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106
2.
DIRE
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Fig
u
r
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1
.
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h
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3
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Fig
u
r
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1
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P
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m
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[
1
4
]
-
[
1
5
]
as
s
h
o
w
n
i
n
Fig
u
r
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2
.
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o
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I
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2
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s
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[
2
0
]
.
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m
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(
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[
0
,
1
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.
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en
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to
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Fig
u
r
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3
s
h
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f
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h
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is
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ep
t sa
m
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in
b
o
th
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
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9
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Fig
u
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Flo
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r
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r
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ates
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p
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atin
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n
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r
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r
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ies
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iatio
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izatio
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ized
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I
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ee
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u
r
e
1
5
.
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f
lu
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r
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s
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n
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tan
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ee
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v
ar
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CO
NCLU
SI
O
N
T
h
is
p
ap
er
h
as
p
r
ese
n
ted
a
p
a
r
a
m
eter
les
s
o
p
ti
m
izatio
n
alg
o
r
ith
m
f
o
r
t
u
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in
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t
h
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ai
n
s
o
f
th
e
s
p
ee
d
co
n
tr
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o
f
m
o
d
if
ied
DT
C
d
r
iv
e.
T
h
e
in
v
e
s
ti
g
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n
s
ca
r
r
ie
d
o
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clea
r
l
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s
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th
a
t
w
h
er
e
f
r
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n
t
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h
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n
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o
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atin
g
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n
d
itio
n
o
cc
u
r
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t
h
e
p
er
f
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r
m
a
n
ce
o
f
t
h
e
p
r
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p
o
s
ed
J
A
Y
A
t
u
n
ed
s
p
ee
d
P
I
co
n
tr
o
ller
is
b
etter
th
a
n
th
e
Har
m
o
n
y
s
ea
r
ch
t
u
n
e
P
I
co
n
tr
o
ller
.
I
t
is
s
ee
n
f
r
o
m
th
e
r
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l
ts
th
at
t
h
e
p
ea
k
o
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s
h
o
o
t,
r
is
e
ti
m
e,
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r
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s
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t
i
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e
i
n
t
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i
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s
e
d
u
r
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r
b
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ce
o
r
ch
an
g
e
in
d
r
i
v
e
s
p
ee
d
p
r
o
f
ile
is
m
i
n
i
m
al.
A
l
s
o
t
h
e
r
ed
u
ctio
n
i
n
r
ip
p
le
i
n
t
h
e
d
e
v
elo
p
ed
to
r
q
u
e
o
r
s
ta
to
r
f
l
u
x
i
s
co
n
s
id
er
ab
l
y
le
s
s
th
a
n
th
at
o
f
th
e
Har
m
o
n
y
Sear
ch
t
u
n
ed
m
o
d
if
ied
DT
C
d
r
iv
e.
RE
F
E
R
E
NC
E
S
[1
]
K.J.
A
stro
m
a
n
d
T
.
Ha
g
g
lu
n
d
,
“
P
I
Co
n
tr
o
ll
e
rs:
T
h
e
o
ry
,
De
sig
n
,
a
n
d
T
u
n
i
n
g
In
stru
m
e
n
t,
”
S
o
c
iety
o
f
Am
e
rica
.
[2
]
R
as
m
u
s
K.
Ur
s
e
m
a
n
d
P
ierre
V
a
d
stru
p
,
“
P
ar
am
eter
id
en
ti
f
i
ca
tio
n
o
f
i
n
d
u
ctio
n
m
o
to
r
s
u
s
in
g
s
to
c
h
asti
c
o
p
tim
izatio
n
al
g
o
r
ith
m
s
,
”
A
p
p
lied
So
f
t Co
m
p
u
ti
n
g
,
v
o
l.
4
,
n
o
.
1
,
p
p
.
4
9
-
6
4
,
2
0
0
4
.
[3
]
N.
Ra
jas
e
k
a
r
a
n
d
K.M
o
h
a
n
a
S
u
n
d
ra
m
,
“
F
e
e
d
b
a
c
k
c
o
n
tro
ll
e
r
d
e
sig
n
f
o
r
v
a
riab
le
v
o
lt
a
g
e
v
a
riab
le
sp
e
e
d
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
v
ia A
n
t
Co
lo
n
y
Op
ti
m
iz
a
ti
o
n
,
”
A
p
p
li
e
d
S
o
f
t
Co
m
p
u
ti
n
g
,
v
o
l.
1
2
,
n
o
.
8
,
p
p
.
2
1
3
2
-
2
1
3
6
,
2
0
1
2
.
[4
]
M
u
sh
taq
Na
jee
b
,
e
t
a
l.
,
“
A
n
E
fficie
n
t
Co
n
tr
o
l
Im
p
le
m
e
n
tatio
n
f
o
r
In
v
e
rter
B
a
se
d
Ha
r
m
o
n
y
S
e
a
r
c
h
A
l
g
o
rit
h
m
,
”
In
tern
a
ti
o
n
a
l
Jo
u
rn
a
l
o
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[5
]
O.
Ro
e
v
a
a
n
d
T
.
S
lav
o
v
,
“
F
iref
l
y
A
l
g
o
rit
h
m
T
u
n
in
g
o
f
P
ID
Co
n
tr
o
l
ler
f
o
r
G
lu
c
o
se
Co
n
c
e
n
tratio
n
C
o
n
tro
l
d
u
rin
g
E
.
c
o
li
F
e
d
-
b
a
tch
Cu
lt
iv
a
ti
o
n
P
r
o
c
e
ss
”
P
ro
c
e
e
d
in
g
s
o
f
th
e
F
e
d
e
ra
ted
Co
n
f
e
re
n
c
e
o
n
Co
m
p
u
ter
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c
ien
c
e
a
n
d
In
f
o
rm
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t
io
n
S
y
ste
m
s,
p
p
.
4
5
5
-
4
6
2
,
2
0
1
2
.
[6
]
E.
S
.
A
li
,
“
S
p
e
e
d
c
o
n
tro
l
o
f
DC
se
ries
m
o
to
r
su
p
p
li
e
d
b
y
p
h
o
t
o
v
o
lt
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ic
s
y
ste
m
v
ia
f
ire
f
l
y
a
lg
o
rit
h
m
,
”
Ne
u
ra
l
Co
m
p
u
ti
n
g
&
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p
p
li
c
a
ti
o
n
s
,
v
o
l.
2
6
,
n
o
.
6
,
p
p
.
1
3
2
1
-
1
3
3
2
.
[7
]
M
o
h
a
n
a
su
n
d
a
ra
m
Ku
p
p
u
sa
m
y
a
n
d
Ra
jas
e
k
a
r
Na
tara
jan
,
“
Ge
n
e
ti
c
A
l
g
o
rit
h
m
Ba
se
d
P
ro
p
o
rti
o
n
a
l
In
t
e
g
ra
l
Co
n
tro
ll
e
r
De
sig
n
f
o
r
In
d
u
c
ti
o
n
M
o
t
o
r,
”
Jo
u
rn
a
l
o
f
Co
m
p
u
ter S
c
ien
c
e
,
v
o
l.
7
,
n
o
.
3
,
p
p
.
4
1
6
-
4
2
0
,
2
0
1
1
.
[8
]
M
.
M
.
Ei
ss
a
,
e
t
a
l.
,
“
Op
ti
m
u
m
I
n
d
u
c
t
io
n
M
o
t
o
r
S
p
e
e
d
Co
n
tr
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l
T
e
c
h
n
iq
u
e
Us
in
g
Ge
n
e
ti
c
A
lg
o
ri
th
m
,
”
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e
rica
n
Jo
u
rn
a
l
o
f
I
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telli
g
e
n
t
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ste
m
s,
v
o
l.
3
,
n
o
.
1
,
p
p
.
1
-
1
2
,
2
0
1
3
.
[9
]
P
.
Bra
n
d
ste
tt
e
r
a
n
d
M
.
Do
b
ro
v
sk
y
,
“
S
p
e
e
d
Co
n
tro
l
o
f
A
.
C.
Dri
v
e
w
it
h
In
d
u
c
ti
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n
M
o
t
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r
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in
g
G
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n
e
ti
c
A
lg
o
rit
h
m
,
”
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tern
a
ti
o
n
a
l
Jo
i
n
t
Co
n
f
e
re
n
c
e
CI
S
IS
’1
2
-
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E´
1
2
-
S
OCO
´
1
2
S
p
e
c
ial
S
e
ss
io
n
s.
A
d
v
a
n
c
e
s
in
In
te
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g
e
n
t
S
y
ste
m
s
a
n
d
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m
p
u
ti
n
g
,
v
o
l.
1
8
9
,
S
p
ri
n
g
e
r,
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rli
n
,
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id
e
lb
e
rg
,
2
0
1
3
.
[1
0
]
R.
Essa
k
iraj,
e
t
a
l.
,
“
S
p
e
e
d
Co
n
tr
o
l
o
f
In
d
u
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ti
o
n
M
a
c
h
i
n
e
s
Us
in
g
GA
B
a
se
d
P
ID
Co
n
tro
ll
e
r,
”
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id
d
le
-
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t
Jo
u
r
n
a
l
o
f
S
c
ien
ti
f
ic Re
se
a
r
c
h
,
v
o
l.
2
3
,
(
S
e
n
sin
g
,
S
ig
n
a
l
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ro
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e
ss
in
g
a
n
d
S
e
c
u
ri
ty
),
p
p
.
1
6
4
-
1
6
9
,
2
0
1
5
.
[1
1
]
J.C.
Ba
sili
o
a
n
d
S
.
R.
M
a
to
s,
“
De
sig
n
o
f
P
I
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n
d
P
ID
Co
n
tro
ll
e
rs
with
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n
t
P
e
rf
o
rm
a
n
c
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p
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c
ifi
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a
ti
o
n
,
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T
ra
n
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ti
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ti
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n
,
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l.
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4
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p
p
.
3
6
4
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0
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2
0
0
2
.
[1
2
]
S
.
Ra
o
a
n
d
T
.
V.
Ku
m
a
r,
“
Dire
c
t
T
o
rq
u
e
Co
n
tr
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l
o
f
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d
u
c
ti
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o
t
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r
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ti
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m
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tato
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EE
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p
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2
0
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1
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[1
3
]
L
.
T
a
n
g
a
n
d
M
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F
.
Ra
h
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,
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k
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M
DC
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).
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tern
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[1
4
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C.
L
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t
a
l.
,
“
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ra
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5
]
Ra
h
u
l
M
a
lh
o
tra,
e
t
a
l.
,
“
G
e
n
e
ti
c
A
l
g
o
rit
h
m
s:
Co
n
c
e
p
ts,
De
sig
n
f
o
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ti
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n
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n
tr
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ll
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m
p
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ter
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n
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In
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2
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p
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3
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[1
6
]
Z
.
W
.
Gee
m
,
e
t
a
l.
,
“
A
n
e
w
h
e
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risti
c
o
p
ti
m
iza
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o
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h
m
,
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r
m
o
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2
,
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p
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6
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8
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2
0
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1
.
[1
7
]
Ya
n
g
X
in
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h
e
,
“
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rm
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n
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a
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:
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s)
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rm
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m
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tu
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in
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tatio
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telli
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rli
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l.
1
9
1
,
p
p
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1
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4
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[1
8
]
S
a
lem
M
o
h
a
m
m
e
d
,
e
t
a
l.
,
“
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tatisti
c
a
l
A
n
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l
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sis
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r
m
o
n
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rit
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m
s
in
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n
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g
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tr
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ll
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tern
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telli
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g
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&
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ste
m
s,
v
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l.
9
,
n
o
.
4
,
p
p
.
9
8
-
1
0
6
,
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0
1
6
.
[1
9
]
A
.
Ha
m
e
e
d
k
a
li
f
u
ll
a
h
a
n
d
S
.
P
a
lan
i,
“
Op
ti
m
a
l
tu
n
in
g
o
f
P
ID
p
o
w
e
r
s
y
ste
m
sta
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il
ize
r
f
o
r
m
u
lt
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m
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c
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in
e
p
o
w
e
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s
y
ste
m
u
sin
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Ha
r
m
o
n
y
S
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a
rc
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Alg
o
rit
h
m
,
”
Jo
u
rn
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re
ti
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l
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o
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2
,
p
p
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5
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0
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0
1
4
.
[2
0
]
R,
V
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k
a
ta
Ra
o
,
“
Ja
y
a
:
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si
m
p
le
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iza
ti
o
n
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o
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t
h
m
f
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lv
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o
n
stra
in
e
d
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n
d
u
n
c
o
n
stra
i
n
e
d
o
p
ti
m
iza
ti
o
n
p
ro
b
lem
s,” In
tern
a
ti
o
n
a
l
Jo
u
rn
a
l
o
f
In
d
u
strial
E
n
g
in
e
e
rin
g
Co
m
p
u
tatio
n
s,
v
o
l.
7
,
p
p
.
1
9
–
3
4
,
2
0
1
6
.
B
I
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G
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E
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AUTH
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RS
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r
(U.P
.
),
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in
1
9
6
8
.
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in
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In
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in
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rre
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n
d
T
e
c
h
n
ica
l
Un
iv
e
rsit
y
,
Bh
il
a
i
(C.
G
.
),
In
d
ia.
He
is
th
e
a
u
th
o
r
o
f
5
In
tern
a
ti
o
n
a
l
Jo
u
r
n
a
l
a
n
d
Co
n
f
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re
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e
a
n
d
5
Na
ti
o
n
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l
c
o
n
f
e
re
n
c
e
s.
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a
re
a
o
f
re
se
a
rc
h
i
s
P
o
w
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r
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e
c
tro
n
ics
a
n
d
d
riv
e
s,
Cu
sto
m
p
o
w
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r
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e
v
ice
s,
a
p
p
li
c
a
ti
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o
f
so
f
t
c
o
m
p
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ti
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g
tec
h
n
iq
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f
o
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n
a
n
d
f
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e
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n
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lec
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a
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T
C
h
a
c
k
o
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s
b
o
rn
in
Ch
a
tt
isg
a
rh
,
(C.
G
),
In
d
ia
in
1
9
6
8
.
He
w
a
s
a
f
a
c
u
lt
y
o
f
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e
c
tri
c
a
l
a
n
d
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e
c
tro
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ics
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rin
g
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ri
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h
a
n
k
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ra
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h
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ry
a
Tec
h
n
ica
l
Ca
m
p
u
s,
Bh
il
a
i
a
n
d
c
u
rre
n
tl
y
He
a
d
o
f
De
p
a
rt
m
e
n
t,
El
e
c
tri
c
a
l
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o
v
e
rn
m
e
n
t
P
o
ly
tec
h
n
ic
Co
ll
e
g
e
C.
G
,
In
d
ia.
He
g
o
t
h
is
P
h
D
f
ro
m
M
a
u
lan
a
Az
a
d
Na
ti
o
n
a
l
In
stit
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te
o
f
Tec
h
n
o
lo
g
y
,
Bh
o
p
a
l,
M
.
P
,
In
d
ia.
He
is
th
e
a
u
th
o
r
o
f
1
0
Jo
u
rn
a
l
a
n
d
1
5
c
o
n
f
e
re
n
c
e
p
a
p
e
rs
in
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ti
o
n
a
l
a
n
d
In
tern
a
ti
o
n
a
l
P
u
b
li
c
a
ti
o
n
s.
His
a
re
a
o
f
re
se
a
rc
h
in
tere
st
is
P
o
w
e
r
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e
c
tro
n
ics
a
n
d
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e
s,
P
o
w
e
r
q
u
a
li
t
y
issu
e
s
a
n
d
a
p
p
li
c
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ti
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f
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o
f
t
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m
p
u
ti
n
g
tec
h
n
iq
u
e
s f
o
r
e
stim
a
ti
o
n
a
n
d
f
a
u
lt
d
e
tec
ti
o
n
.
Dr
.
R.
N.
Pa
te
l
d
id
h
is
P
h
.
D.
in
th
e
a
re
a
o
f
P
o
w
e
r
S
y
ste
m
s
f
ro
m
th
e
In
d
ian
In
stit
u
te
o
f
T
e
c
h
n
o
lo
g
y
(II
T
)
Ne
w
D
e
lh
i,
IND
IA i
n
th
e
y
e
a
r
2
0
0
3
.
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ri
o
r
to
t
h
i
s h
e
o
b
tain
e
d
h
is
M
.
T
e
c
h
.
f
ro
m
IIT
De
lh
i
a
n
d
g
ra
d
u
a
te
d
e
g
re
e
in
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e
c
tri
c
a
l
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g
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e
rin
g
f
ro
m
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IT
S
In
d
o
re
.
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P
a
tel
se
rv
e
d
a
s
a
F
a
c
u
lt
y
in
th
e
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e
c
tri
c
a
l
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g
in
e
e
rin
g
d
e
p
a
rtm
e
n
t
a
t
IIT
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o
rk
e
e
fro
m
th
e
y
e
a
r
2
0
0
3
to
2
0
0
6
.
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h
a
s
a
lso
se
rv
e
d
in
F
a
c
u
lt
y
p
o
siti
o
n
a
t
th
e
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a
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stit
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te
o
f
T
e
c
h
n
o
l
o
g
y
a
n
d
S
c
ien
c
e
,
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i
lan
i.
P
re
se
n
tl
y
h
e
is
w
o
r
k
in
g
a
s
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r
o
f
e
ss
o
r
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th
e
d
e
p
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rtm
e
n
t
o
f
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tri
c
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l
a
n
d
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tro
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g
a
t
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h
r
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h
a
n
k
a
ra
c
h
a
r
y
a
T
e
c
h
n
ica
l
Ca
m
p
u
s,
Bh
il
a
i,
IND
IA
.
Dr.
P
a
tel
h
a
s
m
a
n
y
p
u
b
li
c
a
ti
o
n
s
in
v
a
rio
u
s
in
tern
a
t
io
n
a
l
j
o
u
r
n
a
ls
o
f
re
p
u
te,
p
re
se
n
ted
h
is
re
se
a
rc
h
a
t
v
a
rio
u
s
in
tern
a
ti
o
n
a
l
c
o
n
f
e
re
n
c
e
s
a
n
d
h
a
s
a
lso
o
rg
a
n
ize
d
m
a
n
y
n
a
ti
o
n
a
l
Wo
rk
sh
o
p
s
a
n
d
Co
n
f
e
re
n
c
e
s.
H
e
is
a
re
c
ip
ien
t
o
f
p
re
stig
io
u
s
‘C
a
re
e
r
Awa
rd
fo
r
Y
o
u
n
g
T
e
a
c
h
e
rs
’
,
f
ro
m
A
IC
T
E
-
Ne
w
De
lh
i,
IND
IA
.
Dr.
P
a
tel
h
a
s
su
c
c
e
ss
fu
ll
y
h
a
n
d
led
m
a
n
y
re
s
e
a
rc
h
p
ro
jec
ts,
sp
o
n
so
re
d
(/f
u
n
d
e
d
)
b
y
A
IC
T
E,
Ne
w
D
e
lh
i
a
n
d
De
p
a
rt
m
e
n
t
o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
(DST
),
G
o
v
t.
o
f
IN
DI
A
,
Ne
w
De
lh
i
.
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