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a
ndo
m
E
a
rl
y
D
e
t
e
c
t
i
o
n
(R
E
D
)
[
8]
,
A
d
a
p
t
i
v
e
R
E
D
(
A
-
R
E
D
)
[
9]
.
R
a
ndo
m
E
x
po
n
e
nt
i
a
l
M
a
rk
i
ng
(R
E
M
)
[1
0
]
,
a
nd
p
r
o
po
rt
i
o
na
l
-
i
nt
e
g
ra
l
(P
I)
c
o
nt
r
o
l
l
e
r
[
11
]
,
a
l
l
t
h
e
s
e
s
c
h
e
m
e
s
s
h
o
w
e
d
b
e
s
t
n
e
t
w
o
rk
r
e
s
u
l
t
s
w
i
t
h
l
e
s
s
l
o
s
s
o
f
p
a
c
ke
t
s
a
nd
l
e
s
s
de
l
a
y
t
i
m
e
t
h
r
o
ug
h
c
o
nt
r
o
l
l
i
ng
q
ue
ue
s
a
t
t
h
e
b
o
t
t
l
e
n
e
c
k
l
i
nk
s
i
n
T
CP
n
e
t
w
o
r
ks
.
I
n
[
12
]
,
t
he
a
ut
ho
r
s
(
C
hr
y
s
o
s
t
o
m
o
u
,
C
.
,
&
P
i
t
s
i
l
l
i
de
s
,
A
.
)
us
e
d
a
f
u
z
z
y
l
o
gi
c
c
o
nt
r
o
l
(F
L
C)
a
s
a
c
o
nt
r
o
l
m
e
t
h
o
do
l
o
gy
t
o
c
o
nt
r
o
l
c
o
nge
s
t
i
o
n
i
n
t
w
o
v
a
ri
e
d
t
e
c
hn
o
l
o
g
i
e
s
:
A
T
M
a
nd
T
C
P
/
IP
ne
t
w
o
r
k
s
,
t
h
e
re
s
u
l
t
s
o
f
t
hi
s
w
o
r
k
p
re
s
e
nt
e
d
b
e
n
e
f
i
c
i
a
l
i
m
p
r
o
v
e
m
e
nt
s
i
n
c
o
nt
r
o
l
l
i
ng
c
o
n
ge
s
t
i
o
n
f
o
r
A
T
M
a
nd
T
C
P
/
IP
ne
t
w
o
rks
.
I
n
[
13
]
(S
e
n,
K
.
,
C
ha
k
ra
b
o
rt
y
,
B
.
,
G
a
y
e
n,
A
.
,
&
D
e
y
,
C
.
)
,
t
he
p
r
o
po
s
e
d
t
e
c
hni
q
ue
i
s
F
u
z
z
y
r
u
l
e
-
b
a
s
e
d
s
e
t
po
i
nt
w
e
i
g
ht
i
ng
w
i
t
h
a
P
ID
c
o
nt
r
o
l
l
e
r
(P
ID
C)
,
t
hi
s
t
e
c
hni
q
ue
s
h
o
w
e
d
a
g
r
e
a
t
e
f
f
i
c
a
c
y
i
n
f
ul
f
i
l
l
i
ng
i
m
po
rt
a
nt
re
s
po
ns
e
s
t
o
t
he
t
ra
d
i
t
i
o
na
l
P
ID
C
u
s
e
d
i
n
c
l
o
s
e
d
-
l
o
o
p
c
o
nt
r
o
l
a
p
p
l
i
c
a
t
i
o
n
s
.
I
n
[1
4
]
,
t
he
a
ut
ho
r
s
(B
o
u
a
z
z
i
,
I
.
,
B
ha
r,
J
.
,
&
A
t
ri
,
M
.
)
a
r
e
p
r
o
po
s
e
d
t
o
us
e
a
f
u
z
z
y
l
o
g
i
c
a
l
go
ri
t
hm
t
o
s
o
l
v
e
s
o
m
e
p
r
o
b
l
e
m
s
t
ha
t
ha
p
pe
n
i
n
W
i
r
e
l
e
s
s
s
e
ns
o
r
n
e
t
w
o
r
ks
(W
S
N
s
)
.
S
uc
h
a
s
t
h
e
r
e
l
i
a
b
i
l
i
t
y
o
f
t
ra
n
s
m
i
t
t
i
ng
d
a
t
a
p
re
s
e
r
v
i
ng
t
h
e
l
a
t
e
n
c
y
o
f
m
e
s
s
a
ge
,
a
nd
p
ro
l
o
ng
i
ng
t
h
e
b
a
t
t
e
r
y
l
i
f
e
o
f
s
e
n
s
o
r
n
o
de
s
,
t
he
r
e
s
u
l
t
s
s
h
o
w
e
d
a
b
e
t
t
e
r
po
w
e
r
c
o
ns
u
m
p
t
i
o
n
c
o
m
pa
re
d
t
o
b
a
s
i
c
a
p
p
l
i
c
a
t
i
o
n
o
f
CS
M
A
/
CA
.
T
h
e
p
r
e
s
e
nt
e
d
w
o
rk
[1
5]
(M
a
re
e
v
,
N
.
,
K
a
c
ha
n,
D
.
,
K
a
rpo
v
,
K
.
,
S
y
z
o
v
,
D
.
,
S
i
e
m
e
ns
,
E
.
,
&
B
a
b
i
c
h,
Y
.
)
d
i
s
c
us
s
e
d
t
he
p
r
o
b
l
e
m
o
f
o
v
e
r
l
o
a
d
b
o
t
t
l
e
n
e
c
k
b
uf
f
e
r
s
i
n
IP
n
e
t
w
o
rks
.
T
h
e
a
u
t
h
o
rs
p
ro
po
s
e
d
t
o
us
e
a
n
e
w
a
l
go
ri
t
hm
f
o
r
c
o
nt
r
o
l
l
i
ng
c
o
nge
s
t
i
o
n
s
uc
h
a
s
P
I
D
-
b
a
s
e
d
c
o
n
ge
s
t
i
o
n
c
o
nt
r
o
l
,
t
he
s
i
m
ul
a
t
i
o
n
re
s
u
l
t
s
a
p
pe
a
r
e
d
t
ha
t
t
h
e
p
ro
po
s
e
d
a
l
go
ri
t
hm
w
a
s
f
l
e
x
i
b
l
e
,
s
c
a
l
a
b
l
e
,
a
nd
a
b
l
e
t
o
a
v
e
rt
i
ng
e
x
t
ra
q
ue
ue
de
l
a
y
s
r
e
s
ul
t
i
ng
f
r
o
m
l
o
a
d
i
ng
t
he
b
o
t
t
l
e
n
e
c
k
b
u
f
f
e
r
s
.
T
he
p
re
s
e
nt
e
d
w
o
rk
[
16
]
(
S
u
re
s
h,
M
.
,
H
e
m
a
m
a
l
i
ni
,
R
.
R
.
,
&
S
ri
ni
v
a
s
a
n,
G
.
J
.
)
,
p
r
o
po
s
e
d
t
o
us
e
a
f
u
z
z
y
l
o
gi
c
t
ha
t
de
pe
nds
o
n
t
he
s
e
t
po
i
nt
w
e
i
g
ht
i
ng
c
o
nt
r
o
l
l
e
r
a
s
a
t
u
ni
ng
m
e
t
ho
d
t
o
o
v
e
r
c
o
m
e
t
h
e
p
r
o
b
l
e
m
o
f
c
ha
ng
i
ng
t
h
e
v
a
l
ue
s
P
ID
c
o
nt
r
o
l
l
e
r
p
a
ra
m
e
t
e
r
s
w
i
t
h
t
i
m
e
o
r
o
t
h
e
r
e
f
f
e
c
t
s
.
P
r
o
po
r
t
i
o
n
a
l
-
I
nt
e
gra
l
-
D
e
r
i
v
a
t
i
v
e
Co
n
t
r
o
l
l
e
r
P
ID
C
a
s
a
d
a
pt
i
v
e
a
n
d
p
r
o
a
c
t
i
v
e
A
Q
M
a
l
go
r
i
t
hm
ha
v
e
b
e
e
n
p
r
o
po
s
e
d
t
o
r
e
ve
a
l
a
n
d
c
o
n
t
r
o
l
t
h
e
e
l
e
m
e
n
t
a
r
y
j
us
t
a
s
t
he
pr
e
s
e
n
t
c
o
n
ge
s
t
i
o
n
a
de
qu
a
t
e
l
y
a
n
d
p
r
o
a
c
t
i
v
e
l
y
.
T
h
e
us
e
of
s
u
c
h
a
s
t
ha
t
a
l
go
ri
t
hm
t
o
c
o
n
t
r
o
l
c
o
n
ge
s
t
i
o
n
p
ro
a
c
t
i
v
e
l
y
,
t
o
m
a
ke
a
m
a
t
c
h
b
e
t
w
e
e
n
t
h
e
que
ue
l
e
n
g
t
h
a
nd
t
h
e
de
s
i
r
e
d
l
e
v
e
l
t
o
a
c
h
i
e
v
e
l
e
s
s
r
a
t
e
o
f
pa
c
ke
t
l
o
s
s
t
o
e
a
c
h
T
CP
f
l
ow
t
o
a
bs
t
r
a
c
t
t
h
e
i
n
c
l
i
na
t
i
o
n
a
ga
i
n
s
t
b
u
r
s
t
y
s
o
ur
c
e
s
.
In
t
h
i
s
pa
pe
r
,
w
e
pr
o
po
s
e
d
t
o
us
e
a
f
uz
z
y
l
o
gi
c
c
o
n
t
r
o
l
l
e
r
(F
L
C)
t
o
i
m
p
r
o
v
e
t
h
e
pe
r
f
o
r
m
a
n
c
e
o
f
A
Q
M
i
n
T
CP
/
IP
n
e
t
w
o
r
ks
,
s
i
n
c
e
f
uz
z
y
c
o
n
t
r
o
l
i
m
p
r
o
v
e
s
a
pp
r
o
pr
i
a
t
e
n
e
s
s
t
o
dy
n
a
m
i
c
s
y
s
t
e
m
c
o
n
di
t
i
o
n
w
i
t
h
o
ut
a
r
e
qui
r
e
m
e
n
t
f
o
r
a
de
l
i
c
a
t
e
m
o
de
l
.
T
h
e
p
ro
pos
e
d
a
l
go
r
i
t
hm
o
f
f
uz
z
y
c
o
n
t
r
o
l
i
n
o
ur
w
o
r
k
i
s
s
t
a
t
i
c
w
i
t
h
a
f
i
xe
d
f
uz
z
y
r
ul
e
a
n
d
f
i
xe
d
f
a
c
t
o
r
s
i
n
m
e
m
b
e
r
s
hi
p
f
un
c
t
i
o
n
s
.
T
h
e
c
urr
e
n
t
w
o
r
k
di
s
c
us
s
e
d
w
h
a
t
t
h
e
a
ut
h
o
r
s
s
ugge
s
t
e
d
us
i
n
g
a
n
e
w
c
o
n
ge
s
t
i
o
n
c
o
nt
r
o
l
a
l
go
r
i
t
hm
s
uc
h
a
s
F
L
C,
t
y
pe
1
-
P
ID
Co
n
t
r
o
l
l
e
r
b
a
s
e
d
c
o
n
ge
s
t
i
o
n
c
o
n
t
r
o
l
,
a
n
d
s
i
m
u
l
a
t
i
o
n
r
e
s
ul
t
s
a
l
s
o
s
h
o
w
e
d
t
h
a
t
t
h
e
p
r
o
po
s
e
d
a
l
go
ri
t
hm
w
a
s
f
l
e
xi
b
l
e
,
s
c
a
l
a
b
l
e
,
a
nd
a
b
l
e
t
o
a
v
o
i
d
a
dd
i
t
i
o
n
a
l
que
ue
de
l
a
y
s
c
a
us
e
d
by
w
a
r
e
h
o
us
e
l
o
a
di
ng.
T
h
e
r
e
s
t
o
f
t
h
i
s
pa
pe
r
i
s
o
rga
ni
z
e
d
a
s
f
o
l
l
ow
s
:
S
e
c
t
i
o
n
2
c
ont
a
i
n
s
t
h
e
i
l
l
us
t
ra
t
i
o
n
o
f
t
h
e
T
CP
/
A
Q
M
m
o
de
l
a
n
d
n
e
t
w
o
r
k
t
o
po
l
o
g
y
,
Se
c
t
i
o
n
3
c
o
n
t
a
i
n
s
t
h
e
i
l
l
us
t
r
a
t
i
o
n
o
f
t
h
e
P
ID
C
a
n
d
F
L
C,
t
h
e
s
i
m
u
l
a
t
i
o
n
r
e
s
ul
t
s
c
l
a
r
i
f
i
e
d
i
n
S
e
c
t
i
o
n
4,
a
nd
S
e
c
t
i
o
n
5
c
o
n
t
a
i
n
s
t
h
e
c
o
n
c
l
us
i
o
n
of
t
h
e
pa
pe
r.
2.
TH
E
TC
P
/
A
Q
M
M
O
D
EL
A
N
D
N
ET
WO
R
K
TO
P
O
LO
G
Y
In
t
hi
s
w
o
r
k,
w
e
de
pe
n
de
d
o
n
t
h
e
[17
-
20]
t
o
i
l
l
us
t
r
a
t
e
t
h
e
m
o
de
l
o
f
T
CP
/
A
Q
M
n
e
t
w
o
r
ks
,
t
h
e
d
y
n
a
m
i
c
a
l
b
e
h
a
v
i
o
ur
o
f
T
CP
/
A
Q
M
n
e
t
w
o
r
k
de
pe
n
ds
o
n
f
l
ui
d
f
l
ow
a
na
l
y
s
i
s
by
s
o
m
e
s
t
oc
h
a
s
t
i
c
di
f
f
e
r
e
n
t
i
a
l
e
qua
t
i
o
n
s
w
i
t
h
s
uppo
s
e
t
h
e
m
e
c
h
a
ni
s
m
o
f
t
h
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T
CP
/
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Q
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t
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o
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n
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d
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m
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b
y
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(
1
)
a
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(
2
)
[
17]:
(1)
(2)
w
h
e
r
e
:
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n
d
i
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t
h
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t
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m
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-
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pe
c
t
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y
,
i
s
t
h
e
r
a
t
e
of
T
CP
w
i
n
do
w
s
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e
(m
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d
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ke
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s
).
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s
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f
ul
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d
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c
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)
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e
qua
l
t
o
;
q
i
s
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ra
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o
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l
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gt
h
(
m
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a
s
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d
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pa
c
ke
t
s
);
i
s
t
h
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c
a
p
a
c
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y
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t
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(m
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a
s
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d
i
n
p
a
c
ke
t
s
/
s
e
c
o
n
ds
);
i
s
t
h
e
N
o
,
T
CP
l
i
nks
(l
o
a
d
f
a
c
t
o
r
)
;
i
s
t
h
e
p
r
o
m
u
l
ga
t
i
o
n
de
l
a
y
(m
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a
s
ur
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d
i
n
s
e
c
o
n
ds
):
i
s
t
h
e
pa
c
ke
t
s
i
g
n
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
In
do
n
e
s
i
a
n
J
E
l
e
c
E
ng
&
Co
m
p
S
c
i
,
V
o
l
.
21
,
N
o
.
1
,
J
a
n
u
a
r
y
2021
:
118
-
127
120
pr
o
b
a
b
i
l
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t
y
,
a
l
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t
h
e
s
e
f
a
c
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o
r
s
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r
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a
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um
e
d
t
o
b
e
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o
n
-
n
e
ga
t
i
v
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a
nd
i
t
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s
t
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e
c
o
n
t
r
o
l
i
nput
t
o
r
e
duc
e
t
h
e
t
r
a
n
s
m
i
t
t
i
ng
ra
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d
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t
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b
o
t
t
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c
k
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xt
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n
s
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o
n.
F
i
g
u
r
e
1
s
h
o
w
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t
h
e
F
l
o
w
Co
n
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l
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c
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ge
s
t
i
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n
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v
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da
n
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e
i
n
T
CP
/
A
Q
M
n
e
t
w
o
r
ks
b
y
us
i
n
g
(
1
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n
d
(
2
)
[20]
.
F
i
gu
r
e
1
.
T
h
e
f
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o
w
c
o
n
t
r
o
l
s
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m
e
f
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r
T
CP
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A
Q
M
n
e
t
w
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r
ks
F
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g
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2
S
h
o
w
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T
CP
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e
t
w
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r
k
t
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po
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ur
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k,
w
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c
h
c
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n
s
i
s
t
s
o
f
N
=
50.
A
(T
CP
)
f
l
ow
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de
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de
a
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g
by
t
h
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t
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s
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de
s
(s
e
n
de
r
a
nd
r
e
c
e
i
v
e
r
).
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a
c
h
T
CP
f
l
ow
a
n
d
b
o
t
t
l
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n
e
c
k
l
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n
k
h
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o
15
M
b
ps
(3750
p
a
c
ke
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s
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c
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e
a
c
h
pa
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ke
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ha
s
500
by
t
e
s
).
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h
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t
ra
n
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m
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f
f
ul
l
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t
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m
e
(T
o
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r
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i
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e
qua
l
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o
0
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218
s
e
c
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t
h
e
m
a
x
i
m
u
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f
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s
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ke
t
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h
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s
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z
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o
f
t
h
e
q
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ue
i
s
300
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ke
t
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d
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p
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m
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l
l
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r
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p
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ut
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r
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2
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T
h
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t
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l
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y
3.
TH
E
P
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D
C
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N
TR
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LLER
A
N
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P
ID
c
o
n
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l
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m
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t
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a
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b
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l
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r
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s
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dge
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ppl
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l
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m
a
n
y
v
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r
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a
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s
of
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c
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h
a
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f
l
ow
,
pr
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ur
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,
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nd
s
pe
e
d.
T
o
ov
e
r
c
o
m
e
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di
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dv
a
n
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ge
s
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p
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t
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pow
e
r
of
P
ID
Co
n
t
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xpe
r
t
F
uz
z
y
L
o
gi
c
C
o
n
t
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o
l
l
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r
(F
L
C)
ha
s
us
e
d
t
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a
t
u
t
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l
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z
e
s
f
uz
z
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l
o
gi
c
.
P
ID
Co
nt
r
o
l
l
e
r
u
t
i
l
i
z
e
s
a
m
e
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ha
n
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s
m
o
f
a
f
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d
b
a
c
k
l
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o
p
t
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gul
a
t
e
v
a
r
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a
b
l
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s
of
pr
o
c
e
s
s
e
s
.
P
ID
Co
n
t
r
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l
l
e
r
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n
c
l
u
de
s
i
nt
e
g
r
a
l
(I)
c
o
n
t
r
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l
t
o
i
m
p
r
o
v
e
t
h
e
po
w
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of
e
xpe
c
t
a
t
i
v
e
f
o
r
t
h
e
(P
+
D
)
c
o
n
t
r
o
l
.
T
h
e
P
ID
Co
n
t
r
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l
l
e
r
c
a
n
r
e
m
o
ve
us
e
r
-
l
e
ve
l
ov
e
r
f
l
ow
,
a
n
d
i
t
c
o
n
t
a
i
n
s
t
w
o
di
s
t
i
n
c
t
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di
s
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dv
a
n
t
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ge
s
.
A
l
t
h
o
ug
h
i
t
i
s
w
i
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l
y
us
e
d
a
s
a
n
e
f
f
e
c
t
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v
e
c
o
n
t
r
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l
t
o
p
r
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v
e
n
t
o
ve
r
f
l
ow
of
t
h
e
b
uf
fe
r
.
I
t
ha
s
dra
w
b
a
c
ks
t
h
a
t
i
n
c
l
ude
:
I
t
i
s
n
o
t
e
xpe
c
t
e
d,
a
c
c
o
r
di
n
g
t
o
t
h
e
de
s
i
gn
o
f
t
h
e
pa
ra
m
e
t
e
r
s
o
f
t
h
e
c
o
n
t
r
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l
l
e
r
,
h
o
w
t
o
by
pa
s
s
t
h
e
s
pe
e
d
of
t
h
e
b
u
ff
e
r
s
pe
e
d,
w
h
i
c
h
w
a
s
t
e
s
m
e
m
o
r
y
r
e
s
o
ur
c
e
s
(
w
a
s
t
i
n
g
a
l
a
rge
a
m
o
unt
)
,
w
h
i
c
h
i
s
v
e
r
y
e
xpe
n
s
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v
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a
s
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t
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us
e
o
f
t
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e
I
nt
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n
v
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nm
e
nt
b
e
c
o
m
e
s
i
m
p
r
a
c
t
i
c
a
l
[21]
.
T
h
e
m
o
s
t
c
o
n
v
e
nt
i
o
na
l
P
ID
c
o
nt
r
o
l
l
e
r
i
s
de
s
c
r
i
b
e
d
i
n
(3)
:
(3)
W
h
e
r
e
:
Evaluation Warning : The document was created with Spire.PDF for Python.
In
do
n
e
s
i
a
n
J
E
l
e
c
E
ng
&
Co
m
p
S
c
i
IS
S
N
:
2502
-
4752
F
uz
z
y
t
y
p
e
1
P
ID
c
on
t
r
ol
l
e
r
s
d
e
s
i
g
n
f
or
T
CP
/
A
Q
M
w
i
r
e
l
e
s
s
ne
t
w
or
k
s
(
Manal
Ka
dhi
m
O
udah
)
121
,
,
a
n
d
i
s
r
e
f
e
rr
e
d
t
o
t
h
e
p
r
o
po
r
t
i
o
na
l
,
i
nt
e
g
r
a
l
,
a
nd
de
r
i
v
a
t
i
v
e
c
o
n
s
t
a
n
t
g
a
i
n
r
e
s
pe
c
t
i
v
e
l
y
.
Is
t
h
e
o
ut
put
o
f
P
ID
c
o
n
t
r
o
l
l
e
r,
a
n
d
i
s
e
rr
o
r
s
i
g
na
l
b
e
t
w
e
e
n
t
h
e
i
nput
r
e
f
e
r
e
n
c
e
a
n
d
t
h
e
p
r
o
c
e
s
s
o
ut
put
,
F
i
g
u
r
e
3,
s
h
o
w
s
t
h
e
i
nt
e
rna
l
s
t
r
uc
t
u
r
e
o
f
P
ID
C
w
i
t
h
i
n
p
ut
pa
ra
m
e
t
e
r
s
(
,
,
,
,
a
nd
),
a
n
d
w
i
t
h
a
s
a
n
o
ut
put
p
a
r
a
m
e
t
e
r
[22
,
23]
.
F
i
gu
r
e
3
.
S
i
m
u
l
i
n
k
f
i
gu
r
e
o
f
P
ID
C
T
h
e
c
o
n
t
r
o
l
o
n
c
o
n
ge
s
t
i
o
n
i
n
a
T
CP
n
e
t
w
o
r
k
i
s
c
o
n
s
i
de
r
e
d
a
v
e
r
y
c
o
m
pl
e
x
a
n
d
n
o
n
l
i
n
e
a
r
p
r
o
c
e
s
s
,
s
o
t
h
e
f
uz
z
y
l
o
gi
c
i
s
us
e
d
t
o
r
e
duc
e
t
h
e
e
f
fe
c
t
of
t
h
e
s
e
pr
o
b
l
e
m
s
,
F
i
g
u
r
e
4,
i
s
s
h
o
w
n
a
l
l
b
l
o
c
k
di
a
g
ra
m
s
t
ha
t
de
s
c
r
i
b
e
s
t
h
e
f
uz
z
y
c
o
n
t
r
o
l
l
e
r
o
pe
r
a
t
i
o
n
.
I
n
(
4
)
,
n
o
n
l
i
n
e
a
r
s
a
t
ura
t
e
d
i
n
pu
t
a
n
d
t
i
m
e
-
de
l
a
y
e
d
s
c
h
e
m
e
:
(4)
F
i
gu
r
e
4
.
T
h
e
b
l
o
c
k
di
a
g
ra
m
o
f
f
uz
z
y
c
o
n
t
r
o
l
l
e
r
o
pe
r
a
t
i
o
n
In
t
hi
s
w
o
r
k,
w
e
a
rra
n
ge
d
t
h
e
f
uz
z
y
l
o
gi
c
t
o
s
ub
s
e
t
s
fo
r
a
l
l
i
n
p
ut
s
a
n
d
o
ut
put
s
{
N
B
,
N
M
,
N
S
,
Z
,
P
S
,
P
M
,
P
B
}
,
w
h
e
r
e
e
l
e
m
e
n
t
N
B
r
e
f
e
r
s
t
o
n
e
ga
t
i
v
e
b
i
g,
N
M
ne
ga
t
i
v
e
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ks
,
”
I
n
P
r
oc
e
e
di
ngs
o
f
t
he
13t
h
I
n
t
e
r
na
t
i
o
nal
C
onf
e
r
e
nc
e
on
e
m
e
r
gi
ng
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e
t
w
or
k
i
ng
E
X
pe
r
i
m
e
nt
s
a
nd
T
e
c
hnol
o
gi
e
s
,
pp.
1
67
-
179
,
N
o
v
2017
.
[
6]
H
a
m
i
d
i
a
n
,
H
.
,
&
B
e
h
e
s
h
t
i
,
M
.
T
.
“
A
r
o
bus
t
f
r
a
c
t
i
o
na
l
-
o
r
de
r
P
I
D
c
o
nt
r
o
l
l
e
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s
i
g
n
ba
s
e
d
o
n
a
c
t
i
v
e
qu
e
ue
m
a
na
g
e
m
e
nt
f
o
r
T
C
P
ne
t
w
o
r
k
,
”
I
n
t
e
r
na
t
i
o
na
l
J
ou
r
na
l
of
Sy
s
t
e
m
s
S
c
i
e
nc
e
,
v
o
l
.
49
,
no
.
1
,
pp
.
211
-
21
6
,
20
18
.
[
7]
L
i
u,
Y
.
,
L
i
u,
X
.
,
J
i
ng
,
Y
.
,
Z
ha
ng
,
Z
.
,
&
C
he
n
,
X
.
“
C
o
ng
e
s
t
i
o
n
t
r
a
c
ki
ng
c
o
nt
r
o
l
f
o
r
unc
e
r
t
a
i
n
T
C
P
/
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Q
M
n
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t
w
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k
ba
s
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d
o
n
i
n
t
e
g
r
a
l
ba
c
ks
t
e
p
pi
ng
,
”
I
SA
t
r
an
s
ac
t
i
ons
,
v
o
l
.
89
,
pp
.
131
-
138
,
2
019
.
[
8]
F
l
oy
d,
S
.
,
&
J
a
c
o
bs
o
n,
V
.
“
R
a
ndo
m
e
a
r
l
y
de
t
e
c
t
i
o
n
g
a
t
e
w
a
y
s
f
o
r
c
o
ng
e
s
t
i
o
n
a
v
o
i
da
nc
e
,
”
I
E
E
E
/
A
C
M
T
r
a
ns
a
c
t
i
on
s
on
N
e
t
w
or
k
i
ng
,
v
o
l
.
1
,
no
.
4
,
pp
.
397
-
413
,
199
3
.
[
9]
F
l
oy
d,
S
.
,
G
um
m
a
d
i
,
R
.
,
&
S
he
nk
e
r
,
S
.
“
A
da
p
t
i
v
e
R
E
D
:
A
n
a
l
go
r
i
t
hm
f
o
r
i
nc
r
e
a
s
i
ng
t
h
e
r
o
bus
t
ne
s
s
o
f
R
E
D
’
s
a
c
t
i
v
e
q
ue
u
e
m
a
na
g
e
m
e
n
,
”
unde
r
s
ubm
i
s
s
i
on
,
2001
.
[
10]
A
t
hur
a
l
i
y
a
,
S
.
,
Lo
w
,
S
.
H
.
,
L
i
,
V
.
H
.
,
&
Y
i
n,
Q
.
“
R
E
M
:
A
c
t
i
v
e
que
ue
m
a
na
g
e
m
e
n
t
,
”
I
E
E
E
N
e
t
w
or
k
,
v
o
l
.
15
,
no
.
3
,
pp.
48
-
53
,
200
1
.
[
11]
H
o
l
l
o
t
,
C
.
V
.
,
M
i
s
r
a
,
V
.
,
T
o
w
s
l
e
y
,
D
.
,
&
G
o
ng
,
W
.
“
A
na
l
y
s
i
s
a
n
d
d
e
s
i
g
n
o
f
c
o
nt
r
o
l
l
e
r
s
f
o
r
A
Q
M
r
o
ut
e
r
s
s
up
po
r
t
i
ng
T
C
P
f
l
o
w
s
,
”
I
E
E
E
T
r
a
ns
a
c
t
i
on
s
on
au
t
om
a
t
i
c
c
on
t
r
o
l
,
v
o
l
.
47
,
no
.
6,
pp
.
945
-
959
,
200
2.
[
12]
C
hr
y
s
o
s
t
o
m
o
u,
C
.
,
&
P
i
t
s
i
l
l
i
de
s
,
A
.
“
C
o
ng
e
s
t
i
o
n
c
o
nt
r
o
l
i
n
c
o
m
put
e
r
ne
t
w
o
r
ks
us
i
ng
f
uz
z
y
l
og
i
c
,
”
I
n
P
r
oc
e
e
di
ngs
of
t
he
10t
h
W
SE
A
S
I
n
t
e
r
na
t
i
o
nal
C
o
nf
e
r
e
nc
e
on
C
om
m
u
ni
c
at
i
on
s
,
I
C
C
O
M
,
v
o
l
.
6
,
pp
.
551
-
556
,
J
u
l
200
6
.
[
13]
S
e
n,
K
.
,
C
h
a
kr
a
b
o
r
t
y
,
B
.
,
G
a
y
e
n,
A
.
,
&
D
e
y
,
C
.
“
F
uz
z
y
R
ul
e
-
B
a
s
e
d
S
e
t
P
o
i
n
t
W
e
i
g
ht
i
ng
f
o
r
P
I
D
C
o
nt
r
o
l
l
e
r
,
”
I
n
A
dv
an
c
e
s
i
n
C
om
m
un
i
c
a
t
i
on
,
D
e
v
i
c
e
s
a
nd
N
e
t
w
or
k
i
n
g
,
pp
.
797
-
80
6
,
S
pr
i
ng
e
r
,
S
i
ng
a
po
r
e
,
201
8
.
[
14]
B
o
u
a
z
z
i
,
I
.
,
B
ha
r
,
J
.
,
&
A
t
r
i
,
M
.
“
P
r
i
o
r
i
t
y
-
ba
s
e
d
que
ui
ng
a
nd
t
r
a
n
s
m
i
s
s
i
o
n
r
a
t
e
m
a
na
g
e
m
e
n
t
u
s
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ng
a
f
uz
z
y
l
og
i
c
c
o
nt
r
o
l
l
e
r
i
n
W
S
N
s
,
”
I
C
T
E
x
pr
e
s
s
,
v
o
l
.
3
,
no
.
2
,
pp
.
101
-
1
05
,
2
017
.
[
15]
M
a
r
e
e
v
,
N
.
,
K
a
c
ha
n
,
D
.
,
K
a
r
po
v
,
K
.
,
S
y
z
ov
,
D
.
,
S
i
e
m
e
n
s
,
E
.
,
&
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a
bi
c
h,
Y
.
“
E
f
f
i
c
i
e
nc
y
of
a
P
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D
-
ba
s
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d
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g
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g
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pe
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P
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t
w
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r
ks
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I
n
T
i
t
e
l
:
P
r
oc
e
e
di
ngs
o
f
t
he
6
t
h
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n
t
e
r
na
t
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ona
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onf
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on
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nno
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i
n
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.
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i
bl
i
o
t
he
k
,
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o
c
hs
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hul
e
A
nha
l
t
,
S
e
p
2018
.
[
16]
S
ur
e
s
h
,
M
.
,
H
e
m
a
m
a
l
i
n
i
,
R
.
R
.
,
&
S
r
i
n
i
v
a
s
a
n
,
G
.
J
.
“
F
uz
z
y
L
o
g
i
c
B
a
s
e
d
S
e
t
-
P
o
i
nt
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e
i
g
ht
i
ng
C
o
nt
r
o
l
l
e
r
T
uni
ng
f
o
r
a
n
I
nt
e
r
na
l
M
o
de
l
C
o
nt
r
o
l
B
a
s
e
d
P
I
D
C
o
n
t
r
o
l
l
e
r
,
”
Se
ns
o
r
s
&
T
r
an
s
duc
e
r
s
,
v
o
l
.
109
,
no
.
10
,
p
p.
29
,
200
9
.
[
17]
H
o
l
l
o
t
,
C
.
V
.
,
M
i
s
r
a
,
V
.
,
T
o
w
s
l
e
y
,
D
.
,
&
G
o
ng
,
W
.
B
.
“
A
c
o
nt
r
o
l
t
he
o
r
e
t
i
c
a
na
l
y
s
i
s
o
f
R
E
D
,
I
n
P
r
oc
e
e
di
ngs
I
E
E
E
I
N
F
O
C
O
M
2001
.
C
o
nf
e
r
e
nc
e
on
C
om
p
ut
e
r
C
om
m
u
ni
c
at
i
o
ns
.
T
w
e
nt
i
e
t
h
A
n
nua
l
J
o
i
n
t
C
o
nf
e
r
e
nc
e
of
t
he
I
E
E
E
C
om
put
e
r
and
C
om
m
u
ni
c
at
i
on
s
Soc
i
e
t
y
(
C
at
.
N
o.
0
1C
H
3721
3)
, v
o
l
.
3,
pp
.
151
0
-
1519
,
I
E
E
E
,
A
pr
200
1
.
[
18]
M
a
r
a
m
i
,
B
.
,
&
H
a
e
r
i
,
M
.
“
I
m
pl
e
m
e
n
t
a
t
i
o
n
o
f
M
P
C
a
s
a
n
A
Q
M
c
o
nt
r
o
l
l
e
r
,
”
C
om
pu
t
e
r
C
om
m
un
i
c
a
t
i
ons
,
v
o
l
.
33
,
no
.
2
,
pp.
2
27
-
239
,
2010
.
[
19]
A
z
um
a
,
T
.
,
F
u
j
i
t
a
,
T
.
,
&
F
uj
i
t
a
,
M
.
“
A
de
s
i
g
n
o
f
s
t
a
t
e
p
r
e
d
i
c
t
i
v
e
H
∞
c
o
ng
e
s
t
i
o
n
c
o
nt
r
o
l
l
e
r
s
f
o
r
T
C
P
/
A
Q
M
ne
t
w
o
r
k
s
,
”
T
r
ans
ac
t
i
o
ns
of
t
he
I
n
s
t
i
t
ut
e
o
f
S
y
s
t
e
m
s
,
C
on
t
r
o
l
and
I
n
f
or
m
a
t
i
on
E
ng
i
ne
e
r
s
,
v
o
l
.
18
,
no
.
10
,
pp.
37
3
-
375,
2
005
.
[
20]
B
i
s
oy
,
S
.
K
.
,
&
P
a
t
t
na
i
k
,
P
.
K
.
“
D
e
s
i
g
n
o
f
f
e
e
dba
c
k
c
o
nt
r
o
l
l
e
r
f
o
r
T
C
P
/
A
Q
M
ne
t
w
o
r
ks
,
”
E
ng
i
ne
e
r
i
n
g
Sc
i
e
nc
e
and
T
e
c
hnol
o
gy
,
an
I
n
t
e
r
na
t
i
o
na
l
J
our
na
l
,
v
o
l
.
2
0,
no
.
1
,
pp
.
116
-
132
,
2
017
.
[
21]
W
o
n
g
,
A
.
K
.
,
L
i
n,
W
.
W
.
,
I
p,
M
.
T
.
,
&
D
i
l
l
o
n,
T
.
S
.
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e
n
e
t
i
c
a
l
g
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r
i
t
hm
a
n
d
P
I
D
C
o
nt
r
o
l
t
o
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e
t
he
r
f
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na
m
i
c
a
nt
i
c
i
pa
t
i
v
e
m
a
r
g
i
na
l
buf
f
e
r
m
a
n
a
g
e
m
e
nt
:
a
n
e
f
f
e
c
t
i
v
e
a
pp
r
o
a
c
h
t
o
e
nha
nc
e
de
pe
n
da
b
i
l
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t
y
a
nd
pe
r
f
o
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m
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t
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e
c
t
-
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s
e
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r
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l
-
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m
e
c
o
m
put
i
ng
ov
e
r
t
he
i
nt
e
r
ne
t
,
”
J
ou
r
na
l
o
f
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ar
al
l
e
l
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nd
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i
s
t
r
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b
ut
e
d
C
om
put
i
ng
,
v
o
l
.
62
,
no
.
9
,
pp
.
143
3
-
1453
,
200
2
.
[
22]
A
t
t
i
y
a
,
A
.
J
.
,
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h
ne
e
n,
S
.
W
.
,
A
bba
s
,
B
.
A
.
,
&
W
e
ny
u,
Y
.
“
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a
r
i
a
b
l
e
S
pe
e
d
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o
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l
U
s
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ng
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uz
z
y
-
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o
nt
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l
e
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f
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w
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-
pha
s
e
H
y
br
i
d
S
t
e
pp
i
ng
M
o
t
o
r
i
n
R
o
bo
t
i
c
G
r
i
nd
i
ng
,
”
I
ndo
ne
s
i
an
J
o
ur
n
al
o
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l
e
c
t
r
i
c
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l
E
ng
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ne
e
r
i
ng
an
d
C
om
put
e
r
Sc
i
e
nc
e
,
v
o
l
.
3
,
no
.
1
,
pp
.
102
-
118
,
201
6
.
[
23]
S
hne
e
n,
S
.
W
.
,
S
u
l
t
t
a
n
,
M
.
Q
.
,
&
J
a
be
r
,
M
.
H
.
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V
a
r
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bl
e
s
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e
e
d
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o
nt
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-
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S
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24]
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