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th
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ste
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li
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n
tro
ll
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m
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(
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p
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ti
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n
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ls
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o
f
th
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o
n
sid
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d
sy
ste
m
is
g
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a
ra
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d
d
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to
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n
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ly
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p
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n
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z
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sta
te
traje
c
to
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n
d
to
d
e
sire
d
se
t
p
o
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n
ts.
I
n
a
d
d
it
i
o
n
,
w
e
c
o
n
sid
e
r
th
e
traje
c
to
ry
trac
k
in
g
a
n
d
sta
b
il
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ti
o
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o
f
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s
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t
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s
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t
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s
g
a
in
s
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re
tu
n
in
g
v
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li
n
e
a
r
q
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a
d
r
a
ti
c
re
g
u
lato
r
(L
QR)
a
p
p
ro
a
c
h
.
F
in
a
ll
y
,
to
d
e
m
o
n
stra
te
th
e
e
ff
e
c
ti
v
e
n
e
ss
o
f
S
M
C
a
n
d
P
ID
-
L
QR
d
e
sig
n
m
e
th
o
d
s,
th
e
c
o
m
p
a
riso
n
is
c
a
rried
o
u
t
w
h
e
n
th
e
n
o
m
in
a
l
a
n
d
u
n
c
e
rtain
c
o
n
d
i
ti
o
n
s.
K
ey
w
o
r
d
s
:
L
Q
R
P
I
D
SMC
T
im
e
Dela
y
T
W
B
MR
T
h
is
is
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ah
m
ed
J
.
A
b
o
u
g
ar
air
,
Dep
ar
t
m
en
t o
f
E
lectr
ical
an
d
E
lectr
o
n
ics E
n
g
i
n
ee
r
in
g
,
Un
i
v
er
s
it
y
o
f
T
r
ip
o
li,
T
r
ip
o
li,
L
ib
y
a.
E
m
ail:
a.
ab
o
u
g
ar
air
@
u
o
t.e
d
u
.
l
y
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
t
w
o
-
w
h
ee
led
m
o
d
el
h
a
s
attr
ac
ted
m
u
ch
atte
n
tio
n
i
n
th
e
f
ie
ld
o
f
co
n
tr
o
l
t
h
eo
r
y
b
ec
au
s
e
th
e
y
ar
e
n
o
n
lin
ea
r
an
d
u
n
d
er
ac
tu
at
ed
w
ith
i
n
h
er
e
n
t
u
n
s
tab
le
d
y
n
a
m
ics.
W
h
ee
led
in
v
er
ted
p
en
d
u
lu
m
is
o
n
e
k
in
d
o
f
in
v
er
ted
p
en
d
u
l
u
m
s
y
s
te
m
,
an
d
it
n
am
e
s
t
w
o
-
w
h
ee
led
s
el
f
-
b
alan
ce
d
m
o
b
ile
r
o
b
o
t
(
T
W
B
MR).
T
h
e
T
W
B
MR
u
s
e
c
lean
e
n
er
g
y
a
s
a
p
o
w
er
a
n
d
h
a
s
ad
v
a
n
ta
g
e
o
f
s
m
all
ca
p
ac
it
y
,
f
ea
s
ib
le
r
o
tatio
n
,
w
h
ic
h
i
s
u
s
ed
w
id
el
y
i
n
m
an
y
f
ie
ld
s
,
s
u
c
h
as
tr
af
f
ic,
s
u
r
v
e
y
,
r
esc
u
e
a
n
d
en
ter
tain
m
e
n
t
[
1
,
2
]
.
T
W
B
MR
is
s
et
u
p
b
y
ca
r
t,
m
ea
n
w
h
ile,
ea
ch
w
h
ee
l
o
f
ca
r
t
i
s
co
n
n
ec
t
ed
w
it
h
a
n
o
u
tp
u
t
s
h
a
f
t
o
f
a
m
o
to
r
.
Mo
r
eo
v
er
,
th
e
m
o
to
r
s
d
r
iv
e
th
e
m
o
v
e
m
e
n
t
w
h
ile
m
ai
n
tai
n
i
n
g
s
el
f
-
b
alan
c
in
g
o
f
t
h
e
b
o
d
y
o
f
th
e
s
y
s
te
m
i
n
t
h
e
t
w
o
-
d
i
m
e
n
s
io
n
s
[
3
,
4
]
.
SMC
h
a
s
m
an
y
ap
p
licatio
n
s
i
n
r
o
b
o
tics
[
5
]
.
I
n
p
ar
ticu
lar
,
t
h
i
s
co
n
tr
o
l
al
g
o
r
ith
m
h
as
b
ee
n
u
s
ed
f
o
r
t
r
ac
k
in
g
co
n
tr
o
l
o
f
u
n
m
a
n
n
ed
s
u
r
f
ac
e
v
es
s
els
i
n
s
i
m
u
lated
r
o
u
g
h
s
ea
s
w
i
th
h
ig
h
d
eg
r
ee
o
f
s
u
cc
es
s
[
6
,
7
]
.
A
ls
o
,
t
h
e
L
Q
R
ap
p
r
o
ac
h
h
as b
ee
n
u
s
ed
f
o
r
th
e
d
esig
n
o
f
o
p
ti
m
a
l P
I
D
co
n
tr
o
ller
s
w
h
er
e
t
h
e
co
n
tr
o
ller
g
a
i
n
s
ar
e
f
o
r
m
u
lated
a
s
th
e
o
p
ti
m
al
s
tate
-
f
ee
d
b
ac
k
g
ain
s
,
co
r
r
esp
o
n
d
in
g
to
th
e
d
esire
d
r
esp
o
n
s
e.
T
h
e
tim
e
d
el
a
y
is
a
s
ig
n
i
f
ica
n
t
p
r
o
b
lem
th
at
h
av
e
b
ee
n
i
n
ter
e
s
ted
in
m
a
n
y
p
r
ev
io
u
s
r
esear
c
h
es
as
i
n
[
8
,
9
]
.
B
y
g
o
in
g
i
n
t
h
e
s
a
m
e
d
ir
ec
tio
n
o
f
th
e
p
r
ev
io
u
s
li
ter
atu
r
es
f
o
r
ad
d
r
ess
in
g
t
h
e
i
n
f
lu
e
n
ce
o
f
ti
m
e
d
elay
o
n
t
h
e
s
y
s
te
m
p
er
f
o
r
m
a
n
ce
,
th
e
w
o
r
k
i
n
t
h
i
s
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
R
o
b
u
s
t c
o
n
tr
o
l a
n
d
o
p
timiz
ed
p
a
r
a
llel c
o
n
tr
o
l d
o
u
b
le
lo
o
p
d
esig
n
fo
r
mo
b
ile
r
o
b
o
t
(
A
h
med
J.
A
b
o
u
g
a
r
a
ir
)
161
p
ap
er
is
co
n
s
id
er
ed
h
er
e
to
av
o
id
th
e
ef
f
ec
t o
f
ti
m
e
d
ela
y
s
o
n
th
e
T
W
B
MR tr
ac
k
in
g
p
er
f
o
r
m
an
ce
is
p
r
esen
ted
.
T
h
is
p
ap
er
ca
n
b
e
ar
r
an
g
ed
as f
o
llo
w
s
.
I
n
s
ec
tio
n
t
w
o
,
t
h
e
n
o
n
li
n
ea
r
an
d
lin
ea
r
d
y
n
a
m
ic
m
o
d
el
o
f
T
W
B
MR
is
p
r
esen
ted
,
in
s
ec
tio
n
th
r
ee
,
th
e
SMC
d
esig
n
is
p
r
ese
n
ted
,
in
s
ec
tio
n
f
o
u
r
P
I
D
b
ased
L
QR
is
d
esi
g
n
ed
an
d
s
h
o
w
n
,
t
h
e
s
i
m
u
l
a
t
i
o
n
r
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s
u
l
t
s
w
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p
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v
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d
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f
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y
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c
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s
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s
i
n
c
l
u
d
e
d
i
n
s
e
c
t
i
o
n
s
i
x
.
2.
M
AT
H
E
M
AT
I
CAL M
O
DE
L
O
F
T
WB
M
R
T
h
e
T
W
B
MR
is
r
e
s
tr
icted
to
a
p
lan
e,
an
d
it
is
a
s
s
u
m
ed
t
h
at
t
h
e
w
h
ee
ls
a
l
w
a
y
s
s
ta
y
i
n
co
n
tact
w
it
h
th
e
g
r
o
u
n
d
an
d
th
at
t
h
er
e
is
n
o
s
lip
at
t
h
e
w
h
ee
l
’
s
co
n
tact
p
o
i
n
t.
T
h
er
ef
o
r
e,
t
h
er
e
i
s
n
o
m
o
v
e
m
en
t
i
n
th
e
z
ax
is
.
T
h
e
s
et
o
f
eq
u
a
tio
n
s
o
f
T
W
B
MR
h
as
b
ee
n
d
ev
elo
p
ed
b
y
[
6
]
to
d
escr
i
b
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o
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S
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y
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s
u
r
f
ac
e
is
d
e
f
i
n
ed
b
y
̇
(
23
)
w
id
t
h
(
24
)
T
h
e
d
er
iv
ativ
e
o
f
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e
̇
is
g
i
v
en
b
y
̇
̈
̇
̈
̈
̇
(
25
)
An
d
d
u
e
to
li
m
ited
s
p
ac
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i
n
th
is
ar
ticle,
t
h
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a
m
e
p
r
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u
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tak
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h
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p
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o
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lace
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n
t
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lid
in
g
m
o
d
e
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n
tr
o
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e
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n
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er
ed
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er
e
w
i
t
h
th
e
f
o
llo
w
i
n
g
s
u
b
s
tit
u
tio
n
s
:
,
,
,
,
,
̈
(
)
(
26
)
An
d
w
it
h
L
y
ap
u
n
o
v
f
u
n
ct
io
n
g
iv
e
n
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y
(
27
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Si
m
i
lar
l
y
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t
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ce
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th
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in
g
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-
eq
u
alit
y
:
̇
|
|
(
28
)
̇
|
|
(
29
)
A
cc
o
r
d
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g
l
y
,
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h
e
s
l
id
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g
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o
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l h
a
v
e
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n
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iv
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to
g
et
(
30
)
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h
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th
e
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n
t c
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l s
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se
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y
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(
)
̈
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(
31
)
An
d
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n
g
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n
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o
l si
g
n
al
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g
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v
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n
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h
̂
(
)
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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J
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b
&
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to
m
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N:
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4856
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165
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wit
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3
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o
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al
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ased
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t
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L
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n
o
v
s
tab
ilit
y
f
u
n
ctio
n
s
g
iv
e
n
b
y
(
1
2
)
an
d
(
2
7
)
.
A
n
d
i
f
t
h
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s
e
s
i
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l
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i
n
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e
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t
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p
e
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t
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l
y
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n
t
o
(
1
3
)
a
n
d
(
2
8
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,
t
h
e
n
b
y
s
e
q
u
e
n
c
e
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h
e
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o
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l
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e
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u
a
l
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ar
e
o
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tain
ed
:
(
)
|
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(
32
)
(
)
|
|
(
33
)
C
o
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s
eq
u
en
tl
y
,
b
ec
a
u
s
e
th
e
co
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s
ta
n
t p
ar
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m
eter
s
ar
e
al
w
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y
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o
th
e
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elate
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ated
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4.
P
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D
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Her
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n
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th
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ter
m
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b
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y
(
I
B
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f
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a
s
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ec
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o
m
a
s
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ec
i
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ic
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itio
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ate
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f
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a
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o
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ased
L
Q
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co
n
tr
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ller
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tin
g
t
h
e
T
W
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MR
to
its
d
esire
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p
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itio
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d
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t
h
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llo
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a
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o
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e
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d
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b
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s
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an
d
d
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g
le
r
esp
ec
tiv
el
y
.
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h
e
p
o
s
itio
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d
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le
er
r
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eg
u
lated
t
h
r
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u
g
h
t
h
e
f
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w
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n
g
P
I
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ller
s
r
ep
r
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ted
r
esp
ec
tiv
el
y
b
y
an
d
[
1
0
,
14
].
(
34
)
A
cc
o
r
d
in
g
l
y
th
e
P
I
D
co
n
tr
o
l s
ig
n
a
l c
an
b
e
d
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ib
ed
b
y
t
h
e
f
o
llo
w
i
n
g
eq
u
a
tio
n
:
(
35
)
[
]
[
]
(
36
)
Sin
ce
th
e
p
en
d
u
lu
m
an
g
le
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d
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r
t
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n
d
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.
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ter
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f
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R
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n
d
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t
eg
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al
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o
l
w
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u
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.
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ter
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g
th
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th
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p
led
f
o
r
m
s
h
o
w
n
in
Fig
u
r
e
4
ca
n
b
e
o
b
tain
ed
as f
o
llo
w
s
:
(
3
7
)
Fig
u
r
e
4
.
P
ar
allel
c
o
n
tr
o
l
d
o
u
b
le
l
o
o
p
o
f
T
W
B
MR
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
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&
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No
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3
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Sep
tem
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er
2
0
2
0
:
1
6
0
–
170
166
w
h
er
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th
e
tr
an
s
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e
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tate
s
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ac
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m
o
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el
g
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v
en
b
y
(
3
)
an
d
(
4
)
to
g
et
[
1
2
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an
d
(
38
)
An
d
ac
co
r
d
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g
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th
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g
i
v
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t
y
p
ical
d
ata
in
[
1
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,
th
e
f
o
llo
w
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n
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en
ti
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ied
tr
an
s
f
er
f
u
n
ctio
n
s
ca
n
b
e
o
b
tain
ed
:
an
d
(
39
)
T
h
e
an
d
r
ep
r
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t
th
e
co
m
m
an
d
s
ig
n
al
s
o
f
t
h
e
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g
le
a
n
d
p
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o
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th
e
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r
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ec
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y
.
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h
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th
e
clo
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e
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lo
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s
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it
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e
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p
r
ess
ed
as f
o
llo
w
s
:
an
d
(
4
0
)
T
h
e
ch
ar
ac
ter
is
tic
eq
u
atio
n
f
o
r
th
e
t
w
o
-
lo
o
p
P
I
D
co
n
tr
o
ller
is
g
iv
e
n
as b
elo
w
(
41
)
Su
b
s
ti
tu
t
in
g
t
h
e
d
y
n
a
m
ic
s
o
f
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d
o
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tain
ed
p
r
ev
io
u
s
l
y
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n
e
o
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tain
s
t
h
e
f
o
llo
w
in
g
ch
ar
ac
ter
is
tic
eq
u
at
io
n
:
(
42
)
Si
m
p
li
f
y
i
n
g
(4
2
)
y
ield
s
th
e
f
o
l
lo
w
i
n
g
eq
u
atio
n
(
)
(
)
(
43
)
T
h
is
w
il
l b
e
co
m
p
ar
ed
to
th
e
f
o
llo
w
i
n
g
d
esire
d
ch
ar
ter
s
tic
e
q
u
atio
n
:
(
44
)
ar
e
th
e
d
esire
d
eig
en
v
alu
e
s
.
I
n
th
is
s
ec
tio
n
,
w
e
s
h
all
co
n
s
i
d
er
th
e
d
esig
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s
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le
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tr
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s
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te
m
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ased
o
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d
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s
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ec
if
icatio
n
.
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h
e
t
w
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-
l
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p
P
I
D
c
o
n
t
r
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l
l
e
r
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s
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a
i
n
s
a
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f
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m
u
l
a
t
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d
a
s
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o
p
t
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m
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l
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t
a
t
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f
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d
b
a
c
k
g
a
i
n
s
[
1
2
]
.
C
o
m
p
a
r
i
n
g
(
4
3
)
a
n
d
(4
4
)
g
i
v
e
s
[
]
[
]
=
[
]
(
45
)
B
u
t,
th
er
e
ar
e
s
ix
u
n
k
n
o
w
n
s
a
n
d
f
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v
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u
s
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ar
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ily
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h
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atio
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s
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[
]
=
[
]
[
]
(
46
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A
ll
th
e
P
I
Dx
an
d
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I
Da
co
n
tr
o
ller
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ar
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ter
s
m
u
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est
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n
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ller
ar
e
o
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tain
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u
s
in
g
m
atlab
p
r
o
g
r
a
m
.
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
R
o
b
u
s
t c
o
n
tr
o
l a
n
d
o
p
timiz
ed
p
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llel c
o
n
tr
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l d
o
u
b
le
lo
o
p
d
esig
n
fo
r
mo
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ile
r
o
b
o
t
(
A
h
med
J.
A
b
o
u
g
a
r
a
ir
)
167
5.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
T
h
e
n
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l
i
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o
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b
le
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esig
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o
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d
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QR
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t
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t
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C
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I
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Q
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t
8.186
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T
i
l
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a
n
g
l
e
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=
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.
1
.
No
m
ina
l c
a
s
e
Un
d
er
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e
lack
o
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s
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h
o
w
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F
i
g
u
r
e
5
.
I
t is see
n
th
a
t,
b
o
th
o
f
co
n
tr
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ll
er
s
ar
e
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u
cc
es
s
f
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tab
ilize
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h
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te
m
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ld
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a
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ac
k
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p
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m
a
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i
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co
m
p
ar
in
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to
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e
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D
-
L
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w
h
er
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th
e
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ett
lin
g
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m
e
i
s
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s
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o
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th
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s
y
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te
m
o
u
tp
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ts
.
Fig
u
r
e
5
.
St
ates o
f
T
W
B
MR u
s
in
g
SM
C
an
d
P
I
D
-
L
Q
R
B
esid
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h
i
g
h
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ac
k
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p
er
f
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m
an
ce
h
a
v
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b
ee
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b
y
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,
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h
e
s
y
s
te
m
s
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ili
t
y
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n
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e
g
u
ar
a
n
teed
as
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ell,
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is
ca
n
d
o
n
e
b
y
u
s
in
g
o
f
d
er
iv
ed
L
ap
u
n
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u
n
ctio
n
w
r
i
tten
i
n
(
3
2
)
an
d
.
(
3
3
)
to
g
et
th
e
L
y
ap
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n
o
v
e
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u
n
c
tio
n
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er
s
u
s
ti
m
e
f
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r
T
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B
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te
m
d
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s
p
lace
m
en
t
a
n
d
tilt
a
n
g
le
as
s
h
o
w
n
i
n
Fi
g
u
r
e
6
.
W
h
er
e,
it
is
o
b
s
er
v
ed
th
at
th
e
tr
aj
ec
to
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ies
o
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th
ese
f
u
n
ctio
n
s
d
i
m
in
is
h
ed
to
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e
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alu
e
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o
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th
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r
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ilit
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ce
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t
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e
th
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ilit
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g
u
ar
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tee
co
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ld
n
o
t
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e
d
em
o
n
s
tr
ated
g
r
ap
h
icall
y
in
c
ase
o
f
d
esig
n
b
y
P
I
D
–
L
Q
R
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
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to
m
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l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
1
6
0
–
170
168
Fig
u
r
e
6
.
L
ap
u
n
o
v
f
u
n
ctio
n
v
e
r
s
u
s
ti
m
e
f
o
r
p
o
s
itio
n
an
d
an
g
le
5
.
2
.
Uncer
t
a
in
t
im
e
de
la
y
T
im
e
d
ela
y
is
a
co
m
m
o
n
p
h
e
n
o
m
e
n
o
n
i
n
r
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b
o
tic
s
y
s
te
m
s
d
u
e
to
co
m
p
u
tatio
n
a
l
r
eq
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ir
e
m
en
ts
a
n
d
co
m
m
u
n
icatio
n
p
r
o
p
er
ties
b
et
w
ee
n
o
r
w
i
th
i
n
h
i
g
h
-
le
v
el
a
n
d
lo
w
-
lev
el
co
n
tr
o
ller
s
a
s
w
ell
as
th
e
p
h
y
s
ical
co
n
s
tr
ain
ts
o
f
th
e
ac
t
u
ato
r
an
d
s
en
s
o
r
.
I
t
is
w
id
el
y
b
eliev
e
d
th
at
d
ela
y
s
ar
e
h
ar
m
f
u
l
f
o
r
r
o
b
o
tic
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te
m
s
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n
ter
m
s
o
f
s
tab
ilit
y
a
n
d
p
er
f
o
r
m
an
ce
;
th
er
e
f
o
r
e,
in
th
i
s
p
ap
er
,
w
e
d
is
c
u
s
s
th
e
i
n
f
lu
e
n
ce
s
o
f
t
h
e
d
is
p
lace
m
e
n
t
a
n
d
tilt
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g
le
f
ee
d
b
ac
k
d
ela
y
s
o
n
r
o
b
o
tic
s
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te
m
d
y
n
a
m
ic
s
w
it
h
ea
ch
t
y
p
e
o
f
t
h
e
co
n
s
id
er
ed
co
n
tr
o
lle
r
s
.
I
n
th
i
s
s
i
m
u
lat
io
n
,
th
e
t
i
m
e
d
ela
y
w
it
h
tr
an
s
f
er
f
u
n
ctio
n
g
i
v
e
n
as
I
n
g
en
er
al,
s
tu
d
ies,
s
u
c
h
t
y
p
e
o
f
d
elay
atte
m
p
ts
to
ca
u
s
e
d
eg
r
ad
atio
n
in
th
e
s
y
s
te
m
t
r
ac
k
in
g
p
er
f
o
r
m
a
n
ce
.
Fi
g
u
r
e
7
s
h
o
w
s
th
e
in
f
l
u
e
n
ce
o
f
th
i
s
u
n
ce
r
tai
n
m
o
d
el
o
n
th
e
T
W
B
MR
s
y
s
te
m
d
is
p
lace
m
e
n
t
a
n
d
tilt
an
g
le.
W
h
er
e
i
t
is
o
b
s
er
v
e
d
th
at,
t
h
e
SM
C
co
u
ld
k
ee
p
th
e
s
y
s
te
m
s
tab
ili
t
y
w
it
h
an
ac
ce
p
tab
le
p
er
f
o
r
m
a
n
ce
w
h
ile
t
h
e
u
n
-
s
tab
il
it
y
i
s
o
b
s
er
v
ed
in
ca
s
e
o
f
P
I
D
-
L
QR
d
u
e
t
o
th
e
d
iv
er
g
e
n
ce
o
f
t
h
e
d
is
p
lac
e
m
en
t a
n
d
til
t a
n
g
le
o
f
th
e
s
y
s
te
m
.
Fig
u
r
e
7
.
States
o
f
T
W
B
MR
w
it
h
ti
m
e
d
ela
y
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
R
o
b
u
s
t c
o
n
tr
o
l a
n
d
o
p
timiz
ed
p
a
r
a
llel c
o
n
tr
o
l d
o
u
b
le
lo
o
p
d
esig
n
fo
r
mo
b
ile
r
o
b
o
t
(
A
h
med
J.
A
b
o
u
g
a
r
a
ir
)
169
5
.
3
.
Uncer
t
a
in
ra
nd
o
m
no
is
e
I
n
ad
d
itio
n
,
th
e
u
n
ce
r
tain
t
y
d
u
e
to
ef
f
ec
t
o
f
n
o
is
e
is
a
n
o
t
h
er
f
ac
to
r
h
as
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ee
n
an
a
l
y
ze
d
h
er
e.
I
n
th
i
s
s
i
m
u
lat
io
n
,
t
h
e
r
an
d
o
m
n
o
is
e
i
s
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n
s
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.
Su
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h
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e
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ated
b
y
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s
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f
s
i
m
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lin
k
b
lo
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lled
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n
i
f
o
r
m
r
a
n
d
o
m
b
lo
ck
w
it
h
m
in
i
m
u
m
a
n
d
m
a
x
i
m
u
m
i
n
ter
v
al
.
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h
e
in
f
l
u
en
ce
o
f
th
i
s
s
i
g
n
al
o
n
th
e
s
y
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te
m
tr
ac
k
in
g
p
er
f
o
r
m
an
ce
ca
n
b
e
s
ee
n
f
r
o
m
t
h
e
ti
m
e
r
e
s
p
o
n
s
es
o
f
th
e
s
y
s
te
m
a
s
s
h
o
w
n
Fi
g
u
r
e
8
.
W
h
er
e
it
is
o
b
s
er
v
ed
th
at,
th
e
SMC
s
u
p
p
r
ess
es
t
h
e
e
f
f
ec
t
o
f
t
h
is
u
n
ce
r
t
ain
n
o
i
s
e
an
d
k
ee
p
a
b
etter
tr
ac
k
in
g
p
er
f
o
r
m
an
ce
in
co
m
p
ar
in
g
t
o
co
n
tr
o
ller
d
esig
n
b
y
P
I
D
-
L
QR
.
Fig
u
r
e
8
.
States
o
f
T
W
B
MR w
it
h
e
f
f
ec
t o
f
n
o
i
s
e
6.
CO
NL
US
I
O
N
T
h
e
lin
ea
r
an
d
n
o
n
li
n
ea
r
m
o
d
el
f
o
r
th
e
T
W
B
MR
s
y
s
te
m
w
as
p
r
ese
n
ted
an
d
s
i
m
u
late
d
u
s
in
g
Ma
tlab
p
r
o
g
r
a
m
.
I
n
w
h
ic
h
t
h
e
SMC
a
n
d
P
I
D
-
L
Q
R
w
er
e
in
v
e
s
ti
g
ated
.
T
h
e
d
esig
n
o
f
t
h
ese
t
w
o
t
y
p
es
o
f
co
n
tr
o
ller
s
h
a
v
e
b
ee
n
d
o
n
e
wh
er
e
i
n
ca
s
e
o
f
s
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g
m
o
d
e
co
n
tr
o
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th
e
t
w
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s
lid
i
n
g
m
o
d
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co
n
tr
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l
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ig
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al
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h
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b
ee
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esi
g
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b
ased
o
n
t
h
e
s
tab
ilit
y
co
n
ce
p
t
o
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t
h
e
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y
ap
u
n
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v
t
h
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r
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er
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te
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d
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p
lace
m
e
n
t
a
n
d
til
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a
n
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it
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h
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i
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ale
n
t
d
esi
g
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ed
s
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r
f
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es,
u
n
ti
l
th
e
d
esire
d
s
e
t
p
o
in
t
is
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ea
c
h
e
d
.
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h
er
e
in
t
h
e
o
t
h
er
co
n
tr
o
l
d
esig
n
ed
ap
p
r
o
ac
h
,
th
e
p
ar
a
m
eter
s
o
f
P
I
D
-
L
Q
R
f
o
r
th
e
d
o
u
b
le
lo
o
p
co
n
tr
o
l
h
av
e
b
ee
n
d
esig
n
ed
b
ased
op
tim
a
l
s
tate
f
ee
d
b
ac
k
co
n
tr
o
l.
T
h
e
n
u
m
er
ica
l
s
i
m
u
lat
io
n
to
test
th
e
ef
f
ec
ti
v
en
es
s
o
f
ea
ch
t
y
p
e
o
f
th
e
co
n
t
r
o
ller
s
is
ca
r
r
ied
o
u
t.
W
h
er
e
i
n
th
e
n
o
m
i
n
al
ca
s
e,
it
is
co
n
cl
u
d
ed
th
at,
b
o
th
t
y
p
es
o
f
co
n
tr
o
ller
s
ac
h
ie
v
e
t
h
e
in
p
u
t
s
e
t
p
o
in
t
tr
ac
k
i
n
g
w
i
th
a
b
etter
tr
ac
k
in
g
p
er
f
o
r
m
a
n
ce
w
a
s
o
b
tain
ed
w
h
en
t
h
e
SM
C
d
esi
g
n
tec
h
n
iq
u
e
is
ap
p
lied
.
I
n
ad
d
itio
n
,
th
e
u
n
ce
r
tai
n
t
y
d
u
e
to
ef
f
ec
t
o
f
ti
m
e
d
ela
y
d
y
n
a
m
ic
s
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d
r
a
n
d
o
m
n
o
is
e
s
i
g
n
al
i
s
c
o
n
s
id
er
ed
to
test
t
h
e
r
o
b
u
s
t
n
e
s
s
o
f
t
h
e
t
w
o
co
n
tr
o
l
d
esig
n
ap
p
r
o
ac
h
es,
a
n
d
it
is
d
e
m
o
n
s
tr
ated
t
h
at,
t
h
e
S
MC
is
m
o
r
e
r
o
b
u
s
t
n
es
s
i
n
co
m
p
ar
i
n
g
to
th
e
o
th
er
t
y
p
e
o
f
th
e
co
n
tr
o
ller
.
T
h
is
is
b
ec
au
s
e
an
ac
ce
p
tab
le
tr
ac
k
in
g
w
a
s
ac
h
iev
ed
r
at
h
er
t
h
a
n
o
th
er
co
n
tr
o
l d
esig
n
m
et
h
o
d
in
w
h
ic
h
th
e
d
eg
r
ad
atio
n
i
n
th
e
t
r
ac
k
in
g
p
er
f
o
r
m
a
n
ce
w
a
s
o
b
s
er
v
ed
w
h
ile
th
e
r
an
d
o
m
n
o
is
e
is
ap
p
lied
,
an
d
th
e
in
s
tab
il
it
y
w
a
s
o
cc
u
r
w
h
e
n
t
h
e
ti
m
e
d
ela
y
i
s
co
n
s
id
er
ed
.
RE
F
E
R
E
NC
E
S
[1
]
J.
A
h
m
e
d
a
n
d
A
b
o
u
g
a
ra
ir,
"
M
o
d
e
l
Re
fe
re
n
c
e
A
d
a
p
ti
v
e
Co
n
tro
l
a
n
d
F
u
z
z
y
Op
ti
m
a
l
Co
n
tro
ll
e
r
f
o
r
M
o
b
i
le
Ro
b
o
tv
,
"
J
o
u
rn
a
l
o
f
M
u
lt
i
d
isc
ip
li
n
a
ry
E
n
g
i
n
e
e
rin
g
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l.
6
,
n
o
.
3
,
p
p
.
9
7
2
2
-
9
7
2
8
,
2
0
1
9
.
[2
]
W
.
Ju
n
f
e
n
g
a
n
d
Z.
W
a
n
y
in
g
,
"
Re
se
a
rc
h
o
n
Co
n
tr
o
l
M
e
th
o
d
o
f
Tw
o
-
w
h
e
e
led
S
e
lf
-
b
a
lan
c
in
g
Ro
b
o
t,
"
Fo
u
rt
h
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
I
n
tel
li
g
e
n
t
C
o
mp
u
ta
ti
o
n
T
e
c
h
n
o
l
o
g
y
a
n
d
A
u
t
o
ma
ti
o
n
,
v
o
l.
1
,
p
p
.
4
7
6
-
4
7
9
,
2
0
1
1
.
[3
]
K.
P
a
th
a
k
,
J.
F
ra
n
c
h
,
a
n
d
S
.
K.
Ag
ra
wa
l,
"
V
e
lo
c
it
y
a
n
d
P
o
siti
o
n
Co
n
tr
o
l
o
f
a
W
h
e
e
led
In
v
e
rte
d
P
e
n
d
u
lu
m
b
y
P
a
rti
a
l
F
e
e
d
b
a
c
k
L
in
e
a
riza
ti
o
n
,
"
IEE
E
T
ra
n
s.
o
n
Ro
b
o
ti
c
s
,
v
o
l.
2
1
,
n
o
.
3
,
p
p
.
5
0
5
-
5
1
3
,
2
0
0
5
.
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