T
E
L
KO
M
NIK
A
, V
ol
.
17
,
No.
6,
Dec
em
be
r
20
1
9,
p
p.3
02
7~
3
04
3
IS
S
N: 1
69
3
-
6
93
0
,
accr
ed
ited
F
irst
Gr
ad
e b
y K
em
en
r
istekdikti,
Decr
ee
No: 2
1/E/
K
P
T
/20
18
DOI:
10.12928/TE
LK
OM
N
IK
A
.v
1
7
i
6
.
13176
◼
30
27
Rec
ei
v
ed
M
ay
20
,
20
1
9
; R
ev
i
s
ed
J
un
e 3
0
,
2
01
9
;
A
c
c
ep
te
d
J
ul
y
1
8
, 2
01
9
Hierar
chical
rob
ust
f
uzz
y
slidi
n
g m
od
e c
on
trol
fo
r a c
la
ss o
f si
mo
un
d
er
-
ac
tu
a
ted
s
y
s
te
ms
w
i
th
misma
tch
e
d u
n
certai
nt
ies
Du
c Ha
V
u
*
1
,
S
h
o
u
d
ao Hu
ang
2
, T
h
i Die
p
T
r
an
3
1
,2
,3
Col
l
e
g
e
o
f
E
l
e
c
tr
i
c
a
l
a
n
d
I
n
fo
rm
a
t
i
o
n
En
g
i
n
e
e
r
i
n
g
,
H
u
n
a
n
Uni
v
e
rs
i
ty
,
Hun
a
n
,
P
.R.
Chi
n
a
1
,3
Fa
c
u
l
ty
o
f
El
e
c
tri
c
a
l
E
n
g
i
n
e
e
ri
n
g
,
S
a
o
d
o
Un
i
v
e
rs
i
ty
,
Hai
d
u
o
n
g
,
Vi
e
tn
a
m
*
Corre
s
p
o
n
d
e
n
c
e
:
e
-
m
a
i
l
:
v
u
h
a
d
h
s
d
@hn
u
.e
d
u
.c
n
1
Ab
strac
t
Th
e
d
e
v
e
l
o
p
m
e
n
t
o
f
th
e
a
l
g
o
r
i
th
m
s
fo
r
s
i
n
g
l
e
i
n
p
u
t
m
u
l
t
i
o
u
t
p
u
t
(SIM
O
)
u
n
d
e
r
-
a
c
tu
a
t
e
d
s
y
s
te
m
s
wit
h
m
i
s
m
a
t
c
h
e
d
u
n
c
e
rt
a
i
n
ti
e
s
i
s
i
m
p
o
rta
n
t.
Hi
e
ra
rc
h
i
c
a
l
s
l
i
d
i
n
g
-
m
o
d
e
c
o
n
tro
l
l
e
r
(HS
M
C)
h
a
s
b
e
e
n
s
u
c
c
e
s
s
f
u
l
l
y
e
m
p
l
o
y
e
d
to
c
o
n
tro
l
SIM
O
u
n
d
e
r
-
a
c
tu
a
t
e
d
s
y
s
te
m
s
wit
h
m
i
s
m
a
tc
h
e
d
u
n
c
e
rta
i
n
ti
e
s
i
n
a
h
i
e
ra
r
c
h
i
c
a
l
m
a
n
n
e
r
wit
h
th
e
u
s
e
o
f
s
l
i
d
i
n
g
m
o
d
e
c
o
n
tro
l
.
Howe
v
e
r,
i
n
s
u
c
h
a
c
o
n
tro
l
s
c
h
e
m
e
,
th
e
c
h
a
tt
e
ri
n
g
p
h
e
n
o
m
e
n
o
n
i
s
i
ts
m
a
i
n
d
i
s
a
d
v
a
n
t
a
g
e
.
To
o
v
e
rc
o
m
e
th
e
a
b
o
v
e
d
i
s
a
d
v
a
n
ta
g
e
,
i
n
t
h
i
s
p
a
p
e
r,
a
n
e
w
c
o
m
p
o
u
n
d
c
o
n
tro
l
s
c
h
e
m
e
i
s
p
ro
p
o
s
e
d
f
o
r
SIM
O
u
n
d
e
r
-
a
c
tu
a
t
e
d
b
a
s
e
d
o
n
HSM
C
a
n
d
fu
z
z
y
l
o
g
i
c
c
o
n
tr
o
l
(F
L
C). B
y
u
s
i
n
g
t
h
e
HSM
C a
p
p
ro
a
c
h
,
a
s
l
i
d
i
n
g
c
o
n
tro
l
l
a
w i
s
d
e
ri
v
e
d
s
o
a
s
t
o
g
u
a
ra
n
te
e
t
h
e
s
t
a
b
i
l
i
t
y
a
n
d
r
o
b
u
s
tn
e
s
s
u
n
d
e
r
v
a
r
i
o
u
s
e
n
v
i
r
o
n
m
e
n
t
s
.
Th
e
FL
C
a
s
th
e
s
e
c
o
n
d
c
o
n
tro
l
l
e
r
c
o
m
p
l
e
te
l
y
re
m
o
v
e
s
th
e
c
h
a
tt
e
ri
n
g
s
i
g
n
a
l
c
a
u
s
e
d
b
y
th
e
s
i
g
n
fu
n
c
ti
o
n
i
n
th
e
s
l
i
d
i
n
g
c
o
n
tro
l
l
a
w.
Th
e
re
s
u
l
ts
a
re
v
e
ri
f
i
e
d
th
ro
u
g
h
th
e
o
re
t
i
c
a
l
p
r
o
o
f
a
n
d
s
i
m
u
l
a
t
i
o
n
s
o
ft
ware
o
f
M
ATL
AB
th
ro
u
g
h
two
s
y
s
te
m
s
P
e
n
d
u
b
o
t
a
n
d
s
e
r
i
e
s
d
o
u
b
l
e
i
n
v
e
r
te
d
p
e
n
d
u
l
u
m
.
Key
w
ords
:
c
h
a
t
te
ri
n
g
p
h
e
n
o
m
e
n
o
n
,
fu
z
z
y
l
o
g
i
c
c
o
n
tr
o
l
,
h
i
e
ra
rc
h
i
c
a
l
ro
b
u
s
t
fu
z
z
y
s
l
i
d
i
n
g
m
o
d
e
c
o
n
tro
l
,
s
i
n
g
l
e
i
n
p
u
t
m
u
l
ti
o
u
t
p
u
t
s
y
s
te
m
s
,
u
n
d
e
r
-
a
c
t
u
a
te
d
s
y
s
te
m
s
Copy
righ
t
©
2
0
1
9
Uni
v
e
rsi
t
a
s
Ahm
a
d
D
a
hl
a
n.
All
rig
ht
s
r
e
s
e
rve
d
.
1.
Int
r
o
d
u
ctio
n
Unde
r
-
ac
tu
ate
d
s
y
s
t
em
s
a
r
e
c
ha
r
ac
teri
z
ed
b
y
th
e
f
ac
t
tha
t
the
y
ha
v
e
f
e
w
er
ac
tua
tors
tha
n
the
de
gr
ee
of
f
r
ee
d
om
c
on
tr
ol
l
ed
[1]
.
Und
er
-
ac
tua
te
d
s
y
s
tem
s
are
wi
d
el
y
ap
pl
i
ed
i
n
prac
ti
c
e
as
m
en
ti
on
e
d
i
n
[1
,
2],
f
r
ee
s
pa
c
e
f
l
i
gh
t
r
ob
ot
,
un
de
r
wate
r
r
ob
ot,
w
a
l
k
i
ng
r
ob
ot,
m
ob
i
l
e
r
ob
ot,
Rob
ot
ha
s
f
l
ex
i
bl
e
l
i
nk
,
s
hi
ps
,
h
el
i
c
op
ters
etc
.
T
he
s
tud
i
es
of
un
de
r
-
ac
tua
ted
m
ec
ha
ni
c
a
l
s
y
s
t
em
s
are
v
al
ua
b
l
e
i
n
m
an
y
ap
p
l
i
c
at
i
o
ns
.
F
or
ex
am
pl
e,
i
f
the
un
d
er
-
ac
tua
t
ed
c
on
tr
ol
s
y
s
t
em
wor
k
s
w
el
l
,
the
nu
m
be
r
of
ac
tua
tors
c
an
be
r
ed
uc
ed
t
o
m
a
k
e
the
s
y
s
t
em
w
ei
g
ht
or
s
y
s
t
em
m
ore
c
o
m
pa
c
t.
A
d
v
an
tag
es
of
s
tud
y
i
n
g
un
de
r
-
ac
tua
ted
m
ec
ha
ni
c
a
l
s
y
s
tem
s
c
an
al
s
o
be
f
ou
nd
wi
th
wal
k
i
ng
r
ob
ot,
p
l
an
es
,
s
pa
c
ec
r
af
t,
etc
.
S
om
eti
m
es
,
c
on
tr
ol
a
l
go
r
i
thm
s
f
or
un
de
r
-
ac
tua
ted
s
y
s
t
em
s
c
an
be
us
ed
to
r
es
tore
p
arti
a
l
l
y
brok
en
s
y
s
t
em
f
un
c
ti
on
s
us
i
ng
th
e
ap
propr
i
ate
under
-
ac
tu
ate
d
c
on
tr
o
l
al
g
orit
hm
de
s
c
r
i
be
d
i
n
[3,
4]
.
T
he
brok
en
r
ob
ot
arm
c
an
s
ti
l
l
r
es
tore
a
f
un
c
ti
on
a
l
pa
r
t.
T
he
r
ef
ore,
t
he
de
v
e
l
op
m
en
t
of
c
on
tr
ol
al
g
orit
hm
s
f
or
un
de
r
-
ac
tua
t
ed
s
y
s
tem
s
i
s
v
er
y
i
m
po
r
tan
t.
T
he
i
r
m
at
he
m
ati
c
al
eq
ua
t
i
on
s
of
ten
i
nc
l
u
de
h
i
gh
n
on
l
i
n
ea
r
c
om
po
ne
nts
an
d
j
oi
nts
m
a
k
i
ng
th
ei
r
c
o
ntrol
de
s
i
g
ns
di
f
f
i
c
ul
t
[
5].
Mo
r
e
r
ec
en
tl
y
,
the
r
e
ha
s
be
e
n
a
gro
w
i
ng
i
nte
r
es
t
i
n u
nd
er
-
ac
tu
ate
d c
on
tr
o
l
s
y
s
t
em
s
i
n b
oth
the
or
y
an
d
prac
ti
c
e.
In
thi
s
s
tu
d
y
,
we
f
oc
us
ed
on
a
c
l
as
s
of
S
IMO
un
d
er
-
ac
tua
ted
s
y
s
tem
s
.
T
hi
s
c
l
as
s
i
s
qu
i
t
e
l
arg
e,
c
on
s
i
s
t
i
ng
of
r
ota
ti
ng
or
pa
r
a
l
l
el
i
n
v
erte
d
p
en
du
l
um
s
ub
-
s
y
s
tem
s
,
pe
nd
ub
o
t,
T
O
RA
,
etc
.
T
he
s
e
s
y
s
tem
s
are
us
ed
no
t
on
l
y
t
o
s
tud
y
c
on
tr
o
l
m
eth
od
s
,
bu
t
a
l
s
o
as
a
te
ac
hi
n
g
too
l
i
n
uni
v
ers
i
t
y
o
n
th
e
wor
l
d.
T
h
ere
are
m
an
y
c
on
tr
ol
m
eth
od
s
gi
v
e
n
s
uc
h
as
en
erg
y
-
ba
s
ed
c
o
ntrol
,
pa
s
s
i
v
e
-
ba
s
ed
c
on
tr
ol
,
h
y
br
i
d
c
on
tr
o
l
,
i
n
tel
l
i
ge
nt
c
o
ntrol
,
e
tc
w
as
de
s
c
r
i
be
d
i
n
the
do
c
um
en
ts
[6
-
19
]
.
Mo
s
t
arti
c
l
es
o
nl
y
s
ug
g
es
t
c
on
t
r
ol
l
a
w
s
f
or
a
pa
r
t
i
c
ul
ar
s
y
s
tem
.
In
f
ac
t,
a
ge
ne
r
al
s
tat
e
s
pa
c
e
ex
pr
es
s
i
on
m
a
y
de
s
c
r
i
be
t
hi
s
s
erie
s
of
thi
s
s
y
s
t
em
s
.
T
he
r
ef
ore,
i
t
i
s
po
s
s
i
bl
e
to
d
es
i
gn
a
ge
n
er
al
c
on
tr
o
l
r
ul
e
too
f
or
thi
s
s
erie
s
of
s
y
s
tem
s
r
ath
er
tha
n
a
c
on
tr
ol
r
u
l
e
f
or a pa
r
ti
c
u
l
ar s
y
s
tem
.
T
he
un
de
r
-
ac
tu
ate
d
S
I
MO
s
y
s
t
em
ha
s
un
c
ertai
n
t
y
i
nc
l
ud
i
ng
m
atc
he
d
a
nd
m
i
s
m
atc
he
d.
S
l
i
di
ng
m
od
e
c
on
tr
ol
m
eth
od
s
(
S
MC)
c
a
n
pre
v
e
nt
m
atc
he
d
un
c
erta
i
nt
y
i
n
t
he
s
tat
e
of
s
l
i
d
i
n
g
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
6,
D
ec
em
be
r
20
19
:
30
2
7
-
304
3
3028
m
od
e.
Rega
r
d
i
ng
t
he
c
o
n
tr
ol
of
S
I
MO
un
d
er
-
ac
tua
t
ed
s
y
s
tem
,
the
m
i
s
m
atc
h
ed
un
c
ert
ai
nt
y
be
c
om
es
m
ore
c
ha
l
l
e
ng
i
ng
.
T
hi
s
pa
p
er
f
oc
us
es
on
de
al
i
ng
wi
t
h
m
i
s
m
atc
he
d
un
c
ertai
n
ti
es
an
d
c
ha
tte
r
i
ng
s
i
gn
a
l
s
b
as
ed
o
n
a
f
u
z
z
y
s
l
i
d
i
ng
m
od
e
c
o
n
tr
ol
l
er
f
or
a
c
l
as
s
of
S
I
MO
un
de
r
-
ac
tu
ate
d
s
y
s
t
em
s
.
In
the
pa
s
t
f
ew
y
e
ars
the
s
l
i
d
i
n
g
m
od
e
c
on
tr
ol
l
er
(
S
M
C)
ha
s
be
e
n
wi
de
l
y
us
ed
f
or
c
on
tr
ol
d
es
i
g
n
of
un
de
r
-
a
c
tua
ted
no
n
l
i
ne
ar
s
y
s
t
em
s
.
S
MC
i
s
a
n
ef
f
ec
ti
v
e
ap
pro
ac
h
w
i
t
h
m
ai
nta
i
n
i
ng
s
tab
i
l
i
t
y
an
d
p
e
r
f
or
m
an
c
e
of
c
on
tr
ol
s
y
s
te
m
s
w
i
th
ac
c
urate
m
od
el
[2
0
-
27
].
T
he
m
ai
n
ad
v
an
t
ag
e
of
S
MC
i
s
t
ha
t
t
he
ex
tern
al
p
ertur
b
ati
on
s
o
f
the
un
de
r
-
ac
tu
ate
d
s
y
s
te
m
a
r
e
ha
nd
l
ed
b
y
i
n
v
aria
nt
c
ha
r
ac
t
eris
ti
c
s
w
i
t
h
th
e
s
l
i
di
ng
c
on
di
t
i
on
s
of
the
s
y
s
tem
.
Howe
v
er,
th
e
ba
s
i
c
probl
em
s
ti
l
l
ex
i
s
ts
i
n
c
o
ntrol
l
i
ng
c
om
pl
ex
s
y
s
t
em
s
us
i
n
g
s
l
i
d
i
ng
c
on
tr
ol
l
ers
.
F
or
ex
am
pl
e,
c
ha
tte
r
i
ng
p
he
n
om
en
on
an
d
m
i
s
m
atc
he
d
un
c
ert
ai
nt
i
es
i
s
o
ne
of
i
ts
di
s
ad
v
a
nta
g
es
.
T
hi
s
ap
proac
h
ha
s
f
urther
r
es
ea
r
c
h
ab
ou
t
f
u
z
z
y
c
o
ntrol
l
er
de
s
i
gn
s
as
s
oc
i
at
e
d
wi
th
s
l
i
d
i
ng
c
on
tr
ol
l
er
c
a
l
l
ed
f
u
z
z
y
s
l
i
di
ng
m
od
e
c
o
ntrol
l
er
(
F
S
MC
)
[28
–
35
].
C
on
tr
o
l
l
er
th
at
i
s
a
c
om
bi
na
ti
o
n
of
f
u
z
z
y
l
og
i
c
c
on
tr
ol
(
F
LC
)
an
d
S
M
C
pro
v
i
d
es
a
s
i
m
pl
e
m
eth
od
to
de
s
i
gn
th
e
s
y
s
t
em
.
T
hi
s
m
eth
od
s
ti
l
l
m
ai
nta
i
ns
S
M
C
po
s
i
ti
v
e
q
ua
l
i
t
i
es
bu
t
r
e
du
c
e
c
h
att
er
i
ng
p
he
n
om
en
on
.
T
he
m
ai
n
ad
v
an
t
ag
e
of
F
S
MC
i
s
t
he
dram
ati
c
r
ed
uc
t
i
on
i
n
c
ha
tt
erin
g
i
n
th
e
s
y
s
t
e
m
.
How
e
v
er,
i
n
c
on
tr
ol
l
er
[
20
-
24
]
th
e
p
aram
ete
r
s
of
the
c
on
tr
o
l
l
er
are
n
ot
c
a
l
c
ul
ate
d
to
s
p
ec
i
f
i
c
l
i
m
i
ts
,
i
n
c
on
tr
ol
l
er
[2
5]
th
e
m
i
s
m
at
c
he
d
un
c
ert
ai
nti
e
s
are
no
t
ha
nd
l
i
ng
,
i
n
c
on
tr
ol
l
er
[2
6
]
the
a
bi
l
i
t
y
to
r
em
ov
e
c
ha
tte
r
i
ng
s
i
g
na
l
s
i
s
no
t
m
en
ti
on
ed
.
Cont
r
o
l
l
ers
i
n
[28
-
33
]
c
an
’
t
b
e
ap
pl
i
ed
t
o
S
I
MO
under
-
ac
tu
ate
d
s
y
s
tem
s
w
i
th
n
s
u
bs
y
s
tem
s
an
d
ha
v
e
no
t
ex
pl
i
c
i
t
l
y
de
m
on
s
tr
ate
d
the
ab
i
l
i
t
y
to
r
em
ov
e c
ha
tte
r
i
ng
s
i
gn
a
l
s
.
T
o
ov
erc
om
e
the
s
e
di
s
ad
v
an
ta
ge
s
,
i
n
thi
s
p
ap
er
a
ut
ho
r
s
tud
y
the
hi
erar
c
h
i
c
al
r
ob
us
t
f
uz
z
y
s
l
i
d
i
n
g
m
od
e
c
on
tr
ol
l
er
(
HRF
S
M
C)
f
or
a
v
arie
t
y
of
S
IMO
un
de
r
-
ac
tua
ted
s
y
s
tem
s
w
i
th
m
i
s
m
atc
he
d
un
c
ert
ai
nti
es
.
T
hi
s
c
on
tr
o
l
l
er
ap
pl
i
es
t
o
n
s
ub
s
y
s
t
em
s
,
pa
r
a
m
ete
r
s
are
l
i
m
i
ted
s
pe
c
i
f
i
c
al
l
y
a
nd
c
h
att
eri
ng
s
i
gn
a
l
e
l
i
m
i
na
t
i
on
c
a
pa
b
i
l
i
ti
es
are
de
m
on
s
tr
ate
d
b
y
c
l
ea
r
th
eo
r
i
es
.
T
he
hi
erar
c
hi
c
al
r
o
bu
s
t
s
l
i
di
ng
c
on
tr
o
l
(
HRS
MC)
m
eth
o
d
i
s
f
i
r
s
t
i
ntrodu
c
ed
as
ex
pl
ai
ne
d
i
n
[2
5,
26
].
T
he
n
the
a
uth
o
r
de
s
c
r
i
be
s
the
pr
o
c
e
du
r
e
of
de
s
i
gn
i
ng
t
he
h
i
erar
c
hi
c
al
r
ob
us
t
f
uz
z
y
s
l
i
d
i
ng
m
od
e
c
on
tr
ol
l
er
(
HRF
S
MC)
f
or
S
I
MO
un
de
r
-
ac
tua
t
ed
s
y
s
tem
s
w
i
t
h
m
i
s
m
atc
he
d
un
c
ertai
nt
i
es
.
T
he
s
i
m
ul
ati
o
n
r
es
ul
ts
s
ho
w
th
at
th
e
pro
po
s
ed
c
on
tr
ol
l
ers
op
era
te
wel
l
.
T
he
pa
pe
r
pres
en
ts
th
e
r
es
ul
ts
a
nd
s
ug
ge
s
t
s
t
h
at
h
i
erar
c
h
i
c
al
r
ob
us
t
f
u
z
z
y
s
l
i
di
n
g
m
od
e
c
on
tr
ol
l
er
h
av
e
be
tte
r
pe
r
f
or
m
an
c
e t
ha
n
hi
erar
c
hi
c
al
r
ob
us
t s
l
i
d
i
ng
m
o
de
c
on
tr
o
l
l
ers
.
2.
T
h
e Hie
r
a
r
chi
ca
l Rob
u
st Sl
idin
g
M
o
d
e Con
t
r
o
lle
r
(
HRSM
C)
Cons
i
d
er
the
s
t
ate
s
pa
c
e
ex
pres
s
i
on
of
a
s
eri
es
un
de
r
-
ac
tua
t
ed
S
IM
O
s
y
s
tem
s
w
i
th
m
i
s
m
atc
he
d u
nc
erta
i
nt
i
es
i
nc
l
ud
e s
ub
s
y
s
t
em
s
th
e f
ol
l
o
w
i
n
g n
orm
al
f
or
m
:
{
̇
1
=
2
̇
2
=
1
+
1
+
1
̇
3
=
4
4
=
2
+
2
+
2
⋮
̇
2
−
1
=
2
̇
2
=
+
+
(
1)
t
he
r
ei
n
=
[
1
,
2
,
.
.
.
,
2
]
i
s
s
tat
e
v
aria
bl
e
v
ec
tor;
i
f
a
nd
i
b
(
=
1
,
2
,
.
.
.
,
)
are
no
nl
i
n
ea
r
f
un
c
ti
on
s
of
the
s
t
ate
v
ec
t
or;
u
i
s
th
e
i
np
u
t
c
on
tr
o
l
s
i
gn
a
l
.
In
(
1)
c
an
r
ep
r
es
en
t
c
l
as
s
es
of
s
y
s
t
em
s
w
i
th
n,
f
i
a
nd
b
i
i
s
di
f
f
erent,
d
i
i
s
m
i
s
m
atc
he
d
un
c
ertai
nt
i
es
,
i
nc
l
u
de
s
y
s
te
m
un
c
ertai
nti
es
an
d
ex
tern
al
di
s
t
urbanc
es
,
an
d
i
d
i
s
l
i
m
i
ted
b
y
|
|
≤
̄
where
i
d
i
s
a
k
no
w
n
po
s
i
t
i
v
e
c
on
s
tan
t;
If
=
2
,
(
1)
c
a
n
r
e
pres
en
t
P
en
du
b
ot,
the
c
art
s
i
n
gl
e
i
n
v
erted
p
en
d
ul
um
s
y
s
tem
.
I
f
=
3
r
ep
r
es
en
t
f
or c
art do
ub
l
e
i
n
v
erte
d p
en
d
ul
um
s
y
s
tem
; i
f
4
n
=
, i
t c
o
ul
d b
e c
on
s
i
de
r
e
d a
c
art
tr
i
pl
e
i
nv
erted
pe
n
du
l
um
s
y
s
t
em
an
d
s
o
on
,
ba
s
e
d
on
th
e
p
h
y
s
i
c
a
l
s
tr
uc
ture,
the
s
eri
es
of
under
-
ac
tu
ate
d
s
y
s
t
em
s
c
a
n
be
d
i
v
i
d
ed
i
nt
o
m
ul
ti
p
l
e
s
ub
s
y
s
tem
s
.
F
or
ex
am
pl
e,
a
tr
i
p
l
e
i
n
v
ert
ed
pe
nd
ul
um
s
y
s
t
em
c
an
be
di
v
i
d
ed
i
nto
f
o
ur
s
ub
-
s
y
s
tem
s
:
the
up
pe
r
pe
nd
ul
u
m
,
the
m
i
dd
l
e
pe
nd
ul
um
,
the
l
o
w
er
p
en
d
ul
um
,
an
d
c
art.
T
he
s
uc
h
s
y
s
t
em
i
n
(
1)
c
r
ea
ted
f
r
o
m
n
s
ub
s
y
s
tem
s
.
T
he
i
th
s
ub
s
y
s
tem
c
on
s
i
s
ts
of
i
ts
s
tat
e
v
ari
ab
l
es
an
d s
t
ate
s
pa
c
e
ex
pres
s
i
o
ns
as
f
ol
l
o
w
s
:
{
̇
2
−
1
=
2
̇
2
=
+
(
2)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Hi
erar
c
hi
c
a
l
r
o
bu
s
t fu
z
z
y
s
l
i
di
n
g m
o
de
c
o
ntrol
fo
r
a
c
l
a
s
s
…
(
Duc
Ha V
u
)
3029
A
c
c
ordi
n
g t
o
[25
]
th
e
de
s
i
g
n o
f
hi
erar
c
h
i
c
al
s
l
i
di
n
g c
on
tr
ol
(
HS
MC)
i
s
s
h
o
w
n
i
n F
i
g
ure 1.
T
he
s
l
i
di
ng
s
urf
ac
e o
f
th
e
i
t
h s
ub
s
y
s
tem
i
s
de
f
i
ne
d a
s
f
ol
l
o
w
s
:
=
2
−
1
+
2
(
3)
wi
th
i
c
i
s
po
s
i
ti
v
e c
o
ns
tan
t
an
d l
i
m
i
t o
f
i
c
as
pres
en
ted
i
n
[2
5]
i
s
0
<
<
0
wi
th
0
=
|
→
0
(
/
2
)
|
(
4)
d
eri
v
at
i
v
e
i
s
f
ol
l
o
w
t
ti
m
e
i
n (
3) we h
av
e
:
̇
=
̇
2
−
1
+
̇
2
=
2
+
+
(
5)
get
̇
=
0
i
n (5)
t
he
c
o
ntrol
v
ol
t
ag
e o
f
th
e
i
th
s
u
bs
y
s
tem
i
s
as
f
ol
l
o
w
s
:
=
−
(
2
+
)
/
(
6)
ac
c
ordi
ng
to
F
i
g
ure
1,
t
he
I
th
s
l
i
di
ng
c
l
as
s
i
s
de
t
erm
i
ne
d:
=
−
1
−
1
+
(
7)
the
r
e
in
1
(i
1
,
2
,
.
.
.
n
)
i
−
=
is
c
on
s
tan
t
an
d
00
0
S
==
.
T
ak
e
in
=
ac
c
ordi
ng
to
[2
5,
26
]
hi
erar
c
hi
c
al
r
ob
us
t s
l
i
di
ng
c
o
ntrol
l
a
w a
s
f
ol
l
o
w
s
:
=
+
=
∑
(
∏
=
)
=
1
∑
(
∏
)
=
=
1
−
+
∑
(
∏
=
)
=
1
+
∑
(
∏
=
)
=
1
̄
∑
(
∏
)
=
=
1
(
8)
f
r
o
m
(
7) and
(
8) we ha
v
e
a
hi
erar
c
h
i
c
al
s
l
i
d
er c
on
tr
o
l
s
t
r
uc
ture s
c
he
m
ati
c
s
ho
wn i
n
Fig
ure
2.
F
i
gu
r
e
1.
H
i
erar
c
hi
c
a
l
s
tr
uc
t
ure of
the
s
l
i
d
i
ng
s
urf
ac
es
F
i
gu
r
e
2.
A
r
c
hi
tec
t
ure s
c
he
m
ati
c
of
HRS
MC
c
on
tr
ol
s
y
s
t
em
3.
T
h
e Hie
r
a
r
chi
ca
l Rob
u
st F
u
z
z
y
S
lidin
g
M
o
d
e Con
t
r
o
lle
r
(
HRF
S
M
C)
T
he
de
s
i
gn
of
the
h
i
erar
c
hi
c
al
r
ob
us
t
f
u
z
z
y
s
l
i
di
ng
m
od
e
c
on
tr
ol
l
er
(
HRF
S
M
C
)
f
or
a
s
erie
s
of
un
d
er
-
ac
tua
t
ed
s
y
s
t
em
s
w
i
th
m
i
s
m
atc
he
d
u
nc
ertai
n
ti
es
i
s
d
eri
v
ed
f
r
om
the
f
ol
l
o
w
i
ng
i
de
a.
In
c
on
tr
o
l
r
ul
e
of
the
u
nd
er
-
ac
tua
ted
s
y
s
t
em
r
ep
r
es
en
ted
b
y
(
8)
w
i
t
h
sgn
n
S
f
un
c
ti
on
,
thi
s
i
s
the
m
ai
n
c
au
s
e
of
c
ha
tt
eri
ng
i
n
t
he
s
y
s
t
em
.
A
m
eth
od
of
r
em
ov
i
ng
the
c
ha
tt
eri
ng
s
i
gn
a
l
i
s
to
r
ep
l
ac
e
th
e
f
i
x
ed
p
aram
ete
r
i
n
(
8)
b
y
a
v
ari
ab
l
e
v
a
l
u
e
throug
h
t
he
f
u
z
z
y
c
on
tr
ol
l
er
.
V
al
ue
n
w
i
l
l
c
ha
ng
e
un
de
r
th
e
ex
ten
t
of
s
l
i
di
n
g
s
urf
ac
e.
W
he
n
n
S
is
ex
tr
e
m
el
y
s
m
al
l
,
na
m
el
y
th
e
s
tat
e
v
ari
ab
l
es
m
ov
e
c
l
os
er
t
o
z
ero
th
en
n
w
i
l
l
al
s
o
de
c
r
ea
s
e
to
z
ero
to
m
ak
e
the
sgn
n
S
f
un
c
ti
on
no
l
on
ge
r
af
f
ec
t th
e
n
u
c
on
tr
ol
s
i
gn
a
l
.
W
e h
av
e:
→
0
=
0
(
9)
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
6,
D
ec
em
be
r
20
19
:
30
2
7
-
304
3
3030
Ho
w
e
v
er,
i
f
n
i
s
s
m
al
l
f
r
o
m
th
e
be
g
i
n
ni
n
g,
th
e
un
c
o
ntrol
l
ed
s
i
g
na
l
wi
l
l
m
ov
e
v
er
y
s
l
o
w
l
y
to
w
ards
th
e
eq
ui
l
i
briu
m
po
s
i
ti
on
.
B
ut
i
f
f
r
o
m
the
be
gi
nn
i
ng
i
s
ex
tr
em
el
y
l
arg
e,
the
s
ta
te
v
ari
ab
l
es
of
th
e
s
y
s
t
em
wi
l
l
q
ui
c
k
l
y
ad
v
an
c
e
to
th
e
eq
ui
l
i
briu
m
po
s
i
t
i
on
,
b
ut
at
eq
u
i
l
i
br
i
um
po
s
i
t
i
on
,
t
he
s
y
s
tem
w
i
l
l
f
l
u
c
tua
te
gre
atl
y
.
T
he
r
ef
ore,
the
v
a
l
u
e
i
n
i
ti
al
s
ho
u
l
d
b
e
l
arge
en
ou
g
h
s
o
tha
t
u
n
c
a
n
pu
l
l
the
s
y
s
tem
to
eq
ui
l
i
br
i
um
po
s
i
ti
o
n.
W
he
n
the
s
y
s
tem
i
s
i
n
eq
ui
l
i
br
i
um
the
n
the
s
m
al
l
er
is
the
be
tt
er
i
t
i
s
.
T
o
i
m
pl
e
m
en
t
the
a
bo
v
e
i
de
a,
th
e
au
t
ho
r
c
ha
ng
es
t
he
v
al
ue
of
ba
s
ed
on
v
al
ue
of
s
l
i
d
i
ng
s
urf
ac
e
S
n
.
W
e
w
i
l
l
c
om
pu
te
throug
h
a
f
u
z
z
y
c
o
ntro
l
l
er,
the
i
n
pu
t
of
the
f
u
z
z
y
c
on
tr
ol
l
er
i
s
t
h
e
v
a
l
u
e
of
the
S
n
s
l
i
d
i
ng
s
u
r
f
ac
e.
T
he
s
tr
uc
ture
of
hi
er
arc
hi
c
al
r
o
bu
s
t
f
uz
z
y
s
l
i
d
i
ng
m
od
e
c
on
t
r
ol
l
er
(
HF
S
MC)
i
s
s
ho
w
n
i
n
F
i
g
ure
3
.
T
he
f
u
z
z
y
r
ul
es
i
n
the
"
F
u
z
z
y
l
og
i
c
c
on
tr
o
l
l
er"
bl
oc
k
are s
ho
w
n
i
n T
ab
l
e 1
.
F
i
gu
r
e
3.
A
r
c
hi
tec
t
ure s
c
he
m
ati
c
of
th
e HRFSM
C
c
on
tr
ol
l
er f
or und
er
-
ac
tu
ate
d s
y
s
tem
s
v
T
ab
l
e 1
. R
ul
e i
n t
h
e Fu
z
z
y
B
l
oc
k
The
n
u
m
b
e
r
o
f
f
u
z
z
y
r
u
les
1
A
A
2
B
B
3
C
C
4
D
D
5
E
E
6
F
F
7
G
G
T
he
m
e
m
be
r
s
hi
p
f
un
c
ti
o
ns
of
l
i
ng
u
i
s
ti
c
l
ab
el
s
A
,
B
,
C,
D,
E
,
F
,
G
f
or
the
term
are
s
ho
w
n
i
n
F
i
gu
r
e
4.
T
he
m
em
be
r
s
hi
p
f
un
c
ti
on
s
of
l
i
ng
u
i
s
ti
c
l
ab
e
l
s
A
,
B
,
C
,
D,
E
,
F
,
G
f
or
the
te
r
m
are
s
ho
wn
i
n
F
i
g
ure
5.
T
he
m
e
m
be
r
s
hi
p
f
un
c
ti
on
i
n
F
i
gu
r
e
4
an
d
F
i
g
ure
5
i
s
n
orm
f
or
m
.
T
o
m
od
i
f
y
the
pa
r
am
ete
r
s
of
the
f
u
z
z
y
c
on
tr
o
l
l
er,
s
el
ec
t
i
ng
th
e
v
al
ue
of
the
p
os
t
-
proc
es
s
i
ng
b
l
oc
k
1
s
ho
w
n
i
n
F
i
gu
r
e
3
i
s
n
e
c
es
s
ar
y
.
T
he
1
pa
r
am
ete
r
de
term
i
ne
s
the
ab
i
l
i
t
y
to
di
s
ap
pe
ar
the
c
ha
tt
erin
g
s
i
gn
al
i
n
th
e
s
y
s
t
em
.
T
he
c
ho
i
c
e
of
the
1
pa
r
am
ete
r
c
an
be
pe
r
f
or
m
ed
b
y
a
s
ea
r
c
h a
l
go
r
i
t
hm
, s
uc
h a
s
a
ge
n
eti
c
a
l
g
orit
hm
or herd
a
l
go
r
i
thm
, o
r
a
s
i
m
pl
e f
al
s
e t
es
t.
F
i
gu
r
e
4.
M
em
be
r
s
hi
p f
un
c
ti
on
of
ea
c
h i
np
u
t
F
i
gu
r
e
5.
M
em
be
r
s
hi
p f
un
c
ti
on
of
ea
c
h o
utp
u
t
4.
Deno
n
str
ate
S
t
abil
it
y
and
Capab
ilit
y
o
f
E
limin
atin
g
Ch
att
er
ing
S
ign
a
l
o
f
Hier
ar
chic
al
Ro
b
u
st F
u
z
z
y
S
lidin
g
M
o
d
e Con
t
r
o
lle
r
(
HRF
S
M
C)
T
w
o
the
orem
s
w
i
l
l
be
prov
ed
i
n
th
i
s
s
ec
ti
on
.
T
he
ore
m
1
i
s
to
an
a
l
y
z
e
th
e
as
y
m
pto
ti
c
A
B
C
D
µ
E
F
G
-1
0
-0.333
-0.667
0.333
0.667
1
Sn
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Hi
erar
c
hi
c
a
l
r
o
bu
s
t fu
z
z
y
s
l
i
di
n
g m
o
de
c
o
ntrol
fo
r
a
c
l
a
s
s
…
(
Duc
Ha V
u
)
3031
s
tab
i
l
i
t
y
of
a
l
l
s
l
i
di
ng
l
a
y
er
s
.
T
he
orem
2
i
n
v
o
l
v
es
an
a
l
y
z
i
ng
th
e
ab
i
l
i
t
y
of
e
l
i
m
i
na
ti
ng
c
ha
tte
r
i
ng
s
i
gn
a
l
of
the
HF
S
MC
c
o
ntrol
l
er.
T
he
orem
1:
c
on
s
i
de
r
th
e
c
l
as
s
es
of
the
un
de
r
-
ac
tu
ate
d
s
y
s
t
em
(
1).
If
the
c
on
tr
ol
r
ul
e
i
s
c
ho
s
e
n
as
(
8)
an
d
th
e
i
th
l
a
y
er
of
s
l
i
d
i
ng
s
urf
ac
e
i
s
de
f
i
ne
d
as
(
7)
(
=
)
,
the
n
t
he
as
y
m
pt
oti
c
s
tab
i
l
i
t
y
.
P
r
oo
f
:
T
he
L
y
ap
un
o
v
f
un
c
ti
on
of
ℎ
(
=
)
l
a
y
er
of
s
l
i
d
i
ng
s
urf
ac
e i
s
s
el
ec
ted
:
̄
=
̄
2
/
2
(
10
)
b
y
c
o
ns
i
de
r
i
ng
th
e
s
tab
i
l
i
t
y
of
th
e
ℎ
l
a
y
er
(
=
)
of
s
l
i
di
n
g s
urf
ac
e,
f
r
o
m
[
26
]
w
e t
ak
e:
̄
̇
=
[
∑
(
∏
=
)
=
1
̄
+
∑
(
∏
=
)
=
1
]
−
−
(
11
)
di
ff
erent
i
at
e
̄
wi
th
r
es
p
ec
t to
ti
m
e t
i
n (1
0), the
n f
r
om
(
1
1) we o
bta
i
n:
̄
̇
=
̄
.
̄
̇
=
[
∑
(
∏
=
)
=
1
]
−
|
|
|
∑
(
∏
=
)
=
1
̄
|
−
|
|
−
2
(
12
)
l
et
i
nt
eg
r
ate
th
e t
w
o
s
i
de
s
o
f
(
12
)
w
e
ob
t
ai
n
:
∫
̄
̇
0
=
∫
[
[
∑
(
∏
=
)
=
1
]
−
|
|
|
∑
(
∏
=
)
=
1
̄
|
−
|
|
−
2
]
0
(
13)
wi
th
̄
(
0
)
=
̄
(
)
+
∫
[
[
∑
(
∏
=
)
=
1
]
−
|
|
|
∑
(
∏
=
)
=
1
̄
|
−
|
|
−
2
]
0
≥
∫
(
|
|
+
2
)
0
(
14
)
he
nc
e
s
→
∞
∫
(
|
|
+
2
)
0
≤
̄
(
0
)
<
∞
(
15
)
the
b
arba
l
at
l
em
m
a
ex
i
s
ts
→
∞
(
|
|
+
2
)
≤
̄
(
0
)
<
∞
(
16
)
f
r
o
m
(
16
)
, i
t
m
ea
ns
that
→
∞
=
0
then th
e
ℎ
l
a
y
er
of
s
l
i
d
i
ng
s
urf
ac
e i
s
as
y
m
pto
ti
c
a
l
l
y
s
t
ab
l
e.
T
he
ore
m
2:
Co
ns
i
de
r
a
v
arie
t
y
of
u
nd
er
-
ac
tu
ate
d
s
y
s
t
em
s
(
1),
If
the
c
on
tr
o
l
r
ul
e
i
s
de
f
i
ne
d
as
(
8)
a
nd
the
f
i
x
e
d
p
aram
ete
r
i
n
(
8)
i
s
s
u
bs
ti
tut
e
b
y
a
r
ep
l
ac
em
en
t
c
o
s
t
ba
s
ed
o
n
the
m
ag
ni
t
ud
e
of
s
l
i
d
i
ng
s
urf
ac
e
throug
h
t
he
f
u
z
z
y
c
on
tr
o
l
l
er,
t
he
c
h
att
er
i
ng
s
i
gn
a
l
i
n
the
s
y
s
t
em
w
i
l
l
b
e c
om
pl
ete
l
y
el
i
m
i
na
ted
.
P
r
oo
f
:
F
r
om
(
8),
i
t
i
s
c
l
ea
r
tha
t
th
e
m
ai
n
c
o
m
po
ne
nt
c
a
us
i
ng
t
he
c
ha
tt
erin
g
ph
en
o
m
en
on
i
n
th
e
s
y
s
tem
i
s
the
f
un
c
ti
on
.
T
o
ov
erc
om
e
thi
s
ph
en
om
en
on
,
w
e
ad
d
a
f
u
z
z
y
proc
es
s
i
ng
el
em
en
t
i
n
t
he
Cont
r
o
l
l
er
to
e
l
i
m
i
na
te
th
e
.
T
he
s
l
i
di
ng
s
urf
ac
e
i
s
f
uz
z
y
as
s
ho
w
n
i
n F
i
g
ure
.
4.
T
he
f
u
z
z
y
r
ul
e
s
y
s
tem
i
s
s
ho
w
n
i
n
T
ab
l
e 1
as
f
ol
l
o
w
s
:
1
: If
i
s
A
T
he
n
1
=
A
2
: If
i
s
B
T
he
n
2
=
B
3
: If
i
s
C T
he
n
3
=
C
4
: If
i
s
D T
he
n
4
=
D
5
: If
i
s
E
T
he
n
5
=
E
6
: If
i
s
F T
he
n
6
=
F
7
: If
i
s
G
T
he
n
7
=
G
b
y
t
he
f
oc
al
de
f
u
z
z
i
f
i
c
at
i
on
m
eth
od
pa
r
am
ete
r
i
s
de
f
i
n
ed
:
=
∑
7
=
1
∑
7
=
1
(
17
)
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
6,
D
ec
em
be
r
20
19
:
30
2
7
-
304
3
3032
i
n
t
he
r
e
i
s
th
e
c
orr
ec
tne
s
s
of
th
e
ℎ
r
ul
e:
1
=
(
)
2
=
(
)
3
=
(
)
4
=
(
)
(
18
)
5
=
(
)
6
=
(
)
7
=
(
)
f
r
o
m
(
17
)
an
d (18)
w
e
ob
t
ai
n:
→
0
=
→
0
∑
7
=
1
∑
7
=
1
=
0
(
19
)
f
r
o
m
(
19
)
de
du
c
e
→
0
=
0
(
20)
ac
c
ordi
ng
to
t
he
orem
1
w
e
ha
v
e:
→
∞
=
0
(
21
)
f
r
o
m
(
20
)
an
d (21)
w
e
de
d
u
c
e:
→
∞
=
0
(
22
)
ac
c
ordi
ng
to
(
2
2)
w
h
en
ti
m
e
t
ten
ds
t
o
,
f
un
c
ti
on
s
g
n
nn
S
i
s
c
o
m
pl
ete
l
y
e
l
i
m
i
na
te
d
i
n
c
on
tr
ol
r
ul
e
(
8).
T
hu
s
,
c
ha
tte
r
i
n
g
s
i
gn
al
at
th
e
eq
ui
l
i
br
i
um
po
s
i
ti
o
n
ha
s
be
e
n
c
om
pl
ete
l
y
el
i
m
i
na
te
d
i
n
the
h
i
erar
c
h
i
c
al
r
o
bu
s
t f
u
z
z
y
s
l
i
di
ng
c
o
ntrol
l
er (
HF
S
MC
)
.
5.
S
i
mu
latio
n
Re
sult
T
he
P
en
du
bo
t
a
nd
c
art
do
ub
l
e
i
nv
erted
p
en
d
u
l
um
s
y
s
t
em
s
are
tw
o
t
y
p
i
c
al
under
-
ac
tu
ate
d
s
y
s
tem
s
,
us
ua
l
l
y
us
ed
to
v
er
i
f
y
th
e
f
ea
s
i
b
i
l
i
t
y
of
ne
w
c
on
tr
ol
m
eth
o
ds
.
T
he
i
r
m
ath
e
m
ati
c
al
e
qu
at
i
o
ns
h
av
e
the
s
am
e
ex
pres
s
i
on
s
as
(
1)
w
i
t
h
d
i
f
f
erent
,
,
a
n
d
,
i
s
m
i
s
m
a
tc
he
d
u
nc
ertai
nti
es
,
i
nc
l
ud
e
s
y
s
t
em
un
c
ertai
nt
i
es
a
nd
ex
tern
al
d
i
s
turba
n
c
es
,
an
d
i
s
l
i
m
i
ted
b
y
|
|
≤
̄
where
̄
i
s
a
k
n
o
w
n
po
s
i
ti
v
e
c
on
s
t
an
t.
I
n
t
hi
s
s
ec
ti
on
,
the
c
on
tr
ol
m
eth
od
pres
en
te
d
w
i
l
l
b
e
ap
pl
i
ed
t
o
en
h
an
c
e
th
e
c
on
tr
o
l
of
the
P
e
nd
ub
ot
s
y
s
t
em
an
d
the
c
art
do
u
bl
e
i
n
v
erted
pe
nd
u
l
um
s
y
s
tem
. T
he
s
i
m
ul
ati
on
r
es
u
l
ts
s
ho
w
t
ha
t
th
i
s
c
on
tr
ol
m
eth
od
i
s
f
ea
s
i
bl
e.
5.1
.
P
end
u
b
o
t
T
he
pe
nd
u
bo
t
s
y
s
t
em
s
ho
wn
i
n
F
i
gu
r
e
6
i
s
m
ad
e
up
of
two
s
ub
s
y
s
t
em
s
:
Li
nk
1
(
no
tat
i
on
nu
m
be
r
1)
wi
th
on
e
ac
tua
t
o
r
a
nd
l
i
nk
2
(
n
ot
ati
on
nu
m
be
r
2)
wi
t
ho
ut
ac
t
ua
tor.
Its
c
on
tr
ol
o
bj
ec
ti
v
e
i
s
to
c
on
tr
ol
l
i
nk
1,
l
i
nk
2
ba
l
a
nc
e
an
d
s
ta
bi
l
i
t
y
a
t
th
e
de
s
i
r
ed
po
s
i
ti
o
n.
T
he
s
y
m
b
ol
s
i
n
F
i
gu
r
e
6
are
de
f
i
n
ed
as
f
ol
l
o
w
s
:
is
t
he
a
ng
l
e
of
l
i
nk
1
to
t
he
h
o
r
i
z
o
nta
l
l
i
n
e
,
2
i
s
the
an
g
l
e
o
f
l
i
nk
2
f
or
l
i
nk
1
.
,
and
i
s
the
m
as
s
,
l
en
gt
h
an
d
di
s
t
an
c
e
to
t
he
c
en
ter
of
l
i
nk
i
.
Her
e
=
1
,
2
;
1
is
the
c
on
tr
o
l
m
o
m
en
t.
T
a
k
i
ng
2
n
=
i
n
(
1)
th
e
s
tat
e
s
pa
c
e
e
qu
at
i
on
of
the
pe
n
du
bo
t
s
y
s
t
em
i
s
as
f
ol
l
o
w
s
:
{
̇
1
=
2
̇
2
=
1
+
1
+
1
3
=
4
̇
4
=
2
+
2
+
2
(
23
)
Her
e
1
=
1
−
/
2
i
s
the
an
g
l
e
of
the
l
i
nk
1
f
or
the
v
ert
i
c
al
l
i
ne
,
3
=
2
i
s
the
an
g
l
e
of
the
l
i
nk
2
f
or
l
i
nk
1;
4
i
s
t
he
an
g
ul
ar
v
e
l
oc
i
t
y
of
l
i
nk
2.
=
1
i
s
t
he
i
np
ut
c
on
tr
ol
s
i
gn
al
.
E
x
pres
s
i
on
s
1
,
2
,
1
an
d
2
are
s
h
o
wn
i
n
[
24
],
1
a
nd
2
are
t
he
m
i
s
m
atc
he
d
u
nc
ertai
n
te
r
m
wi
th
k
no
w
n
b
ou
n
d
c
al
l
e
d
̄
1
and
̄
2
.
B
ot
h
c
o
m
po
ne
nts
of
the
m
i
s
m
atc
he
d
un
c
erta
i
n
1
and
2
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Hi
erar
c
hi
c
a
l
r
o
bu
s
t fu
z
z
y
s
l
i
di
n
g m
o
de
c
o
ntrol
fo
r
a
c
l
a
s
s
…
(
Duc
Ha V
u
)
3033
are
s
et
t
o
0
.
1
×
[
2
×
r
a
n
d
(
)
-
1
]
.
w
he
r
e
r
an
d()
i
s
Ma
t
l
ab
c
om
m
an
d
to
ge
ne
r
ate
a
r
an
do
m
nu
m
be
r
i
n
th
e
r
an
ge
(
0,
1).
S
o
,
the
bo
un
ds
of
the
m
i
s
m
atc
he
d
un
c
ertai
n
tem
s
̄
1
an
d
̄
2
c
an
be
de
f
i
ne
d
as
0.2
.
In
c
om
pa
r
i
s
on
b
et
w
ee
n
the
H
R
S
MC
c
on
t
r
ol
l
er
a
nd
th
e
H
R
F
S
MC
c
on
tr
ol
l
er,
th
e
pa
r
am
ete
r
s
of
th
e p
en
du
b
o
t a
r
e c
ho
s
e
n a
c
c
ordi
ng
t
o [
24
] a
nd
[
9]
:
1
=
0
.
0308
k
g.
m
2
,
2
=
0
.
0106
k
g.
m
2
3
=
0
.
0095
k
g.
m
2
,
4
=
0
.
2086
k
g.
m
2
5
=
0
.
0630
k
g.
m
2
,
=
9
.
81
m.
s
-
2
ac
c
ordi
ng
to
(
4), t
he
bo
u
nd
ar
y
of
1
,
2
i
s
c
al
c
ul
a
ted
as
f
ol
l
o
w
s
:
{
10
=
|
(
3
5
−
2
4
)
/
(
1
2
−
3
2
)
|
=
66
.
97
20
=
|
[
5
(
1
+
3
)
−
4
(
2
+
3
)
]
/
(
1
2
−
3
2
)
|
=
68
.
68
the
H
R
S
M
C
c
on
tr
o
l
l
er
p
aram
ete
r
of
the
1
=
5
.
807
,
2
=
7
.
346
,
1
=
1
.
826
,
2
=
3
.
687
and
2
=
1
.
427
.
Ini
t
i
a
l
s
tat
e
v
ec
tor
0
=
[
2
+
0
.
1
,
0
.
1
,
−
0
.
1
,
−
0
.
2
]
.
T
he
de
s
i
r
ed
s
tat
e
v
ec
t
or
i
s
=
[
0
,
0
,
0
,
0
]
.
F
i
gu
r
e
6.
S
tr
uc
ture
of
th
e p
en
du
bo
t s
y
s
tem
T
he
HRF
S
MC
c
on
tr
o
l
l
er
pa
r
am
ete
r
s
of
the
pe
nd
ub
ot
s
y
s
t
em
are
s
el
ec
te
d
th
e
s
a
m
e
as
pa
r
am
ete
r
s
of
HRSM
C
c
on
tr
ol
l
er.
H
o
w
e
v
er,
the
HRF
S
MC
c
on
tr
o
l
l
er
ha
s
an
a
dd
i
ti
on
a
l
pa
r
am
ete
r
s
el
ec
ted
as
1
=
0
.
01
a
nd
1
=
5
.
T
o
s
ee
tha
t
the
HR
F
S
MC
c
o
ntrol
l
er
i
s
m
ore
ef
f
i
c
i
en
t
tha
n
th
e
HRS
MC
c
on
tr
ol
l
er.
W
e
ha
v
e
s
i
m
ul
ate
d
i
n
2
c
as
es
1
=
0
.
01
and
1
=
5
of
HRF
S
MC
c
on
tr
ol
l
er
whe
n
c
om
pa
r
ed
w
i
t
h
H
RS
MC
c
o
nt
r
ol
l
er.
W
i
th
s
m
al
l
er
1
v
al
ue
,
t
he
ab
i
l
i
t
y
to
r
em
ov
e
c
ha
tte
r
i
ng
s
i
g
na
l
s
of
HRF
S
MC
c
on
tr
o
l
l
er
wi
l
l
be
b
ett
er
tha
n
H
RS
MC
c
o
ntrol
l
ers
.
B
ut
to
ac
hi
e
v
e
th
i
s
c
a
pa
b
i
l
i
t
y
,
the
s
y
s
t
em
w
i
l
l
r
es
po
nd
m
ore s
l
o
wl
y
,
t
he
tr
an
s
i
t
i
o
n
v
a
l
ue
wi
l
l
be
l
arg
er. I
n
c
on
tr
as
t
to
t
he
l
arger
1
v
a
l
u
e,
HF
S
MC
c
on
tr
ol
l
er
r
es
po
nd
s
m
ore
qu
i
c
k
l
y
,
l
arg
er
tr
an
s
i
e
nt
v
al
ue
wi
l
l
h
av
e a
l
arg
er c
ha
tt
erin
g
. T
o c
l
arif
y
th
i
s
i
s
s
ue
,
l
et's
l
oo
k
at
th
e s
i
m
ul
at
i
on
s
be
l
o
w
.
F
i
g
ure
s
7,
8
,
9,
10
c
om
pa
r
e
s
i
m
ul
ati
o
n
r
es
u
l
ts
of
t
w
o
c
on
tr
ol
l
ers
HR
S
MC
an
d
H
RF
S
MC
pe
nd
ub
o
t
s
y
s
t
em
s
w
i
th
1
=
0
.
01
.
It
s
ho
w
s
th
at
an
g
l
e
of
l
i
nk
1,
l
i
nk
2
of
HRSM
C
an
d
H
RF
S
MC
c
on
tr
ol
l
ers
c
on
v
er
ge
to
th
e
eq
u
i
l
i
bri
um
po
s
i
ti
o
n f
or
ab
o
ut
0
.6
an
d
1.5
s
ec
on
ds
.
T
he
ac
t
i
on
to
r
qu
e
on
l
i
nk
1
of
the
HRF
S
M
C
c
on
tr
ol
l
er
ha
s
an
os
c
i
l
l
ati
o
n
w
h
i
c
h
i
s
c
om
pl
ete
l
y
di
s
ap
p
ea
r
e
d
c
o
m
pa
r
ed
w
i
th
ac
t
i
on
torq
u
e
on
l
i
nk
1
of
the
HR
S
MC
c
on
tr
ol
l
er.
T
he
a
ng
l
es
l
i
nk
1
an
d
l
i
nk
2
of
the
H
RF
S
MC
c
o
ntrol
l
er
h
as
an
os
c
i
l
l
at
i
on
w
h
i
c
h
i
s
c
om
pl
ete
l
y
di
s
a
p
pe
ar
ed
c
o
m
pa
r
ed
wi
th
an
g
l
es
l
i
nk
1
an
d
l
i
nk
2
of
the
HR
S
MC
c
on
tr
ol
l
er.
H
o
w
e
v
er,
th
e
HRS
MC
c
on
tr
ol
l
er
r
es
po
n
ds
f
as
ter tha
n t
h
e HRF
S
MC
c
on
tr
ol
l
er
wi
th
1
=
0
.
01
.
F
i
gu
r
es
11
,
1
2,
13
c
om
pa
r
e
s
i
m
ul
ati
on
r
es
ul
ts
of
t
w
o
c
on
tr
ol
l
ers
HR
S
M
C
a
nd
H
RF
S
MC
pe
nd
ub
o
t
s
y
s
t
e
m
s
w
i
th
1
=
5
.
I
t
s
ho
w
s
tha
t
a
ng
l
e
of
l
i
nk
1,
l
i
nk
2
of
HR
S
M
C
a
nd
H
RF
S
MC
c
on
tr
ol
l
ers
c
on
v
erge
t
o
th
e
eq
u
i
l
i
bri
um
po
s
i
ti
on
f
or
ab
ou
t
0.6
s
ec
o
nd
s
.
T
he
ac
ti
on
tor
qu
e
o
n
l
i
nk
1
of
the
HRF
S
MC
c
on
t
r
ol
l
er
ha
s
an
os
c
i
l
l
at
i
o
n
whi
c
h
i
s
gr
ea
ter
c
om
pa
r
ed
w
i
t
h
ac
ti
on
to
r
q
ue
on
l
i
nk
1
of
th
e HR
S
MC
c
o
ntrol
l
er. T
he
a
ng
l
es
l
i
nk
1
a
nd
l
i
nk
2
of
th
e HRF
S
MC
c
on
tr
ol
l
er
ha
s
a
n
os
c
i
l
l
ati
on
w
h
i
c
h
i
s
gr
ea
ter
c
o
m
pa
r
ed
w
i
t
h
an
gl
es
l
i
n
k
1
an
d
l
i
nk
2
of
the
HRS
MC
c
on
tr
o
l
l
er.
Ho
w
e
v
er, t
he
H
RF
S
M
C c
o
ntrol
l
er r
es
po
nd
s
f
as
ter tha
n t
he
HRS
MC
c
o
ntrol
l
er
wi
t
h
1
=
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
6,
D
ec
em
be
r
20
19
:
30
2
7
-
304
3
3034
(
a)
(
b)
F
i
gu
r
e
7.
T
he
an
gl
e l
i
nk
1
o
f
pe
nd
ub
ot
when
us
i
n
g HR
S
MC c
o
ntrol
l
er
an
d
the
HR
F
S
MC
c
on
tr
ol
l
er
wi
th
1
=
0
.
01
(
a)
1
i
n
ti
m
e s
erie
s
f
or
m
at
; (b)
Z
oo
m
ed
-
i
n
ti
m
e f
r
a
m
e o
f
1
(2
–
3 s
)
(a
)
(
b)
F
i
gu
r
e
8
.
T
he
an
gl
e l
i
nk
2
o
f
pe
nd
ub
ot
when
us
i
n
g HR
S
MC c
o
ntrol
l
er
an
d
the
HR
F
S
MC
c
on
tr
ol
l
er
wi
th
1
0
.
0
1
k
=
(
a)
2
i
n
ti
m
e s
erie
s
f
or
m
at
; (b)
Z
oo
m
ed
-
i
n
ti
m
e f
r
a
m
e o
f
2
(
2
–
3s
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Hi
erar
c
hi
c
a
l
r
o
bu
s
t fu
z
z
y
s
l
i
di
n
g m
o
de
c
o
ntrol
fo
r
a
c
l
a
s
s
…
(
Duc
Ha V
u
)
3035
F
i
gu
r
e
9.
A
c
ti
o
n t
orq
ue
on
l
i
nk
1
of
th
e p
en
du
b
ot
when
us
i
ng
the
HRS
MC c
on
tr
ol
l
e
r
F
i
gu
r
e
10
.
A
c
ti
on
t
orque
on
l
i
nk
1
of
th
e p
e
nd
u
bo
t
us
i
n
g t
he
HRF
S
MC c
o
ntrol
l
er
wi
th
1
=
0
.
01
(
a)
(
b)
F
i
gu
r
e
11
. T
he
a
ng
l
e
l
i
nk
1
of
pe
nd
u
bo
t
whe
n u
s
i
ng
H
RS
MC
c
on
tr
o
l
l
er and
th
e H
RF
S
MC
c
on
tr
ol
l
er
wi
th
1
5
k
=
(
a)
1
i
n
ti
m
e s
erie
s
f
or
m
at
; (b)
Z
oo
m
ed
-
i
n
ti
m
e f
r
a
m
e o
f
1
(
2
–
3s
)
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
6,
D
ec
em
be
r
20
19
:
30
2
7
-
304
3
3036
(
a)
(
b)
F
i
gu
r
e
12
.
T
he
a
ng
l
e
l
i
nk
2
of
pe
nd
u
bo
t
whe
n u
s
i
ng
H
RS
MC
c
on
tr
o
l
l
er and
th
e H
RF
S
MC
c
on
tr
ol
l
er
wi
th
1
=
5
(
a)
2
i
n
ti
m
e s
erie
s
f
or
m
at
; (b)
Z
oo
m
ed
-
i
n
ti
m
e f
r
a
m
e o
f
2
(
2
–
3s
)
F
i
gu
r
e
13
.
A
c
ti
on
t
orque
on
l
i
nk
1
of
th
e p
e
nd
u
bo
t
whe
n u
s
i
n
g t
h
e HR
S
MC
c
on
tr
o
l
l
er an
d
the
HRF
S
MC
c
on
tr
o
l
l
er
w
i
t
h
1
=
5
5.2
. T
h
e Ca
r
t
Do
u
b
le
Inv
e
r
t
ed P
end
u
lum
S
ys
t
em
T
he
c
art
do
ub
l
e
i
nv
erted
p
e
nd
u
l
um
s
y
s
t
em
i
s
c
ou
pl
ed
b
y
t
w
o
p
en
d
ul
um
i
n
a m
ov
i
ng
c
art
as
s
ho
w
n
i
n
F
i
g
ure
14.
T
he
s
y
s
tem
c
on
s
i
s
ts
of
t
hree
s
ub
s
y
s
t
em
s
:
the
up
pe
r
pe
nd
u
l
um
,
the
un
de
r
pe
nd
u
l
um
an
d
c
art.
Its
c
on
tr
ol
o
bj
ec
ti
v
e
i
s
to
k
ee
p
s
tab
l
e
t
o
eq
ui
l
i
br
i
u
m
tw
o
up
r
i
gh
t
v
erti
c
a
l
p
en
du
l
um
an
d t
o
brin
g
the
c
art
to
i
ts
eq
ui
l
i
briu
m
po
s
i
ti
on
[2
2].
T
he
s
y
m
bo
l
s
i
n
F
i
g
ure
1
4
are
de
f
i
ne
d
as
f
ol
l
o
w
s
:
1
i
s
the
an
g
l
e
of
the
i
nv
erted
pe
nd
ul
um
w
i
th
v
erti
c
a
l
l
i
ne
.
2
i
s
the
an
g
l
e
of
the
i
nv
erte
d
pe
m
du
l
um
w
i
th
v
erti
c
a
l
l
i
ne
,
w
h
i
c
h
i
s
the
c
on
tr
o
l
f
orc
e.
T
a
k
i
ng
=
3
i
n
(
1),
the
s
ta
te
-
s
pa
c
e
ex
pr
es
s
i
on
of
the
c
art
i
nv
erted
pe
nd
ul
u
m
s
y
s
t
em
i
s
de
f
i
ne
d a
s
f
ol
l
o
ws
:
Evaluation Warning : The document was created with Spire.PDF for Python.