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I
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Feb
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r
ith
m
.
F
u
zz
y
lo
g
i
c
alo
n
g
w
it
h
ad
ap
tiv
e
MP
C
tech
n
iq
u
e
h
as
b
ee
n
p
r
o
p
o
s
ed
b
y
Ka
y
a
lv
iz
h
i a
n
d
K
u
m
ar
[
1
0
]
f
o
r
L
F
C
in
m
icr
o
-
g
r
id
.
T
an
[
1
1
-
13]
p
r
esen
ts
a
P
I
D
co
n
tr
o
ller
v
ia
2
Do
F
-
I
MC
f
o
r
f
r
eq
u
en
c
y
r
e
g
u
la
tio
n
p
r
o
b
lem
in
s
i
n
g
le
-
ar
ea
as
w
ell
a
s
a
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
.
T
h
e
au
t
h
o
r
s
p
r
o
p
o
s
ed
An
ti
-
GR
C
s
tr
ate
g
y
to
m
i
n
i
m
ize
th
e
p
r
o
b
le
m
ass
o
ciate
d
w
it
h
th
e
ap
p
licatio
n
o
f
g
en
er
atio
n
r
ate
co
n
s
tr
ain
t
in
L
F
C
[
1
1
]
.
Sax
en
a
a
n
d
H
o
te
[
1
4
]
p
r
o
p
o
s
ed
a
r
o
b
u
s
t
P
I
D
co
n
tr
o
ller
v
ia
i
n
t
er
n
al
m
o
d
el
co
n
tr
o
l
(
I
M
C
)
tec
h
n
iq
u
e
f
o
r
L
F
C
p
r
o
b
le
m
in
a
s
in
g
le
ar
ea
as
w
ell
as
t
h
e
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
.
Da
s
et
a
l
.
[
1
5
]
ha
ve
p
r
o
p
o
s
ed
ca
s
ca
d
e
P
D
-
P
I
D
co
n
tr
o
ller
f
o
r
L
F
C
i
n
th
r
ee
-
ar
ea
th
er
m
al
p
o
w
er
s
y
s
te
m
al
o
n
g
w
it
h
G
R
C
u
s
i
n
g
b
at
-
a
lg
o
r
ith
m
a
n
d
its
r
esp
o
n
s
e
i
s
s
u
p
e
r
io
r
t
o
P
I
,
P
D,
PID
co
n
tr
o
ller
.
Das
et
a
l
.
[
1
6
]
p
r
o
p
o
s
ed
ca
s
ca
d
e
P
I
-
P
D
c
o
n
tr
o
ller
o
p
tim
ized
u
s
i
n
g
a
f
lo
w
er
-
pol
lin
atio
n
a
lg
o
r
it
h
m
an
d
its
p
er
f
o
r
m
a
n
ce
ar
e
i
m
p
r
o
v
ed
co
m
p
ar
ed
to
class
ical
P
I
,
P
D,
P
I
D
co
n
tr
o
ller
.
I
t
s
h
o
w
s
t
h
at
ca
s
ca
d
e
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
is
b
etter
th
a
n
t
h
e
class
ical
co
n
tr
o
l
tech
n
iq
u
e.
S
lid
in
g
m
o
d
e
co
n
tr
o
ller
(
SMC
)
h
as
b
ee
n
d
e
s
ig
n
ed
b
y
Vr
d
o
lj
ak
et
a
l
.
[
1
7
]
f
o
r
L
F
C
i
n
t
h
e
p
o
w
er
s
y
s
te
m
b
ased
o
n
s
tate
e
s
ti
m
atio
n
ap
p
r
o
ac
h
an
d
its
co
n
tr
o
ller
also
w
o
r
k
in
a
n
o
n
-
m
in
i
m
u
m
p
h
a
s
e
s
y
s
te
m
.
Ho
w
e
v
er
,
th
e
s
lid
i
n
g
m
o
d
e
co
n
tr
o
ller
r
eq
u
ir
e
s
k
n
o
w
led
g
e
o
f
f
u
ll
s
tate
f
ee
d
b
ac
k
u
s
i
n
g
s
tate
e
s
ti
m
atio
n
tec
h
n
iq
u
e.
Mi
et
a
l
.
[
1
8
]
p
r
o
p
o
s
ed
SMC
to
r
eg
u
late
f
r
eq
u
en
c
y
d
e
v
iatio
n
an
d
tie
-
li
n
e
p
o
w
er
e
x
ch
a
n
g
e
f
o
r
th
e
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
.
T
h
e
au
th
o
r
s
u
s
ed
L
y
ap
u
n
o
v
s
tab
ilit
y
to
co
n
f
ir
m
th
e
f
r
eq
u
en
c
y
i
s
ze
r
o
.
C
h
e
n
a
n
d
Seb
o
r
g
[
1
9
]
p
r
esen
ts
P
I
D
co
n
tr
o
ller
d
esig
n
u
s
i
n
g
DS
ap
p
r
o
ac
h
f
o
r
f
ir
s
t
a
n
d
s
ec
o
n
d
o
r
d
er
s
y
s
te
m
w
it
h
ti
m
e
d
elay
a
n
d
its
s
i
m
u
latio
n
r
es
u
lts
r
ev
ea
l
th
e
b
etter
d
is
tu
r
b
an
c
e
r
ej
ec
tio
n
.
P
ad
h
an
an
d
Ma
j
h
i
[
2
0
]
p
r
esen
t
a
n
e
w
P
I
D
tu
n
i
n
g
m
et
h
o
d
f
o
r
L
F
C
p
o
w
er
s
y
s
te
m
a
n
d
its
co
n
tr
o
ller
g
ain
s
ar
e
o
b
tain
ed
b
y
L
a
u
r
en
t
s
er
ies
e
x
p
an
s
io
n
o
f
co
n
tr
o
ller
tr
an
s
f
er
f
u
n
c
tio
n
.
An
w
ar
an
d
P
an
[
2
1
]
p
r
esen
ts
a
P
I
D
co
n
tr
o
ller
f
o
r
L
F
C
i
n
s
i
n
g
le
a
s
w
ell
as
m
u
lti
-
ar
ea
th
er
m
al
p
o
w
er
s
y
s
te
m
u
s
in
g
DS
m
eth
o
d
in
t
h
e
f
r
eq
u
en
c
y
d
o
m
ain
.
T
h
e
v
ar
iab
le
co
n
tr
o
l
s
tr
u
ctu
r
e
is
u
s
ed
to
d
esi
g
n
t
h
e
P
r
o
p
o
r
t
io
n
al
-
in
te
g
r
al
(
P
I
)
co
n
tr
o
ller
f
o
r
L
FC
i
n
th
e
m
u
lt
i
-
ar
ea
p
o
w
er
s
y
s
te
m
b
y
R
a
y
et
a
l
.
[
2
2
]
.
Fu
an
d
T
an
[
2
3
]
p
r
esen
t
th
e
A
D
R
C
tech
n
iq
u
e
f
o
r
L
FC
i
n
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
alo
n
g
w
i
th
th
e
co
m
m
u
n
ica
tio
n
d
el
a
y
s
.
T
h
e
ADR
C
co
n
tr
o
ller
g
ai
n
i
s
o
b
tain
ed
u
s
i
n
g
th
e
I
M
C
ap
p
r
o
ac
h
.
L
i
n
ea
r
a
ctiv
e
d
is
tu
r
b
an
ce
r
ej
ec
tio
n
co
n
tr
o
ller
(
L
A
D
R
C
)
d
e
s
ig
n
h
as
b
ee
n
p
r
o
p
o
s
ed
b
y
T
an
g
et
a
l
.
[
2
4
]
b
ased
o
n
t
h
e
h
y
b
r
id
p
ar
ticle
s
w
ar
m
o
p
ti
m
izatio
n
ap
p
r
o
ac
h
f
o
r
L
F
C
i
n
w
in
d
p
o
w
er
p
lan
t.
P
en
g
et
a
l
.
[
2
5
]
p
r
o
p
o
s
ed
H∞
co
n
tr
o
ller
f
o
r
L
FC
i
n
th
e
n
et
wo
r
k
ed
-
b
ased
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
.
Deb
b
ar
m
a
et
a
l
.
[
2
6
]
p
r
o
p
o
s
ed
2
Do
F
-
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
w
i
th
d
o
u
b
le
d
er
iv
ativ
e
(
2
Do
F
-
P
I
DD)
co
n
tr
o
ller
f
o
r
f
r
eq
u
en
c
y
r
eg
u
lat
io
n
i
n
t
h
e
t
h
r
ee
-
ar
ea
t
h
er
m
al
p
o
w
er
s
y
s
te
m
a
n
d
co
n
tr
o
ller
p
ar
a
m
eter
is
o
b
tai
n
e
d
u
s
i
n
g
th
e
f
ir
e
f
l
y
alg
o
r
ith
m
(
F
A
)
tech
n
iq
u
e.
2
Do
F
-
P
I
D
co
n
tr
o
ller
h
as
b
ee
n
d
esig
n
ed
b
ased
o
n
teac
h
in
g
lear
n
in
g
-
b
ased
o
p
tim
izatio
n
tech
n
iq
u
e
to
r
e
g
u
late
f
r
eq
u
e
n
c
y
d
ev
ia
tio
n
an
d
tie
-
li
n
e
p
o
w
er
e
x
c
h
an
g
e
f
o
r
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
b
y
Sah
u
et
a
l
.
[
2
7
]
.
L
o
ad
f
r
eq
u
e
n
c
y
co
n
tr
o
ller
h
a
s
b
ee
n
d
esig
n
ed
b
y
B
er
n
ar
d
et
a
l
.
[
2
8
]
b
ased
o
n
C
o
ef
f
icie
n
t d
iag
r
a
m
m
e
th
o
d
(
C
DM
)
f
o
r
t
w
o
-
ar
ea
as
w
el
l a
s
th
r
ee
ar
ea
p
o
w
er
s
y
s
te
m
.
T
h
e
p
ar
allel
co
n
tr
o
l
s
tr
u
ct
u
r
e
(
P
C
S)
is
also
n
a
m
ed
as
2
D
o
F
co
n
tr
o
l
s
tr
u
c
tu
r
e
h
as
b
ee
n
d
is
cu
s
s
ed
b
y
Kar
u
n
g
ar
an
an
d
W
e
n
j
ian
[
2
9
]
.
Fig
u
r
e
1
s
h
o
w
s
t
h
e
g
e
n
e
r
alize
d
f
o
r
m
o
f
th
e
P
C
S
w
h
ic
h
h
as
th
e
ab
ilit
y
to
tu
n
e
th
e
co
n
tr
o
ller
to
g
et
t
h
e
d
esire
d
s
et
-
p
o
in
t
r
esp
o
n
s
e
an
d
lo
ad
-
d
is
t
u
r
b
an
ce
r
esp
o
n
s
e
i
n
d
ep
en
d
en
tl
y
.
T
h
e
m
o
d
if
ied
P
C
S
s
c
h
e
m
e
h
as
b
ee
n
u
s
ed
to
d
esi
g
n
a
P
I
D
co
n
tr
o
ller
f
o
r
an
u
n
s
tab
le
p
r
o
ce
s
s
s
y
s
te
m
w
i
th
s
m
al
l ti
m
e
d
ela
y
u
s
i
n
g
DS
ap
p
r
o
ac
h
b
y
A
j
m
er
i a
n
d
A
l
i
[
3
0
]
.
T
h
e
ab
o
v
e
liter
atu
r
e
m
o
ti
v
a
te
s
to
d
esig
n
a
co
n
tr
o
ller
f
o
r
L
FC
p
r
o
b
le
m
u
s
i
n
g
P
C
S
s
c
h
e
m
e.
T
h
e
n
o
m
e
n
clat
u
r
e
u
s
ed
in
t
h
i
s
p
ap
er
is
elab
o
r
ated
in
A
p
p
en
d
ix
A
.
I
n
th
i
s
p
ap
er
,
th
e
P
C
S
s
ch
e
m
e
h
a
s
b
ee
n
u
s
ed
to
d
esig
n
P
I
D
lo
ad
f
r
eq
u
en
c
y
co
n
tr
o
ller
f
o
r
a
m
u
lti
-
ar
ea
th
er
m
al
p
o
w
er
s
y
s
te
m
u
s
in
g
DS
ap
p
r
o
ac
h
.
T
h
e
m
aj
o
r
co
n
tr
ib
u
tio
n
o
f
t
h
i
s
p
ap
er
is
as su
m
m
ar
ized
b
elo
w
:
a.
T
h
e
n
e
w
co
n
tr
o
l stru
ct
u
r
e
to
d
esig
n
a
P
I
D
co
n
tr
o
ller
f
o
r
L
F
C
in
t
h
e
t
h
er
m
al
p
o
w
er
s
y
s
te
m
.
b.
T
h
e
s
et
-
p
o
in
t
co
n
tr
o
ller
an
d
lo
ad
f
r
eq
u
en
c
y
co
n
tr
o
ller
h
as
b
ee
n
d
esig
n
ed
v
ia
p
o
le
-
p
lace
m
e
n
t
u
s
in
g
d
ir
ec
t
s
y
n
t
h
esi
s
ap
p
r
o
ac
h
.
c.
R
o
b
u
s
t
n
es
s
o
f
th
e
co
n
tr
o
ller
h
as
b
ee
n
an
a
l
y
s
ed
u
s
i
n
g
u
n
ce
r
tain
t
y
i
n
t
h
e
s
y
s
te
m
p
ar
a
m
et
er
an
d
r
an
d
o
m
lo
ad
h
as b
ee
n
ap
p
lied
to
th
e
s
y
s
te
m
.
d.
T
h
e
p
r
o
p
o
s
ed
P
I
D
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
h
as
b
ee
n
co
m
p
ar
ed
w
it
h
e
x
i
s
ti
n
g
P
I
D
d
esig
n
m
eth
o
d
s
f
o
r
a
s
in
g
le
ar
ea
as
w
ell
as
t
h
e
m
u
lti
-
ar
ea
L
F
C
s
y
s
te
m
.
T
h
e
w
h
o
le
p
ap
er
is
d
escr
ib
ed
in
f
iv
e
c
h
ap
ter
s
as
f
o
llo
w
s
:
I
n
ch
ap
ter
1
d
escr
ib
ed
th
e
in
tr
o
d
u
ctio
n
o
f
th
e
p
ap
er
.
T
h
e
p
r
o
b
lem
f
o
r
m
u
latio
n
o
f
t
h
e
m
u
lt
i
-
ar
ea
t
h
er
m
al
p
o
w
er
s
y
s
te
m
i
s
elab
o
r
ated
in
ch
ap
ter
2
.
C
o
n
tr
o
ller
d
esi
g
n
m
et
h
o
d
o
lo
g
y
f
o
r
L
F
C
u
s
i
n
g
D
S
ap
p
r
o
a
ch
h
as
b
ee
n
d
i
s
cu
s
s
ed
i
n
c
h
ap
ter
3
.
I
n
c
h
ap
ter
4
d
is
cu
s
s
ed
th
e
s
i
m
u
latio
n
r
es
u
lt
s
o
f
th
e
d
if
f
er
en
t
ca
s
e
s
tu
d
ied
o
f
th
e
p
o
w
er
s
y
s
te
m
an
d
at
las
t
co
n
clu
s
io
n
o
f
th
e
p
ap
er
is
d
escr
ib
ed
in
ch
ap
ter
5
.
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:
2
0
8
8
-
8708
P
a
r
a
llel c
o
n
tr
o
l str
u
ctu
r
e
s
ch
eme
fo
r
lo
a
d
fr
eq
u
en
cy
co
n
tr
o
ller
d
esig
n
u
s
in
g
d
ir
ec
t syn
th
es…
(
A
n
a
n
d
K
u
ma
r
)
49
2.
P
RO
B
L
E
M
F
O
R
M
UL
AT
I
O
N
T
h
e
p
ar
allel
c
o
n
tr
o
l
s
tr
u
ctu
r
e
(
P
C
S)
as
s
h
o
w
n
in
Fi
g
u
r
e
1
,
w
h
ic
h
h
as
t
h
e
n
o
m
in
al
m
o
d
el
o
f
th
e
p
lan
t
(M
n
)
an
d
ac
tu
al
m
o
d
el
o
f
th
e
p
lan
t
(
M
a
)
is
co
n
s
id
er
ed
to
d
esig
n
s
et
-
p
o
i
n
t
co
n
tr
o
ll
er
(
K
c1
)
an
d
l
o
ad
-
d
is
tu
r
b
an
ce
co
n
tr
o
ller
(
K
c2
)
f
o
r
lo
ad
f
r
eq
u
en
c
y
co
n
tr
o
l.
T
h
e
co
n
tr
o
ller
K
c1
is
u
s
ed
to
r
e
g
u
la
te
t
h
e
s
et
-
p
o
in
t
r
esp
o
n
s
e
o
f
t
h
e
s
y
s
te
m
w
h
ile
K
c2
is
u
s
ed
to
r
eg
u
late
lo
ad
-
d
i
s
tu
r
b
an
ce
o
f
th
e
s
y
s
te
m
.
T
h
e
c
lo
s
ed
-
lo
o
p
r
esp
o
n
s
e
(
∆f
)
o
f
th
e
P
C
S i
s
g
i
v
e
n
b
y
d
K
M
M
K
M
K
M
K
M
K
M
r
f
c
a
a
c
a
c
n
c
n
c
a
2
2
2
1
1
1
1
1
1
(
1
)
W
h
er
e
r
,
d
,
∆
f
ar
e
t
h
e
r
e
f
er
en
c
e
in
p
u
t,
lo
ad
d
is
t
u
r
b
an
ce
an
d
p
r
o
ce
s
s
o
u
tp
u
t
(
ch
a
n
g
e
i
n
f
r
eq
u
en
c
y
d
e
v
iatio
n
)
o
f
th
e
s
y
s
te
m
.
U
n
d
er
n
o
m
i
n
al
co
n
d
itio
n
(
M
a
=M
n
)
,
∆f
m
a
y
b
e
r
ep
r
esen
ted
as f
o
llo
w
s
:
d
K
M
M
K
M
K
M
r
f
c
n
n
c
n
c
n
2
1
1
1
1
(
2
)
2
.
1
.
Sin
g
le
a
re
a
po
w
er
s
y
s
t
em
T
h
e
P
I
D
co
n
tr
o
ller
K
ci
(
s
)
h
as
b
ee
n
u
s
ed
to
m
a
in
tai
n
t
h
e
lo
ad
f
r
eq
u
en
c
y
co
n
tr
o
l
o
f
th
e
t
h
e
r
m
al
p
o
w
er
s
y
s
te
m
,
w
h
ic
h
m
a
y
b
e
w
r
itte
n
as
s
K
s
K
K
s
K
di
ii
pi
ci
)
(
(
i=1
,
2
)
(
3
)
W
h
er
e
K
pi
,
K
ii
,
K
di
ar
e
th
e
p
r
o
p
o
r
tio
n
al,
in
teg
r
al,
d
er
iv
ativ
e
co
n
s
tan
ts
o
f
i
th
co
n
tr
o
ller
,
r
esp
ec
tiv
el
y
.
T
h
e
lin
ea
r
ized
m
o
d
el
o
f
t
h
e
s
i
n
g
le
-
ar
ea
t
h
er
m
al
p
o
w
er
s
y
s
te
m
a
s
s
h
o
w
n
i
n
F
ig
u
r
e
2
,
w
h
ic
h
i
s
u
s
ed
to
d
esi
g
n
th
e
co
n
tr
o
ller
p
ar
a
m
eter
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
t
h
e
p
o
w
er
s
y
s
te
m
m
o
d
el
f
r
o
m
u
to
∆f
a
s
s
h
o
w
n
i
n
Fig
u
r
e
1
is
W
r
itten
as
R
T
T
T
T
T
T
u
f
M
p
t
g
p
t
g
n
1
(
4
)
W
h
er
e
T
g
,
T
t
,
T
p
ar
e
th
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
t
h
e
g
o
v
er
n
o
r
,
tu
r
b
in
e
&
g
e
n
er
a
to
r
an
d
lo
ad
r
esp
ec
tiv
el
y
.
R
is
th
e
s
p
ee
d
r
eg
u
la
tio
n
o
f
t
h
e
g
o
v
er
n
o
r
.
2
.
2
.
M
ulti
-
a
re
a
po
w
er
s
y
s
t
e
m
T
h
e
co
n
tr
o
ller
d
esig
n
tech
n
i
q
u
e
o
f
s
in
g
le
-
ar
ea
p
o
w
er
s
y
s
te
m
i
s
e
x
ten
d
ed
to
a
m
u
lti
-
a
r
ea
p
o
w
er
s
y
s
te
m
.
T
h
e
ch
a
n
g
e
i
n
f
r
eq
u
en
c
y
,
as
w
el
l
as
tie
-
li
n
e
p
o
w
er
ex
ch
an
g
e
b
et
w
ee
n
ar
ea
s
,
also
v
ar
ies
f
r
o
m
its
p
r
e
-
s
p
ec
if
ied
v
al
u
e
d
u
e
to
lo
ad
d
em
a
n
d
f
l
u
ctu
ate
s
i
n
a
m
u
lt
i
-
ar
ea
p
o
w
er
s
y
s
te
m
.
A
r
ea
co
n
tr
o
l
er
r
o
r
(
A
C
E
)
i
s
th
e
co
m
b
i
n
atio
n
o
f
t
h
e
s
m
all
ch
a
n
g
e
in
f
r
eq
u
en
c
y
d
ev
iati
o
n
an
d
t
ie
-
l
in
e
p
o
w
er
e
x
ch
a
n
g
e
a
n
d
th
a
t
AC
E
i
s
m
i
n
i
m
ized
b
y
u
s
i
n
g
a
co
n
tr
o
ll
er
g
ain
p
ar
a
m
eter
.
T
h
e
s
ch
e
m
atic
b
lo
ck
d
iag
r
a
m
o
f
a
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
is
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
T
h
e
A
C
E
o
f
th
e
i
th
ar
ea
m
a
y
b
e
r
ep
r
esen
ted
as
AC
E
i
= ∆p
tie,
i
+β
i
∆f
i
(
5
)
W
h
er
e
β
i
i
s
t
h
e
f
r
eq
u
e
n
c
y
b
ias
f
ac
to
r
.
T
h
e
tie
-
li
n
e
p
o
w
er
e
x
ch
a
n
g
e
(
∆p
tie,
i
)
b
et
w
ee
n
ar
ea
i
th
a
n
d
o
th
er
ar
ea
i
s
g
iv
e
n
b
y
N
i
j
j
N
i
j
j
j
ij
i
ij
N
i
j
j
ti
e
ij
ti
e
i
f
t
f
t
s
p
p
1
1
1
1
(6
)
W
h
er
e
t
ij
is
th
e
s
y
n
c
h
r
o
n
izi
n
g
p
o
w
er
co
ef
f
icie
n
t
o
f
th
e
m
u
lt
i
-
ar
ea
p
o
w
er
s
y
s
te
m
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
m
o
d
el
o
f
th
e
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
ca
n
b
e
r
ep
r
esen
ted
as
i
pi
ti
gi
pi
ti
gi
i
ni
R
T
T
T
T
T
T
M
1
(
7
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
4
7
-
60
50
T
h
e
lo
ad
f
r
eq
u
en
c
y
co
n
tr
o
l
i
n
a
m
u
lti
-
ar
ea
p
o
w
er
s
y
s
te
m
is
as
s
a
m
e
as
s
i
n
g
le
ar
ea
p
o
w
er
s
y
s
te
m
w
h
er
e
th
e
tu
n
i
n
g
o
f
ea
c
h
s
i
n
g
l
e
ar
ea
s
y
s
te
m
is
i
n
d
ep
en
d
en
tl
y
w
it
h
co
n
s
id
er
atio
n
i
n
t
h
e
m
o
d
i
f
ied
p
lan
t
m
o
d
el
as g
i
v
en
i
n
(
7
).
Fig
u
r
e
1
.
T
h
e
s
ch
e
m
atic
b
lo
ck
d
iag
r
a
m
o
f
th
e
p
ar
allel
co
n
tr
o
l stru
ct
u
r
e
Fig
u
r
e
2
.
Sin
g
le
-
ar
ea
th
er
m
a
l p
o
w
er
s
y
s
te
m
Fig
u
r
e
3
.
Sch
e
m
atic
b
lo
ck
d
ia
g
r
a
m
o
f
t
h
e
co
n
tr
o
l
ar
ea
i
3.
CO
NT
RO
L
L
E
R
DE
SI
G
N
M
E
T
H
O
DO
L
O
G
Y
I
n
th
i
s
p
ap
er
,
th
e
p
ar
allel
co
n
t
r
o
l
s
tr
u
ctu
r
e
(
P
C
S)
h
a
s
b
ee
n
u
s
ed
to
d
esig
n
P
I
D
co
n
tr
o
ller
u
s
in
g
d
ir
ec
t
s
y
n
t
h
esi
s
(
DS)
ap
p
r
o
ac
h
.
T
h
e
P
ar
allel
co
n
tr
o
l
s
tr
u
c
tu
r
e
(
P
C
S)
h
as
a
ls
o
k
n
o
w
n
as
t
w
o
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
co
n
tr
o
l
s
tr
u
ct
u
r
e
[
3
0
]
b
ec
au
s
e
th
e
s
et
-
p
o
in
t
co
n
tr
o
ller
an
d
lo
ad
d
is
tu
r
b
an
ce
co
n
tr
o
ller
ar
e
tu
n
ed
i
n
d
ep
en
d
en
t
ly
of
ea
ch
o
th
er
.
Fig
u
r
e
1
s
h
o
w
s
a
b
asic
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
p
ar
allel
co
n
tr
o
l
s
tr
u
ctu
r
e
(
P
C
S).
I
n
D
S
ap
p
r
o
ac
h
,
a
d
esire
d
tr
an
s
f
er
f
u
n
c
tio
n
o
f
th
e
s
y
s
te
m
is
co
n
s
id
er
ed
f
o
r
th
e
clo
s
ed
lo
o
p
tr
an
s
f
er
f
u
n
c
tio
n
o
f
t
h
e
s
y
s
te
m
.
B
y
ap
p
r
o
x
i
m
ati
n
g
t
h
e
d
esi
r
ed
tr
an
s
f
er
f
u
n
ctio
n
w
it
h
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ct
i
o
n
o
f
t
h
e
s
y
s
te
m
,
a
m
at
h
e
m
atica
l
e
x
p
r
ess
io
n
o
f
t
h
e
co
n
tr
o
ller
i
s
o
b
tain
ed
in
ter
m
s
o
f
t
h
e
d
esire
d
tr
an
s
f
er
f
u
n
ctio
n
an
d
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
cti
o
n
o
f
th
e
s
y
s
te
m
.
I
n
P
C
S
d
ec
o
u
p
les
t
h
e
r
e
g
u
lato
r
y
(
lo
ad
-
d
i
s
tu
r
b
an
ce
r
ej
ec
tio
n
)
p
r
o
b
lem
f
r
o
m
s
er
v
o
m
ec
h
a
n
i
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m
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A
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51
Fro
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2
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
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-
8708
I
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E
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&
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p
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10
,
No
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1
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Feb
r
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2
0
2
0
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4
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-
60
52
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d
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2
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f
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p
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a
n
s
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r
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s
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1
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K
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1
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7
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K
p
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g
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1
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)
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1
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2
(
2
8
)
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:
2
0
8
8
-
8708
P
a
r
a
llel c
o
n
tr
o
l str
u
ctu
r
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s
ch
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fo
r
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a
d
fr
eq
u
en
cy
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n
tr
o
ller
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esig
n
u
s
in
g
d
ir
ec
t syn
th
es…
(
A
n
a
n
d
K
u
ma
r
)
53
Usi
n
g
(
3
)
,
(
2
8
)
m
a
y
b
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w
r
i
tten
as
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R
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1
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2
9
)
b.
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tain
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etter
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s
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b
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3
0
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3
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2
(3
3
)
T
h
e
ex
p
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ess
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o
f
P
I
D
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n
t
r
o
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ar
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eter
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o
r
L
F
C
m
a
y
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e
o
b
tain
ed
b
y
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s
i
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(
3
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d
(3
3
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as g
i
v
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y
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j
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j
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1
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2
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2
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n
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1
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g
p
1
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(
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(
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(
1
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(
3
4
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m
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e
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n
as
])
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m
[
]
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m
[
(
])
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e
[
Re
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)
(
2
2
2
2
2
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j
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k
K
j
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5
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atin
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[
]
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K
i
p
(3
6
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]
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m
[
])
I
m
[
1
(
2
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k
K
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d
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3
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T
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m
[
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m
[
1
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[
1
1
1
2
2
2
Y
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K
K
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p
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,
th
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ain
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lo
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ed
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
4
7
-
60
54
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
AND
DIS
CUSS
I
O
NS:
I
n
th
i
s
p
ar
t,
s
i
m
u
latio
n
r
es
u
lt
s
o
f
a
s
in
g
le
ar
ea
,
t
w
o
ar
ea
a
n
d
f
o
u
r
-
ar
ea
th
er
m
al
p
o
w
er
s
y
s
te
m
h
as
b
ee
n
co
n
s
id
er
ed
an
d
s
h
o
w
t
h
e
m
aj
o
r
ad
v
an
tag
es o
f
th
e
p
r
o
p
o
s
ed
P
I
D
co
n
tr
o
ller
d
esig
n
m
et
h
o
d
.
C
a
s
e
s
tud
y
1
:
A
s
i
n
g
le
-
ar
ea
L
F
C
p
o
w
er
s
y
s
te
m
w
i
th
n
o
n
-
r
eh
ea
ted
th
er
m
a
l
tu
r
b
i
n
e
(
NR
T
T
)
[
2
1
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co
n
s
id
er
ed
w
it
h
th
e
f
o
llo
w
in
g
p
ar
a
m
eter
s
120
p
k
,
20
p
t
,
3
.
0
t
t
,
08
.
0
g
t
,
R
=2
.
4
.
T
h
e
d
esire
d
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et
-
p
o
in
t
an
d
lo
ad
d
is
t
u
r
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an
ce
tr
a
n
s
f
er
f
u
n
ctio
n
m
o
d
el
i
s
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n
s
i
d
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ed
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ith
T
=0
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1
8
,
n
=3
.
T
h
e
p
r
o
p
o
s
ed
s
et
-
p
o
in
t
P
I
D
c
o
n
tr
o
ller
is
o
b
tain
ed
a
s
K
c1
(s
)
=
0
.
1
7
2
8
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.
7
8
7
0
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.
1
4
1
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s
an
d
lo
ad
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d
is
tu
r
b
an
ce
P
I
D
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n
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o
ller
is
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b
tain
ed
as
K
c2
(s
)
=
3
.
4
0
0
1
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.
0
8
3
5
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.
5
1
8
7
s
.
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h
e
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ad
d
e
m
an
d
∆P
d
=0
.
0
1
p
.
u
.
at
t=0
s
e
c
is
ap
p
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in
L
FC
p
o
w
er
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y
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m
to
v
er
if
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t
h
e
p
er
f
o
r
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an
ce
o
f
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
.
T
h
e
f
r
eq
u
e
n
c
y
r
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g
u
la
tio
n
o
f
t
h
e
p
r
o
p
o
s
ed
P
I
D
co
n
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o
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as
s
h
o
w
n
i
n
Fig
u
r
e
4
an
d
it
s
co
m
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r
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a
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o
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h
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p
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m
et
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d
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m
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ar
ed
w
it
h
t
h
at
o
f
p
r
ev
ale
n
t
d
esi
g
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e
d
tech
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iq
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e
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s
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ch
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s
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n
w
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d
P
an
[
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1
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,
P
a
d
h
an
an
d
M
aj
h
i
[
2
0
]
,
T
an
[
1
1
]
.
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h
e
d
etailed
an
al
y
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is
o
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s
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tu
d
y
1
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g
i
v
e
n
i
n
T
ab
le
1
.
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h
e
s
i
m
u
latio
n
r
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lt
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o
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ca
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e
s
tu
d
y
1
r
ev
ea
l
th
at
th
e
f
r
eq
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y
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e
v
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(
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,
th
e
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teg
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s
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r
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E
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d
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ettli
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ti
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e
(
t
s
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e
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m
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co
m
p
ar
ed
to
An
w
ar
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d
P
an
[
2
1
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,
P
ad
h
an
an
d
Ma
j
h
i
[
2
0
]
,
T
an
[
1
1
]
.
T
h
e
p
er
ce
n
tag
e
i
m
p
r
o
v
e
m
en
t
o
f
p
ea
k
v
alu
e
w
.
r
.
t T
an
is
as s
h
o
w
n
in
T
ab
le
1
m
ea
s
u
r
ed
w
ith
t
h
e
g
iv
en
f
o
r
m
u
la
a
s
(
)
(
)
(
)
(
3
9
)
T
o
an
al
y
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e
s
,
th
e
r
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b
u
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tn
e
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s
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o
s
ed
PID
co
n
tr
o
ller
,
-
5
0
%
p
ar
am
e
ter
v
ar
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n
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n
k
p
an
d
t
p
o
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n
o
m
i
n
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p
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t
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o
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el
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d
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v
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p
er
tu
r
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ed
p
lan
t
is
s
h
o
w
n
i
n
Fig
u
r
e
5.
T
h
e
m
a
x
i
m
u
m
s
en
s
iti
v
it
y
i
s
d
ef
i
n
ed
as
)
(
)
(
1
1
m
a
x
2
0
j
M
j
K
M
n
c
s
.
T
h
e
l
o
w
est
v
al
u
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o
f
M
s
in
d
icate
s
t
h
e
r
o
b
u
s
tn
es
s
o
f
th
e
s
y
s
te
m
.
Fig
u
r
e
4
.
Fre
q
u
en
c
y
d
e
v
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n
r
esp
o
n
s
e
f
o
r
ca
s
e
s
tu
d
y
1
w
it
h
n
o
m
i
n
al
p
lan
t
Fig
u
r
e
5
.
Fre
q
u
en
c
y
d
e
v
iatio
n
r
esp
o
n
s
e
f
o
r
ca
s
e
s
tu
d
y
1
w
it
h
-
50%
v
ar
iatio
n
s
i
n
p
k
an
d
p
t
T
ab
le
1
.
C
o
m
p
ar
ativ
e
p
er
f
o
r
m
an
ce
o
f
ca
s
e
s
tu
d
y
1
M
e
t
h
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d
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p2
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(
x
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3
)
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mp
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o
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a
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t
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c
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l
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(
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1
0
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c
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A
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w
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n
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1
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2
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0
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7
1
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4
9
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3
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4
4
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1
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3
4
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P
a
d
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i
[
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6
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T
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n
[
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1
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0
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3
0
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1
8
3
1
.
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4
1
3
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4
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3
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1
5
.
8
C
a
s
e
s
tud
y
2
:
A
s
in
g
le
-
ar
ea
th
er
m
a
l
p
o
w
er
s
y
s
te
m
w
it
h
R
e
-
h
ea
ted
tu
r
b
i
n
e
(
R
T
D)
[
2
1
]
h
as
b
ee
n
co
n
s
id
er
ed
w
it
h
t
h
e
f
o
llo
w
i
n
g
p
ar
am
eter
s
as g
i
v
e
n
b
y
120
p
k
,
20
p
t
,
3
.
0
t
t
,
08
.
0
g
t
,
R
=2
.
4
,
2
.
4
r
t
an
d
c
=
0
.
3
5
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:
2
0
8
8
-
8708
P
a
r
a
llel c
o
n
tr
o
l str
u
ctu
r
e
s
ch
eme
fo
r
lo
a
d
fr
eq
u
en
cy
co
n
tr
o
ller
d
esig
n
u
s
in
g
d
ir
ec
t syn
th
es…
(
A
n
a
n
d
K
u
ma
r
)
55
T
h
e
d
esire
d
s
et
-
p
o
i
n
t
a
n
d
lo
a
d
d
is
tu
r
b
an
ce
tr
an
s
f
er
f
u
n
ctio
n
m
o
d
el
is
co
n
s
id
er
ed
w
it
h
T
=0
.
1
5
,
n
=3
.
T
h
e
p
r
o
p
o
s
ed
s
et
-
p
o
in
t P
I
D
co
n
tr
o
ller
is
o
b
tain
ed
as K
c1
(
s
)
=
0
.
2
8
6
4
+0
.
9
4
4
4
/s
+0
.
3
2
1
1
s
an
d
lo
ad
-
d
is
t
u
r
b
an
ce
P
I
D
co
n
tr
o
ller
is
o
b
tain
ed
as
K
c2
(
s
)
=
8
.
1
3
9
+
1
9
.
0
3
/s
+1
.
0
9
2
1
s
.
T
h
e
lo
ad
d
em
a
n
d
∆P
d
=0
.
0
1
p
.
u
.
MW
at
t=0
s
ec
is
ap
p
lied
in
L
FC
p
o
w
er
s
y
s
te
m
to
ass
u
r
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
.
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h
e
f
r
eq
u
en
c
y
r
eg
u
lat
io
n
o
f
t
h
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p
r
o
p
o
s
ed
PI
D
co
n
tr
o
ller
is
as
s
h
o
w
n
in
Fig
u
r
e
6
an
d
its
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m
p
ar
ati
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er
f
o
r
m
a
n
ce
o
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p
r
o
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m
et
h
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d
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m
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ar
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w
ith
t
h
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o
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r
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a
len
t
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e
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ig
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iq
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e
s
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ch
a
s
A
n
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ar
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an
[
2
1
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ad
h
an
an
d
Ma
j
h
i
[
2
0
]
an
d
T
an
[
1
1
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.
T
h
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etailed
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al
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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1
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3
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4
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2
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3
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35
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3
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07
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3
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5
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4
:
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15
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375
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4
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085
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T
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14
13
12
t
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.
0
4
3
2
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.