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l J
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f
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lect
rica
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nd
Co
m
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ng
in
ee
ring
(
I
J
E
CE
)
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
,
p
p
.
794
~
8
0
1
I
SS
N:
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8708
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DOI
: 1
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1
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a
s
r
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ted
in
[
1
,
2
]
.
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th
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teg
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k
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f
u
zz
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g
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u
r
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in
s
p
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m
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tah
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p
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h
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ap
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s
t
e
m
p
r
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b
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s
is
r
ep
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r
ted
in
[
3
]
.
I
n
th
at
r
esear
ch
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th
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d
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f
f
er
e
n
tial
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m
w
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cillatio
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Fro
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5
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in
[
6
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Fro
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n
a
m
ics
f
o
r
d
ata
-
d
r
iv
e
n
n
e
u
r
o
en
d
o
cr
in
e
-
P
I
D
co
n
tr
o
l
o
f
m
u
lti
i
n
p
u
t
m
u
lti
o
u
tp
u
t.
Au
t
h
o
r
s
o
n
[
8
]
,
p
r
o
p
o
s
e
d
a
m
et
h
o
d
f
o
r
d
esi
g
n
in
g
P
I
D
c
o
n
tr
o
ller
tu
n
i
n
g
b
a
s
ed
o
n
s
af
e
ex
p
er
i
m
e
n
tatio
n
o
n
liq
u
id
s
lo
s
h
.
T
h
e
ap
p
licatio
n
o
f
an
t
co
lo
n
y
o
p
ti
m
izatio
n
n
e
ld
er
m
ea
d
(
AC
O
-
NM
)
f
o
r
d
esig
n
i
n
g
P
I
co
n
tr
o
ller
is
r
ep
o
r
ted
in
[
9
]
.
I
n
th
o
s
e
r
esear
ch
o
f
f
-
r
o
ad
elec
tr
ic
v
e
h
icle
i
s
u
s
ed
as
t
h
e
tes
t
b
ed
s
y
s
te
m
.
Fro
m
t
h
e
r
es
u
lt
s
,
it
th
is
f
o
u
n
d
t
h
at
b
y
d
esig
n
in
g
P
I
co
n
tr
o
ller
b
ased
o
n
t
h
e
AC
O
-
NM
alg
o
r
it
h
m
co
u
ld
ac
h
iv
e
t
h
e
m
ax
i
m
u
m
o
v
er
s
h
o
o
t
av
er
ag
e
<1
0
%.
Fu
r
th
er
m
o
r
e,
A
C
O
-
N
M
alg
o
r
ith
m
co
u
ld
p
r
o
v
id
e
h
i
g
h
q
u
alit
y
s
o
lu
tio
n
s
f
o
r
lo
w
er
co
m
p
u
tatio
n
al
co
s
t.
A
g
e
n
etic
al
g
o
r
ith
m
w
a
s
u
s
e
d
to
d
etec
t
t
h
e
n
et
w
o
r
k
in
tr
u
s
io
n
s
[
10
]
.
A
n
atte
m
p
t
to
u
s
e
f
ir
e
f
l
y
alg
o
r
ith
m
f
o
r
p
lacin
g
r
ea
cti
v
e
p
o
w
er
co
m
p
e
n
s
a
tio
n
i
n
d
is
tr
ib
u
tio
n
n
et
w
o
r
k
is
r
ep
o
r
ted
in
[
11
]
.
Fro
m
th
e
r
es
u
lt
s
,
it
is
f
o
u
n
d
t
h
at
b
y
u
s
in
g
f
ir
e
f
l
y
al
g
o
r
ith
m
a
s
a
m
et
h
o
d
,
th
e
b
ala
n
ce
b
et
w
ee
n
ac
tiv
e
a
n
d
r
ea
cti
v
e
p
o
w
er
in
d
is
tr
ib
u
t
io
n
n
et
w
o
r
k
.
Am
o
n
g
n
u
m
er
o
u
s
t
y
p
es
o
f
n
atu
r
e
in
s
p
ir
ed
m
eta
h
eu
r
i
s
tic
alg
o
r
ith
m
s
,
th
e
b
at
alg
o
r
ith
m
is
b
ec
o
m
i
n
g
f
a
v
o
r
ab
le
d
u
e
to
its
s
i
m
p
le
co
d
in
g
an
d
f
ast
co
m
p
u
tatio
n
al
p
r
o
ce
s
s
[
12
].
Hen
ce
,
th
is
p
ap
er
p
r
o
p
o
s
es
a
m
et
h
o
d
f
o
r
o
p
tim
a
ll
y
d
esi
g
n
s
p
ee
d
co
n
tr
o
ller
o
f
s
p
ar
k
ig
n
it
io
n
e
n
g
in
e
u
s
in
g
b
at
al
g
o
r
ith
m
(
B
A
)
as
B
A
ca
n
p
r
o
v
id
e
a
lo
w
co
m
p
u
tatio
n
al
co
s
t
a
n
d
r
eli
ab
le
r
esu
lts
.
T
h
e
r
est
o
f
th
e
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
:
Sectio
n
2
p
r
o
v
id
es
t
h
e
f
u
n
d
a
m
en
ta
l
t
h
eo
r
y
o
f
s
p
ar
k
ig
n
itio
n
en
g
i
n
e,
P
I
co
n
tr
o
ller
an
d
b
at
alg
o
r
it
h
m
.
T
h
e
m
et
h
o
d
f
o
r
d
esi
g
n
i
n
g
s
p
ar
k
i
g
n
i
tio
n
e
n
g
in
e
u
s
i
n
g
b
at
alg
o
r
it
h
m
is
p
r
esen
ted
i
n
Se
ctio
n
3
.
Sectio
n
4
f
o
cu
s
es
o
n
a
n
al
y
zin
g
th
e
s
i
m
u
latio
n
r
es
u
lts
.
T
h
e
last
s
e
ctio
n
h
i
g
h
l
ig
h
t
th
e
co
n
tr
ib
u
ti
o
n
,
co
n
cl
u
s
io
n
s
an
d
f
u
tu
r
e
d
ir
ec
tio
n
o
f
t
h
e
r
esear
c
h
.
2.
F
UNDA
M
E
NT
AL
T
H
E
O
R
Y
2
.
1
.
Sp
a
rk
ig
nitio
n e
ng
ine
T
o
s
i
m
u
late
f
o
u
r
-
c
y
li
n
d
er
s
p
ar
k
ig
n
itio
n
en
g
i
n
e,
th
e
m
o
s
t
i
m
p
o
r
tan
t
p
ar
t
is
ca
p
tu
r
in
g
t
h
e
d
y
n
a
m
ic
o
f
ea
ch
co
m
p
o
n
e
n
t
in
th
e
s
y
s
te
m
.
T
h
is
d
y
n
a
m
ic
ca
n
b
e
ca
p
t
u
r
e
d
th
r
o
u
g
h
m
at
h
e
m
atica
l
r
ep
r
e
s
en
tat
io
n
.
T
h
e
f
ir
s
t
co
m
p
o
n
e
n
t
o
f
th
e
s
y
s
te
m
is
t
h
e
th
r
o
ttle
b
o
d
y
.
I
n
t
h
is
p
ap
er
th
e
a
n
g
le
o
f
th
e
t
h
r
o
ttle
p
late
i
s
t
h
e
co
n
tr
o
l
i
n
p
u
t.
T
h
e
m
at
h
e
m
atica
l r
ep
r
esen
tati
o
n
o
f
th
r
o
ttle b
o
d
y
ca
n
b
e
d
es
cr
ib
ed
u
s
in
g
(
1
)
-
(
3
)
[
13
-
1
7
].
a
i
m
m
f
g
P
(
1
)
23
(
)
2
.
8
2
1
0
.
0
5
2
3
0
.
1
0
2
9
9
0
.
0
0
0
6
3
f
(
2
)
2
2
1,
2
2
(
)
,
2
2
,2
1
,
2
am
b
m
am
b
m
m
am
b
m
m
am
b
am
b
m
am
b
am
b
am
b
m
am
b
m
m
am
b
P
P
P
g
P
P
P
P
P
P
P
P
P
P
P
P
P
P
PP
(
3
)
W
h
er
e
m
ai
,
θ
,
P
m
,
an
d
P
amb
ar
e
m
a
s
s
f
lo
w
r
ate
in
to
m
an
i
f
o
l
d
,
th
r
o
ttle
an
g
le,
m
a
n
i
f
o
ld
p
r
e
s
s
u
r
e
an
d
a
m
b
ien
t
p
r
es
s
u
r
e.
T
h
e
n
e
x
t
d
y
n
a
m
ic
is
i
n
ta
k
e
m
an
if
o
ld
o
f
s
p
ar
k
ig
n
itio
n
en
g
i
n
e.
T
h
is
d
y
n
a
m
ic
i
s
v
er
y
s
i
m
ila
r
to
m
an
if
o
ld
p
r
ess
u
r
e.
T
h
e
d
if
f
er
en
ce
is
i
n
t
h
e
i
n
co
m
in
g
a
n
d
o
u
tg
o
i
n
g
m
a
s
s
f
lo
w
r
ate
s
r
ep
r
esen
ti
n
g
t
h
e
n
et
r
ate
o
f
ch
a
n
g
e
o
f
air
m
ass
w
it
h
r
esp
ec
t
to
ti
m
e.
T
h
e
m
at
h
e
m
atica
l
r
ep
r
esen
tatio
n
o
f
in
tak
e
m
a
n
i
f
o
ld
ca
n
b
e
d
escr
ib
ed
u
s
in
g
(
4
)
[
13
-
1
7
].
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
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8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
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n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
794
-
801
796
0
m
a
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m
RT
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m
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(
4
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4
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a0
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m
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r
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w
r
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f
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in
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to
r
q
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ev
elo
p
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th
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g
i
n
e.
T
h
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to
r
q
u
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p
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d
b
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t
h
e
en
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in
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ar
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m
as
s
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f
t
h
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air
ch
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d
t
h
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/
f
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m
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t
u
r
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r
at
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h
e
m
at
h
e
m
a
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r
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d
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g
(
5
)
[
13
-
1
7
].
2
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e
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a
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orqu
e
m
A
F
A
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N
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m
m
(
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n
(
5
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m
a
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ass
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f
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b
u
s
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f
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.
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h
ile
ϑ
a
n
d
To
r
q
u
e
eng
ar
e
s
p
ar
k
ad
v
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ce
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d
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r
q
u
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p
r
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r
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t
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p
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d
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ca
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b
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d
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ib
ed
u
s
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(
6
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,
w
h
er
e
J
an
d
N
ar
e
m
o
m
e
n
t o
f
i
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d
e
n
g
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e
s
p
ee
d
[
13
-
1
7
].
e
ng
lo
ad
T
orq
ue
T
orq
ue
N
J
(
6
)
2
.
2
.
P
I
co
ntr
o
ller
I
n
th
e
co
n
tr
o
l
s
y
s
te
m
d
o
m
ai
n
,
th
er
e
ar
e
m
a
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y
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a
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to
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tr
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.
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h
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ller
s
tr
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as
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s
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a
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f
a
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ter
r
is
e
ti
m
e.
W
h
ile
i
n
teg
r
al
co
n
tr
o
l
h
as
th
e
ad
v
a
n
ta
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o
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ed
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cin
g
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h
e
er
r
o
r
o
f
th
e
s
y
s
te
m
.
B
y
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m
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g
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o
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o
ller
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y
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te
m
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ll
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ter
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e
ti
m
e
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d
s
m
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te
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t
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ller
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P
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o
ller
[
18
,
1
9
].
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[
18
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iag
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.
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.
B
a
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Dr
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ith
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o
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io
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f
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ats
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o
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
E
lec
&
C
o
m
p
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g
I
SS
N:
2
0
8
8
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8708
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21
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ats ca
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21
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(
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.
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lated
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ith
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to
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(
1
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[
2
4
-
26
].
W
ith
e
,
t
,
Kp
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ar
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o
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p
p
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K
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(
14
)
m
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m
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(
15
)
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p
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tr
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tr
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ased
o
n
th
e
b
at
alg
o
r
it
h
m
i
n
cl
u
d
es t
h
e
f
o
llo
w
in
g
s
tep
s
:
Step
1
.
I
n
p
u
t p
ar
a
m
eter
o
f
t
h
e
b
at
alg
o
r
ith
m
a
n
d
d
y
n
a
m
ic
d
ata
o
f
s
p
ar
k
ig
n
itio
n
en
g
i
n
e.
Step
2
.
Star
t
th
e
b
at
al
g
o
r
i
th
m
b
y
i
n
iti
alizin
g
t
h
e
n
u
m
b
er
o
f
b
ats
(
p
o
p
u
latio
n
)
,
p
u
l
s
e
e
m
i
s
s
io
n
r
ate,
lo
u
d
n
es
s
an
d
f
r
eq
u
e
n
c
y
.
Step
3
.
Gen
er
ate
th
e
r
a
n
d
o
m
p
o
s
itio
n
o
f
th
e
b
ats.
Step
4
.
E
v
alu
a
te
th
e
o
b
j
ec
tiv
e
f
u
n
c
tio
n
o
f
ea
ch
b
at
’
s
p
o
s
itio
n
u
s
in
g
(
1
3
)
.
Step
5
.
Mo
v
e
th
e
b
ats
u
s
i
n
g
(
7
)
,
(
8
)
a
n
d
(
9
)
.
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.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
794
-
801
798
Step
6
.
I
f
r
an
d
o
m
v
al
u
e
is
s
m
aller
t
h
an
n
o
i
s
e
le
v
el
a
n
d
if
n
e
w
f
r
eq
u
en
c
y
i
s
s
m
aller
t
h
a
n
t
h
e
o
ld
f
r
eq
u
en
c
y
,
s
to
r
e
th
e
s
o
lu
tio
n
a
n
d
u
p
d
ate
th
e
lo
u
d
n
e
s
s
a
n
d
p
u
ls
e
r
ate.
Step
7
.
E
v
alu
a
te
th
e
o
b
j
ec
tiv
e
f
u
n
c
tio
n
o
f
n
e
w
p
o
p
u
lat
io
n
u
s
i
n
g
(
1
3
)
.
Step
8
.
I
f
r
an
d
o
m
v
al
u
e
is
s
m
aller
th
a
n
n
o
is
e
le
v
el
a
n
d
if
n
e
w
f
r
eq
u
en
c
y
is
s
m
al
ler
th
an
o
ld
f
r
eq
u
en
c
y
,
s
to
r
e
th
e
s
o
l
u
tio
n
a
n
d
u
p
d
ate
th
e
lo
u
d
n
es
s
an
d
p
u
l
s
e
r
ate.
Step
9
.
R
an
k
t
h
e
b
ats an
d
o
b
tain
t
h
e
b
est s
o
lu
t
io
n
.
Step
1
0
.
I
f
th
e
ter
m
i
n
atio
n
cr
iter
ia
is
s
a
tis
f
ied
th
e
n
p
r
o
ce
ed
to
s
tep
1
1
,
o
th
er
w
i
s
e
r
etu
r
n
to
s
tep
5
.
Step
1
1
.
A
p
p
l
y
t
h
e
b
est p
o
s
itio
n
o
f
b
ats
K
p
(
s
)
a
n
d
K
i
(
s
)
in
t
h
e
P
I
co
n
tr
o
ller
.
Step
1
2
.
P
r
in
t th
e
r
esu
lts
(
P
I
co
n
tr
o
ller
v
alu
e)
.
4.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
I
n
th
i
s
s
ec
t
io
n
,
t
w
o
d
if
f
er
e
n
t
ca
s
e
s
t
u
d
ies
ar
e
ca
r
r
ied
o
u
t
to
in
v
esti
g
ate
t
h
e
e
f
f
icac
y
o
f
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
(
PI
co
n
tr
o
l
ler
d
esig
n
b
ased
o
n
th
e
b
at
alg
o
r
ith
m
)
.
T
h
e
f
ir
s
t
ca
s
e
s
tu
d
y
,
is
to
test
th
e
s
y
s
te
m
u
n
d
er
d
if
f
er
e
n
t
s
p
ee
d
v
ar
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n
.
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h
e
s
ec
o
n
d
ca
s
e
s
t
u
d
y
is
f
o
cu
s
e
d
o
n
s
y
s
te
m
p
er
f
o
r
m
a
n
ce
u
n
d
er
lo
ad
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o
n
d
itio
n
s
.
Fu
r
t
h
er
m
o
r
e,
t
w
o
s
ce
n
ar
io
s
a
r
e
co
n
s
id
er
ed
in
th
is
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ap
er
.
T
h
e
f
ir
s
t
s
ce
n
ar
io
is
a
tr
ad
itio
n
al
s
p
ee
d
co
n
tr
o
ller
u
s
i
n
g
a
P
I
c
o
n
t
r
o
l
l
e
r
.
W
h
i
l
e
t
h
e
s
e
c
o
n
d
s
c
e
n
a
r
i
o
i
s
t
h
e
p
r
o
p
o
s
e
d
m
e
t
h
o
d
o
n
t
h
i
s
p
a
p
e
r
(
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c
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n
t
r
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l
l
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d
e
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g
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b
a
s
e
d
o
n
t
h
e
b
a
t
a
l
g
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r
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h
m
)
.
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u
r
t
h
e
r
m
o
r
e
,
T
a
b
l
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1
s
h
o
w
s
t
h
e
o
p
t
i
m
a
l
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p
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r
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m
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t
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a
s
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o
n
t
h
e
b
a
t
a
l
g
o
r
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t
h
m
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ab
le
1
.
Op
tim
u
m
p
ar
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m
e
ter
s
v
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e
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o
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tain
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u
s
in
g
b
at
alg
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r
ith
m
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a
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l
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e
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0
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0
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0
6
0
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4
.
1
.
Sp
ee
d r
ef
er
ence
v
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ria
t
i
o
n
I
n
th
e
f
ir
s
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ca
s
e
s
t
u
d
y
,
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e
p
er
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o
r
m
an
ce
o
f
t
h
e
s
y
s
te
m
i
s
t
ested
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ai
n
s
t
s
p
ee
d
r
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er
e
n
ce
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ar
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n
.
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r
th
e
s
tar
t,
t
h
e
s
p
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r
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en
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is
s
et
at
3
0
0
0
r
p
m
.
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ter
5
s
ec
o
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d
s
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p
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ce
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ch
a
n
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ed
f
r
o
m
3
0
0
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p
m
to
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0
0
0
r
p
m
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t
s
h
o
u
ld
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e
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o
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h
at
in
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h
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ca
s
e
s
t
u
d
y
,
n
o
d
is
t
u
r
b
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ce
s
ar
e
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o
n
s
id
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.
Fig
u
r
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2
s
h
o
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s
t
h
e
s
p
ar
k
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g
n
i
tio
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r
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t
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n
o
ted
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at
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te
m
w
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h
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e
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a
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et
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t
s
h
o
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ld
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e
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te
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th
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n
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o
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tr
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esig
n
i
s
u
s
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g
P
I
tu
n
er
ap
p
licatio
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M
AT
L
A
B
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U
L
I
NK
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r
t
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er
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o
r
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h
e
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th
e
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n
tr
o
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tu
n
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ased
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ates
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.
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I
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&
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g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
:
794
-
801
800
b
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[9
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6
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.
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c
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9
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M
.
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o
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h
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,"
IEE
E
Pre
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9
.
Evaluation Warning : The document was created with Spire.PDF for Python.