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ize
win
d
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sta
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a
b
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g
y
d
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m
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t
.
K
ey
w
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s
:
An
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lo
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Gen
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alg
o
r
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m
Ma
x
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m
p
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p
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m
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m
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co
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T
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is i
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ss
a
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u
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d
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e
CC B
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-
SA
li
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se
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C
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s
p
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A
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:
Najo
u
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Mr
ab
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s
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An
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Hig
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Sch
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T
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Mo
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V
Un
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Av
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Un
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A
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I
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RO
D
UCT
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O
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is
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tu
d
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ex
am
in
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an
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p
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f
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win
d
en
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r
g
y
d
ev
elo
p
m
en
t
o
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en
v
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m
en
tal
s
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s
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ab
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s
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tio
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r
ed
u
cti
o
n
a
n
d
e
n
er
g
y
e
f
f
icien
cy
[
1
]
.
W
ith
th
e
r
is
e
i
n
win
d
en
e
r
g
y
d
em
a
n
d
,
tu
r
b
in
es,
esp
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ially
th
o
s
e
u
s
in
g
p
er
m
a
n
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t
m
ag
n
et
s
y
n
ch
r
o
n
o
u
s
g
e
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er
ato
r
s
(
PMSGs
)
,
o
f
f
er
h
ig
h
p
er
f
o
r
m
an
ce
,
l
o
w
m
ain
ten
an
ce
,
an
d
g
ea
r
less
o
p
er
atio
n
.
Ho
we
v
er
,
o
p
tim
izin
g
m
ax
im
u
m
p
o
wer
p
o
i
n
t
tr
ac
k
i
n
g
(
MPPT)
r
em
ain
s
a
k
ey
ch
allen
g
e
.
As
win
d
s
p
ee
d
s
f
lu
ctu
ate,
it’s
ess
en
tial
to
ad
a
p
t
tu
r
b
in
e
p
ar
am
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s
f
o
r
m
ax
im
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m
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tr
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E
f
f
icie
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MPPT
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s
cr
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cial
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im
p
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v
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g
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g
y
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f
icien
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,
r
ed
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ci
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g
lo
s
s
es,
an
d
en
h
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cin
g
s
u
s
tain
ab
ilit
y
in
win
d
en
er
g
y
s
y
s
tem
s
[
2
]
,
[
3
]
.
Var
iatio
n
s
in
win
d
s
p
ee
d
af
f
e
ct
th
e
r
o
to
r
s
p
ee
d
o
f
tu
r
b
in
es,
n
ec
ess
itatin
g
ef
f
ec
tiv
e
MPPT
tech
n
iq
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es
to
o
p
tim
ize
p
o
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p
o
in
ts
a
n
d
en
h
a
n
ce
s
y
s
tem
p
e
r
f
o
r
m
an
ce
.
Sev
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al
m
eth
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d
s
h
a
v
e
b
e
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u
s
ed
f
o
r
MPPT
o
p
tim
izatio
n
,
i
n
clu
d
in
g
in
c
r
e
m
en
tal
co
n
d
u
ctan
ce
(
I
NC
)
an
d
p
er
tu
r
b
an
d
o
b
s
er
v
e
(
P
&
O)
.
W
h
ile
th
ese
tech
n
iq
u
es
ar
e
ex
ten
s
iv
ely
u
tili
ze
d
,
it
co
m
e
with
lim
itat
io
n
s
,
lik
e
s
lo
w
r
esp
o
n
s
e
tim
es
an
d
d
ec
r
ea
s
ed
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
2
5
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8
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I
n
t J Ar
tif
I
n
tell
,
Vo
l.
15
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
6
:
399
-
4
1
1
400
ef
f
ec
tiv
en
ess
u
n
d
er
q
u
ick
ly
e
v
o
lv
in
g
win
d
co
n
d
itio
n
s
.
T
h
i
s
s
tu
d
y
s
u
g
g
ests
em
p
lo
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in
g
t
h
e
I
NC
ap
p
r
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ac
h
to
MPPT
in
win
d
en
er
g
y
co
n
v
er
s
io
n
s
y
s
tem
s
(
W
E
C
S),
wh
ich
ad
d
r
ess
es
s
o
m
e
o
f
th
ese
lim
itatio
n
s
b
y
im
p
r
o
v
in
g
tr
ac
k
in
g
ac
cu
r
ac
y
u
n
d
er
v
ar
y
in
g
win
d
s
p
ee
d
s
.
T
h
e
p
a
p
er
c
o
m
p
ar
es
two
d
is
t
in
ct
m
etah
eu
r
is
tic
m
eth
o
d
s
f
o
r
o
p
tim
izin
g
MPPT
in
W
E
C
S:
g
en
etic
alg
o
r
ith
m
s
(
GA)
an
d
an
t
co
l
o
n
y
o
p
tim
izatio
n
(
AC
O)
[
4
]
.
An
ts
'
f
o
r
ag
in
g
h
ab
its
s
er
v
e
a
s
an
in
s
p
ir
atio
n
f
o
r
AC
O,
wh
ich
d
is
co
v
er
an
d
u
tili
ze
p
ath
s
f
r
o
m
th
eir
co
lo
n
y
to
f
o
o
d
s
o
u
r
ce
s
.
Ap
p
lied
to
MPPT,
A
C
O
ca
n
ex
p
lo
r
e
v
ar
io
u
s
p
a
r
am
eter
co
m
b
in
atio
n
s
to
m
a
x
im
ize
p
o
w
er
p
r
o
d
u
ctio
n
a
n
d
id
e
n
tify
a
n
o
p
tim
al
o
p
e
r
atin
g
p
o
in
t
f
o
r
a
win
d
tu
r
b
in
e.
GA
em
p
lo
y
s
g
en
etic
o
p
er
ato
r
s
lik
e
to
e
v
o
lv
e
to
war
d
th
e
b
est
o
p
tio
n
,
u
s
e
cr
o
s
s
o
v
er
,
m
u
tatio
n
,
an
d
s
elec
tio
n
f
r
o
m
a
p
o
p
u
latio
n
o
f
p
o
te
n
tial
s
o
lu
tio
n
s
,
r
ep
r
esen
tin
g
p
o
s
s
ib
le
tu
r
b
in
e
o
p
er
atin
g
p
o
in
ts
[
5
]
.
GA,
wh
en
u
s
ed
with
MPPT,
ca
n
co
n
tin
u
o
u
s
ly
en
h
an
ce
t
h
e
tu
r
b
in
e'
s
o
p
er
atin
g
p
ar
a
m
eter
s
f
o
r
ef
f
ec
tiv
e
MPPT
.
A
co
m
p
ar
ati
v
e
an
aly
s
is
o
f
th
ese
m
u
lti
-
o
b
j
ec
tiv
e
m
etah
eu
r
is
tic
tech
n
iq
u
e
s
,
s
u
ch
as
AC
O
an
d
GA,
ty
p
ically
f
o
c
u
s
es
o
n
th
e
ir
im
p
o
r
tan
ce
an
d
ef
f
ec
tiv
e
n
e
s
s
in
o
p
tim
izin
g
MPPT
co
n
tr
o
l
in
W
E
C
S.
Ou
r
r
esear
ch
in
tr
o
d
u
ce
s
a
n
ew
m
eth
o
d
f
o
r
p
r
e
d
ictin
g
th
e
s
tab
i
lity
r
eg
io
n
o
f
a
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
-
d
er
iv
ati
v
e
(
PID
)
co
n
tr
o
ller
u
s
in
g
its
p
ar
a
m
eter
s
[
6
]
.
T
h
e
aim
is
to
o
p
ti
m
ize
th
e
PID
c
o
n
tr
o
ller
'
s
s
ettin
g
s
u
s
in
g
AC
O
an
d
GA,
r
esu
ltin
g
in
f
aster
s
etu
p
ti
m
es a
n
d
en
h
a
n
ce
d
v
o
ltag
e,
c
u
r
r
en
t,
to
r
q
u
e,
a
n
d
p
o
wer
r
esp
o
n
s
es.
T
h
is
s
tu
d
y
p
r
o
p
o
s
es
o
p
tim
izin
g
PID
co
n
tr
o
ller
s
ettin
g
s
u
s
in
g
GA
an
d
AC
O
tech
n
iq
u
es,
o
f
f
er
in
g
in
n
o
v
ativ
e
s
o
lu
tio
n
s
t
o
im
p
r
o
v
e
MPPT
o
p
tim
izatio
n
in
W
E
C
S.
Un
lik
e
co
n
v
en
tio
n
al
m
e
th
o
d
s
lik
e
I
NC
an
d
P&
O,
AC
O
an
d
GA
ca
n
ex
p
lo
r
e
lar
g
e
r
s
o
lu
tio
n
s
p
ac
es
an
d
ad
a
p
t
m
o
r
e
ef
f
ec
tiv
ely
to
ch
an
g
in
g
win
d
co
n
d
itio
n
s
,
lead
i
n
g
to
f
aster
a
n
d
m
o
r
e
ac
cu
r
ate
MPPT
.
An
ap
p
r
o
ac
h
is
ev
alu
ated
u
s
in
g
MA
T
L
AB
/S
im
u
lin
k
to
m
an
ag
e
a
DC
-
DC
b
o
o
s
t
c
o
n
v
er
ter
f
o
r
o
p
tim
al
v
o
ltag
e
i
n
W
E
C
S
[
7
]
.
T
h
is
wo
r
k
aim
s
to
ad
v
an
ce
MPPT
o
p
tim
izatio
n
b
y
u
tili
zin
g
AC
O
an
d
GA
f
o
r
en
h
an
ce
an
e
c
o
n
o
m
ic
f
ea
s
ib
ilit
y
,
r
eliab
ilit
y
,
an
d
ef
f
icien
c
y
f
o
r
win
d
en
er
g
y
s
y
s
tem
s
[
8
]
.
A
r
em
ain
d
er
f
o
r
s
tr
u
ctu
r
e
o
f
th
e
p
ap
er
is
as
f
o
llo
ws:
s
ec
tio
n
2
o
f
f
er
s
a
th
o
r
o
u
g
h
s
u
m
m
ar
y
,
f
o
r
a
n
I
NC
ap
p
r
o
ac
h
,
t
h
e
DC
-
DC
b
o
o
s
t
co
n
v
er
ter
,
th
e
W
E
C
S
s
y
s
tem
,
an
d
th
e
PID
co
n
tr
o
ller
.
Sectio
n
3
d
is
cu
s
s
es
th
e
co
n
tr
o
l
s
tr
ateg
y
,
em
p
h
asizin
g
h
o
w
AC
O
an
d
GA
tech
n
iq
u
es
ar
e
u
s
ed
to
s
wif
tly
m
o
d
if
y
PID
co
n
tr
o
ller
s
ettin
g
s
.
Fin
ally
,
s
ec
tio
n
4
p
r
e
s
en
ts
a
m
ain
o
u
tco
m
e
o
f
a
M
AT
L
AB
s
im
u
latio
n
,
co
m
p
a
r
in
g
o
u
r
f
i
n
d
in
g
s
with
tr
ad
itio
n
al
tech
n
iq
u
es
a
n
d
h
ig
h
lig
h
tin
g
th
e
b
en
ef
its
o
f
o
u
r
in
n
o
v
ativ
e
ap
p
r
o
ac
h
.
T
h
e
liter
at
u
r
e
a
p
p
lied
is
lis
ted
in
T
ab
le
1
.
T
ab
le
1
.
L
iter
atu
r
e
r
ev
iew
O
p
t
i
mi
z
a
t
i
o
n
me
t
h
o
d
A
d
v
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n
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g
e
s
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mi
t
a
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o
n
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C
o
m
p
a
r
i
so
n
t
o
A
C
O
a
n
d
G
A
P
a
r
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c
l
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sw
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r
m
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p
t
i
m
i
z
a
t
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o
n
(PSO)
i)
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i
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mp
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t
ii)
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a
st
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S
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r
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l
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o
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a
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f
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y
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l
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sy
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ms.
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C
O
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c
e
l
l
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p
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m
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c
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d
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t
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s
i)
M
a
y
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r
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s
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l
o
w
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r
c
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v
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n
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m
p
l
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r
c
a
ses
A
C
O
o
f
f
e
r
s
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p
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d
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p
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o
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h
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f
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c
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x
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t
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.
GA
i)
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a
l
a
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c
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d
b
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p
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o
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p
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si
v
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ii)
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a
y
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e
e
d
c
a
r
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f
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l
p
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r
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m
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t
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n
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G
A
o
u
t
p
e
r
f
o
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m
s
t
r
a
d
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t
i
o
n
a
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m
e
t
h
o
d
s
a
n
d
o
t
h
e
r
a
l
g
o
r
i
t
h
m
s
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n
c
o
m
p
l
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x
d
y
n
a
m
i
c
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d
i
t
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b
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a
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n
i
n
g
s
o
l
u
t
i
o
n
d
i
v
e
r
s
i
t
y
.
2.
T
H
E
SY
ST
E
M
P
RO
P
O
SE
D
A
win
d
tu
r
b
in
e
tr
an
s
f
o
r
m
s
win
d
s
p
ee
d
f
o
r
m
ec
h
an
ical
p
o
w
er
.
W
ith
k
ee
p
in
g
a
b
est
s
tead
y
v
o
ltag
e
th
r
o
u
g
h
o
u
t
t
h
e
lo
ad
,
MPPT
tech
n
iq
u
e
ca
n
g
et
ac
clim
ated
f
o
r
o
b
tain
in
g
th
e
g
r
ea
test
p
o
wer
p
r
o
d
u
ctio
n
f
r
o
m
a
n
av
ailab
le
win
d
.
Sev
er
al
MP
PT
tech
n
iq
u
es
was
u
tili
ze
d
with
W
E
C
S
in
p
r
ev
io
u
s
p
u
b
licatio
n
s
.
DC
/D
C
co
n
v
er
ter
s
s
er
v
e
as
a
m
a
x
i
m
u
m
p
o
wer
p
o
i
n
t
(
MPP)
m
o
n
ito
r
,
c
o
n
n
ec
tin
g
W
E
C
S
with
v
ar
io
u
s
lo
ad
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Op
timiz
a
tio
n
o
f m
a
ximu
m
p
o
w
er p
o
in
t tra
ck
in
g
in
w
in
d
en
e
r
g
y
s
ystem
s
:
a
co
mp
a
r
a
tive
…
(
N
a
jo
u
a
Mr
a
b
et
)
401
r
eq
u
ir
em
e
n
ts
.
B
u
ck
-
b
o
o
s
t
an
d
b
u
ck
-
b
o
o
s
t
co
n
v
er
ter
s
ar
e
a
m
ajo
r
ity
o
f
ten
u
tili
ze
d
.
Nu
m
er
o
u
s
s
tu
d
ies
h
av
e
en
h
an
ce
d
th
e
ef
f
icien
c
y
o
f
W
E
C
S
tr
ac
k
in
g
s
tr
u
ctu
r
es.
C
h
o
o
s
in
g
a
h
ig
h
est
MPPT
f
o
r
a
g
iv
en
j
o
b
d
em
an
d
s
th
o
r
o
u
g
h
ev
alu
atio
n
o
f
a
n
u
m
b
er
o
f
asp
ec
ts
,
in
clu
d
in
g
ac
cu
r
ac
y
,
co
s
t,
co
n
v
e
r
g
en
ce
s
p
ee
d
,
an
d
s
en
s
itiv
ity
.
Nev
er
m
atter
h
o
w
a
g
r
ea
t
d
e
al
th
e
lo
ad
o
r
i
n
p
u
t
v
o
ltag
e
s
win
g
s
,
a
co
n
tr
o
ller
s
h
o
u
ld
co
n
s
tan
tly
m
ain
tain
a
v
o
ltag
e
s
tab
le
[
9
]
.
Fig
u
r
e
1
i
llu
s
tr
ates
a
win
d
p
o
wer
s
y
s
tem
ar
ch
itectu
r
e
p
r
o
p
o
s
ed
in
th
at
p
ap
er
.
A
win
d
tu
r
b
in
e
h
as
in
s
tan
tly
co
n
n
ec
te
d
with
a
PMSG
an
d
r
ec
tifie
r
s
,
wh
er
e
co
n
v
e
r
t
a
g
en
er
at
o
r
'
s
AC
to
D
C
.
Af
ter
ac
q
u
is
itio
n
,
a
DC
v
o
ltag
e
a
n
d
cu
r
r
en
t
s
ig
n
als
ar
e
co
n
n
ec
ted
o
f
a
DC
-
DC
b
o
o
s
t
co
n
v
er
ter
.
An
MPPT
r
eg
u
lates
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M)
d
u
ty
cy
cles
an
d
r
eg
u
late
s
ig
n
als.
At
last
,
co
n
n
ec
t
a
lo
ad
to
a
DC
-
D
C
b
o
o
s
t
co
n
v
er
ter
an
d
m
ea
s
u
r
e
a
s
y
s
tem
o
u
tp
u
t p
o
wer
[
1
0
]
.
Fig
u
r
e
1
.
Desig
n
f
o
r
m
a
x
im
u
m
p
o
wer
c
o
n
tr
o
l
f
o
r
W
E
C
S
2
.
1
.
Desig
nin
g
a
wind
t
urbin
e
T
h
e
win
d
tu
r
b
in
e'
s
(
W
T
)
m
e
ch
an
ical
p
o
wer
g
en
e
r
ated
as
s
elec
ted
with
(
1
)
,
wh
en
ρ
:
air
d
en
s
ity
(
k
g
/m
3
)
,
A:
s
wep
t
a
r
ea
(
m
2
)
,
cp
:
p
er
f
o
r
m
a
n
ce
c
o
ef
f
icien
t
o
f
a
tu
r
b
in
e
wh
er
e
is
a
f
u
n
ctio
n
f
o
r
a
p
itch
an
g
le
o
f
r
o
to
r
b
lad
es
β
(
i
n
d
e
g
r
ee
s
)
a
n
d
v
:
win
d
s
p
ee
d
(
in
m
/s
)
.
λ
:
a
tip
-
s
p
ee
d
r
atio
.
A
b
est
r
o
to
r
s
p
ee
d
in
th
at
tu
r
b
in
e
wo
r
k
s
at
m
ax
im
u
m
p
o
wer
s
y
m
b
o
lized
in
(
2
)
[
1
1
]
,
wh
e
n
R
an
d
ω
m
ar
e
a
b
lad
e
len
g
th
(
in
m
)
an
d
a
WT
r
o
to
r
s
p
ee
d
(
in
r
a
d
/s
ec
)
,
ac
co
r
d
in
g
ly
,
a
W
T
m
ec
h
an
ical
to
r
q
u
e
o
u
t
p
u
t T
m
g
i
v
en
with
(
3
)
[
1
2
]
.
=
1
2
(
λ
,
)
3
(
1
)
λ
=
ω
m
R
/
v
(
2
)
T
m
=
1
2
(
ρ
A
C
P
(
λ
,
β
)
v
3
)
ω
m
(
3
)
B
ec
au
s
e
o
f
a
d
esig
n
in
g
tu
r
b
i
n
e
p
r
o
p
er
ty
d
escr
ib
ed
[
1
3
]
,
a
co
ef
f
icien
t
o
f
p
o
wer
c
o
n
v
e
r
s
io
n
cp
=(
λ
,
β)
h
as
d
ep
en
d
i
n
g
em
p
lo
y
in
g
an
a
p
p
ly
in
g
f
u
n
d
a
m
en
tal
ex
p
r
es
s
io
n
:
a
m
ec
h
an
ical
o
u
tp
u
t
p
o
wer
tu
r
b
in
e
h
as
r
ep
r
esen
ted
in
Fig
u
r
e
2
lik
e
an
o
u
tco
m
e
f
o
r
t
u
r
b
in
e
s
p
ee
d
to
m
u
ltip
le
win
d
s
p
ee
d
s
,
as in
(
4
)
an
d
(
5
)
[
1
4
]
.
c
p
=
1
2
(
116
λ
i
−
0
.
4β
−
5
)
e
−
(
21
λ
i
)
(
4
)
1
λ
i
=
1
λ
+
0
.
08β
−
0
.
035
β
3
(
5
)
As
well,
Fig
u
r
e
2
f
e
atu
r
es
d
em
o
n
s
tr
ate
th
er
e
is
a
s
p
ec
if
ic
tu
r
b
i
n
e
s
p
ee
d
at
s
u
c
h
p
o
in
t
a
g
r
ea
test
p
o
wer
co
u
ld
p
o
s
s
ib
ly
cr
ea
te
with
ev
er
y
win
d
s
p
ee
d
.
As
an
e
x
am
p
le,
ju
s
t
wh
er
e
th
e
tu
r
b
i
n
e
s
p
ee
d
h
as
r
etain
ed
in
1
.
2
p
u
c
o
u
ld
a
m
ax
im
u
m
p
o
wer
g
et
ex
tr
ac
te
d
f
o
r
a
win
d
s
p
ee
d
o
f
1
2
m
/s
.
As
a
r
esu
lt,
a
o
n
e
ab
o
v
e
s
ce
n
ar
i
o
s
h
o
ws
th
at
C
p
m
a
y
ju
s
t
g
et
h
eld
at
a
n
elev
ate
d
lev
el
if
t
h
e
r
o
to
r
s
p
ee
d
h
as
ad
ju
s
ted
f
o
r
a
n
id
ea
l
f
u
n
ctio
n
in
g
p
o
in
t
to
d
i
v
er
s
e
win
d
s
p
ee
d
s
.
A
g
r
ea
test
ef
f
icien
cy
f
o
r
a
p
o
s
s
ib
le
win
d
tu
r
b
in
e
h
as
1
6
/2
7
,
wh
ich
e
q
u
als
5
9
.
2
5
%
.
T
o
f
o
r
p
r
ac
tical
u
s
es,
p
er
f
o
r
m
an
ce
d
if
f
e
r
s
f
r
o
m
2
5
%
to
4
5
%.
T
ab
le
2
s
h
o
ws
a
m
ea
s
u
r
em
en
t
with
a
win
d
tu
r
b
in
e
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
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tell
,
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l.
15
,
No
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1
,
Feb
r
u
ar
y
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2
6
:
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4
1
1
402
Fig
u
r
e
2
.
T
u
r
b
in
e
p
o
wer
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r
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iles
T
ab
le
2
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d
tu
r
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n
d
PM
SG simu
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ar
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S
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a
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e
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r
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a
l
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i
n
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m
a
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me
c
h
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n
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c
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l
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t
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t
1
2
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3
k
w
1
R
e
si
st
a
n
c
e
s
t
a
t
o
r
R
s
0
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4
5
5
7
2
(
Ω
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2
I
n
i
t
i
a
l
w
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n
d
s
p
e
e
d
1
2
m/
s
2
I
n
d
u
c
t
a
n
c
e
s [L
d
,
Lq
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[
0
.
3
9
5
mH
,
0
.
3
9
5
mH
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3
M
a
x
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m
a
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me
c
h
a
n
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c
a
l
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r
(
p
u
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0
.
8
5
p
u
3
N
u
mb
e
r
o
f
p
o
l
e
s
3
4
M
i
n
i
m
u
m
r
o
t
o
r
s
p
e
e
d
1
.
2
4
R
o
t
o
r
i
n
e
r
t
i
a
0
.
0
0
2
6
J
5
B
e
t
a
f
r
e
q
u
e
n
c
y
a
n
g
l
e
0°
5
F
l
u
i
d
d
a
mp
i
n
g
F
0
.
0
0
4
9
2
5
N
,
m,
s
6
F
l
u
x
l
i
n
k
a
g
e
0
.
1
1
9
3
w
b
2
.
2
.
M
o
delin
g
P
M
SG
T
h
is
is
d
-
q
co
r
r
esp
o
n
d
in
g
cir
cu
it’s
f
u
n
ctio
n
as
a
m
o
d
el
with
PMSG.
T
h
e
s
y
n
ch
r
o
n
o
u
s
d
-
q
co
o
r
d
in
ates,
a
n
ex
te
r
io
r
atta
ch
ed
PMSG'
s
eq
u
atio
n
s
ar
e
co
m
p
o
s
ed
as
(
6
)
an
d
(
7
)
[
1
5
]
,
wh
e
n
L
s
is
an
in
d
u
ctan
ce
f
o
r
a
s
tato
r
win
d
i
n
g
,
R
s
is
a
r
esis
tan
ce
f
o
r
a
s
tato
r
win
d
in
g
,
Vd
s
,
Vq
s
,
iq
s
,
an
d
iq
s
ar
e
a
d
-
q
co
m
p
o
n
en
ts
f
o
r
a
s
tato
r
v
o
lta
g
e
an
d
cu
r
r
en
t,
r
esp
ec
tiv
ely
,
is
a
m
ag
n
etic
f
lu
x
,
a
n
d
h
as
elec
tr
ical
an
g
u
lar
s
p
ee
d
f
o
r
a
g
en
e
r
ato
r
.
An
g
en
er
ato
r
'
s
o
u
tp
u
t
p
o
wer
an
d
ele
ctr
o
m
ag
n
etic
to
r
q
u
e
ar
e
o
f
f
er
ed
as
in
(
8
)
an
d
(
9
)
[
1
6
]
:
P is
a
g
en
e
r
ato
r
'
s
p
o
le
n
u
m
b
er
.
T
a
b
le
1
co
n
tain
s
an
am
o
u
n
t f
o
r
an
PMSG
.
V
ds
=
R
s
+
−
e
L
s
i
qs
(
6
)
V
qs
=
R
s
i
qs
+
L
s
di
qs
dt
+
ω
e
L
s
i
qs
+
ω
e
(
7
)
T
e
=
3
2
P
2
ψ
i
qs
(
8
)
=
3
2
2
−
3
2
2
−
3
2
2
(
9
)
2
.
3
.
DC
-
DC
co
nv
er
t
er
f
o
r
bo
o
s
t
DC
-
DC
bo
o
s
t
a
n IGBT
a
nti
-
pa
ra
llel
A
co
n
v
er
te
r
d
u
r
in
g
s
tu
d
y
co
m
p
r
is
es
f
o
r
a
n
I
GB
T
an
ti
-
p
a
r
allel
d
io
d
e
t
r
an
s
is
to
r
,
an
u
ltra
f
ast
d
io
d
e,
th
e
ca
p
ac
ito
r
,
a
n
d
a
n
in
d
u
cto
r
.
B
ased
o
n
Fig
u
r
e
1
,
a
MPPT
d
ep
en
d
in
g
co
n
tr
o
ller
s
en
d
s
a
PW
M
s
ig
n
al
to
m
a
n
ag
e
th
e
s
witch
in
g
I
GB
T
co
n
v
er
ter
’
s
b
o
o
s
t
.
C
alcu
latin
g
an
o
p
tim
u
m
d
u
ty
cy
cle
is
cr
itical
f
o
r
r
eg
u
latin
g
th
is
DC
-
DC
co
n
v
er
ter
in
a
b
o
o
s
t c
ir
cu
it.
Fo
r
co
m
p
u
te
PW
M,
an
I
NC
m
eth
o
d
h
as
u
tili
ze
d
[
1
7
]
.
2
.
4
.
Co
nv
er
t
er
t
hree
ph
a
s
e
AC
-
DC
An
u
n
r
eg
u
lated
r
ec
tifie
r
is
a
b
est
s
im
p
le,
co
s
t
-
ef
f
ec
tiv
e,
an
d
lo
n
g
-
last
in
g
g
r
a
p
h
ic
em
p
lo
y
ed
in
p
o
wer
elec
tr
o
n
ics
p
r
o
g
r
am
s
.
Sin
ce
it
is
n
'
t
r
eq
u
ir
ed
in
o
u
r
ca
s
e,
th
e
d
io
d
e
r
ec
tifie
r
'
s
in
ca
p
ac
ity
o
f
wo
r
k
at
b
id
ir
ec
tio
n
al
p
o
wer
f
lo
win
g
i
s
a
d
is
ad
v
an
tag
e.
A
b
o
o
s
ter
c
o
n
v
er
ter
an
d
r
ec
tifie
r
ci
r
cu
its
ar
e
co
n
n
ec
ted
o
f
a
g
en
er
ato
r
.
T
h
at’
s
h
as
ass
u
m
e
d
th
at
d
io
d
e
b
r
id
g
e
r
ec
tifie
r
cir
cu
its
ar
e
u
s
ed
to
co
n
v
er
t
AC
en
er
g
y
s
o
u
r
ce
a
g
en
er
ato
r
f
o
r
DC
p
o
wer
.
Av
er
ag
e
DC
v
o
ltag
e
an
d
cu
r
r
e
n
t v
a
lu
es o
f
th
e
th
r
ee
-
p
h
ase
d
i
o
d
e
r
ec
tifie
r
[
1
8
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Op
timiz
a
tio
n
o
f m
a
ximu
m
p
o
w
er p
o
in
t tra
ck
in
g
in
w
in
d
en
e
r
g
y
s
ystem
s
:
a
co
mp
a
r
a
tive
…
(
N
a
jo
u
a
Mr
a
b
et
)
403
2
.
5
.
I
ncre
m
ent
a
l c
o
nd
uct
a
nce
M
P
P
T
t
ec
hn
i
qu
e
An
in
cr
em
en
tal
ap
p
r
o
ac
h
h
as
ess
en
tial
f
o
r
m
ax
im
ize
th
eir
av
ailab
le
p
o
wer
e
n
er
g
y
at
an
y
tim
es.
T
o
win
d
tu
r
b
in
es
u
s
in
g
p
ar
a
m
eter
s
o
r
s
tead
y
s
p
ee
d
s
,
an
ap
p
r
o
ac
h
s
h
o
ws
we
ar
e
en
cir
clin
g
th
is
tar
g
et
o
p
er
atin
g
p
o
in
t.
An
im
m
ed
iat
e
co
n
d
u
cta
n
ce
I
/V
an
d
I
NC
d
I
/d
V
ar
e
esp
ec
ially
with
co
m
p
ar
is
o
n
with
an
I
NC
ap
p
r
o
ac
h
f
o
r
d
eter
m
in
e
an
M
PP
.
An
MPP
is
d
is
co
v
er
e
d
em
p
lo
y
in
g
an
I
NC
tech
n
i
q
u
e.
Ac
co
r
d
in
g
to
a
f
ac
t,
a
p
ea
k
to
a
P
-
V
cu
r
v
e
is
ze
r
o
at
MPP
wh
ich
ca
n
b
e
ex
p
r
ess
ed
as
(
1
0
)
.
W
h
er
e
th
e
o
p
e
r
atin
g
p
o
in
t
h
as
f
ar
f
r
o
m
th
e
MPP,
th
e
g
et
s
ize
h
as
lar
g
e
f
o
r
r
ap
id
tr
ac
k
in
g
,
b
u
t
it
is
l
ess
wh
er
e
a
tu
r
n
in
g
p
o
in
t
h
as
clo
s
e
o
f
a
MPP
o
f
r
ed
u
ce
s
tead
y
s
tate
o
s
cillatio
n
.
A
wr
iter
s
d
escr
ib
e
t
h
e
u
n
iq
u
e
ap
p
r
o
ac
h
to
u
s
in
g
th
e
I
NC
tech
n
iq
u
e
with
th
e
PMSG
g
en
er
ato
r
[
1
9
]
.
T
h
at
I
NC
tech
n
iq
u
e
r
eq
u
i
r
es
th
e
DC
/DC
co
n
v
er
s
io
n
s
tep
f
o
r
h
av
e
im
p
lem
en
ted
.
Sin
ce
a
PMSG
'
s
o
u
tp
u
t
p
o
wer
is
alter
n
atin
g
cu
r
r
en
t,
t
h
e
liter
atu
r
e
r
ev
iew
em
p
lo
y
s
a
v
ar
iety
o
f
to
p
o
lo
g
ies
to
co
n
v
er
t
it
to
d
ir
e
ct
cu
r
r
en
t.
W
E
C
S
u
s
es
a
th
r
ee
-
p
h
ase
AC
-
DC
r
ec
ti
f
ier
an
d
a
DC
-
DC
b
o
o
s
t
co
n
v
er
ter
;
p
ast
r
esear
c
h
s
ay
s
th
is
s
tr
u
ctu
r
e
in
clu
d
es
a
n
ad
d
e
d
g
ai
n
o
win
g
f
o
r
a
n
in
ter
m
ed
iate
b
o
o
s
t
-
im
p
r
o
v
ed
c
o
n
v
er
ter
'
s
r
eliab
ilit
y
,
g
iv
in
g
it
a
f
in
est
b
ac
k
-
to
-
b
ac
k
co
n
v
er
ter
o
p
tio
n
.
A
wr
iter
s
in
v
esti
g
ated
an
d
ass
ess
ed
s
ev
er
al
MPPT
ap
p
r
o
ac
h
es
b
ef
o
r
e
co
n
d
em
n
in
g
th
eir
r
elea
s
e.
T
h
ey
co
n
clu
d
e
d
th
is
d
ep
en
d
s
in
ef
f
icac
y
,
it
is
ad
v
is
ed
f
o
r
u
tili
ze
o
n
e
f
r
o
m
ea
ch
s
tr
ateg
y
,
a
n
I
NC
tech
n
iq
u
e
with
d
ir
ec
t
co
n
tr
o
l,
s
in
ce
o
p
tim
al
p
o
wer
o
cc
u
r
s
at
a
p
o
in
t
wh
ic
h
a
v
ar
io
u
s
v
a
r
iatio
n
f
o
r
d
P/d
V=
0
A
MPPT
co
n
tr
o
ller
e
v
alu
ates
a
v
o
ltag
e
an
d
cu
r
r
en
t
o
f
th
e
PV
m
o
d
u
le
wh
ich
an
I
NC
tech
n
iq
u
e
em
p
lo
y
s
f
o
r
i
d
en
tify
a
n
MPP.
I
f
(
1
1
)
h
as
p
leased
,
r
ed
u
ce
a
d
u
t
y
cy
cle
to
a
c
o
n
v
er
te
r
h
as
p
leased
.
A
d
u
ty
cy
cle
s
h
o
u
ld
b
e
elev
ated
wh
e
n
co
n
d
itio
n
(
1
2
)
h
as
p
leased
.
A
d
u
ty
cy
cle
s
h
o
u
ld
n
'
t
b
e
alter
ed
if
(
1
3
)
is
attain
ed
[
2
0
]
.
dI
dV
=
−
I
V
(
1
0
)
dI
dV
>
−
I
V
(
1
1
)
dI
dV
<
−
I
V
(
1
2
)
dP
dV
=
0
(
1
3
)
2
.
6
.
P
I
D
co
ntr
o
ller
des
ig
n
A
PID
co
n
tr
o
ller
h
as
a
m
ajo
r
i
ty
ex
ten
s
iv
ely
u
tili
ze
d
co
n
tr
o
l
ler
s
in
a
b
u
s
in
ess
,
m
ee
tin
g
o
v
er
9
0
%
o
f
in
d
u
s
tr
ial
co
n
tr
o
l
r
eq
u
ir
e
m
en
ts
.
I
t
is
ef
f
ec
tiv
e
an
d
s
im
p
le
.
Acc
o
u
n
tin
g
to
its
s
u
p
r
em
a
cy
[
2
1
]
.
T
h
e
d
elay
s
y
s
tem
s
in
co
r
p
o
r
ate
t
h
e
s
y
s
tem
m
en
tio
n
e
d
in
a
p
r
ev
io
u
s
p
ar
ag
r
a
p
h
.
T
h
e
d
elay
n
o
t
o
n
l
y
d
ep
icts
p
h
y
s
ical
r
ea
lity
,
b
u
t
also
s
im
p
lifie
s
th
e
ex
p
lan
atio
n
o
f
s
y
s
tem
d
y
n
am
i
cs
co
m
p
ar
ed
to
a
m
o
r
e
d
etailed
d
escr
ip
tio
n
.
T
h
is
ar
ticle
d
is
cu
s
s
es
h
o
w
to
d
eter
m
in
e
th
e
wh
o
le
s
tab
ilit
y
r
an
g
e
o
f
a
s
y
s
tem
'
s
PID
r
eg
u
lato
r
f
ac
to
r
s
.
W
h
er
e
d
esig
n
in
g
an
d
f
in
e
-
tu
n
in
g
PI
D
co
n
tr
o
ller
s
,
th
at
s
tep
h
as
cr
itical.
So
m
e
r
esear
ch
s
tu
d
i
es
h
av
e
id
en
tifie
d
m
u
ltip
le
co
n
f
ig
u
r
atio
n
s
f
o
r
th
e
PID
r
eg
u
lato
r
[
2
2
]
.
C
(
s
)
h
as
a
PID
co
n
tr
o
ller
,
G(
s
)
h
as
a
c
o
n
tr
o
lled
p
lan
t,
an
d
y
c,
e,
u
,
an
d
y
r
e
p
r
esen
t
an
ex
p
ec
ted
o
u
t
p
u
t
s
ig
n
als,
co
m
m
an
d
s
,
an
d
er
r
o
r
s
,
an
d
ap
p
r
o
p
r
iately
,
a
L
ap
lace
tr
an
s
f
o
r
m
en
ab
les
a
s
u
b
s
eq
u
e
n
t
co
n
s
tr
u
ctio
n
f
o
r
a
PID
r
eg
u
lato
r
'
s
co
n
tr
o
l
law,
as
in
(
1
4
)
,
wh
er
e
KP,
Ki
an
d
KD
ar
e,
ap
p
r
o
p
r
iately
,
a
p
r
o
p
o
r
tio
n
al,
in
teg
r
al
,
an
d
d
er
iv
ativ
e
g
ain
s
o
f
a
PID
c
o
n
tr
o
ller
.
(
)
=
(
)
(
)
=
+
+
(
1
4
)
3.
P
RO
P
O
SE
D
M
U
L
T
I
-
O
B
J
E
CT
I
V
E
M
E
T
AH
E
U
RIS
T
I
C
T
E
CH
N
I
Q
UE
S
3
.
1
.
G
enet
ic
a
lg
o
rit
h
m
a
pp
ro
a
ch
GA
ar
e
p
o
p
u
lar
o
p
tim
izatio
n
tech
n
i
q
u
es,
id
ea
l
f
o
r
s
o
l
v
in
g
c
o
m
p
lex
p
r
o
b
lem
s
th
a
t
in
v
o
lv
e
ap
p
r
o
x
im
atio
n
s
an
d
u
n
ce
r
tai
n
ty
.
Dev
elo
p
ed
b
y
J
o
h
n
Ho
llan
d
in
1
9
7
5
,
GA
u
s
es
a
h
eu
r
is
tic
-
b
ased
ap
p
r
o
ac
h
th
at
m
im
ics
n
atu
r
al
s
elec
tio
n
.
I
n
th
is
s
tu
d
y
,
GA
is
u
tili
ze
d
f
o
r
m
ax
im
ize
a
PID
co
n
tr
o
ller
p
a
r
am
eter
s
(
Kp
,
Ki,
an
d
Kd
)
in
a
W
E
C
S.
An
GA
wo
r
k
s
b
y
iter
ativ
ely
s
elec
tin
g
s
o
lu
tio
n
s
b
ased
o
n
t
h
eir
f
itn
ess
,
wh
ich
r
ef
lects th
eir
ab
ilit
y
to
ac
h
iev
e
o
p
tim
al
p
o
wer
o
u
tp
u
t.
T
h
e
GA
p
r
o
ce
s
s
b
eg
in
s
b
y
i
n
itializin
g
a
r
an
d
o
m
p
o
p
u
latio
n
o
f
p
o
te
n
tial
PID
p
ar
a
m
eter
s
ets
with
in
d
ef
in
ed
s
ea
r
ch
s
p
ac
es.
E
ac
h
s
et
is
ev
alu
ated
f
o
r
its
ab
ilit
y
f
o
r
d
i
r
ec
tio
n
a
m
ax
im
u
m
p
o
wer
p
o
in
t
u
n
d
e
r
v
ar
y
in
g
win
d
s
p
ee
d
s
.
T
h
r
o
u
g
h
s
elec
tio
n
,
a
b
est
s
o
lu
tio
n
i
s
s
elec
ted
as
p
ar
en
ts
o
f
a
n
e
x
t
g
en
e
r
atio
n
.
T
h
e
cr
o
s
s
o
v
er
o
p
er
atio
n
co
m
b
in
es
p
ar
en
t
s
o
lu
tio
n
s
,
an
d
m
u
tatio
n
in
tr
o
d
u
ce
s
r
an
d
o
m
n
ess
to
m
ain
tain
d
iv
e
r
s
ity
.
T
h
e
p
r
o
ce
s
s
co
n
tin
u
es
u
n
til
th
e
f
itn
ess
f
u
n
ctio
n
s
h
o
ws
n
o
s
ig
n
if
ican
t
im
p
r
o
v
em
e
n
t,
i
n
d
icatin
g
th
at
th
e
o
p
tim
al
PID
p
ar
am
eter
s
h
a
v
e
b
ee
n
f
o
u
n
d
[
2
3
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
15
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
6
:
399
-
4
1
1
404
Per
f
o
r
m
an
ce
is
ev
alu
ate
d
u
s
in
g
s
tan
d
ar
d
m
et
r
ics
s
u
ch
as
I
SE,
I
AE
,
I
T
AE
,
a
n
d
I
T
SE,
wh
ich
ass
es
s
er
r
o
r
m
in
im
izatio
n
an
d
s
tab
ilit
y
.
T
h
e
GA
is
co
m
p
ar
ed
with
AC
O
in
th
e
ex
p
er
im
en
tal
s
et
u
p
,
u
s
in
g
v
ar
y
in
g
win
d
s
p
ee
d
p
r
o
f
iles
to
ev
alu
ate
r
o
b
u
s
tn
ess
an
d
co
m
p
u
t
atio
n
al
ef
f
icien
cy
.
T
h
e
r
esu
l
ts
ar
e
co
m
p
ar
ed
to
d
eter
m
in
e
th
e
b
est
alg
o
r
ith
m
f
o
r
o
p
tim
izin
g
PID
p
ar
a
m
eter
s
in
W
E
C
S.
F
ig
u
r
e
3
d
is
p
lay
s
a
W
E
C
S
'
s
im
p
lem
en
ted
GA.
An
GA
t
ak
es
in
to
co
n
s
id
er
atio
n
th
e
f
itn
ess
f
u
n
ctio
n
o
f
ea
ch
p
ar
am
eter
as
it
co
d
es,
r
ep
r
o
d
u
ce
s
,
an
d
e
v
alu
ates
th
e
PID
co
n
t
r
o
ller
s
'
p
ar
am
eter
s
(
Kp
,
Ki,
an
d
Kd
)
in
o
u
r
o
p
tim
izatio
n
d
esig
n
p
r
o
ce
s
s
.
On
ly
th
e
ch
o
s
en
p
eo
p
le
ar
e
m
er
g
ed
to
cr
ea
te
a
n
ew
g
en
er
atio
n
,
a
n
d
th
e
ev
alu
atio
n
cy
cle
is
co
n
tin
u
ed
u
n
til th
e
alg
o
r
ith
m
p
r
o
d
u
ce
s
t
h
e
b
est s
o
lu
tio
n
f
o
r
th
e
s
y
s
tem
with
th
e
b
est f
itn
ess
f
u
n
ctio
n
.
Fig
u
r
e
3
.
Sch
em
atic
f
o
r
g
en
eti
c
alg
o
r
ith
m
tech
n
iq
u
e
3
.
2
.
Ant
c
o
lo
ny
o
pti
m
iza
t
io
n
a
pp
ro
a
ch
AC
O
is
th
e
s
o
r
t
o
f
m
eta
-
h
eu
r
i
s
tic
o
p
tim
izatio
n
th
is
is
b
ased
o
n
th
e
ac
tiv
ities
o
f
an
ts
th
e
i
n
itial
n
o
tio
n
h
as
g
r
o
wn
f
o
r
s
o
lv
e
a
lar
g
er
v
ar
iety
o
f
is
s
u
es,
an
d
n
ew
alg
o
r
ith
m
s
af
f
ec
ted
with
d
if
f
er
en
t
f
ea
tu
r
es
f
o
r
an
t
b
eh
av
io
r
h
av
e
ev
o
lv
e
d
.
An
an
t
s
u
s
e
p
h
er
o
m
o
n
e
tr
ac
k
s
f
o
r
tr
a
ce
th
eir
m
o
v
em
en
ts
to
s
o
u
r
ce
i to
s
o
u
r
ce
j,
f
o
r
an
ex
p
ec
tatio
n
th
is
a
c
o
lo
n
y
will
s
elec
t
a
q
u
ick
est
p
ath
f
o
r
o
r
i
g
in
j.
A
p
r
o
b
a
b
ilit
y
th
at
an
t
K
is
g
o
in
g
to
f
o
llo
w
f
r
o
m
city
i t
o
city
j: Ɐϵ
,
as in
(
1
5
)
.
=
[
]
[
]
∑
[
]
[
]
(
1
5
)
AC
O
i
s
a
m
etah
eu
r
is
tic
th
at
d
r
aws
in
s
p
ir
atio
n
f
r
o
m
an
t
s
'
f
o
r
ag
in
g
h
ab
its
,
wh
er
e
an
ts
d
ep
o
s
it
p
h
er
o
m
o
n
es
o
n
th
e
p
ath
s
th
e
y
tak
e.
Oth
er
a
n
ts
f
o
llo
w
th
ese
p
h
er
o
m
o
n
e
tr
ails
,
lead
in
g
th
em
to
th
e
m
o
s
t
o
p
tim
al
p
ath
s
o
v
er
tim
e.
AC
O
is
u
tili
ze
d
to
m
ax
im
ize
a
n
PID
co
n
tr
o
ller
p
ar
a
m
eter
s
(
K
p
,
Ki,
a
n
d
Kd
)
i
n
a
W
E
C
S.
A
m
o
v
em
en
t
o
f
an
ts
b
etwe
en
s
o
lu
tio
n
s
is
in
f
lu
en
c
ed
b
y
p
h
er
o
m
o
n
e
in
ten
s
ity
an
d
a
h
eu
r
is
tic
v
alu
e,
co
n
tr
o
lled
b
y
s
ettin
g
s
α
an
d
β,
wh
ich
ascer
tain
th
e
im
p
ac
t
th
at
p
h
er
o
m
o
n
es
an
d
h
e
u
r
is
tics
.
T
h
e
AC
O
o
p
tim
izatio
n
p
r
o
ce
s
s
es in
v
o
lv
e
th
r
ee
k
ey
s
tep
s
:
i)
So
lu
tio
n
cr
ea
tio
n
: e
ac
h
an
t
g
e
n
er
ates a
p
o
ten
tial so
lu
tio
n
f
o
r
th
e
PID
p
ar
am
eter
s
.
ii)
Alg
o
r
ith
m
s
etu
p
:
p
ar
a
m
eter
s
s
u
ch
as
th
e
n
u
m
e
r
ic
o
f
a
n
ts
,
p
h
er
o
m
o
n
e
in
ten
s
ity
,
ev
ap
o
r
atio
n
r
ate,
an
d
t
h
e
n
u
m
er
ic
th
e
iter
atio
n
s
ar
e
d
e
f
in
ed
.
iii)
Ph
er
o
m
o
n
e
u
p
d
ate:
f
o
llo
win
g
ass
ess
in
g
th
e
s
o
lu
tio
n
s
,
p
h
er
o
m
o
n
e
lev
els
ar
e
ch
an
g
ed
b
ased
o
n
t
h
e
p
er
f
o
r
m
an
ce
o
f
th
e
s
o
lu
tio
n
s
,
g
u
id
in
g
f
u
tu
r
e
an
ts
to
war
d
b
et
ter
PID
s
ettin
g
s
.
T
h
r
o
u
g
h
m
u
ltip
le
iter
atio
n
s
,
t
h
e
o
p
tim
izatio
n
p
r
o
ce
s
s
ad
ju
s
ts
th
e
PID
p
ar
am
eter
s
u
n
til
t
h
e
s
y
s
tem
r
ea
ch
es
o
p
tim
al
tr
ac
k
in
g
p
er
f
o
r
m
an
ce
a
m
a
x
im
u
m
p
o
wer
p
o
in
t
b
elo
w
v
ar
y
in
g
win
d
co
n
d
itio
n
.
T
h
is
m
eth
o
d
en
s
u
r
es
th
at
th
e
s
y
s
tem
is
c
o
n
tin
u
o
u
s
ly
f
in
e
-
tu
n
ed
f
o
r
e
f
f
icien
cy
a
n
d
s
tab
ilit
y
[
2
4
]
.
F
ig
u
r
e
4
s
h
o
ws
t
h
e
f
lo
wch
ar
t
f
o
r
AC
O
ap
p
r
o
ac
h
.
I
n
f
ac
t,
as
illu
s
tr
ated
in
Fig
u
r
e
4
,
t
h
er
e
a
r
e
th
r
ee
f
u
n
d
am
e
n
tal
s
tag
es
to
th
e
b
asic
alg
o
r
ith
m
: i
n
itializatio
n
,
an
t s
o
lu
tio
n
co
n
s
tr
u
ctio
n
,
a
n
d
p
h
er
o
m
o
n
e
u
p
d
atin
g
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Op
timiz
a
tio
n
o
f m
a
ximu
m
p
o
w
er p
o
in
t tra
ck
in
g
in
w
in
d
en
e
r
g
y
s
ystem
s
:
a
co
mp
a
r
a
tive
…
(
N
a
jo
u
a
Mr
a
b
et
)
405
Fig
u
r
e
4
.
I
ll
u
s
tr
atio
n
o
f
PID
tu
n
in
g
with
AC
O
3
.
3
.
O
bje
c
t
iv
e
f
un
ct
io
ns
co
s
t
v
a
lue
B
ef
o
r
e
em
p
lo
y
i
n
g
an
AC
O,
a
g
o
al
f
u
n
cti
o
n
co
s
t v
alu
e
s
h
o
u
l
d
b
e
d
eter
m
i
n
ed
.
Sev
er
al
a
r
ticles em
p
lo
y
an
in
teg
r
al
o
f
a
b
s
o
lu
te
m
ag
n
itu
d
e
o
f
er
r
o
r
(
I
AE
)
,
I
T
AE
,
in
t
eg
r
al
to
a
s
q
u
ar
ed
er
r
o
r
(
I
SE)
,
an
d
i
n
teg
r
al
tim
e
m
u
ltip
lied
b
y
s
q
u
a
r
ed
er
r
o
r
(
I
T
SE)
f
o
r
o
p
tim
ize
a
PID
co
n
tr
o
ller
[
2
5
]
.
C
alcu
latin
g
an
o
b
jectiv
e
f
u
n
ctio
n
s
y
ield
as in
(
1
6
)
.
ITAE
=
∑
t
|
e
(
t
)
|
t
m
ax
0
,
ISE
=
∑
e
(
)
2
t
m
ax
0
,
IA
E
=
∑
|
(
)
|
t
m
ax
0
,
ITS
E
=
∑
te
(
)
2
t
m
ax
0
(
1
6
)
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
Ou
r
s
tu
d
y
r
ev
ea
le
d
th
at
in
teg
r
atin
g
MA
T
L
AB
/Si
m
u
lin
k
s
o
f
twar
e
to
m
o
d
el
a
r
ec
o
m
m
en
d
ed
W
E
C
S
with
AC
O
an
d
GA
s
ig
n
if
ican
tly
en
h
an
ce
s
s
y
s
tem
p
er
f
o
r
m
an
ce
.
T
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
c
o
n
s
is
ten
tly
ac
h
iev
ed
a
h
ig
h
er
p
r
o
p
o
r
tio
n
o
f
o
p
tim
iz
ed
p
ar
am
eter
s
co
m
p
ar
e
d
to
co
n
v
en
tio
n
al
ap
p
r
o
ac
h
es.
G
A
was
em
p
lo
y
ed
to
g
en
er
ate
co
d
e
f
o
r
f
o
u
r
f
itn
ess
f
u
n
ctio
n
s
p
ec
if
icatio
n
s
,
wh
ic
h
wer
e
th
en
i
n
teg
r
ated
i
n
to
a
n
o
p
tim
izatio
n
t
o
o
l.
T
ab
le
3
d
is
p
lay
a
f
ir
s
t
p
ar
am
eter
s
co
m
m
o
n
ly
u
tili
ze
d
in
s
im
u
latio
n
s
em
p
lo
y
i
n
g
GA
m
et
h
o
d
s
.
Ad
d
itio
n
ally
,
we
u
s
ed
s
im
u
latio
n
s
to
ev
alu
ate
th
e
ef
f
icac
y
o
f
a
cl
o
s
ed
-
lo
o
p
s
y
s
tem
in
co
r
p
o
r
atin
g
a
n
AC
O
-
PID
co
n
tr
o
ller
.
T
h
e
r
esu
lts
d
em
o
n
s
tr
ated
a
clo
s
ed
-
lo
o
p
s
y
s
tem
'
s
ef
f
icien
cy
o
f
ev
alu
atin
g
it
ag
ain
s
t
f
o
u
r
m
u
lti
-
o
b
jectiv
e
p
er
f
o
r
m
an
ce
in
d
icato
r
s
.
Ou
r
s
tu
d
y
ex
p
lo
r
ed
a
c
o
m
p
r
eh
en
s
iv
e
PID
co
n
tr
o
ller
o
p
tim
izati
o
n
ap
p
r
o
ac
h
u
s
in
g
AC
O
an
d
GA
alg
o
r
ith
m
s
.
H
o
wev
er
,
f
u
r
th
er
in
-
d
ep
th
s
tu
d
ies
ar
e
n
ec
ess
ar
y
to
co
n
f
ir
m
its
ap
p
licab
ilit
y
,
esp
ec
ially
r
eg
ar
d
in
g
d
y
n
a
m
ic
b
eh
av
io
r
u
n
d
e
r
v
ar
y
in
g
win
d
co
n
d
itio
n
s
.
T
h
e
PID
co
n
tr
o
ll
er
aim
s
to
s
tab
ilize
v
o
ltag
e,
p
o
wer
lev
els,
cu
r
r
en
t
,
an
d
to
r
q
u
e
i
n
win
d
t
u
r
b
in
e
s
y
s
tem
s
.
T
h
e
AC
O
an
d
GA
ap
p
r
o
ac
h
es
o
p
tim
ize
PID
s
ettin
g
s
b
y
an
aly
zin
g
r
e
f
er
en
ce
s
an
d
o
u
tp
u
ts
with
in
M
AT
L
AB
.
Desig
n
o
p
tim
izatio
n
s
tr
ateg
ies
ty
p
ically
r
ely
o
n
m
eth
o
d
s
th
at
ass
ess
s
y
s
tem
p
er
f
o
r
m
a
n
ce
u
s
in
g
d
is
tin
ct
in
p
u
t
p
ar
am
eter
s
,
ad
j
u
s
tin
g
th
em
to
m
ax
im
ize
an
o
b
jectiv
e
f
u
n
ctio
n
.
Su
b
s
eq
u
en
t
s
ec
tio
n
s
o
u
tlin
e
o
p
tim
iza
tio
n
f
ac
to
r
s
,
with
o
p
tim
al
PID
v
alu
es
d
eter
m
in
ed
u
s
in
g
AC
O
an
d
GA
ap
p
r
o
ac
h
es
b
ased
o
n
cr
iter
ia
lik
e
I
T
AE
,
I
AE
,
I
SE,
an
d
I
T
SE,
all
im
p
lem
en
ted
at
MA
T
L
AB
.
Fo
r
as
s
ess
a
s
y
s
te
m
'
s
d
y
n
am
ic
b
eh
av
io
r
u
n
d
er
a
u
n
it
s
tep
r
esp
o
n
s
e,
v
ar
io
u
s
s
tan
d
ar
d
p
e
r
f
o
r
m
an
ce
in
d
icato
r
s
wer
e
s
elec
ted
f
o
r
th
eir
r
ele
v
an
ce
t
o
win
d
tu
r
b
in
e
m
o
d
els.
T
h
ese
in
d
icato
r
s
g
iv
e
a
th
o
r
o
u
g
h
ass
es
s
m
en
t
f
o
r
a
s
y
s
tem
'
s
p
e
r
f
o
r
m
a
n
ce
,
en
s
u
r
in
g
th
at
th
e
o
p
tim
ized
PID
co
n
tr
o
ller
s
ettin
g
s
h
elp
m
ain
tain
s
tab
ilit
y
an
d
ef
f
ec
tiv
en
ess
f
o
r
a
W
E
C
S u
n
d
er
d
if
f
er
e
n
t o
p
er
a
tin
g
co
n
d
itio
n
s
.
T
ab
le
3
.
GA
an
d
AC
O
alg
o
r
ith
m
s
in
p
u
t m
ea
s
u
r
e
m
en
ts
S
.
L.
M
e
a
su
r
e
me
n
t
s
V
a
l
u
e
M
e
a
su
r
e
me
n
t
s
V
a
l
u
e
1
G
e
n
e
r
a
t
i
o
n
1
5
0
N
u
mb
e
r
o
f
a
n
t
s
60
2
P
o
p
u
l
a
t
i
o
n
s
i
z
e
N
60
C
o
n
st
a
n
t
v
a
l
u
e
s
α=0
.
7
3
R
e
d
u
c
e
d
b
o
u
n
d
[
-
3
0
3
0
0
]
C
o
n
st
a
n
t
v
a
l
u
e
s
β=0
.
4
4
U
p
p
e
r
l
i
mi
t
[
3
0
3
0
0
]
Ev
a
p
o
r
a
t
i
o
n
r
a
t
e
=
0
.
8
5
S
e
l
e
c
t
i
o
n
p
r
o
c
e
ss
S
t
o
c
h
a
st
i
c
u
n
i
f
o
r
m
N
u
mb
e
r
o
f
i
t
e
r
a
t
i
o
n
s
N
i
=
2
0
0
6
El
i
t
e
c
o
u
n
t
0
.
0
8
N
u
mb
e
r
o
f
n
o
d
e
s
N
=
2
0
0
0
0
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
I
n
t J Ar
tif
I
n
tell
,
Vo
l.
15
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
6
:
399
-
4
1
1
406
Fig
u
r
e
5
s
h
o
ws
a
MA
T
L
AB
/Si
m
u
lin
k
p
r
o
g
r
am
m
in
g
ar
c
h
itectu
r
e
to
a
GA
f
o
r
PID
co
n
tr
o
ller
.
T
h
e
p
r
o
p
o
s
al
s
u
g
g
ests
a
1
2
.
3
k
W
g
en
er
ated
W
E
C
S
ce
n
ter
ed
p
o
wer
,
DC
-
DC
b
u
s
co
n
v
er
ter
v
o
ltag
e,
lo
ad
cu
r
r
en
t,
o
u
tp
u
t
p
o
wer
,
an
d
t
o
r
q
u
e
elec
tr
o
m
ag
n
etic
f
o
r
a
m
o
d
el.
T
h
is
s
ec
tio
n
d
escr
ib
es
h
o
w
to
d
esig
n
a
PMSG
u
n
d
er
ce
r
tain
n
ee
d
s
a
n
d
co
n
s
tr
ain
ts
,
in
clu
d
in
g
tim
e
m
ea
s
u
r
e
m
en
ts
an
d
`
p
o
wer
o
p
tim
izatio
n
.
A
to
o
ls
et
to
GA
wr
itten
in
MA
T
L
AB
was e
m
p
lo
y
ed
f
o
r
f
in
is
h
ed
it.
Fig
u
r
e
5
.
Simu
lin
k
d
ep
ictio
n
o
f
th
e
W
E
C
S sy
s
tem
A
C
O
an
d
GA
T
h
i
s
s
e
c
t
i
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n
c
o
m
p
a
r
e
s
t
h
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u
tc
o
m
e
s
o
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t
h
e
p
l
an
n
e
d
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D
co
n
t
r
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r
w
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M
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P
T
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m
p
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i
n
g
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d
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C
O
.
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u
d
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d
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l
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r
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a
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g
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f
t
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em
m
e
th
o
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o
lo
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i
e
s
.
F
i
g
u
r
e
6
s
h
o
w
s
a
D
C
b
u
s
v
o
lt
a
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e
e
x
am
i
n
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d
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m
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D
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r
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n
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h
e
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i
n
d
s
p
e
ed
t
o
1
2
m
/
s
.
A
s
y
s
t
e
m
's
p
l
a
n
n
ed
r
ef
e
r
en
c
e
DC
b
u
s
v
o
l
t
ag
e
i
s
1
7
7
.
1
9
V
A
s
y
s
t
e
m
s
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c
c
e
s
s
f
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l
l
y
a
t
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a
i
n
ed
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e
D
C
b
u
s
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e
r
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v
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l
t
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s
i
n
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th
e
P
I
D
c
o
n
t
r
o
l
l
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r
a
n
d
A
C
O
.
O
n
t
h
e
o
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h
e
r
h
a
n
d
,
a
s
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em
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o
e
s
n
o
t
a
ch
i
ev
e
t
h
e
D
C
b
u
s
r
e
f
e
r
en
c
e
v
o
l
t
ag
e
,
in
d
i
ca
t
i
n
g
a
q
u
i
ck
e
r
r
e
a
c
t
io
n
.
H
o
w
ev
e
r
,
t
h
e
o
p
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m
i
z
e
d
c
o
n
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r
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le
r
w
i
t
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A
C
O
e
x
h
i
b
i
t
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u
b
s
t
an
t
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l
v
o
l
t
a
g
e
o
v
e
r
s
h
o
o
t
in
co
m
p
a
r
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s
o
n
w
i
th
a
m
o
d
e
l
w
i
t
h
G
A
.
T
h
e
b
e
n
ef
i
t
s
o
f
o
v
er
s
h
o
o
t
,
a
m
o
d
e
l
w
i
t
h
A
C
O
o
p
t
i
m
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za
t
i
o
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r
eg
u
l
a
t
e
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c
o
m
p
l
i
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h
e
s
a
s
t
a
n
d
a
r
d
1
7
7
.
1
9
V
D
C
b
u
s
v
o
l
t
ag
e
f
a
s
t
e
r
a
n
d
s
t
a
b
i
l
iz
e
s
w
i
t
h
n
o
t
h
e
m
o
r
e
o
s
c
i
l
l
a
t
i
o
n
.
A
r
e
c
o
m
m
e
n
d
e
d
m
o
d
e
l
i
m
p
r
o
v
e
s
W
E
C
S
s
e
c
u
r
i
t
y
o
u
t
co
m
e
s
.
A
s
s
e
en
a
t
a
cu
r
r
e
n
t
(
F
i
g
u
r
e
7
)
,
a
p
h
a
s
e
c
u
r
r
en
t
s
t
o
a
P
I
D
-
c
o
n
t
r
o
l
l
e
d
o
r
g
an
i
z
e
w
i
t
h
A
C
O
ar
e
h
i
g
h
e
r
th
an
th
o
s
e
to
a
P
I
D
-
co
n
t
r
o
l
l
ed
o
r
g
a
n
i
z
a
t
io
n
o
p
t
i
m
iz
e
d
b
y
G
A
.
S
t
i
l
l
,
an
en
d
o
u
tco
m
e
c
l
e
a
r
ly
s
h
o
w
s
t
h
a
t
th
e
r
e
s
p
o
n
s
e
t
i
m
e
o
f
a
W
E
C
S
s
y
s
t
e
m
co
n
tr
o
l
l
ed
b
y
P
I
D
o
p
t
i
m
i
z
ed
b
y
A
C
O
i
s
f
a
s
t
e
r
th
a
n
t
h
a
t
o
f
a
W
E
C
S
s
y
s
t
e
m
c
o
n
t
r
o
l
l
e
d
b
y
P
I
D
w
i
t
h
G
A
o
p
t
i
m
i
z
ed
.
T
h
e
p
r
i
m
ar
y
c
h
ar
a
c
t
er
i
s
t
i
c
s
i
n
v
e
s
ti
g
a
t
e
d
a
t
t
h
a
t
s
t
u
d
y
w
e
r
e
p
o
w
e
r
o
u
tp
u
t
,
r
e
s
p
o
n
s
e
t
i
m
e
,
e
l
e
c
tr
o
m
a
g
n
e
t
i
c
t
o
r
q
u
e
,
an
d
cu
r
r
e
n
t
s
.
T
h
e
o
p
p
o
s
i
t
i
o
n
an
d
s
t
u
d
y
f
o
r
t
h
o
s
e
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ar
i
a
b
l
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s
d
em
o
n
s
t
r
a
t
e
s
a
b
e
n
e
f
i
t
f
o
r
a
s
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g
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e
s
t
e
d
G
A
a
n
d
A
C
O
te
c
h
n
i
q
u
e
f
o
r
o
p
t
i
m
i
z
in
g
a
PI
D
c
o
n
tr
o
l
l
er
a
t
a
W
E
C
S
.
A
s
tu
d
y
o
f
a
r
esp
o
n
s
e
to
co
u
p
l
e
(
T
em
)
f
o
r
a
s
u
g
g
ested
s
y
s
tem
was a
ls
o
co
n
d
u
cted
at
a
p
er
s
p
ec
tiv
e
o
f
th
e
elec
tr
o
m
ag
n
etic
co
u
p
le,
a
s
d
em
o
n
s
tr
ated
in
Fig
u
r
e
8
.
An
AC
O
-
o
p
tim
ized
PID
co
n
t
r
o
ller
h
as
im
p
r
o
v
ed
ef
f
icien
cy
in
ter
m
s
f
o
r
r
esp
o
n
s
e
tim
e
a
n
d
f
aster
tr
ac
k
in
g
f
o
r
r
ef
er
en
ce
v
alu
es,
w
h
ich
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o
n
tr
ib
u
tes
f
o
r
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o
v
er
all
p
er
f
o
r
m
an
ce
im
p
r
o
v
em
en
t
o
f
an
en
e
r
g
y
co
n
v
er
s
io
n
s
y
s
tem
.
Fig
u
r
e
9
d
e
p
icts
th
e
PMSG
m
ac
h
in
e'
s
b
eg
in
n
in
g
o
p
er
atio
n
in
m
o
to
r
m
o
d
e.
T
h
i
s
ch
ar
t
s
h
o
ws
t
h
at
th
e
s
u
g
g
est
ed
AC
O
to
o
p
tim
ize
t
h
e
PID
co
n
tr
o
ller
u
s
es
o
n
l
y
1
0
.
2
0
k
W
o
f
elec
tr
icity
at
its
p
ea
k
,
wh
ile
a
PID
co
n
tr
o
ller
s
y
s
tem
with
GA
co
n
s
u
m
es
9
.
2
0
k
W
.
T
h
en
,
th
e
two
s
y
s
tem
s
b
eg
in
p
r
o
d
u
cin
g
p
o
w
er
.
A
m
o
d
el
s
h
o
u
ld
p
r
o
d
u
ce
1
0
.
2
0
k
W
to
p
o
wer
in
th
e
m
o
d
est
win
d
s
p
ee
d
o
f
1
2
m
/s
.
A
DC
b
u
s
v
o
ltag
es
o
f
th
is
p
lan
n
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m
o
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el
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e
also
in
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ated
.
T
h
e
f
ig
u
r
es
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clu
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etails
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T
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3
.
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m
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(
MO
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tech
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win
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en
er
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y
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r
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h
is
im
p
r
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en
t
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R
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e
tim
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o
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h
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g
th
ese
r
esu
lts
with
e
x
is
tin
g
liter
atu
r
e,
we
ca
n
em
p
h
asize
th
e
s
tr
en
g
th
s
f
o
r
o
u
r
m
eth
o
d
s
,
p
a
r
ticu
lar
ly
in
ter
m
s
f
o
r
en
h
an
ce
d
s
y
s
tem
r
ea
ctio
n
tim
e,
s
tab
ilit
y
,
a
n
d
co
n
tr
o
l
p
e
r
f
o
r
m
an
ce
i
n
W
E
C
S
[
2
5
]
.
I
n
t
h
is
s
ec
tio
n
,
we
co
m
p
ar
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
AC
O
an
d
GA
with
tr
ad
iti
o
n
al
MPPT
m
eth
o
d
s
lik
e
I
NC
,
f
o
cu
s
in
g
o
n
k
e
y
m
etr
ics
s
u
ch
as
p
o
wer
o
u
tp
u
t
,
v
o
ltag
e,
to
r
q
u
e,
an
d
cu
r
r
en
t
u
n
d
er
d
if
f
er
en
t
win
d
co
n
d
itio
n
s
.
T
h
e
r
esu
lts
ar
e
s
u
m
m
ar
ized
in
th
e
T
a
b
le
4
,
wh
ich
in
clu
d
es
p
er
f
o
r
m
a
n
ce
m
etr
ics
(
I
SE,
I
AE
,
I
T
A
E
,
an
d
I
T
SE)
a
n
d
co
n
v
er
g
en
ce
tim
es f
o
r
ea
ch
al
g
o
r
ith
m
.
T
a
b
l
e
4
.
N
u
m
e
r
i
c
e
v
al
u
a
t
i
o
n
s
ca
l
c
u
l
a
t
e
d
f
o
r
a
cl
o
s
e
d
l
o
o
p
r
e
s
p
o
n
s
e
f
o
r
f
o
u
r
o
b
j
e
c
t
i
v
e
f
u
n
c
t
i
o
n
s
o
f
A
C
O
a
n
d
G
A
S
.
L.
C
r
i
t
e
r
i
o
n
(GA)
I
S
E
I
TA
E
I
A
E
I
TSE
C
r
i
t
e
r
i
o
n
(
A
C
O
)
I
S
E
I
TA
E
I
A
E
I
TSE
V
o
l
t
a
g
e
1
Kp
3
.
0
7
7
5
0
.
2
1
2
3
0
.
4
2
2
0
2
1
.
0
9
9
1
Kp
1
.
0
0
2
1
0
.
0
2
5
7
0
.
0
5
5
1
2
.
0
2
2
2
2
Ki
2
.
0
6
7
2
0
.
1
1
1
2
0
.
3
5
5
4
1
8
.
0
8
7
1
Ki
0
.
7
8
8
4
0
.
0
0
4
2
0
.
0
1
1
1
2
.
0
0
0
1
3
Kd
2
.
7
7
8
9
0
.
1
5
5
2
0
.
3
9
9
0
1
8
.
2
7
8
8
Kd
0
.
9
2
2
1
0
.
0
1
0
9
0
.
0
2
2
3
2
.
4
0
8
8
4
S
e
t
t
l
i
n
g
t
i
m
e
(
ms)
7
.
5
2
0
1
0
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1
9
8
8
0
.
4
4
2
2
1
0
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1
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t
t
l
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t
i
m
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(
ms)
2
.
9
9
1
0
0
.
0
0
1
2
0
.
0
6
6
9
1
.
5
0
4
2
5
R
i
se
t
i
me
(
ms)
0
.
0
7
1
1
0
.
0
7
0
0
0
.
7
0
0
9
0
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0
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2
8
R
i
se
t
i
me
(
ms)
0
.
0
0
8
6
0
.
0
0
4
1
0
.
0
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6
6
0
.
0
0
9
9
6
O
v
e
r
sh
o
o
t
(
%)
0
.
0
1
0
7
0
.
0
0
2
3
0
.
0
0
5
4
0
.
0
1
1
0
O
v
e
r
sh
o
o
t
(
%)
0
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0
0
3
3
0
.
0
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1
1
0
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0
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1
8
0
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4
1
7
Th
e
s
t
e
a
d
y
st
a
t
e
e
r
r
o
r
0
.
0
5
0
5
0
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0
1
5
0
0
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0
1
7
1
0
.
0
7
1
2
Th
e
s
t
e
a
d
y
st
a
t
e
e
r
r
o
r
0
.
0
3
0
0
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0
1
4
0
0
.
0
1
3
5
0
.
0
6
7
4
P
o
w
e
r
1
S
e
t
t
l
i
n
g
t
i
m
e
(
ms)
0
.
0
2
7
5
0
.
0
2
3
0
0
.
0
2
5
0
0
.
0
2
8
4
S
e
t
t
l
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n
g
t
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m
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(
ms)
0
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1
9
0
.
0
1
0
6
0
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0
1
1
2
0
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0
1
3
2
2
R
i
se
t
i
me
(
ms)
0
.
0
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7
3
0
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0
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4
7
0
.
0
0
5
2
0
.
0
0
7
6
R
i
se
t
i
me
(
ms)
0
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0
0
5
1
0
.
0
0
2
0
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3
1
0
.
0
0
6
6
3
O
v
e
r
sh
o
o
t
(
%)
1
.
6
7
7
1
1
.
2
5
7
2
1
.
2
6
6
0
1
.
8
0
0
1
O
v
e
r
sh
o
o
t
(
%)
1
.
0
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6
1
1
.
0
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3
1
.
0
1
0
6
1
.
0
7
9
0
4
Th
e
s
t
e
a
d
y
st
a
t
e
e
r
r
o
r
0
.
5
7
8
8
0
.
3
4
4
1
0
.
3
9
1
9
0
.
6
0
0
9
Th
e
s
t
e
a
d
y
st
a
t
e
e
r
r
o
r
0
.
2
3
0
2
0
.
2
0
6
4
0
.
2
1
9
7
0
.
2
5
5
4
5.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
d
em
o
n
s
tr
ates
th
at
AC
O
an
d
GA
ar
e
ef
f
ec
tiv
e
o
f
o
p
tim
izin
g
MPPT
f
o
r
W
E
C
S.
B
y
u
tili
zin
g
th
ese
tech
n
iq
u
es
to
t
u
n
e
PID
co
n
tr
o
ller
p
ar
am
eter
s
,
we
ac
h
iev
e
en
h
an
ce
d
s
y
s
tem
f
u
n
ctio
n
ality
in
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