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it
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tr
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s
:
Gen
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ith
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ce
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l
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s
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u
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d
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CC B
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li
c
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se
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o
r
r
e
s
p
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ing
A
uth
o
r
:
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b
r
ah
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m
Kasi
m
I
b
r
ah
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m
Dep
ar
t
m
en
t o
f
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ical
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n
g
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in
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B
ag
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d
ad
Un
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s
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Al
-
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ad
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y
a
C
a
m
p
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ad
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a,
1
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0
1
B
ag
h
d
ad
,
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r
a
q
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m
ail: ib
r
ah
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m
k
i
@
co
en
g
.
u
o
b
ag
h
d
ad
.
ed
u
.
iq
1.
I
NT
RO
D
UCT
I
O
N
R
ec
en
t
in
n
o
v
a
tio
n
s
h
a
v
e
al
lo
w
ed
p
er
m
a
n
e
n
t
m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
s
(
P
MSM
)
d
r
iv
es
to
b
e
p
r
o
g
r
ess
iv
el
y
ar
e
u
s
ed
in
a
w
id
e
ass
o
r
t
m
e
n
t
o
f
i
n
d
u
s
tr
ial
an
d
p
o
w
er
ap
p
licatio
n
s
,
in
cl
u
d
in
g
r
o
b
o
tics
,
co
m
p
u
ter
p
er
ip
h
er
als,
cu
s
to
m
is
ab
le
-
s
p
ee
d
d
r
iv
es,
elec
tr
ic
v
eh
icles,
elec
tr
ic
air
cr
af
t,
a
n
d
w
i
n
d
tu
r
b
in
e
s
[
1
]
.
T
h
is
m
ec
h
a
n
is
m
o
f
f
er
s
n
u
m
er
o
u
s
ad
v
a
n
ta
g
es,
in
cl
u
d
i
n
g
s
i
m
p
licit
y
,
ea
s
y
m
ai
n
te
n
a
n
ce
[
2
,
3
]
,
r
o
b
u
s
tn
ess
,
lo
w
co
s
t,
an
d
h
i
g
h
e
f
f
icie
n
c
y
[
4
,
5
]
.
P
r
ev
io
u
s
l
y
,
P
MSM
s
h
a
v
e
m
o
s
tl
y
r
ep
lace
d
in
d
u
ctio
n
an
d
DC
m
o
to
r
s
.
T
h
e
y
ar
e
s
o
m
et
i
m
e
s
f
a
v
o
u
r
ed
o
v
er
in
d
u
ctio
n
m
o
to
r
s
to
eli
m
in
a
te
r
o
to
r
w
in
d
i
n
g
,
w
h
ic
h
lead
s
to
r
ed
u
ce
d
h
ea
t
e
m
is
s
io
n
s
an
d
t
h
u
s
allo
w
s
f
o
r
a
f
u
ll
y
en
clo
s
ed
d
esig
n
[
6
]
.
P
MSM
s
ar
e
n
o
t
ea
s
y
to
co
n
t
r
o
l,
h
o
w
e
v
er
,
an
d
te
m
p
er
atu
r
e
c
h
an
g
es
ca
n
i
n
f
l
u
en
ce
P
MSM
s
p
ar
a
m
eter
s
,
l
ea
d
in
g
to
v
ar
iat
io
n
s
i
n
t
h
e
o
p
er
atio
n
o
f
P
MSM
s
y
s
te
m
s
:
te
m
p
er
at
u
r
e
d
if
f
er
e
n
t
ials
ca
n
ca
u
s
e
u
p
to
a
±
2
0
ch
an
g
e
i
n
f
l
u
x
li
n
k
ag
e
an
d
u
p
to
±
2
0
0
%
v
ar
ian
ce
in
r
esis
ta
n
ce
[
7
].
Ma
n
y
r
esear
ch
er
s
u
t
ilized
co
n
v
e
n
tio
n
al
co
n
tr
o
l
s
tr
ateg
ies
o
r
d
ev
elo
p
ed
n
e
w
s
tr
ate
g
ies
t
o
co
n
tr
o
l
a
w
id
e
r
a
n
g
e
o
f
s
y
s
te
m
s
,
s
o
m
e
o
f
th
e
s
e
co
n
tr
o
ller
s
ar
e:
lin
ea
r
q
u
ad
r
atic
g
a
u
s
s
ian
(
L
QG)
co
n
tr
o
ller
,
it
co
n
ce
r
n
s
a
lin
ea
r
s
y
s
te
m
d
r
iv
e
n
b
y
ad
d
itiv
e
w
h
ite
Gau
s
s
ia
n
n
o
i
s
e,
th
er
e
is
p
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ap
s
p
r
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b
lem
at
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in
i
m
p
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m
en
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tio
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o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
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&
C
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p
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I
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N:
2
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8708
S
p
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tr
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l o
f a
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P
MS
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s
in
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a
tr
a
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in
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d
iffer
en
tia
to
r
…
(
N
o
o
r
Ha
mee
d
Ha
d
i
)
1729
th
is
co
n
tr
o
ller
w
h
en
t
h
e
d
i
m
e
n
s
io
n
o
f
th
e
m
o
d
el
s
tate
is
lar
g
e
[
8
]
.
H∞
tech
n
iq
u
e
s
h
a
v
e
a
f
av
o
u
r
ab
le
p
o
s
itio
n
o
v
er
class
ical
co
n
tr
o
l
tech
n
iq
u
es
[
9
-
1
2
]
,
h
in
d
r
an
ce
s
o
f
H∞
tech
n
iq
u
es
i
n
co
r
p
o
r
ate
u
n
d
er
s
tan
d
in
g
th
e
le
v
el
o
f
m
at
h
e
m
a
tical
ar
e
r
eq
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ir
ed
to
a
p
p
ly
th
e
m
s
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cc
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a
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o
f
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h
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s
y
s
te
m
t
o
b
e
co
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tr
o
lled
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e
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lti
n
g
o
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h
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co
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o
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ter
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s
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m
m
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p
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f
o
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an
ce
cr
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ia
u
s
ed
to
esti
m
ate
co
n
tr
o
ller
s
s
u
c
h
as
s
e
t
tlin
g
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e,
en
er
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y
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p
en
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etc.
it
f
ail
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lize
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e
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est
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o
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o
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it
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s
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v
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al
l
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o
t
d
ea
l
w
ell.
Au
t
h
o
r
[
1
3
]
p
r
esen
ted
t
h
e
e
f
f
ec
tiv
e
n
es
s
o
f
f
u
zz
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co
n
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to
co
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d
y
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a
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t
h
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p
lan
n
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ller
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tili
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lg
o
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ith
m
(
d
u
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m
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e
s
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itc
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g
)
w
h
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ca
p
ab
le
o
f
ad
j
u
s
tin
g
to
th
e
e
f
f
ec
t
o
f
i
n
ter
f
er
e
n
ce
.
Fra
ctio
n
al
o
r
d
er
P
I
D
(
FOP
I
D)
co
n
tr
o
ller
is
u
s
ed
in
s
tead
o
f
P
I
D
co
n
tr
o
ller
in
[
1
4
-
1
6
]
,
w
h
er
e
i
n
teg
r
al
-
d
er
iv
a
tiv
e
o
r
d
er
in
te
g
e
r
tu
r
n
s
to
f
r
ac
tio
n
al.
T
h
e
au
th
o
r
in
[
1
4
]
u
til
izes
a
n
e
w
t
u
n
i
n
g
s
c
h
e
m
e
w
h
er
e
t
u
n
i
n
g
-
p
ar
a
m
eter
s
ar
e
d
ec
r
ea
s
ed
,
d
em
o
n
s
tr
ated
b
etter
p
er
f
o
r
m
a
n
ce
co
m
p
ar
i
n
g
w
it
h
C
R
O
NE
co
n
tr
o
ller
an
d
t
h
e
tr
a
d
itio
n
al
o
n
e.
W
h
ile
[
1
6
]
n
o
n
li
n
ea
r
-
n
eu
r
al
f
r
ac
tio
n
al
-
o
r
d
er
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
-
d
er
iv
ativ
e
(
N
NFOP
I
D)
u
s
ed
a
n
e
w
n
e
u
r
al
-
n
et
w
o
r
k
(
NN)
n
o
n
li
n
ea
r
an
d
li
n
ea
r
ac
ti
v
atio
n
f
u
n
ct
io
n
s
o
f
n
e
u
r
o
n
s
in
t
h
e
h
id
d
en
an
d
o
u
tp
u
t
la
y
er
s
(
NNFOP
I
D)
,
Nev
er
t
h
ele
s
s
,
t
h
er
e
is
n
o
n
-
lin
ea
r
co
n
tr
o
l
s
u
ch
as
p
iece
w
i
s
e
af
f
in
e
P
I
(
P
A
-
P
I
)
an
d
d
ata
-
d
r
iv
en
P
I
D
(
DD
-
P
I
D)
in
o
r
d
er
to
o
v
er
co
m
e
t
h
e
n
o
n
li
n
ea
r
it
y
p
r
o
b
lem
o
f
t
h
e
s
y
s
te
m
[
17
,
1
8
]
,
in
th
ese
m
et
h
o
d
o
lo
g
ies,
th
e
co
n
tr
o
ller
e
m
p
lo
y
s
a
d
atab
ase
th
at
co
n
tain
s
a
s
et
o
f
P
I
D
p
ar
am
eter
s
to
u
p
d
ated
ad
ap
tiv
el
y
.
W
h
er
ea
s
au
th
o
r
i
n
[
19
]
in
tr
o
d
u
ce
an
en
h
an
ce
m
e
n
t
to
co
n
v
e
n
tio
n
al
P
I
D
b
y
s
u
g
g
ested
a
n
i
m
p
r
o
v
ed
-
n
o
n
li
n
ea
r
-
s
tate
er
r
o
r
-
f
ee
d
b
ac
k
co
n
tr
o
ller
(
I
N
L
SE
F),
w
h
i
le
t
h
e
r
esear
c
h
er
s
in
[
2
0
]
p
r
o
p
o
s
ed
m
o
r
e
r
o
b
u
s
t
an
d
e
f
f
ec
t
iv
e
n
o
n
l
in
e
ar
-
P
I
D
(
NL
P
I
D)
co
n
tr
o
ller
an
d
s
h
o
w
ed
t
h
e
e
f
f
ec
tiv
e
n
e
s
s
o
f
th
i
s
m
et
h
o
d
co
m
p
ar
ed
w
i
th
t
h
e
lin
ea
r
P
I
D
(
L
P
I
D)
in
ter
m
s
o
f
s
p
ee
d
,
co
n
tr
o
l
e
n
er
g
y
,
an
d
s
tead
y
-
s
t
ate
e
r
r
o
r
.
O
th
er
else
[2
1
]
s
u
g
g
e
s
ted
a
n
o
n
li
n
ea
r
a
d
ap
tiv
e
co
n
tr
o
ller
n
eu
r
o
en
d
o
cr
in
e
-
P
I
D
(
NE
P
I
D)
co
n
tr
o
l
t
h
e
p
r
o
ce
d
u
r
e
o
f
th
is
en
g
i
n
e
d
e
m
o
n
s
tr
ated
th
a
t
t
h
e
s
y
s
te
m
i
s
s
tead
y
co
n
v
er
g
en
c
e.
T
h
e
p
ick
ed
co
n
tr
o
l
m
eth
o
d
o
lo
g
y
is
b
ased
o
n
ad
ap
tiv
e
o
b
j
ec
tiv
e
f
u
n
c
tio
n
w
i
th
an
ap
p
r
o
p
r
iate
d
ata
-
d
r
iv
en
c
o
n
tr
o
l sch
e
m
e.
T
h
e
au
th
o
r
in
[
2
2
]
d
ev
elo
p
ed
an
o
p
ti
m
al
co
n
tr
o
l
s
o
lu
t
io
n
b
ased
o
n
t
h
e
R
icca
ti
eq
u
at
io
n
t
h
at
w
a
s
ap
p
lied
to
a
P
MSM
.
R
o
b
u
s
tn
ess
in
t
h
e
f
ac
e
o
f
v
ar
iatio
n
o
f
lo
ad
d
is
tu
r
b
an
ce
s
,
s
tab
il
it
y
,
e
v
en
r
eg
u
lat
io
n
,
an
d
en
er
g
y
c
o
n
s
u
m
p
tio
n
r
ed
u
ctio
n
s
w
er
e
g
iv
e
n
as
t
h
e
m
ain
r
ea
s
o
n
s
f
o
r
th
e
d
e
v
elo
p
m
e
n
t
o
f
th
is
co
n
tr
o
l
s
o
l
u
tio
n
.
W
h
en
t
h
e
a
u
t
h
o
r
co
m
p
ar
ed
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
an
d
co
n
v
en
t
io
n
al
ca
s
ca
d
ed
co
n
tr
o
ls
,
a
n
i
m
p
r
o
v
e
m
en
t
o
f
1
0
%
in
e
n
er
g
y
ef
f
icie
n
c
y
i
n
t
h
e
tr
a
n
s
ie
n
t
r
e
s
p
o
n
s
e
w
as
o
b
s
er
v
ed
;
h
o
w
e
v
er
,
t
h
e.
Au
t
h
o
r
d
id
n
o
t
ad
d
r
ess
t
h
e
p
ar
am
eter
v
ar
iatio
n
is
s
u
e
s
ar
i
s
in
g
i
n
t
h
e
P
MSM
.
Si
m
ilar
l
y
,
[
2
3
]
p
r
o
p
o
s
ed
a
s
p
ee
d
c
o
n
tr
o
ller
u
s
i
n
g
an
a
u
to
-
tu
n
in
g
P
I
(
A
T
PIC)
s
ch
e
m
e
to
co
p
e
w
it
h
n
o
n
l
in
ea
r
itie
s
,
ch
an
g
es
i
n
th
e
m
o
m
e
n
t
o
f
i
n
er
tia,
an
d
to
r
q
u
e
d
is
tu
r
b
an
ce
s
in
P
MSM
s
y
s
te
m
s
.
T
h
e
au
t
h
o
r
s
s
et
b
o
th
t
h
e
p
r
o
p
o
r
tio
n
al
an
d
in
te
g
r
al
ter
m
s
to
b
e
ch
an
g
ea
b
l
e
an
d
co
n
ti
n
u
o
u
s
l
y
b
ased
o
n
th
e
cu
r
r
en
t
p
r
o
ce
s
s
tr
e
n
d
;
t
h
e
r
es
u
lts
w
er
e
th
e
n
p
r
ese
n
ted
in
p
a
r
allel
w
ith
th
o
s
e
f
o
r
tr
ad
itio
n
al
P
I
co
n
tr
o
ls
[
2
3
]
; h
o
w
e
v
er
,
v
ar
iab
le
s
p
ee
d
s
an
d
p
ar
a
m
eter
u
n
ce
r
tain
t
ies ar
e
n
o
t d
is
cu
s
s
ed
.
I
n
[
2
4
]
,
a
m
ath
e
m
atica
l
m
o
d
el
o
f
a
f
ield
-
o
r
ien
ted
P
MSM
w
a
s
d
ev
elo
p
ed
an
d
s
i
m
u
lated
,
w
it
h
t
w
o
t
y
p
e
o
f
co
n
tr
o
ller
s
(
h
y
s
ter
e
s
is
an
d
P
I
)
th
u
s
b
ein
g
d
ev
elo
p
e
d
to
m
ak
e
th
e
P
MSM
w
o
r
k
w
it
h
b
o
th
co
n
s
ta
n
t
to
r
q
u
e
an
d
f
lu
x
w
ea
k
e
n
i
n
g
r
eg
io
n
s
.
W
h
ile
[
2
4
]
d
id
n
o
t
m
en
tio
n
th
e
ef
f
ec
t
o
f
p
ar
a
m
e
ter
v
ar
iatio
n
s
i
n
th
e
P
MSM
,
[
2
5
]
d
ev
elo
p
ed
a
p
r
e
cise
P
I
co
n
tr
o
ller
w
h
er
eb
y
t
h
e
s
y
s
te
m
c
a
n
i
m
p
le
m
e
n
t
b
etter
tr
ac
k
i
n
g
b
y
m
ea
n
s
o
f
a
s
i
m
p
le
f
ee
d
f
o
r
w
ar
d
ter
m
.
T
h
is
co
n
tr
o
ller
w
as
p
r
o
p
o
s
ed
b
y
th
e
a
u
t
h
o
r
s
as
o
f
f
er
i
n
g
b
est
p
er
f
o
r
m
an
ce
w
h
er
e
a
P
MSM
is
u
n
d
er
lo
ad
to
r
q
u
e
an
d
w
h
er
e
t
h
er
e
ar
e
m
o
d
el
p
ar
a
m
eter
s
v
ar
ia
tio
n
s
.
T
h
e
s
tu
d
y
i
n
[
2
6
]
p
r
o
p
o
s
ed
a
f
u
r
th
er
n
e
w
co
n
t
r
o
l
s
tr
ateg
y
f
o
r
a
P
MSM
,
with
a
n
ad
ap
tiv
e
P
I
co
n
tr
o
ller
u
s
ed
b
ased
o
n
a
m
o
d
i
f
icat
io
n
o
f
m
o
r
e
tr
ad
itio
n
al
j
u
s
t
-
in
-
ti
m
e
lear
n
i
n
g
(
I
J
I
T
L
)
.
A
co
m
p
ar
is
o
n
w
as
t
h
u
s
m
ad
e
b
et
w
ee
n
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
,
an
R
L
S
-
b
ased
ad
ap
tiv
e
P
I
co
n
tr
o
ller
,
an
d
a
tr
ad
itio
n
al
P
I
c
o
n
tr
o
ller
.
An
o
th
er
n
e
w
f
u
zz
y
co
n
tr
o
l
r
u
le
w
as
p
r
o
p
o
s
ed
in
[
27
]
,
an
d
th
i
s
w
as
u
s
ed
to
d
esig
n
a
P
I
co
n
tr
o
ller
f
o
r
P
MSM
s
y
s
te
m
s
;
co
m
p
ar
ed
w
it
h
tr
ad
itio
n
al
P
I
co
n
tr
o
ller
s
,
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
o
f
f
e
r
ed
an
ad
j
u
s
tab
le
p
r
o
p
o
r
tio
n
f
ac
to
r
th
at
co
u
ld
b
e
ch
an
g
ed
o
n
li
n
e
to
tr
ac
k
th
e
d
esire
d
s
p
ee
d
.
Dif
f
er
en
t
ca
s
e
s
s
u
c
h
as
p
ar
a
m
eter
u
n
ce
r
tain
ti
es
in
th
e
s
y
s
te
m
a
n
d
v
ar
iab
le
s
p
ee
d
ap
p
lied
o
n
th
e
P
MSM
w
er
e
n
o
t ta
k
en
i
n
to
co
n
s
id
er
atio
n
,
h
o
w
e
v
er
.
I
n
[
28
]
,
a
r
ea
l
ti
m
e
s
p
ee
d
co
n
tr
o
l
w
as
p
r
o
p
o
s
ed
f
o
r
w
in
d
tu
r
b
in
e
ap
p
licatio
n
s
.
T
h
e
tr
ad
itio
n
al
P
I
co
n
tr
o
ller
w
a
s
u
s
ed
to
co
n
tr
o
l
th
e
cu
r
r
en
t
lo
o
p
an
d
t
h
e
s
p
ee
d
lo
o
p
f
o
r
th
e
P
MSM
,
a
n
d
t
h
e
au
t
h
o
r
s
e
x
a
m
in
ed
r
esu
lt
s
f
o
r
d
i
f
f
er
e
n
t
s
p
ee
d
v
al
u
es
i
n
d
i
f
f
er
en
t
s
tep
s
i
n
s
ep
ar
ate
s
i
m
u
latio
n
s
.
Var
iab
le
s
p
ee
d
r
ef
er
en
ce
s
i
n
o
n
e
s
i
m
u
lat
io
n
w
er
e
n
o
t
tak
e
n
in
t
o
ac
co
u
n
t
in
ad
d
itio
n
to
s
y
s
te
m
p
ar
a
m
e
ter
u
n
ce
r
tai
n
tie
s
a
n
d
to
r
q
u
e
lo
ad
s
w
h
er
e
th
eir
ef
f
ec
t
s
w
er
e
n
o
t
p
r
esen
ted
in
an
y
test
li
n
ea
r
q
u
ad
r
atic
r
eg
u
lato
r
(
L
QR
)
co
n
tr
o
lle
r
w
as
p
r
o
p
o
s
ed
to
co
n
tr
o
l
a
lin
ea
r
ized
m
at
h
e
m
a
tical
m
o
d
el
o
f
P
MSM
i
n
[
2
9
]
.
T
h
e
au
th
o
r
s
co
m
p
ar
ed
t
h
e
p
r
o
p
o
s
ed
o
p
tim
al
co
n
tr
o
ller
'
s
r
es
u
lt
s
w
it
h
th
o
s
e
o
f
th
e
class
ica
l
P
I
D
co
n
tr
o
ller
w
it
h
in
a
M
A
T
L
A
B
/Si
m
u
lin
k
e
n
v
ir
o
n
m
e
n
t.
T
o
r
q
u
e
lo
ad
ef
f
ec
t
w
er
e
s
h
o
w
n
i
n
th
e
s
i
m
u
lat
io
n
,
v
alid
ati
n
g
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
;
h
o
w
e
v
er
,
th
e
v
ar
iab
le
s
p
ee
d
an
d
s
y
s
te
m
u
n
ce
r
tain
ti
es
ar
e
n
o
t
in
v
es
tig
a
ted
.
T
h
er
e
ar
e
m
o
r
e
co
m
p
licated
co
n
t
r
o
l
o
p
tio
n
s
s
u
ch
as
[
30
,
3
1
]
.
T
h
e
m
a
in
co
n
tr
ib
u
tio
n
o
f
t
h
e
c
u
r
r
en
t
p
ap
er
is
a
n
e
w
P
MSM
co
n
tr
o
l
s
tr
ateg
y
b
ased
o
n
d
e
v
e
lo
p
in
g
t
h
e
class
ical
(
P
I
)
co
n
tr
o
ller
b
y
ad
d
in
g
a
d
if
f
er
en
tia
to
r
ter
m
a
n
d
a
n
o
n
li
n
ea
r
tr
ac
k
i
n
g
d
i
f
f
er
en
tiato
r
to
r
ef
in
e
tr
an
s
ie
n
t
ac
c
u
r
ac
y
a
n
d
to
d
ec
r
ea
s
e
th
e
co
n
tr
o
l's
en
er
g
y
co
n
s
u
m
p
t
io
n
.
T
o
d
ev
elo
p
a
m
o
r
e
ad
v
an
ce
d
co
n
tr
o
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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8
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I
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&
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Vo
l.
11
,
No
.
2
,
A
p
r
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0
2
1
:
1
7
2
8
-
1741
1730
s
tr
ateg
y
,
a
m
u
lti
-
o
b
j
ec
tiv
e
o
p
ti
m
i
s
atio
n
w
as
ca
r
r
ied
o
u
t
to
i
d
en
tify
th
e
o
p
ti
m
al
p
ar
a
m
eter
s
,
an
d
a
n
e
w
m
u
l
ti
-
o
b
j
ec
tiv
e
p
er
f
o
r
m
a
n
ce
in
d
e
x
i
s
t
h
u
s
p
r
o
p
o
s
ed
.
T
h
is
is
a
co
m
b
in
at
io
n
o
f
th
e
i
n
d
iv
id
u
a
l
p
er
f
o
r
m
an
ce
i
n
d
ices,
th
e
i
n
teg
r
al
ti
m
e
ab
s
o
l
u
te
er
r
o
r
(
I
T
A
E
)
,
th
e
s
q
u
ar
e
o
f
t
h
e
co
n
tr
o
l si
g
n
al
(
U
SQR
)
,
an
d
t
h
e
a
b
s
o
lu
te
v
al
u
e
o
f
t
h
e
co
n
tr
o
l
s
ig
n
al
(
U
A
B
S).
Ge
n
eti
c
alg
o
r
ith
m
s
(
G
A
)
is
c
h
o
s
e
n
a
s
th
e
o
p
ti
m
izatio
n
m
eth
o
d
to
t
u
n
e
t
h
e
p
ar
a
m
eter
s
o
f
th
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
d
u
e
to
its
ab
ilit
y
to
av
o
id
lo
ca
l
o
p
ti
m
al
s
o
l
u
tio
n
s
as
co
m
p
ar
ed
to
th
e
o
th
er
m
o
d
er
n
o
p
tim
izatio
n
m
et
h
o
d
s
s
u
ch
as:
s
i
m
u
lated
an
n
ea
li
n
g
,
p
a
r
ticle
s
w
ar
m
o
p
ti
m
izatio
n
(
P
SO)
,
an
t
co
lo
n
y
o
p
tim
izatio
n
(
AC
O)
.
T
h
is
p
ap
er
d
is
cu
s
s
es
t
h
e
d
ev
elo
p
m
e
n
t
o
f
a
tr
ac
k
in
g
d
i
f
f
er
en
tiato
r
-
p
r
o
p
o
r
tio
n
al
i
n
teg
r
al
d
er
iv
ativ
e
(
T
D
-
P
I
D)
s
p
ee
d
c
o
n
tr
o
l
f
o
r
P
MSM
s
y
s
te
m
s
w
h
ic
h
w
as
d
esig
n
ed
to
r
ea
ch
a
ze
r
o
s
tead
y
s
tate
er
r
o
r
an
d
to
r
ed
u
ce
o
v
er
s
h
o
o
t
an
d
s
e
ttli
n
g
ti
m
e
s
.
T
h
is
s
tr
ate
g
y
o
p
er
ates
b
y
m
i
n
i
m
i
s
in
g
a
m
u
lti
-
o
b
j
ec
tiv
e
f
u
n
ctio
n
u
s
in
g
a
g
en
et
ic
alg
o
r
it
h
m
(
G
A
)
,
w
h
er
eb
y
t
h
e
co
n
tr
o
ller
p
ar
am
eter
s
ar
e
tu
n
ed
.
T
h
e
co
n
tr
o
ller
o
f
P
I
,
th
e
T
D
-
P
I
D,
h
as
f
o
u
r
o
r
f
iv
e
tu
n
i
n
g
p
ar
a
m
eter
s
th
a
t
ca
n
b
e
ar
e
tu
n
ed
u
tili
s
i
n
g
th
e
p
r
o
p
o
s
ed
GA
,
w
h
ic
h
i
s
ca
teg
o
r
ized
as
an
ev
o
lu
tio
n
ar
y
alg
o
r
it
h
m
s
u
itab
le
f
o
r
s
ea
r
ch
i
n
g
f
o
r
a
g
lo
b
al
s
o
lu
tio
n
.
T
h
r
ee
m
ai
n
o
p
er
ato
r
s
ar
e
u
s
ed
at
ea
c
h
s
tag
e
to
d
ev
elo
p
t
h
e
n
ex
t
g
en
er
atio
n
f
r
o
m
t
h
e
c
u
r
r
en
t
o
n
e;
th
e
s
e
ar
e
s
elec
tio
n
,
cr
o
s
s
o
v
er
,
an
d
m
u
tatio
n
[
3
2
,
3
3
]
.
T
h
e
G
A
i
s
u
tili
s
ed
to
o
p
ti
m
i
s
e
(
m
in
i
m
i
s
e)
t
h
e
p
r
o
p
o
s
ed
m
u
lti
-
o
b
j
ec
tiv
e
OP
I
[
3
4
]
,
w
h
ic
h
i
s
a
n
ag
g
r
e
g
ate
f
u
n
ct
io
n
co
m
b
in
i
n
g
an
o
b
j
ec
tiv
e
f
u
n
ctio
n
,
t
h
e
i
n
te
g
r
al
o
f
t
h
e
ti
m
e
ab
s
o
l
u
te
er
r
o
r
(
I
T
A
E
)
,
th
e
s
q
u
ar
e
o
f
th
e
co
n
tr
o
l
s
i
g
n
a
l
(
USQR
)
,
an
d
th
e
ab
s
o
lu
te
v
al
u
e
o
f
t
h
e
co
n
tr
o
l
s
ig
n
a
l
(
UA
B
S)
f
o
r
b
o
t
h
th
e
s
p
ee
d
an
d
cu
r
r
en
t
lo
o
p
s
.
T
h
is
en
s
u
r
e
s
b
o
th
co
n
tr
o
l
r
o
b
u
s
tn
ess
a
n
d
th
e
s
tab
ilit
y
o
f
t
h
e
clo
s
ed
lo
o
p
P
MSM
s
y
s
te
m
th
r
o
u
g
h
o
u
t
t
h
e
co
n
tr
o
l
p
r
o
ce
d
u
r
e.
T
o
c
o
n
f
ir
m
th
e
e
f
f
i
ca
c
y
o
f
t
h
e
p
r
o
p
o
s
ed
s
tr
ateg
ies,
a
M
A
T
L
A
B
en
v
ir
o
n
m
e
n
t
w
as
u
s
ed
to
d
ev
elo
p
a
s
im
u
latio
n
s
y
s
te
m
.
T
h
e
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
o
f
t
h
e
s
y
s
te
m
w
as
t
h
e
n
ex
a
m
in
ed
u
n
d
er
v
ar
iab
le
s
p
ee
d
,
p
a
r
am
eter
v
ar
iatio
n
s
,
an
d
s
u
d
d
en
ch
an
g
e
in
to
r
q
u
e
o
f
th
e
P
MSM
s
y
s
te
m
.
T
h
e
ef
f
ec
tiv
e
n
e
s
s
o
f
t
h
e
T
D
-
P
I
D
tech
n
iq
u
e
w
as
s
h
o
w
n
in
t
h
e
r
es
u
lts
o
f
s
u
c
h
s
i
m
u
latio
n
.
So
m
e
i
s
s
u
es
h
a
v
e
n
o
t
b
ee
n
d
is
cu
s
s
ed
o
r
s
tu
d
ied
i
n
th
e
p
r
ev
io
u
s
liter
at
u
r
e,
s
u
c
h
a
s
v
ar
ia
b
le
s
p
ee
d
r
ef
er
en
ce
s
ig
n
als,
s
y
s
te
m
p
ar
am
eter
u
n
ce
r
tai
n
tie
s
,
an
d
lo
ad
t
o
r
q
u
e
d
is
tu
r
b
an
ce
s
.
T
h
ese
w
er
e
th
u
s
s
tu
d
ied
a
n
d
in
v
e
s
ti
g
ated
m
o
r
e
d
ee
p
l
y
d
u
r
i
n
g
t
h
e
d
ev
elo
p
m
en
t
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
y
,
w
h
ich
m
ak
e
s
u
s
e
o
f
b
o
t
h
T
D
tr
ac
k
in
g
ca
p
ab
ilit
ies
an
d
t
h
e
P
I
D
co
n
tr
o
ller
.
T
h
is
s
tr
ateg
y
ai
m
s
to
co
n
tr
o
l
th
e
P
MSM
s
p
ee
d
b
ased
o
n
th
e
ab
ilit
ies o
f
b
o
th
T
D
an
d
P
I
D
t
o
tr
ac
k
r
ef
er
en
ce
s
p
ee
d
an
d
to
r
ea
ch
s
tab
ilit
y
m
o
r
e
r
ap
id
l
y
.
T
h
e
r
est
o
f
t
h
is
p
ap
er
is
ar
r
an
g
ed
as
f
o
llo
w
s
:
s
ec
tio
n
2
d
escr
ib
es
th
e
f
u
n
d
a
m
e
n
tal
p
r
in
ci
p
les
o
f
th
e
P
MSM
m
o
d
el
f
o
r
t
h
e
s
p
ee
d
co
n
tr
o
ller
,
an
d
s
ec
tio
n
3
ill
u
s
tr
ate
s
t
h
e
b
as
ic
id
ea
s
u
n
d
er
l
y
in
g
tr
ac
k
i
n
g
d
if
f
er
e
n
tiato
r
(
T
D)
tr
ac
k
in
g
a
n
d
d
if
f
er
en
t
iati
n
g
r
ef
er
en
ce
s
p
ee
d
s
.
T
h
e
s
i
m
u
lat
io
n
s
an
d
r
es
u
lts
ar
e
o
u
tli
n
ed
i
n
s
ec
tio
n
4
to
p
r
o
v
e
th
e
ef
f
icac
y
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l,
an
d
t
h
e
f
i
n
al
s
ec
tio
n
o
f
f
er
s
a
co
n
cl
u
s
io
n
.
2.
O
VE
RVI
E
W
O
F
T
H
E
P
M
S
M
M
O
DE
L
P
MSM
is
a
s
ig
n
i
f
ican
t
class
o
f
elec
tr
ic
m
ac
h
i
n
e
s
in
w
h
ich
r
o
to
r
m
a
g
n
e
tis
atio
n
is
c
r
ea
ted
b
y
co
n
n
ec
ti
n
g
p
er
m
a
n
en
t
m
a
g
n
et
s
to
a
r
o
to
r
.
A
s
th
e
y
ar
e
u
s
ed
in
v
ar
io
u
s
ap
p
licatio
n
s
,
n
u
m
er
o
u
s
m
a
th
e
m
atica
l
m
o
d
el
s
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
f
o
r
d
ev
elo
p
m
en
t
p
u
r
p
o
s
es,
s
u
c
h
as
th
e
ab
c
-
m
o
d
el
an
d
th
e
tw
o
ax
i
s
d
q
-
m
o
d
el.
T
h
e
latter
h
as,
h
o
w
e
v
er
,
b
ec
o
m
e
t
h
e
m
o
s
t
b
r
o
ad
ly
u
s
ed
m
o
d
el
in
P
MSM
e
n
g
i
n
ee
r
in
g
co
n
tr
o
ller
d
esig
n
d
u
e
to
its
s
i
m
p
licit
y
.
T
h
e
d
q
-
m
o
d
el
tr
an
s
f
o
r
m
s
s
tati
o
n
ar
y
s
y
m
m
e
tr
ical
A
C
v
al
u
es
to
DC
o
n
es i
n
a
r
o
tatin
g
r
e
f
er
en
ce
f
r
a
m
e
th
at
o
f
f
er
s
ad
d
itio
n
al
co
n
v
en
ie
n
ce
to
co
n
tr
o
l
s
y
s
te
m
d
esi
g
n
.
B
ased
o
n
d
q
r
ef
er
en
ce
f
r
a
m
e
t
h
eo
r
y
,
th
e
SP
MSM
co
n
s
is
ts
o
f
a
s
u
r
f
ac
e
-
m
o
u
n
t r
o
to
r
m
a
g
n
etic
cir
c
u
it st
r
u
ct
u
r
e
th
at
r
eq
u
ir
es
n
o
d
a
m
p
er
w
in
d
i
n
g
; t
h
u
s
,
L
d
=
L
q
=
L
,
an
d
b
y
u
s
i
n
g
t
h
e
i
d
=
0
v
ec
to
r
c
o
n
tr
o
l
m
e
th
o
d
o
u
tli
n
ed
in
[
3
5
]
,
th
e
m
a
th
e
m
atica
l
m
o
d
el
o
f
t
h
e
P
MSM
ca
n
b
e
d
ev
e
lo
p
e
d
as in
eq
u
atio
n
s
(
1
)
to
(
4
)
[
3
6
]:
L
di
d
dt
=
−
R
i
d
+
n
p
L
ω
i
q
+
u
d
(
1
)
L
di
q
dt
=
−
R
i
q
−
n
p
L
ω
i
d
−
k
m
ω
+
u
d
(
2
)
w
h
er
e
ω
is
th
e
elec
tr
ical
r
o
to
r
s
p
ee
d
;
R
is
th
e
s
tato
r
r
esis
ta
n
c
e;
L
d
a
n
dL
q
r
ep
r
esen
t
th
e
in
d
u
c
tan
ce
o
f
th
e
d
ir
ec
t
an
d
q
u
ad
r
atu
r
e
ax
e
s
;
k
m
is
t
h
e
p
e
r
m
an
e
n
t
m
a
g
n
et
f
l
u
x
;
n
p
is
t
h
e
n
u
m
b
er
o
f
p
o
le
p
air
s
;
an
d
i
d
an
d
i
q
ar
e
th
e
d
-
ax
is
a
n
d
q
-
ax
i
s
s
tato
r
cu
r
r
e
n
ts
,
r
esp
ec
tiv
el
y
.
T
h
u
s
,
J
d
ω
dt
=
−
k
m
i
q
−
B
ω
−
T
L
(
3
)
d
θ
dt
=
ω
(
4
)
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
S
p
ee
d
c
o
n
tr
o
l o
f a
n
S
P
MS
M u
s
in
g
a
tr
a
ck
in
g
d
iffer
en
tia
to
r
…
(
N
o
o
r
Ha
mee
d
Ha
d
i
)
1731
w
h
er
e
J
is
t
h
e
m
o
m
e
n
t
o
f
i
n
er
tia
o
f
t
h
e
P
MSM
s
y
s
te
m
;
T
L
is
ex
ter
n
al
lo
ad
to
r
q
u
e;
B
is
th
e
r
o
to
r
f
r
ictio
n
co
ef
f
icie
n
t;
ω
is
th
e
r
o
to
r
m
ec
h
an
ical
s
p
ee
d
;
an
d
θ
is
th
e
r
o
tatin
g
a
n
g
le.
I
n
(
1
)
an
d
(
2
)
r
ep
r
esen
t
t
h
e
cu
r
r
en
t
eq
u
atio
n
s
,
w
h
ile
(
3
)
is
t
h
e
m
ec
h
an
ica
l
to
r
q
u
e
eq
u
atio
n
.
I
n
th
r
ee
-
p
h
ase
r
e
f
er
en
ce
,
t
h
e
P
W
M
p
u
ls
e
g
e
n
er
ato
r
an
d
in
v
er
ter
cr
e
ate
a
s
y
s
te
m
th
at
r
o
tates
o
n
ce
a
n
d
th
e
n
r
ev
er
s
es.
T
h
e
P
MSM
co
n
tr
o
ller
u
tili
s
es
a
ca
s
ca
d
e
co
n
tr
o
l lo
o
p
s
tr
u
ctu
r
e
co
n
tai
n
i
n
g
a
s
p
ee
d
lo
o
p
an
d
t
w
o
cu
r
r
e
n
t lo
o
p
s
,
as sh
o
w
n
in
F
ig
u
r
e
1
.
Fig
u
r
e
1.
B
lo
ck
B
lo
ck
d
iag
r
am
o
f
tr
ad
itio
n
al
(
P
I
)
co
n
tr
o
ller
3.
P
RO
P
O
SE
D
SPE
E
D
CO
N
T
RO
L
SCH
E
M
E
(
T
D
-
P
I
D)
T
h
e
g
en
er
al
eq
u
atio
n
o
f
a
tr
ad
itio
n
al
P
I
ca
n
b
e
d
escr
ib
ed
u
s
in
g
u
=
k
p
e
+
k
i
∫
e
dt
(
5
)
T
h
e
p
r
o
p
o
s
e
eq
u
atio
n
f
o
r
th
e
P
I
D
is
th
u
s
u
̌
=
k
p
e
ω
1
+
k
i
∫
e
ω
1
dt
+
k
d
e
ω
2
(
6
)
I
n
(
5
)
an
d
(
6
)
,
u
a
n
d
u
̌
ar
e
th
e
co
n
tr
o
l sig
n
al
s
,
k
p
is
th
e
p
r
o
p
o
r
tio
n
al
g
ain
,
k
i
is
th
e
in
te
g
r
al
g
ain
,
an
d
k
d
is
th
e
d
er
iv
ativ
e
g
ain
.
T
h
e
p
r
o
p
o
s
e
d
co
n
tr
o
l
s
ch
e
m
e
co
n
s
is
t
s
o
f
t
w
o
m
ai
n
p
ar
ts
,
th
e
i
n
n
er
c
u
r
r
en
t
lo
o
p
s
an
d
th
e
s
p
ee
d
lo
o
p
,
T
h
e
cu
r
r
en
t
lo
o
p
s
ar
e
m
ad
e
p
o
s
s
ib
le
b
y
th
e
u
s
e
o
f
P
I
co
n
tr
o
ller
s
f
o
r
i
d
an
d
i
q
,
as
d
em
o
n
s
tr
ated
i
n
(
5
)
.
T
h
is
allo
w
s
d
e
f
i
n
itio
n
o
f
t
h
e
cu
r
r
en
t tr
ac
k
i
n
g
er
r
o
r
s
as
e
d
=
i
d
r
ef
−
i
d
(
7
)
e
q
=
i
q
r
ef
−
i
q
(
8
)
w
h
er
e
e
d
an
d
e
q
ar
e
th
e
tr
ac
k
i
n
g
er
r
o
r
s
o
f
th
e
d
ir
ec
t a
n
d
q
u
ad
r
atu
r
e
cu
r
r
en
ts
,
r
esp
ec
ti
v
el
y
,
w
h
i
le
i
d
r
ef
an
d
i
q
r
ef
ar
e
th
er
ef
er
en
ce
s
i
g
n
al
s
o
f
t
h
e
d
ir
ec
t
an
d
q
u
ad
r
atu
r
e
cu
r
r
en
t
s
,
r
esp
ec
tiv
el
y
.
T
h
e
b
lo
ck
d
iag
r
a
m
f
o
r
th
e
co
n
tr
o
l
sc
h
e
m
e
as
s
h
o
w
n
i
n
Fi
g
u
r
e
1
d
em
o
n
s
tr
ate
s
t
h
at
t
h
e
p
r
o
p
o
s
e
d
co
n
tr
o
l sch
e
m
e
is
T
D
-
P
I
D
b
ased
o
n
u
ti
lis
i
n
g
T
D
an
d
P
I
D
in
t
h
e
s
p
ee
d
co
n
tr
o
l
lo
o
p
,
as
in
(
6
)
,
an
d
u
s
i
n
g
t
w
o
P
I
s
f
o
r
th
e
s
p
ee
d
lo
o
p
.
Usi
n
g
t
h
e
n
e
w
tr
ac
k
i
ng
d
if
f
er
e
n
tiato
r
p
r
o
p
o
s
ed
b
y
[
3
7
]
o
f
f
er
s
a
p
ar
t
icu
lar
l
y
g
o
o
d
r
esp
o
n
s
e,
as
th
is
ac
h
iev
e
s
s
m
o
o
t
h
tr
ac
k
i
n
g
an
d
ar
r
iv
es
at
r
ef
er
en
ce
s
i
g
n
al
m
o
r
e
r
a
p
id
ly
.
B
y
co
m
b
in
in
g
th
e
tr
ac
k
in
g
d
if
f
er
en
tiato
r
w
it
h
th
e
s
p
ee
d
lo
o
p
,
th
e
tr
ac
k
in
g
d
if
f
er
e
n
tiato
r
b
ec
o
m
e
s
d
ep
en
d
en
t o
n
t
h
e
h
y
p
er
b
o
lic
tan
g
e
n
t
f
u
n
ct
io
n
:
ω
1
̇
=
ω
2
(
9
)
ω
2
̇
=
−
R
2
ta
n
h
(
β
ω
1
−
(
1
−
α
)
ω
r
ef
γ
)
−
R
ω
2
(
11
)
w
h
er
e
ω
1
tr
ac
k
s
in
p
u
t
ω
r
ef
an
d
ω
2
tr
ac
k
s
th
e
d
er
iv
ati
v
e
o
f
i
n
p
u
t
ω
r
e
f
.
T
h
e
p
ar
a
m
eter
s
α
,
β
,
γ
,
a
n
d
R
s
h
o
u
ld
b
e
co
n
tr
o
lled
s
o
th
at
0<α<1,
β>
0,
γ>
0,
a
n
d
R
>0
to
en
s
u
r
e
a
s
u
itab
le
d
esi
g
n
e
m
er
g
e
s
.
T
h
e
b
an
d
-
li
m
iti
n
g
ef
f
ec
t
is
v
er
y
clea
r
f
o
r
t
h
is
t
y
p
e
o
f
T
D,
r
ed
u
cin
g
f
lu
ct
u
atio
n
s
i
n
t
h
e
s
tead
y
s
tate
f
o
r
b
o
th
o
u
tp
u
t
s
ig
n
al
ω
1
an
d
s
tate
-
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
.
2
,
A
p
r
il 2
0
2
1
:
1
7
2
8
-
1741
1732
tr
aj
ec
to
r
y
ω
2
.
T
h
e
s
p
ee
d
lo
o
p
ca
n
th
e
n
b
e
u
s
ed
to
ad
j
u
s
t
t
h
e
s
p
ee
d
o
f
th
e
P
MSM
to
r
ea
ch
t
h
e
r
ef
e
r
en
ce
s
i
g
n
a
l
ω
r
ef
.
I
t
also
p
r
o
v
id
es
a
w
a
y
to
s
h
ap
e
th
e
tr
an
s
ien
t
r
esp
o
n
s
e
o
f
th
e
s
p
ee
d
.
T
h
e
s
p
ee
d
tr
ac
k
in
g
er
r
o
r
ca
n
b
e
d
ef
in
ed
as
e
ω
1
=
ω
1
−
ω
1f
(
1
1)
e
ω
2
=
ω
2
−
ω
2f
(
1
2)
w
h
er
e
e
ω
1
is
th
e
tr
ac
k
i
n
g
er
r
o
r
o
f
th
e
s
p
ee
d
,
e
ω
2
i
s
th
e
tr
ac
k
i
n
g
t
h
e
d
er
iv
ati
v
e
er
r
o
r
,
an
d
ω
1f
a
n
d
ω
2f
tr
ac
k
th
e
f
ee
d
b
ac
k
s
p
ee
d
ω
an
d
th
e
d
er
iv
a
tiv
e
o
f
ω
f
,
r
esp
ec
tiv
el
y
,
f
o
r
th
e
T
D
o
f
th
e
f
ee
d
b
ac
k
s
p
ee
d
lo
o
p
.
T
D
h
as
b
ee
n
tu
n
ed
s
ep
ar
atel
y
b
y
u
s
in
g
G
A
i
n
o
r
d
er
to
o
b
tain
p
ar
am
eter
s
α
,
β
,
γ
a
n
d
R
.
Th
ese
p
ar
am
eter
s
ar
e
o
p
ti
m
i
s
ed
u
s
i
n
g
a
m
ea
n
s
q
u
ar
e
er
r
o
r
(
MSE
)
p
er
f
o
r
m
a
n
ce
i
n
d
ex
.
T
o
o
b
tain
th
e
o
p
ti
m
u
m
v
al
u
es
f
o
r
th
ese
co
n
tr
o
ller
p
ar
am
eter
s
,
a
m
u
lti
-
o
b
j
ec
tiv
e
f
u
n
ct
io
n
i
s
u
s
ed
to
t
u
n
e
t
h
e
co
n
tr
o
ller
p
ar
am
eter
s
o
f
b
o
th
tr
ad
itio
n
al
P
I
co
n
tr
o
ller
s
an
d
th
e
p
r
o
p
o
s
ed
T
D
-
P
I
D
co
n
tr
o
ller
b
y
ap
p
l
y
in
g
a
G
A
to
th
e
P
MSM
s
y
s
te
m
.
T
h
e
s
ea
r
ch
al
g
o
r
ith
m
G
A
i
s
a
w
ei
g
h
ted
co
e
f
f
ic
ien
t
o
f
co
n
tr
o
ller
o
u
tp
u
t,
w
h
ic
h
p
r
o
d
u
ce
s
p
er
f
o
r
m
a
n
ce
i
n
d
ices
as
illu
s
tr
ated
in
(
1
3
)
an
d
(
1
4
)
:
opi
i
=
a
1i
IA
E
i
b
1i
+
a
2i
US
Q
R
i
b
2
i
+
a
3i
UA
B
S
i
b
3i
(
13)
OPI
=
∑
a
i
̀
opi
i
i
,
i
=
ω
,
d
(
1
4
)
w
h
er
e,
ITAE
=
∫
t
×
|
ω
r
ef
−
ω
|
t
f
0
dt
is
th
e
i
n
te
g
r
al
o
f
t
h
e
ti
m
e
ab
s
o
lu
te
er
r
o
r
f
o
r
th
e
r
ef
er
en
ce
s
ig
n
al,
USQR
=
∫
(
u
(
t
)
)
2
t
f
0
dt
is
th
e
s
q
u
ar
e
o
f
th
e
co
n
tr
o
l si
g
n
al,
a
n
d
UABS
=
∫
|
u
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F
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9
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9
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ig
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ase
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A
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1
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Ca
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1
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.
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.
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I
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is
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m
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th
e
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f
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t
1
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5
.
6
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2
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5
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-
6
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8
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3
.
3
N
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e
n
7
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.
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1
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u
r
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12.
P
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Fig
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1
3.
PM
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r
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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ate
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u
r
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1
5.
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ee
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u
r
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1
6.
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ates
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ig
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ates
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m
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ar
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e
USQ
R
v
al
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e.
Evaluation Warning : The document was created with Spire.PDF for Python.