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Art
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nfo
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S
T
RAC
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A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Sep
2
,
2
0
2
4
R
ev
is
ed
Feb
2
0
,
2
0
2
5
Acc
ep
ted
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r
1
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2
0
2
5
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is
p
a
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e
x
p
l
o
re
s
t
h
e
d
e
v
e
lo
p
m
e
n
t
o
f
a
n
a
d
a
p
ti
v
e
slid
i
n
g
m
o
d
e
c
o
n
tro
l
(ASM
C)
th
a
t
in
c
o
r
p
o
ra
tes
a
n
im
p
ro
v
e
d
o
p
ti
m
a
l
re
a
c
h
in
g
law
.
W
e
in
ten
d
to
u
se
th
e
p
ro
p
o
se
d
ASM
C
i
n
DC
m
icro
g
rid
s
a
n
d
e
lec
tri
c
v
e
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p
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ti
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l
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wa
y
)
b
u
c
k
-
m
o
d
e
DC
-
DC
c
o
n
v
e
rter.
To
in
it
iate
th
e
d
e
sig
n
p
r
o
c
e
ss
,
we
d
e
v
e
lo
p
e
d
a
m
a
th
e
m
a
ti
c
a
l
m
o
d
e
l
o
f
th
e
c
o
n
v
e
rter
o
p
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ra
ti
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g
i
n
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h
a
rg
i
n
g
m
o
d
e
.
P
a
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c
le
sw
a
rm
o
p
ti
m
iza
ti
o
n
is
e
m
p
lo
y
e
d
t
o
d
e
term
in
e
th
e
c
o
n
t
ro
ll
e
r’s
g
a
in
s
f
o
r
b
e
t
ter
p
e
rfo
rm
a
n
c
e
.
By
c
a
p
it
a
li
z
in
g
o
n
t
h
e
b
e
n
e
fit
s o
f
th
e
ASM
C
a
lg
o
r
it
h
m
,
th
e
d
e
v
e
l
o
p
e
d
c
o
n
tro
ll
e
r
a
c
h
iev
e
s
imp
ro
v
e
d
re
a
c
h
i
n
g
c
o
n
d
it
io
n
s
,
i
n
c
re
a
se
d
ro
b
u
stn
e
ss
,
a
n
d
e
n
h
a
n
c
e
d
sta
b
il
it
y
.
Th
e
e
ffica
c
y
o
f
th
e
su
g
g
e
ste
d
c
o
n
tro
ll
e
r
is
d
e
m
o
n
stra
t
e
d
th
ro
u
g
h
M
ATLAB/S
i
m
u
li
n
k
sim
u
lati
o
n
s
c
o
n
d
u
c
ted
o
n
th
e
c
o
n
v
e
rter,
in
c
o
m
p
a
riso
n
to
c
o
n
v
e
n
t
io
n
a
l
slid
in
g
m
o
d
e
c
o
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tro
l
(CS
M
C)
a
n
d
AS
M
C.
T
h
e
c
o
m
p
a
riso
n
sh
o
ws
t
h
a
t
t
h
e
p
r
o
p
o
se
d
c
o
n
tr
o
ll
e
r
a
c
h
iev
e
s
th
e
in
ten
d
e
d
tran
sie
n
t
re
sp
o
n
se
in
ste
a
d
y
-
sta
te
c
o
n
d
it
io
n
s
wit
h
m
in
ima
l
e
rro
r
a
n
d
b
e
tt
e
r
re
fe
re
n
c
e
trac
k
in
g
.
Th
e
p
e
rfo
rm
a
n
c
e
o
f
th
e
s
u
g
g
e
ste
d
c
o
n
tr
o
ll
e
r
is
r
o
b
u
st
wit
h
re
sp
e
c
t
to
v
a
riatio
n
s
in
so
u
rc
e
v
o
l
tag
e
a
n
d
lo
a
d
re
sista
n
c
e
.
F
o
r
a
p
p
li
c
a
ti
o
n
s
in
v
o
lv
i
n
g
DC
m
icro
g
rid
s
a
n
d
e
lec
tri
c
v
e
h
i
c
les
,
th
e
su
g
g
e
ste
d
c
o
n
tr
o
ll
e
r
wil
l
e
n
su
re
a
c
o
n
sis
ten
t
DC t
ra
n
sit
v
o
lt
a
g
e
.
K
ey
w
o
r
d
s
:
Ad
ap
tiv
e
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
Par
ticle
s
war
m
o
p
tim
izatio
n
R
ea
ch
in
g
law
R
o
b
u
s
tn
ess
Sli
d
in
g
m
o
d
e
c
o
n
tr
o
ller
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
J
u
liu
s
Der
g
h
e
C
h
am
T
ec
h
n
o
lo
g
y
an
d
Ap
p
lied
Scien
ce
s
L
ab
o
r
ato
r
y
(
T
ASL)
,
U
n
iv
er
s
ity
o
f
Do
u
ala
C
ar
r
ef
o
u
r
An
g
e
R
ap
h
aë
l,
Do
u
ala
,
C
am
er
o
o
n
E
m
ail:
ju
liu
s
.
ch
am
@
y
ah
o
o
.
c
o
m
1.
I
NT
RO
D
UCT
I
O
N
Mo
d
er
n
tech
n
o
lo
g
y
is
ev
o
lv
i
n
g
at
an
u
n
p
r
ec
ed
e
n
ted
p
ac
e
,
tr
an
s
f
o
r
m
in
g
n
ea
r
ly
e
v
er
y
asp
ec
t
o
f
h
u
m
an
ac
tiv
ity
.
Am
o
n
g
th
ese
ad
v
an
ce
m
e
n
ts
,
elec
tr
ic
p
o
wer
p
lay
s
a
p
iv
o
tal
r
o
le,
s
er
v
in
g
a
s
th
e
b
ac
k
b
o
n
e
f
o
r
a
m
u
ltit
u
d
e
o
f
a
p
p
licatio
n
s
ac
r
o
s
s
v
ar
io
u
s
d
o
m
ain
s
.
T
r
ad
i
tio
n
ally
,
n
o
n
-
r
en
ewa
b
le
s
o
u
r
ce
s
lik
e
th
er
m
al
p
o
wer
p
lan
ts
,
co
al,
n
u
clea
r
en
er
g
y
,
a
n
d
n
atu
r
al
g
as
h
av
e
g
en
er
ated
elec
tr
icity
.
W
h
ile
th
ese
s
o
u
r
ce
s
h
av
e
h
is
to
r
ically
f
u
eled
g
lo
b
al
p
r
o
g
r
ess
,
th
eir
f
in
ite
n
atu
r
e
p
o
s
es
s
ig
n
if
ican
t
ch
allen
g
es,
lead
in
g
t
o
co
n
ce
r
n
s
ab
o
u
t
lo
n
g
-
ter
m
s
u
s
tain
ab
ilit
y
an
d
p
o
ten
tial
s
h
o
r
tag
es
in
th
e
elec
tr
icity
s
u
p
p
ly
.
I
n
th
e
m
o
d
er
n
er
a
,
t
h
e
d
e
p
en
d
e
n
ce
o
n
elec
tr
o
n
ic
d
e
v
ices,
p
ar
ticu
lar
l
y
s
m
ar
tp
h
o
n
es,
u
n
d
er
s
co
r
es
th
e
cr
itical
im
p
o
r
tan
ce
o
f
a
n
u
n
in
ter
r
u
p
ted
p
o
wer
s
u
p
p
ly
.
A
s
ce
n
ar
io
d
e
v
o
id
o
f
elec
tr
icity
co
u
ld
f
o
r
ce
s
o
ciety
to
r
ev
e
r
t
to
a
m
o
r
e
tr
ad
itio
n
al,
d
is
co
n
n
ec
te
d
way
o
f
life
.
R
ec
o
g
n
izin
g
th
ese
ch
allen
g
es,
co
n
tem
p
o
r
ar
y
r
esear
ch
an
d
tech
n
o
lo
g
ical
i
n
n
o
v
atio
n
h
a
v
e
p
r
io
r
itize
d
th
e
ex
p
lo
r
atio
n
an
d
ad
o
p
tio
n
o
f
r
en
ewa
b
le
e
n
er
g
y
s
o
u
r
ce
s
lik
e
s
o
la
r
p
o
wer
,
win
d
en
er
g
y
,
a
n
d
f
u
el
ce
lls
as
to
p
p
r
io
r
ities
in
lig
h
t
o
f
th
ese
d
if
f
icu
lties
[
1
]
-
[
5
]
.
T
h
ese
r
en
ewa
b
le
s
o
u
r
ce
s
,
ch
ar
ac
ter
ize
d
b
y
th
eir
s
u
s
tain
ab
ilit
y
an
d
lo
wer
en
v
ir
o
n
m
en
tal
im
p
ac
t,
p
r
o
d
u
ce
d
ir
ec
t
c
u
r
r
en
t
(
DC
)
elec
tr
icity
.
B
atter
y
s
to
r
ag
e
m
ak
es
it
p
o
s
s
ib
le
to
u
s
e
th
is
DC
p
o
wer
wh
en
th
e
r
e
is
ex
ce
s
s
g
en
e
r
atio
n
o
r
wh
en
r
e
n
ewa
b
le
e
n
er
g
y
s
o
u
r
ce
s
ar
e
n
o
t
av
ailab
le.
Ho
wev
er
,
a
k
ey
lim
itatio
n
o
f
r
en
ewa
b
le
en
er
g
y
s
y
s
tem
s
is
th
e
in
h
er
en
t
v
a
r
iab
ilit
y
in
p
o
wer
g
en
er
atio
n
,
wh
ic
h
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
P
S
O
-
b
a
s
ed
a
d
a
p
tive
s
lid
in
g
mo
d
e
co
n
tr
o
l o
f a
b
i
d
ir
ec
tio
n
a
l
DC
-
DC
co
n
ve
r
ter
w
ith
…
(
Ju
liu
s
Derg
h
e
C
h
a
m
)
999
s
tem
s
f
r
o
m
f
lu
ctu
atin
g
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
.
T
h
is
v
ar
iab
ilit
y
p
o
s
es
a
ch
allen
g
e
to
s
y
s
tem
r
eliab
ilit
y
an
d
n
ec
ess
itates
th
e
d
ev
elo
p
m
en
t
o
f
ef
f
icien
t
p
o
wer
m
an
a
g
em
e
n
t
s
y
s
tem
s
.
T
o
ad
d
r
ess
th
is
,
a
two
-
way
DC
-
DC
co
n
v
er
ter
is
o
f
ten
em
p
lo
y
ed
as
a
cr
itical
p
o
wer
in
ter
f
ac
e
b
etwe
en
p
r
im
ar
y
r
en
e
wab
le
p
o
wer
s
o
u
r
ce
s
an
d
au
x
iliar
y
e
n
er
g
y
s
to
r
a
g
e
s
y
s
tem
s
[
6
]
-
[
8
]
.
A
two
-
way
DC
-
DC
co
n
v
er
ter
f
ac
ilit
ates
en
er
g
y
tr
a
n
s
f
er
in
b
o
th
d
ir
ec
tio
n
s
:
ch
ar
g
in
g
th
e
e
n
er
g
y
s
to
r
a
g
e
d
e
v
ices
wh
en
ex
c
ess
p
o
wer
is
av
ailab
le
an
d
d
i
s
ch
ar
g
in
g
to
s
u
p
p
ly
p
o
wer
to
th
e
lo
a
d
wh
e
n
n
ee
d
ed
.
A
two
-
way
h
al
f
-
b
r
i
d
g
e
DC
-
DC
co
n
v
er
ter
is
a
p
o
p
u
l
ar
to
p
o
l
o
g
y
th
at
is
s
elec
ted
f
o
r
th
is
p
u
r
p
o
s
e
.
T
h
i
s
co
n
v
er
ter
ac
ts
as
a
p
o
wer
co
n
d
itio
n
in
g
u
n
it,
en
s
u
r
i
n
g
s
m
o
o
th
an
d
ef
f
icien
t
en
er
g
y
ex
ch
a
n
g
e
b
etwe
en
th
e
DC
b
u
s
,
lo
ad
s
,
an
d
s
to
r
a
g
e
d
e
v
ices.
T
o
ac
h
iev
e
th
is
,
th
e
co
n
v
er
ter
m
u
s
t
o
p
er
ate
with
in
a
clo
s
ed
-
lo
o
p
co
n
tr
o
l
s
y
s
tem
,
wh
ich
r
elies
o
n
a
r
o
b
u
s
t
co
n
tr
o
l
m
ec
h
an
is
m
to
e
n
s
u
r
e
s
y
s
tem
s
tab
ilit
y
,
ef
f
icien
cy
,
an
d
r
esp
o
n
s
iv
en
e
s
s
u
n
d
er
d
y
n
am
ic
co
n
d
itio
n
s
.
T
h
e
liter
atu
r
e
h
ig
h
lig
h
ts
a
v
ar
iety
o
f
co
n
tr
o
l
s
tr
ateg
ie
s
ap
p
lied
to
two
-
way
DC
-
DC
co
n
v
er
ter
s
,
ea
ch
with
its
o
wn
s
tr
en
g
th
s
an
d
lim
itatio
n
s
.
Am
o
n
g
t
h
ese
ar
e
f
u
zz
y
lo
g
ic
c
o
n
tr
o
l
[
8
]
,
[
9
]
,
m
o
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
(
M
PC
)
[
1
0
]
-
[
1
2
]
,
p
ass
iv
ity
-
b
ased
co
n
tr
o
l
[
1
3
]
,
[
1
4
]
,
H
-
in
f
in
ity
co
n
t
r
o
l
[
1
5
]
-
[
1
7
]
,
f
r
ac
tio
n
al
o
r
d
er
c
o
n
tr
o
l
[
1
8
]
-
[
2
0
]
,
a
n
d
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
(
SMC
)
[
2
1
]
-
[
2
3
]
.
Selectin
g
th
e
o
p
tim
al
c
o
n
tr
o
l
s
tr
ateg
y
d
ep
e
n
d
s
o
n
th
e
s
p
e
cif
ic
ap
p
licatio
n
r
eq
u
ir
em
e
n
ts
,
s
u
ch
as
r
esp
o
n
s
e
tim
e,
r
o
b
u
s
tn
ess
,
an
d
co
m
p
le
x
ity
.
SMC
h
as
em
er
g
ed
as
a
p
ar
ticu
lar
ly
r
eliab
le
a
n
d
ef
f
e
ctiv
e
ap
p
r
o
ac
h
f
o
r
p
o
wer
elec
tr
o
n
ic
c
o
n
v
e
r
ter
s
,
in
clu
d
in
g
two
-
way
DC
-
DC
co
n
v
er
ter
s
.
Nu
m
er
o
u
s
r
esear
c
h
er
s
h
av
e
p
r
o
p
o
s
ed
SMC
-
b
ased
d
esig
n
s
f
o
r
two
-
way
h
alf
-
b
r
id
g
e
DC
-
DC
co
n
v
er
ter
s
,
aim
in
g
to
en
h
a
n
ce
p
e
r
f
o
r
m
an
ce
an
d
ad
d
r
ess
co
m
m
o
n
c
h
allen
g
es
[
2
2
]
,
[
2
3
]
.
Desp
ite
th
ese
ad
v
an
ce
m
en
ts
,
ex
is
tin
g
co
n
tr
o
ller
s
o
f
ten
f
ac
e
p
er
s
is
ten
t
is
s
u
es,
in
clu
d
in
g
h
ig
h
lev
els
o
f
c
h
at
ter
in
g
,
o
v
er
s
h
o
o
tin
g
,
co
m
p
le
x
im
p
lem
e
n
tatio
n
,
p
r
o
l
o
n
g
e
d
s
ettlin
g
an
d
r
is
in
g
tim
es,
an
d
lim
ited
r
o
b
u
s
tn
ess
u
n
d
er
v
ar
y
i
n
g
o
p
er
atin
g
c
o
n
d
i
tio
n
s
[
2
3
]
-
[
2
5
]
.
T
h
is
p
ap
er
s
u
g
g
ests
a
n
ew
a
n
d
d
ep
en
d
ab
le
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
im
p
r
o
v
ed
b
y
p
ar
ticle
s
war
m
o
p
tim
izatio
n
(
PS
O)
in
o
r
d
er
to
g
et
o
v
er
th
ese
r
estrictio
n
s
.
T
h
is
ad
v
an
ce
d
c
o
n
tr
o
l
ap
p
r
o
ac
h
is
d
esig
n
ed
to
o
p
tim
ize
th
e
p
er
f
o
r
m
an
ce
o
f
h
alf
-
b
r
id
g
e
b
id
ir
ec
tio
n
al
DC
-
DC
co
n
v
er
ter
s
,
m
ak
in
g
th
em
h
ig
h
ly
s
u
itab
le
f
o
r
ap
p
licatio
n
s
in
m
icr
o
g
r
id
s
,
ele
ctr
ic
v
eh
icles,
an
d
ch
ar
g
in
g
s
tatio
n
s
.
Sp
ec
if
ically
,
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
aim
s
to
r
eg
u
late
th
e
ch
ar
g
in
g
cu
r
r
en
t
ef
f
ec
tiv
ely
,
m
in
im
izin
g
ch
atter
in
g
wh
ile
en
s
u
r
in
g
f
a
s
t
r
esp
o
n
s
e
tim
es,
r
o
b
u
s
tn
ess
,
an
d
ef
f
icien
cy
.
T
h
e
MA
T
L
AB
/Si
m
u
lin
k
s
o
f
t
war
e
en
v
ir
o
n
m
e
n
t
h
as
b
ee
n
u
s
ed
to
th
o
r
o
u
g
h
ly
ex
am
in
e
an
d
v
alid
ate
th
e
s
u
g
g
ested
s
y
s
tem
.
Simu
latio
n
r
es
u
lts
illu
s
tr
ate
h
o
w
ef
f
ec
tiv
e
th
e
im
p
r
o
v
ed
s
lid
in
g
m
o
d
e
co
n
t
r
o
ller
is
,
h
ig
h
lig
h
tin
g
its
ab
ilit
y
to
s
o
lv
e
th
e
d
r
awb
ac
k
s
o
f
cu
r
r
en
t
d
esig
n
s
an
d
s
atis
f
y
th
e
r
ig
o
r
o
u
s
.
A
s
u
m
m
ar
y
o
f
th
is
p
ap
er
’
s
co
n
tr
ib
u
tio
n
is
ap
p
en
d
e
d
as f
o
llo
ws:
˗
Fo
r
th
e
two
-
way
DC
-
DC
co
n
v
er
ter
,
a
p
r
o
p
o
s
ed
co
n
tr
o
ller
h
a
s
b
ee
n
d
ev
is
ed
to
co
n
tr
o
l th
e
DC
b
u
s
v
o
ltag
e.
˗
T
h
e
ad
ap
tiv
e
s
lid
in
g
m
o
d
e
c
o
n
tr
o
ller
'
s
ex
is
ten
ce
an
d
s
tab
ilit
y
h
av
e
b
ee
n
d
em
o
n
s
tr
ated
.
˗
T
h
e
co
n
tr
o
ller
'
s
p
er
f
o
r
m
an
ce
h
as
b
ee
n
v
er
if
ied
b
y
n
u
m
er
ic
al
s
im
u
latio
n
with
in
th
e
MA
T
L
AB
/Si
m
u
lin
k
en
v
ir
o
n
m
en
t.
˗
I
t
h
as
b
ee
n
estab
lis
h
ed
th
at
th
e
co
n
tr
o
ller
is
r
o
b
u
s
t
in
th
e
f
ac
e
o
f
s
u
b
s
tan
tial
f
lu
c
tu
atio
n
s
in
s
o
u
r
ce
v
o
ltag
e,
d
esire
d
v
o
ltag
e,
an
d
l
o
ad
r
esis
tan
ce
.
T
h
e
s
u
b
s
eq
u
en
t
s
ec
tio
n
s
o
f
th
is
p
ap
er
ar
e
s
tr
u
ctu
r
ed
as
f
o
llo
ws:
i)
S
ec
t
io
n
2
,
th
e
two
-
way
DC
-
D
C
co
n
v
er
ter
'
s
s
tr
u
ctu
r
e
an
d
m
ath
em
atica
l
m
o
d
el
ar
e
ex
p
lain
e
d
;
ii)
T
h
e
d
esig
n
o
f
th
e
ASMC,
th
e
S
MC,
an
d
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
ar
e
tr
ea
ted
in
s
ec
tio
n
3
; iii)
Sec
tio
n
4
,
th
e
s
im
u
latio
n
r
esu
lts
f
o
r
th
e
S
MC,
th
e
ASM
C
,
an
d
th
e
s
u
g
g
ested
c
o
n
tr
o
ller
ar
e
c
o
m
p
ar
ed
an
d
d
is
cu
s
s
ed
;
an
d
iv
)
Sectio
n
5
p
r
o
v
id
es
a
s
u
m
m
ar
y
an
d
ass
ess
m
en
t
o
f
p
r
o
s
p
ec
ts
f
o
r
th
is
p
a
p
er
.
2.
M
E
T
H
O
DO
L
O
G
Y
2
.
1
.
E
x
pla
na
t
io
n o
f
t
he
s
ug
g
este
d m
et
ho
do
lo
g
y
T
h
e
g
o
al
o
f
th
is
r
esear
c
h
is
to
b
u
ild
an
o
p
tim
al
co
n
tr
o
l
s
o
lu
tio
n
f
o
r
a
two
-
way
DC
-
DC
co
n
v
e
r
ter
u
s
in
g
a
r
ig
o
r
o
u
s
co
n
tr
o
l
s
tr
ateg
y
.
T
h
e
b
lo
ck
d
iag
r
am
in
Fig
u
r
e
1
,
wh
ic
h
v
is
u
ally
r
ep
r
esen
ts
th
e
m
eth
o
d
ical
f
r
am
ewo
r
k
,
p
r
o
v
id
es
a
clea
r
a
n
d
in
tellig
ib
le
s
u
m
m
ar
y
o
f
th
e
co
m
p
lete
p
r
o
ce
d
u
r
e.
Nu
m
er
ic
al
s
im
u
latio
n
s
an
d
im
p
lem
en
tatio
n
s
in
s
id
e
th
e
MA
T
L
AB
/
Simu
lin
k
en
v
ir
o
n
m
en
t
ar
e
u
s
ed
to
v
alid
ate
th
e
s
tab
ilit
y
an
d
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
e
d
co
n
tr
o
l
s
y
s
tem
s
.
W
ith
th
e
h
elp
o
f
th
is
s
im
u
latio
n
p
la
tf
o
r
m
'
s
r
o
b
u
s
t
an
d
ad
ap
tab
le
to
o
lk
it,
we
ca
n
m
o
d
el,
ex
am
in
e
,
an
d
im
p
r
o
v
e
in
tr
icate
co
n
tr
o
l
s
y
s
tem
s
.
T
h
is
en
ab
les
u
s
to
th
o
r
o
u
g
h
ly
ass
ess
o
u
r
s
u
g
g
ested
s
o
lu
tio
n
s
ac
r
o
s
s
a
r
a
n
g
e
o
f
o
p
er
atio
n
al
cir
cu
m
s
tan
ce
s
.
T
h
e
p
r
o
ce
s
s
b
eg
in
s
with
a
co
m
p
r
e
h
en
s
iv
e
c
o
m
p
u
t
atio
n
al
m
o
d
elin
g
o
f
th
e
s
elec
t
ed
co
n
v
er
ter
,
ac
co
u
n
tin
g
f
o
r
its
ch
ar
g
in
g
o
r
s
tep
-
d
o
wn
m
o
d
e
o
f
o
p
e
r
atio
n
c
o
n
s
id
er
ed
in
th
is
s
tu
d
y
.
T
h
is
m
o
d
elin
g
s
tag
e
is
ess
en
tial
b
ec
au
s
e
it
lay
s
th
e
g
r
o
u
n
d
wo
r
k
f
o
r
c
o
m
p
r
eh
en
d
in
g
th
e
s
y
s
tem
'
s
d
y
n
am
ic
b
e
h
a
v
io
r
a
n
d
d
eter
m
in
in
g
th
e
k
e
y
elem
en
ts
af
f
ec
tin
g
it
s
f
u
n
ctio
n
in
g
.
Af
te
r
th
e
m
o
d
elin
g
p
h
ase,
we
cr
ea
te
th
e
s
u
g
g
ested
co
n
tr
o
ller
as
we
ll
as
its
tr
ad
itio
n
al
eq
u
iv
alen
ts
f
o
r
th
e
c
o
n
v
e
r
ter
.
T
h
ese
co
n
tr
o
ller
s
ar
e
th
e
r
e
s
u
lt
o
f
o
u
r
lab
o
r
io
u
s
d
esig
n
to
s
o
lv
e
p
ar
ticu
la
r
p
r
o
b
lem
s
,
co
n
s
id
er
in
g
th
e
c
o
n
v
er
ter
’
s
n
o
n
lin
e
ar
d
y
n
am
ics.
Op
tim
izatio
n
is
th
e
n
ex
t
s
tag
e
f
o
llo
win
g
d
esig
n
,
wh
er
e
th
e
s
u
g
g
ested
c
o
n
tr
o
ller
p
ar
a
m
eter
s
ar
e
o
p
tim
ized
u
s
in
g
ad
v
an
ce
d
tech
n
i
q
u
es
s
u
ch
as
p
ar
ticle
s
war
m
o
p
tim
izatio
n
.
Fin
ally
,
af
ter
c
o
m
p
r
eh
en
s
iv
e
test
in
g
ac
r
o
s
s
a
r
an
g
e
o
f
ci
r
cu
m
s
tan
ce
s
,
th
e
c
o
n
tr
o
lled
s
y
s
tem
is
im
p
lem
en
ted
with
in
t
h
e
MA
T
L
AB
/Si
m
u
lin
k
en
v
ir
o
n
m
e
n
t
.
B
y
u
tili
zin
g
s
o
u
r
ce
v
o
ltag
e,
lo
ad
r
esis
tan
ce
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
16
,
No
.
2
,
J
u
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A
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l
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l D
C
-
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An
an
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g
o
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s
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it
f
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lf
-
b
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two
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DC
co
n
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ter
th
at
c
h
ar
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es
a
b
atter
y
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s
h
o
wn
in
Fig
u
r
e
2
.
T
h
e
b
atter
y
,
d
en
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ted
as
is
co
n
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id
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ed
an
in
ter
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esis
tan
ce
f
o
r
th
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p
u
r
p
o
s
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o
f
th
is
s
tu
d
y
.
T
h
e
b
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y
is
ch
ar
g
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b
y
l
o
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in
g
th
e
v
o
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e
f
r
o
m
th
e
DC
b
u
s
u
s
in
g
a
two
-
wa
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DC
-
DC
co
n
v
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ter
.
Ma
in
tain
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a
s
tead
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DC
b
u
s
v
o
ltag
e
is
t
h
e
aim
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a
b
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ck
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m
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e
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tio
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n
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ter
.
T
h
e
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d
icate
d
s
o
u
r
ce
s
[
2
0
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,
[
2
2
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,
[
2
3
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,
[
2
5
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g
iv
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a
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o
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to
p
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C
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as
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1
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wh
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wh
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it
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T
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r
r
esp
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in
g
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cu
it
f
o
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a
two
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alf
-
b
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id
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DC
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D
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n
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ter
wo
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k
in
g
in
b
u
ck
m
o
d
e
is
s
h
o
wn
in
Fig
u
r
e
3
.
B
y
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s
in
g
Kir
ch
h
o
f
f
'
s
v
o
ltag
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an
d
cu
r
r
en
t
p
r
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p
les,
th
e
co
n
v
er
ter
'
s
m
ath
em
atica
l m
o
d
el
with
o
u
t p
ar
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ic
r
esis
tan
ce
s
is
s
h
o
wn
in
(
1
)
an
d
(
2
)
.
T
h
e
b
u
c
k
m
o
d
e
o
f
a
b
id
ir
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tio
n
al
DC
-
DC
co
n
v
er
ter
is
d
escr
ib
ed
b
y
th
e
s
tate
s
p
ac
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eq
u
atio
n
s
li
s
ted
:
˗
E
q
u
atio
n
f
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r
th
e
o
u
tp
u
t w
h
en
t
h
e
u
p
p
er
s
witch
is
tu
r
n
ed
ON
{
=
−
2
2
=
2
−
2
2
2
=
(
1
)
˗
E
q
u
atio
n
f
o
r
th
e
o
u
tp
u
t w
h
en
t
h
e
lo
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s
witch
is
tu
r
n
ed
ON
{
=
−
2
2
=
2
−
2
2
(
2
)
W
e
d
is
r
eg
ar
d
th
e
eq
u
atio
n
s
p
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if
y
in
g
t
h
e
in
p
u
t
s
in
ce
we
ar
e
o
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ly
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n
ce
r
n
ed
with
m
a
n
ag
in
g
t
h
e
b
atter
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'
s
ch
ar
g
e
an
d
n
o
t
th
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y
s
tem
's
b
eh
av
io
r
.
As
ex
p
lain
ed
in
[
4
]
an
d
[
2
5
]
,
th
e
co
n
v
er
ter
'
s
av
er
ag
e
m
o
d
el
is
o
b
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ed
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y
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m
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in
in
g
(
1
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an
d
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2
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t
o
ar
r
i
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at
(
3
)
u
s
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e
s
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p
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tech
n
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{
1
̇
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1
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=
1
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2
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(
3
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T
h
e
(
3
)
ca
n
b
e
r
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atr
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(
4
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.
{
[
1
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=
[
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1
2
−
1
2
]
[
1
2
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+
[
1
0
]
=
[
0
1
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[
2
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(
4
)
W
h
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e
1
an
d
2
s
tan
d
f
o
r
th
e
a
v
er
ag
e
v
alu
es.
B
y
d
e
f
in
in
g
th
e
s
tate
s
p
ac
e
v
ar
iab
les
as
[
1
2
]
=
[
2
]
with
u
b
ein
g
th
e
co
n
tr
o
l sig
n
al
o
f
PW
M.
i.e
.
u
[
0
1
]
wh
ich
is
th
e
d
u
ty
r
atio
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
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s
t
I
SS
N:
2088
-
8
6
9
4
P
S
O
-
b
a
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d
a
p
tive
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b
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DC
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ter
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…
(
Ju
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C
h
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1001
Fig
u
r
e
2
.
B
id
ir
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tio
n
al
DC
-
D
C
co
n
v
er
ter
+
-
+
-
L
+
-
V
in
I
+
-
+
-
+
-
V
in
I
(
a)
(
b
)
Fig
u
r
e
3
.
E
q
u
iv
alen
t c
ir
c
u
it o
f
a
two
-
way
h
alf
-
b
r
id
g
e
DC
-
DC
co
n
v
er
ter
in
c
h
ar
g
i
n
g
m
o
d
e:
(
a)
u
p
p
er
s
witch
o
n
a
n
d
(
b
)
lo
wer
s
witch
o
n
2
.
3
.
Desig
n o
f
co
ntr
o
l
t
ec
hn
iqu
e
s
2
.
3
.
1
.
Co
nv
ent
io
na
l sli
din
g
m
o
de
co
ntr
o
ller
(
CSM
C)
W
h
en
it
co
m
es
to
n
o
n
lin
ea
r
s
y
s
tem
s
lik
e
p
o
wer
co
n
v
er
ter
s
,
th
e
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
is
a
r
eliab
le
o
p
tio
n
.
I
t
h
as
ce
r
tain
n
o
tewo
r
th
y
ch
ar
ac
te
r
is
tics
,
s
u
ch
as
r
o
b
u
s
tn
ess
an
d
ac
cu
r
ac
y
[
2
6
]
.
W
ith
th
is
co
n
tr
o
l
tech
n
iq
u
e,
wh
ich
is
a
k
in
d
o
f
v
ar
iab
le
s
tr
u
ctu
r
e
co
n
tr
o
l,
s
witch
in
g
c
o
n
tr
o
l
is
ap
p
lied
at
a
h
ig
h
f
r
eq
u
e
n
cy
to
m
o
d
if
y
t
h
e
d
y
n
am
ics
o
f
a
n
o
n
lin
ea
r
s
y
s
tem
[
2
7
]
.
I
t
is
a
co
n
t
r
o
l
ap
p
r
o
ac
h
i
n
ten
d
ed
to
ad
d
r
e
s
s
m
o
d
elin
g
er
r
o
r
s
,
wh
ich
m
ig
h
t
m
an
if
est
as
p
ar
a
m
etr
ic
o
r
u
n
s
tr
u
ctu
r
e
d
u
n
ce
r
ta
in
ties
.
T
h
e
two
m
ain
co
m
p
o
n
e
n
ts
o
f
SMC
d
esig
n
ar
e
th
e
c
o
n
tr
o
l
law
an
d
th
e
s
lid
in
g
s
u
r
f
ac
e
d
esig
n
[
2
8
]
.
B
ec
au
s
e
o
f
t
h
e
way
it
is
d
esig
n
e
d
,
th
e
s
y
s
tem
s
tate
m
u
s
t
r
ea
ch
th
e
d
esig
n
ate
d
s
u
r
f
ac
e,
s
tay
th
er
e,
a
n
d
lie
in
t
h
e
s
tate
s
p
ac
e.
T
h
e
SMC
i
s
a
r
o
b
u
s
t
n
o
n
lin
ea
r
co
n
tr
o
ller
th
at
ca
n
with
s
tan
d
ex
ter
n
al
d
is
tu
r
b
an
ce
s
an
d
p
ar
am
eter
f
lu
ctu
atio
n
s
b
ec
a
u
s
e
it
m
ain
tain
s
th
e
s
y
s
tem
'
s
s
ta
tes o
n
a
s
lid
in
g
s
u
r
f
ac
e
[
2
3
]
.
T
h
e
(
5
)
an
d
[
2
9
]
d
ic
tate
th
at
th
e
s
lid
in
g
s
u
r
f
ac
e
b
e
s
elec
ted
as
(
5
)
.
=
1
+
2
(
5
)
W
h
er
e
th
e
n
ec
ess
ar
y
p
er
f
o
r
m
an
ce
is
g
ain
ed
b
y
tu
r
n
i
n
g
γ
,
a
s
ca
lar
.
As
ex
p
lain
ed
in
[
3
0
]
,
th
e
co
n
tr
o
l
law
ca
n
b
e
s
tated
in
(
6
)
.
=
{
1
>
0
0
<
0
(
6
)
in
d
icate
s
th
e
o
u
tp
u
t
v
o
ltag
e,
wh
ile
Vr
ef
r
ep
r
esen
ts
th
e
tar
g
et
o
u
tp
u
t
v
o
ltag
e.
T
h
e
(
7
)
a
n
d
(
8
)
s
p
ec
if
y
th
e
p
ar
am
eter
s
1
,
2
,
wh
ich
s
tan
d
f
o
r
t
h
e
er
r
o
r
an
d
its
tim
e
d
er
iv
ativ
e,
r
esp
ec
tiv
ely
.
1
=
−
(
7
)
1
̇
=
2
=
1
=
−
=
−
2
2
(
8
)
T
h
e
d
er
iv
ativ
e
o
f
(
5
)
is
g
iv
e
n
b
y
(
9
)
.
̇
=
1
̇
+
2
̇
(
9
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
16
,
No
.
2
,
J
u
n
e
20
25
:
9
9
8
-
1
0
1
1
1002
W
ith
2
=
1
̇
=
−
,
b
u
t
1
=
=
∫
−
.
T
h
e
d
er
iv
ativ
e
o
f
2
is
p
r
esen
ted
in
(
1
0
)
.
2
=
̇
−
+
2
−
2
2
(
1
0
)
W
h
en
(
8
)
a
n
d
(
1
0
)
a
r
e
en
ter
e
d
in
to
(
9
)
,
th
e
s
lid
in
g
s
u
r
f
ac
e’
s
d
er
iv
ativ
e
is
g
iv
en
in
(
1
1
)
.
̇
=
(
−
1
2
)
2
+
−
2
(
1
1
)
So
lv
in
g
̇
=
0
b
r
in
g
s
u
s
to
th
e
eq
u
iv
alen
t c
o
n
tr
o
l la
w,
wh
ic
h
is
g
iv
en
in
(
1
2
)
.
=
2
(
−
1
2
)
2
+
(
1
2
)
I
n
o
r
d
er
to
d
e
v
elo
p
th
e
co
n
tr
o
l
law,
th
e
s
y
s
tem
is
d
r
iv
en
t
o
th
e
s
lid
in
g
s
u
r
f
ac
e
an
d
k
e
p
t
th
er
e.
T
h
e
co
n
tr
o
l
law
d
is
m
ad
e
u
p
o
f
t
wo
p
ar
ts
,
wh
ich
ar
e
th
e
eq
u
i
v
alen
t
co
n
tr
o
l
(
)
an
d
t
h
e
d
is
co
n
tin
u
o
u
s
c
o
n
tr
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,
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Par
ticle
i'
s
s
p
ee
d
at
iter
atio
n
K
;
W
:
T
h
e
weig
h
tin
g
f
u
n
ctio
n
;
1
,
2
:
T
h
e
weig
h
tin
g
f
ac
t
o
r
is
m
a
d
e
u
p
o
f
r
a
n
d
o
m
ly
d
is
p
er
s
ed
,
u
n
i
f
o
r
m
ly
d
is
tr
ib
u
ted
v
alu
es
b
etwe
en
0
a
n
d
1
;
P
b
est
:
I
t
is
th
e
p
ar
ticle'
s
m
o
s
t
well
-
k
n
o
wn
lo
ca
tio
n
;
g
b
est
:
I
t
is
th
e
Swar
m
’
s
m
o
s
t
well
-
k
n
o
wn
l
o
ca
tio
n
;
:
An
y
p
ar
ticle
u
p
t
o
t
h
is
p
o
in
t
in
th
e
p
r
o
ce
s
s
h
as g
o
tten
th
e
cu
r
r
e
n
t
p
o
s
itio
n
o
f
t
h
e
p
ar
ticle
i a
t iter
atio
n
kp
b
est
o
f
p
ar
ticle
i'
s
"
g
b
est
"
v
a
lu
e.
Fig
u
r
e
4
s
h
o
ws th
e
PS
O
alg
o
r
i
th
m
'
s
f
lo
w
ch
ar
t.
T
h
e
s
tep
s
o
f
s
tan
d
ar
d
PS
O
alg
o
r
ith
m
ar
e
as
[
3
7
]
:
˗
Step
1
: I
n
itialize
a
b
u
n
ch
o
f
p
a
r
ticles b
y
s
ettin
g
th
eir
s
p
ee
d
a
n
d
r
an
d
o
m
p
o
s
itio
n
;
˗
Step
2
: A
s
s
es
s
ea
ch
p
ar
ticle'
s
f
itn
ess
;
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
16
,
No
.
2
,
J
u
n
e
20
25
:
9
9
8
-
1
0
1
1
1004
˗
Step
3
:
C
o
m
p
ar
e
ea
ch
p
ar
tic
le's
f
itn
ess
to
th
e
o
p
tim
al
p
l
ac
e
f
o
r
th
eir
e
x
p
er
ien
ce
;
an
d
if
th
e
c
u
r
r
e
n
t
lo
ca
tio
n
is
b
etter
,
u
p
d
ate
it
;
˗
Step
4
:
Set
a
n
ew
g
b
est
if
it
is
b
etter
af
ter
co
m
p
ar
in
g
its
s
u
itab
ilit
y
f
o
r
ea
ch
p
ar
ticle
b
a
s
ed
o
n
th
e
b
est
p
o
s
itio
n
g
b
est
o
f
th
eir
en
tire
e
x
p
er
ien
ce
;
˗
Ste
p
5
: M
o
d
if
y
p
ar
ticle
p
o
s
itio
n
an
d
s
p
ee
d
u
s
in
g
(
2
2
)
an
d
(
2
3
)
;
an
d
˗
Step
6
: G
o
b
ac
k
t
o
s
tep
2
if
n
o
in
ter
r
u
p
tiv
e
co
n
d
itio
n
is
m
et.
T
h
e
ef
f
ec
tiv
en
ess
o
f
t
h
e
s
u
g
g
ested
tech
n
iq
u
e
is
ass
ess
ed
in
ter
m
s
o
f
in
teg
r
al
tim
e
ab
s
o
lu
te
er
r
o
r
(
I
T
E
A)
,
an
d
a
v
a
r
iety
o
f
s
u
ch
cr
iter
ia
ar
e
o
f
f
e
r
ed
in
r
ef
er
e
n
c
e
[
3
8
]
,
[
4
0
]
,
an
d
d
e
f
in
ed
in
(
2
4
)
.
=
∫
.
|
1
|
0
(
2
4
)
I
n
o
r
d
er
to
d
eter
m
in
e
th
e
id
ea
l
p
ar
am
eter
s
ettin
g
s
f
o
r
th
e
s
u
g
g
ested
DC
-
DC
co
n
v
er
ter
c
o
n
tr
o
l
ap
p
r
o
ac
h
,
th
e
s
u
g
g
ested
m
eth
o
d
u
s
es
a
PS
O
s
ea
r
ch
.
T
h
e
o
b
jectiv
e
f
u
n
c
tio
n
th
at
g
u
ar
an
tees
s
y
s
tem
’
s
s
tab
ilit
y
is
d
ef
in
ed
in
(
2
5
)
as f
o
u
n
d
in
[
4
1
]
.
(
)
=
∑
1
(
)
2
(
2
5
)
Su
b
ject
to
<
<
.
T
is
th
e
s
tar
t
-
u
p
ti
m
e
f
o
r
th
e
tr
an
s
ien
t
r
ea
ctio
n
,
a
n
d
u
b
an
d
l
b
co
n
s
titu
te
th
e
v
a
r
iab
le
s
'
lo
wer
an
d
u
p
p
er
b
o
u
n
d
ar
ies
=
(
,
1
,
2
)
.
C
o
n
s
eq
u
e
n
tly
,
PS
O
is
u
s
ed
to
tu
n
e
an
d
alter
th
e
g
ain
s
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
u
n
til
th
e
b
est
tim
e
r
esp
o
n
s
e
p
er
f
o
r
m
an
ce
is
ac
h
iev
ed
.
T
h
e
s
u
g
g
ested
co
n
tr
o
ller
'
s
s
ch
em
atic
d
iag
r
am
is
s
h
o
wn
in
Fig
u
r
e
5
.
I
n
th
is
s
tu
d
y
,
a
3
-
x
Swar
m
s
ize
m
atr
ix
is
u
s
ed
to
esti
m
ate
th
e
p
o
s
itio
n
an
d
v
elo
city
o
f
ea
ch
p
ar
ticle
in
PS
O.
T
h
e
to
tal
n
u
m
b
er
o
f
iter
atio
n
s
ca
n
r
ea
ch
1
0
0
.
I
t
is
ass
u
m
ed
th
at
th
e
ac
ce
ler
atio
n
c
o
ef
f
icien
ts
f
o
r
p
er
s
o
n
al
a
n
d
s
o
cial
ele
m
en
ts
ar
e
1
=
2
=
2
.
T
h
e
p
r
o
p
o
s
ed
ASMC
's
s
tr
u
ctu
r
e
is
s
h
o
wn
in
Fig
u
r
e
5
.
F
or
e
ac
h
p
ar
t
i
c
l
e
:
A
.
E
val
u
at
e
f
i
t
n
e
s
s
f
(
xi
)
B
.
I
f
n
e
w
p
ar
t
i
c
l
e
i
s
b
e
s
t
s
e
t
P
b
e
s
t
=
xi
F
or
t
h
e
w
h
ol
e
p
op
u
l
at
i
on
:
A
.
I
d
e
n
t
i
f
y g
l
ob
al
b
e
s
t
gb
e
s
t
U
p
d
at
e
xi
an
d
vi
ac
c
or
d
i
n
g t
o E
q
u
at
i
on
(
22
)
an
d
(
23
)
I
s
c
on
ve
r
ge
n
c
e
ob
t
ai
n
e
d
S
t
op
S
t
ar
t
I
n
i
t
i
al
i
z
e
t
h
e
p
ar
t
i
c
l
e
w
i
t
h
r
an
d
om
p
os
i
t
i
on
x
i
an
d
ve
l
oc
i
t
y ve
c
t
or
s
v
i
No
Y
e
s
Fig
u
r
e
4.
Par
ticle
s
war
m
o
p
tim
izatio
n
alg
o
r
ith
m
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
P
S
O
-
b
a
s
ed
a
d
a
p
tive
s
lid
in
g
mo
d
e
co
n
tr
o
l o
f a
b
i
d
ir
ec
tio
n
a
l
DC
-
DC
co
n
ve
r
ter
w
ith
…
(
Ju
liu
s
Derg
h
e
C
h
a
m
)
1005
I
n
i
t
i
a
l
p
a
r
a
m
e
t
e
r
s
P
S
O
F
i
t
n
e
s
s
f
u
n
c
t
i
o
n
A
S
M
C
B
i
d
i
r
e
c
t
i
o
n
a
l
D
C
-
D
C
c
o
n
v
e
r
t
e
r
+
_
O
u
t
p
u
t
I
n
p
u
t
k
1
γ
k
2
Fig
u
r
e
5
.
Desig
n
o
f
th
e
PS
O
-
ASMC
co
n
tr
o
ller
3.
RE
SU
L
T
S
A
ND
D
I
SCU
SS
I
O
N
A
n
u
m
er
ical
s
im
u
latio
n
u
s
in
g
MA
T
L
AB
/S
im
u
lin
k
was
ca
r
r
i
ed
o
u
t
to
v
er
if
y
th
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
r
ec
o
m
m
en
d
ed
c
o
n
tr
o
ller
.
T
a
b
le
1
p
r
o
v
id
es
s
p
ec
if
ics
o
n
th
e
co
n
t
r
o
l
s
ch
em
es
an
d
p
ar
a
m
eter
d
ata
f
o
r
th
e
b
id
ir
ec
tio
n
al
h
alf
-
b
r
id
g
e
DC
-
DC
co
n
v
er
ter
.
T
h
e
s
o
u
r
ce
s
[
2
9
]
,
[
3
2
]
,
an
d
[
4
2
]
wer
e
u
s
ed
t
o
cr
ea
te
th
ese
s
p
ec
s
.
B
ec
au
s
e
p
ar
asit
ic
r
esi
s
tan
ce
s
m
ig
h
t
af
f
ec
t
th
e
e
f
f
ec
tiv
en
e
s
s
o
f
th
e
s
y
s
tem
,
th
ey
ar
e
i
n
clu
d
ed
d
u
r
in
g
th
e
s
im
u
latio
n
p
r
o
ce
s
s
.
Ab
r
u
p
t
v
ar
iatio
n
s
in
t
h
e
r
e
f
er
en
ce
v
o
ltag
e,
lo
a
d
r
esis
tan
ce
,
in
p
u
t
v
o
ltag
e,
an
d
th
e
p
r
esen
ce
o
f
n
o
is
e
in
th
e
m
e
a
s
u
r
em
en
t
v
ar
ia
b
les
ar
e
u
s
ed
to
in
tr
o
d
u
ce
d
is
tu
r
b
an
ce
s
in
o
r
d
er
to
ju
d
g
e
th
e
r
esil
ien
ce
an
d
d
y
n
am
ic
p
e
r
f
o
r
m
an
ce
o
f
t
h
e
s
u
g
g
ested
c
o
n
tr
o
ller
.
I
n
t
h
e
f
i
r
s
t
s
ce
n
ar
io
,
t
h
e
d
esi
r
e
d
o
u
t
p
u
t v
o
lta
g
e
is
v
ar
i
a
b
le
a
n
d
c
h
an
g
es
i
n
i
n
cr
em
en
ts
o
f
0
.
0
3
a
n
d
0
.
0
7
s
ec
o
n
d
s
,
f
r
o
m
1
2
to
8
V
a
n
d
1
0
V,
r
es
p
e
cti
v
e
ly
.
T
h
e
in
p
u
t
v
o
lta
g
e
r
em
ai
n
s
c
o
n
s
ta
n
t
.
C
SMC
,
ASMC
,
a
n
d
th
e
p
r
o
p
o
s
e
d
c
o
n
t
r
o
ll
er
(
AS
MCR
L
)
c
o
n
tr
o
l
th
e
co
n
v
e
r
t
er
.
I
t
is
co
n
c
lu
d
ed
t
h
at
th
e
d
es
ir
ed
o
u
t
p
u
t
v
o
lta
g
e
h
as
b
e
e
n
m
o
n
i
to
r
e
d
s
atis
f
a
ct
o
r
il
y
b
y
al
l
th
r
e
e
c
o
n
t
r
o
l
s
t
r
at
eg
ies
.
Des
p
it
e
t
h
e
ab
r
u
p
t
c
h
a
n
g
e
in
th
e
r
e
f
e
r
e
n
c
e
v
o
lta
g
e,
Fig
u
r
e
6
cl
ea
r
l
y
s
h
o
ws
th
at
t
h
e
r
e
c
o
m
m
e
n
d
e
d
c
o
n
t
r
o
lle
r
h
as
a
f
as
te
r
d
y
n
a
m
i
c
r
ea
cti
o
n
i
n
b
r
in
g
i
n
g
t
h
e
v
o
lt
a
g
e
o
u
t
p
u
t
o
f
t
h
e
p
la
n
t
b
a
c
k
t
o
its
c
o
r
r
esp
o
n
d
i
n
g
d
esi
r
e
d
v
al
u
es.
C
o
n
s
e
q
u
e
n
tl
y
,
t
h
e
s
u
g
g
este
d
co
n
t
r
o
ll
er
o
u
t
p
e
r
f
o
r
m
s
its
class
ic
al
c
o
u
n
t
er
p
a
r
ts
in
te
r
m
s
o
f
c
o
n
t
r
o
l
t
r
a
ck
i
n
g
ac
c
u
r
a
c
y
.
I
n
Fi
g
u
r
e
6
(
a
)
,
t
h
e
r
ec
o
m
m
e
n
d
e
d
co
n
t
r
o
ll
er
is
f
as
te
r
t
h
a
n
its
co
n
v
e
n
ti
o
n
a
l
te
ch
n
i
q
u
es
.
A
d
d
iti
o
n
all
y
,
i
t
is
c
lea
r
f
r
o
m
Fi
g
u
r
e
6
(
b
)
(
in
d
u
ct
o
r
c
u
r
r
en
t)
th
a
t,
i
n
c
o
m
p
a
r
is
o
n
to
t
h
e
t
r
a
d
i
tio
n
a
l s
li
d
i
n
g
SMC
,
th
e
r
e
c
o
m
m
e
n
d
e
d
co
n
t
r
o
ll
er
l
ess
e
n
s
th
e
ch
att
er
i
n
g
e
f
f
ec
t
.
T
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le
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a)
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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I
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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