I
AE
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I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
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io
n (
I
J
RA)
Vo
l.
1
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No
.
1
,
Ma
r
ch
2
0
2
1
,
p
p
.
1
0
~
2
3
I
SS
N:
2722
-
2586
,
DOI
: 1
0
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1
1
5
9
1
/
i
j
r
a
.
v
1
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1
.
p
p
1
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-
23
10
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Ana
ly
tical desig
n
o
f
the
fractiona
l o
rder c
o
nt
ro
ller an
d
ro
bustness
verifi
c
a
tion
Sa
t
ee
s
h K
.
Va
v
ila
la
,
Vino
pra
ba
T
hiru
m
a
v
a
la
v
a
n
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
E
n
g
in
e
e
rin
g
,
NIT
P
u
d
u
c
h
e
rr
y
,
Ka
ra
ik
a
l,
In
d
ia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Sep
1
3
,
2
0
2
0
R
ev
i
s
ed
Dec
1
,
2
0
2
0
A
cc
ep
ted
Feb
1
2
,
2
0
2
1
T
h
is
w
o
rk
d
e
sig
n
s
a
f
ra
c
ti
o
n
a
l
o
rd
e
r
c
o
n
tr
o
ll
e
r
(
F
OC)
f
o
r
th
e
lev
e
l
c
o
n
tr
o
l
p
ro
b
lem
o
f
th
e
c
o
u
p
led
tan
k
s
y
ste
m
,
u
sin
g
th
e
d
e
sire
d
ti
m
e
d
o
m
a
in
sp
e
c
if
ic
a
ti
o
n
s.
T
h
e
d
i
re
c
t
sy
n
th
e
s
is
m
e
th
o
d
i
s
e
m
p
lo
y
e
d
to
d
e
sig
n
th
e
F
OC
.
In
th
e
d
irec
t
sy
n
th
e
sis
m
e
th
o
d
,
th
e
Bo
d
e
'
s
id
e
a
l
lo
o
p
tran
sf
e
r
fu
n
c
ti
o
n
is
c
h
o
se
n
a
s
th
e
re
f
e
r
e
n
c
e
c
lo
se
d
lo
o
p
tran
sf
e
r
f
u
n
c
ti
o
n
(CL
T
F
)
.
Bo
d
e
'
s
CLT
F
h
a
s
th
e
a
d
v
a
n
tag
e
s
li
k
e
ro
b
u
stn
e
ss
to
sy
ste
m
g
a
in
v
a
riatio
n
s,
c
o
n
sta
n
t
p
h
a
se
a
n
d
v
e
ry
h
ig
h
g
a
in
m
a
rg
in
.
P
e
rf
o
r
m
a
n
c
e
o
f
th
e
p
r
o
p
o
se
d
c
o
n
tro
ll
e
r
is
c
o
m
p
a
re
d
w
it
h
th
e
sta
te
o
f
th
e
a
rt
li
tera
tu
re
.
T
h
e
s
im
u
latio
n
re
su
l
ts
sh
o
w
e
d
b
e
tt
e
r
ti
m
e
d
o
m
a
in
p
e
rf
o
rm
a
n
c
e
o
f
th
e
p
r
o
p
o
se
d
c
o
n
tr
o
ll
e
r.
T
h
e
ro
b
u
st
p
e
rf
o
r
m
a
n
c
e
o
f
th
e
p
ro
p
o
se
d
c
o
n
tro
ll
e
r
i
s
a
lso
t
h
e
b
e
st.
Ro
b
u
st
sta
b
il
it
y
o
f
th
e
sy
st
e
m
w
it
h
th
e
p
ro
p
o
se
d
c
o
n
tro
ll
e
r
is v
e
rif
ied
,
a
n
d
th
e
sy
ste
m
is f
o
u
n
d
t
o
b
e
ro
b
u
stly
sta
b
le.
K
ey
w
o
r
d
s
:
B
o
d
e'
s
id
ea
l tr
an
s
f
er
f
u
n
c
tio
n
C
o
u
p
led
tan
k
s
y
s
te
m
Dir
ec
t s
y
n
t
h
esi
s
Fra
ctio
n
al
o
r
d
er
co
n
tr
o
ller
R
o
b
u
s
t s
tab
i
lit
y
T
h
is i
s
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
:
Satees
h
K.
Vav
ila
la
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
N
atio
n
al
I
n
s
tit
u
te
o
f
T
ec
h
n
o
lo
g
y
P
u
d
u
ch
er
r
y
Kar
aik
al
-
6
0
9
6
0
9
,
I
n
d
ia
E
m
ail:
v
k
s
atee
s
h
@
g
m
ai
l.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
c
o
u
p
led
tan
k
s
y
s
te
m
(
C
T
S)
is
u
s
ed
in
th
e
p
r
o
ce
s
s
co
n
tr
o
l
in
d
u
s
tr
y
f
o
r
s
to
r
in
g
t
h
e
liq
u
id
an
d
p
u
m
p
i
n
g
th
e
liq
u
id
to
n
e
x
t
s
tag
es
o
f
t
h
e
b
atc
h
p
r
o
ce
s
s
.
T
h
e
in
ter
ac
ti
n
g
m
o
d
e
co
m
p
r
i
s
es
t
w
o
c
y
li
n
d
r
ical
s
h
ap
ed
tan
k
s
co
n
n
ec
ted
p
h
y
s
i
ca
ll
y
t
h
r
o
u
g
h
a
v
a
lv
e.
T
h
e
lev
el
co
n
tr
o
l
p
r
o
b
lem
o
f
th
e
C
T
S
is
a
n
in
ter
esti
n
g
p
r
o
b
lem
d
u
e
to
its
n
o
n
li
n
ea
r
n
atu
r
e
an
d
d
ela
y
i
n
v
o
l
v
ed
.
J
o
h
n
et
a
l
.
,
p
r
o
p
o
s
ed
a
b
ac
k
s
tep
p
in
g
co
n
tr
o
ller
f
o
r
th
e
C
T
S
[
1
]
.
Sh
ar
m
a
et
a
l
.
,
d
is
cu
s
s
ed
th
e
m
o
d
eli
n
g
of
th
e
C
T
S
an
d
p
r
o
p
o
s
ed
a
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
f
o
r
th
e
h
eig
h
t
co
n
tr
o
l
p
r
o
b
lem
[
2
]
.
S
ath
is
h
K
u
m
ar
et
a
l
.
,
d
ev
elo
p
ed
a
n
o
n
li
n
ea
r
m
o
d
el
o
f
t
h
e
t
h
r
ee
tan
k
s
y
s
te
m
a
n
d
d
esig
n
ed
a
lin
ea
r
q
u
ad
r
atic
c
o
n
tr
o
ller
[
3
]
.
P
atel
an
d
Sh
ah
d
esig
n
ed
an
i
n
teg
er
o
r
d
er
p
r
o
p
o
r
ti
o
n
al
in
te
g
r
al
d
if
f
er
e
n
tiato
r
(
P
I
D)
an
d
ar
tif
ic
ial
in
tel
lig
e
n
ce
b
ased
co
n
tr
o
lle
r
s
f
o
r
th
e
h
ei
g
h
t
co
n
tr
o
l o
f
t
h
e
C
T
S
[
4
]
.
Sin
g
la
et
a
l.
,
p
r
o
p
o
s
ed
a
m
o
d
if
ied
P
I
D
co
n
tr
o
ller
f
o
r
th
e
le
v
el
co
n
tr
o
l
o
f
th
e
C
T
S
[
5
]
.
T
h
e
m
o
d
i
f
ied
P
I
D
co
n
tr
o
ller
s
h
o
w
ed
b
etter
p
er
f
o
r
m
a
n
ce
th
an
th
e
co
n
v
e
n
tio
n
al
P
I
D
co
n
tr
o
ller
.
Go
u
ta
et
a
l.
,
d
is
cu
s
s
ed
t
h
e
ad
ap
tiv
e
co
n
tr
o
l
o
f
co
u
p
led
tan
k
s
y
s
te
m
u
s
i
n
g
an
o
b
s
er
v
er
[
6
]
.
A
m
u
l
tis
ta
g
e
co
s
t
f
u
n
ctio
n
i
s
o
p
ti
m
ized
to
o
b
tain
th
e
co
n
tr
o
ller
p
ar
am
eter
s
.
Ma
h
a
p
atr
o
et
a
l
.
,
d
esig
n
ed
a
d
ec
en
tr
alize
d
p
r
o
p
o
r
tio
n
al
in
teg
r
al
(
PI
)
co
n
tr
o
ller
f
o
r
th
e
h
eig
h
t
co
n
tr
o
l
o
f
a
C
T
S
u
s
in
g
a
r
ef
er
en
ce
m
o
d
el
[
7
]
.
A
f
r
eq
u
e
n
c
y
d
o
m
ain
b
ased
m
o
d
eli
n
g
o
f
th
e
s
y
s
te
m
is
al
s
o
d
is
cu
s
s
ed
.
Naf
ea
et
a
l.
,
d
is
cu
s
s
ed
a
n
e
u
r
al
n
et
w
o
r
k
b
ased
h
eig
ht
co
n
tr
o
l
o
f
t
h
e
C
T
S
[
8
]
.
T
h
ey
p
r
o
p
o
s
ed
a
p
er
tu
r
b
ed
m
o
d
el
o
f
th
e
s
y
s
te
m
f
r
o
m
th
e
n
o
n
li
n
ea
r
m
o
d
el.
A
p
ar
t
f
r
o
m
th
e
co
n
v
en
t
io
n
al
co
n
tr
o
ller
s
;
f
r
ac
tio
n
a
l
o
r
d
er
c
o
n
tr
o
ller
s
(
FOC
)
ar
e
em
p
lo
y
ed
f
o
r
th
e
le
v
el
co
n
tr
o
l
o
f
th
e
ta
n
k
s
.
FOC
s
ar
e
f
in
d
i
n
g
ap
p
licatio
n
s
i
n
all
ar
ea
s
o
f
co
n
tr
o
l
s
y
s
te
m
s
b
ec
au
s
e
o
f
ad
v
an
ta
g
e
s
lik
e
i
s
o
d
a
m
p
in
g
p
r
o
p
er
ty
,
ch
o
ice
o
f
co
n
tr
o
ller
p
ar
am
e
ter
s
.
P
o
d
lu
b
n
y
p
r
o
p
o
s
ed
th
e
f
ir
s
t
f
r
ac
tio
n
al
o
r
d
er
p
r
o
p
o
r
tio
n
al
in
teg
r
a
l
d
er
iv
ativ
e
(
FOP
I
D)
co
n
tr
o
ller
[
9
]
.
A
f
ter
F
OP
I
D
is
d
ev
elo
p
ed
,
n
u
m
er
o
u
s
o
t
h
er
f
r
ac
tio
n
al
co
n
tr
o
ller
s
ar
e
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:
2
722
-
2586
A
n
a
lytica
l d
esig
n
o
f th
e
fr
a
ctio
n
a
l o
r
d
er c
o
n
tr
o
ller
a
n
d
r
o
b
u
s
tn
ess
ve
r
ifica
tio
n
(
S
a
teesh
K
.
V
a
vila
la
)
11
d
esig
n
ed
an
d
im
p
le
m
e
n
ted
.
Vin
o
p
r
ab
a
et
a
l
.
,
d
is
cu
s
s
ed
t
w
o
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
(
2
-
D
OF)
FOC
[
1
0
]
.
T
h
e
p
ar
am
eter
s
ar
e
tu
n
ed
an
al
y
tic
all
y
u
s
i
n
g
t
h
e
d
esire
d
clo
s
ed
lo
o
p
b
an
d
w
id
t
h
.
Sax
e
n
a
an
d
Ho
te
d
is
cu
s
s
ed
a
n
in
ter
n
a
l
m
o
d
el
co
n
tr
o
ller
-
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
if
f
er
en
tiat
o
r
(
I
MC
-
P
I
D)
b
ased
f
r
ac
tio
n
al
co
n
tr
o
ller
f
o
r
th
e
DC
s
er
v
o
m
o
to
r
s
p
ee
d
co
n
tr
o
l
[
1
1
]
.
T
h
e
co
n
tr
o
ller
h
as
less
tu
n
ab
le
p
ar
a
m
eter
s
an
d
th
e
co
n
tr
o
ller
p
ar
am
eter
s
ar
e
o
b
tain
ed
u
s
in
g
f
r
eq
u
e
n
c
y
d
o
m
ai
n
s
p
ec
i
f
icatio
n
s
.
B
ar
u
ah
et
a
l
.
,
p
r
o
p
o
s
ed
a
f
r
ac
tio
n
al
o
r
d
er
p
r
o
p
o
r
tio
n
al
in
te
g
r
al
(
FOP
I
)
co
n
tr
o
ller
f
o
r
th
e
C
T
S
.
T
h
e
p
ar
am
eter
s
o
f
th
e
co
n
tr
o
ller
ar
e
o
b
tain
ed
an
al
y
ticall
y
u
s
i
n
g
in
te
g
r
al
p
er
f
o
r
m
an
ce
in
d
e
x
an
d
b
alan
ce
d
s
tate
s
p
ac
e
m
eth
o
d
s
[
1
2
]
.
W
alid
et
a
l
.
,
d
ev
elo
p
ed
a
FO
P
I
D
co
n
tr
o
ller
f
o
r
th
e
s
p
ee
d
co
n
tr
o
l
o
f
p
er
m
an
e
n
t
m
a
g
n
et
s
y
n
ch
r
o
n
o
u
s
m
ac
h
in
e
[
1
3
]
.
T
h
e
co
n
tr
o
ller
is
s
y
n
t
h
esized
u
s
i
n
g
t
h
e
B
o
d
e'
s
i
d
ea
l
o
p
en
lo
o
p
tr
an
s
f
er
f
u
n
cti
o
n
(
OL
T
F
)
.
L
in
o
et
a
l.,
p
r
o
p
o
s
ed
a
f
ee
d
f
o
r
w
ar
d
f
r
ac
tio
n
al
co
n
tr
o
ller
f
o
r
t
h
e
s
p
ee
d
an
d
p
o
s
itio
n
co
n
tr
o
l
o
f
DC
m
o
to
r
[
1
4
]
.
E
m
p
ir
ica
l
f
o
r
m
u
lae
f
o
r
th
e
co
n
tr
o
ller
p
ar
am
eter
s
ar
e
o
b
tain
ed
u
s
i
n
g
th
e
f
r
eq
u
en
c
y
d
o
m
a
in
s
p
ec
i
f
icatio
n
s
.
Z
h
e
n
lo
g
et
a
l.
,
d
ev
is
ed
a
S
m
it
h
p
r
ed
icto
r
b
ased
FO
PI
co
n
tr
o
ller
f
o
r
th
e
h
ig
h
er
o
r
d
er
s
y
s
te
m
[
1
5
]
.
T
h
e
co
n
tr
o
ller
g
av
e
g
o
o
d
s
er
v
o
an
d
d
is
tu
r
b
an
ce
r
e
s
p
o
n
s
es
.
Vav
i
lal
a
an
d
Vi
n
o
p
r
ab
a
tu
n
ed
t
h
e
FO
C
p
ar
a
m
eter
s
u
s
in
g
p
ar
ticle
s
w
ar
m
o
p
ti
m
izatio
n
(
P
SO
)
alg
o
r
ith
m
f
o
r
a
co
n
ical
tan
k
s
y
s
te
m
lev
e
l
co
n
tr
o
l
[
1
6
]
.
A
FO
-
[
P
I
]
λ
co
n
tr
o
ller
is
d
ev
elo
p
ed
f
o
r
th
e
t
w
o
in
p
u
t
t
w
o
o
u
tp
u
t
(
T
I
T
O)
C
T
S
u
s
in
g
t
h
e
f
r
eq
u
e
n
c
y
d
o
m
ai
n
s
p
ec
if
icat
io
n
s
[
1
7
]
.
Fr
ac
tio
n
al
p
o
w
er
s
ar
e
ap
p
r
o
x
im
a
ted
u
s
i
n
g
O
u
s
talo
u
p
r
ec
u
r
s
i
v
e
ap
p
r
o
x
i
m
atio
n
(
OR
A
)
.
T
ep
li
j
ak
o
v
p
r
o
p
o
s
ed
a
to
o
lb
o
x
ca
lled
f
r
ac
tio
n
al
o
r
d
er
m
o
d
eli
n
g
an
d
co
n
tr
o
l
(
FOMCON)
i
n
M
A
T
L
A
B
f
o
r
i
m
p
le
m
e
n
ti
n
g
f
r
ac
tio
n
al
co
n
tr
o
ller
s
a
n
d
m
o
d
eli
n
g
th
e
f
r
ac
tio
n
a
l o
r
d
er
s
y
s
te
m
s
[
1
8
]
.
T
h
e
FOMCON t
o
o
lb
o
x
is
u
s
ed
f
o
r
s
i
m
u
latio
n
s
in
th
i
s
w
o
r
k
.
T
h
e
FOC
p
ar
a
m
eter
s
ca
n
b
e
tu
n
ed
u
s
in
g
a
n
al
y
tical
p
r
o
ce
d
u
r
e
,
ev
o
lu
tio
n
ar
y
a
lg
o
r
it
h
m
s
a
n
d
e
m
p
ir
ical
f
o
r
m
u
lae
.
I
n
t
h
i
s
w
o
r
k
,
co
n
tr
o
ller
s
tr
u
ct
u
r
e
is
s
y
n
t
h
esized
an
al
y
ticall
y
u
s
i
n
g
th
e
d
ir
ec
t
s
y
n
t
h
e
s
is
p
r
o
ce
d
u
r
e
,
w
h
ic
h
is
a
co
n
v
e
n
tio
n
al
a
n
al
y
tical
m
et
h
o
d
u
s
ed
f
o
r
th
e
co
n
t
r
o
ller
d
esig
n
.
A
d
esire
d
m
o
d
el
o
f
th
e
s
y
s
te
m
w
ill
b
e
s
p
ec
if
ied
a
n
d
u
s
i
n
g
th
at
m
o
d
el,
co
n
tr
o
ller
w
ill
b
e
s
y
n
th
e
s
ized
.
Van
a
v
il
e
t
a
l.
,
d
is
c
u
s
s
e
d
th
e
d
esi
g
n
o
f
P
I
D
co
n
tr
o
ller
u
s
i
n
g
th
e
d
ir
ec
t
s
y
n
th
e
s
i
s
f
o
r
t
h
e
ti
m
e
d
ela
y
s
y
s
te
m
s
[
1
9
]
.
T
h
e
p
ar
am
e
ter
s
o
f
t
h
e
co
n
tr
o
ller
g
o
t
u
s
i
n
g
th
e
m
ax
i
m
u
m
.
R
av
ik
i
s
h
o
r
e
et
a
l
.
,
u
s
ed
th
e
d
ir
e
ct
s
y
n
t
h
esi
s
m
et
h
o
d
to
d
er
iv
e
th
e
P
I
D
co
n
tr
o
ller
f
o
r
th
e
u
n
s
tab
le
f
ir
s
t
o
r
d
er
an
d
s
ec
o
n
d
er
o
r
d
e
r
tim
e
d
ela
y
s
y
s
te
m
s
[
2
0
]
.
C
asti
llo
-
Gar
cia
et
a
l
.
,
p
r
o
p
o
s
ed
a
FO
-
[
PI
]
α
co
n
tr
o
ller
f
o
r
th
e
au
to
m
atio
n
o
f
th
e
w
ater
ca
n
als
[
2
1
]
.
Ku
m
ar
an
d
A
n
w
ar
d
is
cu
s
s
ed
a
p
r
ac
tical
ap
p
licatio
n
u
s
i
n
g
t
h
e
d
ir
ec
t
s
y
n
t
h
es
is
[
2
2
]
.
T
h
e
co
n
tr
o
ller
is
d
esig
n
ed
u
s
i
n
g
t
h
e
m
a
x
i
m
u
m
s
e
n
s
i
tiv
it
y
.
D
ir
ec
t
s
y
n
t
h
esi
s
b
ased
co
n
tr
o
ller
d
esig
n
i
s
d
is
cu
s
s
ed
in
[
2
3
-
2
5
]
.
An
il
an
d
P
ad
m
a
s
r
ee
u
s
ed
d
ir
ec
t
s
y
n
t
h
esi
s
m
et
h
o
d
to
o
b
tain
th
e
P
I
D
co
n
tr
o
ller
f
o
r
d
if
f
er
en
t
in
te
g
r
ati
n
g
s
y
s
te
m
s
w
it
h
ti
m
e
d
ela
y
[
2
3
]
.
A
n
w
ar
an
d
P
an
u
til
ized
th
e
d
ir
ec
t
s
y
n
t
h
esi
s
m
et
h
o
d
to
g
et
th
e
PID
co
n
tr
o
ller
p
ar
am
eter
s
f
o
r
th
e
lo
ad
f
r
eq
u
en
c
y
co
n
tr
o
l
(
L
FC
)
p
r
o
b
lem
[
2
4
]
.
Ku
m
ar
an
d
Sin
g
h
d
esi
g
n
ed
a
P
I
D
co
n
tr
o
ller
f
o
r
s
ix
d
if
f
er
en
t
ti
m
e
d
ela
y
s
y
s
te
m
s
u
s
in
g
t
h
e
d
ir
ec
t
s
y
n
t
h
es
is
m
et
h
o
d
[
2
5
]
.
T
h
is
w
o
r
k
co
n
s
id
er
s
B
o
d
e'
s
id
ea
l
OL
T
F
as
t
h
e
d
esire
d
r
ef
er
en
ce
m
o
d
el
f
o
r
th
e
clo
s
ed
lo
o
p
s
y
s
te
m
.
B
o
d
e
[
2
6
]
p
r
o
p
o
s
ed
th
e
OL
T
F a
s
a
r
ef
er
en
ce
m
o
d
el
.
Kasb
i
an
d
R
ah
ali
p
r
o
p
o
s
ed
a
FOP
I
co
n
tr
o
ller
f
o
r
th
e
w
i
n
d
g
en
er
atio
n
s
y
s
te
m
u
s
i
n
g
th
e
B
o
d
e'
s
id
ea
l
OL
T
F
[
2
7
]
.
Ye
an
d
B
in
g
d
is
cu
s
s
ed
th
e
d
esi
g
n
o
f
t
h
e
S
m
it
h
p
r
ed
icto
r
b
ased
2
-
DOF
I
MC
u
s
i
n
g
t
h
e
B
o
d
e's
id
ea
l
OL
T
F
m
et
h
o
d
as
th
e
d
esire
d
m
o
d
el
[
2
8
]
.
T
h
e
co
n
tr
o
ller
p
ar
am
eter
s
ar
e
o
p
ti
m
ize
d
u
s
in
g
th
e
in
te
g
r
al
ab
s
o
lu
te
er
r
o
r
.
Yu
m
u
k
et
a
l.
,
p
r
o
p
o
s
ed
a
FO
P
I
D
b
ased
o
n
th
e
B
o
d
e'
s
id
ea
l
OL
T
F
f
o
r
th
e
f
r
ac
tio
n
a
l
o
r
d
er
s
y
s
te
m
[
2
9
]
.
Fre
q
u
en
c
y
d
o
m
a
in
s
p
ec
i
f
icatio
n
s
ar
e
u
s
ed
to
tu
n
e
t
h
e
co
n
tr
o
ller
p
ar
a
m
eter
s
.
I
n
a
r
ec
en
t
w
o
r
k
,
Kez
iz
et
a
l.
,
d
is
cu
s
s
ed
th
e
d
es
ig
n
o
f
FO
C
w
it
h
B
o
d
e'
s
id
ea
l
OL
T
F
as
a
r
ef
er
en
ce
m
o
d
el
an
d
p
o
le
p
lace
m
e
n
t
tech
n
iq
u
e
f
o
r
co
n
tr
o
ller
t
u
n
in
g
[
3
0
]
.
T
h
e
co
n
tr
o
ller
is
s
i
m
p
le
an
d
r
o
b
u
s
t.
Saf
ae
i
an
d
T
av
ak
o
li
p
r
o
p
o
s
ed
an
an
al
y
tica
l
p
r
o
ce
d
u
r
e
f
o
r
th
e
FOC
d
esi
g
n
u
s
i
n
g
d
ir
ec
t
s
y
n
th
esi
s
[
3
1
]
.
T
h
e
co
n
tr
o
ller
p
a
r
a
m
eter
s
ar
e
tu
n
ed
u
s
i
n
g
th
e
ti
m
e
d
o
m
ai
n
s
p
ec
if
i
ca
tio
n
s
w
it
h
e
m
p
ir
ical
f
o
r
m
u
l
ae
.
A
r
y
a
an
d
C
h
a
k
r
ab
ar
t
y
d
esig
n
ed
a
FOI
MC
f
o
r
th
e
n
o
n
m
i
n
i
m
u
m
p
h
ase
s
y
s
t
e
m
s
[
3
2
]
.
T
h
e
co
n
tr
o
ller
p
ar
a
m
e
ter
s
ar
e
o
p
ti
m
ized
u
s
i
n
g
t
h
e
ti
m
e
d
o
m
ai
n
s
p
ec
if
icatio
n
s
an
d
i
n
teg
r
al
p
er
f
o
r
m
a
n
ce
in
d
ices.
P
ali
w
al
et
a
l
.
,
d
is
cu
s
s
ed
th
e
d
esi
g
n
o
f
P
I
D
co
n
tr
o
ller
f
o
r
th
e
L
F
C
p
r
o
b
lem
[
3
3
]
.
P
SO
alg
o
r
ith
m
is
u
s
ed
to
g
et
th
e
co
n
tr
o
ller
p
ar
am
eter
s
u
s
i
n
g
d
if
f
er
en
t
p
er
f
o
r
m
a
n
ce
in
d
ices.
A
r
o
b
u
s
t
co
n
tr
o
ller
h
an
d
les
t
h
e
u
n
ce
r
tai
n
t
y
in
t
h
e
s
y
s
te
m
p
ar
a
m
eter
s
,
r
ej
ec
ts
th
e
d
is
tu
r
b
an
ce
s
,
an
d
p
er
f
o
r
m
s
w
el
l
f
o
r
ch
a
n
g
e
s
i
n
t
h
e
r
ef
er
e
n
ce
i
n
p
u
t.
T
h
e
d
esi
g
n
ed
co
n
tr
o
ller
h
a
s
to
p
er
f
o
r
m
r
ea
s
o
n
ab
l
y
w
e
ll
f
o
r
a
ch
an
g
e
in
t
h
e
o
p
er
atin
g
p
o
in
t.
R
o
b
u
s
t
p
er
f
o
r
m
a
n
ce
an
d
r
o
b
u
s
t
s
tab
ilit
y
ar
e
as
s
es
s
ed
w
i
th
Ꝏ
n
o
r
m
[
3
4
]
.
I
n
a
r
ec
en
t
w
o
r
k
b
y
th
e
a
u
t
h
o
r
s
d
ir
ec
t s
y
n
t
h
esi
s
is
e
m
p
lo
y
ed
f
o
r
o
b
tain
in
g
th
e
co
n
tr
o
ller
[
3
5
]
.
P
u
r
p
o
s
e
o
r
m
o
ti
v
atio
n
o
f
t
h
e
w
o
r
k
:
Mo
s
t
o
f
t
h
e
li
ter
atu
r
e
o
n
t
h
e
co
n
tr
o
ller
d
esi
g
n
,
b
ased
o
n
t
h
e
B
o
d
e'
s
id
ea
l
clo
s
ed
lo
o
p
tr
a
n
s
f
er
f
u
n
ctio
n
(
C
L
T
F)
,
tu
n
e
d
th
e
co
n
tr
o
ller
p
ar
a
m
eter
s
u
s
i
n
g
t
h
e
f
r
eq
u
e
n
c
y
d
o
m
ai
n
s
p
ec
i
f
icatio
n
s
.
B
u
t
[
3
1
]
p
r
o
p
o
s
ed
a
S
m
it
h
p
r
ed
icto
r
b
ased
FOC
u
s
in
g
t
h
e
ti
m
e
d
o
m
ai
n
s
p
ec
if
icatio
n
s
.
T
h
e
em
p
ir
ical
f
o
r
m
u
lae
ar
e
d
ev
is
ed
b
ased
o
n
th
e
B
o
d
e'
s
id
ea
l
C
L
T
F
s
tep
r
esp
o
n
s
e.
T
h
ese
f
o
r
m
u
lae
ca
n
b
e
u
s
ed
f
o
r
an
y
li
n
ea
r
s
y
s
te
m
w
it
h
a
ti
m
e
d
ela
y
.
T
h
e
co
n
tr
o
ller
is
d
esi
g
n
ed
u
s
i
n
g
t
h
e
d
ir
ec
t
s
y
n
t
h
e
s
is
ap
p
r
o
ac
h
.
Mo
tiv
ated
b
y
t
h
e
s
i
m
p
le
d
esi
g
n
p
r
o
ce
d
u
r
e
b
ased
o
n
th
e
t
i
m
e
d
o
m
ai
n
s
p
ec
i
f
icatio
n
s
,
a
n
atte
m
p
t
is
m
ad
e
to
d
esig
n
a
FOC
w
i
th
o
u
t
th
e
S
m
ith
p
r
ed
icto
r
,
f
o
r
th
e
f
ir
s
t
o
r
d
e
r
p
lu
s
d
elay
ti
m
e
(
FOP
DT
)
m
o
d
el
o
f
th
e
s
y
s
te
m
.
T
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
h
an
d
led
th
e
ti
m
e
d
ela
y
i
n
t
h
e
s
y
s
t
e
m
w
i
th
o
u
t
t
h
e
S
m
it
h
p
r
ed
ict
o
r
.
Fo
r
th
e
s
y
s
te
m
s
w
it
h
lar
g
e
ti
m
e
d
ela
y
an
d
/o
r
lar
g
e
ti
m
e
co
n
s
ta
n
t
s
,
th
e
co
n
tr
o
ller
p
ar
am
eter
tu
n
i
n
g
u
s
i
n
g
t
h
e
f
r
eq
u
en
c
y
d
o
m
ai
n
s
p
ec
if
icatio
n
s
w
i
ll n
o
t
g
iv
e
s
at
is
f
ac
to
r
y
r
e
s
u
l
ts
,
h
e
n
ce
ti
m
e
d
o
m
a
in
s
p
ec
if
icat
io
n
s
b
ased
t
u
n
in
g
i
s
m
o
r
e
ap
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2722
-
2586
I
A
E
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
1
,
Ma
r
ch
2
0
2
1
:
`
1
0
–
23
12
Ma
in
co
n
tr
ib
u
tio
n
s
a
n
d
n
o
v
el
t
y
:
A
n
o
v
el
FO
C
co
n
f
ig
u
r
ati
o
n
b
ased
o
n
th
e
B
o
d
e'
s
id
ea
l
OL
T
F
is
o
b
tain
ed
is
p
r
o
p
o
s
ed
.
Ser
v
o
r
esp
o
n
s
e,
d
is
tu
r
b
an
ce
r
esp
o
n
s
e
s
ar
e
co
m
p
ar
ed
w
it
h
th
e
s
tate
o
f
th
e
ar
t.
R
o
b
u
s
t
p
er
f
o
r
m
a
n
ce
an
d
r
o
b
u
s
t
s
tab
il
it
y
o
f
t
h
e
p
r
o
p
o
s
ed
FOC
ar
e
an
al
y
ze
d
u
s
i
n
g
Ꝏ
n
o
r
m
.
T
h
e
f
r
ag
ilit
y
i
n
d
ices
o
f
th
e
c
o
n
tr
o
ller
s
ar
e
co
m
p
ar
ed
t
o
ch
ec
k
th
e
f
r
ag
i
lit
y
o
f
t
h
e
co
n
tr
o
ller
to
ch
an
g
es
i
n
th
e
co
n
tr
o
ller
p
a
r
am
eter
s
.
T
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
h
as
t
h
e
s
i
m
p
le
s
tr
u
c
tu
r
e
o
f
a
P
I
co
n
tr
o
ller
ca
s
ca
d
ed
w
it
h
a
f
r
ac
ti
o
n
al
o
r
d
er
f
ilter
.
T
h
e
co
n
tr
o
ller
p
ar
am
eter
s
ar
e
tu
n
e
d
u
s
in
g
t
h
e
d
esire
d
p
ea
k
o
v
er
s
h
o
o
t
(
P
O)
an
d
s
ettlin
g
ti
m
e
(
t
s
)
f
r
o
m
th
e
d
esire
d
s
tep
r
esp
o
n
s
e.
No
v
elt
y
i
n
th
e
co
n
tr
o
ller
d
esig
n
is
;
FOC
is
an
al
y
tical
l
y
s
y
n
th
e
s
ized
w
it
h
o
u
t
th
e
S
m
it
h
p
r
ed
icto
r
,
f
o
r
a
FOP
D
T
m
o
d
el
o
f
th
e
s
y
s
te
m
.
Or
g
an
iza
tio
n
o
f
t
h
e
p
ap
er
:
T
h
e
s
ec
o
n
d
s
ec
tio
n
d
escr
ib
es
th
e
p
r
o
b
lem
f
o
r
m
u
latio
n
a
n
d
p
r
e
li
m
i
n
ar
ies
o
f
t
h
e
f
r
ac
tio
n
al
o
r
d
er
co
n
tr
o
l.
I
n
t
h
e
t
h
ir
d
s
ec
tio
n
a
n
al
y
tical
d
esig
n
o
f
th
e
p
r
o
p
o
s
ed
FOC
is
d
is
cu
s
s
ed
.
R
o
b
u
s
t
s
tab
ilit
y
,
r
o
b
u
s
t
p
er
f
o
r
m
a
n
ce
an
d
f
r
ag
ili
t
y
an
al
y
s
is
m
e
th
o
d
s
ar
e
d
is
cu
s
s
ed
in
th
e
th
ir
d
s
ec
tio
n
.
T
h
e
f
o
u
r
th
s
ec
tio
n
d
is
c
u
s
s
es t
h
e
s
i
m
u
latio
n
r
esu
lts
.
T
h
e
f
i
f
t
h
s
ec
tio
n
co
n
clu
d
es t
h
e
p
ap
er
.
2.
P
RO
B
L
E
M
F
O
R
M
UL
AT
I
O
N
AND
P
RE
L
I
M
I
NARI
E
S
2
.
1
.
P
r
o
ble
m
f
o
r
m
ula
t
io
n
State
m
e
n
t
o
f
th
e
p
r
o
b
lem
an
d
th
e
p
r
o
p
o
s
ed
s
o
lu
tio
n
:
T
h
is
w
o
r
k
i
s
ai
m
ed
at
ad
d
r
ess
i
n
g
th
e
h
ei
g
h
t
co
n
tr
o
l
of
C
T
S
b
ased
o
n
th
e
ti
m
e
d
o
m
ai
n
s
p
ec
i
f
icatio
n
s
lik
e
PO
an
d
t
s
.
T
h
e
w
o
r
k
p
r
o
v
id
es
th
e
s
o
l
u
tio
n
f
o
r
th
is
p
r
o
b
lem
b
y
p
r
o
p
o
s
in
g
a
d
esig
n
b
ased
o
n
t
h
e
e
m
p
ir
i
ca
l
f
o
r
m
u
lae
in
v
o
l
v
in
g
t
h
e
p
ea
k
o
v
er
s
h
o
o
t
a
n
d
s
ettli
n
g
ti
m
e.
M
o
d
i
f
ied
B
o
d
e'
s
id
ea
l
C
L
T
F
is
tak
e
n
a
s
th
e
d
esire
d
tr
an
s
f
er
f
u
n
ctio
n
an
d
u
s
i
n
g
t
h
e
d
ir
ec
t
s
y
n
t
h
esi
s
m
et
h
o
d
,
co
n
tr
o
ller
is
d
er
iv
ed
.
T
h
e
w
o
r
k
also
v
er
if
i
es
w
h
eth
er
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
p
o
s
ed
FOC
is
r
o
b
u
s
t
e
n
o
u
g
h
a
n
d
r
o
b
u
s
tl
y
s
tab
le.
T
h
e
s
tu
d
y
al
s
o
d
is
cu
s
s
es
th
e
ex
i
s
ti
n
g
lit
er
at
u
r
e
o
n
t
h
e
FOC
d
esig
n
u
s
in
g
ti
m
e
d
o
m
a
in
s
p
ec
if
icatio
n
s
.
F
o
r
th
e
FOP
DT
m
o
d
el
o
f
th
e
C
T
S
,
a
FOC
i
s
d
esi
g
n
ed
s
u
c
h
th
at
t
h
e
f
o
llo
w
i
n
g
co
n
tr
o
ller
o
b
j
ec
tiv
es a
r
e
s
atis
f
ied
.
C
o
n
tr
o
ller
o
b
j
ec
tiv
es:
-
A
c
h
ie
v
e
g
o
o
d
tr
an
s
ie
n
t a
n
d
s
t
ea
d
y
s
tate
s
tep
r
esp
o
n
s
e
s
(
M
p
<
=
10
% a
n
d
t
s
<=
1
5
0
s
ec
)
.
-
A
c
h
ie
v
e
a
s
atis
f
ac
to
r
y
s
et
p
o
in
t
tr
ac
k
in
g
a
n
d
r
ej
ec
t th
e
d
is
tu
r
b
an
ce
s
i
m
u
l
tan
eo
u
s
l
y
.
-
O
b
tain
a
s
tab
le
an
d
r
o
b
u
s
t c
o
n
tr
o
ller
.
Fig
u
r
e
1
s
h
o
w
s
th
e
b
lo
ck
d
ia
g
r
a
m
o
f
t
h
e
f
ee
d
b
ac
k
co
n
tr
o
ll
er
.
I
n
Fi
g
u
r
e
1
,
th
e
s
y
s
te
m
G
(
s
)
h
as
th
e
FOP
DT
m
o
d
el
g
iv
e
n
b
y
(
1
)
,
an
d
th
e
FO
C
C
(
s
)
d
esi
g
n
is
d
is
cu
s
s
ed
in
Sectio
n
3
.
Fig
u
r
e
1
.
Feed
b
ac
k
co
n
tr
o
ller
G
(
s
)
=
−
+
1
(
1
)
2
.
2
.
P
re
lim
ina
ries o
f
f
ra
ct
io
na
l
c
a
lculu
s
a
nd
f
ra
ct
io
na
l
co
ntr
o
l
Fra
ctio
n
al
ca
lcu
lu
s
is
3
0
0
y
e
ar
s
o
ld
.
I
n
th
e
last
th
ir
t
y
y
ea
r
s
f
r
ac
tio
n
al
co
n
tr
o
l
ler
s
ar
e
w
i
d
ely
u
s
ed
.
T
h
e
C
ap
u
to
f
r
ac
tio
n
al
d
er
iv
at
i
v
e
is
g
iv
e
n
b
y
(
2
)
.
D
(
)
=
1
Ґ
(
−
)
∫
(
)
(
−
)
−
+
1
0
(
2
)
FO
P
I
D
co
n
tr
o
ller
d
ev
elo
p
ed
b
y
I
.
P
o
d
lu
b
n
y
i
s
r
ep
r
esen
ted
as
(
3
)
.
(
)
=
+
+
(
3
)
w
h
er
e
K
p
, K
i
,
a
n
d
K
d
ar
e
p
r
o
p
o
r
tio
n
al,
in
te
g
r
al
an
d
d
er
iv
ati
v
e
g
ain
s
r
esp
ec
tiv
e
l
y
.
Af
ter
FOP
I
D,
m
a
n
y
o
th
er
f
r
ac
tio
n
al
o
r
d
er
co
n
tr
o
ller
co
n
f
i
g
u
r
atio
n
s
ar
e
p
r
o
p
o
s
ed
an
d
a
r
e
w
id
el
y
u
s
ed
.
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:
2
722
-
2586
A
n
a
lytica
l d
esig
n
o
f th
e
fr
a
ctio
n
a
l o
r
d
er c
o
n
tr
o
ller
a
n
d
r
o
b
u
s
tn
ess
ve
r
ifica
tio
n
(
S
a
teesh
K
.
V
a
vila
la
)
13
3.
RE
S
E
ARCH
M
E
T
H
O
D
3
.
1
.
Desig
n
o
f
t
he
f
ra
ct
i
o
na
l
o
rder
c
o
ntr
o
ller
B
o
d
e'
s
id
ea
l
OL
T
F
is
th
e
r
e
f
e
r
en
ce
f
o
r
m
a
n
y
d
esi
g
n
p
r
o
ce
d
u
r
es
i
n
t
h
e
f
r
ac
tio
n
al
co
n
tr
o
lle
r
s
.
T
h
e
(
4
)
s
h
o
w
s
t
h
e
B
o
d
e'
s
O
L
T
F d
en
o
ted
b
y
L
(
s)
.
(
)
=
1
(
4
)
=
1
(
)
(
5
)
w
h
er
e
,
τ
c
=
T
im
e
co
n
s
ta
n
t
ω
gc
=
Gain
cr
o
s
s
o
v
er
f
r
eq
u
en
c
y
α
=
Fra
ctio
n
al
o
r
d
er
(1
≤
α
<
2)
(
5
)
g
iv
es t
h
e
r
elatio
n
b
et
w
ee
n
τ
c
an
d
ω
gc
.
T
h
e
C
L
T
F
T
(
s)
w
i
th
L
(
s)
in
f
o
r
w
ar
d
p
ath
is
,
(
)
=
1
1
+
(
6
)
T
h
e
(
6
)
is
u
s
ed
to
g
et
th
e
s
tep
r
esp
o
n
s
es
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o
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[
3
1
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O
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is
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m
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r
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d
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u
r
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u
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2
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Desire
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ized
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ato
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m
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1
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in
(
1
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,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2722
-
2586
I
A
E
S
I
n
t
J
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No
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1
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14
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m
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1
3
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1
4
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d
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lv
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r
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s)
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=
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+
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1
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x
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d
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ato
r
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s
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th
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T
ay
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s
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ies
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ir
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d
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li
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er
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1
+
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(
1
6
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ea
r
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ter
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s
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f
(
1
6
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,
(
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=
(
1
+
1
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1
1
+
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/
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−
1
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(
1
7
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t
h
e
s
tr
u
ctu
r
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f
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(
s)
is
a
P
I
ca
s
ca
d
ed
w
it
h
a
FO
f
ilter
o
f
o
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er
(
α
-
1
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w
h
er
e,
K
c
=
T/L
K
=
P
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p
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tio
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ta
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=
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=
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teg
r
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ta
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Fro
m
th
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ch
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s
e
n
v
al
u
es
o
f
M
p
,
t
s
an
d
u
s
in
g
(
7
)
an
d
(
1
0
)
α
,
τ
c
ar
e
o
b
tain
ed
.
T
h
e
d
esig
n
p
r
o
ce
d
u
r
e
is
ex
p
lain
ed
i
n
th
e
f
o
llo
w
i
n
g
s
te
p
s
:
-
Ob
tain
FOP
DT
m
o
d
el
o
f
t
h
e
s
y
s
te
m
.
-
Dec
id
e
o
n
th
e
r
eq
u
ir
ed
ti
m
e
d
o
m
a
in
s
p
ec
if
icat
io
n
s
,
PO
an
d
t
s
.
-
Usi
n
g
t
h
e
e
m
p
ir
ical
f
o
r
m
u
lae,
g
et
th
e
co
n
tr
o
ller
p
ar
am
eter
s
o
f
FO
C
.
-
Usi
n
g
t
h
e
M
A
T
L
A
B
/
SIM
U
L
I
NK
s
i
m
u
lat
io
n
,
o
b
tain
th
e
s
t
ep
r
esp
o
n
s
e
s
an
d
v
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y
if
t
h
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ti
m
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o
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ai
n
s
p
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s
ar
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t
?
A
d
v
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ta
g
es o
f
th
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r
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s
ed
FOC
:
-
I
s
o
d
am
p
i
n
g
p
r
o
p
er
ty
.
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I
n
f
i
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ite
g
ai
n
m
ar
g
i
n
.
-
I
n
cr
ea
s
ed
s
tab
ilit
y
r
a
n
g
e.
3
.
2
.
Ro
bu
s
t
s
t
a
bil
it
y
a
nd
r
o
bu
s
t
p
er
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o
r
m
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nce
a
na
ly
s
is
Fo
r
a
ch
an
g
e
i
n
t
h
e
s
et
p
o
in
t,
t
h
e
co
n
tr
o
ller
s
h
o
u
ld
g
i
v
e
r
ea
s
o
n
ab
le
p
er
f
o
r
m
an
ce
.
T
h
e
(
1
8
)
s
h
o
w
s
th
e
cr
iter
ia
to
b
e
s
atis
f
ied
f
o
r
th
e
c
o
n
tr
o
lle
r
to
b
e
r
o
b
u
s
t
[
3
4
]
.
20
l
og
10
(
|
(
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∆
(
|
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<
0
(
1
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er
e
T
c
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s
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is
t
h
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co
m
p
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m
en
tar
y
s
en
s
iti
v
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.
(
)
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(
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(
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1
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(
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(
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x
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te
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tr
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n
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e
w
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p
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in
t.
1
(
)
=
1
−
1
1
+
1
=
−
1
1
+
1
1
+
1
(
2
2
)
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:
2
722
-
2586
A
n
a
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l d
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n
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f th
e
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a
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n
a
l o
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d
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K
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(
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6
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,
(
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2
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W
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001
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T
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t
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Fig
u
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3
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o
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f
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n
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(
s)
3
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3
.
F
r
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g
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ly
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m
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s
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f
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f
r
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p
h
y
s
ical
p
ar
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m
eter
ch
an
g
es
[
3
2
]
,
d
ig
ital
co
n
tr
o
ller
i
m
p
le
m
e
n
ta
tio
n
s
u
f
f
er
s
f
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m
t
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w
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r
d
len
g
t
h
an
d
r
o
u
n
d
o
f
f
s
i
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2722
-
2586
I
A
E
S
I
n
t
J
R
o
b
&
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to
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,
Vo
l
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1
0
,
No
.
1
,
Ma
r
ch
2
0
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1
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1
0
–
23
16
n
u
m
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lc
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latio
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.
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RFI
Δ
20
[
3
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in
ed
b
y
(
2
9
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.
∆
20
=
|
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20
−
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en
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ar
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eter
s
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ar
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T
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e
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n
tr
o
ller
is
s
aid
to
b
e
r
e
s
ilien
t
to
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n
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o
ller
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ar
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eter
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g
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o
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Δ
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1
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n
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n
f
r
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o
r
v
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0
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1
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I
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2
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f
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5
.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
4
.
1.
Ca
s
e
s
t
ud
y
:
Co
up
led
t
a
n
k
s
y
s
t
e
m
I
n
th
i
s
w
o
r
k
C
T
S
ca
s
e
s
t
u
d
y
i
s
co
n
s
id
er
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to
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er
if
y
t
h
e
e
f
f
ec
t
iv
en
e
s
s
o
f
th
e
p
r
o
p
o
s
ed
FOC
.
Fig
u
r
e
4
s
h
o
w
s
t
h
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b
lo
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d
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r
a
m
o
f
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S
an
d
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le
1
g
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e
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o
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al
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ar
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m
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.
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w
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Q
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Q
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r
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f
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k
Fig
u
r
e
4
.
C
y
li
n
d
r
ical
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u
p
led
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k
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y
s
te
m
co
n
tr
o
l
B
y
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ar
y
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g
th
e
f
lo
w
r
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r
s
t
tan
k
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o
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el
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h
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atin
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s
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-
1
5
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cm
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g
u
r
e
5
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w
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o
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test
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y
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ate
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2
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5
L
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I
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th
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h
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n
as R
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m
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1
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479
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
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2586
I
A
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I
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b
&
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Vo
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No
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1
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ch
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0
–
23
18
Fo
r
g
ettin
g
th
e
s
i
m
u
la
tio
n
r
es
u
lts
,
Fi
g
ur
e
1
is
i
m
p
le
m
en
ted
in
th
e
M
A
T
L
A
B
/SIM
U
L
I
N
K
w
it
h
t
h
e
C
(
s)
g
i
v
en
b
y
(
3
1
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d
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s)
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e
n
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y
(
3
0
)
.
T
h
e
s
et
p
o
in
t
R
f
o
r
th
e
tan
k
2
h
eig
h
t
,
is
s
elec
ted
as
1
0
cm
.
FOMCO
N
to
o
lb
o
x
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r
o
v
id
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UL
I
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lo
ck
s
f
o
r
f
r
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ti
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tr
an
s
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er
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n
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tr
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ller
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er
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n
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s
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t
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s
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th
e
s
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s
e
s
o
f
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h
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s
y
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m
f
o
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s
et
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in
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o
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m
ar
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w
it
h
d
if
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er
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t
co
n
tr
o
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d
ar
e
s
h
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w
n
in
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g
u
r
e
6
.
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tio
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o
f
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ig
u
r
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6
s
h
o
w
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e
s
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r
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n
s
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h
er
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s
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o
tto
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p
o
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tio
n
s
h
o
w
s
t
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r
r
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n
d
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g
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n
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o
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f
o
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o
f
ea
ch
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n
tr
o
ller
in
a
s
ca
le
o
f
(
0
-
100)
%
.
Fig
u
r
e
6
,
s
h
o
w
s
th
a
t
t
h
e
p
r
o
p
o
s
ed
FOC
h
as
g
o
o
d
tr
an
s
ie
n
t
a
n
d
s
tea
d
y
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e
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lt
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at,
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y
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tain
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r
o
m
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h
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m
e
d
o
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in
s
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i
f
icatio
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s
d
ir
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tl
y
.
Fi
g
u
r
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gi
ve
s
t
h
e
r
e
g
u
la
to
r
y
r
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n
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es.
Fig
u
r
e
7
s
h
o
w
s
t
h
at
t
h
e
d
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t
u
r
b
an
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ap
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5
0
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at
6
0
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ec
.
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th
e
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n
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ler
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MC
s
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1
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ec
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d
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OI
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2
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ce
th
e
p
r
o
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e
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n
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as g
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o
d
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r
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n
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g
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r
e
6
.
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r
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o
n
s
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n
d
c
o
n
tr
o
l e
f
f
o
r
ts
Fig
u
r
e
7
.
R
eg
u
lato
r
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r
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n
s
e
s
an
d
co
n
tr
o
l e
f
f
o
r
ts
Fig
u
r
e
8
g
iv
e
s
t
h
e
s
er
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o
tr
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k
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r
esp
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n
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e
s
.
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g
u
r
e
8
s
h
o
w
s
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at
th
e
p
r
o
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o
s
ed
co
n
tr
o
ller
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av
e
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o
o
d
s
tep
r
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o
n
s
e
f
o
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ch
a
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g
es
i
n
th
e
s
tep
i
n
p
u
t.
T
h
e
T
ab
le
2
s
h
o
w
s
t
h
e
ti
m
e
d
o
m
ai
n
s
p
ec
if
icatio
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s
a
n
d
ti
m
e
d
o
m
ai
n
i
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d
ices.
C
o
n
tr
o
l
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f
o
r
t
in
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icate
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t
h
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p
o
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u
m
ed
in
o
b
tain
in
g
th
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d
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d
c
o
n
tr
o
l
ac
tio
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h
e
C
R
O
NE
co
n
tr
o
ller
h
a
s
t
h
e
l
o
w
est
in
teg
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ab
s
o
l
u
te
v
al
u
e
.
T
h
e
C
R
ONE
co
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tr
o
ller
to
o
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co
n
s
u
m
es
t
h
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ig
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o
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s
h
o
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t
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t
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C
R
O
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to
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h
i
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est
a
m
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all
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co
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tr
o
ller
s
.
B
u
t th
e
C
R
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NE
co
n
tr
o
ller
h
as t
h
e
least t
s
a
n
d
th
e
least r
is
e
ti
m
e.
Fig
u
r
e
8
.
Ser
v
o
r
esp
o
n
s
es a
n
d
co
n
tr
o
l e
f
f
o
r
ts
Evaluation Warning : The document was created with Spire.PDF for Python.
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o
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ain
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p
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u
r
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9
s
h
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r
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e
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Evaluation Warning : The document was created with Spire.PDF for Python.