dynamic voltage restorer maximum power point динамічний відновник напруги H∞ controller H∞ контролер attitude regulation conventional particle swarm optimization demand side management dynamic economic emission dispatch economic emission energy consumption pattern flower pollination algorithm genetic algorithm home energy management system hybrid optimization technique maximum power point error meta-heuristic optimization multi-objective problem 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 total harmonics distortion unmanned aerial vehicle