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s
ic
a
ll
y
,
a
V
S
C
in
c
l
u
d
e
s
s
ev
er
al
d
i
f
f
er
en
t
c
o
nt
i
nuo
us
f
unc
t
i
o
ns
t
ha
t
c
a
n
m
a
p
p
l
a
nt
s
t
a
t
e
t
o
a
c
o
nt
r
o
l
s
ur
f
a
c
e
,
a
nd
t
he
s
w
i
t
c
h
i
n
g a
m
o
n
g
d
if
f
e
r
e
n
t f
u
n
c
tio
n
s
is
d
e
te
r
m
i
n
e
d
b
y
p
la
n
t s
ta
te
th
a
t is
r
e
p
r
e
s
e
n
te
d
b
y
a
s
w
itc
h
i
n
g
f
u
n
c
tio
n
[
1
]
,
[
2
]
.
T
h
e
f
o
llo
w
in
g
i
s
a
p
o
s
s
ib
le
c
h
o
ic
e
o
f
th
e
s
tr
u
c
t
u
r
e
o
f
a
s
lid
i
n
g
m
ode
c
on
t
r
ol
l
e
r
[
3]
,
[
6
]:
e
u
s
k
u
+
⋅
−
=
)
s
gn(
(
10)
w
h
er
e
e
u
i
s
c
a
l
l
e
d
e
q
ui
va
l
e
nt
c
o
nt
r
o
l
w
hi
c
h i
s
u
s
e
d
w
he
n t
he
s
ys
t
e
m
s
ta
te
i
s
in
th
e
s
lid
in
g
m
o
d
e
[
5
]
,
[
1
5
]
.
k
i
s
a
c
o
ns
t
a
nt
a
nd
i
t
i
s
t
he
m
a
x
i
m
a
l
va
l
ue
o
f
t
he
c
o
n
tr
o
lle
r
o
u
tp
u
t.
s
i
s
cal
l
ed
s
w
i
t
c
h
i
n
g
f
u
n
ct
i
o
n
b
ecau
s
e t
h
e
c
o
nt
r
o
l
a
c
t
i
o
n s
w
i
t
c
he
s
i
t
s
s
i
g
n o
n t
he
t
w
o
s
i
d
e
s
o
f
t
he
s
w
i
t
c
hi
n
g s
ur
f
a
c
e
0
=
s
i
s
de
f
i
n
e
d a
s
[
5]
,
[
16
]
:
e
e
s
⋅
+
=
λ
(
11)
w
h
er
e:
e
i
s
t
h
e er
r
o
r
b
et
w
ee
n
t
h
e s
p
eed
r
ef
er
en
ce an
d
r
eal
s
p
eed
o
f
t
h
e I
M
(
r
r
e
ω
ω
−
=
*
).
λ
i
s
a
c
o
ns
t
a
nt
)
s
gn(
s
i
s
a
s
i
g
n
f
u
nc
t
i
o
n,
w
hi
c
h i
s
d
e
f
i
ne
d
a
s
:
>
≤
−
=
0
1
0
1
)
s
gn(
s
s
s
(
12)
T
h
e
c
o
n
tr
o
l s
tr
a
te
g
y
ad
o
p
t
ed
h
er
e
w
i
l
l
g
u
ar
an
t
ee
t
h
e
s
y
s
t
e
m
t
r
aj
ect
o
r
i
es
m
o
v
e
t
o
w
ar
d
a
n
d
s
t
a
y
o
n
t
h
e
s
lid
in
g
s
u
r
f
a
c
e
0
=
s
f
r
o
m
a
n
y
i
n
iti
a
l c
o
n
d
itio
n
i
f
th
e
f
o
llo
w
in
g
c
o
n
d
itio
n
m
e
e
ts
:
s
s
s
⋅
−
=
≤
⋅
η
(
13)
w
h
er
e
η
is
a
p
o
s
iti
v
e
c
o
n
s
ta
n
t
th
a
t
g
u
a
r
a
n
te
e
s
t
h
e
s
y
s
te
m
tr
a
j
e
c
to
r
ie
s
h
it t
h
e
s
l
id
i
n
g
s
u
r
f
a
c
e
in
f
in
i
te
ti
m
e
[1
7
].
U
s
i
ng a
s
i
gn
f
u
nc
t
i
o
n o
f
t
e
n c
a
us
e
s
c
ha
t
t
e
r
i
n
g i
n p
r
a
c
t
i
c
e
.
O
ne
s
o
l
ut
i
o
n i
s
t
o
i
nt
r
o
d
uc
e
a
bo
und
a
r
y
l
a
y
e
r
a
r
o
und
t
h
e s
w
i
t
ch
s
u
r
f
ace [
6
]
,
[
17
]:
e
s
u
u
u
+
=
(
14)
W
h
er
e
)
/
(
Ψ
⋅
−
=
s
s
at
k
u
s
(
15)
ψ
is
th
e
c
o
n
s
ta
n
t
f
a
c
to
r
d
e
f
in
e
s
th
e
th
ic
k
n
e
s
s
o
f
th
e
b
o
u
n
d
a
r
y
la
y
e
r
,
)
/
(
ψ
s
s
at
is
a
s
a
tu
r
a
tio
n
f
u
n
c
tio
n
th
a
t i
s
d
ef
i
n
ed
as
:
<
≥
=
1
/
1
)
/
s
gn(
)
/
(
ψ
ψ
ψ
ψ
ψ
s
s
s
s
s
s
at
(
16)
T
h
e f
u
n
ct
i
o
n
b
et
w
een
k
u
s
/
a
nd
ψ
/
s
i
s
s
ho
w
n
i
n t
he
F
ig
ur
e
2
.
T
h
is
c
o
n
tr
o
lle
r
is
a
c
t
u
a
ll
y
a
c
on
t
i
nu
ous
a
ppr
ox
i
m
a
t
i
o
n
of
t
h
e
i
de
a
l
r
e
l
a
y
c
o
n
t
r
ol
[
5]
,
[
1
7]
,
[
18]
.
T
h
e
c
on
s
e
qu
e
n
c
e
of
t
h
i
s
c
on
t
r
ol
s
c
h
e
m
e
i
s
th
a
t in
v
a
r
ia
n
c
e
o
f
s
lid
i
n
g
m
o
d
e
c
o
n
tr
o
l is
l
os
t
.
T
h
e
s
y
s
t
e
m
r
obus
t
n
e
s
s
i
s
a
f
un
c
t
i
o
n
of
t
h
e
w
i
dt
h
of
t
he
b
o
und
a
r
y
l
a
ye
r
.
T
o
s
i
m
p
l
i
f
y
t
h
e eq
u
i
v
al
e
n
t
co
n
t
r
o
l
an
d
ea
s
e
t
h
e d
es
i
g
n
t
a
s
k
f
o
r
p
r
act
i
ci
n
g
en
g
i
n
eer
s
,
N
an
d
a
m
a
n
d S
e
n
[
6]
h
a
v
e
pr
opos
e
d a
n
e
qu
i
v
a
l
e
n
t
c
o
n
t
r
ol
a
c
t
i
on
ba
s
e
d on
t
h
e
pr
opor
t
i
on
a
l
pl
u
s
d
e
r
iv
a
ti
v
e
c
o
n
tr
o
l la
w
.
A
p
o
te
n
tia
l a
d
v
a
n
ta
g
e
o
f
th
i
s
s
tr
a
te
g
y
,
w
h
ic
h
th
e
a
u
t
h
o
r
s
d
id
n
o
t a
d
d
r
e
s
s
,
is
its
a
b
ilit
y
o
f
u
s
i
n
g
t
h
e
u
n
d
is
to
r
te
d
n
o
n
l
i
n
ear
m
o
d
el
o
f
t
h
e p
h
y
s
i
c
al
s
y
s
t
e
m
i
n
a s
i
m
u
l
at
i
o
n
b
as
ed
d
es
i
g
n
p
r
o
ces
s
.
Y
.
L
i
an
d
al
[
1
9
]
ex
t
en
d
s
t
h
i
s
c
o
n
tr
o
l
s
tr
a
te
g
y
b
y
in
c
o
r
p
o
r
a
tin
g
a
n
in
te
g
r
a
tio
n
te
r
m
a
n
d
to
f
o
r
m
a
g
e
n
e
r
ic
c
o
n
tr
o
lle
r
s
tr
u
c
tu
r
e
.
I
n t
hi
s
s
t
ud
y
,
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t
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t
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h
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n
t
r
o
l
l
er
s
t
r
u
ct
u
r
e i
s
:
∫
⋅
⋅
−
⋅
−
=
dt
e
e
u
u
I
P
s
e
ϕ
ϕ
(
17)
W
i
t
h
g
e
n
er
al
i
zed
h
ar
d
-
s
w
i
t
c
h
i
n
g
p
ar
a
m
e
t
er
s
ar
e:
−
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⋅
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≤
−
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⋅
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ψ
ϕ
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ψ
ϕ
ψ
ϕ
ϕ
s
e
s
e
s
e
Pc
Pb
Pa
p
(
18)
−
<
≤
≤
−
>
=
ψ
ϕ
ψ
ψ
ϕ
ψ
ϕ
ϕ
s
s
s
Ic
Ib
Ia
I
(
19)
Fi
g
ur
e
2
.
T
he
f
unc
t
i
o
n b
e
t
w
e
e
n
k
u
s
a
nd
ψ
s
Fi
g
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e
3 s
h
o
w
s
t
h
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i
m
pl
e
m
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nt
e
d di
a
g
r
a
m
o
f
t
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ap
t
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v
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P
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-
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lid
i
n
g
m
o
d
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c
o
n
tr
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r
f
o
r
in
d
u
c
tio
n
m
o
t
or
s
pe
e
d c
on
t
r
ol
.
Fi
g
ur
e
3
.
A
d
a
p
tiv
e
P
I
-
S
l
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m
ode
c
on
t
r
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l
e
r
f
or
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du
c
t
i
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m
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t
or
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pe
e
d c
on
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e
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s
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ω
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1
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a
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P
b
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ϕ
×
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Ib
ϕ
Ic
ϕ
e
e
⋅
+
λ
<
×
ψ
<
ψ
s
)
/
(
ψ
s
s
at
k
⋅
−
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
20
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8708
In
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c
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2888
4.
S
P
EE
D
C
O
N
T
R
O
L O
F
TH
E IM
B
Y
TH
E F
U
ZZ
Y
A
D
A
P
TI
V
E P
I
-
S
L
I
DI
NG
M
O
DE
CO
NT
RO
L
L
E
R
I
n
th
is
s
e
c
tio
n
,
a
f
u
z
z
y
s
l
i
di
n
g s
u
r
f
a
c
e
i
s
i
n
t
r
odu
c
e
d t
o de
v
e
l
op a
s
l
i
di
n
g
m
ode
c
on
t
r
ol
l
e
r
,
w
hi
c
h
t
h
e
e
x
pr
e
s
s
i
on
)
/
(
ψ
s
s
at
k
u
s
⋅
−
=
i
s
r
ep
l
aced
b
y
an
i
n
f
er
e
n
ce
f
u
zz
y
s
y
s
t
e
m
f
o
r
el
i
m
i
n
at
e
t
h
e
c
h
at
t
er
i
n
g
p
he
no
m
e
no
n.
T
he
i
f
-
t
he
n r
ul
e
s
o
f
f
uz
z
y
s
l
i
d
i
ng
m
o
d
e
c
o
nt
r
o
l
l
e
r
c
a
n
b
e d
es
cr
i
b
ed
as
[
6
]
,[
20
]:
R1
:
i
f
s i
s B
N
t
h
e
n
u
s
i
s B
I
G
G
E
R
R2
:
i
f
s i
s M
N
t
h
e
n
u
s
i
s B
I
G
R3
:
i
f
s i
s J
Z
t
h
e
n
u
s i
s M
E
D
U
I
M
R4
:
i
f
s i
s M
P
t
h
e
n
u
s
i
s
S
M
A
L
L
R5
:
i
f
s i
s B
P
t
h
e
n
u
s i
s
S
M
A
L
L
E
R
W
h
er
e B
N
,
MN
,
J
Z
,
M
P
an
d
B
P
ar
e l
i
n
g
u
i
s
t
i
c t
er
m
s
o
f
an
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eced
en
t
f
uz
z
y s
e
t
,
t
he
y
m
e
a
n B
i
g
N
eg
at
i
v
e,
M
ed
i
u
m
N
e
g
at
i
v
e,
J
u
s
t
Z
er
o
,
Med
i
u
m
P
o
s
i
t
i
v
e,
an
d
B
i
g
P
o
s
i
t
i
v
e,
r
es
p
ect
i
v
el
y
;
s
ee F
i
g
u
r
e 4
an
d
F
i
gu
r
e
5.
F
i
g
u
r
e 6
i
s
t
h
e r
es
u
l
t
o
f
d
ef
u
zzi
f
i
ed
o
ut
p
ut
us
f
o
r
a
f
uz
z
y
i
np
ut
s
.
T
he
b
l
o
c
k d
i
a
gr
a
m
o
f
t
he
f
uz
z
y
a
d
a
p
tiv
e
s
lid
in
g
m
ode
c
on
t
r
ol
l
e
r
f
or
i
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ve S
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t
em
(
I
JP
E
D
S
)
,
v
ol
/
i
ssu
e
:
7
(
3
)
,
p
p.
96
4
-
97
3
,
2
01
6.
[
7]
N
an
d
am
P
.
K
.
an
d
P
. C
.
S
e
n,
“
C
ont
r
ol
l
a
w
s
f
or
s
l
i
di
ng
m
ode
s
pe
e
d c
on
t
r
ol
of
v
a
r
i
a
bl
e
s
pe
e
d dr
i
v
e
s
,
”
I
n
t
.
J.
C
ont
r
o
l
,
v
o
l/
is
s
u
e
:
5
6(
5)
,
pp
.
1
167
-
1
18
6,
199
2.
[
8]
A.
O
ve
i
s
i
a
nd T
.
N
es
t
o
r
o
v
i
ć,
“
R
obus
t
o
bs
e
r
v
e
r
-
ba
s
e
d a
da
pt
i
v
e
f
uz
z
y
s
l
i
di
ng
m
ode
c
ont
r
ol
l
e
r
,
”
M
ech
a
n
i
ca
l
S
ys
t
em
s
and
Si
gn
al
P
r
oc
e
s
s
i
ng
,
v
ol
.
76,
p
p.
5
8
-
71
,
2
01
6.
[
9]
N
.
Y
a
gi
z
,
e
t a
l.
,
“
F
u
z
z
y
S
lid
in
g
-
M
ode
C
o
nt
r
ol
of
A
c
t
i
v
e
S
us
pe
ns
i
ons
,
”
I
E
E
E
T
r
a
ns
ac
t
i
o
ns
on I
n
dus
t
r
i
al
E
l
ect
r
o
n
i
cs
,
v
o
l/is
s
u
e
:
55
(
11
)
,
pp.
38
83
-
38
90
,
20
08
.
[
1
0]
C
.
M
.
L
i
n a
nd C
.
F
.
Hsu
,
“A
d
ap
t
i
v
e f
u
zz
y
s
lid
in
g
-
m
ode
c
ont
r
ol
f
or
i
nd
uc
t
i
o
n s
e
r
v
om
ot
or
s
y
s
t
e
m
s
,
”
I
E
E
E
T
r
ans
ac
t
i
ons
on
E
ne
r
gy
C
onv
e
r
s
i
on
,
vol
/
i
ssu
e
:
19
(
2
)
,
pp.
3
62
-
3
68
,
200
4
.
[
1
1]
S
.
To
k
a
t
,
e
t a
l.
,
“
A
ne
w
a
ppr
oa
c
h
e
s
f
or
onl
i
ne
t
uni
ng
of
t
he
l
i
ne
a
r
s
l
i
di
ng
s
ur
f
a
c
e
s
l
ope
i
n s
l
i
di
ng
m
ode
c
ont
r
ol
l
e
r
s
,
”
T
u
r
k J.
E
n
g
i
n
.
,
v
ol
/is
s
u
e
:
11
(
1
),
20
0
3.
[
1
2]
J
.
C
.
L
e
a
nd Y
.
H
.
K
uo
,
“
D
e
c
ou
pl
e
d f
uz
z
y
s
l
i
di
ng
-
m
ode
c
ont
r
ol
,
”
I
E
E
E
T
ra
n
s.
o
n
F
u
zzy
S
y
st
e
ms
,
v
ol
/
i
ssu
e
:
6
(
3
)
,
199
8.
[
1
3]
Bo
s
e
B.
K
.
,
“M
o
d
er
n
P
o
w
er
E
l
ect
r
o
n
i
cs
an
d
A
C
D
r
i
v
es
,
” P
r
en
t
i
ce
H
al
l
,
2
0
0
2
.
[
1
4]
R
.
A
r
ul
m
oz
hi
y
a
l
a
nd K
.
B
as
k
ar
an
,
“
I
m
pl
e
m
e
nt
a
t
i
on of
a
F
uz
z
y
P
I
C
o
nt
r
ol
l
e
r
f
or
S
pe
e
d C
o
nt
r
o
l
of
I
nduc
t
i
o
n
M
ot
or
s
U
s
i
ng
F
P
G
A
,
”
J
our
nal
o
f
P
ow
e
r
E
l
e
c
t
r
on
i
c
s
,
v
ol
.
10,
p
p.
6
5
-
7
1,
20
10.
[
1
5]
A
.
G
oui
c
hi
c
he
,
e
t a
l.
,
“
S
e
ns
or
l
e
s
s
S
l
i
di
ng
M
o
de
V
e
c
t
or
C
on
t
r
ol
of
I
nduc
t
i
on M
ot
or
D
r
i
v
e
s
,
”
I
nt
e
r
nat
i
o
nal
J
o
ur
n
al
o
f Ele
c
tr
ic
a
l
En
g
e
n
in
r
i
n
g
(
I
J
EC
E)
,
v
ol
/
i
ssu
e
:
2
(
3
),
p
p.
20
88
-
87
08
,
201
6.
[
1
6]
V
.
I
.
U
tk
in
an
d
A
.
S
.
P
o
zn
y
ak
,
“
A
da
pt
i
v
e
s
l
i
di
ng
m
ode
c
ont
r
ol
w
i
t
h a
ppl
i
c
a
t
i
on t
o s
upe
r
-
t
w
is
t a
l
g
o
r
ith
m
:
E
q
u
i
v
a
l
e
nt
c
ont
r
ol
m
e
t
hod,
”
Au
t
o
m
a
tic
a
,
v
o
l/is
s
u
e
: 4
9
(
1
)
,
pp.
39
-
47
,
20
13
.
[
1
7]
Y.
X
. S
u
,
e
t a
l.
,
“
D
e
s
i
g
n of
a
n E
n
ha
nc
e
d N
o
nl
i
ne
a
r
P
I
D
C
o
nt
r
ol
l
e
r
,
”
M
ech
a
t
r
oni
c
s
,
v
o
l
.
15
,
pp.
10
05
-
10
24
,
20
0
5.
[
1
8]
S
.
G
.
T
za
f
es
t
as
an
d
G
.
G
.
R
i
g
a
t
os
,
“
D
e
s
i
g
n a
nd s
t
a
bi
l
i
t
y
a
na
l
y
s
i
s
of
a
ne
w
S
l
i
di
ng
m
ode
F
uz
z
y
l
ogi
c
C
ont
r
o
l
l
e
r
of
r
e
duc
e
d C
om
pl
e
x
i
t
y
,
”
M
ac
hi
ne
I
nt
e
l
l
i
ge
nc
e
&
R
obot
i
c
C
ont
.
,
v
ol
/
i
ssu
e
:
1
(1
)
,
19
99
.
[
1
9]
N
.
B
oua
r
r
o
udj
,
e
t a
l.
,
“
S
li
d
in
g
-
M
ode
C
o
nt
r
o
l
l
e
r
B
a
s
e
d on F
r
a
c
t
i
ona
l
O
r
de
r
C
a
l
c
ul
us
f
or
a
C
l
a
s
s
of
N
onl
i
ne
a
r
S
ys
t
e
m
s
,
”
I
nt
e
r
nat
i
o
nal
J
our
nal
of
E
l
e
c
t
r
i
c
al
E
n
ge
ni
nr
i
ng
(
I
J
E
C
E
)
,
v
ol
/
i
ssu
e
:
6
(5
)
,
p
p.
20
88
-
87
08
,
201
6.
[
2
0]
S
.
W
a
n
g
,
e
t a
l
., “
A
da
pt
i
v
e
F
uz
z
y
S
l
i
di
ng
M
ode
C
ont
r
ol
of
U
n
cer
t
ai
n
N
o
n
l
i
n
ear
S
I
S
O
S
y
s
t
e
m
s
,
”
P
r
o
ced
i
a
E
ngi
ne
e
r
i
ng
,
v
o
l/ 2
4
,
pp
.
33
-
37
,
2
011
.
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