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.
3, S
ep 2019,
pp.
1
1
7
8
~1
1
8
6
ISSN: 2088-
8694,
DOI
:
10.11591
/ijpeds.
v10.
i
3.pp1178-1186
1178
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
Comparativ
e stud
y between
th
e
NLPI controller and the CPI
controller
Tou
h
am
i
Moham
m
ed
1
,
Pierr
e S
i
card
2
, Hazzab
A
b
del
j
e
b
ar
3
,
F
o
u
a
d
M
o
k
h
t
a
ri
4
1,
3
D
e
part
men
t
of
Electri
cal E
ngin
eer
i
n
g
,
u
niv
e
rsity
M
oh
amm
e
d
TA
HRI
Béchar,
A
l
geri
a
2,
4
Depart
m
e
nt
o
f
Elect
rical
E
ngin
eer
in
g
an
d
Co
mp
ut
er En
g
i
n
eerin
g,
Univers
i
t
é
o
f
Q
u
eb
ec at T
ro
is-Rivières
, Cannada
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
Re
ce
i
v
e
d
Jan
6
, 2019
Re
vise
d Mar
2
1
,
201
9
Ac
ce
p
t
ed
Ap
r
1
2
,
2
019
Un
qu
esti
on
abl
y
, the clas
s
ic CPI con
troller dom
i
n
at
es
t
he
i
nd
us
t
r
y
a
n
d
h
a
s
t
h
e
adv
a
nt
age
o
f
b
ein
g
s
im
p
l
e
an
d
eas
y
t
o
i
m
p
lem
e
n
t
.
Because
its
s
e
tt
in
g
rem
a
in
s
intuiti
v
e
and
mo
re
p
r
acti
cal.
On
t
he
o
t
h
er
h
an
d,
t
hese
di
sad
v
an
tages
li
e
i
n
t
he
f
act
t
hat
m
o
s
t
o
f
th
e
m
r
each
a
c
o
m
p
r
om
ise
i
n
t
erms
o
f
s
p
e
e
d
o
f
resp
on
se
a
n
d
s
t
a
bilit
y
.
Ev
en
w
ors
e
,
s
u
ch
a
n
app
r
oach
b
e
c
o
m
es
i
n
s
u
ffi
cient
at
the
in
c
r
e
a
s
in
gly
de
ma
nd
in
g
spe
e
d
s
de
m
a
nd
e
d
by
th
e
ind
u
s
try.
I
n
t
h
is
c
ont
ext
th
e
NL
PI
c
o
n
t
r
o
l
ler
is
c
urren
t
l
y
p
resent
ed
a
s
an
a
l
t
ernat
i
v
e
.
W
ith
i
t
s
s
i
m
p
l
e
tu
ni
ng
m
etho
d
a
n
d
robu
st
nes
s
t
o
p
r
ocess
p
a
ram
e
t
e
r
variat
io
ns,
i
t
stands
o
ut
as
a
v
al
uable
addition
to
t
he
t
oolbox
of
c
ont
ro
l
engineeri
n
g
sp
ec
i
a
li
s
t
s.
T
his
pap
e
r
aim
s
t
o
prov
id
e
a
si
m
u
l
a
tion-b
a
sed
st
ud
y
u
s
in
g
a
M
A
S
co
n
t
rol
l
ed
b
y
IFOC,
compari
n
g
the
PI
c
ontrolle
r syst
e
m
to
the
NL
PI
controll
e
r
s
yste
m
.
T
he
resu
lts
w
il
l
b
e
in
f
a
vo
r
o
f
t
he
l
ast o
n
e.
K
eyw
ord
s
:
NLPI
(
N
o
n
-
linear PI
)
C
P
I (Cl
a
ssica
l PI)
IFOC
(Indirect Vector Control)
MA
S
(A
synchr
on
o
u
s Ma
c
h
i
n
e
)
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:
T
o
u
h
a
mi
M
oha
mm
ed
,
D
e
pa
rtme
nt
o
f
El
e
c
t
rica
l
Eng
i
ne
eri
ng,
U
n
i
v
ersi
ty
M
o
h
am
me
d TA
HRI
Bé
char
, B.
P
417
Ci
t
y
of
K
e
na
d
s
a
Roa
d
– 08
0
00
Béc
h
a
r
–
A
lgeria
.
Em
ail:
t
m
oky13@gmail.
com
1.
I
N
TR
OD
U
C
TI
O
N
C
u
rre
ntly,
t
h
e
N
L
P
I
c
ont
r
o
ll
er
c
urre
nt
l
y
p
r
e
sen
t
s
itse
l
f
as
a
n
al
t
e
rna
t
ive
to
b
o
t
h
c
o
n
v
e
n
ti
ona
l
C
P
I
me
tho
d
s
a
nd
mode
rn
m
ode
l
-
based
a
pproa
c
h
es
t
o
sol
v
in
g
co
n
t
rol
pr
o
b
l
em
s
su
bjec
t
to
h
i
gh
var
i
a
t
i
ons
a
n
d
dy
nam
i
c
s
.
The
no
nli
n
ea
ri
t
i
e
s
t
ha
t
oc
cur
at
h
igh
s
p
ee
ds,
m
eans
t
ha
t
t
h
e
use of th
e
C
P
I
c
ontr
o
ller
to
c
on
tro
l
t
h
e
spee
d
of
t
he
a
syn
c
hro
n
ous
m
a
c
hi
ne
"
MA
S
"
i
s
ofte
n
cha
r
a
c
t
e
r
ize
d
b
y
a
n
ove
rru
n
i
n
t
ra
c
k
i
n
g
mode
a
nd
a
b
ad
reje
ct
ion
o
f
loa
d di
st
urba
nce
[1-3]
.
Thi
s
i
s
mai
n
l
y
d
u
e
t
o
t
h
e
f
a
c
t
t
h
a
t
c
ont
roll
er
g
a
i
n
s
canno
t
be
gra
n
t
e
d
to
s
i
m
ul
t
a
neo
u
s
l
y
r
eso
l
ve
overf
low
a
n
d
l
o
ad
d
ist
u
rba
n
c
e
r
e
j
ect
i
o
n
pr
o
b
l
e
ms,
a
s
t
he
o
ver
l
o
a
d
r
em
ov
al
s
e
tti
n
g
w
il
l
r
e
su
lt
i
n
a
ba
d
c
h
a
r
ge
reje
ct
ion.
T
he
d
i
s
ru
p
t
i
o
n
of
t
he
l
oa
d
on
t
h
e
o
n
e
ha
nd
a
nd
li
ve
o
n
t
ha
t
on
t
h
e
ot
her
ha
n
d
.
H
o
w
e
ver,
t
he
situa
t
io
n
be
c
o
m
e
s
m
o
re
a
nd
m
ore
com
p
l
i
c
a
ted
for
hi
gh
s
p
ee
ds.
I
t
i
s
f
r
om
h
e
r
e
th
at
o
t
h
er
t
yp
es
o
f
co
nt
rol
,
ot
herw
ise
tec
h
nol
og
ica
l
ly
d
es
ig
ne
d
l
i
ke
t
he
N
LP
I
"non-
lin
ea
r
P
I
",
h
a
v
e
t
o
b
e
use
d
t
o
m
a
na
ge
p
ar
e
xce
l
le
n
c
e
and
sim
u
lta
neo
u
s
l
y
the
c
o
nstr
a
i
nts r
e
la
ti
n
g
t
o the
o
v
errun
a
nd
to
c
har
g
e d
i
st
urbance
r
e
jec
t
i
o
n [4-8].
T
h
e
N
L
P
I
c
o
n
t
r
o
l
l
e
r
h
a
s
t
h
e
r
e
f
o
r
e
e
m
e
r
g
e
d
a
s
a
n
a
l
t
e
r
n
a
t
i
v
e
t
h
a
t
co
mb
in
e
s
e
asy
a
p
p
l
i
cab
il
it
y
of
con
v
e
n
t
i
ona
l
P
I
c
on
trol
m
e
t
h
ods
w
i
t
h
t
h
e
p
o
w
e
r
of
m
o
d
ern
m
ode
l-
base
d
appr
oa
che
s
.
T
h
e
N
L
P
I
c
ontr
o
l
l
er
fo
u
nda
t
i
o
n
d
e
a
l
s
w
i
th
r
e
a
l
d
i
s
t
u
rba
n
c
e
s
a
nd
m
o
de
lin
g
unce
r
tai
n
t
i
e
s
to
g
e
th
e
r
,
so
t
hat
onl
y
a
v
e
ry
c
o
a
rse
proce
s
s
m
o
de
l
is
n
e
e
de
d
t
o
d
e
s
ig
n
a
c
o
n
t
ro
l
l
o
op,
m
a
k
i
n
g
th
e
N
L
PI
c
on
tro
l
ler
an
a
ttra
c
tive
c
h
o
i
c
e
f
or
prac
t
i
t
i
oners
a
nd
p
r
o
m
i
se
s
g
o
o
d
r
ob
us
tne
s
s
a
g
a
i
nst
pr
oc
es
s
vari
a
tio
n
s
.
Th
e
s
e
cu
rre
n
t
app
l
i
c
ati
o
n
s
r
an
ge
f
ro
m
pow
er
e
lec
t
ro
n
i
c
s
,
m
o
t
i
on
c
o
ntr
o
l
a
n
d
supe
rcon
duc
t
i
n
g
r
a
d
io
f
re
qu
e
n
cy
c
a
v
iti
es
t
o
vol
t
a
g
e
a
n
d
t
e
mp
erat
u
r
e
control [8, 9]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
C
o
m
p
a
r
at
ive
st
udy be
twee
n th
e
NL
PI c
ontro
l
l
er a
nd
the
CP
I c
ontrol
l
er
(Tou
h
a
m
i
M
o
h
a
m
m
e
d)
1
179
2.
CONT
ROL
TE
CHNIQUE
S
2.1.
CPI Co
n
t
ro
l
l
er
F
i
gure
1 i
l
l
u
s
t
rate
s
t
h
e
bl
oc
k
di
a
g
ram
of M
A
S
c
ontr
o
l b
y
a
CP
I
.
F
i
gur
e 1.
Co
n
t
r
ol
o
f MA
S
by
CP
I
O
b
v
i
o
u
s
l
y,
t
h
e
C
P
I
c
o
n
t
r
o
lle
r
m
a
kes
i
t
p
oss
i
ble
t
o
c
orr
ect
w
it
h
in
a
s
u
ita
b
l
e
t
i
m
e
t
he
d
i
f
f
e
re
n
c
e
t
h
a
t
exi
s
ts
b
e
t
ween
a
s
etp
o
i
n
t
(sp
eed,
tem
p
era
t
u
r
e,
p
ressure
,
pos
iti
on)
a
n
d
i
ts
a
ssocia
t
e
d
m
ea
su
r
e
m
e
nt
r
e
t
u
r
n,
by
incre
a
s
i
ng
o
r
d
ecr
easin
g
t
h
e
o
u
t
put
o
f
the
MAS
and
t
h
is,
b
y
t
h
e
i
nt
e
r
me
di
a
t
e
o
f
t
w
o
m
ai
n
para
me
t
e
rs
c
a
l
l
e
d
gai
n
s
(P
r
oporti
ona
l
ga
i
n
a
nd
I
nte
g
ral
ga
in),
w
hi
c
h
can
a
c
c
e
l
e
r
a
te
,
de
la
y
a
n
d
s
t
a
b
i
l
i
ze
th
is
c
orre
ct
ion
.
T
he
regu
la
ti
on
fu
nc
ti
on
ca
n
be
e
mbo
d
i
ed
i
n
the
for
m
o
f
a
blac
k
bo
x
t
h
a
t
c
a
n
b
e
re
prese
n
t
e
d
b
y
a
c
om
par
a
t
o
r
w
i
th
2
i
npu
ts
(se
t
poi
nt
a
nd
re
t
u
r
n
)
, t
h
e
re
su
lt
o
f
th
i
s
c
o
m
p
a
ra
to
r c
on
tro
l
s t
h
e
outp
u
t
of t
h
e
M
A
S
[9, 11-
1
5
].
H
ow
eve
r
,
i
f
t
he
v
a
l
ue
o
f
the
fee
dbac
k
v
a
l
u
e
i
s
gre
a
t
er
t
ha
n
t
h
e
val
u
e
o
f
t
he
s
e
t
po
in
t,
t
h
e
d
iffe
renc
e
is
p
osi
tiv
e
a
n
d
t
h
e
C
P
I
co
ntr
o
lle
r
w
i
l
l
s
l
o
w
d
o
w
n
t
he
m
o
t
or
.
C
o
n
v
er
sel
y
,
i
f
t
he
v
a
l
ue
o
f
t
h
e
me
as
urem
ent
f
e
e
d
b
a
ck
i
s
l
o
we
r
t
h
an
t
h
e
v
a
l
u
e
o
f
t
h
e
setp
oi
n
t
,
t
h
e
di
ff
ere
n
c
e
i
s
n
eg
at
iv
e
a
n
d
th
e
C
P
I
c
o
nt
rol
l
e
r
wi
l
l
m
ak
e
s
u
r
e
t
o
a
c
c
e
l
e
r
a
t
e
t
h
e
m
o
t
o
r
.
T
h
e
r
e
s
p
o
n
s
e
t
i
m
e
o
f
t
h
e
s
y
s
t
e
m
i
s
a
d
j
u
s
t
a
b
l
e
v
i
a
t
w
o
g
a
i
n
p
a
r
a
m
e
t
e
r
s
.
I
n
o
u
r
ca
se
,
the
c
r
u
i
se
c
o
n
tr
ol
i
s
u
s
ed
t
o
de
term
in
e
t
h
e
re
fer
e
nc
e
tor
qu
e
,
i
n
o
r
d
e
r
t
o
m
a
i
nt
a
i
n
t
h
e
c
o
rre
s
pon
di
ng
spee
d.
The
vel
oci
t
y
dy
n
am
ics
is
g
ive
n
b
y t
h
e
fol
l
ow
ing
me
chan
ic
al
e
q
u
a
t
i
o
n
:
.
(
1
)
F
o
r
t
h
is
p
ur
p
o
se
,
t
h
e
s
i
m
p
lified
b
l
oc
k
dia
g
r
a
m
of
t
he
c
o
n
tr
ol
s
yst
e
m
bas
e
d
on
a
c
on
tro
l
l
e
r
C
P
I
i
s
gi
ve
n in F
ig
ure
2.
F
i
gure
2.
B
loc
k
d
ia
gra
m
o
f spe
e
d c
o
n
t
r
o
l
b
y
a
C
P
I
The
n
, the
clo
se
d
l
o
o
p
t
r
a
ns
fe
r func
tio
n
i
s
w
rit
t
e
n
as
fo
l
l
ow
s:
.
(
2
)
Redr
esseur
+ F
iltr
e
On
d
+
MLI
Park
‐1
Pa
rk
IF
O
C
CPI
F
iltre
MAS
-
+
+
‐
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w
Elec
&
Dr
i
Sy
st,
Vo
l. 1
0
,
No
. 3
,
S
e
p
2
019
:
1
1
7
8
–
1
186
1
180
The
char
acte
r
i
s
tic
e
q
u
a
t
io
n
is
:
(
3
)
By
i
m
p
os
i
n
g
t
w
o
com
p
lex
p
o
le
s
co
nj
u
g
ate
d
,
.
1
∓
i
n
cl
ose
d
l
o
op
a
n
d
b
y
i
de
n
tif
icat
i
on,
one
o
b
t
ai
ns
t
he
p
a
r
am
e
t
e
r
s
of
t
he
c
o
n
t
r
o
ll
e
r
P
I
:
.
.
.
.
(
4
)
2.
2.
N
L
PI
C
on
t
r
olle
r
F
o
r
t
h
e
co
ntr
o
l
o
f
t
he
M
A
S
by
N
L
P
I
,
w
e
a
do
p
t
t
he
s
a
m
e
dev
i
ce
i
l
lu
str
a
ted
b
y
F
i
g
ur
e
1,
e
xcep
t
c
h
an
ge
o
f
t
h
e
CP
I
con
t
r
o
l
l
er
by a
n
othe
r
N
L
P
I
.
I
n
a
ddit
i
o
n
,
w
e
a
lso use N
L
P
I
r
egula
t
or
s for
cur
r
e
n
t
r
e
g
ul
a
t
i
o
n
of
t
he
I
F
O
C
c
o
mm
and.
A
t
s
pe
e
d
s
r
e
ac
hin
g
h
ig
he
r
a
n
d
hi
g
h
er
t
hr
es
ho
l
d
s,
i
n
a
n
i
n
dus
tr
i
a
l
e
n
v
i
r
o
n
me
nt
w
her
e
t
he
t
r
a
ns
ien
t
m
ode
i
s
c
h
ar
a
c
ter
i
z
e
d
b
y
a
s
t
r
o
ng
no
n-
l
i
ne
ar
it
y,
i
t
is
e
ve
n
m
o
r
e
j
u
d
i
ci
o
u
s
t
o
c
a
l
l
on
the
N
L
P
I
c
ont
r
o
l
l
er
,
in
or
d
e
r
t
o
i
mpr
o
ve
t
he
qua
l
i
t
y
o
f
c
o
n
t
r
o
l
e
v
e
n
m
or
e.
B
y
g
u
a
r
a
ntee
in
g
im
p
ecc
abl
e
s
peed
c
on
tro
l
,
we
s
a
y
t
h
a
t
N
L
P
I
c
ontr
o
l
i
s
c
ons
ider
e
d
o
ne
o
f
t
h
e m
o
s
t
e
f
f
i
cie
n
t a
n
d
s
i
mple
m
et
ho
ds
f
or
i
nd
ustr
ial
a
p
p
l
i
c
at
i
ons
[
1
0
]
,
[11]
,
[
1
4
]
-
[
1
7
]
.
T
his
c
ont
r
o
l
ca
n
be
e
xpr
e
s
se
d
f
o
r
any
co
n
t
r
o
l
str
u
c
t
ur
e
of
t
he
f
o
llow
i
n
g
f
or
m
:
.
.
5
Whe
r
e
ar
e
con
t
ro
l
gai
n
s
.
.
v
a
r
yi
n
g
over
t
i
me
,
depe
nd
in
g
on
t
he
s
ta
te
o
f
t
h
e
system
,
the
si
gna
l
of
t
he
c
o
m
ma
nd
a
nd
e
(
t
)
the
er
r
o
r
.
The
act
io
n o
f
t
he N
LPI
contr
o
l
l
er
r
epr
e
sent
ed
by t
h
e F
i
g
u
re
3
:
F
i
gur
e
3.
,
,
f
unc
ti
o
n
c
har
a
cter
i
s
tic
s
Th
is
c
on
tro
l
a
cti
o
n
is g
ive
n
b
y:
,
,
,
(
6
)
W
ith
:
,
,
|
|
∝
|
|
,
0
|
|
(
7)
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
C
o
m
p
a
r
at
ive
st
udy be
twee
n th
e
NL
PI c
ontro
l
l
er a
nd
the
CP
I c
ontrol
l
er
(Tou
h
a
m
i
M
o
h
a
m
m
e
d)
1
181
Where
i
s
a
n
on
linea
r
func
t
i
o
n
;
an
d
ar
e
respec
t
i
ve
ly
t
he
p
ro
por
tio
n
a
l
an
d
in
t
e
gral
g
a
i
ns
o
f
the
N
L
PI
c
on
tro
l
ler;
is
t
h
e
c
omm
a
nd
signa
l;
the
pa
ra
m
e
ter
s
an
d
are
cons
ta
nt,
em
pirica
ll
y c
h
o
s
e
n
i
n t
h
e ran
g
e
0
to 1. Whe
n
=
= 1, t
he
c
o
n
tr
ol
ler bec
o
m
e
s a linea
r P
I
.
is
a constant,
w
h
ic
h c
a
n
be e
mpiric
a
lly
f
ixe
d
to
a sm
all va
lue
.
The
N
L
P
I
i
s
thus
d
es
ig
ne
d
by
a
d
ap
t
i
ng
it
s
respon
se
b
ase
d
o
n
the
p
erforma
n
ce
o
f
t
h
e
cl
osed
-
l
oop
control
s
y
stem.
W
h
en
t
he
e
rror
be
twee
n
t
h
e
con
t
ro
l
l
ed
a
n
d
a
c
t
ua
l
va
l
u
es
o
f
t
h
e
c
o
ntr
o
l
l
ed
v
ar
i
a
b
l
e
is
l
arge
,
the
ga
in
a
m
p
l
i
fi
e
s
t
he
e
rr
or
s
ubsta
ntia
l
l
y
to
g
e
n
era
t
e
a
lar
g
e
corr
ec
t
i
o
n
t
o
quic
k
ly
d
ri
ve
t
he
s
ys
tem
o
u
t
of
its
w
a
y.
O
n
the
o
t
he
r
han
d
,
w
h
en
t
he
e
rr
or
d
e
c
re
ases,
the
ga
in
i
s
r
e
d
uc
ed
a
u
t
om
at
ica
lly
t
o
a
v
oid
e
x
cessi
ve
osc
illa
t
i
o
n
s
a
n
d
large
o
v
e
r
sho
o
t
s
i
n
t
he
r
esp
onse.
T
ha
n
k
s
to
t
h
i
s
a
uto
m
a
t
i
c
g
ain
ad
ju
st
me
nt
,
th
e
NLPI
con
t
ro
l
l
er
h
a
s
b
o
t
h
a
h
i
g
h
i
n
itia
l
ga
in
a
n
d
a
f
a
s
t
resp
o
n
s
e
,
fo
l
l
ow
e
d
b
y
a
sm
all
ga
in
t
o
a
v
oid
osc
i
l
l
ator
y
beha
v
i
or
[
1
7
-2
5].
3.
SIMULATIO
N
R
E
S
ULT
S
AND
A
NALYSIS
A
si
m
u
la
t
i
on
se
ries
i
s
pe
rform
ed
f
or
e
ac
h
o
f
t
he
t
w
o
c
on
t
r
o
l
c
a
ses
d
e
scri
b
e
d
a
bov
e
,
f
o
llo
we
d
each
ti
m
e
b
y
a
s
u
m
m
a
r
y
o
f
t
h
e
re
s
u
lts
a
n
d
a
n
in-
d
ep
t
h
a
na
lys
i
s.
A
ll
si
mu
l
a
ti
o
n
s
t
a
k
e
i
n
t
o
ac
co
unt
t
he
d
yn
a
m
i
c
s
of
the t
o
rq
ue
, flux
and
curre
nt i
n the
M
A
S
subje
c
t
e
d
t
o t
h
e
IF
O
C
c
om
ma
nd.
To
e
va
l
u
ate
t
h
e
tun
i
ng
perform
ance
,
we
s
i
m
ula
t
e
d
e
ach
c
o
n
tr
ol
c
a
s
e
w
i
t
h
s
pee
d
c
on
tro
ller
para
me
ters
c
al
cula
te
d
b
y
a
p
ol
e
loc
a
t
i
on
ρ
ω
,
a
set
speed
ω
r
=
1
50
r
a
d
/
s
,
f
o
l
l
o
w
e
d
b
y
a
n
a
ppl
i
cati
o
n
an
d
a
cha
r
ge
r
em
o
v
a
l
(
1
0
.
)
at
t
im
es
t
=1.
5
s
an
d
t=
2.
5
s
,
re
specti
v
el
y.
T
he
n
a
n
a
ppl
i
c
a
t
i
o
n
o
f
a
s
et
p
o
i
n
t
cha
nge
a
t
t
h
e m
o
m
e
nt
t
=4
s
.
Ta
b
l
e
1
bel
o
w
show
s t
h
e
co
nt
rol pa
ram
e
ter
s
for
e
a
c
h c
a
se:
Tab
l
e
1. P
a
r
ameters
of c
o
n
t
r
o
l
C
o
n
t
r
o
l
l
er
S
peed
(rpm
)
CPI
NLP
I
=0.1,
=0.2,
=0.
7
,
=0.
8
,
=0.1,
=0.2,
=0
.7
,
=0
.8
,
=
0.
1,
=0.2,
=0.
7
,
=0.8,
3.1.
Be
h
a
vi
or of
sp
e
e
d
The
an
a
l
ys
is
o
f
F
i
gur
e
4
s
h
o
w
s
Beha
vior
o
f
t
h
e
o
u
t
p
u
t
s
pe
ed
y
w
i
t
h
r
e
spect
t
o
t
h
a
t
o
f
t
h
e
i
npu
t
(CPI
c
ase), allows us
t
o
d
educe:
1.
Re
gistra
ti
on
of
a
transit
i
o
na
l
regim
e
a
t star
t
-
up
d
uri
n
g
0,
35
;
2.
D
u
r
i
n
g
t
h
i
s
p
h
a
s
e
t
h
e
s
p
e
e
d
f
o
l
l
o
w
s
i
t
s
r
e
f
e
r
e
n
c
e
v
a
l
u
e
w
i
t
h
a
n
ove
rru
n
o
f
1
/
15
4
/
14
4
/
a
nd th
is t
o
0
.
1
3
;
3.
A
t
t
he
a
p
p
lic
a
t
i
o
n
o
f
a
l
oa
d,
a
t
appr
ox
im
ate
l
y
1.5
,
w
e
r
ecord
a
downw
ard
p
e
ak
o
f
a
val
u
e
o
f
=
1
42 ra
d
/
s;
4.
Whe
n
l
ifti
n
g
t
he
l
oa
d
2
,5
,
t
h
is
t
i
m
e
w
e
r
ec
ord
a
pe
ak
a
t
the
top
of
a
v
al
ue
15
8
⁄
.
5.
We
t
he
n
sa
y
th
a
t
t
he
s
pee
d
d
e
c
r
ease
s
w
i
t
h
t
h
e
incre
a
se
o
f
t
h
e
l
oa
d
a
n
d
t
h
e
n
i
nc
rea
s
e
s
w
i
t
h
its
d
ecr
ease
.
6.
At
4
, the
d
irec
t
i
on o
f
rota
t
i
o
n of t
he MA
S
c
hange
s.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w
Elec
&
Dr
i
Sy
st,
Vo
l. 1
0
,
No
. 3
,
S
e
p
2
019
:
1
1
7
8
–
1
186
1
182
F
i
gur
e
4.
Beha
v
i
o
r
of
t
he
o
u
t
pu
t
spe
e
d
y
w
it
h
r
e
spe
c
t
t
o
t
ha
t
o
f
th
e in
put
(
C
PI ca
s
e
)
Over
all,
t
he
ref
o
re,
we
r
ec
ord
a
g
o
o
d
r
e
fe
ren
c
e
trac
k
i
ng
b
y
t
h
a
t
o
f
th
e
o
u
tp
u
t
a
nd
a
g
ood
re
j
e
ct
io
n
o
f
di
st
ur
ba
nce
s
d
ur
i
ng
t
h
e
ap
pl
i
cati
o
n
of
t
he
l
o
a
d.
F
i
gur
e
5.
B
e
h
a
v
i
o
r
of
t
he
out
pu
t
spee
d
y
w
ith
r
espe
ct
t
o
t
h
a
t
o
f
t
h
e
inp
u
t
(N
LP
I
c
a
s
e
)
The
ana
l
ys
is
o
f
F
i
gur
e
5,
a
llo
w
s
u
s
to
d
e
d
uc
e:
1.
Re
gis
t
rat
i
on o
f
a
t
r
a
nsitio
na
l r
e
gim
e
a
t start-
up
d
u
r
i
n
g
0,3
3
;
2.
Du
ri
ng
t
hi
s
p
h
as
e
t
h
e
s
p
ee
d
fo
l
l
o
w
s
i
t
s
r
ef
ere
n
ce
v
al
u
e
w
it
h
a
n
over
r
u
n
of
5
/
15
4
/
1
49
/
a
nd
th
is
t
o
0
.
1
3
;
3.
A
t
t
he
a
p
p
l
i
ca
t
i
o
n
o
f
a
load,
at
a
ppr
ox
ima
t
e
l
y
1
.
5
,
w
e
r
e
c
or
d
a
dow
nw
a
r
d
p
e
a
k
o
f
a
va
lue
o
f
=
1
49,
7
r
a
d/s;
4.
W
h
e
n
l
i
f
t
i
n
g
t
h
e
l
o
a
d
2
,5
,
this
t
im
e
w
e
r
ec
ord
a
pea
k
a
t
the
top
of
a
v
al
ue
1
50,2
⁄
.
5.
We
t
he
n
say
t
h
at
t
he
s
peed
d
e
c
re
ases
w
it
h
th
e
i
n
c
r
ea
se
o
f
t
h
e
l
oa
d
a
nd
th
en
i
ncr
ease
s
w
i
t
h
i
t
s d
e
crea
se
.
6.
At
4
,
the
dir
e
c
t
i
on
o
f
r
ota
t
i
on
of
t
he
M
A
S
c
ha
nge
s.
Over
all,
t
here
fore
,
th
is
tim
e
we
r
ec
ord
a
be
tt
e
r
r
e
f
er
ence
t
rac
king
b
y
t
ha
t
of
t
he
o
u
t
p
u
t
a
nd
a
be
t
t
e
r
r
e
ject
io
n
o
f
d
is
t
u
r
b
a
n
ce
s
d
u
r
i
ng
t
h
e
ap
pl
i
c
a
t
io
n
o
f
t
he
l
oa
d
an
d
t
h
is
c
om
pa
r
e
d
to
t
he
c
on
tr
ol
case
at
C
P
I
.
0
1
2
3
4
5
6
-20
0
-15
0
-10
0
-5
0
0
50
10
0
15
0
20
0
t (
se
c)
W
r
and
y
y
Wr
0.
0
5
0.
1
0.
15
0.
2
0.
25
0.
3
0
20
40
60
80
100
120
140
160
t
(
s
e
c
)
Wr
a
n
d
y
y
Wr
1.
4
1.
6
1.
8
2
2.
2
2.
4
2.
6
2.
8
11
0
12
0
13
0
14
0
15
0
16
0
17
0
t
(
s
e
c
)
Wr
a
n
d
y
y
Wr
3.
9
5
4
4.
0
5
4.
1
4.
1
5
4.
2
4.
2
5
4.
3
4.
3
5
4.
4
-1
5
0
-1
0
0
-5
0
0
50
10
0
15
0
t
(
se
c)
W
r
a
n
d
y
y
Wr
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
C
o
m
p
a
r
at
ive
st
udy be
twee
n th
e
NL
PI c
ontro
l
l
er a
nd
the
CP
I c
ontrol
l
er
(Tou
h
a
m
i
M
o
h
a
m
m
e
d)
1
183
3.2.
B
e
ha
vi
or of
cu
rr
ent
F
i
gure
6 sh
ow
s cur
r
ent
b
e
ha
v
i
or
(
CP
I
ca
s
e
).
F
i
gure
6.
C
ur
rent be
h
a
v
i
o
r
(
C
P
I
c
a
s
e
)
F
r
om the
a
nal
y
sis fig
u
re
6
w
e
c
a
n de
d
u
ce
:
a)
Current
:
I
n
gene
r
al,
duri
ng t
h
e
en
tire
p
e
rio
d
be
t
w
e
e
n
0
and
4
s
,
the
cur
r
ent
stabili
z
e
s at about 3.
9
A
.
b)
Current
:
i.
The
rise
t
i
m
e
b
e
tw
ee
n 0
to
0
.1
3 s
has a
pea
k
of ab
o
u
t 3
0
A
.
ii
.
Thr
o
ugh
ou
t t
h
e
int
e
r
v
al
f
rom
t =
1.
5s to t
= 2.
5s a
r
ise (w
ith
b
u
m
ps a
t
t
h
e
e
n
ds) o
f
a
b
out
6
A
.
iii.
A
t
t
=
4s a
sig
n
a
l
fl
u
c
t
ua
t
i
o
n
i
nd
ica
t
es
t
he
c
h
a
nge
i
n
t
h
e r
o
ta
ti
o
n
o
f
t
h
e
M
A
S.
F
i
gure
7 sh
ow
s cur
r
ent
b
e
ha
v
i
or
(NLP
I
case
)
F
i
gure
7. Curr
e
nt be
h
a
v
ior
(
NLP
I
c
ase)
F
r
om the
a
nal
y
sis fig
u
re
6
w
e
c
a
n de
d
u
ce
:
a)
Current
:
I
n
gene
r
al,
duri
ng t
h
e
en
tire
p
e
rio
d
be
t
w
e
e
n
0
and
4
s
,
the
cur
r
ent
stab
i
liz
es
a
t abo
u
t
3.1
A
.
b)
Current
:
i.
The
rise
t
i
m
e
b
e
twee
n 0
to
0
.1
3s r
ecor
d
s
a
peak
o
f a
b
o
u
t
3
8
A.
ii
.
Thr
o
ugh
ou
t
th
e
in
terva
l
f
r
o
m
t
=
1.
5s
t
o
t
=
2.
5s
a
v
irt
u
al
ly
r
ec
t
a
ngu
la
r
ri
se
(
wi
t
h
o
u
t
e
nd
fluc
tu
a
t
i
o
ns)
of a
bou
t
6A
.
iii.
A
t
t
=
4s a
sig
n
a
l
fl
u
c
t
ua
t
i
o
n
i
nd
ica
t
es
t
he
c
h
a
nge
i
n
t
h
e
r
o
ta
ti
o
n
o
f
t
h
e
M
A
S
.
0
1
2
3
4
5
6
-40
-30
-20
-10
0
10
20
30
t
(
s
e
c
)
I
d
s
and
I
q
s
(
A
)
0
0.
5
1
1.
5
2
2.
5
3
3.
5
4
4.
5
5
-4
0
-3
0
-2
0
-1
0
0
10
20
30
40
t
(
s
e
c
)
Id
s
a
n
d
Iq
s
(
A
)
Id
s
Iq
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
Int J
P
o
w
El
e
c
&
D
ri S
yst
,
V
ol.
10,
N
o.
3
, S
e
p
2
0
1
9
:
117
8
– 1
186
1
184
3.3.
Fl
u
x
b
eh
a
v
ior
F
i
gure
8 sh
ow
s flu
x
be
h
av
i
o
r
∅
∅
(
CPI case).
Fi
g
u
re
8
.
Fl
u
x
b
e
h
av
i
o
r
∅
∅
(
C
P
I
case)
F
i
gure
8
s
h
ow
s
tha
t
t
he
f
lu
xe
s
a
nd
c
o
nseq
u
e
ntl
y
t
he
e
l
e
ctr
o
m
a
gn
e
t
ic
t
orq
u
e
are
ma
int
a
ine
d
a
t
the
i
r
des
i
red
val
u
es.
O
bvi
ousl
y
,
w
e
r
ec
ord:
i.
A
f
ter
a short
t
r
ans
i
en
t de
pa
rt
u
r
e, the
t
w
o
fl
o
w
s
ha
v
e fluc
t
u
a
t
i
on
s (ri
p
pl
es) at
st
a
rt
up
:
1.
∅
1.6
0
é
2.
∅
0.7
0.
3
é
ii
.
V
e
ry slig
h
t
f
l
u
ctua
t
i
o
n
s at
t
he
m
ome
n
t
of the
lift
i
n
g
o
f t
h
e
l
o
a
d
a
t
t
= 2.5s
;
iii.
S
l
i
g
h
t
fluc
t
ua
ti
ons a
t the
tim
e of c
ha
n
g
e
o
f
M
A
S
rotat
io
n a
t
t
= 4s;
iv.
D
u
r
i
n
g
al
l
t
he t
i
m
e,
w
e can confirm
t
h
e
flow
of the
r
o
tor
kn
ow
s
o
nly
t
h
e
ref
e
rence
flow
(
∅
=
1
a
nd
∅
=
0)
a
nd
i
s
t
her
e
fore
i
n
d
e
p
en
de
nt
o
f
sp
eed
a
nd
t
o
rq
u
e
v
a
r
iati
o
n
s.
T
h
i
s
im
plies
a
goo
d
de
co
u
p
l
i
ng.
F
i
gure
9 sh
ow
s F
l
ux
beha
v
i
or
∅
a
nd
∅
(NLP
I
case)
.
F
i
gure
9. F
lux beha
v
i
or
∅
a
n
d
∅
(
NLP
I
c
ase)
F
i
gure
9
s
h
ow
s
tha
t
t
he
f
lu
xe
s
a
nd
c
o
nseq
u
e
ntl
y
t
he
e
l
e
ctr
o
m
a
gn
e
t
ic
t
orq
u
e
are
ma
int
a
ine
d
a
t
the
i
r
des
i
red
val
u
es.
O
bvi
ousl
y
,
w
e
r
ec
ord:
i.
A
f
ter
a short
t
r
ans
i
en
t de
pa
rt
u
r
e, the
t
w
o
fl
o
w
s
ha
v
e fluc
t
u
a
t
i
on
s (ri
p
pl
es) at
st
a
rt
up
:
0
1
2
3
4
5
6
-0
.
4
-0
.
2
0
0.
2
0.
4
0.
6
0.
8
1
1.
2
1.
4
1.
6
t
(
se
c)
F
d
r
a
nd
F
q
r
(
W
b)
Fd
r
Fq
r
0
0.
5
1
1.
5
2
2.
5
3
3.
5
4
4.
5
5
-0
.
5
0
0.
5
1
1.
5
2
t
(
s
e
c
)
F
d
r
and
F
q
r
Fd
r
Fq
r
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
C
o
m
p
a
r
at
ive
st
udy be
twee
n th
e
NL
PI c
ontro
l
l
er a
nd
the
CP
I c
ontrol
l
er
(Tou
h
a
m
i
M
o
h
a
m
m
e
d)
1
185
1.
∅
1.7
0
é
2.
∅
1.7
0
é
ii
.
S
l
i
g
h
t
fluc
t
ua
ti
ons a
t the
tim
e of c
ha
n
g
e
o
f
M
A
S
rotat
io
n a
t
t
= 4s;
iii.
D
u
r
i
n
g
al
l
t
he t
i
m
e,
w
e can confirm
t
h
e
flow
of the
r
o
tor
kn
ow
s
o
nly
t
h
e
ref
e
rence
flow
(
∅
=
1
a
nd
∅
= 0)
a
nd is t
he
r
e
for
e
in
d
e
p
e
n
d
e
nt o
f
spee
d
an
d tor
que
var
i
a
t
i
on
s.
Th
is im
p
lie
s
a
sign
ifica
n
tl
y i
m
prove
d
deco
up
l
i
n
g
com
par
e
d to t
h
a
t
o
f t
h
e
C
P
I
case
.
4.
CO
NC
L
U
S
I
O
N
O
b
v
i
o
u
s
l
y,
t
h
e
c
o
n
st
an
t
de
ve
lo
pme
n
t
of
r
es
ea
rch
base
d
o
n
r
eflec
t
i
ve
a
n
d
c
r
eat
i
v
e
t
h
i
n
ki
n
g
f
or
t
he
con
t
in
uou
s
im
p
r
o
v
em
ent
of
a
s
pee
d
c
o
n
t
ro
ll
e
r
p
u
tti
ng
a
n
e
nd
t
o
the
c
o
n
s
tra
i
nt
s
of
t
he
t
ransie
nt
m
o
d
e,
l
ed
u
s
to
t
he
N
LP
I.
a
c
on
trol
l
e
r
t
h
u
s
e
n
s
ur
in
g
a
v
e
r
y
g
o
od
m
o
nitor
i
n
g
a
n
d
an
e
xce
lle
n
t
r
ejec
t
i
o
n
o
f
di
st
urb
a
nce
is
in
dee
d
t
he
m
os
t
e
f
fe
ct
i
v
e
w
a
y
t
o
e
ns
ure
a
be
tte
r-qua
li
t
y
t
re
atm
en
t
.
T
h
e
r
e
s
u
l
t
s
o
f
th
e
si
mu
l
a
ti
on
s
re
l
a
ting
to
a
MA
S
com
m
a
nded by IF
O
C
and c
o
n
t
ro
lle
d b
y
a
n N
L
P
I
c
ontro
ll
e
r
a
re
sign
i
f
ic
a
n
tly impr
o
ve
d, c
ompa
red
to t
he
ot
her
ones
of
t
he
C
P
I
c
ontro
l
l
e
r
,
that
i
t
is
i
n
t
e
rm
s
of
m
onit
o
ring
the
speed
o
f
reference
b
y
that
o
f
th
e
ou
tpu
t
y
,
the
reje
cti
o
n
of
d
i
s
t
u
rba
n
c
e
o
r
eve
n
b
eha
v
ior
of
t
he
cur
r
ents
and
f
l
u
x
behav
i
or
∅
∅
i
n
v
o
lv
in
g
de
c
o
u
p
l
i
n
g
im
pro
v
em
ent.
W
e
w
i
l
l
e
n
d
by
sa
y
i
ng
t
h
a
t
t
he
m
a
i
n
im
por
t
a
n
ce
of
N
LP
I
con
t
ro
l
l
ers lies
i
n
t
he
ir r
obust
n
ess a
n
d per
f
or
m
a
nc
e a
g
ai
nst
va
riations.
ACKNOW
LEDG
E
MEN
T
S
The
a
u
th
ors
w
i
sh
t
o
tha
n
k the
ano
n
y
m
o
u
s
r
eview
e
rs for the
i
r
sug
ge
sti
o
ns and
co
m
me
n
t
s.
A
s
w
e
l
l
a
s
t
he
D
ire
c
tor
a
nd
t
h
e
m
e
m
b
ers
of
t
he
C
A
O
S
EE
la
bora
t
or
y
of
t
h
e
d
ep
a
r
t
m
e
n
t
of
e
l
ect
ri
c
a
l
eng
i
nee
r
i
n
g
of
t
he
F
a
c
u
l
t
y
o
f
Tec
h
n
o
l
o
g
y
o
f
the
un
i
v
ersi
ty
T
A
H
R
I
MO
H
A
MMED
of
B
ec
har
and
t
h
i
s
f
or
t
he
assista
n
ce
provided m
ainly in
l
ogistics.
REFE
RENCES
[1]
O.
B
o
u
g
h
a
z
i
,
A.
B
ou
me
die
n
n
e
,
a
n
d
H.
G
la
ou
i
“S
l
i
ding
M
o
d
e
B
ac
k
s
t
epp
i
ng
Co
nt
rol
o
f
I
nd
ucti
on
M
o
t
or”,
Int
e
rn
ation
a
l
Jo
u
r
n
a
l of Po
wer
E
l
ect
ronics an
d Dri
ve System
(
I
JPEDS
)
, Vo
l
. 4
,
No
.
4
, pp
.
4
81
~4
88
,
2
0
1
4
.
[2]
A.
A
la
lei
,
e
t
a
l
.,
“
S
e
lf
-T
unin
g
F
u
zzy
B
ased
P
I
Co
nt
ro
l
l
er
f
or
D
FI
M
Powered
by
T
wo
M
atrix
Convert
e
rs,”
Int
e
rn
ation
a
l
Jo
u
r
n
a
l of Po
wer
E
l
ect
ronics an
d Dri
ve System
(
I
JPEDS
)
, v
ol
/issu
e:
7
(3),
pp
66
5-6
7
6
, 20
1
6
.
[3]
N.
P
etit,
P
.
Rou
c
hon,
"
Automati
c
Dynami
cs
a
nd
S
yst
e
m
s
C
ont
r
o
l
"
,
M
I
NES Pa
ri
sT
ech
,
CA
S - Aut
o
m
a
tio
n an
d
Sys
t
em
s Center,
M
a
th
ematics
and
Syst
ems Unit
, F
ebru
ary 2
0
1
1
.
[4]
P
.
B
orne,
G.
d
au
ph
in
,
J
-
P.
R
i
c
hard,
F.
R
o
t
ella,
"Cont
rib
u
tion
à
l
a
com
m
a
nd
e
préd
ict
i
ve
n
o
n
l
i
n
éaire
d
'
u
n
e
m
achi
n
e
sy
nch
r
on
e à aiman
t
s
perm
anen
ts"
,
T
hès
e
so
u
t
e
nu
e à Un
iv
ers
i
t
é
UQ
AC C
A
NADA, en 2010
.
[5]
N.
B
ezzo
uh
"
Co
mm
an
de
R
ob
us
te
d
u
M
o
t
e
ur
A
s
y
n
c
hro
n
e
B
a
sée
S
u
r
l
a
Théo
rie
de
L
yap
uno
v,
"
T
hèse
d
e
M
a
g
i
s
t
er
en
Elect
ro
t
echnique, U
n
i
versité H
AD
J
LAKHD
A
R
Batna, A
l
géri
e, 20
10.
[6]
A.
H
azzab
"
Co
m
m
a
nd
e
d
e
s
s
y
s
t
èm
es
p
ar
l
ogiq
u
e
f
l
o
u
e
,
r
éseaux
n
e
u
ron
e
s
et
a
l
g
o
r
it
hm
es
g
énétiq
ues
"
.
Th
èse
de
Do
cto
r
at E
S S
c
ien
ces, U
ni
vers
i
t
é U
S
T O
r
an,
A
l
gérie,
2
0
06.
[7]
T.
L
amech
e.
"
Co
mm
an
de
R
ob
ust
e
d
u
M
o
t
e
ur
Asynch
r
on
e
Bas
ée
S
u
r
la
T
hé
o
r
ie
d
e
Ly
a
p
un
ov
,"
T
hè
se
s
o
u
te
nu
l
e
:
06/05 /
2
010, HADJ
LA
K
H
DAR
Batna,
A
l
gérie.
[8]
S
.
D
e
H
ill
erin
,
"
C
o
m
m
a
nde
r
o
bus
te
d
e
s
y
s
t
èm
e
s
n
on
l
i
n
é
a
i
res
i
n
c
ertai
n
s,
"
E
dit
i
o
n
HAL,
archi
v
es
-ou
v
ertes
.
f
r
,
20
13
.
[9]
Bou
s
m
a
h
a
B
ou
chi
b
a,
A
bd
e
l
d
j
ebar
H
azz
ab
,
H
a
c
h
em
i
Glao
ui,
F
e
llah
M
ed-Karim,
I
s
maï
l
K
halil
Bo
usserhane,
P
ierre
Sicard,
"
Decentrali
zed
P
I
C
o
ntrol
l
er
f
or
M
u
ltimotor
s
W
e
b
Windi
n
g
S
y
stem
",
J
o
urna
l
o
f
Au
t
o
mat
i
o
n
,
Mob
il
e
Robot
i
cs &
Intelli
gen
t
Systems
,
2
0
12.
[10]
A.
M
il
oudi,
“Etud
e
e
t
co
n
cept
i
o
n
d
e
r
é
gu
lat
e
urs
ro
bu
st
es
d
ans
d
ifféren
t
es
s
t
r
atégies
de
c
o
m
m
a
n
d
es
d
’un
m
o
t
e
ur
asy
n
ch
ron
e
,
”
P
hD
T
h
e
sis,
U
ni
ve
rs
tit
y
o
f
M
o
h
a
med
Bo
ud
iaf
of
Oran
, A
l
g
eri
a
, 2
00
6.
[11]
V.
D.
Yu
rk
evi
c
, “
Ad
van
ces
i
n
P
I
D
con
t
rol”,
E
d
i
t
ion
P
ublished
on
li
ne
2
01
1.
[12]
T.
M
.
Ch
ik
ou
ch
e,
A
.
M
ezouar,
T
.
Terras
and
S
.
H
ad
jeri.
“
V
ari
a
b
l
e
Ga
in
P
I
Co
ntr
o
lle
r
De
sign
f
or
S
pe
e
d
C
on
tr
ol
o
f
a
D
oub
ly
F
ed
I
n
d
uction
Motor”,
ETA
S
R
- En
g
i
neeri
n
g
,
T
echn
o
l
ogy
&
A
ppli
e
d S
c
ience
Resea
r
c
h
,
V
o
l
.
3
,
N
o
.
3
,
4
3
3
-
43
9, 2
01
3.
[13]
S
.
B
o
y
d
,
M
.
H
a
s
t
,
a
n
d
K
.
J
.
Å
s
t
r
ö
m
,
“
M
I
M
O
P
I
D
t
u
n
i
n
g
v
i
a
i
t
e
r
a
t
ed
L
MI
r
estriction”,
In
t. J
.
Ro
bu
st No
nl
in
e
a
r
Contr
o
l
,
v
o
l
26,
pp
.
1
71
8–1
73
1,
2
0
16.
[14]
A
.
O
m
a
r
i
,
e
t
a
l
.
,
“
d
S
P
A
C
E
D
S
1
1
0
4
B
a
s
e
d
R
e
a
l
T
i
m
e
I
m
p
l
e
m
e
n
t
a
t
i
o
n
o
f
S
lid
ing
M
o
d
e
C
ont
rol
o
f
I
nd
uctio
n
Mo
t
o
r,”
Inter
nati
o
n
a
l
Jour
na
l of Power
El
ectr
o
n
i
cs
and
Drive
Syst
em
(
I
JPED
S
)
,
vol
.
9
,
i
s
s
u
e
2
,
pp.
5
46-5
5
8
20
18
.
[15]
G.
I
m
a
ne,
et
a
l.,
“
N
eu
ral
Ad
apti
v
e
K
al
man
F
i
lt
er
f
or
S
ens
o
rles
s
V
ect
or
C
o
n
t
r
ol
o
f
Ind
u
ct
ion
M
o
to
r,”
International
Jou
r
n
a
l
o
f
Po
we
r Elect
ronics
and
Dri
ve Sys
t
em
(
I
JPED
S
)
,
vol
8
,
i
ssu
e
4,
p
p
.
1
841-1
8
5
1
,
2
01
7.
[16]
S
h
ah
ruz
S
M
,
S
ch
wartz
AL
.
“N
o
n
li
near
P
I
com
p
ens
a
to
rs
t
hat
ach
iev
e
h
i
gh
p
erf
o
rm
ance,
”
J Dyn
S
y
st,
Me
asure
Contr
o
l
;
v
o
l
.
1
1
9
,
no
5
,
pp.
1
05–10
,
1
997
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w
Elec
&
Dr
i
Sy
st,
Vo
l. 1
0
,
No
. 3
,
S
e
p
2
019
:
1
1
7
8
–
1
186
1
186
[17]
F
.
M
okhtari
,
P
.
S
i
card
an
d
A
.
H
azz
ab
.
“
D
ecen
trali
zed
N
on
li
near
Con
t
ro
l
St
rategies
f
o
r
D
i
s
t
u
rb
ance
R
e
ject
io
n
i
n
Wind
in
g
Sy
ste
m
s”
.
I
EEE Interna
t
ional
Elect
r
i
c Mac
h
ines
&
Dr
ives
C
o
nf
erence
(
I
E
M
DC
)
,
2
011
.
[18]
Y.X.
S
u
a
.
b
,
Do
ng
S
u
n
a
,
B
.
Y.
D
u
a
n
b.
“
De
sig
n
o
f
a
n
e
nh
a
n
c
e
d
n
on
li
near
P
ID
c
ont
rol
l
er”.
E
LS
EVIER,
M
echa
t
ro
n
i
cs,
v
ol 15
,
p
p
. 1
00
5–
10
24
, 20
0
5
.
[19]
P
.
R.
P
ag
i
l
l
a
,
N.B.
S
i
r
ask
a
r,
a
n
d
R
.V.
Dwi
ve
d
u
l
a
,
“
D
ecen
tral
ized
c
on
tro
l
o
f
web
p
r
ocess
i
ng
lin
es,
”
I
EEE
Tra
n
sac
t
ion
on c
o
ntrol
syst
ems
technology
, vo
l
. 1
5
, No
.
1
,
p
p
. 1
06
-11
7
, Jan.
20
07
.
[20]
Y
.
X.
S
u,
B
.
Y
.
Du
an and C.
H.
Zheng
,
“
N
o
n
lin
ear
P
ID
c
o
n
t
r
ol
o
f
a
si
x-DOF
p
aralle
l
mani
pula
t
o
r”,
IE
E
Pro
ceedi
n
g
s
o
n
l
i
n
e
,
chi
n
a,
2004
.
[21]
P.
M
i
s
h
r
a
,
V
.
K
u
ma
r,
K
.
P
.S
.
Ra
n
a
,
“An
o
n
l
i
ne
t
un
e
d
n
ov
e
l
n
on
li
near
P
I
co
nt
ro
ller
f
o
r
sti
c
ti
on
c
om
pen
s
atio
n
i
n
p
n
eu
m
a
tic
c
ont
rol
val
v
es
”,
2
015
IS
A
.
P
u
b
l
is
hed
b
y
E
l
s
evi
e
r Ltd,
2
0
1
5
.
[22]
J
.
H
an,
“N
on
li
n
ear
D
es
ign
M
e
t
h
o
d
s
f
o
r
Co
nt
rol
S
y
ste
m
s
”
,
T
h
e Pro
c
.
Of
T
h
e
1
4
t
h
IFA
C
W
o
rld Congr
ess
,
Beiji
ng,
19
99
.
[23]
S
.
T
ak
ash
i
,
Y.
N
egi
s
hi
a
n
d
B
.
Yas
u
s
h
i,
“
a
T
D
OF
P
ID
c
o
n
trol
s
y
s
t
em
d
esign
b
y
r
ef
errin
g
t
o
th
e
m
d
-p
id
c
ontro
l
syste
m
and
its
s
ensiti
v
ities”,
2
013 E
u
r
o
p
e
a
n
Con
t
rol Co
n
f
eren
ce (
E
CC)
,
Ju
l
y
17
-
1
9
, 20
1
3
,
Z
ürich
,
S
witzerland
.
[24]
K.
J
.
Hu
n
t
,
R.
R
.
M
a
ure
r
,
“Com
pa
riso
n
o
f
l
in
e
a
r
a
nd
n
o
n
lin
e
a
r
f
eedb
a
ck
c
o
n
t
rol
o
f
h
eart
rate
f
o
r
t
read
m
ill
ru
nn
in
g”,
IS
S
N
:
(P
ri
nt
)
2
1
6
4
-2
5
8
3
(On
lin
e)
J
ou
rnal
hom
ep
age:
htt
p
://www.tand
fonl
ine.
co
m
/
l
o
i
/
t
s
s
c
20
,
Zu
ri
ch
,
26
M
a
y
20
16
.
[25]
M
o
teu
r
s
e
t
C
ontrô
leurs
,
E
d
i
ti
on
,
F
e
st
o
E
u
rl
,
E
-
ma
i
l
:
in
fo_
f
r
@
fe
s
t
o
.
c
o
m
,
20
17
.
BIOGRAPHI
E
S
OF
AUT
HORS
M
o
h
a
m
m
e
d
T
O
U
H
A
M
I
w
a
s
b
o
r
n
i
n
B
é
c
h
a
r
(
A
l
g
e
r
i
a
)
o
n
N
o
v
e
m
b
e
r
1
3
,
1
96
5.
H
e
g
r
adu
a
ted
i
n
eng
i
n
e
eri
n
g
f
r
o
m
D
JIL
A
L
I
L
i
a
bès
Un
iversit
y
, F
acult
y o
f
T
echn
o
lo
gy
,
D
e
partmen
t
o
f
Electro
ni
c
s
Engineering
in
S
idi
B
e
l
-
Abbes
(A
l
g
eria),
i
n
1
9
9
0
.
He
r
ec
ei
ved
t
h
e
M
aster
o
f
E
l
ectri
cal
En
gin
eerin
g
f
r
om
T
A
H
RI
M
oham
m
e
d
Univers
i
t
y
,
F
acult
y
o
f
T
echn
o
lo
gy
,
D
e
partm
e
n
t
o
f
El
ectrical
E
n
g
i
n
eerin
g
i
n
B
éch
ar
(
Al
geria),
in
2013.
C
urrent
ly
doin
g
r
es
earch
a
t
the
labo
rato
ry
CAOSE
E
U
n
i
ve
rs
it
y
M.
T
AHRI
Béchar
t
o
ob
tain
a
d
o
c
to
rate.
His
re
s
earch
i
nt
erest
s
c
o
n
cern
:
a
u
to
ma
t
i
o
n
a
n
d
i
nd
us
tr
i
a
l
c
o
mpu
t
in
g.
Pierre
S
icard
(S’84–M’85)
receiv
ed
t
h
e
B
.
S
.
deg
r
ee
i
n
t
echno
lo
g
y
o
f
e
lectricit
y
f
rom
t
h
e
S
u
p
e
rior
T
echn
o
l
ogy
S
cho
o
l,
M
on
tréal,
QC,
Can
a
da,
i
n
1
98
5,
t
he
M
.
S
.
d
egree
in
i
nd
us
tri
a
l
elect
roni
cs
f
ro
m
th
e
U
n
i
v
ersi
ty
o
f
Queb
ec
at
T
roi
s
R
ivières,
C
a
n
a
da,
in
1
99
0
,
a
nd
t
he
P
h
.
D
.
deg
r
ee
in
e
lectrical
e
n
g
i
n
eerin
g
f
r
om
R
enss
e
l
aer
P
o
l
ytechn
i
c
In
s
t
i
t
u
t
e
,
T
r
o
y
,
N
Y
,
i
n
1
9
9
3
.
H
e
joine
d
t
he
U
n
i
v
e
rsi
t
y
of
Q
uébec
at
T
ro
i
s
-R
i
v
iè
res
as
a
P
rofes
s
o
r
i
n
e
lect
rical
e
n
g
i
n
eerin
g,
i
n
19
92
.
He
i
s
curren
t
l
y
C
h
a
irm
a
n
of
t
he
C
haire
de
r
ech
er
che
H
y
d
r
o
-Qu
é
bec
s
u
r
la
P
u
i
s
s
ance
et
l’É
n
ergi
e
É
l
ectriqu
e
(CP
E
E
)
a
nd
a
m
em
b
e
r
of
t
h
e
R
esearch
G
ro
up
in
I
ndustr
i
a
l
El
e
c
tronics,
b
o
t
h
at
t
he
U
n
i
vers
it
é
du
Q
u
é
bec
at
T
rois
-Riv
ières.
H
i
s
r
esearch
i
n
t
erest
s
c
o
n
cern:
m
od
eli
ng,
con
t
roller
and
ob
server
d
es
ig
n
for
no
nlin
ear
s
ystem
s
,
co
nt
ro
l
i
n
po
wer
elect
ronics,
p
a
ss
ivit
y-
bas
e
d
co
nt
ro
l,
a
dap
tiv
e
con
t
rol,
a
nd
n
eu
ral
n
e
two
r
ks
.
Ab
delj
ebar
H
azzab
r
ec
ei
ved
h
i
s
St
ate
En
g
i
ne
er,
M
.
S
.
,
an
d
P
h
.
D
d
e
grees
i
n
El
ectri
cal
En
gin
eerin
g
f
r
om
t
h
e
E
lectri
cal
E
ngin
eering
In
sti
t
ute
o
f
T
he
U
n
i
v
ers
i
ty
o
f
Science
s
a
nd
Tech
nol
og
y
of
O
ran
(USTO
)
,
A
l
geri
a
in
1
9
95,
1
9
9
9
,
a
nd
20
06,
r
es
p
e
c
t
i
v
e
l
y
.
H
e
i
s
c
u
r
r
e
n
t
l
y
a
P
r
of
ess
o
r
of
E
l
e
ctri
ca
l
Engin
eerin
g
at
t
he
U
n
i
v
e
rsity
o
f
Béchar
(
Al
geria),
wh
ere
h
e
h
as
b
een
t
he
Di
rector
o
f
th
e
Resear
ch
L
abo
r
at
ory
o
f
C
omm
a
nd
,
Anal
ys
es,
and
O
pt
imization
of
E
lect
ro-
En
ergeti
c
S
y
st
ems
sin
ce
2
0
0
9
.
Hi
s
re
s
earch
i
n
t
e
r
est
s
c
on
cern:
power
q
uality,
model
i
ng,
modern
con
t
roller
and
o
b
serv
er
d
esig
n
for
no
nli
n
ear
s
y
s
t
e
ms,
cont
ro
l
o
f
p
o
wer
elect
roni
cs,
m
u
l
t
i
d
ri
ve
sy
st
e
m
s an
d el
ec
t
r
ical veh
icl
e
, and
adap
ti
ve co
n
t
r
ol
and
no
n
lin
ear
s
ys
te
m
s
d
i
a
gn
ostic.
M
o
k
h
tari
F
o
u
a
d
r
ec
eiv
e
d
hi
s
P
h
D
deg
r
ee
i
n
El
ec
t
r
ical
E
n
g
ineeri
n
g
entitl
ed
"
Controlling
Ham
i
lto
n
i
a
n
Co
n
t
ro
lled
P
orts
S
yst
e
ms.
Ap
p
l
icatio
n
to
a
w
i
n
d
e
r"
f
r
om
t
h
e
U
ni
vers
it
y
of
Q
u
e
bec
at
T
roi
s
-R
ivières
(CANA
D
A
)
i
n
2
010.
H
e
i
s
P
rof
e
s
s
or
a
t
the
Univ
ers
i
t
y
o
f
Tech
nol
og
y,
o
f
Qu
ebec
at
T
ro
is
-Rivières
(CA
N
A
DA).
H
i
s
research
i
n
t
erest
s
c
o
n
ce
rn
:
i
n
d
u
s
t
rial
e
l
ectron
i
cs,
anal
ogi
c
and
m
o
d
e
li
ng
,
con
t
roll
e
r
a
nd
o
b
s
erv
e
r
des
i
gn
f
or
n
o
n
li
near s
ys
te
m
s
.
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