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Vo
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11
,
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.
1
,
Feb
r
u
ar
y
2021
,
p
p
.
319
~
327
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I
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8
8
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8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
319
-
327
320
h
o
s
t
p
c
to
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id
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th
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p
r
o
f
ess
io
n
al
m
et
h
o
d
h
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d
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[
3
-
6
]
.
Nev
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m
ac
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[
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12
].
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e
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er
g
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p
ac
k
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g
h
a
n
d
le
ab
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y
w
i
ll
b
e
n
o
t
en
o
u
g
h
[
1
3
-
26
]
.
Fo
r
t
h
is
f
in
i
s
h
,
w
e
cr
ea
ted
th
e
co
m
m
o
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s
cr
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n
i
n
g
d
ev
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d
ep
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d
in
g
o
n
FP
GA
.
B
y
u
tili
zi
n
g
FP
G
A
to
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th
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P
I
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co
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tr
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f
o
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m
u
la
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a
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p
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er
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m
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t
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.
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h
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ac
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all
p
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s
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m
.
2.
SYST
E
M
ST
RUC
T
UR
E
AN
D
O
P
E
RAT
I
N
G
T
H
E
O
RY
T
h
e
ac
tu
al
s
er
v
o
p
r
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g
r
a
m
i
s
d
ef
i
n
itel
y
an
e
s
s
e
n
tial
co
n
tr
o
l
s
y
s
te
m
.
I
ts
p
r
i
m
ar
y
p
er
f
o
r
m
wo
u
ld
b
e
to
m
an
a
g
e
f
o
r
ce
-
d
i
s
p
lace
m
e
n
t
i
n
o
r
d
er
to
m
o
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ito
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th
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ac
t
u
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l
d
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s
p
r
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is
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y
.
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h
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ac
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s
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v
o
co
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tr
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l
p
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am
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m
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AC
m
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o
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th
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ev
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d
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e
m
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in
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f
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a
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w
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k
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p
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m
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F
ig
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r
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1
.
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h
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th
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p
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m
e
n
t
o
f
th
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s
er
v
o
co
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tr
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.
T
h
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p
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n
g
co
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e
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m
ed
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as
s
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t
h
r
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g
h
t
h
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e
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.
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u
r
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]
.
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Feed
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th
e
i
n
p
u
t.
I
t
m
a
y
b
e
o
b
s
er
v
ed
th
r
o
u
g
h
(
5
)
h
o
w
t
h
e
i
n
tr
o
f
r
o
m
t
h
e
f
ee
d
f
o
r
w
ar
d
ch
an
n
el
d
o
es
n
o
t
i
m
p
ac
t
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e
ac
t
u
al
p
r
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g
r
a
m
a
t
tr
ib
u
te
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o
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m
u
la,
w
h
ic
h
co
u
ld
en
h
a
n
ce
t
h
e
p
r
o
g
r
a
m
p
r
ec
is
i
o
n
w
it
h
o
u
t
h
a
v
in
g
i
m
p
ac
ti
n
g
t
h
e
m
ac
h
in
e
s
tab
il
it
y
[
5
,
7]
.
Nev
er
t
h
ele
s
s
,
w
it
h
in
th
e
r
ea
l
s
ce
n
ar
io
,
s
i
n
ce
t
h
e
r
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l
en
er
g
y
as
w
ell
as
a
lin
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r
s
elec
tio
n
o
f
t
h
e
m
ac
h
i
n
e
te
n
d
s
to
b
e
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estricte
d
,
t
h
is
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n
o
t
b
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n
li
m
ited
,
w
h
ic
h
m
e
an
s
th
i
s
s
ce
n
ar
io
is
ex
tr
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m
e
l
y
h
ar
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to
attain
.
Usu
al
l
y
G
F
(
s
)
=
(
0
.
7
6
-
0
.
9
8
)
G
p
(
s
)
[
1
0
]
.
(
)
=
(
(
)
+
1
∫
(
)
+
(
)
)
+
+
0
(
5
)
Kp
,
T
i,
T
d
,
u
(
t)
e(
t)
h
as
th
e
s
a
m
e
s
e
n
s
e
a
s
P
I
D
co
n
tr
o
l;
Vc
is
th
e
s
p
ee
d
,
ac
is
th
e
ac
ce
ler
atio
n
v
al
u
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g
i
v
en
;
KVF
is
th
e
f
ee
d
f
o
r
w
ar
d
g
ain
;
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is
th
e
f
ee
d
f
o
r
w
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d
g
ain
f
o
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ac
ce
ler
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n
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v
en
th
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g
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t
h
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p
r
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ce
d
u
r
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s
tr
aig
h
t
f
o
r
w
ar
d
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t
h
e
ac
t
u
al
p
r
i
m
ar
y
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as
w
e
ll
a
s
tr
o
u
b
le
a
s
s
o
ciate
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w
it
h
P
I
D
co
n
tr
o
l
is
b
ased
o
n
t
h
e
a
ct
u
al
d
ed
icatio
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ass
o
ciate
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w
it
h
K
P
,
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as
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ell
a
s
Kd
g
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id
eli
n
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at
is
t
h
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r
o
ce
d
u
r
e
ass
o
ciate
d
w
it
h
p
ar
a
m
eter
tu
n
in
g
.
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h
ese
t
y
p
es
o
f
g
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id
e
lin
es
te
n
d
to
b
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as
s
o
ciate
d
with
t
h
e
ac
tu
al
ch
ec
k
r
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g
u
lar
f
r
o
m
th
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s
cr
ee
n
in
g
d
ev
ice
an
d
th
e
g
en
er
al
c
h
ar
ac
t
er
f
r
o
m
th
e
co
n
tr
o
l s
y
s
te
m
.
T
h
is
p
ar
ticu
lar
d
o
cu
m
e
n
t
to
m
elo
d
y
t
h
e
r
ea
l
ex
p
er
ie
n
tia
l
s
o
lu
t
io
n
o
f
tr
ial
-
a
n
d
-
er
r
o
r
g
u
id
e
li
n
e
s
.
T
h
e
tech
n
iq
u
e
w
o
u
ld
b
e
p
r
o
g
r
ess
i
v
el
y
f
ig
u
r
e
o
u
t
t
h
e
ac
t
u
al
p
r
o
p
o
r
tio
n
al
co
ef
f
icie
n
t
s
,
an
act
u
al
e
s
s
e
n
tia
l
p
ar
am
eter
,
a
n
d
a
d
if
f
er
e
n
tial
c
o
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tin
u
o
u
s
b
ased
o
n
th
e
f
ea
t
u
r
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f
r
o
m
t
h
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r
ea
ctio
n
co
n
to
u
r
in
s
id
e
a
p
ar
ticu
lar
p
u
r
ch
ase.
W
ith
in
t
h
e
r
ea
l
s
it
u
atio
n
,
th
e
p
ar
ti
cu
lar
g
r
o
u
p
o
f
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I
D
g
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id
elin
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s
n
ee
d
ed
b
ased
o
n
ev
er
y
v
ar
io
u
s
co
n
tr
o
l
s
etti
n
g
[
1
1
-
14]
.
W
ith
i
n
t
h
e
c
h
ec
k
p
r
o
ce
d
u
r
e,
it
is
ess
e
n
tial
to
m
ain
ta
in
a
p
ar
tic
u
lar
b
o
d
il
y
a
m
o
u
n
t
in
s
id
e
a
co
n
ti
n
u
o
u
s
co
n
d
itio
n
.
W
h
e
n
t
h
e
tr
ad
itio
n
al
f
ee
d
f
o
r
w
ar
d
P
I
D
co
n
tr
o
l
ca
n
b
e
u
s
ed
,
t
h
e
ac
tu
al
s
er
v
o
m
o
to
r
is
g
o
i
n
g
to
b
e
o
f
te
n
ch
a
n
g
ed
as
w
ell
as
r
e
v
er
s
ed
,
p
r
o
d
u
cin
g
h
ea
t,
d
ec
r
ea
s
in
g
t
h
e
lif
e
s
p
an
as
w
el
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
319
-
327
322
as
lead
in
g
to
u
n
n
ee
d
ed
lo
s
s
.
C
o
n
s
eq
u
en
tl
y
,
t
h
i
s
p
ar
ticu
la
r
d
o
cu
m
en
t
r
etr
ea
ts
i
n
to
th
e
f
ee
d
f
o
r
w
ar
d
P
I
D
m
an
a
g
e
f
o
r
m
u
la
alo
n
g
w
it
h
li
f
eles
s
ar
ea
,
th
at's,
o
n
ce
th
e
(
6
)
is
m
ad
e,
th
e
ac
t
u
al
f
ee
d
f
o
r
w
a
r
d
P
I
D
w
ill
n
o
t
ar
e
lik
e
l
y
in
v
o
l
v
ed
[
1
8
]
.
A
t th
is
ti
m
e,
th
e
m
ac
h
in
e
u
til
izes t
h
e
s
t
an
d
ar
d
P
I
D
c
o
n
tr
o
l.
|
(
)
−
(
−
1
)
|
<
(
6
)
4.
M
E
T
H
O
D
ST
UCTOR
E
AN
D
F
UNCT
I
O
NIN
G
O
F
O
P
E
RATI
NG
T
H
E
O
RY
T
h
e
f
lo
w
ch
ar
t
in
t
h
e
Fi
g
u
r
e
2
p
r
esen
t
t
h
e
f
u
ll
b
u
ild
i
n
g
ass
o
ciate
d
w
i
th
SOP
C
(
s
y
s
te
m
-
on
-
a
-
p
r
o
g
r
am
m
ab
le
-
ch
ip
)
eq
u
ip
m
e
n
t
h
ar
d
w
ar
e,
th
e
p
er
s
o
n
s
o
f
t
w
ar
e
p
r
o
g
r
a
m
i
m
p
r
o
v
e
m
e
n
t
p
ac
k
ag
e
(
SDK)
is
p
r
o
d
u
ce
d
w
it
h
i
n
th
e
i
m
p
r
o
v
e
m
en
t
at
m
o
s
p
h
er
e.
SDK
id
en
t
if
ies
t
h
e
p
r
o
g
r
a
m
lo
o
k
as
s
o
ci
ated
w
it
h
p
er
s
o
n
al
h
ar
d
w
ar
e,
s
u
c
h
as
s
to
r
ag
e
m
a
p
p
in
g
as
w
el
l
as
t
h
e
u
s
e
o
f
t
h
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in
f
o
r
m
atio
n
f
r
a
m
e
w
o
r
k
as
s
o
ciate
d
w
it
h
h
ar
d
w
ar
e
co
m
p
o
n
e
n
t
s
w
i
th
i
n
th
e
p
r
o
g
r
a
m
.
B
ased
o
n
h
ar
d
w
ar
e
b
u
il
d
in
g
,
s
o
f
t
w
ar
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p
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g
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a
m
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t
y
le
is
m
ad
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a
s
w
ell
as
s
o
f
t
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p
lan
i
m
p
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e
m
e
n
t
is
co
m
p
leted
.
T
h
e
ac
tu
al
s
o
f
t
w
ar
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p
r
o
g
r
a
m
cr
ea
ted
b
elo
w
t
h
e
A
lter
a
DE
1
b
o
ar
d
atm
o
s
p
h
er
e.
T
h
e
p
r
im
ar
y
f
ea
tu
r
e
s
f
r
o
m
t
h
e
p
r
o
g
r
a
m
s
o
f
t
w
ar
e
p
r
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g
r
a
m
ten
d
to
b
e
f
o
llo
w
i
n
g
g
e
tti
n
g
th
e
ac
t
u
a
l
co
n
tr
o
l
d
ir
ec
tio
n
s
a
s
w
ell
as
g
u
id
eli
n
e
s
f
r
o
m
t
h
e
m
ai
n
p
c
v
ia
SP
I
co
m
m
u
n
icatio
n
b
u
s
,
p
h
o
n
i
n
g
th
e
r
elate
d
co
n
tr
o
l
p
lan
,
e
v
al
u
ati
n
g
u
s
i
n
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t
h
e
p
r
ese
n
t
s
u
g
g
esti
o
n
s
wo
r
th
f
r
o
m
t
h
e
co
n
tr
o
l
ite
m
,
as
w
ell
as
f
i
n
i
s
h
i
n
g
th
e
ac
t
u
al
h
i
g
h
-
p
r
ec
is
io
n
co
n
tr
o
l
f
r
o
m
th
e
p
lace
m
e
n
t
as
w
ell
as
s
p
ee
d
f
r
o
m
t
h
e
p
r
o
g
r
a
m
v
ia
t
h
e
s
m
ar
t
co
n
tr
o
llin
g
al
g
o
r
ith
m
.
T
h
e
ac
tu
al
co
n
tr
o
l
s
o
f
t
w
ar
e
p
r
o
g
r
a
m
C
o
n
s
i
s
ts
m
a
in
l
y
o
f
p
r
im
a
r
y
ti
m
er
d
is
r
u
p
t
p
r
o
ce
s
s
in
g
p
la
n
.
I
n
cl
u
d
ed
in
t
h
is
,
t
h
e
p
r
i
m
ar
y
p
la
n
p
r
i
m
ar
il
y
f
in
is
h
es p
r
o
g
r
a
m
i
n
itia
lizatio
n
as
w
ell
a
s
m
ai
n
p
c
o
r
d
er
r
ea
ctio
n
p
r
o
ce
s
s
in
g
.
T
h
e
ac
tu
al
d
is
r
u
p
ts
p
er
f
o
r
m
p
r
im
ar
il
y
s
ca
n
s
t
h
e
ac
tu
al
e
x
ter
io
r
in
f
o
r
m
atio
n
r
eg
u
lar
l
y
,
s
u
ch
a
s
in
s
t
r
u
ct
io
n
f
o
r
s
p
ee
d
,
in
s
tr
u
c
ti
o
n
f
o
r
th
e
p
o
s
itio
n
,
Feed
f
o
r
w
ar
d
s
p
ee
d
,
an
d
s
o
on
.
C
e
n
ter
ed
o
n
th
e
in
s
tr
u
c
tio
n
in
th
e
to
p
p
c
in
s
tr
u
ctio
n
a
n
d
th
e
p
r
esen
t
co
n
d
it
io
n
f
r
o
m
th
e
p
r
o
g
r
a
m
.
T
h
is
f
i
n
is
h
e
s
th
e
ac
tu
a
l
f
o
r
m
u
la
co
n
tr
o
l
f
o
r
s
er
v
o
s
y
s
te
m
an
d
r
es
u
lts
i
n
ac
tu
a
l
co
n
tr
o
l
d
ir
ec
tio
n
s
to
w
a
r
d
s
d
r
iv
in
g
cir
c
u
it.
A
d
d
itio
n
al
l
y
,
i
t
f
in
is
h
es
t
h
e
a
ctu
al
f
ea
t
u
r
es
a
s
s
o
ciate
d
w
it
h
d
eliv
er
in
g
t
h
e
p
r
ese
n
t
p
o
s
iti
o
n
as
w
el
l
as
s
tat
u
s
to
w
ar
d
s
t
h
e
m
ai
n
p
c.
Fig
u
r
e
2
.
Flo
w
c
h
ar
t o
f
m
ain
p
r
o
g
r
a
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8708
P
o
s
itio
n
a
n
d
s
p
ee
d
o
p
timiz
a
tio
n
o
f ser
vo
mo
to
r
co
n
tr
o
l
th
r
o
u
g
h
F
P
GA
(
A
h
med
R
.
A
jel
)
323
5.
M
E
T
H
O
D
ST
RUC
T
UR
E
A
ND
F
UNCT
I
O
NIN
G
B
AS
I
C
P
RINCI
P
L
E
5
.
1
.
Dev
el
o
p
m
ent
pa
s
s
es w
it
h
Q
ua
rt
u
s
I
I
B
ased
o
n
th
e
p
r
o
g
r
am
h
ar
d
w
ar
e
s
t
y
le,
th
e
ta
s
k
i
s
m
ad
e
with
i
n
th
e
s
o
f
t
w
ar
e
p
r
o
g
r
a
m
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ar
tu
s
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I
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h
e
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p
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m
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t
u
s
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o
f
t
-
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r
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s
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r
is
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ad
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r
o
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C
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h
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e
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y
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n
e
I
I
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C
2
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p
r
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s
s
o
r
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p
u
t
to
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eth
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Qu
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ta
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p
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d
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n
Qu
ar
t
u
s
I
I
I
DE
im
p
r
o
v
e
m
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n
t
at
m
o
s
p
h
e
r
e;
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u
t
t
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er
ex
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u
to
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cr
ea
te
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u
tab
le
d
o
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m
en
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u
r
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f
f
t
h
e
ac
t
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al
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eliv
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m
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t to
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A
to
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g
a
s
w
ell
as o
p
er
ate
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e
ac
tu
a
l p
r
o
g
r
a
m
.
5
.
2
.
Sy
s
t
em
i
nte
rf
a
cing
des
i
g
n o
f
m
o
du
le
T
h
e
ac
tu
al
SDC
co
m
p
o
n
e
n
t
u
tili
ze
d
in
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h
is
tec
h
n
iq
u
e
is
C
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clo
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e
I
I
2
C
2
0
ch
ip
to
ac
co
m
p
li
s
h
p
lace
m
en
t
r
e
m
o
v
al
as
w
e
ll
as
elec
tr
o
n
ic
tr
an
s
f
o
r
m
at
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n
.
T
h
e
p
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d
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ip
tio
n
o
f
th
e
u
s
ed
ch
ip
in
o
u
r
p
r
o
j
ec
t
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d
escr
ib
ed
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th
e
Fi
g
u
r
e
3
a
n
d
T
ab
le
1
.
On
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m
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Fig
u
r
e
3
.
P
in
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iag
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m
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t
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y
clo
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2
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ip
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ab
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1
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3
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T
ec
hn
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P
C
incl
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ded desi
g
n a
n
d sty
le
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s
u
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m
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la
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h
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u
t
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m
ed
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h
e
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ar
ticu
lar
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b
u
ilt
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i
n
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y
o
u
t
w
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th
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m
et
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g
Alter
a
P
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b
en
ea
th
SOP
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C
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to
r
s
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r
r
o
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n
d
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s
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n
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r
p
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r
atin
g
1
2
m
s
ti
m
er
f
r
o
m
y
o
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r
s
elec
tio
n
to
p
er
f
o
r
m
th
e
d
ev
i
ce
ti
m
er
d
is
r
u
p
tio
n
h
an
d
le;
in
co
r
p
o
r
atin
g
o
n
-
c
h
ip
m
e
m
o
r
y
s
p
ac
e;
m
er
g
i
n
g
t
h
e
p
ar
ticu
lar
d
ev
elo
p
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co
m
p
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n
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ts
,
in
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r
p
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r
atin
g
o
u
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id
e
m
e
m
o
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s
p
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R
A
M;
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n
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r
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atin
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t
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e
s
elf
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c
u
s
to
m
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f
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s
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t
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t
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e
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co
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n
ec
tio
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tr
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etail
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I
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t
w
ar
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h
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d
le
co
m
m
o
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s
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e,
e
tc;
p
r
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d
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cin
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SOP
C
m
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th
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d
at
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f
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ar
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u
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C
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af
ter
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ir
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in
t
h
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Qu
ar
tu
s
I
I
1
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.
Ven
tu
r
e
,
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s
u
s
u
all
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ar
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d
es
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n
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a
n
d
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d
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ls
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s
av
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FP
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co
m
p
u
ter
c
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ip
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T
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p
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SOP
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8708
I
n
t J
E
lec
&
C
o
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p
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n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
319
-
327
324
m
et
h
o
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ill
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F
ig
u
r
e
4
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ll
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Fig
u
r
e
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Fig
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6
s
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ter
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m
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Fig
u
r
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ar
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s
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in
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o
w
o
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th
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m
ai
n
p
r
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g
r
a
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
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P
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u
g
h
F
P
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(
A
h
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325
Fig
u
r
e
6
.
P
in
s
s
ig
n
al
s
in
ter
f
ac
i
n
g
o
f
SD
C
cu
s
to
m
m
o
d
u
le
6.
H
ARDWEA
R
AND
SY
ST
E
M
RE
SUL
T
S
T
h
e
ac
tu
al
eq
u
ip
m
e
n
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r
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r
a
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c
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f
r
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th
e
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er
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co
n
tr
o
l
test
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b
ed
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ad
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ee
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co
n
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tr
u
ct
ed
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u
c
h
as
th
e
to
tal
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y
c
le
f
r
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m
th
e
co
n
t
r
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p
r
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r
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b
ec
au
s
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p
r
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v
e
n
w
it
h
i
n
Fi
g
u
r
e
2
.
L
ater
o
n
,
s
e
v
er
al
ca
teg
o
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ies
o
f
p
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e
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r
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g
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r
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7
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ig
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ig
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u
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8
(
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(
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ee
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D
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a
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ce
d
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ac
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o
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u
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all
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er
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m
a
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t
u
al
p
r
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d
u
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d
w
a
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h
i
n
g
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ate
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r
ec
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r
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en
ce
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s
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o
ciate
d
w
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t
h
e
s
in
e
a
n
d
s
q
u
ar
e
w
a
v
e
’
s
in
p
u
ts
s
ig
n
al
s
.
T
h
e
ac
tu
al
in
cr
ea
s
e
p
er
io
d
f
r
o
m
th
e
p
r
o
g
r
a
m
w
it
h
in
t
h
e
s
y
s
te
m
,
(
a
)
is
ac
tu
all
y
0
.
0
5
s
,
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e
ac
tu
a
l
o
v
er
s
h
o
o
t
is
ac
t
u
all
y
1
0
%,
an
d
th
e
s
ta
tic
m
is
ta
k
e
is
ac
t
u
a
ll
y
5
2
N.
W
ith
i
n
(
b
)
,
th
e
ac
tu
al
p
r
o
g
r
am
i
n
cr
ea
s
e
p
er
io
d
is
ac
tu
all
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0
.
0
4
s
; th
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ac
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al
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s
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t is ac
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tatic
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s
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s
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tu
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y
3
.
6
N.
Fig
u
r
e
7
.
T
h
e
f
u
ll h
ar
d
w
ea
r
s
y
s
te
m
p
lat
f
o
r
m
7.
CO
NCLU
SI
O
N
W
ith
t
h
is
p
ap
er
,
a
g
o
o
d
i
n
la
y
ed
s
er
v
o
co
n
tr
o
l
m
o
d
u
le
f
o
r
s
p
ee
d
an
d
d
ir
ec
tio
n
d
ep
en
d
i
n
g
o
n
Alter
a
DE
1
b
o
ar
d
g
en
tle
p
r
i
m
ar
y
C
P
U
w
a
s
cr
ea
ted
.
I
t
is
r
ef
er
r
ed
to
at
len
g
t
h
i
n
t
h
e
f
ac
ets
o
f
s
o
f
t
w
ar
e
p
r
o
g
r
a
m
s
as
w
ell
as
h
ar
d
w
ar
e.
T
h
e
ac
tu
al
ex
ce
p
tio
n
al
b
en
ef
its
o
f
e
m
b
ed
d
ed
s
y
s
te
m
s
t
y
le
d
ep
en
d
in
g
o
n
DE
1
g
e
n
tle
p
r
im
ar
y
p
r
o
ce
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ticu
lar
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ap
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p
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tel
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k
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o
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th
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s
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te
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th
e
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s
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tu
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ic
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lt
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h
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p
r
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g
r
am
.
So
,
it
'
s
n
e
v
er
th
ele
s
s
r
eq
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ed
to
im
p
r
o
v
e
t
h
e
ac
tu
al
co
n
tr
o
l p
r
o
g
r
am
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
319
-
327
326
AP
P
E
NDI
X
(
a)
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Fig
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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C
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p
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I
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N:
2088
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P
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p
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timiz
a
tio
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f ser
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F
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(
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327
RE
F
E
R
E
NC
E
S
[1
]
X
.
S
.
L
i
,
e
t
a
l.
,
"
A
n
a
l
y
sis
a
n
d
S
im
p
li
f
ica
ti
o
n
o
f
T
h
re
e
-
Di
m
e
n
sio
n
a
l
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p
a
c
e
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e
c
to
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W
M
f
o
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-
P
h
a
se
F
o
u
r
-
L
e
g
In
v
e
rters
,
"
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
In
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l
.
5
8
,
n
o
.
2
,
p
p
.
4
5
0
-
4
6
4
,
2
0
1
1
.
[2
]
M
.
J.
M
n
a
ti
,
“
P
o
siti
o
n
C
o
n
tro
l
f
o
r
f
lex
ib
le
Jo
in
t
M
a
ip
u
lato
r
u
sin
g
A
rti
f
ic
a
ial
Ne
u
tral
Ne
t
w
o
rk
,
”
De
p
a
rtme
n
t
Of
El
e
c
trica
l
&
El
e
c
trio
n
ics
En
g
in
e
e
ri
n
g
,
U
n
ive
rs
it
y
o
f
T
e
c
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n
o
lo
g
y
,
2
0
0
5
.
[3
]
R.
A
ru
l
m
o
z
h
iy
a
l
a
n
d
K.
Ba
sk
a
r
a
n
,
"
I
m
p
le
m
e
n
tatio
n
o
f
a
F
u
z
z
y
P
I
C
o
n
tr
o
ll
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r
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o
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d
Co
n
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In
d
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ti
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o
to
rs
Us
in
g
F
P
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A
,
"
J
o
u
rn
a
l
o
f
Po
we
r E
lec
tro
n
ics
,
v
o
l
.
1
0
,
n
o
.
1
,
p
p
.
6
5
-
7
1
,
2
0
1
0
.
[4
]
M
.
J.
M
n
a
ti
,
D.
V
.
B
o
z
a
lak
o
v
,
a
n
d
A
.
V
a
n
d
e
n
Bo
ss
c
h
e
,
“
P
ID
Co
n
tro
l
o
f
a
T
h
re
e
P
h
a
se
P
h
o
to
v
o
lt
a
i
c
In
v
e
rter
T
ied
to
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G
rid
Ba
se
d
o
n
a
1
2
0
-
De
g
re
e
Bu
s Clam
p
P
W
M
,
”
IFA
C
-
P
a
p
e
rs
On
L
in
e
,
v
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l.
5
1
,
n
o
.
4
,
p
p
.
3
8
8
-
3
9
3
,
2
0
1
8
.
[5
]
D.
Zh
a
n
g
,
e
t
a
l.
,
"
Co
m
m
o
n
M
o
d
e
Circu
latin
g
Cu
rre
n
t
C
o
n
tr
o
l
o
f
In
terle
a
v
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d
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h
re
e
-
P
h
a
se
Tw
o
-
L
e
v
e
l
V
o
lt
a
g
e
-
S
o
u
rc
e
Co
n
v
e
rters
w
it
h
Disc
o
n
ti
n
u
o
u
s
S
p
a
c
e
-
V
e
c
to
r
M
o
d
u
lati
o
n
,
"
IEE
E
En
e
rg
y
Co
n
v
e
rs
io
n
Co
n
g
re
ss
a
n
d
Exp
o
siti
o
n
,
v
o
l.
1
-
6
,
p
p
.
3
9
0
6
-
3
9
1
2
,
2
0
0
9
.
[6
]
H.
S
u
n
,
M
.
J.
M
n
a
ti
,
M
.
Na
b
il
I
b
ra
h
im
,
a
n
d
A
.
V
a
n
De
n
Bo
ss
c
h
e
,
“
A
T
u
n
in
g
M
e
th
o
d
f
o
r
th
e
De
riv
a
ti
v
e
F
il
ter
in
P
ID C
o
n
tro
ll
e
r
w
it
h
De
lay
T
i
m
e
,
”
Pro
c
.
2
0
1
8
9
th
I
n
t.
C
o
n
f.
M
e
c
h
.
Aer
o
sp
.
E
n
g
.
ICM
AE
2
0
1
8
,
p
p
.
5
7
4
-
5
7
8
,
2
0
1
8
.
[7
]
Z.
Yin
h
a
i
,
e
t
a
l.
,
"
A
No
v
e
l
S
VPW
M
M
o
d
u
lati
o
n
S
c
h
e
m
e
,
"
T
we
n
ty
-
Fo
u
rth
A
n
n
u
a
l
IEE
E
A
p
p
l
ied
P
o
w
e
r E
lec
tro
n
ics
Co
n
fer
e
n
c
e
a
n
d
Ex
p
o
siti
o
n
,
p
p
.
1
2
8
-
1
3
1
,
2
0
0
9
.
[8
]
H.
S
u
n
,
M
.
N.
Ib
ra
h
im
,
M
.
Ja
b
b
a
r
M
n
a
ti
,
a
n
d
A
.
V
a
n
De
n
Bo
ss
c
h
e
,
“
A
T
u
n
in
g
M
e
th
o
d
f
o
r
P
I
C
o
n
tr
o
ll
e
r
f
o
r
a
n
In
teg
ra
ti
n
g
S
y
ste
m
w
it
h
T
i
m
e
De
la
y
,
”
Pro
c
.
2
0
1
8
9
t
h
In
t.
C
o
n
f.
M
e
c
h
.
Aer
o
sp
.
En
g
.
,
p
p
.
4
1
0
-
4
1
4
,
2
0
1
8
.
[9
]
S
u
n
,
K.,
e
t
a
l
.
,
“
S
u
m
m
a
r
y
o
f
E
m
b
e
d
d
e
d
C
P
U
S
o
f
t
-
co
re
[
J
]
,
”
Co
m
p
u
ter
En
g
in
e
e
rin
g
,
v
o
l
.
7
,
2
0
0
6
.
[
1
0
]
Y
u
w
e
n
X
.
,
“
V
e
r
i
l
o
g
d
i
g
i
t
a
l
s
y
s
t
e
m
d
e
s
i
g
n
c
o
u
r
s
e
,
”
B
e
i
j
i
n
g
U
n
i
v
e
r
s
i
t
y
o
f
A
e
r
o
n
a
u
t
i
c
s
a
n
d
A
s
t
r
o
n
a
u
t
i
c
s
P
r
e
s
s
,
2008.
[1
1
]
Qin
g
-
q
in
g
P
e
n
g
,
e
t
a
l
.
,
“
De
sig
n
o
f
I
m
a
g
e
Co
m
p
re
ss
io
n
o
f
S
P
IHT
A
lg
o
rit
h
m
Ca
rd
Ba
se
d
o
n
Nio
s
Ⅱ
F
ire,”
Co
n
tro
l
a
n
d
Co
mm
a
n
d
Co
n
tro
l,
v
o
l.
4
2
,
p
p
.
1
7
4
-
1
7
7
,
2
0
1
7
.
[1
2
]
A
b
id
o
,
A
.
A
.
,
"
P
a
rti
c
le
sw
a
r
m
o
p
t
im
iza
ti
o
n
f
o
r
m
u
lt
i
m
a
c
h
in
e
p
o
w
e
r
s
y
ste
m
sta
b
il
ize
r
d
e
sig
n
,
"
IEE
E
Po
we
r
En
g
i
n
e
e
rin
g
S
o
c
iety
S
u
mm
e
r M
e
e
ti
n
g
,
2
0
0
1
.
[1
3
]
Bo
e
rlag
e
,
M
a
tt
h
ij
s
,
R.
T
o
u
sa
in
,
a
n
d
M
.
S
tein
b
u
c
h
.
,
"
Je
rk
d
e
riv
a
ti
v
e
f
e
e
d
f
o
r
w
a
rd
c
o
n
tro
l
f
o
r
m
o
ti
o
n
sy
ste
m
s,
"
Ame
ric
a
n
Co
n
tro
l
C
o
n
fer
e
n
c
e
IEE
E,
2
0
0
5
.
[1
4
]
S
.
P
a
lan
id
o
ss
a
n
d
S
.
V
.
T
.
,
“
Ex
p
e
rim
e
n
tal
V
e
rif
ic
a
ti
o
n
o
f
T
h
re
e
p
h
a
se
q
u
a
si
S
w
it
c
h
e
d
Bo
o
st
In
v
e
rter
w
it
h
a
n
Im
p
ro
v
e
d
P
W
M
Co
n
tro
l,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
(
I
J
PE
DS
)
,
v
o
l.
1
0
,
n
o
.
3
,
pp
.
1
5
0
0
-
1
5
0
9
,
2
0
1
9
.
[1
5
]
F
.
A
.
S
il
a
b
a
n
,
S
.
Bu
d
iy
a
n
to
,
a
n
d
W
.
K.
Ra
h
a
rja,
“
S
tep
p
e
r
m
o
to
r
m
o
v
e
m
e
n
t
d
e
sig
n
b
a
se
d
o
n
F
P
G
A
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
t
e
r E
n
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
v
o
l
.
1
0
,
n
o
.
1
,
p
p
.
1
5
1
-
1
5
9
,
2
0
2
0
.
[1
6
]
T
.
De
w
i
,
e
t
a
l.
,
“
In
v
e
rs
e
k
in
e
m
a
ti
c
a
n
a
ly
sis
o
f
4
DO
F
p
ick
a
n
d
p
lac
e
a
r
m
ro
b
o
t
m
a
n
ip
u
lato
r
u
si
n
g
f
u
z
z
y
lo
g
ic
c
o
n
tro
ll
e
r,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
m
p
u
ter
En
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
v
o
l.
1
0
,
n
o
.
2
,
p
p
.
1
3
7
6
-
1
3
8
6
,
2
0
2
0
.
[1
7
]
Ho
u
Bo
ji
e
,
L
i
X
iao
q
i
n
g
,
Zh
o
u
Yu
n
f
e
i
a
n
d
T
e
n
g
W
e
i,
“
T
h
e
De
v
e
l
o
p
m
e
n
t
o
f
F
e
e
d
f
o
r
w
a
rd
P
lu
s
P
ID
Co
n
tro
ll
e
r
f
o
r
L
in
e
a
r
M
o
to
r,
”
M
a
c
h
in
e
T
o
o
l
a
n
d
Hy
d
ra
u
li
c
s,
v
o
l.
3
7
,
n
o
.
2
,
p
p
.
5
6
-
5
8
,
2
0
0
9
.
[1
8
]
W
a
n
g
Wei,
Zh
a
n
g
Jin
g
tao
,
CHA
I
T
ian
y
o
u
,
“
A
S
u
rv
e
y
o
f
A
d
v
a
n
c
e
d
P
ID
P
a
ra
m
e
ter
T
u
n
in
g
M
e
th
o
d
s,
”
Acta
Au
to
m
a
ti
c
a
S
i
n
ica
,
v
o
l.
2
6
,
n
o
.
3
,
p
p
.
3
4
7
-
3
5
5
,
2
0
0
0
.
[1
9
]
Hu
Ba
o
g
a
n
g
,
“
A
S
tu
d
y
o
n
No
n
li
n
e
a
r
P
ID Co
n
tr
o
ll
e
rs
P
ro
p
o
rt
io
n
a
l
Co
m
p
o
n
e
n
t
A
p
p
ro
a
c
h
,
”
Acta
A
u
t
o
ma
ti
c
a
S
in
ic
a
,
v
o
l.
3
2
,
n
o
.
2
,
p
p
.
2
1
9
-
2
2
7
,
2
0
0
6
.
[2
0
]
A
.
G
lu
m
in
e
a
u
,
M
.
Ha
m
y
,
C.
Lan
ier,
a
n
d
C.
H.
M
o
o
g
,
“
Ro
b
u
st
c
o
n
tro
l
o
f
a
b
ru
sh
les
s
se
r
v
o
m
o
to
r
v
ia
slid
in
g
m
o
d
e
tec
h
n
iq
u
e
s,”
In
t.
J
.
Co
n
tro
l
,
v
o
l
.
5
8
,
n
o
.
5
,
p
p
.
9
7
9
-
9
9
0
,
1
9
9
3
.
[2
1
]
N.
H.
Ja
lan
i,
“
NCT
F
-
F
L
c
o
n
tro
ll
e
r
f
o
r
p
e
n
d
u
l
u
m
b
a
lan
c
in
g
sy
s
te
m
,
”
Bu
ll
e
ti
n
o
f
El
e
c
trica
l
E
n
g
in
e
e
rin
g
a
n
d
In
fo
r
ma
t
ics
(
BE
EI)
,
v
o
l.
4
,
n
o
.
4
,
p
p
.
3
5
5
-
3
6
2
,
2
0
1
5
.
[2
2
]
A
.
R.
Ka
rd
ian
,
S
.
A
.
S
u
d
iro
,
a
n
d
S
.
M
a
d
e
n
d
a
,
“
Ef
f
i
c
ien
t
im
p
le
m
e
n
tatio
n
o
f
m
e
a
n
,
v
a
rian
c
e
a
n
d
sk
e
w
n
e
s
s
sta
ti
stic
f
o
r
m
u
la
f
o
r
i
m
a
g
e
p
ro
c
e
ss
in
g
u
sin
g
F
P
GA
d
e
v
ice
,
”
Bu
ll
e
ti
n
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
a
n
d
I
n
fo
r
ma
ti
c
s
(
BE
EI)
,
v
o
l.
7
,
n
o
.
3
,
p
p
.
3
8
6
-
3
9
2
,
2
0
1
8
.
[2
3
]
A
.
Ra
n
i
a
n
d
N.
G
ro
v
e
r,
“
A
n
e
n
h
a
n
c
e
d
F
P
G
A
b
a
s
e
d
a
s
y
n
c
h
ro
n
o
u
s
m
icro
p
ro
c
e
ss
o
r
d
e
sig
n
u
sin
g
V
I
V
A
DO
a
n
d
IS
IM
,
”
B
u
ll
e
ti
n
o
f
El
e
c
trica
l
E
n
g
i
n
e
e
rin
g
a
n
d
In
fo
rm
a
t
ics
(
BE
EI)
,
v
o
l.
7
,
n
o
.
2
,
p
p
.
1
9
9
-
2
0
8
,
2
0
1
8
.
[2
4
]
S
.
S
o
k
o
lo
v
,
e
t
a
l
,
“
H
y
b
rid
n
e
u
ra
l
n
e
tw
o
rk
s
in
c
y
b
e
r
p
h
y
sic
a
l
s
y
ste
m
in
terfa
c
e
c
o
n
tro
l
sy
st
e
m
s,”
Bu
ll
e
ti
n
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
a
n
d
In
f
o
r
ma
ti
c
s
(
BE
EI)
,
v
o
l.
9
,
n
o
.
3
,
p
p
.
1
2
6
8
-
1
2
7
5
,
2
0
2
0
.
[2
5
]
G
.
C.
Ca
rd
a
ril
li
e
t
a
l.
,
“
Ef
f
ici
e
n
t
F
P
GA
i
m
p
le
m
e
n
tatio
n
o
f
h
ig
h
s
p
e
e
d
d
ig
it
a
l
d
e
lay
f
o
r
w
id
e
b
a
n
d
b
e
a
m
f
o
r
m
in
g
u
sin
g
p
a
ra
ll
e
l
a
rc
h
it
e
c
tu
re
s,”
B
u
ll
e
ti
n
o
f
El
e
c
trica
l
E
n
g
in
e
e
rin
g
a
n
d
In
f
o
rm
a
ti
c
s
,
vo
l.
8
,
n
o
.
2
,
p
p
.
4
2
2
–
4
2
7
,
2
0
1
9
.
[2
6
]
M
.
A
.
Bin
Ily
a
s
e
t
a
l.
,
“
Co
m
p
a
riso
n
stu
d
y
o
f
8
-
P
P
M
,
8
-
D
P
IM
,
A
N
D
8
-
RDH
-
P
IM
m
o
d
u
lat
o
r
F
P
G
A
h
a
rd
w
a
re
d
e
sig
n
in
term
o
f
b
a
n
d
w
id
th
e
ff
i
c
ien
c
y
a
n
d
tran
s
m
issio
n
ra
te,”
B
u
ll
e
ti
n
o
f
El
e
c
trica
l
En
g
i
n
e
e
rin
g
a
n
d
I
n
fo
rm
a
ti
c
s
(
BE
EI)
,
v
o
l.
9
,
n
o
.
2
,
p
p
.
7
0
7
-
7
1
5
,
2
0
2
0
.
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