I
AE
S
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
RA)
Vo
l.
1
0
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
,
p
p
.
2
24
~
2
34
I
SS
N:
2722
-
2586
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
r
a
.
v
1
0
i
3
.
pp
2
24
-
2
34
224
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Applica
tion
of
DP
C
a
nd
D
PC
-
GA
to
the
dua
l
-
ro
tor
w
ind
turbine
sy
ste
m
w
i
th
D
FIG
H
a
bib
B
enbo
uh
en
ni
De
p
a
rtme
n
t
of
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
L
a
b
.
L
AA
S
,
Na
ti
o
n
a
l
P
o
ly
te
c
h
n
ic
of
Ora
n
,
A
lg
e
ria
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
an
2
9
,
2
0
2
1
R
ev
i
s
ed
A
p
r
9
,
2
0
2
1
A
cc
ep
ted
A
p
r
1
4
,
2
0
2
1
T
h
e
w
o
rk
p
re
se
n
ts
th
e
d
u
a
l
-
r
o
to
r
w
in
d
e
n
e
rg
y
c
o
n
v
e
rsio
n
sy
ste
m
(
DRW
ECS
)
w
it
h
a
d
irec
t
d
riv
e
n
d
o
u
b
ly
-
f
e
d
in
d
u
c
ti
o
n
g
e
n
e
ra
to
r
(DFIG
).
Th
e
sy
ste
m
c
o
n
sists
of
a
d
u
a
l
-
ro
t
o
r
w
in
d
t
u
r
b
in
e
(DRW
T
)
w
it
h
a
DFIG
,
th
e
g
rid
sid
e
co
n
v
e
rter
(G
S
C),
a
n
d
th
e
m
a
c
h
in
e
sid
e
c
o
n
v
e
rter
(M
S
C)
.
To
c
o
m
m
a
n
d
th
e
M
S
C,
th
e
d
irec
t
p
o
w
e
r
c
o
m
m
a
n
d
(D
P
C)
b
a
se
d
on
g
e
n
e
ti
c
a
lg
o
rit
h
m
(
GA
)
a
n
d
c
las
sic
a
l
p
u
lse
w
id
th
m
o
d
u
l
a
ti
o
n
(
P
W
M
)
h
a
s
b
e
e
n
a
p
p
li
e
d
.
To
a
c
h
iev
e
th
e
m
a
x
i
m
u
m
p
o
w
e
r
f
ro
m
th
e
DRWT
,
th
e
m
a
x
i
m
u
m
pow
er
p
o
in
t
trac
k
in
g
(M
P
P
T
)
tec
h
n
iq
u
e
h
a
s
b
e
e
n
u
se
d
.
T
h
e
p
e
rf
o
r
m
e
d
si
m
u
lati
o
n
stu
d
ies
c
o
n
f
irme
d
th
e
h
ig
h
p
e
rf
o
rm
a
n
c
e
s
of
th
e
D
P
C
-
GA
c
o
n
tro
l
m
e
th
o
d
.
K
ey
w
o
r
d
s
:
D
ir
ec
t p
o
w
er
co
m
m
a
n
d
D
o
u
b
l
y
-
f
ed
in
d
u
ctio
n
g
e
n
er
at
o
r
D
u
al
-
r
o
to
r
w
i
n
d
en
er
g
y
co
n
v
er
s
io
n
s
y
s
te
m
D
u
al
-
ro
to
r
w
i
n
d
tu
r
b
in
e
MP
PT
P
W
M
T
h
is
is
an
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r
th
e
CC
BY
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Hab
ib
B
en
b
o
u
h
en
n
i
Dep
ar
t
m
en
t
of
E
lectr
ical
E
n
g
i
n
ee
r
in
g
L
ab
.
L
AAS
Natio
n
al
P
o
l
y
tech
n
ic
of
Or
an
BP
1
5
2
3
El
M'
n
ao
u
er
E
s
-
Sé
n
ia
,
Or
an
,
A
l
g
er
ia
E
m
ail:
h
ab
ib
0
2
6
4
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
In
th
e
f
ield
of
elec
tr
ical
en
er
g
y
,
th
er
e
ar
e
m
a
n
y
d
i
f
f
er
en
t
an
d
v
ar
ied
s
o
u
r
ce
s
,
w
h
er
e
we
f
in
d
r
en
e
w
ab
le
an
d
n
o
n
-
r
en
e
w
ab
le
s
o
u
r
ce
s
.
W
in
d
e
n
er
g
y
is
a
t
y
p
e
of
r
en
e
w
ab
le
e
n
er
g
y
.
T
h
e
lat
ter
h
as
b
ec
o
m
e
t
h
e
m
ai
n
p
illar
of
th
e
g
lo
b
al
ec
o
n
o
m
y
a
n
d
t
h
e
p
r
o
d
u
ctio
n
of
ele
ctr
ical
en
er
g
y
f
r
o
m
th
e
w
i
n
d
en
er
g
y
we
u
s
e
w
i
n
d
tu
r
b
in
es.
C
u
r
r
en
t
l
y
,
th
er
e
ar
e
t
w
o
t
y
p
es
of
t
u
r
b
in
es
to
g
e
n
e
r
ate
elec
tr
ic
p
o
w
er
,
w
h
ich
ar
e
s
in
g
le
-
r
o
t
or
w
i
n
d
tu
r
b
in
e
(
SR
W
T
)
an
d
d
u
al
-
r
o
to
r
w
i
n
d
p
o
w
er
(
DR
W
P
)
.
B
u
t,
th
e
SR
W
T
is
w
id
el
y
u
s
ed
in
elec
tr
ic
p
o
w
er
g
en
er
atio
n
co
m
p
ar
ed
to
DR
W
T
an
d
th
is
is
d
u
e
to
th
a
t
D
R
W
T
is
a
n
e
w
l
y
d
is
co
v
er
ed
co
m
p
ar
ed
to
th
e
S
R
W
T
s
y
s
te
m
.
A
l
s
o
,
th
e
g
en
er
atio
n
of
elec
tr
ical
en
er
g
y
de
p
en
d
s
on
co
n
v
er
ti
n
g
m
ec
h
a
n
ical
en
er
g
y
in
to
elec
tr
ical
en
er
g
y
,
u
s
i
n
g
g
e
n
er
ato
r
s
,
as
th
er
e
ar
e
s
e
v
er
al
g
e
n
er
ato
r
s
,
f
o
r
e
x
e
m
p
le:
s
y
n
c
h
r
o
n
o
u
s
g
e
n
er
ato
r
(
SG)
,
p
er
m
a
n
e
n
t
m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
g
e
n
er
ato
r
(
P
MSG)
,
an
d
d
o
u
b
l
y
-
f
ed
in
d
u
ctio
n
g
en
er
at
o
r
(
DFI
G)
.
In
o
u
r
ar
tic
le,
we
w
ill
r
el
y
on
g
e
n
er
atin
g
elec
tr
ic
en
er
g
y
u
s
i
n
g
a
DFI
G
-
b
ased
DR
W
T
s
y
s
te
m
.
In
th
e
f
ie
ld
of
s
cien
t
if
ic
r
esar
ch
e,
t
h
er
e
ar
e
s
ev
er
al
m
e
th
o
d
s
f
o
r
co
n
tr
o
llin
g
g
e
n
er
ato
r
s
,
f
o
r
ex
a
m
p
le:
in
d
ir
ec
t
v
ec
to
r
co
n
tr
o
l
(
I
VC
)
[1
]
-
[
3
]
,
b
ac
k
s
tep
p
in
g
co
m
m
a
n
d
[4
]
-
[
6
]
,
d
ir
e
ct
to
r
q
u
e
co
m
m
a
n
d
(
DT
C
)
[7
]
-
[
1
0
]
,
d
ir
ec
t
v
ec
to
r
co
m
m
a
n
d
[
1
1
]
-
[
1
3
]
,
d
ir
ec
t
p
o
w
er
co
m
m
a
n
d
(
DP
C
)
[
1
4
]
-
[
1
8
]
,
in
tellig
e
n
t
co
m
m
a
n
d
[
1
9
]
-
[
2
2
]
,
n
o
n
-
li
n
ea
r
co
m
m
a
n
d
[
2
3
]
-
[
25]
an
d
h
y
b
r
i
d
co
m
m
an
d
[
2
6
]
-
[
3
0
]
.
In
t
h
is
w
o
r
k
,
th
e
DP
C
tec
h
n
i
q
u
e
w
it
h
th
e
ap
p
licatio
n
of
th
e
g
e
n
etic
alg
o
r
it
h
m
(
G
A
)
a
n
d
tr
ad
itio
n
al
P
W
M
tech
n
iq
u
e
h
as
b
ee
n
co
n
s
id
er
ed
.
T
h
e
o
r
ig
in
al
co
n
tr
i
b
u
tio
n
of
th
i
s
w
o
r
k
is
t
h
e
ap
p
licatio
n
of
t
h
e
GA
m
et
h
o
d
in
th
e
DP
C
s
y
s
te
m
w
it
h
t
h
r
ee
-
p
h
ase
DFI
G
-
b
ased
DR
W
T
an
d
s
im
u
lat
io
n
in
v
e
s
tig
atio
n
of
th
is
n
e
w
co
m
m
a
n
d
s
tr
ate
g
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:
2722
-
2586
A
p
p
lica
tio
n
o
f D
P
C
a
n
d
DP
C
-
GA
to
th
e
d
u
a
l
-
r
o
to
r
w
in
d
tu
r
b
in
e
s
ystem
w
ith
DF
I
G
(
Ha
b
ib
B
en
b
o
u
h
e
n
n
i
)
225
T
h
is
w
o
r
k
is
d
iv
id
ed
i
n
to
s
ev
en
p
ar
ts
.
In
s
ec
tio
n
1,
th
e
i
n
tr
o
d
u
ctio
n
is
p
r
ese
n
ted
.
In
s
ec
t
io
n
2,
th
e
m
o
d
el
of
t
h
e
DFI
G
is
d
escr
ib
ed
.
T
h
e
DR
W
T
h
as
b
ee
n
d
is
c
u
s
s
ed
in
s
ec
tio
n
3.
In
s
ec
tio
n
4,
th
e
d
escr
ip
tio
n
of
th
e
clas
s
ical
DP
C
tec
h
n
iq
u
e
is
p
r
esen
ted
.
Sec
tio
n
5
d
ea
ls
w
i
th
t
h
e
d
escr
ip
tio
n
of
t
h
e
DP
C
tech
n
iq
u
e
w
it
h
t
h
e
ap
p
licatio
n
of
a
g
e
n
etic
a
lg
o
r
i
th
m
.
Si
m
u
latio
n
s
t
u
d
ies
ar
e
p
r
esen
ted
a
n
d
d
is
cu
s
s
ed
in
s
ec
t
io
n
6.
We
f
i
n
i
s
h
ed
th
e
p
ap
er
w
it
h
th
e
co
n
clu
s
io
n
.
2.
DF
I
G
M
O
DE
L
T
h
e
m
ath
e
m
at
ical
m
o
d
el
of
t
h
e
DFI
G
h
a
s
b
ee
n
p
r
ese
n
ted
in
d
etail
in
[
3
1
]
-
[
33]
by
u
s
in
g
t
h
e
P
ar
k
m
o
d
el.
T
h
e
eq
u
atio
n
of
f
l
u
x
a
n
d
v
o
ltag
e
s
of
r
o
to
r
an
d
s
tato
r
DFI
G
ar
e
g
iv
e
n
as
(
1
)
.
{
ds
=
ds
+
dt
ds
−
qs
qs
=
qs
+
dt
qs
+
ds
dr
=
dr
+
dt
dr
−
qr
qr
=
qr
+
dt
qr
+
dr
(
1
)
T
h
e
f
lu
x
can
be
ex
p
r
ess
ed
as
(
2
)
.
{
=
+
=
+
=
+
=
+
(
2
)
T
h
e
r
ea
ctiv
e
an
d
ac
tiv
e
p
o
w
er
s
can
be
ex
p
r
ess
ed
as
(
3
)
.
{
=
3
2
(
+
)
=
3
2
(
−
)
(
3
)
T
h
e
to
r
q
u
e
is
ex
p
r
ess
ed
as
(
4
)
.
=
+
⋅
+
⋅
(
4
)
3.
DUAL
-
RO
T
O
R
WI
ND
T
UR
B
I
NE
T
r
a
d
itio
n
all
y
,
SR
W
T
is
a
cl
ass
ical
t
y
p
e
of
w
i
n
d
t
u
r
b
in
e
u
s
ed
to
th
i
s
d
a
y
in
t
h
e
p
r
o
d
u
ctio
n
of
elec
tr
ical
en
er
g
y
.
T
h
e
id
ea
l
m
ax
i
m
u
m
p
o
w
er
co
ef
f
icie
n
t
of
th
i
s
t
y
p
e
is
5
9
%.
So
,
th
e
SR
WT
g
iv
es
us
a
s
o
m
e
w
h
ar
t
a
v
er
ag
e
co
ef
f
icie
n
t.
T
h
er
e
is
a
n
o
th
er
t
y
p
e
of
w
i
n
d
t
u
r
b
in
e
th
at
g
iv
e
s
a
lar
g
er
co
ef
f
icie
n
t
ca
l
led
DR
W
T
.
T
h
e
latter
h
as
a
c
o
ef
f
icien
t
esti
m
ated
at
6
4
%.
T
h
er
ef
o
r
e,
th
e
DR
W
T
im
p
r
o
v
es
th
e
m
a
x
i
m
u
m
p
o
w
er
co
ef
f
icie
n
t
of
5%
co
m
p
ar
ed
to
SR
W
T
[
3
4
]
.
It
can
be
s
aid
t
h
at
D
R
W
T
g
iv
e
s
us
m
o
r
e
to
r
q
u
e
an
d
m
ec
h
a
n
ical
p
o
w
er
th
a
n
SR
W
T
.
In
th
e
DR
W
T
t
y
p
e,
th
er
e
ar
e
t
w
o
t
u
r
b
in
es
(
A
u
x
iliar
y
t
u
r
b
in
e
an
d
m
a
in
t
u
r
b
in
e)
.
T
h
e
b
lo
ck
d
iag
r
a
m
of
th
e
D
R
W
T
s
h
o
w
in
Fi
g
u
r
e
1
[
3
5
]
.
T
h
e
to
tal
ae
r
o
d
y
n
a
m
ic
to
r
q
u
e
of
DR
W
T
i
s
th
e
A
u
x
ili
ar
y
t
u
r
b
in
e
p
l
u
s
t
h
e
m
ai
n
tu
r
b
i
n
e
to
r
q
u
e
as
s
h
o
w
n
by
(
5
)
.
=
=
+
(
5
)
W
h
er
e:
T
M
:
Ma
in
tu
r
b
in
e
to
r
q
u
e.
T
A
:
Au
x
iliar
y
t
u
r
b
in
e
to
r
q
u
e.
T
T
:
T
o
tal
to
r
q
u
e
or
DR
W
T
to
r
q
u
e.
T
h
e
ae
r
o
d
y
n
a
m
ic
to
r
q
u
e
of
th
e
au
x
il
iar
y
t
u
r
b
in
e
ar
e
g
i
v
en
by
(
6
)
[
3
6
]
.
=
1
2
3
.
.
.
.
5
.
.
2
(
6
)
T
h
e
ae
r
o
d
y
n
a
m
ic
to
r
q
u
e
of
th
e
m
ain
t
u
r
b
in
e
ar
e
g
iv
e
n
by
(
7)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2722
-
2586
I
A
E
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
:
2
2
4
–
2
3
4
226
=
1
2
3
.
.
.
.
5
.
.
2
(
7
)
W
ith
R
a,
R
M
:
b
lad
e
r
ad
iu
s
of
th
e
m
ai
n
an
d
a
u
x
i
liar
y
t
u
r
b
in
es,
λ
A
,
λ
M
:
th
e
t
ip
s
p
ee
d
r
atio
n
of
th
e
m
ai
n
an
d
au
x
i
liar
y
t
u
r
b
in
e
s
,
ρ:
t
h
e
air
d
en
s
it
y
a
n
d
w
M
,
w
A
t
h
e
m
ec
h
a
n
i
ca
l
s
p
ee
d
of
th
e
m
ai
n
a
n
d
au
x
i
liar
y
r
o
to
r
s
.
Cp
can
be
ca
lcu
lated
as
(
8
)
.
(
,
)
=
1
+
0
.
08
−
0
.
035
3
+
1
(
8
)
W
it
h
β
is
p
itc
h
an
g
le
T
h
e
tip
s
p
ee
d
r
atio
s
f
o
r
th
e
m
ain
a
n
d
au
x
iliar
y
tu
r
b
i
n
es
ar
e
ca
lcu
lated
th
r
o
u
g
h
(
9
)
an
d
(
1
0
)
,
r
esp
ec
tiv
el
y
.
=
.
1
(
9
)
=
.
(
1
0
)
W
h
er
e
V
1
is
th
e
w
i
n
d
s
p
ee
d
on
an
A
W
T
an
d
V
M
is
th
e
s
p
ee
d
of
th
e
u
n
i
f
ied
w
in
d
on
t
h
e
m
ai
n
tu
r
b
i
n
e.
On
t
h
e
o
th
er
h
an
d
,
th
e
es
s
en
tial
ele
m
en
t
f
o
r
ca
lcu
lat
in
g
th
e
tip
s
p
e
ed
r
atio
is
w
i
n
d
s
p
ee
d
on
th
e
m
ai
n
an
d
au
x
iliar
y
tu
r
b
in
es.
Ob
tain
in
g
t
h
e
w
in
d
s
p
ee
d
on
t
h
e
a
u
x
il
iar
y
tu
r
b
in
e
is
s
tr
aig
h
t
f
o
r
w
ar
d
.
Ho
w
e
v
er
,
t
he
ca
lc
u
lat
io
n
of
w
i
n
d
s
p
ee
d
on
th
e
m
ai
n
t
u
r
b
in
e
r
eq
u
ir
es
f
u
r
th
er
i
n
v
e
s
ti
g
ati
o
n
.
B
ased
on
(
1
1
)
,
it
is
p
o
s
s
ib
le
to
esti
m
ate
th
e
a
m
o
u
n
t
of
t
h
e
w
i
n
d
s
p
ee
d
at
an
y
p
o
in
t
b
et
w
ee
n
t
h
e
au
x
iliar
y
an
d
m
ai
n
b
lad
es.
=
1
(
1
−
1
−
√
(
1
−
)
2
(
1
+
2
.
√
1
+
4
.
2
)
)
(
1
1
)
W
ith
x:
t
h
e
n
o
n
-
d
i
m
e
n
s
io
n
al
d
is
tan
ce
f
r
o
m
t
h
e
au
x
iliar
y
r
o
to
r
d
is
k
,
Vx
th
e
v
elo
cit
y
of
th
e
d
is
t
u
r
b
ed
w
i
n
d
b
et
w
ee
n
r
o
to
r
s
at
p
o
in
t
x
an
d
C
T
th
e
tr
u
s
t
co
ef
f
icie
n
t,
w
h
ich
is
tak
e
n
to
be
0
.
9
.
So
,
w
it
h
r
esp
ec
t
to
x
=1
5
,
th
e
v
alu
e
of
th
e
Vx
clo
s
e
to
th
e
m
ai
n
r
o
to
r
is
co
m
p
u
tab
le
(
r
o
to
r
s
ar
e
lo
ca
ted
15
m
eter
s
ap
ar
t
f
r
o
m
each
o
th
er
)
[
3
4
]
.
Fig
u
r
e
1.
B
lo
ck
d
iag
r
a
m
of
D
R
W
T
w
it
h
a
DFI
G.
Fig
u
r
es
2
-
7
s
h
o
w
t
h
e
o
b
tain
ed
s
i
m
u
latio
n
r
es
u
lts
.
A
cc
o
r
d
in
g
t
o
th
e
s
e
f
i
g
u
r
es,
we
n
o
tice
th
at
th
e
m
ec
h
a
n
ical
p
o
w
er
s
e
x
tr
ac
ted
ar
e
ad
ap
ted
to
th
e
v
ar
iatio
n
of
th
e
w
in
d
s
p
ee
d
an
d
t
h
e
to
ta
l
m
ec
h
an
ical
p
o
w
er
(
P
m
t
=
0
.
5
2
MW
)
at
th
e
m
o
m
en
t
t
=
4
s
is
eq
u
al
to
th
e
s
u
m
m
atio
n
of
t
h
e
t
w
o
m
ec
h
an
i
ca
l
p
o
w
er
s
s
ec
o
n
d
ar
y
r
o
to
r
(
P
m
2
=
0
.
0
2
MW)
an
d
m
ain
r
o
to
r
(
P
m
1
=
0
.
5
0
M
W
)
.
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:
2722
-
2586
A
p
p
lica
tio
n
o
f D
P
C
a
n
d
DP
C
-
GA
to
th
e
d
u
a
l
-
r
o
to
r
w
in
d
tu
r
b
in
e
s
ystem
w
ith
DF
I
G
(
Ha
b
ib
B
en
b
o
u
h
e
n
n
i
)
227
Fig
u
r
e
2.
W
in
d
s
p
ee
d
V1
.
Fig
u
r
e
3.
W
in
d
s
p
ee
d
V
M
.
Fig
u
r
e
4.
Au
x
i
liar
y
m
ec
h
a
n
ica
l
p
o
w
er
.
Fig
u
r
e
5.
Ma
in
m
ec
h
a
n
ical
p
o
w
er
.
Fig
u
r
e
6.
R
o
tatio
n
al
s
p
ee
d
.
Fig
u
r
e
7.
T
o
tal
m
ec
h
a
n
ical
po
w
er
.
4.
CL
AS
SI
CA
L
DP
C
M
E
T
H
O
D
DP
C
or
d
ir
ec
t
p
o
w
er
co
m
m
a
n
d
u
s
in
g
cla
s
s
ical
lo
o
k
u
p
tab
l
e
is
t
h
e
m
o
s
t
u
s
ed
co
m
m
a
n
d
s
tr
ateg
y
f
o
r
DFI
G
-
b
ased
DR
W
P
s
y
s
te
m
s
.
In
t
h
is
s
tr
ate
g
y
,
t
w
o
h
y
s
ter
esi
s
co
m
p
ar
ato
r
s
ar
e
u
s
ed
to
co
n
tr
o
llin
g
t
h
e
r
ea
cti
v
e
an
d
ac
ti
v
e
p
o
w
er
s
.
Ho
w
e
v
e
r,
th
i
s
m
et
h
o
d
is
a
s
i
m
p
le
alg
o
r
ith
m
a
n
d
r
ed
u
ce
d
p
o
w
er
o
s
cillatio
n
,
to
r
q
u
e
o
s
cillatio
n
a
n
d
h
ar
m
o
n
ic
d
is
to
r
tio
n
(
T
HD)
of
s
tato
r
cu
r
r
e
n
t
co
m
p
ar
ed
to
f
ield
-
o
r
ie
n
ted
co
n
tr
o
l
(
FO
C
)
.
On
th
e
o
th
er
h
a
n
d
,
t
h
is
m
et
h
o
d
g
iv
e
s
a
f
ast
r
esp
o
n
s
e
d
y
n
a
m
ic
co
m
p
ar
ed
to
th
e
FO
C
s
tr
ateg
y
.
Fi
g
u
r
e
8
s
h
o
w
s
t
h
e
class
ical
DP
C
m
et
h
o
d
of
DFI
G
d
r
iv
en
by
D
R
W
T
.
Fig
u
r
e
8.
C
lass
ical
DP
C
co
n
tr
o
l.
0
1
2
3
4
5
6
7
8
0
5
10
15
T
i
m
e
(
s
)
W
i
n
d
s
p
e
e
d
V
1
(
m
/
s
)
0
1
2
3
4
5
6
7
8
0
5
10
15
20
T
i
m
e
(
s
)
W
i
n
d
s
p
e
e
d
V
M
(
m
/
s
)
0
1
2
3
4
5
6
7
8
-2
0
2
4
x
1
0
4
T
i
m
e
(
s
)
M
e
c
h
a
n
i
c
a
l
p
o
w
e
r
P
1
(
W
)
0
1
2
3
4
5
6
7
8
-1
-
0
.
5
0
0
.
5
1
x
1
0
6
T
i
m
e
(
s
)
M
e
c
h
a
n
i
c
a
l
p
o
w
e
r
P
M
(
W
)
0
1
2
3
4
5
6
7
8
0
100
200
300
T
i
m
e
(
s
)
R
o
t
a
t
i
o
n
a
l
s
p
e
e
d
(
r
a
d
/
s
)
0
1
2
3
4
5
6
7
8
-1
-
0
.
5
0
0
.
5
1
x
1
0
6
T
i
m
e
(
s
)
M
e
c
h
a
n
i
c
a
l
p
o
w
e
r
P
t
(
W
)
0
1
2
3
4
5
6
7
8
0
5
10
15
T
i
m
e
(
s
)
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n
d
s
p
e
e
d
V
1
(
m
/
s
)
0
1
2
3
4
5
6
7
8
0
5
10
15
20
T
i
m
e
(
s
)
W
i
n
d
s
p
e
e
d
V
M
(
m
/
s
)
0
1
2
3
4
5
6
7
8
-2
0
2
4
x
1
0
4
T
i
m
e
(
s
)
M
e
c
h
a
n
i
c
a
l
p
o
w
e
r
P
1
(
W
)
0
1
2
3
4
5
6
7
8
-1
-
0
.
5
0
0
.
5
1
x
1
0
6
T
i
m
e
(
s
)
M
e
c
h
a
n
i
c
a
l
p
o
w
e
r
P
M
(
W
)
0
1
2
3
4
5
6
7
8
0
100
200
300
T
i
m
e
(
s
)
R
o
t
a
t
i
o
n
a
l
s
p
e
e
d
(
r
a
d
/
s
)
0
1
2
3
4
5
6
7
8
-1
-
0
.
5
0
0
.
5
1
x
1
0
6
T
i
m
e
(
s
)
M
e
c
h
a
n
i
c
a
l
p
o
w
e
r
P
t
(
W
)
0
1
2
3
4
5
6
7
8
0
5
10
15
T
i
m
e
(
s
)
W
i
n
d
s
p
e
e
d
V
1
(
m
/
s
)
0
1
2
3
4
5
6
7
8
0
5
10
15
20
T
i
m
e
(
s
)
W
i
n
d
s
p
e
e
d
V
M
(
m
/
s
)
0
1
2
3
4
5
6
7
8
-2
0
2
4
x
1
0
4
T
i
m
e
(
s
)
M
e
c
h
a
n
i
c
a
l
p
o
w
e
r
P
1
(
W
)
0
1
2
3
4
5
6
7
8
-1
-
0
.
5
0
0
.
5
1
x
1
0
6
T
i
m
e
(
s
)
M
e
c
h
a
n
i
c
a
l
p
o
w
e
r
P
M
(
W
)
0
1
2
3
4
5
6
7
8
0
100
200
300
T
i
m
e
(
s
)
R
o
t
a
t
i
o
n
a
l
s
p
e
e
d
(
r
a
d
/
s
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2722
-
2586
I
A
E
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
:
2
2
4
–
2
3
4
228
T
h
e
m
a
g
n
it
u
d
e
of
r
o
to
r
f
lu
x
,
w
h
ic
h
can
be
esti
m
ated
by
(
1
2
)
.
{
∅
=
∫
(
−
.
)
0
∅
=
∫
(
−
.
)
0
(
12)
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h
e
r
o
to
r
f
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g
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en
by
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1
3
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d
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=
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h
e
r
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to
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f
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x
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le
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lc
u
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ted
by
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15
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.
=
(
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(
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cti
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ated
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g
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d
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.
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h
er
e:
=
1
−
2
(
1
8
)
In
th
e
clas
s
ical
DP
C
m
et
h
o
d
,
th
e
lev
el
of
r
ea
cti
v
e
p
o
w
er
h
y
s
ter
esis
co
n
tr
o
ller
is
t
w
o
an
d
t
h
e
lev
el
of
ac
tiv
e
p
o
w
er
h
y
s
ter
es
is
co
n
tr
o
ller
is
th
r
ee
.
Fi
g
u
r
e
9
r
ep
r
esen
ts
t
h
e
r
ea
cti
v
e
h
y
s
ter
esi
s
c
o
n
tr
o
ller
,
w
h
er
e
th
i
s
ex
is
t
s
as
t
h
e
la
s
t
o
u
tp
u
t
g
i
v
es
th
e
last
t
w
o
v
a
lu
e
s
0
a
n
d
1.
On
t
h
e
o
t
h
er
h
a
n
d
,
t
h
e
o
u
tp
u
t
of
t
h
e
ac
ti
v
e
p
o
w
er
h
y
s
ter
esi
s
co
n
tr
o
ller
is
0,
1
an
d
-
1
as
s
h
o
w
n
i
n
Fi
g
u
r
e
10.
T
h
e
o
u
tp
u
t
of
ac
tiv
e
a
n
d
r
ea
ctiv
e
p
o
w
er
h
y
s
ter
e
s
is
co
m
p
ar
ato
r
s
is
t
h
e
in
p
u
t
of
t
h
e
s
w
itch
i
n
g
tab
le.
T
h
e
zo
n
e
of
th
e
r
o
to
r
f
lu
x
is
s
ix
-
zo
n
e
an
d
th
e
lo
o
k
u
p
tab
le
is
s
h
o
w
n
in
T
ab
le
1.
T
ab
le
1.
Sw
itch
in
g
tab
le
of
D
P
C
m
eth
o
d
N
1
2
3
4
5
6
Hq
Hp
0
1
6
1
2
3
4
5
0
0
7
0
7
0
7
-
1
2
3
4
5
6
1
1
1
5
6
1
2
3
4
0
7
0
7
0
7
0
-
1
3
4
5
6
1
2
Fig
u
r
e
9.
R
ea
ctiv
e
p
o
w
er
h
y
s
t
er
esis
co
m
p
ar
ato
r
.
Fig
u
r
e
10.
A
cti
v
e
p
o
w
er
h
y
s
te
r
esis
co
m
p
ar
ato
r
.
+1
0
+
Δ
Q
/
2
−
Δ
Q
/
2
Hp
+∆
Ps
/2
-
∆Ps/
2
+1
-
1
ε
Ps
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:
2722
-
2586
A
p
p
lica
tio
n
o
f D
P
C
a
n
d
DP
C
-
GA
to
th
e
d
u
a
l
-
r
o
to
r
w
in
d
tu
r
b
in
e
s
ystem
w
ith
DF
I
G
(
Ha
b
ib
B
en
b
o
u
h
e
n
n
i
)
229
5.
DP
C
-
GA
M
E
T
H
O
D
In
th
is
s
ec
tio
n
,
a
n
o
v
el
DP
C
co
n
tr
o
l
w
as
d
esi
g
n
ed
to
r
eg
u
lat
e
to
r
q
u
e,
ac
tiv
e
an
d
r
ea
ctiv
e
p
o
w
er
s
of
th
e
D
FIG
-
b
ased
D
R
W
T
.
T
h
is
d
esig
n
ed
DP
C
s
tr
ateg
y
is
b
ase
d
on
p
u
l
s
e
w
id
th
m
o
d
u
latio
n
(
P
W
M)
an
d
g
en
e
tic
alg
o
r
ith
m
.
T
h
is
p
r
o
p
o
s
ed
DPC
m
et
h
o
d
is
a
s
i
m
p
le
al
g
o
r
ith
m
,
f
ast
r
esp
o
n
s
e
d
y
n
a
m
ic,
r
o
b
u
s
t
co
n
tr
o
l
co
m
p
ar
ed
to
class
ical
DP
C
s
tr
ateg
y
a
n
d
v
ec
to
r
co
n
tr
o
l.
On
th
e
o
th
er
h
an
d
,
th
i
s
p
r
o
p
o
s
ed
m
et
h
o
d
r
ed
u
ce
d
th
e
r
ea
ctiv
e
an
d
ac
ti
v
e
p
o
w
er
of
DFI
G
-
b
a
s
ed
DR
W
T
.
So
,
th
e
p
r
in
cip
le
of
t
h
e
p
r
o
p
o
s
ed
s
tr
ateg
y
is
a
m
o
d
i
f
icat
io
n
of
t
h
e
class
ical
DP
C
m
eth
o
d
,
w
h
er
e
th
e
class
ical
s
w
itc
h
i
n
g
tab
le
h
av
e
b
ee
n
r
ep
lace
d
by
a
P
W
M
tech
n
iq
u
e
an
d
th
e
t
w
o
h
y
s
ter
esis
co
m
p
ar
ato
r
s
of
r
ea
ctiv
e
an
d
ac
ti
v
e
p
o
w
er
s
h
as
b
ee
n
r
ep
lace
d
by
to
g
en
e
tic
alg
o
r
ith
m
.
T
h
e
p
r
o
p
o
s
ed
DP
C
s
tr
ateg
y
,
w
h
ic
h
is
d
esig
n
ed
to
r
eg
u
late
th
e
ac
tiv
e
a
n
d
r
ea
ctiv
e
p
o
w
er
s
of
th
e
DFI
G
-
b
ased
DR
W
T
is
s
h
o
w
n
in
Fi
g
u
r
e
11.
Fig
u
r
e
11.
B
lo
ck
d
iag
r
am
DP
C
-
GA
of
DFI
G
-
b
ased
DR
W
T
.
6.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
T
h
e
s
i
m
u
latio
n
r
es
u
lt
s
of
th
e
DP
C
-
GA
s
tr
ate
g
y
of
a
1
.
5
MW
DFI
G
ar
e
co
m
p
ar
ed
w
ith
t
h
e
co
n
v
e
n
tio
n
al
DP
C
s
tr
ateg
y
.
T
h
e
co
m
m
a
n
d
s
s
y
s
te
m
w
a
s
te
s
t
ed
u
n
d
er
d
e
f
e
r
en
t
o
p
er
atin
g
c
o
n
d
itio
n
s
s
u
ch
as
a
s
u
d
d
en
ch
a
n
g
e
of
lo
ad
ac
tiv
e
an
d
r
ea
ctiv
e
p
o
w
er
s
.
T
h
e
p
er
f
o
r
m
a
n
ce
an
al
y
s
is
is
d
o
n
e
w
it
h
to
r
q
u
e,
T
HD
v
alu
e
of
s
tato
r
cu
r
r
en
t,
r
ea
ctiv
e/ac
t
i
v
e
p
o
w
er
s
.
DFI
G
u
s
ed
f
o
r
th
e
s
i
m
u
lat
io
n
s
h
as
t
h
e
f
o
llo
w
i
n
g
p
ar
am
eter
s
:
P
n
=
1
.
5
MW
,
V
n
=
398
V,
f
=
50
Hz,
f
r
=
0
.
0
0
2
4
Nm
/s
,
L
s
=
0
.
0
1
3
7
H,
J
=
1000
Kg
.
m
2
,
R
s
=
0
.
0
1
2
Ω
,
R
r
=
0
.
0
2
1
Ω
,
L
r
=
0
.
0
1
3
6
H,
M
=
0
.
0
1
3
5
H
[
37
]
,
[
3
8
]
.
T
a
b
le
2
s
h
o
w
s
p
ar
a
m
eter
s
of
al
g
o
r
ith
m
g
en
e
tic
.
6
.
1
.
Ref
er
ence
t
ra
ck
ing
t
est
(
RT
T
)
Fo
r
th
e
tr
ad
itio
n
al
DP
C
a
n
d
d
esig
n
ed
DP
C
s
tr
ate
g
y
,
t
h
e
r
ea
ctiv
e
p
o
w
er
,
a
n
d
ac
tiv
e
p
o
w
er
tr
ac
k
w
ell
th
eir
r
ef
er
en
ce
v
al
u
es
(
P
sref
a
n
d
Q
sref
)
as
s
h
o
w
n
i
n
Fi
g
u
r
es
12
an
d
1
3
.
T
h
e
ac
tiv
e
an
d
r
ea
ctiv
e
p
o
w
er
s
ar
e
d
ec
o
u
p
led
f
r
o
m
ea
c
h
o
t
h
er
in
t
h
e
DP
C
-
GA
w
it
h
a
r
ap
id
ti
m
e
r
esp
o
n
s
e,
w
it
h
o
u
t
o
v
er
s
h
o
o
t,
an
d
w
it
h
a
m
i
n
i
m
al
s
tatic
er
r
o
r
co
m
p
ar
ed
to
th
e
co
n
v
en
tio
n
al
DP
C
te
ch
n
iq
u
e.
Fig
u
r
e
14
s
h
o
w
s
th
e
to
r
q
u
e
of
th
e
DP
C
an
d
DP
C
-
GA
s
tr
ate
g
ie
s
.
Fi
g
u
r
e
15
s
h
o
w
s
t
h
e
s
tato
r
c
u
r
r
en
t
of
t
h
e
d
esi
g
n
ed
DP
C
s
tr
ateg
y
an
d
t
h
e
cla
s
s
ica
l
DP
C
.
We
can
s
ee
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h
at
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q
u
e
an
d
c
u
r
r
en
t
of
t
h
e
D
FIG
ar
e
p
r
o
p
o
r
ti
o
n
al
to
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h
e
v
ar
iatio
n
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ea
cti
v
e/ac
ti
v
e
p
o
w
er
r
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er
e
n
ce
v
al
u
es.
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c
ti
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e
p
o
w
er
r
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n
s
e
co
m
p
ar
i
n
g
c
u
r
v
e
s
ar
e
s
h
o
w
n
in
Fi
g
u
r
e
16.
See
f
ig
u
r
e
th
e
ac
tiv
e
p
o
w
er
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ci
llatio
n
s
ar
e
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ig
n
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l
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i
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ized
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h
e
n
t
h
e
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ate
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s
e
.
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u
r
e
17
s
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w
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o
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th
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v
e
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r
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es
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iq
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e.
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is
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n
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th
at
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h
e
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ateg
y
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it
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th
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e
a
n
d
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cillatio
n
s
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v
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w
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v
e
n
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n
a
l
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tech
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e.
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h
e
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GA
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h
n
iq
u
e
r
ed
u
c
ed
th
e
to
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e
o
s
cillatio
n
s
co
m
p
ar
ed
to
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e
class
ical
DP
C
tech
n
iq
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e
as
s
h
o
w
n
i
n
Fi
g
u
r
e
18.
Fro
m
t
h
e
s
i
m
u
lat
io
n
r
es
u
lt
s
p
r
esen
ted
in
Fi
g
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r
es
19
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d
20,
it
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ap
p
ar
en
t
th
a
t
t
h
e
T
HD
v
alu
e
of
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tato
r
cu
r
r
en
t
f
o
r
th
e
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GA
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n
iq
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e
is
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n
s
id
er
ab
ly
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ed
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ce
d
r
elati
v
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to
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e
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ical
DP
C
tech
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iq
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e
an
d
o
th
er
s
tr
ateg
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s
as
s
h
o
w
n
i
n
T
ab
le
3
.
W
h
er
e,
DP
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T
2
FL
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t
h
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d
ir
ec
t
p
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tr
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l
w
it
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p
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2
f
u
zz
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co
n
tr
o
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DP
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MR
A
C
is
t
h
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d
ir
ec
t
p
o
w
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co
n
tr
o
l
w
it
h
m
o
d
el
r
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er
e
n
ce
ad
ap
tiv
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co
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tr
o
l
.
FO
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is
th
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f
ield
-
o
r
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ted
co
n
tr
ol
.
DP
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-
NF
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is
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h
e
d
ir
ec
t
p
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er
co
n
tr
o
l
w
it
h
n
eu
r
o
-
f
u
zz
y
co
n
tr
o
ller
.
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
2722
-
2586
A
p
p
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o
f D
P
C
a
n
d
DP
C
-
GA
to
th
e
d
u
a
l
-
r
o
to
r
w
in
d
tu
r
b
in
e
s
ystem
w
ith
DF
I
G
(
Ha
b
ib
B
en
b
o
u
h
e
n
n
i
)
233
w
h
ic
h
is
r
e
f
lecte
d
in
t
h
e
q
u
ali
t
y
of
th
e
s
tato
r
cu
r
r
en
t
s
g
en
er
ated
by
t
h
e
D
FIG
-
DR
W
P
.
Fro
m
th
e
co
m
p
ar
ativ
e
s
tu
d
y
b
et
w
ee
n
t
h
e
d
esi
g
n
ed
te
ch
n
iq
u
e
an
d
t
h
e
clas
s
ical
DP
C
s
tr
ateg
y
,
it
h
a
s
b
ee
n
s
h
o
w
n
t
h
at
th
e
d
esi
g
n
ed
GA
m
et
h
o
d
is
v
er
y
ef
f
ec
t
iv
e
in
t
h
e
s
tab
ilizatio
n
of
t
h
e
s
y
s
te
m
.
T
h
er
ef
o
r
e,
th
e
d
esi
g
n
ed
s
tr
ate
g
y
can
co
n
tr
ib
u
te
to
ex
p
an
d
in
g
w
i
n
d
p
o
w
er
u
t
ilizat
io
n
.
RE
F
E
R
E
NC
E
S
[1
]
H.
Be
n
b
o
u
h
e
n
n
i,
Z.
B
o
u
d
jem
a
,
A
.
Be
l
a
id
i,
"
Us
in
g
th
re
e
-
lev
e
l
f
u
z
z
y
sp
a
c
e
v
e
c
to
r
m
o
d
u
latio
n
m
e
t
h
o
d
t
o
im
p
ro
v
e
in
d
irec
t
v
e
c
to
r
c
o
n
tr
o
l
stra
teg
y
o
f
a
DFIG
b
a
se
d
w
in
d
e
n
e
rg
y
c
o
n
v
e
rsio
n
sy
ste
m
s,
"
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
S
m
a
rt
Gr
id
,
v
o
l.
2
,
n
o
.
3
,
p
p
.
1
5
5
-
1
7
1
,
2
0
1
8
.
[2
]
H.
Be
n
b
o
u
h
e
n
n
i
,
Z.
B
o
u
d
jem
a
,
A
.
Be
laid
i,
"
In
d
irec
t
v
e
c
to
r
c
o
n
t
ro
l
o
f
a
DFIG
su
p
p
li
e
d
b
y
a
two
-
lev
e
l
F
S
VM
in
v
e
rter f
o
r
w
in
d
tu
rb
i
n
e
sy
ste
m
,
"
M
a
jl
e
si Jo
u
r
n
a
l
o
f
El
e
c
trica
l
E
n
g
in
e
e
rin
g
,
v
o
l.
1
3
,
n
o
.
1
,
p
p
.
4
5
-
5
4
,
2
0
1
9
.
[3
]
A
.
M
e
d
jb
e
r,
A
.
M
o
u
a
ld
ia,
A
.
M
e
ll
it
,
M
.
A
.
G
u
e
ss
o
u
m
,
"
Co
m
p
a
ra
ti
v
e
stu
d
y
b
e
t
w
e
e
n
d
irec
t
a
n
d
in
d
irec
t
v
e
c
to
r
c
o
n
tro
l
a
p
p
li
e
d
t
o
a
w
in
d
t
u
rb
i
n
e
e
q
u
ip
p
e
d
w
it
h
a
d
o
u
b
le
-
f
e
d
a
s
y
n
c
h
ro
n
o
u
s
m
a
c
h
in
e
A
rti
c
le,
"
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ren
e
wa
b
le E
n
e
rg
y
Res
e
a
rc
h
,
v
o
l.
3
,
n
o
.
1
,
p
p
.
8
8
-
9
3
,
2
0
1
3
.
[4
]
N.
Kh
e
m
iri
,
A
.
Kh
e
d
h
e
r,
M
.
F
.
M
im
o
u
n
i,
"
W
in
d
e
n
e
rg
y
c
o
n
v
e
rsio
n
s
y
ste
m
u
sin
g
DFI
G
c
o
n
tro
ll
e
d
b
y
b
a
c
k
ste
p
p
in
g
a
n
d
sli
d
in
g
m
o
d
e
stra
teg
ies
,
"
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ren
e
wa
b
le E
n
e
rg
y
Res
e
a
rc
h
,
v
o
l.
2
,
n
o
.
3
,
p
p
.
4
2
2
-
4
3
5
,
2
0
1
2
.
[5
]
Y.
Dje
riri
,
"
Ly
a
p
u
n
o
v
-
b
a
se
d
ro
b
u
st
p
o
w
e
r
c
o
n
tro
ll
e
rs
f
o
r
a
d
o
u
b
ly
f
e
d
in
d
u
c
ti
o
n
g
e
n
e
ra
to
r,
"
Ira
n
ia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
E
lec
tro
n
ic E
n
g
i
n
e
e
rin
g
,
v
o
l.
1
6
,
n
o
.
4
,
p
p
.
5
5
1
-
5
5
8
,
2
0
2
0
,
d
o
i:
1
0
.
2
2
0
6
8
/IJEE
E.
1
6
.
4
.
5
5
1
.
[6
]
E.
M
.
Yo
u
n
e
ss
,
D.
A
z
iz,
E.
G
.
A
b
d
e
laz
iz,
B.
Ja
m
a
l,
E.
O.
Na
ji
b
,
Z.
Oth
m
a
n
e
,
M
.
Kh
a
li
d
,
B.
Bo
ss
o
u
f
i,
"
I
m
p
le
m
e
n
tatio
n
a
n
d
v
a
li
d
a
ti
o
n
o
f
b
a
c
k
ste
p
p
in
g
c
o
n
tro
l
f
o
r
P
M
S
G
w
in
d
tu
rb
i
n
e
u
sin
g
d
S
P
A
CE
c
o
n
tro
ll
e
r
b
o
a
rd
,
"
En
e
rg
y
Rep
o
rts
,
v
o
l
.
5
,
p
p
.
8
0
7
–
8
2
1
,
2
0
1
9
,
d
o
i:
1
0
.
1
0
1
6
/j
.
e
g
y
r.
2
0
1
9
.
0
6
.
0
1
5
.
[7
]
Z.
Bo
u
d
jem
a
,
R.
Tale
b
,
A
.
Ya
h
d
o
u
,
"
A
n
e
w
D
T
C
sc
h
e
m
e
u
sin
g
se
c
o
n
d
o
rd
e
r
slid
in
g
m
o
d
e
a
n
d
fu
z
z
y
lo
g
ic
o
f
a
DFIG
f
o
r
w
in
d
tu
r
b
i
n
e
sy
ste
m
,
"
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ad
v
a
n
c
e
d
Co
mp
u
ter
S
c
ien
c
e
a
n
d
A
p
p
li
c
a
ti
o
n
,
v
o
l.
7
,
n
o
.
8
,
p
p
.
4
9
-
5
6
,
2
0
1
6
,
d
o
i:
1
0
.
1
4
5
6
9
/
IJA
CS
A
.
2
0
1
6
.
0
7
0
8
0
8
.
[8
]
H.
Be
n
b
o
u
h
e
n
n
i
a
n
d
Z.
B
o
u
d
je
m
a
,
"
Tw
o
-
lev
e
l
D
T
C
b
a
se
d
o
n
A
N
N
c
o
n
tro
ll
e
r
o
f
DFIG
u
sin
g
7
-
lev
e
l
h
y
st
e
re
sis
c
o
m
m
a
n
d
to
re
d
u
c
e
f
lu
x
rip
p
le
c
o
m
p
a
rin
g
w
it
h
trad
it
io
n
a
l
c
o
m
m
a
n
d
,
"
2
0
1
8
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Ap
p
li
e
d
S
ma
rt
S
y
ste
ms
(
ICAS
S
)
,
2
0
1
8
,
p
p
.
1
-
8
,
d
o
i:
1
0
.
1
1
0
9
/ICA
S
S
.
2
0
1
8
.
8
6
5
2
0
1
3
[9
]
Y.
Wa
,
W.
Ya
n
g
,
"
Di
ff
e
re
n
t
c
o
n
tro
l
stra
teg
ies
o
n
th
e
r
o
t
o
r
sid
e
c
o
n
v
e
rter
in
DFI
G
-
b
a
se
d
w
in
d
tu
r
b
in
e
s,
"
En
e
rg
y
Pro
c
e
d
ia
,
v
o
l
.
1
0
0
,
p
p
.
5
5
1
-
5
5
5
,
2
0
1
6
,
d
o
i:
1
0
.
1
0
1
6
/j
.
e
g
y
p
ro
.
2
0
1
6
.
1
0
.
2
1
7
.
[1
0
]
M
.
S
.
Ra
j,
T
.
S
a
ra
v
a
n
a
n
,
V
.
S
rin
iv
a
sa
n
,
"
A
m
o
d
if
ied
d
irec
t
to
rq
u
e
c
o
n
tro
l
o
f
in
d
u
c
ti
o
n
m
o
to
r
u
si
n
g
sp
a
c
e
v
e
c
to
r
m
o
d
u
latio
n
tec
h
n
i
q
u
e
,
"
M
id
d
le
-
E
a
st Jo
u
r
n
a
l
o
f
S
c
ien
ti
fi
c
Res
e
a
rc
h
,
v
o
l.
2
0
,
n
o
.
1
1
,
p
p
.
1
5
7
2
-
1
5
7
4
,
2
0
1
4
.
[1
1
]
H.
Be
n
b
o
u
h
e
n
n
i
,
"
Co
m
p
a
ra
ti
v
e
S
tu
d
y
b
e
tw
e
e
n
d
irec
t
v
e
c
to
r
c
o
n
tr
o
l
a
n
d
f
u
z
z
y
slid
in
g
m
o
d
e
c
o
n
tr
o
ll
e
r
in
th
re
e
-
lev
e
l
sp
a
c
e
v
e
c
to
r
m
o
d
u
latio
n
i
n
v
e
rter
o
f
re
a
c
ti
v
e
a
n
d
a
c
ti
v
e
p
o
we
r
c
o
m
m
a
n
d
o
f
DFIG
-
b
a
se
d
w
in
d
tu
r
b
in
e
sy
ste
m
s,
"
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
S
ma
rt G
rid
,
v
o
l.
2
,
n
o
.
4
,
p
p
.
1
8
8
-
1
9
6
,
2
0
1
8
.
[1
2
]
H.
Be
n
b
o
u
h
e
n
n
i
,
Z
.
Bo
u
d
jem
a
,
A
.
Be
laid
i,
"
Dire
c
t
v
e
c
to
r
c
o
n
tr
o
l
o
f
a
DFIG
su
p
p
li
e
d
b
y
a
n
in
telli
g
e
n
t
S
V
M
in
v
e
rter
f
o
r
w
in
d
tu
rb
i
n
e
s
y
ste
m
,
"
Ira
n
ia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
El
e
c
tro
n
ic
En
g
in
e
e
rin
g
,
v
o
l.
1
5
,
n
o
.
1
,
p
p
.
4
5
-
5
5
,
2
0
1
9
,
d
o
i:
1
0
.
2
2
0
6
8
/IJE
EE
.
1
5
.
1
.
4
5
.
[1
3
]
H.
Be
n
b
o
u
h
e
n
n
i,
"
Re
d
u
c
i
n
g
c
u
rr
e
n
t
a
n
d
t
o
rq
u
e
ri
p
p
les
i
n
D
V
C
c
o
n
tr
o
l
o
f
DFIG
o
p
e
ra
ti
o
n
a
t
c
o
n
sta
n
t
sw
it
c
h
in
g
f
re
q
u
e
n
c
y
f
o
r
w
in
d
g
e
n
e
ra
ti
o
n
a
p
p
li
c
a
ti
o
n
,
"
M
a
jl
e
si Jo
u
r
n
a
l
o
f
En
e
rg
y
M
a
n
a
g
e
me
n
t
,
v
o
l
.
8
,
n
o
.
4
,
p
p
.
4
7
-
5
5
,
2
0
1
9
.
[1
4
]
H.
Be
n
b
o
u
h
e
n
n
i,
Z
.
Bo
u
d
jem
a
,
A
.
Be
laid
i,
"
DP
C
b
a
se
d
o
n
A
N
F
IS
su
p
e
r
-
tw
isti
n
g
slid
in
g
m
o
d
e
a
lg
o
rit
h
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[1
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J.
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9
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3
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