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ated
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ase
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ated
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di
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llo
w
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ar
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ass
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m
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d
in
(
4
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:
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I
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Dr
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s
t
,
Vo
l.
9
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2
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u
n
e
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:
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Fo
r
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s
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ter
.
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t c
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k
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i
k
c
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k
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k
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c
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a
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k
k
(
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h
e
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er
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ar
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(
8
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ig
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t
s
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it
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ep
r
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t
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e
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o
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e
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ad
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to
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r
r
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t
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n
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ts
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n
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f
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r
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ac
h
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ec
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m
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v
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g
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m
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atio
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at
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m
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w
a
y
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er
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.
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ac
t
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at
o
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lar
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er
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a
n
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ll
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1
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c
.
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r
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etter
esti
m
at
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n
o
f
b
ac
k
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MF,
w
e
w
ill
u
s
e
T
u
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t
in
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s
B
ili
n
ea
r
T
r
an
s
f
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m
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tio
n
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1
2
]
i.e
.
1
1
21
1
s
z
s
Tz
.
A
p
p
l
y
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n
g
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ap
lace
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an
s
f
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n
(
4
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w
ill r
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lt in
:
_
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R
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s
L
I
E
b
a
c
k
(
9
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ter
d
is
cr
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tio
n
:
1
1
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b
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1
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t d
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1
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m
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d
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u
r
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6
.
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h
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b
e
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f
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y
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m
o
r
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u
ltip
le
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as a
v
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t
o
r
.
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:
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0
8
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8
694
Mo
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(
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u
r
e
4
.
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le
Fig
u
r
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5
.
C
u
r
r
en
t P
r
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f
o
r
th
e
i
n
v
er
ter
,
h
o
w
e
v
er
o
p
ti
m
al
co
s
t
s
ar
e
s
i
g
n
i
f
ic
an
t
l
y
r
ed
u
ce
d
w
h
e
n
s
m
aller
s
a
m
p
lin
g
ti
m
e
s
ar
e
u
s
ed
.
5
.
CO
NCLUS
I
O
N
A
m
o
d
u
lar
w
a
y
to
i
n
ter
p
r
et
an
d
i
m
p
le
m
e
n
t
m
o
d
el
p
r
ed
icti
v
e
co
n
tr
o
l
(
MP
C
)
f
o
r
a
t
h
r
ee
p
h
ase
t
w
o
lev
el
in
v
er
ter
i
s
i
n
v
e
s
ti
g
ated
.
T
h
e
b
asic
s
ta
g
es
i
n
v
o
l
v
ed
i
n
MP
C
i
m
p
le
m
e
n
tatio
n
ar
e
b
r
o
k
en
d
o
w
n
to
s
i
m
p
le
m
o
d
u
les
b
ased
o
n
SF
Gs
an
d
f
u
n
d
a
m
e
n
tal
b
u
ild
in
g
b
lo
ck
f
o
u
n
d
in
all
d
ig
i
tal
co
n
tr
o
l
im
p
le
m
e
n
tat
io
n
an
d
s
i
m
u
lat
io
n
s
o
f
t
w
ar
e.
T
h
e
ap
p
r
o
ac
h
p
r
o
v
id
es
m
o
r
e
in
tu
iti
o
n
,
f
lex
ib
il
it
y
a
n
d
ea
s
e
o
f
co
d
e
g
en
er
atio
n
an
d
m
o
d
i
f
icat
io
n
o
f
t
h
e
MP
C
h
ar
d
w
ar
e
i
m
p
le
m
en
ta
tio
n
.
T
h
i
s
ap
p
r
o
ac
h
ca
n
b
e
ea
s
il
y
ex
ten
d
ed
to
in
co
r
p
o
r
ate
h
ig
h
er
p
r
ed
ictio
n
h
o
r
izo
n
s
an
d
co
m
p
lex
d
i
s
cr
etiza
tio
n
m
et
h
o
d
s
f
o
r
esti
m
at
io
n
.
F
u
tu
r
e
w
o
r
k
m
a
y
in
v
o
l
v
e
th
e
ex
ten
s
io
n
o
f
t
h
e
ap
p
r
o
ac
h
to
o
th
er
ap
p
licatio
n
s
s
u
c
h
as
d
r
iv
e
co
n
tr
o
l,
in
cr
ea
s
in
g
th
e
p
r
ed
ictio
n
h
o
r
izo
n
b
y
u
s
i
n
g
v
ec
to
r
r
ep
r
esen
tatio
n
an
d
r
ed
u
ctio
n
o
f
ef
f
e
cti
v
e
s
w
i
tch
in
g
s
tates t
h
r
o
u
g
h
s
tate
tr
a
n
s
iti
o
n
d
iag
r
a
m
s
.
ACK
NO
WL
E
D
G
E
M
E
NT
S
Au
t
h
o
r
s
w
o
u
ld
li
k
e
to
ac
k
n
o
w
led
g
e
U
n
iv
er
s
iti
T
ek
n
o
lo
g
i
Ma
la
y
s
ia
(
UT
M)
,
T
h
e
I
s
la
m
ia
Un
i
v
er
s
it
y
o
f
B
ah
a
w
alp
u
r
(
I
UB
)
P
ak
is
ta
n
an
d
Hi
g
h
er
E
d
u
ca
t
io
n
C
o
m
m
is
s
io
n
(
HE
C
)
o
f
P
ak
is
ta
n
f
o
r
p
r
o
v
id
in
g
f
in
a
n
cial
s
u
p
p
o
r
t to
co
n
d
u
ct
th
i
s
r
esear
ch
.
RE
F
E
R
E
NC
E
S
[1
]
J.
Ro
d
rig
u
e
z
,
J.
P
o
n
tt
,
C.
A
.
S
il
v
a
,
P
.
C
o
rre
a
,
P
.
L
e
z
a
n
a
,
P
.
C
o
rtes
,
a
n
d
U.
A
m
m
a
n
n
,
“
P
re
d
ictiv
e
Cu
r
re
n
t
Co
n
tro
l
o
f
a
V
o
l
tag
e
S
o
u
rc
e
In
v
e
rte
r,
”
In
d
.
El
e
c
tro
n
.
IE
EE
T
r
a
n
s.
,
v
o
l.
5
4
,
n
o
.
1
,
p
p
.
4
9
5
–
5
0
3
,
2
0
0
7
.
[2
]
P
.
Co
rtés
,
M
.
P
.
Ka
z
m
ier
k
o
ws
k
i,
R.
M
.
Ke
n
n
e
l,
S
.
M
e
m
b
e
r,
D.
E.
Qu
e
v
e
d
o
,
a
n
d
J.
Ro
d
ríg
u
e
z
,
“
P
re
d
ictiv
e
Co
n
tro
l
in
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
Driv
e
s,”
IEE
E
T
r
a
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l.
5
5
,
n
o
.
1
2
,
p
p
.
4
3
1
2
–
4
3
2
4
,
2
0
0
8
.
[3
]
A
.
Iq
b
a
l,
S
.
M
o
i
n
o
d
d
in
,
a
n
d
K.
R
a
h
m
a
n
,
“
F
in
it
e
S
tate
P
re
d
ictiv
e
C
u
rre
n
t
a
n
d
C
o
m
m
o
n
M
o
d
e
Vo
lt
a
g
e
Co
n
tr
o
l
o
f
a
S
e
v
e
n
-
p
h
a
se
Vo
lt
a
g
e
S
o
u
rc
e
In
v
e
rter,”
In
t.
J
.
Po
we
r E
lec
tro
n
.
Dr
iv
e
S
y
st.
,
v
o
l.
6
,
n
o
.
3
,
2
0
1
5
.
[4
]
G
.
M
irza
e
v
a
,
G
.
C.
G
o
o
d
w
in
,
B.
P
.
M
c
G
ra
th
,
C.
T
e
ix
e
ira,
a
n
d
M
.
E.
Riv
e
ra
,
“
A
G
e
n
e
ra
li
z
e
d
M
P
C
F
ra
m
e
w
o
rk
f
o
r
th
e
De
sig
n
a
n
d
C
o
m
p
a
riso
n
o
f
VSI
Cu
rre
n
t
Co
n
tro
l
lers
,
”
IEE
E
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l
.
6
3
,
n
o
.
9
,
p
p
.
5
8
1
6
–
5
8
2
6
,
2
0
1
6
.
[5
]
K.
S
h
e
n
a
n
d
J.
Z
h
a
n
g
,
“
M
o
d
e
li
n
g
e
rro
r
c
o
m
p
e
n
sa
ti
o
n
in
F
CS
-
M
P
C
o
f
a
th
re
e
-
p
h
a
se
in
v
e
rter,” i
n
PE
DES
2
0
1
2
-
IEE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Po
we
r E
lec
tro
n
ics
,
Dr
ive
s a
n
d
En
e
rg
y
S
y
ste
ms
,
2
0
1
2
.
[6
]
H.
H.
G
o
h
,
A
.
A
id
a
,
S
.
S
.
L
e
e
,
S
.
Y.
S
im
,
a
n
d
K.
C.
G
o
h
,
“
P
re
d
icti
v
e
Dire
c
t
P
o
w
e
r
Co
n
tr
o
l
(
P
D
P
C
)
o
f
G
r
id
-
c
o
n
n
e
c
ted
D
u
a
l
-
a
c
ti
v
e
Brid
g
e
M
u
lt
il
e
v
e
l
In
v
e
rter (
DA
BM
I
),
”
In
t.
J
.
Po
we
r E
lec
tro
n
.
Dr
ive
S
y
st.
,
v
o
l.
8
,
n
o
.
4
,
p
p
.
1
5
2
4
–
1
5
3
3
,
2
0
1
7
.
[7
]
S
.
H.
Yu
s
o
f
f
,
N.
S
.
M
id
i,
S
.
Kh
a
n
,
a
n
d
M
.
T
o
h
tay
o
n
g
,
“
P
re
d
ictiv
e
Co
n
tr
o
l
o
f
A
C
/
A
C
M
a
tri
x
Co
n
v
e
rter,”
In
t.
J
.
Po
we
r E
lec
tro
n
.
Dr
ive
S
y
st.
,
v
o
l.
8
,
n
o
.
4
,
p
p
.
1
9
3
2
–
1
9
4
2
,
2
0
1
7
.
[8
]
A
.
Bo
u
lah
ia,
M
.
A
d
e
l,
a
n
d
H
.
Be
n
a
ll
a
,
“
P
re
d
ictiv
e
P
o
w
e
r
Co
n
tr
o
l
o
f
G
rid
a
n
d
Ro
t
o
r
S
i
d
e
c
o
n
v
e
rters
in
Do
u
b
ly
F
e
d
In
d
u
c
ti
o
n
G
e
n
e
ra
to
rs Ba
se
d
W
in
d
T
u
rb
in
e
,
”
I
n
t.
J
.
El
e
c
tr.
Co
mp
u
t.
En
g
.
,
v
o
l.
3
,
n
o
.
3
,
2
0
1
3
.
[9
]
S
.
V
a
z
q
u
e
z
,
A
.
M
a
rq
u
e
z
,
J.
I.
L
e
o
n
,
L
.
G
.
F
ra
n
q
u
e
lo
,
a
n
d
T
.
G
e
y
e
r,
“
F
CS
-
M
P
C
a
n
d
Ob
se
rv
e
r
De
sig
n
f
o
r
a
V
S
I
w
it
h
Ou
tp
u
t
L
C
F
il
ter an
d
S
i
n
u
s
o
id
a
l
Ou
tp
u
t
Cu
rre
n
ts,
”
in
Co
mp
a
ti
b
il
it
y
,
Po
we
r E
lec
tro
n
ics
a
n
d
P
o
we
r E
n
g
i
n
e
e
rin
g
(
CPE
-
POW
ER
ENG),
2
0
1
7
1
1
t
h
I
EE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
,
2
0
1
7
,
p
p
.
6
7
7
–
6
8
2
.
[1
0
]
S
.
Bo
l
o
g
n
a
n
i
,
S
.
Bo
l
o
g
n
a
n
i,
L
.
P
e
re
tt
i,
a
n
d
M
.
Zi
g
li
o
tt
o
,
“
De
sig
n
a
n
d
Im
p
lem
e
n
tatio
n
o
f
M
o
d
e
l
P
re
d
ictiv
e
Co
n
tro
l
f
o
r
El
e
c
tri
c
a
l
M
o
to
r
Driv
e
s,”
IEE
E
T
ra
n
s.
In
d
.
El
e
c
tro
n
.
,
v
o
l.
5
6
,
n
o
.
6
,
p
p
.
1
9
2
5
–
1
9
3
6
,
2
0
0
9
.
[1
1
]
F
.
Ba
rre
ro
,
M
.
R.
A
ra
h
a
l,
R.
G
re
g
o
r,
S
.
T
o
ra
l,
a
n
d
M
.
J.
Du
rá
n
,
“
O
n
e
-
ste
p
m
o
d
u
latio
n
p
re
d
ictiv
e
c
u
r
re
n
t
c
o
n
tro
l
m
e
th
o
d
f
o
r
t
h
e
a
sy
m
m
e
tri
c
a
l
d
u
a
l
th
re
e
-
p
h
a
se
in
d
u
c
t
io
n
m
a
c
h
in
e
,
”
IEE
E
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
.
,
v
o
l
.
5
6
,
n
o
.
6
,
p
p
.
1
9
7
4
–
1
9
8
3
,
2
0
0
9
.
[1
2
]
M
.
Ha
b
i
b
u
ll
a
h
,
D.
D.
-
C
.
L
u
,
D.
Xia
o
,
J.
E
.
F
letc
h
e
r,
a
n
d
M
.
F
.
Ra
h
m
a
n
,
“
L
o
w
c
o
m
p
lex
it
y
p
re
d
ictiv
e
to
rq
u
e
c
o
n
tro
l
stra
teg
ies
f
o
r
a
th
re
e
-
lev
e
l
in
v
e
rte
r
d
riv
e
n
i
n
d
u
c
ti
o
n
m
o
to
r,
”
IET
El
e
c
tr.
Po
we
r A
p
p
l.
,
v
o
l.
1
1
,
n
o
.
5
,
p
p
.
7
7
6
–
7
8
3
,
2
0
1
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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2
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2
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M
a
la
y
sia
(U
T
M
).
He
is
a
f
u
ll
ti
m
e
fa
c
u
lt
y
m
e
m
b
e
r
a
t
T
h
e
Isla
m
ia
Un
iv
e
rsit
y
o
f
Ba
h
a
wa
lp
u
r,
P
a
k
istan
a
n
d
h
a
s
a
lso
w
o
rk
e
d
in
d
if
f
e
r
e
n
t
c
o
n
tro
l
in
d
u
stries
in
P
a
k
i
sta
n
.
He
h
a
s
t
a
u
g
h
t
c
o
u
rse
s
in
Co
n
tr
o
l
En
g
in
e
e
rin
g
,
Dig
it
a
l
S
ig
n
a
l
P
r
o
c
e
ss
in
g
,
F
P
G
A
b
a
se
d
sy
ste
m
De
sig
n
a
n
d
El
e
c
tro
n
ics
S
y
ste
m
s.
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
M
o
d
e
l
P
re
d
ictiv
e
Co
n
tr
o
l
o
f
P
o
w
e
r
Co
n
v
e
rters
a
n
d
Driv
e
s,
P
re
d
ict
iv
e
Dire
c
t
T
o
rq
u
e
Co
n
tr
o
l,
F
P
G
A
b
a
se
d
Co
n
tro
l,
a
n
d
S
ig
n
a
l
P
ro
c
e
ss
in
g
.
A
.
R.
Hu
sa
in
re
c
e
iv
e
d
th
e
B.
S
c
.
d
e
g
re
e
in
e
lec
tri
c
a
l
a
n
d
c
o
m
p
u
ter
e
n
g
in
e
e
rin
g
f
ro
m
T
h
e
Oh
io
S
tate
Un
iv
e
rsity
,
Co
l
u
m
b
u
s,
Oh
i
o
,
U
.
S
.
A
.
,
i
n
1
9
9
7
,
M
.
S
c
.
d
e
g
re
e
in
M
e
c
h
a
tro
n
ics
f
ro
m
Un
iv
e
rsit
y
o
f
Ne
w
c
a
stle
Up
o
n
Ty
n
e
,
U.K.,
in
2
0
0
3
,
a
n
d
P
h
.
D.
i
n
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
(Co
n
tro
l)
f
ro
m
Un
iv
e
rsiti
T
e
k
n
o
lo
g
i
M
a
lay
s
ia
(UT
M
)
in
2
0
0
9
.
Be
f
o
re
jo
in
in
g
UT
M
,
h
e
w
o
rk
e
d
a
s
a
n
e
n
g
in
e
e
r
in
se
m
ico
n
d
u
c
t
o
r
i
n
d
u
stry
f
o
r
se
v
e
ra
l
y
e
a
rs
sp
e
c
ializin
g
in
p
re
c
isio
n
m
o
ld
in
g
a
n
d
IC
tri
m
m
in
g
p
ro
c
e
ss
.
He
h
a
s
tau
g
h
t
c
o
u
rse
s
in
in
tro
d
u
c
ti
o
n
t
o
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
,
m
icro
c
o
n
tro
l
ler
b
a
se
d
s
y
st
e
m
,
m
o
d
e
li
n
g
a
n
d
c
o
n
tro
l
,
e
lec
tri
c
m
o
to
r
a
n
d
d
riv
e
s,
a
n
d
re
a
l
-
ti
m
e
c
o
n
tr
o
l
sy
ste
m
.
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
c
o
n
tr
o
l
o
f
d
y
n
a
m
ic
s
y
ste
m
,
r
e
a
l
-
ti
m
e
c
o
n
tr
o
l
sy
st
e
m
,
a
n
d
m
e
c
h
a
tro
n
ic sy
ste
m
d
e
sig
n
.
Ha
sa
n
A
lq
a
ra
g
h
u
li
re
c
e
iv
e
d
th
e
B.
S
.
d
e
g
re
e
f
ro
m
Un
iv
e
rsit
y
o
f
T
e
c
h
n
o
lo
g
y
,
Ba
g
h
d
a
d
,
Ira
q
,
i
n
2
0
1
4
a
n
d
th
e
M
En
g
d
e
g
re
e
f
ro
m
Un
iv
e
r
siti
T
e
k
n
o
lo
g
i
M
a
lay
sia
,
Jo
h
o
r
Ba
h
r
u
,
M
a
lay
sia
,
in
2
0
1
6
.
He
is
c
u
rre
n
tl
y
w
o
rk
in
g
to
w
a
rd
s
t
h
e
P
h
.
D.
d
e
g
re
e
in
Un
iv
e
rsiti
T
e
k
n
o
lo
g
i
M
a
lay
sia
,
J
o
h
o
r
Ba
h
r
u
,
M
a
lay
si
a
.
His
re
se
a
r
c
h
in
tere
sts
i
n
c
lu
d
e
m
o
d
e
l
p
re
d
ictiv
e
c
o
n
tro
l
,
m
o
to
r
d
riv
e
s,
se
n
so
rles
s co
n
tro
l
o
f
A
C
m
o
to
rs an
d
e
lec
tri
c
a
l
v
e
h
icle
.
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