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io
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l J
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I
J
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Vo
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201
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,
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SS
N:
2089
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4
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5
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An Intel
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ntroller
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n
A
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ch f
or
M
IM
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Co
upl
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Ta
nk
Sys
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m
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li
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a
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re
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S
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k
.
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h
e
m
a
in
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jec
ti
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of
th
is
p
a
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is
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a
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S
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sin
g
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AT
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sin
c
e
th
e
F
u
z
z
y
L
o
g
ic
Co
n
tro
l
ler
(F
L
C)
is
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l
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ti
li
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e
d
in
th
e
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o
n
tro
l
o
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e
n
g
in
e
e
rin
g
a
p
p
l
ica
ti
o
n
s
in
th
e
i
n
d
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strial
.
T
h
e
re
f
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re
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th
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l
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e
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ti
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r
w
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ich
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t
s
as
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n
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h
m
a
r
k
in
th
e
p
e
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o
rm
a
n
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o
f
th
e
F
L
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.
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e
ters
su
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h
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s
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a
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y
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te
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n
d
m
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b
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m
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re
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lt
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s
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se
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d
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n
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n
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i
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lu
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e
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th
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t
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h
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ti
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ID co
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tr
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ll
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r
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K
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w
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d
:
C
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m
p
ar
is
o
n
C
o
n
tr
o
ller
d
esig
n
C
o
u
p
led
tan
k
s
y
s
te
m
Fu
zz
y
lo
g
ic
c
o
n
tr
o
ller
P
I
D
co
n
tr
o
ller
Co
p
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rig
h
t
©
2
0
1
8
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Mo
h
d
Haf
iz
J
ali,
C
en
tr
e
f
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an
d
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d
u
s
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m
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Fac
u
lt
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lectr
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n
g
in
ee
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i
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g
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i
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ek
n
ik
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Ma
la
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lak
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g
T
u
ah
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7
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,
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r
ian
T
u
n
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k
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m
ail:
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o
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d
.
h
a
f
iz
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u
te
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ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
Mo
d
er
n
u
tili
za
t
io
n
o
f
co
u
p
le
d
tan
k
s
s
y
s
te
m
(
C
T
S)
is
b
r
o
ad
ly
u
tili
ze
d
as
a
p
ar
t
o
f
t
h
e
ch
e
m
ical
p
r
o
ce
s
s
.
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h
er
e
ar
e
a
f
e
w
p
r
o
ce
d
u
r
es
o
f
C
T
S,
f
o
r
ex
a
m
p
le,
s
in
g
le
in
p
u
t
s
i
n
g
le
o
u
tp
u
t
(
SIS
O)
o
r
m
u
ltip
le
in
p
u
t
m
u
ltip
le
o
u
tp
u
t
(
MI
MO
)
th
at
h
as b
ee
n
u
ti
lized
g
e
n
er
all
y
a
s
a
p
ar
t o
f
th
e
i
n
d
u
s
tr
ial
ar
ea
.
Mo
r
eo
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er
,
th
e
co
n
tr
o
l
p
r
o
ce
d
u
r
e
f
o
r
MI
MO
is
m
o
r
e
co
n
v
o
lu
ted
th
a
n
SI
SO i
n
li
g
h
t
o
f
th
e
f
ac
t
th
at
th
er
e
i
s
a
co
m
m
u
n
icat
io
n
b
et
w
ee
n
o
th
er
co
n
tr
o
l
cir
cles
o
f
MI
M
O
p
r
o
ce
d
u
r
es.
Fu
r
t
h
er
m
o
r
e,
t
h
e
co
n
tr
o
l
s
tr
u
ct
u
r
e
i
m
p
le
m
e
n
ted
in
th
e
SISO
s
y
s
te
m
ca
n
n
o
t
b
e
u
s
e
d
in
t
h
e
co
n
tr
o
l
o
f
th
e
MI
MO
ad
eq
u
at
el
y
.
Gen
er
all
y
,
co
n
tr
o
l
d
esig
n
f
o
r
MI
MO
w
h
ich
u
s
e
s
m
o
d
er
n
m
eth
o
d
co
n
tr
o
lle
r
to
ce
n
tr
alize
d
th
e
co
n
tr
o
ller
to
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atis
f
y
r
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o
n
s
e
s
p
ec
if
icatio
n
.
R
ec
en
t
l
y
,
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T
S
is
g
e
n
er
all
y
u
tili
ze
d
as
a
p
ar
t
o
f
s
h
o
p
p
er
f
lu
id
co
n
t
in
u
i
n
g
an
d
s
y
n
t
h
etic
h
a
n
d
lin
g
in
d
u
s
tr
y
.
W
it
h
a
s
p
ec
i
f
ic
en
d
g
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al
to
co
n
tr
o
l
th
e
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o
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th
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f
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id
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cu
tti
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ed
g
e
F
u
zz
y
L
o
g
ic
C
o
n
tr
o
ller
(
FLC)
h
ad
b
ee
n
ex
ec
u
ted
.
T
h
e
FL
C
h
as
an
as
s
o
r
t
m
e
n
t
co
n
tr
o
l
th
at
w
as
ca
p
ab
le
o
f
h
an
d
le
th
e
C
T
S
s
y
s
te
m
w
it
h
SISO
or
MI
MO
s
tr
u
ct
u
r
es
.
T
h
e
p
r
i
m
ar
y
p
r
ef
er
e
n
ce
s
o
f
t
h
ese
f
u
zz
y
lo
g
ic
b
ased
co
n
t
r
o
l
p
lan
s
lie
i
n
t
h
e
w
a
y
th
a
t
th
e
cr
ea
ted
co
n
tr
o
ll
er
is
ca
p
ab
le
to
p
r
o
g
r
ess
iv
el
y
m
a
n
a
g
e
th
e
co
m
p
le
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s
y
s
te
m
an
d
ex
ec
u
te
t
h
e
p
r
o
ce
s
s
w
it
h
o
u
t e
x
ac
t i
n
f
o
r
m
a
tio
n
o
f
t
h
e
m
o
d
el
s
tr
u
ctu
r
e
[
1
]
.
I
n
th
i
s
p
ap
er
,
th
e
s
i
m
u
latio
n
an
d
th
e
d
es
ig
n
o
f
F
L
C
ar
e
co
n
d
u
cted
in
M
A
T
L
A
B
/Si
m
u
li
n
k
en
v
ir
o
n
m
e
n
t.
T
h
en
,
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
d
es
ig
n
ed
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
w
ill
b
e
co
m
p
ar
e
d
w
it
h
t
h
e
estab
lis
h
ed
co
n
v
e
n
tio
n
a
l
P
I
D
co
n
tr
o
ller
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
n
I
n
tellig
en
t Co
n
tr
o
ller
Desig
n
A
p
p
r
o
a
ch
fo
r
MIMO
C
o
u
p
l
ed
Ta
n
k
S
ystem
(
Mo
h
d
Ha
fiz
Ja
li
)
9
2.
F
U
Z
Z
Y
L
O
G
I
C
CO
N
T
RO
L
L
E
R
CO
N
CE
P
T
Fu
zz
y
lo
g
ic
is
a
s
ta
n
d
o
u
t
a
m
o
n
g
s
t
t
h
e
b
est
u
s
e
s
o
f
f
u
zz
y
s
et
i
n
w
h
ich
th
e
f
ac
to
r
s
ar
e
s
e
m
an
tic
as
o
p
p
o
s
ed
to
n
u
m
er
ic
[
2
]
.
T
h
e
o
u
tli
n
e
o
f
a
n
in
tel
lig
e
n
t
co
n
tr
o
l
s
y
s
te
m
h
as
tu
r
n
ed
i
n
to
a
r
an
g
e
o
f
s
er
io
u
s
r
esear
ch
in
tr
ig
u
e.
I
n
d
u
s
tr
ial
p
r
o
ce
s
s
co
n
tr
o
l
s
y
s
te
m
h
as
m
a
n
y
co
m
p
o
n
e
n
ts
,
f
o
r
ex
a
m
p
le,
n
o
n
-
s
tr
aig
h
t,
i
n
er
tial
s
lack
,
ti
m
e
d
ef
er
r
al
an
d
ti
m
e
ch
an
g
in
g
s
o
o
n
[3
,
4]
.
B
e
ca
u
s
e
o
f
th
is
,
ex
ac
t
s
cie
n
ti
f
i
c
d
em
o
n
s
tr
ati
n
g
i
s
i
m
p
r
ac
tical.
C
o
n
v
en
t
io
n
al
P
I
D
ca
lcu
la
tio
n
d
o
es
n
o
t
h
o
l
d
w
el
l
f
o
r
s
u
c
h
s
y
s
te
m
w
h
ich
h
as
u
n
s
e
ttli
n
g
in
f
lu
e
n
ce
s
.
F
u
zz
y
h
a
s
m
o
r
e
p
r
ef
er
en
ce
s
w
h
e
n
co
m
p
ar
ed
w
it
h
P
I
D
[
5
]
.
I
t
h
as
a
q
u
ick
r
ea
cti
o
n
,
litt
le
o
v
er
s
h
o
o
t
an
d
g
r
ea
t a
g
ai
n
s
t i
m
p
ed
an
ce
c
ap
ac
it
y
.
2
.
1
.
F
uzzy
L
o
g
ic
Desig
n
Fu
zz
y
L
o
g
ic
(
F
L
)
i
s
a
w
a
y
t
o
d
ea
l
w
it
h
co
n
tr
o
l
b
u
ild
in
g
i
s
s
u
es,
w
h
ic
h
m
ir
r
o
r
s
h
o
w
a
m
an
w
o
u
l
d
d
ec
id
e,
j
u
s
t
m
u
ch
s
p
ee
d
ier
[
6
]
.
FL
co
n
s
o
lid
ates
a
b
asic
m
a
n
ag
e
b
ased
"
I
F
X
A
ND
Y
T
HE
N
Z
"
w
a
y
to
d
ea
l
w
it
h
a
ta
k
i
n
g
ca
r
e
o
f
co
n
tr
o
l
is
s
u
e
in
s
tead
o
f
en
d
ea
v
o
u
r
in
g
to
d
em
o
n
s
tr
ate
a
s
y
s
te
m
s
c
ie
n
ti
f
icall
y
[
7
]
.
E
ac
h
Fu
zz
y
s
y
s
te
m
is
m
ad
e
o
u
t o
f
f
o
u
r
k
e
y
p
iece
s
[
8
]
:
i.
Kn
o
w
led
g
e
b
ase:
R
u
les an
d
p
ar
a
m
eter
s
f
o
r
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
.
ii.
Dec
is
io
n
m
a
k
in
g
u
n
i
t: I
n
f
er
en
ce
o
p
er
atio
n
s
o
n
th
e
r
u
le
s
.
iii.
Fu
zz
i
f
icatio
n
in
ter
f
ac
e:
T
r
an
s
f
o
r
m
atio
n
o
f
t
h
e
cr
is
p
i
n
p
u
t
s
in
to
d
eg
r
ee
s
o
f
t
h
e
m
atc
h
w
it
h
lin
g
u
i
s
tic
v
ar
iab
les.
iv
.
De
-
f
u
zz
i
f
ica
tio
n
i
n
ter
f
ac
e:
T
r
an
s
f
o
r
m
atio
n
o
f
t
h
e
F
u
zz
y
r
es
u
l
t o
f
th
e
i
n
f
er
e
n
ce
i
n
to
a
cr
is
p
o
u
tp
u
t.
3.
M
AT
H
E
M
AT
I
CAL M
O
DE
L
L
I
N
G
O
F
CT
S
I
t
is
ess
e
n
tial
to
co
m
p
r
eh
e
n
d
th
e
ar
ith
m
etic
d
is
p
la
y
i
n
g
o
f
th
e
co
n
d
u
ct
o
f
C
o
u
p
led
T
a
n
k
S
y
s
te
m
(
C
T
S).
I
n
th
i
s
s
tr
u
ct
u
r
e,
t
h
e
n
o
n
lin
ea
r
e
le
m
e
n
t
m
o
d
el
i
s
w
at
ch
ed
an
d
t
h
e
lin
ea
r
izat
io
n
p
r
o
ce
d
u
r
e
is
d
o
n
e
f
r
o
m
th
e
n
o
n
li
n
ea
r
m
o
d
el.
I
n
lig
h
t o
f
Fi
g
u
r
e
1
,
H1
an
d
H2
ar
e
th
e
liq
u
id
lev
el
s
in
T
an
k
1
an
d
T
an
k
2
.
Fig
u
r
e
1
.
Sch
e
m
atic
r
ep
r
esen
t
atio
n
o
f
t
h
e
co
n
s
id
er
ed
co
u
p
led
tan
k
T
h
e
liq
u
id
lev
el
is
m
ea
s
u
r
ed
r
eg
ar
d
in
g
th
e
r
elatin
g
o
u
tlet.
C
o
n
s
id
er
in
g
a
b
asic
m
ass
ad
j
u
s
t
m
e
n
t
,
th
e
r
ate
o
f
p
r
o
g
r
ess
o
f
liq
u
id
v
o
l
u
m
e
in
e
v
er
y
ta
n
k
b
r
ea
k
s
e
v
en
w
it
h
t
h
e
n
et
s
tr
ea
m
o
f
liq
u
id
i
n
to
th
e
ta
n
k
.
I
n
th
i
s
w
a
y
,
th
e
co
n
d
it
io
n
f
o
r
T
an
k
1
an
d
T
an
k
2
as
s
h
o
w
n
in
eq
u
a
ti
o
n
s
(
1
,
2
)
[
9
]
[
1
0
]
:
3
1
1
1
1
Q
Qo
Qi
dt
dh
A
(
1
)
3
2
2
2
2
Q
Qo
Qi
dt
dh
A
(
2
)
W
h
er
e:
H
1
,
H
2
=
Heig
h
t o
f
f
lu
id
in
ta
n
k
1
an
d
2
,
A
1
,
A
2
=
C
r
o
s
s
-
s
ec
tio
n
al
ar
ea
o
f
tan
k
1
an
d
2
,
Q
3
=
T
h
e
r
ate
f
lo
w
o
f
f
l
u
id
b
et
w
ee
n
tan
k
s
,
Q
i
1
,
Q
i
2
=
P
u
m
p
f
lo
w
r
ate
in
to
tan
k
1
an
d
2
,
Q
o
1
,
Q
o
2
=
Flo
w
r
ate
o
f
f
l
u
id
o
u
t o
f
ta
n
k
1
an
d
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
7
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
8
–
17
10
E
v
er
y
o
u
tlet
d
ep
lete
s
ca
n
b
e
d
is
p
la
y
ed
as
a
b
asic
h
o
le.
T
h
e
B
er
n
o
u
lli
'
s
co
n
d
itio
n
f
o
r
co
n
s
i
s
ten
t,
n
o
n
-
g
o
o
e
y
,
in
co
m
p
r
e
s
s
ib
le
d
e
m
o
n
s
tr
ate
s
th
at
t
h
e
o
u
tlet
s
tr
ea
m
i
n
ev
er
y
tan
k
is
co
r
r
esp
o
n
d
in
g
to
th
e
s
q
u
ar
e
f
o
u
n
d
atio
n
o
f
t
h
e
h
ea
d
o
f
w
a
t
er
in
th
e
tan
k
.
Si
m
ilar
l
y
,
t
h
e
s
tr
ea
m
b
et
w
ee
n
th
e
ta
n
k
s
is
r
el
ativ
e
to
th
e
s
q
u
ar
e
b
ase
o
f
th
e
h
ea
d
d
i
f
f
er
e
n
tial.
T
h
u
s
eq
u
atio
n
s
(3
)
,
(
4)
:
)
(
2
2
2
1
2
1
3
1
1
1
1
1
1
H
H
H
H
h
H
Q
dt
dh
A
(
3
)
)
(
2
2
2
1
2
1
3
2
2
2
2
2
2
H
H
H
H
h
H
Q
dt
dh
A
(
4
)
Fro
m
th
e
eq
u
a
tio
n
s
(
3
)
an
d
(
4
)
,
to
b
e
e
q
u
atio
n
s
(
5
)
,
(
6)
2
1
2
1
3
1
1
1
1
1
1
2
2
H
H
H
H
h
H
Q
h
A
(
5
)
2
1
2
1
3
2
1
1
2
2
2
2
2
H
H
H
H
h
H
Q
h
A
(
6
)
T
h
e
m
an
ip
u
lated
v
ar
iab
le
i
s
t
h
e
p
er
tu
r
b
atio
n
to
ta
n
k
1
i
n
f
lo
w
.
Ass
u
m
i
n
g
t
h
at
m
u
t
u
all
y
al
l
v
ar
iab
le
s
ar
e
at
th
eir
s
tead
y
s
ta
te
v
al
u
e.
T
h
u
s
eq
u
atio
n
s
(
7
)
an
d
(
8
)
2
1
3
1
1
1
1
1
1
2
2
H
H
h
H
Q
h
A
(
7
)
2
1
3
2
1
1
2
2
2
2
2
H
H
h
H
Q
h
A
(
8
)
T
h
e
h
2
is
th
e
p
r
o
ce
s
s
v
ar
iab
le
an
d
q
1
is
th
e
m
an
ip
u
lated
v
ar
i
ab
le
.
T
h
e
c
ase
w
ill
b
e
co
n
s
id
er
ed
w
h
e
n
q
2
is
ze
r
o
.
E
q
u
atio
n
s
(
7
)
an
d
(
8
)
w
ill
b
e
ex
p
r
ess
ed
in
a
f
o
r
m
th
at
r
elate
s
b
et
w
ee
n
t
h
e
m
an
i
p
u
lated
v
ar
iab
le,
q
1
an
d
th
e
p
r
o
ce
s
s
v
ar
iab
le,
h
2
.
Th
er
ef
o
r
e
eq
u
atio
n
s
(
9
)
-
(
16)
:
2
12
1
1
1
1
1
h
K
q
K
h
h
T
(
9
)
1
21
2
2
2
2
2
h
K
q
K
h
h
T
(
1
0
)
W
h
er
e,
2
1
3
1
1
1
1
2
2
H
H
H
A
T
(
1
1
)
2
1
3
2
2
2
2
2
2
H
H
H
A
T
(
1
2
)
2
1
3
1
1
1
2
2
1
H
H
H
K
(
1
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
n
I
n
tellig
en
t Co
n
tr
o
ller
Desig
n
A
p
p
r
o
a
ch
fo
r
MIMO
C
o
u
p
l
ed
Ta
n
k
S
ystem
(
Mo
h
d
Ha
fiz
Ja
li
)
11
2
1
3
2
2
2
2
2
1
H
H
H
K
(
1
4
)
2
1
3
1
1
2
1
3
12
2
2
2
H
H
H
H
H
K
(
1
5
)
2
1
3
2
2
2
1
3
21
2
2
2
H
H
H
H
H
K
(
1
6
)
T
h
e
p
r
o
v
id
ed
p
ar
am
eter
s
ar
e
s
h
o
w
n
i
n
T
ab
le
1
b
elo
w
f
r
o
m
m
o
d
el
C
T
S
-
0
0
1
m
a
n
u
al.
T
ab
le
1
.
P
ar
am
eter
s
o
f
C
T
S
P
a
r
a
me
t
e
r
s
V
a
l
u
e
U
n
i
t
H
1
1
7
.
0
0
cm
H
2
1
5
.
0
0
cm
α
1
1
0
.
7
8
cm
3/
2
/
se
c
α
2
1
1
.
0
3
cm
3/
2
/
se
c
α
3
1
1
.
0
3
cm
3/
2
/
se
c
A
1
3
2
.
0
0
cm
2
A
2
3
2
.
0
0
cm
2
T
h
en
,
all
t
h
e
p
ar
a
m
eter
s
in
T
ab
le
1
h
a
v
e
b
ee
n
i
n
s
er
ted
i
n
to
t
h
e
eq
u
a
tio
n
s
(1
1
)
,
(
1
2
)
,
(
1
3
)
,
(
1
4
)
,
(
1
5
)
an
d
(
1
6
)
as sh
o
w
n
in
T
ab
le
2
:
T
ab
le
2
.
Valu
e
f
o
r
th
e
E
q
u
atio
n
s
(
1
1
)
,
(
1
2
)
,
(
1
3
)
,
(
1
4
)
,
(
1
5
)
a
n
d
(
1
6
)
Eq
u
a
t
i
o
n
T
1
T
2
K
1
K
2
K
12
K
21
V
a
l
u
e
6
.
1
5
6
.
0
1
0
.
1
9
0
.
1
8
8
0
.
7
5
0
.
7
3
A
ll
ca
lcu
latio
n
s
f
r
o
m
T
ab
le
2
m
u
s
t
b
e
i
n
s
er
t
to
g
et
h
er
at
eq
u
atio
n
s
(
9
)
an
d
(
10
)
f
o
r
t
w
o
t
an
k
s
w
h
er
e
ar
e
eq
u
atio
n
s
(
1
7
)
an
d
(
1
8
)
:
2
1
1
1
75
.
0
19
.
0
15
.
6
h
q
h
h
(
1
7
)
1
2
2
2
73
.
0
18
.
0
01
.
6
h
q
h
h
(
1
8
)
Fro
m
th
e
e
q
u
atio
n
s
(1
7
)
an
d
(
1
8
)
,
w
e
w
an
ted
1
h
an
d
2
h
o
n
l
y
f
o
r
b
o
th
tan
k
s
.
T
h
u
s
,
th
e
ac
tu
al
tr
an
s
f
er
f
u
n
c
tio
n
o
f
t
h
e
p
lan
t
w
it
h
t
h
e
co
m
p
leted
v
al
u
e
is
:
1
2
1
1
75
.
0
19
.
0
15
.
6
1
h
h
q
h
(
1
9
)
2
1
2
2
73
.
0
18
.
0
01
.
6
1
h
h
q
h
(
2
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
7
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
8
–
17
12
4.
CO
NT
RO
L
L
E
R
DE
SI
G
N
As
d
is
c
u
s
s
ed
i
n
t
h
e
m
o
d
ell
in
g
s
ec
tio
n
,
th
e
ac
tu
a
l
tr
a
n
s
f
er
f
u
n
ctio
n
o
b
tain
ed
w
il
l
b
e
i
n
s
er
te
d
in
to
t
h
e
MA
T
L
A
B
/S
i
m
u
li
n
k
.
Fi
g
u
r
e
2
d
ep
icts
th
e
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
C
T
S’s a
ctu
al
p
la
n
t in
t
h
e
M
I
MO
s
tr
u
ct
u
r
e.
Fig
u
r
e
2.
A
ct
u
al
p
lan
t o
f
C
T
S
w
it
h
MI
MO
s
tr
u
ct
u
r
e
T
h
e
C
T
S
p
lan
t
th
at
h
a
s
b
ee
n
d
ev
elo
p
ed
w
i
ll
b
e
th
en
co
n
tr
o
lled
b
y
u
s
i
n
g
t
h
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
s
in
o
r
d
er
t
o
im
p
r
o
v
e
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
C
T
S.
4
.
1
.
P
I
D
Co
ntr
o
ller
T
h
e
p
lan
t
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ir
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t
co
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P
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h
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m
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et
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as f
o
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w
:
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T
r
ial
an
d
E
r
r
o
r
.
ii.
Au
to
tu
n
i
n
g
.
iii.
Z
ie
g
ler
-
Nich
o
l
s
(
Z
-
N)
tu
n
i
n
g
.
T
ab
le
3
d
em
o
n
s
tr
ate
s
th
e
p
ar
a
m
eter
s
o
f
t
h
e
P
I
D
co
n
tr
o
ller
(
K
p
,
K
i
an
d
,
K
d
)
.
A
s
i
n
d
icate
d
i
n
T
ab
le
3
,
th
e
t
u
n
i
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g
s
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ate
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f
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P
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co
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as
d
e
m
o
n
s
tr
ated
th
e
ab
ilit
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o
f
th
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y
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te
m
b
y
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tili
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ith
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atio
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ap
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ter
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p
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T
ab
le
3.
P
ar
am
eter
s
o
f
t
h
e
P
I
D
co
n
tr
o
ller
M
e
t
h
o
d
s
T
a
n
k
-
1
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a
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k
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p
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.
F
uzzy
L
o
g
ic
Co
ntr
o
ller
B
y
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tili
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in
g
s
a
m
e
p
lan
t
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f
t
h
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C
T
S
MI
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th
at
co
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w
it
h
P
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D
co
n
tr
o
ller
.
T
h
e
p
la
n
t
w
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b
e
co
n
n
ec
ted
w
it
h
f
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w
ith
2
d
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t
t
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t
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s
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h
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m
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latio
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h
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f
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lo
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co
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tr
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ill te
s
t b
y
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s
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g
:
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Fu
zz
y
lo
g
ic
co
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tr
o
ller
–
3
r
u
les.
ii)
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
–
5
r
u
les.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
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SS
N:
2089
-
4856
A
n
I
n
tellig
en
t Co
n
tr
o
ller
Desig
n
A
p
p
r
o
a
ch
fo
r
MIMO
C
o
u
p
l
ed
Ta
n
k
S
ystem
(
Mo
h
d
Ha
fiz
Ja
li
)
13
Fro
m
th
i
s
t
w
o
s
et
o
f
s
i
m
u
latio
n
s
,
t
w
o
in
p
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t
w
h
ic
h
ar
e
lev
el
o
f
w
ater
an
d
r
ate
o
f
w
ater
f
lo
w
i
n
to
th
e
tan
k
a
n
d
o
u
tp
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t
v
ar
iab
le
o
f
t
h
e
co
n
tr
o
ller
.
T
h
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o
u
tp
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t
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th
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v
al
v
e
th
at
co
n
tr
o
ls
th
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r
at
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f
w
ater
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w
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to
tan
k
s
[
1
1
]
.
4
.
2
.
1
.
F
uzzy
L
o
g
ic
Rule
B
a
s
e
T
h
e
o
u
tp
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f
th
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co
n
tr
o
ller
is
a
v
a
lv
e
w
h
ic
h
v
ar
ies
co
r
r
esp
o
n
d
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g
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a
n
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p
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t.
F
o
r
Fu
zz
y
L
o
g
ic
3
r
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les,
th
r
ee
s
tate
s
w
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e
co
n
s
id
er
ed
f
o
r
b
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th
in
p
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ts
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ile
p
er
f
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r
m
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g
t
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ase
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a
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ati
v
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ze
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h
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u
tp
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t
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clo
s
e,
av
er
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n
d
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e
[
1
2
]
.
T
h
e
r
u
les o
f
f
u
zz
y
3
r
u
le
s
as
f
o
l
lo
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f
t
h
e
le
v
el
i
s
h
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h
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h
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n
th
e
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v
e
is
clo
s
ed
.
ii)
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f
th
e
le
v
el
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k
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d
th
e
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ate
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s
ze
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iii)
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.
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f
th
e
le
v
el
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w
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th
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v
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s
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f
th
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is
h
ig
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th
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v
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is
f
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lo
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ii)
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f
t
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k
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iii)
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le
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k
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n
th
e
v
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v
e
is
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s
ed
.
iv
)
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f
th
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lev
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s
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n
t
h
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e
is
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r
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al.
v
)
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f
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le
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s
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y
lo
w
t
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en
t
h
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p
en
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5.
RE
S
U
L
T
S
A
ND
D
I
SCU
SS
I
O
N
T
ab
le
4
d
em
o
n
s
tr
ate
s
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s
p
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ar
ticu
lar
o
f
th
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P
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D
co
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tr
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ller
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y
t
h
e
tr
ad
itio
n
al
tu
n
in
g
tec
h
n
iq
u
e
r
eg
ar
d
in
g
th
e
p
ar
a
m
eter
s
in
T
ab
le
3
,
w
h
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e
T
r
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t
t
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e
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m
e,
T
s
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t
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m
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a
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OS
% is
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h
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f
t
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s
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m
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tag
e.
T
ab
le
4.
T
r
an
s
ien
t
R
esp
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n
s
e
o
f
t
he
P
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D
C
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tr
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ller
M
e
t
h
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d
s
T
a
n
k
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1
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n
k
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r
(
se
c
)
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s
(
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c
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%
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r
(
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c
)
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Er
r
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Fro
m
t
h
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co
n
v
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tio
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a
l
t
u
n
in
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tech
n
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e,
th
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p
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f
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m
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ce
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f
t
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co
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tr
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ill
b
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c
u
s
s
ed
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g
r
ap
h
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co
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g
to
t
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f
t
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tr
ates
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ate
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n
d
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t
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s
y
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m
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Fro
m
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i
n
g
tech
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iq
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e
f
o
r
Z
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t
h
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ctio
n
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f
t
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f
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d
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p
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co
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r
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w
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s
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e
tec
h
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iq
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e
d
e
m
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ate
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a
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d
T
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.
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e
t
h
at
a
s
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m
a
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,
a
u
to
t
u
n
e
tech
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iq
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e
h
a
s
t
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s
p
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d
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ti
m
e
r
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f
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m
e
w
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k
,
h
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w
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v
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f
th
e
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v
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s
h
o
o
t
is
h
i
g
h
e
r
in
ta
n
k
2
co
n
tr
asted
w
it
h
t
h
e
s
tr
ateg
ie
s
o
f
th
e
o
th
er
.
T
h
en
,
FLC
h
as
b
ee
n
ap
p
lied
i
n
o
r
d
er
to
en
h
a
n
ce
t
h
e
ca
p
ab
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y
of
t
h
e
C
T
S.
T
ab
le
5
d
em
o
n
s
tr
ate
s
t
h
e
tr
an
s
ie
n
t
r
esp
o
n
s
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a
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is
p
a
r
ticu
lar
l
y
f
o
r
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
w
it
h
b
o
th
r
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les
b
ase
as
d
is
cu
s
s
ed
in
th
e
p
r
ev
io
u
s
s
ec
t
io
n
.
T
ab
le
5
.
T
r
an
s
ien
t
R
esp
o
n
s
e
o
f
t
h
e
Fu
zz
y
L
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g
ic
C
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n
tr
o
ller
M
e
t
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o
d
s
T
a
n
k
-
1
-
T
a
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R
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it
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k
n
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tr
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h
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r
eq
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b
r
ief
ti
m
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t
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a
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f
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f
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m
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s
tech
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t
h
r
o
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,
it
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eliv
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a
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t
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s
y
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m
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h
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p
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d
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r
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r
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s
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b
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d
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f
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s
t
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to
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d
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t
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.
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m
w
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g
o
tten
f
r
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m
t
h
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tech
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d
o
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p
ar
a
m
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s
i
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co
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tr
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.
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ter
b
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co
n
tr
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b
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co
m
p
ar
e
b
ased
o
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b
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v
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f
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y
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co
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tr
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ller
f
o
r
5
r
u
le
b
ase
p
r
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d
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a
g
r
ea
t
r
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lt
ev
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t
h
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u
g
h
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co
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ller
f
o
r
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-
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n
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g
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et
h
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g
r
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t
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s
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tlin
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d
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is
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ti
m
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Fu
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y
lo
g
ic
co
n
tr
o
ller
f
o
r
5
r
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b
ase
cr
ea
te
s
a
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tab
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t
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ller
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m
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%.
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leas
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to
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t
p
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a
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ce
b
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F
L
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,
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t
s
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a
s
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e
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g
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p
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h
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n
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e
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e
n
t to
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it.
A
t t
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p
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t,
it c
a
n
s
p
ar
e
ti
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e.
6.
CO
NCLU
SI
O
N
Fo
r
P
I
D
co
n
tr
o
ller
th
e
p
ar
a
m
eter
ca
n
b
e
t
u
n
ed
b
y
th
e
cu
s
t
o
m
ar
y
s
tr
ateg
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.
Fo
r
ex
a
m
p
le,
T
r
ial
an
d
er
r
o
r
,
Z
-
N,
an
d
au
to
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t
u
n
i
n
g
a
n
d
s
a
m
e
go
to
th
e
F
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w
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h
h
as
a
lo
t
o
f
d
if
f
er
en
t
t
y
p
e
o
f
r
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les.
T
h
e
ex
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u
tio
n
o
f
th
e
b
o
th
s
y
s
te
m
w
h
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h
i
s
P
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D
an
d
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C
f
o
r
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S
m
a
y
ac
co
m
p
lis
h
t
h
e
g
r
ea
t
e
x
ec
u
tio
n
h
o
w
ev
er
v
er
y
tr
o
u
b
leso
m
e
f
o
r
f
i
n
d
in
g
th
e
p
ar
a
m
eter
s
.
I
t
r
eq
u
ir
ed
a
g
r
ea
t
d
ea
l
o
f
ex
er
tio
n
an
d
e
n
co
u
n
t
er
s
to
g
et
a
d
ec
en
t
p
ick
u
p
o
f
t
h
e
b
o
th
co
n
tr
o
ller
s
.
I
n
t
h
is
m
a
n
n
er
,
i
m
p
r
o
v
e
m
e
n
t
ap
p
r
o
ac
h
w
ill
b
e
e
x
ec
u
ted
to
lo
ca
te
th
e
id
ea
l
p
ar
am
eter
s
o
f
th
e
co
n
tr
o
ller
.
B
y
u
tili
zi
n
g
th
i
s
ap
p
r
o
ac
h
,
a
b
etter
g
ain
an
d
p
er
f
o
r
m
a
n
ce
is
n
o
r
m
al.
T
h
er
ef
o
r
e,
in
f
u
t
u
r
e
,
th
e
F
L
C
w
ill
b
e
in
teg
r
ated
w
ith
d
i
f
f
er
en
t
s
et
o
f
r
u
les
in
o
r
d
er
to
ac
h
iev
e
t
h
e
g
r
ea
t
p
er
f
o
r
m
an
ce
b
ased
o
n
s
ettlin
g
ti
m
e,
r
is
e
ti
m
e,
an
d
o
v
er
s
h
o
o
t.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
e
au
th
o
r
s
w
o
u
ld
lik
e
to
th
an
k
U
n
i
v
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s
iti
T
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n
i
k
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Ma
l
a
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s
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Me
la
k
a
(
UT
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an
d
Min
i
s
tr
y
o
f
Hig
h
er
E
d
u
ca
tio
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t
h
r
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r
esear
c
h
g
r
a
n
t
w
it
h
co
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e
n
u
m
b
er
R
AGS/1
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0
1
5
/
T
K0
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3
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0
0
0
9
7
.
RE
F
E
R
E
NC
E
S
[1
]
C.
P
o
r
n
p
a
tk
u
l
a
n
d
T
.
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u
k
sri,
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e
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tralize
d
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u
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z
y
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g
ic
Co
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tro
ll
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r
f
o
r
T
ITO
Co
u
p
le
d
-
T
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n
k
P
r
o
c
e
ss
,
”
in
ICROS
-
S
ICE
In
ter
n
a
ti
o
n
a
l
J
o
in
t
Co
n
fer
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n
c
e
,
2
0
0
9
,
p
p
.
2
8
6
2
–
2
8
6
6
.
[2
]
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.
L
ian
g
,
“
T
h
e
A
p
p
li
c
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ti
o
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o
f
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u
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z
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ID
Co
n
tr
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ll
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r
in
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o
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led
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T
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n
k
L
iq
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id
-
L
e
v
e
l
Co
n
tro
l
S
y
ste
m
,
”
in
In
ter
n
a
t
io
n
a
l
C
o
n
fer
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n
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e
o
n
E
lec
tro
n
ics
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o
mm
u
n
ic
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ti
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n
s
a
n
d
Co
n
tro
l
(
ICECC)
,
2
0
1
1
,
p
p
.
2
8
9
4
–
2
8
9
7.
[3
]
R.
Ja
isu
e
,
J.
Ch
a
o
ra
in
g
e
rn
,
V
.
T
ip
su
w
a
n
p
o
rn
,
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.
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m
so
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ra
n
,
a
n
d
P
.
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h
o
lk
e
a
w
,
“
A
De
si
g
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o
f
F
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ID
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tr
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r
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se
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led
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k
s
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ro
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e
ss
,
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in
In
ter
n
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ti
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l
Co
n
fer
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o
n
Co
n
tro
l,
Au
to
m
a
ti
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n
a
n
d
S
y
ste
ms
(
ICCAS
)
,
2
0
1
2
,
p
p
.
6
1
0
–
6
1
3
.
[4
]
M
.
U.
A
ri
f
,
D.
K.
Iq
b
a
l,
a
n
d
M
.
B.
Ka
d
ri,
“
A
d
a
p
ti
v
e
On
li
n
e
F
u
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z
y
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n
tro
ll
e
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Co
u
p
led
T
a
n
k
S
y
ste
m
,
”
in
In
ter
n
a
t
io
n
a
l
M
u
lt
i
-
T
o
p
ic C
o
n
fer
e
n
c
e
(
IN
M
IC)
,
2
0
1
4
,
p
p
.
3
3
8
–
3
4
3
.
[5
]
R.
A
n
tao
,
A
.
M
o
ta,
a
n
d
R.
E.
M
a
rti
n
s,
“
G
e
n
e
r
a
li
z
e
d
P
re
d
ictiv
e
Co
n
tr
o
l
u
sin
g
In
terv
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l
Ty
p
e
-
2
F
u
z
z
y
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o
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e
ls,
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in
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In
ter
n
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ti
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l
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fer
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n
Fu
zz
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y
ste
ms
,
2
0
1
5
,
p
p
.
1
–
8.
[6
]
C.
L
i,
J.
Yi,
a
n
d
D.
Zh
a
o
,
“
In
terv
a
l
Ty
p
e
-
2
F
u
z
z
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ra
l
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t
w
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k
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tro
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r
(IT
2
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led
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tro
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ste
m
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In
ter
n
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ti
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l
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o
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fer
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n
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o
n
In
n
o
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Co
mp
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n
d
Co
n
tro
l
(
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,
2
0
0
8
,
p
p
.
1
–
4.
[7
]
M
.
A
h
sa
n
a
n
d
M
.
U.
K
h
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li
d
,
“
L
iq
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n
In
ter
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y
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S
T
)
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2
0
1
4
,
p
p
.
1
–
4.
[8
]
A
.
Bo
u
b
a
k
ir,
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.
Bo
u
d
jem
a
,
a
n
d
S
.
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,
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ro
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li
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p
led
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a
n
k
s S
y
ste
m
,
”
In
t.
J
.
Au
t
o
m.
C
o
mp
u
t.
,
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l.
6
,
n
o
.
1
,
p
p
.
7
2
–
80,
2
0
0
9
.
[9
]
H.
I.
Ja
a
f
a
r,
S
.
Y.
S
.
Hu
ss
ien
,
N.
A
.
S
e
la
m
a
t,
M
.
S
.
M
.
A
ra
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n
d
M
.
Z.
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.
Ra
sh
id
,
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v
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ID
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n
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De
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Co
u
p
led
T
a
n
k
S
y
ste
m
,
”
In
t.
J
.
In
n
o
v
.
T
e
c
h
n
o
l
.
Exp
l
o
r.
En
g
.
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o
l
.
3
,
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o
.
9
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p
.
3
2
–
3
6
,
2
0
1
4
.
[1
0
]
H
.
I.
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a
f
a
r,
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.
Y.
S
.
Hu
ss
ien
,
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A
.
S
e
la
m
a
t,
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.
N.
M
.
Na
sir,
M
.
H.
Ja
li
,
“
A
n
a
l
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sis
o
f
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ra
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e
n
t
Re
sp
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n
se
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u
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led
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v
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n
a
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le
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w
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Op
ti
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iz
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ti
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n
(
P
S
O)
T
e
c
h
n
iq
u
e
s”
,
In
t
e
rn
a
ti
o
n
a
l
Jo
u
rn
a
l
o
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En
g
in
e
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rin
g
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n
d
T
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o
lo
g
y
(I
JET
),
v
o
l.
6
(5
)
,
p
p
2
0
0
2
-
2
0
0
7
,
2
0
1
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
n
I
n
tellig
en
t Co
n
tr
o
ller
Desig
n
A
p
p
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a
ch
fo
r
MIMO
C
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l
ed
Ta
n
k
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ystem
(
Mo
h
d
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fiz
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li
)
17
[1
1
]
B.
M
o
n
d
a
l,
A
.
Bil
lah
a
,
B.
R
o
y
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a
n
d
R.
S
a
h
a
,
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P
e
rf
o
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m
a
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Co
m
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ID
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ter
Lev
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In
t.
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p
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[1
2
]
S
.
Ra
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a
n
d
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a
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ra
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tw
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rk
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Pro
c
e
d
i
a
T
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2
4
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p
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0
4
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4
,
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0
1
6
.
BI
O
G
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.
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n
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r
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in
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lectr
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n
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in
ee
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Un
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v
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s
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T
ek
n
i
k
al
Ma
la
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Me
lak
a
(
UT
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)
in
2
0
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ter
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ar
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telli
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eg
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lay
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(
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la
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n
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n
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h
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T
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n
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e
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Gh
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u
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l
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ia
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r
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to
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Ma
s
ter
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in
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U
n
i
v
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T
ek
n
ik
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Ma
la
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ia
Me
lak
a
(
U
T
eM
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.