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ce
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[
1
]
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[
2
]
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ce
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[
3
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,
[
4
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P
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[
5
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,
[
6
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.
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u
r
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1
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[
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itio
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ased
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[
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[
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1
4
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P
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[
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Sev
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[
1
6
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,
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h
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(
A
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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RE
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ased
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Dep
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3
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m
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e
M
A
T
L
A
B
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en
v
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u
r
e
2
ill
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ate
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s
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ct
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r
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o
d
el
in
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A
T
L
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L
I
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u
r
e
2
.
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er
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o
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P
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B
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A
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AB
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UL
I
NK
2.
3.
En
er
g
y
m
a
na
g
e
m
e
nt
s
t
ra
t
eg
y
(
E
M
S)
T
h
e
E
MS
is
r
esp
o
n
s
ib
le
f
o
r
d
ec
id
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i
n
w
h
ich
m
o
d
e
th
at
th
e
b
o
at
is
o
p
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g
.
F
ig
u
r
e
3
s
h
o
w
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v
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p
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d
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t
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p
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s
ed
E
MS
to
co
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l
th
e
d
is
tr
ib
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tio
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o
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p
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w
er
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m
o
n
g
s
t
t
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n
t
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ar
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b
r
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lev
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Fig
u
r
e
3
.
Op
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m
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es o
f
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MS
3.
RE
SU
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AND
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I
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.
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3
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1
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Fo
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I
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I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
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m
p
E
n
g
,
Vo
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8
,
No
.
3
,
J
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n
e
2
0
1
8
:
1
8
2
2
–
1829
1828
4.
CO
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B
m
o
d
el
b
o
at
s
u
b
s
y
s
te
m
s
i
n
ter
m
s
o
f
E
S
S c
u
r
r
en
t,
E
S
S
v
o
ltag
e,
E
SS
p
o
w
er
,
E
SS
SO
C
,
m
o
to
r
/g
e
n
er
ato
r
s
p
ee
d
an
d
to
r
q
u
e,
b
o
at
s
p
ee
d
an
d
f
o
r
ce
an
d
p
r
o
p
eller
s
p
ee
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an
d
to
r
q
u
e
ar
e
w
it
h
i
n
r
ea
s
o
n
ab
le
an
d
p
r
ed
ictab
le
r
an
g
e
o
f
ac
t
u
al
t
y
p
ical
b
eh
a
v
io
r
o
f
P
HE
V.
T
h
e
co
m
p
o
n
en
t
s
o
f
t
h
e
b
o
at
s
u
b
s
y
s
te
m
s
ar
e
s
u
itab
l
y
s
ize
d
as
t
h
e
v
eh
icle
is
ac
co
m
p
lis
h
ed
o
f
ac
h
ie
v
in
g
p
er
f
o
r
m
an
ce
.
I
n
p
r
ev
io
u
s
d
is
cu
s
s
io
n
,
it c
a
n
b
e
co
n
clu
d
e
d
th
at
r
esu
lt
s
o
f
t
h
e
P
HE
R
B
m
o
d
el
ar
e
co
r
r
ec
t.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
e
au
th
o
r
s
w
o
u
ld
li
k
e
to
b
e
o
b
lig
ed
to
Un
iv
er
s
iti
M
ala
y
s
ia
T
er
en
g
g
a
n
u
(
UM
T
)
f
o
r
UM
T
Sch
o
lar
s
h
ip
,
Min
i
s
tr
y
o
f
E
d
u
ca
tio
n
Ma
l
a
y
s
ia
f
o
r
p
r
o
v
id
in
g
f
in
a
n
cial
as
s
is
tan
ce
u
n
d
er
F
R
GS
(
5
9
3
5
3
)
g
r
an
t
an
d
Sc
h
o
o
l
o
f
Oce
a
n
E
n
g
in
e
er
in
g
,
UM
T
f
o
r
all
t
h
eir
tec
h
n
ica
l
a
n
d
r
esear
ch
s
u
p
p
o
r
t
f
o
r
th
is
w
o
r
k
to
b
e
s
u
cc
e
s
s
f
u
ll
y
co
m
p
le
te.
RE
F
E
R
E
NC
E
S
[1
]
J.
S
.
No
r
b
a
k
y
a
h
,
W
.
H.
A
ti
q
,
A
.
R.
S
a
li
sa
,
2
0
1
5
,
“
Co
m
p
o
n
e
n
t
S
izin
g
in
P
H
ERB
P
o
w
e
rtrain
Us
in
g
P
K
Driv
in
g
c
y
c
le
”,
J
o
u
rn
a
l
o
f
S
c
ien
ti
fi
c
Res
e
a
rc
h
a
n
d
De
v
e
lo
p
me
n
t
,
v
o
l
.
2
,
n
o
.
12
,
p
p
.
39
-
42
.
[2
]
K.
Do
m
in
ik
,
H.
Ch
ris
a
n
d
R.
Ay
m
e
ric
,
2008
,
“
Im
p
a
c
t
o
f
Co
m
p
o
n
e
n
t
S
ize
o
n
P
lu
g
-
In
Hy
b
rid
V
e
h
icle
En
e
rg
y
Co
n
su
m
p
ti
o
n
Us
in
g
G
lo
b
a
l
Op
ti
m
iz
a
ti
o
n
”,
T
h
e
W
o
rld
E
lec
tric V
e
h
icle
J
o
u
rn
a
l
,
v
ol
.
2
,
n
o
.
2.
[3
]
J.
S
.
No
r
b
a
k
y
a
h
,
W
.
H.
A
ti
q
,
A
.
R.
S
a
li
sa
,
2
0
1
5
,
P
o
w
e
rtrain
M
a
in
Co
m
p
o
n
e
n
ts
S
izi
n
g
Of
P
HERB
Us
in
g
KL
Riv
e
r
Driv
in
g
C
y
c
le
”
,
AR
PN
J
o
u
rn
a
l
o
f
En
g
in
e
e
rin
g
a
n
d
Ap
p
li
e
d
S
c
ien
c
e
s
,
v
o
l.
10
,
n
o
.
18
,
p
p
.
8
5
0
7
-
8
5
1
0
.
[4
]
M
.
Z.
Da
u
d
,
K.
Z.
Kin
,
J.
S
.
No
r
b
a
k
y
a
h
,
A
.
R.
S
a
li
sa
,
2015
,
“
A
n
Op
ti
m
a
l
El
e
c
tri
c
M
a
c
h
in
e
Co
n
tro
l
S
y
ste
m
De
sig
n
Us
e
d
In
P
lu
g
-
In
Hy
b
rid
El
e
c
tri
c
Bo
a
t
”,
AR
PN
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
rin
g
a
n
d
A
p
p
l
ied
S
c
ien
c
e
s
,
v
o
l.
10
,
n
o
.
22
,
p
p
.
1
0
7
0
3
-
1
0
7
0
8
.
[5
]
J.
S
.
No
rb
a
k
y
a
h
,
W
.
H.
A
ti
q
,
A
.
R.
S
a
li
sa
,
2
0
1
5
,
“
Im
p
a
c
t
Co
m
p
o
n
e
n
t
S
izin
g
o
n
P
HERB
P
o
w
e
rtr
a
in
u
s
in
g
T
a
sik
Ke
n
y
ir
Dri
v
in
g
C
y
c
le
”
,
Au
stra
li
a
n
J
o
u
r
n
a
l
o
f
Ba
sic
a
n
d
A
p
p
li
e
d
S
c
ien
c
e
s
,
v
o
l.
9
,
n
o
.
25
,
p
p
.
56
-
5
9
.
[6
]
J.
S
.
N
o
rb
a
k
y
a
h
,
W
.
H.
A
ti
q
,
A
.
R.
S
a
li
sa
,
2
0
1
5
,
“
Co
m
p
o
n
e
n
ts
S
izin
g
f
o
r
P
HERB
P
o
w
e
rtrai
n
u
sin
g
S
T
Riv
e
r
Driv
in
g
C
y
c
le
”
,
2
0
1
5
I
EE
E
I
n
t
e
rn
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
C
o
mp
u
ter
,
Co
mm
u
n
ica
ti
o
n
,
a
n
d
Co
n
t
ro
l
T
e
c
h
n
o
l
o
g
y
(
I4
CT
2
0
1
5
)
K
u
c
h
i
n
g
,
S
a
ra
wa
k
,
M
a
la
y
sia
.
[7
]
B.
K.
P
o
w
e
ll
,
K.
E.
Ba
il
e
y
a
n
d
S
.
R.
Cik
a
n
e
k
,
1
9
9
8
,
“
Dy
n
a
m
ic
M
o
d
e
li
n
g
a
n
d
C
o
n
tr
o
l
o
f
H
y
b
rid
El
e
c
tri
c
V
e
h
icle
P
o
w
e
rtrain
S
y
ste
m
s
”
,
IEE
E
Co
n
t
ro
l
S
y
ste
ms
,
p
p
.
2
7
2
-
1
7
0
8
.
[8
]
L
.
B.
K
a
re
n
,
E.
M
e
h
rd
a
d
a
n
d
K.
P
re
y
a
s
,
1999
,
“
A
M
a
tl
a
b
-
Ba
se
d
M
o
d
e
li
n
g
a
n
d
S
im
u
latio
n
P
a
c
k
a
g
e
f
o
r
El
e
c
tri
c
a
n
d
H
y
b
rid
El
e
c
tri
c
V
e
h
icle
De
sig
n
”,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Veh
icu
l
a
r
T
e
c
h
n
o
l
o
g
y
,
v
o
l.
4
8
,
n
o
.
6
,
p
p
.
1
7
7
0
-
1
7
7
8
.
[9
]
S
.
R.
Cik
a
n
e
k
,
K.
E.
Ba
il
e
y
,
B.
K
.
P
o
w
e
ll
,
1997
,
“
P
a
ra
ll
e
l
Hy
b
rid
El
e
c
tri
c
V
e
h
icle
D
y
n
a
m
ic
M
o
d
e
l
a
n
d
P
o
w
e
rtrain
Co
n
tr
o
l
”
,
Pr
o
c
e
e
d
in
g
s
o
f
t
h
e
Ame
ric
a
n
Co
n
tro
l
Co
n
fer
e
n
c
e
,
Al
b
u
q
u
e
rq
u
e
,
Ne
w
M
e
x
ico
.
[1
0
]
R.
G
h
o
rb
a
n
i,
E.
Bi
b
e
a
u
,
P
.
Zan
e
t
e
l
,
A
.
Ka
rli
s
,
2
0
0
7
,
“
M
o
d
e
li
n
g
a
n
d
S
im
u
latio
n
o
f
a
S
e
ries
P
a
ra
ll
e
l
H
y
b
rid
El
e
c
tri
c
V
e
h
icle
Us
in
g
RE
V
S
”
,
2
0
0
7
Ame
ric
a
n
Co
n
tro
l
Co
n
fer
e
n
c
e
,
Ne
w
Y
o
rk
,
NY
,
p
p
.
4
4
1
3
-
4
4
1
8
.
[1
1
]
L
.
Ip
p
o
li
o
t,
V
.
L
o
ia
,
P
.
S
ian
o
,
2
0
0
3
,
“
Ex
ten
d
e
d
F
u
z
z
y
C
-
M
e
a
n
s
a
n
d
G
e
n
e
ti
c
A
l
g
o
rit
h
m
s
to
Op
ti
m
ize
P
o
w
e
r
F
lo
w
M
a
n
a
g
e
m
e
n
t
in
Hy
b
rid
El
e
c
tri
c
V
e
h
icle
s
”
,
Fu
zz
y
Op
ti
miza
ti
o
n
a
n
d
De
c
isio
n
M
a
k
i
n
g
,
v
o
l.
2
,
p
p
.
359
-
3
7
4
.
[1
2
]
P
.
Bo
w
les
,
H.
P
e
n
g
,
X
.
Zh
a
n
g
,
2
0
0
0
,
“
En
e
rg
y
M
a
n
a
g
e
m
e
n
t
in
a
P
a
ra
ll
e
l
H
y
b
rid
El
e
c
tri
c
V
e
h
icle
w
it
h
a
Co
n
ti
n
u
o
u
sly
V
a
riab
le T
ra
n
sm
iss
io
n
”
,
Ame
ric
a
n
Co
n
tro
l
Co
n
fer
e
n
c
e
Ch
ica
g
o
,
Ill
i
n
o
is,
J
u
n
e
2
0
0
0
.
[1
3
]
Jo
n
g
-
S
e
o
b
W
o
n
,
R.
L
a
n
g
a
ri
,
M
.
Eh
sa
n
,
2
0
0
5
,
“
A
n
En
e
rg
y
M
a
n
a
g
e
m
e
n
t
a
n
d
Ch
a
rg
e
S
u
sta
in
i
n
g
S
trate
g
y
f
o
r
a
P
a
ra
ll
e
l
Hy
b
rid
V
e
h
icle
w
it
h
C
VT
”,
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
c
o
n
tro
l
sy
ste
m t
e
c
h
n
o
lo
g
y
,
v
o
l.
1
3
,
n
o
.
2
,
M
a
rc
h
2
0
0
5
.
[1
4
]
D.
He
rm
a
n
c
e
,
S
.
S
a
sa
k
i
,
1
9
9
8
,
“
H
y
b
rid
e
le
c
tri
c
v
e
h
icle
s tak
e
th
e
stre
e
ts
”,
IEE
E
S
p
e
c
tru
m
,
p
p
.
4
8
5
2
.
[1
5
]
C.
Bo
u
rn
e
,
P
.
F
a
it
h
f
u
ll
,
C.
Qu
ig
le
y
,
1996
,
“
Im
p
le
m
e
n
ti
n
g
Co
n
tr
o
l
o
f
a
P
a
ra
ll
e
l
H
y
b
rid
V
e
h
icle
”,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Veh
icle
De
sig
n
,
v
o
l
.
17
,
n
o
.
5
-
6
.
p
p
.
6
4
9
-
6
6
2
.
[1
6
]
K.
L
.
Bu
lt
e
r,
M
.
Eh
sa
n
i
,
P
.
Ka
m
a
th
,
1
9
9
9
,
“
A
M
a
tl
a
b
–
b
a
se
d
m
o
d
e
li
n
g
a
n
d
sim
u
latio
n
p
a
c
k
a
g
e
f
o
r
e
lec
tri
c
a
n
d
h
y
b
rid
e
lec
tri
c
v
e
h
icle
d
e
sig
n
”
,
IEE
E
T
ra
n
sa
c
ti
o
n
o
f
Veh
icu
l
a
r T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
4
8
,
n
o
.
6.
[1
7
]
B.
K.
W
ip
k
e
,
1
9
9
9
,
“
A
DV
IS
OR
2
.
1
:
A
Us
e
r
-
f
rien
d
l
y
A
d
v
a
n
c
e
d
P
o
w
e
rtrain
S
im
u
latio
n
u
si
n
g
a
Co
m
b
in
e
d
Ba
c
k
wa
rd
/f
o
r
w
a
rd
A
p
p
ro
a
c
h
”
,
IE
EE
T
ra
n
sa
c
ti
o
n
s
o
n
Veh
icu
l
a
r T
e
c
h
n
o
l
o
g
y
,
v
o
l.
4
8
,
p
p
.
1
7
5
1
-
1
7
6
1
.
[1
8
]
S
.
A
b
d
u
l
Ra
h
m
a
n
,
N.
Zh
a
n
g
,
J.
Zh
u
,
2
0
0
8
,
“
M
o
d
e
li
n
g
a
n
d
S
i
m
u
latio
n
o
f
a
n
En
e
rg
y
M
a
n
a
g
e
m
e
n
t
S
y
ste
m
f
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