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io
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l J
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Ro
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m
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t
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I
J
RA
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Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
2015
,
p
p
.
17
6
~
18
5
I
SS
N:
2089
-
4856
176
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[
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IJ
RA
I
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N:
2089
-
4856
F
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[
1
3
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6
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1
4
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IJ
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ates
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IJ
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4856
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q
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[
2
0
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2
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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2
0
8
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IJ
RA
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
2
0
1
5
:
17
6
–
18
5
180
P
I
D
C
o
n
tr
o
ller
,
also
k
n
o
w
n
as
P
I
D
co
n
tr
o
ller
,
w
a
s
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tu
d
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i
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m
e
d
o
m
a
in
in
[
iv
]
an
d
in
f
r
eq
u
e
n
c
y
d
o
m
ai
n
i
n
[
v
].
1
.
3
.
T
he
T
a
g
uch
i M
et
ho
d
T
h
e
T
ag
u
ch
i
m
et
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ased
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ex
p
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to
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D
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f
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w
h
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s
elec
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v
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,
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p
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al
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m
ized
d
esp
ite
th
e
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p
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m
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ac
tio
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s
.
T
h
is
m
ea
n
s
t
h
at
a
r
o
b
u
s
t
t
u
n
in
g
tech
n
iq
u
e
u
s
i
n
g
t
h
e
T
ag
u
ch
i
m
eth
o
d
w
o
u
ld
e
n
ab
le
r
eg
u
lato
r
s
n
o
t
o
n
l
y
to
r
ed
u
ce
co
n
tr
o
l
er
r
o
r
s
b
u
t
also
to
d
ec
r
ea
s
e
v
ar
iatio
n
s
in
t
h
o
s
e
v
al
u
e
s
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ile
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e
m
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in
g
in
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e
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itiv
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to
ch
a
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s
y
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te
m
d
y
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a
m
ics
a
n
d
v
ar
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s
in
o
p
er
atin
g
p
o
in
ts
.
B
y
ap
p
ly
in
g
t
h
is
ap
p
r
o
ac
h
r
esear
ch
er
s
ca
n
s
ig
n
i
f
ica
n
tl
y
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ed
u
ce
th
e
ti
m
e
r
eq
u
ir
ed
f
o
r
ex
p
er
im
e
n
tal
i
n
v
esti
g
atio
n
s
.
I
n
t
h
is
p
ap
er
,
ex
p
er
i
m
en
t
s
t
o
tu
n
e
a
to
tal
o
f
5
p
o
s
itio
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co
n
tr
o
ller
g
ai
n
s
o
f
a
s
e
r
ies
elastic
ac
tu
ato
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ar
e
p
r
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ted
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T
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e
“
Desi
g
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E
x
p
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im
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u
s
i
n
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th
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T
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h
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m
et
h
o
d
is
b
r
ief
l
y
o
u
tli
n
ed
b
elo
w
[
7
]:
1)
I
d
en
tify
i
n
g
t
h
e
o
b
j
ec
tiv
es:
i
n
th
e
f
ir
s
t
s
tep
o
f
t
h
e
T
ag
u
c
h
i
m
eth
o
d
,
id
en
ti
f
y
i
n
g
a
s
p
ec
if
ic
o
b
j
ec
tiv
e
is
i
m
p
o
r
tan
t.
I
n
t
h
is
p
ap
er
,
th
e
o
b
j
ec
tiv
e
is
a
r
o
b
u
s
t tu
n
in
g
o
f
c
o
n
tr
o
ller
g
ain
s
f
o
r
m
in
i
m
izi
n
g
p
o
s
itio
n
er
r
o
r
.
2)
Dete
r
m
i
n
i
n
g
t
h
e
q
u
alit
y
c
h
ar
ac
ter
is
tic:
t
h
e
T
ag
u
ch
i
m
et
h
o
d
class
if
ies
q
u
ali
t
y
c
h
ar
ac
ter
i
s
tics
i
n
to
o
n
e
o
f
th
r
ee
t
y
p
es
:
n
o
m
in
a
l
-
th
e
-
b
est
,
s
m
aller
-
t
h
e
-
b
etter
a
n
d
lar
g
er
-
th
e
-
b
etter
.
I
n
t
h
is
s
tu
d
y
,
t
h
e
s
m
aller
t
h
e
p
o
s
itio
n
er
r
o
r
,
th
e
b
etter
p
er
f
o
r
m
an
ce
.
3)
Selectin
g
th
e
co
n
tr
o
llab
le
f
ac
t
o
r
s
an
d
n
o
is
e
f
ac
to
r
s
:
th
e
s
ele
ctio
n
o
f
f
ac
to
r
s
to
b
e
test
ed
f
o
r
th
eir
i
n
f
l
u
en
ce
o
n
th
e
q
u
alit
y
c
h
ar
ac
ter
is
tic
i
s
o
n
e
o
f
t
h
e
m
o
s
t
i
m
p
o
r
tan
t
p
r
o
ce
d
u
r
es.
C
ar
eless
s
elec
tio
n
o
f
co
n
tr
o
llab
le
f
ac
to
r
s
an
d
n
o
is
e
f
ac
to
r
s
ca
n
l
ea
d
to
f
alse
co
n
clu
s
io
n
s
an
d
ca
n
r
eq
u
ir
e
ex
p
er
i
m
e
n
t
s
to
b
e
r
ep
ea
ted
.
A
f
ter
s
elec
ti
n
g
f
ac
to
r
s
,
th
e
ir
d
esire
d
n
u
m
b
er
o
f
le
v
el
s
i
s
d
eter
m
in
ed
.
I
n
t
h
is
p
ap
er
,
co
n
tr
o
ller
g
ain
s
ar
e
u
s
ed
a
s
th
e
co
n
tr
o
llab
le
f
ac
to
r
s
an
d
lo
ad
p
o
s
itio
n
is
u
s
ed
as
th
e
n
o
is
e
f
ac
to
r
.
T
h
e
n
u
m
b
er
o
f
lev
e
ls
f
o
r
co
n
tr
o
ller
g
ain
s
i
s
t
h
r
ee
an
d
f
o
r
lo
ad
p
o
s
itio
n
i
s
also
t
h
r
ee
.
T
h
e
n
ex
t ste
p
is
to
ass
i
g
n
a
p
h
y
s
ical
v
a
lu
e
to
ea
ch
le
v
el
o
f
co
n
tr
o
llab
le
f
ac
to
r
s
.
4)
Selectin
g
a
n
o
r
th
o
g
o
n
al
ar
r
a
y
:
T
h
e
f
u
ll
f
ac
to
r
ial
ex
p
er
i
m
e
n
t
r
eq
u
ir
es
th
e
tes
tin
g
o
f
all
co
m
b
in
atio
n
s
o
f
th
e
f
ac
to
r
lev
el
s
u
n
d
er
s
t
u
d
y
.
Fo
r
ex
a
m
p
le,
a
s
t
u
d
y
i
n
v
o
lv
i
n
g
5
f
ac
to
r
s
at
th
r
ee
le
v
els
ea
c
h
w
o
u
ld
r
eq
u
ir
e
5
3
2
4
3
ex
p
er
i
m
en
ts
.
Or
th
o
g
o
n
al
ar
r
a
y
s
p
r
o
d
u
ce
s
m
al
ler
,
less
co
s
tl
y
ex
p
er
i
m
en
ts
.
Usi
n
g
an
5
(
3
)
L
o
r
th
o
g
o
n
al
ar
r
a
y
,
f
o
r
ex
a
m
p
le
,
a
s
tu
d
y
in
v
o
lv
in
g
5
f
ac
to
r
s
at
th
r
ee
lev
els
ca
n
b
e
co
n
d
u
cted
w
ith
o
n
l
y
2
7
ex
p
er
i
m
e
n
ts
.
B
esid
es
b
ein
g
ef
f
icie
n
t,
th
e
p
r
o
ce
d
u
r
es
f
o
r
u
s
i
n
g
o
r
th
o
g
o
n
al
ar
r
a
y
s
ar
e
s
tr
ai
g
h
t
f
o
r
w
ar
d
an
d
ea
s
y
to
u
s
e.
I
n
th
i
s
p
ap
er
,
in
o
r
d
er
to
r
ed
u
ce
th
e
n
u
m
b
er
o
f
ex
p
er
i
m
e
n
t
s
an
5
16
(
4
)
L
o
r
th
o
g
o
n
al
a
r
r
ay
is
s
elec
ted
.
T
h
is
ar
r
ay
i
m
p
lies
o
n
l
y
1
6
ex
p
er
i
m
e
n
t
s
o
n
co
n
d
iti
o
n
th
at
o
n
e
le
v
el
o
f
ea
c
h
f
ac
to
r
w
o
u
ld
t
h
en
b
e
“
e
m
p
t
y
”
i
n
t
h
e
ar
r
a
y
.
5)
C
o
n
d
u
ct
in
g
t
h
e
e
x
p
er
i
m
e
n
t
an
d
an
al
y
s
is
:
C
o
n
d
u
cti
n
g
t
h
e
ex
p
er
i
m
e
n
t
in
cl
u
d
es
th
e
e
x
ec
u
t
io
n
o
f
t
h
e
ex
p
er
i
m
e
n
t
as
d
e
v
elo
p
ed
in
th
e
p
lan
n
i
n
g
an
d
d
esi
g
n
p
h
ase
s
.
T
h
e
an
al
y
s
is
p
h
a
s
e
o
f
e
x
p
er
i
m
en
tatio
n
r
elate
s
to
ca
lcu
latio
n
s
f
o
r
co
n
v
er
tin
g
r
a
w
d
ata
i
n
to
th
e
r
ep
r
esen
t
ativ
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s
i
g
n
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to
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n
o
is
e
r
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S
NR
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atio
)
.
A
s
a
me
as
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r
e
m
e
n
t
to
o
l
f
o
r
d
eter
m
i
n
in
g
r
o
b
u
s
tn
e
s
s
,
th
e
SN
R
r
atio
is
a
n
es
s
en
tial
co
m
p
o
n
en
t
to
o
p
ti
m
al
p
ar
am
eter
d
esi
g
n
.
B
y
i
n
cl
u
d
in
g
t
h
e
i
m
p
ac
t
o
f
n
o
is
e
f
ac
to
r
s
o
n
t
h
e
p
r
o
ce
s
s
,
th
e
S/N
r
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ca
n
b
e
ad
o
p
ted
as
th
e
i
n
d
ex
o
f
t
h
e
s
y
s
te
m
’
s
ab
i
lit
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to
p
er
f
o
r
m
w
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r
eg
ar
d
les
s
o
f
t
h
e
n
o
is
e.
B
y
s
u
cc
es
s
f
u
ll
y
ap
p
l
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i
n
g
t
h
i
s
co
n
ce
p
t
to
ex
p
er
i
m
en
tatio
n
,
i
t
is
p
o
s
s
ib
le
to
d
eter
m
in
e
t
h
e
co
n
tr
o
ller
g
ai
n
s
etti
n
g
s
th
at
ca
n
p
r
o
d
u
ce
t
h
e
m
i
n
i
m
u
m
p
o
s
itio
n
er
r
o
r
s
w
h
il
e
m
a
x
i
m
izi
n
g
th
e
s
i
g
n
a
l
to
n
o
is
e
r
atio
.
Fo
r
th
is
p
ar
tial
-
f
r
ac
ti
o
n
al
ex
p
e
r
i
m
e
n
t
d
esig
n
,
th
e
S/
N
r
atio
in
ca
s
e
o
f
s
m
aller
-
th
e
-
b
etter
q
u
ali
t
y
c
h
ar
ac
ter
is
tic
ca
n
b
e
w
r
i
tten
a
s
(
E
q
.
1
2
)
[
8
]:
()
I
T
A
E
t
e
t
d
t
(
1
1
)
SNR
=
-
1
0
lo
g
I
T
A
E
(
1
2
)
I
n
t
h
is
p
ap
er
,
th
e
cr
iter
io
n
o
f
p
er
f
o
r
m
a
n
ce
i
s
t
h
e
i
n
te
g
r
al
o
f
ti
m
e
w
eig
h
ted
ab
s
o
l
u
te
er
r
o
r
(
I
T
A
E
)
b
et
w
ee
n
t
h
e
co
r
r
esp
o
n
d
in
g
o
u
tp
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d
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et
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t.
T
h
e
I
T
A
E
cr
iter
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r
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OP
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g
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r
o
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id
es
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ed
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r
esp
o
n
s
e
w
ith
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w
o
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er
s
h
o
o
t a
n
d
f
a
s
t r
esp
o
n
s
e
[
2
3
]
.
Sin
ce
t
h
e
T
ag
u
c
h
i
m
et
h
o
d
r
ed
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ce
s
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e
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m
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er
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ll
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f
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ial
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is
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e
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l
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s
e
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s
tical
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t
s
,
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lled
an
al
y
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is
o
f
v
ar
ian
ce
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A
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V
A
)
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t
o
p
r
o
v
id
e
lev
els
o
f
co
n
f
id
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ce
i
n
th
e
r
e
s
u
l
ts
.
Mo
r
eo
v
er
,
an
al
y
s
i
s
o
f
v
ar
ian
ce
id
en
tifie
s
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n
d
r
an
k
s
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ar
ia
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les
th
at
a
f
f
ec
t
t
h
e
v
ar
ian
ce
o
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t
h
e
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u
tp
u
t si
g
n
al.
T
h
is
A
N
OV
A
is
o
n
e
o
f
th
e
m
a
in
s
tep
s
i
n
u
s
i
n
g
t
h
e
T
ag
u
c
h
i
m
et
h
o
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
F
r
a
ctio
n
a
l O
r
d
er P
I
D
Desig
n
u
s
in
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th
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Ta
g
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ch
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o
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(
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N
o
r
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u
n
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181
1
.
4
.
E
x
peri
m
e
nts
T
h
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in
itial
v
alu
e
s
f
o
r
t
h
e
e
x
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im
e
n
tat
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n
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f
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d
w
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th
t
h
e
tr
ad
itio
n
al
Z
ieg
ler
-
Nic
h
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ls
(
Z
-
N)
m
et
h
o
d
[
2
4
]
.
Su
s
tain
ed
o
s
cill
atio
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s
ar
e
o
b
s
er
v
ed
q
u
ite
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il
y
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n
d
th
e
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-
N
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o
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m
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la
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iv
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in
i
tial
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lu
e
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o
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o
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o
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tio
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al,
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teg
r
ati
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an
d
d
er
iv
ati
v
e
p
ar
a
m
eter
s
as s
h
o
w
n
in
tab
le
2
.
T
ab
le
2
.
T
h
e
in
itial v
al
u
es
f
o
r
FOP
I
D
co
n
tr
o
ller
o
b
tain
ed
f
r
o
m
Z
-
N
m
et
h
o
d
P
a
r
a
me
t
e
r
p
K
i
K
d
K
V
a
l
u
e
:
0
.
6
0
-
3
.
0
0
.
3
T
h
e
ti
m
e
r
esp
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n
s
e
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t
h
e
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n
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lled
s
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te
m
w
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ich
i
s
t
u
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ed
b
y
Z
-
N
t
u
n
i
n
g
tec
h
n
iq
u
e
is
s
h
o
w
n
i
n
Fi
g
.
(
5
)
.
Fig
u
r
e
5
.
C
lo
s
ed
lo
o
p
r
esp
o
n
s
e
w
it
h
a
FOP
I
D
co
n
tr
o
ller
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n
ed
b
y
Z
-
N
tech
n
iq
u
e
T
h
e
f
ir
s
t
te
s
t
w
it
h
t
h
ese
in
i
tial
v
al
u
es
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i
v
es
er
r
o
r
an
d
SN
R
e
q
u
al
to
1
7
.
3
0
5
an
d
-
4
8
.
8
1
r
esp
ec
tiv
el
y
.
Fro
m
tab
le
2
it
i
s
f
o
u
n
d
t
h
at
t
h
e
i
n
itial
v
alu
e
f
o
r
f
r
ac
tio
n
a
l
o
r
d
er
in
teg
r
ato
r
g
ai
n
is
o
b
tai
n
ed
eq
u
al
to
ze
r
o
,
t
h
is
co
r
r
esp
o
n
d
s
to
FOP
D
c
o
n
tr
o
ller
,
th
en
th
e
n
u
m
b
er
o
f
p
ar
am
e
ter
s
in
FOP
I
D
co
n
tr
o
ller
r
ed
u
ce
s
to
3
p
a
r
am
eter
s
.
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ai
n
th
er
e
is
a
n
ee
d
to
d
eter
m
in
e
t
h
e
ap
p
r
o
p
r
iate
o
r
th
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g
o
n
al
ar
r
a
y
.
A
3
9
(
3
)
L
is
d
eter
m
i
n
ed
at
th
is
s
tag
e
.
T
h
e
ex
p
er
i
m
e
n
tal
la
y
o
u
t
is
s
h
o
w
n
i
n
tab
le
3
.
T
h
e
n
i
n
e
r
o
ws
o
f
t
h
i
s
m
atr
ix
r
ep
r
esen
t
th
e
ex
p
er
i
m
e
n
ts
to
b
e
co
n
d
u
cted
.
T
h
e
th
r
ee
co
lu
m
n
s
co
r
r
esp
o
n
d
s
to
th
r
ee
p
ar
am
ete
r
s
o
r
f
ac
to
r
s
(
r
esp
ec
tiv
el
y
:
k
p
,
k
d
,
).
T
ab
le
3
.
E
x
p
er
im
e
n
tal
la
y
o
u
t
b
ased
o
n
3
9
(
3
)
L
#
o
f
R
u
n
s
p
K
d
K
1
1
1
1
2
1
2
2
3
1
3
3
4
2
1
2
5
2
2
3
6
2
3
1
7
3
1
3
8
3
2
1
9
3
3
2
T
h
e
v
ar
iatio
n
r
an
g
e
o
f
p
ar
a
m
e
ter
s
is
s
h
o
w
n
i
n
t
h
e
tab
le
4
.
T
ab
le
4
.
T
h
e
v
ar
iatio
n
r
an
g
e
o
f
p
ar
a
m
eter
s
P
a
r
a
me
t
e
r
s
1
st
l
e
v
e
l
2
nd
l
e
v
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l
3
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l
e
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p
K
0
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5
1
5
d
K
0
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3
3
9
0
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3
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6
1
.
3
0
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5
1
1
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5
2
0
0
.
5
1
1
.
5
2
T
i
m
e
(
s
)
F
o
(
N
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
2
0
1
5
:
17
6
–
18
5
182
T
h
e
ex
p
er
i
m
e
n
ts
w
er
e
ca
r
r
ied
o
u
t
f
o
r
ea
c
h
le
v
el
an
d
th
e
er
r
o
r
s
w
er
e
ca
lcu
lated
f
o
r
ea
ch
e
x
p
er
i
m
e
n
t.
T
h
en
th
e
SNR
w
er
e
ca
lcu
late
d
f
o
r
ea
ch
ex
p
er
im
e
n
t
b
ased
o
n
s
m
aller
t
h
e
b
etter
ch
ar
ac
ter
is
tics
.
T
h
e
s
u
m
o
f
SNR
w
a
s
ca
lcu
lated
f
o
r
ea
ch
p
ar
am
eter
a
n
d
at
ea
ch
l
ev
e
l a
s
s
h
o
w
n
in
T
ab
le
5
.
T
ab
le
5
.
Or
th
o
g
o
n
al
ar
r
ay
f
o
r
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D
co
n
tr
o
ller
#
o
f
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n
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N
R
1
1
1
1
1
5
4
.
6
3
-
4
3
.
7
8
2
1
2
2
1
1
.
5
5
-
2
1
.
2
5
3
1
3
3
2
4
.
7
9
-
2
7
.
8
8
4
2
1
2
1
3
4
.
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0
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4
2
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5
7
5
2
2
3
3
2
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6
8
-
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0
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2
8
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2
3
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2
.
6
6
-
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4
9
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3
1
3
5
4
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8
3
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4
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1
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1
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2
2
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9
9
3
3
2
1
.
8
6
-
5
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3
8
B
y
p
lo
tti
n
g
t
h
e
a
v
er
ag
e
r
esp
o
n
s
e
v
alu
e
f
o
r
ea
ch
f
ac
to
r
lev
e
l
(
Fig
u
r
e
9
)
,
r
elativ
e
co
m
p
ar
is
o
n
s
o
f
t
h
e
s
lo
p
e
b
et
w
ee
n
p
o
in
ts
p
lo
tted
ca
n
b
e
m
ad
e.
Fig
u
r
e
6
.
Ma
in
ef
f
ec
ts
p
lo
t f
o
r
SN r
atio
s
T
h
e
r
esp
o
n
s
e
g
r
ap
h
in
d
icate
s
th
at
f
ac
to
r
d
K
h
as
t
h
e
s
tr
o
n
g
e
s
t
ef
f
ec
t,
w
h
er
ea
s
p
K
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d
h
a
v
e
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k
e
f
f
ec
t.
I
n
o
t
h
er
w
o
r
d
s
,
th
e
v
ar
iatio
n
s
o
f
d
K
v
alu
e
is
m
o
r
e
s
en
s
it
iv
e
to
th
e
S/N
r
at
io
v
ar
iatio
n
th
a
n
th
o
s
e
o
f
p
K
an
d
.
A
s
i
n
an
y
s
i
g
n
al
-
to
-
n
o
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e
a
n
al
y
s
is
,
t
h
e
g
r
ea
t
est
S/N
r
atio
is
r
ec
o
m
m
e
n
d
ed
,
b
ased
o
n
tab
le
5
,
T
h
e
o
p
tim
u
m
lev
el
o
f
ea
ch
p
ar
a
m
eter
i.e
.
th
e
lev
e
l
th
at
r
es
u
lts
i
n
a
m
ax
i
m
u
m
S/
N
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atio
ar
e
th
o
s
e
in
ex
p
er
i
m
e
n
t
n
u
m
b
er
1
,
th
at
is
all
v
ar
iab
les
at
t
h
eir
f
ir
s
t
le
v
el.
Fro
m
t
h
e
1
st
s
ta
g
e
o
f
tu
n
in
g
o
f
co
n
tr
o
ller
's
p
ar
am
eter
s
w
i
th
T
ag
u
c
h
i
m
e
th
o
d
th
e
er
r
o
r
is
r
ed
u
ce
d
b
y
8
9
%.
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w
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er
,
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e
r
ed
u
cti
o
n
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er
r
o
r
is
n
o
t
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ig
n
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ica
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t to
p
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ev
en
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n
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th
er
s
tag
e
o
f
t
u
n
i
n
g
.
C
o
n
s
id
er
in
g
Fi
g
u
r
e
7
,
I
t
i
s
o
b
s
er
v
ed
f
r
o
m
t
h
at
th
e
p
r
ef
er
r
e
d
lev
el
s
f
o
r
d
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an
d
ar
e
s
et
at
le
v
e
l
3
an
d
th
e
S/
N
r
atio
d
ec
r
ea
s
es
co
n
tin
u
all
y
w
i
th
ea
ch
co
n
tr
o
lle
r
g
ai
n
.
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h
is
m
ea
n
s
th
at
v
a
lu
e
s
f
o
r
d
K
an
d
th
at
ca
n
m
ax
i
m
ize
t
h
e
S/N
r
at
io
m
a
y
b
e
lar
g
er
th
a
n
t
h
e
p
r
ef
er
r
ed
lev
els.
A
cc
o
r
d
in
g
l
y
,
b
as
ed
o
n
th
e
p
r
ef
er
r
ed
lev
els at
s
tag
e
1
,
co
n
tr
o
ller
g
ai
n
s
s
h
o
u
ld
b
e
tu
n
ed
ag
ai
n
,
in
s
t
ag
e
2
.
T
ab
le
6
.
L
ev
els o
f
co
n
tr
o
ller
g
ain
s
at
s
tag
e
s
2
t
o
4
S
t
a
g
e
2
S
t
a
g
e
3
S
t
a
g
e
4
P
a
r
a
me
t
e
r
s
1
st
l
e
v
e
l
2
nd
l
e
v
e
l
3
rd
l
e
v
e
l
1
st
l
e
v
e
l
2
nd
l
e
v
e
l
3
rd
l
e
v
e
l
1
st
l
e
v
e
l
2
nd
l
e
v
e
l
3
rd
l
e
v
e
l
p
K
4
5
8
4
.
9
5
5
.
2
4
.
9
5
5
.
2
d
K
8
9
12
8
.
9
9
9
.
2
8
.
9
9
9
.
2
0
.
5
0
.
6
0
.
7
0
.
7
0
.
9
1
.
1
0
.
7
0
.
9
1
.
1
R
esp
o
n
s
e
g
r
ap
h
s
f
o
r
f
o
u
r
s
tag
es a
r
e
s
h
o
w
n
i
n
tab
le
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
F
r
a
ctio
n
a
l O
r
d
er P
I
D
Desig
n
u
s
in
g
th
e
Ta
g
u
ch
i Meth
o
d
(
S
o
ma
ye
h
N
o
r
o
u
n
i)
183
T
ab
le
7
.
E
r
r
o
r
s
an
d
SNR
s
f
o
r
s
tag
e
s
2
to
4
Stag
e
2
Stag
e
3
Stag
e
4
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An
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r
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3
9
(
3
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w
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RE
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E
R
E
NC
E
S
[1
]
P
o
d
l
u
b
n
y
,
I.
,
Do
rc
a
k
,
L
.
,
Ko
stia
l,
I.
,
“
On
F
ra
c
ti
o
n
a
l
De
riv
a
ti
v
e
s
,
F
ra
c
ti
o
n
a
l
-
Ord
e
r
Dy
n
a
m
ic
S
y
s
tem
s
a
n
d
P
ID
c
o
n
tro
ll
e
rs”
,
Pro
c
e
e
d
in
g
s o
f
th
e
3
6
th
Co
n
fer
e
n
c
e
o
n
De
c
isio
n
&
C
o
n
tro
l
,
S
a
n
Die
g
o
,
Ca
li
f
o
rn
ia,
U
S
A
,
(1
9
9
7
)
.
[2
]
V
in
a
g
re
,
B.
M
.
,
P
o
d
l
u
b
n
y
,
I.
,
Do
rc
a
k
,
L
.
,
F
e
li
u
,
V
.
,
“
On
F
ra
c
ti
o
n
a
l
P
ID
Co
n
tro
ll
e
rs:
A
F
re
q
u
e
n
c
y
Do
m
a
in
A
p
p
ro
a
c
h
”
,
Pro
c
e
e
d
in
g
s
o
f
IFA
C
W
o
rk
sh
o
p
o
n
Dig
it
a
l
C
o
n
tr
o
l:
P
a
st,
Pre
se
n
t
a
n
d
F
u
tu
re
o
f
PID
C
o
n
t
ro
l
.
T
e
rra
sa
,
S
p
a
in
,
p
p
.
5
3
-
5
8
,
(2
0
0
0
).
[3
]
M
o
n
je,
C.
A
.
,
V
in
a
g
re
,
B.
M
.
,
C
h
e
n
,
Y.Q.
,
F
e
li
u
,
V
.
,
L
a
n
u
ss
e
,
P
.
,
S
a
b
a
ti
e
r,
J.,
“
P
ro
p
o
sa
ls
f
o
r
f
ra
c
ti
o
n
a
l
P
I
D
tu
n
i
n
g
”
,
Pro
c
e
e
d
in
g
s o
f
Fra
c
ti
o
n
a
l
Diff
e
re
n
ti
a
ti
o
n
a
n
d
it
s
Ap
p
li
c
a
t
io
n
s,
Bo
rd
e
a
u
x
,
(2
0
0
4
).
[4
]
V
a
le´
rio
,
D.,
Co
sta
,
J.S
.
,
“
T
u
n
in
g
o
f
f
r
a
c
ti
o
n
a
l
P
ID
c
o
n
tr
o
ll
e
rs
w
it
h
Zi
e
g
ler
–
Nic
h
o
ls
-
ty
p
e
ru
les
,
S
ig
n
a
l
P
r
o
c
e
ss
in
g
”
,
S
ig
n
a
l
Pro
c
e
ss
in
g
,
V
o
l
.
8
6
,
p
p
.
2
7
7
1
–
2
7
8
4
.
(2
0
0
6
).
[5
]
Zam
a
n
i
,
M
.
,
Ka
rim
i,
G
.
M
.
,
S
a
d
a
ti
,
N.,
P
a
rn
ian
i
,
M
.
,
“
De
sig
n
o
f
a
fra
c
ti
o
n
a
l
o
rd
e
r
P
ID
c
o
n
tro
ll
e
r
f
o
r
a
n
A
V
R
u
sin
g
p
a
rti
c
le sw
a
r
m
o
p
ti
m
iz
a
ti
o
n
”
,
Co
n
tro
l
e
n
g
i
n
e
e
rin
g
p
ra
c
ti
c
e
,
V
o
l.
1
7
,
issu
e
1
2
.
(2
0
0
9
).
[6
]
M
o
n
je,
A
.
,
Blas
,
M
.
,
Vin
a
g
re
,
M
.
,
F
e
li
u
,
V
.
,
a
n
d
C
h
e
n
,
Y.,
“
T
u
n
in
g
a
n
d
a
u
t
o
-
tu
n
in
g
o
f
f
ra
c
ti
o
n
a
l
o
r
d
e
r
c
o
n
tr
o
ll
e
rs
f
o
r
in
d
u
st
ry
a
p
p
li
c
a
ti
o
n
s”
,
Co
n
tro
l
e
n
g
i
n
e
e
rin
g
p
ra
c
ti
c
e
,
V
o
l.
1
6
,
Iss
u
e
7
,
(
2
0
0
8
)
.
[7
]
L
e
e
,
K.,
Ki
m
,
J.,
“
Co
n
tro
ll
e
r
g
a
in
tu
n
in
g
o
f
a
si
m
u
lt
a
n
e
o
u
s
m
u
lt
i
-
a
x
is
P
ID
c
o
n
tr
o
l
sy
st
e
m
u
sin
g
th
e
T
a
g
u
c
h
i
m
e
th
o
d
”
,
C
o
n
tr
o
l
E
n
g
i
n
e
e
rin
g
Pr
a
c
ti
c
e
,
Vo
l.
8
,
Iss
u
e
8
,
(2
0
0
0
).
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
F
r
a
ctio
n
a
l O
r
d
er P
I
D
Desig
n
u
s
in
g
th
e
Ta
g
u
ch
i Meth
o
d
(
S
o
ma
ye
h
N
o
r
o
u
n
i)
185
[8
]
R
y
c
k
e
b
u
sc
h
,
E.
F
.
,
Cra
ig
,
I.
K.
,
“
P
ID
t
u
n
i
n
g
f
o
r
a
m
u
lt
iv
a
riab
le
p
lan
t
u
si
n
g
T
a
g
u
c
h
i
-
b
a
se
d
m
e
th
o
d
s”
,
P
r
o
c
e
e
d
in
g
s
o
f
th
e
1
5
th
I
F
A
C
W
o
rld
Co
n
g
re
ss
,
Ba
rc
e
lo
n
a
,
S
p
a
in
,
(2
0
0
2
).
[9
]
A
l
f
a
ro
,
V
.
M
.
,
V
il
a
n
o
v
a
,
R.
,
O.
A
rrieta
“
M
a
x
i
m
u
m
S
e
n
siti
v
it
y
Ba
se
d
Ro
b
u
st
T
u
n
i
n
g
f
o
r
Tw
o
-
De
g
r
e
e
-
of
-
F
re
e
d
o
m
P
ro
p
o
r
ti
o
n
a
l−In
teg
ra
l
Co
n
tr
o
ll
e
rs”
,
I
n
d
u
strial
&
En
g
i
n
e
e
rin
g
Ch
e
m
istr
y
Re
s
e
a
rc
h
,
(2
0
0
8
).
[1
0
]
S
a
n
th
a
k
u
ma
r,
M
.
,
Aso
k
a
n
,
T
.
,
“
A
S
e
lf
-
T
u
n
in
g
Pro
p
o
rt
io
n
a
l
-
I
n
t
e
g
ra
l
-
De
riv
a
ti
v
e
Co
n
tro
ll
e
r
f
o
r
a
n
A
u
t
o
n
o
mo
u
s
Un
d
e
rwa
ter
Veh
icle
,
B
a
se
d
On
T
a
g
u
c
h
i
M
e
th
o
d
”
,
J
o
u
r
n
a
l
o
f
C
o
mp
u
ter
S
c
ien
c
e
,
Vo
l.
6
,
Iss
u
e
.
8
,
p
p
.
8
6
2
-
8
7
1
,
(
2
0
1
0
).
[1
1
]
A
c
c
o
to
A
,
Ca
rp
in
o
G
,
S
e
rg
i
F
,
e
t
a
l.
,
“
De
sig
n
a
n
d
c
h
a
ra
c
teriz
a
ti
o
n
o
f
a
n
o
v
e
l
h
ig
h
p
o
w
e
r
se
ries
e
las
ti
c
a
c
tu
a
to
r
f
o
r
a
lo
w
e
r
li
m
b
ro
b
o
ic o
rt
h
o
sis”
,
I
n
t
e
rn
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ad
v
a
n
c
e
d
R
o
b
o
ti
c
S
y
ste
ms
,
(2
0
1
3
).
[1
2
]
Ca
rp
in
o
,
G
.
,
A
c
c
o
to
,
D.
,
S
e
rg
i
,
F
.
,
L
u
ig
i.
,
T
.
,
N.,
G
u
g
li
e
lm
e
ll
i
,
E.
,
"
A
No
v
e
l
Co
m
p
a
c
t
T
o
rsio
n
a
l
S
p
rin
g
f
o
r
S
e
ries
El
a
stic A
c
tu
a
to
rs f
o
r
A
ss
isti
v
e
Wea
ra
b
le Ro
b
o
ts"
,
J
o
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l
De
sig
n
,
V
o
l
.
,
1
3
4
,
Iss
u
e
1
2
,
(2
0
1
2
).
[1
3
]
A
u
,
S
.
,
k
.
,
D
il
w
o
rth
,
P
.
,
He
rr,
H.,
"
A
n
a
n
k
le
-
f
o
o
t
e
m
u
latio
n
s
y
ste
m
f
o
r
th
e
stu
d
y
o
f
h
u
m
a
n
w
a
l
k
in
g
b
io
m
e
c
h
a
n
ics
"
,
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
R
o
b
o
ti
c
s a
n
d
Au
t
o
ma
ti
o
n
,
Orla
n
d
o
,
F
lo
rid
a
,
M
a
y
,
(2
0
0
6
).
[1
4
]
Ko
n
g
,
K.,
Ba
e
,
J.,
T
o
m
izu
k
a
,
M
.
,
"
Co
n
tro
l
o
f
ro
tary
s
e
ries
e
las
ti
c
a
c
tu
a
to
r
f
o
r
id
e
a
l
f
o
rc
e
-
m
o
d
e
a
c
tu
a
ti
o
n
in
h
u
m
a
n
-
ro
b
o
t
i
n
tera
c
ti
o
n
a
p
p
li
c
a
ti
o
n
s"
,
IE
EE
/A
S
M
E
T
r
a
n
s
a
c
ti
o
n
s o
n
M
e
c
h
a
tro
n
ics
,
Vo
l.
1
4
,
Iss
u
e
1
,
(
2
0
0
9
).
[1
5
]
T
a
y
lo
r,
D.,
M
.
,
"
A
c
o
m
p
a
c
t
s
e
r
ies
e
las
ti
c
a
c
tu
a
to
r
f
o
r
Bip
e
d
a
ls
w
it
h
h
u
m
a
n
-
li
k
e
d
y
n
a
m
i
c
p
e
r
fo
rm
a
n
c
e
"
,
M
S
c
T
h
e
sis,
Crn
e
g
ie M
e
ll
o
n
Un
iv
e
rsity
,
(2
0
1
1
).
[1
6
]
Hu
tt
e
r,
M
.
,
Re
m
y
,
C.
D.
,
Ho
e
p
f
li
n
g
e
r,
M
.
A
.
,
S
ieg
wa
rt,
R
.
,
"
Hig
h
c
o
m
p
li
a
n
t
se
ries
e
las
ti
c
a
c
tu
a
ti
o
n
f
o
r
th
e
r
o
b
o
ti
c
leg
s
c
a
rIE
TH"
,
In
tern
a
ti
o
n
a
l
Co
n
f
e
r
e
n
c
e
o
n
Cli
m
b
in
g
a
n
d
W
a
l
k
in
g
Ro
b
o
ts
(CLAWA
R),
P
a
ris,
F
ra
n
c
e
,
S
e
p
tem
b
e
r
7
,
(
2
0
1
1
)
.
[1
7
]
M
isg
e
ld
,
B.
,
J.
,
E.
,
G
e
riac
h
-
Ha
h
n
,
K.,
Ru
sc
h
e
n
,
D.,
P
o
p
p
ra
p
a
,
A
.
,
L
e
o
n
h
a
rd
t,
S
.
,
"
Co
n
tro
l
o
f
a
d
ju
st
a
b
le
c
o
m
p
li
a
n
t
a
c
tu
a
to
rs"
,
M
a
c
h
in
e
s
,
V
o
l.
2
,
Iss
u
e
2
,
p
p
.
1
3
4
-
1
5
7
,
(2
0
1
4
).
[1
8
]
W
il
li
a
m
so
n
,
M
.
M
.
,
“
S
e
ries
El
a
stic
A
c
tu
a
to
r”
,
M
S
c
T
h
e
sis,
M
a
ss
a
c
h
u
se
tt
s
in
stit
u
te
o
f
T
e
c
h
n
o
l
o
g
y
a
rti
f
icia
l
in
telli
g
e
n
c
e
lab
o
ra
t
o
ry
,
(1
9
9
5
).
[1
9
]
V
in
a
g
re
,
B.
M
.
,
P
o
d
l
u
b
n
y
,
I.
,
P
e
t
ra
s,
I.
,
Ch
e
n
,
Y.Q.
,
“
Us
in
g
f
ra
c
ti
o
n
a
l
o
r
d
e
r
a
d
ju
stm
e
n
t
ru
les
a
n
d
fra
c
ti
o
n
a
l
o
rd
e
r
re
fe
re
n
c
e
m
o
d
e
l
s in
M
o
d
e
l
Re
f
e
re
n
c
e
A
d
a
p
ti
v
e
Co
n
tro
l”.
N
o
n
li
n
e
a
r
D
y
n
a
m
ics
,
V
o
l.
2
9
,
p
p
.
2
6
9
-
2
7
9
,
(
2
0
0
1
).
[2
0
]
M
o
n
je,
C.
A
,
Ch
e
n
,
Y.Q.
a
n
d
Vin
a
g
re
,
B.
M
.
,
B
o
o
k
:
F
ra
c
ti
o
n
a
l
o
rd
e
r
sy
ste
m
s
a
n
d
c
o
n
tr
o
ls
f
u
n
d
a
m
e
n
tals
a
n
d
a
p
p
li
c
a
ti
o
n
s,
c
h
a
p
ter 2
,
sp
ri
n
g
e
r,
(2
0
1
0
).
[2
1
]
P
o
d
l
u
b
n
y
,
I.
,
“
F
ra
c
ti
o
n
a
l
-
o
rd
e
r
s
y
ste
m
s
a
n
d
P
I
D
c
o
n
tro
l
lers
”
.
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
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