T
E
L
KO
M
N
I
KA
T
e
lec
om
m
u
n
icat
ion
,
Com
p
u
t
i
n
g,
E
lec
t
r
on
ics
an
d
Cont
r
ol
Vol.
18
,
No.
4
,
Augus
t
2020
,
pp.
2070
~
2079
I
S
S
N:
1693
-
6930,
a
c
c
r
e
dit
e
d
F
ir
s
t
G
r
a
de
by
Ke
me
nr
is
tekdikti
,
De
c
r
e
e
No:
21/E
/KP
T
/2018
DO
I
:
10.
12928/
T
E
L
KO
M
NI
KA
.
v18i4.
15601
2070
Jou
r
n
al
h
omepage
:
ht
tp:
//
jour
nal.
uad
.
ac
.
id/
index
.
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I
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y
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lec
tr
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ll
y
s
c
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C
ontr
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s
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Dif
f
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nti
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M
e
a
n
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s
qua
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r
or
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diation
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R
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CC
B
Y
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SA
l
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ce
n
s
e
.
C
or
r
e
s
pon
din
g
A
u
th
or
:
J
uli
y
B
oiko
,
De
pa
r
tm
e
nt
of
T
e
lec
omm
unica
ti
ons
a
nd
R
a
dio
E
n
ginee
r
ing
,
Khme
lnyt
s
ky
Na
ti
ona
l
Unive
r
s
it
y,
11,
I
ns
tyt
uts
’
ka
s
tr
.
,
Khme
lni
ts
ky,
29016,
Ukr
a
ine.
E
mail:
boiko_j
u
li
us
@ukr
.
ne
t
1.
I
NT
RODU
C
T
I
ON
Ana
lys
is
of
the
tec
hnica
l
c
ha
r
a
c
ter
is
ti
c
s
of
mod
e
r
n
a
ntenna
s
a
nd
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e
xpe
r
ienc
e
of
their
us
e
in
dif
f
e
r
e
nt
r
a
dio
s
ys
tems
s
how
that
the
a
c
ti
ve
e
lec
tr
onica
ll
y
s
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nne
d
a
r
r
a
y
(
A
E
S
A)
mee
ts
the
r
e
qui
r
e
ments
to
the
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ntenna
s
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tems
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ti
f
unc
ti
ona
l
r
a
dio
e
qui
pment
[
1
-
6]
.
T
he
us
e
of
AE
S
A
in
mobi
le
a
nd
s
pa
c
e
r
a
dio
c
ompl
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xe
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c
a
n
s
ign
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ica
ntl
y
incr
e
a
s
e
the
r
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nge
of
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a
dio
c
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unica
ti
on,
qua
li
ty,
e
f
f
icie
nc
y
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nd
vol
umes
of
tr
a
ns
mi
tt
e
d
inf
or
mation
.
As
the
e
ne
r
gy
r
e
s
our
c
e
s
of
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oboti
c
s
e
a
r
c
h
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ngines
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r
e
ge
ne
r
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ll
y
li
mi
ted,
mai
ntaining
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high
potential
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A
E
S
A
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s
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e
c
tor
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s
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iate
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ll
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th
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A
tr
a
c
t
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nd
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li
nk.
T
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f
ulf
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ll
ment
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e
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e
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ments
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ibl
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mi
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ing
th
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r
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mete
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o
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ount
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ll
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c
tor
s
that
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f
f
e
c
t
it
s
ope
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a
ti
on
.
T
a
ka
s
hi
I
ida,
W
a
r
r
e
n
L
.
S
tut
z
man,
Ga
r
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A
.
T
hie
le,
C
ons
tantine
A.
B
a
lanis
,
E
ns
on
C
ha
nge
,
R
ick
S
tur
divant,
M
ike
Ha
r
r
is
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nd
other
s
ha
ve
de
vote
d
thems
e
lves
to
the
s
tudy
o
f
A
E
S
A,
but
they
ha
ve
not
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
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l
A
s
s
e
s
s
me
nt
of
quali
ty
indi
c
ator
s
of
the
automati
c
c
ontr
ol
s
y
s
tem
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(
I
gor
P
ar
k
home
y
)
2071
c
ons
ider
im
pr
oving
the
e
f
f
icie
nc
y
of
b
r
oa
dc
a
s
ti
ng
inf
or
mation
in
mobi
le
r
a
dio
s
ys
tems
a
t
the
e
x
pe
ns
e
of
the
a
ntenna
s
ys
tem
of
the
tr
a
ns
lator
[
5
-
11]
.
T
he
tas
k
of
de
ter
mi
ning
the
va
lues
of
the
pa
r
a
mete
r
s
of
s
ys
tem
of
a
utom
a
ti
c
c
ontr
ol
(
S
AC
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di
r
e
c
ti
ona
l
pa
tt
e
r
n
(
DP
)
AE
S
A
is
r
e
duc
e
d
to
the
e
s
ti
mation
of
the
mea
n
-
s
qua
r
e
e
r
r
or
(
M
S
E
)
a
nd
qua
dr
a
ti
c
int
e
g
r
a
l
e
s
ti
mate
s
(
QI
E
)
o
f
th
e
a
utom
a
ti
c
c
ontr
ol
s
ys
tem
with
dif
f
e
r
e
nti
a
l
f
e
e
dba
c
k.
I
n
o
r
de
r
to
de
ve
lop
a
methodology
f
or
a
s
s
e
s
s
ing
the
qua
li
ty
of
S
AC
DP
A
E
S
A,
the
r
e
s
e
a
r
c
h
wa
s
c
onduc
ted.
I
t
c
a
n
be
divi
de
d
int
o
two
s
tage
s
:
F
ir
s
t
s
tage
is
theor
e
ti
c
a
l
a
na
lys
is
:
−
C
ompos
it
e
a
s
ys
tem
of
e
qua
ti
ons
de
s
c
r
ibi
ng
the
S
AC
with
dif
f
e
r
e
nti
a
l
c
oupli
ng
;
−
C
he
c
k
th
e
id
e
n
ti
ty
o
f
c
ons
ti
tu
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n
t
e
r
r
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r
s
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us
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d
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a
nd
d
is
t
u
r
b
in
g
a
c
t
i
ons
t
o
th
e
c
omb
i
ne
d
s
ys
t
e
m
of
a
u
to
ma
t
ic
c
on
t
r
o
l
w
it
h
d
i
f
f
e
r
e
nt
ia
l
c
ou
pl
in
g
f
o
r
de
te
r
m
in
e
t
he
c
o
mp
li
a
nc
e
o
f
c
ons
t
r
u
c
t
e
d
s
ys
te
m
;
−
S
ynthes
is
of
pa
r
a
mete
r
s
tr
a
ns
f
e
r
f
unc
ti
on
li
nks
of
dif
f
e
r
e
nti
a
l
c
oupli
ng
a
c
c
or
ding
to
c
ondit
io
ns
of
mi
nim
iza
ti
on
M
S
E
a
nd
QI
E
,
c
a
us
e
d
by
the
de
f
ini
n
g
a
c
ti
ons
-
c
ha
nge
in
the
a
z
im
uth
of
the
c
oupler
.
S
e
c
ond
s
tage
is
modeling
of
s
ys
tem
with
de
f
ini
te
p
a
r
a
mete
r
s
:
−
M
ode
li
ng
of
the
in
it
ial
a
nd
s
ys
tem
with
dif
f
e
r
e
nti
a
l
c
oupli
ng;
−
I
nput
to
s
ys
tem
the
ne
c
e
s
s
a
r
y
c
ondit
ion
f
or
incr
e
a
s
ing
the
or
de
r
of
a
s
tatis
m;
−
A
s
s
e
s
s
ment
the
M
S
E
a
nd
QI
E
of
s
ys
tem
a
n
a
c
c
identa
l
de
f
ini
ng
a
c
ti
on;
−
C
he
c
k
the
ti
me
of
the
t
r
a
ns
it
ion
pr
oc
e
s
s
of
S
AC
.
2.
RE
S
E
AR
CH
M
E
T
HO
D
Ana
lys
is
of
the
e
xis
ti
ng
methods
of
incr
e
a
s
ing
the
e
f
f
icie
nc
y
of
the
s
ys
tems
of
a
utom
a
ti
c
c
ontr
ol
o
f
the
a
c
ti
ve
e
lec
tr
onica
ll
y
s
c
a
nne
d
a
r
r
a
y
s
howe
d
that
the
mos
t
s
im
ple
a
nd
tr
a
ns
pa
r
e
nt
a
r
e
the
dir
e
c
t
methods
,
a
mong
whic
h
a
r
e
the
f
r
e
que
nc
y
method,
e
r
r
or
c
oe
f
f
icie
nts
,
a
nd
QI
E
[
12
-
16]
.
B
ut
the
us
e
of
di
r
e
c
t
methods
is
not
a
lwa
ys
a
ppr
op
r
iate
in
c
a
s
e
s
whe
r
e
it
is
not
pos
s
ibl
e
to
de
ter
mi
ne
with
maximu
m
pr
e
c
is
ion
i
n
whic
h
e
leme
nt
of
the
s
t
r
uc
tur
a
l
s
c
he
me
of
the
modele
d
s
y
s
tem
ther
e
is
the
dis
tur
bing
e
f
f
e
c
t
,
i
.
e
.
,
it
is
r
a
ndom
.
T
he
r
e
a
r
e
two
wa
ys
to
s
olve
thi
s
pr
oblem
,
na
mely:
us
ing
dir
e
c
t
methods
;
c
ons
tr
uc
ti
on
o
f
a
n
e
quivale
nt
s
ys
tem
f
or
a
utom
a
ti
c
c
ontr
ol
o
f
th
e
AE
S
A
r
a
diation
pa
tt
e
r
n.
T
hu
s
,
a
p
r
e
matur
e
ly
modele
d
s
ys
tem
will
a
ll
ow
not
only
to
e
s
ti
mate
but
a
ls
o
to
c
ontr
ol
AE
S
A
pa
r
a
mete
r
s
in
r
e
a
l
-
ti
me
by
ti
m
e
-
li
mi
ted
c
omput
a
ti
ona
l
ope
r
a
ti
ons
.
B
a
s
e
d
on
the
a
na
lys
is
,
t
he
f
unc
ti
ona
l
diagr
a
m
of
thi
s
s
ys
tem
while
mea
s
ur
ing
one
a
ngular
c
oor
dinate
c
a
n
be
r
e
p
r
e
s
e
nted
in
the
f
or
m
s
hown
in
F
ig
ur
e
1.
T
a
bles
a
nd
f
igur
e
s
a
r
e
p
r
e
s
e
nted
c
e
nter
,
a
s
s
hown
be
low
a
nd
c
it
e
d
in
the
manus
c
r
ipt
.
F
igur
e
1.
Ge
ne
r
a
li
z
e
d
f
unc
ti
ona
l
diagr
a
m
o
f
S
AC
DP
T
h
e
in
pu
t
v
a
l
ue
o
f
the
s
ys
te
m
is
the
a
z
i
mu
th
o
f
the
r
e
p
e
a
t
e
r
β
p
(
o
r
t
he
a
ng
le
o
f
th
e
r
e
p
e
a
te
r
lo
c
a
t
i
on
)
t
he
in
it
ia
l
va
l
ue
is
the
a
z
i
mu
t
h
o
f
th
e
a
n
te
nna
β
pa
(
t
)
(
o
r
t
he
a
z
im
u
th
o
f
t
he
r
e
pe
a
te
r
)
.
F
o
r
a
s
muc
h
a
s
t
he
s
ig
na
l,
p
r
op
o
r
t
io
na
l
to
t
he
mag
n
it
ude
a
nd
s
ig
n
of
t
he
a
n
gu
la
r
de
vi
a
t
io
n
of
t
he
r
e
pe
a
te
r
f
r
om
t
he
a
x
is
o
f
t
he
a
n
te
nn
a
-
e
q
ua
l
t
o
the
s
i
gn
a
l
di
r
e
c
t
i
on
,
is
pr
od
uc
e
d
a
t
th
e
o
ut
pu
t
o
f
t
he
ph
a
s
e
de
t
e
c
to
r
,
a
l
l
e
le
men
ts
,
f
r
o
m
t
he
a
nt
e
n
na
o
f
th
e
r
e
c
e
iv
in
g
de
vi
c
e
a
n
d
e
nd
i
ng
w
i
th
t
he
p
ha
s
e
d
e
te
c
t
o
r
,
a
r
e
r
e
la
te
d
to
t
he
e
va
lua
t
io
n
a
nd
d
e
t
e
c
ti
on
de
vi
c
e
.
T
he
r
e
s
t
of
the
e
leme
nts
int
e
nd
e
d
to
a
c
tuate
the
output
de
vice
s
a
nd
e
s
ti
mate
the
a
ngular
c
oor
dinate
s
a
c
c
or
ding
to
the
output
o
f
the
e
va
l
ua
ti
on
a
nd
de
tec
ti
on
de
vice
,
a
r
e
r
e
f
e
r
r
e
d
to
the
a
c
tuator
.
T
o
c
ompos
e
a
mathe
ma
ti
c
a
l
model
of
a
c
ontr
ol
s
ys
tem,
it
is
ne
c
e
s
s
a
r
y
to
de
f
ine
the
tr
a
ns
f
e
r
f
unc
ti
ons
of
it
s
indi
vidual
e
leme
nts
[
16,
17]
.
On
the
s
tr
uc
tur
a
l
diagr
a
m
a
s
s
hown
F
ig
u
r
e
1
,
the
inf
luenc
e
o
f
a
n
a
c
c
identa
l
mom
e
nt
of
c
ha
nging
the
pos
it
ion
of
the
a
ntenna
we
b
c
r
e
a
ted
a
c
c
or
ding
to
the
c
ur
va
tur
e
of
the
e
a
r
th
s
ur
f
a
c
e
of
the
e
a
r
th
s
tation
X
c
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
4
,
Augus
t
2020
:
2070
-
2079
2072
(
dis
tur
bing
inf
luenc
e
)
is
take
n
int
o
a
c
c
ount
by
the
inclus
ion
in
the
model
of
the
s
e
c
ond
c
ha
nn
e
l
(
K
DI
)
the
c
ha
nne
l
of
dis
tur
b
ing
in
f
luenc
e
with
the
tr
a
ns
f
e
r
f
unc
ti
on
.
S
c
he
matic
diagr
a
m
o
f
a
s
ys
tem
i
n
whic
h
a
n
e
quivale
nt
int
e
gr
a
l
-
dif
f
e
r
e
nti
a
l
li
nk
(
c
ons
is
tently
a
djus
ti
ng
li
nk)
with
a
tr
a
ns
f
e
r
f
unc
ti
on
K
CA
L
(
p
)=
K
2
(
p
)
is
include
d
f
or
c
or
r
e
c
ti
on
ins
tea
d
o
f
loca
l
ne
ga
ti
ve
f
e
e
dba
c
k,
a
nd
is
s
hown
in
F
ig
ur
e
2.
F
igur
e
2
.
S
t
r
uc
tur
a
l
diag
r
a
m
of
a
utom
a
ti
c
c
ontr
o
l
o
f
the
A
E
S
A
r
a
diation
pa
tt
e
r
n
with
int
e
g
r
a
l
-
dif
f
e
r
e
n
ti
a
l
li
nk
T
o
de
ter
m
ine
s
ys
tem
qua
li
ty
indi
c
a
tor
s
,
it
is
ne
c
e
s
s
a
r
y
to
f
ind
the
tr
a
ns
f
e
r
f
unc
ti
ons
of
the
s
ys
tem
with
a
n
e
r
r
o
r
in
a
dva
nc
e
.
T
he
c
ons
ti
tuent
e
r
r
o
r
s
c
a
us
e
d
by
the
de
f
ini
ng
βp
a
nd
dis
tur
bing
X
c
a
c
ti
ons
a
r
e
de
s
c
r
ibed
by
the
f
oll
owing
e
qua
ti
ons
:
(
)
=
1
1
+
(
)
(
)
,
(
)
=
7
(
)
5
(
)
6
(
)
1
+
(
)
(
)
.
(
1)
Ac
c
or
ding
to
(
1)
the
tr
a
ns
f
e
r
f
unc
ti
ons
that
c
onne
c
t
(
)
with
(
)
a
nd
(
)
with
(
)
a
f
ter
s
ubs
ti
tut
ing
the
va
lues
of
the
tr
a
ns
f
e
r
f
unc
ti
ons
of
the
or
ig
inal
mathe
matica
l
model
a
r
e
e
qua
l
to:
(
)
=
(
)
(
)
=
0
6
+
1
5
+
2
4
+
3
3
+
4
2
+
5
0
6
+
1
5
+
2
4
+
3
3
+
4
2
+
5
+
6
=
(
)
(
)
.
(
2)
0
`
4
+
1
`
3
+
2
`
2
+
3
`
+
4
`
0
`
7
+
1
`
6
+
2
`
5
+
3
`
4
+
4
`
3
+
5
`
2
+
6
`
+
7
`
=
(
)
(
)
.
(
3)
I
t
c
a
n
be
s
e
e
n
f
r
om
(
2)
a
nd
(
3)
that
the
s
ys
tem
with
r
e
s
pe
c
t
to
the
de
f
ini
ng
a
c
ti
on
(
)
is
s
tatic
with
the
f
i
r
s
t
-
or
de
r
a
s
taticis
m,
a
nd
with
the
dis
tur
bing
a
c
ti
on
X
c
is
s
tatic.
T
he
pe
r
mi
s
s
ibl
e
M
S
E
o
f
the
c
ontr
ol
s
ys
tem,
whic
h
s
ha
ll
not
e
xc
e
e
d
the
va
lues
in
the
a
ngular
a
nd
a
z
im
uth
plane
,
a
r
e
de
f
ined
by
the
f
oll
owing
e
xpr
e
s
s
ions
:
=
√
2
=
√
0
,
029
=
0
,
1
7
∘
;
=
√
2
=
√
2
,
286
×
1
0
−
9
=
0
,
00274
gr
a
de
.
I
n
a
ddit
ion
to
M
S
E
,
it
is
de
s
ir
a
ble
to
de
ter
mi
ne
it
s
dyna
mi
c
e
r
r
or
s
while
e
va
luating
the
a
c
c
ur
a
c
y
of
the
R
P
AE
S
A
a
utom
a
ti
c
c
ontr
ol
s
ys
tem.
Dyna
mi
c
e
r
r
or
s
a
r
e
c
a
lcula
ted
C
S
R
P
AE
S
A:
(
)
=
→
0
[
(
)
(
)
]
,
(
)
=
0
,
09
gr
a
de
,
(
)
=
4
0
7
,
whe
r
e
:
4
=
×
=
1
,
17
×
1
0
−
3
;
7
=
55
,
3
.
T
he
t
r
a
ns
ient
c
omponent
o
f
the
e
r
r
or
is
de
ter
m
ined
by
t
he
e
xpr
e
s
s
ion:
С
(
)
=
1
1
+
2
2
+
3
3
+
4
4
+
5
5
+
6
6
.
I
n
F
ig
ur
e
3
.
gr
a
phs
of
the
tr
a
ns
it
ion
f
unc
ti
on
С
(
)
c
a
u
s
e
d
by
a
s
ingl
e
s
tep
c
ha
nge
in
the
a
z
im
uth
o
f
the
c
oupler
(
a
)
a
nd
the
va
li
d
f
r
e
que
nc
y
r
e
s
pons
e
(
VFR
)
of
s
ys
tem
С
(
)
(
b)
.
T
he
tr
a
ns
ient
f
unc
ti
on
o
f
the
s
ys
tem
of
a
utom
a
ti
c
c
ontr
ol
of
the
r
a
diation
pa
tt
e
r
n
c
a
us
e
d
by
the
s
tep
c
ha
nge
of
the
iner
ti
a
l
mo
ment
of
the
a
ntenna
r
otation
mec
ha
n
is
m
(
)
is
de
ter
mi
ne
d
by
the
f
oll
owing
f
o
r
mul
a
:
С
(
)
=
2
∫
(
)
s
in
(
)
,
(
4)
whe
r
e
(
)
=
[
(
)
]
va
li
d
f
r
e
que
nc
y
r
e
s
pons
e
(
VFR
)
of
the
s
ys
tem
with
e
r
r
or
c
a
us
e
d
by
va
r
iable
(
)
.
VFR
(
)
is
s
hown
in
F
ig
ur
e
4.
T
he
c
ur
ve
o
f
the
tr
a
ns
it
ion
f
unc
ti
on
Х
(
)
f
or
a
s
ingl
e
s
tep
a
c
ti
on
0
=
1
is
s
hown
in
F
ig
u
r
e
4
(
b
)
.
Ac
c
or
ding
to
t
he
ti
mi
ng
of
the
t
r
a
ns
it
ion
pr
oc
e
s
s
=
5
,
4
.
is
a
s
tatic
e
r
r
or
=
2
,
1
×
1
0
−
5
r
a
d.
F
or
the
c
a
s
e
0
=
1
of
the
c
ur
ve
of
the
tr
a
ns
it
ion
pr
oc
e
s
s
Х
(
)
is
s
hown
in
F
ig
ur
e
4
(
c
)
.
Ac
c
or
ding
to
the
g
r
a
p
h
the
s
tatis
ti
c
a
l
e
r
r
o
r
=
2
,
1
×
1
0
−
4
r
a
d.
c
a
us
e
d
by
the
iner
ti
a
l
e
f
f
e
c
t
on
the
r
otating
mec
ha
nis
m
of
the
a
ntenna
0
=
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
A
s
s
e
s
s
me
nt
of
quali
ty
indi
c
ator
s
of
the
automati
c
c
ontr
ol
s
y
s
tem
…
(
I
gor
P
ar
k
home
y
)
2073
(
a
)
(
b)
F
igur
e
3
.
T
r
a
ns
ient
gr
a
phs
of
the
f
unc
ti
on
С
(
)
c
a
us
e
d
by
a
s
ingl
e
s
tep
va
r
iable
in
the
a
z
im
uth
of
the
c
oupler
(
a
)
a
nd
the
va
li
d
f
r
e
que
nc
y
r
e
s
pons
e
(
VFR
)
of
s
ys
tem
С
(
)
(
b)
F
igur
e
4
.
Gr
a
ph
of
t
r
a
ns
ients
of
S
AC
R
P
c
a
us
e
d
by
dis
tur
bing
a
c
ti
on
(
)
T
hus
,
a
s
a
r
e
s
ult
o
f
the
a
na
lys
is
,
it
wa
s
e
s
tablis
he
d
that
the
or
igi
na
l
A
E
S
A
dir
e
c
ti
ona
l
c
ontr
ol
s
ys
tem
is
a
f
i
r
s
t
-
or
de
r
a
utom
a
ti
c
c
ontr
ol
s
ys
tem
with
r
e
s
pe
c
t
to
the
de
f
ini
ng
a
c
ti
on
(
a
z
im
uth
on
the
r
e
lay)
a
nd
s
tatic
with
r
e
s
pe
c
t
to
the
pe
r
tur
bing
a
c
ti
on
(
c
ha
nge
s
in
t
he
pos
it
ion
of
the
AE
S
A
c
a
nva
s
)
,
a
nd
it
is
c
ha
r
a
c
ter
ize
d
by
s
igni
f
ica
nt
r
oot
mea
n
s
qua
r
e
a
nd
dyna
mi
c
e
r
r
or
s
.
T
he
e
f
f
e
c
ts
o
f
thes
e
a
c
ti
ons
may
lea
d
to
r
e
je
c
ti
on
of
the
c
ha
r
t
or
ienta
ti
on
in
the
nor
mal
(
leve
l
s
ignal
/noi
s
e
e
r
r
or
r
a
te
a
t
the
r
e
c
e
iver
r
e
lay)
.
B
ut
in
c
a
s
e
s
of
non
-
c
ompl
ianc
e
with
thes
e
r
e
quir
e
ments
,
the
ta
s
k
is
to
e
va
luate
the
r
a
ndom
pe
r
tu
r
ba
ti
ons
in
or
de
r
to
c
ompens
a
te
them
in
the
s
ys
tem.
S
uc
h
a
n
a
s
s
e
s
s
m
e
nt
is
not
pos
s
ibl
e
due
to
the
lac
k
of
r
e
li
a
ble
inf
or
mation
a
bout
the
a
r
e
a
of
the
s
ys
tem
of
a
utom
a
ti
c
c
ontr
o
l
whic
h
r
e
c
e
ives
a
c
c
identa
l
dis
tur
ba
nc
e
.
T
he
r
e
f
or
e
,
in
the
ne
xt
s
tep,
it
is
ne
c
e
s
s
a
r
y
to
c
o
ns
ider
the
pos
s
ibi
li
ty
of
e
va
luating
the
s
ys
tem
of
a
utom
a
t
ic
c
ontr
ol
by
int
r
oduc
ing
de
r
ivatives
o
f
a
r
a
ndom
s
e
t
poin
t
a
c
ti
on
us
ing
ope
n
c
ompens
a
ti
on.
T
ha
t
is
,
by
buil
ding
a
c
ombi
ne
d
s
ys
tem
of
a
utom
a
ti
c
c
ontr
ol
with
dif
f
e
r
e
nti
a
l
c
oupli
ng,
by
whic
h
s
uc
h
e
s
ti
mation
is
pos
s
ibl
e
.
T
o
c
ompens
a
te
the
e
f
f
e
c
t
of
a
n
a
c
c
iden
tal
dis
tur
bing
a
c
ti
on
(
c
ha
nging
the
pos
it
ion
of
th
e
AE
S
A
c
a
nva
s
)
,
a
ppli
e
d
not
a
t
the
input
of
the
s
ys
tem,
it
is
ne
c
e
s
s
a
r
y
to
e
nter
a
li
nk
to
thi
s
a
c
ti
on
[
18
-
21]
.
A
block
diagr
a
m
of
a
mathe
matica
l
model
of
the
s
ys
tem
of
a
utom
a
ti
c
c
ontr
o
l,
whic
h
wa
s
int
r
oduc
e
d
one
dif
f
e
r
e
nti
a
l
li
nk
f
or
indi
r
e
c
t
mea
s
ur
e
ment
(
)
a
nd
(
)
is
s
hown
in
F
ig
ur
e
5.
T
he
di
f
f
e
r
e
nti
a
l
li
nk
is
c
ons
tr
uc
ted
a
c
c
or
dingl
y
a
nd
c
ons
is
ts
of
a
s
e
c
ti
on
I
(
a
s
tr
a
ight
c
ha
in
with
a
tr
a
ns
f
e
r
f
unc
ti
on
/
+
1
a
nd
a
s
e
c
ti
on
I
I
(
pos
it
ive
f
e
e
dba
c
k
c
on
taining
models
of
li
nks
1
(
)
a
nd
3
(
)
a
li
nk
with
a
tr
a
ns
f
e
r
f
unc
ti
on
1
/
+
1
,
the
a
dde
r
∑
3
a
nd
the
c
omm
on
e
leme
nt
with
the
tr
a
ns
f
e
r
f
unc
ti
on
(
)
.
T
he
s
ignal
(
)
f
r
om
the
output
of
the
a
dde
r
∑
3
thr
oug
h
the
c
omm
on
c
o
r
r
e
c
ti
on
li
nk
(
)
a
r
r
ives
to
the
a
dde
r
∑
4
whe
r
e
it
c
ons
is
ts
of
the
c
onve
r
ted
volt
a
ge
2
(
)
of
the
e
r
r
or
s
ignal
(
)
.
L
e
t’
s
e
xpr
e
s
s
the
e
r
r
or
(
)
=
(
)
+
(
)
,
c
ons
ti
tuent
e
r
r
or
s
c
a
us
e
d
by
de
f
in
ing
(
)
a
nd
(
)
dis
tur
bing
a
c
ti
ons
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
4
,
Augus
t
2020
:
2070
-
2079
2074
(
)
=
1
−
3
(
)
1
(
)
1
+
1
(
)
1
+
1
(
)
2
(
)
3
(
)
1
(
)
,
(
5)
(
)
=
1
−
3
(
)
1
(
)
1
+
1
(
)
1
+
1
(
)
2
(
)
3
(
)
1
5
(
)
1
(
)
.
(
6)
A
s
tr
uc
tur
a
l
diagr
a
m
of
a
c
ombi
ne
d
S
AC
R
P
A
E
S
A
with
ope
n
c
onne
c
ti
ons
on
the
de
f
in
ing
a
nd
dis
tur
bing
a
c
ti
on
of
the
e
quivale
nt
S
AC
with
di
f
f
e
r
e
nti
a
l
c
omm
unica
ti
on
is
s
h
own
in
F
ig
ur
e
6.
L
e
t’
s
e
xpr
e
s
s
the
e
r
r
or
(
)
=
(
)
+
(
)
.
(
)
=
1
−
1
(
)
3
(
)
1
+
1
(
)
1
+
1
(
)
2
(
)
3
(
)
1
(
)
,
(
)
=
1
−
1
(
)
3
(
)
1
+
1
(
)
5
(
)
1
1
+
1
(
)
2
(
)
3
(
)
1
(
)
.
T
hus
,
the
e
quivale
nc
e
r
e
s
ult
o
f
the
e
xpr
e
s
s
ions
f
or
the
de
ter
mi
na
ti
on
o
f
e
r
r
or
s
(
)
a
nd
(
)
the
c
ombi
ne
d
s
ys
tem
of
a
utom
a
ti
c
c
ontr
ol
of
the
r
a
diation
pa
tt
e
r
n
we
r
e
c
lea
r
ly
obtaine
d,
with
the
e
x
pr
e
s
s
ions
f
or
the
de
ter
mi
na
ti
on
o
f
e
r
r
or
s
of
the
S
AC
with
dif
f
e
r
e
nti
a
l
c
oupli
ng
(
)
a
nd
Х
(
)
.
T
h
is
c
onc
lus
ion,
i
n
tur
n,
a
ll
ows
us
ing
the
pr
opos
e
d
S
A
C
f
o
r
the
di
r
e
c
t
e
va
luation
of
the
r
a
ndom
a
c
ti
ons
a
nd
tr
a
ns
ients
of
the
S
AC
R
P
A
E
S
A,
s
ince
the
dif
f
e
r
e
nt
ial
c
o
nne
c
ti
on,
a
s
we
ll
a
s
the
ope
n
c
ompens
a
ti
on
bonds
of
the
c
ombi
ne
d
s
ys
tem
doe
s
not
a
f
f
e
c
t
the
s
tabili
ty
o
f
the
c
los
e
d
s
ys
tem.
C
ons
ider
ing
that
the
d
if
f
e
r
e
nti
a
l
c
oupli
ng
s
ys
tem
a
s
s
hown
in
F
ig
u
r
e
5
is
e
quivale
nt
to
the
c
ombi
ne
d
s
ys
tem
a
s
s
hown
in
F
ig
ur
e
6,
we
wil
l
s
ynthes
ize
the
dif
f
e
r
e
nti
a
l
c
oupli
ng
of
the
S
AC
R
P
AE
S
A
due
to
the
lac
k
of
inf
luenc
e
on
the
s
tabili
ty
of
the
c
los
e
d
pa
r
t
of
the
S
AC
R
P
AE
S
A
.
S
im
ult
a
ne
ous
mi
nim
iz
a
ti
on
of
r
oot
mea
n
s
qua
r
e
a
nd
qua
dr
a
ti
c
int
e
gr
a
l
e
r
r
or
s
of
tr
a
ns
ients
c
a
us
e
d
by
de
f
ini
ng
(
)
a
nd
dis
tur
b
ing
(
)
a
c
ti
ons
is
c
a
r
r
ied
out
in
a
c
c
or
da
nc
e
with
the
method
of
mi
n
im
izing
r
oo
t
mea
n
s
qua
r
e
e
r
r
or
s
a
nd
QI
E
[
22,
23
]
.
R
e
duc
ti
o
n
o
f
the
r
oot
mea
n
s
qua
r
e
e
r
r
o
r
s
a
nd
is
c
a
r
r
ied
out
by
incr
e
a
s
ing
the
or
de
r
o
f
the
a
s
taticis
m
of
the
s
ys
tem
with
r
e
s
pe
c
t
to
d
e
f
ini
ng
a
c
ti
on
(
)
f
r
om
the
f
i
r
s
t
to
the
s
e
c
ond,
a
nd
the
tr
a
ns
f
or
mation
of
a
s
tatic
s
ys
tem
o
f
dis
tur
bin
g
a
c
ti
on
(
)
i
nto
a
s
tatic
with
the
f
ir
s
t
-
or
de
r
a
s
taticis
m.
T
o
incr
e
a
s
e
the
or
de
r
of
a
s
taticis
m
f
r
om
the
f
ir
s
t
to
the
s
e
c
ond
r
e
latively
(
)
it
is
ne
c
e
s
s
a
r
y
to
e
nter
int
o
the
s
ys
tem
the
f
ir
s
t
de
r
ivative
of
the
de
f
ini
ng
a
c
ti
on,
a
nd
to
c
onve
r
t
s
tatic
to
a
s
tatic
r
e
lativel
y
(
)
,
a
s
ignal
pr
opor
ti
ona
l
to
the
dis
tur
b
ing
a
c
ti
on
s
hould
be
e
nte
r
e
d
int
o
the
s
ys
tem.
F
igur
e
5
.
S
t
r
uc
tur
a
l
diag
r
a
m
of
the
s
ys
tem
of
a
utom
a
ti
c
c
ontr
ol
o
f
di
r
e
c
ti
ona
l
AE
S
A
diagr
a
m
wi
th
dif
f
e
r
e
nti
a
l
c
oupli
ng
f
o
r
indi
r
e
c
t
mea
s
ur
e
ment
of
t
he
s
e
tt
ing
(
)
a
nd
dis
tur
bing
(
)
F
igur
e
6
.
S
t
r
uc
tur
a
l
diag
r
a
m
of
the
c
ombi
ne
d
s
ys
tem
of
a
utom
a
ti
c
c
ontr
ol
of
the
AE
S
A
dir
e
c
ti
ona
l
diagr
a
m
with
ope
n
l
inks
on
the
s
e
t
(
)
a
nd
dis
tur
bing
a
c
ti
on
(
)
M
or
e
il
lus
tr
a
ti
ve
a
ppr
oa
c
h
to
s
olvi
ng
the
pr
ob
lem
of
e
s
ti
mating
the
qua
li
ty
indi
c
a
tor
s
of
the
t
r
a
ns
ient
pr
oc
e
s
s
of
the
s
ys
tem
i
s
to
c
a
lcula
te
a
QI
E
of
the
s
ys
tem
of
a
utom
a
ti
c
c
ontr
ol
R
P
AE
S
A
[
24
-
2
7
].
T
r
a
ns
f
e
r
f
unc
ti
on
of
dif
f
e
r
e
nti
a
l
c
omm
unica
ti
on
on
the
s
e
t
a
c
ti
on
,
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
A
s
s
e
s
s
me
nt
of
quali
ty
indi
c
ator
s
of
the
automati
c
c
ontr
ol
s
y
s
tem
…
(
I
gor
P
ar
k
home
y
)
2075
(
)
=
1
(
+
1
)
(
+
1
)
(
1
+
1
)
(
2
+
1
)
=
(
)
(
)
,
(
7)
(
)
=
1
+
0
1
+
1
=
0
(
+
1
)
1
+
1
=
(
)
(
)
,
(
8)
whe
r
e
=
0
/
1
.
Ac
c
or
ding
to
F
ig
u
r
e
6
the
tr
a
ns
f
e
r
f
unc
ti
on
f
or
the
dis
tur
bing
a
c
ti
on
(
)
(
)
=
5
(
)
1
(
)
=
(
+
1
)
(
5
+
1
)
(
1
+
1
)
(
2
+
1
)
,
(
9
)
whe
r
e
=
5
1
,
1
=
.
T
h
e
ob
ta
in
e
d
t
r
a
ns
f
e
r
f
un
c
t
io
n
(
)
d
i
f
f
e
r
s
f
r
o
m
th
a
t
r
e
qu
i
r
e
d
(
)
b
y
t
wo
a
pe
r
i
od
ic
u
ni
ts
,
b
ut
t
his
c
on
ne
c
t
io
n
t
r
a
ns
m
it
s
a
s
i
gna
l
p
r
o
po
r
ti
on
a
l
t
o
th
e
dis
t
u
r
b
i
ng
a
c
ti
on
a
nd
i
ts
f
ir
s
t
de
r
iv
a
t
iv
e
,
tha
t
is
,
t
he
s
ys
t
e
m
h
a
s
b
e
c
om
e
a
s
ta
t
ic
t
o
th
e
dis
tu
r
bi
ng
a
c
t
io
n
(
)
.
S
ubs
ti
tu
t
ing
th
e
va
lue
o
f
t
he
t
r
a
ns
f
e
r
f
u
nc
ti
ons
o
f
t
he
s
ys
te
m
a
s
s
how
n
i
n
F
i
g
u
r
e
6
a
nd
f
o
un
de
d
v
a
l
ue
o
f
(
)
f
r
o
m
(
7
)
i
n
f
o
r
m
ul
a
s
(
5)
a
nd
(
6
)
a
n
d
c
ons
i
de
r
i
ng
1
=
,
w
e
g
e
t
:
=
(
1
+
1
)
[
(
3
+
1
)
(
1
+
1
)
(
2
+
1
)
−
3
1
1
−
3
1
1
]
[
(
1
+
1
)
(
3
+
1
)
+
1
2
3
]
(
1
+
1
)
(
2
+
1
)
(
)
,
=
(
1
+
1
)
[
(
3
+
1
)
(
1
+
1
)
(
2
+
1
)
−
3
1
1
−
3
1
1
]
5
[
(
1
+
1
)
(
3
+
1
)
+
1
2
3
]
(
1
+
1
)
(
2
+
1
)
(
5
+
1
)
(
)
,
(
1
0
)
T
he
c
ondit
ion
o
f
incr
e
a
s
ing
the
o
r
de
r
o
f
a
s
tatici
s
m
of
the
S
AC
R
P
AE
S
A
f
r
om
the
f
ir
s
t
to
the
s
e
c
ond
r
e
latively
de
f
ini
ng
a
c
ti
on
(
)
a
nd
the
tr
a
ns
f
or
mation
of
the
s
tatic
s
ys
tem
int
o
s
ys
tems
of
the
f
ir
s
t
or
de
r
of
a
s
taticis
m
r
e
lative
to
the
dis
tur
bing
a
c
ti
on
(
)
is
the
f
oll
owing
e
xp
r
e
s
s
ion
1
−
1
3
1
=
0
.
B
a
s
e
d
on
thi
s
c
ondit
ion
we
f
ind
1
=
1
/
1
3
=
1
/
(
4
⋅
1
,
5
)
=
0
,
16666
.
L
e
t’
s
f
ind
the
va
lue
1
in
a
c
c
or
da
nc
e
with
the
c
ondit
ion
o
f
inc
r
e
a
s
ing
the
o
r
de
r
of
a
s
taticis
m
c
or
r
e
s
ponds
to
the
va
lue
1
a
t
whic
h
a
nd
of
the
s
ys
tem
of
a
utom
a
ti
c
c
ontr
ol
of
the
R
P
AE
S
A
is
mi
nim
ize
d.
W
r
it
e
the
tr
a
ns
f
e
r
f
unc
ti
ons
o
f
the
s
ys
tem
with
a
n
a
c
c
ur
a
c
y
to
de
ter
mi
ne
the
pa
r
a
mete
r
s
2
,
1
,
2
.
(
)
=
(
1
+
1
)
[
(
3
+
1
)
(
1
+
1
)
(
2
+
1
)
−
−
1
]
[
(
1
+
1
)
(
3
+
1
)
+
1
2
3
]
(
1
+
1
)
(
2
+
1
)
,
(
)
=
(
1
+
1
)
[
(
3
+
1
)
(
1
+
1
)
(
2
+
1
)
−
−
1
]
5
[
(
1
+
1
)
(
3
+
1
)
+
1
2
3
]
(
1
+
1
)
(
2
+
1
)
(
5
+
1
)
.
(
11
)
T
he
block
diagr
a
m
of
the
s
our
c
e
s
ys
tem
is
s
hown
i
n
F
ig
ur
e
2
is
de
s
c
r
ibed
by
the
e
qua
ti
ons
,
1
(
)
=
1
1
+
1
;
2
(
)
=
2
;
3
(
)
=
3
3
+
1
;
4
(
)
=
4
;
5
(
)
=
5
5
+
1
,
(
12)
with
pa
r
a
mete
r
s
1
=
4
;
2
=
2
;
3
=
1
,
5
;
4
=
1
;
5
=
1
,
2
;
1
=
0
,
003
;
3
=
0
,
009
;
5
=
3
=
0
,
009
.
F
r
om
e
qua
ti
on
of
the
s
ys
tem
with
a
n
a
c
c
ur
a
c
y
(
)
=
(
)
+
(
)
,
whe
r
e
,
(
)
=
1
1
+
1
(
)
2
(
)
3
(
)
4
(
)
(
)
,
(
13)
(
)
=
5
(
)
4
(
)
1
+
1
(
)
2
(
)
3
(
)
4
(
)
(
)
,
(
14)
the
im
a
ge
s
of
the
c
omponents
of
the
s
ys
tem
a
c
c
ur
a
c
y
c
a
us
e
d
by
the
de
f
ini
ng
(
)
a
nd
dis
tur
bing
(
)
a
c
ti
ons
.
Ac
c
or
ding
to
(
13)
a
nd
(
14)
,
the
tr
a
ns
f
e
r
f
unc
ti
ons
of
the
s
ys
tem
that
a
s
s
oc
iate
(
)
with
(
)
a
nd
(
)
with
(
)
(
a
f
ter
s
ubs
ti
tut
ing
the
va
lues
o
f
the
tr
a
ns
f
e
r
f
unc
ti
ons
of
(
14
)
,
given
that
3
=
5
)
,
we
obtain
,
(
)
=
(
)
(
)
=
(
1
+
1
)
(
3
+
1
)
(
1
+
1
)
(
3
+
1
)
+
=
0
3
+
1
2
+
2
0
3
+
1
2
+
2
+
3
.
(
)
=
(
)
(
)
=
4
5
(
1
+
1
)
(
1
+
1
)
(
3
+
1
)
+
=
0
`
+
1
0
3
+
1
2
+
2
+
3
,
(
1
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
4
,
Augus
t
2020
:
2070
-
2079
2076
whe
r
e
0
=
1
3
=
2
,
7
×
1
0
−
5
;
1
=
1
+
3
=
1
,
2
×
1
0
−
2
;
2
=
1
;
0
=
1
3
=
2
,
7
×
1
0
−
5
;
1
=
1
+
3
=
0
,
012
;
2
=
1
;
3
=
1
2
3
4
=
12
;
0
=
4
5
1
=
0
,
0036
;
1
=
4
5
=
1
,
2
.
F
r
om
c
ompar
is
ons
(
11)
a
nd
(
15)
,
i
t
f
oll
ows
that
th
e
dif
f
e
r
e
nti
a
l
c
oupli
ng
pa
r
a
mete
r
s
a
r
e
not
include
d
int
o
the
c
ha
r
a
c
ter
is
ti
c
e
qua
ti
on
of
the
c
los
e
d
c
ir
c
uit
of
t
he
s
ys
tem
(
=
0
,
=
0
)
,
a
nd
ther
e
f
or
e
do
not
a
f
f
e
c
t
it
s
s
tabili
ty.
B
ut
the
int
r
oduc
ti
on
o
f
dif
f
e
r
e
nti
a
l
c
oupli
ng
in
the
S
AC
lea
ds
to
the
f
o
r
mation
of
ne
w
r
oots
in
the
c
ha
r
a
c
ter
is
ti
c
e
qua
ti
on
o
f
=
0
,
=
0
,
e
qua
l
to
1
=
−
1
/
1
,
2
=
−
1
/
2
.
T
he
s
e
r
oots
will
be
matc
he
d
by
the
ne
w
c
omponen
ts
1
1
,
2
2
,
1
1
,
2
2
,
lea
ding
to
a
n
a
ddit
ional
pha
s
e
s
hif
t
of
the
S
AC
R
P
.
T
hus
,
in
or
de
r
that
thes
e
c
omponents
do
not
ha
ve
a
s
igni
f
ic
a
nt
e
f
f
e
c
t
on
the
tr
a
ns
ient
f
unc
ti
ons
o
f
the
S
AC
R
P
,
that
is
,
,
we
f
ind
the
r
oots
o
f
the
c
ha
r
a
c
ter
is
ti
c
e
qua
ti
o
n
a
c
c
or
ding
to
(
15
)
.
(
)
=
2
,
7
×
1
0
−
5
3
+
0
,
012
×
2
+
+
12
=
0
,
W
he
n
the
pa
r
a
mete
r
s
of
the
s
ys
tem
a
r
e
e
qua
l
1
=
−
14
,
411
;
2
=
−
90
,
95
;
3
=
−
339
,
083
,
a
nd
the
tr
a
ns
ient
c
omponent
of
the
s
ys
tem
a
c
c
ur
a
c
y
is
c
a
us
e
d
by
a
c
ha
nge
in
the
s
e
tt
ing
a
c
ti
on
(
)
.
(
)
=
1
1
+
2
2
+
3
3
=
1
−
14
,
411
+
2
−
90
,
95
+
3
−
339
,
083
.
(
1
6
)
F
r
om
the
thr
e
e
c
omponents
of
the
t
r
a
ns
ient
c
omponent
of
the
e
r
r
o
r
,
the
s
lowe
s
t
de
c
a
ying
f
ir
s
t
c
o
mponent
1
−
14
,
411
c
or
r
e
s
ponds
to
the
s
maller
a
bs
olut
e
va
lue
of
the
r
o
ot
1
=
−
14
,
411
.
T
ha
t
is
,
the
ne
w
c
omponents
of
the
tr
a
ns
ient
c
omponents
o
f
the
e
r
r
or
1
1
,
2
2
c
a
n
be
a
tt
e
nua
ted
much
f
a
s
ter
1
=
10
×
(
−
14
,
411
)
=
−
144
,
11
;
2
=
15
×
(
−
14
,
411
)
=
−
216
,
165
.
F
r
om
1
=
−
1
/
1
=
6
,
939
×
1
0
−
3
,
2
=
−
1
/
2
=
4
,
626
×
1
0
−
3
,
1
=
1
+
2
,
2
=
1
2
.
T
he
s
malles
t
a
bs
olut
e
r
oot
1
=
−
14
,
411
of
the
c
ha
r
a
c
ter
is
ti
c
e
qua
ti
on
(
)
is
a
ls
o
the
s
malles
t
f
or
the
or
igi
na
l
S
AC
e
qua
ti
on
(
)
=
0
,
s
o
the
ne
w
c
om
pone
nts
1
1
,
2
2
of
the
tr
a
ns
it
ion
f
unc
ti
on
(
)
will
a
ls
o
a
tt
e
nua
te
f
a
s
ter
than
it
s
f
ir
s
t
c
omponent
1
1
1
.
L
e
t’
s
de
f
ine
2
of
the
t
r
a
ns
f
e
r
f
unc
ti
on
(
13)
of
the
dif
f
e
r
e
nti
a
l
c
oupli
ng
by
whi
c
h
the
Q
I
E
of
the
t
r
a
ns
it
ion
f
unc
ti
on
c
a
us
e
d
by
(
)
is
mi
nim
ize
d.
Ac
c
or
ding
to
the
R
a
leigh
f
o
r
mul
a
[
16]
,
the
QI
E
o
f
a
tr
a
ns
it
ion
f
unc
ti
on
c
a
us
e
d
by
a
s
ingl
e
s
tepping
a
c
ti
on
(
)
.
=
1
2
∫
|
(
)
1
|
2
,
+
∞
−
∞
(
17)
Or
s
ubs
ti
tut
ing
f
r
om
(
15)
we
ha
ve
:
=
1
2
∫
|
0
(
)
5
+
1
(
)
4
+
2
(
)
3
+
3
(
)
2
0
(
)
5
+
1
(
)
4
+
2
(
)
3
+
3
(
)
2
+
4
(
)
+
5
|
+
∞
−
∞
2
,
(
18)
Af
ter
c
a
lcula
ti
ons
we
ge
t
the
va
lue
of
the
opt
im
a
l
one
2
=
0
,
00303
.
S
ubs
ti
tut
ing
Х
a
c
c
or
ding
to
(
17)
we
ha
ve
:
Х
=
1
2
∫
|
0
1
(
)
4
+
1
1
(
)
3
+
2
1
(
)
2
+
3
1
0
1
(
)
6
+
1
1
(
)
5
+
2
1
(
)
4
+
3
1
(
)
3
+
4
1
(
)
2
+
5
1
(
)
+
6
1
|
2
.
+
∞
−
∞
(
19)
Af
te
r
c
a
lcula
ti
ons
we
ge
t
the
va
lue
of
the
opti
mal
one
2
=
2
=
0
,
0
0
3
4
5
1
.
C
ompar
ing
the
obtaine
d
va
lues
we
c
a
n
c
onc
lude
that
the
va
lue
2
is
a
lm
os
t
i
ndis
ti
nguis
ha
ble
f
r
om
2
.
T
ha
t
a
ll
ows
a
s
s
e
r
ti
ng
the
pos
s
ibi
li
ty
o
f
dir
e
c
t
e
s
ti
mation
of
S
AC
pa
r
a
m
e
ter
s
by
mea
ns
of
the
buil
t
s
ys
tem
o
f
a
utom
a
ti
c
c
ontr
ol
of
the
AE
S
A
di
r
e
c
ti
ona
l
diagr
a
m
with
di
f
f
e
r
e
nti
a
l
c
o
upli
ng
a
s
s
hown
in
F
ig
u
r
e
5.
3.
RE
S
UL
T
S
A
ND
AN
AL
YSI
S
I
n
o
r
de
r
to
c
onf
ir
m
the
c
onc
lus
ions
a
bout
the
p
os
s
ibi
li
ty
of
incr
e
a
s
ing
the
qua
li
ty
indi
c
a
tor
s
of
the
S
AC
DP
AE
S
A
with
us
e
of
one
dif
f
e
r
e
nti
a
l
li
nk
modeling
wa
s
im
pleme
nted
a
t
M
a
t
l
a
b.
T
he
s
i
mul
a
ti
on
model
of
S
AC
DP
A
E
S
A
is
s
hown
in
F
ig
ur
e
7
.
T
he
s
im
ulati
on
model
wa
s
s
ynthes
ize
d
to
de
ter
mi
ne
the
main
c
ha
r
a
c
ter
is
ti
c
s
of
a
n
a
utom
a
ti
c
c
ontr
ol
s
ys
tem.
C
ha
r
a
c
ter
is
ti
c
s
we
r
e
de
f
ined
a
s
e
r
r
or
of
de
f
ini
ng
a
c
ti
on
β
p
(
t
)
;
mea
n
s
qua
r
e
e
r
r
o
r
s
ε
β
(
t
)
;
t
r
a
ns
it
ion
pr
oc
e
s
s
θ
Sβ
(
t
)
.
T
he
de
s
c
r
ipt
ion
a
nd
c
our
s
e
of
the
r
e
s
e
a
r
c
h
pr
oc
e
s
s
is
de
s
c
r
ibed
be
low.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
A
s
s
e
s
s
me
nt
of
quali
ty
indi
c
ator
s
of
the
automati
c
c
ontr
ol
s
y
s
tem
…
(
I
gor
P
ar
k
home
y
)
2077
F
igur
e
7
.
S
im
ulation
models
ini
ti
a
l
s
ys
tem
of
S
AC
DP
AE
S
A
a
nd
s
ys
tem
with
dif
f
e
r
e
nti
a
l
c
oupli
ng
without
c
ha
nne
l
of
dis
tur
bing
a
c
ti
on
X
(
t
)
3.
1.
S
i
m
u
lat
io
n
m
o
d
e
ls
P
a
r
a
mete
r
s
of
s
im
ulation
models
a
r
e
a
c
c
or
ding
to
the
pa
r
a
mete
r
s
c
ons
ider
a
ti
on
be
f
or
e
.
T
he
f
i
r
s
t
a
nd
s
e
c
ond
de
r
ivatives
of
the
s
e
tt
ing
a
c
ti
on
ha
s
inj
e
c
ted
int
o
the
s
ys
tem
by
the
dif
f
e
r
e
nti
a
l
c
oupli
ng
.
T
he
f
ir
s
t
de
r
ivative
(
pa
r
a
mete
r
τ
2
a
o
p
t
)
is
s
ynthes
ize
d
to
a
c
c
or
ding
the
c
ondit
ion
of
incr
e
a
s
ing
the
or
de
r
of
the
a
s
taticis
m
of
the
s
ys
tem
f
r
om
the
f
i
r
s
t
to
the
s
e
c
ond,
the
s
e
c
ond
de
r
ivative
(
pa
r
a
mete
r
τ
2
X
o
p
t
)
–
a
c
c
or
dingl
y
to
c
ondit
ion
of
mi
nim
iza
ti
on
of
qua
dr
a
ti
c
int
e
gr
a
l
e
r
r
o
r
s
of
tr
a
n
s
ients
f
unc
ti
on
c
a
us
e
d
by
de
f
ini
ng
a
c
ti
ons
β
p
(
t
).
W
he
n
th
e
S
w
i
tch
1
is
c
l
os
e
d
,
a
n
i
nt
e
r
m
it
te
nt
r
a
nd
o
m
de
f
i
n
in
g
a
c
t
i
on
is
in
pu
tt
e
d
t
o
t
he
s
ys
te
m
in
p
a
r
a
ll
e
l
,
t
he
s
pe
c
t
r
a
l
de
ns
i
ty
o
f
wh
ic
h
is
(
)
=
2
2
2
+
2
,
a
n
d
s
ha
pe
d
b
y
l
a
g
e
l
e
m
e
n
t
a
n
d
i
n
teg
r
a
t
o
r
.
Os
c
i
ll
og
r
a
m
o
f
e
r
r
o
r
o
f
d
e
f
i
ni
ng
a
c
ti
on
β
p
(
t
)
is
s
h
ow
n
in
F
ig
u
r
e
8.
T
o
q
ua
nt
i
f
y
t
he
i
mpa
c
t
o
f
di
f
f
e
r
e
nt
ia
l
c
o
up
li
ng
t
o
th
e
M
S
E
e
r
r
or
s
o
f
bo
t
h
s
ys
te
ms
th
r
ou
gh
c
o
mp
ut
in
g
de
v
ice
s
1
a
n
d
2
,
w
hi
c
h
d
e
t
e
r
m
in
e
t
he
M
S
E
a
c
c
o
r
d
in
g
t
o
t
he
f
or
mu
la
=
√
2
,
a
r
e
s
up
pl
ie
d
a
t
the
os
c
il
los
c
o
pe
.
T
he
c
u
r
v
e
(
)
a
s
s
how
n
i
n
F
ig
u
r
e
9
c
o
r
r
e
s
p
on
d
t
o
M
S
E
v
a
l
ue
o
f
e
r
r
or
in
i
ti
a
l
s
ys
t
e
m
,
th
e
c
ur
ve
i
s
t
o
the
M
S
E
e
r
r
or
o
f
s
ys
t
e
m
wi
th
di
f
f
e
r
e
n
ti
a
l
c
ou
p
li
ng
.
F
igur
e
8
.
Os
c
il
logr
a
m
o
f
e
r
r
or
o
f
de
f
ini
ng
a
c
ti
on
β
p
(
t
)
:
(
a
)
–
(
)
ini
ti
a
l
s
ys
tem;
(
b)
–
(
)
s
ys
tem
with
dif
f
e
r
e
nti
a
l
c
oupli
ng
T
h
e
r
e
s
u
lt
s
o
f
e
x
pe
r
i
me
nt
a
l
va
lues
a
nd
c
a
l
c
u
la
ti
on
va
lue
s
o
f
M
S
E
f
o
r
t
wo
s
ys
t
e
m
a
r
e
s
ub
mi
t
ted
a
t
t
he
T
a
b
le
1
.
W
h
e
n
the
S
witch
2
is
c
los
e
d,
a
s
ingl
e
s
tep
a
c
ti
on
(
)
=
1
(
)
is
input
ted
to
the
s
ys
tems
.
T
he
c
ur
ve
s
of
th
e
tr
a
ns
it
ion
f
unc
ti
ons
a
r
e
s
hown
i
n
F
igur
e
10
.
W
he
n
the
S
witch
3
is
c
los
e
d,
a
de
f
ini
ng
a
c
ti
on
that
va
r
ies
a
c
c
or
ding
to
li
ne
a
r
p
r
inciple
(
)
=
1
,
whe
r
e
1
=
5
a
s
s
hown
in
F
igu
r
e
11.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
4
,
Augus
t
2020
:
2070
-
2079
2078
F
igur
e
9
.
P
lot
s
o
f
mea
n
s
qua
r
e
e
r
r
or
s
o
f
S
AC
:
(
)
–
in
it
ial
s
ys
tem;
–
s
ys
tem
with
dif
f
e
r
e
nti
a
l
c
oupli
ng
F
igur
e
1
0
.
P
lot
of
the
t
r
a
ns
it
ion
pr
oc
e
s
s
a
t
s
ingl
e
s
tep
a
c
ti
on
(
)
:
(
)
-
ini
ti
a
l
s
ys
tem;
(
)
-
s
ys
tem
with
dif
f
e
r
e
nti
a
l
c
oupli
ng
(
10)
F
igur
e
1
1
.
P
lot
of
the
t
r
a
ns
it
ion
pr
oc
e
s
s
a
t
de
f
ini
ng
a
c
ti
on
that
va
r
ies
a
c
c
or
ding
to
li
ne
a
r
pr
inciple
(
)
=
1
:
(
)
-
ini
ti
a
l
s
ys
tem;
(
)
-
s
ys
tem
with
dif
f
e
r
e
nti
a
l
c
oupl
i
ng
T
a
ble
1.
C
a
lcula
ti
on
va
lues
a
nd
e
xpe
r
im
e
ntal
va
lu
e
s
of
M
S
E
S
AC
DP
A
E
S
M
S
E
of
s
ys
te
m a
nd t
he
ir
s
r
e
la
ti
on
C
a
lc
ul
a
ti
on va
lu
e
s
S
im
ul
a
ti
on r
e
s
ul
ts
0
.
17
0
.
175
0
.
059
0
.
06
/
2
.
881
2
.
91
Х
4
.
781×
10
-
5
5
.
5 ×
10
-
5
Х
9
.
581 10
-
6
1 ×
10
-
5
Х
/
Х
4
.
99
5
.
5
3.
2.
T
h
e
r
e
s
u
lt
s
of
r
e
s
e
ar
c
h
Qua
li
ty
a
s
s
e
s
s
m
e
nt
of
im
pa
c
t
di
f
f
e
r
e
nti
a
l
c
oupli
n
g
to
playba
c
k
e
r
r
o
r
of
r
a
ndom
de
f
ini
ng
a
c
ti
on
is
s
hown
in
F
igu
r
e
8
.
C
ompar
is
on
the
r
e
s
ult
s
may
pr
ove
the
us
ing
of
di
f
f
e
r
e
nti
a
l
c
oupli
ng
is
a
ble
t
o
r
e
duc
e
r
e
pr
oduc
ti
on
e
r
r
or
o
f
r
a
ndom
de
f
ini
ng
a
c
ti
on
.
Ac
c
or
ding
to
the
T
a
ble
1,
the
c
a
lcula
ted
mea
n
s
qua
r
e
e
r
r
or
s
,
c
a
us
e
d
by
r
a
ndom
e
r
r
o
r
o
f
de
f
ini
ng
a
c
ti
on
,
f
or
two
s
ys
tems
a
r
e
e
xa
c
tl
y
mee
ts
da
ta
obtaine
d
a
t
the
s
i
mul
a
ti
on.
Ac
c
or
ding
to
the
F
igu
r
e
10
,
the
ba
s
ic
qua
li
ty
pa
r
a
mete
r
s
of
tr
a
ns
it
i
on
p
r
oc
e
s
s
a
t
s
ys
tem
with
d
if
f
e
r
e
nti
a
l
c
oupli
ng
a
r
e
be
tt
e
r
than
a
t
ini
ti
a
l
s
ys
tem.
I
n
pa
r
ti
c
ular
,
the
tr
a
ns
it
or
y
pe
r
iod
ha
s
de
c
r
e
a
s
e
d
by
1
.
84
ti
m
e
s
.
T
h
e
t
r
a
ns
it
io
n
f
u
nc
ti
ons
o
f
S
AC
DP
A
E
S
A
o
b
tai
ne
d
f
r
om
t
he
s
im
ul
a
t
io
n
c
oi
nc
id
e
w
it
h
t
he
c
a
lcu
la
te
d
o
ne
s
.
T
he
c
ons
tan
t
e
r
r
o
r
s
of
bo
th
s
ys
t
e
ms
a
r
e
z
e
r
o
,
w
hi
c
h
c
o
r
r
e
s
p
on
ds
t
o
t
he
ir
c
a
l
c
u
la
te
d
va
lu
e
s
.
Ac
c
o
r
di
ng
to
t
he
F
i
gu
r
e
1
1
,
w
e
c
on
c
l
ud
e
tha
t
wi
t
h
a
l
in
e
a
r
c
ha
ng
e
of
t
he
a
z
im
ut
h
o
f
th
e
r
e
pe
a
te
r
in
t
he
i
ni
t
ial
s
ys
tem
,
a
c
ons
ta
nt
d
yna
m
ic
e
r
r
o
r
oc
c
u
r
s
(
)
=
0
,
09
gr
ad
,
c
o
r
r
e
s
po
nd
in
g
to
t
h
e
c
a
lcu
la
te
d
va
l
ue
.
S
o
th
e
qu
a
l
it
y
o
f
t
he
t
r
a
ns
it
io
n
p
r
oc
e
s
s
a
t
th
e
s
ys
t
e
m
wi
t
h
d
i
f
f
e
r
e
nt
ial
c
ou
pl
in
g
ha
s
i
mp
r
ove
d
s
ig
ni
f
ica
n
tl
y
.
T
h
e
c
ons
ta
nt
e
r
r
o
r
o
f
s
ys
t
e
m
wi
th
di
f
f
e
r
e
n
ti
a
l
c
ou
p
li
ng
is
z
e
r
o
,
w
hi
c
h
c
o
r
r
e
s
po
nds
t
o
t
he
the
o
r
e
ti
c
a
l
c
a
lcu
la
t
io
ns
.
4.
CONC
L
USI
ON
T
he
us
e
o
f
the
pr
opos
e
d
method
make
s
it
pos
s
ibl
e
to
e
va
luate
the
dyna
mi
c
c
ha
r
a
c
ter
is
ti
c
s
of
the
s
ys
tem
of
a
utom
a
ti
c
c
ontr
ol
of
the
r
a
diation
pa
tt
e
r
n
of
the
a
c
ti
ve
e
lec
tr
onica
ll
y
s
c
a
nne
d
a
r
r
a
y
,
a
nd
to
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
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e
lec
omm
un
C
omput
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l
C
ontr
o
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A
s
s
e
s
s
me
nt
of
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ty
indi
c
ator
s
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c
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ol
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y
s
tem
…
(
I
gor
P
ar
k
home
y
)
2079
im
pr
ove
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ty
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ys
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he
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ondit
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e
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de
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o
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buil
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ys
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ter
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oupli
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e
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(τ
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00303)
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τ
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o
p
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00345
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e
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s
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ys
tem
to
th
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ombi
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one
.
T
he
r
e
s
ult
s
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modeling
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c
ontr
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ys
tem
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high
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it
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AE
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A
diagr
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ove
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oupli
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ppli
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ould
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r
ove
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s
ic
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r
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s
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s
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ls
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the
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gy
e
f
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of
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c
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s
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d
a
ntenna
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r
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t
the
dis
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bing
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c
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T
hus
,
the
s
olved
pa
r
t
ial
int
e
r
r
e
late
d
tas
ks
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r
e
indi
c
a
ti
ng
the
a
c
hieve
ment
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the
goa
l
of
the
r
e
s
e
a
r
c
h.
RE
F
E
RE
NC
E
S
[1
]
T
.
K
i
n
g
h
o
r
n
,
I.
Sco
t
t
a
n
d
E
.
T
o
t
t
e
n
,
"
Recen
t
ad
v
an
c
es
i
n
a
i
rb
o
rn
e
p
h
a
s
ed
arra
y
rad
ar
s
y
s
t
ems
,
"
2
0
1
6
IE
E
E
In
t
e
r
n
a
t
i
o
n
a
l
S
ym
p
o
s
i
u
m
o
n
P
h
a
s
ed
A
r
r
a
y
S
y
s
t
e
m
s
a
n
d
Tech
n
o
l
o
g
y
(P
A
S
T)
,
W
a
l
t
h
am,
MA
,
p
p
.
1
-
7
,
2
0
1
6
.
[2
]
I.
R.
Parh
o
mey
,
J
.
M.
Bo
i
k
o
an
d
O
.
I.
E
r
o
men
k
o
,
"
Fea
t
u
res
o
f
d
i
g
i
t
a
l
s
i
g
n
a
l
p
r
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ce
s
s
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n
g
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n
t
h
e
i
n
f
o
rma
t
i
o
n
c
o
n
t
ro
l
s
y
s
t
ems
o
f
mu
l
t
i
p
o
s
i
t
i
o
n
a
l
rad
ar
,"
Jo
u
r
n
a
l
o
f
A
ch
i
evem
en
t
s
i
n
M
a
t
e
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f
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E
n
g
i
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er
i
n
g
,
v
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l
.
77
,
no
. 2
,
p
p
.
7
5
-
84,
A
u
g
2
0
1
6
.
[3
]
H
.
N
u
g
ro
h
o
,
et
a
l
.
,
"
D
eep
L
earn
i
n
g
f
o
r
T
u
n
i
n
g
O
p
t
i
cal
Beamf
o
rmi
n
g
N
et
w
o
r
k
s
,"
TE
LK
O
M
NI
KA
Tel
eco
m
m
u
n
i
ca
t
i
o
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Co
m
p
u
t
i
n
g
E
l
ect
r
o
n
i
c
s
a
n
d
Co
n
t
r
o
l
,
vol.
16
,
no
.
4
,
p
p
.
1
6
0
7
-
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6
1
5
,
A
u
g
2
0
1
8
.
[4
]
W
.
D
el
an
e
y
,
"
Fro
m
v
i
s
i
o
n
t
o
real
i
t
y
5
0
+
y
ears
o
f
p
h
as
e
d
array
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ev
e
l
o
p
men
t
,
"
2
0
1
6
IE
E
E
In
t
e
r
n
a
t
i
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l
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ym
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o
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u
m
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P
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ed
A
r
r
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t
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m
s
a
n
d
Tech
n
o
l
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y
(
P
A
S
T)
,
W
al
t
h
am,
MA
,
p
p
.
1
-
8
,
2
0
1
6
.
[5
]
M.
E
l
h
efn
a
w
y
,
"
D
es
i
g
n
an
d
s
i
m
u
l
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t
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o
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an
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l
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eamfo
rmi
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h
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s
ed
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ray
an
t
en
n
a
,"
In
t
er
n
a
t
i
o
n
a
l
Jo
u
r
n
a
l
o
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E
l
ec
t
r
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ca
l
a
n
d
Co
m
p
u
t
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E
n
g
i
n
eer
i
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g
,
v
o
l
.
1
0
,
no
.
2
,
p
p
.
1
3
9
8
-
1
4
0
5
,
Apr
2
0
2
0
.
[6
]
H
.
G
ao
an
d
H
.
Ch
u
,
"
Res
earc
h
o
n
arc
h
i
t
ect
u
re
o
f
co
n
d
i
t
i
o
n
mo
n
i
t
o
r
i
n
g
an
d
h
eal
t
h
ma
n
ag
eme
n
t
o
f
ac
t
i
v
e
el
ect
r
o
n
i
cal
l
y
s
ca
n
n
e
d
array
ra
d
ar,
"
2
0
1
7
IE
E
E
A
U
TO
T
E
S
TCO
N
,
Sch
a
u
mb
u
rg
,
IL
,
p
p
.
1
-
4
,
2
0
1
7
.
[7
]
R.
Bi
l
an
d
W
.
H
o
l
p
p
,
"
Mo
d
ern
p
h
as
e
d
array
rad
ar
s
y
s
t
ems
i
n
G
erma
n
y
,
"
2
0
1
6
IE
E
E
In
t
er
n
a
t
i
o
n
a
l
S
y
m
p
o
s
i
u
m
o
n
P
h
a
s
e
d
A
r
r
a
y
S
ys
t
em
s
a
n
d
Tech
n
o
l
o
g
y
(P
A
S
T)
,
W
al
t
h
a
m,
MA
,
p
p
.
1
-
7
,
2
0
1
6
.
[8
]
S.
J
.
Ro
s
l
i
,
H
.
A
.
Rah
i
m
an
d
K
.
N
.
A
b
d
u
l
Ran
i
,
"
D
es
i
g
n
o
f
amp
l
i
t
u
d
e
an
d
p
h
a
s
e
mo
d
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l
a
t
ed
p
u
l
s
e
t
rai
n
s
w
i
t
h
g
o
o
d
au
t
t
o
c
o
rrel
a
t
i
o
n
p
ro
p
ert
i
es
f
o
r
rad
ar
co
mm
u
n
i
cat
i
o
n
s
,"
I
n
d
o
n
e
s
i
a
n
J
o
u
r
n
a
l
o
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E
l
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t
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ca
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E
n
g
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n
ee
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i
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a
n
d
Co
m
p
u
t
e
r
S
ci
e
n
ce
,
v
o
l
.
1
3
,
no
.
3
,
p
p
.
9
9
0
-
9
9
8
,
Mar
2
0
1
9
.
[9
]
V
.
T
o
cca,
D
.
V
i
g
i
l
a
n
t
e,
L
.
T
i
mm
o
n
er
i
an
d
A
.
Fari
n
a,
"
A
d
a
p
t
i
v
e
b
eamfo
rm
i
n
g
al
g
o
r
i
t
h
ms
p
erfo
rma
n
ce
e
v
al
u
at
i
o
n
fo
r
act
i
v
e
array
r
ad
ars
,
"
2
0
1
8
IE
E
E
R
a
d
a
r
Co
n
f
er
e
n
ce
(
R
a
d
a
r
C
o
n
f
1
8
)
,
p
p
.
0
0
4
3
-
0
0
4
8
,
2
0
1
8
.
[1
0
]
J.
Bo
i
k
o
,
e
t
al
.
,
"
Si
g
n
al
p
r
o
ces
s
i
n
g
w
i
t
h
fre
q
u
e
n
cy
an
d
p
h
as
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s
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ft
k
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o
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l
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t
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o
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i
n
t
el
ec
o
mmu
n
i
c
at
i
o
n
s
,
"
TE
LKO
M
NIK
A
Tel
ec
o
m
m
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n
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c
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t
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Co
m
p
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n
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s
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n
d
Co
n
t
r
o
l
,
v
o
l
.
1
7
,
n
o
.
4
,
p
p
.
2
0
2
5
-
2
0
3
8
,
A
u
g
2
0
1
9
.
[
1
1
]
R.
J
.
Ma
i
l
l
o
u
x
.
“
P
h
a
s
e
d
A
rr
a
y
A
n
t
e
n
n
a
H
a
n
d
b
o
o
k
(
A
n
t
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n
a
s
a
n
d
E
l
e
c
t
r
o
ma
g
n
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t
i
c
s
)
,”
2
r
d
.
e
d
n
.
A
r
t
e
c
h
H
o
u
s
e
,
2
0
1
8
.
[1
2
]
F.
G
en
e,
J
.
Fran
k
l
i
n
,
D
.
Po
w
e
l
l
,
et
al
.
,
“
Feed
b
ack
Co
n
t
r
o
l
o
f
D
y
n
am
i
c
Sy
s
t
ems
,”
P
r
en
t
i
ce
H
a
l
l
,
2
0
0
9
.
[1
3
]
M.
S.
Sh
araw
i
an
d
O
.
H
ammi
,
“
D
e
s
i
g
n
an
d
A
p
p
l
i
ca
t
i
o
n
s
o
f
A
ct
i
v
e
In
t
eg
ra
t
ed
A
n
t
en
n
as
,”
A
r
t
ec
h
H
o
u
s
e
,
2
0
1
8
.
[1
4
]
R.
St
u
rd
i
v
an
t
an
d
E
.
Ch
a
n
g
e
,
“
Sy
s
t
em
s
E
n
g
i
n
eeri
n
g
o
f
Ph
as
e
d
A
rray
s
,”
A
r
t
ech
H
o
u
s
e
,
2
0
1
8
.
[1
5
]
M.
K
.
A
l
-
O
b
a
i
d
i
,
et
a
l
.
,
"
D
es
i
g
n
o
f
w
i
d
e
b
an
d
R
o
t
ma
n
l
e
n
s
f
o
r
w
i
re
l
es
s
ap
p
l
i
cat
i
o
n
s
,"
TE
LK
O
M
NI
KA
Tel
eco
m
m
u
n
i
ca
t
i
o
n
Co
m
p
u
t
i
n
g
E
l
ect
r
o
n
i
c
s
a
n
d
Co
n
t
r
o
l
,
v
o
l
.
1
7
,
no
.
5
,
p
p
.
2
2
3
5
-
2
2
4
3
,
O
k
t
2
0
1
9
.
[1
6
]
R.
C.
D
o
rf
an
d
R.
H
.
Bi
s
h
o
p
,
“
M
o
d
er
n
Co
n
t
ro
l
Sy
s
t
em
s
,”
1
3
t
h
.
E
dn
,
P
ea
r
s
o
n
,
2
0
1
6
.
[1
7
]
E.
Cu
ev
as
an
d
V
.
W
eerack
o
d
y
,
"
T
ech
n
i
cal
an
d
Reg
u
l
a
t
o
r
y
A
s
p
ect
s
of
E
art
h
.
St
at
i
o
n
s
on
Mo
v
i
n
g
Pl
a
t
fo
rms
(E
SO
MPs
)
,"
2
0
1
4
IE
E
E
M
i
l
.
Co
m
m
u
n
.
Co
n
f
.
(M
ILC
O
M
'
2
0
1
4
)
,
Bal
t
i
m
o
re,
N
ew
Y
o
r
k
,
p
p
.
2
1
7
–
2
2
4
,
2
0
1
4
.
[1
8
]
I.
Park
h
o
mey
,
J
.
Bo
i
k
o
a
n
d
O
.
E
r
o
men
k
o
,
"
Id
en
t
i
f
i
c
at
i
o
n
i
n
fo
rma
t
i
o
n
s
e
n
s
o
rs
o
f
ro
b
o
t
s
y
s
t
em
s
,"
In
d
o
n
es
i
a
n
Jo
u
r
n
a
l
o
f
E
l
ect
r
i
c
a
l
E
n
g
i
n
ee
r
i
n
g
a
n
d
Co
m
p
u
t
er
S
ci
e
n
c
e
,
v
o
l
.
1
4
,
no
.
3
,
p
p
.
1
2
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