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tr
alize
d
ap
p
r
o
ac
h
es
h
av
e
also
b
ee
n
d
ev
el
o
p
ed
to
ad
d
r
ess
s
y
s
tem
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
.
A
d
ec
en
tr
alize
d
r
o
b
u
s
t
-
ad
ap
tiv
e
co
n
t
r
o
ller
in
co
r
p
o
r
atin
g
a
d
is
tu
r
b
a
n
ce
o
b
s
er
v
er
an
d
lin
ea
r
m
atr
ix
in
eq
u
ality
(
L
M
I
)
-
b
ase
d
d
esig
n
,
with
g
en
etic
alg
o
r
it
h
m
o
p
tim
izatio
n
,
d
em
o
n
s
tr
ated
r
o
b
u
s
tn
ess
ag
ain
s
t
lo
ad
an
d
r
en
ewa
b
le
f
lu
ctu
ati
o
n
s
with
o
u
t
r
e
q
u
ir
in
g
in
ter
-
a
r
ea
in
f
o
r
m
atio
n
[
8
]
.
A
n
in
teg
r
al
d
er
iv
ativ
e
-
tilt
ed
(ID
-
T
)
co
n
tr
o
ller
o
p
tim
ized
u
s
in
g
th
e
Ar
ch
im
ed
es
o
p
tim
izatio
n
alg
o
r
ith
m
(
AOA)
h
as
also
b
ee
n
in
v
esti
g
ated
f
o
r
m
u
lti
-
ar
ea
,
m
u
lti
-
s
o
u
r
ce
s
y
s
tem
s
[
9
]
,
wh
ile
ad
ap
tiv
e
co
n
tr
o
ller
s
h
av
e
b
ee
n
ap
p
lied
to
co
m
p
en
s
ate
f
o
r
d
is
tu
r
b
an
ce
s
ca
u
s
ed
b
y
in
ter
m
itten
t
p
h
o
to
v
o
ltaic
(
PV)
an
d
wav
e
en
e
r
g
y
co
n
v
er
s
io
n
s
y
s
tem
s
(
W
E
C
S)
[
1
0
]
.
I
n
tellig
en
t,
p
r
ed
ictiv
e,
an
d
o
p
tim
izatio
n
-
b
ased
c
o
n
tr
o
ller
s
h
av
e
s
ig
n
if
ican
tly
en
h
a
n
ce
d
L
FC
p
er
f
o
r
m
an
ce
.
C
o
m
p
ar
ativ
e
s
tu
d
ies
o
f
PID
,
f
u
zz
y
-
PID
,
an
d
MPC
h
av
e
d
em
o
n
s
tr
ated
r
ed
u
ce
d
f
r
eq
u
en
cy
d
e
v
iatio
n
s
in
in
ter
co
n
n
ec
ted
s
y
s
tem
s
[
1
1
]
,
wh
ile
QC
GO
-
o
p
tim
ized
T
D
-
T
I
co
n
tr
o
l
h
as
s
h
o
wn
r
o
b
u
s
tn
ess
ag
ain
s
t
r
en
ewa
b
le
p
en
etr
atio
n
,
co
m
m
u
n
icatio
n
d
elay
s
,
lo
ad
v
a
r
iatio
n
s
,
an
d
E
V
in
teg
r
atio
n
[
1
2
]
.
E
v
e
n
t
-
tr
ig
g
e
r
ed
co
n
tr
o
l
f
u
r
th
er
im
p
r
o
v
es
f
r
eq
u
e
n
cy
r
eg
u
latio
n
wh
ile
r
ed
u
cin
g
co
n
tr
o
l
ef
f
o
r
t
[
1
3
]
.
FR
T
-
PID
with
Dis
h
-
Sti
r
lin
g
s
o
lar
th
er
m
al
s
y
s
tem
s
an
d
C
HI
OA
o
p
tim
izatio
n
h
as
ac
h
iev
e
d
im
p
r
o
v
e
d
L
FC
p
er
f
o
r
m
a
n
ce
[
1
4
]
.
MPC
F
C
with
AN
N
co
o
r
d
in
atio
n
h
as
ad
d
r
ess
ed
d
e
m
an
d
-
s
id
e
r
eso
u
r
ce
s
an
d
co
m
m
u
n
icatio
n
d
ela
y
s
[
1
5
]
.
AO
-
FOPID,
I
SS
A,
B
O
A,
an
d
MH
AB
C
-
P
SO
h
av
e
f
u
r
th
er
im
p
r
o
v
ed
co
n
tr
o
ller
o
p
ti
m
izatio
n
[
1
6
]
-
[
2
0
]
.
L
OA,
AVOA
,
S
C
SO,
I
W
O,
OOA,
an
d
s
am
p
led
-
d
ata
ap
p
r
o
ac
h
es
h
av
e
a
d
d
r
ess
ed
p
a
r
am
et
er
tu
n
in
g
,
d
ela
y
s
,
an
d
s
am
p
lin
g
ef
f
ec
ts
[
2
1
]
-
[
2
3
]
.
C
ascad
ed
FO
PID
,
GW
O
-
f
u
zz
y
PID
,
win
d
-
p
o
wer
-
p
r
ed
icti
o
n
MPC
,
an
d
Sin
h
C
o
s
h
-
b
as
ed
co
n
tr
o
ller
s
h
av
e
d
em
o
n
s
tr
ated
r
o
b
u
s
t f
r
eq
u
e
n
c
y
r
eg
u
latio
n
[
2
4
]
-
[
2
7
]
.
Hy
b
r
id
o
p
tim
izatio
n
tech
n
iq
u
es
h
av
e
s
ig
n
if
ican
tly
im
p
r
o
v
e
d
co
n
tr
o
ller
tu
n
in
g
an
d
lo
ad
f
r
eq
u
e
n
cy
co
n
tr
o
l
(
L
FC
)
p
e
r
f
o
r
m
an
ce
.
GA
-
PS
O
co
m
b
in
es
th
e
g
lo
b
al
s
ea
r
ch
ca
p
ab
ilit
y
o
f
g
e
n
etic
alg
o
r
ith
m
s
with
th
e
r
ap
id
co
n
v
er
g
en
ce
o
f
PS
O
to
m
in
im
ize
I
SE,
I
AE
,
I
T
AE
,
an
d
I
T
SE
in
d
ices
[
2
8
]
.
HSC
OA
an
d
im
p
r
o
v
e
d
an
t
co
lo
n
y
o
p
tim
izatio
n
h
av
e
en
h
an
ce
d
PID
an
d
f
u
zz
y
-
PID
c
o
n
tr
o
l
u
n
d
e
r
v
a
r
y
in
g
lo
ad
co
n
d
itio
n
s
[
2
9
]
,
[
3
0
]
.
C
h
ao
tic
C
S
SO
-
GSA
h
as
im
p
r
o
v
e
d
s
ettlin
g
tim
e
an
d
I
T
AE
,
wh
ile
GW
O
h
as
d
e
m
o
n
s
tr
ated
s
u
p
er
io
r
p
er
f
o
r
m
an
ce
co
m
p
ar
ed
with
g
en
etic
alg
o
r
ith
m
s
in
m
u
lti
-
s
o
u
r
ce
s
y
s
tem
s
[
3
1
]
,
[
3
2
]
.
No
tab
ly
,
th
e
Pu
m
a
Op
tim
izer
(
PO)
p
r
o
v
i
d
es
ef
f
e
ctiv
e
ex
p
lo
r
atio
n
an
d
e
x
p
lo
ita
tio
n
ca
p
ab
ilit
ies,
m
ak
in
g
it
p
r
o
m
is
in
g
f
o
r
o
p
tim
al
co
n
tr
o
ller
p
ar
am
eter
tu
n
i
n
g
[
3
3
]
,
[
3
4
]
.
R
ec
en
t
s
tu
d
ies
h
av
e
f
u
r
th
e
r
in
v
esti
g
ated
Fu
zz
y
-
3
D
PID
,
FOI
PDF,
SME
S
-
ass
i
s
ted
f
r
ac
tio
n
al
-
o
r
d
er
co
n
tr
o
l,
an
d
in
tellig
en
t
co
n
tr
o
ller
s
f
o
r
r
en
ewa
b
le
-
in
teg
r
ated
s
y
s
tem
s
[
3
5
]
,
[
3
6
]
.
R
ec
en
t
r
esear
c
h
in
c
r
ea
s
in
g
ly
in
c
o
r
p
o
r
ates
r
e
n
ewa
b
le
en
er
g
y
,
elec
tr
ic
v
e
h
icles
(
E
Vs),
en
er
g
y
s
to
r
a
g
e
s
y
s
tem
s
,
an
d
ar
tific
ial
in
tellig
en
ce
.
R
ev
iews
h
av
e
h
i
g
h
lig
h
t
ed
class
ical,
AI
-
b
ased
,
MPC
,
s
lid
in
g
-
m
o
d
e,
an
d
ca
s
ca
d
e
co
n
tr
o
ller
s
f
o
r
win
d
-
in
teg
r
ated
s
y
s
tem
s
wh
ile
id
en
tify
in
g
r
esear
ch
g
ap
s
[
3
7
]
.
Fra
ctio
n
al
-
o
r
d
er
co
n
tr
o
ller
s
o
p
tim
ized
u
s
in
g
QORS
A,
MO
A,
an
d
r
ela
ted
alg
o
r
ith
m
s
h
a
v
e
d
em
o
n
s
tr
ated
im
p
r
o
v
ed
p
er
f
o
r
m
an
ce
in
r
e
n
ewa
b
le
-
in
t
eg
r
ated
m
u
lti
-
ar
ea
s
y
s
tem
s
[
3
8
]
,
[
3
9
]
.
Self
-
o
r
g
an
ize
d
co
n
tr
o
l
u
s
in
g
Self
is
h
Her
d
Op
tim
izatio
n
h
as
c
o
o
r
d
in
ated
d
is
tr
ib
u
ted
en
e
r
g
y
r
eso
u
r
ce
s
(
DE
R
s
)
,
en
er
g
y
s
to
r
ag
e
s
y
s
tem
s
,
an
d
E
Vs
th
r
o
u
g
h
lo
ca
l
f
r
eq
u
e
n
cy
m
ea
s
u
r
em
e
n
ts
[
4
0
]
.
R
ein
f
o
r
ce
m
en
t
-
lear
n
in
g
-
b
ased
m
eth
o
d
s
,
in
clu
d
i
n
g
GSKO
-
ass
is
ted
ad
ap
tiv
e
f
r
eq
u
e
n
cy
co
n
tr
o
l,
DDPG
-
b
ased
s
u
p
p
lem
en
tar
y
co
n
tr
o
l,
an
d
d
ee
p
n
e
u
r
al
n
etwo
r
k
s
,
h
a
v
e
f
u
r
th
er
en
h
an
ce
d
L
FC
u
n
d
er
r
en
ewa
b
le
in
ter
m
itten
cy
[
4
1
]
-
[
4
3
]
.
Fin
ally
,
B
lack
-
win
g
ed
Kite
o
p
t
im
izatio
n
an
d
T
I
D
-
MRAC
ap
p
r
o
ac
h
es,
s
u
p
p
o
r
te
d
b
y
E
V
in
teg
r
atio
n
,
h
av
e
d
em
o
n
s
tr
ated
im
p
r
o
v
ed
r
esil
ien
ce
an
d
f
r
eq
u
e
n
cy
s
tab
ilit
y
in
r
en
ewa
b
le
-
r
ich
m
icr
o
g
r
id
s
an
d
p
o
wer
s
y
s
tem
s
[
4
4
]
,
[
4
5
]
.
2.
L
E
V
E
RAG
I
NG
E
L
E
C
T
R
I
C
VE
H
I
C
L
E
S AN
D
E
NE
R
G
Y
ST
O
RAG
E
F
O
R
G
RI
D
F
RE
Q
UE
N
CY
RE
G
UL
AT
I
O
N
Mo
d
er
n
h
y
b
r
id
p
o
wer
s
y
s
tem
s
in
cr
ea
s
in
g
ly
in
teg
r
ate
r
en
ewa
b
le
en
er
g
y
s
o
u
r
ce
s
,
elec
tr
ic
v
eh
icles
(
E
Vs),
an
d
b
atter
y
en
er
g
y
s
to
r
ag
e
s
y
s
tem
s
(
B
E
S
S
)
to
e
n
h
an
ce
g
r
i
d
f
lex
ib
ilit
y
an
d
s
u
s
tain
ab
ilit
y
.
T
h
e
p
r
o
p
o
s
ed
PO
-
b
ased
FOPID
co
n
tr
o
ller
ca
n
e
f
f
ec
tiv
ely
co
o
r
d
in
ate
th
ese
f
ast
-
r
esp
o
n
s
e
r
eso
u
r
ce
s
with
co
n
v
en
tio
n
al
g
en
er
atin
g
u
n
its
to
im
p
r
o
v
e
s
y
s
tem
d
am
p
in
g
,
r
ed
u
ce
s
ettlin
g
tim
e,
an
d
e
n
h
an
ce
f
r
e
q
u
en
cy
s
tab
ilit
y
.
T
h
e
b
alan
ce
d
p
o
wer
ca
n
b
e
ex
p
r
ess
ed
as
(
1
)
.
=
+
+
−
−
(
1
)
W
h
er
e
Δ
P
EV
→
E
V
s
u
p
p
o
r
t
p
o
wer
,
Δ
→
b
atter
y
s
to
r
ag
e
co
n
tr
i
b
u
tio
n
,
an
d
Δ
→
r
e
n
e
wab
le
f
lu
ctu
atio
n
p
o
wer
.
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
tima
l F
OP
I
D
co
n
tr
o
l fo
r
imp
r
o
ve
d
lo
a
d
fr
eq
u
en
cy
r
eg
u
l
a
tio
n
o
f
…
(
Mit
a
li S
a
ma
l
)
2015
2
.
1
.
T
wo
-
a
re
a
t
est
s
y
s
t
e
m
T
h
i
s
s
t
u
d
y
e
m
p
l
o
y
s
a
c
o
m
p
r
eh
e
n
s
i
v
e
t
wo
-
ar
e
a
h
y
b
r
id
p
o
we
r
s
y
s
t
e
m
m
o
d
e
l
to
ev
a
l
u
a
te
t
h
e
p
e
r
f
o
r
m
a
n
c
e
o
f
th
e
p
r
o
p
o
s
ed
L
F
C
s
t
r
a
t
eg
y
.
T
h
e
s
y
s
t
e
m
i
s
d
ev
e
lo
p
ed
to
r
e
f
l
e
c
t
th
e
co
m
p
l
e
x
i
ty
an
d
c
h
a
l
l
en
g
e
s
o
f
m
o
d
e
r
n
p
o
w
er
g
r
i
d
s
,
wh
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I
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N
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2
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8
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4
I
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Dr
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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E
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&
Dr
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s
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I
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N:
2088
-
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6
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4
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s
t
e
m
c
o
n
s
i
d
e
r
i
n
g
c
o
m
m
u
n
i
c
a
t
i
o
n
t
i
m
e
d
e
l
a
y
s
(
C
T
Ds
)
i
n
Fi
g
u
r
e
5
r
e
p
r
e
s
e
n
ts
t
h
e
d
y
n
a
m
i
c
r
ela
t
i
o
n
s
h
i
p
b
e
tw
e
e
n
g
e
n
e
r
a
ti
o
n
,
l
o
a
d
d
e
m
a
n
d
,
a
n
d
f
r
e
q
u
e
n
c
y
.
E
a
c
h
a
r
e
a
i
n
c
l
u
d
es
g
o
v
e
r
n
o
r
,
t
u
r
b
i
n
e
,
a
n
d
p
o
w
er
-
s
y
s
t
e
m
m
o
d
e
l
s
,
i
n
te
r
c
o
n
n
e
c
te
d
t
h
r
o
u
g
h
t
i
e
-
li
n
e
p
o
w
e
r
.
C
T
Ds
a
r
e
r
e
p
r
e
s
e
n
t
e
d
b
y
e
−
s
T
d
,
c
a
p
t
u
r
i
n
g
c
o
m
m
u
n
i
c
a
t
i
o
n
d
e
l
a
y
s
a
n
d
t
h
e
i
r
e
f
f
e
ct
s
o
n
f
r
e
q
u
e
n
c
y
s
t
a
b
i
l
it
y
a
n
d
L
F
C
p
e
r
f
o
r
m
a
n
c
e
.
Fig
u
r
e
5
.
T
r
an
s
f
er
f
u
n
ctio
n
b
l
o
ck
d
iag
r
am
o
f
a
two
-
ar
ea
h
y
b
r
id
p
o
wer
s
y
s
tem
co
n
s
id
er
in
g
C
T
Ds
6.
P
UM
A
O
P
T
I
M
I
Z
E
R
(
P
O
)
AL
G
O
RI
T
H
M
T
h
e
P
u
m
a
o
p
tim
izer
(
PO)
is
a
r
ec
en
tly
d
e
v
elo
p
ed
m
etah
e
u
r
is
tic
alg
o
r
ith
m
i
n
s
p
ir
ed
b
y
th
e
s
o
cial
d
y
n
am
ics
an
d
h
u
n
tin
g
s
tr
ate
g
ies
o
f
P
u
m
as
[
2
2
]
.
T
h
e
m
o
s
t
o
p
tim
al
s
o
lu
tio
n
with
in
th
e
p
o
p
u
latio
n
is
d
esig
n
ated
as
th
e
m
ale
P
u
m
a,
w
h
i
c
h
r
ep
r
esen
ts
th
e
b
est
-
k
n
o
wn
p
o
s
itio
n
in
t
h
e
s
ea
r
ch
s
p
ac
e.
T
h
e
r
em
ain
d
er
o
f
th
e
p
o
p
u
latio
n
,
co
m
p
r
is
in
g
o
th
er
ca
n
d
i
d
ate
s
o
lu
tio
n
s
,
is
m
o
d
eled
as
f
em
ale
P
u
m
as
d
is
tr
ib
u
ted
th
r
o
u
g
h
o
u
t
th
e
ter
r
ito
r
y
,
wh
ich
c
o
r
r
esp
o
n
d
s
t
o
th
e
e
n
tire
o
p
tim
izatio
n
lan
d
s
ca
p
e.
A
d
is
tin
ctiv
e
f
ea
tu
r
e
o
f
th
e
PO
alg
o
r
ith
m
is
its
d
y
n
am
ic
p
h
ase
-
s
witch
in
g
m
ec
h
an
is
m
.
At
ea
ch
iter
atio
n
,
ev
er
y
s
o
lu
tio
n
ca
n
d
id
ate
au
to
n
o
m
o
u
s
ly
s
elec
ts
b
etwe
en
two
f
u
n
d
am
e
n
tal
p
h
a
s
es: ex
p
lo
r
atio
n
an
d
ex
p
lo
itati
o
n
.
T
h
is
ad
ap
tiv
e
s
tr
ateg
y
allo
ws th
e
alg
o
r
ith
m
to
ef
f
ec
tiv
ely
b
ala
n
ce
g
lo
b
al
s
ea
r
ch
in
ten
s
if
icatio
n
with
l
o
ca
l
s
ea
r
ch
r
ef
in
em
e
n
t.
T
h
e
f
lo
wch
ar
t
o
f
t
h
e
Pu
m
a
Op
tim
izer
is
s
h
o
wn
in
Fig
u
r
e
6
.
6
.
1
.
E
x
plo
ra
t
i
o
n pha
s
e:
t
er
rit
o
ria
l r
o
a
m
ing
T
h
e
ex
p
lo
r
atio
n
p
h
ase
in
PO
i
s
m
o
d
eled
af
ter
th
e
n
atu
r
al
b
e
h
av
io
r
o
f
P
u
m
as
tr
a
v
er
s
in
g
th
eir
ter
r
ito
r
y
o
v
er
lo
n
g
d
is
tan
ce
s
to
lo
ca
te
p
r
ey
.
T
h
is
p
r
o
ce
s
s
in
v
o
lv
e
s
in
v
esti
g
atin
g
d
iv
er
s
e
r
eg
io
n
s
,
in
clu
d
in
g
b
o
th
p
r
ev
io
u
s
ly
f
r
u
itf
u
l
ar
ea
s
a
n
d
u
n
ex
p
l
o
r
ed
s
ec
tio
n
s
o
f
th
e
te
r
r
ito
r
y
.
Ma
th
em
atica
lly
,
t
h
is
tr
an
s
lates
to
lar
g
e
-
s
ca
le
m
o
v
em
en
ts
with
in
th
e
s
ea
r
ch
s
p
ac
e,
en
ab
lin
g
th
e
alg
o
r
ith
m
t
o
escap
e
l
o
ca
l
o
p
tim
a
an
d
d
is
co
v
er
p
r
o
m
is
in
g
n
ew
r
e
g
io
n
s
.
T
h
e
m
o
v
em
en
t
d
u
r
in
g
th
is
p
h
ase
is
g
u
id
ed
b
y
a
co
m
b
in
atio
n
o
f
th
e
g
lo
b
al
b
est
s
o
lu
tio
n
(
th
e
m
ale
P
u
m
a'
s
p
o
s
i
tio
n
)
an
d
s
to
ch
asti
c
f
ac
to
r
s
,
en
s
u
r
in
g
a
r
o
b
u
s
t a
n
d
wid
esp
r
ea
d
s
ea
r
ch
.
6
.
2
.
E
x
plo
it
a
t
io
n pha
s
e:
prey
ca
pture
s
t
ra
t
eg
ies
On
ce
a
p
r
o
m
is
in
g
a
r
ea
is
id
en
t
if
ied
,
th
e
al
g
o
r
ith
m
s
witch
es
to
th
e
e
x
p
lo
itatio
n
p
h
ase,
w
h
ich
em
p
lo
y
s
two
d
is
tin
ct
o
p
er
ato
r
s
in
s
p
ir
e
d
b
y
th
e
P
u
m
a'
s
p
r
im
ar
y
h
u
n
tin
g
tech
n
iq
u
es:
am
b
u
s
h
in
g
a
n
d
r
u
n
n
in
g
.
T
h
ese
o
p
er
ato
r
s
f
ac
ilit
ate
in
ten
s
iv
e
lo
ca
l
s
ea
r
ch
ar
o
u
n
d
p
r
o
m
is
in
g
s
o
lu
tio
n
s
.
T
h
e
am
b
u
s
h
s
tr
a
teg
y
s
im
u
lates
th
e
P
u
m
a'
s
p
atien
t,
s
tealth
y
ap
p
r
o
ac
h
,
in
v
o
lv
i
n
g
s
u
b
tle
an
d
p
r
e
cise
m
o
v
em
en
ts
to
r
ef
in
e
th
e
s
o
lu
tio
n
'
s
p
o
s
itio
n
.
T
h
e
r
u
n
n
in
g
s
tr
ateg
y
em
u
lates
a
m
o
r
e
d
ir
ec
t
an
d
r
ap
id
p
u
r
s
u
it,
allo
win
g
f
o
r
q
u
ic
k
er
co
n
v
er
g
en
ce
to
war
d
s
a
lo
ca
l
o
p
tim
u
m
.
B
y
lev
er
ag
i
n
g
th
ese
two
tactics,
th
e
PO
alg
o
r
ith
m
ca
n
e
f
f
ec
tiv
ely
n
a
v
ig
ate
th
e
co
m
p
lex
to
p
o
g
r
a
p
h
y
o
f
th
e
s
o
lu
tio
n
s
p
a
ce
,
en
h
an
ci
n
g
th
e
q
u
ality
o
f
s
o
lu
tio
n
s
th
r
o
u
g
h
f
o
cu
s
ed
lo
ca
l s
ea
r
ch
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
2013
-
2
0
2
8
2018
Fig
u
r
e
6
.
Flo
wch
ar
t
o
f
th
e
PO o
p
tim
izatio
n
tech
n
i
q
u
e
6
.
3
.
P
ha
s
e
s
wit
ching
m
ec
ha
nis
m
T
h
e
co
r
e
o
f
th
e
PO'
s
ad
a
p
tab
ilit
y
lies
in
its
p
h
ase
-
s
witch
in
g
cr
iter
io
n
.
T
h
is
m
ec
h
an
is
m
p
r
o
b
a
b
ilis
tically
d
eter
m
in
es
w
h
eth
er
an
in
d
iv
id
u
al
ag
en
t
will
en
g
ag
e
in
ex
p
lo
r
atio
n
o
r
ex
p
lo
itatio
n
d
u
r
in
g
an
iter
atio
n
.
T
h
e
d
ec
is
io
n
is
o
f
ten
b
ased
o
n
co
n
tr
o
l
p
ar
am
et
er
s
th
at
ca
n
b
e
tu
n
ed
,
allo
win
g
th
e
alg
o
r
ith
m
to
p
r
io
r
itize
b
r
o
a
d
ex
p
l
o
r
atio
n
in
th
e
ea
r
ly
s
tag
es
an
d
in
ten
s
if
y
ex
p
lo
itatio
n
as
th
e
s
ea
r
ch
p
r
o
g
r
ess
es.
All
th
ese
o
p
er
atio
n
s
ar
e
e
x
p
r
ess
ed
b
y
(
6
)
an
d
(
7
)
.
1
=
1
.
1
(
6
)
1
=
1
.
1
(
7
)
Du
r
in
g
th
e
e
x
p
lo
r
atio
n
p
h
ase,
th
e
co
s
t o
f
th
e
b
est s
o
lu
tio
n
ca
n
d
id
ates is ca
lcu
lated
as
(
8
)
.
1
=
−
1
(8
)
I
n
(
8
)
,
1
d
en
o
tes
th
e
co
s
t
o
f
th
e
b
est
s
o
lu
tio
n
ac
h
iev
ed
in
th
e
f
ir
s
t
iter
atio
n
.
Af
te
r
co
m
p
letin
g
t
h
e
th
ir
d
iter
atio
n
,
th
e
P
u
m
as
ar
e
c
o
n
s
id
er
ed
ex
p
er
ien
ce
d
a
n
d
m
u
s
t
d
ec
id
e
b
e
twee
n
en
ter
in
g
th
e
ex
p
lo
r
atio
n
o
r
e
x
p
lo
itatio
n
p
h
ase.
T
o
m
ak
e
th
is
d
ec
is
io
n
,
th
e
s
co
r
es a
r
e
co
m
p
u
ted
as
in
(
9
)
an
d
(
1
0
)
.
=
(
1
.
1
)
+
(
2
.
2
)
(
9
)
=
(
1
.
1
)
+
(
2
.
2
)
(
1
0
)
Acc
o
r
d
in
g
t
o
(
9
)
an
d
(
1
0
)
if
‘
S
co
r
eE
xp
lo
r
a
tio
n
’
is
g
r
ea
ter
t
h
an
‘
S
co
r
eE
xp
l
o
ita
tio
n
’
th
e
n
th
e
ex
p
lo
r
atio
n
p
h
ase
is
s
elec
ted
.
Pu
m
a
o
p
tim
izer
a
lg
o
r
ith
m
is
u
s
ed
to
o
p
tim
ally
tu
n
e
th
e
p
ar
am
eter
s
o
f
th
e
F
OPI
D
co
n
tr
o
ller
b
y
m
in
im
izin
g
th
e
I
T
AE
p
er
f
o
r
m
an
ce
in
d
ex
g
iv
en
in
(
2
)
.
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
tima
l F
OP
I
D
co
n
tr
o
l fo
r
imp
r
o
ve
d
lo
a
d
fr
eq
u
en
cy
r
eg
u
l
a
tio
n
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…
(
Mit
a
li S
a
ma
l
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2019
C
o
n
v
en
tio
n
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PI
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d
PID
co
n
t
r
o
ller
s
ar
e
wid
ely
u
s
ed
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r
ac
tical
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o
wer
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y
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tem
s
d
u
e
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eir
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im
p
le
s
tr
u
ctu
r
e
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d
ea
s
e
o
f
im
p
lem
en
tatio
n
;
h
o
we
v
er
,
th
eir
p
e
r
f
o
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m
an
ce
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ig
n
if
ican
tly
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eg
r
ad
es
u
n
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er
n
o
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lin
ea
r
o
p
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atin
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itio
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e
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ter
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r
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eter
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tain
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Ad
v
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co
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o
ller
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s
u
ch
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m
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el
p
r
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ictiv
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co
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zz
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g
ic
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n
tr
o
ller
s
,
an
d
ad
ap
tiv
e
c
o
n
tr
o
l
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h
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iq
u
es
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r
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p
r
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ed
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am
ic
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e
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u
t
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ig
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r
co
m
p
u
tatio
n
al
co
m
p
lex
ity
,
e
x
ten
s
iv
e
r
u
le
-
b
ase
d
esig
n
,
o
r
t
h
e
r
eq
u
ir
em
e
n
t o
f
ac
c
u
r
ate
s
y
s
tem
m
o
d
els.
C
o
m
p
ar
e
d
with
th
e
s
e
ap
p
r
o
ac
h
es,
th
e
p
r
o
p
o
s
ed
P
O
-
FOPID
co
n
tr
o
ller
co
m
b
in
es
th
e
f
le
x
ib
ilit
y
o
f
f
r
ac
tio
n
al
-
o
r
d
e
r
co
n
t
r
o
l
with
th
e
ef
f
icien
t
g
lo
b
al
o
p
tim
izatio
n
ca
p
ab
ilit
y
o
f
th
e
Pu
m
a
o
p
tim
izer
,
as sh
o
wn
in
T
ab
le
1
.
T
ab
le
1.
C
o
m
p
a
r
is
o
n
b
etwe
en
ad
v
an
ce
d
co
n
tr
o
ller
s
C
o
n
t
r
o
l
l
e
r
S
e
t
t
l
i
n
g
t
i
me
O
v
e
r
sh
o
o
t
R
o
b
u
st
n
e
ss
C
o
m
p
u
t
a
t
i
o
n
a
l
c
o
m
p
l
e
x
i
t
y
PI
H
i
g
h
H
i
g
h
M
o
d
e
r
a
t
e
Lo
w
P
I
D
M
o
d
e
r
a
t
e
M
o
d
e
r
a
t
e
M
o
d
e
r
a
t
e
Lo
w
F
u
z
z
y
M
o
d
e
r
a
t
e
Lo
w
G
o
o
d
M
o
d
e
r
a
t
e
A
d
a
p
t
i
v
e
Lo
w
Lo
w
G
o
o
d
H
i
g
h
M
P
C
V
e
r
y
l
o
w
V
e
r
y
l
o
w
Ex
c
e
l
l
e
n
t
V
e
r
y
h
i
g
h
PO
-
F
O
P
I
D
V
e
r
y
l
o
w
V
e
r
y
l
o
w
Ex
c
e
l
l
e
n
t
M
o
d
e
r
a
t
e
7.
R
E
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
p
r
o
p
o
s
ed
PO
-
FOPID
co
n
tr
o
ller
is
ev
alu
ated
th
r
o
u
g
h
MA
T
L
AB
/Si
m
u
lin
k
s
im
u
latio
n
s
o
n
a
two
-
ar
ea
h
y
b
r
id
p
o
wer
s
y
s
tem
co
m
p
r
is
in
g
th
e
r
m
al,
h
y
d
r
o
,
win
d
,
an
d
g
as
u
n
its
.
T
h
e
co
n
tr
o
ll
er
is
co
m
p
ar
ed
with
PO
-
PID
,
PS
O
-
PID
,
an
d
PS
O
-
FOPID
ap
p
r
o
ac
h
es
u
s
in
g
p
e
r
f
o
r
m
a
n
ce
in
d
ices
in
clu
d
in
g
s
ettlin
g
tim
e,
p
ea
k
o
v
er
s
h
o
o
t/u
n
d
er
s
h
o
o
t,
an
d
I
T
AE
.
7
.
1
.
Ca
s
e
s
t
ud
y
I
(
lo
a
d v
a
ria
t
io
n
)
A
s
tep
lo
ad
d
is
tu
r
b
a
n
ce
test
was
co
n
d
u
cted
to
ev
al
u
ate
s
y
s
tem
p
er
f
o
r
m
a
n
ce
,
wh
e
r
ein
Ar
ea
1
'
s
d
em
an
d
was
s
u
b
jecte
d
to
a
1
%
in
cr
ea
s
e
wh
ile
Ar
ea
2
'
s
lo
a
d
was
h
eld
f
ix
ed
.
T
h
e
r
esu
lti
n
g
PID
an
d
FOPID
co
n
tr
o
ller
g
ain
s
,
o
p
tim
ized
v
ia
th
e
PS
O
alg
o
r
ith
m
an
d
Pu
m
a
Op
tim
izer
(
PO)
,
ar
e
s
u
m
m
ar
ized
in
T
ab
le
2
.
T
h
e
p
er
f
o
r
m
an
ce
o
f
th
ese
co
n
tr
o
ll
er
s
was
ev
alu
ated
in
ter
m
s
o
f
o
v
er
s
h
o
o
t
an
d
s
ettlin
g
tim
e
f
o
r
th
e
f
r
e
q
u
en
c
y
d
ev
iatio
n
s
(
Δf
1
an
d
Δ
f
2
)
an
d
tie
-
lin
e
p
o
wer
d
e
v
iatio
n
(
ΔP
12
)
.
T
h
e
c
o
r
r
esp
o
n
d
in
g
r
esu
lts
ar
e
p
r
esen
ted
in
T
ab
le
3
,
an
d
th
e
d
y
n
am
ic
r
esp
o
n
s
es a
r
e
illu
s
tr
ated
in
Fig
u
r
e
7.
T
ab
le
2.
C
o
n
tr
o
ller
p
ar
am
eter
s
tu
n
ed
with
d
if
f
er
en
t
o
p
tim
izat
io
n
tech
n
iq
u
es
C
o
n
t
r
o
l
l
e
r
p
a
r
a
m
e
t
e
r
s
PSO
-
b
a
se
d
P
I
D
c
o
n
t
r
o
l
l
e
r
PO
-
b
a
se
d
P
I
D
c
o
n
t
r
o
l
l
e
r
PSO
-
b
a
se
d
F
O
P
I
D
c
o
n
t
r
o
l
l
e
r
PO
-
b
a
se
d
F
O
P
I
D
c
o
n
t
r
o
l
l
e
r
(
p
r
o
p
o
s
e
d
)
K
P
1
3
.
2
5
5
3
3
.
2
0
7
7
5
9
4
2
3
0
.
1
7
6
6
2
.
9
7
8
0
4
5
3
2
3
K
I
1
2
.
5
5
4
1
4
.
2
4
5
9
0
6
3
4
3
6
.
0
7
8
8
3
.
1
7
6
9
8
4
2
1
5
K
D
1
0
.
1
0
.
3
9
0
9
3
3
8
4
7
2
.
2
7
4
1
0
.
4
0
5
7
6
6
8
8
7
λ1
***
***
0
.
7
5
1
0
.
9
6
2
8
4
8
6
3
9
µ1
***
***
0
.
6
5
2
9
0
.
9
0
9
8
7
9
9
4
K
P
2
1
.
8
5
2
9
3
.
6
4
6
9
9
1
1
0
3
0
.
9
1
5
3
0
.
5
4
3
6
7
6
3
4
3
K
I
2
9
.
4
4
9
0
.
1
1
1
2
0
2
6
5
1
9
.
1
0
7
1
10
K
D
2
1
.
5
6
0
8
0
.
6
6
5
1
5
4
2
3
7
0
.
2
5
5
3
0
.
4
8
3
2
1
7
6
9
8
λ2
***
***
0
.
5
6
2
7
0
.
5
µ2
***
***
0
.
9
6
0
8
0
.
5
I
TA
E
0
.
5
0
3
8
0
.
2
8
8
3
8
0
.
4
5
6
2
0
.
2
3
3
1
3
T
h
e
p
r
o
p
o
s
ed
PO
-
FOPID
co
n
tr
o
ller
d
em
o
n
s
tr
ated
a
clea
r
i
m
p
r
o
v
e
m
en
t
o
v
er
th
e
o
th
er
m
eth
o
d
s
.
T
h
e
s
ettlin
g
tim
es
ac
h
iev
ed
wer
e
5
.
4
s
f
o
r
Δf
1
,
1
0
.
2
s
f
o
r
Δf
2
,
a
n
d
9
.
9
s
f
o
r
ΔP
12
.
T
h
ese
v
alu
es
ar
e
s
ig
n
if
ican
tly
lo
wer
co
m
p
ar
e
d
to
th
o
s
e
o
b
tain
ed
with
PSO
-
PID
(
1
0
.
6
s
,
2
5
.
3
s
,
1
4
.
2
s
)
,
PO
-
PID
(
5
.
8
s
,
1
5
.
2
s
,
1
5
.
3
s
)
,
an
d
PSO
-
FO
PID
(
5
.
7
s
,
1
0
.
6
s
,
1
0
.
2
s
)
.
T
h
e
r
esu
lts
in
d
icate
th
at
th
e
PO
-
FOPID
co
n
tr
o
ller
n
o
t
o
n
l
y
m
in
im
izes
s
ettlin
g
tim
e
b
u
t a
ls
o
m
ain
tain
s
s
y
s
tem
s
tab
ilit
y
m
o
r
e
ef
f
ec
tiv
ely
.
T
h
e
p
er
tu
r
b
e
d
r
esp
o
n
s
e
o
f
f
r
e
q
u
en
cies
an
d
tie
-
lin
e
p
o
wer
r
e
p
r
esen
ts
th
e
d
y
n
am
ic
b
eh
av
io
r
o
f
a
two
-
ar
ea
h
y
b
r
id
p
o
wer
s
y
s
tem
f
o
ll
o
win
g
a
lo
ad
o
r
g
e
n
er
atio
n
d
i
s
tu
r
b
an
ce
.
T
h
e
f
r
eq
u
en
cy
d
e
v
iatio
n
s
,
Δf
1
an
d
Δf
2
,
in
d
icate
th
e
s
tab
ilit
y
o
f
Ar
e
as
1
an
d
2
,
w
h
ile
th
e
tie
-
lin
e
p
o
wer
d
ev
iatio
n
,
ΔP
tie
,
r
e
p
r
esen
ts
th
e
p
o
wer
ex
ch
an
g
e
b
etwe
en
th
e
ar
ea
s
as
s
h
o
wn
in
Fig
u
r
e
7
.
An
ef
f
ec
tiv
e
co
n
tr
o
ller
s
h
o
u
ld
p
r
o
d
u
ce
s
m
aller
p
ea
k
d
ev
iatio
n
s
,
f
aster
s
ettlin
g
ti
m
e,
r
ed
u
ce
d
o
s
cillatio
n
s
,
a
n
d
m
in
im
u
m
s
tead
y
-
s
tate
e
r
r
o
r
,
d
em
o
n
s
tr
atin
g
im
p
r
o
v
e
d
f
r
e
q
u
en
c
y
r
eg
u
latio
n
an
d
i
n
ter
-
ar
ea
p
o
wer
s
tab
ilit
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
2013
-
2
0
2
8
2020
(
a)
(
b
)
(
c)
Fig
u
r
e
7
.
Per
tu
r
b
ed
r
esp
o
n
s
e
o
f
f
r
eq
u
en
cies a
n
d
tie
-
lin
e
p
o
w
er
C
ase
I
:
(
a)
f
r
eq
u
en
cy
r
esp
o
n
s
e
o
f
Ar
ea
-
1
(
b
)
f
r
e
q
u
en
cy
r
esp
o
n
s
e
o
f
Ar
e
a
-
2
,
an
d
(
c)
r
esp
o
n
s
e
o
f
tie
-
lin
e
p
o
wer
A
k
ey
o
b
s
er
v
atio
n
is
th
e
s
u
p
er
io
r
d
am
p
in
g
ca
p
a
b
ilit
y
o
f
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
.
T
h
e
PO
-
FOPI
D
d
esig
n
r
ed
u
ce
d
o
s
cillatio
n
s
q
u
ick
ly
,
p
r
ev
e
n
tin
g
s
u
s
tain
ed
d
ev
iatio
n
s
th
at
ca
n
co
m
p
r
o
m
is
e
s
tab
ilit
y
in
in
ter
co
n
n
ec
ted
s
y
s
tem
s
.
Un
lik
e
th
e
o
th
e
r
co
n
tr
o
ller
s
,
it
ad
ap
ted
s
m
o
o
t
h
ly
to
lo
a
d
d
i
s
tu
r
b
an
ce
s
with
o
u
t
p
r
o
d
u
cin
g
n
o
ticea
b
le
o
v
er
s
h
o
o
t
o
r
e
x
ten
d
e
d
tr
an
s
ien
ts
.
T
h
i
s
b
alan
ce
b
etwe
en
f
ast
r
esp
o
n
s
e
an
d
c
o
n
tr
o
lled
d
am
p
in
g
is
ess
en
tial
f
o
r
h
y
b
r
id
p
o
wer
s
y
s
tem
s
,
wh
er
e
r
en
e
wab
le
en
er
g
y
s
o
u
r
ce
s
ad
d
s
ig
n
if
ican
t
v
a
r
iab
ilit
y
an
d
u
n
ce
r
tain
ty
.
Fu
r
th
er
,
t
o
ev
alu
ate
r
o
b
u
s
tn
ess
,
λ
an
d
μ
wer
e
in
d
e
p
en
d
e
n
tly
p
e
r
tu
r
b
ed
a
r
o
u
n
d
th
eir
o
p
tim
ized
n
o
m
in
al
v
alu
es
b
y
±
1
0
%,
wh
ile
m
ain
tain
in
g
all
o
th
er
c
o
n
tr
o
ller
g
ain
s
u
n
ch
a
n
g
ed
.
T
h
e
ef
f
ec
ts
o
n
f
r
eq
u
e
n
cy
d
ev
iatio
n
s
(
Δ
f
₁
an
d
Δ
f
₂)
,
tie
-
lin
e
p
o
wer
d
ev
iat
io
n
(
Δ
P₁₂)
,
s
ettlin
g
tim
e,
o
v
er
s
h
o
o
t,
an
d
I
T
AE
p
er
f
o
r
m
an
ce
in
d
e
x
wer
e
an
al
y
ze
d
u
n
d
er
s
tep
lo
ad
d
is
tu
r
b
an
ce
co
n
d
itio
n
s
,
an
d
th
e
co
m
p
ar
is
o
n
g
r
ap
h
s
ar
e
s
h
o
wn
in
Fig
u
r
e
8.
B
ased
o
n
th
e
s
im
u
latio
n
r
esu
lts
an
d
wav
ef
o
r
m
o
u
tp
u
ts
,
th
e
p
r
o
p
o
s
ed
co
n
t
r
o
ller
ca
n
b
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ates
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
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&
Dr
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s
t
I
SS
N:
2088
-
8
6
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4
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I
SS
N
:
2
0
8
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I
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t J Po
w
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lec
&
Dr
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t
,
Vo
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3
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Sep
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***
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***
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ased
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ates th
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ased
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