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l J
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wer
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lect
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nics
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Driv
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y
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I
J
P
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1
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Ma
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2
5
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p
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F
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m
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ty
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f
t
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a
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o
n
tr
ib
u
ti
o
n
t
o
th
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field
o
f
CP
T
sy
ste
m
s.
K
ey
w
o
r
d
s
:
C
o
m
p
ar
ativ
e
an
aly
s
is
C
PT
L
y
ap
u
n
o
v
PID
co
n
tr
o
ller
State
f
ee
d
b
ac
k
co
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tr
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T
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is i
s
a
n
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p
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c
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ss
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rticle
u
n
d
e
r th
e
CC B
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-
SA
li
c
e
n
se
.
C
o
r
r
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s
p
o
nd
ing
A
uth
o
r
:
Sh
ak
ir
Saat
Facu
lty
o
f
E
lectr
o
n
ics an
d
C
o
m
p
u
ter
T
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n
o
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in
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Un
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Me
lak
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Me
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7
6
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D
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Ma
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s
h
ak
ir
@
u
tem
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
W
ir
eles
s
p
o
wer
tr
an
s
f
er
(
W
PT)
is
attr
ac
tiv
e
s
in
ce
it
p
r
o
v
id
es
elec
tr
icity
with
o
u
t
th
e
n
ee
d
f
o
r
co
n
n
ec
tio
n
s
.
I
n
d
u
ctiv
e
p
o
wer
tr
an
s
f
er
(
I
PT)
is
f
r
eq
u
en
tly
em
p
lo
y
ed
f
o
r
W
PT,
b
u
t
its
lim
itatio
n
s
r
esu
lt
in
d
ec
r
ea
s
ed
s
y
s
tem
ef
f
icien
cy
.
I
PT
s
y
s
tem
s
ar
e
im
p
ac
ted
b
y
ed
d
y
c
u
r
r
e
n
t
lo
s
s
es
[
1
]
,
wh
i
ch
to
ex
is
t
d
esp
ite
attem
p
ts
to
d
ec
r
ea
s
e
t
h
eir
o
cc
u
r
r
en
ce
[
2
]
.
On
t
h
e
o
th
er
h
an
d
,
ca
p
ac
itiv
e
p
o
wer
tr
an
s
f
er
(
C
PT)
s
y
s
tem
s
u
tili
ze
elec
tr
ic
f
ield
s
r
ath
er
th
a
n
m
ag
n
etic
f
ield
s
to
d
eliv
er
p
o
wer
.
C
PT
s
y
s
tem
s
ex
h
ib
it
co
s
t
-
ef
f
e
ctiv
en
ess
,
r
ed
u
ce
d
weig
h
t,
an
d
s
u
p
er
io
r
p
er
f
o
r
m
an
ce
in
h
a
n
d
lin
g
m
is
alig
n
m
e
n
t
co
m
p
ar
ed
to
I
PT
s
y
s
tem
s
[
3
]
.
C
PT
s
y
s
tem
s
ef
f
ec
tiv
ely
d
ec
r
ea
s
e
elec
tr
o
m
a
g
n
etic
in
ter
f
e
r
en
ce
(
E
MI
)
b
y
c
o
n
f
in
in
g
elec
tr
ic
f
iel
d
s
m
o
s
tly
with
in
elec
tr
ically
co
n
d
u
ctiv
e
s
u
r
f
ac
es
[
4
]
.
Ho
wev
er
,
C
PT
s
y
s
tem
h
as
a
h
ig
h
lev
el
o
f
s
en
s
itiv
ity
to
v
a
r
iatio
n
s
in
b
o
th
lo
ad
an
d
th
e
s
ep
ar
atio
n
d
is
tan
ce
b
etwe
en
th
e
p
lates
[
5
]
,
[
6
]
.
T
o
d
ea
l
with
th
is
s
en
s
it
iv
ity
,
r
esear
ch
er
s
h
av
e
s
u
g
g
ested
u
s
in
g
co
m
p
en
s
atio
n
n
etwo
r
k
s
th
at
ca
n
im
p
r
o
v
e
th
e
ef
f
icie
n
cy
o
f
t
h
e
s
y
s
tem
b
y
co
n
v
er
tin
g
th
e
i
n
p
u
t
im
p
ed
a
n
ce
in
to
a
s
in
g
le
r
esis
tiv
e
p
o
in
t
ev
en
wh
en
th
er
e
ar
e
c
h
an
g
es
i
n
co
u
p
lin
g
[
7
]
,
[
8
]
.
Sev
er
al
co
m
p
en
s
atio
n
to
p
o
lo
g
ies,
in
clu
d
in
g
i
n
d
u
ct
o
r
,
i
n
d
u
cto
r
-
c
ap
ac
ito
r
,
in
d
u
cto
r
-
ca
p
ac
ito
r
-
in
d
u
cto
r
o
r
L
,
L
C
,
an
d
L
C
L
,
h
a
v
e
b
ee
n
i
n
v
esti
g
ated
to
en
h
a
n
ce
C
PT
p
e
r
f
o
r
m
an
ce
[
9
]
.
Nev
e
r
th
eless
,
th
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n
et
wo
r
k
s
also
p
o
s
e
d
if
f
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lties
,
s
u
ch
as
h
eig
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ten
ed
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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2088
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8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
6
,
No
.
1
,
Ma
r
c
h
20
2
5
:
225
-
234
226
in
tr
icac
y
an
d
p
o
te
n
tial
d
ec
lin
e
in
p
er
f
o
r
m
a
n
ce
u
n
d
e
r
d
if
f
er
en
t
cir
cu
m
s
tan
ce
s
,
h
ig
h
lig
h
tin
g
th
e
n
ec
ess
ity
f
o
r
alter
n
ate
m
eth
o
d
s
to
u
p
h
o
l
d
s
y
s
tem
s
tab
ilit
y
an
d
ef
f
ec
tiv
e
n
ess
.
I
n
o
n
g
o
i
n
g
C
PT
r
esear
ch
,
r
esear
ch
e
r
s
ar
e
r
esear
ch
in
g
co
m
p
e
n
s
atio
n
to
p
o
lo
g
ies
to
b
o
o
s
t
p
o
wer
an
d
ef
f
icien
cy
[
1
0
]
,
[
1
1
]
.
C
PT
ca
n
n
o
w
b
e
u
s
ed
in
h
ig
h
-
p
o
wer
elec
tr
ic
v
eh
icle
ch
ar
g
in
g
s
y
s
tem
s
an
d
lo
w
-
p
o
w
er
b
io
m
ed
ical
im
p
lan
ts
[
1
2
]
,
[
1
3
]
.
Ho
w
ev
er
,
c
o
m
p
en
s
atio
n
n
etwo
r
k
s
ca
n
i
n
cr
ea
s
e
lo
s
s
es,
r
ed
u
cin
g
s
y
s
tem
ef
f
icien
cy
[
1
4
]
.
T
h
e
v
ar
iab
ilit
y
o
f
cir
cu
it c
h
ar
a
cter
is
tics
,
s
u
ch
as m
u
tu
al
in
d
u
ctan
ce
o
r
co
u
p
lin
g
ca
p
ac
itan
c
e,
p
r
esen
ts
s
u
b
s
tan
tial
h
u
r
d
les
in
p
r
ac
tic
al
W
PT
ap
p
licatio
n
s
.
Dif
f
er
en
ce
s
in
ch
ar
ac
ter
is
tics
ca
n
ca
u
s
e
th
e
r
eso
n
an
ce
f
r
eq
u
e
n
cy
to
d
ev
iate,
r
esu
ltin
g
in
a
r
ed
u
cti
o
n
in
th
e
a
b
ilit
y
to
tr
an
s
f
er
p
o
wer
an
d
o
v
e
r
all
ef
f
icien
cy
.
I
n
I
PT
s
y
s
tem
s
,
th
ese
ch
allen
g
es
h
av
e
b
ee
n
r
eso
lv
ed
b
y
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s
in
g
o
p
tim
ized
co
m
p
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s
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n
n
etwo
r
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ch
as
L
C
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n
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C
L
C
to
p
o
lo
g
ies
[
1
5
]
,
[
1
6
]
an
d
em
p
l
o
y
in
g
ad
v
an
ce
d
co
n
tr
o
l
m
eth
o
d
s
,
s
u
ch
as
r
esil
ien
t
H
∞
co
n
tr
o
ller
s
[
1
7
]
,
[
1
8
]
.
Alth
o
u
g
h
I
PT
a
n
d
C
PT
s
y
s
tem
s
s
h
ar
e
c
o
m
m
o
n
alities
in
th
eir
m
o
d
elin
g
,
C
PT
s
y
s
tem
s
f
ac
e
m
o
r
e
s
ig
n
if
ican
t
d
if
f
icu
lties
b
ec
au
s
e
o
f
th
eir
in
tr
in
s
ically
lo
w
co
u
p
lin
g
ca
p
ac
itan
ce
[
1
9
]
.
T
h
er
ef
o
r
e,
it
is
n
ec
ess
ar
y
to
h
av
e
c
o
n
tr
o
ller
s
th
at
im
p
r
o
v
e
r
esil
ien
ce
.
Ho
wev
er
,
m
o
s
t
cu
r
r
en
t
C
PT
co
n
tr
o
ller
s
o
n
ly
co
n
ce
n
tr
ate
o
n
ac
h
iev
in
g
im
p
ed
an
ce
-
m
atch
in
g
[
2
0
]
,
[
2
1
]
.
Mo
tiv
ated
b
y
th
e
ab
o
v
e
c
o
n
ce
r
n
s
an
d
d
r
aw
b
ac
k
s
,
th
is
a
r
ticle
aim
s
to
d
esig
n
a
r
eliab
le
c
o
n
t
r
o
ller
th
at
im
p
r
o
v
es
C
PT
s
y
s
tem
s
tab
ilit
y
in
th
e
f
ac
e
o
f
lo
a
d
v
ar
iatio
n
.
T
h
is
ar
ticle
u
s
es
g
en
er
alize
d
s
ta
te
-
s
p
ac
e
av
er
ag
in
g
(
GSSA
)
an
d
f
r
eq
u
en
cy
-
h
ar
m
o
n
ic
an
aly
s
is
(
FHA
)
to
m
o
d
el
t
h
e
s
y
s
tem
.
A
lin
ea
r
s
tate
s
p
ac
e
m
o
d
el
is
g
en
er
ated
b
y
lin
ea
r
izin
g
th
e
n
o
n
lin
ea
r
s
y
s
tem
b
y
its
s
tead
y
-
s
tate
o
p
er
atin
g
p
o
in
t.
T
h
e
m
ai
n
co
n
tr
i
b
u
ti
o
n
o
f
th
is
p
ap
er
ca
n
b
e
s
u
m
m
ar
ized
as:
-
No
v
el
a
p
p
r
o
ac
h
:
T
h
is
p
ap
er
p
r
esen
ts
a
n
ew
m
eth
o
d
f
o
r
v
o
lt
ag
e
r
eg
u
latio
n
i
n
C
lass
-
E
co
n
v
er
ter
s
o
f
C
PT
s
y
s
tem
s
u
s
in
g
a
L
y
ap
u
n
o
v
-
b
a
s
ed
co
n
tr
o
ller
,
o
f
f
er
in
g
a
f
r
es
h
p
er
s
p
ec
tiv
e
o
n
C
PT
s
y
s
tem
ef
f
icien
cy
an
d
s
tab
ilit
y
.
-
E
m
p
ir
ical
v
alid
atio
n
:
T
h
e
p
a
p
er
p
r
o
v
id
es
s
im
u
latio
n
r
esu
lts
t
h
at
co
n
f
ir
m
t
h
e
ef
f
ec
tiv
en
ess
o
f
th
e
L
y
ap
u
n
o
v
co
n
tr
o
ller
,
s
er
v
in
g
as a
v
al
u
ab
le
r
ef
er
en
ce
f
o
r
f
u
tu
r
e
s
tu
d
ies.
-
Pra
ctica
l
i
m
p
ac
t:
T
h
e
r
esear
ch
p
o
ten
tially
en
h
an
ce
s
C
PT
s
y
s
tem
ef
f
icien
cy
a
n
d
s
tab
ilit
y
,
i
m
p
ac
tin
g
W
PT
ap
p
licatio
n
s
s
ig
n
if
ican
tly
.
T
h
e
r
em
ain
d
er
o
f
th
e
p
ap
e
r
is
ar
r
an
g
e
d
as
s
ec
tio
n
2
an
aly
s
is
o
f
C
las
s
-
E
C
PT
is
d
o
n
e.
Sectio
n
3
p
r
esen
ts
th
e
m
o
d
elin
g
p
r
o
ce
d
u
r
e
th
at
w
as
u
s
ed
to
o
b
tain
t
h
e
s
y
s
tem
'
s
s
tate
s
p
ac
e
m
o
d
el.
T
h
e
L
y
ap
u
n
o
v
a
p
p
r
o
ac
h
-
b
ased
s
tate
f
ee
d
b
ac
k
c
o
n
tr
o
l
d
esig
n
i
s
s
h
o
wn
in
s
ec
tio
n
4
.
Sectio
n
5
p
r
esen
ts
an
illu
s
tr
atio
n
o
f
th
e
s
im
u
latio
n
o
u
tco
m
e
,
wh
ile
s
ec
tio
n
6
p
r
esen
ts
th
e
co
n
clu
s
io
n
.
2.
ANALY
SI
S A
ND
M
O
D
E
L
L
I
NG
O
F
CL
AS
S E
CP
T
I
n
th
is
s
ec
tio
n
,
we
b
eg
in
b
y
co
n
s
tr
u
ctin
g
th
e
in
itial
h
ar
m
o
n
ic
m
o
d
el
o
f
th
e
C
PT
s
y
s
tem
u
s
i
n
g
C
lass
-
E
to
p
o
lo
g
y
,
u
tili
zin
g
FHA.
Af
ter
th
at,
a
lin
ea
r
izatio
n
p
r
o
ce
d
u
r
e
is
p
er
f
o
r
m
ed
at
th
e
s
y
s
tem
'
s
o
p
er
atin
g
p
o
i
n
t,
wh
ich
lead
s
to
th
e
cr
ea
tio
n
o
f
a
lin
ea
r
s
tate
-
s
p
ac
e
m
o
d
el
f
o
r
th
e
C
PT
s
y
s
tem
b
ased
o
n
C
lass
-
E
.
Fig
u
r
e
1
(
a)
s
h
o
ws
th
e
s
ch
em
atic
d
iag
r
am
o
f
th
e
C
lass
-
E
-
b
ased
C
PT
s
y
s
tem
,
wh
ile
Fig
u
r
e
1
(
b
)
d
ep
icts
th
e
s
y
s
tem
'
s
eq
u
iv
alen
t c
ir
cu
it.
T
h
e
r
eso
n
a
n
t
ca
p
ac
ito
r
,
,
r
ep
r
esen
ts
th
e
eq
u
iv
alen
t
ca
p
ac
ita
n
ce
f
o
r
m
ed
b
y
th
e
s
er
ies
co
m
b
in
atio
n
o
f
ca
p
ac
ito
r
s
,
1
an
d
2
,
wh
ile
th
e
r
esis
tan
ce
ac
co
u
n
ts
f
o
r
th
e
to
tal
r
esis
tan
ce
o
f
th
e
lo
ad
ed
f
u
ll
-
wav
e
r
ec
tifie
r
,
as
d
etailed
in
[
2
2
]
.
T
h
e
eq
u
atio
n
s
r
elate
d
to
an
d
ar
e
s
h
o
wn
in
(
1
)
.
T
h
e
ca
lcu
lati
o
n
s
p
r
o
v
id
e
d
h
er
e
wer
e
co
m
p
r
eh
e
n
s
iv
ely
d
e
tailed
in
r
ef
er
en
ce
s
[
2
3
]
,
[
2
4
]
.
=
1
∗
2
1
+
2
,
=
8
∗
2
(
1
)
T
h
e
ass
u
m
p
tio
n
s
f
o
r
th
e
C
PT
s
y
s
tem
ar
e
co
n
s
is
ten
t w
ith
th
e
ass
u
m
p
tio
n
s
o
u
tlin
ed
in
[
2
5
]
,
wh
ile
d
ep
en
d
in
g
o
n
[
2
6
]
,
th
e
ca
lcu
latio
n
s
u
s
ed
to
d
eter
m
in
e
t
h
e
v
al
u
es
o
f
th
e
c
o
m
p
o
n
en
ts
in
Fig
u
r
e
1
a
r
e
as
f
o
llo
w:
t
h
e
o
u
tp
u
t
p
o
wer
o
f
th
e
s
y
s
tem
,
is
ca
lcu
lated
u
s
in
g
th
e
(
2
)
.
=
8
(
2
+
4
)
(
2
)
t
h
e
r
eso
n
an
t in
d
u
ctan
ce
,
,
was
s
ep
ar
ated
in
to
two
c
o
m
p
o
n
en
t
s
,
an
d
,
wh
ich
wer
e
co
m
p
u
ted
u
s
in
g
th
e
(
3
)
.
=
1
.
153
+
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
E
n
h
a
n
ci
n
g
efficien
cy
a
n
d
s
ta
b
ilit
y
in
C
P
T sy
s
tems:
a
s
ta
te
fe
ed
b
a
ck
c
o
n
tr
o
ller
…
(
A
h
med
A
l
-
Ha
tta
mi
)
227
wh
er
e,
is
th
e
q
u
ality
f
ac
to
r
,
a
n
d
th
e
is
th
e
s
witch
in
g
f
r
eq
u
e
n
cy
.
,
an
d
C
ar
e
th
e
s
h
u
n
t c
ap
ac
itan
ce
an
d
th
e
r
eso
n
a
n
t c
a
p
ac
itan
ce
r
esp
e
ctiv
ely
,
b
o
th
ca
n
b
e
o
b
tain
e
d
a
s
in
(
4
)
.
=
2
,
=
1
(
4
)
T
h
e
ch
o
c
k
in
d
u
cto
r
’
s
m
in
im
u
m
v
alu
e
is
ca
lcu
lated
as
in
(
5
)
.
_
=
2
(
2
4
+
1
)
(
5
)
(
a)
(
b
)
Fig
u
r
e
1
.
C
lass
-
E
-
b
ased
C
PT
s
y
s
tem
o
f
(
a)
s
ch
em
atic
d
ia
g
r
a
m
an
d
(
b
)
e
q
u
iv
alen
t c
ir
c
u
it
3.
DYNA
M
I
C
M
O
DE
L
L
I
NG
O
F
CL
ASS
-
E
CP
T
SY
ST
E
M
I
n
th
is
s
ec
tio
n
,
th
e
s
tate
s
p
ac
e
r
ep
r
esen
tatio
n
o
f
th
e
C
lass
-
E
C
PT
i
s
o
b
tain
ed
,
f
o
llo
wed
b
y
p
er
f
o
r
m
in
g
lin
ea
r
izatio
n
to
d
er
iv
e
t
h
e
lin
e
ar
ized
s
tate
m
atr
ix
,
in
p
u
t
m
atr
i
x
,
an
d
o
u
t
p
u
t
m
atr
i
x
o
f
th
e
s
y
s
tem
.
T
h
e
m
o
d
ellin
g
p
r
o
ce
d
u
r
e
em
p
lo
y
s
t
h
e
FHA,
ass
u
m
in
g
th
at
o
n
ly
t
h
e
f
u
n
d
a
m
en
tal
h
ar
m
o
n
ic
c
o
n
tr
ib
u
tes
to
th
e
p
o
wer
tr
an
s
f
er
.
T
h
r
o
u
g
h
th
e
u
tili
za
tio
n
o
f
Fo
u
r
ier
s
er
ies
ex
p
an
s
io
n
,
th
e
f
ir
s
t
h
ar
m
o
n
ic
o
f
th
e
s
er
ies
cu
r
r
en
t
(
d
e
n
o
ted
as
)
p
ass
in
g
th
r
o
u
g
h
an
d
,
as we
ll a
s
th
e
v
o
ltag
e
ap
p
lie
d
to
ca
p
ac
ito
r
,
ca
n
b
e
e
x
p
r
ess
ed
in
ac
co
r
d
an
ce
with
th
e
FHA.
W
h
er
e
,
,
,
an
d
ar
e
th
e
Fo
u
r
ier
co
e
f
f
icien
ts
f
o
r
r
ep
r
esen
tin
g
an
d
r
esp
ec
tiv
ely
.
B
y
d
if
f
er
en
tiatin
g
b
o
th
s
id
e
o
f
(
6
)
,
we
o
b
tain
ed
(
7
)
.
{
=
+
=
+
(
6
)
{
=
(
−
)
(
)
+
(
+
)
(
)
=
(
−
)
(
)
+
(
+
)
(
)
(
7
)
B
y
an
aly
zin
g
th
e
e
q
u
iv
ale
n
t c
ir
cu
it in
Fig
u
r
e
1
(
b
)
u
s
in
g
KV
L
,
an
d
KC
L
,
th
e
(
8
)
a
r
e
o
b
tain
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
6
,
No
.
1
,
Ma
r
c
h
20
2
5
:
225
-
234
228
{
=
+
+
(
)
=
|
|
=
+
(
8
)
I
n
(
8
)
,
r
ep
r
esen
ts
th
e
v
o
ltag
e
a
cr
o
s
s
th
e
s
h
u
n
t
ca
p
ac
ito
r
,
wh
ile
,
d
en
o
tes
th
e
s
y
s
tem
'
s
o
u
tp
u
t
v
o
ltag
e.
T
h
e
f
u
n
ctio
n
(
)
,
d
en
o
tes th
e
s
ig
n
u
m
f
u
n
ctio
n
a
n
d
it is
g
iv
e
n
in
(
9
)
.
(
)
=
{
1
<
0
0
=
0
−
1
>
0
(
9
)
Acc
o
r
d
in
g
t
o
W
a
n
g
et
a
l.
[
2
7
]
,
t
h
e
s
y
m
b
o
l,
(
)
is
ap
p
r
o
x
im
ate
as
i
n
(
1
0
)
.
{
(
)
=
4
(
)
+
4
(
)
|
|
≈
2
=
√
2
+
2
(
1
0
)
T
h
e
v
o
ltag
e
ac
r
o
s
s
MO
SF
E
T
,
,
is
ex
p
r
ess
ed
as
in
(
1
1
)
.
=
{
[
−
3
2
−
2
(
)
−
(
)
<
<
2
0
0
<
<
(
11
)
T
h
e
Fo
u
r
ier
s
er
ies ex
p
an
s
io
n
o
f
th
e
v
o
ltag
e
is
s
im
p
lifie
d
as
in
(
1
2
)
,
=
1
(
)
+
1
(
)
(
1
2
)
w
h
er
e
1
an
d
1
ar
e
f
o
r
m
u
lated
as in
(
1
3
)
.
{
1
=
1
∫
(
)
(
)
=
−
2
2
1
=
1
∫
(
)
(
)
=
(
8
−
2
)
4
2
(
1
3
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B
y
s
u
b
s
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tin
g
(
6
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,
(
7
)
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(
1
0
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(
1
2
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,
an
d
(
1
3
)
in
to
(
8
)
,
an
d
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en
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ettin
g
th
e
co
ef
f
icien
ts
o
f
th
e
DC
,
s
in
e,
an
d
co
s
in
e
ter
m
s
eq
u
al
to
ea
ch
o
th
er
,
th
e
s
tate
-
s
p
ac
e
eq
u
atio
n
ca
n
b
e
d
e
r
iv
ed
as
in
(
1
4
)
.
{
=
−
−
4
−
2
=
−
−
−
4
+
(
8
−
2
)
4
=
+
=
−
=
2
−
(
1
4
)
I
n
s
tead
y
s
tate,
2
−
=
0
,
wh
er
e
an
d
ar
e
th
e
s
tead
y
s
tate
v
al
u
e
o
f
an
d
.
Hen
ce
,
(
1
4
)
ca
n
b
e
ex
p
r
ess
ed
as f
o
llo
ws
:
=
[
−
8
2
−
1
0
−
−
8
2
0
−
1
1
0
0
0
1
−
0
]
=
[
−
2
(
8
−
2
)
4
0
0
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
E
n
h
a
n
ci
n
g
efficien
cy
a
n
d
s
ta
b
ilit
y
in
C
P
T sy
s
tems:
a
s
ta
te
fe
ed
b
a
ck
c
o
n
tr
o
ller
…
(
A
h
med
A
l
-
Ha
tta
mi
)
229
T
h
e
eq
u
ilib
r
i
u
m
p
o
in
t is d
eter
m
in
ed
wh
en
̇
=
0
,
wh
ich
y
ield
s
0
=
−
−
1
.
Per
f
o
r
m
in
g
lin
ea
r
izatio
n
o
f
(1
4
)
a
r
o
u
n
d
th
is
eq
u
ilib
r
iu
m
p
o
in
t p
r
o
v
id
e
s
th
e
lin
ea
r
ize
d
s
tate
m
atr
ix
,
in
p
u
t m
atr
ix
,
a
n
d
o
u
tp
u
t m
atr
ix
o
f
th
e
s
y
s
tem
,
we
ar
r
iv
e
at
(
1
5
)
.
=
[
−
4
2
3
0
+
4
3
−
1
0
−
4
4
3
−
0
−
4
2
3
0
−
1
−
4
1
0
0
0
0
0
1
−
0
0
0
2
2
0
0
1
]
,
=
[
−
−
0
]
,
=
[
0
1
1
0
1
]
(
1
5
)
4.
ST
A
T
E
F
E
E
D
B
ACK
CO
N
T
RO
L
DE
SI
G
N
T
h
e
m
ain
p
ar
t
o
f
th
e
co
n
tr
o
l
d
esig
n
is
a
s
tate
f
ee
d
b
ac
k
(
SF
)
co
n
tr
o
ller
b
ased
o
n
th
e
L
y
ap
u
n
o
v
ap
p
r
o
ac
h
.
T
h
e
SF
co
n
tr
o
ller
a
d
ju
s
ts
th
e
s
witch
in
g
f
r
eq
u
en
c
y
o
f
th
e
C
lass
-
E
co
n
v
er
ter
ac
co
r
d
in
g
t
o
th
e
s
tate
v
ar
iab
les
o
f
th
e
C
PT
s
y
s
tem
,
s
o
th
e
o
u
tp
u
t
v
o
ltag
e
is
r
eg
u
lated
,
an
d
th
e
s
y
s
tem
s
tab
ilit
y
is
en
s
u
r
ed
.
T
o
e
n
s
u
r
e
ze
r
o
s
tead
y
s
tate
er
r
o
r
,
th
e
s
y
s
tem
is
en
h
an
ce
d
b
y
in
co
r
p
o
r
ati
n
g
an
in
teg
r
ato
r
s
tate.
T
h
e
o
v
er
all
co
n
tr
o
ller
d
esig
n
b
ased
o
n
th
e
L
y
ap
u
n
o
v
ap
p
r
o
a
ch
is
d
ep
icted
in
Fig
u
r
e
2
,
wh
e
r
e
is
th
e
c
o
n
tr
o
ller
g
ain
.
C
o
n
s
i
d
er
th
e
f
o
llo
win
g
s
y
s
tem
as in
(
1
6
)
.
{
̇
=
+
=
(
1
6
)
T
h
e
s
tate
o
f
in
teg
r
at
o
r
is
in
tr
o
d
u
ce
d
as in
(
1
7
)
.
{
̇
=
+
̇
=
(
1
7
)
Hen
ce
,
th
e
s
y
s
tem
s
tate
eq
u
atio
n
with
th
e
in
te
g
r
ato
r
’
s
s
tate
b
ec
o
m
es a
s
in
(
1
8
)
.
{
[
̇
̇
]
=
[
0
0
]
[
]
+
[
0
1
]
=
[
0
]
[
]
(
1
8
)
So
,
th
e
lin
ea
r
ized
s
y
s
tem
n
o
w
b
ec
o
m
es
th
e
(
1
9
)
.
=
[
0
0
]
,
=
[
0
0
0
0
0
1
]
,
=
[
0
]
(
1
9
)
A
L
y
ap
u
n
o
v
is
in
tr
o
d
u
ce
d
as in
(
2
0
)
=
(
2
0
)
w
h
er
e
P is
th
e
L
y
ap
u
n
o
v
m
atr
ix
th
at
will satis
f
y
th
e
f
o
llo
win
g
co
n
d
itio
n
as in
(
2
1
)
an
d
(
2
2
)
.
(
)
>
0
(
21
)
≤
0
(
22
)
T
h
e
co
n
tr
o
ller
is
s
elec
ted
to
b
e
o
n
th
e
f
o
r
m
o
f
(
2
3
)
,
=
−
(
2
3
)
wh
er
e
th
e
K
is
th
e
g
ain
v
alu
e
o
f
th
e
co
n
tr
o
ller
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
6
,
No
.
1
,
Ma
r
c
h
20
2
5
:
225
-
234
230
Fig
u
r
e
2.
B
lo
ck
d
iag
r
am
o
f
th
e
co
n
tr
o
ller
d
esig
n
-
T
h
eo
r
em
1
B
y
f
o
r
m
u
l
a
t
i
n
g
t
h
e
L
y
a
p
u
n
o
v
e
q
u
a
t
i
o
n
a
n
d
e
m
p
l
o
y
i
n
g
c
a
l
cu
l
u
s
t
h
e
o
r
y
t
o
s
i
m
p
l
i
f
y
it
a
l
o
n
g
w
i
t
h
i
ts
a
s
s
o
ci
a
t
e
d
c
o
n
d
i
ti
o
n
s
,
we
h
a
v
e
d
e
r
i
v
e
d
t
h
e
f
o
l
l
o
wi
n
g
l
i
n
e
a
r
m
a
t
r
i
x
i
n
e
q
u
a
l
it
y
(
L
M
I
)
e
q
u
a
ti
o
n
.
M
o
r
e
o
v
e
r
,
i
t
is
w
o
r
t
h
n
o
t
i
n
g
t
h
a
t
t
h
e
s
y
s
t
e
m
c
an
b
e
s
t
a
b
i
l
i
z
e
d
t
h
r
o
u
g
h
s
t
a
t
e
f
e
ed
b
a
c
k
i
f
a
n
d
o
n
l
y
i
f
[
̇
]
[
]
[
̇
]
≤
0
i
s
m
e
t
.
-
Pro
o
f
o
f
th
e
T
h
e
o
r
em
1
Acc
o
r
d
in
g
to
(
2
2
)
,
th
e
d
if
f
er
e
n
tiatio
n
o
f
V
s
h
o
u
ld
b
e
less
th
an
ze
r
o
a
n
d
as
k
n
o
wn
f
r
o
m
th
e
L
y
ap
u
n
o
v
in
(
2
0
)
.
=
(
)
=
̇
+
̇
≤
0
(
)
=
(
+
−
−
)
≤
0
Fro
m
th
is
,
y
o
u
ca
n
in
f
er
th
at
A,
an
d
B
v
alu
e
a
r
e
as f
o
llo
w:
=
(
+
)
=
−
(
+
)
C
o
n
v
er
tin
g
L
y
ap
u
n
o
v
f
u
n
ctio
n
to
m
atr
ix
f
o
r
m
u
s
in
g
Sch
u
r
c
o
m
p
lem
en
t
,
o
n
e
ar
r
iv
es a
t
:
[
̇
]
[
+
−
(
+
)
−
(
+
)
0
]
[
̇
]
≤
0
T
h
e
p
r
o
o
f
is
co
m
p
leted
.
5.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
T
h
is
s
ec
tio
n
d
is
cu
s
s
es
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
.
T
h
e
s
im
u
latio
n
wo
r
k
is
d
o
n
e
u
s
in
g
th
e
f
o
llo
win
g
s
p
ec
if
icatio
n
s
:
=
24
,
=
40
Ω
,
=
2
,
=
20
,
=
20
,
=
14
.
4
,
1
,
2
=
245
.
38
,
=
453
,
=
54
.
55
,
_
=
138
.
7
A
co
m
p
lete
C
PT
s
y
s
tem
,
em
p
lo
y
in
g
th
e
C
lass
-
E
co
n
v
e
r
ter
an
d
in
co
r
p
o
r
ati
n
g
an
a
u
to
m
ati
c
f
r
eq
u
e
n
cy
tu
n
in
g
m
ec
h
an
is
m
,
h
as b
ee
n
r
ea
lized
with
in
th
e
MA
T
L
AB
en
v
ir
o
n
m
en
t,
u
tili
zin
g
th
e
s
im
elec
tr
o
n
ics
p
ac
k
ag
e
with
in
Simu
lin
k
.
T
h
e
s
ch
em
atic
r
ep
r
e
s
en
tatio
n
o
f
th
e
s
y
s
tem
is
d
eli
n
ea
ted
in
Fig
u
r
e
3.
Fo
r
th
is
d
esig
n
,
i
t
is
n
ec
ess
ar
y
to
k
ee
p
t
h
e
s
y
s
tem
o
u
t
p
u
t
v
o
ltag
e
s
tead
y
at
1
4
.
4
V.
Fo
l
lo
win
g
th
e
d
esig
n
p
r
o
ce
d
u
r
e
o
f
o
u
r
L
y
ap
u
n
o
v
co
n
tr
o
ller
p
r
esen
t
in
s
ec
tio
n
4
,
th
e
L
y
ap
u
n
o
v
m
atr
i
x
an
d
co
n
tr
o
l
g
ain
is
ca
lcu
lated
b
y
em
p
lo
y
in
g
YAL
MI
P to
o
ls
in
MA
T
L
AB
an
d
o
b
tain
ed
as f
o
llo
w
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
E
n
h
a
n
ci
n
g
efficien
cy
a
n
d
s
ta
b
ilit
y
in
C
P
T sy
s
tems:
a
s
ta
te
fe
ed
b
a
ck
c
o
n
tr
o
ller
…
(
A
h
med
A
l
-
Ha
tta
mi
)
231
L
ya
pun
ov
ma
tr
ix
,
=
[
0
.
9001
−
0
.
1646
−
0
.
0002
−
0
.
0002
−
0
.
0275
−
0
.
1646
0
.
7340
0
.
0000
0
.
0003
−
0
.
0009
−
0
.
0002
0
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0000
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.
0000
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0
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0002
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0003
0
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0
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0
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0275
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0
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0009
0
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0000
0
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0000
0
.
1974
]
c
on
tr
ol
ga
in
,
K
=
[
2
.
804
−
1
.
768
−
0
.
002644
−
0
.
00406
68
.
0083
]
Fo
r
th
is
s
im
u
latio
n
,
t
h
e
o
p
en
-
lo
o
p
s
ig
n
al
is
im
p
ac
te
d
wh
en
alter
in
g
th
e
l
o
ad
b
y
+
3
0
%
at
4
an
d
-
3
0
%
at
1
0
.
T
h
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
is
th
en
co
m
p
ar
ed
wit
h
PID
co
n
tr
o
ller
.
T
h
e
co
m
p
ar
is
o
n
is
s
h
o
wn
in
Fig
u
r
e
4
b
etw
ee
n
th
e
p
r
o
p
o
s
ed
o
n
e
an
d
with
o
p
en
lo
o
p
an
d
PID
.
T
h
e
p
er
f
o
r
m
an
ce
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
wh
en
co
m
p
ar
ed
with
PID
co
n
t
r
o
ller
is
s
h
o
wn
in
T
a
b
le
1
.
Fig
u
r
e
3
.
Au
t
o
f
r
e
q
u
en
c
y
tu
n
i
n
g
C
lass
-
E
C
PT
s
y
s
tem
Fig
u
r
e
4
.
Op
e
n
lo
o
p
v
s
PID
an
d
L
y
ap
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
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I
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t J Po
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lec
&
Dr
i Sy
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t
,
Vo
l.
1
6
,
No
.
1
,
Ma
r
c
h
20
2
5
:
225
-
234
232
T
ab
le
1
.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
L
y
ap
u
n
o
v
v
s
PID
Te
r
m
Ly
a
p
u
n
o
v
P
I
D
S
e
t
t
l
i
n
g
t
i
me
(
)
0
.
0
5
2
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7
O
v
e
r
sh
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t
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4
1
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4
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e
a
d
y
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e
r
r
o
r
0
.
3
0
.
3
6.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
p
r
esen
ts
a
co
m
p
r
e
h
en
s
iv
e
an
aly
s
is
o
f
C
PT
s
y
s
t
em
s
,
with
a
p
ar
ticu
lar
em
p
h
a
s
is
o
n
th
e
in
teg
r
atio
n
o
f
SF
in
to
th
e
d
esi
g
n
o
f
C
lass
E
in
v
er
ter
s
.
Utilizi
n
g
th
e
GSSA m
eth
o
d
an
d
MA
T
L
AB
s
im
u
latio
n
s
,
a
th
o
r
o
u
g
h
ev
alu
atio
n
o
f
C
PT
s
y
s
tem
p
er
f
o
r
m
an
ce
is
co
n
d
u
cte
d
.
Dr
awin
g
in
s
p
ir
atio
n
f
r
o
m
s
u
cc
ess
f
u
l
L
y
ap
u
n
o
v
-
b
ased
SF
co
n
tr
o
ller
s
in
s
im
ilar
C
PT
co
n
f
ig
u
r
ati
o
n
s
,
th
e
in
v
esti
g
atio
n
is
ex
ten
d
ed
to
in
c
o
r
p
o
r
ate
wid
ely
u
s
ed
PID
co
n
tr
o
ller
s
.
T
h
e
L
y
ap
u
n
o
v
-
b
ased
SF
co
n
t
r
o
ller
s
ex
h
ib
it
r
em
ar
k
ab
le
r
o
b
u
s
tn
ess
ag
ain
s
t
lo
ad
v
ar
ia
tio
n
s
,
th
er
e
b
y
e
n
s
u
r
in
g
s
tab
le
o
u
tp
u
t
v
o
ltag
es.
T
h
ese
co
n
tr
o
ller
s
,
d
ev
el
o
p
ed
th
r
o
u
g
h
p
r
in
cip
led
L
y
ap
u
n
o
v
tech
n
iq
u
es,
d
em
o
n
s
tr
ate
r
esil
ien
ce
in
th
e
f
ac
e
o
f
d
iv
er
s
e
d
is
tu
r
b
an
ce
s
,
af
f
i
r
m
in
g
t
h
eir
ef
f
ec
tiv
en
ess
in
m
ain
tain
in
g
s
y
s
tem
s
tab
ilit
y
.
I
n
co
n
clu
s
io
n
,
t
h
is
p
ap
e
r
co
n
tr
ib
u
tes
to
th
e
f
ield
b
y
p
r
o
v
id
i
n
g
in
s
ig
h
ts
in
t
o
th
e
ef
f
icac
y
o
f
L
y
a
p
u
n
o
v
-
b
ased
SF
co
n
tr
o
ller
s
in
C
PT
s
y
s
tem
s
.
T
h
e
f
in
d
in
g
s
o
f
f
e
r
v
alu
ab
le
co
n
s
id
er
atio
n
s
f
o
r
en
g
in
ee
r
s
an
d
r
esear
ch
er
s
s
ee
k
in
g
o
p
tim
al
co
n
tr
o
l stra
teg
ies in
s
im
ilar
en
er
g
y
tr
an
s
f
er
s
y
s
t
em
s
.
As p
r
o
g
r
ess
is
m
ad
e
to
war
d
s
m
o
r
e
ef
f
icien
t
an
d
r
eliab
le
C
PT
s
y
s
tem
s
,
th
e
f
in
d
in
g
s
p
r
esen
ted
s
er
v
e
as
a
s
tep
p
in
g
s
to
n
e
f
o
r
f
u
tu
r
e
a
d
v
an
ce
m
e
n
ts
in
co
n
tr
o
ller
d
esig
n
an
d
ap
p
licatio
n
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
is
s
tu
d
y
is
f
u
n
d
ed
b
y
Min
is
t
r
y
o
f
Hig
h
er
E
d
u
ca
tio
n
(
MO
H
E
)
o
f
Ma
lay
s
ia
th
r
o
u
g
h
t
h
e
Fu
n
d
am
en
tal
R
esear
ch
Gr
an
t
Sch
em
e
(
FR
G
S),
n
o
.
FR
GS/1
/2
0
2
2
/TK
0
7
/U
T
E
M/0
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/4
6
.
T
h
e
Au
th
o
r
s
also
wo
u
ld
also
lik
e
to
th
an
k
Un
iv
e
r
s
iti T
ek
n
ik
al
Ma
l
ay
s
ia
Me
lak
a
(
UT
eM
)
f
o
r
all
th
e
s
u
p
p
o
r
ts
.
RE
F
E
R
E
NC
E
S
[
1
]
O
.
I
mo
r
u
,
A
.
Jassa
l
,
H
.
P
o
l
i
n
d
e
r
,
E.
N
i
e
u
w
k
o
o
p
,
J.
Ts
a
d
o
,
a
n
d
A
.
A
.
Ji
m
o
h
,
“
A
n
i
n
d
u
c
t
i
v
e
p
o
w
e
r
t
r
a
n
sf
e
r
t
h
r
o
u
g
h
me
t
a
l
o
b
j
e
c
t
,
”
1
st
I
n
t
e
r
n
a
t
i
o
n
a
l
F
u
t
u
r
e
E
n
e
r
g
y
El
e
c
t
ro
n
i
c
s
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o
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f
e
r
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,
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EC
2
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f
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.
2
0
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3
.
6
6
8
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5
1
1
.
[
2
]
D
.
K
i
m,
A
.
A
b
u
-
S
i
a
d
a
,
a
n
d
A
.
S
u
t
i
n
j
o
,
“
S
t
a
t
e
-
of
-
t
h
e
-
a
r
t
l
i
t
e
r
a
t
u
r
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r
e
v
i
e
w
o
f
W
P
T:
C
u
r
r
e
n
t
l
i
m
i
t
a
t
i
o
n
s
a
n
d
so
l
u
t
i
o
n
s
o
n
I
P
T,
”
El
e
c
t
r
i
c
Po
w
e
r
S
y
st
e
m
s R
e
se
a
rc
h
,
v
o
l
.
1
5
4
,
p
p
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o
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6
/
j
.
e
p
sr
.
2
0
1
7
.
0
9
.
0
1
8
.
[
3
]
L.
H
u
a
n
g
,
A
.
P
.
H
u
,
A
.
S
w
a
i
n
,
S
.
K
i
m
,
a
n
d
Y
.
R
e
n
,
“
A
n
o
v
e
r
v
i
e
w
o
f
c
a
p
a
c
i
t
i
v
e
l
y
c
o
u
p
l
e
d
p
o
w
e
r
t
r
a
n
sf
e
r
-
A
n
e
w
c
o
n
t
a
c
t
l
e
ss
p
o
w
e
r
t
r
a
n
sf
e
r
s
o
l
u
t
i
o
n
,
”
Pr
o
c
e
e
d
i
n
g
s
o
f
t
h
e
2
0
1
3
I
EEE
8
t
h
C
o
n
f
e
r
e
n
c
e
o
n
I
n
d
u
st
r
i
a
l
El
e
c
t
r
o
n
i
c
s
a
n
d
Ap
p
l
i
c
a
t
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o
n
s
,
I
C
I
E
A
2
0
13
,
p
p
.
4
6
1
–
4
6
5
,
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0
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,
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o
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:
1
0
.
1
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0
9
/
I
C
I
EA
.
2
0
1
3
.
6
5
6
6
4
1
3
.
[
4
]
T.
K
o
mar
u
a
n
d
H
.
A
k
i
t
a
,
“
P
o
s
i
t
i
o
n
a
l
c
h
a
r
a
c
t
e
r
i
st
i
c
s
o
f
c
a
p
a
c
i
t
i
v
e
p
o
w
e
r
t
r
a
n
sf
e
r
a
s
a
r
e
so
n
a
n
c
e
c
o
u
p
l
i
n
g
s
y
st
e
m,”
2
0
1
3
I
EE
E
Wi
re
l
e
ss
P
o
w
e
r Tr
a
n
s
f
e
r
,
W
PT
2
0
1
3
,
p
p
.
2
1
8
–
2
2
1
,
2
0
1
3
,
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o
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:
1
0
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1
1
0
9
/
W
P
T.
2
0
1
3
.
6
5
5
6
9
2
2
.
[
5
]
T.
M
.
M
o
s
t
a
f
a
,
D
.
B
u
i
,
A
.
M
u
h
a
r
a
m,
R
.
H
a
t
t
o
r
i
,
a
n
d
A
.
P
.
H
u
,
“
C
a
p
a
c
i
t
i
v
e
p
o
w
e
r
t
r
a
n
sf
e
r
s
y
st
e
m
w
i
t
h
r
e
d
u
c
e
d
v
o
l
t
a
g
e
s
t
r
e
ss
a
n
d
sen
s
i
t
i
v
i
t
y
,
”
A
p
p
l
i
e
d
S
c
i
e
n
c
e
s
(
S
w
i
t
ze
rl
a
n
d
)
,
v
o
l
.
8
,
n
o
.
7
,
2
0
1
8
,
d
o
i
:
1
0
.
3
3
9
0
/
a
p
p
8
0
7
1
1
3
1
.
[
6
]
Z.
W
a
n
g
,
Y
.
Z
h
a
n
g
,
X
.
H
e
,
B
.
L
u
o
,
a
n
d
R
.
M
a
i
,
“
R
e
s
e
a
r
c
h
a
n
d
A
p
p
l
i
c
a
t
i
o
n
o
f
C
a
p
a
c
i
t
i
v
e
P
o
w
e
r
Tr
a
n
sf
e
r
S
y
s
t
e
m
:
A
R
e
v
i
e
w
,
”
El
e
c
t
r
o
n
i
c
s
(
S
w
i
t
zer
l
a
n
d
)
,
v
o
l
.
1
1
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o
.
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l
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s1
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5
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.
[
7
]
H
.
S
u
n
,
X
.
Z
h
a
n
g
,
a
n
d
L
.
H
u
a
n
g
,
“
A
C
o
m
p
a
c
t
C
a
p
a
c
i
t
i
v
e
P
o
w
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Tr
a
n
sf
e
r
S
y
st
e
m
B
a
se
d
o
n
P
l
a
n
a
r
I
n
d
u
c
t
o
r
s
B
T
-
Th
e
p
r
o
c
e
e
d
i
n
g
s
o
f
t
h
e
1
6
t
h
A
n
n
u
a
l
C
o
n
f
e
r
e
n
c
e
o
f
C
h
i
n
a
El
e
c
t
r
o
t
e
c
h
n
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c
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l
S
o
c
i
e
t
y
,
”
2
0
2
2
,
p
p
.
5
7
0
–
5
7
7
.
[
8
]
S
.
C
h
o
i
,
G
.
C
.
Li
m,
J
.
S
.
H
o
n
g
,
E.
C
h
u
n
g
,
G
.
Y
.
C
h
o
e
,
a
n
d
J
.
I
.
H
a
,
“
C
o
m
p
e
n
s
a
t
i
o
n
N
e
t
w
o
r
k
D
e
si
g
n
M
e
t
h
o
d
f
o
r
C
a
p
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c
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t
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v
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P
o
w
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r
Tr
a
n
sf
e
r
S
y
st
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m
C
o
n
si
d
e
r
i
n
g
C
o
u
p
l
i
n
g
V
a
r
i
a
t
i
o
n
,
”
2
0
2
2
I
EEE
En
e
rg
y
C
o
n
v
e
rsi
o
n
C
o
n
g
res
s
a
n
d
Ex
p
o
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,
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4
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4
7
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.
[
9
]
J.
X
i
a
e
t
a
l
.
,
“
A
G
e
n
e
r
a
l
P
a
r
a
m
e
t
e
r
O
p
t
i
m
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z
a
t
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n
M
e
t
h
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d
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a
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a
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o
w
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r
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sf
e
r
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y
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m
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t
h
a
n
A
s
y
mm
e
t
r
i
c
a
l
S
t
r
u
c
t
u
r
e
,
”
El
e
c
t
r
o
n
i
c
s
(
S
w
i
t
zer
l
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n
d
)
,
v
o
l
.
1
1
,
n
o
.
6
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2
0
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2
,
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:
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ly
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rk
i
n
g
with
S
c
h
o
o
l
o
f
Oc
e
a
n
En
g
i
n
e
e
rin
g
,
Un
iv
e
rsiti
M
a
lay
sia
Tere
n
g
g
a
n
u
(UMT
)
a
s
a
lec
tu
re
r.
He
h
a
s
re
c
e
iv
e
d
h
is
P
h
.
D
.
i
n
C
o
m
m
u
n
ica
ti
o
n
En
g
i
n
e
e
rin
g
fr
o
m
Un
iv
e
rsiti
M
a
lay
sia
P
e
rli
s
(U
n
iM
AP),
M
a
lay
sia
,
in
2
0
1
8
.
He
wa
s a
wa
rd
e
d
m
a
ste
r’s i
n
c
o
m
p
u
t
e
r
sc
ien
c
e
fro
m
I
n
tern
a
ti
o
n
a
l
I
sla
m
ic Un
iv
e
rsity
M
a
lay
sia
(IIUM
),
M
a
lay
sia
a
n
d
th
e
B.
S
c
.
in
El
e
c
tri
c
a
l
&
El
e
c
tro
n
ics
E
n
g
i
n
e
e
rin
g
fr
o
m
In
tern
a
ti
o
n
a
l
Isla
m
ic
Un
iv
e
rsity
Ch
it
ta
g
o
n
g
(II
UC),
Ba
n
g
la
d
e
sh
a
n
d
i
n
2
0
1
5
a
n
d
2
0
1
1
re
sp
e
c
ti
v
e
ly
.
F
r
o
m
2
0
1
1
t
o
2
0
1
2
,
h
e
wo
r
k
e
d
a
s
a
RF
e
n
g
in
e
e
r
in
3
S
Ne
two
r
k
(BD)
Lt
d
.
a
n
d
fro
m
2
0
1
3
t
o
2
0
1
5
h
e
wo
rk
e
d
a
s
re
se
a
rc
h
a
ss
istan
t
in
II
UM
a
n
d
U
n
iM
AP
.
His
re
se
a
rc
h
i
n
tere
sts
in
c
lu
d
e
u
n
d
e
rwa
ter
c
o
m
m
u
n
ica
ti
o
n
s,
wire
les
s
p
o
we
r
t
ra
n
sfe
r
a
n
d
e
n
e
rg
y
h
a
rv
e
stin
g
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
r
a
b
iu
law
a
l1
@g
m
a
il
.
c
o
m
.
A.
H.
M.
S
h
a
p
r
i
g
ra
d
u
a
ted
fr
o
m
Un
i
v
e
rsiti
Tek
n
o
l
o
g
i
M
a
lay
si
a
(UTM
)
wi
th
a
B.
En
g
.
(Ho
n
s)
d
e
g
re
e
in
Co
m
p
u
t
e
r
En
g
in
e
e
rin
g
in
2
0
0
3
b
e
f
o
re
jo
i
n
in
g
M
IM
OS
Be
rh
a
d
a
s
a
n
in
teg
ra
ted
c
ircu
i
t
d
e
sig
n
e
n
g
in
e
e
r
.
He
re
c
e
iv
e
d
h
is
M
.
S
c
.
d
e
g
re
e
i
n
Co
m
p
u
ter
S
c
ien
c
e
fro
m
Un
iv
e
rsiti
P
u
tra
M
a
lay
sia
(UP
M
)
in
2
0
0
7
a
n
d
h
is
P
h
.
D.
i
n
ima
g
in
g
fr
o
m
Un
i
v
e
rsiti
S
a
i
n
s
M
a
lay
sia
(USM
)
in
2
0
1
9
.
S
i
n
c
e
Au
g
u
st
2
0
0
8
,
h
e
h
a
s b
e
e
n
a
lec
tu
r
e
r
with
Un
i
v
e
rsiti
M
a
lay
sia
P
e
rli
s
(Un
iM
AP).
I
n
a
d
d
it
i
o
n
,
h
e
is
a
g
ra
d
u
a
te
e
n
g
in
e
e
r
o
f
t
h
e
Bo
a
rd
o
f
E
n
g
i
n
e
e
r
M
a
lay
sia
(BEM
).
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
ima
g
in
g
,
m
a
c
h
in
e
lea
rn
i
n
g
,
a
n
d
e
lec
tro
n
ic
sy
ste
m
d
e
sig
n
.
He
h
a
s p
u
b
li
sh
e
d
m
a
n
y
re
se
a
rc
h
a
rti
c
les
in
in
tern
a
ti
o
n
a
l
jo
u
rn
a
ls an
d
c
o
n
fe
re
n
c
e
p
r
o
c
e
e
d
in
g
s.
P
re
se
n
tl
y
,
h
e
is
th
e
p
ro
g
ra
m
c
h
a
irp
e
rso
n
o
f
th
e
E
lec
tro
n
ic
E
n
g
i
n
e
e
rin
g
P
ro
g
ra
m
m
e
a
t
th
e
F
a
c
u
lt
y
o
f
El
e
c
tro
n
ic
E
n
g
i
n
e
e
rin
g
a
n
d
Tec
h
n
o
l
o
g
y
,
Un
i
v
e
rsiti
M
a
lay
sia
P
e
rli
s.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
a
h
m
a
d
h
u
sn
i@
u
n
ima
p
.
e
d
u
.
m
y
.
H
u
z
a
im
a
h
H
u
sin
re
c
e
iv
e
d
th
e
B.
En
g
.
in
2
0
0
0
fro
m
M
u
lt
im
e
d
ia
Un
iv
e
rsity
,
M
.
En
g
i
n
2
0
0
5
fr
o
m
Ko
lej
Un
i
v
e
rsiti
Tu
n
Hu
ss
e
in
On
n
,
M
a
lay
sia
re
sp
e
c
ti
v
e
ly
.
S
h
e
wa
s
first
a
p
p
o
i
n
ted
a
s
e
n
g
i
n
e
e
rin
g
i
n
stru
c
t
o
r
in
2
0
0
1
a
t
Ko
lej
Un
i
v
e
rsiti
Tek
n
ik
a
l
M
a
lay
sia
M
e
lak
a
a
n
d
p
ro
m
o
te
d
a
s
lec
t
u
re
r
in
2
0
0
5
a
n
d
se
n
io
r
lec
tu
re
r
in
2
0
0
8
in
t
h
e
De
p
a
rtme
n
t
o
f
In
d
u
str
ial
El
e
c
tro
n
ics
,
F
a
c
u
l
t
y
o
f
El
e
c
tro
n
ic
a
n
d
Co
m
p
u
ter
E
n
g
i
n
e
e
rin
g
a
t
Un
iv
e
rsiti
Tek
n
ik
a
l
M
a
lay
sia
M
e
lak
a
.
S
in
c
e
S
e
p
tem
b
e
r
2
0
1
4
,
s
h
e
is
p
u
rs
u
in
g
P
h
.
D
.
i
n
Ad
v
a
n
c
e
d
Co
n
tro
l
Tec
h
n
o
lo
g
y
t
h
a
t
fo
c
u
se
d
o
n
a
c
o
u
stics
e
n
e
r
g
y
tran
s
fe
r.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
Hu
z
a
ima
h
@u
tem
.
e
d
u
.
m
y
.
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