dynamic voltage restorer maximum power point динамічний відновник напруги 20D10 20D2 20D35 H∞ controller H∞ контролер Sylow \(p\)-subgroup \(p\)-nilpotent group attitude regulation conventional particle swarm optimization dynamic economic emission dispatch economic emission finite group flower pollination algorithm genetic algorithm maximum power point error multi-objective problem nearly \(S\Phi\)-normal subgroup nonlinear system opposition based particle swarm optimization algorithm power quality improvement power quality issues ramp rate real twisting algorithm robust control six degree of freedom quadrotor sliding mode control sliding-mode controller