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[
8
]
.
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ased
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ased
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p
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[
10
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A
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p
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r
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[
1
1
]
,
[
1
2
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in
w
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th
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f
r
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al
f
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ce
w
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est
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a
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d
Strib
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k
f
r
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m
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esp
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I
n
[
13
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th
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ta
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o
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1
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b
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l
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ler
.
T
h
e
p
o
s
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n
tr
o
ller
is
d
esig
n
e
d
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ased
o
n
a
m
i
n
-
m
a
x
m
o
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
th
eo
r
y
in
[
17
]
to
en
s
u
r
e
th
at
p
o
s
itio
n
an
d
v
elo
cit
y
er
r
o
r
b
e
in
g
i
n
t
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eir
co
n
s
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ai
n
t
s
an
d
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n
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er
g
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to
a
s
m
all
b
all
n
ei
g
h
b
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r
h
o
o
d
o
f
o
r
ig
in
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er
s
tate
-
in
d
ep
en
d
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r
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.
T
h
e
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n
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o
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is
d
esi
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a
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P
I
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2.
DYNA
M
I
C
M
O
DE
L
Fig
u
r
e
1
.
C
o
m
p
o
s
itio
n
o
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P
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s
o
len
o
id
m
o
to
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[
1
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L
et
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id
er
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m
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o
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P
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in
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1
4
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[
1
5
]
,
[
1
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2
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,
.
sq
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F
is
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ex
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ce
.
I
n
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y
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el
(
1
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it
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M,
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in
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in
(
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,
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3.
P
RO
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D
M
E
T
H
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I
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s
p
ap
er
,
let
u
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ar
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m
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(
1
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in
to
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p
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ev
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ter
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itio
n
s
u
b
s
y
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m
ca
n
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e
co
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s
id
er
ed
as
a
lin
ea
r
s
y
s
te
m
a
n
d
ap
p
lied
alg
o
r
ith
m
i
n
[
1
7
]
.
I
n
cu
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n
t
s
u
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m
,
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eth
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n
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d
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3
.
1
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Co
ntr
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Usi
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P
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(
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B
y
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,
k
k
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3
.
2
.
Co
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y
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T
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lo
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an
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s
.
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n
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esig
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en
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Fro
m
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an
d
r
e
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ar
k
1
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m
o
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6
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ca
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Cz
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
P
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w
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p
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s
ed
in
(1
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(
6)
.
I
n
p
o
s
itio
n
co
n
tr
o
ller
,
w
e
co
n
s
i
d
er
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d
u
al
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m
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e
co
n
tr
o
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la
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:
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“
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n
n
er
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a
n
d
a
n
“
o
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ter
”
c
o
n
tr
o
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.
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is
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s
tate
is
i
n
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s
t
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in
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,
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d
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e
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n
th
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er
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ter
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o
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o
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ates
w
h
e
n
th
e
s
tate
is
o
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ts
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e
th
e
i
n
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ar
ian
t set
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d
s
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h
e
s
y
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te
m
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to
t
h
e
in
v
ar
ia
n
t set
.
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h
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n
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n
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ller
w
e
u
s
e
is
lin
ea
r
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ee
d
b
ac
k
kk
u
Kz
w
h
ich
is
o
b
tain
ed
b
y
d
if
f
er
en
t
w
a
y
i
n
co
m
p
ar
e
w
i
th
[
1
7
]
.
T
h
is
p
r
o
p
er
t
y
o
f
th
e
i
n
n
er
co
n
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m
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n
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Fo
r
th
e
o
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,
w
e
u
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e
m
in
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x
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w
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f
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o
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m
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A
l
g
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ith
m
1:
Data
:
If
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et
kk
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.
Oth
er
w
is
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.
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.
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.
[6
]
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.
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I
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n
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.
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.
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,
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m
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NIKA
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n
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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iet
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m
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4
a
n
d
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0
1
7
.
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r
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o
d
e
l
P
re
d
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Co
n
tr
o
l.
Evaluation Warning : The document was created with Spire.PDF for Python.