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.
1
,
F
e
br
ua
r
y
2020
,
pp.
332
~
342
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
.
v18i1.
12626
332
Jou
r
n
al
h
omepage
:
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tp:
//
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R
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2019
R
e
vis
e
d
Aug
9
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20
19
Ac
c
e
pted
Aug
30
,
20
19
A
p
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mat
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c
act
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at
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mp
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erg
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erfo
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ar
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ex
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ew
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h
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co
n
t
ro
l
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er
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s
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g
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o
f
p
n
e
u
mat
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c
act
u
at
o
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o
m
men
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ed
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y
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v
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o
u
s
res
earc
h
er
s
fro
m
t
h
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p
a
s
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y
ears
.
In
i
t
i
a
l
l
y
,
t
h
e
b
a
s
i
c
v
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e
w
s
o
f
t
h
e
p
n
e
u
mat
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c
w
i
l
l
b
e
p
res
en
t
ed
i
n
t
erm
s
o
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n
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ro
d
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o
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e
p
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e
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mat
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act
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a
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o
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d
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t
s
ap
p
l
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t
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o
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s
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n
i
n
d
u
s
t
r
i
es
.
A
t
t
h
e
en
d
o
f
t
h
i
s
rev
i
e
w
,
d
i
s
cu
s
s
i
o
n
s
o
n
t
h
e
d
e
s
i
g
n
o
f
t
h
e
co
n
t
r
o
l
l
ers
w
i
l
l
b
e
co
n
c
l
u
d
ed
an
d
fu
rt
h
er
res
earch
w
i
l
l
b
e
p
r
o
p
o
s
e
d
al
o
n
g
w
i
t
h
t
h
e
i
mp
r
o
v
eme
n
t
o
f
co
n
t
ro
l
s
t
rat
e
g
i
e
s
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n
t
h
e
p
n
eu
ma
t
i
c
ac
t
u
a
t
o
r
s
y
s
t
em
s
.
K
e
y
w
o
r
d
s
:
Ada
pti
ve
c
ontr
oll
e
r
P
I
D
P
ne
umatic
a
c
tuator
S
M
C
Th
i
s
i
s
a
n
o
p
en
a
c
ces
s
a
r
t
i
c
l
e
u
n
d
e
r
t
h
e
CC
B
Y
-
SA
l
i
ce
n
s
e
.
C
or
r
e
s
pon
din
g
A
u
th
or
:
S
ye
d
Na
ji
b
bin
S
ye
d
S
a
li
m
F
a
kult
i
T
e
knologi
Ke
jur
uter
a
a
n
E
lektr
ik
da
n
E
lekt
r
onik
Unive
r
s
it
i
T
e
knikal
M
a
lays
ia
M
e
laka
,
Ha
ng
T
ua
h
J
a
ya
76100
Dur
ian
T
ungga
l
,
M
e
laka
,
M
a
lays
ia
E
mail:
s
ye
dna
ji
b@utem.
e
du.
my
1.
I
NT
RODU
C
T
I
ON
P
ne
umatics
is
a
n
a
s
pe
c
t
of
phys
ics
a
nd
e
nginee
r
ing
that
us
e
ga
s
o
r
p
r
e
s
s
ur
ize
d
a
ir
to
make
s
omething
move
or
wor
k.
I
n
pne
umatics
,
a
va
lve
c
ontr
ols
the
f
low
of
e
ne
r
gy
f
r
o
m
a
pr
e
s
s
ur
ize
d
ga
s
,
whic
h
is
of
ten
ba
s
ica
ll
y
c
ompr
e
s
s
e
d
a
ir
.
T
he
de
vice
that
c
onve
r
ts
e
ne
r
gy
f
r
om
the
p
r
e
s
s
ur
ize
d
ga
s
int
o
moveme
nt
i
s
known
a
s
a
pne
umatic
a
c
tuator
.
P
ne
umatic
a
c
tuator
s
a
r
e
of
ten
dr
iven
by
e
lec
tr
ic
c
ompr
e
s
s
or
s
a
nd
e
quipped
to
c
r
e
a
te
e
it
he
r
li
ne
a
r
o
r
r
otar
y
mot
ion.
F
igur
e
1
s
hows
a
t
ypica
l
pne
umatic
s
ys
tem.
P
ne
umatic
s
ys
tems
a
r
e
s
im
il
a
r
to
hydr
a
uli
c
s
ys
tems
;
howe
ve
r
,
the
hydr
a
uli
c
s
ys
tems
uti
li
z
e
f
lui
d
to
c
ontr
ol
moveme
nt
a
nd
wor
k
.
T
he
pn
e
umatic
f
r
a
mew
or
k
s
ys
tems
a
r
e
e
a
s
ier
to
outl
ine
a
nd
les
s
dif
f
icult
to
mana
ge
c
ompar
e
d
to
hydr
a
uli
c
s
ys
tems
,
but
the
hydr
a
uli
c
s
ys
tems
a
r
e
e
quipped
f
o
r
gr
e
a
ter
p
r
e
s
s
ur
e
:
up
to
10
,
000
P
S
I
(
pounds
pe
r
s
qua
r
e
in
c
h)
with
hydr
a
uli
c
s
,
c
ontr
a
s
ted
with
a
r
ound
100
P
S
I
with
p
ne
umatics
.
T
he
r
a
pid
de
ve
lopm
e
nt
of
a
c
tuator
s
i
mpos
e
s
the
pne
umatic
s
ys
tem
int
o
a
mor
e
s
igni
f
ica
nt
e
leme
nt
to
be
wide
ly
us
e
d
in
the
r
oboti
c
s
a
nd
a
utom
a
ti
on
indu
s
tr
y.
A
pne
um
a
ti
c
a
c
tuator
p
r
opos
e
s
a
be
tt
e
r
a
lt
e
r
na
ti
ve
than
e
lec
tr
ica
l
a
nd
hyd
r
a
uli
c
a
c
tuator
s
in
a
ny
a
ppli
c
a
ti
on
be
c
a
us
e
of
it
s
low
im
p
leme
ntation
c
os
t.
I
t
a
ls
o
pr
ovides
the
be
ne
f
it
s
of
a
c
lea
n,
s
a
f
e
r
a
nd
e
a
s
ier
-
to
-
wor
k
e
n
vir
onment
[1
-
5]
.
T
hr
ougho
ut
the
pne
umatic
his
tor
y,
it
wa
s
f
ir
s
t
us
e
d
in
the
e
r
a
of
1900s
whe
r
e
pne
umatics
dr
i
ve
s
we
r
e
us
e
d
in
the
s
hipyar
ds
a
nd
c
on
s
tr
uc
ti
on
s
it
e
s
.
Othe
r
a
ppli
c
a
ti
ons
that
invol
ve
d
pne
umatic
a
c
tuator
s
we
r
e
in
the
a
c
ti
ve
s
us
pe
ns
ion
tec
hnology
f
o
r
ve
hicle
s
[
6]
,
in
the
a
ir
b
r
a
ke
v
a
lves
of
he
a
vy
duty
ve
hicle
s
[
7]
,
i
n
a
r
obot
ic
s
ys
tem
s
uc
h
a
s
I
ntelli
ge
nt
S
of
t
Ar
m
R
obot
[
8]
,
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
R
e
v
iew
on
c
ontr
oll
e
r
de
s
ign
in
pne
umatic
ac
tuat
or
dr
ive
s
y
s
tem
(
Sy
amiz
a
J
amian)
333
c
onve
ying
s
ys
tem
[
9]
a
nd
many
mor
e
.
F
o
r
the
pa
s
t
f
e
w
ye
a
r
s
,
pne
umatic
a
c
tuator
s
ys
tems
we
r
e
wide
ly
a
ppli
e
d
in
the
f
ields
o
f
r
oboti
c
s
,
meta
ll
u
r
gy
a
nd
va
r
ious
in
dus
tr
ial
pr
oc
e
s
s
ing
s
ys
tems
.
P
ne
umatic
a
c
tuator
be
c
omes
a
n
a
uxil
iar
y
a
c
tuator
in
a
u
tom
a
ted
mate
r
ial
ha
ndli
ng
tas
ks
due
to
it
s
s
pe
c
ial
f
e
a
tur
e
s
[
10]
.
How
e
ve
r
,
ba
s
e
d
on
the
pne
umatic
de
mand
f
or
good
pe
r
f
or
manc
e
in
ter
ms
of
r
o
bus
tnes
s
,
a
c
c
ur
a
c
y,
a
nd
s
tabili
ty,
the
us
e
d
o
f
thes
e
a
c
tu
a
tor
s
be
c
ome
li
mi
ted.
P
r
e
vious
r
e
s
e
a
r
c
he
r
s
f
ou
nd
that
the
r
e
s
e
a
r
c
he
s
of
thi
s
a
r
e
a
we
r
e
di
f
f
icult
be
c
a
us
e
of
the
nonli
ne
a
r
it
ies
oc
c
ur
r
e
d
s
uc
h
a
s
h
igh
c
ompr
e
s
s
ibi
li
ty
o
f
the
a
ir
,
e
xis
ti
ng
f
r
ictional
f
o
r
c
e
,
va
lve
de
a
d
z
one
a
nd
mas
s
f
low
r
a
te
pa
r
a
mete
r
s
[
11
-
14]
.
As
a
r
e
s
ult
of
the
oc
c
ur
r
e
d
c
ompl
e
xit
y
,
the
unc
e
r
tainti
e
s
pa
r
a
met
e
r
s
of
the
s
ys
tem
we
r
e
dif
f
icult
to
be
obtaine
d
a
nd
c
a
us
e
d
a
c
ha
ll
e
nging
pr
oblem
in
a
c
hieving
a
c
c
ur
a
te
pos
it
i
on
c
ontr
ol.
T
he
s
tudy
o
n
the
pne
umatic
a
c
tuator
s
be
c
a
me
a
ggr
e
s
s
ive
due
to
the
incr
e
a
s
ing
de
mands
in
the
indus
tr
y
dur
ing
the
1950s
whe
r
e
the
f
ir
s
t
de
ve
lopm
e
nt
of
pne
umatics
dyna
mi
c
c
ontr
ol
wa
s
made
by
P
r
of
.
J
.
L
.
S
he
a
r
e
r
in
1956
[1
5
]
.
T
he
c
ontr
oll
e
r
de
s
ign
in
pne
umatic
a
c
tuator
s
s
ys
tem
s
tar
ted
in
a
r
ound
the
ye
a
r
o
f
1990s
a
nd
c
onti
nue
d
to
gr
ow
in
the
pa
s
t
ye
a
r
s
.
P
r
e
vious
r
e
s
e
a
r
c
he
r
s
a
na
lys
e
d
a
nd
e
xpa
nde
d
the
r
e
s
e
a
r
c
he
s
in
the
pne
umatic
a
c
tuator
s
ys
tems
a
nd
s
uc
c
e
s
s
f
ull
y
ove
r
c
a
me
the
dif
f
icult
ies
that
oc
c
ur
r
e
d.
A
c
ontr
ol
s
tr
a
tegy
that
is
a
lwa
ys
us
e
d
i
s
pr
opor
ti
ona
l
int
e
gr
a
l
de
r
ivative
(
P
I
D)
.
T
he
c
onve
nt
ional
P
I
D
is
us
e
d
ba
s
e
d
on
a
r
e
s
e
a
r
c
h
a
nd
u
s
ua
ll
y
c
ombi
ne
d
with
other
tec
hniques
,
f
o
r
e
xa
mpl
e
,
a
ne
ur
a
l
ne
two
r
k,
a
f
e
e
df
or
wa
r
d
c
ontr
oll
e
r
,
a
f
e
e
dba
c
k
c
ontr
oll
e
r
a
nd
other
tec
hniques
.
M
or
e
ove
r
,
other
c
ontr
o
ll
e
r
s
us
e
d
in
the
pne
umatics
a
r
e
s
li
ding
mode
c
ontr
oll
e
r
(
S
M
C
)
,
a
n
a
da
pti
ve
c
ontr
oll
e
r
a
nd
o
ther
s
ynthes
is
c
ontr
oll
e
r
.
F
igur
e
1
.
A
ba
s
ic
pne
umatic
a
c
tuator
s
ys
tem
2.
P
NE
UM
AT
I
C
AC
T
UA
T
OR
CONT
ROL
L
E
R
DE
S
I
GN
As
s
tate
d
in
the
int
r
oduc
ti
on,
the
pne
umatic
a
c
tuator
s
ys
tem
is
known
a
s
a
s
ys
tem
that
c
omes
out
with
the
nonli
ne
a
r
it
ies
s
ys
tem
model.
T
he
r
e
f
or
e
,
a
typi
c
a
l
c
onve
nti
ona
l
c
ontr
oll
e
r
is
dif
f
icult
to
be
im
plem
e
nted
in
the
pne
umatic
a
c
tuator
s
ys
tem.
I
t
c
a
us
e
d
t
he
s
ys
tem
to
be
not
im
pr
ova
ble
to
a
c
hieve
be
tt
e
r
r
e
s
ult
s
in
pe
r
f
or
manc
e
e
s
pe
c
ially
with
the
va
r
iable
loads
a
nd
pr
e
s
s
ur
e
s
or
other
unc
e
r
tainti
e
s
.
F
r
om
p
r
e
vious
s
tudi
e
s
,
the
modi
f
ica
ti
on
o
f
the
c
ontr
oll
e
r
wa
s
made
to
im
p
r
ove
the
non
li
ne
a
r
it
ies
that
oc
c
ur
in
the
pne
umatic
a
c
tuator
s
ys
tem.
I
n
thi
s
pa
p
e
r
,
the
r
e
view
is
ba
s
e
d
on
the
mos
t
popular
c
ontr
oll
e
r
s
us
e
d
in
pne
umatic
a
c
tuator
s
ys
tem
s
uc
h
a
s
,
a
pr
opor
t
i
ona
l
int
e
gr
a
l
de
r
ivatives
(
P
I
D
)
,
a
s
li
ding
mode
c
ontr
o
ll
e
r
(
S
M
C
)
,
a
nd
a
n
a
da
pti
ve
c
ontr
oll
e
r
.
All
o
f
the
s
e
c
ontr
oll
e
r
s
we
r
e
s
tate
d
in
the
p
r
e
vious
s
t
udies
c
onduc
ted
by
Hua
ng
e
t
a
l.
[1
6
]
,
J
iape
ng
a
nd
T
a
o
[
17]
,
R
e
z
nik
e
t
a
l.
[
18
]
,
P
.
M
is
hr
a
e
t
a
l.
[
19
]
,
R
.
R
.
S
umar
,
e
t
a
l
.
[
20
]
,
O.
Ar
r
ieta
e
t
a
l
.
[
21
]
,
V.
P
r
a
bha
ka
r
a
n
e
t
a
l
.
[2
2
]
a
n
d
C
hiang
&
C
he
n
[2
3
]
.
T
he
de
tails
of
the
c
ontr
o
ll
e
r
de
s
ign
of
a
pr
opor
ti
ona
l
int
e
gr
a
l
de
r
iv
a
ti
ve
s
(
P
I
D
)
,
s
li
din
g
mode
c
ontr
oll
e
r
(
S
M
C
)
,
a
nd
a
da
pti
ve
c
ont
r
oll
e
r
will
be
c
lea
r
ly
de
s
c
r
ibed
in
the
f
oll
owing
s
e
c
ti
on.
3.
CONT
ROL
L
E
R
DE
S
I
GN
B
ASE
D
ON
P
ROP
O
RT
I
ONAL
I
N
T
E
GRA
L
DE
RI
VA
T
I
V
E
S
(
P
I
D)
I
n
1997
,
a
pa
pe
r
publi
s
he
d
by
[2
4
]
made
a
c
o
ntr
ibut
ion
in
pne
umatic
a
c
tuator
by
pr
opos
ing
a
c
onve
nti
ona
l
P
I
D
c
ontr
oll
e
r
that
a
c
c
ompanie
d
wi
th
the
f
r
iction
c
ompens
a
ti
on,
bounde
d
int
e
gr
a
l
a
c
ti
on
a
nd
pos
it
ion
f
e
e
df
or
wa
r
d
that
us
e
d
puls
e
width
modu
lation
(
P
W
M
)
on
-
of
f
s
olenoid
va
lve.
T
his
pa
pe
r
pr
opos
e
d
thes
e
c
ontr
ol
tec
hniques
to
c
ont
r
ol
the
pos
it
ion
but
in
the
pne
umatic
a
c
tuator
s
ys
tem,
i
t
is
a
lwa
ys
s
ubj
e
c
ted
to
high
f
r
iction
f
or
c
e
s
,
de
a
dba
nd
a
nd
de
a
dti
me.
T
he
pa
r
a
mete
r
of
the
c
ont
r
oll
e
r
wa
s
s
e
lec
ted
ba
s
e
d
on
the
I
s
s
e
r
mann’
s
method.
F
or
the
f
r
iction
c
ompens
a
ti
on,
it
wa
s
f
o
r
mul
a
ted
ba
s
e
d
on
the
C
oulom
b
f
r
ictio
n
model
a
nd
it
r
e
duc
e
d
the
s
tea
dy
s
tate
e
r
r
or
to
ne
a
r
ly
40%
.
T
he
n,
the
bounde
d
in
tegr
a
l
a
c
ti
on
wa
s
a
tt
a
c
he
d
to
the
c
ontr
oll
e
r
that
f
unc
ti
ons
to
c
ontr
ol
the
f
r
ict
ion
f
or
c
e
that
c
omes
wi
th
the
pis
ton
s
tr
oke
a
n
d
f
inally
the
pos
it
ion
f
e
e
df
or
wa
r
d
wa
s
to
r
e
duc
e
the
e
r
r
or
s
to
r
a
mp
a
nd
S
-
c
ur
ve
s
.
T
he
pr
opos
e
d
c
ontr
o
ll
e
r
with
the
c
ombi
na
ti
on
of
the
a
bove
-
mentioned
tec
hniq
ue
s
pr
ove
d
the
a
c
tuator
pe
r
f
or
manc
e
wa
s
r
obus
t
a
ga
ins
t
the
c
ha
nge
s
in
the
s
ys
tem
mas
s
but
the
r
is
e
t
im
e
or
the
s
tea
dy
-
s
tate
a
c
c
ur
a
c
y
wa
s
una
f
f
e
c
ted.
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
.
1
,
F
e
br
ua
r
y
2020
:
332
-
342
334
I
n
the
r
e
s
e
a
r
c
h
c
onduc
ted
by
[2
5
]
,
the
f
r
icti
on
c
om
pe
ns
a
ti
on
onc
e
a
ga
in
wa
s
a
ppli
e
d
to
the
s
e
r
vo
-
pne
umatic
s
ys
tem
to
s
olve
the
f
r
iction
pa
r
a
mete
r
s
that
we
r
e
dif
f
icult
to
obtain.
T
he
pr
opos
e
d
method
wa
s
c
ombi
ne
d
with
a
P
I
DV
F
(
P
I
D
c
ont
r
ol
with
v
e
locity
f
e
e
d
-
f
or
wa
r
d
a
nd
f
e
e
dba
c
k)
whe
r
e
the
P
I
DV
F
wa
s
e
ndor
s
e
d
int
o
a
“
mi
xe
d
-
r
e
a
li
ty
”
e
nvi
r
onment
a
f
ter
the
c
ontr
oll
e
r
wa
s
opt
im
ize
d
o
f
f
-
li
ne
.
A
P
I
DV
F
p
r
oduc
e
d
a
n
a
c
c
ur
a
te
model
a
nd
opti
m
ize
d
the
c
ontr
ol
ler
o
f
f
-
li
ne
be
f
or
e
a
pplyi
ng
it
to
a
phys
ica
l
s
ys
tem.
E
ve
ntually,
a
modi
f
ied
P
I
D
c
ontr
oll
e
r
with
a
c
ombi
na
ti
on
of
a
nonli
ne
a
r
c
ompens
a
ti
on
a
nd
a
c
c
e
ler
a
ti
on
f
e
e
dba
c
k
wa
s
pr
opos
e
d
a
s
indi
c
a
ted
by
[2
6
]
.
T
his
s
tudy
de
mons
tr
a
ted
that
t
o
a
c
c
om
pli
s
h
a
n
a
c
c
ur
a
te
pos
it
ion
c
ontr
ol,
a
t
im
e
de
lay
mi
nim
iza
ti
on
a
nd
pos
it
ion
c
ompens
a
ti
on
a
lgor
it
hm
mus
t
be
uti
li
z
e
d.
T
he
a
na
lys
is
wa
s
r
un
ba
s
e
d
on
a
f
e
w
s
e
tups
whic
h
a
r
e
:
i)
p
r
opor
ti
ona
l
a
nd
ve
locity
f
e
e
dba
c
k,
ii
)
pr
op
or
ti
ona
l,
int
e
gr
a
ti
on,
a
nd
ve
loc
it
y
f
e
e
dba
c
k,
a
nd
las
tl
y
ii
i)
pr
opor
ti
ona
l,
ve
locity
f
e
e
dba
c
k
a
nd
f
e
e
d
f
or
wa
r
d
c
ontr
ol.
T
he
pr
opos
e
d
c
ontr
o
ll
e
r
p
r
oduc
e
d
a
be
tt
e
r
r
e
s
ult
in
the
im
pr
ove
ment
of
the
s
ys
tem
dyna
mi
c
r
e
s
pons
e
c
ompar
e
d
to
the
c
onve
nti
ona
l
P
I
D
c
ontr
o
ll
e
r
whic
h
the
a
c
c
ur
a
c
y
of
th
e
pos
it
ion
wa
s
s
hown
withi
n
1
mm
.
One
of
the
a
uthor
s
in
the
s
tudy
[2
7
]
r
e
por
ted
that
t
he
li
mi
tations
in
the
pne
umatic
a
c
tuator
s
s
ys
tem
is
inclus
ive
of
the
dom
inant
dyna
mi
c
be
ha
vior
by
t
he
non
-
li
ne
a
r
f
unc
ti
on
.
T
he
pr
opo
r
ti
ona
l
outpu
t
f
e
e
dba
c
k
c
ontr
oll
e
r
with
s
a
tur
a
ti
on
wa
s
int
r
oduc
e
d
to
a
c
hieve
pr
a
c
ti
c
a
l
tr
a
c
king
a
wide
c
las
s
of
r
e
f
e
r
e
nc
e
t
r
a
jec
tor
ies
by
de
r
ivi
ng
a
mathe
matica
l
modelli
ng
a
nd
f
e
e
dba
c
k
li
ne
a
r
iza
ti
on
in
the
pos
it
ion
c
ontr
ol
a
s
a
c
ontr
o
l
de
s
ign
method.
T
he
p
r
opor
ti
ona
l
f
e
e
dba
c
k
f
or
c
e
c
ont
r
o
ll
e
r
s
tr
a
ight
e
ne
d
up
the
li
mi
tations
of
the
de
r
iv
a
ti
ve
s
in
the
r
e
f
e
r
e
nc
e
s
ignal
a
nd
dis
tur
ba
nc
e
o
f
pis
ton
ve
locity.
T
he
inves
ti
ga
ti
on
o
f
r
a
pid
p
r
otot
yping
of
f
uz
z
y
c
ontr
oll
e
r
pne
umatic
s
e
r
vo
-
s
ys
tem
by
[2
8
]
towa
r
ds
the
pos
it
ioni
ng
c
ontr
ol
a
nd
tea
c
hing/
play
-
ba
c
k
c
ontr
ol
wa
s
done
by
e
xa
mi
ning
the
f
uz
z
y
log
ic
with
P
D
c
ontr
oll
e
r
.
I
t
us
e
d
the
tr
a
pe
z
oid
type
25
r
ules
a
dopted
f
r
om
M
a
mdani
a
nd
L
uGr
e
model
to
e
nha
nc
e
the
s
im
ulation
r
e
s
ult
but
unf
o
r
tunate
ly
the
numer
i
c
a
l
s
olut
ion
be
c
omes
mor
e
c
ompl
e
x.
T
he
f
o
r
mul
a
t
e
d
f
uz
z
y
s
ys
tem
wa
s
pr
oduc
ti
ve
,
s
table
a
nd
a
ble
to
a
void
dis
tur
ba
nc
e
s
;
thus
,
it
c
a
n
be
im
pleme
nted
in
a
ny
type
o
f
pne
umatic
s
e
r
vo
dr
ives
without
the
ne
e
d
to
tune
th
e
r
e
gulator
,
a
nd
s
ignal
f
il
tr
a
ti
on
c
a
n
be
a
ppli
e
d
or
a
ddit
ional
ope
r
a
ti
ons
in
the
t
r
a
c
k
c
ontr
ol
a
nd
r
e
s
tr
ict
the
ge
ne
r
a
ted
s
ignals
.
B
e
s
ide
s
,
a
uthor
[2
9
]
f
oc
us
e
d
on
c
ontr
oll
ing
the
pos
it
ion
of
the
pne
umatic
a
c
tuator
.
How
e
ve
r
,
the
s
ys
tem
ha
s
the
li
mi
tations
of
high
a
ir
c
omp
r
e
s
s
ibi
li
ty
a
nd
f
r
iction
f
or
c
e
.
T
his
r
e
s
e
a
r
c
h
us
e
d
the
c
las
s
ica
l
P
I
D
c
ontr
oll
e
r
whe
r
e
the
Z
igl
e
r
Nic
hols
tuni
ng
met
hod
wa
s
us
e
d
to
tune
the
Kp,
Ki
a
nd
Kd
pa
r
a
mete
r
s
.
F
ir
s
tl
y
,
a
P
-
c
ontr
oll
e
r
wa
s
de
s
igned
but
whe
n
it
r
e
a
c
he
d
the
pe
r
mane
nt
os
c
il
lation,
it
c
ould
not
be
a
c
c
e
pted
by
the
pos
it
ioni
ng
s
ys
tem.
T
he
n,
a
P
D
-
c
ontr
oll
e
r
wa
s
int
r
oduc
e
d
to
e
li
mi
na
te
the
pr
oblem
oc
c
ur
a
nd
it
yielde
d
a
goo
d
r
e
s
ult
in
r
e
duc
ing
the
r
is
e
ti
me,
a
nd
the
os
c
il
l
a
ti
on
did
no
t
oc
c
ur
.
Af
ter
that
,
the
P
I
-
c
ontr
oll
e
r
w
a
s
tes
ted
int
o
the
s
ys
tem
but
un
f
or
tunate
ly,
the
r
is
e
ti
me
o
f
t
he
s
ys
tem
be
c
a
me
wor
s
e
than
whe
n
the
P
D
-
c
ontr
o
ll
e
r
wa
s
us
e
d
a
nd,
the
e
r
r
o
r
o
f
the
s
ys
tem
be
c
a
me
c
ons
tant.
Among
a
ll
of
the
tes
ted
a
nd
s
im
ulate
d
c
on
tr
oll
e
r
s
,
the
P
I
D
-
c
ontr
oll
e
r
r
e
duc
e
d
the
r
is
e
ti
me
a
nd
e
r
r
or
but
the
oc
c
ur
r
e
nc
e
of
ove
r
s
hoot
incr
e
a
s
e
d
a
s
the
ti
me
incr
e
a
s
e
d.
An
a
na
lys
is
of
the
c
omput
e
d
s
tudy
s
how
e
d
that
the
s
ys
tem’
s
be
ha
viour
de
li
ve
r
e
d
the
be
s
t
s
a
ti
s
f
a
c
ti
on
a
nd
pr
oduc
e
d
a
model
c
a
pa
ble
to
be
tes
ted
in
the
s
im
ulation
to
obs
e
r
ve
the
pe
r
f
or
manc
e
.
A
c
las
s
ica
l
P
I
D
a
ls
o
known
a
s
a
n
a
uto
-
s
e
lec
ti
ve
c
las
s
ic
a
l
P
I
D
(
t
-
pid)
wa
s
pr
opos
e
d
in
thi
s
r
e
s
e
a
r
c
h
to
pr
ovide
the
a
c
c
ur
a
c
y
of
the
pos
it
ion
pe
r
f
o
r
med
in
the
s
im
ulation
,
a
nd
be
c
a
us
e
it
s
c
os
t
is
ve
r
y
low
.
How
e
ve
r
,
the
pr
opos
e
d
c
ontr
oll
e
r
wa
s
c
ompl
ica
ted
to
be
tuned
be
c
a
us
e
it
ha
d
to
b
e
tes
ted
in
the
s
im
ulation
be
f
or
e
be
ing
im
p
leme
nted
int
o
the
r
e
a
l
plant
.
T
he
c
onve
nti
ona
l
P
I
D
c
ontr
oll
e
r
wa
s
c
o
nti
nu
ous
ly
upgr
a
de
d
in
the
r
e
s
e
a
r
c
h
c
onduc
ted
by
r
e
s
e
a
r
c
he
r
[
30
]
whe
r
e
the
t
r
a
c
king
pos
it
ion
c
ontr
ol
method
wa
s
pr
opos
e
d.
I
t
wa
s
divi
de
d
int
o
two
c
ont
r
ol
loop
:
i)
inner
p
r
e
s
s
ur
e
c
ontr
ol
loop
(
P
I
D
+
f
e
e
dba
c
k
li
ne
a
r
iza
ti
o
n)
,
a
nd
ii
)
oute
r
pos
it
ion
c
ontr
o
l
loop
(
P
I
D
+
f
r
iction
c
ompens
a
ti
on)
.
T
he
f
r
iction
c
ompens
a
tor
s
that
a
ug
mente
d
with
P
I
D
ha
d
be
e
n
tes
ted
e
it
he
r
us
ing
ne
u
r
a
l
ne
twor
k
a
nd
the
nonli
ne
a
r
obs
e
r
ve
r
.
C
onve
nti
ona
l
P
I
D
c
ont
r
oll
e
r
us
ua
ll
y
to
be
unpr
e
dicta
ble
a
nd
uns
a
ti
s
f
a
c
tor
y
due
to
the
f
r
iction
oc
c
ur
s
.
I
n
or
de
r
to
c
ompens
a
te
with
the
f
r
iction
,
ne
ur
a
l
ne
twor
k
is
int
r
oduc
e
d.
F
or
p
r
e
s
s
ur
e
c
ontr
ol
de
s
ign,
the
p
r
opor
ti
ona
l
c
ontr
ol
va
lve
c
onve
r
ts
a
n
a
na
log
e
lec
tr
ica
l
input
s
ignal
int
o
s
igni
f
ica
nt
c
r
os
s
s
e
c
ti
ona
l
ope
ning.
W
hil
e
f
o
r
the
c
ont
r
oll
e
r
de
s
ign
of
pos
it
ion
c
ontr
ol
by
us
ing
ne
u
r
a
l
ne
two
r
k,
the
input
is
the
dif
f
e
r
e
nti
a
l
pr
e
s
s
ur
e
a
nd
the
pos
it
ion
a
s
the
output
.
P
r
e
s
s
ur
e
c
ontr
ol
whe
r
e
P
I
D
is
c
ombi
ne
d
with
the
f
e
e
dba
c
k
li
ne
a
r
iza
ti
on
e
li
mi
na
ted
the
ove
r
s
hoot
c
ompa
r
e
d
to
c
onve
nti
ona
l
P
I
D
that
the
ove
r
s
hoot
is
high
.
F
or
the
f
r
iction
c
ompens
a
tor
,
e
it
he
r
by
us
ing
ne
ur
a
l
ne
twor
k
o
r
no
nli
ne
a
r
obs
e
r
ve
r
,
the
tr
a
c
king
e
r
r
o
r
s
whic
h
is
pe
a
k
a
nd
R
M
S
e
r
r
or
we
r
e
im
pr
ove
d
e
ve
n
with
va
r
ious
a
mpl
it
ude
s
a
nd
f
r
e
que
nc
ies
.
F
or
the
t
r
a
ns
ient
pa
r
t,
it
c
a
n
be
s
e
e
n
that
ther
e
a
r
e
no
im
pr
ove
ment
a
s
the
pe
a
k
e
r
r
or
is
high
whe
n
us
ing
the
ne
ur
a
l
ne
twor
k
a
nd
tes
ted
by
the
s
t
e
p
input
.
Ne
xt,
the
P
I
c
ontr
oll
e
r
wa
s
us
e
d
in
the
s
tudy
of
int
e
ll
igent
pne
umatic
a
c
tuator
s
(
I
P
A)
s
ys
tem
whic
h
r
e
quir
e
s
a
be
tt
e
r
c
ontr
ol
a
nd
a
c
c
ur
a
c
y
a
s
s
tate
d
in
the
s
tudy
by
[
31
]
.
T
he
mos
t
s
igni
f
ica
nt
is
s
ue
in
the
pne
umatic
a
c
tuator
s
s
ys
tem
w
a
s
the
nonli
ne
a
r
a
tt
r
ibut
e
s
,
f
or
e
xa
mpl
e
,
va
lve
de
a
d
z
one
a
nd
mas
s
f
low
r
a
te
pa
r
a
mete
r
s
.
I
n
th
is
inves
ti
ga
ti
on,
on
a
c
c
ount
of
the
nonli
ne
a
r
it
ies
,
the
P
I
c
ontr
ol
ler
a
nd
po
le
plac
e
ment
f
e
e
dba
c
k
c
ontr
oll
e
r
we
r
e
int
r
oduc
e
d.
T
he
P
I
c
ontr
o
ll
e
r
c
o
ntr
oll
e
d
the
pne
umatic
s
ys
tem
a
nd
f
e
e
dba
c
k
li
ne
a
r
iza
ti
on
de
mons
tr
a
t
e
d
that
a
ny
s
ingl
e
-
input
s
ingl
e
-
output
(
S
I
S
O)
pne
umatic
s
ys
tem
with
a
li
ne
a
r
iza
ti
on
load.
I
n
other
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
R
e
v
iew
on
c
ontr
oll
e
r
de
s
ign
in
pne
umatic
ac
tuat
or
dr
ive
s
y
s
tem
(
Sy
amiz
a
J
amian)
335
pa
r
ts
,
inpu
t
li
ne
a
r
iza
ti
on
with
s
tep
type
dis
tur
ba
nc
e
r
e
jec
ti
on
c
a
n
qua
nti
f
y
dis
tur
ba
nc
e
in
the
pn
e
umatic
a
c
tuator
s
with
s
tatic
f
r
iction
.
T
he
pole
plac
e
ment
us
e
d
a
low
or
de
r
li
ne
a
r
a
ppr
oxim
a
ti
on
f
o
r
a
2
-
a
xe
s
puls
e
modul
a
ti
on
width
(
P
W
M
)
in
thi
s
s
tudy.
T
he
pole
p
lac
e
ment
method
uti
li
z
e
d
the
s
e
lf
-
tuni
ng
c
ontr
ol
that
c
a
n
be
a
da
pted
with
a
ny
pa
yload
a
nd
ti
me
-
va
r
ying
pa
r
a
mete
r
s
.
T
his
p
r
opos
e
d
method
is
mor
e
s
table
than
the
P
I
c
ontr
oll
e
r
to
c
ontr
ol
the
I
P
A
s
ys
tem
in
ter
ms
of
tr
a
ns
ient
r
e
s
pons
e
a
nd
s
tea
dy
-
s
tate
e
r
r
or
.
I
n
a
s
tudy
c
onduc
ted
by
[3
2
]
,
it
s
howe
d
how
to
im
pr
ove
the
is
s
ue
invol
ving
the
c
ompl
e
xit
y
that
oc
c
ur
r
e
d
in
pr
oc
ur
ing
the
s
ys
tem
tr
a
ns
f
e
r
f
unc
ti
o
n
pr
e
c
is
e
ly.
I
n
thi
s
s
tudy,
the
c
a
s
c
a
de
P
I
D
c
ontr
o
ll
e
r
f
or
a
pr
a
c
ti
c
a
l
pne
umatic
s
ys
tem
with
good
dis
tur
ba
nc
e
r
e
jec
ti
on
wa
s
int
r
oduc
e
d.
T
his
s
tudy
pr
ov
ides
a
n
identif
ica
ti
on
of
the
s
ys
tem
to
buil
d
a
c
c
ur
a
te
m
a
thema
ti
c
a
l
mode
ls
of
dyna
mi
c
s
ys
tems
.
P
a
r
ti
c
le
s
wa
r
m
opti
mi
z
a
ti
on
(
P
S
O)
wa
s
us
e
d
a
s
a
pa
r
t
of
the
s
ys
tem
identif
ica
ti
on
a
nd
c
ontr
ol
de
s
ign
s
tage
s
.
T
he
c
a
s
c
a
de
P
I
D
c
ontr
oll
e
r
pr
ovides
a
dva
ntage
s
to
pne
umatic
s
ys
te
m
in
both
pos
it
ion
a
nd
s
pe
e
d
c
ontr
ols
.
I
t
is
be
c
a
us
e
it
pe
r
mi
ts
the
tr
a
c
king
of
the
s
pe
e
d
pr
of
il
e
in
the
r
a
nge
of
s
p
e
e
d
loop
while
s
toppi
ng
with
high
pos
it
ion
a
c
c
ur
a
c
y.
T
his
f
indi
ng
highl
ight
e
d
that
the
c
a
s
c
a
de
P
I
D
s
tr
uc
tur
e
with
P
S
O
tuni
ng
pr
ovides
be
tt
e
r
tr
a
ns
ient
r
e
s
pons
e
a
nd
les
s
s
tea
dy
s
tate
e
r
r
or
s
whe
n
c
ompar
e
d
with
a
s
ingl
e
P
I
D.
Ac
c
or
ding
to
the
r
e
s
e
a
r
c
h
by
[3
3
]
,
a
n
im
pr
ove
ment
of
a
nonli
ne
a
r
P
I
D
(
NPI
D)
wa
s
pr
opos
e
d
to
c
ontr
ol
the
pos
it
ion
of
the
pne
umatic
a
c
tuator
.
T
his
s
tudy
f
oc
us
e
d
on
de
s
igni
ng
the
c
ontr
oll
e
r
s
o
that
the
a
c
tuator
c
a
n
ge
t
the
de
s
ir
e
d
dis
plac
e
ment
with
out
ove
r
s
hoot.
I
n
a
nonli
ne
a
r
P
I
D
,
the
r
e
a
r
e
two
pa
r
a
mete
r
s
ne
e
d
to
be
s
pe
c
if
ied
whic
h
a
r
e
,
r
a
nge
of
va
r
iation
(
e
m
a
x
)
a
nd
r
a
te
of
va
r
iation
(
α
)
.
A
modi
f
ica
ti
on
wa
s
made
to
a
utom
a
ti
c
a
ll
y
obtain
the
pa
r
a
mete
r
s
to
ove
r
c
ome
t
he
dif
f
icult
ies
of
obtaining
them.
F
r
om
the
pr
e
vio
us
s
tudy,
the
va
lue
of
(
α
)
wa
s
take
n
by
t
r
ial
a
nd
e
r
r
or
method
whic
h
s
ometim
e
s
the
li
mi
tation
oc
c
ur
r
e
d
due
to
the
oc
c
ur
r
e
nc
e
s
of
s
pe
e
d
a
nd
c
ha
tt
e
r
ing
in
a
s
ys
tem.
T
o
a
c
hieve
thi
s
goa
l,
a
ne
w
s
e
lf
-
r
e
gulation
of
nonli
ne
a
r
P
I
D
(
S
N
-
P
I
D)
c
ont
r
oll
e
r
with
a
ddi
ti
on
o
f
s
e
lf
-
r
e
gul
a
ti
on
f
unc
ti
on
(
S
NF
)
wa
s
p
r
opos
e
d
to
ge
ne
r
a
te
the
va
lue
of
r
a
te
va
r
iation
(
α
)
.
F
r
om
the
r
e
s
ult
s
hown,
it
c
a
n
be
c
lea
r
ly
s
e
e
n
that
ther
e
is
a
n
im
p
r
ove
ment
in
the
tr
a
ns
ient
pa
r
t
whe
n
c
ompar
e
d
with
the
non
li
ne
a
r
P
I
D
by
us
ing
dif
f
e
r
e
nt
input
s
s
uc
h
a
s
s
tep,
mul
ti
s
tep
a
nd
r
a
ndom
wa
ve
f
or
m.
S
N
-
P
I
D
s
howe
d
a
be
tt
e
r
tr
a
ns
ient
r
e
s
pons
e
by
a
f
a
c
tor
o
f
2.
2
ti
mes
gr
e
a
ter
than
the
pr
e
vious
NPI
D
a
nd
the
r
obus
tnes
s
of
the
s
ys
tem
wa
s
a
ls
o
jus
ti
f
ied
a
s
the
pr
opos
e
d
c
ontr
oll
e
r
c
a
n
ha
ndle
loads
up
to
28
kg.
I
n
a
s
ubs
e
que
nt
s
tudy,
a
n
e
nha
nc
e
d
nonli
ne
a
r
P
I
D
(
E
NPI
D)
onc
e
a
ga
in
wa
s
pr
opos
e
d
in
2015
[3
4
]
.
T
he
c
ontr
oll
e
r
c
ons
is
ts
of
two
dif
f
e
r
e
nt
c
ont
r
ol
s
t
r
a
tegie
s
,
na
mely
mul
ti
-
nonli
ne
a
r
(
M
N
-
P
I
D)
c
ont
r
oll
e
r
a
nd
s
e
lf
-
r
e
gulation
(
S
N
-
P
I
D)
c
ontr
oll
e
r
.
F
igur
e
2
s
hows
the
s
tr
uc
tur
a
l
of
M
N
-
P
I
D
c
ontr
ol
s
tr
a
teg
y
.
T
he
d
e
a
d
z
one
c
ompens
a
ti
on
wa
s
a
ppli
e
d
to
ove
r
c
ome
the
de
a
d
-
ba
nd
of
the
va
lve.
I
n
a
ddit
ion,
the
f
e
e
df
or
wa
r
d
pa
th
a
ls
o
wa
s
a
dde
d
to
im
pr
ove
the
t
r
a
c
king
pe
r
f
o
r
manc
e
.
F
o
r
M
N
-
P
I
D,
the
f
uz
z
y
wa
s
us
e
d
to
tune
the
r
a
te
va
r
iation
of
the
nonli
ne
a
r
ga
in
,
a
x
while
f
or
S
N
-
P
I
D,
it
d
id
not
us
e
f
uz
z
y
to
tune
the
ga
in,
but
the
ga
in
wa
s
ge
ne
r
a
t
e
d
onli
ne
thr
ough
the
e
qua
ti
on
in
the
S
N
-
P
I
D
a
s
s
tate
d
in
the
pr
e
vious
s
tudy
[3
3
]
.
I
n
thi
s
s
tud
y,
both
M
N
-
P
I
D
a
nd
SN
-
P
I
D
pe
r
f
o
r
med
we
ll
in
tr
a
c
king
the
input
tr
a
jec
tor
ies
.
As
a
r
e
s
ult
,
the
p
r
opos
e
d
c
ontr
oll
e
r
,
whe
n
c
ompar
e
d
to
NPI
D
s
howe
d
no
im
pr
ove
ment,
but
ba
s
e
d
on
t
he
pr
e
vious
s
tudy
that
us
e
d
a
s
tep
input
,
it
c
lea
r
ly
made
a
n
im
pr
ove
ment.
A
va
r
ie
ty
of
a
mpl
i
tude
a
nd
f
r
e
que
nc
y
we
r
e
us
e
d
to
tes
t
the
p
e
r
f
or
manc
e
of
the
s
ys
tem
with
the
pr
opos
e
d
c
ontr
oll
e
r
,
but
did
not
s
how
a
dif
f
e
r
e
nc
e
whic
h
mea
ns
the
pr
opos
e
d
c
ontr
ol
s
tr
a
tegie
s
mana
ge
d
to
a
da
pt
with
s
udde
n
c
ha
nge
s
.
F
igur
e
2
.
T
he
s
tr
uc
tur
a
l
o
f
M
N
-
P
I
D
c
ontr
ol
s
tr
a
teg
y
[
3
2
]
B
it
a
ou
Ya
o
e
t
a
l.
c
onduc
ted
a
n
e
xpe
r
im
e
ntal
inv
e
s
ti
ga
ti
on
on
a
s
ingl
e
pne
umatic
a
r
ti
f
icia
l
mus
c
le
(
P
AM
)
a
nd
the
hys
ter
e
s
is
e
leme
nt
w
a
s
take
n
int
o
a
c
c
ount
[3
5
]
.
An
e
mpi
r
ica
l
model
is
a
ny
type
of
c
omput
e
r
modelli
ng
ba
s
e
d
on
the
e
xpe
r
i
menta
l
da
ta
t
ha
t
wa
s
va
li
da
ted
by
e
xpe
r
im
e
nts
,
then
a
ppli
e
d
to
the
pos
it
ion
c
ontr
ol
o
f
P
AM
.
P
AM
is
s
ubjec
ted
t
o
high
nonli
ne
a
r
it
y
a
nd
ti
me
-
va
r
iant
pr
ope
r
ti
e
s
.
T
he
r
e
f
or
e
,
many
va
r
iable
s
tr
uc
tur
e
c
ontr
ol
s
tr
a
tegie
s
ha
ve
be
e
n
pr
opos
e
d
by
pr
e
vious
r
e
s
e
a
r
c
he
r
s
.
How
e
ve
r
,
in
t
his
s
tudy
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
.
1
,
F
e
br
ua
r
y
2020
:
332
-
342
336
the
e
xpe
r
im
e
nt
wa
s
c
ompar
e
d
by
us
ing
a
s
e
lf
-
or
ga
nizing
f
uz
z
y
c
ontr
oll
e
r
with
model
c
omp
e
ns
a
ti
on
(
S
OFC
M
C
)
,
a
s
e
lf
-
or
ga
nizing
c
ont
r
oll
e
r
(
S
OFC
)
,
a
nd
a
pr
opo
r
ti
ona
l
in
tegr
a
l
de
r
ivative
(
P
I
D)
witho
ut
model
c
ompens
a
ti
on.
F
r
om
the
r
e
s
ult
obtaine
d,
a
ppa
r
e
ntl
y
S
OFC
M
C
s
how
s
the
be
s
t
r
e
s
ult
in
tr
a
c
king
e
r
r
or
c
ompar
e
d
to
S
OFC
a
nd
P
I
D
whe
r
e
the
e
r
r
o
r
only
moved
a
li
t
tl
e
whic
h
is
±
0.
4
mm
a
lt
hough
the
e
xter
na
l
load
w
a
s
a
dde
d
f
r
om
45
N
to
85
N.
I
t
pr
ove
d
that
the
r
obus
tnes
s
of
the
s
ys
tem
is
ve
r
if
ied
a
nd
the
s
tabili
ty
of
the
c
ontr
o
ll
e
r
wa
s
maintaine
d.
T
h
is
s
tudy
a
ls
o
jus
ti
f
ied
that
f
uz
z
y
c
ontr
oll
e
r
is
the
be
s
t
c
ontr
ol
ler
to
c
ontr
ol
the
p
ne
umatic
a
r
ti
f
icia
l
mus
c
le.
F
ur
ther
mor
e
,
a
s
tudy
in
2017
by
[3
6
]
a
ls
o
s
howe
d
t
he
c
ontr
ibut
ion
in
the
c
ont
r
oll
e
r
de
s
ign
onc
e
a
ga
in
is
in
pne
umatic
a
r
ti
f
icia
l
mus
c
le
(
P
AM
)
.
T
his
s
tud
y
pr
opos
e
d
a
c
onve
nti
ona
l
P
I
D
c
ontr
oll
e
r
wi
th
f
e
e
d
f
o
r
wa
r
d
c
ontr
ol
but
f
or
th
is
r
e
s
e
a
r
c
h,
it
wa
s
upgr
a
de
d
wit
h
a
ne
w
a
da
pti
ve
ba
c
k
-
pr
opa
ga
ti
on
(
a
B
P
)
a
lgor
it
hm.
T
h
is
r
e
s
e
a
r
c
h
pr
opos
e
d
the
a
bove
method
be
c
a
us
e
the
pne
umatic
a
r
ti
f
icia
l
mus
c
le
(
P
AM
)
is
incr
e
dibl
y
di
f
f
icult
to
c
ontr
ol
due
to
the
s
tr
ong
nonli
ne
a
r
c
ha
r
a
c
ter
is
ti
c
s
a
nd
s
e
ns
it
ivi
ty
towa
r
ds
the
wor
king
e
nvir
onments
s
uc
h
a
s
tempe
r
a
tur
e
a
nd
other
pr
e
s
s
ur
e
r
e
s
our
c
e
s
.
I
nit
ial
ly,
the
inver
s
e
ne
ur
a
l
NA
R
X
(
I
NN
)
model
dyn
a
mi
c
a
ll
y
r
e
c
ognize
s
a
ll
nonli
ne
a
r
e
leme
nts
of
the
S
C
AR
A
pa
r
a
ll
e
l
P
AM
r
obot
.
T
he
n,
I
NN
wa
s
c
ombi
n
e
d
with
the
c
onve
nti
ona
l
P
I
D
c
ontr
oll
e
r
to
im
pr
ove
the
p
r
e
c
is
ion
a
nd
r
e
duc
e
the
s
tea
dy
-
s
tate
e
r
r
or
in
the
pos
it
ion
c
ontr
ol.
A
ne
w
a
da
pti
ve
ba
c
k
-
pr
opa
ga
ti
on
wa
s
c
r
e
a
ted
ba
s
e
d
on
the
S
uge
no
f
uz
z
y
s
ys
tem.
T
he
int
r
oduc
e
d
c
ontr
ol
method
pos
s
e
s
s
e
s
the
c
a
pa
bil
it
y
to
lea
r
n
a
nd
upda
te
the
s
ys
tem
a
utom
a
ti
c
a
ll
y
a
nd
mi
nim
ize
tr
a
c
king
e
r
r
or
ne
a
r
to
z
e
r
o
.
T
he
pr
opos
e
d
c
ontr
oll
e
r
a
c
hieve
d
a
n
outs
tanding
c
ontr
ol
qua
li
ty,
ve
r
y
a
da
ptable
a
nd
r
obus
t
without
a
ny
r
e
f
e
r
e
nc
e
to
e
xter
na
l
dis
tur
ba
nc
e
s
.
As
highl
ight
e
d
by
[3
7
]
,
thi
s
s
tudy
f
oc
us
e
d
on
t
he
pr
e
s
s
ur
e
tr
a
c
king
c
ontr
ol
that
wa
s
a
ppli
e
d
to
the
pos
it
ive
a
nd
ne
ga
ti
ve
pne
umatic
pr
e
s
s
ur
e
s
e
r
vo
s
ys
tem
(
P
NPP
S
S
)
.
P
NPP
S
S
is
a
n
im
po
r
tant
e
l
e
ment
in
the
a
e
r
os
pa
c
e
e
nginee
r
ing
f
ield
whe
r
e
it
is
us
e
d
in
the
a
ir
c
r
a
f
t
to
moni
to
r
s
e
a
led
c
ha
mber
pr
e
s
s
ur
e
.
How
e
ve
r
,
be
c
a
us
e
of
the
a
ir
c
ompr
e
s
s
ibi
li
ty,
a
s
ymm
e
t
r
y
of
c
ha
r
ging
a
nd
dis
c
ha
r
ging
pr
oc
e
s
s
,
the
va
r
iation
of
the
pa
r
a
mete
r
s
due
to
a
lea
ka
ge
that
c
a
us
e
d
the
nonl
inea
r
it
ies
;
a
c
ont
r
ol
tec
hnique
o
f
f
uz
z
y
p
r
opor
ti
ona
l
int
e
gr
a
l
de
r
ivative
wa
s
int
r
oduc
e
d
a
nd
it
wa
s
a
c
c
ompanie
d
with
a
n
a
s
ymm
e
tr
ic
f
uz
z
y
c
ompens
a
t
or
.
P
I
D
wa
s
us
e
d
be
c
a
us
e
of
it
s
s
im
ple
s
tr
uc
tur
e
but
it
ha
s
dif
f
icu
lt
y
in
obtaining
good
r
e
s
ult
owing
to
the
oc
c
ur
r
e
nc
e
of
nonli
ne
a
r
it
ies
.
L
ikew
is
e
with
f
uz
z
y
,
whic
h
c
a
n
pe
r
f
or
m
we
ll
be
c
a
us
e
it
doe
s
not
r
e
qui
r
e
a
n
a
c
c
ur
a
te
model
but
it
lac
ks
of
a
da
pti
on
to
a
b
r
oa
d
ope
r
a
ti
ona
l
r
a
nge
a
n
d
s
e
r
ious
a
s
ymm
e
tr
y.
How
e
ve
r
,
the
modi
f
ica
ti
on
w
a
s
made
by
a
dding
a
f
uz
z
y
inf
e
r
e
nc
e
model
a
nd
a
n
a
s
ymm
e
tr
ic
f
uz
z
y
c
ompens
a
tor
.
T
his
s
tudy
indi
c
a
tes
that
the
r
e
c
omm
e
nde
d
c
ontr
oll
e
r
ove
r
c
omes
the
a
s
ym
metr
ic
pr
oblem
a
nd
e
xe
c
utes
be
tt
e
r
dyna
mi
c
pe
r
f
or
manc
e
f
oll
owe
d
by
a
r
a
nge
of
pr
e
s
s
ur
e
in
thi
s
f
ield
(
2
-
140
kP
a
)
.
R
e
s
e
a
r
c
h
f
indi
ng
by
[3
8
]
a
ls
o
point
ing
towa
r
ds
t
he
us
e
of
f
uz
z
y
P
I
D
c
ont
r
oll
e
r
in
the
pne
umatic
pr
e
s
s
ur
e
s
ys
tem.
I
n
a
ddit
ion,
the
f
uz
z
y
P
I
D
c
ont
r
oll
e
r
wa
s
upgr
a
de
d
by
a
dding
a
f
r
a
c
ti
ona
l
or
de
r
c
ontr
oll
e
r
a
nd,
the
pr
opos
e
d
c
ontr
oll
e
r
known
a
s
f
uz
z
y
f
r
a
c
ti
ona
l
-
or
de
r
pr
opor
ti
ona
l
int
e
g
r
a
l
de
r
ivative
(
F
F
OPI
D)
.
T
his
s
tudy
f
oc
us
e
d
on
e
nha
nc
ing
the
r
obus
tnes
s
of
the
s
ys
tem
due
to
the
load
va
r
iations
a
nd
e
xter
na
l
v
a
r
iations
.
W
hil
e
the
c
ontr
oll
e
r
wa
s
de
s
igned,
the
P
I
D
with
Z
iegle
r
-
Nic
hols
tuni
ng
method
wa
s
us
e
d
to
obtain
t
h
e
va
lue
of
Kp
,
Ki,
a
nd
Kd
pa
r
a
mete
r
s
.
T
he
n,
the
r
e
a
r
e
two
pa
r
a
mete
r
s
mus
t
be
r
e
c
ognize
by
the
f
r
a
c
ti
on
al
-
or
de
r
P
I
D
(
F
OPI
D)
c
ontr
oll
e
r
:
i)
int
e
gr
a
to
r
o
r
de
r
(
λ
)
a
nd
ii
)
dif
f
e
r
e
nti
a
tor
or
de
r
(
µ
)
.
T
he
s
ys
tem
a
nd
de
r
ivativ
e
s
input
s
a
s
s
igned
f
r
om
the
f
uz
z
y
logi
c
c
ontr
ol
ler
(
F
L
C
)
c
a
n
be
us
e
d
to
pe
r
f
or
m
the
s
c
a
li
ng
f
a
c
to
r
of
the
p
r
op
or
ti
ona
l,
int
e
gr
a
l,
a
nd
de
r
ivatives
ter
ms
.
I
t
a
ls
o
im
p
r
ove
d
t
he
pe
r
f
o
r
manc
e
of
the
c
ontr
o
ll
e
r
us
ing
onl
ine
ga
i
n
tuni
ng
mec
ha
nis
m.
T
he
numer
ica
l
c
ompar
is
on
of
c
onve
nti
ona
l
P
I
D,
F
OPI
D
,
a
n
d
F
F
OPI
D
c
ont
r
oll
e
r
s
we
r
e
c
a
r
r
ied
out
in
the
s
im
ulation
pa
r
t.
F
r
om
that
c
ompar
is
on,
it
is
v
e
r
if
ied
that
F
F
OPI
D
pr
oduc
e
s
the
be
s
t
pe
r
f
or
manc
e
in
ter
ms
of
s
e
tt
li
ng
ti
me,
ove
r
s
hoot
,
int
e
gr
a
l
s
qua
r
e
e
r
r
o
r
,
a
nd
int
e
gr
a
l
a
bs
olut
e
e
r
r
or
.
I
t
a
ls
o
jus
ti
f
ied
that
th
e
s
ys
tem
pe
r
f
or
ms
we
ll
in
ter
ms
o
f
r
obus
tnes
s
whe
n
the
load
wa
s
a
dde
d.
Anothe
r
s
tudy
by
[3
9
]
r
e
por
ted
that,
in
or
de
r
to
s
olve
th
e
t
r
a
c
king
p
r
oblem
o
f
the
s
e
r
vo
pne
umatic
pos
it
ioni
ng
s
ys
tem,
the
a
uthor
pr
opos
e
d
a
nonli
ne
a
r
r
obus
t
tr
a
c
king
c
ontr
ol
s
c
he
me.
T
he
f
indi
ng
hig
hli
ghted
to
take
int
o
a
c
c
ount
the
pr
e
s
s
ur
e
,
ve
locity,
a
nd
pos
i
ti
on
dif
f
e
r
e
nc
e
s
of
the
c
ha
mber
s
of
pne
umatic
c
yli
nde
r
a
s
a
f
e
e
dba
c
k
s
tate
.
T
his
s
tudy
a
c
hieve
d
s
uc
c
e
s
s
in
the
s
im
ulation,
a
nd
im
pleme
nted
in
the
r
e
a
l
plant
of
the
pne
umatic
s
ys
tem
a
nd
global
s
im
ulation
model.
T
he
c
ont
r
ol
s
tr
a
tegy
wa
s
divi
de
d
int
o
tw
o
pa
r
ts
:
i)
pr
opor
ti
ona
l
c
ont
r
oll
e
r
a
s
a
n
inner
loop
to
m
e
a
s
ur
e
the
dif
f
e
r
e
nc
e
of
the
pr
e
s
s
ur
e
in
the
c
ha
mber
s
of
the
pne
umatic
c
yli
nde
r
,
a
nd
ii
)
indepe
nde
nt
f
e
e
dba
c
k
a
nd
f
e
e
df
or
wa
r
d
(
f
e
e
df
or
wa
r
d
a
c
ts
a
s
pr
e
-
f
il
ter
of
the
r
e
f
e
r
e
nc
e
pos
it
ion
tr
a
jec
tor
y
a
nd
f
e
e
dba
c
k
of
th
e
dif
f
e
r
e
nc
e
be
twe
e
n
de
s
ir
e
d
a
nd
a
c
tual
s
t
a
te)
.
I
t
w
a
s
f
ound
that
the
maximum
tr
a
c
king
e
r
r
o
r
is
a
ppr
oxim
a
tely
2
mm
a
nd
the
s
tea
dy
-
s
tate
e
r
r
or
is
s
maller
than
1
mm
whic
h
is
be
tt
e
r
than
the
pr
e
vious
r
e
s
e
a
r
c
h’
s
r
e
s
ult
,
5
mm
.
4.
CONT
ROL
L
E
R
DE
S
I
GN
B
ASE
D
ON
S
L
I
DI
N
G
M
ODE
CONT
ROL
L
E
R
(
S
M
C)
A
s
li
ding
mode
c
ontr
oll
e
r
is
u
ti
li
z
e
d
in
mos
t
f
a
mo
us
c
ontr
oll
e
r
s
that
a
lwa
ys
be
e
n
us
e
d
in
pne
umatic
a
c
tuator
s
ys
tems
.
T
his
is
be
c
a
us
e
S
M
C
c
a
n
be
im
pleme
nted
in
the
nonli
ne
a
r
s
ys
tem,
ther
e
f
or
e
pr
e
vious
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
R
e
v
iew
on
c
ontr
oll
e
r
de
s
ign
in
pne
umatic
ac
tuat
or
dr
ive
s
y
s
tem
(
Sy
amiz
a
J
amian)
337
r
e
s
e
a
r
c
he
s
us
e
d
thi
s
a
ppr
oa
c
h
to
mana
ge
the
nonli
ne
a
r
it
ies
in
the
pne
u
matic
a
c
tuator
s
ys
tem
a
s
a
c
c
ompl
is
he
d
by
J
.
S
ong
a
nd
Y
.
I
s
hida
[
40
]
,
R
iche
r
a
nd
Huz
m
ulu
[
41
]
,
S.
R
.
P
a
ndian
e
t
a
l.
[4
2
]
,
B
a
r
th
e
t
a
l
.
[4
3
]
,
G
.
M
.
B
one
a
nd
S
.
Ning
[4
4
]
,
Y
.
C
.
T
s
a
i
a
nd
A.
C
.
Hua
ng
[4
5
]
,
Yua
n
e
t
a
l.
[4
6
]
,
Z
ha
o
e
t
a
l
.
[4
7
]
,
C
he
n
e
t
a
l.
[4
8
]
,
S
.
Hodgs
on
e
t
a
l
.
[4
9
]
,
A.
E
s
tr
a
da
a
nd
F
.
P
les
t
a
n
[
50
]
,
A.
R
e
z
oug,
B
.
T
ondu
,
a
nd
M
.
Ha
mer
l
a
in
[
51
]
,
Aya
di
e
t
a
l.
[5
2
]
,
a
nd
Hida
lgo
a
nd
G
r
a
c
ia
[5
3
]
.
S
ur
ve
ys
on
the
s
li
ding
mode
c
ontr
oll
e
r
c
ontr
ib
uted
the
inf
or
mation
that,
i
t
ha
s
be
e
n
us
e
d
in
the
pne
umatic
s
e
r
vo
s
ys
tem
s
s
ince
1997
a
s
r
e
por
ted
by
[
40
]
.
T
his
s
tudy
c
a
me
up
wi
th
a
r
obus
t
s
li
ding
mode
c
ontr
ol
s
tr
a
tegy
by
c
ons
ider
ing
the
L
ya
punov
s
tabili
ty
theor
y
a
nd
the
s
tr
uc
tur
a
l
p
r
ope
r
ti
e
s
of
a
pne
umat
ic
s
e
r
vo
s
ys
tem.
T
he
c
ontr
oll
e
r
wa
s
de
s
igned
s
o
that
the
output
tr
a
c
king
e
r
r
or
c
a
nnot
be
lar
ge
r
than
a
ny
r
a
ndo
m
s
mall
c
ons
tant,
a
s
ti
me,
t
a
ppr
oa
c
h
to
inf
ini
ty,
s
tr
ong
r
obus
tnes
s
with
r
e
s
pe
c
t
to
lar
ge
unc
e
r
tain
dyna
mi
c
s
c
a
n
be
pr
omi
s
e
d.
T
he
c
ont
r
oll
e
r
de
s
ign
c
omm
e
nc
e
d
with
the
de
f
ini
ti
on
a
nd
a
s
s
umpt
ions
f
r
om
the
a
na
lys
is
model
of
the
pne
umatic
c
yli
nde
r
a
nd
e
qua
ti
on
pr
ove
d
by
c
o
ns
i
de
r
ing
the
L
ya
punov
f
unc
ti
on.
T
he
pr
opos
e
d
c
ontr
oll
e
r
wa
s
then
a
ppli
e
d
to
the
r
e
a
l
plant
in
a
n
e
xpe
r
im
e
nt
to
pr
ove
the
tr
us
twor
thi
ne
s
s
in
a
pr
a
c
ti
c
a
l
pne
uma
ti
c
s
e
r
vo
s
ys
tem.
T
he
im
pleme
nted
load
wa
s
30
kg
in
the
f
o
r
wa
r
d
d
ir
e
c
ti
on,
100
kg
in
the
ba
c
kwa
r
d
di
r
e
c
ti
on
a
nd
c
ha
nge
d
to
100
kg
f
or
the
f
o
r
wa
r
d
d
ir
e
c
ti
on
a
nd
30
kg
f
or
the
ba
c
kwa
r
d
d
ir
e
c
ti
on.
B
oth
c
ondit
ions
s
ho
we
d
that
the
dyna
mi
c
a
l
t
r
a
c
king
e
r
r
o
r
is
no
lar
ge
r
than
2
m
m
a
nd
the
s
tatic
c
ontr
o
l
p
r
e
c
is
ion
is
a
ppr
oxim
a
tely
0.
2
mm
.
T
he
c
ontr
ol
s
ignal
wa
s
c
onti
nuous
ove
r
ti
me.
I
t
c
a
n
be
s
e
e
n
that
the
e
f
f
e
c
ts
of
nonli
ne
a
r
unc
e
r
tainty
f
a
c
tor
s
a
r
e
e
ndur
e
d
a
nd
a
good
t
r
a
c
king
pe
r
f
o
r
manc
e
wa
s
a
c
hi
e
ve
d.
How
e
ve
r
,
the
c
ontr
o
l
s
c
he
me
c
a
n
only
be
a
p
pli
e
d
f
or
the
s
e
c
ond
-
or
de
r
pne
umatic
s
e
r
vo
s
ys
tem.
I
n
a
nother
s
tudy
b
y
[
4
1
]
,
two
non
li
ne
a
r
f
or
c
e
c
on
tr
oll
e
r
s
ba
s
e
d
on
the
s
li
ding
mode
c
ontr
ol
theor
y
we
r
e
int
r
oduc
e
d
.
T
he
s
tudy
s
tar
ted
with
a
de
ve
lop
ment
of
the
mathe
matica
l
model
of
a
pne
umatic
s
ys
tem,
a
nd
then
the
f
ir
s
t
s
tage
of
the
c
ont
r
oll
e
r
whic
h
r
e
quir
e
d
a
ve
r
y
c
ompl
e
x
onli
ne
c
omput
a
ti
on
f
o
r
the
c
ontr
o
l
law
wa
s
de
s
igned.
I
t
wa
s
f
oll
owe
d
by
the
de
s
igni
ng
of
th
e
r
e
duc
e
d
o
r
de
r
o
f
s
li
ding
mode
c
ontr
oll
e
r
by
ne
glec
ti
ng
the
va
lve
dyna
mi
c
s
a
nd
ti
me
de
lay.
T
he
r
e
duc
e
d
or
de
r
c
ontr
o
ll
e
r
r
e
s
ult
ing
in
the
c
ont
r
ol
law
be
c
omes
s
im
pli
f
ied.
Othe
r
r
e
s
e
a
r
c
he
r
s
tr
ied
to
c
ontr
ol
the
pn
e
umatic
a
c
tuator
s
by
us
ing
a
P
D
a
nd
a
n
a
da
pti
ve
c
ontr
oll
e
r
but
that
c
ont
r
oll
e
r
wa
s
s
uit
a
ble
only
f
or
low
f
r
e
q
ue
nc
ies
.
How
e
ve
r
,
in
thi
s
s
tudy
,
the
im
pr
ove
men
t
wa
s
in
the
f
r
e
que
nc
ies
whic
h
a
f
r
e
que
nc
y
of
up
to
25
Hz
wa
s
c
ompar
e
d
to
the
pr
e
vious
s
tudy’
s
f
r
e
que
nc
y
whic
h
is
only
up
to
16
Hz
.
T
he
main
f
oc
us
of
thi
s
s
tudy
i
s
to
de
s
ign
a
nd
tes
t
the
high
-
pe
r
f
o
r
manc
e
f
o
r
c
e
c
ontr
oll
e
r
s
uit
a
ble
f
or
highl
y
de
manding
a
ppli
c
a
ti
ons
s
uc
h
a
s
the
ha
pti
c
int
e
r
f
a
c
e
s
.
T
he
maximum
f
o
r
c
e
tes
te
d
in
thi
s
s
tudy
wa
s
75
N
whic
h
is
s
uit
a
ble
f
or
a
human
ope
r
a
tor
a
r
m
while
the
maximu
m
f
r
e
que
nc
y
us
e
d
wa
s
25
Hz
whic
h
c
a
n
a
void
a
n
ope
r
a
tor
induce
d
os
c
il
lation.
T
h
e
s
tudy
s
howe
d
both
c
ont
r
oll
e
r
s
we
r
e
tes
ted
by
e
xp
e
r
im
e
nts
a
nd
s
im
ulations
.
I
t
wa
s
f
ound
that
the
r
e
duc
e
d
c
o
ntr
oll
e
r
c
a
n
only
be
i
mpl
e
mente
d
f
o
r
a
mi
nim
u
m
r
e
quir
e
d
tas
k
s
uc
h
a
s
c
ontr
oll
ing
the
s
houlder
a
nd
e
lbow
joi
nts
but
f
or
a
ny
tas
k
that
r
e
qui
r
ing
h
igh
s
pe
e
d
a
nd
a
c
c
ur
a
c
y
moveme
nts
f
or
e
xa
mpl
e
w
r
is
t
a
nd
f
inger
joi
n
ts
,
it
i
s
s
tr
ongly
r
e
c
omm
e
nde
d
to
us
e
the
f
ull
or
de
r
S
M
C
.
I
n
a
nother
s
tudy
pr
e
s
e
nted
by
[4
4
]
,
the
s
li
ding
mo
de
c
ontr
ol
method
ba
s
e
d
on
a
li
ne
a
r
plant
(
S
M
C
L
)
a
nd
nonli
ne
a
r
plant
(
S
M
C
N)
wa
s
im
pleme
nted
to
e
nha
nc
e
the
pos
it
ion
tr
a
c
king
c
ont
r
ol
f
o
r
pne
umatic
c
yli
nde
r
a
c
tuator
s
.
T
he
e
xpe
r
im
e
ntal
pe
r
f
o
r
manc
e
in
thi
s
s
ys
tem
wa
s
c
ompar
e
d
both
in
hor
izonta
l
a
nd
ve
r
ti
c
a
l.
T
he
mot
ion
tr
a
jec
tor
ies
a
r
e
to
f
o
ll
ow
the
gr
a
vit
y
loading
a
nd
a
ll
ow
the
tes
ti
ng
to
be
pe
r
f
o
r
med
in
va
r
ious
c
ondit
ions
.
T
his
r
e
s
e
a
r
c
h
f
oc
us
e
d
on
the
de
s
ign
a
n
d
tes
ti
ng
of
two
model
-
ba
s
e
d
s
li
ding
-
mode
tr
a
c
kin
g
c
ontr
ol
a
lgor
it
hms
f
o
r
pne
umatic
c
yli
nde
r
a
c
tuator
s
a
nd
a
c
ompar
is
on
that
wa
s
n't
c
onduc
ted
in
the
pr
e
vious
l
it
e
r
a
tur
e
wa
s
c
a
r
r
ied
out.
S
M
C
N
pe
r
f
or
med
be
tt
e
r
in
the
t
r
a
c
king
e
r
r
or
,
whic
h
is
18%
be
tt
e
r
with
va
r
ious
o
pe
r
a
ti
ng
c
ondit
ions
f
or
both
ve
r
ti
c
a
l
a
nd
hor
izonta
l
c
ompa
r
e
d
to
S
M
C
L
.
How
e
ve
r
,
the
pe
r
f
or
manc
e
o
f
S
M
C
N
is
not
gua
r
a
ntee
d
if
the
c
ompl
e
xit
y
is
a
dde
d
a
nd
the
r
e
qu
ir
e
ment
f
or
pr
e
s
s
ur
e
s
e
ns
or
is
higher
than
in
thi
s
s
tudy.
T
he
s
li
ding
mode
c
ontr
oll
e
r
wa
s
im
pr
ove
d
in
2
008
by
a
nother
s
tudy
in
[4
5
]
.
T
he
im
pr
ove
ment
mate
r
ialize
d
whe
n
a
mul
ti
ple
-
s
ur
f
a
c
e
s
li
ding
c
ontr
oll
e
r
wa
s
s
ugge
s
ted
f
or
the
pne
umatic
s
e
r
vo
s
ys
tems
with
va
r
iable
pa
yload
a
nd
unc
e
r
taint
ies
.
I
n
thi
s
p
r
o
pos
e
d
c
ontr
o
ll
e
r
,
the
method
us
e
d
is
the
s
a
me
type
a
s
the
ba
c
ks
tepping
in
the
[5
4
]
’
s
a
r
r
a
nge
ment,
whe
r
e
a
s
li
ding
c
ont
r
oll
e
r
wa
s
de
s
igned
to
mi
nim
ize
the
r
e
lative
de
gr
e
e
[5
5
]
.
T
he
c
ontr
oll
e
r
de
s
ign
c
omm
e
nc
e
d
with
a
f
e
w
a
s
s
umpt
ions
f
or
the
c
ont
r
oll
e
r
to
be
f
e
a
s
ibl
e
.
T
he
de
r
ivation
of
the
M
S
S
C
s
tar
ted
wi
th
the
de
f
ini
ti
on
o
f
the
number
of
s
ys
tem
s
tate
s
s
l
idi
ng
s
ur
f
a
c
e
s
.
T
he
r
e
s
ult
s
howe
d
the
t
r
a
c
king
e
r
r
o
r
unde
r
M
S
S
C
is
be
tt
e
r
than
unde
r
P
I
D
-
c
ontr
ol
bu
t
the
us
e
o
f
S
M
C
c
a
us
e
d
c
ha
tt
e
r
ing
e
f
f
e
c
ts
.
I
n
o
r
de
r
to
r
e
duc
e
the
pos
it
ion
e
r
r
or
a
nd
s
witchin
g
a
c
ti
vit
ies
a
s
in
the
s
tudy
by
[4
9
]
,
the
s
ys
tem
wa
s
im
pr
ove
d
us
ing
a
s
e
ve
n
-
mod
e
s
li
ding
c
ontr
oll
e
r
.
T
his
s
tudy
pr
opos
e
d
a
s
li
ding
mode
law
f
or
a
r
oboti
c
s
ys
tem
that
uti
li
z
e
s
on/of
f
(
s
olenoid)
pne
umatic
a
c
tuator
s
.
T
he
pr
opos
e
d
c
ontr
ol
de
s
ign
wa
s
e
xpe
r
im
e
ntally
jus
ti
f
ied
on
a
s
ingl
e
pne
umatic
a
c
tuator
that
c
ons
is
ts
of
two
c
ha
mber
s
dr
iven
by
f
our
on/of
f
s
olenoid
va
lves
.
T
he
s
li
ding
mode
c
ontr
oll
e
r
de
s
ign
wa
s
ini
ti
a
ted
with
the
pos
it
ion
-
c
ontr
ol
s
ys
tem
whe
r
e
the
s
li
ding
s
ur
f
a
c
e
wa
s
de
ter
mi
ne
d
a
nd
the
s
tabili
ty
wa
s
a
na
lys
e
d
by
c
ons
ider
ing
the
L
ya
punov
f
unc
ti
on.
How
e
ve
r
,
to
a
pply
the
c
ontr
oll
e
r
mode
s
e
lec
ti
on
invol
ving
a
s
e
ve
n
-
mode
c
ontr
oll
e
r
,
the
c
ur
r
e
nt
c
ha
mber
pr
e
s
s
ur
e
s
mus
t
be
int
e
ll
igent
to
pick
the
s
uit
a
ble
ope
r
a
ti
ng
modes
.
L
a
s
tl
y,
c
ontr
oll
e
r
pa
r
a
mete
r
s
s
hould
be
s
e
lec
ted
t
o
s
moot
h
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
.
1
,
F
e
br
ua
r
y
2020
:
332
-
342
338
the
mot
ions
a
nd
r
e
duc
e
the
s
witching
a
c
ti
vit
ies
.
B
a
s
e
d
on
the
r
e
s
ult
s
,
the
pr
opos
e
d
s
e
ve
n
-
mod
e
c
ontr
oll
e
r
a
lgor
it
hm
is
c
ompar
e
d
with
the
th
r
e
e
-
mode
s
li
ding
mode
c
ontr
oll
e
r
a
nd
it
r
e
duc
e
d
the
s
witching
a
c
ti
vit
ies
.
T
he
pr
opos
e
d
c
ontr
oll
e
r
a
ls
o
made
a
n
im
pr
ove
men
t
in
the
tr
a
c
king
e
r
r
or
whic
h
is
0
.
45
mm
.
Othe
r
than
that,
a
s
tudy
o
f
the
s
li
ding
mode
c
ontr
o
ll
e
r
with
a
f
oc
us
on
the
s
witching
ga
in
wa
s
c
a
r
r
ied
out
in
201
4
a
s
pr
opos
e
d
by
[
50
]
.
T
h
is
s
tudy
f
oc
us
e
d
on
a
s
witching
ga
ins
output
f
e
e
dba
c
k
c
ontr
ol
ler
whic
h
is
a
s
a
mpl
e
-
b
a
s
e
d
on
the
s
e
c
ond
or
de
r
s
li
ding
mod
e
.
T
his
s
tudy
highl
ight
e
d
the
main
c
omm
on
pr
op
e
r
ti
e
s
of
s
li
ding
mode
(
S
M
)
or
high
o
r
de
r
s
li
ding
mode
(
HO
S
M
)
c
ontr
ol,
whic
h
a
r
e
the
r
obus
tnes
s
to
the
bounde
d
dis
tur
ba
nc
e
s
matc
he
d
by
c
ontr
ol
a
nd
f
ini
te
a
ppr
oa
c
h
ti
me.
T
he
main
a
dva
ntage
of
the
p
r
opos
e
d
c
ontr
oll
e
r
is
the
r
e
duc
e
d
number
o
f
in
f
or
mation
whe
r
e
the
ti
me
de
r
ivative
of
s
li
ding
va
r
iable
is
no
t
r
e
qui
r
e
d.
An
im
pr
ove
ment
to
r
e
duc
e
t
he
c
ontr
ol
va
lve
f
r
ictio
n
e
f
f
e
c
t
wa
s
e
mphas
ize
d
in
a
s
tudy
by
[5
3
]
in
2017.
T
he
c
ontr
oll
e
r
wa
s
pr
opos
e
d
in
two
di
f
f
e
r
e
nt
a
p
pr
oa
c
he
s
.
T
he
f
i
r
s
t
a
ppr
oa
c
h
wa
s
to
c
ontr
ol
the
f
low
of
the
plant
us
ing
a
va
lve
a
s
a
c
ontr
o
l
e
leme
nt
whic
h
int
e
gr
a
tes
S
M
C
unde
r
a
n
e
xter
na
l
topol
ogy
us
ing
dif
f
e
r
e
nt
s
a
mpl
i
ng
ti
mes
(
1
ms
,
10
ms
,
a
nd
100
ms
)
.
T
he
s
e
c
ond
a
ppr
oa
c
h
wa
s
the
int
e
gr
a
ti
on
o
f
S
M
C
unde
r
a
n
int
e
r
na
l
topol
ogy.
I
n
thi
s
a
ppr
oa
c
h,
S
M
C
a
c
ts
a
s
a
s
lave
c
ontr
ol
loop
f
or
the
va
lve
pos
it
ion
s
tem
while
P
I
c
ontr
oll
e
r
a
c
ts
a
s
a
mas
ter
c
ontr
ol
loop
in
r
e
gulating
th
e
f
lo
w.
T
he
e
xpe
r
i
menta
l
r
e
s
ult
s
howe
d
that
the
int
e
gr
a
ted
S
M
C
unde
r
the
e
xte
r
na
l
topol
ogy
without
a
s
tate
obs
e
r
ve
r
with
the
s
a
mpl
ing
ti
mes
of
1ms
a
nd
10
ms
p
r
oduc
e
d
the
be
s
t
r
e
s
ult
.
I
n
c
ont
r
a
s
t,
the
us
e
of
100
ms
s
a
mpl
ing
ti
mes
yielde
d
a
be
tt
e
r
r
e
s
ult
bu
t
c
ha
tt
e
r
in
g
pr
oblem
oc
c
ur
r
e
d.
Ne
ve
r
thele
s
s
,
thi
s
int
e
gr
a
ted
S
M
C
is
s
uit
a
ble
f
or
a
ve
r
y
high
-
pe
r
f
or
manc
e
c
ontr
o
l
loo
p
a
nd
in
a
ddit
ion,
the
im
pleme
ntation
c
os
t
is
a
ls
o
high
.
5.
CONT
ROL
L
E
R
DE
S
I
GN
B
ASE
D
ON
AD
AP
T
I
VE
CONT
ROL
L
E
R
I
n
a
s
ubs
e
que
nt
s
tudy,
the
a
uthor
mus
t
de
a
l
with
t
he
s
a
me
pr
e
vious
pr
oblem
a
s
the
pne
umatic
s
e
r
vo
pos
it
ion
c
ontr
ol
s
ys
tem
ha
s
the
typi
c
a
l
c
ha
r
a
c
ter
is
ti
c
s
of
nonli
ne
a
r
it
y
a
nd
ti
me
-
va
r
ying
[5
6
]
.
A
ne
w
im
pr
ove
ment
to
the
f
r
iction
c
ompens
a
ti
on
wa
s
m
a
de
in
thi
s
s
tudy
with
a
f
oc
us
to
e
nha
nc
e
the
a
c
c
ur
a
c
y
of
pne
umatic
s
e
r
vo
pos
it
ion
c
o
nt
r
ol
s
ys
tems
.
T
he
p
r
opos
e
d
c
ontr
oll
e
r
wa
s
a
n
a
da
pti
ve
f
uz
z
y
-
P
D.
T
he
f
uz
z
y
c
ontr
oll
e
r
c
ontr
ols
the
dis
plac
e
ment
of
a
pne
umatic
s
e
r
vo
s
ys
tem
that
c
a
n
a
r
r
ive
a
t
a
s
e
t
point
with
a
r
e
duc
e
d
ove
r
s
hoot,
but
to
a
c
hieve
thi
s
goa
l,
the
a
da
pti
v
e
c
ompens
a
ti
on
mus
t
be
de
s
igned
a
nd
c
ombi
ne
d
with
a
c
onve
nti
ona
l
f
uz
z
y
c
ontr
oll
e
r
to
c
ompens
a
te
the
f
r
iction.
I
n
the
e
xpe
r
im
e
ntal
r
e
s
ult
,
it
is
c
lea
r
that
th
e
s
e
tt
li
ng
ti
me
a
nd
s
tea
dy
s
tate
e
r
r
or
unde
r
a
c
ons
tant
load
we
r
e
obtaine
d
f
or
les
s
than
1
s
a
nd
0
.
3
mm
with
a
r
e
duc
e
d
ov
e
r
s
hoot.
I
t
s
hould
be
note
that
thi
s
tec
hnique
wa
s
not
tes
ted
on
the
s
ys
tem
unde
r
va
r
iations
of
load.
Ne
xt,
the
model
r
e
f
e
r
e
nc
e
a
da
pti
ve
c
ontr
oll
e
r
(
M
R
AC
)
that
f
oc
us
e
d
on
the
c
ompens
a
ti
ng
f
r
iction
a
nd
pa
yload
unc
e
r
tainti
e
s
in
a
s
e
r
vo
pne
umatic
a
c
tuati
on
s
ys
tem
wa
s
mentioned
by
[5
7
]
.
B
a
s
e
d
on
thi
s
r
e
s
e
a
r
c
h,
the
mos
t
c
omm
on
unc
e
r
tainti
e
s
oc
c
ur
r
e
d
in
the
mec
ha
nica
l
s
ys
tem
we
r
e
f
r
iction
a
nd
pa
yload.
N
or
mally,
pr
e
vious
r
e
s
e
a
r
c
he
s
did
not
take
in
to
a
c
c
ount
the
f
r
iction
that
oc
c
ur
r
e
d
in
the
s
ys
tem.
T
he
f
r
iction
oc
c
ur
r
e
d
whe
n
the
pis
ton
a
nd
r
od
s
e
a
l
c
ontac
ted
dur
ing
the
s
l
idi
ng
in
the
pne
umatic
a
c
tuator
s
ys
tem.
T
he
pos
it
ion
c
ontr
ol
pe
r
f
or
manc
e
in
thi
s
pa
pe
r
wa
s
c
ompar
e
d
with
it
s
w
or
ks
on
the
mot
o
r
s
ys
tems
while
the
pr
e
vious
r
e
s
e
a
r
c
h
us
e
d
other
thr
e
e
a
da
pti
ve
c
ontr
oll
e
r
s
s
uc
h
a
s
ba
c
ks
tepping
a
da
pti
ve
c
ontr
oll
e
r
,
s
e
lf
-
tuni
ng
a
da
pti
ve
c
ontr
o
ll
e
r
,
a
nd
model
r
e
f
e
r
e
nc
e
a
da
pti
ve
c
ontr
oll
e
r
that
pr
opos
e
d
f
or
a
pe
r
mane
nt
magne
t
li
ne
a
r
s
ync
hr
onous
mot
or
pos
it
ion
c
ontr
ol.
F
r
om
that
c
ompar
is
on
,
it
s
howe
d
that
pne
umatic
a
c
tuator
s
c
a
n
pr
oduc
e
a
c
c
ur
a
te
pos
it
ion
c
ontr
ol
s
uc
h
a
s
e
lec
tr
ica
l
s
ys
tem
s
.
F
ir
s
tl
y,
the
f
r
iction
model
wa
s
s
e
lec
ted
ba
s
e
d
on
the
Ga
us
s
ian
e
xpone
nti
a
l
s
tatic
f
r
iction
model
whic
h
c
a
ptur
e
s
thr
e
e
f
r
iction
phe
nomena
;
C
oulom
b,
vis
c
ou
s
a
nd
S
tr
ibec
k
f
r
iction.
T
he
n,
th
e
s
li
ding
mode
c
ontr
oll
e
r
wa
s
de
s
igned
to
maintain
the
r
ob
us
t,
s
tabili
ty,
a
nd
good
pe
r
f
o
r
manc
e
of
a
nonli
ne
a
r
c
ontr
ol
s
ys
tem
with
nonli
ne
a
r
modelli
ng
inac
c
ur
a
c
ies
a
nd
M
R
AC
w
a
s
de
s
igned
f
or
the
a
da
pti
ve
f
r
iction
c
omp
e
ns
a
ti
on
.
F
r
om
that
p
r
opos
e
d
c
ontr
ol
method
,
the
s
tea
dy
-
s
tat
e
pos
it
ioni
ng
a
c
c
ur
a
c
y
wa
s
les
s
than
0.
05
mm
f
or
a
60
mm
s
tep
input
with
a
r
is
e
ti
me
of
a
bout
200
ms
.
Y.
S
htes
s
e
l
e
t
a
l.
[5
8
]
s
tate
d,
a
nove
l
s
upe
r
-
t
wis
ti
ng
a
da
pti
ve
s
li
ding
mode
c
ont
r
ol
law
wa
s
de
r
ived
us
ing
L
ya
punov
f
unc
ti
on
tec
hnique.
T
he
p
r
opos
e
d
method
us
e
d
a
dyna
mi
c
a
ll
y
a
da
pted
c
ont
r
ol
ga
in
tha
t
e
ns
ur
e
s
the
e
s
tablis
hment
in
a
f
ini
te
ti
me
of
a
r
e
a
l
s
e
c
ond
or
de
r
s
li
ding
mode.
T
he
e
xpe
r
im
e
ntal
r
e
s
u
lt
s
howe
d
a
r
e
duc
ti
on
in
the
ga
in
dur
ing
s
ome
of
the
ti
me
int
e
r
va
ls
that
a
f
f
e
c
t
the
a
c
c
ur
a
c
y
of
tr
a
c
king
pe
r
f
or
man
c
e
.
B
a
s
e
d
on
the
s
tudy
in
2015
by
[5
9
]
,
to
c
ontr
ol
the
p
os
it
ion
of
a
n
a
nthr
opomor
phic
r
obo
ti
c
ha
nd,
a
n
a
da
pti
ve
ba
c
ks
tepping
a
lgor
it
hm
wa
s
pr
opos
e
d.
T
he
pr
opos
e
d
a
lgor
it
hm
wa
s
a
c
onve
nti
ona
l
P
I
D
c
ontr
oll
e
r
c
ombi
ne
d
with
a
n
a
da
pti
ve
ba
c
ks
tepping
p
os
it
ion
c
ont
r
ol.
T
h
e
pe
r
f
or
manc
e
of
the
de
s
igned
c
ontr
oll
e
r
wa
s
a
s
s
e
s
s
e
d
only
in
a
s
im
ulation
tes
t.
T
his
s
tudy
s
howe
d
that
the
s
e
tt
li
ng
ti
me
of
0.
2
s
e
c
ond
with
maximum
e
r
r
o
r
of
only
0.
2°
wa
s
a
c
hieve
d.
I
n
a
nother
r
e
s
e
a
r
c
h,
[
60
]
r
e
ve
a
led
that
to
c
ontr
ol
th
e
s
pe
e
d
of
a
va
ne
-
type
a
ir
mot
or
(
VA
M
)
pne
umatic
s
e
r
vo
s
ys
tem,
a
n
a
da
pti
ve
h
igh
-
pr
e
c
is
ion
c
o
ntr
oll
e
r
mus
t
be
de
ve
loped.
An
a
da
pti
ve
dyna
mi
c
s
li
di
ng
mode
c
ontr
oll
e
r
(
AD
S
M
C
)
wa
s
pr
opos
e
d
to
a
c
hieve
thi
s
objec
ti
ve
.
T
he
c
ontr
ol
method
f
or
VA
M
is
divi
de
d
int
o
two
c
a
tegor
ies
;
the
f
ir
s
t
c
a
tegor
y
is
a
model
-
f
r
e
e
c
ontr
o
l
s
uc
h
a
s
f
uz
z
y
c
ontr
ol
a
nd
P
I
D
c
ont
r
ol.
At
thi
s
s
tage
,
it
c
a
n
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
R
e
v
iew
on
c
ontr
oll
e
r
de
s
ign
in
pne
umatic
ac
tuat
or
dr
ive
s
y
s
tem
(
Sy
amiz
a
J
amian)
339
de
r
ive
c
ontr
ol
s
ignal
without
r
e
a
li
z
ing
the
e
xa
c
t
m
ode
l
of
the
s
ys
tem.
T
he
s
e
c
ond
c
a
tegor
y
is
a
model
-
ba
s
e
d
c
ontr
ol
whic
h
include
s
the
ba
c
ks
tepping
a
nd
s
li
di
ng
mode
c
ont
r
ol.
T
he
c
ontr
ol
s
ys
tem
wa
s
us
e
d
to
c
ontr
ol
the
pr
e
s
s
ur
e
di
f
f
e
r
e
nc
e
of
the
output
tor
que
s
.
T
he
pr
e
s
e
nc
e
of
a
i
r
in
the
c
ha
mber
a
nd
f
r
iction
c
a
us
e
s
dif
f
iculty
in
im
pleme
nti
ng
pa
r
a
mete
r
s
in
the
c
ont
r
ol
law
s
.
I
t
a
f
f
e
c
ted
the
s
tea
dy
s
tate
e
r
r
or
a
nd
c
a
us
e
d
poor
r
obu
s
tnes
s
in
the
VA
M
a
ppli
c
a
ti
on
.
A
f
e
w
c
ont
r
ol
ler
s
we
r
e
us
e
d
a
s
c
ompar
is
ons
to
the
pr
opos
e
d
c
ontr
o
ll
e
r
.
T
he
pr
opos
e
d
AD
S
M
C
e
xpe
r
im
e
ntal
r
e
s
ult
c
lea
r
ly
s
howe
d
that
it
im
pr
ove
d
the
s
pe
e
d
-
tr
a
c
king
pe
r
f
or
manc
e
,
be
tt
e
r
th
a
n
P
I
D,
pr
opor
ti
ona
l
in
tegr
a
l
de
r
ivative
-
ne
ur
a
l
ne
twor
k
(
P
I
DN
N)
,
f
uz
z
y
-
ne
ur
a
l
ne
twor
k
(
F
NN
)
,
a
nd
pr
o
por
ti
ona
l
int
e
gr
a
l
de
r
ivative
-
f
uz
z
y
-
ne
ur
a
l
ne
twor
k
(
P
I
DFNN
)
.
6.
P
E
RF
ORM
AN
CE
OF
T
HE
CONT
ROL
L
E
R
T
he
pe
r
f
or
manc
e
f
r
om
the
pr
e
vious
s
tudi
e
s
ba
s
e
d
on
thr
e
e
types
of
c
ontr
ol
ler
s
that
a
r
e
a
lwa
ys
us
e
d
in
pne
umatic
a
c
tuator
c
a
n
be
il
lus
tr
a
ted
a
s
in
F
ig
ur
e
s
3
,
4
a
nd
5
.
B
y
r
e
f
e
r
r
ing
to
thes
e
F
igur
e
,
indi
c
e
s
a
,
b,
c,
d,
e
r
e
pr
e
s
e
nts
the
pe
r
f
or
manc
e
of
the
c
ontr
oll
e
r
a
c
hieve
ment
in
the
pr
e
vious
s
tudi
e
s
.
F
or
e
xa
mpl
e
,
P
I
D
c
ontr
oll
e
r
c
ombi
ne
d
with
f
r
iction
c
ompens
a
tor
,
bounde
d
in
tegr
a
l
a
nd
f
e
e
df
o
r
wa
r
d
give
the
be
tt
e
r
pe
r
f
or
manc
e
i
n
ter
m
o
f
a
c
c
ur
a
te
a
nd
t
r
a
ns
ient
whe
r
e
it
r
e
pr
e
s
e
nts
a
s
:
[
a]
N
e
xt,
P
I
D
mer
ge
d
with
nonli
ne
a
r
c
ompens
a
tor
a
nd
f
e
e
dba
c
k
gives
the
pe
r
f
or
manc
e
of
a
c
c
ur
a
te,
[
b]
r
e
p
r
e
s
e
nts
it
.
F
or
index
[
c
]
,
r
obus
t
a
nd
pr
e
c
is
e
pe
r
f
or
manc
e
ha
ppe
ne
d
whe
n
global
s
li
ding
mode
c
ontr
oll
e
r
is
im
plem
e
nted
int
o
the
s
ys
tem.
An
im
pr
ove
ment
of
N
P
I
D
with
MN
-
f
unc
ti
on
a
nd
S
N
-
f
unc
ti
on
give
the
pe
r
f
o
r
manc
e
of
[
d]
whic
h
is
r
obus
t,
a
c
c
ur
a
te
a
nd
f
a
s
t
r
e
s
pons
e
.
L
a
s
tl
y,
[
e
]
a
ppoint
e
d
a
c
c
ur
a
te
a
nd
r
obus
t.
An
e
xa
mpl
e
t
o
thi
s
pe
r
f
or
manc
e
is
in
a
da
pti
ve
c
ontr
oll
e
r
whe
n
M
R
AC
is
a
ppli
e
d.
T
he
pe
r
f
o
r
manc
e
of
the
c
ontr
oll
e
r
s
in
F
i
gur
e
s
3
,
4
a
nd
5
c
a
n
be
s
umm
a
r
ize
d
a
s
in
T
a
ble
1
.
F
igur
e
3.
T
he
pe
r
f
o
r
manc
e
of
P
I
D
c
ont
r
oll
e
r
in
pn
e
umatic
a
c
tuator
T
a
ble
1
.
P
e
r
f
o
r
manc
e
of
the
c
ontr
ol
ler
a
c
hieve
ment
I
nde
x
P
e
r
f
or
ma
nc
e
a
A
c
c
ur
a
te
a
nd t
r
a
ns
ie
nt
b
A
c
c
ur
a
te
c
R
obus
t
a
nd pr
e
c
is
e
d
R
obus
t,
a
c
c
ur
a
te
,
a
nd f
a
s
t
r
e
s
pon
s
e
e
A
c
c
ur
a
te
a
nd r
obus
tn
e
s
s
He
r
e
a
r
e
the
r
e
c
omm
e
nda
ti
ons
that
c
ould
be
de
ve
loped
in
f
utur
e
s
tudi
e
s
to
make
im
p
r
ove
ments
in
the
pne
umatic
f
ield
.
M
a
ny
r
e
s
e
a
r
c
he
r
s
a
r
e
only
c
on
c
e
r
ne
d
with
how
to
ge
t
a
good
s
tea
dy
s
tate
pe
r
f
o
r
m
a
nc
e
but
only
a
f
e
w
of
s
tudi
e
s
a
im
e
d
a
t
im
p
r
oving
tr
a
ns
ient
p
e
r
f
or
manc
e
to
a
c
hieve
f
a
s
t
r
e
s
pons
e
or
to
p
r
e
ve
nt
ov
e
r
s
hoot.
T
he
r
e
f
or
e
,
f
utu
r
e
s
tudi
e
s
c
a
n
im
p
r
ove
the
method
t
o
a
c
hieve
a
good
pe
r
f
or
manc
e
in
both
tr
a
c
king
pe
r
f
or
manc
e
a
nd
tr
a
ns
ient
r
e
s
pons
e
.
I
n
a
ddit
ion,
the
r
obus
tnes
s
of
the
s
ys
tem
c
a
n
be
im
pr
ove
d
onc
e
a
ga
in
by
in
c
r
e
a
s
ing
the
load
we
ight
s
uc
h
a
s
mor
e
than
30
kg
by
pr
op
os
ing
a
ne
w
c
ombi
na
ti
on
tec
hnique
int
o
the
s
ys
tem.
T
his
phe
nomenon
would
ha
ve
be
e
n
mor
e
s
uc
c
e
s
s
f
ul
if
the
r
obus
tnes
s
of
the
s
ys
tem
is
a
c
hieve
d
a
l
ong
with
the
a
c
c
ur
a
c
y
a
nd
s
tabili
ty.
Ne
xt,
the
tr
a
c
king
pe
r
f
or
manc
e
s
tudi
e
s
us
ing
s
inus
oidal
a
nd
S
-
c
ur
ve
did
not
s
how
a
n
im
pr
ove
ment
whe
n
the
c
ompar
is
on
wa
s
made
with
a
nother
e
xis
ti
ng
method
s
uc
h
a
s
N
-
P
I
D
c
ontr
oll
e
r
.
I
t
ha
ppe
ns
be
c
a
us
e
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
.
1
,
F
e
br
ua
r
y
2020
:
332
-
342
340
ther
e
a
r
e
s
ome
we
a
kne
s
s
e
s
in
the
pr
opos
e
d
meth
o
d
to
c
ompens
a
te
the
de
a
d
z
one
in
the
va
lve
a
s
it
i
s
known
that
it
is
one
of
the
nonli
ne
a
r
it
ies
oc
c
ur
r
e
nc
e
s
in
a
pne
umatic
a
c
tuator
s
ys
tem.
F
or
f
utu
r
e
r
e
s
e
a
r
c
h,
a
n
a
da
pti
ve
tec
hnique
c
a
n
be
a
ppli
e
d
to
the
de
a
d
z
one
c
ompen
s
a
tor
.
T
o
c
onc
lude,
a
ll
i
mpr
ove
ment
s
to
be
pr
opos
e
d
in
f
utur
e
s
tudi
e
s
mus
t
c
ompl
y
with
the
r
e
qui
r
e
ments
of
the
i
ndus
tr
y
a
nd
mus
t
be
a
ble
to
im
pr
ove
the
s
ys
tem
a
s
we
ll
a
s
mee
t
the
gr
owing
de
mand
in
the
pne
umatic
a
c
tuato
r
s
f
ield.
F
igur
e
4.
T
he
pe
r
f
o
r
manc
e
of
the
s
li
ding
mode
c
ontr
oll
e
r
in
pne
umatic
a
c
tuator
s
ys
tem
F
igur
e
5.
T
he
pe
r
f
o
r
manc
e
of
the
a
da
pti
ve
c
ontr
oll
e
r
in
pne
umatic
a
c
tuator
s
ys
tem
7.
CONC
L
USI
ON
B
a
s
e
d
on
pr
e
vious
s
tudi
e
s
,
the
mos
t
c
omm
on
p
r
o
blem
in
pne
umatic
a
c
tuator
s
ys
tem
is
c
a
us
e
d
by
the
nonli
ne
a
r
it
ies
of
the
s
ys
tem
s
uc
h
a
s
the
high
c
ompr
e
s
s
ibi
li
ty
of
a
ir
,
f
r
ictional
f
or
c
e
,
de
a
dti
me
a
nd
d
e
a
dba
nd.
I
n
a
ddit
ion
,
ba
s
e
d
on
the
de
mand
of
the
pne
umat
ic
to
obtain
good
pe
r
f
or
manc
e
s
in
t
e
r
ms
of
the
r
obus
tnes
s
,
a
c
c
ur
a
c
y,
a
nd
s
tabili
ty,
the
us
e
o
f
t
he
s
e
a
c
tuator
s
be
c
omes
li
mi
ted.
P
r
e
vious
r
e
s
e
a
r
c
he
r
s
ha
ve
pr
oduc
e
d
many
c
ontr
oll
e
r
s
to
s
olve
thos
e
p
r
oblems
.
T
he
mos
t
wide
ly
us
e
d
c
ontr
oll
e
r
s
in
the
pne
umatic
a
c
tuator
s
ys
tem
a
r
e
pr
opor
ti
ona
l
in
tegr
a
l
de
r
ivatives
(
P
I
D)
,
s
li
ding
mode
c
ontr
oll
e
r
(
S
M
C
)
,
a
nd
a
da
pti
ve
c
o
ntr
oll
e
r
.
T
he
c
onduc
ted
li
ter
a
tur
e
r
e
view
s
howe
d
that
in
the
1990s
,
r
e
s
e
a
r
c
he
s
in
thes
e
a
c
tuator
s
incr
e
a
s
e
d
due
to
many
c
ontr
ol
s
tr
a
tegie
s
we
r
e
int
r
oduc
e
d
a
nd
a
ppli
e
d
int
o
the
s
ys
tem
s
uc
h
a
s
P
I
D
c
ontr
ol
,
P
D
c
ontr
ol,
s
li
di
ng
mode
c
ontr
ol,
a
nd
a
da
pti
ve
c
ontr
ol.
T
he
n,
the
s
tudy
in
thi
s
f
ield
be
c
a
me
mor
e
a
ggr
e
s
s
ive
whe
n
the
r
e
s
e
a
r
c
he
r
s
e
mer
ge
d
with
many
a
dva
nc
e
d
c
ont
r
ol
s
tr
a
tegie
s
in
t
he
e
a
r
ly
2000s
.
How
e
ve
r
,
mos
t
of
the
r
e
c
omm
e
nde
d
c
ontr
ol
s
tr
a
tegie
s
s
tudi
e
s
invol
ve
d
c
ompl
e
x
pa
r
a
mete
r
s
a
nd
ti
e
d
with
the
c
ompl
ica
ted
mathe
matica
l
e
qua
ti
ons
.
F
or
that
r
e
a
s
on,
ove
r
the
pa
s
t
f
e
w
ye
a
r
s
,
mos
t
of
the
r
e
s
e
a
r
c
he
r
s
s
ti
ll
holdi
ng
to
the
c
ontr
ol
loops
ba
s
e
d
on
pr
o
por
ti
ona
l
int
e
gr
a
l
de
r
ivativ
e
s
(
P
I
D)
c
ontr
oll
e
r
be
c
a
us
e
of
it
s
s
im
pli
c
it
y
a
nd
e
a
s
y
to
unde
r
s
tand.
T
his
is
the
mos
t
s
igni
f
ica
nt
opti
on
a
va
il
a
ble
in
the
indus
tr
y
of
c
ontr
ol
a
ppli
c
a
ti
on
due
to
it
s
s
im
ple
s
tr
uc
tur
e
a
s
i
t
ha
s
o
nly
th
r
e
e
pa
r
a
mete
r
s
to
be
c
ons
ider
e
d
e
ve
n
it
mi
ght
f
a
c
e
dif
f
iculty
in
de
a
li
ng
with
the
highl
y
nonl
inea
r
s
ys
tems
.
AC
KNOWL
E
DGE
M
E
NT
S
T
his
r
e
s
e
a
r
c
h
is
s
uppor
ted
by
Unive
r
s
it
i
T
e
knikal
M
a
lays
ia
M
e
lak
a
(
UT
e
M
)
a
nd
Unive
r
s
it
i
T
e
knolog
i
M
a
lays
ia
(
UT
M
)
thr
ough
S
hor
t
T
e
r
m
–
High
I
mpac
t
gr
a
nt
s
c
he
me
(
P
J
P
-
HI
)
with
r
e
f
e
r
e
nc
e
number
of
P
J
P
/2017
F
T
K/HI
/S
01535
a
nd
R
e
s
e
a
r
c
h
Unive
r
s
it
y
Gr
a
nt
(
GU
P
)
T
ie
r
1
vote
no
.
Q
.
J
130000.
7123.
00H36
.
Au
thor
s
a
r
e
gr
a
tef
ul
to
UT
e
M
a
nd
UT
M
f
or
s
uppor
ti
ng
the
pr
e
s
e
nt
wor
k.
A
s
pe
c
ial
thanks
a
ls
o
goe
s
to
the
M
i
nis
tr
y
of
Hi
ghe
r
E
duc
a
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
R
e
v
iew
on
c
ontr
oll
e
r
de
s
ign
in
pne
umatic
ac
tuat
or
dr
ive
s
y
s
tem
(
Sy
amiz
a
J
amian)
341
RE
F
E
RE
NC
E
S
[1
]
S.
B.
M.
N
o
o
r,
et
a
l
.
,
“D
es
i
g
n
o
f
c
o
mb
i
n
e
d
ro
b
u
s
t
c
o
n
t
ro
l
l
er
fo
r
a
p
n
e
u
mat
i
c
s
er
v
o
ac
t
u
a
t
o
r
s
y
s
t
em
w
i
t
h
u
n
cer
t
ai
n
t
y
,
”
S
ci
.
R
e
s
.
E
s
s
a
y
s
,
v
o
l
.
6
,
n
o
.
4
,
pp
.
9
4
9
-
9
6
5
,
2
0
1
1
.
[2
]
T
.
D
.
C.
T
h
an
h
an
d
K
.
K
.
A
h
n
,
“N
o
n
l
i
n
ear
PID
co
n
t
ro
l
t
o
i
mp
ro
v
e
t
h
e
co
n
t
ro
l
p
erfo
rma
n
ce
o
f
t
h
e
p
n
e
u
mat
i
c
art
i
f
i
ci
al
mu
s
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l
e
man
i
p
u
l
at
o
r
u
s
i
n
g
n
e
u
ral
n
et
w
o
r
k
,
”
M
ech
a
t
r
o
n
i
c
s
,
v
o
l
.
1
6
,
n
o
.
9
,
p
p
.
5
7
7
-
5
8
7
,
N
o
v
2
0
0
6
.
[3
]
J
.
F.
Carn
ei
r
o
an
d
F.
G
.
D
e
A
l
mei
d
a,
“A
h
i
g
h
-
acc
u
ra
cy
t
ra
j
ect
o
ry
f
o
l
l
o
w
i
n
g
c
o
n
t
ro
l
l
er
fo
r
p
n
e
u
mat
i
c
d
e
v
i
c
es
,
”
In
t
.
J.
A
d
v.
M
a
n
u
f
.
Tech
n
o
l
.
,
v
o
l
.
6
1
,
p
p
.
2
5
3
-
2
6
7
,
2
0
1
2
.
[4
]
S.
A
zi
z
an
d
G
.
Bo
n
e,
“A
u
t
o
mat
i
c
t
u
n
i
n
g
o
f
a
n
acc
u
rat
e
p
o
s
i
t
i
o
n
c
o
n
t
ro
l
l
er
f
o
r
p
n
eu
ma
t
i
c
ac
t
u
a
t
o
r
s
,
”
P
r
o
cee
d
i
n
g
s
.
1
9
9
8
IE
E
E
/
R
S
J
In
t
.
Co
n
f
.
In
t
e
l
l
.
R
o
b
o
t
.
S
ys
t
.
In
n
o
v.
Th
eo
r
y,
P
r
a
c
t
.
A
p
p
l
.
(Ca
t
.
No
.
9
8
CH
3
6
1
9
0
)
,
v
o
l
.
3
,
p
p
.
1
7
8
2
–
1
7
8
8
,
1
9
9
8
.
[5
]
B.
L
u
,
et
al
.
,
“Mo
d
el
i
n
g
an
d
co
n
t
ro
l
o
f
t
h
e
p
n
eu
ma
t
i
c
c
o
n
s
t
a
n
t
p
re
s
s
u
re
s
y
s
t
em
fo
r
zero
g
ra
v
i
t
y
s
i
mu
l
at
i
o
n
,
”
2008
IE
E
E
/
A
S
M
E
In
t
er
n
a
t
i
o
n
a
l
C
o
n
f
er
e
n
ce
o
n
A
d
v
a
n
ce
d
In
t
e
l
l
i
g
e
n
t
M
ec
h
a
t
r
o
n
i
cs
,
p
p
.
6
8
8
-
6
9
3
,
2
0
0
8
.
[6
]
R.
Ro
s
l
i
,
et
al
.
,
“A
ct
i
v
e
s
u
s
p
e
n
s
i
o
n
s
y
s
t
em
fo
r
p
as
s
en
g
er
v
eh
i
cl
e
u
s
i
n
g
act
i
v
e
fo
rce
co
n
t
r
o
l
w
i
t
h
i
t
era
t
i
v
e
l
ear
n
i
n
g
al
g
o
ri
t
h
m,
”
W
S
E
A
S
Tr
a
n
s
.
S
ys
t
.
Co
n
t
r
o
l
,
v
o
l
.
9
,
p
p
.
1
2
0
-
1
2
9
,
2
0
1
4
.
[7
]
F.
Bu
an
d
H
.
S.
T
an
,
“Pn
eu
mat
i
c
b
rak
e
co
n
t
ro
l
fo
r
p
rec
i
s
i
o
n
s
t
o
p
p
i
n
g
o
f
h
eav
y
-
d
u
t
y
v
e
h
i
c
l
es
,
”
IE
E
E
Tr
a
n
s
.
Co
n
t
r
o
l
S
ys
t
.
Tech
n
o
l
.
,
v
o
l
.
1
5
,
p
p
.
5
3
-
6
4
,
2
0
0
7
.
[8
]
J
.
Sch
rö
d
er,
et
a
l
.
,
“Imp
r
o
v
e
d
Co
n
t
r
o
l
o
f
a
H
u
ma
n
o
i
d
A
rm
D
r
i
v
e
n
b
y
Pn
e
u
mat
i
c
A
ct
u
at
o
rs
,
”
I
n
t
.
Co
n
f
.
H
u
m
a
n
o
i
d
R
o
b
o
t
,
p
p
.
1
-
2
0
,
2
0
0
3
.
[9
]
B.
E
.
St
u
d
en
t
,
et
al
.
,
“E
l
ec
t
ro
-
P
n
eu
ma
t
i
c
L
i
ft
an
d
Carry
Co
n
v
ey
i
n
g
Sy
s
t
em,
”
In
t
er
n
a
t
i
o
n
a
l
Jo
u
r
n
a
l
o
f
S
c
i
e
n
ce
Tech
n
o
l
o
g
y
&
E
n
g
i
n
ee
r
i
n
g
,
v
o
l
.
2
,
n
o
.
1
0
,
p
p
.
9
0
4
-
9
0
7
,
2
0
1
6
.
[1
0
]
M.
F.
Rah
mat
,
et
al
.
,
“Rev
i
e
w
o
n
M
o
d
e
l
i
n
g
a
n
d
Co
n
t
r
o
l
l
er
D
es
i
g
n
,
”
In
t
.
J.
S
m
a
r
t
S
en
s
.
In
t
e
l
l
.
S
y
s
t
.
,
v
o
l
.
4
,
N
o
.
4
,
p
p
.
6
3
0
-
6
6
1
,
J
a
n
2
0
1
1
.
[1
1
]
B.
T
ah
eri
,
et
al
.
,
“D
es
i
g
n
o
f
ro
b
u
s
t
n
o
n
l
i
n
ear
fo
rce
an
d
s
t
i
ff
n
es
s
co
n
t
r
o
l
l
er
fo
r
p
n
e
u
mat
i
c
act
u
a
t
o
r
s
,
”
2
0
1
2
IE
E
E
5
1
st
IE
E
E
Co
n
f
er
e
n
ce
o
n
D
eci
s
i
o
n
a
n
d
Co
n
t
r
o
l
(C
D
C)
,
Mau
i
,
H
I,
p
p
.
1
1
9
2
-
1
1
9
8
,
2
0
1
2
.
[1
2
]
S
.
C.
H
s
u
an
d
C.
Y
.
L
i
n
,
“Per
i
o
d
i
c
m
o
t
i
o
n
co
n
t
r
o
l
o
f
a
h
eav
y
d
u
t
y
p
n
e
u
mat
i
c
act
u
at
i
n
g
t
a
b
l
e
u
s
i
n
g
l
o
w
-
c
o
s
t
p
o
s
i
t
i
o
n
s
en
s
o
r
s
an
d
h
y
b
ri
d
rep
et
i
t
i
v
e
c
o
n
t
ro
l
,
”
IE
E
E
In
t
.
S
ym
p
.
In
d
.
E
l
ect
r
o
n
.
,
p
p
.
1
-
6,
2
0
1
3
.
[1
3
]
G
.
M.
Bo
n
e,
et
al
.
,
“Po
s
i
t
i
o
n
co
n
t
ro
l
o
f
h
y
b
ri
d
p
n
e
u
mat
i
c
-
el
ec
t
ri
c
act
u
at
o
rs
u
s
i
n
g
d
i
s
cre
t
e
-
v
a
l
u
ed
mo
d
el
-
p
red
i
ct
i
v
e
co
n
t
ro
l
,
”
M
ech
a
t
r
o
n
i
c
s
,
v
o
l
.
2
5
,
p
p
.
1
-
1
0
,
2
0
1
5
.
[1
4
]
K
.
H
ami
t
i
,
et
al
.
,
“Po
s
i
t
i
o
n
co
n
t
ro
l
o
f
a
p
n
eu
mat
i
c
act
u
at
o
r
u
n
d
er
t
h
e
i
n
fl
u
en
ce
o
f
s
t
i
c
t
i
o
n
,
”
Co
n
t
r
o
l
E
n
g
i
n
ee
r
i
n
g
P
r
a
ct
i
ce
,
v
o
l
.
4
,
n
o
.
8
,
p
p
.
1
0
7
9
-
1
0
8
8
,
1
9
9
6
.
[1
5
]
S.
Cai
,
et
al
.
,
“Cy
l
i
n
d
er
p
o
s
i
t
i
o
n
s
er
v
o
co
n
t
r
o
l
b
as
e
d
o
n
f
u
zzy
PID
,
”
J.
A
p
p
l
.
M
a
t
h
.
,
v
o
l
.
2
0
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3
,
p
p
.
1
-
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0
,
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o
v
2
0
1
3
.
[1
6
]
C.
Q
.
H
u
an
g
,
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b
u
s
t
N
o
n
l
i
n
ear
PID
Co
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t
r
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l
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s
fo
r
A
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t
i
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w
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n
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p
D
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Ro
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Man
i
p
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h
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n
cer
t
ai
n
J
aco
b
i
a
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Mat
ri
x
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ct
a
A
u
t
o
m
.
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i
n
.
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.
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p
.
1
1
1
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-
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1
2
1
,
2
0
0
9
.
[1
7
]
J
.
T
o
n
g
an
d
T
.
Y
u
,
“
N
o
n
l
i
n
ear
PI
D
co
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t
r
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n
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mp
ro
v
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t
a
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t
y
o
f
mi
cro
-
t
u
r
b
i
n
e
s
y
s
t
ems
,
”
2
0
0
8
3
rd
In
t
.
Co
n
f
.
E
l
ec
t
r
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c
U
t
i
l
i
t
y
D
er
e
g
u
l
.
R
es
t
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ct
.
P
o
wer
Tech
n
o
l
.,
p
p
.
2
5
1
5
–
2
5
1
8
,
2
0
0
8
.
[1
8
]
L
.
Rezn
i
k
,
et
al
.
,
“PID
p
l
u
s
fu
zzy
co
n
t
r
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l
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res
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s
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d
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g
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as
e
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ri
a
l
ap
p
l
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ca
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o
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s
,
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E
n
g
.
A
p
p
l
.
A
r
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.
In
t
e
l
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.
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l
.
1
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o
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4
,
p
p
.
4
1
9
-
4
3
0
,
2
0
0
0
.
[1
9
]
P.
Mi
s
h
ra,
e
t
al
.
,
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n
o
v
el
i
n
t
el
l
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t
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at
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,
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C
o
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g
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.
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l
.
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p
.
9
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,
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ecemb
er
2
0
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5
.
[2
0
]
V
.
Prab
h
a
k
aran
,
et
a
l
.
,
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es
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g
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a
co
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p
n
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ma
t
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n
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v
al
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d
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res
s
u
re
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l
at
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o
n
fo
r
ap
p
l
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ca
t
i
o
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o
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mat
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cal
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o
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o
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s
,
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2
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6
In
t
er
n
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t
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In
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ys
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em
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(ICICE
S
)
,
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en
n
ai
,
p
p
.
1
-
5
, 2
0
1
6
.
[2
1
]
R.
R.
Su
mar,
et
al
.
,
“Co
m
p
u
t
at
i
o
n
al
i
n
t
el
l
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g
en
ce
a
p
p
r
o
a
ch
t
o
PID
c
o
n
t
ro
l
l
er
d
es
i
g
n
u
s
i
n
g
t
h
e
u
n
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mo
d
el
,
”
In
f
.
S
ci
.
(Ny).
,
v
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l
.
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0
,
n
o
.
2
0
,
p
p
.
3
9
8
0
-
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9
1
,
2
0
1
0
.
[2
2
]
O
.
A
rri
et
a,
et
al
.
,
“PID
au
t
o
t
u
n
i
n
g
fo
r
w
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er
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/
reg
u
l
at
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o
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co
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t
ro
l
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p
era
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n
,
”
J.
P
r
o
ce
s
s
Co
n
t
r
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l
,
v
o
l
.
2
0
,
n
o
.
4
,
p
p
.
4
7
2
-
4
8
0
,
2
0
1
0
.
[2
3
]
C.
J
.
Ch
i
an
g
an
d
Y
.
C.
Ch
en
,
“N
eu
ra
l
n
et
w
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rk
fu
zz
y
s
l
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d
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n
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mo
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n
t
ro
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t
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mu
s
cl
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,
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n
g
.
A
p
p
l
.
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r
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.
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p
p
.
6
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-
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6
,
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c
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o
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er
2
0
1
7
.
[2
4
]
R.
B.
V
an
V
ars
ev
e
l
d
an
d
G
.
M.
Bo
n
e,
“A
ccu
rat
e
Po
s
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t
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o
n
Co
n
t
ro
l
o
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a
Pn
eu
ma
t
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c
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ct
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at
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s
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n
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n
/
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ff
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l
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al
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,
”
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n
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/
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M
E
T
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ct
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M
ec
h
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t
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cs
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l
.
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,
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o
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3
,
p
p
.
1
9
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-
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0
4
,
1
9
9
7
.
[2
5
]
A
.
Sal
eem,
et
al
.
,
“Mi
x
ed
-
real
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t
y
en
v
i
r
o
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me
n
t
fo
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c
t
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aramet
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m,
”
S
i
m
u
l
.
M
o
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el
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P
r
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.
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eo
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y
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l
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p
.
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5
7
5
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5
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6
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0
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9
.
[2
6
]
J
.
W
an
g
,
et
al
.
,
“A
p
rac
t
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ca
l
co
n
t
r
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ra
t
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y
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r
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o
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u
mat
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act
u
a
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s
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em
s
,
”
Co
n
t
r
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E
n
g
.
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r
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.
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p
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8
,
1
9
9
9
.
[2
7
]
A
.
Il
ch
man
n
,
et
al
.
,
“Pn
eu
mat
i
c
cy
l
i
n
d
ers
:
Mo
d
e
l
l
i
n
g
an
d
feed
b
ac
k
fo
rce
-
co
n
t
r
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,
”
In
t
.
J.
Co
n
t
r
o
l
,
v
o
l
.
7
9
,
n
o
.
6
,
p
p
.
1
-
21
,
2
0
0
5
.
[2
8
]
J
.
E
.
T
a
k
o
s
o
g
l
u
,
et
a
l
.
,
“Rap
i
d
p
r
o
t
o
t
y
p
i
n
g
o
f
fu
zz
y
co
n
t
r
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l
l
er
p
n
eu
ma
t
i
c
s
erv
o
-
s
y
s
t
em,
”
In
t
.
J.
A
d
v.
M
a
n
u
f
.
Tech
n
o
l
.
,
v
o
l
.
4
0
,
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o
.
3
,
p
p
.
3
4
9
-
3
6
1
,
2
0
0
9
.
[2
9
]
M.
Pap
o
u
t
s
i
d
a
k
i
s
,
e
t
al
.
,
“Mo
d
e
l
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n
g
an
d
Si
m
u
l
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t
ed
C
o
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t
ro
l
o
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o
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-
L
i
n
ear
Sw
i
t
c
h
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A
c
t
u
a
t
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o
n
Sy
s
t
em
s
,
”
8
t
h
In
t
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Co
n
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ys
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ci
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ce
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n
d
S
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m
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t
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E
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i
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,
p
p
.
9
7
-
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,
O
ct
o
b
er
2
0
0
9
.
[3
0
]
H
.
K
.
L
ee,
et
al
.
,
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s
t
u
d
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t
rac
k
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n
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p
o
s
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t
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o
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co
n
t
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l
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f
p
n
eu
ma
t
i
c
ac
t
u
a
t
o
r
s
,
”
M
ech
a
t
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c
s
,
v
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l
.
1
2
,
n
o
.
6
,
p
p
.
8
1
3
-
8
3
1
,
J
u
l
y
2
0
0
2
.
[3
1
]
A
.
A
.
M.
Fau
d
z
i
,
et
a
l
.
,
“Co
n
t
ro
l
l
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d
es
i
g
n
fo
r
s
i
m
u
l
a
t
i
o
n
co
n
t
r
o
l
o
f
In
t
el
l
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g
en
t
Pn
e
u
mat
i
c
A
c
t
u
a
t
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r
s
(IPA
)
s
y
s
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e
m,
”
P
r
o
ced
i
a
E
n
g
.
,
v
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l
.
4
1
,
p
p
.
5
9
3
-
5
9
9
,
2
0
1
2
.
[3
2
]
A
.
Sal
eem,
et
al
.
,
“Id
e
n
t
i
fi
ca
t
i
o
n
a
n
d
ca
s
cad
e
c
o
n
t
ro
l
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s
erv
o
-
p
n
e
u
mat
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c
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em
u
s
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n
g
Part
i
cl
e
S
w
arm
O
p
t
i
mi
za
t
i
o
n
,
”
S
i
m
u
l
.
M
o
d
el
.
P
r
a
c
t
.
Th
eo
r
y
,
v
o
l
.
5
2
,
p
p
.
1
6
4
-
1
7
9
,
Marc
h
2
0
1
5
.
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