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2
]
,
[
3
]
,
[
23
]
,
[
24
]
,
[
2
5
]
,
2
6
]
:
(
1
)
(
2
)
(
3
)
(
4
)
(
5
)
(
6
)
T
h
e
m
ai
n
o
b
j
ec
tiv
e
o
f
in
d
u
ctio
n
m
o
to
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v
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to
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co
n
tr
o
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as
in
s
ep
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C
m
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en
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o
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[
2
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[
3
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6
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l
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t f
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llo
ws th
at
[
2
]
,
[
4
]
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[
7
]
,
[
2
1
]
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7
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co
n
s
ta
n
t
(
8
)
Ass
u
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as f
o
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9
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ased
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(
4
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,
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f
r
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lated
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1
0
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ip
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5
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
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0
8
8
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694
I
n
t J
P
o
w
E
lec
&
Dr
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S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
546
–
558
548
(
1
1
)
(
1
2
)
(
1
3
)
(
1
4
)
Dec
o
u
p
lin
g
co
n
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l
w
it
h
co
m
p
en
s
atio
n
ch
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s
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n
v
er
ter
o
u
tp
u
t v
o
lta
g
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s
o
t
h
at
[
2
,
4
]
:
(
1
5
)
(
1
6
)
B
ased
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n
th
e
ab
o
v
e
an
al
y
s
i
s
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in
d
ir
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t
f
ield
-
o
r
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ted
co
n
tr
o
l
(
I
R
FOC
)
[
1
]
,
[
2
]
,
[
3
]
,
[
4
]
o
f
in
d
u
ctio
n
m
o
to
r
s
w
it
h
cu
r
r
en
t
-
r
eg
u
lated
P
W
M
d
r
iv
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r
ea
s
o
n
ab
l
y
r
ep
r
esen
ted
as s
h
o
w
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i
n
Fi
g
u
r
e
1.
Fig
u
r
e
1
.
I
R
FOC
s
c
h
e
m
e
o
f
t
h
e
in
d
u
ctio
n
m
o
to
r
3.
SPEE
D
CO
NT
RO
L
O
F
I
M
USI
N
G
S
L
I
D
I
N
G
M
O
DE
CO
NT
RO
L
3
.
1
.
Sli
din
g
m
o
de
co
ntr
o
l
Var
iab
le
s
tr
u
ct
u
r
e
co
n
tr
o
l
(
VSC
)
w
it
h
s
lid
i
n
g
m
o
d
e,
o
r
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lid
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g
-
m
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d
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co
n
tr
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l
(
SM
C
)
,
is
o
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e
o
f
th
e
ef
f
ec
tiv
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n
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li
n
ea
r
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b
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s
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l
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v
id
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te
m
d
y
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a
m
ics
w
it
h
a
n
i
n
v
ar
ian
ce
p
r
o
p
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ty
to
u
n
ce
r
tai
n
tie
s
o
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c
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th
e
s
y
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m
d
y
n
a
m
ic
s
ar
e
co
n
tr
o
lled
in
t
h
e
s
lid
i
n
g
m
o
d
e
[
1
1
]
,
[
12
]
,
[
15
]
,
[
1
6
]
,
[
1
7
]
,
[
1
8
]
,
[
1
9
]
,
2
0
]
.
T
h
e
f
ir
s
t
s
tep
o
f
SMC
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g
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to
s
elec
t a
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o
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lo
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tate
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p
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l is
d
esig
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s
u
c
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at
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m
s
ta
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ce
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to
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it.
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y
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s
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y
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e.
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it
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s
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T
h
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s
i
tiv
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lled
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te
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to
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tain
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ies
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a
m
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s
till
i
n
f
l
u
en
ce
d
b
y
u
n
ce
r
tai
n
ties
[
1
3
]
,
[
1
4
]
,
[
1
5
]
,
[
1
6
]
,
[
1
7
]
.
ds
s
dr
r
r
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L
L
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+
dr
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1
I
F
OC
:
I
n
d
i
r
e
c
t
F
i
e
l
d
Or
i
e
n
t
e
d
C
o
n
t
r
o
l
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:
2
0
8
8
-
8
694
d
S
P
A
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1
1
0
4
B
a
s
ed
R
ea
l
Time
I
mp
leme
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ta
tio
n
o
f S
lid
in
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Mo
d
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tr
o
l o
f I
n
d
u
ctio
n
Mo
to
r
(
A
.
Oma
r
i
)
549
W
ith
o
u
t
lo
s
t
o
f
g
e
n
er
alit
y
,
co
n
s
id
er
t
h
e
d
esi
g
n
o
f
a
s
l
id
in
g
m
o
d
e
co
n
tr
o
ller
f
o
r
th
e
f
o
llo
win
g
s
ec
o
n
d
o
r
d
er
s
y
s
te
m
:
u
b
x
a
x
a
x
2
1
,
w
h
er
e
u
(
t
)
i
s
th
e
in
p
u
t
to
th
e
s
y
s
te
m
an
d
w
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as
s
u
m
e
t
h
at
b
>0
.
A
p
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ch
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f
th
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s
tr
u
ct
u
r
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o
f
a
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
is
[
1
5
-
1
7
]
:
s
k
u
u
eq
s
g
n
(
1
7
)
W
h
er
e
eq
u
i
s
ca
lled
eq
u
iv
alen
t
c
o
n
tr
o
l
w
h
ich
d
ictate
s
th
e
m
o
t
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o
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th
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s
tate
tr
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ec
to
r
y
alo
n
g
t
h
e
s
lid
in
g
s
u
r
f
ac
e
[
1
5
]
,
[
1
6
]
;
k
is
a
co
n
s
tan
t,
r
ep
r
esen
ti
n
g
t
h
e
m
ax
i
m
u
m
co
n
tr
o
ller
o
u
tp
u
t
r
e
q
u
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to
o
v
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m
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p
ar
am
eter
u
n
ce
r
tai
n
tie
s
an
d
d
is
tu
r
b
an
ce
s
;
s
is
ca
lled
th
e
s
w
itc
h
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n
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f
u
n
ctio
n
b
ec
au
s
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co
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tr
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s
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itc
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s
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ac
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0
s
.
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r
a
s
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o
n
d
o
r
d
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s
y
s
te
m
s
i
s
d
ef
i
n
ed
as
[
1
6
]
,
[
1
7
]
:
e
e
s
(
1
8
)
W
h
er
e
x
x
e
d
an
d
d
x
is
t
h
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d
esire
d
s
ta
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a
co
n
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tan
t
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d
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(
s
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is
th
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g
n
u
m
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,
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h
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h
is
d
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ed
as:
0
1
0
1
s
g
n
s
s
s
(
1
9
)
T
o
m
ak
e
s
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th
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m
tr
aj
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to
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to
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d
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s
t b
e
f
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l
f
illed
[
1
4
]
,
[
1
5
]
,
1
6
]
s
s
s
s
s
s
s
s
s
s
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1
4
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20
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,
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1
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s
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ig
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r
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
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8
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694
I
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w
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Dr
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Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
546
–
558
550
Fig
u
r
e
2
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2
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1
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ef
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ed
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4
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ield
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k
-
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/2
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0
5
.
1
5
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0
5
.
0
5
.
1
s
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s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
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I
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8
8
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8
694
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B
a
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Time
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(
A
.
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551
T
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co
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2
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2
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h
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u
r
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en
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y
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a
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FOC
o
f
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M.
I
f
t
h
e
s
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o
n
d
ar
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r
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en
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o
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r
ec
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y
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n
d
w
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a
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th
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to
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f
o
r
m
a
n
ce
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f
t
h
e
FO
C
d
eg
r
ad
es
[
1
]
,
[
2
]
,
[
8
]
,
[
14
]
,
[
1
7
]
.
T
h
e
p
r
o
p
o
s
e
d
co
n
tr
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l
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n
u
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n
tr
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co
n
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t
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s
.
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y
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s
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1
s
s
s
as f
o
llo
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s
:
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1
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3
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2
(
3
2
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o
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d
(
3
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to
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s
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0
2
s
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ield
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*
qs
qs
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ds
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i
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i
(
3
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f
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s
w
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h
r
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t to
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m
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g
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v
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s
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qs
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i
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*
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*
1
(
3
4
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T
ak
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g
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n
to
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n
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(
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1
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e
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ativ
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s
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n
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f
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r
m
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L
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L
i
L
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R
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L
R
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s
2
2
*
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1
(
3
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qs
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m
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s
qs
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L
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L
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i
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L
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s
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*
2
1
(
3
6
)
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
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
546
–
558
552
W
e
tak
e
n
ds
e
q
u
ds
ds
n
qs
e
q
u
qs
qs
v
v
v
v
v
v
(
3
7
)
Du
r
in
g
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h
e
s
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in
g
m
o
d
e
an
d
at
s
tead
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-
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ta
te
co
n
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n
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,
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e
h
a
v
e
0
1
1
s
s
,
0
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2
s
s
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0
n
ds
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d
0
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qs
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,
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e
eq
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n
t c
o
n
tr
o
l a
ctio
n
s
ca
n
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e
d
ef
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ed
as
f
o
llo
w
s
:
*
2
2
*
.
.
.
.
.
.
1
.
r
r
s
r
m
qs
e
ds
r
m
r
S
s
ds
s
e
q
u
ds
L
L
R
L
i
i
L
L
R
R
L
i
L
V
(
3
8
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r
r
r
s
m
qs
r
m
r
s
s
ds
e
qs
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e
q
u
qs
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L
L
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L
L
R
R
L
i
i
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V
*
2
*
.
.
1
.
.
.
(
3
9
)
Du
r
in
g
t
h
e
co
n
v
er
g
e
n
ce
m
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Evaluation Warning : The document was created with Spire.PDF for Python.