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a
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d
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li
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e
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r
P
ID
(NP
ID)
c
o
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ler
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ll
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w
a
p
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ted
sp
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e
d
p
ro
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m
.
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o
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d
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istu
r
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a
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e
s.
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p
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r
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n
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e
d
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w
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ted
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a
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a
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ti
o
n
a
l
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rd
e
r
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ID
(F
OP
ID)
c
o
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tro
l
.
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se
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tro
ll
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re
t
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trac
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.
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o
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m
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rtain
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ti
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su
lt
s
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o
w
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a
t
t
h
e
p
r
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p
o
se
d
N
P
ID
c
o
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tro
ll
e
r
h
a
s
b
e
tt
e
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p
e
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o
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m
a
n
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e
a
m
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n
g
o
th
e
r
tec
h
n
i
q
u
e
s (
P
ID an
d
F
O
P
ID co
n
tr
o
ll
e
r)
.
K
ey
w
o
r
d
:
B
r
u
s
h
le
s
s
D
C
(
B
L
DC
)
m
o
t
o
r
Fu
zz
y
l
o
g
ic
c
o
n
tr
o
l
Fra
ctio
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tr
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etic
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ith
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(
G
A
)
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n
lin
ea
r
P
I
D
c
o
n
tr
o
l
Co
p
y
rig
h
t
©
201
8
In
s
t
it
u
te o
f
A
d
v
a
n
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e
d
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n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
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.
C
o
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s
p
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uth
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r
:
A
.
M.
A
b
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el
Gh
a
n
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,
Dep
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en
t o
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d
C
o
m
p
u
ter
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n
g
in
ee
r
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g
,
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w
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U
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it
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y
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t
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ail:
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t
m
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m
1.
I
NT
RO
D
UCT
I
O
N
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ec
en
t
l
y
B
r
u
s
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le
s
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(
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L
DC
)
m
o
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r
s
h
av
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b
ee
n
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ep
lace
d
co
n
v
en
t
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al
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C
m
o
to
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s
in
m
an
y
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d
u
s
tr
ial
ap
p
licatio
n
s
s
u
c
h
as
s
teel
r
o
llin
g
m
ills
,
elec
tr
ic
tr
ai
n
s
,
elec
tr
ic
a
u
to
m
o
ti
v
e,
av
ia
ti
o
n
an
d
r
o
b
o
tics
[
1
]
.
T
h
is
b
ec
au
s
e
B
L
D
C
m
o
to
r
h
a
s
m
a
n
y
ad
v
a
n
ta
g
es
co
m
p
ar
ed
to
th
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co
u
n
ter
-
p
ar
t
s
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c
h
as
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g
o
p
er
atin
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lif
e,
h
i
g
h
d
y
n
a
m
ic
r
esp
o
n
s
e,
h
ig
h
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f
icie
n
c
y
a
n
d
h
i
g
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er
s
p
ee
d
r
an
g
e
[
2
]
.
B
L
DC
m
o
t
o
r
is
d
r
iv
en
b
y
D
C
v
o
ltag
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ce
b
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cu
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t
co
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e
b
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w
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[
3
]
.
T
h
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co
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m
u
tatio
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ar
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d
eter
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b
y
u
s
i
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en
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o
r
less
tech
n
iq
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es [
4
]
.
P
r
o
p
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-
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t
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r
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-
Der
i
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D)
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in
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o
r
p
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s
s
co
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tr
o
l
ap
p
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s
[
5
]
.
T
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s
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f
o
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t
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wid
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p
o
p
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lies
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t
h
e
s
i
m
p
licit
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o
f
d
esi
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n
an
d
th
e
g
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p
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f
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m
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ce
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h
e
lo
w
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ce
n
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g
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o
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h
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an
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th
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m
all
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ett
lin
g
ti
m
e
f
o
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s
lo
w
p
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o
ce
s
s
p
lan
ts
[
6
]
.
T
h
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p
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f
o
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m
an
ce
o
f
P
I
D
co
n
tr
o
ller
s
ca
n
b
e
f
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th
er
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m
p
r
o
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ed
b
y
u
s
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n
g
o
f
t
h
e
f
r
ac
tio
n
al
o
r
d
er
d
er
iv
ativ
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s
an
d
in
teg
r
al
s
.
T
h
e
f
r
ac
tio
n
al
o
r
d
er
P
I
D
co
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tr
o
ller
s
in
cl
u
d
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t
w
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m
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p
ar
a
m
eter
s
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h
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(
λ
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d
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ar
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p
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in
in
te
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d
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s
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esp
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n
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ar
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m
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al
(
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an
d
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(
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p
ar
am
eter
s
[
7
]
.
T
h
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p
ar
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cr
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a
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to
its
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u
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ter
p
ar
t
[
8
]
,
[
9
]
.
B
o
th
th
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P
I
D
an
d
FOP
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co
n
tr
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te
m
s
[
1
0
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,
[
1
1
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.
I
t
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n
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[
1
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co
n
tr
o
ller
is
v
er
y
u
s
e
f
u
l
an
d
r
eliab
le
co
m
p
ar
ed
to
t
r
ad
itio
n
al
tech
n
iq
u
es
(
Z
ie
g
ler
-
Nich
o
l
s
m
et
h
o
d
)
.
T
h
er
e
ar
e
d
if
f
er
en
t
t
y
p
es
o
f
o
p
ti
m
izat
io
n
tec
h
n
i
q
u
es
s
u
c
h
as
Ge
n
etic
Al
g
o
r
ith
m
(
G
A
)
,
p
ar
ticle
s
w
ar
m
a
n
d
an
t
co
lo
n
y
[
2
]
.
I
n
th
is
p
ap
er
,
th
e
G
A
w
ill
b
e
u
s
e
d
to
f
in
d
t
h
e
p
r
o
p
er
co
n
tr
o
ller
p
ar
am
eter
s
o
f
ea
c
h
co
n
tr
o
l te
ch
n
iq
u
e
ac
co
r
d
in
g
to
a
ce
r
tain
co
s
t f
u
n
c
tio
n
.
T
h
e
m
ain
co
n
tr
ib
u
tio
n
o
f
p
ap
er
is
d
ev
elo
p
in
g
a
n
e
w
tech
n
i
q
u
e
f
o
r
n
o
n
li
n
ea
r
P
I
D
(
en
h
an
ce
d
NP
I
D)
co
n
tr
o
l
an
d
co
m
p
ar
es
it
w
it
h
o
th
er
co
n
tr
o
l
tech
n
iq
u
e
s
(
P
I
D
an
d
FOP
I
D
co
n
tr
o
l)
to
co
n
f
ir
m
th
e
p
r
ec
ed
en
ce
.
T
h
e
p
a
p
er
is
o
r
g
an
ized
as
f
o
llo
w
s
:
Sect
io
n
I
I
p
r
esen
ts
th
e
d
y
n
a
m
ic
m
o
d
eli
n
g
o
f
B
L
DC
m
o
to
r
d
r
iv
e
s
y
s
te
m
.
T
h
e
co
n
tr
o
l
tech
n
iq
u
e
s
ar
e
in
clu
d
ed
i
n
Sectio
n
I
I
I
.
Secti
o
n
I
V
p
r
o
v
id
es
th
e
s
i
m
u
lati
o
n
r
esu
lt
s
.
Fi
n
all
y
,
Sectio
n
V
co
n
cl
u
d
es.
2.
DYNA
M
I
C
M
O
DE
L
O
F
B
L
DC
M
O
T
O
R
I
n
o
r
d
er
to
s
tu
d
y
t
h
e
d
if
f
er
e
n
t
p
r
o
p
o
s
ed
co
n
tr
o
l
tech
n
iq
u
es
o
n
a
B
L
DC
m
o
to
r
,
it
is
e
s
s
e
n
tial
to
in
tr
o
d
u
ce
t
h
e
u
s
ed
d
y
n
a
m
ic
m
o
d
el
o
f
th
i
s
m
o
to
r
T
h
e
tr
an
s
f
e
r
-
f
u
n
ctio
n
b
a
s
ed
m
at
h
e
m
atica
l
m
o
d
els
ar
e
w
id
el
y
u
s
ed
i
n
a
u
to
m
atic
co
n
tr
o
l
f
iel
d
s
.
So
m
e
co
n
tr
o
l
d
es
i
g
n
a
n
d
an
al
y
s
is
m
et
h
o
d
s
,
s
u
ch
as
th
e
r
o
o
t
-
lo
cu
s
m
eth
o
d
an
d
th
e
f
r
eq
u
en
c
y
-
r
e
s
p
o
n
s
e
m
eth
o
d
,
ar
e
also
d
ev
elo
p
ed
b
ased
o
n
th
e
s
y
s
te
m
tr
an
s
f
er
f
u
n
cti
o
n
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
th
e
B
L
D
C
m
o
to
r
at
n
o
lo
ad
m
a
y
b
e
w
r
itte
n
as
f
o
llo
w
s
[
1
4
]
,
[
5
]
:
(
1
)
(
2
)
(
3
)
W
h
er
e
is
th
e
DC
b
u
s
v
o
lta
g
e,
is
t
h
e
m
ec
h
a
n
ical
ti
m
e
co
n
s
ta
n
t,
is
t
h
e
elec
tr
ical
ti
m
e
co
n
s
ta
n
t,
an
d
L
ar
e
t
h
e
ter
m
in
al
p
h
ase
to
p
h
a
s
e
r
esi
s
tan
ce
a
n
d
in
d
u
ctan
ce
,
J
is
th
e
r
o
to
r
m
o
m
e
n
t
o
f
i
n
er
tia,
is
th
e
r
o
to
r
s
p
ee
d
,
is
th
e
co
ef
f
icien
t
o
f
p
h
ase
b
ac
k
-
E
MF
co
n
s
ta
n
t,
an
d
is
th
e
co
ef
f
icie
n
t
o
f
p
h
a
s
e
to
r
q
u
e
co
n
s
tan
t.
Fig
u
r
e
1
s
h
o
w
s
th
e
b
lo
ck
d
i
ag
r
a
m
o
f
th
e
p
r
o
p
o
s
ed
d
r
iv
e
s
y
s
te
m
.
I
t
co
n
s
is
ts
o
f
a
B
L
DC
m
o
to
r
eq
u
ip
p
ed
w
i
th
a
h
all
-
e
f
f
ec
t
s
en
s
o
r
w
h
ic
h
d
eter
m
i
n
es
th
e
r
o
to
r
p
o
s
itio
n
an
d
s
en
d
s
a
f
ee
d
b
ac
k
s
ig
n
al
to
th
e
co
n
tr
o
l
u
n
i
t.
T
h
e
co
n
tr
o
l
u
n
it
co
n
s
is
ts
o
f
a
m
icr
o
co
n
tr
o
ller
an
d
a
d
r
iv
in
g
cir
cu
i
t.
T
h
e
m
icr
o
co
n
tr
o
ller
u
s
es
t
h
e
f
ee
d
b
ac
k
s
i
g
n
al
s
o
f
th
e
m
o
to
r
p
o
s
itio
n
an
d
d
eliv
er
s
th
e
co
n
tr
o
l
p
u
ls
es
to
th
e
d
r
iv
in
g
cir
cu
i
t
.
T
h
en
,
th
e
d
r
iv
i
n
g
cir
cu
it
is
o
late
s
b
et
w
ee
n
t
h
e
co
n
tr
o
l
an
d
p
o
w
er
cir
cu
i
t
as
w
ell
as
d
r
iv
e
th
e
p
r
o
p
er
p
u
ls
es
f
o
r
th
e
i
n
v
er
ter
p
o
w
er
cir
cu
it.
T
h
e
u
s
ed
i
n
v
er
ter
t
y
p
e
is
a
v
o
lta
g
e
s
o
u
r
ce
in
v
er
ter
.
I
t
co
n
v
er
ts
t
h
e
D
C
s
u
p
p
l
y
t
o
a
s
u
itab
le
o
n
e
i
n
o
r
d
er
to
d
r
iv
e
th
e
B
L
DC
.
T
h
e
DC
s
u
p
p
l
y
is
ac
h
ie
v
ed
b
y
u
s
in
g
an
u
n
co
n
tr
o
lled
r
ec
tif
ier
f
o
ll
o
w
ed
b
y
a
DC
li
n
k
ca
p
ac
ito
r
[
1
5
]
.
Fig
u
r
e
1
.
B
r
u
s
h
les
s
DC
m
o
to
r
d
r
iv
e
s
y
s
te
m
T
h
e
p
ar
am
eter
s
o
f
t
h
e
B
L
D
C
m
o
to
r
ar
e
lis
ted
in
T
ab
le
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
536
–
545
538
T
ab
le
1
.
T
h
e
B
L
DC
Mo
to
r
P
a
r
a
m
eter
s
.
R
a
t
i
n
g
S
y
mb
o
l
V
a
l
u
e
U
n
i
t
s
D
C
r
e
si
st
a
n
c
e
R
0
.
5
7
I
n
d
u
c
t
a
n
c
e
L
1
.
5
mH
T
o
r
q
u
e
c
o
n
st
a
n
t
0
.
0
8
2
N
.
m/
A
N
o
.
o
f
P
o
l
e
s
P
4
R
a
t
e
d
t
o
r
q
u
e
0
.
4
2
N
.
m
R
a
t
e
d
V
o
l
t
a
g
e
V
36
V
R
o
t
o
r
I
n
e
r
t
i
a
J
K
g
.
m2
F
r
i
c
t
i
o
n
c
o
e
f
f
i
c
i
e
n
t
0
.
0
0
0
0
7
3
5
N
.
M
.
S
R
a
t
e
d
S
p
e
e
d
4
0
0
0
R
P
M
R
a
t
e
d
c
u
r
r
e
n
t
I
5
A
Fig
u
r
e
2
d
e
m
o
n
s
tr
ate
s
t
h
e
o
p
e
n
lo
o
p
r
esp
o
n
s
e
o
f
B
L
D
C
m
o
to
r
d
r
iv
e
s
y
s
te
m
m
o
d
el.
I
t
ca
n
b
e
n
o
ted
th
at
at
ti
m
e
0
.
1
s
ec
th
e
B
L
DC
m
o
to
r
ex
p
o
s
ed
to
s
u
d
d
en
lo
a
d
co
r
r
esp
o
n
d
5
0
%
o
f
r
ated
to
r
q
u
e,
th
e
r
o
to
r
s
p
ee
d
w
il
l
b
e
r
ed
u
ce
d
to
3
2
0
0
R
P
M
.
Fig
u
r
e
3
s
h
o
w
s
th
e
co
r
r
esp
o
n
d
in
g
p
h
a
s
e
cu
r
r
en
t
o
f
B
L
DC
m
o
to
r
.
I
t
ca
n
clea
r
th
at
t
h
e
p
h
ase
c
u
r
r
en
t
w
il
l b
e
in
cr
ea
s
ed
at
ti
m
e
0
.
1
s
ec
t
o
±
2
.
5
A
.
Fig
u
r
e
2
.
Op
en
lo
o
p
r
esp
o
n
s
e
o
f
B
L
D
C
m
o
to
r
d
r
iv
e
s
y
s
te
m
m
o
d
el
Fig
u
r
e
3
.
T
h
e
co
r
r
esp
o
n
d
in
g
p
h
ase
c
u
r
r
en
t o
f
B
L
DC
m
o
to
r
m
o
d
el
3.
CO
NT
RO
L
T
E
CH
NI
Q
U
E
S
T
h
is
s
ec
tio
n
ill
u
s
tr
ate
s
th
e
t
h
eo
r
y
o
f
t
h
r
ee
d
if
f
er
e
n
t
co
n
tr
o
l
tech
n
iq
u
es.
T
h
e
f
ir
s
t
tec
h
n
i
q
u
e
is
th
e
co
n
v
e
n
tio
n
al
P
I
D
co
n
tr
o
l
w
h
i
l
e,
th
e
s
ec
o
n
d
tec
h
n
iq
u
e
is
t
h
e
f
r
ac
tio
n
al
o
r
d
er
P
I
D
co
n
tr
o
l.
T
h
e
th
ir
d
tech
n
iq
u
e
is
th
e
n
o
n
li
n
ea
r
P
I
D
co
n
tr
o
l.
T
h
e
p
ar
am
eter
s
o
f
ea
c
h
co
n
tr
o
l
tech
n
iq
u
e
w
er
e
o
b
tain
ed
b
y
G
A
o
p
ti
m
izat
io
n
tech
n
iq
u
e
b
ased
o
n
a
ce
r
t
ain
c
o
s
t f
u
n
ctio
n
.
3
.
1
.
P
I
D
C
o
ntr
o
l
P
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
-
d
er
iv
ati
v
e
(
P
I
D)
co
n
tr
o
ller
s
h
av
e
b
ee
n
th
e
m
o
s
t
f
a
m
o
u
s
a
n
d
th
e
m
o
s
t
co
m
m
o
n
l
y
u
s
ed
i
n
d
u
s
tr
ial
co
n
tr
o
ller
s
i
n
t
h
e
p
r
ev
io
u
s
y
ea
r
s
.
T
h
e
r
ep
u
tatio
n
a
n
d
w
id
es
p
r
ea
d
u
s
e
o
f
P
I
D
co
n
tr
o
ller
s
ar
e
attr
ib
u
ted
p
r
i
m
ar
il
y
to
th
e
ir
s
i
m
p
lici
t
y
an
d
p
er
f
o
r
m
a
n
ce
ch
ar
ac
ter
is
tic
s
[
1
6
]
.
P
I
D
co
n
tr
o
ller
s
h
av
e
b
ee
n
ap
p
lied
f
o
r
co
n
tr
o
l
o
f
v
ar
io
u
s
d
y
n
a
m
ical
s
y
s
te
m
s
r
an
g
ed
f
r
o
m
in
d
u
s
tr
ial
p
r
o
ce
s
s
to
co
m
p
licated
d
y
n
a
m
ics
s
u
c
h
as
s
h
i
p
a
n
d
air
cr
af
t
[
1
7
]
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
t
h
e
P
I
D
co
n
tr
o
ller
is
.
W
h
er
e
,
,
ar
e
p
r
o
p
o
r
tio
n
al,
in
teg
r
al
a
n
d
d
if
f
er
en
tia
l
g
ai
n
s
r
esp
ec
ti
v
el
y
.
T
h
e
task
o
f
ea
c
h
p
ar
t
o
f
a
P
I
D
co
n
tr
o
ller
ca
n
b
e
d
escr
ib
ed
as
f
o
llo
w
s
,
th
e
p
r
o
p
o
r
tio
n
al
p
ar
t
d
ec
r
ea
s
es
th
e
er
r
o
r
r
esp
o
n
s
es
o
f
th
e
s
y
s
te
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Z
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th
e
s
e
m
eth
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h
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I
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th
is
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er
th
e
G
A
o
p
tim
izatio
n
tec
h
n
iq
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e
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ased
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t
h
e
co
s
t f
u
n
ctio
n
as s
h
o
w
n
in
(
4
)
.
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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&
Dr
i
S
y
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I
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N:
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8
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694
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539
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T
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ettli
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w
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d
ec
r
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ed
[
1
8
]
.
Ma
tlab
g
en
etic
al
g
o
r
ith
m
to
o
lb
o
x
is
u
s
ed
to
tu
n
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th
e
P
I
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tr
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ller
p
a
r
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eter
s
ac
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r
d
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to
th
e
p
r
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io
u
s
o
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j
ec
tiv
e
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ctio
n
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h
e
f
ir
s
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d
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t
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m
e
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o
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e
n
d
2
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1
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h
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o
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o
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es
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n
e
p
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p
u
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h
e
h
i
g
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er
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es
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ch
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er
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.
w
it
h
v
a
lu
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b
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n
d
s
v
ar
ied
d
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en
d
o
n
th
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u
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o
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e
f
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c
tio
n
.
I
n
o
r
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er
to
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ch
to
ac
cu
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ate
v
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s
f
o
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th
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P
I
D
p
ar
am
eter
s
,
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in
itial
v
a
lu
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s
of
ar
e
d
eter
m
i
n
ed
u
s
i
n
g
Z
ie
g
le
r
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Nic
h
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ls
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le.
T
h
e
p
o
p
u
latio
n
in
ea
ch
g
en
er
atio
n
is
r
ep
r
esen
ted
b
y
8
0
x
4
p
o
p
u
latio
n
(
P
)
m
atr
i
x
as
g
i
v
en
b
y
(
3
)
,
d
ep
en
d
s
o
n
th
e
ch
r
o
m
o
s
o
m
e
s
n
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m
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p
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p
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latio
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,
w
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e
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ch
r
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t
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m
n
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s
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ed
to
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m
m
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ate
f
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e
s
s
v
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F)
o
f
co
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esp
o
n
d
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g
ch
r
o
m
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s
o
m
es.
P
1
=
(
5
)
W
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e
n
is
t
h
e
n
u
m
b
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o
f
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m
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.
3
.
2
.
F
O
P
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T
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m
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t
co
m
m
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f
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r
m
o
f
a
f
r
ac
tio
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r
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er
PID
co
n
tr
o
ller
is
th
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in
cl
u
d
in
g
an
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te
g
r
ato
r
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f
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r
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a
d
if
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tiato
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f
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r
d
er
as
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e
m
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n
s
tr
ated
in
Fi
g
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r
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4
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n
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m
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s
.
T
h
e
co
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tr
o
ller
tr
an
s
f
er
f
u
n
ctio
n
h
a
s
th
e
f
o
r
m
[
1
9
]
:
(
6
)
Fig
u
r
e
4
.
FOP
I
D
co
n
tr
o
ller
b
l
o
ck
d
iag
r
a
m
Fig
u
r
e
5
.
E
x
p
an
d
in
g
f
r
o
m
P
o
in
t to
P
lan
e
C
o
n
v
en
t
io
n
al
P
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D
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n
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ller
ca
n
b
e
o
b
tain
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b
y
ad
j
u
s
ti
n
g
an
d
.
So
,
th
e
co
n
v
e
n
tio
n
a
l
P
I
D
co
n
tr
o
ller
is
s
p
ec
ial
ca
s
e
f
r
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t
h
e
FOP
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D
co
n
tr
o
ller
wh
ich
en
lar
g
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t
h
e
P
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D
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n
tr
o
l
f
r
o
m
p
o
in
t
to
p
lan
e
as
s
h
o
w
n
in
Fi
g
u
r
e
5
.
T
h
is
e
x
t
en
s
io
n
p
r
o
v
id
es
u
s
m
u
c
h
m
o
r
e
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le
x
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ilit
y
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n
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r
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d
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ch
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te
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n
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t
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at
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g
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t
h
e
t
w
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m
o
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e
p
ar
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eter
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f
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D
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r
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er
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is
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m
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les
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eter
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in
s
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m
.
B
u
t,
n
o
w
th
e
ta
s
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o
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th
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d
es
ig
n
er
s
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h
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f
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p
ar
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s
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ar
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e
m
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alle
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f
o
r
ac
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v
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n
g
a
ce
r
tain
p
er
f
o
r
m
a
n
ce
[
1
9
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
536
–
545
540
I
n
th
is
p
ap
er
,
th
e
FOP
I
D
co
n
tr
o
l
p
ar
am
eter
s
w
ill
b
e
ad
j
u
s
t
ed
u
s
i
n
g
G
A
o
p
ti
m
izatio
n
b
a
s
ed
o
n
t
h
e
p
r
ev
io
u
s
co
s
t
f
u
n
ctio
n
.
T
h
e
f
ir
s
t
s
tep
i
s
to
en
cr
y
p
t
t
h
e
p
r
o
b
le
m
i
n
to
ap
p
r
o
p
r
iate
GA
ch
r
o
m
o
s
o
m
es.
E
ac
h
ch
r
o
m
o
s
o
m
e
i
n
cl
u
d
es
f
i
v
e
p
ar
a
m
eter
s
,
i.e
.
,
λ
an
d
μ
w
it
h
v
alu
e
b
o
u
n
d
s
v
ar
ied
d
ep
en
d
o
n
th
e
u
s
ed
co
s
t
f
u
n
ctio
n
.
T
h
e
in
itial
v
a
l
u
es
o
f
,
λ
an
d
μ
ar
e
o
b
tain
ed
u
s
in
g
Z
ieg
ler
-
Nic
h
o
ls
r
u
le
t
o
r
ea
ch
ac
cu
r
ate
v
al
u
es.
T
h
e
p
o
p
u
lati
o
n
in
ea
ch
g
e
n
er
atio
n
is
r
ep
r
esen
ted
b
y
8
0
x
6
p
o
p
u
latio
n
(
P
2
)
m
atr
i
x
as
g
i
v
en
b
y
(
4
)
,
d
ep
en
d
s
o
n
th
e
ch
r
o
m
o
s
o
m
es
n
u
m
b
er
in
p
o
p
u
latio
n
,
w
h
er
e
ea
c
h
r
o
w
r
ep
r
esen
ts
a
o
n
e
ch
r
o
m
o
s
o
m
e
th
at
co
m
p
r
is
e
,
λ
an
d
μ
v
alu
es
an
d
th
e
last
co
lu
m
n
is
ad
d
ed
t
o
ac
co
m
m
o
d
ate
f
itn
e
s
s
v
alu
e
s
(
F)
o
f
co
r
r
esp
o
n
d
in
g
ch
r
o
m
o
s
o
m
e
s
.
P
2
=
(
7
)
W
h
er
e
n
is
t
h
e
n
u
m
b
er
o
f
c
h
r
o
m
o
s
o
m
e
s
.
3.
3
.
NP
I
D
C
o
ntr
o
l
F
o
r
co
n
tr
o
llin
g
a
n
o
m
i
n
al
p
h
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s
ical
p
r
o
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s
s
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th
e
d
em
a
n
d
s
f
o
r
h
ig
h
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p
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m
a
n
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n
tr
o
l
w
it
h
d
if
f
er
en
t
o
p
er
atin
g
co
n
d
itio
n
s
o
r
en
v
ir
o
n
m
e
n
tal
p
ar
a
m
eter
s
ar
e
o
f
ten
b
ey
o
n
d
th
e
ca
p
ab
ilit
ies
o
f
s
i
m
p
le
P
I
D
co
n
tr
o
ller
s
.
I
n
o
r
d
er
t
o
im
p
r
o
v
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
li
n
ea
r
P
I
D
c
o
n
tr
o
ller
s
,
m
a
n
y
tech
n
iq
u
e
s
h
a
v
e
b
ee
n
estab
lis
h
ed
to
in
cr
ea
s
e
t
h
e
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ap
tab
ilit
y
an
d
r
o
b
u
s
tn
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s
b
y
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o
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g
t
h
e
s
elf
-
t
u
n
in
g
m
e
th
o
d
,
g
e
n
er
al
p
r
ed
ictiv
e
co
n
tr
o
l,
n
eu
r
al
n
et
w
o
r
k
s
s
tr
ate
g
y
a
n
d
f
u
zz
y
lo
g
ic,
an
d
o
th
er
m
eth
o
d
s
[
1
3
]
.
Am
o
n
g
t
h
e
s
e
tec
h
n
iq
u
es,
n
o
n
l
in
ea
r
P
I
D
(
NP
I
D)
co
n
tr
o
l is p
r
esen
ted
a
s
o
n
e
o
f
t
h
e
m
o
s
t e
f
f
ec
tiv
e
a
n
d
s
i
m
p
le
m
eth
o
d
f
o
r
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
T
h
e
n
o
n
lin
ea
r
P
I
D
(
NPI
D)
co
n
tr
o
l
h
as
f
o
u
n
d
in
f
o
r
m
t
w
o
b
r
o
ad
ca
teg
o
r
ies o
f
ap
p
licatio
n
s
[
1
0
]
.
T
h
e
f
ir
s
t c
ate
g
o
r
y
p
ar
ticu
lar
t
o
n
o
n
li
n
ea
r
s
y
s
t
e
m
s
,
w
h
er
e
N
P
I
D
co
n
tr
o
l is u
s
ed
to
ac
co
m
m
o
d
ate
t
h
e
n
o
n
lin
ea
r
it
y
w
h
ile,
th
e
s
ec
o
n
d
ca
teg
o
r
y
d
ea
ls
w
it
h
li
n
ea
r
s
y
s
te
m
s
,
w
h
e
r
e
NP
I
D
co
n
tr
o
l is
u
s
ed
to
o
b
tain
p
er
f
o
r
m
an
ce
n
o
t
r
ea
lizab
le
b
y
a
lin
ea
r
P
I
D
co
n
tr
o
l,
s
u
c
h
as
in
cr
ea
s
ed
d
a
m
p
in
g
,
r
ed
u
ce
d
r
is
e
ti
m
e
f
o
r
s
tep
o
r
r
ap
id
in
p
u
ts
,
i
m
p
r
o
v
ed
tr
ac
k
in
g
ac
c
u
r
ac
y
,
a
n
d
f
r
ictio
n
co
m
p
e
n
s
atio
n
.
T
h
e
NPI
D
co
n
tr
o
ller
s
h
av
e
th
e
ad
v
an
tag
e
o
f
h
ig
h
in
i
tial
g
ai
n
to
ac
h
iev
e
a
f
ast
r
esp
o
n
s
e,
f
o
llo
w
ed
b
y
a
lo
w
g
a
in
to
av
o
id
an
o
s
ci
ll
ato
r
y
b
eh
a
v
io
r
.
I
n
th
is
s
t
u
d
y
,
a
p
er
f
o
r
m
a
n
ce
en
h
a
n
ce
m
e
n
t
to
th
e
co
n
v
e
n
tio
n
al
lin
ea
r
P
I
D
co
n
tr
o
ller
is
p
r
o
p
o
s
ed
b
y
co
m
b
in
i
n
g
a
s
ec
to
r
-
b
o
u
n
d
ed
n
o
n
li
n
ea
r
g
ai
n
in
to
a
lin
ea
r
f
i
x
ed
g
ai
n
P
I
D
co
n
tr
o
l a
r
ch
itectu
r
e
[
1
2
]
.
I
n
th
i
s
p
ap
er
,
th
e
p
r
o
p
o
s
ed
en
h
an
ce
d
n
o
n
li
n
ea
r
P
I
D
(
NP
I
D)
co
n
tr
o
ller
co
n
s
is
ts
o
f
t
w
o
p
ar
ts
.
T
h
e
f
ir
s
t
p
ar
t
is
a
s
ec
to
r
b
o
u
n
d
ed
n
o
n
lin
ea
r
g
ai
n
w
h
i
le,
th
e
s
ec
o
n
d
p
ar
t
is
a
lin
ea
r
f
i
x
ed
-
g
ai
n
P
I
D
co
n
tr
o
ller
(
Kp
,
Ki
an
d
Kd
)
.
T
h
e
n
o
n
li
n
ea
r
g
a
in
is
a
s
ec
to
r
-
b
o
u
n
d
ed
f
u
n
cti
o
n
o
f
t
h
e
er
r
o
r
e(
t)
.
th
e
p
r
ev
io
u
s
r
esear
c
h
e
s
h
av
e
b
ee
n
m
ad
e
w
h
er
e
t
h
e
n
o
n
li
n
ea
r
g
ai
n
h
as a
o
n
e
s
ca
lar
v
alu
e.
I
n
th
i
s
p
ap
er
,
T
h
e
ac
ts
as
a
r
o
w
v
ec
to
r
ca
n
ex
p
r
ess
ed
a
s
w
h
ic
h
w
ill b
e
en
h
an
ce
d
t
h
e
N
P
I
D
co
n
tr
o
ller
.
T
h
e
p
r
o
p
o
s
ed
f
o
r
m
o
f
NP
I
D
co
n
tr
o
l c
an
b
e
d
escr
ib
ed
as f
o
llo
w
s
.
(
8
)
W
h
er
e
ar
e
n
o
n
lin
ea
r
g
ain
s
.
T
h
e
n
o
n
lin
ea
r
g
ai
n
s
r
ep
r
esen
t
an
y
g
e
n
er
al
n
o
n
li
n
ea
r
f
u
n
ct
io
n
o
f
th
e
er
r
o
r
e
w
h
ic
h
is
b
o
u
n
d
ed
in
th
e
s
ec
to
r
0
<
<
m
a
x
.
T
h
er
e
is
a
b
r
o
a
d
r
an
g
e
o
f
o
p
tio
n
s
av
ailab
le
f
o
r
th
e
n
o
n
li
n
ea
r
g
ain
.
On
e
s
i
m
p
le
f
o
r
m
o
f
th
e
n
o
n
lin
ea
r
g
ai
n
f
u
n
c
tio
n
ca
n
b
e
d
escr
ib
ed
as.
(
9
)
W
h
er
e
(
1
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
P
erfo
r
ma
n
ce
S
tu
d
y
o
f
E
n
h
a
n
c
ed
N
o
n
-
Lin
ea
r
P
I
D
C
o
n
tr
o
l A
p
p
lied
o
n
…
(
Mo
h
a
med
.
A
.
S
h
a
mseld
in
)
541
W
h
er
e
an
d
ar
e
u
s
er
-
d
e
f
i
n
ed
p
o
s
itiv
e
co
n
s
tan
ts
.
T
h
e
n
o
n
li
n
e
ar
g
ain
is
lo
w
er
b
o
u
n
d
e
d
b
y
m
i
n
=
1
w
h
en
e
=
0
,
an
d
u
p
p
er
-
b
o
u
n
d
ed
b
y
m
a
x
=
ch
(
)
.
T
h
er
ef
o
r
e,
s
tan
d
f
o
r
th
e
r
an
g
e
o
f
v
ar
iatio
n
,
a
n
d
d
escr
ib
es
th
e
r
ate
o
f
v
ar
iatio
n
o
f
.
Ma
tlab
g
e
n
etic
al
g
o
r
ith
m
to
o
lb
o
x
is
u
s
ed
to
ad
j
u
s
t
th
e
NP
I
D
co
n
tr
o
ller
p
ar
a
m
eter
s
ac
co
r
d
in
g
to
th
e
ea
r
lier
co
s
t
f
u
n
ctio
n
.
T
h
e
p
o
p
u
latio
n
i
n
ea
c
h
g
e
n
er
atio
n
is
r
ep
r
esen
ted
b
y
8
0
x
7
p
o
p
u
latio
n
(
P
3
)
m
atr
i
x
a
s
g
iv
e
n
b
y
(
8
)
.
E
ac
h
r
o
w
r
ep
r
esen
ts
a
o
n
e
ch
r
o
m
o
s
o
m
e
th
at
i
n
clu
d
e
v
alu
es
an
d
th
e
last
co
lu
m
n
is
ad
d
ed
to
ad
ap
t f
itn
es
s
v
al
u
e
s
(
F)
o
f
co
r
r
esp
o
n
d
in
g
c
h
r
o
m
o
s
o
m
e
s
.
(
1
1
)
W
h
er
e
n
is
t
h
e
n
u
m
b
er
o
f
c
h
r
o
m
o
s
o
m
e
s
.
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
T
h
is
s
ec
tio
n
p
r
ese
n
ts
in
v
e
s
ti
g
ates
th
e
p
er
f
o
r
m
a
n
ce
o
f
ea
ch
co
n
tr
o
l
tech
n
iq
u
e
w
h
er
e
s
ev
er
al
o
f
in
v
e
s
ti
g
atio
n
s
w
i
ll
b
e
ap
p
lied
o
n
th
e
B
L
D
C
m
o
to
r
s
u
ch
a
s
s
p
ee
d
r
eg
u
latio
n
,
s
u
d
d
en
lo
ad
,
s
p
ee
d
tr
ac
k
in
g
a
n
d
co
n
tin
u
o
u
s
v
ar
iab
le
lo
ad
.
Fig
u
r
e
6
d
e
m
o
n
s
tr
ates
t
h
e
s
p
e
ed
r
esp
o
n
s
e
o
f
B
o
th
t
h
e
NP
I
D
co
n
tr
o
l
w
i
th
s
ca
lar
an
d
v
ec
to
r
n
o
n
li
n
ea
r
g
ain
.
I
t
is
o
b
v
io
u
s
th
at
t
h
e
r
o
to
r
o
f
B
L
DC
m
o
to
r
w
as
ex
p
o
s
ed
to
s
u
d
d
en
lo
ad
b
y
h
al
f
r
ate
d
to
r
q
u
e
at
tim
e
0
.
1
s
ec
.
A
l
s
o
,
it
ca
n
b
e
n
o
ted
th
at
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
NP
I
D
co
n
tr
o
ller
w
it
h
v
ec
to
r
n
o
n
li
n
ea
r
g
ain
h
a
s
f
a
s
ter
r
esp
o
n
s
e
th
a
n
o
th
er
k
in
d
o
f
N
P
I
D
co
n
tr
o
l.
Mo
r
eo
v
er
,
it c
an
ab
s
o
r
b
th
e
d
is
o
r
d
er
r
ap
id
ly
at
t
i
m
e
0
.
1
s
ec
.
T
h
e
r
est
o
f
test
s
w
ill
b
e
p
er
f
o
r
m
ed
b
y
u
s
in
g
th
e
NP
I
D
co
n
tr
o
l
w
it
h
a
v
ec
to
r
v
alu
e
a
n
d
w
il
l
b
e
co
m
p
ar
ed
w
it
h
G
A
-
P
I
D
co
n
tr
o
l a
n
d
FOP
I
D
co
n
tr
o
l.
Fig
u
r
e
6
.
Sp
ee
d
r
esp
o
n
s
e
o
f
co
n
tr
o
l te
ch
n
iq
u
es d
u
r
i
n
g
th
e
s
p
ee
d
r
eg
u
la
tio
n
Fig
u
r
e
7
.
Sp
ee
d
r
esp
o
n
s
e
o
f
co
n
tr
o
l te
ch
n
iq
u
es
d
u
r
in
g
th
e
s
p
ee
d
r
eg
u
latio
n
Fig
u
r
e
8
d
e
m
o
n
s
tr
ates
t
h
e
co
r
r
esp
o
n
d
in
g
D
C
s
u
p
p
l
y
c
u
r
r
en
t
o
f
ea
c
h
co
n
tr
o
l
tec
h
n
iq
u
e.
I
t
ca
n
b
e
n
o
ted
th
at
th
e
NP
I
D
co
n
tr
o
ller
h
as
h
i
g
h
s
tar
ti
n
g
cu
r
r
en
t
co
m
p
ar
ed
t
o
o
th
er
tech
n
iq
u
es.
I
n
ca
s
e
o
f
s
u
d
d
en
lo
ad
a
t
ti
m
e
0
.
1
s
ec
,
th
e
DC
s
u
p
p
l
y
c
u
r
r
en
t
o
f
NP
I
D
co
n
tr
o
l
w
il
l
b
e
r
aised
r
ap
id
ly
a
m
o
n
g
o
th
er
tech
n
iq
u
e
s
to
ca
n
ac
co
m
m
o
d
ate
th
e
d
i
s
tu
r
b
an
ce
in
a
s
h
o
r
t ti
m
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
536
–
545
542
Fig
u
r
e
8
.
T
h
e
co
r
r
esp
o
n
d
in
g
DC
s
u
p
p
l
y
o
f
ea
c
h
co
n
tr
o
l te
ch
n
iq
u
e
d
u
r
i
n
g
t
h
e
s
p
ee
d
r
eg
u
latio
n
Fig
u
r
e
9
.
Sin
u
s
o
id
al
lo
ad
to
r
q
u
e
th
at
e
x
p
o
s
ed
to
th
e
B
L
DC
m
o
to
r
th
r
o
u
g
h
t
h
e
s
i
m
u
latio
n
T
ab
le
2
s
u
m
m
ar
ize
s
an
d
g
i
v
e
u
s
ac
cu
r
ate
co
m
p
ar
is
o
n
o
f
ea
ch
co
n
tr
o
l
tech
n
iq
u
e
p
er
f
o
r
m
a
n
ce
Fig
u
r
e
6
an
d
7
.
I
t
is
o
b
v
io
u
s
th
at
th
e
d
y
n
a
m
ic
r
esp
o
n
s
e
o
f
GA
-
P
I
D
co
n
tr
o
l
is
v
er
y
s
lo
w
co
m
p
ar
ed
to
o
th
er
tech
n
iq
u
es.
A
ls
o
,
t
h
e
r
i
s
e
ti
m
e
o
f
FOP
I
D
co
n
tr
o
l c
lo
s
e
to
th
e
r
is
e
ti
m
e
o
f
NP
I
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2
N.
m
as s
h
o
w
n
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Fi
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u
r
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1
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s
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ates
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s
p
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ed
r
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p
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o
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o
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G
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u
r
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u
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h
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u
s
o
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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ates
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v
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(
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h
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r
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s
p
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m
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s
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m
e
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d
u
s
tr
ial
a
p
p
licatio
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s
i
s
n
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t
co
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s
ta
n
t
a
n
d
n
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to
ch
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e
co
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t
in
u
o
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s
l
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s
u
ch
a
s
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d
elec
tr
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to
m
o
tiv
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,
Fi
g
u
r
e
1
2
s
h
o
w
s
t
h
e
r
esp
o
n
s
e
o
f
ea
c
h
co
n
tr
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l
tech
n
iq
u
e
at
d
if
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t
co
m
m
an
d
s
o
f
r
ef
er
e
n
ce
s
p
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d
w
i
th
co
n
s
tan
t
lo
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co
r
r
esp
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n
d
1
0
%
o
f
r
ate
d
to
r
q
u
e.
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e
n
o
te
th
at
NP
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co
n
tr
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l c
an
tr
ac
k
t
h
e
r
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ce
s
p
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d
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aster
th
a
n
o
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tech
n
iq
u
es.
Fig
u
r
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1
3
illu
s
tr
ate
s
th
e
co
r
r
esp
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n
d
in
g
DC
s
u
p
p
l
y
c
u
r
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en
t
o
f
ea
ch
co
n
tr
o
ller
tech
n
iq
u
e.
I
t
is
clea
r
th
at
t
h
e
NP
I
D
co
n
tr
o
l
h
a
s
h
i
g
h
s
tar
ti
n
g
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r
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t
w
it
h
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ch
ch
an
g
e
i
n
r
e
f
er
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s
p
ee
d
co
m
p
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ed
to
o
th
er
tech
n
iq
u
es.
Fig
u
r
e
1
2
.
Sp
ee
d
r
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f
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tr
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l te
ch
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iq
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es a
t
d
if
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t c
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m
m
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n
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ce
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d
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u
r
e
1
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s
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5.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
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,
an
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a
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ce
d
n
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li
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ea
r
P
I
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(
NP
I
D)
co
n
tr
o
ller
is
p
r
o
p
o
s
ed
to
im
p
r
o
v
e
t
h
e
p
e
r
f
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r
m
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ce
o
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m
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an
d
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p
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eselecte
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s
p
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/p
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p
r
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eg
ar
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t
h
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n
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e
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tec
h
n
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co
m
p
ar
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d
w
it
h
it.
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h
e
f
ir
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tech
n
iq
u
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t
h
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co
n
v
en
t
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n
tr
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t
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tech
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t
h
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f
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ac
tio
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o
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tr
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h
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g
en
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g
o
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ith
m
o
p
ti
m
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tec
h
n
iq
u
e
i
s
u
s
ed
to
o
b
tain
th
e
p
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p
er
p
ar
am
eter
s
o
f
ea
ch
co
n
tr
o
l
tec
h
n
iq
u
e.
Si
m
u
latio
n
r
es
u
lt
s
ill
u
s
tr
ate
t
h
at
t
h
e
p
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s
ed
NP
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co
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ller
ca
n
ac
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m
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ate
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r
b
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d
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ter
r
esp
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co
m
p
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ed
to
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l te
ch
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s
.
ACK
NO
WL
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W
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ex
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est th
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:
P
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f
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.
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A
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Gh
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ield
.
RE
F
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NC
E
S
[1
]
M
.
Irf
a
n
,
M
.
Ef
f
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d
y
,
N.
A
li
f
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S
.
L
a
il
is,
I.
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a
k
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y
a
,
a
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d
A
.
F
a
ru
q
,
“
P
e
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Co
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riso
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o
f
F
u
z
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o
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a
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d
P
r
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p
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rti
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l
-
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n
teg
ra
l
f
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r
a
n
El
e
c
tro
n
ic L
o
a
d
C
o
n
tr
o
ll
e
r,
”
In
t.
J.
P
o
w
e
r
El
e
c
tro
n
.
Driv
e
S
y
st.,
v
o
l.
8
,
n
o
.
3
,
p
p
.
1
1
7
6
–
1
1
8
3
,
2
0
1
7
.
[2
]
R.
R.
Na
v
a
tak
k
e
a
n
d
J.
Bich
a
g
a
tt
i,
“
Op
ti
m
a
l
P
ID
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o
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tr
o
l
o
f
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b
ru
sh
les
s
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m
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to
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u
sin
g
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Ote
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h
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e
,
”
v
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1
0
,
n
o
.
3
,
p
p
.
1
3
–
1
7
,
2
0
1
5
.
[3
]
A
.
A
.
El
-
sa
m
a
h
y
a
n
d
M
.
A
.
S
h
a
m
se
ld
in
,
“
Bru
s
h
les
s
DC
m
o
to
r
tr
a
c
k
in
g
c
o
n
tro
l
u
si
n
g
se
lf
-
tu
n
in
g
f
u
z
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y
P
ID
c
o
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tr
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d
m
o
d
e
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re
f
e
re
n
c
e
a
d
a
p
ti
v
e
c
o
n
tro
l,
”
A
in
S
h
a
m
s E
n
g
.
J.,
2
0
1
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
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Dr
i
S
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,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
536
–
545
544
[4
]
C.
S
.
V
is
h
n
u
a
n
d
R.
M
.
F
ra
n
c
is,
“
S
p
e
e
d
C
o
n
tr
o
l
o
f
BL
DC
M
o
to
r
b
y
Us
in
g
T
u
n
e
d
L
in
e
a
r
Qu
a
d
ra
ti
c
Re
g
u
lato
r,
”
In
t
.
J.
S
c
i.
E
n
g
.
Re
s.,
v
o
l.
3
,
n
o
.
8
,
p
p
.
3
6
–
4
0
,
2
0
1
5
.
[5
]
M
.
A
.
A
.
G
h
a
n
y
,
M
.
A
.
S
h
a
m
s
e
ld
in
,
a
n
d
A
.
M
.
A
.
G
h
a
n
y
,
“
A
No
v
e
l
F
u
z
z
y
S
e
l
f
T
u
n
in
g
T
e
c
h
n
iq
u
e
o
f
S
in
g
le
Ne
u
ro
n
P
ID
Co
n
tro
ll
e
r
f
o
r
Bru
sh
les
s
DC
M
o
to
r,
”
In
t.
J.
P
o
w
e
r
El
e
c
tro
n
.
Driv
e
S
y
st.,
v
o
l.
8
,
n
o
.
4
,
p
p
.
1
7
0
5
–
1
7
1
3
,
2
0
1
7
.
[6
]
L
.
M
o
h
a
n
,
M
.
S
c
h
o
lar,
a
n
d
P
.
El
e
c
tro
n
ics
,
“
Co
m
p
a
riso
n
o
f
P
I
a
n
d
A
d
a
p
ti
v
e
F
u
z
z
y
P
ID
C
o
n
tr
o
ll
e
rs
f
o
r
S
p
e
e
d
Co
n
tr
o
l
o
f
BL
DC
M
o
to
r,
”
in
tern
a
io
n
a
l
J.
In
n
o
v
.
Re
s.
El
e
c
tr.
El
e
c
tro
n
.
In
str
u
m
.
Co
n
tro
l
E
n
g
.
,
v
o
l.
2
,
n
o
.
2
,
p
p
.
1
0
5
0
–
1
0
5
4
,
2
0
1
4
.
[7
]
M
.
A
.
S
h
a
m
se
ld
in
,
A
.
A
.
El
-
sa
m
a
h
y
,
a
n
d
A
.
M
.
A
.
G
h
a
n
y
,
“
Diffe
re
n
t
T
e
c
h
n
iq
u
e
s
o
f
S
e
l
f
-
T
u
n
in
g
F
OP
ID
Co
n
tr
o
l
f
o
r
Bru
sh
les
s DC M
o
t
o
r,
”
i
n
M
E
P
CON
,
2
0
1
6
.
[8
]
M
.
R.
Da
stra
n
j,
M
.
Ro
u
h
a
n
i,
a
n
d
A
.
H
a
ji
p
o
o
r
,
“
De
sig
n
o
f
Op
ti
m
a
l
F
ra
c
ti
o
n
a
l
Or
d
e
r
P
ID
Co
n
tr
o
ll
e
r
Us
in
g
P
S
O
A
l
g
o
rit
h
m
,
”
In
t.
J.
C
o
m
p
u
t.
T
h
e
o
ry
En
g
.
,
v
o
l.
4
,
n
o
.
3
,
p
p
.
4
2
9
–
4
3
2
,
2
0
1
2
.
[9
]
A
.
Ra
sto
g
i
a
n
d
P
.
T
iw
a
ri,
“
Op
ti
m
a
l
T
u
n
in
g
o
f
F
ra
c
ti
o
n
a
l
Ord
e
r
P
I
D
Co
n
tro
ll
e
r
f
o
r
DC
M
o
to
r
S
p
e
e
d
Co
n
tro
l
Us
i
n
g
P
a
rti
c
le S
w
a
rm
Op
ti
m
iza
ti
o
n
,
”
In
t.
J.
S
o
f
t
Co
m
p
u
t.
E
n
g
.
,
v
o
l.
3
,
n
o
.
2
,
p
p
.
1
5
0
–
1
5
7
,
2
0
1
3
.
[1
0
]
Y.
Re
n
,
Z.
L
i,
a
n
d
F
.
Zh
a
n
g
,
“
A
Ne
w
No
n
li
n
e
a
r
P
ID
Co
n
tr
o
ll
e
r
a
n
d
it
s
P
a
ra
m
e
ter
De
si
g
n
,
”
In
t.
J.
Co
m
p
u
t.
El
e
c
tr
.
A
u
to
m
.
Co
n
tro
l
I
n
f
.
En
g
.
,
v
o
l
.
4
,
n
o
.
1
2
,
p
p
.
1
9
5
0
–
1
9
5
5
,
2
0
1
0
.
[1
1
]
D.
V
a
n
it
h
a
a
n
d
M
.
Ra
th
i
n
a
k
u
m
a
r,
“
F
ra
c
ti
o
n
a
l
Ord
e
r
P
ID
Co
n
tr
o
ll
e
d
P
V
Bu
c
k
Bo
o
st
Co
n
v
e
rter
w
it
h
Co
u
p
led
In
d
u
c
to
r,
”
I
n
t.
J.
P
o
w
e
r
El
e
c
tro
n
.
Driv
e
S
y
st.,
v
o
l.
8
,
n
o
.
3
,
p
p
.
1
4
0
1
–
1
4
0
7
,
2
0
1
7
.
[1
2
]
D.
V
.
L
.
N.
S
a
str
y
a
n
d
M
.
S
.
R.
Na
id
u
,
“
A
n
I
m
p
le
m
e
n
tatio
n
o
f
D
iff
e
re
n
t
No
n
L
in
e
a
r
P
ID
Co
n
tr
o
ll
e
rs
o
n
a
S
in
g
le
T
a
n
k
lev
e
l
Co
n
tro
l
u
si
n
g
M
a
tl
a
b
,
”
In
t.
J.
C
o
m
p
u
t.
A
p
p
l.
,
v
o
l.
5
4
,
n
o
.
1
,
p
p
.
6
–
8
,
2
0
1
2
.
[1
3
]
Y.
X
.
S
u
,
D.
S
u
n
,
a
n
d
B.
Y.
Du
a
n
,
“
De
sig
n
o
f
a
n
e
n
h
a
n
c
e
d
n
o
n
li
n
e
a
r
P
ID
c
o
n
tr
o
ll
e
r,
”
M
e
c
h
a
tro
n
i
c
s,
v
o
l.
1
5
,
p
p
.
1
0
0
5
–
1
0
2
4
,
2
0
0
5
.
[1
4
]
O.
J.
Og
u
n
to
y
in
b
o
,
“
P
ID
CON
T
ROL
OF
BRUSH
L
ES
S
DC
M
O
T
OR
A
N
D
ROBO
T
T
R
A
JEC
T
O
RY
P
L
A
NN
IN
G
A
N
D S
IM
ULAT
ION
W
I
T
H,” 2
0
0
9
.
[1
5
]
Z.
Ho
,
C.
Ua
n
g
,
a
n
d
P
.
W
a
n
g
,
“
Ex
trac
ti
n
g
DC
b
u
s
c
u
rre
n
t
in
f
o
r
m
a
ti
o
n
f
o
r
o
p
ti
m
a
l
p
h
a
se
c
o
rre
c
ti
o
n
a
n
d
c
u
rre
n
t
rip
p
le i
n
se
n
so
rles
s b
r
u
sh
les
s DC
m
o
to
r
d
riv
e
*
,
”
J.
Zh
e
ji
a
n
g
Un
iv
.
C
(Co
m
p
u
ters
El
e
c
tro
n
.
,
v
o
l.
1
5
,
n
o
.
4
,
p
p
.
3
1
2
–
3
2
0
,
2
0
1
4
.
[1
6
]
M
.
Driv
e
,
“
M
o
d
e
li
n
g
a
n
d
A
n
a
ly
s
is
o
f
P
I
Co
n
tr
o
ll
e
r
Ba
se
d
S
p
e
e
d
Co
n
tr
o
l
o
f
Bru
sh
les
s
DC
M
o
to
r
Driv
e
,
”
IJES
R
T
,
v
o
l.
2
,
n
o
.
9
,
p
p
.
7
–
1
2
,
2
0
1
3
.
[1
7
]
J.
P
o
o
v
a
ra
sa
n
,
R.
Ka
y
a
lv
izh
i,
a
n
d
R.
K.
P
o
n
g
ian
n
a
n
,
“
De
sig
n
o
f
F
ra
c
ti
o
n
a
l
Ord
e
r
P
ID
c
o
n
tr
o
l
ler
f
o
r
a
CS
T
R
p
ro
c
e
ss
,
”
In
t.
Re
f
.
J.
E
n
g
.
S
c
i.
,
v
o
l.
3
,
n
o
.
1
,
p
p
.
8
–
1
4
,
2
0
1
4
.
[1
8
]
M
.
A
.
S
h
a
m
s
e
ld
in
a
n
d
A
.
A
.
El
-
sa
m
a
h
y
,
“
S
p
e
e
d
Co
n
tro
l
o
f
BL
D
C
M
o
to
r
By
Us
in
g
P
ID
Co
n
tr
o
l
a
n
d
S
e
lf
-
tu
n
i
n
g
F
u
z
z
y
P
ID Co
n
tr
o
ll
e
r,
”
i
n
1
5
t
h
I
n
tern
a
ti
o
n
a
l
W
o
rk
sh
o
p
o
n
Re
se
a
rc
h
a
n
d
Ed
u
c
a
ti
o
n
i
n
M
e
c
h
a
tro
n
ics
(REM
),
2
0
1
4
.
[1
9
]
A
.
A
.
K
e
sa
r
k
a
r
a
n
d
N.
S
e
lv
a
g
a
n
e
sa
n
,
“
S
y
ste
m
s
S
c
i
e
n
c
e
&
Co
n
tro
l
En
g
in
e
e
rin
g
T
u
n
in
g
o
f
o
p
ti
m
a
l
fra
c
ti
o
n
a
l
-
o
r
d
e
r
P
ID c
o
n
tr
o
ll
e
r
u
sin
g
a
n
a
rti
f
icia
l
b
e
e
c
o
lo
n
y
a
lg
o
rit
h
m
,
”
S
y
st.
S
c
i.
Co
n
tr
o
l
E
n
g
.
,
v
o
l.
2
5
8
3
,
n
o
.
No
v
e
m
b
e
r,
2
0
1
5
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
En
g
.
M
o
h
a
m
e
d
.
A
.
S
h
a
m
se
ld
in
b
o
rn
i
n
Ca
iro
,
Eg
y
p
t,
o
n
Oc
t
o
b
e
r
1
,
1
9
8
7
.
He
re
c
e
iv
e
d
th
e
B.
S
c
.
d
e
g
re
e
in
m
e
c
h
a
tro
n
ics
e
n
g
in
e
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rin
g
in
2
0
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0
f
ro
m
f
a
c
u
lt
y
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f
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n
g
in
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e
rin
g
a
t
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lw
a
n
,
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l
w
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n
Un
iv
e
rsit
y
,
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iro
,
Eg
y
p
t.
On
De
c
e
m
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e
r
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0
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2
,
h
e
re
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e
iv
e
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h
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w
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rk
in
f
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u
lt
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in
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g
a
n
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tec
h
n
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g
y
a
t
F
u
tu
re
Un
iv
e
rsity
in
Eg
y
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t
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s
a
n
in
stru
c
to
r
in
M
e
c
h
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tro
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En
g
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g
De
p
a
rtme
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t.
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.
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.
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sy
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)
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ro
m
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lwa
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iro
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se
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In
tell
ig
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.
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Hig
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