I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n (
I
J
R
A)
Vo
l.
8
,
No
.
1
,
Ma
r
ch
201
9
,
p
p
.
133
~
1
4
5
I
SS
N:
2089
-
4
8
5
6
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
r
a
.
v
8
i
1
.
p
p
1
3
3
-
145
133
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
co
r
e.
c
o
m/jo
u
r
n
a
ls
/in
d
ex
.
p
h
p
/
I
JR
A
Intellig
ent
t
une
d
PID c
o
nt
ro
ller f
o
r
w
ind energy
conv
ersio
n
sy
ste
m
w
ith
per
ma
nent
m
a
g
net
sy
n
chro
no
us
g
enerat
o
r
a
nd
AC
-
DC
-
A
C c
o
nv
erte
rs
T.
M
uthuk
u
m
a
ri
1
,
T
.
A.
Ra
g
ha
v
endira
n
2
,
R.
K
a
la
iv
a
ni
3
,
P.
Selv
a
ra
j
4
1
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
En
g
i
n
e
e
ri
n
g
,
A
n
n
a
Un
iv
e
rsit
y
,
In
d
ia
2
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
En
g
i
n
e
e
rin
g
,
S
ri
V
e
n
k
a
te
sh
w
a
ra
c
o
ll
e
g
e
f
o
r
w
o
m
e
n
,
In
d
ia
3
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
En
g
i
n
e
e
rin
g
,
Ra
jala
k
sh
m
i
En
g
in
e
e
rin
g
C
o
ll
e
g
e
,
In
d
ia
4
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
En
g
i
n
e
e
rin
g
,
P
ra
th
y
u
sh
a
En
g
in
e
e
rin
g
Co
ll
e
g
e
,
In
d
ia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Feb
2
2
,
2
0
1
9
R
ev
i
s
ed
A
p
r
2
2
,
2
0
1
9
A
cc
ep
ted
Ma
y
5
,
2
0
1
9
T
h
is
p
a
p
e
r
p
re
se
n
ts
t
h
e
in
telli
g
e
n
t
t
u
n
e
d
P
ID
c
o
n
tro
ll
e
r
-
b
a
se
d
S
i
n
g
le
En
d
e
d
P
rim
a
r
y
In
d
u
c
t
o
r
Co
n
v
e
rter
(S
E
P
IC)
f
o
r
M
a
x
im
u
m
P
o
w
e
r
P
o
i
n
t
T
ra
c
k
in
g
(M
P
P
T
)
o
p
e
ra
ti
o
n
o
f
W
in
d
En
e
rg
y
Co
n
v
e
rsio
n
S
y
ste
m
(
W
ECS
).
A
s
th
e
v
o
lt
a
g
e
a
n
d
f
re
q
u
e
n
c
y
o
f
th
e
P
e
r
m
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
G
e
n
e
r
a
to
r
(P
M
S
G
)
v
a
ries
w
it
h
th
e
w
in
d
sp
e
e
d
c
h
a
n
g
e
s,
In
tell
ig
e
n
t
c
o
n
tro
l
led
S
E
P
IC
is
u
ti
li
z
e
d
t
o
m
a
in
tain
th
e
c
o
n
sta
n
t
DC
li
n
k
v
o
lt
a
g
e
.
T
h
e
in
telli
g
e
n
t
tu
n
e
d
P
ID
c
o
n
tro
ll
e
r
c
o
m
b
in
e
s
th
e
a
d
v
a
n
tag
e
s
o
f
b
o
th
c
o
n
v
e
n
ti
o
n
a
l
a
n
d
so
f
t
c
o
n
tr
o
ll
e
rs.
T
h
e
1
.
5
M
W
v
a
riab
le
sp
e
e
d
W
EC
S
(V
S
W
ECS
)
w
it
h
A
C
-
DC
-
A
C
c
o
n
v
e
rter
is
d
e
v
e
lo
p
e
d
u
si
n
g
M
A
TL
A
B/S
i
m
u
li
n
k
so
f
twa
re
.
P
M
S
G
d
e
li
v
e
rs
a
lo
a
d
/u
ti
li
ty
g
rid
th
ro
u
g
h
a
n
u
n
c
o
n
tr
o
ll
e
d
d
io
d
e
re
c
ti
f
ier,
in
telli
g
e
n
t
c
o
n
tro
ll
e
d
S
EP
IC
a
n
d
th
re
e
p
h
a
se
i
n
v
e
rter.
T
h
e
re
a
l
ti
m
e
im
p
le
m
e
n
tatio
n
o
f
th
e
p
ro
p
o
se
d
sy
ste
m
is
d
o
n
e
b
y
th
e
DS
P
p
r
o
c
e
ss
o
r
M
S
P
4
3
0
F
5
5
2
9
.
T
h
e
p
e
rf
o
rm
a
n
c
e
o
f
th
e
S
E
P
IC
is
tes
ted
in
b
o
t
h
sim
u
latio
n
a
n
d
e
x
p
e
rime
n
t
a
t
d
if
f
e
r
e
n
t
w
in
d
sp
e
e
d
c
o
n
d
it
io
n
s.
T
h
e
p
e
r
f
o
rm
a
n
c
e
o
f
th
e
p
ro
p
o
se
d
In
telli
g
e
n
t
M
P
P
T
c
o
n
t
ro
l
o
f
S
E
P
IC
a
re
c
o
m
p
a
re
d
w
it
h
th
e
c
o
n
v
e
n
ti
o
n
a
l
P
ID
c
o
n
tr
o
ll
e
r.
In
tell
ig
e
n
t
tu
n
i
n
g
o
f
P
ID
c
o
n
tro
ll
e
r
su
c
h
a
s
F
u
z
z
y
-
P
ID,
a
n
d
A
NFIS
-
P
ID
is
im
p
lem
e
n
ted
in
th
e
p
ro
p
o
se
d
sy
ste
m
a
n
d
re
su
lt
s
a
re
c
o
m
p
a
re
d
.
T
h
e
si
m
u
latio
n
a
n
d
e
x
p
e
rim
e
n
tal
re
su
lt
s
re
v
e
a
ls
th
a
t
th
e
p
ro
p
o
se
d
A
NFIS
m
e
th
o
d
p
ro
v
id
e
im
p
ro
v
e
d
p
e
rf
o
r
m
a
n
c
e
th
a
n
th
e
c
o
n
v
e
n
ti
o
n
a
l
P
ID m
e
th
o
d
i
n
term
s o
f
p
o
w
e
r
q
u
a
li
ty
.
K
ey
w
o
r
d
s
:
A
N
FIS
Fu
zz
y
I
n
telli
g
en
t c
o
n
tr
o
l
P
I
D
SEP
I
C
W
in
d
E
n
er
g
y
C
o
n
v
er
s
io
n
S
y
s
te
m
Co
p
y
rig
h
t
©
2
0
1
9
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
T.
Mu
th
u
k
u
m
ar
i
,
R
esear
ch
s
ch
o
lar
,
Dep
ar
t
m
e
n
t
o
f
E
lectr
ical
an
d
E
lectr
o
n
ics E
n
g
i
n
ee
r
i
n
g
,
An
n
a
Un
i
v
er
s
i
t
y
,
I
n
d
ia
.
E
m
ail:
m
u
th
u
k
u
m
ar
i1
2
3
@
y
a
h
o
o
.
co
.
in
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
elec
tr
ical
en
er
g
y
d
e
m
a
n
d
in
cr
ea
s
es
d
a
y
b
y
d
a
y
b
ec
a
u
s
e
o
f
th
e
i
n
cr
ea
s
e
i
n
p
o
p
u
latio
n
a
r
o
u
n
d
th
e
w
o
r
ld
a
n
d
s
h
o
r
tag
e
o
f
th
e
n
atu
r
al
s
o
u
r
ce
s
li
k
e
co
al,
o
il
an
d
n
a
tu
r
al
g
a
s
f
o
r
t
h
e
g
en
e
r
atio
n
o
f
elec
tr
icit
y
.
T
h
e
r
en
e
w
ab
le
en
er
g
y
s
o
u
r
ce
s
s
u
c
h
as
s
o
lar
en
er
g
y
,
w
in
d
en
er
g
y
,
h
y
d
r
o
elec
tr
ic,
b
io
m
as
s
,
an
d
g
eo
th
er
m
al
s
o
lv
e
t
h
e
p
r
o
b
le
m
ca
u
s
ed
b
y
th
e
n
at
u
r
al
r
eso
u
r
ce
s
.
T
h
e
a
d
v
an
ta
g
es
o
f
r
e
n
e
w
ab
le
p
o
w
er
g
en
er
atio
n
s
a
r
e
s
u
s
tai
n
ab
le,
clea
n
en
er
g
y
,
n
o
n
-
p
o
ll
u
ta
n
t,
less
m
ai
n
ten
a
n
ce
,
less
co
s
t,
n
o
ca
r
b
o
n
d
io
x
id
e
e
m
is
s
io
n
,
o
r
o
th
er
ch
e
m
ical
p
o
llu
ta
n
t.
Ho
w
e
v
er
,
th
e
r
en
e
w
ab
le
en
er
g
y
s
o
u
r
ce
s
m
ain
l
y
d
ep
en
d
o
n
u
n
p
r
ed
ictab
le
w
ea
t
h
er
co
n
d
itio
n
a
n
d
g
eo
g
r
ap
h
ical
c
o
n
d
itio
n
s
f
o
r
t
h
e
p
r
o
d
u
ctio
n
o
f
g
o
o
d
q
u
alit
y
o
f
elec
tr
ical
p
o
w
er
.
O
u
t
o
f
a
ll
t
h
e
r
en
e
w
ab
le
en
er
g
y
s
o
u
r
ce
s
,
th
e
m
o
s
t
p
r
o
m
is
i
n
g
s
o
u
r
ce
s
atis
f
y
in
g
al
l
t
h
e
r
eq
u
ir
e
m
en
ts
i
s
th
e
w
i
n
d
.
W
in
d
en
er
g
y
i
s
o
n
e
o
f
t
h
e
m
o
s
t
av
ailab
le
an
d
ex
p
lo
itab
le
f
o
r
m
o
f
r
en
e
w
ab
le
e
n
er
g
y
.
T
h
e
w
o
r
ld
w
id
e
w
i
n
d
en
er
g
y
ca
p
ac
it
y
h
as
s
tep
p
ed
f
o
r
w
ar
d
an
d
it
is
an
i
m
p
o
r
tan
t
co
m
p
etito
r
to
th
e
co
n
v
e
n
tio
n
al
en
er
g
y
s
o
u
r
ce
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
1
3
3
–
145
134
I
n
an
o
t
h
er
f
i
v
e
y
ea
r
s
w
i
n
d
en
er
g
y
g
en
er
atio
n
is
p
r
ed
ictab
le
to
r
is
e
to
1
.
2
6
m
illi
o
n
o
f
M
W
,
w
h
ich
w
i
ll
co
v
er
1
2
% o
f
w
o
r
ld
w
id
e
en
er
g
y
ca
p
ac
it
y
[
1
]
.
P
r
esen
tl
y
,
t
h
e
Var
iab
le
Sp
ee
d
W
in
d
E
n
er
g
y
C
o
n
v
er
s
io
n
S
y
s
te
m
(
VSW
E
C
S)
i
s
eq
u
ip
p
ed
w
it
h
d
ir
ec
t
d
r
iv
e
P
er
m
an
e
n
t
Ma
g
n
et
S
y
n
ch
r
o
n
o
u
s
Gen
er
ato
r
(
P
MSG)
.
Var
iab
le
s
p
ee
d
w
i
n
d
tu
r
b
in
e
[
2
]
is
m
o
s
t
p
o
p
u
lar
d
u
e
to
th
e
ad
v
a
n
ta
g
es
lik
e
s
i
m
p
le
s
tr
u
ct
u
r
e,
i
m
p
r
o
v
ed
en
er
g
y
c
ap
t
u
r
e,
m
a
x
i
m
u
m
p
o
wer
ex
tr
ac
tio
n
,
lo
w
lo
s
s
es,
g
o
o
d
p
o
w
er
f
ac
to
r
,
g
o
o
d
p
o
w
er
q
u
alit
y
,
an
d
m
o
r
e
e
f
f
icie
n
c
y
.
P
MSG
m
ac
h
in
e
s
ar
e
m
o
r
e
ef
f
icien
t
th
a
n
o
th
er
m
ac
h
in
e
s
b
ec
au
s
e
o
f
th
e
ir
ad
v
an
ta
g
es s
u
c
h
as les
s
w
ei
g
h
t,
s
m
a
ll si
ze
,
an
d
f
le
x
ib
le
d
esig
n
s
tr
u
ct
u
r
e
[
3
]
.
E
lectr
ical
en
er
g
y
g
e
n
er
ated
b
y
th
e
V
SW
E
C
S
w
it
h
P
MSG
is
o
f
v
ar
iab
le
a
m
p
li
tu
d
e
an
d
v
ar
iab
le
f
r
eq
u
en
c
y
i
n
n
at
u
r
e.
T
h
e
p
o
w
er
elec
tr
o
n
ic
co
n
tr
o
ller
p
la
y
s
a
n
i
m
p
o
r
tan
t
r
o
le
f
o
r
th
e
p
o
w
er
q
u
ali
t
y
en
h
a
n
ce
m
en
t
[
4
]
.
T
h
e
v
ar
iab
le
AC
v
o
lta
g
e
is
co
n
v
er
ted
in
to
v
ar
iab
le
D
C
b
y
AC
-
DC
r
ec
tif
ier
s
ta
g
e
[
5
]
.
T
h
e
u
n
r
eg
u
lated
D
C
in
p
u
t
s
u
p
p
ly
i
s
g
i
v
e
n
to
DC
-
D
C
SEP
I
C
,
w
h
ic
h
s
h
o
u
ld
b
e
r
eg
u
late
d
f
o
r
th
e
s
ta
n
d
alo
n
e
s
y
s
te
m
o
r
g
r
id
co
n
n
ec
ted
s
y
s
t
e
m
.
T
o
ac
h
iev
e
t
h
i
s
,
a
n
e
g
ati
v
e
clo
s
ed
lo
o
p
co
n
tr
o
l
is
i
n
co
r
p
o
r
ated
in
th
e
D
C
-
DC
co
n
v
er
ter
,
w
h
ich
a
u
to
m
ati
ca
ll
y
ad
j
u
s
t
s
t
h
e
d
u
t
y
c
y
cle
i
n
ca
s
e
o
f
i
n
p
u
t
s
u
p
p
l
y
v
ar
iatio
n
.
P
I
D
co
n
tr
o
ller
h
as
b
ee
n
u
s
ed
to
co
m
p
e
n
s
ate
f
o
r
ch
an
g
e
in
er
r
o
r
r
esu
lti
n
g
f
r
o
m
th
e
d
if
f
er
e
n
ce
b
et
w
ee
n
t
h
e
f
e
ed
b
ac
k
v
o
ltag
e
an
d
r
ef
er
en
ce
v
o
lta
g
e.
A
Ma
x
i
m
u
m
P
o
w
er
P
o
in
t
T
r
ac
k
in
g
(
M
P
PT
)
s
tep
an
d
s
ea
r
ch
p
o
in
t
a
lg
o
r
ith
m
is
d
e
v
elo
p
ed
to
tr
ac
k
m
a
x
i
m
u
m
p
o
w
er
f
r
o
m
th
e
v
ar
iab
le
s
p
ee
d
w
i
n
d
tu
r
b
in
e
b
y
g
en
er
ati
n
g
a
s
u
itab
le
r
ef
er
en
ce
v
o
lta
g
e
to
th
e
co
n
tr
o
ller
[
6
]
.
P
I
D
co
n
tr
o
ller
s
p
la
y
a
n
i
m
p
o
r
tan
t
r
o
le
i
n
t
h
e
co
n
tr
o
l
o
f
t
h
e
d
u
t
y
c
y
cle
o
f
p
o
w
er
elec
tr
o
n
i
c
s
w
itc
h
e
s
o
f
AC
-
DC
-
AC
co
n
v
er
ter
s
d
u
e
to
its
r
o
b
u
s
t
n
at
u
r
e,
s
i
m
p
le
s
t
r
u
ctu
r
e,
a
n
d
ea
s
y
i
m
p
le
m
en
tat
io
n
.
Ho
w
ev
er
d
u
e
to
th
e
s
i
m
p
le
s
tr
u
ct
u
r
e,
P
I
D
co
n
tr
o
ller
s
ar
e
s
u
i
ted
f
o
r
f
ir
s
t
a
n
d
s
ec
o
n
d
o
r
d
er
s
y
s
te
m
o
n
l
y
.
F
o
r
h
ig
h
er
o
r
d
er
an
d
n
o
n
li
n
ea
r
s
y
s
te
m
s
,
t
u
n
i
n
g
o
f
P
I
D
[
7
]
[
8
]
p
ar
am
eter
s
s
u
c
h
as
p
r
o
p
o
r
tio
n
al
g
ain
K
p
,
i
n
teg
r
al
g
ai
n
K
i
an
d
d
er
iv
ativ
e
g
ai
n
K
d
i
s
a
cr
u
ci
al
is
s
u
e.
On
e
o
f
t
h
e
cla
s
s
ical
m
et
h
o
d
o
f
t
u
n
i
n
g
i
s
Z
ie
g
ler
-
Nic
h
o
ls
(
Z
N)
[
9
]
tech
n
iq
u
e
b
a
s
ed
o
n
s
o
m
e
co
n
t
r
o
ller
ass
u
m
p
tio
n
s
an
d
i
t
n
ee
d
s
f
u
r
t
h
e
r
t
u
n
in
g
.
T
h
e
d
o
w
n
s
id
e
o
f
th
i
s
m
et
h
o
d
i
s
th
e
e
x
ce
s
s
iv
e
o
v
er
s
h
o
o
t
an
d
o
s
cillato
r
y
r
esp
o
n
s
e.
C
o
h
e
n
-
C
o
o
n
[
1
0
]
d
ev
elo
p
ed
a
m
e
t
h
o
d
w
ith
th
e
P
I
D
co
n
tr
o
ller
p
ar
am
eter
s
d
er
iv
ed
b
ased
o
n
lo
ad
d
is
tu
r
b
an
ce
r
ejec
tio
n
.
E
v
e
n
th
o
u
g
h
a
b
etter
m
et
h
o
d
,
th
e
r
esu
lt
s
ar
e
n
o
t
m
u
c
h
b
etter
th
an
Z
N
tech
n
iq
u
e.
T
h
e
C
o
h
en
-
C
o
o
n
m
et
h
o
d
is
ap
p
licab
le
o
n
ly
f
o
r
f
ir
s
t
o
r
d
er
m
o
d
els.
T
h
e
o
th
er
tu
n
i
n
g
m
et
h
o
d
s
ar
e
r
ela
y
a
u
to
t
u
n
in
g
m
et
h
o
d
[
1
1
]
,
I
n
ter
n
al
Mo
d
e
C
o
n
tr
o
l
(
I
MC)
b
ased
m
et
h
o
d
p
r
o
p
o
s
ed
b
y
Mo
r
ar
i
[
1
2
]
,
tu
n
in
g
m
eth
o
d
b
ased
o
n
o
p
ti
m
iz
atio
n
p
r
o
p
o
s
ed
b
y
Ast
r
o
m
an
d
p
o
le
p
lace
m
e
n
t
m
et
h
o
d
.
Ho
w
e
v
er
all
t
h
e
m
e
th
o
d
s
ar
e
s
u
itab
le
f
o
r
lo
w
er
o
r
d
er
an
d
lin
ea
r
s
y
s
te
m
.
T
h
e
m
et
h
o
d
s
ar
e
n
o
t
s
u
itab
le
f
o
r
n
o
n
li
n
ea
r
s
y
s
te
m
.
T
h
is
p
ap
er
f
o
cu
s
es
o
n
a
n
al
y
z
i
n
g
i
n
telli
g
e
n
t
m
et
h
o
d
o
f
tu
n
i
n
g
P
I
D
co
n
tr
o
ller
f
o
r
DC
-
DC
co
n
v
er
ter
ap
p
licatio
n
s
.
T
h
e
ti
m
e
d
o
m
ai
n
an
al
y
s
i
s
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
w
a
s
ca
r
r
ied
o
u
t
in
MA
T
L
A
B
/SIM
U
L
I
NK
.
T
h
e
in
tellig
e
n
t
tec
h
n
iq
u
e
p
r
o
v
id
es
b
etter
p
er
f
o
r
m
a
n
ce
in
ter
m
s
o
f
r
i
s
e
ti
m
e,
s
ettli
n
g
ti
m
e,
an
d
o
v
er
s
h
o
o
t
th
a
n
t
h
e
co
n
v
e
n
tio
n
al
tu
n
i
n
g
m
et
h
o
d
s
.
T
h
i
s
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
.
Sectio
n
2
d
ea
ls
w
ith
th
e
m
o
d
elin
g
o
f
w
i
n
d
en
er
g
y
co
n
v
er
s
io
n
s
y
s
te
m
.
Desi
g
n
in
g
o
f
SEP
I
C
is
d
e
s
cr
ib
ed
in
s
ec
tio
n
3
.
T
h
e
m
e
t
h
o
d
s
o
f
tu
n
i
n
g
P
I
D
co
n
tr
o
ller
is
e
x
p
lai
n
ed
in
s
ec
ti
o
n
4
.
I
t
is
f
o
llo
w
ed
b
y
MP
P
T
alg
o
r
ith
m
u
s
ed
f
o
r
r
e
f
er
en
ce
v
o
ltag
e
g
en
er
atio
n
.
Sectio
n
5
d
ea
ls
w
it
h
th
e
s
i
m
u
latio
n
an
d
ex
p
er
i
m
en
tal
r
esu
lt
s
.
Sectio
n
6
s
u
m
m
ar
ies
th
e
co
n
clu
s
io
n
an
d
f
u
tu
r
e
s
co
p
e
2.
WE
CS
WI
T
H
AC
-
DC
-
AC
C
O
NVER
T
E
R
T
h
e
p
r
o
p
o
s
ed
w
i
n
d
en
er
g
y
co
n
v
er
s
io
n
s
y
s
te
m
co
n
s
is
t
s
o
f
co
n
s
tan
t
p
itch
a
n
g
le
w
i
n
d
tu
r
b
in
e,
P
er
m
a
n
en
t
m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
g
e
n
er
ato
r
,
a
u
n
co
n
tr
o
lled
d
io
d
e
r
ec
tif
ier
,
a
v
o
lta
g
e
co
n
tr
o
lled
Sin
g
le
E
n
d
ed
P
r
im
ar
y
I
n
d
u
cto
r
C
o
n
v
er
ter
(
S
E
P
I
C
)
an
d
th
r
ee
-
p
h
ase
i
n
v
er
te
r
.
I
t is sh
o
w
n
i
n
F
i
g
u
r
e
1
.
2
.
1
.
M
o
delin
g
o
f
m
ec
ha
nica
l
s
y
s
t
e
m
T
h
e
n
o
n
-
u
n
i
f
o
r
m
h
ea
t
i
n
g
o
f
s
u
n
o
n
t
h
e
ea
r
th
’
s
s
u
r
f
ac
e
ca
u
s
es
th
e
cir
c
u
latio
n
o
f
air
in
th
e
at
m
o
s
p
h
er
e.
T
h
e
en
er
g
y
d
ep
e
n
d
s
o
n
t
h
e
air
d
en
s
it
y
ρ
(
k
g
/
m
3
)
,
s
w
ep
t
ar
ea
A
(
m
2
)
a
n
d
win
d
s
p
ee
d
v
(
m
/s
ec
)
.
T
h
e
p
o
w
er
e
x
tr
ac
ted
b
y
th
e
win
d
t
u
r
b
in
e
i
n
u
n
if
o
r
m
w
i
n
d
f
i
eld
is
g
iv
e
n
b
y
t
h
e
r
ate
o
f
c
h
a
n
g
e
o
f
e
n
er
g
y
a
n
d
ex
p
r
ess
ed
as i
n
(
1
)
:
3
1
,
2
mp
P
A
v
C
(
1
)
w
h
er
e;
C
p
(
λ
,
β)is
k
n
o
w
n
as p
o
w
er
co
ef
f
icien
t
λ
is
th
e
t
ip
s
p
ee
d
r
atio
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
I
n
tellig
en
t tu
n
ed
P
I
D
co
n
tr
o
ller
fo
r
W
in
d
E
n
erg
y
C
o
n
ve
r
s
io
n
S
ystem
w
ith
…
(
T.
Mu
th
u
ku
ma
r
i
)
135
T
h
e
g
en
er
al
ex
p
r
ess
io
n
f
o
r
t
h
e
p
o
w
er
co
ef
f
icie
n
t i
s
ex
p
r
ess
e
d
b
y
(
2
)
:
5
2
1
3
4
6
(
,
)
i
C
p
i
C
C
C
C
C
C
(
2
)
T
h
e
co
ef
f
icien
ts
C
1
to
C
6
ar
e
C
1
=0
.
5
1
7
6
,
C
2
=1
1
6
,
C
3
=0
.
4
,
C
4
=5
,
C
5
=2
1
an
d
C
6
=0
.
0
0
6
8
.
T
h
e
m
ax
i
m
u
m
v
alu
e
o
f
C
p
(
λ
,
β)
is
0
.
5
9
3
f
o
r
co
n
v
en
t
io
n
al
w
i
n
d
t
u
r
b
in
e.
T
h
e
r
atio
o
f
th
e
s
p
ee
d
o
f
t
h
e
r
o
to
r
b
lad
e
tip
t
o
th
e
s
p
ee
d
o
f
th
e
w
i
n
d
is
th
e
tip
s
p
ee
d
r
atio
(
T
SR
)
.
E
v
er
y
r
o
to
r
h
as
an
o
p
tim
u
m
tip
s
p
ee
d
r
atio
at
w
h
ic
h
its
m
a
x
i
m
u
m
e
f
f
icie
n
c
y
is
ac
h
ie
v
ed
an
d
w
h
ic
h
ch
ar
ac
ter
izes
th
e
r
o
to
r
.
T
h
e
tip
s
p
ee
d
r
atio
is
g
iv
e
n
b
y
(
3
)
:
2
t
R
Rn
vv
(
3
)
w
h
er
e
ω
t
is
th
e
t
u
r
b
in
e
s
p
ee
d
o
r
r
o
to
r
s
p
ee
d
in
r
ad
/s
ec
(
4
)
.
2
1
1
0
.
0
3
5
0
.
0
8
9
1
i
(
4
)
B
lad
e
p
itch
an
g
le
i
s
d
ec
id
ed
b
y
s
h
ap
e
o
f
th
e
t
u
r
b
in
e
b
lad
e.
T
SR
is
a
co
n
tr
o
llab
le
p
ar
a
m
eter
an
d
af
f
ec
ted
b
y
t
h
e
t
u
r
b
in
e
s
p
ee
d
.
T
h
e
o
p
tim
u
m
o
r
m
a
x
i
m
u
m
v
al
u
e
o
f
p
o
w
er
co
ef
f
icie
n
t
C
p
is
ac
h
iev
ed
at
β =
0
.
Fig
u
r
e
1
.
P
r
o
p
o
s
ed
m
o
d
el
f
o
r
th
e
v
ar
iab
le
s
p
ee
d
w
in
d
en
er
g
y
co
n
v
er
s
io
n
s
y
s
te
m
2
.
2
.
M
o
delin
g
o
f
elec
t
ric
a
l sy
s
t
e
m
Gen
er
ato
r
s
ar
e
u
s
ed
to
co
n
v
er
t
m
ec
h
a
n
ical
e
n
er
g
y
f
r
o
m
tu
r
b
in
e
in
to
elec
tr
ical
en
er
g
y
,
wh
ich
i
s
f
ed
in
to
th
e
elec
tr
ical
g
r
id
.
T
h
e
d
y
n
a
m
ic
eq
u
atio
n
s
g
iv
e
t
h
e
m
a
t
h
e
m
atica
l
m
o
d
el
o
f
th
e
P
MSG
as b
elo
w
(5
-
6)
:
1
q
s
d
s
s
d
s
d
r
s
q
d
d
d
L
d
i
R
u
i
p
i
d
t
L
L
L
(
5
)
1
sq
s
d
m
r
s
q
s
q
r
s
d
q
q
q
q
di
R
L
p
u
i
p
i
d
t
L
L
L
L
(
6
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
1
3
3
–
145
136
w
h
er
e
sd
i
,
sq
i
ar
e
th
e
d
an
d
q
ax
is
s
tato
r
cu
r
r
en
t.
,
dq
LL
ar
e
th
e
d
an
d
q
ax
is
s
tato
r
in
d
u
ctan
ce
.
s
R
is
th
e
s
ta
to
r
r
esis
tan
ce
.
m
is
th
e
p
er
m
a
n
e
n
t
m
a
g
n
et
r
o
to
r
f
l
u
x
p
is
th
e
n
u
m
b
er
o
f
p
o
le
p
air
s
.
T
h
e
elec
tr
o
m
a
g
n
et
ic
to
r
q
u
e
eq
u
atio
n
ca
n
b
e
g
i
v
en
b
y
(
7
)
:
3
2
e
m
s
q
d
q
s
q
s
d
T
p
i
L
L
i
i
(
7
)
3.
D
E
S
I
G
N
OF
SE
P
I
C
D
C
-
DC
CO
NVER
T
E
R
T
h
e
Sin
g
le
E
n
d
ed
P
r
im
ar
y
I
n
d
u
cto
r
C
o
n
v
er
ter
(
SEP
I
C
)
is
a
t
y
p
e
o
f
n
o
n
-
i
s
o
lated
co
n
v
er
ter
an
d
is
ex
ten
s
i
v
el
y
u
s
ed
i
n
m
ed
i
u
m
t
o
h
ig
h
v
o
lta
g
e
p
o
w
er
co
n
v
er
s
i
o
n
[
1
3
]
.
T
h
e
o
u
tp
u
t
v
o
ltag
e
is
g
r
ea
ter
th
a
n
o
r
less
th
an
t
h
e
r
an
g
e
o
f
i
n
p
u
t
v
o
lta
g
e
.
Fig
u
r
e
2
s
h
o
w
s
t
h
e
b
asic to
p
o
lo
g
y
o
f
SEP
I
C
.
Fig
u
r
e
2
.
B
asic to
p
o
lo
g
y
o
f
S
E
P
I
C
W
h
en
s
w
itc
h
S
is
tu
r
n
ed
o
n
,
ca
p
ac
ito
r
C
1
is
ch
ar
g
ed
to
i
n
p
u
t
v
o
lta
g
e
V
in
,
an
d
h
en
ce
t
h
e
v
o
ltag
e
ac
r
o
s
s
L
2
is
–
V
in
.
W
h
ile
S
w
itc
h
i
s
o
n
,
m
a
g
n
et
ic
e
n
er
g
y
is
s
to
r
e
d
in
i
n
d
u
cto
r
L
1
f
r
o
m
i
n
p
u
t
v
o
ltag
e
an
d
e
n
er
g
y
is
L
2
is
s
to
r
ed
f
r
o
m
C
1
W
h
e
n
s
w
itc
h
S
1
i
s
tu
r
n
ed
o
f
f
,
t
h
e
v
o
lt
ag
e
ac
r
o
s
s
in
d
u
cto
r
L
2
w
ill
b
e
Vo
.
W
h
ile
S
w
itc
h
is
o
f
f
,
th
e
cu
r
r
e
n
t
f
lo
w
i
n
g
th
r
o
u
g
h
L
1
al
s
o
f
lo
w
s
t
h
r
o
u
g
h
C
1
an
d
D
1
th
e
n
i
n
to
C
0
o
n
t
h
e
lo
ad
.
T
h
e
r
elatio
n
b
et
w
ee
n
in
p
u
t c
u
r
r
en
t,
o
u
tp
u
t
cu
r
r
en
t,
in
p
u
t v
o
lta
g
e,
o
u
tp
u
t
v
o
ltag
e
a
n
d
d
u
t
y
c
y
cle
ar
e
ex
p
r
ess
ed
b
elo
w
(8
-
9)
:
1
out
DC
V
D
VD
(
8
)
1
DC
out
I
D
ID
(
9
)
T
h
e
v
alu
e
o
f
t
h
e
in
d
u
cto
r
is
s
e
lecte
d
b
ased
o
n
th
e
f
o
llo
w
i
n
g
(
1
0
)
:
(
m
i
n
)
m
a
x
12
*
*
in
i
s
w
VD
L
L
L
If
(
1
0
)
w
h
er
e
Δ
I
i
is
t
h
e
p
ea
k
-
to
-
p
ea
k
v
al
u
e
o
f
r
ip
p
le
cu
r
r
e
n
t
at
th
e
m
i
n
i
m
u
m
in
p
u
t
v
o
ltag
e
an
d
f
s
w
is
th
e
s
w
i
tch
i
n
g
f
r
eq
u
en
c
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
I
n
tellig
en
t tu
n
ed
P
I
D
co
n
tr
o
ller
fo
r
W
in
d
E
n
erg
y
C
o
n
ve
r
s
io
n
S
ystem
w
ith
…
(
T.
Mu
th
u
ku
ma
r
i
)
137
T
h
e
v
alu
e
o
f
co
u
p
li
n
g
ca
p
ac
ito
r
C
1
d
ep
en
d
s
o
n
th
e
R
M
S c
u
r
r
en
t,
w
h
ic
h
is
g
i
v
en
b
y
(
1
1
)
:
()
(
m
i
n
)
*
o
u
t
D
c
s
r
m
s
o
u
t
DC
VV
II
V
(
1
1
)
T
h
e
co
u
p
lin
g
ca
p
ac
it
o
r
is
s
ele
cted
f
o
r
lar
g
e
v
al
u
e
o
f
()
c
s
r
m
s
I
w
h
e
n
r
ef
er
r
ed
to
th
e
o
u
tp
u
t
p
o
w
er
o
f
SEP
I
C
.
T
h
e
v
o
ltag
e
o
f
t
h
e
ca
p
ac
ito
r
m
u
s
t b
e
g
r
ea
ter
t
h
an
t
h
e
m
ax
i
m
u
m
i
n
p
u
t v
o
lta
g
e
(
1
2
)
.
m
a
x
1
1
*
*
out
c
sw
ID
V
Cf
(
1
2
)
T
h
e
o
u
tp
u
t c
ap
ac
ito
r
is
s
elec
te
d
to
h
an
d
le
th
e
lar
g
e
v
al
u
e
o
f
r
ip
p
le
cu
r
r
en
t.
4.
M
AXI
M
U
M
P
O
WE
R
P
O
I
NT
T
RA
CK
I
N
G
AL
G
O
R
I
T
H
M
Var
iab
le
Sp
ee
d
W
in
d
E
n
er
g
y
C
o
n
v
er
s
io
n
S
y
s
te
m
(
VSW
E
C
S)
i
n
te
g
r
ated
w
it
h
p
o
w
er
elec
tr
o
n
ic
co
n
v
er
ter
s
ar
e
b
ec
o
m
in
g
m
o
s
t
p
o
p
u
lar
n
o
w
ad
a
y
s
b
ec
au
s
e
o
f
m
ax
i
m
u
m
p
o
w
er
p
o
in
t
tr
ac
k
in
g
(
MP
PT
)
alg
o
r
ith
m
.
Fo
r
an
u
n
co
n
tr
o
lle
d
th
r
ee
-
p
h
ase
d
io
d
e
r
ec
ti
f
ier
t
h
e
o
u
tp
u
t
v
o
lta
g
e
V
dc
is
d
ir
ec
tl
y
p
r
o
p
o
r
tio
n
al
to
th
e
p
h
ase
v
o
lta
g
e
g
e
n
er
ated
b
y
th
e
P
MSG
[
1
4
]
.
Hen
ce
th
e
g
en
er
at
ed
p
o
w
er
/p
h
ase
is
g
i
v
e
n
b
y
(
1
3
)
:
rf
g
e
n
d
c
f
e
a
kI
P
V
k
I
R
(
1
3
)
w
h
er
e
:
e
is
th
e
elec
tr
ical
a
n
g
u
lar
s
p
ee
d
.
f
I
is
th
e
f
iled
cu
r
r
en
t.
dc
V
is
th
e
d
io
d
e
r
ec
tif
ier
o
u
tp
u
t
v
o
ltag
e.
r
is
th
e
a
n
g
u
lar
v
e
lo
cit
y
o
f
th
e
r
o
to
r
.
a
R
is
th
e
ar
m
a
tu
r
e
c
u
r
r
en
t.
V
dc
is
a
f
u
n
ctio
n
o
f
f
ield
cu
r
r
en
t
an
d
elec
tr
ical
an
g
u
lar
s
p
ee
d
.
E
x
tr
ac
ted
p
o
w
er
f
r
o
m
th
e
w
i
n
d
ca
n
b
e
co
n
tr
o
lled
b
y
v
ar
y
i
n
g
Vd
c.
Fro
m
th
e
c
h
ar
ac
ter
is
tic
s
o
f
w
i
n
d
tu
r
b
in
e
(
1
4
-
15)
0
m
e
c
h
r
dP
d
(1
4)
.
.
0
d
P
d
P
d
V
d
m
e
c
h
m
e
c
h
d
c
e
d
d
V
d
d
r
e
r
dc
(
1
5
)
T
h
en
(
1
6
)
0
m
e
c
h
dc
dP
dV
(
1
6
)
Fro
m
(
1
6
)
,
it
i
s
clea
r
th
at
t
h
e
m
ax
i
m
u
m
p
o
w
er
e
x
tr
ac
tio
n
[
1
5
]
d
ep
en
d
s
o
n
V
dc
i
n
a
s
i
n
g
le
p
o
in
t.
T
h
e
m
ax
i
m
u
m
p
o
w
er
ca
n
b
e
tr
ac
k
ed
b
y
s
ea
r
ch
in
g
r
ec
ti
f
ier
p
o
w
e
r
,
in
s
tead
o
f
w
i
n
d
s
p
ee
d
an
d
a
d
i
r
ec
tio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
1
3
3
–
145
138
First,
in
i
tiate
t
h
e
s
tep
an
d
s
ea
r
ch
p
o
in
t
alg
o
r
it
h
m
.
Se
t
th
e
r
ef
er
en
ce
D
C
v
o
lta
g
e
V
ref
.
T
h
en
m
ea
s
u
r
e
th
e
D
io
d
e
r
ec
tif
ier
o
u
tp
u
t
v
o
l
tag
e
a
n
d
c
u
r
r
en
t,
ca
lc
u
late
th
e
DC
o
u
tp
u
t
p
o
w
er
P
dc
=I
dc
V
dc
.
Nex
t
i
n
cr
ea
s
e
o
r
d
ec
r
ea
s
e
th
e
V
ref
v
o
lta
g
e
ac
co
r
d
in
g
to
f
lo
w
c
h
ar
t s
h
o
w
n
i
n
F
i
g
u
r
e
3
.
T
h
e
n
e
w
r
e
f
er
en
ce
D
C
v
o
lta
g
e
is
g
i
v
en
b
y
th
e
f
o
llo
w
in
g
(
1
7
)
:
(
)
(
1
)
r
e
f
r
e
f
d
c
V
n
V
n
V
(
1
7
)
T
h
en
th
e
n
e
w
DC
p
o
w
er
is
ca
l
cu
lated
as
(
1
8
)
:
(
)
(
)
.
(
)
d
c
d
c
P
n
I
n
V
n
(
1
8
)
C
o
m
p
ar
e
P
(
n
)
w
i
th
P
(
n
-
1
)
.
Dep
en
d
in
g
u
p
o
n
th
e
w
i
n
d
s
p
ee
d
co
n
d
itio
n
s
t
h
e
f
o
llo
w
i
n
g
co
n
d
itio
n
s
s
h
o
u
ld
b
e
m
e
t.
T
h
e
p
r
o
ce
s
s
w
i
ll
co
n
tin
u
e
u
n
ti
l
th
e
m
a
x
i
m
u
m
p
o
w
er
is
r
ea
c
h
ed
.
Fo
r
th
e
cu
t
i
n
s
p
ee
d
to
r
a
ted
s
p
ee
d
,
MP
PT
ex
tr
ac
ts
m
a
x
i
m
u
m
p
o
w
er
f
r
o
m
th
e
tu
r
b
i
n
e.
T
h
e
SE
P
I
C
is
u
s
ed
to
r
eg
u
late
t
h
e
D
C
v
o
ltag
e
ac
r
o
s
s
t
h
e
ca
p
ac
ito
r
C
0
.
I
n
th
e
p
r
o
p
o
s
ed
m
o
d
el,
MP
PT
co
n
tr
o
ller
is
u
s
ed
to
d
eliv
er
t
h
e
r
e
f
er
en
ce
D
C
v
o
ltag
e,
w
h
ic
h
is
co
m
p
ar
ed
w
it
h
th
e
ac
t
u
al
D
C
o
u
tp
u
t v
o
lta
g
e
f
r
o
m
t
h
e
SEP
I
C
.
Fig
u
r
e
3
.
MP
PT
alg
o
r
ith
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
I
n
tellig
en
t tu
n
ed
P
I
D
co
n
tr
o
ller
fo
r
W
in
d
E
n
erg
y
C
o
n
ve
r
s
io
n
S
ystem
w
ith
…
(
T.
Mu
th
u
ku
ma
r
i
)
139
5.
M
E
T
H
O
DS O
F
T
UNIN
G
P
I
D
CO
NT
RO
L
L
E
R
A
P
I
D
co
n
tr
o
ller
is
a
clo
s
e
d
lo
o
p
f
ee
d
b
ac
k
s
y
s
te
m
m
ai
n
l
y
u
s
ed
in
i
n
d
u
s
tr
ial
co
n
tr
o
l
s
y
s
te
m
s
.
I
t
co
n
tin
u
o
u
s
l
y
ca
lc
u
lates
t
h
e
v
alu
e
o
f
er
r
o
r
as
th
e
d
if
f
er
e
n
ce
b
et
w
ee
n
th
e
r
e
f
er
en
ce
v
a
lu
e
an
d
m
ea
s
u
r
ed
v
ar
iab
le
an
d
ap
p
lies
a
co
r
r
ec
tio
n
d
ep
en
d
s
o
n
th
e
P
I
D
p
ar
a
m
eter
s
o
f
K
p
,
K
i
an
d
K
d
.
T
h
e
p
r
o
ce
s
s
o
f
o
b
tain
i
n
g
th
e
P
I
D
co
n
tr
o
ller
p
ar
am
eter
s
in
o
r
d
er
to
g
et
d
esire
d
o
u
tp
u
t f
r
o
m
t
h
e
s
y
s
te
m
ca
lled
t
u
n
in
g
.
5
.
1
.
St
a
nd
a
rd
P
I
D
co
ntr
o
ller
T
h
e
m
at
h
e
m
atica
l r
ep
r
esen
tati
o
n
o
f
co
n
tr
o
l si
g
n
al
p
r
o
v
id
ed
b
y
P
I
D
co
n
tr
o
ller
is
g
i
v
e
n
b
y
(
1
9
-
20)
:
1
(
)
(
)
(
)
(
)
pd
i
d
e
t
u
t
K
e
t
e
t
d
t
T
T
d
t
(
1
9
)
b
u
t
p
i
i
K
K
T
,
d
p
d
K
K
T
th
en
(
1
7
)
b
ec
o
m
e
s
()
(
)
(
)
(
)
p
i
d
d
e
t
u
t
K
e
t
K
e
t
d
t
K
dt
(
2
0
)
w
h
er
e
T
i
is
th
e
in
teg
r
al
ti
m
e
co
n
s
tan
t.
T
d
is
th
e
d
er
iv
ativ
e
ti
m
e
co
n
s
t
an
t.
Fig
u
r
e
4
s
h
o
w
s
t
h
e
b
lo
ck
d
iag
r
a
m
o
f
co
n
v
en
t
io
n
al
P
I
D
co
n
tr
o
ller
.
Fig
u
r
e
4
.
B
lo
ck
d
iag
r
a
m
o
f
co
n
v
e
n
tio
n
al
P
I
D
co
n
tr
o
ller
5
.
2
.
F
uzzy
lo
g
ic
ba
s
ed
P
I
D
(
F
uzzy
-
P
I
D)
I
t
is
d
if
f
ic
u
lt
to
m
ee
t
th
e
d
es
ir
ed
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
b
y
u
s
i
n
g
C
o
n
v
en
tio
n
al
P
I
D
co
n
tr
o
ller
w
it
h
ti
m
e
d
ela
y
s
,
u
n
k
n
o
w
n
n
o
n
-
l
in
ar
ites
,
an
d
ch
a
n
g
e
i
n
s
y
s
te
m
p
ar
am
eter
s
.
Hen
ce
,
i
n
o
r
d
er
t
o
ac
h
iev
e
r
eq
u
ir
ed
p
er
f
o
r
m
a
n
ce
,
au
to
m
atic
t
u
n
in
g
o
f
P
I
D
p
ar
am
eter
s
i
s
n
ee
d
e
d
.
T
h
e
au
to
m
atic
t
u
n
in
g
h
a
s
b
ee
n
d
o
n
e
b
y
u
s
i
n
g
f
u
zz
y
lo
g
ic
co
n
tr
o
l.
T
h
e
b
lo
ck
d
iag
r
a
m
o
f
a
f
u
zz
y
P
I
D
co
n
tr
o
ller
s
h
o
w
n
i
n
F
ig
u
r
e
5
.
Fig
u
r
e
6
s
h
o
w
s
t
h
e
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
.
Fig
u
r
e
5
.
B
lo
ck
d
iag
r
a
m
o
f
F
u
zz
y
-
P
I
D
co
n
tr
o
ller
Fig
u
r
e
6
.
B
lo
ck
d
iag
r
a
m
o
f
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
1
3
3
–
145
140
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
co
n
t
ain
s
f
u
zz
if
icatio
n
s
y
s
te
m
,
r
u
le
b
ase
f
u
zz
y
in
f
er
en
ce
s
y
s
te
m
a
n
d
d
ef
u
zz
i
f
icatio
n
s
y
s
te
m
.
F
u
zz
i
f
icatio
n
is
t
h
e
p
r
o
ce
s
s
o
f
co
n
v
er
tin
g
t
h
e
in
p
u
t
v
al
u
e
s
in
to
f
u
zz
y
v
alu
e
s
.
T
h
en
f
u
zz
y
v
a
lu
e
s
ar
e
p
r
o
ce
s
s
ed
b
y
f
u
zz
y
i
n
f
er
en
ce
s
y
s
te
m
as
p
er
th
e
r
u
le
b
ase.
I
n
th
e
d
ef
u
zz
if
icatio
n
p
r
o
ce
s
s
,
f
u
zz
y
v
alu
e
s
ar
e
c
o
n
v
er
ted
b
ac
k
i
n
to
e
x
ac
t v
al
u
e
s
[
1
7
]
.
T
h
e
in
p
u
t
to
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
ar
e
th
e
er
r
o
r
e(
t
)
a
n
d
d
er
iv
ativ
e
o
f
er
r
o
r
Δ
e(
t)
.
T
h
e
o
u
tp
u
t
f
r
o
m
t
h
e
co
n
tr
o
ller
ar
e
p
r
o
p
o
r
tio
n
al
g
a
in
K
p
,
in
te
g
r
al
g
ai
n
K
i
an
d
d
er
iv
ati
v
e
g
ai
n
K
d
.
T
h
e
i
n
p
u
t
v
ar
iab
les
a
n
d
o
u
tp
u
t
v
ar
iab
les
h
a
v
e
s
e
v
e
n
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
s
.
T
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
ar
e
Z
(
ze
r
o
)
,
S
P
(
Sm
all
P
o
s
itiv
e)
,
SN
(
S
m
all
Ne
g
ati
v
e)
,
MP
(
Me
d
iu
m
P
o
s
itiv
e)
,
MN
(
Me
d
iu
m
Ne
g
ati
v
e)
,
V
P
(
Ver
y
P
o
s
iti
v
e)
,
VN
(
Ver
y
Ne
g
ati
v
e)
.
T
h
e
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
s
o
f
er
r
o
r
e(
t)
an
d
d
er
iv
ativ
e
o
f
er
r
o
r
Δ
e(
t)
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
7
a
n
d
F
i
g
u
r
e
8
.
T
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
o
u
tp
u
t
Kp
,
Ki,
a
n
d
Kd
is
s
h
o
w
n
in
F
ig
u
r
e
9
.
T
h
e
r
u
le
b
ase
f
o
r
th
e
f
u
zz
y
P
I
D
s
h
o
w
n
in
T
ab
le
1
.
Fig
u
r
e
7
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
er
r
o
r
e
(
t)
Fig
u
r
e
8
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
er
r
o
r
Δ
e
(
t)
Fig
u
r
e
9
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
o
u
tp
u
ts
K
p
,K
i,
an
d
K
d
T
ab
le
1
.
R
u
le
b
ase
f
o
r
Fu
zz
y
P
I
D
Er
r
o
r
e
(
t
)
D
e
r
i
v
a
t
i
v
e
o
f
e
r
r
o
r
Δe
(
t
)
VN
MN
SN
Z
SP
MP
VP
VN
VP
VP
MP
SP
SP
Z
SN
MN
MP
MP
MP
SP
SP
Z
SN
SN
MP
MP
MP
SP
Z
SN
SN
Z
MP
MP
SP
Z
SN
MN
MN
SP
SP
SP
Z
SN
SN
MN
MN
MP
SP
Z
SN
MN
MN
MN
BP
VP
Z
SN
MN
MN
MN
VN
VN
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
I
n
tellig
en
t tu
n
ed
P
I
D
co
n
tr
o
ller
fo
r
W
in
d
E
n
erg
y
C
o
n
ve
r
s
io
n
S
ystem
w
ith
…
(
T.
Mu
th
u
ku
ma
r
i
)
141
5
.
3
.
ANF
I
S ba
s
ed
P
I
D
(
AN
F
I
S
-
P
I
D)
A
d
ap
tiv
e
Neu
r
o
F
u
zz
y
I
n
f
er
e
n
ce
s
y
s
te
m
i
s
a
s
p
ec
ial
t
y
p
e
co
n
tr
o
ller
,
w
h
ich
co
m
b
in
e
s
a
n
ar
tific
ial
n
eu
r
al
n
et
w
o
r
k
a
n
d
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
.
Fi
g
u
r
e
1
0
.
s
h
o
w
s
t
h
e
b
lo
ck
d
ia
g
r
a
m
o
f
A
N
FIS
b
ased
P
I
D
f
o
r
clo
s
ed
lo
o
p
co
n
tr
o
l
o
f
SEP
I
C
.
A
NFI
S
h
a
s
t
h
e
ab
ilit
y
to
a
u
to
m
atica
ll
y
tu
n
e
th
e
p
ar
a
m
eter
s
f
o
r
P
I
D
co
n
tr
o
ller
.
Fo
r
th
e
A
N
FIS,
th
e
T
ak
ag
i
S
u
g
en
o
m
o
d
el
is
d
ev
elo
p
ed
w
it
h
th
e
u
s
e
o
f
i
n
p
u
t
o
u
tp
u
t
(
I
O)
d
ata
s
et.
T
h
e
I
O
s
et
h
as b
ee
n
co
n
s
id
er
ed
f
r
o
m
a
co
n
v
e
n
tio
n
al
tu
n
i
n
g
o
f
P
I
D
co
n
tr
o
ller
.
T
h
e
in
p
u
t
s
to
t
h
e
A
N
FIS
co
n
t
r
o
ller
ar
e
th
e
er
r
o
r
s
ig
n
al
e
(
t)
an
d
th
e
d
er
iv
ati
v
e
o
f
er
r
o
r
s
ig
n
al
Δ
e
(
t)
.
T
h
e
o
u
tp
u
t
f
r
o
m
t
h
e
A
N
FIS
co
n
tr
o
ller
ar
e
th
e
p
ar
a
m
eter
s
f
o
r
P
I
D
co
n
tr
o
ller
s
u
c
h
as
p
r
o
p
o
r
tio
n
al
g
ain
Kp
,
in
te
g
r
al
g
ai
n
Ki
a
n
d
d
er
iv
ativ
e
g
ain
Kd
.
Fi
g
u
r
e
1
1
s
h
o
w
s
th
e
A
N
FIS
s
tr
u
ctu
r
e
m
o
d
el
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
.
Fig
u
r
e
1
0
.
B
lo
ck
d
iag
r
am
o
f
A
N
FIS
-
P
I
D
co
n
tr
o
ller
Fig
u
r
e
1
1
.
A
NFI
S
s
tr
u
ct
u
r
e
T
h
e
A
N
FIs a
d
ap
tatio
n
p
r
o
ce
s
s
is
d
o
n
e
i
n
t
w
o
s
tep
s
.
First,
t
h
e
co
n
s
eq
u
e
n
t
p
ar
a
m
eter
s
tr
ain
i
n
g
i
s
d
o
n
e
b
y
lea
s
t
s
q
u
ar
e
m
et
h
o
d
.
T
h
e
p
r
em
i
s
e
p
ar
a
m
eter
is
f
i
x
ed
at
th
is
s
tep
.
Seco
n
d
l
y
,
b
y
g
r
ad
ie
n
t
d
esce
n
t
p
r
in
cip
le
th
e
ap
p
r
o
x
i
m
atio
n
er
r
o
r
is
b
ac
k
p
r
o
p
ag
ated
th
r
o
u
g
h
ea
ch
la
y
er
in
o
r
d
er
to
u
p
d
ate
th
e
p
ar
a
m
eter
s
.
T
w
o
f
u
zz
y
if
t
h
en
r
u
les
f
r
o
m
T
S
m
o
d
el
ar
e
r
ep
r
esen
ted
b
y
(
2
1
)
,
(
2
2
)
:
R
u
le
1
: I
f
(
X
i
s
A
1
)
an
d
(
Y
is
B
1
)
th
en
(
2
1
)
R
u
le
2
: I
f
(
X
i
s
A
2
)
an
d
(
Y
is
B
2
)
th
en
(
2
2
)
T
h
e
o
v
er
all
o
u
tp
u
t f
r
o
m
ANFI
S is
(
2
3
)
6.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
T
h
e
d
esig
n
ed
in
te
lli
g
en
t
tu
n
ed
P
I
D
co
n
tr
o
ller
w
it
h
V
SW
E
C
S
a
n
d
AC
-
DC
-
AC
c
o
n
v
er
ter
i
s
i
m
p
le
m
en
ted
u
s
i
n
g
M
A
T
L
A
B
/Si
m
u
li
n
k
s
o
f
t
w
ar
e
to
o
l.
T
h
e
s
i
m
u
lat
io
n
s
h
av
e
b
ee
n
p
er
f
o
r
m
ed
b
y
m
ai
n
tai
n
i
n
g
th
e
co
n
s
ta
n
t
p
itc
h
an
g
le.
I
n
o
r
d
er
to
an
al
y
ze
th
e
V
SW
E
C
S
,
th
e
s
tep
ch
an
g
e
i
n
w
in
d
s
p
e
ed
is
g
iv
e
n
as
t
h
e
in
p
u
t
to
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
.
T
h
e
s
tep
ch
an
g
es
i
n
w
i
n
d
s
p
ee
d
w
ith
r
e
s
p
ec
t
to
ti
m
e
s
h
o
w
n
in
F
ig
u
r
e
1
2
.
W
ith
th
e
v
ar
iatio
n
o
f
w
i
n
d
s
p
ee
d
,
th
e
F
ig
u
r
e
1
3
to
F
ig
u
r
e
1
5
s
h
o
w
th
e
D
io
d
e
r
ec
tif
ier
o
u
t
p
u
t
v
o
lta
g
e,
SEP
I
C
o
u
tp
u
t
v
o
lta
g
e
w
it
h
o
u
t
co
n
tr
o
ller
s
.
T
h
e
co
n
tr
o
lled
o
u
tp
u
t
v
o
ltag
e
f
r
o
m
SEP
I
C
i
s
g
i
v
en
to
th
e
in
v
er
ter
.
T
h
e
o
u
tp
u
t
w
a
v
e
f
o
r
m
o
f
i
n
v
er
ter
is
s
h
o
w
n
in
Fig
u
r
e
1
6
.
1
1
1
1
f
p
X
q
Y
r
2
2
2
2
f
p
X
q
Y
r
4
0*
i
i
i
i
i
i
Wf
i
W
X
f
W
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
1
3
3
–
145
142
Fig
u
r
e
1
2
.
Step
ch
an
g
e
i
n
w
i
n
d
s
p
ee
d
Fig
u
r
e
1
3
.
Dio
d
e
r
ec
tif
ier
o
u
tp
u
t v
o
lta
g
e
f
o
r
v
ar
iab
le
w
i
n
d
s
p
ee
d
Fig
u
r
e
1
4
.
SEP
I
C
o
u
tp
u
t v
o
lta
g
e
w
it
h
o
u
t c
o
n
tr
o
ller
Fig
u
r
e
1
5
.
SEP
I
C
o
u
tp
u
t v
o
lta
g
e
w
it
h
A
NFI
S
-
P
I
D
co
n
tr
o
ller
T
h
en
th
e
o
u
tp
u
t
v
o
lta
g
e
f
r
o
m
i
n
v
er
ter
i
s
g
iv
e
n
to
t
h
e
g
r
id
o
r
lo
ad
th
r
o
u
g
h
t
h
e
t
h
r
ee
p
h
ase
tr
an
s
f
o
r
m
er
.
W
ith
t
h
e
s
i
m
u
lat
io
n
s
t
u
d
y
,
v
ar
iab
le
v
o
ltag
e,
a
n
d
v
ar
iab
le
f
r
eq
u
e
n
c
y
o
b
tain
ed
f
r
o
m
V
SW
E
C
S
w
a
s
co
n
v
er
ted
as
co
n
s
tan
t
v
o
ltag
e
(
4
0
0
Vo
lts
)
an
d
co
n
s
tan
t
f
r
eq
u
en
c
y
(
5
0
Hz)
b
y
in
tel
li
g
en
t
t
u
n
in
g
o
f
P
I
D
co
n
tr
o
ller
s
u
c
h
as
F
u
zz
y
-
P
I
D,
an
d
ANFI
S
-
P
I
D.
T
h
e
g
r
id
v
o
ltag
e
an
d
g
r
id
cu
r
r
en
t
o
b
tain
ed
f
r
o
m
t
h
e
p
r
o
p
o
s
ed
m
o
d
el
i
s
s
h
o
w
n
i
n
F
i
g
u
r
e
1
7
an
d
F
ig
u
r
e
1
8
.
T
h
e
co
m
p
ar
is
o
n
o
f
p
er
f
o
r
m
a
n
ce
o
f
SEP
I
C
b
ased
o
n
in
telli
g
e
n
t
tu
n
ed
P
I
D
co
n
tr
o
ller
f
o
r
VSW
E
C
S s
h
o
w
n
i
n
T
ab
le
2
.
I
t
is
in
f
er
r
ed
th
at
ANFI
S
-
P
I
D
s
y
s
te
m
p
r
o
d
u
ce
s
s
m
o
o
t
h
er
o
u
t
p
u
t
w
it
h
les
s
p
ea
k
o
v
er
s
h
o
o
t
a
n
d
T
HD.
T
h
e
s
te
ad
y
s
tate
er
r
o
r
al
m
o
s
t
ze
r
o
f
o
r
all
th
e
co
n
tr
o
ller
s
.
T
h
e
d
if
f
er
en
t
p
er
f
o
r
m
an
ce
s
p
ec
i
f
icatio
n
s
h
av
e
b
ee
n
i
m
p
r
o
v
ed
u
s
in
g
t
h
e
in
te
lli
g
en
t
P
I
D
tu
n
i
n
g
m
et
h
o
d
s
b
u
t
t
h
e
r
is
e
ti
m
e
i
s
les
s
in
ca
s
e
o
f
co
n
v
e
n
tio
n
al
P
I
D
tu
n
in
g
.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
f
u
zz
y
lo
g
ic
co
n
tr
o
lle
r
is
co
m
p
ar
ativ
el
y
b
etter
th
a
n
t
h
at
o
f
th
e
co
n
v
e
n
tio
n
a
l
P
I
D
co
n
tr
o
ller
.
T
h
e
b
est p
er
f
o
r
m
a
n
ce
in
ter
m
s
o
f
v
o
lta
g
e,
f
r
eq
u
en
c
y
,
T
HD,
s
ettlin
g
ti
m
e
a
n
d
p
ea
k
o
v
er
s
h
o
o
t g
i
v
e
n
b
y
A
N
FIS
-
P
I
D.
T
h
is
is
b
ec
au
s
e
o
f
t
h
e
co
m
b
i
n
ed
ad
v
an
ta
g
e
s
o
f
Ne
u
r
al
n
et
w
o
r
k
an
d
f
u
zz
y
u
s
ed
i
n
t
h
e
ANFI
S
co
n
tr
o
ller
.
Fig
u
r
e
1
6
.
I
n
v
er
ter
o
u
tp
u
t v
o
lt
ag
e
Fig
u
r
e
1
7
.
Gr
id
v
o
ltag
e
Evaluation Warning : The document was created with Spire.PDF for Python.