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t
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1.
I
N
TR
O
D
U
C
TI
O
N
A
c
on
t
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nu
ous
p
a
s
s
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m
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(CP
M
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m
a
c
h
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c
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pe
t
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p
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s
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m
ot
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on
[1
].
T
h
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m
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m
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ha
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t
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purp
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i
n
m
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j
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d
l
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m
bs
m
ot
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c
fu
nc
t
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on
[2]
.
t
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fun
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of
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CP
M
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s
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t
m
a
y
r
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t
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a
pi
s
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’s
w
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l
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pi
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[3].
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M
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xpe
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pro
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m
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or
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(A
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.
A
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port
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for
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nt
.
T
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m
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func
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n
of
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CL
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s
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of
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f
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m
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w
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n
t
he
t
i
bi
a
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s
fi
x
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d
[6]
.
P
a
t
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nt
w
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t
h
A
C
L
rupt
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us
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l
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i
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s
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a
ut
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t
s
or
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t
s
[
7]
t
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s
t
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t
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pi
vo
t
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g
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po
t
s
[8]
.
A
ft
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t
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s
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y,
e
a
rl
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t
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t
m
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us
ua
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ondu
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bi
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o
m
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m
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s
w
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l
l
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ng
a
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pa
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bu
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l
y
t
o
br
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ba
c
k
t
h
e
ra
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e
of
m
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t
i
on
.
P
a
s
s
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ve
re
ha
b
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a
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on
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m
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bs
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us
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m
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If
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don
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m
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c
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[9
].
A
c
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IS
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1693
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T
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s
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–
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A
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19
]
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m
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T
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non
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c
s
o
f
t
h
e
CP
M
,
P
ID
w
i
t
h
N
e
ur
a
l
N
e
t
w
ork
a
l
gor
i
t
h
m
w
a
s
a
l
s
o
pro
pos
e
d
[2
3
]
.
H
ow
e
ve
r
,
va
ri
a
t
i
on
of
l
oa
ds
m
a
y
a
ff
e
c
t
t
h
e
t
r
a
j
e
c
t
ory
t
ra
c
ki
n
g
of
t
h
e
CP
M
.
It
e
ra
t
i
v
e
l
e
a
rn
i
ng
c
ont
rol
(I
L
C)
i
s
a
r
e
l
a
t
i
v
e
l
y
ne
w
a
l
gori
t
h
m
t
h
a
t
i
s
a
bl
e
t
o
l
e
a
rn
a
nd
f
i
x
a
t
ra
j
e
c
t
or
y
t
r
a
c
k
i
ng
c
on
t
rol
p
robl
e
m
of
a
r
e
p
e
t
i
t
i
v
e
w
orks
[
2
4
-
2
6
]
.
CP
M
m
a
c
h
i
ne
w
orks
i
n
r
e
pe
t
i
t
i
v
e
w
a
y.
T
h
i
s
p
a
pe
r
e
x
pl
a
i
ns
t
he
d
e
ve
l
op
m
e
n
t
of
a
kn
e
e
CP
M
m
a
c
hi
n
e
a
nd
i
t
s
c
ont
r
ol
a
l
gor
i
t
h
m
us
i
ng
P
ID
-
I
L
C
.
T
h
e
go
a
l
i
s
h
a
vi
ng
a
kn
e
e
CP
M
w
i
t
h
c
a
pa
b
i
l
i
t
y
t
o
t
r
a
c
k
t
he
t
ra
j
e
c
t
ory
re
fe
r
e
n
c
e
i
n
t
h
e
pre
s
e
nc
e
of
v
a
r
i
ous
l
oa
d
fr
om
t
h
e
pa
t
i
e
nt
’s
l
e
g.
2.
R
ES
EA
R
C
H
M
ET
H
O
D
A
kne
e
CP
M
m
a
c
h
i
n
e
w
a
s
de
s
i
gne
d
a
nd
m
a
nufa
c
t
u
re
d
for
t
he
pr
ot
o
t
ype
.
T
h
e
m
a
c
hi
ne
w
a
s
a
c
t
ua
t
e
d
by
a
d
c
m
o
t
or.
T
o
c
on
t
rol
t
he
m
ot
or
,
a
P
ID
-
IL
C
c
ont
rol
l
e
r
w
a
s
d
e
ve
l
ope
d
a
nd
i
m
pl
e
m
e
n
t
e
d
t
o
t
he
s
ys
t
e
m
.
T
he
m
e
c
ha
n
i
c
a
l
,
e
l
e
c
t
ron
i
c
,
a
nd
t
h
e
c
on
t
rol
l
e
r
d
e
s
i
gn
a
r
e
e
xp
l
a
i
n
i
n
t
hi
s
c
h
a
pt
e
r
.
2.
1
.
M
e
c
h
an
i
c
al
d
e
s
i
gn
T
he
s
t
ruc
t
ur
e
i
s
m
a
d
e
fro
m
s
t
a
i
n
l
e
s
s
s
t
e
e
l
a
nd
a
l
u
m
i
n
i
um
.
T
he
dra
w
i
ng
of
t
h
e
de
s
i
gn
i
s
s
how
n
i
n
F
i
gure
1
.
T
h
e
3D
de
s
i
gn
of
t
he
CP
M
pro
t
ot
y
pe
i
s
s
how
n
i
n
F
i
gure
2
.
T
h
e
fi
n
a
l
r
e
s
ul
t
of
t
h
e
ha
rdw
a
re
i
s
s
h
ow
n
i
n
F
i
gur
e
3
.
T
h
e
c
on
t
ro
l
l
e
r
a
nd
t
h
e
dc
m
ot
or
dr
i
ve
r
i
nc
l
ud
i
n
g
t
h
e
a
d
a
pt
or
a
r
e
p
ut
i
n
on
e
box
.
T
he
t
he
s
ha
nk
s
upport
ha
s
s
pong
e
a
nd
c
ov
e
r
e
d
w
i
t
h
vi
nyl
s
he
e
t
.
I
t
a
l
s
o
h
a
s
vi
nyl
s
t
r
a
p
t
o
hol
d
t
he
p
a
t
i
e
n
t
l
e
g
dur
i
ng
m
a
c
h
i
ne
ope
ra
t
i
on.
In
t
h
i
s
c
a
s
e
w
e
m
e
a
s
ure
a
n
d
c
ont
rol
t
h
e
a
ng
l
e
of
t
he
hi
p
j
oi
n
t
(
b).
T
he
a
ng
l
e
w
a
s
m
e
a
s
ur
e
d
fro
m
t
he
c
o
nve
r
t
i
o
n
o
f
t
he
e
nc
o
de
r
v
a
l
u
e
.
F
i
g
ure
4
s
how
s
t
he
h
a
rd
w
a
re
t
e
s
t
on
a
n
a
dul
t
’s
l
e
g
.
It
s
how
s
a
l
s
o
t
he
ra
t
i
o
or
t
he
propo
rt
i
on
of
t
he
h
a
rd
w
a
re
s
i
z
e
t
o
a
n
a
dul
t
’s
l
e
g
.
T
he
s
t
ra
ps
us
e
d
t
o
h
ol
d
t
h
e
l
e
g
s
o
i
t
c
a
n
fo
l
l
ow
t
he
CP
M
m
ov
e
m
e
nt
.
F
i
gure
1
.
M
e
c
h
a
ni
c
a
l
de
s
i
g
n
o
f
t
he
CP
M
(di
m
e
ns
i
on
i
n
m
m
)
a
:
K
ne
e
j
oi
nt
b
:
H
i
p
j
o
i
nt
z
:
Ba
l
l
s
c
re
w
ro
t
a
t
i
on
x
:
S
l
i
de
r
t
ra
ns
l
a
t
i
on
1
:
D
C
M
ot
or
2
:
S
ha
n
k
s
upp
ort
3
:
T
h
i
gh
t
s
up
port
F
i
gure
2
.
T
he
re
di
m
e
ns
i
on
a
l
dra
w
i
ng
of
t
h
e
CP
M
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
K
O
M
N
IK
A
T
e
l
e
c
om
m
un
Co
m
put
E
l
Con
t
rol
Cont
r
ol
l
i
n
g
a
k
ne
e
C
P
M
m
ac
hi
n
e
us
i
ng
P
ID
and
i
t
e
r
a
t
i
v
e
…
(
D
e
c
hr
i
t
Man
e
e
t
ham
)
1049
F
i
gure
3
.
CP
M
P
rot
o
t
y
pe
F
i
gure
4
.
L
e
g
t
e
s
t
on
t
h
e
CP
M
2.
2
.
El
e
c
t
r
on
i
c
d
e
s
i
gn
T
he
CP
M
m
ove
m
e
nt
i
s
g
e
ne
ra
t
e
d
by
a
rot
a
t
i
ona
l
m
ove
m
e
n
t
p
rodu
c
e
d
by
a
D
C
m
o
t
or
.
By
us
i
n
g
a
c
ra
nk
s
l
i
d
e
r
m
e
c
ha
ni
s
m
,
t
he
rot
a
t
i
ona
l
m
ove
m
e
nt
i
s
t
r
a
ns
l
a
t
e
d
i
nt
o
l
i
ne
a
r
m
ot
i
on.
T
h
e
ro
t
a
t
i
on
of
t
he
m
ot
or
i
s
re
a
d
by
us
i
ng
a
rot
a
ry
e
n
c
od
e
r
a
t
t
a
c
he
d
di
re
c
t
l
y
t
o
t
he
dc
m
o
t
or
s
ha
f
t
a
t
t
h
e
b
a
c
k
.
T
h
e
i
nfor
m
a
t
i
on
of
t
h
e
a
c
t
ua
l
pos
i
t
i
on
o
f
t
he
m
ot
or
i
s
s
e
nt
t
o
t
he
m
i
c
r
oc
on
t
ro
l
l
e
r.
T
he
pos
i
t
i
on
i
nfor
m
a
t
i
o
n
t
he
n
w
i
l
l
be
c
om
p
a
r
e
d
t
o
t
he
t
r
a
j
e
c
t
ory
d
e
f
i
ne
d
a
n
d
t
he
n
t
h
e
e
rror
w
i
l
l
b
e
m
a
ni
pu
l
a
t
e
d
us
i
ng
propor
t
i
o
na
l
,
i
n
t
e
gr
a
l
,
a
nd
de
r
i
va
t
i
v
e
t
e
r
m
i
ns
i
de
t
he
P
ID
c
on
t
rol
l
e
r
.
T
h
e
pe
rfo
rm
a
nc
e
a
l
ong
t
h
e
t
ra
j
e
c
t
ory
w
a
s
r
e
c
orde
d.
T
he
pe
r
form
a
n
c
e
i
n
e
a
c
h
pa
rt
i
c
u
l
a
r
p
oi
n
t
of
t
h
e
qua
nt
i
z
e
d
t
r
a
j
e
c
t
ory
i
s
c
om
p
a
r
e
d
t
o
t
he
pre
vi
ous
one
a
nd
m
a
n
i
pul
a
t
e
d
us
i
n
g
propor
t
i
o
na
l
a
nd
d
e
r
i
va
t
i
v
e
t
e
r
m
i
n
s
i
d
e
t
he
I
L
C
c
on
t
rol
l
e
r
.
T
h
e
m
a
n
i
pu
l
a
t
e
d
v
a
ri
a
bl
e
from
t
he
IL
C
w
a
s
s
e
nt
a
nd
a
dd
up
t
o
t
he
P
ID
out
pu
t
.
T
h
e
c
orr
e
c
t
i
on
s
i
gna
l
fr
om
t
he
IL
C
w
i
l
l
r
e
fi
ne
t
h
e
c
ont
rol
s
i
gna
l
of
t
h
e
P
ID
.
T
h
e
c
ont
rol
l
e
r
us
e
s
A
rdui
no
U
N
O
b
oa
rd
,
a
nd
t
h
e
D
C
m
o
t
or
d
ri
v
e
r
us
e
s
V
N
H
2S
P
c
hi
p
t
h
a
t
ha
s
m
a
ny
a
dv
a
nt
a
ge
s
s
u
c
h
a
s
pol
a
r
i
t
y
,
ove
r
vo
l
t
a
g
e
,
a
n
d
ov
e
r
c
u
rre
n
t
p
rot
e
c
t
i
on
.
T
h
e
de
t
a
i
l
of
t
h
e
e
l
e
c
t
roni
c
di
a
gra
m
i
s
s
h
ow
n
o
n
F
i
gure
5
.
F
i
gure
5
.
E
l
e
c
t
roni
c
di
a
gra
m
of
t
h
e
d
c
m
o
t
or
c
on
t
ro
l
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
1693
-
6
930
T
E
L
K
O
M
N
IK
A
T
e
l
e
c
om
m
un
Co
m
put
E
l
Con
t
rol
,
V
ol
.
1
8
,
N
o.
2
,
A
pri
l
2
020:
1047
-
1053
1050
2.
3
.
P
I
D
an
d
I
LC
c
on
t
r
ol
l
e
r
d
e
s
i
gn
P
roport
i
ona
l
Int
e
gr
a
l
a
n
d
D
e
ri
va
t
i
v
e
(P
ID
)
c
ont
rol
l
e
r
w
a
s
i
nv
e
nt
e
d
i
n
191
0,
ow
n
e
d
by
E
l
m
e
r
S
pe
r
ry’s
s
hi
p
a
ut
opi
l
ot
.
T
h
e
popu
l
a
r
i
t
y
of
t
he
c
ont
r
ol
l
e
r
e
ve
n
gr
ow
n
m
ore
s
i
nc
e
t
he
t
uni
ng
m
e
t
ho
ds
w
a
s
i
nt
ro
duc
e
d
by
Z
i
e
gl
e
r
a
nd
N
i
c
hol
s
i
n
1942
[2
7
-
2
8
]
.
P
ID
c
on
t
ro
l
l
e
r
i
s
a
c
ont
rol
l
e
r
t
ha
t
c
a
l
c
u
l
a
t
e
s
t
h
e
d
i
ffe
re
n
c
e
b
e
t
w
e
e
n
t
he
de
s
i
r
e
d
va
l
ue
s
o
r
S
e
t
P
oi
n
t
(S
P
)
t
o
t
he
a
c
t
u
a
l
va
l
ue
or
t
he
out
pu
t
.
T
h
e
d
i
ff
e
re
n
c
e
be
t
w
e
e
n
S
P
a
nd
o
ut
pu
t
i
s
c
a
l
l
e
d
t
h
e
e
rror
s
i
gn
a
l
.
T
he
e
rro
r
s
i
gn
a
l
t
h
e
n
t
o
b
e
pr
oc
e
s
s
e
d
ba
s
e
d
on
propor
t
i
ona
l
,
i
n
t
e
gr
a
l
,
a
nd
d
e
r
i
va
t
i
v
e
t
e
r
m
s
t
o
ge
t
t
he
m
a
ni
pu
l
a
t
e
d
va
ri
a
bl
e
or
t
h
e
c
o
nt
ro
l
s
i
g
na
l
.
H
ow
e
ve
r
,
d
e
s
pi
t
e
o
f
i
t
s
popu
l
a
ri
t
y,
e
v
e
n
P
ID
c
ont
r
ol
l
e
r
onl
y
c
o
ns
i
s
t
of
t
hre
e
ga
i
n
t
o
b
e
t
une
d,
i
t
s
t
i
l
l
ha
rd
t
o
do.
T
h
e
r
e
a
re
s
t
i
l
l
a
l
a
r
ge
num
be
r
of
ba
d
l
y
t
un
e
d
P
ID
c
on
t
rol
l
e
rs
on
a
pro
c
e
s
s
pl
a
nt
[
29
].
It
e
r
a
t
i
ve
L
e
a
rn
i
ng
C
ont
r
ol
(I
L
C)
i
s
a
c
on
t
ro
l
l
e
r
t
h
a
t
i
m
prov
e
s
t
he
t
r
a
j
e
c
t
ory
t
ra
c
ki
n
g
by
l
e
a
ni
ng
fro
m
pre
vi
ous
t
a
s
k.
T
h
e
pr
e
vi
ous
t
a
s
k
m
e
a
ns
a
c
om
p
l
e
t
e
t
ra
c
k
i
ng
of
t
he
w
hol
e
t
ra
j
e
c
t
ory
fro
m
s
t
a
rt
t
o
e
nd.
Th
e
c
o
ndi
t
i
ons
t
h
a
t
s
hou
l
d
be
ful
fi
l
l
e
d
b
e
for
e
us
i
ng
t
h
e
I
L
C
a
re
:
−
It
i
s
a
r
e
pe
t
i
t
i
v
e
w
o
rk
o
n
a
s
a
m
e
t
ra
j
e
c
t
o
ry.
−
T
he
s
t
a
rt
i
ng
a
nd
e
ndi
ng
pos
i
t
i
on
s
h
oul
d
b
e
t
he
s
a
m
e
.
−
T
he
s
ys
t
e
m
s
houl
d
b
e
s
t
a
b
l
e
.
T
he
a
c
c
ur
a
c
y
of
t
he
t
r
a
c
k
i
ng
i
s
i
m
prov
e
d
fr
om
o
ne
r
e
p
e
t
i
t
i
on
t
o
t
he
ne
xt
r
e
pe
t
i
t
i
o
n.
T
h
e
s
ys
t
e
m
s
hou
l
d
be
a
s
t
a
b
l
e
s
ys
t
e
m
b
e
for
e
t
h
e
I
L
C
i
s
i
m
pl
e
m
e
nt
e
d
.
T
h
i
s
i
s
d
one
by
t
h
e
P
ID
c
ont
ro
l
l
e
r
.
In
c
om
bi
n
i
ng
P
ID
a
nd
IL
C
t
he
n
t
he
P
ID
ga
i
ns
s
houl
d
be
s
e
t
t
o
l
ow
va
l
ue
s
but
s
t
a
b
l
e
.
E
ve
n
t
h
e
t
r
a
c
ki
ng
i
s
poor
due
t
o
t
he
l
ow
g
a
i
n
,
IL
C
w
i
l
l
a
dj
us
t
t
he
m
a
ni
p
ul
a
t
e
d
c
ont
rol
s
i
gn
a
l
unt
i
l
t
h
e
d
e
s
i
re
d
t
ra
j
e
c
t
o
ry
i
s
a
c
hi
e
v
e
d
[
3
0
].
Con
t
ro
l
s
i
g
na
l
of
IL
C
i
s
d
e
t
e
r
m
i
n
e
d
from
=
−
1
+
̇
−
1
(
)
+
−
1
(
)
(1)
t
he
hybr
i
d
P
ID
-
IL
C
i
s
for
m
e
d
by
a
ddi
n
g
s
i
gna
l
f
rom
I
L
C
t
o
t
he
P
ID
a
l
gor
i
t
h
m
.
T
hus
,
t
h
e
c
on
t
rol
l
e
r
b
e
c
o
m
e
s
:
=
(
)
+
̇
(
)
+
∫
(
)
+
(2)
w
i
t
h
t
h
e
v
a
ri
a
b
l
e
s
a
r
e
:
u
j
:
I
L
C
c
on
t
rol
s
i
g
na
l
,
e
j
:
e
rror
s
i
gn
a
l
,
j
:
i
t
e
r
a
t
i
on
nu
m
be
r
,
k
p
:
pro
port
i
on
a
l
ga
i
n
,
k
d
:
d
e
ri
v
a
t
i
ve
g
a
i
n
,
k
i
:
i
nt
e
gra
l
ga
i
n
.
T
he
bl
oc
k
di
a
gr
a
m
of
t
h
e
P
ID
-
IL
C
c
ont
r
ol
l
e
r
i
s
s
h
ow
n
i
n
F
i
g
ure
6.
F
i
gure
6
.
B
l
oc
k
d
i
a
gra
m
o
f
h
ybri
d
P
ID
-
I
L
C
3.
R
ES
U
LTS
A
N
D
A
N
A
LY
S
I
S
T
he
CP
M
w
a
s
g
i
ve
n
a
t
ri
a
ngl
e
w
a
v
e
t
r
a
j
e
c
t
ory
i
nput
.
T
he
v
a
ri
a
bl
e
s
b
e
i
ng
c
o
nt
ro
l
l
e
d
a
r
e
t
h
e
a
m
pl
i
t
ude
of
t
h
e
w
a
v
e
t
ha
t
i
nd
i
c
a
t
e
s
t
h
e
a
ng
l
e
of
t
h
e
hi
p
j
o
i
nt
on
t
h
e
CP
M
.
T
he
P
ID
c
ons
t
a
n
t
s
e
t
t
i
ng
i
s
us
ua
l
l
y
don
e
w
h
e
n
t
he
CP
M
ha
s
no
l
o
a
d
on
i
t
.
L
o
a
ds
m
a
y
di
s
t
u
rb
t
h
e
c
ont
rol
s
y
s
t
e
m
of
t
he
CP
M
.
A
dd
i
t
i
ona
l
l
o
a
d
from
p
a
t
i
e
n
t
’s
l
e
g
c
a
n
c
ha
ng
e
t
he
t
r
a
j
e
c
t
ory
t
r
a
c
k
i
ng
r
e
s
pons
e
.
T
h
e
or
i
t
i
c
a
l
l
y
It
e
ra
t
i
v
e
L
e
a
rni
ng
Co
nt
ro
l
f
i
xe
s
t
h
e
t
r
a
j
e
c
t
ory
t
ra
c
ki
n
g
w
i
t
h
i
n
p
a
rt
i
c
u
l
a
r
t
i
m
e
i
n
r
e
pe
t
i
t
i
v
e
w
a
y
.
F
i
gur
e
7
s
how
s
fro
m
t
h
e
e
xpe
r
i
m
e
n
t
t
h
a
t
e
ve
n
t
he
P
ID
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
K
O
M
N
IK
A
T
e
l
e
c
om
m
un
Co
m
put
E
l
Con
t
rol
Cont
r
ol
l
i
n
g
a
k
ne
e
C
P
M
m
ac
hi
n
e
us
i
ng
P
ID
and
i
t
e
r
a
t
i
v
e
…
(
D
e
c
hr
i
t
Man
e
e
t
ham
)
1051
c
ont
r
ol
l
e
r
h
a
s
be
e
n
t
u
ne
d
p
rope
rl
y
,
but
s
o
m
e
l
o
a
d
a
p
pl
i
e
d
h
a
v
e
c
h
a
ng
e
d
t
h
e
t
r
a
j
e
c
t
ory
t
ra
c
ki
n
g.
I
t
di
d
not
a
ff
e
c
t
m
uc
h
o
n
t
h
e
ri
s
e
t
i
m
e
,
but
t
he
s
t
e
dy
s
t
a
t
e
e
r
ror
w
a
s
i
n
c
r
e
a
s
e
d
s
i
gn
i
fi
c
a
nt
l
y.
T
he
a
m
p
l
i
t
ud
e
re
du
c
e
d
6
de
g
re
e
s
.
T
hre
e
de
gr
e
e
s
l
e
s
s
fro
m
t
h
e
m
a
x
i
m
um
pos
i
t
i
o
n
a
nd
t
hr
e
e
d
e
g
re
e
s
fro
m
t
he
m
i
ni
m
u
m
pos
i
t
i
on
.
F
i
gure
8
s
how
s
t
ha
t
P
ID
-
IL
C
c
on
t
ro
l
l
e
r
i
s
a
b
l
e
t
o
r
e
t
urn
t
he
t
r
a
j
e
c
t
ory
t
ra
c
ki
n
g
t
o
t
he
t
ra
j
e
c
t
or
y
re
fe
r
e
n
c
e
.
O
n
t
he
f
i
rs
t
re
p
e
t
i
t
i
on
,
t
he
P
ID
-
I
L
C
produ
c
e
d
s
m
a
l
l
ov
e
rs
hoot
,
but
l
a
t
e
r
i
t
w
a
s
a
bl
e
t
o
m
a
n
a
ge
t
he
os
c
i
l
l
a
t
i
on
t
o
m
e
e
t
t
he
t
ra
j
e
c
t
ory
r
e
fe
r
e
n
c
e
.
A
ft
e
r
f
ou
r
re
pe
t
i
t
i
ons
,
t
he
s
ys
t
e
m
w
a
s
a
bl
e
t
o
re
t
urn
t
o
t
he
t
r
a
j
e
c
t
ory
r
e
fe
re
n
c
e
.
A
n
ot
h
e
r
e
xpe
ri
m
e
n
t
i
s
w
i
t
h
l
ow
e
r
P
I
D
c
ons
t
a
nt
ga
i
ns
s
e
t
.
In
t
h
e
b
e
gi
n
ni
ng
,
t
he
s
ys
t
e
m
c
oul
d
n
ot
t
r
a
c
k
t
h
e
t
ra
j
e
c
t
o
ry
re
f
e
re
nc
e
.
H
ow
e
ve
r
,
a
f
t
e
r
s
e
ve
r
a
l
i
t
e
ra
t
i
on
,
t
h
e
s
ys
t
e
m
w
a
s
a
b
l
e
t
o
t
r
a
c
k
t
he
t
ra
j
e
c
t
ory
e
ve
n
w
i
t
h
i
ni
t
i
a
l
l
ow
P
ID
g
a
i
n
.
F
i
gur
e
9
s
how
s
t
h
e
s
ys
t
e
m
re
s
po
ns
e
w
i
t
h
P
ID
c
on
t
rol
on
l
y
a
nd
t
he
ga
i
ns
w
e
re
s
e
t
l
ow
.
T
h
e
re
a
re
s
t
e
a
dy
s
t
a
t
e
e
r
rors
.
F
i
gur
e
1
0
s
how
s
c
om
b
i
ni
ng
w
i
t
h
IL
C,
t
h
e
P
ID
c
o
nt
ro
l
l
e
r
a
ft
e
r
s
e
ve
n
i
t
e
ra
t
i
ons
t
h
e
s
ys
t
e
m
w
a
s
a
bl
e
t
o
t
ra
c
k
t
h
e
t
ra
j
e
c
t
o
ry
r
e
fe
r
e
nc
e
.
F
i
gure
7
.
L
oa
d
c
ha
nge
s
t
r
a
j
e
c
t
ory
t
r
a
c
k
i
ng
of
a
w
e
l
l
t
un
e
d
P
I
D
c
on
t
rol
l
e
r
(a
)
(b)
F
i
gure
8
.
(
a
)
P
ID
-
IL
C
c
ont
r
ol
l
e
r
t
r
a
c
k
e
d
ba
c
k
t
h
e
t
ra
j
e
c
t
or
y
r
e
fe
r
e
nc
e
a
f
t
e
r
di
s
t
urb
a
nc
e
,
(b)
a
ft
e
r
f
our
re
p
e
t
i
t
i
ons
P
ID
-
I
L
C
pe
r
fe
c
t
l
y
t
ra
c
k
t
h
e
t
ra
j
e
c
t
or
y
re
fe
r
e
nc
e
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
1693
-
6
930
T
E
L
K
O
M
N
IK
A
T
e
l
e
c
om
m
un
Co
m
put
E
l
Con
t
rol
,
V
ol
.
1
8
,
N
o.
2
,
A
pri
l
2
020:
1047
-
1053
1052
F
i
gure
9
.
P
ID
c
on
t
ro
l
l
e
r
w
i
t
h
l
ow
g
a
i
ns
F
i
gure
10
.
P
ID
-
I
L
C
re
s
p
ons
e
s
ys
t
e
m
4.
C
O
N
C
LU
S
I
O
N
T
he
CP
M
m
a
c
hi
n
e
h
a
s
b
e
e
n
de
ve
l
ope
d
a
nd
c
ont
rol
l
e
d
s
uc
c
e
s
s
ful
l
y
us
i
ng
P
ID
-
I
L
C
c
on
t
rol
l
e
r
.
T
he
m
e
c
ha
n
i
c
a
l
p
a
rt
i
s
a
bl
e
t
o
s
uppor
t
t
h
e
pa
t
i
e
nt
l
e
g.
A
l
l
t
h
e
j
oi
nt
s
m
o
ve
m
e
n
t
a
r
e
s
m
oo
t
h.
T
he
pr
opos
e
d
h
ybri
d
c
ont
r
ol
l
e
r
s
u
c
c
e
s
s
ful
l
y
c
on
t
rol
s
t
he
s
ys
t
e
m
.
T
he
s
ys
t
e
m
i
s
a
bl
e
t
o
t
ra
c
k
a
nd
fo
l
l
ow
t
he
t
ra
j
e
c
t
or
y
gi
v
e
n
i
n
t
he
pr
e
s
e
n
c
e
of
di
s
t
urba
nc
e
or
l
oa
d
.
W
e
l
l
t
un
e
d
P
ID
c
on
t
rol
l
e
r
ha
s
6
de
gre
e
s
s
t
e
a
dy
s
t
a
t
e
e
rr
or
i
n
t
h
e
a
pp
e
a
r
a
n
c
e
of
l
oa
d
.
H
ow
e
ve
r
,
t
h
e
P
ID
-
IL
C
a
b
l
e
t
o
r
e
t
urn
t
h
e
t
r
a
j
e
c
t
ory
r
e
fe
r
e
nc
e
a
f
t
e
r
t
h
e
4t
h
r
e
p
e
t
i
t
i
on
.
P
ID
-
I
L
C
i
s
a
b
l
e
t
o
r
e
c
ove
r
t
he
s
t
e
a
d
y
s
t
a
t
e
e
rr
or
of
a
l
ow
g
a
i
n
P
ID
c
o
nt
ro
l
l
e
r
a
f
t
e
r
7
r
e
pe
t
i
t
i
on
.
T
he
c
a
pa
bi
l
i
t
y
o
f
t
ra
c
ki
ng
t
he
t
r
a
j
e
c
t
ory
re
fe
r
e
nc
e
w
i
l
l
g
ua
r
a
nt
e
e
t
he
s
ys
t
e
m
t
o
fo
l
l
ow
a
ny
s
e
t
o
f
p
a
rt
i
c
ul
a
r
p
a
t
i
e
n
t
re
h
a
bi
l
i
t
a
t
i
on
s
c
e
n
a
ri
o
RE
F
ER
EN
C
ES
[
1]
F
u
Y
.
,
W
a
ng
P
.
,
W
a
ng
S
.
,
L
i
u
H
.
,
a
nd
Z
ha
n
g
F
.
,
“
D
e
s
i
gn
a
nd
de
v
e
l
op
m
e
nt
of
a
po
r
t
a
b
l
e
e
xos
ke
l
e
t
on
b
a
s
e
d
C
P
M
m
a
c
hi
ne
f
o
r
r
e
ha
bi
l
i
t
a
t
i
on
o
f
h
a
nd
i
n
j
u
r
i
e
s
,
”
2007
I
E
E
E
I
n
t
e
r
na
t
i
onal
C
on
f
e
r
e
nc
e
o
n
R
ob
ot
i
c
s
an
d
B
i
om
i
m
e
t
i
c
s
(
R
O
B
I
O
)
,
pp
.
147
6
-
1
481
,
2007
.
[
2]
F
u
Y
.
,
Z
ha
n
g
F
.
,
M
a
X
.
,
M
e
ng
Q
.
,
“
D
e
ve
l
op
m
e
nt
o
f
a
C
P
M
m
a
c
hi
ne
f
or
i
n
j
u
r
e
d
f
i
ng
e
r
s
,
”
P
r
oc
e
e
d
i
ng
s
o
f
t
he
20
05
I
E
E
E
E
ng
i
ne
e
r
i
ng
i
n
M
e
di
c
i
n
e
and
B
i
ol
o
g
i
,
vo
l
.
5
,
pp
.
5
017
-
502
0,
2005
.
[
3]
T
a
ng
j
i
t
s
i
t
c
ha
r
oe
n
S
.
,
a
n
d
L
oh
a
s
i
r
i
w
a
t
H
.
,
“
R
e
d
e
s
i
gn
o
f
a
c
ont
i
nuous
pa
s
s
i
ve
m
ot
i
o
n
m
a
c
h
i
ne
f
o
r
t
o
t
a
l
kn
e
e
r
e
p
l
a
c
e
m
e
n
t
t
h
e
r
a
py
,
”
J
ou
r
na
l
of
H
e
al
t
h
R
e
s
e
a
r
c
h
,
v
ol
.
33
,
n
o
.
2,
p
p.
106
-
11
8,
20
19.
[
4]
H
i
e
m
s
t
r
a
L
.
A
.
,
W
e
bb
e
r
S
.
,
a
nd
M
a
c
D
o
na
l
d
P
.
B
.
,
“
K
ne
e
s
t
r
e
ng
t
h
de
f
i
c
i
t
s
a
f
t
e
r
h
a
m
s
t
r
i
ng
t
e
ndo
n
a
nd
pa
t
e
l
l
a
r
t
e
nd
on
a
n
t
e
r
i
or
c
r
uc
i
a
t
e
l
i
g
a
m
e
n
t
r
e
c
on
s
t
r
uc
t
i
on
,
”
M
e
d
i
c
i
ne
an
d
Sc
i
e
nc
e
i
n
Spo
r
t
s
M
e
di
c
i
ne
,
vol
.
32
,
no
.
8
,
pp.
1
472
-
147
9
,
20
00
.
[
5]
M
i
k
ke
l
s
e
n
C
.
,
W
e
r
ne
r
S
.
,
&
E
r
i
k
s
s
o
n
E
.
,
“
C
l
o
s
e
k
i
ne
t
i
c
c
ha
i
n
a
l
on
e
c
om
pa
r
e
d
t
o
c
o
m
bi
ne
d
o
pe
n
a
nd
c
l
o
s
e
d
ki
ne
t
i
c
c
ha
i
n
e
x
e
r
c
i
s
e
s
f
or
q
u
a
d
r
i
c
e
p
s
s
t
r
e
ngt
he
n
i
ng
a
f
t
e
r
a
nt
e
r
i
o
r
c
r
uc
i
a
t
e
l
i
g
a
m
e
n
t
r
e
c
on
s
t
r
uc
t
i
on
w
i
t
h
r
e
s
pe
c
t
t
o
r
e
t
u
r
n
t
o
s
por
t
s
:
A
p
r
o
s
pe
c
t
i
ve
m
a
t
c
h
e
d
f
ol
l
ow
-
up
s
t
udy
,”
K
n
e
e
Sur
ge
r
y
S
por
t
s
T
r
a
um
at
ol
o
gy
A
r
t
hr
os
c
opy
,
vo
l
.
8
,
no
.
6
,
pp.
33
7
–
34
2
,
20
00
.
[
6]
D
e
l
a
y
B
.
S
.
,
S
m
ol
i
ns
ki
R
.
J
.
,
W
i
nd
W
.
M
.
,
&
B
ow
m
a
n
D
.
S
.
,
“
C
u
r
r
e
nt
p
r
a
c
t
i
c
e
s
a
nd
op
i
n
i
on
s
i
n
A
C
L
r
e
c
ons
t
r
uc
t
i
on
a
nd
r
e
ha
b
i
l
i
t
a
t
i
o
n
,
”
A
m
e
r
i
c
an
J
our
nal
o
f
K
ne
e
S
ur
g
e
r
y
,
vo
l
.
14
,
no
.
2
,
pp
.
85
–
91
,
20
01
.
[
7]
W
oo
S
.
L
.
Y
.
,
W
u
C
.
,
D
e
d
e
O
.
,
V
e
r
c
i
l
l
o
F
.
,
a
nd
N
o
or
a
ni
S
.
,
“
B
i
o
m
e
c
ha
ni
c
s
a
n
d
a
n
t
e
r
i
o
r
c
r
uc
i
a
t
e
l
i
g
a
m
e
n
t
r
e
c
o
ns
t
r
u
c
t
i
o
n
,”
J
our
nal
o
f
O
r
t
hop
ae
d
i
c
Su
r
ge
r
y
and
R
e
s
e
a
r
c
h
,
vo
l
.
1
,
n
o.
2
,
S
e
p
t
e
m
b
e
r
200
6.
[
8]
L
e
e
D
.
Y
.
H
.
,
K
a
r
i
m
S
.
A
.
,
C
ha
ng
H
.
C
.
,
“
R
e
t
u
r
n
t
o
s
p
or
t
s
a
f
t
e
r
a
nt
e
r
i
or
c
r
uc
i
a
t
e
l
i
ga
m
e
nt
r
e
c
on
s
t
r
uc
t
i
on
–
a
r
e
vi
e
w
of
pa
t
i
e
n
t
s
w
i
t
h
m
i
ni
m
u
m
5
-
ye
a
r
f
ol
l
ow
-
u
p
,
”
A
n
nal
s
of
t
he
A
c
a
de
m
y
o
f
M
e
di
c
i
ne
,
Si
n
gapo
r
e
,
v
o
l
.
3
7
,
n
o.
4
,
p
p.
27
3
-
2
78,
2
008
.
[
9]
R
a
s
h
i
d
M
.
R
.
,
A
h
m
a
d
I
.
N
.
,
H
a
r
on
R
.
,
a
nd
A
dn
a
n
R
.
,
“
T
r
e
a
t
m
e
n
t
e
f
f
e
c
t
i
ve
ne
s
s
o
f
c
on
t
i
n
uou
s
pa
s
s
i
ve
m
ot
i
on
m
a
c
h
i
n
e
dur
i
ng
pos
t
-
ope
r
a
t
i
ve
t
r
e
a
t
m
e
n
t
o
f
a
n
t
e
r
i
or
c
r
uc
i
a
t
e
l
i
g
a
m
e
n
t
p
a
t
i
e
n
t
s
,
”
2012
I
E
E
E
Sy
m
pos
i
um
o
n
H
um
a
ni
t
i
e
s
,
Sc
i
e
nc
e
a
nd
E
ng
i
ne
e
r
i
ng
R
e
s
e
a
r
c
h
,
pp
.
469
-
473
,
201
2.
[
10]
M
c
I
nne
s
J
.
,
L
a
r
s
on
M
.
G
.
,
D
a
l
t
r
oy
L
.
H
.
,
e
t
al
.
,
“
A
c
o
nt
r
o
l
l
e
d
e
va
l
ua
t
i
on
of
c
o
nt
i
nu
ous
pa
s
s
i
ve
m
ot
i
on
i
n
p
a
t
i
e
n
t
s
unde
r
go
i
ng
t
ot
a
l
kn
e
e
a
r
t
h
r
op
l
a
s
t
y
,”
J
A
M
A
,
vo
l
.
2
68
,
n
o.
11
,
pp
.
14
23
–
1428
,
S
e
p
t
e
m
b
e
r
19
92
.
[
11]
P
ope
R
.
O
.
,
C
o
r
c
o
r
a
n
S
.
,
M
c
C
a
u
l
K
.
,
H
ow
i
e
D
.
W.
,
“
C
ont
i
n
uous
pa
s
s
i
v
e
m
o
t
i
o
n
a
f
t
e
r
pr
i
m
a
r
y
t
o
t
a
l
k
ne
e
a
r
t
h
r
op
l
a
s
t
y:
doe
s
i
t
of
f
e
r
a
ny
b
e
ne
f
i
t
s
?
”
T
he
B
o
ne
&
J
oi
n
t
J
o
ur
na
l
,
vol
.
79
,
no
.
6,
pp
.
914
–
91
7
,
19
97
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
K
O
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IK
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e
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c
om
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un
Co
m
put
E
l
Con
t
rol
Cont
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ol
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g
a
k
ne
e
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P
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ac
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e
us
i
ng
P
ID
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…
(
D
e
c
hr
i
t
Man
e
e
t
ham
)
1053
[
12]
S
hi
h
K
.
Z
.
,
L
i
u
T
.
K.
,
“
T
he
r
ol
e
of
c
o
nt
i
nu
ous
p
a
s
s
i
v
e
m
o
t
i
on
f
o
l
l
ow
i
ng
t
o
t
a
l
k
ne
e
a
r
t
hr
opl
a
s
t
y
,
”
J
o
ur
na
l
o
f
t
he
F
or
m
os
an
M
e
di
c
a
l
A
s
s
o
c
i
at
i
on
,
vo
l
,
89
,
no
.
12
,
p
p.
10
77
–
10
80
,
1
9
90
.
[
13]
V
e
r
ve
r
e
l
i
P
.
A
.
,
S
ut
t
on
D
.
C
.
,
H
e
a
r
n
S
.
L
.
,
e
t
a
l
.
,
“
C
on
t
i
nuou
s
pa
s
s
i
ve
m
o
t
i
on
a
f
t
e
r
t
o
t
a
l
kne
e
a
r
t
hr
op
l
a
s
t
y
:
a
na
l
y
s
i
s
of
c
os
t
a
nd
b
e
ne
f
i
t
s
,”
C
l
i
n
i
c
al
O
r
t
ho
pae
d
i
c
s
and
R
e
l
a
t
e
d
R
e
s
e
a
r
c
h
,
no.
32
1,
pp
.
208
–
2
15
,
1
995
.
[
14]
W
a
s
i
l
e
w
s
k
i
S
.
A
.
,
W
ood
s
L
.
C
.
,
T
or
ge
r
s
on
W
.
R
.
J
.
,
H
e
a
l
y
W
.
L.
,
“
V
a
l
ue
of
c
on
t
i
n
uou
s
pa
s
s
i
ve
m
o
t
i
on
i
n
t
o
t
a
l
kn
e
e
a
r
t
hr
o
pl
a
s
t
y
,
”
O
r
t
hop
e
di
c
s
,
vo
l
.
13
,
no
.
3,
pp
.
291
–
2
95
,
1
990
.
[
15]
H
a
r
m
s
M
.
,
E
n
gs
t
r
o
m
B
.
,
“
C
on
t
i
nuou
s
p
a
s
s
i
v
e
m
o
t
i
on
a
s
a
n
a
dj
u
nc
t
t
o
t
r
e
a
t
m
e
nt
i
n
t
he
phy
s
i
ot
h
e
r
a
py
m
a
na
ge
m
e
nt
of
t
ot
a
l
kn
e
e
a
r
t
hr
o
pl
a
s
t
y
pa
t
i
e
nt
,
”
P
h
y
s
i
ot
he
r
apy
,
vo
l
.
77
,
no
.
4,
p
p.
3
01
–
307
,
1991
.
[
16]
J
ohn
s
on
D
.
P
.
,
E
a
s
t
w
o
od
D
.
M.
,
“
B
e
ne
f
i
c
i
a
l
e
f
f
e
c
t
s
of
c
ont
i
nu
ous
pa
s
s
i
ve
m
o
t
i
on
a
f
t
e
r
t
o
t
a
l
c
on
dyl
a
r
kne
e
a
r
t
hr
o
pl
a
s
t
y
,”
A
nna
l
s
o
f
t
h
e
R
oy
a
l
C
ol
l
e
g
e
of
Su
r
ge
ons
o
f
E
ng
l
and
,
vol
.
74,
n
o.
6
,
pp.
4
12
-
416
,
1992
.
[
17]
R
om
n
e
s
s
D
.
W
.
,
R
a
nd
J
.
A.
,
“
T
he
r
ol
e
of
c
on
t
i
nuo
u
s
pa
s
s
i
ve
m
o
t
i
on
f
ol
l
ow
i
ng
t
ot
a
l
k
ne
e
a
r
t
h
r
op
l
a
s
t
y
,
”
C
l
i
n
i
c
al
O
r
t
ho
pae
di
c
s
and
R
e
l
a
t
e
d
R
e
s
e
a
r
c
h
,
no
.
226
,
pp
.
34
–
37
,
1988
.
[
18]
G
ol
e
t
z
T
.
H
.
,
H
e
n
r
y
J
.
H.
,
“
C
on
t
i
nuou
s
p
a
s
s
i
v
e
m
o
t
i
on
a
f
t
e
r
t
ot
a
l
kne
e
a
r
t
hr
o
pl
a
s
t
y
,
”
S
out
he
r
n
M
e
d
i
c
al
j
o
ur
n
al
,
vol
.
79
,
n
o.
9
,
pp.
1
116
–
1120
,
198
6
.
[
19]
V
i
nc
e
K
.
G
.
,
K
e
l
l
y
M
.
A
.
,
B
e
c
k
J
.
,
I
ns
a
l
l
J
.
N.
,
“
C
on
t
i
n
uou
s
p
a
s
s
i
v
e
m
o
t
i
on
a
f
t
e
r
t
ot
a
l
kne
e
a
r
t
hr
op
l
a
s
t
y
,
”
T
he
J
o
ur
na
l
of
A
r
t
hr
o
pl
as
t
y
,
v
ol
.
2,
n
o.
4
,
pp
.
281
–
284
,
1987
.
[
20]
U
e
t
s
uj
i
S
.
,
K
i
ngs
u
va
n
gul
N
.
,
B
o
ony
a
s
u
r
a
k
ul
B
.
,
a
nd
C
ha
r
o
e
ns
u
k
W
.
,
“
H
a
nd
e
x
os
k
e
l
e
t
o
n
f
o
r
c
on
t
i
nuo
us
p
a
s
s
i
ve
m
o
t
i
on
p
os
t
ope
r
a
t
i
ve
r
e
ha
b
i
l
i
t
a
t
i
on
,
”
20
17
10
th
B
i
om
e
d
i
c
a
l
E
n
gi
ne
e
r
i
ng
I
nt
e
r
na
t
i
ona
l
C
o
nf
e
r
e
nc
e
(
B
M
E
i
C
O
N
)
,
pp.
1
-
5,
2
017
.
[
21]
E
s
ki
I
.
,
K
i
r
n
a
p
A
.
,
a
nd
K
i
r
na
p
M
.
,
“
P
I
D
c
ont
r
o
l
l
e
r
de
s
i
gn
f
o
r
h
u
m
a
n
e
l
bow
t
he
r
a
py
,
”
I
nt
e
r
n
at
i
on
al
J
o
ur
na
l
of
A
pp
l
i
e
d
M
a
t
he
m
a
t
i
c
s
,
E
l
e
c
t
r
on
i
c
s
and
C
om
p
ut
e
r
s
,
no
.
4,
pp
.
282
–
285
,
201
6
.
[
22]
O
r
t
e
ga
A
.
B
.
,
B
e
c
e
r
r
a
F
.
A
.
G
.
,
V
a
l
dé
s
L
.
G
.
V
.
,
d
a
n
A
r
c
e
ga
R
.
O
.
D
.
,
“
A
ge
n
e
r
a
l
i
z
e
d
p
r
op
or
t
i
ona
l
i
n
t
e
g
r
a
l
c
on
t
r
o
l
l
e
r
f
or
a
n
a
nkl
e
r
e
h
a
b
i
l
i
t
a
t
i
on
m
a
c
hi
n
e
ba
s
e
d
on
a
n
X
Y
t
a
b
l
e
,
”
20
13
I
nt
e
r
n
at
i
on
al
C
on
f
e
r
e
nc
e
on
M
e
c
ha
t
r
oni
c
s
,
E
l
e
c
t
r
oni
c
s
an
d
A
ut
om
ot
i
v
e
E
n
gi
ne
e
r
i
ng
,
M
or
e
l
os
,
pp.
1
52
-
157
,
20
13.
[
23]
T
u
D
i
e
p
C
ong
T
h
a
nd
.
,
“
C
on
t
r
ol
N
o
ve
l
M
o
de
l
o
f
K
ne
e
C
P
M
D
e
vi
c
e
,
s
c
i
e
nc
e
&
t
e
c
hno
l
o
gy
de
ve
l
op
m
e
n
t
,
”
S
c
i
e
nc
e
and
T
e
c
hno
l
ogy
D
e
v
e
l
ogm
e
nt
,
v
o
l
12,
n
o.
4
,
pp
18
-
29
,
2
009
.
[
24]
S
.
A
r
i
m
o
t
o
,
S
.
K
a
w
a
m
u
r
a
,
a
nd
F
.
M
i
y
a
z
a
ki
,
“
B
e
t
t
e
r
i
ng
ope
r
a
t
i
on
of
r
obo
t
s
by
l
e
a
r
ni
ng
,
”
J
ou
r
na
l
o
f
R
obo
t
i
c
Sy
s
t
e
m
s
,
vol
.
1,
no
.
2,
p
p.
1
23
-
140
,
198
4.
[
25]
I
bi
d
,
“
B
e
t
t
e
r
i
ng
op
e
r
a
t
i
on
o
f
dy
na
m
i
c
s
y
s
t
e
m
s
by
l
e
a
r
n
i
ng
:
A
ne
w
c
o
nt
r
ol
t
he
or
y
f
o
r
s
e
r
vo
m
e
c
ha
ni
s
m
or
m
e
c
ha
t
r
oni
c
s
s
ys
t
e
m
s
,
"
T
he
23
rd
I
E
E
E
C
on
f
e
r
e
n
c
e
on
D
e
c
i
s
i
o
n
a
nd
C
on
t
r
o
l
,
p
p.
1064
-
106
9
,
19
84.
[
26]
S
.
K
a
w
a
m
ur
a
,
F
.
h
l
i
y
a
z
a
ki
a
nd
S
.
A
r
i
m
o
t
o,
“
I
t
e
r
a
t
i
ve
l
e
a
r
ni
ng
c
on
t
r
ol
f
or
r
obo
t
i
c
s
ys
t
e
m
s
,”
200
9
I
E
E
E
I
nt
e
r
n
at
i
on
al
C
onf
e
r
e
n
c
e
on
C
on
t
r
ol
an
d
A
ut
om
at
i
on
,
C
hr
i
s
t
c
h
ur
c
h
,
pp
.
109
2
-
1
0
97,
20
09.
[
27]
Z
i
e
g
l
e
r
Z
.
G
.
,
a
nd
N
i
c
h
ol
s
N
.
B
.
,
“
O
pt
i
m
u
m
s
e
t
t
i
ngs
f
o
r
a
u
t
o
m
a
t
i
c
c
on
t
r
ol
l
e
r
s
,
”
T
r
an
s
.
A
SM
E
,
vo
l
.
64
,
pp.
75
9
–
76
8,
19
42.
[
28]
A
ng
K
.
H
.
,
C
hon
g
G
.
,
a
nd
L
i
Y
.
,
“
P
I
D
C
on
t
r
o
l
S
ys
t
e
m
A
na
l
y
s
i
s
,
D
e
s
i
gn,
a
nd
T
e
c
hno
l
og
y,
”
IE
E
E
T
r
a
ns
a
c
t
i
on
s
o
n
C
ont
r
ol
S
y
s
t
e
m
s
T
e
c
hno
l
o
gy
,
v
ol
.
13
,
no.
4
,
pp
.
559
-
576
,
200
5.
[
29]
S
koge
s
t
a
d
S
.
,
“
S
i
m
pl
e
a
na
l
y
t
i
c
r
u
l
e
s
f
or
m
ode
l
r
e
duc
t
i
on
a
n
d
P
I
D
c
o
nt
r
ol
l
e
r
t
un
i
ng
,
”
J
our
nal
o
f
P
r
o
c
e
s
s
C
ont
r
o
l
vol
.
13
,
no
.
4,
p
p.
29
1
–
30
9
,
20
03.
[
30]
S
ut
y
a
s
a
di
P
.
,
a
nd
P
a
r
n
i
c
h
kun
M
.
,
“
T
r
ot
t
i
ng
c
o
nt
r
o
l
of
a
q
ua
d
r
upe
d
r
obo
t
us
i
ng
P
I
D
-
I
L
C
,
”
i
n
I
E
C
O
N
201
5
-
41
st
A
nnua
l
C
onf
e
r
e
nc
e
o
f
t
h
e
I
E
E
E
I
ndu
s
t
r
i
a
l
E
l
e
c
t
r
on
i
c
s
Soc
i
e
t
y
,
pp
.
00440
0
-
0
0440
5,
20
15.
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