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.
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ase
g
r
id
co
n
n
ec
ted
P
V
s
y
s
te
m
a
n
d
its
an
a
l
y
s
is
w
ill
b
e
s
h
o
w
n
in
Sectio
n
4
.
Sectio
n
5
is
f
o
cu
s
e
d
o
n
th
e
s
i
m
u
latio
n
r
esu
lt
s
w
it
h
d
if
f
er
en
t a
n
al
y
s
i
s
.
Fin
all
y
,
w
e
f
in
i
s
h
w
ith
a
co
n
c
lu
s
io
n
.
2.
SYST
E
M
DE
SCRI
P
T
I
O
N
A
ND
DYNA
M
I
C
M
O
DE
L
T
h
e
s
y
s
te
m
th
a
t
h
as
b
ee
n
co
n
s
id
er
ed
i
s
p
r
esen
ted
in
Fi
g
u
r
e
1
.
So
,
f
ir
s
t
ly
t
h
e
b
o
o
s
t
c
o
n
v
er
ter
i
s
co
m
m
a
n
d
ed
to
r
ea
lize
th
e
MPPT
f
u
n
ctio
n
.
Seco
n
d
l
y
t
h
e
in
v
er
ter
is
co
n
tr
o
lled
b
y
a
PW
M
s
w
itc
h
in
g
s
i
g
n
als
to
in
j
ec
t
a
th
r
ee
p
h
ase
c
u
r
r
en
t
i
n
to
t
h
e
g
r
id
i
n
p
h
ase
w
it
h
g
r
i
d
v
o
ltag
e
s
.
Fi
n
all
y
,
t
h
e
i
n
d
u
c
to
r
f
il
t
er
i
s
u
s
ed
to
f
ilter
o
u
t
t
h
e
h
ar
m
o
n
ic
d
i
s
to
r
ti
o
n
.
i
p
,
v
p
ar
e
r
esp
ec
tl
y
th
e
P
VG
cu
r
r
en
t
a
n
d
v
o
lta
g
e.
p
is
in
p
u
t
ca
p
ac
ito
r
o
f
th
e
b
o
o
s
t
co
n
v
er
ter
tak
e
n
a
s
,
L
=
is
b
o
o
s
t
co
n
v
er
ter
in
d
u
c
to
r
,
i
is
b
o
o
s
t
co
n
v
er
ter
in
d
u
cto
r
c
u
r
r
en
t,
is
DC
lin
k
c
ap
ac
ito
r
tak
en
a
s
,
v
dc
is
DC
l
in
k
v
o
ltag
e,
ar
e
in
j
ec
ted
cu
r
r
en
ts
,
ar
e
th
r
ee
p
h
ase
g
r
id
v
o
ltag
e
s
(
)
,
is
a
lo
w
p
as
s
f
ilter
.
Fig
u
r
e
1
.
C
o
n
f
ig
u
r
atio
n
o
f
th
r
ee
p
h
ase
g
r
id
co
n
n
ec
ted
P
h
o
to
v
o
ltaic
s
y
s
te
m
w
it
h
a
b
o
o
s
t c
o
n
v
er
ter
T
h
e
P
V
ar
r
ay
u
s
ed
in
t
h
is
w
o
r
k
h
a
s
a
p
ea
k
v
al
u
e
o
f
2
0
KW
at
s
tan
d
ar
d
at
m
o
s
p
h
er
ic
co
n
d
iti
o
n
s
.
B
ased
o
n
th
e
r
esear
ch
ca
r
r
ied
o
u
t
r
ec
en
tl
y
[
8
]
,
th
e
s
y
s
te
m
will
o
p
er
ate
in
th
e
m
a
x
i
m
u
m
p
o
w
er
p
o
in
t
w
h
er
e
th
e
d
er
iv
at
iv
e
o
f
P
V
m
o
d
u
le
p
o
w
er
w
i
th
r
esp
ec
t to
th
e
P
V
v
o
ltag
e
eq
u
als ze
r
o
.
T
h
e
b
ac
k
s
tep
p
in
g
m
et
h
o
d
u
s
ed
in
th
i
s
p
ap
er
h
as
b
ee
n
i
m
p
le
m
en
ted
b
y
u
s
i
n
g
th
e
f
o
llo
w
i
n
g
s
tate
-
s
p
ac
e
m
o
d
el
in
d
-
q
ax
i
s
o
f
t
h
e
g
lo
b
al
s
y
s
te
m
s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
T
h
is
m
o
d
el
is
g
iv
e
n
as
f
o
ll
o
w
s
:
{
d
v
p
dt
=
p
i
p
-
p
i
d
i
dt
=
v
p
-
(
-
)
v
dc
d
v
dc
dt
=
dc
(
-
)
i
-
dc
d
i
d
-
dc
q
i
q
d
i
d
dt
=w
i
q
-
r
f
i
d
-
f
d
v
dc
f
d
d
i
q
dt
=
-
w
i
d
-
r
f
i
q
-
f
q
v
dc
f
q
(
1
)
W
h
er
e:
(
)
=
a
bc
dq
e
a
e
b
e
c
,
(
i
d
i
q
i
)
=
a
bc
dq
i
i
i
,
(
)
=
a
bc
dq
c
c
c
.
T
h
e
tr
an
s
f
o
r
m
a
tio
n
m
atr
ix
u
s
i
n
g
t
h
e
p
h
a
s
e
an
g
le
θ
is
g
iv
e
n
b
y
[
9
]
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
I
n
teg
r
a
l B
a
ck
s
tep
p
in
g
C
o
n
tr
o
l
fo
r
Ma
ximu
m
P
o
w
er P
o
in
t Tr
a
ck
in
g
a
n
d
Un
ity
P
o
w
er …
.
(
Hich
a
m
B
a
h
r
i
)
1673
a
bc
dq
=
(
s
in
θ
s
in
θ
-
s
in
θ
-
co
s
θ
co
s
θ
-
co
s
θ
-
)
(
2
)
W
ith
,
g
r
id
v
o
lta
g
es
co
m
p
o
n
e
n
ts
in
th
e
d
-
q
a
x
is
,
,
in
j
ec
ted
c
u
r
r
en
ts
co
m
p
o
n
e
n
ts
i
n
t
h
e
d
-
q
ax
is
,
P
W
M
in
p
u
ts
co
m
p
o
n
e
n
ts
in
th
e
d
-
q
ax
is
o
f
th
e
i
n
v
er
ter
.
is
th
e
p
h
o
to
v
o
ltaic
o
u
tp
u
t
p
o
w
er
d
ef
i
n
ed
b
y
P
=
i
p
v
p
,
(
)
is
th
e
s
tate
v
ec
to
r
,
(
c
d
c
q
)
is
th
e
co
n
tr
o
l v
ec
to
r
.
is
d
u
t
y
c
y
cle
u
s
ed
to
s
w
i
tch
th
e
b
o
o
s
t
co
n
v
er
ter
b
y
g
en
er
a
tin
g
t
h
e
P
W
M
o
u
tp
u
t
g
b
,
an
d
c
,
c
,
c
ar
e
th
e
s
ig
n
al
s
u
s
ed
b
y
P
W
M
to
g
en
er
ate
s
w
itc
h
i
n
g
s
i
g
n
a
ls
o
f
th
e
i
n
v
er
ter
.
W
h
er
e:
g
b
=
{
b
:o
n
b
:o
f
f
,
g
i
.
.
{
i
on
i
-
o
f
f
i
o
f
f
i
-
on
An
d
:
c
i
=
.
.
[
-
.
;
.
]
.
T
h
e
o
u
tp
u
ts
y
=
dp
d
v
p
=
i
p
v
p
d
i
p
d
v
p
,
y
=
i
q
,
y
=
i
d
ar
e
s
elec
te
d
to
o
p
ti
m
ize
t
h
e
o
p
er
atio
n
o
f
t
h
e
s
tu
d
ied
s
y
s
te
m
.
I
n
d
ee
d
,
m
u
s
t
co
n
v
e
r
g
e
to
ze
r
o
in
o
r
d
er
th
at
th
e
s
y
s
te
m
o
p
er
ates
in
th
e
m
ax
i
m
u
m
p
o
w
er
p
o
in
t.
Mo
r
eo
v
er
,
th
e
in
s
ta
n
ta
n
eo
u
s
r
ea
ctiv
e
p
o
w
er
is
d
escr
ib
es in
t
h
e
d
q
-
ax
i
s
b
y
:
(
3
)
W
ith
p
o
s
itiv
e
a
n
d
co
n
s
tan
t.
T
h
er
ef
o
r
e,
th
e
p
h
ase
s
h
i
f
t
b
et
wee
n
t
h
e
g
r
id
v
o
lta
g
es
a
n
d
t
h
e
i
n
v
er
ter
cu
r
r
en
ts
ca
n
b
e
co
n
tr
o
lled
to
b
e
n
eg
lecte
d
b
y
co
n
v
er
g
in
g
to
ze
r
o
.
I
n
o
th
er
h
a
n
d
,
th
e
ac
ti
v
e
p
o
w
er
i
n
j
ec
ted
to
th
e
g
r
id
v
ar
ies ac
co
r
d
in
g
to
th
e
d
-
co
m
p
o
n
en
t o
f
th
e
i
n
v
er
t
er
cu
r
r
en
t a
s
f
o
llo
w
s
:
=
d
i
d
(
4
)
W
h
er
e
is
p
o
s
itiv
e
an
d
co
n
s
tan
t.
T
h
er
ef
o
r
e,
ca
n
b
e
m
a
x
i
m
ized
b
y
co
n
tr
o
llin
g
to
g
et
a
m
ax
i
m
u
m
v
a
lu
e.
T
h
e
n
ex
t
s
tep
p
r
esen
ts
a
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
w
it
h
in
te
g
r
al
ac
tio
n
o
f
th
e
c
u
r
r
en
t
s
y
s
te
m
.
T
h
is
n
o
n
li
n
ea
r
co
n
tr
o
ller
w
ill s
tab
il
ize
th
e
w
h
o
le
s
y
s
te
m
in
L
y
ap
u
n
o
v
s
e
n
s
e.
3.
CO
NT
RO
L
L
E
R
DE
SI
G
N
A
ND
ANAL
YSI
S
I
n
th
i
s
s
ec
tio
n
,
a
b
ac
k
s
tep
p
in
g
ap
p
r
o
ac
h
w
it
h
i
n
te
g
r
al
ac
tio
n
h
a
s
b
ee
n
ap
p
lied
to
r
ea
lize
all
th
e
o
b
j
ec
tiv
es.
T
h
is
m
et
h
o
d
h
as
b
ee
n
u
s
ed
b
y
[
1
0
]
,
[
1
1
]
to
co
n
tr
o
l
o
th
er
s
s
y
s
te
m
.
T
h
e
in
v
e
r
ter
o
u
tp
u
t
cu
r
r
en
ts
w
il
l
b
e
s
y
n
c
h
r
o
n
ized
w
i
th
th
e
p
h
ase
a
n
d
f
r
eq
u
e
n
c
y
g
r
id
v
ar
iatio
n
b
y
u
s
i
n
g
t
h
e
p
h
a
s
e
l
o
ck
lo
o
p
t
ec
h
n
iq
u
e
w
h
ic
h
g
e
n
er
ates t
h
e
p
h
ase
a
n
g
le
θ
o
f
th
e
g
r
id
[
12]
.
3
.
1
.
B
lo
ck
Dia
g
ra
m
o
f
t
he
Clo
s
ed
L
o
o
p Co
ntr
o
l
T
h
e
s
ch
e
m
e
o
f
t
h
e
s
y
s
te
m
co
n
tr
o
lled
b
y
i
n
te
g
r
al
b
ac
k
s
tep
p
in
g
m
eth
o
d
a
n
d
th
e
P
L
L
tech
n
iq
u
e,
w
h
ich
w
il
l b
e
d
escr
ib
ed
in
d
etails later
in
th
i
s
p
ap
er
,
is
p
r
e
s
en
ted
in
Fig
u
r
e
2
.
Fig
u
r
e
2
.
B
lo
ck
d
iag
r
a
m
o
f
t
h
e
clo
s
ed
lo
o
p
c
o
n
tr
o
l o
f
a
th
r
ee
p
h
ase
g
r
id
co
n
n
ec
ted
P
V
s
y
s
te
m
w
it
h
b
o
o
s
t
co
n
v
er
ter
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
4
,
A
u
g
u
s
t
2
0
1
7
:
1
6
7
1
–
1
6
8
0
1674
3
.
2
.
P
a
ra
m
et
er
s
Va
lues
o
f
t
he
I
n
du
ct
iv
e
F
ilte
r
T
h
e
in
d
u
cti
v
e
f
ilter
is
a
s
i
m
p
l
e
lo
w
f
ilter
t
h
at
is
u
s
ed
to
f
ilt
er
o
u
t
th
e
h
ar
m
o
n
ic
d
is
to
r
tio
n
.
Kn
o
w
in
g
th
at
th
e
h
ig
h
t
h
ar
m
o
n
ic
d
is
t
o
r
tio
n
f
r
eq
u
en
c
y
is
h
i
g
h
er
th
an
P
W
M
f
r
eq
u
en
c
y
,
to
eli
m
i
n
ate
th
e
h
ar
m
o
n
ic
d
is
to
r
tio
n
o
f
t
h
e
i
n
v
er
ter
cu
r
r
e
n
ts
w
e
m
u
s
t
c
h
o
o
s
e
a
c
u
t
-
o
f
f
f
r
eq
u
en
c
y
o
f
t
h
e
lo
w
p
a
s
s
e
f
ilt
er
s
tr
ictl
y
les
s
t
h
an
P
W
M
f
r
eq
u
en
c
y
.
Mo
r
eo
v
er
,
th
e
r
elatio
n
s
h
ip
b
et
w
ee
n
th
e
p
h
ase
1
o
f
th
e
i
n
v
er
ter
'
s
li
n
e
v
o
ltag
e
an
d
in
v
er
ter
’
s
c
u
r
r
en
t
is
g
i
v
en
b
y
:
(
5
)
Hen
ce
,
th
e
tr
a
n
s
f
er
f
u
n
ctio
n
o
f
th
e
in
d
u
cti
v
e
f
i
lter
is
as
f
o
llo
w
s
:
f
=
r
⁄
jw
r
f
⁄
(
6
)
An
d
th
e
c
u
t
-
o
f
f
f
r
eq
u
e
n
c
y
ar
e
g
iv
e
n
b
y
:
f
c
=
r
f
(
7
)
So
,
to
f
ilter
o
u
t th
e
h
ar
m
o
n
ic
d
is
to
r
tio
n
,
m
u
s
t r
ea
lize
t
h
e
f
o
l
lo
w
i
n
g
in
eq
u
a
lit
y
:
50
Hz <
f
c
<
f
(
8
)
T
h
er
ef
o
r
e,
th
e
v
alu
e
s
o
f
an
d
m
u
s
t r
ea
lize
t
h
e
af
o
r
e
m
e
n
tio
n
ed
in
eq
u
alit
y
.
3
.
3
.
T
he
M
a
x
i
m
u
m
P
o
w
er
P
o
int
T
ra
c
k
ing
Co
ntr
o
l
T
h
e
b
o
o
s
t c
o
n
v
er
ter
in
p
u
t si
g
n
al
is
u
s
ed
to
s
tab
ilize
t
h
e
co
n
t
r
o
lled
o
u
tp
u
t
y
:
to
its
r
ef
er
en
ce
:
y
r
e
f
=
p
m
pp
v
p
mpp
=
(
9
)
T
h
e
B
ac
k
s
tep
p
in
g
co
n
tr
o
l o
f
t
h
e
MP
PT
is
d
ev
elo
p
ed
b
elo
w
:
I
n
th
e
f
ir
s
t s
tep
,
let's d
ef
i
n
e
th
e
f
o
llo
w
in
g
tr
ac
k
i
n
g
er
r
o
r
:
p
=
y
-
y
r
e
f
i
p
v
p
i
p
v
p
(
1
0
)
T
h
e
d
er
iv
ativ
e
o
f
is
ca
lcu
late
d
as f
o
llo
w
s
:
̇
p
=
p
(
i
p
v
p
v
p
i
p
v
p
)
i
p
-
i
(
1
1
)
T
h
e
f
ir
s
t L
y
ap
u
n
o
v
f
u
n
ct
io
n
,
i
n
clu
d
i
n
g
th
e
i
n
te
g
r
al
ac
tio
n
i
s
d
ef
in
ed
i
n
(
1
2
)
p
=
∫
y
z
-
y
r
e
f
t
z
dz
=
∫
t
dz
(
1
2
)
T
o
en
h
an
ce
t
h
e
r
o
b
u
s
t
n
es
s
o
f
t
h
e
co
n
tr
o
ller
in
t
h
e
f
o
llo
w
i
n
g
f
o
r
m
:
p
(
p
,
p
)
=
p
p
(
1
3
)
T
h
en
,
th
e
ex
p
r
ess
io
n
o
f
it
s
d
er
iv
ati
v
e
ca
n
b
e
w
r
itte
n
as
f
o
llo
w
s
:
̇
p
(
p
,
p
)
=
p
[
p
p
(
i
p
v
p
v
p
i
p
v
p
)
i
p
-
i
]
(
1
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
I
n
teg
r
a
l B
a
ck
s
tep
p
in
g
C
o
n
tr
o
l
fo
r
Ma
ximu
m
P
o
w
er P
o
in
t Tr
a
ck
in
g
a
n
d
Un
ity
P
o
w
er …
.
(
Hich
a
m
B
a
h
r
i
)
1675
T
o
s
tab
ilize
th
e
tr
ac
k
i
n
g
er
r
o
r
an
d
th
e
in
te
g
r
al
ac
tio
n
to
z
er
o
a
v
ir
tu
al
co
n
tr
o
l
s
h
o
u
ld
b
e
in
tr
o
d
u
ce
d
.
W
h
er
e
is
t
h
e
d
esi
r
ed
v
alu
e
o
f
t
h
e
b
o
o
s
t
i
n
d
u
cto
r
’
s
c
u
r
r
en
t,
it
’
s
d
ef
i
n
ed
b
y
=
i
d
.
So
to
f
o
r
ce
th
e
d
er
iv
ati
v
e
o
f
t
h
e
ca
n
d
id
ate
l
y
ap
u
n
o
v
f
u
n
ctio
n
to
b
e
n
eg
ati
v
e,
th
e
v
ir
tu
al
co
n
tr
o
l
law
m
u
s
t
r
ea
lize
th
e
r
elatio
n
b
elo
w
:
(
)
(
)
(
1
5
)
W
ith
:
,
th
at
i
s
an
ad
j
u
s
t
m
en
t p
ar
a
m
eter
tak
e
n
as
.
Hen
ce
:
=
i
p
p
i
p
v
p
v
p
i
p
v
p
c
p
p
p
(
1
6
)
T
h
is
ch
o
ice
o
f
th
e
v
ir
t
u
al
co
n
t
r
o
ller
m
a
k
es t
h
e
d
er
iv
ati
v
e
o
f
th
e
L
y
ap
u
n
o
v
f
u
n
c
tio
n
n
eg
at
i
v
e
:
̇
p
=
-
c
p
p
<
(
1
7
)
T
h
e
s
ec
o
n
d
s
tep
:
i
n
t
h
e
r
ea
li
t
y
,
t
h
e
v
ir
t
u
al
co
n
tr
o
ller
co
n
s
i
d
er
ed
in
t
h
e
f
ir
s
t
s
tep
is
n
o
t
e
q
u
al
to
t
h
e
in
d
u
cto
r
’
s
c
u
r
r
en
t.
I
n
d
e
ed
,
th
e
r
e
is
an
er
r
o
r
b
et
w
ee
n
t
h
e
m
.
So
,
a
tr
ac
k
i
n
g
er
r
o
r
is
co
n
s
id
er
ed
.
T
o
co
r
r
ec
t
th
is
er
r
o
r
,
it is
d
ef
in
ed
b
y
:
p
=
i
-
(
1
8
)
So
,
th
e
in
d
u
cto
r
’
s
c
u
r
r
en
t
f
o
r
m
ca
n
b
e
w
r
itte
n
as
f
o
llo
w
s
:
i
=
p
(
1
9
)
I
n
clu
d
i
n
g
t
h
e
las
t f
o
r
m
o
f
th
e
in
to
th
e
eq
u
at
io
n
,
̇
b
ec
o
m
es:
̇
p
=
p
(
i
p
v
p
v
p
i
p
v
p
)
i
p
-
p
-
(
2
0
)
Fro
m
th
e
eq
u
a
tio
n
s
(
1
5
)
an
d
(
2
0
)
,
w
e
o
b
tain
t
h
e
f
o
llo
w
i
n
g
ex
p
r
ess
io
n
:
p
̇
p
=
-
c
p
p
-
p
(
i
p
v
p
v
p
i
p
v
p
)
p
(
2
1
)
T
h
e
ly
ap
u
n
o
v
f
u
n
c
tio
n
lo
s
t th
e
n
eg
ati
v
it
y
o
f
i
ts
d
y
n
a
m
ics as
f
o
llo
w
s
:
̇
p
=
-
c
p
p
-
p
(
i
p
v
p
v
p
i
p
v
p
)
p
p
(
2
2
)
T
h
er
ef
o
r
e,
th
e
d
er
iv
ativ
e
o
f
is
n
o
t n
ec
es
s
ar
il
y
n
e
g
ati
v
e.
T
o
s
o
lv
e
th
i
s
p
r
o
b
lem
a
s
ec
o
n
d
ly
ap
u
n
o
v
ca
n
d
id
ate
f
u
n
ctio
n
is
co
n
s
id
er
ed
:
p
(
p
,
p
,
p
)
=
p
p
(
2
3
)
An
d
its
d
er
iv
ati
v
e
ca
n
b
e
d
ef
i
n
ed
b
y
:
̇
p
(
p
,
p
,
p
)
=
̇
p
p
̇
p
(
2
4
)
T
h
e
f
in
al
e
x
p
r
ess
io
n
o
f
̇
p
,
p
r
esen
ted
in
(
2
5
)
,
ca
n
b
e
o
b
tain
ed
b
y
s
u
b
s
tit
u
tin
g
(
2
2
)
in
to
(
2
4
)
:
V
̇
p
(
p
p
p
)
-
c
p
p
p
[
̇
p
-
C
p
(
i
p
v
p
v
p
i
p
v
p
)
p
]
(
2
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
4
,
A
u
g
u
s
t
2
0
1
7
:
1
6
7
1
–
1
6
8
0
1676
W
h
er
e
th
e
ti
m
e
d
er
iv
ati
v
e
o
f
t
h
e
tr
ac
k
i
n
g
er
r
o
r
is
:
̇
p
=
d
i
dt
-
̇
=
v
p
-
(
-
)
v
dc
-
̇
(
2
6
)
An
d
th
e
d
er
iv
at
iv
e
o
f
t
h
e
v
ir
tu
al
co
n
tr
o
ller
is
g
i
v
en
b
y
:
̇
=
i
p
v
p
v
p
t
p
(
c
̇
p
p
)
(
i
p
v
p
v
p
i
p
v
p
)
-
p
(
c
p
p
)
(
i
p
v
p
v
p
i
p
v
p
)
(
i
p
v
p
v
p
i
p
v
p
)
v
p
t
(
27)
B
y
s
u
b
s
t
itu
tin
g
t
h
e
ex
p
r
es
s
io
n
o
f
̇
p
f
r
o
m
(
2
6
)
in
to
w
e
o
b
tain
:
̇
p
(
p
,
p
,
p
)
=
-
c
p
p
p
[
v
p
-
(
-
)
v
dc
-
̇
-
p
(
i
p
v
p
v
p
i
p
v
p
)
p
]
(
2
8
)
T
h
e
r
ea
l
co
n
tr
o
l
in
p
u
t
w
h
ich
g
u
ar
a
n
tees
t
h
at
t
h
e
d
er
iv
ati
v
e
o
f
th
e
a
u
g
m
e
n
ted
l
y
ap
u
n
o
v
f
u
n
ctio
n
̇
b
e
n
eg
ati
v
e
is
g
iv
e
n
b
y
:
=
v
dc
[
-
c
p
p
p
(
i
p
v
p
v
p
i
p
v
p
)
p
-
(
v
p
-
v
dc
)
̇
]
(
29)
W
ith
is
a
p
o
s
itiv
e
co
n
s
ta
n
t
ta
k
en
as
.
Hen
ce
,
th
e
d
er
iv
ativ
e
o
f
is
n
eg
ati
v
e
an
d
ca
n
b
e
w
r
itte
n
as
f
o
llo
w
s
:
̇
p
=
-
c
p
p
-
c
p
p
<
(
3
0
)
W
h
ich
f
o
r
ce
s
t
h
e
s
tate
v
e
cto
r
er
r
o
r
(
p
,
p
)
to
c
o
n
v
er
g
e
a
s
y
m
p
to
ticall
y
to
th
e
o
r
ig
i
n
.
C
o
n
s
eq
u
en
tl
y
,
p
v
p
w
i
ll
co
n
v
er
g
e
to
ze
r
o
an
d
th
e
m
a
x
i
m
u
m
p
o
w
er
p
o
in
t
tr
ac
k
i
n
g
w
ill
b
e
ac
h
iev
ed
.
Mo
r
eo
v
er
,
th
e
estab
lis
h
ed
co
n
tr
o
l
la
w
f
o
r
ce
s
th
e
in
te
g
r
al
er
r
o
r
to
co
n
v
er
g
e
to
th
e
o
r
ig
in
,
w
h
ic
h
en
s
u
r
es
d
is
tu
r
b
an
ce
r
ej
ec
tio
n
.
Hen
ce
,
th
e
s
u
b
s
y
s
t
e
m
f
o
r
m
ed
b
y
th
e
P
h
o
to
v
o
lt
aic
g
en
er
ato
r
,
th
e
i
n
p
u
t
ca
p
ac
ito
r
an
d
th
e
b
o
o
s
t
co
n
v
er
ter
is
g
lo
b
all
y
as
y
m
p
to
ticall
y
s
tab
le.
3
.
4
.
T
he
Unity
P
o
w
er
F
a
ct
o
r
C
o
ntr
o
l
As
s
ee
in
g
b
ef
o
r
e,
th
e
co
n
tr
o
l
o
f
th
e
r
ea
ctiv
e
p
o
w
er
ca
n
b
e
r
ea
lized
b
y
r
eg
u
lati
n
g
at
its
d
esire
d
v
alu
e
.
I
n
o
th
er
h
an
d
,
ap
p
ly
in
g
t
h
e
co
n
tr
o
l
o
f
th
e
MP
PT
,
th
e
p
o
w
er
tr
an
s
f
er
r
ed
b
y
th
e
b
o
o
s
t
co
n
v
er
ter
to
t
h
e
in
v
er
ter
is
m
ax
i
m
al,
it
’
s
n
a
m
ed
.
Mo
r
eo
v
e
r
,
s
u
p
p
o
s
in
g
t
h
at
t
h
er
e
is
n
o
d
is
s
ip
atio
n
o
f
en
er
g
y
at
th
e
lev
e
l
o
f
th
e
i
n
v
e
r
ter
(
th
e
i
n
v
er
ter
i
s
p
er
f
ec
t)
,
th
e
m
a
x
i
m
u
m
ac
ti
v
e
p
o
w
er
w
h
i
ch
ca
n
b
e
d
eli
v
er
ed
to
th
e
g
r
id
is
.
Fu
r
t
h
er
m
o
r
e,
t
h
e
ac
t
iv
e
p
o
w
er
m
u
s
t tr
ac
k
.
So
,
it c
an
b
e
r
ea
lized
b
y
co
n
tr
o
llin
g
th
e
d
-
co
m
p
o
n
e
n
t
o
f
t
h
e
i
n
j
ec
ted
cu
r
r
en
ts
to
co
n
v
er
g
e
to
it
s
r
ef
er
en
ce
,
w
h
ich
ca
n
b
e
d
ef
i
n
ed
b
y
u
s
i
n
g
(
4
)
as f
o
llo
w
s
:
i
dr
e
f
P
max
d
(
3
1
)
T
h
e
b
ac
k
s
tep
p
in
g
p
r
o
ce
d
u
r
e
t
o
co
n
tr
o
l
t
h
e
r
ea
cti
v
e
p
o
w
er
a
n
d
t
h
e
m
a
x
i
m
u
m
ac
ti
v
e
p
o
w
e
r
tr
ac
k
i
n
g
ca
n
b
e
f
o
r
m
u
lated
as
f
o
llo
w
s
:
First,
to
co
n
tr
o
l th
e
R
ea
ct
iv
e
o
w
er
,
let’
s
cr
ea
te
th
e
f
o
llo
w
in
g
er
r
o
r
:
iq
=
i
q
-
i
qr
e
f
(
3
2
)
An
d
in
tr
o
d
u
ce
t
h
e
in
teg
r
al
ac
ti
o
n
b
elo
w
:
i
q
∫
i
q
(
z
-
i
qr
e
f
(
z
t
d
z
(
3
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
I
n
teg
r
a
l B
a
ck
s
tep
p
in
g
C
o
n
tr
o
l
fo
r
Ma
ximu
m
P
o
w
er P
o
in
t Tr
a
ck
in
g
a
n
d
Un
ity
P
o
w
er …
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a
m
B
a
h
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i
)
1677
T
h
en
d
ef
in
e
t
h
e
l
y
ap
u
n
o
v
f
u
n
c
tio
n
co
r
r
esp
o
n
d
in
g
to
an
d
as f
o
llo
w
s
:
iq
(
iq
,
iq
)
=
iq
iq
(
3
4
)
W
h
er
e,
its
ti
m
e
d
er
i
v
ativ
e
i
s
g
iv
en
b
y
:
̇
iq
(
iq
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iq
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=
iq
*
iq
-
w
i
d
-
r
f
i
q
-
f
q
v
dc
f
q
+
(
3
5
)
T
h
e
co
n
tr
o
l la
w
ca
n
b
e
ch
o
s
e
n
as:
q
=
f
v
dc
(
-
c
iq
iq
-
iq
w
i
d
r
f
i
q
f
q
)
(
3
6
)
W
ith
is
a
s
ettin
g
p
ar
a
m
eter
ta
k
en
as
.
So
,
th
e
d
er
iv
ati
v
e
o
f
th
e
l
y
ap
u
n
o
v
f
u
n
ctio
n
w
i
ll b
e
n
e
g
ati
v
e
as f
o
llo
w
s
:
̇
iq
(
iq
,
iq
)
=
-
c
iq
iq
(
3
7
)
W
h
ich
s
tab
ilize
th
e
co
m
p
o
n
en
t q
o
f
th
e
in
v
er
ter
cu
r
r
en
t
s
to
ze
r
o
,
th
en
th
e
UP
F is
ac
h
ie
v
ed
.
T
h
e
n
ex
t
ai
m
is
to
i
n
j
ec
t
a
m
ax
i
m
u
m
ac
ti
v
e
p
o
w
er
p
r
o
d
u
ce
d
b
y
t
h
e
P
h
o
to
v
o
ltaic
g
e
n
er
ato
r
to
th
e
g
r
id
.
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o
th
is
en
d
,
a
n
e
w
tr
ac
k
i
n
g
er
r
o
r
is
in
tr
o
d
u
ce
d
as
f
o
llo
w
s
:
id
=
i
d
-
i
dr
e
f
(
3
8
)
An
d
its
i
n
te
g
r
al
ac
tio
n
is
d
e
f
in
ed
as:
id
=
∫
i
d
z
-
i
dr
e
f
z
t
d
z
(
3
9
)
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h
e
ex
p
r
ess
io
n
o
f
t
h
e
s
tab
iliza
tio
n
f
u
n
ctio
n
w
i
th
t
h
e
co
n
s
id
er
ed
in
teg
r
al
ac
tio
n
i
s
as
f
o
llo
w
s
:
id
id
,
id
=
id
id
(
4
0
)
T
o
f
in
d
th
e
co
n
tr
o
l
la
w
,
let’
s
o
b
s
er
v
e
th
e
d
er
iv
ativ
e
o
f
t
h
e
ly
ap
u
n
o
v
f
u
n
ctio
n
th
at
is
g
iv
e
n
b
y
:
̇
id
id
,
id
=
id
*
id
w
i
q
-
r
f
i
d
-
f
d
v
dc
f
d
-
d
i
dr
e
f
dt
+
(
4
1
)
Fu
r
t
h
er
m
o
r
e,
to
g
u
ar
an
tee
t
h
e
n
e
g
ati
v
it
y
o
f
th
e
l
y
ap
u
n
o
v
ca
n
d
id
ate
f
u
n
ctio
n
t
h
e
co
n
tr
o
l
la
w
s
h
o
u
ld
b
e
s
elec
ted
as:
d
=
f
v
dc
(
-
c
id
id
-
id
-
w
i
q
r
f
i
d
f
d
d
i
dr
e
f
dt
)
(
4
2
)
W
ith
is
a
s
ettin
g
p
ar
a
m
eter
ta
k
en
as
.
Mo
r
eo
v
er
,
th
is
ch
o
ice
m
ak
e
s
t
h
e
d
er
iv
ati
v
e
o
f
t
h
e
l
y
a
p
u
n
o
v
f
u
n
ctio
n
at
th
e
f
o
r
m
:
̇
id
id
,
id
=
-
c
id
id
(
4
3
)
T
h
er
ef
o
r
e,
̇
is
n
e
g
ati
v
e
an
d
t
h
e
last
co
n
tr
o
l a
i
m
i
s
r
ea
lized
.
B
y
A
p
p
l
y
i
n
g
t
h
is
co
n
tr
o
l
s
tr
ateg
y
,
th
e
i
n
v
er
ter
d
eli
v
er
s
a
m
ax
i
m
u
m
ac
t
iv
e
p
o
w
er
w
i
th
a
r
ea
ctiv
e
p
o
w
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co
n
v
er
g
e
s
to
ze
r
o
ev
en
in
t
h
e
p
r
esen
ce
o
f
s
y
s
te
m
p
er
tu
r
b
atio
n
.
Fin
all
y
,
t
h
e
p
r
o
p
o
s
ed
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
ac
h
ie
v
es
all
th
e
d
ef
i
n
ed
g
o
als
an
d
t
h
e
w
h
o
le
s
y
s
te
m
i
s
g
lo
b
all
y
as
y
m
p
to
ticall
y
s
tab
le.
Mo
r
eo
v
er
,
to
o
b
s
er
v
e
all
th
e
p
er
f
o
r
m
a
n
ce
s
o
f
t
h
is
m
eth
o
d
ap
p
lied
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n
t
h
e
th
r
ee
p
h
a
s
e
g
r
id
co
n
n
ec
ted
p
h
o
to
v
o
ltaic
s
y
s
te
m
,
a
s
i
m
u
lat
io
n
w
it
h
M
A
T
L
A
B
/SI
MU
L
I
NK
p
lat
f
o
r
m
w
il
l b
e
p
r
e
s
en
ted
i
n
th
e
n
ex
t sectio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
4
,
A
u
g
u
s
t
2
0
1
7
:
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6
7
1
–
1
6
8
0
1678
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
AND
ANA
L
YS
I
S
I
n
th
i
s
s
ec
tio
n
,
s
i
m
u
la
tio
n
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e
s
u
lt
s
ar
e
p
r
esen
ted
f
o
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th
e
s
t
u
d
ied
s
y
s
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m
.
T
h
is
s
y
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te
m
is
s
i
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lated
u
n
d
er
Ma
tlab
/Si
m
u
li
n
k
e
n
v
ir
o
n
m
e
n
t a
n
d
it is
co
n
tr
o
lled
b
y
t
h
e
p
r
o
p
o
s
ed
in
teg
r
al
b
ac
k
s
tep
p
in
g
co
n
tr
o
l.
I
n
th
i
s
s
i
m
u
latio
n
,
t
h
e
co
n
s
id
er
ed
s
ce
n
ar
io
co
m
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i
n
es
v
ar
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u
s
en
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ir
o
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m
e
n
tal
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n
d
it
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o
n
s
,
g
r
id
p
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r
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d
p
ar
a
m
eter
s
d
is
tu
r
b
an
ce
as
s
h
o
w
n
i
n
F
ig
u
r
e
3
.
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,
th
e
d
c
lin
k
ca
p
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s
u
f
f
er
ed
a
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f
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f
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al
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e
at
.
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t
th
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g
r
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as
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n
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o
d
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ce
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b
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e
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f
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h
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ar
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h
e
MP
P
tr
ac
k
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g
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n
d
e
r
en
v
ir
o
n
m
e
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tal
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n
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s
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g
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m
’
s
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s
a
s
d
em
o
n
s
tr
ated
b
y
t
h
e
s
a
m
e
F
ig
u
r
e
4
.
T
h
u
s
,
it
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s
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r
t
h
at
t
h
e
m
ax
i
m
u
m
p
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s
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w
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h
a
v
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f
a
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t
r
esp
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d
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o
o
d
p
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io
n
.
T
h
e
Fig
u
r
e
5
s
h
o
w
s
th
e
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n
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ted
cu
r
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en
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e
1
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i
n
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ter
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n
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r
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ter
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t
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s
t
h
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ter
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e
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e
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n
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e.
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o
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e
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V
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y
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n
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r
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n
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t
h
e
g
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.
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o
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er
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f
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g
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d
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o
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ate
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t th
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n
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w
it
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e
g
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i
d
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o
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ce
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t 0
.
0
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s
.
Fig
u
r
e
3
.
R
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te
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r
e
ch
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Fig
u
r
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4
.
MP
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T
clim
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tical
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g
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ar
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eter
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Fig
u
r
e
5
.
Z
o
o
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ed
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j
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ted
cu
r
r
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t
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d
g
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o
lta
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o
f
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e
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h
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s
e
1
(
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F a
ch
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en
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Fig
u
r
e
6
.
Z
o
o
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ed
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o
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o
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h
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e
2
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e
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t d
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i
n
g
a
p
ar
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eter
s
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Fig
u
r
e
7
.
Z
o
o
m
ed
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r
r
en
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an
d
g
r
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o
lta
g
e
o
f
th
e
p
h
ase
3
(
UP
F a
ch
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e
m
e
n
t d
u
r
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n
g
a
h
ar
m
o
n
ic
p
o
llu
tio
n
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
I
n
teg
r
a
l B
a
ck
s
tep
p
in
g
C
o
n
tr
o
l
fo
r
Ma
ximu
m
P
o
w
er P
o
in
t Tr
a
ck
in
g
a
n
d
Un
ity
P
o
w
er …
.
(
Hich
a
m
B
a
h
r
i
)
1679
T
h
e
Fig
u
r
e
6
a
n
d
Fi
g
u
r
e
7
d
e
m
o
n
s
tr
ate
t
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e
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id
p
er
tu
r
b
atio
n
.
I
t
ca
n
b
e
s
ee
n
t
h
at
th
e
MP
P
T
an
d
t
h
e
UP
F
ar
e
r
ea
ch
ed
u
n
d
er
at
m
o
s
p
h
er
ic
co
n
d
itio
n
s
c
h
an
g
es
a
n
d
s
y
s
te
m
’
s
p
er
tu
r
b
atio
n
w
i
th
a
v
er
y
g
o
o
d
p
er
f
o
r
m
a
n
ce
.
T
h
at
p
r
o
v
es
th
e
e
f
f
icie
n
c
y
a
n
d
t
h
e
r
o
b
u
s
tn
e
s
s
o
f
th
e
in
te
g
r
al
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
p
r
o
p
o
s
ed
in
th
is
p
ap
er
.
5.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
d
escr
ib
es
an
in
teg
r
al
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
o
f
a
th
r
ee
p
h
ase
g
r
id
co
n
n
ec
ted
p
h
o
to
v
o
ltaic
s
y
s
te
m
w
it
h
a
b
o
o
s
t
co
n
v
er
ter
,
w
h
er
e
t
h
e
b
eh
a
v
io
r
o
f
th
e
w
h
o
le
s
y
s
te
m
is
r
ep
r
esen
ted
b
y
a
m
at
h
e
m
a
tical
m
o
d
el
an
d
th
e
co
n
tr
o
ller
i
s
d
e
v
elo
p
ed
b
y
u
s
i
n
g
a
n
i
n
s
tan
ta
n
eo
u
s
m
o
d
el
i
n
t
h
e
d
-
q
r
ef
er
e
n
ce
f
r
a
m
e.
T
h
e
ai
m
s
o
f
t
h
is
s
tr
ate
g
y
ar
e
tr
ac
k
in
g
t
h
e
m
a
x
i
m
u
m
p
o
w
er
g
e
n
er
ated
b
y
t
h
e
P
V
Ge
n
er
ato
r
an
d
i
n
j
ec
tin
g
t
h
is
p
o
w
er
to
th
e
g
r
id
w
it
h
a
m
ax
i
m
u
m
ac
ti
v
e
p
o
w
er
,
a
n
u
ll
r
ea
cti
v
e
p
o
w
er
an
d
a
lo
w
h
ar
m
o
n
ic
d
i
s
to
r
tio
n
o
f
t
h
e
in
j
ec
ted
cu
r
r
en
ts
.
So
,
th
e
s
i
m
u
latio
n
r
esu
lt
s
p
r
o
v
e
th
at
th
e
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
h
as
r
ea
ch
ed
all
o
f
th
e
s
e
g
o
als
u
n
d
er
at
m
o
s
p
h
er
ic
co
n
d
it
io
n
s
c
h
a
n
g
es
w
ith
a
v
er
y
g
o
o
d
p
r
ec
is
io
n
an
d
a
v
er
y
f
ast r
esp
o
n
s
e.
Fu
r
t
h
er
m
o
r
e,
th
e
in
tr
o
d
u
ce
d
in
teg
r
al
ac
tio
n
g
a
v
e
th
e
co
n
tr
o
l
ler
m
o
r
e
r
o
b
u
s
tn
e
s
s
i
n
f
r
o
n
t
t
h
e
s
y
s
te
m
’
s
p
er
tu
r
b
atio
n
.
Mo
r
eo
v
er
,
th
e
s
y
s
te
m
i
s
g
lo
b
all
y
as
y
m
p
to
tical
l
y
s
tab
le.
T
h
e
n
ex
t
w
o
r
k
w
ill
b
e
co
n
s
ec
r
ated
to
elab
o
r
ate
a
c
o
n
tr
o
l
s
tr
ateg
y
o
f
t
h
i
s
s
y
s
te
m
w
it
h
a
n
o
n
-
li
n
ea
r
lo
ad
.
RE
F
E
R
E
NC
E
S
[1
]
Be
n
k
h
e
li
l,
A
.
G
h
e
rb
i,
“
M
o
d
e
li
n
g
a
n
d
S
im
u
latio
n
o
f
G
rid
-
c
o
n
n
e
c
t
e
d
P
h
o
t
o
v
o
lt
a
ic
G
e
n
e
ra
ti
o
n
S
y
st
e
m
”
,
Rev
u
e
d
e
s
En
e
rg
ies
Ren
o
u
v
e
la
b
les
S
IENR
,
p
p
.
2
9
5
-
3
0
6
,
G
h
a
rd
a
ïa
,
2
0
1
2
.
[2
]
S
.
L
a
lo
u
n
i,
D.
Re
k
io
u
a
,
T
.
Re
k
io
u
a
,
E
M
a
tag
n
e
,
“
F
u
z
z
y
o
g
ic
o
n
tr
o
l
o
f
S
tan
d
-
a
lo
n
e
h
o
to
v
o
lt
a
ic”
,
J
o
u
rn
a
l
o
f
Po
we
r S
o
u
rc
e
s
, v
ol
.
1
9
3
,
p
p
.
8
9
9
-
9
0
7
,
S
e
p
tem
b
e
r
2
0
0
9
.
[3
]
Hu
i
Zh
a
n
g
,
Ho
n
g
w
e
i
Zh
o
u
,
Jin
g
Re
n
,
W
e
i
z
e
n
g
L
iu
,
S
h
a
o
h
u
a
Ru
a
n
,
Yo
n
g
ju
n
G
a
o
,
”
T
h
re
e
-
Ph
a
se
Gr
id
-
Co
n
n
e
c
te
d
Ph
o
t
o
v
o
lt
a
ic
S
y
ste
m
wit
h
S
VP
W
M
Cu
rr
e
n
t
Co
n
tro
ll
e
r
”
,
P
r
o
c
e
e
d
in
g
s
Of
IEE
E
6
th
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
M
o
t
io
n
Co
n
tro
l
(I
P
EM
C)
,
p
p
.
2
1
6
1
-
2
1
6
4
,
M
a
y
,
2
0
0
9
.
[4
]
A
h
m
e
d
S
.
Kh
a
li
f
a
,
Eh
a
b
F
.
El
-
S
a
a
d
a
n
y
,
“
Co
n
tro
l
o
f
T
h
re
e
P
h
a
se
Gr
id
Co
n
n
e
c
ted
Ph
o
t
o
v
o
lt
a
ic
P
o
we
r
S
y
ste
ms
”
,
P
r
o
c
e
e
d
in
g
s o
f
IEE
E
1
4
t
h
I
n
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
Ha
rm
o
n
ics
a
n
d
Qu
a
li
ty
o
f
P
o
w
e
r
(ICHQ
P
)
,
p
p
.
1
-
7
,
2
0
1
0
.
[5
]
.
A
.
a
h
m
u
d
,
“
D
y
n
a
m
ic
S
tab
il
it
y
o
f
T
h
re
e
-
P
h
a
se
G
rid
-
Co
n
n
e
c
ted
P
h
o
t
o
v
o
lt
a
ic
S
y
ste
m
u
sin
g
Zero
Dy
n
a
m
i
c
e
sig
n
A
p
p
ro
a
c
h
”
,
IEE
E
J
o
u
rn
a
l
o
f
P
h
o
t
o
v
o
lt
a
ic
,
v
o
l.
2
,
N
o.
4,
p
p
.
5
6
4
-
5
7
1
,
Ju
ly
2
0
1
2
.
[6
]
G
a
n
e
sh
Dh
a
r
m
ir
e
d
d
y
,
M
o
o
rth
i
S
,
S
u
d
h
e
e
r
Ha
n
u
m
a
n
th
a
k
a
ri,
“
A
V
o
l
tag
e
Co
n
tro
ll
e
r
in
P
h
o
t
o
-
V
o
l
t
a
ic
S
y
ste
m
w
it
h
Ba
tt
e
r
y
S
to
ra
g
e
f
o
r
S
tan
d
-
A
lo
n
e
A
p
p
li
c
a
ti
o
ns
”
,
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
v
o
l.
2
,
n
o
.
1
,
p
p
.
9
-
1
8
,
2
0
1
2
.
[7
]
Do
n
g
-
Hu
i
L
i,
Yi
-
L
in
W
a
n
g
,
Da
-
ju
n
Z
h
o
u
,
“
Re
se
a
rc
h
o
n
a
Ne
w
Co
n
tr
o
l
S
c
h
e
m
e
o
f
P
h
o
to
v
o
l
taic
G
rid
P
o
w
e
r
”
,
J
o
u
rn
a
l
o
f
A
p
p
li
e
d
M
a
th
e
ma
ti
c
s
,
ID
5
1
2
0
5
8
,
2
0
1
4
.
[8
]
’h
a
m
m
e
d
u
isse
r,
l
h
a
ss
a
n
e
A
b
d
e
l
m
o
u
n
im
,
o
h
a
m
m
e
d
A
b
o
u
lf
a
tah
,
A
b
d
e
ss
e
la
m
-
Jo
u
n
i,
“
No
n
li
n
e
a
r
Ob
se
rv
e
r
-
Ba
s
e
d
Co
n
tr
o
l
f
o
r
G
rid
Co
n
n
e
c
ted
P
h
o
to
v
o
lt
a
ic S
y
ste
m
”
,
IOS
R
-
J
EE
E
,
Vo
l.
9
,
N
o
5
,
p
p
.
4
0
-
5
2
,
2
0
1
4
.
[9
]
T
ian
M
in
g
x
in
g
,
Y
a
n
Ho
n
g
,
Yu
a
n
o
n
g
sh
e
n
g
,
“
Re
se
a
r
c
h
o
n
Co
o
rd
i
n
a
te T
ra
n
s
f
o
r
m
a
t
io
n
o
f
th
e
T
h
re
e
p
h
a
se
c
ircu
it
”
,
T
EL
KOM
NIK
A
,
v
o
l.
1
1
,
n
o
.
8
,
p
p
.
4
2
2
2
-
4
2
2
8
,
A
u
g
u
st 2
0
1
3
.
[1
0
]
Ch
a
o
-
Ch
u
n
g
P
e
n
g
,
Yu
n
z
e
L
i,
Ch
ieh
-
i
h
e
n
,
“
A
Ro
b
u
st I
n
teg
ra
l
Ty
p
e
Ba
c
k
ste
p
p
in
g
Co
n
tro
ll
e
r
De
sig
n
f
o
r
Co
n
tro
l
o
f
Un
c
e
rtain
No
n
L
in
e
a
r
S
y
st
e
m
s
su
b
jec
t
to
Dist
u
rb
a
n
c
e
”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
In
n
o
v
a
t
i
v
e
Co
mp
u
ti
n
g
,
In
fo
rm
a
t
io
n
a
n
d
Co
n
tro
l
,
v
o
l
7
,
n
o
.
5
(A
),
M
a
y
2
0
1
1
.
[1
1
]
A
b
d
u
l
Ja
b
b
a
r,
F
a
h
a
d
u
m
taz
a
li
k
,
“
S
a
m
p
led
-
Da
ta
Ba
c
k
st
e
p
p
in
g
Co
n
tro
l
o
f
a
Qu
a
d
ro
t
o
r
U
n
m
a
n
n
e
d
A
e
rial
V
e
h
icle
”
,
I
n
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
Ro
b
o
ti
c
s
a
n
d
A
u
to
m
a
ti
o
n
, v
o
l.
4
,
n
o
.
2
,
2
0
1
5
.
[1
2
]
Ev
g
e
n
ij
e
A
d
z
ic
,
V
lad
o
P
o
r
o
b
ic,
Bo
ris
Du
m
n
ic,
Nik
o
la
Ce
lan
o
v
ic
,
V
lad
im
ir
Ka
ti
c
,
“
P
L
L
S
YN
CH
RON
IZAT
ION
IN
G
RI
D
CON
NEC
T
ED
”
,
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
En
g
i
n
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
,
n
o
.
T
.
1
2
-
1
.
1
,
p
p
.
1
-
5
,
No
v
i
S
a
d
,
S
e
r
b
ia,
M
a
y
1
5
-
1
7
,
2
0
1
3
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
H
icha
m
B
a
h
r
i
wa
s
b
o
rn
in
M
o
ro
c
c
o
o
n
Ju
ly
3
,
1
9
8
5
.
He
re
c
e
i
v
e
d
th
e
M
a
ste
r
in
A
u
to
m
a
ti
c
,
S
ig
n
a
l
P
ro
c
e
ss
in
g
a
n
d
I
n
d
u
stria
l
Co
m
p
u
ti
n
g
f
ro
m
th
e
F
a
c
u
lt
y
o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
,
Ha
ss
a
n
1
st
Un
iv
e
rsit
y
,
S
e
tt
a
t,
M
o
ro
c
c
o
in
2
0
1
4
.
His
re
se
a
rc
h
c
o
n
si
sts
in
th
e
c
o
n
tro
l
o
f
th
e
li
n
e
a
r
a
n
d
n
o
n
li
n
e
a
r
s
y
ste
m
s
w
it
h
u
se
o
f
th
e
a
d
v
a
n
c
e
d
c
o
n
tr
o
ll
e
r
a
n
d
h
e
is
a
n
e
x
p
e
rt
in
IT
d
e
v
e
lo
p
m
e
n
t.
u
rre
n
tl
y
,
h
e
p
re
p
a
re
s
h
is
h
ti
t
led
“
l
a
b
o
ra
ti
o
n
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rsity
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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led
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ra
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m
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rm
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ti
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P
ro
c
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ss
in
g
a
t
Ha
ss
a
n
1
stUn
iv
e
rsity
.
Evaluation Warning : The document was created with Spire.PDF for Python.