I
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Science
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9
,
No
.
1
,
J
an
u
ar
y
201
8
,
p
p
.
2
2
1
~
22
6
I
SS
N:
2502
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4752
,
DOI
: 1
0
.
1
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9
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cs
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v
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.
p
p
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6
221
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cc
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v
7
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2
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1
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L
in
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trac
k
in
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b
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h
a
v
e
b
e
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n
w
id
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ted
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v
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p
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g
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s
c
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tro
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ies
,
a
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ro
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ID)
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m
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ro
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ize
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e
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o
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m
a
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f
a
li
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k
in
g
ro
b
o
t.
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w
e
v
e
r,
th
e
m
o
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iv
a
ti
o
n
o
f
u
sin
g
a
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ID
c
o
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ll
e
r,
in
ste
a
d
o
f
a
p
ro
p
o
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n
a
l
(
P
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o
r
a
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ro
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-
in
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l
(P
I)
c
o
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a
li
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k
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k
h
a
s
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ld
o
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e
n
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d
.
P
a
rti
c
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larly
,
th
e
u
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a
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a
p
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ro
a
c
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g
.
c
lo
se
d
l
o
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p
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e
g
ler
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le
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o
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ti
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ize
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a
ra
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ters
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ID
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a
ted
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h
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s,
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is
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a
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g
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tes
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e
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e
rf
o
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m
a
n
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e
o
f
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,
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I,
a
n
d
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I
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c
o
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ll
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rs
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li
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k
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sk
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n
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th
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a
b
il
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f
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e
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ler
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h
o
ls
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le
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t
im
ize
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a
ra
m
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ters
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f
th
e
P
,
P
I,
a
n
d
P
ID
c
o
n
tr
o
ll
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rs.
F
irst,
th
e
u
lt
im
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te
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in
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lu
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u
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n
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ted
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a
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p
p
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o
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h
.
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e
c
o
n
d
,
th
e
v
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lu
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o
f
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,
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n
d
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te
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u
si
n
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th
e
Zi
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ls
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r
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lae
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h
e
p
e
rf
o
r
m
a
n
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o
f
a
d
iff
e
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e
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l
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e
led
ro
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o
t
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th
e
li
n
e
trac
k
in
g
tas
k
w
a
s
e
v
a
lu
a
ted
u
sin
g
th
re
e
d
if
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e
re
n
t
sp
e
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d
s.
Re
su
lt
s
i
n
d
i
c
a
te
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a
t
t
h
e
Zi
e
g
ler
Nic
h
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ls
ru
le
c
o
u
p
led
w
it
h
th
e
p
ro
p
o
se
d
m
e
th
o
d
is
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b
le
to
i
d
e
n
ti
fy
th
e
p
a
ra
m
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ters
o
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,
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n
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P
ID
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o
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tr
o
ll
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rs
sy
st
e
m
a
ti
c
a
ll
y
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th
e
li
n
e
trac
k
in
g
tas
k
.
F
in
d
in
g
s
in
d
ica
te
th
a
t
th
e
m
o
b
il
e
ro
b
o
t
c
o
u
p
l
e
d
w
it
h
a
p
ro
p
o
rti
o
n
a
l
c
o
n
tro
l
le
r
a
c
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iev
e
d
th
e
b
e
st
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e
rf
o
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m
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n
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m
p
a
re
d
to
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a
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P
ID
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o
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tro
ll
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in
t
h
e
li
n
e
tra
c
k
in
g
p
ro
c
e
ss
w
h
e
n
th
e
e
stim
a
ted
in
it
ial
p
a
ra
m
e
ters
w
e
re
u
se
d
.
K
ey
w
o
r
d
s
:
Dif
f
er
en
t
ial
W
h
ee
led
R
o
b
o
t
L
i
n
e
T
r
ac
k
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p
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tio
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Der
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Z
ie
g
ler
Nich
o
l
s
Co
p
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rig
h
t
©
2
0
1
8
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ki
m
Se
n
g
C
h
ia
,
Facu
lt
y
o
f
E
lectr
ical
a
n
d
E
lect
r
o
n
ic
E
n
g
i
n
ee
r
i
n
g
,
Un
i
v
er
s
iti T
u
n
H
u
s
s
ei
n
On
n
Ma
la
y
s
ia,
8
6
4
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0
P
a
r
it R
aj
a,
B
atu
P
ah
at,
Ma
la
y
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m
ail:
k
s
c
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@
u
t
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m
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
L
i
n
e
f
o
llo
w
er
o
r
lin
e
tr
ac
k
i
n
g
r
o
b
o
ts
h
av
e
b
ee
n
w
id
el
y
i
m
p
le
m
e
n
ted
i
n
v
ar
io
u
s
ap
p
li
ca
tio
n
s
e.
g
.
d
eliv
er
y
s
er
v
ices,
tr
an
s
p
o
r
tatio
n
s
y
s
te
m
s
,
b
lin
d
ass
i
s
ti
v
e,
an
d
ed
u
ca
tio
n
al
[
1
]
a
p
p
licatio
n
s
.
T
h
is
co
u
ld
b
e
d
u
e
to
its
s
i
m
p
lic
it
y
a
n
d
r
eliab
ilit
y
in
ter
m
s
o
f
it
s
d
esig
n
an
d
p
er
f
o
r
m
an
ce
.
A
li
n
e
f
o
llo
w
er
r
o
b
o
t
is
a
s
elf
-
o
p
er
atin
g
r
o
b
o
t
th
at
is
d
esi
g
n
e
d
to
w
o
r
k
o
n
a
g
iv
e
n
li
n
e.
Ge
n
er
all
y
,
t
h
e
s
p
ee
d
an
d
d
ir
ec
tio
n
o
f
a
li
n
e
f
o
llo
w
er
r
o
b
o
t
ca
n
b
e
co
n
tr
o
lled
u
s
in
g
a
s
i
m
p
le
lo
g
ic
t
h
at
b
ased
o
n
t
h
e
s
tate
o
f
s
e
n
s
o
r
s
[
2
,
3
]
.
Ho
w
e
v
er
,
th
i
s
m
ig
h
t
b
e
less
f
lex
ib
le
d
u
e
to
th
e
li
m
ited
s
tates t
h
at
ar
e
av
ailab
le
f
o
r
a
co
m
b
i
n
atio
n
o
f
a
f
e
w
s
en
s
o
r
s
.
A
p
r
o
p
o
r
tio
n
al
-
i
n
teg
r
al
-
d
er
iv
ativ
e
(
P
I
D)
co
n
tr
o
ller
is
o
n
e
o
f
p
o
p
u
lar
class
ical
co
n
tr
o
ller
s
in
n
u
m
er
o
u
s
ap
p
licatio
n
s
.
O
n
e
o
f
th
e
c
h
alle
n
g
e
s
f
o
r
a
P
I
D
co
n
tr
o
ller
is
to
o
b
tain
th
e
o
p
ti
m
al
v
al
u
es
o
f
it
s
p
r
o
p
o
r
tio
n
al,
in
teg
r
al,
a
n
d
d
er
iv
ati
v
e
p
ar
a
m
eter
s
.
E
v
e
n
th
o
u
g
h
ab
u
n
d
an
t
s
tr
ateg
ie
s
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
to
au
to
m
at
icall
y
t
u
n
e
th
e
s
e
p
ar
am
eter
s
[
4
]
,
e.
g
.
A
r
ti
f
icia
l B
ee
C
o
lo
n
y
[
5
]
.
Ho
w
e
v
er
,
th
e
s
e
s
t
r
ateg
ies ar
e
r
ar
el
y
to
b
e
ap
p
lied
d
u
e
to
th
eir
co
m
p
le
x
it
y
.
C
o
n
s
eq
u
en
tl
y
,
cla
s
s
ica
l P
I
D
tu
n
i
n
g
m
e
th
o
d
s
,
e.
g
.
Z
ie
g
le
r
Nich
o
ls
r
u
le,
ar
e
s
till
w
id
el
y
ap
p
lied
in
in
d
u
s
tr
i
es d
u
e
to
th
eir
r
o
b
u
s
t
n
es
s
an
d
s
i
m
p
lic
it
y
[
6
,
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2502
-
4752
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l
.
9
,
No
.
1
,
J
an
u
ar
y
201
8
:
22
1
–
22
6
222
Am
o
n
g
v
ar
io
u
s
co
n
tr
o
l
s
tr
at
eg
ies,
a
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
-
d
er
iv
ati
v
e
(
P
I
D)
co
n
tr
o
ller
h
as
b
ee
n
w
id
el
y
p
r
o
p
o
s
ed
to
o
p
tim
ize
th
e
p
er
f
o
r
m
a
n
ce
o
f
a
li
n
e
tr
a
ck
in
g
r
o
b
o
t
[
8
,
9
]
.
Ho
w
e
v
er
,
th
e
m
o
ti
v
atio
n
o
f
u
s
i
n
g
a
P
I
D
co
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o
ller
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in
s
tea
d
o
f
a
p
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o
p
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tio
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al
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o
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p
r
o
p
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r
tio
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al
-
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n
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r
al
(
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I
)
co
n
tr
o
ller
,
in
a
li
n
e
tr
ac
k
i
n
g
task
h
a
s
s
e
ld
o
m
b
ee
n
d
is
cu
s
s
e
d
.
B
esid
es,
th
e
t
u
n
i
n
g
p
r
o
ce
s
s
o
f
P
I
D
p
ar
a
m
eter
s
h
as
n
o
t b
ee
n
f
u
ll
y
u
n
d
er
s
to
o
d
.
T
h
is
is
b
ec
au
s
e
a
tr
ial
-
an
d
-
er
r
o
r
p
r
ac
tice
h
as b
ee
n
u
s
ed
in
m
o
s
t c
ases
.
T
h
e
clo
s
ed
l
o
o
p
Z
ieg
ler
Nic
h
o
ls
r
u
le
is
a
s
y
s
te
m
at
ic
t
u
n
in
g
ap
p
r
o
ac
h
th
at
h
as
b
ee
n
w
id
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u
s
ed
in
in
d
u
s
tr
ies
to
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p
ti
m
ize
th
e
p
ar
a
m
eter
s
o
f
a
P
I
D
co
n
tr
o
ller
.
I
n
f
ac
t,
Z
ieg
ler
Nich
o
ls
r
u
le
h
as
b
ee
n
w
id
el
y
u
s
ed
as
a
b
en
ch
m
ar
k
to
t
u
n
e
P
I
D
p
ar
a
m
eter
s
i
n
n
u
m
er
o
u
s
s
tu
d
ie
s
[
1
0
,
1
1
]
.
T
h
is
co
u
ld
b
e
d
u
e
to
th
e
f
ac
t
t
h
at
t
h
e
i
m
p
le
m
en
ta
tio
n
o
f
t
h
e
clo
s
ed
lo
o
p
Z
ieg
ler
N
ich
o
ls
r
u
le
d
o
e
s
n
o
t
n
ee
d
t
h
e
i
n
f
o
r
m
atio
n
o
f
a
m
o
d
el,
an
d
i
t
is
lik
el
y
to
ac
h
ie
v
e
s
ati
s
f
ac
to
r
y
p
er
f
o
r
m
a
n
ce
.
C
o
n
s
eq
u
e
n
tl
y
,
v
ar
io
u
s
GUI
o
r
s
i
m
u
lato
r
h
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e
b
ee
n
d
ev
elo
p
ed
to
o
b
s
er
v
e
th
e
ef
f
ec
t o
f
Z
ie
g
ler
Nich
o
ls
t
u
n
in
g
m
et
h
o
d
[
7
,
1
2
]
.
Desp
ite
th
e
s
i
m
p
lici
t
y
a
n
d
r
o
b
u
s
t
n
es
s
o
f
Z
ieg
ler
Nich
o
ls
r
u
l
e,
th
e
u
s
e
o
f
Z
ie
g
ler
-
Nic
h
o
ls
r
u
le
to
f
i
n
d
th
e
p
ar
a
m
eter
s
o
f
a
P
I
D
co
n
tr
o
ller
in
a
lin
e
tr
ac
k
in
g
r
o
b
o
t
h
as
r
ar
el
y
b
ee
n
r
ep
o
r
ted
an
d
i
n
v
e
s
ti
g
ated
.
On
e
o
f
th
e
c
h
alle
n
g
e
s
of
a
p
p
l
y
in
g
t
h
e
clo
s
ed
lo
o
p
Z
ieg
ler
-
Nic
h
o
ls
r
u
le
i
n
a
li
n
e
tr
ac
k
in
g
r
o
b
o
t
is
to
f
ig
u
r
e
o
u
t
t
h
e
u
lti
m
ate
g
ain
,
K
u
a
n
d
u
lti
m
ate
p
er
io
d
o
f
o
s
cillatio
n
,
P
u
.
T
h
e
u
lti
m
ate
g
ai
n
,
K
u
an
d
u
lti
m
ate
p
er
io
d
o
f
o
s
cillatio
n
,
P
u
ar
e
t
w
o
cr
u
c
ial
p
ar
a
m
eter
s
th
at
ca
n
o
n
l
y
b
e
co
m
p
u
ted
w
h
e
n
a
s
y
s
te
m
is
p
er
f
o
r
m
i
n
g
a
s
i
m
p
le
h
ar
m
o
n
ic
o
s
ci
llatio
n
.
T
h
u
s
,
a
s
tr
ateg
y
i
s
n
ee
d
ed
to
o
b
tain
t
h
e
K
u
an
d
P
u
s
o
t
h
at
Z
ie
g
ler
Nich
o
ls
r
u
le
ca
n
b
e
co
r
r
ec
tly
i
m
p
le
m
en
ted
to
esti
m
ate
t
h
e
p
ar
a
m
eter
s
o
f
a
P
I
D
co
n
tr
o
ller
f
o
r
a
lin
e
tr
ac
k
i
n
g
r
o
b
o
t.
T
h
u
s
,
t
h
is
p
ap
er
ai
m
s
to
i
n
v
esti
g
a
te
t
h
e
ab
ilit
y
o
f
th
e
Z
ie
g
ler
Nic
h
o
ls
r
u
le
to
e
s
ti
m
ate
th
e
i
n
it
ial
p
ar
am
eter
s
o
f
t
h
e
P
,
P
I
,
an
d
P
I
D
co
n
tr
o
ller
s
,
a
n
d
to
e
v
alu
a
te
th
e
p
er
f
o
r
m
an
ce
s
o
f
P
,
P
I
,
an
d
P
I
D
co
n
tr
o
ller
s
i
n
co
n
tr
o
llin
g
a
m
o
b
ile
r
o
b
o
t f
o
r
a
lin
e
tr
ac
k
i
n
g
tas
k
w
h
e
n
t
h
e
e
s
ti
m
ated
p
ar
am
e
ter
s
ar
e
u
s
ed
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
Dif
f
er
ent
ia
l Whee
led R
o
bo
t
An
A
r
d
u
i
n
o
-
co
n
tr
o
llab
le
tr
ac
k
ed
r
o
b
o
t
p
latf
o
r
m
(
P
o
lo
lu
Z
u
m
o
R
o
b
o
t)
,
also
k
n
o
w
n
a
s
a
d
if
f
er
e
n
tial
w
h
ee
led
r
o
b
o
t,
w
a
s
u
s
ed
i
n
th
i
s
s
tu
d
y
.
T
h
is
r
o
b
o
t
co
n
s
is
t
s
o
f
a
Z
u
m
o
s
h
ield
,
an
A
r
d
u
i
n
o
UN
O
R
3
m
icr
o
co
n
tr
o
ller
,
t
w
o
h
i
g
h
s
p
e
ed
(
3
0
:1
h
ig
h
p
o
w
er
m
icr
o
m
etal
g
ea
r
)
D
C
b
r
u
s
h
ed
m
o
to
r
s
,
an
d
a
r
ef
lecta
n
ce
s
en
s
o
r
ar
r
ay
(
s
i
x
p
air
s
o
f
r
ef
le
ctan
ce
s
e
n
s
o
r
s
)
; a
n
d
is
p
o
w
er
e
d
b
y
f
o
u
r
AA
r
ec
h
ar
g
ea
b
le
b
at
ter
ies.
2
.
2
.
T
esting
F
ield
A
5
0
c
m
×
7
5
c
m
w
h
i
te
ca
r
d
b
o
ar
d
w
as
u
s
ed
as
t
h
e
b
ac
k
g
r
o
u
n
d
o
f
t
h
e
te
s
ti
n
g
f
ield
.
A
b
lac
k
m
as
k
i
n
g
tap
e
w
it
h
a
w
id
t
h
o
f
2
c
m
w
a
s
u
s
ed
to
co
n
s
tr
u
ct
a
1
6
4
cm
c
o
n
tin
u
o
u
s
tr
ac
k
i
n
g
lin
e
as
ill
u
s
tr
ated
in
Fi
g
u
r
e
1.
A
co
n
tin
u
o
u
s
tr
ac
k
i
n
g
li
n
e
w
a
s
u
s
ed
s
o
th
at
t
h
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
lin
e
tr
ac
k
i
n
g
r
o
b
o
t
ca
n
b
e
o
b
s
er
v
ed
co
n
tin
u
o
u
s
l
y
in
a
li
m
ited
s
p
ac
e.
Fig
u
r
e
1
.
T
h
e
m
o
b
ile
r
o
b
o
t o
n
th
e
test
i
n
g
f
ie
ld
2
.
3
.
L
ine Tra
ck
i
ng
Alg
o
rit
hm
Ma
tlab
(
R
2
0
1
3
b
)
Si
m
u
lin
k
co
u
p
led
w
i
th
Z
u
m
o
B
o
t
L
ib
(
ad
af
r
u
it)
w
as
u
s
ed
to
tu
n
e
t
h
e
p
ar
am
eter
s
o
f
P
,
P
I
,
an
d
P
I
D
co
n
tr
o
ller
s
o
f
th
e
m
o
b
ile
r
o
b
o
t.
T
h
e
s
ig
n
al
s
o
f
t
h
e
r
ef
lecta
n
ce
s
e
n
s
o
r
ar
r
ay
w
er
e
ca
lib
r
ated
w
it
h
a
v
al
u
e
f
r
o
m
ze
r
o
to
5
0
0
0
.
T
h
e
r
ea
d
in
g
w
o
u
ld
ap
p
r
o
ac
h
to
ze
r
o
,
2
5
0
0
,
an
d
5
0
0
0
w
h
e
n
t
h
e
b
lack
li
n
e
w
a
s
o
n
th
e
le
f
t,
t
h
e
m
id
d
le,
an
d
t
h
e
r
ig
h
t
o
f
t
h
e
r
ef
lec
tan
ce
s
en
s
o
r
ar
r
ay
.
I
n
o
r
d
er
to
tr
ac
k
a
g
i
v
en
lin
e,
t
h
e
ai
m
o
f
th
e
r
o
b
o
t is to
m
ai
n
tai
n
its
d
es
ir
ed
p
o
s
itio
n
(
i.e
.
th
e
v
al
u
e
o
f
2
5
0
0
)
w
it
h
a
m
i
n
i
m
u
m
d
ev
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o
n
b
y
ad
j
u
s
ti
n
g
t
h
e
s
p
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d
s
o
f
i
ts
le
f
t a
n
d
r
ig
h
t D
C
m
o
to
r
s
ac
co
r
d
in
g
to
th
e
E
q
u
ar
tio
n
1
an
d
E
q
u
atio
n
2.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
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n
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n
J
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lec
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g
&
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o
m
p
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N:
2502
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4752
Zieg
ler
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ich
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ls
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a
s
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r
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p
o
r
tio
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l
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g
r
a
l
-
Deriva
tive
C
o
n
tr
o
ller
…
(
K
im
S
en
g
C
h
ia
)
223
V
L
=
V
–
ω
L
/2
(
1
)
V
R
=
V
+
ω
L
/2
(
2
)
W
h
er
e,
V
L
an
d
V
R
ar
e
th
e
s
p
ee
d
s
o
f
th
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lef
t
a
n
d
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h
t
m
o
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r
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y
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t
h
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;
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is
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h
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a
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o
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D
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o
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at
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s
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g
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ate
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ω
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n
t
in
u
o
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s
l
y
s
o
t
h
at
t
h
e
s
p
ee
d
o
f
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o
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t
a
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d
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h
t
m
o
to
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n
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e
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s
u
ch
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a
y
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th
at
t
h
e
r
o
b
o
t
ca
n
f
o
llo
w
t
h
e
g
i
v
e
n
lin
e
w
it
h
a
m
in
i
m
u
m
d
ev
iatio
n
.
2
.
4
.
Z
ieg
ler
Nic
ho
ls
I
n
th
i
s
s
t
u
d
y
,
a
clo
s
ed
-
lo
o
p
Z
i
eg
ler
Nic
h
o
ls
r
u
le
w
as
u
s
ed
t
o
f
in
d
t
h
e
p
ar
a
m
eter
s
o
f
a
P
,
P
I
,
o
r
PID
co
n
tr
o
ller
f
o
r
th
e
m
o
b
ile
r
o
b
o
t
in
l
in
e
tr
ac
k
i
n
g
p
r
o
ce
s
s
.
Fir
s
t,
th
e
r
e
f
lecta
n
ce
s
e
n
s
o
r
ar
r
ay
w
as
ca
lib
r
ated
to
d
if
f
er
e
n
tiate
t
h
e
b
lac
k
li
n
e
an
d
w
h
ite
b
ac
k
g
r
o
u
n
d
.
Seco
n
d
,
b
o
th
in
te
g
r
al,
K
I
a
n
d
d
er
iv
at
iv
e,
K
D
p
ar
a
m
eter
s
w
er
e
s
et
to
ze
r
o
s
o
th
at
o
n
l
y
t
h
e
p
r
o
p
o
r
tio
n
al
p
a
r
am
eter
,
K
P
w
as
u
s
ed
to
p
er
f
o
r
m
a
p
r
o
p
o
r
tio
n
al
co
n
tr
o
ller
f
o
r
th
e
li
n
e
tr
ac
k
i
n
g
p
r
o
ce
s
s
.
T
h
ir
d
,
th
e
s
p
ee
d
o
f
th
e
m
o
b
ile
r
o
b
o
t
w
as
s
et
to
2
5
c
m
/s
.
T
h
en
,
t
h
e
v
al
u
e
o
f
K
P
w
as
g
r
ad
u
all
y
i
n
cr
ea
s
ed
u
n
til
t
h
e
m
o
b
ile
r
o
b
o
t
w
as
o
s
cillat
in
g
w
it
h
an
ap
p
r
o
x
i
m
a
tel
y
co
n
s
is
ten
t
a
m
p
li
tu
d
e
as
illu
s
tr
ated
in
Fi
g
u
r
e
2
.
Fig
u
r
e
2
.
T
h
e
p
o
s
itio
n
o
f
th
e
d
if
f
er
en
tia
l
w
h
ee
led
r
o
b
o
t v
er
s
u
s
t
h
e
ti
m
e
Af
ter
t
h
at,
th
e
m
o
v
e
m
en
t
o
f
th
e
m
o
b
ile
r
o
b
o
t
w
as
ca
p
tu
r
ed
u
s
in
g
a
v
id
eo
ca
m
er
a.
Fro
m
t
h
e
ca
p
tu
r
ed
v
id
eo
,
th
e
ti
m
e
ta
k
e
n
f
o
r
t
h
e
m
o
b
ile
r
o
b
o
t to
co
m
p
lete
2
0
s
tab
le
o
s
cillatio
n
s
co
n
ti
n
u
o
u
s
l
y
w
as
r
ec
o
r
d
ed
.
A
f
ter
th
at,
t
h
e
u
lti
m
ate
p
er
io
d
,
P
u
ca
n
b
e
ap
p
r
o
x
i
m
a
ted
b
y
d
i
v
id
in
g
t
h
e
ti
m
e
tak
e
n
b
y
2
0
.
T
h
is
s
tr
ateg
y
w
as
u
s
ed
to
esti
m
ate
t
h
e
P
u
b
ec
au
s
e
t
h
e
ti
m
e
ta
k
e
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m
p
lete
a
n
o
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ci
l
latio
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le
s
s
th
a
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t
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o
n
d
s
.
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h
e
u
l
ti
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ate
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ai
n
K
c
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o
th
er
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a
n
d
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t
h
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s
a
m
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t
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e
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t
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at
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u
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ed
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e
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n
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i
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te
n
t
o
s
c
illatio
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T
h
e
ab
o
v
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r
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ce
d
u
r
e
w
as
r
ep
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ted
u
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in
g
t
w
o
d
i
f
f
er
en
t s
p
ee
d
s
o
f
5
0
cm
/s
a
n
d
7
5
cm
/s
.
Af
ter
co
m
p
leti
n
g
t
h
e
e
x
p
er
i
m
en
t
w
i
th
t
h
r
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f
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t
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ee
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h
e
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ated
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d
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u
s
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ate
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itial
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ar
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eter
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ical
Z
ie
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ler
Nich
o
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o
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as t
h
at
tab
u
l
ated
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ab
le
1
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ab
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h
e
f
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I
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d
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D
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d
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P
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u
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P
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2502
-
4752
I
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Sci,
Vo
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9
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1
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J
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201
8
:
22
1
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6
224
3.
RE
SU
L
T
S
A
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SI
S
3
.
1
.
Dif
f
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Sp
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2
tab
u
lates
th
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s
o
f
K
u
a
n
d
P
u
f
o
r
th
e
m
o
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o
b
o
t
w
it
h
d
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f
f
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n
t
s
p
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s
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h
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u
lti
m
ate
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ain
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u
w
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cr
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ed
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n
t
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p
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t
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at
t
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m
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a
h
ig
h
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p
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ir
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p
v
alu
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is
ten
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m
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u
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o
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icate
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atter
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r
eith
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m
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h
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f
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ath
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f
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d
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d
if
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u
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m
ate
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ai
n
.
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ab
le
2
.
T
h
e
v
alu
e
s
o
f
K
u
an
d
P
u
f
o
r
th
e
m
o
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ile
r
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b
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t w
it
h
d
i
f
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d
s
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2
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3
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h
o
w
s
t
h
at
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I
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d
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D
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n
tr
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ller
s
w
it
h
d
i
f
f
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n
t
p
ar
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eter
s
w
er
e
est
i
m
ated
b
ec
au
s
e
t
h
e
m
o
b
ile
r
o
b
o
t
w
it
h
d
i
f
f
er
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n
t
s
p
ee
d
s
h
ad
d
i
f
f
er
en
t
v
a
lu
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s
o
f
t
h
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u
lti
m
ate
g
a
in
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d
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lt
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m
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te
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.
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h
is
s
h
o
u
l
d
b
e
ex
p
ec
ted
b
ec
au
s
e
d
if
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t
K
p
an
d
P
u
w
er
e
n
e
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ed
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o
r
th
e
m
o
b
ile
r
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b
o
t
to
p
er
f
o
r
m
a
s
tab
le
o
s
cillatio
n
w
h
e
n
th
e
s
p
ee
d
o
f
t
h
e
r
o
b
o
t w
as d
if
f
er
en
t.
T
ab
le
3
.
T
h
e
p
ar
am
eter
s
o
f
P
,
P
I
,
an
d
P
I
D
co
n
tr
o
ller
s
f
o
r
th
e
m
o
b
ile
r
o
b
o
t w
it
h
d
if
f
er
e
n
t sp
ee
d
s
S
p
e
e
d
(
c
m/
s)
C
o
n
t
r
o
l
l
e
r
K
P
K
I
K
D
25
P
0
.
0
2
8
0
0
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0
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0
2
5
0
.
1
2
0
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I
D
0
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0
3
3
0
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0
46
0
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0
0
6
50
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0
3
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0
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0
2
7
1
.
1
08
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I
D
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0
3
5
0
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6
65
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1
6
6
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5
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1
.
4
25
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D
0
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0
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0
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8
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0
.
2
1
4
T
ab
le
4
tab
u
lates
th
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
m
o
b
ile
r
o
b
o
t
f
o
r
co
m
p
let
in
g
a
cir
cle
o
f
t
h
e
li
n
e
tr
ac
k
i
n
g
ap
p
licatio
n
w
h
en
d
if
f
er
e
n
t
s
p
ee
d
s
an
d
co
n
tr
o
ller
s
w
er
e
ap
p
lied
.
B
y
in
s
p
ec
tio
n
,
th
e
m
o
b
il
e
r
o
b
o
t
th
at
u
s
ed
a
p
r
o
p
o
r
tio
n
al
co
n
tr
o
ller
ac
h
iev
ed
th
e
b
est
p
er
f
o
r
m
an
ce
a
m
o
n
g
o
th
er
co
n
tr
o
ller
s
f
o
r
th
e
th
r
e
e
d
if
f
er
e
n
t
s
p
ee
d
s
.
I
n
ter
esti
n
g
l
y
,
th
e
m
o
b
ile
r
o
b
o
t
th
at
u
s
ed
t
h
e
i
n
itia
l
est
i
m
a
te
d
P
I
D
co
n
tr
o
ller
p
r
o
d
u
ce
d
th
e
w
o
r
s
t
p
er
f
o
r
m
a
n
ce
f
o
r
th
e
t
h
r
ee
d
if
f
er
en
t
s
p
ee
d
s
.
T
h
is
s
u
g
g
e
s
ts
t
h
at
t
h
e
Z
ie
g
le
r
Nich
o
ls
r
u
le
h
a
s
s
u
cc
e
s
s
f
u
ll
y
es
ti
m
ated
a
g
o
o
d
v
alu
e
f
o
r
p
r
o
p
o
r
tio
n
al
co
n
tr
o
ll
er
o
n
l
y
f
o
r
t
h
e
ap
p
licatio
n
.
Ma
n
u
al
o
p
ti
m
izatio
n
b
ased
o
n
a
r
u
le
o
f
th
u
m
b
o
r
a
h
eu
r
i
s
tic
ap
p
r
o
ac
h
is
n
ee
d
ed
to
o
p
tim
ize
t
h
e
p
er
f
o
r
m
a
n
ce
f
o
r
P
I
an
d
P
I
D
c
o
n
tr
o
ller
s
.
I
t
is
w
o
r
t
h
to
h
ig
h
li
g
h
t
t
h
at
a
n
i
n
teg
r
al
co
n
tr
o
ller
is
co
m
m
o
n
l
y
u
s
ed
to
r
e
m
o
v
e
an
e
x
i
s
t
in
g
o
f
f
s
et.
Ho
w
e
v
er
,
an
o
f
f
s
et
m
i
g
h
t
n
o
t
ex
is
t
i
n
t
h
is
l
in
e
tr
ac
k
in
g
p
r
o
ce
s
s
.
I
n
o
th
er
w
o
r
d
s
,
ad
d
in
g
a
n
in
te
g
r
al
co
n
tr
o
ller
co
u
ld
b
e
r
ed
u
n
d
a
n
t,
a
n
d
co
n
s
eq
u
en
tl
y
i
t
co
u
ld
d
e
g
r
ad
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
m
o
b
ile
r
o
b
o
t.
T
h
is
is
p
o
s
s
ib
le
b
ec
au
s
e
an
i
n
teg
r
al
co
n
tr
o
ller
ten
d
s
to
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lo
w
d
o
w
n
t
h
e
r
esp
o
n
s
e
o
f
a
co
n
tr
o
ller
.
Fo
r
ex
am
p
l
e,
th
e
m
o
b
ile
r
o
b
o
t
th
at
u
s
ed
a
P
I
co
n
tr
o
ller
is
o
n
l
y
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le
to
ac
h
iev
e
s
i
m
ilar
o
r
w
o
r
s
e
p
er
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o
r
m
a
n
ce
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m
p
a
r
ed
to
th
at
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ed
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co
n
tr
o
ller
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o
r
th
e
t
h
r
e.
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w
e
v
er
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n
l
y
t
h
e
m
o
b
ile
r
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b
o
t
th
at
ap
p
lied
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an
d
P
I
co
n
tr
o
ller
s
d
e
m
o
n
s
tr
ated
t
h
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s
ex
p
ec
ted
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er
f
o
r
m
a
n
ce
.
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h
e
m
o
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ile
r
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b
o
t
th
at
u
s
ed
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D
f
o
r
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s
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s
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n
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v
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e
w
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s
e
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er
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m
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n
ce
t
h
an
th
at
ap
p
lied
PID
f
o
r
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s
p
ee
d
o
f
5
0
c
m
/s
.
T
h
is
i
s
b
ec
au
s
e
th
e
m
o
b
ile
r
o
b
o
t
w
it
h
t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4752
Zieg
ler
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ab
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h
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m
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ile
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o
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[
1
3
]
.
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w
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h
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ap
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CO
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SI
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D
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li
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tr
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p
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ce
s
s
.
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h
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n
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e
ac
co
m
p
lis
h
ed
b
y
u
s
in
g
t
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ate
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eter
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g
ler
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ls
’
f
o
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lae.
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o
t
h
er
w
o
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d
s
,
a
tr
ial
-
an
d
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eth
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d
to
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ti
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ate
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eter
s
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f
t
h
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co
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tr
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r
s
ca
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av
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v
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th
ele
s
s
,
b
ac
k
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d
k
n
o
w
l
ed
g
e
is
n
ee
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ed
to
id
en
tify
a
s
u
itab
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co
n
tr
o
ller
to
s
u
it
p
ar
tic
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lar
ap
p
licatio
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s
.
T
h
e
b
est
co
n
tr
o
ller
f
o
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th
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li
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e
tr
ac
k
in
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p
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ce
s
s
w
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t
h
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P
co
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tr
o
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a
m
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g
P
I
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d
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D
co
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tr
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s
.
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h
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ig
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er
t
h
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s
p
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d
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f
a
m
o
b
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t,
th
e
h
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g
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p
v
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w
as
r
eq
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ir
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to
m
ai
n
tai
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co
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is
ten
t
o
s
cil
lati
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g
m
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v
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m
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n
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T
h
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est
p
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f
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ce
w
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s
ac
h
iev
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co
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tr
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ller
s
f
o
r
th
e
th
r
ee
d
if
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er
en
t
s
p
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d
s
.
Fin
d
i
n
g
s
al
s
o
s
h
o
w
th
at
t
h
e
s
e
lectio
n
o
f
t
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t
y
p
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f
co
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tr
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ller
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i
s
cr
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ci
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l
to
ac
h
ie
v
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th
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b
es
t
p
er
f
o
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m
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n
ce
.
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ar
ticu
lar
l
y
,
t
h
e
u
s
e
o
f
a
co
m
p
le
x
co
n
tr
o
ller
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I
D
co
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tr
o
ller
,
d
id
n
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t
ac
h
ie
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t
h
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b
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p
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ce
w
h
e
n
t
h
e
esti
m
a
ted
p
ar
am
eter
s
b
y
m
ea
n
s
o
f
t
h
e
Z
ieg
ler
-
Nic
h
o
ls
r
u
le.
T
h
u
s
,
th
e
s
elec
tio
n
o
f
a
s
u
itab
le
co
n
tr
o
ller
s
h
o
u
ld
b
e
m
ad
e
ac
co
r
d
in
g
to
t
h
e
n
at
u
r
e
o
f
a
g
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e
n
s
y
s
te
m
.
B
esid
es,
a
s
i
m
p
le
co
n
tr
o
ller
,
e.
g
.
P
co
n
tr
o
ller
,
s
h
o
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ld
b
e
co
n
s
id
er
ed
f
ir
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t b
e
f
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m
o
r
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co
m
p
lex
co
n
tr
o
ller
s
ar
e
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m
p
le
m
e
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ted
.
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NO
WL
E
D
G
M
E
NT
S
T
h
e
au
th
o
r
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o
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ld
lik
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to
ac
k
n
o
w
led
g
e
R
e
s
ea
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a
n
d
I
n
n
o
v
atio
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Fu
n
d
p
r
o
v
id
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b
y
t
h
e
Of
f
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f
o
r
R
esear
ch
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I
n
n
o
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,
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o
m
m
er
cializa
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C
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ltan
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Ma
n
a
g
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t
(
OR
I
C
C
)
,
R
MC,
Un
i
v
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s
iti
T
u
n
Hu
s
s
ei
n
On
n
Ma
la
y
s
ia
(
UT
HM
)
f
o
r
p
r
o
v
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f
i
n
an
c
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s
u
p
p
o
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t,
an
d
Fa
cu
lt
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o
f
E
lectr
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an
d
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lectr
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ic
E
n
g
i
n
ee
r
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n
g
,
UT
HM
f
o
r
p
r
o
v
i
d
in
g
f
ac
ilit
ie
s
f
o
r
th
is
s
tu
d
y
;
an
d
Mr
Am
ir
Yass
er
f
o
r
ac
q
u
ir
in
g
t
h
e
d
ata
n
ee
d
ed
in
th
is
s
t
u
d
y
.
RE
F
E
R
E
NC
E
S
[1
]
Ib
ra
h
im
,
D.
a
n
d
A
lsh
a
n
a
b
leh
,
T
.
A
n
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n
d
e
rg
ra
d
u
a
te
f
u
z
z
y
lo
g
ic
c
o
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tro
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lab
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si
n
g
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li
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e
f
o
ll
o
w
in
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t
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Co
m
p
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ter
Ap
p
li
c
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ti
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E
n
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n
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rin
g
Ed
u
c
a
ti
o
n
,
2
0
1
1
;
19
(4
):
6
3
9
-
6
4
6
.
[2
]
P
a
k
d
a
m
a
n
,
M
.
a
n
d
S
a
n
a
a
ti
y
a
n
,
M
.
M
.
De
sig
n
a
n
d
Imp
lem
e
n
t
a
ti
o
n
o
f
L
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n
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Fo
l
lo
we
r
Ro
b
o
t
.
S
e
c
o
n
d
In
tern
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ti
o
n
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l
Co
n
f
e
re
n
c
e
o
n
Co
m
p
u
ter an
d
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
.
2
0
0
9
;
2
:
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8
5
-
5
9
0
.
[3
]
Ha
sa
n
,
K.M
.
,
A
l
-
Na
h
id
,
A
.
,
a
n
d
A
l
M
a
m
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n
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A
.
Imp
lem
e
n
ta
ti
o
n
o
f
a
u
to
n
o
m
o
u
s
l
in
e
f
o
ll
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o
t
.
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n
tern
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ti
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l
Co
n
f
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n
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e
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In
f
o
rm
a
ti
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s,
El
e
c
tro
n
ics
&
V
isio
n
(IC
IE
V
).
2
0
1
2
:
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6
5
-
8
6
9
.
[4
]
Kia
m
He
o
n
g
,
A
.
,
Ch
o
n
g
,
G
.
,
a
n
d
Yu
n
,
L
.
P
ID
c
o
n
tr
o
l
sy
ste
m
a
n
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l
y
sis,
d
e
sig
n
,
a
n
d
tec
h
n
o
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y
.
IEE
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T
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n
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c
ti
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S
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T
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n
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g
y
,
2
0
0
5
;
13
(
4
):
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5
9
-
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7
6
.
[5
]
El
sisi,
M
.
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S
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n
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M
.
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A
b
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a
rit
ies
.
In
d
o
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f
El
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En
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0
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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9
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1
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J
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201
8
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6
226
[6
]
M
a
ll
e
sh
a
m
,
G
.
,
M
ish
ra
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S
.
,
a
n
d
Jh
a
,
A
.
N.
Z
ieg
ler
-
Nich
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b
a
se
d
c
o
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tro
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e
r
p
a
r
a
me
t
e
rs
tu
n
i
n
g
f
o
r
lo
a
d
fre
q
u
e
n
c
y
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o
n
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l
in
a
mic
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rid
.
In
ter
n
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ti
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l
Co
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f
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re
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c
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o
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En
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rg
y
,
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u
to
m
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ti
o
n
,
a
n
d
S
ig
n
a
l
(ICEA
S
).
2
0
1
1
:
1
-
8.
[7
]
A
b
d
u
lam
e
e
r,
A
.
,
S
u
laim
a
n
,
M
.
,
A
ra
s,
M
.
,
a
n
d
S
a
lee
m
,
D.
T
u
n
in
g
M
e
th
o
d
s
o
f
P
ID
Co
n
tro
l
ler
f
o
r
DC
M
o
to
r
S
p
e
e
d
Co
n
tr
o
l
.
In
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
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e
rin
g
a
n
d
C
o
mp
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t
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r S
c
ien
c
e
,
2
0
1
6
;
3
(
2
):
3
4
3
-
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4
9
.
[8
]
Fu
-
h
u
a
,
J.
a
n
d
Ba
o
T
ru
n
g
,
M
.
B
u
i
ld
in
g
a
n
a
u
t
o
n
o
mo
u
s li
n
e
tr
a
c
in
g
c
a
r wit
h
PID
a
l
g
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h
m
.
1
0
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h
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g
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In
telli
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e
n
t
Co
n
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o
l
a
n
d
A
u
to
m
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ti
o
n
(W
CICA
).
2
0
1
2
:
4
4
7
8
-
4
4
8
3
.
[9
]
Ch
ia,
K.S
.
a
n
d
Ya
p
,
X.Y.
A
P
o
rtab
le
P
ID
Co
n
tr
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l
L
e
a
rn
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g
To
o
l
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y
M
e
a
n
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o
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a
M
o
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Ro
b
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t
.
In
ter
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ti
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l
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o
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rn
a
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f
On
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E
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g
,
2
0
1
6
;
12
(6
)
:
5
4
-
5
7
.
[1
0
]
Ko
rk
m
a
z
,
M
.
,
Ay
d
o
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d
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O.,
a
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Do
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a
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H.
De
sig
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a
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p
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rm
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ti
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it
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.
In
tern
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m
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n
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telli
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s an
d
A
p
p
li
c
a
ti
o
n
s (INIS
T
A
).
2
0
1
2
:
1
-
5.
[1
1
]
Ka
n
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ji
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,
R.
G
.
a
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d
M
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mo
to
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d
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u
sin
g
p
a
rticle
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rm
o
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t
imiza
ti
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n
.
In
te
rn
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ti
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l
Co
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re
n
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ies
(A
P
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).
2
0
1
2
:
1
-
6.
[1
2
]
A
b
d
u
lam
e
e
r,
A
.
,
S
u
laim
a
n
,
M
.
,
A
ra
s,
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.
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d
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lee
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D.
G
UI
Ba
s
e
d
Co
n
tr
o
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S
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ste
m
A
n
a
l
y
sis
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sin
g
P
ID
Co
n
tro
ll
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f
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Ed
u
c
a
ti
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n
.
I
n
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
E
lec
trica
l
E
n
g
i
n
e
e
rin
g
a
n
d
C
o
mp
u
ter
S
c
ien
c
e
,
2
0
1
6
;
3
(1
):
9
1
-
1
0
1
.
[1
3
]
Din
g
,
J.,
L
i,
Z.
,
a
n
d
P
a
n
,
T
.
C
o
n
t
ro
l
S
y
ste
m
T
e
a
c
h
in
g
a
n
d
Ex
p
e
rime
n
t
Us
in
g
L
E
G
O
M
IND
S
T
OR
M
S
NX
T
Ro
b
o
t
.
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
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f
I
n
fo
rm
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a
n
d
E
d
u
c
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
,
2
0
1
7
;
7
(
4
):
3
0
9
-
3
1
3
.
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