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Neu
r
o
,
Fu
z
z
y
,
w
a
v
elet
co
n
tr
o
l,
s
lid
in
g
m
o
d
e
co
n
tr
o
l,
an
d
etc
[
4
]
.
Ho
w
e
v
er
,
r
esp
o
n
s
e
ti
m
e
o
f
s
u
c
h
co
n
tr
o
ller
s
ar
e
li
m
ited
b
y
m
icr
o
co
n
tr
o
ller
s
p
ee
d
an
d
its
p
er
f
o
r
m
a
n
ce
b
e
co
m
e
s
w
o
r
s
t
w
h
en
d
ea
li
n
g
with
n
o
n
l
in
ea
r
lo
ad
s
[
8
]
.
L
QR
is
a
co
n
tr
o
ller
th
at
o
f
f
er
s
o
p
ti
m
al
tu
n
i
n
g
o
f
th
e
m
u
lti
v
ar
iab
le
f
ee
d
b
ac
k
g
ai
n
.
L
Q
R
is
w
ell
k
n
o
w
n
o
f
it
s
b
eh
av
io
r
o
f
r
o
b
u
s
t,
ef
f
icien
t
an
d
s
u
itab
le
f
o
r
m
u
lt
i
in
p
u
t
an
d
m
u
lti
o
u
tp
u
t
[
MI
MO
]
s
y
s
te
m
s
[
9
]
,
[
10
]
.
T
h
u
s
a
L
QR
is
c
h
o
s
en
i
n
th
is
s
t
u
d
y
to
m
it
ig
ate
t
h
e
h
ar
m
o
n
ic
v
o
lta
g
e
an
d
cu
r
r
en
t in
s
h
u
n
t
h
y
b
r
id
A
P
F.
T
h
eo
r
etica
lly
,
L
QR
m
i
n
i
m
ize
s
q
u
ad
r
atic
co
s
t
f
u
n
ctio
n
,
J
th
at
co
n
s
is
t
s
o
f
s
tate
w
e
i
g
h
ti
n
g
m
atr
ices,
Q
an
d
co
n
tr
o
l
w
ei
g
h
tin
g
m
atr
ice
s
.
T
h
ese
t
w
o
p
ar
a
m
eter
s
g
r
ea
t
l
y
in
f
l
u
e
n
ce
th
e
p
er
f
o
r
m
a
n
ce
o
f
L
Q
R
co
n
tr
o
ller
.
I
t
ca
n
b
e
d
eter
m
i
n
ed
u
s
in
g
R
icca
ti
E
q
u
atio
n
[
11
]
.
Nev
er
th
eless
,
m
o
s
t
co
m
m
o
n
ap
p
r
o
ac
h
in
o
b
tain
in
g
t
h
ese
t
w
o
p
ar
a
m
e
ter
s
i
s
u
s
i
n
g
tr
ia
l
an
d
er
r
o
r
m
et
h
o
d
[
3
]
,
[
6
]
.
T
h
is
clas
s
ic
ap
p
r
o
ac
h
is
la
b
o
r
-
ex
te
n
s
i
v
e,
ti
m
e
co
n
s
u
m
i
n
g
an
d
d
o
n
o
t
p
r
o
m
i
s
e
th
e
e
x
p
ec
ted
p
er
f
o
r
m
a
n
ce
.
T
h
u
s
,
th
e
a
u
t
h
o
r
s
i
n
[
12
]
g
av
e
b
r
ief
ex
p
la
n
atio
n
o
n
ex
is
t
in
g
o
p
ti
m
iza
tio
n
tec
h
n
iq
u
es
to
b
e
i
m
p
le
m
e
n
ted
w
it
h
L
Q
R
,
f
o
r
ex
a
m
p
le,
ar
tific
ial
b
ee
co
lo
n
y
(
A
B
C
)
,
ar
tif
icial
i
m
m
u
n
e
s
y
s
te
m
s
(
AI
S),
an
t
co
lo
n
y
o
p
ti
m
iza
tio
n
(
AC
O)
,
g
e
n
etic
al
g
o
r
ith
m
(
G
A
)
,
ar
ti
f
icia
l
n
eu
r
al
n
et
w
o
r
k
s
(
A
NN)
a
n
d
m
o
r
e.
Ho
w
e
v
er
ex
ten
s
i
v
e
p
r
o
ce
d
u
r
e
an
d
e
x
tr
a
p
ar
a
m
eter
s
is
r
eq
u
i
r
ed
to
e
m
p
lo
y
t
h
e
s
e
o
p
tim
izatio
n
tech
n
iq
u
es.
T
h
er
ef
o
r
e,
f
o
r
t
h
e
s
a
k
e
o
f
s
i
m
p
lic
it
y
,
P
SO
i
s
p
r
o
p
o
s
ed
in
t
h
is
w
o
r
k
to
t
u
n
e
th
e
L
Q
R
co
n
tr
o
ller
in
m
i
tig
a
tin
g
h
ar
m
o
n
ic
v
o
lta
g
e
an
d
c
u
r
r
en
t a
t n
o
n
l
in
ea
r
lo
ad
.
I
n
co
m
p
ar
is
o
n
w
it
h
o
th
er
o
p
tim
izatio
n
tech
n
iq
u
e
s
,
P
SO
p
r
o
m
is
e
s
r
o
b
u
s
t
in
ac
tio
n
,
h
i
g
h
e
f
f
icien
c
y
,
b
etter
r
esu
lts
,
c
h
ea
p
er
an
d
les
s
ti
m
e
co
n
s
u
m
in
g
i
n
tr
ac
k
in
g
t
h
e
b
est
s
o
lu
tio
n
o
f
t
h
e
f
it
n
es
s
[
12
]
.
I
n
f
ac
t,
o
n
e
o
f
th
e
m
o
s
t
at
tr
ac
tiv
e
f
ea
t
u
r
e
o
f
P
SO
is
it
s
f
in
al
s
o
l
u
tio
n
d
o
n
o
t
r
el
y
o
n
th
e
in
itial
s
tates
o
f
t
h
e
p
ar
ticles.
T
h
u
s
,
i
t
m
ak
e
s
t
h
e
co
d
in
g
p
r
o
ce
s
s
i
n
m
.
f
ile
ea
s
ier
[
13
]
.
L
Q
R
-
P
SO
b
ased
h
ad
b
ee
n
ap
p
lied
o
n
air
cr
af
t
la
n
d
in
g
[
14
]
,
co
n
tr
o
llin
g
t
h
e
r
o
tatin
g
i
n
v
er
s
e
p
en
d
u
l
u
m
[
15
]
,
s
tab
ilizin
g
a
t
w
o
-
w
h
ee
led
w
h
ee
lch
air
in
b
alan
ci
n
g
m
o
d
e
[
16
]
,
co
n
tr
o
llin
g
liq
u
id
le
v
el
in
t
h
e
tan
k
[
17
]
an
d
e
tc.
Ho
w
ev
er
,
L
Q
R
-
P
SO
b
ased
i
m
p
le
m
en
ta
t
io
n
o
n
t
h
r
ee
p
h
ase
s
h
u
n
t h
y
b
r
id
f
ilter
,
is
s
o
m
e
w
h
at
m
is
s
i
n
g
i
n
t
h
is
li
ter
atu
r
e,
th
u
s
it lea
d
s
to
t
h
e
m
ai
n
f
o
cu
s
ed
o
f
th
i
s
w
o
r
k
.
2.
DE
SCR
I
P
T
I
O
N
O
F
T
H
E
P
RO
P
O
SE
D
SY
ST
E
M
T
h
e
s
h
u
n
t
h
y
b
r
id
m
o
d
el
o
f
A
P
F
in
s
u
p
p
r
ess
i
n
g
h
ar
m
o
n
ic
co
n
ten
t
in
e
lectr
ical
s
y
s
te
m
i
s
ill
u
s
tr
ated
i
n
Fig
u
r
e
1
.
T
h
is
m
o
d
el
co
m
p
r
i
s
es
o
f
th
r
ee
p
h
ase
v
o
lta
g
e
s
o
u
r
ce
s
,
A
P
F,
ca
p
ac
ito
r
b
an
k
an
d
lo
ad
s
(
lin
ea
r
a
n
d
n
o
n
li
n
ea
r
)
.
T
h
e
p
h
ase
v
o
ltag
e
(
)
is
s
et
as
1
7
6
.
7
V
rm
s
,
w
it
h
r
esis
tan
ce
(
R
s
)
an
d
in
d
u
ctan
ce
(
L
s
)
v
alu
e
o
f
0
.
0
0
1
5
Ω
an
d
0
.
1
m
H,
r
esp
ec
t
iv
el
y
.
T
h
e
v
al
u
e
o
f
t
h
e
ca
p
ac
it
o
r
(
C
f
)
f
o
r
th
e
ca
p
ac
ito
r
b
an
k
is
s
et
to
b
e
9
9
.
3
µF
p
er
p
h
ase.
I
n
th
i
s
h
y
b
r
id
m
o
d
el,
th
e
A
P
F
p
er
f
o
r
m
s
t
h
e
h
ar
m
o
n
ic
c
u
r
r
en
t
m
iti
g
atio
n
,
w
h
i
le
th
e
ca
p
ac
ito
r
b
an
k
ac
ts
as
a
r
ea
ctiv
e
p
o
w
er
co
m
p
en
s
ato
r
b
esid
es
p
r
o
v
id
in
g
t
h
e
p
ath
to
d
r
ain
th
e
h
ar
m
o
n
ic
r
ip
p
le.
T
h
e
p
ar
am
eter
v
alu
e
s
an
d
th
e
b
asic
s
tr
u
ct
u
r
e
o
f
th
is
m
o
d
el
is
b
ased
o
n
w
o
r
k
in
[
6
]
,
b
u
t
in
th
is
w
o
r
k
,
s
o
m
e
m
o
d
i
f
icatio
n
i
n
ter
m
s
o
f
t
u
n
i
n
g
t
h
e
t
w
o
w
ei
g
h
tin
g
m
atr
ice
s
u
s
i
n
g
P
SO is p
er
f
o
r
m
ed
.
Fig
u
r
e
1
.
Fu
ll s
y
s
te
m
m
o
d
el
o
f
s
h
u
n
t
h
y
b
r
id
A
P
F
2
.
1
.
Act
iv
e
po
w
er
f
ilte
r
(
AP
F
)
T
h
e
A
P
F
is
co
n
s
tr
u
cted
u
s
i
n
g
3
-
lev
e
l
v
o
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e
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v
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(
VSI
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,
ca
p
ac
ito
r
s
(
c1
=
c2
=
5
0
0
μ
F
)
an
d
R
L
f
i
lter
(
R
f
=
0
.
1
Ω
,
L
f
=
2
m
H)
.
T
h
e
VSI
r
eg
en
er
at
es
th
e
a
m
o
u
n
t
o
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c
u
r
r
en
t
to
b
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in
j
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ted
in
to
th
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n
et
w
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k
.
T
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p
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to
(
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[
6
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.
(
1
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(
2)
(
3
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w
h
er
e
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is
th
e
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ef
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6
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Hz
[
6
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.
2
.
2
.
Sh
un
t
ca
pa
cit
o
r
ba
n
k
I
n
th
i
s
s
h
u
n
t
h
y
b
r
id
A
P
F,
t
h
e
ca
p
a
cito
r
b
an
k
(
C
B
)
ac
ts
as
a
p
ass
iv
e
p
o
w
er
f
ilter
,
in
w
h
i
ch
h
elp
s
to
p
r
o
v
id
e
th
e
d
r
ain
i
n
g
p
at
h
o
f
th
e
h
ar
m
o
n
ic
c
u
r
r
en
t
s
.
T
h
e
f
ea
t
u
r
e
ad
v
a
n
ta
g
es
o
f
C
B
a
r
e
lo
w
in
co
s
t
a
n
d
f
le
x
ib
ilit
y
in
it
s
i
n
s
talla
tio
n
[
18
]
.
2
.
3
.
No
nli
nea
r
lo
a
d
No
n
li
n
ea
r
lo
a
d
s
y
s
te
m
t
h
at
s
h
o
w
n
i
n
Fi
g
u
r
e
1
is
co
m
p
o
s
ed
w
it
h
li
n
ea
r
an
d
n
o
n
li
n
ea
r
lo
ad
s
.
T
h
e
n
o
n
li
n
ea
r
lo
ad
is
6
-
p
u
l
s
e
d
io
d
e
r
ec
tif
ier
w
h
ile
th
e
li
n
ea
r
lo
ad
is
a
3
-
p
h
ase
s
er
ies
r
es
is
ta
n
c
e
-
i
n
d
u
cta
n
ce
b
r
an
c
h
p
er
p
h
ase
(
R
=
1
5
.
4
Ω
an
d
L
=
1
5
.
4
m
H)
.
T
h
e
lin
ea
r
lo
ad
is
s
h
u
n
t c
o
n
n
ec
ted
to
n
o
n
l
in
ea
r
lo
ad
.
3.
L
Q
R
CO
NT
RO
L
L
E
R:
P
SO
T
UNIN
G
B
AS
E
D
I
n
th
i
s
s
t
u
d
y
,
t
h
e
p
er
f
o
r
m
a
n
ce
in
d
ex
o
f
L
Q
R
is
tu
n
ed
u
s
in
g
P
SO.
P
SO
is
ch
o
s
en
d
u
e
to
its
s
i
m
p
lici
t
y
w
h
er
eb
y
o
n
l
y
ce
r
tai
n
p
ar
a
m
et
er
s
ar
e
n
ee
d
ed
in
w
r
iti
n
g
t
h
e
o
p
ti
m
izatio
n
co
d
e.
T
h
u
s
,
e
n
ab
le
f
as
ter
tr
ac
k
in
g
p
r
o
ce
s
s
in
s
ea
r
ch
i
n
g
th
e
b
est
v
alu
e
o
f
co
r
r
esp
o
n
d
in
g
d
i
m
e
n
s
i
o
n
s
.
3
.
1
.
L
inea
r
qu
a
dra
t
ic
re
g
ula
t
o
r
(
L
Q
R)
B
ased
o
n
s
tate
eq
u
atio
n
o
f
an
d
,
th
e
eq
u
iv
ale
n
t
s
tate
s
p
ac
e
eq
u
atio
n
,
an
d
th
e
s
tate
v
ec
to
r
x
f
o
r
Fig
u
r
e
1
is
p
r
esen
ted
as
w
r
itte
n
i
n
E
q
u
atio
n
(
4
)
an
d
E
q
u
atio
n
(
5
)
ac
co
r
d
in
g
l
y
[
6
]
.
)
(
s
i
n
)
(
2
)
(
)
(
1
*
a
T
l
o
s
s
T
la
fa
t
U
P
P
t
i
t
i
)
3
2
(
s
i
n
)
(
2
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)
(
1
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a
T
l
o
s
s
T
lb
fb
t
U
P
P
t
i
t
i
)
3
2
(
s
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)
(
2
)
(
)
(
1
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o
s
s
T
lc
fc
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U
P
P
t
i
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T
P
t
U
l
o
s
s
P
1
a
u
B
x
A
x
u
D
x
C
y
x
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8708
I
J
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C
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Vo
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p
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1
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:
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6
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7
6
872
(
4
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(
5
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w
h
er
e
is
t
h
e
r
ated
v
al
u
e
o
f
D
C
v
o
lta
g
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is
t
h
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f
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c
u
r
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t,
l
i
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h
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lo
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cu
r
r
e
n
t,
an
d
is
t
h
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cu
r
r
en
t
a
n
d
v
o
ltag
e
o
f
ca
p
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ito
r
b
an
k
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r
esp
ec
tiv
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y
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d
is
t
h
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esis
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n
d
eq
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iv
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t
in
d
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cta
n
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o
r
li
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r
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d
n
o
n
lin
ea
r
lo
ad
.
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th
e
li
n
ea
r
s
tate
-
f
ee
d
b
ac
k
la
w
,
(
)
to
m
i
n
i
m
ize
th
e
q
u
ad
r
atic
co
s
t
f
u
n
ctio
n
,
as
w
r
itten
i
n
E
q
u
at
io
n
(
6
)
[
6
]
.
K
is
th
e
g
ain
m
atr
i
x
,
w
h
ic
h
ca
n
b
e
o
b
tain
ed
f
r
o
m
R
icca
ti E
q
u
atio
n
[
11
]
.
(
6
)
w
h
er
e
an
d
ar
e
th
e
s
e
m
i
-
d
e
f
in
it
e
an
d
a
p
o
s
iti
v
e
r
ea
l
s
y
m
m
et
r
ic
w
e
ig
h
t
m
atr
i
x
o
f
s
ta
te
m
a
tr
ix
x
(
t
)
a
n
d
in
p
u
t
m
atr
i
x
u
(
t)
.
T
h
e
i
m
p
o
r
tan
t
m
a
tter
in
L
QR
co
n
tr
o
l
is
o
b
tain
in
g
t
h
e
v
al
u
e
o
f
Qs
an
d
R
w
ei
g
h
tin
g
m
atr
ices.
I
t
b
ec
o
m
es
m
o
r
e
d
if
f
ic
u
lt
w
h
en
th
e
s
y
s
te
m
h
as
m
o
r
e
p
ar
a
m
e
ter
s
a
n
d
m
o
r
e
in
p
u
t
an
d
o
u
tp
u
t
v
ar
iab
les.
T
h
u
s
,
to
o
v
er
co
m
e
th
ese
r
es
tr
ain
t
s
an
d
r
ed
u
ci
n
g
t
i
m
e
-
co
n
s
u
m
i
n
g
ap
p
r
o
ac
h
,
a
P
SO
is
ad
o
p
ted
in
to
th
e
s
y
s
te
m
to
tu
n
e
t
h
e
v
al
u
e
o
f
Q
an
d
R
w
eig
h
ti
n
g
m
a
tr
ices i
n
an
ea
s
ier
an
d
f
as
ter
w
a
y
.
x
3
.
2
.
P
a
rt
icle
s
w
a
rm
o
pti
m
iza
t
io
n
(
P
SO
)
P
SO
alg
o
r
ith
m
i
s
d
ev
elo
p
ed
b
ased
o
n
th
e
n
at
u
r
e
b
eh
a
v
io
r
o
f
s
w
ar
m
,
f
is
h
f
lo
ck
i
n
g
,
b
ee
s
,
w
h
ale
s
o
r
o
th
er
an
i
m
a
ls
w
h
ile
th
e
y
ar
e
l
o
o
k
in
g
f
o
r
th
eir
f
o
o
d
[
19
]
.
T
e
ch
n
ica
ll
y
,
t
h
e
in
v
o
lv
ed
p
ar
ticles
w
il
l
f
l
y
ar
o
u
n
d
w
it
h
t
h
e
u
p
d
ated
v
elo
cit
y
(
E
q
u
atio
n
(
7
)
)
to
w
ar
d
s
a
n
e
w
p
o
s
itio
n
(
E
q
u
atio
n
(
8
)
)
.
T
h
ey
w
i
ll
k
ee
p
o
n
co
m
p
eti
tiv
e
l
y
f
l
y
in
g
u
n
t
il th
e
y
f
in
d
t
h
e
b
e
s
t v
al
u
e
f
o
r
th
e
f
itn
ess
f
u
n
ctio
n
[
20
]
.
(
7
)
(
8
)
I
n
th
i
s
w
o
r
k
,
t
h
e
f
itn
e
s
s
v
al
u
e
is
th
e
in
te
g
r
ated
ab
s
o
lu
te
er
r
o
r
(
I
A
E
)
b
et
w
ee
n
t
h
e
r
ef
er
en
ce
s
v
al
u
e
o
f
s
tate
v
ec
to
r
a
n
d
its
m
ea
s
u
r
ed
s
tate
v
ec
to
r
.
Si
n
ce
t
h
e
s
tate
v
ec
to
r
co
n
s
i
s
ts
o
f
f
i
lter
c
u
r
r
en
t,
v
o
ltag
e
a
n
d
ca
p
ac
ito
r
cu
r
r
en
t,
th
u
s
,
a
ll
t
h
e
o
b
tain
ed
er
r
o
r
s
b
et
w
ee
n
t
h
ese
v
al
u
e
s
w
ill
b
e
s
u
m
m
ed
u
p
an
d
s
to
r
ed
in
t
h
e
w
o
r
k
s
p
ac
e
as
I
A
E
.
T
h
e
r
ef
er
en
ce
v
al
u
e
f
o
r
f
ilter
cu
r
r
e
n
t
w
as
g
i
v
en
i
n
s
ec
tio
n
2
.
1
.
W
h
ile
th
e
r
ef
er
en
ce
v
al
u
e
f
o
r
cu
r
r
en
t,
an
d
v
o
lta
g
e,
o
f
ca
p
ac
ito
r
b
an
k
is
o
b
tain
ed
f
r
o
m
p
o
s
iti
v
e
s
eq
u
en
ce
e
x
tr
ac
tio
n
o
f
c
u
r
r
en
t
an
d
v
o
lta
g
e
s
o
u
r
ce
[
13
]
.
On
t
h
e
o
th
er
h
a
n
d
,
th
e
4
x
4
d
ia
g
o
n
al
m
atr
i
x
es
o
f
Q
an
d
1
x
1
m
atr
ix
o
f
R
w
ill
b
e
s
et
a
s
th
e
d
i
m
en
s
io
n
.
T
h
er
ef
o
r
e,
t
h
e
d
i
m
e
n
s
io
n
is
s
et
to
5
i
n
t
h
e
Ma
tlab
co
d
in
g
.
Di
m
e
n
s
io
n
ca
n
b
e
d
ef
i
n
ed
as
th
e
p
ar
am
eter
s
to
b
e
o
p
tim
ized
.
T
h
e
p
s
eu
d
o
co
d
e
f
o
r
th
e
P
SO
-
b
ased
L
Q
R
is
as
f
o
llo
w
s
[
13
]
:
I
n
itialize
ea
c
h
p
ar
ticle.
Do
Fin
d
R
,
Q,
P
(
u
s
i
n
g
R
ec
ca
ti E
q
u
atio
n
)
a
n
d
K
u
s
i
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g
x
m
K
C
alcu
late
)
(
t
x
C
all
t
h
e
s
i
m
u
lin
k
f
ile
C
alcu
late
th
e
I
A
E
Fin
d
be
s
t
p
,
if
th
e
p
r
esen
t I
A
E
(
t)
<
I
A
E
(
be
s
t
p
)
th
en
)
(
t
x
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th
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r
r
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t
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m
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V
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x
C
C
C
L
L
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L
L
R
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L
R
x
f
dc
s
f
f
f
eq
eq
eq
f
f
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s
0
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dc
V
f
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t
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2
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v
t
x
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i
1
x
*
,
k
c
i
*
,
k
c
v
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
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C
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I
SS
N:
2
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C
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u
p
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ate
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o
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itio
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an
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t Q
an
d
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.
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n
d
Un
til all
s
to
p
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et
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h
e
p
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r
am
eter
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u
s
ed
d
u
r
in
g
i
n
itializa
tio
n
an
d
th
e
w
h
o
le
p
r
o
ce
s
s
es
ar
e
lis
ted
i
n
T
ab
le
1
b
elo
w
.
T
h
e
u
p
p
er
an
d
lo
w
er
lev
el
v
al
u
e
is
o
b
tain
ed
f
r
o
m
p
u
b
licatio
n
in
[
6
]
.
T
ab
le
1
.
P
ar
am
eter
s
v
alu
e
f
o
r
P
SO
P
a
r
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me
t
e
r
s
V
a
l
u
e
N
u
mb
e
r
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S
[1
]
M
.
G
a
o
a
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d
K.
A
w
o
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le,
"
In
v
e
s
ti
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ro
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,
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.
[2
]
T
.
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o
,
e
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l.
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ted
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rter
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h
a
n
L
C
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in
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u
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tro
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(
IS
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,
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.
IEE
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In
ter
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si
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m
o
n
,
p
p
.
3
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-
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.
[3
]
A
.
Ka
s
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e
w
s
k
i
,
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t
a
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,
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[4
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R.
Zah
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a
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d
A
.
P
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F
a
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a
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Tec
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trate
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.
[5
]
Z.
S
a
lam
,
e
t
a
l.
,
"
Ha
r
m
o
n
ics
m
it
i
g
a
ti
o
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u
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a
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ti
v
e
p
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w
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r
f
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ter:
a
tec
h
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v
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El
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trika
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p
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-
2
6
,
2
0
0
6
.
[6
]
H.
A
.
R
.
Ca
rra
n
z
a
,
e
t
a
l.
,
"
S
u
p
p
r
e
ss
io
n
o
f
p
a
ra
ll
e
l
re
so
n
a
n
c
e
a
n
d
m
it
ig
a
ti
o
n
o
f
h
a
rm
o
n
ic
d
isto
rti
o
n
th
ro
u
g
h
sh
u
n
t
a
c
ti
v
e
p
o
w
e
r
c
o
m
p
e
n
sa
ti
o
n
,
"
In
t
e
rn
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
E
lec
trica
l
Po
we
r
&
En
e
rg
y
S
y
ste
ms
,
v
o
l.
7
5
,
p
p
.
1
5
2
-
1
6
1
,
2
0
1
6
.
[7
]
R.
Be
laid
i
,
e
t
a
l.
,
"
Im
p
ro
v
e
m
e
n
t
o
f
th
e
e
lec
tri
c
a
l
e
n
e
rg
y
q
u
a
li
t
y
u
sin
g
a
S
h
u
n
t
A
c
ti
v
e
F
il
ter
su
p
p
l
ied
b
y
a
p
h
o
to
v
o
lt
a
ic g
e
n
e
ra
to
r,
"
E
n
e
rg
y
Pro
c
e
d
ia
,
v
o
l.
6
,
p
p
.
5
2
2
-
5
3
0
,
2
0
1
1
.
[8
]
H.
Ko
m
u
rc
u
g
il
,
e
t
a
l.
,
"
Op
ti
m
a
l
c
o
n
tro
l
f
o
r
sin
g
le
-
p
h
a
se
U
P
S
in
v
e
rters
b
a
se
d
o
n
li
n
e
a
r
q
u
a
d
ra
ti
c
re
g
u
lato
r
a
p
p
ro
a
c
h
,
"
in
In
ter
n
a
ti
o
n
a
l
S
y
m
p
o
siu
m
o
n
Po
we
r
El
e
c
tro
n
ics
,
E
lec
trica
l
Dr
ive
s,
Au
to
ma
ti
o
n
a
n
d
M
o
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o
n
,
2
0
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6
.
S
PE
EDAM
2
0
0
6
.
,
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a
o
rm
in
a
,
p
p
.
1
1
3
7
-
1
1
4
2
,
2
0
0
6
.
[9
]
B.
Ke
d
jar
a
n
d
K.
A
l
-
Ha
d
d
a
d
,
"
LQR
w
it
h
In
teg
ra
l
A
c
ti
o
n
f
o
r
P
h
a
se
Cu
rre
n
t
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n
tr
o
l
o
f
Co
n
sta
n
t
S
w
it
c
h
in
g
F
re
q
u
e
n
c
y
V
ien
n
a
Re
c
ti
f
ier,"
in
2
0
0
6
IE
EE
In
ter
n
a
ti
o
n
a
l
S
y
mp
o
si
u
m o
n
In
d
u
stria
l
El
e
c
tro
n
ics
,
M
o
n
trea
l,
Qu
e
.
,
p
p
.
1
4
6
1
-
1
4
6
6
,
2
0
0
6
.
[1
0
]
S
.
M
o
b
a
y
e
n
,
e
t
a
l.
,
"
L
in
e
a
r
q
u
a
d
ra
ti
c
o
p
ti
m
a
l
c
o
n
tro
l
sy
ste
m
d
e
sig
n
u
sin
g
p
a
rti
c
le
sw
a
r
m
o
p
ti
m
iza
ti
o
n
a
lg
o
rit
h
m
,
"
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
t
h
e
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h
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sic
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l
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c
ien
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e
s,
v
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l.
3
0
,
p
p
.
6
9
5
8
-
6
9
6
6
,
2
0
1
1
.
[1
1
]
T
.
N
g
u
y
e
n
a
n
d
Z.
G
a
ji
c
,
"
S
o
lv
i
n
g
th
e
M
a
tri
x
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ffe
re
n
ti
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l
Ricc
a
ti
Eq
u
a
ti
o
n
:
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a
p
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v
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u
a
ti
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n
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p
p
ro
a
c
h
,
"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Au
t
o
ma
t
ic Co
n
tro
l,
v
o
l.
5
5
,
p
p
.
1
9
1
-
1
9
4
,
2
0
1
0
.
[1
2
]
K.
Ha
ss
a
n
i
a
n
d
W
.
S
.
L
e
e
,
"
O
p
ti
m
a
l
T
u
n
in
g
o
f
L
in
e
a
r
Qu
a
d
ra
ti
c
Re
g
u
lato
rs
Us
in
g
Qu
a
n
tu
m
P
a
rti
c
le
S
w
a
r
m
Op
ti
m
iza
ti
o
n
,
"
p
re
se
n
ted
a
t
th
e
P
r
o
c
e
e
d
in
g
s
o
f
th
e
In
t
.
Co
n
f
e
re
n
c
e
o
f
Co
n
tro
l,
Dy
n
a
m
i
c
S
y
ste
m
s
,
a
n
d
R
o
b
o
ti
c
s,
Ottaw
a
,
On
tario
,
Ca
n
a
d
a
,
2
0
1
4
.
[1
3
]
M
.
I.
S
o
li
h
in
,
e
t
a
l.
,
"
Co
m
p
a
riso
n
o
f
L
QR
a
n
d
P
S
O
-
b
a
se
d
sta
te
f
e
e
d
b
a
c
k
c
o
n
tro
ll
e
r
f
o
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trac
k
in
g
c
o
n
t
ro
l
o
f
a
f
le
x
ib
le
li
n
k
m
a
n
ip
u
lato
r,
"
in
In
f
o
rm
a
ti
o
n
M
a
n
a
g
e
me
n
t
a
n
d
En
g
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n
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e
rin
g
(
ICIM
E),
2
0
1
0
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h
e
2
n
d
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
,
p
p
.
3
5
4
-
3
5
8
,
2
0
1
0
.
[1
4
]
J.
Ha
m
id
i,
"
Co
n
tro
l
S
y
ste
m
De
sig
n
Us
in
g
P
a
rt
icle
S
w
a
r
m
Op
ti
m
iz
a
ti
o
n
(
P
S
O),"
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
S
o
f
t
Co
mp
u
t
in
g
a
n
d
En
g
in
e
e
rin
g
(
IJ
S
CE),
v
o
l.
1
,
p
p
.
1
1
6
-
1
1
9
,
2
0
1
2
.
[1
5
]
Y.
K
.
Wei,
e
t
a
l.
,
"
L
Q
Re
g
u
lato
r
De
sig
n
Ba
se
d
o
n
P
a
rti
c
le
S
w
a
rm
Op
ti
m
iz
a
ti
o
n
,
"
p
re
se
n
ted
a
t
th
e
2
0
0
6
IEE
E
In
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
S
y
ste
m
s,
M
a
n
,
a
n
d
Cy
b
e
rn
e
ti
c
s,
T
a
ip
e
i,
T
a
i
w
a
n
,
p
p
.
4
1
4
2
-
4
1
4
5
,
2
0
0
6
.
[1
6
]
A
.
A
u
la
,
e
t
a
l.
,
"
P
S
O
-
b
a
se
d
S
tat
e
F
e
e
d
b
a
c
k
Re
g
u
lato
r
f
o
r
S
tab
il
izin
g
a
Tw
o
-
w
h
e
e
led
W
h
e
e
lch
a
ir
in
Ba
lan
c
in
g
M
o
d
e
,
"
p
re
se
n
te
d
a
t
t
h
e
Co
n
tro
l
Co
n
f
e
re
n
c
e
(
A
S
CC),
2
0
1
5
1
0
th
A
sia
n
,
Ko
ta Ki
n
a
b
a
lu
,
2
0
1
5
.
[1
7
]
N.
A
.
S
e
la
m
a
t
,
e
t
a
l.
,
"
Co
m
p
a
riso
n
o
f
L
QR
a
n
d
P
ID
c
o
n
tr
o
ll
e
r
t
u
n
i
n
g
u
sin
g
P
S
O
f
o
r
Co
u
p
led
T
a
n
k
S
y
st
e
m
,
"
in
S
ig
n
a
l
Pro
c
e
ss
in
g
&
Its
Ap
p
li
c
a
t
io
n
s
(
CS
PA
),
2
0
1
5
I
EE
E
1
1
t
h
In
ter
n
a
ti
o
n
a
l
Co
l
lo
q
u
i
u
m
o
n
,
Ku
a
l
a
L
u
m
p
u
r,
p
p
.
46
-
51
,
2
0
1
5
.
[1
8
]
C.
S
.
L
a
m
a
n
d
C.
W
.
W
o
n
g
,
"
De
sig
n
a
n
d
C
o
n
tr
o
l
o
f
H
y
b
rid
A
c
ti
v
e
P
o
w
e
r
F
il
ters
,"
S
p
rin
g
e
r
He
id
e
l
b
e
rg
Ne
w
Yo
rk
Do
rd
re
c
h
t
L
o
n
d
o
n
:
S
p
ri
n
g
e
rBriefs
in
El
e
c
tri
c
a
l
a
n
d
Co
m
p
u
ter E
n
g
in
e
e
rin
g
,
2
0
1
4
.
[1
9
]
Q.
Ba
i,
"
A
n
a
l
y
sis
o
f
P
a
rti
c
le
S
w
a
rm
Op
ti
m
iza
ti
o
n
A
lg
o
rit
h
m
,
"
Co
mp
u
ter
a
n
d
I
n
fo
rm
a
ti
o
n
S
c
ie
n
c
e
,
v
o
l.
3
,
p
p
.
1
8
0
-
1
8
4
,
2
0
1
0
.
[2
0
]
K.
W
.
Yu
a
n
d
Z.
L
.
Hu
a
n
g
,
"
L
Q
R
e
g
u
lato
r
De
si
g
n
Ba
se
d
o
n
P
a
rti
c
le
S
w
a
r
m
Op
ti
m
iza
ti
o
n
,
"
in
2
0
0
6
IEE
E
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
S
y
ste
ms
,
M
a
n
a
n
d
Cy
b
e
rn
e
ti
c
s
,
T
a
ip
e
i,
p
p
.
4
1
4
2
-
4
1
4
5
,
2
0
0
6
.
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