Rachid TALEB1, Abdelkader MEROUFEL2, Ahmed MASSOUM2

University of Hassiba Ben Bouali (1), University of Djillali Liabes (2)

Control of a Uniform Step Asymmetrical Multilevel Inverter using

Particle Swarm Optimization
Abstract. Harmonic Elimination Strategy (HES) has been a widely researched alternative to traditional PWM techniques. This paper presents the
harmonic elimination strategy of a Uniform Step Asymmetrical Multilevel Inverter (USAMI) using Particle Swarm Optimization (PSO) which eliminates
specified higher order harmonics while maintaining the required fundamental voltage. This method can be applied to USAMI with any number of
levels. As an example, in this paper a seven-level USAMI is considered and the optimum switching angles are calculated to eliminate the fifth and
seventh harmonics. The HES-PSO approach is compared to the well-known Sinusoidal Pulse-Width Modulation (SPWM) strategy. Simulation results
demonstrate the better performances and technical advantages of the HES-PSO controller in feeding an asynchronous machine. Indeed, the
harmonic distortions are efficiently cancelled providing thus an optimized control signal for the asynchronous machine. Moreover, the technique
presented here substantially reduces the torque undulations.
Streszczenie. W artykule zaprezentowano strategi eliminacji harmonicznych HES w przeksztatniku wielopoziomowym asymetrycznym USAMI.
Wykorzystano metod algorytmw rojowych i porwnano t metod z klasyczn metoda PWM. (Sterowanie wielopoziomowym symetrycznym
przeksztatnikiem USAMI przy wykorzystaniu algorytmw rojowych)

Keywords: Uniform step asymmetrical multilevel inverter (USAMI), Harmonic Elimination Strategy (HES), Particle Swarm Optimization
(PSO), Sinusoidal Pulse-Width Modulation (SPWM).
Sowa kluczowe: przeksztatniki USAMI, sterowanie, eliminacja harmonicznych, algorytm rojowy.

1. Introduction
Multilevel inverters have been widely used in last years
for high-power applications [1]. Variable-speed drives have
reached a wide range of standard applications such as
pumps, fans and others. Many of these applications use
medium-voltage motors (2300, 3300, 4160 or 6600V), due
to their lower current ratings in higher power levels [2].
Static Var compensators and active filters are other
applications that use multilevel converters [3].
Several topologies of multilevel inverters have been
studied and presented. Among them, neutral point clamped
inverters [4], flying capacitors inverters also called
imbricated cells [5], and series connected cells inverters
also called cascaded inverters [6]. The industry often has
used the neutral-point-clamped inverter [7]. However, the
topology that uses series connected cells inverters presents
some advantages, as smaller voltage rate (dU/dt) due to
existence of higher number levels, producing less commonmode voltage across motor windings [8]. Furthermore, this
topology is simple and its modular configuration makes it
easily extensible for any number of desired output voltage
levels. Fig.1a shows the basic diagram of this topology with
k partial cells represented by Fig.1b. The jth single-phase
inverter is supplied by a dc-voltage source Udj (j 1k).
The relationship between the number of series-connected
single-phase inverters in each phase and the number of
output voltage levels generated by this topology,
respectively k and N, is given by: N 2k 1, in the case
where there are equal voltages in all partial inverters.
In all the well-known multilevel converter topologies, the
number of power devices required depends on the output
voltage level needed [9]. However, increasing the number
of power semiconductor switches also increases the
converter circuit and control complexity and the costs. To
provide a large number of output levels without increasing
the number of converters, a uniform step asymmetrical
multilevel inverters (USAMI) can be used [10].
The key issue in designing an effective multilevel
inverter is to ensure that the Total Harmonic Distortion
(THD) of the output voltage waveform is within acceptable
limits. Harmonic Elimination Strategy (HES) has been
intensively studied in order to achieve low THD [11]. The
output voltage waveform analysis using Fourier theory
produces a set of non-linear transcendental equations. The

solution of these equations, if exists, gives the switching

angles required for certain fundamental component and
selected harmonic profile. Iterative procedures such as
Newton-Raphson method has been used to solve these
sets of equations [12]. This method is derivative-dependent
and may end in local optima, and a judicious choice of the
initial values alone guarantees conversion [13]. Another
approach based on converting the transcendental equation
into polynomial equations is presented in [14, 15], where
resultant theory is applied to determine the switching angles
to eliminate specific harmonics. That approach, however,
appears to be unattractive because as the number of
inverter levels increases, so does the degree of the
polynomials of the mathematical model. This is likely to lead
to numerical difficulty and substantial computational burden
as well.

Ud1

Sj1

Sj2

Sj1

Sj2

Us Udj

Ud2

Upj

b)

Udk
a)

Fig.1. a) A series-connected multilevel inverter topology with k

partial cells, b) Partial cell configuration

Genetic algorithms (GA) have been used to obtain

optimal solutions for inverter circuits supplied from constant
dc sources [16, 17]. Despite their effectiveness in harmonic
elimination strategy, they are complicated and their
parameters such as crossover and mutation probability,
population size and number of generations are usually
selected as common values given in literature or by means
of a trial and error process to achieve the best solution set.
Heuristic algorithms such as Particle Swarm
Optimization (PSO) [18] have the ability to combat the
above drawbacks. As an optimization technique, PSO is
much less dependent on the start values of the variables in

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173

2. Uniform step asymmetrical multilevel inverter

Fig.1b shows a detail of the partial cells and the main
notations used. Each couple of switches Sjx and Sjx (x 1, 2;
j 1k) is controlled by a couple of switching functions Mjx
and Mjx 0, 1 such that:

M jx M 'jx 1

(1)

The conversion of the switch commutations into a

voltage is described by a conversion function, Fj such that:

F j M jx M 'jx F j 1, 0, 1

(2)

The output voltage of each cell is given by:

(3)

U pj F j U dj U pj U dj , 0, U dj

Equation (3) shows that each partial cell can generate

three different levels. The output voltage of the multilevel
converter is given by:
(4)

U s U p1 U p 2 U pk

A series-connected multilevel inverter is known as

asymmetric, if at least one to the dc-voltage sources
feeding the partial inverters is different of the others. Three
conditions have been established for the design of a
uniform or regular step AMI (i.e., the steps U between all
voltage levels are equal, in this case the step is equal to the
smallest dc-voltage Ud1) [10]:

174

1-the dc-voltage sources must be arranged in an increasing

way Ud(h 1) Udh, h 2k;
2-the ratio between two consecutive inverters must be an
integer Udh/Ud(h 1) h, h N*;
3-the jth partial cell must be fed by the voltage Udj such that:
j 1

U dj 1 2U dl

(5)

l 1

If these three conditions are satisfied, the multilevel

inverter will generate an output voltage Us with N regular
different levels such that:

N 1 2

(6)

U dj

U d1
j 1

For example the generation of a seven-level output

voltage can be achieved with the following dc-voltage
sources: Ud1 1 p.u. and Ud2 2 p.u.. According to (5) and
(6), more than one possible dc-voltage setting can be
chosen to generate the same number of levels. Fig.2 shows
the possible output voltage of the two partial cells. There
are two possible commutation sequences that result in Us
1 p.u.: (Up1, Up2) (1, 2), (1, 0). The dashed lines in Fig.2
show the commutation sequence (Up1, Up2) (1, 0). The
possible redundant switching states in a multilevel converter
are a degree of freedom which is usually used to optimise
its performances with an appropriate modulation strategy
[21].
3
2

Us = Up1 + Up2

the optimization problem when compared with the widely

used Newton-Raphson or mathematical programming
techniques such as Sequential Quadratic Programming
(SQP). In addition, PSO does not rely on the guidance of
the gradient information, such as the Jacobian matrix,
hence it is more capable of determining the global optimum
solution. PSO deal with all problems that usually considered
very hard for researchers, such as integer variables, nonconvex functions, non-differentiable functions, domains not
connected, badly behaved functions, multiple local optima,
and multiple objectives [19, 20]. For these reasons, PSO
has been adopted in this study.
This paper presents an optimal minimization technique
assisted with PSO algorithm in order to highly reduce the
computational burden associated with the solution of the
non-linear transcendental equations of the harmonic
elimination strategy of a seven-level USAMI. The
performance of this HES-PSO approach is evaluated and
compared to the SPWM technique. The proposed HESPSO strategy is also evaluated when the inverter supplies
an asynchronous machine. In this application, it is important
that the implemented controller computes appropriate
switching angles for the inverters in order to minimize the
harmonics absorbed by the asynchronous machine.
Performances where successfully achieved, the HES-PSO
controller demonstrates a satisfying behavior and a good
robustness.
The paper is organized as follows. USAMIs are
described and modeled in Section 2. Section 3 briefly
introduces the well-known Sinusoidal PWM and brings out
the original HES using PSO. Section 4 evaluates the
proposed HES-PSO strategy in computing optimal angles of
7-level inverter used to supply an asynchronous machine.
Results show that the HES-PSO method cancels the
harmonic distortions and supplies the machine with a wellformed sinusoidal voltage waveform. In Section 5, we
conclude with final remarks.

1
0
-1
-2

Up2

-3
1

2
Parcial cells

(0)

Fig. 2. Possible output voltages of each partial inverter to generate

N 7 levels with k 2 cells, Ud1 1p.u. and Ud2 2p.u.

3. Multilevel inverters control strategies

Among several modulation strategies, the multi-carrier
sub-harmonic PWM technique has been receiving an
increasing attention for symmetrical multilevel converters
[10]. This modulation method can also be used to control
asymmetrical multilevel power converters. Other kinds of
modulation techniques can also be used in the case of
AMIs [22].
This section briefly presents the sinusoidal PWM
technique. We also propose a HES based on PSO. These
control strategies will be compared by computer
simulations. The objective is to elaborate optimized
switching angles for a 7-level USAMI in order to supply an
asynchronous machine.
3.1. Sinusoidal Pulse-Width Modulation (SPWM)
The SPWM is also known as the multi-carrier PWM
because it relies on a comparison between a sinusoidal
reference waveform and vertically shifted carrier
waveforms. N 1 carriers are therefore required to generate
N levels. The carriers are in continuous bands around the
zero reference. They have the same amplitude Ac and the
same frequency fc. The sine reference waveform has a

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frequency fr and an amplitude Ar. At each instant, the result

of the comparison is 1 if the triangular carrier is greater than
the reference signal and 0 otherwise. The output of the
modulator is the sum of the different comparisons which
represents the voltage level. The strategy is therefore
characterized by the two following parameters [23],
respectively called the modulation index and the modulation
rate:

f
m c
fr
2 Ar
r
N 1 Ac

(7)
(8)

We propose to develop a 7-level inverter composed of k

2 partial inverters per phase with the following dc-voltage
sources: Ud1 300V and Ud2 600V. The output voltage Uab
and its frequency representation are respectively presented
by Fig. 3 and Fig. 4.
1.5

Uab (KV)

symmetric in a half and a quarter of a period. As a result,

the even harmonic components are null. The Fourier series
expansion for the Us voltage is thus:

(9)

n 1

cos(n i )
i 1

p 3
3
r
cos( i )
4
i 1
p 3

cos(n i ) 0 for n 5, 7
i 1

(10)

-0.5

-1
-1.5
0

0.005

0.01

0.015

0.02

time (s)
Fig. 3. Output voltage Uab of the 7-level USAMI controlled by the
SPWM (with m 18 and r 0.85)
100

Ampl. (% of Fund.)

The p switching angles in (9) are calculated by fixing the

amplitude of the fundamental term and by canceling the p
1 other harmonic terms. Practically, three switching angles
(1, 2 and 3) are necessary for canceling the two first
harmonics terms (i.e., harmonics with a odd rank and non
multiple of 3, therefore 5 and 7) in the case of a three phase
7-level USAMI composed of k 2 partial inverters per phase
supplied by the dc-voltages Ud1 300V and Ud2 600V.
These switching angles can be determined by solving the
following system of non linear equations:

60

fundamental companent
harmonic of rank 2

40

where r U1/3Ud1 is the modulation rate. The solution of

(10) must also satisfy
(11)

harmonic of rank 4

10

20

30

40

50

60

70

harmonic ranks
Fig. 4. Frequency content of the output voltage Uab with the SPWM
strategy (with m 18 and r 0.85)
pUd1
Us

3/2
1 2 .. p
/2

3
3
F (1 , 2 , 3 ) cos( n )

4
n 1

20

0 1 2 3

An objective function is then needed for the optimization

procedure, which is selected as a measure of effectiveness
of eliminating selected order of harmonics while maintaining
the fundamental component at a pre-specified value.
Therefore, this objective function is defined as:

THD 11.06 %
80

4U d 1
n

Where Un is the amplitude of the harmonic term of rank n, p

(N 1)/2 is the number of switching angles per quarter
waveform, and i is the ith switching angle.

0.5

U s U n sin(nt ), with U n

-pUd1

Fig. 5. Output voltage waveform of an N-level USAMI

3.2 Harmonics Elimination Strategy with PSO

A) Harmonics Elimination Strategy (HES): The HES is
based on the Fourier analysis of the generated voltage Us at
the output of the USAMI [22]. This voltage shown in Fig. 5 is

(12)

cos(5 n ) cos(7 n )

n 1

n 1

The optimal switching angles are obtained by minimizing

Eq. (12) subject to the constraint (11), and consequently the
required harmonic profile is achieved. The main challenge
is the non-linearity of the transcendental set of Eq. (10), as
most iterative techniques suffer from convergence problems
and other techniques such as elimination using resultant
and GA are complicated.
B) Particle swarm optimization (PSO): Particle swarm
optimization is an intelligent algorithm which relies on
exchanging information through social interaction among
particles. The PSO conducts searches using a swarm of
particles randomly generated initially. Each particle i (i 1
to swarm size) possesses a current position pi [pi1 pi2
piq] and a velocity vi [vi1 vi2 viq], q is the dimension of
search space. The position of the particle represents a
possible solution of the problem. The velocity indicates the
change in the position from one step to the next. Each
particle memorizes its personal best position (pbesti) which
corresponds to the best objective function value in the

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175

searched places. Each particle can also access to the

global best position (gbest) that is the overall best place
found by one member of the swarm. Namely, particles profit
from their own experiences and previous experience of
other particles during the exploration, to adjust their
velocity, in direction and amount [24, 25]. The concept of a
moving particle is illustrated in Fig. 6.
Personnel best
performance

Global best
performance
New
position

Current
position

Current velocity
Fig. 6. Concept of modification of searching points

The velocity of each particle can be updated iteratively

according to the following rule:

vi ( j 1) wvi ( j ) c1r1 ( pbest i pi ( j ))

c 2 r2 ( gbest pi ( j ))

where vi(j) is the current velocity of particle i at iteration j

and pi(j) is the current position of particle i at iteration j.
The inertia weight w governs how much of previous
velocity should be retained from the previous time step. The
acceleration coefficients c1 0 and c2 0 influence the
maximum size of the step that a particle can take in a single
iteration. r1 and r2 are two independent random sequences
uniformly distributed in [0, 1]. These sequences are used to
affect the stochastic nature of the algorithm.
The first term of right-hand side of the velocity update
equation is the inertia velocity of particle, which reflects the
memory behavior of particle. The second term in the
velocity update equation is associated with cognition since it
only takes into account the private thinking and own
experiences of particles. This component is a linear
attraction toward the local best position ever found by the
given particle. But the third term in the same equation
represents the social collaboration and interaction between
the particles. This component is a linear attraction toward
the global best position found by any particle.
Each particle investigates the search space from its new
local position using the following equation:
(14)

THD

(15)

p 3

cos( i )
i 1

The THD corresponding to the solutions given in Fig. 7

is represented by Fig. 8. Selecting the switching angles that
lead to the lowest THD results in the solutions given by Fig.
9. The corresponding THD is shown on Fig. 10.

pi ( j 1) p i ( j ) vi ( j )

After a number of iterations, the particles will eventually

cluster around the area where fittest solutions are.
C) Implementation of PSO for HES: In order to describe the
implementation of the PSO in harmonic elimination strategy
of multilevel inverters, the following algorithm is adopted.
Step 1: Initialization
for each particle:
Initialize the position i(0) [i1(0) i2(0) ip(0)] of each
particle with random angles that respect the constraint (11);
Initialize the velocity vi(0) [vi1(0) vi2(0) vip(0)] of each
particle to random values;
Initialize the best objective function F_ pbesti of particle i.
end for

176

1 p 3

n cos(n i )
n 5,7 ,...
i 1

90

Switching angles (deg)

(13)

Initialization of the best objective function F_ gbest of the

swarm.
Loop

for each particle

Step 2: Objective function evaluation
Compute the Fi value of each particle i of the swarm using
the cost function given by (12);
Step 3: Personal best position updating
if Fi F_ pbesti
then F_ pbesti Fi and pbesti i
end if
Step 4: Global best position updating
if Fi F_ gbest
then F_ gbest Fi and gbest i
end if
end for
for each particle
Step 5: Position and velocity updating
vi wvi c1r1(pbesti i) c2r2(gbest i)
i i vi
end for
Until a sufficiently good objective function value is
reached.
This algorithm was used to find the switching angles for
each phase in the case of a seven-level USAMI. The
parameters selected for the implementation of PSO are: the
population size 20 particles, w 0.75 and c1 c2 1.8.
The results for phase a are plotted in Fig. 7 versus r, where
r [0.3, 1.3] with a step of 0.001. One can notice that for r
in the interval [0.488, 1.069] there is at least one solution.
Furthermore, there are two different sets of solutions in the
interval [0.632, 0.785]. On the other side, for r [0, 0.339],
r [0.352, 0.483], and r [1.073, 1.175] there are no
solutions. Interestingly, for r 0.339, r 0.343 and r
1.171 there are isolated solutions.
In the case of two possible solutions of an angle i, one
clear way to choose a particular solution is simply to pick
the one that results in the lowest THD given by

Theta1
Theta2
Theta3

80
70
60
50
40
30
20
10
0
0.3

0.5

0.7

0.9

1.1

1.3

modulation rate, r
Fig. 7. All switching angles versus r for a 7-level USAMI

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35

1.5

30

Uab (KV)

THD (%)

25
20
15

0.5
0
-0.5

10

-1
5
0
0.3

-1.5
0.5

0.7

0.9

1.1

1.3

0.005

0.01

modulation rate, r
Fig. 8. THD versus r for all switching angles

100

70
60
50
40
30
20
10
0.7

0.9

1.1

THD 9.32 %

Ampl. (% of Fund.)

Switching angles (deg)

Theta1
Theta2
Theta3

80

0.5

80

60

20

THD (%)

25
20
15
10
5
1.1

1.3

modulation rate, r
Fig. 10. THD for the switching angles that give the lowest THD
1

20

30

40

50

60

70

4. Performance in Supplying an Asynchronous Machine

In order to evaluate the performance and the robustness
of the proposed approach, a 7-level USAMI is used to
supply an asynchronous machine with the following data:
rated power Pn 1MW, stator resistance Rs 0.228, rotor
resistance Rr 0.332, stator inductance Ls 0.0084H,
rotor inductance Lr 0.0082H, mutual inductance Lm
0.0078H, number of pole pairs P 3, rotor inertia J
2
20kg.m , viscous friction coefficient Kf 0.008 Nm.s.rad1.
The HES-PSO is compared to the SPWM strategy in
controlling the 7-level USAMI. The objective is to use the
proposed PSO strategy in order to minimize the harmonics
absorbed by the asynchronous machine.
1.5

0.8

0.6

ias (KA)

Cost function 10 4

10

Fig. 13. Frequency content of the output voltage Uab with the HESPSO strategy (with r 0.85)

30

0.9

harmonic ranks

35

0.7

harmonic of rank 5
harmonic of rank 7

1.3

Fig. 9. Switching angles versus r which give the lowest THD

0.5

fundamental companent

40

modulation rate, r

0
0.3

0.02

Fig. 12. Output voltage Uab of the 7-level USAMI controlled by the
HES-PSO (with r 0.85)

90

0
0.3

0.015

time (s)

0.4

0.5
0
-0.5

0.2

-1

0
0.3

0.5

0.7

0.9

1.1

1.3

modulation rate, r

Fig. 11. Cost function versus r

0.5

time (s)

1.5

2.5

As seen on Fig. 11, any solution that yields a cost

function less than 0.0001 is accepted. We clearly notice that
the number of solutions for each r increases or decreases
in according to precision constraint value by which solutions
are calculated.
Using the optimal switching angles calculated above,
simulations have been conducted to verify that the
fundamental frequency switching can achieve high control
performance.
Fig. 12 shows the output voltage Uab for r 0.85 which
corresponds to 1 22.7632o, 2 49.3781o and 3
64.5567o. Fig. 13 shows the frequency content of Uab which
can be compared to Fig. 4 obtained with the SPWM.

Te (KNm)

16

12

1.5
1

1.01

1.02

0.5

time (s)

1.5

Fig. 14. Stator current (top) and electromagnetic torque (bottom) of

the asynchronous machine fed by a 7-level USAMI controlled by
the SPWM

PRZEGLD ELEKTROTECHNICZNY (Electrical Review), ISSN 0033-2097, R. 88 NR 3b/2012

177

Table 1. Performances of the control methods

100

Ampl. (% of Fund.)

THD 9.69 %
80

fundamental companent

60

Control
method

Uab
THD
(%)

ias
THD
(%)

fTe
(Hz)

Te
(Nm)

Nb
of i

SPWM

11.06

9.69

775.66

2m 36

HES-PSO

9.32

3.47

2f

360.87

4p 12

harmonic of rank 2

40

harmonic of rank 4

20

10

20

30

40

50

60

70

harmonic ranks
Fig. 15. Frequency content of the stator current of the
asynchronous machine fed by a 7-level USAMI controlled by the
SPWM

The results of the control based on the SPWM are

presented by Fig. 14 and Fig. 15. This first figure shows the
stator current and the electromagnetic torque with
significant fluctuations. The second figure shows the
frequency content of the stator current. Results by using
PSO approach of the HES are presented by Fig. 16 and
Fig. 17. By comparing Fig. 15 to Fig. 17, it can be deduced
that the HES-PSO efficiently cancels the harmonics of
ranks 5 and 7 from the output voltage Uab. Moreover, the
amplitudes of the harmonic distortions are very small
compared to the amplitude of the fundamental component.

1.5

ias (KA)

1
0.5
0
-0.5
-1
0

0.5

time (s)

1.5

2.5

Te (KNm)

16

12

1.5
1

1.01

1.02

Performances obtained with both methods are

summarized in Table 1. The THD measured on Uab and
resulting from the PSO approach of the HES is smaller than
the one obtained with the SPWM method. The THD
measured on the stator current ias is reduced by a factor
2.79 with the HES-PSO compared to the SPWM method.
The control is thus optimized with the HES-PSO in order to
avoid the asynchronous machine to absorb harmonics.
It can also be seen that the electromagnetic torque
continuously oscillates at a frequency f with the SPWM
method (because of the harmonics of rank 2 and 4 which
are present in the output voltage). The torque oscillates at
2f with the HES-PSO approach. The HES-PSO method also
reduced the number of switching angles by a factor 3
compared to the SPWM method which is highly appreciated
for the electronic devices.
5. Conclusions
In this paper, a novel strategy to eliminate harmonics in
USAMIs has been described which exploits the swarm
intelligence. Particle swarm optimization is used to improve
the harmonic elimination technique for USAMIs, which
exhibits clear advantages in term of low switching frequency
and high output quality. This study has shown that the
particle swarm optimization is more suitable for USAMIs
optimal control design. This optimization algorithm is simple
to implement, effective and inexpensive in term of memory
and time required. The proposed HES-PSO approach is
compared to the SPWM strategy. Simulation results are
given to show the high performance and technical
advantages of the PSO implementation of the HES for the
control of a uniform step asymmetrical 7-level inverter. The
HES-PSO approach is used to feed an asynchronous
machine. The harmonic distortions are efficiently cancelled
and the torque undulations are thus significantly reduced.

REFERENCES
0

0.5

time (s)

1.5

Fig. 16. Stator current (top) and electromagnetic torque (bottom) of

the asynchronous machine fed by a 7-level USAMI controlled by
the HES-PSO

Ampl. (% of Fund.)

100

THD 3.47 %
80

60

fundamental companent
harmonic of rank 5

40

harmonic of rank 7
20

10

20

30

40

50

60

70

harmonic ranks
Fig. 17. Frequency content of the stator current of the
asynchronous machine fed by a 7-level USAMI controlled by the
HES-PSO

178

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Authors: Rachid TALEB, Electrical Engineering Department,
Hassiba Ben Bouali University, BP 151 Hay Es-Salam Chlef,
Algeria, E-mail: [email protected]; Abdelkader MEROUFEL,
Intelligent Control and Electrical Power Systems Laboratory
(ICEPS), Djillali Liabes University, BP 89 Sidi Bel-Abbes, Algeria,
E-mail: [email protected]; Ahmed MASSOUM, Intelligent
Control and Electrical Power Systems Laboratory (ICEPS), Djillali
Liabes University, BP 89 Sidi Bel-Abbes, Algeria, E-mail:
[email protected].

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