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ied P
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J
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Vo
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2
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J
u
n
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2
0
2
6
,
p
p
.
546
~
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I
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p
p
546
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553
546
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:
h
ttp
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//
ija
p
e.
ia
esco
r
e.
co
m/
Utilizatio
n of
BS
A optimize
d cas
c
a
de contro
ller i
n
a
renewable
energy
-
ba
sed A
G
C sy
stems
Ra
m
ba
bu
K
a
s
uk
urt
h
i
, R
.
Srinu
Na
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e
p
a
r
t
me
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o
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l
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n
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sa
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m,
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d
i
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Art
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nfo
AB
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RAC
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A
r
ticle
his
to
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y:
R
ec
eiv
ed
Ma
y
7
,
2
0
2
5
R
ev
is
ed
Dec
2
1
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2
0
2
5
Acc
ep
ted
Ma
r
1
2
,
2
0
2
6
A
n
o
v
e
l
c
a
sc
a
d
e
c
o
n
tr
o
ll
e
r
n
a
m
e
d
p
ro
p
o
rti
o
n
a
l
i
n
teg
ra
l
d
e
r
iv
a
ti
v
e
-
ti
l
t
in
teg
ra
l
d
e
riv
a
ti
v
e
(
P
ID
-
TID
)
i
s
p
ro
p
o
se
d
f
o
r
a
two
-
a
re
a
t
h
e
rm
a
l
-
win
d
a
u
to
m
a
ti
c
g
e
n
e
ra
ti
o
n
c
o
n
tr
o
l
(AG
C)
sy
ste
m
a
n
d
it
s
g
a
i
n
s
a
re
o
p
ti
m
ize
d
b
y
a
no
v
e
l
m
e
tah
e
u
risti
c
b
ir
d
sw
a
rm
a
lg
o
rit
h
m
(B
S
A).
Th
e
B
S
A
t
u
n
e
d
P
ID
-
TID
c
o
n
tro
ll
e
r
e
n
h
a
n
c
e
s
d
y
n
a
m
ics
o
v
e
r
P
ID
a
n
d
TID
c
o
n
tr
o
ll
e
r
i
n
term
s
o
f
se
tt
li
n
g
ti
m
e
a
n
d
p
e
a
k
sh
o
o
ts.
M
o
re
o
v
e
r,
d
y
n
a
m
ics
with
wi
n
d
in
teg
ra
ti
o
n
h
a
v
e
sh
o
wn
sig
n
ifi
c
a
n
t
imp
r
o
v
e
m
e
n
t
o
v
e
r
t
h
e
rm
a
l
sy
ste
m
a
l
o
n
e
.
F
u
r
th
e
r
sy
ste
m
h
a
s
sh
o
w
n
e
n
h
a
n
c
e
d
d
y
n
a
m
ics
with
r
e
d
o
x
flo
w
b
a
tt
e
ries
(RF
B)
o
v
e
r
th
e
rm
a
l
-
win
d
sy
ste
m
.
F
u
rt
h
e
rm
o
re
,
stu
d
ies
wit
h
a
u
to
m
a
ti
c
v
o
lt
a
g
e
re
g
u
latio
n
(AV
R)
stre
n
g
th
e
n
v
o
l
t
a
g
e
sta
b
il
it
y
.
Also
,
re
sp
o
n
se
s
wit
h
P
ID
-
TID
h
a
v
e
sh
o
w
n
ste
a
d
y
d
y
n
a
m
ic p
ro
f
i
le at v
a
rio
u
s
lo
a
d
in
g
c
o
n
d
it
i
o
n
s.
I
n
teg
ra
ti
n
g
win
d
e
n
e
rg
y
i
n
to
t
h
e
rm
a
l
sy
ste
m
re
su
lt
s
i
n
si
g
n
if
ica
n
t
e
n
h
a
n
c
e
m
e
n
ts
in
d
y
n
a
m
ics
sh
o
wc
a
sin
g
g
re
a
ter
sta
b
il
it
y
.
Also
,
imp
ro
v
e
m
e
n
ts
a
re
e
v
id
e
n
t
wit
h
th
e
RF
B
in
tro
d
u
c
ti
o
n
,
e
n
h
a
n
c
e
d
y
n
a
m
ic
wit
h
i
n
h
y
b
rid
sy
st
e
m
.
Th
e
in
c
o
rp
o
ra
ti
o
n
o
f
AV
R
e
n
h
a
n
c
e
v
o
lt
a
g
e
sta
b
il
it
y
.
T
h
e
p
r
o
p
o
se
d
P
ID
-
TID
d
e
m
o
n
stra
tes
sig
n
if
ica
n
t
ro
b
u
st
n
e
ss
e
n
su
rin
g
sta
b
le
re
sp
o
n
se
u
n
d
e
r
lo
a
d
in
g
c
o
n
d
i
ti
o
n
a
n
d
e
ffe
c
ti
v
e
ly
b
o
o
st
d
y
n
a
m
ic p
e
rfo
rm
a
n
c
e
.
K
ey
w
o
r
d
s
:
A
u
to
m
atic
g
en
er
atio
n
co
n
t
r
o
l
A
u
to
m
atic
v
o
ltag
e
r
e
g
u
latio
n
B
ir
d
s
war
m
alg
o
r
ith
m
PID
-
T
I
D
co
n
tr
o
ller
W
in
d
tu
r
b
in
e
s
y
s
tem
s
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
:
R
am
b
ab
u
Kasu
k
u
r
t
h
i
Dep
ar
tm
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
A
n
d
h
r
a
Un
iv
er
s
ity
C
o
lleg
e
o
f
E
n
g
in
ee
r
i
n
g
,
An
d
h
r
a
Un
iv
er
s
ity
Vis
ak
h
ap
atn
am
,
I
n
d
ia
E
m
ail:
r
am
b
ab
u
.
k
asu
k
u
r
th
i@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
B
alan
cin
g
o
f
p
o
wer
h
as
b
ec
o
m
e
ch
allen
g
e
d
u
e
t
o
in
cr
ea
s
e
in
g
r
id
’
s
s
ize
an
d
c
o
m
p
le
x
ity
.
Als
o
,
k
ee
p
in
g
t
h
e
s
y
s
tem
s
tab
le
a
t
p
er
m
is
s
ib
le
lim
its
h
as
b
ec
o
m
e
d
if
f
ic
u
lt.
T
h
is
is
s
u
e
ca
n
b
e
a
d
d
r
ess
ed
b
y
au
to
m
atic
g
en
er
atio
n
c
o
n
tr
o
l
(
AGC)
th
at
m
ain
tain
s
f
r
eq
u
en
cy
,
v
o
ltag
e
an
d
p
o
wer
in
p
er
m
is
s
ib
le
lim
i
ts
[
1
]
,
[
2
]
.
AGC
wo
r
k
s
in
itiated
b
y
o
n
e
ar
ea
an
d
b
r
o
ad
en
to
c
o
m
p
licated
m
u
lti
-
ar
ea
s
y
s
tem
s
[
3
]
-
[
5
]
co
n
s
id
er
i
n
g
n
o
n
lin
ea
r
ities
lik
e
GDB,
d
ela
y
,
an
d
GR
C
.
Fu
r
th
er
,
f
r
eq
u
e
n
cy
-
v
o
ltag
e
co
u
p
lin
g
ex
is
ts
d
u
e
to
i
n
ter
ac
tio
n
o
f
AGC
with
au
to
m
atic
v
o
ltag
e
r
eg
u
lato
r
(
AVR)
lo
o
p
s
[
1
]
,
[
2
]
,
[
5
]
.
T
h
e
ef
f
icien
t
i
n
teg
r
a
tio
n
o
f
r
en
ewa
b
les
in
clu
d
in
g
s
o
lar
an
d
win
d
tu
r
b
i
n
e
s
y
s
tem
s
(
W
T
S),
is
s
tu
d
ied
in
AGC
[
6
]
-
[
8
]
.
T
h
e
s
tu
d
y
in
[
9
]
,
[
1
0
]
ex
am
i
n
ed
W
T
S
with
co
n
s
tan
t
win
d
v
elo
city
.
Ho
wev
er
,
b
ec
au
s
e
o
f
i
n
tr
in
s
ic
win
d
ch
an
g
es,
W
T
S
p
r
o
d
u
ctio
n
is
v
ar
ia
b
le.
T
h
e
in
co
r
p
o
r
atio
n
o
f
W
T
S
in
to
AGC
-
AVR
f
r
am
ewo
r
k
h
as
n
o
t
r
ec
eiv
e
d
m
u
c
h
atten
tio
n
,
alth
o
u
g
h
it
r
ed
u
ce
s
th
is
in
ter
m
itten
cy
.
Po
wer
s
y
s
tem
p
er
f
o
r
m
a
n
ce
d
eter
io
r
ates
u
n
d
e
r
f
au
lty
c
o
n
d
itio
n
s
lead
in
g
to
tr
a
n
s
ien
ts
wo
r
s
en
in
g
s
y
s
tem
d
y
n
am
ics.
T
h
is
is
s
u
e
c
an
b
e
m
itig
ated
b
y
th
e
en
er
g
y
s
to
r
ag
e
d
ev
ice
(
E
SD)
in
te
g
r
atio
n
[
1
0
]
,
[
1
1
]
.
E
SD
s
u
ch
as
r
ed
o
x
f
lo
w
b
atter
y
(
R
FB
)
an
d
its
ad
v
an
tag
es
in
AG
C
s
tu
d
ies
ar
e
n
o
ted
in
[
1
0
]
.
T
h
ese
f
in
d
in
g
s
ca
n
b
e
ex
ten
d
ed
to
m
o
r
e
co
m
p
lex
c
o
n
f
ig
u
r
atio
n
s
,
s
u
ch
as
two
-
ar
ea
s
y
s
tem
s
,
p
ar
ticu
lar
ly
wh
en
in
teg
r
atin
g
r
en
ewa
b
le
en
er
g
y
s
o
u
r
ce
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
Utiliz
a
tio
n
o
f B
S
A
o
p
timiz
ed
c
a
s
ca
d
e
co
n
tr
o
ller
in
a
r
en
ewa
b
le
en
erg
y
-
b
a
s
ed
…
(
R
a
mb
a
b
u
K
a
s
u
ku
r
th
i
)
547
T
h
e
ad
v
a
n
ce
m
en
t
o
f
th
e
au
x
i
liar
y
co
n
tr
o
ller
h
as
b
ee
n
th
e
p
r
im
ar
y
f
o
cu
s
o
f
AGC
r
esear
ch
.
B
asic
f
r
ac
tio
n
al
[
1
2
]
,
ca
s
ca
d
e
a
n
d
tilt
co
n
tr
o
ller
s
s
u
c
h
as
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
er
iv
ativ
e
(
PID
)
[
1
3
]
,
PI
-
PD
[
1
4
]
,
tilt
in
teg
r
al
d
er
iv
ativ
e
(
TID
)
[
1
5
]
,
f
u
zz
y
[
1
6
]
,
an
d
s
lid
in
g
co
n
tr
o
ller
[
1
7
]
h
av
e
b
e
en
in
tr
o
d
u
ce
d
o
v
er
tim
e.
Ho
wev
er
,
a
n
o
v
el
co
m
b
in
atio
n
s
u
ch
as PI
D
-
T
I
D
f
o
r
two
-
ar
e
a
AGC
-
AVR
with
R
S h
as n
o
t b
ee
n
in
v
esti
g
ated
.
R
ec
en
t
d
ev
elo
p
m
en
ts
in
A
GC
r
esear
ch
h
a
v
e
s
h
o
w
n
t
h
at
m
an
y
m
eta
h
eu
r
is
tic
m
e
th
o
d
s
ar
e
s
u
cc
ess
f
u
lly
ap
p
lied
,
s
u
ch
as
s
war
m
[
1
5
]
,
cr
o
w
s
ea
r
ch
[
1
8
]
,
h
y
b
r
id
cr
o
w
s
ea
r
ch
[
1
9
]
,
g
e
n
etic
[
2
0
]
,
a
n
tlio
n
[
2
1
]
,
a
n
d
cu
c
k
o
o
s
ea
r
ch
[
2
2
]
.
Me
n
g
et
a
l
.
[
2
3
]
in
tr
o
d
u
ce
d
an
o
p
tim
izatio
n
tech
n
iq
u
e
k
n
o
wn
as
th
e
B
SA,
in
s
p
ir
ed
b
y
th
e
c
o
o
p
e
r
ativ
e
f
o
r
ag
in
g
b
eh
a
v
io
r
o
f
b
ir
d
s
.
T
h
e
alg
o
r
it
h
m
ef
f
ec
tiv
el
y
ac
h
iev
es
g
lo
b
al
o
p
tim
izatio
n
with
f
ewe
r
iter
atio
n
s
,
o
f
f
e
r
in
g
h
ig
h
ac
c
u
r
ac
y
a
n
d
f
ast
co
n
v
er
g
e
n
ce
.
Als
o
,
B
SA
h
as
s
ig
n
if
ican
tly
im
p
r
o
v
e
d
d
y
n
am
ics o
f
AGC s
y
s
tem
s
[
2
4
]
,
[
2
5
]
.
Yet
th
e
im
p
ac
t o
f
B
SA o
n
AGC
-
AVR is
t
o
b
e
ev
al
u
ated
.
S
e
n
s
it
i
v
it
y
a
n
a
l
y
s
i
s
is
c
o
m
m
o
n
l
y
e
m
p
l
o
y
e
d
i
n
A
G
C
t
o
ev
a
l
u
a
t
e
t
h
e
c
o
n
t
r
o
ll
e
r
r
o
b
u
s
t
n
e
s
s
a
g
ai
n
s
t
s
u
b
s
t
a
n
t
i
a
l
l
o
a
d
o
s
c
il
l
a
ti
o
n
s
i
n
t
h
e
s
y
s
t
e
m
[
1
9
]
,
[
2
5
]
.
W
h
il
e
t
h
is
w
o
r
k
i
n
t
r
o
d
u
c
e
s
a
n
o
v
e
l
c
o
n
t
r
o
l
l
e
r
,
t
e
r
m
e
d
T
I
D
N
,
a
s
e
n
s
i
t
i
v
i
t
y
a
n
a
l
y
s
is
h
a
s
y
e
t
t
o
b
e
p
e
r
f
o
r
m
e
d
.
T
h
i
s
p
r
es
e
n
ts
a
n
o
p
p
o
r
t
u
n
i
t
y
f
o
r
f
u
r
t
h
e
r
r
e
s
e
a
r
c
h
.
T
h
e
f
o
l
l
o
w
i
n
g
o
b
je
c
t
i
v
es
h
a
v
e
b
e
e
n
o
u
t
li
n
e
d
a
n
d
a
r
e
:
i
)
t
o
d
e
v
e
l
o
p
a
tw
o
-
a
r
e
a
A
GC
s
y
s
t
e
m
i
n
c
o
r
p
o
r
a
t
i
n
g
t
h
e
r
m
a
l
,
W
T
S
c
o
m
p
o
n
e
n
t
s
;
ii
)
i
m
p
l
e
m
e
n
t
s
e
v
e
r
a
l
c
o
n
t
r
o
l
l
e
r
s
li
k
e
T
I
D
,
P
I
D
,
a
n
d
c
a
s
ca
d
e
d
o
f
P
I
D
a
n
d
T
I
D
(
P
I
D
-
T
I
D
)
,
i
n
s
y
s
t
e
m
m
o
d
e
l
(
Fi
g
u
r
e
1)
;
iii
)
e
m
p
l
o
y
i
n
g
B
S
A
f
o
r
c
o
n
c
u
r
r
e
n
t
o
p
t
i
m
i
z
a
t
i
o
n
;
iv
)
as
s
ess
m
e
n
t
o
f
s
y
s
t
em
d
y
n
a
m
i
c
s
d
u
e
t
o
W
T
S
i
n
t
e
g
r
a
t
i
o
n
;
v
)
e
v
a
l
u
a
ti
o
n
o
f
s
y
s
t
e
m
d
y
n
a
m
i
c
p
e
r
f
o
r
m
a
n
c
e
w
i
t
h
E
S
D
i
n
te
g
r
a
t
i
o
n
;
vi
)
s
e
n
s
i
t
i
v
it
y
-
b
a
s
e
d
r
o
b
u
s
t
n
e
s
s
as
s
ess
m
e
n
t
,
a
n
d
v
i
i
)
t
o
s
t
u
d
y
t
h
e
i
m
p
a
c
t
o
f
A
V
R
l
o
o
p
o
n
W
T
S
-
t
h
e
r
m
a
l
-
E
S
D
s
y
s
te
m
.
Fig
u
r
e
1
.
Pro
p
o
s
ed
s
y
s
tem
m
o
d
el
2.
SYST
E
M
DE
SCRI
P
T
I
O
N
2
.
1
.
P
r
o
po
s
ed
co
ntr
o
ller
An
in
n
o
v
ativ
e
co
n
tr
o
ller
th
at
co
m
b
in
es
b
o
th
in
teg
er
an
d
f
r
ac
tio
n
al
co
n
t
r
o
ller
s
is
th
e
tilt
co
n
tr
o
ller
,
f
ir
s
t
in
tr
o
d
u
ce
d
in
[
6
]
.
W
h
il
e
th
e
s
tr
u
ctu
r
es
o
f
PID
a
n
d
T
I
D
co
n
tr
o
ller
s
ar
e
s
im
ilar
,
th
e
T
I
D
co
n
tr
o
ller
in
tr
o
d
u
ce
s
a
s
ca
lin
g
f
ac
t
o
r
o
f
1
/s
n
to
th
e
p
r
o
p
o
r
tio
n
al
ter
m
o
f
th
e
PID
.
Ho
wev
er
,
in
co
r
p
o
r
atin
g
d
e
r
iv
ativ
e
co
n
tr
o
l
with
in
th
e
f
o
r
war
d
p
ath
ca
n
lead
to
th
e
u
n
d
esire
d
p
h
en
o
m
en
o
n
o
f
d
er
iv
ativ
e
k
ick
in
elec
tr
o
n
ic
s
y
s
tem
s
[
6
]
.
T
h
e
ca
s
ca
d
in
g
PID
an
d
T
I
D
c
o
n
tr
o
ller
s
p
r
o
v
id
e
f
ast
an
d
s
tab
le
f
r
eq
u
en
cy
r
eg
u
latio
n
.
PID
h
an
d
les
r
a
p
id
d
ev
iatio
n
s
,
wh
i
le
T
I
D
ad
d
r
ess
es
s
lo
wer
d
is
tu
r
b
an
ce
s
,
t
o
g
eth
er
im
p
r
o
v
in
g
s
tab
ilit
y
,
r
ed
u
cin
g
o
v
er
s
h
o
o
t,
an
d
e
n
h
an
ci
n
g
o
v
er
all
s
y
s
tem
p
er
f
o
r
m
an
ce
.
T
h
e
e
q
u
atio
n
s
o
f
PID
,
PID
,
a
n
d
th
e
ca
s
ca
d
ed
PID
-
T
I
D
ar
e
in
(
1
)
-
(
3
)
r
esp
ec
tiv
ely
.
1
(
)
=
K
+
K
I
+
K
K
D
(
1
)
2
(
)
=
1
/
+
K
I
+
K
K
D
(
2
)
PI
D
-
T
I
D
(
)
=
F
1
(
)
+
F
2
(
)
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
15
,
No
.
2
,
J
u
n
e
20
26
:
546
-
553
548
2
.
2
.
B
ird swa
rm
a
lg
o
rit
hm
Me
n
g
et
a
l
.
[
2
3
]
p
r
o
p
o
s
ed
a
s
war
m
in
tellig
en
ce
alg
o
r
ith
m
with
b
ir
d
f
l
o
ck
b
e
h
av
io
r
n
a
m
ed
B
SA.
T
h
e
alg
o
r
ith
m
m
o
d
els
th
e
in
tellig
en
ce
o
f
b
ir
d
s
b
ased
o
n
k
ey
b
eh
av
io
r
s
s
u
ch
as
f
o
r
ag
in
g
,
f
ly
in
g
,
an
d
m
ain
tain
in
g
aler
t
n
ess
.
B
SA
p
r
im
ar
ily
s
im
u
lates
b
ir
d
m
o
v
e
m
en
ts
th
r
o
u
g
h
th
r
ee
s
tr
ateg
ie
s
:
i)
s
ea
r
ch
in
g
f
o
r
f
o
o
d
,
ii)
s
tay
in
g
aler
t
in
r
esp
o
n
s
e
to
p
o
te
n
tial
th
r
ea
ts
,
an
d
ii
i)
escap
in
g
f
r
o
m
p
r
e
d
ato
r
s
.
F
o
r
ag
in
g
b
eh
a
v
io
r
in
B
SA
is
r
ep
r
esen
ted
in
(
4
)
,
wh
er
e
b
ir
d
s
m
o
v
e
to
war
d
t
h
eir
p
er
s
o
n
al
b
est
an
d
th
e
g
lo
b
al
b
est
p
o
s
itio
n
s
to
ex
p
lo
it p
r
o
m
is
in
g
s
o
lu
tio
n
s
.
,
+
1
=
,
+
(
,
−
,
)
×
×
(
0
,
1
)
+
(
−
,
)
×
×
(
0
,
1
)
(
4
)
W
h
er
e
p
o
s
itio
n
(
x
)
,
d
im
e
n
s
io
n
(
q
)
,
b
i
r
d
s
co
u
n
t (
p
)
,
p
ast p
o
s
itio
n
(
PP
)
,
r
an
d
o
m
(
r
an
d
)
,
s
o
cial
(
t)
,
a
n
d
co
g
n
itiv
e
(
P)
co
ef
f
icien
ts
.
Fli
g
h
t
b
e
h
av
i
o
r
in
(
5
)
an
d
(
6
)
u
s
es
f
lig
h
t
le
n
g
th
s
(
f
l
=
0
–
2
)
an
d
alter
n
atin
g
r
o
les
to
e
x
p
lo
r
e
n
ew
r
eg
io
n
s
o
f
th
e
s
ea
r
ch
s
p
ac
e.
,
+
1
=
,
+
1
(
−
,
)
×
(
0
,
1
)
+
2
(
,
−
,
)
×
(
−
1
,
1
)
(
5
)
,
+
1
=
,
+
(
0
,
1
)
×
,
(
6
)
Vig
ilan
ce
b
eh
a
v
io
r
in
(
7
)
d
e
s
cr
ib
es
h
o
w
b
ir
d
s
at
th
e
s
wa
r
m
’
s
ed
g
e
s
tay
ale
r
t
to
r
ed
u
ce
p
r
e
d
ato
r
r
is
k
.
I
t
f
lo
wch
ar
t is in
Fig
u
r
e
2
.
,
+
1
=
,
+
(
,
−
,
)
×
×
(
0
,
1
)
(
7
)
Fig
u
r
e
2
.
B
SA w
o
r
k
in
g
d
iag
r
a
m
3.
I
NVE
ST
I
G
AT
E
D
SY
ST
E
M
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
m
o
d
el
o
f
a
two
-
ar
ea
th
er
m
al
s
y
s
tem
i
s
in
teg
r
ated
with
a
W
T
S,
is
in
Fig
u
r
e
1
.
T
h
e
s
y
s
tem
's
n
o
m
in
al
p
ar
am
e
ter
s
,
d
er
iv
ed
f
r
o
m
r
ef
er
e
n
ce
s
[
8
]
,
[
2
0
]
,
ar
e
d
etailed
in
th
e
a
p
p
en
d
i
x
.
T
h
e
W
T
S,
R
F
B
,
an
d
AVR
lo
o
p
s
ar
e
s
i
m
p
lifie
d
in
to
lo
w
-
o
r
d
er
lin
e
ar
m
o
d
els.
W
T
S
h
as
a
r
ig
id
r
o
to
r
with
p
o
wer
r
esp
o
n
d
in
g
lin
ea
r
l
y
to
f
r
eq
u
e
n
cy
ch
a
n
g
es,
ass
u
m
in
g
n
ea
r
l
y
co
n
s
tan
t
win
d
.
R
FB
u
s
es
lin
ea
r
g
o
v
er
n
o
r
a
n
d
tu
r
b
in
e
d
y
n
am
ics
with
r
eh
ea
t
d
elay
,
ig
n
o
r
in
g
n
o
n
lin
ea
r
ities
.
Sy
s
tem
d
y
n
am
ics
ar
e
an
al
y
ze
d
b
y
u
s
in
g
PID
,
TID
,
an
d
PID
-
T
I
D
co
n
tr
o
ller
in
a
th
er
m
al
-
win
d
-
R
FB
-
AVR
s
y
s
tem
.
C
o
n
tr
o
ller
g
ain
s
ar
e
o
p
tim
ized
b
y
B
SA
tech
n
iq
u
e
c
o
n
s
id
er
in
g
I
SE
as p
er
f
o
r
m
an
ce
in
d
ex
in
(
8
)
.
ISE
=
∫
{
(
Δ
F
)
2
+
(
Δ
P
m
-
n
)
2
}
.dt
0
(
8
)
No
m
in
al
v
alu
es
ar
e:
W
T
S:
K
WTS
=
1
.
2
5
,
T
WTS
=
0
.
0
4
1
s
;
T
h
er
m
al
s
y
s
tem
:
F
i
=
6
0
Hz,
B
i
=
0
.
4
2
5
MW
p
.
u
.
,
H
i
=
5
.
0
0
s
,
T
ij
=
0
.
0
8
6
0
p
.
u
.
MW/ra
d
,
T
gi
=
0
.
0
8
0
s
,
Kp
i
=
1
2
0
Hz/p
.
u
.
,
R
i
=
2
.
4
Hz/p
.
u
.
,
B
i
=
0
.
4
2
5
MW/Hz,
Tp
i
=
2
0
s
,
,
T
t
i
=
0
.
3
s
,
Kr
i
=
0
.
5
,
T
r
i
=
1
0
s
; a
n
d
R
FB
as E
S
D:
K
RFB
=
1
.
0
,
T
RFB
=
0
.
0
1
s
.
4.
ANALY
SI
S O
F
S
I
M
U
L
A
T
I
O
N
RE
SU
L
T
S
4
.
1
.
Co
ntr
o
llers’
a
s
s
ess
m
ent
T
h
er
m
al
s
y
s
tem
in
Fig
u
r
e
1
i
s
s
tu
d
ied
with
PID
,
T
I
D
,
an
d
PID
-
T
I
D
co
n
tr
o
ller
s
in
d
ep
e
n
d
en
tly
.
T
h
e
g
ain
s
o
f
th
ese
co
n
tr
o
ller
s
ar
e
en
h
an
ce
d
b
y
B
SA,
with
th
e
o
p
tim
al
v
alu
es
p
r
o
v
i
d
ed
in
T
a
b
le
1
.
C
o
m
p
ar
is
o
n
o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
Utiliz
a
tio
n
o
f B
S
A
o
p
timiz
ed
c
a
s
ca
d
e
co
n
tr
o
ller
in
a
r
en
ewa
b
le
en
erg
y
-
b
a
s
ed
…
(
R
a
mb
a
b
u
K
a
s
u
ku
r
th
i
)
549
th
e
co
n
tr
o
ller
d
y
n
am
ics
is
s
h
o
wn
in
Fig
u
r
e
3
(
a)
.
T
ab
le
2
s
u
m
m
ar
izes
th
e
p
er
f
o
r
m
an
ce
i
n
d
icato
r
s
,
in
clu
d
in
g
POS,
PUS,
an
d
ST,
wh
ich
ar
e
d
er
iv
ed
f
r
o
m
t
h
e
r
esu
lts
d
ep
ict
ed
in
Fig
u
r
e
3
(
a)
.
A
co
m
p
r
eh
en
s
iv
e
ex
am
in
atio
n
o
f
Fig
u
r
e
3
(
a)
,
alo
n
g
with
th
e
p
er
f
o
r
m
an
ce
m
etr
ics
i
n
T
ab
le
2
,
in
d
icate
s
th
e
PID
-
T
I
D
co
n
tr
o
ller
d
em
o
n
s
tr
ates
s
u
p
er
io
r
d
y
n
am
ics
o
v
er
th
e
PID
an
d
T
I
D
co
n
tr
o
ller
s
an
d
is
u
tili
ze
d
f
o
r
th
e
r
em
ain
d
er
o
f
th
e
s
tu
d
ies.
T
h
e
PID
-
T
I
D
c
o
n
tr
o
ller
was
tu
n
ed
u
s
in
g
B
SA
with
d
if
f
er
en
t
p
er
f
o
r
m
an
ce
in
d
ices,
an
d
Fig
u
r
e
3
(
b
)
s
h
o
ws th
at
I
SE
y
ield
s
t
h
e
b
est im
p
r
o
v
em
en
t in
s
y
s
tem
d
y
n
a
m
ics.
T
ab
le
1
.
Op
tim
u
m
PID
,
T
I
D,
an
d
PID
-
T
I
D
co
n
tr
o
ller
v
alu
es
C
o
n
t
r
o
l
l
e
r
O
p
t
i
mal
v
a
l
u
e
s
P
I
D
K
KP1
*
=
0
.
5
3
0
0
,
K
K
I1
*
=
0
.
2
0
9
0
,
K
KD1
*
=
0
.
2
4
0
2
,
K
KP2
*
=
0
.
6
0
0
4
,
K
K
I2
*
=
0
.
2
0
8
7
,
K
KD2
*
=
0
.
2
1
4
0
TI
D
K
K
T
1
*
=
0
.
7
3
0
,
K
K
I1
*
=
0
.
3
0
2
1
,
K
KD1
*
=
0
.
2
4
5
0
,
N
K1
*
=
9
2
.
5
2
0
,
n
K1
=
4
.
4
2
0
,
K
K
T
2
*
=
0
.
7
3
4
1
,
K
K
I
2
*
=
0
.
2
9
4
0
,
K
KD2
*
=
0
.
2
5
0
1
,
N
K2
*
=
9
2
.
6
2
0
,
n
K2
*
=
4
.
3
6
0
P
I
D
-
T
I
D
K
KP1
*
=
0
.
6
6
0
0
,
K
K
I1
*
=
0
.
2
0
9
0
,
K
KD1
*
=
0
.
2
3
4
2
,
K
KP2
*
=
0
.
5
9
9
0
,
K
K
I
2
*
=
0
.
2
0
7
2
,
K
KD2
*
=
0
.
2
3
9
1
,
K
K
T
1
*
=
0
.
6
8
3
,
K
K
I1
*
=
0
.
2
7
3
0
,
K
KD1
*
=
0
.
2
1
0
5
,
n
K1
=
4
.
6
0
0
,
K
K
T
2
*
=
0
.
6
1
8
0
,
K
K
I2
*
=
0
.
2
0
5
0
,
K
KD2
*
=
0
.
2
0
1
6
,
n
K2
*
=
4
.
6
0
1
(
a)
(
b
)
Fig
u
r
e
3
.
Per
f
o
r
m
an
c
e
co
m
p
ar
is
o
n
o
f
co
n
tr
o
l stra
teg
ies:
(
a)
f
o
r
PI,
PID
,
an
d
PID
–
T
I
D
c
o
n
t
r
o
ller
co
m
p
ar
is
o
n
s
an
d
(
b
)
co
m
p
ar
is
o
n
s
with
v
ar
i
o
u
s
in
d
ices
T
ab
le
2
.
Sy
s
tem
d
y
n
am
ic
p
e
r
f
o
r
m
an
ce
c
o
m
p
ar
is
o
n
f
r
o
m
Fig
u
r
e
3
R
e
s
p
o
n
se
s
I
n
d
i
c
e
s
P
I
D
-
T
I
D
P
I
D
PI
∆F
1
P
O
s
0
.
0
0
3
5
0
.
0
0
4
4
0
.
0
0
6
7
P
U
s
0
.
0
1
1
6
0
.
0
2
4
7
0
.
0
2
6
0
ST
3
7
.
9
9
0
4
6
.
8
6
0
5
3
.
7
0
0
4
.
2
.
Co
m
pa
riso
n wit
h v
a
rio
us
a
lg
o
rit
hm
s
Var
io
u
s
alg
o
r
ith
m
s
s
u
ch
as
B
SA,
f
lo
wer
p
o
llin
atio
n
alg
o
r
ith
m
an
d
cu
c
k
o
o
s
ea
r
ch
ar
e
co
n
s
id
er
ed
with
m
etr
ics
s
u
ch
as
co
n
v
er
g
en
ce
r
ate
ar
e
e
v
alu
ated
.
Fig
u
r
e
4
(
a)
s
h
o
ws
th
e
s
im
u
latio
n
r
esu
lts
f
o
r
th
e
th
r
ee
alg
o
r
ith
m
s
,
with
co
n
v
er
g
e
n
ce
an
aly
s
is
co
n
f
i
r
m
in
g
th
e
B
SA
alg
o
r
ith
m
’
s
s
u
p
er
io
r
ity
in
o
p
tim
izin
g
t
h
e
PID
-
T
I
D
co
n
tr
o
ller
.
T
h
e
r
esu
lts
d
em
o
n
s
tr
ate
B
SA’
s
p
o
ten
tial
to
en
h
an
ce
co
n
v
er
g
en
ce
r
ate
an
d
ac
cu
r
ac
y
in
p
o
wer
s
y
s
tem
o
p
tim
izatio
n
.
4.
3
.
E
v
a
lua
t
i
o
n o
f
WT
S
inte
g
ra
t
io
n im
pa
c
t
o
n sy
s
t
em
pe
rf
o
rma
nce
I
n
C
ase
-
4
.
1
,
t
h
e
s
y
s
tem
u
n
d
e
r
in
v
esti
g
atio
n
is
am
alg
a
m
ate
d
with
W
T
S.
T
h
e
PID
-
T
I
D
c
o
n
tr
o
ller
,
id
en
tifie
d
as
th
e
b
est
p
er
f
o
r
m
er
in
C
ase
-
4
.
1
,
is
em
p
lo
y
e
d
a
n
d
is
o
p
tim
ized
b
y
B
SA.
T
h
e
o
p
tim
al
PID
-
T
I
D
p
ar
am
eter
s
ar
e
in
T
ab
le
3
.
T
h
e
d
y
n
am
ic
c
o
m
p
a
r
is
o
n
is
m
ad
e
with
th
e
th
er
m
al
u
n
it
in
Fig
u
r
e
4
(
b
)
.
I
t
clea
r
ly
in
d
icate
s
th
at
th
e
in
teg
r
atio
n
o
f
W
T
S lea
d
s
to
en
h
an
ce
d
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
.
(
a)
(
b
)
Fig
u
r
e
4
.
Dy
n
am
ic
co
m
p
ar
is
o
n
s
: (
a)
alg
o
r
ith
m
co
m
p
ar
is
o
n
s
an
d
(
b
)
with
an
d
with
o
u
t WTS u
n
its
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
15
,
No
.
2
,
J
u
n
e
20
26
:
546
-
553
550
T
ab
le
3
.
Op
tim
u
m
v
alu
es o
f
th
e
PID
-
T
I
D
co
n
tr
o
ller
co
n
s
id
er
in
g
W
T
S u
n
it
P
a
r
a
me
t
e
r
V
a
l
u
e
P
a
r
a
me
t
e
r
V
a
l
u
e
P
a
r
a
me
t
e
r
V
a
l
u
e
K
KP1
*
0
.
6
8
0
0
K
K
I1
*
0
.
2
2
0
5
K
KD1
*
0
.
2
4
7
2
K
KP2
*
0
.
6
2
0
0
K
K
I2
*
0
.
2
0
8
8
K
KD2
*
0
.
2
4
1
0
K
K
T
1
*
0
.
6
8
9
5
K
K
I1
*
0
.
3
0
0
1
K
KD1
*
0
.
2
1
7
8
n
K1
4
.
5
8
0
K
K
T
2
*
0
.
6
3
1
0
K
K
I2
*
0
.
2
0
8
6
K
KD2
*
0
.
2
2
1
0
n
K2
*
4
.
0
0
1
4.
4
.
E
v
a
lua
t
i
o
n o
f
E
SD int
eg
ra
t
io
n o
n sy
s
t
em
dy
na
m
ics
Sectio
n
4
.
3
ex
p
l
o
r
es
th
e
i
n
teg
r
atio
n
o
f
R
FB
in
to
th
e
s
y
s
tem
,
co
n
s
id
er
i
n
g
t
h
e
PID
-
T
I
D
co
n
tr
o
ller
ad
ju
s
ted
b
y
B
SA,
with
th
e
o
p
tim
al
v
alu
es
in
T
ab
le
4
.
T
h
e
d
y
n
am
ics
with
an
d
with
o
u
t
E
SD
ar
e
illu
s
tr
ated
i
n
Fig
u
r
e
5
.
Fro
m
Fig
u
r
es
5
(
a)
an
d
5
(
b
)
,
th
e
s
y
s
tem
with
th
e
E
SD
lin
k
ex
h
ib
its
s
ig
n
if
ican
tly
b
etter
d
y
n
am
ic
p
er
f
o
r
m
an
ce
co
m
p
ar
e
d
to
th
e
s
y
s
tem
with
o
u
t it.
T
ab
le
4
.
Op
tim
al
PID
-
T
I
D
c
o
n
tr
o
ller
with
E
SD
P
a
r
a
me
t
e
r
V
a
l
u
e
P
a
r
a
me
t
e
r
V
a
l
u
e
P
a
r
a
me
t
e
r
V
a
l
u
e
K
KP1
*
0
.
6
9
0
5
K
K
I1
*
0
.
2
2
7
8
K
KD1
*
0
.
2
4
9
4
K
KP2
*
0
.
6
5
0
7
K
K
I2
*
0
.
2
2
8
0
K
KD2
*
0
.
2
5
0
0
K
K
T
1
*
0
.
7
0
7
0
K
K
I1
*
0
.
3
1
0
0
K
KD1
*
0
.
2
2
0
2
n
K1
5
.
0
0
2
K
K
T
2
*
0
.
6
4
4
0
K
K
I2
*
0
.
2
1
0
0
K
KD2
*
0
.
2
4
1
5
n
K2
*
5
.
3
0
0
(
a)
(
b
)
Fig
u
r
e
5
.
Sy
s
tem
p
e
r
f
o
r
m
an
ce
with
an
d
with
o
u
t
E
SD in
teg
r
a
tio
n
: (
a)
Δ
F
1
an
d
(
b
)
Δ
Pti
e
12
4.
5
.
Sens
it
iv
it
y
a
na
l
y
s
is
T
o
esti
m
ate
th
e
s
tu
r
d
in
ess
o
f
th
e
to
p
-
p
er
f
o
r
m
in
g
PID
-
T
I
D
co
n
tr
o
ller
f
r
o
m
C
ase
Stu
d
y
-
A,
we
co
n
s
id
er
two
lo
ad
in
g
s
ce
n
ar
io
s
—
2
5
% a
n
d
7
5
%
—
b
y
v
ar
y
i
n
g
th
e
s
y
s
tem
lo
ad
b
y
±
2
5
% f
r
o
m
th
e
n
o
m
i
n
al
5
0
%
lo
ad
in
g
.
Af
ter
a
p
p
ly
in
g
B
SA,
th
e
o
p
tim
al
co
n
tr
o
ller
s
ettin
g
s
f
o
r
ea
ch
s
ce
n
a
r
io
ar
e
p
r
esen
ted
in
T
ab
le
5
.
Fig
u
r
e
s
6
(
a)
a
n
d
6
(
b
)
co
m
p
ar
e
an
d
illu
s
tr
ate
th
e
s
y
s
tem
d
y
n
am
ics
f
o
r
t
h
r
ee
lo
a
d
s
ce
n
ar
i
o
s
:
2
5
%,
5
0
%,
a
n
d
7
5
%.
T
h
e
PID
-
T
I
D
co
n
tr
o
ller
co
n
s
is
ten
tly
m
ain
tain
s
s
tr
o
n
g
p
er
f
o
r
m
an
ce
,
ev
e
n
with
lo
ad
d
ev
iatio
n
s
o
f
±
2
5
%
f
r
o
m
th
e
n
o
m
i
n
al
v
al
u
e,
as
s
h
o
wn
b
y
t
h
e
d
y
n
am
ic
r
esp
o
n
s
es.
T
h
is
d
em
o
n
s
tr
ates
th
at
th
e
PID
-
T
I
D
co
n
t
r
o
ller
o
f
f
er
s
s
tab
le
p
er
f
o
r
m
a
n
ce
ac
r
o
s
s
a
r
an
g
e
o
f
s
y
s
tem
lo
ad
i
n
g
c
o
n
d
itio
n
s
.
(
a)
(
b
)
Fig
u
r
e
6
.
Sy
s
tem
p
e
r
f
o
r
m
an
ce
at
d
if
f
er
en
t l
o
ad
in
g
:
(
a)
Δ
F
1
an
d
(
b
)
Δ
P
tie1
-
2
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
Utiliz
a
tio
n
o
f B
S
A
o
p
timiz
ed
c
a
s
ca
d
e
co
n
tr
o
ller
in
a
r
en
ewa
b
le
en
erg
y
-
b
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Fig
u
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u
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ig
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u
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An
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atter
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atin
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NC
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1
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A
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l
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g
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n
e
e
rin
g
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t
th
e
C
o
ll
e
g
e
o
f
En
g
in
e
e
rin
g
,
An
d
h
ra
U
n
iv
e
rsit
y
.
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h
o
ld
s
a
n
M
.
Tec
h
.
d
e
g
re
e
in
p
o
we
r
sy
ste
m
s
fr
o
m
Ac
h
a
ry
a
N
a
g
a
rju
n
a
U
n
iv
e
rsit
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,
G
u
n
tu
r.
Hi
s
re
se
a
rc
h
in
tere
sts
i
n
c
lu
d
e
p
o
we
r
sy
ste
m
s
a
n
d
sm
a
rt
g
rid
s
.
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h
a
s
p
u
b
li
sh
e
d
se
v
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ra
l
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se
a
rc
h
p
a
p
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to
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c
h
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s,
d
e
m
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d
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sid
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g
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T
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e
n
a
b
le
d
sm
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rt
p
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r
sy
ste
m
s.
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c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
ra
m
b
a
b
u
.
k
a
su
k
u
rt
h
i@
g
m
a
il
.
c
o
m
.
Dr
.
R.
S
r
in
u
Na
ik
is
a
n
a
s
so
c
iate
p
ro
fe
ss
o
r
in
th
e
De
p
a
rt
m
e
n
t
o
f
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e
c
tri
c
a
l
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g
i
n
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e
rin
g
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t
th
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Co
ll
e
g
e
o
f
En
g
in
e
e
rin
g
,
An
d
h
ra
Un
i
v
e
rsity
.
He
e
a
rn
e
d
h
is
P
h
.
D.
fro
m
th
e
sa
m
e
u
n
iv
e
rsit
y
wit
h
a
sp
e
c
ial
iza
ti
o
n
in
p
o
we
r
sy
ste
m
s,
e
lec
tri
c
a
l
e
a
rth
in
g
,
a
n
d
n
o
n
-
c
o
n
v
e
n
ti
o
n
a
l
e
n
e
rg
y
sy
ste
m
s.
W
it
h
o
v
e
r
2
5
y
e
a
rs
o
f
a
c
a
d
e
m
ic
e
x
p
e
rien
c
e
,
h
e
h
a
s
se
rv
e
d
i
n
v
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rio
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s
ro
les
,
ra
n
g
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n
g
fro
m
tea
c
h
in
g
a
ss
istan
t
t
o
a
ss
istan
t
p
ro
fe
s
so
r
a
n
d
a
ss
o
c
iate
p
ro
fe
ss
o
r
.
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h
a
s
su
c
c
e
ss
fu
ll
y
g
u
id
e
d
d
o
c
to
ra
l
re
se
a
rc
h
,
p
u
b
li
s
h
e
d
n
u
m
e
r
o
u
s
re
se
a
rc
h
a
rti
c
les
,
b
o
o
k
c
h
a
p
ters
,
a
n
d
b
o
o
k
s,
a
n
d
c
o
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t
in
u
e
s
to
c
o
n
tri
b
u
te
a
c
ti
v
e
ly
to
a
d
v
a
n
c
e
m
e
n
ts
in
p
o
we
r
e
n
g
in
e
e
rin
g
a
n
d
re
n
e
wa
b
le en
e
r
g
y
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
n
a
ik
n
a
ik
n
a
ik
@
g
m
a
il
.
c
o
m
.
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