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Evaluation Warning : The document was created with Spire.PDF for Python.
IS
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[14
-
16].
F
u
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o
l
[
17
-
20]
.
In
t
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2.
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r
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r
s
(m
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),
t
h
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s
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e
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t
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e
c
o
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e
s
:
[
1
2
3
]
=
[
0
−
0
−
0
−
−
0
]
[
1
2
2
2
3
2
4
2
]
(5)
3.
C
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TR
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f
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Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
In
do
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a
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J
E
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22
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20
21
:
53
-
6
1
56
w
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∈
ℝ
a
s
s
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c
i
a
t
e
d
w
i
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de
s
i
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1
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3
[21
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23]
.
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t
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:
=
[
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⃗
2
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⃗
3
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(
3
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(6)
w
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e
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⃗
1
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⃗
2
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⃗
3
,
⃗
⃗
2
=
⃗
⃗
2
=
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⃗
3
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⃗
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⃗
⃗
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⃗
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‖
a
n
d
3
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⃗
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F
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o
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ude
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m
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Ω
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3.
1
.
H
i
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-
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p
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ti
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In
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t
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l
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t
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h
r
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m
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ude
∈
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a
n
d
t
h
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s
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r
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d
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r
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c
t
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o
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y
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3
.
L
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'
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f
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h
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s
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a
s
1
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−
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nd
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t
s
de
r
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v
a
t
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v
e
̇
1
=
̇
−
̇
.
T
h
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n,
de
s
i
g
ni
n
g
t
h
e
t
o
b
e
a
s
t
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pu
t
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nd
2
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−
t
o
b
e
t
h
e
v
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r
t
u
a
l
c
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n
t
r
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l
e
rr
o
r
,
w
e
s
e
l
e
c
t
t
h
e
L
y
a
pun
o
v
f
un
c
t
i
o
n
1
a
n
d
i
t
s
de
ri
v
a
t
i
v
e
a
s
f
o
l
l
o
w
:
1
=
1
2
1
1
(7)
̇
1
=
1
̇
1
=
1
(
̇
−
̇
)
=
1
(
2
+
−
̇
)
(8)
T
o
m
a
ke
1
pr
o
g
r
e
s
s
i
v
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s
t
a
b
l
e
,
t
h
e
(8)
n
e
e
ds
t
o
c
o
n
t
e
n
t
̇
1
<
0
.
T
h
e
n,
w
e
s
e
l
e
c
t
=
̇
−
1
1
,
w
h
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r
e
1
i
s
a
po
s
i
t
i
v
e
c
o
n
s
t
a
n
t
.
̇
1
=
1
(
2
+
̇
−
1
1
−
̇
)
=
1
2
−
1
1
1
(9)
w
h
e
r
e
2
=
̇
−
=
̇
−
̇
+
1
1
.
B
e
c
a
us
e
of
2
i
s
n
o
t
ge
n
e
r
a
l
l
y
a
z
e
r
o
,
s
o
t
h
e
s
e
c
o
n
d
s
t
e
p
o
f
b
a
c
ks
t
e
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n
g
i
s
gi
v
e
n
by
2
a
n
d
i
t
s
de
r
i
v
a
t
i
v
e
:
2
=
1
2
1
1
+
1
2
2
2
(10)
̇
2
=
2
̇
2
+
1
̇
1
=
2
(
̈
−
̈
+
1
̇
1
)
+
̇
1
=
2
(
̈
−
̈
+
1
̇
1
)
−
1
1
1
+
1
2
=
2
(
3
−
1
3
−
̈
+
1
̇
1
)
−
1
1
1
+
1
2
(11)
T
h
e
n,
t
h
e
c
o
nt
r
o
l
l
a
w
T
i
s
de
s
i
g
n
e
d
a
s
f
o
l
l
ow
:
=
(
−
3
+
̈
+
(
1
2
−
1
)
1
+
(
1
+
2
)
2
)
3
(12)
w
h
e
r
e
1
a
n
d
2
a
r
e
po
s
i
t
i
v
e
c
o
n
s
t
a
n
t
s
.
T
h
e
L
y
a
pun
o
v
f
un
c
t
i
o
n
'
s
de
ri
v
a
t
i
v
e
i
s
n
e
g
a
t
i
v
e
[2
4]
,
s
o
i
n
t
hi
s
t
i
m
e
,
w
e
s
a
y
t
ha
t
g
l
o
b
a
l
s
t
a
b
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l
i
t
y
i
s
a
c
c
o
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di
n
g
a
nd
i
t
c
a
n
c
o
nt
r
o
l
t
h
e
po
s
i
t
i
o
n
t
o
b
e
p
r
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s
s
i
v
e
s
t
a
b
i
l
i
t
y
by
t
h
e
c
o
n
t
r
o
l
.
A
f
t
e
r
t
h
e
s
i
m
ul
a
t
i
o
n
i
s
do
n
e
,
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t
b
e
c
o
m
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s
c
l
e
a
r
t
ha
t
w
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e
d
t
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a
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n
t
e
g
ra
t
i
o
n
,
t
h
e
c
o
nt
r
o
l
b
e
c
a
m
e
:
=
(
3
−
̈
+
∫
1
+
(
1
2
−
1
)
1
+
(
1
+
2
)
2
)
3
(13)
3.
2
.
Lo
w
-
l
e
v
e
l
a
tti
tu
d
e
c
o
n
tr
o
l
T
h
e
b
a
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ks
t
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ng
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o
m
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t
ri
c
c
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t
r
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l
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r
us
e
s
a
n
e
rr
o
r
f
un
c
t
i
o
n
w
hi
l
e
us
i
ng
t
h
e
b
a
c
ks
t
e
ppi
ng
c
o
n
t
r
o
l
a
pp
r
o
a
c
h
t
o
i
m
p
r
o
v
e
i
t
s
r
o
b
us
t
n
e
s
s
.
W
e
n
o
t
i
c
e
t
ha
t
i
t
i
s
n
o
t
po
s
s
i
b
l
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t
o
c
o
m
pa
r
e
di
r
e
c
t
l
y
be
t
w
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n
a
n
d
due
t
o
t
h
e
t
a
nge
nt
v
e
c
t
o
r
o
f
̇
a
n
d
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w
h
i
c
h
a
r
e
i
n
d
i
f
fe
r
e
nt
t
a
n
ge
nt
s
p
a
c
e
s
.
In
(14)
de
f
i
n
e
s
t
h
e
a
t
t
i
t
u
de
e
rr
o
r
,
a
nd
(
15)
de
f
i
n
e
s
t
h
e
A
ngul
a
r
V
e
l
o
c
i
t
y
e
rr
o
r
:
Evaluation Warning : The document was created with Spire.PDF for Python.
In
do
n
e
s
i
a
n
J
E
l
e
c
E
ng
&
Co
m
p
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c
i
IS
S
N
:
2502
-
4752
G
e
om
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t
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c
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f
q
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A
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(
A
l
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B
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h
ai
b
)
57
=
1
2
(
−
)
(14)
w
h
e
r
e
∘
i
s
v
e
e
m
a
p
(
∘
∶
(
3
)
→
ℝ
3
i
s
t
h
e
i
n
v
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r
s
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o
f
∘
×
w
h
i
c
h
w
a
s
de
f
i
n
e
d
b
e
for
e
.
Ω
=
Ω
−
Ω
(15)
H
ow
e
ve
r
,
b
e
fo
r
e
o
b
t
a
i
ni
n
g
t
h
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a
t
t
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ude
c
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nt
r
o
l
l
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r
dy
n
a
m
i
c
s
,
w
e
n
e
e
d
t
o
k
n
o
w
̇
a
nd
̇
Ω
,
w
h
i
c
h
a
r
e
de
f
i
n
e
d
by
(16)
a
nd
(1
7):
̇
=
1
2
(
(
)
]
)
Ω
=
Ω
(16)
̇
Ω
=
̇
+
(
Ω
−
Ω
̇
)
(17)
T
h
e
m
a
t
r
i
x
D
de
f
i
n
e
d
i
n
(17)
i
s
i
n
v
e
r
t
i
b
l
e
w
h
e
n
t
h
e
r
o
t
a
t
i
o
n
a
n
gl
e
b
e
t
w
e
e
n
R
a
n
d
R
d
i
s
l
e
s
s
t
h
a
n
180°
.
T
o
c
o
n
t
r
o
l
t
h
e
po
s
i
t
i
o
n
o
f
o
ur
qua
d
r
o
t
o
r
a
nd
t
h
e
a
t
t
i
t
ude
i
m
p
l
i
c
i
t
l
y
,
w
e
us
e
t
h
e
f
o
l
l
ow
i
n
g
po
s
i
t
i
v
e
L
y
a
pun
o
v
f
un
c
t
i
o
n
:
3
=
1
2
+
1
2
Ω
Ω
(18)
T
h
e
de
r
i
v
a
t
i
v
e
of
t
h
e
L
y
a
pun
o
v
f
un
c
t
i
o
n
i
s
gi
v
e
n
a
s
:
̇
3
=
Ω
(
̇
+
(
Ω
−
Ω
̇
)
)
+
̇
(19)
̇
3
=
Ω
(
(
−
Ω
×
Ω
)
+
(
Ω
−
Ω
̇
)
)
+
̇
(20)
T
h
e
c
o
n
t
r
o
l
l
a
w
b
e
c
o
m
e
s
:
=
−
3
−
5
Ω
+
Ω
×
Ω
−
J
(
Ω
×
Ω
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IS
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1591
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20]
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,
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88
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:
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11
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.
840
6352
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21]
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22]
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,
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34
-
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1
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do
i
:
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1
109
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C
U
A
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.
2019.
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[
23]
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3,
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109
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24]
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[
25]
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