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4856
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Desig
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1.
I
NT
RO
D
UCT
I
O
N
A
s
y
s
te
m
h
a
v
i
n
g
u
n
ce
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tai
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p
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d
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s
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s
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t
o
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o
l.
C
u
s
to
m
ar
y
i
n
p
u
t
co
n
tr
o
ller
s
[
1
,
2
]
attem
p
t
to
d
i
m
in
i
s
h
th
e
ef
f
ec
ts
o
f
in
n
er
an
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o
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ts
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e
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n
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ett
lin
g
i
n
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p
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ce
r
tai
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e
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r
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a
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d
t
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e
y
o
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d
in
ar
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er
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o
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a
s
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ec
if
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k
i
n
g
co
n
d
itio
n
.
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,
t
h
e
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ec
e
s
s
it
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co
n
tr
o
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w
i
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a
w
id
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r
an
g
e
o
f
o
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atin
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co
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itio
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k
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g
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ettli
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o
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ap
tiv
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co
n
tr
o
ller
[
3
,
4
].
No
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lin
ea
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ac
k
i
n
g
co
n
tr
o
l
is
o
n
e
o
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p
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i
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ee
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an
d
its
ap
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s
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m
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o
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th
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u
ild
in
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ap
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licatio
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u
p
to
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it
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o
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li
n
ea
r
d
y
n
a
m
ics,
i
n
wh
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r
eq
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en
t
l
y
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n
ce
r
tain
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i
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y
s
te
m
p
ar
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n
d
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ar
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eter
v
a
r
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s
a
n
d
/o
r
d
is
t
u
r
b
an
ce
.
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o
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co
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h
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o
v
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u
e,
v
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io
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w
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lan
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ig
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in
m
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t r
ec
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t a
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tr
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f
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lid
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tr
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[
6
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.
I
n
t
h
e
p
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w
o
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k
a
n
M
R
AC
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s
d
ev
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le
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ar
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n
o
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li
n
ea
r
p
lan
t
s
,
w
h
ich
ca
n
b
e
ap
p
lied
to
tim
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i
n
v
ar
ian
t
a
n
d
ti
me
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v
ar
y
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n
g
p
la
n
t
s
w
it
h
o
u
t
a
n
y
m
o
d
if
icatio
n
s
.
I
n
t
h
is
m
et
h
o
d
th
e
d
if
f
er
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ce
s
b
et
w
ee
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h
e
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eter
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el
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ated
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eter
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o
p
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al
co
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etc.
T
h
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y
p
e
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f
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tain
t
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k
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ar
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T
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
1
–
5
2
co
n
tr
o
ller
p
ar
am
eter
s
.
L
y
ap
u
n
o
v
’
s
d
ir
ec
t
m
et
h
o
d
is
t
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en
u
s
ed
to
o
b
tain
b
o
u
n
d
ed
s
ig
n
als
w
h
e
n
t
h
e
co
n
tr
o
ller
is
in
u
s
e.
2.
M
O
DE
L
RE
F
E
R
E
NC
E
AD
AP
T
I
V
E
CO
N
T
RO
L
L
E
R
Fig
u
r
e
1
s
h
o
w
s
t
h
e
MR
AC
.
I
t
is
co
m
p
o
s
ed
o
f
f
o
u
r
p
ar
ts
:
(
1
)
P
lan
t:
it
is
as
s
u
m
ed
t
h
at
p
lan
t
h
a
v
e
k
n
o
w
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s
tr
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g
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th
e
p
ar
a
m
eter
s
ar
e
n
o
t
k
n
o
w
n
.
(
2
)
R
ef
er
en
ce
Mo
d
el:
A
r
ef
er
en
ce
m
o
d
el
is
u
s
ed
to
s
p
ec
if
y
th
e
id
ea
l
r
esp
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n
s
e
o
f
th
e
ad
ap
tiv
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co
n
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o
l
s
y
s
t
e
m
to
th
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ter
n
al
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m
a
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.
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h
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ch
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ice
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f
th
e
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ef
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en
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m
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d
el
h
as to
f
u
l
f
ill
t
w
o
r
eq
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ir
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m
e
n
t
s
.
I
t
m
u
s
t sati
s
f
y
t
h
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s
p
ec
i
f
icatio
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s
w
h
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ar
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u
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f
o
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p
er
f
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t
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s
k
s
.
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h
e
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m
o
d
el
s
h
o
u
ld
r
ea
ch
th
e
id
ea
ll
y
b
eh
a
v
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r
f
o
r
th
e
ad
ap
tiv
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co
n
tr
o
l s
y
s
te
m
.
(
3
)
C
o
n
tr
o
ller
:
I
t
i
s
g
en
er
all
y
s
ta
n
d
ar
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y
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ar
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eter
s
.
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lies
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n
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ar
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eter
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ter
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P
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A
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j
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t
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t
h
e
r
esp
o
n
s
e
o
f
th
e
p
lan
t
w
ill
f
o
llo
w
th
e
r
ef
er
en
ce
m
o
d
el.
I
t
is
d
esig
n
ed
to
ac
h
ie
v
e
th
e
s
tab
il
it
y
o
f
th
e
co
n
tr
o
l
s
y
s
te
m
as
w
ell
as
f
o
r
r
ed
u
ctio
n
o
f
tr
ac
k
in
g
er
r
o
r
to
ze
r
o
.
Fig
u
r
e
1.
Mo
d
el
r
ef
er
en
ce
ad
ap
tiv
e
co
n
tr
o
l s
y
s
te
m
3.
E
s
t
i
m
a
t
io
n O
f
P
a
ra
m
et
er
s
I
n
th
i
s
w
o
r
k
w
e
co
n
s
id
er
n
o
n
li
n
ea
r
f
ir
s
t o
r
d
er
p
lan
t d
escr
i
b
ed
b
y
t
h
e
d
if
f
er
en
tial
(
1
)
(
dy
/dt)
=
-
a
p
y
-
c
p
f
(
y
)
+
b
p
u
(
1
)
W
h
er
e
f
is
an
y
k
n
o
w
n
n
o
n
li
n
ea
r
f
u
n
ctio
n
.
T
h
e
n
o
n
lin
ea
r
in
t
h
ese
d
y
n
a
m
ics
is
c
h
ar
ac
te
r
ized
b
y
its
li
n
ea
r
p
ar
am
eter
izat
io
n
i
n
ter
m
s
o
f
t
h
e
u
n
k
n
o
w
n
co
n
s
ta
n
t c
.
T
h
e
m
o
d
el
p
lan
t is g
i
v
en
b
y
(
2
)
(
dy
m
/dt)
=
-
a
m
y
m
+
b
m
r
(
2
)
No
w
w
e
u
s
e
t
h
e
co
n
tr
o
l la
w
(
3
)
(
3
)
w
h
er
e
t
h
e
s
ec
o
n
d
ter
m
i
n
(
2
)
is
i
n
tr
o
d
u
ce
d
w
it
h
t
h
e
i
n
ten
t
io
n
o
f
ad
ap
ti
v
el
y
ca
n
ce
lli
n
g
th
e
n
o
n
li
n
ea
r
ter
m
.
an
d
ar
e
v
ar
iab
le
f
ee
d
b
ac
k
g
ai
n
.
W
ith
t
h
e
co
n
tr
o
l la
w
,
th
e
cl
o
s
ed
lo
o
p
d
y
n
a
m
ics is
(
4
)
(
dy
/dt)
=
-
a
p
y
-
c
p
f
(
y
)
+
b
p
(
)
(
dy
/dt)
=
-
(
a
p
-
b
p
)
y
–
(
c
p
-
b
p
)
f
(
y
)
+
b
p
r
(
4
)
Su
b
s
ti
tu
t
in
g
t
h
is
co
n
tr
o
l
la
w
in
to
th
e
d
y
n
a
m
ic
s
(
1
)
an
d
s
u
b
tr
ac
tin
g
t
h
e
r
es
u
lti
n
g
eq
u
ati
o
n
b
y
(
2
)
,
w
e
o
b
tain
t
h
e
er
r
o
r
d
y
n
a
m
ics
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
Desig
n
o
f o
n
e
n
o
n
-
lin
ea
r
a
d
a
p
tive
co
n
tr
o
l sys
tem
a
n
d
s
tu
d
y
o
f its
tr
a
ck
in
g
(
S
a
mir
a
n
Ma
iti
)
3
W
h
er
e
th
e
p
ar
a
m
eter
er
r
o
r
is
d
ef
in
ed
as
T
h
e
ad
ap
tio
n
la
w
s
ar
e:
W
ith
b
ein
g
a
p
o
s
iti
v
e
co
n
s
t
an
t
r
ep
r
esen
ti
n
g
t
h
e
ad
ap
tio
n
g
ai
n
.
W
e
an
al
y
ze
th
e
s
y
s
te
m
’
s
s
tab
ilit
y
an
d
co
n
v
er
g
e
n
ce
b
eh
a
v
io
r
u
s
in
g
t
h
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
.
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
Her
e
w
e
h
a
v
e
ex
a
m
i
n
e
t
h
e
p
r
o
p
o
s
ed
m
e
th
o
d
b
y
u
s
i
n
g
a
f
ir
s
t
o
r
d
er
n
o
n
-
li
n
ea
r
p
l
an
t
w
h
o
s
e
r
ep
r
esen
tatio
n
is
(
d
y
/d
t)
=
y
+
y
2
+2
.
9
u
T
h
e
p
lan
t p
ar
am
eter
s
ar
e:
a
p
=
-
1
,
b
p
=
2
.
9
W
e
co
n
s
id
er
th
e
r
ef
er
en
ce
m
o
d
el
p
ar
am
eter
s
ar
e:
a
m
=
4
,
b
m
=4
.
L
et
ad
ap
tio
n
g
a
in
=
2
an
d
y
(
0
)
=
y
m
(
0
)
=
0
Fo
r
r
ef
er
en
ce
s
i
g
n
a
l
r
(
t)
=
4
,
th
e
tr
ac
k
in
g
p
er
f
o
r
m
a
n
ce
is
s
h
o
w
n
i
n
F
i
g
u
r
e
2
.
T
h
e
p
ar
am
ete
r
es
ti
m
ato
r
is
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
Fig
u
r
e
2
.
T
h
e
tr
ac
k
in
g
p
er
f
o
r
m
an
ce
,
f
o
r
r
ef
er
en
ce
s
i
g
n
al
r
(
t)
=
4
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
1
–
5
4
Fig
u
r
e
3
.
T
h
e
p
ar
am
eter
es
ti
m
ato
r
,
f
o
r
r
ef
er
en
ce
s
ig
n
al
r
(
t)
=
4
Fo
r
r
ef
er
en
ce
s
i
g
n
al
r
(
t)
=
4
s
i
n
(
3
t)
,
th
e
tr
ac
k
in
g
p
er
f
o
r
m
a
n
c
e
is
s
h
o
w
n
i
n
F
i
g
u
r
e
4.
T
h
e
p
ar
am
eter
esti
m
ato
r
is
s
h
o
w
n
i
n
F
i
g
u
r
e
5.
Fig
u
r
e
4
.
T
h
e
tr
ac
k
in
g
p
er
f
o
r
m
an
ce
,
f
o
r
r
ef
er
en
ce
s
i
g
n
al
r
(
t)
=
4
s
in
(
3
t)
Fig
u
r
e
5
.
T
h
e
p
ar
am
eter
esti
m
ato
r
, f
o
r
r
ef
er
en
ce
s
ig
n
al
r
(
t)
=
4
s
in
(
3
t)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
Desig
n
o
f o
n
e
n
o
n
-
lin
ea
r
a
d
a
p
tive
co
n
tr
o
l sys
tem
a
n
d
s
tu
d
y
o
f its
tr
a
ck
in
g
(
S
a
mir
a
n
Ma
iti
)
5
5.
CO
NCLU
SI
O
N
I
n
th
i
s
p
ap
er
,
w
e
h
a
v
e
co
n
s
id
er
ed
a
Mo
d
el
R
ef
er
en
ce
A
d
a
p
tiv
e
C
o
n
tr
o
l,
w
h
ic
h
is
d
esi
g
n
ac
co
r
d
in
g
to
L
y
ap
u
n
o
v
s
tab
ili
t
y
,
ap
p
licab
le
to
a
cla
s
s
o
f
u
n
ce
r
tai
n
s
y
s
te
m
s
n
o
n
li
n
ea
r
ities
.
U
n
d
er
u
p
p
er
n
o
r
m
b
o
u
n
d
ed
co
n
d
itio
n
s
f
o
r
s
y
s
te
m
u
n
ce
r
ta
in
tie
s
,
it
h
as
b
ee
n
p
r
o
v
ed
t
h
a
t
th
e
p
r
o
p
o
s
ed
m
o
d
el
r
e
f
er
en
ce
ad
ap
tiv
e
co
n
tr
o
l
s
ch
e
m
e
i
s
p
r
o
p
o
s
ed
w
ith
a
n
ex
ce
lle
n
t
y
ield
f
o
llo
w
i
n
g
p
r
o
p
er
ty
w
it
h
r
eg
ar
d
to
f
r
a
m
e
wo
r
k
v
u
l
n
er
ab
ilit
ie
s
.
A
f
e
w
n
u
m
er
ical
r
ec
r
ea
tio
n
co
m
e
s
ab
o
u
t
h
av
e
to
o
b
ee
n
g
iv
e
n
to
illu
s
tr
ate
th
e
v
al
id
ity
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l stra
teg
y
.
RE
F
E
R
E
NC
E
S
[1
]
A
stro
m
,
K.
J.,
a
n
d
W
it
ten
m
a
rk
,
B.
,
“
A
d
a
p
ti
v
e
Co
n
tro
l,
”
(2
.
Ed
)
.
[2
]
Krs
ti
C,
M
.
,
Ka
n
e
ll
a
k
o
p
o
u
l
o
s,
I.
a
n
d
K
o
k
o
to
v
i
C
,
P.
V
.
,
“
No
n
li
n
e
a
r
a
n
d
A
d
a
p
ti
v
e
Co
n
tro
l
De
sig
n
,
”
W
il
e
y
,
1995.
[3
]
M
iy
a
sa
to
,
Y.
a
n
d
Ha
n
b
a
,
S
.
,
”
Ad
a
p
ti
v
e
c
o
n
tro
l
f
o
r
n
o
n
li
n
e
a
r
sy
ste
ms
wit
h
u
n
k
n
o
wn
d
e
g
re
e
s
An
d
u
n
c
e
rta
in
re
la
ti
v
e
d
e
g
re
e
s
,
”
P
re
p
r
in
ts
o
f
1
1
th
I
F
A
C
S
y
m
p
o
siu
m
o
n
S
y
ste
m
Id
e
n
ti
f
ic
a
ti
o
n
,
p
p
.
9
4
3
-
9
4
8
,
F
u
k
u
o
k
a
,
Ja
p
a
n
,
1
9
9
7
.
[4
]
P.
A
.
Io
a
n
n
o
u
a
n
d
J.
S
u
n
,
“
Ro
b
u
s
t
A
d
a
p
ti
v
e
Co
n
tro
l,
”
P
T
R
P
re
n
ti
c
e
-
Ha
ll
,
1
9
9
6
.
[5
]
Y.
M
iy
a
s
a
to
,
“
On
n
o
n
l
in
e
a
r
a
d
a
p
ti
v
e
c
o
n
tro
l
sy
ste
m
s
in
d
e
p
e
n
d
e
n
t
o
f
th
e
d
e
g
re
e
o
f
th
e
p
ro
c
e
ss
,
”
Ko
re
a
n
A
u
to
m
a
ti
c
Co
n
tr
o
l
C
o
n
f
e
re
n
c
e
,
p
p
.
7
4
0
-
7
4
5
,
1
9
8
8
.
[6
]
A.
K.
Ch
a
k
ra
b
a
rt
y
a
n
d
P
ro
f
.
S.
Bh
a
tt
a
c
h
a
ry
a
,
“
A
d
a
p
ti
v
e
c
o
n
tro
l
o
f
a
p
lan
t
w
it
h
ti
m
e
-
v
a
r
y
in
g
stru
c
tu
re
d
u
n
c
e
rtain
ti
e
s
-
a
n
e
w
a
p
p
ro
a
c
h
,
”
J
o
u
rn
a
l
o
f
In
stit
u
ti
o
n
o
f
En
g
in
e
e
rs
(
In
d
i
a
)
,
v
o
l
.
9
0
,
p
p
.
3
-
8
,
M
a
rc
h
2
0
1
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.