I. Introduction
Power converters that use insulated gate bipolar transistors (IGBTs) have been widely used in various applications, such as ac drive motion control, uninterruptible power system (UPS), renewables (wind and solar), etc. [1]. According to an industry-based survey presented in [2], the IGBT module is rated as one of the weakest components in the converter. Consequently, it is urgent that the reliability of IGBT module can be enhanced and condition monitoring has been proved to be a cost effective means [3].