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17
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Feb
r
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20
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ce
m
et
h
o
d
s
th
at
w
er
e
in
tr
o
d
u
ce
d
to
d
ev
elo
p
Fu
zz
y
L
o
g
ic
C
o
n
tr
o
ller
.
T
h
e
m
o
s
t
co
m
m
o
n
m
eth
o
d
s
th
at
w
er
e
u
s
ed
ar
e
Su
g
e
n
o
an
d
Ma
m
d
an
i
b
a
s
ed
in
f
er
en
ce
m
et
h
o
d
[
13
]
.
Ma
m
d
an
i
-
b
ased
F
u
zz
y
L
o
g
ic
C
o
n
tr
o
ller
is
al
s
o
k
n
o
w
n
f
o
r
r
estra
in
i
n
g
e
x
p
er
t
k
n
o
w
led
g
e.
I
t
al
s
o
allo
w
ed
th
e
o
p
er
atio
n
to
b
e
m
o
r
e
s
en
s
iti
v
e
,
s
i
m
ilar
to
h
u
m
a
n
ch
ar
ac
ter
is
tic
s
.
Nev
er
t
h
ele
s
s
,
Ma
m
d
an
i
b
ased
F
u
zz
y
L
o
g
ic
C
o
n
tr
o
ller
is
n
o
t
s
u
itab
le
to
b
e
u
s
ed
f
o
r
in
ter
f
ac
e
s
b
ased
o
n
co
m
p
u
tatio
n
al
m
e
th
o
d
.
Su
g
e
n
o
b
ased
Fu
zz
y
L
o
g
ic
C
o
n
tr
o
ller
o
p
er
ate
s
w
it
h
co
m
p
u
tatio
n
al
m
at
h
e
m
a
tical
eq
u
atio
n
an
d
it
is
s
u
itab
le
f
o
r
ad
ap
tiv
e
tech
n
i
q
u
e
an
d
o
p
ti
m
izatio
n
th
at
ap
p
r
o
p
r
iate
f
o
r
co
n
tr
o
l
p
r
o
b
lem
s
,
m
o
s
tl
y
f
o
r
d
y
n
a
m
ic
n
o
n
-
li
n
ea
r
s
y
s
te
m
s
[
1
4
]
.
Fu
zz
i
f
icatio
n
an
d
De
-
f
u
zz
i
f
ica
tio
n
ar
e
t
w
o
m
ai
n
o
p
er
atio
n
s
i
n
Fu
zz
y
L
o
g
ic
C
o
n
tr
o
ller
.
Fu
z
zif
icatio
n
is
t
h
e
o
p
er
atio
n
th
a
t
ca
n
tr
a
n
s
l
ate
m
a
th
e
m
atica
l
i
n
p
u
t
v
a
lu
e
i
n
to
t
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
o
f
F
u
zz
y
L
o
g
ic
[
8
]
,
[
1
5
]
.
On
th
e
o
th
er
h
a
n
d
,
De
-
f
u
zz
i
f
icatio
n
is
t
h
e
o
p
er
atio
n
th
at
co
n
v
er
t
s
th
e
o
u
tp
u
t
f
r
o
m
F
u
zz
y
L
o
g
i
c
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
in
to
th
e
v
alu
e
t
h
at
ca
n
b
e
u
s
ed
b
y
t
h
e
co
n
tr
o
ller
[
1
6
,
1
7
]
.
T
h
e
ap
p
licatio
n
o
f
F
u
zz
y
L
o
g
ic
C
o
n
tr
o
ller
f
o
r
ae
r
ial
v
eh
icle
is
n
o
t
w
ell
i
n
v
e
s
ti
g
ate
d
.
T
h
er
ef
o
r
e
,
t
h
is
r
esear
ch
p
r
o
p
o
s
ed
a
c
o
n
tr
o
l
o
f
b
en
ch
-
to
p
h
elico
p
ter
,
p
ar
ticu
lar
l
y
th
e
tr
a
v
el
an
g
le
u
s
i
n
g
Ma
m
d
a
n
i
-
b
ased
F
u
zz
y
L
o
g
ic
C
o
n
tr
o
ller
.
2.
RE
S
E
ARCH
M
E
T
H
O
DO
L
O
G
Y
2
.
1
.
B
ench
-
t
o
p H
elico
pte
r
P
la
t
f
o
rm
B
en
ch
-
to
p
h
el
ico
p
ter
is
a
lab
o
r
ato
r
y
s
ca
le
h
elico
p
ter
u
s
u
a
l
l
y
u
s
ed
f
o
r
e
x
p
er
i
m
e
n
tal
p
u
r
p
o
s
es
[
1
8
]
.
T
h
e
b
en
ch
-
to
p
h
e
lico
p
ter
h
as
f
u
n
d
a
m
e
n
tall
y
s
a
m
e
d
y
n
a
m
ic
b
eh
a
v
io
r
as
a
r
ea
l
h
e
lico
p
ter
w
it
h
h
ig
h
u
n
ce
r
tai
n
t
y
.
T
h
e
u
n
ce
r
tai
n
t
y
t
h
at
m
a
y
h
ap
p
en
ed
is
in
f
o
r
m
o
f
d
if
f
er
en
t
r
estrictio
n
an
d
ca
n
b
e
ex
ag
g
er
ated
b
y
d
is
tu
r
b
an
ce
s
;
f
o
r
ex
a
m
p
le
s
tr
o
n
g
w
in
g
a
n
d
h
ar
d
w
ar
e
tear
an
d
w
ea
r
.
A
ch
iev
i
n
g
h
ig
h
p
er
f
o
r
m
an
ce
co
n
tr
o
l
o
v
er
3
‐
DOF
h
elico
p
ter
is
a
d
if
f
ic
u
lt
d
u
e
to
s
o
m
e
c
h
alle
n
g
e
s
.
B
en
ch
-
to
p
h
elico
p
ter
is
a
n
u
n
d
er
ac
tu
ated
s
y
s
te
m
,
w
h
ic
h
m
ea
n
s
n
u
m
b
er
o
f
co
n
tr
o
l in
p
u
t
s
ar
e
le
s
s
th
a
n
n
u
m
b
er
o
f
o
u
tp
u
ts
to
b
e
co
n
tr
o
lled
; i
n
th
is
ca
s
e
it
h
as
t
w
o
co
n
tr
o
l
in
p
u
t
s
an
d
th
r
ee
o
u
tp
u
ts
[
1
9
]
.
I
n
th
is
p
r
o
j
ec
t,
o
n
e
o
u
tp
u
t
w
h
ic
h
is
tr
a
v
el
an
g
le
is
co
n
s
id
er
ed
.
T
h
er
e
ar
e
also
ch
alle
n
g
e
s
in
ter
m
s
o
f
co
r
r
elatio
n
b
et
w
ee
n
p
it
ch
an
d
tr
av
el,
an
d
also
p
ar
a
m
eter
v
ar
ia
tio
n
s
t
h
at
co
n
tr
ib
u
te
to
u
n
ce
r
tai
n
t
y
o
f
t
h
e
h
elico
p
t
er
m
o
d
el.
T
h
e
p
ar
a
m
eter
v
ar
i
atio
n
s
in
cl
u
d
e
f
li
g
h
t
altit
u
d
e,
f
u
el
co
n
s
u
m
p
tio
n
,
air
s
p
ee
d
an
d
am
o
u
n
t o
f
lo
ad
[
2
0
]
.
Fig
u
r
e
1
s
h
o
w
s
t
h
r
ee
De
g
r
ee
o
f
Fre
ed
o
m
(
3
DOF)
h
elico
p
ter
u
s
ed
i
n
th
i
s
r
esear
c
h
.
T
h
e
b
en
ch
-
to
p
h
elico
p
ter
co
n
s
is
t
s
o
f
t
w
o
DC
m
o
to
r
th
at
is
m
o
u
n
ted
at
th
e
en
d
o
f
th
e
f
r
a
m
e
an
d
t
w
o
d
r
i
v
e
p
r
o
p
eller
s
[
2
1
]
.
T
h
e
h
elico
p
ter
also
ca
n
m
o
v
e
in
t
h
r
ee
d
ir
ec
tio
n
o
f
a
n
g
le
s
w
h
ich
ar
e
elev
a
tio
n
,
p
itc
h
an
d
tr
av
el
an
g
le
s
.
T
h
e
3
DOF
t
w
o
m
o
to
r
is
s
et
u
p
in
p
ar
allel
an
d
it
p
u
s
h
e
s
tr
aj
ec
to
r
y
w
a
s
n
o
r
m
al
to
th
e
f
r
a
m
e.
T
h
e
h
elico
p
ter
f
r
a
m
e
is
m
o
u
n
ted
to
th
e
j
o
in
t
at
th
e
ce
n
ter
a
n
d
it
is
f
r
ee
to
p
itch
a
t
t
h
e
ce
n
ter
.
T
h
e
o
t
h
er
e
n
d
o
f
t
h
e
h
elico
p
ter
is
m
o
u
n
ted
w
i
th
t
h
e
w
ei
g
h
t
th
at
ac
t
s
as
a
co
u
n
ter
w
ei
g
h
t
to
m
ak
e
th
e
h
elico
p
ter
g
et
t
h
e
ef
f
ec
ti
v
e
w
ei
g
h
t
to
b
e
lif
ted
b
y
u
s
i
n
g
t
h
e
tr
u
s
t o
f
t
h
e
t
w
o
m
o
to
r
s
.
F
ig
u
r
e
2
s
h
o
w
s
b
en
ch
-
to
p
h
elico
p
ter
at
s
tar
ti
n
g
p
o
s
itio
n
.
Fig
u
r
e
1
.
B
en
ch
-
T
o
p
h
elico
p
ter
p
latf
o
r
m
[
2
1
]
Fig
u
r
e
2
.
B
en
ch
-
T
o
p
h
elico
p
ter
at
s
tar
tin
g
p
o
s
itio
n
[
2
1
]
T
h
e
ch
an
g
e
o
f
a
n
g
le
f
o
r
b
en
ch
-
to
p
h
elico
p
ter
i
s
co
n
tr
o
lled
b
y
t
h
e
co
n
tr
o
ller
w
h
er
e
t
h
e
ex
i
s
ti
n
g
co
n
tr
o
ller
is
L
QR
-
I
.
T
h
e
co
n
tr
o
ller
p
r
o
ce
s
s
es
th
e
an
g
le
s
et
b
y
t
h
e
u
s
er
,
th
en
co
n
v
er
t
in
to
el
ec
tr
ical
en
er
g
y
t
h
at
p
o
w
er
u
p
D
C
r
o
to
r
w
h
ic
h
is
a
ls
o
th
e
p
r
o
p
eller
o
f
t
h
e
h
e
lico
p
ter
.
T
h
e
to
tal
f
o
r
ce
,
F
t
h
at
ca
u
s
e
s
th
e
h
el
ico
p
ter
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N:
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4752
Desig
n
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f tra
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g
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c
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f q
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en
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h
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ts
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b
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h
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ch
f
o
cu
s
ed
o
n
tr
av
el
an
g
le
co
n
tr
o
l
o
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l
y
.
T
h
e
t
y
p
e
o
f
co
n
tr
o
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p
r
o
p
o
s
ed
in
th
i
s
r
esear
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is
Ma
m
d
an
i
-
b
ased
F
u
zz
y
L
o
g
i
c
C
o
n
tr
o
ller
.
T
h
e
p
er
f
o
r
m
a
n
ce
ev
alu
atio
n
o
f
th
e
b
en
c
h
-
to
p
h
elico
p
ter
w
a
s
d
o
n
e
u
s
i
n
g
Si
m
u
lin
k
,
Q
u
ar
c
an
d
Fu
zz
y
lo
g
ic
to
o
lb
o
x
in
M
A
T
L
AB
.
C
o
m
p
ar
is
o
n
o
f
r
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u
lts
w
a
s
p
er
f
o
r
m
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b
et
w
ee
n
th
e
p
r
o
p
o
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co
n
tr
o
ller
an
d
e
x
is
ti
n
g
co
n
tr
o
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(
L
QR
-
I
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.
P
ar
tial
r
esu
lts
w
it
h
b
r
ief
ex
p
la
n
ati
o
n
o
f
e
x
p
er
i
m
e
n
tal
w
o
r
k
w
er
e
r
ef
er
r
ed
in
[
1
8
]
.
2
.
2
.
F
uzzy
L
o
g
ic
Co
ntr
o
ller
Desig
n
T
h
e
f
ir
s
t
s
tep
in
F
u
zz
y
L
o
g
ic
C
o
n
tr
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d
esig
n
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to
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ef
in
e
Fu
zz
y
r
u
les.
I
n
t
h
is
r
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c
h
,
t
w
o
i
n
p
u
s
an
d
o
n
e
o
u
tp
u
t
Fu
zz
y
L
o
g
ic
C
o
n
tr
o
ller
h
as
b
ee
n
d
esi
g
n
ed
.
T
h
e
i
n
p
u
t
s
ar
e
E
r
r
o
r
an
d
C
h
an
g
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o
f
E
r
r
o
r
w
h
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ea
s
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o
u
tp
u
t is
R
e
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o
n
s
e.
E
r
r
o
r
in
d
icate
s
t
h
e
d
i
f
f
er
e
n
ce
b
et
w
ee
n
d
esire
d
an
g
le
a
n
d
th
e
ac
t
u
al
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g
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m
ea
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r
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y
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s
o
lu
te
e
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er
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ac
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p
u
t
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u
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u
t
h
as
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eir
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n
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e
m
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er
s
h
ip
f
u
n
ctio
n
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h
e
m
e
m
b
er
s
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ip
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u
n
ct
io
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s
t
h
e
r
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g
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o
f
s
u
b
n
et
u
s
ed
to
d
e
f
in
e
f
u
zz
y
r
u
les
[
2
3
,
2
4
]
.
I
n
th
is
r
esear
ch
,
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o
th
i
n
p
u
t
s
co
n
s
is
t
o
f
th
r
ee
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
n
a
m
ed
{NE
G,
Z
,
P
OS}
an
d
t
h
e
o
u
tp
u
t
co
n
s
is
t
o
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f
i
v
e
m
e
m
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er
s
h
ip
s
f
u
n
ct
io
n
n
a
m
ed
{VS,
S,
M,
F,
VF}.
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h
e
F
u
zz
y
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les
w
er
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s
e
t
af
ter
all
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e
m
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er
s
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ip
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n
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er
e
d
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i
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ed
,
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ased
o
n
t
h
e
d
y
n
a
m
ic
b
e
h
av
io
u
r
o
f
th
e
b
en
c
h
-
to
p
h
elico
p
ter
.
I
n
th
i
s
r
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ch
,
n
in
e
f
u
zz
y
r
u
les
h
a
v
e
b
ee
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d
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elo
p
ed
,
as
s
h
o
w
n
i
n
T
ab
le
1
.
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h
e
f
u
zz
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r
u
les
ar
e
s
et
u
s
i
n
g
Ma
tlab
Fu
zz
y
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o
g
ic
T
o
o
lb
o
x
as
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
“a
n
d
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m
et
h
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d
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s
ed
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m
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a
r
e
th
e
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w
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t
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in
f
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zz
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et
h
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is
u
s
ed
to
o
b
tain
th
e
r
esu
lts
i
n
d
e
-
f
u
zz
if
i
ca
tio
n
[
2
5
]
.
T
ab
le
1
.
Fu
zz
y
R
u
le
T
ab
le
C
h
a
n
g
e
o
f
Er
r
o
r
Er
r
o
r
N
EG
Z
P
O
S
N
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VS
S
M
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S
M
F
P
O
S
M
F
VF
N
o
t
e
:
V
S
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e
r
y
S
l
o
w
S
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l
o
w
M
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e
d
i
u
m
F
–
F
a
st
V
F
–
V
e
r
y
F
a
st
Fig
u
r
e
3
.
Fu
zz
y
lo
g
ic
d
esi
g
n
er
in
m
at
lab
2
.
3
.
F
uzzy
L
o
g
ic
Co
ntr
o
ller
f
o
r
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Clo
s
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o
p Sy
s
t
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m
T
h
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p
r
o
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o
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ed
Fu
zz
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o
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ic
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o
n
tr
o
ller
h
as
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g
ai
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t
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en
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m
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o
ller
o
n
Qu
a
n
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er
3
DOF
h
elico
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ter
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ed
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o
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s
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s
te
m
s
i
m
u
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n
.
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h
e
o
v
er
all
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iag
r
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o
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t
h
e
s
i
m
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is
s
h
o
w
n
in
F
ig
u
r
e
4
.
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zz
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o
g
ic
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o
n
tr
o
ller
h
as
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ee
n
u
s
ed
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n
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o
l
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ac
k
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o
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-
D
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ter
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g
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r
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5
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h
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u
zz
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n
tr
o
ller
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lo
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s
u
b
s
y
s
t
e
m
is
s
h
o
w
n
i
n
Fi
g
u
r
e
6
.
Fo
r
r
ea
l
h
ar
d
w
ar
e
test
,
Qu
ar
c
to
o
lb
o
x
h
as
b
ee
n
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s
ed
w
h
er
e
q
4
d
ata
ac
q
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is
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n
ca
r
d
w
as
co
n
n
ec
ted
to
th
e
Q
u
a
n
s
er
3
-
DOF
b
en
c
h
-
to
p
h
elico
p
ter
,
r
ef
er
r
in
g
to
User
Ma
n
u
a
l [
1
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
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4752
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
17
,
No
.
2
,
Feb
r
u
ar
y
20
20
:
8
1
5
-
8
2
5
818
Fig
u
r
e
4
.
A
clo
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ed
-
lo
o
p
s
y
s
te
m
s
i
m
u
latio
n
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o
r
tr
av
el
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n
g
le
co
n
tr
o
l
Fig
u
r
e
5
.
P
o
s
itio
n
co
n
tr
o
ller
o
f
b
en
c
h
-
to
p
h
el
ico
p
ter
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
Desig
n
o
f tra
ve
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n
g
le
c
o
n
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l o
f q
u
a
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er b
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h
elico
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g
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.
.
.
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s
ma
h
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n
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r
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819
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u
r
e
6
.
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zz
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g
ic
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n
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ll
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it
h
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t
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w
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d
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p
3.
RE
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L
T
S AN
D
AN
AL
Y
SI
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Si
m
u
latio
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k
a
n
d
h
ar
d
w
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test
s
h
a
v
e
b
ee
n
co
n
d
u
cted
.
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er
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
p
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s
ed
f
u
zz
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g
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co
n
tr
o
ller
is
p
r
esen
ted
an
d
an
a
l
y
s
ed
i
n
th
i
s
s
ec
tio
n
.
3
.
1
.
M
e
m
bers
hip
F
u
nct
io
n E
v
a
lua
t
io
n
T
u
n
in
g
t
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
i
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n
e
o
f
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e
m
o
s
t
i
m
p
o
r
tan
t
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ar
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in
d
esi
g
n
i
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g
Fu
zz
y
L
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g
i
c
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o
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tr
o
ller
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y
L
o
g
ic
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n
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r
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ller
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ac
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e
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e
m
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ip
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ctio
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r
o
p
er
ly
tu
n
ed
.
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h
e
tu
n
i
n
g
o
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m
e
m
b
er
s
h
ip
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u
n
ct
io
n
ca
n
b
e
d
o
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e
in
t
h
e
f
o
r
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o
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s
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ap
e,
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g
e
a
n
d
p
o
s
itio
n
.
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n
th
i
s
r
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c
h
,
tr
ian
g
u
lar
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d
tr
ap
ez
o
id
al
s
h
ap
e
h
a
v
e
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ee
n
ch
o
s
en
.
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n
t
h
e
p
r
o
ce
s
s
o
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t
u
n
i
n
g
th
e
m
e
m
b
er
s
h
ip
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u
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n
,
th
e
r
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g
e
an
d
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o
s
iti
o
n
o
f
th
e
m
e
m
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er
s
h
ip
f
u
n
ctio
n
w
er
e
ad
j
u
s
ted
.
T
h
e
t
h
r
ee
r
an
g
es
o
f
er
r
o
r
,
ch
an
g
e
o
f
er
r
o
r
an
d
o
u
tp
u
t
ar
e
(
-
0
.
2
to
0
.
2
)
,
(
-
0
.
3
4
to
0
.
3
)
an
d
(
-
1
.
6
5
to
1
.
6
5
)
r
esp
ec
tiv
el
y
.
F
ig
u
r
e
7
-
9
s
h
o
w
t
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
p
r
o
p
o
s
ed
in
th
i
s
r
esear
ch
.
Fig
u
r
e
7
.
E
r
r
o
r
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
Fig
u
r
e
8
.
C
h
a
n
g
e
o
f
er
r
o
r
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
Fig
u
r
e
9
.
Ou
tp
u
t
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
3
.
2
.
So
f
t
w
a
re
Si
m
ula
t
io
n
Du
r
in
g
th
e
i
n
itial
test
,
tr
ac
k
i
n
g
te
s
t
w
a
s
co
n
d
u
cted
o
n
b
en
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h
-
to
p
h
elico
p
ter
u
s
i
n
g
Ma
m
d
an
i
-
b
ased
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
.
Step
in
p
u
t
(
d
esire
d
tr
av
el
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g
le)
was
ap
p
lied
to
th
e
s
y
s
te
m
as
s
h
o
w
n
i
n
Fi
g
u
r
e
4
.
S
m
all
s
tep
in
p
u
t
o
f
a
n
g
les
6
°,
7
°
an
d
8
°
w
er
e
s
et.
F
r
o
m
th
e
s
tep
i
n
p
u
t,
er
r
o
r
an
d
ch
an
g
e
o
f
er
r
o
r
w
er
e
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.
17
,
No
.
2
,
Feb
r
u
ar
y
20
20
:
8
1
5
-
8
2
5
820
ca
lcu
lated
.
B
ased
o
n
th
e
r
an
g
es
o
f
b
o
th
in
p
u
t
s
,
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e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
w
er
e
s
et
an
d
f
u
zz
if
icatio
n
p
r
o
ce
s
s
to
o
k
p
lace
.
T
h
en
th
e
co
n
tr
o
lle
r
m
a
n
ip
u
lated
th
e
o
u
tp
u
t
b
ase
d
o
n
th
e
9
r
u
les
th
at
h
as
b
ee
n
s
et
(
r
e
f
er
to
T
ab
le
1
)
.
T
h
en
,
d
e
-
f
u
zz
if
icatio
n
p
r
o
ce
s
s
to
o
k
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lace
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h
e
o
u
tp
u
t
f
r
o
m
F
u
zz
y
L
o
g
ic
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
w
a
s
co
n
v
er
t
ed
in
to
th
e
v
al
u
e
t
h
at
c
an
b
e
u
s
ed
b
y
t
h
e
co
n
tr
o
ller
a
s
th
e
co
n
tr
o
ller
o
u
tp
u
t.
T
h
e
co
n
tr
o
ller
o
u
tp
u
t
w
as
f
ed
in
to
t
h
e
3
-
DOF
h
elico
p
ter
m
o
d
el
to
co
n
tr
o
l
th
e
p
la
n
t
(
h
el
ico
p
ter
)
.
T
h
e
r
esu
lts
o
f
s
m
all
s
tep
in
p
u
t
test
s
ar
e
s
h
o
w
n
in
F
ig
u
r
e
1
0
.
(
a)
6
° tr
av
el
an
g
le
(
b
)
7
° tr
av
el
an
g
le
(
c)
8
° tr
av
el
an
g
le
Fig
u
r
e
1
0
.
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
r
esp
o
n
s
e
o
f
s
tep
in
p
u
t a
t (
a)
6
°,
(
b
)
7
°an
d
(
c)
8
°
Fro
m
t
h
e
r
es
u
lt
s
s
h
o
w
n
i
n
Fi
g
u
r
e
1
0
,
F
u
zz
y
L
o
g
ic
C
o
n
tr
o
ller
w
o
r
k
s
v
er
y
w
el
l
f
o
r
tr
ac
k
in
g
s
m
al
l
an
g
le
s
.
I
n
t
h
ese
3
d
if
f
er
e
n
t
s
te
p
in
p
u
t
tes
ts
,
th
er
e
ar
e
n
o
p
er
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en
tag
e
o
f
o
v
er
s
h
o
o
t
a
n
d
al
m
o
s
t
ze
r
o
s
tead
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s
tate
er
r
o
r
.
T
h
e
co
n
tr
o
ller
a
d
j
u
s
ted
v
er
y
f
ast
w
h
er
e
th
e
s
ettli
n
g
ti
m
e
f
o
r
all
tes
ts
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e
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o
u
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n
d
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n
esia
n
J
E
lec
E
n
g
&
C
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m
p
Sci
I
SS
N:
2502
-
4752
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n
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ah
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k
.
RE
F
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R
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NC
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S
[1
]
J.
Ga
o
,
X
.
Xu
,
C.
He
,
“
A
S
tu
d
y
o
n
th
e
Co
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l
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e
th
o
d
s Ba
se
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3
-
DO
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He
li
c
o
p
ter M
o
d
e
l,
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o
u
rn
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l
o
f
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mp
u
ter
,
v
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l.
7
(
1
0
)
,
p
p
.
2
5
2
6
-
2
5
2
6
,
2
0
1
2
.
[2
]
A
.
M
o
sta
fa
,
A
.
Rin
i,
L
.
A
ri,
“
M
u
lt
ip
le
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su
rf
a
c
e
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li
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in
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o
d
e
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n
tro
l
fo
r
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DO
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He
li
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o
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,
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4
th
I
n
tern
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ti
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l
Co
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o
n
M
e
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h
a
tro
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ics
(IC
OM),
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a
la L
u
m
p
u
r,
2
0
1
1
.
[3
]
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.
A
rb
a
b
,
Y
Da
i,
AA
S
y
e
d
,
X
Y
X
u
,
“
3
Do
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M
o
d
e
l
He
li
c
o
p
ter
w
it
h
H
y
b
rid
Co
n
tr
o
l,
”
T
E
L
KOM
NIKA
In
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
,
v
o
l.
1
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(
5
)
,
p
p
.
3
8
6
3
-
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8
7
2
,
2
0
1
4
.
[4
]
M
R.
Ra
h
im
i,
S
.
Ha
ji
g
h
a
se
m
i,
D.
S
a
n
a
e
i,
“
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sig
n
in
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a
n
d
S
im
u
latio
n
f
o
r
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rti
c
a
l
M
o
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g
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tr
o
l
o
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U
A
V
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y
ste
m
u
sin
g
P
ID,
L
QR
a
n
d
F
u
z
z
y
L
o
g
ic,”
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
C
o
mp
u
ter
En
g
in
e
e
rin
g
(
IJ
ECE
),
v
o
l.
3
(
5
)
,
p
p
.
6
5
1
-
6
5
9
,
2
0
1
3
.
[5
]
A
.
L
e
r
m
o
n
to
v
,
L
.
Yo
k
o
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m
a
,
M
.
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to
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d
M
.
A
.
S
.
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a
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,
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Wate
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T
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.
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.
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.
Ri
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:
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[6
]
P
.
S
in
g
h
a
la,
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N.
S
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h
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a
n
d
B.
P
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tel,
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ra
tu
re
Co
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tro
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u
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g
F
u
z
z
y
L
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g
ic,”
In
t.
J
.
In
stru
m.
Co
n
tro
l
S
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v
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l.
4
,
n
o
.
1
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.
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0
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Evaluation Warning : The document was created with Spire.PDF for Python.
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2
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Feb
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20
:
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824
[7
]
H.
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A
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K.
A
h
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,
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n
d
N.
T
.
Na
m
,
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,
”
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.
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T
.
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A
.
Go
to
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.
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T
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c
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.
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1
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.
[8
]
H.
M
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S
.
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M
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No
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R
.
M
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K.
Ra
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,
O.F
.
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u
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Fu
zz
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o
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Gr
a
in
Dr
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2
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0
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),
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m
b
rid
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lan
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,
2
0
0
9
.
[9
]
K.
Ch
a
te,
O.
P
ra
d
o
Ra
m
írez
,
a
n
d
C.
Re
n
g
if
o
,
"
Co
m
p
a
ra
ti
v
e
A
n
a
l
y
sis
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t
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n
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u
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ic
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,
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tro
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it
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l
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a
n
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il
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ID
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tu
re
No
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two
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s
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n
d
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ms
,
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l
1
3
,
S
p
r
in
g
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r
Ch
a
m
,
2
0
1
7
.
[1
0
]
C.
Ch
e
n
,
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M
a
c
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láin
,
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i,
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P
rice
,
C.
Qu
e
k
,
a
n
d
Q.
S
h
e
n
,
“
Ro
u
g
h
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f
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terp
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,
”
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f.
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i.
(
Ny
).
,
v
o
l.
3
5
1
,
p
p
.
1
–
1
7
,
2
0
1
6
.
[1
1
]
A
.
A
.
A
ld
a
ir,
“
F
P
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A
Ba
s
e
d
M
o
d
if
ied
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u
z
z
y
P
ID
C
o
n
tr
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e
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f
o
r
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i
tch
A
n
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le
o
f
Be
n
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h
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to
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He
li
c
o
p
ter,”
Ir
a
q
i
J
.
El
e
c
tr.
El
e
c
tro
n
.
En
g
.
,
v
o
l.
8
,
n
o
.
1
.
[1
2
]
P
.
Ho
f
m
a
n
n
,
“
De
f
u
z
z
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f
ica
ti
o
n
stra
teg
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f
o
r
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u
z
z
y
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ic
a
ti
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s
o
f
re
m
o
te
se
n
sin
g
d
a
ta,”
Rem
o
t
e
S
e
n
s.,
v
o
l
.
8
,
n
o
.
6
,
2
0
1
6
.
[1
3
]
M
a
th
W
o
rk
s,
“
Co
m
p
a
riso
n
o
f
S
u
g
e
n
o
a
n
d
M
a
m
d
a
n
i
S
y
ste
m
s,” p
.
2
0
1
7
,
2
0
1
7
.
[1
4
]
A
.
Ka
u
r
a
n
d
A
.
Ka
u
r,
“
Co
m
p
a
riso
n
o
f
M
a
m
d
a
n
i
-
Ty
p
e
a
n
d
S
u
g
e
n
o
-
T
y
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e
F
u
z
z
y
In
f
e
re
n
c
e
S
y
st
e
m
s
f
o
r
A
ir
Co
n
d
it
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g
S
y
ste
m
,
”
In
t.
J
.
S
o
ft
Co
mp
u
t.
E
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g
.
,
v
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l
.
2
,
n
o
.
2
,
p
p
.
3
2
3
–
3
2
5
,
2
0
1
2
.
[1
5
]
B.
Be
d
e
,
“
M
a
th
e
m
a
ti
c
s o
f
f
u
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z
y
s
e
ts
a
n
d
f
u
z
z
y
lo
g
ic,”
S
tu
d
.
F
u
zz
in
e
ss
S
o
ft
C
o
mp
u
t.
,
v
o
l.
2
9
5
,
p
p
.
1
–
2
7
4
,
2
0
1
3
.
[1
6
]
A
.
T
a
lo
n
a
n
d
C.
Cu
rt,
“
S
e
lec
ti
o
n
o
f
a
p
p
ro
p
r
iate
d
e
f
u
z
z
i
f
ica
ti
o
n
m
e
th
o
d
s:
A
p
p
li
c
a
ti
o
n
to
t
h
e
a
ss
e
ss
m
e
n
t
o
f
d
a
m
p
e
rf
o
r
m
a
n
c
e
,
”
Exp
e
rt S
y
s
t.
Ap
p
l.
,
v
o
l.
7
0
,
p
p
.
1
6
0
–
1
7
4
,
2
0
1
7
.
[1
7
]
H.
Ro
u
h
p
a
rv
a
r
a
n
d
A
.
P
a
n
a
h
i,
“
A
n
e
w
d
e
f
in
it
io
n
f
o
r
d
e
f
u
z
z
if
ica
ti
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n
o
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n
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d
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u
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z
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n
u
m
b
e
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a
n
d
it
s
a
p
p
li
c
a
ti
o
n
,
”
A
p
p
l
.
S
o
ft
C
o
mp
u
t.
J
.
,
v
o
l.
3
0
,
p
p
.
5
7
7
–
5
8
4
,
2
0
1
5
.
[1
8
]
A
.
H.
M
o
h
d
Ha
iro
n
,
H.
M
a
n
so
r,
T
.
S
.
G
u
n
a
w
a
n
,
a
n
d
S
.
Kh
a
n
,
“
T
ra
v
e
l
a
n
g
le
c
o
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tro
l
o
f
q
u
a
n
se
r
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e
n
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h
-
t
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li
c
o
p
ter
b
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se
d
o
n
Qu
a
n
ti
tativ
e
F
e
e
d
b
a
c
k
T
h
e
o
ry
tec
h
n
iq
u
e
,
”
In
d
o
n
e
si
a
n
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
En
g
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n
e
e
rin
g
a
n
d
Co
mp
u
ter
S
c
ien
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e
,
v
o
l.
1
,
n
o
.
2
,
p
p
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–
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8
,
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0
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.
[1
9
]
L
iu
Z,
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o
u
k
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S
h
i
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.
,
“
Co
n
tr
o
l
S
tr
a
teg
y
De
sig
n
Ba
se
d
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n
Fu
zz
y
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o
g
ic a
n
d
L
QR
f
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r
3
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DO
F
He
li
c
o
p
ter
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o
d
e
l
,
”
In
tern
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ti
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n
a
l
C
o
n
f
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re
n
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tell
ig
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t
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tr
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n
f
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rm
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ti
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n
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o
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ss
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g
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Da
li
a
n
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2
0
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0
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[2
0
]
H.
M
a
n
so
r,
A
.
H.
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S
.
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o
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d
No
o
r,
R.
K
.
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ja
A
h
m
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d
,
F
.
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a
ip
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H.I.
A
li
,
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sig
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f
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n
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h
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ste
m
M
o
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l.
”
In
ter
n
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ti
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n
a
l
J
o
u
r
n
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l
o
f
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imu
la
ti
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n
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y
ste
m,
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c
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e
&
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h
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v
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l
.
1
1
(
5
)
,
p
p
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0
1
0
.
[2
1
]
Qu
a
n
se
r
In
c
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3
DO
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li
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o
p
ter U
se
r
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a
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a
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1
2
.
[2
2
]
M
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A
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t
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,
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M
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so
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u
n
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w
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Ja
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ro
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d
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th
IEE
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tern
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ti
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a
l
Co
n
f
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re
n
c
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o
n
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m
a
rt
In
stru
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n
tatio
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,
M
e
a
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m
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p
p
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ti
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M
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),
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[2
3
]
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d
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a
a
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d
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P
a
rv
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th
i
,
“
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tu
it
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n
isti
c
f
u
z
z
if
ica
ti
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f
u
n
c
ti
o
n
s,”
Glo
b
.
J
.
P
u
re
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p
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th
.
,
v
o
l.
1
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o
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p
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2
0
1
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.
[2
4
]
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.
Kla
w
o
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n
,
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se
,
a
n
d
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in
k
ler,
“
F
u
z
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y
c
lu
ste
rin
g
:
M
o
re
th
a
n
ju
st
f
u
z
z
if
ic
a
ti
o
n
,
”
Fu
zz
y
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e
ts
S
y
st.,
v
o
l.
2
8
1
,
p
p
.
2
7
2
–
2
7
9
,
2
0
1
5
.
[
2
5
]
M
.
H.
Ja
f
ri
a
n
d
H.
M
a
n
so
r
a
n
d
T
.
S
.
G
u
n
a
w
a
n
,
“
D
e
v
e
lo
p
me
n
t
o
f
Fu
zz
y
L
o
g
ic
Co
n
tro
l
ler
fo
r
Qu
a
n
se
r
Ben
c
h
-
T
o
p
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li
c
o
p
ter
,
”
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P
Co
n
f
.
S
e
r.
M
a
te
r.
S
c
i.
E
n
g
.
,
v
o
l.
2
6
0
,
n
o
.
1
,
p
.
1
2
0
1
5
,
2
0
1
7
.
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
Ha
s
m
a
h
M
a
n
so
r
c
o
m
p
lete
d
h
e
r
st
u
d
ies
a
t
th
e
U
n
iv
e
rsity
o
f
S
a
l
f
o
rd
,
UK
i
n
B.
E
n
g
El
e
c
tro
n
ics
&
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
w
it
h
F
irst
Clas
s
Ho
n
o
u
rs.
S
h
e
h
a
s
o
b
tai
n
e
d
h
e
r
M
a
ste
r
o
f
S
c
ien
c
e
a
n
d
P
h
D
i
n
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o
n
tr
o
l
a
n
d
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u
to
m
a
ti
o
n
En
g
i
n
e
e
rin
g
f
ro
m
Un
iv
e
rsiti
P
u
tra
M
a
lay
sia
.
Cu
rre
n
tl
y
sh
e
is
a
n
As
so
c
iate
P
ro
f
e
ss
o
r
a
t
El
e
c
tri
c
a
l
a
n
d
Co
m
p
u
ter
En
g
in
e
e
rin
g
De
p
a
rtme
n
t
,
a
n
d
sta
rti
n
g
f
ro
m
Ja
n
2
0
1
7
sh
e
h
a
s
b
e
e
n
a
p
p
o
in
ted
a
s
th
e
De
p
u
ty
De
a
n
o
f
S
tu
d
e
n
ts
Aff
a
irs,
F
a
c
u
lt
y
o
f
En
g
in
e
e
rin
g
,
IIUM
.
S
h
e
is
a
n
IEE
E
se
n
io
r
m
e
m
b
e
r
a
n
d
ju
st
b
e
e
n
a
wa
rd
e
d
a
s
Ch
a
rtere
d
En
g
in
e
e
r,
UK
in
Ja
n
u
a
ry
2
0
1
9
.
He
r
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
in
str
u
m
e
n
tatio
n
a
n
d
c
o
n
tro
l
sy
ste
m
s.
M
o
h
a
m
d
Kh
a
iru
l
A
z
m
i
M
a
t
Es
a
h
a
s
c
o
m
p
lete
d
h
is
B.
E
n
g
.
(Ho
n
s)
d
e
g
re
e
in
El
e
c
tro
n
ics
-
Co
m
p
u
ter
a
n
d
In
f
o
rm
a
ti
o
n
E
n
g
in
e
e
rin
g
,
In
tern
a
ti
o
n
a
l
Isla
m
ic
Un
iv
e
rsit
y
M
a
la
y
si
a
(IIUM
)
in
2
0
1
8
.
His
re
se
a
rc
h
in
tere
sts a
re
in
in
stru
m
e
n
tati
o
n
a
n
d
c
o
n
tro
l.
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