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1
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J
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ar
y
201
8
,
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.
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3
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I
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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
:
7
3
–
76
74
I
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T
H
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D
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p
ap
er
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r
o
p
o
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F
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zz
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e
x
p
an
s
io
n
co
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tr
o
l
s
h
o
w
.
T
h
e
co
n
tr
o
l
m
o
d
el
is
m
ad
e
o
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t
o
f
th
e
Fu
zz
y
co
n
tr
o
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d
co
n
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er
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ato
r
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co
n
tr
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w
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ar
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as
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o
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w
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th
a
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o
r
t
o
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ca
n
n
y
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n
tr
o
l
s
w
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tch
g
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v
e
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g
m
e
n
tatio
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et.
T
h
e
y
ield
c
o
m
p
u
tatio
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o
f
t
h
e
Fu
zz
y
[
1
1
]
co
n
tr
o
ller
d
ep
en
d
s
o
n
t
h
e
m
e
asu
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estrictio
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at
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e
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s
u
b
o
r
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ate
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eg
r
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,
d
ev
elo
p
m
e
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t
in
v
e
s
ti
g
atio
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ten
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io
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ch
a
n
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an
d
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illi
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es
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en
t
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o
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le
s
.
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Fu
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g
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e
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m
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o
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Fu
z
z
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o
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[
1
2
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,
d
ev
elo
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m
e
n
t
co
n
tr
o
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,
p
o
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c
h
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g
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(
C
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an
d
p
lan
t.
T
h
e
f
u
zz
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ex
te
n
s
io
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co
n
tr
o
l stru
ct
u
r
e
ap
p
ea
r
s
as th
e
f
ig
u
r
e
1
.
T
h
e
u
p
p
er
lay
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ex
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io
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co
n
tr
o
ller
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atab
ase,
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ase.
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ase
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tili
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s
s
a
n
d
m
aster
lear
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iv
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all
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[
1
3
]
.
T
h
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n
ti
al
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co
n
tr
o
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b
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r
d
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ate
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eg
r
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tat
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ea
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r
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d
esig
n
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g
n
izab
le
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f
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ev
elo
p
m
en
t
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tr
o
l
n
u
m
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u
g
g
li
n
g
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h
ar
ac
ter
r
ec
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b
le
p
r
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u
s
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r
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r
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m
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ter
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tr
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ata
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to
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ate
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r
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g
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r
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tili
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elate
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et
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ts
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ate
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ar
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x
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n
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m
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p
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ti
m
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tr
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ar
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ter
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co
n
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o
l
m
o
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s
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d
r
elate
d
ex
p
an
s
io
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n
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l
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n
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Fig
u
r
e
1
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B
lo
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Diag
r
a
m
o
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x
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d
ed
F
u
zz
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o
n
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f
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r
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Nav
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ab
le
1
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Fu
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R
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e
LP
MP
SP
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PM
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K1
s
w
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tch
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K2
s
w
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tch
E
x
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s
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n
C
o
n
tr
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ller
Fu
zz
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n
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o
ller
P
lan
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
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N:
2502
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4752
A
n
a
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u
r
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2
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I
n
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t M
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ip
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Fig
u
r
e
3
.
Ou
tp
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Me
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Fu
n
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3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
A
m
ar
i
n
e
s
teer
i
n
g
m
u
s
t
s
ati
s
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y
t
w
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tar
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s
:
co
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r
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e
-
k
ee
p
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n
g
w
it
h
co
u
r
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e
-
e
v
o
lv
i
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g
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I
n
th
e
p
r
im
ar
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ca
s
e,
t
h
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co
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tr
o
l
g
o
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is
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ee
p
u
p
th
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s
h
ip
'
s
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ea
d
i
n
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k
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g
a
f
ter
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co
v
eted
co
u
r
s
e
(
y
(
t)
=c
o
n
s
ta
n
t)
.
I
n
th
e
s
ec
o
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d
ca
s
e,
th
e
p
o
in
t
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to
ac
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alize
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r
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e
c
h
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it
h
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t
m
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tio
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d
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th
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ief
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s
t
ti
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e
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n
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le.
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n
b
o
th
c
ir
cu
m
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t
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h
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er
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b
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s
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/S
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.
Fig
u
r
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.
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Fig
u
r
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5
.
R
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Steer
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n
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Fig
u
r
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4
s
h
o
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th
at
t
h
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n
d
ed
f
u
zz
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n
tr
o
ller
ac
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o
n
ab
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b
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r
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r
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e
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ch
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g
i
n
g
n
av
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g
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r
s
teer
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.
Fi
g
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r
e5
i
n
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icate
s
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h
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th
e
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d
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g
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n
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o
ller
w
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h
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d
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g
h
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h
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4.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
d
is
cu
s
s
e
s
t
h
e
a
n
al
y
s
i
s
o
f
an
i
m
p
r
o
v
ed
f
u
zz
y
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g
ic
co
n
tr
o
ller
f
o
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th
e
co
n
tr
o
l
o
f
co
u
r
s
e
ch
an
g
i
n
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a
n
d
co
u
r
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e
k
ee
p
in
g
i
n
m
ar
i
n
e
n
av
i
g
atio
n
o
r
s
teer
in
g
.
W
e
an
al
y
ze
d
a
f
u
s
io
n
m
et
h
o
d
o
f
ex
ten
d
ed
s
ets
o
r
r
u
les
a
n
d
f
u
zz
y
lo
g
ic
s
ets
a
n
d
i
m
p
le
m
e
n
ted
t
h
e
f
u
zz
y
ex
t
en
d
ed
co
n
tr
o
l
to
p
o
lo
g
y
f
o
r
m
a
r
in
e
n
av
i
g
atio
n
a
n
d
s
teer
in
g
.
T
h
is
p
ap
er
co
n
ce
n
tr
ated
th
e
o
u
tli
n
e
o
f
a
s
tr
ea
m
li
n
ed
Fu
zz
y
co
n
tr
o
ller
f
o
r
th
e
co
n
tr
o
l
ap
p
ar
en
tl
y
ch
an
g
i
n
g
a
n
d
co
u
r
s
e
-
k
ee
p
i
n
g
in
m
ar
i
n
e
g
u
id
in
g
.
W
e
d
i
s
p
la
y
ed
a
co
m
b
i
n
atio
n
s
tr
ate
g
y
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ex
p
an
s
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ets
a
n
d
Fu
zz
y
s
ets
a
n
d
p
r
o
p
o
s
ed
th
e
Fu
zz
y
e
x
p
an
s
io
n
co
n
tr
o
l
f
r
a
m
e
w
o
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k
f
o
r
m
ar
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e
d
ir
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tin
g
.
W
e
co
n
ce
n
tr
ated
th
e
p
lan
o
f
F
u
zz
y
a
u
g
m
e
n
tatio
n
c
o
n
tr
o
ller
an
d
g
o
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s
atis
f
ac
to
r
y
co
n
d
u
ct
in
v
ar
io
u
s
m
o
v
in
g
cir
cu
m
s
ta
n
ce
s
.
RE
F
E
R
E
NC
E
S
[1
]
L
.
Weife
n
g
,
S
.
Ca
iq
in
,
W
.
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u
a
n
g
,
L
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u
a
n
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li
c
S
tee
rin
g
Ge
a
r
S
y
ste
m
in
DM
S
2
0
1
6
M
a
ri
n
e
E
n
g
i
n
e
e
rin
g
S
imu
l
a
to
r
"
,
2
0
1
7
9
t
h
I
n
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
M
e
a
su
rin
g
T
e
c
h
n
o
lo
g
y
a
n
d
M
e
c
h
a
tro
n
ics
A
u
to
m
a
ti
o
n
(ICM
T
M
A
),
Ch
a
n
g
sh
a
,
2
0
1
7
,
p
p
.
2
9
6
-
2
9
9
.
[2
]
S
.
Da
s
a
n
d
S
.
E.
T
a
lo
le,
"
Ro
b
u
st
S
tee
rin
g
A
u
to
p
il
o
t
De
sig
n
f
o
r
M
a
rin
e
S
u
rf
a
c
e
V
e
ss
e
ls
"
,
in
IEE
E
J
o
u
r
n
a
l
o
f
Oc
e
a
n
ic E
n
g
in
e
e
rin
g
,
v
o
l.
4
1
,
n
o
.
4
,
p
p
.
9
1
3
-
9
2
2
,
Oc
t.
2
0
1
6
.
[3
]
Hu
Qix
ian
g
a
n
d
Ba
i
Jip
in
g
,
"
S
i
mu
la
ti
o
n
re
se
a
rc
h
o
n
th
e
d
u
a
l
re
d
u
n
d
a
n
t
d
ire
c
ti
o
n
a
l
v
a
lve
fo
r
ma
rin
e
h
y
d
ra
u
li
c
ste
e
rin
g
g
e
a
r
"
,
P
ro
c
e
e
d
in
g
s
2
0
1
1
I
n
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
T
ra
n
sp
o
rtati
o
n
,
M
e
c
h
a
n
ica
l,
a
n
d
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
(T
M
EE
),
C
h
a
n
g
c
h
u
n
,
2
0
1
1
,
p
p
.
2
1
6
2
-
2
1
6
5
.
[4
]
M
.
A
ica
rd
i,
G
.
Ca
sa
li
n
o
a
n
d
G
.
I
n
d
iv
e
ri,
"
S
tee
rin
g
ma
ri
n
e
v
e
h
icle
s:
a
d
ra
g
c
o
e
ff
icie
n
t
mo
d
u
la
ti
o
n
a
p
p
r
o
a
c
h
"
,
2
0
0
1
IEE
E/
A
S
M
E
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
A
d
v
a
n
c
e
d
In
telli
g
e
n
t
M
e
c
h
a
t
ro
n
ics
.
P
ro
c
e
e
d
i
n
g
s
(Ca
t.
No
.
0
1
T
H8
5
5
6
),
Co
m
o
,
2
0
0
1
,
p
p
.
3
6
1
-
3
6
5
v
o
l.
1
.
[5
]
J.
M
.
S
o
a
re
s,
A
.
P
.
Ag
u
iar,
A
.
M
.
P
a
sc
o
a
l
a
n
d
A
.
M
a
rti
n
o
li
,
"
An
a
lg
o
rit
h
m
f
o
r
f
o
r
m
a
ti
o
n
-
b
a
se
d
c
h
e
m
i
c
a
l
p
lu
m
e
trac
in
g
u
sin
g
ro
b
o
t
ic m
a
rin
e
v
e
h
i
c
les
"
,
OCEANS
2
0
1
6
M
T
S
/IE
EE
M
o
n
ter
e
y
,
M
o
n
te
re
y
,
CA
,
2
0
1
6
,
p
p
.
1
-
8.
[6
]
Jo
h
n
s
o
n
,
T
.
a
n
d
S
in
g
h
,
S
.
K.,
2
0
1
6
,
F
e
b
ru
a
ry
.
Fu
zz
y
C
stra
n
g
e
p
o
i
n
ts
c
lu
ste
rin
g
a
l
g
o
ri
th
m
.
In
In
f
o
rm
a
ti
o
n
Co
m
m
u
n
ica
ti
o
n
a
n
d
Em
b
e
d
d
e
d
S
y
ste
m
s (ICICE
S
),
2
0
1
6
I
n
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
(p
p
.
1
-
5
).
IEE
E.
[7
]
T
a
j,
S
.
M
.
a
n
d
K
u
m
a
ra
v
e
l,
A
.
,
2
0
1
5
.
S
u
rv
e
y
o
n
f
u
z
z
y
P
e
tri
n
e
ts
f
o
r
c
las
si
f
ica
ti
o
n
.
In
d
i
a
n
J
o
u
rn
a
l
o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
8
(
1
4
),
p
.
1
.
[8
]
S
u
b
ra
m
a
n
ian
,
D.
D.
P
.
(2
0
1
4
).
De
sig
n
o
f
a
S
in
g
le
In
p
u
t
Fu
z
zy
L
o
g
ic
Co
n
tro
ll
e
r
Ba
se
d
S
V
C
fo
r
Dy
n
a
mic
Per
fo
rm
a
n
c
e
En
h
a
n
c
e
me
n
t
o
f
Po
we
r S
y
ste
ms
.
[9
]
S
u
re
n
d
iran
,
J.
,
S
a
ra
v
a
n
a
n
,
S
.
V
.
,
El
iza
b
e
th
Ca
th
e
ri
n
e
,
F
.
,
2
0
1
6
.
Gla
u
c
o
m
a
d
e
tec
ti
o
n
u
si
n
g
f
u
z
z
y
C
-
M
e
a
n
(F
CM
)
,
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
P
h
a
rm
a
c
y
a
n
d
T
e
c
h
n
o
l
o
g
y
,
8
(3
)
,
p
p
.
1
6
1
4
9
-
1
6
1
6
3
.
[1
0
]
M
.
A
.
M
a
n
iv
a
sa
g
a
m
,
T
.
A
n
a
n
th
a
n
,
2
0
1
7
.
A
n
Ef
f
icie
n
t
S
e
lf
-
Re
c
o
n
f
ig
u
ra
ti
o
n
a
n
d
Ro
u
te
S
e
lec
ti
o
n
f
o
r
W
irele
ss
S
e
n
so
r
Ne
tw
o
rk
s,
IJ
M
S
R,
9
(2
)
,
p
p
.
1
9
2
-
1
9
9
.
[1
1
]
W
a
wa
n
G
u
n
a
w
a
n
,
Ag
u
s
Zain
a
l
A
ri
f
in
,
2
0
1
7
.
F
u
z
z
y
Re
g
io
n
M
e
rg
in
g
u
sin
g
F
u
z
z
y
S
i
m
il
a
rit
y
M
e
a
su
re
m
e
n
t
o
n
Im
a
g
e
S
e
g
m
e
n
tatio
n
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
m
p
u
ter
E
n
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
7
(6
),
p
p
.
2
9
7
7
-
2
9
8
5
.
[1
2
]
A
li
a
s
Kh
a
m
i
s,
M
o
h
d
Ru
d
d
i
n
A
b
.
G
h
a
n
i,
Ch
i
n
Kim
G
a
n
,
M
o
h
d
S
h
a
h
riee
l
M
o
h
d
A
ra
s,
M
u
h
a
m
a
d
F
iq
ry
Kh
a
m
is,
T
o
le
S
u
ti
k
n
o
,
Ja
n
o
Zan
a
ria
h
,
2
0
1
7
,
F
u
z
z
y
L
o
g
i
c
I
m
p
le
m
e
n
tatio
n
w
it
h
M
AT
LAB
f
o
r
P
V
-
W
in
d
H
y
b
rid
S
y
ste
m
,
T
EL
KOM
NIKA
(
T
e
lec
o
mm
u
n
ica
t
io
n
C
o
mp
u
ti
n
g
E
lec
tro
n
ics
a
n
d
C
o
n
tro
l)
,
1
5
(
3
).
[1
3
]
Bu
d
i
S
rin
iv
a
sa
ra
o
,
G
.
S
re
e
n
iv
a
sa
n
,
S
w
a
th
i
S
h
a
rm
a
,
2
0
1
7
.
C
o
m
p
a
riso
n
o
f
D
y
n
a
m
ic
S
tab
il
it
y
R
e
sp
o
n
se
o
f
A
S
M
IB
w
it
h
P
I
a
n
d
F
u
z
z
y
Co
n
tro
ll
e
d
D
P
F
C
,
In
d
o
n
e
sia
n
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
a
n
d
In
fo
rm
a
ti
c
s (
IJ
EE
I)
,
5
(
3
).
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