T
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ol
.
17
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DOI:
10.12928/TE
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Copy
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©
2
0
1
9
Uni
v
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t
a
s
Ahm
a
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D
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All
rig
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s
r
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s
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d
.
1.
Int
r
o
d
u
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Nor
m
al
l
y
,
t
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un
c
o
ntrol
l
e
d
f
r
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as
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on
to
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d
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ex
c
urs
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,
e
v
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f
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v
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m
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l
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tan
k
s
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arr
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on
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oa
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d
[
1].
Ho
we
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c
on
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l
l
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d
s
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nd
pa
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at
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s
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m
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ac
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f
orc
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on
tr
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(
A
F
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[
2
],
P
ID
c
on
tr
ol
[3
-
5],
H
-
i
nf
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ni
t
y
c
on
tr
o
l
[6]
,
s
l
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m
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on
tr
ol
[
7
]
,
V
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ai
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l
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T
A
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c
k
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on
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ol
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,
h
y
br
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f
u
z
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y
-
P
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D
c
on
tr
ol
l
er
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,
s
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l
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i
n
pu
t
f
u
z
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l
o
gi
c
c
on
tr
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er
[
10
]
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d
d
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v
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ID
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g
us
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S
P
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A
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1].
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thi
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tud
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H
-
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s
y
n
t
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s
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s
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t
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on
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t
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s
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s
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of
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ts
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e
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n
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w
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th
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on
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o
bj
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ti
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s
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h
as
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s
turba
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e
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an
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l
l
ati
on
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ob
us
t
s
tab
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l
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z
at
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of
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y
s
t
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i
np
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ap
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th
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s
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s
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n
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on
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i
s
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n
ha
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s
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ns
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y
as
pe
c
ts
[1
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].
A
s
w
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a
l
l
k
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w
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a
go
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ti
m
e
r
es
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pe
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l
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m
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3
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1
5
].
I
n
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s
c
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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
◼
H
-
i
nfi
ni
ty
c
o
ntrol
l
er w
i
th
gra
ph
i
c
a
l
L
MI
r
eg
i
o
n p
r
of
i
l
e f
or
l
i
qu
i
d
...
.
(
M
o
hd
Za
i
d
i
Mo
h
d Tum
ari)
2637
f
l
ex
i
bi
l
i
t
y
i
n
c
om
bi
ni
ng
s
ev
e
r
al
c
o
ns
tr
ai
n
ts
o
n
t
he
c
l
os
e
d
l
oo
p
s
y
s
t
em
.
T
hi
s
f
l
ex
i
bl
e
na
t
ure
of
LM
I
s
c
he
m
es
c
an
b
e
us
ed
to
ha
nd
l
e
H
-
i
nf
i
ni
t
y
c
on
tr
o
l
l
er
w
i
t
h
po
l
e
p
l
ac
em
en
t
c
on
s
tr
ai
nts
.
In
th
i
s
wor
k
,
the
po
l
e
p
l
ac
em
en
t
c
on
s
tr
ai
nts
wi
l
l
r
ef
er
di
r
ec
tl
y
t
o
r
eg
i
on
a
l
po
l
e
pl
ac
em
en
t
[1
6
].
It
i
s
s
l
i
gh
tl
y
d
i
f
f
erenc
e
w
i
t
h p
oi
n
t
-
w
i
s
e
po
l
e
p
l
ac
em
en
t,
w
h
ere po
l
es
are as
s
i
gn
e
d t
o
s
pe
c
i
f
i
c
l
oc
ati
on
s
i
n
th
e
c
om
pl
ex
pl
an
e
ba
s
ed
on
s
p
ec
i
f
i
c
de
s
i
r
ed
t
i
m
e
r
es
po
ns
e
s
pe
c
i
f
i
c
ati
o
ns
.
In
thi
s
c
as
e,
the
c
l
os
ed
-
l
oo
p
po
l
es
of
l
i
qu
i
d
s
l
os
h
m
od
el
are
c
o
nf
i
ne
d
i
n
a
s
u
i
ta
bl
e
r
eg
i
on
o
f
the
c
om
pl
ex
pl
a
ne
.
T
hi
s
r
eg
i
on
c
on
s
i
s
ts
of
w
i
d
e
v
arie
t
y
of
us
ef
ul
c
l
us
teri
ng
area
s
uc
h
as
h
al
f
-
pl
a
ne
s
,
d
i
s
k
s
,
s
ec
tors
,
v
erti
c
a
l
/h
ori
z
on
t
al
s
tr
i
ps
,
an
d
a
n
y
i
nt
ers
ec
ti
on
t
he
r
e
of
[
16
].
Us
i
n
g
LM
I
a
pp
r
oa
c
h
,
the
r
e
gi
o
na
l
po
l
e
pl
ac
em
en
t
k
no
wn
as
L
MI
r
e
gi
o
n
c
o
m
bi
ne
d
w
i
t
h
d
es
i
g
n
ob
j
ec
t
i
v
e
i
n
H
-
i
nf
i
n
i
t
y
c
on
tr
ol
l
er s
ho
ul
d
gu
arant
ee
a
f
as
t i
np
ut
tr
ac
k
i
ng
c
ap
ab
i
l
i
t
y
wi
t
h
v
er
y
m
i
ni
m
al
l
i
qu
i
d
s
l
os
h
.
H
-
i
nf
i
ni
t
y
c
o
ntrol
l
er
ha
s
b
e
en
pro
v
e
n
to
be
r
ob
us
t
an
d
tr
em
en
do
us
l
y
b
en
ef
i
c
i
al
i
n
m
an
y
l
i
n
ea
r
an
d
no
n
-
l
i
ne
ar
a
pp
l
i
c
ati
o
ns
s
uc
h
as
[
17
-
23
],
ho
wev
er,
f
or
l
i
qu
i
d
s
l
os
h
s
up
p
r
es
s
i
on
ar
e
s
ti
l
l
l
ac
k
i
ng
.
T
he
ob
j
ec
ti
v
e
of
the
de
s
i
gn
i
s
to
ac
t
ua
te
t
h
e
s
y
s
t
em
to
a
c
ertai
n
c
art
po
s
i
ti
on
wi
th
m
i
ni
m
al
s
l
os
h
an
g
l
e.
T
he
brie
f
ou
tl
i
ne
of
thi
s
pa
pe
r
i
s
as
f
ol
l
o
w
s
.
In
s
ec
ti
on
2
,
the
l
i
qu
i
d
s
l
os
h
m
od
el
i
s
de
s
c
r
i
be
d
.
In
s
ec
t
i
on
3
,
the
H
-
i
nf
i
n
i
t
y
wi
t
h
L
MI
r
eg
i
on
m
eth
od
i
s
ex
p
l
a
i
ne
d.
S
i
m
ul
at
i
on
r
es
ul
ts
a
nd
d
i
s
c
us
s
i
on
are
pres
en
te
d
i
n
s
ec
ti
on
4
.
Fin
al
l
y
,
s
om
e c
on
c
l
u
di
n
g rem
ar
k
s
are g
i
v
en
i
n
s
ec
ti
on
5
.
2.
L
iqu
id Sl
o
sh M
o
d
el
A
l
i
qu
i
d
s
l
os
h
m
od
e
l
i
n
[2
4
]
th
at
pe
r
f
orm
i
ng
r
ec
ti
l
i
n
ea
r
m
oti
on
as
s
ho
wn
i
n
F
i
gu
r
e
1
i
s
c
on
s
i
de
r
e
d.
Her
e
i
n,
a
s
l
os
hi
n
g
l
i
qu
i
d
m
od
el
ed
b
y
a
s
i
m
pl
e
pe
nd
ul
um
ha
v
i
ng
a
s
l
os
h
m
as
s
,
an
d
l
en
gth
,
i
s
c
on
s
i
de
r
e
d.
P
en
du
l
um
an
gl
e,
r
ep
r
es
en
ts
the
s
l
os
h
a
ng
l
e.
T
he
s
y
s
tem
i
s
l
i
k
e
a
m
ov
i
ng
r
i
g
i
d m
as
s
c
ou
pl
e
d
wi
th
a s
i
m
pl
e p
en
d
ul
um
as
s
ho
w
n
i
n F
i
gu
r
e
2.
F
i
gu
r
e
1
.
L
i
q
ui
d
s
l
os
h m
oti
o
n
F
i
gu
r
e
2
.
S
l
os
h m
as
s
m
od
e
l
ed
b
y
pe
nd
u
l
um
T
he
s
y
s
tem
pa
r
am
ete
r
s
are as
f
ol
l
o
w
s
:
:
m
as
s
of
th
e t
an
k
an
d
l
i
qu
i
d
:
m
as
s
of
pe
nd
ul
um
(
s
l
os
h m
a
s
s
)
:
h
y
p
ot
en
us
e
l
e
ng
th
of
th
e
s
l
os
h (l
e
ng
t
h o
f
pe
n
du
l
um
)
: f
orc
e a
pp
l
i
e
d f
or tr
an
s
l
at
i
o
na
l
m
oti
o
n
: d
i
s
p
l
ac
em
en
t o
f
r
i
gi
d t
a
nk
: d
i
s
p
l
ac
em
en
t o
f
i
n t
he
ho
r
i
z
o
nta
l
d
i
r
ec
ti
o
n
: d
i
s
p
l
ac
em
en
t o
f
i
n t
he
v
er
ti
c
al
di
r
ec
t
i
on
: p
en
du
l
um
an
gl
e
(
s
l
os
h a
n
gl
e)
:
grav
i
t
y
:
da
m
pi
ng
c
o
ef
f
i
c
i
en
t
T
he
E
ul
er
-
L
ag
r
an
ge
eq
u
a
ti
on
s
i
n
and
,
whi
c
h
produc
e
d
y
n
am
i
c
eq
ua
t
i
on
s
of
the
s
y
s
t
em
, i
s
gi
v
e
n b
y
̈
+
̈
−
̇
2
=
,
(
1)
̈
+
2
̈
+
̇
+
=
0
,
(
2)
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
:
26
3
6
-
26
4
2
2638
T
he
r
ef
ore,
the
c
o
ntrol
o
bj
ec
ti
v
e
i
s
to
s
u
pp
r
es
s
t
he
s
l
o
s
h
an
gl
e
i
n
a
m
ov
i
ng
tan
k
whi
l
e
ac
hi
e
v
i
ng
a
de
s
i
r
e
d
po
s
i
t
i
o
n
.
T
he
s
y
s
t
em
pa
r
am
ete
r
s
are
d
ep
i
c
t
ed
i
n
T
ab
l
e
1.
No
te
th
at
the
s
e
pa
r
am
ete
r
s
de
pe
n
d
on
th
e
l
i
qu
i
d
f
i
l
l
r
at
i
o,
t
an
k
ge
om
etr
y
an
d
l
i
q
ui
d
c
ha
r
ac
t
eris
ti
c
s
.
T
he
s
e
pa
r
am
ete
r
s
ha
v
e
be
en
i
de
n
ti
f
i
ed
us
i
ng
a
q
ui
c
k
-
st
op
ex
pe
r
i
m
en
t a
s
r
ep
ort
ed
i
n [
25
].
T
ab
l
e 1
.
P
aram
ete
r
s
of
Li
q
ui
d
S
l
os
h M
od
e
l
P
a
r
a
m
e
t
e
r
V
a
lue
U
n
it
6
.
0
kg
1
.
3
2
kg
0
.
0
5
2
1
2
6
m
9
.
8
1
−
2
3
.
0490
×
10
−
4
2
/
In
(
1) an
d (2)
c
an
be
ex
pre
s
s
i
n s
tat
e s
p
ac
e repres
e
nt
ati
o
n a
s
f
ol
l
o
w
[
7]:
̇
=
+
(
3)
=
(
4)
w
he
r
e
=
[
•
•
]
(
5)
=
[
0
1
0
0
0
0
0
0
0
0
0
1
0
0
−
153
.
8447
−
0
.
0850
]
(
6)
=
[
0
1
0
−
9
.
5921
]
(
7)
=
[
1
0
0
0
]
(
8)
3.
De
sign
o
f
H
-
inf
init
y
Co
n
t
r
o
lle
r
w
it
h
L
M
I Regio
n
In
th
i
s
s
tud
y
,
a
n
i
nte
gral
s
tat
e
f
ee
d
ba
c
k
c
on
tr
ol
i
s
us
ed
as
a
pl
atf
or
m
to
de
s
i
g
n
the
propos
e
d
c
on
tr
ol
l
er.
T
he
bl
oc
k
di
ag
r
am
of
i
nte
gral
s
tat
e
f
ee
db
ac
k
c
on
tr
ol
i
s
s
ho
wn
i
n Fi
gu
r
e
3
.
F
i
gu
r
e
3.
B
l
oc
k
di
a
gram
of
i
nte
gra
l
s
tat
e f
ee
db
ac
k
c
on
tr
ol
T
he
m
ai
n
ob
j
ec
t
i
v
e
of
th
e
p
r
op
os
ed
c
o
ntro
l
l
er
i
s
to
f
i
nd
the
ga
i
n
pa
r
am
ete
r
m
atri
x
,
F
an
d
G
s
uc
h
tha
t
i
t
f
ul
f
i
l
l
s
the
d
es
i
gn
r
eq
ui
r
em
en
t.
F
r
om
t
he
bl
oc
k
di
ag
r
am
of
F
i
gu
r
e
3,
the
c
on
tr
o
l
i
np
ut
of
th
e
s
y
s
tem
i
s
de
r
i
v
ed
as
f
ol
l
o
w
:
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
◼
H
-
i
nfi
ni
ty
c
o
ntrol
l
er w
i
th
gra
ph
i
c
a
l
L
MI
r
eg
i
o
n p
r
of
i
l
e f
or
l
i
qu
i
d
...
.
(
M
o
hd
Za
i
d
i
Mo
h
d Tum
ari)
2639
(
)
=
(
)
+
(
)
(
9)
where
(
)
=
∫
(
)
0
a
nd
(
)
=
−
(
)
us
i
ng
ne
w
s
tat
e
v
aria
b
l
e
=
[
]
an
d
(
9)
the
r
ep
r
es
en
ta
ti
o
n o
f
s
tat
e
s
pa
c
e e
q
ua
t
i
on
c
a
n b
e re
wr
i
te
as
[
̇
(
)
̇
(
)
]
=
[
0
−
0
]
[
(
)
(
)
]
+
[
0
]
(
)
+
[
0
1
]
(
)
=
−
(
)
(
10
)
ne
x
t
,
a
t
th
e
s
te
ad
y
s
tat
e
c
on
d
i
ti
on
as
→
t
,
the
s
ta
te
s
pa
c
e
eq
ua
t
i
on
c
an
be
wr
i
tte
n
i
n
the
f
ol
l
o
wi
ng
f
orm
[
0
0
]
=
[
0
−
0
]
[
(
∞
)
(
∞
)
]
+
[
0
]
(
∞
)
+
[
0
1
]
0
=
−
(
∞
)
(
11
)
b
y
s
u
btrac
ti
n
g (10)
to
(
11
)
,
the
s
tat
e s
pa
c
e f
orm
i
s
c
on
v
erte
d t
o
̃
̇
(
)
=
̃
̃
(
)
+
̃
2
̃
(
)
̃
(
)
=
̃
1
̃
(
)
(
12
)
where
̃
=
[
0
−
0
]
,
̃
2
=
[
0
]
,
̃
=
[
̃
̃
]
=
[
−
(
∞
)
−
(
∞
)
]
̃
1
=
[
−
0
]
,
̃
(
)
=
−
(
∞
)
then
,
th
e
ne
w c
on
tr
o
l
i
np
u
t
f
un
c
ti
on
i
s
de
s
c
r
i
be
d a
s
f
ol
l
o
w
̃
(
)
=
̃
(
)
+
̃
(
)
=
̃
(
)
(
1
3
)
f
i
na
l
l
y
,
a c
l
os
e
d l
oo
p s
tat
e s
pa
c
e e
qu
at
i
o
n
w
i
th
c
o
ntrol
l
er gai
n,
K
c
an
be
ob
ta
i
n
ed
be
l
o
w
̃
̇
(
)
=
̃
̃
(
)
+
̃
1
̃
(
)
=
̃
1
̃
(
)
+
̃
11
+
̃
12
(
14
)
where
̃
=
(
̃
+
̃
2
)
,
̃
1
=
[
0
0
0
0
−
1
]
,
̃
11
=
1
,
̃
12
=
0
an
d
i
s
ex
og
en
o
us
i
np
u
t
di
s
turba
nc
e
or
r
ef
erenc
e
i
np
ut
to
the
s
y
s
tem
.
Le
t
(
)
de
no
te
the
c
l
os
ed
l
oo
p
tr
a
ns
f
er
f
un
c
ti
on
f
r
om
to
y
un
d
er
s
ta
te
f
ee
d
ba
c
k
c
on
tr
ol
=
.
T
he
n,
f
or
a
pres
c
r
i
be
d
c
l
os
ed
l
oo
p
H
-
i
nf
i
ni
t
y
pe
r
f
orm
an
c
e
>
0
,
ou
r
c
on
s
tr
ai
n
ed
H
∞
prob
l
em
c
on
s
i
s
ts
of
f
i
nd
i
n
g a
s
ta
te
f
ee
d
ba
c
k
ga
i
n
K
t
ha
t f
ul
f
i
l
th
e f
ol
l
o
w
i
ng
o
bj
ec
ti
v
es
:
−
T
he
c
l
os
ed
l
oo
p
po
l
es
ar
e
r
eq
u
i
r
ed
to
l
i
e
i
n
s
om
e
LM
I
s
tab
i
l
i
t
y
r
eg
i
on
D
c
on
ta
i
ne
d
i
n
the
l
ef
t
-
ha
l
f
pl
an
e
−
G
ua
r
an
te
es
th
e H
∞
pe
r
f
orm
an
c
e
‖
‖
∞
<
T
he
ad
v
a
nta
g
es
of
pl
ac
i
n
g
the
c
l
os
ed
l
oo
p
po
l
es
to
thi
s
r
eg
i
on
are
th
e
l
i
qu
i
d
s
l
os
h
r
es
po
ns
e
en
s
ures
a
m
i
ni
m
u
m
de
c
a
y
r
ate
,
a
m
i
ni
m
u
m
da
m
pi
ng
r
ati
o
=
,
an
d
a
m
a
x
i
m
u
m
un
da
m
pe
d
n
atu
r
al
f
r
eq
u
en
c
y
=
[10].
In
th
i
s
s
t
ud
y
,
th
e
en
t
i
r
e
L
MI
prob
l
em
i
s
s
ol
v
ed
us
i
ng
wel
l
k
no
w
n
L
MI
op
ti
m
i
z
at
i
on
s
of
tw
ar
e
whi
c
h
i
s
L
M
I
Cont
r
ol
T
oo
l
bo
x
.
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
:
26
3
6
-
26
4
2
2640
4
.
Re
sult
s
a
n
d
A
n
al
y
s
is
In
th
i
s
s
ec
ti
on
,
the
pro
p
os
ed
c
on
tr
ol
s
c
he
m
e
i
s
i
m
pl
em
en
ted
an
d
tes
t
ed
wi
th
i
n
s
i
m
ul
ati
on
e
nv
i
r
on
m
en
t
of
t
he
l
i
qu
i
d
tan
k
s
y
s
tem
an
d
the
c
orr
es
po
nd
i
n
g
r
es
u
l
ts
are
pr
es
en
te
d.
T
he
s
i
m
ul
ati
o
n
r
es
ul
ts
are
c
on
s
i
de
r
e
d
as
th
e
s
y
s
tem
r
es
po
ns
e
u
nd
er
l
i
qu
i
d
ta
nk
m
oti
o
n
c
on
tr
ol
an
d
wi
l
l
be
us
ed
t
o
ev
a
l
u
ate
the
pe
r
f
orm
an
c
e
of
the
prop
os
ed
c
o
ntrol
s
c
he
m
e.
T
he
pe
r
f
or
m
an
c
es
of
the
c
on
tr
ol
s
c
he
m
es
are
as
s
es
s
ed
i
n
term
s
o
f
i
np
ut
tr
ac
k
i
ng
c
ap
ab
i
l
i
t
y
an
d
l
i
q
ui
d s
l
os
h s
u
pp
r
es
s
i
o
n
i
n
t
i
m
e d
om
ai
n.
Z
ero
i
ni
ti
a
l
c
on
di
t
i
on
s
w
ere
c
on
s
i
de
r
ed
wi
t
h a
s
tep
i
np
ut
of
0.
5 m
ete
r
.
T
he
pa
r
a
m
ete
r
of
c
on
i
c
s
e
c
tors
an
d
di
s
k
tha
t
f
ul
f
i
l
the
de
s
i
gn
r
eq
ui
r
em
en
t
i
s
at
=
2
.
5
,
=
−
1
.
5
and
=
2
8
∘
. T
he
n,
th
e s
tat
e f
ee
db
ac
k
ga
i
n,
K
i
s
ob
ta
i
ne
d a
s
f
ol
l
o
w
e
d:
=
[
-
0.5657
-
0.54
33
-
11.8487
-
0.9802
0.2378
]
wi
th
=
27
.
742
.
T
hi
s
s
tat
e
f
ee
db
ac
k
ga
i
n
a
l
s
o
gu
arant
ee
s
the
H
∞
pe
r
f
or
m
an
c
e
‖
‖
∞
<
.
T
he
r
es
ul
t
s
h
o
w
s
th
at
t
he
l
oc
at
i
on
of
po
l
es
ha
s
b
ee
n
c
on
f
i
ne
d
i
n
t
he
s
e
l
ec
t
ed
LM
I
r
e
gi
on
as
s
ho
w
n
i
n
F
i
g
ure
4
w
i
th
th
e
v
a
l
ue
of
-
2.2062
,
-
2
.31
0
0
±
j
0.7
8
25
a
nd
-
1.
60
2
2
±
j
0.4
70
1
.
A
s
a
c
o
m
pa
r
ati
v
e
as
s
es
s
m
en
t,
the
propos
e
d
c
o
ntrol
s
c
he
m
e
i
s
c
o
m
pa
r
ed
wi
th
h
y
b
r
i
d
m
od
el
-
f
r
ee
fu
z
z
y
-
P
ID c
o
ntrol
l
er
wi
th
de
r
i
v
at
i
v
e f
i
l
t
er
r
ep
orted
i
n t
he
prev
i
ou
s
l
i
teratur
e
[9]
.
T
he
s
i
m
ul
ati
on
r
es
p
on
s
e
o
f
c
art
po
s
i
ti
on
,
s
l
os
h
an
g
l
e,
s
l
os
h
r
at
e
a
nd
c
o
ntrol
i
np
ut
are
de
p
i
c
ted
i
n
F
i
g
ure
s
5
-
8
r
es
pe
c
ti
v
e
l
y
.
F
i
gu
r
e
5
s
h
o
w
s
tha
t
the
t
an
k
s
ett
l
es
to
the
d
es
i
r
ed
po
s
i
ti
on
(
0.
5
m
)
i
n
ab
ou
t
5.
5s
f
or
H
-
i
nf
i
ni
t
y
c
o
ntrol
l
er
whi
l
e
f
or
f
uz
z
y
-
P
IDF
i
s
7.
5s
.
A
s
we
c
an
s
e
e,
the
r
i
s
e
t
i
m
e
f
or
H
-
i
nf
i
ni
t
y
c
on
tr
ol
l
er
a
nd
f
u
z
z
y
-
P
IDF
c
o
ntrol
l
er
i
s
2.
6s
and
3.
5s
,
r
e
s
pe
c
ti
v
el
y
.
It
i
s
no
te
d
th
at,
n
o
o
v
ers
ho
ot
o
c
c
urr
ed
f
or
bo
th
c
on
tr
o
l
l
ers
.
Ho
w
e
v
er,
a
n
oti
c
e
ab
l
e
a
m
ou
nt
of
l
i
qu
i
d
s
l
os
h o
c
c
urs
du
r
i
ng
t
he
m
ov
em
en
t o
f
th
e c
art.
F
i
gu
r
e
4.
L
oc
ati
on
of
po
l
es
i
n s
e
l
ec
ted
LM
I reg
i
on
S
l
os
h
i
s
r
eg
u
l
at
ed
n
i
c
el
y
,
as
s
ho
wn
i
n
F
i
gu
r
e
6
a
nd
F
i
g
ure
7
f
or
bo
th
c
on
t
r
ol
l
ers
.
T
he
s
l
os
h
i
s
s
e
ttl
es
w
i
t
hi
n
6
s
f
or
H
-
i
nf
i
n
i
t
y
c
on
tr
o
l
l
er
whi
l
e
f
or
f
u
z
z
y
-
P
IDF
c
o
ntro
l
l
er,
the
s
l
os
h
i
s
s
ett
l
es
wi
t
hi
n
8s
.
F
u
z
z
y
-
P
ID
F
ha
s
a
bi
gg
er
s
l
os
h
wi
th
a
m
ax
i
m
u
m
r
es
i
du
al
of
±
0.1
r
ad
i
an
c
o
m
pa
r
ed
to
H
-
i
nf
i
n
i
t
y
wi
t
h
on
l
y
±
0.0
12
r
a
di
an
as
s
ho
w
n
i
n
F
i
gu
r
e
6
.
F
r
om
the
F
i
gu
r
e
7
,
H
-
i
nf
i
ni
t
y
c
on
tr
o
l
l
er
h
as
a
be
t
ter
s
l
os
h
r
a
te
w
i
t
h
m
a
x
i
m
u
m
r
es
i
du
a
l
±
0.
02
1
r
ad
i
an
/s
ec
as
c
o
m
pa
r
ed
to
f
u
z
z
y
-
P
ID
F
wi
th
±
1
.1
r
ad
i
a
n/s
ec
.
F
i
g
ur
e
8
s
ho
w
s
t
he
n
ec
es
s
ar
y
c
on
tr
ol
ef
f
orts
.
T
he
c
on
tr
ol
s
i
gn
a
l
o
v
ers
ho
ots
f
or
a
v
er
y
s
h
ort
pe
r
i
od
(
0.5
s
)
w
he
n
the
r
e
i
s
a
s
tep
c
ha
n
ge
i
n
the
c
om
m
an
d
s
i
gn
al
.
T
he
H
-
i
nf
i
n
i
t
y
ha
s
a
l
es
s
ov
ers
ho
ot
wi
th
0.
19
N
e
w
to
n
c
om
pa
r
ed
to
f
uz
z
y
-
P
IDF
wi
th
1
2.5
Ne
wt
on
an
d
bo
t
h
c
on
tr
ol
i
np
ut
s
are
s
ett
l
es
at
4s
.
Henc
e,
we
c
an
c
on
f
i
r
m
tha
t
t
he
H
-
i
nf
i
ni
t
y
wi
t
h
L
Mi
r
e
gi
o
n
h
as
a
g
oo
d
po
ten
t
i
al
i
n
r
ed
uc
i
ng
t
he
l
i
q
ui
d
s
l
os
h
whi
l
e
m
ai
nta
i
n
i
ng
th
e
de
s
i
r
e
d
c
ar
t
p
os
i
ti
on
.
T
he
c
on
tr
ol
p
erf
or
m
an
c
e
f
or
bo
t
h
c
o
n
tr
ol
l
ers
i
s
s
um
m
ari
z
e
i
n T
ab
l
e
2
.
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
◼
H
-
i
nfi
ni
ty
c
o
ntrol
l
er w
i
th
gra
ph
i
c
a
l
L
MI
r
eg
i
o
n p
r
of
i
l
e f
or
l
i
qu
i
d
...
.
(
M
o
hd
Za
i
d
i
Mo
h
d Tum
ari)
2641
F
i
gu
r
e
5.
C
art pos
i
ti
on
r
es
p
on
s
e
F
i
gu
r
e
6.
S
l
os
h a
n
gl
e res
po
ns
e
F
i
gu
r
e
7.
S
l
os
h rate
r
es
po
n
s
e
F
i
gu
r
e
8.
C
on
tr
o
l
i
np
u
t res
p
on
s
e
T
ab
l
e
2
.
T
i
m
e Re
s
po
ns
e
S
pe
c
i
f
i
c
ati
on
s
of
Li
qu
i
d
S
l
os
h S
y
s
tem
C
o
n
t
r
o
ll
e
r
S
e
t
t
li
n
g
Ti
m
e
,
T
s
(
s
)
R
is
e
Ti
m
e
,
Tr
(
s
)
P
e
r
c
e
n
t
a
g
e
Ov
e
r
s
h
o
o
t
,
%
OS
(
%
)
S
t
e
a
d
y
S
t
a
t
e
error
M
a
x
im
u
m
S
los
h
a
n
g
le,
(
r
a
d
ian
)
M
a
x
im
u
m
S
los
h
r
a
t
e
(
r
a
d
/
s
e
c
)
C
o
n
t
r
o
l
inp
u
t
Ov
e
r
s
h
o
o
t
(N)
H
y
b
r
id
Fuz
z
y
-
P
I
D
F
7
.
5
3
.
5
0
0
0
.
1
0
0
1
.
1
1
0
1
2
.
5
0
H
-
inf
init
y
L
M
I
5
.
5
2
.
6
0
0
0
.
0
1
2
0
.
0
2
1
0
.
1
9
5
.
Co
n
clus
ion
In
th
i
s
s
tud
y
,
th
e
d
ev
el
o
pm
en
t
of
H
-
i
nf
i
ni
t
y
s
y
nt
he
s
i
s
wi
th
po
l
e
c
l
us
teri
ng
ba
s
e
d
on
L
MI
r
eg
i
o
n
s
c
he
m
es
f
or
l
i
qu
i
d
s
l
os
h
s
u
pp
r
es
s
i
o
n
ha
s
be
en
pres
en
t
ed
.
T
he
pr
op
os
ed
m
eth
od
h
as
been
t
es
ted
t
o
l
i
qu
i
d
s
l
os
h
m
od
el
.
T
o
s
ho
w
th
e
s
up
eri
orit
y
of
propos
ed
c
o
ntrol
s
c
he
m
e,
r
es
ul
ts
are
c
om
pa
r
ed
wi
th
h
y
brid
f
uz
z
y
-
P
ID
F
c
o
ntrol
l
er
.
It
i
s
no
te
d
th
at
s
i
g
ni
f
i
c
an
t
i
m
prov
em
en
ts
are
ob
ta
i
ne
d
w
i
t
h
H
-
i
nf
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Ref
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[1
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Kra
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