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[
1
0
]
a
n
d
c
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p
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.
I
n
s
t
u
d
y
[
1
1
]
s
h
o
w
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g
c
h
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p
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c
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h
m
s
[
1
2
]
.
B
e
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s
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o
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p
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m
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e
[
1
3
]
.
W
i
t
h
t
h
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v
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p
m
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p
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c
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d
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ti
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s
[
1
4
]
,
t
h
e
r
e
f
o
r
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t
h
i
s
p
a
p
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s
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A
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N
(
NA
R
M
A
-
L
2
)
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t
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v
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t
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p
p
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f
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m
a
n
c
e
o
f
W
R
I
M
.
2.
ST
AR
T
I
NG
T
O
RQ
UE
T
h
e
s
tar
tin
g
to
r
q
u
e
is
o
n
e
o
f
g
r
ea
t
im
p
o
r
tan
ce
i
n
ca
s
e
o
f
d
r
iv
i
n
g
h
ig
h
-
in
er
tia
lo
ad
s
th
at
is
p
r
o
p
o
r
tio
n
a
l
to
th
e
r
o
to
r
r
esis
tan
ce
.
I
t'
s
n
ec
ess
ar
y
to
h
av
e
an
e
x
ce
s
s
iv
e
r
esis
tan
ce
at
s
o
m
e
p
o
in
ts
o
f
s
tar
tin
g
p
er
io
d
,
an
d
r
ed
u
ce
th
e
v
alu
e
o
f
th
is
r
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ta
n
ce
u
n
til p
u
t o
f
f
f
r
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m
r
o
to
r
cir
cu
it wh
ile
m
o
to
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r
ea
ch
es to
s
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s
tate
ca
s
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s
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s
tar
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cu
r
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is
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s
u
a
lly
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in
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r
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s
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r
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en
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v
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tin
g
an
d
b
r
ea
k
in
g
ca
s
es
o
f
th
e
m
o
to
r
[
7
]
.
T
h
er
ef
o
r
e,
it
is
r
eq
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ir
ed
to
a
s
tar
ter
in
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it o
f
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ltag
e
to
th
e
m
o
to
r
at
s
tar
tin
g
c
o
n
d
itio
n
[
9
]
.
3.
ST
AR
T
I
NG
WI
T
H
E
X
T
E
R
NAL R
E
SI
ST
A
NCE
I
n
w
o
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-
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d
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(
W
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r
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o
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R
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x
t
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n
a
l
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s
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s
t
a
n
c
e
[
1
5
]
.
W
h
e
n
T
s
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n
c
r
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s
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a
n
d
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t
h
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t
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m
p
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t
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m
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x
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m
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m
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q
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(
T
max
)
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t
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d
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o
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p
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t
o
r
q
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v
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n
w
i
t
h
l
o
w
s
p
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e
d
s
[
1
5
,
1
6
]
.
W
h
i
l
s
t
t
h
e
m
o
t
o
r
r
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a
c
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s
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R
ext
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m
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F
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c
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F
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u
r
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6
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NARMA
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L
2
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l
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.
T
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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3
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T
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6
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3146
6.
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M
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2
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1
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t
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F
i
g
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r
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s
h
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m
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l
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f
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ext
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(
a)
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b
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c)
F
i
g
u
r
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8
.
S
i
m
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l
a
t
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s
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r
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r
;
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a
)
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s
a
t
R
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x
t
=
0
.
0
5
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,
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b
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T
s
a
t
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0
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1
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,
(
c
)
T
s
a
t
R
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x
t
=
0
.
1
5
Ω
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
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m
p
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l Co
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tr
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l
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a
tive
a
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a
lysi
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f P
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a
n
d
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r
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l n
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k
co
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fo
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imp
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g
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.
.
(
Ha
s
h
min
a
S
h
.
Da
kh
ee
l
)
3147
T
ab
le
2
.
Simu
latio
n
r
esu
lt with
o
u
t
co
n
tr
o
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R
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x
t
(
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)
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s
(
N
.
m)
0
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2
2
0
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1
1
1
4
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0
.
1
5
1
2
3
2
6
.
2
.
Sim
ula
t
i
o
n r
esu
lt
s
by
us
ing
P
I
D
co
ntr
o
ller
T
h
is
p
ar
t
o
f
p
ap
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r
d
ea
ls
with
u
s
in
g
PID
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o
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to
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p
r
o
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(
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s
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an
th
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s
t
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s
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to
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7
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4
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en
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=
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wh
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g
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P
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)
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,
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u
r
e
9
s
h
o
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th
ese
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lts
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y
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s
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g
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co
n
t
r
o
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.
T
ab
l
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3
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d
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s
to
th
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d
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s
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f
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(
a)
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F
i
g
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9
.
S
i
m
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l
a
t
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s
u
l
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D
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t
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r
,
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s
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t
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t
=
0
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0
5
Ω
,
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b
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s
a
t
R
ex
t
=
0
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1
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,
(
c
)
T
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a
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R
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x
t
=
0
.
1
5
Ω
T
ab
le
3
.
C
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n
s
tan
t g
ain
s
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f
PI
D
an
d
T
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(
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a
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m)
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.
3
.
Sim
ula
t
i
o
n r
esu
lt
by
us
i
ng
NARMA
-
L2
T
h
is
p
ar
t
o
f
p
ap
er
d
is
cu
s
s
u
s
in
g
ar
tific
ial
n
eu
r
al
n
etwo
r
k
(
NARMA
-
L
2
)
,
th
is
in
telleg
r
n
t
tech
n
iq
u
e
ac
h
iev
es
im
p
r
o
v
in
g
T
s
th
an
t
wo
o
th
er
p
r
ev
i
o
u
s
ca
s
es
b
y
o
b
tain
in
g
h
ig
h
er
T
s
i
n
o
r
d
er
to
d
ev
elo
p
p
e
r
f
o
r
m
an
ce
o
f
W
R
I
M
,
th
is
n
etwo
r
k
is
co
n
t
r
o
lled
b
y
n
etwo
r
k
ar
ch
itectu
r
e
wh
ich
r
ep
r
esen
ted
b
y
n
u
m
b
er
o
f
d
elay
ed
p
la
n
t
in
p
u
t,
n
u
m
b
er
o
f
d
elay
ed
p
la
n
t
o
u
tp
u
t
an
d
s
ize
o
f
h
id
d
e
n
la
y
er
s
,
in
ad
d
itio
n
to
tr
ain
in
g
d
a
ta
to
g
et
s
im
u
latio
n
r
esu
lt
s
.
A
ls
o
th
is
p
ar
t
co
n
s
is
ts
o
f
th
r
ee
s
tates
in
clu
d
e
t
h
r
ee
d
if
f
er
en
t
v
al
u
es
o
f
R
ext
(
0
.
0
5
Ω
,
0
.
1
Ω
an
d
0
.
1
5
Ω
)
an
d
NARAMA
-
L
2
is
tr
ain
ed
a
t e
ac
h
ex
ter
n
al
r
esis
tan
ce
v
alu
e
to
o
b
tain
h
ig
h
est s
tar
tin
g
to
r
q
u
e.
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
.
6
,
Dec
em
b
e
r
2
0
2
0
:
314
2
-
315
4
3148
6
.
3
.
1
.
Sim
ula
t
io
n r
esu
lt
a
t
R
e
xt
=
0
.
0
5
Ω
T
h
is
p
ar
t
r
ef
er
s
to
s
im
u
latio
n
r
esu
lts
o
f
th
e
m
o
d
el
b
y
u
s
in
g
NARMA
-
L
2
,
th
e
v
alu
e
o
f
s
tar
tin
g
to
r
q
u
e
wh
ich
eq
u
al
to
1
9
4
0
N.
m
an
d
n
u
m
b
er
o
f
d
elay
e
d
p
la
n
t
in
p
u
t
an
d
o
u
tp
u
t
o
f
NARMA
-
L
2
th
at
eq
u
al
to
4
an
d
3
r
esp
ec
tiv
ely
wh
ile
s
ize
o
f
h
id
d
en
lay
er
s
=
1
3
,
s
am
p
lin
g
i
n
ter
v
al
=
0
.
0
0
1
,
tr
ai
n
in
g
s
am
p
les
=
3
0
0
0
,
m
ax
im
u
m
p
lan
t
in
p
u
t
=
4
,
m
in
im
u
m
p
lan
t
in
p
u
t
=
-
1
,
m
i
n
im
u
m
p
lan
t
o
u
tp
u
t
=
0
.
2
,
m
ax
im
u
m
i
n
ter
v
al
v
alu
e
=1
,
m
in
im
u
m
in
ter
v
al
v
alu
e
=
0
.
1
,
F
ig
u
r
e
10
s
h
o
ws
th
ese
s
im
u
latio
n
r
esu
lts
in
clu
d
e
n
eu
r
al
n
etwo
r
k
,
p
lan
t
id
en
ti
f
icatio
n
-
NARMA
-
L2
in
(
a)
,
(
b
)
wh
ile
(
c)
in
d
icate
to
T
s
,
as
well
as
(
d
)
,
(
e)
,
a
n
d
(
f
)
s
h
o
w
ea
ch
o
f
t
r
ain
in
g
,
test
in
g
an
d
v
alid
atio
n
d
ata
f
o
r
NARMA
-
L
2
,
wh
er
as
(
g
)
,
(
h
)
,
an
d
(
i)
s
h
o
w
n
eu
r
al
n
etwo
r
k
t
r
ain
in
g
f
o
r
ea
ch
p
er
f
o
r
m
an
ce
,
s
tate
an
d
r
eg
r
ess
io
n
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
1
0
.
Simu
latio
n
r
esu
lts
b
y
u
s
in
g
NARMA
-
L
2
at
R
ex
t
=
0
.
0
5
Ω
; (
a)
n
eu
r
al
n
etwo
r
k
,
(
b
)
p
la
n
t id
en
tific
atio
n
-
NARMA
-
L
2
,
(
c)
T
s
=
1
9
4
0
N.
m
,
(
d
)
tr
ain
in
g
d
ata
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
C
o
mp
a
r
a
tive
a
n
a
lysi
s
o
f P
I
D
a
n
d
n
e
u
r
a
l n
etw
o
r
k
co
n
tr
o
ller
s
fo
r
imp
r
o
vin
g
.
.
.
(
Ha
s
h
min
a
S
h
.
Da
kh
ee
l
)
3149
(
e)
(f)
(
g
)
(
h
)
(
i)
Fig
u
r
e
10
.
S
im
u
latio
n
r
esu
lts
b
y
u
s
in
g
NARMA
-
L
2
at
R
ext
=
0
.
0
5
Ω
;
(
e)
test
in
g
d
ata,
(
f
)
v
alid
atio
n
d
ata
,
(
g
)
tr
ain
in
g
p
e
r
f
o
r
m
an
ce
,
(
h
)
t
r
ain
in
g
s
tate,
(
i)
tr
ain
i
n
g
r
e
g
r
e
s
s
io
n
(
co
n
tin
u
e)
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
.
6
,
Dec
em
b
e
r
2
0
2
0
:
314
2
-
315
4
3150
6
.
3
.
2
.
Sim
ula
t
io
n r
esu
lt
s
a
t
R
ext
=
0
.
1
Ω
I
n
th
is
p
ar
t
s
im
u
latio
n
r
esu
lts
s
h
o
w
wh
en
R
ext
in
cr
ea
s
es
to
0
.
1
Ω
an
d
by
tr
ain
in
g
NARMA
-
L
2
,
we
g
et
h
ig
h
er
s
tar
tin
g
to
r
q
u
e
co
m
p
a
r
ed
to
p
r
e
v
io
u
s
ca
s
e
wh
en
R
ext
=
0
.
0
5
Ω
a
n
d
t
h
e
v
alu
e
o
f
s
tar
tin
g
to
r
q
u
e
r
ea
ch
es
2
1
5
0
N.
m
,
F
ig
u
r
e
1
1
s
h
o
w
s
s
im
u
latio
n
r
esu
lt
o
f
m
o
d
el
,
(
a
)
r
ef
er
s
to
p
lan
t
i
d
en
tific
atio
n
-
NARMA
-
L
2
with
n
u
m
b
er
o
f
b
o
th
d
elay
ed
p
lan
t
in
p
u
t
an
d
o
u
t
p
u
t
o
f
NARMA
-
L
2
wh
ich
e
q
u
al
to
2
,
3
r
esp
ec
tiv
ely
,
wh
er
ea
s
s
ize
o
f
h
id
d
e
n
lay
er
s
=
8
,
(
b
)
s
h
o
w
s
th
e
v
alu
e
o
f
T
s
,
also
(
c)
,
(
d
)
,
(
e)
r
ef
er
to
d
ata
f
o
r
NARMA
-
L
2
,
as
well
as
(f),
(
g
)
,
an
d
(
h
)
s
h
o
w
n
etwo
r
k
tr
ai
n
in
g
n
e
u
r
al
f
o
r
ea
ch
p
er
f
o
r
m
a
n
ce
,
s
tate
an
d
r
e
g
r
ess
io
n
.
6
.
3
.
3
.
Sim
ula
t
io
n r
esu
lt
s
a
t
R
ext
=
0
.
1
5
Ω
Fig
u
r
e
1
2
r
e
f
er
s
to
s
im
u
latio
n
r
esu
lts
wh
ich
in
d
icate
t
o
in
c
r
ea
s
e
T
s
to
2
2
0
0
N.
m
a
n
d
n
u
m
b
er
o
f
d
ela
y
ed
p
lan
t
in
p
u
t
an
d
o
u
t
p
u
t
=
4
.
3
r
e
s
p
ec
tiv
ely
wh
ile
s
ize
o
f
h
id
d
e
n
lay
er
=
9
,
in
t
h
is
p
ar
t
we
o
b
t
ain
h
ig
h
er
a
n
d
b
est
v
alu
e
o
f
T
s
th
a
n
two
o
th
er
ca
s
e
s
.
T
ab
le
4
s
h
o
ws
al
l
s
im
u
latio
n
r
esu
lts
b
y
u
s
in
g
NARMA
-
L
2
in
clu
d
e
T
s
,
n
u
m
b
er
o
f
d
elay
ed
p
la
n
t
in
p
u
t
an
d
o
u
t
p
u
t
as
well
as
s
ize
o
f
h
id
d
en
lay
er
f
o
r
ea
ch
ca
s
e.
T
ab
le
5
s
h
o
ws
th
e
co
m
p
ar
is
o
n
o
f
s
im
u
latio
n
r
esu
lts
b
y
u
s
in
g
(R
ext
)
ad
d
in
g
to
r
o
to
r
cir
cu
it
o
f
W
R
I
M
at
th
r
ee
ca
s
e
s
wit
h
o
u
t
co
n
tr
o
ller
an
d
with
two
tech
n
iq
u
es
in
clu
d
e
co
n
v
e
n
tio
n
al
PID
co
n
tr
o
ller
an
d
ar
ti
f
icial
n
eu
r
al
n
etwo
r
k
(
NARMA
-
L
2
)
,
th
ese
r
esu
lts
in
d
icate
to
NARMA
-
L
2
c
o
n
tr
o
ller
g
iv
es
h
ig
h
er
v
alu
e
o
f
T
s
t
h
an
two
o
th
er
ca
s
es
u
n
d
e
r
th
e
s
am
e
v
alu
e
o
f
R
ext
.
Fro
m
ab
o
v
e
we
co
n
clu
d
e
o
n
e
o
f
th
e
way
s
to
in
cr
ea
s
e
T
s
in
W
R
I
M
i
s
ad
d
in
g
R
ext
to
r
o
to
r
cir
cu
it
b
y
d
ec
r
ea
s
e
s
tatin
g
cu
r
r
en
t in
o
r
d
e
r
to
im
p
r
o
v
e
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
m
o
to
r
.
(
a)
(
b
)
(
c
)
(
d
)
Fig
u
r
e
1
1
.
Simu
latio
n
r
esu
lts
b
y
u
s
in
g
NARMA
-
L
2
at
R
ex
t
=
0
.
1
Ω
; (
a
)
p
lan
t
o
f
NARMA,
(
b
)
T
s
=
1
9
4
0
N.
m
,
(
c)
tr
ain
in
g
d
ata,
(
d
)
test
in
g
d
ata
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
C
o
mp
a
r
a
tive
a
n
a
lysi
s
o
f P
I
D
a
n
d
n
e
u
r
a
l n
etw
o
r
k
co
n
tr
o
ller
s
fo
r
imp
r
o
vin
g
.
.
.
(
Ha
s
h
min
a
S
h
.
Da
kh
ee
l
)
3151
(
e)
(f)
(
g
)
(
h
)
Fig
u
r
e
1
1
.
Simu
lati
o
n
r
esu
lts
b
y
u
s
in
g
NARMA
-
L
2
at
R
ext
=
0
.
1
Ω
;
(
e
)
v
alid
atio
n
d
ata,
(f)
t
r
ain
in
g
p
er
f
o
r
m
a
n
ce
,
(
g
)
t
r
ain
in
g
s
tate,
(
h
)
t
r
ain
in
g
r
eg
r
e
s
s
io
n
(
co
n
tin
u
e)
(
a)
(
b
)
F
i
g
u
r
e
1
2
.
S
i
m
u
l
at
i
o
n
r
e
s
u
l
t
s
b
y
u
s
i
n
g
N
AR
M
A
-
L
2
at
R
ext
=
0
.
1
5
Ω
;
(
a
)
p
l
a
n
t
o
f
N
AR
M
A
,
(
b
)
T
s
=
2
1
5
0
N
.
m
Evaluation Warning : The document was created with Spire.PDF for Python.