
d
)
Fig
u
r
e
11
.
Har
m
o
n
ic
A
n
a
l
y
s
is
f
o
r
B
alan
ce
s
u
p
p
l
y
v
o
ltag
e
u
s
in
g
FOP
I
D
(
T
r
ial
an
d
E
n
d
)
2
.
3
.
P
a
rt
icle
Sw
a
rm
O
pti
m
i
za
t
io
n
Co
ntr
o
l Techni
qu
e
I
n
th
e
ab
o
v
e
m
et
h
o
d
s
b
o
th
in
P
I
D
an
d
FOP
I
D
co
n
tr
o
l
tech
n
iq
u
e
th
e
co
n
tr
o
l
p
ar
am
eter
s
v
al
u
e
s
w
a
s
ch
o
o
s
en
b
y
i
ter
atio
n
m
et
h
o
d
.
T
h
is
r
esu
lts
th
e
h
ar
m
o
n
ic
ca
u
s
ed
b
y
b
o
th
o
f
t
h
e
m
et
h
o
d
is
n
o
t
ta
n
g
iab
le
li
m
it.
T
h
er
ef
o
r
e
a
b
etter
m
et
h
o
d
is
i
d
en
tifie
d
to
f
in
d
b
es
t
v
alu
e
o
f
FOP
I
D
co
n
tr
o
l
p
ar
a
m
eter
s
.
Si
n
ce
t
h
er
e
ar
e
m
an
y
Op
ti
m
izatio
n
tec
h
n
iq
u
es
w
as
u
s
ed
b
y
lo
t
o
f
r
esear
c
h
er
.
P
SO
is
f
o
u
n
d
to
b
e
o
n
e
o
f
t
h
e
p
o
p
u
lar
an
d
b
est
m
et
h
o
d
to
tu
n
e
th
e
P
I
D
p
ar
a
m
eter
s
.
C
o
m
p
u
tat
io
n
al
in
telli
g
en
ce
tec
h
n
iq
u
e
f
i
n
d
m
o
r
e
o
p
ti
m
al
o
u
tp
u
t
f
o
r
th
e
co
m
p
lica
ted
s
y
s
te
m
s
m
o
r
e
q
u
i
ck
l
y
a
n
d
ac
cu
r
atel
y
.
T
h
e
m
et
h
o
d
f
o
llo
w
ed
b
y
t
h
e
o
p
ti
m
izat
io
n
tech
n
iq
u
e
to
g
et
o
p
tim
ized
r
esu
l
t
w
as
co
m
p
u
t
atio
n
al
i
n
telli
g
e
n
ce
.
C
o
m
p
u
tati
o
n
al
in
telli
g
en
ce
is
n
o
th
i
n
g
b
u
t
co
m
b
i
n
atio
n
o
f
er
u
d
itio
n
,
ad
ap
tatio
n
an
d
ev
o
l
u
tio
n
to
p
r
o
d
u
ce
a
s
et
o
f
s
eq
u
e
n
ce
to
i
m
p
le
m
en
t [
1
3
]
.
P
ar
ticle
s
w
ar
m
o
p
ti
m
izatio
n
(
P
SO)
is
a
k
in
d
o
f
co
m
p
u
tatio
n
al
b
ased
s
w
ar
m
in
t
ellig
e
n
ce
tech
n
iq
u
e
[
1
4
]
.
T
h
is
p
r
o
ce
s
s
is
b
ased
o
n
r
ep
licatio
n
g
r
o
u
p
o
f
an
i
m
a
l
’
s
co
m
m
u
n
icatio
n
an
d
it
s
b
eh
av
io
r
s
s
u
ch
a
s
f
is
h
s
ch
o
o
lin
g
a
n
d
b
ir
d
f
lo
ck
i
n
g
.
I
t
b
ea
r
a
r
ese
m
b
lan
ce
to
t
h
e
ap
p
r
o
ac
h
o
f
f
i
n
d
in
g
t
h
e
f
o
o
d
b
y
tea
m
w
o
r
k
a
n
d
an
tag
o
n
is
m
a
m
o
n
g
t
h
e
w
h
o
le
p
o
p
u
latio
n
.
A
s
w
ar
m
co
m
p
r
i
s
es o
f
d
is
ti
n
ct
p
ar
ticles,
ea
ch
u
n
k
n
o
w
n
p
ar
a
m
eter
to
b
e
o
p
tim
ized
is
lo
ca
ted
in
d
if
f
er
e
n
t
p
o
s
itio
n
.
T
h
e
p
o
p
u
l
atio
n
o
f
th
e
s
w
ar
m
i
s
ad
j
u
s
te
d
ar
b
itra
r
y
l
y
.
I
n
a
P
SO
s
y
s
te
m
,
p
ar
ticles
f
l
u
tter
ar
o
u
n
d
th
e
m
u
lti
-
d
i
m
e
n
s
io
n
al
h
u
n
t
s
p
ac
e,
m
o
d
i
f
y
i
n
g
th
e
lo
ca
tio
n
h
ar
m
o
n
izi
n
g
to
its
o
w
n
ac
q
u
ai
n
ta
n
ce
an
d
th
e
k
n
o
w
led
g
e
o
f
i
ts
ad
j
ac
en
t
p
ar
ticle
[
1
4
]
[
1
5
]
.
T
h
e
o
b
j
ec
tiv
e
is
to
f
in
d
th
e
b
est
s
o
lu
tio
n
f
o
r
th
e
p
r
o
b
le
m
o
cc
u
r
r
ed
in
th
e
p
r
ev
io
u
s
iter
atio
n
with
p
u
r
p
o
s
e
f
o
r
f
in
d
i
n
g
th
e
b
etter
r
esu
lt
in
t
h
e
s
eq
u
en
ce
o
f
th
e
p
r
o
ce
s
s
w
h
i
ch
f
i
n
all
y
co
v
er
s
a
p
ar
ticu
la
r
s
o
lu
tio
n
eit
h
er
least
o
r
m
a
x
i
m
u
m
.
A
cc
o
r
d
in
g
to
th
e
p
r
e
-
d
ef
i
n
ed
f
it
n
es
s
v
al
u
e
th
e
en
ac
t
m
e
n
t o
f
e
v
er
y
p
ar
ti
cle
is
m
ea
s
u
r
ed
,
w
h
ic
h
is
d
i
f
f
i
cu
lt to
s
o
lv
e.
P
SO
A
l
g
o
r
ith
m
co
n
s
is
t
s
o
f
‘
n
’
n
u
m
b
er
o
f
p
ar
ticles
a
n
d
ev
er
y
p
ar
ticle
en
ter
in
t
o
‘
W
’
d
i
m
e
n
s
io
n
al
s
p
ac
e.
B
ased
o
n
th
r
ee
p
r
in
cip
le
ea
ch
p
ar
ticle
ch
an
g
e
it
s
p
o
s
itio
n
T
h
e
in
er
tia
o
f
th
e
p
ar
ticle
o
r
ele
m
en
ts
k
ee
p
co
n
s
ta
n
t.
T
h
e
s
tate
o
f
th
e
p
ar
ticle
is
alte
r
ed
b
ased
o
n
m
o
s
t o
p
ti
m
ized
s
itu
atio
n
.
T
h
e
s
tate
o
f
th
e
p
ar
ticle
is
alte
r
ed
b
ased
o
n
m
o
s
t o
p
ti
m
iz
ed
p
o
s
itio
n
o
f
s
w
ar
m
.
T
h
e
lo
ca
tio
n
o
f
ev
er
y
p
ar
ticles
w
ill
b
e
r
eo
r
g
a
n
ized
to
n
e
w
p
o
s
i
tio
n
.
T
h
e
r
eo
r
g
an
i
ze
d
n
e
w
p
o
s
itio
n
is
d
u
e
to
th
e
m
o
s
t o
p
ti
m
ized
p
o
s
itio
n
o
f
its
p
r
ev
io
u
s
p
o
s
itio
n
s
.
As t
h
e
p
o
s
ito
n
o
f
th
e
p
ar
ticle
is
k
ee
p
o
n
a
lter
in
g
b
ased
o
n
m
o
s
t
o
p
ti
m
ized
p
o
s
i
tio
n
,
th
e
v
elo
cit
y
o
f
th
e
p
ar
tic
le
also
ch
an
g
es
p
r
o
p
o
r
tio
n
alit
y
.
T
h
e
n
e
w
u
p
d
ated
p
o
s
itio
n
o
f
ev
er
y
p
ar
ticle
an
d
co
r
r
esp
o
n
d
in
g
v
elo
cit
y
ca
n
b
e
ca
lcu
lated
b
y
t
w
o
E
q
.
(
2
)
an
d
(
3
)
r
esp
ec
tiv
el
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i
S
y
s
t
I
SS
N:
2088
-
8
694
Ha
r
mo
n
ic
C
o
mp
a
r
is
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o
f Th
r
ee
P
h
a
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Dir
ec
t Ma
tr
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C
o
n
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ter fo
r
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Lo
a
d
…
(
K
.
V
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K
a
n
d
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s
w
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my
)
351
1
1
i
w
1
i
w
.
.
r
a
n
d
(
[
P
b
e
s
t
]
)
.
r
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d
(
[
g
b
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k
k
k
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11
k
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x
x
v
(
3
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T
ab
le
1
.
P
SO Sele
ctio
n
P
ar
a
m
eter
PSO
P
A
R
A
M
ETER
V
a
l
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e
s
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o
p
u
l
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t
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y
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o
n
st
a
n
t
C
2
0
.
1
2
I
n
e
r
t
i
a
M
0
.
9
D
i
me
n
si
o
n
W
5
W
h
er
e
V
an
d
X
ar
e
th
e
v
elo
cit
y
a
n
d
p
o
s
itio
n
o
f
t
h
e
e
v
er
y
p
ar
ticle;
M
is
t
h
e
i
n
er
tial
w
ei
g
h
t
co
n
s
ta
n
t;
t
h
e
r
eg
u
lat
io
n
co
n
s
tan
t
s
ar
e
n
a
m
e
l
y
C
1
an
d
C
2
;r
a
n
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is
r
an
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m
n
u
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er
atio
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et
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d
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d
f
in
all
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b
est
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d
g
b
est
ar
e
th
e
p
o
s
itio
n
o
f
ev
er
y
p
ar
ti
cle.
Her
e
P
b
est
is
th
e
p
o
s
itio
n
o
f
t
h
e
p
ar
ticle
in
b
est
p
o
s
ito
n
an
d
g
b
est
is
t
h
e
g
lo
b
al
b
est
p
o
s
itio
n
o
f
th
e
p
ar
ticle
in
th
e
en
t
ir
e
s
w
ar
m
,
i=1
,
2
,
3
,
….
,
n
;
w
h
er
e
n
is
a
n
u
m
b
er
o
f
p
ar
ticles
in
s
w
ar
m
.
w
=1
,
2
,
3
,
….
,
W
;
w
h
er
e
W
is
a
n
u
m
b
er
o
f
d
im
e
n
s
io
n
s
o
f
th
e
p
ar
ticle
(
n
u
m
b
er
o
f
v
ar
iab
les
th
at
o
p
ti
m
ize
th
e
f
itn
es
s
f
u
n
ctio
n
.
I
t
is
clea
r
f
r
o
m
t
h
e
ab
o
v
e
d
i
s
cu
s
s
io
n
,
P
SO
tec
h
n
iq
u
e
ac
h
i
ev
e
th
e
o
b
j
ec
tiv
e
i
n
th
e
b
e
s
t
w
a
y
.
Si
n
ce
i
n
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
FOP
I
D
co
n
tr
o
ller
is
u
s
ed
to
co
n
tr
o
l
th
e
D
MC.
T
h
e
p
ar
am
eter
o
f
FOP
I
D
w
as
t
u
n
ed
u
s
i
n
g
P
SO
tech
n
iq
u
e.
I
t
is
ev
id
e
n
t
f
o
r
m
t
h
e
Fi
g
u
r
e.
1
2
d
u
e
to
u
n
b
alan
ce
s
u
p
p
l
y
v
o
lta
g
e
th
e
h
ar
m
o
n
ics
i
s
al
m
o
s
t
r
ed
u
ce
d
5
tim
es
o
f
b
asic
P
I
D
co
n
tr
o
ller
an
d
2
tim
es
o
f
F
OP
I
D
co
n
tr
o
ller
u
s
in
g
m
a
n
u
al
tu
n
in
g
.
Fi
g
u
r
e.
1
3
also
p
r
o
v
es
if
t
h
e
s
u
p
p
l
y
v
o
lta
g
e
is
in
b
alan
ce
d
co
n
d
itio
n
,
t
h
e
h
ar
m
o
n
ic
s
ca
n
b
e
r
ed
u
ce
less
t
h
a
n
p
r
escr
ib
ed
li
m
it.
Fig
u
r
e
12
.
Har
m
o
n
ic
A
n
a
l
y
s
is
f
o
r
Un
b
alan
ce
s
u
p
p
l
y
v
o
ltag
e
u
s
i
n
g
P
SO t
u
n
ed
F
OP
I
D
Fig
u
r
e
13
.
Har
m
o
n
ic
A
n
a
l
y
s
is
f
o
r
B
alan
ce
s
u
p
p
l
y
v
o
ltag
e
u
s
in
g
P
SO t
u
n
ed
FOP
I
D
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
er
E
lectr
o
n
&
Dr
i S
y
s
t
,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
345
–
3
5
6
352
T
ab
le
1
.
Sh
o
w
s
v
ar
io
u
s
t
u
n
i
n
g
p
ar
a
m
eter
o
f
P
SO
f
o
r
FOP
I
D
alg
o
r
it
h
m
.
T
h
e
a
s
s
u
m
p
t
io
n
m
ad
e
i
n
t
h
e
ab
o
v
e
tab
le
1
.
is
in
itial
ass
u
m
p
tio
n
.
I
n
o
r
d
er
ac
h
iev
e
th
e
m
u
c
h
b
etter
r
esu
lt
th
e
P
SO
p
ar
am
eter
s
ca
n
b
e
tu
n
ed
w
it
h
d
if
f
er
e
n
t v
a
lu
e
s
[
1
6
]
.
Sin
ce
u
s
in
g
t
h
e
ab
o
v
e
v
a
lu
e
t
h
e
r
eq
u
ir
ed
o
u
tp
u
t is r
ea
ch
ed
an
d
t
h
e
r
esu
lt
s
ar
e
o
b
tain
ed
.
T
ab
le
2
.
C
o
m
p
ar
is
io
n
o
f
o
th
er
C
o
n
tr
o
l
m
et
h
o
d
s
C
o
n
t
r
o
l
T
e
c
h
n
i
c
F
e
a
si
b
i
l
i
t
y
D
i
sad
v
a
n
t
a
g
e
R
e
f
e
r
e
n
c
e
PI
C
o
n
t
r
o
l
l
i
n
g
c
a
n
b
e
d
o
n
e
e
a
si
l
y
.
T
h
e
r
e
f
o
r
e
t
h
e
sy
st
e
m
c
a
n
a
c
h
i
e
v
e
l
i
n
e
a
r
i
t
y
H
a
r
mo
n
i
c
g
e
n
e
r
a
t
i
o
n
i
s
su
b
j
e
c
t
e
d
t
o
l
o
a
d
c
o
n
d
i
t
i
o
n
[
1
7
[
1
8
]
H
y
b
r
i
d
P
S
O
C
o
n
t
r
o
l
G
o
o
d
T
o
r
q
u
e
r
e
sp
o
n
se
L
o
w
e
r
st
a
r
t
u
p
c
u
r
r
e
n
t
G
A
l
e
a
r
n
i
n
g
t
e
c
h
n
i
q
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e
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ed
u
ce
s
b
el
o
w
5
%.
Fig
u
r
e
18
.
Har
m
o
n
ic
an
al
y
s
is
o
f
FOP
I
D
co
n
tr
o
ller
u
s
i
n
g
Har
d
w
ar
e
r
esu
l
t
T
h
e
T
o
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
w
a
v
e
f
o
r
m
o
f
t
h
e
M
C
cu
r
r
e
n
t
is
al
m
o
s
t
a
s
ati
s
f
ac
to
r
y
s
o
l
u
ti
o
n
.
C
o
r
r
esp
o
n
d
in
g
r
esu
lt
s
ar
e
also
p
r
esen
ted
,
th
er
eb
y
t
h
e
MC
s
u
b
s
ta
n
tiate
s
its
ca
p
ab
ilit
y
o
f
p
r
o
v
id
in
g
h
i
g
h
q
u
al
it
y
a
n
d
lo
w
d
is
to
r
tio
n
p
o
w
er
f
o
r
w
in
d
e
n
er
g
y
w
i
th
u
n
in
ter
r
u
p
ted
p
o
w
er
s
u
p
p
l
y
.
4.
CO
NCLU
SI
O
N
Fr
o
m
t
h
e
ab
o
v
e
d
is
cu
s
s
io
n
,
t
h
e
p
r
o
p
o
s
ed
P
SO
b
ase
d
FOP
I
D
c
o
n
tr
o
ller
g
iv
es
a
b
etter
r
o
b
u
s
tn
es
s
an
d
ac
ce
p
tab
le
r
esu
lt
f
o
r
th
e
g
i
v
e
n
lo
ad
co
n
d
itio
n
s
.
I
n
t
h
is
p
ap
er
,
a
s
w
ar
m
i
n
telli
g
e
m
ce
tec
h
n
iq
u
e
w
as
ca
r
r
ied
o
u
t
to
en
h
a
n
cin
g
t
h
e
co
m
p
eten
ce
o
f
FOP
I
D
to
o
v
er
co
m
e
th
e
d
is
ad
v
an
ta
g
e
o
cc
u
r
r
i
n
g
i
n
co
n
v
e
n
tio
n
al
P
I
D
an
d
FOP
I
D
co
n
tr
o
ller
,
Sin
ce
t
h
e
F
OP
I
D
ch
o
o
s
e
th
e
b
est
s
w
i
tch
i
n
g
s
eq
u
e
n
ce
f
r
o
m
t
h
e
SVM
te
ch
n
iq
u
e
.
Fra
ctio
n
al
ca
lcu
l
u
s
a
f
f
o
r
d
s
d
i
f
f
er
e
n
t
an
d
h
ig
h
er
p
er
f
o
r
m
a
n
ce
f
o
r
FOP
I
D
co
n
tr
o
ller
s
w
h
ic
h
r
es
u
lt
i
n
en
h
a
n
ce
d
o
u
tp
u
t.
T
h
e
v
ar
iatio
n
o
f
Har
m
o
n
ics
i.
e
f
r
o
m
6
1
.
1
8
%
to
7
.
5
9
%
s
h
o
w
s
t
h
e
s
i
g
n
if
ica
n
t
ch
a
n
g
es
f
r
o
m
t
h
e
in
itial
v
al
u
e
to
f
i
n
al
v
al
u
e
d
u
e
to
ch
a
n
g
e
o
f
co
n
tr
o
ller
an
d
co
n
tr
o
ller
tu
n
i
n
g
m
et
h
o
d
.
Mo
r
eo
v
er
,
th
e
h
ar
m
o
n
ics
ca
u
s
ed
b
y
b
o
th
b
alan
ce
d
an
d
u
n
b
alan
ce
d
s
u
p
p
l
y
v
o
lta
g
e
i
s
i
m
p
r
o
v
ed
a
m
p
le
b
ec
au
s
e
o
f
th
e
tu
n
i
n
g
tech
n
iq
u
e
o
f
th
e
FOP
I
D
co
n
tr
o
ller
.
I
n
o
r
d
er
to
less
en
th
e
d
if
f
icu
lt
y
o
f
t
h
e
d
esig
n
er
f
o
r
d
esig
n
i
n
g
th
e
co
n
tr
o
ller
,
P
SO
g
i
v
es
m
u
lt
ip
le
ad
v
an
ta
g
es
to
f
u
n
ctio
n
w
it
h
a
less
n
u
m
b
er
o
f
d
esi
g
n
ap
p
r
o
ac
h
es
ap
p
lied
f
o
r
co
n
tr
o
ller
.
T
h
e
T
HD
r
esu
lt
o
f
d
ir
ec
t
m
atr
i
x
co
n
v
er
ter
p
r
o
v
es
o
m
in
o
u
s
l
y
lo
w
h
ar
m
o
n
ic
co
n
t
en
ts
at
th
eir
o
u
tp
u
t e
v
e
n
f
o
r
v
a
r
io
u
s
r
ea
ctiv
e
lo
ad
co
n
d
itio
n
o
f
d
if
f
er
en
t
e
n
er
g
y
s
y
s
te
m
s
.
T
h
e
ab
o
v
e
h
ar
d
w
ar
e
r
esu
lts
p
r
o
v
es
t
h
at
th
e
h
ar
m
o
n
ic
co
n
te
n
t
ca
u
s
ed
f
o
r
r
ea
ctiv
e
lo
ad
w
as
r
ed
u
ce
d
m
u
c
h
f
o
r
d
i
f
f
er
e
n
t
co
n
d
itio
n
s
.
I
n
o
r
d
er
to
ac
h
ie
v
e
h
i
g
h
er
ef
f
icien
c
y
f
o
r
v
ar
io
u
s
lo
ad
,
th
e
co
n
tr
o
ller
is
tu
n
ed
p
r
ec
is
el
y
.
T
h
er
ef
o
r
e
t
h
e
co
n
tr
o
ll
er
p
ar
am
eter
s
ar
e
in
cr
ea
s
ed
to
ac
h
ie
v
e
t
h
e
b
etter
r
esu
lt.
T
h
e
p
er
ce
n
tag
e
o
f
h
ar
m
o
n
ic
s
ca
u
s
ed
d
u
e
to
P
I
D
co
n
tr
o
ller
an
d
FOP
I
D
is
r
ed
u
c
e
d
in
P
SO.
T
h
u
s
th
e
P
SO
p
r
o
d
u
ce
a
s
atis
f
ac
to
r
y
r
e
s
u
lt
s
i
n
f
o
r
m
o
f
b
o
th
s
i
m
u
lat
i
o
n
an
d
h
ar
d
w
ar
e
f
o
r
co
n
tr
o
lli
n
g
t
h
e
lo
ad
cu
r
r
en
t
an
d
h
ar
m
o
n
ics.
Mo
r
eo
v
er
,
b
y
u
s
i
n
g
th
i
s
tec
h
n
iq
u
e
t
h
e
p
o
w
e
r
f
ac
to
r
ca
n
b
e
m
ai
n
tai
n
ed
n
ea
r
u
n
it
y
a
n
d
v
o
ltag
e
r
atio
also
ap
p
r
o
p
r
iate
to
1
.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
e
au
th
o
r
s
w
o
u
ld
lik
e
to
ac
k
n
o
w
led
g
e
th
e
f
i
n
an
cial
s
u
p
p
o
r
t
f
r
o
m
th
e
Dep
ar
t
m
en
t
o
f
Scie
n
ce
an
d
T
ec
h
n
o
lo
g
y
(
D
ST
)
,
Go
v
er
n
m
en
t
o
f
I
n
d
ia,
P
r
o
j
ec
t
No
.
DS
T
/T
SG/NT
S/2
0
1
3
/5
9
.
T
h
is
w
o
r
k
h
as
b
ee
n
ca
r
r
ied
o
u
t in
S
c
h
o
o
l o
f
E
lectr
ical
E
n
g
in
ee
r
i
n
g
,
VI
T
Un
iv
er
s
it
y
,
an
d
Vello
r
e
,
I
n
d
ia.
1
st
O
rder
3
st
O
rder
Evaluation Warning : The document was created with Spire.PDF for Python.