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[
1
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-
[
1
1
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M
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licated
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[1
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-
[
4
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.
T
h
u
s
,
v
ar
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at
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o
t
d
ir
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tly
m
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s
tr
u
ct
ed
f
r
o
m
th
e
alg
o
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ith
m
Kalm
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n
s
to
ch
asti
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r
ec
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n
s
tr
u
cto
r
(
KSR
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
S
tu
d
y
o
f
d
esig
n
in
g
r
eg
u
la
to
r
f
o
r
temp
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tu
r
e
elec
tr
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l res
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ce
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a
ce
u
s
in
g
…
(
B
en
ye
k
h
lef
K
a
d
a
)
135
T
h
e
KSR
alg
o
r
ith
m
g
en
er
ates
an
id
ea
l
esti
m
ate
o
f
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e
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r
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o
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n
s
t
r
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c
t
o
r
(
KSR
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[
1
2
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-
[
2
3
]
.
Fo
r
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class
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e
KSR
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s
th
e
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est (
o
p
tim
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ate
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n
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s
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h
e
f
ir
s
t
s
tep
in
p
r
ed
ictin
g
th
e
esti
m
atio
n
ac
co
r
d
in
g
to
th
e
el
ec
t
r
ical
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tan
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f
u
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ac
e
m
o
d
el.
T
o
d
o
th
is
,
th
e
Kalm
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r
o
r
s
an
d
p
r
ed
ict
s
th
e
n
ew
p
ar
am
eter
s
an
d
er
r
o
r
s
b
ased
o
n
th
e
elec
tr
ical
r
esis
tan
ce
f
u
r
n
ac
e
m
o
d
el.
T
h
e
s
ec
o
n
d
s
tep
[
2
4
]
-
[
2
8
]
will
u
p
d
ate
th
is
p
r
ed
i
ctio
n
with
th
e
n
ew
m
ea
s
u
r
es.
T
h
ese
m
ea
s
u
r
em
en
ts
(
b
y
d
ef
in
itio
n
n
o
is
y
)
will
all
o
w
o
b
tain
in
g
an
esti
m
ate
o
f
th
e
p
ar
a
m
eter
s
an
d
th
e
er
r
o
r
f
r
o
m
th
e
p
r
e
d
ictio
n
m
ad
e.
I
f
th
er
e
ar
e
er
r
o
r
s
in
th
e
elec
tr
ical
r
esis
tan
ce
f
u
r
n
ac
e
m
o
d
el
th
is
u
p
d
ate
s
tep
will c
o
r
r
ec
t th
em
.
Usi
n
g
KSR
alg
o
r
ith
m
-
b
ased
p
o
le
p
lace
m
e
n
t
(
PL)
c
o
n
tr
o
ller
o
f
ac
cu
r
ately
esti
m
atin
g
te
m
p
er
atu
r
es,
elec
tr
ical
r
esis
tan
ce
f
u
r
n
ac
e
f
o
r
n
o
is
y
th
er
m
al
s
en
s
o
r
s
is
s
o
lv
ed
in
th
is
p
ap
er
th
e
p
r
o
ce
s
s
m
o
d
el
is
n
o
t
p
r
ec
is
ely
k
n
o
wn
an
d
th
e
tem
p
er
atu
r
e
m
ea
s
u
r
e
m
en
t
is
tr
ain
ed
with
ce
n
ter
ed
Gau
s
s
ian
wh
ite
n
o
is
e
.
T
h
e
esti
m
atio
n
o
f
th
e
tem
p
er
atu
r
e
o
f
th
e
elec
tr
ic
r
esis
tan
ce
f
u
r
n
ac
e
is
b
ased
o
n
th
e
Hy
b
r
id
i
n
tellig
en
t
co
n
tr
o
ller
alg
o
r
ith
m
KSR
,
wh
ich
m
et
h
o
d
is
b
ased
o
n
th
e
p
o
le
p
lace
m
en
t
f
in
ally
r
esu
lts
d
e
m
o
n
s
tr
ate
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
d
esig
n
ed
.
T
h
e
p
ap
er
is
o
r
g
a
n
ized
i
n
f
o
u
r
s
ec
tio
n
s
th
e
f
o
llo
win
g
s
ec
ti
o
n
p
r
esen
ts
th
e
r
esear
ch
m
eth
o
d
.
Sectio
n
3
alg
o
r
ith
m
a
n
d
s
ec
tio
n
4
d
r
aws so
m
e
co
n
cl
u
s
io
n
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
F
urna
ce
s
y
s
t
em
mo
dels
As
illu
s
tr
ated
in
Fig
u
r
e
1
,
th
e
h
ea
t
in
s
id
e
th
e
elec
tr
ic
r
esi
s
tan
ce
f
u
r
n
ac
e
is
p
r
o
d
u
ce
d
b
y
a
h
ea
tin
g
r
esis
to
r
co
n
tr
o
lled
v
ia
v
o
lta
g
e
b
y
a
p
o
we
r
am
p
lifie
r
.
T
h
e
tem
p
e
r
atu
r
e
m
ea
s
u
r
em
en
t
is
d
o
n
e
f
r
o
m
a
th
er
m
o
co
u
p
le
p
lace
d
i
n
a
m
e
asu
r
in
g
ca
v
ity
.
An
i
n
s
tr
u
m
en
t
atio
n
a
m
p
lifie
r
p
r
o
d
u
cin
g
a
v
o
ltag
e
,
im
ag
e
o
f
th
e
tem
p
er
atu
r
e
.
T
h
e
s
en
s
o
r
an
d
in
s
tr
u
m
e
n
tatio
n
am
p
lifie
r
s
et
is
s
u
p
p
o
s
ed
to
b
e
lin
ea
r
in
th
e
f
u
r
n
ac
e
tem
p
er
atu
r
e
r
a
n
g
e.
As
r
e
p
o
r
te
d
in
[
1
]
-
[
3
]
.
T
h
e
m
ath
em
atica
l
m
o
d
elin
g
o
f
elec
tr
ical
f
u
r
n
ac
e
an
d
th
e
m
o
d
el
p
ar
am
eter
s
o
f
t
h
e
f
u
r
n
ac
e
.
Acc
o
r
d
in
g
[
1
]
-
[
3
]
.
T
h
e
elec
tr
i
c
f
u
r
n
ac
e
b
eh
a
v
es
lik
e
a
f
ir
s
t
o
r
d
er
p
r
o
ce
s
s
with
a
tim
e
co
n
s
tan
t
clo
s
e
to
5
0
0
s
ec
o
n
d
s
.
I
n
o
p
e
n
lo
o
p
t
h
e
m
e
asu
r
ed
tem
p
e
r
atu
r
e
is
v
er
y
cl
o
s
e
to
th
e
f
u
r
n
ac
e
tem
p
er
atu
r
e
d
u
r
in
g
th
e
tr
an
s
ien
t
r
eg
im
e.
T
h
ey
ar
e,
o
f
co
u
r
s
e,
co
n
f
u
s
ed
u
n
d
e
r
a
p
er
m
an
en
t
r
eg
im
e.
Sin
ce
th
e
ti
m
e
co
n
s
tan
t
o
f
th
e
p
r
o
ce
s
s
is
ab
o
u
t 5
0
0
s
lar
g
e.
T
h
e
elec
tr
ical
f
u
r
n
ac
e
is
d
is
cr
ed
ited
with
a
s
am
p
lin
g
p
e
r
io
d
o
f
0
.
9
5
s
ec
o
n
d
s
.
Fig
u
r
e
1
.
E
lectr
ical
r
esis
tan
ce
f
u
r
n
ac
e
[1
]
,
[
2]
2
.
2
.
Dis
cr
et
e
s
t
a
t
e
re
presenta
t
io
n o
f
t
he
elec
t
rica
l f
urna
ce
re
s
is
t
a
nce
T
h
e
m
ath
em
atica
l
m
o
d
el
o
f
elec
tr
ic
r
esis
tan
ce
f
u
r
n
ac
e
is
b
ein
g
r
e
p
r
esen
ted
in
t
h
e
s
tate
s
p
ac
e
as
r
ep
o
r
ted
in
[
1
]
-
[
3
]
:
⌈
1
(
)
̇
2
̇
(
)
⌉
=
[
0
1
−
6
.
6667
×
10
−
5
−
0
.
0333
]
⌈
1
2
⌉
+
[
0
−
6
.
6667
×
10
−
5
]
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
24
,
No
.
1
,
Octo
b
er
2
0
2
1
:
13
4
-
14
3
136
(
)
=
=
[
1
0
]
[
1
2
]
(
2
)
T
h
e
p
o
le
p
lace
m
en
t
tech
n
iq
u
e
is
u
s
ed
[
1
]
-
[
4
]
to
ca
lcu
late
th
e
g
ain
s
ass
o
ciate
d
wi
th
th
e
s
tate
v
ec
to
r
in
th
is
s
ec
tio
n
.
Fo
r
ca
lcu
latin
g
th
e
g
ain
s
ass
o
ciate
d
with
th
e
s
tate
v
ec
to
r
.
Als
o
it
is
n
ec
ess
ar
y
to
in
clu
d
e
a
d
is
cr
ete
in
teg
r
ato
r
Fig
u
r
e
2
.
W
e
h
av
e
ch
o
s
en
f
o
r
t
h
e
elec
tr
ic
r
esis
ta
n
ce
f
u
r
n
ac
e
a
s
ec
o
n
d
o
r
d
er
d
y
n
am
ic
with
(
=
0
.
005
/
an
d
ξ =
0
.
0
0
9
)
.
T
h
e
co
r
r
ec
ted
f
u
r
n
ac
e'
s
f
u
n
ctio
n
al
d
iag
r
am
h
as c
h
an
g
ed
Fig
u
r
e
2.
W
h
er
e:
{
(
)
=
−
(
)
+
(
)
(
)
=
1
1
−
−
1
(
(
)
−
(
)
)
(
3
)
At
a
u
n
it st
ep
,
th
e
s
y
s
tem
'
s
r
es
p
o
n
s
e
b
ec
o
m
es.
{
(
)
=
1
(
∞
)
=
(
∞
)
=
1
(
4
)
Fig
u
r
e
2
.
Po
le
p
lace
m
en
t c
o
n
tr
o
l
s
y
s
tem
with
in
teg
r
atio
n
[
1
]
,
[
2]
T
h
e
s
tate
m
atr
ices o
f
th
e
s
y
s
tem
s
ar
e
o
b
tain
ed
.
Fo
r
th
e
c
o
n
tr
o
lled
Placem
en
t o
f
th
e
p
o
les
with
th
e
I
n
teg
r
ato
r
[
1
]
-
[
4
]
f
o
r
th
e
co
n
tr
o
l e
lectr
ic
r
esis
tan
ce
f
u
r
n
ac
e.
1
=
[
0
−
1
]
,
1
=
[
−
]
an
d
1
=
[
1
0
0
]
(
5
)
an
d
th
e
s
tate
r
etu
r
n
s
v
ec
to
r
wi
th
in
teg
r
atio
n
.
1
=
[
−
]
(
6
)
Af
ter
So
m
m
e
ca
lcu
latio
n
s
we
o
b
tain
.
1
=
[
1
.
0000
0
.
9351
0
−
0
.
0001
0
.
9688
0
−
1
.
0000
−
0
.
9351
1
.
0000
]
,
1
=
[
−
0
.
2977
×
10
−
4
−
0
.
6234
×
10
−
4
0
.
2977
×
10
−
4
]
,
1
=
[
0
]
,
1
=
[
1
0
0
]
an
d
=
[
−
0
.
0143
×
10
−
4
−
1
.
5608
×
10
−
4
0
.
0000
×
10
−
4
]
Fo
r
Fig
u
r
e
3
,
th
e
ap
p
lied
s
et
p
o
in
t
c
o
r
r
esp
o
n
d
in
g
to
a
tem
p
er
atu
r
e
o
f
1
0
0
°
C
f
o
llo
wed
b
y
a
d
ec
r
ea
s
in
g
lin
ea
r
s
et
p
o
in
t.
T
h
e
r
esp
o
n
s
e
to
th
e
s
tep
is
wi
th
o
u
t
o
v
er
s
h
o
o
t
an
d
with
o
u
t
s
tatic
er
r
o
r
d
u
e
to
t
h
e
I
n
teg
r
ato
r
.
No
te
th
at
th
e
r
am
p
s
et
p
o
in
t
d
ed
u
ce
s
tr
ac
k
in
g
e
r
r
o
r
.
T
o
ca
n
ce
l
th
e
tr
ac
k
in
g
er
r
o
r
,
a
s
ec
o
n
d
o
f
in
teg
r
atio
n
is
r
eq
u
ir
ed
.
I
n
t
h
e
Fig
u
r
e
4
h
ea
t
q
u
an
tity
f
o
r
a
s
et
p
o
i
n
t te
m
p
er
atu
r
e
o
f
1
0
0
°C
.
=
+
+
−
−
+
L
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
S
tu
d
y
o
f
d
esig
n
in
g
r
eg
u
la
to
r
f
o
r
temp
era
tu
r
e
elec
tr
ica
l res
is
ta
n
ce
fu
r
n
a
ce
u
s
in
g
…
(
B
en
ye
k
h
lef
K
a
d
a
)
137
Fig
u
r
e
3
.
Po
le
p
lace
m
en
t w
ith
s
tate
in
teg
r
atio
n
co
n
tr
o
ller
f
o
r
m
ea
s
u
r
em
en
t
Fig
u
r
e
4
.
Hea
t q
u
an
tity
f
o
r
a
s
et
p
o
in
t te
m
p
er
at
u
r
e
o
f
1
0
0
°C
3.
AL
G
O
RI
T
H
M
3
.
1
.
De
v
elo
pm
ent
o
f
t
he
dis
cr
et
e
k
a
l
m
a
n f
ilte
r
a
lg
o
rit
h
m
State
m
o
d
elin
g
o
f
th
e
elec
tr
ical
f
u
r
n
ac
e
r
esis
tan
ce
tak
es
in
t
o
ac
co
u
n
t
two
r
an
d
o
m
v
ar
iab
l
es
No
is
e
o
f
p
r
o
ce
s
s
an
d
m
ea
s
u
r
em
en
t
[
1
]
-
[
3
]
.
I
n
th
is
ca
s
e,
th
e
tem
p
er
atu
r
e
m
ea
s
u
r
em
en
t
is
tr
ain
ed
with
ce
n
ter
ed
Gau
s
s
ian
wh
ite
n
o
is
e.
W
e
c
o
n
s
id
er
th
at
th
e
s
y
s
tem
o
f
elec
tr
ical
f
u
r
n
ac
e
r
esis
tan
ce
is
s
tatio
n
ar
y
.
T
wo
eq
u
a
tio
n
s
ar
e
u
s
ed
to
ex
p
lain
t
h
e
d
is
cr
ete
s
tate
m
o
d
el
o
f
a
r
e
s
is
tan
ce
elec
tr
ic
f
u
r
n
ac
e.
a)
T
h
e
p
r
o
ce
s
s
eq
u
atio
n
(
+
1
)
=
(
)
+
(
)
+
(
)
(
7
)
w
h
er
e
(
)
is
th
e
m
o
d
elin
g
n
o
is
e
[
1
]
an
d
[
2
]
r
elate
d
to
th
e
u
n
ce
r
tain
ty
th
at
we
h
av
e
o
n
th
e
m
o
d
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u
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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d
o
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J
E
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E
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g
&
C
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m
p
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I
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4
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2
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T
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Simu
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Fig
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9
s
h
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q
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t e
s
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with
n
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.
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r
m
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o
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s
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.
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o
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atin
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s
u
b
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t
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au
s
s
ian
n
o
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e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
24
,
No
.
1
,
Octo
b
er
2
0
2
1
:
13
4
-
14
3
140
Fig
u
r
e
8.
R
eb
u
ilt v
ec
t
o
r
k
alam
an
f
ilter
with
o
u
t
n
o
is
e
Fig
u
r
e
9
.
Q
u
a
n
tity
o
f
h
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t e
s
tim
ated
with
Kala
m
an
f
ilter
wit
h
n
o
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Fig
u
r
e
1
0.
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s
tim
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tem
p
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a
tu
r
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elec
tr
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f
u
r
n
ac
e
u
s
in
g
K
alm
an
f
ilter
0
1000
2000
3000
4000
5000
6000
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0
2
4
6
8
10
12
14
T
i
m
e
(
s)
va
r
i
a
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500
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1
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A
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1
0
0
8
7
.
[2
1
]
X.
Qia
o
,
K.
G
a
o
,
H.
Hu
a
n
g
,
L.
Ly
u
,
W.
Li
n
a
n
d
L.
Jin
,
"
Tem
p
e
ra
tu
re
Rise
P
re
d
ictio
n
o
f
G
IS
El
e
c
tri
c
a
l
Co
n
tac
t
Us
in
g
a
n
Im
p
r
o
v
e
d
Ka
lma
n
F
il
t
e
r,
"
IECON
2
0
1
9
-
4
5
t
h
An
n
u
a
l
Co
n
fer
e
n
c
e
o
f
th
e
IEE
E
In
d
u
st
ria
l
El
e
c
tro
n
ics
S
o
c
iety
,
2
0
1
9
,
p
p
.
1
6
7
-
1
7
2
,
d
o
i:
1
0
.
1
1
0
9
/IE
CON
.
2
0
1
9
.
8
9
2
7
8
2
2
.
[2
2
]
Y
.
Wan
g
,
Z
.
Qi
u
,
a
n
d
X
.
Qu
,
"
An
Im
p
ro
v
e
d
Un
sc
e
n
ted
Ka
lma
n
F
il
ter fo
r
Disc
re
te No
n
li
n
e
a
r
S
y
ste
m
s with
Ra
n
d
o
m
P
a
ra
m
e
ters
,
”
Disc
re
te Dy
n
a
mic
s in
Na
t
u
re
a
n
d
S
o
c
iety
,
2
0
1
7
,
d
o
i:
1
0
.
1
1
5
5
/
2
0
1
7
/7
9
0
5
6
9
0
.
[2
3
]
Y
.
Zh
a
n
g
,
R
.
Wan
g
,
S
.
Li
a
n
d
S
.
Qi,
"
Tem
p
e
ra
tu
re
S
e
n
s
o
r
De
n
o
isi
n
g
Al
g
o
r
it
h
m
Ba
se
d
o
n
C
u
rv
e
F
it
ti
n
g
a
n
d
Co
m
p
o
u
n
d
Ka
lma
n
F
il
teri
n
g
,
”
S
e
n
so
rs
,
v
o
l.
2
0
,
n
o
.
7
,
p
.
1
9
5
9
,
2
0
2
0
,
d
oi
:
1
0
.
3
3
9
0
/s2
0
0
7
1
9
5
9
.
[2
4
]
I.
Id
rissi,
H.
Ch
a
f
o
u
k
,
R.
Ba
c
h
ti
ri,
a
n
d
M
.
Kh
a
n
fa
ra
,
"
Ba
n
k
o
f
E
x
ten
d
e
d
Ka
lma
n
F
il
ters
fo
r
F
a
u
lt
s
Dia
g
n
o
sis
in
Wi
n
d
T
u
rb
i
n
e
Do
u
b
l
y
F
e
d
I
n
d
u
c
ti
o
n
G
e
n
e
ra
to
r
,"
T
EL
KOM
NIKA
(T
e
lec
o
mm
u
n
ica
ti
o
n
Co
m
p
u
t
in
g
El
e
c
tro
n
ics
a
n
d
Co
n
tro
l)
,
v
o
l
.
1
6
,
n
o
.
6
,
p
p
.
2
9
5
4
-
2
9
6
6
,
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c
e
m
b
e
r
2
0
1
8
,
d
o
i
:
1
0
.
1
2
9
2
8
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EL
KO
M
NIK
A.v
1
6
i6
.
1
0
4
2
6
,
2
0
1
8
.
[2
5
]
F
.
M
e
sa
,
A
.
Ca
m
e
lo
,
a
n
d
V.
C
a
rlo
s
Ra
m
írez
,
"
S
tatu
s
e
stim
a
to
r
u
sin
g
Ka
lma
n
fil
ter
fo
r
a
p
e
r
m
a
n
e
n
t
m
a
g
n
e
t
sy
n
c
h
r
o
n
o
u
s
m
a
c
h
in
e
,"
J
o
u
rn
a
l
o
f
P
h
y
sic
s:
Co
n
fer
e
n
c
e
S
e
rie
s
,
v
o
l.
1
4
0
3
,
p
.
0
1
2
0
0
5
,
2
0
1
9
,
d
o
i:
1
0
.
1
0
8
8
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1
7
4
2
-
6
5
9
6
/
1
4
0
3
/
1
/0
1
2
0
0
5
.
[2
6
]
N
.
M
a
riy
a
m
Ra
ja
n
P
.
Ra
jala
k
s
h
m
y
,
"
Esti
m
a
ti
o
n
o
f
S
e
n
so
r
Tem
p
e
ra
tu
re
Drift
u
sin
g
Ka
lma
n
F
il
ter
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
rin
g
Res
e
a
rc
h
&
T
e
c
h
n
o
l
o
g
y
(IJ
ER
T
)
,
v
o
l
.
3
,
n
o
.
2
,
F
e
b
r
u
a
ry
2
0
1
4
.
[2
7
]
X.
Ha
iy
a
n
,
W.
M
imi,
a
n
d
L.
W
e
n
b
in
,
"
On
t
h
e
Ap
p
li
c
a
ti
o
n
o
f
F
u
rn
a
c
e
Tem
p
e
ra
tu
re
M
o
n
it
o
ri
n
g
in
Ho
t
P
re
ss
in
g
F
u
rn
a
c
e
Ba
se
d
o
n
Ka
lma
n
F
il
ter
Alg
o
rit
h
m
o
f
Distrib
u
ti
o
n
G
ra
p
h
s
,"
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d
v
a
n
c
e
s
in
S
o
c
ia
l
S
c
ien
c
e
,
Ed
u
c
a
t
io
n
a
n
d
Hu
ma
n
it
ies
Res
e
a
rc
h
,
v
o
lu
me
2
6
4
5
t
h
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Ed
u
c
a
ti
o
n
,
M
a
n
a
g
e
me
n
t,
Arts,
Eco
n
o
mic
s
a
n
d
S
o
c
ia
l
S
c
ien
c
e
(ICE
M
AE
S
S
2
0
1
8
)
,
2
0
1
8
,
d
o
i:
1
0
.
2
9
9
1
/i
c
e
m
a
e
ss
-
1
8
.
2
0
1
8
.
2
2
2
.
[2
8
]
Q
.
Zh
a
n
g
,
"
P
e
rf
o
rm
a
n
c
e
e
n
h
a
n
c
e
d
Ka
lma
n
fil
ter
d
e
sig
n
f
o
r
n
o
n
-
G
a
u
ss
ian
sto
c
h
a
stic
sy
ste
m
s
with
d
a
ta
-
b
a
se
d
m
in
imu
m
e
n
tro
p
y
o
p
t
imis
a
ti
o
n
,
"
AIM
S
El
e
c
tro
n
ics
a
n
d
El
e
c
trica
l
En
g
in
e
e
rin
g
,
v
o
l.
3
,
no.
4
,
p
p
.
3
8
2
-
3
9
6
,
2
0
1
9
,
d
o
i:
1
0
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9
3
4
/E
lec
trE
n
g
.
2
0
1
9
.
4
.
3
8
2
.
[2
9
]
X
.
Li
,
X.
Ou
,
H
.
Wei,
W
.
Zh
o
u
,
a
n
d
Z.
Li
,
"
On
-
Li
n
e
Tem
p
e
ra
tu
re
Esti
m
a
ti
o
n
fo
r
No
is
y
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h
e
rm
a
l
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e
n
so
rs
Us
in
g
a
S
m
o
o
t
h
in
g
F
i
lt
e
r
-
Ba
se
d
Ka
lma
n
P
re
d
icto
r
,"
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e
n
so
rs
,
v
o
l.
1
8
,
n
o
.
2
,
p
.
4
3
3
,
2
0
1
8
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d
o
i:
0
.
3
3
9
0
/s
1
8
0
2
0
4
3
3
.
[3
0
]
J.
Li
a
o
e
t
a
l.
,
"
F
P
G
A
Im
p
lem
e
n
tatio
n
o
f
a
Ka
lma
n
-
Ba
se
d
M
o
ti
o
n
Esti
m
a
to
r
fo
r
Lev
it
a
ted
Na
n
o
p
a
r
ti
c
les
,
"
in
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
I
n
stru
me
n
t
a
ti
o
n
a
n
d
M
e
a
s
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re
me
n
t
,
v
o
l.
6
8
,
n
o
.
7
,
p
p
.
2
3
7
4
-
2
3
8
6
,
J
u
ly
2
0
1
9
,
d
o
i:
1
0
.
1
1
0
9
/
TIM
.
2
0
1
8
.
2
8
7
9
1
4
6
.
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tri
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f
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ra
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Be
l
Ab
b
è
s
(Al
g
e
ria)
i
n
1
9
6
6
,
s
h
e
is
o
b
tain
e
d
a
d
ip
l
o
m
a
o
f
p
h
y
sic
a
l
c
h
e
m
istry
d
e
g
re
e
in
1
9
9
4
fro
m
th
e
Un
i
v
e
rsit
y
o
f
S
i
d
i
Be
l
a
b
b
è
s
Alg
e
ria
sh
e
re
c
e
iv
e
d
h
is
m
a
ste
r
a
t
Un
iv
e
r
sity
S
id
i
Be
l
Ab
b
è
s
(Alg
e
ria)
fro
m
2
0
0
9
a
t
2
0
1
2
.
S
h
e
is
n
o
w
a
n
a
ss
o
c
iate
p
r
o
fe
ss
o
r
a
t
Un
i
v
e
rsi
ty
o
f
S
id
i
Be
l
Ab
b
è
s,
De
p
a
rtme
n
t
El
e
c
tri
c
a
l
E
n
g
i
n
e
e
rin
g
.
His
m
a
in
re
se
a
rc
h
in
tere
sts a
re
in
th
e
field
o
f
th
e
a
n
a
l
y
sis a
n
d
m
a
g
n
e
ti
c
m
a
teria
ls.
Dja
m
e
l
Ed
d
in
e
Cha
o
u
c
h
wa
s
b
o
r
n
in
M
a
sc
a
ra
,
Alg
e
ria
o
n
1
2
/0
3
/
1
9
7
4
.
Ha
s
re
c
e
iv
e
d
th
e
En
g
i
n
e
e
rin
g
De
g
re
e
in
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
in
1
9
9
8
,
th
e
M
a
g
iste
r
in
Au
t
o
m
a
ti
o
n
a
n
d
sy
ste
m
c
o
n
tro
l
in
2
0
0
4
,
a
n
d
t
h
e
Do
c
to
ra
te
d
e
g
re
e
in
Au
t
o
m
a
ti
c
in
2
0
1
6
fr
o
m
th
e
Un
i
v
e
rsity
o
f
S
c
ien
c
e
s
a
n
d
Tec
h
n
o
lo
g
y
o
f
Ora
n
UST
O
(ORA
N,
Alg
e
ria).
S
in
c
e
2
0
0
4
,
h
e
is
lec
tu
re
r
a
n
d
re
se
a
rc
h
e
r
m
e
m
b
e
r
o
f
th
e
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
De
p
a
rtme
n
t
,
Un
iv
e
rsit
y
o
f
M
a
sc
a
ra
(M
a
sc
a
ra
,
Alg
e
ria).
S
in
c
e
2
0
1
5
,
h
e
is
S
e
n
io
r
lec
tu
re
r
a
t
Un
iv
e
rs
it
y
M
u
sta
p
h
a
S
tam
b
o
u
li
o
f
M
a
sc
a
ra
,
El
e
c
tr
ica
l
En
g
in
e
e
rin
g
De
p
a
rtme
n
t.
He
is
c
u
rre
n
tl
y
a
S
e
n
io
r
lec
tu
re
r
a
t
Un
i
v
e
rsity
o
f
M
a
sc
a
ra
.
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