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t
f
ee
d
b
ac
k
co
n
tr
o
l
s
y
s
te
m
s
[
8
]
,
[
9
]
an
d
m
an
y
m
o
r
e.
T
h
er
e
also
i
m
m
er
g
e
m
an
y
m
eth
o
d
s
to
s
ea
r
ch
s
lid
i
n
g
s
u
r
f
ac
e
f
o
r
v
ar
iab
le
s
tr
u
ct
u
r
e
co
n
tr
o
l.
B
a
s
ed
o
n
liter
at
u
r
e,
c
o
n
v
e
x
o
p
ti
m
izatio
n
v
ia
L
MI
h
as
b
ee
n
u
s
ed
w
id
el
y
to
s
ea
r
ch
s
lid
in
g
s
u
r
f
ac
e
[
4
]
,
[
10
]
,
[
1
1
]
an
d
o
b
s
er
v
er
-
b
ased
co
n
tr
o
l
[
1
2
]
an
d
o
u
tp
u
t
f
ee
d
b
ac
k
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
in
[
13
]
.
Ho
w
e
v
er
in
[
1
0
]
,
[
4
]
,
th
e
ap
p
r
o
ac
h
r
e
q
u
ir
e
n
o
n
s
i
n
g
u
lar
tr
an
s
f
o
r
m
a
tio
n
to
o
b
tain
th
e
L
MI
s
u
c
h
th
at
s
l
id
in
g
s
u
r
f
ac
e
e
x
is
t
s
,
h
e
n
ce
in
v
o
l
v
i
n
g
g
en
er
al
ized
in
v
er
s
e
to
r
ea
ch
m
ai
n
r
esu
lts
.
An
o
th
er
n
o
n
li
n
ea
r
co
n
tr
o
l
ap
p
r
o
ac
h
n
a
m
el
y
B
ac
k
s
tep
p
in
g
te
ch
n
iq
u
e
w
as
d
e
v
elo
p
ed
in
ea
r
l
y
1
9
9
0
s
.
As
s
u
c
h
,
p
r
o
g
r
ess
in
b
ac
k
s
tep
p
in
g
co
n
tr
o
ller
s
f
o
r
n
o
n
li
n
ea
r
u
n
ce
r
tai
n
s
y
s
te
m
s
w
ith
b
o
u
n
d
ed
co
n
tr
o
l
is
r
ath
er
s
lo
w
an
d
s
til
l
at
in
f
a
n
c
y
lev
el.
On
l
y
in
1
9
9
0
s
th
e
r
esear
ch
i
n
b
ac
k
s
tep
p
in
g
s
ch
e
m
e
f
o
r
b
o
u
n
d
ed
co
n
tr
o
l
p
r
o
b
lem
is
g
ett
in
g
b
lo
s
s
o
m
,
b
u
t
d
o
es
n
o
t
co
n
s
id
er
u
n
ce
r
tai
n
ties
a
n
d
ex
o
g
en
o
u
s
p
er
t
u
r
b
ati
o
n
s
.
Fo
r
in
s
ta
n
ce
,
p
r
o
g
r
ess
i
n
b
ac
k
s
tep
p
in
g
f
o
r
n
o
n
lin
ea
r
s
y
s
te
m
w
it
h
b
o
u
n
d
ed
co
n
tr
o
l
in
[
1
4
]
,
b
ac
k
s
tep
p
in
g
w
it
h
b
o
u
n
d
ed
f
ee
d
b
ac
k
s
f
o
r
n
o
n
li
n
ea
r
s
y
s
te
m
in
[
15
]
an
d
in
teg
r
ato
r
b
ac
k
s
tep
p
in
g
f
o
r
o
r
d
e
r
in
teg
r
ato
r
ca
s
ca
d
e
s
y
s
te
m
w
it
h
s
tate
co
n
s
tr
ain
t
i
n
[
16
]
.
A
p
p
r
o
ac
h
in
[
16
]
is
a
r
ec
u
r
s
iv
e
-
i
n
ter
lacin
g
p
r
o
ce
d
u
r
e
f
o
r
tr
ac
k
in
g
,
u
n
d
er
ass
u
m
p
tio
n
t
h
at
t
h
e
s
y
s
te
m
i
s
lin
ea
r
a
n
d
n
o
u
n
ce
r
tain
t
y
is
c
o
n
s
id
er
ed
.
Mo
r
e
r
ec
en
tl
y
,
au
t
h
o
r
s
i
n
[
17
]
d
ev
is
ed
r
o
b
u
s
t
ad
ap
tiv
e
co
n
tr
o
l
alg
o
r
i
th
m
f
o
r
u
n
ce
r
tai
n
n
o
n
li
n
ea
r
s
y
s
te
m
u
s
i
n
g
b
ac
k
s
tep
p
i
n
g
w
i
t
h
co
n
s
id
er
atio
n
o
f
in
p
u
t
s
atu
r
atio
n
an
d
ex
ter
n
al
d
is
tu
r
b
an
ce
.
T
h
is
p
ap
er
p
r
o
p
o
s
e
r
o
b
u
s
t
b
ac
k
s
tep
p
in
g
w
i
th
L
y
ap
u
n
o
v
r
ed
esig
n
to
s
tab
ilize
u
n
ce
r
tai
n
s
y
s
te
m
.
T
h
e
d
esig
n
b
eg
i
n
s
w
i
th
th
e
s
tab
ili
za
tio
n
o
f
u
n
p
er
t
u
r
b
ed
s
u
b
s
y
s
t
e
m
v
ia
j
u
d
icio
u
s
s
el
ec
tio
n
o
f
co
n
tr
o
l
L
y
ap
u
n
o
v
f
u
n
ctio
n
.
Af
ter
w
ar
d
,
th
e
co
n
tr
o
l
L
y
ap
u
n
o
v
f
u
n
ctio
n
f
o
r
n
o
m
i
n
al
s
u
b
s
y
s
te
m
is
u
tili
ze
d
a
g
ain
f
o
r
s
y
s
te
m
w
it
h
u
n
ce
r
tai
n
tie
s
s
u
c
h
th
at
t
h
e
e
f
f
ec
t
o
f
u
n
ce
r
tain
t
ies
is
m
o
n
it
o
r
ed
f
o
r
r
o
b
u
s
tn
e
s
s
.
T
h
e
c
h
a
llen
g
e
m
i
g
h
t
b
e
i
n
s
ea
r
ch
i
n
g
f
o
r
r
o
b
u
s
t
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
an
d
s
o
m
e
ad
v
a
n
c
ed
m
at
h
e
m
atic
s
to
s
tr
u
ct
u
r
e
th
e
s
y
s
te
m
d
y
n
a
m
ic
s
eq
u
atio
n
to
s
u
it
co
n
tr
o
l
ap
p
r
o
ac
h
,
th
at
is
a
s
tr
ic
t
f
ee
d
b
ac
k
f
o
r
m
.
Ho
w
e
v
er
,
th
e
r
e
m
ain
in
g
task
s
o
f
s
e
lecti
n
g
a
co
n
tr
o
l
la
w
is
s
tr
ai
g
h
tf
o
r
w
ar
d
s
u
c
h
t
h
at
t
h
e
n
ec
es
s
it
y
o
f
L
y
ap
u
n
o
v
s
tab
ilit
y
cr
iter
io
n
i
s
f
u
l
f
illed
.
De
s
p
ite
o
f
f
er
i
n
g
f
le
x
ib
le
d
esig
n
,
o
th
e
r
ad
v
an
tag
e
s
o
f
b
ac
k
s
tep
p
in
g
w
it
h
L
y
ap
u
n
o
v
r
ed
esig
n
is
th
e
eli
m
in
at
io
n
o
f
u
s
e
f
u
l
n
o
n
lin
ea
r
ter
m
s
ca
n
b
e
av
o
id
ed
,
lead
in
g
to
r
ed
u
ce
co
n
tr
o
l
co
m
p
le
x
it
y
.
E
ar
l
y
w
o
r
k
o
n
L
y
ap
u
n
o
v
r
ed
esig
n
h
a
s
b
ee
n
e
s
tab
lis
h
ed
in
1
9
7
9
an
d
ca
n
b
e
r
ev
ie
w
e
d
in
[
1
8
]
an
d
[
19
]
.
Ho
w
ev
er
to
d
ate,
th
e
u
s
e
o
f
L
y
ap
u
n
o
v
r
ed
esig
n
i
n
b
ac
k
s
te
p
p
in
g
h
a
s
b
ee
n
at
a
n
e
w
s
ta
g
e.
L
ates
t
w
o
r
k
b
y
[
20
]
au
g
m
en
t
n
o
n
li
n
ea
r
d
a
m
p
i
n
g
f
u
n
ctio
n
s
to
th
e
u
n
p
er
tu
r
b
ed
s
tab
ilizin
g
f
u
n
cti
o
n
i
n
r
ed
esi
g
n
p
h
ase.
W
h
er
ea
s
[
2
1
]
u
s
e
s
s
a
t
u
r
atio
n
-
t
y
p
e
co
n
tr
o
l
as
an
a
u
g
m
e
n
tatio
n
to
th
e
s
tab
ilizin
g
f
u
n
ctio
n
i
n
r
ed
esig
n
p
h
ase.
B
o
th
ap
p
r
o
ac
h
es
p
r
o
v
ed
r
o
b
u
s
t
s
tab
ilit
y
a
n
d
r
o
b
u
s
t
p
er
f
o
r
m
a
n
ce
.
I
n
t
h
i
s
ar
ticle,
w
e
u
s
e
b
ac
k
s
tep
p
in
g
w
i
t
h
L
y
ap
u
n
o
v
r
ed
esi
g
n
ap
p
r
o
ac
h
to
d
esi
g
n
n
o
r
m
al
co
n
tr
o
l
an
d
b
o
u
n
d
ed
co
n
tr
o
l
i
n
o
r
d
er
to
s
tab
ilize
s
y
s
te
m
w
i
th
m
atc
h
ed
u
n
ce
r
tain
ties
.
W
e
p
r
o
v
e
th
e
s
tab
ilit
y
r
o
b
u
s
tn
es
s
u
p
o
n
p
er
tu
r
b
atio
n
in
i
n
itial
s
tate
s
as
w
el
l
as
lu
m
p
ed
m
atc
h
ed
u
n
ce
r
tain
t
ies
v
ia
L
y
ap
u
n
o
v
s
u
f
f
icie
n
c
y
a
n
d
n
ec
e
s
s
it
y
cr
ite
r
io
n
.
T
h
e
n
u
m
er
ical
s
y
s
te
m
s
i
n
[
1
0
]
is
u
s
ed
as
te
s
t
b
ed
an
d
t
h
e
s
y
s
te
m
s
tr
u
ct
u
r
e
is
r
ea
r
r
an
g
ed
to
ea
s
e
o
f
d
esi
g
n
w
h
er
e
th
e
d
is
t
u
r
b
an
ce
-
li
k
e
f
u
n
ctio
n
i
s
s
ep
ar
ated
f
r
o
m
m
o
d
e
l u
n
ce
r
tai
n
tie
s
.
As
t
h
e
f
ac
t
th
a
t
s
tab
iliz
in
g
u
n
s
tab
le
s
y
s
te
m
r
eq
u
ir
e
m
ass
iv
e
en
er
g
y
,
o
n
e
o
f
th
e
p
er
f
o
r
m
a
n
c
e
in
d
ex
in
th
is
w
o
r
k
is
to
o
b
tain
co
n
tr
o
l
s
ig
n
al
w
it
h
less
av
er
a
g
e
p
o
w
e
r
an
d
en
er
g
y
.
As
s
u
c
h
,
in
b
o
u
n
d
ed
co
n
tr
o
l
d
esig
n
,
w
e
r
elax
th
e
tr
an
s
ie
n
t
p
er
f
o
r
m
an
ce
b
y
allo
w
i
n
g
t
h
e
clo
s
e
d
-
lo
o
p
-
s
y
s
te
m
to
b
e
s
li
g
h
tl
y
s
lu
g
g
is
h
i
n
o
r
d
er
to
r
esp
ec
t
th
e
ad
m
is
s
ib
le
s
et
o
f
i
n
p
u
t
s
to
th
e
s
y
s
te
m
.
T
h
er
ef
o
r
e,
o
u
r
b
o
u
n
d
ed
c
o
n
tr
o
l
la
w
s
a
tis
f
ies
s
m
all
co
n
tr
o
l
p
r
o
p
er
ty
.
Ou
r
m
a
in
co
n
ce
r
n
al
s
o
to
av
o
id
ex
ce
s
s
i
v
e
co
n
tr
o
l
en
er
g
y
,
r
ed
u
ce
h
i
g
h
m
a
g
n
it
u
d
e
ch
atter
in
g
co
n
tr
o
l
s
ig
n
al
a
n
d
eli
m
i
n
ate
s
m
all
o
s
c
illatio
n
i
n
th
e
s
tab
ilizi
n
g
s
tate
w
it
h
o
u
t
h
a
v
i
n
g
ca
ta
s
tr
o
p
h
ic
ef
f
ec
t
to
th
e
clo
s
ed
-
lo
o
p
s
y
s
te
m
.
T
h
e
co
n
ten
t
o
f
t
h
i
s
p
ap
er
is
as
f
o
llo
w
s
.
Sectio
n
2
d
is
c
u
s
es
ab
o
u
t
th
eo
r
etica
l
b
ac
k
g
r
o
u
n
d
.
Sectio
n
3
an
d
s
ec
tio
n
4
d
i
s
cu
s
ab
o
u
t
n
o
r
m
al
co
n
tr
o
ller
d
esi
g
n
.
Sec
t
io
n
5
d
is
c
u
s
e
s
ab
o
u
t
b
o
u
n
d
e
d
co
n
tr
o
ller
d
esig
n
.
Sectio
n
6
tab
u
late
s
p
er
f
o
r
m
an
ce
in
d
ices.
L
a
s
tl
y
,
w
e
co
n
cl
u
d
ed
th
e
r
esu
lt
s
in
S
ec
tio
n
7
.
2.
P
RO
B
L
E
M
F
O
R
M
UL
AT
I
O
N
L
et
t
h
e
s
y
s
te
m
to
b
e
co
n
tr
o
lled
b
e
r
e
p
r
esen
ted
b
y
t
h
e
f
o
llo
win
g
d
i
f
f
er
en
tia
l e
q
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
n
t J
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lec
&
C
o
m
p
E
n
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9
,
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,
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9
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ir
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ap
p
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it
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|
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ch
f
ac
ilit
ie
s
,
r
esear
ch
co
llab
o
r
atio
n
an
d
r
esear
ch
g
r
an
t
f
u
n
cd
i
n
g
Vo
te
No
:
FR
GS
/1
/2
0
1
5
/
T
K0
4
/FKE/0
3
/
F0
0
2
5
9
an
d
PJ
P
/2
0
1
5
/FKE(
2
1
C
)
S0
1
6
4
1
.
RE
F
E
R
E
NC
E
S
[1
]
J.
M
o
re
n
o
,
“
Ex
p
e
rim
e
n
tal
Co
m
p
a
riso
n
o
f
S
a
tu
ra
ted
V
e
l
o
c
i
ty
Co
n
tro
ll
e
rs
f
o
r
DC
M
o
t
o
rs,”
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
En
g
i
n
e
e
rin
g
,
v
o
l.
5
9
,
p
p
.
2
5
4
-
2
5
9
,
2
0
0
8
.
[2
]
S
.
M
.
M
a
d
a
n
i
-
Esf
a
h
a
n
i,
M
.
Ha
c
h
e
d
,
e
t
a
l
.
,
“
Esti
m
a
ti
o
n
o
f
slid
i
n
g
m
o
d
e
d
o
m
a
in
s
o
f
u
n
c
e
rtain
v
a
riab
le
stru
c
t
u
re
s
y
ste
m
s w
it
h
b
o
u
n
d
e
d
c
o
n
tr
o
ll
e
rs
,
”
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
Au
to
ma
t
ic Co
n
tr
o
l
,
v
o
l
.
3
5
(4
)
,
p
p
.
4
4
6
-
4
4
9
,
1
9
9
0
.
[3
]
H.
H.
Ch
o
i
a
n
d
M
.
J.
Ch
u
n
g
,
“
Esti
m
a
ti
o
n
o
f
th
e
a
sy
m
p
to
ti
c
sta
b
il
it
y
re
g
io
n
o
f
u
n
c
e
rtain
sy
ste
m
s
w
it
h
b
o
u
n
d
e
d
slid
in
g
m
o
d
e
c
o
n
tro
ll
e
rs,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Au
t
o
ma
ti
c
C
o
n
tro
l
,
v
o
l.
3
9
(
1
1
),
p
p
.
2
2
7
5
-
2
2
7
8
,
1
9
9
4
.
[4
]
H.
H.
Ch
o
i
,
“
A
n
a
n
a
ly
sis
a
n
d
d
e
sig
n
m
e
th
o
d
f
o
r
u
n
c
e
rtain
v
a
riab
le
stru
c
tu
re
s
y
ste
m
s
w
it
h
b
o
u
n
d
e
d
c
o
n
tr
o
ll
e
rs,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Au
t
o
ma
t
ic Co
n
tro
l
,
v
o
l.
4
9
(4
)
,
p
p
.
6
0
2
-
6
0
7
,
2
0
0
4
.
[5
]
B.
Erk
a
l
a
n
d
H.
De
m
irel,
“
P
e
rf
o
rm
a
n
c
e
e
v
a
lu
a
ti
o
n
o
f
a
f
u
z
z
y
v
a
r
iab
le
stru
c
tu
re
sa
telli
te
a
tt
it
u
d
e
c
o
n
tr
o
ll
e
r
u
n
d
e
r
se
n
so
r
d
a
ta d
e
lay
,
”
T
u
rk
ish
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
&
Co
mp
u
ter
S
c
ien
c
e
s
,
v
o
l.
2
2
,
p
p
.
5
1
7
-
5
2
8
,
2
0
1
4
.
[6
]
W
.
Yu
n
-
ji
e
,
H.
Yu
e
-
y
a
n
g
a
n
d
L
.
X
iao
-
d
o
n
g
,
“
De
sig
n
M
e
th
o
d
o
f
A
c
ti
v
e
Di
stu
rb
a
n
c
e
Re
jec
ti
o
n
V
a
riab
l
e
S
tru
c
tu
re
Co
n
tr
o
l
S
y
ste
m
,
”
M
a
th
e
ma
ti
c
a
l
P
ro
b
lem
s in
En
g
in
e
e
rin
g
,
v
o
l
.
2
0
1
5
p
p
.
1
-
9
,
2
0
1
5
.
[7
]
K.
W
.
Gw
a
k
a
n
d
G
.
Y.
M
a
sa
d
a
,
“
No
n
li
n
e
a
r
Op
ti
m
a
l
Co
n
tro
l
o
f
a
n
In
p
u
t
-
C
o
n
stra
in
e
d
a
n
d
E
n
c
lo
se
d
T
h
e
r
m
a
l
P
r
o
c
e
ss
in
g
S
y
ste
m
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
C
o
n
tr
o
l,
Au
t
o
ma
ti
o
n
,
a
n
d
S
y
ste
ms
,
v
o
l.
6
(
2
),
p
p
.
1
6
0
-
1
7
0
,
2
0
0
8
.
[8
]
H.
Ja
y
a
k
o
d
y
a
n
d
J.
Ka
t
u
p
it
iy
a
,
“
A
g
a
in
a
d
a
p
ti
v
e
V
a
riab
le
S
tr
u
c
tu
re
C
o
n
tr
o
l
m
e
th
o
d
o
lo
g
y
f
o
r
se
c
o
n
d
o
r
d
e
r
n
o
n
li
n
e
a
r
d
y
n
a
m
ic
s
y
ste
m
s
,
”
IE
EE
5
3
rd
An
n
u
a
l
Co
n
fer
e
n
c
e
o
n
De
c
isio
n
a
n
d
Co
n
tro
l
(
CDC)
,
L
o
s
A
n
g
e
le
s,
Ca
li
f
o
rn
ia,
USA
,
p
p
.
4
3
9
1
-
4
3
9
7
,
2
0
1
4
.
[9
]
C.
Je
a
n
g
-
L
in
a
n
d
T
.
Ju
i
-
Ch
e
,
“
D
y
n
a
m
ic
Ou
tp
u
t
F
e
e
d
b
a
c
k
S
li
d
in
g
M
o
d
e
Co
n
tro
ll
e
r
De
sig
n
F
o
r
C
h
a
tt
e
rin
g
Av
o
id
a
n
c
e
,
”
J
o
u
rn
a
l
o
f
M
a
ri
n
e
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
,
v
o
l.
2
2
(3
),
p
p
.
2
7
7
-
2
8
4
,
2
0
1
4
.
[1
0
]
H.
H.
Ch
o
i,
“
A
n
e
w
m
e
th
o
d
f
o
r
v
a
riab
le
stru
c
tu
re
c
o
n
tro
l
sy
ste
m
d
e
sig
n
:
A
li
n
e
a
r
m
a
tri
x
in
e
q
u
a
li
ty
a
p
p
ro
a
c
h
,
”
Au
to
m
a
ti
c
a
,
v
o
l.
3
3
,
p
p
.
2
0
8
9
-
2
0
9
2
,
1
9
9
7
.
[1
1
]
F
,
L
iao
a
n
d
L
.
L
i
,
“
Ro
b
u
st
p
re
v
iew
c
o
n
tro
l
f
o
r
u
n
c
e
rtain
d
isc
re
te
-
ti
m
e
s
y
ste
m
s
b
a
se
d
o
n
L
M
I
,
”
O
p
ti
ma
l
C
o
n
tr
o
l
Ap
p
li
c
a
ti
o
n
s
a
n
d
M
e
th
o
d
s
,
v
o
l.
3
8
(1
),
2
0
1
7
.
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:
2
0
8
8
-
8708
N
ew r
o
b
u
s
t b
o
u
n
d
ed
c
o
n
tr
o
l f
o
r
u
n
ce
r
ta
in
n
o
n
lin
ea
r
s
ystem
u
s
in
g
…
(
Mu
h
a
mma
d
N
iz
a
m
K
a
ma
r
u
d
in
)
1099
[1
2
]
M
.
Niz
a
m
Ka
m
a
ru
d
in
,
S
.
M
d
.
R
o
z
a
li
a
n
d
A
.
Ra
sh
id
Hu
sa
in
,
“
Ob
se
rv
e
r
-
b
a
se
d
o
u
tp
u
t
f
e
e
d
b
a
c
k
c
o
n
tro
l
w
it
h
li
n
e
a
r
q
u
a
d
ra
ti
c
p
e
rf
o
rm
a
n
c
e
,
”
Pro
c
e
d
ia
En
g
in
e
e
rin
g
,
v
o
l.
5
3
,
p
p
.
2
3
3
-
2
4
0
,
2
0
1
3
.
[1
3
]
C.
P
.
T
a
n
a
n
d
C.
Ed
w
a
rd
s,
“
A
n
L
M
I
a
p
p
ro
a
c
h
f
o
r
d
e
sig
n
i
n
g
slid
in
g
m
o
d
e
o
b
se
rv
e
rs,”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Co
n
tro
l
,
v
o
l.
7
4
,
p
p
.
1
5
5
9
-
1
5
6
8
,
2
0
1
0
.
[1
4
]
S
.
M
d
.
R
o
z
a
li
,
M
.
Niz
a
m
Ka
m
a
ru
d
i
n
,
M
.
F
u
a
'
a
d
Ra
h
m
a
t
a
n
d
A
.
Ra
sh
id
Hu
sa
in
,
“
A
s
y
m
p
to
ti
c
T
r
a
c
k
in
g
P
o
siti
o
n
Co
n
tr
o
l
f
o
r
No
n
li
n
e
a
r
S
y
ste
m
s u
sin
g
Ba
c
k
ste
p
p
in
g
T
e
c
h
n
iq
u
e
,
”
Pro
c
e
d
ia
E
n
g
i
n
e
e
rin
g
,
v
o
l.
5
3
,
p
p
.
2
5
5
-
2
6
3
,
2
0
1
3
.
[1
5
]
M
u
h
a
m
m
a
d
Niz
a
m
K
a
m
a
ru
d
in
,
A
b
d
u
l
Ra
sh
id
Hu
sa
i
n
,
M
o
h
a
m
a
d
No
h
A
h
m
a
d
,
Zah
a
ru
d
d
in
M
o
h
a
m
e
d
,
“
A
Un
iv
e
rsa
l
F
o
rm
u
la
f
o
r
As
y
m
p
to
ti
c
S
tab
il
iza
ti
o
n
w
it
h
Bo
u
n
d
e
d
C
o
n
tr
o
ls
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
mp
u
t
e
r E
n
g
in
e
e
rin
g
,
v
o
l.
5
(
1
),
p
p
.
1
1
1
-
1
1
8
,
2
0
1
5
.
[1
6
]
K.
B.
Ng
o
,
R.
M
a
h
o
n
y
,
e
t
a
l.
,
“
In
teg
ra
to
r
b
a
c
k
ste
p
p
in
g
d
e
sig
n
fo
r
m
o
ti
o
n
s
y
ste
m
s
w
it
h
v
e
lo
c
it
y
c
o
n
stra
in
t,
”
5
th
Asia
n
C
o
n
tro
l
C
o
n
fer
e
n
c
e
.
2
0
0
4
.
[1
7
]
C.
W
e
n
,
J.
Zh
o
u
,
e
t
a
l
.
,
“
Ro
b
u
st
A
d
a
p
ti
v
e
Co
n
tro
l
o
f
Un
c
e
rtain
No
n
li
n
e
a
r
S
y
ste
m
s
in
th
e
P
re
se
n
c
e
o
f
In
p
u
t
S
a
tu
ra
ti
o
n
a
n
d
Ex
tern
a
l
Dist
u
rb
a
n
c
e
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s o
n
A
u
t
o
ma
ti
c
Co
n
tro
l
,
v
o
l.
5
6
(7
),
p
p
.
1
6
7
2
-
1
6
7
8
,
2
0
1
1
.
[1
8
]
R.
R.
G
u
p
ta
a
n
d
V
.
V
.
C
h
a
lam
,
“
Ly
a
p
u
n
o
v
Re
d
e
sig
n
Of
M
o
d
e
l
R
e
f
e
re
n
c
e
A
d
a
p
ti
v
e
Co
n
tro
l
S
y
ste
m
s,”
J
o
u
rn
a
l
o
f
th
e
In
stit
u
ti
o
n
o
f
El
e
c
tro
n
ics
a
n
d
T
e
lec
o
mm
u
n
ica
ti
o
n
En
g
in
e
e
rs
,
v
o
l.
2
5
(
1
1
),
p
p
.
4
5
6
-
4
6
1
,
1
9
7
9
.
[1
9
]
H.
Ka
n
g
,
G
.
V
a
c
h
tse
v
a
n
o
s
a
n
d
F
.
L
.
L
e
w
is,
“
Ly
a
p
u
n
o
v
Re
d
e
si
g
n
F
o
r
S
tru
c
tu
ra
l
Co
n
v
e
rg
e
n
c
e
I
m
p
ro
v
e
m
e
n
t
In
A
d
a
p
ti
v
e
Co
n
tro
l,
”
I
EE
E
T
r
a
n
s
a
c
ti
o
n
s
o
n
Au
t
o
ma
t
ic Co
n
tro
l
,
v
o
l.
3
5
(
2
),
p
p
.
2
5
0
-
2
5
3
,
1
9
9
0
.
[2
0
]
M
.
N.
Ka
m
a
ru
d
in
,
A
.
R.
Hu
sa
i
n
a
n
d
M
.
N.
A
h
m
a
d
,
“
Co
n
tro
l
o
f
Un
c
e
rtain
No
n
li
n
e
a
r
S
y
ste
m
s
u
sin
g
M
ix
e
d
No
n
li
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