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ter
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C
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A
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R
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1.
I
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co
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ter
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s
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ca
p
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s
,
an
d
co
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tr
o
lled
s
witch
es
[
1
]
.
W
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ile
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b
asic
p
r
in
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elies
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n
co
m
m
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co
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tr
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r
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s
a
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ly
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R
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ig
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ts
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o
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s
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(
E
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ch
ar
g
in
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tatio
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s
[
2
]
-
[
6
]
a
n
d
s
tr
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ies
o
r
ien
ted
to
war
d
ex
te
n
d
in
g
b
atter
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life
[
5
]
,
[
6
]
.
Fu
r
th
er
m
o
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e,
r
esear
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as
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o
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d
if
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tr
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[
7
]
,
[
8
]
a
n
d
th
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p
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o
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s
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o
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b
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ck
co
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r
s
[
9
]
-
[
1
1
]
.
T
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is
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p
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ex
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f
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SMC
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[
1
2
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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&
Dr
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t
I
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N:
2088
-
8
6
9
4
Op
to
co
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p
ler
-
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a
s
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clo
s
ed
-
lo
o
p
h
yster
esis
co
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tr
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l fo
r
b
u
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co
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ve
r
ter:
…
(
Da
vid
E
s
tr
a
d
a
G
r
is
a
les
)
1843
Hy
s
ter
esis
co
n
tr
o
l
(
HC
)
is
a
leg
itima
te
an
d
wid
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s
tu
d
ied
alter
n
ativ
e
to
d
ig
ital
o
r
m
o
d
el
-
b
ased
s
ch
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es,
p
r
io
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itized
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o
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ast
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o
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s
t
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ased
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eg
u
latio
n
,
an
d
h
ar
d
w
ar
e
s
im
p
licity
[
1
2
]
,
[
1
3
]
.
W
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ile
liter
atu
r
e
o
f
ten
c
o
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asts
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with
m
o
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d
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b
a
n
ce
r
ejec
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n
[1
4
]
,
[
1
5
]
.
HC
r
em
ain
s
f
av
o
r
ed
f
o
r
its
r
ap
id
tr
an
s
ien
t
r
esp
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n
s
e
an
d
ea
s
e
o
f
im
p
lem
en
tatio
n
[1
4
]
-
[1
7
].
Fu
r
th
er
m
o
r
e,
alth
o
u
g
h
d
i
g
ital
co
n
tr
o
ller
s
s
u
ch
as
PID
o
r
m
o
d
el
-
p
r
ed
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e
s
ch
em
es
ca
n
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r
o
v
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e
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ig
h
er
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r
ec
is
io
n
a
n
d
s
tead
y
-
s
tate
ac
cu
r
ac
y
[1
8
]
,
[
1
9
],
ca
r
ef
u
lly
d
esig
n
ed
l
o
w
-
co
m
p
lex
ity
an
al
o
g
u
e
c
o
n
tr
o
lle
r
s
ca
n
s
till
ac
h
iev
e
ef
f
ec
tiv
e
d
y
n
am
ic
tr
ac
k
in
g
f
o
r
v
ar
io
u
s
r
ef
er
en
ce
tr
ajec
to
r
ies,
s
u
ch
as st
ep
o
r
r
am
p
v
ar
iatio
n
s
[1
9
]
,
[
20
]
.
T
h
e
p
r
a
c
t
i
c
a
l
a
p
p
e
a
l
o
f
t
h
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s
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n
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e
a
p
p
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o
a
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h
l
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e
s
in
i
ts
l
o
w
c
o
m
p
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t
a
t
io
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l
b
u
r
d
en
a
n
d
co
s
t
-
e
f
f
e
c
t
iv
en
e
s
s
[
1
2
]
,
[
1
9
]
.
T
h
e
h
ar
d
w
ar
e
r
e
a
l
iz
a
t
i
o
n
,
i
n
v
o
l
v
in
g
o
p
t
o
-
i
s
o
l
a
t
i
o
n
a
n
d
o
p
-
a
m
p
-
b
a
s
e
d
er
r
o
r
p
r
o
c
e
s
s
i
n
g
,
r
ef
l
e
c
t
s
e
s
t
a
b
l
i
s
h
ed
a
r
ch
i
t
e
c
tu
r
e
s
u
s
e
d
in
ap
p
l
i
c
at
i
o
n
s
s
u
ch
a
s
v
o
l
t
ag
e
r
eg
u
la
t
o
r
m
o
d
u
le
s
(
V
R
M
s
)
[
21
]
,
[
2
2
]
.
R
e
s
e
ar
c
h
in
d
i
ca
t
es
t
h
a
t
s
u
c
h
an
a
lo
g
u
e
p
a
th
s
c
an
p
r
o
v
id
e
r
o
b
u
s
t
r
eg
u
l
a
t
io
n
an
d
h
ig
h
f
i
d
e
l
i
t
y
in
d
y
n
a
m
i
c
t
r
a
c
k
in
g
,
ev
en
u
n
d
er
n
o
n
l
i
n
ea
r
-
lo
ad
co
n
d
i
t
i
o
n
s
[2
3
]
,
e
f
f
e
c
t
i
v
e
l
y
e
m
u
l
a
t
i
n
g
AC
-
l
i
k
e
p
r
o
f
i
l
e
s
f
r
o
m
DC
s
o
u
r
c
e
s
[1
4
]
,
[
1
5
]
,
[
20
].
T
h
e
ex
p
er
im
en
ts
r
ep
o
r
ted
h
er
e
test
th
i
s
co
n
tr
o
ller
'
s
ab
ilit
y
to
tr
ac
k
d
y
n
am
ic
r
ef
e
r
en
ce
s
,
in
clu
d
in
g
s
in
u
s
o
id
al,
tr
ian
g
u
lar
,
a
n
d
r
ec
tan
g
u
lar
wa
v
ef
o
r
m
s
,
an
d
its
r
o
b
u
s
tn
ess
ag
ain
s
t
s
u
p
p
ly
d
r
o
p
s
an
d
lo
a
d
ch
a
n
g
es
[
1
3
]
-
[
1
5
]
.
T
h
e
r
esu
lts
alig
n
w
ith
th
e
p
er
f
o
r
m
an
ce
en
v
elo
p
es
o
f
m
o
r
e
co
m
p
lex
r
o
b
u
s
t
-
co
n
t
r
o
l
s
tr
ateg
ies
[
1
4
]
,
[
1
5
]
,
co
n
f
ir
m
in
g
th
at
a
s
im
p
lifie
d
an
alo
g
u
e
HC
ap
p
r
o
ac
h
is
a
v
iab
le
d
esig
n
p
at
h
f
o
r
ap
p
licatio
n
s
wh
er
e
h
ar
d
war
e
s
im
p
licity
an
d
s
p
ee
d
ar
e
p
ar
am
o
u
n
t
[
1
2
]
,
[
1
9
]
.
W
h
ile
m
o
r
e
s
o
p
h
is
ticated
a
p
p
r
o
ac
h
es
m
ay
b
e
ad
v
an
tag
e
o
u
s
f
o
r
ex
tr
em
el
y
tig
h
t
r
eg
u
latio
n
[1
4
]
-
[1
6
]
,
th
e
p
r
o
p
o
s
ed
s
y
s
tem
d
e
m
o
n
s
tr
ates
h
ig
h
f
id
elity
ac
r
o
s
s
a
b
r
o
ad
r
an
g
e
o
f
o
p
er
atin
g
s
ce
n
ar
io
s
[1
8
]
,
[
1
9
].
T
h
e
r
em
ain
d
er
o
f
th
is
ar
tic
le
is
o
r
g
an
ized
as
f
o
llo
ws:
i)
Sectio
n
2
d
etails
th
e
d
esig
n
an
d
im
p
lem
en
tatio
n
o
f
th
e
b
u
ck
c
o
n
v
er
ter
an
d
its
co
n
t
r
o
ller
;
ii)
S
ec
tio
n
3
p
r
esen
ts
e
x
p
er
im
e
n
tal
an
d
s
im
u
latio
n
r
esu
lts
d
em
o
n
s
tr
atin
g
th
e
s
y
s
tem
'
s
r
ap
id
r
esp
o
n
s
e
an
d
tr
ac
k
in
g
ef
f
icien
c
y
;
an
d
iii)
Fin
al
f
in
d
in
g
s
u
n
d
er
s
co
r
e
th
e
s
u
itab
ilit
y
o
f
th
is
lo
w
-
co
m
p
lex
ity
ar
ch
itectu
r
e
f
o
r
ef
f
icie
n
t
v
o
ltag
e
r
e
g
u
latio
n
an
d
d
y
n
a
m
ic
s
ig
n
al
tr
ac
k
in
g
.
2.
M
E
T
H
O
D
T
h
is
s
ec
tio
n
d
etails
th
e
d
esig
n
an
d
im
p
lem
e
n
tatio
n
o
f
th
e
b
u
ck
c
o
n
v
e
r
ter
a
n
d
t
h
e
an
alo
g
u
e
clo
s
ed
-
lo
o
p
o
n
-
o
f
f
co
n
tr
o
ller
,
i
n
clu
d
i
n
g
c
o
m
p
o
n
en
t
s
izin
g
,
h
a
r
d
wa
r
e
ar
ch
itectu
r
e,
a
n
d
t
h
e
ex
p
er
im
en
tal
-
s
im
u
latio
n
wo
r
k
f
lo
w
ad
o
p
ted
f
o
r
v
alid
ati
o
n
.
2
.
1
.
B
uck
c
o
nv
er
t
er
des
ig
n
C
o
m
p
o
n
en
t
s
elec
tio
n
f
o
llo
wed
s
tan
d
ar
d
d
esig
n
cr
iter
ia
[
2
4
]
,
[
2
5
]
to
en
s
u
r
e
co
n
tin
u
o
u
s
co
n
d
u
ctio
n
an
d
b
o
u
n
d
ed
o
u
tp
u
t
r
ip
p
le
u
n
d
er
th
e
o
p
e
r
atin
g
e
n
v
elo
p
e
ex
p
lo
r
ed
ex
p
er
im
en
tally
.
T
h
e
r
e
latio
n
s
h
ip
b
etwe
en
p
ar
am
eter
s
was
f
o
u
n
d
b
y
co
m
p
ar
in
g
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
s
y
s
tem
wh
en
th
e
s
witch
w
as
clo
s
ed
an
d
o
p
e
n
,
lo
o
k
in
g
f
o
r
p
ar
am
eter
s
th
at
w
o
u
ld
g
u
ar
an
tee
c
o
n
tin
u
o
u
s
co
n
d
u
ctio
n
d
u
r
in
g
th
e
ex
p
er
im
en
t
.
T
h
e
in
d
u
cto
r
lo
wer
b
o
u
n
d
an
d
ca
p
ac
ito
r
u
p
p
e
r
b
o
u
n
d
wer
e
d
e
ter
m
in
ed
u
s
in
g
th
e
r
elatio
n
s
in
eq
u
atio
n
s
(
1
)
-
(
2
)
,
wh
ich
wer
e
d
ev
elo
p
e
d
b
y
[
2
4
]
,
as
th
e
b
o
u
n
d
ar
y
p
ar
a
m
eter
s
to
g
u
ar
an
tee
co
n
tin
u
o
u
s
co
n
d
u
ctio
n
.
=
40
k
Hz
ch
o
s
en
as
a
co
n
s
er
v
ativ
e
s
witch
in
g
-
f
r
e
q
u
en
c
y
r
ef
e
r
en
ce
g
iv
en
th
e
v
a
r
iab
le
co
m
m
u
tatio
n
in
h
er
en
t
to
an
alo
g
u
e
h
y
s
ter
esis
co
n
tr
o
l,
an
d
Δ
≤
3
%
of
as
th
e
r
ip
p
le
co
n
s
tr
ain
t.
L
o
ad
r
esis
tan
ce
f
o
r
ea
ch
o
p
er
atin
g
p
o
in
t
was
m
ea
s
u
r
e
d
e
x
p
er
im
en
tally
an
d
u
s
ed
d
ir
ec
tly
i
n
s
izin
g
ca
lcu
latio
n
s
,
ac
k
n
o
wled
g
in
g
its
v
o
ltag
e
d
ep
en
d
e
n
ce
in
th
e
em
p
lo
y
ed
l
o
ad
m
o
d
u
le
.
L
=
∗
8
∗
∗
(
1
)
=
∗
32
∗
∗
∆
∗
2
(
2
)
A
d
esig
n
tab
le
was
co
m
p
iled
to
ev
alu
ate
an
d
ac
r
o
s
s
r
ep
r
esen
tativ
e
p
air
s
(
,
)
an
d
m
ea
s
u
r
ed
,
wh
ich
g
u
id
ed
a
h
ar
d
war
e
s
elec
tio
n
o
f
=
100
F
an
d
=
0
.
457
mH
to
s
atis
f
y
co
n
s
tr
ain
ts
th
r
o
u
g
h
o
u
t
th
e
test
ed
r
an
g
e
.
T
h
e
f
in
al
co
n
v
er
te
r
to
p
o
lo
g
y
is
th
e
ca
n
o
n
ical
s
tep
-
d
o
wn
s
tag
e
with
in
p
u
t
s
o
u
r
ce
,
h
ig
h
-
s
id
e
c
o
n
tr
o
lled
s
witch
,
c
atch
d
io
d
e,
o
u
tp
u
t
in
d
u
cto
r
,
a
n
d
s
h
u
n
t
ca
p
ac
it
o
r
f
ee
d
in
g
th
e
r
esis
tiv
e
lo
ad
,
as
d
ep
icted
in
Fig
u
r
e
1
with
th
e
ad
o
p
ted
p
ar
am
eter
v
alu
es
an
n
o
tated
,
wh
ich
f
o
llo
w
th
e
lim
its
s
h
o
wn
in
T
ab
le
1
.
On
th
e
lef
t
s
id
e
o
f
th
e
f
ig
u
r
e,
th
e
b
u
ck
co
n
v
e
r
ter
with
r
ea
l
p
ar
am
eter
s
is
s
h
o
wn
,
wh
ile
o
n
th
e
r
ig
h
t
s
id
e,
th
e
b
u
ck
c
o
n
v
er
te
r
im
p
lem
en
te
d
i
n
th
e
lab
o
r
ato
r
y
is
p
r
esen
ted
.
2
.
2
.
Ana
lo
g
co
ntr
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l desig
n
T
h
e
co
n
t
r
o
l
s
y
s
te
m
f
o
r
t
h
e
b
u
ck
c
o
n
v
er
te
r
c
o
n
s
is
ts
o
f
a
n
L
M3
2
4
o
p
e
r
at
io
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p
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r
th
at
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m
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a
r
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e
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v
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n
t
im
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th
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r
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n
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Fig
u
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1
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B
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ter
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l p
ar
am
eter
s
an
d
lab
o
r
ato
r
y
im
p
lem
en
tatio
n
Fig
u
r
e
2
.
B
u
ck
c
o
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e
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ter
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its
clo
s
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lo
o
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co
n
t
r
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l
2
.
3
.
E
x
perim
ent
a
l pro
ce
du
r
e
a
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s
im
ula
t
io
n
T
h
e
ev
alu
atio
n
s
tag
e
co
m
p
r
is
ed
:
i)
DC
–
DC
r
eg
u
latio
n
o
v
er
∈
[
0
,
]
,
ii)
d
y
n
am
ic
tr
ac
k
in
g
f
o
r
s
in
u
s
o
id
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tr
ian
g
u
lar
,
an
d
r
ec
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an
g
u
lar
at
1
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an
d
6
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an
d
iii)
d
is
tu
r
b
an
ce
r
esp
o
n
s
e
u
n
d
er
in
p
u
t
v
o
ltag
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r
o
o
p
,
lo
a
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itio
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/r
em
o
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al,
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d
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s
itu
c
h
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o
f
wav
ef
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r
m
class
.
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im
e
-
d
o
m
ain
m
ea
s
u
r
em
en
ts
wer
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co
llected
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n
t
h
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lab
o
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ato
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p
r
o
to
ty
p
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ies
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is
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alize
h
ig
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f
r
eq
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en
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r
ip
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le
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f
u
lly
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eso
lv
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in
th
e
e
x
p
er
im
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tal
ca
p
tu
r
es.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
s
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tio
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r
ep
o
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ts
tim
e
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d
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ain
p
er
f
o
r
m
an
ce
f
o
r
tr
ac
k
i
n
g
ex
p
er
im
en
ts
an
d
d
is
tu
r
b
a
n
ce
test
s
,
alo
n
g
s
id
e
co
m
p
ar
is
o
n
s
with
s
im
u
latio
n
to
c
o
n
tex
tu
alize
r
i
p
p
les,
d
y
n
am
ics,
an
d
wav
ef
o
r
m
f
id
elity
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
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lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Op
to
co
u
p
ler
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b
a
s
ed
clo
s
ed
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lo
o
p
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yster
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l fo
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u
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n
ve
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ter:
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a
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.
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ida
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ef
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ence
s
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ity
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ase
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
0
8
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8
6
9
4
I
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3
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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
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8
6
9
4
Op
to
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ter:
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5
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cy
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8
6
9
4
I
n
t J Po
w
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lec
&
Dr
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s
t
,
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
1842
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5
1
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am
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2
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n
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ap
p
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o
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h
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e
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er
en
ce
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;
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e
y
o
n
d
th
is
p
o
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t,
t
h
e
n
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r
al
d
r
o
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p
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n
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ea
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i
n
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e
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et
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e
f
o
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m
s
h
ap
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is
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eser
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s
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1
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.
W
ith
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em
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allel
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; r
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.
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g
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ian
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at
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ar
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ate
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,
d
em
o
n
s
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atin
g
th
e
c
o
n
tr
o
ller
’
s
r
o
b
u
s
tn
ess
to
ab
r
u
p
t c
o
m
m
an
d
ch
an
g
es,
as sh
o
wn
in
Fig
u
r
e
1
7
.
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
Op
to
co
u
p
ler
-
b
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s
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s
ed
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p
h
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esis
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l fo
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ased
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ically
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th
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s
also
th
an
k
th
e
class
m
ates
f
r
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th
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m
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f
o
r
th
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co
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r
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d
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r
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n
g
b
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n
ch
tes
ts
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r
h
elp
f
u
l
f
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d
b
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th
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co
n
tr
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l
d
esig
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d
m
ea
s
u
r
em
en
ts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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RE
F
E
R
E
NC
E
S
[
1
]
R
.
W
.
Er
i
c
k
so
n
a
n
d
D
.
M
a
k
s
i
mo
v
i
c
,
F
u
n
d
a
m
e
n
t
a
l
s
o
f
p
o
w
e
r
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l
e
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t
r
o
n
i
c
s
,
2
n
d
e
d
.
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o
r
w
e
l
l
,
M
A
,
U
S
A
:
K
l
u
w
e
r
A
c
a
d
e
mi
c
P
u
b
l
i
s
h
e
r
s,
2
0
0
4
.
[
2
]
M
.
A
.
A
.
M
u
r
u
g
e
s
a
n
,
J
.
S
.
S
.
L
o
u
r
e
n
s
,
S
.
G
a
n
e
sa
n
,
a
n
d
B
.
C
h
i
n
n
a
d
u
r
a
i
,
“
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r
i
d
g
e
l
e
ss
c
a
n
o
n
i
c
a
l
a
n
d
b
u
c
k
-
b
o
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st
c
o
n
v
e
r
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r
c
o
mb
i
n
e
d
a
r
t
i
f
i
c
i
a
l
n
e
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r
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l
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e
t
w
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k
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o
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t
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d
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f
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t
b
a
t
t
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c
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j
.
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p
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4
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[
3
]
S
.
R
u
t
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a
l
a
a
n
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J
.
N
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k
k
a
,
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d
u
a
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:
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t
r
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l
f
o
r
EV
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h
a
r
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i
n
g
a
p
p
l
i
c
a
t
i
o
n
,
”
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o
u
rn
a
l
o
f
En
e
rg
y
S
t
o
r
a
g
e
,
v
o
l
.
1
3
2
,
2
0
2
5
,
d
o
i
:
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0
.
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0
1
6
/
j
.
e
st
.
2
0
2
5
.
1
1
7
9
4
7
.
[
4
]
A
.
S
a
a
d
a
o
u
i
a
n
d
M
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Evaluation Warning : The document was created with Spire.PDF for Python.