T
E
L
KO
M
NIK
A
, V
ol
.
17
,
No.
5,
O
c
tob
er
20
1
9,
p
p.
2
59
5
~
260
6
IS
S
N: 1
69
3
-
6
93
0
,
accr
ed
ited
F
irst
Gr
ad
e b
y K
em
en
r
istekdikti,
Decr
ee
No: 2
1/E/
K
P
T
/20
18
DOI:
10.12928/TE
LK
OM
N
IK
A
.v
1
7
i
5
.
12810
◼
25
95
Rec
ei
v
ed
O
c
tob
er
13
,
20
1
8
; Rev
i
s
ed
M
arc
h
17
,
20
1
9
;
A
c
c
ep
ted
A
pril
20
,
20
1
9
A
d
a
p
ti
v
e
c
on
tro
l of
n
on
li
near s
y
stem
base
d o
n
Q
F
T
a
p
plica
tio
n
to
3
-
D
O
F
fl
igh
t
con
tr
ol s
y
s
te
m
Ro
u
n
ak
u
l Is
l
am Bo
b
y
*
1
, K
h
aiz
u
r
an
A
b
d
u
lla
h
2
,
A
.
Z
.
Juso
h
3
, Nagm
a P
ar
v
ee
n
4
,
M
d
M
ahm
u
d
5
El
e
c
tr
i
c
a
l
a
n
d
Co
m
p
u
t
e
r En
g
i
n
e
e
ri
n
g
,
Ku
l
l
i
y
y
a
h
o
f
E
n
g
i
n
e
e
r
i
n
g
and
In
te
rn
a
ti
o
n
a
l
I
s
l
a
m
i
c
Un
i
v
e
rs
i
ty
M
a
l
a
y
s
i
a
,
G
o
m
b
a
k
,
S
e
l
a
n
g
o
r
,
M
a
l
a
y
s
i
a
,
te
l
:
(+6
0
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) 6
1
9
6
4
0
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o
rre
s
p
o
n
d
i
n
g
a
u
th
o
r,
e
-
m
a
i
l
:
ro
u
n
a
q
u
l
2
0
2
0
@
g
m
a
i
l
.
c
o
m
1
,
k
h
a
i
z
u
ra
n
@i
i
u
m
.e
d
u
.m
y
2
,
a
z
a
m
a
n
i
@
i
i
u
m
.e
d
u
.
m
y
3
Ab
strac
t
Res
e
a
r
c
h
o
n
u
n
m
a
n
n
e
d
a
e
r
i
a
l
v
e
h
i
c
l
e
(UAV)
b
e
c
a
m
e
p
o
p
u
l
a
r
b
e
c
a
u
s
e
o
f
re
m
o
te
f
l
i
g
h
t
a
c
c
e
s
s
a
n
d
c
o
s
t
-
e
ff
e
c
ti
v
e
s
o
l
u
ti
o
n
.
3
-
d
e
g
r
e
e
o
f
fre
e
d
o
m
(
3
-
DO
F)
u
n
m
a
n
n
e
d
h
e
l
i
c
o
p
te
r
s
i
s
o
n
e
o
f
th
e
p
o
p
u
l
a
r
re
s
e
a
r
c
h
UAV,
b
e
c
a
u
s
e
o
f
i
ts
h
i
g
h
l
o
a
d
c
a
rr
y
i
n
g
c
a
p
a
c
i
ty
wit
h
a
s
m
a
l
l
e
r
n
u
m
b
e
r
o
f
m
o
to
r
a
n
d
re
q
u
i
r
e
m
e
n
t
o
f
fo
re
th
o
u
g
h
t
m
o
to
r
c
o
n
tr
o
l
d
y
n
a
m
i
c
s
.
Va
ri
o
u
s
c
o
n
tr
o
l
a
l
g
o
r
i
th
m
s
a
re
i
n
v
e
s
ti
g
a
te
d
a
n
d
d
e
s
i
g
n
e
d
fo
r
t
h
e
m
o
ti
o
n
c
o
n
tr
o
l
o
f
t
h
e
3
DO
F
h
e
l
i
c
o
p
t
e
r.
T
h
re
e
-
d
e
g
re
e
-
of
-
fre
e
d
o
m
h
e
l
i
c
o
p
t
e
r m
o
d
e
l
c
o
n
f
i
g
u
r
a
ti
o
n
p
re
s
e
n
t
s
t
h
e
s
a
m
e
adv
a
n
ta
g
e
s
o
f
3
-
DO
F
h
e
l
i
c
o
p
te
rs
a
l
o
n
g
wit
h
i
n
c
re
a
s
e
d
p
a
y
l
o
a
d
c
a
p
a
c
i
t
y
,
i
n
c
re
a
s
e
s
t
a
b
i
l
i
ty
i
n
h
o
v
e
r,
m
a
n
o
e
u
v
r
a
b
i
l
i
t
y
a
n
d
re
d
u
c
e
d
m
e
c
h
a
n
i
c
a
l
c
o
m
p
l
e
x
i
t
y
.
Num
e
ro
u
s
re
s
e
a
r
c
h
i
n
s
t
i
tu
t
e
s
h
a
v
e
c
h
o
s
e
n
th
e
th
re
e
-
d
e
g
re
e
-
of
-
fre
e
d
o
m
a
s
a
n
i
d
e
a
l
p
l
a
tf
o
rm
to
d
e
v
e
l
o
p
i
n
te
l
l
i
g
e
n
t
c
o
n
tro
l
l
e
r
s
.
In
t
h
i
s
re
s
e
a
r
c
h
p
a
p
e
r,
we
d
i
s
c
u
s
s
e
d
a
b
o
u
t
a
h
y
b
ri
d
c
o
n
tro
l
l
e
r
t
h
a
t
c
o
m
b
i
n
e
d
wi
th
Ad
a
p
ti
v
e
a
n
d
Q
u
a
n
ti
t
a
ti
v
e
Fe
e
d
b
a
c
k
th
e
o
ry
(Q
F
T
)
c
o
n
tr
o
l
l
e
r
fo
r
th
e
3
-
DO
F
h
e
l
i
c
o
p
te
r
m
o
d
e
l
.
Th
o
u
g
h
re
s
e
a
rc
h
o
n
Ad
a
p
t
i
v
e
a
n
d
Q
FT
c
o
n
tro
l
l
e
r
a
re
n
o
t
a
n
e
w
s
u
b
j
e
c
t
,
th
e
fi
r
s
t
s
u
c
c
e
s
s
fu
l
s
i
n
g
l
e
Ad
a
p
ti
v
e
a
i
r
c
ra
ft
f
l
i
g
h
t
c
o
n
tro
l
s
y
s
t
e
m
s
h
a
v
e
b
e
e
n
d
e
s
i
g
n
e
d
fo
r
th
e
U.S.
Ai
r
Fo
r
c
e
i
n
W
r
i
g
h
t
L
a
b
o
ra
to
r
i
e
s
u
n
m
a
n
n
e
d
re
s
e
a
rc
h
v
e
h
i
c
l
e
,
L
a
m
b
d
a
[
1
].
Pre
v
i
o
u
s
l
y
re
s
e
a
r
c
h
e
r
fo
c
u
s
e
d
o
n
s
tru
c
tu
re
d
u
n
c
e
rta
i
n
ti
e
s
a
s
s
o
c
i
a
te
d
wit
h
c
o
n
tro
l
l
e
r
f
o
r
t
h
e
fl
i
g
h
t
c
o
n
d
i
ti
o
n
s
th
e
o
re
t
i
c
a
l
l
y
.
Th
e
d
e
v
e
l
o
p
m
e
n
t
o
f
s
i
m
u
l
a
t
i
o
n
b
a
s
e
d
d
e
s
i
g
n
o
n
fl
i
g
h
t
c
o
n
tro
l
s
y
s
te
m
re
s
p
o
n
s
e
,
o
p
e
n
e
d
a
n
e
w
d
i
m
e
n
s
i
o
n
f
o
r
re
s
e
a
rc
h
e
r
to
d
e
s
i
g
n
p
h
y
s
i
c
a
l
fl
i
g
h
t
c
o
n
tr
o
l
l
e
r
fo
r
p
l
a
n
t
p
a
ra
m
e
te
r
u
n
c
e
r
ta
i
n
ti
e
s
.
At
t
h
e
b
e
g
i
n
n
i
n
g
,
o
u
r
re
s
e
a
rc
h
wa
s
to
i
n
v
e
s
t
i
g
a
t
e
s
th
e
p
o
s
s
i
b
i
l
i
t
y
o
f
d
e
v
e
l
o
p
i
n
g
th
e
Q
FT
c
o
m
b
i
n
e
d
wit
h
A
d
a
p
t
i
v
e
c
o
n
tr
o
l
l
e
r
to
c
o
n
tr
o
l
a
s
i
n
g
l
e
p
i
tc
h
a
n
g
l
e
th
a
t
m
e
e
ts
fl
y
i
n
g
q
u
a
l
i
t
y
c
o
n
d
i
t
i
o
n
s
o
f
a
u
to
m
a
ti
c
fl
i
g
h
t
c
o
n
tr
o
l
.
Fi
n
a
l
l
y
,
we
s
u
c
c
e
s
s
fu
l
l
y
d
e
s
i
g
n
e
d
t
h
e
h
y
b
ri
d
c
o
n
tr
o
l
l
e
r
th
a
t
i
s
QFT
b
a
s
e
d
a
d
a
p
ti
v
e
c
o
n
tro
l
l
e
r f
o
r
a
l
l
t
h
e
t
h
r
e
e
a
n
g
l
e
s
.
Key
w
ords
:
3
-
d
e
g
r
e
e
o
f
fre
e
d
o
m
(3
-
DO
F),
a
d
a
p
ti
v
e
c
o
n
tro
l
l
e
r,
h
y
b
r
i
d
e
c
o
n
tro
l
l
e
r,
q
u
a
n
ti
t
a
ti
v
e
fe
e
d
b
a
c
k
th
e
o
r
y
(QFT),
UAV
Copy
righ
t
©
2
0
1
9
Uni
v
e
rsi
t
a
s
Ahm
a
d
D
a
hl
a
n.
All
rig
ht
s
r
e
s
e
rve
d
.
1.
Int
r
o
d
u
ctio
n
Cont
r
o
l
t
he
or
y
i
s
an
i
nte
r
di
s
c
i
p
l
i
n
ar
y
s
ub
d
i
v
i
s
i
on
i
n
the
f
i
el
d
of
en
g
i
ne
erin
g
an
d
m
ath
e
m
ati
c
s
,
w
h
i
c
h
d
ea
l
s
wi
th
the
be
ha
v
i
ou
r
s
of
s
y
s
tem
s
’
i
np
uts
,
an
d
ho
w
th
ei
r
be
ha
v
i
ou
r
i
s
c
ha
ng
e
d
b
y
f
ee
d
ba
c
k
.
T
he
ob
j
ec
ti
v
e
of
e
ac
h
an
d
e
v
er
y
r
es
ea
r
c
h
on
c
on
tr
o
l
th
eo
r
y
i
s
to
c
on
tr
ol
a
d
y
n
am
i
c
s
y
s
t
em
an
d
r
es
ul
ti
ng
a
f
av
o
urit
e
c
on
tr
ol
s
i
gn
a
l
s
or
v
ol
ta
ge
as
r
ef
erenc
e
po
i
nt.
R
ef
erenc
e
po
i
nt
m
a
y
be
a
f
i
x
ed
or
c
ha
ng
ea
bl
e.
T
o
c
on
ti
nu
e
thi
s
proc
ed
ure
a
c
on
tr
o
l
l
er
i
s
d
es
i
gn
ed
ba
s
e
d
on
the
c
on
tr
ol
the
or
y
an
d
i
t
m
on
i
t
ors
the
ou
t
pu
t
an
d
m
a
k
es
c
om
pa
r
i
s
on
wi
th
th
e
r
ef
erenc
e
[
1
,
2]
.
A
uto
m
ati
c
c
on
tr
ol
s
y
s
tem
i
s
a
S
of
t
w
are
f
or
de
v
e
l
op
m
en
t
b
oa
r
d
w
h
i
c
h
ba
s
ed
au
to
m
ati
c
c
on
tr
ol
l
er
the
c
arr
i
es
th
e
c
on
s
tan
t
(
s
tab
i
l
i
z
at
i
on
)
of
a
c
on
tr
o
l
l
e
d
v
ar
i
ab
l
e
t
ha
t
c
ha
r
ac
t
eri
z
es
a
tec
hn
i
c
al
proc
es
s
or
the
a
l
teri
ng
of
th
e
v
aria
bl
e
i
n
ac
c
ordanc
e
wi
th
a
gi
v
e
n
l
a
w
(
progr
am
c
on
tr
ol
)
or
w
i
th
a
m
ea
s
ured
ex
ternal
pr
oc
es
s
(
f
ee
db
ac
k
c
on
tr
ol
)
;
the
c
ha
ng
e
i
n
th
e
v
al
ue
of
the
c
o
nt
r
ol
l
e
d
v
a
r
i
a
bl
e
i
s
ef
f
ec
ted
b
y
ap
pl
y
i
ng
a
c
o
ntrol
ac
ti
on
to
th
e
c
o
ntro
l
el
em
en
t
of
the
c
on
tr
o
l
l
ed
s
y
s
t
em
[3]
.
T
he
(
1
)
s
ho
w
s
a
s
of
tw
are
ba
s
e
d
a
uto
m
ati
c
c
on
tr
ol
l
er
ex
pres
s
i
on
[4
].
In
au
t
om
ati
c
c
on
tr
ol
,
th
e
c
on
tr
ol
ac
ti
on
x
0
(
t)
i
s
us
ua
l
l
y
f
u
nc
ti
on
of
the
d
y
n
am
i
c
err
or
tha
t
i
s
,
of
th
e
de
v
i
a
ti
o
n
ε(
t)
of
the
c
o
ntro
l
l
e
d
v
ari
ab
l
e
x
(
t)
f
r
o
m
i
ts
de
s
i
r
ed
v
al
ue
,
c
a
l
l
e
d
th
e
s
et
po
i
nt,
Co
ntro
l
i
n
thi
s
c
as
e
i
s
ba
s
ed
on
the
f
ee
db
ac
k
prin
c
i
pl
e
F
i
g
ure
1
.
w
h
i
c
h
i
s
of
ten
as
s
o
c
i
ate
d
wi
th
the
n
am
es
of
P
ol
z
u
no
v
an
d
W
a
tt
[5]
.
A
l
s
o
s
om
eti
m
es
c
l
as
s
ed
w
i
t
h
a
uto
m
ati
c
c
on
tr
ol
i
s
c
on
tr
o
l
w
h
ere
x
0
(
t)
i
s
g
en
erat
ed
b
y
a
c
o
m
pe
ns
ati
ng
u
ni
t
as
a
f
un
c
ti
on
of
th
e d
i
s
turb
i
ng
ac
ti
o
n l
o
ad
on
t
he
c
on
tr
ol
l
ed
s
y
s
tem
[6
,
7].
X
0
(
t)
: ε(t)
=
x
0
(
t)
–
x
(
t)
(
1)
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
5,
O
c
tob
er 20
19
:
259
5
-
26
0
6
2596
F
i
gu
r
e
1.
D
ev
i
at
i
on
-
ε(
t)
an
d
di
s
t
urbanc
e
-
s
ti
m
ul
at
ed
c
o
ntrol
ba
s
ed
on
P
o
l
z
un
ov
an
d
W
att
[5
]
Q
ua
nt
i
tat
i
v
e Fee
db
ac
k
T
he
or
y
(
Q
F
T
)
In
c
on
tr
o
l
t
he
or
y
,
q
ua
n
ti
tat
i
v
e
f
ee
d
ba
c
k
the
or
y
(
Q
F
T
)
,
de
v
e
l
o
pe
d
b
y
Is
aa
c
Hor
o
w
i
t
z
[8
,
9],
i
s
a
f
r
eq
ue
n
c
y
d
om
ai
n
tec
hn
i
qu
e
uti
l
i
s
i
n
g
the
Ni
c
h
ol
s
c
ha
r
t
(
NC)
i
n
o
r
de
r
to
ac
hi
ev
e
a
de
s
i
r
e
d
r
ob
us
t
de
s
i
gn
ov
er
a
s
pe
c
i
f
i
e
d
r
eg
i
on
of
pl
a
nt
u
nc
ertai
nt
y
.
Des
i
r
e
d
ti
m
e
-
do
m
ai
n
r
es
po
ns
es
ar
e
tr
a
ns
l
at
ed
i
nt
o
f
r
eq
ue
nc
y
do
m
ai
n
to
l
eran
c
es
,
w
hi
c
h
l
ea
d
t
o
bo
u
nd
s
(
or
c
on
s
tr
a
i
nts
)
on
th
e
l
oo
p
tr
an
s
m
i
s
s
i
on
f
un
c
ti
on
.
T
he
de
s
i
gn
proc
es
s
i
s
hi
gh
l
y
tr
a
ns
pa
r
e
nt,
a
l
l
o
wi
ng
a
de
s
i
gn
er
to
s
ee
what
tr
a
de
-
of
f
s
are
ne
c
es
s
ar
y
to
ac
hi
ev
e
a
de
s
i
r
ed
pe
r
f
orm
an
c
e
l
ev
el
.
Q
F
T
i
s
a
c
on
tr
ol
de
s
i
g
n
m
eth
od
o
l
o
g
y
gro
un
de
d
on
t
w
o
i
de
as
:
i
)
T
he
f
ac
t
tha
t
f
ee
d
ba
c
k
i
s
on
l
y
ne
c
es
s
ar
y
i
n
the
pres
en
c
e
of
p
l
an
t
u
nc
e
r
tai
nt
y
an
d
u
nk
no
wn
di
s
tur
ba
nc
e
an
d,
i
i
)
T
he
n
oti
on
t
ha
t
be
n
ef
i
ts
of
f
ee
db
ac
k
are
i
ne
x
tr
i
c
ab
l
e
l
i
nk
ed
to
a
c
os
t
i
n
term
s
of
ba
nd
w
i
d
th
an
d
no
i
s
e
am
pl
i
f
i
c
at
i
on
.
Its
ob
j
ec
ti
v
e
i
s
to
m
i
ni
m
i
z
e
s
uc
h
c
os
t
wh
i
l
e
f
ul
f
i
l
l
i
ng
th
e
s
p
ec
i
f
i
c
ati
o
ns
c
on
s
e
qu
e
ntl
y
,
i
t
r
ec
om
m
en
d
s
the
us
e
of
t
w
o
d
eg
r
ee
of
f
r
ee
do
m
(
2
-
DO
F
)
s
tr
uc
tures
tha
t
a
l
l
o
w
an
i
n
de
p
en
d
en
t
ad
j
us
tm
en
t
o
f
the
s
en
s
i
ti
v
i
t
y
f
un
c
ti
on
an
d
the
tr
ac
k
i
ng
r
es
po
ns
e.
T
he
f
ee
db
ac
k
el
em
en
ts
ar
e
i
n
c
h
arge
of
r
ed
uc
i
n
g
the
s
e
ns
i
ti
v
i
t
y
on
l
y
to
a
l
e
v
el
i
n
whi
c
h
th
e
ef
fec
ts
of
un
k
no
wn
di
s
tur
ba
n
c
e
a
nd
s
y
s
tem
un
c
ertai
nt
y
are
ac
c
ep
t
a
bl
e
.
T
he
n,
t
he
f
ee
db
ac
k
el
em
en
t
s
ha
pe
s
the
tr
ac
k
i
ng
r
es
po
ns
e
[1
0
-
12].
A
Q
F
T
de
s
i
gn
tec
h
ni
qu
e
c
o
m
m
on
l
y
c
om
pris
es
the
s
e
t
h
r
ee
ba
s
i
c
s
tep
s
[
13
]:
i
)
C
al
c
ul
at
i
o
n
of
Q
F
T
bo
un
ds
(
r
ob
us
t
s
tab
i
l
i
t
y
,
r
o
bu
s
t
tr
ac
k
i
ng
,
etc
.)
,
i
i
)
Des
i
gn
i
ng
th
e
c
on
tr
o
l
l
er
(
or
l
o
o
p
s
ha
pi
ng
)
,
i
i
i
)
E
v
al
u
ati
ng
t
he
de
s
i
gn
(
or p
os
s
i
bl
e
pre
-
f
i
l
ter
de
s
i
gn
)
.
A
da
pti
v
e
Con
tr
ol
A
da
pti
v
e
c
on
tr
ol
i
s
a
s
p
ec
i
f
i
c
t
y
p
e
of
c
on
tr
o
l
,
ap
pl
i
c
ab
l
e
t
o
proc
es
s
es
w
i
th
c
h
an
g
i
ng
d
y
n
am
i
c
s
i
n
no
r
m
al
op
era
ti
ng
c
on
di
t
i
o
ns
s
ub
j
ec
ted
to
s
toc
ha
s
ti
c
d
i
s
turba
nc
es
.
T
he
r
ea
s
on
s
f
or
us
i
ng
a
da
pt
i
v
e
c
o
ntro
l
are,
v
ari
ati
on
s
i
n
proc
es
s
d
y
n
am
i
c
s
,
v
aria
ti
o
ns
i
n
th
e
c
ha
r
ac
t
er
of
di
s
turba
nc
es
,
en
gi
n
ee
r
i
ng
ef
f
i
c
i
en
c
y
.
G
en
era
l
l
y
,
t
o
c
o
ntrol
a
proc
es
s
wi
th
c
h
an
g
i
ng
d
y
na
m
i
c
s
i
s
no
t
e
as
y
[14
-
1
6].
T
od
a
y
t
wo
po
s
s
i
b
l
e
s
o
l
ut
i
o
ns
ex
i
s
t
f
or
tha
t
s
i
tua
t
i
o
n:
ad
a
pti
v
e
c
on
t
r
ol
a
nd
r
o
bu
s
t
c
on
tr
ol
.
A
da
pt
i
v
e
c
o
ntrol
i
s
us
ed
whe
ne
v
er
proc
es
s
p
aram
ete
r
s
are
c
ha
ng
i
n
g
d
u
r
i
ng
op
era
ti
o
n
an
d
we
do
no
t
k
no
w
i
n
ad
v
a
nc
e
w
ha
t
c
h
an
ge
s
ou
r
proc
es
s
w
i
l
l
ex
pe
r
i
en
c
e.
A
s
s
um
pti
o
n
of
proc
es
s
ti
m
e
i
nv
ar
i
an
c
e
m
us
t
be
d
i
s
c
arded.
T
he
s
ol
ut
i
o
n
ha
s
to
be
s
o
ug
h
t
i
n
a
s
pe
c
i
f
i
c
form
o
f
c
on
tr
ol
where
p
aram
ete
r
es
ti
m
ati
on
an
d
r
e
gu
l
ato
r
d
es
i
g
n
w
i
l
l
be
r
ea
l
i
z
ed
on
-
l
i
ne
du
r
i
ng
no
r
m
al
c
on
tr
ol
s
y
s
t
em
op
erati
o
n
[17
].
F
r
o
m
the
F
i
g
ure
2,
a
d
i
s
tr
i
bu
t
e
d
c
on
tr
o
l
s
y
s
tem
i
s
s
ho
wn, u
s
ed
i
n
c
om
pl
ex
hi
erar
c
h
i
c
al
s
y
s
t
em
s
an
d
th
at
the
y
are
b
ui
l
t
u
po
n
r
e
l
i
ab
l
e
op
erati
on
of
l
o
w
er
l
e
v
el
s
s
uc
h
as
de
v
i
c
e
l
e
v
el
(
proc
es
s
i
n
t
erf
ac
e)
an
d
c
on
tr
o
l
l
ev
el
(
s
i
ng
l
e
l
oo
p
c
on
tr
ol
)
s
y
s
t
em
s
.
E
qu
i
pm
en
t
l
ev
el
(
gro
up
c
on
tr
ol
)
r
ep
r
es
en
t
ev
en
hi
g
he
r
l
e
v
el
where
m
an
y
proc
e
s
s
es
are
c
oo
r
d
i
n
ate
d.
A
d
ap
ti
v
e
an
d
r
ob
us
t
c
on
tr
ol
pres
e
nte
d
i
n
th
i
s
F
i
gu
r
e
3,
s
ho
u
l
d
be
wor
k
i
n
t
he
s
i
ng
l
e
l
oo
p
c
on
tr
o
l
l
e
v
e
l
.
W
i
tho
ut
go
od
an
d
r
e
l
i
ab
l
e
s
y
s
t
em
op
erati
on
i
n
l
o
w
er
l
e
v
e
l
s
,
t
he
r
e
i
s
no
s
en
s
e
ta
l
k
i
ng
ab
ou
t
hi
gh
er
hi
erar
c
hi
c
a
l
l
e
v
el
s
at
a
l
l
[18
,
19
]
.
T
hree Deg
r
ee
of
Fr
ee
do
m
(
3
-
DO
F
)
T
he
3
-
DO
F
Hel
i
c
op
t
er
c
on
s
i
s
ts
of
a
m
od
el
he
l
i
c
op
t
er
bo
d
y
,
a
m
eta
l
ba
s
e,
a
nd
an
al
um
i
ni
um
fr
a
m
e.
T
he
he
l
i
c
op
ter
h
as
two
prop
el
l
er
s
m
ou
nte
d
i
n
pa
r
a
l
l
e
l
,
ac
tua
te
d
b
y
DC
m
oto
r
s
-
s
i
m
i
l
arl
y
to
t
an
d
em
du
a
l
r
oto
r
h
el
i
c
op
t
ers
.
F
i
gu
r
e
3
s
ho
w
s
t
he
3
-
DO
F
he
l
i
c
o
pte
r
de
v
e
l
o
pe
d
b
y
Q
u
an
s
er
r
es
e
arc
he
r
gro
up
[2
0
,
2
1].
T
he
he
l
i
c
op
t
er
bo
d
y
i
s
s
us
p
en
d
ed
f
r
om
an
i
ns
tr
um
en
ted
j
oi
nt
th
at
i
s
m
ou
nte
d
at
th
e
en
d
of
a
l
on
g
arm
an
d
i
s
f
r
ee
to
p
i
tc
h
ab
ou
t
i
ts
c
en
tr
e.
T
he
oth
er
en
d
of
the
arm
i
s
f
as
ten
ed
to
t
h
e
ba
s
e
us
i
ng
a
t
w
o
d
eg
r
e
e
of
fr
ee
do
m
j
oi
nt.
T
hi
s
al
l
o
ws
the
arm
,
an
d
thu
s
the
he
l
i
c
o
pte
r
,
to
b
e
r
ota
ted
ab
ou
t
th
e
v
erti
c
al
ax
i
s
-
the
tr
av
e
l
ax
i
s
-
as
wel
l
as
up
a
nd
do
w
n
-
th
e e
l
e
v
at
i
o
n a
x
i
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
A
da
pti
v
e c
o
ntro
l
of
no
n
l
i
ne
ar s
y
s
tem
ba
s
ed
on
Q
F
T
a
pp
l
i
c
ati
on
.
.
.
(
F
i
r
s
t A
uth
or
)
2597
F
i
gu
r
e
2.
D
i
s
tr
i
b
ute
d
c
on
tr
o
l
s
y
s
tem
us
i
ng
a
da
pti
v
e c
o
ntrol
l
er [1
8]
F
i
gu
r
e
3.
3
-
DO
F
he
l
i
c
op
t
er
m
od
el
m
an
uf
ac
tured b
y
Q
u
an
s
er [21
]
T
he
oth
er
en
d
of
the
arm
ha
s
an
ad
j
us
t
a
bl
e
c
ou
nte
r
wei
g
ht
tha
t
c
ha
ng
es
the
ef
f
ec
ti
v
e
m
a
s
s
of
the
h
el
i
c
op
t
er
s
y
s
t
em
-
m
a
k
i
ng
i
t
l
i
g
ht
en
o
ug
h
t
o
b
e
l
i
f
ted
b
y
t
he
thrus
t
f
r
o
m
the
pro
pe
l
l
ers
.
A
l
l
ax
es
are
m
ea
s
ured
us
i
ng
hi
g
h
-
r
es
ol
u
ti
o
n
en
c
o
de
r
s
to
ob
ta
i
n
prec
i
s
e
po
s
i
t
i
on
f
ee
db
ac
k
.
T
he
s
l
i
p
r
i
n
g
m
ec
ha
ni
s
m
on
the
v
erti
c
a
l
ax
i
s
al
l
o
w
s
th
e b
od
y
to
r
o
tat
e
c
on
t
i
nu
ou
s
l
y
b
y
e
l
i
m
i
na
t
i
ng
the
ne
ed
f
or
an
y
w
i
r
es
to
c
on
ne
c
t
the
m
oto
r
s
an
d
e
nc
od
ers
to
the
b
as
e.
T
he
f
r
on
t
a
nd
ba
c
k
prope
l
l
ers
c
on
tr
ol
th
e
m
ov
em
en
t
of
the
he
l
i
c
o
pte
r
[2
0
-
24].
T
he
3
-
DO
F
he
l
i
c
o
pt
er
prin
c
i
pa
l
s
to
c
on
tr
ol
t
he
thr
ee
ax
i
s
wi
th
f
r
on
t
a
nd
b
ac
k
propel
l
ers
,
w
h
i
c
h
c
on
tr
ol
t
he
m
ov
em
en
t
of
the
h
el
i
c
op
ter.
T
he
3
-
DO
F
Hel
i
c
op
t
er
m
od
e
l
l
i
ng
c
on
v
e
nti
on
s
us
ed
are:
T
he
he
l
i
c
o
pte
r
i
s
h
ori
z
on
ta
l
w
h
en
the
e
l
e
v
at
i
o
n
an
gl
e
eq
ua
l
s
ε
=
0
.
T
he
tr
av
el
an
g
l
e
i
nc
r
ea
s
es
po
s
i
ti
v
e
l
y
,
w
he
n
th
e
bo
d
y
r
ota
tes
i
n
the
c
ou
nte
r
-
c
l
oc
k
w
i
s
e (CC
W
)
di
r
ec
ti
on
. T
he
pi
tc
h
an
gl
e i
s
po
s
i
ti
v
e,
ρ
(
t)
>
0,
when
the
f
r
on
t m
oto
r
i
s
hi
g
he
r
tha
n
the
b
ac
k
m
ot
or.
T
he
w
ork
s
he
et
go
es
thr
ou
gh
t
he
k
i
ne
m
ati
c
s
of
the
s
y
s
t
em
.
T
hu
s
,
de
s
c
r
i
bi
ng
th
e
f
r
on
t
m
oto
r
,
ba
c
k
m
oto
r
,
he
l
i
c
op
t
er
bo
d
y
,
a
nd
c
ou
nte
r
w
e
i
g
ht
r
el
ati
v
e
t
o
the
ba
s
e
c
oo
r
di
n
ate
s
y
s
tem
s
ho
w
n
i
n Fi
g
ure 4
[25
-
2
8].
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
5,
O
c
tob
er 20
19
:
259
5
-
26
0
6
2598
(
a)
(
b)
F
i
gu
r
e
4.
(
a)
F
r
ee
-
bo
d
y
d
i
a
gram
of
th
e 3
-
DO
F
he
l
i
c
op
t
er and
(
b)
S
pa
t
i
a
l
r
e
l
at
i
on
s
of
th
e f
r
am
es
an
d a
ng
l
es
[2
9
,
3
0]
T
he
s
e
r
es
ul
ti
ng
eq
u
ati
on
s
are
us
ed
to
f
i
n
d
the
p
ote
nti
al
en
erg
y
an
d
tr
an
s
l
a
ti
o
na
l
k
i
ne
ti
c
en
erg
y
of
the
f
r
on
t
m
oto
r
,
ba
c
k
m
oto
r
,
an
d
c
ou
n
ter
w
e
i
gh
t
of
the
s
y
s
tem
.
T
he
thrus
t
f
orc
es
ac
ti
ng
on
t
he
el
e
v
ati
on
,
pi
tc
h
,
a
n
d
tr
a
v
e
l
ax
es
f
r
om
the
f
r
on
t
an
d
b
ac
k
m
oto
r
s
are
de
f
i
ne
d
an
d
m
ad
e
r
el
at
i
v
e t
o
the
qu
i
es
c
en
t
v
o
l
tag
e
or op
erati
ng
po
i
nt.
3
-
DO
F
he
l
i
c
op
t
er eq
ua
t
i
on
s
F
r
o
m
the
f
r
ee
-
bo
d
y
di
a
gra
m
of
the
3
-
DO
F
he
l
i
c
op
ter
i
s
s
h
o
w
n
i
n
F
i
g
ure
4
(a
)
,
an
d
i
ts
s
pa
ti
a
l
r
e
l
at
i
on
s
of
the
f
r
am
es
an
d
an
g
l
es
are
s
ho
wn
i
n
F
i
gu
r
e
4
(b
)
.
A
pp
l
y
i
n
g
th
e
E
ul
er
–
La
gra
ng
e
f
or
m
ul
a,
the
d
y
na
m
i
c
s
of
the
he
l
i
c
o
pte
r
c
an
be
d
es
c
r
i
be
d
b
y
d
i
f
f
erenti
al
e
qu
at
i
on
s
.
T
he
y
c
on
s
i
de
r
e
d
t
he
el
e
v
a
ti
o
n
m
oti
on
[28
-
3
3].
T
he
t
w
i
s
t
i
ng
m
o
m
en
t
of
thi
s
ax
i
s
i
s
c
on
tr
ol
l
e
d
b
y
the
c
om
po
s
i
ti
o
n o
f
f
orc
es
ge
ne
r
at
ed
b
y
t
h
e
prope
l
l
ers
.
(
2)
In
(
2
)
[29
]
,
α
0
i
s
t
he
i
ni
ti
a
l
a
n
gl
e
be
t
ween
the
he
l
i
c
op
t
er
arm
an
d
i
ts
ba
s
e.
J
є
,
K
f
,
L
a
,
F
f
and
F
b
are
the
m
o
m
en
t
of
i
ne
r
ti
a,
f
orc
e
c
on
s
tan
t,
l
en
gth
of
bo
d
y
,
f
r
on
t
m
oto
r
f
orc
e
an
d
ba
c
k
m
oto
r
f
orc
e a
c
r
os
s
to
el
e
v
at
i
on
an
gl
e res
p
ec
ti
v
e
l
y
,
th
e p
i
tc
h
m
oti
on
i
s
de
s
c
r
i
b
ed
b
y
t
he
f
ol
l
o
w
i
ng
:
(
3)
In
(
3)
[34
],
J
p
,
K
f
,
L
h
,
F
f
an
d
F
b
are
th
e
m
o
m
en
t
of
i
ne
r
ti
a,
f
orc
e
c
on
s
tan
t,
d
i
s
ta
nc
e
of
the
m
oto
r
s
f
r
o
m
pi
tc
h
ax
i
s
,
f
r
on
t
m
oto
r
f
orc
e
an
d
b
a
c
k
m
oto
r
f
orc
e
ac
r
os
s
to
e
l
e
v
at
i
on
an
gl
e
r
es
pe
c
ti
v
el
y
W
he
n
the
f
orc
e
ge
n
erated
b
y
t
he
f
r
on
t
m
oto
r
i
s
great
er
tha
n
t
ha
t
b
y
the
ba
c
k
on
e,
the
he
l
i
c
op
ter
b
od
y
wi
l
l
pi
tc
h
i
n
t
he
po
s
i
t
i
v
e d
i
r
ec
t
i
on
.
T
he
3
DO
F
Hel
i
c
op
t
er
m
od
el
tha
t
i
s
us
ed
i
n
thi
s
l
a
bo
r
at
or
y
i
s
an
a
l
o
go
u
s
to
a
tan
de
m
r
oto
r
he
l
i
c
o
pte
r
.
A
s
d
es
c
r
i
be
d
i
n
t
he
F
B
D
s
ho
wn
i
n
F
i
gu
r
e
4
,
th
e
pi
tc
h
of
th
e
he
l
i
c
op
ter,
ρ,
i
s
t
he
r
ota
t
i
o
n
of
the
h
el
i
c
op
t
er
a
bo
ut
a
l
i
n
e
pe
r
pe
nd
i
c
u
l
ar
to
th
e l
en
gt
h o
f
th
e
bo
d
y
l
o
c
ate
d a
t th
e c
en
tr
e
of
grav
i
t
y
[3
4
-
37].
2.
Re
se
a
r
ch M
eth
o
d
T
he
propos
ed
c
on
tr
o
l
l
er
wa
s
s
i
m
ul
ate
d
b
y
M
A
T
LA
B
s
i
m
ul
ati
on
proc
es
s
,
bu
t
i
t
i
s
i
m
po
r
tan
t
to
de
v
e
l
o
p
tr
an
s
f
er
f
un
c
ti
on
eq
ua
ti
o
n
f
or
the
c
o
ntrol
l
er
an
d
o
bs
erv
e
s
i
m
ul
ati
on
b
a
s
ed
ha
r
d
war
e
pe
r
f
or
m
an
c
e
.
F
or
th
e
h
ard
war
e
s
i
m
ul
at
i
on
proc
es
s
t
he
MA
T
LA
B
s
i
m
ul
ati
on
f
i
l
e
i
s
n
ee
d
ed
to
m
od
erate
f
or
ac
tua
l
h
ard
war
e,
be
c
au
s
e
th
e
h
el
i
c
o
pte
r
m
od
el
c
a
n
di
r
ec
t
l
y
a
c
c
es
s
throug
h
r
ea
l
-
ti
m
e
Q
UA
RC
H
s
of
twar
e.
Q
UA
RCH
i
s
th
e
r
ea
l
-
ti
m
e
i
nte
r
f
ac
i
ng
s
of
t
w
are
be
t
ween
MA
T
LA
B
s
of
tw
are
an
d
Q
u
an
s
er
3
-
DO
F
he
l
i
c
o
pte
r
’
s
da
ta
ac
qu
i
s
i
ti
o
n
c
ard
.
MA
T
LA
B
s
i
m
ul
ati
on
bl
oc
k
di
a
gram
c
an
be
us
ed
di
r
ec
t
l
y
i
n
thi
s
proc
ed
ure
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
A
da
pti
v
e c
o
ntro
l
of
no
n
l
i
ne
ar s
y
s
tem
ba
s
ed
on
Q
F
T
a
pp
l
i
c
ati
on
.
.
.
(
F
i
r
s
t A
uth
or
)
2599
2.1
.
P
r
o
p
o
s
ed Co
n
t
r
o
lle
r
T
r
ansf
er
Fu
n
ctio
n
f
o
r
3
-
D
o
f
Heli
cop
t
er
T
he
propos
ed
de
s
i
gn
s
i
m
ul
at
i
o
n
arc
hi
t
ec
ture
of
the
s
y
s
t
em
i
s
s
ho
w
n
i
n
F
i
g
ure
5
.
T
he
c
on
c
ep
t
of
h
y
br
i
d
a
d
ap
ti
v
e
wi
t
h
Q
F
T
c
on
tr
ol
l
er
i
s
de
s
i
g
ne
d
to
a
da
pt
wi
t
h
i
ts
s
el
f
-
tun
es
pa
r
am
ete
r
s
an
d
l
i
ne
ar
l
y
l
ea
s
t
ph
as
e
s
y
s
tem
s
m
u
s
t
s
ac
r
i
f
i
c
e
to
de
s
i
r
a
bl
e
f
ee
db
ac
k
c
on
tr
ol
be
n
ef
i
ts
to
ob
ta
i
n t
he
de
s
i
r
e
d p
r
o
pe
r
ti
es
i
n t
he
c
l
os
ed
-
l
oo
p
s
y
s
t
em
.
T
he
el
e
v
at
i
o
n,
p
i
tc
h
an
d t
r
a
v
el
m
oti
on
we
al
r
e
ad
y
de
v
e
l
op
ed
s
ho
wn
as
the
f
ol
l
o
wi
ng
c
l
os
e
l
o
op
tr
an
s
f
er
f
un
c
ti
on
s
(
4
)
,
(
5
)
and
(
6
)
:
w
he
r
e
ε(
t)
,
p(t)
an
d
τ(
t)
are
t
he
t
r
an
s
f
er
f
un
c
ti
on
s
f
or
e
l
e
v
a
ti
on
a
ng
l
e,
p
i
tc
h
an
g
l
e
a
n
d
tr
a
v
e
l
an
g
el
r
es
pe
c
ti
v
el
y
,
k
f
i
s
the
m
oto
r
f
orc
e
-
thrus
t
c
on
s
tan
t,
l
a
i
s
the
di
s
ta
nc
e
f
r
o
m
pi
v
ot
po
i
nt
t
o
m
oto
r
s
tat
i
o
na
r
y
j
oi
nt
po
i
nt
a
nd
l
h
i
s
the
di
s
t
an
c
e
f
r
o
m
j
oi
nt
po
i
nt
or
pi
tc
h
ax
i
s
to
ea
c
h
m
oto
r
.
k
ϵp
an
d
k
ϵd
are
th
e
f
ee
d
ba
c
k
c
on
tr
ol
ga
i
n
of
e
l
e
v
at
i
on
ax
i
s
,
j
e
an
d
j
p
are
t
he
m
o
m
en
t
of
i
n
erti
a
ab
ou
t
the
e
l
e
v
at
i
on
ax
i
s
an
d
p
i
tc
h
ax
i
s
r
es
pe
c
ti
v
e
l
y
.
k
pd
an
d
k
pp
are
the
f
ee
db
ac
k
c
o
ntrol
g
ai
ns
of
el
e
v
at
i
o
n
ax
i
s
.
k
p
ga
i
n
c
o
nt
r
ol
(
i
nc
r
e
as
e
k
p
wi
l
l
i
nc
r
ea
s
e
o
v
ers
ho
o
t)
.
k
rp
an
d
k
ri
ar
e
the
f
ee
db
ac
k
c
on
tr
ol
ga
i
n
of
tr
av
e
l
a
x
i
s
.
T
he
s
ol
v
ed
f
i
na
l
tr
an
s
f
er
f
un
c
ti
on
of
the
s
y
s
tem
d
y
na
m
i
c
s
f
or
the
tr
a
v
e
l
,
el
e
v
at
i
o
n a
n
d p
i
tc
h
an
g
l
es
are s
ho
wn i
n (
7
)
, (
8
)
a
nd
(
9
).
=
ℎ
2
+
ℎ
+
ℎ
(
4
)
ρ(t)
=
=
0
.
6004
s
2
+
0
.
9
52271
6s
+
0
.
6004
(5
)
=
2
+
+
(
6
)
(
t
)
=
3
.
139167
s
s
2
+
s
.
(
0
.
9
58333
)
−
3
.
139167
(
7
)
F
i
na
l
l
y
,
=
−
+
2
−
−
(
8
)
(
t
)
=
s
(
0
.
06331
)
−
0
.
13275
2
+
s
.
(
0
.
06331
)
+
0
.
13275
.
(
9
)
2.2
.
P
r
o
p
o
s
ed Co
n
t
r
o
lle
r
S
imu
latio
n
D
es
ign
w
it
h
3
-
Do
f
Heli
cop
t
e
r
F
or
ha
r
d
w
are
s
i
m
ul
ati
on
m
od
e
l
,
w
e
j
us
t
r
ep
l
ac
e
t
he
3
-
DO
F
he
l
i
c
o
pte
r
b
l
oc
k
w
i
th
Q
ua
ns
er
de
v
el
op
e
d
h
ard
w
are
c
o
nn
ec
te
d
s
i
m
ul
ati
on
bl
o
c
k
W
hi
c
h
w
i
l
l
a
uto
m
ati
c
al
l
y
ad
j
us
t
the
c
om
m
un
i
c
ati
on
.
F
i
g
ure
5
s
ho
w
s
the
Q
ua
ns
er
3
-
D
O
F
he
l
i
c
o
pte
r
c
l
os
ed
l
oo
p
ac
tua
l
s
y
s
tem
b
l
oc
k
s
i
m
ul
ati
o
n.
In
t
hi
s
F
i
gu
r
e,
e
v
er
y
bl
oc
k
ha
s
the
i
r
s
ub
s
eq
ue
nc
e
bl
oc
k
s
an
d
the
de
s
i
r
e
i
n
pu
t
s
i
gn
a
l
i
s
po
s
s
i
b
l
y
g
i
v
en
f
r
o
m
an
y
on
e
of
t
w
o
s
ou
r
c
es
,
na
m
ed
de
s
i
r
ed
an
gl
e
f
r
om
progr
am
bl
oc
k
an
d
de
s
i
r
e
po
s
i
t
i
o
n
f
r
o
m
j
o
y
s
t
i
c
k
.
F
r
o
m
the
m
an
ua
l
l
y
s
el
ec
t
or
bl
oc
k
i
t
was
s
el
ec
te
d
to
“
progr
am
=
1”,
w
h
i
c
h d
e
no
t
es
th
e
de
s
i
r
e
an
g
l
es
f
r
om
p
r
og
r
am
bl
oc
k
i
s
ac
ti
v
ate
d m
an
ua
l
l
y
.
T
he
de
s
i
r
e
an
g
l
e
progr
am
bl
oc
k
i
n
F
i
gu
r
e
5
i
s
th
e
a
n
gl
e
al
terab
l
e
bl
oc
k
.
T
he
s
e
qu
en
c
e
bl
oc
k
s
of
de
s
i
r
e
an
g
l
e
f
r
om
progr
am
are
s
ho
w
n
i
n
F
i
g
ure
6.
i
n
thi
s
F
i
gu
r
e
th
e
F
1,
F
2
an
d
F
3
are
the
Q
F
T
f
i
l
ters
.
F
or
t
he
el
ev
ato
r
a
ng
l
e
t
he
r
an
g
e
was
pr
ev
i
ou
s
l
y
de
f
i
n
ed
b
y
qu
an
s
e
r
an
d
the
an
gl
e
l
i
m
i
ts
f
r
o
m
-
27
to
+
3
0
.
S
o
,
i
n
i
t
i
al
l
y
i
t
was
g
i
v
en
-
27
.
F
or
the
p
i
tc
h
a
ng
l
e
the
c
on
s
tan
t
a
ng
l
e
i
s
gi
v
en
as
0
to
h
ol
d
t
h
e
s
tr
ai
g
ht
po
s
i
t
i
o
n
of
the
b
od
y
whi
l
e
f
l
y
i
ng
.
T
he
tr
a
v
e
l
an
gl
e
i
s
d
i
f
f
erent
be
c
au
s
e
i
t
do
es
no
t
d
ep
e
n
d
on
e
l
e
v
at
i
on
an
g
l
e.
T
he
m
a
x
i
m
u
m
r
an
ge
f
or
the
tr
av
e
l
an
g
l
e
i
s
no
t
f
i
x
ed
.
S
o,
a
n
y
v
a
l
ue
i
s
s
ui
t
a
bl
e
f
or
tak
i
ng
an
g
l
e.
i
f
the
an
gl
e
i
s
m
ore
tha
n
36
0
th
e
3
-
DO
F
he
l
i
c
o
pte
r
wi
l
l
ta
k
e m
ore r
ou
nd
a
nd
v
i
c
e v
ers
a.
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
5,
O
c
tob
er 20
19
:
259
5
-
26
0
6
2600
T
he
s
ec
on
d
bl
oc
k
of
F
i
gu
r
e
5
i
s
“
3
-
DO
F
he
l
i
:
a
da
pt
i
v
e
+
Q
F
T
”
,
whi
c
h
i
s
t
he
s
am
e
c
o
ntrol
l
er
us
ed
f
or
s
of
tw
are
b
as
ed
s
i
m
ul
ati
on
.
T
he
c
on
tr
o
l
l
er
s
u
bs
eq
ue
nt
b
l
oc
k
s
are
s
ho
wn
i
n
F
i
gu
r
e
7,
where th
e
prop
os
ed
a
d
ap
t
i
v
e wi
t
h
Q
F
T
c
on
tr
ol
l
ers
are
al
s
o
s
e
en
.
Li
k
e
pre
v
i
ou
s
t
h
e
X
,
X
1
an
d
X
2
are
the
f
ee
db
ac
k
i
np
ut
a
nd
X
_d
(
r
a
d)
i
s
th
e
c
on
n
ec
ti
on
of
de
s
i
r
e
an
gl
e
s
el
ec
ti
on
.
u(V)
i
s
the
c
on
tr
ol
l
er o
utp
u
t to
the
he
l
i
c
op
t
er m
od
el
.
F
i
gu
r
e
5.
Q
u
an
s
er 3
-
DO
F
h
el
i
c
o
pte
r
c
l
os
ed
l
oo
p a
c
tu
al
s
y
s
t
em
bl
oc
k
s
i
m
ul
ati
on
F
i
gu
r
e
6.
D
es
i
r
e a
ng
l
e f
r
om
program
bl
oc
k
T
he
F
i
gu
r
e
8
s
h
o
w
s
the
ac
tua
l
he
l
i
c
op
ter
ha
r
d
w
are
c
on
ne
c
ti
on
,
where
t
he
“
H
i
l
l
r
ate
an
a
l
og
”
i
s
the
3
-
DO
F
he
l
i
c
o
pte
r
m
od
el
a
nd
i
t
i
s
g
ett
i
ng
i
np
ut
s
i
gn
al
f
r
om
u(V)
throu
gh
l
i
m
i
ters
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
A
da
pti
v
e c
o
ntro
l
of
no
n
l
i
ne
ar s
y
s
tem
ba
s
ed
on
Q
F
T
a
pp
l
i
c
ati
on
.
.
.
(
F
i
r
s
t A
uth
or
)
2601
c
ab
l
e
g
ai
n
pre
-
c
om
pe
ns
ato
r
.
T
he
“
hi
l
l
r
ea
d
e
nc
od
er”
i
s
the
en
c
od
er
ou
t
pu
t
f
r
om
da
ta
ac
qu
i
s
i
t
i
on
c
ard f
or thr
ee
an
gl
es
. V
m
i
s
th
e m
oto
r
v
o
l
ta
ge
an
d f
or t
he
t
wo m
oto
r
s
A
0#
1
an
d
A
0#
2.
F
i
gu
r
e
7.
P
r
op
os
e
d a
da
p
ti
v
e
w
i
t
h Q
F
T
c
on
tr
ol
l
ers
F
i
gu
r
e
8.
A
c
tua
l
h
el
i
c
op
ter
ha
r
d
w
are
c
on
n
ec
ti
o
n s
ub
s
e
qu
en
c
e
Helico
p
ter
m
o
d
u
le
an
d
it’
s
t
h
r
ee
an
g
le
s
’
eq
u
atio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
5,
O
c
tob
er 20
19
:
259
5
-
26
0
6
2602
T
o
ob
s
erv
e
th
e
pe
r
f
orm
an
c
e
of
the
c
on
tr
o
l
l
er
the
s
c
op
e
bl
oc
k
s
w
ere
us
e
d,
w
h
ere
ev
er
y
an
g
l
e
c
an
be
o
bs
erv
e
d
s
e
p
aratel
y
.
F
i
gu
r
e
9,
s
ho
w
s
th
e
i
nte
r
n
al
s
ub
s
e
qu
e
nc
e
bl
o
c
k
di
a
gram
o
f
s
c
op
e b
l
oc
k
.
T
he
s
c
op
e res
ul
ts
are
i
nc
l
ud
ed
i
n c
ha
pte
r
f
i
v
e res
ul
t p
ort
i
o
n.
F
i
gu
r
e
9.
I
nte
r
na
l
s
u
bs
eq
u
e
nc
e b
l
oc
k
di
ag
r
am
of
s
c
op
e
bl
oc
k
3.
Re
sult
s
a
n
d
A
n
al
y
s
is
(
T
h
e P
r
o
p
o
se
d
H
y
b
r
id
A
d
a
p
t
iv
e Con
t
r
o
lle
r
Co
mb
in
e
w
it
h
Q
FT
)
T
he
propos
e
d
c
o
ntrol
l
er
i
s
t
he
c
om
bi
na
t
i
o
n
of
r
ob
us
t
a
nd
ad
a
pti
v
e
c
on
tr
ol
l
er
wher
e
Q
F
T
was
us
ed
as
th
e
r
ob
us
t
c
o
n
tr
ol
l
er.
T
he
s
i
m
ul
ate
d
c
on
n
ec
ti
on
di
ag
r
am
of
the
c
on
tr
ol
l
er
ha
s
s
ho
wn
i
n
F
i
g
ure
6.
T
he
s
i
m
ul
ati
o
n
de
s
i
g
n
of
propos
e
d
c
om
bi
n
ed
c
o
ntrol
l
er
w
as
tes
ted
o
n
the
pre
de
f
i
n
e
3
-
DO
F
he
l
i
c
op
t
er
s
i
m
ul
ati
o
n
m
od
el
the
n
on
ha
r
d
war
e
s
i
m
ul
ati
on
where
t
he
p
ara
m
ete
r
s
are
k
ep
t
as
orig
i
na
l
.
T
he
s
ti
m
ul
ati
o
n
ou
tp
uts
w
a
v
ef
orm
o
f
propos
ed
c
on
tr
ol
l
er
i
s
s
ho
w
n
o
n
F
i
gu
r
e
s
10
,
11
an
d
1
2.
T
he
y
e
l
l
o
w
w
a
v
ef
o
r
m
i
s
the
de
s
i
r
e
a
ng
l
e
a
nd
the
r
ed
wav
ef
or
m
i
s
the
p
r
oc
es
s
ou
tpu
t
r
es
ul
t b
y
c
om
bi
ne
d
c
on
tr
o
l
l
er f
or thr
ee
an
gl
es
k
no
w
n
a
s
el
e
v
at
i
on
, p
i
tc
h a
nd
tra
v
e
l
.
3.1
. T
r
av
el
A
n
g
le
F
i
gu
r
e
1
0
i
s
the
tr
av
el
a
ng
l
e
ou
tpu
t
w
a
v
ef
orm
f
or
the
propos
ed
c
om
bi
ne
d
c
on
tr
o
l
l
er
.
F
r
o
m
the
t
es
t
-
be
d
th
e
de
s
i
r
e
s
i
gn
al
was
g
i
v
en
f
or
60
p
ea
k
to
pe
ak
,
m
ea
ns
30
po
s
i
t
i
v
e
s
i
de
an
d
30
ne
ga
ti
v
e s
i
de
.
T
he
pro
po
s
e
d c
on
tr
o
l
l
er s
uc
c
es
s
f
ul
l
y
c
o
ntrol
l
ed
ou
tpu
t
w
i
th
a m
ax
i
m
u
m
ov
er
s
ho
ot
of
26
.6
7%
(
4
0.5
,
10
/u
ni
t)
,
s
ett
l
i
ng
ti
m
e
12
.
5
s
ec
o
nd
s
(
14
.5,
10
s
/un
i
t)
an
d
ha
v
i
n
g
z
ero
s
t
ea
d
y
s
tat
e
err
or.
T
he
ou
tp
ut
m
a
y
v
ar
y
f
r
om
di
f
f
erent
de
gre
e
bu
t
f
or
tes
t
c
on
di
ti
on
a
l
l
c
on
tr
ol
l
er
w
as
tes
ted
wi
th
th
e
s
am
e d
eg
r
e
e o
f
an
g
l
e.
A
l
l
t
he
r
es
u
l
ts
e
nc
l
os
ed
i
n T
ab
l
e 1
.
T
ab
l
e 1
.
A
d
ap
t
i
v
e +
Q
F
T
c
o
n
tr
ol
l
er o
utp
u
t f
or tr
av
e
l
a
ng
l
e
A
n
g
le
o
u
t
p
u
t
Ov
e
r
s
h
o
o
t
S
e
t
t
li
n
g
t
i
m
e
(
s
)
S
t
e
a
d
y
s
t
a
t
e
error
P
r
o
p
o
s
e
d
c
o
m
b
ine
d
c
o
n
t
r
o
l
ler
(
A
d
a
p
t
iv
e
+
QF
T)
,
t
r
a
v
e
l
a
n
g
le
2
6
.
6
7
%
1
2
.
5
s
e
c
o
n
d
s
00
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
A
da
pti
v
e c
o
ntro
l
of
no
n
l
i
ne
ar s
y
s
tem
ba
s
ed
on
Q
F
T
a
pp
l
i
c
ati
on
.
.
.
(
F
i
r
s
t A
uth
or
)
2603
F
i
gu
r
e
10
.
Res
po
ns
e
w
a
v
ef
orm
o
f
propo
s
ed
c
om
bi
ne
d
c
on
tr
ol
l
er
wi
th
3 DO
F
s
i
m
ul
ati
o
n m
od
el
.
3.2
.
E
lev
atio
n
A
n
g
le
F
i
gu
r
e
11
,
s
ho
w
s
t
he
e
l
e
v
a
ti
on
an
gl
e
ou
t
pu
t
wa
v
ef
orm
for
c
om
bi
ne
d
c
on
tr
o
l
l
er.
T
he
de
s
i
r
e
an
g
l
e
am
pl
i
t
ud
e
was
s
el
ec
ted
15
pp
(
pi
c
-
to
-
p
i
c
)
s
o
7.5
po
s
i
t
i
v
e
s
i
de
a
nd
7
.5
on
ne
ga
ti
v
e
s
i
de
.
T
he
ou
tp
ut
of
the
c
on
tr
o
l
l
er
ha
d
a
n
ov
ers
ho
ot
of
1
0%
(
9
.
5
V
/un
i
t)
,
s
ett
l
i
n
g
t
i
m
e
5
s
ec
on
ds
(
10
s
ec
on
ds
/u
ni
t)
an
d
ha
d
no
s
te
ad
y
s
tat
e
err
or.
T
he
pe
r
f
or
m
an
c
e
c
l
ea
r
l
y
i
nd
i
c
ate
s
t
ha
t
the
c
om
bi
ne
d
c
on
tr
o
l
l
er
ha
s
hi
gh
er
c
on
tr
o
l
l
ab
i
l
i
t
y
t
he
n
the
ex
i
s
ti
ng
LQ
R
c
on
tr
ol
l
er.
T
he
r
es
ul
ts
o
f
propos
e
d
c
om
bi
ne
d
c
on
tr
ol
l
er
wi
th
3
DO
F
s
i
m
ul
ati
on
m
od
el
f
or
el
ev
a
ti
on
an
gl
e
are
s
h
o
w
n
i
n T
ab
l
e
2.
T
ab
l
e 2
.
A
d
ap
t
i
v
e +
Q
F
T
c
o
ntro
l
l
er o
utp
u
t f
or el
e
v
a
ti
o
n
an
g
l
e
A
n
g
le
o
u
t
p
u
t
Ov
e
r
s
h
o
o
t
S
e
t
t
li
n
g
t
i
m
e
(
s
)
S
t
e
a
d
y
s
t
a
t
e
e
r
r
o
r
P
r
o
p
o
s
e
d
c
o
m
b
ine
d
c
o
n
t
r
o
ll
e
r
(
A
d
a
p
t
iv
e
+
QFT)
,
e
lev
a
t
ion
a
n
g
le
10%
5
s
e
c
o
n
d
s
00
F
i
gu
r
e
11
.
Res
po
ns
e
w
a
v
ef
orm
o
f
propo
s
ed
c
om
bi
ne
d
c
on
tr
ol
l
er
wi
th
3 DO
F
s
i
m
ul
ati
on
m
od
el
f
or el
ev
ati
on
an
g
l
e
3.3
.
P
it
ch
A
n
g
l
e
T
he
pi
tc
h
an
g
l
e
tes
t
of
3
-
DO
F
f
l
i
gh
t
c
on
tr
ol
S
i
m
ul
i
nk
m
od
e
l
s
ho
w
n
i
n
F
i
gu
r
e
12
,
b
y
us
i
ng
c
o
m
bi
ne
d
c
on
tr
o
l
l
er
al
s
o
s
ho
w
e
d
go
od
p
erf
or
m
an
c
e.
T
he
s
i
m
ul
ati
on
m
od
el
of
3
-
DO
F
he
l
i
c
op
t
er
m
od
el
pi
tc
h
an
g
l
e
i
s
d
i
f
f
e
r
en
t
f
r
o
m
no
r
m
al
s
i
ng
l
e
t
es
t
s
i
m
ul
ati
o
n.
T
he
m
od
el
i
m
pl
i
es
th
at,
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No
.
5,
O
c
tob
er 20
19
:
259
5
-
26
0
6
2604
the
m
oto
r
s
s
ho
ul
d
k
ee
p
th
e
pi
tc
h
a
ng
l
e
to
ho
l
d
the
h
el
i
c
o
pte
r
m
od
el
s
T
ab
l
e
an
d
al
wa
y
s
z
ero,
predef
i
n
ed
i
n
c
h
ap
t
er
thre
e s
ec
ti
on
.
W
he
r
e
the
pi
tc
h
h
a
s
a
l
i
m
i
tat
i
o
n
of
20
a
nd
th
e
ou
t
pu
t
s
h
ou
l
d
m
ai
nta
i
n
t
he
0
,
the
pe
r
f
orm
an
c
e
of
c
o
m
bi
ne
d
c
on
tr
ol
l
er
c
l
ea
r
l
y
i
n
di
c
at
es
th
e
m
ax
i
m
u
m
ou
tpu
t
i
s
16.1
an
d
a
l
s
o
m
ai
nta
i
ni
n
g
0
wi
t
ho
ut
s
t
ea
d
y
s
tat
e
err
or.
T
he
r
es
ul
ts
are
s
ho
w
n
i
n T
ab
l
e
3.
T
ab
l
e 3
.
A
d
ap
t
i
v
e +
Q
F
T
Co
ntrol
l
er O
u
tpu
t
f
or
P
i
tc
h
A
ng
l
e
A
n
g
le
o
u
t
p
u
t
Ov
e
r
s
h
o
o
t
S
e
t
t
li
n
g
t
i
m
e
(
s
)
S
t
e
a
d
y
s
t
a
t
e
e
r
r
o
r
P
r
o
p
o
s
e
d
c
o
mbine
d
c
o
n
t
r
o
ll
e
r
(
A
d
a
p
t
iv
e
+
Q
FT)
P
i
t
c
h
a
n
g
le
00
1
0
.
8
s
e
c
o
n
d
s
00
F
i
gu
r
e
12
.
Res
po
ns
e
w
a
v
ef
orm
o
f
propo
s
ed
c
om
bi
ne
d
c
on
tr
ol
l
er
wi
th
3 DO
F
s
i
m
ul
ati
on
m
od
el
p
i
tc
h
an
g
l
e
T
he
LQ
R
c
on
tr
ol
l
er
was
r
e
-
s
i
m
ul
ate
d
f
or
the
pe
r
f
or
m
an
c
e
tes
ti
n
g
of
propos
ed
c
o
ntrol
l
er
on
s
am
e
tes
t
b
ed
an
d
w
i
th
t
he
s
am
e
pa
r
am
ete
r
.
W
he
r
e
the
LQ
R
c
o
ntrol
l
er
r
es
ul
ts
were
r
ec
ord
ed
f
or
c
o
m
pa
r
i
s
on
t
ab
l
e.
In
c
om
pa
r
i
s
on
t
ab
l
e,
th
e
three
an
gl
es
are
s
ho
wn
i
n
di
v
i
d
ua
l
l
y
,
where
a
s
uc
c
es
s
f
ul
i
nd
i
c
ati
on
c
a
n
o
bta
i
n
f
r
o
m
the
t
ab
l
e
a
bo
u
t
propos
e
d
c
om
bi
ne
c
on
tr
o
l
l
er.
G
en
era
l
l
y
,
h
y
br
i
d
r
o
bu
s
t
a
da
pti
v
e
c
o
nt
r
ol
l
er
i
s
b
ett
er
t
ha
n
s
i
n
gl
e
c
on
tr
ol
l
er
f
or
a
n
y
pl
an
t
bu
t
s
pe
c
i
a
l
l
y
s
om
e
c
o
m
bi
ne
d
c
o
ntro
l
l
er
pe
r
f
orm
s
f
ar
be
tte
r
th
e
ot
he
r
c
om
bi
n
ed
c
on
tr
ol
l
er
f
or
s
pe
c
i
f
i
c
pl
a
nt
m
od
el
.
F
or
ex
am
pl
e,
ad
ap
t
i
v
e
wi
t
h
Q
F
T
c
on
tr
ol
l
er
m
a
y
p
erf
or
m
be
tte
r
wi
t
h
3
-
DO
F
h
el
i
c
op
te
r
f
l
i
gh
t
c
on
tr
ol
m
od
el
th
en
oth
er c
on
tr
o
l
l
er
un
de
r
c
o
ns
i
d
erati
on
.
4.
Co
n
clus
ion
T
he
m
eth
od
i
nv
ol
v
e
d
b
y
c
om
bi
ni
ng
b
oth
Q
F
T
an
d
ad
ap
t
i
v
e
c
on
tr
o
l
l
ers
to
f
ul
l
y
uti
l
i
s
e
the
ad
v
a
nta
ge
s
an
d
e
l
i
m
i
n
ate
s
the
d
i
s
ad
v
an
tag
es
of
the
c
on
tr
o
l
l
ers
.
T
he
h
y
br
i
d
r
ob
us
t
ad
ap
t
i
v
e
c
on
tr
ol
l
er
ha
s
b
ee
n
tes
te
d
f
or
tr
ac
k
i
ng
pe
r
f
or
m
an
c
e
v
i
a
s
i
m
ul
ati
on
.
Q
ua
ns
er
h
as
de
v
e
l
op
ed
s
i
m
ul
ati
on
p
l
atf
orm
i
n
ord
e
r
to
ev
al
ua
te
t
he
pe
r
f
orm
a
nc
e
of
th
e
c
o
ntro
l
l
er.
T
he
h
y
br
i
d
r
ob
us
t
ad
ap
ti
v
e
c
on
tr
o
l
l
er
s
uc
c
es
s
f
ul
l
y
h
as
s
ho
wn
a
be
tt
er
p
er
f
or
m
an
c
e
tha
n
s
i
n
gl
e
c
o
ntr
ol
l
er
(
i
nd
i
v
i
du
al
ad
ap
ti
v
e
or
Q
F
T
)
b
y
r
ed
uc
i
ng
ov
ers
ho
ot
i
n
g
pro
bl
em
of
ad
ap
t
i
v
e
c
on
tr
ol
l
er
a
nd
s
ett
l
i
ng
t
i
m
e
of
Q
F
T
c
on
tr
ol
l
er.
T
he
c
om
bi
ne
d/
h
y
br
i
d
c
on
tr
o
l
l
er
i
n
whi
c
h
the
ac
tu
al
he
l
i
c
op
ter
s
i
m
ul
ati
on
m
od
el
was
i
n
t
he
c
i
r
c
ui
t.
T
he
s
i
m
ul
at
i
o
n
al
s
o
ha
d
err
or
m
i
ni
m
i
z
at
i
on
tec
h
ni
qu
e
b
y
r
es
u
r
r
ec
ti
ng
m
eth
od
of
ea
c
h
an
gl
es
an
d
t
he
d
es
i
r
e
a
ng
l
es
w
as
i
nj
ec
ted
to
th
e
l
oo
p
to
g
et
t
he
d
es
i
r
ed
o
utc
om
e.
T
he
c
on
tr
ol
l
er
pe
r
f
orm
ed
wel
l
a
nd
m
et
the
de
s
i
r
ed
an
gl
es
r
eq
u
i
r
em
en
t,
s
ho
wn
i
n
r
es
ul
t
s
ec
ti
on
.
T
he
pe
r
f
or
m
an
c
e
of
c
o
m
bi
ne
d
c
on
tr
ol
l
er
s
ho
w
n
be
tt
er
pe
r
f
or
m
an
c
e
tha
n
s
i
n
gl
e
c
on
tr
ol
l
e
r
s
w
h
i
l
e
pe
r
f
or
m
i
ng
w
i
t
h
l
arge
un
c
er
tai
n
r
an
g
e
of
di
s
t
urbanc
e
a
nd
pro
du
c
ed
f
as
ter
ou
tc
om
e
w
i
t
h
s
m
al
l
er
ov
ers
ho
ot.
T
he
ou
tc
om
e
es
tab
l
i
s
he
d
tha
t
t
he
c
om
bi
ne
d
c
on
tr
ol
l
er
gu
arant
ee
d
t
he
s
pe
c
i
f
i
c
r
an
ge
of
un
c
ertai
nt
y
.
Ho
wev
er,
t
he
c
om
bi
ne
c
on
tr
ol
l
er
prod
uc
ed
be
tt
er
proc
es
s
ou
tpu
t
,
the
un
s
t
a
bl
e
r
es
po
ns
e
was
prod
uc
ed
wh
en
r
an
ge
of
un
c
ertai
nt
y
ex
c
ee
de
d.
Evaluation Warning : The document was created with Spire.PDF for Python.