Proceedings of the 10th Asian Control Conference 2015 (ASCC 2015)
Kota Kinabalu, 31st May - 3rd June 2015
The (ffects of ,nternal and (xternal 'isturbances for
7he +ybrid )uzzy-fuzzy &ontroller $pplied to IM-Drive
1
Muawia A. Magzoub, 2Nordin B. Saad, 3Rosdiazli B. Ibrahim, 4Muhammad Irfan
Department of Electrical and Electronic Engineering
Universiti Teknologi PETRONAS
32610 Bandar Sri Iskandar, Perak, Malaysia
1
mawkafi11@yahoo.com, {2nordiss, 3rosdiazli}@petronas.com.my, 4irfan16.uetian@gmail.com
Abstract— This research represents a study of the effects of
internal and external disturbances for the developed hybrid
fuzzy-fuzzy controller (HFFC) scheme to gain control over the
speed of an induction motor’s (IM) variable speed drive (VSD).
In case of an induction motor, the fuzzy current amplitude
control and fuzzy frequency control are observed in a closed-
loop current amplitude input model. A hybrid controller is
formed by a combination of both controllers. In order to
overcome a drawback of field oriented control (FOC) method,
the principle of HFFC is based on a rule to control a speed of a
rotor by utilizing a fuzzy frequency controller during the
accelerate-decelerate stage. Whereas, a fuzzy stator current
magnitude controller is used during a steady-state stage. The
two aspects (current and frequency) of FOC are engaged to
design a scalar controller. To observe a performance of a
controller, a simulation is carried out by means of software,
MATLAB/Simulink. Hence, a performance of a controller is
observed by conducting a series of tests, and it has been
concluded that a controller is more reliable and shows an
insensitive behavior towards the parameter variation in the
system and motor robustness to load and noise disturbances.
Keywords—Indirect Field-Oriented Control (IFOC), Hybrid
Fuzzy-Fuzzy control (HFFC), Disturbances.
I. INTRODUCTION
The induction motors have been largely utilized in the
applications that use variable speed during the last forty
years. In an industry, a term, the workhorse is used to refer
an induction motor. With an increasing development in a
field of manufacturing of the silicon-controlled rectifiers, an
occurrence of the variable speed induction motor drives was
started in the late 1960’s. At that time, a principal of speed
control was only based on the steady state aspects of an
induction machine. A wide research in this field has made
an emergence of more refined industrial drives possible.
Among the techniques that were previously used for
controlling a v/f which was applied in an open-loop speed
control of drives that recently need low dynamics. In
addition, the slip frequency control technique is another
technique which is also famous for producing an improved
dynamics. Until an emergence of the field oriented control
(FOC), this technique was considered as a standard for an
industry for the AC drives whose dynamics resemble with
the DC motors, in all the high performance IM drives [1],
978-1-4799-7862-5/15/$31.00 © 2015 IEEE
[2]. Hence, an invention of the vector control and field-
oriented control were considered as a most significant factor
in the AC motor drives that boosted the programs related to
the development and research for improving the control
performance. Whereas, several benefits of process control
can be obtained by adjusting a speed of the drive motors
which include varying speeds for the operation for process
recipe, better control on the speed variation, efficient
working, precise control for positioning, tension or torque,
energy saving and compensation of process varying
variables [2].
Zadah, in 1965 described Fuzzy Logic as a novel kind of
mathematical set approached, consisting of a fuzzy set
theory that was considered as a basic theory of the fuzzy
logic. A fuzzy control system is established by applying a
principle of fuzzy logic that consists of three phases;
fuzzification, inference engine and defuzzification. The
inputs are converted into the fuzzy sets in an initial phase.
An inference engine defines the fuzzy rules in the next
phase that links the outputs by using the sets of inputs via
explicit rules. In a last phase, the conclusions are inferred by
combining the outcomes of the fuzzy rules, which is then
transformed to a sharp value from the fuzzy sets [3].
In order to provide a controller for a variable speed drive
(VSD), several research studies exist that are based on the
control techniques and commercially available tools which
yield a high degree of performance and reliability. Hence,
the PLC based hybrid-fuzzy control for PWM-driven VSD
was examined that depends upon the s-domain transfer
function in a scientifically presented model of an original
plant, by keeping the V/f ratio at a constant value in [5].
Though, the optimizations of the controller's performance,
against the parameter variation, and external disturbances
were not fully considered. Hence, the disadvantages of FOC
method and the results gained from the simulation have
been overcome by an implementation of the two stage
controllers in [6] – [8], though all the practical
implementations were quite satisfactory. Moreover, the
satisfactory results have been gained by applying some
controller algorithms for controlling a speed of an IM in [9],
[10].
The FOC has two features [4], [6] that have been
implemented in this work. First of all, it is not able to
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Kota Kinabalu, 31st May - 3rd June 2015

control frequency directly, due to the fact that the supply ௗఒೞ೜ೝ ௥ೝ ௦ ௉ ௦ ௥ೝ ௅ಾ ௦
ൌെ ߣ௤௥ ൅ ଶ ߱௠ ߣௗ௥ ൅ ݅ (2)
frequency does change during the period of accelerate- ௗ௧ ௅ೝ ௅ೝ ௤௦
decelerate for the field-oriented controller and the slip
ௗఠ೘ ଷ ௉ ௅ಾ ்೗
frequency remain same. Furthermore, in a presence of a ൌ ቂ ቃቂ ቃ ൫݅ ௦ ߣ௦ ௦ ௦
െ ݅ௗ௦ ߣ௤௥ ൯ െ (3)
torque command the magnitude of a supply current ௗ௧ ଶ ଶ ௃௅ೝ ௤௦ ௗ௥ ௃
magnitude remains stable. TABLE II. NOMENCLATURE
Even though, in order to attain a high performance in an
݅ௗ௦ ǡ ݅௤௦ d- and q-axis stator current modules, respectively and stated
adjustable speed induction motor drives, the application of in a stationary reference frame
FOC method has mostly been effective, but it suffers due to ‫ܮ‬ெ Magnetizing inductance
the drawbacks which are provided as follows [6]: Firstly, a ‫ܮ‬௦ ǡ ‫ܮ‬௥ Self-inductance of the rotor and stator respectively
sensitivity to the parameter variations. Secondly, when ‫ݎ‬௦ ǡ ‫ݎ‬௥ The resistance of a rotor and stator phase winding
assessing the definite integrals i.e., the error accumulation; respectively
ܶ௘ ǡ ܶ௟ Load torque and Electromagnetic torque replicated on the
if the control time is long, degradation will be in the steady- motor shaft respectively
state and the result will be transient responses because of an ߣௗ௦ ǡ ߣ௤௦ d- and q-axis stator flux components, respectively and
excessive error accumulation and drift in the parameter expressed in a stationary reference frame
values. Thirdly, there must be a stability in control and the ߣௗ௥ ǡ ߣ௤௥ d- and q-axis rotor flux components, respectively and
expressed in a stationary reference frame
calculation must instigate from an initial state and the last
߱௠ ǡ ߱௥ Mechanical and electrical angular rotor speed respectively
step involves a complicated calculation is involved. ߱ Synchronous speed or dominant frequency
The implementation of a fuzzy current amplitude ܲ Number of pairs of poles
controller on the induction motor model makes this work ‫ܬ‬ The inertia of the rotor ‰ଶ ‘” •ଶ
unique. This controller possesses same supply features as The two features for the FOC that have been used in this
FOC and insensitivity to the parameter variation for the research study are shown in Eq. (1) to (3). The first aspect
motor and system robustness to noise and load disturbances that the supply frequency changes with the speed of a rotor,
is one of the advantages of this controller. Due to the fact [11] is given by Eq. (4) and (5).
that it provides better performance, the fuzzy current
௉
amplitude controller has been selected. ߱ ൌ ߱௥ ൅ ଶ ߱௠ (4)
II. MATHEMATICAL MODELLING Where,
A higher order mathematical equations that fall under
ଷ௥ೝ ்೗ ‫כ‬
one of the VSD control classifications can be used to model ߱௥ ൌ ‫כ‬మ (5)
the dynamics of an induction motor. ௉ఒ೐೏ೝ
The Steady state models provide information about the
performance of the induction motors in a steady state only. If (ܶ ‫ ) כ‬is kept constant throughout an accelerate-decelerate
Table 1 provides the related parameters of IM. stage, then (߱௥ ) is also constant and from Eq. (4) as (߱௠ )
TABLE I. PARAMETERS changes during accelerate-decelerate stage, then (߱) should
vary. So that Eq. (4) is satisfied for a first feature.
Resistance of Stator. ‫ݎ‬௦ ʹͻǤͶ ൈ ͳͲିଶ ߗ
Resistance of Rotor. ‫ݎ‬௥ ͳͷǤ͸ ൈ ͳͲିଶ π The Eq. (6) proves the second feature as follows.
Self-inductance of Stator. ‫ܮ‬௦ ͶʹǤͶ ൈ ͳͲିଷ ‫ܪ‬ ଶ
ଶ
ȁ݅௦ ȁ ൌ ට݅ௗ௦ ଶ
Self-inductance of Rotor. ‫ܮ‬௥ ͶͳǤ͹ ൈ ͳͲିଷ ‫ܪ‬ ൅ ݅௤௦ (6)
ଷ
Magnetizing inductance ‫ܮ‬ெ Ͷͳ ൈ ͳͲିଷ ‫ܪ‬
Rotor Inertia ‫ܬ‬ ͶͲǤͲ͸ ൈ ͳͲିଶ ‫݃ܭ‬Ǥ ݉ଶ Where:
Damping Constant ‫݂ݎ݋ܤ‬ ͲǤͲ͸ʹܰǤ ݉Ǥ ‫ݏ‬Ȁ‫݀ܽݎ‬ ఒ೐೏ೝ
Number of pairs of poles ܲ ͵ ݅ௗ௦ ൌ ௅ಾ
ൌ ܿ‫ݐ݊ܽݐݏ݊݋‬ (7)
A dynamic model of an induction motor can be ଷ௅ೝ ் ‫כ‬
݅௤௦ ൌ ‫כ‬ (8)
developed by employing a two-phase motor in a quadrature ௉௅ಾ ఒ೐೏ೝ
and direct axis. Table 2 represents an explanation of the
notations. The voltage and flux linkage relations of an The Eq. (6) will be constant if the torque command (ܶ ‫ ) כ‬is
induction motor in a reference frame which is randomly constant, which satisfies the second feature.
selected can be used to derive the state space model of an The Fig. 1 shows that a speed response may be divided
induction motor in a stationary reference [11], [12]. The into two stages. For the HFFC, the Table 3 shows the
equations (1)-(3) provide a final state-space model of an relationship between the inputs and outputs.
induction motor in a stationary frame with a controlled
stator currents. III. DESIGN OF CONTROLLER
A. Fuzzy current amplitude controller
ௗఒೞ೏ೝ ௥௦ ௦௉ ௥ೝ ௅ಾ ௦
ௗ௧
ൌ െ ௅ೝ ߣௗ௥ െ ଶ ߱௠ ߣ௤௥ ൅ ݅
௅ೝ ௗ௦
(1) In the stage of accelerate-decelerate, the stator current
ೝ
magnitude is regulated as the system is driven by the
maximum permissible values of an inverter. During the final

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Proceedings of the 10th Asian Control Conference 2015 (ASCC 2015)
Kota Kinabalu, 31st May - 3rd June 2015

steady-state period, the speed of a rotor is controlled by A speed error can be computed by comparing the
adjusting a magnitude of a stator current, while the supply reference speed and the speed signal feedback. The fuzzy
frequency is kept constant., Following equations [4], [6], knowledge base consists of membership functions of the
[11] show a relationship between the torque-current in the inputs of fuzzy controller including speed reference, error
presence of a constant supply frequency. changing and current amplitude / slip frequency outputs.
ು TABLE IV. SPEED, CURRENT AMPLITUDE, AND FUZZY LINGUISTIC
ଷ௉ ௥ೝ ௅మಾ ௜ೞమ ቂఠି ఠ೘ ቃ
మ
ܶ ൌ ቂ ቃቈ ು ቉ (9) VALUES
ଶ ௥ೝమ ାሾ௅ಾ ା௅೗ೝ ሿమ ቂఠି ఠ೘ ቃ
మ Stages ߱௠ ‫כ‬ ‫ܣ‬ ݂୅
The values for the current amplitude are depicted as follows: Deceleration - -50.54 NBB
ͷͲǤͷͶȁ݅௦ ȁ ൒ ͷͲǤͷͶ‫݄݊݁ݓܣ‬ο߱௠ ് Ͳ -120 -15.07 NB
ȁ݅௦ ȁ ൌ ൜ (10) Steady-State
ȁ݅௦ ȁȁ݅௦ ȁ ൏ ͷͲǤͷͶ‫݄݊݁ݓܣ‬ο߱௠ ൌ Ͳ - -80 -12.79 NM
The main phase from every input-output data couple is to - -40 -11.214 NS
create a fuzzy rule to find out a degree of every data-value 0 0 Z
-
in each affiliated area of its conforming fuzzy domain.
- 40 11.214 PS
Afterwards, a variable is assigned to a region having a
- 80 12.79 PM
maximum value.
- 120 15.07 PB
1
Acceleration - 50.54 PBB
0.8
Speed (rad/sec)

B. Membership Functions
0.6 Primarily, the Fuzzy Logic controller is used to convert
the change error variables and the crisp error into fuzzy
0.4
Fuzzy Slip Fuzzy Current variables, which is then plotted into the linguistic tags. All
Frequency Controller Amplitude Controller the membership functions and labels are connected with
0.2
each other (Figs. 3, 4, 5 and 6), which comprises of two
0 inputs and one output.
0 5 10 15 20 25 30 35 40
Acceleration Period Steady-State Period Time The nine sets are formed by classifying the fuzzy sets
Figure 1. Speed response stages which are outlined as follows:
TABLE III. HFFC RELATIONSHIP Z: Zero PS: Positive small PM: Positive Medium
PB: Positive Big NS: Negative small NM:Negative Medium
Supply Current Rotor Control NB: Negative Big PBB: Positive Big Big NBB:Negati. Big Big
Frequency Amplitude Speed Objective
Acceleration Change Constant Change Speed The previously defined seven numbers of linguistics, along
Change with both inputs and outputs, include membership functions.
Steady-State Constant Change Constant Reduce
Oscillation The Eq. (6) shows the samples of current amplitude of the
A truth or rule degree is assigned to a newly generated two stages as shown in Table 4.
fresh rule, from the input-output data couples. Therefore, a C. Rule Base
rule degree can be defined as an extension of assurance, to
The fuzzy inputs can be plotted easily into the required
relate the current and voltage related functions with an
output with a help of a useful tool, rule base, as shown in
angle. Usually, a degree which is a creation of the
Table 5.
membership function degree of every variable in its
corresponding area is assigned in a formulated technique. D. Fuzzy-frequency controller
A compatible fuzzy rule is created by each training data A fuzzy frequency control is presented by using a
set that is placed in the fuzzy rule base. Consequently, each frequency aspect of the field orientation principle. At a
input-output data couple is preserved and the rules are steady state phase, the torque command is a smaller value,
generated. A two-dimensional form that can be explored by whereas, the torque command becomes a larger value during
the fuzzy reasoning tool is used to tabulate a knowledge the stage of accelerate-decelerate. The speed reference and
base or fuzzy rule. rotor speed represent these values [4], [6], [11]. The
Fig. 2 demonstrates the general structure of the FLC, a following relations show a slip frequency at a steady-state.
combination of knowledge base, fuzzification, a ଷ௥ೝ
‫ כ‬మ ܶ௔௖௖ ‫݄݊݁ݓ‬ο߱௠ ് Ͳ
defuzzification and inference engine. ௉ఒ೐೏ೝ
߱௥ ൌ ൞ ଷ௥ೝ (11)
೐‫ כ‬మ
ߤ߱௠ ‫݄݊݁ݓ‬ο߱௠ ൌ Ͳ
௉ఒ೏ೝ
So that the slip frequency can be written as,
߱௥ ൌ ݂ሺ߱௠ ǡ ο߱௠ ሻ (12)

Figure 2. A general block diagram of FLC

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Kota Kinabalu, 31st May - 3rd June 2015

NB NM NS Z PS PM PB NBB NBNM NS Z PS PM PB PBB

1 1

Degree of membership
Degree of membership

0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

0 0

-150 -100 -50 0 50 100 150 -15 -10 -5 0 5 10 15

ω Fω r
m
Figure 3. Membership function of speed reference Figure 6. Membership functions of slip frequency
TABLE VI. SLIP FREQUENCY, SPEED, AND FUZZY LINGUISTIC VALUES
TABLE V. RULE MATRIX FOR FUZZY AMPLITUDE/SLIP CONTROLLER
Stages ߱௠ ‫כ‬ ߱௥ ݂னೝ
Speed Reference
Deceleration - -16.80 NBB
Speed NB NM NS Z PS PM PB
Error Steady-State -120 -3.6328 NB
NB NBB NBB NBB NBB NBB NBB NBB - -80 -2.42192 NM
Z NB NM NS Z PS PM PB - -40 -1.21096 NS
PB PBB PBB PBB PBB PBB PBB PBB
- 0 0 Z
1
NB Z PB - 40 1.21096 PS
Degree of membership

- 80 2.42192 PM
0.8
- 120 3.6328 PB
0.6
Acceleration - 16.80 PBB
0.4
IV. OUTCOMES AND ANALYSIS
0.2
A combination of the fuzzy frequency controller and
0
fuzzy current amplitude controller is used to form a HFFC.
-300 -200 -100 0 100 200 300
This controller provides similar supply frequency as FOC
∆ω
m and is insensitive to the parameter variation for the motor
Figure 4. Membership function of speed error
and system robustness to noise and load disturbances, which
NBB
1
NB NM NS Z PS PM PB PBB are the advantages of this controller. A model of HFFC for
an induction motor is produced by using a software,
Degree of membership

0.8 Matlab/Simulink, which is shown in the Fig. 7. Table 1

0.6 shows the parameters that are chosen to perform a
simulation study. A software MATLAB/SIMULINK is used
0.4
to develop a model of HFFC for an induction motor as
0.2 shown in Fig. 8.
0

-50 -40 -30 -20 -10 0 10 20 30 40 50

FA
Figure 5. Membership functions of current amplitude
From Eq. (11), the reference and speed error from the
inputs of the fuzzy slip control. The membership functions
of the output and input are depicted in (Figs. 3, 4, 5 and 6).
In addition, Table 5 shows the rule matrix. The samples of Figure 7. Simulink diagram of the HFFC
the slip frequency of the two stages can be obtained by the
Eq. (11), which is shown in Table 6.
E. Defuzzification
An approach of the center of gravity is used to perform a
process of defuzzification for producing a non-fuzzy control
signal, set by (13).
σ೙
೔సభ ௨ሺ௜ሻఓಲǡഘೝ ሺ௬೔ ሻ
‫ݕ‬ൌ σ೙
(13)
೔సభ ఓಲǡഘೝ ሺ௬೔ ሻ
Where ߤ஺ǡఠೝ is the degree of membership function.
Figure 8. The Model diagram of the HFFC

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Kota Kinabalu, 31st May - 3rd June 2015

V. SIMULATION RESULTS
A new controller is compared with the field-oriented
controller by carrying out a simulation of an indirect rotor
flux field-oriented controller.
The simulation outcomes of the HFFC are presented in
Fig. 9. The method of the two stage control is very fast in
speed. Due to a control of the current in a final steady state
demonstrate the simulation results of the torque and rotor
speed responses. The flux upsurge is limited, owing to the
magnetic saturation so that the torque oscillations are
decreased considerably, but during the accelerate-decelerate
stage, an extreme magnetic saturation will create a higher
temperature rise and larger losses.
150

stage the oscillations of speed are completely eliminated at a 100

Distributed random noises
for speed sensor and input current

Speed (rad/s)
final operating point. It is evident from the comparison of
50
these results with an IFOC with PI-controller that the HFFC
shows the two features of FOC controller, i.e. the current 0

feature at the steady state stage and the frequency feature at -50

accelerate-decelerate stage. -100

150 -150
Hybrid fuzzy-fuzzy controller 0 2 4 6 8 10 12 14 16 18 20
Hybrid fuzzy-PI controller Time (s)
100 Indirect field-oriented controller Figure 11. Speed response of HFFC with noise
Speed (rad/s)

50
The simulation will examine the impacts of load torque
variation on the hybrid fuzzy-fuzzy control system. The
0 control system in the simulation experiences speedy changes
in the load torque: at t=2s, the load rises from 0% to 100%
-50 of the rated torque, Tl, at t=7s, the load reduces to 100% of
Tl, and at t=10s and 14s, the load increases to 100% of Tl
-100
again, at t=19s, the load decreases to 100% of Tl.
-150 Fig. 14 illustrates the torque response of the fuzzy-fuzzy
0 5 10 15 20 control system with a load torque variation. The
Time (s) aforementioned simulation outcomes demonstrate that the
Figure 9. Speed response of HFFC larger changes can be accommodated in a load torque by the
VI. EFFECTS OF INTERNAL AND EXTERNAL fuzzy-fuzzy controller. While comparing it with an IFOC
DISTURBANCES controller, the extracted results of a performance of the
The mutual inductance and the rotor resistance are model are found to match exactly with the expectations. It is
expected to be changed to 3rr and 0.8LM respectively in evident from the outcomes that a performance the HFFC is
order to demonstrate the insensitivity of the hybrid fuzzy- insensitive to the parameter variation for the motor and the
fuzzy controller to the variation of motor parameters. An system robustness to load and noise disturbances.
insensitivity to the parameter variation shown by the speed 150
HFFC without magnetic saturation
response of a fuzzy controller is shown in Fig. 10. 100 HFFC with magnetic saturation
Additionally, the distributed random noises are added in
Speed (rad/s)

50
the input current and the feedback speed in order to assess
the effects of the noise of the input current and the noise of 0

the speed sensor. The speed response to the current noise -50
and with the measured speed illustrates that the hybrid
-100
fuzzy-fuzzy controller possesses decent disturbance
rejection (see Fig. 11). -150
0 2 4 6 8 10 12 14 16 18 20

150
Time (s)
HFFC with Rr and Lm Figure 12. Speed response of HFFC with the effect of magnetic saturation
100 HFFC with 3Rr and 0.8Lm
400
Speed (rad/s)

HFFC without magnetic saturation

50 300 HFFC with magnetic saturation
Torque (N.m)

200
0

100
-50
0
-100
-100

-150 -200
0 2 4 6 8 10 12 14 16 18 20
Time (s) -300
0 2 4 6 8 10 12 14 16 18 20
Figure 10. Speed response of HFFC with parameter variations
Time (s)
Furthermore, for studying the impact of magnetic Figure 13. Torque response of HFFC with effect of magnetic saturation
saturation of the induction motor on the controller
performance, in the induction motor model, Figs. 12 and 13

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Kota Kinabalu, 31st May - 3rd June 2015

[8] T. F. Chan, K. L. Shi and Y. K. Wong, “A Novel Hybrid Fuzzy /PI

500
HFFC without load changes Two-stage Controller for an Induction Motor Drive,” IEEE Int.
400
HFFC with load changes Electr. Mach. Drives Conf., pp. 415–421, 2001.
300
Torque (N.m)

200
[9] F. Controller and A. Electronics, “Speed Control of Induction Motor
100
Using Fuzzy-PI Controller,” 2nd Int. Conf. Mech. Electron. Eng.
(ICMEE),, pp. 460–463, 2010.
0

-100
[10] N. Tiwary, A. Rathinam, and S. Ajitha, “Design of Hybrid Fuzzy-PI
-200
controller for speed control of Brush less DC Motor,” Int. Conf.
-300
Electron. Commun. Instrum. (ICECI),, pp. 1–4, 2014.
-400 [11] Andrzej M. Trzynadlowski, The Field Orientation Principle in
-500 Control of Induction Motors. Springer Science+Business Media New
0 2 4 6 8 10 12 14 16 18 20
Time (s)
York, 1994.
Figure 14. Torque response of HFFC with load changes [12] B. K. Bose, Modern power electronics and AC drives, vol. 123. 2002.

VII. CONCLUSIONS
This research study aims to explain and elaborate the
impacts of external and internal disturbances for the scheme
of a developed hybrid fuzzy-fuzzy controller (HFFC) to
alter the speed of an induction motor accordingly. Because
of the exploitation of the two features of the field-oriented
control, the fuzzy-fuzzy controller has been found to be
more efficient than a scalar controller. One of the main
benefits of this controller involves the supply of similar
frequency and FOC which is insensitive to the parameter
variation for the motor and system robustness to noise and
load disturbances. This research study yielded a complete,
assessment and examination of both controllers (HFFC and
IFOC) under the dynamic conditions. Hence, more
advancement in the production and augmentation of the
controllers can be carried out for further improving the IM-
VSD performance.

ACKNOWLEDGMENT
Through the Graduate Assistantship Scheme and URIF,
the authors acknowledge the supports from the Universiti
Teknologi PETRONAS.

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