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I
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n
to
t
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t
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p
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s
[
1
]
.
T
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s
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s
tat
io
n
s
h
a
v
in
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a
n
d
f
e
w
s
tea
m
p
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s
tatio
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s
[
2
]
.
T
h
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ec
o
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d
t
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p
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s
tatio
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s
h
a
v
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d
co
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in
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p
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s
[
3
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.
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th
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h
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d
r
o
-
elec
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er
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tati
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s
[
4
,
5
]
.
T
h
e
E
g
y
p
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s
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u
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1
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)
[
9
,
1
0
]
.
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E
g
y
p
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p
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ati
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v
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ch
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n
it
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e
g
iv
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n
i
n
[
7
-
9
]
.
T
h
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in
co
m
p
atib
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w
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el
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tr
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p
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.
A
l
s
o
,
th
e
lar
g
e
v
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f
f
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eq
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ev
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s
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d
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s
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estro
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g
th
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eq
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ip
m
en
t
,
tr
an
s
m
is
s
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d
in
ter
f
er
en
ce
w
it
h
s
y
s
te
m
p
r
o
tectio
n
[
6
]
.
T
o
av
o
id
s
u
ch
p
r
o
b
lem
,
s
e
v
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al
lo
ad
f
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(
L
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)
tech
n
iq
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s
ar
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p
r
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to
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s
te
m
f
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eq
u
en
c
y
a
t
n
o
m
i
n
al
v
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u
e
[
1
]
.
T
h
e
o
b
j
ec
tiv
es
o
f
L
F
C
ar
e
to
m
i
n
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m
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d
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v
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tie
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to
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to
b
e
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r
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s
[
2
]
.
A
lth
o
u
g
h
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
2088
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p
led
[
3
]
.
T
h
e
f
r
eq
u
en
c
y
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s
h
i
g
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y
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t
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ea
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p
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er
[
4
]
.
A
cc
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in
g
to
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e
m
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t
r
ec
en
t
r
esear
ch
,
s
ev
er
al
co
n
tr
o
l stra
teg
ies
w
er
e
i
m
p
le
m
e
n
ted
i
n
th
e
L
F
C
lo
o
p
s
o
f
d
i
f
f
er
en
t p
o
w
er
s
y
s
te
m
s
[
5
]
.
T
h
e
m
ai
n
d
is
ad
v
a
n
ta
g
e
o
f
i
n
t
eg
r
al
L
F
C
w
a
s
t
h
e
p
o
o
r
d
y
n
a
m
ic
r
esp
o
n
s
e
o
f
t
h
e
s
y
s
te
m
w
h
ile
h
i
g
h
g
ain
m
a
y
ca
u
s
e
i
n
s
tab
ili
t
y
f
o
r
th
e
s
y
s
te
m
[
8
]
.
T
h
e
co
n
v
e
n
tio
n
al
P
I
D
co
n
tr
o
ller
s
f
o
r
L
F
C
w
er
e
ap
p
lied
o
n
s
ev
er
al
e
n
g
i
n
ee
r
in
g
ap
p
licatio
n
s
d
u
e
to
th
eir
s
tr
u
ctu
r
e
s
i
m
p
l
icit
y
an
d
ea
s
y
to
i
m
p
le
m
en
ta
t
io
n
[
9
]
.
Mo
r
eo
v
er
,
th
e
P
I
D
co
n
tr
o
ller
s
ar
e
s
u
it
ab
le
f
o
r
o
n
-
li
n
e
ap
p
licatio
n
s
d
u
e
to
its
s
i
m
p
le
ca
lc
u
la
tio
n
s
a
n
d
it
s
f
ast
r
esp
o
n
s
e
[
1
0
]
.
T
h
e
P
I
D
co
n
tr
o
ller
s
h
a
v
e
a
g
o
o
d
p
er
f
o
r
m
an
ce
f
o
r
a
ce
r
tain
o
p
e
r
atin
g
p
o
in
t
w
h
ile
it
m
a
y
g
i
v
e
a
p
o
o
r
r
esp
o
n
s
e
at
ch
a
n
g
e
t
h
e
o
p
er
atin
g
p
o
in
t
f
o
r
th
e
s
y
s
t
e
m
.
I
n
ad
d
itio
n
,
it
ca
n
n
o
t
d
e
al
w
i
th
t
h
e
s
y
s
te
m
n
o
n
li
n
ea
r
it
y
an
d
u
n
ce
r
tai
n
t
y
[
1
1
]
.
T
o
d
ev
elo
p
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
P
I
D
co
n
tr
o
ller
s
,
s
ev
er
al
ap
p
r
o
ac
h
es
b
ased
o
n
tu
n
i
n
g
alg
o
r
ith
m
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
.
T
h
e
tu
n
i
n
g
al
g
o
r
ith
m
s
o
f
P
I
D
g
ain
s
in
clu
d
e
th
e
tr
ad
itio
n
al
a
n
d
in
te
l
lig
e
n
t
ad
j
u
s
t
m
e
n
t
s
.
T
h
e
f
a
m
o
u
s
tr
ad
itio
n
al
m
e
th
o
d
is
th
e
Z
ie
g
ler
-
Nich
o
l
s
th
a
t
s
u
g
g
e
s
ted
r
u
les
f
o
r
o
b
tain
in
g
t
h
e
p
r
o
p
er
P
I
D
co
n
tr
o
ller
p
ar
am
eter
s
[
1
2
]
.
R
ec
e
n
tl
y
,
s
e
v
er
al
o
p
ti
m
izatio
n
tech
n
iq
u
es
(
s
u
c
h
a
s
g
e
n
etic
alg
o
r
ith
m
,
p
ar
ticle
s
w
ar
m
o
p
ti
m
iza
tio
n
,
s
i
m
u
lati
n
g
a
n
n
ea
l
in
g
,
ev
o
l
u
tio
n
ar
y
p
r
o
g
r
a
m
m
in
g
,
b
ac
ter
ial
f
o
r
ag
i
n
g
,
an
t
co
lo
n
y
an
d
ag
en
t
r
ei
n
f
o
r
ce
m
e
n
t
lear
n
i
n
g
)
h
av
e
b
ee
n
ap
p
lied
to
p
o
w
er
s
y
s
te
m
to
t
u
n
e
th
e
P
I
D
co
n
tr
o
lle
r
s
f
o
r
L
F
C
s
y
s
te
m
as p
r
o
m
i
s
i
n
g
n
e
w
to
o
ls
to
i
m
p
r
o
v
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
co
n
tr
o
ller
f
o
r
ce
r
tain
o
p
er
atin
g
co
n
d
itio
n
[
1
3
]
.
T
h
e
p
r
ev
io
u
s
s
tu
d
ies
u
s
e
t
h
e
f
u
zz
y
lo
g
ic
co
n
tr
o
l
f
o
r
n
o
n
li
n
e
ar
s
y
s
te
m
s
[
1
4
]
.
E
s
p
ec
iall
y
,
th
e
T
S
f
u
zz
y
m
o
d
el
h
a
s
b
ee
n
u
s
u
al
l
y
s
u
b
jecte
d
to
th
e
co
n
tr
o
l
d
esig
n
o
f
n
o
n
li
n
ea
r
s
y
s
te
m
s
[
1
5
]
,
s
in
ce
it
ca
n
m
er
g
e
th
e
ad
v
a
n
tag
e
s
o
f
b
o
th
f
u
zz
y
l
o
g
ic
th
eo
r
y
a
n
d
lin
ea
r
s
y
s
te
m
th
eo
r
y
[
1
6
]
.
T
h
e
Fu
zz
y
lo
g
ic
t
h
eo
r
y
a
id
s
u
s
to
u
s
e
q
u
a
l
i
t
a
t
i
v
e
[
1
7
]
,
l
i
n
g
u
i
s
t
i
c
i
n
f
o
r
m
a
t
i
o
n
a
b
o
u
t
a
c
o
m
p
l
e
x
n
o
n
l
i
n
e
a
r
s
y
s
t
e
m
t
o
e
x
e
c
u
t
e
t
h
e
t
a
s
k
o
f
t
h
e
m
o
d
e
l
i
n
g
a
n
d
co
n
tr
o
l d
esig
n
i
n
to
a
g
r
o
u
p
o
f
lin
ea
r
s
y
s
te
m
s
[
1
8
]
.
Dif
f
er
en
t
f
u
zz
y
tec
h
n
iq
u
e
s
s
u
ch
as
f
u
zz
y
P
I
D,
f
r
ac
tio
n
al
-
o
r
d
er
f
u
zz
y
P
I
D,
f
u
zz
y
f
ac
tio
n
al
-
o
r
d
er
P
I
D
tu
n
ed
v
ia
r
elati
v
e
r
ate
o
b
s
er
v
er
f
o
r
th
e
E
L
F
C
w
er
e
p
r
o
p
o
s
ed
in
[
1
9
]
.
Usi
n
g
t
h
ese
te
ch
n
iq
u
es,
d
i
f
f
er
e
n
t
ch
an
g
es
in
th
e
s
y
s
te
m
o
p
er
ati
n
g
p
o
i
n
ts
a
n
d
p
ar
a
m
eter
v
ar
iat
io
n
s
u
n
d
er
d
r
iv
e
s
d
is
t
u
r
b
an
ce
s
w
er
e
i
m
p
le
m
en
ted
to
test
t
h
e
v
a
l
id
ities
o
f
t
h
e
c
o
n
tr
o
ller
[
2
0
]
.
T
h
e
o
p
er
atio
n
o
f
th
e
f
u
zz
y
tec
h
n
iq
u
es
b
ase
d
o
n
s
el
f
-
tu
n
i
n
g
to
u
p
d
ate
s
ca
lin
g
f
ac
to
r
o
f
th
e
f
u
zz
y
n
o
r
m
a
lizi
n
g
g
ai
n
s
d
u
r
i
n
g
s
y
s
te
m
o
p
er
atin
g
p
o
in
t
s
[
2
1
]
.
I
n
th
i
s
p
ap
er
,
it
is
ass
u
m
ed
th
at
th
e
E
L
F
C
co
n
tr
o
lled
s
y
s
te
m
h
a
s
d
if
f
er
e
n
t
o
p
ti
m
al
P
I
D
co
n
tr
o
ller
s
co
r
r
esp
o
n
d
in
g
to
t
h
eir
o
p
er
ati
n
g
p
o
in
ts
[
2
2
]
.
T
h
e
p
ar
am
ete
r
s
o
f
P
I
D
co
n
tr
o
ller
s
h
a
v
e
b
e
en
o
b
tain
ed
u
s
i
n
g
th
e
AC
O
tech
n
iq
u
e
ac
co
r
d
in
g
to
a
n
e
f
f
ec
ti
v
e
co
s
t
f
u
n
cti
o
n
[
2
3
]
.
Fo
r
ea
ch
o
p
er
atin
g
p
o
in
t
t
h
e
s
y
s
te
m
is
co
n
tr
o
lled
b
y
o
p
ti
m
al
P
I
D
an
d
d
en
o
tes
b
y
a
li
n
ea
r
s
u
b
s
y
s
t
e
m
[
2
4
]
.
A
n
e
w
tec
h
n
iq
u
e
o
f
p
ar
allel
d
is
tr
ib
u
tio
n
co
m
p
e
n
s
at
io
n
P
I
D
co
n
tr
o
ller
s
b
ased
o
n
T
S
f
u
zz
y
m
ec
h
a
n
is
m
ar
e
co
m
b
in
ed
o
f
t
h
ese
li
n
e
ar
s
y
s
te
m
s
to
g
et
h
er
to
o
b
tain
th
e
o
v
er
all
co
m
p
lex
m
o
d
el
an
d
co
n
tr
o
l
d
esig
n
[
2
5
]
.
A
lth
o
u
g
h
th
e
f
u
zz
y
co
n
tr
o
ller
is
co
n
s
tr
u
cte
d
u
s
i
n
g
a
ce
r
tain
o
p
er
atin
g
p
o
in
t
w
h
ile
th
e
f
ee
d
b
ac
k
g
ain
s
s
h
o
u
ld
b
e
esti
m
ated
at
all
o
p
er
atin
g
co
n
d
itio
n
s
to
g
u
ar
a
n
tee
th
e
g
lo
b
al
s
tab
ilit
y
an
d
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
[
2
6
,
2
7
]
.
T
h
e
T
SF
-
P
DC
-
P
I
D
is
d
esig
n
ed
to
s
elec
t
th
e
s
u
itab
le
OP
I
D
co
n
tr
o
ller
ac
co
r
d
in
g
to
o
p
er
atin
g
p
o
in
t
co
n
d
itio
n
f
o
r
E
g
y
p
t
ian
lo
a
d
f
r
eq
u
en
c
y
co
n
tr
o
l
(
E
L
F
C
)
[
2
8
-
3
0
]
.
Fig
u
r
e
1
.
T
y
p
ical
s
in
g
le
-
li
n
e
d
iag
r
a
m
o
f
E
g
y
p
tian
p
o
w
er
s
y
s
t
e
m
[
1
0
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
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t J
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&
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10
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5
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r
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2.
T
H
E
E
G
YP
T
I
AN
L
F
C
S
YS
T
E
M
T
h
e
E
P
S’
s
to
tal
in
s
talled
g
e
n
er
atio
n
ca
p
ac
it
y
an
d
p
ea
k
lo
a
d
w
er
e,
r
esp
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ti
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y
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ab
o
u
t
2
2
5
0
0
MW
a
n
d
1
9
7
4
0
M
W
i
n
2
0
0
8
[
7
]
.
T
h
e
E
P
S
w
a
s
i
n
c
o
r
p
o
r
a
t
i
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g
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t
1
8
0
g
e
n
e
r
a
t
i
n
g
u
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i
t
s
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e
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o
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n
g
t
o
t
h
e
f
o
l
l
o
w
i
n
g
ca
teg
o
r
ies [
8
]
:
No
n
e
r
eh
ea
t
g
e
n
er
ati
n
g
u
n
it
s
r
ep
r
esen
ted
b
y
g
as
tu
r
b
i
n
e
p
o
w
er
s
ta
tio
n
s
an
d
f
e
w
s
tea
m
p
o
w
er
s
ta
tio
n
s
w
h
ic
h
is
ab
o
u
t 2
4
% o
f
t
h
e
in
s
t
alled
ca
p
ac
ity
[
9
]
.
R
eh
ea
t
g
e
n
er
ati
n
g
u
n
it
s
r
ep
r
es
en
ted
b
y
th
e
m
aj
o
r
ity
o
f
t
h
er
m
al
s
tatio
n
s
a
n
d
co
m
b
i
n
ed
c
y
cle
p
o
w
er
s
tatio
n
w
h
ic
h
is
ab
o
u
t 6
2
% o
f
t
h
e
in
s
t
alled
ca
p
ac
ity
[
1
0
]
.
H
y
d
r
o
elec
tr
ic
p
o
w
er
s
tatio
n
s
w
h
ic
h
is
ab
o
u
t 1
4
%
o
f
t
h
e
in
s
t
alled
ca
p
ac
ity
[
1
1
]
.
T
h
e
n
atio
n
al
en
er
g
y
co
n
tr
o
l
ce
n
ter
NE
C
C
o
f
t
h
e
E
g
y
p
tia
n
E
lec
tr
icit
y
Au
t
h
o
r
it
y
h
a
s
d
ev
elo
p
ed
a
d
y
n
a
m
ic
p
o
w
er
f
r
eq
u
en
c
y
m
o
d
el
f
o
r
th
e
E
P
S
[
1
2
]
.
T
h
e
NE
C
C
m
o
d
el
is
o
r
ig
i
n
all
y
b
u
ilt
f
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T
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if
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t lo
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d
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s
[
2
8
]
.
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u
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1
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[
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3
.
1
.
T
he
pa
r
a
llel di
s
t
ribute
d c
o
mp
ens
a
t
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n
-
P
I
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'S
T
h
e
p
ar
allel
d
is
tr
ib
u
ted
co
m
p
en
s
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n
(
P
DC
)
o
f
f
er
s
a
p
r
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ce
d
u
r
e
to
d
esig
n
a
f
u
zz
y
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tr
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ller
f
r
o
m
a
g
iv
e
n
T
-
S
f
u
zz
y
m
o
d
el
[
2
5
]
.
T
o
r
ea
lize
th
e
P
DC
,
a
co
n
tr
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l
led
o
b
j
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t
(
n
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s
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t
r
ep
r
esen
ted
b
y
a
T
-
S
f
u
zz
y
m
o
d
el
[
2
6
]
.
I
n
th
e
P
DC
d
esi
g
n
,
ea
ch
co
n
tr
o
l
r
u
le
i
s
d
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ed
f
r
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m
t
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o
r
r
esp
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n
d
in
g
r
u
le
o
f
a
T
-
S f
u
zz
y
m
o
d
el
[
2
7
]
.
T
h
e
co
n
s
tr
u
ct
in
g
f
o
llo
w
in
g
f
u
zz
y
c
o
n
tr
o
ller
v
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th
e
P
DC
i
s
g
i
v
e
n
b
y
[
2
8
]
:
C
o
n
tr
o
l R
u
le
i
:
if
(
)
…
.
(
)
ℎ
(
)
=
(
)
=
(
)
.
+
(
)
.
∫
+
(
)
.
∆
(
1
)
w
h
er
e
=
1
,
2
,
…
Fo
r
b
u
ild
in
g
th
e
m
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u
s
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S
f
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t
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n
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h
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m
eter
(
p
n
1
,
p
n
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p
n
3
)
ac
co
r
d
in
g
to
t
h
e
T
ab
le
2
d
iv
id
es
to
n
a
m
ed
m
e
m
b
er
s
h
ip
f
u
n
c
tio
n
s
,
a
s
s
h
o
w
n
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n
F
ig
u
r
e
s
3
-
5
.
T
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
ar
e
as
s
u
m
ed
to
b
e
o
v
er
lap
p
ed
tr
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g
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lar
s
h
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t
h
at
h
a
v
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t
h
ei
r
m
id
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le
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p
o
s
itio
n
ed
at
th
e
g
iv
e
n
cr
is
p
v
a
lu
e
s
an
d
i
n
a
m
an
n
er
th
a
t
ass
u
r
es
t
h
at
a
t
an
y
o
t
h
er
cr
is
p
v
al
u
e
is
co
v
er
ed
b
y
e
x
ac
tl
y
2
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
.
F
ig
u
r
e
3
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
s
f
o
r
p
n
1
Fig
u
r
e
4
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
s
f
o
r
p
n
2
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
5
,
Octo
b
e
r
2
0
2
0
:
5
2
7
4
-
5287
5278
Fig
u
r
e
5
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
s
f
o
r
p
n
3
T
h
e
Step
s
o
f
co
n
tr
o
ller
d
esig
n
:
C
alcu
late
th
e
w
ei
g
h
t
f
o
r
ea
ch
r
u
le
as f
o
llo
w
s
:
ℎ
ℎ
ℎ
=
min
(
1
(
1
)
,
2
(
2
)
,
3
(
3
)
)
(
2
)
T
h
e
ith
w
ei
g
h
t
is
ac
h
iev
ed
b
y
u
s
in
g
tr
ian
g
le
f
u
n
ctio
n
s
a
n
d
a
m
i
n
b
lo
ck
a
s
s
ee
n
i
n
F
ig
u
r
e
6
p
r
o
d
u
ct
b
lo
ck
ca
n
also
u
s
ed
in
s
tead
o
f
m
i
n
)
:
C
alcu
late
th
e
o
u
tp
u
t o
f
t
h
e
co
n
tr
o
ller
as d
e
m
o
n
s
tr
ated
in
Fi
g
u
r
e
7
b
y
i
m
p
le
m
en
t
in
g
t
h
e
f
o
ll
o
w
i
n
g
:
=
∑
(
(
)
.
)
=
1
∑
=
1
(
3
)
L
et
's tak
e
f
o
r
ex
a
m
p
le,
R
u
le
1
:
I
F
p
n
1
is
ab
o
u
t
0
.
2
5
2
9
(
th
e
v
alu
e
o
f
p
n
1
th
at
co
r
r
esp
o
n
d
s
to
r
u
le
1
)
A
ND
p
n
2
is
ab
o
u
t
0
.
6
1
0
7
(
th
e
v
al
u
e
o
f
p
n
2
th
at
co
r
r
esp
o
n
d
s
to
r
u
le
1
)
A
ND
p
n
3
is
ab
o
u
t
0
.
1
3
6
4
(
th
e
v
alu
e
o
f
p
n
3
th
at
co
r
r
esp
o
n
d
s
to
r
u
le
1
)
th
en
,
=
(
1
)
=
1
.
8912
+
0
.
088697
∫
+
0
.
9733
.
∆
(
4
)
Fig
u
r
e
8
s
h
o
w
s
th
e
o
p
er
atio
n
o
f
th
e
T
S
Fu
zz
y
m
o
d
el
f
o
r
o
b
tain
in
g
a
b
est
ch
o
ice
o
f
v
ar
i
atio
n
s
o
f
o
p
er
atin
g
p
o
in
t o
p
er
atio
n
.
T
h
e
o
p
er
at
io
n
is
v
er
i
f
y
i
n
g
(
3
)
.
3.
2
.
T
he
a
nt
co
lo
n
y
o
pti
m
iza
t
io
n
a
lg
o
rit
h
m
(
ACO
)
T
h
e
an
t
co
lo
n
y
o
p
ti
m
iza
tio
n
alg
o
r
ith
m
(
AC
O)
i
s
a
p
r
o
b
ab
i
lis
tic
tec
h
n
iq
u
e
to
b
e
s
u
b
j
ec
ted
to
s
o
lv
e
e
n
g
i
n
e
e
r
i
n
g
p
r
o
b
l
e
m
s
t
o
c
a
n
f
i
n
d
o
u
t
s
u
i
t
a
b
l
e
p
a
t
h
s
t
h
r
o
u
g
h
g
r
a
p
h
s
b
y
d
e
c
r
e
a
s
i
n
g
t
h
e
c
o
m
p
u
t
a
t
i
o
n
a
l
e
f
f
o
r
t
[
3
1
]
.
T
h
e
f
ir
s
t
ap
p
licatio
n
,
s
u
ch
a
lg
o
r
ith
m
w
a
s
d
ir
ec
ted
to
s
ea
r
ch
f
o
r
an
o
p
ti
m
a
l
p
ath
i
n
a
g
r
ap
h
,
b
ased
o
n
th
e
b
e
h
av
io
r
o
f
a
n
ts
lo
o
k
i
n
g
f
o
r
a
p
at
h
b
et
w
ee
n
t
h
eir
co
lo
n
y
an
d
a
s
o
u
r
ce
o
f
f
o
o
d
.
I
n
t
h
e
e
n
v
ir
o
n
m
en
tal,
an
ts
i
n
itiall
y
s
ea
r
c
h
r
an
d
o
m
l
y
an
d
u
p
o
n
f
in
d
i
n
g
f
o
o
d
r
etu
r
n
to
th
eir
co
lo
n
y
w
h
i
le
la
y
i
n
g
d
o
w
n
p
h
er
o
m
o
n
e
tr
ails
[
32
]
.
I
f
o
th
er
an
t
s
f
i
n
d
s
u
c
h
a
p
at
h
,
t
h
e
y
d
o
n
o
t
tr
av
el
at
r
an
d
o
m
,
b
u
t
th
e
y
f
o
llo
w
th
e
tr
ail
i
n
s
tead
,
r
etu
r
n
i
n
g
an
d
r
ei
n
f
o
r
ci
n
g
s
u
c
h
p
ath
i
f
t
h
e
y
e
v
en
t
u
all
y
f
i
n
d
f
o
o
d
[
3
3
]
.
Ov
er
tim
e,
th
e
p
h
e
r
o
m
o
n
e
tr
ail
b
eg
i
n
s
to
ev
ap
o
r
ate
y
ield
in
g
to
r
ed
u
cin
g
i
ts
attr
ac
ti
v
e
s
tr
en
g
t
h
[
3
4
]
.
T
h
e
an
t
s
p
en
d
s
m
o
r
e
ti
m
e
to
tr
av
e
l
d
o
w
n
th
e
p
ath
an
d
b
ac
k
a
g
ain
,
t
h
e
p
h
er
o
m
o
n
es
s
h
o
u
ld
ev
ap
o
r
ate
w
it
h
ti
m
e
[
3
5
]
.
A
cc
o
r
d
in
g
l
y
,
a
s
h
o
r
t
p
ath
g
et
s
m
ar
ch
ed
o
v
er
m
o
r
e
f
r
eq
u
e
n
t
l
y
a
n
d
th
u
s
t
h
e
p
h
er
o
m
o
n
e
d
e
n
s
it
y
b
ec
o
m
es
h
ig
h
er
o
n
s
h
o
r
ter
p
ath
s
th
an
lo
n
g
er
o
n
es [
3
6
]
.
Fig
u
r
e
9
d
e
m
o
n
s
tr
a
tes th
e
b
eh
a
v
io
r
o
f
r
ea
l a
n
t
s
in
f
in
d
i
n
g
th
e
s
o
u
r
ce
o
f
f
o
o
d
.
I
n
th
is
m
e
th
o
d
,
th
e
ac
tu
al
clo
s
ed
-
lo
o
p
s
p
ec
if
icatio
n
o
f
th
e
s
y
s
te
m
co
m
b
in
ed
w
ith
t
h
e
co
n
tr
o
ller
,
,
,
,
ar
e
u
s
ed
to
e
v
al
u
ate
t
h
e
f
it
n
es
s
f
u
n
ctio
n
.
T
h
is
i
s
d
o
n
e
b
y
s
u
m
m
in
g
th
e
s
q
u
ar
es
o
f
th
e
er
r
o
r
s
b
et
w
ee
n
ac
t
u
al
a
n
d
s
p
ec
if
ied
s
p
ec
i
f
icatio
n
s
as
g
iv
en
b
elo
w
[
3
7
].
J
=
1
[
1
(
−
)
+
2
(
−
)
+
3
(
−
)
+
4
(
−
)
(
5
)
W
h
er
e,
c
1
:
c
4
ar
e
p
o
s
itiv
e
co
n
s
tan
t
s
(
w
ei
g
h
ti
n
g
f
ac
to
r
)
,
th
eir
v
alu
es
ar
e
ch
o
s
e
n
ac
co
r
d
in
g
to
p
r
i
o
r
itizin
g
t
h
eir
i
m
p
o
r
tan
ce
,
(
t
rd
)
is
t
h
e
d
esire
d
r
is
e
ti
m
e,
(
M
pd
)
is
t
h
e
d
esire
d
m
ax
i
m
u
m
o
v
er
s
h
o
o
t,
(
ts
d
)
is
th
e
d
esire
d
s
ettli
n
g
ti
m
e,
a
n
d
(
ess
d
)
is
t
h
e
d
esire
d
s
tead
y
s
tate
er
r
o
r
[
3
8
-
4
2
]
.
T
a
b
le
3
illu
s
tr
ates
t
h
e
ca
lc
u
lated
o
p
ti
m
al
v
alu
e
s
o
f
th
e
tu
n
ed
A
C
S
-
P
I
D'
s
u
s
i
n
g
co
s
t f
u
n
ctio
n
g
iv
e
n
b
y
(
5
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8708
P
a
r
a
llel d
is
tr
ib
u
tio
n
co
mp
en
s
a
tio
n
P
I
D
b
a
s
ed
o
n
Ta
ka
g
i
-
S
u
g
en
o
…
(
M.
A
.
A
b
d
el
G
h
a
n
y
)
5279
Fig
u
r
e
6
.
C
alcu
lat
in
g
t
h
e
w
eig
h
t o
f
o
n
e
f
u
zz
y
r
u
le
Fig
u
r
e
7
.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
e
P
DC
P
I
D
co
n
tr
o
ller
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
5
,
Octo
b
e
r
2
0
2
0
:
5
2
7
4
-
5287
5280
Fig
u
r
e
8
.
B
est
ch
o
ice
o
f
o
p
er
a
tin
g
p
o
in
ts
u
s
i
n
g
T
S
f
u
zz
y
m
o
d
el
Fig
u
r
e
9
.
An
ts
f
r
o
m
n
est to
th
e
s
o
u
r
ce
o
f
f
o
o
d
T
ab
le
3
.
T
h
e
o
b
tain
ed
P
I
D’
S c
o
n
tr
o
ller
p
ar
am
eter
s
o
p
ti
m
ize
d
b
y
An
t
co
lo
n
y
O
p
e
r
a
t
i
n
g
p
o
i
n
t
C
o
n
t
r
o
l
l
e
r
kp
ki
kd
1
P
I
D
1
1
.
8
9
1
2
0
.
0
8
8
6
9
7
0
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9
7
3
3
3
2
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I
D
2
1
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8
2
7
1
0
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0
8
9
6
2
3
0
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6
4
6
7
3
P
I
D
3
1
.
5
0
7
4
0
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0
5
9
2
4
6
0
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9
5
8
4
P
I
D
4
1
.
2
1
4
4
0
.
0
9
3
9
7
2
0
.
9
7
1
3
3
4.
T
H
E
S
I
M
UL
AT
I
O
N
R
E
SU
L
T
S
T
h
e
s
i
m
u
latio
n
r
es
u
lt
s
ar
e
o
b
tain
ed
u
s
in
g
M
A
T
L
A
B
T
o
o
l
b
o
x
.
Dif
f
er
e
n
t
t
y
p
e
s
o
f
d
is
t
u
r
b
an
ce
s
ar
e
i
m
p
le
m
en
ted
to
E
L
FC
to
s
h
o
w
t
h
e
e
f
f
ec
ti
v
en
e
s
s
o
f
t
h
e
T
SF
-
P
DC
-
P
I
D'
S.
Ma
n
y
c
ases
u
n
d
er
d
r
iv
e
s
d
is
tu
r
b
an
ce
s
w
it
h
d
if
f
er
en
t o
p
er
atin
g
p
o
in
ts
,
p
ar
a
m
eter
v
ar
ia
t
io
n
an
d
p
ar
a
m
eter
u
n
ce
r
tai
n
t
y
ar
e
p
er
f
o
r
m
ed
.
4
.
1
.
Ca
s
e
1
:
Ste
p dis
t
urba
nce
ΔP
d = 5
%
I
n
th
i
s
test
,
t
h
e
co
n
tr
o
lled
o
f
E
L
F
C
o
p
er
ates
at
o
p
er
atin
g
p
o
in
t
No
.
1
w
it
h
a
5
%
s
tep
d
is
tu
r
b
an
ce
i
s
ap
p
lied
to
in
v
esti
g
ate
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
s
(
th
e
AC
S
-
P
I
D
1
an
d
th
e
T
SP
DC
-
P
I
D
1
)
.
AC
S
-
P
I
D
1
m
ea
n
s
th
at
OP
I
D
o
b
tain
ed
f
r
o
m
E
L
FC
o
f
f
li
n
e
u
s
i
n
g
AC
S
o
p
ti
m
iz
atio
n
at
o
p
er
atin
g
p
o
in
t
No
.
1
.
T
h
e
d
y
n
a
m
i
c
r
esp
o
n
s
e
o
f
th
e
f
r
eq
u
en
c
y
d
ev
iatio
n
∆
F
an
d
th
e
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ates w
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atin
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atin
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4:
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4.
5
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s
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a
s
ter
r
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o
n
s
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th
an
t
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e
AC
S
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P
I
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I
n
t J
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&
C
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m
p
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N:
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7
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5
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Evaluation Warning : The document was created with Spire.PDF for Python.