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ied P
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20
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~
1
179
I
SS
N:
2252
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s
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b
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l
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teg
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l
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d
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ti
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ID)
c
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tr
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ly
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se
d
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iffere
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t
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ra
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e
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ice
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o
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E)
,
a
n
d
i
n
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ra
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ti
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e
sq
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re
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S
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e
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p
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d
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s
fit
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ti
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ATLAB/S
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d
to
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d
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b
a
se
d
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n
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n
g
.
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h
e
re
su
lt
s
h
ig
h
li
g
h
t
t
h
e
c
rit
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l
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f
o
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b
a
s
e
d
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ID
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t
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ti
o
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a
n
d
p
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v
id
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ra
c
ti
c
a
l
g
u
id
e
li
n
e
s
fo
r
b
u
c
k
–
b
o
o
st
c
o
n
v
e
rters
in
P
V ap
p
li
c
a
ti
o
n
s.
K
ey
w
o
r
d
s
:
B
u
ck
-
b
o
o
s
t c
o
n
v
er
ter
DC
-
DC
co
n
v
er
ter
Gen
etic
alg
o
r
ith
m
I
n
teg
r
al
er
r
o
r
m
et
r
ics
PID
co
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
:
Su
b
r
am
an
y
a
B
h
at
NI
T
T
E
(
Dee
m
ed
to
b
e
Un
iv
e
r
s
ity
)
,
Dep
ar
tm
en
t o
f
E
lectr
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cs a
n
d
C
o
m
m
u
n
icatio
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E
n
g
i
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ee
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in
g
NM
AM
I
n
s
titu
te
o
f
T
ec
h
n
o
l
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y
,
Nitte,
Vis
v
esv
ar
ay
a
T
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h
n
o
lo
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ical
Un
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er
s
ity
B
elag
av
i
-
5
9
0
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1
8
,
Kar
n
atak
a,
I
n
d
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E
m
ail:
s
b
h
at2
2
@
n
itte.e
d
u
.
in
1.
I
NT
RO
D
UCT
I
O
N
W
ith
th
e
in
cr
ea
s
in
g
c
o
m
p
lex
i
ty
o
f
m
o
d
e
r
n
p
o
wer
elec
tr
o
n
i
c
s
y
s
tem
s
,
th
er
e
is
a
n
o
tab
le
tr
an
s
itio
n
f
r
o
m
class
ical
p
r
o
p
o
r
tio
n
al
–
i
n
teg
r
al
–
d
e
r
iv
ativ
e
(
PID
)
tu
n
i
n
g
m
et
h
o
d
s
t
o
in
tellig
e
n
t,
o
p
tim
izatio
n
-
b
ased
s
tr
ateg
ies
th
at
o
f
f
er
im
p
r
o
v
ed
ad
ap
tab
ilit
y
a
n
d
p
er
f
o
r
m
an
ce
u
n
d
e
r
r
ea
l
-
wo
r
ld
o
p
er
atin
g
c
o
n
d
itio
n
s
[
1
]
.
DC
–
DC
co
n
v
er
ter
s
p
la
y
a
ce
n
tr
al
r
o
le
i
n
th
ese
s
y
s
tem
s
,
en
a
b
lin
g
th
e
r
eliab
le
tr
a
n
s
f
o
r
m
atio
n
o
f
v
o
lta
g
e
lev
els
n
ee
d
ed
t
o
s
u
p
p
o
r
t
s
af
e
an
d
ef
f
icien
t
p
o
we
r
d
eliv
e
r
y
ac
r
o
s
s
d
iv
er
s
e
an
d
d
y
n
a
m
ic
co
n
d
itio
n
s
[
2
]
.
Am
o
n
g
v
ar
io
u
s
to
p
o
lo
g
ies,
t
h
e
b
u
c
k
–
b
o
o
s
t
c
o
n
v
e
r
ter
s
u
p
p
o
r
ts
b
o
th
s
tep
-
u
p
an
d
s
tep
-
d
o
wn
o
p
er
atio
n
,
m
ak
in
g
it
s
u
itab
le
f
o
r
s
y
s
tem
s
th
at
m
u
s
t
r
eg
u
late
o
u
tp
u
t
v
o
ltag
e
ac
r
o
s
s
a
wid
e
r
an
g
e
o
f
in
p
u
t
c
o
n
d
itio
n
s
[
3
]
.
T
h
is
ca
p
ab
ilit
y
is
p
a
r
ticu
lar
ly
im
p
o
r
tan
t
in
r
en
ewa
b
le
en
e
r
g
y
s
y
s
tem
s
,
s
u
ch
as
PV
ar
r
a
y
s
,
wh
er
e
o
u
tp
u
t
v
o
ltag
e
is
h
ig
h
ly
s
en
s
itiv
e
to
ch
a
n
g
es
in
ir
r
ad
ian
ce
,
s
h
a
d
in
g
,
a
n
d
tem
p
er
atu
r
e.
I
n
s
u
ch
s
y
s
tem
s
,
m
ax
im
u
m
p
o
wer
p
o
in
t
tr
ac
k
in
g
(
MPPT)
alg
o
r
ith
m
s
a
r
e
ty
p
ically
in
teg
r
ated
with
DC
–
DC
co
n
v
er
ter
s
to
o
p
tim
ize
en
er
g
y
ex
tr
ac
tio
n
.
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
P
erfo
r
ma
n
ce
ev
a
lu
a
tio
n
o
f a
GA
-
tu
n
ed
P
I
D
co
n
tr
o
ller
fo
r
a
b
u
ck
–
b
o
o
s
t
…
(
Ma
h
a
b
a
lesh
w
a
r
a
B
h
a
t
P.
)
1169
T
h
e
b
u
ck
–
b
o
o
s
t
co
n
v
er
ter
is
f
r
eq
u
e
n
tly
em
p
lo
y
e
d
in
MPPT
im
p
lem
en
tatio
n
s
d
u
e
to
its
ab
ilit
y
to
m
ain
tain
r
eg
u
lated
o
u
tp
u
t
d
esp
ite
wid
e
v
ar
iatio
n
s
in
th
e
PV p
a
n
el’
s
o
p
er
atin
g
p
o
in
t [
3
]
,
[
4
]
.
R
ec
en
t
s
tu
d
ies
h
av
e
em
p
h
asized
th
e
n
ee
d
f
o
r
ac
cu
r
ate
an
d
r
esp
o
n
s
iv
e
co
n
tr
o
l
in
n
o
n
lin
ea
r
an
d
d
y
n
am
ic
s
y
s
tem
s
,
wh
er
e
class
ical
tu
n
in
g
m
eth
o
d
s
o
f
ten
f
ail
to
m
ee
t
p
er
f
o
r
m
an
ce
r
eq
u
i
r
em
en
ts
[
5
]
.
I
n
p
o
wer
elec
tr
o
n
ic
ap
p
licatio
n
s
,
th
e
PI
D
co
n
tr
o
ller
r
em
ain
s
a
co
m
m
o
n
ly
u
s
ed
s
o
lu
tio
n
d
u
e
to
its
s
tr
u
ctu
r
al
s
im
p
licity
,
ea
s
e
o
f
im
p
lem
en
tatio
n
,
an
d
s
u
itab
ilit
y
f
o
r
r
ea
l
-
tim
e
o
p
er
atio
n
[
1
]
,
[
6
]
.
Ho
we
v
er
,
c
o
n
v
en
tio
n
al
tu
n
in
g
tech
n
iq
u
es
s
u
ch
as
Z
ieg
ler
–
N
ich
o
ls
an
d
C
o
h
en
–
C
o
o
n
o
f
te
n
r
esu
lt
in
h
ig
h
o
v
er
s
h
o
o
t,
lo
n
g
er
s
ettlin
g
tim
es,
an
d
p
o
o
r
d
is
tu
r
b
a
n
ce
r
ejec
tio
n
u
n
d
er
ch
a
n
g
in
g
o
p
er
atin
g
co
n
d
itio
n
s
[
7
]
–
[
9
]
.
T
h
ese
ch
allen
g
es
b
ec
o
m
e
p
ar
ticu
lar
ly
e
v
id
en
t
in
tim
e
v
ar
y
in
g
s
y
s
tem
s
lik
e
PV
-
co
n
n
ec
ted
DC
-
DC
co
n
v
er
ter
s
,
wh
er
e
in
p
u
t
an
d
lo
ad
v
ar
iatio
n
s
ar
e
f
r
e
q
u
en
t a
n
d
o
f
t
en
u
n
p
r
ed
ictab
le
[
3
]
.
T
o
ad
d
r
ess
th
ese
ch
allen
g
es
o
f
co
n
v
e
n
tio
n
al
PID
tu
n
in
g
,
m
an
y
r
ec
e
n
t
s
tu
d
ies
h
av
e
tu
r
n
ed
to
m
etah
eu
r
is
tic
o
p
tim
izatio
n
tec
h
n
iq
u
es,
with
g
en
etic
alg
o
r
ith
m
s
(
GA)
s
tan
d
in
g
o
u
t
as
a
f
le
x
ib
le
an
d
ef
f
ec
tiv
e
alter
n
ativ
e.
Un
lik
e
class
ical
m
eth
o
d
s
,
GA
ca
n
ef
f
icien
tly
ex
p
lo
r
e
a
wid
e
r
a
n
g
e
o
f
p
o
s
s
ib
le
s
o
lu
tio
n
s
to
id
en
tify
o
p
tim
al
PID
g
ain
v
al
u
es
b
y
m
in
im
izin
g
tim
e
-
d
o
m
a
in
er
r
o
r
m
etr
ics
s
u
ch
as
th
e
in
t
eg
r
al
ab
s
o
lu
te
er
r
o
r
(
I
AE
)
,
in
te
g
r
al
s
q
u
a
r
e
er
r
o
r
(
I
SE)
,
in
teg
r
al
tim
e
ab
s
o
lu
te
e
r
r
o
r
(
I
T
AE
)
,
a
n
d
in
te
g
r
al
tim
e
s
q
u
ar
e
e
r
r
o
r
(
I
T
SE)
[
1
0
]
–
[
1
2
]
.
GA
-
b
ased
tu
n
in
g
a
p
p
lied
to
a
b
u
ck
co
n
v
er
ter
ac
h
iev
ed
a
r
ed
u
ctio
n
in
o
v
er
s
h
o
o
t
to
4
.
1
7
%,
with
a
s
ettlin
g
tim
e
o
f
5
3
8
μ
s
[
1
3
]
.
Similar
ly
,
an
im
p
r
o
v
em
en
t
o
f
ap
p
r
o
x
im
ately
3
2
.
6
%
in
o
v
er
s
h
o
o
t,
alo
n
g
with
a
f
aster
r
is
e
tim
e,
was
ac
h
iev
ed
u
s
in
g
GA
o
p
tim
ized
PID
g
ai
n
s
[
1
4
]
.
Fu
r
t
h
er
m
o
r
e,
e
n
h
an
ce
d
d
y
n
am
ic
r
esp
o
n
s
e
in
elec
tr
o
h
y
d
r
a
u
lic
s
y
s
tem
s
was
o
b
tain
ed
b
y
em
p
l
o
y
in
g
G
A
-
b
ased
tu
n
i
n
g
with
I
AE
a
n
d
I
T
AE
as
o
b
jectiv
e
f
u
n
ctio
n
s
[
1
5
]
.
Ho
wev
er
,
th
e
p
er
f
o
r
m
an
ce
o
f
GA
o
p
tim
ized
PID
t
u
n
in
g
is
af
f
ec
ted
n
o
t
o
n
ly
b
y
t
h
e
o
p
t
im
izatio
n
p
r
o
ce
s
s
its
elf
,
b
u
t a
ls
o
b
y
th
e
ch
o
ice
o
f
er
r
o
r
cr
iter
io
n
.
T
h
es
e
ar
e
ty
p
ically
s
elec
ted
f
r
o
m
f
o
u
r
in
teg
r
al
m
etr
ics:
I
AE
,
I
SE,
I
T
AE
,
an
d
I
T
SE.
E
ac
h
o
f
th
ese
in
d
ices
p
r
io
r
iti
ze
s
a
d
if
f
er
en
t
asp
ec
t
o
f
d
y
n
am
ic
r
esp
o
n
s
e,
with
I
T
AE
an
d
I
T
SE
o
f
ten
ass
o
ci
ated
with
s
m
o
o
th
er
tr
a
n
s
ien
ts
an
d
b
etter
d
am
p
in
g
c
h
ar
ac
t
er
is
tics
.
T
h
e
I
T
AE
cr
iter
io
n
h
as
b
ee
n
em
p
lo
y
e
d
to
d
esig
n
a
wid
e
-
ar
ea
d
am
p
in
g
co
n
tr
o
ller
,
wh
er
e
tim
e
-
weig
h
ted
er
r
o
r
m
in
im
izatio
n
was
s
h
o
wn
to
ef
f
ec
tiv
ely
en
h
an
ce
d
a
m
p
in
g
p
er
f
o
r
m
a
n
ce
an
d
s
u
p
p
r
ess
lo
w
-
f
r
eq
u
en
cy
o
s
cillatio
n
s
in
p
o
wer
s
y
s
tem
s
[
1
5
]
.
I
t
h
as
b
ee
n
s
h
o
w
n
th
at
I
T
SE
-
b
ased
tu
n
i
n
g
lead
s
to
i
m
p
r
o
v
e
d
d
am
p
in
g
p
er
f
o
r
m
an
ce
in
m
icr
o
g
r
id
f
r
e
q
u
en
cy
r
eg
u
latio
n
[
1
6
]
.
I
n
a
r
elate
d
s
tu
d
y
,
a
g
r
ey
wo
lf
o
p
ti
m
izer
(
GW
O)
tu
n
ed
u
s
in
g
r
o
o
t
m
ea
n
s
q
u
ar
e
e
r
r
o
r
(
R
MSE
)
ac
h
iev
e
d
s
u
p
e
r
io
r
v
o
ltag
e
r
eg
u
latio
n
in
a
DC
–
DC
b
o
o
s
t
co
n
v
er
ter
co
m
p
ar
ed
to
GA
an
d
p
ar
ticl
e
s
war
m
o
p
tim
izatio
n
(
PSO
)
,
with
f
ewe
r
tr
an
s
ien
t
o
s
cillatio
n
s
d
u
r
in
g
lo
a
d
v
ar
iatio
n
s
[
1
1
]
.
A
GA
an
d
PS
O
-
b
ased
I
T
AE
o
p
tim
izatio
n
wer
e
p
r
o
p
o
s
ed
f
o
r
tu
n
in
g
a
FOPID
co
n
tr
o
ller
in
DC
m
o
to
r
p
o
s
itio
n
co
n
tr
o
l,
wh
er
e
GA
tu
n
in
g
d
e
m
o
n
s
tr
at
ed
s
u
p
er
io
r
tr
an
s
ien
t
r
esp
o
n
s
e
co
m
p
ar
e
d
to
PS
O
[
1
7
]
.
B
r
o
ad
e
r
s
u
r
v
ey
s
f
u
r
th
e
r
co
n
f
ir
m
th
at
m
etah
eu
r
is
tic
tu
n
in
g
s
tr
ateg
ies
en
h
an
ce
b
o
th
tr
an
s
ien
t
r
esp
o
n
s
e
an
d
o
v
er
all
s
y
s
tem
r
o
b
u
s
tn
ess
[
9
]
,
[
1
8
]
.
Ad
d
itio
n
ally
,
a
d
etai
led
co
m
p
ar
ativ
e
an
aly
s
is
o
f
I
AE
,
I
SE,
I
T
AE
,
an
d
I
T
SE
d
is
co
v
er
ed
th
at
I
T
SE
d
eliv
er
ed
th
e
m
o
s
t
f
av
o
r
ab
le
c
o
n
tr
o
l
r
esp
o
n
s
e
f
o
r
an
ac
tiv
e
m
ag
n
etic
b
ea
r
in
g
s
y
s
tem
,
h
ig
h
lig
h
tin
g
th
e
cr
i
tical
r
o
le
o
f
o
b
jectiv
e
f
u
n
c
tio
n
s
elec
tio
n
in
ac
h
ie
v
in
g
o
p
tim
u
m
s
y
s
tem
p
er
f
o
r
m
an
ce
[
1
9
]
.
A
s
y
s
tem
atic
an
d
co
m
p
ar
ativ
e
an
aly
s
is
o
f
m
u
ltip
le
in
teg
r
al
er
r
o
r
m
etr
ics
f
o
r
a
b
u
ck
–
b
o
o
s
t
co
n
v
e
r
ter
wo
r
k
in
g
in
b
o
t
h
b
u
ck
an
d
b
o
o
s
t
m
o
d
es
u
n
d
er
id
en
tical
co
n
d
itio
n
s
h
as
n
o
t
b
ee
n
th
o
r
o
u
g
h
ly
in
v
esti
g
ated
in
th
e
liter
atu
r
e.
As
a
r
esu
lt,
t
h
is
li
m
itatio
n
r
ed
u
ce
s
th
e
ap
p
licab
ilit
y
o
f
ex
is
tin
g
s
tu
d
ies
to
s
y
s
tem
s
th
at
r
eg
u
lar
ly
u
n
d
er
g
o
m
o
d
e
tr
an
s
itio
n
s
.
Pre
v
io
u
s
s
tu
d
ies
[
2
0
]
,
[
2
1
]
h
av
e
esti
m
ated
m
u
ltip
le
er
r
o
r
m
etr
i
cs
f
o
r
b
u
ck
–
b
o
o
s
t
co
n
v
er
ter
s
f
o
r
v
ar
y
in
g
in
p
u
t
v
o
ltag
es
an
d
lo
a
d
,
p
r
o
v
id
in
g
in
s
ig
h
ts
in
to
h
o
w
ea
ch
m
etr
i
c
af
f
ec
ts
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
u
n
d
er
d
y
n
am
ic
co
n
d
itio
n
s
.
E
v
en
th
o
u
g
h
[
2
2
]
d
em
o
n
s
tr
ates
th
e
im
p
ac
t
o
f
in
teg
r
al
er
r
o
r
m
etr
ics
o
n
PID
p
e
r
f
o
r
m
an
ce
in
a
G
A
b
ased
co
n
v
er
ter
,
t
h
e
an
aly
s
is
is
lim
ited
to
a
b
u
ck
c
o
n
v
er
ter
.
Desp
ite
th
e
d
em
o
n
s
tr
ated
e
f
f
ec
tiv
en
ess
o
f
PID
co
n
tr
o
ller
s
tu
n
ed
u
s
in
g
m
etah
eu
r
is
tic
ap
p
r
o
ac
h
es
[
2
3
]
,
a
co
m
p
r
eh
en
s
iv
e
ass
es
s
m
en
t
o
f
th
eir
p
er
f
o
r
m
an
ce
ac
r
o
s
s
m
u
ltip
le
in
teg
r
al
er
r
o
r
m
etr
ics
f
o
r
co
n
v
er
ter
s
o
p
er
atin
g
in
b
o
th
b
u
c
k
an
d
b
o
o
s
t m
o
d
es
r
em
ai
n
lack
i
n
g
.
T
o
ad
d
r
ess
th
is
r
esear
ch
g
ap
,
th
is
p
ap
er
p
r
esen
ts
a
GA
-
b
ased
PID
co
n
tr
o
ller
f
o
r
a
b
u
ck
–
b
o
o
s
t
co
n
v
er
ter
,
with
a
p
er
f
o
r
m
a
n
c
e
ev
alu
atio
n
b
ased
o
n
f
o
u
r
in
teg
r
al
er
r
o
r
m
et
r
ics:
I
AE
,
I
T
AE
,
I
SE,
an
d
I
T
SE.
T
h
e
o
r
ig
in
ality
o
f
th
is
wo
r
k
lies
in
th
e
s
y
s
tem
atic
m
u
lti
-
m
etr
ic
co
m
p
ar
is
o
n
u
n
d
er
s
tep
in
p
u
t,
s
o
u
r
ce
tr
a
n
s
ien
t,
an
d
v
ar
y
in
g
lo
ad
co
n
d
itio
n
s
f
o
r
b
o
th
b
u
c
k
an
d
b
o
o
s
t
m
o
d
es.
T
h
is
co
m
p
ar
is
o
n
p
r
o
v
i
d
es
p
r
ac
tical
in
s
ig
h
ts
in
to
er
r
o
r
-
m
etr
ic
s
elec
tio
n
f
o
r
r
o
b
u
s
t c
o
n
tr
o
ller
tu
n
in
g
.
T
h
e
m
ajo
r
co
n
tr
i
b
u
tio
n
s
o
f
th
i
s
p
r
o
p
o
s
ed
wo
r
k
ar
e
as
f
o
llo
w
s
:
i)
A
s
y
s
tem
atic
an
aly
s
is
o
f
th
e
ef
f
ec
t
o
f
f
o
u
r
in
teg
r
al
e
r
r
o
r
m
etr
ic
s
(
I
AE
,
I
SE,
I
T
AE
,
an
d
I
T
S
E
)
o
n
GA
–
b
ased
PID
tu
n
in
g
f
o
r
a
b
u
ck
–
b
o
o
s
t
co
n
v
er
ter
o
p
er
atin
g
in
b
o
th
b
u
ck
an
d
b
o
o
s
t
m
o
d
es.
ii)
A
c
o
m
p
ar
ativ
e
ev
alu
atio
n
o
f
th
e
r
esu
ltan
t
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
u
n
d
e
r
s
tep
i
n
p
u
t,
s
o
u
r
ce
v
o
ltag
e
t
r
an
s
ien
ts
,
an
d
v
ar
y
in
g
lo
ad
co
n
d
itio
n
s
u
s
in
g
MA
T
L
AB
/S
im
u
lin
k
s
im
u
latio
n
s
.
Sectio
n
2
in
tr
o
d
u
ce
s
th
e
b
u
ck
–
b
o
o
s
t
co
n
v
e
r
ter
d
esig
n
,
in
clu
d
in
g
th
e
s
y
s
tem
p
ar
a
m
eter
s
an
d
co
m
p
o
n
en
t
s
elec
tio
n
.
Sectio
n
3
d
escr
ib
es
th
e
tu
n
in
g
p
r
o
ce
s
s
o
f
PID
co
n
tr
o
ller
u
s
in
g
GA,
with
in
teg
r
al
er
r
o
r
m
etr
ics
I
AE
,
I
SE,
I
T
AE
,
an
d
I
T
SE
in
d
iv
id
u
ally
ap
p
lied
as
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f
itn
ess
f
u
n
ctio
n
.
Sectio
n
4
ev
al
u
ates
th
e
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.
1
5
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
1
1
6
8
-
1
1
7
9
1170
s
im
u
latio
n
r
esu
lts
u
n
d
er
test
co
n
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itio
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s
lik
e
s
tep
in
p
u
t,
s
o
u
r
ce
tr
an
s
ien
ts
,
an
d
v
ar
y
in
g
lo
ad
co
n
d
itio
n
s
.
Sectio
n
5
co
n
clu
d
es
th
e
wo
r
k
b
y
s
u
m
m
ar
izin
g
th
e
k
ey
f
in
d
in
g
s
an
d
p
r
o
v
id
i
n
g
r
ec
o
m
m
en
d
atio
n
s
f
o
r
s
elec
tin
g
s
u
itab
le
er
r
o
r
m
et
r
ics b
ased
o
n
c
o
n
tr
o
l
o
b
jectiv
es.
2.
M
E
T
H
O
D
T
h
e
b
u
c
k
–
b
o
o
s
t
co
n
v
e
r
ter
u
s
ed
in
th
is
s
tu
d
y
is
m
o
d
elled
i
n
co
n
tin
u
o
u
s
co
n
d
u
ctio
n
m
o
d
e
(
C
C
M)
,
b
ased
o
n
r
ip
p
le
-
lim
ited
d
esig
n
tech
n
i
q
u
es
p
r
o
p
o
s
e
d
in
[
2
]
.
T
h
e
s
y
s
tem
u
s
ed
i
n
th
is
s
t
u
d
y
wo
r
k
s
with
a
s
witch
in
g
f
r
eq
u
en
cy
f
s
=
2
0
k
Hz.
T
h
e
in
d
u
cto
r
an
d
ca
p
ac
ito
r
v
alu
es
ar
e
ch
o
s
en
to
lim
it
th
e
lo
ad
cu
r
r
en
t
r
ip
p
l
e
(
∆
)
an
d
lo
ad
v
o
lta
g
e
r
ip
p
le
(
∆
)
t
o
u
n
d
er
3
%
an
d
1
%
o
f
th
eir
a
v
er
ag
e
v
alu
es,
r
esp
ec
tiv
ely
.
T
h
e
co
n
v
er
ter
s
u
p
p
lies
a
n
o
u
tp
u
t
v
o
ltag
e
(V
O
)
o
f
1
2
V
to
th
r
ee
DC
lo
ad
s
:
an
L
E
D
tu
b
e
lig
h
t
(
7
W
)
,
a
D
C
f
an
(
1
7
W
)
,
an
d
a
m
o
d
em
(
6
W
)
,
to
talin
g
3
0
W
.
T
h
ese
lo
ad
s
r
esu
lt
in
a
co
m
b
in
ed
r
esis
tiv
e
lo
ad
o
f
R
eq
=
4
.
8
Ω
.
B
ased
o
n
th
e
g
iv
en
p
o
we
r
an
d
v
o
ltag
e
s
p
ec
if
icatio
n
s
,
th
e
in
d
iv
id
u
al
l
o
ad
cu
r
r
e
n
ts
ar
e
ca
lcu
lated
to
b
e
ap
p
r
o
x
im
ately
0
.
5
8
3
A
f
o
r
th
e
L
E
D
tu
b
e
li
g
h
t,
1
.
4
1
7
A
f
o
r
th
e
DC
f
an
,
an
d
0
.
5
A
f
o
r
th
e
m
o
d
em
.
Sin
ce
th
e
lo
ad
s
ar
e
co
n
n
ec
ted
in
p
ar
allel,
th
e
to
tal
cu
r
r
en
t
d
r
awn
f
r
o
m
th
e
co
n
v
e
r
ter
is
ar
o
u
n
d
2
.
5
A.
T
h
e
eq
u
i
v
alen
t
r
esis
tan
ce
o
f
th
e
co
m
b
in
e
d
lo
ad
is
d
eter
m
in
ed
to
b
e
4
.
8
Ω
.
I
n
th
is
wo
r
k
,
th
e
in
p
u
t
v
o
ltag
e
is
allo
wed
to
v
ar
y
with
in
th
e
r
an
g
e
o
f
7
V
to
2
5
V.
T
h
e
m
in
im
u
m
in
d
u
ctan
ce
r
eq
u
ir
ed
to
m
ain
ta
in
a
c
u
r
r
e
n
t
r
i
p
p
le
b
elo
w
3
%
ac
r
o
s
s
th
e
e
n
tire
in
p
u
t
v
o
ltag
e
r
an
g
e
is
ca
lcu
lated
u
s
in
g
(
1
)
.
=
.
.
∆
(
1
)
Her
e,
D
is
th
e
d
u
ty
cy
cle.
Fo
r
V
in
=
7
V,
th
e
ca
lcu
late
d
d
u
ty
cy
cle
is
D
=
0
.
6
3
2
,
th
e
in
d
u
ctan
ce
is
L
1
=
1.
0
8
5
3
m
H,
wh
ile
f
o
r
Vi
n
=
2
5
V,
it
is
3
.
6
5
m
H.
B
ased
o
n
th
ese
v
alu
es,
an
in
d
u
ctan
ce
o
f
L
1
=
3
.
7
mH
i
s
s
elec
ted
f
o
r
th
e
s
im
u
latio
n
.
Nex
t,
th
e
m
in
im
u
m
h
ig
h
-
f
r
e
q
u
e
n
cy
o
u
tp
u
t
ca
p
ac
ito
r
r
eq
u
ir
ed
to
lim
it
th
e
v
o
ltag
e
r
ip
p
le
to
1
% is
ca
lcu
lated
u
s
in
g
(
2
)
.
=
.
.
.
∆
(
2
)
Fo
r
V
in
=
7
V
an
d
a
m
a
x
im
u
m
allo
wab
le
v
o
ltag
e
r
ip
p
le
o
f
0
.
1
2
V,
th
e
r
eq
u
ir
e
d
ca
p
ac
ita
n
ce
is
C
1
=
6
5
8
.
3
μ
F.
Similar
ly
,
f
o
r
V
in
=
2
5
V
,
C
1
is
ca
lcu
lated
to
b
e
3
3
7
.
5
μ
F.
Fo
r
s
im
u
latio
n
,
C
1
=
6
6
0
μ
F
is
s
elec
ted
.
T
h
e
ca
lcu
lated
co
m
p
o
n
en
t
v
alu
es a
r
e
lis
ted
in
T
ab
le
1
.
T
ab
le
1
.
T
h
e
c
alcu
lated
c
o
m
p
o
n
en
t
v
al
u
es o
f
lo
a
d
an
d
co
n
v
er
ter
co
m
p
o
n
en
ts
C
o
m
p
o
n
e
n
t
/
p
a
r
a
me
t
e
r
V
a
l
u
e
R
1
2
0
.
5
7
Ω
R
2
8
.
4
7
Ω
R
3
2
4
Ω
Eq
u
i
v
a
l
e
n
t
l
o
a
d
R
eq
4
.
8
Ω
C
a
p
a
c
i
t
a
n
c
e
(
C
1
)
6
6
0
µ
F
I
n
d
u
c
t
a
n
c
e
(
L
1
)
3
.
7
mH
O
u
t
p
u
t
v
o
l
t
a
g
e
(
V
O
)
-
1
2
V
(
r
e
g
u
l
a
t
e
d
)
2
.
1
.
St
a
t
e
-
s
pa
ce
mo
dellin
g
a
nd
s
t
a
bil
it
y
a
na
ly
s
is
I
n
th
e
s
tate
-
s
p
ac
e
m
o
d
ellin
g
,
th
e
ca
p
ac
ito
r
eq
u
iv
alen
t
s
er
ies
r
esi
s
tan
ce
(
E
SR
)
an
d
in
d
u
cto
r
DC
r
esis
tan
ce
(
DC
R
)
ar
e
n
eg
lecte
d
s
in
ce
th
eir
ef
f
ec
t
at
th
e
lo
w
cr
o
s
s
o
v
er
f
r
eq
u
en
c
y
is
in
s
ig
n
if
ican
t.
DC
R
wo
u
ld
o
n
ly
in
tr
o
d
u
ce
a
s
m
all
d
am
p
in
g
ter
m
,
wh
ile
E
SR
p
r
o
d
u
ce
s
a
n
L
HP
ze
r
o
in
th
e
k
Hz
r
an
g
e
.
L
et
th
e
s
tate
v
ec
to
r
b
e
x
=
[
I
L
V
C
]
T
.
T
h
e
av
e
r
ag
e
d
C
C
M
s
tate
-
s
p
ac
e
eq
u
atio
n
s
ar
e
g
iv
en
i
n
(
3
)
an
d
(
4
).
=
+
(
3
)
=
−
(
4
)
W
h
er
e
th
e
s
y
s
tem
p
ar
am
eter
m
atr
ix
A
is
(
5
)
.
=
[
0
−
1
−
1
−
−
1
]
(
5
)
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
P
erfo
r
ma
n
ce
ev
a
lu
a
tio
n
o
f a
GA
-
tu
n
ed
P
I
D
co
n
tr
o
ller
fo
r
a
b
u
ck
–
b
o
o
s
t
…
(
Ma
h
a
b
a
lesh
w
a
r
a
B
h
a
t
P.
)
1171
T
h
e
i
n
p
u
t
m
atr
ix
B
d
escr
ib
es
h
o
w
th
e
in
p
u
t e
f
f
ec
ts
th
e
s
tate
d
er
iv
ativ
es.
=
[
0
]
(
6
)
T
h
e
ch
ar
ac
ter
is
tic
p
o
ly
n
o
m
ial
is
d
escr
ib
ed
b
y
(
7
)
.
2
+
+
(
1
−
)
2
=
0
(
7
)
T
h
u
s
,
th
e
n
at
u
r
al
f
r
e
q
u
en
c
y
an
d
d
am
p
i
n
g
r
atio
a
r
e
(
8
)
.
=
1
−
√
(
8
)
=
√
2
(
1
−
)
√
(
9
)
T
h
e
p
o
les
ar
e
lo
ca
te
d
at
(
1
0
)
.
=
−
±
√
1
−
2
(
1
0
)
T
h
e
d
u
ty
cy
cle
-
to
-
o
u
tp
u
t sm
all
-
s
ig
n
al
tr
an
s
f
er
f
u
n
ctio
n
is
d
e
f
in
ed
b
y
(
1
1
)
.
(
)
=
−
1
−
2
+
+
(
1
−
)
2
(
1
1
)
T
h
is
ex
p
r
ess
io
n
in
co
r
p
o
r
ates t
h
e
R
HP z
er
o
an
g
u
lar
f
r
eq
u
en
c
y
,
d
ef
in
e
d
as
(
1
2
)
.
,
=
(
1
−
)
2
(
1
2
)
T
h
e
R
HP
ze
r
o
p
r
o
d
u
ce
s
an
in
v
er
s
e
in
itial
r
esp
o
n
s
e
an
d
en
f
o
r
ce
s
a
co
n
s
er
v
ativ
e
cr
o
s
s
o
v
er
f
r
eq
u
e
n
cy
.
I
ts
lo
ca
tio
n
s
h
if
ts
o
u
twar
d
with
in
cr
ea
s
in
g
V
in
,
b
u
t
th
e
m
o
s
t
r
estrictiv
e
ca
s
e
o
cc
u
r
s
at
V
in
=
7
V,
wh
er
e
f
z,
RHP
≈28
Hz,
s
ettin
g
th
e
g
l
o
b
al
b
an
d
wid
th
lim
it.
I
n
th
e
p
r
o
p
o
s
ed
GA
-
b
ased
tu
n
in
g
f
r
am
e
wo
r
k
,
as
ca
n
d
id
ates
attem
p
tin
g
ex
ce
s
s
iv
e
cr
o
s
s
o
v
e
r
f
r
eq
u
en
cies
g
en
er
ate
lar
g
e
er
r
o
r
in
teg
r
als
in
s
im
u
latio
n
,
th
e
y
ar
e
co
n
s
eq
u
en
tly
d
is
ca
r
d
ed
d
u
r
in
g
th
e
ev
o
lu
tio
n
ar
y
s
ea
r
c
h
.
Fo
r
all
i
n
p
u
t
co
n
d
itio
n
s
in
t
h
e
7
to
2
5
V
r
an
g
e,
th
e
lin
ea
r
ized
p
o
les
r
em
ain
in
th
e
le
f
t h
alf
-
p
lan
e,
c
o
n
f
ir
m
in
g
th
at
th
e
a
v
er
ag
e
d
C
C
M
m
o
d
el
is
in
ter
n
ally
s
tab
le.
T
h
e
co
n
tr
o
ller
u
s
ed
is
a
class
ical
PID
s
tr
u
ctu
r
e
wh
o
s
e
p
a
r
am
eter
s
ar
e
o
p
tim
ized
u
s
in
g
GA.
T
h
e
o
p
tim
izatio
n
is
im
p
lem
e
n
ted
in
MA
T
L
AB
/Si
m
u
lin
k
u
s
in
g
th
e
Simu
lin
k
m
o
d
el,
o
p
tim
i
za
tio
n
to
o
lb
o
x
,
an
d
MA
T
L
AB
p
r
o
g
r
am
m
in
g
.
T
h
is
s
tr
u
ctu
r
e
f
o
llo
ws
th
e
tu
n
in
g
f
r
am
ewo
r
k
p
r
esen
ted
in
[
1
3
]
,
[
1
9
]
,
wh
er
e
ea
c
h
o
f
th
e
f
o
u
r
in
teg
r
al
er
r
o
r
m
etr
ics
—
I
AE
,
I
T
AE
,
I
SE,
a
n
d
I
T
SE
—
is
u
s
ed
as
an
in
d
ep
en
d
en
t
f
i
tn
ess
f
u
n
ctio
n
.
T
h
e
GA
s
ea
r
ch
es
th
e
p
ar
am
eter
s
p
ac
e
to
m
in
im
ize
th
e
s
elec
ted
co
s
t
f
u
n
ctio
n
a
n
d
r
etu
r
n
o
p
tim
al
PID
g
ain
s
f
o
r
ea
ch
ca
s
e.
T
h
e
co
n
v
er
ter
’
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1
1
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2
2
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Per
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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1172
3.
GA
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
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E
n
g
I
SS
N:
2252
-
8
7
9
2
P
erfo
r
ma
n
ce
ev
a
lu
a
tio
n
o
f a
GA
-
tu
n
ed
P
I
D
co
n
tr
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ller
fo
r
a
b
u
ck
–
b
o
o
s
t
…
(
Ma
h
a
b
a
lesh
w
a
r
a
B
h
a
t
P.
)
1173
Fig
u
r
e
1
.
T
h
e
p
r
o
ce
s
s
f
o
r
g
e
n
e
r
atin
g
o
p
tim
ized
PID
g
ain
s
Alg
o
r
ith
m
1
: G
A‑
b
ased
PID
t
u
n
in
g
with
I
AE
m
etr
ic
I
n
p
u
t:
Simu
lin
k
m
o
d
el:
m
o
d
el
_
p
id
_
iae
Simu
latio
n
s
to
p
tim
e:
T
_
s
to
p
=
2
s
Ou
tp
u
t:
Op
tim
ized
PID
g
ain
s
: [
Kp
_
o
p
t,
Ki_
o
p
t,
Kd
_
o
p
t
]
1
: I
n
itialize:
lb
←
[
0
,
0
,
0
]
u
b
←
[
5
,
1
0
,
5
]
GA_
o
p
ts
←{Po
p
u
latio
n
Siz
e=
5
0
,
Gen
er
atio
n
s
=4
0
,
Selectio
n
=r
o
u
lette,
C
r
o
s
s
o
v
er
=a
r
ith
m
e
tic(
0
.
8
)
,
Mu
tatio
n
=
ad
ap
tiv
e}
2
: D
ef
in
e
iae_
f
itn
ess
(
x
)
:
Kp
,
Ki,
Kd
←
x
[
1
:
3
]
ass
ig
n
g
ain
s
to
wo
r
k
s
p
ac
e
tr
y
: simu
late
m
o
d
el
f
o
r
T
_
s
to
p
er
r
(
t)
←
er
r
o
r
s
ig
n
al
iae
←
∫
|
er
r
(
t)
|
d
t v
ia
tr
ap
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if
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v
alid
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r
>
1
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3
: ia
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←
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6
ca
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6
r
etu
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iae
3
: [
x
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f
v
al
]
←
g
a(
@
iae_
f
it
n
ess
,
3
,
lb
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u
b
,
GA_
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ts
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4
: K
p
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o
p
t,
Ki_
o
p
t,
K
d
_
o
p
t ←
x
_
o
p
t
[
1
:3
]
Min
_
I
AE
←
f
v
al
5
: D
is
p
lay
Kp
_
o
p
t,
Ki_
o
p
t,
K
d
_
o
p
t,
an
d
Min
_
I
AE
T
h
e
PID
co
n
tr
o
ller
p
ar
am
eter
s
o
b
tain
ed
f
r
o
m
th
e
tu
n
in
g
p
r
o
ce
s
s
ar
e
p
r
esen
ted
in
T
ab
le
3
.
T
h
e
PID
g
ain
s
v
ar
y
d
ep
e
n
d
in
g
o
n
th
e
s
elec
ted
er
r
o
r
m
etr
ic.
T
h
is
v
a
r
iatio
n
h
ig
h
lig
h
ts
h
o
w
ea
ch
c
r
iter
io
n
in
f
l
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en
ce
s
co
n
tr
o
ller
b
eh
av
io
r
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d
is
tin
ct
way
s
.
T
ab
le
3
.
T
h
e
o
p
tim
ized
P
ID
g
ain
s
f
o
r
v
ar
i
o
u
s
in
teg
r
al
e
r
r
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r
p
er
f
o
r
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ce
m
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ics
C
o
n
t
r
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r
p
a
r
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me
t
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r
s
I
A
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I
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E
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TSE
K
p
0
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0
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1
2
0
.
0
0
9
1
7
0
.
0
0
8
0
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9
8
8
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I
9
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9
8
0
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9
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9
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3
T
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e
I
T
AE
-
tu
n
e
d
co
n
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o
ller
p
r
o
d
u
ce
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th
e
s
m
allest d
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iv
ativ
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ain
,
in
d
icatin
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a
p
r
ef
e
r
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f
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ad
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n
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less
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itiv
it
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ast
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n
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ts
.
T
h
is
r
ef
le
cts
th
e
f
in
d
in
g
s
o
f
[
1
1
]
,
[
1
3
]
,
wh
er
e
I
T
AE
-
b
ased
tu
n
in
g
im
p
r
o
v
e
d
s
y
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tem
s
tab
il
ity
,
r
ed
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ce
d
v
o
ltag
e
r
i
p
p
le,
an
d
en
ab
led
f
aster
s
ettlin
g
in
co
n
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ter
s
etu
p
s
.
T
h
e
p
r
o
p
o
r
tio
n
al
a
n
d
in
te
g
r
al
g
ai
n
s
r
em
ain
r
elativ
ely
cl
o
s
e
ac
r
o
s
s
all
f
o
u
r
m
etr
ics.
T
h
is
m
ay
b
e
a
r
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lt
o
f
t
h
e
co
n
v
er
ter
’
s
d
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am
ic
ch
ar
ac
t
er
is
tics
o
r
th
e
GA
's
s
ea
r
ch
co
n
s
tr
ain
ts
,
wh
ich
co
u
ld
h
av
e
co
n
f
i
n
ed
th
e
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.
1
5
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
1
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6
8
-
1
1
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9
1174
o
p
tim
izatio
n
to
a
n
a
r
r
o
w
b
u
t
ef
f
ec
tiv
e
r
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g
io
n
o
f
t
h
e
p
a
r
am
eter
s
p
ac
e.
T
h
e
I
SE
-
b
ased
co
n
tr
o
ller
s
h
o
wed
th
e
h
ig
h
est
co
s
t
v
alu
e,
s
u
p
p
o
r
ti
n
g
th
e
o
b
s
er
v
atio
n
in
[
2
2
]
th
at
s
q
u
ar
in
g
th
e
er
r
o
r
ten
d
s
to
am
p
lify
ea
r
ly
d
ev
iatio
n
s
,
o
f
ten
lead
in
g
to
i
n
cr
ea
s
ed
o
v
er
s
h
o
o
t
an
d
s
lo
w
er
r
esp
o
n
s
e.
I
n
co
n
tr
ast,
th
e
I
T
SE
-
b
ased
tu
n
in
g
p
r
o
v
id
e
d
a
m
o
r
e
b
alan
ce
d
r
esp
o
n
s
e,
with
m
o
d
er
ate
g
ain
v
al
u
es
an
d
s
tr
o
n
g
d
am
p
in
g
c
h
ar
a
cter
is
tics
,
co
n
s
is
ten
t
with
th
e
r
esu
lts
p
r
esen
ted
in
[
1
6
]
.
T
h
er
ef
o
r
e,
th
e
s
elec
tio
n
o
f
an
er
r
o
r
m
etr
ic
h
as
to
b
e
m
a
d
e
d
ep
e
n
d
in
g
o
n
th
e
s
p
ec
if
ic
d
y
n
am
ic
g
o
als o
f
th
e
s
y
s
tem
.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
is
m
o
d
elled
in
MA
T
L
AB
/Si
m
u
lin
k
as
a
clo
s
ed
-
lo
o
p
b
u
ck
–
b
o
o
s
t
co
n
v
er
ter
co
n
tr
o
lled
b
y
a
PID
co
n
tr
o
lle
r
,
wh
o
s
e
g
ain
s
ar
e
ad
ju
s
ted
u
s
in
g
a
g
en
etic
alg
o
r
ith
m
.
GA
-
b
ased
o
p
tim
izatio
n
was
ca
r
r
ied
o
u
t
s
ep
ar
ately
f
o
r
ea
ch
p
er
f
o
r
m
an
ce
in
d
ex
—
I
A
E
,
I
SE,
I
T
AE
,
an
d
I
T
SE
—
y
ield
in
g
f
o
u
r
d
is
tin
ct
s
ets
o
f
PID
g
ain
s
.
T
h
e
co
n
v
er
ter
’
s
d
y
n
am
ic
r
esp
o
n
s
e
was
ev
alu
ated
u
n
d
er
ab
r
u
p
t
ch
an
g
es
in
in
p
u
t
v
o
ltag
e
an
d
lo
ad
,
allo
win
g
ass
ess
m
en
t
o
f
k
ey
tr
an
s
ien
t
p
ar
a
m
eter
s
s
u
ch
as
r
is
e
tim
e,
o
v
er
s
h
o
o
t,
s
ettlin
g
tim
e,
an
d
s
tead
y
-
s
tate
er
r
o
r
.
T
h
is
ap
p
r
o
ac
h
en
ab
les
a
clea
r
co
m
p
ar
is
o
n
o
f
h
o
w
ea
ch
er
r
o
r
m
etr
ic
af
f
ec
ts
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
,
h
ig
h
li
g
h
tin
g
th
e
ad
ap
tab
ilit
y
o
f
GA
-
tu
n
ed
PI
D
co
n
tr
o
l
f
o
r
v
ar
y
in
g
d
esig
n
o
b
jectiv
es.
Fig
u
r
e
2
s
h
o
ws th
e
m
o
d
el
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
.
Fig
u
r
e
2
.
Simu
lin
k
m
o
d
el
o
f
t
h
e
p
r
o
p
o
s
ed
GA
t
u
n
e
d
PID
co
n
tr
o
lled
b
u
ck
–
b
o
o
s
t c
o
n
v
er
ter
4
.
1
.
Ste
p
r
esp
o
ns
e
T
h
e
s
tep
r
esp
o
n
s
e
ev
alu
atio
n
is
d
o
n
e
b
y
ap
p
ly
in
g
a
s
q
u
a
r
e
wav
ef
o
r
m
r
ef
e
r
en
ce
th
at
alter
n
ated
b
etwe
en
0
V
a
n
d
1
2
V
at
0
.
0
5
-
s
ec
o
n
d
in
ter
v
als.
T
h
e
er
r
o
r
s
ig
n
al
is
esti
m
ated
b
y
s
u
b
tr
ac
ti
n
g
th
e
c
o
n
v
e
r
ter
’
s
o
u
tp
u
t
v
o
ltag
e
f
r
o
m
th
is
r
ef
er
en
ce
a
n
d
ap
p
lied
to
th
e
PI
D
co
n
tr
o
ller
.
Fo
r
ea
c
h
p
er
f
o
r
m
an
ce
m
etr
ic,
t
h
e
o
p
tim
ized
PID
g
ain
s
ar
e
a
p
p
li
ed
in
clo
s
ed
-
lo
o
p
s
im
u
latio
n
s
u
n
d
er
b
o
th
b
u
ck
an
d
b
o
o
s
t m
o
d
es.
T
h
e
I
T
AE
-
b
ased
c
o
n
tr
o
ller
d
eliv
er
ed
th
e
f
astes
t
r
is
e
tim
e,
m
in
im
al
s
tead
y
s
tate
er
r
o
r
(
SS
E
)
,
an
d
s
h
o
r
test
s
ettl
in
g
d
u
r
atio
n
,
wh
i
le
th
e
I
T
SE
-
b
ased
co
n
tr
o
ller
ac
h
iev
ed
th
e
lo
west
o
v
er
s
h
o
o
t
with
well
-
d
am
p
ed
an
d
s
tab
le
o
u
t
p
u
t
b
e
h
av
io
r
.
T
h
ese
f
in
d
in
g
s
a
r
e
s
u
p
p
o
r
ted
b
y
[
2
7
]
-
[
2
9
]
,
wh
ich
co
n
f
ir
m
th
at
I
T
AE
an
d
I
T
SE
o
p
tim
izatio
n
co
n
s
is
ten
tly
y
ield
s
s
u
p
er
io
r
tr
an
s
ien
t
an
d
s
tead
y
-
s
tate
p
er
f
o
r
m
a
n
ce
in
PID
co
n
tr
o
ller
d
esig
n
s
f
o
r
b
u
ck
c
o
n
v
e
r
ter
s
.
T
h
e
I
AE
-
t
u
n
ed
c
o
n
tr
o
ller
p
r
o
d
u
ce
d
m
o
d
er
ate
p
er
f
o
r
m
an
ce
,
wh
e
r
ea
s
th
e
I
SE
-
b
ased
co
n
tr
o
ller
s
h
o
wed
d
elay
ed
r
esp
o
n
s
e
an
d
h
ig
h
er
o
v
er
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Evaluation Warning : The document was created with Spire.PDF for Python.
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8
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2
P
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P
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1175
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wh
ile
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ess
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d
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r
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ased
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ased
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ased
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[
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1
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[
1
3
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ased
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s
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ed
in
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ased
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[
2
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th
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s
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ly
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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2
2
5
2
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7
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2
I
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Sep
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1176
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e
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ased
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n
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k
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e
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s
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[
2
2
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.
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AE
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ased
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t w
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ig
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ts
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r
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m
[
1
1
]
,
[
1
3
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,
[
1
6
]
,
[
2
7
]
-
[
2
9
]
.
T
ab
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4
.
T
h
e
p
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n
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C
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P
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R
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sec
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O
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sh
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S
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B
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E
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TA
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TSE
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ated
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T
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p
r
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in
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s
[
1
1
]
,
[
1
3
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wh
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s
tr
ated
th
e
ef
f
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f
I
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ased
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n
d
m
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in
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s
y
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tem
s
.
T
h
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tu
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co
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tr
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ally
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am
p
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n
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ted
in
[
1
6
]
.
T
h
e
I
AE
-
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ased
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n
tr
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ller
o
f
f
e
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ed
a
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ce
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tr
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r
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s
e
b
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t
d
id
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s
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r
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ass
I
T
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r
I
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in
an
y
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p
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if
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m
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ce
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ic.
I
n
co
n
t
r
ast,
th
e
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SE
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ased
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n
tr
o
ller
r
ec
o
r
d
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th
e
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ig
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4
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est
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,
s
u
p
p
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tin
g
p
r
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s
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v
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s
[
2
2
]
th
at
I
SE'
s
q
u
ad
r
atic
e
r
r
o
r
f
o
r
m
u
latio
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in
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v
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4
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5
Ω
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0
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2
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T
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ased
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test
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er
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y
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I
T
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h
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c
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,
r
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f
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cin
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s
u
p
p
r
ess
o
s
cillat
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n
s
as
d
is
cu
s
s
ed
i
n
[
1
5
]
,
[
1
6
]
.
T
h
e
I
AE
-
b
ased
c
o
n
tr
o
ller
d
eliv
er
ed
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
P
erfo
r
ma
n
ce
ev
a
lu
a
tio
n
o
f a
GA
-
tu
n
ed
P
I
D
co
n
tr
o
ller
fo
r
a
b
u
ck
–
b
o
o
s
t
…
(
Ma
h
a
b
a
lesh
w
a
r
a
B
h
a
t
P.
)
1177
m
o
d
er
ate,
s
tab
le
p
er
f
o
r
m
an
ce
,
wh
er
ea
s
th
e
I
SE
-
b
ased
co
n
t
r
o
ller
co
n
s
is
ten
tly
ex
h
ib
ited
t
h
e
least
f
av
o
r
ab
le
d
y
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am
ic
b
eh
av
i
o
r
,
in
cl
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d
in
g
t
h
e
h
ig
h
est o
v
er
s
h
o
o
t
(
2
0
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1
1
%),
lar
g
est
SS
E
(
0
.
8
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5
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an
d
th
e
s
lo
west
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is
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tim
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(
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4
s
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,
alig
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with
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o
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m
an
ce
d
eg
r
a
d
atio
n
tr
en
d
s
r
e
p
o
r
ted
in
[
1
1
]
,
[
2
2
]
.
T
h
ese
f
in
d
in
g
s
ar
e
co
n
s
is
ten
t
with
liter
atu
r
e
o
n
i
n
tellig
en
t
c
o
n
tr
o
l
o
f
p
o
wer
co
n
v
er
ter
s
[
1
]
,
[
2
]
,
[
1
3
]
,
af
f
ir
m
in
g
th
at
tim
e
-
weig
h
ted
in
teg
r
al
e
r
r
o
r
m
etr
ics
—
p
ar
ti
cu
lar
ly
I
T
AE
an
d
I
T
SE
—
ar
e
m
o
r
e
ef
f
ec
tiv
e
in
m
an
ag
in
g
th
e
n
o
n
lin
ea
r
an
d
tim
e
-
v
ar
y
in
g
d
y
n
a
m
ics
ty
p
ical
o
f
b
u
ck
–
b
o
o
s
t
co
n
v
er
ter
s
.
T
h
e
I
T
AE
m
etr
ic,
d
ef
in
ed
b
y
th
e
tim
e
-
m
u
ltip
lied
ab
s
o
lu
te
er
r
o
r
in
teg
r
al
(
∫
t·
|
e(
t)
|
d
t)
,
in
h
er
en
tly
p
en
alize
s
s
u
s
tain
ed
d
ev
iatio
n
s
,
lead
in
g
to
f
aster
co
n
v
er
g
en
c
e
an
d
r
ed
u
ce
d
s
tead
y
-
s
tate
er
r
o
r
s
.
I
n
c
o
n
tr
ast,
I
T
SE
(
∫
t
·
e²(
t)
d
t)
m
in
im
izes
o
v
er
s
h
o
o
t a
n
d
e
n
h
an
ce
s
d
a
m
p
in
g
,
m
ak
i
n
g
it su
itab
le
f
o
r
ap
p
licatio
n
s
with
o
s
cillatio
n
-
s
en
s
i
tiv
e
lo
ad
p
r
o
f
iles
.
Alth
o
u
g
h
I
SE
(
∫
e²(
t
)
d
t)
r
em
ai
n
s
wid
ely
ad
o
p
ted
in
tr
ad
itio
n
al
co
n
tr
o
l
s
y
s
tem
d
esig
n
,
its
a
p
p
licatio
n
in
f
ast
-
s
witch
in
g
DC
–
D
C
co
n
v
er
ter
s
ap
p
ea
r
lim
ited
.
T
h
e
em
p
h
asis
o
n
s
q
u
ar
ed
er
r
o
r
am
p
lifie
s
in
itial
tr
an
s
ien
t
d
ev
iatio
n
s
,
r
esu
ltin
g
in
d
eg
r
a
d
ed
tim
e
-
d
o
m
ai
n
p
er
f
o
r
m
a
n
ce
,
as
also
h
ig
h
lig
h
ted
in
[
1
1
]
,
[
2
2
]
.
T
h
e
I
AE
m
etr
ic
(
∫
|
e(
t)
|
d
t)
p
r
o
v
id
es
a
co
m
p
r
o
m
is
e
b
etwe
en
tr
an
s
ien
t
r
esp
o
n
s
iv
en
ess
an
d
s
tab
ilit
y
,
d
eliv
er
in
g
s
m
o
o
th
er
co
n
tr
o
l
ac
tio
n
with
o
u
t
ex
ce
llin
g
in
r
is
e
tim
e
o
r
o
v
er
s
h
o
o
t
m
in
im
izat
io
n
.
T
h
is
is
co
n
s
is
ten
t
with
f
i
n
d
in
g
s
in
[
9
]
,
[
1
1
]
,
wh
ich
s
u
p
p
o
r
t I
AE
’
s
s
u
itab
ilit
y
f
o
r
s
y
s
tem
s
r
eq
u
ir
in
g
c
o
n
s
er
v
ativ
e,
n
o
n
-
ag
g
r
ess
iv
e
co
n
tr
o
l
b
eh
av
io
r
.
T
h
ese
f
in
d
in
g
s
ar
e
co
n
s
is
ten
t
with
liter
atu
r
e
o
n
i
n
tellig
en
t
c
o
n
tr
o
l
o
f
p
o
wer
co
n
v
er
ter
s
[
1
]
,
[
2
]
,
[
1
3
]
,
r
ea
f
f
ir
m
in
g
th
e
ef
f
ec
tiv
en
ess
o
f
tim
e
-
weig
h
ted
er
r
o
r
m
etr
i
cs
—
p
ar
ticu
lar
ly
I
T
AE
an
d
I
T
SE
—
in
en
h
an
ci
n
g
d
y
n
am
ic
b
eh
av
i
o
r
u
n
d
er
n
o
n
-
lin
ea
r
an
d
tim
e
-
v
ar
y
in
g
co
n
d
itio
n
s
.
I
T
AE
’
s
em
p
h
asis
o
n
p
e
n
alizin
g
p
r
o
lo
n
g
e
d
d
ev
iatio
n
s
ac
ce
ler
ates
co
n
v
e
r
g
en
ce
an
d
im
p
r
o
v
es
s
tead
y
-
s
tate
ac
cu
r
ac
y
,
wh
ile
I
T
SE
en
h
an
ce
s
d
am
p
in
g
b
y
m
in
im
izin
g
o
v
er
s
h
o
o
t
an
d
o
s
c
illato
r
y
ef
f
ec
ts
.
On
th
e
o
th
er
h
an
d
,
I
SE’
s
s
en
s
itiv
ity
to
lar
g
e
in
itial
er
r
o
r
s
lim
its
its
s
u
itab
ilit
y
f
o
r
h
ig
h
-
s
p
ee
d
c
o
n
v
er
ter
s
y
s
tem
s
,
d
esp
ite
its
h
is
to
r
ical
p
r
ev
alen
ce
i
n
co
n
v
en
tio
n
al
co
n
tr
o
l.
T
h
e
I
AE
cr
iter
io
n
r
em
ain
s
a
p
r
ac
t
ical
m
id
d
le
g
r
o
u
n
d
,
o
f
f
e
r
in
g
s
m
o
o
th
er
tr
an
s
itio
n
s
with
o
u
t
ag
g
r
ess
iv
e
tu
n
in
g
.
Ov
er
all,
th
e
r
esu
lts
u
n
d
er
s
co
r
e
th
e
n
ee
d
f
o
r
co
n
tex
t
-
awa
r
e
o
b
jectiv
e
f
u
n
ctio
n
s
elec
tio
n
,
p
ar
ticu
lar
ly
in
f
ast
-
s
witch
in
g
ap
p
licatio
n
s
wh
e
r
e
d
y
n
am
ic
d
is
tu
r
b
an
ce
r
eje
ctio
n
is
cr
itical
to
en
s
u
r
in
g
s
tab
le
co
n
v
er
ter
p
er
f
o
r
m
an
ce
.
5.
CO
NCLU
SI
O
N
T
h
is
wo
r
k
ca
r
r
ied
o
u
t
a
s
y
s
tem
atic
co
m
p
ar
is
o
n
o
f
GA
tu
n
ed
PID
co
n
tr
o
ller
s
f
o
r
a
DC
-
DC
b
u
ck
-
b
o
o
s
t
co
n
v
er
ter
,
u
s
in
g
f
o
u
r
co
m
m
o
n
ly
u
s
ed
in
teg
r
al
er
r
o
r
cr
iter
ia
-
I
AE
,
I
T
AE
,
I
SE,
an
d
I
T
SE.
T
h
e
an
aly
s
is
was
p
er
f
o
r
m
ed
o
n
th
e
s
am
e
co
n
v
er
ter
wh
ile
o
p
e
r
atin
g
in
b
o
th
b
u
ck
an
d
b
o
o
s
t
m
o
d
es,
an
d
its
b
eh
av
io
r
was
s
tu
d
ied
u
n
d
er
s
tep
in
p
u
t,
in
p
u
t
v
o
ltag
e
v
ar
iatio
n
s
,
an
d
lo
ad
ch
an
g
es.
T
h
e
r
esu
lts
s
h
o
w
th
at
clo
s
ed
-
lo
o
p
p
er
f
o
r
m
an
ce
is
s
tr
o
n
g
ly
d
e
p
e
n
d
en
t
o
n
th
e
s
elec
ted
er
r
o
r
m
etr
ic.
T
h
e
PID
c
o
n
tr
o
ller
tu
n
ed
u
s
in
g
th
e
I
T
AE
cr
iter
io
n
ac
h
iev
ed
t
h
e
f
astes
t
d
y
n
am
ic
r
esp
o
n
s
e,
with
s
o
u
r
ce
-
tr
an
s
ien
t
s
ettlin
g
tim
es
o
f
0
.
0
0
6
9
4
s
in
b
u
ck
m
o
d
e
a
n
d
0
.
0
1
6
9
4
s
in
b
o
o
s
t
m
o
d
e,
w
h
ile
m
ain
tain
in
g
lo
w
er
s
tead
y
-
s
tate
er
r
o
r
c
o
m
p
ar
e
d
to
t
h
e
o
t
h
er
t
h
r
ee
m
etr
ics.
B
y
co
m
p
ar
is
o
n
,
I
T
S
E
-
b
ased
tu
n
in
g
r
esu
lted
in
th
e
s
m
allest
o
v
er
s
h
o
o
t
o
f
1
5
.
5
3
%
in
b
u
ck
m
o
d
e
a
n
d
1
8
.
8
%
in
b
o
o
s
t
m
o
d
e
,
in
d
ic
atin
g
b
etter
d
am
p
in
g
b
eh
av
i
o
r
d
u
r
in
g
tr
a
n
s
ien
t
co
n
d
itio
n
s
.
T
h
e
co
n
tr
o
ller
o
p
tim
ized
u
s
in
g
th
e
I
SE
cr
iter
io
n
s
h
o
wed
th
e
wea
k
est
p
er
f
o
r
m
an
ce
,
with
o
v
er
s
h
o
o
t
r
ea
c
h
in
g
2
0
.
1
1
%
d
u
r
in
g
b
o
o
s
t
-
m
o
d
e
lo
ad
tr
a
n
s
ien
ts
an
d
co
m
p
ar
ativ
ely
l
o
n
g
er
s
ettlin
g
tim
es.
T
h
e
I
AE
-
b
ased
co
n
tr
o
ller
p
r
o
v
id
e
d
a
m
o
r
e
co
n
s
er
v
ativ
e
r
esp
o
n
s
e,
o
f
f
er
in
g
s
tab
le
o
p
er
atio
n
b
u
t
with
o
u
t
n
o
tab
le
ad
v
an
tag
es
in
eith
er
r
esp
o
n
s
e
s
p
ee
d
o
r
d
a
m
p
in
g
.
Similar
p
er
f
o
r
m
an
ce
ch
ar
ac
ter
is
tics
wer
e
also
o
b
s
er
v
ed
u
n
d
er
lo
ad
tr
a
n
s
ien
t c
o
n
d
itio
n
s
.
W
h
ile
th
e
g
en
er
al
ad
v
an
ta
g
es
o
f
I
T
AE
an
d
I
T
SE
h
av
e
b
e
en
d
escr
ib
ed
in
b
r
o
a
d
er
co
n
t
r
o
l
-
s
y
s
tem
s
tu
d
ies,
th
is
wo
r
k
ad
d
s
p
r
ac
ti
ca
l
in
s
ig
h
t
b
y
clea
r
ly
d
is
tin
g
u
is
h
in
g
th
eir
in
f
lu
en
ce
with
in
a
s
in
g
le
b
u
c
k
–
b
o
o
s
t
co
n
v
er
ter
u
n
d
er
b
o
th
b
u
ck
a
n
d
b
o
o
s
t
m
o
d
es.
T
h
e
f
in
d
in
g
s
s
h
o
w
th
at
I
T
AE
is
m
o
r
e
s
u
itab
l
e
wh
en
f
ast
v
o
ltag
e
r
ec
o
v
er
y
an
d
m
in
im
al
s
tead
y
-
s
tate
d
ev
iatio
n
ar
e
r
eq
u
ir
e
d
,
wh
er
ea
s
I
T
SE
is
p
r
ef
er
ab
le
wh
en
o
v
er
s
h
o
o
t
s
u
p
p
r
ess
io
n
an
d
d
am
p
in
g
ar
e
th
e
p
r
im
ar
y
o
b
jectiv
es.
T
h
ese
d
if
f
er
en
ce
s
ar
e
n
o
ticea
b
le
d
u
r
in
g
b
o
o
s
t
-
m
o
d
e
o
p
er
atio
n
an
d
u
n
d
er
lo
a
d
v
ar
i
atio
n
s
,
p
r
o
v
id
in
g
u
s
ef
u
l
g
u
id
a
n
ce
f
o
r
o
b
jectiv
e
-
f
u
n
ctio
n
s
el
ec
tio
n
in
GA
-
b
ased
PID
tu
n
in
g
o
f
n
o
n
-
m
in
im
u
m
-
p
h
ase
co
n
v
e
r
ter
s
.
I
t
is
im
p
o
r
tan
t
to
n
o
te
th
at
t
h
is
s
tu
d
y
is
lim
ited
to
s
im
u
latio
n
-
b
ased
an
aly
s
is
u
s
in
g
an
a
v
er
a
g
ed
C
C
M
m
o
d
el.
Pra
ctica
l
n
o
n
-
id
ea
liti
e
s
,
in
clu
d
in
g
s
witch
in
g
lo
s
s
es,
p
ar
asit
ic
elem
en
ts
,
an
d
d
ig
ital
im
p
lem
en
tatio
n
co
n
s
tr
ain
ts
ar
e
n
o
t
co
n
s
id
er
e
d
in
th
e
p
r
esen
t
wo
r
k
.
T
h
er
e
f
o
r
e,
ex
p
e
r
im
en
tal
v
alid
atio
n
,
alo
n
g
with
f
u
r
t
h
er
s
tu
d
y
in
to
h
y
b
r
id
o
r
m
u
lti
-
o
b
jectiv
e
o
p
tim
izatio
n
ap
p
r
o
ac
h
es
th
at
co
m
b
in
e
co
m
p
lem
e
n
tar
y
er
r
o
r
m
etr
ics,
r
ep
r
esen
ts
an
im
p
o
r
tan
t d
ir
ec
ti
o
n
f
o
r
f
u
t
u
r
e
r
esear
ch
to
en
h
a
n
ce
b
u
c
k
–
b
o
o
s
t c
o
n
v
e
r
ter
p
e
r
f
o
r
m
an
ce
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
Au
th
o
r
s
s
tate
n
o
f
u
n
d
in
g
in
v
o
lv
ed
.
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