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6
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Dec
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201
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5
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ar
m
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C
la
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[1
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t
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MC
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Evaluation Warning : The document was created with Spire.PDF for Python.
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I
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p
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,
Vo
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9
,
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.
6
,
Dec
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b
er
2
0
1
9
:
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1
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-
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et
h
o
d
(
SVM)
h
as
an
ea
s
y
ad
v
an
ta
g
e
o
f
p
r
o
g
r
am
m
in
g
o
n
m
icr
o
p
r
o
ce
s
s
o
r
s
,
r
eq
u
ir
in
g
les
s
co
m
p
u
tatio
n
,
u
s
i
n
g
a
co
m
p
l
ex
n
u
m
b
er
s
ca
lcu
lato
r
to
r
ep
r
esen
t
t
h
e
v
ec
to
r
o
f
all
elec
tr
ical
q
u
an
tit
ies
an
d
t
h
e
s
w
i
tch
i
n
g
s
tate
s
o
n
th
e
d
ia
g
r
a
m
.
T
h
is
h
elp
s
in
o
b
tain
in
g
g
e
n
er
al
r
es
u
lt
s
f
o
r
m
an
y
ca
s
e
s
[
2
1
-
25]
.
SVM
m
o
d
u
la
tio
n
r
u
les a
r
e
d
iv
id
ed
in
to
2
m
ai
n
m
eth
o
d
s
:
-
Dir
ec
t Sp
ac
e
Vec
to
r
Mo
d
u
latio
n
(
DSVM)
-
I
n
d
ir
ec
t Sp
ac
e
Vec
to
r
Mo
d
u
latio
n
(
I
SVM)
T
h
e
m
o
d
u
latio
n
m
et
h
o
d
o
f
D
SVM
d
o
es
n
o
t
n
ee
d
to
s
ep
ar
ate
th
e
s
tr
u
ct
u
r
e
o
f
th
e
m
atr
ix
co
n
v
er
ter
in
to
t
w
o
p
ar
ts
: r
ec
ti
f
ier
a
n
d
in
v
er
ter
.
T
h
er
ef
o
r
e,
th
e
ca
lcu
lati
o
n
w
ill b
e
co
n
v
e
n
ie
n
t a
n
d
s
i
m
p
le.
2.
DIRE
CT
SPA
CE
V
E
C
T
O
R
M
O
DULAT
I
O
N
M
E
T
H
O
D
F
O
R
M
AT
RIX CO
NV
E
R
T
E
R
2.1.
Ident
i
f
y
spac
e ve
c
t
or
s
T
h
e
s
tr
u
ctu
r
e
d
iag
r
a
m
o
f
an
MC
is
s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
I
n
th
is
s
ch
e
m
e
t
h
e
o
u
tp
u
t
v
o
ltag
e
is
f
o
r
m
ed
f
r
o
m
th
e
i
n
p
u
t
v
o
ltag
e,
t
h
e
o
u
tp
u
t
c
u
r
r
en
t
is
d
eter
m
i
n
ed
b
y
t
h
e
lo
ad
.
T
h
e
in
p
u
t
cu
r
r
en
t
is
ca
lcu
lated
f
r
o
m
th
e
o
u
tp
u
t c
u
r
r
en
t
an
d
its
v
al
u
e
w
ill b
e
m
i
n
i
m
al
if
th
e
p
h
a
s
e
s
h
i
f
t a
n
g
le
o
f
t
h
e
c
u
r
r
en
t
co
m
p
ar
ed
to
th
e
v
o
lta
g
e
is
ze
r
o
.
I
n
v
ec
to
r
s
p
ac
e,
a
s
y
s
te
m
o
f
t
h
r
ee
p
h
ase
o
u
tp
u
t
v
o
ltag
e
s
is
r
ep
r
esen
ted
b
y
a
r
o
tatin
g
v
ec
to
r
o
n
th
e
co
o
r
d
in
ate
s
y
s
te
m
0
α
β [
8
]
.
I
f
th
e
s
y
s
te
m
h
as
th
e
d
e
s
ir
ed
o
u
tp
u
t
v
o
ltag
e
in
th
r
ee
s
y
m
m
etr
ical
p
h
ase
s
,
it
i
s
p
o
s
s
ib
le
t
o
r
ep
r
esen
t
th
e
m
a
s
f
o
llo
w
s
:
Her
e
U
o
,
ω
o
is
th
e
am
p
lit
u
d
e
an
d
an
g
u
lar
v
elo
cit
y
v
al
u
e
o
f
th
e
d
esire
d
o
u
tp
u
t
v
o
ltag
e.
T
h
e
v
alu
e
o
f
π/6
r
ep
r
esen
ts
th
e
p
h
a
s
e
s
h
i
f
t
an
g
le
b
et
w
ee
n
li
n
e
v
o
lta
g
e
an
d
p
h
ase
v
o
ltag
e.
L
L
L
C
C
C
S
1
S
4
S
7
S
2
S
5
S
8
S
3
S
6
S
9
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
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8708
R
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r
ch
meth
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d
s
o
f V
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co
n
t
r
o
l fo
r
ma
tr
ix
co
n
ve
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ter u
s
e
d
i
r
ec
t sp
a
ce
ve
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mo
d
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la
tio
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B
o
g
d
a
n
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a
s
ilev
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5117
T
h
e
o
u
tp
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t v
o
lta
g
e
v
ec
to
r
is
al
s
o
p
r
esen
ted
as f
o
llo
w
s
:
̅
Si
m
i
lar
to
th
e
v
o
lta
g
e,
th
e
i
n
p
u
t c
u
r
r
en
t c
an
b
e
ex
p
r
ess
ed
as
f
o
llo
w
s
:
(
)
(
)
(
)
T
h
e
m
o
d
u
l
atio
n
m
eth
o
d
s
w
i
ll
b
e
m
o
r
e
co
n
v
e
n
ie
n
t
i
f
t
h
e
in
p
u
t
li
n
e
v
o
ltag
e
v
ec
to
r
is
u
s
ed
a
s
f
o
llo
w
s
[
9
,
1
0
]
:
(
)
T
h
e
co
n
tr
o
l
m
eth
o
d
o
f
clo
s
i
n
g
a
n
d
o
p
en
in
g
t
h
e
s
w
itc
h
w
il
l
g
e
n
er
ate
th
e
v
o
lta
g
e,
cu
r
r
en
t
an
d
p
h
ase
an
g
le
v
a
lu
e
s
as
s
h
o
w
n
i
n
T
ab
l
e
1
.
I
n
th
e
2
7
s
tates
s
h
o
w
n
in
T
ab
le
1
,
th
e
s
tates
in
t
h
e
last
s
i
x
r
o
w
s
ar
e
r
o
tatin
g
v
ec
to
r
s
,
th
e
v
o
lta
g
e
w
il
l
n
o
t
b
e
u
s
ed
in
s
p
ac
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v
ec
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o
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m
o
d
u
la
tio
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tec
h
n
iq
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ec
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s
e
t
h
er
e
is
n
o
w
a
y
to
u
s
e
th
e
m
.
T
ab
le
1
.
T
h
e
v
alu
e
o
f
t
h
e
s
ta
n
d
ar
d
v
ec
to
r
s
co
r
r
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o
n
d
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g
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e
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t v
o
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an
d
t
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t c
u
r
r
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t
N
0
A
B
C
u
AB
u
BC
u
CA
U
o
θ
o
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a
i
b
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c
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1+
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ab
0
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A
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A
0
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6
1
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ab
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6
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6
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6
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5
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bc
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6
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i
B
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2
6+
a
c
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ca
u
ca
0
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π/
6
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B
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B
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6
6
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ca
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ca
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6
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b
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C
0
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6
8+
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c
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bc
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2
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C
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2
8
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bc
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u
bc
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2
0
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C
i
C
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2
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a
c
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ca
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2
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C
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6
9
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6
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0
0
0
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-
0
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b
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b
0
0
0
-
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0
c
c
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c
0
0
0
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a
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a
c
a
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b
a
c
c
b
a
I
n
t
h
e
r
e
m
ain
in
g
2
1
s
tates
in
T
ab
le
1
,
th
e
s
ta
n
d
ar
d
v
e
cto
r
s
d
eter
m
i
n
e
t
h
e
o
p
en
i
n
g
ti
m
e
o
f
th
e
s
w
itc
h
es
in
th
e
b
r
an
c
h
es
o
f
t
h
e
m
atr
ix
co
n
v
er
ter
,
th
er
e
b
y
d
eter
m
i
n
i
n
g
t
h
e
a
n
g
le
o
f
t
h
e
r
o
tati
n
g
v
ec
to
r
to
ca
lcu
late
t
h
e
o
u
tp
u
t
v
o
lta
g
e.
T
h
is
is
s
i
m
ilar
to
t
h
e
P
W
M
m
o
d
u
latio
n
m
e
th
o
d
b
u
t
d
if
f
er
s
i
n
th
e
v
ec
to
r
m
o
d
u
latio
n
m
et
h
o
d
f
o
r
M
C
wh
en
t
h
e
a
m
p
l
itu
d
e
o
f
s
tan
d
ar
d
v
ec
to
r
s
c
h
a
n
g
e
s
o
v
er
ti
m
e.
B
ased
o
n
t
h
e
r
es
u
lt
s
in
T
ab
le
1
,
s
p
ac
e
v
ec
to
r
s
ar
e
s
h
o
w
n
i
n
F
i
g
u
r
e
3
a
n
d
F
ig
u
r
e
4
.
I
t
i
n
d
icate
s
t
h
e
co
r
r
esp
o
n
d
in
g
s
w
itc
h
co
m
b
i
n
atio
n
s
a
n
d
d
iv
id
es th
e
p
lan
e
in
to
s
i
x
s
ec
to
r
s
[
5
]
.
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.
9
,
No
.
6
,
Dec
em
b
er
2
0
1
9
:
5
1
1
5
-
5
1
2
4
5118
Fig
u
r
e
3
.
I
n
p
u
t c
u
r
r
en
t
v
ec
to
r
Fig
u
r
e
4
.
O
u
tp
u
t
v
o
ltag
e
v
ec
to
r
2
.
2
.
Ca
lcula
t
io
n o
f
s
ig
na
l
m
o
du
la
t
io
n c
o
ef
f
icient
s
I
f
an
o
u
tp
u
t
v
o
lta
g
e
v
ec
to
r
is
in
an
y
p
o
s
it
io
n
o
n
t
h
e
co
o
r
d
in
ate
s
y
s
te
m
0
α
β,
w
e
ca
n
ca
l
cu
late
t
h
is
v
ec
to
r
f
r
o
m
t
w
o
s
tan
d
ar
d
b
o
u
n
d
ar
y
v
ec
to
r
s
.
On
F
i
g
u
r
e
s
3
an
d
4
v
ec
to
r
u
0
is
in
th
e
f
ir
s
t
co
r
n
er
(
I
)
an
d
is
d
ef
in
ed
b
y
th
e
f
o
r
m
u
la
u
0
=
u
01
+
u
02
.
E
asil
y
ca
lcu
lat
e
th
e
len
g
t
h
o
f
v
o
lta
g
e
v
ec
to
r
s
ac
co
r
d
in
g
to
th
e
tr
ig
o
n
o
m
etr
ic
ca
lc
u
latio
n
a
s
f
o
llo
w
s
:
(
)
√
(
)
√
W
h
er
e
∆
0
is
th
e
a
n
g
le
t
h
at
d
et
er
m
in
e
s
th
e
u
o
v
ec
to
r
p
o
s
itio
n
in
th
e
c
o
o
r
d
in
ate
p
lan
e.
E
ac
h
o
f
th
ese
co
m
p
o
n
e
n
t
v
e
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r
s
is
d
ef
in
ed
b
y
t
w
o
v
ec
t
o
r
s
th
at
h
av
e
t
h
e
s
a
m
e
o
r
ien
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n
a
s
th
e
s
ta
n
d
ar
d
b
o
u
n
d
ar
y
v
ec
to
r
s
.
T
h
e
ch
o
ice
o
f
s
o
m
e
s
ta
n
d
ar
d
in
p
u
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I
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3.
SPEE
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p
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n
tr
o
l
o
f
an
i
n
d
u
ctio
n
m
o
to
r
is
th
e
m
o
s
t
co
m
m
o
n
m
et
h
o
d
o
f
s
p
ee
d
co
n
tr
o
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b
ec
au
s
e
o
f
its
s
i
m
p
l
icit
y
an
d
t
h
ese
t
y
p
es o
f
m
o
to
r
s
ar
e
w
id
el
y
u
s
ed
in
in
d
u
s
tr
y
.
T
h
is
t
y
p
e
o
f
m
o
to
r
co
n
tr
o
l
h
a
s
th
ese
ad
v
a
n
ta
g
es:
lo
w
co
s
t,
s
i
m
p
licit
y
an
d
i
m
m
u
n
it
y
to
er
r
o
r
s
o
f
f
ee
d
b
ac
k
s
i
g
n
al
s
.
T
r
ad
itio
n
all
y
,
in
d
u
ctio
n
m
o
to
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s
h
a
v
e
b
ee
n
u
s
ed
w
it
h
o
p
en
lo
o
p
5
0
Hz
p
o
w
er
s
u
p
p
lie
s
f
o
r
co
n
s
ta
n
t
s
p
ee
d
ap
p
licatio
n
s
.
Fo
r
ad
j
u
s
tab
le
s
p
ee
d
d
r
iv
e
ap
p
licatio
n
s
,
f
r
e
q
u
en
c
y
co
n
tr
o
l
is
n
atu
r
al.
H
o
w
e
v
er
,
v
o
ltag
e
is
r
eq
u
ir
ed
to
b
e
p
r
o
p
o
r
tio
n
al
to
f
r
eq
u
en
c
y
s
o
th
at
th
e
s
ta
to
r
f
l
u
x
ψ
r
e
m
ai
n
s
co
n
s
ta
n
t.
B
lo
ck
d
iag
r
a
m
o
f
t
h
e
o
p
en
lo
o
p
V/
F
co
n
tr
o
l
f
o
r
an
I
M
as sh
o
w
n
i
n
Fi
g
u
r
e
5.
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.
9
,
No
.
6
,
Dec
em
b
er
2
0
1
9
:
5
1
1
5
-
5
1
2
4
5120
3
.
2
.
Clo
s
ed
l
o
o
p V/F
c
o
ntr
o
l
T
h
e
b
asis
o
f
co
n
s
tan
t
V/F
s
p
ee
d
co
n
tr
o
l
o
f
i
n
d
u
ct
io
n
m
o
t
o
r
is
to
ap
p
l
y
a
v
ar
iab
le
m
a
g
n
it
u
d
e
an
d
v
ar
iab
le
f
r
eq
u
e
n
c
y
v
o
lta
g
e
to
th
e
m
o
to
r
as
s
h
o
w
n
i
n
Fi
g
u
r
e
6
.
B
o
th
th
e
v
o
lta
g
e
s
o
u
r
ce
i
n
v
er
ter
an
d
cu
r
r
en
t
s
o
u
r
ce
in
v
er
ter
s
ar
e
u
s
ed
in
a
d
j
u
s
tab
le
s
p
ee
d
A
C
d
r
iv
e
s
.
T
h
e
f
o
llo
w
in
g
b
lo
ck
d
iag
r
a
m
s
h
o
w
s
t
h
e
clo
s
ed
lo
o
p
V/F c
o
n
tr
o
l u
s
in
g
a
MC.
T
h
e
clo
s
ed
-
lo
o
p
m
et
h
o
d
o
f
f
er
s
a
m
o
r
e
p
r
ec
is
e
s
o
lu
tio
n
to
co
n
tr
o
llin
g
th
e
s
p
ee
d
th
an
t
h
e
o
p
en
-
lo
o
p
m
et
h
o
d
.
Fu
r
th
er
m
o
r
e,
th
e
clo
s
ed
-
lo
o
p
tech
n
iq
u
e
co
n
tr
o
ls
t
h
e
to
r
q
u
e
to
o
.
A
m
aj
o
r
d
is
ad
v
an
ta
g
e
o
f
th
e
o
p
en
-
lo
o
p
co
n
tr
o
l
m
eth
o
d
i
s
t
h
at
t
h
i
s
tec
h
n
iq
u
e
d
o
es
n
o
t
co
n
tr
o
l
t
h
e
to
r
q
u
e,
s
o
t
h
e
d
e
s
ir
ed
to
r
q
u
e
is
o
n
l
y
ac
ce
s
s
ib
le
at
th
e
n
o
m
i
n
al
o
p
er
atin
g
p
o
in
t
.
I
f
th
e
lo
ad
to
r
q
u
e
ch
an
g
es,
t
h
e
s
p
e
ed
o
f
th
e
m
o
t
o
r
w
ill ch
a
n
g
e
[
1
1
,
1
2
].
Fig
u
r
e
5
.
Op
en
lo
o
p
co
n
s
tan
t
V/F sp
ee
d
co
n
tr
o
l
Fig
u
r
e
6
.
C
lo
s
ed
-
lo
o
p
V/Hz
co
n
s
ta
n
t c
o
n
tr
o
l
4.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
Use o
f
Ma
tlab
&
Si
m
u
l
in
k
s
o
f
t
w
ar
e
to
d
esig
n
s
w
itc
h
in
g
al
g
o
r
ith
m
s
f
o
r
m
atr
ix
co
n
v
er
ter
.
4
.
1
.
M
a
t
rix
co
nv
er
t
er
w
o
rk
s
w
it
h lo
a
d R,
L
I
n
p
u
t
v
o
lta
g
e
o
f
co
n
v
er
ter
U
=
2
2
0
V
)
,
f
=
5
0
(
Hz)
,
l
o
ad
R
=
2
(
Ω
)
an
d
L
=
1
0
(
m
H)
,
o
u
t
p
u
t
v
o
ltag
e
f
r
eq
u
en
c
y
f
1
=
2
5
(
Hz)
.
P
W
M
s
a
m
p
li
n
g
f
r
eq
u
en
c
y
f
s
=
5
(
k
Hz
).
Si
m
u
latio
n
r
esu
lt
s
f
r
o
m
Fi
g
u
r
e
7
to
Fig
u
r
e
1
1
s
h
o
w
t
h
at
i
n
p
u
t
v
o
ltag
e
a
n
d
cu
r
r
en
t
co
in
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w
it
h
p
h
ase
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n
g
le,
p
o
w
er
tr
an
s
m
i
s
s
io
n
co
ef
f
icie
n
t
m
=
1
,
in
p
u
t c
u
r
r
en
t is
s
in
u
s
o
id
al.
Fig
u
r
e
7
.
Vo
ltag
e
an
d
cu
r
r
en
t a
t th
e
in
p
u
t (
f
=
5
0
h
z)
Fig
u
r
e
8
.
Vo
ltag
e
an
d
cu
r
r
en
t a
t th
e
o
u
tp
u
t (
f
=
2
5
h
z)
IM
Ma
tr
ix
C
o
n
v
er
ter
p
60
f
d
V
d
V
abc
A
B
C
ω
d
IM
Ma
tr
ix
C
o
n
v
er
ter
p
60
f
d
V
d
V
abc
A
B
C
ω
d
(
-
)
(
-
)
S
p
ee
d
s
en
s
o
r
PI
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
R
esea
r
ch
meth
o
d
s
o
f V
/F
co
n
t
r
o
l fo
r
ma
tr
ix
co
n
ve
r
ter u
s
e
d
i
r
ec
t sp
a
ce
ve
cto
r
mo
d
u
la
tio
n
(
B
o
g
d
a
n
V
a
s
ilev
)
5121
Fig
u
r
e
9
.
T
o
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
o
f
th
e
i
n
p
u
t
v
o
lta
g
e
(
T
HD
=
0
%)
Fig
u
r
e
10.
T
o
tal
h
ar
m
o
n
ic
d
is
t
o
r
tio
n
o
f
th
e
o
u
tp
u
t
v
o
ltag
e
(
T
HD=
0
,
6
7
%)
Fig
u
r
e
1
1
.
I
n
p
u
t v
o
ltag
e
a
n
d
cu
r
r
en
t
w
h
en
u
s
i
n
g
h
ar
m
o
n
ic
f
i
lter
cir
cu
it (
L
C
)
4
.
2
.
Appl
ica
t
io
n o
f
m
a
t
ri
x
co
nv
er
t
er
t
o
c
o
ntr
o
l A
C
m
o
t
o
r
a
cc
o
rding
t
o
V/f
rule
P
ar
am
eter
o
f
in
d
u
ctio
n
m
o
t
o
r
:
P
=
1
,
5
(
k
W
)
,
U=
2
2
0
(
V)
,
f
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0
(
h
z)
,
R
s
=
0
,
5
9
6
8
(
Ω
)
,
n
=1
4
4
0
(
r
p
m
)
,
L
s
=0
,
0
0
0
3
4
9
5
(
H)
,
J
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,
0
5
(
k
g
.
m
2
)
.
4
.
2
.
1
.
Co
ntr
o
l sy
s
t
e
m
ha
s
a
n o
pen lo
o
p str
uct
ure
W
h
en
th
e
s
p
ee
d
o
f
t
h
e
m
o
to
r
f
r
o
m
5
0
0
(
r
p
m
)
d
ec
r
ea
s
es
to
2
0
0
(
r
p
m
)
at
0
.
4
s
ec
o
n
d
s
,
th
e
f
r
eq
u
en
c
y
an
d
in
p
u
t
v
o
ltag
e
o
f
t
h
e
m
o
t
o
r
f
r
o
m
f
=
1
6
.
6
7
(
h
z)
,
V
=
8
3
,
3
3
(
V)
d
ec
r
ea
s
es
to
th
e
v
a
lu
e
f
=
6
.
6
6
7
(
h
z)
an
d
V
=
3
3
,
3
3
(
V)
,
alw
a
y
s
e
n
s
u
r
e
V/f
=
co
n
s
t.
Fi
g
u
r
e
1
2
s
h
o
w
s
t
h
e
d
iag
r
a
m
o
f
clo
s
ed
lo
o
p
co
n
tr
o
l s
y
s
te
m
.
4
.
2
.
2
.
Co
ntr
o
l sy
s
t
e
m
ha
s
a
clo
s
ed
lo
o
p str
uct
ure
R
eg
u
la
to
r
s
f
o
r
clo
s
ed
lo
o
p
c
o
n
tr
o
l c
ir
cu
it
w
ith
P
I
s
tr
u
ct
u
r
e:
Si
m
u
latio
n
r
es
u
lt
s
f
r
o
m
Fi
g
u
r
e
7
to
Fi
g
u
r
e
1
1
s
h
o
w
t
h
at
i
n
p
u
t
v
o
lta
g
e
a
n
d
c
u
r
r
en
t
co
in
cid
e
w
it
h
p
h
ase
an
g
le,
p
o
w
er
tr
a
n
s
m
is
s
i
o
n
co
ef
f
icien
t
m
=
1
,
in
p
u
t
cu
r
r
en
t
is
s
in
u
s
o
id
al.
W
h
e
n
w
o
r
k
in
g
w
it
h
lo
ad
R
,
L
,
th
e
m
atr
i
x
co
n
v
er
ter
d
o
es
n
o
t
ca
u
s
e
a
to
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
o
n
th
e
g
r
id
v
o
ltag
e
(
T
HDu
%
=
0
%).
T
h
e
v
o
ltag
e
an
d
cu
r
r
en
t
o
u
tp
u
t
o
n
t
h
e
lo
ad
ar
e
in
th
e
s
i
n
u
s
o
id
al
f
o
r
m
,
an
d
h
a
s
a
lo
w
h
ar
m
o
n
ic
d
is
to
r
tio
n
o
u
tp
u
t
v
o
ltag
e
(
T
HDu
%
=
0
.
6
7
%).
I
n
p
ar
ticu
lar
if
th
e
L
,
C
h
ar
m
o
n
ic
f
i
lter
in
g
cir
c
u
it
i
s
u
s
ed
at
t
h
e
i
n
v
er
ter
in
p
u
t,
t
h
e
to
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
cu
r
r
en
t
w
i
ll d
ec
r
ea
s
e
s
ig
n
i
f
ican
tl
y
.
I
n
o
p
en
lo
o
p
co
n
tr
o
l
s
y
s
te
m
s
as
s
h
o
w
n
in
Fi
g
u
r
e
1
3
to
Fi
g
u
r
e
1
5
,
th
e
s
p
ee
d
o
f
th
e
i
n
d
u
ctio
n
m
o
to
r
al
w
a
y
s
f
o
llo
w
s
th
e
s
e
tp
o
in
t
a
n
d
w
h
en
t
h
e
f
r
eq
u
e
n
c
y
c
h
a
n
g
es,
th
e
m
o
to
r
s
p
ee
d
ch
an
g
e
s
an
d
al
w
a
y
s
e
n
s
u
r
es
th
e
r
atio
V
/f
=
co
n
s
t.
W
h
e
n
t
h
e
lo
ad
to
r
q
u
e
ch
a
n
g
e
s
,
t
h
er
e
is
a
d
if
f
er
en
ce
b
et
w
ee
n
th
e
s
et
s
p
ee
d
an
d
th
e
ac
tu
a
l
s
p
ee
d
o
f
th
e
m
o
to
r
.
I
n
th
e
clo
s
ed
lo
o
p
co
n
tr
o
l
s
y
s
te
m
a
s
s
h
o
w
n
in
F
ig
u
r
e
1
6
to
Fig
u
r
e
1
8
,
th
e
o
u
tp
u
t
s
p
ee
d
clin
g
s
to
t
h
e
s
etp
o
in
t,
w
h
e
n
th
e
lo
ad
to
r
q
u
e
i
s
a
v
ailab
l
e,
it
al
w
a
y
s
e
n
s
u
r
es
th
e
m
o
to
r
s
p
ee
d
f
o
llo
w
th
e
s
etp
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NC
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S
[1
]
T
.
S
h
im
izu
,
K.
Ku
n
o
m
u
ra
,
M
.
Ka
i,
H.
M
iy
a
ji
m
a
a
n
d
T
.
M
a
tsu
i
,
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S
tu
d
y
f
o
r
f
u
rth
e
r
in
tr
o
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c
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o
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o
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e
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re
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in
k
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se
n
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0
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n
ter
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ti
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l
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E
lec
tro
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ics
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8
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.
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8
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9
.
[2
]
Na
b
a
e
A
,
T
a
k
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h
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sh
i
I.
,
A
k
a
g
i
H,
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A
N
e
w
Ne
u
tral
P
o
i
n
t
Clam
p
e
d
P
W
M
I
n
v
e
rter,”
IEE
E
T
r
a
n
s.
On
IA.
,
v
o
l.
1
7
(
5
)
,
p
p
.
5
0
9
-
5
1
7
,
1
9
8
1
.
[3
]
Ko
lar
J.W
,
Ba
u
m
a
n
n
M
,
S
c
h
a
f
m
e
ister
F
,
Ert
l.
H,
“
No
v
e
l
th
re
e
-
p
h
a
se
A
C
-
DC
-
A
C
sp
a
rs
e
m
a
t
rix
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o
n
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e
v
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tee
n
th
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n
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a
l
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o
l.
2
,
p
p
.
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7
7
-
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9
1
,
2
0
0
2
.
[4
]
H.
Ka
ra
c
a
a
n
d
R.
Ak
k
a
y
a
,
“
Co
n
tro
l
o
f
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e
n
tu
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n
i
M
e
th
o
d
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se
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tri
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n
v
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in
In
p
u
t
V
o
lt
a
g
e
V
a
riatio
n
s,”
in
Pr
o
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e
e
d
in
g
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o
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th
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I
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ter
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ti
o
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l
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u
lt
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fer
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n
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e
o
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g
i
n
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e
rs
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n
d
C
o
mp
u
ter
S
c
ie
n
ti
sts
,
v
o
l
.
2
,
p
p
.
1
4
1
2
-
1
4
1
6
,
2
0
0
9
.
[5
]
S
a
th
e
e
sh
G
.
;
Ch
a
m
d
ra
n
th
Na
id
u
,
P
riy
a
n
k
a
,
P
,
“
M
o
d
e
li
n
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o
f
th
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m
a
tri
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c
o
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v
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se
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th
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v
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tu
r
in
i
m
o
d
u
lat
i
o
n
sc
h
e
m
e
,
”
IJ
AICT
,
v
o
l.
3
(1
1
),
pp
.
1
1
9
7
–
1
2
0
5
,
2
0
1
7
.
[6
]
Bo
g
d
a
n
.
Y,
L
e
V
a
n
T
u
n
g
,
“
Re
se
a
rc
h
o
n
th
e
S
w
it
c
h
in
g
A
lg
o
rit
h
m
o
f
V
o
lt
a
g
e
V
e
c
to
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in
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h
e
Dire
c
t
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o
rq
u
e
Co
n
tro
l
S
y
st
e
m
,
”
IEE
E
T
ra
n
s.
Ru
s
,
p
p
.
8
0
-
87
,
2
0
1
8
.
[7
]
Ko
z
a
ru
k
A
.
E,
“
T
h
e
e
x
p
e
rien
c
e
o
f
c
re
a
ti
n
g
a
n
d
re
d
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v
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lo
p
in
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th
e
d
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v
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lo
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m
e
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t
o
f
e
lec
tro
m
e
c
h
a
n
ica
l
c
o
m
p
lex
e
s
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tec
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n
o
l
o
g
ica
l,
m
o
v
e
m
e
n
t
a
n
d
p
o
siti
o
n
i
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g
o
f
tec
h
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ica
l
m
e
a
n
s
f
o
r
th
e
d
e
v
e
lo
p
m
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n
t
o
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th
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sh
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lf
,
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a
p
isk
i
Go
rn
o
g
o
In
stit
u
t
a
/
J
o
u
r
n
a
l
o
f
M
i
n
in
g
I
n
sti
tu
te
,
v
o
l.
2
2
1
,
p
p
.
7
0
1
-
7
0
5
,
2
0
1
6
.
[8
]
Bo
g
d
a
n
Yu
.
V
a
sily
e
v
,
V
a
d
im
A
.
S
h
p
e
n
st,
Ole
g
V
.
Ka
las
h
n
ik
o
v
,
G
e
n
n
a
d
ii
N.
Ul
y
a
n
o
v
,
“
P
ro
v
id
in
g
En
e
rg
y
De
c
o
u
p
li
n
g
o
f
El
e
c
tri
c
Driv
e
a
n
d
El
e
c
tri
c
G
rid
s
f
o
r
In
d
u
strial
El
e
c
tri
c
a
l
In
sta
ll
a
ti
o
n
s,”
Z
a
p
isk
i
M
in
i
n
g
In
stit
u
te/J
o
u
rn
a
l
o
f
M
in
in
g
In
sti
tu
te
,
v
o
l.
2
2
9
(2
)
,
p
p
.
41
-
49
,
2
0
1
8
.
[9
]
Ko
z
a
ru
k
A
.
E,
“
En
e
rg
y
-
e
ff
icie
n
t
e
lec
tro
m
e
c
h
a
n
ica
l
c
o
m
p
lex
e
s
o
f
m
in
in
g
a
n
d
tran
sp
o
rt
v
e
h
icle
s,”
Z
a
p
isk
i
M
in
i
n
g
In
stit
u
te
/
J
o
u
rn
a
l
o
f
M
in
in
g
I
n
stit
u
te
,
v
o
l.
2
1
8
.
p
p
.
2
6
1
-
2
6
9
,
2
0
1
6
.
[1
0
]
L
a
rs
e
n
K.B
,
Jo
rg
e
n
se
n
A
.
H,
He
ll
e
L
,
Blaa
b
jerg
F
,
“
A
n
a
ly
sis
o
f
p
u
lse
w
id
th
m
o
d
u
lat
io
n
stra
teg
ies
f
o
r
m
a
tri
x
c
o
n
v
e
rters
,
”
IEE
E
T
ra
n
s.
On
Au
s
,
v
o
l.
2
,
p
p
8
9
9
-
9
0
4
,
2
0
0
2
.
[1
1
]
P
.
W
.
W
h
e
e
ler,
J.
Ro
d
rig
u
e
z
,
J.C.
Clare
,
e
t
a
l.
,
“
M
a
tri
x
Co
n
-
v
e
rters
:
a
T
e
c
h
n
o
l
o
g
y
Re
v
ie
w
,
”
IEE
E
T
ra
n
s.
In
d
.
El
e
c
tro
n
,
v
o
l
.
49
(
2
)
,
p
p.
2
7
6
-
2
8
8
,
2
0
0
2
.
[1
2
]
Ha
n
a
n
M
ik
h
a
e
l
D,
Hu
ss
e
in
Ja
li
l
A
jee
l,
“
S
p
e
e
d
Co
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
o
to
r
u
sin
g
P
I
a
n
d
V
/
F
S
c
a
lar
V
e
c
to
r
Co
n
tr
o
ll
e
rs,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
m
p
u
ter
A
p
p
l
ica
ti
o
n
s
,
v
o
l.
151
(
7
)
,
2
0
1
6
,
p
p
.
3
6
-
4
3
.
[1
3
]
X
.
X
u
,
L
.
F
a
n
g
,
X
.
Xu
a
n
d
X
.
L
u
,
"
Co
n
tr
o
l
stra
teg
y
o
f
p
h
o
t
o
v
o
lt
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ic
g
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in
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ted
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ra
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rm
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li
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m
,
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2
0
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2
n
d
In
ter
n
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ti
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fer
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P
o
we
r
a
n
d
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e
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le
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(
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E)
,
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e
n
g
d
u
,
2
0
1
7
,
p
p
.
8
8
6
-
8
9
0
.
[1
4
]
W
.
G
u
o
,
T
.
M
i
n
g
x
in
g
a
n
d
R.
E
n
e
n
,
"
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tr
u
c
tu
re
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e
sig
n
a
n
d
it
s
p
a
ra
m
e
ter
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p
ti
m
iz
a
ti
o
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o
f
o
u
tp
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t
f
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ter
in
c
u
rre
n
t
b
a
lan
c
e
c
o
m
p
e
n
sa
ti
o
n
in
v
e
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f
o
r
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tri
f
ied
ra
il
w
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y
,
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T
h
e
2
n
d
In
t
e
rn
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ti
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n
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l
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y
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o
si
u
m
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Po
we
r
El
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c
tro
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fo
r
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ted
Ge
n
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ra
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fe
i,
2
0
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0
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p
p
.
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9
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9
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5
]
H.
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n
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.
Kim
,
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e
,
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.
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u
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n
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im
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"
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las
m
a
g
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ra
to
r,
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2
0
1
8
IEE
E
A
p
p
li
e
d
Po
we
r
El
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c
tro
n
ics
Co
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fer
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n
d
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p
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siti
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(
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X,
2
0
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8
,
p
p
.
3
5
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3
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6
8
.
[1
6
]
M
.
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n
g
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G
a
o
,
J.
Ya
n
g
a
n
d
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Ya
n
,
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it
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m
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in
CS
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J
o
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rn
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Po
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.
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5
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p
2
0
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8
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7
]
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in
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d
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.
S
.
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il
li
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so
n
,
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icie
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n
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sis
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f
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rid
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o
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ried
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s,"
2
0
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h
ir
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IEE
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Ap
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Po
we
r
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tro
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ics
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fer
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n
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o
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stin
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X
,
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0
0
8
,
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p
.
2
8
0
-
2
8
5
.
[1
8
]
V
.
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.
A
lek
se
e
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,
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.
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rsh
in
in
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Yu
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V
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sil'
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v
,
"
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f
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l
,
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a
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isk
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Go
r
n
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I
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ta
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o
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r
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a
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in
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st
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u
te
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l.
1
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6
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p
.
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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er
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9
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.
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.
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t
h
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trica
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g
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-
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0
]
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.
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n
g
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.
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.
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a
n
d
H.
L
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c
t
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p
u
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tro
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a
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5
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tri
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o
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m
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2
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h
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n
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a
l
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e
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p
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.
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2
]
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Yu
.
V
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sil'
e
v
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.
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h
p
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st,
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V
.
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ik
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a
n
d
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.
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U
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y
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o
v
,
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ro
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ti
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In
stit
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t
a
/
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rn
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l
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g
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stit
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te
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v
o
l.
2
2
9
,
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.
4
1
-
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2
0
1
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.
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3
]
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.
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n
sa
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r
th
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n
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v
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a
r,
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e
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n
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re
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2
0
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4
In
ter
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t
io
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a
l
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fer
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d
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n
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o
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e
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ies
(
ICAE
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)
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n
ip
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l
,
2
0
1
4
,
p
p
.
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6
4
-
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6
8
.
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4
]
P
.
S
z
c
z
e
sn
iak
,
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sic
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s
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tri
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e
F
re
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c
y
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v
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se
d
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n
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c
k
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o
st
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o
p
o
lo
g
y
w
it
h
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e
n
tu
rin
i
Co
n
tro
l
S
trate
g
ies
,
"
2
0
0
7
Co
mp
a
ti
b
il
it
y
i
n
P
o
we
r
El
e
c
tro
n
ics
,
G
d
a
n
sk
,
2
0
0
7
,
p
p
.
1
-
7.
[2
5
]
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.
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a
-
Qia
n
g
,
M
.
X
i
-
K
u
i
a
n
d
Y.
Ye
,
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o
w
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re
q
u
e
n
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y
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sc
il
latio
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n
th
e
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ty
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t
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ll
e
d
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o
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t
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n
v
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rter,"
2
0
1
1
In
ter
n
a
ti
o
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a
l
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n
fer
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n
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e
o
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e
c
tro
n
ics
,
Co
mm
u
n
ica
ti
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n
s
a
n
d
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n
tr
o
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g
b
o
,
2
0
1
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,
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p
.
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7
9
2
-
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7
9
5
.
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I
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G
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F
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RS
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o
g
d
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n
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silev
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r
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d
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a
te
d
f
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m
Uc
h
ti
n
c
sk
i
y
tec
h
n
ica
l
u
n
iv
e
rsity
in
2
0
1
0
.
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c
e
iv
e
d
P
.
H.D.
d
e
g
re
e
in
Na
ti
o
n
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l
M
i
n
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ra
l
Re
so
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e
s
Un
iv
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in
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0
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.
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is
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ss
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p
ro
f
e
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o
r
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lec
tri
c
a
l
e
n
e
rg
y
a
n
d
e
lec
tro
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e
c
h
a
n
ics
d
e
p
a
rtm
e
n
t
sin
c
e
2
0
1
3
.
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r
e
se
a
rc
h
in
tere
st
in
c
lu
d
e
s
e
lec
tro
m
a
g
n
e
ti
c
c
o
m
p
a
ti
b
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y
p
ro
v
id
in
g
,
e
lec
tro
tec
h
n
ica
l
sy
ste
m
s
fo
r
e
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e
rg
y
in
d
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stry
.
Le
Va
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n
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Re
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m
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ste
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s
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e
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re
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t
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h
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i
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y
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n
Un
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rs
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o
f
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h
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o
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y
,
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iet
Na
m
in
2
0
1
3
.
G
ra
d
u
a
te
stu
d
e
n
t
a
t
S
a
in
t
-
P
e
ters
b
u
rg
M
in
in
g
U
n
iv
e
rsity
,
R
u
ss
ia
F
e
d
e
ra
ti
o
n
.
His
re
se
a
rc
h
in
tere
st
in
c
lu
d
e
s
e
lec
tro
m
a
g
n
e
ti
c
c
o
m
p
a
ti
b
il
it
y
p
ro
v
id
in
g
,
e
lec
tro
tec
h
n
ica
l
sy
ste
m
s
f
o
r
e
n
e
rg
y
in
d
u
stry
.
Evaluation Warning : The document was created with Spire.PDF for Python.