1. Department of Mechanical Engineering, Rand Afrikaans University, Johannesburg, 2006 South Africa
2. Center for Power Electronic Systems, Virginia Polytechnic Institute and State University, VA 24061 and Industrial Electronics Technology Research, Rand Afrikaans University, Johannesburg, 2006 South Africa
3. Department of Mechanical and Aeronautical Engineering, University of Pretoria, 0002 South Africa