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[
1
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is
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t
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3
]
.
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,
w
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ter
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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539
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r
e
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h
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C
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ter
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p
o
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et
w
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.
Fig
u
r
e
1
.
th
e
s
tr
u
c
tu
r
e
o
f
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P
I
co
n
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o
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3.
CO
M
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E
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O
R
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NT
R
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L
3
.
1
.
T
he
I
ns
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a
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Sev
er
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e
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r
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h
ar
m
o
n
ic
s
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n
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e
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cl
u
d
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g
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e
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n
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n
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s
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ctiv
e
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R
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e
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o
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ala
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ce
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h
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ased
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w
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av
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o
f
I
R
P
[
6
]
f
o
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th
is
p
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r
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s
e.
T
h
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ased
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in
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ter
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g
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I
n
Fig
u
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it
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ated
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s
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th
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g
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m
ac
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n
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Fi
g
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as P
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s
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3
.
2
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F
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db
a
c
k
F
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o
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T
h
e
q
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alit
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o
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th
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co
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as
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ican
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p
ac
t
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m
p
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s
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f
o
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m
an
ce
.
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h
e
co
n
v
e
n
tio
n
al
P
I
cu
r
r
en
t
co
n
tr
o
ller
is
ab
le
to
en
d
u
r
e
th
e
tr
ac
k
in
g
er
r
o
r
o
f
th
e
r
e
f
er
en
ce
s
ig
n
a
l,
an
d
m
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e
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t
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r
o
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h
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ith
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r
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p
ab
le
o
f
en
d
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r
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r
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in
u
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co
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m
p
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it z
er
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T
h
e
r
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u
r
s
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alg
o
r
it
h
m
ca
n
b
e
ex
p
r
ess
ed
as f
o
llo
w
s
:
(
)
(
)
∑
(
)
(
1
)
(
)
a
nd
(
)
a
re
t
he
o
u
tp
u
t
v
al
u
e
o
f
th
e
P
I
co
n
tr
o
ller
an
d
t
h
e
s
a
m
p
lin
g
er
r
o
r
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f
a
s
a
m
p
le,
K,
a
n
d
N
th
e
n
u
m
b
er
o
f
s
a
m
p
les
in
o
n
e
c
y
cle
o
f
an
d
,
an
d
th
e
co
e
f
f
icien
ts
ar
e
p
r
o
p
o
r
tio
n
al
an
d
in
te
g
r
al.
T
h
is
alg
o
r
ith
m
,
at
t
h
e
s
a
m
e
ti
m
e
i
n
ea
ch
c
y
cle
o
f
th
e
tr
ac
k
i
n
g
er
r
o
r
tak
es
i
n
te
g
r
al.
I
n
o
r
d
er
o
f
d
ig
ital
i
m
p
elle
n
t
o
f
th
is
al
g
o
r
ith
m
,
w
e
ca
n
ex
p
r
ess
th
e
o
u
tp
u
t c
o
n
tr
o
l
(
)
in
t
h
is
f
o
r
m
:
(
)
(
)
,
(
)
(
)
-
(
)
(
2
)
(
)
is
K
s
a
m
p
le
o
f
p
er
v
io
u
s
c
y
cle.
A
cc
o
r
d
in
g
to
E
q
u
atio
n
(
2
)
,
it
ca
n
b
e
o
b
s
er
v
ed
th
at
P
I
alg
o
r
ith
m
,
h
as
th
e
p
r
ev
io
u
s
c
y
cle
d
ata
i
n
its
m
e
m
o
r
y
,
w
h
i
ch
g
u
ar
a
n
tee
t
h
e
s
i
g
n
al
tr
ac
k
in
g
er
r
o
r
b
y
ze
r
o
.
Ho
w
e
v
er
,
th
e
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
i
s
al
w
a
y
s
s
lo
w
a
n
d
i
s
r
esp
o
n
d
ed
b
y
o
n
e
c
y
cle
d
ela
y
.
T
h
er
ef
o
r
e,
to
i
m
p
r
o
v
e
th
e
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
a
n
d
r
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ta
n
t
o
f
t
h
e
s
y
s
te
m
,
a
co
n
tr
o
l
alg
o
r
ith
m
m
u
s
t
b
e
m
ad
e.
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n
th
is
p
ap
er
,
w
e
u
s
ed
a
p
h
a
s
e
r
u
le
t
o
d
y
n
a
m
icall
y
ad
j
u
s
t
th
e
co
n
t
r
o
l
p
ar
a
m
eter
s
[
7
]
.
Su
p
p
o
s
e
t
h
at
t
h
e
p
h
ase
s
et
o
f
U2
,
U1
,
E
C
,
E
f
o
r
∆
KP
,
∆
KI
,
E
c
ar
e
*
+
s
ets.
R
u
le
∆
KP
is
f
o
r
th
at
t
h
e
co
n
tr
o
ller
h
as a
q
u
ick
co
n
tr
o
llin
g
f
u
n
c
tio
n
to
s
p
ee
d
u
p
an
d
r
ed
u
ce
th
e
tr
ac
k
in
g
er
r
o
r
.
T
h
e
in
teg
r
al
co
n
tr
o
ller
o
f
∆
KP
is
u
s
ed
to
eli
m
i
n
ate
th
e
tr
ac
k
in
g
er
r
o
r
an
d
im
p
r
o
v
e
th
e
b
eh
a
v
io
r
.
B
ase
d
o
n
th
e
ab
o
v
e
an
aly
s
is
,
r
u
le
co
n
tr
o
ls
o
f
∆
KI
an
d
∆
KP
ca
n
b
e
o
b
tain
ed
in
T
a
b
le
1
an
d
T
a
b
le
2.
P
h
ase
lo
g
ic
s
tep
s
ar
e
as
f
o
llo
ws:
a.
Fu
zz
i
f
icatio
n
,
(
)
-
,
(
)
-
(
3
)
b.
Fu
zz
y
d
ec
is
io
n
m
a
k
in
g
c.
Def
u
zz
if
icatio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
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&
C
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m
p
E
n
g
I
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N:
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8
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a
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ma
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541
{
(
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(
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(
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(
4
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at
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lects
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h
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r
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ar
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K
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PS
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0
0
PS
PB
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PS
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PS
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NS
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2
.
P
ar
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s
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PB
PS
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0
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PB
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PB
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PB
A
ct
u
al
an
d
r
e
f
er
en
ce
f
lo
w
-
D
-
ST
A
T
C
OM
can
be
co
m
p
ar
ed
w
it
h
ea
c
h
o
th
er
,
a
n
d
p
h
ase
e
r
r
o
r
s
ig
n
a
l
by
a
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
co
n
tr
o
ller
r
eb
o
u
n
d
f
u
zz
y
s
tr
en
g
t
h
en
,
an
d
p
ass
ed
th
e
b
lo
ck
p
u
l
s
e
w
id
t
h
m
o
d
u
la
tio
n
(
P
W
M)
s
w
itc
h
i
n
g
s
i
g
n
al
s
to
p
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o
d
u
ce
d
D
-
ST
A
T
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in
v
er
t
er
.
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
AND
ANA
L
YS
I
S
Fo
r
th
e
e
f
f
icie
n
c
y
o
f
th
e
s
y
s
te
m
w
e
u
s
ed
Ma
tlab
/
Si
m
u
li
n
k
s
o
f
t
w
ar
e
f
o
r
th
e
s
i
m
u
l
atio
n
.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
p
o
s
ed
s
ch
e
m
e
h
a
s
b
ee
n
s
tu
d
ied
to
co
m
p
e
n
s
ate
r
ea
cti
v
e
p
o
w
er
an
d
cu
r
r
en
t
h
ar
m
o
n
ic
s
r
ath
er
th
a
n
th
e
o
r
d
in
ar
y
co
n
tr
o
l
.
4
.
1
.
F
irst
S
ce
na
rio
:
T
he
Sy
s
t
e
m
P
er
f
o
r
m
a
nce
in
H
a
r
m
o
nic
a
nd
Rea
ct
iv
e
P
o
w
er
C
o
m
pen
s
a
t
io
n
I
n
th
i
s
s
ce
n
ar
io
,
th
e
d
is
tr
ib
u
ti
o
n
s
y
s
te
m
s
w
it
h
r
ea
ctiv
e
a
n
d
h
ar
m
o
n
ic
lo
ad
s
h
av
e
b
ee
n
s
i
m
u
lated
at
0
.
5
s
ec
o
n
d
s
.
T
h
e
p
r
o
p
o
s
ed
co
m
p
e
n
s
ato
r
is
s
w
itc
h
ed
to
th
e
cir
cu
it
at
0
.
1
5
s
ec
o
n
d
an
d
p
er
f
o
r
m
s
t
h
e
co
m
p
e
n
s
at
io
n
f
u
n
ctio
n
.
Fi
g
u
r
e
3
s
h
o
w
s
t
h
e
o
u
tp
u
t
r
es
u
lt
s
o
f
th
i
s
s
ce
n
ar
io
.
I
n
t
h
e
f
i
g
u
r
e,
th
e
s
y
s
te
m
’
s
t
h
r
ee
-
p
h
ase
v
o
ltag
e
s
,
lo
ad
cu
r
r
e
n
ts
,
r
ef
er
en
ce
c
u
r
r
en
t
s
,
i
n
j
ec
tio
n
c
u
r
r
en
ts
o
f
co
m
p
en
s
ato
r
,
an
d
DC
s
h
an
e
b
u
s
v
o
ltag
e
co
m
p
e
n
s
a
tio
n
,
r
esp
ec
t
iv
el
y
h
a
v
e
b
ee
n
s
h
o
w
n
.
Fig
u
r
e
3
.
S
i
m
u
latio
n
o
u
tp
u
t i
n
th
e
f
ir
s
t sce
n
a
r
io
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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I
n
t J
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&
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p
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g
,
Vo
l.
8
,
No
.
1
,
Feb
r
u
ar
y
2
0
1
8
:
5
3
8
–
5
4
3
542
W
ith
co
m
p
en
s
atio
n
f
u
n
ctio
n
,
h
ar
m
o
n
ic
d
is
to
r
tio
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f
ac
to
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o
f
th
e
th
r
ee
-
p
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a
s
e
cu
r
r
en
t
s
h
as
b
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n
d
ec
r
ea
s
ed
f
r
o
m
t
h
e
v
a
lu
e
s
o
f
2
2
.
0
7
,
2
2
.
1
2
an
d
2
2
.
1
1
to
3
.
2
6
,
4
.
3
7
,
4
.
2
2
r
esp
ec
tiv
el
y
,
w
h
i
ch
is
co
m
p
atib
le
to
IEEE
-
519
s
tan
d
ar
d
w
h
ic
h
its
p
er
m
i
s
s
i
v
e
T
HD
o
f
cu
r
r
e
n
t
is
5
%.
I
t
also
ca
n
b
e
s
ee
n
th
at
th
e
DC
b
u
s
v
o
lta
g
e
h
as
b
ee
n
e
s
tab
lis
h
ed
w
it
h
r
ef
e
r
en
ce
v
a
lu
e
s
.
R
ef
er
e
n
ce
c
u
r
r
en
ts
w
a
v
ef
o
r
m
a
n
d
its
v
o
ltag
e
h
av
e
ap
p
r
o
x
i
m
atel
y
th
e
s
a
m
e
p
h
ase
a
n
d
ab
s
o
r
p
tio
n
r
ea
ctiv
e
p
o
w
er
is
co
m
p
e
n
s
ate
d
b
y
t
h
e
s
o
u
r
ce
to
o
.
4
.
2
.
Seco
nd
S
ce
na
rio
:
C
o
m
pa
ris
o
n
of
C
o
nv
ent
io
na
l
P
I
C
o
ntr
o
ller
a
nd
P
ha
s
e
PI
R
et
urn.
T
h
e
s
ec
o
n
d
s
ce
n
ar
io
i
s
co
n
s
id
er
ed
to
co
m
p
ar
e
th
e
p
er
f
o
r
m
an
ce
o
f
t
w
o
co
n
tr
o
ller
s
t
o
c
s
tatic
s
y
n
ch
r
o
n
o
u
s
co
m
p
e
n
s
ato
r
.
So
th
is
co
m
p
e
n
s
atio
n
is
s
i
m
u
lat
ed
o
n
ce
w
it
h
th
e
co
n
v
e
n
tio
n
a
l
P
I
c
o
n
t
r
o
ller
an
d
w
it
h
a
f
u
zz
y
P
I
co
n
tr
o
ller
in
r
etu
r
n
.
T
h
e
tr
ac
k
in
g
er
r
o
r
o
f
r
ef
er
en
ce
c
u
r
r
en
t
s
s
i
g
n
als
f
o
r
t
w
o
co
n
tr
o
ller
s
i
s
s
h
o
w
n
in
F
ig
u
r
e
4
.
As
ca
n
b
e
s
ee
n
,
P
I
co
n
tr
o
lle
r
is
ab
le
to
r
ed
u
ce
th
e
s
tead
y
tr
ac
k
i
n
g
er
r
o
r
s
ig
n
a
l
to
ze
r
o
.
B
u
t
as
m
en
tio
n
ed
ea
r
lier
,
th
is
co
n
tr
o
ller
ac
ts
as
a
d
elay
p
er
io
d
,
to
s
o
lv
e
th
is
p
r
o
b
lem
f
u
zz
y
r
u
les
h
av
e
b
ee
n
e
m
p
lo
y
ed
f
o
r
ad
j
u
s
tin
g
t
h
e
p
r
o
p
o
r
tio
n
al
an
d
in
te
g
r
al
p
ar
a
m
eter
s
.
Fi
g
u
r
e
5
s
h
o
w
s
t
h
e
d
y
n
a
m
ic
c
h
a
n
g
e
s
i
n
t
h
e
p
ar
am
eter
s
Kp
an
d
K
i
co
m
p
e
n
s
atio
n
cir
cu
it
s
w
itc
h
in
g
.
I
t
i
s
o
b
s
er
v
ed
th
a
t
t
h
e
K
v
alu
e
i
n
cr
ea
s
es
th
e
s
p
ee
d
co
n
tr
o
l
to
in
cr
ea
s
e
o
u
tp
u
t
a
n
d
r
ed
u
ce
tr
ac
k
in
g
er
r
o
r
,
th
e
Ki
v
al
u
e
i
s
r
ed
u
ce
d
i
m
m
ed
ia
tel
y
to
d
ec
r
ea
s
e
it
s
i
m
p
ac
t,
an
d
lead
n
o
t
to
a
t
u
ck
th
er
e.
Ki
v
al
u
e
i
n
cr
ea
s
e
s
g
r
a
d
u
all
y
to
i
m
p
r
o
v
e
it
s
ef
f
ec
ti
v
e
n
es
s
an
d
r
ed
u
ce
t
h
e
s
tead
y
s
tate
er
r
o
r
.
T
h
e
v
alu
es
o
f
th
e
s
e
t
w
o
p
ar
a
m
e
ter
s
w
ill b
e
estab
lis
h
ed
at
a
le
v
el
o
f
s
tab
i
lit
y
.
Fig
u
r
e
4
.
T
h
r
ee
-
p
h
ase
r
ef
er
en
ce
cu
r
r
en
ts
d
etec
tio
n
er
r
o
r
o
r
tw
o
t
y
p
e
s
o
f
co
n
tr
o
lle
r
s
(
th
e
s
ec
o
n
d
s
ce
n
ar
io
)
Fig
u
r
e
5
.
T
h
e
v
ar
iatio
n
s
o
f
r
ec
u
r
s
i
v
e
P
I
co
n
tr
o
l
p
ar
am
eter
s
b
ased
o
n
p
h
ase
r
u
l
es a
t th
e
m
o
m
e
n
t o
f
s
w
itc
h
in
g
o
f
co
m
p
e
n
s
a
to
r
to
th
e
cir
cu
it
5.
CO
NCLU
SI
O
N
I
n
th
i
s
p
ap
er
w
as
s
t
u
d
ied
th
e
co
m
p
e
n
s
ated
t
h
r
ee
-
p
h
ase
p
o
w
er
q
u
alit
y
,
d
is
tr
ib
u
tio
n
s
y
s
te
m
s
b
y
u
s
in
g
s
tatic
s
y
n
c
h
r
o
n
o
u
s
co
m
p
en
s
a
to
r
d
is
tr
ib
u
tio
n
.
T
o
ex
tr
ac
t
th
e
r
ef
er
en
ce
s
i
g
n
al
co
m
p
en
s
atio
n
,
th
r
ee
-
p
h
ase
p
o
w
er
in
s
tan
tan
eo
u
s
w
er
e
u
s
e
d
,
an
d
f
i
n
all
y
to
i
m
p
r
o
v
e
f
lo
w
co
n
tr
o
l
an
d
ac
ce
s
s
t
h
e
f
a
s
t
-
tr
a
ck
in
g
s
o
f
t
w
ar
e
a
n
d
r
ef
er
en
ce
s
i
g
n
al
s
,
a
co
n
tr
o
ller
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
r
ec
u
r
s
iv
e
alg
o
r
it
h
m
b
ased
o
n
th
e
f
u
zz
y
h
as
b
ee
n
u
s
ed
.
Fo
r
th
e
ef
f
icie
n
c
y
o
f
th
e
s
y
s
te
m
w
e
u
s
ed
Ma
tlab
\
Si
m
u
li
n
k
s
o
f
t
w
ar
e
f
o
r
s
i
m
u
latio
n
.
RE
F
E
R
E
NC
E
S
[1
]
H.
A
k
a
g
i,
Y.
Ka
n
a
z
a
wa
,
K.
F
u
j
it
a
,
a
n
d
A
.
Na
b
a
e
,
"
G
e
n
e
ra
li
z
e
d
th
e
o
ry
o
f
in
sta
n
ta
n
e
o
u
s
re
a
c
ti
v
e
p
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