I. Introduction
Insulated gate bipolar transistor (IGBT) is a fully controlled fast switching power electronic device ranging from middle to high power, which has been widely applied in various inverter-fed machine systems, e.g., electric vehicle drive, high-speed train traction, offshore wind turbine generation, and variable-frequency driver (VFD) in the petrochemical industry [1]. Unlike traditional electromagnetic components such as transformer and electric machine, the semiconductor device IGBT is one of the most fragile components in power converter systems [2]. The reliability of IGBT is therefore of great importance with increasing concerns both in industry and academia [3].