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t
p
r
o
v
ed
in
[
9
]
w
h
e
n
co
m
p
ar
ed
to
P
I
D
an
d
f
u
zz
y
,
L
Q
R
g
iv
e
s
s
u
p
er
io
r
p
er
f
o
r
m
an
ce
w
it
h
m
in
i
m
u
m
co
n
tr
o
l
ef
f
o
r
t.
Ho
w
e
v
er
,
th
i
s
m
et
h
o
d
n
ee
d
s
a
s
y
s
te
m
m
o
d
el
an
d
s
o
m
e
s
e
n
s
o
r
s
b
ase
o
n
th
e
n
u
m
b
er
o
f
t
h
e
s
tate.
T
h
e
im
p
r
o
v
e
m
e
n
t
to
th
i
s
m
et
h
o
d
is
lin
ea
r
q
u
a
d
r
atic
g
au
s
s
ia
n
(
L
QG)
w
h
ic
h
ca
n
eli
m
i
n
ate
s
o
m
e
o
r
all
s
en
s
o
r
s
in
L
Q
R
an
d
r
ep
lace
th
e
m
b
y
t
h
e
esti
m
atio
n
m
et
h
o
d
s
u
c
h
as Ka
l
m
a
n
Fil
ter
.
Ho
w
ev
er
,
th
is
m
e
th
o
d
n
ee
d
s
a
co
m
p
li
ca
ted
ca
lcu
latio
n
.
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
(
FLC)
is
o
n
e
o
f
th
e
ar
tific
ial
in
te
lli
g
en
ce
(
A
I
)
w
h
ic
h
u
s
i
n
g
a
r
u
le
b
ase
th
at
co
n
v
er
t
l
in
g
u
is
t
ic
r
u
le
s
i
n
to
c
o
n
tr
o
l
ac
tio
n
[
1
0
,
1
1
]
.
Un
li
k
e
th
e
P
I
D,
th
e
p
r
i
n
cip
al
w
o
r
k
o
f
f
u
zz
y
i
s
l
ik
e
h
o
w
h
u
m
a
n
s
lear
n
,
an
d
it
w
i
ll
c
o
m
p
ar
e
all
i
n
p
u
t
s
w
it
h
ce
r
ta
in
li
m
itat
io
n
s
to
p
r
o
d
u
ce
an
o
u
tp
u
t.
T
h
e
m
ai
n
ad
v
an
ta
g
e
o
f
th
is
m
et
h
o
d
is
,
it
d
o
es
n
o
t
r
eq
u
ir
e
p
r
ec
is
e
m
at
h
e
m
atica
l
m
o
d
els
o
f
t
h
e
p
lan
t
[
1
2
,
1
3
]
.
Fu
r
t
h
er
m
o
r
e,
FLC
ca
n
co
n
tr
o
l
co
m
p
le
x
an
d
n
o
n
-
l
in
ea
r
s
y
s
te
m
[
1
4
]
.
I
t
also
h
as
th
e
ab
ilit
y
to
o
p
er
ate
in
b
r
o
ad
r
an
g
e
o
f
o
p
er
atio
n
[
1
5
,
1
6
]
.
T
h
e
co
m
p
ar
ati
v
e
s
tu
d
y
i
n
[
9
]
,
s
h
o
w
n
th
at
F
L
C
p
er
f
o
r
m
a
n
ce
w
a
s
i
n
f
er
io
r
co
m
p
ar
e
to
P
I
D.
Ho
w
ev
er
,
it
h
a
s
lo
w
er
en
er
g
y
co
n
s
u
m
p
tio
n
.
T
h
er
ef
o
r
e,
co
m
b
in
i
n
g
th
e
ad
v
a
n
ta
g
es
o
f
P
I
D
an
d
FL
C
i
s
an
alter
n
at
iv
e
s
o
l
u
tio
n
to
g
et
g
o
o
d
p
e
r
f
o
r
m
a
n
ce
w
it
h
m
in
i
m
u
m
en
er
g
y
co
n
s
u
m
p
tio
n
.
T
h
er
e
ar
e
a
lo
t o
f
r
es
ea
r
c
h
er
s
u
s
i
n
g
h
y
b
r
id
f
u
zz
y
-
P
I
D
i
n
DC
m
o
to
r
co
n
tr
o
l
s
u
c
h
a
s
i
n
[
1
7
]
.
Ho
w
e
v
er
,
it
o
n
l
y
co
n
s
id
er
s
th
e
p
er
f
o
r
m
an
ce
w
it
h
o
u
t
t
h
e
e
n
er
g
y
c
o
n
s
u
m
ed
b
y
t
h
e
s
y
s
te
m
.
T
h
e
r
ef
o
r
e,
th
i
s
r
esear
c
h
p
r
o
p
o
s
es
a
h
y
b
r
id
f
u
zz
y
-
P
I
D
co
n
tr
o
ller
f
o
r
m
i
n
i
m
izi
n
g
e
n
er
g
y
co
n
s
u
m
p
tio
n
b
y
m
ai
n
tai
n
in
g
g
o
o
d
p
er
f
o
r
m
a
n
ce
s
.
P
I
D
is
t
h
e
m
a
in
co
n
tr
o
l
w
h
ile
f
u
zz
y
u
s
ed
t
o
s
u
p
er
v
i
s
e
t
h
e
e
n
er
g
y
co
n
s
u
m
p
tio
n
a
n
d
m
ak
e
s
P
I
D’
s
p
ar
a
m
eter
s
ad
ap
tiv
e
b
y
o
n
li
n
e
t
u
n
in
g
b
ase
o
n
er
r
o
r
an
d
p
o
w
er
i
n
p
u
t.
T
h
is
al
g
o
r
ith
m
i
s
ap
p
lied
in
D
C
m
o
to
r
s
p
ee
d
co
n
tr
o
l.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
Sy
s
t
em
de
s
ig
n
T
h
e
p
lan
t
u
s
ed
to
test
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
i
s
a
m
i
n
i
co
n
v
e
y
o
r
u
s
in
g
D
C
-
d
r
iv
e
as
s
h
o
w
n
in
F
ig
u
r
e
1
.
A
r
d
u
i
n
o
Un
o
u
s
e
d
as
a
m
icr
o
co
n
tr
o
ller
an
d
1
2
V
5
.
5
A
D
C
-
m
o
to
r
u
s
ed
as
D
C
-
d
r
i
v
e.
T
h
e
s
y
s
te
m
m
o
d
el
i
s
co
n
s
tr
u
cted
b
y
co
ll
ec
tin
g
i
n
p
u
t
-
o
u
tp
u
t
d
ata
o
f
t
h
e
s
y
s
te
m
u
s
in
g
a
d
ata
lo
g
g
er
.
T
h
e
in
p
u
t
d
ata
is
v
o
ltag
e
w
h
ile
t
h
e
o
u
tp
u
t d
at
a
is
t
h
e
s
p
ee
d
o
f
t
h
e
m
o
to
r
.
Us
in
g
t
h
is
d
ata,
th
e
s
tate
-
s
p
ac
e
m
o
d
el
o
f
th
e
s
y
s
te
m
is
d
er
iv
ed
u
s
i
n
g
M
A
T
L
A
B
s
y
s
te
m
id
e
n
ti
f
icatio
n
.
T
h
e
s
tate
-
s
p
ac
e
m
o
d
el
o
f
th
e
s
y
s
te
m
i
s
s
h
o
w
n
i
n
(
1
)
.
Fig
ur
e 1.
Min
i c
o
n
v
e
y
o
r
s
y
s
t
e
m
̇
(
)
=
[
0
.
9
0
.
04
1
0
]
(
)
+
[
1
0
]
(
)
;
y
(
)
=
[
1
0
]
(
)
(
1
)
2
.
2
.
F
uzzy
-
P
I
D
co
ntr
o
ller
T
h
e
f
u
zz
y
-
P
I
D
co
n
tr
o
ller
is
th
e
co
n
tr
o
ller
th
at
co
m
b
i
n
es
t
h
e
P
I
D
an
d
f
u
zz
y
al
g
o
r
ith
m
s
.
I
n
m
o
s
t
liter
atu
r
e
[2
,
18
,
1
9
]
,
th
e
f
u
zz
y
-
P
I
D
co
n
tr
o
ller
is
m
ea
n
s
u
s
i
n
g
f
u
zz
y
to
tu
n
e
P
I
D
p
ar
am
e
ter
s
o
n
li
n
e
th
a
t
m
a
k
e
s
P
I
D
m
o
r
e
ad
ap
tab
le.
B
an
s
al
an
d
Nar
v
e
y
p
r
o
p
o
s
ed
th
e
f
u
zz
y
-
P
I
D
co
n
tr
o
ller
f
o
r
s
p
ee
d
co
n
tr
o
l
o
f
DC
m
o
to
r
[
2
]
.
T
h
e
y
co
n
cl
u
d
e
t
h
at
f
u
zz
y
-
P
I
D
h
a
s
a
b
etter
d
y
n
a
m
ic
r
esp
o
n
s
e,
s
h
o
r
ter
r
es
p
o
n
s
e
ti
m
e,
s
m
all
o
v
er
s
h
o
o
t,
an
d
s
m
a
ll
s
tead
y
-
s
tate
er
r
o
r
(
SS
E
)
.
C
o
n
k
er
a
n
d
B
altac
io
g
lu
p
r
o
p
o
s
ed
f
u
zz
y
s
e
lf
-
ad
ap
tiv
e
P
I
D
f
o
r
d
r
iv
in
g
h
y
d
r
o
x
y
g
e
n
er
ato
r
s
w
it
h
b
etter
p
er
f
o
r
m
a
n
ce
co
m
p
ar
ed
to
co
n
v
e
n
tio
n
a
l
P
I
D
m
et
h
o
d
[
1
8
]
.
W
h
ile
An
an
t
h
a
m
o
o
r
th
y
an
d
B
ask
ar
an
p
r
o
p
o
s
ed
h
y
b
r
id
f
u
zz
y
-
P
I
D
co
n
tr
o
ller
w
it
h
a
m
i
n
i
m
u
m
r
u
le
b
ase
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co
n
tr
o
l
p
er
m
a
n
en
t
m
a
g
n
e
t
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
[
1
9
]
.
T
h
ey
co
n
clu
d
e
th
a
t
th
i
s
co
n
tr
o
l
m
e
th
o
d
ca
n
i
m
p
r
o
v
e
s
p
ee
d
r
esp
o
n
s
e
an
d
co
n
tr
o
l c
r
iter
ia
s
u
c
h
as o
v
er
s
h
o
o
t,
s
tead
y
-
s
tate
er
r
o
r
,
an
d
s
ettli
n
g
t
i
m
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
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t E
l
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o
n
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o
l
Hyb
r
id
fu
z
z
y
-
P
I
D
like
o
p
tima
l c
o
n
tr
o
l to
r
ed
u
ce
e
n
erg
y
co
n
s
u
mp
tio
n
(
Ha
r
i Ma
g
h
fir
o
h
)
2055
A
ll
o
f
th
e
r
ef
er
e
n
ce
s
[2
,
18
,
1
9
]
u
s
e
Fu
zz
y
w
i
th
t
w
o
i
n
p
u
t
s
an
d
th
r
ee
o
u
tp
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t
s
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er
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r
o
r
an
d
ch
an
g
e
o
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er
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o
r
as
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p
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t
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d
th
r
ee
P
I
D
p
ar
am
eter
s
as
o
u
tp
u
t,
s
h
o
wn
in
F
ig
u
r
e
2
(
a)
.
T
h
is
co
n
f
i
g
u
r
atio
n
co
n
s
u
m
e
s
a
lo
t
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f
co
m
p
u
tatio
n
ti
m
e
s
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n
ce
th
e
f
u
zz
y
s
y
s
te
m
m
u
s
t
ca
lc
u
late
th
e
t
h
r
ee
-
p
ar
a
m
eter
o
u
tp
u
t.
Har
i
et
al.
[
2
0
]
p
r
o
p
o
s
e
P
I
D
-
h
y
b
r
id
tu
n
i
n
g
wh
ich
i
s
u
s
in
g
th
e
Z
ie
g
ler
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o
ls
m
et
h
o
d
to
f
in
d
th
e
in
it
ial
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alu
e
o
f
th
e
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I
D
a
n
d
f
u
zz
y
s
y
s
te
m
to
ca
lcu
late
o
n
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y
Kp
p
ar
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m
eter
s
o
f
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D
b
y
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m
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le
m
e
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ted
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D
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r
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h
is
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ate
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n
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ce
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e
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tatio
n
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m
e
o
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t
h
e
f
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zz
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m
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d
s
u
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s
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ll
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m
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e
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ted
in
p
r
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g
r
a
m
m
ab
le
lo
g
ic
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n
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ll
er
(
P
L
C
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.
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h
e
f
u
zz
y
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I
D
w
it
h
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ea
l
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I
D
co
n
f
i
g
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r
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n
is
s
h
o
w
n
i
n
Fi
g
u
r
e
2
(
b
)
.
W
h
ile
N.
N.
B
ah
ar
u
d
in
a
n
d
S.M
.
Ay
o
b
p
r
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p
o
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ed
s
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le
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n
p
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t
f
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zz
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ller
(
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C
)
to
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ed
u
ce
th
e
r
u
le
b
ase
o
f
f
u
zz
y
-
P
I
co
n
tr
o
ller
w
ith
t
h
e
s
a
m
e
r
esp
o
n
s
e
s
[
2
1
]
.
On
th
e
o
th
er
h
a
n
d
,
Qi
C
h
e
n
,
et
al.
[
2
2
]
,
p
r
o
p
o
s
ed
a
f
u
zz
y
P
+
I
D
co
n
tr
o
ller
f
o
r
a
ca
b
le
lay
in
g
s
y
s
te
m
.
I
n
t
h
is
s
y
s
tem
,
P
I
D
p
ar
allel
c
o
n
f
i
g
u
r
atio
n
is
u
s
ed
.
Ho
w
e
v
er
,
th
e
f
u
zz
y
s
y
s
te
m
o
n
l
y
t
u
n
e
s
Kp
w
h
ile
Ki
a
n
d
Kd
is
r
e
m
ai
n
c
o
n
s
ta
n
t.
B
am
b
a
n
g
S
u
m
an
tr
i
et
al.
[
2
3
]
h
av
e
p
r
o
v
ed
th
at
Fu
zz
y
-
P
I
D
ca
n
r
ed
u
ce
en
er
g
y
co
n
s
u
m
p
t
io
n
co
m
p
ar
ed
to
co
n
v
e
n
tio
n
al
P
I
D
co
n
tr
o
ller
s
w
h
ich
ap
p
lied
in
a
t
w
o
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w
h
ee
l
e
lectr
ic
s
k
a
teb
o
ar
d
.
Ho
w
ev
er
,
th
e
p
er
f
o
r
m
a
n
ce
in
d
e
x
,
r
is
e
ti
m
e,
s
ettl
in
g
ti
m
e,
etc.
,
n
o
t
clea
r
l
y
e
x
p
lain
ed
.
Mo
r
eo
v
er
,
th
e
f
u
zz
y
-
P
I
D
co
n
tr
o
ller
s
till
u
s
in
g
p
ar
allel
P
I
D
co
n
f
ig
u
r
atio
n
w
h
ich
u
s
e
s
a
lo
t
o
f
f
u
zz
y
r
u
le
s
.
T
o
r
ed
u
ce
t
h
e
co
m
p
le
x
it
y
o
f
f
u
zz
y
r
u
les,
o
n
l
y
Kp
a
n
d
Ki
w
h
ic
h
tu
n
ed
.
(
a)
(
b
)
Fig
u
r
e
2
.
Fu
zz
y
-
P
I
D
co
n
f
ig
u
r
atio
n
: (
a)
f
u
zz
y
-
P
I
D
w
it
h
p
ar
allel
P
I
D
co
n
f
ig
u
r
atio
n
,
(
b
)
f
u
zz
y
-
P
I
D
w
it
h
id
ea
l P
I
D
co
n
f
i
g
u
r
atio
n
[
2
0
]
2
.
3
.
H
y
brid F
uzzy
-
P
I
D
li
k
e
o
pti
m
a
l c
o
ntr
o
l
L
Q
R
i
s
o
n
e
o
f
t
h
e
o
p
ti
m
al
co
n
tr
o
l
tec
h
n
iq
u
es
w
h
ic
h
co
n
s
id
er
th
e
s
tates
o
f
th
e
s
y
s
te
m
a
n
d
co
n
tr
o
l
in
p
u
t
to
m
ak
e
o
p
ti
m
al
co
n
tr
o
l
d
ec
is
io
n
s
.
A
cc
o
r
d
in
g
to
[
2
4
]
,
th
is
m
et
h
o
d
is
s
i
m
p
le
a
n
d
r
o
b
u
s
t.
Su
p
p
o
s
e
th
e
s
tate
eq
u
atio
n
o
f
t
h
e
s
y
s
te
m
is
:
⨰
(
)
=
.
(
)
+
.
(
)
(
)
=
.
(
)
+
.
(
)
(
2
)
T
h
e
s
tate
f
ee
d
b
ac
k
co
n
tr
o
l
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s
u
(
t)
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LQR
x
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t
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,
w
h
er
e
K
LQR
is
d
er
iv
ed
f
r
o
m
th
e
m
i
n
i
m
izat
io
n
o
f
co
s
t
f
u
n
ct
io
n
as sh
o
w
n
i
n
(
3
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
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o
m
p
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t E
l
C
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n
tr
o
l
,
Vo
l.
18
,
No
.
4
,
A
u
g
u
s
t 2
0
2
0
:
2
0
5
3
-
2
0
6
1
2056
=
∫
(
(
)
(
)
+
(
)
(
)
)
(
3
)
T
h
e
m
atr
ices
Q
a
n
d
R
d
et
er
m
in
e
t
h
e
r
elati
v
e
i
m
p
o
r
tan
ce
o
f
t
h
e
er
r
o
r
an
d
t
h
e
e
x
p
en
d
it
u
r
e
o
f
en
er
g
y
[
2
5
]
.
T
h
er
ef
o
r
e,
th
e
tr
ad
e
-
o
f
f
b
et
w
ee
n
p
er
f
o
r
m
a
n
ce
a
n
d
en
er
g
y
u
s
ed
ca
n
b
e
s
et
b
y
c
h
o
o
s
i
n
g
a
n
ap
p
r
o
p
r
iate
ele
m
e
n
t
o
f
m
atr
ic
es
Q
an
d
R
.
I
n
h
y
b
r
id
f
u
zz
y
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P
I
D
lik
e
o
p
ti
m
al
co
n
tr
o
l,
FLC
i
s
u
s
ed
to
s
u
p
er
v
is
e
th
e
en
er
g
y
u
s
ed
b
y
P
I
D.
T
h
e
in
p
u
t
o
f
FLC
is
t
h
e
er
r
o
r
an
d
p
o
w
er
o
f
t
h
e
s
y
s
te
m
.
W
h
er
e
er
r
o
r
is
co
r
r
elate
d
w
it
h
m
a
tr
ic
Q
an
d
p
o
w
er
i
s
c
o
r
r
elate
d
w
it
h
m
atr
ic
R
.
T
h
er
ef
o
r
e,
ad
j
u
s
tin
g
th
e
f
u
zz
y
r
u
le
o
n
er
r
o
r
an
d
p
o
w
er
is
li
k
e
ad
j
u
s
tin
g
Q
a
n
d
R
m
at
r
ices.
T
h
is
m
et
h
o
d
w
i
ll
b
e
v
e
r
y
u
s
e
f
u
l
f
o
r
a
co
m
p
lex
s
y
s
te
m
w
h
er
e
its
s
y
s
te
m
m
o
d
el
i
s
d
if
f
ic
u
lt to
f
i
n
d
.
T
h
e
s
tr
u
ct
u
r
e
o
f
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
is
s
h
o
w
n
in
Fi
g
u
r
e
3
.
T
o
r
ed
u
ce
co
m
p
u
tat
io
n
t
i
m
e,
th
e
id
ea
l
P
I
D
s
tr
u
ctu
r
e
is
u
s
ed
.
T
h
e
(
4
)
s
h
o
w
s
th
at
t
h
e
v
ar
iatio
n
o
f
Kp
in
th
e
id
ea
l
P
I
D
w
il
l
af
f
e
ct
all
th
e
co
n
tr
o
ller
o
u
tp
u
ts
.
T
h
er
ef
o
r
e,
o
n
l
y
Kp
wh
ich
t
u
n
ed
o
n
li
n
e
b
y
t
h
e
f
u
zz
y
s
y
s
te
m
.
T
h
e
v
al
u
e
a
n
d
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
4
(
a)
w
h
i
le
th
e
Fu
zz
y
r
u
le
is
s
h
o
w
n
i
n
Fi
g
u
r
e
4
(
b
)
.
W
h
er
e
N
B
(
n
eg
ativ
e
b
ig
)
,
NS
(
n
eg
ati
v
e
s
m
al
l
)
,
Z
E
(
z
er
o
)
,
P
S
(
p
o
s
itiv
e
s
m
all
)
,
P
B
(
p
o
s
itiv
e
b
ig
)
,
VM
N
(
v
er
y
m
i
n
i
m
u
m
)
,
MN
(
m
i
n
i
m
u
m
)
,
ME
D
(
m
ed
iu
m
)
,
MX
(
m
a
x
i
m
u
m
)
,
V
MX
(
v
er
y
m
ax
i
m
u
m
)
,
VSM
(
v
er
y
s
m
all
)
,
S
M
(
s
m
all
)
,
MD
M
(
m
ed
iu
m
)
,
B
(
b
ig
)
,
an
d
VB
(
v
er
y
b
ig
)
.
I
n
th
is
r
esear
ch
,
t
h
e
i
n
f
er
en
ce
m
ec
h
a
n
i
s
m
m
et
h
o
d
is
u
s
i
n
g
Ma
m
d
an
i.
T
h
e
r
u
le
b
ase
co
n
s
is
t
s
o
f
2
5
r
u
les.
T
h
e
ce
n
ter
o
f
g
r
a
v
it
y
(
C
OG)
is
u
s
e
d
f
o
r
th
e
d
ef
u
zz
i
f
icat
io
n
m
eth
o
d
.
Fig
u
r
e
3
.
B
lo
ck
d
iag
r
a
m
o
f
h
y
b
r
id
f
u
zz
y
-
P
I
D
(
)
=
[
(
)
+
∗
∫
(
)
)
+
(
∗
(
)
)
]
(
4
)
(
a)
(
b
)
Fig
u
r
e
4
.
Fu
zz
y
lo
g
ic
co
n
tr
o
ll
er
co
m
p
o
n
e
n
ts
;
(
a)
m
e
m
b
er
s
h
i
p
f
u
n
ctio
n
,
(
b
)
r
u
le
b
ase
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
Hyb
r
id
fu
z
z
y
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I
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like
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p
tima
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o
n
tr
o
l to
r
ed
u
ce
e
n
erg
y
co
n
s
u
mp
tio
n
(
Ha
r
i Ma
g
h
fir
o
h
)
2057
3.
RE
SU
L
T
S AN
D
AN
AL
Y
SI
S
T
w
o
alg
o
r
it
h
m
s
ar
e
test
ed
an
d
co
m
p
ar
ed
w
i
th
t
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
w
h
ic
h
is
P
I
D
an
d
L
Q
R
.
B
ef
o
r
e
im
p
le
m
e
n
ted
in
r
ea
l
h
ar
d
w
ar
e,
th
e
al
g
o
r
ith
m
is
s
i
m
u
lated
.
P
ar
am
eter
t
u
n
i
n
g
also
w
a
s
d
o
n
e
in
th
e
s
i
m
u
lat
io
n
s
tep
,
f
o
r
ex
a
m
p
le,
f
in
d
i
n
g
t
h
e
P
I
D
p
ar
a
m
et
er
an
d
L
QR
g
ai
n
m
atr
ic.
P
I
D
tu
n
i
n
g
is
d
o
n
e
b
y
MA
T
L
A
B
a
u
to
-
t
u
n
i
n
g
,
w
h
ic
h
ar
e
Kp
=
0
.
3
,
Ki
=
0
.
3
8
6
,
an
d
Kd
=
0
.
0
4
2
.
W
h
ile
L
QR
g
ai
n
i
s
ca
lc
u
lated
m
an
u
all
y
w
h
ich
is
K
L
QR
=
[
1
.
9
7
0
.
1
4
]
.
Fu
zz
y
m
e
m
b
er
s
h
ip
i
s
d
ef
i
n
ed
b
ase
o
n
P
I
D
w
h
i
le
it
s
r
u
le
b
ase
is
b
ased
o
n
th
e
tr
ial.
Af
ter
f
o
u
n
d
ed
a
g
o
o
d
r
esu
lt
in
t
h
e
s
i
m
u
la
tio
n
s
tag
e,
t
h
e
alg
o
r
ith
m
s
ar
e
tes
te
d
in
r
ea
l
h
ar
d
w
ar
e.
T
h
e
r
esu
lt
o
f
th
e
h
ar
d
w
ar
e
i
m
p
le
m
en
ta
tio
n
w
i
ll
b
e
d
is
c
u
s
s
e
d
in
t
h
is
s
ec
tio
n
.
T
h
r
ee
co
n
d
itio
n
test
i
n
g
i
s
ca
r
r
ied
o
u
t
w
h
ic
h
ar
e
th
e
n
o
-
lo
ad
test
,
lo
ad
ed
test
,
an
d
s
p
ee
d
v
ar
iatio
n
.
3
.
1
.
No
-
lo
a
d t
est
T
h
e
n
o
-
lo
ad
test
is
m
ea
n
t
h
e
p
lan
t
w
h
ich
i
s
m
in
i
co
n
v
e
y
o
r
d
r
iv
en
b
y
DC
-
m
o
to
r
is
r
u
n
w
it
h
o
u
t
th
e
lo
ad
o
n
it.
T
h
e
tes
t
is
d
o
n
e
i
n
t
w
o
s
et
p
o
in
t
s
p
ee
d
:
1
0
0
r
p
m
,
w
h
ic
h
r
ep
r
esen
t
lo
w
s
p
ee
d
,
an
d
2
0
0
r
p
m
w
h
ic
h
r
ep
r
esen
t
h
ig
h
s
p
ee
d
.
Fig
u
r
e
5
is
th
e
r
es
u
lt
o
f
t
h
e
n
o
-
lo
ad
test
w
h
ic
h
i
n
clu
d
i
n
g
s
p
ee
d
p
r
o
f
ile,
en
er
g
y
p
r
o
f
ile,
an
d
I
SE
(
in
teg
r
al
s
q
u
ar
e
er
r
o
r
)
p
r
o
f
ile.
I
SE
u
s
ed
as
a
p
er
f
o
r
m
an
ce
p
ar
a
m
eter
.
T
h
e
s
m
alle
s
t
I
SE,
th
e
b
etter
th
e
p
er
f
o
r
m
a
n
ce
.
Fi
g
u
r
e
5
(
a)
,
s
h
o
w
n
t
h
at
L
QR
h
as
t
h
e
f
aste
s
t
r
esp
o
n
s
e
to
r
ea
ch
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e
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etp
o
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ile
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I
D
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d
h
y
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u
zz
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s
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l
y
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e
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a
m
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r
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etail
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ett
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e
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m
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le
1
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t
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o
w
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at
L
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r
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y
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o
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r
ti
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es
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aster
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m
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ar
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it
h
P
I
D
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d
h
y
b
r
id
f
u
zz
y
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P
I
D.
Fig
u
r
e
5
(
b
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an
d
5
(
c)
s
h
o
w
t
h
e
c
u
m
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la
tiv
e
en
er
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y
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n
d
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SE
o
f
th
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ted
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o
r
ith
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s
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r
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r
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ile
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SE
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r
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m
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ar
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n
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es
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a
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o
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en
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ich
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m
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ile
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it
h
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as
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w
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er
g
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co
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s
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m
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m
p
ar
e
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D.
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w
ev
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it
h
as
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ig
h
er
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SE.
P
I
D
is
u
s
ed
as
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asis
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ar
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er
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it
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u
m
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s
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er
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y
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SE,
T
a
b
le
1
.
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n
an
e
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ie
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d
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SE
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h
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ith
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te
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ich
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p
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g
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r
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5
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s
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ee
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s
y
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te
m
.
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t
h
e
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a
s
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m
e
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ch
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et
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t.
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QR
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ttli
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ti
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w
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th
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D.
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ile
H
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ec
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D’
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m
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d
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SE
ar
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ized
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n
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ab
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ith
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D
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p
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ile
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p
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Fro
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SE
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m
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est I
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E
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s
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D.
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Fu
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s
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ette
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S
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m
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w
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h
P
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D.
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1
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No
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M
e
t
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e
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l
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S
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m
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I
D
19
1
1
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y
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i
d
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I
D
21
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7
9
6
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5
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8
0
7
1
0
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.
4
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L
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R
5
1
1
1
6
.
7
3
9
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7
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8
1
4
0
6
7
.
5
S
p
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e
d
2
0
0
r
p
m
P
I
D
30
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2
6
4
1
0
0
5
1
9
0
2
6
1
0
0
H
y
b
r
i
d
F
u
z
z
y
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P
I
D
34
2
1
9
0
.
5
7
9
6
.
7
6
5
1
3
7
8
3
9
8
.
9
9
L
Q
R
15
2
1
2
9
94
3
5
6
4
0
8
6
8
.
6
7
3
.
2
.
L
o
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ded
t
est
Sin
ce
t
h
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ap
p
licatio
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o
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t
h
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n
v
e
y
o
r
is
to
m
o
v
e
t
h
e
lo
ad
,
th
e
lo
ad
ed
test
is
also
ca
r
r
ied
o
u
t.
T
h
e
test
is
d
o
n
e
at
t
h
e
s
a
m
e
s
et
p
o
in
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w
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ic
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is
1
0
0
r
p
m
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n
d
2
0
0
r
p
m
.
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h
e
test
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s
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r
r
ied
o
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t
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if
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t
w
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s
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o
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in
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t
ag
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s
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t
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en
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o
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all
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g
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en
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g
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d
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o
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h
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ad
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itio
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h
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ier
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ll
t
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ith
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k
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th
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n
t
h
e
f
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s
t
lo
ad
in
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h
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b
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id
f
u
zz
y
-
P
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h
as
t
h
e
lo
w
est
o
v
er
s
h
o
o
t,
w
h
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P
I
D
a
n
d
L
QR
h
a
v
e
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h
e
s
a
m
e
r
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lt.
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h
en
in
th
e
s
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o
n
d
lo
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y
b
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zz
y
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P
I
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till
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it
h
th
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v
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s
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o
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t.
I
n
th
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l
ast
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ad
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g
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h
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b
r
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u
zz
y
-
P
I
D
is
also
s
u
p
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io
r
co
m
p
ar
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w
it
h
o
th
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s
,
w
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h
as
a
h
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g
h
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o
t.
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m
t
h
e
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er
g
y
p
o
i
n
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f
v
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w
,
Fi
g
u
r
e
6
(
b
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,
L
Q
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h
as
t
h
e
lo
w
e
s
t e
n
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g
y
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n
s
u
m
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w
it
h
6
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w
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th
a
n
P
I
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H
y
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u
ce
s
t
h
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e
n
er
g
y
co
n
s
u
m
p
t
io
n
b
y
u
p
to
3
.
3
2
%.
W
h
ile
in
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d
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n
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o
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r
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t
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t
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p
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g
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r
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6
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h
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ile
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m
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t
h
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p
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e
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d
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d
.
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h
e
h
ig
h
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e
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,
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m
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a
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ter
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o
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d
h
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a
s
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e
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n
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s
t
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2
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ab
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2
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ata
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Evaluation Warning : The document was created with Spire.PDF for Python.
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Ha
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2061
RE
F
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E
NC
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S
[1
]
A
.
F
a
ra
m
a
rz
i
a
n
d
K.
S
a
b
a
h
i
,
“
Re
c
u
rre
n
t
F
u
z
z
y
Ne
u
ra
l
Ne
t
w
o
rk
fo
r
DC
-
m
o
to
r
c
o
n
tro
l,
”
2
0
1
1
Fi
ft
h
In
ter
n
a
ti
o
n
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l
Co
n
fer
e
n
c
e
o
n
Ge
n
e
ti
c
a
n
d
Evo
l
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ti
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ry
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mp
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ti
n
g
,
p
p
.
9
3
–
96
,
2
0
1
1
.
[2
]
U.
K.
Ba
n
sa
l
a
n
d
R.
Na
rv
e
y
,
“
S
p
e
e
d
Co
n
tr
o
l
o
f
DC
M
o
to
r
Us
in
g
F
u
z
z
y
P
ID
Co
n
tro
ll
e
r,
”
Ad
v
a
n
c
e
in
El
e
c
tro
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ic
a
n
d
El
e
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tric E
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rin
g
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.
3
,
n
o
.
9
,
p
p
.
1
2
0
9
–
1
2
2
0
,
2
0
1
3
.
[3
]
A
.
H
u
g
h
e
s
a
n
d
B
.
D
r
u
ry
,
"
E
l
e
c
tr
i
c
M
o
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o
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a
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d
D
r
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v
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s
:
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m
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t
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y
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d
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t
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,
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5
t
h
e
d
.
E
l
s
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v
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r
,
2
0
1
9
.
[4
]
K.
H.
A
n
g
,
G
.
Ch
o
n
g
,
S
.
M
e
m
b
e
r,
a
n
d
Y.
L
i,
“
P
ID
Co
n
tr
o
l
S
y
ste
m
A
n
a
l
y
sis
,
De
si
g
n
,
a
n
d
T
e
c
h
n
o
l
o
g
y
,
”
IEE
E
T
ra
n
sa
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ti
o
n
s
o
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Co
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tro
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S
y
ste
ms
T
e
c
h
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o
lo
g
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,
v
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l
.
1
3
,
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o
.
4
,
p
p
.
5
5
9
–
5
7
6
,
2
0
0
5
.
[5
]
S
.
M
.
Ra
k
h
tala
a
n
d
E.
S
.
Ro
u
d
b
a
ri
,
“
A
p
p
li
c
a
ti
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o
f
P
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F
u
e
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Ce
ll
f
o
r
S
tan
d
-
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lo
n
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Ba
se
d
o
n
a
F
u
z
z
y
P
ID
Co
n
tr
o
l,
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u
ll
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ti
n
o
f
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e
c
trica
l
E
n
g
i
n
e
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rin
g
a
n
d
I
n
fo
rm
a
ti
c
s
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v
o
l.
5
,
n
o
.
1
,
p
p
.
4
5
–
6
1
,
2
0
1
6
.
[6
]
A
.
B
a
les
tri
n
o
,
A
.
Ca
it
i,
V
.
Ca
lab
ró
,
E.
Criso
st
o
m
i,
a
n
d
A
.
La
n
d
i,
“
F
r
o
m
Ba
sic
to
A
d
v
a
n
c
e
d
P
I
Co
n
tr
o
ll
e
rs :
A
Co
m
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lex
it
y
v
s .
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e
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rm
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C
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”
A
d
v
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n
c
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in
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ID
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l
,
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n
tec
h
,
p
p
.
8
7
–
1
0
0
,
2
0
1
1
.
[7
]
P
.
H.
B.
Ka
z
e
m
ian
,
“
In
telli
g
e
n
t
F
u
z
z
y
P
ID
Co
n
tro
ll
e
r,
”
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o
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n
d
a
ti
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o
f
G
e
n
e
ric
Op
ti
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iza
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n
,
S
p
rin
g
e
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,
v
o
l.
2
p
p
.
2
4
1
–
2
6
0
,
2
0
0
8
.
[8
]
J.
De
Oliv
e
ira,
A
.
Nie
d
,
M
.
H.
F
.
S
a
n
t
o
s,
a
n
d
R.
P
.
Dia
s,
“
S
tu
d
y
o
n
th
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En
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rg
y
Eff
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y
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f
S
o
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S
tartin
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In
d
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ti
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M
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o
r
w
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h
T
o
rq
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Co
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l,
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A
d
v
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sc
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s in
M
o
to
r
T
o
r
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e
Co
n
tr
o
l
,
I
n
tec
h
,
p
p
.
3
3
–
46
,
2
0
1
1
.
[9
]
H.
M
a
g
h
f
iro
h
,
A
.
A
ta
k
a
,
O.
Wah
y
u
n
g
g
o
ro
,
a
n
d
A
.
I.
Ca
h
y
a
d
i,
“
Op
ti
m
a
l
En
e
rg
y
Co
n
tro
l
o
f
D
C
M
o
t
o
r
S
p
e
e
d
Co
n
tr
o
l :
C
o
m
p
a
ra
ti
v
e
S
tu
d
y
Op
ti
m
a
l
En
e
rg
y
Co
n
tro
l
o
f
DC
M
o
to
r
S
p
e
e
d
Co
n
tro
l
:
Co
m
p
a
ra
ti
v
e
S
tu
d
y
,
”
2
0
1
3
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
C
o
mp
u
ter
,
C
o
n
tr
o
l,
I
n
fo
rm
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ti
c
s a
n
d
I
t
s A
p
p
l
ica
ti
o
n
s
,
2
0
1
3
.
[1
0
]
F
.
Cu
p
e
rti
n
o
,
A
.
L
a
tt
a
n
z
i,
L
.
S
a
l
v
a
to
re
,
“
A
Ne
w
F
u
z
z
y
L
o
g
ic
-
B
a
se
d
Co
n
tr
o
ll
e
r
De
sig
n
M
e
th
o
d
f
o
r
DC
a
n
d
A
C
Im
p
re
ss
e
d
-
V
o
lt
a
g
e
Driv
e
s,”
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
P
o
we
r E
lec
tro
n
i
c
s
,
v
o
l.
1
5
,
n
o
.
6
,
p
p
.
9
7
4
–
9
8
2
,
2
0
0
0
.
[1
1
]
D.
Ra
m
o
t,
M
.
F
ried
m
a
n
,
G
.
La
n
g
h
o
lz,
a
n
d
A
.
K
a
n
d
e
l,
“
Co
m
p
l
e
x
F
u
z
z
y
L
o
g
ic,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Fu
zz
y
S
y
ste
ms
,
v
o
l.
1
1
,
n
o
.
4
,
p
p
.
4
5
0
–
4
6
1
,
2
0
0
3
.
[1
2
]
M
.
M
.
S
h
a
k
e
r
a
n
d
Y
.
Kh
a
sa
b
,
“
De
sig
n
a
n
d
Im
p
le
m
e
n
tatio
n
o
f
F
u
z
z
y
L
o
g
ic
s
y
ste
m
f
o
r
DC
m
o
to
r
S
p
e
e
d
C
o
n
tr
o
l,
”
Ira
q
J
.
E
lec
trica
l
a
n
d
El
e
c
tro
n
ic
En
g
i
n
e
e
rin
g
,
v
o
l.
6
,
n
o
.
2
,
p
p
.
1
2
3
–
1
3
0
,
2
0
1
0
.
[1
3
]
M
.
Ch
e
n
g
,
Q.
S
u
n
,
E.
Zh
o
u
,
“
N
e
w
S
e
l
f
-
T
u
n
in
g
F
u
z
z
y
P
I
Co
n
tro
l
o
f
a
No
v
e
l
Do
u
b
ly
S
a
li
e
n
t
P
e
rm
a
n
e
n
t
-
M
a
g
n
e
t
M
o
to
r
Driv
e
,
”
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l.
5
3
,
n
o
.
3
,
p
p
.
8
1
4
–
8
2
1
,
2
0
0
6
.
[1
4
]
S
.
Ja
m
ian
e
t
a
l.
,
“
Re
v
ie
w
o
n
c
o
n
tro
ll
e
r
d
e
sig
n
in
p
n
e
u
m
a
ti
c
a
c
tu
a
to
r
d
riv
e
s
y
ste
m
,
”
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ica
ti
o
n
Co
mp
u
ti
n
g
E
lec
tro
n
ics
a
n
d
C
o
n
tr
o
l
,
v
o
l
.
1
8
,
n
o
.
1
,
p
p
.
3
3
2
–
3
4
2
,
2
0
2
0
.
[1
5
]
C.
Vo
lo
se
n
c
u
,
“
Co
n
tro
l
o
f
El
e
c
tri
c
a
l
Driv
e
s
Ba
se
d
o
n
F
u
z
z
y
L
o
g
ic,
”
W
S
EA
S
T
r
a
n
s
a
c
ti
o
n
s o
n
S
y
ste
ms
a
n
d
Co
n
tro
l
,
v
o
l.
3
,
n
o
.
9
,
p
p
.
8
0
9
–
8
2
2
,
2
0
0
8
.
[1
6
]
A
.
G
h
a
r
e
a
g
h
a
ji
,
“
A
Co
m
p
a
riso
n
b
e
tw
e
e
n
F
u
z
z
y
-
P
S
O
Co
n
tr
o
ll
e
r
a
n
d
P
ID
-
P
S
O
Co
n
tr
o
ll
e
r
f
o
r
Co
n
tro
ll
in
g
a
DC
M
o
to
r
,
”
Bu
ll
e
ti
n
o
f
El
e
c
trica
l
E
n
g
in
e
e
rin
g
a
n
d
In
f
o
rm
a
ti
c
s
,
v
o
l
.
4
,
n
o
.
2
,
p
p
.
1
3
0
–
1
3
5
,
2
0
1
5
.
[1
7
]
D.
S
o
m
wa
n
sh
i,
M
.
Bu
n
d
e
le,
G
.
Ku
m
a
r,
a
n
d
G
.
P
a
ra
sh
a
r,
“
Co
m
p
a
riso
n
o
f
F
u
z
z
y
-
P
ID
a
n
d
P
ID
Co
n
t
ro
ll
e
r
f
o
r
S
p
e
e
d
Co
n
tr
o
l
o
f
Co
m
p
a
riso
n
o
f
F
u
z
z
y
-
P
ID
a
n
d
P
ID
C
o
n
tr
o
ll
e
r
f
o
r
S
p
e
e
d
Co
n
tr
o
l
o
f
DC
M
o
t
o
r
u
si
n
g
L
a
b
V
IEW
DC
M
o
to
r
u
si
n
g
L
a
b
V
IEW
,
”
Pro
c
e
d
i
a
Co
m
p
u
ter
S
c
ie
n
c
e
,
v
o
l.
1
5
2
,
p
p
.
2
5
2
–
2
6
0
,
2
0
1
9
.
[1
8
]
C.
Co
n
k
e
r
a
n
d
M
.
K.
Ba
lt
a
c
io
g
lu
,
“
F
u
z
z
y
se
l
f
-
a
d
a
p
ti
v
e
P
ID
c
o
n
tr
o
l
tec
h
n
i
q
u
e
f
o
r
d
riv
in
g
HH
O
d
ry
c
e
ll
s
y
ste
m
s,”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
Hy
d
r
o
g
e
n
En
e
rg
y
,
p
p
.
1
–
1
1
,
2
0
2
0
.
[1
9
]
N.
A
n
a
n
th
a
m
o
o
rth
y
a
n
d
K.
Ba
s
k
a
ra
n
,
“
Hig
h
p
e
rf
o
rm
a
n
c
e
h
y
b
ri
d
f
u
z
z
y
P
ID
c
o
n
tr
o
ll
e
r
f
o
r
p
e
rm
a
n
e
n
t
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s m
o
to
r
d
riv
e
w
it
h
m
i
n
im
u
m
ru
le b
a
se
,
”
J
o
u
rn
a
l
o
f
Vi
b
ra
ti
o
n
a
n
d
Co
n
tro
l
,
p
p
.
1
–
1
4
,
2
0
1
3
.
[2
0
]
H.
M
a
g
h
f
iro
h
,
O.
W
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.
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3
rd
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ter
n
a
t
io
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fer
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stru
me
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ta
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tro
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d
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(
ICA)
2
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3
,
p
p
.
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3
3
–
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3
8
.
[2
1
]
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h
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.
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,
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s
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in
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p
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P
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ter
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o
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rn
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[2
2
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Q.
Ch
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ra
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.
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6
.
[2
3
]
B.
S
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m
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tri
,
E.
H.
Bi
n
u
g
ro
h
o
,
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M
.
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tra,
a
n
d
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.
Ro
k
h
a
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a
,
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rg
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e
ff
icie
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t
p
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rso
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l
v
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:
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e
l
e
c
tri
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sk
a
t
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b
o
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rd
,
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ter
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ti
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a
l
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o
u
rn
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e
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trica
l
a
n
d
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m
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ter
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v
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,
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o
.
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,
p
p
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3
0
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–
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,
2
0
1
9
.
[2
4
]
L
.
B.
P
ra
sa
d
,
B.
Ty
a
g
i,
a
n
d
H.
O.
G
u
p
ta,
“
Op
ti
m
a
l
Co
n
tro
l
o
f
No
n
li
n
e
a
r
In
v
e
rted
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n
d
u
lu
m
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a
m
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w
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p
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u
sin
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P
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tr
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d
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QR,”
2
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t.
C
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.
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tro
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m,
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mp
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,
p
p
.
5
4
0
–
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4
5
,
2
0
1
1
.
[2
5
]
K.
Og
a
ta,
"
M
o
d
e
rn
Co
n
tr
o
l
E
n
g
in
e
e
rin
g
,
"
5
th
e
d
.
Ne
w
Je
rs
e
y
:
Pre
n
ti
c
e
Ha
ll
,
2
0
1
0
.
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