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Evaluation Warning : The document was created with Spire.PDF for Python.
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I
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Vo
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16
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No
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2
,
J
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20
25
:
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9
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-
7
0
9
696
in
clu
d
e
th
e
lo
w
e
n
er
g
y
d
e
n
s
ity
o
f
s
u
p
er
ca
p
ac
ito
r
s
,
h
ig
h
p
r
o
d
u
ctio
n
c
o
s
ts
,
an
d
th
e
r
ea
d
in
e
s
s
o
f
th
e
s
u
p
p
o
r
tin
g
in
f
r
astru
ctu
r
e
[
1
0
]
.
Desp
ite
th
e
s
e
ch
allen
g
es,
th
e
B
att
-
SC
tech
n
o
lo
g
y
p
r
esen
ts
co
n
s
id
er
ab
le
p
o
ten
tial
f
o
r
f
u
tu
r
e
d
ev
elo
p
m
e
n
t
an
d
a
d
o
p
tio
n
d
u
e
to
th
e
co
m
p
lem
en
tar
y
p
o
wer
an
d
en
er
g
y
ch
ar
ac
ter
is
tics
it
o
f
f
er
s
.
A
ca
s
e
s
tu
d
y
h
as
d
em
o
n
s
tr
ated
th
at
th
e
u
s
e
o
f
a
B
att
-
SC
HPS
in
elec
t
r
ic
v
eh
icles
ca
n
r
esu
lt
in
co
s
t
s
av
in
g
s
o
f
a
p
p
r
o
x
im
ately
1
2
%
co
m
p
ar
ed
to
elec
tr
ic
v
eh
icles
p
o
wer
ed
s
o
lely
b
y
b
atter
y
[
4
]
.
Ad
d
itio
n
ally
,
th
is
tech
n
o
lo
g
y
s
h
o
ws
g
r
ea
t
p
r
o
m
is
e
f
o
r
in
teg
r
atio
n
in
to
o
th
er
em
er
g
in
g
r
e
n
ewa
b
le
en
e
r
g
y
s
y
s
tem
s
.
Fo
r
th
e
r
eq
u
ir
em
en
ts
o
f
co
n
t
r
o
l
d
esig
n
,
th
e
B
att
-
SC
HPS
m
u
s
t
b
e
co
m
p
r
eh
en
s
iv
ely
m
o
d
ele
d
to
ca
p
tu
r
e
its
d
y
n
am
ic
b
eh
av
io
r
[
1
1
]
-
[
1
3
]
.
T
h
is
m
o
d
elin
g
in
v
o
l
v
es
th
e
p
h
y
s
ical
ch
ar
ac
ter
is
tics
o
f
b
o
th
th
e
b
atter
y
an
d
th
e
s
u
p
er
ca
p
ac
ito
r
,
as
well
as
th
eir
in
ter
ac
tio
n
s
with
in
t
h
e
s
y
s
tem
.
A
d
etailed
m
o
d
el
en
s
u
r
es
th
at
th
e
c
o
n
tr
o
l
alg
o
r
ith
m
s
ca
n
r
esp
o
n
d
ef
f
ec
t
iv
ely
to
v
ar
y
in
g
lo
a
d
d
em
an
d
s
,
en
v
ir
o
n
m
en
tal
f
ac
to
r
s
,
an
d
s
y
s
tem
co
n
s
tr
ain
ts
.
T
h
r
ee
p
r
im
a
r
y
ap
p
r
o
ac
h
es
ca
n
b
e
u
s
ed
to
m
o
d
el
th
is
s
y
s
tem
:
th
e
h
ig
h
-
f
id
elity
m
o
d
el,
th
e
co
n
tr
o
l
-
o
r
ien
ted
m
o
d
el,
an
d
th
e
in
teg
r
ate
d
d
y
n
am
ic
m
o
d
el.
T
h
e
h
ig
h
-
f
id
elity
m
o
d
el
p
r
o
v
id
es
a
d
etailed
an
d
p
r
ec
is
e
r
ep
r
esen
tatio
n
o
f
th
e
s
y
s
tem
,
ca
p
tu
r
in
g
th
e
co
m
p
le
x
p
h
y
s
ic
al,
ch
em
ical,
an
d
elec
tr
ical
p
r
o
ce
s
s
es
with
in
th
e
b
atter
y
an
d
s
u
p
er
ca
p
ac
ito
r
[
1
4
]
.
I
n
c
o
n
tr
ast,
th
e
co
n
tr
o
l
-
o
r
ien
ted
m
o
d
els
ar
e
s
im
p
lifie
d
r
e
p
r
e
s
en
tatio
n
s
d
esig
n
ed
to
r
etain
th
e
ess
en
tial
d
y
n
am
i
cs
o
f
th
e
s
y
s
tem
wh
ile
en
s
u
r
in
g
co
m
p
u
tatio
n
al
ef
f
icie
n
cy
[
1
5
]
-
[
1
9
]
.
I
n
teg
r
ated
d
y
n
am
ic
m
o
d
el,
o
n
th
e
o
th
er
h
an
d
,
co
m
b
i
n
es
th
e
d
y
n
a
m
ic
b
eh
av
io
r
s
o
f
th
e
b
atter
y
,
s
u
p
er
ca
p
ac
ito
r
,
a
n
d
o
th
er
s
y
s
tem
co
m
p
o
n
e
n
ts
,
s
u
ch
as
p
o
wer
elec
tr
o
n
ics
an
d
th
e
v
eh
ic
le's
d
r
iv
etr
ain
[
1
6
]
,
[
2
0
]
.
E
ac
h
o
f
th
ese
m
o
d
elin
g
ap
p
r
o
ac
h
es
s
er
v
es
a
s
p
ec
if
ic
p
u
r
p
o
s
e,
f
r
o
m
p
r
ec
is
e
an
aly
s
is
a
n
d
o
p
tim
izatio
n
to
ef
f
icien
t
co
n
tr
o
l
s
y
s
tem
d
esig
n
.
T
h
e
B
att
-
SC
a
s
an
HPS
s
y
s
tem
m
u
s
t
also
b
e
ef
f
ec
tiv
ely
co
n
tr
o
lled
f
o
r
v
a
r
io
u
s
v
eh
icle
tr
av
el
co
n
d
itio
n
s
.
T
h
e
g
o
al
is
th
at
th
eir
cu
r
r
en
ts
ca
n
b
e
ad
j
u
s
ted
ac
co
r
d
in
g
t
o
n
ee
d
s
.
I
n
p
r
in
cip
le,
th
e
s
u
p
er
ca
p
ac
ito
r
is
u
tili
ze
d
wh
en
lar
g
e
lo
ad
cu
r
r
en
ts
ar
e
r
eq
u
i
r
ed
,
s
u
ch
as
d
u
r
in
g
u
p
h
ill
d
r
iv
in
g
,
s
to
p
-
an
d
-
g
o
,
an
d
r
eg
en
e
r
ativ
e
b
r
ak
in
g
.
HPS
co
n
tr
o
l
g
en
er
ally
o
p
er
ates
at
two
lev
els:
h
ig
h
-
lev
el
co
n
tr
o
l
(
k
n
o
wn
as
en
er
g
y
m
an
ag
em
en
t
s
y
s
tem
(
EMS
)
)
an
d
lo
w
-
lev
el
co
n
tr
o
l
[
2
1
]
.
T
h
e
h
ig
h
-
lev
el
co
n
tr
o
l
is
r
esp
o
n
s
ib
le
f
o
r
g
e
n
er
atin
g
r
ef
er
en
ce
c
u
r
r
en
ts
f
o
r
ea
ch
p
o
wer
s
o
u
r
ce
,
b
ased
o
n
th
e
v
eh
icle’
s
lo
a
d
in
g
co
n
d
itio
n
s
.
T
h
is
co
n
tr
o
ller
en
s
u
r
es
o
p
tim
al
e
n
er
g
y
d
is
tr
ib
u
tio
n
am
o
n
g
th
e
p
o
wer
s
o
u
r
ce
s
,
a
d
ap
tin
g
d
y
n
am
icall
y
to
ch
an
g
es
in
l
o
ad
a
n
d
d
r
iv
i
n
g
c
o
n
d
itio
n
s
.
T
h
e
r
ef
er
en
ce
c
u
r
r
en
ts
ar
e
t
h
en
t
r
ac
k
ed
b
y
th
e
lo
w
-
le
v
el
co
n
tr
o
l,
wh
ich
also
r
eg
u
lates
th
e
DC
b
u
s
v
o
ltag
e.
Ad
d
itio
n
ally
,
th
e
lo
w
-
lev
el
c
o
n
tr
o
l
m
ain
tain
s
s
y
s
tem
s
tab
ilit
y
b
y
en
s
u
r
in
g
th
e
DC
b
u
s
v
o
lt
ag
e
s
tay
s
with
in
s
af
e
an
d
ef
f
icien
t
o
p
er
atin
g
lim
its
.
T
h
i
s
p
a
p
e
r
p
r
o
v
i
d
e
s
a
f
o
c
u
s
e
d
r
e
v
i
e
w
o
f
t
h
e
d
y
n
a
m
i
c
m
o
d
e
l
i
n
g
a
n
d
c
o
n
t
r
o
l
s
t
r
a
t
e
g
i
e
s
o
f
t
h
e
B
a
t
t
-
S
C
H
P
S
f
o
r
e
l
e
c
t
r
i
c
v
e
h
i
c
l
e
s
.
T
h
e
p
r
i
m
a
r
y
c
o
n
t
r
i
b
u
t
i
o
n
o
f
t
h
i
s
p
a
p
e
r
i
s
t
o
o
f
f
e
r
a
n
o
v
e
r
v
i
e
w
o
f
v
a
r
i
o
u
s
d
y
n
a
m
i
c
m
o
d
e
l
i
n
g
a
p
p
r
o
a
c
h
e
s
a
n
d
t
h
e
i
r
c
o
r
r
e
s
p
o
n
d
i
n
g
c
o
n
t
r
o
l
s
t
r
a
t
e
g
i
e
s
,
w
i
t
h
p
a
r
t
i
c
u
l
a
r
e
m
p
h
a
s
i
s
o
n
l
o
w
-
l
e
v
e
l
c
o
n
t
r
o
l
t
o
e
n
h
a
n
c
e
e
n
e
r
g
y
e
f
f
i
c
i
e
n
c
y
.
A
l
t
h
o
u
g
h
s
e
v
e
r
a
l
r
e
v
i
e
w
a
r
t
i
c
l
e
s
o
n
B
a
t
t
-
S
C
a
s
a
n
H
P
S
f
o
r
e
l
e
c
t
r
i
c
v
e
h
i
c
l
e
s
h
a
v
e
b
e
e
n
p
u
b
l
i
s
h
e
d
p
r
e
v
i
o
u
s
l
y
,
t
h
i
s
r
e
v
i
e
w
d
i
s
t
i
n
g
u
i
s
h
e
s
i
t
s
e
l
f
b
y
f
o
c
u
s
i
n
g
o
n
t
h
e
d
y
n
a
m
i
c
m
o
d
e
l
i
n
g
,
l
o
w
-
l
e
v
e
l
c
o
n
t
r
o
l
a
p
p
l
i
c
a
t
i
o
n
s
,
a
n
d
c
h
a
l
l
e
n
g
e
s
r
e
l
a
t
e
d
t
o
D
C
b
u
s
v
o
l
t
a
g
e
r
e
g
u
l
a
t
i
o
n
.
I
n
c
o
n
t
r
a
s
t
,
e
x
i
s
t
i
n
g
r
e
v
i
e
w
s
h
a
v
e
p
r
i
m
a
r
i
l
y
a
d
d
r
e
s
s
e
d
t
o
p
i
c
s
s
u
c
h
a
s
E
M
S
[
3
]
,
[
2
2
]
,
[
2
3
]
,
D
C
-
D
C
c
o
n
v
e
r
t
e
r
t
o
p
o
l
o
g
i
e
s
[
2
4
]
,
a
n
d
o
p
t
i
m
a
l
s
i
z
i
n
g
t
e
c
h
n
i
q
u
e
s
[
2
5
]
,
[
2
6
]
.
T
h
e
r
em
ain
d
er
o
f
t
h
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
ws:
i)
Sectio
n
2
p
r
o
v
id
es
an
o
v
er
v
iew
o
f
th
e
d
y
n
a
m
ic
m
o
d
elin
g
o
f
th
e
B
att
-
SC
HPS s
y
s
tem
,
f
o
llo
wed
b
y
a
d
is
cu
s
s
i
o
n
o
f
its
c
o
n
tr
o
l
s
tr
ateg
ies
in
s
ec
tio
n
3
;
ii)
Sectio
n
4
ad
d
r
ess
es
ch
allen
g
es
r
elate
d
to
DC
b
u
s
r
eg
u
latio
n
;
iii)
Po
ten
tial
r
esear
ch
d
ir
ec
tio
n
s
ar
e
p
r
esen
ted
i
n
s
ec
tio
n
5
;
wh
ile
iv
)
Sectio
n
6
co
n
clu
d
es th
e
s
tu
d
y
with
a
s
u
m
m
ar
y
o
f
k
e
y
f
in
d
i
n
g
s
.
2.
DYNA
M
I
C
M
O
DE
L
O
F
B
A
T
T
-
SC H
P
S F
O
R
E
L
E
CT
RI
C
VE
H
I
C
L
E
S
T
h
e
B
att
-
SC
HPS
f
o
r
elec
tr
ic
v
eh
icles
ca
n
b
e
m
o
d
elled
u
s
in
g
th
r
ee
m
ain
a
p
p
r
o
a
ch
es:
th
e
h
ig
h
-
f
id
elity
m
o
d
el,
th
e
co
n
tr
o
l
-
o
r
ie
n
ted
m
o
d
el,
an
d
th
e
i
n
teg
r
ated
d
y
n
a
m
ic
m
o
d
el.
Fig
u
r
e
1
illu
s
tr
ates th
e
co
n
f
ig
u
r
atio
n
o
f
th
e
B
att
-
S
C
s
y
s
tem
a
s
an
HP
S,
wh
ich
s
er
v
es
as
th
e
f
o
u
n
d
atio
n
al
cir
cu
it
f
o
r
r
ev
iewin
g
th
e
d
y
n
am
ic
m
o
d
elin
g
ap
p
r
o
ac
h
es.
T
h
is
co
n
f
ig
u
r
atio
n
in
clu
d
es
two
co
n
tr
o
l
in
p
u
ts
in
th
e
f
o
r
m
o
f
th
e
d
u
ty
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d
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.
1
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t
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u
m
e
r
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t
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o
n
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PS
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o
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t
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h
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d
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m
o
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ls
.
F
o
r
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n
s
t
an
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e
,
r
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s
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[
1
4
]
d
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o
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(
1
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d
(
2
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:
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
Dyn
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=
[
1
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as
a
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PS
c
a
n
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a
c
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d
.
F
i
g
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1
.
T
y
p
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a
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d
y
n
a
m
i
c
m
o
d
e
l
o
f
B
a
tt
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SC
as
H
PS
f
o
r
a
n
e
le
c
t
r
i
c
v
e
h
i
cl
e
2
.
2
.
Co
ntr
o
l
-
o
rient
ed
mo
del
T
h
e
co
n
tr
o
l
-
o
r
ien
ted
m
o
d
el
is
a
d
y
n
a
m
ic
m
o
d
el
d
esig
n
e
d
s
p
e
cif
ically
f
o
r
co
n
tr
o
ller
d
e
v
elo
p
m
en
t a
n
d
p
r
ac
tical
im
p
lem
en
tatio
n
.
U
n
lik
e
th
e
h
ig
h
-
f
id
elity
m
o
d
el,
it
is
d
er
iv
ed
b
y
s
im
p
lify
in
g
th
e
s
y
s
tem
an
d
n
e
g
lectin
g
th
e
in
ter
n
al
ch
ar
ac
te
r
is
tics
o
f
ea
ch
co
m
p
o
n
en
t,
wh
ile
s
till
r
etain
in
g
ess
en
tial
p
ar
am
ete
r
s
.
T
h
is
m
o
d
elin
g
ap
p
r
o
ac
h
is
wid
ely
u
s
ed
i
n
B
att
-
SC
co
n
tr
o
ller
d
esig
n
[
1
5
]
-
[
1
9
]
.
I
n
co
n
tr
ast
to
th
e
h
ig
h
-
f
id
elity
m
o
d
el,
th
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co
n
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l
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m
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tr
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ts
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e
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att
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SC
s
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s
tem
as
a
co
n
s
tan
t
v
o
ltag
e
s
o
u
r
ce
i
n
th
e
HPS
co
n
f
ig
u
r
atio
n
.
Ad
d
itio
n
ally
,
t
h
e
DC
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DC
co
n
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ter
m
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d
el
i
n
th
is
a
p
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ex
clu
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d
.
C
o
n
s
eq
u
en
tly
,
th
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n
o
n
lin
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r
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n
am
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u
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s
f
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th
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m
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el,
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in
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an
d
,
ar
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d
ef
in
ed
as sh
o
wn
i
n
(
8
)
a
n
d
(
9
)
:
=
1
−
1
1
+
1
1
1
(
8
)
=
2
−
1
2
+
1
2
3
(
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
:
6
9
5
-
7
0
9
698
w
h
e
r
e
a
n
d
r
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p
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(
1
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(
1
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=
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10
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=
2
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1
2
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1
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(
1
2
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wh
er
e
an
d
ar
e
av
er
ag
in
g
d
u
t
y
cy
cles f
o
r
B
att
-
SC
,
wh
ich
s
atis
f
y
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e
f
o
llo
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g
(
1
3
)
an
d
(
1
4
)
.
=
{
1
−
1
,
_
>
0
2
,
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<
0
(
1
3
)
=
{
1
−
3
,
_
>
0
4
,
_
<
0
(
1
4
)
T
h
is
d
u
ty
cy
cle
c
o
n
f
ig
u
r
atio
n
also
ap
p
lies
to
h
ig
h
-
f
id
elity
m
o
d
els with
b
id
ir
ec
tio
n
al
DC
-
D
C
co
n
v
er
ter
s
.
2
.
3
.
I
nte
g
ra
t
ed
dy
na
m
ic
m
o
del
T
h
e
in
teg
r
ated
d
y
n
a
m
ic
m
o
d
el
co
m
b
in
es th
e
d
y
n
am
ics o
f
t
h
e
B
att
-
SC
s
y
s
tem
as a
n
HP
S wi
th
a
d
r
iv
e
s
y
s
tem
co
m
p
r
is
in
g
a
DC
-
DC
co
n
v
er
ter
,
an
elec
tr
ic
m
o
to
r
,
a
n
d
a
v
e
h
icle
d
y
n
am
ics
m
o
d
el.
S
ev
er
al
s
tu
d
ies
h
av
e
ex
p
lo
r
ed
th
is
ap
p
r
o
ac
h
,
in
teg
r
a
tin
g
th
e
B
att
-
SC
s
y
s
te
m
w
ith
an
in
d
u
ctio
n
m
o
to
r
[
1
6
]
,
s
witch
ed
r
elu
ctan
ce
m
o
to
r
(
SR
M)
m
o
d
el
[
1
7
]
,
an
d
th
e
p
e
r
m
an
en
t
m
ag
n
et
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
(
PMSM)
m
o
d
el
[
2
7
]
.
R
eg
ar
d
in
g
in
te
g
r
atio
n
with
th
e
v
eh
icle’
s
lo
n
g
itu
d
in
al
d
y
n
a
m
ics,
an
in
teg
r
ate
d
b
atter
y
-
elec
tr
ic
v
e
h
icle
(
I
B
E
V
)
m
o
d
el
h
as
b
ee
n
d
ev
elo
p
e
d
[
2
0
]
,
alth
o
u
g
h
it d
i
d
n
o
t
in
c
o
r
p
o
r
ate
a
s
u
p
er
ca
p
ac
ito
r
as
an
ad
d
itio
n
al
p
o
wer
s
o
u
r
ce
.
C
o
n
s
eq
u
en
tly
,
d
ev
elo
p
in
g
a
c
o
m
p
r
eh
en
s
iv
e
i
n
teg
r
ated
m
o
d
el
t
h
at
in
clu
d
es
B
att
-
S
C
,
DC
-
DC
co
n
v
er
ter
s
,
e
lectr
ic
m
o
to
r
s
,
a
n
d
v
eh
icle
lo
n
g
itu
d
in
al
d
y
n
a
m
ics
r
em
ain
s
a
p
r
o
m
is
in
g
ar
ea
f
o
r
f
u
tu
r
e
r
esear
ch
.
T
h
e
v
eh
icle
lo
n
g
itu
d
in
al
d
y
n
am
ics
m
o
d
el
b
ased
o
n
Fig
u
r
e
2
ca
n
b
e
wr
itten
as in
(
1
5
)
:
=
+
+
+
(
1
5
)
wh
er
e
is
th
e
tr
ac
tio
n
f
o
r
ce
r
e
q
u
ir
ed
b
y
th
e
v
eh
icle,
is
th
e
ac
ce
ler
atio
n
o
f
t
h
e
v
eh
icle,
is
th
e
f
r
ictio
n
f
o
r
ce
o
f
th
e
wh
ee
ls
,
is
th
e
ae
r
o
d
y
n
a
m
ic
f
o
r
ce
o
f
th
e
v
eh
icle,
an
d
is
th
e
f
o
r
ce
o
f
g
r
a
v
ity
.
F
i
g
u
r
e
2
.
L
o
n
g
i
t
u
d
i
n
a
l
d
y
n
a
m
ic
s
o
n
v
e
h
i
c
l
e
Fro
m
(
1
5
)
,
th
e
v
eh
icle
lo
n
g
itu
d
i
n
al
s
p
ee
d
(
)
,
m
o
to
r
s
p
ee
d
(
)
,
an
d
m
o
to
r
cu
r
r
en
t
(
)
ca
n
b
e
d
ef
in
ed
as a
d
d
itio
n
al
s
tate
v
ar
iab
les as sh
o
wn
in
(
1
6
)
-
(
1
8
)
:
=
.
−
1
2
2
−
(
c
os
+
s
in
)
(
1
6
)
=
−
(
1
7
)
=
1
−
−
(
18
)
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
Dyn
a
mic
mo
d
el
a
n
d
co
n
tr
o
l str
a
teg
ies o
f b
a
tter
y
-
s
u
p
erca
p
a
c
ito
r
h
yb
r
id
p
o
w
er
…
(
A
d
n
a
n
R
a
fi A
l Ta
h
ta
w
i
)
699
wh
er
e
is
m
o
to
r
to
r
q
u
e
co
n
s
tan
t,
is
wh
ee
l
r
ad
iu
s
,
is
m
ass
o
f
v
eh
icle,
is
r
o
ad
r
esis
tiv
e
co
ef
f
icien
t,
is
ae
r
o
d
y
n
am
ic
d
r
ag
co
e
f
f
icie
n
t,
is
f
r
o
n
t
cr
o
s
s
-
s
ec
tio
n
al
ar
ea
,
is
air
d
en
s
ity
co
n
s
tan
t,
is
g
r
av
ity
co
n
s
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t,
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s
lo
p
e
o
f
t
h
e
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o
ad
,
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th
e
m
o
m
en
t
o
f
in
er
tia,
is
f
r
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co
ef
f
icien
t,
is
m
o
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r
esis
tan
ce
,
is
m
o
to
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in
d
u
ctan
ce
,
an
d
is
m
o
to
r
b
ac
k
-
em
f
co
n
s
tan
t.
T
h
ese
ad
d
itio
n
al
s
tate
v
ar
iab
les
ca
n
b
e
in
co
r
p
o
r
ated
in
t
o
th
e
h
ig
h
-
f
i
d
elity
m
o
d
els d
is
cu
s
s
ed
ea
r
lier
,
allo
win
g
th
e
co
m
p
lete
s
tate
v
ar
iab
les to
b
e
ex
p
r
ess
ed
as sh
o
wn
in
(
1
9
)
.
=
[
1
2
3
4
5
6
7
8
]
∗
=
[
]
∗
(
19
)
3.
CO
NT
RO
L
ST
R
AT
E
G
I
E
S
O
F
B
AT
T
-
SC H
P
S F
O
R
E
L
E
CT
RIC V
E
H
I
C
L
E
S
Fig
u
r
e
3
p
r
esen
ts
th
e
g
en
er
al
co
n
tr
o
l stra
teg
y
o
f
th
e
B
att
-
SC
HPS,
o
u
tlin
in
g
th
e
co
n
tr
o
l stru
ctu
r
e
an
d
class
if
icatio
n
o
f
th
e
co
n
tr
o
ller
ty
p
es.
Fig
u
r
e
3
(
a)
illu
s
tr
ates
th
e
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
B
att
-
SC
co
n
tr
o
l
s
tr
u
ctu
r
e
as
an
HPS.
T
h
is
co
n
f
ig
u
r
atio
n
g
en
e
r
ally
in
v
o
l
v
es
two
lev
els
o
f
co
n
tr
o
l.
T
h
e
h
ig
h
-
le
v
el
co
n
tr
o
l
u
tili
ze
s
in
f
o
r
m
atio
n
s
u
ch
as
lo
ad
(
r
e
p
r
esen
ted
b
y
cu
r
r
en
t
d
e
m
an
d
)
,
r
o
ad
s
lo
p
e
an
g
les,
o
r
ex
te
r
n
al
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
to
d
eter
m
in
e
th
e
HPS
r
ef
er
en
ce
cu
r
r
en
t.
Su
b
s
eq
u
en
tly
,
th
e
lo
w
-
lev
el
c
o
n
tr
o
l
en
s
u
r
es
th
at
th
e
r
ef
er
en
ce
cu
r
r
en
t
is
ac
h
iev
ed
.
T
h
e
s
p
ec
if
ic
o
b
jectiv
es
an
d
r
o
les
o
f
th
ese
two
co
n
tr
o
l
lev
els
d
if
f
er
an
d
will
b
e
elab
o
r
ated
in
t
h
e
f
o
llo
win
g
s
ec
tio
n
.
Fu
r
th
er
m
o
r
e
,
th
e
co
n
t
r
o
ller
m
eth
o
d
s
ap
p
licab
le
to
th
ese
co
n
tr
o
l
lev
els
ar
e
ca
teg
o
r
ize
d
in
Fig
u
r
e
3
(
b
)
.
Hig
h
-
lev
el
co
n
tr
o
l
is
d
iv
id
ed
i
n
to
f
o
u
r
ty
p
es:
r
u
le
-
b
ased
,
f
ilter
-
b
ased
,
o
p
tim
izatio
n
-
b
ased
,
an
d
lear
n
in
g
-
b
ased
.
L
o
w
-
lev
el
co
n
tr
o
l
is
class
if
ied
in
to
th
r
ee
ty
p
es:
class
ical
co
n
tr
o
l,
o
p
tim
al
co
n
tr
o
l,
a
n
d
r
o
b
u
s
t
co
n
tr
o
l.
A
d
etailed
ex
p
lan
atio
n
o
f
b
o
th
co
n
tr
o
l le
v
els an
d
th
eir
r
esp
ec
tiv
e
m
eth
o
d
s
will b
e
p
r
o
v
id
ed
i
n
th
is
s
ec
tio
n
.
(
a)
(
b
)
Fig
u
r
e
3
.
B
att
-
SC
c
o
n
tr
o
l
s
t
r
at
eg
i
es:
(
a)
c
o
n
t
r
o
ll
er
s
t
r
u
ct
u
r
e
a
n
d
(
b
)
cl
ass
i
f
ic
ati
o
n
o
f
B
att
-
S
C
c
o
n
tr
o
l
s
t
r
at
e
g
ies
3
.
1
.
H
i
g
h
-
lev
el
co
ntr
o
l
Hig
h
-
lev
el
co
n
tr
o
l,
o
f
ten
r
e
f
er
r
ed
to
as
E
MS,
is
d
esig
n
ed
to
g
e
n
er
ate
th
e
r
e
f
er
en
ce
cu
r
r
e
n
t
f
o
r
th
e
HPS.
T
h
is
lev
el
o
f
c
o
n
tr
o
l
em
p
l
o
y
s
a
p
o
we
r
d
is
tr
ib
u
tio
n
al
g
o
r
i
th
m
b
ased
o
n
in
p
u
t
v
ar
iab
le
s
s
u
ch
as
r
eso
u
r
ce
co
n
d
itio
n
s
an
d
lo
a
d
cu
r
r
en
t
r
eq
u
ir
em
en
ts
.
T
h
e
E
MS
o
p
tim
izes
en
er
g
y
allo
ca
tio
n
b
etwe
e
n
p
o
wer
s
o
u
r
ce
s
to
en
s
u
r
e
ef
f
icien
t
o
p
er
atio
n
,
m
in
im
ize
lo
s
s
es,
an
d
ex
ten
d
th
e
lif
esp
an
o
f
t
h
e
s
y
s
tem
co
m
p
o
n
en
ts
.
B
y
co
n
tin
u
o
u
s
ly
m
o
n
ito
r
in
g
th
e
s
tate
o
f
ea
ch
p
o
wer
s
o
u
r
ce
an
d
t
h
e
o
v
er
all
s
y
s
tem
d
em
an
d
,
th
e
E
MS
d
y
n
a
m
ical
ly
ad
ju
s
ts
th
e
r
ef
er
en
ce
c
u
r
r
en
ts
to
a
d
ap
t
th
e
v
ar
y
in
g
d
r
i
v
in
g
c
o
n
d
itio
n
s
an
d
lo
ad
p
r
o
f
iles
.
3
.
1
.
1
.
Rule
-
ba
s
ed
E
M
S
T
h
e
r
u
le
-
b
ased
E
MS
is
th
e
s
i
m
p
lest
ap
p
r
o
ac
h
,
as
it
d
o
es
n
o
t
r
eq
u
ir
e
a
d
y
n
am
ic
m
o
d
el
f
o
r
its
d
esig
n
,
m
ak
in
g
it
co
m
p
u
tatio
n
ally
ef
f
icien
t
an
d
ea
s
ier
to
im
p
lem
e
n
t
.
T
h
ese
c
o
n
tr
o
l
s
ch
em
es
r
ely
o
n
p
r
ed
ef
i
n
ed
r
u
les
an
d
th
r
esh
o
ld
s
to
m
an
a
g
e
en
er
g
y
d
is
tr
ib
u
tio
n
am
o
n
g
th
e
p
o
w
er
s
o
u
r
ce
s
,
p
r
o
v
id
in
g
s
tr
aig
h
tf
o
r
war
d
an
d
r
eliab
le
p
er
f
o
r
m
an
ce
.
R
u
le
-
b
ased
co
n
t
r
o
l
s
ch
em
es
ca
n
b
e
d
e
v
elo
p
ed
u
s
in
g
f
u
zz
y
lo
g
ic
[
2
8
]
-
[
3
0
]
a
n
d
a
s
tate
m
ac
h
i
n
e
alg
o
r
ith
m
[
2
3
]
.
Fu
zz
y
l
o
g
ic
o
f
f
er
s
a
f
lex
i
b
le
f
r
am
ewo
r
k
f
o
r
h
a
n
d
lin
g
u
n
ce
r
tain
ties
an
d
n
o
n
-
li
n
ea
r
ities
in
s
y
s
tem
b
eh
av
io
r
,
wh
ile
s
tate
m
ac
h
in
e
alg
o
r
ith
m
s
p
r
o
v
id
e
a
s
tr
u
ct
u
r
ed
ap
p
r
o
ac
h
f
o
r
tr
an
s
itio
n
i
n
g
b
etwe
en
d
is
cr
ete
o
p
er
atin
g
s
tates
b
ased
o
n
s
p
ec
if
ic
co
n
d
itio
n
s
.
T
h
is
s
im
p
licity
m
ak
es
r
u
le
-
b
ased
E
MS
h
ig
h
ly
s
u
itab
le
f
o
r
r
ea
l
-
tim
e
ap
p
licatio
n
s
an
d
s
y
s
tem
s
with
lim
ited
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
.
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
:
6
9
5
-
7
0
9
700
3
.
1
.
2
.
F
ilte
r
-
ba
s
ed
E
M
S
T
h
e
f
ilter
-
b
ased
E
MS
em
p
lo
y
s
a
lo
w
-
p
ass
f
ilter
(
L
PF
)
to
allo
ca
te
p
o
wer
b
etwe
en
t
h
e
b
atte
r
y
an
d
th
e
s
u
p
er
ca
p
ac
ito
r
b
ased
o
n
t
h
e
f
r
eq
u
en
cy
ch
ar
ac
te
r
is
tics
o
f
th
e
lo
ad
d
em
an
d
.
T
h
is
m
eth
o
d
ef
f
ec
tiv
ely
s
ep
ar
ates
th
e
p
o
wer
d
em
a
n
d
s
in
to
h
ig
h
-
f
r
e
q
u
en
c
y
an
d
lo
w
-
f
r
eq
u
en
cy
c
o
m
p
o
n
en
ts
,
e
n
ab
lin
g
ef
f
icien
t
en
er
g
y
m
an
ag
em
en
t.
T
h
e
s
u
p
er
ca
p
a
cito
r
,
with
its
h
ig
h
-
p
o
wer
d
en
s
ity
an
d
r
ap
id
ch
ar
g
e
-
d
is
ch
ar
g
e
ca
p
ab
ilit
ies,
ad
d
r
ess
es
h
ig
h
-
f
r
e
q
u
en
c
y
p
o
w
er
d
em
an
d
s
,
s
u
ch
as
th
o
s
e
ca
u
s
ed
b
y
s
u
d
d
e
n
ac
ce
ler
atio
n
s
o
r
tr
an
s
ien
t
lo
ad
s
.
I
n
co
n
tr
ast,
th
e
b
atter
y
,
k
n
o
wn
f
o
r
its
h
ig
h
en
e
r
g
y
d
e
n
s
ity
,
m
an
a
g
es
lo
w
-
f
r
e
q
u
en
c
y
p
o
wer
c
h
an
g
es,
s
u
ch
as
s
tead
y
-
s
tate
d
r
iv
in
g
o
r
g
r
a
d
u
al
s
p
ee
d
v
ar
iatio
n
s
[
2
7
]
,
[
3
1
]
-
[
3
3
]
.
3
.
1
.
3
.
O
ptim
iza
t
io
n
-
ba
s
ed
E
M
S
T
h
e
o
p
tim
izatio
n
-
b
ased
E
MS
i
s
f
u
r
th
er
d
iv
i
d
ed
in
to
o
f
f
lin
e
a
n
d
o
n
lin
e
m
eth
o
d
s
,
ea
ch
o
f
f
er
i
n
g
d
is
tin
ct
ad
v
an
tag
es
d
ep
e
n
d
in
g
o
n
th
e
ap
p
licatio
n
r
eq
u
ir
e
m
en
ts
.
Of
f
lin
e
o
p
tim
izatio
n
tech
n
i
q
u
e
s
,
s
u
ch
as
g
en
etic
alg
o
r
ith
m
s
[
3
4
]
an
d
d
y
n
a
m
ic
p
r
o
g
r
am
m
in
g
[
3
5
]
,
p
r
o
v
id
e
p
r
e
-
co
m
p
u
ted
s
o
lu
tio
n
s
b
y
an
aly
zin
g
all
p
o
s
s
ib
le
s
ce
n
ar
io
s
b
ef
o
r
eh
a
n
d
.
T
h
ese
m
eth
o
d
s
ar
e
p
ar
ticu
lar
ly
e
f
f
ec
tiv
e
f
o
r
s
y
s
tem
s
with
wel
l
-
d
ef
in
ed
o
p
er
atin
g
co
n
d
itio
n
s
,
as
th
ey
m
in
im
ize
c
o
m
p
u
tatio
n
al
d
em
a
n
d
s
d
u
r
in
g
o
p
er
atio
n
.
On
th
e
o
th
er
h
an
d
,
o
n
lin
e
o
p
tim
izatio
n
m
eth
o
d
s
,
lik
e
m
o
d
el
p
r
e
d
ictiv
e
co
n
tr
o
l
(
MPC
)
,
d
y
n
am
ically
g
en
er
ate
r
ef
er
e
n
ce
cu
r
r
en
ts
f
o
r
th
e
B
att
-
SC
s
y
s
tem
in
r
ea
l
-
tim
e.
B
y
co
n
tin
u
o
u
s
ly
o
p
tim
izin
g
in
p
u
t
v
ar
iab
les
s
u
ch
as
lo
ad
cu
r
r
e
n
t,
B
att
-
SC
v
o
ltag
e,
an
d
DC
b
u
s
v
o
ltag
e,
MPC
en
s
u
r
es
th
at
th
e
s
y
s
tem
ad
ap
ts
to
v
ar
y
in
g
co
n
d
itio
n
s
an
d
m
ain
tain
s
o
p
ti
m
al
p
er
f
o
r
m
a
n
ce
[
3
6
]
,
[
3
7
]
.
T
h
is
r
ea
l
-
tim
e
ad
ap
tab
ili
ty
m
ak
es
o
n
lin
e
o
p
tim
izatio
n
p
ar
ticu
lar
ly
s
u
itab
le
f
o
r
a
p
p
lic
atio
n
s
with
h
ig
h
ly
d
y
n
am
ic
a
n
d
u
n
p
r
e
d
ictab
le
o
p
er
atin
g
en
v
i
r
o
n
m
e
n
ts
.
3
.
1
.
4
.
L
ea
rning
-
ba
s
ed
E
M
S
T
h
e
lear
n
in
g
-
b
ased
E
MS
le
v
er
ag
es
ad
v
an
ce
s
in
m
ac
h
in
e
lear
n
in
g
to
ac
h
iev
e
s
u
p
e
r
i
o
r
co
n
tr
o
l
p
er
f
o
r
m
an
ce
an
d
ad
ap
ta
b
ilit
y
.
T
h
is
ca
teg
o
r
y
in
cl
u
d
es
r
ein
f
o
r
ce
m
en
t
lear
n
in
g
(
R
L
)
alg
o
r
ith
m
s
[
3
8
]
,
d
ee
p
lear
n
in
g
[
3
9
]
,
an
d
a
r
tific
ial
n
eu
r
al
n
etwo
r
k
(
ANN)
[
4
0
]
.
T
h
e
s
e
m
eth
o
d
s
en
ab
le
th
e
E
MS
to
lear
n
an
d
o
p
tim
iz
e
co
n
tr
o
l
s
tr
ateg
ies
in
d
ep
en
d
en
t
ly
,
allo
win
g
f
o
r
p
r
ec
is
e
r
eg
u
latio
n
o
f
B
att
-
SC
cu
r
r
en
ts
b
ased
o
n
r
ea
l
-
tim
e
tr
av
e
l
s
ce
n
ar
io
s
an
d
s
y
s
tem
d
em
an
d
s
.
L
ea
r
n
in
g
-
b
ased
E
MS
ap
p
r
o
ac
h
es
e
x
ce
l
in
h
an
d
lin
g
co
m
p
lex
,
n
o
n
-
lin
ea
r
s
y
s
tem
s
an
d
u
n
p
r
ed
ictab
le
o
p
er
atin
g
c
o
n
d
itio
n
s
,
o
f
f
e
r
in
g
p
o
ten
tial
f
o
r
im
p
r
o
v
ed
e
f
f
i
cien
cy
an
d
s
y
s
tem
lo
n
g
ev
ity
.
Ho
wev
er
,
th
eir
i
m
p
lem
en
tatio
n
p
o
s
es
s
ig
n
if
i
ca
n
t
ch
allen
g
es,
i
n
clu
d
in
g
t
h
e
n
ee
d
f
o
r
r
o
b
u
s
t
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
a
n
d
r
eliab
le,
also
h
ig
h
-
q
u
ality
d
atasets
f
o
r
tr
ain
i
n
g
.
T
h
e
lac
k
o
f
r
e
ad
ily
av
ailab
le
d
ata
an
d
th
e
in
cr
ea
s
ed
co
m
p
lex
ity
i
n
alg
o
r
ith
m
d
esig
n
an
d
v
alid
atio
n
ca
n
lim
it
th
eir
p
r
ac
tical
d
e
p
lo
y
m
en
t.
Desp
ite
th
ese
ch
allen
g
es,
th
e
p
r
o
m
is
e
o
f
s
u
p
er
io
r
ad
a
p
tab
ilit
y
an
d
c
o
n
tr
o
l
p
e
r
f
o
r
m
an
ce
m
a
k
es
lear
n
in
g
-
b
ased
E
MS
a
co
m
p
ellin
g
ar
ea
o
f
r
esear
ch
an
d
d
ev
elo
p
m
en
t.
3
.
2
.
L
o
w
-
lev
el
c
o
ntr
o
l
L
o
w
-
lev
el
co
n
tr
o
l in
th
e
B
att
-
SC
HP
S sy
s
tem
g
en
er
ally
aim
s
to
tr
ac
k
th
e
r
ef
er
e
n
ce
cu
r
r
en
t
g
en
er
ated
b
y
th
e
E
MS.
R
ef
er
r
in
g
to
[
2
1
]
,
th
e
m
ain
o
b
jectiv
es o
f
th
e
lo
w
-
lev
el
co
n
tr
o
ller
a
r
e
s
u
m
m
ar
ized
as f
o
llo
ws
:
−
Acc
u
r
ately
tr
ac
k
in
g
th
e
tim
e
-
v
ar
y
in
g
r
ef
er
en
ce
cu
r
r
e
n
t sig
n
al
f
o
r
th
e
B
att
-
SC
p
o
wer
s
o
u
r
ce
s
.
−
Pre
cisely
m
ain
tain
in
g
a
co
n
s
tan
t D
C
b
u
s
v
o
ltag
e
u
n
d
er
l
o
ad
f
lu
ctu
atio
n
s
.
−
E
n
s
u
r
in
g
th
e
s
y
s
tem
r
em
ain
s
asy
m
p
to
tically
s
tab
le
d
esp
ite
ex
ter
n
al
d
is
tu
r
b
an
ce
s
an
d
p
a
r
am
e
ter
v
ar
iatio
n
s
.
I
n
g
en
er
al,
th
r
ee
ty
p
es
o
f
co
n
tr
o
l
s
y
s
tem
s
ca
n
b
e
ap
p
lied
to
th
e
B
att
-
S
C
HP
S
s
y
s
tem
,
n
am
ely
class
ical
s
in
g
le
-
in
p
u
t
s
in
g
le
-
o
u
tp
u
t
(
SI
SO)
co
n
tr
o
l,
o
p
tim
al
c
o
n
tr
o
l,
an
d
r
o
b
u
s
t
co
n
tr
o
l.
T
h
is
s
ec
tio
n
will
elab
o
r
ate
a
n
d
d
is
cu
s
s
th
ese
th
r
ee
ty
p
es
o
f
lo
w
-
lev
el
co
n
tr
o
ller
s
.
T
h
e
class
ical
SISO
co
n
tr
o
ller
co
n
s
is
ts
o
f
a
p
r
o
p
o
r
ti
o
n
al
-
in
teg
r
al
(
PI
)
[
2
7
]
,
[
4
1
]
an
d
h
y
s
ter
esis
co
n
tr
o
ller
[
3
6
]
,
o
p
tim
al
co
n
tr
o
l
c
o
n
s
is
ts
o
f
lin
ea
r
q
u
ad
r
atic
co
n
tr
o
l
[
1
8
]
,
[
1
9
]
,
[
4
2
]
,
MPC
[
3
1
]
,
[
4
3
]
,
an
d
lin
ea
r
m
atr
i
x
in
eq
u
ality
(
L
M
I
)
-
b
ased
o
p
tim
izatio
n
c
o
n
tr
o
ll
er
[
1
4
]
,
wh
ile
r
o
b
u
s
t
co
n
tr
o
l
co
n
s
is
ts
o
f
H
∞
co
n
tr
o
ller
[
4
4
]
,
L
2
-
g
ai
n
p
ass
iv
e
-
b
ased
co
n
tr
o
l
[
4
5
]
,
b
ac
k
-
s
tep
p
in
g
co
n
tr
o
l
[
4
6
]
,
an
d
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
(
SMC
)
[
1
5
]
,
[
1
6
]
,
[
4
7
]
-
[
5
1
]
.
3
.
2
.
1
.
Cla
s
s
ica
l SI
SO
co
ntr
o
ller
T
h
e
class
ical
SIS
O
co
n
tr
o
ller
r
ep
r
esen
ts
th
e
s
im
p
lest
ap
p
r
o
ac
h
to
co
n
tr
o
l
s
y
s
tem
d
esig
n
an
d
im
p
lem
en
tatio
n
.
I
ts
s
im
p
licity
lies
in
th
e
in
d
ep
e
n
d
en
t
d
esig
n
f
o
r
ea
c
h
I
/O
in
m
u
lti
-
in
p
u
t
m
u
lti
-
o
u
tp
u
t
(
MI
MO
)
s
y
s
tem
,
d
is
r
eg
ar
d
in
g
th
e
in
ter
ac
tio
n
s
b
etwe
en
d
if
f
er
en
t
I
/Os
.
T
h
is
d
ec
o
u
p
led
co
n
f
ig
u
r
atio
n
,
as
d
ep
icted
i
n
Fig
u
r
e
4
,
is
s
tr
aig
h
tf
o
r
war
d
y
e
t e
f
f
ec
tiv
e
f
o
r
b
asic c
o
n
tr
o
l ta
s
k
s
.
Am
o
n
g
th
e
SISO
c
o
n
tr
o
lle
r
s
ap
p
licab
le
to
th
e
B
att
-
S
C
HPS,
th
e
PI
co
n
tr
o
ller
an
d
h
y
s
ter
esis
co
n
tr
o
l
ar
e
wi
d
ely
u
tili
ze
d
d
u
e
to
th
eir
ea
s
e
o
f
im
p
lem
en
tatio
n
an
d
r
eliab
le
p
e
r
f
o
r
m
an
ce
.
T
h
e
PI
c
o
n
tr
o
l
le
r
is
a
li
n
e
ar
c
o
n
tr
o
l
m
et
h
o
d
w
id
el
y
u
s
e
d
t
o
ac
c
u
r
at
el
y
t
r
a
ck
th
e
r
e
f
e
r
e
n
c
e
cu
r
r
e
n
ts
o
f
B
att
-
SC
HPS
s
y
s
t
em
.
I
ts
i
m
p
le
m
e
n
ta
ti
o
n
is
o
f
te
n
co
m
b
i
n
e
d
w
ith
n
o
n
li
n
e
a
r
c
o
n
t
r
o
lle
r
s
t
o
r
eg
u
late
DC
b
u
s
v
o
l
ta
g
e
an
d
g
e
n
e
r
a
te
r
e
f
e
r
e
n
c
e
l
o
a
d
c
u
r
r
en
ts
[
2
7
]
.
T
h
is
h
y
b
r
id
ap
p
r
o
a
ch
e
n
h
an
ce
s
DC
b
u
s
v
o
lta
g
e
r
eg
u
l
ati
o
n
,
r
e
d
u
c
es
d
e
p
e
n
d
e
n
c
y
o
n
s
y
s
te
m
p
ar
am
ete
r
s
,
an
d
s
i
m
p
li
f
i
es
c
o
n
tr
o
l
le
r
t
u
n
in
g
.
Fo
r
ex
am
p
l
e,
in
t
h
e
s
t
u
d
y
[
4
1
]
,
a
P
I
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
Dyn
a
mic
mo
d
el
a
n
d
co
n
tr
o
l str
a
teg
ies o
f b
a
tter
y
-
s
u
p
erca
p
a
c
ito
r
h
yb
r
id
p
o
w
er
…
(
A
d
n
a
n
R
a
fi A
l Ta
h
ta
w
i
)
701
co
n
t
r
o
ll
er
w
as
e
m
p
l
o
y
e
d
t
o
t
r
a
ck
B
a
tt
-
SC
c
u
r
r
en
t
r
ef
er
e
n
ce
s
g
e
n
e
r
a
te
d
v
ia
f
u
z
zy
s
u
p
e
r
v
is
o
r
y
c
o
n
t
r
o
l.
W
h
il
e
t
h
e
PI
c
o
n
t
r
o
lle
r
d
em
o
n
s
t
r
at
ed
t
h
e
ab
i
lit
y
t
o
tr
ac
k
r
e
f
e
r
e
n
ce
cu
r
r
e
n
ts
i
n
b
o
t
h
s
i
m
u
la
ti
o
n
s
a
n
d
e
x
p
er
i
m
e
n
ts
,
t
h
e
r
es
u
lts
wer
e
n
o
t e
n
ti
r
el
y
s
atis
f
a
ct
o
r
y
.
T
h
e
l
im
i
tat
io
n
s
o
f
th
e
P
I
co
n
t
r
o
l m
e
th
o
d
in
cl
u
d
e
its
r
e
lia
n
c
e
o
n
p
r
ec
is
e
t
u
n
i
n
g
o
f
th
e
Kp
a
n
d
K
i
c
o
n
s
ta
n
ts
an
d
i
ts
i
n
ab
ilit
y
t
o
ac
c
o
u
n
t
f
o
r
t
h
e
d
y
n
am
ic
i
n
t
er
ac
t
io
n
s
b
e
twe
en
en
er
g
y
s
o
u
r
c
es
i
n
a
MI
M
O
s
y
s
te
m
.
Fu
r
t
h
e
r
m
o
r
e,
i
t
d
o
es
n
o
t
g
u
ar
an
tee
s
ta
b
i
lit
y
o
r
r
o
b
u
s
t
n
ess
u
n
d
er
d
is
t
u
r
b
an
c
es.
I
n
s
y
s
te
m
s
w
it
h
in
h
e
r
e
n
t
ly
c
o
u
p
l
e
d
d
y
n
a
m
i
cs,
PI
c
o
n
t
r
o
l
t
r
e
ats
th
e
f
u
ll
y
a
c
tiv
e
t
o
p
o
lo
g
y
as
tw
o
i
n
d
e
p
e
n
d
e
n
t
S
I
SO
s
y
s
te
m
s
,
p
o
te
n
ti
all
y
d
e
g
r
ad
i
n
g
t
h
e
c
lo
s
ed
-
l
o
o
p
d
y
n
am
i
c
p
er
f
o
r
m
a
n
ce
.
D
es
p
it
e
i
ts
s
i
m
p
li
cit
y
a
n
d
e
a
s
e
o
f
d
esi
g
n
,
t
h
es
e
d
r
aw
b
a
ck
s
l
im
i
t i
ts
ef
f
e
cti
v
en
e
s
s
f
o
r
co
m
p
le
x
h
y
b
r
i
d
p
o
we
r
s
y
s
te
m
s
.
I
n
h
y
s
ter
esis
co
n
tr
o
l,
th
e
c
u
r
r
en
t
o
s
cillates
with
in
a
d
ef
in
e
d
h
y
s
ter
esis
b
an
d
ar
o
u
n
d
t
h
e
r
ef
er
en
ce
cu
r
r
en
t
(
I
r
e
f
)
.
Sp
ec
if
ically
,
th
e
cu
r
r
e
n
t f
l
u
ctu
ates b
etwe
en
an
u
p
p
er
lim
it (
I
r
ef
+
u
p
p
er
b
o
u
n
d
an
d
a
lo
wer
lim
it
(
I
r
ef
−
lo
wer
b
o
u
n
d
)
,
m
ain
tai
n
in
g
clo
s
e
p
r
o
x
im
ity
to
t
h
e
d
esire
d
r
ef
er
en
ce
.
T
h
is
co
n
tr
o
l
m
eth
o
d
h
as
b
ee
n
ap
p
lied
in
r
esear
ch
[
3
6
]
to
r
eg
u
late
th
e
HPS
r
ef
er
e
n
ce
c
u
r
r
en
t
d
er
iv
ed
f
r
o
m
an
MPC
s
tr
ateg
y
.
Alth
o
u
g
h
s
im
u
latio
n
s
an
d
ex
p
er
im
en
ts
h
av
e
d
em
o
n
s
tr
ated
th
e
ca
p
a
b
ilit
y
o
f
h
y
s
ter
esis
co
n
tr
o
l
to
ef
f
ec
t
iv
ely
tr
ac
k
ch
an
g
es
in
lo
ad
cu
r
r
en
t,
th
e
r
esu
ltin
g
tr
ac
k
in
g
r
esp
o
n
s
e
ten
d
s
to
lack
s
m
o
o
th
n
ess
,
wh
ic
h
m
a
y
af
f
ec
t
s
y
s
tem
p
er
f
o
r
m
a
n
ce
in
ap
p
licatio
n
s
r
eq
u
ir
in
g
h
ig
h
p
r
ec
is
io
n
.
3
.
2
.
2
.
O
ptim
a
l c
o
ntr
o
l
Op
t
im
al
c
o
n
t
r
o
l
is
a
m
o
d
er
n
c
o
n
tr
o
l
s
tr
ate
g
y
w
ell
-
s
u
ite
d
f
o
r
MI
M
O
s
y
s
t
em
s
,
o
f
f
e
r
i
n
g
a
s
o
p
h
is
ti
ca
t
e
d
ap
p
r
o
ac
h
to
m
an
a
g
i
n
g
t
h
e
d
y
n
am
i
c
i
n
t
er
ac
t
i
o
n
s
b
etw
ee
n
m
u
lti
p
le
s
u
b
s
y
s
te
m
s
.
I
n
t
h
e
c
o
n
te
x
t
o
f
B
a
tt
-
SC
HPS
s
y
s
te
m
s
,
tw
o
p
r
o
m
i
n
e
n
t
o
p
ti
m
al
c
o
n
t
r
o
lle
r
s
a
r
e
wi
d
e
l
y
ap
p
l
ie
d
:
l
in
ea
r
q
u
ad
r
ati
c
c
o
n
tr
o
l
a
n
d
MPC
.
A
d
d
iti
o
n
a
ll
y
,
s
tate
-
f
e
ed
b
a
c
k
c
o
n
t
r
o
l
d
esi
g
n
e
d
u
s
i
n
g
a
L
MI
-
b
as
ed
o
p
ti
m
i
za
t
io
n
a
p
p
r
o
ac
h
h
as
a
ls
o
b
ee
n
e
x
p
lo
r
e
d
.
As
il
lu
s
tr
ate
d
in
Fi
g
u
r
e
5
,
t
h
e
o
p
ti
m
al
c
o
n
t
r
o
lle
r
s
i
n
v
o
l
v
e
d
er
i
v
i
n
g
s
t
ate
-
f
ee
d
b
ac
k
g
ai
n
th
r
o
u
g
h
a
n
o
p
ti
m
i
z
ati
o
n
p
r
o
ce
s
s
.
T
h
is
p
r
o
ce
s
s
m
i
n
i
m
i
ze
s
a
p
r
ed
ef
in
e
d
p
er
f
o
r
m
a
n
c
e
in
d
ex
f
u
n
cti
o
n
,
t
y
p
ic
all
y
e
x
p
r
ess
e
d
as s
h
o
w
n
in
(
2
0
)
:
(
,
)
=
∫
(
∗
+
∗
+
2
∗
)
∞
0
(
2
0
)
wh
er
e
is
a
s
tate
v
ar
iab
le
,
is
t
h
e
co
n
tr
o
l sig
n
al,
,
,
an
d
ar
e
c
o
n
s
tan
t p
o
s
itiv
e
d
ef
in
ite
m
atr
ices.
L
in
ea
r
q
u
ad
r
atic
co
n
tr
o
ller
,
o
r
k
n
o
wn
as
L
QR
/LQ
I
,
is
an
o
p
tim
al
co
n
tr
o
l
tech
n
iq
u
e
d
esig
n
e
d
f
o
r
lin
ea
r
s
y
s
tem
s
.
T
h
e
p
r
im
ar
y
o
b
jectiv
e
o
f
L
QR
/LQ
I
i
s
to
m
in
im
ize
a
co
s
t
f
u
n
ctio
n
th
at
b
alan
ce
s
tw
o
co
m
p
etin
g
g
o
als:
r
ed
u
cin
g
s
y
s
tem
er
r
o
r
an
d
m
i
n
im
izin
g
co
n
tr
o
l
e
f
f
o
r
t.
T
h
is
d
u
al
f
o
cu
s
m
a
k
es
it
a
p
o
p
u
lar
c
h
o
ice
f
o
r
m
an
a
g
in
g
tr
ad
e
-
o
f
f
s
b
etwe
en
p
e
r
f
o
r
m
a
n
ce
an
d
ef
f
icien
cy
wh
ile
en
s
u
r
in
g
s
y
s
tem
s
tab
ilit
y
f
o
r
l
in
ea
r
ap
p
licatio
n
s
.
L
QR
/LQ
I
h
as b
ee
n
wid
ely
ap
p
lied
in
t
h
e
co
n
tex
t o
f
B
att
-
SC
HPS s
y
s
tem
s
.
Fo
r
in
s
tan
ce
,
r
e
s
ea
r
ch
[
1
8
]
u
tili
ze
d
L
QI
as
a
lo
w
-
lev
el
co
n
tr
o
ller
f
o
r
a
B
att
-
SC
s
y
s
tem
u
n
d
er
r
esis
tiv
e
lo
ad
in
g
co
n
d
itio
n
s
.
T
h
e
lin
ea
r
ized
m
o
d
el
o
f
th
e
DC
-
DC
co
n
v
er
ter
s
er
v
ed
as
th
e
b
asis
f
o
r
d
e
r
iv
in
g
s
tate
f
ee
d
b
ac
k
g
ain
s
.
T
o
e
n
h
an
ce
s
et
-
p
o
in
t
tr
ac
k
in
g
,
an
in
teg
r
ato
r
was
in
co
r
p
o
r
ate
d
in
to
th
e
er
r
o
r
s
ec
tio
n
.
T
h
e
s
tu
d
y
d
em
o
n
s
tr
ated
th
at
L
QI
co
u
ld
ac
h
iev
e
g
o
o
d
p
er
f
o
r
m
an
ce
with
m
in
im
al
c
o
n
tr
o
l
ef
f
o
r
t
b
y
a
p
p
r
o
p
r
iately
weig
h
tin
g
th
e
R
m
atr
ix
in
th
e
co
s
t
f
u
n
ctio
n
.
I
n
an
o
th
er
a
p
p
licatio
n
,
a
r
u
le
-
b
a
s
ed
L
QR
was
p
r
o
p
o
s
ed
to
m
a
n
ag
e
p
o
wer
f
lo
w
wi
th
in
th
e
H
PS
[
1
9
]
,
[
4
2
]
.
T
h
is
ap
p
r
o
ac
h
aim
e
d
to
r
ed
u
ce
b
atter
y
s
tr
ess
d
u
r
i
n
g
h
ig
h
-
d
em
an
d
ev
en
ts
b
y
lim
itin
g
b
atter
y
c
u
r
r
en
t to
a
p
r
ed
ef
i
n
ed
m
ax
im
u
m
v
alu
e
ac
r
o
s
s
d
if
f
er
en
t
d
r
iv
in
g
cy
cles.
T
h
e
im
p
lem
en
tatio
n
o
f
L
QR
n
o
t
o
n
ly
im
p
r
o
v
e
d
b
atter
y
lif
e
an
d
s
tab
ilit
y
o
f
en
er
g
y
s
to
r
a
g
e
d
ev
ices
b
u
t
also
en
a
b
led
b
a
tter
y
d
o
wn
s
izin
g
,
co
n
tr
ib
u
tin
g
to
o
v
er
all
s
y
s
tem
ef
f
icien
cy
.
Ho
wev
e
r
,
th
e
L
QR
m
eth
o
d
h
as
lim
itatio
n
s
,
p
ar
ticu
lar
ly
in
its
ass
u
m
p
tio
n
o
f
lin
e
ar
s
y
s
tem
b
eh
av
io
r
.
B
y
n
eg
lectin
g
th
e
n
o
n
lin
ea
r
ch
ar
ac
ter
is
tics
in
h
er
en
t
in
B
att
-
SC
H
PS
s
y
s
t
em
s
,
th
e
ap
p
r
o
ac
h
ca
n
n
o
t
g
u
ar
an
te
e
s
tab
ilit
y
u
n
d
er
all
o
p
e
r
atin
g
c
o
n
d
itio
n
s
.
T
h
is
lim
itatio
n
u
n
d
er
s
co
r
es
th
e
n
ee
d
f
o
r
a
d
v
an
ce
d
co
n
t
r
o
l
s
tr
ateg
ies
ca
p
ab
le
o
f
a
d
d
r
ess
in
g
s
y
s
tem
n
o
n
lin
ea
r
ity
w
h
ile
m
ain
tain
in
g
r
o
b
u
s
t p
er
f
o
r
m
an
ce
.
Mo
d
el
p
r
ed
ictiv
e
c
o
n
tr
o
l
(
MP
C
)
is
am
o
n
g
th
e
m
o
s
t
wid
el
y
u
s
ed
o
p
tim
al
co
n
tr
o
l
s
tr
ateg
ie
s
f
o
r
HPS,
p
ar
ticu
lar
ly
in
a
p
p
licatio
n
s
in
v
o
lv
in
g
B
att
-
SC
s
y
s
tem
s
.
MPC
o
p
er
ates
b
y
p
r
ed
ictin
g
f
u
tu
r
e
p
o
wer
r
e
q
u
ir
em
e
n
ts
b
ased
o
n
cu
r
r
e
n
t
s
y
s
tem
co
n
d
itio
n
s
an
d
d
esig
n
in
g
c
o
n
tr
o
l
s
tr
ateg
ies
to
o
p
tim
ize
en
er
g
y
u
s
e.
T
h
is
in
clu
d
es
m
in
im
izin
g
en
er
g
y
co
s
ts
o
r
lo
s
s
es,
ex
ten
d
in
g
b
atter
y
life
tim
e,
an
d
en
s
u
r
in
g
s
y
s
tem
s
tab
ilit
y
,
wh
ile
ac
co
u
n
tin
g
f
o
r
th
e
p
h
y
s
ical
lim
itatio
n
s
o
f
t
h
e
B
att
-
SC
s
y
s
tem
.
MPC
is
p
r
i
m
ar
ily
u
tili
ze
d
as
a
h
ig
h
-
l
ev
el
co
n
tr
o
l
m
ec
h
an
is
m
to
g
en
er
ate
r
ef
e
r
en
ce
cu
r
r
en
ts
f
o
r
th
e
HPS.
Fo
r
in
s
tan
ce
,
s
tu
d
ies
[
3
6
]
,
[
5
2
]
-
[
5
5
]
d
em
o
n
s
tr
ate
its
ef
f
ec
tiv
en
ess
in
th
is
r
o
le.
T
h
ese
s
tu
d
ies
h
ig
h
lig
h
t
MPC
'
s
ab
il
ity
to
h
an
d
le
d
y
n
am
ic
o
p
er
atin
g
co
n
d
itio
n
s
an
d
o
p
tim
ize
th
e
p
o
wer
d
is
tr
ib
u
tio
n
b
etwe
en
b
a
tter
y
an
d
s
u
p
er
ca
p
ac
ito
r
,
im
p
r
o
v
in
g
o
v
er
all
s
y
s
tem
p
er
f
o
r
m
a
n
ce
.
An
alter
n
ativ
e
ap
p
licati
o
n
o
f
MPC
is
its
u
s
e
as
a
lo
w
-
lev
el
co
n
tr
o
ller
.
R
esear
ch
[
3
1
]
im
p
lem
en
ted
MPC
to
co
n
tr
o
l
B
att
-
SC
cu
r
r
en
ts
g
en
e
r
ated
f
r
o
m
a
f
il
ter
in
g
-
b
ased
E
MS.
I
n
th
is
ca
s
e,
en
u
m
er
atio
n
-
b
ased
MPC
was
em
p
lo
y
ed
to
d
eter
m
in
e
th
e
o
p
tim
al
s
witch
in
g
s
eq
u
en
ce
s
ac
r
o
s
s
a
p
r
e
d
i
ctiv
e
h
o
r
izo
n
,
e
n
ab
lin
g
p
r
ec
i
s
e
cu
r
r
en
t
tr
ac
k
in
g
.
Similar
ly
,
s
tu
d
y
[
4
3
]
u
tili
ze
d
MPC
at
th
e
en
er
g
y
m
an
ag
em
e
n
t
lev
el
to
o
p
tim
ize
p
o
wer
f
lo
w
with
in
th
e
h
y
b
r
id
en
er
g
y
s
to
r
a
g
e
s
y
s
tem
r
ath
er
t
h
an
f
o
c
u
s
in
g
o
n
p
o
wer
elec
tr
o
n
ics
co
n
tr
o
l.
T
h
is
ap
p
r
o
ac
h
d
e
m
o
n
s
tr
ates
MPC
's
v
er
s
atility
in
ad
d
r
ess
in
g
b
o
t
h
h
ig
h
-
lev
el
en
e
r
g
y
m
a
n
ag
em
e
n
t
an
d
lo
w
-
lev
el
p
o
wer
co
n
tr
o
l
ch
allen
g
es.
Ho
wev
er
,
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
:
6
9
5
-
7
0
9
702
a
n
o
tab
le
lim
itatio
n
o
f
MPC
is
its
h
ig
h
co
m
p
u
tatio
n
al
d
e
m
an
d
.
R
ea
l
-
tim
e
o
p
tim
izatio
n
r
eq
u
i
r
es
s
ig
n
if
ican
t
p
r
o
ce
s
s
in
g
p
o
wer
,
m
ak
in
g
im
p
lem
en
tatio
n
ch
allen
g
in
g
i
n
s
y
s
tem
s
with
lim
ited
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
.
Fig
u
r
e
4
.
C
lass
ical
SISO
co
n
tr
o
ller
f
o
r
B
att
-
S
C
HPS
s
y
s
tem
Fig
u
r
e
5
.
Op
tim
al
c
o
n
tr
o
ller
f
o
r
B
att
-
S
C
HPS
s
y
s
tem
An
L
MI
-
b
ased
o
p
tim
izatio
n
s
t
ate
-
f
ee
d
b
ac
k
co
n
tr
o
ller
r
e
p
r
esen
ts
a
s
o
p
h
is
ticated
ap
p
r
o
ac
h
to
co
n
tr
o
l
s
y
s
tem
d
esig
n
,
p
ar
ticu
lar
ly
f
o
r
co
m
p
lex
s
y
s
tem
s
lik
e
B
att
-
SC
HP
S.
T
h
is
m
eth
o
d
lev
er
a
g
es
a
s
et
o
f
L
MI
s
to
f
o
r
m
u
late
co
n
tr
o
l
p
r
o
b
lem
s
as
co
n
s
tr
ain
ed
o
p
tim
izatio
n
task
s
,
en
ab
lin
g
th
e
s
y
s
tem
atic
d
esig
n
o
f
co
n
tr
o
ller
s
th
at
m
ee
t
s
p
ec
if
ied
p
er
f
o
r
m
an
ce
an
d
s
tab
ilit
y
cr
iter
ia.
L
MI
s
p
r
o
v
id
e
a
p
o
wer
f
u
l
m
ath
em
atica
l
f
r
am
ewo
r
k
to
a
d
d
r
ess
m
u
ltip
le
o
b
jectiv
es
s
im
u
ltan
eo
u
s
ly
,
in
clu
d
in
g
s
tab
ilit
y
,
p
er
f
o
r
m
an
ce
,
a
n
d
r
o
b
u
s
tn
ess
a
g
ain
s
t
d
is
tu
r
b
an
ce
s
an
d
u
n
ce
r
tain
ties
.
T
h
e
c
o
r
e
p
r
in
ci
p
le
o
f
t
h
is
ap
p
r
o
ac
h
lies
in
ex
p
r
ess
in
g
co
n
s
tr
ain
ts
an
d
p
er
f
o
r
m
an
ce
m
ea
s
u
r
es
as
L
MI
s
,
wh
ich
ar
e
t
h
en
s
o
l
v
ed
u
s
in
g
ef
f
icien
t
co
n
v
ex
o
p
tim
izat
io
n
alg
o
r
ith
m
s
.
T
h
is
r
esu
lts
in
a
co
n
tr
o
ller
ca
p
ab
le
o
f
h
an
d
li
n
g
b
o
th
lin
ea
r
a
n
d
ce
r
tain
n
o
n
lin
ea
r
s
y
s
tem
d
y
n
am
ic
s
.
Mo
r
eo
v
er
,
it
allo
ws
f
o
r
t
h
e
in
clu
s
io
n
o
f
p
r
ac
tical
co
n
s
id
er
atio
n
s
s
u
ch
as
co
n
tr
o
l
s
ig
n
al
s
atu
r
atio
n
an
d
s
tate
co
n
s
tr
ain
ts
.
A
n
o
tab
le
ap
p
licatio
n
o
f
th
e
L
MI
-
b
ased
s
tate
-
f
ee
d
b
ac
k
co
n
tr
o
ller
is
d
em
o
n
s
tr
ate
d
in
th
e
r
esear
ch
[
1
4
]
.
I
n
t
h
eir
s
tu
d
y
,
th
e
co
n
tr
o
ller
is
d
esig
n
ed
to
ac
h
iev
e
r
o
b
u
s
t
tr
ac
k
in
g
an
d
e
n
s
u
r
e
s
m
o
o
th
tr
a
n
s
itio
n
s
in
th
e
B
att
-
SC
HPS.
T
h
e
m
eth
o
d
o
l
o
g
y
is
r
o
o
ted
in
th
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
a
n
d
s
et
in
v
ar
ian
ce
th
eo
r
ies,
p
r
o
v
id
in
g
a
r
ig
o
r
o
u
s
f
o
u
n
d
atio
n
f
o
r
ad
d
r
ess
in
g
s
y
s
tem
s
tab
ilit
y
an
d
in
p
u
t
c
o
n
s
tr
ain
ts
.
T
h
e
s
tu
d
y
in
tr
o
d
u
ce
s
a
n
ew
s
tate
-
s
p
ac
e
m
o
d
el
f
o
r
th
e
f
u
lly
ac
tiv
e
t
o
p
o
lo
g
y
o
f
B
att
-
SC
s
y
s
tem
s
,
as
s
h
o
wn
in
(
2
1
)
.
T
h
is
m
o
d
el
s
er
v
es
as
th
e
b
asis
f
o
r
d
esig
n
i
n
g
th
e
s
tate
-
f
ee
d
b
ac
k
co
n
tr
o
ller
,
wh
e
r
e
th
e
L
MI
ap
p
r
o
ac
h
is
em
p
lo
y
e
d
to
o
p
tim
ize
p
er
f
o
r
m
an
ce
wh
ile
co
n
s
id
er
in
g
c
o
n
tr
o
l sig
n
al
s
atu
r
atio
n
:
̇
(
)
=
(
0
+
1
1
+
2
2
)
(
)
+
(
2
1
)
w
h
er
e
0
,
1
,
2
,
an
d
a
r
e
c
o
n
s
ta
n
t
m
atr
ices
f
r
o
m
s
y
s
t
em
p
a
r
a
m
e
te
r
s
,
1
a
n
d
2
a
r
e
B
a
tt
-
SC
d
u
t
y
cy
cl
e
s
f
o
r
a
b
i
d
ir
ec
ti
o
n
al
DC
-
DC
c
o
n
v
e
r
te
r
,
a
n
d
is
t
h
e
B
a
tt
-
SC
v
o
l
t
ag
e
v
e
ct
o
r
.
T
h
is
m
o
d
el
s
er
v
e
s
as
t
h
e
b
asis
f
o
r
d
esi
g
n
i
n
g
t
h
e
s
t
ate
-
f
e
ed
b
ac
k
c
o
n
tr
o
l
le
r
,
wh
er
e
t
h
e
L
M
I
a
p
p
r
o
a
ch
is
e
m
p
lo
y
ed
to
o
p
ti
m
i
ze
p
e
r
f
o
r
m
a
n
c
e
w
h
ile
co
n
s
i
d
e
r
i
n
g
co
n
t
r
o
l
s
ig
n
al
s
at
u
r
at
io
n
.
H
o
w
ev
e
r
,
th
is
m
et
h
o
d
h
as
o
n
ly
b
ee
n
test
ed
at
c
o
n
s
ta
n
t
lo
a
d
c
u
r
r
e
n
ts
,
s
o
its
p
e
r
f
o
r
m
a
n
c
e
n
e
ed
s
t
o
b
e
v
ali
d
ate
d
f
o
r
t
im
e
-
v
a
r
y
i
n
g
cu
r
r
e
n
ts
.
4
.
2
.
3
.
Ro
bu
s
t
co
ntr
o
l
R
o
b
u
s
t
co
n
tr
o
l
is
a
co
n
t
r
o
l
m
et
h
o
d
o
lo
g
y
d
esig
n
ed
to
m
ai
n
tain
s
y
s
tem
p
er
f
o
r
m
an
ce
an
d
s
tab
ilit
y
in
th
e
p
r
esen
ce
o
f
d
is
tu
r
b
an
ce
s
,
p
ar
a
m
eter
u
n
ce
r
tai
n
ties
,
an
d
m
o
d
e
lin
g
er
r
o
r
s
.
T
h
is
ap
p
r
o
ac
h
en
s
u
r
es r
eliab
ilit
y
ev
en
wh
en
o
p
er
atin
g
co
n
d
itio
n
s
d
e
v
iate
f
r
o
m
n
o
m
in
al
v
alu
es.
R
o
b
u
s
t
co
n
tr
o
l
ca
n
b
e
im
p
lem
en
ted
b
y
ex
p
licitly
in
co
r
p
o
r
atin
g
th
e
s
y
s
tem
s
en
s
itiv
ity
f
u
n
ctio
n
in
to
th
e
co
n
tr
o
ller
d
esig
n
.
Fo
r
ex
am
p
le,
th
e
H
∞
co
n
tr
o
lle
r
m
in
im
izes
th
e
wo
r
s
t
-
ca
s
e
g
ain
f
r
o
m
d
is
tu
r
b
an
ce
i
n
p
u
ts
to
s
y
s
tem
o
u
tp
u
ts
,
th
er
eb
y
im
p
r
o
v
in
g
d
is
tu
r
b
an
ce
r
ejec
tio
n
.
Similar
ly
,
th
e
L
2
-
g
ain
p
ass
iv
ity
-
b
ased
co
n
tr
o
l
lev
er
ag
es
p
ass
iv
ity
p
r
o
p
er
ties
to
en
s
u
r
e
s
y
s
tem
s
tab
ilit
y
an
d
r
o
b
u
s
tn
ess
ag
ain
s
t
ex
ter
n
al
d
is
tu
r
b
an
ce
s
.
I
n
ad
d
itio
n
to
th
ese
s
en
s
i
tiv
ity
-
b
ased
ap
p
r
o
ac
h
es,
ce
r
tain
n
o
n
lin
ea
r
co
n
tr
o
ller
s
ex
h
ib
it
i
n
h
er
en
t
r
o
b
u
s
tn
ess
d
esp
ite
n
o
t
ex
p
licitly
u
tili
zin
g
th
e
s
en
s
itiv
ity
f
u
n
ctio
n
.
Fo
r
in
s
tan
ce
,
b
ac
k
-
s
tep
p
i
n
g
co
n
tr
o
l
s
y
s
tem
atica
lly
d
esig
n
s
a
L
y
ap
u
n
o
v
f
u
n
ctio
n
t
o
ac
h
i
ev
e
s
tab
ilit
y
an
d
r
o
b
u
s
tn
ess
f
o
r
n
o
n
lin
ea
r
s
y
s
tem
s
.
T
h
e
d
esig
n
m
eth
o
d
o
lo
g
y
in
v
o
lv
e
s
d
ec
o
m
p
o
s
in
g
th
e
o
v
er
all
s
y
s
tem
in
to
s
im
p
ler
s
u
b
s
y
s
tem
s
.
E
ac
h
s
u
b
s
y
s
tem
is
s
eq
u
en
tially
co
n
tr
o
lled
,
with
th
e
s
tab
ilit
y
o
f
e
ac
h
s
tag
e
co
n
tr
ib
u
tin
g
to
th
e
o
v
er
all
s
y
s
tem
s
tab
ilit
y
.
T
h
is
s
tep
-
by
-
s
tep
a
p
p
r
o
ac
h
m
a
k
es
b
a
ck
-
s
tep
p
in
g
c
o
n
tr
o
l
h
ig
h
ly
ef
f
e
ctiv
e
f
o
r
m
a
n
ag
in
g
n
o
n
lin
ea
r
ity
a
n
d
ad
d
r
ess
in
g
m
o
d
el
u
n
ce
r
tain
ties
.
Sli
d
in
g
m
o
d
e
co
n
t
r
o
l
(
SMC
)
,
an
o
th
e
r
r
o
b
u
s
t
n
o
n
lin
ea
r
tech
n
iq
u
e,
e
n
f
o
r
ce
s
s
y
s
tem
d
y
n
am
ics
alo
n
g
a
s
lid
in
g
s
u
r
f
ac
e,
m
ak
in
g
it
h
i
g
h
ly
ef
f
ec
tiv
e
ag
ain
s
t
m
atch
ed
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
a
n
ce
s
.
T
h
ese
r
o
b
u
s
t
c
o
n
tr
o
l
s
tr
ateg
ies
ar
e
p
ar
ticu
lar
l
y
ad
v
an
tag
e
o
u
s
f
o
r
ap
p
licatio
n
s
s
u
ch
as
B
att
-
S
C
H
PS
,
wh
er
e
d
is
tu
r
b
an
ce
s
an
d
u
n
ce
r
tai
n
ties
ar
e
co
m
m
o
n
d
u
e
to
f
lu
ct
u
atin
g
lo
ad
d
em
an
d
s
an
d
v
ar
y
in
g
en
v
ir
o
n
m
e
n
tal
co
n
d
iti
o
n
s
.
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
Dyn
a
mic
mo
d
el
a
n
d
co
n
tr
o
l str
a
teg
ies o
f b
a
tter
y
-
s
u
p
erca
p
a
c
ito
r
h
yb
r
id
p
o
w
er
…
(
A
d
n
a
n
R
a
fi A
l Ta
h
ta
w
i
)
703
I
n
th
e
co
n
tex
t
o
f
B
att
-
SC
h
y
b
r
id
p
o
wer
s
y
s
tem
s
,
r
esear
ch
co
n
d
u
cte
d
b
y
[
4
4
]
d
e
v
elo
p
ed
an
H
∞
co
n
tr
o
ller
to
r
eg
u
late
B
att
-
SC
cu
r
r
en
ts
u
s
in
g
a
s
im
p
lifie
d
s
e
co
n
d
-
o
r
d
er
m
o
d
el.
T
h
e
s
tu
d
y
in
v
o
lv
ed
d
esig
n
in
g
two
H
∞
co
n
tr
o
ller
s
:
o
n
e
f
o
r
m
o
to
r
in
g
an
d
a
n
o
th
e
r
f
o
r
r
eg
en
er
atin
g
s
u
p
e
r
ca
p
ac
ito
r
c
u
r
r
en
ts
,
b
ased
o
n
t
h
e
r
ef
er
en
ce
cu
r
r
en
ts
g
en
er
ated
b
y
a
b
asic
E
MS.
E
x
p
er
im
en
tal
r
esu
lts
d
em
o
n
s
tr
ated
th
at
th
e
H
∞
co
n
tr
o
ller
ac
h
iev
ed
m
o
r
e
r
o
b
u
s
t
tr
ac
k
in
g
p
er
f
o
r
m
a
n
ce
co
m
p
a
r
ed
to
tr
ad
itio
n
al
PID
co
n
tr
o
ller
s
,
h
ig
h
lig
h
tin
g
its
ca
p
ab
ilit
y
to
m
an
ag
e
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
in
th
e
s
y
s
tem
.
Ho
wev
er
,
th
e
l
im
itatio
n
o
f
th
is
ap
p
r
o
ac
h
lies
in
it
s
ap
p
licatio
n
to
SISO
m
o
d
els,
r
estrictin
g
its
ab
ilit
y
to
a
d
d
r
e
s
s
th
e
in
ter
ac
tio
n
s
an
d
co
m
p
lex
ities
o
f
MI
MO
s
y
s
tem
s
ty
p
ically
f
o
u
n
d
in
f
u
ll
y
ac
tiv
e
B
att
-
SC
co
n
f
ig
u
r
atio
n
s
.
R
esear
ch
[
4
5
]
ap
p
lied
a
p
ass
iv
ity
-
b
ased
co
n
tr
o
ller
to
a
f
u
ll
y
ac
tiv
e
B
att
-
SC
HPS
d
es
ig
n
ed
f
o
r
elec
tr
ic
v
eh
icles.
T
h
e
s
tu
d
y
d
em
o
n
s
tr
a
ted
th
at
th
is
co
n
tr
o
ller
ef
f
ec
tiv
ely
en
s
u
r
es
th
e
asy
m
p
to
tic
co
n
v
er
g
en
ce
o
f
s
y
s
tem
s
tates
an
d
r
o
b
u
s
t
tr
ac
k
in
g
o
f
r
ef
er
en
ce
cu
r
r
en
ts
with
in
th
e
H
PS
f
r
am
ewo
r
k
.
T
h
e
c
o
n
tr
o
ller
’
s
ab
ilit
y
to
h
an
d
le
d
is
tu
r
b
an
ce
s
an
d
m
ain
tain
s
tab
ilit
y
u
n
d
e
r
v
a
r
y
in
g
co
n
d
itio
n
s
was
a
k
ey
h
ig
h
lig
h
t
o
f
th
e
r
esear
ch
f
i
n
d
in
g
s
.
Ho
wev
er
,
d
esp
ite
its
ad
v
a
n
tag
es,
th
e
p
ass
iv
ity
-
b
ased
L
2
-
g
ai
n
co
n
tr
o
ller
f
ac
es
ch
allen
g
es
in
a
p
p
licatio
n
to
h
ig
h
ly
co
m
p
lex
o
r
n
o
n
lin
ea
r
s
y
s
tem
s
.
I
d
en
tif
y
in
g
p
ass
iv
e
ele
m
en
ts
in
s
u
c
h
s
y
s
tem
s
ca
n
b
e
d
if
f
icu
lt,
a
n
d
th
e
co
m
p
u
tatio
n
al
c
o
m
p
lex
ity
o
f
t
h
e
d
esig
n
p
r
o
ce
s
s
m
ay
in
cr
ea
s
e
with
s
y
s
tem
in
tr
icac
y
.
T
h
ese
lim
itatio
n
s
h
ig
h
lig
h
t
th
e
n
ee
d
f
o
r
f
u
r
th
e
r
r
es
ea
r
ch
to
s
im
p
lify
im
p
lem
en
tatio
n
an
d
ex
p
an
d
its
ap
p
licab
ilit
y
to
b
r
o
a
d
er
s
y
s
tem
co
n
f
ig
u
r
atio
n
s
.
R
esear
ch
[
4
6
]
d
em
o
n
s
tr
ates
th
e
p
r
ac
tical
u
tili
ty
o
f
b
ac
k
-
s
tep
p
in
g
co
n
tr
o
l
in
th
e
co
n
tex
t
o
f
B
att
-
SC
HPS.
I
n
th
is
s
tu
d
y
,
a
ca
s
ca
d
e
PI
co
n
tr
o
ller
is
co
m
b
in
ed
with
b
ac
k
-
s
tep
p
in
g
co
n
tr
o
l
t
o
en
h
an
ce
s
y
s
tem
p
er
f
o
r
m
an
ce
.
T
h
e
PI
co
n
tr
o
lle
r
r
eg
u
lates th
e
DC
b
u
s
v
o
ltag
e
,
wh
ile
b
ack
-
s
tep
p
in
g
co
n
t
r
o
l t
r
ac
k
s
th
e
r
ef
er
e
n
ce
cu
r
r
en
t
g
en
e
r
ated
b
y
th
e
PI
co
n
tr
o
ller
.
Simu
latio
n
a
n
d
ex
p
e
r
im
en
tal
r
esu
lts
v
alid
ate
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
'
s
r
o
b
u
s
tn
ess
ag
ain
s
t
tr
an
s
ien
ts
a
n
d
its
ef
f
ec
tiv
en
ess
in
m
ain
tain
in
g
th
e
DC
b
u
s
v
o
ltag
e
with
in
d
esire
d
p
a
r
am
eter
s
.
Desp
ite
its
ad
v
an
tag
es,
b
ac
k
-
s
tep
p
in
g
co
n
tr
o
l'
s
d
esig
n
co
m
p
lex
ity
an
d
r
elian
ce
o
n
p
r
e
cise
s
y
s
tem
m
o
d
els
r
em
ain
s
ig
n
if
ican
t
ch
allen
g
es.
T
h
ese
lim
itatio
n
s
u
n
d
er
s
co
r
e
th
e
n
ee
d
f
o
r
f
u
r
th
e
r
r
esear
ch
to
s
tr
ea
m
lin
e
th
e
d
esig
n
p
r
o
c
ess
an
d
en
h
a
n
ce
its
ad
a
p
tab
ilit
y
to
d
y
n
am
ic
a
n
d
u
n
ce
r
tain
en
v
i
r
o
n
m
e
n
ts
.
L
astl
y
,
SMC
i
s
wid
ely
r
ec
o
g
n
ized
as
o
n
e
o
f
t
h
e
m
o
s
t
r
o
b
u
s
t
n
o
n
lin
ea
r
c
o
n
tr
o
l
s
tr
ateg
ies,
p
ar
ticu
lar
ly
s
u
ited
f
o
r
s
y
s
tem
s
ex
p
er
ien
c
in
g
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
.
I
ts
r
o
b
u
s
tn
ess
,
s
tab
ilit
y
,
an
d
d
is
tu
r
b
an
ce
r
ejec
tio
n
ca
p
a
b
ilit
ies
m
ak
e
S
MC
an
ex
ce
llen
t
ch
o
ice
f
o
r
m
an
ag
in
g
B
att
-
SC
HPS.
T
h
e
p
r
i
m
ar
y
m
ec
h
an
is
m
o
f
SMC
in
v
o
lv
es
d
r
iv
i
n
g
th
e
s
y
s
tem
s
tates
to
war
d
a
p
r
ed
ef
i
n
ed
s
lid
in
g
s
u
r
f
ac
e
an
d
en
s
u
r
i
n
g
th
at
th
e
s
y
s
tem
r
em
ain
s
o
n
th
is
s
u
r
f
ac
e
r
e
g
ar
d
less
o
f
ex
ter
n
al
d
is
tu
r
b
a
n
ce
s
o
r
s
y
s
tem
p
ar
am
eter
v
ar
iatio
n
s
.
SMC
ac
h
iev
es
r
o
b
u
s
t
tr
ac
k
in
g
b
y
lev
e
r
ag
in
g
v
ar
io
u
s
ty
p
es
o
f
s
lid
in
g
s
u
r
f
ac
es,
wh
ich
d
ictate
th
e
s
y
s
tem
’
s
d
y
n
am
ic
b
e
h
av
io
r
o
n
ce
it
r
ea
ch
es
th
e
s
lid
in
g
s
u
r
f
ac
e.
T
h
ese
ty
p
es
o
f
s
lid
in
g
s
u
r
f
ac
es
(
i.e
.
in
teg
r
al
an
d
ter
m
in
al
s
lid
in
g
s
u
r
f
ac
es)
f
u
lf
ill th
e
f
o
llo
win
g
(
2
2
)
an
d
(
2
3
)
,
r
esp
ec
tiv
el
y
.
(
)
=
+
∫
(
)
0
(
2
2
)
(
)
=
+
(
∫
(
)
0
)
/
(
2
3
)
W
h
er
e
(
)
is
th
e
tr
ac
k
in
g
er
r
o
r
,
,
,
an
d
ar
e
co
n
tr
o
ller
co
n
s
tan
ts
.
E
ac
h
ty
p
e
o
f
s
lid
in
g
s
u
r
f
ac
e
c
an
b
e
u
s
ed
ac
co
r
d
in
g
to
th
e
c
h
ar
ac
ter
is
tics
o
f
th
e
d
y
n
am
ic
m
o
d
el
an
d
th
e
co
n
tr
o
l
o
b
jectiv
es.
T
h
e
ad
ap
tiv
e
ter
m
in
al
SMC
is
d
esig
n
ed
to
ac
h
iev
e
r
o
b
u
s
t
tr
ac
k
in
g
p
er
f
o
r
m
an
ce
o
f
HPS
cu
r
r
en
ts
wh
ile
m
ain
tain
in
g
a
s
tab
le
DC
b
u
s
v
o
ltag
e,
ev
en
in
th
e
p
r
esen
ce
o
f
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
.
R
esear
ch
[
1
5
]
p
r
o
p
o
s
ed
an
ad
a
p
tiv
e
ter
m
in
al
SMC
th
at
in
co
r
p
o
r
ates
a
p
r
o
jectio
n
o
p
e
r
ato
r
ad
ap
tiv
e
law
to
d
y
n
am
ically
esti
m
ate
an
d
b
o
u
n
d
u
n
k
n
o
w
n
p
ar
am
eter
s
in
th
e
HPS
m
o
d
el.
T
h
is
ad
ap
tiv
e
m
ec
h
a
n
i
s
m
en
s
u
r
es
r
eliab
le
p
er
f
o
r
m
an
ce
u
n
d
er
p
ar
am
eter
u
n
ce
r
tain
ties
an
d
en
h
an
ce
s
t
h
e
s
y
s
tem
'
s
r
o
b
u
s
tn
ess
.
B
u
ild
in
g
u
p
o
n
th
is
ap
p
r
o
ac
h
,
s
tu
d
y
[
1
6
]
ap
p
lied
ad
ap
tiv
e
ter
m
in
al
SMC
to
a
u
n
if
ied
m
ath
em
atica
l
m
o
d
el
o
f
a
h
y
b
r
id
elec
tr
ic
v
eh
icle
(
HE
V)
.
T
h
e
co
n
tr
o
ller
n
o
t
o
n
ly
m
an
a
g
ed
HPS
cu
r
r
en
t
an
d
DC
b
u
s
v
o
ltag
e
b
u
t
also
d
em
o
n
s
tr
ated
th
e
ca
p
ab
ilit
y
to
ac
cu
r
ately
tr
ac
k
v
eh
icle
s
p
ee
d
in
ac
co
r
d
an
ce
with
th
e
E
u
r
o
p
ea
n
e
x
tr
a
-
u
r
b
an
d
r
iv
in
g
cy
cle
(
E
UDC)
p
r
o
f
ile.
T
h
ese
s
tu
d
ies
h
ig
h
lig
h
t
th
e
v
er
s
atility
an
d
ef
f
ec
tiv
en
ess
o
f
ad
ap
tiv
e
ter
m
in
al
SMC
in
ad
d
r
ess
in
g
b
o
th
en
er
g
y
m
an
ag
em
en
t a
n
d
v
eh
icu
lar
d
y
n
am
ics,
en
s
u
r
in
g
r
eliab
le
an
d
r
o
b
u
s
t c
o
n
t
r
o
l in
c
o
m
p
lex
s
y
s
t
em
s
.
T
o
ac
h
ie
v
e
s
etp
o
in
t
tr
ac
k
in
g
a
n
d
DC
b
u
s
v
o
ltag
e
r
e
g
u
latio
n
in
B
att
-
SC
HPS,
r
esear
ch
[
5
0
]
p
r
o
p
o
s
ed
a
SMC
co
m
b
in
ed
with
a
L
y
ap
u
n
o
v
f
u
n
ctio
n
-
b
ased
a
p
p
r
o
a
ch
.
T
h
is
co
n
f
ig
u
r
atio
n
e
n
s
u
r
e
s
r
o
b
u
s
t
tr
ac
k
in
g
o
f
v
ar
io
u
s
v
ar
iab
les
ac
r
o
s
s
a
wid
e
r
an
g
e
o
f
HPS
p
ar
am
ete
r
s
.
B
u
ild
in
g
o
n
ad
v
a
n
ce
d
SMC
tec
h
n
iq
u
es,
s
tu
d
y
[
4
7
]
in
tr
o
d
u
ce
d
an
a
d
ap
tiv
e
SMC
with
a
d
is
tu
r
b
an
ce
o
b
s
er
v
e
r
s
p
ec
if
ically
f
o
r
elec
tr
ic
v
eh
icle
ap
p
licatio
n
s
.
T
h
is
m
eth
o
d
ef
f
ec
tiv
ely
esti
m
ates
m
is
m
atch
ed
an
d
m
atch
e
d
u
n
c
er
tain
ties
,
av
o
id
s
d
if
f
er
en
tial
e
x
p
lo
s
io
n
is
s
u
es,
an
d
en
s
u
r
es
s
em
i
-
g
lo
b
ally
u
n
if
o
r
m
b
o
u
n
d
ed
n
ess
o
f
clo
s
ed
-
lo
o
p
s
ig
n
als.
E
x
p
er
im
e
n
tal
v
alid
atio
n
s
co
n
f
ir
m
ed
its
f
ast
r
esp
o
n
s
e,
r
ed
u
ce
d
er
r
o
r
,
an
d
r
o
b
u
s
t stab
ilit
y
u
n
d
er
h
y
b
r
id
d
r
iv
in
g
co
n
d
itio
n
s
.
I
n
ad
d
itio
n
,
a
n
in
teg
r
al
b
ac
k
-
s
tep
p
in
g
SMC
(
I
B
SM
C
)
was
d
esig
n
ed
to
ac
cu
r
ately
tr
ac
k
th
e
E
UDC
s
p
ee
d
p
r
o
f
ile,
B
att
-
SC
cu
r
r
en
ts
,
an
d
m
ain
tain
DC
b
u
s
v
o
ltag
e
f
o
r
a
u
n
if
ied
h
y
b
r
id
elec
tr
ic
v
eh
icle
m
o
d
el
[
4
8
]
.
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
:
6
9
5
-
7
0
9
704
Me
an
wh
ile,
a
s
u
p
er
-
twis
tin
g
SMC
(
STSM
C
)
f
o
r
B
att
-
SC
HPS
was
d
ev
elo
p
ed
,
wh
ich
en
s
u
r
es
g
lo
b
al
s
tab
ilit
y
u
s
in
g
L
y
ap
u
n
o
v
c
r
iter
ia
[
5
1
]
.
T
h
is
co
n
tr
o
ller
d
em
o
n
s
tr
ated
s
u
p
er
io
r
ity
o
v
er
co
n
v
en
tio
n
a
l
SMC
an
d
in
teg
r
al
SMC
in
v
ar
io
u
s
p
er
f
o
r
m
a
n
ce
asp
ec
ts
.
L
astl
y
,
a
d
v
an
ce
d
S
MC
tech
n
iq
u
es
in
cl
u
d
in
g
I
B
SMC
,
s
u
p
er
-
twis
tin
g
ad
ap
tiv
e
SMC
(
STASM
C
)
,
an
d
r
ea
l
-
twis
tin
g
ad
ap
tiv
e
SMC
(
R
T
ASMC)
wer
e
co
m
p
ar
ed
b
y
[
4
9
]
,
h
ig
h
lig
h
tin
g
th
eir
r
elativ
e
ef
f
ec
tiv
en
ess
an
d
p
er
f
o
r
m
a
n
ce
in
h
y
b
r
id
elec
tr
ic
v
eh
icle
s
y
s
tem
s
.
T
h
ese
ad
v
an
ce
m
en
ts
em
p
h
asize
th
e
p
o
ten
tial
o
f
SMC
m
eth
o
d
o
lo
g
ies
to
en
h
a
n
ce
r
o
b
u
s
tn
ess
,
s
tab
ilit
y
,
an
d
tr
ac
k
i
n
g
ac
c
u
r
ac
y
in
HPS
s
y
s
tem
s
u
n
d
er
d
y
n
a
m
ic
an
d
u
n
ce
r
ta
in
co
n
d
itio
n
s
.
3
.
2
.
4
.
L
o
w
-
lev
el
co
ntr
o
l per
f
o
rm
a
nce
co
m
pa
riso
n
R
o
b
u
s
t
tr
ac
k
in
g
co
n
tr
o
l
is
o
n
e
o
f
th
e
m
o
s
t
wid
ely
ad
o
p
ted
o
b
j
ec
tiv
es
in
lo
w
-
lev
el
co
n
tr
o
l,
p
a
r
ticu
lar
ly
f
o
r
B
att
-
SC
HPS
in
elec
tr
ic
v
eh
icles.
Oth
er
lo
w
-
lev
el
co
n
t
r
o
l
o
b
jectiv
es,
s
u
c
h
as
DC
b
u
s
v
o
ltag
e
r
eg
u
latio
n
,
h
an
d
lin
g
p
ar
am
eter
u
n
ce
r
tain
ti
es,
an
d
en
s
u
r
in
g
s
y
s
tem
s
tab
ilit
y
,
ar
e
also
co
m
m
o
n
f
o
ca
l
p
o
in
ts
in
th
is
r
esear
ch
.
T
ab
le
1
p
r
esen
ts
a
co
m
p
ar
is
o
n
o
f
th
e
ad
v
a
n
tag
es
an
d
lim
it
atio
n
s
o
f
v
ar
i
o
u
s
co
n
tr
o
ller
s
u
s
ed
f
o
r
l
o
w
-
lev
el
co
n
tr
o
l.
B
ased
o
n
th
is
co
m
p
a
r
is
o
n
,
SMC
em
er
g
es
as
th
e
m
o
s
t
r
o
b
u
s
t
an
d
p
o
wer
f
u
l
co
n
tr
o
l
m
eth
o
d
d
u
e
to
its
in
h
er
en
t r
o
b
u
s
tn
ess
,
co
m
p
atib
ilit
y
with
n
o
n
lin
ea
r
s
y
s
tem
s
,
an
d
ab
ilit
y
to
g
u
ar
an
tee
s
y
s
tem
s
tab
ilit
y
.
Ho
wev
er
,
SMC
d
o
es
h
av
e
s
o
m
e
lim
ita
tio
n
s
,
s
u
ch
as
th
e
ch
atter
in
g
p
h
en
o
m
e
n
o
n
an
d
th
e
r
eq
u
i
r
em
en
t
f
o
r
p
r
ec
is
e
d
eter
m
in
atio
n
o
f
co
n
tr
o
l
p
ar
a
m
eter
s
.
Desp
ite
th
ese
ch
allen
g
es,
n
u
m
er
o
u
s
ad
v
an
ce
d
SMC
d
esig
n
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
to
ad
d
r
ess
th
ese
lim
itatio
n
s
,
f
u
r
th
er
en
h
a
n
cin
g
th
ei
r
ap
p
licab
ilit
y
an
d
ef
f
ec
tiv
e
n
e
s
s
in
HPS
s
y
s
tem
s
.
T
ab
le
1
.
Per
f
o
r
m
an
ce
co
m
p
a
r
is
o
n
o
f
B
att
-
SC
lo
w
-
lev
el
co
n
tr
o
l stra
teg
y
f
o
r
elec
tr
ic
v
eh
icle
s
Lo
w
-
l
e
v
e
l
c
o
n
t
r
o
l
t
y
p
e
s
C
o
n
t
r
o
l
st
r
a
t
e
g
i
e
s
A
d
v
a
n
t
a
g
e
s
Li
mi
t
a
t
i
o
n
s
R
e
f
e
r
e
n
c
e
s
C
l
a
s
si
c
a
l
S
I
S
O
c
o
n
t
r
o
l
P
I
c
o
n
t
r
o
l
l
e
r
Ea
sy
d
e
si
g
n
a
n
d
i
mp
l
e
m
e
n
t
a
t
i
o
n
,
a
c
c
u
r
a
t
e
t
r
a
c
k
i
n
g
O
n
l
y
f
o
r
t
h
e
S
I
S
O
mo
d
e
l
,
i
g
n
o
r
e
t
h
e
i
n
t
e
r
a
c
t
i
o
n
b
e
t
w
e
e
n
B
a
t
t
-
S
C
a
n
d
c
o
n
v
e
r
t
e
r
[
2
7
]
,
[
4
1
]
H
y
st
e
r
e
si
s
c
o
n
t
r
o
l
S
i
mp
l
e
d
e
si
g
n
,
c
o
n
t
r
o
l
si
g
n
a
l
g
e
n
e
r
a
t
e
d
a
s PW
M
Tr
a
c
k
i
n
g
i
s
n
o
t
sm
o
o
t
h
,
v
e
r
y
n
o
i
sy
d
u
e
t
o
sw
i
t
c
h
i
n
g
b
e
h
a
v
i
o
r
[
3
6
]
O
p
t
i
mal
c
o
n
t
r
o
l
Li
n
e
a
r
q
u
a
d
r
a
t
i
c
c
o
n
t
r
o
l
R
e
s
u
l
t
i
n
g
i
n
o
p
t
i
ma
l
c
o
n
t
r
o
l
,
c
a
n
mi
n
i
mi
z
e
t
h
e
c
o
n
t
r
o
l
si
g
n
a
l
N
o
t
s
u
i
t
a
b
l
e
f
o
r
n
o
n
l
i
n
e
a
r
mo
d
e
l
[
1
8
]
,
[
1
9
]
,
[
2
1
]
,
[
4
2
]
M
o
d
e
l
p
r
e
d
i
c
t
i
v
e
c
o
n
t
r
o
l
G
o
o
d
p
e
r
f
o
r
ma
n
c
e
,
i
n
v
o
l
v
i
n
g
sy
st
e
m
c
o
n
st
r
a
i
n
t
H
i
g
h
c
o
m
p
u
t
a
t
i
o
n
a
l
c
o
s
t
,
n
e
e
d
a
n
a
c
c
u
r
a
t
e
m
o
d
e
l
[
3
1
]
,
[
4
3
]
S
t
a
t
e
-
f
e
e
d
b
a
c
k
(
L
M
I
)
-
b
a
s
e
d
o
p
t
i
mi
z
a
t
i
o
n
En
s
u
r
e
s
y
st
e
m s
t
a
b
i
l
i
t
y
,
g
o
o
d
c
o
n
t
r
o
l
l
e
r
p
e
r
f
o
r
m
a
n
c
e
H
i
g
h
c
o
m
p
l
e
x
i
t
y
c
o
m
p
u
t
a
t
i
o
n
,
n
e
e
d
t
o
d
e
t
e
r
mi
n
e
ma
n
y
p
a
r
a
m
e
t
e
r
s
[
1
4
]
R
o
b
u
st
c
o
n
t
r
o
l
H
∞
c
o
n
t
r
o
l
l
e
r
I
n
c
l
u
d
e
s
e
n
si
t
i
v
i
t
y
f
u
n
c
t
i
o
n
,
g
u
a
r
a
n
t
e
e
s
y
st
e
m r
o
b
u
s
t
n
e
ss
R
e
l
a
t
i
v
e
l
y
d
i
f
f
i
c
u
l
t
i
mp
l
e
m
e
n
t
a
t
i
o
n
[
4
4
]
L
2
-
g
a
i
n
p
a
ssi
v
i
t
y
-
b
a
s
e
d
c
o
n
t
r
o
l
R
o
b
u
st
t
r
a
c
k
i
n
g
,
c
a
n
h
a
n
d
l
e
p
a
r
a
m
e
t
e
r
u
n
c
e
r
t
a
i
n
t
y
V
e
r
y
c
o
m
p
l
e
x
d
e
si
g
n
p
r
o
c
e
ss
[
4
5
]
B
a
c
k
-
st
e
p
p
i
n
g
c
o
n
t
r
o
l
l
e
r
R
o
b
u
st
t
r
a
c
k
i
n
g
,
e
n
su
r
e
s
g
l
o
b
a
l
a
s
y
m
p
t
o
t
i
c
st
a
b
i
l
i
t
y
R
e
q
u
i
r
e
v
e
r
y
a
c
c
u
r
a
t
e
n
o
n
l
i
n
e
a
r
mo
d
e
l
[
4
6
]
S
l
i
d
i
n
g
mo
d
e
c
o
n
t
r
o
l
S
t
r
o
n
g
r
o
b
u
s
t
n
e
ss,
e
n
su
r
e
s
st
a
b
i
l
i
t
y
,
p
e
r
f
o
r
m
i
n
g
v
e
r
y
g
o
o
d
t
r
a
c
k
i
n
g
,
r
e
l
a
t
i
v
e
l
y
si
mp
l
e
d
e
si
g
n
P
r
o
d
u
c
e
c
h
a
t
t
e
r
i
n
g
b
e
h
a
v
i
o
r
,
n
e
e
d
t
o
d
e
c
i
d
e
c
o
n
t
r
o
l
l
e
r
p
a
r
a
met
e
r
s
[
1
5
]
,
[
1
6
]
,
[
4
7
]
-
[
5
1
]
4.
DC
B
US V
O
L
T
AG
E
R
E
G
U
L
AT
I
O
N
P
RO
B
L
E
M
T
h
e
B
att
-
SC
HPS
s
y
s
tem
ca
n
b
e
class
if
ied
as
an
u
n
d
er
-
ac
t
u
ated
s
y
s
tem
b
ec
au
s
e
it
h
as
o
n
l
y
t
wo
co
n
tr
o
l
s
ig
n
als
(
th
e
d
u
ty
cy
cles
f
o
r
ea
ch
co
n
v
e
r
ter
co
n
n
ec
ted
to
th
e
b
atter
y
an
d
s
u
p
e
r
ca
p
ac
it
o
r
)
r
esp
o
n
s
ib
le
f
o
r
co
n
tr
o
llin
g
th
r
ee
o
u
tp
u
ts
: b
att
er
y
c
u
r
r
en
t,
s
u
p
er
ca
p
ac
ito
r
cu
r
r
en
t,
a
n
d
D
C
b
u
s
v
o
ltag
e
[
5
6
]
.
Am
o
n
g
th
e
co
n
tr
o
l
o
b
jectiv
es,
r
eg
u
latin
g
th
e
DC
b
u
s
v
o
ltag
e
is
cr
itical
f
o
r
en
s
u
r
i
n
g
th
e
s
tab
le
o
p
e
r
atio
n
o
f
th
e
B
att
-
SC
HP
S.
B
a
s
ed
o
n
th
e
r
ev
iew,
th
er
e
a
r
e
two
m
ain
s
tr
ateg
ies
f
o
r
ac
h
iev
in
g
DC
b
u
s
v
o
ltag
e
r
eg
u
latio
n
in
B
att
-
SC
H
PS
f
o
r
elec
tr
ic
v
eh
icles,
as
illu
s
tr
ated
in
Fig
u
r
e
6
.
T
h
e
f
ir
s
t
s
tr
ateg
y
in
v
o
l
v
es
th
e
ca
s
ca
d
e
SISO
co
n
tr
o
l
a
p
p
r
o
ac
h
[
3
6
]
,
[
4
6
]
,
[
5
0
]
as
d
ep
icted
in
Fig
u
r
e
6
(
a)
.
T
h
e
s
ec
o
n
d
s
tr
ateg
y
em
p
l
o
y
s
a
MI
MO
co
n
tr
o
l
ap
p
r
o
ac
h
[
5
7
]
,
[
5
8
]
as
s
h
o
wn
in
Fig
u
r
e
6
(
b
)
.
4
.
1
.
Ca
s
ca
de
SI
SO
co
ntr
o
l a
pp
ro
a
ch
T
h
is
ap
p
r
o
ac
h
s
ep
ar
ates
th
e
DC
b
u
s
v
o
ltag
e
co
n
tr
o
l
lo
o
p
f
r
o
m
th
e
B
att
-
SC
cu
r
r
en
t
co
n
tr
o
l
lo
o
p
,
allo
win
g
th
e
DC
b
u
s
v
o
ltag
e
t
o
b
e
in
d
ep
en
d
en
tly
c
o
n
tr
o
lled
b
ased
o
n
its
r
ef
e
r
en
ce
.
A
class
ic
SISO
co
n
tr
o
ller
,
s
u
ch
as a
PI
c
o
n
tr
o
ller
,
ca
n
b
e
u
s
ed
f
o
r
th
is
p
u
r
p
o
s
e
[
3
6
]
,
[
4
6
]
.
W
h
ile
th
e
PI
c
o
n
tr
o
ller
is
s
im
p
le
to
im
p
lem
en
t,
it
h
as
n
o
tab
le
lim
itatio
n
s
as
m
en
tio
n
ed
p
r
ev
io
u
s
ly
.
T
o
ad
d
r
e
s
s
s
tab
il
ity
co
n
ce
r
n
s
,
th
e
DC
b
u
s
v
o
ltag
e
ca
n
also
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