I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n (
I
J
R
A)
Vo
l.
8
,
No
.
1
,
Ma
r
ch
201
9
,
p
p
.
6
~
17
I
SS
N:
2089
-
4856
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
r
a
.
v
8
i
1
.
pp
6
-
17
6
J
o
ur
na
l ho
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g
e
:
h
ttp
:
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s
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JR
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An anfis co
nv
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ppro
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h of grid co
nn
ecte
d
w
ind/
PV
/ba
tt
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ry
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m
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J
an
7
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Feb
14
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cc
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Feb
2
8
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2
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1
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T
h
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th
is
a
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c
le
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d
a
p
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u
ro
F
u
z
z
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in
ter
f
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ste
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(
A
N
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is
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m
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ra
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s
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st
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m
h
a
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a
n
y
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p
u
ts
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d
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a
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ti
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d
p
a
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:
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ter
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y
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m
MP
PT
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in
d
Co
p
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rig
h
t
©
201
9
In
stit
u
te o
f
A
d
v
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n
c
e
d
E
n
g
i
n
e
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rin
g
a
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d
S
c
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c
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.
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l
rig
h
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C
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s
p
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uth
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r
:
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w
ap
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a
Sa
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Dep
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,
S R
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n
g
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o
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W
ar
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al.
T
S,
I
n
d
ia.
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m
ail: S
w
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a.
s
a
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d
ar
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u
@
g
m
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co
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ct
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co
m
1.
I
NT
RO
D
UCT
I
O
N
So
lar
b
ased
p
h
o
to
v
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ltaic
(
P
V)
an
d
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d
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asce
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m
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ati
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o
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at
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d
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t r
ea
s
o
n
ab
ilit
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.
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er
t
h
eles
s
,
th
ese
s
o
u
r
ce
s
ar
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u
n
p
r
ed
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le
in
n
a
tu
r
e.
Fro
m
th
is
ti
m
e
f
o
r
w
ar
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,
it i
s
test
to
s
u
p
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is
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m
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s
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t
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o
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s
.
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h
is
ca
n
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te
n
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p
ab
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o
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in
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w
it
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m
p
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n
es
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a
m
a
s
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s
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o
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r
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r
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ce
d
f
o
ca
l
p
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in
ts
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h
as
p
r
o
v
o
k
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th
e
ex
a
m
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tio
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o
n
th
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o
in
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ac
h
ie
v
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n
g
cr
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s
s
b
r
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d
P
V
-
w
in
d
f
r
a
m
e
w
o
r
k
s
[
1
]
.
Fo
r
ac
h
iev
in
g
t
h
e
co
m
p
r
o
m
is
e
o
f
v
ar
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u
s
en
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le
s
s
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o
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s
,
t
h
e
s
ta
n
d
ar
d
tech
n
iq
u
e
i
n
co
r
p
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r
ates
u
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in
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b
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itted
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er
ter
s
o
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e
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o
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ea
ch
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o
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,
w
h
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ch
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elate
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w
ith
a
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d
c
-
tr
an
s
p
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r
t
[
2
]
.
R
eg
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less
,
th
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co
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o
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th
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li
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s
.
Ad
d
itio
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all
y
,
th
er
e
ar
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d
if
f
er
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n
t
p
o
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er
c
h
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g
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s
tag
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th
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ca
p
ab
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o
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f
r
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m
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w
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r
k
.
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ased
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p
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a
m
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tall
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o
n
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g
a
n
d
p
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th
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o
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g
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r
s
in
a
cr
ea
m
f
r
a
m
e
wo
r
k
is
in
v
est
ig
ated
[
3
-
7
]
.
I
n
t
h
is
f
r
a
m
e
w
o
r
k
,
t
h
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s
o
u
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s
a
n
d
li
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it
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ter
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ac
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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N:
2089
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4856
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[
8
-
1
2
]
.
D
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r
P
V
an
d
w
i
n
d
i
m
p
er
ati
v
en
e
s
s
f
r
a
m
e
w
o
r
k
s
ar
e
p
r
esen
ted
.
P
V
-
w
in
d
h
y
b
r
id
f
r
a
m
e
w
o
r
k
,
p
r
o
p
o
s
ed
b
y
Dan
iel
et
a
l.,
h
as
a
n
e
s
s
e
n
ti
al
p
o
w
er
to
p
o
lo
g
y
an
y
w
a
y
it
is
p
r
o
p
er
f
o
r
s
ta
y
lo
n
e
ap
p
licatio
n
s
.
A
f
u
s
ed
f
o
u
r
-
p
o
r
t
to
p
o
lo
g
y
s
u
b
j
ec
t
to
b
len
d
P
V
-
w
in
d
s
y
s
te
m
i
s
p
r
o
p
o
s
ed
.
I
n
an
y
ca
s
e,
n
o
t
w
i
th
s
ta
n
d
i
n
g
e
s
s
e
n
tial
to
p
o
lo
g
y
th
e
co
n
tr
o
l
p
lo
t
u
s
ed
is
a
m
az
in
g
.
Feed
th
e
d
c
s
tack
s
,
a
lo
w
li
m
it
m
u
lti
-
p
o
r
t
co
n
v
er
ter
f
o
r
a
m
u
lti
s
y
s
te
m
i
s
d
is
p
la
y
ed
.
C
r
o
s
s
b
r
ee
d
P
V
-
w
in
d
b
ased
p
er
io
d
o
f
in
te
n
s
it
y
a
n
d
it
s
i
n
ter
f
ac
e
w
i
t
h
t
h
e
p
o
w
er
o
r
g
a
n
ize
ar
e
t
h
e
b
asic
r
esear
ch
zo
n
es
h
a
v
e
p
r
o
p
o
s
ed
a
m
u
lti
-
i
n
p
u
t
h
y
b
r
id
P
V
-
w
i
n
d
co
n
tr
o
l
a
g
e
s
y
s
te
m
w
h
ic
h
h
as
a
b
u
c
k
/b
u
c
k
-
h
e
lp
en
t
w
i
n
ed
m
u
lti
-
i
n
p
u
t
d
c
-
d
c
co
n
v
er
ter
an
d
a
f
u
ll
-
a
s
s
o
ciate
d
c
-
co
o
li
n
g
i
n
v
er
ter
.
T
h
is
s
y
s
te
m
is
m
ai
n
l
y
r
ev
o
lv
ed
ar
o
u
n
d
u
p
g
r
ad
in
g
th
e
d
c
-
i
n
ter
f
ac
e
v
o
ltag
e
co
n
tr
o
l.
I
n
th
e
s
ix
-
ar
m
co
n
v
er
ter
to
p
o
lo
g
y
p
r
o
p
o
s
ed
b
y
H.
C
.
C
h
ian
g
et
al.
[
3
]
,
th
e
y
ield
s
o
f
a
P
V
g
r
o
u
p
an
d
w
i
n
d
g
e
n
er
ato
r
s
ar
e
u
r
g
ed
to
a
lif
t
co
n
v
er
ter
to
ar
r
an
g
e
th
e
d
c
-
tr
an
s
p
o
r
t
v
o
ltag
e.
T
h
e
s
tead
y
s
tate
ex
ec
u
tio
n
o
f
a
s
tr
u
c
tu
r
e
r
elate
d
P
V
is
i
n
s
p
ec
ted
in
[
13
]
.
T
h
is
p
ap
er
r
ev
o
lv
es
ar
o
u
n
d
s
y
s
te
m
w
o
r
k
in
g
,
f
o
r
i
n
s
tan
ce
,
ess
e
n
tial
n
ess
cr
ea
tio
n
,
s
tr
u
ct
u
r
e
im
m
o
v
ab
le
q
u
alit
y
,
u
n
it
e
v
alu
a
tin
g
,
an
d
co
s
t
ex
a
m
i
n
ati
o
n
.
I
n
a
b
len
d
P
V
-
w
i
n
d
s
y
s
te
m
c
lo
s
e
b
y
a
b
atte
r
y
is
s
h
o
w
n
,
i
n
w
h
ich
th
e
t
wo
s
o
u
r
ce
s
ar
e
r
elate
d
w
it
h
a
co
m
m
o
n
p
lace
d
c
-
tr
an
s
p
o
r
t
th
r
o
u
g
h
i
n
d
iv
id
u
al
p
o
w
er
co
n
v
er
ter
s
.
I
n
ad
d
itio
n
,
th
e
d
c
-
tr
a
n
s
p
o
r
t
is
r
elate
d
w
i
t
h
th
e
u
tili
t
y
s
y
s
te
m
th
r
o
u
g
h
a
n
in
v
er
ter
.
T
h
e
u
s
e
o
f
m
u
lti
-
i
n
p
u
t
co
n
v
er
ter
(
MI
C
)
f
o
r
cr
o
s
s
b
r
ee
d
co
n
tr
o
l
s
tr
u
ctu
r
e
s
is
p
u
l
lin
g
i
n
ex
ten
d
i
n
g
t
h
o
u
g
h
t
i
n
p
er
s
p
ec
ti
v
e
o
f
d
ec
r
ea
s
ed
p
ar
t
c
h
ec
k
,
o
v
er
h
au
led
co
n
tr
o
l
t
h
ic
k
n
e
s
s
,
co
n
s
er
v
ativ
e
n
e
s
s
a
n
d
u
n
i
ted
co
n
tr
o
l.
I
n
li
g
h
t
o
f
t
h
es
e
g
o
o
d
co
n
d
itio
n
s
,
v
ar
io
u
s
to
p
o
lo
g
ies
ar
e
p
r
o
p
o
s
ed
an
d
th
e
y
ca
n
b
e
d
escr
ib
ed
in
to
t
h
r
ee
s
o
cial
a
f
f
a
ir
s
,
n
o
n
-
d
i
s
en
g
a
g
ed
,
to
tall
y
s
ep
ar
at
ed
an
d
f
o
r
th
e
m
o
s
t
p
ar
t
d
etac
h
ed
m
u
lti
-
p
o
r
t
to
p
o
lo
g
ies [
13
-
15
]
.
T
h
e
s
tr
u
ctu
r
e
r
elate
d
cr
o
s
s
b
r
ee
d
P
V
-
w
i
n
d
-
b
atter
y
b
a
s
ed
s
y
s
te
m
f
o
r
n
u
clea
r
f
a
m
il
y
ap
p
l
icatio
n
s
i
s
s
h
o
w
ed
u
p
i
n
F
ig
u
r
e
1
,
w
h
ic
h
ca
n
w
o
r
k
eit
h
er
i
n
s
ta
y
lo
n
e
o
r
s
y
s
te
m
r
elate
d
m
o
d
e.
T
h
is
s
y
s
te
m
is
s
en
s
ib
le
f
o
r
n
u
clea
r
f
a
m
il
y
ap
p
licatio
n
s
,
w
h
er
e
a
n
eg
lig
ib
le
e
x
er
tio
n
,
c
lear
an
d
litt
ler
to
p
o
lo
g
y
p
r
ep
ar
ed
f
o
r
s
elf
-
d
ec
is
io
n
m
o
v
e
m
e
n
t
is
all
u
r
i
n
g
.
T
h
e
f
o
ca
l
p
o
in
t
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
is
t
h
e
m
u
lti
-
i
n
p
u
t
tr
an
s
f
o
r
m
er
co
u
p
led
b
id
ir
ec
tio
n
al
d
c
-
d
c
co
n
v
er
ter
th
at
in
te
r
co
n
n
ec
t
s
d
iv
er
s
e
p
o
w
er
s
o
u
r
ce
s
a
n
d
th
e
li
m
it
s
eg
m
e
n
t.
F
u
r
t
h
er
,
a
co
n
tr
o
l
p
lo
t
f
o
r
f
ea
s
ib
le
p
o
w
e
r
s
tr
ea
m
th
e
ad
m
i
n
i
s
tr
ato
r
s
to
g
iv
e
p
er
s
is
te
n
t
p
o
w
er
s
u
p
p
l
y
t
o
th
e
s
to
r
es,
w
h
ile
in
j
ec
tin
g
w
ea
lt
h
co
n
tr
o
l
in
to
th
e
s
y
s
te
m
i
s
p
r
o
p
o
s
ed
[
1
2
,
1
6
-
2
0
]
.
T
h
u
s
l
y
,
t
h
e
p
r
o
p
o
s
ed
p
lan
an
d
co
n
tr
o
l
s
ch
e
m
e
g
iv
e
a
c
h
o
ice
b
len
d
o
f
P
V
an
d
w
in
d
i
m
p
er
ati
v
e
n
es
s
s
o
u
r
ce
.
I
t
h
as
t
h
e
g
o
in
g
w
it
h
f
o
ca
l
p
o
in
t
s
:
MP
P
f
o
llo
w
in
g
o
f
b
o
th
t
h
e
s
o
u
r
ce
s
,
B
atter
y
ch
ar
g
in
g
co
n
tr
o
l
an
d
b
id
ir
ec
tio
n
al
p
o
w
er
s
tr
ea
m
ar
e
d
r
illed
w
it
h
s
i
x
s
w
itc
h
es.
P
V
s
o
u
r
c
e
B
i
d
i
r
e
c
t
i
o
n
a
l
d
c
-
d
c
c
o
n
v
e
r
t
e
r
T
/
F
c
o
u
p
l
e
d
d
u
a
l
h
a
l
f
b
r
i
d
g
e
c
o
n
v
e
r
t
e
r
G
r
i
d
I
n
v
e
r
t
e
r
W
i
n
d
s
o
u
r
c
e
C
o
n
t
r
o
l
a
l
g
o
r
i
t
h
m
o
f
S
1
S
2
S
3
S
4
C
o
n
t
r
o
l
a
l
g
o
r
i
t
h
m
o
f
T
1
&
T
2
C
o
n
t
r
o
l
a
l
g
o
r
i
t
h
m
o
f
T
3
T
4
&
T
5
T
6
D
i
o
d
e
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e
c
t
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r
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C
l
o
a
d
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t
o
r
a
g
e
A
C
D
C
D
C
D
C
D
C
A
C
Fig
u
r
e
1
.
Gr
id
-
co
n
n
ec
ted
h
y
b
r
id
P
V
-
w
i
n
d
-
b
atter
y
b
ased
s
y
s
t
e
m
f
o
r
h
o
u
s
e
h
o
ld
ap
p
licatio
n
s
2.
P
RO
P
O
SE
D
CO
NV
E
RT
E
R
CO
NF
I
G
U
RAT
I
O
N
T
h
e
p
r
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p
o
s
ed
co
n
v
er
ter
co
n
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ain
s
a
tr
an
s
f
o
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er
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u
p
led
b
o
o
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t
d
o
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b
le
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f
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ass
o
ciat
e
b
i
d
ir
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tio
n
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ter
co
m
b
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w
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th
b
i
d
ir
ec
tio
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b
u
c
k
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b
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t
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ter
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ter
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h
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s
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f
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ter
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o
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ter
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h
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ON,
at
f
ir
s
t
th
e
in
d
u
cto
r
cu
r
r
en
t
co
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r
s
es
th
r
o
u
g
h
ad
v
er
s
ar
y
o
f
p
ar
allel
d
io
d
e
o
f
s
w
itc
h
T
4
an
d
th
r
o
u
g
h
t
h
e
ca
p
ac
ito
r
b
an
k
.
I
n
th
e
m
id
s
t
o
f
th
is
b
et
w
ee
n
ti
m
e
,
th
e
p
r
ese
n
t
co
u
r
s
i
n
g
th
r
o
u
g
h
d
io
d
e
less
en
s
an
d
t
h
at
tr
a
v
el
s
th
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g
h
tr
a
n
s
f
o
r
m
er
f
u
n
d
a
m
en
tal
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g
m
e
n
tatio
n
s
.
R
ig
h
t
w
h
e
n
cu
r
r
e
n
t
g
o
in
g
th
r
o
u
g
h
th
e
in
d
u
cto
r
w
i
n
d
s
u
p
p
r
o
p
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tio
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al
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h
r
o
u
g
h
tr
an
s
f
o
r
m
er
b
a
s
ic.
Sin
ce
,
T
4
is
g
ated
ON
a
m
id
t
h
is
ti
m
e,
t
h
e
ca
p
ac
i
to
r
C
6
n
o
w
d
i
s
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ar
g
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t
h
r
o
u
g
h
s
w
itc
h
T
4
an
d
tr
a
n
s
f
o
r
m
er
b
asic.
Am
id
t
h
e
O
N
ti
m
e
o
f
T
4
,
ag
ain
s
t
p
ar
allel
d
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o
d
e
o
f
s
w
itc
h
T
6
p
r
ac
tices
to
ch
ar
g
e
th
e
ca
p
ac
ito
r
C
4
.
Du
r
in
g
t
h
e
ON
ti
m
e
o
f
T
3
,
th
e
f
u
n
d
a
m
e
n
tal
v
o
lta
g
e
VP
=
−V
C
1
.
T
h
e
as
s
is
tan
t
v
o
ltag
e
VS
=
n
Vp
=
−n
V
C
1
=
−V
C
3
,
o
r
VC
3
=
n
VC
1
an
d
v
o
lta
g
e
ac
r
o
s
s
o
v
er
b
asic
in
d
u
cto
r
L
w
i
s
V
w
.
E
x
ac
t
l
y
w
h
e
n
T
3
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ex
ec
u
ted
an
d
T
4
tu
r
n
ed
ON,
t
h
e
b
asic
v
o
lt
-
a
g
e
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=
VC
2
.
Ass
i
s
ta
n
t
v
o
ltag
e
VS
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n
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n
V
C
2
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VC
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d
v
o
lta
g
e
ac
r
o
s
s
o
v
er
b
asic
in
d
u
cto
r
L
w
i
s
V
w
−
(
VC
1
+
VC
2
)
.
C
h
an
g
e
s
ta
g
e
s
w
ith
le
s
s
a
n
d
h
ig
h
ad
eq
u
ac
y
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n
tr
asted
an
d
th
e
p
r
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t
s
y
s
te
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p
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T
h
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to
p
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lo
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y
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d
ir
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t
an
d
n
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d
s
o
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l
y
s
ix
p
o
w
er
s
w
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es
.
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h
e
li
f
t
t
w
o
f
o
ld
h
al
f
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ass
o
ciate
co
n
v
er
ter
h
as t
w
o
d
c
-
i
n
ter
f
ac
e
s
o
n
b
o
th
it
ca
n
b
e
s
h
o
w
n
th
at
(
1
)
.
(
1
)
T
h
e
ca
p
ac
ito
r
v
o
ltag
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ar
e
s
e
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as
p
r
ed
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le
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n
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ta
n
t
s
tate
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n
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lli
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g
th
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f
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n
e
o
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t
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d
c
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j
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s
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e
n
s
u
r
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tr
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llin
g
t
h
e
v
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th
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o
t
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er
.
T
h
is
m
a
k
e
s
t
h
e
co
n
tr
o
l
f
r
a
m
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w
o
r
k
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ec
t.
I
n
ad
d
itio
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,
ad
d
it
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al
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ter
s
ca
n
b
e
f
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ilit
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w
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o
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t
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t
w
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d
c
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in
s
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b
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tio
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al
b
u
ck
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b
o
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d
c
-
d
c
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h
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ter
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t
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d
c
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o
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elp
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h
e
co
m
m
it
m
en
t
o
f
th
e
h
alf
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ass
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ciate
co
n
v
er
ter
is
m
o
ld
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b
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n
ter
f
ac
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n
g
th
e
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V
g
r
o
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s
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h
t
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h
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b
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f
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t
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m
o
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h
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ce
d
b
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t
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p
tr
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n
s
f
o
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m
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h
e
tr
an
s
f
o
r
m
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f
u
r
t
h
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m
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r
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s
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v
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atter
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id
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c
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ter
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atter
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tr
o
l.
T
h
e
u
n
iq
u
e
p
ar
t
o
f
th
is
co
n
v
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ter
is
th
at
MP
P
f
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atter
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t
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ter
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p
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a
m
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s
ex
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p
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p
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h
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p
in
Fi
g
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r
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2
,
a
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tio
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b
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co
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ter
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s
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f
o
r
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P
f
o
llo
w
in
g
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f
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b
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ch
a
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d
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atter
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c
h
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tr
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l.
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r
t
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th
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s
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C
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C
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f
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s
f
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p
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a
lf
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f
ac
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lo
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ask
s
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h
alf
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as
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h
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v
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r
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m
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c
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th
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Fig
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I
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N:
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A
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9
Her
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on
.
I
t c
an
b
e
p
r
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v
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a
t
(
2
)
.
(
2
)
T
h
e
co
n
tr
o
llin
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s
c
h
e
m
e
o
f
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Fig
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(
3
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T
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f
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.
2
.
1
.
ANF
I
S c
o
ntr
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s
t
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m
Fu
zz
y
L
o
g
ic
C
o
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tr
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F
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)
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o
p
er
atin
g
p
o
in
ts
a
n
d
p
ar
a
m
eter
s
.
I
t
is
b
ased
o
n
r
u
le
b
asis
an
d
Me
m
b
er
s
h
ip
F
u
n
ct
io
n
s
(
MF)
,
wh
ich
ar
e
g
en
er
all
y
o
b
tain
ed
b
y
a
tr
ial
-
an
d
-
er
r
o
r
m
et
h
o
d
an
d
co
n
s
eq
u
e
n
tl
y
it is
a
ti
m
e
-
co
n
s
u
m
i
n
g
a
n
d
er
r
o
r
-
p
r
o
n
e
p
r
o
ce
d
u
r
e.
A
r
ti
ficial
Ne
u
r
al
Net
w
o
r
k
s
(
A
N
Ns)
ar
e
m
at
h
e
m
a
tical
m
o
d
els
w
it
h
p
ar
allel
d
ata
p
r
o
ce
s
s
i
n
g
an
d
lear
n
in
g
ab
il
i
ties
,
w
h
ic
h
u
til
iz
e
co
m
p
u
tat
io
n
al
n
e
u
r
o
n
s
(
n
o
n
l
in
ea
r
ce
ll
s
)
s
tr
u
ctu
r
ed
i
n
la
y
er
s
an
d
l
in
k
ed
to
ea
c
h
o
th
er
b
y
w
ei
g
h
t
f
ac
to
r
s
.
A
N
N
’
s
ar
e
also
u
s
ed
in
m
icr
o
p
r
o
ce
s
s
o
r
co
n
tr
o
l
s
y
s
te
m
s
o
w
i
n
g
to
th
eir
n
o
n
li
n
ea
r
an
d
g
en
er
aliza
tio
n
s
k
il
ls
,
ad
ap
tiv
e
s
tr
u
ct
u
r
e,
an
d
in
d
ep
en
d
e
n
t
d
esig
n
f
r
o
m
s
y
s
te
m
p
ar
a
m
e
ter
s
.
Ho
w
e
v
er
,
th
eir
d
r
a
w
b
ac
k
s
ar
e
t
h
e
i
n
s
tr
u
ctio
n
p
r
o
b
lem
o
f
n
et
w
o
r
k
an
d
lac
k
o
f
r
u
les
f
o
r
d
e
fi
n
i
n
g
t
h
e
s
tr
u
ctu
r
e
d
u
e
to
th
e
ir
“
b
lack
b
o
x
”
n
at
u
r
e.
F
L
C
an
d
A
N
Ns
ar
e
co
m
p
le
m
e
n
tar
y
s
c
h
e
m
es
in
t
h
e
d
esi
g
n
o
f
in
telli
g
e
n
t
co
n
t
r
o
l
s
y
s
te
m
s
.
W
ith
A
NN
s
y
s
te
m
s
,
th
e
d
ev
e
l
o
p
m
e
n
t ti
m
e
is
r
ed
u
ce
d
an
d
t
h
e
ac
cu
r
ac
y
o
f
t
h
e
f
u
zz
y
m
o
d
el
is
en
h
an
ce
d
.
T
w
o
g
e
n
er
al
f
u
zz
y
m
o
d
els
ar
e
Ma
m
d
a
n
i
an
d
T
ak
ag
i
Su
g
en
o
-
Ka
n
g
(
T
SK)
d
ef
in
ed
f
o
r
FIS.
T
h
e
A
NFI
S
i
s
ca
p
ab
le
to
u
s
e
o
n
l
y
t
h
e
T
SK
f
u
zz
y
m
o
d
el
d
u
e
to
ad
ap
tiv
e
tech
n
iq
u
e
s
,
its
e
lev
ated
ca
lcu
lat
iv
e
ef
f
icien
c
y
a
n
d
b
u
ilt i
n
m
o
s
t
f
a
v
o
r
ab
le.
T
h
e
A
N
FIS
s
tr
u
ctu
r
e
is
s
h
o
w
n
i
n
Fi
g
u
r
e
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
6
–
17
10
Fig
u
r
e
4
.
S
tr
u
ct
u
r
e
o
f
A
NFI
S
Gen
er
all
y
,
A
N
FIS
is
d
if
f
er
en
t
la
y
er
f
ee
d
f
o
r
w
ar
d
s
y
s
te
m
w
it
h
s
tab
le
o
u
tp
u
t
in
w
h
ich
ev
er
y
n
o
d
e
p
er
f
o
r
m
s
a
n
o
d
e
f
u
n
ctio
n
o
n
in
co
m
i
n
g
s
ig
n
al
s
.
Fo
r
co
n
v
en
ien
ce
,
w
e
co
n
s
id
er
t
w
o
i
n
p
u
ts
'x
'
a
n
d
'y
'
an
d
o
n
e
o
u
tp
u
t
'
z
'
.
A
s
s
u
m
e
t
h
at
th
e
r
u
l
e
b
ase
en
s
u
r
e
th
e
T
ak
ag
i a
n
d
Su
g
en
o
t
y
p
e
t
w
o
f
u
zz
y
i
f
-
th
e
n
r
u
les.
R
u
le
1
: I
F
x
is
A
1
an
d
y
i
s
B
1
T
HE
N
f
1
=P1
x
+Q
1
y
+R1
R
u
le
2
: I
F
x
is
A
2
an
d
y
i
s
B
2
T
HE
N
f
2
=P2
x
+Q
2
y
+R2
T
h
e
A
NFI
S s
tr
u
ct
u
r
e
is
a
f
iv
e
la
y
e
r
f
ee
d
f
o
r
w
ar
d
n
et
w
o
r
k
g
i
v
en
a
s
:
Step
1
:
I
n
th
is
la
y
er
ev
er
y
n
o
d
e
is
a
s
q
u
ar
e
n
o
d
e
b
y
a
n
o
d
e
f
u
n
ctio
n
(
th
e
m
e
m
b
er
s
h
ip
v
alu
e
o
f
t
h
e
p
r
e
m
is
e
p
ar
t)
Oi=µ
A
i(
X)
.
W
h
er
e,
x
is
th
e
in
p
u
t
to
th
e
n
o
d
e
i,
an
d
A
i
i
s
th
e
l
in
g
u
is
t
ic
lab
el
r
elate
d
w
it
h
th
is
n
o
d
e
f
u
n
ctio
n
.
Step
2
:
E
v
er
y
n
o
d
e
in
th
is
la
y
er
is
a
c
ir
cle
n
o
d
e
lab
eled
w
h
ich
m
u
ltip
lie
s
t
h
e
in
co
m
i
n
g
s
ig
n
al
s
.
E
ac
h
n
o
d
e
o
u
tp
u
t r
e
p
r
esen
t
s
th
e
f
ir
i
n
g
s
tr
en
g
t
h
o
f
a
r
u
le.
Oi2
=µ
A
i(
X)
µB
i(
Y)
,
w
h
er
e
i =
1
:2
.
Step
3
:
I
n
th
is
la
y
er
e
v
er
y
n
o
d
e
is
a
cir
cle
n
o
d
e
lab
eled
N
(
n
o
r
m
al
izatio
n
)
.
T
h
e
ith
n
o
d
e
ca
lcu
late
s
th
e
r
atio
o
f
th
e
it
h
r
u
le
’
s
f
ir
i
n
g
s
tr
en
g
t
h
to
th
e
s
u
m
o
f
all
f
ir
in
g
s
tr
e
n
g
th
s
.
Oi3
=W
1
/(
W
1
+W
2
,
w
h
er
e
i
=
1
:2
.
Step
4
: E
v
er
y
n
o
d
e
in
t
h
is
la
y
e
r
is
a
s
q
u
ar
e
n
o
d
e
w
i
th
a
n
o
d
e
f
u
n
ctio
n
Oi4
=W
(
P
iX+Q
iY+R
i)
.
Step
5
:
T
h
e
s
i
n
g
le
n
o
d
e
i
n
th
is
la
y
er
is
a
c
ir
cle
n
o
d
e
l
ab
eled
th
at
co
m
p
u
tes
th
e
o
v
er
all
o
u
tp
u
t
as
t
h
e
su
m
m
atio
n
o
f
all
in
co
m
i
n
g
s
i
g
n
als,
Oi5
=
S
y
s
te
m
o
u
tp
u
t,
w
h
er
e
i =
1
:2
3.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
I
n
t
h
e
Fig
u
r
e
5
s
h
o
w
s
t
h
e
s
i
m
u
lin
k
d
iag
r
a
m
w
i
th
A
N
FIS
co
n
tr
o
ller
,
Fi
g
u
r
e
6
s
h
o
w
s
t
h
e
c
o
n
tr
o
l
s
ch
e
m
e
o
f
b
id
ir
ec
tio
n
al
b
u
ck
-
b
o
o
s
t
co
n
v
er
ter
,
in
th
is
s
c
h
e
m
e
th
e
m
a
x
i
m
u
m
p
o
w
er
f
r
o
m
th
e
P
V
s
o
u
r
ce
ca
n
b
e
o
b
tain
ed
b
y
u
s
i
n
g
I
n
cr
e
m
e
n
t
al
C
o
n
d
u
cta
n
ce
m
eth
o
d
.
C
o
n
tr
o
l
o
f
th
e
s
w
itc
h
es
T
1
an
d
T
2
w
ill
co
n
tr
o
l
th
e
p
o
w
er
f
r
o
m
P
V
s
o
u
r
ce
an
d
b
atter
y
.
T
h
e
r
e
f
er
en
ce
b
lo
ck
w
il
l
co
m
p
ar
e
th
e
V
mp
p
an
d
I
p
v
w
it
h
r
ef
er
en
c
e
v
o
ltag
e
an
d
cu
r
r
en
t.
T
h
e
A
N
FIS
co
n
tr
o
ller
g
i
v
es
t
h
e
e
f
f
ic
ien
t
o
u
tp
u
t
a
n
d
t
h
e
P
W
M
g
e
n
er
ato
r
is
u
s
ed
to
g
en
er
ate
t
h
e
p
u
l
s
es
f
o
r
s
w
itch
es T
1
an
d
T
2
.
Fig
u
r
e
7
s
h
o
w
s
t
h
e
c
o
n
tr
o
l
s
c
h
e
m
e
o
f
tr
an
s
f
o
r
m
er
co
u
p
led
b
o
o
s
t
d
u
al
h
al
f
b
r
id
g
e
co
n
v
er
t
er
,
in
th
i
s
s
ch
e
m
e
t
h
e
m
a
x
i
m
u
m
p
o
w
er
f
r
o
m
t
h
e
w
i
n
d
s
o
u
r
ce
ca
n
b
e
o
b
tain
ed
b
y
u
s
i
n
g
I
n
cr
e
m
en
tal
C
o
n
d
u
ctan
c
e
m
et
h
o
d
.
C
o
n
tr
o
l
o
f
th
e
s
w
itc
h
es
T
3
,
T
4
an
d
T
5
,
T
6
w
ill
co
n
t
r
o
l
th
e
p
o
w
er
f
r
o
m
w
in
d
s
o
u
r
ce
.
Fig
u
r
e
8
s
h
o
w
s
th
e
c
o
n
tr
o
l
s
ch
e
m
e
o
f
1
-
p
h
a
s
e
f
u
ll
b
r
id
g
e
in
v
er
ter
in
te
g
r
ated
to
g
r
id
,
Fig
u
r
e
9
s
h
o
w
s
s
t
ea
d
y
s
ta
te
o
p
er
atio
n
(
Vo
ltag
e
&
C
u
r
r
en
t
v
s
T
im
e)
,
T
h
e
b
atter
y
is
ch
ar
g
ed
w
it
h
th
e
co
n
s
ta
n
t
m
a
g
n
it
u
d
e
o
f
c
u
r
r
en
t
an
d
r
e
m
ai
n
i
n
g
p
o
w
er
is
f
ed
to
th
e
g
r
id
.
Fig
u
r
e
5
.
SIM
UL
I
NK
C
ir
cu
it
o
f
P
V
W
I
ND
B
A
T
T
E
R
Y
Sto
r
ag
e
C
ir
c
u
it
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
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4856
A
n
a
n
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ter co
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o
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p
p
r
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a
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f g
r
id
c
o
n
n
ec
te
d
w
in
d
/PV
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a
tter
y
s
ystem
(
R
.
A
r
u
lmu
r
u
g
a
n
)
11
Fig
u
r
e
6
.
C
o
n
tr
o
l sch
e
m
e
o
f
b
i
d
ir
ec
tio
n
al
b
u
ck
-
b
o
o
s
t c
o
n
v
er
t
er
Fig
u
r
e
7
.
C
o
n
tr
o
l sch
e
m
e
o
f
tr
an
s
f
o
r
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u
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led
b
o
o
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t d
u
al
h
al
f
b
r
id
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e
co
n
v
er
ter
Fig
u
r
e
8
.
C
o
n
tr
o
l sch
e
m
e
o
f
1
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p
h
a
s
e
f
u
ll b
r
id
g
e
in
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er
ter
in
te
g
r
ated
to
g
r
id
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
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4856
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t
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R
ob
&
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u
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m
,
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l.
8
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Ma
r
ch
2
0
1
9
:
6
–
17
12
Fig
u
r
e
1
0
s
h
o
w
s
r
esp
o
n
s
e
o
f
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e
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r
a
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o
r
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r
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o
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