I
n
d
on
e
s
i
an
Jo
u
r
n
al
o
f
El
e
c
t
r
i
c
al
En
gi
n
e
e
r
i
n
g
an
d
C
o
m
p
u
te
r
S
c
i
e
n
c
e
V
o
l
.
21
,
N
o
.
1
,
J
a
n
u
a
r
y
2021,
pp
.
7
4~
83
IS
S
N
:
25
02
-
4752
,
D
O
I
:
10.
1
1591
/
i
j
e
e
c
s
.
v
21
.i
1
.
pp74
-
83
74
Jou
r
n
al
h
o
m
e
pa
ge
:
ht
t
p:
/
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c
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c
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Fr
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r
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R
a
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r
a
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r
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fo
A
B
S
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A
C
T
A
r
t
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l
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h
i
s
t
or
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R
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d
A
pr
1
6
,
20
20
R
e
v
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s
e
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J
un
1
4
,
20
20
A
c
c
e
pt
e
d
J
ul
30
,
20
20
T
hi
s
p
a
pe
r
de
a
l
s
w
i
t
h
i
m
p
l
e
m
e
nt
i
ng
t
he
t
un
i
ng
pr
o
c
e
s
s
o
f
t
he
g
a
i
ns
o
f
f
r
a
c
t
i
o
na
l
o
r
de
r
p
r
o
po
r
t
i
o
na
l
i
n
t
e
g
r
a
l
d
e
r
i
v
a
t
i
v
e
(
F
O
P
I
D
)
c
o
nt
r
o
l
l
e
r
de
s
i
g
ne
d
f
o
r
t
r
a
j
e
c
t
o
r
y
t
r
a
c
ki
ng
c
o
nt
r
o
l
f
o
r
t
w
o
-
l
i
nk
r
o
bo
t
i
c
m
a
ni
pu
l
a
t
o
r
s
b
y
us
i
ng
a
B
a
t
a
l
g
o
r
i
t
hm
.
T
w
o
o
bj
e
c
t
i
v
e
f
unc
t
i
o
ns
w
i
t
h
w
e
i
g
ht
v
a
l
ue
s
a
s
s
i
g
ne
d
ha
s
be
e
n
ut
i
l
i
z
e
d
f
o
r
a
c
hi
e
v
i
ng
t
he
m
i
ni
m
i
z
a
t
i
o
n
o
pe
r
a
t
i
o
n
o
f
e
r
r
o
r
s
i
n
j
o
i
nt
po
s
i
t
i
o
ns
a
nd
t
o
r
qu
e
o
ut
put
s
v
a
l
ue
s
o
f
r
o
bo
t
i
c
m
a
ni
pu
l
a
t
o
r
s
.
T
o
s
ho
w
t
he
e
f
f
e
c
t
i
v
e
ne
s
s
o
f
us
i
ng
a
B
a
t
a
l
g
o
r
i
t
hm
i
n
t
un
i
ng
F
O
P
I
D
pa
r
a
m
e
t
e
r
s
,
a
c
o
m
pa
r
i
s
o
n
ha
s
be
e
n
m
a
de
w
i
t
h
pa
r
t
i
c
l
e
s
w
a
r
m
o
pt
i
m
i
z
a
t
i
o
n
a
l
g
o
r
i
t
hm
(
P
S
O
)
.
T
he
v
a
l
i
di
t
y
o
f
t
he
pr
o
po
s
e
d
c
o
nt
r
o
l
l
e
r
s
h
a
s
be
e
n
e
xa
m
i
ne
d
i
n
c
a
s
e
o
f
pr
e
s
e
nc
e
o
f
di
s
t
u
r
ba
nc
e
a
nd
f
r
i
c
t
i
o
n.
T
he
r
e
s
u
l
t
s
o
f
s
i
m
u
l
a
t
i
o
ns
ha
v
e
c
l
e
a
r
l
y
e
xpl
a
i
ne
d
t
he
e
f
f
i
c
i
e
nc
y
o
f
F
O
P
I
D
c
o
nt
r
o
l
l
e
r
t
un
e
d
by
B
a
t
a
l
g
o
r
i
t
hm
a
s
c
o
m
pa
r
e
d
w
i
t
h
F
O
P
I
D
c
o
nt
r
o
l
l
e
r
t
une
d
by
P
S
O
a
l
g
o
r
i
t
hm
.
Ke
y
w
or
ds
:
B
a
t
a
l
go
ri
t
hm
s
F
r
a
c
t
i
o
na
l
o
r
de
r
P
ID
c
o
n
t
r
o
l
l
e
r
O
pt
i
m
i
z
a
t
i
o
n
a
l
go
ri
t
h
ms
Ro
bo
t
m
a
n
i
pul
a
t
o
r
T
r
a
j
e
c
t
o
r
y
t
r
a
c
ki
ng
c
o
n
t
r
o
l
T
hi
s
i
s
an
ope
n
ac
c
e
s
s
ar
t
i
c
l
e
u
nde
r
t
he
C
C
B
Y
-
SA
l
i
c
e
ns
e
.
Cor
r
e
s
pon
di
n
g
Au
t
h
or
:
M
o
h
a
m
m
a
d
A
.
F
a
r
a
j
D
e
pa
rt
m
e
n
t
o
f
E
l
e
c
t
ri
c
a
l
E
ngi
n
e
e
ri
n
g
C
o
l
l
e
ge
of
E
n
gi
n
e
e
r
i
n
g
,
U
n
i
v
e
r
s
i
t
y
of
A
n
b
a
r,
R
a
m
a
d
i
,
I
r
a
q
E
m
a
i
l
:
M
o
h
a
m
m
e
d.
f
a
r
a
j
@
uo
a
n
b
a
r.
e
du.
i
q
1.
I
N
TR
O
D
U
C
TI
O
N
Ro
bo
t
m
a
ni
pul
a
t
o
r
h
a
s
b
e
e
n
r
e
c
e
n
t
l
y
e
m
pl
oy
e
d
i
n
s
e
v
e
r
a
l
i
n
dus
t
ri
a
l
a
pp
l
i
c
a
t
i
o
n
s
.
T
h
e
e
xi
s
t
i
ng
of
Ro
bo
t
m
a
ni
pul
a
t
o
r
s
i
n
t
h
e
s
e
i
ndus
t
r
i
a
l
a
ppl
i
c
a
t
i
o
n
s
h
a
s
b
e
e
n
m
a
de
t
h
e
de
s
i
gn
e
r
s
t
o
m
a
ke
a
l
o
t
o
f
e
f
fo
r
t
s
fo
r
s
o
l
v
i
n
g
t
h
e
p
r
o
b
l
e
m
s
of
c
o
n
t
r
o
l
l
e
r
s
’
de
s
i
g
n
a
s
s
o
c
i
a
t
e
d
w
i
t
h
rob
o
t
w
o
r
k
[1
-
2]
.
T
h
e
c
o
m
pl
e
xi
t
y
i
n
m
a
ni
pul
a
t
o
r
s
t
ruc
t
u
r
e
h
a
s
b
e
e
n
m
a
de
t
h
e
t
r
a
j
e
c
t
o
r
y
t
r
a
c
ki
n
g
c
o
n
t
r
o
l
o
f
r
ob
o
t
i
c
m
a
ni
pu
l
a
t
o
r
s
i
s
a
c
h
a
l
l
e
n
ge
p
r
o
b
l
e
m
[3].
F
o
r
t
r
e
a
t
i
n
g
t
h
e
s
e
pr
o
b
l
e
m
s
,
m
a
n
y
m
e
t
h
o
ds
h
a
v
e
be
e
n
i
nt
ro
duc
e
d
i
n
c
l
ud
i
n
g
c
o
m
put
e
d
t
o
r
que
m
e
t
h
o
d
[4],
o
pt
i
m
a
l
c
o
n
t
r
o
l
[5]
,
v
a
r
i
a
b
l
e
s
t
r
uc
t
u
r
e
c
o
n
t
r
o
l
(V
S
C)
[6]
,
m
o
de
l
b
a
s
e
d
a
da
pt
i
v
e
F
O
P
ID
[7].
T
h
e
m
a
i
n
di
s
a
dv
a
n
t
a
ge
s
o
f
t
h
e
s
e
t
y
p
e
s
of
c
o
n
t
r
o
l
l
e
r
s
i
s
t
h
e
n
e
e
di
n
g
o
f
de
r
i
v
i
n
g
c
o
m
pl
i
c
a
t
e
d
m
a
t
h
e
m
a
t
i
c
a
l
m
o
de
l
f
o
r
t
h
e
m
a
ni
pul
a
t
o
r
.
T
h
e
l
i
m
i
t
a
t
i
o
n
s
o
b
t
a
i
n
e
d
f
r
o
m
t
h
e
s
e
m
e
t
h
o
ds
h
a
s
b
e
e
n
b
r
o
ug
h
t
b
a
d
r
e
s
ul
t
s
a
nd
u
n
s
t
a
b
l
e
s
y
s
t
e
m
s
.
T
o
ov
e
r
c
o
m
e
t
h
e
s
e
l
i
m
i
t
a
t
i
o
n
s
,
a
ut
h
o
r
s
p
r
e
s
e
n
t
a
n
i
nt
e
l
l
i
ge
n
t
c
o
n
t
r
o
l
t
e
c
hn
i
q
ue
w
h
i
c
h
do
n
o
t
n
e
e
d
t
h
e
kn
o
w
l
e
dge
of
t
h
e
m
a
t
h
e
m
a
t
i
c
a
l
m
o
de
l
of
t
h
e
m
a
ni
pu
l
a
t
o
r,
s
uc
h
a
s
n
e
u
r
a
l
n
e
t
w
o
r
k
f
uz
z
y
l
o
gi
c
,
w
a
ve
l
e
t
n
e
t
w
o
r
k
[8
-
1
0].
O
n
t
h
e
o
t
h
e
r
ha
n
d
,
t
h
e
v
a
ri
o
us
l
i
m
i
t
a
t
i
o
ns
of
t
ra
di
t
i
o
n
a
l
P
ID
c
o
n
t
r
o
l
l
e
r
s
,
s
uc
h
a
s
e
rr
o
r
c
a
l
c
ul
a
t
i
n
g
,
n
o
i
s
e
i
n
t
h
e
de
ri
v
a
t
i
v
e
c
o
n
t
r
o
l
;
s
i
m
p
l
i
f
i
c
a
t
i
o
n
,
h
a
s
b
e
e
n
m
a
de
t
h
e
de
s
i
g
n
e
r
s
t
o
i
m
p
r
o
v
e
t
h
e
pe
r
f
o
r
m
a
n
c
e
o
f
c
l
a
s
s
i
c
a
l
P
ID
c
o
n
t
r
o
l
l
e
r
s
de
pe
ndi
n
g
o
n
s
o
m
e
c
o
n
c
e
pt
s
w
i
t
h
m
a
t
h
e
m
a
t
i
c
s
b
a
c
kgr
o
u
n
d
of
f
r
a
c
t
i
o
na
l
c
a
l
c
ul
u
s
t
h
a
t
de
a
l
s
w
i
t
h
i
n
t
e
g
ra
l
s
a
n
d
de
r
i
v
a
t
i
v
e
s
us
i
n
g
n
o
n
-
i
nt
e
ge
r
o
r
de
r
s
.
F
O
P
ID
c
o
n
t
r
o
l
l
e
r
s
ha
s
b
e
e
n
c
r
e
a
t
e
d
a
n
d
na
m
e
d
by
P
o
dl
ub
n
y
[11].
T
h
e
pe
r
f
o
r
m
a
n
c
e
of
F
O
P
ID
c
o
n
t
r
o
l
l
e
r
s
h
a
d
b
e
e
n
t
e
s
t
e
d
a
nd
i
m
p
l
e
m
e
nt
e
d
i
n
n
u
m
e
r
o
us
a
ppl
i
c
a
t
i
o
n
s
s
uc
h
a
s
s
y
s
t
e
m
i
de
nt
i
f
i
c
a
t
i
o
n
[12]
,
r
o
b
o
t
i
c
m
a
ni
pul
a
t
o
r
s
[13]
,
t
h
e
rm
a
l
s
y
s
t
e
m
s
[14],
I
n
duc
t
i
o
n
m
o
t
o
r
s
[15
],
a
n
d
po
w
e
r
s
y
s
t
e
m
s
[
16].
T
h
e
us
i
n
g
o
f
F
O
P
ID
c
o
n
t
r
o
l
l
e
r
e
n
a
b
l
e
s
t
h
e
de
s
i
gn
e
r
s
m
o
r
e
de
g
r
e
e
of
f
r
e
e
do
m
fo
r
t
h
e
s
e
l
e
c
t
i
o
n
of
c
o
n
t
ro
l
l
e
r
pa
ra
m
e
t
e
r
s
.
A
c
c
o
r
di
n
g
t
o
de
s
i
gn
e
e
c
r
i
t
e
ri
a
,
fi
ve
pa
ra
m
e
t
e
r
s
(
kp,
kd
,
μ
,
ki
a
n
d
λ
)
n
e
e
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