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o
urna
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f
E
lect
rica
l En
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ineering
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Co
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er
Science
Vo
l.
21
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No
.
2
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Feb
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2
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7
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cs.ia
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Ev
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rth
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l
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n
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a
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d
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ts
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e
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n
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it
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o
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to
slid
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re
sp
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se
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ra
p
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ll
y
sh
o
we
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th
e
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e
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sib
il
it
y
o
f
th
e
p
r
o
p
o
se
d
so
l
u
ti
o
n
.
T
h
e
a
tt
a
in
e
d
re
su
lt
s
il
l
u
stra
ted
c
o
n
sid
e
ra
b
le
im
p
ro
v
e
m
e
n
t
in
t
h
e
se
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li
n
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ti
m
e
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n
d
m
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izin
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a
tt
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g
b
e
h
a
v
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r.
K
ey
w
o
r
d
s
:
Der
iv
ati
v
e
o
f
e
r
r
o
r
Desire
d
p
o
s
itio
n
E
r
r
o
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ea
ch
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n
g
s
ta
g
e
Sli
d
in
g
s
ta
g
e
T
h
is
is
a
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p
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c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Mu
s
ta
f
a
Sab
a
h
T
ah
a
Miss
a
n
Oil T
r
ain
in
g
I
n
s
tit
u
te
Min
i
s
tr
y
o
f
O
il
,
I
r
aq
E
m
ail:
ti
m
i
m
y
m
u
s
ta
f
a@
g
m
ail
.
co
m
1.
I
NT
RO
D
UCT
I
O
N
No
w
ad
a
y
s
,
in
ter
n
et
co
m
m
u
n
i
ca
tio
n
b
ec
o
m
es
a
s
i
g
n
if
ica
n
t
p
ar
t
o
f
th
e
in
f
r
astru
c
tu
r
e.
B
as
ed
o
n
th
e
in
ter
n
e
t,
m
o
s
t o
f
t
h
e
ap
p
licatio
n
s
o
f
i
n
f
r
astru
c
tu
r
e
s
y
s
te
m
s
ca
n
b
e
o
p
er
ated
[1
,
2
]
.
Fo
r
th
e
p
ast d
ec
ad
es,
p
o
w
e
r
s
y
s
te
m
o
p
ti
m
izatio
n
tech
n
iq
u
e
s
h
a
v
e
b
ee
n
s
u
b
j
ec
t to
m
an
y
s
t
u
d
ies
f
o
r
p
lan
n
i
n
g
a
n
d
s
tr
ate
g
y
d
ev
e
lo
p
m
en
t
[
3
]
.
C
o
m
p
r
eh
e
n
s
i
v
el
y
,
co
n
tr
o
llin
g
an
y
p
ar
ticu
lar
s
y
s
te
m
i
n
d
i
v
er
s
e
ap
p
licatio
n
s
ca
n
b
e
i
m
p
le
m
en
ted
i
n
o
n
e
o
f
t
w
o
s
ch
e
m
es
m
o
d
el
-
b
u
ilt
o
r
n
o
n
-
m
o
d
el
ev
o
lv
ed
.
Mo
d
el
-
b
u
i
lt
c
o
n
tr
o
l
s
ch
e
m
e
s
ar
e
co
n
s
id
er
ed
s
y
s
te
m
atic
an
d
m
i
g
h
t
b
e
co
n
d
u
cted
i
n
co
n
v
en
tio
n
al
s
y
s
te
m
s
d
u
e
to
t
h
ei
r
q
u
alities
,
w
h
ic
h
i
n
cl
u
d
e
b
u
t
n
o
t
li
m
ited
to
,
r
eliab
ilit
y
,
p
r
ec
is
io
n
,
an
d
d
if
f
er
en
t
ap
p
r
o
p
r
iate
s
tan
d
ar
d
s
.
B
u
t,
in
p
r
ac
tical
s
it
u
atio
n
s
,
m
o
r
e
th
an
a
co
n
s
tr
a
i
n
t,
d
is
tu
r
b
an
ce
i
n
f
lu
e
n
ce
r
,
as
w
e
ll
as
u
n
ce
r
ta
in
t
y
co
n
d
itio
n
s
,
ar
e
ch
an
g
ea
b
le
a
n
d
n
o
t
ea
s
y
to
r
ep
r
esen
t
in
th
e
m
o
d
el.
He
n
ce
,
n
o
n
-
m
o
d
el
-
b
u
ilt
s
c
h
e
m
es
h
av
e
b
ee
n
e
x
ce
p
ti
o
n
all
y
i
m
p
le
m
e
n
ted
b
ec
au
s
e
s
u
ch
s
c
h
e
m
e
s
d
o
n
o
t
n
ec
es
s
itate
h
ig
h
l
y
s
o
p
h
i
s
ticate
d
m
at
h
e
m
at
ical
m
o
d
elin
g
[4
-
6]
.
B
ased
o
n
th
e
m
e
n
tio
n
ed
ab
o
v
e,
m
o
s
t
p
r
ac
tical
s
y
s
te
m
s
ca
n
b
e
v
ar
ied
w
i
th
t
i
m
e
d
u
e
to
s
u
r
r
o
u
n
d
in
g
cir
cu
m
s
ta
n
ce
s
t
h
at
i
m
p
ac
t
t
h
e
f
u
n
ctio
n
alit
y
o
f
t
h
e
s
y
s
te
m
;
t
h
u
s
,
t
h
e
co
n
tr
o
ller
s
h
o
u
ld
b
e
in
t
er
ac
tiv
e
w
it
h
th
e
s
e
v
ar
iatio
n
s
.
C
o
n
v
e
n
tio
n
al
Sli
d
i
n
g
-
Mo
d
e
C
o
n
tr
o
ller
(
C
SMC
R
)
is
an
ad
j
u
s
tab
le
co
n
tr
o
l
s
c
h
e
m
e
t
h
at
ca
p
t
u
r
ed
lar
g
e
atten
t
io
n
s
i
n
ce
th
e
m
id
o
f
th
e
2
0
th
ce
n
tu
r
y
;
it
r
ep
r
esen
t
s
ef
f
icie
n
t
ad
d
r
ess
i
n
g
f
o
r
n
u
m
er
o
u
s
co
n
tr
o
l
s
y
s
te
m
s
[7
-
9]
.
T
h
e
u
s
ag
e
o
f
C
SM
C
R
i
s
co
n
s
id
er
ab
le
in
m
o
s
t
n
o
n
li
n
ea
r
s
y
s
te
m
s
b
ec
a
u
s
e
it
is
ad
j
u
s
tab
le;
in
o
th
er
w
o
r
d
s
,
it
s
co
n
f
i
g
u
r
atio
n
ca
n
b
e
v
ar
ied
as
th
e
s
y
s
te
m
i
s
m
o
d
i
f
ied
i
n
o
r
d
er
to
o
b
tai
n
t
h
e
r
eq
u
ir
ed
o
u
tp
u
t
[
1
0
,
1
1
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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d
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J
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C
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s
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s
w
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ich
ar
e
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n
clu
d
ed
i
n
t
h
e
en
tire
s
y
s
te
m
.
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lectr
ical
m
ac
h
in
es
s
u
ch
as
m
o
to
r
s
an
d
alter
n
a
to
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s
;
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d
itio
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all
y
,
ch
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m
ical
p
r
o
ce
d
u
r
es
ar
e
h
an
d
led
b
y
(
C
SMC
R
)
[
1
2
,
1
3
]
.
I
n
s
p
ite
o
f
o
u
ts
tan
d
i
n
g
asp
ec
ts
o
f
(
C
SMC
R
)
w
h
ic
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in
cl
u
d
ed
w
it
h
s
ta
n
d
i
n
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p
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m
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it
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f
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m
th
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s
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m
a
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d
l
astl
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t
h
e
s
y
s
te
m
co
n
tr
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lled
b
y
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S
MC
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f
u
l
f
ill
s
ze
r
o
v
alu
e
s
o
f
er
r
o
r
an
d
its
d
er
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v
e.
T
h
er
e
is
a
r
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m
ar
k
a
b
le
d
r
a
w
b
ac
k
th
at
s
h
o
u
ld
b
e
tack
led
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n
o
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d
er
to
m
i
n
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m
ize
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h
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n
eg
ati
v
e
e
f
f
ec
t o
n
s
y
s
te
m
s
tab
ilit
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[
1
4
,
1
5
]
; th
i
s
d
r
a
w
b
ac
k
is
th
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c
h
atter
i
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p
r
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s
s
h
o
w
n
i
n
Fig
u
r
e
1
.
Fig
u
r
e
1
.
T
h
e
ch
atter
in
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b
e
h
a
v
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r
in
C
SMC
R
Nu
m
er
o
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n
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f
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Si
g
n
m
at
h
e
m
at
ical
f
u
n
c
ti
o
n
,
w
h
ich
i
s
co
n
s
id
er
ed
th
e
ca
u
s
e
o
f
t
h
e
ch
atter
i
n
g
p
h
e
n
o
m
e
n
o
n
b
y
a
n
o
th
er
m
o
d
el
[
1
6
,
1
7
]
.
W
h
ile
s
o
m
e
s
o
lu
tio
n
s
w
er
e
b
ased
o
n
t
h
e
in
te
g
r
atio
n
b
et
w
ee
n
C
SMC
R
an
d
s
m
ar
t
f
u
zz
y
co
n
tr
o
ller
[
1
8
]
,
s
o
m
e
o
f
th
e
Op
ti
m
izatio
n
tech
n
iq
u
e
s
also
in
v
e
s
ti
g
ated
to
r
ed
u
ce
ch
atter
in
g
i
m
p
ac
t
s
u
ch
a
s
g
en
et
ic
an
d
p
ar
ticle
s
w
ar
m
a
lg
o
r
ith
m
s
[
1
9
-
23]
.
Ho
w
e
v
er
;
th
e
d
ep
lo
y
m
e
n
t
o
f
o
p
ti
m
izatio
n
a
lg
o
r
ith
m
s
r
eq
u
ir
es
f
u
r
t
h
er
i
n
v
e
s
ti
g
atio
n
to
ill
u
s
t
r
ate
th
e
f
ea
s
ib
ilit
y
o
f
t
h
e
ad
v
an
ce
d
tec
h
n
iq
u
es
o
v
er
clas
s
ical
m
ath
e
m
atica
l
m
o
d
el
s
,
th
e
p
r
o
p
o
s
ed
w
o
r
k
m
ain
l
y
ai
m
s
to
u
t
ilize
a
h
i
g
h
l
y
a
d
v
an
ce
d
w
h
al
e
o
p
ti
m
iza
tio
n
al
g
o
r
ith
m
in
o
r
d
er
to
d
i
m
in
is
h
as
m
u
c
h
as
p
o
s
s
ib
le
th
e
i
m
p
ac
t
o
f
ch
at
ter
in
g
b
eh
av
io
r
an
d
th
u
s
ac
h
ie
v
in
g
r
eli
ab
le
an
d
co
n
s
is
te
n
t
s
tab
ilit
y
b
y
f
i
n
d
in
g
b
es
t
v
alu
es
o
f
g
ai
n
G
an
d
t
h
e
s
lo
p
e
o
f
s
lid
in
g
s
u
r
f
ac
e
δ
f
o
r
(
C
SM
C
R
)
to
e
n
s
u
r
e
t
h
e
s
tab
ilit
y
o
f
s
i
n
g
le
in
v
er
ted
p
en
d
u
lu
m
as a
n
o
n
li
n
ea
r
s
y
s
te
m
c
ase
s
t
u
d
y
.
T
h
e
m
ai
n
o
u
tl
in
e
o
f
th
i
s
ar
ti
cle
as
f
o
llo
w
i
n
g
;
Sectio
n
2
p
r
esen
ts
p
r
o
b
le
m
b
ac
k
g
r
o
u
n
d
,
in
clu
d
i
n
g
C
o
n
v
en
t
io
n
al
Sli
d
i
n
g
-
Mo
d
e
C
o
n
tr
o
ller
,
h
a
n
d
li
n
g
o
f
ch
at
te
r
in
g
p
r
o
b
lem
u
s
i
n
g
t
h
e
m
at
h
e
m
atica
l
s
o
l
u
tio
n
o
f
th
e
b
o
u
n
d
ar
y
la
y
er
,
a
n
d
m
a
th
e
m
atica
l
d
e
s
cr
ip
tio
n
o
f
t
h
e
s
t
u
d
y
m
o
d
el.
Sectio
n
3
p
r
o
p
o
s
es
th
e
w
h
ale
o
p
tim
izatio
n
alg
o
r
it
h
m
as
an
ef
f
ec
ti
v
e
a
n
d
u
n
co
n
v
e
n
tio
n
a
l
s
o
lu
tio
n
f
o
r
ch
a
tter
in
g
p
h
e
n
o
m
e
n
a.
Sect
io
n
4
g
r
ap
h
icall
y
ill
u
s
tr
ate
s
th
e
ef
f
e
ct
o
f
th
e
p
r
o
p
o
s
ed
o
p
tim
izatio
n
tech
n
iq
u
e
o
n
t
h
e
r
esu
l
t
b
y
u
s
in
g
co
n
tr
o
l
ac
tio
n
,
er
r
o
r
,
d
esire
d
an
d
ac
tu
al
p
o
s
itio
n
,
an
d
s
lid
i
n
g
r
esp
o
n
s
e
a
s
e
v
al
u
atio
n
m
ea
s
u
r
e
s
.
F
u
r
th
er
m
o
r
e,
i
t
co
m
p
u
tatio
n
all
y
p
r
o
v
es
s
tab
i
lit
y
i
m
p
r
o
v
e
m
e
n
t
b
y
u
s
in
g
g
ain
G
(
x
)
an
d
s
lo
p
e
o
f
s
li
d
in
g
s
u
r
f
ac
e
δ
as
ev
alu
a
tio
n
m
ea
s
u
r
es.
Fi
n
all
y
,
Sectio
n
5
s
u
m
m
ar
izes t
h
e
co
n
clu
s
io
n
o
f
t
h
is
w
o
r
k
.
2.
P
RO
B
L
E
M
B
ACK
G
RO
UND
2
.
1
.
C
o
nv
ent
i
o
na
l
s
lid
ing
-
mo
de
co
ntr
o
ller
(
CS
M
CR)
T
h
e
h
ig
h
co
m
p
atib
ilit
y
a
n
d
ef
f
icien
c
y
o
f
th
e
C
o
n
v
e
n
tio
n
al
Sli
d
in
g
-
Mo
d
e
C
o
n
tr
o
ller
p
u
s
h
m
o
s
t
o
f
th
e
d
esig
n
er
s
to
u
ti
lize
it
in
o
r
d
er
to
s
o
lv
e
th
e
n
o
n
li
n
ea
r
it
y
p
r
o
b
lem
o
f
c
h
an
g
ea
b
le
s
y
s
te
m
s
.
T
h
e
o
p
er
atio
n
o
f
C
SM
C
R
ca
n
b
e
d
escr
ib
ed
in
to
s
tag
e
s
:
a)
R
ea
ch
i
n
g
s
ta
g
e
:
u
n
d
er
th
is
p
h
ase,
th
e
tr
aj
ec
to
r
y
g
r
a
v
itat
es
to
th
e
s
lid
in
g
s
u
r
f
ac
e.
On
ce
th
e
s
tate
tr
aj
ec
to
r
y
r
ea
ch
es t
h
e
s
lid
i
n
g
s
u
r
f
ac
e,
t
h
at
m
ea
n
s
th
e
s
lid
in
g
s
tag
e
i
s
ac
tiv
a
ted
.
b)
Sli
d
in
g
s
ta
g
e
:
u
n
d
er
th
is
p
h
as
e
th
e
s
y
s
te
m
s
tate
tr
aj
ec
to
r
y
is
n
ec
ess
itated
to
w
ait
o
n
th
e
s
lid
in
g
s
u
r
f
ac
e
th
en
g
lid
i
n
g
to
w
ar
d
s
t
h
e
o
r
ig
i
n
in
li
m
i
ted
ti
m
e
as
s
h
o
w
n
i
n
Fig
u
r
e
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4752
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
21
,
No
.
2
,
Feb
r
u
ar
y
2
0
2
1
:
7
4
4
-
7
5
6
746
Fig
u
r
e
2
.
T
h
e
t
w
o
s
tag
e
s
o
f
t
h
e
s
tate
tr
aj
ec
to
r
y
in
C
SM
C
R
T
h
e
m
at
h
e
m
atica
l d
escr
ip
tio
n
o
f
th
e
s
w
itch
in
g
s
u
r
f
ac
e
i
s
:
(
1
)
w
h
er
e
is
a
co
n
s
ta
n
t p
o
s
iti
v
e
p
ar
a
m
eter
,
m
at
h
e
m
atica
ll
y
er
r
o
r
an
d
d
er
iv
ativ
es c
a
n
b
e
ex
p
r
ess
ed
as b
elo
w
:
w
h
er
e
is
th
e
f
i
n
al
an
g
le
p
o
s
itio
n
(
s
et
p
o
in
t)
th
at
r
ep
r
esen
ts
th
e
s
tep
in
p
u
t.
T
h
er
eb
y
,
th
e
(
1
)
ca
n
b
e
r
e
w
r
itte
n
as:
(
2
)
w
h
e
n
is
eq
u
al
to
o
n
e
,
(
2
)
w
ill
b
ec
o
m
e:
(
3
)
B
asicall
y
,
t
h
e
co
n
tr
o
l f
o
r
m
u
la
o
f
th
e
Sl
id
in
g
-
Mo
d
e
C
o
n
tr
o
lle
r
ca
n
b
e
ex
p
r
ess
ed
as b
elo
w
:
(
4
)
w
h
er
e,
is
t
h
e
n
o
m
i
n
al
co
n
tr
o
l
f
r
ag
m
e
n
t
w
h
ic
h
i
s
w
o
r
k
in
g
o
n
g
u
id
i
n
g
t
h
e
s
y
s
te
m
s
tate
tr
aj
ec
to
r
y
to
w
ar
d
s
lid
in
g
s
u
r
f
ac
e
(
=
0
)
,
an
d
is
th
e
d
is
co
n
tin
u
o
u
s
co
n
tr
o
l
f
r
ag
m
e
n
t
th
a
t
p
r
er
eq
u
is
ite
in
o
r
d
er
to
u
p
h
o
ld
th
e
s
tate
tr
aj
ec
to
r
y
n
ea
r
b
y
to
t
h
e
s
w
itc
h
i
n
g
s
u
r
f
ac
e.
T
h
e
d
is
co
n
tin
u
o
u
s
co
n
tr
o
l
is
d
escr
ib
ed
b
elo
w
[
1
1
]
:
(
5
)
w
h
er
e
(
)
is
a
d
is
co
n
ti
n
u
o
u
s
g
ain
an
d
(
)
is
a
s
i
g
n
u
m
f
u
n
ctio
n
Fi
g
u
r
e
3
.
Fig
u
r
e
3
.
T
h
e
m
at
h
e
m
atica
l p
a
tter
n
o
f
t
h
e
s
i
g
n
u
m
f
u
n
ctio
n
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
E
va
lu
a
tio
n
o
f th
e
s
ta
b
ilit
y
en
h
a
n
ce
men
t o
f th
e
co
n
ve
n
tio
n
a
l
s
lid
in
g
mo
d
e
.
.
.
.
(
A
w
s
Ma
h
mo
o
d
A
b
d
u
lla
h
)
747
C
o
n
s
eq
u
en
tl
y
(
4
)
ca
n
b
ec
o
m
e:
(
6
)
I
n
ad
d
itio
n
to
th
e
d
er
iv
ati
v
e
o
f
th
e
s
lid
i
n
g
v
ar
iab
le
ex
p
r
ess
ed
as b
elo
w
:
(
7
)
T
h
e
m
o
s
t
i
m
p
o
r
tan
t
t
h
i
n
g
is
to
u
p
h
o
ld
th
e
s(
,
)
n
ea
r
b
y
to
t
h
e
s
lid
in
g
s
u
r
f
ac
e.
T
h
e
co
m
m
o
n
f
o
r
m
u
la
f
o
r
th
e
n
o
n
l
in
ea
r
s
y
s
t
e
m
ca
n
b
e
ex
p
r
es
s
ed
as b
elo
w
:
(
8
)
W
ith
t
h
e
p
u
r
p
o
s
e
o
f
m
a
k
i
n
g
t
h
e
r
ig
h
t
s
id
e
i
n
(
7
)
eq
u
al
to
0
,
th
e
s
w
itc
h
i
n
g
g
ai
n
G(
)
s
h
o
u
ld
b
e
tak
e
n
m
at
h
e
m
a
ticall
y
as
b
elo
w
:
(
9
)
T
h
e
m
ai
n
p
r
o
b
le
m
th
at
ca
n
b
e
s
u
m
m
ar
ized
i
n
th
e
ex
is
te
n
ce
o
f
s
i
g
n
u
m
f
u
n
ctio
n
i
n
t
h
e
d
is
c
o
n
tin
u
o
u
s
co
n
tr
o
l
f
r
ag
m
en
t
in
as
s
h
o
w
n
in
(
6
)
r
ep
r
esen
ts
t
h
e
ca
u
s
e
o
f
ch
atter
i
n
g
b
eh
a
v
io
r
o
r
is
s
u
e
,
it
is
a
n
o
ticea
b
le
d
o
w
n
s
id
e
in
t
h
e
s
lid
i
n
g
m
o
d
e
co
n
tr
o
ller
,
an
d
it h
as
a
n
e
g
ati
v
e
ef
f
ec
t o
n
th
e
s
y
s
te
m
`
s
s
tab
ili
t
y
.
2
.
2
.
H
a
nd
lin
g
o
f
cha
t
t
er
ing
pro
ble
m
u
s
ing
m
a
t
he
m
a
t
ica
l
s
o
lutio
n o
f
bo
un
da
ry
la
y
er
On
e
o
f
th
e
o
f
f
er
ed
s
o
lu
t
io
n
s
f
o
r
tack
li
n
g
c
h
atter
i
n
g
b
e
h
av
i
o
r
is
u
til
izin
g
t
h
e
b
o
u
n
d
ar
y
l
a
y
er
;
t
h
e
s
ig
n
u
m
f
u
n
ct
io
n
is
s
u
b
s
tit
u
ted
b
y
s
at
f
u
n
ctio
n
a
s
s
h
o
w
n
i
n
F
ig
u
r
e
4
in
(
6
)
as b
elo
w
:
(
1
0
)
T
h
e
m
at
h
e
m
atica
l e
x
p
r
ess
io
n
o
f
s
at
f
u
n
ctio
n
i
s
:
{
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1
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Fig
u
r
e
4
.
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h
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m
atica
l p
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f
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3
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m
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l
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li
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itio
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lace
m
e
n
t
w
i
th
h
i
g
h
s
ta
b
ilit
y
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2
4
]
,
th
e
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e
s
p
o
n
s
e
o
f
s
i
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l
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m
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at
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m
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ticall
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:
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I
SS
N
:
2
5
0
2
-
4752
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
21
,
No
.
2
,
Feb
r
u
ar
y
2
0
2
1
:
7
4
4
-
7
5
6
748
(
1
2
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w
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er
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: a
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g
u
lar
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p
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m
en
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r
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f
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d
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l
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m
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l v
ar
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le
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tp
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g
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lar
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d
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te
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o
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ai
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e
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n
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r
tain
ties
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alu
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o
f
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en
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l
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m
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as
s
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d
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lu
m
m
as
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ar
e
0
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±
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2
,
an
d
±
0
.
0
8
,
r
esp
ec
tiv
el
y
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T
ab
le
1
illu
s
tr
ates t
h
e
n
o
m
i
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al
,
least a
n
d
g
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ea
tes
t v
al
u
es
w
h
e
n
th
e
p
ar
a
m
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ter
s
in
f
l
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ce
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y
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ce
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tai
n
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T
ab
le
1
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h
e
co
n
s
tr
ain
ts
v
al
u
e
s
d
u
e
to
th
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n
f
l
u
e
n
ce
o
f
u
n
ce
r
tain
t
y
co
n
d
itio
n
s
[
1
5
]
C
o
n
st
r
a
i
n
t
N
o
mi
n
a
l
L
e
a
st
G
r
e
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t
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st
M
1
1
1
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5
0
.
3
0
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7
m
0
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2
0
.
1
2
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2
8
T
h
e
er
r
o
r
in
d
is
p
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m
e
n
t
b
et
w
ee
n
t
h
e
p
r
ef
er
r
ed
an
d
t
h
e
r
e
al
an
g
le
o
f
th
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s
i
n
g
le
i
n
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ted
p
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d
u
l
u
m
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y
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te
m
ca
n
b
e
ex
p
r
ess
ed
i
n
th
e
b
elo
w
eq
u
atio
n
:
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u
m
e
th
e
er
r
o
r
o
f
d
is
p
lace
m
en
t is
r
ef
er
en
ce
d
is
p
lace
m
e
n
t
,
an
d
i
t r
ep
r
ese
n
ts
a
s
tep
in
p
u
t
Ass
u
m
e
th
e
a
n
g
u
lar
v
e
lo
cit
y
e
r
r
o
r
is
tak
en
as
Du
e
to
is
co
n
s
ta
n
t t
h
e
ab
o
v
e
-
m
en
tio
n
ed
eq
u
atio
n
is
e
x
p
r
ess
ed
as b
elo
w
:
(
13
)
I
n
o
r
d
er
to
attain
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tch
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,
g
ain
G(
)
.
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t
i
s
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ec
es
s
itated
th
at
t
h
e
d
er
i
v
ati
v
e
o
f
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h
e
s
lid
in
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m
o
d
e
v
ar
iab
le
eq
u
al
to
ze
r
o
(
14
)
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y
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ep
laci
n
g
(
1
2
)
,
(
1
3
)
an
d
(
5
)
in
(
1
4
)
,
(
15
)
I
n
o
r
d
er
to
d
esig
n
C
o
n
v
e
n
ti
o
n
al
Sl
id
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Mo
d
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o
lle
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f
o
r
Si
n
g
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I
n
v
er
ted
P
en
d
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l
u
m
,
(
6
)
is
ex
p
r
ess
ed
in
to
b
elo
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f
o
r
m
:
(1
6
)
Si
m
i
lar
l
y
,
w
it
h
u
s
i
n
g
s
at
f
u
n
ct
io
n
th
e
eq
u
at
io
n
,
1
0
w
ill b
e
ex
p
r
ess
ed
as b
elo
w
:
(1
7
)
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
E
va
lu
a
tio
n
o
f th
e
s
ta
b
ilit
y
en
h
a
n
ce
men
t o
f th
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ve
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(
A
w
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h
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d
A
b
d
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lla
h
)
749
3.
T
H
E
P
RO
P
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SE
D
M
E
T
H
O
D
3
.
1
.
I
ntr
o
du
ct
io
n
T
o
d
ay
,
Me
ta
-
h
eu
r
i
s
tic
o
p
ti
m
i
za
tio
n
al
g
o
r
ith
m
s
h
a
v
e
b
ee
n
th
e
m
o
s
t
co
m
m
o
n
to
o
ls
i
n
n
u
m
er
o
u
s
en
g
i
n
ee
r
i
n
g
p
r
o
b
lem
s
d
u
e
t
o
th
ese
a
lg
o
r
it
h
m
s
d
ep
en
d
o
n
r
elativ
e
l
y
s
i
m
p
le
p
er
ce
p
tio
n
s
,
a
n
d
th
e
y
ar
e
ap
p
licab
le
ea
s
il
y
.
On
e
o
f
th
e
s
e
al
g
o
r
ith
m
s
is
th
e
W
h
ale
Op
ti
m
izatio
n
A
l
g
o
r
it
h
m
,
w
h
i
ch
i
s
cr
ea
ted
o
n
th
e
h
u
n
ti
n
g
m
et
h
o
d
o
f
b
alee
n
w
h
a
le
(
W
OA
)
.
T
h
is
u
n
iq
u
e
c
h
asi
n
g
p
r
o
ce
s
s
is
en
titl
ed
b
u
b
b
le
-
n
e
t
f
ee
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in
g
s
tr
ate
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y
.
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h
ales tr
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m
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iat
u
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e
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es
n
ea
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e
s
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s
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r
f
ac
e
b
y
a
lo
o
p
p
ath
as sh
o
w
n
in
F
ig
u
r
e
5
.
Fig
u
r
e
5
.
B
u
b
b
le
-
n
et
f
ee
d
in
g
t
ec
h
n
iq
u
e
o
f
h
u
m
p
b
ac
k
w
h
ales
T
w
o
ac
ti
v
itie
s
ar
e
ass
o
ciate
d
w
it
h
t
h
e
ab
o
v
e
-
m
e
n
tio
n
ed
co
n
d
u
ct
ca
lled
u
p
w
ar
d
-
s
p
ir
als
a
n
d
d
o
u
b
le
-
lo
o
p
s
.
I
n
u
p
w
ar
d
-
s
p
ir
als,
w
h
a
les
d
iv
e
at
d
ee
p
1
2
m
an
d
in
s
tig
a
te
to
p
r
o
d
u
ce
b
u
b
b
les
in
o
r
d
e
r
to
s
u
r
r
o
u
n
d
p
r
e
y
,
a
n
d
t
h
en
th
e
y
s
w
i
m
to
war
d
th
e
s
u
r
f
ac
e.
W
h
er
ea
s
d
o
u
b
le
-
lo
o
p
s
in
c
lu
d
e
t
h
r
ee
s
tep
s
co
r
al
lo
o
p
,
lo
b
tail,
an
d
ca
p
tu
r
e
lo
o
p
[
2
5
-
29]
.
3
.
2
.
M
a
t
he
m
a
t
ica
l
des
cr
ipti
o
n
T
h
e
W
OA
atte
m
p
ts
to
ca
lcu
la
te
th
e
cu
r
r
en
t
b
est
ca
n
d
id
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s
o
lu
tio
n
is
t
h
e
o
b
j
ec
tiv
e
p
r
ey
o
r
is
clo
s
e
th
e
b
est.
Af
ter
th
e
b
es
t
s
ea
r
c
h
ag
en
t
is
d
eter
m
i
n
ed
,
o
th
er
s
ea
r
ch
o
p
er
ato
r
s
w
il
l
s
u
cc
es
s
i
v
el
y
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m
p
t
to
u
p
d
ate
th
eir
p
o
s
itio
n
s
to
w
ar
d
s
t
h
e
b
es
t c
h
ase
a
g
en
t
[
3
0
,
3
1
]
.
T
h
is
b
e
h
av
io
r
is
e
x
p
lain
ed
b
y
:
D
=
|
C
.
X
∗
(
t)
−
X
(
t)
|
(
1
8
.
1
)
X
(
t +
1
)
=
X
∗
(
t
)
−
A
.
D
(
1
8
.
2
)
w
h
er
e
t
: c
u
r
r
en
t iter
atio
n
A
,
C
: c
o
ef
f
icie
n
t
v
ec
to
r
s
X
∗
: p
o
s
itio
n
v
ec
to
r
o
f
t
h
e
b
est s
o
lu
tio
n
at
tain
ed
X
: th
e
p
o
s
itio
n
v
ec
to
r
|
|
: a
b
s
o
lu
te
v
al
u
e
a
n
d
is
a
co
m
p
o
n
e
nt
-
by
-
co
m
p
o
n
e
n
t
m
u
ltip
lic
atio
n
Up
d
atin
g
o
f
X
∗
i
s
b
ein
g
p
er
f
o
r
m
ed
at
ev
er
y
iter
atio
n
i
f
t
h
er
e
is
a
b
etter
s
o
lu
t
io
n
.
T
h
e
v
ec
to
r
s
A
a
n
d
C
ar
e
ca
lcu
lated
b
y
:
A
=
2
a
·
r
–
a
(
1
8
.
3
)
C
=
2
·
r
(
1
8
.
4
)
w
h
er
e
a
: d
ir
ec
tl
y
less
e
n
ed
f
r
o
m
2
to
0
th
r
o
u
g
h
o
u
t th
e
d
u
r
atio
n
i
n
v
e
s
t
ig
atio
n
a
n
d
ex
p
lo
itatio
n
s
ta
g
e
s
r
: a
n
ar
b
itra
r
y
v
ec
to
r
in
[
0
,
1
]
As
s
h
o
w
n
i
n
(
1
8
.
2
)
au
th
o
r
izes
all
h
u
n
t
o
p
er
ato
r
s
to
u
p
d
ate
t
h
eir
p
o
s
itio
n
s
in
t
h
e
zo
n
e
o
f
th
e
cu
r
r
en
t
b
est s
o
lu
tio
n
an
d
r
estru
c
tu
r
es
s
u
r
r
o
u
n
d
in
g
th
e
p
r
e
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4752
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
21
,
No
.
2
,
Feb
r
u
ar
y
2
0
2
1
:
7
4
4
-
7
5
6
750
3
.
3
.
1
.
B
ub
ble
-
net
a
t
t
a
ck
ing
s
t
ra
t
eg
y
(
ex
plo
it
a
t
io
n pha
s
e)
:
T
w
o
s
tr
ate
g
ies ar
e
ex
p
lo
ited
t
o
f
ig
u
r
e
th
e
f
ee
d
in
g
b
eh
a
v
io
r
o
f
h
u
m
p
b
ac
k
w
h
ale
s
as b
elo
w
:
a)
Sh
r
i
n
k
i
n
g
cir
clin
g
s
y
s
te
m
:
T
h
is
m
a
n
n
er
i
s
ac
h
ie
v
ed
b
y
d
i
m
i
n
is
h
i
n
g
t
h
e
e
s
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atio
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r
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0
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b
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u
r
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6
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a)
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atin
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:
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=
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an
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1
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Evaluation Warning : The document was created with Spire.PDF for Python.
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d
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