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8
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s
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it
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C
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:
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l H
ac
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ab
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1.
I
NT
RO
D
UCT
I
O
N
Mo
d
el
p
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ed
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co
n
tr
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l
(
MP
C
)
is
o
n
e
o
f
t
h
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m
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t
s
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cc
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s
s
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tech
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izatio
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s
y
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[1
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.
Un
t
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o
w
,
j
u
s
t
a
f
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id
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p
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m
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ca
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in
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ain
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s
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o
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s
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g
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g
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till
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li
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ted
tech
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iq
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e,
it
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s
m
o
r
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i
n
ter
es
tin
g
to
ap
p
l
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n
ex
ter
n
al
o
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ti
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izatio
n
al
g
o
r
ith
m
.
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n
ap
p
r
o
p
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iate
au
to
m
at
ic
tu
n
in
g
o
f
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ar
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eter
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ca
n
r
e
m
ar
k
ab
l
y
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m
elio
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ate
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
co
n
tr
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l.
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n
y
w
o
r
k
s
d
ea
li
n
g
w
it
h
au
to
m
atic
tu
n
in
g
o
f
MP
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ar
e
av
ailab
le
in
th
e
li
t
er
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r
e.
T
h
e
p
ap
er
o
f
Gar
ig
g
a
p
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t
s
a
g
en
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al
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ev
ie
w
o
f
d
if
f
er
en
t
tu
n
in
g
m
et
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d
s
[
2
]
.
T
r
ier
w
e
il
er
an
d
Far
in
ab
[
3
]
d
ev
elo
p
ed
an
al
g
o
r
ith
m
to
t
u
n
e
MP
C
b
ased
o
n
th
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s
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te
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ir
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an
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th
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attai
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ab
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f
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a
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t
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h
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et
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is
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m
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le
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eq
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ir
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m
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m
et
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is
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eq
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ir
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.
A
li
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al
.
[
4
]
ap
p
lied
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co
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ce
p
t
o
f
f
u
zz
y
lo
g
ic
to
o
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tim
ize
t
h
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ar
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m
eter
s
o
f
t
h
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p
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ed
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co
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tr
o
l.
T
h
e
y
m
ea
s
u
r
e
th
e
p
er
f
o
r
m
a
n
ce
v
io
latio
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s
a
n
d
es
tab
lis
h
t
h
e
f
u
zz
y
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u
le
s
w
h
ic
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co
n
s
ti
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te
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latio
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ir
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ti
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v
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liter
atu
r
e
f
o
r
d
eter
m
i
n
i
n
g
th
e
n
e
w
v
al
u
es
o
f
t
h
e
p
ar
a
m
e
ter
s
.
Veg
a
e
t
al.
[
5
]
p
r
esen
t
s
a
n
o
m
i
n
al
m
o
d
el
o
f
th
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p
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s
s
to
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lv
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m
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x
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e
n
s
i
tiv
it
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p
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b
le
m
w
it
h
co
n
s
tr
ai
n
t
s
u
s
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g
a
f
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eq
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c
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d
o
m
ai
n
m
eth
o
d
s
.
Desp
ite
t
h
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s
ig
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ica
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p
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ai
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p
ap
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alg
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m
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s
ac
t
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ch
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llen
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in
th
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au
to
m
a
tic
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lu
co
s
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co
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tr
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T
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p
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in
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le
o
f
th
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n
e
w
m
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MP
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th
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v
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a
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A
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P
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to
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co
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tr
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m
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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&
Dr
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F
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2.
RE
S
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ARCH
M
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O
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2
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1
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M
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del
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Dif
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ith
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C
G
M
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ig
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o
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li
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u
r
e
1
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h
o
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o
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u
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e
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icia
l P
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e
m
o
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el
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s
ed
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n
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s
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d
y
[
6
]
is
li
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ized
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d
a
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s
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ly
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ASAL
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h
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2
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2
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ntr
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ller
Desig
n
Mo
d
el
P
r
ed
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C
o
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l
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MP
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m
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ter
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g
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r
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2
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C
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tili
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tp
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ts
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ated
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n
Np
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ter
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el.
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t
m
i
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ize
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o
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iv
e
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n
ctio
n
,
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h
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r
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e
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et
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ts
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m
a
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p
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lated
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al
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en
alize
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w
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th
th
e
in
p
u
t
w
ei
g
h
t
R
a
n
d
th
e
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tp
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t
w
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g
h
t
Q
.
MP
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p
r
o
b
lem
ca
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b
e
f
o
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m
u
la
ted
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o
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ti
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iza
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r
o
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lem
,
w
h
ich
d
eter
m
i
n
e
in
p
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t
s
ig
n
al
s
u
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k
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,
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u
(
k
+
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-
1
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w
it
h
in
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s
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s
(
co
n
tr
o
l
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izo
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i
n
th
e
f
u
t
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r
e
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t
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at
t
h
e
o
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j
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tiv
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f
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n
ctio
n
is
m
in
i
m
ized
co
n
s
id
er
in
g
co
n
s
tr
ain
t
s
in
[
7
]
.
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
.
3
,
Sep
tem
b
er
2
0
1
8
:
1
1
7
8
–
1
1
8
5
1180
Fig
u
r
e
2
.
Mo
d
el
Pre
d
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e
C
o
n
tr
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l P
r
o
ce
s
s
T
h
e
f
o
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m
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lat
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n
o
f
t
h
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o
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ti
m
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p
r
o
b
lem
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s
:
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∗
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{
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,
{
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−
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(
2
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W
ith
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t f
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n
ctio
n
:
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−
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+
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−
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(
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3
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2
.
3
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M
P
C
T
un
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et
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d
2
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3
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1
.
F
uzzy
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Fu
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y
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te
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a
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to
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il
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ip
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f
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1
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6
5
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FL
ca
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d
le
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ata.
I
n
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it c
an
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s
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[
8
]
.
A
Fu
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y
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ic
S
y
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te
m
(
FLS)
is
g
e
n
er
a
l
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co
m
p
o
s
ed
o
f
t
h
r
ee
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ar
ts
:
f
u
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i
f
icatio
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,
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n
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er
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ce
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n
e
an
d
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zz
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f
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u
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co
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r
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d
s
to
th
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o
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i
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ar
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n
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u
t
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u
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t
s
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•
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h
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icatio
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tes o
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d
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L
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r
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3
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Fig
u
r
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3
.
A
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ch
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r
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f
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zz
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2
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3
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2
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uzzy
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o
ller
A
n
e
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n
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n
g
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e
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n
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h
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s
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n
.
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h
is
m
et
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ad
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ar
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o
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l
y
ce
m
ia
.
I
n
g
e
n
er
al
t
h
e
d
es
ir
ed
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
F
u
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zz
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Fig
u
r
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4
s
h
o
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ir
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n
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t
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et.
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e
d
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e
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h
e
s
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o
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n
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io
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i
f
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o
u
n
d
is
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lated
as
:
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(
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−
(
+
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(
+
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(
4
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I
f
u
p
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er
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o
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n
d
is
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io
lated
as:
=
(
+
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(
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(
+
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(
5
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E
q
u
atio
n
s
ab
o
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e
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A
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B
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ati
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o
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u
r
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4
.
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et
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o
r
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o
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n
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io
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6
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o
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n
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h
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a
n
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ar
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e
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er
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n
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,
Y
j
is
th
e
p
r
ed
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o
u
tp
u
t
,
j
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e
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atio
n
in
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e
x
,
m
is
th
e
i
n
d
ex
o
f
m
a
x
i
m
u
m
v
io
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n
f
o
r
th
e
o
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tp
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t
an
d
k
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e
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a
m
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e
.
=
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Fig
u
r
e
5
s
h
o
w
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e
s
ec
o
n
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n
p
u
t
f
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zz
y
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et.
T
h
e
s
et
i
s
co
m
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o
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ed
o
f
th
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f
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n
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n
s
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itiv
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P
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o
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d
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ati
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N)
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h
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u
n
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n
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e
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o
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e
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e
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i
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ed
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:
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u
r
e
5
.
Fu
zz
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et
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o
r
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o
u
n
d
v
io
latio
n
r
ate
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
.
3
,
Sep
tem
b
er
2
0
1
8
:
1
1
7
8
–
1
1
8
5
1182
Fig
u
r
e
6
s
h
o
w
s
t
h
e
o
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tp
u
t
f
u
zz
y
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ets
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o
r
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d
Np
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y
m
b
o
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d
b
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N,
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s
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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P
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u
r
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d
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g
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f
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0
s
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u
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o
f
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s
s
h
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er
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th
is
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ll
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m
i
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ate
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n
g
te
r
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co
m
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licatio
n
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f
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8
694
I
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t J
P
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w
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Dr
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t
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Fig
u
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Si
m
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e
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S
[1
]
S
.
J.Qin
a
n
d
T
.
A
.
Ba
d
g
we
ll
,
"
A
s
u
rv
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o
f
in
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strial
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o
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p
re
d
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n
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h
n
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lo
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y
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,
Co
n
tr
o
l
E
n
g
in
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e
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g
P
ra
c
ti
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e
,
No
.
1
1
,
p
p
7
3
3
–
7
6
4
,
2
0
0
3
.
[2
]
G
a
rri
g
a
,
J.L
.
a
n
d
S
o
ro
u
s
h
,
M
.
“
M
o
d
e
l
p
re
d
ictiv
e
c
o
n
tr
o
l
tu
n
i
n
g
m
e
th
o
d
s:
a
re
v
ie
w
.
In
d
u
strial
&
En
g
in
e
e
rin
g
Ch
e
m
istr
y
R
e
se
a
r
c
h
”
4
9
(8
)
,
3
5
0
5
–
3
5
1
5
,
2
0
1
0
.
[3
]
T
rier
w
e
il
e
r,
J.O.,
F
a
rin
a
b
,
L
.
A
.
“
RP
N
t
u
n
i
n
g
stra
te
g
y
f
o
r
m
o
d
e
l
p
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d
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e
c
o
n
tro
l”
J.
o
f
P
ro
c
e
ss
Co
n
tr
o
l,
1
3
(
7
)
,
591
–
5
9
8
,
2
0
0
3
.
[4
]
E.
A
li
,
A
.
A
l
-
G
h
a
z
z
a
w
i
“
On
-
li
n
e
T
u
n
in
g
o
f
M
o
d
e
l
P
re
d
ictiv
e
Co
n
tr
o
ll
e
rs
Us
in
g
F
u
z
z
y
L
o
g
ic
”
T
h
e
Ca
n
a
d
ian
Jo
u
rn
a
l
o
f
Ch
e
m
ica
l
En
g
in
e
e
rin
g
,
Vo
lu
m
e
8
1
,
Oc
t
o
b
e
r
2
0
0
3
.
[5
]
V
e
g
a
,
P
.
,
F
ra
n
c
isc
o
,
M.
a
n
d
S
a
n
z
,
E.,
No
rm
“
b
a
se
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a
p
p
ro
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s
fo
r
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u
to
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a
ti
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tu
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in
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o
f
M
o
d
e
l
B
a
se
d
P
re
d
ictiv
e
Co
n
tr
o
l”
In
P
ro
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e
e
d
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n
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s
of
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ro
p
e
a
n
Co
n
g
re
ss
of
Ch
e
m
ic
a
l
En
g
in
e
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rin
g
ECCE
-
6
(
2
0
0
7
).
[6
]
L
e
e
,
J
.
,
Da
ss
a
u
,
E.
,
G
o
n
d
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a
lek
a
r,
R.
,
S
e
b
o
rg
,
D.
E.
,
P
in
sk
e
r,
J.
E
.
a
n
d
Do
y
le
III,
F
.
J.
(2
0
1
6
)
'
P
e
r
so
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li
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M
P
C
S
trate
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,
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Co
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ti
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p
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u
to
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a
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G
lu
c
o
se
Co
n
tro
l'
,
I
n
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strial
a
n
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En
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in
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rin
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Ch
e
m
istr
y
Re
se
a
rc
h
,
Un
d
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r
Re
v
iew
.
[7
]
J.
L
e
e
,
Ra
v
i
G
o
n
d
h
a
lek
a
r,
E.
Da
ss
a
u
,
F
.
J.
Do
y
le
III,
“
S
h
a
p
in
g
th
e
M
P
C
Co
st
F
u
n
c
ti
o
n
f
o
r
S
u
p
e
rio
r
A
u
to
m
a
ted
G
lu
c
o
se
Co
n
tro
l”IN
D E
NG
CHEM
RES
Vo
lu
m
e
4
9
,
Iss
u
e
7
,
2
0
1
6
,
P
a
g
e
s 7
7
9
–
7
8
4
.
[8
]
S
.
Ba
isa
B.
P
u
rw
a
h
y
u
d
i
K.
Ku
s
p
ij
a
n
i
“
Co
n
tro
l
S
trate
g
y
f
o
r
P
W
M
V
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l
tag
e
S
o
u
rc
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Co
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v
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rter Usin
g
F
u
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y
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ic
f
o
r
A
d
ju
sta
b
le
S
p
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DC
M
o
to
r”
I
n
t
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rn
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ti
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a
l
J
o
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r
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a
l
o
f
P
o
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r
El
e
c
tro
n
ics
a
n
d
Driv
e
S
y
ste
m
(IJP
EDS
)
V
o
l.
8
,
No
.
1
,
M
a
rc
h
2
0
1
7
,
p
p
.
5
1
~
5
8
IS
S
N:
2
0
8
8
-
8
6
9
4
,
DO
I:
1
0
.
1
1
5
9
1
/
ij
p
e
d
s.v
8
i1
.
p
p
5
1
-
5
8
.
[9
]
Ko
v
a
tch
e
v
BP
,
Co
b
e
ll
i
C,
Re
n
a
rd
E,
e
t
a
l.
“
M
u
lt
i
n
a
ti
o
n
a
l
stu
d
y
o
f
su
b
c
u
tan
e
o
u
s
m
o
d
e
l
-
p
re
d
icti
v
e
c
lo
se
d
-
lo
o
p
c
o
n
tro
l
in
ty
p
e
1
d
iab
e
tes
m
e
ll
it
u
s: su
m
m
a
r
y
o
f
th
e
re
su
lt
s”
J Dia
b
e
tes
S
c
i
T
e
c
h
n
o
l
2
0
1
0
;4
:1
3
7
4
–
1
3
8
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.