Elektronik ve Haberleşme Mühendisliği Bölümü
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/179
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Browsing Elektronik ve Haberleşme Mühendisliği Bölümü by Department "Çankaya Üniversitesi, Fen Bilimleri Enstitüsü, Elektronik ve Haberleşme Mühendisliği Bölümü"
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Master Thesis 500MHz-2GHz broadband power amplifier design by non-linear modeling methods(2009) Ünal, GökalpThis thesis presents the design methods of 500MHz-2GHz broadband RF power amplifier. First of all, RF power transistor technologies are searched and the most suitable one is chosen according to its operation of frequency band, maximum output power, efficiency and cost features. The amplifier is designed as it has two stages, and in both stages LDMOS transistor technology is used as RF power transistors. Large signal models for the LDMOS devices are used in simulation, and according to the measurement results, the circuitry in simulation is tried to model at nonlinear conditions. A broadband RF-Choke structure with a new technique is developed to obtain high DC isolation and low RF loss over the desired bandwidth. Input and output matching networks and shunt feedback topology are introduced to fulfill the bandwidth requirements. Typical values of 20dB power gain, 37dBm output power, have been achieved at the most part of the frequency band of 500MHz-2GHz.Master Thesis A new narrow band microstrip patch filter for modern wireless applications(2014) Coran, Ali Najdet NasretA narrowband, compact, and flexible fabricated microstrip bandpass filter design is introduced in this thesis as a candidate for use in modern wireless systems. The proposed filter design is based on the use of dual-mode (two pole) patch microstrip resonator with uniform geometrical slot. This filter has the advantages of possessing much narrower and sharper performance responses as compared to single mode resonator and other conventional square patch filters. The performance of filter structures, based on dual-mode resonators, has been evaluated using Microwave office electromagnetic software package. Dual slotted patch microstrip filters have been designed at resonant frequencies 4.16 and 2.04 GHz using a substrate with a dielectric constant of 10.8 and thickness of 1.27mm.Performance simulation results show that these filter structures offer very good frequency responses in addition to narrow bands gained, compactness properties and 2nd harmonic isolation in out of band region.Master Thesis A study of the potential advantages of light beams in weak and strong turbulent atmospheres to satisfy robust free space communication channels with longer link distances(2018) AL-Sajee, Ali Abdulrahman DhyeabBu çalışmada, ilk olarak, topolojik yükün çoklu-değerlerinde düzlemdeki faz dağıtım kaynakları ve alıcıları değerlendirilmiştir. Bu değerlendirme bilgisayar ortamında uygulanmıştır. Bulgularımızın, Gaussian vortex, Eliptik Gaussian vortex ve Laguerre-Gaussian vortex ışınlarının kullanılmasıyla ilgili optik bağlantılarda yararlı olması beklenmektedir. Vorteks ışınlarının faz dağılımlarının bilgisayar modellemesi, serbest uzay boyunca yayılımının sayısal simülasyonu ile incelenmiştir. Bu işlem, topolojik yükün sayılarının faz dağılımı alıcısında değişiminin bilinmesine ve bu alıcıların mesajlarının fotodetektör cihazında tahmin edilmesine yardımcı oldu, ki bu çalışmanın ilk kısmıydı. İkinci olarak, alanın genelleştirilmiş ışın formülasyonuna bağlı olarak dalgalı bir atmosferde yayılma uzunluğu üzerindeki Gaussian ışını için bir sintilasyon indeksi formülasyonu gerçekleştirilmiştir. Sintilasyon indeks yöntemleri, fenomeni en iyi nasıl tanımlayacağımızı seçmek için karşılaştırıldı. üç tip sintilasyon indeksi yöntemi incelendi: Rytov, Huygens-Fresnel ve Rastgele Faz Ekranı. Grafiksel çıktılarımızdan, Rastgele Faz Ekranının kabul edilebilir bir sintilasyon indeksi değeri sergilediği gözlemlenmiştir. Üçüncü olarak, sonuçlar, SI değerleri üzerinde, LGVB'nin topolojik yükünün (m) polinom derecesine (n) göre daha büyük bir etkiye sahip olduğu ve topolojik yükün (m) değiştiği ve polinom derecesinin (n) sabitlendiği durumlarda, SI'nın daha düşük değerlere sahip olduğunu göstermektedir. Bu nedenle, iyi bir iletim durumu için, polinom derecesinin n = 1'e eşit olması ve topolojik yük sayısının gibi, 0, 1, 2, 3, 4, 5 ve 6'ya eşit olması önerilmektedir. Dördüncüsü, Gauss, Eliptik, Laguerre ve Bessel Vorteks Işınları seçildi ve SI'nın ölçümleri, n ve m parametrelerinin farklı değerlerindeki ışınları için hesaplandı. Daha sonra, topolojik yükü (m)'in 7 ve 3'e eşit olan Eliptik ışınının en iyisi olduğu bulunmuştur. Beşinci olarak, Gauss Işını ve Gaussian vortex Işınları seçilmiş ve Sintilasyon indeks ölçümleri GVB'nin (n) ve (m) parametrelerinin farklı değerleri için hesaplanmıştır. Daha sonra, polinom derecesi ve topolojik yükü eşitleme değerleri , and , olan GVB'nin, GB'den daha iyi olduğu gösterilmiştir. Her ne kadar artan bir yayılma mesafesi olsa da, GVB'nin SI değerleri 0.04 ile 0.14 arasında kalmıştır ve bu yayılma mesafesi GB'deki SI değerlerine kıyasla artmaktadır. Altıncı olarak, serbest uzaydaki LGVB için alıcı yoğunlukları, Laguerre ışınının polinom parametrelerindeki değişikliklerden etkilenmektedir. (n) ve (m) parametrelerinin aynı olduğu durumlarda, LGVB'lerin alıcı yoğunluklarının daha ayrık olduğu ve bunun da düşük Sembol Hata Oranı değerine neden olacağı açıktır. Son olarak, 8 Mary için türbülans yapı sabiti 'ye karşı Laguerr Gaussian vortex ışınları için Sembol Hata Oranı hesaplanmaktadır ve türbülans yapı sabiti parametresinin artırılmasıyla Sembol Hata Oranı arttığı açıkça görülmektedir. Bu çalışmanın önemi, dağıtım kaynakları ve alıcıları optik kanallar için daha faydalı ve RPS yönteminin, bilgisayarlı Sintilasyon indeks hesaplama için kabul edilebilir bir yöntem, Gaussian vorteks ışınının Gaussian ışınından daha iyi olduğunun ve sintilasyon değerlerinin düşürülmesi için Gaussian ışınındaki veya diğer ışınlardaki topoloji parametresi (m) ve polinom derecesi (n) değerlerinde değişiklik yapabileceğimizin ve son olarak sembol hata oranı, türbülans yapı sabiti 'nin artışı ile artabileceğinin gösterilmesindedir.Master Thesis Analysis and implementation of remote access computer communication(2015) Abdalrahman, MouathBu tezde uzaktan erişimli Sanal Özel ağ protokollerinin (PPTP,SSL, AND 2TP/IPsec) üç farklı tipi VMware ve GNS3 araçlarının kullanımı ile sanal olarak kurulmuştur. Buna ek olarak tüm protokollere benzer koşullar altında yapılan ölçüm testleri ile performansları test edilmniştir. Ayrıca, elde edilen bu sonuçlar, bir sonuca varılarak kıyaslama yapılabilmesi ve gelecek çalışmalara öneriler getirebilmesi için dikkatle çalışılmıştır.Master Thesis Analysis and observation on quality of service for data networks of turkish telecommunication infrastructure(2008) Demirel, MustafaIn this thesis, Jitter, Delay and Packet Loss values are measured for different points on TT IP/MPLS Backbone and compared with acceptable values. Measurements are made by using TT’s Alcatel 7750-SR12 devices which run in Ankara, Konya, Kahramanmaraş and Van. During measurements the device running in Ankara is always used as resource.Each of the other points are used as targets.The transmission distances between the devices measurements are as Ankara-Dikmen distance 10 Km and Ankara-Konya 300 Km, Ankara-Kahramanmaraş 602 Km and finally Ankara-Van 1248 Km. In this way, the connection between Jitter, Packet Loss and Delay Values and transmission distance is determined During tests every measurement is performed using 1500 and 4000 Bytes divided packets.The measurement values are taken using ping command on a software called SMART which can reach all devices on TT IP/MPLS Backbone. Measurements made are calculated in a day time zone. The connection of the software by which we perform measurements to the backbone is 100 Mbps. In the measurements taken, increase in Jitter and Delay value is observed when there is an increase in packet size. At the same time, increase in Jitter and Delay value is observed when there is an increase in transmisson distance. The packet loss value is evaluated as %0 in all of the tests made on TT IP/MPLS Backbone.Master Thesis Analysis of electromagnetic interference between antennas(2012) Durukan, SamiIn an electromagnetic interference (EMI) phenomenon, there is at least a transmitter antenna, and a receiver antenna which is also called as a victim system. To be able to understand this phenomenon analytically, power radiation from the transmitter and power received by the victim antenna should be evaluated. Electric fields of the antennas are used for power intensity calculations. Pattern function with respect to the spherical coordinates is a very important factor in the evaluation of an antenna’s electric field. In this thesis, two fundamental cases for EMI analysis are studied. First, a dipole antenna is considered as a transmitter and a microstrip patch antenna is considered as a victim receiver. Secondly, a circular loop antenna and a microstrip patch antenna are taken into consideration as a transmitter and a receiver, respectively. For both cases, their interference mechanisms are shown analytically. The results of the calculations are shown graphically in the MATLAB simulations.Master Thesis Analysis of radio wave propagation for a specific metro station(2019) Kayserilioğlu, Nilüfer MerveBu tezde Ümitköy ve İnönü Mahallesi metro istasyonlarında telsiz yayılma alanlarının farklı mesafe ve yüzeylerdeki analizi yapılmıştır. Aynı zamanda telsiz kapsama alanında meydana gelen yol kayıpları incelenmiştir. Farklı mesafelerde ve koşullarda değişkenlik gösteren metro istasyonlarındaki telsiz kapsama alanının modellenmesi üzerine çalışmalar yapılmıştır. Ampirik formüllerle teorik olarak yapılan hesaplamalar, sahada mevcut metro istasyonu üzerinde yapılan ölçümlerle de kontrol edilmiştir. Ortam koşullarına, kullanılan malzemeye ve kurulum noktalarına bağlı olarak gözlemlenen kayıplar neticesinde optimizasyonun kurulum öncesinde yapılabilmesini sağlayabilecek metot geliştirilmiştir. Yol kaybı modelleme çeşitlerine göre Matlab programında yazılan kodlarla hesaplanmış ve grafikleri çizdirilmiştir. Elde edilen teorik sonuç ve analizler sahada yapılan ölçümlerle karşılaştırılarak hata oranı çıkarılmıştır. Gözlemlenen ve hesaplanan sonuçlar doğrultusunda optimizasyon çalışmaları için gerekli düzenlemeler yapılmış olup telsiz kapsama alanı için ideal tasarım yapılarak, telsiz çekmeme sorunlarının ve gereksiz malzeme kullanımlarının önüne geçilmiştir.Master Thesis Application and development of control center and freelog tracking for 24s4 logistics management model(2014) Şeker, ReşatIn this thesis, Freelog Logistic, Freelog Tracking and Control Center Development and Application one of the subsystems of San-tez project has been run on the vehicle tracking system. In this context, data types that global positioning system provides has been examined and then studies on tracking and navigation components, performance test of the system and evaluation of the test results have been carried out, test procedures have been conducted in the test conditions similar to real conditions by using hardware used in the system, data have been collected with developed software, also the accuracy of the test procedure has been confirmed with the obtained results by examining the factors that affect the performance of the system.Master Thesis Application of cubically convergent iterative method for zero - pole analysis of high order filter circuits(2015) Hamad Dakheel, TahaMaster Thesis Applications of fault-tolerant supervisory control for discrete event systems(2014) Mahmood, Sarmad NozadFailure-recovery supervisory control for discrete event systems (DES) is concerned with the recovery from faults that impair the desired system behaviors. Hereby, it is required to detect the occurrence of faults using fault diagnosis and then adapt the system operation such that the system can continue its operation with a potentially degraded performance. In addition, it is generally desired to resume the original system operation after a faulty component is repaired. As the first contribution of this thesis, a new fault diagnosis method is implemented and evaluated. Different from existing approaches, this method allows detecting the repeated occurrence of faults and is particularly useful when considering systems where faults can repeatedly occur after repair. As the second contribution of the thesis, a new method for the fault-recovery supervisory control is developed. Similar to existing approaches, this method assumes that the system follows its nominal behavior as long as the system is non-faulty. If a fault occurs, the system should atleast obey a degraded specification until the desired behavior under fault is achieved in a bounded number of steps. As an extension, the proposed method also allows returning to the nominal behavior after system repair. In addition, our approach is based on the idea of modular supervisory control and hence scalable to large-scale systems. To the best of our knowledge, there is no other modular approach for the fault-recovery supervisory control. The applicability of the developed method is demonstrated by a medium-size laboratory model of a manufacturing system.Master Thesis Applications of reconfigurable manufacturing systems:A laboratory case study(2014) Hendi, Harith M. KhalidReconfiguration control for discrete events system (DES) is applicable to the design of industrial manufacturing systems in order to support changes in the variety and the quantity of products. Hereby, reconfiguration control is concerned with the realization of different system configurations that become active on request. A manufacturing system that is subject to reconfiguration control is denoted as a reconfigurable manufacturing system (RMS). In practice, RMS are of large size with many manufacturing components and hence come with a large design complexity. In this thesis, we develop a method for the reconfiguration control of largescale RMS and reconfigurable machine tools (RMT). We propose to first construct modular reconfiguration supervisors that realize the desired configurations and configuration changes for modular components of the overall RMS. Then, we apply abstraction-based control in order to combine the operation of the different RMS modules. As a result, we obtain a hierarchy of reconfiguration supervisors that allow changes to any desired configuration at any time. Since, we use the technique of hierarchical abstraction, our method is applicable to large-scale RMS, different from all existing approaches in the literature that focus on a monolithic design. We demonstrate the applicability of our method by a large-scale laboratory RMS with 18 manufacturing components and a controller hierarchy with 4 levelsMaster Thesis Blocker Security System with LEDs (BSSL)(2015) Yakışır Girgin, BurcuIn this thesis, we designed and developed a prototype of a non-lethal system using light emitting diodes (LEDs) as the light source. The system, which is called a Blocker Security System with LEDs (BSSL), sends a light beam whose color and light intensity are changed in time (spectrally, temporally) according with certain pre-programmed patterns. It was observed in the literature that these changes in light patterns cause headache, nausea, dizziness and visual defects on people who are exposed to them.These effects are observed when the change in light pattern from the LEDs is fast enough so that human's brain could not process properly the information transmitted, and therefore, it cannot decode the changes in the speed they come. In the thesis, experiments are made, and measurements are performed by using the designed and developed Blocker Security System's prototype, and assessments of the experimental data have been performed to find the most effective patterns of the light. We searched the patterns that cause the desired effects on the people and tried to find the best pattern. The subsystems of the BSSL, mainly the LEDs, the optical system that guides the light beams from the LEDs, the cooling system, the battery system, the body, and the LED drivers that generate the required light patterns were investigated. We focused mostly on the drivers that not only provide the necessary forward currents to the LEDs, but also generate the lighting patterns required from them. In doing this, we developed the embedded software required to form the lighting patterns through the driver.Master Thesis Calculation of trigonometric functions using cordic algorithm(2018) Alnafutchy, Ameen Mustafa MohammedCORDIC kısaltması "rotation digital computer is an algorithm" cümlesi için kullanılan 1959 yılında Jack. E. Volder tarafından bulunan bir algoritmanın ismidir. CORDIC algoritmasının icadından sonra bu algoritmanın ilerletilmesine yönelik çok sayıda çalışma yapılmıştır. CORDIC algoritması ilk olarak trigonometrik fonksiyonların hesaplanması, çarpma ve bölme işlemlerinin yapılması amacı ile kullanılmıştır. Daha sonra bu algoritma diğer matematik fonksiyonlarının hesaplanması içine de kullanılmıştır. Bu fonksiyonlara örnek olarak logaritma, üstel, karekök fonksiyonları örnek olarak verilebilir. CORDIC algoritması robotik, sinyal işleme, grafik ve animasyon, sayısal iletişim ve görüntü işleme gibi bir çok alanda kullanılmaktadır. CORDIC algoritması matematik fonksiyonlarının donanım cihazlarında gerçekleşmesi amacı ile geliştirilmiştir ve de hesap makineleri tarafından kullanılmaktadır. Matematiksel bir fonksiyonun donanım gerçekleştirimi için gerekli olan cihazın büyüklüğü ve fiyatı matematiksek fonksiyonun hesaplanması için gerekli işlem miktarına bağlı olarak değişir. Zaman içerisinde daha hızlı yakınsayan ve daha doğru sonuçlar veren CORDIC algoritmaları araştırmacılar tarafından önerilmiştir. Bu tez çalışmasında radix-2, radix-4, angle recoding, and extended angle recoding CORDIC algoritmaları çalışılmıştır. Bu algoritmalar bilgisayar programları ile yazılmış ve bilgisayar benzetimleri yapılarak birbirleri ile kıyaslanmıştır. Bu kıyaslamalar sonucunda radix-4, angle recoding, and extended angle algoritmalarının radix-2 algoritmasına göre daha aynı doğruluk kıstasına ulaşmak için daha az sayıda yineleme gerektirdiği görülmüştür.Master Thesis Channel estimation using per-survivor processing(2014) Al-Hashimi, HayderIn this thesis per-survivor processing has been used for estimating the coefficients of a frequency selective channel. Two well-known methods, least mean square and recursive least mean square, along with per-survivor processing have been used during channel estimation. To increase the accuracy of the estimated channel coefficients an improved per-survivor processing channel estimation technique has been proposed and from the simulation results it is seen that the proposed technique results in better estimated channel coefficients than the channel coefficients obtained using classical per-survivor approach.Master Thesis Compact microstrip bandpass filter based on concentric ring resonators(2012) Al-Mihrab, MohammedIn this dissertation, a new dual mode microstrip bandpass filter has been presented for the requirements of modern wireless communication systems. The filter has been constructed from double concentrated square loop resonators; each resonator is based on applying step impedance resonator generator on each side of closed resonator. The proposed bandpass filters have been designed using a substrate with a dielectric constant of 10.8 and thickness of 1.27mm at 2.43GHz and 5.75 GHz resonant frequencies.These filters have compact size and narrow band response which are the requirements of mobile wireless communication systems. The performance of suggested filters have been analyzed using Microwave office software package and Sonnet simulator, which are widely adopted in microwave research and industry. The output results showed that this filter possesses very good frequency responses and high selectivity as well as blocked 2nd harmonic in out of band regions.Master Thesis Comparison of beam profiles from analytic solution and computational models(2014) Çatmakaş, Ömer Kemal; Elektronik ve Haberleşme MühendisliğiIn this thesis, we have compared the receiver plane beam profiles by computing the Huygens-Fresnel integral as convolution integral and Fourier integral operator and the results obtained from analytic derivation. The comparisons made on different beam types such as Gaussian, Annular-Gaussian, Sine-Gaussian, Sinh-Gaussian, Cos- Gaussian, Cosh-Gaussian beams. To make computations and comparisons we have developed a Matlab code, this code formulates the field expression for beam types on source plane, computes the receiver plane intensity distribution for three approaches of Huygens-Fresnel diffraction integral, and compares the results. Using this code, for the mentioned beam types, receiver beam profiles are computed and compared against different propagation distances and different beam parameters in free space.Master Thesis Comparison of consensus algorithms in wireless sensor networks(2019) Sulaiman, AbdulmajeedKablosuz sensör ağları geniş bir uygulama yelpazesinde, çok farklı türden veriyi takip etmek için kullanılmaktadır. Yakın gelecekte, Nesnelerin Interneti kavramının geniş kabulü ile kullanım alanı daha da artacak olan bu ağlarda önemli problemlerden biri de ağdaki sensörlerin takip edilen değerler konusunda hemfikir olmalarını sağlamaktır. Bu amaca yönelik olarak farklı uzlaşı algoritmaları geliştirilmiştir. Bu algoritmalar, düşük hesaplama karmaşıklığı, hızlı yakınsama, düşük enerji sarfiyatı gibi farklı kriterleri sağlamayı amaçlamaktadırlar. Bunun yanı sıra, hareketli otonom cihazların belli bir noktada buluşmaları gibi başka alanlarda da uzlaşı algoritmaları kullanılmaktadır. Bu tezde amacımız, farklı kriterlere göre tasarlanmış uzlaşı algoritmalarının benzetimler ışığında karşılaştırmalarını sunmak, ve kullanım alanlarına göre her birinin diğerlerine göre avantajlarını ve dezavantajlarını ortaya çıkarmaktır.Master Thesis Comparison of probability of error performance for truncated Bessel and Bessel Gauss beams(2015) Bayraktar, Mert; Elektronik ve Haberleşme MühendisliğiIn this thesis, probability of error and SNR performances of truncated Bessel and Bessel-Gauss beams in free space optical communication system were compared. Source beams were determined as truncated Bessel and Bessel-Gauss beam. Then, the simulation of propagation of these beams was simulated in MATLAB. This simulation was performed by using random phase screen approach. Random phase screen was used as a model of the turbulent atmosphere in reality. Data symbols were transmitted to receiver side through the random phase screen. To reach the probability of error of this communication system, error counting was applied. By this way, performance comparison of the beams was derived and relative plots were located in this paper.Master Thesis Design and evaluation of cooperative adaptive cruise control (CAAC) for the improvement of highway traffic flow(2016) Al-Jhyyish, Ahmed Mohammed HamidThe subject of intelligent transportation systems (ITS) began to take worldwide attention in the last decade. One main purpose of deploying ITS is the improvement of traffic flow capacity on highways while ensuring safety. Cooperative Adaptive Cruise Control (CACC) is a method used to support the flow of road vehicles at a safe distance in the form of vehicle strings. In order to enable small inter-vehicle spacing, CACC is implemented on each vehicle by the use of vehicle distance measurements as well as information from other vehicles via vehicle-to-vehicle communication. An important goal of CACC is the achievement of string stability in order to attenuate fluctuations in the vehicle motion along vehicle strings. Hereby, CACC designs in the literature are lmited to the case of homogeneous vehicle strings, where all vehicles have identical dynamic properties. In the first part of this thesis, an original CACC H∞ controller design method is developed for the practical case of heterogeneous vehicle strings while achieving v string stability. The second part of this thesis considers the issue of delay in the CACC control design for platoons of vehicles. Several H∞ control design methods for time-delay systems are applied to address both communication and vehicle plant delay. For each method, a longitudinal controller for a platoon of vehicles is obtained which results in the achievement of string stability. In addition, a comparison of the different methods regarding the supported delay and inter-vehicle spacings is performed. The findings of the thesis are supported by representative simulation experiments. We note that, to the best of our knowledge, no research has considered the CACC design for heterogeneous vehicles and CACC design with delay.Master Thesis Design and implementation of a 1kw single phase grid tie inverter(2013) Şimşek, OğuzRenewable energy sources and their power processing equipments are gaining increasing importance in the market. Excess of energy harvested from a renewable source is either stored for future use or sold to other users that are in need of electrical energy at the time of harvesting. Since storage of excess energy is an ine fficient and costly process, a better way of dealing with excess energy is to transfer the energy to the interconnected power grid by means of appropriate power processing. In this thesis work, design and implementation of a high e - fficiency power processing equipment known as Grid Tie Inverter (GTI) to achieve energy transfer to the grid is studied. The target of this study is to convert low voltage direct current (DC) electrical energy harvested from the photo voltaic (PV) panels to high voltage alternating current (AC). The magnitude and phase of the processed alternating current is then controlled in a way such that the power ows towards the grid with a low DC and low reactive component. To achieve this goal, the voltage of the PV panels is stepped up to an appropriate DC link voltage by using a boost type converter known as the Z-Source. The required DC analysis and transfer functions iv of the Z-Source converter are obtained by the circuit averaging technique and a proportional-integral (PI) regulator is designed and implemented to stabilize the DC link voltage. The stabilized DC link voltage is then converted to alternating current using a full bridge inverter. The required grid voltage and phase information is obtained by digital implementation of a single phase time-delay based synchronous reference frame phase locked loop circuit (TDB-SRF PLL). The control of the current owing into the grid is carried out by using the D-Q synchronous reference frame approach. Hereby, the direct (D) and quadrature (Q) components of the grid current are calculated using Park's transformation. The magnitudes of the D and Q components are stabilized by separate digital PI controllers. The outputs of the PI controllers are then converted back to the rotating reference frame using the inverse Park's transformation. The output of the transformation is used as a control signal to drive the full bridge inverter. The scope of the thesis comprises both the modeling and simulation of the GTI components and the design and implementation of a prototype GTI. A thorough experimental evaluation con rms the practicability of the proposed design