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.
8
,
No
.
4
,
D
ecem
b
er
201
9
,
pp.
30
1
~
31
2
I
SSN
:
2089
-
4856,
D
O
I
:
10.
11
591/
i
j
ra
.
v
8
i
4
.
pp
3
01
-
312
301
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
Co
nt
ro
l
s
hun
t
a
ct
iv
e f
ilt
e
r ba
s
ed
on
dq
f
ra
m
e
us
ing
c
urrent
m
o
del predic
t
io
n
C
h
i
N
gu
ye
n
V
an
,
H
oan
g D
a
n
g D
an
h
T
ha
i
N
g
u
y
e
n U
ni
v
e
r
s
i
t
y
of
T
e
c
hnol
og
y
,
V
i
e
t
na
m
A
rt
i
cl
e I
n
f
o
AB
S
T
RAC
T
A
r
tic
le
h
is
to
r
y
:
R
ecei
v
ed
A
pr
26
,
2
01
9
Re
v
i
se
d
Se
p
2
0
,
2
01
9
A
ccep
t
ed
Oc
t
6
,
201
9
T
he
nonl
i
ne
a
r
l
oa
ds
pr
e
s
e
nt
m
or
e
i
n t
he
p
ow
e
r
s
y
s
t
e
m
s
i
n t
he
pr
a
c
t
i
c
e
t
oda
y
by
de
v
e
l
opi
ng
of
e
l
e
c
t
r
oni
c
t
e
c
hn
ol
og
y
a
nd us
i
ng
t
he
s
m
a
l
l
di
s
t
r
i
b
ut
e
d p
ow
e
r
s
our
c
e
s
(
s
ol
a
r
pow
e
r
,
w
i
nd
pow
e
r
e
t
c
.
)
,
t
h
i
s
cau
s
es
t
h
e
i
n
cr
eas
i
n
g
t
h
e h
i
g
h
f
r
eq
u
en
c
y
s
w
i
t
ch
d
ev
i
ces
et
c.
i
n
t
h
e p
o
w
er
n
et
w
o
r
k
.
N
o
n
l
i
n
ear
l
o
ad
s
cau
s
e
non
-
s
i
nus
oi
da
l
c
ur
r
e
n
t
s
a
nd v
ol
t
a
g
e
s
w
i
t
h ha
r
m
oni
c
c
o
m
pone
nt
s
,
i
nc
r
e
a
s
i
ng
t
h
e r
eact
i
v
e p
o
w
er
,
o
v
er
l
o
ad
o
f
p
o
w
er
l
i
n
es
an
d
el
ect
r
i
cal
d
ev
i
ces
,
l
o
w
p
o
w
er
f
a
c
t
or
a
nd a
f
f
e
c
t
i
ng
ba
dl
y
t
o t
he
ne
t
w
or
k
s
.
S
h
u
n
t a
c
tiv
e
f
ilte
r
s
(
S
A
F
)
w
ith
cu
r
r
en
t
co
n
t
r
o
l
l
ed
v
o
l
t
ag
e s
o
u
r
ce i
n
v
er
t
er
s
(
C
C
V
S
I
)
ar
e u
s
ed
ef
f
ect
i
v
el
y
t
o r
e
duc
e
t
he
ha
r
m
oni
c
s
a
nd t
o b
a
l
a
nc
e
t
he
pha
s
e
s
s
i
nus
o
i
da
l
s
o
ur
c
e
c
ur
r
e
nt
s
by
ge
ne
r
a
t
i
ng
t
he
c
ur
r
e
nt
s
t
o c
o
m
pe
ns
a
t
e
t
he
ha
r
m
oni
c
c
ur
r
e
nt
s
c
a
us
e
d b
y
t
he
non
l
i
ne
a
r
l
oa
ds
.
I
n t
hi
s
pa
pe
r
w
e
s
uppos
e
a
c
ont
r
ol
s
t
r
a
t
e
gy
t
o g
e
ne
r
a
t
e
t
he
c
om
pe
ns
a
t
i
on c
ur
r
e
nt
s
of
S
A
F
b
y
us
i
ng
t
he
c
ur
r
e
nt
m
ode
l
pr
e
di
c
t
i
v
e
e
n
g
in
e
e
r
in
g
.
T
h
is
m
e
th
o
d
is
b
e
tte
r
th
a
n
th
e
c
o
n
tr
o
l s
tr
a
te
g
y
u
s
in
g
P
I
c
o
n
tr
o
lle
r
in
te
r
m
o
f
tr
a
n
s
ie
n
t ti
m
e
.
T
he
de
s
i
r
e
d c
om
pe
ns
a
t
i
on c
ur
r
e
nt
s
c
a
n
t
r
ack
ex
act
l
y
t
h
e r
ef
er
en
ce c
o
m
p
en
s
at
i
o
n
cu
r
r
en
t
s
o
n
t
h
e
dq
f
r
am
e.
T
he
s
i
m
ul
a
t
i
on r
e
s
ul
t
s
i
m
pl
e
m
e
nt
e
d on t
he
non
l
i
ne
a
r
l
oa
d,
a
f
ul
l
br
i
dg
e
r
ect
i
f
i
er
an
d
3
p
h
as
e u
n
b
al
an
ce l
o
ad
,
s
h
o
w
t
h
at
t
h
e t
r
an
s
i
en
t
p
er
i
o
d
d
ecr
eas
e
f
r
o
m
0.
1s
t
o
0.
02s
i
n c
om
pa
r
i
ng
w
i
t
h P
I
c
ont
r
ol
l
e
r
.
T
he
e
x
pe
r
i
m
e
nt
a
l
r
e
s
ul
t
s
pr
o
of
t
ha
t
t
he
T
H
D
of
s
our
c
e
c
ur
r
e
nt
s
de
c
r
e
a
s
e
f
r
o
m
24.
8%
t
o 5
.
4%
w
h
en
us
i
ng
t
he
pr
o
pos
e
d
m
e
t
hod.
Ke
y
wo
rd
s
:
A
c
ti
v
e
p
o
w
e
r
f
ilte
r
CCV
S
I
P
i c
o
n
tr
o
lle
r
P
o
w
er
q
u
al
i
t
y
T
o
ta
l h
a
r
m
o
n
ic
d
i
s
to
r
tio
n
C
opy
r
i
g
ht
©
201
9
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
:
C
hi
N
g
u
y
e
n V
a
n
,
D
e
p
a
r
t
m
e
nt
o
f
C
o
n
t
r
o
l
E
ngi
ne
e
r
i
ng a
nd
I
ns
t
r
u
m
e
nt
s
,
T
ha
i
N
gu
ye
n U
ni
ve
r
s
i
t
y o
f
T
e
c
hno
l
o
g
y
,
3
/2
s
tr
e
e
t,
T
h
a
i N
g
u
y
e
n
C
i
t
y
,
V
ie
t N
a
m
.
E
m
a
il:
ngc
hi
@
t
nu
t
.
e
d
u.
v
n
1.
I
NT
RO
D
UCT
I
O
N
T
h
e d
ev
el
o
p
i
n
g
q
u
i
c
k
l
y
o
f
t
h
e el
ect
r
i
cal
en
g
i
n
eer
i
n
g
t
ech
n
o
l
o
g
y
m
ak
e
s
th
e
p
o
w
e
r
s
y
s
te
m
s
to
b
e
m
o
r
e
co
m
p
l
e
x
i
n
w
h
i
c
h
t
h
e
i
n
d
u
s
t
r
i
al
,
co
m
m
er
ci
al
l
o
ad
s
a
n
d
d
at
a
cen
t
er
l
o
ad
s
ar
e
i
n
cr
eas
i
n
g
r
ap
i
d
l
y
.
T
h
e
in
d
u
s
tr
ia
l lo
a
d
s
in
c
l
u
d
e
th
e
m
o
to
r
d
r
iv
e
n
b
y
h
ig
h
f
r
e
q
u
e
n
c
y
s
w
itc
h
in
v
e
r
te
r
s
,
h
ig
h
f
r
e
q
u
e
n
c
y
e
le
c
tr
ic
a
l
f
u
r
n
aces
,
s
at
u
r
at
ed
m
o
t
o
r
s
,
t
h
e co
m
m
er
ci
al
l
o
ad
s
i
n
t
h
e
b
u
i
l
d
i
n
g
s
ar
e o
r
g
a
n
i
zed
b
y
s
at
u
r
a
t
ed
m
o
t
o
r
s
,
H
A
V
C
l
oa
d,
L
E
D
,
co
m
p
u
t
er
s
,
d
at
a s
t
o
r
ag
e s
y
s
t
e
m
s
,
s
p
eci
al
el
ect
r
o
n
i
cs
d
e
v
i
ces
,
et
c.
A
l
l
l
o
ad
s
d
es
cr
i
b
ed
as
ab
o
v
e ar
e
cal
l
ed
b
y
n
o
n
l
i
n
ear
l
o
ad
s
a
n
d
t
h
e
y
ar
e t
h
e ca
u
s
e
s
g
e
n
er
at
i
n
g
s
o
m
e
i
s
s
u
e
s
ab
o
u
t
t
h
e q
u
al
i
t
y
o
f
t
h
e p
o
w
er
s
y
s
t
e
ms
[1
]
.
S
o
m
e o
f
t
h
e
m
aj
o
r
i
s
s
u
es
r
el
at
ed
t
o
cu
r
r
en
t
h
ar
m
o
n
i
cs
i
n
cl
u
d
e g
en
er
at
o
r
b
u
r
n
o
u
t
s
,
v
i
b
r
at
i
o
n
i
n
m
o
t
o
r
s
w
h
i
l
e o
p
er
at
i
n
g
,
co
m
p
u
t
er
n
et
w
o
r
k
f
ai
l
u
r
es
et
c.
T
o
m
ea
s
u
r
e t
h
e h
ar
m
o
n
i
c
s
d
i
s
t
o
r
t
i
o
n
p
r
es
en
t
,
t
h
e
i
n
d
ex
T
H
D
i
s
u
s
ed
,
T
H
D
i
s
d
ef
i
n
ed
as
t
h
e
s
u
m
m
at
i
o
n
o
f
al
l
t
h
e
h
ar
m
o
n
i
cs
co
m
p
o
n
e
n
t
s
o
f
t
h
e cu
r
r
en
t
w
a
ve
f
o
r
m
c
o
m
p
a
r
e
d
a
ga
i
ns
t
t
he
f
u
nd
a
m
e
nt
a
l
c
o
m
p
o
ne
nt
o
f
t
he
c
ur
r
e
nt
w
a
ve
f
o
r
m
.
B
y t
he
I
E
E
E
s
t
d
.
5
1
9,
t
he
T
H
D
o
f
t
he
s
o
ur
c
e
c
ur
r
e
nt
s
ho
ul
d
b
e
l
e
s
s
t
ha
n 5
%
.
T
o
r
e
d
uc
e
t
he
ha
r
m
o
ni
c
s
,
o
w
i
ng
t
o
t
he
a
d
va
nc
e
m
e
nt
i
n
p
o
w
er
el
ec
t
r
o
n
i
c
s
w
i
t
c
h
es
t
h
e S
A
F
i
s
u
s
ed
w
i
d
el
y
n
o
w
ad
a
y
s
.
T
h
e S
A
F
i
s
co
n
n
ect
ed
i
n
p
ar
al
l
el
w
i
t
h
n
o
n
l
i
n
ear
l
o
ad
t
o
c
o
m
p
e
n
s
at
e t
h
e h
i
g
h
er
o
r
d
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
208
9
-
4856
I
nt
J
R
ob &
A
ut
o
m
,
V
o
l.
8
, N
o
.
4
,
D
ecem
b
er
2
0
1
9
:
3
01
–
312
302
h
ar
m
o
n
i
cs
cu
r
r
en
t
s
b
as
ed
o
n
C
C
V
S
I
.
T
h
e p
o
s
i
t
i
o
n
i
n
t
h
e p
o
w
er
s
y
s
t
e
m
a
n
d
t
h
e t
y
p
i
cal
s
t
r
u
ct
u
r
e
o
f
S
A
F
i
s
d
ep
i
ct
ed
r
es
p
ect
i
v
el
y
i
n
t
h
e F
i
g
ur
e
1
a an
d
1b
[2
]
.
Fi
g
ur
e
1.
a
)
T
h
e
pos
i
t
i
on
of
S
A
F
on
t
h
e
po
w
e
r
s
y
s
t
e
m
;
b
)
T
he
t
y
p
i
c
a
l
s
t
r
uc
t
ur
e
o
f
S
A
F
u
s
i
ng t
he
C
C
V
S
I
T
o
im
p
le
m
e
n
t
th
e
c
o
n
tr
o
l o
u
te
r
lo
o
p
,
g
e
n
e
r
a
tin
g
t
h
e
d
e
s
ir
e
d
c
o
m
p
e
ns
a
t
i
o
n c
ur
r
e
nt
s
,
w
e
ne
e
d
t
he
ex
t
r
a co
n
t
r
o
l
l
o
o
p
,
t
h
at
d
et
er
m
i
n
es
t
h
e act
i
v
e p
o
w
er
l
o
s
s
lo
s
s
p
u
s
ed
t
o
cal
cu
l
at
e t
h
e
cr
e
f
i
.
T
h
e act
i
v
e p
o
w
er
lo
s
s
n
o
r
m
a
ll
y
is
d
e
te
r
m
i
n
e
d
b
y
P
I
c
o
n
tr
o
lle
r
i
n
O
d
e
r
to
m
a
i
n
ta
i
n
t
h
e
c
o
ns
t
a
nt
vo
l
t
a
ge
D
C
a
c
r
o
s
s
o
n t
he
cap
aci
t
o
r
,
i
t
i
s
s
ho
w
n i
n F
i
g
ur
e
2
.
T
h
e
tr
a
n
s
f
e
r
f
u
n
c
tio
n
o
f
t
h
e
p
la
n
f
o
r
th
i
s
e
x
tr
a
c
o
n
tr
o
l lo
o
p
is
a
s
f
o
llo
w
s
:
G
()
1
ex
ex
ex
k
s
s
(1
)
w
h
er
e
ex
ex
/2
,
2/
co
k
R
V
RC
,
R
is
th
e
r
e
s
is
ta
n
ce p
ar
al
l
el
t
o
t
h
e cap
aci
t
o
r
S
A
F
,
co
V
i
s
t
h
e r
ef
er
en
ce
cap
aci
t
o
r
v
o
l
t
ag
e,
C
i
s
t
h
e r
at
ed
cap
aci
t
an
ce.
T
h
e r
o
l
e o
f
o
u
t
er
l
o
o
p
i
s
t
o
m
eas
u
r
e t
h
e
l
o
ad
cu
r
r
en
t
s
,
s
o
u
r
ce
v
o
l
t
ag
e
s
,
an
d
t
h
e
n
cal
c
u
l
at
e
s
t
h
e r
eact
i
v
e p
o
w
er
,
r
ef
er
en
ce
act
i
v
e
p
o
w
er
t
h
at
n
eed
s
t
o
b
e
co
m
p
en
s
a
t
ed
.
A
l
l
cal
cu
l
at
i
o
n
s
ar
e i
m
p
l
e
m
e
n
t
ed
o
n
t
h
e
dq
f
r
a
m
e a
s
d
es
cr
i
b
ed
o
n
t
h
e
F
i
g
ur
e
3.
S
u
ppos
e
t
h
a
t
t
h
e
l
oa
d c
u
r
r
e
n
t
di
s
t
or
t
e
d by
h
a
r
m
on
i
c
s
L
i
,
S
A
F
m
eas
u
r
es
t
h
e
L
i
an
d
t
h
en
cal
cu
l
a
t
e
s
th
e
c
o
m
p
e
n
s
a
tio
n
c
u
r
r
e
n
ts
in
j
e
c
tin
g
to
th
e
p
o
w
e
r
s
y
s
te
m
C
i
s
uc
h t
ha
t
t
he
s
o
ur
c
e
c
ur
r
e
nt
s
S
LC
i
ii
m
ai
n
t
ai
n
t
h
e s
i
n
u
s
o
i
d
al
w
a
v
e
f
o
r
m
.
I
t
m
ean
s
t
h
at
t
h
e
h
ar
m
o
n
i
c cu
r
r
en
t
s
ca
u
s
ed
b
y
t
h
e
n
o
n
l
i
n
ear
l
o
ad
ar
e
co
m
p
e
n
s
at
ed
co
m
p
l
et
el
y
b
y
t
h
e co
m
p
en
s
at
i
o
n
c
u
r
r
en
t
s
C
i
.
T
h
e co
n
t
r
o
l
s
t
r
at
eg
y
o
f
S
A
F
i
n
cl
u
d
es
t
w
o
co
n
t
r
o
l
l
oop:
t
h
e
ou
t
e
r
l
oop a
n
d t
h
e
i
nn
e
r
l
oop.
T
h
e
ou
t
e
r
l
oop
i
s
us
e
d t
o c
a
l
c
ul
a
t
e
t
h
e
r
e
f
e
r
e
n
c
e
c
o
m
pe
n
s
a
t
i
o
n
c
ur
r
e
nt
s
C
r
e
f
i
b
as
ed
o
n
t
h
e l
o
ad
c
u
r
r
en
t
s
m
eas
u
r
ed
L
i
,
t
he
i
n
ne
r
l
o
o
p
m
a
ke
s
t
he
c
o
m
p
e
ns
a
t
i
o
n c
ur
r
e
nt
C
i
t
r
a
c
ki
n
g t
he
r
e
f
e
r
e
nc
e
c
ur
r
e
nt
s
b
y
c
o
nt
r
o
l
l
i
n
g t
he
C
C
V
S
I
u
s
i
ng I
G
B
T
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob &
A
ut
om
I
SSN
:
2089
-
4856
C
ont
r
ol
s
hunt
ac
t
i
v
e
f
i
l
t
e
r
bas
e
d on
dq
f
r
am
e
us
i
ng c
ur
r
e
nt
.
.
.
(
C
hi
N
guy
e
n V
an)
303
F
i
gu
r
e
2.
T
h
e
s
t
r
u
c
t
u
r
e
of
c
on
t
r
ol
l
oops
o
f
S
AF
F
i
g
ur
e
3
.
T
h
e
s
tr
u
c
tu
r
e
o
f
o
u
te
r
c
o
n
tr
o
l lo
o
p
F
i
r
s
t
l
y,
3
p
ha
s
e
s
l
o
a
d
c
ur
r
e
nt
s
i
L
=
[
]
,
3
p
h
as
es
s
o
u
r
ce v
o
l
t
a
g
es
=
[
]
ar
e
tr
a
n
s
f
o
r
m
e
d
to
th
e
f
r
a
m
e
b
y
u
s
in
g
t
h
e
C
la
r
k
e
tr
a
n
s
f
o
r
m
a
tio
n
w
it
h
tr
a
n
s
itio
s
n m
a
t
r
i
x
F
2
3
s
s
v
v
ss
v
Fv
,
2
3
L
L
i
i
LL
i
Fi
wi
t
h
1
1/
2
1/
2
0
3
/2
3
/2
F
(
1
)
W
e o
b
t
ai
n
t
h
e cu
r
r
en
t
s
,
LL
ii
an
d
v
o
l
t
ag
es
,
ss
vv
o
n t
he
f
r
am
e.
S
eco
n
d
l
y
,
t
h
e cu
r
r
en
t
s
an
d
v
o
l
t
ag
e
s
o
n t
he
f
r
a
m
e ar
e
u
s
ed
t
o
cal
c
u
l
at
e t
h
e i
n
s
t
an
t
a
n
eo
u
s
act
i
v
e
p
o
w
er
a
n
d
i
n
s
t
a
n
t
a
n
eo
u
s
r
eact
i
v
e p
o
w
er
t
ha
t
can
b
e d
es
cr
i
b
ed
i
n
t
er
m
o
f
t
w
o
p
ar
t
s
:
t
h
e l
o
w
f
r
eq
u
en
c
y
a
n
d
h
i
g
h
f
r
eq
u
en
ci
e
s
as
f
o
l
l
o
w
,
s
L
sL
s
L
sL
p
v
i
vi
p
p
q
v
i
vi
q
q
(
2
)
i
n w
h
i
c
h
,
pp
a
r
e
t
he
l
o
w
f
r
e
q
ue
n
c
y
a
nd
t
he
hi
g
h
f
r
e
q
ue
nc
y c
o
m
p
o
ne
n
t
s
o
f
i
ns
t
a
nt
a
ne
o
u
s
a
c
t
i
ve
p
o
w
e
r
,
a
nd
,
qq
a
r
e
t
he
l
o
w
f
r
e
q
ue
nc
y
a
nd
t
he
hi
gh
f
r
eq
u
e
n
c
y
co
m
p
o
n
en
t
s
o
f
i
n
s
t
a
n
t
a
n
eo
u
s
r
eact
i
v
e p
o
w
er
.
T
h
e
in
s
ta
n
ta
n
e
o
u
s
a
c
tiv
e
p
o
w
e
r
i
s
p
a
s
s
e
d
th
r
o
u
g
h
a
lo
w
p
a
s
s
f
ilte
r
(
L
P
F
)
to
f
ilte
r
o
u
t th
e
h
i
g
h
f
r
e
q
u
e
n
c
y
c
om
pon
e
n
t
s
p
,
t
he
o
ut
p
ut
o
f
L
P
F
i
s
t
he
p
.
T
he
c
o
m
p
en
s
at
i
o
n
act
i
v
e p
o
w
er
a
n
d
r
eact
i
v
e p
o
w
er
ar
e
cal
cu
l
at
ed
b
y
t
h
e eq
u
at
i
o
n
s
as
f
o
l
l
o
w
,
r
lo
s
s
lo
s
s
r
p
p
p
p
p
pp
q
qq
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
208
9
-
4856
I
nt
J
R
ob &
A
ut
o
m
,
V
o
l.
8
, N
o
.
4
,
D
ecem
b
er
2
0
1
9
:
3
01
–
312
304
T
h
e co
m
p
en
s
at
i
o
n
c
u
r
r
en
t
s
on t
h
e
[]
T
cr
ef
cr
a
cr
ii
i
a
r
e
o
b
ta
in
e
d
b
y
u
s
i
n
g
t
h
e
f
o
llo
w
in
g
r
e
la
tio
n
:
22
1
s
sr
cr
ef
s
sr
ss
v
vp
v
vq
vv
i
(
4
)
T
he
o
ut
e
r
c
o
nt
r
o
l
l
o
op
c
a
l
c
ul
a
t
i
ng t
he
e
q
ua
t
i
o
ns
(
1
)
-
(
4
)
d
es
cr
i
b
ed
as
F
i
g
ur
e
3
is
im
p
le
m
e
n
te
d
c
o
m
p
le
te
l
y
b
y
t
h
e
a
n
a
lo
g
c
ir
c
u
its
th
a
t g
u
a
r
a
n
te
s
w
e
ll t
h
e
r
e
q
u
ir
e
m
e
n
ts
o
f
t
h
e
tr
a
n
s
ie
n
t t
i
m
e
.
T
h
e
e
x
tr
a
c
o
n
tr
o
l
l
o
o
p
u
s
i
n
g
t
h
e P
I
co
n
t
r
o
l
l
er
h
as
g
o
o
d
p
er
f
o
r
m
a
n
ce.
R
ecen
t
l
y
,
t
h
er
e ar
e s
o
m
e
m
et
h
o
d
s
d
ev
el
o
p
ed
t
o
i
m
p
r
o
v
e
t
he
r
e
s
pon
s
e
s
of
t
h
e
out
e
r
c
on
t
r
ol
l
oop
by
f
oc
us
i
n
g
on
t
h
e
c
h
oi
c
e
L
P
F
’
s
pa
r
a
m
e
t
e
r
s
[3
]
.
T
h
e
m
e
t
h
ods
f
or
t
u
r
n
i
n
g
b
et
t
er
o
f
t
h
e P
I
’
p
ar
a
m
et
er
s
ar
e p
r
es
en
t
ed
o
n
t
h
e
m
a
t
er
i
al
s
[
4
,
5
]
b
y
d
e
t
e
r
m
i
ni
ng e
xa
c
t
l
y t
he
va
l
ue
s
R
,
co
V
a
nd
C
o
f
S
A
F
,
b
y
co
n
s
i
d
er
i
n
g
t
h
e o
f
f
s
et
o
f
t
h
e p
ar
a
m
e
t
er
s
,
b
y
u
s
i
n
g
t
h
e ad
ap
t
i
v
e
m
et
h
o
d
s
.
B
e
si
d
e
,
us
i
n
g t
he
P
I
c
o
nt
r
o
l
l
e
r
,
t
he
us
i
n
g
ne
ur
a
l
ne
t
w
o
r
ks
E
rro
r!
R
ef
eren
ce s
o
u
rce n
o
t
f
o
u
n
d
.
,
f
uz
z
y t
e
c
hni
c
s
[9
]
an
d
w
av
el
et
[
10]
ar
e d
ev
el
o
p
e
d
r
ec
en
t
l
y
t
o
co
n
t
r
o
l
t
h
e
out
e
r
l
oop.
T
o i
m
pr
ov
e
s
t
h
e p
er
f
o
r
m
a
n
c
e
o
f
t
h
e
out
e
r
c
on
t
r
ol
l
oop
th
e
r
e
a
r
e
s
o
m
e
tu
r
n
in
g
P
I
c
o
n
tr
o
lle
r
’
s
p
ar
am
et
er
s
,
e
x
a
m
p
l
e t
h
e
us
i
n
g
of
t
h
e
opt
i
m
a
l
m
e
t
h
od P
S
O
[
11]
.
W
he
n c
o
ns
i
d
e
r
t
he
no
n
-
id
e
a
l
m
a
i
n
s
v
o
lta
g
e
,
i
n
[
12]
p
r
e
s
e
nt
s
t
he
c
o
m
p
e
ns
a
t
i
o
n e
n
gi
ne
e
r
i
n
g b
y
us
i
n
g t
w
o
L
P
F
s
f
o
r
t
w
o
s
o
ur
c
e
vo
l
t
a
ge
s
o
n t
he
dq
f
r
am
e.
T
h
e i
n
n
er
l
o
o
p
’
s
r
o
le
i
s
t
o
co
n
t
r
o
l
I
G
B
T
o
f
S
A
F
t
o
g
en
er
at
e
t
h
e
co
m
p
en
s
at
i
o
n
cu
r
r
en
t
s
i
n
j
ect
ed
t
o
t
h
e p
o
w
e
r
ne
t
w
or
k s
u
c
h t
h
a
t
i
t
c
a
n t
r
a
c
k q
ui
c
kl
y t
he
c
ur
r
e
nt
s
,
cr
cr
ii
.
T
h
er
e ar
e
m
a
n
y
m
et
h
o
d
s
t
o de
s
i
gn
i
nn
e
r
l
oop’
s
c
on
t
r
ol
l
e
r
a
s
P
I
c
on
t
r
ol
,
k
n
o
w
n
a
s
f
i
x
e
d
f
r
e
qu
e
n
c
y
c
on
t
r
ol
or
hy
s
t
e
r
i
c
c
u
r
r
e
n
t
c
ont
r
ol
[
13]
;
t
he
c
o
nt
r
o
l
e
ng
i
ne
e
r
i
ng
S
F
X
-
ADF
[
14,
15]
; D
e
lta
m
o
d
u
la
tio
n
te
c
h
n
ic
[1
6
-
1
8
]
o
r
D
ead
-
B
ead
[
19
,
2
0]
.
T
h
e
c
on
t
r
ol
pr
obl
e
m
o
f
i
nne
r
c
on
t
r
ol
l
oop i
s
m
o
s
t
i
n
t
e
r
e
s
tin
g
r
e
s
e
a
r
c
h
to
p
ic
s
an
d
t
h
i
s
t
o
p
i
c h
as
at
t
r
act
ed
a g
r
eat
d
eal
o
f
a
tte
n
tio
n
f
r
o
m
s
c
h
o
la
r
s
to
i
m
p
r
o
v
e
th
e
d
y
n
a
m
ic
c
h
ar
act
er
i
s
t
i
c,
co
m
p
e
n
s
at
e co
m
p
l
et
el
y
t
h
e h
a
r
m
o
n
i
cs
,
r
ed
u
ce
t
h
e T
H
D
,
m
i
n
i
m
i
ze t
h
e o
s
ci
l
l
at
i
o
n
o
f
p
o
w
er
n
et
w
o
r
k
s
ca
u
s
ed
by
n
onl
i
n
e
a
r
l
oa
ds
e
t
c
.
T
oda
y
,
t
h
e
a
ppl
y
i
ng
n
e
u
r
a
l
n
e
t
w
or
k
[
21]
,
f
u
z
z
y
e
n
g
in
e
e
r
c
o
n
tr
o
l to
th
e
i
n
n
e
r
l
oop c
a
n
i
m
p
r
o
v
e t
h
e d
y
n
a
m
i
c
c
h
ar
act
er
i
s
t
i
c b
u
t
i
m
p
l
e
m
en
t
h
ar
d
l
y
i
n
p
r
act
i
ce d
u
e
t
o
t
h
e
s
p
eed
o
f
m
i
cr
o
p
r
o
ces
s
o
r
an
d
c
a
lc
u
la
tio
n
a
m
o
u
n
t,
s
o
th
a
t s
o
th
a
t t
h
is
m
e
t
h
o
d
s
a
r
e
c
u
r
r
e
n
tl
y
th
e
o
r
ie
s
[2
2
-
24]
.
T
he
P
I
c
o
nt
r
o
l
l
e
r
s
ha
ve
s
o
m
e
a
d
va
nt
a
ge
s
s
uc
h a
s
q
ui
c
k
l
y r
e
s
p
o
ns
e
,
e
a
s
i
l
y s
e
t
up
a
nd
t
ur
ni
n
g b
y
an
al
o
g
ci
r
c
u
i
t
s
,
h
o
w
ev
er
,
t
h
e
d
y
n
a
m
i
cs
o
f
t
h
e P
I
co
n
t
r
o
l
l
er
ar
e i
n
ad
eq
u
at
e b
ecau
s
e o
f
t
h
e
l
i
m
i
t
ed
b
an
d
w
i
d
t
h
of
t
h
e
c
on
t
r
ol
l
er
.
A
s
a r
es
u
l
t
,
t
h
e S
A
F
m
a
y
n
o
t
g
i
v
e t
h
e r
eq
u
i
r
ed
p
er
f
o
r
m
a
n
ce
w
h
e
n
t
h
e
l
o
ad
s
h
av
e a h
i
g
h
d
eg
r
ee o
f
n
o
n
-
li
n
e
a
r
it
y
[5
,
25]
.
T
h
i
s
pa
pe
r
p
r
e
s
e
n
t
s
a
c
on
t
r
ol
m
e
t
h
od f
or
t
h
e
i
nn
e
r
l
oop of
S
A
F
b
y
us
i
n
g
t
h
e
c
u
r
r
e
n
t
m
ode
l
p
r
e
d
ic
tiv
e
o
n t
he
dq
f
r
a
m
e
.
T
he
m
e
t
ho
d
’
s
a
d
va
nt
a
ge
i
s
t
ha
t
t
he
t
r
a
n
s
i
e
nt
p
e
r
i
o
d
s
ho
r
t
e
r
t
ha
n
m
e
t
ho
d
us
i
n
g P
I
c
o
nt
r
o
l
l
e
r
.
T
h
e d
es
i
r
ed
co
m
p
e
n
s
at
i
o
n
c
u
r
r
en
t
s
ca
n
t
r
ac
k
e
x
act
l
y
t
h
e r
ef
er
en
ce co
m
p
en
s
at
i
o
n
cu
r
r
e
n
t
s
o
n
t
h
e
dq
fr
a
m
e
.
T
h
e
s
i
m
u
la
tio
n
r
e
s
u
lt
s
i
m
p
le
m
e
n
t
ed
o
n
t
h
e n
o
n
l
i
n
ear
l
o
ad
,
a f
u
l
l
b
r
i
d
g
e r
ect
i
f
i
er
an
d
3
p
h
as
e
u
n
b
al
a
n
ce l
o
ad
,
s
h
o
w
t
h
a
t
t
h
e
t
r
a
ns
i
e
nt
pe
r
i
od
de
c
r
e
a
s
e
f
r
om
0.
1s
t
o 0.
02s
i
n
c
om
pa
r
i
ng
w
i
t
h
P
I
c
on
t
r
ol
l
e
r
.
T
h
e
e
x
pe
r
i
m
e
n
t
a
l
r
es
u
l
t
s
p
r
o
o
f
t
h
at
t
h
e T
H
D
o
f
s
o
u
r
ce cu
r
r
en
t
s
d
ecr
eas
e f
r
o
m
2
4
.
8
%
t
o
5.
4%
w
h
e
n
u
s
i
ng
t
he
pr
o
pos
e
d m
e
t
h
od.
T
h
e r
es
t
o
f
t
h
e p
ap
er
i
s
o
r
g
an
i
zed
as
f
o
l
l
o
w
s
:
S
ect
i
o
n
I
I
d
es
c
r
ib
e
s
th
e
C
o
n
tr
o
lle
r
d
e
s
ig
n
o
f
i
n
n
e
r
l
oop f
or
S
A
F
ba
s
e
d on
c
u
r
r
e
n
t
m
ode
l
pr
e
di
c
t
i
on
o
n
dq
f
r
a
me
.
S
e
c
tio
n
I
I
I
illu
s
tr
a
te
s
s
i
m
u
la
tio
n
a
n
d
e
x
p
e
r
i
m
e
n
t r
e
s
u
lt
s
.
F
i
n
al
l
y
,
S
ect
i
o
n
I
V
co
n
cl
u
d
es
t
h
e p
ap
er
.
2.
CO
NT
RO
L
L
E
R DE
S
I
G
N
O
F
I
NNE
R
L
O
O
P
F
O
R S
AF
B
AS
E
D O
N CUR
RE
NT
M
O
DE
L
P
RE
DI
C
T
I
O
N O
N
dq
F
RAM
E
T
h
e
c
on
t
r
ol
s
t
r
u
c
t
u
r
e
of
t
h
e
i
n
n
e
r
l
oop f
or
S
A
F
ba
s
e
d on
c
u
r
r
e
n
t
m
ode
l
pr
e
di
c
t
i
o
n o
n
dq
f
r
a
me
i
s
s
ho
w
n
i
n F
i
g
ur
e
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob &
A
ut
om
I
SSN
:
2089
-
4856
C
ont
r
ol
s
hunt
ac
t
i
v
e
f
i
l
t
e
r
bas
e
d on
dq
f
r
am
e
us
i
ng c
ur
r
e
nt
.
.
.
(
C
hi
N
guy
e
n V
an)
305
F
i
g
ur
e
4
.
T
he
c
o
nt
r
o
l
s
t
r
uc
t
ur
e
o
f
S
A
F
’
s
i
n
n
e
r
l
oop ba
s
e
d on
c
u
r
r
e
n
t
m
ode
l
pr
e
di
c
t
i
on
T
o
o
b
t
a
i
n
t
he
c
ur
r
e
nt
m
o
d
e
l
p
r
e
d
i
c
t
i
o
n
f
o
r
S
A
F
,
us
i
ng
t
he
e
q
ua
t
i
o
ns
w
r
i
t
t
e
n
o
n
t
he
abc
f
r
a
me
b
y
K
i
r
c
hho
f
f
II f
o
r S
A
F
,
w
i
t
h
[]
T
a
fa
a
fb
a
fc
v
vv
af
v
is
v
o
lta
g
e
v
e
c
to
r
o
f
S
A
F
,
w
e h
av
e
:
d
RL
dt
af
c
c
s
v
i
iv
(
5
)
w
h
er
e
R
a
nd
L
ar
e t
h
e o
u
t
p
u
t
s
m
o
o
t
h
i
n
g
i
n
d
u
ct
o
r
i
n
d
u
ct
a
n
ce an
d
r
es
i
s
t
a
n
ce o
f
t
h
e S
A
F
.
T
r
an
s
f
o
r
m
i
n
g
t
he
e
q
ua
t
i
o
n
(
5
)
i
n s
ync
hr
o
no
u
s
r
e
f
e
r
e
nc
e
f
r
a
m
e
us
i
n
g t
r
a
ns
f
o
r
m
a
t
i
o
n
ma
t
r
i
x
G
,
w
e
ge
t
t
he
S
A
F
vo
l
t
a
ge
s
o
n t
he
dq
f
r
am
e a
s
,
0
2
3
T
sd
sq
s
v
vv
sd
q
s
v
Gv
(
6
)
wi
t
h
G
i
s
d
ef
i
n
ed
o
n
t
h
e
m
at
er
i
a
l
[
26,
27]
.
T
h
e
eq
u
a
tio
n
(
5
)
i
s
no
w
w
r
i
t
t
e
n o
n t
he
dq
f
r
a
m
e as
,
0
cq
cd
c
i
d
R
L
i
L
dt
i
a
f
dq
c
dq
c
dq
s
dq
v
i
iv
(
7
)
I
n
o
r
d
e
r
to
o
b
ta
in
th
e
c
u
r
r
e
n
t
p
r
e
d
ic
tiv
e
m
o
d
e
l o
f
S
A
F
,
d
is
c
r
e
tiz
in
g
e
q
u
a
tio
n
(
7
)
w
it
h
s
a
m
p
le
ti
m
e
s
T
,
w
e
ha
ve
:
0
()
()
()
()
()
(
1
)
()
()
cq
cd
s
c
ik
L
k
R
k
L
i
k
k
k
k
T
ik
a
f
dq
c
dq
c
dq
c
dq
s
dq
v
i
ii
v
(9
)
T
he
0
[
()
()
()
]
T
cq
cd
c
L
i
ki
ki
k
i
s
t
h
e cr
o
s
s
co
u
p
l
i
n
g
t
er
m
b
et
w
een
d
a
nd
q
a
xi
s
.
A
s
s
u
m
i
n
g a
th
r
ee p
h
as
e
b
al
a
n
ced
p
o
w
er
s
o
u
r
ce,
t
h
e
()
k
sd
q
v
t
er
m
can
b
e
r
e
m
ov
e
d,
s
o t
h
e
e
qu
a
t
i
o
n
E
rro
r!
R
ef
eren
ce s
o
u
rce n
o
t
f
o
u
n
d
.
b
eco
m
e
s
0
()
()
()
()
(
1
)
()
cq
s
cd
ss
c
ik
RT
L
L
k
k
Li
k
k
TT
ik
a
fdq
c
dq
c
dq
vi
i
(
10)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
208
9
-
4856
I
nt
J
R
ob &
A
ut
o
m
,
V
o
l.
8
, N
o
.
4
,
D
ecem
b
er
2
0
1
9
:
3
01
–
312
306
T
h
e
cu
r
r
en
t
p
r
ed
i
ct
i
v
e
m
o
d
el
o
f
t
h
e
S
A
F
at
t
h
e
t
i
m
e
1
k
can
b
e
o
b
t
ai
n
ed
b
y
s
ol
v
i
n
g
e
qu
a
t
i
o
n
E
rro
r!
R
ef
eren
ce s
o
u
rce n
o
t
f
o
u
n
d
.
us
i
n
g t
he
r
e
p
l
a
c
i
ng
1
kk
.
0
(
1)
(
1)
(
1)
(
1)
(
)
(
1)
cq
ss
cd
s
s
s
c
ik
T
LT
L
k
k
ik
k
RT
L
RT
L
RT
L
ik
c
dq
a
f
dq
c
dq
iv
i
(
11)
W
h
e
n
m
ode
l
i
n
g t
h
e
pr
e
di
ct
i
v
e co
n
t
r
o
l
l
er
,
t
h
e
f
eed
b
ack
s
i
g
n
al
s
h
o
u
l
d
t
a
k
e i
n
t
o
acco
u
n
t
t
h
e d
r
i
f
t
i
n
t
h
e p
r
ed
i
ct
i
v
e
m
o
d
el
eq
u
at
i
o
n
s
d
u
e t
o
t
h
e n
o
n
l
i
n
ear
n
at
u
r
e o
f
S
A
F
,
w
e co
n
s
i
d
er
t
h
e er
r
o
r
b
et
w
ee
n
r
eal
o
u
t
p
u
t
c
ur
r
e
nt
s
o
f
S
A
F
()
k
cd
q
m
i
an
d
p
r
ed
i
ct
i
v
e cu
r
r
en
t
s
()
k
cd
q
i
cal
cu
l
at
ed
b
y
m
o
d
el
E
rro
r!
R
ef
ere
n
ce s
o
u
rce
n
o
t
f
o
u
n
d
.
at
t
h
e
s
a
m
e d
i
s
cr
et
e
i
n
s
t
an
ce
as
()
()
()
k
kk
cd
q
m
cd
q
ei
i
.
T
h
er
ef
o
r
e,
an
e
rro
r
()
ek
n
eed
t
o
b
e
ad
d
e
d
t
o
t
h
e o
u
t
p
u
t
p
r
ed
i
ct
i
v
e c
u
r
r
en
t
s
t
o
co
r
r
ect
,
w
e
h
av
e t
h
e co
r
r
ect
ed
o
u
t
p
u
t
p
r
ed
i
ct
i
v
e cu
r
r
e
n
ts
a
t
n
e
x
t d
is
c
r
e
te
in
s
ta
n
c
e
as
:
ˆ
(
1)
(
1)
(
)
k
kk
cd
q
cd
q
ii
e
(
8
)
w
h
er
e
i
s
t
h
e co
r
r
ect
i
o
n
co
ef
f
i
ci
en
t
.
N
ex
t
,
u
s
e t
h
e o
b
j
ect
i
v
e f
u
n
ct
i
o
n
as
:
2
ˆ
(
1)
(
1)
(
1)
Jk
k
k
c
dq
c
r
e
f
dq
a
f
dq
ii
v
(
9
)
w
h
er
e
,
ar
e t
h
e
w
ei
g
h
t
i
n
g
co
ef
f
i
ci
en
t
o
f
t
h
e p
r
ed
i
ct
i
v
e er
r
o
r
an
d
t
h
e p
r
ed
i
ct
i
v
e
c
o
n
tr
o
l v
a
r
ia
b
le
,
r
es
p
ect
i
v
el
y
.
I
t i
s
n
o
te
d
th
a
t th
e
c
o
n
tr
o
l v
a
r
ia
b
le
o
f
S
A
F
i
s
v
o
lta
g
e
s
a
fdq
v
.
S
u
b
s
tit
u
tio
n
th
e
(
1)
k
cd
q
i
on
t
he
e
q
ua
t
i
o
n (
1
1
)
,
w
e
ha
ve
:
2
2
2
2
ˆˆ
(
1)
2
(
1)
(
1)
(
1)
(
1)
ˆ
=
(
1)
(
)
2
(
1)
(
1)
(
1)
(
1)
Jk
k
k
k
k
k
k
k
k
k
k
c
dq
c
dq
c
r
e
fdq
c
r
e
fdq
a
fdq
c
dq
c
dq
c
r
e
fdq
c
r
e
fdq
a
fdq
i
ii
i
v
i
ei
i
i
v
(
10
)
T
h
e o
p
t
i
m
al
co
n
t
r
o
l
v
ar
i
ab
l
e
can
b
e o
b
t
ai
n
ed
b
y
d
i
f
f
er
en
t
i
a
t
i
n
g
t
h
e o
b
j
ect
f
u
n
ct
i
o
n
J
w
i
t
h
r
es
p
ect
t
o
t
h
e v
o
l
t
a
g
e an
d
eq
u
at
i
n
g
t
h
at
t
o
zer
o
/0
dJ
dt
,
t
h
e
opt
i
m
a
l
c
on
t
r
ol
v
o
l
t
a
g
e
v
a
r
i
a
bl
e
c
a
n
be
f
oun
d t
o be
:
2
2
(
1)
(
1)
(
)
(
)
ss
s
ss
T
RT
L
L
k
k
kk
RT
L
RT
L
T
a
fdq
c
r
e
fdq
c
dq
v
i
ie
(
11
)
T
h
e
b
lo
c
k
d
ia
g
r
a
m
o
f
th
e
o
p
tim
a
l c
o
n
tr
o
l v
o
lta
g
e
v
a
r
ia
b
le
f
o
r
s
i
m
u
la
tio
n
a
n
d
p
r
act
i
cal
i
m
p
le
m
e
n
ta
tio
n
is
s
h
o
w
n
i
n
Fi
g
ur
e
5.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob &
A
ut
om
I
SSN
:
2089
-
4856
C
ont
r
ol
s
hunt
ac
t
i
v
e
f
i
l
t
e
r
bas
e
d on
dq
f
r
am
e
us
i
ng c
ur
r
e
nt
.
.
.
(
C
hi
N
guy
e
n V
an)
307
F
i
g
ur
e
5
.
T
h
e d
i
ag
r
am
f
o
r
i
nne
r
c
on
t
r
ol
l
e
r
of
S
A
F
ba
s
e
d on
c
u
r
r
e
n
t
pr
e
di
c
t
i
v
e
m
ode
l
T
h
e
c
on
t
r
ol
l
a
w
f
or
t
h
e
i
nn
e
r
c
on
t
r
ol
l
oop
of
S
A
F
e
s
t
a
bl
i
s
h
e
d b
y
e
q
u
a
tio
n
(
11
)
ha
s
t
he
s
i
m
p
l
e
st
r
u
ct
u
r
e,
t
h
e co
n
t
r
o
l
act
i
o
n
f
o
r
t
h
e n
e
x
t
d
i
s
cr
et
e i
n
s
t
a
n
ce i
s
t
h
e co
n
t
r
o
l
v
o
l
t
a
g
e s
e
n
d
i
n
g
t
o
t
h
e s
p
ace v
ect
o
r
m
o
d
u
l
at
i
o
n
b
l
o
ck
t
o
d
r
i
v
e I
G
B
T
b
r
i
d
g
e g
en
er
at
i
n
g
t
h
e d
es
i
r
ed
co
m
p
en
s
at
i
o
n
c
u
r
r
en
t
s
.
T
h
e
c
o
n
tr
o
l la
w
(
11
)
t
ak
e i
n
t
o
acco
u
n
t
t
h
e p
r
ed
i
ct
i
v
e co
m
p
e
n
s
at
i
o
n
cu
r
r
en
t
s
o
n
t
h
e d
i
s
cr
et
e i
n
s
t
a
n
ce
1
k
,
(
1)
k
cd
q
i
,
i
n o
r
d
e
r
t
o
ge
t
t
he
d
e
m
a
nd
s
uc
h a
s
t
he
e
r
r
o
r
b
e
t
w
e
e
n
t
he
o
ut
p
ut
p
r
e
d
ic
tiv
e
c
u
r
r
e
n
t o
f
S
A
F
a
n
d S
A
F
’
s
de
s
i
r
e
d ou
t
pu
t
c
ur
r
e
n
t
(
1)
k
cr
e
f
d
q
i
i
s
m
i
n
i
m
i
ze at
t
h
e n
e
x
t
d
i
s
cr
et
e i
n
s
t
a
n
ce,
s
o
J
r
e
ach
t
o
mi
n
i
mu
m.
T
he
c
o
s
t
f
u
nc
t
i
o
n
J
i
nc
l
ud
e
s
t
w
o
t
e
r
m
s
:
t
he
o
ut
p
ut
c
ur
r
e
nt
e
r
r
o
r
ˆ
(
1)
(
1)
kk
cd
q
cr
e
f
d
q
ii
a
nd
c
o
n
tr
o
l
vo
l
t
a
ge
(
1)
k
af
d
q
v
w
i
t
h
t
w
o
ad
j
u
s
t
m
e
n
t
p
ar
a
m
et
er
s
a
nd
.
3.
TH
E S
IM
U
LA
TIO
N
A
N
D
E
X
P
ER
I
M
EN
T
A
L R
ES
U
LT
S
T
h
e s
i
m
u
l
at
i
o
n
p
ar
a
m
et
er
s
:
T
h
e
n
o
n
l
i
n
ear
l
o
ad
co
n
s
i
s
t
o
f
t
w
o
l
o
ad
s
co
n
n
ect
ed
i
n
p
ar
al
l
el
:
t
he
f
ul
l
b
r
i
d
ge
r
e
c
t
i
f
i
e
r
s
up
p
l
y
i
ng
vo
l
t
a
ge
f
o
r
t
he
D
C
l
o
a
d
w
i
t
h
10
t
R
,
an
d
t
h
e 3
p
h
as
e u
n
b
al
a
n
ced
l
o
ad
w
i
t
h
2,
4
,
6
LA
LB
LC
RR
R
.
T
h
e r
es
i
s
t
a
n
ce a
n
d
i
n
d
u
ct
a
n
ce o
f
l
o
ad
w
i
r
e i
s
0.
001
,
1
6
Lr
Lr
R
L
eH
,
r
es
p
ect
i
v
el
y
.
T
h
r
ee
p
h
a
s
e
v
o
l
t
ag
e
s
o
u
r
ce
h
as
380
,
50
d
U
V
f
Hz
,
t
h
e
s
o
u
r
ce
r
es
i
s
t
a
n
ce
a
n
d
s
o
u
r
ce
i
n
d
u
ct
a
n
ce ar
e
0.
001
,
1
8
Ln
Ln
R
L
eH
.
T
h
e r
es
i
s
t
an
ce an
d
i
n
d
u
ct
a
n
ce o
f
t
h
e
w
i
r
e
f
r
o
m
s
o
u
r
ce t
o
l
o
ad
ar
e r
es
p
ect
i
v
el
y
0.
001
,
1
6
gl
gl
R
L
eH
.
T
he
S
A
F
ha
s
I
G
B
T
w
i
t
h
s
n
u
b
b
er
r
es
i
s
t
an
ce
10000
,
s
R
,
s
n
u
b
b
er
cap
aci
t
an
ce
(
),
s
CF
t
h
e O
N
r
es
i
s
t
an
ce
4
10
on
R
,
t
h
e f
o
r
w
a
r
d
v
o
l
t
ag
es
ar
e 1
V
,
66
10
,
2
10
ft
T
sT
s
.
T
he
s
m
o
o
t
h i
nd
uc
t
a
nc
e
i
s
3
1.
2
10
ck
L
H
.
T
h
e
ex
tr
a
P
I
c
o
n
tr
o
lle
r
h
a
s
0
.
1;
1
pi
KK
,
1000
dc
UV
.
T
h
e s
a
m
p
l
e t
i
m
e i
s
5
6,
s
T
eH
t
h
e
ode
45 (
do
r
m
a
n
d
-
P
r
i
n
ce)
i
s
u
s
ed
t
o
s
o
l
ve
t
he
d
i
s
cr
et
e d
i
f
f
er
en
t
i
al
eq
u
at
i
o
n
s
.
T
h
e s
i
m
u
la
tio
n
r
e
s
u
lt
s
a
r
e
s
h
o
w
n
i
n
F
ig
ur
e
6
t
o
16.
T
he
F
i
g
ur
e
6
s
ho
w
s
t
he
s
o
ur
c
e
vo
l
t
a
ge
,
F
i
g
ur
e
7
r
ep
r
es
en
t
s
t
h
e l
o
ad
cu
r
r
en
t
s
o
r
s
o
u
r
ce c
u
r
r
en
t
s
i
n
t
h
e c
as
e n
o
t
u
s
i
n
g
S
A
F
.
T
he
F
i
g
ur
e
8
ill
u
s
tr
a
te
s
th
e
s
o
u
r
c
e
c
ur
r
e
nt
s
w
h
e
n u
s
i
ng S
A
F
.
T
he
F
i
g
ur
e
9
d
em
o
n
s
t
r
at
es
t
h
e co
m
p
e
n
s
at
i
o
n
cu
r
r
en
t
s
d
et
er
m
i
n
ed
b
y
t
h
e o
u
t
er
co
n
t
r
o
l
l
o
o
p
an
d
t
h
e r
eal
co
m
p
e
n
s
at
i
o
n
cu
r
r
e
n
t
s
m
ad
e b
y
i
n
n
er
l
o
o
p
t
o
i
n
j
ect
t
o
t
he
ne
t
w
o
r
k,
w
h
i
c
h c
a
us
e
d
b
y
t
he
c
o
nt
r
o
l
la
w
(
11)
.
T
he
F
i
g
ur
e
10
a
n
d F
i
g
u
re
11
de
pi
c
t
t
h
e
h
a
r
m
oni
c
a
na
l
ys
i
s
o
f
t
he
s
o
ur
c
e
a
nd
l
o
a
d
c
ur
r
e
nt
s
w
h
e
n u
s
i
n
g
S
A
F
.
T
he
F
i
g
ur
e
12 i
nt
r
odu
c
e
d
t
he
va
r
yi
n
g o
f
t
he
vo
l
t
a
g
e
acr
o
s
s
cap
aci
t
o
r
.
T
h
e d
es
i
r
ed
co
m
p
e
n
s
at
i
o
n
c
u
r
r
en
t
s
a
n
d
r
eal
cu
r
r
en
t
s
o
n
t
h
e d
f
r
a
m
e ar
e f
i
g
u
r
ed
o
u
t
i
n
t
h
e
Fi
g
ur
e
13,
t
h
e
c
o
n
t
r
o
l
vo
l
t
a
ge
o
f
S
A
F
o
n t
he
d
f
r
a
m
e
i
s
p
a
i
nt
e
d
i
n
t
he
F
i
g
ur
e
14.
T
h
e
F
i
g
u
r
e
15 a
n
d F
i
gu
r
e
16
s
ho
w
t
he
s
p
a
c
e
m
o
d
ul
a
t
i
o
n c
o
nt
r
o
l
vo
l
t
a
ge
o
n t
he
abc
f
r
a
m
e
an
d
I
G
B
T
co
n
t
r
o
l
v
o
l
t
ag
es
,
r
es
p
ect
i
v
el
y
.
F
i
g
u
r
e 6
.
T
h
e 3
p
h
as
e s
o
u
r
ce
v
o
l
t
ag
e
s
F
i
gu
r
e
7.
T
he
l
o
a
d c
ur
r
e
nt
s
o
r
s
o
ur
c
e
c
ur
r
e
nt
s
i
n t
he
c
a
s
e
no
t
us
i
ng
S
A
F
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
208
9
-
4856
I
nt
J
R
ob &
A
ut
o
m
,
V
o
l.
8
, N
o
.
4
,
D
ecem
b
er
2
0
1
9
:
3
01
–
312
308
F
i
g
ur
e
8
.
T
he
s
o
ur
c
e
c
ur
r
e
nt
s
w
h
e
n us
i
n
g S
A
F
Fi
g
ur
e
9
.
T
h
e co
m
p
en
s
a
t
i
o
n
c
u
r
r
en
t
s
d
et
er
m
i
n
ed
b
y
t
h
e o
u
t
e
r
co
n
t
r
o
l
l
o
o
p
an
d
t
h
e r
eal
co
m
p
e
n
s
at
i
o
n
c
u
r
r
en
t
s
m
a
d
e
b
y
in
n
e
r
lo
o
p
to
in
j
e
c
t to
t
he
ne
t
w
o
r
k
Fi
g
u
r
e
10.
T
h
e h
ar
m
o
n
i
c an
al
y
s
i
s
o
f
t
h
e
l
o
ad
cu
r
r
en
t
s
FFT analysis
Harmonic order
0
2
4
6
8
10
12
14
16
Mag (% of Fundamental)
0
20
40
60
80
100
Fundamental (50Hz) = 16.04 , THD= 27.65%
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob &
A
ut
om
I
SSN
:
2089
-
4856
C
ont
r
ol
s
hunt
ac
t
i
v
e
f
i
l
t
e
r
bas
e
d on
dq
f
r
am
e
us
i
ng c
ur
r
e
nt
.
.
.
(
C
hi
N
guy
e
n V
an)
309
F
i
g
ur
e
11.
T
he
ha
r
m
o
n
i
c
a
na
l
ys
i
s
o
f
t
he
s
o
ur
c
e
w
h
e
n
us
i
n
g
S
A
F
F
i
g
u
r
e 1
2
.
T
h
e v
ar
y
i
n
g
o
f
t
h
e
v
o
l
t
ag
e acr
o
s
s
cap
aci
t
o
r
o
f
t
h
e
S
A
F
F
i
g
u
r
e 1
3
.
T
h
e d
es
i
r
ed
co
m
p
en
s
at
i
o
n
cu
r
r
en
t
s
a
nd
r
e
a
l
c
ur
r
e
nt
s
o
n t
he
d
f
r
a
m
e
F
i
gu
r
e
14.
T
h
e
c
on
t
r
ol
v
ol
t
a
g
e
of
S
A
F
on
t
h
e
d f
r
a
m
e
Fi
g
u
r
e
15.
T
h
e s
p
ace
m
o
d
u
l
at
i
o
n
co
n
t
r
o
l
v
o
l
t
ag
e o
n
t
h
e
abc
fra
m
e
FFT analysis
Harmonic order
0
2
4
6
8
10
12
14
16
Mag (% of Fundamental)
0
20
40
60
80
100
Fundamental (50Hz) = 16.9 , THD= 4.98%
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
208
9
-
4856
I
nt
J
R
ob &
A
ut
o
m
,
V
o
l.
8
, N
o
.
4
,
D
ecem
b
er
2
0
1
9
:
3
01
–
312
310
F
i
g
ur
e
16.
T
he
I
G
B
T
c
o
nt
r
o
l
vo
l
t
a
ge
s
W
he
n no
t
us
i
n
g t
he
S
A
F
t
o
f
i
l
t
e
r
t
he
ha
r
m
o
ni
c
s
,
t
h
e
h
ar
m
o
n
i
c cu
r
r
en
t
d
i
s
t
o
r
t
i
o
n
ar
e af
f
e
ct
ed
b
y
t
h
e
n
o
n
l
i
n
ear
l
o
ad
s
(
s
ee F
i
g
ur
e
7
)
w
i
t
h T
H
D
i
s
2
7
.
6
5
%
,
i
n
w
hi
c
h t
he
5
th
o
r
d
er
h
ar
m
o
n
i
c i
s
2
2
%
,
t
h
e 7
th
o
rd
e
r
ha
r
m
o
ni
c
i
s
1
0
%
,
t
he
1
0
th
, 1
1
th
,
13
th
o
r
d
er
h
ar
m
o
n
i
cs
ar
e 2
2
%
,
w
h
e
n
co
n
n
ect
i
n
g
t
h
e S
A
F
t
o
t
h
e n
et
w
or
k
,
t
he
T
H
D
of
t
h
e
s
ou
r
c
e
c
u
r
r
e
nt
s
de
c
r
e
a
s
e
r
a
pi
dl
y
t
o 4.
98%
,
t
h
e
f
un
da
m
e
n
t
a
l
c
u
r
r
e
nt
c
o
m
po
n
e
nt
(
50H
z
)
i
s
a
ppr
ox
i
m
a
t
e
l
y
100%
,
t
h
e
3,
5,
9,
11
,
13
th
o
r
d
e
r
h
ar
m
o
n
i
cs
ar
e n
o
t
r
each
ed
t
o
1
%
,
t
h
e 7
th
ha
r
m
o
ni
c
s
i
s
3
%
.
T
h
e ad
v
an
t
ag
e o
f
t
h
e co
n
t
r
o
l
l
a
w
(
11)
i
s
r
ep
r
es
en
t
ed
o
n
t
h
e
F
i
g
ur
e
9
,
t
h
e r
eal
co
m
p
en
s
at
i
o
n
cu
r
r
en
t
s
o
n
t
h
e p
h
as
e
s
A
,
B
,
C
t
r
ack
c
o
m
p
l
et
e
l
y
t
o
t
h
e d
es
i
r
ed
co
m
p
en
s
at
i
o
n
c
u
r
r
en
t
s
b
y
t
r
an
s
i
en
t
t
i
m
e 0
.
0
1
2
s
.
T
he
r
eal
co
m
p
en
s
at
i
o
n
c
u
r
r
en
t
o
n t
he
d
a
x
is
i
s
ill
u
s
tr
a
te
d
in
th
e
F
ig
ur
e
10.
T
h
e
t
r
a
n
s
i
e
nt
pe
r
i
od i
s
s
h
or
t
e
r
ap
p
r
eci
ab
l
y
i
n
co
m
p
ar
i
n
g
w
i
t
h
u
s
i
n
g
t
h
e
P
I
co
n
t
r
o
l
l
er
i
n
t
h
e
m
at
er
i
al
s
[
28,
29]
w
hi
c
h i
s
0
.
1
s
.
T
he
T
ab
l
e 1
d
e
m
o
ns
t
r
a
t
e
s
t
he
T
H
D
va
r
yi
n
g o
f
t
he
s
o
ur
c
e
c
ur
r
e
nt
s
b
y c
h
a
ngi
n
g t
he
l
o
a
d
.
T
H
D
ha
s
up
w
a
r
d
t
r
e
nd
w
he
n t
he
l
o
ad
p
o
w
er
i
s
d
ecr
eas
e an
d
v
i
ce v
er
s
a.
I
f
t
R
i
s
10
t
he
n T
H
D
i
s
4
.
9
8
%
,
ho
w
e
ve
r
i
f
t
R
i
s
25
t
he
n T
H
D
i
s
i
nc
r
e
a
s
i
ng
l
y
4
.
9
8
%
.
T
he
e
xp
e
r
i
m
e
nt
a
l
r
e
s
ul
t
i
s
s
ho
w
n
i
n t
he
F
i
g
ur
e
1
7.
T
ab
l
e 1
.
C
o
m
p
a
r
i
n
g t
he
va
r
yi
ng o
f
T
H
D
b
y
t
he
c
ha
ng
i
n
g o
f
t
he
l
o
a
d
3
Ω
4
Ω
6
Ω
8
Ω
1
0
Ω
1
5
Ω
2
0
Ω
2
5
Ω
2
4
.
05
%
2
4
.
32
%
2
5
.
21
%
2
5
.
74
%
2
7
.
65
%
2
7
.
84
%
2
7
.
84
%
2
8
.
26
%
4
.
5
1
%
4
.
5
3
%
4
.
6
1
%
4
.
7
7
%
4
.
9
8
%
5
.
0
1
%
5
.
0
7
%
5
.
1
1
%
F
i
g
ur
e
17.
T
h
e ex
p
er
i
m
e
n
t
al
r
es
u
l
t
s
Evaluation Warning : The document was created with Spire.PDF for Python.