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r
e
1
.
Ma
in
s
i
m
p
le
s
tr
u
ctu
r
e
f
o
r
s
h
u
n
t c
o
m
p
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n
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ato
r
s
(
a)
(
b
)
(
c)
Fig
u
r
e
2
.
Dif
f
er
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n
t
t
h
r
ee
-
p
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a
s
e
4
-
w
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e
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y
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ies
;
(
a)
m
id
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p
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in
t c
ap
.
t
y
p
o
lo
g
y
,
(
b
)
3
H
-
b
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id
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ty
p
o
lo
g
y
a
n
d
(
c)
4
-
L
I
t
y
p
o
lo
g
y
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
.
4
,
A
u
g
u
s
t 2
0
2
1
:
2
7
6
8
-
2778
2770
As
o
b
v
io
u
s
i
n
F
ig
u
r
e
2
(
a)
th
e
MP
C
t
y
p
o
lo
g
y
,
w
h
er
e
th
e
n
e
u
tr
al
p
o
in
t
is
co
n
n
ec
ted
b
et
w
ee
n
t
h
e
t
w
o
ca
p
ac
ito
r
s
.
E
v
en
t
h
o
u
g
h
,
it
h
as
th
e
le
s
s
n
u
m
b
er
s
o
f
s
w
i
tch
es,
o
n
th
e
o
t
h
er
s
id
e,
it
r
eq
u
e
s
ts
a
h
ig
h
D
C
li
n
k
ca
p
ac
ito
r
th
an
an
o
t
h
er
t
w
o
t
y
p
o
lo
g
ies.
A
ls
o
,
h
u
g
e
a
n
d
p
r
iv
at
e
ca
p
ac
ito
r
s
ar
e
cr
u
cial
to
m
ai
n
tai
n
a
lo
w
v
o
ltag
e
r
ip
p
les
m
ai
n
l
y
w
h
e
n
t
h
er
e
is
ex
tr
ao
r
d
in
ar
y
n
e
u
tr
al
cu
r
r
en
t
.
T
h
e
s
ec
o
n
d
t
y
p
o
lo
g
y
(
th
r
ee
H
-
b
r
id
g
e
in
v
er
ter
)
o
b
v
io
u
s
i
n
Fi
g
u
r
e
2
(
b
)
.
T
h
e
p
r
o
b
lem
o
f
t
h
i
s
t
y
p
o
lo
g
y
,
th
a
t
i
t
h
a
s
a
g
r
ea
ter
n
u
m
b
er
o
f
s
w
i
t
ch
es
th
a
n
th
e
o
th
er
tw
o
t
y
p
o
lo
g
ies
a
n
d
n
ee
d
s
f
o
r
is
o
latio
n
tr
a
n
s
f
o
r
m
er
s
.
T
h
e
f
o
u
r
-
le
g
i
n
v
er
ter
(
4
L
I
)
d
is
p
la
y
e
d
in
Fig
u
r
e
2
(
c)
h
as
n
o
t
in
v
o
l
v
es
a
n
e
x
tr
ao
r
d
in
ar
y
v
o
ltag
e
as
t
h
e
MP
C
o
n
e,
an
d
h
as
n
o
ad
d
itio
n
al
li
n
k
ca
p
ac
ito
r
.
A
ls
o
,
n
eit
h
er
n
ee
d
f
o
r
is
o
latio
n
tr
an
s
f
o
r
m
e
r
n
o
r
a
g
r
ea
t
er
n
u
m
b
er
o
f
s
witch
es
as
i
n
t
h
r
ee
H
-
b
r
id
g
e
t
y
p
o
lo
g
ies.
A
ls
o
h
a
s
s
m
al
l
w
eig
h
t
a
n
d
s
ize
co
m
p
ar
in
g
to
t
h
is
t
y
p
o
lo
g
y
.
B
u
t
t
h
i
s
t
y
p
o
lo
g
y
r
eq
u
e
s
ts
d
ev
ice
s
w
it
h
a
h
i
g
h
s
w
itc
h
i
n
g
r
atin
g
esp
ec
iall
y
i
n
t
h
e
f
o
u
r
t
h
leg
co
m
p
ar
i
n
g
to
t
h
e
o
th
er
t
y
p
o
lo
g
ies [
4
]
.
I
n
t
h
is
p
a
p
er
f
o
r
ca
p
tu
r
in
g
t
h
e
n
eu
tr
al
cu
r
r
en
t
cr
ea
ted
f
r
o
m
t
h
e
u
n
b
a
lan
ce
d
/n
o
n
li
n
ea
r
lo
ad
s
in
4
-
wir
e
s
y
s
te
m
s
an
d
to
en
h
an
ce
t
h
e
p
o
w
er
q
u
al
it
y
i
n
th
e
g
r
id
a
4
L
I
b
ased
o
n
a
3
D
-
SVM
is
u
s
ed
.
A
4
L
I
m
o
d
elli
n
g
b
ased
o
n
a
3
D
-
SVM
s
ch
e
m
e
is
p
r
o
p
o
s
ed
in
[
5
]
.
3.
CO
NT
RO
L
T
E
CH
NI
Q
U
E
S
F
O
R
4
-
L
AP
F
T
h
er
e
ar
e
m
an
y
m
o
r
e
co
n
tr
o
l
t
ec
h
n
iq
u
es
u
s
ed
f
o
r
4
-
L
A
P
Fs
w
h
et
h
er
in
a
-
b
-
c
o
r
α
-
β
-
γ
s
tr
u
ctu
r
e
b
ased
o
n
in
s
ta
n
ta
n
eo
u
s
r
ea
ctiv
e
p
o
w
er
(
I
R
P
)
th
eo
r
y
o
r
th
e
d
q
0
co
n
tr
o
l
tech
n
iq
u
e
[
6
]
.
T
h
e
f
u
r
t
h
er
v
ital
a
n
d
h
ab
itu
al
l
y
u
s
ed
is
I
R
P
th
eo
r
y
w
h
ic
h
is
ap
p
lied
w
ell
f
o
r
r
eg
u
lato
r
y
a
n
d
d
esig
n
in
g
t
h
r
ee
-
p
h
ase
A
P
F
s
tr
u
ctu
r
e
s
as
in
[
6
]
an
d
f
o
r
4
-
w
ir
e
s
tr
u
ct
u
r
es
as
in
[
7
]
.
I
R
P
th
eo
r
y
u
s
e
d
to
f
o
r
m
t
h
e
r
ef
er
e
n
ce
cu
r
r
en
ts
v
al
u
e
s
an
d
s
h
ap
e
s
th
at
o
u
g
h
t
to
in
j
ec
t
in
to
th
e
n
e
t
w
o
r
k
v
ia
t
h
e
4
L
I
to
tr
ea
t
t
h
e
d
if
f
ic
u
lt
ies
c
r
ea
ted
f
r
o
m
th
e
u
n
b
alan
ce
d
an
d
n
o
n
-
lin
ea
r
lo
ad
s
.
T
h
ese
ca
lcu
lated
b
y
I
R
P
th
eo
r
y
ar
e
co
m
p
ar
ed
t
o
ac
tu
al
cu
r
r
en
t
s
o
f
co
m
p
e
n
s
at
o
r
.
T
h
e
p
r
o
d
u
ce
d
er
r
o
r
m
a
y
b
e
tr
ea
ted
b
y
m
o
r
e
co
n
tr
o
ller
s
as
H
y
s
ter
esis
c
u
r
r
en
t
co
n
tr
o
ller
,
an
d
co
n
v
e
n
tio
n
al
P
I
-
co
n
tr
o
ller
b
ased
o
n
3
-
D
SVM
a
s
in
[
8
]
,
R
esu
lt
o
f
t
h
e
g
r
o
w
t
h
o
f
t
h
e
p
r
o
p
o
r
tio
n
al
in
teg
r
a
l
d
er
iv
ativ
e
(
P
I
D)
co
n
tr
o
ller
.
T
h
er
e
ar
e
f
u
r
th
er
t
h
a
n
f
o
u
r
h
u
n
d
r
ed
tu
n
i
n
g
r
u
le
s
h
av
e
b
ee
n
estab
lis
h
ed
.
Op
e
n
lo
o
p
[
9
,
1
0
]
,
an
d
clo
s
ed
lo
o
p
s
tep
m
e
th
o
d
[
1
1
]
,
s
tep
o
r
i
m
p
u
ls
e
r
esp
o
n
s
e
s
id
e
n
ti
f
ic
atio
n
m
et
h
o
d
[
1
2
]
.
P
ar
am
eter
esti
m
atio
n
s
g
r
ap
h
icall
y
o
f
a
n
id
en
ti
f
ied
h
i
g
h
er
co
m
m
an
d
p
r
o
ce
s
s
[
1
3
]
.
A
l
s
o
,
th
e
p
r
o
ce
s
s
id
en
ti
f
icatio
n
m
et
h
o
d
in
d
is
cr
ete
ti
m
e
[
1
4
,
1
5
]
.
M
o
r
eo
v
er
,
Mo
d
er
n
in
telli
g
en
t
tech
n
iq
u
e
s
as
Fu
zz
y
[
1
6
-
2
0
]
an
d
n
eu
r
al
[
2
1
]
ar
e
u
s
ed
f
o
r
d
i
p
p
in
g
th
e
p
r
o
ce
d
u
r
e
p
ar
am
et
er
d
ep
en
d
en
cy
f
o
r
co
n
tr
o
ller
d
esig
n
an
d
r
ef
in
in
g
th
e
co
n
tr
o
ller
r
esp
o
n
s
e.
T
h
e
y
ar
e
co
n
s
id
er
ed
as
s
i
m
p
le
to
o
ls
f
o
r
t
h
e
g
o
v
er
n
i
n
g
o
f
co
m
p
licated
p
r
o
ce
s
s
es.
A
d
ap
tiv
e
co
n
tr
o
l a
ls
o
ad
v
a
n
ce
d
an
d
ap
p
lied
to
d
ev
elo
p
th
e
PID
r
esp
o
n
s
e
b
ase
d
o
n
d
ec
r
ea
s
i
n
g
th
e
e
f
f
ec
t o
f
t
h
e
m
et
h
o
d
p
ar
am
eter
v
ar
ia
n
t t
h
r
o
u
g
h
co
n
tr
o
l p
r
o
ce
s
s
[
2
2
]
.
Ov
er
th
e
las
t
d
ec
ad
e,
to
a
d
ap
t
th
e
P
I
D
r
esp
o
n
s
e,
a
g
r
ea
t
d
ea
l
o
f
atten
tio
n
h
as
b
ee
n
p
ai
d
to
u
s
in
g
in
telli
g
e
n
t
tech
n
iq
u
e
s
[
2
3
]
.
H
y
b
r
id
co
n
tr
o
ller
s
h
a
v
e
also
b
ee
n
u
s
ed
to
d
ev
elo
p
th
e
P
I
D
r
e
s
p
o
n
s
e.
I
n
th
i
s
p
ap
er
a
p
r
o
p
o
s
ed
tech
n
iq
u
e
b
ased
o
n
th
e
s
i
m
p
l
if
ied
u
n
i
v
er
s
al
i
n
t
e
llig
e
n
t
(
SUI
)
P
I
-
co
n
tr
o
ller
[
2
4
]
is
p
r
esen
ted
an
d
ap
p
lied
f
o
r
4
-
L
A
P
F
as
an
ap
p
l
icatio
n
th
e
n
th
e
r
es
u
lt
s
ar
e
co
m
p
ar
ed
w
it
h
co
n
v
e
n
tio
n
al
P
I
-
co
n
tr
o
ller
to
d
i
s
p
lay
its
ef
f
ec
ti
v
el
y
.
3
.
1
.
T
he
pro
po
s
ed
co
ntr
o
ller
T
h
e
u
s
ed
S
UI
P
I
-
co
n
tr
o
ller
c
o
n
s
id
er
s
a
s
a
tr
ad
itio
n
al
P
I
in
ad
d
itio
n
a
g
en
er
al
P
I
D
co
n
s
t
an
t,
w
h
ic
h
lead
s
to
n
o
n
ee
d
f
o
r
p
r
ec
is
e
d
esig
n
a
n
d
also
n
o
t
r
eq
u
ir
e
m
o
d
elin
g
f
o
r
th
e
co
n
tr
o
lled
s
y
s
te
m
.
C
o
n
s
ta
n
t
s
o
f
SUI
co
n
tr
o
ller
ar
e
th
e
ab
s
o
l
u
te
v
alu
es
o
f
er
r
o
r
s
an
d
t
h
eir
i
n
t
eg
r
atio
n
o
n
l
y
f
o
r
P
I
-
co
n
tr
o
ll
er
.
So
,
th
e
o
f
f
er
ed
co
n
tr
o
ller
h
as
s
ev
er
al
ad
v
an
t
ag
es
l
ik
e:
m
o
r
e
s
i
m
p
licit
y
,
e
as
y
i
n
i
m
p
le
m
en
tatio
n
,
v
er
y
litt
le
er
r
o
r
,
q
u
ick
r
esp
o
n
s
e,
v
er
y
s
m
all
s
tead
y
s
tate
er
r
o
r
,
an
d
n
o
r
eq
u
ir
e
m
en
t
f
o
r
m
o
d
ellin
g
t
h
e
s
y
s
te
m
to
i
m
p
le
m
en
t
th
i
s
co
n
tr
o
ller
.
B
u
t
o
n
t
h
e
o
th
er
s
i
d
e
th
e
p
r
o
b
lem
o
f
d
eter
m
in
i
n
g
t
h
e
g
a
in
s
o
f
co
n
tr
o
ller
d
o
n
e
b
y
tr
ial
-
an
d
-
er
r
o
r
m
et
h
o
d
.
T
h
e
co
n
tr
o
ller
p
r
o
p
o
s
ed
is
s
ee
n
as
a
u
n
i
v
er
s
al
co
n
tr
o
ller
.
I
t
is
s
u
p
er
io
r
to
o
th
er
co
n
tr
o
ller
s
an
d
d
o
es
n
o
t
n
ee
d
eit
h
er
th
e
p
r
o
ce
s
s
n
atu
r
e
o
r
th
e
d
esig
n
p
r
o
ce
s
s
f
o
r
co
n
tr
o
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2777
RE
F
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NC
E
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[1
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M
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C.
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,
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Y.
Da
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5
.
[2
]
Ko
u
z
o
u
A
.
,
M
a
h
m
o
u
d
i
M
.
O
.,
Bo
u
c
h
e
rit
M
.
S
.
,
“
T
h
e
S
p
a
c
e
V
e
c
to
r
M
o
d
u
lati
o
n
P
W
M
Co
n
tro
l
M
e
th
o
d
s
A
p
p
li
e
d
o
n
F
o
u
r
L
e
g
In
v
e
rters
,
”
El
e
c
tri
c
M
a
c
h
in
e
s a
n
d
Driv
e
s,
Dje
lf
a
Un
iv
e
rsi
ty
a
n
d
ENP
A
lg
iers
,
A
lg
e
ria,
p
p
.
2
3
3
-
2
6
2
,
2
0
1
1
.
[3
]
M
.
A
.
P
e
ra
les
e
t
a
l
.
,
“
T
h
re
e
-
d
i
m
e
n
sio
n
a
l
sp
a
c
e
v
e
c
to
r
m
o
d
u
lati
o
n
in
a
b
c
c
o
o
r
d
i
n
a
tes
f
o
rf
o
u
r
-
leg
v
o
lt
a
g
e
so
u
rc
e
c
o
n
v
e
rters
,
”
IEE
E
Po
we
r.
El
e
c
tro
n
.
L
e
tt
.
,
v
o
l.
1
,
n
o
.
4
,
p
p
.
1
0
4
-
1
0
9
,
2
0
0
3
.
[4
]
M.
Zh
a
n
g
,
“
I
n
v
e
stig
a
ti
o
n
o
f
S
w
i
tch
in
g
S
c
h
e
m
e
s
f
o
r
T
h
re
e
p
h
a
se
F
o
u
r
L
e
g
V
o
lt
a
g
e
S
o
u
rc
e
In
v
e
rters
,
”
S
c
h
o
o
l
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ic E
n
g
in
e
e
rin
g
,
Ne
w
c
a
stle
Un
iv
e
rsit
y
,
2
0
1
3
.
[5
]
R.
Zh
a
n
g
,
V
.
H.
P
ra
sa
d
.
,
D.
Bo
r
o
y
e
v
ich
,
a
n
d
F
.
C.
L
e
e
,
“
T
h
re
e
d
im
e
n
sio
n
a
l
sp
a
c
e
v
e
c
to
r
m
o
d
u
lat
io
n
f
o
rf
o
u
r
-
leg
v
o
lt
a
g
e
-
so
u
rc
e
.
c
o
n
v
e
rters
,
”
IEE
E
T
ra
n
s.
P
o
we
r E
lec
tro
n
.
,
v
o
l.
1
7
,
n
o
.
3
,
p
p
.
3
1
4
-
3
2
6
,
2
0
0
2
.
[6
]
H.
A
k
a
g
i,
Y.
Ka
n
a
z
a
w
a
,
A
.
N.
-
I.
T
.
,
“
In
sta
n
ta
n
e
o
u
s
re
a
c
ti
v
e
p
o
w
e
r
c
o
m
p
e
n
sa
to
rs
c
o
m
p
risin
g
sw
it
c
h
in
g
d
e
v
ice
s
wi
th
o
u
ten
e
rg
y
sto
ra
g
e
c
o
m
p
o
n
e
n
ts,”
IEE
E
tra
n
sa
c
ti
o
n
s
o
n
in
d
u
stry
a
p
p
li
c
a
t
io
n
s,
n
o
.
3
,
p
p
.
6
2
5
-
6
3
0
,
1
9
8
4
.
[7
]
M
.
A
re
d
e
s,
J.
Hä
f
n
e
r
,
a
n
d
K.
He
u
m
a
n
n
,
“
T
h
re
e
p
h
a
se
f
o
u
r
-
w
ire
s
h
u
n
t
a
c
ti
v
e
f
il
ter
c
o
n
tro
l
stra
teg
ies
,
”
IEE
E
T
ra
n
s.
Po
we
r E
lec
tro
n
.
,
v
o
l.
1
2
,
n
o
.
2
,
p
p
.
3
1
1
-
3
1
8
,
1
9
9
7
.
[8
]
M
.
M
.
El
-
s
o
to
u
h
y
,
A
.
M
.
Zak
i,
A
.
A
.
M
a
n
so
u
r,
M
.
I.
M
a
re
i,
a
n
d
A
.
A
.
EL
-
S
a
tt
a
r,
“
Ac
ti
v
e
F
il
ter
Ba
se
d
o
n
F
o
u
r
-
L
e
g
In
v
e
rter
a
n
d
P
Q
T
h
e
o
ry
,
”
2
1
st
In
ter
n
a
ti
o
n
a
l
M
id
d
le
Ea
st
Po
we
r
S
y
ste
ms
Co
n
fer
e
n
c
e
(M
EP
CON
),
Ca
iro
,
Eg
y
p
t,
2
0
1
9
,
p
p
.
1
0
5
7
-
1
0
6
2
.
[9
]
R.
S
ip
a
h
i,
S
.
Nic
u
les
c
u
,
C.
T
.
A
b
d
a
ll
a
h
,
W
.
M
ich
iels
a
n
d
K.
G
u
,
“
S
tab
il
it
y
a
n
d
S
tab
i
li
z
a
ti
o
n
o
f
S
y
st
e
m
s
w
it
h
T
i
m
e
De
la
y
,
”
in
IEE
E
Co
n
tro
l
S
y
ste
ms
M
a
g
a
zin
e
,
v
o
l.
3
1
,
n
o
.
1
,
p
p
.
3
8
-
6
5
,
F
e
b
.
2
0
1
1
.
[1
0
]
M
.
A
.
Ke
a
n
e
,
J.
R.
Ko
z
a
a
n
d
M
.
J.
S
tree
ter,
“
A
u
to
m
a
ti
c
s
y
n
t
h
e
s
is
u
sin
g
g
e
n
e
ti
c
p
ro
g
ra
m
m
in
g
o
f
a
n
im
p
ro
v
e
d
g
e
n
e
ra
l
-
p
u
rp
o
se
c
o
n
tro
ll
e
r
f
o
r
in
d
u
strially
re
p
re
se
n
tativ
e
p
lan
ts,
”
Pro
c
e
e
d
in
g
s
2
0
0
2
NAS
A/
Do
D
Co
n
fer
e
n
c
e
o
n
Evo
lva
b
le H
a
rd
wa
re
,
A
lex
a
n
d
ria,
V
A
,
USA
,
2
0
0
2
,
p
p
.
1
1
3
-
1
2
2
.
[1
1
]
K
.
L
iu
p
in
g
W
a
n
g
,
“
A
u
to
m
a
ti
c
T
u
n
in
g
o
f
P
_
I
_
D C
o
n
tr
o
ll
e
rs,
”
in
PI
D Co
n
tro
l
S
y
ste
m De
sig
n
a
n
d
A
u
t
o
ma
ti
c
T
u
n
in
g
u
sin
g
M
AT
L
AB
/S
im
u
li
n
k
,
p
p
.
2
5
9
-
3
0
4
,
2
0
2
0
.
[1
2
]
I.
Ka
y
a
a
n
d
H.
Ce
n
g
iz,
“
Op
ti
m
a
l
tu
n
i
n
g
o
f
P
I/
P
ID
c
o
n
tro
ll
e
rs
f
o
r
in
teg
ra
ti
n
g
p
ro
c
e
ss
e
s
w
it
h
in
v
e
rse
re
sp
o
n
se
,
”
2
1
st
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
S
y
ste
m
T
h
e
o
ry
,
Co
n
tro
l
a
n
d
C
o
mp
u
ti
n
g
(
ICS
T
CC),
2
0
1
7
,
p
p
.
7
1
7
-
7
2
2
.
[1
3
]
Y.
G
h
o
u
l,
K.
I
b
n
T
a
a
rit
a
n
d
M
.
Ks
o
u
ri,
“
S
e
p
a
ra
b
le
id
e
n
ti
f
ica
ti
o
n
o
f
c
o
n
t
in
u
o
u
s
-
ti
m
e
s
y
ste
m
s
h
a
v
in
g
m
u
lt
ip
le
u
n
k
n
o
w
n
ti
m
e
d
e
la
y
s
f
ro
m
s
a
m
p
led
d
a
ta,
”
4
th
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
C
o
n
tr
o
l
E
n
g
i
n
e
e
rin
g
&
In
fo
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
(
CEIT
)
,
2
0
1
6
,
p
p
.
1
-
6
.
[1
4
]
Ra
e
f
A
b
o
e
lsa
u
d
,
A
.
Ib
ra
h
im
,
a
n
d
A
.
G
.
G
a
r
g
a
n
e
e
v
,
“
Re
v
ie
w
o
f
th
re
e
p
h
a
se
in
v
e
rters
c
o
n
tro
l
f
o
r
u
n
b
a
la
n
c
e
d
l
o
a
d
c
o
m
p
e
n
sa
ti
o
n
,
”
In
t
.
J
.
P
o
we
r E
lec
tro
n
.
Dr
ive
S
y
st.,
v
o
l.
1
0
,
n
o
.
1
,
p
p
.
2
4
2
-
2
5
5
,
2
0
1
9
.
[1
5
]
R.
A
b
o
e
lsa
u
d
,
A
.
Ib
ra
h
im
a
n
d
A
.
G
.
Ga
rg
a
n
e
e
v
,
“
Co
m
p
a
ra
ti
v
e
S
tu
d
y
o
f
Co
n
tro
l
M
e
th
o
d
s
f
o
r
P
o
w
e
rQu
a
li
t
y
Im
p
ro
v
e
m
e
n
t
o
f
A
u
to
n
o
m
o
u
s
4
-
L
e
g
In
v
e
rters
,
”
In
ter
n
a
ti
o
n
a
l
Y
o
u
th
C
o
n
fer
e
n
c
e
o
n
R
a
d
i
o
El
e
c
tr
o
n
ics
,
El
e
c
trica
l
a
n
d
Po
we
r E
n
g
i
n
e
e
rin
g
(
RE
EP
E)
,
2
0
1
9
,
p
p
.
1
-
6.
[1
6
]
K
.
H.
R
y
u
e
t
a
l
.,
“
F
re
q
u
e
n
c
y
r
e
sp
o
n
se
m
o
d
e
l
id
e
n
ti
f
ica
ti
o
n
m
e
t
h
o
d
f
o
r
d
isc
re
te
-
ti
m
e
p
ro
c
e
ss
e
s
w
it
h
f
in
a
l
c
y
c
li
c
-
ste
a
d
y
-
sta
te,
”
1
2
th
I
n
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
Co
n
tro
l
,
A
u
to
m
a
ti
o
n
a
n
d
S
y
ste
ms
,
2
0
1
2
,
p
p
.
8
4
0
-
8
4
4
.
[1
7
]
H.
Be
ll
a
trec
h
e
,
M
.
B
o
u
n
e
k
h
la
a
n
d
A
.
T
le
m
ç
a
n
i,
“
Us
in
g
f
u
z
z
y
lo
g
ic
a
n
d
h
y
ste
re
sis
c
u
rre
n
t
c
o
n
tr
o
l
t
o
re
d
u
c
e
h
a
rm
o
n
ics
in
t
h
re
e
lev
e
l
NP
C
sh
u
n
t
a
c
ti
v
e
p
o
w
e
r
f
il
ter,
”
8
th
I
n
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
M
o
d
e
ll
i
n
g
,
I
d
e
n
ti
f
ica
ti
o
n
a
n
d
Co
n
tro
l
(
ICM
IC),
2
0
1
6
,
p
p
.
5
-
9.
[1
8
]
M
.
I.
M
a
re
i,
E.
F
.
El
-
S
a
a
d
a
n
y
a
n
d
M
.
M
.
A
.
S
a
l
a
m
a
,
“
A
No
v
e
l
Co
n
tro
l
S
c
h
e
m
e
f
o
r
S
TAT
COM
u
si
n
g
S
p
a
c
e
V
e
c
to
r
M
o
d
u
latio
n
Ba
se
d
Hy
st
e
re
sis
Cu
rre
n
t
Co
n
tr
o
ll
e
r,
”
1
1
th
I
n
t.
C
o
n
f
.
o
n
Ha
rm
o
n
ics
a
n
d
Qu
a
li
ty
o
f
P
o
we
r
(
ICHQ
P),
2
0
0
4
,
p
p
.
5
8
-
6
5
.
[1
9
]
V.
P
a
rim
a
la,
D.
G
a
n
e
sh
Ku
m
a
r,
V
.
Re
n
u
g
a
d
e
v
i,
“
F
o
u
r
-
L
e
g
S
h
u
n
t
A
c
ti
v
e
P
o
w
e
r
F
il
tf
o
r
P
o
w
e
r
Qu
a
li
t
y
Im
p
ro
v
e
m
e
n
t,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
S
c
ien
c
e
,
E
n
g
in
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
Res
e
a
rc
h
(
IJ
S
ET
R
),
v
o
l.
4
,
n
o
.
2
,
p
p
.
4
1
7
-
4
2
3
,
2
0
1
5
.
[2
0
]
A
.
M
.
F
a
h
m
y
,
A
.
K.
A
b
d
e
lsla
m
,
A
.
A
.
L
o
tfy
,
M
.
Ha
m
a
d
,
a
n
d
A.
Ko
tb
,
“
A
F
o
u
r
L
e
g
S
h
u
n
t
A
c
ti
v
e
P
o
w
e
rF
il
ter
P
re
d
ictiv
e
F
u
z
z
y
L
o
g
ic
Co
n
tro
ll
e
r
f
o
r
L
o
w
-
V
o
lt
a
g
e
Un
b
a
lan
c
e
d
-
L
o
a
d
Distrib
u
ti
o
n
Ne
tw
o
rk
s,
”
J
o
u
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r
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e
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tro
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ics
,
v
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l.
1
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o
.
2
,
p
p
.
5
7
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5
8
7
.
2
0
1
8
.
[2
1
]
L
o
k
m
a
n
H.
H
a
ss
a
n
e
t
a
l
.
,
“
Cu
rre
n
t
sta
te
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f
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ra
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s
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p
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ste
m
m
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it
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c
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ter
n
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o
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rn
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l
o
f
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lec
trica
l
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we
r
&
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e
rg
y
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y
ste
ms
,
v
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l.
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1
,
p
p
.
1
3
4
-
1
4
4
,
2
0
1
3
.
[2
2
]
X
iu
-
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a
n
g
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n
,
Jia
n
-
P
in
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u
n
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L
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g
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a
n
g
,
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A
n
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l
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si
s
a
n
d
d
e
sig
n
o
f
a
d
a
p
ti
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tern
a
l
m
o
d
e
l
c
o
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tro
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f
o
r
u
n
sta
b
le
p
ro
c
e
ss
w
it
h
d
e
a
d
ti
m
e
,
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g
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o
f
2
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In
ter
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o
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M
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h
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e
L
e
a
rn
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g
a
n
d
Cy
b
e
rn
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ti
c
s (
IEE
E
Ca
t.
No
.
0
4
EX
8
2
6
),
v
o
l.
2
,
2
0
0
4
,
p
p
.
9
8
3
-
9
8
7
.
[2
3
]
A
.
Ru
b
a
a
i,
M
.
J.
Ca
stro
-
S
it
iri
c
h
e
,
A
.
R.
Of
o
li
,
“
De
sig
n
a
n
d
Im
p
le
m
e
n
tatio
n
o
f
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a
ra
ll
e
l
F
u
z
z
y
P
ID
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n
tr
o
ll
e
r
f
o
r
Hig
h
-
P
e
rf
o
rm
a
n
c
e
Bru
sh
les
s
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o
to
r
Driv
e
s:
A
n
In
teg
ra
t
e
d
En
v
iro
n
m
e
n
t
f
o
r
Ra
p
id
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n
tr
o
l
P
r
o
to
ty
p
in
g
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stry
A
p
p
li
c
a
ti
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n
s,
v
o
l.
4
4
,
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o
.
4
,
p
p
.
1
0
9
0
-
1
0
9
8
,
2
0
0
8
.
[2
4
]
M
.
I.
A
.
E.
-
S
e
b
a
h
,
“
S
im
p
li
f
ied
Un
iv
e
rsa
l
In
telli
g
e
n
t
P
ID
Co
n
tro
ll
e
r,
”
In
ter
n
a
ti
o
n
a
l
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o
u
rn
a
l
o
f
E
n
g
i
n
e
e
rin
g
Res
e
a
rc
h
.,
v
o
l.
5
,
n
o
.
1
,
p
p
.
1
1
-
1
5
,
2
0
1
6
.
[2
5
]
F.
M.
H.
Kh
a
ter,
F
.
I.
A
h
m
e
d
,
a
n
d
M
.
I.
A
b
u
-
El
se
b
a
h
,
“
M
u
l
t
i
De
g
re
e
o
f
F
re
e
d
o
m
F
u
z
z
y
Co
n
tro
ll
e
r,
”
IEE
E
In
ter
n
a
t
io
n
a
l
S
y
mp
o
si
u
m o
n
I
n
tel
li
g
e
n
t
C
o
n
tro
l,
pp
.
2
9
3
-
2
7
9
,
2
0
0
3
.
[2
6
]
Kh
a
ter,
F
.
M
.
,
F
a
ro
u
k
I.
A
h
m
e
d
,
a
n
d
M
I
A
b
u
El
-
S
e
b
a
h
,
“
S
e
n
s
o
r
les
s
P
M
M
o
to
r
w
it
h
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u
lt
i
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g
re
e
o
f
F
re
e
d
o
m
F
u
z
z
y
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n
tro
l
,
”
T
r
a
n
sa
c
ti
o
n
o
n
E
n
g
i
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e
e
rin
g
,
Co
mp
u
ti
n
g
&
T
e
c
h
n
o
lo
g
y
,
pp
.
1
5
1
-
1
5
5
,
2
0
0
5
.
[2
7
]
“
IEE
E
Re
c
o
m
m
e
n
d
e
d
P
ra
c
ti
c
e
f
o
r
M
o
n
it
o
ri
n
g
El
e
c
tri
c
P
o
w
e
r
Qu
a
li
ty
,
”
in
IEE
E
S
td
1
1
5
9
-
1
9
9
5
,
p
p.
1
-
8
0
,
No
v
.
1
9
9
5
,
d
o
i:
1
0
.
1
1
0
9
/I
EE
ES
T
D.1
9
9
5
.
7
9
0
5
0
.
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