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
.
146
~
1
5
4
I
SS
N:
2089
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4856
,
DOI
: 1
0
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1
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5
9
1
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i
j
r
a
.
v
8
i
1
.
pp
1
4
6
-
154
146
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
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s
co
r
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co
m/jo
u
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ls
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ex
.
p
h
p
/
I
JR
A
I
m
pa
ct
of pl
ug
-
in
hybrid ele
ctric
vehicles
on po
w
er sy
ste
m
w
ith
hig
h w
ind po
w
er
penetration
M
a
h
m
o
ud
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s
s
a
m
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a
rby
1
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Sa
id E
ls
a
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l
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ls
a
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uis
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a
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a
v
ier
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a
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s
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1,
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3
F
a
c
u
l
ty
o
f
En
g
in
e
e
rin
g
,
He
l
wa
n
Un
iv
e
rsity
,
Ca
iro
,
Eg
y
p
t
4,
5
F
a
c
u
lt
y
o
f
En
g
in
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rin
g
,
P
u
b
li
c
Un
iv
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rsit
y
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f
Na
v
a
rra
(UP
NA
),
S
p
a
in
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icle
I
nfo
AB
ST
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ticle
his
to
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y:
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Feb
2
7
,
2
0
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R
ev
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A
p
r
2
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0
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cc
ep
ted
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y
1
1
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h
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risin
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rg
y
in
d
e
p
e
n
d
e
n
c
e
a
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n
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tal
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rn
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re
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riv
e
rs
in
th
e
g
ro
w
in
g
p
o
p
u
larity
o
f
p
lu
g
-
in
h
y
b
rid
e
lec
tri
c
v
e
h
icle
s
(P
HE
V
s).
Be
c
a
u
se
o
f
th
e
in
term
it
ten
t
n
a
tu
r
e
o
f
th
e
re
n
e
w
a
b
le
e
n
e
rg
y
so
u
rc
e
s,
th
is
m
a
y
c
a
u
se
a
h
ig
h
-
f
re
q
u
e
n
c
y
o
sc
il
latio
n
o
f
th
e
p
o
w
e
r
s
y
ste
m
.
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ro
m
a
n
o
th
e
r
a
sp
e
c
t,
a
ll
th
e
P
HE
V
s
h
a
v
e
in
c
o
m
m
o
n
th
e
b
a
tt
e
ries
,
w
h
ich
p
r
o
v
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t
h
e
sto
ra
g
e
c
a
p
a
b
il
it
y
th
a
t
c
a
n
b
e
e
ff
e
c
ti
v
e
l
y
h
a
rn
e
ss
e
d
w
h
e
n
th
e
v
e
h
icle
s
a
r
e
in
teg
ra
ted
in
to
t
h
e
g
rid
.
S
u
c
h
a
sto
ra
g
e
c
a
p
a
b
il
it
y
c
a
n
e
ff
e
c
ti
v
e
l
y
in
teg
r
a
te
w
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d
p
o
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e
r
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e
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rid
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n
d
a
ll
in
d
ica
to
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sig
n
a
li
z
e
th
a
t
t
h
e
P
HE
V
s
a
re
th
e
m
o
st
p
ro
m
isin
g
tec
h
n
o
lo
g
y
o
f
th
e
f
u
tu
re
tran
sp
o
r
tatio
n
sy
st
e
m
.
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th
is
p
a
p
e
r,
d
if
fe
re
n
t
c
a
s
e
stu
d
ies
a
re
a
p
p
li
e
d
o
n
o
n
e
a
re
a
p
o
w
e
r
s
y
st
e
m
to
sh
o
w
th
e
e
ffe
c
t
o
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th
e
h
ig
h
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e
n
e
rg
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e
n
e
tra
ti
o
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o
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th
e
p
o
w
e
r
s
y
ste
m
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re
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y
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n
d
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o
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P
HE
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s
c
a
n
p
lay
a
n
e
ffe
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ti
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e
ro
le
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it
ig
a
ti
n
g
th
e
p
o
w
e
r
s
y
ste
m
f
re
q
u
e
n
c
y
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sc
il
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n
a
n
d
su
p
p
o
rti
n
g
th
e
m
o
re
p
e
n
e
tratio
n
o
f
th
e
w
in
d
e
n
e
rg
y
in
to
sm
a
rter
e
lec
tri
c
a
l
g
ri
d
s.
In
a
d
d
it
i
o
n
,
a
n
a
d
v
a
n
c
e
d
c
o
n
tro
ll
e
r
h
a
s
b
e
e
n
d
e
sig
n
e
d
t
o
im
p
ro
v
e
th
e
fre
q
u
e
n
c
y
re
sp
o
n
se
a
n
d
to
c
o
m
p
e
n
sa
te
th
e
d
e
lay
o
f
th
e
s
y
ste
m
.
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h
e
d
e
sig
n
e
d
c
o
n
tr
o
ll
e
r
is
a
g
e
n
e
ti
c
a
lg
o
rit
h
m
(
GA
)
b
a
se
d
P
ID
(
p
ro
p
o
rt
io
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a
l
-
in
teg
ra
l
-
d
e
riv
a
ti
v
e
)
c
o
n
tro
ll
e
r,
it
h
a
s
b
e
e
n
p
ro
p
o
se
d
f
o
r
tu
n
i
n
g
o
p
t
im
ize
d
P
ID
p
a
ra
m
e
t
e
rs.
T
h
e
re
su
lt
s
sh
o
w
th
a
t
th
e
c
o
n
tro
ll
e
r
h
a
s
p
lay
e
d
a
n
e
ff
e
c
ti
v
e
ro
le
in
d
e
c
r
e
a
sin
g
th
e
re
sp
o
n
se
o
v
e
rsh
o
o
t
a
n
d
se
tt
li
n
g
ti
m
e
w
h
e
n
u
se
d
w
it
h
th
e
P
HE
V
s.
T
h
e
u
se
d
v
a
ri
a
b
le
lo
a
d
,
th
e
th
e
r
m
a
l
p
o
w
e
r
p
lan
t
p
a
ra
m
e
t
e
rs,
a
n
d
th
e
w
in
d
t
u
rb
i
n
e
p
a
ra
m
e
ters
a
re
th
e
sa
m
e
fo
r
th
e
f
iv
e
c
a
se
stu
d
ies
.
K
ey
w
o
r
d
s
:
Pl
ug
-
in
h
y
b
r
id
elec
tr
ic
v
e
h
icle
s
P
o
w
er
s
y
s
te
m
f
r
eq
u
e
n
c
y
co
n
tr
o
l
S
m
ar
t
g
r
id
V
eh
icle
-
to
-
g
r
id
W
in
d
en
er
g
y
in
teg
r
atio
n
Co
p
y
rig
h
t
©
2
0
1
9
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ma
h
m
o
u
d
E
s
s
a
m
Har
b
y
,
Facu
lt
y
o
f
E
n
g
i
n
ee
r
i
n
g
,
Hel
w
an
U
n
i
v
er
s
it
y
,
C
air
o
,
E
g
y
p
t
.
E
m
ail:
1
en
g
.
m
ah
m
o
u
d
ess
a
m
@
y
a
h
o
o
.
co
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
er
e
ar
e
escalatin
g
an
x
ietie
s
n
o
w
ad
a
y
s
ab
o
u
t
e
n
er
g
y
i
n
d
ep
en
d
en
ce
.
T
h
u
s
,
th
i
s
to
p
ic
is
a
m
aj
o
r
p
o
liti
ca
l
is
s
u
e.
I
n
th
e
r
ec
e
n
t
t
w
e
n
t
y
y
ea
r
s
,
t
h
e
w
o
r
ld
elec
tr
ical
en
er
g
y
g
e
n
er
ated
f
r
o
m
t
h
e
r
en
e
w
ab
le
e
n
er
g
y
s
y
s
te
m
s
h
as
b
ee
n
e
x
p
lo
d
in
g
,
t
h
is
i
s
d
u
e
to
th
e
m
a
n
y
b
e
n
ef
it
s
o
f
th
e
r
e
n
e
w
ab
le
en
er
g
y
s
y
s
te
m
s
s
u
c
h
as
t
h
eir
ab
u
n
d
an
t
a
v
ailab
ili
t
y
,
h
elp
in
g
in
s
tab
ilizi
n
g
th
e
g
lo
b
al
en
er
g
y
p
r
ices,
lo
w
r
u
n
n
in
g
an
d
m
ain
te
n
an
ce
co
s
t
a
n
d
r
ed
u
ce
d
ca
r
b
o
n
em
i
s
s
io
n
s
[
1
]
.
T
h
e
r
en
e
w
ab
le
r
eso
u
r
ce
s
ar
e
c
h
an
g
ea
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le,
w
h
ic
h
lead
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to
an
im
b
a
lan
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b
et
w
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n
t
h
e
g
e
n
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ated
p
o
w
er
an
d
th
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lo
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d
em
a
n
d
,
ca
u
s
i
n
g
in
s
tab
ilit
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o
r
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s
cillatio
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o
n
t
h
e
p
o
w
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s
y
s
te
m
f
r
eq
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en
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t
h
is
i
m
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ala
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ce
m
a
y
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s
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ig
n
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ica
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t
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o
f
lo
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o
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g
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er
atio
n
u
n
it
s
,
esp
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all
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s
m
all
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tla
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o
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ill
b
e
af
f
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u
e
to
th
i
s
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m
b
alan
ce
[
2
]
.
T
h
e
ab
ilit
y
to
s
to
r
e
e
n
er
g
y
wh
en
t
h
e
s
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p
p
l
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p
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e
n
e
r
atio
n
f
r
o
m
t
h
e
r
e
n
e
w
ab
le
e
n
e
r
g
y
s
o
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r
ce
ex
ce
ed
s
th
e
d
e
m
an
d
w
ill
b
e
t
h
e
d
o
o
r
to
th
e
o
p
ti
m
al
ex
p
lo
i
tin
g
o
f
r
en
e
w
ab
le
en
er
g
y
.
B
e
ca
u
s
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m
o
s
t
o
f
t
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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
I
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a
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in
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yb
r
id
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r
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h
icles o
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p
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w
er sys
tem
w
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h
ig
h
w
in
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…
(
Ma
h
mo
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s
s
a
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Ha
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)
147
r
en
e
w
ab
le
e
n
er
g
y
s
o
u
r
ce
s
ar
e
ch
a
n
g
ea
b
le,
s
o
t
h
e
s
to
r
ag
e
is
th
e
s
u
itab
le
s
o
lu
tio
n
f
o
r
b
o
th
th
e
ti
m
es,
th
e
y
ar
e
av
ailab
le
an
d
n
o
t
n
ee
d
ed
an
d
th
o
s
e
ti
m
es
w
h
e
n
t
h
e
y
ar
e
n
e
ed
ed
an
d
n
o
t
av
ailab
le.
T
h
e
b
asic
id
ea
is
to
k
ee
p
ex
p
lo
itin
g
t
h
e
r
en
e
w
ab
le
en
er
g
y
s
o
u
r
ce
an
d
p
o
w
er
g
e
n
er
atio
n
,
r
eg
ar
d
less
o
f
t
h
e
d
e
m
a
n
d
[
3
]
.
I
f
t
h
e
d
e
m
a
n
d
is
les
s
t
h
an
th
e
g
en
er
ated
p
o
w
er
f
r
o
m
t
h
e
r
en
e
w
ab
le
r
eso
u
r
ce
,
th
e
ex
ce
s
s
i
s
d
iv
er
ted
to
a
s
p
ec
if
ic
s
to
r
ag
e
s
y
s
te
m
.
Fro
m
a
n
o
th
er
asp
ec
t
,
co
n
v
e
n
ti
o
n
al
en
er
g
y
s
to
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ag
e
s
y
s
te
m
s
r
ed
u
ce
th
e
en
er
g
y
ef
f
icien
c
y
a
n
d
r
eq
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ir
e
an
ex
tr
a
co
s
t,
i
n
f
r
a
s
tr
u
ct
u
r
e,
a
w
id
e
s
p
ac
e
an
d
co
m
p
le
x
co
n
tr
o
l
s
y
s
t
e
m
.
B
ec
au
s
e
o
f
t
h
e
s
ev
er
al
d
is
ad
v
an
tag
e
s
o
f
t
h
e
co
n
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n
tio
n
a
l
en
er
g
y
s
to
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ag
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s
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m
s
,
n
e
w
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h
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d
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o
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er
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s
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s
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m
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ag
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[
2
]
.
P
lu
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h
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id
elec
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v
eh
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le
s
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P
HE
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ar
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r
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p
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asic th
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icles
[
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.
T
ab
le
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m
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ased
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I
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co
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ller
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t
h
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a
k
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s
t
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ies i
n
t
h
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x
t
s
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tio
n
s
[
2
]
.
T
h
e
f
iv
e
m
ai
n
ca
s
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s
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s
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Me
d
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[
5
]
.
2.
A
T
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RM
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P
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P
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DI
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RE
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ASE
1
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u
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ase
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F
ig
u
r
e
7
.
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h
e
p
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y
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te
m
f
r
eq
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en
c
y
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e
s
p
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n
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e
is
il
lu
s
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ated
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Fig
u
r
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n
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ticed
f
r
o
m
t
h
e
r
es
u
lt
s
,
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h
e
m
o
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e
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n
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ib
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t
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th
e
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i
n
d
en
er
g
y
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th
e
m
o
r
e
o
s
cillatio
n
o
n
t
h
e
p
o
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s
y
s
te
m
f
r
eq
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e
n
c
y
,
s
o
d
i
f
f
er
en
t
tech
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ie
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e
b
ei
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ed
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o
w
ad
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y
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eq
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en
c
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e
w
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n
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s
p
ee
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lu
ct
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atio
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s
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d
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ce
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e
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o
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x
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t
u
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y
F
i
g
u
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9
,
o
n
e
o
f
t
h
e
m
o
s
t
r
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u
tab
le
tech
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o
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ie
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n
o
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ad
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y
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i
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id
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e
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u
s
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g
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e
g
e
n
etic
al
g
o
r
ith
m
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GA
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ased
P
I
D
co
n
tr
o
ller
.
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u
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u
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5
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p
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h
e
th
ir
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ca
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e
Evaluation Warning : The document was created with Spire.PDF for Python.
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N
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8
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1
9
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u
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6
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o
f
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u
r
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.
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er
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la
y
o
u
t o
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t
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p
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er
s
y
s
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m
f
o
r
t
h
e
f
o
u
r
th
ca
s
e
Evaluation Warning : The document was created with Spire.PDF for Python.
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ca
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A
T
H
E
RM
AL
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O
WE
R
P
L
AN
T
WI
T
H
T
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NT
Y
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ND
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AND
P
H
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VS
F
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D
I
N
G
A
VAR
I
AB
L
E
L
O
AD
(
CASE
S
T
UDY
5
)
I
n
Fig
u
r
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9
is
g
en
er
al
la
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t
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ed
p
o
w
er
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y
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m
f
o
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th
e
f
if
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h
ca
s
e.
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h
e
s
y
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te
m
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en
c
y
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e
w
i
n
d
p
o
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er
,
t
h
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co
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t
i
o
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al
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al
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la
n
t
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h
e
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Vs
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n
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ib
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tio
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d
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h
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ia
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le
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s
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ated
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g
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10.
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llo
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ed
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ie
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Fi
g
u
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ated
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[
6
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.
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ter
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h
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s
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ased
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g
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r
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13.
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1
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152
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.
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lt
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if
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e
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y
Evaluation Warning : The document was created with Spire.PDF for Python.
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n
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r
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1
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m
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1
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en
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ca
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es
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I
SS
N
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154
7.
CO
NCLU
SI
O
N
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r
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ller
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m
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a
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.
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ith
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ased
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n
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ased
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o
s
s
ib
ilit
ies
o
f
u
s
i
n
g
a
h
ier
ar
c
h
ical
f
r
a
m
e
w
o
r
k
to
co
o
r
d
in
ate
th
e
ce
n
tr
alize
d
co
n
tr
o
l b
ase
w
it
h
a
d
ec
en
tr
alize
d
co
n
tr
o
ller
in
ea
ch
i
n
d
iv
id
u
al
v
eh
icle.
RE
F
E
R
E
NC
E
S
[1
]
V
a
c
h
iras
ricirik
u
l,
S
.
a
n
d
Ng
a
m
ro
o
,
I.
,
“
Ro
b
u
st
L
F
C
in
a
sm
a
rt
g
r
id
w
it
h
w
in
d
p
o
w
e
r
p
e
n
e
tratio
n
b
y
c
o
o
rd
in
a
te
d
V
2
G
c
o
n
tr
o
l
a
n
d
a
f
re
q
u
e
n
c
y
c
o
n
tro
ll
e
r,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
S
m
a
rt Grid
,
5
(
1
),
p
p
.
3
7
1
-
3
8
0
,
2
0
1
4
.
[2
]
Kh
o
d
a
y
a
r,
M
.
E.
,
W
u
,
L
.
a
n
d
S
h
a
h
id
e
h
p
o
u
r,
M
.
,
“
Ho
u
rly
Co
o
rd
in
a
ti
o
n
o
f
El
e
c
tri
c
V
e
h
icle
Op
e
ra
ti
o
n
a
n
d
V
o
lati
l
e
W
in
d
P
o
w
e
r
G
e
n
e
ra
ti
o
n
in
S
CUC
,
”
IEE
E
T
r
a
n
s.
S
ma
rt Gri
d
,
3
(3
)
,
p
p
.
1
2
7
1
-
1
2
7
9
,
2
0
1
2
.
[3
]
Ag
h
a
e
i,
J.,
Ne
z
h
a
d
,
A
.
E.
,
Ra
b
iee
,
A
.
a
n
d
Ra
h
im
i,
E.
,
“
T
h
e
Co
n
tri
b
u
ti
o
n
o
f
p
lu
g
-
in
h
y
b
rid
e
lec
tri
c
v
e
h
icle
s in
p
o
w
e
r
s
y
ste
m
u
n
c
e
rtain
ty
m
a
n
a
g
e
m
e
n
t,
”
Ren
e
wa
b
le
a
n
d
S
u
st
a
in
a
b
le
En
e
r
g
y
Rev
iews
,
59
,
p
p
.
4
5
0
-
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8
,
2
0
1
6
.
[4
]
M
i,
C.
a
n
d
M
a
sru
r
,
M
.
A
.
,
“
Hy
b
rid
e
lec
tric
v
e
h
icle
s:
p
rin
c
i
p
les
a
n
d
a
p
p
li
c
a
ti
o
n
s
wit
h
p
r
a
c
ti
c
a
l
p
e
rs
p
e
c
ti
v
e
s
,”
Jo
h
n
W
il
e
y
&
S
o
n
s
,
2
0
1
7
.
[5
]
S
a
b
e
r,
A
.
Y.
a
n
d
V
e
n
a
y
a
g
a
m
o
o
rth
y
,
G
.
K.,
“
Re
so
u
rc
e
sc
h
e
d
u
li
n
g
u
n
d
e
r
u
n
c
e
rtain
ty
in
a
s
m
a
rt
g
rid
w
it
h
re
n
e
w
a
b
les
a
n
d
p
lu
g
-
in
v
e
h
icle
s
,”
IEE
E
S
y
ste
ms
J
o
u
rn
a
l
,
6
(1
),
p
p
.
1
0
3
-
1
0
9
,
2
0
1
2
.
[6
]
L
e
,
T
.
N.,
A
l
-
Ru
b
a
y
e
,
S
.
,
L
ian
g
,
H.
a
n
d
Ch
o
i,
B.
J.,
“
D
y
n
a
m
ic
c
h
a
rg
in
g
a
n
d
d
isc
h
a
rg
in
g
f
o
r
e
lec
tri
c
v
e
h
icle
s
in
m
icro
g
rid
s,”
In
Co
mm
u
n
ica
t
io
n
W
o
rk
sh
o
p
(
ICCW
),
2
0
1
5
IEE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
(p
p
.
2
0
1
8
-
2
0
2
2
)
,
IEE
E.
Ju
n
e
2
0
1
5
.
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