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1428
Fig
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s
e
s
[7
-
9
]
.
T
h
e
ar
r
an
g
e
m
e
n
t
o
f
P
M
b
lo
ck
s
f
u
r
th
er
i
n
cr
ea
s
es
s
y
s
te
m
co
s
t
a
n
d
co
m
p
le
x
it
y
,
esp
ec
iall
y
f
o
r
lo
n
g
-
s
tr
o
k
e
o
p
er
atio
n
s
[
7
]
.
I
n
ad
d
itio
n
,
te
m
p
er
atu
r
e
v
ar
iatio
n
s
in
ev
itab
l
y
r
esu
lt
i
n
p
er
f
o
r
m
a
n
ce
d
eter
io
r
atio
n
o
r
ev
e
n
m
al
f
u
n
ctio
n
o
f
t
h
e
m
ac
h
in
e
s
[
8
]
.
A
l
i
n
ea
r
s
w
i
tch
ed
r
elu
ctan
ce
m
o
to
r
(
L
S
R
M)
h
a
s
th
e
m
er
it
s
o
f
s
i
m
p
le
co
n
s
tr
u
c
tio
n
a
n
d
ea
s
y
i
m
p
le
m
e
n
tat
io
n
.
O
w
in
g
to
a
r
o
b
u
s
t
an
d
s
tab
le
m
ec
h
a
n
ical
s
tr
u
ctu
r
e,
it
i
s
p
ar
tic
u
lar
l
y
s
u
itab
le
f
o
r
t
h
e
o
p
er
atio
n
u
n
d
er
lo
n
g
-
r
an
g
e
ap
p
licatio
n
s
[
9
-
12]
.
Fo
r
th
e
co
m
p
o
s
ite
o
p
er
atio
n
o
f
an
i
n
te
g
r
ated
L
S
R
M,
eit
h
er
th
e
p
r
i
m
ar
y
o
r
th
e
s
ec
o
n
d
ar
y
p
ar
t
ac
ts
as
an
ex
ter
n
al,
ti
m
e
-
v
ar
ian
t,
lo
ad
d
is
tu
r
b
an
ce
o
n
to
ea
ch
o
th
er
.
Sin
ce
t
h
e
p
o
s
itio
n
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
o
f
L
S
R
Ms
is
h
i
g
h
l
y
d
ep
en
d
en
t
o
n
b
o
th
p
o
s
itio
n
an
d
c
u
r
r
en
t
[
13
-
14
]
,
th
e
p
r
i
m
ar
y
or
t
h
e
s
ec
o
n
d
ar
y
p
ar
t
i
n
e
v
itab
l
y
i
m
p
o
s
e
s
a
d
y
n
a
m
ic
te
m
p
o
r
al
-
s
p
atial
i
n
f
l
u
en
ce
o
n
to
ea
ch
o
th
er
.
T
h
er
ef
o
r
e,
it
is
n
ec
es
s
a
r
y
to
id
en
ti
f
y
s
u
c
h
in
f
lu
e
n
ce
q
u
a
n
tati
v
el
y
in
r
ea
l
ti
m
e
a
n
d
co
r
r
ec
t
s
u
ch
d
is
t
u
r
b
an
ce
ac
co
r
d
in
g
l
y
.
I
t
is
v
er
y
d
i
f
f
icu
lt
f
o
r
a
tr
ad
itio
n
al
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
-
d
if
f
er
e
n
tial
(
P
I
D)
co
n
tr
o
ller
to
co
p
e
w
it
h
s
u
c
h
d
is
t
u
r
b
an
ce
s
s
i
n
ce
its
d
esi
g
n
is
m
ai
n
l
y
b
ased
o
n
th
e
s
ta
tic
m
o
d
el
o
f
a
s
y
s
te
m
[
1
5
]
.
T
o
ac
h
ie
v
e
a
h
ig
h
-
p
r
ec
is
io
n
p
o
s
itio
n
c
o
n
tr
o
l
p
er
f
o
r
m
a
n
ce
,
th
e
d
y
n
a
m
ic
m
o
d
els
f
o
r
th
e
p
r
i
m
ar
y
a
n
d
s
ec
o
n
d
ar
y
p
ar
ts
s
h
o
u
ld
b
e
estab
li
s
h
ed
f
o
r
u
n
i
f
o
r
m
o
p
er
atio
n
s
[
1
6
-
1
7
].
A
cc
o
r
d
in
g
to
cu
r
r
en
t
li
ter
atu
r
e,
a
n
o
n
l
in
ea
r
p
r
o
p
o
r
tio
n
al
d
if
f
er
en
tial
(
P
D)
c
o
n
tr
o
ller
i
s
in
tr
o
d
u
ce
d
f
o
r
t
h
e
L
SR
M
to
a
ch
iev
e
a
b
etter
d
y
n
a
m
ic
r
e
s
p
o
n
s
e
;
in
[
1
7
]
, a
p
ass
iv
i
t
y
-
b
ased
co
n
tr
o
l a
lg
o
r
it
h
m
is
p
r
o
p
o
s
ed
f
o
r
a
p
o
s
itio
n
tr
ac
k
i
n
g
s
y
s
te
m
o
f
th
e
L
S
R
M
to
o
v
er
co
m
e
t
h
e
in
h
er
en
t
n
o
n
l
in
ea
r
ch
ar
ac
ter
is
tics
a
n
d
r
en
d
er
s
y
s
te
m
r
o
b
u
s
t
n
es
s
a
g
ai
n
s
t
u
n
ce
r
tai
n
ties
.
Ho
w
ev
er
,
t
h
e
ab
o
v
e
n
o
n
li
n
ea
r
al
g
o
r
ith
m
s
f
ail
to
id
en
ti
f
y
a
n
d
co
r
r
ec
t
th
e
in
f
l
u
en
ce
o
f
e
x
ter
n
al
d
is
t
u
r
b
an
ce
s
i
n
r
ea
l
ti
m
e.
T
h
er
ef
o
r
e,
o
n
lin
e
p
ar
a
m
eter
id
en
ti
f
icatio
n
is
a
g
o
o
d
ch
o
ice
to
ch
ar
ac
ter
ize
th
e
d
y
n
a
m
ic
m
o
d
els
f
o
r
b
o
th
p
ar
ts
[
1
8
]
.
I
n
ad
d
i
tio
n
,
a
s
elf
-
t
u
n
in
g
p
o
s
itio
n
co
n
tr
o
ller
is
ca
p
ab
le
o
f
ad
j
u
s
t
in
g
co
n
tr
o
l
p
ar
a
m
eter
s
b
ased
o
n
th
e
d
y
n
a
m
ic
b
eh
a
v
io
r
s
to
a
ch
iev
e
a
d
esi
g
n
a
ted
p
o
s
itio
n
co
n
tr
o
l p
er
f
o
r
m
an
ce
,
ac
co
r
d
in
g
to
th
e
d
esire
d
p
o
les
[
1
5
]
.
I
n
th
is
p
ap
er
,
a
lo
n
g
L
S
R
M
with
p
r
i
m
ar
y
a
n
d
s
ec
o
n
d
a
r
y
tr
an
s
lato
r
s
is
f
ir
s
t
i
n
tr
o
d
u
ce
d
.
T
h
en
,
o
n
lin
e
s
y
s
te
m
id
en
ti
f
icatio
n
s
c
h
e
m
e
is
in
tr
o
d
u
ce
d
to
ca
lcu
late
th
e
m
o
d
el
p
ar
am
e
ter
s
in
r
ea
l
t
i
m
e,
b
ased
o
n
t
h
e
r
ec
u
r
s
iv
e
lea
s
t
s
q
u
ar
e
(
R
L
S)
m
et
h
o
d
.
Nex
t,
th
e
s
el
f
-
t
u
n
i
n
g
p
o
s
itio
n
co
n
tr
o
ller
s
b
ased
o
n
th
e
p
o
le
-
p
lace
m
e
n
t
m
et
h
o
d
o
lo
g
y
ar
e
co
n
s
tr
u
cted
to
r
ea
lize
a
u
n
i
f
o
r
m
p
o
s
itio
n
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
f
o
r
b
o
th
tr
an
s
lato
r
s
.
T
h
e
co
n
tr
ib
u
tio
n
o
f
t
h
is
p
ap
er
is
t
w
o
f
o
ld
ed
.
First,
a
co
m
p
o
u
n
d
L
SR
M
f
o
r
in
d
u
s
tr
ial
co
n
v
e
y
an
ce
ap
p
licatio
n
s
i
s
p
r
o
p
o
s
ed
an
d
co
n
s
tr
u
cted
.
T
h
is
m
ac
h
i
n
e
h
a
s
t
h
e
c
h
ar
ac
ter
is
ti
cs
o
f
lo
n
g
s
tr
o
k
e
a
n
d
th
e
ca
p
ab
ilit
y
o
f
co
m
p
o
s
i
te
lin
ea
r
m
o
tio
n
s
.
Seco
n
d
,
b
y
a
p
p
ly
i
n
g
th
e
s
e
lf
-
t
u
n
in
g
p
o
s
iti
o
n
co
n
tr
o
l
s
tr
ateg
y
,
b
o
th
in
d
ep
en
d
en
t
p
o
s
itio
n
co
n
tr
o
l
an
d
co
m
p
o
s
ite
co
n
tr
o
l
ca
n
b
e
r
ea
lized
t
o
ac
h
iev
e
a
b
etter
,
u
n
i
f
o
r
m
p
er
f
o
r
m
a
n
ce
,
co
m
p
ar
ed
to
th
e
P
I
D
co
n
tr
o
ller
s
.
2.
ST
RUC
T
UR
E
AND
P
R
I
NC
I
P
L
E
A
cc
o
r
d
in
g
to
s
w
itc
h
ed
r
elu
ct
an
ce
p
r
in
cip
le,
t
h
e
co
m
p
o
u
n
d
lin
ea
r
m
ac
h
in
e
ca
n
ei
th
er
co
n
f
o
r
m
to
a
s
in
g
le
-
s
id
ed
o
r
d
o
u
b
le
-
s
id
ed
to
p
o
lo
g
y
.
Fi
g
u
r
e
2
(
a)
d
em
o
n
s
tr
ates
t
h
e
s
c
h
e
m
atic
v
ie
w
o
f
th
e
co
m
p
o
u
n
d
m
ac
h
in
e.
I
t
m
ai
n
l
y
co
n
s
i
s
ts
o
f
a
s
ta
to
r
b
ase
w
it
h
s
tato
r
/m
o
v
er
b
lo
ck
s
.
T
h
e
p
r
o
p
o
s
ed
m
ac
h
i
n
e
u
tili
ze
s
a
n
as
y
m
m
etr
ic
s
tr
u
ct
u
r
e
.
I
n
s
tead
o
f
p
er
f
ec
t
m
ir
r
o
r
alo
n
g
t
h
e
a
x
i
s
o
f
t
h
e
p
r
i
m
ar
y
s
tato
r
,
eith
er
t
h
e
s
ta
to
r
p
h
ases
o
r
th
e
m
o
v
er
p
h
ase
s
ap
p
l
y
a
n
a
s
y
m
m
etr
ic
s
c
h
e
m
e
to
i
m
p
r
o
v
e
a
h
i
g
h
er
f
o
r
ce
-
to
-
v
o
lu
m
e
r
atio
an
d
e
f
f
icien
c
y
[
3
]
.
Fig
u
r
e
2
(
b
)
is
th
e
p
ictu
r
e
o
f
t
h
e
m
ac
h
i
n
e
p
r
o
to
ty
p
e.
b
a
s
e
p
r
i
m
a
r
y
p
a
r
t
(
c
o
n
v
e
y
a
n
c
e
t
r
a
c
k
)
x
m
a
n
i
p
u
l
a
t
o
r
x
s
t
a
t
i
o
n
a
r
y
p
a
r
t
s
e
c
o
n
d
a
r
y
p
a
r
t
y
w
o
r
k
s
t
a
t
i
o
n
c
o
m
p
o
n
e
n
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
: 2
0
8
8
-
8
694
IJ
PEDS
Vo
l.
8
,
No
.
3
,
Sep
tem
b
er
2
0
1
7
:
14
27
–
1
4
4
0
1429
(
a)
(
b
)
Fig
u
r
e
2
.
(
a)
L
SR
M
s
tr
u
ct
u
r
e
an
d
(
b
)
p
ictu
r
e
o
f
th
e
L
SR
M
T
h
e
s
tato
r
b
ase
a
n
d
th
e
s
ec
o
n
d
ar
y
tr
an
s
lato
r
h
a
v
e
t
h
e
s
a
m
e
d
i
m
e
n
s
io
n
s
a
n
d
r
ati
n
g
s
.
T
h
e
w
in
d
i
n
g
s
ar
e
th
r
ee
p
h
ased
an
d
ea
ch
p
h
ase
is
s
er
iall
y
co
n
n
ec
ted
,
m
ar
k
ed
as
AA‘
,
B
B
‘
,
C
C
‘
f
o
r
th
e
s
tato
r
o
r
th
e
s
ec
o
n
d
ar
y
tr
a
n
s
la
to
r
.
W
h
en
t
h
e
w
in
d
i
n
g
s
o
f
th
e
s
tat
o
r
b
as
e
a
r
e
p
r
o
p
er
ly
e
x
cited
,
t
h
e
p
r
im
ar
y
tr
a
n
s
la
to
r
tr
an
s
late
s
ac
co
r
d
in
g
to
th
e
s
tat
o
r
b
ase
.
I
f
th
e
w
i
n
d
i
n
g
s
o
f
t
h
e
s
ec
o
n
d
ar
y
tr
a
n
s
lato
r
ar
e
ac
ti
v
ated
,
it
m
o
v
e
s
w
it
h
r
esp
ec
tiv
e
to
th
e
p
r
i
m
ar
y
tr
an
s
lato
r
,
w
h
ich
is
t
w
o
m
e
ter
s
in
to
tal
len
g
t
h
.
T
h
er
ef
o
r
e,
a
c
o
m
p
o
s
ite
m
o
v
e
m
e
n
t
ca
n
b
e
ac
h
ie
v
ed
f
r
o
m
t
h
e
p
r
i
m
ar
y
a
n
d
th
e
s
ec
o
n
d
ar
y
tr
a
n
s
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