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Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
1693
-
6930
T
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L
K
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M
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IK
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1021
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1029
1022
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d
s
e
ns
i
t
i
v
i
t
y
i
s
us
e
d.
H
∞
c
o
nt
rol
l
e
r
s
ynt
h
e
s
i
s
a
l
w
a
ys
re
s
u
l
t
s
a
v
e
ry
hi
gh
ord
e
r
of
c
on
t
rol
l
e
r
t
h
a
t
i
s
no
t
e
a
s
y
t
o
i
m
pl
e
m
e
n
t
i
n
pra
c
t
i
c
a
l
e
m
be
dde
d
s
ys
t
e
m
m
o
re
ov
e
r
i
n
a
s
m
a
l
l
c
on
t
ro
l
l
e
r
l
i
ke
A
rdui
no
.
A
rd
ui
no
i
s
a
s
m
a
l
l
l
ow
-
c
os
t
c
o
nt
ro
l
l
e
r
t
ha
t
now
i
s
ve
ry
popu
l
a
r
a
m
ong
pr
a
c
t
i
t
i
on
e
rs
.
T
h
e
propos
e
d
c
ont
r
ol
l
e
r
i
s
a
l
ow
o
rde
r
c
on
t
rol
l
e
r
w
hi
c
h
ha
s
pr
e
d
e
fi
n
e
d
s
t
r
uc
t
ure
t
ha
t
c
a
n
gu
a
ra
nt
e
e
ro
bus
t
s
t
a
bi
l
i
t
y
a
n
d
robus
t
pe
rfor
m
a
nc
e
.
T
h
e
s
t
ru
c
t
ure
w
a
s
s
p
e
c
i
fi
e
d
b
e
for
e
t
he
c
on
t
rol
l
e
r
s
yn
t
he
s
i
s
,
a
nd
t
he
ord
e
r
of
t
h
e
c
ont
rol
l
e
r
w
a
s
a
l
s
o
s
e
t
t
o
m
e
e
t
t
h
e
s
p
e
c
i
fi
c
a
t
i
on
of
t
he
c
on
t
ro
l
l
e
r
h
a
rdw
a
re
.
T
he
c
hos
e
n
s
t
ruc
t
ur
e
i
n
t
hi
s
r
e
s
e
a
rc
h
i
s
propor
t
i
on
a
l
i
nt
e
gr
a
l
d
e
ri
v
a
t
i
f
(P
ID
)
s
t
ru
c
t
u
re
.
T
h
e
re
a
s
on
i
s
be
c
a
us
e
P
ID
c
on
t
rol
l
e
r
h
a
s
b
e
e
n
w
i
de
l
y
us
e
d
i
n
v
a
ri
e
t
y
a
pp
l
i
c
a
t
i
on
[16]
.
O
t
h
e
r
t
h
a
n
t
h
a
t
,
P
ID
i
s
good
e
noug
h
for
l
i
n
e
a
r
pos
i
t
i
on
c
ont
rol
a
nd
us
e
d
a
l
ot
i
n
robo
t
i
c
c
on
t
ro
l
.
E
v
e
n
t
he
s
t
ru
c
t
ure
i
s
j
us
t
i
n
t
h
e
for
m
of
P
ID
c
ont
r
ol
l
e
r
o
r
s
om
e
p
e
op
l
e
m
a
y
a
s
k
w
hy
t
he
s
o
-
c
a
l
l
e
d
H
∞
c
ont
rol
l
e
r
now
j
us
t
a
P
ID
c
ont
rol
l
e
r
,
i
t
h
a
s
b
e
e
n
opt
i
m
i
z
e
d
us
i
n
g
rob
us
t
c
ont
rol
l
e
r
c
os
t
fun
c
t
i
ons
.
It
no
l
ong
e
r
gi
v
e
s
t
he
be
s
t
re
s
p
ons
e
s
ys
t
e
m
i
n
t
e
r
m
s
of
ri
s
e
t
i
m
e
,
s
e
t
t
l
i
n
g
t
i
m
e
,
a
n
d
o
ve
rs
ho
ot
,
but
i
t
prov
i
de
s
s
t
a
bi
l
i
t
y
a
nd
gu
a
ra
n
t
e
e
s
t
h
e
pe
rfo
rm
a
nc
e
e
v
e
n
i
n
t
he
pre
s
e
nc
e
o
f
un
c
e
rt
a
i
nt
i
e
s
or
di
s
t
u
rba
n
c
e
s
.
N
on
e
t
he
l
e
s
s
,
t
he
c
o
nt
ro
l
l
e
r
w
i
l
l
p
e
rfor
m
s
a
t
i
s
f
a
c
t
ori
l
y
i
f
t
he
unc
e
rt
a
i
nt
i
e
s
a
nd
di
s
t
u
rba
n
c
e
s
re
m
a
i
n
i
n
t
h
e
s
a
m
e
s
e
t
ra
n
ge
w
he
n
t
h
e
c
on
t
rol
l
e
r
w
a
s
de
s
i
gn
e
d
.
P
ID
c
o
nt
ro
l
l
e
r
ne
e
ds
t
o
be
r
e
-
t
une
d
e
ve
ryt
i
m
e
t
h
e
re
a
re
c
ha
ng
e
s
i
n
t
he
s
ys
t
e
m
or
e
nvi
r
ont
m
e
n
t
.
W
he
r
e
a
s
ro
bus
t
c
o
nt
ro
l
ga
i
n
i
s
a
pp
l
i
c
a
bl
e
i
n
a
l
l
c
a
s
e
s
[17]
.
T
he
re
a
s
on
i
n
c
hoos
i
n
g
H
∞
c
o
nt
ro
l
l
e
r
i
s
be
c
a
us
e
i
t
s
c
a
p
a
bi
l
i
t
y
i
n
ha
ndl
i
ng
di
s
t
urb
a
nc
e
c
a
nc
e
l
a
t
i
on
a
nd
robus
t
s
t
a
b
i
l
i
z
a
t
i
on
of
unc
e
rt
a
i
n
s
ys
t
e
m
.
H
ow
e
ve
r
,
t
h
e
dr
a
w
ba
c
k
i
s
i
n
i
t
s
t
ra
ns
i
e
n
t
re
s
p
ons
e
b
e
ha
vi
or
[
18].
A
n
ot
h
e
r
robus
t
c
o
nt
ro
l
l
e
r
w
i
t
h
s
i
m
pl
e
s
t
ruc
t
ure
i
s
s
l
i
d
i
ng
m
ode
c
ont
rol
l
e
r
.
Bu
t
t
hi
s
c
ont
rol
l
e
r
h
a
s
a
c
h
a
t
t
e
r
i
ng
e
ffe
c
t
w
h
e
n
t
h
e
s
l
i
di
ng
s
ur
fa
c
e
i
s
re
a
c
he
d
[19]
.
Com
p
a
ri
s
ons
of
pro
pos
e
d
c
on
t
rol
l
e
r
a
n
d
re
gul
a
r
P
ID
c
ont
rol
l
e
r
i
s
p
re
s
e
nt
e
d
i
n
t
h
i
s
pa
pe
r
.
T
he
prop
os
e
d
c
on
t
ro
l
l
e
r
s
yn
t
he
s
i
s
a
nd
t
he
c
om
p
a
ri
s
o
n
t
o
P
ID
c
ont
r
ol
l
e
r
w
e
r
e
t
e
s
t
e
d
on
t
he
b
a
s
e
j
o
i
n
of
t
h
e
rob
ot
.
L
oa
d
va
r
i
a
t
i
o
ns
w
e
r
e
a
pp
l
i
e
d
dur
i
ng
t
he
c
o
m
pa
ri
s
on
t
o
s
e
e
t
h
e
c
ont
rol
l
e
r
pe
rf
orm
a
nc
e
u
nde
r
unc
e
r
t
a
i
nt
i
e
s
.
N
o
ve
l
t
y
t
h
a
t
i
s
propos
e
d
i
n
t
hi
s
pa
p
e
r
i
s
a
s
m
a
l
l
orde
r
w
i
t
h
s
i
m
pl
e
s
t
ru
c
t
ure
of
H
2
/H
∞
robus
t
c
ont
r
ol
l
e
r
.
T
he
re
fo
re
,
t
he
c
ont
ro
l
l
e
r
i
s
p
os
s
i
bl
e
t
o
be
i
m
pl
e
m
e
nt
e
d
i
n
a
s
m
a
l
l
m
i
c
roc
o
nt
ro
l
l
e
r
l
i
k
e
A
rdui
no.
2.
R
ES
EA
R
C
H
M
ET
H
O
D
2.
1
.
H
a
r
d
w
ar
e
d
e
s
i
gn
of
th
e
r
ob
ot
i
c
a
r
m
T
he
ro
bot
i
c
a
rm
i
s
a
n
a
r
t
i
c
ul
a
t
e
d
3D
oF
m
a
n
i
pul
a
t
o
r.
T
he
d
e
t
a
i
l
of
t
h
e
d
e
s
i
gn
i
s
s
how
n
i
n
F
i
gur
e
1
.
T
he
robo
t
m
a
n
i
pu
l
a
t
or
i
s
m
a
de
of
s
t
e
e
l
a
nd
m
os
t
l
y
a
l
um
i
ni
um
.
D
e
t
a
i
l
s
p
e
c
i
fi
c
a
t
i
on
i
s
provi
de
d
i
n
T
a
bl
e
1
.
F
or
a
l
ow
-
c
os
t
ro
bot
i
c
a
rm
m
a
ni
pu
l
a
t
or
d
e
s
i
gn
,
brus
h
e
d
d
c
m
ot
or
i
s
us
e
d
he
r
e
i
ns
t
e
a
d
of
brus
h
l
e
s
s
d
c
m
o
t
or
.
Brus
he
d
dc
m
ot
or
i
s
l
e
s
s
e
xp
e
ns
i
v
e
but
brus
h
e
d
d
c
m
o
t
or
a
c
t
u
a
l
l
y
h
a
s
s
e
ve
r
a
l
a
dv
a
n
t
a
g
e
s
s
u
c
h
a
s
h
i
ghe
r
e
ffi
c
i
e
nc
y
a
nd
re
l
i
a
bi
l
i
t
y,
h
a
ve
l
o
nge
r
l
i
f
e
s
pa
n
,
a
nd
f
a
s
t
e
r
t
or
que
re
s
pons
e
[
20]
.
T
he
l
ow
-
l
e
ve
l
pos
i
t
i
on
c
o
nt
ro
l
i
s
i
m
pl
e
m
e
nt
e
d
i
n
A
rdu
i
no
.
T
w
o
A
rdui
n
o
U
N
O
s
a
r
e
n
e
e
d
e
d
t
o
c
on
t
ro
l
a
l
l
t
he
t
hr
e
e
m
a
ni
p
ul
a
t
or’s
j
oi
n
t
s
.
O
ne
U
N
O
i
s
us
e
d
for
i
n
ve
rs
e
ki
ne
m
a
t
i
c
a
nd
c
on
t
rol
t
h
e
b
a
s
e
m
ot
or
.
T
h
e
o
t
he
r
on
e
i
s
u
s
e
d
t
o
c
ont
r
ol
t
he
h
i
p
a
nd
kne
e
m
o
t
ors
.
T
he
t
w
o
U
N
O
s
t
a
l
k
e
a
c
h
o
t
he
r
us
i
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I2C
pro
t
oc
o
l
.
W
i
r
i
ng
di
a
gr
a
m
of
t
h
e
e
l
e
c
t
ri
c
c
o
m
pon
e
n
t
s
i
s
s
how
n
i
n
F
i
gur
e
2.
(a
)
(b)
F
i
g
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1
.
(
a
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Robo
t
p
rot
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t
yp
e
,
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M
e
c
ha
ni
c
a
l
d
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s
i
gn
of
3D
o
F
a
rt
i
c
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a
t
e
d
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c
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2
.
C
ont
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l
l
e
r
c
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t
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f
t
he
rob
ot
i
c
a
r
m
2.
2
.
K
i
n
e
m
ati
c
of
th
e
r
ob
oti
c
ar
m
T
he
ki
n
e
m
a
t
i
c
c
oordi
na
t
e
s
ys
t
e
m
of
t
he
robo
t
i
s
s
how
n
i
n
F
i
g
ure
3
.
Ba
s
e
d
o
n
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he
re
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re
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e
c
oord
i
na
t
e
s
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e
m
,
t
he
D
e
na
v
i
t
-
H
a
rt
e
nb
e
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pa
r
a
m
e
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a
re
pro
vi
d
e
d
i
n
T
a
bl
e
2
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e
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n
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a
t
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of
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h
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bot
m
a
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or
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om
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[25]
.
3.
R
ES
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LTS
A
N
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LY
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I
S
3.
1
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S
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mu
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t
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p
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d
c
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s
how
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(1
5)
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s
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a
s
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p
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ID
s
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g
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8
s
how
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p
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d
c
ont
r
ol
l
e
r
c
a
n
c
ont
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t
h
e
rob
ot
’s
ba
s
e
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o
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n
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und
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r
va
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s
.
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s
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d
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5
.
In
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of
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t
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b
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rror
w
hi
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rm
Evaluation Warning : The document was created with Spire.PDF for Python.
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1027
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h
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s
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he
s
t
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n
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ID
s
t
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h
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re
s
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l
t
i
s
a
l
s
o
qu
i
t
e
s
t
a
b
l
e
.
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ow
e
v
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r,
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t
h
a
s
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ot
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ve
n
s
m
a
l
l
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e
rs
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t
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t
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rous
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m
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ot
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t
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t
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rg
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f
ore
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t
r
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a
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h
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pos
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a
s
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ont
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l
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ol
l
e
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e
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72
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16
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1
531
1
37
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s
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T
he
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o
nt
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l
l
e
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d
i
n
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m
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na
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v
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l
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e
o
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t
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pl
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nt
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a
t
e
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he
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on
t
ro
l
l
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e
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t
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m
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he
re
s
p
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s
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t
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m
a
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s
how
n
i
n
F
i
g
ure
11
.
T
he
r
e
s
pons
e
o
f
t
h
e
s
ys
t
e
m
i
n
t
he
n
om
i
na
l
pl
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nt
w
a
s
v
e
ry
good
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H
ow
e
ve
r
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i
n
s
o
m
e
u
nc
e
rt
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n
t
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s
,
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he
r
e
w
e
re
s
o
m
e
s
i
gn
i
fi
c
a
n
t
ove
rs
ho
ot
s
.
F
i
gure
8
.
S
ys
t
e
m
r
e
s
pons
e
us
i
n
g
propos
e
d
c
ont
ro
l
l
e
r
F
i
gure
9
.
S
ys
t
e
m
r
e
s
pons
e
us
i
n
g
a
f
ul
l
ord
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r
H
∞
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t
c
on
t
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0
1
2
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5
6
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0
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.
5
1
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5
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Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
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6930
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put
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18
,
N
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2
,
A
pri
l
2
020:
1021
-
1029
1028
F
i
gure
10
.
S
ys
t
e
m
r
e
s
pons
e
us
i
ng
s
t
ruc
t
ur
e
s
pe
c
i
fi
e
d
H
∞
robus
t
c
ont
ro
l
l
e
r
F
i
gure
11
.
S
ys
t
e
m
r
e
s
pons
e
us
i
ng
a
ut
o
t
une
d
P
ID
c
on
t
rol
l
e
r
3.
2
.
Exp
e
r
i
me
n
ta
l
R
e
s
u
l
t
T
he
s
yn
t
he
s
i
z
e
d
c
ont
r
ol
l
e
r
w
a
s
p
rogr
a
m
m
e
d
i
nt
o
t
h
e
c
ont
r
ol
l
e
r
ha
r
dw
a
r
e
.
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h
e
ha
r
dw
a
r
e
re
s
po
ns
e
s
ys
t
e
m
i
s
s
h
ow
n
i
n
F
i
g
ure
12.
T
h
e
re
w
e
re
s
o
m
e
s
t
e
a
dy
s
t
a
t
e
e
rrors
d
ue
t
o
s
om
e
un
c
e
r
t
a
i
nt
i
e
s
.
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ow
e
v
e
r,
t
he
r
e
s
ol
ut
i
on
of
t
h
e
e
nc
od
e
r
i
s
ve
r
y
s
m
a
l
l
.
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h
e
m
a
x
i
m
u
m
e
r
ror
t
ha
t
h
a
ppe
ne
d
for
t
he
m
a
xi
m
u
m
l
o
a
d
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nd
t
h
e
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r
m
i
s
s
t
r
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t
c
h
e
d
hor
i
z
on
t
a
l
l
y
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s
l
e
s
s
t
h
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n
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.
1
o
.
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l
l
t
h
e
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rm
s
t
re
t
c
h
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d
hor
i
z
on
t
a
l
l
y
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s
a
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re
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onf
i
gur
a
t
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on
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n
d
a
i
l
y
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ork
of
t
he
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ot
.
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o
,
i
n
nor
m
a
l
w
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ks
t
he
robo
t
s
t
i
l
l
ha
s
good
pos
i
t
i
o
n
c
on
t
rol
re
pe
a
t
a
bi
l
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t
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i
gure
12
.
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a
rdw
a
re
re
s
po
ns
e
s
ys
t
e
m
us
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ng
t
h
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propos
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d
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nt
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l
e
r
4.
C
O
N
C
LU
S
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O
N
T
he
3D
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a
r
t
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c
ul
a
t
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d
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obot
m
a
n
i
pul
a
t
o
r
h
a
s
b
e
e
n
d
e
ve
l
op
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l
ow
or
de
r
H
2
/
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∞
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obus
t
c
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nt
ro
l
l
e
r
i
n
t
he
for
m
of
s
i
m
pl
e
P
ID
s
t
ru
c
t
ur
e
ha
s
be
e
n
s
u
c
c
e
s
s
ful
l
y
s
yn
t
he
s
i
z
e
d
.
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he
pro
pos
e
d
c
o
nt
ro
l
l
e
r
w
a
s
s
i
n
t
e
s
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z
e
d
us
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P
a
r
t
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c
l
e
S
w
a
r
m
O
p
t
i
m
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z
a
t
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on
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i
t
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n
t
e
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ra
l
of
s
qu
a
r
e
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rror
c
os
t
fun
c
t
i
on
i
n
t
he
c
ons
t
ra
i
nt
of
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us
t
s
t
a
bi
l
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t
y
a
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r
obus
t
p
e
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m
a
n
c
e
f
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t
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ons
.
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m
put
e
r
s
i
m
ul
a
t
i
ons
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ha
r
dw
a
r
e
e
xp
e
ri
m
e
nt
s
s
how
e
d
t
ha
t
t
he
c
on
t
rol
l
e
r
i
s
a
bl
e
t
o
c
on
t
ro
l
t
h
e
ro
bot
’s
ba
s
e
j
o
i
nt
m
o
t
o
r
pos
i
t
i
on
e
ve
n
i
n
t
h
e
pr
e
s
e
n
c
e
of
un
c
e
r
t
a
i
nt
i
e
s
.
T
he
p
ropos
e
d
c
on
t
ro
l
l
e
r
a
l
s
o
ga
v
e
b
e
t
t
e
r
r
e
s
pons
e
s
c
om
pa
re
d
t
o
a
ful
l
ord
e
r
H
∞
r
obus
t
c
ont
rol
,
s
t
ruc
t
ure
s
pe
c
i
f
i
e
d
H
∞
robus
t
c
o
nt
ro
l
l
e
r,
a
n
d
a
n
a
ut
o
t
un
e
P
ID
c
on
t
rol
l
e
r
i
n
t
h
e
pr
e
s
e
n
c
e
of
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e
rt
a
i
n
t
i
e
s
.
In
t
h
e
h
a
rdw
a
r
e
s
i
m
ul
a
t
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h
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re
w
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s
m
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l
l
s
t
e
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dy
s
t
a
t
e
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rror
m
a
xi
m
um
a
r
ound
0
.
1
o
t
ha
t
h
a
pp
e
ne
d
a
t
t
h
e
m
a
xi
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u
m
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rt
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t
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or
c
e
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t
a
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l
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a
t
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on
t
hi
s
va
l
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i
l
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c
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e
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s
pe
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e
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t
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l
robot
,
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t
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c
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n
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e
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l
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r
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e
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t
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r
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obus
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199
4
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11]
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l
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p.
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.
[
12]
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obo
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s
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.
22
,
no
.
1
,
pp
.
36
-
42
,
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.
[
13]
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a
ng
Z
G
,
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i
m
ur
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H
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uok
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Y
.
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bot
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.
19
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1
,
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3
-
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20
07
.
[
14]
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a
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no
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obo
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e
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.
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.
6,
pp
.
79
9
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[
15]
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ut
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,
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.
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our
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ol
S
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ng
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ne
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ol
.
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,
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1
-
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,
2016
.
[
16]
L
e
kka
l
a
K
.
,
M
i
t
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a
l
V
.
,
“
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on
t
r
ol
l
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2D
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c
i
s
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.
2014
I
n
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ol
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ns
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om
m
u
ni
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at
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on
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om
pu
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t
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ona
l
T
e
c
h
nol
o
gi
e
s
,
I
C
C
I
C
C
T
2014
,
pp
.
1141
-
11
45
,
20
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.
DO
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:
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.
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3133
[
17]
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h
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n
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.
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oh
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m
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d
Z
.
,
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nd
H
us
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i
n
A
.
R
.
,
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yna
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ode
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ob
us
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of
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ont
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o
l
,
vo
l
.
9,
n
o.
2,
pp
.
27
9
-
2
86
,
A
ugus
t
2011
.
[
18]
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um
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M
.
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u
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i
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