I
n
t
e
r
n
at
i
on
al
Jou
r
n
al
of
R
o
b
ot
i
c
s
an
d
A
u
t
o
m
at
i
on
(
I
JR
A
)
V
o
l.
7
,
No
.
3
,
S
ep
t
em
b
er
201
8
, p
p
.
176
~
184
I
SSN
:
2089
-
4856,
D
O
I
:
10.
11
591/
i
j
ra
.
v
7
i
3
.
pp
1
76
-
184
176
Jou
r
n
al
h
om
e
p
age
:
ht
t
p:
/
/
i
ae
s
c
or
e
.
c
om
/
j
our
nal
s
/
i
nde
x
.
php/
I
J
R
A
/
i
nde
x
Des
ig
n o
f
Ne
uro
-
F
u
zz
y
Co
n
t
ro
ller
f
o
r St
a
bili
z
a
t
io
n
o
f
Sing
le
P
ha
s
e St
a
nd
-
Alo
n
e P
V
P
o
w
er Sy
s
t
em
H
i
t
e
ndr
a
Si
ng
h T
ha
k
ur
,
R
am
N
ar
ayan
P
at
e
l
1
D
ep
ar
t
e
m
en
t
o
f
E
l
ect
r
i
cal
an
d
E
l
ect
r
o
n
i
cs
E
n
g
i
n
eer
i
n
g
,
S
S
T
C
-
S
S
I
T
M
,
(C.
G
),
In
d
i
a
A
rt
i
cl
e I
n
f
o
AB
S
T
RAC
T
A
r
tic
le
h
i
s
t
o
ry
:
R
ecei
v
ed
Fe
b
8
,
201
8
Re
v
i
s
e
d
J
ul
5
,
201
8
A
ccep
t
ed
Au
g
5
,
2018
F
or
t
he
t
hr
e
e
p
ha
s
e
pow
e
r
e
l
e
c
t
r
oni
c
a
nd
dr
i
v
e
a
ppl
i
c
a
t
i
ons
,
v
e
c
t
or
c
ont
r
ol
or
t
he
s
y
nc
hr
ono
us
r
e
f
e
r
e
nc
e
f
r
a
m
e
(
S
R
F
)
ba
s
e
d c
ont
r
ol
c
onc
e
pt
i
s
w
e
l
l
accep
t
ed
an
d
s
et
t
l
ed
a
m
o
n
g
s
t
t
h
e r
es
e
ar
c
h c
o
m
m
uni
t
i
e
s
.
A
l
t
houg
h t
he
S
R
F
c
onc
e
pt
ha
s
g
a
i
ne
d p
op
ul
a
r
i
t
y
a
nd a
ppr
e
c
i
a
t
i
on i
n
de
v
e
l
opi
ng
t
he
t
hr
e
e
pha
s
e
co
n
t
r
o
l
l
er
s
,
s
t
i
l
l
t
h
e co
n
cep
t
h
as
n
o
t
r
each
ed
t
h
e s
a
m
e l
e
v
el
i
n
c
as
e
o
f
a
s
i
n
g
l
e
pha
s
e
s
y
s
t
e
m
.
T
he
w
or
k
pr
e
s
e
nt
e
d i
n t
hi
s
pa
pe
r
i
s
m
a
i
nl
y
c
onc
e
r
n
e
d t
o t
he
de
s
i
g
n of
a
hy
br
i
d A
r
t
i
f
i
c
i
a
l
N
e
ur
a
l
N
e
t
w
or
k
a
nd F
uz
z
y
L
og
i
c
ba
s
e
d
c
ont
r
o
l
l
e
r
f
or
a
s
i
ng
l
e
pha
s
e
s
t
a
nd
-
a
l
o
ne
ph
ot
o
-
vol
t
a
i
c
(
P
V
)
pow
e
r
s
ys
t
e
m
.
T
he
a
da
pt
i
v
e
ne
ur
o f
uz
z
y
i
nf
e
r
e
nc
e
s
y
s
t
e
m
(
A
N
F
I
S
)
c
ont
r
ol
l
e
r
p
r
op
os
e
d i
n
t
h
i
s
p
ap
er
i
s
ch
i
ef
l
y
m
ean
t
f
o
r
im
p
r
o
v
in
g
th
e
tr
a
n
s
ie
n
t a
n
d
s
t
e
a
d
y
s
ta
te
r
e
s
pons
e
s
;
f
or
m
i
ni
m
i
z
i
ng
t
he
di
s
t
or
t
i
ng
e
f
f
e
c
t
of
t
he
l
ow
or
de
r
l
o
a
d c
ur
r
e
nt
ha
r
m
oni
c
s
e
nc
ount
e
r
e
d
pa
r
t
i
c
ul
a
r
l
y
i
n c
a
s
e
o
f
s
w
i
t
c
hi
ng
t
he
dr
i
v
e
ba
s
e
d
in
d
u
c
tiv
e
lo
a
d
s
a
n
d
to
h
e
lp
m
a
in
ta
in
t
h
e
in
v
e
r
te
r
o
u
tp
u
t v
o
lta
g
e
c
ons
t
a
nt
unde
r
di
f
f
e
r
e
nt
l
oa
di
ng
c
i
r
c
u
m
s
t
a
nc
e
s
.
T
he
r
e
s
ul
t
obt
a
i
ne
d t
hr
o
ug
h
s
i
m
ul
a
t
i
on w
or
k
,
s
how
s
t
he
e
f
f
e
c
t
i
v
e
ne
s
s
o
f
t
he
pr
opos
e
d c
o
nt
r
ol
l
e
r
a
s
c
om
pa
r
e
d
w
i
t
h t
he
pr
e
v
i
ous
l
y
e
s
t
a
bl
i
s
he
d r
e
s
e
a
r
c
h w
or
k
s
.
Ke
y
wo
rd
:
A
d
ap
t
i
v
e n
eu
r
o
f
u
zz
y
i
n
f
er
en
ce
s
ys
t
e
m
(
AN
FI
S)
S
i
n
gl
e
p
ha
s
e
S
t
a
nd
-
a
lo
n
e
P
h
o
to
V
o
lta
ic
(
P
V
)
s
ys
t
e
m
S
ync
hr
o
no
us
R
e
f
e
r
e
nc
e
F
r
a
m
e
(
SR
F)
V
o
l
t
ra
g
e
S
o
u
rc
e
In
v
e
rt
e
r (V
S
I)
C
opy
r
i
g
ht
©
201
8
I
ns
t
i
t
ut
e
o
f
A
d
v
anc
e
d E
ngi
ne
e
r
i
ng
an
d
Sc
i
e
nc
e
.
A
l
l
ri
g
h
t
s re
se
rv
e
d
.
Co
rre
sp
o
n
d
i
n
g
Au
t
h
o
r
:
H
i
t
e
nd
r
a
S
i
ng
h T
ha
k
ur
D
ep
ar
t
e
m
en
t
o
f
E
l
ect
r
i
cal
an
d
E
l
ect
r
o
n
i
cs
E
n
g
i
n
eer
i
n
g
,
SST
C
-
S
S
IT
M
,
(C
.
G
),
In
d
i
a
E
m
a
il: t
h
a
k
u
r
h
ite
n
d
r
a
s
in
g
h
@
g
m
a
il.
c
o
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e ev
er
i
n
cr
ea
s
i
n
g
d
e
m
an
d
o
f
el
ect
r
i
cal
p
o
w
er
f
r
o
m
v
ar
i
o
u
s
n
e
w
er
av
e
n
u
es
a
n
d
i
n
cr
eas
e
i
n
t
a
k
e o
f
p
o
w
er
d
u
e t
o
t
h
e ex
p
an
s
io
n
p
o
lic
ie
s
o
f
d
if
f
e
r
e
n
t e
x
i
s
ti
n
g
i
n
s
ta
lla
tio
n
s
h
a
v
e
p
u
t a
th
r
e
a
t o
n
th
e
c
o
n
v
e
n
t
io
n
a
l
f
u
e
l r
e
s
e
r
v
e
s
(
lik
e
f
o
s
s
il
f
u
e
ls
)
.
O
n
th
e
o
th
e
r
-
ha
nd
t
he
i
nc
r
e
a
s
i
n
g gl
o
b
a
l
c
o
nc
e
r
n o
ve
r
a
t
m
o
s
p
he
r
i
c
p
o
l
l
ut
i
o
n,
f
o
l
l
o
w
ed
b
y
t
h
e
g
o
v
er
n
m
en
t
a
l
p
o
l
i
ci
es
o
f
d
ecr
eas
i
n
g
C
ar
b
o
n
O
xi
d
e
s
a
nd
N
i
t
r
o
ge
n O
xi
d
e
s
e
m
i
s
s
i
o
n,
ha
ve
o
p
en
ed
av
en
u
e
f
o
r
d
ev
el
o
p
m
en
t
o
f
D
i
s
t
r
i
b
u
t
ed
G
en
er
a
t
i
o
n
(
D
G
)
p
l
an
t
s
b
as
ed
p
ar
t
i
cu
l
ar
l
y
o
n
n
o
n
-
co
n
v
e
n
t
i
o
n
al
s
o
u
r
ce
s
o
f
e
n
er
g
y
l
i
k
e W
i
n
d
p
o
w
er
a
n
d
S
o
l
ar
P
o
w
er
.
T
h
e p
o
w
er
g
e
n
er
at
i
o
n
cap
aci
t
i
es
o
f
t
h
e
s
e
D
G
s
a
r
e
li
m
ite
d
he
nc
e
t
he
s
e
a
r
e
c
o
nne
c
t
e
d
us
ua
l
l
y t
o
l
o
w
v
o
l
t
a
ge
d
i
s
t
r
i
b
ut
i
o
n l
i
ne
s
.
T
h
e p
o
w
er
g
e
n
er
at
ed
b
y
th
e
D
G
p
la
n
ts
n
e
e
d
to
m
a
d
e
f
it f
o
r
u
tiliz
a
tio
n
b
e
f
o
r
e
it is
f
e
d
to
c
a
te
r
th
e
lo
c
a
l lo
a
d
s
in
c
a
s
e
o
f
s
ta
n
d
-
a
l
one
p
o
w
e
r
s
y
s
te
m
o
r
w
h
e
n
it is
c
o
n
n
e
c
te
d
to
u
tili
t
y
g
r
i
d
i
n
c
as
e o
f
g
r
i
d
co
n
n
ect
ed
s
y
s
t
e
m
.
P
o
w
er
el
ect
r
o
n
i
c
c
o
n
v
e
r
te
r
s
h
a
v
e
p
la
y
e
d
a
n
i
m
p
o
r
ta
n
t r
o
le
in
c
o
n
d
itio
n
i
n
g
o
f
p
o
w
e
r
f
o
r
th
e
ir
b
e
tte
r
u
til
iz
a
ti
o
n
[
1
,
2
]
.
I
n t
he
s
t
a
nd
-
a
l
o
n
e
m
o
d
e o
f
o
p
er
at
i
o
n
,
t
h
e i
n
v
er
t
er
s
ar
e
r
eq
u
i
r
ed
t
o
m
ai
n
t
ai
n
t
h
e
v
o
l
t
ag
e a
n
d
f
r
eq
u
en
c
y
e
s
s
e
n
tia
ll
y
c
o
n
s
ta
n
t
a
t th
e
c
o
n
s
u
m
e
r
’
s
te
r
m
in
a
l
s
o
a
s
to
e
n
s
u
r
e
th
e
s
y
s
te
m
s
ta
b
il
it
y
a
n
d
s
a
tis
f
a
c
to
r
y
t
r
an
s
i
e
n
t
p
er
f
o
r
m
an
ce.
T
h
er
e ar
e v
ar
i
o
u
s
co
n
t
r
o
l
m
et
h
o
d
o
l
o
g
i
es
r
ep
o
r
t
ed
i
n
d
i
f
f
er
e
n
t
l
i
t
er
at
u
r
es
r
e
g
ar
d
i
n
g
t
h
e
i
nve
r
t
e
r
c
o
nt
r
o
l
,
o
p
e
r
a
t
i
ng i
n
s
t
a
nd
-
a
lo
n
e
m
o
d
e.
T
h
es
e co
n
t
r
o
l
s
ch
e
m
es
,
as
r
ep
o
r
t
ed
i
n
t
h
e l
i
t
er
at
u
r
es
,
ar
e as
:
th
e
r
e
p
e
titiv
e
c
o
n
tr
o
l [
3
-
7
]
,
th
a
t d
e
a
ls
p
a
r
tic
u
la
r
l
y
w
it
h
th
e
p
e
r
io
d
ic
s
ig
n
a
ls
a
n
d
is
e
f
f
e
c
ti
v
e
in
m
iti
g
a
ti
n
g
t
h
e
w
a
ve
f
o
r
m
d
i
s
t
o
r
t
i
o
n c
a
us
e
d
b
y ha
r
m
o
ni
c
s
.
T
hi
s
c
o
nt
r
o
l
t
e
c
hni
q
ue
s
u
f
f
e
r
s
f
r
o
m
its
i
n
c
a
p
a
b
ilit
y
to
d
e
a
l
w
it
h
t
h
e d
i
s
t
u
r
b
an
ces
w
h
i
ch
ar
e ap
er
i
o
d
i
c i
n
n
at
u
r
e an
d
b
es
i
d
es
t
h
at
i
t
al
s
o
cl
ai
m
s
l
ar
g
e m
e
m
o
r
y
f
o
r
i
t
s
f
u
n
c
tio
n
a
lit
y
.
M
o
d
e
l p
r
e
d
ic
tiv
e
c
o
n
tr
o
l (
M
P
C
)
a
n
d
d
e
a
d
be
a
t
c
on
t
r
ol
w
or
k
on
s
i
m
p
l
e
c
on
c
e
pt
a
n
d pr
ov
i
de
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RA
I
SSN
:
2089
-
4856
D
e
s
i
gn of
N
e
ur
o
-
F
u
z
z
y
C
ont
r
ol
l
e
r
f
or
St
abi
l
i
z
at
i
on of
Si
n
gl
e
P
has
e
St
a
nd
-
A
l
on
e
…
(
H
i
t
e
ndr
a Si
ng
h T
hak
ur
)
177
r
e
la
tiv
e
l
y
f
a
s
t
er
t
r
an
s
i
en
t
r
es
p
o
n
s
e.
F
o
r
co
r
r
ect
p
r
ed
i
ct
i
o
n
an
d
p
r
o
p
er
o
p
er
at
i
o
n
,
t
h
e s
ch
e
m
e r
eq
u
i
r
es
an
accu
r
at
e co
n
v
er
t
er
m
o
d
el
.
T
h
e r
o
b
u
s
t
co
n
t
r
o
l
(
H
-
in
f
in
it
y
c
o
n
tr
o
l)
te
c
h
n
iq
u
e
,
a
lth
o
u
g
h
c
a
p
a
b
le
o
f
p
r
o
v
id
in
g
a
g
o
o
d
b
al
an
ce b
et
w
ee
n
s
y
s
t
e
m
p
er
f
o
r
m
a
n
ce an
d
s
t
ab
i
l
i
t
y
m
a
r
g
in
,
th
e
t
w
o
d
e
s
ir
a
b
le
b
u
t in
c
o
m
p
a
tib
le
f
e
a
tu
r
e
s
of
t
h
e
s
y
s
t
e
m
,
s
uf
f
e
r
s
t
h
e
di
f
f
i
c
ul
t
y
o
f
n
ot
be
i
ng
i
m
pl
e
m
e
nt
e
d on
di
g
i
t
a
l
pr
oc
e
s
s
or
s
a
l
s
o t
h
e
y
pos
s
e
s
s
c
o
m
p
le
x
it
y
i
n
t
h
e
ir
d
e
s
ig
n
s
p
e
c
if
ic
a
tio
n
s
[
8
-
12]
.
T
h
e
n
on
l
i
n
e
a
r
c
on
t
r
ol
l
e
r
,
s
u
c
h
a
s
s
l
i
di
ng
m
ode
c
on
t
r
o
lle
r
s
,
p
o
s
s
es
s
g
o
o
d
d
y
n
a
m
i
c p
er
f
o
r
m
an
ce cap
ab
i
l
i
t
y
a
n
d
can
ef
f
ect
i
v
el
y
p
r
ev
e
n
t
o
v
er
-
s
h
o
o
t in
th
e
in
v
e
r
te
r
o
u
tp
u
t
v
o
lta
g
e
w
a
v
e
f
o
r
m
,
b
u
t it s
u
f
f
e
r
s
f
r
o
m
t
h
e
i
s
s
u
e
o
f
s
e
n
s
iti
v
it
y
to
w
a
r
d
s
t
h
e
v
a
r
ia
tio
n
o
f
th
e
s
y
s
te
m
p
a
r
a
m
e
te
r
s
.
M
an
y
s
o
f
t
w
ar
e
-
a
l
g
or
i
t
hm
ba
s
e
d p
ar
a
m
et
er
es
t
i
m
a
t
i
o
n
t
ec
h
n
i
q
u
es
h
a
v
e b
ee
n
d
ev
el
o
p
e
d
an
d
p
r
o
p
o
s
ed
i
n
d
i
f
f
er
e
n
t
l
i
t
er
at
u
r
es
,
w
h
i
c
h
h
e
l
p
i
n
ef
f
ect
i
v
e
l
y
r
ed
u
ci
n
g
t
h
e
m
eas
u
r
e
m
e
n
t
ci
r
c
u
i
t
s
f
r
o
m
t
h
e h
ar
d
w
ar
e s
ect
i
o
n
[
13,
1
4]
.
T
h
e
pr
o
por
t
i
on
a
l
-
r
e
s
o
n
a
n
t (
P
R
)
c
o
n
tr
o
lle
r
s
p
r
o
v
e
d
s
u
p
e
r
io
r
in
g
e
ttin
g
r
i
d
o
f
s
t
ead
y
s
t
at
e er
r
o
r
r
el
at
ed
t
o t
h
e
t
r
a
c
ki
ng
pr
obl
e
m
of
a
c
s
i
gn
a
l
s
.
T
h
e
s
y
n
c
h
r
on
ous
r
e
f
e
r
e
n
c
e
f
r
a
m
e
pr
opor
t
i
on
a
l
-
i
n
t
e
g
ra
l
(S
R
F
P
I)
co
n
t
r
o
l
l
er
h
as
r
ep
o
r
t
ed
a w
i
d
e
s
p
r
ead
ap
p
l
i
cat
i
o
n
w
h
er
e zer
o
s
t
ead
y
s
t
at
e er
r
o
r
i
s
d
es
i
r
ed
.
T
h
e s
ch
e
m
e ca
n
b
e
su
c
c
e
ss
f
u
l
l
y
ap
p
l
i
ed
t
o
b
o
t
h
t
h
r
ee
p
h
as
e
as
w
el
l
a
s
s
i
n
g
l
e
p
h
as
e i
n
v
er
t
er
s
y
s
t
e
m
.
T
h
e
co
n
v
e
n
t
i
o
n
al
co
n
t
r
o
l
s
t
r
a
t
e
gi
e
s
m
o
s
t
l
y
r
e
q
ui
r
e
t
he
t
ho
r
o
ugh
kno
w
l
e
d
ge
o
f
t
he
s
y
s
t
e
m
a
nd
a
r
e
b
a
s
e
d
o
n t
ha
t
d
e
ve
l
o
p
m
e
nt
o
f
m
a
t
h
e
m
a
tic
a
l
m
o
d
e
l o
f
t
h
e
s
y
s
te
m
to
b
e
c
o
n
tr
o
lle
d
[
1
5
-
22]
.
T
o
av
o
i
d
t
h
e i
n
h
er
e
n
t
u
n
d
es
i
r
ab
l
e ch
ar
act
er
i
s
t
i
cs
o
f
co
n
v
en
t
i
o
n
al
co
n
t
r
o
l
ap
p
r
o
ach
es
,
f
u
zz
y
l
o
g
i
c b
as
ed
co
n
t
r
o
l
m
et
h
o
d
s
h
a
v
e b
een
d
e
v
el
o
p
ed
.
A
f
u
zz
y
l
o
g
i
c
b
as
ed
cl
o
s
e l
o
o
p
cu
r
r
en
t
co
n
t
r
o
l
l
er
d
o
es
n
o
t
d
ep
en
d
o
n
t
h
e accu
r
at
e
m
ac
h
i
n
e p
ar
a
m
et
e
r
s
an
d
n
ei
t
h
er
i
s
i
t
af
f
ec
t
ed
b
y
t
h
e
n
o
n
l
i
n
ear
i
t
y
p
r
es
en
t
i
n
t
h
e
m
a
c
hi
ne
a
nd
t
he
d
r
i
ve
[
2
3
-
24]
.
I
n
p
r
e
s
e
nt
w
o
r
k,
f
o
c
us
e
s
i
n
d
e
s
i
g
ni
ng
a
n
a
d
a
p
t
i
ve
ne
ur
o
-
f
u
zz
y
l
o
g
i
c
b
as
ed
s
y
n
c
h
r
o
n
o
u
s
r
ef
er
en
ce
f
ra
m
e
(A
N
F
IS
-
S
R
F
)
c
o
n
tr
o
lle
r
f
o
r
c
o
n
tr
o
llin
g
th
e
P
W
M
i
n
p
u
t to
t
h
e
s
in
g
le
p
h
a
s
e
in
v
e
r
te
r
w
h
ic
h
i
s
e
m
p
lo
y
e
d
fo
r
s
t
a
n
d
-
a
lo
n
e
P
V
a
p
p
lic
a
tio
n
.
T
h
e
o
b
j
e
c
tiv
e
o
f
th
e
c
o
n
tr
o
lle
r
is
to
m
a
i
n
ta
i
n
t
h
e
in
v
e
r
te
r
o
u
tp
u
t v
o
lta
g
e
co
n
s
t
a
n
t
,
w
i
t
h
i
n
t
h
e p
er
m
i
s
s
i
b
l
e t
o
l
er
an
ce r
an
g
e
u
n
d
er
d
i
f
f
er
en
t
l
o
ad
i
n
g
en
v
i
r
o
n
m
e
n
t
,
i
n
o
r
d
er
t
o
ach
i
e
v
e
tr
a
n
s
ie
n
t a
n
d
s
te
a
d
y
s
ta
te
s
t
a
b
ilit
y
.
T
h
e
s
y
s
te
m
c
o
m
p
r
is
e
s
o
f
a
P
h
o
to
v
o
lta
ic
s
y
s
te
m
,
a
d
c
to
d
c
b
o
o
s
t
co
n
v
er
t
er
,
a
s
i
n
g
l
e
p
h
a
s
e
v
o
l
t
ag
e s
o
u
r
ce i
n
v
er
t
er
a
n
d
d
i
f
f
e
r
en
t
s
i
n
g
l
e
p
h
as
e
d
o
m
e
s
t
i
c
l
o
ad
s
.
T
h
e
r
u
l
e b
as
e
p
r
ep
ar
e
d
f
o
r
t
h
e A
N
F
I
S
co
n
t
r
o
l
l
er
i
s
an
o
u
t
co
m
e o
f
t
h
e d
et
ai
l
ed
an
d
m
i
n
ut
e
a
na
l
ys
i
s
o
f
t
he
i
n
ve
r
t
e
r
o
ut
p
ut
v
ol
t
a
g
e
a
n
d c
u
r
r
e
n
t
c
h
a
n
g
e
s
w
h
i
c
h
a
r
e
s
u
bj
e
c
t
t
o di
f
f
e
r
e
n
t
l
oa
d c
on
di
t
i
on
s
.
T
h
e
pr
opos
e
d c
on
t
r
ol
l
e
r
i
s
de
s
i
gn
e
d i
n
M
A
T
L
A
B
/
S
i
m
ul
i
n
k
e
nv
i
r
onm
e
n
t
.
2.
R
ES
EA
R
C
H
M
ETH
O
D
T
h
e o
v
er
al
l
s
y
s
t
e
m
can
b
e b
r
o
ad
l
y
d
i
v
i
d
ed
i
n
to
s
ix
s
e
c
t
i
ons
a
s
s
h
o
w
n i
n
F
i
g
u
r
e
1
.
T
h
e
f
ir
s
t s
e
c
tio
n
c
om
pr
i
s
e
s
of
a
dc
s
ou
r
c
e
w
hi
c
h
c
ons
i
s
t
s
of
a
ph
ot
o v
ol
t
a
i
c
pa
n
e
l
s
u
ppor
t
e
d by
u
l
t
r
a
-
cap
aci
t
o
r
b
an
k
.
T
h
e u
l
t
r
a
-
cap
aci
t
o
r
s
u
p
p
o
r
t
r
en
d
er
s
t
h
e
o
u
t
p
u
t
v
o
l
t
a
g
e o
f
t
h
e P
V
s
y
s
t
e
m
al
m
o
s
t
co
n
s
t
an
t
.
T
h
e s
eco
n
d
s
ect
i
o
n
i
s
a d
c t
o
d
c s
t
ep
u
p
co
n
v
er
t
er
w
i
t
h
a
d
c l
i
n
k
cap
aci
t
o
r
at
i
t
s
o
u
t
p
u
t
t
er
m
i
n
a
l
s
.
T
h
e t
h
i
r
d
s
ect
i
o
n
co
m
p
r
i
s
es
o
f
a
s
i
n
g
l
e
p
h
as
e b
r
i
d
g
e i
n
v
er
t
er
co
n
s
t
r
u
c
t
ed
f
r
o
m
f
o
u
r
i
n
s
u
la
te
d
g
a
te
b
i
p
o
la
r
j
u
n
c
tio
n
tr
a
n
s
is
to
r
,
I
G
BT
s
w
i
t
c
h
e
s
.
A
n
L
C
f
ilte
r
c
ir
c
u
it
is
p
r
o
v
id
e
d
a
t
th
e
lo
a
d
te
r
m
i
n
a
ls
o
f
th
e
in
v
e
r
te
r
.
T
h
e
f
ou
r
t
h
s
e
c
t
i
on c
o
m
pr
i
s
e
s
of
t
h
e
s
i
nu
s
oi
da
l
pu
l
s
e
w
i
dt
h
m
odu
l
a
t
i
on
S
P
W
M
g
en
er
at
i
o
n
u
n
i
t
w
h
i
c
h
g
e
n
er
at
es
p
u
l
s
es
t
o
co
n
t
r
o
l
t
h
e I
G
B
T
s
an
d
h
en
ce t
h
e
in
v
e
r
te
r
o
u
tp
u
t.
F
i
f
th
s
e
c
tio
n
is
t
h
e
L
o
a
d
u
n
it
w
h
e
r
e
d
i
f
f
e
r
e
n
t lo
a
d
s
a
r
e
pr
og
r
a
m
m
e
d
t
o s
w
i
t
c
h
e
d i
n f
or
d
if
f
e
r
e
n
t i
n
te
r
v
a
l o
f
ti
m
e
i
n
o
r
d
e
r
to
te
s
t th
e
p
e
r
f
o
r
m
a
n
c
e
o
f
t
h
e
p
r
o
p
o
s
e
d
s
y
s
te
m
.
T
h
e
s
ix
t
h
s
e
c
tio
n
is
th
e
co
n
t
r
o
l
l
er
s
ect
i
o
n
w
h
i
c
h
co
n
s
i
s
t
s
o
f
ad
ap
t
i
v
e f
u
zz
y
l
o
g
i
c i
n
f
er
en
ce s
y
s
t
e
m
,
a p
h
as
e l
o
c
k
ed
l
o
o
p
b
l
o
ck
,
an
ab
0
t
o dq0 t
r
a
n
s
f
or
m
a
t
i
on
bl
oc
k
,
a
dq0 t
o
a
b0
bl
oc
k
,
c
om
pa
r
a
t
or
e
t
c
.
DC TO DC
CONVERTER
DC SOURCE
SINGLE PHASE
INVERTER
WITH
FILTER UNIT
LOAD UNIT
ANFIS
CONTROLLER
PULSE GENERATION
UNIT
F
i
g
ur
e
1
.
S
y
s
t
e
m
B
l
o
ck
R
ep
r
es
en
t
at
i
o
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
20
89
-
4856
I
J
RA
,
V
o
l.
7
, N
o
.
3
,
S
e
pt
e
m
be
r
201
8
:
17
6
–
1
84
178
2
.1
.
O
pe
r
a
t
i
o
n o
f
t
he
Sy
s
t
e
m
T
h
e
ou
t
pu
t
of
t
h
e
S
ol
a
r
P
V
s
y
s
t
e
m
,
i
s
f
e
d t
o a
s
t
e
p u
p
dc
t
o
dc
c
on
v
e
r
t
e
r
w
h
i
c
h
s
t
e
ps
u
p t
he
vo
l
t
a
ge
a
n
d
th
e
o
u
tp
u
t
d
c
lin
k
c
a
p
a
c
i
to
r
m
a
in
ta
in
s
it c
o
n
s
ta
n
t.
T
h
e
o
u
tp
u
t o
f
t
h
e
D
C
c
o
n
v
e
r
te
r
i
s
f
e
d
to
t
h
e
s
in
g
le
p
h
as
e i
n
v
er
t
er
.
T
o
m
ak
e
t
h
e
i
n
v
er
t
er
v
o
l
t
a
g
e s
i
n
u
s
o
i
d
al
a
n
L
C
f
i
l
t
er
i
s
co
n
n
ect
ed
i
n
b
et
w
ee
n
t
h
e i
n
v
er
t
er
o
ut
p
ut
a
nd
t
he
l
o
a
d
t
e
r
m
i
na
l
s
.
T
h
e
l
oa
d s
e
c
t
i
on
i
s
c
o
m
pr
i
s
e
d of
bot
h
l
i
n
e
a
r
a
n
d n
on
-
l
i
n
ear
l
o
ad
s
w
h
i
c
h
ar
e
s
w
itc
h
e
d
in
to
th
e
s
y
s
te
m
a
t th
e
a
p
p
r
o
p
r
ia
te
in
te
r
v
a
l o
f
ti
m
e
.
A
s
s
h
o
w
n
i
n
t
h
e
F
i
gu
r
e
2 f
our
I
G
B
T
s
a
r
e
c
on
n
e
c
t
e
d i
n
br
i
dg
e
t
opol
ogy
t
o
f
or
m
t
h
e
i
nv
e
r
t
e
r
c
i
r
c
u
i
t
,
L
f
a
nd
C
f
ar
e t
h
e f
ilte
r
c
o
m
p
o
n
e
n
t
s
.
T
h
e
lo
a
d
te
r
m
i
n
a
l v
o
lta
g
e
a
t th
e
p
o
in
t o
f
c
o
m
m
o
n
c
o
u
p
lin
g
is
m
e
a
s
u
r
e
d
a
n
d,
w
i
t
h
pr
ope
r
pr
oc
e
s
s
i
n
g
,
f
e
d t
o t
h
e
a
b0 t
o dq0 c
on
v
e
r
t
e
r
,
t
h
e
V
d
(
d
ir
e
c
t a
x
is
c
o
m
p
o
n
e
n
t)
s
o
o
b
ta
in
e
d
is
co
m
p
ar
ed
w
i
t
h
t
h
e r
ef
er
en
ce
v
o
l
t
ag
e V
dref
w
h
ic
h
is
o
b
ta
in
e
d
f
r
o
m
t
he
d
c
l
i
nk a
t
t
he
i
np
ut
o
f
t
he
i
n
ve
r
t
e
r
.
T
he
c
om
pa
r
a
t
or
ou
t
pu
t
i
s
a
v
ol
t
a
g
e
e
r
r
or
s
i
g
n
a
l
w
hi
c
h
a
l
ong
w
i
t
h t
h
e
r
a
t
e
of
c
h
a
ng
e
of
t
h
e
e
r
r
or
s
i
gn
a
l
i
s
f
e
d t
o t
h
e
A
N
F
I
S
c
o
n
t
r
ol
l
e
r
.
T
h
e
ou
t
pu
t
of
A
N
F
I
S
c
o
n
t
r
ol
l
e
r
i
s
us
e
d
t
o
m
odi
f
y
t
h
e
m
od
u
l
a
t
i
o
n
i
nde
x
of
t
he
S
P
W
M
ge
ne
r
a
t
i
o
n u
ni
t
.
F
ig
u
r
e
2
.
C
ir
c
u
it d
e
s
c
r
ip
tio
n
3.
CO
NT
RO
L
L
E
R DE
S
I
G
N
T
he
t
hr
e
e
p
h
as
e
V
S
I
o
f
f
er
s
t
h
r
ee
d
eg
r
ees
o
f
f
r
eed
o
m
w
h
i
ch
ar
e
(
a)
t
h
e
m
o
d
u
l
at
i
o
n
i
n
d
ex
;
(
b
)
t
h
e
p
h
as
e a
n
g
l
e;
a
n
d
(
c)
t
h
e
f
r
eq
u
en
c
y
.
I
n
t
h
i
s
w
o
r
k
w
e
ar
e i
n
t
er
es
t
ed
i
n
d
ev
el
o
p
i
n
g a
s
i
n
gl
e
p
ha
s
e
s
t
a
nd
a
l
o
ne
s
ys
t
e
m
i
n
w
h
i
c
h o
ur
m
a
i
n c
o
n
c
e
r
n i
s
t
he
m
o
d
ul
a
t
i
o
n i
nd
e
x.
I
n t
he
p
r
o
p
o
s
e
d
A
N
F
I
S
c
o
nt
r
o
l
l
e
r
,
t
he
r
e
a
r
e
t
w
o
i
n
p
u
t
v
a
ri
a
b
l
e
s
a
n
d
o
n
e
o
u
t
p
u
t
v
a
ri
a
b
l
e
.
E
rro
r (E
r
r) a
n
d
t
h
e
ra
t
e
o
f
C
h
a
n
g
e
o
f
E
rro
r (C
E
r
r) d
e
ri
v
e
d
f
ro
m
t
h
e
m
eas
u
r
ed
v
o
l
t
a
ge
s
i
g
na
l
a
t
t
h
e
p
o
i
nt
o
f
c
o
m
m
o
n c
o
up
l
i
ng
a
s
s
ho
w
n
i
n
F
i
gur
e
3
,
ar
e
s
el
ect
ed
as
t
h
e
i
n
p
u
t
v
a
r
i
a
bl
e
s
w
hi
l
e
t
h
e
out
pu
t
v
a
r
i
a
bl
e
i
s
t
h
e
r
e
q
u
i
r
e
d c
on
t
r
ol
s
i
gn
a
l
f
or
a
dj
u
s
t
i
ng
t
h
e
w
i
dt
h of
t
h
e
s
i
n
us
oi
da
l
p
ul
s
e
s
,
b
y
va
r
y
i
n
g t
he
m
o
d
ul
a
t
i
o
n i
nd
e
x.
FIS
Err
CErr
Z
-
1
+
+
-
-
Err
MI
Vd
Vdref
F
i
g
ur
e
3
.
I
np
ut
a
nd
o
ut
p
ut
s
t
r
u
c
t
ur
e
o
f
F
uz
z
y
I
nf
e
r
e
nc
e
S
ys
t
e
m
(
F
I
S
)
H
er
e,
(1
-
2)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RA
I
SSN
:
2089
-
4856
D
e
s
i
gn of
N
e
ur
o
-
F
u
z
z
y
C
ont
r
ol
l
e
r
f
or
St
abi
l
i
z
at
i
on of
Si
n
gl
e
P
has
e
St
a
nd
-
A
l
on
e
…
(
H
i
t
e
ndr
a Si
ng
h T
hak
ur
)
179
E
rr
=
V
d
r
e
f
−
V
d
(1
)
C
E
rr
=
E
rr
−
d
d
t
Er
(
2)
T
he
a
d
a
p
t
i
ve
ne
ur
o
f
uz
z
y
h
y
b
r
i
d
s
ys
t
e
m
o
f
f
e
r
s
t
he
a
d
va
nt
a
ge
o
us
c
o
m
m
o
n
f
e
a
t
ur
e
s
o
f
b
o
t
h t
he
t
e
c
hn
i
q
ue
s
a
nd
t
he
f
u
z
z
y
l
ogi
c
s
y
s
t
e
m
.
T
h
e
pr
e
s
e
n
t
w
or
k u
s
e
s
f
ol
l
o
w
i
ng
s
t
e
ps
t
o de
ve
l
op t
h
e
c
on
t
r
ol
l
e
r
.
F
i
r
s
t
l
y,
a
n F
I
S
i
s
d
e
ve
l
o
p
e
d
w
i
t
h f
i
ve
m
e
m
b
e
r
s
hi
p
f
u
nc
t
i
o
ns
f
o
r
e
a
c
h o
f
t
he
t
w
o
i
np
ut
s
a
nd
a
n o
ut
p
ut
.
T
he
s
ys
t
e
m
i
s
t
he
n
m
a
d
e
t
o
r
u
n
a
nd
t
he
e
r
r
o
r
d
a
t
a
s
e
t
,
c
ha
ng
e
i
n t
he
er
r
o
r
d
at
a s
et
a
n
d
t
h
e d
at
a s
et
o
f
t
h
e
c
o
r
r
e
s
p
o
n
d
in
g
o
u
tp
u
t f
r
o
m
th
e
c
o
n
tr
o
lle
r
is
s
e
n
t to
th
e
M
A
T
L
A
B
w
o
r
k
s
p
a
c
e
.
I
n
t
h
e
n
e
x
t s
te
p
,
th
e
A
N
F
I
S
i
s
i
n
v
o
k
ed
an
d
w
i
t
h
w
o
r
k
s
p
ace
d
at
as
et
,
i
t
i
s
t
r
ai
n
ed
.
T
h
e
n
eu
r
al
n
et
w
o
r
k
i
s
u
s
ed
t
o
g
en
er
at
e t
h
e
n
e
w
m
e
m
b
er
s
h
i
p
f
u
nc
t
i
o
ns
f
o
r
t
he
A
N
F
I
S
c
o
nt
r
o
l
l
e
r
.
T
he
n
e
w
l
y
t
r
ai
n
ed
an
d
d
e
v
el
o
p
ed
A
N
F
I
S
i
s
n
o
w
u
s
ed
i
n
p
l
ace o
f
F
I
S
co
n
t
r
o
l
l
er
.
T
h
e s
y
s
t
e
m
i
s
ag
a
i
n
m
ad
e t
o
r
u
n
an
d
t
h
e p
r
o
ces
s
o
f
co
l
l
ect
i
n
g
t
h
e d
at
as
et
i
s
r
ep
eat
ed
an
d
A
N
F
I
S
i
s
r
e t
r
ai
n
ed
u
s
i
n
g
i
n
b
u
i
l
t
b
ack
p
r
o
p
ag
at
i
o
n
o
p
t
i
m
i
z
a
t
i
o
n
m
e
t
ho
d
.
T
he
ne
w
l
y t
r
a
i
ne
d
s
ys
t
e
m
i
s
c
he
c
ke
d
a
nd
va
l
i
d
a
t
e
d
f
o
r
t
he
i
np
ut
s
a
nd
o
ut
p
ut
a
nd
i
s
p
ut
t
o
s
er
v
i
ce.
T
he
i
ni
t
i
a
l
l
y
d
e
s
i
g
ne
d
F
I
S
i
s
i
np
ut
t
e
d
w
i
t
h t
he
e
r
r
o
r
s
i
gna
l
‘
E
r
r
’
a
nd
t
he
r
a
t
e
o
f
c
ha
nge
o
f
e
r
r
o
r
‘
C
E
r
r
’
ar
e each
s
ect
o
r
ed
f
o
r
5
d
eg
r
ees
o
f
m
e
m
b
e
r
s
hi
p
f
unc
t
i
o
ns
a
s
s
ho
w
n i
n (
3
-
4)
.
E
rr
=
{
E
N
L
,
E
N
S
,
E
Z
,
E
PS
,
E
PL
}
(3
)
C
E
rr
=
{
C
E
N
L
,
C
E
N
S
,
C
E
Z
,
C
E
PS
,
C
E
PL
}
(4
)
T
he
r
a
nge
o
f
t
he
E
rr
i
s
f
r
o
m {
0
-
1
5
0
} w
h
er
e ex
ces
s
0
.
5
u
n
i
t
i
s
k
ep
t
t
o
acco
m
m
o
d
at
e t
h
e o
v
er
v
o
l
t
ag
e
e
ffe
c
t
.
S
i
m
i
l
ar
l
y
,
t
h
e r
an
g
e o
f
s
eco
n
d
i
n
p
u
t
v
ar
i
ab
l
e
C
E
rr
i
s
fr
o
m
{
-
2
t
o
+2
}.
T
h
e o
u
t
p
u
t
v
ar
i
ab
l
e ‘
M
I
’
o
f
t
h
e
c
on
t
r
ol
l
e
r
h
a
s
5 l
i
ngu
i
s
t
i
c
v
a
r
i
a
bl
e
s
or
m
e
m
be
r
s
hi
p f
u
n
c
t
i
ons
a
s
s
ho
w
n i
n (
5
)
, i
.e
.
MI
=
{
MI
N
L
,
MI
N
S
,
MI
Z
,
MI
PS
,
MI
PL
}
(5
)
T
r
i
a
ngul
a
r
m
e
m
b
e
r
s
h
i
p
f
u
n
ct
i
o
n
s
ar
e
c
h
o
s
en
o
n
acco
u
n
t
o
f
i
t
s
f
eas
i
b
l
e
p
r
es
e
n
t
at
i
o
n
a
n
d
ef
f
ect
i
v
e
r
e
s
u
l
t
i
n
p
r
es
en
t
p
ar
t
i
c
u
l
ar
cas
e.
T
h
e
f
u
zz
y
r
u
l
es
f
o
r
t
h
e F
I
S
c
o
n
tr
o
lle
r
is
ta
b
u
la
te
d
a
s
s
ho
w
n
in
T
a
b
le
1
.
I
t is
a
f
i
ve
c
r
o
s
s
f
i
ve
r
ul
e
m
a
t
r
i
x
w
i
t
h l
i
ng
ui
s
t
i
c
s
na
m
e
d
a
s
N
L
-
ne
ga
t
i
ve
l
a
r
ge
,
NS
-
ne
ga
t
i
ve
s
m
a
l
l
, Z
-
zer
o
,
PS
-
p
o
s
itiv
e
s
m
a
ll
,
PL
-
p
o
s
i
t
i
v
e l
ar
g
e.
T
h
e
m
e
m
b
er
s
h
i
p
f
u
n
ct
i
o
n
s
ar
e s
o
s
el
ec
t
ed
an
d
ar
r
an
g
ed
t
o
h
a
v
e a
c
o
n
tr
o
l o
u
tp
u
t
w
h
ic
h
s
h
o
u
ld
m
a
in
ta
i
n
th
e
v
o
lta
g
e
w
it
h
in
p
r
e
s
c
r
ib
e
d
lim
i
ts
u
n
d
e
r
a
ll lo
a
d
in
g
c
o
n
d
itio
n
s
.
T
a
b
le
1
.
F
I
S
Ru
l
e
s
f
or
V
ol
t
a
ge
C
on
t
r
ol
3
.1
.
N
eu
ra
l
N
et
w
o
rk
f
o
r g
en
era
t
i
n
g
F
u
zzy
I
n
f
eren
ce
S
y
s
t
e
m
T
h
e n
eu
r
al
n
et
w
o
r
k
i
s
t
h
e i
n
t
eg
r
al
p
ar
t
o
f
t
h
e
A
N
F
I
S
.
T
h
e A
N
F
I
S
i
s
t
r
ai
n
ed
w
i
t
h
d
at
as
et
p
r
o
d
u
ce
d
b
y
t
h
e p
r
el
i
m
i
n
ar
y
d
ev
el
o
p
ed
F
I
S
.
T
h
e n
eu
r
al
n
et
w
o
r
k
n
ex
t
g
en
er
at
e
s
t
h
e n
e
w
F
I
S
an
d
t
h
i
s
A
N
F
I
S
i
s
p
l
aced
in
t
h
e
c
o
n
tr
o
l s
y
s
te
m
f
o
r
f
u
r
t
h
e
r
in
te
r
a
c
tio
n
w
i
th
s
y
s
te
m
.
T
h
e
n
e
u
r
a
l
n
e
t
w
o
r
k
a
v
o
id
s
th
e
r
e
p
e
titio
n
in
tu
n
i
n
g
an
d
i
s
ad
ap
t
ab
l
e t
o
v
ar
i
at
i
o
n
i
n
t
h
e s
y
s
t
e
m
p
ar
a
m
et
er
s
t
h
r
o
u
g
h
s
el
f
-
a
dj
u
s
t
i
ng
pr
ope
r
t
y
.
T
h
e
n
e
u
r
ons
a
r
e
a
n
i
m
p
o
r
ta
n
t p
a
r
t o
f
th
e
n
e
u
r
a
l
n
e
t
w
o
r
k
w
h
ic
h
d
o
e
s
a
ll t
h
e
m
a
t
h
e
m
a
tic
a
l c
o
m
p
u
ta
tio
n
a
l
w
o
r
k.
W
e
i
ght
s
a
nd
b
a
s
e
s
w
i
t
h t
hr
e
s
ho
l
d
va
l
ue
s
a
nd
r
e
f
e
r
e
nc
e
va
l
ue
s
he
l
p
i
n
m
o
d
i
f
i
c
a
t
i
o
n o
f
t
he
i
np
ut
p
a
r
a
m
e
t
e
r
s
.
T
he
l
e
a
r
ni
ng o
f
t
he
A
N
F
I
S
i
s
t
h
e s
u
p
er
v
i
s
ed
l
ear
n
i
n
g
w
h
i
c
h
i
n
co
r
p
o
r
at
ed
b
ack
p
r
o
p
ag
at
i
o
n
o
f
er
r
o
r
w
i
t
h
eac
h
ep
o
ch
(
f
i
x
ed
t
i
m
e
i
nt
e
r
va
l
)
.
T
he
A
N
F
I
S
s
t
r
uc
t
u
r
e
i
s
s
ho
w
n
i
n
t
he
F
i
gu
r
e
4.
T
r
a
i
ni
ng
o
f
t
he
ne
t
w
o
r
k
i
s
a
n e
s
s
e
nt
i
a
l
s
t
e
p
f
o
r
s
el
ect
i
o
n
o
f
t
h
e
ap
p
r
o
p
r
i
at
e r
u
l
es
f
o
r
g
e
n
er
at
i
n
g
a co
n
t
r
o
l
s
i
g
n
al
.
F
i
g
ur
e
5
,
s
ho
w
s
t
he
A
N
F
I
S
s
t
r
uc
t
ur
e
w
i
t
h
5
i
n
t
er
co
n
n
ect
ed
n
et
w
o
r
k
l
a
y
er
s
d
es
cr
i
b
ed
as
f
o
l
l
o
w
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
20
89
-
4856
I
J
RA
,
V
o
l.
7
, N
o
.
3
,
S
e
pt
e
m
be
r
201
8
:
17
6
–
1
84
180
Fi
g
ur
e
4
.
B
lo
c
k
r
e
p
r
e
s
e
n
ta
tio
n
o
f
V
S
I
s
y
s
te
m
w
it
h
c
o
n
tr
o
lle
r
L
a
y
e
r
1
(
=
1
)
t
h
is
la
y
e
r
is
th
e
in
p
u
t la
y
e
r
w
h
ic
h
c
o
n
s
is
t o
f
in
p
u
t
m
e
m
b
e
r
s
h
ip
f
u
n
c
tio
n
s
(
MF
s
)
, v
i
z
.,
E
r
r
a
nd
C
E
r
r
.
T
he
i
np
ut
l
a
ye
r
1
i
s
a
l
a
y
e
r
w
i
t
h t
w
o
no
d
e
s
t
h
a
t
s
up
p
l
i
e
s
t
he
i
np
ut
va
l
ue
s
t
o
t
h
e
ne
xt
l
a
ye
r
.
T
he
m
e
m
be
r
s
h
i
p
f
un
c
t
i
o
n
i
s
s
pe
c
i
f
i
e
d by
(6
)
:
T
r
ia
ng
l
e
(
x
;
p
,
q
,
r
)
=
⎩
⎪
⎨
⎪
⎧
0
,
x
≤
p
x
−
p
q
−
p
,
p
≤
x
≤
q
r
−
x
r
−
q
,
q
≤
x
≤
r
0
,
r
≤
x
⎭
⎪
⎬
⎪
⎫
(6
)
Fi
g
u
r
e
5
.
A
N
FI
S St
r
u
c
t
u
r
e
T
h
e ab
o
v
e eq
u
at
i
o
n
can
al
s
o
b
e r
ep
r
es
en
t
ed
b
y
(7
)
us
i
n
g
m
i
n
a
nd
m
a
x e
xp
r
e
s
s
i
o
n.
T
ri
a
ng
l
e
(
x
;
p
,
q
,
r
)
=
ma
x
min
x
−
p
q
−
p
,
r
−
x
r
−
q
,
0
(7
)
H
er
e t
h
e {p
,
q
,
r
} i
s
t
h
e
p
ar
am
et
er
s
e
t
w
h
er
e r
>q
>p
f
o
r
m
s
t
h
e t
h
r
ee
v
er
t
i
ces
o
f
t
h
e t
r
i
a
n
g
u
l
ar
m
e
m
b
er
s
h
i
p
f
u
nc
t
i
o
ns
.
E
ve
r
y
no
d
e
w
h
i
c
h
b
e
l
o
ngs
t
o
t
hi
s
l
a
ye
r
ha
s
a
n a
d
a
p
t
i
ve
f
eat
u
r
e.
T
h
e
n
o
d
e f
u
n
ct
i
o
n
as
s
o
ci
at
ed
w
i
t
h
t
h
e r
es
p
o
n
s
e o
f
t
h
e
n
o
d
e can
b
e r
ep
r
es
en
t
ed
as
s
ho
w
n
i
n (
8
-
9)
:
R
l
,
n
=
α
E
n
(
Er
)
,
f
or
n
=
1
to
5
(8
)
R
l
,
n
=
α
CE
n
−
5
(
CEr
)
,
f
or
n
=
6
to
1
0
(9
)
h
er
e
,
l
=
lay
e
r
n
u
m
be
r
;
n
=
no
d
e
n
u
m
be
r
;
α
=
me
mb
e
r
s
h
ip
f
u
n
c
tion
L
a
y
e
r
2
(
=
2
)
t
h
i
s
l
a
y
er
,
k
n
o
w
n
a
s
m
e
m
b
er
s
h
i
p
l
a
y
er
,
ch
ec
k
s
t
h
e
w
e
i
g
h
t
s
o
f
eac
h
M
F
.
I
t
r
ec
ei
v
es
t
he
i
np
ut
va
l
ue
s
f
r
o
m
1
st
l
a
y
e
r
an
d
act
s
as
M
F
s
t
o
r
ep
r
es
en
t
t
h
e
f
u
zz
y
s
et
s
o
f
t
h
e r
e
s
p
ect
i
v
e i
n
p
u
t
v
ar
i
ab
l
es
.
T
he
o
ut
p
ut
o
f
e
ve
r
y
no
d
e
(
w
hi
c
h
i
s
a
f
i
xe
d
no
d
e
)
i
n t
hi
s
l
a
y
e
r
i
s
t
he
p
r
o
d
uc
t
o
f
a
l
l
i
nc
o
m
i
ng
s
i
gna
l
s
t
o
t
he
p
ar
t
i
cu
l
ar
n
o
d
e.
T
h
e o
u
t
p
u
t
can
b
e r
ep
r
es
en
t
ed
as
s
h
o
w
n i
n
(
10)
:
R
l
,
n
=
W
n
=
α
E
n
(
Er
)
×
α
C
E
n
(
CEr
)
,
f
or
n
=
1
,
2
,
.
.
(
10)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RA
I
SSN
:
2089
-
4856
D
e
s
i
gn of
N
e
ur
o
-
F
u
z
z
y
C
ont
r
ol
l
e
r
f
or
St
abi
l
i
z
at
i
on of
Si
n
gl
e
P
has
e
St
a
nd
-
A
l
on
e
…
(
H
i
t
e
ndr
a Si
ng
h T
hak
ur
)
181
E
a
c
h no
d
e
o
ut
p
ut
r
e
p
r
e
s
e
nt
s
t
he
s
t
r
e
n
gt
h o
f
f
i
r
i
ng o
f
a
r
ul
e
.
L
a
y
e
r
3
(
=
3
)
t
hi
s
l
a
ye
r
e
xe
c
ut
e
s
t
he
f
o
l
l
o
w
i
n
g f
u
nc
t
i
o
n
f
o
r
p
r
e
-
p
r
o
c
e
s
s
i
ng o
f
t
he
f
uz
z
y r
ul
e
s
,
l
i
ke
t
h
e
y
cal
c
u
l
at
e
t
h
e
t
r
i
g
g
er
i
n
g
l
ev
el
o
f
each
r
u
l
e,
t
h
e
n
u
m
b
er
o
f
l
a
y
er
s
an
d
t
h
e
n
u
m
b
er
o
f
f
u
zz
y
r
u
l
e
s
b
ei
n
g
eq
u
al
.
E
ach
n
o
d
e o
f
t
h
i
s
l
a
y
er
ev
al
u
a
t
es
t
h
e
n
o
r
m
al
i
zed
w
ei
g
h
t
s
.
T
h
e n
th
n
o
d
e cal
c
u
l
at
es
t
h
e
r
a
t
i
o
o
f
nt
h r
ul
e
’
s
t
r
i
gge
r
i
n
g s
t
r
e
n
gt
h t
o
t
he
s
u
m
o
f
f
i
r
i
ng
s
t
r
e
n
gt
hs
o
f
a
l
l
t
he
r
u
l
e
s
a
s
s
ho
w
n i
n (
1
1
)
.
R
l
,
n
=
W
n
=
W
n
Σ
1
n
W
n
(
11)
T
h
e
o
u
tp
u
t o
f
th
i
s
la
y
e
r
is
c
a
ll
e
d
n
o
r
m
a
liz
e
d
f
i
r
i
ng
s
t
r
e
n
gt
hs
.
L
a
y
e
r
4
(
=
4
)
t
h
is
la
y
e
r
d
e
liv
e
r
s
th
e
o
u
tp
u
t
v
a
lu
e
s
e
n
s
u
i
n
g
f
r
o
m
t
h
e
i
m
p
lic
a
tio
n
o
f
r
u
le
s
.
C
o
n
n
ect
i
o
n
s
b
et
w
een
t
h
e l
a
y
e
r
s
l
3
an
d
l
4
ar
e
w
ei
g
h
t
ed
b
y
t
h
e f
u
zz
y
s
i
n
g
l
et
o
n
s
t
h
at
r
ep
r
es
en
t
a
n
o
t
h
er
s
et
o
f
p
ar
am
et
er
s
f
o
r
t
h
e n
e
u
r
o
-
f
uz
z
y ne
t
w
o
r
k.
E
ve
r
y no
d
e
i
n t
hi
s
l
a
y
e
r
i
s
a
n a
d
a
p
t
i
ve
no
d
e
w
i
t
h
a
no
d
e
f
unc
t
i
o
n a
s
s
ho
w
n
i
n (
1
2
)
:
R
4
,
n
=
W
n
F
n
=
W
n
(
S
n
Er
+
T
n
CEr
+
U
n
)
(
12)
W
h
er
e,
is
a
n
o
r
m
a
liz
e
d
f
ir
in
g
s
tr
e
n
g
t
h
f
r
o
m
la
y
e
r
3
a
n
d
{
,
,
}
ar
e t
h
e co
n
s
eq
u
e
n
t
p
ar
a
m
et
er
s
et
o
f
t
hi
s
no
d
e
.
L
a
y
e
r
5
(
=
5
)
t
h
is
la
y
e
r
is
c
a
lle
d
th
e
o
u
tp
u
t la
y
e
r
,
w
h
ic
h
c
o
m
p
u
te
s
th
e
o
v
e
r
a
ll o
u
tp
u
t a
s
th
e
s
um
m
a
t
i
on of
a
l
l
t
h
e
i
n
pu
t
s
c
om
i
ng
f
r
o
m
l
a
y
e
r
4 a
n
d t
r
a
ns
f
or
m
s
t
h
e
f
u
z
z
y
c
l
a
s
s
i
f
i
c
a
t
i
o
n r
e
s
u
l
t
s
i
n
t
o a
c
r
i
s
p
(
b
i
na
r
y
)
.
T
he
o
ut
p
ut
o
f
each
n
o
d
e i
n
t
h
e l
a
y
er
ca
n
b
e d
ef
i
n
ed
b
y
(
13)
:
R
5
,
n
=
∑
W
n
F
n
=
Σ
n
W
n
F
n
Σ
n
W
n
(
13)
A
r
t
i
f
i
ci
al
N
eu
r
al
N
et
w
o
r
k
,
p
o
s
s
es
s
es
t
h
e ab
i
l
i
t
y
o
f
s
t
r
o
n
g
l
e
ar
n
i
n
g
w
h
i
l
e t
h
e F
u
zz
y
l
o
g
i
c
i
s
cap
ab
l
e
o
f
in
te
r
p
r
e
tin
g
th
e
c
o
n
tr
o
l d
a
ta
a
n
d
in
te
g
r
a
t
e
w
i
t
h
t
h
e
k
n
o
w
l
ed
g
e b
as
e.
T
h
e h
y
b
r
i
d
i
zat
i
o
n
o
f
t
h
e t
w
o
s
ch
e
m
e
s
i
s
k
no
w
n t
o
b
e
t
he
a
d
a
p
t
i
ve
ne
ur
o
f
uz
z
y i
nf
e
r
e
nc
e
s
ys
t
e
m
A
N
F
I
S
,
t
ha
t
ut
i
l
i
z
e
s
t
he
m
e
r
i
t
s
o
f
b
o
t
h t
he
s
ys
t
e
m
s
.
4.
S
I
M
UL
AT
I
O
N R
E
S
UL
T
S
AND DI
S
CUS
S
I
O
NS
T
h
e
pr
o
pos
e
d A
N
F
I
S
c
on
t
r
ol
l
e
r
ba
c
k
e
d by
S
R
F
m
odu
l
a
t
i
on
i
s
i
m
pl
e
m
e
nt
e
d i
n
M
A
T
L
A
B
/S
I
M
U
L
I
N
K
a
n
d
th
e
s
y
s
te
m
p
ar
a
m
e
t
er
s
ar
e as
s
h
o
w
n
i
n
T
ab
l
e
2.
T
a
b
le
2
.
S
im
u
la
tio
n
P
a
r
a
m
e
te
r
s
D
C
S
ou
r
c
e
S
o
la
r
P
V
P
a
n
e
l: V
o
u
t
=
5
0
V
; I
r
r
a
d
i
a
t
io
n
-
1
0
0
0
W
/
m
2
;
T
e
m
p
=
2
5
º
C
.
U
C
B
a
n
k
:
5
0
V
DC
-
D
C
C
o
n
v
er
t
er
F
o
r
P
V a
n
d
UC
V
ou
t
=
2
00
V
(
dc
)
; D
u
ty
R
a
tio
,
δ
=
0
.
6
2
;
C
a
r
r
i
e
r
F
r
e
q
u
e
n
c
y
S
P
W
M
,
f
c
=
1
0
k
H
z
;
L
i
n
e
i
n
d
u
c
t
o
r
,
L
=
1
5
u
H
;
D
C
L
i
n
k
,
C
=
2
2
u
F
DC
-
A
C
I
n
v
er
t
er
V
o
u
t
=
2
0
0
V
(
a
c
)
;
C
a
r
r
i
e
r
F
r
e
q
u
e
n
c
y
,
f
c
=
1
0
k
H
z
;
S
P
W
M
F
r
e
q
u
e
n
c
y
o
f
m
o
d
u
l
a
t
i
n
g
s
i
g
n
a
l
,
f
m
=
5
0
H
z
F
il
t
e
r
L
f
=
5
.
2
m
H
;
C
f
=
6
7
u
F
Lo
a
d
L
1
=
4
K
W
;
L
2
=
8
K
W
;
L
3
=
1
2
K
W
;
L
4
=
1
5
K
W
T
h
e
r
e
s
u
lts
o
b
ta
in
e
d
f
r
o
m
s
i
m
u
la
tio
n
i
n
d
ic
a
te
s
t
h
e
e
f
f
ic
ie
n
t
w
o
r
k
i
n
g
o
f
t
h
e
pr
opos
e
d c
on
t
r
ol
s
c
h
e
m
e
.
F
i
g
ur
e
6
s
h
o
w
s
t
h
e
s
i
m
ul
a
t
i
o
n
r
e
s
u
l
t
s
of
l
oa
d
v
ol
t
a
g
e
V
,
l
oa
d
c
u
r
r
e
n
t
I
w
i
t
h
t
h
e
v
ol
t
a
ge
w
a
v
e
f
or
m
be
f
or
e
f
ilte
r
u
n
i
t.
D
i
f
f
e
r
e
n
t lo
a
d
s
ar
e ap
p
l
i
ed
at
t
h
e s
i
m
u
l
at
i
o
n
t
i
m
e o
f
0
.
1
s
ec.
,
0
.
2
s
ec.
,
0
.
3
s
ec.
T
h
e l
o
ad
s
ar
e
s
eq
u
en
t
i
al
l
y
i
n
cr
eas
ed
as
ca
n
b
e o
b
s
er
v
ed
b
y
t
h
e
w
av
e
f
o
r
m
o
f
cu
r
r
e
n
t
w
h
i
c
h
i
s
i
n
cr
eas
i
n
g
e
v
er
y
t
i
m
e a
s
t
h
e
l
o
a
d
i
s
b
e
i
ng c
ha
nge
d
.
T
he
c
o
nt
r
o
l
l
e
r
m
a
i
nt
a
i
ns
c
o
ns
t
a
nt
vo
l
t
a
ge
a
c
r
os
s
t
h
e
l
oa
d of
200V
.
C
on
t
r
ol
l
e
r
i
s
a
l
s
o
a
c
c
o
m
m
o
d
a
t
i
ng t
he
e
f
f
e
c
t
s
o
f
t
r
a
ns
i
e
nt
s
a
t
t
he
i
ns
t
a
nt
s
o
f
s
w
i
t
c
hi
n
g he
nc
e
r
e
nd
e
r
i
n
g t
he
s
ys
t
e
m
d
yna
m
i
c
a
l
l
y
s
ta
b
le
.
T
h
e
c
o
n
tr
o
lle
r
o
u
tp
u
t is
th
e
f
u
n
c
tio
n
o
f
th
e
m
o
d
u
la
tio
n
in
d
e
x
(
M
I
)
a
n
d
f
r
o
m
t
h
e
c
o
m
b
in
e
d
w
a
v
e
f
o
r
m i
t
can
b
e o
b
s
er
v
ed
t
h
at
a
s
t
h
e
l
o
ad
i
s
i
n
cr
eas
i
n
g
t
h
e co
n
t
r
o
l
l
er
i
s
ch
a
n
g
i
n
g
t
h
e
m
o
d
u
l
at
i
o
n
i
n
d
e
x
s
o
as
t
o
m
ai
n
t
ai
n
t
h
e
v
o
l
t
ag
e at
t
h
e l
o
a
d
t
er
m
i
n
al
s
co
n
s
t
a
n
t
.
S
in
c
e
th
e
ti
m
e
v
a
r
y
i
n
g
(
s
i
n
u
s
o
id
a
l)
s
ig
n
a
ls
a
r
e
r
a
th
e
r
d
if
f
i
c
u
lt
to
c
o
n
tr
o
l
th
a
n
th
e
ti
m
e
in
-
v
a
r
y
i
ng
(
dc
)
s
i
g
n
a
l
s
h
e
n
c
e
i
n
t
h
e
pr
op
os
e
d s
c
h
e
m
e
a
s
i
ng
l
e
ph
a
s
e
a
b0 t
o
dq0
t
r
a
n
s
f
or
m
a
t
i
on
bl
oc
k
i
s
us
e
d t
o c
on
v
e
r
t
a
c
s
i
g
n
a
l
i
n
t
o i
t
s
dc
e
qu
i
v
a
l
e
nt
t
h
e
m
e
t
h
od of
t
r
a
ns
f
or
m
a
t
i
o
n
i
s
ba
s
e
d on t
h
e
P
a
r
k’
s
t
r
a
n
s
f
or
m
a
t
i
o
n
m
e
t
h
od.
F
i
gu
r
e
7 s
h
o
w
s
t
h
e
s
i
m
ul
a
t
i
on r
e
s
u
l
t
o
f
t
h
e
d
i
r
ect
an
d
q
u
ad
r
at
u
r
e ax
i
s
l
o
ad
v
o
l
t
a
g
e an
d
c
u
r
r
en
t
w
av
e
f
o
r
m
s
.
I
t
is
e
v
id
e
n
t
f
r
o
m
th
e
w
a
v
e
f
o
r
m
th
a
t it is
e
a
s
y
f
o
r
th
e
c
o
n
tr
o
lle
r
to
d
e
te
c
t th
e
c
h
a
n
g
e
s
ta
k
in
g
p
la
c
e
in
V
d
a
nd
I
d
o
n a
c
c
o
unt
o
f
va
r
yi
n
g t
he
l
o
a
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
20
89
-
4856
I
J
RA
,
V
o
l.
7
, N
o
.
3
,
S
e
pt
e
m
be
r
201
8
:
17
6
–
1
84
182
F
i
g
ur
e
6
.
L
o
ad
V
o
l
t
ag
e an
d
C
u
r
r
e
n
t
w
a
v
e
f
o
r
m
p
o
s
t
A
N
F
I
S
t
r
a
in
in
g
F
i
g
ur
e
7
.
d
a
nd
q
a
xi
s
vo
l
t
a
ge
a
nd
c
ur
r
e
nt
w
a
ve
f
o
r
m
s
p
o
s
t
A
N
F
I
S
t
r
a
i
ni
n
g
T
h
e F
F
T
an
al
y
s
i
s
o
f
t
h
e
w
a
v
ef
o
r
m
s
p
r
es
en
t
ed
i
n
F
i
g
ur
e
s
8
a
nd
9
gi
ve
t
he
i
n
f
o
r
m
a
t
i
o
n o
f
t
he
t
o
t
a
l
h
a
r
m
o
n
ic
d
is
to
r
tio
n
p
r
e
s
e
n
t i
n
th
e
lo
a
d
v
o
lta
g
e
a
n
d c
u
r
r
e
nt
w
a
v
e
f
or
m
s
i
s
a
bou
t
1.
05%
w
hi
c
h
i
s
w
i
t
h
i
n
t
h
e
accep
t
ab
l
e l
i
m
i
t
as
p
er
t
h
e p
o
w
er
q
u
al
i
t
y
n
o
r
m
s
.
F
i
g
ur
e
8
.
L
oa
d
c
ur
r
e
nt
F
F
T
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RA
I
SSN
:
2089
-
4856
D
e
s
i
gn of
N
e
ur
o
-
F
u
z
z
y
C
ont
r
ol
l
e
r
f
or
St
abi
l
i
z
at
i
on of
Si
n
gl
e
P
has
e
St
a
nd
-
A
l
on
e
…
(
H
i
t
e
ndr
a Si
ng
h T
hak
ur
)
183
F
i
g
ur
e
9
.
L
oa
d
v
o
lta
g
e
F
F
T
5.
CO
NCL
U
S
I
O
N
T
h
e
pr
e
s
e
n
t
w
or
k
pr
opos
e
s
a
n
A
N
F
I
S
c
on
t
r
ol
l
e
r
f
or
m
a
i
nt
a
i
n
i
ng
t
h
e
l
oa
d t
er
m
i
n
al
v
o
l
t
ag
e
o
f
a V
S
I
,
e
m
p
lo
y
e
d
to
a
s
ta
n
d
-
a
lo
n
e
P
V
p
o
w
e
r
s
y
s
te
m
,
w
it
h
i
n
th
e
p
r
e
s
c
r
ib
e
d
lim
its
(
e
s
s
e
n
tia
l
l
y
c
o
n
s
ta
n
t)
u
n
d
e
r
d
i
f
f
er
e
n
t
l
o
ad
ch
an
g
i
n
g
ci
r
c
u
m
s
t
a
n
ces
.
A
s
co
m
p
ar
ed
w
i
t
h
t
h
e
v
ar
i
o
u
s
ef
f
ect
i
v
e
co
n
t
r
o
l
l
er
s
l
i
k
e
P
I
D
c
o
nt
r
o
l
l
e
r
,
t
he
ne
ur
o
-
f
uz
z
y b
a
s
e
d
c
o
n
tr
o
lle
r
h
a
s
r
e
s
u
lte
d
i
n
m
a
in
ta
in
i
n
g
th
e
lo
a
d
te
r
m
i
n
a
l
v
o
lta
g
e
c
o
n
s
ta
n
t
und
e
r
va
r
yi
ng l
o
a
d
c
i
r
c
u
m
s
t
a
nc
e
s
a
nd
he
nc
e
e
n
s
ur
i
n
g t
he
s
t
e
a
d
y
s
t
a
t
e
a
nd
d
yna
m
i
c
s
t
a
b
i
l
i
t
y
.
T
he
r
e
s
ul
t
s
obt
a
i
n
e
d
f
r
o
m
e
x
pe
r
i
m
e
n
t
a
l
s
e
t
u
p de
v
e
l
ope
d
f
or
i
nv
e
s
t
i
g
a
t
i
n
g
t
h
e
pe
r
f
or
m
a
n
ce
o
f
t
h
e
c
o
n
t
r
o
l
l
er
h
a
v
e
al
s
o
v
al
i
d
at
ed
t
h
e
s
u
cces
s
o
f
t
h
e c
o
n
t
r
o
l
l
er
o
p
er
at
i
o
n
i
n
co
m
p
ar
i
s
o
n
w
i
t
h
t
h
e P
I
co
n
t
r
o
l
l
er
.
T
h
e ad
v
an
t
a
g
es
o
f
t
h
e
pr
op
os
e
d c
on
v
e
r
t
e
r
a
r
e
i
t
s
t
i
m
e
s
a
vi
ng
f
e
a
t
u
r
e
a
n
d
t
h
e
c
on
t
r
ol
m
e
t
h
odol
ogy
n
ot
i
n
v
ol
v
i
n
g c
o
m
pl
e
x
m
at
h
e
m
a
t
i
cal
p
r
o
ce
d
ur
e
.
R
EF
ER
EN
C
ES
[
1]
J
.M
. O
r
t
e
g
a
, e
t
.a
l
., “
V
S
C
-
ba
s
e
d
T
opo
l
og
i
e
s
t
o
F
u
rt
h
e
r
I
n
t
eg
r
at
e R
en
ew
ab
l
e E
n
er
g
y
S
o
u
r
ces
in
D
is
tr
i
b
u
t
io
n
S
ys
t
e
m
s
”,
I
E
T
R
e
n
e
w
. P
o
w
e
r
G
e
n
.,
20
12,
6,
(
6)
,
p
p.
43
5
–
4
45
.
[
2]
M
. M
o
n
f
a
r
e
d
, e
t
.a
l
., “
A
n
a
l
y
s
i
s
,
D
e
s
i
g
n,
a
nd
E
x
p
er
i
m
en
t
al
V
er
i
f
i
cat
i
o
n
of
a S
R
F
-
V
C f
o
r 1
-
p
h
as
e
I
n
v
er
t
er
”,
I
E
E
E
T
r
a
n
s
. I
n
d
. E
l
e
c
t
.,
2
01
4,
61,
(
1)
,
p
p.
2
58
–
26
9
.
[
3]
F
.
B
l
aab
j
er
g
,
et
.
al
.
,
“
P
o
w
er
E
l
ect
r
o
n
i
cs
C
o
n
v
er
t
er
s
fo
r
W
i
nd T
ur
b
i
ne
S
y
s
t
e
m
s
”,
I
E
E
E
T
r
a
n
s
. I
n
d
.
A
p
p
l
.,
2
01
2,
48,
(
2)
,
pp.
70
8
–
7
19
.
[
4]
M
.
M
o
n
f
ar
ed
,
et
.
al
.
,
“D
i
r
ect
A
ct
i
v
e an
d
R
eact
i
v
e
P
o
w
e
r Co
n
t
ro
l
o
f
S
in
g
le
-
p
h
as
e
G
ri
d
-
tie
C
o
n
v
er
t
er
s
”,
IE
T
P
o
we
r
E
l
ect
r
o
n
.,
2
0
1
2
, 5
, (
8
)
, p
p
.
1
5
4
4
–
155
0
.
[
5]
R
.
O
r
u
g
an
t
i
,
et
.
al
.
,
“A
C
ont
r
ol
M
e
t
h
od
fo
r
H
i
gh
-
p
er
f
o
r
m
a
n
ce U
P
S
I
nv
e
r
t
e
r
s
T
hr
oug
h O
ut
p
ut
-
i
m
p
ed
an
ce
R
ed
u
ct
i
o
n
”,
I
E
E
E
T
r
a
n
s
. I
n
d
.
E
l
e
c
t
r
o
n
.,
2
00
8,
5
5,
(
2)
,
pp
.
8
88
–
89
8.
[
6]
A
.
L
i
d
o
zzi
,
et
.
al
.
,
“R
es
o
n
an
t
–
r
e
p
e
titiv
e
C
om
bi
ne
d C
ont
r
ol
fo
r
S
t
an
d
-
al
o
n
e
P
ow
e
r
S
up
pl
y
U
ni
t
s
”,
I
E
E
E
T
r
a
n
s
. I
n
d
.
A
ppl
.
,
20
15,
5
1,
(
6)
,
pp.
4
65
3
–
46
63
.
[
7]
T.
Li
u
,
et
.
al
.
,
“P
ar
al
l
el
S
tr
u
c
t
u
r
e
F
r
a
c
tio
n
a
l R
e
p
e
titiv
e
C
o
n
tr
o
l
fo
r
P
W
M
In
v
e
rt
er
s
”,
I
E
E
E
T
r
a
n
s
. I
n
d
. E
l
e
c
t
r
o
n
.
,
201
5,
62
,
(
8
)
,
pp.
5
045
–
50
54
.
[
8]
Y
.
C
h
en
,
et
.
al
.
,
“R
o
b
u
s
t
P
r
ed
i
ct
i
v
e D
u
al
-
l
oo
p
C
o
n
tr
o
l S
tr
a
te
g
y w
i
t
h
R
eact
i
v
e P
o
w
er
C
o
m
p
en
s
at
i
o
n
fo
r
S
in
g
le
-
pha
s
e
Gr
i
d
-
co
n
n
ect
ed
D
is
tr
ib
u
te
d
G
e
n
e
r
a
tio
n
S
y
s
te
m
”,
I
E
T
P
o
w
e
r
E
l
e
c
t
r
o
n
.,
2
01
3,
6,
(
7)
,
pp
.
13
20
–
13
28
.
[
9]
H
.
R
.
K
ar
s
h
en
as
,
et
.
al
.
,
“H
y
b
r
i
d
L
e
a
r
ni
ng
C
ont
r
ol
S
t
r
a
t
e
gy
fo
r
T
h
re
e
-
p
h
as
e
U
ni
nt
e
r
r
u
pt
i
b
l
e
P
ow
e
r
S
uppl
y
”,
IE
T
P
o
w
er
E
l
ect
r
o
n
.
,
2
01
1,
4,
(
7)
,
pp
.
79
9
–
8
07
.
[
1
0]
S
. K
w
a
k
, e
t
.a
l
., “
M
o
d
e
l
P
r
e
di
c
t
i
v
e
C
ont
r
ol
M
e
t
ho
ds
to
R
ed
u
ce C
o
m
m
o
n
-
m
ode
V
o
lta
g
e
fo
r
3
-
ph V
S
I
”,
I
E
E
E
T
r
a
n
s
.
P
o
w
er
E
l
ect
r
o
n
.
,
2
01
5,
30,
(
9)
,
p
p
.
50
19
–
50
35
.
[
1
1]
J
.S
. L
i
m
, C
. P
a
r
k
, J
. H
a
n
, e
t
a
l
., “
R
o
b
u
s
t
T
r
a
c
ki
n
g C
o
n
t
r
ol
o
f a
Th
r
e
e
-
p
h
as
e D
C
–
AC
I
n
v
er
t
er
fo
r
U
P
S
A
p
p
lic
a
ti
ons
”
,
I
E
E
E
T
r
a
n
s
. I
n
d
.
E
l
e
c
t
r
o
n
.
,
20
14,
59,
(
1)
,
p
p.
41
42
–
41
51
.
[
1
2]
T
.S
. L
e
e
, e
t
.a
l
., “
R
obus
t
C
on
t
r
ol
l
e
r
D
e
s
i
gn
fo
r
a
1
-
p
h
as
e U
P
S
In
v
e
rt
e
r U
s
i
n
g
μ
-
s
y
n
t
h
es
i
s
”,
P
r
o
c
. I
n
s
t
. E
l
e
c
t
r
. E
n
g
.
E
l
e
c
t
r
. P
o
w
e
r
A
p
p
l
.
,
2
00
4,
15
1,
(
3)
,
pp.
3
34
–
3
40
.
[
1
3]
H
.
K
o
m
u
r
c
u
g
il,
e
t.
a
l
., “
A
n
E
xt
e
n
d
e
d L
y
a
punov
-
f
u
n
c
tio
n
-
b
as
ed
C
o
n
tr
o
l S
tr
a
te
g
y
fo
r
S
in
g
le
-
p
h
as
e U
P
S
In
v
e
rt
e
rs
”,
I
E
E
E
T
r
a
n
s
. P
o
w
e
r
E
l
e
c
t
r
o
n
.
,
20
15,
30
,
(
7)
,
pp.
3
97
6
–
39
83
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
20
89
-
4856
I
J
RA
,
V
o
l.
7
, N
o
.
3
,
S
e
pt
e
m
be
r
201
8
:
17
6
–
1
84
184
[
1
4]
R
.
R
azi
,
M
.
M
o
n
f
ar
ed
,
“S
i
m
p
l
e
C
ont
r
ol
S
c
he
m
e
fo
r
S
i
n
gl
e
-
pha
s
e
U
ni
nt
e
r
r
upt
i
bl
e
P
ow
e
r
S
uppl
y
I
nv
e
r
t
e
r
s
w
ith
K
al
m
an
F
ilte
r
-
b
as
ed
Es
tim
a
tio
n
o
f t
h
e
O
u
tp
u
t V
o
lta
g
e
”,
I
E
T
P
o
w
er
E
l
ect
r
o
n
.
,
2
01
5,
8,
(
9)
,
p
p
.
18
17
–
182
4
.
[
1
5]
L
i
, Y
.W
., “
C
o
n
t
r
o
l
a
n
d
R
es
o
n
an
ce D
a
m
p
i
n
g
o
f
V
o
lta
g
e
-
s
our
c
e
a
nd
Cu
rre
n
t
-
s
o
u
r
ce
C
o
n
v
er
t
er
s
wi
t
h
L
C
F
ilte
r
s
”
,
I
E
E
E
T
r
a
ns
.
I
n
d.
E
l
e
c
t
r
o
n.
,
2
00
9,
56,
(
5)
,
p
p.
15
11
–
15
21
.
[
1
6]
W
a
i
, R
.J
., e
t
.
al
.
,
“
D
e
s
i
g
n of
B
S
c
ont
r
o
l
f
or
hi
g
h
-
p
er
f
o
r
m
an
ce i
n
v
er
t
er
w
i
t
h
s
t
an
d
-
al
o
n
e an
d
g
r
i
d
-
c
onne
c
t
e
d pow
e
r
-
s
uppl
y
m
ode
s
”
,
I
E
T
P
ow
e
r
E
l
e
c
t
r
on.
,
2
01
3,
6,
(
4)
,
pp
.
7
52
–
76
2
.
[
1
7]
A
. H
. Z
a
d
e
h
, e
t
.
al
.
,
“
M
u
lti
-
l
o
op
L
i
n
ear
R
es
o
n
an
t
V
S
I
C
o
n
tr
o
lle
r
D
e
s
ig
n
fo
r
D
i
s
t
or
t
e
d L
oa
ds
U
s
i
ng
t
h
e
L
i
n
ear
Q
u
ad
r
at
i
c R
eg
u
l
at
o
r
M
et
h
od
”
,
I
E
T
P
o
w
er
E
l
ect
r
o
n
.,
2
01
2,
5,
(
6
)
,
pp
.
84
1
–
85
1
.
[
1
8]
V
a
n
d
o
o
r
n
,
T
.L
., e
t
.
al
.
,
“T
h
eo
r
et
i
cal
An
a
l
y
si
s
a
nd
Ex
p
e
r
im
e
n
ta
l V
a
lid
a
ti
o
n
o
f 1
-
p
h
as
e
D
i
r
ect
vs
.
C
as
cad
e V
o
l
t
ag
e
C
ont
r
ol
in
I
s
l
an
d
ed
M
i
cr
o
-
g
r
i
ds
”
,
I
E
E
E
T
r
a
ns
.
I
n
d.
E
l
e
c
t
r
on.
,
2
01
3
,
60
,
(
2)
,
pp.
7
89
–
79
8
.
[
1
9]
C
. Z
o
u
, e
t
.
al
.
,
“S
t
at
i
o
n
ar
y
F
r
a
m
e
Eq
u
iv
a
le
n
t M
o
d
e
l
o
f
P
ro
p
o
rt
io
n
a
l
-
in
te
g
r
a
l
C
o
n
tr
o
lle
r i
n
d
q S
y
nc
hr
o
no
us
F
r
a
m
e
”,
I
E
E
E
T
r
a
n
s
. P
o
w
e
r
E
l
e
c
t
r
o
n
.
,
20
14,
29
,
(
9)
,
pp.
4
46
1
–
44
65
.
[
2
0]
D
.
S
i
m
o
n
,
“K
al
m
an
F
ilte
r
in
g
wi
t
h
S
ta
te
C
o
n
s
tr
a
i
n
ts
:
a
S
u
r
v
e
y
o
f
L
i
n
ear
a
nd
N
o
n
lin
e
a
r
A
lg
o
r
ith
m
s
”,
IE
T
P
o
we
r
Ele
ct
r
o
n
.,
2
0
1
0
, 4
, (
8
)
, p
p
.
1
3
0
3
–
131
8
.
[
2
1]
E
. G
h
a
d
i
m
i
, e
t
.a
l
., “
M
u
l
t
i
-
s
t
ep
G
r
a
di
e
nt
M
e
t
ho
ds
fo
r
N
e
t
w
o
r
k
e
d
O
p
tim
iz
a
tio
n
”,
I
E
E
E
T
r
a
n
s
. S
i
g
n
a
l
. P
r
o
c
.
,
20
13
,
61,
(
2
1)
,
pp.
5
41
7
–
542
9
.
[
2
2]
H
.
A
k
ag
i
,
“
A
ct
i
v
e H
ar
m
o
n
i
c F
i
l
t
er
s
,
”
P
r
o
ceeed
i
n
g
s
I
E
E
E
,
v
ol
.
9
3,
pp.
21
28
-
21
41,
2
00
5
.
[
2
3]
N
. A
l
t
i
n
, e
t
.a
l
., “
d
S
P
A
C
E
b
a
s
e
d
A
d
ap
t
i
v
e N
eu
r
o
-
f
u
z
z
y
C
ont
r
ol
l
e
r
o
f
G
r
i
d
I
n
t
er
act
i
v
e I
n
v
er
t
er
,
”
E
ne
r
gy
c
ons
e
r
v
at
i
o
n
and
m
a
na
ge
m
e
nt
,
v
ol
.
5
6,
pp.
13
0
-
13
9,
20
12.
[
2
4]
S
.
K
.
J
a
in
,
P
.
A
g
r
a
w
a
l,
H
.
O
.
G
u
p
ta
,
“
F
u
z
z
y
L
o
g
ic
C
o
n
tr
o
lle
d
S
h
u
n
t A
c
tiv
e
F
ilte
r
f
o
r
P
o
w
e
r
Q
u
a
li
t
y
I
m
pr
ov
e
m
e
nt
,
”
I
E
E
P
r
o
ceed
i
n
g
s
:
E
l
ect
r
i
c P
o
w
er
A
p
p
l
i
ca
t
i
o
n
s
,
v
o
l
.
149,
p
p
.
317
-
328,
2002.
B
I
O
G
RAP
H
I
ES
O
F
AUT
H
O
RS
M
r
.
H
S T
hak
ur
p
u
r
s
e
d
B
E in
Ele
c
tr
ic
a
l En
g
in
e
e
r
in
g
f
r
o
m
R
G
P
V
U
n
iv
e
r
s
it
y
B
h
o
p
a
l,
M
.
P
,
I
n
d
ia
i
n 2
00
5 a
n
d M
a
s
t
e
r
of
E
ng
i
ne
e
r
i
ng
f
r
o
m
C
S
V
T
U
U
ni
v
e
r
s
i
t
y
i
n 2
012
.
H
e
i
s
c
ur
r
e
n
t
l
y
pur
s
ui
ng
P
h.
D
.
a
n
d w
or
k
i
ng
a
s
A
s
s
i
s
t
a
nt
P
r
of
e
s
s
or
i
n D
e
pa
r
t
m
e
nt
of
E
l
e
c
t
r
i
c
a
l
a
nd E
l
e
c
t
r
oni
c
s
E
ng
i
ne
e
r
i
ng
,
S
S
T
C
-
S
S
I
T
M
,
B
hi
l
a
i
,
C
.
G
.
s
i
nc
e
2008
.
H
i
s
m
a
i
n r
e
s
e
a
r
c
h w
or
k
f
oc
us
e
s
on P
ow
e
r
E
l
ect
r
o
n
i
cs
co
n
v
er
t
er
d
ev
el
o
p
m
e
n
t
f
o
r
S
ol
a
r
P
V
s
y
s
t
e
m
s
,
H
y
br
i
di
z
a
t
i
on of
m
ul
t
i
pl
e
s
our
c
e
s
.
H
e
h
as
1
0
y
e
ar
s
o
f
t
each
i
n
g
ex
p
er
i
en
ce an
d
4
y
ear
s
o
f
R
es
ear
ch
E
x
p
er
i
en
ce.
M
r
R
N
P
a
t
e
l
pur
s
e
d B
E
i
n E
l
e
c
t
r
i
c
a
l
E
ng
i
ne
e
r
i
ng
f
r
o
m
S
G
S
I
T
S
,
I
ndo
r
e
,
M
.
P
.
I
nd
i
a
i
n 1
99
7 a
n
d
a
nd M
.
T
e
c
h a
nd
P
hD
f
r
om
I
I
T
D
e
l
h
i
i
n
1
9
9
9
an
d
2
0
0
3
r
es
p
ect
i
v
el
y
.
D
r
.
P
at
el
h
as
s
er
v
ed
as
f
a
c
ul
t
y
i
n t
he
E
l
e
c
t
r
i
c
a
l
E
ng
i
ne
e
r
i
ng
D
e
pa
r
t
m
e
nt
a
t
I
I
T
R
oor
k
e
e
(
y
e
a
r
2003 t
o 2
00
6)
a
nd a
t
t
he
B
i
r
l
a
I
ns
t
i
t
u
t
e
of
T
e
c
hnol
og
y
a
nd S
c
i
e
nc
e
(
B
I
T
S
)
,
P
i
l
a
n
i
(
y
e
a
r
2003)
.
C
ur
r
e
nt
l
y
,
he
i
s
P
r
of
e
s
s
or
i
n
th
e D
ep
ar
t
m
en
t
o
f
E
l
ect
r
i
cal
an
d
E
l
ect
r
o
n
i
cs
E
n
g
i
n
eer
i
n
g
,
S
h
r
i
S
h
a
n
k
ar
ach
ar
y
a
T
ech
n
i
cal
Ca
m
p
u
s
(S
S
T
C),
B
h
i
l
a
i
(CG
),
In
d
i
a
.
H
e
i
s
a
S
e
ni
or
m
e
m
be
r
of
I
E
E
E
.
H
e
ha
s
p
ubl
i
s
he
d m
or
e
t
ha
n 4
0 r
e
s
e
a
r
c
h pa
pe
r
s
i
n r
e
put
e
d i
nt
e
r
na
t
i
ona
l
j
our
na
l
s
a
nd c
o
nf
e
r
e
nc
e
s
i
nc
l
udi
n
g
I
E
E
E
. H
e
h
a
s
a
l
s
o a
ut
ho
r
e
d a
B
ook
,
‘
P
r
og
r
a
m
m
i
ng
i
n M
A
T
L
A
B
-
A
P
r
o
bl
e
m
S
ol
v
i
ng
A
ppr
oa
c
h’
w
i
t
h P
e
a
r
s
o
n
i
n t
he
y
e
a
r
2014.
H
i
s
m
a
i
n r
e
s
e
a
r
c
h
w
or
k
f
oc
us
e
s
on dy
na
m
i
c
a
nd s
t
e
a
d
y
s
t
a
t
e
a
na
l
y
s
i
s
of
di
f
f
e
r
e
nt
c
o
m
pone
nt
s
of
P
ow
e
r
S
y
s
t
e
m
s
,
F
A
C
T
S
de
v
i
c
e
s
,
C
ont
r
ol
S
y
s
t
e
m
s
an
d
P
o
w
er
s
y
s
t
e
m
p
r
o
t
ect
i
o
n
.
H
e
h
as
1
5
y
ear
s
o
f
t
ea
ch
i
n
g
an
d
R
es
ear
ch
E
x
p
er
i
en
ce.
Evaluation Warning : The document was created with Spire.PDF for Python.