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
. 87
0
~
87
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
p87
0-8
78
8
70
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
Desi
gn
and implemen
t of p
u
lse wi
dth modulati
on with low
-
cost
hardware in the loop
Qa
si
m A
l
Az
ze,
Mo
ha
m
m
ed Has
a
n
A
l
i
Departm
e
nt o
f
E
l
ec
tric
al
Po
wer a
n
d
Mach
in
es,
Co
ll
a
g
e
of E
n
g
i
ne
eri
n
g
,
Uni
v
e
r
si
ty
of Diy
a
la
, Ira
q
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
Se
p 2
8
, 2
019
Re
vise
d N
o
v
9
,
20
19
Acc
e
pt
e
d
Dec 15
, 20
19
T
h
e
pa
pe
r p
r
e
s
e
n
t
s
a
lo
w-c
o
st
ha
rd
wa
re
in
the
lo
op
b
a
se
d
o
n
Ardu
in
o.
Si
nu
so
id
a
l
Pu
lse
Wi
dt
h Mo
du
la
ti
on (S
PWM) d
e
si
gn
in
g
,
a
n
a
l
y
z
in
g, a
n
d
imp
l
e
m
ent
a
tion
is exp
e
rim
e
nted
as
hard
war
e
in
th
e
lo
op
. Sinu
so
id
al P
u
ls
e
Width M
o
d
u
l
a
ti
on
impl
emen
tatio
n v
i
a M
A
TLA
B
\S
imu
l
a
t
io
n d
e
mo
ns
trates
in
th
is
wo
rk
.
In
this
p
a
pe
r,
A
r
duino
M
e
ga
25
60
pla
t
form
,
mic
r
oco
n
tro
l
l
e
r,
in
tro
d
u
ce as
h
a
rdware.
A
co
m
p
arative study
of th
e bo
th
te
c
h
n
i
q
u
es
is
pres
ented
.
Ard
u
in
o in
terfa
ces with
P
C
Targ
e
t
MA
TLAB env
i
ron
m
ent.
Thr
e
e
ph
ases
Voltag
e
So
urce In
ve
rter
d
i
re
cts
by
th
e
g
e
nera
te
d
pu
ls
e
s
th
at lo
ads
wit
h
t
h
re
e ph
a
s
e
s
RL
C. Th
e o
b
ta
in
in
g
ou
tp
ut c
u
rre
nt
a
nd v
o
l
t
a
g
e
wa
v
e
fo
rm
of
R
L
C
lo
ad o
f
Har
d
war
e
-
i
n-
th
e
-
Loo
p
v
a
l
i
d
a
tes
t
o
th
e
M
A
TL
A
B
\s
imu
l
a
t
i
o
n
ou
tp
ut
w
a
v
e
for
m
. The
comp
eri
n
g
s
h
o
ws the ou
tp
ut w
a
v
e
forms
are pr
imarily
hav
i
n
g
th
e s
a
m
e
pat
t
ern
.
A
r
du
in
o
co
ns
id
er
as th
e
los
t
cos
t
as
mic
r
oco
n
troller
whi
c
h c
o
u
l
d be
use
d
i
n
re
al
a
p
p
l
i
c
ati
o
n
.
Ke
yw
ords:
Ardui
n
o
Har
d
w
a
re
-i
n-t
h
e-L
o
op
MATLAB
Si
mula
t
i
o
n
M
o
de
li
ng
o
f
SPWM
SP
W
M
V
o
lt
ag
e So
ur
c
e
In
v
e
r
t
e
r
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:
Mo
ha
mme
d
H
a
sa
n Al
i
,
D
e
p
a
r
t
e
m
en
t of
Ele
c
t
ri
ca
l pow
er and
M
a
c
h
in
s
Eng
i
n
e
e
r
ing,
Col
l
a
ge
of
En
g
i
ne
eri
n
g, U
n
i
v
ersi
t
y
of Di
ya
l
a
, Ba
q
u
b
ah
,
Di
yal
a
, Ira
q
.
Email:
moh8
0a
mmed@
gm
ail
.
c
o
m
1.
IN
TR
O
DUCTION
P
u
l
s
e
Widt
h Mo
d
u
l
a
t
i
on (P
WM) is
t
ech
ni
que
tha
t
al
l
o
w
s
c
o
mpl
i
cat
ed
cont
rol
of
p
o
w
e
r
e
l
e
c
t
r
oni
c
con
v
e
r
te
r t
o
a
p
ply.
P
W
M ca
n
be
a
ccom
p
l
i
sh
v
i
a
virtua
l
,
MA
TLAB
,
a
n
d
Ha
rdwa
re
i
n
l
o
o
p
.
MA
TLAB
\
S
i
mul
i
n
k
si
mula
t
i
on a
nd H
a
rd
wa
re
- in-t
he
-L
oo
p
HIL a
r
e
t
e
c
hniq
u
e
s
me
t
h
o
d
s o
f
desi
g
n
an
d
i
m
pl
eme
n
t
mo
del
e
d s
y
st
e
m
.
These t
e
c
h
n
i
que
s a
r
e
use
d
t
o
impl
eme
n
t
and t
e
st
a
n
y
mo
de
li
ng
-c
ont
rol
l
e
d
syste
m
.
Ho
we
ve
r, ac
c
o
mpl
i
s
hme
n
t
of H
I
L
is sl
i
ghtl
y
di
ff
ere
n
t
f
r
o
m
M
A
TL
AB
\S
i
m
ul
i
nk
simul
a
t
i
o
n
.
H
I
L
is
use
d
a
pa
rt
of t
h
e c
ont
rol
syst
e
m
lo
op
in
re
a
l
hard
wa
re
, w
h
e
r
ea
s s
o
me
p
a
rts are
sim
u
l
a
t
e
d. Ge
ne
ral
l
y
,
wi
th
HIL
,
c
o
nt
roll
e
d
pl
ant
o
r
p
r
o
c
e
s
s i
s
si
mul
a
t
e
d
beca
use
o
f
doi
ng
e
xpe
ri
me
nt
wi
t
h
act
ua
l
pl
ant
i
s
c
o
st
l
y
[1].
Th
us, the
pr
ob
l
e
m,
t
e
st
i
ng
a
nd val
i
dat
i
n
g d
e
si
gni
ng
ci
rc
ui
t
in re
al
t
i
me i
s
very cr
uci
a
l
a
nd
e
x
pensi
v
e
.
The
gol
e
i
n
t
h
i
s
p
r
oj
ect
, si
n
u
soi
d
al
p
u
lse wi
t
h
mo
dul
at
io
n d
e
si
gn
i
s
e
xpe
ri
ment
ed
wi
th
HIL
usin
g l
o
w
c
o
st
(A
rdui
n
o
)
hard
wa
re
[2].
T
h
e
c
o
st
of Ar
dui
n
o
c
a
n
fi
n
d
i
n
[3]
.
C
o
n
v
ert
i
n
g el
e
c
t
ri
cal
po
we
r
form
DC/
A
C
i
s
ra
pi
dl
y c
u
m
u
l
a
t
i
ve
,
as
rus
t
le
of
a
dva
nc
e
s
o
f
p
o
w
e
r
swi
t
c
h
se
mic
o
nduc
to
rs
[4],
i
n
c
r
ea
si
ng
usin
g
rene
wa
ble
e
n
e
r
g
y
, c
ont
rol
el
e
c
t
r
i
c
mac
h
i
n
es a
l
s
o
t
r
a
n
sferrin
g
el
ec
tric
al
pow
er
bet
w
ee
n
t
w
o
dif
f
ere
n
t
f
r
e
que
nc
y
s
y
st
em
s
[
5
]-[6]
.
Po
w
e
r el
ect
roni
c
c
o
n
v
e
r
t
e
r i
s
c
ont
rol
l
ed
vi
a ma
ny
met
h
o
d
s;
he
nce
,
P
u
l
s
e
Wi
dt
h
M
o
d
u
la
ti
on
P
W
M
is e
x
t
e
nsi
v
e
l
y
a
p
p
l
i
e
d.
P
W
M
i
s
cre
a
t
e
d
th
rou
g
h
pro
g
ra
mi
ng
a
mi
cro
c
ont
rol
l
e
r li
ke A
r
d
u
in
o
pl
at
fo
rm
w
h
i
c
h i
s
c
onsi
d
e
r
e
d
a
s
low
-
co
st
h
a
rd
wa
re
mic
r
oc
o
n
t
r
ol
l
e
r [7]
-
[8
]. P
u
l
s
e Widt
h
Mod
u
l
a
t
i
on
(P
WM
) i
s
t
e
c
h
niq
u
e
tha
t
ge
nera
te
s a t
r
ai
n
o
f
p
u
l
s
in
g
wave
form
of
hi
gh a
n
d l
o
w
,
w
h
i
c
h
tu
r
n
on a
n
d
off soli
d st
at
e
swi
t
ch
i
n
g.
P
W
M
c
o
ntr
o
ls t
h
e
pul
sa
t
i
ng
wave
form
dut
y
ra
t
i
o
b
y
a
n
ot
he
r i
n
p
u
t
c
ont
rol
wa
vefo
rm
[5]. P
W
M t
e
ch
niq
u
e
s
a
r
e
c
o
n
s
i
d
e
r
ed
m
o
st
com
p
at
i
b
le
modul
a
t
i
o
n
met
h
o
d
s [9]-[
1
0]
fo
r
re
d
u
c
t
i
o
n
i
n
h
a
rmoni
c
of
i
n
v
e
rt
ers in
c
ont
rast
ing
wit
h
mu
l
t
i
p
l
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
D
e
si
gn
a
n
d
i
m
pl
eme
n
t of
p
u
ls
e
w
i
dt
h
m
o
d
u
l
a
t
i
on w
i
t
h
l
o
w
-
cost
har
dw
a
r
e
i
n
t
h
e l
oop
(
Q
a
s
i
m
Al
Az
ze
)
8
71
a
n
d
si
n
g
le
p
u
l
s
e widt
h m
o
dul
at
ions
[1
1
]
HIL we
re
fi
rst
l
y
re
al
i
zed
b
y
[1
] for
real
t
i
m
e
fli
ght
si
mula
ti
o
n
,
where
th
e
in
st
ru
m
e
n
t
s si
mu
la
tio
n
with
fi
x
e
d
c
o
ck
pi
t w
a
s th
e pu
rpo
s
es [12
]
.
Typ
i
ca
l H
I
L c
o
n
s
ists o
f
M
i
cro
c
ontr
o
ll
er
b
o
a
rd
, Ardu
ino
or
D
S
P
cards,
a
h
o
s
t
PC
,
an
d sp
ec
ia
l in
t
e
r
f
a
c
e
cab
le
[13]. H
a
r
d
w
a
re
-
i
n-
th
e
-
l
oop show
s e
a
s
y
wa
y
of
t
e
st
i
n
g
and
see
ho
w
t
h
e a
c
t
u
al
s
y
ste
m
is
pe
rf
or
mi
n
g
i
n
ha
rd
w
a
r
e
.
It
e
n
a
b
l
e
s
vi
rt
ual
s
y
ste
m
mo
de
l t
o
ope
rat
e
wit
h
p
hysi
cal
pa
rt
i
n
or
der
to
e
n
han
c
e t
h
e si
m
u
la
ti
on
o
u
t
p
ut
[
1
4]
.
HI
L t
e
c
h
niq
u
e
i
s
use
d
t
o
va
l
i
da
t
e
MA
TLAB
/
S
I
MU
LI
NK
si
m
u
la
t
i
on a
n
d re
sul
t
s
o
f
ex
pe
r
i
ment
[
1
5
]
.
T
h
e i
m
pl
eme
n
t
a
ti
on
o
f
S
P
W
M
vi
a
si
mula
ti
on a
n
d
HIL
w
e
re
de
v
e
l
ope
d
an
d
di
s
c
usse
d wi
t
h
t
h
ei
r V
S
I
o
u
t
p
ut
vol
ta
ge a
n
d l
o
ad c
u
r
r
e
n
t
.
U
s
ual
l
y
,
ex
t
r
ao
rd
in
ary
p
o
w
e
r
conv
e
r
t
e
r
app
l
ic
ati
o
n is
d
e
sir
e
d
h
i
gh
ef
f
i
ci
en
cy
an
d les
s
h
a
rm
on
ic
d
i
s
t
o
r
tion
[1
6]
. I
n
th
i
s
wo
r
k
,
S
P
W
M
i
s
rea
l
iz
ed
vi
a
M
A
TL
AB
si
mul
a
t
i
on
,
i
n
o
n
e
han
d
.
I
n
a
n
ot
he
r
ha
n
d
,
w
e
use
H
I
L t
o
rea
l
iz
e
S
P
W
M
.
B
o
t
h
ge
ne
ra
te
d
SP
WM ar
e
ver
i
f
i
e
d
an
d t
e
st
by
fe
edi
n
g
t
h
r
e
e
pha
se
v
o
l
t
a
g
e
so
urce
i
nve
rt
or
VS
I
whi
c
h is
l
o
ade
d
wi
th th
r
ee
pha
se AC
l
o
a
d
,
te
sti
ng
l
o
a
d
.
T
h
e bl
oc
k di
a
g
r
a
m
o
f
S
P
W
M
is
sh
ow
n
i
n
F
i
gu
r
e
1
w
ith
V
S
I an
d AC lo
a
d
.
Fi
gu
re
1 B
l
oc
k
di
ag
r
a
m
o
f
S
P
WM c
ontr
o
l
V
S
I
2.
IM
PLEM
E
N
TA
TION AND
M
O
D
E
LING SPWM
W
I
TH MATLA
B
\SI
M
U
L
INK
S
I
MU
LA
TION
Si
nus
oi
da
l
PWM i
s
o
n
e o
f
P
W
M t
e
c
h
niq
u
e
s
of
dri
v
i
ng
po
w
e
r e
l
e
c
t
r
oni
c
c
o
n
v
e
r
t
e
r
.
It
i
s
comm
onl
y
u
s
ed
i
n
i
ndu
stria
l
,
s
i
n
c
e
it doe
s
no
t n
e
e
d
so
sop
h
i
sti
c
a
t
e
d
met
h
od
to
impl
em
en
t
.
U
s
i
n
g th
i
s
met
hod
is b
e
ing
a
b
le
to
c
ont
r
o
l
t
h
e
wa
ve
fo
r
m
a
n
d
f
r
eq
ue
nc
y
of
t
h
e c
o
nve
r
t
e
r
(i
n
v
er
te
r)
out
put
[
1
7].
S
P
WM i
s
cre
a
t
e
d
b
y
c
o
mpa
r
i
ng
o
f
t
w
o
si
gna
l
s
;
si
n
u
soi
d
a
l
r
e
fe
re
n
c
e wa
ve
f
r
o
m,
and
c
a
r
r
i
e
r
w
a
vef
o
r
m
[
1
8]
.
Whe
r
e
,
t
h
e
car
ri
er i
s
sa
wto
o
t
h
o
r
t
r
i
a
ngl
e
wa
ve f
r
o
m
.
T
h
e c
r
os
si
n
g
bet
w
e
e
n
t
h
e
ca
rri
er
an
d
re
f
e
r
e
nce
wa
ve
f
o
rm
yie
l
ds
o
n
a
nd o
f
f
st
at
us o
f
s
w
i
t
c
h
es [
1
9]
.
T
h
e
ref
e
re
nce
f
r
e
q
ue
nc
y i
s
r
e
g
u
l
a
t
e
d t
h
e
out
pu
t
fr
e
que
nc
y o
f
i
nve
r
t
e
r
,
w
h
e
r
e
,
t
h
e
c
a
rr
ie
r
r
e
q
u
e
n
c
y
co
nt
r
o
l
s
t
h
e
pulses
’
n
u
m
b
e
r
pe
r ha
l
f
c
y
cl
e of
t
h
e
o
u
t
p
ut
wa
ve
fo
rm
[
1
3
]
.
T
h
is
te
chni
q
u
e i
s
not
c
o
m
p
l
i
c
a
t
e
d
t
o
im
pl
y; h
o
w
eve
r
,
t
h
i
s
t
e
c
h
ni
que i
s
una
b
l
e t
o
f
u
ll
y c
o
n
s
ume
t
h
e
DC
bus
v
o
lt
a
g
e
[
2
0-
2
1
]
whe
r
e a
t
h
re
e-
si
ne wa
ve
ge
n
e
ra
t
o
r
wit
h
1
2
00 p
h
a
s
e
s
h
i
f
t
bet
w
ee
n
e
a
c
h
ot
he
r wi
t
h
sa
w
too
t
h
gen
e
rato
r.
Th
e
de
sig
n
m
o
d
e
lling i
s
ba
se
d
o
n
[1
].
2.
1.
De
vel
o
p
m
e
nt o
f
si
n
u
s
o
i
d
al
PW
M
Ba
sed o
n
MA
TLAB
Si
m
u
la
ti
on\
Si
mul
i
n
k
,
SP
WM ca
n be
a
c
hi
eve
d
b
y
usi
ng sine
w
a
ve
and t
r
i
a
n
g
l
e
ge
ne
ra
to
r
.
T
h
e
re
q
u
ir
e
d
o
u
tp
ut
v
o
lt
age
is p
r
od
uce
d
b
y
di
re
c
t
i
ng t
h
e ea
c
h
othe
r wi
th sa
w
t
oot
h ge
nera
t
o
r.
T
h
e
de
si
g
n
mo
del
i
n
g
i
s
based
o
n
[
1
].
The
w
h
ol
e syst
em of
devel
o
p
m
ent
SP
WM
wi
t
h
VS
I
a
nd RLC
l
o
ad
i
s
sho
w
e
d
i
n
Fi
gu
re
2.
I
n
ad
di
t
i
on,
c
h
a
ngi
ng
t
h
e
a
m
pli
t
ude
a
n
d
fr
e
q
u
e
nc
y
of
t
h
e
r
e
fe
re
nc
e
o
r
si
nusoi
dal
mo
dul
at
in
g
si
g
n
a
l
wo
ul
d
al
t
e
r
t
h
e
pat
t
e
r
n
s
o
f
o
u
tp
ut
v
o
lt
a
g
e
p
u
l
s
e-
wi
dt
h.
H
o
w
e
ver
,
t
h
e
Si
nus
oi
da
l
wa
v
e
f
o
r
m
i
s
not c
h
a
n
ge.
[
2
2
]
F
u
rt
he
r,
t
h
e
tr
ia
n
g
le
wa
vef
o
r
m
or
car
r
i
er si
gnal
i
s
g
e
nera
te
d at
hi
gh
fr
e
q
uenc
y;
i
n
t
h
i
s
pa
pe
r is
40
0
0
Hz
.
I
t
det
e
r
m
i
n
es t
h
e
swi
t
chi
n
g
fr
e
que
n
c
y of
the
s
w
i
t
c
hi
n
g
p
o
we
r
e
l
e
c
t
r
oni
c
[
2
3
]
.
Whi
l
e
si
nus
oida
l m
o
d
u
la
ti
ng sig
n
a
l
i
s
cre
a
t
e
d at
l
o
w
f
r
eq
ue
ncy
5
0
H
z
. The
st
at
e of
hi
g
h
a
n
d low a
r
e det
e
r
m
i
n
ed
b
y
t
h
e i
n
te
r
s
ec
ti
o
n
bet
w
ee
n
t
h
e
ref
e
re
nce
an
d
t
r
i
a
n
gul
ar
wave
fo
rm.
T
hus
, t
h
e
i
n
t
e
rse
c
t
i
o
n
p
o
sit
i
ons
w
o
ul
d
de
fi
ne
th
e
ti
me
o
f
v
a
r
i
a
b
le
sw
it
ch
i
n
g
s
t
at
e.
[
24-
25
]
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
70
– 87
8
87
2
Fi
gu
re
.
2
S
i
m
u
l
i
nk mo
de
l
of
SP
WM wi
t
h
V
S
I a
n
d
R
L
C
2.
2.
Si
m
u
l
a
ti
on
r
e
s
ul
ts
In t
h
i
s
se
ct
i
on
S
P
W
M
si
m
u
la
t
i
ons ar
e
pe
r
f
o
rme
d
.
Fi
gu
re 3
sho
w
s si
x p
u
l
s
e
s
of
SP
WM.
Whe
r
e
,
t
h
e
S
P
W
M
o
f
si
x
pulse
s i
s
fe
d
t
o
t
h
re
e
pha
s
e
i
nve
r
t
ers
.
Ea
c
h
t
w
o
pul
ses a
r
e
o
n
an
d
of
f
i
n
dif
f
er
e
n
t
t
i
m
e
.
T
h
e
pe
r
f
o
r
ma
nc
e
o
f
p
r
o
p
o
se
d t
e
s
t
i
ng
l
o
a
d
i
s
si
mul
a
t
e
d
o
n
M
A
TL
AB
Si
mul
i
nk mo
de
l.
T
h
ree
p
h
ase si
nusoi
dal
g
a
t
e
pu
lse
s
a
r
e
g
e
n
e
r
a
te
d
by
t
h
e
SPWM me
t
h
od
.
Fi
gu
re
3 S
i
x
p
u
l
s
e
s
of
ge
ner
a
t
e
d SP
WM
The
si
mul
a
t
e
d wa
ve
f
o
r
m
of
out
put v
o
l
t
a
ge i
s
show
n
i
n
Fi
gu
re
4
T
h
e
pa
r
a
me
te
rs of
t
h
e t
e
sti
ng
l
o
a
d
(R
LC)
u
s
ed
in
Sim
u
la
tion
i
s
pr
es
en
ted
i
n
t
h
e A
p
p
e
n
d
i
x
Th
e sim
u
la
tio
n
re
su
lt
s of
th
e
ou
tpu
t
f
ilte
r
lin
e
to
lin
e
vol
t
a
ge
an
d
cu
rre
nt
are
d
e
pi
ct
ed
i
n
Fi
g
u
r
e
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
D
e
sign
an
d i
m
p
l
e
m
en
t
o
f
pu
lse
wid
t
h
mo
du
l
a
tio
n
wit
h
l
o
w
-
co
s
t
h
a
r
d
w
a
r
e
in
t
h
e
l
o
op
(Q
asim
Al
Azze
)
8
73
(a
)
(b
)
F
i
gure
4 (a
)
Th
ree
phase
l
i
ne
t
o
neut
ra
l
i
n
vert
er out
put
v
o
lt
age
(b)
T
h
ree
p
h
ase li
ne
t
o
l
i
ne
i
nve
rte
r
o
u
t
p
ut
vol
ta
ge
(a
)
(b
)
Fi
g
u
r
e
5
(
a
)
Thr
e
e
p
h
ase
fil
t
e
r
vo
lt
ag
e
l
i
n
e
to
li
n
e
.
(
b
)
Th
r
e
e
ph
a
s
e f
ilt
er
l
o
ad
cu
rr
e
n
t
3.
HARDWARE
IN T
H
E LO
OP
I
M
PL
EM
ENTAT
I
ON
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
70
– 87
8
87
4
Re
ce
ntl
y
H
I
L si
mula
ti
on
is g
r
o
w
i
n
g fo
r
t
e
st
ing,
de
si
gn
,
a
n
d im
pl
ement
a
t
i
o
n
c
ont
r
o
l
sy
st
em;
som
e
pa
rt
of
c
o
nt
r
o
l
l
o
o
p
syste
m
w
h
e
r
e
a
r
e
si
mul
a
t
e
d a
nd s
o
me
ar
e
re
al
har
d
w
a
re.
H
I
L
i
s
de
s
c
ri
be
d
b
y
p
r
oc
e
s
si
ng
o
f
r
e
a
l
p
a
rt
in
r
e
al
t
i
me
wi
t
h
simu
l
a
t
e
d
co
mp
on
en
ts.
Wid
e
l
y
,
HIL
simu
la
tio
n
h
a
s b
een
utili
ze
d
for
study
i
n
g
th
e
p
e
rfor
m
an
ce
of mo
d
e
led
c
o
n
t
ro
l syst
em
i
n
r
e
a
l
-
tim
e
[17]. Ar
du
ino
meg
a
260
,
as show
n
in
Fi
g
u
r
e 6 [
1
8
]
, i
s
use
d
a
s
a
mi
c
r
o
c
o
n
tr
oll
e
r
of
t
h
e
har
d
wa
re
i
n
the
l
o
o
p
.
A
r
d
u
in
o c
o
nsi
d
e
r
s
as t
h
e l
o
w
e
st
mi
cr
oc
o
n
t
r
ol
le
r
pri
c
e
.
Ar
dui
n
o
me
ga
25
6 i
s
pow
e
r
e
d
by
AT
mega
25
6
0
[
3
]
.
I
t
ha
s 5
4
i
n
p
u
t/
out
put
pi
ns
(
o
f
w
h
i
c
h
1
4
c
a
n
be
use
d
a
s
PWM out
put
s)
, a po
wer ja
ck,
a 1
6
MHz
cr
yst
a
l
osci
ll
at
or, 4
UAR
T
s (ha
r
d
w
are
se
ri
al
po
rt
s), 16
anal
og
i
n
p
u
t
s
,
an
I
C
S
P
he
ade
r
, a
U
S
B con
n
e
c
t
i
o
n
,
an
d
a r
e
se
t
bu
tt
on
. In
re
c
e
n
t
y
e
ar,
Ardu
i
no and
M
a
t
L
a
b
C
o
mp
an
y
re
a
liz
es
a supp
ort
p
a
c
k
a
g
e
[
3
]
fo
r
Ar
du
i
n
o t
o
in
te
rfa
ce a
nd wo
rk
wi
th
MA
TLAB pr
og
r
a
m,
esp
e
c
i
al
ly
MATLAB
Simulink.
Fi
gu
re
6
Ar
d
u
i
no me
ga
25
6
0
A
l
go
r
tihm
:
Bu
il
t Sy
ste
m
i
n
M
A
TLA
B
Si
m
u
link
,
S
P
WM
G
e
n
e
r
a
t
o
r an
d
mo
d
e
l
P
l
a
n
t
Ar
dui
n
o
para
me
te
r
co
nfi
g
u
r
at
i
o
n
Se
le
ct
A
r
du
ino and
Port
De
pl
oy
SP
WM
G
e
ner
a
t
o
r S
i
mul
i
nk t
o
Ha
rd
w
a
r
e
R
u
n
t
h
e
Si
muli
nk
m
odel
of
t
h
e
pla
n
t
Ge
t
re
s
u
lt
3.
1.
SP
WM
i
m
ple
m
entati
o
n
wi
th h
a
rdw
a
re
i
n
the
l
o
op
As
me
nt
i
o
n,
S
P
W
M
c
a
n
b
y
c
r
ea
te
d b
y
i
n
t
e
rsect
i
o
n
o
f
t
w
o
wave
f
o
rm
s;
tr
i
a
ngl
e a
n
d
si
ne
wave
.
In
HI
L
,
i
t
i
s
use
d
the
sa
me
t
e
ch
n
i
qu
e
in
or
de
r to ge
ne
ra
te
t
h
e
pul
ses
(si
g
nal
s
)
of
SP
WM. T
h
o
u
g
h
,
t
h
e g
e
n
e
r
a
t
e
d
SPW
M
.
Si
g
n
a
l
s are creat
e
d
i
n
re
al
ti
me.
Imple
m
e
n
t o
f
HIL
,
S
P
W
M
a
n
d
te
sti
ng l
o
a
d
(VS
I
&
RL
C
l
o
ad
)
mod
e
ls
ar
e d
e
c
o
mp
ose
d
i
n
t
o
t
w
o
Simu
lin
k mod
e
l.
O
n
e of
t
h
em
is b
u
ilt
an
d up
l
o
a
d
ed
t
o
th
e
Ard
u
i
n
o
,
a
s
show
i
n
Fi
gu
re
7
(
a)
.
It
i
s
c
o
nta
i
ne
d mo
del
i
ng
of
S
P
W
M ge
nera
t
o
r
a
n
d se
ri
al
tr
a
n
smit
t
e
r
bl
ock
,
w
h
i
c
h
int
e
r
f
ac
e wit
h
th
e
ho
s
t
P
C
and
M
a
t
h
l
a
b
.
This
Simu
lin
k
mo
d
e
l w
ith
Ar
du
ino
ar
e
r
e
pre
s
e
n
te
d
t
h
e h
a
rdw
a
r
e
.
Ho
w
e
v
e
r,
d
a
ta
t
ype c
o
n
v
e
r
t
e
r
has to
be
pla
c
e
be
twe
e
n
s
p
w
m
sig
n
a
l
ge
ne
r
a
t
o
r
bl
oc
k an
d se
ri
al
t
r
a
n
s
v
er
bloc
k. Be
ca
use
of
t
h
e
mat
l
a
p si
muli
n
k
e
nve
ri
nme
n
t
need
d
a
t
a
t
o
b
e
in unt
8.
T
h
e
sec
o
nd Si
m
u
li
nk
mo
del
i
s
co
nt
ai
ned
te
sti
n
g
l
o
ad
(V
SI & RLC
l
o
a
d
) and s
e
r
i
al r
e
c
e
i
v
e
r,
w
h
i
c
h
is f
i
x
e
d
on ho
st
P
C
, as sh
own
i
n
F
i
gu
re 7 (b)
.
P
r
ev
io
u
s
l
y
,
A
r
d
u
i
no
w
a
s set
up a
nd
d
e
f
i
ne
d on t
h
e
h
o
s
t
P
C
a
l
so
; it
w
a
s
in
t
e
r
f
a
c
e
d
and
d
e
f
i
n
e
d
w
ith
M
A
TLA
B
p
r
og
ram.
No
w
,
t
h
e
SP
WM
desi
g
n
e
d
m
odel
i
s
r
e
a
d
y
t
o
ve
ri
f
y
a
n
d
upl
oa
d
t
o
t
h
e
A
r
d
u
in
o
t
h
r
o
u
g
h
U
S
B
ca
ble
.
B
y
c
l
i
c
ki
ng t
h
e
D
e
pl
o
y
t
o
Ha
r
d
ware
in t
h
e mode
l
wi
n
d
o
w
tool
bar
t
h
e
pr
o
g
r
a
m
i
s
sta
r
t
e
d t
h
e
ve
ri
fi
ca
ti
on a
n
d
d
o
wn
lo
a
d
i
n
g
th
e
mod
e
l to
m
i
cr
o
c
on
tr
o
ller
bo
a
r
d
.
O
n
ce th
e mod
e
l
c
o
m
p
le
te
ly do
wnl
o
ad
ed
, SPWM
mo
d
e
l
ge
ne
ra
to
r
sta
r
t
s
t
o
ru
n a
nd
se
nd si
gna
l
to
Si
mul
i
n
k si
mul
a
t
i
on e
nvi
r
o
nme
n
t
,
t
e
st
i
ng l
o
a
d
(V
S
I
& R
L
C
l
o
a
d
)
mo
del
.
A
f
te
r t
h
e
si
m
u
la
ti
on
is ac
com
p
li
she
d
,
t
h
e
re
s
u
lt
s sho
u
l
d
b
e
e
x
hibi
t
e
d o
n
t
h
e
s
c
ope
s o
f
t
e
st
in
g l
o
a
d
model.
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
D
e
si
gn
a
n
d
i
m
pl
eme
n
t of
p
u
ls
e
w
i
dt
h
m
o
d
u
l
a
t
i
on w
i
t
h
l
o
w
-
cost
har
dw
a
r
e
i
n
t
h
e l
oop
(
Q
a
s
i
m
Al
Az
ze
)
8
75
(a)
(b)
Fi
gu
re
7 (
a
)
Si
muli
n
k
mo
del
of
S
P
W
M
gen
e
rat
o
r
r
u
n on
A
r
d
u
i
n
o.
(
b
)
S
i
mul
i
n
k
m
odel
o
f
t
e
st
ing l
o
a
d
(
V
SI
&
RL
C)
run
o
n
ho
st Comp
u
t
er
3
.
2
.
Simu
l
a
t
i
on
results
o
f
S
P
WM
w
i
th
HI
L
A
f
te
r
th
e
S
P
WM
g
a
te
s
i
ng
le
s
h
a
v
e
b
e
e
n
r
e
c
e
iv
in
g
fr
om A
r
d
u
i
no
t
o
M
A
TLA
B
on
ho
s
t
compu
t
er
, th
e
si
mula
ti
on
st
a
r
t
s
t
o
p
r
oc
ess t
h
e mo
del
a
n
d
t
h
e o
u
tp
ut
w
o
uld
sh
ow
i
n
t
h
e
sc
ope
s. Fi
gu
re
8
is sh
o
w
n
a
si
x pul
se
f
o
r t
h
ree
pha
se
VS
I.
W
h
ere
,
F
i
gu
r
e
9(a
)
i
s
depi
ct
e
d
th
r
ee
pha
se l
i
n
e t
o
l
i
n
e
vol
ta
ge
a
n
d
t
h
r
e
e
p
h
ase l
i
n
e t
o
ne
ut
r
a
l
v
o
l
t
a
g
e
of
VSI
o
u
t
put
.
Al
so
, t
h
e
fi
lt
e
r
ed t
h
re
e
pha
se l
o
ad c
u
r
r
e
n
t
and l
i
n
e t
o
l
i
n
e out
put
volt
a
ge
ar
e
sh
own
i
n
F
i
g
u
re
9(
b)
F
i
gu
re 8
S
i
x P
W
M
cre
a
t
e
d b
y
Ar
dui
n
o
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
70
– 87
8
87
6
F
i
g
u
r
e
9
(a
) Thr
e
e
p
h
a
se
lin
e
to
N
a
tur
a
l
in
v
e
rte
r
ou
tpu
t
v
o
l
tag
e
w
ith
H
I
L,
(b
) Thr
e
e ph
a
s
e li
n
e
to
Lin
e
inve
rt
er
out
p
u
t
vol
t
a
ge
wi
t
h
HI
L
(a)
(b
)
F
i
g
u
r
e
10
(a)
Th
r
e
e
ph
a
s
e f
ilte
r
li
n
e
t
o
lin
e
outp
u
t
v
o
lta
ge
w
i
t
h
HI
L,
(b
)
Th
ree
p
h
a
se
f
i
l
t
e
r
lo
a
d
c
u
r
r
en
t w
ith
HIL
3.
3.
E
x
per
i
men
t
s
e
tup
a
n
d
I
n
s
t
r
u
me
nt
at
ion
A
s
il
lu
str
a
ted
in
Fi
g
u
r
e
11
, the te
st i
n
stru
men
t
a
tio
n c
o
n
s
is
t
s
of
the
h
o
s
t
c
o
mp
u
t
er
an
d Ar
du
ino
K
it.
Th
e
i
n
st
ru
m
e
nt
at
io
n
co
mp
u
t
e
r
al
low
s
t
h
e u
s
e
r
to
in
ter
f
a
c
e
a
n
d co
n
t
r
o
l
t
h
e
k
i
t se
tt
ing
s
.
V
o
lt
ag
e
a
n
d
cu
rr
e
n
t
wa
ve
f
o
r
m
i
n
b
o
th i
m
pl
e
m
e
n
ta
ti
ons a
r
e
al
most
sin
u
s
o
i
d
al
aft
e
r
pass
t
h
ro
ug
h sec
o
n
d
o
r
de
r
fi
l
t
e
r
.
H
o
w
e
ve
r
,
H
I
L is took
long
e
r
ti
me to
ac
co
mp
li
sh
, sin
c
e
it
w
a
s
p
r
o
c
es
si
n
g
SPWM
i
n
rea
l
tim
e.
Fig
u
re 11
Ex
per
i
men
t
Se
tup
w
ith
A
r
du
i
n
o
K
i
t
(b)
(
a
)
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
D
e
sign
an
d i
m
p
l
e
m
en
t
o
f
pu
lse
wid
t
h
mo
du
l
a
tio
n
wit
h
l
o
w
-
co
s
t
h
a
r
d
w
a
r
e
in
t
h
e
l
o
op
(Q
asim
Al
Azze
)
8
77
4.
CO
NCL
U
S
I
O
N
The
pa
per i
s
d
e
mo
nst
r
at
ed
h
a
rd
ware
i
n
l
o
o
p
usi
ng l
o
w
c
o
st mi
c
r
oc
ont
rol
l
e
r.
A
r
d
u
i
n
o Me
ga
2
5
6
0
mi
cr
o
c
on
tr
o
ller
is u
s
ed
,
w
h
ich
is c
o
mp
er
e
d
t
o
[5]
.
HIL is
v
a
l
i
d
a
ted
by imp
l
em
e
n
ti
ng
SP
WM
w
i
th t
h
re
e
VSI
wi
th R
L
C loa
d
.
It
i
s
c
o
mpa
r
ed the
i
m
ple
m
e
n
t
a
t
i
on
of SP
WM
be
t
w
e
e
n
si
mula
t
i
on
o
n
MA
TLAB
\
S
i
mul
i
n
k
and
Har
d
w
a
re
i
n
the
l
o
op
HIL.
The
t
w
o te
chni
que
s of
S
P
W
M
i
m
p
l
e
m
e
n
ta
ti
ons a
r
e
c
a
rrie
d o
u
t
si
mula
t
i
on
re
sul
t
s
w
h
i
c
h
are c
o
mpa
r
e
d
i
n
pe
rfo
r
ma
nc
e.
It
i
s
ex
hi
bi
t
e
d
t
h
rou
g
h
si
mula
ti
on
tha
t
gene
rat
e
d
SP
WM
have
same
pat
t
e
rn
o
f
p
u
l
s
i
ng. F
u
rt
hermo
r
e
,
t
e
sti
n
g
loa
d
(t
hre
e
VSI
pl
us t
h
ree
pha
se
ba
la
nce
R
L
C)
i
s
fe
d
by
si
x
pul
se
s
o
f
S
P
W
M. T
h
e si
mul
a
t
i
on re
sul
t
s o
f
cur
r
ent
a
nd
vo
l
t
a
ge
wave
f
o
rms
in
bot
h me
t
h
o
d
s are
e
n
t
i
r
el
y t
h
e
sa
me
m
a
nn
e
r
. Th
e
t
w
o i
m
p
l
e
m
e
n
ta
l a
r
e
ca
rr
ied
ou
t
a v
e
ry
g
ood
si
mu
lati
o
n
r
e
su
lt.
A
s
re
su
lt
s, w
e
obta
i
n
e
d
out
put
c
u
rre
n
t
and
v
o
lt
age
fro
m so
ft
ware si
mula
ti
on a
n
d HIL
t
e
c
hni
que
s,
a
r
e
pri
m
a
r
i
l
y have
t
h
e sa
me
pa
tt
ern
.
These
resul
t
s
c
o
n
f
i
r
me
d t
h
a
t
HIL
de
mo
nst
r
at
es a
nd s
h
ows a
v
e
ry sa
ti
sfac
t
o
ry pe
rform
ance
o
f
VSI
b
y
usi
n
g
Ardui
n
o
.
RE
FERE
NC
E
S
[1]
R. Is
erm
a
nn,
J.
S
c
haffn
it
and
S
.
S
i
ns
el,
"H
ardw
a
r
e-in-
t
he-
loo
p
s
i
mu
lat
i
o
n
fo
r
th
e d
e
sign
and
tes
t
ing
of
engin
e
-
c
o
nt
r
o
l sy
st
e
m
s
"
,
Con
t
rol En
gi
nee
r
i
n
g
Pract
i
c
e
,
Vo
l. 7
,
no
.
5
,
pp
.
64
3-6
5
3
,
19
99
.
[2]
A
.
S
o
r
i
a
n
o
,
L
.
M
a
r
í
n
,
M
.
V
a
l
l
é
s
,
A
.
Val
e
ra
,
and
P
.
Alber
t
os
,
"
L
o
w
Co
st
P
l
atfo
rm for Au
tom
a
t
i
c
Co
ntrol Educ
atio
n
Based
on
Op
en
H
a
rdware,"
IF
A
C
P
r
oceed
ing
s
V
o
lumes,
vo
l.
47
,
pp
. 9
0
4
4
-90
5
0
,
2
014
.
[3]
Ardu
in
o
W
e
b
s
ite
.
[onl
ine
]
Av
aila
bl
e:
h
t
t
p
s:
//
st
ore
.
a
r
d
u
i
n
o.c
c
/
u
s
a/a
r
d
u
i
n
o-me
g
a
-256
0-re
v
3
.
[4]
S.
Ma
ssou
m
,
A.
Me
rou
f
el, A.
Ma
sso
u
m
,
a
n
d
P.
Wi
ra
,
“
A
dire
c
t
po
we
r
c
o
n
t
ro
l of the
do
ubl
y-fe
d
i
n
d
u
c
ti
on
g
e
ne
rat
o
r ba
se
d o
n
th
e
SVM
St
rat
e
gy
”
E
L
EK
T
R
O
T
EH
NI
Š
K
I
VE
ST
N
I
K
,
V
o
l.84
(5
): 23
5-2
40,
20
17
.
[5]
L
.
Ji
a
n
,
Y. We
nxi
,
L. Z
h
e
n
g
y
u
,
a
n
d X. Xia
o
y
i
. "De
s
ig
n
a
nd im
ple
m
e
n
ta
tio
n
of
D
S
P
ba
se
d
hi
gh
-fre
q
u
e
n
c
y
SPW
M
generat
o
r",
IEEE 8
t
h
Int
e
rna
t
io
n
a
l Po
wer Elec
t
r
on
ics
an
d
Motio
n
Co
ntro
l Co
nf
eren
c
e
(I
PEM
C
20
16
- ECCE As
ia)
59
7-6
02,
20
16
.
[6]
M
.
Lak
k
a
,
E. K
o
utrou
l
is and
A
.
D
o
llas
, "D
ev
el
opmen
t o
f
an F
P
GA
-Ba
s
ed S
P
WM G
e
nera
tor
for H
i
g
h
S
w
itch
in
g
F
r
equ
e
ncy DC/A
C
Inv
e
rters"
,
I
E
EE
T
r
a
n
s
a
cti
o
n
s
o
n
Pow
e
r
El
e
c
tr
on
ics
,
Vol
.
2
9
, n
o
.
1
,
pp.
35
6-3
6
5
,
20
14.
[7]
T.
Zoh
e
ir
, M
.
O
m
, H. M
e
d
.
As
saad
, C.
H
a
k
i
ma,
B. Yo
ucef
, &
K Ab
derrahm
an
e, “Imp
lemen
t
ation
of F
u
zzy
Log
i
c
Speed Cont
roll
er
for a Perman
e
n
t
Mag
n
et
DC
M
o
to
r
Us
in
g L
o
w-Cost Arduino Platform
”,
T
h
e 5th
In
ter
nat
io
na
l
Co
nf
e
r
e
n
ce
o
n
Ele
ct
ri
c
a
l En
gi
nee
r
i
n
g
–
B
o
u
m
e
r
d
e
s (ICE
E
-B
),
Oc
to
ber
2
9
-3
1
,
201
7.
[8]
G.
Souveer
, M.
Anshu Prakas
h,
& O.
Vish
wam
itra.
“D
esig
n
and
Implemen
ta
t
i
on
o
f
a
Low-Co
st
Ard
u
ino-Bas
e
d
Sm
a
r
t
Ho
me
Syste
m
”
9th
IEEE In
ter
n
a
t
iona
l Co
nferen
c
e
on
Co
mm
un
ica
t
ion So
ftwa
re
a
n
d
N
e
tw
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r
ks
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17
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und
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a
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Pa
cif
i
c
Power
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n
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G
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tat
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n
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f
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P
W
M
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y
n
a
m
i
ca
ll
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nfi
g
u
r
a
b
le
swit
c
hi
ng
fre
q
u
e
n
cy
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h
re
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pha
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GA
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g
le ph
ase
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rter
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B
.
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g
.
th
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a
t
u
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a
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nta
t
i
o
n
o
f
a
m
e
thod
of
nu
m
e
ri
c
a
l
i
n
t
e
gra
t
io
n o
f
averag
e
vo
ltage
s
at the
int
e
gr
atio
n s
t
ep
for
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in
g
mi
cr
o
c
on
tr
o
l
l
e
r
mod
e
ls
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ele
c
tr
o
t
ec
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ica
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L
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Internat
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P
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e
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h
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u
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t
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n
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u
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r
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us
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g vo
ic
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re
c
o
gn
iti
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tern
atio
na
l Jo
ur
n
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l of
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wer
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o
n
i
cs
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ti
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i
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M
o
d
e
l o
f
Thre
e P
h
as
e, Tw
o
Lev
e
l
Inv
e
rter
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(M
etho
d
of
Interconn
ected
S
u
b
s
y
s
te
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Iraqi
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r El
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l
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t
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L
C
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E
l
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c
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l
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r
En
g
i
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e
e
r
i
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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088
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n
t J
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d
m
)
A
d
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Ch
op
p
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r Co
nv
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Pi
Co
nt
rol
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nn
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In
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natio
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r
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o
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m
m
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d
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li
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wa
b
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n
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r
g
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n
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l
ec
t
r
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l
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e
r
in
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e
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f
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yal
a
Ira
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He
ha
s
4
pu
b
l
ish
e
d p
a
p
e
rs.
Evaluation Warning : The document was created with Spire.PDF for Python.