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In
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id
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I
NT
RO
D
UCT
I
O
N
UAVs o
r
U
n
m
an
n
ed
A
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V
eh
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ar
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u
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ated
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ta
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[
1
]
.
A
t
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t
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UA
V
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a
s
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ev
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p
ed
to
f
u
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ield
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t
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h
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s
o
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[
2
]
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co
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tr
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g
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s
.
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t
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all
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ca
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o
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s
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ev
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w
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m
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m
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v
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3
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IJ
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2
,
J
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201
7
:
1
3
1
–
14
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132
v
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f
a
q
u
ad
r
o
to
r
.
T
h
at
f
o
u
r
ch
a
n
n
el
s
i
n
a
co
n
v
e
n
tio
n
al
r
e
m
o
te
co
n
tr
o
l
w
ill
a
f
f
ec
t
t
h
e
f
l
ig
h
t
p
ar
a
m
eter
s
o
f
q
u
ad
r
o
to
r
n
a
m
el
y
t
h
r
o
ttle,
p
itc
h
,
r
o
ll
an
d
y
a
w
.
T
h
e
th
r
o
ttle
i
s
u
s
ed
to
s
p
ee
d
u
p
o
r
s
lo
w
d
o
w
n
t
h
e
r
o
tatio
n
o
f
th
e
f
o
u
r
p
iece
s
o
f
t
h
e
p
r
o
p
eller
q
u
ad
r
o
to
r
s
o
q
u
ad
r
o
to
r
w
ill
m
o
v
e
u
p
or
d
o
w
n
.
W
h
ile
th
e
c
h
an
n
el
p
itch
,
r
o
ll
an
d
y
a
w
ar
e
u
s
ed
to
co
n
tr
o
l
th
e
f
l
ig
h
t
p
ar
a
m
eter
s
o
f
a
q
u
ad
r
o
to
r
,
ea
ch
p
itch
,
r
o
ll,
an
d
y
a
w
.
L
ac
k
o
f
p
ilo
t
'
s
k
n
o
w
led
g
e
o
f
th
e
f
u
n
ctio
n
o
f
ea
c
h
c
h
an
n
el
o
n
a
r
e
m
o
te
co
n
tr
o
l
w
ill
b
e
o
n
e
o
f
t
h
e
f
ac
to
r
s
th
at
m
ak
e
t
h
e
p
ilo
t
h
ar
d
ly
to
co
n
tr
o
l
th
e
q
u
ad
r
o
to
r
w
ell.
Mo
r
eo
v
er
,
th
e
r
o
le
o
f
ea
ch
ch
a
n
n
el
ca
n
b
e
d
if
f
er
e
n
t f
o
r
ea
ch
r
e
m
o
te
co
n
tr
o
ls
o
f
th
e
v
ar
io
u
s
t
y
p
es.
T
h
e
h
an
d
h
eld
s
y
s
te
m
o
f
f
er
ed
as
an
al
ter
n
ati
v
e
to
co
n
v
en
tio
n
al
r
e
m
o
te
co
n
tr
o
ls
t
h
at
e
x
is
t
to
d
ay
.
A
s
w
ell
as
a
r
e
m
o
te
co
n
t
r
o
l,
t
h
i
s
h
a
n
d
h
eld
s
y
s
te
m
w
il
l
r
eg
u
l
ate
th
e
m
o
v
e
m
e
n
t
o
f
q
u
ad
r
o
to
r
b
y
c
h
an
g
i
n
g
t
h
e
p
ar
am
eter
s
o
f
f
li
g
h
t.
T
h
e
q
u
a
d
r
o
to
r
’
s
f
li
g
h
t
p
ar
a
m
eter
w
ill
b
e
in
f
l
u
e
n
ce
d
b
y
th
e
p
o
s
it
io
n
o
f
th
e
u
s
er
’
s
h
an
d
.
T
h
e
p
ar
am
eter
th
at
w
as
ch
a
n
g
ed
is
th
e
a
m
o
u
n
t
o
f
o
r
ien
tatio
n
an
g
l
e
to
b
e
f
o
r
m
ed
b
y
th
e
q
u
ad
r
o
to
r
(
r
o
ll,
p
itch
an
d
y
a
w
)
.
Fo
r
p
itch
a
n
d
r
o
ll
an
g
le
w
ill
b
e
d
ir
ec
ted
b
y
-
15
0
o
r
1
5
0
.
T
o
m
a
k
e
t
h
e
q
u
ad
r
o
to
r
’
s
co
n
tr
o
l
ea
s
ier
,
it
n
ee
d
s
a
g
o
o
d
co
n
tr
o
l s
y
s
te
m
.
On
t
h
is
r
esear
c
h
,
w
e
u
s
ed
P
I
D
co
n
tr
o
l
m
eth
o
d
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
Sy
s
t
em
A
na
ly
s
is
Qu
ad
r
o
to
r
ca
n
b
e
d
esi
g
n
ed
to
m
o
v
e
b
y
co
m
m
a
n
d
s
t
h
at
s
e
n
t
f
r
o
m
p
ilo
t
.
T
o
ex
p
lain
t
h
e
b
eh
av
io
r
o
f
th
e
q
u
ad
r
o
to
r
’s
m
o
v
e
m
e
n
t
,
we
u
s
ed
t
h
r
ee
p
iece
s
o
f
d
y
n
a
m
i
c
p
ar
am
e
ter
s
ie
t
h
e
a
n
g
le
o
f
r
o
ll,
p
itch
an
d
y
a
w
.
T
h
ese
p
ar
am
eter
s
w
ill
b
e
v
er
y
h
elp
f
u
l
.
I
t
is
b
ec
au
s
e
th
e
f
o
r
c
e
th
at
u
s
ed
to
co
n
tr
o
l
th
e
m
o
ti
o
n
o
f
th
e
q
u
ad
r
o
to
r
w
il
l a
f
f
ec
t t
h
ese
3
p
ar
a
m
eter
s
d
ir
ec
tl
y
[
3
]
.
T
h
e
q
u
ad
r
o
to
r
’s
p
itch
a
n
g
le
c
h
a
n
g
e
s
ca
u
s
ed
b
y
t
h
e
v
ar
iatio
n
s
i
n
t
h
e
s
p
ee
d
o
f
th
e
p
r
o
p
eller
f
r
o
n
t
an
d
r
ea
r
,
w
h
ic
h
w
il
l
p
r
o
d
u
ce
f
o
r
w
ar
d
an
d
b
ac
k
w
ar
d
m
o
tio
n
.
S
a
m
e
as
t
h
e
p
itc
h
,
th
e
ac
tio
n
f
r
o
m
p
r
o
p
eller
lef
t
an
d
r
ig
h
t
w
i
ll
p
r
o
d
u
ce
th
e
r
o
ll
an
g
le
to
ch
a
n
g
e
s
th
a
t
m
a
k
es
t
h
e
q
u
ad
r
o
to
r
m
o
v
e
to
th
e
r
ig
h
t
a
n
d
lef
t.
Ya
w
a
n
g
le
is
af
f
ec
ted
b
y
th
e
ae
r
o
d
y
n
a
m
ic
to
r
q
u
e
b
alan
ce
b
et
w
ee
n
th
e
t
w
o
p
air
s
o
f
b
lad
es
(
clo
ck
w
i
s
e
r
o
tatio
n
an
d
co
u
n
ter
-
clo
c
k
w
is
e
r
o
tatio
n
)
s
o
th
at
if
o
n
e
o
f
th
e
t
w
o
p
air
s
o
f
p
r
o
p
eller
is
s
p
in
n
in
g
f
a
s
ter
,
it
w
ill
m
a
k
e
th
e
q
u
ad
r
o
to
r
s
p
in
in
eith
er
d
ir
ec
tio
n
.
Fig
u
r
e
1
s
h
o
w
s
t
h
e
q
u
ad
r
o
to
r
f
lig
h
t
b
eh
av
io
r
.
Fig
u
r
e
1
.
B
eh
av
io
r
o
f
q
u
ad
r
o
to
r
f
lig
h
t s
y
s
te
m
[
3
]
T
o
d
etec
t
th
e
o
r
ien
tat
io
n
a
n
g
l
e
,
p
itch
,
r
o
ll
an
d
y
a
w
,
i
n
a
q
u
ad
r
o
to
r
,
w
e
n
ee
d
a
s
e
n
s
o
r
f
u
s
i
o
n
,
o
n
e
o
f
th
e
s
e
n
s
o
r
f
u
s
io
n
m
eth
o
d
i
s
D
C
M
o
r
Dir
ec
tio
n
C
o
s
i
n
e
Ma
tr
i
x
m
et
h
o
d
.
W
e
ch
o
s
e
DC
M
m
e
th
o
d
ca
u
s
e
it
g
i
v
es
b
etter
ac
cu
r
ac
y
th
a
n
o
th
er
m
e
th
o
d
s
u
c
h
as
q
u
ater
n
io
n
an
d
e
u
ler
b
ased
attitu
d
e
esti
m
atio
n
[
4
].
DC
M
m
et
h
o
d
r
ea
d
s
th
e
v
al
u
e
o
f
a
g
y
r
o
s
co
p
e
s
en
s
o
r
as
th
e
m
ai
n
r
ef
er
e
n
ce
,
th
e
n
th
e
v
al
u
e
is
f
ix
ed
b
y
t
h
e
v
a
lu
e
s
f
r
o
m
ac
ce
ler
o
m
et
er
a
n
d
m
a
g
n
e
to
m
e
ter
[
5
]
.
B
lo
k
d
iag
r
a
m
o
f
DC
M
s
en
s
o
r
f
u
s
io
n
m
ett
h
o
d
e
is
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Qu
a
d
r
o
to
r
C
o
n
tr
o
l S
ystem
w
it
h
Ha
n
d
Mo
ve
me
n
t S
ig
n
a
s
a
n
A
lter
n
a
tive
R
emo
te
(
Tr
i
K
u
n
to
r
o
P
r
iya
mb
o
d
o
)
133
Fig
u
r
e
2
.
B
lo
k
d
iag
r
a
m
o
f
D
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M
s
en
s
o
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u
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io
n
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et
h
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d
W
e
ca
n
g
et
t
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e
r
o
tatio
n
m
atr
i
x
(
R
)
b
y
m
u
ltip
l
y
ea
c
h
r
o
tatio
n
ax
is
.
E
q
u
a
tio
n
(
1
)
,
(
2
)
an
d
(
3
)
s
h
o
w
h
o
w
w
e
ca
n
g
et
th
e
r
o
tatio
n
m
atr
i
x
(
R
)
.
(
1
)
w
h
er
e
,
[
]
[
]
[
]
(
2
)
Fro
m
th
e
eq
u
a
tio
n
(
1
)
an
d
(
2
)
ab
o
v
e
,
w
e
g
et
a
r
o
tatio
n
m
atr
i
x
(
R
)
th
at
s
h
o
w
n
o
n
t
h
e
eq
u
ati
o
n
(
3
)
b
elo
w
.
[
]
(
3
)
T
h
e
g
en
er
al
s
tr
u
c
tu
r
e
o
f
t
h
e
r
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tatio
n
m
a
tr
ix
i
s
s
h
o
w
n
o
n
t
h
e
eq
u
atio
n
(
4
)
b
elo
w
.
[
]
(
4
)
Fro
m
t
h
e
eq
u
atio
n
(
4
)
,
w
e
ca
n
g
et
t
h
e
v
al
u
e
f
o
r
ea
c
h
a
n
g
le
,
r
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ll,
p
itch
a
n
d
y
a
w
,
t
h
at
s
h
o
w
n
o
n
t
h
e
eq
u
atio
n
(
5
)
,
(
6
)
an
d
(
7
)
b
elo
w
.
1.
r
o
ll (
)
(
)
(
)
,
(
)
(
5
)
2.
p
itch
(
)
,
(
)
(
6
)
3.
y
a
w
(
)
(
)
(
)
,
(
)
(
7
)
I
n
a
co
n
v
en
tio
n
al
r
e
m
o
te
co
n
tr
o
l
th
er
e
ar
e
f
o
u
r
m
a
in
c
h
a
n
n
els
a
t
least,
as
w
el
l
as
s
o
m
e
ad
d
itio
n
al
ch
an
n
el
s
th
at
ar
e
u
s
ed
to
co
n
tr
o
l
th
e
m
o
v
e
m
e
n
t
o
f
a
q
u
ad
r
o
to
r
.
T
h
at
f
o
u
r
ch
a
n
n
el
s
i
n
a
co
n
v
e
n
tio
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al
r
e
m
o
te
co
n
tr
o
l
w
ill
af
f
ec
t
t
h
e
f
li
g
h
t
p
ar
a
m
eter
s
o
f
q
u
ad
r
o
to
r
n
am
el
y
t
h
r
o
ttle,
p
itch
,
r
o
ll
an
d
y
a
w
.
T
h
r
o
ttle
is
u
s
ed
to
s
p
ee
d
u
p
o
r
s
lo
w
d
o
w
n
t
h
e
r
o
tatio
n
o
f
th
e
f
o
u
r
p
iece
s
o
f
t
h
e
p
r
o
p
eller
q
u
ad
r
o
to
r
s
o
q
u
ad
r
o
t
o
r
w
ill
m
o
v
e
u
p
o
r
d
o
w
n
.
W
h
ile
th
e
c
h
a
n
n
e
l
p
i
tc
h
,
r
o
ll
an
d
y
a
w
ar
e
u
s
ed
to
c
o
n
tr
o
l
th
e
f
li
g
h
t
p
ar
a
m
eter
s
o
f
a
q
u
ad
r
o
to
r
,
ea
ch
p
itch
,
r
o
ll,
an
d
y
a
w
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
1
3
1
–
14
0
134
L
ac
k
o
f
p
ilo
t'
s
k
n
o
w
led
g
e
f
o
r
th
e
f
u
n
ctio
n
o
f
ea
ch
ch
a
n
n
el
o
n
a
r
em
o
te
co
n
tr
o
l
w
ill
be
o
n
e
o
f
th
e
f
ac
to
r
s
t
h
at
m
a
k
e
t
h
e
p
ilo
t
h
a
r
d
ly
to
co
n
tr
o
l
t
h
e
q
u
ad
r
o
to
r
w
ell
.
Mo
r
eo
v
er
,
th
e
f
u
n
ct
io
n
of
each
c
h
a
n
n
e
l
ca
n
be
d
if
f
er
en
t
f
o
r
each
r
e
m
o
te
c
o
n
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if
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T
h
e
h
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d
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eld
s
y
s
te
m
o
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f
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ed
as
an
al
ter
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o
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i
s
h
a
n
d
h
eld
s
y
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te
m
w
il
l
r
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u
l
ate
th
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m
o
v
e
m
e
n
t
of
q
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ad
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to
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b
y
c
h
an
g
i
n
g
t
h
e
p
ar
am
eter
s
o
f
f
li
g
h
t
.
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h
e
q
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a
d
r
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to
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’
s
f
li
g
h
t
p
ar
a
m
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ill
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l
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ce
d
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y
th
e
p
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it
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o
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th
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u
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er
’
s
h
an
d
.
T
h
e
p
ar
am
eter
th
at
w
as
ch
a
n
g
ed
is
th
e
a
m
o
u
n
t
o
f
o
r
ien
tatio
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an
g
le
to
b
e
f
o
r
m
ed
by
th
e
q
u
ad
r
o
to
r
(
r
o
ll,
p
itch
an
d
y
a
w
)
.
Fo
r
p
itc
h
a
n
d
r
o
ll
an
g
le
w
ill
b
e
d
ir
ec
ted
by
-
15
0
or
15
0
.
I
n
o
r
d
er
to
m
ak
e
th
e
q
u
ad
r
o
to
r
’
s
co
n
tr
o
l
ea
s
ier
,
it n
ee
d
s
a
g
o
o
d
co
n
tr
o
l
s
y
s
te
m
.
T
h
e
h
an
d
h
e
ld
s
y
s
te
m
d
esi
g
n
e
d
to
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e
ab
le
to
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ea
d
th
e
p
o
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n
o
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h
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u
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er
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h
a
n
d
m
o
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m
en
ts
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n
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co
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t
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in
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a
n
d
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l
ch
a
n
g
e
th
e
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li
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h
t
p
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m
eter
s
o
f
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h
e
q
u
ad
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to
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d
th
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n
s
e
n
d
s
t
h
ese
co
m
m
a
n
d
s
to
th
e
q
u
ad
r
o
to
r
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T
o
d
etec
t
th
e
u
s
er
’
s
h
a
n
d
m
o
v
e
m
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n
t,
a
n
I
MU
s
en
s
o
r
m
u
s
t
b
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u
s
ed
to
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r
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th
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o
r
ien
tat
io
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t
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er
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s
h
an
d
[
6
]
.
T
h
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m
o
v
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m
en
t
’
s
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ar
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th
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w
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b
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d
h
eld
s
y
s
te
m
i
s
p
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esen
ted
in
Fi
g
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r
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3
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d
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u
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3
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2
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t
em
Arc
hite
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Th
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s
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c
h
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tect
u
r
e
is
p
r
esen
ted
in
F
ig
u
r
e
4
ab
o
v
e.
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th
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s
y
s
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m
,
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r
s
th
at
th
e
co
n
tr
o
ller
q
u
ad
r
o
to
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et
in
p
u
ts
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r
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m
m
u
ltip
le
s
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n
s
o
r
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,
s
u
c
h
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ce
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ter
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p
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a
g
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eto
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eter
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ller
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w
h
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g
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to
t
h
e
b
r
u
s
h
les
s
m
o
to
r
.
T
h
e
q
u
ad
r
o
to
r
’
s
m
ain
co
n
tr
o
ller
u
s
ed
in
th
is
s
y
s
te
m
is
ar
d
u
in
o
n
a
n
o
.
T
o
o
p
tim
ize
th
e
co
n
tr
o
l
s
y
s
te
m
o
n
th
e
q
u
ad
r
o
to
r
w
e
u
s
e
P
I
D
co
n
tr
o
l
s
y
s
te
m
.
P
I
D
co
n
tr
o
ller
i
s
o
n
e
o
f
t
h
e
m
o
s
t
co
m
m
o
n
co
n
tr
o
ller
u
s
ed
to
d
a
y
[
7
]
.
A
lo
t
o
f
r
ef
i
n
i
n
g
,
c
h
e
m
ic
als,
an
d
p
u
lp
a
n
d
p
ap
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in
d
u
s
tr
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u
s
ed
P
I
D
s
tr
u
ctu
r
ed
co
n
t
r
o
lle
r
s
[
8
]
.
E
v
en
in
th
e
e
m
b
ed
d
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s
y
s
te
m
w
e
ca
n
s
ee
th
e
u
s
ed
o
f
P
I
D
co
n
tr
o
ller
[
9
]
.
A
n
d
m
o
r
eo
v
er
,
P
I
D
ca
n
b
e
co
m
b
in
ed
w
it
h
an
o
th
er
al
g
o
r
ith
m
li
k
e
f
u
zz
y
a
lg
o
r
ith
m
[
1
0
]
o
r
an
t c
o
lo
n
y
al
g
o
r
ith
m
[
1
1
]
an
d
[
1
2
]
.
T
h
e
h
an
d
h
e
ld
s
y
s
te
m
i
s
u
s
i
n
g
a
m
icr
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co
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tr
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a
t
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ar
d
u
in
o
p
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-
m
i
n
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t
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in
p
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t
f
r
o
m
th
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s
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s
o
r
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ce
ler
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m
eter
,
g
y
r
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s
co
p
e
an
d
m
ag
n
eto
m
eter
to
r
ea
d
th
e
p
o
s
itio
n
o
f
t
h
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u
s
er
's
h
an
d
.
Hav
i
n
g
o
b
tain
ed
th
e
p
o
s
itio
n
of
t
h
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u
s
er
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a
n
d
,
th
en
th
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al
g
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m
s
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p
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s
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w
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f
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t
p
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m
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s
of
q
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m
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f
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
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4856
Qu
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I
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N
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2
0
8
9
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IJ
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
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N:
2089
-
4856
Qu
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RE
SU
L
T
S AN
D
D
I
SCU
SS
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3.
1
.
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a
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held s
y
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t
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ult
Han
d
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ith
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s
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h
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t o
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t
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th
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m
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s
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tr
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l
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r
q
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m
p
ar
ed
w
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t
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l
s
y
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m
s
P
an
d
PI
co
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tr
o
l
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m
[
1
3
]
.
P
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alg
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r
it
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m
is
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m
ed
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each
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q
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h
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t
h
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ad
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f
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n
ce
d
b
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h
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co
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ta
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t
Kp
,
Ki
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an
d
Kd
.
I
n
th
is
r
esear
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d
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m
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ese
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t
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Z
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llatio
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m
et
h
o
d
.
T
h
e
Z
ie
g
ler
-
Nic
h
o
ls
t
u
n
i
n
g
m
eth
o
d
i
s
b
ased
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
1
3
1
–
14
0
138
o
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[
1
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]
.
Z
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ler
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Nic
h
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ls
t
u
n
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eth
o
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ca
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en
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s
t
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at
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ev
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p
ed
f
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m
tr
ial
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er
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r
m
eth
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e
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f
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ler
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et
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s
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o
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n
t
h
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s
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w
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n
u
s
e
th
e
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l
er
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n
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m
et
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s
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n
e
t
h
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D
p
ar
a
m
eter
o
n
t
h
e
q
u
ad
r
o
to
r
[
1
5
]
.
T
h
e
test
t
h
at
u
s
ed
t
h
e
Z
ie
g
le
r
-
Nic
h
o
ls
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cil
latio
n
m
et
h
o
d
is
d
o
n
e
b
y
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iv
i
n
g
t
h
e
v
ar
iati
o
n
o
f
t
h
e
p
r
o
p
o
r
tio
n
al
co
n
s
ta
n
t
(
Kp
)
v
alu
e.
W
h
er
ea
s
t
h
e
v
alu
e
o
f
t
h
e
in
teg
r
al
co
n
s
ta
n
t
(
Ki)
an
d
th
e
v
al
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e
o
f
t
h
e
d
er
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ativ
e
co
n
s
tan
t
(
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is
r
ated
0.
T
h
is
is
d
o
n
e
to
o
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tain
Kp
v
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es
t
h
at
can
m
a
k
e
th
e
q
u
ad
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to
r
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s
cillates
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n
tin
u
o
u
s
l
y
.
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f
t
h
e
o
s
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llati
n
g
s
y
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te
m
is
p
r
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g
r
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e
l
y
e
n
la
r
g
ed
,
th
e
n
t
h
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v
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lu
e
o
f
Kp
is
t
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o
lar
g
e
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d
s
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ld
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r
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ce
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.
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f
th
e
o
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n
g
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y
s
te
m
is
b
ec
o
m
i
n
g
in
cr
ea
s
i
n
g
l
y
s
m
aller
,
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e
v
alu
e
o
f
K
p
is
to
o
s
m
all
an
d
s
h
o
u
ld
b
e
en
lar
g
ed
.
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h
en
t
h
e
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o
f
Kp
r
es
u
lti
n
g
in
a
n
o
s
cillatin
g
s
y
s
te
m
is
r
e
f
er
r
ed
to
as
th
e
K
u
(
u
lti
m
ate
g
ain
co
n
s
ta
n
t)
.
T
h
e
n
ex
t
s
tep
is
to
f
in
d
th
e
v
alu
e
o
f
Pu
,
th
at
is
th
e
p
er
io
d
o
f
o
s
cillatio
n
of
th
e
w
a
v
es
f
o
r
m
ed
by
th
e
Ku
v
al
u
e
.
T
h
en
t
h
e
v
al
u
e
o
f
Kp
,
Ki
,
a
n
d
Kd
is
ca
lc
u
lated
b
ased
o
n
T
ab
le
2
[
1
6
]
.
T
h
e
r
esp
o
n
s
e
o
f
t
h
e
s
y
s
te
m
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
9
.
T
ab
le
2
.
P
I
D
Zieg
ler
-
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ich
o
ls
o
s
cilatio
n
m
et
h
o
d
[
16
]
C
o
n
t
r
o
l
l
e
r
t
y
p
e
s
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τi
Τd
P
0
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5
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u
0
0
PI
0
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4
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P
u
/
1
,
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D
0
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K
u
P
u
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P
u
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8
(
a)
(
b
)
(
c)
Fig
u
r
e
9
.
R
esp
o
n
s
e
o
f
t
h
e
s
y
s
t
e
m
: (
a)
r
o
ll a
n
g
le
,
(
b
)
p
itch
an
g
le
an
d
(
c)
y
a
w
an
g
le
Ku
o
f
t
h
e
v
al
u
e
th
a
t
h
a
s
b
ee
n
o
b
tain
ed
is
th
e
n
u
s
ed
to
s
ea
r
c
h
f
o
r
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e
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alu
e
o
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th
e
co
n
tr
o
lle
r
co
n
s
tan
t
s
Kp
,
Ki
a
n
d
Kd
f
o
r
later
i
m
p
le
m
en
ted
i
n
t
h
e
q
u
ad
r
o
to
r
co
n
tr
o
l
s
y
s
te
m
.
Fro
m
t
h
e
r
es
u
lt
s
o
f
th
e
Z
ie
g
ler
N
ich
o
ls
tu
n
in
g
m
et
h
o
d
g
ain
ed
co
n
tr
o
l
s
y
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te
m
ca
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ab
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o
f
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ai
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ain
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g
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ce
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n
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er
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Qu
a
d
r
o
to
r
C
o
n
tr
o
l S
ystem
w
it
h
Ha
n
d
Mo
ve
me
n
t S
ig
n
a
s
a
n
A
lter
n
a
tive
R
emo
te
(
Tr
i
K
u
n
to
r
o
P
r
iya
mb
o
d
o
)
139
s
y
s
te
m
,
th
e
n
w
e
r
e
-
t
u
n
ed
t
h
e
s
y
s
te
m
o
n
ea
c
h
o
f
t
h
e
co
n
tr
o
ller
co
n
s
ta
n
ts
Kp
,
Ki
a
n
d
Kd
.
T
u
n
i
n
g
i
s
d
o
n
e
w
i
t
h
th
e
r
esu
lts
b
ased
o
n
th
e
v
al
u
e
o
f
Z
ie
g
ler
Nich
o
l
s
tu
n
i
n
g
m
et
h
o
d
,
th
u
s
f
u
r
th
er
t
u
n
i
n
g
o
f
th
i
s
n
at
u
r
e
is
o
n
l
y
co
r
r
ec
t
d
ef
icien
cies
ar
is
i
n
g
f
r
o
m
Z
ie
g
ler
Nich
o
l
s
tu
n
i
n
g
b
ef
o
r
e.
So
in
o
th
er
w
o
r
d
s
Z
ie
g
ler
Nich
o
ls
t
u
n
in
g
m
et
h
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d
ca
n
b
e
u
s
ed
to
h
elp
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h
e
p
r
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ce
s
s
o
f
P
I
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t
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n
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n
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o
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ef
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u
es
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o
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th
e
n
e
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t
tu
n
i
n
g
p
r
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ce
s
s
.
Fig
u
r
e
9
ab
o
v
e
d
is
p
la
y
s
s
y
s
te
m
r
esp
o
n
s
e
af
ter
Z
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g
ler
Nich
o
ls
t
u
n
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g
m
eth
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an
d
s
u
b
s
eq
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tl
y
r
e
-
tu
n
ed
to
i
m
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r
o
v
e
r
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n
s
e.
W
e
ca
ll th
is
s
ec
o
n
d
tu
n
i
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g
p
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o
ce
s
s
t
u
n
i
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as a
f
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e
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u
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ed
m
et
h
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d
.
3
.
3
.
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nte
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ra
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n qua
dro
t
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a
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held s
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ult
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h
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test
ai
m
s
to
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eter
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b
eh
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io
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al
r
esp
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n
s
e
o
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th
e
q
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ad
r
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to
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b
ased
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m
m
an
d
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co
n
tr
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l
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n
by
t
h
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h
a
n
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s
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et
p
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u
r
e
1
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s
h
o
w
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e
g
r
ap
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th
e
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r
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c
h
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ad
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’
s
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le
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t
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.
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
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201
7
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14
0
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4.
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le
f
r
o
m
t
h
e
I
MU
s
e
n
s
o
r
d
ata,
w
e
u
s
ed
DC
M
s
en
s
o
r
f
u
s
io
n
m
et
h
o
d
.
I
n
o
r
d
er
t
o
co
o
n
tr
o
l
t
h
e
q
u
ad
r
o
to
r
o
p
tim
al
l
y
,
t
h
en
w
e
u
s
ed
P
I
D
co
n
tr
o
l.
T
o
ass
is
t
th
e
tu
n
in
g
o
f
ea
ch
co
n
tr
o
ller
co
n
s
tan
ts
Kp
,
Ki
an
d
Kd
,
Z
ieg
ler
Nic
h
o
ls
tu
n
i
n
g
m
et
h
o
d
is
u
s
ed
,
t
h
en
t
h
e
r
es
u
l
ts
o
f
t
h
is
t
u
n
in
g
is
u
s
ed
as a
b
asic v
a
lu
e
f
o
r
f
u
r
t
h
er
tu
n
i
n
g
.
RE
F
E
R
E
NC
E
S
[1
]
E
.
B
o
n
e
an
d
C
.
B
o
l
k
co
m
,
“
U
n
m
a
n
n
ed
A
er
ial
Ve
h
icle
s
:
B
a
ck
g
r
o
u
n
d
a
n
d
I
s
s
u
es
f
o
r
C
o
n
g
r
ess
,
”
L
ib
r
ar
y
o
f
C
o
n
g
r
ess
W
as
h
i
n
g
to
n
D
C
C
o
n
g
r
ess
io
n
al
R
e
s
ea
r
ch
Ser
v
i
ce
.
2
0
0
3
.
[2
]
S.
Gu
p
te
a
n
d
J
.
M.
C
o
n
r
ad
,
“A
Su
r
v
e
y
o
f
Qu
ad
r
o
to
r
Un
m
a
n
n
ed
A
er
ial
Ve
h
icles,”
P
r
o
ce
ed
in
g
s
o
f
I
E
E
E
S
o
u
th
e
a
s
tco
n
,
p
p
.
1
–
6
,
Ma
r
et
2
0
1
2
.
[3
]
J
.
M.
B
.
Do
m
in
g
u
es
,
“
Q
u
ad
r
o
to
r
Pro
to
ty
p
e
,
”
[
M
aster
T
h
esis
]
,
L
is
b
o
n
:
T
ec
h
n
ical
Un
i
v
er
s
it
y
o
f
L
is
b
o
n
;
2009.
[4
]
N
.
H
.
Q
.
P
h
u
o
n
g
,
et
all.
,
“
A
DC
M
B
ased
Or
ie
n
tatio
n
E
s
ti
m
atio
n
A
l
g
o
r
ith
m
w
it
h
a
n
I
n
er
tial
Me
asu
r
e
m
en
t
Un
it
a
n
d
a
M
ag
n
etic
C
o
m
p
a
s
s
,
”
Jo
u
r
n
a
l
o
f
Un
ivers
a
l
C
o
mp
u
ter
S
cien
ce
,
v
o
l
1
5
,
p
p
.
8
5
9
-
876
,
2
0
0
9
.
[5
]
W
.
Pre
m
er
la
n
i
an
d
P
.
B
izar
d
,
“
Dir
ec
tio
n
C
o
s
in
e
Ma
tr
i
x
I
MU
:
T
h
eo
r
y
,”
[
I
n
ter
n
et]
2
0
0
9
[
cited
2
0
1
3
Dec
e
m
b
er
12
]
,
A
v
ailab
le
f
r
o
m
:
h
ttp
://
g
en
tlen
a
v
.
g
o
o
g
leco
d
e.
co
m
/f
iles
/D
C
MD
r
a
f
t2
.
p
d
f
.
[6
]
R
.
Sek
h
ar
,
et
all.
,
“
I
n
er
tial
s
e
n
s
o
r
b
ased
w
ir
ele
s
s
co
n
tr
o
l
o
f
a
r
o
b
o
tic
ar
m
,
”
E
merg
in
g
S
ig
n
a
l
P
r
o
ce
s
s
in
g
A
p
p
lica
tio
n
s
(
E
S
P
A
)
,
p
p
.
8
7
-
9
0
,
J
an
u
ar
i 2
0
1
2
.
[7
]
K.
J
.
A
s
tr
o
m
a
n
d
T
.
Hag
g
l
u
n
d
,
“
T
h
e
f
u
tu
r
e
o
f
P
I
D
co
n
tr
o
l
,
”
C
o
n
tr
o
l
E
n
g
in
ee
r
in
g
P
r
a
cti
ce
,
v
o
l
9
,
p
p
.
1163
–
1
1
7
5
,
2
0
0
1
.
[8
]
L
.
De
s
b
o
u
r
o
u
g
h
,
R
.
Mil
ler
,
“
I
n
cr
ea
s
i
n
g
cu
s
to
m
er
v
al
u
e
o
f
i
n
d
u
s
tr
ial
co
n
tr
o
l
p
er
f
o
r
m
an
ce
m
o
n
ito
r
in
g
-
Ho
n
e
y
w
e
ll’s e
x
p
er
ie
n
ce
,
”
A
I
C
h
E
S
ymp
o
s
iu
m
S
eries
,
v
o
l 3
2
6
,
p
p
.
1
5
3
-
1
8
6
,
2
0
0
2
.
[9
]
S.
G.
Ak
k
er
m
a
n
s
an
d
S.
G.
Sta
n
,
“
Di
g
ital
s
er
v
o
I
C
f
o
r
o
p
tical
d
is
c
d
r
i
v
es,”
C
o
n
tr
o
l
E
n
g
in
ee
r
in
g
P
r
a
ctice
,
v
o
l 9
,
p
p
.
1
2
4
5
–
1
2
5
3
,
2
0
0
2
.
[1
0
]
T
.
K.
P
r
iy
a
m
b
o
d
o
,
A
.
D
h
ar
m
a
w
a
n
a
n
d
A
.
E
.
P
u
tr
a,
“
P
I
D
s
elf
t
u
n
in
g
co
n
tr
o
l
b
ased
o
n
Ma
m
d
an
i
f
u
zz
y
lo
g
ic
co
n
tr
o
l
f
o
r
q
u
ad
r
o
to
r
s
tab
ilizatio
n
”,
P
r
o
ce
ed
in
g
o
f
P
r
o
g
r
ess
in
A
p
p
lied
Ma
th
e
m
ati
cs
in
Scien
ce
an
d
E
n
g
in
ee
r
i
n
g
,
2
0
1
5
.
[1
1
]
T
.
K.
P
r
iy
a
m
b
o
d
o
,
A
.
E
.
P
u
tr
a
an
d
A
.
Dh
ar
m
a
w
a
n
,
“
Op
ti
m
izi
n
g
C
o
n
tr
o
l
b
ased
o
n
An
t
C
o
lo
n
y
L
o
g
ic
f
o
r
Qu
ad
r
o
to
r
Stab
ilizatio
n
,
”
P
r
o
ce
e
d
in
g
o
f
I
E
E
E
I
n
ter
n
ati
o
n
al
C
o
n
f
er
e
n
ce
o
n
A
er
o
s
p
ac
e
E
lectr
o
n
ics
an
d
R
e
m
o
te
Sen
s
in
g
T
e
ch
n
o
lo
g
y
,
p
p
.
1
-
4
,
2
0
1
5
.
[1
2
]
T
.
K.
P
r
iy
a
m
b
o
d
o
,
A
.
Dh
ar
m
a
w
a
n
,
O.
A
.
D
h
e
w
a
a
n
d
N.
A
.
S.
P
u
tr
o
,
“
Op
ti
m
iz
in
g
co
n
tr
o
l
b
ased
o
n
f
in
e
tu
n
e
P
I
D
u
s
i
n
g
an
t
co
lo
n
y
lo
g
ic
f
o
r
v
er
tical
m
o
v
in
g
co
n
tr
o
l
o
f
U
A
V
s
y
s
te
m
”.
P
r
o
ce
ed
in
g
o
f
A
d
v
an
ce
s
o
f
Scien
ce
a
n
d
T
ec
h
n
o
lo
g
y
f
o
r
So
ci
et
y
,
p
p
.
1
-
6
,
2
0
1
5
.
[1
3
]
A
.
A
.
Dar
m
asap
u
tr
a,
“
P
r
o
to
t
y
p
e
Q
u
ad
r
o
to
r
as
L
o
ad
C
ar
r
ier
,
”
[
T
h
esis
]
,
I
n
d
o
n
esia
:
U
n
i
v
er
s
itas
Gad
j
ah
Ma
d
a,
2
0
1
2
.
[1
4
]
K.
J
.
A
s
tr
o
m
a
n
d
T
.
Hag
g
lu
n
d
,
“
R
e
v
is
i
tin
g
t
h
e
Z
ieg
ler
–
Nic
h
o
ls
s
tep
r
esp
o
n
s
e
m
et
h
o
d
f
o
r
P
I
D
co
n
tr
o
l,”
Jo
u
r
n
a
l o
f P
r
o
ce
s
s
C
o
n
tr
ol
,
v
o
l 1
4
,
p
p
.
6
3
5
–
6
5
0
,
2
0
0
4
.
[1
5
]
He
Z
eFa
n
g
an
d
Z
h
ao
L
a
n
g
,
“A
Si
m
p
le
A
tt
itu
d
e
C
o
n
tr
o
l
o
f
Qu
ad
r
o
to
r
Helico
p
ter
B
as
ed
o
n
Z
ieg
ler
-
Nich
o
ls
R
u
les
f
o
r
T
u
n
in
g
P
D
P
ar
am
eter
s
,
”
T
h
e
Scien
ti
f
ic
W
o
r
ld
J
o
u
r
n
al,
v
o
l 2
0
1
4
,
p
p
.
1
-
1
3
,
2
0
1
4
[1
6
]
Og
ata
K.
Mo
d
er
n
C
o
n
r
o
l E
n
g
i
n
ee
r
in
g
.
5
th
E
d
itio
n
.
P
r
en
tice
Hall
:
Ne
w
J
er
s
e
y
; 2
0
1
0
.
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