I
nte
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t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n (
I
J
R
A)
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
2
0
,
p
p
.
2
8
1
~2
9
1
I
SS
N:
2089
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4
8
5
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DOI
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1
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.
v9
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281
J
o
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l ho
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e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Steam
t
u
rbine
co
ntrollers
desig
n
b
a
sed o
n so
ft
-
co
mp
uting
techniqu
es
Na
s
ir
Ahm
ed
Al
-
Awa
d
De
p
a
rtme
n
t
o
f
Co
m
p
u
ter E
n
g
in
e
e
rin
g
,
M
u
sta
n
siriy
a
h
Un
i
v
e
rsity
,
Ir
a
q
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
u
l 2
0
,
2
0
20
R
ev
is
ed
Au
g
5
,
20
20
Acc
ep
ted
Sep
9
,
2
0
20
S
tea
m
tu
rb
in
e
is
v
iew
e
d
a
s
a
st
a
n
d
o
u
t
a
m
o
n
g
h
o
ts
p
o
ts
fo
r
c
o
n
t
ro
l
a
g
e
in
th
e
m
o
st
re
c
e
n
t
d
e
c
a
d
e
s,
it
s
e
lem
e
n
ts
e
x
a
m
in
a
ti
o
n
e
n
d
s
u
p
b
e
in
g
d
y
n
a
m
ica
ll
y
m
o
re
b
a
sic
.
F
o
r
th
is i
n
v
e
stig
a
ti
o
n
,
th
e
m
o
d
e
l
c
h
o
se
is o
f
tu
r
b
in
e
sp
e
e
d
c
o
n
tr
o
l
fra
m
e
wo
rk
.
Th
e
p
u
rp
o
se
b
e
h
i
n
d
t
h
is
is
t
h
a
t
m
o
d
e
l
is
re
g
u
larly
e
x
p
e
rien
c
e
d
in
re
fin
e
ries
in
a
t
y
p
e
o
f
ste
a
m
tu
r
b
in
e
t
h
a
t
u
ti
li
z
a
ti
o
n
h
y
d
ra
u
li
c
g
o
v
e
rn
o
r
t
o
c
o
n
tro
l
t
h
e
s
p
e
e
d
o
f
th
e
tu
r
b
in
e
.
To
su
it
p
lan
p
re
re
q
u
isit
e
s,
a
m
a
th
e
m
a
ti
c
a
l
m
o
d
e
l
f
o
r
th
e
tu
r
b
in
e
wa
s
d
e
ter
m
in
e
d
i
n
li
g
h
t
o
f
tran
sfe
r
fu
n
c
ti
o
n
a
n
d
sta
te
sp
a
c
e
d
e
fin
it
io
n
.
T
h
e
re
a
re
two
so
rts
o
f
c
o
n
tro
ll
e
rs
fo
r
ste
a
m
tu
rb
i
n
e
s
wh
ich
a
re
trad
it
io
n
a
l
a
n
d
m
o
d
e
r
n
c
o
n
tro
ll
e
rs.
In
ter
n
a
l
m
o
d
e
c
o
n
tro
l
with
p
ro
p
o
rti
o
n
a
l
i
n
teg
ra
l
d
e
riv
a
ti
v
e
(IM
C
-
P
ID)
a
n
d
l
in
e
a
r
q
u
a
d
ra
ti
c
c
o
n
tro
ll
e
r
(LQR)
a
re
c
las
sic
a
l
ty
p
e
.
F
u
z
z
y
lo
g
ic
c
o
n
tr
o
ll
e
r
(F
LC)
a
n
d
in
telli
g
e
n
t
o
p
ti
m
iza
ti
o
n
t
e
c
h
n
iq
u
e
s
li
k
e
,
a
n
t
c
o
l
o
n
y
a
lg
o
rit
h
m
(ACO
A)
a
n
d
g
e
n
e
ti
c
a
lg
o
rit
h
m
(G
A)
a
re
m
o
d
e
rn
t
y
p
e
.
Th
e
p
ro
p
o
se
d
wo
rk
c
e
n
ters
o
n
c
las
sic
a
l
v
e
rse
s
m
o
d
e
rn
c
o
n
tro
l
lers
.
Re
su
lt
s
g
o
t
d
e
m
o
n
stra
te
t
h
a
t
e
m
b
r
a
c
in
g
su
c
h
a
c
o
n
tr
o
ll
e
r
(G
A)
imp
ro
v
e
s
th
e
d
e
sig
n
re
q
u
irem
e
n
ts
a
n
d
tr
a
n
sie
n
t
sta
b
il
it
y
.
T
h
e
s
y
s
t
e
m
c
o
n
t
r
o
l
w
a
s
a
c
t
u
a
l
i
z
e
d
i
n
s
i
m
u
l
a
t
i
o
n
u
t
i
l
i
z
i
n
g
M
A
T
L
A
B
/
S
i
m
u
l
i
n
k
.
K
ey
w
o
r
d
s
:
AC
O
A
FLC
GA
I
MC
-
PID
co
n
tr
o
ller
Steam
tu
r
b
in
e
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
:
Nasir
Ah
m
ed
Alawa
d
,
Dep
ar
tm
en
t o
f
C
o
m
p
u
ter
E
n
g
i
n
ee
r
in
g
,
Mu
s
tan
s
ir
iy
ay
Un
iv
er
s
ity
,
I
r
a
q
.
E
m
ail:
n
asir.
awa
d
@
u
o
m
u
s
tan
s
ir
iy
ah
.
ed
u
.
iq
1.
I
NT
RO
D
UCT
I
O
N
Ov
er
th
e
s
p
an
o
f
late
1
0
0
y
ea
r
s
,
th
e
s
team
tu
r
b
in
es
h
av
e
b
ee
n
co
m
p
r
eh
en
s
iv
ely
u
s
ed
to
co
n
tr
o
l
m
ak
in
g
d
u
e
to
th
eir
ef
f
icien
c
ies
an
d
co
s
ts
.
W
ith
r
esp
ec
t
t
o
p
o
in
t
o
f
co
n
f
i
n
em
en
t,
a
p
p
li
ca
tio
n
an
d
n
ee
d
ed
ex
ec
u
tio
n
,
a
s
u
b
s
titu
te
lev
el
o
f
v
er
s
atile
q
u
ality
is
o
f
f
er
ed
f
o
r
th
e
s
tr
u
ctu
r
e
o
f
s
team
tu
r
b
i
n
es
[
1
]
.
T
h
e
s
team
tu
r
b
in
e
is
a
s
tr
ea
m
m
ac
h
in
e,
wh
ich
ch
an
g
es
war
m
v
itality
in
to
m
ec
h
an
ical
v
itality
,
th
e
r
e
ar
e
n
u
m
er
o
u
s
p
ap
e
r
s
f
o
r
d
is
p
lay
in
g
th
e
tu
r
b
in
e,
s
u
ch
a
s
u
tili
zin
g
n
e
u
r
al
s
y
s
te
m
s
,
th
e
u
tili
za
tio
n
o
f
n
eu
r
al
s
y
s
tem
s
,
g
en
etic
alg
o
r
ith
m
s
(
GAs)
,
f
u
zz
y
f
r
a
m
ewo
r
k
s
o
r
a
b
len
d
o
f
th
ese
h
y
p
o
th
eses
f
o
r
th
e
d
em
o
n
s
tr
atin
g
o
f
m
o
d
er
n
p
r
o
ce
d
u
r
es,
f
o
r
ex
a
m
p
le,
p
o
wer
p
lan
ts
h
av
e
b
ee
n
u
tili
ze
d
g
en
er
ally
in
o
n
g
o
in
g
y
ea
r
s
[
2
-
4
]
.
I
n
g
en
e
r
al,
s
team
tu
r
b
in
es
ar
e
co
m
p
le
x
m
ac
h
in
es
in
wh
ich
an
ex
ten
s
iv
e
v
ar
iety
o
f
m
u
ltid
is
cip
lin
ar
y
co
m
p
o
n
en
ts
ass
o
ciate
.
A
tu
r
b
in
e
with
v
a
r
io
u
s
s
eg
m
e
n
ts
m
ay
b
e
eith
er
p
air
c
o
m
p
o
u
n
d
o
r
cr
o
s
s
-
co
m
p
o
u
n
d
.
I
n
a
co
u
p
le
co
m
p
o
u
n
d
tu
r
b
in
e,
t
h
e
r
e
g
io
n
s
ar
e
all
o
n
o
n
e
s
h
af
t,
with
a
l
o
n
e
g
en
er
a
to
r
,
s
tr
an
g
ely
,
a
c
r
o
s
s
-
co
m
p
o
u
n
d
tu
r
b
in
e
co
n
tai
n
two
s
h
af
ts
,
ea
ch
r
elate
d
with
a
g
en
er
ato
r
an
d
d
r
iv
en
b
y
n
o
less
th
an
o
n
e
tu
r
b
in
e
s
eg
m
en
t
.
An
o
th
er
a
p
p
r
o
ac
h
in
n
u
m
er
ical
d
is
p
lay
in
g
o
f
t
h
er
m
o
d
y
n
am
ic
cy
cles
an
d
el
ec
tr
ic
in
ten
s
i
ty
o
f
u
tili
ty
r
eg
io
n
war
m
in
g
a
n
d
co
-
g
en
e
r
atio
n
s
team
tu
r
b
in
es.
T
h
e
ap
p
r
o
ac
h
d
ep
e
n
d
s
o
n
th
e
u
s
e
o
f
th
e
d
im
e
n
s
io
n
less
m
ass
s
tr
ea
m
s
,
wh
ich
p
o
r
tr
ay
th
e
th
e
r
m
o
d
y
n
am
ic
cy
cle
o
f
a
co
m
b
in
ed
h
ea
t a
n
d
p
o
wer
s
team
tu
r
b
in
e
[
5
,
6
]
.
Stea
m
tem
p
er
atu
r
e
m
u
s
t
b
e
s
tead
y
t
o
ac
co
m
p
lis
h
to
p
tu
r
b
in
e
ef
f
ec
tiv
e
n
ess
an
d
le
s
s
en
ex
h
au
s
tio
n
i
n
th
e
tu
r
b
i
n
e
cu
ttin
g
b
lad
es
.
Or
d
in
ar
y
p
r
o
p
o
r
tio
n
al
-
in
teg
r
a
l
-
d
er
iv
ativ
e
(
PID
)
b
ased
c
o
n
t
r
o
l
p
lan
s
r
e
q
u
ir
e
co
m
p
le
x
g
a
in
s
ch
ed
u
lin
g
an
d
lead
-
lag
f
ee
d
f
o
r
war
d
co
m
p
en
s
atio
n
f
o
r
s
tack
ch
a
n
g
es a
n
d
b
u
r
n
e
r
tilt
[
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
8
1
–
291
282
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
(
FLC)
is
o
n
e
o
f
th
e
s
u
cc
ee
d
co
n
t
r
o
ller
u
tili
ze
d
as
a
p
ar
t
o
f
th
e
p
r
o
ce
d
u
r
e
co
n
tr
o
l
if
th
er
e
s
h
o
u
ld
ar
is
e
a
n
o
cc
u
r
r
en
ce
o
f
m
o
d
el
v
u
l
n
er
ab
ilit
ies.
T
h
er
e
ar
e
n
u
m
e
r
o
u
s
p
ar
am
eter
s
in
f
u
zz
y
co
n
tr
o
ller
ca
n
b
e
ad
ju
s
ted
.
T
h
e
Sp
ee
d
co
n
tr
o
l
o
f
tu
r
b
in
e
u
n
it
d
ev
elo
p
m
e
n
t
an
d
ac
tiv
ity
ca
n
b
e
u
tili
ze
d
,
Ad
ap
tiv
e
co
n
tr
o
ller
is
r
ec
o
m
m
en
d
ed
h
er
e
to
a
d
ju
s
t
s
tan
d
ar
d
ized
f
u
zz
y
co
n
t
r
o
ller
[
8
,
9
]
.
T
h
e
b
est
tr
o
u
b
le
o
f
th
e
co
n
tr
o
l
f
r
am
ew
o
r
k
co
m
b
in
atio
n
is
s
tr
ea
m
lin
in
g
m
o
d
els
an
d
s
tr
ateg
ies
o
u
tlin
e
th
e
s
team
tu
r
b
in
e
au
to
m
atic
co
n
tr
o
l
f
r
am
ewo
r
k
is
co
n
n
ec
ted
to
s
tab
ilize
tu
r
b
i
n
e
r
o
to
r
r
ec
u
r
r
en
ce
with
h
ig
h
ac
cu
r
ac
y
.
T
h
e
in
tellig
en
t
s
team
tu
r
b
in
e
c
o
n
tr
o
l
f
r
am
ew
o
r
k
is
o
n
e
tech
n
iq
u
e
to
u
tili
ze
GA
s
to
s
o
lv
e
n
u
m
er
o
u
s
is
s
u
es
[
1
0
]
.
T
h
e
r
e
ar
e
m
an
y
p
ap
er
s
u
tili
z
ed
tr
ad
itio
n
al
co
n
tr
o
ller
o
u
tlin
e
,
p
o
le
p
lace
m
en
t
p
r
o
ce
d
u
r
e
to
co
n
tr
o
l
th
e
t
u
r
b
in
e
s
p
ee
d
[
1
1
]
an
d
PID
f
o
r
s
in
g
le
-
lo
o
p
c
o
n
tr
o
l
o
f
tu
r
b
in
e
s
p
ee
d
co
n
tr
o
l
f
r
a
m
e
wo
r
k
b
y
ap
p
r
o
x
im
atin
g
th
e
c
lo
s
ed
-
lo
o
p
ty
p
e
o
f
an
in
ter
n
al
m
o
d
e
c
o
n
tr
o
ller
with
d
is
p
o
s
al
o
f
h
i
g
h
er
-
a
r
r
an
g
e
ter
m
s
in
th
e
co
n
tr
o
ller
f
r
am
e
to
class
ical
(
PID
)
s
h
ap
e
f
o
r
r
o
b
u
s
t
o
p
er
atio
n
[
1
2
]
,
T
h
e
ad
eq
u
ac
y
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
ac
tiv
ities
ar
e
ex
h
ib
ited
th
r
o
u
g
h
s
o
m
e
co
m
p
u
ter
s
im
u
latio
n
s
,
y
et
ev
er
y
o
n
e
o
f
th
ese
s
tr
ateg
ies
s
u
f
f
er
s
f
r
o
m
n
u
m
er
o
u
s
is
s
u
es
,
s
u
ch
as,
p
u
ttin
g
th
e
co
n
tr
o
ller
p
o
les
(
clo
s
ed
-
lo
o
p
p
o
les)
at
th
e
co
v
ete
d
ar
ea
an
d
n
ee
d
s
ca
lib
r
atin
g
[
1
3
,
1
4
]
.
th
ese
ar
e
r
ec
o
m
m
en
d
ed
th
at
th
e
co
n
tr
o
l
ler
b
e
tu
n
ed
u
tili
zin
g
ad
ap
tiv
e
f
u
zz
y
c
o
n
tr
o
ller
,
wh
er
e
th
e
a
d
ap
tiv
e
co
n
tr
o
ller
is
a
s
to
ch
asti
c
wo
r
ld
wid
e
p
u
r
s
u
it
s
tr
ateg
y
th
at
im
itates
th
e
p
r
o
ce
d
u
r
e
o
f
co
m
m
o
n
ad
v
a
n
ce
m
en
t,
h
o
wev
er
th
is
n
ee
d
s
m
o
r
e
ex
p
e
r
ien
ce
o
f
th
e
f
r
am
ewo
r
k
an
d
p
r
im
ar
y
p
r
er
eq
u
is
ites
m
u
s
t
b
e
ac
co
m
p
lis
h
ed
.
T
h
e
b
est
tr
o
u
b
le
o
f
th
e
co
n
tr
o
l
f
r
a
m
ewo
r
k
b
l
en
d
is
o
p
tim
izatio
n
m
o
d
els
an
d
tech
n
iq
u
es
d
esig
n
.
[
1
5
]
p
r
o
p
o
s
ed
in
tellig
en
t
co
n
tr
o
l
ar
r
a
n
g
em
e
n
t
o
f
s
team
tu
r
b
in
e
u
tili
zin
g
GA,
it
m
u
s
t
co
n
s
id
er
all
au
x
iliar
y
an
d
m
e
ch
an
ical
n
ec
ess
ities
cr
ea
ted
to
th
em
.
Sectio
n
2
p
r
esen
ts
th
e
d
ev
elo
p
m
en
t
an
d
o
u
tlin
in
g
o
f
tu
r
b
in
e
co
n
s
tr
u
ctio
n
m
o
d
elin
g
.
Sectio
n
3
ex
p
lain
s
th
e
d
ev
e
lo
p
m
en
t
an
d
p
lan
n
in
g
o
f
f
u
n
d
am
en
tal
co
n
tr
o
ller
s
ar
e
p
o
r
tr
ay
ed
.
Sectio
n
4
elab
o
r
ate
th
e
o
u
tlin
es
d
is
cu
s
s
io
n
an
d
co
m
p
ar
is
o
n
b
etwe
e
n
all
co
n
tr
o
ller
s
.
Fin
ally
,
Se
ctio
n
5
s
u
m
m
ar
izes
in
co
r
p
o
r
ates c
o
n
clu
s
io
n
.
2.
T
UR
B
I
N
E
M
O
D
E
L
I
NG
I
n
o
r
d
er
to
p
o
r
t
r
ay
t
h
e
tr
a
n
s
ien
t
elem
en
ts
o
f
s
team
tu
r
b
i
n
es
s
u
b
s
ec
tio
n
s
,
th
e
n
u
m
e
r
ic
al
m
o
d
els
ar
e
f
ir
s
t
cr
ea
ted
in
lig
h
t
o
f
th
e
en
er
g
y
a
d
ju
s
t,
th
er
m
o
d
y
n
a
m
ic
s
tan
d
ar
d
s
an
d
s
em
i
-
o
b
s
er
v
atio
n
al
co
n
d
itio
n
s
.
T
h
e
h
y
d
r
au
lic
d
r
i
v
en
tu
r
b
in
e
elem
en
ts
af
f
ec
t
th
e
d
y
n
a
m
ic
s
tab
ilit
y
o
f
th
e
p
o
wer
f
r
am
e
wo
r
k
.
T
h
is
s
eg
m
en
t
g
iv
es
a
r
ev
iew
o
f
th
e
d
is
p
lay
in
g
o
f
th
e
p
o
wer
f
r
am
ewo
r
k
s
d
y
n
am
ic.
I
n
s
team
tu
r
b
i
n
e
t
h
e
s
to
r
ed
en
er
g
y
o
f
h
ig
h
-
p
o
wer
s
team
is
ch
an
g
ed
o
v
er
i
n
to
tu
r
n
in
g
en
er
g
y
,
w
h
ich
at
th
at
p
o
in
t
is
ch
a
n
g
ed
o
v
er
i
n
to
elec
tr
ical
en
er
g
y
in
th
e
g
e
n
er
ato
r
[
1
6
]
.
I
n
co
n
tr
o
l
f
r
a
m
ewo
r
k
s
tu
d
ies,
n
o
n
lin
ea
r
ities
in
th
e
s
p
ee
d
-
co
n
tr
o
l
in
s
tr
u
m
en
t
ar
e
o
r
d
in
ar
ily
ig
n
o
r
e
d
,
s
o
th
at,
L
et
th
e
s
team
tu
r
b
in
e
an
d
th
eir
elem
en
ts
ar
e
lin
ea
r
m
o
d
els.
T
h
e
co
n
tr
o
l
y
ield
f
r
o
m
tu
r
b
in
e
is
co
n
tr
o
lled
th
r
o
u
g
h
th
e
s
itu
atio
n
o
f
co
n
tr
o
l
v
al
v
es,
wh
ich
co
n
tr
o
l
th
e
s
tr
ea
m
o
f
s
team
to
th
e
tu
r
b
in
e
.
Fig
u
r
e
1
d
e
m
o
n
s
tr
ates th
e
s
ch
em
atic
-
g
r
ap
h
o
f
tu
r
b
in
e
s
p
ee
d
co
n
tr
o
l.
Fig
u
r
e
1
.
S
ch
em
atic
-
d
iag
r
a
m
o
f
tu
r
b
i
n
e
s
p
ee
d
c
o
n
tr
o
l
[
1
2
]
T
h
e
ex
p
lan
atio
n
b
eh
i
n
d
th
at
is
m
o
d
el
is
f
r
eq
u
en
tly
e
x
p
er
i
en
ce
d
in
r
e
f
in
er
ies
in
a
ty
p
e
o
f
s
team
tu
r
b
in
e
t
h
at
u
tili
za
tio
n
wate
r
p
o
wer
ed
d
r
iv
e
n
g
en
er
ato
r
to
co
n
tr
o
l
t
h
e
s
p
ee
d
o
f
th
e
tu
r
b
i
n
e
as
d
elin
ea
te
d
in
F
ig
u
r
e
1
.
T
h
e
c
o
m
p
lex
ities
o
f
th
e
g
e
n
er
ato
r
co
n
tr
o
l
ler
will
n
o
t
b
e
co
n
s
id
er
e
d
in
t
h
is
p
a
p
er
.
T
h
e
elec
tr
o
n
ic
r
ep
r
esen
tativ
e
co
n
tr
o
ller
is
a
n
o
tewo
r
th
y
s
u
b
ject
b
y
it
an
d
it
is
p
ast
th
e
d
eg
r
ee
o
f
th
is
ex
am
in
atio
n
.
I
n
an
y
ca
s
e
th
is
s
tu
d
y
will
ce
n
ter
o
n
th
e
m
o
d
el
th
at
m
a
k
es
u
p
th
e
s
team
tu
r
b
in
e
a
n
d
wate
r
p
o
wer
ed
g
e
n
er
ato
r
to
co
n
tr
o
l
th
e
s
p
ee
d
o
f
th
e
t
u
r
b
in
e.
W
ith
r
eg
ar
d
s
to
r
ef
in
e
r
ies,
y
o
u
ca
n
c
o
n
s
id
er
th
e
s
team
tu
r
b
in
e
as
th
e
co
r
e
o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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J
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o
b
&
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u
to
m
I
SS
N:
2089
-
4
8
5
6
S
tea
m
tu
r
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in
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co
n
tr
o
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s
d
esi
g
n
b
a
s
ed
o
n
s
o
ft
-
c
o
mp
u
tin
g
tech
n
iq
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(
N
a
s
ir
A
h
med
A
l
-
A
w
a
d
)
283
th
e
s
y
s
tem
,
b
ec
au
s
e
o
f
th
e
r
o
u
te
th
at
in
th
e
r
ef
in
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r
ies,
th
er
e
ar
e
h
ea
p
s
o
f
h
i
g
h
p
o
in
ts
o
f
c
o
n
f
in
em
e
n
t
b
lo
wer
s
r
u
n
n
in
g
o
n
s
team
tu
r
b
in
e.
Su
b
s
eq
u
en
tly
th
e
co
n
tr
o
l
an
d
th
e
tu
n
in
g
ad
v
an
ce
m
en
t
o
f
th
e
s
team
tu
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b
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e
tak
e
lo
n
g
tim
e
an
d
cr
itical.
T
h
e
t
r
a
n
s
f
er
f
u
n
cti
o
n
o
f
th
e
co
n
v
ey
i
n
g
v
alv
e
a
n
d
g
ate
s
er
v
o
m
o
t
o
r
is
:
1
(
)
=
1
1
(
1
)
w
h
er
e
(
1
)
is
tim
e
-
co
n
s
tan
t o
f
v
al
v
e.
T
h
e
tr
a
n
s
f
er
f
u
n
ctio
n
o
f
th
e
p
ilo
t
v
alv
e
a
n
d
p
ilo
t ser
v
o
m
o
to
r
is
:
2
(
)
=
1
(
1
+
2
)
(
2
)
w
h
er
e
(
2
)
is
tim
e
-
co
n
s
tan
t o
f
s
en
s
o
r
.
Fin
ally
,
th
e
tr
an
s
f
e
r
f
u
n
ctio
n
o
f
co
m
p
r
ess
o
r
is
:
3
(
)
=
1
(
1
+
3
)
(
3
)
w
h
er
e
(
3
)
is
th
e
tim
e
-
co
n
s
tan
t o
f
th
e
co
m
p
r
ess
o
r
.
T
h
e
o
v
er
all
tr
an
s
f
er
f
u
n
cti
o
n
[
1
2
]
a
n
d
[
1
4
]
i
s
:
(
)
=
1
1
(
1
+
2
)
(
1
+
3
)
(
4
)
Af
ter
s
u
b
s
titu
t
in
g
th
e
v
alu
es o
f
tim
e
-
co
n
s
tan
ts
,
th
e
o
v
er
all
tr
an
s
f
er
f
u
n
cti
o
n
is
[
1
4
]
:
(
)
=
1
(
+
1
)
(
+
5
)
(
5
)
Fig
u
r
e
2
d
em
o
n
s
tr
ates
th
e
tr
a
n
s
ien
t
r
ea
ctio
n
o
f
th
e
f
r
am
ew
o
r
k
,
wh
er
e
g
r
ea
test
o
v
e
r
s
h
o
t
=
0%
,
b
u
t
s
lu
g
g
is
h
r
ea
ctio
n
,
th
e
s
ettlin
g
tim
e
=
15
s
e
c
,
an
d
r
is
e
tim
e
=
8
.
33
s
e
c
.
Fo
r
a
g
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o
d
f
o
llo
win
g
o
f
in
p
u
t sig
n
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a
s
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o
n
d
o
r
d
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all
ar
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n
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d
am
p
ed
f
r
a
me
wo
r
k
h
a
s
b
ee
n
ch
o
s
en
as [
1
7
]
:
(
)
(
)
=
2
(
2
+
2
+
2
)
(
6
)
Dam
p
in
g
s
p
ec
if
ie
d
b
y
(
=
0
.
9
)
an
d
s
p
ee
d
o
f
r
esp
o
n
s
e
d
e
f
in
ed
b
y
n
atu
r
al
f
r
eq
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en
cy
c
o
ef
f
icien
t
(
=
3
/
)
.
T
h
ese
d
esig
n
r
eq
u
ir
em
en
ts
g
iv
e
(
≤
0
.
63%
)
an
d
(
≤
1
.
4
s
e
c
)
,
wh
ile
th
e
r
is
e
tim
e
(
≤
0
.
889
s
e
c
)
.
Fig
u
r
e
2
.
T
r
an
s
ien
t r
esp
o
n
s
e
o
f
th
e
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
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4
8
5
6
I
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t
J
R
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b
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Vo
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9
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o
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4
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Dec
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er
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2
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2
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1
–
291
284
3.
CO
NT
RO
L
L
E
RS D
E
SI
G
N
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h
er
e
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n
u
m
e
r
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r
s
f
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r
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team
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n
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e
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r
o
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p
e
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am
o
n
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s
t
tr
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itio
n
al
a
n
d
p
r
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t
d
ay
(
clev
e
r
)
c
o
n
tr
o
ller
s
.
I
n
th
is
p
ap
er
,
ta
k
in
g
i
n
ter
n
al
m
o
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e
with
p
r
o
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o
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n
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v
ativ
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d
in
teg
r
a
l
co
n
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o
ller
(
I
MC
-
PID
)
,
lin
ea
r
q
u
ad
r
atic
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g
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(
L
QR
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,
FLC
,
an
d
f
in
ally
co
n
tr
asts
all
t
h
ese
with
in
tellig
en
t
alg
o
r
ith
m
s
,
lik
e
a
n
t
c
o
l
o
n
y
a
lg
o
rit
h
m
(
AC
OA
)
an
d
GA
co
n
tr
o
l
ler
s
.
3
.
1
.
IMC
-
P
I
D
co
ntr
o
ller
T
h
e
PID
co
n
tr
o
ller
is
well
k
n
o
wn
co
n
tr
o
ller
s
in
in
d
u
s
tr
y
.
A
s
a
r
esu
lt
o
f
its
s
tr
aig
h
tf
o
r
war
d
s
tr
u
ctu
r
e
an
d
g
r
ea
t
v
i
g
o
r
in
a
n
ex
ten
s
iv
e
v
ar
iety
o
f
w
o
r
k
in
g
co
n
d
itio
n
s
,
it
is
u
tili
ze
d
as
a
p
ar
t
o
f
an
ass
o
r
tm
en
t
o
f
m
o
d
er
n
p
r
o
ce
d
u
r
es,
f
o
r
ex
am
p
le,
m
etallu
r
g
y
an
d
s
y
n
th
etic
p
r
o
ce
d
u
r
es
[
1
8
]
.
Mo
r
ar
i
an
d
h
is
ass
o
ciate
s
[
1
9
]
h
av
e
b
u
ilt
u
p
a
v
ital
n
ew
co
n
tr
o
l
f
r
am
ewo
r
k
tech
n
i
q
u
e
th
at
is
I
MC.
T
h
e
I
MC
ap
p
r
o
ac
h
h
as
t
wo
ess
en
tial
p
r
ef
er
en
ce
s
.
-
I
t e
x
p
r
ess
ly
co
n
s
id
er
s
d
e
m
o
n
s
tr
ate
u
n
ce
r
tain
ty
.
-
I
t e
n
ab
les th
e
d
esig
n
e
r
to
tr
ad
e
-
o
f
f
c
o
n
tr
o
l e
x
ec
u
tio
n
ag
ain
s
t
co
n
tr
o
l f
r
am
ewo
r
k
.
I
n
th
e
I
MC
d
ef
in
itio
n
,
th
e
co
n
tr
o
ller
is
co
n
s
tr
u
ctin
g
s
tr
aig
h
tf
o
r
war
d
ly
in
lig
h
t
o
f
t
h
e
“
g
r
ea
t
”
s
o
m
e
p
o
r
tio
n
o
f
th
e
p
r
o
ce
d
u
r
e
tr
an
s
f
er
f
u
n
ctio
n
.
T
h
e
I
M
C
d
ef
in
itio
n
f
o
r
th
e
m
o
s
t
p
a
r
t
b
r
in
g
s
a
b
o
u
t
ju
s
t
a
s
in
g
le
tu
n
in
g
p
ar
a
m
eter
(
)
.
T
h
e
PID
tu
n
in
g
p
ar
a
m
eter
s
ar
e
th
en
an
elem
en
t
o
f
it.
T
h
e
d
eter
m
in
atio
n
o
f
th
e
clo
s
ed
-
lo
o
p
tim
e
co
n
s
tan
t
is
s
p
ec
if
ically
id
en
tifie
d
wit
h
th
e
r
o
b
u
s
tn
ess
(
af
f
ec
t
ab
ilit
y
to
s
y
s
tem
m
o
d
el
er
r
o
r
)
o
f
t
h
e
clo
s
ed
-
lo
o
p
f
r
am
ewo
r
k
[
2
0
]
.
Her
e
th
e
I
MC
-
PID
co
n
tr
o
ller
t
u
n
in
g
s
y
s
tem
n
o
t
ju
s
t
h
as
th
e
b
en
ef
it
o
f
in
ter
n
al
m
o
d
el
co
n
tr
o
l,
y
et
i
n
ad
d
itio
n
in
c
o
r
p
o
r
ates th
e
n
o
r
m
al
f
o
r
tr
ad
itio
n
al
PID
co
n
tr
o
ller
.
T
h
e
I
MC
-
PID
tu
n
in
g
s
tr
ateg
ies
[
2
1
–
2
3
]
an
d
th
e
d
ir
ec
t
s
y
n
th
esis
(
DS)
m
et
h
o
d
[
2
4
]
a
r
e
r
u
n
o
f
th
e
m
ill
t
u
n
in
g
tech
n
iq
u
es
in
v
iew
o
f
ac
co
m
p
lis
h
in
g
a
d
esir
ed
clo
s
ed
-
lo
o
p
r
ea
ctio
n
.
T
h
e
s
tr
en
g
th
is
en
h
a
n
ce
d
b
y
in
clu
d
in
g
a
lo
w
p
ass
f
ilter
,
wh
ich
wea
k
en
s
th
e
im
p
ac
t
o
f
f
r
am
ewo
r
k
d
e
m
o
n
s
tr
atin
g
u
n
ce
r
tain
ty
,
wh
ic
h
m
o
r
e
o
f
ten
ef
f
ec
ts
at
h
ig
h
f
r
eq
u
e
n
cy
an
d
g
iv
es g
r
ea
t in
p
u
t f
o
llo
win
g
.
T
h
e
tr
a
n
s
f
er
f
u
n
ctio
n
o
f
I
MC c
o
n
tr
o
ller
s
:
(
)
=
1
(
+
1
)
(
7
)
w
h
er
e
(
n
)
is
th
e
f
ilter
o
r
d
er
an
d
ch
o
o
s
in
g
it
is
v
er
y
im
p
o
r
t
an
t
f
o
r
r
ea
lizab
le
co
n
tr
o
ller
.
(
)
is
tim
e
co
n
s
tan
t
an
d
v
alu
es o
f
it d
ep
e
n
d
s
o
n
th
e
s
p
ee
d
r
esp
o
n
s
e.
R
ef
[
1
2
]
g
iv
es
m
o
r
e
p
o
i
n
ts
o
f
in
ter
est
f
o
r
p
ic
k
in
g
(
)
,
an
d
watc
h
th
at
(
)
in
f
lu
en
ce
s
th
e
p
r
o
p
o
r
tio
n
al
g
ain
(
Kp
)
ju
s
t
,
wh
ile
th
e
d
y
n
am
ic
f
r
am
ewo
r
k
(
tim
e
co
n
s
ta
n
ts
)
af
f
ec
ts
th
e
esti
m
atio
n
o
f
in
teg
r
al
tim
e
(
T
i)
an
d
d
er
iv
ativ
e
tim
e
(
T
d
)
.
Pick
in
g
(
=
0
.
1
)
an
d
=
2
.
W
e
ca
n
co
m
p
u
t
ed
=
1
,
an
d
=
1
.
2
,
o
n
th
e
g
r
o
u
n
d
s
th
at
th
e
f
r
am
ewo
r
k
m
o
d
el
(
5
)
is
ty
p
e
o
n
e,
s
o
o
n
n
e
ed
to
in
teg
r
al
ac
tio
n
,
wh
er
e
th
e
s
tead
y
-
s
tate
er
r
o
r
eq
u
al
ze
r
o
.
Fig
u
r
e
3
d
em
o
n
s
t
r
ates
th
e
tr
an
s
ien
t
r
ea
ctio
n
w
ith
I
MC
-
PID
co
n
tr
o
ller
,
wh
er
e
(
=
7
.
96
)
,
(
=
4
.
72
)
an
d
(
=
0%
)
.
T
h
is
tech
n
iq
u
e
n
ee
d
s
all
th
e
m
o
r
e
tu
n
in
g
f
o
r
(
)
to
s
atis
f
y
th
e
d
esig
n
r
eq
u
ir
em
e
n
ts
.
Fig
u
r
e
3
.
T
r
an
s
ien
t r
esp
o
n
s
e
with
I
MC
-
PID
co
n
tr
o
ller
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
S
tea
m
tu
r
b
in
e
co
n
tr
o
ller
s
d
esi
g
n
b
a
s
ed
o
n
s
o
ft
-
c
o
mp
u
tin
g
tech
n
iq
u
es
(
N
a
s
ir
A
h
med
A
l
-
A
w
a
d
)
285
3
.
2
.
L
Q
R
co
ntr
o
ller
T
h
e
g
o
al
in
L
QR
co
n
f
ig
u
r
atio
n
is
to
ch
o
o
s
e
a
s
tate
-
v
ar
ia
b
l
e
f
ee
d
b
ac
k
(
SVFB
)
co
n
tr
o
l
(
K)
th
at
lim
its
th
e
ex
ec
u
tio
n
in
d
ex
(
J
)
.
T
h
e
p
lan
m
et
h
o
d
f
o
r
ca
lcu
latin
g
t
h
e
L
QR
(
K
)
is
ap
p
ea
r
ed
in
Fig
u
r
e
4
.
T
h
e
d
esig
n
p
r
o
ce
d
u
r
es a
r
e
[
2
5
]
:
-
Select
p
lan
p
ar
am
eter
f
r
am
ew
o
r
k
s
Q
an
d
R
.
-
So
lv
e
th
e
alg
eb
r
aic
R
icca
ti e
q
u
atio
n
f
o
r
P.
-
Fin
d
th
e
SVFB
u
s
in
g
=
−
1
Firstl
y
,
th
e
s
y
s
tem
m
o
d
el
(
5
)
m
u
s
t c
o
n
v
er
t t
o
:
̇
=
+
,
w
h
er
e
[
0
1
0
0
0
1
0
−
5
−
6
]
=
|
0
0
1
|
=
|
1
0
0
|
=
0
(
8
)
w
h
er
e
C
an
d
D
ar
e
n
o
t
u
tili
ze
d
as
a
p
ar
t
o
f
SVFB
o
u
tlin
e.
I
n
o
u
tlin
i
n
g
L
QR
co
n
tr
o
ller
,
f
o
r
s
team
tu
r
b
i
n
e
s
p
ee
d
,
it
m
u
s
t
d
ec
id
e
th
e
est
im
atio
n
o
f
(
K)
wh
ich
d
ec
i
d
e
d
th
e
f
ee
d
b
ac
k
co
n
tr
o
l
law.
T
h
is
is
f
in
is
h
ed
b
y
p
ick
in
g
two
p
a
r
am
eter
este
em
s
,
in
p
u
t
=
0
.
1
an
d
=
’
∗
.
Af
ter
a
p
p
ly
in
g
MA
T
L
AB
s
tatem
en
t:
[
,
,
]
=
(
,
,
,
)
.
T
h
e
f
ee
d
b
ac
k
g
ain
s
ar
e
=
[
3
.
.
1623
3
.
1311
0
.
5009
]
.
Fig
u
r
e
5
s
h
o
ws
th
e
tr
an
s
ien
t
r
esp
o
n
s
e
with
L
QR
co
n
tr
o
ller
wh
er
e,
(
=
6
.
73
)
an
d
(
=
3
.
91
)
,
s
o
th
at
th
e
d
esig
n
r
eq
u
ir
em
e
n
ts
ar
e
n
o
t
m
ee
t.
I
t
is
clea
r
v
ital
to
u
n
d
er
s
tan
d
th
at
th
is
ad
v
an
ce
d
co
n
tr
o
l
ap
p
r
o
ac
h
to
m
a
n
ag
e
cr
iticis
m
d
esig
n
way
is
d
if
f
er
e
n
t f
r
o
m
th
e
lo
g
ic
o
f
class
ic
al
co
n
tr
o
l.
I
t is d
escr
ib
ed
b
y
:
-
C
h
o
s
e
Q
an
d
R
th
at
ar
e
f
ix
in
g
to
th
e
clo
s
e
lo
o
p
p
er
f
o
r
m
a
n
ce
(
n
ee
d
s
all
th
e
m
o
r
e
tu
n
in
g
)
-
I
n
tr
o
d
u
cin
g
a
n
in
ter
m
e
d
iate
a
m
o
u
n
t P
-
So
lv
in
g
a
R
icca
ti e
q
u
atio
n
.
-
C
alcu
latin
g
an
en
s
u
r
ed
a
r
r
an
g
em
en
t f
o
r
s
tab
ilizes th
e
f
r
am
e
wo
r
k
.
-
C
o
m
p
u
tin
g
n
ea
r
ly
k
n
o
wled
g
e
in
to
th
e
s
tr
en
g
th
o
r
s
tr
u
ctu
r
e
o
f
th
e
s
y
s
tem
.
-
Als
o
r
eq
u
ir
e
a
p
r
e
f
ilter
(
N)
t
o
m
ak
e
s
tead
y
-
s
tate
er
r
o
r
with
z
er
o
,
in
th
is
o
u
tlin
e
t
h
e
esti
m
atio
n
o
f
p
r
e
-
f
ilter
is
(
3
.
1
6
2
)
.
Fig
u
r
e
4
.
B
lo
ck
-
d
iag
r
am
o
f
L
QR
co
n
tr
o
ller
Fig
u
r
e
5
.
T
r
an
s
ien
t r
esp
o
n
s
e
with
L
QR
co
n
tr
o
ller
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
8
1
–
291
286
3
.
3
.
I
nte
llig
ent
co
ntr
o
llers
I
t
i
s
a
class
o
f
co
n
tr
o
l
s
tr
ateg
ies
th
at
u
tili
za
tio
n
d
if
f
er
en
t
p
r
o
ce
s
s
in
g
ap
p
r
o
ac
h
es,
as
n
eu
r
al
s
y
s
tem
,
f
u
zz
y
lo
g
ic,
an
d
GA
s
.
T
h
is
p
ap
er
ce
n
ter
s
ar
o
u
n
d
id
ea
l
t
u
n
in
g
o
f
PID
c
o
n
tr
o
ller
f
o
r
th
e
s
team
tu
r
b
in
e
f
r
am
ewo
r
k
u
s
in
g
FLC,
AC
O
A
,
GA
f
o
r
th
e
p
u
r
p
o
s
e
to
co
m
p
ar
in
g
b
etwe
en
th
em
an
d
c
lass
ical
co
n
tr
o
ller
s
I
MC
-
PID
an
d
L
QR
.
3
.
3
.
1
.
F
L
C
T
h
e
f
ield
o
f
f
u
zz
y
c
o
n
tr
o
l
h
as
b
ee
n
g
a
in
in
g
q
u
ick
g
r
o
u
n
d
as
o
f
late.
FLC
h
as
b
ee
n
b
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r
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k
[
2
6
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.
Fo
r
s
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t
u
r
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et
[
2
7
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r
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e)
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d
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r
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e
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as
ap
p
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ig
u
r
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.
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h
e
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p
ar
ticip
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n
f
u
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ctio
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o
r
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e
o
u
tp
u
t
p
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a
m
eter
ar
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ap
p
ea
r
ed
in
Fig
u
r
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.
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er
e
,
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m
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Z
m
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ze
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g
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cip
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ar
ac
ter
ize
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f
r
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m
th
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d
r
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ctio
n
o
f
th
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tem
(
f
o
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d
am
p
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9
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d
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atu
r
al
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3
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u
r
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ee
T
ab
le
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h
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r
p
r
in
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v
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r
y
s
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co
n
ce
iv
ab
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cir
cu
m
s
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ce
[
2
9
]
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T
h
e
Simu
lin
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m
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FLC,
it
s
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u
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r
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in
Fig
u
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u
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Fig
u
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.
Me
m
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er
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ip
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s
f
o
r
th
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two
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ts
Fig
u
r
e
7
.
Me
m
b
er
s
h
ip
f
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n
ctio
n
s
f
o
r
th
e
o
u
tp
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t
T
ab
le
1
.
F
u
zz
y
r
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les
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ė
N
P
e
N
N
Z
P
Z
P
Fig
u
r
e
8
.
Simu
lin
k
m
o
d
el
o
f
F
L
C
with
s
team
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r
b
in
e
s
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s
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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J
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S
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287
Fig
u
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.
Sh
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tr
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s
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with
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3
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3
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2
.
ACO
A
AC
O
wa
s
p
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p
o
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ed
b
y
[
3
0
]
.
An
AC
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a
lg
o
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ith
m
is
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ce
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h
eu
r
is
tic
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ac
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e
th
e
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l
PID
co
n
tr
o
ller
p
ar
am
eter
s
o
f
s
team
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r
b
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f
r
am
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k
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Fo
r
tu
n
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PID
C
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tr
o
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,
in
th
is
m
et
h
o
d
,
t
h
e
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wo
r
k
co
n
s
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ed
d
ep
e
n
d
s
o
n
th
e
er
r
o
r
m
in
im
izatio
n
[
3
1
]
.
T
h
e
ex
ec
u
tio
n
o
f
a
co
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tr
o
ller
is
b
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s
t
as
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ar
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o
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s
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s
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ib
le.
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tly
,
is
s
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o
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g
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t
t
o
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m
p
o
s
ed
as
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o
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tim
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is
s
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e
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d
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ter
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at
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ed
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h
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s
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e
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o
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t
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t
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s
u
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Sin
ce
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d
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ctiv
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et
ca
p
ac
ities
m
ay
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tally
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h
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g
e
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t’
s
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ar
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s
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(
)
=
(
)
−
(
)
(
9
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A
f
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s
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AE
)
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)
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W
ith
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s
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ic
en
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g
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al
to
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e
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O
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im
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iate
p
ath
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m
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g
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h
,
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F
ig
u
r
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1
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.
T
h
e
r
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ar
e
n
u
m
er
o
u
s
m
ea
n
s
f
o
r
th
e
o
u
tlin
e
r
e
f
er
t
o
[
3
2
]
f
o
r
m
o
r
e
p
o
in
ts
o
f
in
ter
est.
AC
O
ca
lcu
lat
io
n
h
as
th
e
ac
c
o
m
p
an
y
in
g
p
ar
am
ete
r
s
:
an
d
=
co
n
s
tan
ts
th
a
t
d
ec
id
e
th
e
r
elativ
e
im
p
ac
t
o
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th
e
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h
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o
m
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e
esteem
s
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d
th
e
h
eu
r
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tic
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alities
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e
ch
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m
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=th
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ate
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f
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,
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y
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im
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ts
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d
th
ese
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u
aliti
es a
r
e:
NA=
1
0
0
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=
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7
,
=
1
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=
2
,
an
d
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ax
i
m
u
m
g
e
n
er
atio
n
=2
0
0
.
Fig
u
r
e
1
0
.
AC
O
o
p
tim
izatio
n
g
r
ap
h
[
3
2
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
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b
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9
,
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4
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Dec
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er
2
0
2
0
:
2
8
1
–
291
288
At
f
ir
s
t,
ev
er
y
p
ar
am
eter
(
Kp
,
T
i,
T
d
)
is
r
an
d
o
m
ly
an
d
co
n
s
is
ten
tly
d
is
p
er
s
ed
with
a
n
o
r
m
al
v
alu
e
wh
ich
is
eq
u
iv
alen
t
to
th
e
v
al
u
e
estab
lis
h
ed
b
y
Z
ieg
ler
-
Nic
h
o
ls
(
=
18
,
=
1
.
404
s
e
c
,
=
0
.
351
s
e
c
)
o
f
s
team
tu
r
b
in
e
s
p
ee
d
.
Af
ter
a
f
ew
cy
cles,
th
e
m
u
lti
tar
g
e
t
an
t
co
lo
n
y
alg
o
r
ith
m
p
r
o
v
in
ce
ca
lcu
latio
n
,
th
at
cr
ea
tes
th
e
b
est
ar
r
an
g
em
en
t
s
o
f
th
e
PID
p
ar
am
eter
s
(
KP,
T
i,
T
d
)
o
f
th
e
s
team
tu
r
b
in
e
s
p
ee
d
f
r
am
ewo
r
k
.
All
th
e
ca
lcu
latio
n
is
ac
tu
alize
d
with
MA
T
L
AB
/
Simu
lin
k
.
Fi
g
u
r
e
1
1
d
e
m
o
n
s
tr
ates
th
e
tr
a
n
s
ien
t
r
ea
ctio
n
with
AC
OA
.
,
s
till
n
ee
d
s
ad
d
itio
n
all
y
r
u
n
n
in
g
an
d
i
n
cr
em
en
t
th
e
q
u
an
tity
o
f
c
y
c
les
o
r
in
cr
em
e
n
t
n
u
m
b
er
o
f
an
ts
,
to
f
u
lf
ill
th
e
p
lan
r
eq
u
ir
e
m
en
ts
.
Fig
u
r
e
1
1
.
T
r
an
s
ien
t r
esp
o
n
s
e
with
AC
OA
3
.
3
.
3
.
GA
T
h
e
p
r
esen
t
tim
e
t
h
e
b
est
tec
h
n
iq
u
es
f
o
r
m
u
ltiex
tr
em
al
im
p
r
o
v
em
en
t
ar
e
(
GA
s
)
[
3
3
]
.
T
h
e
r
ea
s
o
n
f
o
r
o
p
tim
izatio
n
o
f
th
e
c
o
n
tr
o
l
f
r
a
m
ewo
r
k
s
b
y
(
GA
)
c
o
m
p
r
is
es
in
f
in
d
in
g
th
e
m
o
s
t
id
ea
l
ch
o
i
ce
o
f
en
h
an
ce
m
en
t
ass
ig
n
m
e
n
t
b
y
o
n
e
o
r
c
o
u
p
le
o
f
cr
iter
ia
.
T
o
o
p
tim
ize
a
s
tr
u
ctu
r
e
u
tili
zin
g
a
(
GA
)
it
is
ex
p
ec
ted
to
s
et
s
o
m
e
q
u
an
tify
o
f
v
alu
e
f
o
r
ea
ch
s
tr
u
ctu
r
e
in
l
o
o
k
s
p
ac
e
.
T
h
e
f
u
n
ctio
n
o
f
f
itn
ess
is
u
tili
ze
d
f
o
r
th
is
r
ea
s
o
n
.
Du
r
in
g
m
ax
im
izatio
n
,
th
e
tar
g
et
wo
r
k
tr
an
s
f
o
r
m
s
its
elf
in
to
a
f
itn
es
s
f
u
n
ctio
n
.
Fo
r
th
e
ass
ig
n
m
en
ts
o
f
m
in
im
izatio
n
,
it
is
im
p
o
r
tan
t
to
tr
a
n
s
f
o
r
m
a
tar
g
et
wo
r
k
an
d
d
is
p
lace
i
t
af
ter
th
at
to
t
h
e
r
eg
i
o
n
o
f
p
o
s
itiv
e
q
u
alities
.
T
ec
h
n
iq
u
e
o
f
s
ea
r
ch
o
f
id
ea
l a
r
r
an
g
em
e
n
t in
(
GA
)
d
ep
en
d
s
o
n
th
e
th
eo
r
y
o
f
d
eter
m
i
n
atio
n
.
I
f
to
ac
ce
p
t
t
h
at
to
ac
k
n
o
wled
g
e
th
at
ea
ch
p
er
s
o
n
o
f
p
o
p
u
lace
is
a
p
o
in
t
in
f
ac
ilit
ate
s
p
ac
e
o
f
ad
v
an
ce
m
e
n
t
ass
ig
n
m
en
t
Xi
[
x
1
,
x2,
.
.
.
,
x
i
]
an
d
f
itn
ess
o
f
an
in
d
iv
id
u
al
is
t
h
e
b
est
p
o
s
s
ib
le
esti
m
atio
n
o
f
tar
g
et
wo
r
k
F(X
i)
at
th
at
p
o
i
n
t
s
in
g
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lar
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o
p
u
lace
s
ca
n
b
e
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aly
ze
d
as
g
r
ea
t
n
u
m
b
e
r
o
f
ar
r
an
g
e
f
o
cu
s
es
in
s
p
ac
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d
p
r
o
ce
d
u
r
e
o
f
d
e
v
e
lo
p
m
en
t
as
m
o
v
em
e
n
t
o
f
th
e
s
e
f
o
cu
s
es
to
war
d
th
e
c
h
an
g
e
o
f
esti
m
atio
n
s
o
f
tar
g
et
wo
r
k
.
An
ele
m
en
t
o
f
t
h
e
(
GA
)
as
a
g
lo
b
al
in
q
u
ir
y
tech
n
iq
u
e
is
th
at
n
o
n
e
o
f
g
e
n
etic
ad
m
in
is
tr
ato
r
s
in
th
e
r
elativ
e'
s
ag
e
p
r
o
ce
d
u
r
e
i
n
clin
es
to
war
d
in
f
o
r
m
atio
n
o
f
n
ea
r
b
y
h
elp
r
ea
ctio
n
s
u
r
f
ac
e
f
o
r
th
e
o
b
jectiv
e
f
u
n
cti
o
n
[
3
4
]
.
Fra
m
in
g
o
f
r
elativ
es
b
y
g
en
etic
ad
m
i
n
is
tr
ato
r
s
h
ap
p
e
n
s
in
an
i
r
r
eg
u
la
r
way
,
an
d
th
at
is
th
e
r
ea
s
o
n
th
er
e
is
n
o
ce
r
tific
atio
n
t
h
at
d
is
co
v
er
ed
ar
r
a
n
g
em
e
n
ts
will
b
e
s
u
p
er
io
r
to
f
ath
er
ly
.
T
h
e
s
p
ec
if
ied
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ig
h
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g
h
ts
co
n
tr
o
l
wid
e
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s
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GA
in
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An
y
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in
s
u
ch
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lcu
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r
t
h
e
ar
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n
t
o
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th
e
co
n
n
ec
ted
u
n
d
er
ta
k
in
g
s
o
f
s
i
m
ilar
ly
litt
le
m
ea
s
u
r
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en
t
alwa
y
s
d
ev
elo
p
s
,
p
ar
ticu
lar
l
y
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g
ar
d
in
g
t
h
e
ar
r
a
n
g
ed
in
clin
atio
n
o
f
p
r
esen
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f
f
u
zz
y
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d
n
eu
r
al
n
etwo
r
k
s
y
s
tem
in
th
e
co
n
tr
o
l f
r
am
ewo
r
k
s
.
Gen
er
ally
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in
th
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p
ap
er
,
to
im
p
lem
en
t
an
d
d
e
s
ig
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e
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s
u
b
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p
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am
s
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itten
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MA
T
L
AB
.
T
h
ey
ar
e
arithXover,
ga,
Initial_P
ID_GA,
initializega,
initializeoga,
maxGenTerm,
normGeomS
elect,
PID_objfun_MSE
,
roulette,
unifMuta
tion
w
h
er
e
in
PID
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o
b
jf
u
n
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MSE
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u
b
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p
r
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m
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in
s
er
t
th
e
s
y
s
tem
u
n
d
er
co
n
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o
l
(
5
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an
d
th
e
ex
cita
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le
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u
b
-
p
r
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g
r
am
is
I
n
itial_
PID
_
GA.
I
n
Fig
u
r
e
1
2
,
it a
p
p
ea
r
s
th
e
b
l
o
ck
-
d
ia
g
r
am
o
f
GA
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
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u
to
m
I
SS
N:
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-
4
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5
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S
tea
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n
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a
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ed
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c
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l
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w
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d
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289
Fig
u
r
e
1
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T
h
e
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l
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iag
r
am
o
f
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T
h
e
p
r
o
ce
d
u
r
e
o
f
o
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tim
izatio
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m
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u
ted
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lific
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n
o
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th
e
f
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ess
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n
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n
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w
h
ich
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e
m
ea
n
er
r
o
r
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etwe
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o
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ield
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d
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t r
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e
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ce
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=
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ateg
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=
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=
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4
;
=
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01
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=
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Fig
u
r
e
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3
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em
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ates th
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o
f
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e
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k
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tili
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u
r
e
1
3
.
T
h
e
tr
a
n
s
ien
t r
ea
ctio
n
with
GA
4.
RE
SU
L
T
S CO
M
P
A
RIS
O
N
AND
DIS
CUSS
I
O
N
I
t
is
watc
h
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at
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iv
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ets
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e
5
5
.
3
3
4
5
6
8
s
ec
o
n
d
s
co
m
p
u
tati
o
n
al
tim
e
f
o
r
tu
n
in
g
th
e
PID
c
o
n
tr
o
ller
.
T
h
e
p
ar
am
eter
s
o
f
PID
wh
ich
ar
e
g
o
tten
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
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6
I
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4
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b
er
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:
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1
–
291
290
b
y
u
tili
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g
GA
ar
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K
p
=
1
5
5
.
7
6
7
8
,
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8
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1
4
4
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T
h
e
r
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o
n
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e
s
o
f
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n
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o
ller
s
ar
e
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m
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et
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is
e
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ax
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t,
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n
d
s
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r
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d
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tab
u
lated
in
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ab
le
2
.
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t
is
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r
th
at
L
Q
R
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s
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r
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e
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m
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MC
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PID
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u
t
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s
a
d
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itio
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ar
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p
r
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ilter
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to
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em
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v
e
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h
e
s
tead
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tate
er
r
o
r
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ile
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s
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g
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o
f
t
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co
m
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u
tin
g
tech
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q
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es
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FL
C
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AC
O
A
,
GA
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ca
n
im
p
r
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v
e
t
h
e
d
esig
n
r
e
q
u
ir
em
e
n
ts
,
an
d
th
e
b
est
m
eth
o
d
is
(
GA
),
wh
er
e
th
e
tr
a
n
s
ien
t
r
esp
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n
s
e
o
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tu
r
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e
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ee
d
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s
atis
f
ied
th
e
d
esire
d
in
p
u
t in
s
h
o
r
t r
is
e
an
d
s
ettlin
g
tim
e.
T
ab
le
2
.
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o
m
p
a
r
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o
n
b
etwe
en
all
co
n
tr
o
ller
s
C
o
n
t
r
o
l
l
e
r
t
y
p
e
s
S
e
t
t
l
i
n
g
t
i
me
(
sec
)
R
i
se
t
i
me
(
sec
)
M
a
x
.
o
v
e
r
s
h
o
t
(
%
)
S
t
e
a
d
y
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st
a
t
e
e
r
r
o
r
I
M
C
-
PID
7
.
9
6
4
.
7
2
0
0
LQ
R
6
.
7
3
3
.
9
1
0
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n
e
e
d
p
r
e
f
i
l
t
e
r
)
F
LC
6
.
4
5
3
.
5
5
0
0
A
C
O
A
2
.
1
4
1
.
3
1
0
0
GA
0
.
0
1
6
7
0
.
0
0
8
5
0
.
2
1
7
0
5.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
er
,
s
o
f
t
-
c
o
m
p
u
tin
g
co
n
tr
o
ller
s
ar
e
u
s
ed
.
T
h
e
s
tr
e
n
g
th
o
f
t
h
e
s
y
s
tem
co
n
tr
o
lled
b
y
th
e
A
G
is
co
m
p
ar
ed
with
t
h
e
s
y
s
tem
co
n
tr
o
lled
b
y
th
e
tr
ad
itio
n
al
I
MC
-
PID
,
L
QR
co
n
tr
o
ller
s
,
also
with
an
o
th
er
in
tellig
en
t,
lik
e
FLC an
d
AC
OA.
As in
d
icate
d
b
y
th
e
r
ec
r
ea
ti
o
n
b
r
i
n
g
s
a
b
o
u
t M
AT
L
AB
,
d
em
o
n
s
tr
ate
th
at
G
A
ca
n
en
h
a
n
ce
th
e
p
o
we
r
an
d
lit
tle
o
v
er
s
h
o
o
t
an
d
q
u
ick
r
ea
cti
o
n
(
less
T
s
an
d
T
r
)
.
Fo
r
tu
r
b
i
n
e
s
p
ee
d
co
n
tr
o
l
t
h
e
q
u
ick
er
r
ea
ctio
n
to
l
o
o
k
i
n
to
s
tr
en
g
th
,
th
e
b
etter
is
th
e
o
u
tco
m
e
f
o
r
t
h
e
f
r
am
ew
o
r
k
.
T
h
e
estab
lis
h
ed
s
tr
ateg
y
is
u
s
ef
u
l
f
o
r
th
e
b
e
g
in
n
in
g
s
tag
e
o
f
wh
at
ar
e
th
e
PID
esteem
s
.
An
y
way
th
e
ap
p
r
o
ac
h
ed
is
clo
s
er
in
d
eter
m
in
in
g
th
e
u
n
d
er
ly
in
g
PID
esteem
s
u
tili
zin
g
estab
lis
h
ed
tech
n
i
q
u
e
is
s
o
m
ewh
at
tr
o
u
b
leso
m
e.
T
h
er
e
ar
e
n
u
m
er
o
u
s
m
ea
n
s
an
d
f
u
r
t
h
er
m
o
r
e
b
y
ex
p
er
im
en
tat
io
n
in
g
ettin
g
th
e
PID
esteem
s
b
ef
o
r
e
y
o
u
ca
n
li
m
it
in
d
r
awin
g
n
ea
r
to
th
e
“
ad
v
a
n
ce
d
”
q
u
alities
.
Up
g
r
ad
ed
ca
lcu
latio
n
s
wer
e
e
x
ec
u
ted
in
t
h
e
f
r
am
ewo
r
k
to
s
ee
an
d
co
n
ce
n
tr
ate
h
o
w
th
e
f
r
am
ewo
r
k
r
ea
ctio
n
is
.
T
h
ese
wer
e
ac
c
o
m
p
lis
h
ed
th
r
o
u
g
h
ac
t
u
alizin
g
th
e
AC
O
a
n
d
GA.
Simu
latio
n
r
esu
lts
d
em
o
n
s
tr
ate
th
at
t
h
e
AC
OA
o
p
tim
izatio
n
h
as
a
b
e
tter
co
n
tr
o
l
s
y
s
tem
p
er
f
o
r
m
a
n
ce
co
m
p
ar
ed
with
tr
ad
itio
n
al
ap
p
r
o
ac
h
a
n
d
FLC
,
b
u
t
f
r
o
m
T
a
b
le
2
,
it
is
f
o
u
n
d
th
at
th
e
r
is
e
an
d
s
ettlin
g
tim
e
h
as
im
p
r
o
v
ed
b
y
u
s
in
g
GA.
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NO
WL
E
DG
E
M
E
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T
h
e
au
th
o
r
wo
u
ld
lik
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to
th
an
k
Mu
s
tan
s
ir
iy
ah
Un
iv
er
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ity
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www.
u
o
m
u
s
tan
s
ir
iy
ah
.
ed
u
.
iq
)
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B
ag
h
d
ad
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r
aq
f
o
r
its
s
u
p
p
o
r
t in
th
e
p
r
esen
t w
o
r
k
.
RE
F
E
R
E
NC
E
S
[1
]
A
.
Ch
a
i
b
a
k
h
s
h
a
n
d
A
.
G
h
a
ffa
ri
,
“
S
tea
m
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in
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im
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M
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Pra
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ry
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1
6
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.
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p
p
.
1
1
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5
–
1
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6
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,
2
0
0
8
.
[2
]
P
.
S
o
b
a
n
s
k
a
a
n
d
P
.
S
z
c
z
e
p
a
n
iak
,
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Ne
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ra
l
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o
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n
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c
e
,
v
o
l.
3
2
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o
.
4
,
2
0
0
6
.
[3
]
Z.
Li
,
e
t
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l
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[5
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[6
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r T
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[7
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[9
]
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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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2
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M
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o
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