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K
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s
:
I
T
AE
Mic
r
o
s
atellite
attitu
d
e
Per
f
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m
an
ce
p
ar
am
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s
PID
co
n
tr
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ller
,
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-
f
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T
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p
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rticle
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th
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CC B
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SA
li
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C
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p
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A
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:
Ajib
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A.
T
.
,
Dep
ar
tm
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t o
f
C
o
m
p
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ter
E
n
g
i
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r
in
g
,
Un
iv
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s
ity
o
f
I
lo
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in
,
I
l
o
r
in
,
Ni
g
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.
E
m
ail: a
jib
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at@
u
n
ilo
r
in
.
e
d
u
.
n
g
1.
I
NT
RO
D
UCT
I
O
N
Satellite
s
ar
e
ex
p
o
s
ed
t
o
m
an
y
d
is
tu
r
b
an
ce
s
in
s
p
ac
e
[
1
]
w
h
ich
ca
n
a
d
v
er
s
ely
a
f
f
ec
t
th
ei
r
attitu
d
e.
T
h
e
r
eliab
ilit
y
o
f
th
e
m
icr
o
s
a
tellite
d
ata
ac
q
u
is
itio
n
is
h
ig
h
ly
d
ep
e
n
d
en
t
o
n
th
e
q
u
ality
o
f
th
e
SAC
s
y
s
tem
b
ec
au
s
e
th
e
attitu
d
e
co
n
tr
o
l
s
y
s
tem
is
cr
u
cial
f
o
r
ac
c
u
r
ate
s
atellite
o
p
er
atio
n
[
2
]
.
T
h
er
e
f
o
r
e,
th
e
n
ee
d
s
f
o
r
an
ac
cu
r
ate
d
esig
n
o
f
attitu
d
e
co
n
tr
o
l
s
u
b
s
y
s
tem
wh
ic
h
g
u
ar
an
tees
th
e
q
u
ality
an
d
r
eli
ab
ilit
y
o
f
th
e
d
ata.
Sev
er
al
m
eth
o
d
s
ex
is
t
in
th
e
l
iter
atu
r
e
f
o
r
ac
h
iev
i
n
g
SAC
.
[
3
]
an
d
[
4
]
p
r
o
p
o
s
ed
d
ir
ec
t
an
d
m
o
d
if
ied
ad
a
p
tiv
e
co
n
tr
o
ller
s
,
r
esp
ec
tiv
ely
t
o
m
itig
ate
d
if
f
er
e
n
t
s
ce
n
ar
i
o
s
in
s
p
ac
ec
r
af
t
attitu
d
e
c
o
n
tr
o
l.
Fix
ed
-
tim
e
[
5
]
,
f
in
ite
-
tim
e
[
6
]
,
ad
ap
tiv
e
g
ain
b
ased
in
teg
r
al
s
ec
o
n
d
o
r
d
e
r
[
7
]
,
f
ast
ter
m
in
al
[
8
]
an
d
ad
ap
ti
v
e
f
ast
ter
m
in
al
[
9
]
s
lid
in
g
m
o
d
e
tech
n
iq
u
es h
a
v
e
b
ee
n
em
p
l
o
y
ed
i
n
r
ig
id
s
p
ac
ec
r
af
t a
ttit
u
d
e
co
n
t
r
o
ller
d
esig
n
.
Sev
er
al
ap
p
licatio
n
s
o
f
PID
c
o
n
tr
o
ller
f
o
r
s
atellite
attitu
d
e
co
n
tr
o
l
ca
n
b
e
f
o
u
n
d
i
n
th
e
liter
a
tu
r
e.
PID
attitu
d
e
co
n
tr
o
ller
f
o
r
a
r
ig
id
b
o
d
y
s
atellite
d
esig
n
ed
u
s
i
n
g
a
co
m
b
in
atio
n
o
f
Kh
ar
ito
n
o
v
th
eo
r
e
m
an
d
v
ec
to
r
e
d
p
ar
ticle
s
war
m
o
p
tim
izatio
n
m
eth
o
d
was
p
r
esen
ted
in
[
1
0
]
.
Sp
ac
e
cr
af
t
co
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tr
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l
to
r
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an
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v
elo
city
c
o
n
s
tr
ain
ts
d
ep
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d
en
t
s
lid
in
g
m
o
d
e
b
ased
r
o
b
u
s
t
PID
attitu
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e
co
n
tr
o
ll
er
wer
e
p
r
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ted
by
Y.
L
i
et
al.
[
1
1
]
.
L
atest
r
esear
ch
b
y
[
1
2
-
16]
em
p
lo
y
e
d
an
o
b
s
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v
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b
ased
PID
co
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tr
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to
c
o
n
tr
o
l
th
e
attitu
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e
o
f
a
r
i
g
id
s
atellite
with
ON/OFF
th
r
u
s
ter
ac
tu
ato
r
wh
ich
s
h
o
wed
im
p
r
o
v
em
e
n
t
i
n
attitu
d
e
co
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tr
o
l
p
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f
o
r
m
an
ce
.
T
h
e
o
p
tim
al
PID
co
n
tr
o
ller
f
o
r
SAC
,
d
esig
n
ed
b
y
[
17
]
g
av
e
ac
ce
p
ta
b
le
r
es
u
lts
f
o
r
b
o
th
th
e
s
ettlin
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tim
e
an
d
p
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ce
n
ta
g
e
o
v
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s
h
o
o
t,
ev
en
t
h
o
u
g
h
th
e
b
o
u
n
d
s
o
f
co
n
tr
o
ller
p
ar
am
et
er
s
wer
e
ar
b
itra
r
ily
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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:
1
6
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3
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3
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T
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KOM
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T
elec
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m
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n
C
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p
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tr
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,
Vo
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18
,
No
.
2
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Ap
r
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0
2
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1
0
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1
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1
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1
1
1002
ch
o
s
en
[
18
]
d
esig
n
ed
b
o
th
PI
D
an
d
Fu
zz
y
lo
g
ic
-
b
ased
s
at
ellite
attitu
d
e
co
n
tr
o
ller
s
in
wh
ich
th
e
d
y
n
am
ics
mod
el
o
f
B
I
L
SAT
-
1
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e
u
tili
ze
d
.
C
o
m
p
ar
e
d
to
th
e
PID
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o
n
tr
o
ller
,
th
e
Fu
zz
y
lo
g
ic
co
u
n
ter
p
ar
t
p
er
f
o
r
m
ed
b
etter
in
ter
m
s
o
f
s
y
s
tem
r
esp
o
n
s
e
s
p
ee
d
an
d
r
o
b
u
s
tn
ess
.
Mo
r
e
s
o
,
[
19
]
d
esig
n
e
d
a
PID
co
n
tr
o
ller
to
o
p
tim
ally
co
n
tr
o
l
th
e
s
atellite
y
aw
attitu
d
e;
an
d
wh
en
t
ested
v
ia
s
im
u
latio
n
,
th
e
s
ettlin
g
tim
e
an
d
p
er
ce
n
tag
e
o
v
e
r
s
h
o
o
t
o
b
tain
ed
wer
e
s
atis
f
ac
to
r
y
as t
h
eir
v
alu
es we
r
e
with
in
th
e
d
e
s
ig
n
s
p
ec
if
icatio
n
s
.
PID
co
n
tr
o
ller
s
a
r
e
p
o
p
u
lar
ly
u
s
ed
in
t
h
e
co
n
tr
o
l
o
f
in
d
u
s
tr
ial
p
r
o
ce
s
s
es
d
u
e
to
t
h
eir
s
tr
u
ctu
r
al
an
d
f
u
n
cti
o
n
al
s
im
p
licity
wh
ich
in
tu
r
n
m
ak
e
th
eir
tu
n
in
g
r
elativ
ely
s
im
p
le,
m
o
s
t
esp
ec
ially
b
y
a
tr
ial
an
d
er
r
o
r
m
et
h
o
d
[
20
]
.
I
t
is
also
f
o
u
n
d
in
th
e
m
ajo
r
ity
o
f
co
n
tr
o
l
s
y
s
tem
s
d
u
e
to
its
r
eliab
le
p
er
f
o
r
m
a
n
ce
an
d
f
in
e
co
n
tr
o
l
ca
p
ab
ilit
ies
[
21
]
.
At
least
9
5
%
o
f
co
n
t
r
o
l
lo
o
p
s
in
p
r
o
ce
s
s
in
d
u
s
tr
ies
ar
e
PID
in
n
atu
r
e
[
22
]
,
wh
ich
ca
n
b
e
attr
ib
u
ted
p
ar
tl
y
to
th
eir
r
o
b
u
s
t
p
er
f
o
r
m
a
n
c
e
in
a
wid
e
r
an
g
e
o
f
o
p
er
ati
n
g
co
n
d
itio
n
s
[
23
]
.
T
h
e
p
er
f
o
r
m
an
ce
o
f
PID
co
n
tr
o
ller
ca
n
b
e
g
r
ea
tly
im
p
r
o
v
ed
b
y
u
s
in
g
an
I
T
AE
r
o
b
u
s
t
co
n
tr
o
ller
d
esig
n
wh
ich
o
p
tim
izes
th
e
co
n
tr
o
ller
g
ain
s
,
an
d
s
u
b
s
eq
u
en
tly
th
e
s
y
s
tem
p
er
f
o
r
m
an
ce
p
ar
am
eter
s
.
T
h
e
to
o
l
was
ad
o
p
ted
in
th
is
s
tu
d
y
as
th
e
s
y
s
tem
o
p
tim
u
m
p
er
f
o
r
m
an
ce
p
ar
am
eter
s
ca
n
b
e
ea
s
ily
ex
tr
ac
ted
as
th
e
s
y
s
tem
p
ar
am
eter
s
an
d
co
n
tr
o
ller
g
ain
s
ar
e
v
ar
i
e
d
[
23
]
.
Als
o
,
I
T
AE
was
id
en
tifie
d
as
o
n
e
o
f
th
e
b
est
m
eth
o
d
s
f
o
r
r
o
b
u
s
t
co
n
tr
o
l
s
y
s
tem
d
esig
n
s
[
24
]
.
T
h
e
o
p
tim
u
m
co
ef
f
icien
ts
f
o
r
t
h
e
I
T
A
E
p
er
f
o
r
m
an
ce
c
r
iter
io
n
f
o
r
a
s
tep
in
p
u
t
th
at
ca
n
b
e
u
s
ed
to
f
i
n
d
t
h
e
b
est
c
o
n
tr
o
ller
p
ar
am
eter
s
h
av
e
b
ee
n
d
et
er
m
in
ed
f
o
r
th
e
s
tan
d
a
r
d
ized
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
in
[
2
3
,
2
4
]
.
C
o
m
p
ar
e
d
th
e
r
esu
lts
o
b
tain
ed
b
y
u
s
in
g
Z
ieg
ler
-
Nich
o
ls
an
d
I
T
AE
t
u
n
in
g
m
eth
o
d
s
f
o
r
b
o
th
f
ir
s
t
-
o
r
d
e
r
an
d
s
ec
o
n
d
-
o
r
d
er
s
y
s
tem
s
with
d
ea
d
tim
e
[
25
]
.
T
h
e
r
esu
lts
s
h
o
wed
th
at
I
T
AE
tu
n
in
g
m
eth
o
d
was
b
etter
th
an
th
e
Z
ie
g
ler
-
Ni
ch
o
ls
tu
n
in
g
m
eth
o
d
in
b
o
th
s
ce
n
ar
io
s
.
I
n
m
o
s
t
ca
s
es,
th
e
cl
o
s
ed
-
lo
o
p
r
esp
o
n
s
e
o
f
th
e
c
o
n
tr
o
lle
d
s
y
s
tem
m
ay
n
o
t
m
ee
t
t
h
e
d
esire
d
s
p
ec
if
icatio
n
s
,
u
n
d
e
r
th
is
co
n
d
itio
n
a
p
r
e
-
f
ilter
tr
an
s
f
e
r
f
u
n
ctio
n
m
u
s
t
b
e
d
esig
n
e
d
an
d
co
n
n
ec
ted
i
n
s
er
ies
with
th
e
d
esig
n
ed
clo
s
ed
-
l
o
o
p
s
y
s
tem
tr
an
s
f
er
f
u
n
ctio
n
[
2
4
,
2
6
]
.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at
all
th
e
p
ar
am
eter
s
o
f
th
e
d
esig
n
ed
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ctio
n
ar
e
n
o
r
m
ally
o
b
tain
ed
d
ir
ec
tly
f
r
o
m
th
e
d
c
g
ain
a
n
d
ze
r
o
s
o
f
th
e
d
esig
n
e
d
clo
s
ed
-
lo
o
p
s
y
s
tem
tr
an
s
f
er
f
u
n
ctio
n
[
26
]
.
2.
DE
S
I
G
N
SPEC
I
F
I
C
AT
I
O
N
S
T
h
e
s
y
s
tem
d
esig
n
s
p
ec
if
icatio
n
s
co
n
s
id
er
i
n
g
u
n
it
s
tep
in
p
u
t
ar
e
s
h
o
wn
in
T
ab
le
1
.
I
n
t
h
is
s
tu
d
y
,
th
e
s
y
s
tem
is
a
f
u
n
ctio
n
o
f
s
y
s
tem
d
am
p
in
g
r
atio
,
wh
ile
is
th
e
tim
e
f
o
r
wh
ich
th
e
s
y
s
tem
r
esp
o
n
s
e
r
em
ain
s
with
in
2%
o
f
th
e
f
in
al
v
alu
e
as g
iv
en
in
(
1
)
a
n
d
(
2
)
,
r
esp
ec
tiv
el
y
.
T
ab
le
1
.
Desig
n
s
p
ec
if
icatio
n
s
P
a
r
a
me
t
e
r
s
V
a
l
u
e
s
P
e
r
c
e
n
t
a
g
e
O
v
e
r
sh
o
o
t
(
)
≤
5%
S
e
t
t
l
i
n
g
t
i
me
,
(
f
o
r
2
%
c
r
i
t
e
r
i
o
n
)
≤
2
s
S
t
e
a
d
y
-
st
a
t
e
e
r
r
o
r
0
=
100
−
(
/
√
1
−
2
)
(
1
)
=
4
(
2
)
W
h
er
e
an
d
ar
e
th
e
d
am
p
in
g
r
atio
an
d
n
at
u
r
al
f
r
e
q
u
en
c
y
in
r
ad
/s
ec
f
o
r
th
e
clo
s
ed
-
lo
o
p
s
y
s
tem
.
Fro
m
(
1
)
:
=
2
√
(
2
+
2
)
(
3
)
wh
er
e
=
−
l
og
0
.
01
.
Als
o
,
f
r
o
m
(
2
)
,
=
4
(
4
)
i
n
o
r
d
er
to
ac
h
iev
e
t
h
e
s
y
s
te
m
d
esig
n
s
p
ec
if
icatio
n
s
,
th
e
th
r
esh
o
ld
v
alu
es
f
o
r
an
d
w
er
e
d
eter
m
i
n
ed
u
s
in
g
(
3
)
an
d
(
4
)
[
2
7
]
.
T
h
e
r
eq
u
ir
ed
co
n
d
itio
n
s
ar
e
≥
0
.
7797
(
≈
0
.
8
)
an
d
≥
6
r
ad
/s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
P
I
D
co
n
tr
o
ller
fo
r
micro
s
a
tell
ite
ya
w
-
a
xis a
ttit
u
d
e
co
n
tr
o
l…
(
A
jib
o
ye
A
.
T.
)
1003
3.
SYST
E
M
M
O
D
E
L
T
h
e
y
aw
-
ax
is
attitu
d
e
m
o
d
el
f
o
r
th
e
s
atellite
u
s
ed
in
th
is
s
tu
d
y
was
d
er
iv
e
d
b
ased
o
n
a
s
in
g
le
in
p
u
t
s
in
g
le
o
u
tp
u
t
a
n
d
lin
ea
r
tim
e
-
i
n
v
ar
ian
t
ass
u
m
p
tio
n
wh
ich
th
en
y
ield
ed
t
h
e
tr
an
s
f
er
f
u
n
ctio
n
th
at
was
u
s
ed
f
o
r
th
e
co
n
tr
o
ller
d
esig
n
.
3
.
1
.
Det
er
m
ina
t
io
n o
f
o
pen
-
l
o
o
p t
ra
ns
f
er
f
un
ct
io
n a
nd
P
I
D
co
ntr
o
l a
lg
o
ri
t
hm
s
elec
t
io
n
T
h
e
y
aw
-
ax
is
AC
S
is
r
ep
r
esen
ted
b
y
th
e
b
lo
ck
d
iag
r
am
o
f
Fig
u
r
e
1
wh
ile
its
s
u
b
-
s
y
s
tem
s
’
tr
an
s
f
er
f
u
n
ctio
n
s
ar
e
as
e
x
p
r
ess
ed
in
(
5
)
-
(
8
)
.
Fig
u
r
e
1
.
B
lo
ck
Diag
r
am
o
f
m
icr
o
s
atellite
y
aw
-
ax
is
AC
S
G
s
a
t
(
s
)
=
(
)
(
)
=
1
0
.
8
2
(
5
)
G
a
(
s
)
=
(
)
(
)
=
78
.
3
2
+
1815
.
4
+
24466
(6
)
G
a
m
p
(
s
)
=
(
)
(
)
=
240
0
.
1
+
1
(
7
)
G
c
(
s
)
=
V
(
s
)
(
)
=
2
+
+
(
8
)
W
h
er
e
all
th
e
p
ar
am
eter
s
ar
e
in
L
ap
lace
T
r
an
s
f
o
r
m
(
s
-
d
o
m
ain
)
;
is
th
e
ac
tu
al
y
aw
att
itu
d
e
in
d
eg
r
ee
s
;
is
th
e
ac
tu
ato
r
to
r
q
u
e
i
n
Nm
;
is
th
e
m
o
to
r
ar
m
atu
r
e
v
o
ltag
e
in
v
o
lts
;
is
th
e
co
n
tr
o
ller
o
u
t
p
u
t
v
o
ltag
e
in
v
o
lts
;
is
er
r
o
r
v
o
lta
g
e
i
n
v
o
lts
;
G
s
at
is
th
e
s
atellite
s
tr
u
ctu
r
e
d
y
n
a
m
ic
tr
an
s
f
er
f
u
n
ctio
n
;
G
a
(
s
)
is
th
e
ac
tu
ato
r
d
y
n
am
ic
tr
a
n
s
f
er
f
u
n
ctio
n
;
G
am
p
(
s
)
is
th
e
am
p
lifie
r
t
r
an
s
f
er
f
u
n
ctio
n
;
G
c
(
s
)
is
th
e
co
n
tr
o
ller
tr
an
s
f
er
f
u
n
ctio
n
;
is
th
e
p
r
o
p
o
r
tio
n
al
g
ain
;
is
th
e
in
te
g
r
al
g
ain
;
an
d
is
th
e
d
e
r
iv
at
iv
e
g
ain
.
T
h
e
s
y
s
tem
o
p
en
-
l
o
o
p
tr
a
n
s
f
er
f
u
n
ctio
n
s
h
o
wn
in
(
9
)
was d
et
er
m
in
ed
b
y
ca
s
ca
d
in
g
t
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
(
5
)
to
(
8
)
.
T
h
e
clo
s
ed
-
l
o
o
p
t
r
an
s
f
e
r
f
u
n
ctio
n
o
b
tain
ed
f
r
o
m
(
9
)
is
as e
x
p
r
ess
ed
in
(
1
0
)
.
(
)
(
)
=
234900
∗
2
+
234900
∗
+
234900
∗
s
5
+
1825
s
4
+
42625
s
3
+
244625
s
2
(
9
)
(
)
(
)
=
23
49
0
0
∗
2
+
23
49
00
∗
+
23
49
0
0
∗
s
5
+
1825
∗
s
4
+
42625
∗
s
3
+
(
24
46
2
5
+
23
49
0
0
∗
)
∗
s
2
+
23
49
0
0
∗
+
23
49
0
0
∗
(
1
0
)
3
.
2
.
Reduct
io
n o
f
s
y
s
t
e
m
t
ra
ns
f
er
f
un
ct
io
n f
o
r
co
ntr
o
ller
des
ig
n
An
an
aly
s
is
o
f
th
e
u
n
c
o
n
tr
o
lled
s
y
s
tem
r
esp
o
n
s
e
to
a
s
p
ec
if
i
ed
test
s
ig
n
al
is
n
ec
ess
ar
y
to
d
eter
m
in
e
th
e
d
eg
r
ee
o
f
th
e
co
n
tr
o
l
ef
f
o
r
t
r
eq
u
ir
ed
if
a
n
y
.
T
o
ac
h
i
ev
e
th
is
,
th
e
u
n
co
n
tr
o
lled
y
a
w
-
ax
is
AC
S
o
p
en
an
d
clo
s
ed
-
l
o
o
p
tr
an
s
f
er
f
u
n
c
tio
n
s
,
(
1
1
)
an
d
(
1
2
)
,
wer
e
o
b
tain
ed
f
r
o
m
(
9
)
a
n
d
(
1
0
)
r
esp
ec
tiv
ely
,
ass
u
m
in
g
a
u
n
ity
co
n
tr
o
ller
tr
an
s
f
er
f
u
n
ctio
n
.
(
1
2
)
was
s
u
b
jecte
d
to
u
n
it
s
tep
f
u
n
ctio
n
in
p
u
t
a
n
d
t
h
e
r
esu
ltin
g
s
y
s
tem
s
tep
r
esp
o
n
s
e
is
as
s
h
o
wn
in
Fig
u
r
e
2
.
As
s
h
o
wn
in
th
e
Fig
u
r
e,
th
e
r
esp
o
n
s
e
will
r
ea
ch
th
e
s
et
p
o
in
t
at
in
f
in
ite
tim
e,
th
er
ef
o
r
e
t
h
er
e
is
n
o
o
v
e
r
s
h
o
o
t,
a
n
d
s
ettlin
g
tim
e
was
3
.
4
9
s
ec
o
n
d
s
.
C
o
n
s
id
er
i
n
g
t
h
is
s
tep
r
esp
o
n
s
e
th
e
r
e
is
th
e
n
ee
d
t
o
in
c
o
r
p
o
r
ate
a
co
n
tr
o
ller
i
n
to
th
e
s
y
s
tem
s
o
th
at
th
e
s
y
s
tem
d
esig
n
s
p
ec
i
f
ica
tio
n
s
s
h
o
wn
in
T
ab
le
1
ca
n
b
e
ac
h
ie
v
ed
.
(
)
(
)
=
234900
s
4
+
1825
s
3
+
42625
s
2
+
244625s
(
1
1
)
(
)
(
)
=
234900
s
4
+
1825
s
3
+
42625
s
2
+
244625s
+
234900
(
1
2
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
18
,
No
.
2
,
Ap
r
il 2
0
2
0
:
1
0
0
1
-
1
0
1
1
1004
T
h
e
PID
co
n
t
r
o
l
alg
o
r
ith
m
w
as
co
n
s
id
er
ed
d
u
e
to
its
n
u
m
e
r
o
u
s
ad
v
a
n
tag
es,
s
u
ch
as
s
im
p
le
d
esig
n
m
eth
o
d
o
l
o
g
y
an
d
ef
f
ec
tiv
en
ess
in
s
y
s
tem
co
n
tr
o
l.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at
PID
co
n
tr
o
l
alg
o
r
ith
m
(
eith
e
r
in
f
u
l
l
PID
,
PI
o
r
PD)
p
er
f
o
r
m
s
b
ette
r
wh
en
t
h
e
o
r
d
er
o
f
t
h
e
s
y
s
tem
to
b
e
co
n
t
r
o
lled
is
f
ir
s
t,
s
ec
o
n
d
o
r
h
ig
h
er
-
o
r
d
er
th
at
ca
n
b
e
ap
p
r
o
x
im
ate
d
b
y
eith
er
f
ir
s
t
o
r
s
ec
o
n
d
-
o
r
d
er
d
y
n
am
ic
[
23
]
.
T
h
e
s
y
s
tem
to
b
e
co
n
tr
o
lled
was
r
ed
u
ce
d
f
r
o
m
4
th
to
a
2
nd
o
r
d
e
r
u
s
in
g
B
alr
ed
r
e
d
u
ctio
n
m
o
d
el
,
an
d
th
e
tr
a
n
s
f
er
f
u
n
ctio
n
o
f
th
e
r
ed
u
ce
d
-
o
r
d
er
v
er
s
io
n
is
as
s
h
o
wn
in
(
1
3
)
.
B
o
th
th
e
4
th
o
r
d
er
an
d
2
nd
o
r
d
er
v
er
s
io
n
s
ex
h
ib
it
g
o
o
d
co
n
f
o
r
m
ity
,
as
ev
id
e
n
ce
d
in
th
e
p
lo
ts
o
f
u
n
it st
ep
r
esp
o
n
s
es o
f
(
1
2
)
a
n
d
(
1
3
)
s
h
o
wn
in
Fig
u
r
e
3
.
(
)
=
−
0
.
1
6
7
2
8
+
6
.
081
s
2
+
6
.
002
s
+
6
.
0
9
6
(
1
3
)
Fig
u
r
e
2
.
Un
c
o
n
tr
o
lle
d
clo
s
ed
-
lo
o
p
y
aw
-
a
x
is
attitu
d
e
s
tep
r
esp
o
n
s
e
Fig
u
r
e
3
.
Plo
ts
o
f
cl
o
s
ed
-
lo
o
p
u
n
it st
ep
r
esp
o
n
s
es o
f
th
e
4
th
a
n
d
2
nd
o
r
d
er
o
f
th
e
u
n
c
o
n
tr
o
lle
d
s
y
s
tem
T
h
e
s
tep
r
esp
o
n
s
e
p
ar
am
eter
s
o
f
th
e
two
s
y
s
tem
s
s
h
o
wn
in
T
ab
le
2
we
r
e
o
b
tain
e
d
f
r
o
m
Fig
u
r
e
3
.
C
o
n
s
id
er
in
g
th
e
clo
s
en
ess
o
f
th
e
v
alu
es,
th
e
h
ig
h
e
r
-
o
r
d
er
o
n
e
ca
n
b
e
a
p
p
r
o
x
i
m
ated
b
y
its
r
ed
u
ce
d
o
r
d
er
v
er
s
io
n
,
wh
ich
is
s
u
b
s
eq
u
en
tly
u
s
ed
f
o
r
PID
co
n
tr
o
ller
d
esig
n
to
ac
h
iev
e
b
etter
p
e
r
f
o
r
m
an
c
e.
T
ab
le
2
.
Step
r
esp
o
n
s
e
p
ar
am
e
ter
s
f
o
r
u
n
c
o
n
tr
o
lled
h
ig
h
er
an
d
r
ed
u
ce
d
-
o
r
d
er
cl
o
s
ed
-
lo
o
p
s
y
s
tem
s
Ti
me
-
d
o
mai
n
p
a
r
a
me
t
e
r
s
H
i
g
h
e
r
-
o
r
d
e
r
s
y
s
t
e
m
R
e
d
u
c
e
d
-
o
r
d
e
r
s
y
st
e
m
R
i
se
t
i
me
(
sec
.
)
1
.
8
9
0
1
.
8
0
0
S
e
t
t
l
i
n
g
t
i
me
(
sec
.
)
3
.
4
9
0
3
.
2
9
0
P
e
a
k
a
m
p
l
i
t
u
d
e
0
.
9
9
8
0
.
9
9
7
P
e
a
k
t
i
me
(
sec
.
)
5
.
2
3
0
5
.
5
8
0
%
O
v
e
r
sh
o
o
t
0
.
0
0
0
0
.
0
0
0
S
t
e
a
d
y
st
a
t
e
f
i
n
a
l
v
a
l
u
e
1
.
0
0
0
0
.
9
9
8
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
P
I
D
co
n
tr
o
ller
fo
r
micro
s
a
tell
ite
ya
w
-
a
xis a
ttit
u
d
e
co
n
tr
o
l…
(
A
jib
o
ye
A
.
T.
)
1005
(
)
=
(
)
1
+
(
)
(
1
4
)
Su
b
s
titu
tin
g
(
1
3
)
i
n
to
(
1
4
)
y
ield
s
th
e
o
p
en
-
lo
o
p
tr
an
s
f
e
r
f
u
n
ctio
n
o
f
th
e
r
ed
u
ce
d
-
o
r
d
er
s
y
s
tem
(
)
,
as f
o
llo
ws:
(
)
=
−
0
.
1
6
7
2
8
+
6
.
081
s
2
+
6
.
1
6
9
3
s
+
0
.
0
1
5
0
(
1
5
)
(
)
=
+
B
s
2
+
C
s
+
D
(
1
6
)
w
h
er
e
A
=
-
0
.
1
6
7
3
,
B
=
6
.
0
8
1
,
C
=
6
.
1
6
9
3
an
d
D
=
0
.
0
1
5
0
.
4.
CO
NT
RO
L
L
E
R
DE
SI
G
N
4
.
1
.
Det
er
m
ina
t
io
n o
f
P
I
D
co
ntr
o
ller
g
a
ins
T
h
e
f
u
ll
PID
co
n
tr
o
ller
tr
an
s
f
er
f
u
n
ctio
n
is
as
ex
p
r
ess
ed
in
(
8
)
,
wh
ile
th
e
o
p
en
-
lo
o
p
PID
co
n
tr
o
lled
tr
an
s
f
er
f
u
n
ctio
n
f
o
r
th
e
r
ed
u
c
ed
-
o
r
d
er
s
y
s
tem
was o
b
tain
ed
b
y
m
u
ltip
ly
i
n
g
(
8
)
an
d
(
1
6
)
to
y
ie
ld
(
1
7
)
.
(
)
=
(
3
+
(
+
)
2
+
(
+
)
+
s
3
+
C
s
2
+
Ds
)
(
1
7
)
Usi
n
g
(
1
7
)
th
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
f
o
r
th
e
r
ed
u
ce
d
-
o
r
d
er
PID
co
n
tr
o
lled
s
y
s
tem
,
(
)
is
g
iv
en
b
y
(
1
8
)
.
(
)
=
(
(
1
1
+
)
(
3
+
(
+
)
2
+
(
+
)
+
)
s
3
+
(
+
+
C
1
+
)
s
2
+
(
+
+
D
1
+
)
s
+
1
+
)
(
1
8
)
T
h
e
ch
ar
ac
ter
is
tic
o
f
(
1
8
)
is
(
1
9
)
.
s
3
+
(
+
+
C
1
+
)
s
2
+
(
+
+
D
1
+
)
s
+
1
+
=
0
(
1
9
)
Sin
ce
th
e
ch
ar
ac
ter
is
tic
eq
u
atio
n
o
f
th
e
tr
a
n
s
f
er
f
u
n
ctio
n
is
o
f
3
rd
o
r
d
er
,
th
e
v
al
u
e
o
f
co
n
tr
o
ller
g
ain
s
u
s
in
g
I
T
AE
d
esig
n
m
eth
o
d
c
an
b
e
d
eter
m
in
e
d
b
y
o
b
tain
in
g
a
s
tan
d
ar
d
is
ed
f
o
r
m
o
f
3
rd
o
r
d
er
c
h
ar
ac
ter
is
tic
eq
u
atio
n
.
T
h
ese
ca
n
b
e
f
o
u
n
d
in
th
e
tab
le
o
f
o
p
tim
u
m
c
o
e
f
f
icien
ts
o
f
s
y
s
tem
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
b
ased
o
n
th
e
I
T
AE
cr
iter
io
n
f
o
r
a
s
tep
in
p
u
t
[
23
]
.
T
h
e
o
b
tain
ed
s
tan
d
ar
d
is
ed
ch
ar
ac
ter
i
s
tic
eq
u
atio
n
f
r
o
m
th
e
tab
le
is
g
iv
en
in
(
2
0
)
.
s
3
+
1
.
75
ω
n
s
2
+
2
.
15
ω
n
2
s
+
ω
n
3
=
0
(
2
0
)
W
h
er
e
ω
n
=
6
r
a
d
/s
f
r
o
m
(
4
)
.
E
q
u
atin
g
th
e
co
e
f
f
icien
ts
o
f
3
,
2
a
n
d
in
(
1
9
)
a
n
d
(
2
0
)
,
a
n
d
th
en
r
ea
r
r
an
g
in
g
,
we
ca
n
o
b
tain
−
0
.
1673
+
7
.
8
3
7
7
=
4
.
3307
(
2
1
)
6
.
081
−
0
.
1673
+
13
=
77
.
385
(
2
2
)
+
5
.
9
4
2
6
=
35
.
5
2
0
5
(
2
3
)
T
h
e
v
alu
es
o
f
,
an
d
ar
e
1
1
.
8
4
9
2
,
3
0
.
7
3
3
7
,
a
n
d
0
.
8
0
5
5
r
esp
ec
tiv
ely
,
o
b
tain
ed
b
y
s
o
lv
in
g
(
2
1
)
,
(
2
2
)
a
n
d
(
2
3
)
s
im
u
ltan
eo
u
s
ly
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
th
e
clo
s
ed
-
lo
o
p
PID
-
co
n
tr
o
lled
r
ed
u
ce
d
-
o
r
d
e
r
s
y
s
tem
was o
b
t
ain
ed
b
y
s
u
b
s
titu
tin
g
th
e
v
al
u
e
s
o
f
A,
B
,
C
,
D,
K
p
,
K
i
an
d
K
d
in
(
1
8
)
.
=
−
0
.
1557
s
3
+
3
.
37
s
2
+
77
.
33s
+
216
s
3
+
10
.
5
s
2
+
77
.
3
5
s
+
216
(
2
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
18
,
No
.
2
,
Ap
r
il 2
0
2
0
:
1
0
0
1
-
1
0
1
1
1006
Als
o
,
th
e
tr
an
s
f
er
f
u
n
ctio
n
hccl
o
f
t
h
e
h
ig
h
er
-
o
r
d
er
s
y
s
tem
o
f
t
h
e
PID
was
o
b
tain
e
d
b
y
s
u
b
s
titu
tin
g
th
e
v
alu
es o
f
,
an
d
in
(
1
0
)
.
h
ccl
=
1
8
9
2
0
0
(
s
2
+
14
.
7
1
s
+
38
.
16
)
s
5
+
1825
s
4
+
4
2
6
2
5
s
3
+
4
3
3
8
0
0
s
2
+
2
7
8
3
0
0
0
+
7
2
1
9
0
0
0
(
2
5
)
4
.
2
.
Det
er
m
ina
t
io
n o
f
P
D
co
ntr
o
ller
g
a
ins
T
h
e
u
n
co
n
tr
o
lled
s
y
s
tem
r
ed
u
ce
d
-
o
r
d
er
o
p
en
-
lo
o
p
tr
a
n
s
f
er
f
u
n
ctio
n
was
alr
ea
d
y
g
iv
e
n
in
(
1
6
)
.
T
h
e
PD c
o
n
tr
o
ller
t
r
an
s
f
er
f
u
n
ctio
n
was o
b
tain
ed
f
r
o
m
(
8
)
b
y
ass
u
m
in
g
=
0
an
d
is
as e
x
p
r
ess
ed
in
(
2
6
)
.
=
(
+
)
(
2
6
)
T
h
e
o
p
e
n
an
d
clo
s
ed
-
lo
o
p
PD
co
n
tr
o
lled
r
ed
u
ce
d
-
o
r
d
er
s
y
s
t
em
tr
an
s
f
er
f
u
n
ctio
n
wer
e
d
er
iv
ed
b
ased
o
n
(
1
6
)
an
d
(
2
6
)
,
as
s
h
o
wn
in
(
2
7
)
a
n
d
(
2
8
)
r
esp
ec
tiv
ely
.
=
(
2
+
(
+
)
+
)
s
2
+
Cs
+
D
(
2
7
)
=
(
1
1
+
)
(
2
+
(
+
)
+
)
s
2
+
(
+
+
C
1
+
)
s
+
+
D
1
+
(
2
8
)
T
h
e
ch
ar
ac
ter
is
tic
(
2
8
)
is
as sh
o
wn
in
(
2
9
)
.
s
2
+
(
+
+
C
1
+
)
s
+
+
D
1
+
(
2
9
)
T
h
e
ch
a
r
ac
ter
is
tic
o
f
(
2
9
)
is
o
f
o
r
d
er
2
,
th
e
r
ef
o
r
e
to
d
eter
m
in
e
th
e
PD
co
n
tr
o
ller
g
ain
s
v
alu
es
b
y
ap
p
ly
in
g
I
T
AE
m
eth
o
d
th
e
c
o
r
r
esp
o
n
d
in
g
s
tan
d
ar
d
is
ed
s
ec
o
n
d
-
o
r
d
er
ch
a
r
ac
ter
is
tic
eq
u
atio
n
was
o
b
tain
ed
f
r
o
m
th
e
o
p
tim
u
m
co
ef
f
icien
ts
’
tab
le.
T
h
e
o
b
tain
ed
ch
ar
ac
ter
is
tic
eq
u
atio
n
is
:
s
2
+
1
.
4
ω
n
s
+
ω
n
2
(
3
0
)
w
h
er
e
ω
n
=
6
r
ad
/s
.
E
q
u
atin
g
th
e
co
ef
f
icien
ts
o
f
2
an
d
in
(
2
9
)
to
(
3
0
)
a
n
d
r
ea
r
r
an
g
in
g
,
we
h
av
e
−
0
.
1673
+
7
.
4
8
6
3
=
2
.
2307
(
3
1
)
6
.
081
+
−
6
.
0228
=
35
.
9
8
5
0
(
3
2
)
t
h
e
v
alu
es
o
f
an
d
wer
e
o
b
t
ain
ed
as
5
.
5
0
0
8
an
d
0
.
4
2
0
9
,
r
esp
ec
tiv
ely
,
b
y
s
o
lv
in
g
(
3
1
)
a
n
d
(
3
2
)
s
im
u
ltan
eo
u
s
ly
.
Su
b
s
titu
tin
g
t
h
e
v
alu
es o
f
A
,
B
,
C
,
D
,
K
p
an
d
K
d
in
(
2
8
)
g
iv
es (
3
3
)
.
=
0
.
0
7
5
7
5
(
−
s
2
+
23
.
27s
+
475
)
(
s
2
+
8
.
4
s
+
36
)
(
3
3
)
Su
b
s
titu
tin
g
th
e
v
alu
es
o
f
,
wit
h
=0
in
to
(
1
0
)
g
iv
es
th
e
clo
s
ed
-
lo
o
p
t
r
an
s
f
er
f
u
n
ctio
n
o
f
PD
co
n
tr
o
lled
h
ig
h
er
-
o
r
d
e
r
s
y
s
tem
o
f
(
3
4
)
h
ccl
=
98870
(
s
+
13
.
07
)
s
4
+
18
25
s
3
+
4
2
6
2
5
s
2
+
3
4
3
5
0
0
+
1
2
9
2
0
0
0
(
3
4
)
5.
DE
S
I
G
N
O
F
P
RE
-
F
I
L
T
E
R
T
RANSF
E
R
F
UNC
T
I
O
N
As
ca
n
b
e
s
ee
n
f
r
o
m
(
2
4
)
,
(
2
5
)
,
(
3
3
)
a
n
d
(
3
4
)
b
o
th
th
e
r
ed
u
ce
d
an
d
h
i
g
h
er
-
o
r
d
e
r
PI
D
an
d
PD
co
n
tr
o
lled
clo
s
ed
-
lo
o
p
s
y
s
tem
s
h
av
e
ze
r
o
s
,
wh
ic
h
will
n
eg
ativ
ely
af
f
ec
t
th
eir
r
es
p
o
n
s
e
[
2
3
,
2
4
,
2
6
]
.
T
o
am
elio
r
ate
th
is
e
f
f
ec
t,
t
h
er
e
is
th
e
n
ee
d
to
in
co
r
p
o
r
ate
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ctio
n
in
s
er
ies
with
th
e
s
y
s
tem
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
as
s
h
o
wn
in
Fig
u
r
e
4
.
T
h
is
is
n
ec
ess
ar
y
to
e
n
s
u
r
e
th
at
th
e
r
e
s
u
ltin
g
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
will
co
n
tai
n
n
o
ze
r
o
a
n
d
s
till
m
ain
tain
u
n
ity
d
c
g
ain
w
h
ich
will
lead
to
th
e
o
v
er
all
im
p
r
o
v
em
e
n
t
o
f
th
e
s
y
s
tem
r
esp
o
n
s
e
[
23
]
.
T
wo
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ctio
n
s
wer
e
d
esig
n
ed
,
th
e
f
ir
s
t
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
P
I
D
co
n
tr
o
ller
fo
r
micro
s
a
tell
ite
ya
w
-
a
xis a
ttit
u
d
e
co
n
tr
o
l…
(
A
jib
o
ye
A
.
T.
)
1007
was
b
ased
o
n
th
e
r
e
d
u
ce
d
-
o
r
d
er
s
y
s
tem
a
n
d
th
e
s
ec
o
n
d
was
b
ased
o
n
t
h
e
h
ig
h
er
-
o
r
d
e
r
s
y
s
tem
f
o
r
ea
ch
o
f
th
e
co
n
tr
o
ller
d
esig
n
.
Fig
u
r
e
4
.
Sy
s
tem
clo
s
ed
-
lo
o
p
t
r
an
s
f
er
f
u
n
ctio
n
with
p
r
e
-
f
ilter
5
.
1
.
Det
er
m
ina
t
io
n o
f
pre
-
f
il
t
er
t
ra
ns
f
er
f
un
ct
io
n us
ing
P
I
D
co
ntr
o
lled r
educed
-
o
rder
s
y
s
t
em
Facto
r
izin
g
th
e
n
u
m
er
ato
r
o
f
(
2
4
)
y
ield
e
d
(
3
5
)
.
=
0
.
1557
(
s
−
36
.
.
3250
)
(
s
+
11
.
3
6
5
3
)
(
s
+
3
.
3
5
9
6
)
s
3
+
10
.
5
s
2
+
77
.
35s
+
216
(
3
5
)
I
t
ca
n
b
e
s
ee
n
f
r
o
m
(
3
5
)
th
at
t
h
e
in
tr
o
d
u
ctio
n
o
f
PID
co
n
tr
o
l
ler
tr
an
s
f
er
f
u
n
ctio
n
in
to
th
e
s
y
s
tem
h
as
ad
d
ed
2
m
o
r
e
ze
r
o
s
to
th
is
s
y
s
tem
at
s
=
−
11
.
3653
an
d
s
=
−
3
.
3596
in
ad
d
itio
n
to
th
e
alr
ea
d
y
ex
is
tin
g
ze
r
o
f
o
r
th
e
u
n
co
n
t
r
o
lled
s
y
s
tem
wh
ich
is
at
th
e
p
o
in
t
s
=
36
.
3250
.
T
h
e
ex
p
ec
t
ed
clo
s
ed
-
lo
o
p
r
ed
u
ce
d
-
o
r
d
er
PID
co
n
tr
o
lled
s
y
s
tem
tr
an
s
f
er
f
u
n
ctio
n
wh
en
th
e
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ctio
n
is
in
tr
o
d
u
ce
d
is
as
g
iv
en
in
(
3
6
)
.
=
216
s
3
+
10
.
5
s
2
+
77
.
35s
+
216
(
3
6
)
B
u
t
,
=
(
3
7
)
t
h
er
ef
o
r
e,
th
e
lo
wer
o
r
d
e
r
-
b
ased
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ct
io
n
(
)
was
r
ea
lized
u
s
in
g
(
3
7
)
a
n
d
is
as
ex
p
r
ess
ed
as
=
1387
(
−
s
3
+
21
.
6
s
2
+
496
.
7s
+
1387
)
(
3
8
)
As
ca
n
b
e
s
ee
n
f
r
o
m
(
3
8
)
,
o
n
e
o
f
th
e
p
o
les
o
f
th
e
r
ed
u
ce
d
-
o
r
d
e
r
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ctio
n
is
o
n
th
e
r
ig
h
t
-
h
an
d
s
id
e
o
f
s
-
p
lan
e
,
th
er
ef
o
r
e
c
o
m
b
in
i
n
g
it
in
s
er
ie
s
with
th
e
co
n
tr
o
lled
s
y
s
tem
cl
o
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
will
ca
u
s
e
in
s
tab
ilit
y
.
As
a
r
esu
lt,
th
e
r
esp
o
n
s
e
o
f
th
e
clo
s
ed
-
lo
o
p
c
o
n
tr
o
lled
s
y
s
tem
with
p
r
e
-
f
ilter
will
b
e
d
if
f
er
e
n
t
f
r
o
m
t
h
e
ex
p
ec
ted
r
esp
o
n
s
e
o
f
(
3
6
)
.
I
n
o
r
d
er
to
im
p
r
o
v
e
t
h
e
s
y
s
tem
r
esp
o
n
s
e,
o
b
tain
i
n
g
th
e
p
r
e
-
f
ilter
tr
a
n
s
f
er
f
u
n
cti
o
n
f
r
o
m
th
e
clo
s
ed
-
lo
o
p
PI
D
co
n
tr
o
lle
d
tr
a
n
s
f
er
f
u
n
cti
o
n
f
o
r
th
e
o
r
ig
in
al
h
ig
h
er
-
o
r
d
e
r
s
y
s
tem
was c
o
n
s
id
er
ed
.
5
.
2
.
Det
er
m
ina
t
io
n o
f
pre
-
f
il
t
er
t
ra
ns
f
er
f
un
ct
io
n us
ing
h
ig
her
-
o
rder
P
I
D
co
ntr
o
lled sy
s
t
em
T
h
e
PID
co
n
t
r
o
lled
clo
s
ed
-
lo
o
p
tr
a
n
s
f
er
f
u
n
ctio
n
f
o
r
th
e
o
r
ig
in
al
h
ig
h
e
r
-
o
r
d
er
s
y
s
t
em
is
as
s
h
o
wn
in
(
2
5
)
.
Facto
r
izin
g
t
h
e
n
u
m
er
ato
r
o
f
(
2
5
)
y
ield
e
d
(
3
9
)
,
w
h
ich
s
h
o
ws
th
at
in
co
r
p
o
r
atio
n
o
f
PID
co
n
tr
o
ller
in
to
th
e
s
y
s
tem
h
as
in
cr
ea
s
e
d
th
e
n
u
m
b
er
o
f
s
y
s
tem
ze
r
o
f
r
o
m
0
to
2
an
d
th
ese
ze
r
o
s
ar
e
at
s
=
−
11
.
3470
an
d
=
−
3
.
3630
.
h
ccl
=
1
8
9
2
0
0
(
s
+
11
.
3
4
7
0
)
(
s
+
3
.
3
6
3
0
)
s
5
+
1825
s
4
+
4
2
6
2
5
s
3
+
4
3
3
8
0
0
s
2
+
2
7
8
3
0
0
0
+
7
2
1
9
0
0
0
(
3
9
)
No
w
th
e
tr
a
n
s
f
er
f
u
n
ctio
n
f
o
r
th
e
c
o
n
tr
o
lle
d
clo
s
ed
-
l
o
o
p
s
y
s
tem
with
a
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ctio
n
(
hcc
l
f
)
is
as e
x
p
r
ess
ed
in
(
4
0
)
.
hcc
l
f
=
h
hccl
(
4
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
18
,
No
.
2
,
Ap
r
il 2
0
2
0
:
1
0
0
1
-
1
0
1
1
1008
W
h
er
e:
h
is
th
e
p
r
e
-
f
ilter
t
r
a
n
s
f
er
f
u
n
ctio
n
o
b
tain
ed
f
r
o
m
th
e
o
r
ig
i
n
al
h
i
g
h
er
-
o
r
d
e
r
co
n
tr
o
l
s
y
s
tem
.
T
h
e
ex
p
ec
ted
co
n
tr
o
lled
s
y
s
tem
tr
an
s
f
er
f
u
n
ctio
n
with
p
r
e
-
f
ilter
is
as e
x
p
r
ess
ed
in
(
4
1
)
.
h
ccl
f
=
7
2
1
9
0
0
0
s
5
+
1
8
2
5
s
4
+
4
2
6
2
5
s
3
+
4
3
3
8
0
0
s
2
+
2
.
7
8
3
0
0
0
+
7
2
1
9
0
0
0
(
4
1
)
T
h
er
ef
o
r
e,
f
r
o
m
(
3
9
)
,
(
4
0
)
,
an
d
(
4
1
)
,
h
=
38
.
16
(
s
2
+
14
.
71s
+
38
.
16
)
(
4
2
)
Sin
ce
h
is
s
tab
le
an
d
ca
n
b
e
u
s
ed
to
im
p
r
o
v
e
th
e
s
y
s
tem
r
esp
o
n
s
e,
th
er
ef
o
r
e
t
h
e
tr
an
s
f
e
r
f
u
n
ctio
n
f
o
r
PID
co
n
tr
o
lled
h
i
g
h
er
-
o
r
d
e
r
s
y
s
tem
with
h
ig
h
er
-
o
r
d
e
r
p
r
e
-
f
ilter
u
s
in
g
(
4
0
)
ca
n
b
e
e
x
p
r
e
s
s
ed
as
h
ccl
f
=
(
38
.
16
s
2
+
14
.
71s
+
38
.
16
)
(
189200
(
s
2
+
14
.
71s
+
38
.
16
)
s
5
+
1825
s
4
+
42625
s
3
+
433800
s
2
+
2783000
+
7219000
)
(
4
3
)
5
.
3
.
Det
er
m
ina
t
io
n o
f
pre
-
f
il
t
er
t
ra
ns
f
er
f
un
ct
io
n f
ro
m
re
du
ce
d
-
o
rder
P
D
co
ntr
o
lled s
y
s
t
em
T
h
e
PD
co
n
tr
o
lled
r
ed
u
ce
d
-
o
r
d
er
clo
s
ed
-
lo
o
p
s
y
s
tem
tr
an
s
f
er
f
u
n
ctio
n
is
as
s
h
o
wn
in
(
3
3
)
,
wh
ich
m
ay
b
e
r
ew
r
itten
as
,
=
0
.
0
7
5
7
5
(
s
−
36
.
3
4
0
7
)
(
s
+
13
.
0
7
0
7
)
(
s
2
+
8
.
4
s
+
36
)
(
4
4
)
T
h
is
s
h
o
ws
th
at
t
h
e
in
t
r
o
d
u
ctio
n
o
f
PD
co
n
tr
o
ller
i
n
to
t
h
e
s
y
s
tem
h
as
in
c
r
ea
s
ed
th
e
n
u
m
b
er
o
f
r
e
d
u
ce
d
-
o
r
d
er
s
y
s
tem
clo
s
ed
-
lo
o
p
ze
r
o
s
f
r
o
m
1
,
f
o
r
th
e
u
n
co
n
tr
o
lled
s
y
s
t
em
lo
ca
ted
at
s
=
36
.
3522
to
2
f
o
r
th
e
c
o
n
tr
o
lled
s
y
s
tem
at
s
=
36
.
3522
an
d
s
=
−
13
.
0707
.
T
h
e
ex
p
ec
ted
clo
s
ed
-
lo
o
p
r
ed
u
ce
d
-
o
r
d
er
PD
co
n
tr
o
lle
d
s
y
s
tem
with
p
r
e
-
f
ilter
ed
tr
a
n
s
f
er
f
u
n
ct
io
n
is
a
s
g
iv
en
in
(
4
5
)
.
=
36
s
2
+
8
.
4
s
+
36
(
4
5
)
B
u
t f
r
o
m
(
3
7
)
,
=
(
4
6
)
t
h
er
ef
o
r
e,
=
475
.
2
4
7
5
(
−
s
2
+
23
.
27s
+
4
7
5
)
(
4
7
)
T
h
e
clo
s
ed
-
lo
o
p
r
ed
u
ce
d
-
o
r
d
e
r
PD
co
n
tr
o
lled
s
y
s
tem
with
th
is
p
r
e
-
f
ilter
tr
a
n
s
f
er
f
u
n
ctio
n
will
n
o
t
g
iv
e
th
e
ex
p
ec
te
d
p
r
e
-
f
ilter
ed
clo
s
ed
-
lo
o
p
r
esp
o
n
s
e
b
ec
a
u
s
e
o
f
th
e
in
t
r
o
d
u
ctio
n
o
f
th
e
r
i
g
h
t
-
h
an
d
s
id
e
p
o
l
e
in
to
th
e
s
y
s
tem
b
y
th
e
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ctio
n
.
Sin
c
e
th
e
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
c
tio
n
o
b
tain
e
d
f
r
o
m
th
e
clo
s
ed
-
lo
o
p
r
ed
u
ce
d
-
o
r
d
e
r
PD
co
n
tr
o
lled
s
y
s
tem
will
d
e
s
tab
ilize
th
e
s
y
s
tem
,
th
e
n
ex
t
o
p
tio
n
is
to
o
b
tain
th
e
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ctio
n
f
r
o
m
th
e
clo
s
ed
-
l
o
o
p
PD
co
n
tr
o
lled
tr
an
s
f
er
f
u
n
ctio
n
f
o
r
t
h
e
o
r
ig
in
a
l
h
ig
h
er
-
or
d
e
r
s
y
s
tem
.
5
.
4
.
Det
er
m
ina
t
io
n o
f
pre
-
f
il
t
er
t
ra
ns
f
er
f
un
ct
io
n f
ro
m
hig
her
-
o
rder
P
D
co
ntr
o
lled sy
s
t
em
T
h
e
PD
c
o
n
tr
o
lled
clo
s
ed
-
l
o
o
p
tr
an
s
f
er
f
u
n
ctio
n
f
o
r
t
h
e
o
r
ig
in
al
h
ig
h
e
r
-
o
r
d
er
s
y
s
tem
is
as
s
h
o
wn
in
(
3
4
)
.
Facto
r
izin
g
th
e
n
u
m
er
ato
r
o
f
(
3
4
)
g
iv
es
(
4
8
)
.
h
ccl
=
98870
(
s
+
13
.
07
)
s
4
+
1825
s
3
+
4
2
6
2
5
s
2
+
3
4
3
5
0
0
+
1
2
9
2
0
0
0
(
4
8
)
I
t
ca
n
b
e
s
ee
n
f
r
o
m
(
4
8
)
th
at
th
e
in
tr
o
d
u
ctio
n
o
f
PD
co
n
tr
o
ller
in
to
th
e
s
y
s
tem
h
as
in
cr
ea
s
e
d
th
e
n
u
m
b
er
o
f
r
ed
u
ce
d
-
o
r
d
e
r
s
y
s
tem
clo
s
ed
-
l
o
o
p
ze
r
o
f
r
o
m
0
f
o
r
th
e
u
n
c
o
n
tr
o
lled
s
y
s
tem
to
1
f
o
r
th
e
c
o
n
tr
o
lled
s
y
s
tem
at
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
P
I
D
co
n
tr
o
ller
fo
r
micro
s
a
tell
ite
ya
w
-
a
xis a
ttit
u
d
e
co
n
tr
o
l…
(
A
jib
o
ye
A
.
T.
)
1009
s
=
−
13
.
0707
.
T
h
e
ex
p
ec
ted
PD
co
n
tr
o
lle
d
clo
s
ed
-
lo
o
p
tr
a
n
s
f
er
f
u
n
cti
o
n
f
o
r
th
e
o
r
ig
in
al
h
ig
h
er
-
o
r
d
er
s
y
s
tem
with
p
r
e
-
f
ilter
tr
an
s
f
er
f
u
n
ctio
n
is
as sh
o
wn
in
(
4
9
)
.
h
ccl
f
=
1
2
9
2
0
0
0
s
4
+
1
8
2
5
s
3
+
4
2
6
2
5
s
2
+
3
4
3
5
0
0
+
1
2
9
2
0
0
0
(
4
9
)
B
u
t f
r
o
m
(
4
0
)
,
hf
=
hccl
hcc
l
f
(
5
0
)
t
h
er
ef
o
r
e,
hf
=
13
.
07
(
s
+
13
.
07
)
(
5
1
)
F
r
o
m
(
5
1
)
,
t
h
e
tr
an
s
f
er
f
u
n
ctio
n
f
o
r
PD
co
n
tr
o
lled
h
i
g
h
er
-
o
r
d
er
s
y
s
tem
with
h
ig
h
e
r
-
o
r
d
er
p
r
e
-
f
ilter
is
ex
p
r
ess
ed
as
,
h
ccl
f
=
(
13
.
07
s
+
13
.
07
)
(
98870
(
s
+
13
.
07
)
s
4
+
1825
s
3
+
4
2
6
2
5
s
2
+
3
4
3
5
0
0
+
1
2
9
2
0
0
0
)
(
5
2
)
6.
SI
M
UL
A
T
I
O
N
T
h
e
co
n
tr
o
ller
d
esig
n
ca
r
r
ied
o
u
t
in
t
h
is
p
ap
er
h
as
r
esu
lte
d
in
to
f
o
u
r
ty
p
es
o
f
co
n
tr
o
lle
d
s
y
s
tem
s
,
n
am
ely
PID
co
n
t
r
o
lled
s
y
s
tem
with
o
u
t
p
r
e
-
f
ilter
,
PID
co
n
t
r
o
lled
s
y
s
tem
with
p
r
e
-
f
ilter
,
PD
co
n
tr
o
lled
s
y
s
tem
with
o
u
t
p
r
e
-
f
ilter
an
d
PD
co
n
tr
o
lled
s
y
s
tem
wit
h
p
r
e
-
f
ilte
r
.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at
th
e
s
y
s
tem
o
f
in
ter
est
is
th
e
h
ig
h
er
-
o
r
d
er
s
y
s
tem
wh
i
ch
is
th
e
o
r
ig
in
al
s
y
s
tem
.
T
h
er
ef
o
r
e,
to
s
elec
t
th
e
m
o
s
t
ap
p
r
o
p
r
iate
o
u
t
o
f
th
ese
f
o
u
r
d
esig
n
e
d
m
ic
r
o
-
SAC
s
y
s
tem
s
,
th
er
e
is
th
e
n
ee
d
t
o
in
v
esti
g
ate
th
eir
p
er
f
o
r
m
a
n
c
e
v
ia
s
im
u
latio
n
.
T
h
er
ef
o
r
e,
th
e
s
y
s
tem
u
n
it
s
t
ep
r
esp
o
n
s
e
was
p
lo
tted
f
o
r
t
h
ese
s
y
s
tem
s
an
d
th
e
tim
e
d
o
m
ain
p
e
r
f
o
r
m
an
ce
p
ar
am
eter
s
wer
e
ex
tr
ac
ted
an
d
u
s
ed
as
th
e
b
asis
f
o
r
s
elec
ti
n
g
th
e
m
o
s
t
ap
p
r
o
p
r
iate
s
y
s
tem
af
ter
co
m
p
ar
is
o
n
.
T
h
e
tim
e
-
d
o
m
ain
p
er
f
o
r
m
an
c
e
p
ar
am
eter
s
o
f
in
ter
est
ar
e
t
h
e
r
is
e
tim
e
(
)
,
s
ettlin
g
tim
e
(
)
,
p
er
ce
n
tag
e
o
v
er
s
h
o
o
t
(
)
,
tim
e
to
p
ea
k
o
v
er
s
h
o
o
t
(
)
an
d
s
tead
y
-
s
tate
er
r
o
r
(
)
.
T
o
ea
s
y
th
e
s
y
s
tem
p
er
f
o
r
m
a
n
ce
,
co
m
p
ar
is
o
n
a
n
d
an
al
y
s
is
th
e
s
y
s
tem
s
im
u
latio
n
was
ca
r
r
ied
o
u
t
u
s
in
g
th
e
u
n
c
o
n
tr
o
lled
a
n
d
co
n
tr
o
lled
s
y
s
tem
s
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
ctio
n
s
as
f
o
llo
ws.
Usi
n
g
(
1
2
)
,
(
2
5
)
,
(
3
4
)
,
(
4
3
)
a
n
d
(
5
2
),
th
e
clo
s
ed
-
lo
o
p
s
tep
r
esp
o
n
s
es
f
o
r
th
e
u
n
co
n
tr
o
lled
h
ig
h
er
-
o
r
d
er
s
y
s
tem
;
PID
co
n
t
r
o
lle
d
h
ig
h
e
r
-
o
r
d
er
s
y
s
tem
with
o
u
t
p
r
e
-
f
ilter
;
PD
co
n
tr
o
lled
h
ig
h
er
-
o
r
d
e
r
s
y
s
tem
with
o
u
t
p
r
e
-
f
ilter
;
PID
co
n
t
r
o
lled
h
ig
h
er
-
o
r
d
er
s
y
s
tem
wi
th
p
r
e
-
f
ilter
a
n
d
PD
co
n
tr
o
lled
h
ig
h
er
-
o
r
d
er
s
y
s
tem
with
p
r
e
-
f
ilter
wer
e
p
lo
tted
as sh
o
wn
in
Fig
u
r
e
5
.
Fig
u
r
e
5
.
C
lo
s
ed
-
lo
o
p
s
tep
r
es
p
o
n
s
e
f
o
r
u
n
c
o
n
tr
o
lle
d
an
d
co
n
tr
o
lled
h
ig
h
er
o
r
d
er
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
18
,
No
.
2
,
Ap
r
il 2
0
2
0
:
1
0
0
1
-
1
0
1
1
1010
7.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
s
tep
r
esp
o
n
s
e
p
a
r
am
eter
s
in
T
ab
le
3
wer
e
o
b
tain
ed
f
r
o
m
th
e
u
n
c
o
n
tr
o
lled
an
d
co
n
tr
o
lled
s
y
s
tem
s
clo
s
ed
-
lo
o
p
s
tep
r
esp
o
n
s
e
o
f
Fig
u
r
e
5
.
As
ca
n
b
e
s
e
en
f
r
o
m
Fig
u
r
e
5
a
n
d
T
ab
le
3
,
th
e
PID
-
c
o
n
tr
o
lled
s
y
s
tem
with
o
u
t
p
r
e
-
f
ilter
h
as
a
b
etter
p
er
f
o
r
m
a
n
ce
co
m
p
ar
e
d
to
th
e
u
n
co
n
tr
o
lled
s
y
s
tem
wh
en
th
e
r
is
e
tim
e,
s
ettlin
g
tim
e
an
d
tim
e
to
p
ea
k
o
v
e
r
s
h
o
o
t
wer
e
co
n
s
id
er
e
d
,
b
u
t
th
e
p
er
f
o
r
m
a
n
ce
b
ec
o
m
e
s
wo
r
s
e
in
ter
m
s
o
f
p
er
ce
n
tag
e
o
v
e
r
s
h
o
o
t.
I
n
tr
o
d
u
ctio
n
o
f
p
r
e
-
f
ilter
in
to
th
e
PID
co
n
tr
o
lled
s
y
s
tem
r
ed
u
c
es
th
e
s
ettlin
g
tim
e
an
d
p
e
r
ce
n
tag
e
o
v
er
s
h
o
o
t
b
u
t
wo
r
s
en
b
o
t
h
th
e
r
is
e
tim
e
an
d
tim
e
-
to
-
p
ea
k
o
v
e
r
s
h
o
o
t
b
y
in
c
r
ea
s
in
g
th
e
n
u
m
er
ical
v
alu
e
o
f
th
es
e
p
ar
am
eter
s
.
I
n
tr
o
d
u
ctio
n
o
f
p
r
e
-
f
ilter
in
to
th
e
PD
co
n
tr
o
lled
s
y
s
tem
wo
r
s
en
th
e
s
y
s
tem
p
er
f
o
r
m
an
ce
b
y
in
c
r
e
asin
g
th
e
n
u
m
er
ical
v
alu
e
o
f
th
e
r
is
e
tim
e,
s
ettlin
g
tim
e
an
d
tim
e
to
p
ea
k
o
v
er
s
h
o
o
t.
B
u
t
th
er
e
is
a
r
e
d
u
ctio
n
in
th
e
v
alu
e
o
f
th
e
p
er
ce
n
tag
e
o
v
e
r
s
h
o
o
t
e
n
co
u
n
ter
ed
b
y
th
is
s
y
s
tem
wh
en
co
m
p
ar
ed
t
o
PD
co
n
tr
o
lled
s
y
s
tem
with
o
u
t
p
r
e
-
f
ilter
.
B
o
th
th
e
PD
co
n
tr
o
lled
s
y
s
tem
s
wit
h
o
u
t
an
d
with
p
r
e
-
f
ilter
h
av
e
b
etter
p
er
f
o
r
m
an
ce
co
m
p
ar
ed
to
th
e
u
n
c
o
n
tr
o
lle
d
s
y
s
tem
co
n
s
id
er
in
g
th
e
r
is
e
tim
e,
s
ettl
in
g
tim
e
an
d
ti
m
e
to
p
ea
k
o
v
er
s
h
o
o
t.
B
u
t
th
e
p
er
ce
n
tag
e
o
v
er
s
h
o
o
t
f
o
r
th
e
u
n
co
n
tr
o
lled
s
y
s
tem
is
less
th
an
th
at
f
o
r
a
n
y
o
f
th
e
two
PD c
o
n
tr
o
lled
s
y
s
tem
.
T
ab
le
3
.
Step
r
esp
o
n
s
e
p
er
f
o
r
m
an
ce
p
ar
am
ete
r
s
f
o
r
y
aw
-
ax
i
s
attitu
d
e
clo
s
ed
-
lo
o
p
c
o
n
tr
o
ll
ed
s
y
s
tem
S
y
st
e
m c
o
n
d
i
t
i
o
n
(
s)
(
s)
PO
(
s)
U
n
c
o
n
t
r
o
l
l
e
d
sy
s
t
e
m
1
.
8
9
3
.
4
9
0
5
.
2
3
0
P
I
D
c
o
n
t
r
o
l
l
e
d
s
y
st
e
m w
i
t
h
o
u
t
p
r
e
-
f
i
l
t
e
r
0
.
1
3
6
1
.
3
1
4
8
.
1
0
.
3
7
0
P
I
D
c
o
n
t
r
o
l
l
e
d
s
y
st
e
m w
i
t
h
p
r
e
-
f
i
l
t
e
r
0
.
3
6
5
1
.
1
7
1
.
0
7
0
.
7
6
1
0
P
D
c
o
n
t
r
o
l
l
e
d
s
y
st
e
m w
i
t
h
o
u
t
p
r
e
-
f
i
l
t
e
r
0
.
2
8
8
0
.
8
1
4
4
.
7
3
0
.
5
9
3
0
P
D
c
o
n
t
r
o
l
l
e
d
s
y
st
e
m w
i
t
h
p
r
e
-
f
i
l
t
e
r
0
.
3
3
2
0
.
8
8
7
3
.
6
6
0
.
7
0
6
0
Fro
m
th
e
r
esu
lts
,
th
er
e
ar
e
th
r
ee
m
ajo
r
tim
e
-
d
o
m
ain
p
er
f
o
r
m
an
ce
s
p
ec
if
icatio
n
s
t
o
b
e
s
atis
f
ied
;
it
ca
n
b
e
s
ee
n
in
T
ab
le
3
th
at
th
e
u
n
co
n
tr
o
lled
s
y
s
tem
s
atis
f
ies
t
h
e
an
d
co
n
d
itio
n
s
,
PID
co
n
tr
o
lled
s
y
s
tem
with
o
u
t
p
r
e
-
f
ilter
s
atis
f
ied
th
e
an
d
co
n
d
itio
n
s
,
PID
co
n
tr
o
lled
s
y
s
tem
with
p
r
e
-
f
ilter
s
atis
f
ied
th
e
,
an
d
co
n
d
itio
n
s
,
th
e
PD
co
n
tr
o
lled
s
y
s
tem
eith
er
with
o
r
with
o
u
t
p
r
e
-
f
ilter
s
atis
f
ies
th
e
,
PO
an
d
co
n
d
itio
n
s
.
Fin
ally
,
th
r
ee
o
u
t
o
f
th
e
f
o
u
r
co
n
t
r
o
lled
s
y
s
tem
s
d
esig
n
ed
s
atis
f
y
th
e
d
esig
n
s
p
ec
if
icatio
n
s
o
f
≤
2
s
,
≤
5
%,
an
d
=
0
.
I
t
is
n
o
ted
th
at
th
e
th
r
ee
ar
e
th
e
PID
co
n
tr
o
lled
s
y
s
tem
w
ith
p
r
e
-
f
ilter
,
PD
co
n
tr
o
lled
s
y
s
t
em
with
o
u
t
p
r
e
-
f
ilter
an
d
PD
co
n
tr
o
lled
s
y
s
tem
with
p
r
e
-
f
ilter
.
B
ased
o
n
th
is
an
aly
s
is
an
y
o
f
th
e
th
r
ee
s
y
s
tem
s
ca
n
b
e
u
s
ed
b
u
t
PD
co
n
tr
o
lled
s
y
s
tem
with
o
u
t
p
r
e
-
f
ilter
is
th
e
m
o
s
t
p
r
ef
er
ab
le
d
u
e
to
its
s
tr
u
ctu
r
al
s
im
p
licity
wh
ich
will e
n
h
an
ce
its
d
ig
ital im
p
lem
en
tatio
n
.
8.
CO
NCLU
SI
O
N
PID
an
d
PD
co
n
tr
o
ller
-
b
ased
m
icr
o
s
atellite
attitu
d
e
co
n
tr
o
ller
s
wer
e
d
esig
n
ed
.
Pre
-
f
ilt
er
tr
an
s
f
er
f
u
n
ctio
n
s
wer
e
d
esig
n
e
d
an
d
in
co
r
p
o
r
ated
in
t
o
th
e
d
es
ig
n
ed
s
y
s
tem
s
to
im
p
r
o
v
e
th
eir
p
er
f
o
r
m
an
ce
.
T
h
e
d
esig
n
e
d
s
y
s
tem
s
wer
e
te
s
ted
v
ia
s
im
u
latio
n
a
n
d
th
e
r
e
s
u
lts
r
ev
ea
led
th
at
t
h
r
ee
o
u
t
o
f
th
e
f
o
u
r
s
y
s
tem
s
s
atis
f
y
th
e
d
esig
n
s
p
ec
if
icatio
n
s
an
d
th
e
PD
co
n
tr
o
lled
s
y
s
t
em
with
o
u
t
p
r
e
-
f
ilter
tr
a
n
s
f
er
f
u
n
ctio
n
is
th
e
m
o
s
t
p
r
ef
er
ab
le
d
u
e
to
its
s
tr
u
ctu
r
al
s
im
p
licity
wh
ich
will e
n
h
an
ce
its
d
ig
ital im
p
lem
en
tatio
n
.
RE
F
E
R
E
NC
E
S
[1
]
B.
Bo
h
a
ri,
M
.
Ism
a
il
,
R.
Va
ra
t
h
a
ra
jo
o
,
a
n
d
L.
Na
d
ia,
“
S
p
a
c
e
c
ra
ft
p
it
c
h
a
n
d
ro
l
l/
y
a
w
a
c
tu
a
ti
o
n
s
u
sin
g
c
o
n
tro
l
m
o
m
e
n
t
g
y
r
o
sc
o
p
e
s f
o
r
a
tt
it
u
d
e
st
a
b
il
iza
ti
o
n
,
”
J
u
rn
a
l
M
e
k
a
n
ika
l
,
v
o
l.
2
3
,
n
o
.
2
3
,
p
p
.
1
-
1
4
,
2
0
1
7
.
[2
]
X.
Yi
a
n
d
A.
An
v
a
r,
“
S
m
a
ll
-
sa
telli
te
m
a
g
n
e
to
r
q
u
e
r
a
tt
it
u
d
e
c
o
n
tro
l
sy
ste
m
m
o
d
e
ll
i
n
g
a
n
d
sim
u
latio
n
,
”
20
th
I
n
ter
n
a
ti
o
n
a
l
Co
n
g
re
ss
o
n
M
o
d
e
ll
i
n
g
a
n
d
S
imu
l
a
ti
o
n
,
Ad
e
l
a
id
e
,
Au
stra
li
a
,
p
p
.
9
8
4
-
9
9
0
,
2
0
1
3
.
[3
]
J
-
F
.
S
h
i
,
S
.
Ulrich
,
a
n
d
A.
Al
len
,
“E
d
it
o
rs.
S
p
a
c
e
c
ra
ft
a
d
a
p
ti
v
e
a
t
ti
tu
d
e
c
o
n
tr
o
l
wit
h
a
p
p
li
c
a
ti
o
n
to
sp
a
c
e
sta
ti
o
n
fre
e
-
fly
e
r
ro
b
o
ti
c
c
a
p
t
u
re
,
”
AIA
A
Gu
id
a
n
c
e
,
Na
v
i
g
a
t
io
n
,
a
n
d
Co
n
tr
o
l
Co
n
fer
e
n
c
e
,
F
l
o
rid
a
,
p
p
.
1
-
2
3
,
2
0
1
5
.
[4
]
S
.
S
h
e
n
g
a
n
d
C.
S
u
n
,
“
An
a
d
a
p
ti
v
e
a
tt
it
u
d
e
trac
k
i
n
g
c
o
n
tr
o
l
a
p
p
r
o
a
c
h
fo
r
a
n
u
n
m
a
n
n
e
d
h
e
li
c
o
p
ter
with
p
a
ra
m
e
tri
c
u
n
c
e
r
tain
t
ies
a
n
d
m
e
a
su
re
m
e
n
t
n
o
ise
s,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
n
tro
l,
Au
to
ma
ti
o
n
a
n
d
S
y
ste
ms
,
v
o
l.
1
4
,
n
o
.
1
,
p
p
.
2
1
7
-
2
2
8
,
2
0
1
6
.
[5
]
B.
Jia
n
g
,
Q
.
H
u
,
a
n
d
M
.
I.
F
ri
sw
e
ll
,
“
F
ix
e
d
-
ti
m
e
a
tt
it
u
d
e
c
o
n
tr
o
l
f
o
r
rig
i
d
s
p
a
c
e
c
ra
ft
with
a
c
t
u
a
to
r
sa
tu
ra
ti
o
n
a
n
d
fa
u
l
ts,”
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
Co
n
tro
l
S
y
ste
ms
T
e
c
h
n
o
lo
g
y
,
v
o
l.
2
4
,
n
o
.
5
,
p
p
.
1
8
9
2
-
1
8
9
8
,
2
0
1
6
.
[6
]
P
.
M
.
Ti
wa
ri
,
S
.
Ja
n
a
rd
h
a
n
a
n
,
a
n
d
M
.
u
n
-
Na
b
i
,
“
Rig
id
sp
a
c
e
c
ra
ft
a
tt
it
u
d
e
trac
k
in
g
u
sin
g
f
i
n
it
e
ti
m
e
slid
i
n
g
m
o
d
e
c
o
n
tro
l,
”
IFA
C
Pro
c
e
e
d
in
g
s V
o
lu
me
s
,
v
o
l.
4
7
,
n
o
.
1
,
p
p
.
2
6
3
-
2
7
0
,
2
0
1
4
.
[7
]
P
.
M
.
Ti
wa
ri
,
S
.
Ja
n
a
rd
h
a
n
a
n
,
a
n
d
M
.
u
n
-
Na
b
i,
“
Rig
i
d
sp
a
c
e
c
ra
ft
a
tt
it
u
d
e
c
o
n
tr
o
l
u
sin
g
a
d
a
p
ti
v
e
in
teg
ra
l
se
c
o
n
d
o
rd
e
r
sli
d
in
g
m
o
d
e
,
”
Aer
o
sp
a
c
e
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
,
v
o
l.
4
2
,
p
p
.
5
0
-
5
7
,
2
0
1
5
.
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