I
nd
o
ne
s
ia
n J
o
urna
l o
f
E
lect
rica
l En
g
ineering
a
nd
Co
m
pu
t
er
Science
Vo
l.
23
,
No
.
2
,
A
u
g
u
s
t
20
21
,
p
p
.
6
75
~
6
85
I
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N:
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23
.i
2
.
pp
6
75
-
6
85
675
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ee
cs.ia
esco
r
e.
co
m
Desig
n an int
ellig
ent
hy
brid
pos
itio
n/force con
trol fo
r abo
v
e
knee pros
th
esis
b
a
sed o
n ada
ptive
neuro
-
fu
zzy infe
r
ence sy
stem
M
it
ha
q N.
Ra
heem
a
,
Dhirg
a
a
m
A.
K
a
dh
im
,
J
a
bb
a
r
S.
H
us
s
ei
n
De
p
a
rtme
n
t
o
f
P
r
o
sth
e
ti
c
&
Ort
h
o
ti
c
En
g
i
n
e
e
rin
g
,
En
g
i
n
e
e
rin
g
C
o
ll
e
g
e
,
Ke
rb
a
la Un
i
v
e
rsity
,
I
ra
q
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
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y:
R
ec
eiv
ed
Dec
2
1
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2
0
2
0
R
ev
is
ed
Ma
y
1
8
,
2
0
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1
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ted
J
u
n
1
9
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2
0
2
1
Th
is
p
a
p
e
r
re
v
iew
s
t
h
e
p
o
siti
o
n
/
fo
rc
e
c
o
n
tr
o
l
a
p
p
r
o
a
c
h
fo
r
g
o
v
e
rn
s
a
n
e
fficie
n
t
k
n
e
e
jo
i
n
t
in
a
n
a
c
ti
v
e
lo
we
r
li
m
b
p
ro
st
h
e
sis,
a
n
d
th
e
in
terfa
c
in
g
c
u
rre
n
t
c
o
n
tr
o
l
a
l
g
o
rit
h
m
wit
h
h
u
m
a
n
g
a
te
p
a
ra
m
e
ter
is
in
s
e
rted
.
Two
tec
h
n
iq
u
e
s
a
re
u
se
d
to
c
o
ll
e
c
t
g
a
it
c
y
c
le
d
a
ta
o
f
leg
:
f
irst,
t
h
e
fo
o
t
g
ro
u
n
d
fo
rc
e
is
o
b
tain
e
d
b
y
th
e
f
o
rc
e
p
l
a
tfo
rm
d
e
v
ice
b
a
se
d
o
n
it
s
p
o
siti
o
n
(
x
,
y
),
th
e
n
d
a
ta
o
f
k
n
e
e
jo
in
t
a
n
g
les
is
re
c
o
rd
e
d
b
y
u
si
n
g
a
v
i
d
e
o
-
c
a
m
e
ra
d
e
v
ice
.
Th
e
c
o
ll
e
c
ted
in
f
o
rm
a
ti
o
n
is
se
n
t
a
n
d
u
se
d
i
n
th
e
p
ro
p
o
se
d
in
tell
ig
e
n
t
c
o
n
tro
ll
e
r.
Th
is
in
telli
g
e
n
t
c
o
n
t
ro
l
s
y
ste
m
u
se
d
a
n
a
d
a
p
ti
v
e
n
e
u
ro
-
fu
z
z
y
in
fe
re
n
c
e
sy
ste
m
(AN
F
IS
)
c
ircu
it
in
a
d
d
it
i
o
n
to
t
h
e
p
r
o
p
o
rti
o
n
a
l
in
teg
ra
l
d
e
riv
a
ti
v
e
(P
ID)
c
o
n
tr
o
ll
e
r.
T
h
is h
y
b
rid
AN
F
IS
-
P
ID
c
o
n
tro
l
sy
ste
m
sim
u
late
s
a
n
d
p
ro
v
i
d
e
s
th
e
g
r
o
u
n
d
fo
rc
e
v
a
lu
e
s.
T
h
e
e
x
p
e
rime
n
tal
re
su
lt
s
sh
o
w
a
n
e
x
c
e
ll
e
n
t
re
sp
o
n
se
a
n
d
l
o
we
r
ro
o
t
m
e
a
n
sq
u
a
re
e
rro
r
(RM
S
E)
c
o
m
p
a
re
d
with
e
a
c
h
o
f
P
ID
a
n
d
AN
F
IS
c
o
n
tro
ll
e
r
th
a
t
imp
lem
e
n
ted
fo
r
a
sim
il
a
r
p
u
rp
o
se
.
In
su
m
m
a
ry
,
th
e
re
su
lt
s
s
h
o
we
d
a
c
c
e
p
tab
ly
sta
b
le
p
e
rf
o
rm
a
n
c
e
o
f
t
h
e
p
ro
p
o
se
d
p
o
siti
o
n
/
f
o
rc
e
c
o
n
tro
ll
e
r
b
a
se
d
o
n
h
y
b
ri
d
AN
F
IS
-
P
ID
sy
ste
m
.
It
c
a
n
b
e
c
o
n
c
lu
d
e
d
t
h
a
t
t
h
e
fin
e
st
p
e
rfo
r
m
a
n
c
e
o
f
th
e
c
o
n
tr
o
ll
e
d
fo
rc
e
,
a
s
q
u
a
n
ti
fied
b
y
th
e
RM
S
E
c
rit
e
ria,
is
p
e
rc
e
iv
e
d
b
y
th
e
p
r
o
p
o
se
d
h
y
b
rid
sc
h
e
m
e
d
e
p
e
n
d
in
g
o
n
t
h
e
c
o
n
tro
l
ler i
n
tell
ig
e
n
t
d
e
c
isi
o
n
c
ircu
it
.
K
ey
w
o
r
d
s
:
Ab
o
v
e
k
n
ee
p
r
o
s
th
esis
ANFI
S
PID
Po
s
itio
n
/f
o
r
ce
co
n
tr
o
l
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
J
ab
b
ar
S.
Hu
s
s
ein
Dep
ar
tm
en
t o
f
Pro
s
th
etic
&
O
r
th
o
tic
E
n
g
i
n
ee
r
in
g
E
n
g
in
ee
r
in
g
C
o
lleg
e,
Ker
b
ala
Un
iv
er
s
ity
Ker
b
ala
,
I
r
aq
E
m
ail: ja
b
b
ar
.
s
alm
an
@
u
o
k
er
b
ala.
ed
u
.
iq
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
q
u
an
tity
o
f
am
p
u
tees,
b
e
ca
u
s
e
o
f
wa
r
,
ailm
en
t,
an
d
m
is
h
ap
s
is
ex
p
an
d
i
n
g
.
Patien
ts
with
g
o
n
e
th
r
o
u
g
h
r
em
o
v
al
m
ed
ical
p
r
o
ce
d
u
r
e
b
en
ea
t
h
k
n
ee
h
av
e
a
k
n
ee
jo
in
t,
th
er
ef
o
r
e
s
tr
o
llin
g
with
a
p
r
o
s
th
esis
i
s
g
en
er
ally
s
im
p
le
[
1
]
,
[
2
]
.
I
n
an
y
ca
s
e,
with
f
em
o
r
al
am
p
u
tees,
an
u
n
n
at
u
r
al
s
tep
(
g
ait)
h
ap
p
e
n
s
wh
en
an
in
ac
tiv
e
p
r
o
s
th
esis
is
wo
r
n
.
Dif
f
er
en
t
s
o
r
ts
o
f
p
r
o
s
th
esis
h
av
e
b
ee
n
cr
ea
ted
f
o
r
th
e
n
atu
r
al
s
tr
o
llin
g
d
ev
elo
p
m
e
n
t
o
f
th
ese
am
p
u
tee
s
.
T
h
e
lo
ca
l
lim
b
cr
ea
tes
h
u
g
e
n
et
co
n
tr
o
l
o
v
e
r
a
s
tr
id
e
cy
cle
in
n
u
m
e
r
o
u
s
tr
ain
ca
p
ac
ities
in
clu
d
in
g
s
tr
o
llin
g
,
s
tr
o
llin
g
u
p
s
tep
s
an
d
s
lan
t
s
,
r
u
n
n
in
g
an
d
b
o
u
n
ci
n
g
[
3
]
,
[
4
]
.
T
h
e
c
r
ea
ted
p
r
o
s
th
esis
ca
n
b
e
p
ar
titi
o
n
ed
in
to
ac
tiv
e
p
r
o
s
th
esis
an
d
p
ass
iv
e
o
n
e.
Pas
s
iv
e
p
r
o
s
th
esis
co
m
p
r
is
es
o
f
a
s
tr
u
ctu
r
e
th
at
s
to
r
es
v
itality
a
n
d
d
ec
r
ea
s
e
th
e
p
h
y
s
ical
wei
g
h
t
o
f
th
e
wea
r
er
[
5
]
,
[
6
]
.
N
o
n
eth
eless
,
s
in
ce
it
u
tili
ze
s
th
e
f
o
r
ce
o
f
th
e
wea
r
er
to
walk
,
am
p
u
tees
d
ev
o
u
r
ab
o
u
t
6
0
%
m
o
r
e
v
itality
th
an
ty
p
ical
in
d
iv
id
u
al
[
7
]
,
[
8
]
.
Pas
s
iv
e
p
r
o
s
th
esis
w
ith
a
f
o
r
ce
s
o
u
r
ce
ch
an
g
es
th
e
im
p
ed
an
ce
to
h
el
p
s
tr
o
llin
g
[
9
]
,
[
1
0
]
.
T
h
e
d
y
n
am
ic
p
r
o
s
th
esis
co
n
tr
o
ls
th
e
k
n
ee
jo
i
n
t
ed
g
e,
s
o
it
h
as
less
p
h
y
s
ical
weig
h
t
th
a
n
t
h
e
p
ass
iv
e
o
n
e,
a
n
d
p
er
m
its
n
atu
r
al
s
tr
o
llin
g
.
Pas
t
ex
am
in
atio
n
team
s
h
av
e
b
ee
n
co
n
s
id
er
in
g
th
e
d
y
n
am
ic
p
r
o
s
th
esis
o
f
d
if
f
er
en
t
s
tr
u
ctu
r
es
an
d
t
h
e
d
y
n
am
ic
p
r
o
s
th
esis
th
at
ca
n
s
tr
o
ll
in
a
co
m
p
lex
s
tr
o
llin
g
co
n
d
itio
n
[
1
1
]
-
[
1
4
]
.
T
h
e
p
o
s
itio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
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4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
23
,
No
.
2
,
Au
g
u
s
t
20
21
:
6
75
-
6
85
676
co
n
tr
o
l
ap
p
r
o
ac
h
b
ased
o
n
el
ec
tr
o
m
y
o
g
r
ap
h
y
(
E
MG
)
f
o
r
tr
an
s
tib
ial
p
r
o
s
th
esis
was
s
u
r
v
ey
ed
in
[
1
5
]
.
I
n
th
e
on
-
g
o
in
g
y
ea
r
s
u
tili
zin
g
in
tell
ig
en
ce
co
n
tr
o
l,
f
o
r
ex
am
p
le,
n
eu
r
al
n
etwo
r
k
,
f
u
zz
y
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tr
o
l
,
n
eu
r
o
f
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zz
y
,
th
at
th
ey
ca
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co
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tr
o
l
n
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lin
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f
r
a
m
ewo
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k
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at
wo
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ld
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e
tr
o
u
b
l
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m
e
o
r
d
if
f
ic
u
lt
to
d
em
o
n
s
tr
ate
m
ath
em
atica
lly
.
Fo
r
ex
am
p
le,
L
ian
f
an
g
T
ian
e
t
a
l
.
u
tili
ze
d
a
n
eu
r
al
s
y
s
tem
ap
p
r
o
ac
h
f
o
r
t
h
e
m
o
v
em
en
t
c
o
n
tr
o
l
o
f
c
o
m
p
elled
ad
ap
tab
le
co
n
tr
o
ller
’
s
r
o
b
o
ts
[
1
6
]
,
[
1
7
]
.
T
h
e
au
th
o
r
s
h
av
e
b
u
ilt
u
p
a
co
n
tr
o
lled
k
n
ee
an
d
lo
wer
leg
p
r
o
s
th
esis
m
o
d
el,
i
n
wh
ich
th
ey
u
tili
ze
d
PID
an
d
ANFI
S
co
n
tr
o
l
[
1
8
]
,
[
1
9
]
.
C
u
r
r
en
t
lith
iu
m
-
p
o
ly
m
er
b
atter
ies
h
a
v
e
a
v
itality
th
ick
n
ess
m
o
v
in
g
to
w
ar
d
2
0
0
W
·
h
/
k
g
,
wh
ich
em
p
o
wer
th
e
ad
v
an
ce
m
e
n
t
o
f
a
tr
an
s
f
em
o
r
al
p
r
o
s
th
esis
with
a
s
en
s
ib
le
weig
h
t
an
d
a
s
atis
f
ac
to
r
y
,
alb
eit
r
estricte
d
,
s
co
p
e
o
f
m
o
tio
n
.
T
h
e
v
itali
ty
d
en
s
ity
o
f
s
u
c
h
b
atter
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is
r
elied
u
p
o
n
to
ab
o
u
t
two
f
o
ld
in
th
e
f
o
llo
win
g
d
e
ca
d
e
(
d
r
iv
e
n
to
a
g
r
ea
t
ex
ten
t
b
y
th
e
ca
r
b
u
s
in
ess
'
r
eq
u
ir
em
e
n
ts
f
o
r
elec
tr
ical
v
e
h
icles)
[
2
0
]
,
wh
ic
h
will
g
iv
e
a
m
o
r
e
lib
er
al
s
co
p
e
o
f
m
o
tio
n
.
I
n
th
is
w
o
r
k
,
th
e
ad
v
an
ce
m
e
n
t
o
f
lo
we
r
leg
(
a
n
k
le)
p
r
o
s
th
esis
with
an
elec
tr
i
ca
lly
co
n
tr
o
lled
d
y
n
a
m
ic
k
n
ee
is
d
escr
ib
ed
.
T
h
i
s
p
r
o
s
th
esis
will
h
av
e
th
e
o
p
tio
n
to
in
clu
d
e
a
f
o
r
ce
-
b
ased
co
n
tr
o
l
s
y
s
tem
f
o
r
s
tead
y
,
cr
ea
te
h
u
m
an
-
s
ca
le
p
o
wer
at
th
e
jo
in
ts
an
d
co
m
p
o
s
ed
co
o
p
er
atio
n
b
etwe
en
t
h
e
clien
t
an
d
p
r
o
s
th
esis
.
T
h
e
p
ap
er
d
ep
i
cts
th
e
m
ec
h
an
ical
s
tr
u
ctu
r
e
o
f
th
e
p
r
o
s
th
esis
,
g
iv
es
a
r
ev
iew
o
f
t
h
e
PID
a
n
d
ANFI
S
co
n
tr
o
l
s
y
s
tem
,
p
r
esen
ts
ex
p
lo
r
ato
r
y
o
u
tco
m
es
o
n
a
h
ea
lth
y
a
n
d
a
m
p
u
tee
o
n
e,
an
d
talk
s
ab
o
u
t
th
e
elec
tr
ical
p
o
wer
n
ec
ess
iti
es
in
v
ar
i
o
u
s
s
tr
id
e
m
o
d
es.
T
h
is
p
ap
er
is
o
r
g
a
n
ize
d
in
ei
g
h
t
s
ec
tio
n
s
.
Sectio
n
two
p
r
esen
ts
th
e
p
r
o
b
lem
s
ta
tem
en
t.
Sectio
n
s
th
r
ee
an
d
f
o
u
r
p
r
esen
t
th
e
th
eo
r
etica
l
b
ac
k
g
r
o
u
n
d
.
Sectio
n
f
i
v
e
an
d
s
ix
d
esig
n
ate
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
o
f
h
y
b
r
i
d
p
o
s
itio
n
/
f
o
r
ce
b
y
PID
an
d
ANFI
S
s
tr
u
ctu
r
es.
T
h
e
r
esu
lts
ar
e
d
is
cu
s
s
ed
in
s
ec
tio
n
s
ev
e
n
an
d
th
e
c
o
n
clu
s
io
n
is
p
r
esen
ted
in
s
ec
t
io
n
eig
h
t.
2.
P
RO
B
L
E
M
ST
A
T
E
M
E
NT
T
h
er
e
ar
e
m
an
y
etio
lo
g
ies o
f
lo
wer
lim
b
in
ju
r
y
an
d
d
ef
o
r
m
ity
in
I
r
aq
,
an
d
c
h
o
o
s
in
g
to
r
ec
o
n
s
tr
u
ctio
n
o
f
th
e
l
o
wer
ex
tr
e
m
ity
an
d
f
o
llo
win
g
an
am
p
u
tatio
n
p
atie
n
t
ar
e
v
e
r
y
c
h
allen
g
e
f
o
r
b
o
t
h
p
r
ac
titi
o
n
e
r
s
an
d
p
atien
ts
d
u
e
to
th
e
lack
o
f
f
in
an
cial
r
eso
u
r
ce
s
.
T
h
e
m
ain
ch
allen
g
e
f
o
r
th
e
u
s
er
o
f
a
h
ip
a
m
p
u
tated
p
r
o
s
th
esis
is
th
at
th
ey
r
ely
o
n
in
s
en
s
itiv
e
jo
in
ts
d
u
r
in
g
am
b
u
latio
n
,
a
lth
o
u
g
h
t
h
er
e
ar
e
m
an
y
ty
p
es
o
f
ac
tiv
e
k
n
ee
in
p
r
o
s
th
etic
ce
n
ter
s
b
ec
au
s
e
m
o
s
t
o
f
th
em
ar
e
h
ig
h
e
x
p
en
s
iv
e.
T
h
e
m
ai
n
o
b
jectiv
e
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
is
t
o
d
esig
n
a
lo
wer
lim
b
with
an
ef
f
ec
tiv
e
jo
in
t
ab
o
v
e
k
n
ee
f
o
r
f
em
o
r
al
am
p
u
tatio
n
p
atien
ts
,
an
d
to
co
m
p
en
s
ate
th
em
with
lo
w
-
co
s
t
alter
n
ativ
e
m
ec
h
a
n
is
m
s
th
at
ac
h
ie
v
e
a
h
ig
h
p
r
o
p
o
r
tio
n
o
f
b
alan
ce
an
d
n
o
r
m
al
g
ait
.
I
t
will
allo
w
f
o
r
a
f
u
ll
r
a
n
g
e
o
f
m
o
ti
o
n
wh
ile
m
ain
tain
in
g
c
o
m
f
o
r
t
an
d
s
tab
ilit
y
to
with
s
tan
d
r
o
u
g
h
ter
r
ain
a
n
d
o
th
e
r
p
h
y
s
ical
d
em
an
d
s
.
3.
P
RO
T
O
T
YP
E
ACT
I
V
E
K
NE
E
L
O
WE
R
L
I
M
B
P
RO
ST
H
E
SI
S CO
NS
T
RUC
T
I
O
N
Fig
u
r
e
1
s
h
o
w
th
e
s
tr
u
ctu
r
e
o
f
th
e
im
p
lem
en
te
d
ab
o
v
e
k
n
ee
leg
p
r
o
s
th
esis
wh
ich
d
esig
n
ed
at
t
h
e
Me
ch
atr
o
n
ics
L
ab
o
r
ato
r
y
at
th
e
Un
iv
er
s
ity
o
f
Ker
b
ala
,
E
n
g
in
ee
r
in
g
C
o
lleg
e,
Ker
b
ala.
I
t
in
clu
d
es
th
e
b
o
d
y
,
th
ig
h
with
s
o
ck
et;
a
s
h
an
k
co
n
n
ec
ts
a
d
y
n
am
ic
p
r
o
s
th
eti
c
f
o
o
t a
n
d
ac
tiv
e
k
n
ee
jo
in
t.
Fig
u
r
e1
.
Ab
o
v
e
k
n
ee
p
r
o
s
th
esis
p
r
o
to
ty
p
e
[
2
1
]
Fig
u
r
e
2
(
a)
s
h
o
ws
th
e
leg
p
r
o
s
th
esis
as
d
em
o
n
s
tr
ate
as
a
th
r
ee
lin
k
s
m
ec
h
an
ical
s
ch
em
e.
E
ac
h
jo
in
in
g
r
o
d
ca
n
b
e
r
ev
o
lv
in
g
in
th
e
x
-
z
p
la
n
e
ab
o
u
t th
e
y
ax
is
as sh
o
wn
in
Fig
u
r
e
2
(
b
)
.
B
o
d
y
o
f
th
e
r
o
b
o
t is r
ep
r
esen
ted
b
y
th
e
co
n
n
ec
tin
g
r
o
d
1
,
wh
er
e
p
o
in
t
A
is
g
eo
m
etr
ical
ce
n
ter
o
f
m
a
s
s
.
J
b
an
d
M
b
ar
e
th
e
m
o
m
en
t
an
d
m
ass
o
f
in
er
tia
r
esp
ec
tiv
ely
.
T
h
e
th
ig
h
is
r
e
p
r
esen
ted
b
y
th
e
c
o
n
n
ec
tin
g
r
o
d
2
with
th
e
g
eo
m
etr
ical
ce
n
ter
o
f
its
m
ass
.
Fo
r
a
q
u
ad
r
u
p
ed
r
o
b
o
t a
t o
p
e
r
atio
n
s
p
ac
e
m
o
d
el,
th
e
o
b
jectiv
e
is
th
e
p
o
s
itio
n
c
o
n
tr
o
l o
f
th
e
f
o
o
t c
o
n
tact
p
o
in
t (
p
o
in
t
D)
,
th
er
ef
o
r
e,
th
e
g
e
n
er
alize
d
co
o
r
d
in
ates w
ill b
e
as X
=
[
X
D
; Z
D
; r
]
in
th
e
o
p
e
r
atio
n
s
p
ac
e
.
Als
o
,
th
e
v
alu
e
o
f
r
ca
n
b
e
o
v
er
l
o
o
k
e
d
wh
en
ca
lc
u
latin
g
Z
D
b
ec
a
u
s
e
o
f
it m
u
c
h
s
m
aller
th
an
th
e
h
eig
h
t o
f
t
h
e
l
eg
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
Desig
n
a
n
in
tellig
en
t h
y
b
r
id
p
o
s
itio
n
/fo
r
ce
co
n
tr
o
l fo
r
a
b
o
ve
kn
ee
p
r
o
s
th
esis
…
(
Mit
h
a
q
N
.
R
a
h
ee
ma
)
677
(
a)
(
b
)
F
i
g
u
r
e
2
.
T
h
e
s
e
f
i
g
u
r
e
s
a
r
e
;
(
a
)
a
c
t
u
a
t
e
d
k
n
e
e
j
o
i
n
t
i
n
a
s
a
g
i
t
t
a
l
p
l
a
n
e
o
f
l
e
g
p
r
o
s
t
h
e
s
i
s
a
n
d
(
b
)
f
r
e
e
b
o
d
y
d
i
a
g
r
a
m
s
o
f
t
h
i
g
h
s
e
g
m
e
n
t
s
a
n
d
s
h
a
n
k
f
o
r
t
h
e
d
e
r
i
v
a
t
i
o
n
o
f
d
y
n
a
m
i
c
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
a
n
d
i
n
v
e
r
s
e
k
i
n
e
m
a
t
i
c
4.
K
I
NE
T
I
C
M
O
DE
L
L
I
NG
O
F
T
H
E
P
RO
ST
H
E
S
I
S SY
ST
E
M
Du
r
in
g
th
e
d
esig
n
o
f
an
ac
tu
a
tio
n
s
y
s
tem
,
th
e
elem
en
tar
y
k
in
etic
p
er
f
o
r
m
an
ce
s
ca
n
b
e
p
r
o
v
id
ed
b
y
th
e
an
aly
s
es
o
f
th
e
v
elo
cities,
d
is
p
lace
m
en
ts
in
ad
d
itio
n
to
th
e
f
o
r
ce
s
.
Fo
r
d
y
n
am
ics
s
y
s
tem
an
aly
s
es,
a
p
r
ec
is
e
k
in
etic
m
o
d
el
is
n
ec
e
s
s
a
r
y
an
d
it
ca
n
b
e
estab
lis
h
ed
d
ep
en
d
o
n
a
g
o
o
d
u
n
d
er
s
tan
d
in
g
o
f
b
o
t
h
th
e
m
ec
h
an
ical
an
d
elec
tr
ical
p
r
o
p
er
ties
o
f
th
e
d
y
n
am
ics s
y
s
tem
[
2
2
]
-
[
2
5
]
.
4
.
1
.
M
o
dellin
g
a
na
ly
s
is
o
f
t
he
lo
wer
lim
b pro
s
t
hes
is
A
h
u
m
an
lo
wer
lim
b
o
r
leg
p
r
o
s
th
esis
ca
n
b
e
m
o
d
elled
as
a
f
r
am
ewo
r
k
o
f
r
o
b
o
tics
m
an
ip
u
lato
r
with
r
ig
id
lin
k
a
g
e.
L
ag
r
an
g
ian
f
o
r
m
u
latio
n
is
u
s
ed
in
t
h
is
p
ap
er
to
o
b
tain
th
e
e
q
u
atio
n
o
f
m
o
tio
n
f
o
r
a
s
y
s
tem
with
k
in
em
atic
m
o
d
el
an
d
s
o
lv
e
th
e
in
v
e
r
s
e
d
y
n
am
ics
o
f
th
e
s
y
s
tem
wh
ich
is
im
p
o
r
tan
t
f
o
r
m
o
m
en
t
co
n
tr
o
l
o
f
ac
tiv
e
-
k
n
ee
p
r
o
s
th
esis
ac
tu
ato
r
.
4
.
2
.
K
inem
a
t
ic
m
o
del a
na
ly
s
is
T
h
e
p
r
o
s
th
esis
leg
ca
n
b
e
m
o
d
elled
as
a
s
ch
em
e
o
f
t
h
r
ee
p
ar
ts
:
f
o
o
t,
s
h
an
k
,
an
d
t
h
ig
h
as
s
h
o
wn
in
Fig
u
r
e
2
.
I
t’
s
k
in
em
atic
m
o
d
el,
d
iv
id
in
g
th
e
b
o
d
y
in
to
tw
o
h
alv
es
lef
t
an
d
r
ig
h
t
p
ass
in
g
f
r
o
m
an
ter
io
r
to
p
o
s
ter
io
r
in
a
s
ag
ittal p
lan
e
.
T
h
er
e
ar
e
s
o
m
e
ass
u
m
p
tio
n
s
in
th
e
k
in
em
atic
an
aly
s
is
s
u
ch
as
:
−
B
ased
o
n
a
n
th
r
o
p
o
m
etr
ic
d
ata
in
[
2
4
]
,
le
n
g
th
s
o
f
lin
k
s
ar
e:
s
h
an
k
len
g
th
l
s
=
0
.
4
1
8
2
m
,
th
i
g
h
len
g
th
l
t
=
0
.
4
1
6
5
m
,
a
n
d
l
f
=
0
.
0
9
8
1
m
wh
i
ch
r
ep
r
esen
ts
len
g
t
h
f
r
o
m
an
k
le
to
m
etata
r
s
al.
−
T
h
e
leg
b
ase
is
p
lace
d
at
th
e
h
ip
jo
in
t
O
(
x
A
,
z
A
)
,
with
th
e
k
n
ee
jo
in
t
at
O
(
x
A
,
z
A
)
,
th
e
an
k
le
jo
in
t
at
O
(
x
A
,
z
A
)
an
d
th
e
f
o
o
t a
t
O
(
x
F
,
z
F
)
.
−
R
ev
o
lu
te
ty
p
e
is
ch
o
s
en
f
o
r
a
ll
jo
in
ts
with
k
n
o
wn
in
itial
v
alu
es
an
d
b
o
u
n
d
ar
ies
o
f
a
n
g
le
s
f
o
r
h
ip
,
k
n
ee
,
an
d
f
o
o
t (
∅
h
,
∅
k
,
∅
a
)
ar
e
k
n
o
w
n
.
−
T
h
e
g
o
al
p
o
s
itio
n
h
as a
v
ailab
l
e
co
o
r
d
i
n
ates.
4
.
2
.
1
F
o
rwa
rd
k
inem
a
t
ics mo
del
T
h
e
p
o
s
itio
n
a
n
d
th
e
o
r
ien
t
atio
n
o
f
t
h
e
f
o
o
t
p
r
o
s
th
esis
ca
n
b
e
d
eter
m
in
e
d
u
s
in
g
th
e
f
o
r
war
d
k
in
em
atic.
Nu
m
er
o
u
s
an
aly
tic
al
a
nd
g
e
o
m
etr
ical
m
eth
o
d
s
h
a
v
e
b
ee
n
s
u
g
g
ested
to
r
eso
lv
e
t
h
e
k
in
em
atics.
T
h
e
tr
an
s
f
o
r
m
atio
n
in
t
h
e
r
ef
er
e
n
ce
s
y
s
tem
ca
n
b
e
r
ep
r
esen
ted
in
a
h
o
m
o
g
en
eo
u
s
m
atr
ix
b
y
u
s
in
g
Den
av
it
-
Har
ten
b
er
g
’
s
p
r
o
ce
s
s
[
2
4
]
.
T
h
u
s
,
f
o
r
th
e
leg
in
th
e
s
ag
ittal p
lan
e
th
e
f
o
r
war
d
k
in
e
m
atic
m
o
d
el
is
:
=
∅
+
(
∅
ℎ
−
∅
)
−
(
∅
ℎ
−
∅
−
∅
)
(
1
)
=
∅
ℎ
+
(
∅
ℎ
−
∅
)
+
(
∅
ℎ
−
∅
−
∅
)
(
2
)
=
(
2
+
2
)
1
/
2
,
1
=
(
2
+
2
+
2
∅
)
1
/
2
,
2
=
(
2
+
2
+
2
∅
)
1
/
2
(
3
)
∅
=
−
,
∅
=
−
−
2
−
1
,
∅
=
−
(
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
23
,
No
.
2
,
Au
g
u
s
t
20
21
:
6
75
-
6
85
678
4
.
2
.
2
I
nv
er
s
e
k
ine
m
a
t
ics mo
del
I
t
ca
n
b
e
u
s
ed
to
d
ete
r
m
in
e
t
h
e
jo
in
t
an
g
les
t
h
at
im
p
lem
e
n
t
th
e
d
ef
in
ite
p
o
s
itio
n
o
f
f
o
o
t
p
r
o
s
th
esis
.
T
h
e
f
o
llo
win
g
a
n
aly
tical
s
o
lu
tio
n
s
ca
n
b
e
u
s
ed
,
in
wh
ich
th
e
f
in
al
p
o
s
itio
n
an
d
th
e
o
r
ie
n
tatio
n
o
f
f
o
o
t
a
r
e
p
r
ed
eter
m
in
e
d
:
∅
=
(
−
∅
)
2
+
(
−
∅
)
2
−
2
−
2
2
(
5
)
∅
ℎ
=
a
rct
a
n
[
(
−
∅
)
(
−
∅
)
−
1
]
+
(
2
−
2
+
(
−
∅
)
2
+
(
−
∅
)
2
)
(
2
(
(
−
∅
)
2
+
(
−
∅
)
2
)
1
/
2
)
−
1
(
6
)
∅
=
∅
ℎ
−
∅
−
∅
+
2
−
1
(
7
)
4
.
3
.
D
y
na
m
ic
m
o
del a
na
ly
s
i
s
Hip
an
d
k
n
ee
t
o
r
q
u
e,
wh
ich
ar
e
im
p
o
s
ed
b
y
f
o
r
ce
s
ac
tin
g
th
r
o
u
g
h
th
e
ten
d
o
n
s
an
d
lig
a
m
en
ts
,
ar
e
p
r
esen
ted
b
y
an
d
.
an
d
r
e
p
r
esen
t
th
e
h
o
r
izo
n
tal
a
n
d
v
er
tical
co
m
p
o
n
en
ts
o
f
g
r
o
u
n
d
r
ea
ctio
n
f
o
r
ce
.
an
d
r
ep
r
esen
t
th
e
f
o
r
c
e
s
ac
tin
g
o
n
th
e
f
em
o
r
al
h
ea
d
th
at
ar
e
ap
p
lied
b
y
th
e
s
o
ck
et.
As
s
h
o
wn
in
Fig
u
r
e
2
(
b
)
,
th
e
m
o
d
el
o
f
h
u
m
an
lo
wer
lim
b
ca
n
b
e
s
im
p
lifie
d
to
a
p
la
n
ar
s
er
ial
r
o
b
o
ti
c
m
an
ip
u
lato
r
.
T
h
e
in
v
er
s
e
d
y
n
am
ics co
m
p
u
tatio
n
o
f
th
is
r
o
b
o
t c
an
b
e
d
e
v
elo
p
e
d
u
s
in
g
th
e
L
ag
r
an
g
ian
en
e
r
g
y
m
eth
o
d
[
2
1
]
.
New
to
n
’
s
Seco
n
d
L
aw
is
u
s
ed
to
d
er
iv
e
d
y
n
am
ic
eq
u
a
tio
n
s
o
f
th
e
p
r
o
p
o
s
ed
leg
m
o
tio
n
an
d
L
ag
r
an
g
ia
n
m
ec
h
an
ics
to
v
er
i
f
y
th
e
m
.
An
t
h
r
o
p
o
m
etr
ic
d
ata
[
2
6
]
is
u
s
ed
f
o
r
all
m
ass
es
an
d
m
ea
s
u
r
em
e
n
ts
.
A
d
o
u
b
le
in
v
er
te
d
p
en
d
u
lu
m
is
u
s
ed
to
s
y
m
b
o
lize
t
h
e
d
y
n
am
i
cs
m
o
tio
n
o
f
th
e
p
r
o
p
o
s
ed
le
g
.
Fig
u
r
e
2
(
b
)
s
h
o
ws
th
e
p
r
o
s
th
esis
an
d
th
e
r
esid
u
al
leg
s
y
m
b
o
lized
as
two
p
iece
s
.
T
h
ese
two
p
iece
s
ar
e
co
n
n
ec
t
ed
b
y
a
k
n
ee
h
in
g
e
jo
in
t.
T
h
e
lo
wer
p
iece
r
ev
o
lv
es
ar
o
u
n
d
a
n
o
r
ig
in
o
f
th
e
w
o
r
ld
c
o
o
r
d
in
ate
s
y
s
tem
as
a
p
iv
o
t
p
o
in
t
o
n
th
e
g
r
o
u
n
d
.
T
h
e
s
tr
u
ctu
r
e
is
r
e
p
r
esen
ted
b
y
L
ag
r
an
g
ian
as
t
h
e
d
if
f
e
r
en
ce
b
etwe
en
th
e
k
i
n
etic
an
d
p
o
ten
tial
en
er
g
ies [
2
6
]
.
So
,
th
e
L
ag
r
a
n
g
e
m
o
v
em
e
n
t e
q
u
atio
n
is
:
(
̇
)
−
(
̇
)
=
(
8
)
T
h
e
m
atr
ix
r
e
p
r
esen
tatio
n
is
a
s
:
(
)
̈
+
(
,
̇
)
̇
+
(
)
=
(
9
)
T
h
er
eb
y
,
we
g
et
th
e
h
ip
an
d
k
n
ee
to
r
q
u
e
eq
u
atio
n
s
as f
ello
w:
=
[
∅
̈
+
̈
+
(
̈
+
)
]
+
[
∅
̈
+
̈
+
(
̈
+
)
]
+
[
−
∅
̈
+
+
̈
+
̈
+
(
(
∅
̈
+
∅
̈
)
−
+
(
∅
̇
2
+
∅
̈
)
−
)
]
+
∅
̈
+
∅
̈
−
−
−
−
(
1
0
)
=
[
∅
̈
+
̈
+
̈
+
∅
̈
−
−
∅
̇
2
+
+
]
+
∅
̈
−
(
−
)
(
1
1
)
w
h
er
e
,
:
h
ip
to
r
q
u
e,
:
Kn
ee
to
r
q
u
e,
g
:
Acc
eler
atio
n
g
r
a
v
ity
,
an
d
:
Ma
s
s
th
ig
h
an
d
s
h
an
k
r
esp
ec
tiv
ely
,
an
d
:
L
en
g
th
t
h
ig
h
an
d
s
h
an
k
s
eg
m
en
t
r
esp
ec
tiv
ely
,
:
C
en
ter
len
g
th
th
ig
h
s
eg
m
en
t,
:
C
en
ter
len
g
th
s
h
an
k
s
eg
m
en
t,
:
c
os
∅
,
:
s
in
∅
,
:
c
os
∅
,
:
s
in
∅
,
−
:
c
os
(
∅
−
∅
)
,
−
:
s
in
(
∅
−
∅
)
,
an
d
+
:
s
in
(
∅
+
∅
)
.
B
o
th
m
o
d
els
(
i.e
.
Kin
em
atics
an
d
Dy
n
am
ics)
ar
e
b
ased
o
n
h
u
m
an
b
io
m
ec
h
an
ics,
an
d
lin
k
lo
wer
lim
b
s
len
g
th
s
an
d
its
m
ass
e
s
.
Fu
r
th
er
m
o
r
e
,
Gr
o
u
n
d
R
ea
ctio
n
Fo
r
ce
s
(
GR
F)
an
d
p
o
s
itio
n
s
ar
e
o
b
tain
ed
f
r
o
m
an
th
r
o
p
o
m
etr
ic
m
ea
s
u
r
em
en
t
s
an
d
g
ait
cy
cle
d
ata
e
x
p
er
i
m
en
tally
(
m
o
tio
n
ca
p
tu
r
e
s
y
s
tem
,
f
o
r
ce
p
lates
eq
u
ip
m
en
t)
[
2
6
]
.
T
h
e
f
lo
w
d
iag
r
am
o
f
th
e
ex
p
er
im
en
tal
s
etu
p
,
in
v
o
lv
i
n
g
m
o
tio
n
ca
p
t
u
r
e
m
ea
s
u
r
em
e
n
ts
,
in
v
er
s
e
k
in
em
atics a
n
d
i
n
v
er
s
e
d
y
n
am
ics an
aly
s
es is
d
escr
ib
ed
in
Fig
u
r
e
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
Desig
n
a
n
in
tellig
en
t h
y
b
r
id
p
o
s
itio
n
/fo
r
ce
co
n
tr
o
l fo
r
a
b
o
ve
kn
ee
p
r
o
s
th
esis
…
(
Mit
h
a
q
N
.
R
a
h
ee
ma
)
679
Fig
u
r
e
3
.
T
h
e
f
lo
w
d
iag
r
am
o
f
th
e
ex
p
er
im
e
n
tal
s
etu
p
5.
CO
NT
RO
L
O
F
H
YB
RID P
O
SI
T
I
O
N
/
F
O
RCE
I
n
g
ait
co
n
tr
o
l,
t
h
e
p
o
s
itio
n
,
f
o
r
ce
an
d
s
p
ee
d
,
a
r
e
th
e
p
ar
a
m
eter
s
th
at
ca
n
b
e
ch
an
g
es
o
r
co
n
tr
o
l
to
h
av
e
th
e
f
in
al
g
o
al,
th
e
g
ait
p
r
o
ce
s
s
f
o
r
th
e
am
p
u
tee
p
er
s
o
n
.
D.
A.
Kad
h
im
et
a
l
.
[
2
7
]
,
t
h
e
wo
r
k
was
d
o
n
e
b
y
u
s
in
g
t
h
e
ANFI
S
co
n
tr
o
ller
s
th
at
r
eg
u
late
th
e
g
r
o
u
n
d
f
o
r
ce
,
s
im
u
latin
g
th
e
f
lex
io
n
-
e
x
ten
s
io
n
an
g
le
v
al
u
es
an
d
th
e
m
o
m
en
t
o
f
DC
m
o
to
r
f
o
r
th
e
d
esig
n
ed
ac
tiv
e
k
n
ee
.
T
h
e
g
ait
lab
o
r
ato
r
y
was
u
s
ed
to
co
llect
th
e
ex
p
er
im
en
tal
m
o
tio
n
d
ata
o
f
t
h
e
r
e
v
o
lu
te
k
n
ee
jo
in
t,
an
d
th
en
th
e
ANFI
S
co
n
tr
o
ller
tr
a
n
s
f
o
r
m
th
em
to
j
o
in
t
an
g
les.
W
h
ile
in
th
is
p
ap
er
,
p
o
s
itio
n
/
f
o
r
ce
co
n
tr
o
ller
was
u
s
ed
b
y
a
Hy
b
r
id
ANFI
S
/
PID
s
y
s
tem
to
ac
co
m
p
lis
h
th
e
g
ait
p
r
o
ce
s
s
,
as
s
h
o
wn
i
n
Fig
u
r
e
4
.
T
h
e
ar
ch
itectu
r
e
o
f
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
p
o
s
iti
o
n
/
f
o
r
ce
co
n
tr
o
ller
ef
f
o
r
ts
to
s
o
lv
e
th
e
f
o
llo
win
g
:
−
C
o
n
tr
o
l o
f
f
o
o
t p
o
s
itio
n
o
n
th
e
d
ir
ec
tio
n
s
o
f
t
h
e
n
atu
r
al
r
estra
in
t f
o
r
ce
.
−
C
o
n
tr
o
l o
f
f
o
o
t f
o
r
ce
o
n
th
e
d
i
r
ec
tio
n
s
o
f
th
e
n
atu
r
al
r
estra
in
t
p
o
s
itio
n
.
−
Sin
g
le
s
y
s
tem
to
im
p
lem
en
t th
ese
m
o
d
es b
y
co
m
b
in
atio
n
o
f
t
h
e
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
.
W
ith
th
e
ab
o
v
e
p
lan
,
th
e
d
esire
d
task
s
p
ac
e
will
s
p
ec
i
f
y
d
ir
ec
tio
n
s
o
f
f
o
r
ce
s
b
ased
o
n
th
e
en
v
ir
o
n
m
en
t
f
o
r
th
e
m
o
v
em
e
n
t
o
f
t
h
e
e
n
d
e
f
f
ec
to
r
,
an
d
th
e
o
th
er
d
ir
ec
tio
n
s
f
o
r
th
e
d
esire
d
p
ath
in
,
as
s
h
o
wn
in
Fig
u
r
e
4
.
So
,
th
e
task
s
p
ac
e
is
s
ep
ar
ated
in
to
a
f
o
r
ce
co
n
tr
o
l
s
u
b
s
p
ac
e
an
d
a
p
o
s
itio
n
c
o
n
tr
o
l
s
u
b
s
p
ac
e.
An
d
th
en
,
h
y
b
r
i
d
co
n
tr
o
l
s
tr
u
ct
u
r
e
d
esig
n
ed
with
two
p
ar
allel
lo
o
p
s
,
o
n
e
f
o
r
f
o
r
ce
c
o
n
tr
o
l
an
d
th
e
o
th
er
f
o
r
p
o
s
itio
n
co
n
tr
o
l.
Ou
tp
u
ts
o
f
th
ese
two
p
ath
s
ar
e
en
ter
ed
to
a
s
u
m
m
in
g
cir
cu
it
b
ef
o
r
e
b
ein
g
s
en
t
to
th
e
f
o
o
t
in
th
e
f
o
r
m
o
f
a
to
tal
co
n
tr
o
l
s
ig
n
al.
Actu
ally
,
ea
ch
jo
in
t
p
er
f
o
r
m
s
b
o
th
co
n
tr
o
ls
(
f
o
r
ce
an
d
p
o
s
itio
n
)
,
th
is
s
y
n
ch
r
o
n
ize
d
ac
tio
n
o
f
th
ese
co
n
tr
o
ls
m
ay
ca
u
s
e
an
tag
o
n
is
m
,
as
th
e
s
am
e
ac
tu
ato
r
r
ec
eiv
e
two
d
if
f
er
en
t
co
n
tr
o
l
s
ig
n
als.
So
,
a
d
iag
o
n
al
s
elec
tio
n
m
at
r
ix
(
S)
is
u
s
ed
t
o
av
o
id
co
n
f
lict
b
etwe
en
th
em
.
S
m
atr
ix
will
g
iv
e
th
e
ca
p
ab
ilit
y
to
s
elec
t th
e
ty
p
e
o
f
co
n
tr
o
l e
ith
er
f
o
r
ce
o
r
p
o
s
itio
n
.
T
h
e
f
o
r
m
o
f
th
e
h
y
b
r
id
c
o
n
tr
o
ller
s
ig
n
al
is
:
=
(
)
[
(
−
)
+
(
−
)
(
−
)
−
̇
]
(
1
2
)
wh
er
e,
∈
×
i
s
a
d
iag
o
n
al
m
atr
ix
in
clu
d
in
g
o
f
1
a
n
d
0
,
wh
ich
p
r
o
v
id
e
a
d
d
r
ess
f
o
r
c
o
n
tr
o
l
f
o
r
ce
an
d
p
o
s
itio
n
.
∈
×
r
ep
r
esen
ts
an
id
en
t
ity
m
atr
ix
.
∈
×
ar
e
th
e
co
n
tr
o
ller
p
ar
am
eter
s
.
∈
×
r
ep
r
esen
ts
p
r
o
p
o
r
tio
n
al
g
ain
s
o
f
p
o
s
itio
n
an
d
f
o
r
ce
.
∈
×
co
r
r
esp
o
n
d
s
to
th
e
d
er
iv
ativ
e
g
ain
r
el
ativ
e
to
th
e
v
elo
city
o
f
th
e
leg
f
o
o
t
as
an
en
d
e
f
f
ec
to
r
.
is
th
e
to
r
q
u
e.
is
r
ig
id
en
v
ir
o
n
m
e
n
t
f
o
r
ce
.
is
th
e
d
esire
d
g
r
o
u
n
d
r
ea
ctio
n
f
o
r
ce
.
is
h
o
r
i
zo
n
tal
p
o
s
itio
n
f
o
o
t.
Fig
u
r
e
4
.
T
h
e
s
u
g
g
ested
c
o
n
tr
o
l sch
em
es
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
23
,
No
.
2
,
Au
g
u
s
t
20
21
:
6
75
-
6
85
680
6.
DE
S
I
G
N
O
F
CO
NT
RO
L
L
E
R
6
.
1
.
C
o
ntr
o
ller
des
ig
n us
ing
P
I
D
s
t
ra
t
eg
y
T
o
b
e
ab
le
to
co
n
tr
o
l
a
m
o
tio
n
leg
p
r
o
s
th
esis
p
r
o
ce
s
s
,
th
e
p
r
ec
is
e
p
o
s
itio
n
/f
o
r
ce
o
f
f
o
o
t
leg
n
ee
d
s
to
b
e
m
ea
s
u
r
ab
le
a
n
d
m
ai
n
tain
e
d
.
T
h
e
d
esig
n
ed
s
y
s
tem
s
h
o
u
ld
r
esp
o
n
d
to
th
e
ap
p
lied
in
p
u
t
with
a
s
u
itab
le
o
v
er
s
h
o
o
t a
s
ettlin
g
tim
e
an
d
a
ze
r
o
s
tead
y
s
tate
er
r
o
r
as p
o
s
s
ib
le.
T
o
s
im
p
lify
th
e
co
n
tr
o
l d
esig
n
an
d
an
al
y
s
is
,
two
s
u
g
g
ested
co
n
tr
o
ller
PID
an
d
ANFI
S
with
p
ar
am
eter
s
f
o
r
leg
p
r
o
s
th
esis
will
b
e
p
r
o
p
o
s
ed
.
As
in
m
an
y
o
f
co
n
tr
o
l
a
n
d
r
eg
u
lato
r
a
p
p
licat
io
n
s
[
2
8
]
-
[
3
0
]
it’s
im
p
o
r
tan
t
t
o
ac
h
iev
e
tig
h
t
v
o
ltag
e
o
r
cu
r
r
en
t
r
e
g
u
latio
n
an
d
g
o
o
d
d
y
n
am
ic
p
e
r
f
o
r
m
an
ce
.
B
ec
au
s
e
o
f
its
s
tr
en
g
th
an
d
in
d
ir
ec
tly
,
th
er
e
ar
e
m
an
y
co
n
tr
o
l
ap
p
licatio
n
s
th
at
ar
e
co
m
m
o
n
l
y
u
s
ed
th
e
PID
co
n
tr
o
ller
.
I
n
th
e
f
ield
o
f
en
g
in
ee
r
in
g
,
PID
co
n
tr
o
ller
s
h
a
d
b
e
en
ar
o
u
n
d
f
o
r
a
lo
n
g
tim
e
an
d
th
e
th
r
ee
co
n
t
r
o
ller
g
ain
p
ar
am
eter
s
ar
e
t
y
p
ically
s
et.
B
u
t
th
e
d
r
awb
ac
k
o
f
th
e
PID
co
n
tr
o
ller
is
th
a
t
in
d
ea
lin
g
with
d
e
v
ice
in
s
tab
ilit
y
,
wh
ich
is
p
ar
am
eter
v
ar
iatio
n
s
an
d
ex
ter
n
al
d
is
r
u
p
tio
n
,
it
is
ter
r
ib
le,
th
er
ef
o
r
e,
t
h
e
co
m
b
in
ati
o
n
o
f
PID
an
d
ANFI
S
co
n
tr
o
ller
s
is
s
u
g
g
ested
in
th
is
s
tu
d
y
to
ac
h
iev
e
a
m
ar
g
in
ally
b
etter
o
u
tp
u
t
r
ath
er
th
an
th
e
P
I
D
co
n
tr
o
ller
a
n
d
ANFI
S
co
n
t
r
o
ller
alo
n
e.
T
h
e
tr
an
s
f
er
f
u
n
c
tio
n
o
f
PID
co
n
tr
o
l
is
g
iv
en
b
y
:
(
+
+
)
=
2
+
+
(
1
3
)
wh
er
e,
,
an
d
ar
e
th
e
p
r
o
p
o
r
tio
n
al,
in
te
g
r
al,
a
n
d
d
er
iv
a
tiv
e
g
ain
s
r
esp
ec
tiv
ely
.
An
o
t
h
er
u
s
ef
u
l
eq
u
iv
alen
t f
o
r
m
o
f
th
e
PID
c
o
n
tr
o
ller
is
in
th
e
f
o
r
m
:
(
+
+
)
=
2
+
+
=
(
2
+
+
(
1
⁄
)
)
(
1
4
)
wh
er
e,
=
⁄
an
d
=
⁄
ar
e
k
n
o
wn
as
i
n
teg
r
al
an
d
d
er
iv
ativ
e
tim
e
c
o
n
s
tan
t
r
esp
ec
tiv
ely
.
I
n
d
esig
n
PID
co
n
tr
o
ller
s
tr
ateg
y
th
e
tu
n
in
g
PID
p
ar
am
eter
is
u
s
ed
with
d
ep
en
d
in
g
o
n
s
o
m
e
r
u
les r
elate
d
to
er
r
o
r
s
ig
n
al
(
)
o
f
in
p
u
t
an
d
o
u
tp
u
t
d
a
ta.
W
h
en
th
e
(
)
is
p
o
s
itiv
e
an
d
in
cr
ea
s
e,
it
m
ea
n
s
th
e
p
r
o
p
o
r
t
io
n
al
g
ain
b
e
h
ig
h
,
in
te
g
r
al
co
ef
f
icien
t
g
ain
lo
w
an
d
th
e
d
e
r
iv
ativ
e
co
ef
f
icien
t
g
ain
is
lo
w,
o
n
th
e
co
n
tr
ar
y
,
wh
en
th
e
(
)
d
ec
r
ea
s
e
an
d
ap
p
r
o
ac
h
to
ze
r
o
t
h
e
PID
p
ar
am
ete
r
s
h
av
e
to
b
e
s
m
aller
v
alu
e
f
o
r
p
r
o
p
o
r
ti
o
n
al
g
ain
,
lar
g
er
v
alu
e
o
f
in
te
g
r
al
t
im
e
co
n
s
tan
t
an
d
lar
g
er
v
alu
e
o
f
d
er
i
v
ativ
e
co
ef
f
icien
t g
ain
.
6
.
2
.
Desig
n o
f
ANF
I
S c
o
ntr
o
ller
A
co
n
tr
o
ller
b
ased
o
n
ANFI
S
was
s
u
g
g
ested
to
co
n
tr
o
l
th
e
o
p
er
atio
n
o
f
th
e
d
esig
n
e
d
Activ
e
k
n
ee
b
y
r
eg
u
late
th
e
f
o
r
ce
o
f
its
DC
m
o
to
r
.
I
t
co
m
p
r
is
es
n
u
m
er
o
u
s
f
u
zz
y
p
r
o
ce
d
u
r
es
s
u
ch
as:
in
f
er
en
ce
p
r
o
ce
s
s
,
k
n
o
wled
g
e
b
ase
in
ad
d
itio
n
t
o
f
u
zz
if
icatio
n
an
d
d
ef
u
zz
i
f
icatio
n
o
f
d
ata
f
o
r
Su
g
en
o
-
ty
p
e
f
u
zz
y
in
f
e
r
en
ce
s
y
s
tem
(
FIS)
Gau
s
s
ian
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
(
MFs)
ar
e
u
s
ed
wh
ich
tu
n
ed
b
y
th
e
NN
lear
n
in
g
p
r
o
ce
s
s
with
in
p
u
t
-
o
u
tp
u
t tr
ain
i
n
g
d
ata.
I
n
th
is
w
o
r
k
,
th
e
co
llected
“X
Y
co
o
r
d
in
ates
-
f
o
r
ce
”
d
ataset
i
s
u
s
ed
as
t
h
e
in
p
u
t
-
o
u
tp
u
t
d
at
a
to
t
r
ain
ANFI
S
co
n
tr
o
ller
in
o
r
d
er
to
s
im
u
late
f
o
r
ce
as
an
o
u
t
p
u
t
s
ig
n
al.
I
n
t
h
e
s
tag
e
o
f
f
u
zz
if
ica
ti
o
n
,
th
e
lin
g
u
is
tic
v
ar
iab
les
(
+B,
+M
,
+S,
Z
,
-
S,
-
M,
an
d
-
B
)
ar
e
u
s
ed
to
r
ep
r
esen
t
th
e
cr
is
p
XY
in
p
u
t
d
ata
v
alu
es
as
s
h
o
wn
in
T
ab
le
1
.
T
h
ese
f
ac
t
o
r
s
wer
e
e
n
ter
ed
to
th
e
s
tag
e
o
f
r
u
le
b
as
ed
to
g
en
er
ate
s
et
o
f
7
×7
=
4
9
I
F
-
T
HE
N
r
u
les,
as
s
h
o
wn
in
T
ab
le
2
.
T
h
e
b
a
ck
p
r
o
p
a
g
atio
n
tr
ain
in
g
alg
o
r
ith
m
is
u
s
ed
to
g
en
er
ate
th
e
f
o
r
c
e
s
ig
n
al
as
a
d
esire
d
o
u
tp
u
t
b
y
s
elec
tin
g
th
e
p
r
o
p
e
r
r
u
les
th
r
o
u
g
h
th
e
lear
n
in
g
p
r
o
ce
s
s
.
T
h
e
co
n
t
r
o
l
d
ec
is
io
n
s
will
b
e
g
en
er
ate
d
in
th
e
p
r
o
ce
s
s
o
f
i
n
f
er
en
ce
,
b
ased
o
n
T
a
b
le
2
.
C
en
tr
e
o
f
g
r
av
it
y
m
eth
o
d
i
n
th
e
d
ef
u
zz
if
icatio
n
s
tag
e
was
u
s
ed
to
r
ec
eiv
e
th
e
lin
g
u
is
tic
co
n
tr
o
l o
u
tp
u
t,
an
d
th
en
g
en
er
ate
t
h
e
f
o
r
ce
d
ata
as c
r
is
p
v
alu
es.
T
ab
le
1
.
Fu
zz
if
icatio
n
p
r
o
ce
s
s
lin
g
u
is
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3
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6
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1034
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