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(
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)
Vo
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4
,
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.
3
,
Sep
tem
b
er
201
5
,
p
p
.
2
0
9
~
2
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8
I
SS
N:
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4856
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On
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[
3
-
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
201
5
:
2
0
9
–
2
1
8
210
A
lt
h
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9
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a
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e
it
ea
s
ier
to
ch
o
o
s
e
s
lid
in
g
s
u
r
f
ac
e
f
o
r
s
lid
in
g
m
o
d
e
co
n
tr
o
l
an
d
en
s
u
r
e
L
y
ap
u
n
o
v
s
tab
ilit
y
.
His
an
o
t
h
er
p
ap
e
r
[
10
]
tr
ea
ts
s
lid
in
g
m
o
d
e
a
s
an
o
b
s
er
v
er
o
f
v
e
lo
cities
a
n
d
ex
ter
n
al
d
is
t
u
r
b
an
ce
s
,
w
h
ich
ca
n
co
m
p
e
n
s
at
e
co
n
tr
o
l
in
p
u
t
s
.
H.
B
o
u
ad
i’
s
p
ap
er
[
11
]
ex
p
lo
its
b
ac
k
s
tep
p
in
g
ap
p
r
o
ac
h
to
g
et
s
lid
in
g
m
o
d
e
co
n
tr
o
l
la
w
a
n
d
tak
es
t
h
e
h
ig
h
o
r
d
er
n
o
n
-
h
o
lo
n
o
m
ic
co
n
s
tr
ain
ts
i
n
to
ac
co
u
n
t.
B
ein
g
s
tab
le
is
cr
itical
f
o
r
o
n
e
q
u
ad
r
o
to
r
’
s
co
n
tr
o
l,
th
er
ef
o
r
e
r
o
tatio
n
al
s
y
s
te
m
s
h
o
u
ld
b
e
w
ith
f
a
s
t
d
y
n
a
m
ics
w
h
er
ea
s
tr
an
s
lat
io
n
al
s
y
s
te
m
is
s
u
i
tab
le
w
it
h
s
lo
w
d
y
n
a
m
ics.
B
ec
au
s
e
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
la
w
s
d
o
n
o
t
d
ep
en
d
o
n
s
y
s
te
m
p
ar
a
m
eter
s
an
d
ca
n
b
e
m
o
r
e
r
o
b
u
s
t,
w
e
c
h
o
o
s
e
s
lid
in
g
m
o
d
e
as r
o
tatio
n
al
s
y
s
t
e
m
co
n
tr
o
ller
w
h
i
le
b
ac
k
s
tep
p
in
g
i
s
ad
o
p
te
d
as tr
an
s
latio
n
a
l s
y
s
te
m
co
n
tr
o
ller
.
T
h
e
m
ai
n
co
n
tr
ib
u
tio
n
o
f
th
i
s
p
ap
er
is
ad
o
p
tin
g
n
o
n
li
n
ea
r
q
u
ad
r
o
to
r
d
y
n
a
m
ics
m
o
d
el
to
d
ev
elo
p
a
n
e
w
h
y
b
r
id
co
n
tr
o
ller
b
ased
o
n
b
ac
k
s
tep
p
in
g
an
d
s
lid
i
n
g
m
o
d
e
m
et
h
o
d
.
First
l
y
,
Ne
w
to
n
-
E
u
ler
ap
p
r
o
ac
h
is
u
tili
ze
d
to
o
b
tai
n
n
o
n
li
n
ea
r
d
y
n
a
m
ics
m
o
d
el.
B
ased
o
n
th
e
d
y
n
a
m
ic
m
o
d
el,
t
h
e
w
h
o
le
s
y
s
t
e
m
ca
n
b
e
d
i
v
id
ed
in
to
t
w
o
s
u
b
s
y
s
te
m
s
:
tr
an
s
l
atio
n
al
an
d
r
o
tatio
n
a
l
s
y
s
te
m
.
B
ac
k
s
tep
p
in
g
co
n
tr
o
ller
is
d
ev
elo
p
ed
f
o
r
tr
an
s
latio
n
al
s
y
s
te
m
w
h
ile
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
is
p
r
o
p
o
s
ed
f
o
r
r
o
ta
tio
n
al
s
y
s
te
m
.
Dep
en
d
in
g
o
n
tr
an
s
latio
n
al
m
o
tio
n
eq
u
atio
n
s
o
f
d
y
n
a
m
ics
m
o
d
el,
o
n
e
n
o
n
l
in
ea
r
eq
u
atio
n
is
d
er
i
v
ed
to
s
o
lv
e
u
n
d
er
-
ac
tu
ated
p
r
o
b
lem
a
n
d
b
u
i
ld
co
n
n
ec
tio
n
s
b
et
w
ee
n
t
h
ese
t
w
o
s
u
b
s
y
s
te
m
s
.
Fi
n
all
y
,
t
h
e
n
e
w
h
y
b
r
id
c
o
n
tr
o
ller
h
a
s
b
ee
n
o
b
tain
ed
.
W
ay
p
o
i
n
t
n
av
i
g
atio
n
s
i
m
u
latio
n
i
s
p
er
f
o
r
m
ed
o
n
th
e
h
y
b
r
id
co
n
tr
o
ller
to
v
alid
a
te
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
n
o
n
li
n
ea
r
h
y
b
r
id
co
n
tr
o
ller
.
Si
m
u
la
tio
n
r
es
u
lt
s
s
h
o
w
s
u
cc
e
s
s
f
u
l
p
er
f
o
r
m
a
n
c
e
o
f
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
.
I
n
th
e
n
e
x
t
s
ec
tio
n
q
u
ad
r
o
to
r
d
y
n
a
m
ics
m
o
d
eli
n
g
is
d
is
c
u
s
s
ed
.
T
h
en
in
Secti
o
n
I
I
I
b
ac
k
s
tep
p
in
g
an
d
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
la
w
is
d
e
v
elo
p
ed
to
g
et
th
e
n
o
n
lin
ea
r
h
y
b
r
id
co
n
tr
o
ller
.
Si
m
u
latio
n
r
esu
lts
ar
e
d
escr
ib
ed
in
Sectio
n
I
V.
Fin
a
ll
y
,
in
Sect
io
n
V,
co
n
cl
u
s
io
n
an
d
d
is
cu
s
s
io
n
ar
e
p
r
esen
ted
.
2.
DYNA
M
I
CS M
O
DE
L
I
NG
Qu
ad
r
o
to
r
d
y
n
a
m
ic
s
m
o
d
el
i
s
u
s
u
all
y
o
b
tain
ed
b
y
t
w
o
d
if
f
er
en
t
ap
p
r
o
ac
h
es:
E
u
ler
-
L
a
g
r
an
g
e
an
d
Ne
w
to
n
-
E
u
ler
eq
u
atio
n
s
,
an
d
t
h
ese
t
w
o
ap
p
r
o
ac
h
es c
an
g
et
s
a
m
e
m
o
tio
n
eq
u
atio
n
s
.
T
h
er
e
ar
e
m
an
y
n
o
n
lin
ea
r
f
ac
to
r
s
o
f
co
m
p
le
te
d
y
n
a
m
ic
s
o
f
a
q
u
ad
r
o
to
r
s
u
ch
as
f
r
ee
-
s
tr
ea
m
v
elo
cit
y
,
b
lad
e
f
lap
p
in
g
a
n
d
g
y
r
o
s
co
p
ic
ef
f
ec
t.
I
t
w
o
u
ld
b
e
v
er
y
co
m
p
licated
ev
e
n
n
o
t
f
ea
s
ib
le
f
o
r
th
e
p
u
r
p
o
s
e
o
f
co
n
tr
o
l
i
f
o
n
e
d
y
n
a
m
ic
s
m
o
d
el
co
n
s
id
er
s
all
n
o
n
lin
ea
r
e
f
f
ec
t
f
ac
to
r
s
.
T
h
er
ef
o
r
e,
th
is
p
ap
er
b
u
ild
s
a
s
i
m
p
li
f
ied
d
y
n
a
m
ics
m
o
d
el
w
h
ich
r
et
ain
s
m
ai
n
f
ea
t
u
r
es
a
n
d
ig
n
o
r
es
s
o
m
e
n
o
n
li
n
ea
r
ef
f
ec
t
f
ac
to
r
s
s
u
ch
a
s
f
r
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-
s
tr
ea
m
v
elo
cit
y
a
n
d
b
lad
e
f
lap
p
in
g
,
w
h
ic
h
ar
e
ea
s
il
y
o
b
s
er
v
ed
i
n
a
g
g
r
e
s
s
i
v
e
m
o
tio
n
s
o
f
lar
g
e
q
u
ad
r
o
to
r
s
[
12
]
.
I
n
th
is
p
ap
er
,
th
e
d
y
n
a
m
ics
m
o
d
el
w
il
l
b
e
d
er
iv
ed
b
ased
o
n
Ne
wto
n
-
E
u
ler
eq
u
at
io
n
s
[
13
]
u
n
d
er
th
e
a
s
s
u
m
p
t
io
n
t
h
at
t
h
e
ce
n
te
r
o
f
m
a
s
s
co
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n
cid
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t
h
e
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o
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y
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ix
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f
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a
m
e.
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ased
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a
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m
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ig
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d
y
f
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B
ca
n
b
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d
escr
ib
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as:
3
0
0
ext
m
I
m
V
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V
JJ
,
(
1
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W
h
er
e
I
is
t
h
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id
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it
y
m
a
tr
ix
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,
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v
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,
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li
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cities
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Usi
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s
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a
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s
:
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c
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.
(
3
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
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N:
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Hyb
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lid
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Mo
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(
Z
h
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Lia
n
C
h
u
a
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)
211
W
h
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(
,
,
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d
en
o
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t
h
r
ee
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an
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r
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ll,
p
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,
a
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d
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esp
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tiv
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y
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d
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ar
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ab
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as f
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r
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to
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cr
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tial
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ter
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Si
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eq
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m
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as:
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T
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J
J
J
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(
5
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W
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m
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tia
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r
a
m
e,
w
e
n
ee
d
t
h
e
k
i
n
e
m
atic
r
elatio
n
b
et
w
ee
n
an
d
:
r
R
,
(
7
)
W
h
er
e
th
e
E
u
ler
m
atr
ix
r
R
is
g
i
v
en
b
y
1
s
in
(
)
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n
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)
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o
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(
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0
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(
)
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e
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(
)
c
o
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e
c
(
)
r
R
.
(
8
)
W
e
ca
n
m
a
k
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ass
u
m
p
tio
n
ar
o
u
n
d
h
o
v
er
s
tate
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d
s
m
all
a
n
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le
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w
h
er
e
0
,
0
.
B
ased
o
n
th
at
ass
u
m
p
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n
,
th
is
tr
a
n
s
f
o
r
m
atio
n
m
atr
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ca
n
b
e
s
i
m
p
li
f
ied
to
an
id
en
ti
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y
m
atr
i
x
,
w
h
ich
m
ea
n
s
t
h
at
ac
t
u
all
y
n
o
ch
an
g
es
ar
e
m
ad
e
o
n
r
o
tatio
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d
y
n
a
m
ics.
Dep
e
n
d
in
g
o
n
th
is
ap
p
r
o
x
i
m
atio
n
,
th
e
r
o
ta
tio
n
al
d
y
n
a
m
ics
o
f
in
er
tial
f
r
a
m
e
ca
n
b
e
ca
lcu
late
d
as f
o
llo
w
s
:
00
T
rr
J
J
J
.
(
9
)
A
q
u
ad
r
o
to
r
is
an
u
n
d
er
-
ac
tu
a
ted
s
y
s
te
m
w
i
th
6
d
eg
r
ee
o
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f
r
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o
m
an
d
4
co
n
tr
o
l
in
p
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ts
,
w
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ic
h
ar
e
th
e
to
tal
t
h
r
u
s
t
1
U
an
d
th
e
to
r
q
u
es
2
3
4
(
,
,
)
U
U
U
.
Hen
ce
th
e
f
o
r
ce
an
d
to
r
q
u
e
v
ec
to
r
s
i
n
eq
u
atio
n
(
4
)
an
d
eq
u
atio
n
(
5
)
ca
n
b
e
e
x
p
r
es
s
ed
as
1
00
T
B
FU
an
d
2
3
4
T
U
U
U
,
r
esp
ec
tiv
el
y
.
Un
d
er
th
e
ass
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m
p
tio
n
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h
r
u
s
ts
ar
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p
r
o
p
o
r
tio
n
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s
q
u
ar
e
o
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p
r
o
p
eller
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s
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e
r
elatio
n
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ip
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etw
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n
tr
o
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in
p
u
t
s
1
2
3
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,
,
,
)
U
U
U
U
an
d
r
o
to
r
s
’
s
p
ee
d
1
2
3
4
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,
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,
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w
w
w
w
ca
n
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g
iv
e
n
b
y
11
22
33
44
00
00
f
f
f
f
ff
ff
m
m
m
m
K
K
K
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KK
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KK
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K
K
K
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Uw
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(
1
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W
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f
K
an
d
m
K
ar
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ae
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d
y
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m
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en
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n
s
ta
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ts
r
esp
ec
ti
v
el
y
.
R
ec
all
in
g
eq
u
atio
n
(
4
)
a
n
d
eq
u
atio
n
(
8
)
,
th
e
n
o
n
li
n
ea
r
m
o
d
el
o
f
a
q
u
ad
r
o
to
r
ca
n
b
e
ex
p
r
ess
ed
in
t
h
e
f
o
llo
w
i
n
g
f
o
r
m
,
w
h
er
e
l
d
en
o
tes th
e
d
is
tan
ce
b
et
w
ee
n
r
o
to
r
s
’
ce
n
ter
an
d
th
e
ce
n
ter
o
f
m
a
s
s
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
201
5
:
2
0
9
–
2
1
8
212
2
3
4
1
1
1
()
()
()
1
(
c
os
c
os
)
1
(
c
os
si
n
c
os
si
n
si
n
)
1
(
c
os
si
n
si
n
si
n
si
n
)
yz
r
x
x
x
zx
r
y
y
y
xy
zz
II
J
l
U
I
I
I
II
J
l
U
I
I
I
II
l
U
II
z
g
U
m
xU
m
yU
m
.
(
1
1
)
T
h
e
d
y
n
a
m
ic
s
m
o
d
el
d
er
iv
ed
b
y
t
h
is
s
ec
t
io
n
is
s
u
itab
le
f
o
r
m
i
n
i
-
q
u
ad
r
o
to
r
w
i
th
s
m
all
p
r
o
p
eller
s
an
d
lo
w
f
l
y
i
n
g
s
p
ee
d
.
Fo
r
a
m
o
r
e
ac
cu
r
ate
d
y
n
a
m
ics
f
o
r
lar
g
e
q
u
ad
r
o
to
r
s
m
o
d
el
w
h
ich
co
n
s
id
er
s
b
lad
e
f
lap
p
in
g
,
b
ig
an
g
les o
f
at
tack
,
o
n
e
ca
n
r
ef
er
to
G.
M.
Ho
f
f
m
a
n
an
d
S.
B
o
u
ab
d
allah
’
s
p
ap
er
[
14
,
15
]
.
3.
NO
NL
I
N
E
AR
H
YB
RI
D
CO
NT
RO
L
L
E
R
DE
SI
G
N
I
t
is
o
b
v
io
u
s
th
a
t
t
h
er
e
is
n
o
co
u
p
lin
g
a
m
o
n
g
p
o
s
i
tio
n
co
n
t
r
o
l
o
u
tp
u
ts
i
n
co
m
p
ar
is
o
n
w
i
t
h
att
itu
d
e
co
n
tr
o
l
o
u
tp
u
t
s
,
s
o
w
e
ca
n
d
iv
id
e
th
e
w
h
o
le
d
y
n
a
m
ic
s
s
y
s
te
m
in
to
t
w
o
s
u
b
s
y
s
te
m
s
:
tr
an
s
lat
io
n
al
a
n
d
r
o
tatio
n
al
s
y
s
te
m
.
Sl
id
in
g
m
o
d
e
co
n
tr
o
ller
is
p
r
o
p
o
s
ed
f
o
r
attitu
d
e
co
n
tr
o
l
w
h
er
ea
s
t
r
an
s
latio
n
al
co
n
tr
o
l
ad
o
p
ts
b
ac
k
s
tep
p
in
g
co
n
tr
o
lle
r
.
Sli
d
in
g
m
o
d
e
is
a
k
i
n
d
o
f
n
o
n
li
n
ea
r
an
d
d
i
s
co
n
ti
n
u
o
u
s
co
n
tr
o
l,
w
h
ic
h
ca
n
f
o
r
ce
th
e
s
y
s
te
m
d
y
n
a
m
ic
s
s
li
d
e
alo
n
g
s
lid
i
n
g
s
u
r
f
ac
e.
T
h
e
b
ig
g
e
s
t
ad
v
a
n
ta
g
es
o
f
s
lid
i
n
g
m
o
d
e
is
th
at
s
y
s
te
m
d
y
n
a
m
ics
is
i
n
d
ep
en
d
en
t
o
f
c
o
n
tr
o
ller
’
s
p
ar
a
m
eter
s
b
ec
au
s
e
en
tire
d
y
n
a
m
ics
o
f
s
y
s
te
m
is
g
o
v
er
n
ed
b
y
th
e
s
lid
in
g
s
u
r
f
ac
e.
Ho
w
ev
er
,
o
s
c
illatio
n
ca
u
s
ed
b
y
s
w
i
tch
i
n
g
b
et
w
ee
n
s
l
id
in
g
s
u
r
f
ac
e
is
a
d
r
a
w
b
ac
k
o
f
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
[
16
]
.
I
n
ter
m
s
o
f
b
ac
k
s
tep
p
in
g
,
it
is
f
ea
s
ib
le
f
o
r
ca
s
ca
d
e
co
n
tr
o
l,
w
h
ic
h
p
r
o
v
id
es
a
r
ec
u
r
s
iv
e
m
et
h
o
d
to
s
tab
ilize
t
h
e
o
r
ig
i
n
o
f
a
s
y
s
te
m
i
n
s
tr
ict
f
ee
d
b
ac
k
f
o
r
m
[
3
]
.
I
n
o
r
d
er
to
ap
p
ly
s
lid
in
g
m
o
d
e
an
d
b
ac
k
s
tep
p
in
g
ap
p
r
o
ac
h
es,
th
e
eq
u
atio
n
s
o
f
d
y
n
a
m
ic
s
s
h
o
u
ld
b
e
r
e
w
r
it
ten
i
n
to
s
tate
s
p
ac
e
f
o
r
m
as f
o
llo
w
s
：
1
1
2
(
,
)
(
)
(
,
,
,
,
,
,
,
,
,
,
,
,
)
T
X
f
X
U
X
x
x
z
z
x
x
y
y
,
(
1
2
)
2
4
6
1
4
2
1
2
4
2
6
3
2
4
2
3
6
1
2
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5
3
4
8
1
3
1
10
1
12
1
(
)
/
(
,
)
,
:
1
(
c
os
c
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)
(
c
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si
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1
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32
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/
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x
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rx
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b
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b
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b
l
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.
(
1
3
)
3
.
1
.
Sli
di
ng
M
o
de
Co
ntr
o
ller
Desig
n
f
o
r
At
t
it
ud
e
Co
ntr
o
l
Sli
d
in
g
m
o
d
e
co
n
tr
o
l
in
v
o
l
v
e
s
2
s
tep
s
.
Firstl
y
,
s
lid
i
n
g
s
u
r
f
ac
e
s
h
o
u
ld
b
e
ch
o
s
e
n
s
o
th
a
t
th
e
s
y
s
te
m
ex
h
ib
it
s
d
esira
b
le
b
eh
av
io
r
w
h
en
co
n
f
i
n
ed
to
th
i
s
m
a
n
i
f
o
ld
.
Af
ter
th
at
o
n
e
n
ee
d
s
to
d
er
iv
e
r
ea
ch
i
n
g
la
w
s
o
th
at
t
h
e
s
y
s
te
m
in
ter
s
ec
ts
o
r
s
ta
y
s
o
n
th
e
s
lid
in
g
s
u
r
f
ac
e.
T
o
s
tar
t
o
u
r
d
esig
n
,
r
o
ll
an
g
l
e
tr
ac
k
in
g
er
r
o
r
is
d
ef
in
ed
as
1
r
e
f
e
an
d
co
m
p
u
te
its
d
y
n
a
m
ic
s
as:
1
r
e
f
de
w
dt
.
(
1
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
N
o
n
lin
ea
r
Hyb
r
id
C
o
n
tr
o
ller
f
o
r
a
Qu
a
d
r
o
to
r
B
a
s
ed
o
n
S
lid
i
n
g
Mo
d
e
a
n
d
B
a
ck
s
tep
p
in
g
(
Z
h
a
n
g
Lia
n
C
h
u
a
n
)
213
On
e
ca
n
o
b
tain
e
x
p
o
n
en
t
ial
co
n
v
er
g
e
n
ce
o
f
th
e
s
y
s
te
m
b
y
c
h
o
o
s
i
n
g
th
e
a
n
g
u
lar
v
el
o
cit
y
w
as
11
r
e
f
w
c
e
.
Ho
w
e
v
er
,
an
g
u
lar
v
elo
cit
y
w
is
o
n
l
y
a
s
y
s
te
m
v
ar
iab
le
in
s
te
ad
o
f
s
y
s
te
m
co
n
tr
o
l
in
p
u
ts
[
17
]
.
I
t o
n
l
y
ca
n
b
e
tr
ea
t a
s
v
ir
tu
al
c
o
n
tr
o
l in
p
u
t a
n
d
th
e
d
esira
b
le
b
eh
av
io
r
f
o
r
th
i
s
v
ir
t
u
al
co
n
tr
o
l in
p
u
t i
s
11
r
e
f
r
e
f
w
c
e
.
(
1
5
)
A
lt
h
o
u
g
h
w
is
n
o
t o
n
e
o
f
o
u
r
co
n
tr
o
l in
p
u
ts
,
it c
a
n
m
ak
e
t
h
e
r
o
ll a
n
g
le
tr
ac
k
i
n
g
er
r
o
r
co
n
v
er
g
en
t.
So
w
e
c
h
o
o
s
e
th
e
tr
ac
k
in
g
er
r
o
r
o
f
w
as o
u
r
s
lid
in
g
m
o
d
e
s
u
r
f
ac
e,
w
h
ic
h
ca
n
b
e
d
ef
i
n
ed
as:
2
1
1
2
1
1
1
r
e
f
r
e
f
r
e
f
S
w
w
w
c
e
x
x
c
e
.
(
1
6
)
T
h
er
e
ar
e
th
r
ee
g
en
er
al
f
o
r
m
s
f
o
r
s
lid
in
g
m
o
d
e
co
n
tr
o
l
la
w
:
co
n
s
ta
n
t
r
ate
r
ea
ch
in
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w
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r
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s
:
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sg
n
,
0
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s
k
s
s
q
s
k
s
s
k
s
.
(
1
7
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W
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ch
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d
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(
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h
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itiv
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u
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tr
o
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w
s
as:
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3
2
6
3
2
4
3
3
3
3
3
3
2
2
4
2
4
5
5
5
4
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(
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3
3
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5
5
4
6
5
5
5
r
e
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e
x
x
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c
e
with
e
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x
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x
x
c
e
.
(
2
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
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4
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3
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201
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2
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B
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Co
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Desig
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it
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[
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Firstl
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h
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tr
ac
k
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x
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2
3
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ca
n
ch
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ilize
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as o
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o
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p
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its
tr
ac
k
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r
as:
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8
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7
7
r
e
f
e
x
x
e
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4
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h
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s
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ilizatio
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ca
n
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n
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n
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7
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(
,
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(
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(
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y
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g
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2
4
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(
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(
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(
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6
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T
h
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co
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p
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(
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.
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n
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,
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tr
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as:
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7
7
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8
13
(
(
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c
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e
xx
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(
2
7
)
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h
e
ter
m
88
e
is
ad
d
ed
to
s
tab
ilize
7
e
.
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d
s
a
m
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s
tep
s
ca
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o
llo
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to
o
b
tain
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n
tr
o
l
la
w
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f
x
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an
d
y
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as:
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9
9
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(
2
9
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Fro
m
th
e
tr
an
s
latio
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o
tio
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eq
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,
w
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s
id
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d
is
g
i
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y
a
n
o
p
er
ato
r
[
18
]
,
On
e
ca
n
u
s
e
eq
u
a
tio
n
(
3
0
)
to
s
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ated
p
r
o
b
lem
a
n
d
g
et
eq
u
a
tio
n
(
3
1
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
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N:
2089
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4856
N
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u
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1
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4.
SI
M
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Fig
u
r
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2
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I
SS
N
:
2
0
8
9
-
4856
IJ
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4
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No
.
3
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Sep
tem
b
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201
5
:
2
0
9
–
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216
Fig
u
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5.
CO
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[
1
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W
.
W
an
g
,
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No
n
am
i,
M.
Hir
ata,
an
d
O.
Miy
az
a
w
a,
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to
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s
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p
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5
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7
0
,
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0
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0
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[
2
]
S.
B
o
u
ab
d
allah
,
A
.
No
t
h
,
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d
R
.
Sie
g
w
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"
P
I
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in
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5
1
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[
3
]
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.
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d
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d
A
.
B
en
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e
,
"
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3260.
[
4
]
P
.
B
o
u
f
f
ar
d
,
A
.
As
w
a
n
i,
an
d
C
.
T
o
m
li
n
,
"
L
ea
r
n
i
n
g
-
b
ased
m
o
d
el
p
r
ed
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co
n
tr
o
l
o
n
a
q
u
ad
r
o
to
r
:
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o
ar
d
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m
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e
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s
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2
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5
]
A
.
Da
s
,
K.
Su
b
b
ar
ao
,
an
d
F.
L
e
w
i
s
,
"
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y
n
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m
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in
v
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with
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y
n
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m
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s
s
tab
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f
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r
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o
to
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o
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T c
o
n
tr
o
l th
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y
&
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s
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.
3
0
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,
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[
6
]
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.
L
ee
,
M.
L
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y
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a
n
d
N.
H.
Mc
C
la
m
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ch
,
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0
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[
7
]
I
.
Vo
o
s
,
"
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co
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o
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a
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0
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o
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,
p
p
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-
6.
[
8
]
A
.
Mo
d
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s
ta
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d
M.
K
h
o
d
ab
an
d
eh
,
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s
,
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S
cien
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n
d
Tech
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v
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l.
4
5
,
p
p
.
2
9
4
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8
,
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0
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5
.
[
9
]
T
.
Ma
d
an
i
an
d
A
.
B
en
alle
g
u
e,
"B
ac
k
s
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s
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ap
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r
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t,"
in
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lectro
n
ics,
I
E
C
ON
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0
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0
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.
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d
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en
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s
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0
0
7
,
p
p
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5
8
8
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-
5892.
[
1
1
]
H.
B
o
u
ad
i,
M.
B
o
u
ch
o
u
c
h
a,
a
n
d
M.
T
ad
j
in
e,
"
Sli
d
in
g
m
o
d
e
co
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tr
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l b
ased
o
n
b
ac
k
s
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r
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f
o
r
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A
V
t
y
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e
-
q
u
ad
r
o
to
r
,
"
W
o
r
ld
A
ca
d
emy
o
f
S
cien
ce
,
E
n
g
i
n
ee
r
in
g
a
n
d
Tech
n
o
lo
g
y,
v
o
l.
2
6
,
p
p
.
2
2
-
2
7
,
2007.
[
1
2
]
P
.
C
.
Gar
cia,
R
.
L
o
za
n
o
,
an
d
A
.
E
.
Dzu
l,
Mo
d
ellin
g
a
n
d
co
n
tr
o
l
o
f
min
i
-
flyin
g
ma
ch
i
n
es
:
Sp
r
in
g
er
Scien
ce
&
B
u
s
i
n
e
s
s
Me
d
ia,
2
0
0
6
.
[
1
3
]
M.
K.
Hab
ib
,
W
.
G.
A
.
A
b
d
el
aa
l,
an
d
M.
S.
Saad
,
"
D
y
n
a
m
i
c
m
o
d
eli
n
g
an
d
co
n
tr
o
l o
f
a
Q
u
ad
r
o
to
r
u
s
i
n
g
lin
ea
r
an
d
n
o
n
li
n
ea
r
ap
p
r
o
ac
h
es,"
2
0
1
4
.
[
1
4
]
G.
M.
Ho
f
f
m
a
n
n
,
H.
Hu
an
g
,
S.
L
.
W
aslan
d
er
,
an
d
C
.
J
.
T
o
m
li
n
,
"
Qu
ad
r
o
to
r
h
elico
p
ter
f
lig
h
t
d
y
n
a
m
ic
s
an
d
co
n
tr
o
l:
T
h
eo
r
y
a
n
d
ex
p
er
im
e
n
t,"
in
P
r
o
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