“…These variables, unlike the previous ones, are directly related to G, H, and weld quality. D bdb is selected as the controlled output because its regulation results in retaining of the metal transfer mode, regulating droplets transfer, and smoothing the weld bead surface [9,10]. To control P c , MR, and D bdb , wire speed S, open circuit voltage V oc , and torch velocity (to approach to work piece) v c are manipulated.…”