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i
ga
t
i
on
i
n
r
ot
ar
y
dr
i
l
l
i
ng
…
(
Chaf
i
aa
Me
n
di
l
)
147
a
c
c
e
pt
a
b
l
e
pe
r
fo
r
m
a
n
c
e
ha
s
b
e
e
n
ob
t
a
i
n
e
d;
t
h
e
c
o
m
p
a
ra
t
i
v
e
s
t
ud
y
be
t
w
e
e
n
t
h
e
c
o
n
t
r
o
l
l
e
r
s
h
a
s
a
l
s
o
b
e
e
n
c
o
n
duc
t
e
d.
H
ow
e
v
e
r
,
t
h
e
dy
n
a
m
i
c
of
t
h
e
s
t
udi
e
d
m
o
de
l
di
d
no
t
h
i
g
h
l
i
g
h
t
t
h
e
s
t
i
c
k
-
s
l
i
p
p
h
e
n
o
m
e
n
o
n
dy
n
a
m
i
c
.
F
urt
h
e
rm
o
r
e
,
L
ui
in
[8
]
ha
s
us
e
d
t
hr
e
e
s
l
i
d
i
n
g
m
o
de
c
o
n
t
r
o
l
l
e
r
s
to
s
upp
r
e
s
s
t
h
e
S
t
i
c
k
-
S
l
i
p
o
s
c
i
l
l
a
t
i
o
n
s
;
t
hi
s
s
t
udy
is
an
e
xt
e
n
s
i
o
n
of
c
o
n
t
ri
b
ut
i
o
n
p
r
o
po
s
e
d
by
Nav
ar
r
o
in
[6]
.
E
v
e
n
t
h
o
ug
h
t
h
e
de
s
i
g
n
of
t
hr
e
e
s
l
i
di
ng
m
o
de
c
o
n
t
r
o
l
l
e
r
s
,
t
h
e
s
t
i
c
k
p
h
a
s
e
du
r
a
t
i
o
n
is
s
t
i
l
l
c
o
n
s
i
de
ra
b
l
e
b
e
c
a
us
e
of
a
c
t
i
v
a
t
i
o
n
de
l
a
y
s
in
t
h
e
c
o
n
t
r
o
l
s
y
s
t
e
m
.
In
l
a
s
t
f
e
w
y
e
a
r
s
,
th
e
s
l
i
d
i
n
g
-
m
o
de
c
o
n
t
r
o
l
m
e
t
h
o
d
ha
s
b
e
e
n
us
e
d
to
e
xpe
r
i
m
e
n
t
a
l
l
y
a
n
d
n
u
m
e
ri
c
a
l
l
y
s
uppr
e
s
s
s
t
i
c
k
-
s
l
i
p
v
i
b
ra
t
i
o
n
s
du
r
i
ng
d
r
i
l
l
i
ng
[9]
,
t
h
e
c
o
nt
r
o
l
l
e
r
s
uc
c
e
e
de
d
in
e
l
i
m
i
na
t
i
n
g
t
h
e
s
t
i
c
k
-
s
l
i
p
o
s
c
i
l
l
a
t
i
o
n
b
ut
o
n
l
y
fo
r
a
pp
r
o
p
r
i
a
t
e
l
y
de
s
i
gn
e
d
t
e
s
t
b
e
n
c
h.
T
h
o
ugh,
w
h
e
n
c
o
m
pa
r
i
ng
t
h
e
l
a
t
e
s
t
pub
l
i
s
h
e
d
s
t
udi
e
s
,
t
h
e
y
h
a
v
e
ge
n
e
r
a
l
l
y
a
s
s
um
e
d
t
h
a
t
t
h
e
i
nput
of
t
h
e
s
y
s
t
e
m
is
t
h
e
t
o
r
que
de
l
i
v
e
r
e
d
by
t
h
e
T
o
p
dr
i
v
e
,
h
e
n
c
e
,
all
t
h
e
t
o
r
q
ue
s
t
ha
t
e
xi
s
t
b
e
t
w
e
e
n
t
h
e
t
o
p
dr
i
v
e
a
n
d
t
h
e
f
i
r
s
t
e
l
e
m
e
n
t
w
e
r
e
n
e
gl
e
c
t
e
d,
so
t
h
e
s
pe
e
d
of
t
h
e
f
i
r
s
t
e
l
e
m
e
nt
is
t
h
e
s
a
m
e
as
t
h
e
t
o
p
d
r
i
v
e
s
pe
e
d.
T
hi
s
h
y
po
t
he
s
i
s
is
t
h
e
r
e
a
s
o
n
w
h
y
t
h
e
s
t
i
c
k
-
s
l
i
p
p
h
e
n
o
m
e
n
o
n
is
n
o
t
w
e
l
l
ob
s
e
r
ve
d
s
i
n
c
e
t
h
e
t
o
r
s
i
o
na
l
v
i
b
r
a
t
i
o
n
s
a
r
e
n
o
t
s
e
v
e
r
e
,
in
a
n
o
t
h
e
r
w
a
y
,
t
h
e
n
um
e
r
i
c
a
l
m
o
de
l
is
n
o
t
a
pp
r
o
pri
a
t
e
l
y
r
e
l
i
a
b
l
e
,
a
nd
do
e
s
n
o
t
p
r
e
c
i
s
e
l
y
pr
o
v
i
de
t
h
e
a
c
c
ur
a
t
e
s
pe
e
d
of
t
h
e
t
o
o
l
a
nd
t
ha
t
of
t
h
e
t
o
p
d
ri
v
e
.
T
h
i
s
l
i
m
i
t
a
t
i
o
n
c
a
us
e
s
m
a
n
y
pr
o
b
l
e
m
s
dur
i
ng
a
pp
l
y
i
n
g
t
h
e
f
un
c
t
i
o
n
s
of
t
h
e
d
r
i
l
l
i
ng
de
v
i
c
e
(pum
pi
n
g
a
nd
r
o
t
a
t
i
o
n
).
T
h
e
di
s
a
dv
a
nt
a
ge
of
t
h
e
s
e
s
t
udi
e
s
is
t
ha
t
t
h
e
us
e
d
s
y
s
t
e
m
m
o
d
el
is
l
i
m
i
t
e
d
to
l
o
w
o
s
c
i
l
l
a
t
o
r
y
v
i
b
r
a
t
i
o
n
s
;
t
h
e
r
e
f
o
r
e
,
in
c
a
s
e
of
h
i
g
h
f
r
e
que
n
c
y
o
s
c
i
l
l
a
t
i
n
g
m
o
de
of
t
h
e
s
t
i
c
k
-
s
l
i
p
v
i
b
ra
t
i
o
n
s
,
t
h
e
pe
r
f
o
r
m
a
n
c
e
of
t
h
e
pr
e
v
i
o
us
l
y
d
e
ve
l
o
p
e
d
c
o
n
t
r
o
l
l
e
r
s
w
i
l
l
be
que
s
t
i
o
n
a
b
l
e
.
F
r
o
m
o
t
h
e
r
s
i
de
,
t
h
e
dy
n
a
m
i
c
m
o
de
is
di
r
e
c
t
l
y
r
e
l
a
t
e
d
to
t
h
e
r
o
c
k
-
b
i
t
i
n
t
e
ra
c
t
i
o
n
t
e
r
m
a
n
d
t
h
e
n
u
m
b
e
r
of
fr
e
e
do
m
de
gr
e
e
s
of
t
h
e
c
o
n
s
i
de
r
e
d
s
y
s
t
e
m
,
t
h
us
,
t
h
e
s
e
f
a
c
t
o
r
s
w
i
l
l
m
a
ke
it
m
o
r
e
di
f
f
i
c
ul
t
to
ob
t
a
i
n
go
o
d
pe
r
fo
r
m
a
n
c
e
s
of
r
o
t
a
r
y
dr
i
l
l
i
ng
s
y
s
t
e
m
un
de
r
s
e
v
e
r
e
t
o
r
s
i
o
na
l
v
i
b
ra
t
i
o
n
s
in
its
hi
g
h
f
r
e
que
n
c
y
s
t
i
c
k
-
s
l
i
p
m
o
de
.
T
h
e
l
a
t
e
s
t
p
r
o
po
s
e
d
s
o
l
ut
i
o
n
s
,
u
n
f
o
r
t
u
na
t
e
l
y
,
w
e
r
e
l
i
m
i
t
e
d
to
a
v
e
ra
ge
pe
r
f
o
r
m
a
n
c
e
s
a
nd
di
d
n
o
t
a
l
l
o
w
ob
t
a
i
n
i
n
g
go
o
d
pe
r
fo
r
m
a
n
c
e
s
.
F
o
r
t
ha
t
r
e
a
s
o
n
s
,
in
t
h
i
s
s
t
udy
t
h
e
pr
o
po
s
e
d
m
o
de
l
t
oo
k
t
h
e
T
o
p
dr
i
v
e
s
pe
e
d
as
an
i
nput
,
w
i
t
h
o
ut
n
e
g
l
e
c
t
i
n
g
t
he
r
e
s
i
s
t
i
n
g
t
o
r
que
b
e
t
w
e
e
n
t
h
e
t
o
p
d
r
i
v
e
a
n
d
t
h
e
f
i
r
s
t
e
l
e
m
e
n
t
.
M
o
r
e
ov
e
r
,
to
e
l
i
m
i
na
t
e
t
h
e
hi
g
h
v
i
b
ra
t
i
o
n
s
,
we
pr
o
po
s
e
d
t
h
e
de
s
i
gn
of
a
r
o
b
us
t
c
o
n
t
r
o
l
l
e
r
t
h
a
t
m
i
t
i
ga
t
e
s
t
h
e
t
o
r
s
i
o
na
l
v
i
b
ra
t
i
o
n
s
(i
n
its
s
e
v
e
r
e
m
o
de
)
in
an
o
pt
i
m
a
l
t
i
m
e
so
t
h
a
t
p
r
o
t
e
c
t
i
o
n
of
dr
i
l
l
i
n
g
e
qui
p
m
e
nt
f
r
o
m
ha
z
a
r
ds
a
n
d
da
m
a
ge
s
c
a
n
be
e
ff
i
c
i
e
n
t
l
y
gua
ra
nt
e
e
d.
To
a
dd
r
e
s
s
t
h
e
a
b
ov
e
l
i
m
i
t
a
t
i
o
n
s
,
t
h
e
m
a
i
n
o
b
j
e
c
t
i
v
e
of
t
hi
s
r
e
s
e
a
r
c
h
w
o
r
k
is
to
m
i
ni
m
i
z
e
t
h
e
t
o
r
s
i
o
na
l
v
i
b
ra
t
i
o
n
s
of
t
h
e
dri
l
l
s
t
r
i
n
g
by
i
m
pr
o
v
i
n
g
t
h
e
e
ff
i
c
i
e
n
c
y
of
t
h
e
pr
o
po
s
e
d
c
o
n
t
r
o
l
l
e
r,
a
n
d
c
o
n
s
e
que
n
t
l
y
gua
r
a
nt
e
e
t
h
e
p
r
o
pe
r
f
un
c
t
i
o
n
i
n
g
of
t
h
e
dri
l
l
i
ng
e
qui
pm
e
n
t
d
u
r
i
n
g
d
ri
l
l
i
ng
for
t
h
e
s
m
a
rt
i
n
dus
t
ri
a
l
r
o
t
a
r
y
dri
l
l
i
n
g
s
y
s
t
e
m
s
.
W
h
e
r
e
i
n
,
t
h
e
t
o
p
d
ri
v
e
r
o
t
a
t
i
o
n
a
l
v
e
l
o
c
i
t
y
is
c
o
n
s
i
de
r
e
d
as
an
i
n
pu
t
of
t
h
e
s
y
s
t
e
m
,
t
hr
e
e
r
o
c
k
-
b
i
t
i
n
t
e
ra
c
t
i
o
n
m
o
de
l
s
ha
v
e
b
e
e
n
a
na
l
y
z
e
d
(s
i
m
pl
i
f
i
e
d
m
o
de
l
,
ge
n
e
r
a
l
i
z
e
d
m
o
de
l
,
a
n
d
S
t
ri
b
e
c
k)
[10],
a
n
d
t
h
e
i
r
e
f
f
e
c
t
s
on
t
h
e
m
o
de
l
d
y
n
a
m
i
c
a
nd
t
h
e
s
t
i
c
k
-
s
l
i
p
p
h
e
n
o
m
e
n
o
n
s
e
v
e
r
i
t
y
h
a
v
e
b
e
e
n
c
a
r
e
f
ul
l
y
di
s
c
us
s
e
d
.
T
h
e
r
e
f
o
r
e
,
t
h
e
ge
n
e
ra
l
i
z
e
d
m
o
de
l
of
r
oc
k
-
b
i
t
i
nt
e
r
a
c
t
i
o
n
dy
n
a
m
i
c
w
a
s
us
e
d
in
t
h
e
m
o
de
l
of
t
h
e
s
y
s
t
e
m
in
o
r
de
r
to
de
s
i
gn
t
hr
e
e
c
o
n
t
r
o
l
l
e
r
s
:
c
l
a
s
s
i
c
P
ID
c
o
n
t
r
o
l
l
e
r
[11]
,
s
l
i
di
n
g
m
o
de
c
o
n
t
r
o
l
l
e
r
[1
2],
a
n
d
h
y
b
r
i
d
s
l
i
di
ng
P
ID
c
o
n
t
r
o
l
l
e
r
[
13],
t
h
e
y
w
e
r
e
de
s
i
gn
e
d
to
m
i
t
i
ga
t
e
t
h
e
s
t
i
c
k
-
s
l
i
p
v
i
b
ra
t
i
o
n
s
.
T
h
e
m
a
i
n
a
dv
a
n
t
a
ge
s
of
t
h
e
l
a
t
t
e
r
c
o
n
t
r
o
l
l
e
r
is
its
a
b
i
l
i
t
y
to
e
l
i
m
i
n
a
t
e
t
h
e
c
h
a
t
t
e
r
i
ng
p
h
e
n
o
m
e
n
o
n,
t
h
e
c
o
n
t
r
o
l
l
e
r
s
’
pe
r
f
o
r
m
a
n
c
e
s
w
e
r
e
pri
n
c
i
pa
l
l
y
e
v
a
l
ua
t
e
d
b
a
s
e
d
on
t
h
e
i
r
r
e
s
po
n
s
e
time
b
e
c
a
us
e
t
h
e
d
y
n
a
m
i
c
of
t
h
e
v
i
b
r
a
t
i
o
n
s
is
v
e
r
y
f
a
s
t
in
c
o
m
pa
ri
s
o
n
to
m
a
n
u
a
l
hum
a
n
i
n
t
e
r
v
e
n
t
i
o
n
in
t
h
e
i
n
dus
t
ri
a
l
r
o
t
a
r
y
dr
i
l
l
i
n
g
s
y
s
t
e
m
s
[14].
B
e
s
i
de
s
,
t
h
e
r
o
b
us
t
n
e
s
s
of
t
h
e
h
y
b
r
i
d
c
o
n
t
r
o
l
l
e
r
w
a
s
c
h
e
c
ke
d
a
c
c
o
r
di
n
gl
y
to
pa
r
a
m
e
t
r
i
c
v
a
r
i
a
t
i
o
n
s
a
n
d
m
o
n
i
t
o
ri
n
g,
w
h
i
c
h
gua
ra
n
t
e
e
s
o
ur
c
o
n
t
r
o
l
l
e
r
e
f
f
i
c
i
e
n
c
y
e
ve
n
w
i
t
h
s
t
r
uc
t
u
r
e
d
d
i
s
t
u
r
b
a
n
c
e
s
.
A
n
o
t
h
e
r
a
dv
a
nt
a
ge
is
t
h
a
t
t
h
e
s
e
c
o
n
t
r
o
l
l
e
r
s
ha
v
e
n
o
t
be
e
n
pr
e
v
i
o
us
l
y
a
ppl
i
e
d
for
t
h
e
us
e
d
m
o
de
l
.
In
o
rde
r
to
a
t
t
r
a
c
t
r
e
a
de
r
s
to
t
h
e
pr
o
po
s
e
d
c
o
n
t
r
i
b
ut
i
o
n
s
in
t
hi
s
s
t
u
dy
,
we
ga
v
e
in
s
e
c
t
i
o
n
t
w
o
a
de
s
c
r
i
pt
i
o
n
of
t
y
pi
c
a
l
r
o
t
a
r
y
dri
l
l
i
n
g
s
y
s
t
e
m
[15].
2.
R
O
TA
R
Y
D
R
I
LLI
NG
S
Y
S
TE
M
D
r
i
l
l
i
n
g
p
r
o
c
e
s
s
is
a
t
e
c
hni
que
of
di
ggi
n
g
a
h
o
l
e
in
t
h
e
g
r
o
u
n
d
to
e
xt
r
a
c
t
p
r
o
duc
t
s
l
i
ke
o
i
l
,
a
nd
ga
s
.
E
a
c
h
t
e
c
hni
que
is
c
h
o
s
e
n
b
a
s
e
d
on
s
pe
c
i
f
i
c
dr
i
l
l
i
n
g
o
pe
r
a
t
i
o
n
s
,
w
h
i
c
h
de
pe
nd
on
t
h
e
na
t
u
r
e
of
t
h
e
ge
o
l
o
gi
c
a
l
fo
r
m
a
t
i
o
n
s
(e
s
pe
c
i
a
l
l
y
r
o
c
k
ha
r
d
n
e
s
s
)
a
n
d
t
h
e
m
e
c
ha
n
i
c
a
l
s
t
r
e
ngt
h
of
t
h
e
s
o
i
l
(w
e
l
l
w
a
l
l
s
s
t
a
b
i
l
i
t
y
a
n
d
b
e
h
a
v
i
o
r
of
dr
i
l
l
i
n
g
m
ud
).
A
m
o
n
g
t
h
e
s
e
t
e
c
h
ni
que
s
,
t
h
e
r
o
t
a
r
y
dr
i
l
l
i
n
g
is
di
s
t
i
n
gu
i
s
h
e
d;
it
e
xi
s
t
s
s
i
n
c
e
1920
w
h
e
n
it
w
a
s
de
v
e
l
o
pe
d
m
a
i
nl
y
for
l
i
g
ht
de
v
i
c
e
s
(w
o
r
ks
pow
e
r
of
650
H
p)
a
nd
us
e
d
in
u
n
c
o
n
s
o
l
i
d
a
t
e
d
s
e
di
m
e
nt
a
r
y
s
o
i
l
s
.
T
h
i
s
d
ri
l
l
i
n
g
s
y
s
t
e
m
ha
s
t
h
e
a
dv
a
nt
a
ge
of
go
o
d
c
o
n
t
r
o
l
of
dr
i
l
l
i
n
g
p
a
ra
m
e
t
e
r
s
(w
e
i
gh
t
on
b
i
t
,
r
o
t
a
t
i
o
na
l
v
e
l
o
c
i
t
y
,
m
ud
qu
a
l
i
t
y
a
n
d
i
t
s
i
n
j
e
c
t
i
o
n
ra
t
e
)
[16]
.
T
h
e
d
r
i
l
l
i
n
g
ri
g
is
c
o
m
po
s
e
d
of
s
e
ve
r
a
l
e
l
e
m
e
n
t
s
,
a
l
l
of
t
h
e
m
a
r
e
i
m
po
rt
a
nt
a
n
d
e
a
c
h
of
t
h
e
m
ha
s
a
s
pe
c
i
f
i
c
r
o
l
e
so
t
h
a
t
t
h
e
s
a
f
e
t
y
is
e
n
s
ur
e
d
by
b
l
o
w
o
ut
pr
e
v
e
n
t
e
r
s
(B
O
P
),
t
h
e
pu
m
pi
ng
p
r
o
c
e
s
s
is
gua
r
a
nt
e
e
d
by
t
h
e
m
ud
pum
p,
t
h
e
r
o
t
a
t
i
o
n
is
e
n
s
u
r
e
d
by
t
h
e
t
o
p
dri
v
e
a
nd
t
h
e
r
o
t
a
r
y
t
a
b
l
e
,
a
n
d
t
h
e
p
r
o
duc
t
i
o
n
of
a
l
t
e
rna
t
i
v
e
e
n
e
r
gy
is
p
r
o
v
i
de
d
by
di
e
s
e
l
m
o
t
o
r
s
.
In
a
dd
i
t
i
o
n
to
t
ha
t
,
t
h
e
d
r
i
l
l
s
t
ri
n
g
c
o
n
s
i
s
t
s
of
dr
i
l
l
p
i
pe
s
,
d
ri
l
l
c
o
l
l
a
r
s
,
t
h
e
y
e
n
s
ur
e
t
h
e
p
r
o
pe
r
f
un
c
t
i
o
ni
n
g
of
t
h
e
t
o
o
l
duri
n
g
its
r
o
t
a
t
i
o
n,
w
i
t
h
o
ut
f
o
r
ge
t
t
i
n
g
t
h
e
m
o
s
t
i
m
po
r
t
a
n
t
c
o
m
po
n
e
n
t
of
dr
i
l
l
i
ng
w
h
i
c
h
is
t
h
e
t
o
o
l
,
it
can
be
e
i
t
h
e
r
as
t
o
o
t
h
e
d
w
h
e
e
l
s
or
d
i
a
m
o
n
d
t
o
o
l
(
n
a
t
u
ra
l
or
s
y
n
t
h
e
t
i
c
di
a
m
o
n
ds
:
PDC
a
n
d
T
S
P
)
[17
].
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
In
do
n
e
s
i
a
n
J
E
l
e
c
E
ng
&
Co
m
p
S
c
i
,
V
o
l
.
22
,
N
o
.
1
,
A
p
r
i
l
20
21
:
14
6
-
1
5
8
148
3.
TO
R
S
I
O
N
A
L
V
I
B
R
A
TI
O
N
S
F
i
gu
r
e
1
s
h
o
w
s
t
h
e
t
o
r
s
i
o
na
l
v
i
b
ra
t
i
o
n
in
s
t
i
c
k
-
s
l
i
p
m
o
de
ge
n
e
ra
t
e
d
by
pa
ra
m
e
t
ri
c
v
a
ri
a
t
i
o
n
s
due
ge
o
l
o
gi
c
a
l
f
o
r
m
a
t
i
o
n
r
e
qu
i
r
e
m
e
n
t
s
a
n
d
w
e
i
gh
t
on
b
i
t
(W
O
B
)
m
o
n
i
t
o
ri
n
g.
S
t
i
c
k
-
s
l
i
p
p
h
e
n
o
m
e
n
o
n
is
t
h
e
s
e
v
e
r
e
s
t
a
t
us
of
t
h
e
t
o
r
s
i
o
na
l
v
i
b
r
a
t
i
o
n
s;
it
can
l
e
a
d
to
d
a
m
a
g
i
ng
t
h
e
dri
l
l
b
i
t
,
t
h
e
t
o
o
l
s
t
r
i
n
g
,
or
e
v
e
n
t
h
e
t
o
p
d
ri
v
e
if
it
l
a
s
t
for
a
c
o
n
s
i
de
r
a
b
l
e
pe
ri
o
d
w
i
t
h
o
ut
c
o
n
t
r
o
l
.
In
b
e
s
t
s
c
e
n
a
ri
o
,
it
i
n
c
r
e
a
s
e
s
t
h
e
n
o
n
p
r
o
duc
t
i
v
e
time
(N
P
T
)
up
to
50%
of
t
h
e
t
o
t
a
l
d
ri
l
l
i
n
g
t
i
m
e
.
T
h
e
h
i
g
hl
y
n
o
n
l
i
n
e
a
r
r
o
c
k
-
b
i
t
i
nt
e
ra
c
t
i
o
n
dy
n
a
m
i
c
is
t
h
e
m
a
i
n
c
a
us
e
of
s
uc
h
t
y
p
e
of
v
i
b
r
a
t
i
o
n
s
[18]
,
for
w
h
i
c
h
t
h
e
b
i
t
is
c
h
a
ra
c
t
e
r
i
z
e
d
by
un
s
t
a
b
l
e
r
o
t
a
t
i
o
na
l
s
pe
e
d
t
h
a
t
v
a
r
i
e
s
a
gg
r
e
s
s
i
v
e
l
y
as
f
un
c
t
i
o
n
of
s
udde
n
c
ha
n
ge
s
in
r
o
c
k
g
e
o
m
e
c
h
a
ni
c
a
l
p
r
o
pe
rt
i
e
s
.
T
h
us
,
t
h
e
b
e
ha
v
i
o
r
of
r
o
t
a
r
y
dr
i
l
l
i
n
g
s
y
s
t
e
m
duri
n
g
t
h
e
o
s
c
i
l
l
a
t
i
o
n
s
c
a
nn
o
t
be
c
o
m
pl
e
t
e
l
y
pr
e
di
c
t
a
b
l
e
.
F
o
r
t
h
a
t
r
e
a
s
o
n,
t
h
e
de
s
i
g
n
of
f
r
i
c
t
i
o
n
m
o
de
l
w
a
s
n
o
t
an
e
a
s
y
t
a
s
k
[19],
w
h
e
r
e
,
it
w
a
s
n
e
c
e
s
s
a
r
y
to
i
n
t
r
o
duc
e
a
l
a
rge
n
um
b
e
r
of
pa
ra
m
e
t
e
r
s
to
de
s
c
r
i
b
e
t
h
e
ph
y
s
i
c
s
of
f
r
i
c
t
i
o
n
p
h
e
n
o
m
e
na
.
A
m
o
ng
t
h
e
s
t
u
di
e
d
f
r
i
c
t
i
o
n
m
o
de
l
s
,
t
h
e
ge
n
e
ra
l
m
o
de
l
ha
s
de
m
o
n
s
t
r
a
t
e
d
its
hi
g
h
r
e
p
r
e
s
e
n
t
a
b
i
l
i
t
y
to
s
t
i
c
k
-
s
l
i
p
p
h
e
n
o
m
e
n
o
n
in
i
t
s
hi
g
h
f
r
e
que
nc
y
m
o
de
a
n
d
t
h
e
s
e
v
e
r
e
t
o
r
s
i
o
n
a
l
v
i
b
ra
t
i
o
n
s
.
(a
)
(b
)
F
i
gu
r
e
1.
S
t
i
c
k
-
s
l
i
p
v
i
b
r
a
t
i
o
n
s
i
m
u
l
a
t
i
o
n
w
i
t
h
:
(
a)
I
nput
v
e
l
o
c
i
t
y
of
40
r
pm
a
nd
W
o
b
=
120
N
(
b)
I
n
pu
t
v
e
l
o
c
i
t
y
of
100
r
p
m
a
n
d
W
o
b
=
200N
4.
D
R
I
LL
S
TR
I
N
G
M
O
D
EL
T
h
e
a
n
a
l
y
s
i
s
of
to
r
s
i
o
n
a
l
v
i
b
r
a
t
i
o
n
s
a
ppe
a
r
i
ng
in
t
h
e
d
r
i
l
l
s
t
ri
n
g
can
be
do
n
e
t
hr
o
ug
h
a
p
r
o
xy
m
o
d
e
l
of
a
t
o
r
s
i
o
n
pe
n
d
ul
u
m
(M
a
s
s
-
s
p
r
i
ng
-
d
a
m
pe
r
)
b
e
c
a
us
e
it
is
t
h
e
m
o
s
t
a
n
s
w
e
r
e
d
o
n
e
fo
r
s
uc
h
t
y
pe
of
s
t
ud
i
e
s
[20].
It
w
a
s
f
i
r
s
t
l
y
pr
o
po
s
e
d
by
N
a
t
i
o
na
l
O
i
l
w
e
l
l
V
a
r
c
o
(
NOV
)
c
o
m
pa
n
y
[
21
].
F
i
gu
r
e
2
(
a
,
b
)
s
h
o
w
t
h
e
c
o
m
pl
e
t
e
dr
i
l
l
i
n
g
ri
g
a
n
d
its
sc
h
e
m
a
t
i
c
di
a
g
ra
m
,
w
h
i
l
e
F
i
gu
re
2(
c
)
de
m
o
n
s
t
r
a
t
e
s
its
e
qui
v
a
l
e
nt
p
r
o
x
y
s
y
s
t
e
m
.
It
h
a
s
t
hr
e
e
de
g
r
e
e
s
of
f
r
e
e
d
o
m
w
h
e
r
e
t
h
e
uppe
r
d
i
s
c
r
e
p
r
e
s
e
nt
s
t
h
e
r
o
t
a
r
y
t
a
b
l
e
,
t
h
e
m
i
ddl
e
d
i
s
c
is
c
o
n
s
i
de
r
e
d
as
th
e
t
o
o
l
s
t
r
i
ng,
a
n
d
t
h
e
l
o
w
e
r
di
s
c
r
e
p
r
e
s
e
n
t
s
t
h
e
d
ri
l
l
b
i
t
.
T
h
e
de
s
c
r
i
pt
i
o
n
of
t
h
e
m
o
de
l
pa
r
a
m
e
t
e
r
s
w
a
s
s
um
m
a
r
i
z
e
d
in
T
a
b
l
e
1
.
(a
)
(b
)
(c
)
F
i
gu
r
e
2.
R
o
t
a
r
y
dr
i
l
l
i
ng
s
y
s
t
e
m
:
(
a)
Co
m
pl
e
t
e
D
r
i
l
l
i
ng
ri
g
[8
],
(
b)
I
t
s
S
c
h
e
m
a
t
i
c
d
i
a
g
r
a
m
[19]
,
(
c)
E
qu
i
v
a
l
e
nt
P
r
o
xy
m
o
de
l
w
i
t
h
t
hr
e
e
e
l
e
m
e
n
t
s
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
H
y
br
i
d
s
l
i
d
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P
ID
c
ont
r
o
l
l
e
r
f
or
t
or
s
i
onal
v
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br
at
i
ons
m
i
t
i
ga
t
i
on
i
n
r
ot
ar
y
dr
i
l
l
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ng
…
(
Chaf
i
aa
Me
n
di
l
)
149
T
h
e
t
hr
e
e
-
e
l
e
m
e
nt
p
r
o
x
y
m
o
de
l
of
r
o
t
a
r
y
d
r
i
l
l
i
ng
s
y
s
t
e
m
is
d
e
s
c
r
i
b
e
d
by
(1)
:
{
̈
1
=
1
1
(
1
(
̇
−
̇
1
)
−
1
(
−
1
)
−
2
(
̇
1
−
̇
2
)
−
2
(
1
−
2
)
−
̇
1
)
̈
2
=
1
2
(
2
(
̇
1
−
̇
2
)
+
2
(
1
−
2
)
−
3
(
̇
2
−
̇
3
)
−
3
(
2
−
3
)
−
̇
2
)
̈
3
=
1
3
(
3
(
̇
2
−
̇
3
)
+
3
(
2
−
3
)
−
̇
3
−
)
(1)
T
a
b
l
e
1.
P
a
ra
m
e
t
e
r
s
de
s
c
r
i
p
t
i
o
n
for
t
h
e
de
s
i
g
n
e
d
r
o
t
a
r
y
dr
i
l
l
i
n
g
m
o
de
l
P
a
ra
m
e
t
e
r
D
e
s
c
ri
p
t
i
o
n
U
n
i
t
T
h
e
t
o
p
d
ri
v
e
a
n
g
u
l
a
r
d
i
s
p
l
a
c
e
m
e
n
t
[ra
d
]
=
1
,
2
,
3
T
h
e
a
n
g
u
l
a
r
d
i
s
p
l
a
c
e
m
e
n
t
s
of
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h
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ro
p
e
s
e
c
t
i
o
n
i
[ra
d
]
=
1
,
2
,
3
T
o
rs
i
o
n
a
l
s
t
i
ff
n
e
s
s
c
o
e
ff
i
c
i
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t
of
t
h
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ro
p
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s
e
c
t
i
o
n
i
[N
.
m
/
ra
d
]
=
1
,
2
,
3
In
t
e
r
n
a
l
d
a
m
p
i
n
g
c
o
e
ffi
c
i
e
n
t
of
t
h
e
r
o
p
e
s
e
c
t
i
o
n
i
[N
.
m
.
S
/
ra
d
]
W
a
l
l
f
r
i
c
t
i
o
n
c
o
e
ff
i
c
i
e
n
t
[N
.
m
]
=
1
,
2
,
3
T
h
e
i
n
e
rt
i
a
of
t
h
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r
o
p
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s
e
c
t
i
o
n
i
[k
g
.
m
2
]
T
o
us
e
t
h
e
s
t
a
nda
r
d
n
o
t
a
t
i
o
n
for
s
t
a
t
e
s
a
n
d
i
n
pu
t
s
in
(1)
,
t
he
fo
l
l
ow
i
n
g
v
a
ri
a
b
l
e
c
ha
n
ge
s
w
e
r
e
a
ppl
i
e
d
:
̇
1
≜
1
,
̇
2
≜
2
̇
3
≜
3
,
−
1
≜
4
,
1
−
2
≜
5
,
2
−
3
≜
6
,
̇
=u
.
T
h
e
s
t
a
t
e
e
qua
t
i
o
n
s
of
t
h
e
s
y
s
t
e
m
w
e
r
e
t
h
e
n
r
e
w
r
i
t
t
e
n
in
t
h
e
f
o
r
m
gi
v
e
n
by
(2).
{
̇
1
=
1
1
+
2
2
+
3
4
+
4
5
+
5
̇
2
=
1
1
+
2
2
+
3
3
+
4
5
+
5
6
̇
3
=
1
2
+
2
3
+
3
6
+
4
̇
4
=
̇
−
̇
1
=
−
1
̇
5
=
̇
1
−
̇
2
=
1
−
2
̇
6
=
̇
2
−
̇
3
=
2
−
3
(2)
W
h
e
r
e
{
A
1
=
−
d
1
−
d
2
−
μ
j
1
A
2
=
d
2
j
1
A
3
=
k
1
j
1
A
4
=
−
k
2
j
1
A
5
=
d
1
j
1
;
{
B
1
=
d
2
j
2
B
2
=
−
d
2
−
d
3
−
μ
j
2
B
3
=
d
3
j
2
B
4
=
k
2
j
2
B
5
=
−
k
3
j
2
;
{
C
1
=
d
3
j
3
C
2
=
−
d
3
−
μ
j
3
C
3
=
k
3
j
3
C
4
=
−
1
j
3
(3)
T
h
e
m
a
t
ri
x
f
o
r
m
w
a
s
t
h
e
n
o
b
t
a
i
n
e
d
as
g
i
v
e
n
by
(4).
{
̇
(
)
=
(
(
)
)
+
(
)
(
)
(
)
=
(
(
)
)
(4)
Y
(t
)
is
t
h
e
m
e
a
s
u
r
e
d
o
ut
put
v
a
r
i
a
b
l
e
w
hi
c
h
is
d
r
i
l
l
b
i
t
s
pe
e
d
,
w
h
e
r
e
x(t
)
=
[
1
2
3
4
5
6
]
is
t
h
e
s
t
a
t
e
v
e
c
t
o
r
,
w
i
t
h
(
)
=
[
0
0
1
0
0
0
]
,
A
(x
)
=
[
1
1
+
2
2
+
3
4
+
4
5
1
1
+
2
2
+
3
3
+
4
5
+
5
6
1
2
+
2
3
+
3
6
+
4
−
1
1
−
2
2
−
3
]
,
B
(
)
=
[
5
0
0
1
0
0
]
W
h
e
r
e
is
t
he
t
o
rque
on
t
h
e
b
i
t
,
it
r
e
p
r
e
s
e
n
t
s
t
h
e
n
o
n
l
i
n
e
a
ri
t
y
t
e
rm
,
a
nd
it
is
gi
v
e
n
by
(5).
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
In
do
n
e
s
i
a
n
J
E
l
e
c
E
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&
Co
m
p
S
c
i
,
V
o
l
.
22
,
N
o
.
1
,
A
p
r
i
l
20
21
:
14
6
-
1
5
8
150
T
b
=
x
3
(
A
√
x
2
3
+
Ω
2
0
+
B
x
2
3
+
Ω
2
0
)
-
Dx
3
(
x
3
Ω
1
−
1
)
(5)
W
h
e
r
e
A=
,
a
n
d
B=
A
Ω
0
,
t
h
e
n
u
m
e
r
i
c
a
l
v
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s
for
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h
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t
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s
us
e
d
in
t
h
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s
i
m
ul
a
t
i
o
n
a
r
e
:
1
=
2
=
3
=
481
.
29
.
/
,
1
=
2
=
1030
.
45
.
2
,
3
=
223
.
44
,
1
=
2
=
51
.
38
.
.
/
,
3
=
39
.
79
.
.
/
,
=
10
.
,
=
120
.
,
t
h
e
p
a
ra
m
e
t
e
r
s
in
(
5)
a
r
e
s
u
m
m
a
ri
z
e
d
in
T
a
b
l
e
2.
T
a
b
l
e
2.
P
a
ra
m
e
t
e
r
s
de
s
c
r
i
p
t
i
o
n
of
T
o
r
que
on
b
i
t
t
e
r
m
P
a
ra
m
e
t
e
r
D
e
s
c
ri
p
t
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o
n
V
a
l
u
e
N
o
m
i
n
a
l
f
ri
c
t
i
o
n
c
o
e
ff
i
c
i
e
n
t
40
Nm
N
T
h
e
fo
r
c
e
v
e
c
t
o
r
9
.
8
1
×
N
R
T
h
e
c
o
n
t
a
c
t
ra
d
i
u
s
v
e
c
t
o
r
0
.
1
m
Ω
0
Ch
a
i
n
t
ra
n
s
i
t
i
o
n
s
p
e
e
d
1
Ω
1
T
ra
n
s
i
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i
o
n
s
p
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e
d
f
o
r
t
h
e
we
ll
3
1
.
4
1
5
9
P
T
h
e
i
n
i
t
i
a
l
f
r
i
c
t
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o
n
p
a
ra
m
e
t
e
r
1
.
5
D
T
h
e
l
i
n
e
a
r
d
a
m
p
i
n
g
v
e
c
t
o
r
0
.
2
8
5.
C
O
N
TR
O
L
ER
S
D
ES
I
G
N
5.
1
.
S
l
i
d
i
n
g
m
o
d
e
c
o
n
tr
o
l
l
e
r
(S
M
C
)
T
h
e
SMC
is
a
t
w
o
-
pa
rt
c
o
n
t
r
o
l
l
e
r
de
s
i
g
n
p
r
o
c
e
s
s
;
t
h
e
f
i
r
s
t
pa
rt
a
s
s
o
c
i
a
t
e
s
w
i
t
h
t
h
e
de
s
i
g
n
of
a
s
l
i
d
i
n
g
s
ur
f
a
c
e
so
t
h
a
t
t
h
e
s
l
i
di
ng
m
o
t
i
o
n
s
a
t
i
s
f
i
e
s
t
h
e
de
s
i
gn
s
pe
c
i
f
i
c
a
t
i
o
n
s
de
a
l
t
w
i
t
h
i
t
.
T
h
e
s
e
c
o
n
d
pa
rt
f
o
c
us
e
s
on
t
h
e
s
e
l
e
c
t
i
o
n
of
a
c
o
n
t
r
o
l
l
a
w
t
ha
t
w
i
l
l
m
a
ke
t
h
e
s
w
i
t
c
h
i
ng
s
ur
f
a
c
e
a
t
t
ra
c
t
t
h
e
s
y
s
t
e
m
s
t
a
t
e
.
T
h
e
c
o
n
t
r
o
l
pr
o
b
l
e
m
,
w
h
i
c
h
m
i
n
i
m
i
z
e
s
t
h
e
p
r
o
b
l
e
m
of
dr
i
v
i
n
g
t
he
s
y
s
t
e
m
to
its
s
u
r
f
a
c
e
a
n
d
t
h
e
n
e
n
s
u
ri
n
g
t
ha
t
it
s
t
a
y
s
on
t
h
i
s
s
u
r
f
a
c
e
all
t
h
e
t
i
m
e
,
is
b
a
s
e
d
on
L
y
a
pun
ov
a
ppr
o
a
c
h
[
22].
T
h
e
s
l
i
d
i
n
g
m
o
de
c
o
n
t
r
o
l
l
e
r
w
a
s
de
s
i
gn
e
d
t
hr
o
ugh
t
h
e
f
o
l
l
ow
i
n
g
s
t
e
ps
:
S
te
p
1
.
T
h
e
c
h
o
i
c
e
of
t
h
e
s
l
i
d
i
n
g
s
u
r
f
a
c
e
;
it
is
de
f
i
n
e
d
a
c
c
o
r
di
n
g
to
t
h
e
o
r
de
r
of
t
h
e
s
y
s
t
e
m
as
g
i
v
e
n
in
(6).
s
(x)
=
(
+
)
−
1
e
(x)
(6)
W
i
t
h
(
)
=
−
,
n
is
t
h
e
r
e
l
a
t
i
v
e
o
r
de
r
of
t
h
e
s
y
s
t
e
m
c
o
m
pa
r
e
d
to
t
h
e
o
ut
put
(
)
,
is
t
h
e
de
s
i
r
e
d
s
e
t
po
i
n
t
,
a
n
d
is
t
h
e
e
rr
o
r
.
S
te
p
2.
T
h
e
c
o
n
di
t
i
o
n
of
e
xi
s
t
e
n
c
e
a
n
d
t
h
e
c
o
n
v
e
r
ge
n
c
e
of
t
h
e
s
l
i
p
r
e
gi
m
e
:
th
e
s
e
c
r
i
t
e
ri
a
a
l
l
o
w
t
h
e
s
t
a
t
e
s
of
t
h
e
s
y
s
t
e
m
to
c
o
n
ve
r
ge
t
o
w
a
r
ds
t
h
e
s
l
i
d
i
n
g
s
u
r
f
a
c
e
,
a
nd
o
b
l
i
ge
t
h
e
m
to
r
e
m
a
i
n
in
t
h
e
v
i
c
i
n
i
t
y
of
t
h
e
s
l
i
di
ng
s
ur
f
a
c
e
[23].
T
h
e
c
o
n
di
t
i
o
n
is
gi
v
e
n
by
(7);
it
o
n
l
y
gua
r
a
nt
e
e
s
an
a
s
y
m
pt
o
t
i
c
c
o
n
v
e
r
ge
n
c
e
t
ow
a
r
ds
t
h
e
s
l
i
di
ng
s
ur
f
a
c
e
.
H
ow
e
ve
r
,
to
o
b
t
a
i
n
a
c
o
n
v
e
r
ge
n
c
e
in
f
i
ni
t
e
t
i
m
e
,
c
o
ndi
t
i
o
n
(
8)
s
h
o
ul
d
be
v
e
r
i
f
i
e
d.
̇
.
<
0
(7)
̇
.
<
−
|
|
(8)
W
i
t
h
:
k
>0
T
h
e
c
o
n
di
t
i
o
n
s
in
(7)
a
n
d
(8)
a
r
e
de
r
i
v
e
d
f
r
o
m
L
y
a
pun
o
v
m
e
t
h
o
do
l
o
g
y
w
h
e
r
e
a
po
s
i
t
i
v
e
s
c
a
l
a
r
f
un
c
t
i
o
n
(
)
>
0
is
c
h
o
s
e
n
a
s
:
(
)
=
1
2
2
(9)
It
s
de
r
i
v
a
t
i
v
e
is
c
a
l
c
ul
a
t
e
d
a
n
d
i
n
v
e
s
t
i
g
a
t
e
d
to
be
n
e
ga
t
i
v
e
or
at
l
e
a
s
t
s
e
m
i
-
n
e
g
a
t
i
v
e
.
̇
(
x
)
=
s
(
x
)
.
s
̇
(
x
)
(10)
S
te
p
3.
D
e
t
e
rm
i
na
t
i
o
n
of
t
h
e
c
o
n
t
r
o
l
l
a
w
:
t
hi
s
l
a
w
is
b
ro
ke
n
do
w
n
i
n
t
o
t
w
o
e
qua
t
i
o
n
s
;
t
h
e
f
i
r
s
t
is
t
h
e
e
qui
v
a
l
e
n
t
c
o
n
t
r
o
l
law
w
h
i
c
h
is
g
i
v
e
n
in
(11
),
W
hi
c
h
r
e
p
re
s
e
n
t
s
t
h
e
co
n
t
i
n
uo
us
pa
rt
of
t
h
e
i
nput
,
as
ob
t
a
i
n
e
d
by
t
h
e
de
r
i
v
a
t
i
o
n
of
t
h
e
s
l
i
di
n
g
s
u
r
f
a
c
e
(s
),
a
n
d
c
a
nc
e
l
i
n
g
all
t
h
e
t
e
rm
s
w
h
i
c
h
h
i
n
de
r
t
h
e
s
t
a
b
i
l
i
t
y
of
t
h
e
s
y
s
t
e
m
,
P
h
y
s
i
c
a
l
l
y
,
it
can
be
i
n
t
e
r
p
r
e
t
e
d
as
t
h
e
a
v
e
r
a
g
e
v
a
l
ue
of
t
h
e
r
e
a
l
c
o
m
m
a
n
d
[
24].
T
h
e
s
e
c
o
n
d
e
qua
t
i
o
n
is
t
h
e
di
s
c
o
n
t
i
n
uo
us
l
a
w
,
w
h
i
c
h
is
a
dde
d
for
t
h
e
p
u
r
po
s
e
of
e
l
i
m
i
na
t
i
n
g
t
h
e
c
h
a
t
t
e
r
i
ng
ph
e
n
o
m
e
n
o
n
[2
5].
T
h
e
r
e
a
r
e
s
e
v
e
r
a
l
f
u
n
c
t
i
o
n
s
t
h
a
t
can
be
us
e
d
to
e
l
i
m
i
na
t
e
t
hi
s
p
h
e
n
o
m
e
n
o
n
,
in
t
h
i
s
p
a
pe
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
S
c
i
IS
S
N
:
2502
-
4752
H
y
br
i
d
s
l
i
d
i
ng
P
ID
c
ont
r
o
l
l
e
r
f
or
t
or
s
i
onal
v
i
br
at
i
ons
m
i
t
i
ga
t
i
on
i
n
r
ot
ar
y
dr
i
l
l
i
ng
…
(
Chaf
i
aa
Me
n
di
l
)
151
we
c
h
oo
s
e
to
us
e
(12),
(13)
,
a
n
d
(1
6)
h
a
v
e
b
e
e
n
c
o
n
s
i
de
re
d
as
di
s
c
o
n
t
i
n
uo
us
c
o
n
t
r
o
l
law
of
t
h
e
s
l
i
di
n
g
c
o
n
t
r
o
l
l
e
r
for
t
h
e
c
h
o
s
e
n
s
u
r
f
a
c
e
e
xpr
e
s
s
e
d
in
(15).
T
h
e
s
i
g
n
f
u
n
c
t
i
o
n
g
i
v
e
n
in
(12
)
h
a
s
b
e
e
n
r
e
pl
a
c
e
d
by
a
s
a
t
u
ra
t
i
o
n
f
u
n
c
t
i
o
n
(1
3)
b
e
c
a
us
e
it
ha
s
l
e
s
s
di
s
c
o
n
t
i
n
ui
t
y
so
t
ha
t
t
h
e
c
ha
t
t
e
r
i
ng
p
h
e
n
o
m
e
n
o
n
can
be
a
v
o
i
de
d.
=
+
(11)
1
=
.
(
(
)
)
(12)
2
=
(
(
)
(13)
W
i
t
h
s
a
t
(s
)
=
{
|
|
≤
1
(
)
|
|
≥
1
(14)
W
i
t
h
:
is
t
h
e
tr
a
n
s
i
t
i
o
n
b
a
nd
of
t
h
e
s
l
i
di
n
g
s
u
r
f
a
c
e
T
h
e
n,
t
h
e
s
l
i
di
ng
s
u
r
f
a
c
e
b
e
c
a
m
e
s
=
(
1
−
)
+
λ
[
∫
1
(
)
−
+
0
λ
∫
1
(
)
–
3
(
)
0
]
(15)
A
n
d
t
h
e
s
l
i
d
i
n
g
c
o
n
t
r
o
l
law
w
a
s
o
b
t
a
i
n
e
d
a
s
gi
v
e
n
in
(16)
.
U
sli
=
1
5
[
−
1
1
−
2
2
−
3
4
−
4
5
−
λ
(
1
−
)
−
λ
(
1
−
3
)
−
]
(16)
W
i
t
h
:
k,
λ
>0
5
.
2
.
P
I
D
c
o
n
tr
o
l
l
e
r
P
ID
(p
r
o
po
r
t
i
o
n
a
l
,
i
nt
e
gra
l
,
de
ri
v
a
t
i
v
e
)
c
o
n
t
r
o
l
l
e
r
s
a
r
e
c
l
a
s
s
i
c
c
o
n
t
r
o
l
l
e
r
s
[
26];
t
h
e
y
h
a
v
e
b
e
e
n
w
i
de
l
y
us
e
d
in
t
h
e
i
ndus
t
r
y
fo
r
s
e
ve
r
a
l
s
y
s
t
e
m
s
a
n
d
a
ppl
i
c
a
t
i
o
n
s
[27
,
28]
.
T
he
c
o
n
t
r
o
l
law
s
for
PI
a
n
d
P
ID
r
e
gul
a
t
o
r
s
a
r
e
gi
v
e
n
by
(1
7)
a
nd
(
1
8
)
r
e
s
pe
c
t
i
v
e
l
y
.
U
PI
=
(
1
+
1
)
(17)
U
P
I
D
=
-
(
1
+
1
+
.
)
(18)
W
i
t
h
:
is
a
p
r
o
po
rt
i
o
na
l
g
a
i
n,
is
an
i
nt
e
g
r
a
l
t
i
m
e
c
o
n
s
t
a
nt
,
a
nd
is
a
de
r
i
v
a
t
i
v
e
t
i
m
e
c
o
n
s
t
a
nt
.
5
.
3
.
H
yb
r
i
d
P
I
D
s
l
i
d
i
n
g
m
o
d
e
c
o
n
tr
o
l
l
e
r
T
h
e
h
y
b
r
i
d
c
o
n
t
r
o
l
l
e
r
c
o
n
s
i
s
t
s
of
m
a
ki
ng
a
c
o
m
b
i
na
t
i
o
n
b
e
t
w
e
e
n
t
w
o
c
o
n
t
r
o
l
l
a
w
s
[29];
t
h
e
f
i
r
s
t
is
t
h
a
t
of
t
h
e
c
l
a
s
s
i
c
P
ID
(
o
r
P
I)
c
o
n
t
r
o
l
l
e
r
w
h
i
c
h
c
o
m
pe
n
s
a
t
e
s
fo
r
t
h
e
dri
l
l
i
n
g
n
o
n
-
l
i
n
e
a
r
i
t
y
c
a
us
e
d
by
t
h
e
s
t
i
c
k
-
s
l
i
p
v
i
b
r
a
t
i
o
n
s
[30]
,
it
a
l
s
o
pr
e
v
e
n
t
s
t
h
e
t
o
o
l
f
r
o
m
s
t
i
c
ki
n
g
.
W
h
i
l
e
,
t
h
e
s
e
c
o
n
d
c
o
n
t
r
o
l
l
e
r
w
i
t
h
its
s
l
i
d
i
n
g
m
o
d
e
i
m
p
r
o
v
e
s
t
h
e
r
o
b
us
t
n
e
s
s
of
t
h
e
p
r
o
po
s
e
d
m
e
t
h
o
d
a
nd
e
n
s
u
r
e
s
t
h
e
de
s
i
r
e
d
ra
t
e
of
pe
n
e
t
r
a
t
i
o
n,
t
h
e
m
a
t
h
e
m
a
t
i
c
a
l
fo
r
m
u
l
a
for
P
ID
(P
I)
s
l
i
di
ng
m
o
de
c
o
n
t
r
o
l
l
e
r
a
r
e
de
s
c
r
i
b
e
d
by
(19)
a
n
d
(
20)
r
e
s
pe
c
t
i
v
e
l
y
.
U
sli
_
pi
=
U
sli
+
U
PI
(19)
U
sli
_
p
i
d
=
U
sli
-
U
P
I
D
(20)
W
h
e
r
e
:
U
PI
is
t
h
e
PI
c
o
n
t
r
o
l
l
e
r
law
in
(17)
,
U
P
I
D
is
t
h
e
P
ID
c
o
n
t
r
o
l
l
e
r
law
in
(18
),
a
n
d
U
sli
is
t
h
e
s
l
i
di
n
g
m
o
de
c
o
n
t
r
o
l
l
a
w
in
(1
6).
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
In
do
n
e
s
i
a
n
J
E
l
e
c
E
ng
&
Co
m
p
S
c
i
,
V
o
l
.
22
,
N
o
.
1
,
A
p
r
i
l
20
21
:
14
6
-
1
5
8
152
5.
4
.
C
o
n
tr
o
l
l
e
r
s
’
r
o
b
u
s
tn
e
s
s
To
i
n
v
e
s
t
i
ga
t
e
t
h
e
c
o
n
t
r
o
l
l
e
r
r
o
b
us
t
n
e
s
s
due
to
p
a
r
a
m
e
t
r
i
c
v
a
r
i
a
t
i
o
n
s
,
(2
1)
w
a
s
p
r
o
po
s
e
d.
U
s
l
i
=
1
5
[
−
∆
1
1
1
−
∆
2
2
2
−
∆
3
3
4
−
∆
4
4
5
−
λ
(
1
−
)
−
λ
(
1
−
3
)
−
]
(
21)
W
h
e
r
e
:
∆
a
r
e
po
s
i
t
i
v
e
c
o
n
s
t
a
nt
s
w
h
i
c
h
a
dj
us
t
t
h
e
m
o
de
l
pa
r
a
m
e
t
e
r
s
.
B
a
s
e
d
on
t
h
e
o
b
t
a
i
n
e
d
r
e
s
po
n
s
e
s
,
t
h
e
r
o
b
us
t
n
e
s
s
can
be
t
h
e
n
qua
nt
i
f
i
e
d
[
31,
32]
,
w
i
t
h
0
<
∆
<
1
.
6.
R
ES
U
LTS
AND
DISCUSSIO
N
In
o
r
de
r
to
s
t
udy
t
h
e
o
pe
n
-
l
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p
m
o
d
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l
a
nd
to
pr
o
v
e
t
h
a
t
t
he
s
t
udi
e
d
s
y
s
t
e
m
is
s
ubj
e
c
t
e
d
to
s
t
r
o
n
g
t
o
r
s
i
o
na
l
v
i
b
r
a
t
i
o
n
s
in
its
hi
g
h
-
f
r
e
que
n
c
y
s
t
i
c
k
-
s
l
i
p
m
o
de
,
a
n
d
to
m
o
n
i
t
o
r
t
h
e
ef
f
i
c
i
e
n
c
y
of
t
h
i
s
c
l
o
s
e
d
-
l
o
op
m
o
de
l
(s
l
i
di
ng
m
o
de
c
o
n
t
r
o
l
l
e
r
(S
M
C),
P
ID
c
o
n
t
r
o
l
l
e
r
a
n
d
h
y
b
r
i
d
P
ID
s
l
i
d
i
n
g
m
o
de
c
o
n
t
r
o
l
l
e
r
),
t
h
e
M
A
T
L
A
B
R
2015
e
n
v
i
r
o
n
m
e
n
t
h
a
s
b
e
e
n
us
e
d,
w
h
i
c
h
e
na
b
l
e
d
t
h
e
i
m
p
l
e
m
e
nt
a
t
i
o
n
of
t
h
e
m
o
de
l
s
h
o
w
n
in
(2
)
a
n
d
di
s
p
l
a
y
s
r
e
s
po
n
s
e
gr
a
p
h
s
.
B
a
s
e
d
on
t
h
e
r
e
s
ul
t
s
,
we
w
e
r
e
a
b
l
e
to
m
a
ke
an
e
v
a
l
ua
t
i
o
n
of
t
h
e
pe
r
f
o
r
m
a
n
c
e
s
a
n
d
i
nt
e
r
p
r
e
t
a
t
i
o
n
s
of
t
h
e
r
e
s
po
n
s
e
s
’
c
h
a
ra
c
t
e
r
i
s
t
i
c
s
(
O
v
e
r
s
hoo
t
,
S
t
a
b
i
l
i
z
a
t
i
o
n
t
i
m
e
,
S
t
a
t
i
c
di
f
f
e
r
e
n
c
e
)
a
n
d
to
a
s
s
e
s
s
t
h
e
e
f
f
e
c
t
i
v
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n
e
s
s
of
t
h
e
s
e
c
o
n
t
r
o
l
l
e
r
s
a
ppl
i
e
d
for
t
h
e
r
o
t
a
r
y
dri
l
l
i
n
g
m
o
de
l
.
6.
1
.
O
p
e
n
l
o
o
p
r
e
s
p
o
n
s
e
s
F
i
gu
r
e
3(
a
)
s
h
o
w
s
t
h
e
t
o
p
dr
i
v
e
a
n
gul
a
r
v
e
l
oc
i
t
y
in
b
l
a
c
k
a
n
d
t
h
e
b
i
t
a
ngul
a
r
v
e
l
oc
i
t
y
in
b
l
ue
fo
r
o
pe
n
l
o
o
p
r
e
s
po
n
s
e
of
t
h
e
s
y
s
t
e
m
.
As
n
o
t
e
d
in
p
r
e
v
i
o
us
s
e
c
t
i
o
n
,
t
h
e
ge
n
e
ra
l
r
o
c
k
-
b
i
t
i
n
t
e
r
a
c
t
i
o
n
t
e
rm
ha
s
b
e
e
n
us
e
d
s
i
n
c
e
it
r
e
p
r
e
s
e
n
t
s
t
h
e
s
t
i
c
k
-
s
l
i
p
dy
n
a
m
i
c
w
i
t
h
hi
g
h
f
i
de
l
i
t
y
.
By
s
e
t
t
i
n
g
t
h
e
=
120
.
for
an
i
nput
v
e
l
o
c
i
t
y
of
100
r
pm
,
t
h
e
b
i
t
s
pe
e
d
o
s
c
i
l
l
a
t
e
s
,
b
ut
,
t
h
e
t
o
p
dri
v
e
o
s
c
i
l
l
a
t
i
o
n
s
a
r
e
l
e
s
s
t
ha
n
t
h
e
b
i
t
o
s
c
i
l
l
a
t
i
o
n
s
due
v
i
b
r
a
t
i
o
n
s
a
b
s
o
r
pt
i
o
n
f
r
o
m
t
h
e
b
o
t
t
o
m
h
o
l
e
up
to
s
u
r
f
a
c
e
.
It
is
a
l
s
o
n
o
t
i
c
e
a
b
l
e
t
h
a
t
t
h
e
m
a
xi
m
um
b
i
t
v
e
l
o
c
i
t
y
e
xc
e
e
de
d
t
h
e
do
ub
l
e
of
t
h
e
t
o
p
dri
v
e
ve
l
oc
i
t
y
at
t
h
e
s
l
i
p
p
ha
s
e
,
a
n
d
t
h
e
n
de
c
r
e
a
s
e
d
to
n
e
a
r
z
e
r
o
at
t
h
e
s
t
i
c
k
pha
s
e
r
e
pe
t
i
t
i
v
e
l
y
.
M
o
r
e
ov
e
r
,
to
a
na
l
y
z
e
t
h
e
s
e
ph
a
s
e
s
,
F
i
gu
r
e
3(
b
)
w
a
s
s
h
ow
n
to
de
m
o
n
s
t
r
a
t
e
t
h
e
t
o
r
que
on
b
i
t
v
a
r
i
a
t
i
o
n
s
du
ri
n
g
t
h
e
o
s
c
i
l
l
a
t
i
o
n
s
,
w
h
e
r
e
t
h
e
m
a
x
i
m
u
m
t
o
r
que
w
a
s
180
.
w
hi
c
h
is
o
b
t
a
i
n
e
d
at
t
h
e
e
n
d
of
e
a
c
h
s
t
i
c
k
p
ha
s
e
w
h
i
l
e
t
h
e
m
i
ni
m
v
a
l
ue
w
a
s
100
.
w
h
i
c
h
is
o
b
t
a
i
n
e
d
at
t
h
e
e
n
d
of
e
a
c
h
s
l
i
p
p
ha
s
e
.
T
h
us
,
t
h
e
t
o
r
q
ue
v
a
r
i
a
t
i
o
n
is
a
d
i
r
e
c
t
i
ndi
c
a
t
o
r
of
t
h
e
t
o
r
s
i
o
na
l
v
i
b
r
a
t
i
o
n
s
e
v
e
r
i
t
y
.
(a
)
(b
)
F
i
gu
r
e
3.
O
pe
n
l
o
o
p
r
e
s
po
n
s
e
s
of
r
o
t
a
r
y
dr
i
l
l
i
n
g
s
y
s
t
e
m
f
o
r
:
(
a)
T
h
e
a
n
gul
a
r
v
e
l
oc
i
t
i
e
s
,
(
b)
T
h
e
T
o
r
que
on
b
i
t
6
.
2
.
S
l
i
d
i
n
g
m
o
d
e
c
o
n
tr
o
l
l
e
r
r
e
s
u
l
ts
F
i
gu
r
e
4(
a
)
s
h
o
w
s
t
h
e
t
o
p
d
ri
v
e
a
n
d
t
h
e
b
i
t
r
o
t
a
t
i
o
n
a
l
v
e
l
oc
i
t
i
e
s
u
n
de
r
t
h
e
de
s
i
g
n
e
d
s
l
i
di
ng
m
o
de
c
o
n
t
r
o
l
l
e
r
[
33],
it
w
a
s
n
o
t
e
d
t
ha
t
t
h
e
pe
r
f
o
r
m
a
n
c
e
s
of
t
h
e
s
y
s
t
e
m
h
a
s
b
e
e
n
i
m
p
r
o
v
e
d,
w
h
e
r
e
t
h
e
o
s
c
i
l
l
a
t
i
o
n
s
ha
v
e
b
e
e
n
r
e
duc
e
d
at
t
h
e
b
i
t
a
nd
r
e
m
o
v
e
d
at
t
h
e
t
o
p
d
ri
v
e
.
T
h
e
r
e
s
po
n
s
e
s
h
a
d
s
t
a
b
i
l
i
z
e
d
at
=
10
,
w
i
t
h
o
ut
ov
e
r
s
h
o
o
t
,
t
h
e
r
e
f
o
r
e
w
i
t
h
o
ut
a
s
t
a
t
i
c
di
f
f
e
r
e
n
c
e
.
T
h
e
s
e
pe
r
fo
r
m
a
n
c
e
s
r
e
a
l
l
y
pr
o
ve
t
h
e
e
ffe
c
t
i
ve
n
e
s
s
a
n
d
t
h
e
v
a
l
i
di
t
y
of
t
h
e
de
s
i
gn
e
d
c
o
n
t
r
o
l
l
e
r
in
c
o
m
pa
ri
s
o
n
to
time
r
e
s
po
n
s
e
of
c
o
n
t
r
o
l
l
e
r
s
in
l
a
t
e
s
t
s
t
udi
e
s
l
i
ke
r
e
s
ul
t
s
in
[8]
.
N
e
v
e
r
t
h
e
l
e
s
s
,
t
h
e
c
ha
t
t
e
ri
n
g
p
h
e
n
o
m
e
n
o
n
ha
d
a
ppe
a
r
e
d
at
t
h
e
c
o
n
t
r
o
l
i
n
p
ut
as
s
h
o
w
n
in
F
i
gu
r
e
4(
b
)
,
it
is
m
a
i
nl
y
c
a
us
e
d
by
t
h
e
di
s
c
o
n
t
i
n
uo
us
s
i
g
n
f
u
n
c
t
i
o
n
g
i
v
e
n
by
(12).
To
e
l
i
m
i
n
a
t
e
t
h
e
c
h
a
t
t
e
r
i
ng
e
f
fe
c
t
s
[34],
o
t
h
e
r
f
u
n
c
t
i
o
n
s
w
e
r
e
c
o
n
s
i
de
r
e
d
t
o
o
.
F
i
gu
r
e
5(
a
)
sh
o
w
s
t
h
e
a
n
g
ul
a
r
v
e
l
oc
i
t
i
e
s
of
t
h
e
t
o
p
dri
v
e
a
n
d
t
ha
t
of
t
h
e
dri
l
l
b
i
t
w
i
t
h
a
s
l
i
di
n
g
m
o
de
c
o
n
t
r
o
l
l
e
r
by
us
i
n
g
s
a
t
u
r
a
t
i
o
n
f
un
c
t
i
o
n
g
i
v
e
n
by
(14).
By
us
i
n
g
an
e
qui
v
a
l
e
n
t
s
a
t
u
ra
t
i
o
n
c
o
n
t
r
o
l
,
t
h
e
pe
r
f
o
r
m
a
n
c
e
of
t
h
e
s
y
s
t
e
m
r
e
m
a
i
n
e
d
t
h
e
s
a
m
e
as
in
F
i
gu
r
e
4(
a
)
,
b
ut
t
h
e
c
h
a
t
t
e
r
i
ng
ph
e
n
o
m
e
n
o
n
ha
s
b
e
e
n
e
l
i
m
i
n
a
t
e
d
as
i
l
l
us
t
r
a
t
e
d
in
F
i
gu
r
e
5(
b
)
so
t
h
a
t
t
h
e
c
o
n
t
r
o
l
s
y
s
t
e
m
w
a
s
i
m
p
r
o
v
e
d
t
o
o
.
Evaluation Warning : The document was created with Spire.PDF for Python.
In
do
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s
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J
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c
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&
Co
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:
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(
Chaf
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Me
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1
53
(a
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(b
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F
i
gu
r
e
4.
T
h
e
s
l
i
di
ng
m
o
de
c
o
n
t
r
o
l
s
t
e
p
r
e
s
po
n
s
e
for
:
(
a)
T
h
e
a
n
g
ul
a
r
v
e
l
o
c
i
t
i
e
s
,
(
b)
Co
nt
r
o
l
i
nput
(a
)
(b
)
F
i
gu
r
e
5.
T
h
e
s
l
i
di
ng
m
o
de
c
o
n
t
r
o
l
s
t
e
p
r
e
s
po
n
s
e
w
i
t
h
s
a
t
u
ra
t
i
o
n
f
u
n
c
t
i
o
n
f
o
r
:
(
a)
T
h
e
a
ngul
a
r
v
e
l
o
c
i
t
i
e
s
,
(
b)
Co
n
t
r
o
l
i
n
pu
t
6
.
3
.
P
I
,
P
I
D
c
o
n
tr
o
l
l
e
r
s’
r
e
s
u
l
ts
F
i
gu
r
e
6(
a
)
s
h
o
w
s
t
h
e
a
n
gul
a
r
v
e
l
oc
i
t
i
e
s
of
t
h
e
t
o
p
dr
i
v
e
a
nd
t
ha
t
of
t
h
e
dri
l
l
b
i
t
for
a
PI
c
o
n
t
r
o
l
l
e
r
w
i
t
h
=
600,
=
0.
01
λ
=
0.
02
,
it
w
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ve
r
s
h
o
o
t
a
n
d
w
i
t
h
o
ut
s
t
a
t
i
c
d
i
f
fe
r
e
n
c
e
.
H
ow
e
ve
r
,
t
h
e
s
y
s
t
e
m
w
a
s
s
t
a
b
i
l
i
z
e
d
at
=
250
w
h
i
c
h
is
n
o
t
u
n
a
c
c
e
pt
a
b
l
e
b
e
c
a
us
e
t
h
e
t
o
r
s
i
o
na
l
v
i
b
r
a
t
i
o
n
s
dy
na
m
i
c
is
f
a
s
t
e
r
t
h
a
n
t
h
a
t
a
n
d
it
can
da
m
a
ge
t
h
e
e
qui
pm
e
n
t
in
l
e
s
s
t
i
m
e
.
F
i
gu
r
e
6(
b
)
s
h
o
w
s
th
e
a
n
gu
l
a
r
v
e
l
o
c
i
t
i
e
s
of
t
h
e
t
o
p
d
r
i
v
e
a
n
d
t
ha
t
of
t
h
e
d
r
i
l
l
b
i
t
fo
r
a
P
ID
c
o
nt
r
o
l
l
e
r
w
i
t
h
=
−
0
.
1
,
=
-
10
,
=
−
0
.
1
,
λ=
2.
5
,
t
h
e
o
b
t
a
i
n
e
d
pe
rfo
r
m
a
n
c
e
is
a
l
m
o
s
t
t
h
e
s
a
m
e
as
t
h
e
o
n
e
ob
t
a
i
n
e
d
by
a
PI
c
o
n
t
r
o
l
l
e
r
[35]
,
e
xc
e
pt
t
h
a
t
t
h
e
s
t
a
b
i
l
i
z
a
t
i
o
n
t
i
m
e
w
a
s
r
e
duc
e
d
to
200s
.
T
h
e
s
e
pe
r
f
o
r
m
a
n
c
e
s
p
r
o
v
e
t
h
e
e
ffe
c
t
i
ve
n
e
s
s
of
t
h
e
PI
c
o
n
t
r
o
l
l
e
r,
it
can
be
s
e
e
n
t
h
a
t
t
h
e
r
e
s
po
n
se
o
b
t
a
i
n
e
d
ha
s
no
ov
e
r
s
h
o
o
t
,
c
o
m
pa
r
e
d
to
[6],
we
c
o
n
c
l
ude
t
h
a
t
pe
r
f
o
r
m
a
n
c
e
of
t
hi
s
c
o
n
t
r
o
l
l
e
r
w
e
r
e
s
i
g
n
i
f
i
c
a
n
t
l
y
i
m
p
r
o
v
e
d.
(a
)
(b
)
F
i
gu
r
e
6.
T
h
e
s
t
e
p
r
e
s
po
n
s
e
of
r
o
t
a
r
y
d
r
i
l
l
i
ng
s
y
s
t
e
m
fo
r
:
(
a)
PI
c
o
n
t
r
o
l
l
e
r
,
(
b)
P
ID
c
o
nt
r
o
l
l
e
r
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
In
do
n
e
s
i
a
n
J
E
l
e
c
E
ng
&
Co
m
p
S
c
i
,
V
o
l
.
22
,
N
o
.
1
,
A
p
r
i
l
20
21
:
14
6
-
1
5
8
154
6
.
4
.
H
yb
r
i
d
c
o
n
tr
o
ller
s’
r
e
s
u
l
ts
F
i
gu
r
e
7(
a
)
s
h
o
w
s
t
h
e
a
n
g
ul
a
r
v
e
l
oc
i
t
i
e
s
of
t
h
e
t
o
p
dr
i
v
e
a
n
d
t
h
a
t
of
t
h
e
dr
i
l
l
b
i
t
for
h
y
b
r
i
d
s
l
i
d
i
n
g
PI
c
o
n
t
r
o
l
l
e
r
w
i
t
h
λ
=
0
.
1
,
k
=
9
.
6
,
φ
=
2,
=
0
.
2
,
a
nd
=
20
.
It
w
a
s
n
o
t
i
c
e
t
ha
t
w
i
t
h
t
hi
s
c
o
n
t
r
o
l
l
e
r
ha
s
a
30%
ov
e
r
s
h
o
o
t
w
h
i
l
e
t
h
e
t
w
o
ve
l
oc
i
t
i
e
s
w
e
r
e
s
t
a
b
i
l
i
z
e
d
at
=
40
.
M
o
r
e
ov
e
r
,
F
i
gu
r
e
7(
b
)
de
m
o
n
s
t
ra
t
e
d
t
ha
t
i
nput
c
o
n
t
r
o
l
l
e
r
di
d
n
o
t
ha
v
e
c
h
a
t
t
e
ri
n
g
e
ff
e
c
t
s
,
b
ut
t
h
e
c
o
nt
r
o
l
l
e
r
w
a
s
a
l
i
t
t
l
e
o
s
c
i
l
l
a
t
i
ng
a
r
o
un
d
t
he
n
o
m
i
na
l
v
e
l
o
c
i
t
y
of
100
rpm
,
t
h
us
,
it
w
a
s
c
o
n
c
l
ude
d
t
ha
t
t
h
e
o
b
t
a
i
n
e
d
pe
r
f
o
r
m
a
n
c
e
is
a
c
c
e
pt
a
b
l
e
.
(a
)
(b
)
F
i
gu
r
e
7.
T
h
e
s
t
e
p
r
e
s
po
n
s
e
of
h
y
b
r
i
d
s
l
i
di
ng
PI
c
o
n
t
r
o
l
l
e
r
:
(
a)
A
n
gu
l
a
r
v
e
l
o
c
i
t
i
e
s
,
(
b)
Co
n
t
r
o
l
i
n
p
ut
F
i
gu
r
e
8(
a
)
s
h
o
w
s
t
h
e
a
n
gu
l
a
r
v
e
l
oc
i
t
i
e
s
of
t
h
e
t
o
p
d
r
i
v
e
a
nd
t
h
a
t
of
t
h
e
d
r
i
l
l
b
i
t
for
h
y
b
r
i
d
s
l
i
di
ng
P
ID
c
o
n
t
r
o
l
l
e
r
w
i
t
h
λ
=
0.
0
01,
k
=
9
.
6
,
φ
=
2,
=
0
.
1
,
=
0
.
01,
a
n
d
=
10
0
,
t
h
e
o
b
t
a
i
n
e
d
pe
r
f
o
r
m
a
n
c
e
s
w
e
r
e
b
e
t
t
e
r
t
h
a
n
t
h
o
s
e
o
b
t
a
i
n
e
d
by
h
y
b
r
i
d
PI
c
o
n
t
r
o
l
l
e
r
w
i
t
h
s
h
o
rt
e
s
t
s
t
a
b
i
l
i
z
a
t
i
o
n
t
i
m
e
=
10
.
T
h
e
c
h
a
t
t
e
r
i
n
g
p
h
e
n
o
m
e
n
o
n
h
a
s
a
l
s
o
be
e
n
e
l
i
m
i
na
t
e
d
F
i
gu
re
8(
b
),
t
h
e
s
e
pe
r
f
o
r
m
a
n
c
e
s
pr
o
v
e
t
h
e
e
ffe
c
t
i
ve
n
e
s
s
of
t
h
e
h
y
b
r
i
d
s
l
i
di
ng
P
ID
c
o
n
t
r
o
l
l
e
r,
t
h
e
r
e
f
o
r
e
,
we
c
a
n
s
e
e
t
h
a
t
t
h
e
o
b
t
a
i
n
e
d
r
e
s
po
n
s
e
for
a
s
t
a
b
i
l
i
z
a
t
i
o
n
t
i
m
e
of
10
s
w
i
t
h
no
ov
e
r
s
h
o
o
t
.
By
c
o
m
pa
ri
n
g
t
h
e
s
e
c
h
a
ra
c
t
e
ri
s
t
i
c
s
to
r
e
s
ul
t
s
in
[7]
,
we
c
o
n
c
l
ude
t
h
a
t
t
h
e
pe
r
f
o
r
m
a
n
c
e
of
t
h
i
s
c
o
n
t
r
o
l
l
e
r
a
r
e
n
o
t
j
us
t
b
e
t
t
e
r
t
ha
n
t
h
e
p
r
e
v
i
o
us
c
o
n
t
r
o
l
l
e
r
s
in
t
h
e
s
t
udy
b
ut
it
is
e
v
e
n
b
e
t
t
e
r
t
h
a
n
c
o
n
t
r
o
l
l
e
r
in
[7]
.
M
o
r
e
de
t
a
i
l
e
d
c
o
m
pa
ri
s
o
n
is
gi
v
e
n
in
s
e
c
t
i
o
n
s
e
v
e
n
.
(a
)
(b
)
F
i
gu
r
e
8.
T
h
e
s
t
e
p
r
e
s
po
n
s
e
of
h
y
b
r
i
d
s
l
i
di
ng
P
ID
c
o
n
t
r
o
l
l
e
r
:
a)
A
n
g
ul
a
r
v
e
l
o
c
i
t
i
e
s
,
b)
Co
nt
r
o
l
i
nput
6.
5
.
R
o
b
u
s
tn
e
s
s
r
e
s
u
l
ts
by
s
l
i
d
i
n
g
c
o
n
tr
o
l
l
e
r
F
i
gu
r
e
9
de
m
o
n
s
t
r
a
t
e
d
t
h
e
r
o
b
us
t
n
e
s
s
of
t
h
e
h
y
b
r
i
d
c
o
n
t
r
o
l
l
e
r
for
pa
ra
m
e
t
ri
c
v
a
ri
a
t
i
o
n
F
i
gu
r
e
9(
a
)
a
n
d
w
e
i
ght
on
b
i
t
v
a
ri
a
t
i
o
n
s
F
i
gu
r
e
9(
b
).
T
he
r
e
s
po
n
s
e
of
t
he
s
y
s
t
e
m
unde
r
t
h
e
pa
ra
m
e
t
e
r
s
∆
1
=
0
.
7,
∆
2
=
0.
6
,
∆
3
=
0
.
9
,
a
n
d
∆
4
=
0
.
6
ha
d
s
h
o
w
e
d
t
h
a
t
c
o
n
t
r
o
l
l
e
r
is
r
o
b
us
t
for
s
uc
h
t
y
pe
of
s
t
a
t
us
.
F
r
o
m
t
h
e
o
t
h
e
r
s
i
de
,
t
h
e
w
e
i
ght
on
b
i
t
c
ha
n
ge
to
200
ha
s
s
t
i
m
ul
a
t
e
d
s
o
m
e
os
c
i
l
l
a
t
i
o
n
s
as
s
h
o
w
n
in
F
i
gu
r
e
9(
b
)
,
b
ut
t
h
e
y
a
r
e
n
o
t
s
e
v
e
r
e
a
n
d
w
i
l
l
n
ot
c
r
e
a
t
e
da
m
a
ge
r
i
s
k
to
d
r
i
l
l
i
ng
e
qui
p
m
e
nt
[36]
.
T
h
e
r
e
f
o
r
e
,
t
he
pe
r
f
o
r
m
a
n
c
e
of
t
h
i
s
s
y
s
t
e
m
is
n
o
t
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
S
c
i
IS
S
N
:
2502
-
4752
H
y
br
i
d
s
l
i
d
i
ng
P
ID
c
ont
r
o
l
l
e
r
f
or
t
or
s
i
onal
v
i
br
at
i
ons
m
i
t
i
ga
t
i
on
i
n
r
ot
ar
y
dr
i
l
l
i
ng
…
(
Chaf
i
aa
Me
n
di
l
)
155
a
f
fe
c
t
e
d
by
an
i
n
c
r
e
a
s
e
in
t
h
e
w
e
i
ght
on
t
h
e
b
i
t
a
n
d
t
h
e
pa
ra
m
e
t
ri
c
c
h
a
nge
of
t
h
e
s
l
i
di
n
g
m
o
de
c
o
n
t
r
o
l
l
e
r
;
t
h
e
r
e
f
o
r
e
,
we
h
a
v
e
de
m
o
n
s
t
ra
t
e
d
t
h
e
e
f
f
i
c
i
e
n
c
y
a
n
d
c
o
n
f
i
r
m
e
d
t
h
e
v
a
l
i
di
t
y
of
t
h
e
c
o
n
t
r
o
l
s
y
s
t
e
m
b
a
s
e
d
on
t
h
e
r
e
s
ul
t
s
o
b
t
a
i
n
e
d
in
M
a
t
l
a
b
R
2015
e
n
v
i
r
o
nm
e
nt
.
(a
)
(b
)
F
i
gu
r
e
9.
R
o
b
us
t
n
e
s
s
e
v
a
l
ua
t
i
o
n
of
t
h
e
h
y
b
r
i
d
c
o
nt
r
o
l
l
e
r
w
i
t
h:
(
a)
P
a
r
a
m
e
t
r
i
c
v
a
ri
a
t
i
o
n
,
(
b)
W
e
i
g
h
t
on
b
i
t
v
a
r
i
a
t
i
o
n
7.
C
O
M
P
A
R
A
TI
V
E
ST
U
D
Y
A
c
o
m
pa
r
a
t
i
v
e
s
t
ud
y
of
t
h
e
c
o
n
t
r
o
l
l
e
r
s
’
pe
r
f
o
r
m
a
n
c
e
s
is
s
um
m
a
r
i
z
e
d
in
T
a
b
l
e
3,
t
h
e
r
e
s
po
n
s
e
s
of
h
y
b
r
i
d
P
ID
s
l
i
di
n
g
c
o
n
t
r
o
l
l
e
r
F
i
gu
r
e
8(
a)
a
r
e
s
l
i
g
h
t
l
y
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t
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m
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r
F
i
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r
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5(
a)
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ve
n
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y
h
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d
a
l
m
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t
t
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sa
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h
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ra
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r
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c
s
T
a
b
l
e
3
.
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t
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t
h
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d
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s
po
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w
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PI
a
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P
ID
c
o
n
t
r
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n
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goo
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us
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of
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d
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a
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w
h
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n
o
t
pra
c
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t
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rt
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ng
f
r
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F
i
gu
r
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5(
b
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o
nt
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k
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ra
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l
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nt
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r
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us
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b
r
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d
c
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nt
r
o
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l
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r
[37
,
38]
.
T
a
b
l
e
3.
Co
m
p
a
r
a
t
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v
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s
t
udy
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t
w
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n
de
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g
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o
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t
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t
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r
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250
s
0
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ID
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n
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ro
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r
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0
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y
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r
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PI
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t
r
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r
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s
0
8.
C
O
N
C
LU
S
I
O
N
In
t
hi
s
s
t
ud
y,
a
h
y
b
r
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d
s
l
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di
ng
P
ID
c
o
nt
r
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r
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s
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to
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b
r
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in
r
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r
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t
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a
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m
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a
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a
r
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.
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a
ddi
t
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h
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t
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t
t
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(P
ID
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in
it
s
hi
g
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f
r
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m
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;
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