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d
eg
r
ee
s
o
f
f
r
ee
d
o
m
.
Ho
w
e
v
er
,
in
r
ea
l
lif
e,
th
e
p
r
o
ce
s
s
m
o
d
el
m
a
y
v
ar
y
s
li
g
h
tl
y
f
r
o
m
th
e
ac
t
u
al
p
r
o
ce
s
s
,
an
d
th
er
e
co
u
ld
b
e
a
p
o
ten
tial
o
cc
u
r
r
en
ce
o
f
d
ea
d
tim
e
u
n
ce
r
t
ain
t
y
[
7
]
.
Ho
w
e
v
er
,
m
o
s
t o
f
t
h
e
w
o
r
k
d
o
n
e
d
id
n
o
t
co
n
s
id
er
t
h
e
e
f
f
ec
t o
f
d
ea
d
ti
m
e
u
n
ce
r
tain
t
y
o
n
t
h
eir
r
esp
ec
tiv
e
m
o
d
if
ied
S
m
it
h
p
r
ed
icto
r
c
o
n
tr
o
l
s
tr
u
ct
u
r
es
f
o
r
f
ir
s
t
o
r
d
er
p
r
o
ce
s
s
w
it
h
d
ea
d
ti
m
e
h
av
i
n
g
t
w
o
d
eg
r
ee
o
f
f
r
ee
d
o
m
(
d
o
f
)
co
n
tr
o
l
s
ch
e
m
e.
T
h
er
ef
o
r
e,
t
h
e
r
esp
o
n
s
e
o
f
t
h
e
m
o
d
i
f
ied
co
n
tr
o
l
s
ch
e
m
e
s
d
u
e
to
t
h
e
d
ea
d
ti
m
e
u
n
ce
r
tai
n
t
y
w
a
s
n
o
t
test
ed
an
d
th
eir
co
n
s
eq
u
e
n
t r
es
p
o
n
s
es
w
as
n
o
t d
eter
m
i
n
ed
.
b.
T
h
e
p
r
o
p
o
s
ed
s
o
lu
tio
n
T
h
is
p
ap
er
co
m
p
ar
es
th
e
g
e
n
e
r
al
S
m
it
h
p
r
ed
icto
r
s
ch
e
m
e
al
o
n
g
w
it
h
o
th
er
t
w
o
m
o
d
i
f
ied
s
tr
u
ct
u
r
es
o
f
S
m
it
h
p
r
ed
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r
co
n
tr
o
l
s
ch
e
m
es
to
o
b
tain
a
r
e
s
p
o
n
s
e
w
it
h
an
d
w
i
th
o
u
t
t
h
e
ef
f
ec
t
o
f
d
ea
d
ti
m
e
u
n
ce
r
tai
n
t
y
f
o
r
t
w
o
d
eg
r
ee
o
f
f
r
ee
d
o
m
f
ir
s
t
o
r
d
er
p
r
o
ce
s
s
es
w
it
h
d
ea
d
ti
m
e
(
FOP
DT
)
u
s
in
g
Ma
t
lab
/Si
m
u
li
n
k
s
o
f
t
w
ar
e
.
T
h
e
r
esu
lts
o
f
t
h
e
s
i
m
u
latio
n
s
h
o
w
h
o
w
all
t
h
e
th
r
ee
s
c
h
e
m
e
s
r
esp
o
n
d
w
it
h
a
n
d
w
i
th
o
u
t
d
ea
d
ti
m
e
u
n
c
er
tain
t
y
an
d
at
th
e
s
a
m
e
ti
m
e
-
s
o
l
v
in
g
i
s
s
u
es o
f
s
tab
ilit
y
,
s
lo
w
er
r
esp
o
n
s
e
a
n
d
lar
g
e
o
v
er
s
h
o
o
t o
u
tp
u
t
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
First,
th
e
Gen
er
al
S
m
it
h
p
r
ed
icto
r
co
n
tr
o
l
s
ch
em
e
i
s
d
escr
ib
ed
.
T
h
en
,
t
w
o
co
n
tr
o
l
s
ch
e
m
e
s
w
it
h
m
o
d
i
f
ied
S
m
it
h
p
r
ed
icto
r
f
o
r
f
ir
s
t
o
r
d
er
p
r
o
ce
s
s
w
ith
d
ea
d
tim
e
[
8
]
ar
e
ex
p
lain
ed
.
T
h
ese
co
n
tr
o
l
s
ch
e
m
es
u
s
e
P
I
D/P
I
(
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
er
iv
ativ
e/
p
r
o
p
o
r
tio
n
al
in
teg
r
al)
C
o
n
tr
o
ller
[
9
,
1
0
]
as
it
is
f
ea
s
ib
le
an
d
ea
s
y
to
i
m
p
le
m
en
t.
All
t
h
e
s
c
h
e
m
es
a
r
e
s
i
m
u
lated
u
s
i
n
g
Si
m
u
li
n
k
/
Ma
tlab
s
o
f
t
w
ar
e.
R
o
b
u
s
t
s
tab
i
lit
y
a
n
al
y
s
i
s
is
a
ls
o
ca
r
r
ied
o
u
t
to
o
b
tain
ce
r
tain
p
ar
a
m
eter
s
[
1
1
,
1
2
]
.
A
ls
o
,
f
o
r
m
u
las
d
er
iv
ed
b
y
Mo
r
ar
i
an
d
Z
af
ir
io
u
w
er
e
u
s
ed
to
ca
lcu
late
o
t
h
er
p
ar
a
m
eter
s
[
1
3
]
.
T
h
e
r
em
ai
n
i
n
g
p
ar
a
m
et
er
s
w
er
e
ca
lc
u
lated
t
h
r
o
u
g
h
th
e
tr
ial
a
n
d
er
r
o
r
m
et
h
o
d.
2
.
1
.
G
ener
a
l
s
m
it
h pre
d
ict
o
r
co
ntr
o
l sche
m
e:
T
w
o
DO
F
c
o
ntr
o
ller
f
o
r
F
O
P
DT
T
h
e
S
m
it
h
p
r
ed
icto
r
co
n
tr
o
l
s
ch
e
m
e
is
s
h
o
w
n
i
n
Fi
g
u
r
e
1
,
w
h
ic
h
h
as
G(
s
)
w
h
ic
h
i
s
t
h
e
f
ir
s
t
o
r
d
er
o
p
en
lo
o
p
p
r
o
ce
s
s
w
it
h
th
e
d
elay
ele
m
e
n
t,
th
e
p
r
o
ce
s
s
m
o
d
el
an
d
a
p
r
o
p
o
r
tio
n
al
in
te
g
r
al
d
er
iv
ati
v
e
co
n
tr
o
ller
[
1
4
,
1
5
]
.
Fig
u
r
e
1
.
Gen
er
al
S
m
ith
p
r
ed
i
cto
r
t
w
o
-
D
OF c
o
n
tr
o
ller
f
o
r
F
OP
DT
As
o
b
s
er
v
ed
,
th
er
e
ar
e
t
w
o
clo
s
ed
lo
o
p
s
in
th
e
co
n
tr
o
l
s
ch
e
m
e.
T
h
e
o
u
ts
id
e
co
n
tr
o
l
s
y
s
te
m
lo
o
p
s
en
d
s
th
e
en
d
in
f
o
r
m
at
io
n
to
t
h
e
i
n
p
u
t
as
al
w
a
y
s
.
Ho
w
e
v
er
,
th
e
o
u
ter
co
n
tr
o
l lo
o
p
d
o
es
n
o
t
g
i
v
e
to
ler
ab
le
d
ata
as
th
e
m
e
s
s
a
g
e
s
en
t
is
p
a
s
t
d
u
e
to
t
h
e
d
ela
y
th
a
t
ex
is
t
s
i
n
th
e
lo
o
p
[
1
6
]
.
A
s
a
r
es
u
lt,
th
e
p
lan
t
i
s
d
r
iv
e
n
b
y
th
e
in
n
er
lo
o
p
th
at
h
as
th
e
in
co
r
r
ec
t
cu
r
r
en
t
o
u
tp
u
t
d
ata
f
o
r
th
e
f
e
w
s
ec
o
n
d
s
d
ela
y
ex
i
s
t
in
g
i
n
th
e
s
y
s
te
m
.
T
h
e
Op
en
-
lo
o
p
r
esp
o
n
s
e
f
o
r
Fig
u
r
e
1
is
:
(
)
=
(
)
(
)
−
(
)
(
1
)
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
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n
g
,
Vo
l.
9
,
No
.
4
,
A
u
g
u
s
t 2
0
1
9
:
3
0
0
2
-
3014
3004
T
o
eli
m
in
a
te
d
ea
d
ti
m
e
in
f
o
r
m
atio
n
,
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n
l
y
c
u
r
r
en
t
i
n
f
o
r
m
atio
n
in
o
p
en
-
lo
o
p
f
ee
d
b
ac
k
is
n
ee
d
ed
,
th
at
is
∗
(
)
=
(
)
(
)
(
)
(
2
)
No
w
,
’
(
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=
{
(
1
−
−
)
(
)
}
(
)
(
s
)
(
3)
So
,
w
h
e
n
Y’
(
s
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is
ad
d
ed
w
i
th
Y(
s
)
,
th
e
in
f
o
r
m
atio
n
to
th
e
co
n
tr
o
ller
is
n
o
t
th
e
d
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y
ed
r
esp
o
n
s
e
b
u
t
th
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.
∗
(
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’
(
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+
(
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−
(
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(
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(
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+
{
(
1
−
−
)
(
)
}
(
)
(
)
=
(
)
(
)
(
)
(
4
)
T
h
er
ef
o
r
e,
if
in
th
e
co
n
tr
o
l
s
ch
e
m
e,
th
e
ac
tu
al
p
r
o
ce
s
s
m
atch
es
th
e
co
n
tr
o
l
s
c
h
e
m
e
p
l
an
t
m
o
d
el
p
er
f
ec
tl
y
,
t
h
e
n
f
ee
d
b
ac
k
lo
o
p
d
o
es
n
o
t
co
n
tai
n
t
h
e
d
ea
d
ti
m
e
ele
m
e
n
t
[
1
7
,
1
8
]
an
d
t
h
e
co
n
tr
o
ller
ca
n
tak
e
th
e
p
r
o
p
er
co
n
tr
o
ller
ac
t
io
n
.
2
.
2
.
F
irst
co
ntr
o
l sche
m
e:
T
w
o
DO
F
c
o
ntr
o
ller
f
o
r
F
O
P
DT
T
h
e
co
n
tr
o
l
s
ch
e
m
e
p
r
o
p
o
s
ed
b
y
au
t
h
o
r
s
i
n
[
1
9
]
is
s
h
o
w
n
in
F
ig
u
r
e
2
.
I
t
ca
n
b
e
n
o
tice
d
th
at
t
h
e
s
ch
e
m
e
i
s
q
u
ite
lik
e
th
a
t o
f
t
h
e
S
m
i
th
P
r
ed
icto
r
w
it
h
t
w
o
ad
d
itio
n
al
f
ilter
s
.
FOP
DT
co
n
tr
o
l sch
e
m
e
co
n
s
is
ts
o
f
F(s)
w
h
ic
h
i
s
t
h
e
1
st
DOF
p
r
e
-
f
ilter
,
C
(
s
)
t
h
e
co
n
tr
o
ller
,
Q(
s
)
w
h
ic
h
i
s
th
e
s
ec
o
n
d
-
d
eg
r
ee
f
i
lter
lo
w
-
p
as
s
.
I
t
also
h
a
s
P
(
s
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w
h
ic
h
is
t
h
e
s
tab
le
p
r
o
ce
s
s
an
d
th
e
ti
m
e
d
ela
y
.
T
h
e
f
ee
d
b
ac
k
co
n
tr
o
ller
is
f
u
n
d
a
m
en
ta
ll
y
a
P
I
D
co
n
tr
o
ller
.
Fig
u
r
e
2
.
First co
n
tr
o
l s
ch
e
m
e
T
w
o
-
DOF
c
o
n
tr
o
ller
f
o
r
FOP
DT
I
n
th
e
s
c
h
e
m
e,
t
h
er
e
is
n
e
g
ativ
e
u
n
it
y
f
ee
d
b
ac
k
w
h
ich
s
u
r
r
o
u
n
d
s
t
h
e
p
o
s
iti
v
e
f
ee
d
b
ac
k
lo
o
p
co
n
tain
i
n
g
Q(
s
)
an
d
th
e
tim
e
d
ela
y
.
Her
e
it
ca
n
b
e
n
o
ticed
th
at
s
et
-
p
o
in
t
r
es
p
o
n
s
e
[
(
s
)
]
is
−
(
)
(
)
=
(
)
(
)
−
(
)
if
C
o
n
tr
o
ller
[
(
)
]
is
d
esig
n
ed
as
(
)
(
)
,
d
o
esn
’
t
h
a
v
e
th
e
2
nd
d
eg
r
ee
o
f
f
r
ee
d
o
m
(
d
o
f
)
Q(
s
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in
its
f
in
al
f
o
r
m
u
la.
Si
m
ilar
l
y
,
th
e
d
is
tu
r
b
an
ce
r
esp
o
n
s
e
[
(
s
)
]
w
h
ic
h
is
[
1
−
−
(
)
]
−
(
)
,
d
o
esn
’
t
h
a
v
e
t
h
e
1
st
d
eg
r
ee
o
f
f
r
ee
d
o
m
F(s)
i
n
it
s
f
in
a
l
eq
u
atio
n
.
T
h
er
ef
o
r
e,
t
h
e
r
esp
o
n
s
es
t
h
at
ar
e
th
e
d
is
t
u
r
b
an
ce
an
d
th
e
s
et
-
p
o
i
n
t
r
esp
ec
tiv
el
y
ca
n
b
e
f
o
r
m
u
lated
in
d
i
v
id
u
all
y
a
s
th
e
y
ar
e
d
ec
o
u
p
led
f
r
o
m
ea
ch
o
t
h
er
.
Si
m
u
li
n
k
b
lo
ck
d
iag
r
a
m
eq
u
ati
o
n
s
u
s
ed
f
o
r
f
ir
s
t
co
n
tr
o
l
s
c
h
e
m
e
ar
e
s
h
o
w
n
i
n
T
ab
le
1
.
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ab
le
1
.
Sim
u
li
n
k
b
lo
ck
d
iag
r
a
m
eq
u
atio
n
s
f
o
r
First C
o
n
tr
o
l Sch
e
m
e
I
n
th
i
s
s
ch
e
m
e,
t
h
er
e
ar
e
t
w
o
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ar
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eter
s
to
tu
n
e.
T
h
at
is
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a
m
b
d
a
(
λ
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d
A
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α
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h
a
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e
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ar
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eter
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t
co
r
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elate
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e
r
o
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u
s
t
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tab
ilit
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n
d
th
e
d
is
t
u
r
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ce
r
e
s
p
o
n
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e.
W
h
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s
,
la
m
b
d
a
i
s
a
m
ea
s
u
r
e
o
f
h
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w
m
u
ch
ti
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s
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iv
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to
co
n
tr
o
ller
to
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is
p
la
y
t
h
e
o
u
tp
u
t.
P
r
o
c
e
ss
w
i
t
h
o
u
t
d
e
l
a
y
:
L
o
w
-
P
a
ss
F
i
l
t
e
r
:
Pre
-
F
i
l
t
e
r
:
C
o
n
t
r
o
l
l
e
r
:
(
)
=
+
1
(
)
=
1
+
1
(
)
=
+
1
+
1
(
)
=
(
)
(
)
=
+
1
(
+
1
)
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
P
erfo
r
ma
n
ce
ev
a
lu
a
tio
n
o
f tw
o
d
eg
r
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f f
r
ee
d
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m
c
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ve
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tio
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a
l c
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tr
o
ller
...
(
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elin
d
a
S
h
a
r
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B
r
ig
h
t)
3005
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o
ca
lcula
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a
lue o
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a
lph
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o
m
m
e
n
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ed
v
alu
e
o
f
α
i
s
(
1
to
1
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4
)
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w
h
en
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s
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i
s
a
f
ir
s
t
o
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er
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ilter
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as
s
.
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o
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lcula
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da
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m
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n
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ed
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λ
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2
o
p
en
lo
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p
tim
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tan
t
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DT
: λ>0
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2
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t: λ >
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5
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en
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s
2
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3
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Seco
nd
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ntr
o
l s
che
m
e
:
T
w
o
DO
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c
o
ntr
o
ller
f
o
r
F
O
P
DT
T
h
e
co
n
tr
o
l
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ch
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m
e
p
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p
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ed
b
y
a
u
t
h
o
r
s
i
n
[
2
0
]
co
n
s
is
t
s
o
f
t
w
o
f
i
lter
s
.
I
t
ca
n
b
e
n
o
tic
ed
th
at
it
s
ar
r
an
g
e
m
en
t
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li
k
e
t
h
e
S
m
it
h
p
r
ed
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r
.
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h
e
ar
r
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g
e
m
e
n
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s
ts
o
f
1
(
s
)
th
at
en
h
an
c
es
th
e
s
et
p
o
in
t
r
esp
o
n
s
e
w
h
ich
is
a
tr
ad
itio
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al
f
ilter
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n
d
2
(
s
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th
at
i
m
p
r
o
v
es
th
e
d
is
t
u
r
b
an
ce
r
ej
ec
tio
n
r
es
p
o
n
s
e
w
h
ich
i
s
a
p
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ed
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r
f
ilter
.
(
s
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is
th
e
P
I
C
o
n
tr
o
ller
.
P
(
s
)
is
th
e
ac
tu
al
p
r
o
ce
s
s
w
ith
o
u
t
d
ela
y
.
(
s
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is
a
s
y
s
te
m
m
o
d
el
w
it
h
th
e
ab
s
e
n
ce
o
f
th
e
d
elay
p
ar
t
an
d
−
is
th
e
d
elay
p
ar
t
w
it
h
ti
m
e
d
ela
y
.
T
h
e
d
is
tu
r
b
an
ce
g
iv
e
n
h
er
e
is
D(
s
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.
T
h
e
R
esp
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o
f
s
e
t
-
p
o
in
t a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
3
is
d
er
iv
ed
as f
o
llo
w
s
:
(
)
=
(
)
(
)
=
1
(
)
(
)
(
s
)
1
+
(
)
(
s
)
(
5
)
W
h
er
ea
s
,
th
e
d
is
t
u
r
b
an
ce
r
esp
o
n
s
e
o
f
t
h
e
s
c
h
e
m
e
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
3
is
g
iv
e
n
b
y
:
(
)
=
(
)
(
)
=
(
)
[
1
−
(
s
)
(
)
2
(
)
1
+
(
s
)
(
)
]
=
(
)
(
6
)
T
h
e
ab
o
v
e
eq
u
atio
n
s
h
o
ld
w
ell
if
th
e
ac
t
u
al
p
r
o
ce
s
s
m
atch
e
s
t
h
e
p
r
o
ce
s
s
m
o
d
el.
Fig
u
r
e
3
.
Seco
n
d
co
n
tr
o
l sch
e
m
e
T
w
o
-
D
OF c
o
n
tr
o
ller
f
o
r
F
OP
DT
I
n
t
h
is
s
c
h
e
m
e,
th
er
e
ar
e
t
wo
p
ar
am
eter
s
to
t
u
n
e.
T
h
at
i
s
,
0
an
d
1
.
1
is
th
e
p
ar
a
m
eter
t
h
at
co
r
r
elate
s
b
et
w
ee
n
t
h
e
r
o
b
u
s
t
s
tab
ilit
y
a
n
d
th
e
d
is
t
u
r
b
an
ce
r
esp
o
n
s
e.
W
h
er
ea
s
,
0
is
s
et
to
o
b
tain
t
h
e
p
r
o
ce
s
s
r
esp
o
n
s
e
to
r
ea
ch
th
e
d
esire
d
v
alu
e
v
er
y
f
a
s
t.
T
ab
le
2
an
d
T
ab
le
3
p
r
esen
ts
th
e
f
o
r
m
u
las
u
tili
ze
d
f
o
r
v
ar
io
u
s
p
ar
am
eter
s
.
T
ab
le
2
.
Sim
u
li
n
k
b
lo
ck
d
iag
r
a
m
eq
u
atio
n
s
f
o
r
Seco
n
d
C
o
n
t
r
o
l Sch
e
m
e
A
c
t
u
a
l
P
r
o
c
e
ss w
i
t
h
o
u
t
d
e
l
a
y
:
T
r
a
d
i
t
i
o
n
a
l
F
i
l
t
e
r
:
P
r
e
d
i
c
t
o
r
F
i
l
t
e
r
:
P
r
o
c
e
ss mo
d
e
l
w
i
t
h
o
u
t
d
e
l
a
y
:
(
s
)
=
+
1
1
(
)
=
0
+
1
0
+
1
2
(
)
=
0
+
1
1
+
1
1
(
)
=
1
+
1
T
ab
le
3
.
P
ar
am
eter
s
u
s
ed
in
Si
m
u
lin
k
d
iag
r
a
m
eq
u
atio
n
s
f
o
r
Seco
n
d
C
o
n
tr
o
l Sc
h
e
m
e
0
=
0
=
1
=
P
I
t
u
n
i
n
g
p
a
r
a
me
t
e
r
s
:
=
(
o
p
e
n
l
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o
p
t
i
me
c
o
n
st
a
n
t
o
f
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sy
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e
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0
7
=
7
(
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t
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mi
n
e
d
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t
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sp
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t
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=
0
14
.
H
e
r
e
1
i
s t
u
n
e
d
b
y
t
r
i
a
l
a
n
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e
r
r
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r
me
t
h
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d
w
h
i
c
h
i
n
d
i
r
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c
t
l
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h
a
n
g
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s
K
c
=
0
.
5
(
p
r
o
p
o
r
t
i
o
n
a
l
g
a
i
n
)
=
(
i
n
t
e
g
r
a
l
t
i
me
)
1
−
−
1
+
1
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.
9
,
No
.
4
,
A
u
g
u
s
t 2
0
1
9
:
3
0
0
2
-
3014
30
06
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
I
n
t
h
is
s
ec
tio
n
,
th
e
r
esu
lts
o
f
th
e
r
esear
c
h
ar
e
e
x
p
lain
ed
.
T
h
e
a
n
al
y
s
is
an
d
co
m
p
ar
i
s
o
n
o
f
g
en
er
al
S
m
it
h
p
r
ed
icto
r
s
ch
e
m
e,
f
ir
s
t
m
o
d
i
f
ied
S
m
ith
p
r
ed
icto
r
s
ch
e
m
e
a
n
d
s
ec
o
n
d
m
o
d
i
f
ied
S
m
it
h
p
r
ed
icto
r
co
n
tr
o
l
s
ch
e
m
e
f
o
r
t
w
o
ca
s
e
s
ar
e
d
escr
ib
ed
.
T
h
e
f
ir
s
t
ca
s
e
is
f
o
r
FOP
DT
p
r
o
ce
s
s
w
it
h
o
u
t
d
e
ad
ti
m
e
u
n
ce
r
tain
t
y
[
n
o
m
i
n
al
ca
s
e]
a
n
d
th
e
s
ec
o
n
d
o
n
e
f
o
r
FOP
DT
p
r
o
ce
s
s
w
it
h
d
ea
d
ti
m
e
u
n
ce
r
tai
n
t
y
.
T
h
e
FOP
DT
c
o
n
tr
o
l
s
y
s
te
m
u
til
is
ed
to
p
r
o
ce
ed
w
it
h
th
e
co
m
p
ar
ati
v
e
a
n
al
y
s
is
i
s
:
T
(
s
)
=
P
(
s
)
−
=
−
0
.
5
1
+
(
7
)
T
h
is
f
ir
s
t
o
r
d
er
p
r
o
ce
s
s
w
i
th
t
h
e
d
ea
d
ti
m
e
ta
k
en
f
o
r
t
h
e
s
t
u
d
y
h
a
s
a
d
ea
d
ti
m
e
u
n
ce
r
tai
n
t
y
(
∆
)
o
f
1
s
ec
an
d
a
s
tep
in
p
u
t d
=
-
0
.
4
th
at
i
s
t
h
e
d
is
tu
r
b
an
ce
w
h
ich
a
cts at
5
s
ec
s
.
T
h
e
o
p
en
lo
o
p
ti
m
e
co
n
s
ta
n
t i
s
ta
k
en
as 1
s
ec
s
w
it
h
d
ea
d
t
i
m
e
o
f
0
.
5
s
ec
s
.
3
.
1
.
No
m
i
na
l c
a
s
e
(
no
dea
d t
i
m
e
un
ce
rt
a
inty
)
3
.
1
.
1
.
G
ener
a
l s
m
it
h pre
d
ict
o
r
co
ntr
o
l sche
m
e
Usi
n
g
th
e
ca
lc
u
lated
an
d
co
n
s
id
er
ed
v
alu
es
f
o
r
th
e
p
ar
a
m
e
ter
s
as
s
h
o
w
n
i
n
T
ab
le
4
,
th
e
Si
m
u
lin
k
d
iag
r
a
m
as
s
h
o
w
n
i
n
Fi
g
u
r
e
4
an
d
Fig
u
r
e
5
is
i
m
p
le
m
en
ted
in
Ma
tlab
s
o
f
t
w
ar
e.
W
e
s
ee
t
h
at
f
o
r
a
s
tep
in
p
u
t
w
it
h
m
a
g
n
it
u
d
e
3
in
Fi
g
u
r
e
5
.
T
h
e
d
ea
d
tim
e
w
a
s
f
o
u
n
d
to
b
e
0
.
2
6
1
s
ec
s
.
T
h
e
r
is
e
ti
m
e
i
s
2
.
2
7
3
s
ec
.
T
h
e
s
ettlin
g
ti
m
e
at
2
%
to
ler
an
ce
is
1
1
.
9
s
ec
s
.
T
h
e
p
ea
k
ti
m
e
is
1
5
.
0
1
s
ec
s
.
Fin
all
y
,
t
h
e
p
e
r
ce
n
tag
e
o
v
er
s
h
o
o
t
is
(
3
−
3
)
3
˟
100
=
0
%.
T
ab
le
4
.
T
h
e
s
i
m
u
lin
k
b
lo
ck
d
iag
r
a
m
eq
u
atio
n
s
f
o
r
g
e
n
er
al
c
o
n
tr
o
l sch
e
m
e
(
n
o
m
in
a
l c
ase)
T
h
e
P
I
t
u
n
i
n
g
p
a
r
a
me
t
e
r
s:
A
c
t
u
a
l
P
r
o
c
e
ss w
i
t
h
o
u
t
d
e
l
a
y
:
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