I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
p
ute
r
E
ng
in
ee
ring
(
I
J
E
CE
)
Vo
l.
8
,
No
.
4
,
A
u
g
u
s
t
201
8
,
p
p
.
2
1
4
8
~2
1
5
6
I
SS
N:
2
0
8
8
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v8
i
4
.
pp
2
1
4
8
-
2156
2148
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
co
r
e
.
co
m/
jo
u
r
n
a
ls
/in
d
ex
.
p
h
p
/
I
JE
C
E
O
pti
m
i
z
a
tion o
f
M
o
dified
Sliding
M
o
de Contro
ller
for a
n
Electro
-
hy
dra
ulic
Actuator
S
y
ste
m
w
ith
M
is
m
a
tc
hed
Disturba
nce
Siti
M
a
rha
ini
s
O
t
h
m
a
n
1
,
M
.
F
.
Ra
h
m
a
t
2
,
S.
M.
Ro
z
a
li
3
,
Z
ulfa
t
m
a
n
Has
4
,
A.
F.
Z
.
Abid
in
5
1
,2
De
p
a
rtm
e
n
t
o
f
Co
n
tro
l
a
n
d
M
e
c
h
a
tro
n
ics
E
n
g
in
e
e
rin
g
,
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
Un
iv
e
rsiti
T
e
k
n
o
lo
g
i
M
a
lay
sia
,
M
a
la
y
sia
1
M
e
c
h
a
tro
n
ic E
n
g
in
e
e
rin
g
P
r
o
g
ra
m
m
e
,
S
c
h
o
o
l
o
f
M
e
c
h
a
tro
n
ic
En
g
in
e
e
rin
g
,
Un
iv
e
rsiti
M
a
lay
sia
P
e
rl
is
3
,5
De
p
a
rtm
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
T
e
c
h
n
o
l
o
g
y
,
F
a
c
u
lt
y
o
f
En
g
in
e
e
rin
g
T
e
c
h
n
o
lo
g
y
,
Un
iv
e
rsiti
T
e
k
n
ik
a
l
M
a
la
y
sia
M
e
l
a
k
a
,
M
a
la
y
si
a
4
De
p
t.
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
Un
iv
e
rsit
y
o
f
M
u
h
a
m
m
a
d
iy
a
h
M
a
lan
g
,
Ko
ta M
a
lan
g
,
In
d
o
n
e
sia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Au
g
28
,
2
0
1
7
R
ev
i
s
ed
Feb
14
,
2
0
1
8
A
cc
ep
ted
A
p
r
4
,
2
0
1
8
T
h
is
p
a
p
e
r
p
re
se
n
ts
th
e
d
e
sig
n
o
f
th
e
m
o
d
if
ied
slid
in
g
m
o
d
e
c
o
n
tro
l
ler
(M
S
M
C)
f
o
r
th
e
p
u
rp
o
se
o
f
trac
k
in
g
th
e
n
o
n
li
n
e
a
r
s
y
ste
m
w
it
h
m
is
m
a
tch
e
d
d
istu
r
b
a
n
c
e
.
P
ro
v
id
e
d
th
a
t
th
e
p
e
rf
o
r
m
a
n
c
e
o
f
th
e
d
e
sig
n
e
d
c
o
n
tro
l
ler
d
e
p
e
n
d
s
o
n
th
e
v
a
lu
e
o
f
c
o
n
tro
l
p
a
ra
m
e
ters
,
g
ra
v
it
a
ti
o
n
a
l
se
a
r
c
h
a
lg
o
rit
h
m
(G
S
A
),
a
n
d
p
a
rti
c
le
sw
a
r
m
o
p
ti
m
iza
ti
o
n
(P
S
O)
tec
h
n
i
q
u
e
s
a
re
u
se
d
to
o
p
ti
m
ize
th
e
se
p
a
ra
m
e
ters
in
o
rd
e
r
t
o
a
c
h
iev
e
a
p
re
d
e
f
in
e
d
sy
ste
m
’s
p
e
rf
o
r
m
a
n
c
e
.
In
re
sp
e
c
t
o
f
s
y
ste
m
’s
p
e
rf
o
r
m
a
n
c
e
,
it
is
e
v
a
lu
a
ted
b
a
se
d
o
n
t
h
e
trac
k
in
g
e
rro
r
p
re
se
n
t
b
e
tw
e
e
n
re
f
e
r
e
n
c
e
in
p
u
ts
tran
sf
e
rre
d
to
th
e
s
y
ste
m
a
n
d
th
e
sy
ste
m
o
u
tp
u
t.
T
h
is
is
f
o
ll
o
w
e
d
b
y
v
e
ri
f
ica
ti
o
n
o
f
th
e
e
f
f
ici
e
n
c
y
o
f
th
e
d
e
sig
n
e
d
c
o
n
tro
l
ler
in
sim
u
la
ti
o
n
e
n
v
iro
n
m
e
n
t
u
n
d
e
r
v
a
rio
u
s
v
a
lu
e
s,
w
it
h
a
n
d
w
it
h
o
u
t
th
e
in
c
l
u
sio
n
o
f
e
x
tern
a
l
d
istu
rb
a
n
c
e
.
It
c
a
n
b
e
se
e
n
f
ro
m
th
e
sim
u
latio
n
re
su
lt
s
th
a
t
th
e
M
S
M
C
w
it
h
P
S
O
e
x
h
i
b
it
s
a
b
e
t
ter
p
e
rf
o
rm
a
n
c
e
in
c
o
m
p
a
riso
n
to
th
e
p
e
rf
o
r
m
a
n
c
e
o
f
th
e
sim
il
a
r
c
o
n
tro
ll
e
r
w
it
h
G
S
A
i
n
term
s o
f
o
u
t
p
u
t
re
sp
o
n
se
a
n
d
trac
k
in
g
e
rro
r
.
K
ey
w
o
r
d
:
E
lectr
o
-
h
y
d
r
a
u
lic
a
ct
u
ato
r
Gr
av
itatio
n
al
p
ar
ticle
s
w
ar
m
Gr
av
itatio
n
al
s
ea
r
ch
a
l
g
o
r
ith
m
Mo
d
if
ied
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
P
ar
ticle
s
w
ar
m
o
p
ti
m
izatio
n
Su
m
s
q
u
ar
e
er
r
o
r
Co
p
y
rig
h
t
©
2
0
1
8
In
stit
u
te
o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
M
.
F
.
R
ah
m
at,
Dep
ar
t
m
en
t o
f
C
o
n
tr
o
l a
n
d
Me
ch
atr
o
n
ics E
n
g
in
ee
r
i
n
g
,
Facu
lt
y
o
f
E
lectr
ical
E
n
g
in
ee
r
in
g
,
Un
i
v
er
s
iti T
ek
n
o
lo
g
i M
ala
y
s
ia
,
Ma
la
y
s
ia.
E
m
ail:
f
u
aa
d
@
f
k
e.
u
t
m
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
E
lectr
o
-
H
y
d
r
au
l
ic
A
ct
u
ato
r
(
E
HA
)
s
y
s
te
m
is
o
n
e
o
f
t
h
e
i
m
p
o
r
tan
t
d
r
iv
e
s
y
s
te
m
s
i
n
in
d
u
s
tr
ial
s
ec
to
r
s
an
d
m
o
s
t
en
g
i
n
ee
r
in
g
p
r
ac
tic
es.
Ho
w
e
v
er
,
t
h
e
s
y
s
te
m
i
s
h
ig
h
l
y
n
o
n
li
n
ea
r
d
u
e
to
m
a
n
y
f
ac
to
r
s
,
s
u
ch
a
s
leak
ag
e,
f
r
ictio
n
,
an
d
esp
ec
i
all
y
th
e
e
x
p
r
ess
io
n
o
f
f
l
u
id
f
lo
w
th
r
o
u
g
h
th
e
s
er
v
o
v
alv
e
[1
2]
.
W
ith
th
ese
attr
ib
u
tes
b
ein
g
p
r
ese
n
t,
t
h
e
s
y
s
te
m
’
s
p
er
f
o
r
m
a
n
ce
w
i
ll
b
e
r
ed
u
ce
d
s
ig
n
i
f
ica
n
tl
y
.
I
n
o
r
d
er
to
o
v
er
co
m
e
th
e
is
s
u
e
p
r
ev
io
u
s
l
y
h
i
g
h
l
ig
h
ted
,
t
h
e
co
n
tr
o
ller
u
til
ized
f
o
r
th
e
s
y
s
te
m
s
h
o
u
ld
b
e
r
o
b
u
s
t
en
o
u
g
h
to
o
v
er
co
m
e
th
e
en
tire
o
p
er
atin
g
r
a
n
g
e.
T
h
e
r
e
f
o
r
e,
a
s
u
itab
le
co
n
tr
o
ller
n
ee
d
s
to
b
e
d
esi
g
n
ed
f
o
r
a
p
o
s
itiv
e
p
er
f
o
r
m
an
ce
to
b
e
s
h
o
w
n
b
y
th
e
elec
tr
o
-
h
y
d
r
au
li
c
ac
tu
ato
r
.
T
h
e
r
aised
n
u
m
b
er
s
o
f
w
o
r
k
s
co
n
d
u
cted
w
it
h
elec
tr
o
-
h
y
d
r
a
u
lic
ac
tu
ato
r
s
y
s
te
m
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
o
v
er
th
e
p
ast
d
ec
ad
es
r
an
g
ed
f
r
o
m
l
in
ea
r
co
n
tr
o
l,
n
o
n
l
in
ea
r
co
n
tr
o
l
to
in
tell
ig
e
n
t
co
n
tr
o
l
s
tr
ateg
ie
s
s
u
c
h
a
s
[
3
]
-
[
6
]
h
av
e
b
ee
n
p
r
o
p
o
s
ed
o
v
er
t
h
e
p
ast
d
ec
ad
es.
B
ased
o
n
t
h
e
li
ter
atu
r
e
s
t
u
d
y
i
n
[
7
]
-
[
1
0
]
,
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
SMC
)
is
f
o
u
n
d
to
b
e
ef
f
icie
n
t
a
n
d
w
id
el
y
ap
p
lied
in
n
o
n
lin
ea
r
s
y
s
te
m
s
[
1
1
]
.
Ho
w
e
v
er
,
it
h
as
b
ee
n
n
o
ticed
t
h
at
m
o
s
t
o
f
th
e
ex
is
t
in
g
r
es
u
lt
s
r
eg
ar
d
i
n
g
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e
d
esi
g
n
ar
e
m
o
r
e
e
m
p
h
a
s
ized
o
n
th
e
m
atc
h
ed
u
n
ce
r
tain
ties
a
n
d
d
is
tu
r
b
an
ce
s
atte
n
u
a
tio
n
,
p
r
o
v
i
d
ed
th
e
in
s
en
s
iti
v
it
y
o
f
t
h
e
s
lid
in
g
m
o
tio
n
o
f
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
Op
timiz
a
tio
n
o
f Mo
d
ified
S
lid
i
n
g
Mo
d
e
C
o
n
tr
o
ller
f
o
r
a
n
E
le
ctro
-
h
yd
r
a
u
lic
.
.
.
(
S
iti Ma
r
h
a
i
n
is
Oth
ma
n
)
2149
tr
ad
itio
n
al
SMC
to
m
a
tch
ed
u
n
ce
r
tain
ties
an
d
d
is
t
u
r
b
an
ce
[
1
2
]
.
T
h
is
in
d
icate
s
th
e
p
r
ese
n
ce
o
f
u
n
ce
r
tai
n
tie
s
an
d
d
is
t
u
r
b
an
ce
s
i
n
t
h
e
s
a
m
e
c
h
an
n
el
a
s
t
h
e
ch
a
n
n
el
o
f
th
e
c
o
n
tr
o
l
in
p
u
t.
Desp
ite
t
h
i
s
in
d
ic
atio
n
,
th
e
p
r
ese
n
c
e
o
f
th
ese
u
n
ce
r
tai
n
tie
s
in
v
ar
io
u
s
p
r
ac
tical
s
y
s
te
m
s
m
a
y
n
o
t
b
e
ab
le
to
f
u
lf
il
t
h
e
w
e
ll
-
k
n
o
w
n
m
a
tch
i
n
g
c
o
n
d
itio
n
.
I
n
th
i
s
s
t
u
d
y
,
th
e
d
y
n
a
m
ic
m
o
d
el
an
d
d
esig
n
r
eq
u
ir
em
e
n
t
o
f
elec
tr
o
-
h
y
d
r
au
lic
ac
tu
a
to
r
w
er
e
o
b
tain
ed
f
r
o
m
Natio
n
al
I
n
s
tit
u
te
f
o
r
A
er
o
s
p
ac
e
R
esear
c
h
,
R
o
m
a
n
ia
[
1
3
]
.
A
s
f
o
r
th
e
d
y
n
a
m
ic
m
o
d
el
u
s
ed
in
th
is
s
t
u
d
y
,
t
h
e
tr
ac
k
i
n
p
u
t
d
is
t
u
r
b
an
ce
to
o
k
p
lace
o
n
a
d
i
f
f
er
en
t
c
h
a
n
n
el
f
r
o
m
t
h
e
c
h
a
n
n
e
l
o
f
t
h
e
co
n
tr
o
l
in
p
u
t.
I
t
ca
n
b
e
g
at
h
er
ed
th
a
t
w
it
h
m
is
m
atc
h
ed
s
y
s
te
m
,
n
o
t
o
n
l
y
th
e
s
lid
in
g
m
o
tio
n
o
f
tr
ad
itio
n
al
SM
C
i
s
s
e
v
er
el
y
af
f
ec
ted
b
y
t
h
e
m
i
s
m
atch
ed
d
is
tu
r
b
an
ce
,
SMC
is
n
o
lo
n
g
er
ca
p
ab
le
o
f
co
p
in
g
,
in
s
p
it
e
o
f
it
s
w
el
l
-
k
n
o
wn
r
o
b
u
s
tn
es
s
G
iv
e
n
t
h
e
s
i
g
n
i
f
i
ca
n
ce
o
f
atte
n
u
at
in
g
m
i
s
m
a
t
ch
ed
u
n
ce
r
tai
n
ties
an
d
d
i
s
tu
r
b
an
ce
s
i
n
p
r
ac
tical
ap
p
licatio
n
s
,
m
a
n
y
a
u
t
h
o
r
s
h
a
v
e
d
ev
o
ted
th
e
m
s
el
v
es
to
d
es
ig
n
in
g
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e
f
o
r
u
n
ce
r
tai
n
s
y
s
te
m
s
w
it
h
m
i
s
m
atch
ed
d
i
s
tu
r
b
a
n
ce
.
A
d
d
itio
n
all
y
,
a
f
e
w
n
u
m
b
er
o
f
liter
at
u
r
es
h
av
e
u
s
ed
co
n
v
en
tio
n
al
SM
C
w
it
h
s
o
m
e
m
o
d
if
icat
io
n
i
n
i
ts
s
lid
i
n
g
s
u
r
f
ac
e
[
1
4
]
-
[
1
6
]
.
T
h
ese
m
o
d
if
icatio
n
s
ar
e
d
o
n
e
to
en
h
a
n
ce
th
e
ab
ilit
y
o
f
t
h
e
m
o
d
i
f
ied
SM
C
(
MSM
C
)
.
I
t
is
also
im
p
o
r
tan
t
to
em
p
h
a
s
is
e
th
a
t
esti
m
atio
n
i
s
s
ee
n
a
s
o
n
e
w
a
y
to
i
m
p
r
o
v
e
th
e
ac
cu
r
ac
y
o
f
MSM
C
.
T
h
er
ef
o
r
e,
th
e
r
esu
lt
s
w
h
ic
h
d
is
p
la
y
th
e
i
n
f
lu
e
n
ce
w
h
ich
w
il
l
b
e
p
o
s
ed
b
y
th
e
p
ar
am
eter
s
o
f
t
h
e
d
esig
n
ed
co
n
tr
o
ller
o
n
th
e
tr
ac
k
in
g
p
er
f
o
r
m
a
n
ce
w
ill
b
e
s
h
o
w
n
in
o
n
e
o
f
th
e
s
ec
tio
n
s
i
n
th
is
p
ap
er
.
A
cc
o
r
d
in
g
to
r
ev
ie
w
s
,
p
ar
ticle
s
w
ar
m
o
p
ti
m
izatio
n
(
P
SO)
is
th
e
m
o
s
t
-
ap
p
lied
tech
n
iq
u
e
f
o
r
co
m
b
i
n
atio
n
w
it
h
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
in
o
r
d
er
to
ad
j
u
s
t
its
co
n
tr
o
l
p
ar
am
eter
s
.
F
u
r
t
h
er
m
o
r
e,
g
r
av
itatio
n
a
l
s
ea
r
ch
al
g
o
r
ith
m
(
GS
A
)
is
a
r
elativ
el
y
n
e
w
n
at
u
r
e
-
b
ased
o
p
ti
m
izatio
n
alg
o
r
it
h
m
,
w
h
ich
is
in
ac
co
r
d
an
ce
to
th
e
la
w
o
f
g
r
av
it
y
[
1
7
]
,
[
1
8
]
.
Ho
w
e
v
er
,
b
o
th
alg
o
r
ith
m
h
a
v
e
n
o
t
b
ee
n
s
p
ec
i
f
icall
y
ap
p
lied
in
th
e
esti
m
at
io
n
o
f
MSM
C
co
n
tr
o
ller
’
s
p
ar
am
eter
f
o
r
m
i
s
m
atch
ed
d
is
tu
r
b
an
ce
s
y
s
te
m
,
s
u
c
h
a
s
an
e
lectr
o
-
h
y
d
r
a
u
l
ic
ac
t
u
ato
r
w
h
ic
h
h
a
s
b
ee
n
u
s
ed
i
n
th
is
s
t
u
d
y
.
I
n
f
ac
t,
t
h
er
e
h
as
n
o
t
b
ee
n
an
y
r
e
s
ea
r
ch
er
w
h
o
h
as
d
ev
o
ted
th
e
m
s
el
v
es
to
co
n
d
u
ctin
g
p
ar
a
m
eter
s
esti
m
atio
n
f
o
r
MSM
C
f
o
r
th
e
i
m
p
r
o
v
e
m
e
n
t o
f
i
ts
ac
c
u
r
ac
y
a
n
d
p
er
f
o
r
m
an
ce
.
T
h
is
p
ap
er
p
r
esen
ts
a
n
in
v
est
i
g
atio
n
i
n
t
o
p
er
f
o
r
m
a
n
ce
co
m
p
ar
is
o
n
b
et
w
ee
n
MS
MC,
w
h
ic
h
h
a
s
b
ee
n
o
p
tim
ized
u
s
i
n
g
P
SO
an
d
G
S
A
.
Su
m
Sq
u
ar
e
E
r
r
o
r
(
SS
E
)
h
as
b
ee
n
u
s
ed
as
t
h
e
o
b
j
e
ctiv
e
f
u
n
ctio
n
f
o
r
o
b
tain
in
g
th
e
o
p
ti
m
u
m
v
al
u
e
o
f
th
e
co
n
tr
o
ller
p
ar
am
eter
s
.
E
s
s
en
tiall
y
,
a
g
o
o
d
tr
ac
k
in
g
r
esp
o
n
s
e
w
ill
p
r
o
v
i
d
e
a
s
m
all
SS
E
v
al
u
e.
Fu
r
t
h
er
m
o
r
e,
co
m
p
ar
ativ
e
as
s
es
s
m
e
n
t
o
f
b
o
th
o
p
ti
m
izatio
n
m
e
t
h
o
d
f
o
r
t
h
e
s
y
s
te
m
’
s
p
er
f
o
r
m
a
n
ce
h
as
b
ee
n
p
r
ese
n
t
ed
an
d
d
is
cu
s
s
ed
.
Mo
r
eo
v
er
,
t
h
e
m
a
in
co
n
ten
t
s
o
f
t
h
is
p
ap
er
ar
e
s
u
m
m
ar
ized
a
s
f
o
llo
w
s
:
Sectio
n
2
illu
s
tr
ate
s
th
e
m
at
h
e
m
atica
l
m
o
d
elli
n
g
o
f
th
e
d
ev
elo
p
ed
s
y
s
te
m
.
F
o
llo
w
i
n
g
t
h
at,
th
e
MSM
C
al
g
o
r
ith
m
d
er
i
v
atio
n
i
s
d
e
m
o
n
s
tr
ated
i
n
Sectio
n
3
.
T
h
en
,
th
e
d
is
c
u
s
s
io
n
o
n
o
p
ti
m
izatio
n
al
g
o
r
ith
m
s
u
s
ed
i
n
t
h
i
s
s
t
u
d
y
is
p
r
esen
te
d
in
s
ec
tio
n
4
.
Ob
s
er
v
atio
n
r
esu
lt
s
a
r
e
d
is
c
u
s
s
ed
,
co
m
p
ar
e
d
,
an
d
p
r
esen
ted
i
n
Sectio
n
5
.
L
as
t b
u
t n
o
t le
a
s
t,
s
u
m
m
ar
y
an
d
co
n
cl
u
s
i
o
n
s
ar
e
p
r
esen
ted
in
Sec
tio
n
7
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
E
H
A
s
y
s
t
e
m
m
o
de
llin
g
T
h
e
ac
tu
ato
r
d
y
n
a
m
ic
eq
u
atio
n
o
f
elec
tr
o
-
h
y
d
r
au
lic
ac
t
u
ato
r
s
er
v
o
s
y
s
te
m
is
e
x
p
r
ess
ed
a
s
[
1
3
]
.
A
s
a
r
esu
lt,
t
h
e
d
i
f
f
er
en
tial
eq
u
atio
n
s
w
h
ic
h
g
o
v
er
n
t
h
e
d
y
n
a
m
ic
s
o
f
elec
tr
o
-
h
y
d
r
au
l
ic
ac
t
u
ato
r
s
er
v
o
s
y
s
te
m
w
it
h
ex
ter
n
al
d
is
tu
r
b
an
ce
i
n
j
ec
ted
to
its
ac
tu
ato
r
is
co
n
s
tr
u
cted
as
̇
1
=
2
(
1
)
̇
2
=
−
1
−
2
+
3
−
(
2
)
̇
3
=
−
2
−
3
+
√
−
3
2
(
3
)
T
h
e
s
y
s
te
m
eq
u
atio
n
s
ca
n
b
e
ex
p
r
ess
ed
as a
p
r
o
d
u
ct
o
f
m
atr
i
x
s
u
ch
a
s
:
[
1
̇
2
̇
3
̇
]
=
[
0
1
0
−
−
0
−
−
]
[
1
2
3
]
+
[
0
0
√
−
3
2
]
+
[
−
0
0
]
(
4
)
w
h
er
e
1
r
ep
r
esen
ts
t
h
e
d
is
p
lace
m
en
t
o
f
th
e
lo
ad
w
h
ile
2
in
d
icate
s
lo
ad
v
elo
cit
y
an
d
3
r
ep
r
esen
t
s
th
e
d
if
f
er
e
n
tial
p
r
ess
u
r
e
1
−
2
b
etw
ee
n
th
e
c
y
li
n
d
er
ch
a
m
b
er
s
ca
u
s
ed
b
y
t
h
e
lo
ad
.
Me
an
w
h
ile,
r
ep
r
esen
t
s
th
e
ex
ter
n
al
d
is
t
u
r
b
an
ce
in
f
licted
o
n
t
h
e
s
y
s
te
m
a
n
d
it
is
p
o
s
s
ib
l
e
f
o
r
it
to
b
e
a
co
n
s
tan
t
o
r
a
ti
m
e
v
ar
y
in
g
s
i
g
n
al.
T
h
is
s
y
s
te
m
i
s
a
m
is
m
atc
h
ed
s
y
s
te
m
d
u
e
to
t
h
e
d
is
tu
r
b
an
ce
it
in
f
l
icts
o
n
d
if
f
er
e
n
t
c
h
an
n
e
ls
f
r
o
m
t
h
e
co
n
tr
o
l
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.
8
,
No
.
4
,
A
u
g
u
s
t 2
0
1
8
:
2
1
4
8
–
2
1
5
6
2150
in
p
u
t
.
T
ab
le
1
d
is
p
lay
t
h
e
p
ar
a
m
eter
s
o
f
elec
tr
o
h
y
d
r
au
l
i
c
ac
tu
ato
r
s
er
v
o
s
y
s
te
m
,
w
h
i
ch
ar
e
r
ep
r
esen
ted
b
y
(
1
)
,
(
2
)
an
d
(
3
)
.
T
ab
le
1
.
P
ar
am
eter
o
f
E
H
A
Se
r
v
o
S
y
s
te
m
P
a
r
a
me
t
e
r
s
V
a
l
u
e
U
n
i
t
L
o
a
d
a
t
t
h
e
EH
A
r
o
d
(
)
0
.
33
2
/
P
i
st
o
n
A
r
e
a
(
)
10
2
C
o
e
f
f
i
c
i
e
n
t
o
f
v
i
s
c
o
u
s
f
r
i
c
t
i
o
n
(
)
27
.
5
/
C
o
e
f
f
i
c
i
e
n
t
o
f
a
e
r
o
d
y
n
a
mi
c
e
l
a
st
i
c
f
o
r
c
e
(
)
1000
/
V
a
l
v
e
p
o
r
t
w
i
d
t
h
(
)
0
.
05
S
u
p
p
l
y
p
r
e
ssu
r
e
(
)
2100
/
2
C
o
e
f
f
i
c
i
e
n
t
o
f
v
o
l
u
me
t
r
i
c
f
l
o
w
o
f
t
h
e
v
a
l
v
e
p
o
r
t
(
)
0
.
63
−
C
o
e
f
f
i
c
i
e
n
t
o
f
i
n
t
e
r
n
a
l
l
e
a
k
a
g
e
(
)
2
.
38
×
10
−
3
5
/
C
o
e
f
f
i
c
i
e
n
t
o
f
se
r
v
o
v
a
l
v
e
(
)
0
.
017
/
C
o
e
f
f
i
c
i
e
n
t
i
n
v
o
l
v
i
n
g
b
u
l
k
mo
d
u
l
u
s
a
n
d
EH
A
v
o
l
u
me
(
)
2
.
5
×
10
−
4
5
/
O
i
l
d
e
n
si
t
y
(
)
8
.
87
×
10
−
7
2
/
4
2
.
2
.
Co
ntr
o
ller
des
ig
n
T
h
e
s
tu
d
y
o
f
s
lid
i
n
g
m
o
d
e
c
o
n
tr
o
l
h
as
g
ai
n
ed
p
o
p
u
lar
it
y
in
r
ec
en
t
y
ea
r
s
a
s
a
m
et
h
o
d
o
lo
g
y
f
o
r
co
n
tr
o
llin
g
n
o
n
li
n
ea
r
s
y
s
te
m
s
w
ith
m
o
d
elli
n
g
u
n
ce
r
tai
n
tie
s
an
d
e
x
ter
n
al
d
i
s
t
u
r
b
an
ce
s
.
I
t
is
k
n
o
w
n
t
h
at
th
e
cr
u
cial
a
n
d
th
e
m
o
s
t
i
m
p
o
r
ta
n
t
s
tep
o
f
SM
C
d
esi
g
n
is
th
e
co
n
s
tr
u
c
tio
n
o
f
s
l
id
in
g
s
u
r
f
ac
e
(
)
w
h
ic
h
i
s
ex
p
ec
ted
to
r
esp
o
n
s
e
d
esire
d
co
n
tr
o
l
s
p
ec
if
icatio
n
s
an
d
p
er
f
o
r
m
a
n
ce
.
T
h
e
tr
a
j
ec
to
r
ies
ar
e
en
f
o
r
ce
d
to
lie
o
n
th
e
s
lid
i
n
g
s
u
r
f
ac
e.
Gi
v
en
th
e
d
esire
d
p
o
s
itio
n
tr
aj
ec
to
r
y
as
=
[
1
,
2
,
3
]
∈
,
an
d
d
ef
i
n
ed
̇
1
=
2
,
̇
2
=
3
.
Vec
to
r
o
f
t
h
e
s
y
s
te
m
s
tates
ar
e
a
s
s
u
m
ed
m
ea
s
u
r
ab
le
a
n
d
d
e
f
i
n
ed
as
=
[
1
,
2
,
3
]
=
[
,
,
]
∈
.
T
h
e
s
tate
er
r
o
r
o
f
th
e
s
y
s
te
m
is
d
ef
i
n
ed
as
=
−
(
5
)
w
h
er
e
=
1
3
an
d
∈
.
T
h
e
co
n
tr
o
l
o
b
j
ec
tiv
e
o
f
t
h
i
s
d
esig
n
a
b
o
u
n
d
ed
co
n
tr
o
l
in
p
u
t
.
Hen
ce
,
t
h
e
o
u
tp
u
t
p
o
s
itio
n
tr
ac
k
s
as
clo
s
el
y
as
p
o
s
s
ib
le
th
e
d
es
ir
ed
p
o
s
itio
n
tr
aj
ec
to
r
y
in
s
p
ite
o
f
v
ar
io
u
s
m
o
d
el
u
n
ce
r
tai
n
ties
.
I
n
o
r
d
er
to
ac
h
iev
e
th
e
s
tates o
f
t
h
e
s
y
s
te
m
to
tr
ac
k
t
h
e
d
esire
d
tr
aj
ec
to
r
ies at
t
h
e
s
a
m
e
ti
m
e,
t
h
e
f
u
n
cti
o
n
o
f
a
n
e
w
s
lid
i
n
g
s
u
r
f
ac
e
is
p
r
o
p
o
s
ed
is
s
i
m
ilar
as in
[
1
4
]
.
(
)
=
2
+
3
+
1
1
+
2
∫
1
(
6
)
w
h
er
e
1
an
d
2
ar
e
a
s
tr
ictl
y
p
o
s
iti
v
e
co
n
s
ta
n
t
to
b
e
s
p
ec
if
ied
ac
co
r
d
in
g
to
th
e
d
esire
d
d
y
n
a
m
ic
s
o
f
t
h
e
clo
s
ed
-
lo
o
p
s
y
s
te
m
,
w
h
ile
1
is
d
ep
en
d
en
t
to
1
an
d
2
.
T
h
e
d
esire
d
d
y
n
a
m
ic
r
esp
o
n
s
e
f
o
r
t
h
e
s
y
s
te
m
is
g
i
v
en
as
=
̇
=
0
w
h
en
th
e
s
lid
i
n
g
s
u
r
f
ac
e
i
s
m
o
v
i
n
g
.
I
f
is
f
o
r
ce
d
to
b
e
ze
r
o
,
th
e
d
esire
d
d
y
n
a
m
ic
s
i
s
a
ttain
ed
an
d
th
e
tr
ac
k
in
g
er
r
o
r
w
ill co
n
v
er
g
e
to
ze
r
o
.
T
h
en
,
it c
an
b
e
o
b
tain
ed
.
1
̇
=
−
̇
2
−
̇
3
−
2
1
(
7
)
T
o
o
b
tain
th
e
co
n
tr
o
l
la
w
,
th
e
co
n
s
ta
n
t
p
lu
s
p
r
o
p
o
r
t
io
n
al
r
ea
ch
i
n
g
la
w
m
et
h
o
d
w
as
ap
p
lied
as
in
[
1
9
]
an
d
[
2
0
]
.
T
h
e
d
y
n
a
m
i
cs
o
f
t
h
e
s
w
itc
h
i
n
g
f
u
n
ctio
n
ar
e
d
ir
ec
tly
s
p
ec
i
f
ied
b
y
t
h
i
s
ap
p
r
o
ac
h
w
h
ich
is
de
s
cr
ib
ed
b
y
th
e
r
ea
ch
in
g
f
u
n
c
tio
n
o
f
t
h
e
f
o
r
m
̇
=
−
(
)
−
(
8
)
w
h
er
e
an
d
ar
e
a
co
n
s
tan
t
w
it
h
p
o
s
itiv
e
v
al
u
e
an
d
(
)
r
ep
r
esen
ts
th
e
s
ig
n
u
m
f
u
n
ctio
n
w
h
ic
h
h
av
e
a
p
iece
w
i
s
e
f
u
n
c
tio
n
as b
elo
w
:
(
)
=
{
1
;
>
0
0
;
=
0
−
1
;
<
0
(
9
)
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
Op
timiz
a
tio
n
o
f Mo
d
ified
S
lid
i
n
g
Mo
d
e
C
o
n
tr
o
ller
f
o
r
a
n
E
le
ctro
-
h
yd
r
a
u
lic
.
.
.
(
S
iti Ma
r
h
a
i
n
is
Oth
ma
n
)
2151
Su
c
h
th
at
t
h
e
d
er
iv
at
iv
e
o
f
(
6
)
g
iv
e
s
:
̇
=
2
̇
+
3
̇
+
1
1
̇
+
2
1
(
1
0
)
Su
b
s
ti
tu
te
(
5
)
in
(
1
0
)
:
̇
=
2
̇
+
3
̇
+
1
[
1
̇
−
1
̇
]
+
2
[
1
−
1
]
(
1
1
)
Su
b
s
ti
tu
te
(
1
)
,
(
2
)
an
d
(
3
)
in
(
1
1
)
:
̇
=
[
−
1
−
2
+
3
−
]
+
[
−
2
−
3
+
√
−
3
2
]
+
1
[
1
̇
−
1
̇
]
+
2
[
1
−
1
]
(
1
2
)
T
h
e
co
n
tr
o
l la
w
is
o
b
tain
ed
b
y
s
u
b
s
ti
tu
ti
n
g
(
8
)
in
(
1
2
)
:
−
(
)
=
[
−
1
−
2
+
3
−
]
+
[
−
2
−
3
+
√
−
3
2
]
+
1
[
1
̇
−
1
̇
]
+
2
[
1
−
1
]
T
h
er
ef
o
r
e,
=
√
2
−
3
[
−
(
)
−
+
1
+
2
−
3
+
+
2
+
3
−
1
1
̇
+
1
1
̇
−
2
1
+
2
1
]
(
1
3
)
T
h
en
,
th
e
co
n
tr
o
l la
w
in
(
1
3
)
ca
n
b
e
ex
p
r
ess
ed
as
:
=
+
(
1
4
)
w
h
er
e
=
√
2
−
3
[
1
+
2
−
3
+
+
2
+
3
−
1
1
̇
+
1
1
̇
−
2
1
+
2
1
]
(
1
5
)
a
nd
=
√
2
−
3
[
−
(
)
−
]
(
1
6
)
w
h
er
e
is
n
o
m
in
a
l
co
n
tr
o
l
f
o
r
th
e
n
o
m
i
n
al
p
ar
t
o
f
th
e
s
y
s
te
m
an
d
is
th
e
eq
u
iv
ale
n
t
co
n
tr
o
l
w
it
h
s
w
itc
h
in
g
f
u
n
ctio
n
to
en
s
u
r
e
t
h
e
r
o
b
u
s
t
n
ess
.
2
.
3
.
O
pti
m
iza
t
io
n
a
lg
o
rit
h
m
I
n
o
r
d
er
to
o
b
tain
a
p
o
s
itiv
e
tr
ac
k
in
g
p
er
f
o
r
m
a
n
ce
,
ch
o
ice
o
f
co
n
tr
o
l
p
ar
am
eter
s
f
o
r
th
e
d
esig
n
ed
co
n
tr
o
ller
is
i
m
p
o
r
tan
t.
T
h
er
ef
o
r
e,
th
e
d
esig
n
ed
MSM
C
is
i
n
teg
r
ated
w
it
h
P
SO
an
d
GS
A
s
o
th
at
th
e
o
p
ti
m
u
m
v
alu
e
o
f
t
h
e
co
n
tr
o
l
p
ar
a
m
ete
r
s
ca
n
b
e
attai
n
ed
.
T
h
is
is
e
s
s
en
tia
l
f
o
r
an
y
c
h
a
n
g
e
s
to
b
e
m
ad
e
o
n
d
i
f
f
er
e
n
t
v
alu
e
s
o
f
ex
ter
n
al
d
is
t
u
r
b
an
ce
s
ig
n
al
i
n
j
ec
ted
in
to
t
h
e
s
y
s
te
m
.
Fi
g
u
r
e
1
illu
s
tr
ates
th
e
b
lo
ck
d
iag
r
a
m
o
f
th
e
p
r
o
p
o
s
ed
MSM
C
w
it
h
P
SO a
n
d
GSA
al
g
o
r
ith
m
.
MSM
C
,
w
h
ic
h
i
s
d
esi
g
n
ed
f
o
r
elec
tr
o
-
h
y
d
r
a
u
lic
ac
t
u
ato
r
s
er
v
o
s
y
s
te
m
,
co
n
s
i
s
ts
o
f
f
o
u
r
co
n
tr
o
l
p
ar
am
eter
s
n
a
m
el
y
1
,
2
,
,
an
d
.
T
h
e
v
alu
e
o
f
th
e
s
e
p
ar
a
m
eter
s
s
h
o
u
ld
b
e
ch
o
s
en
i
n
o
r
d
er
to
r
ed
u
ce
th
e
a
m
o
u
n
t
o
f
tr
ac
k
in
g
er
r
o
r
s
.
W
ith
th
i
s
r
ea
s
o
n
,
f
o
r
th
e
i
m
p
r
o
v
e
m
en
t
o
f
th
e
ad
ap
tatio
n
ch
ar
ac
ter
is
tic
o
f
t
h
e
s
y
s
te
m
,
P
SO
an
d
GS
A
ar
e
u
s
e
d
to
d
eter
m
i
n
e
th
e
o
p
ti
m
u
m
v
alu
e
o
f
th
e
s
e
p
ar
a
m
eter
s
,
s
p
ec
if
icall
y
th
r
o
u
g
h
th
e
ass
i
m
ilatio
n
o
f
m
o
d
if
ied
s
lid
in
g
m
o
d
e
co
n
tr
o
l
ler
w
ith
t
h
es
e
th
r
ee
alg
o
r
ith
m
s
.
B
esid
es,
th
e
w
a
y
th
is
tas
k
i
s
p
er
f
o
r
m
ed
b
y
P
SO a
n
d
G
S
A
i
s
in
ac
co
r
d
an
ce
t
o
SS
E
as a
n
o
b
j
ec
tiv
e
f
u
n
ctio
n
.
Mo
r
eo
v
er
,
a
g
o
o
d
tr
ac
k
in
g
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.
8
,
No
.
4
,
A
u
g
u
s
t 2
0
1
8
:
2
1
4
8
–
2
1
5
6
2152
r
esp
o
n
s
e
w
ill r
es
u
lt i
n
a
s
m
all
SS
E
v
al
u
e.
T
h
e
f
o
r
m
u
la
o
f
S
S
E
is
p
r
o
v
id
ed
b
y
:
=
∑
(
−
)
2
=
1
(
1
7
)
w
h
er
e
r
ep
r
esen
ts
th
e
n
u
m
b
er
o
f
iter
atio
n
,
w
h
ile
in
d
icate
s
th
e
s
y
s
te
m
o
u
tp
u
t
at
iter
atio
n
an
d
is
th
e
r
ef
er
e
n
ce
i
n
p
u
t
g
i
v
en
to
th
e
s
y
s
te
m
.
E
s
s
e
n
tiall
y
,
o
p
ti
m
iz
atio
n
alg
o
r
it
h
m
is
u
ti
lized
with
t
h
e
p
u
r
p
o
s
e
to
m
i
n
i
m
ize
SS
E
v
al
u
e.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
a
m
o
f
t
h
e
MSM
C
w
it
h
P
SO,
GS
A
a
n
d
GP
S a
lg
o
r
ith
m
2
.
3
.
1
.
P
a
rt
icle
s
w
a
rm
o
pti
m
iza
t
io
n
T
h
e
p
ar
ticle
s
w
ar
m
o
p
ti
m
izati
o
n
(
P
SO)
alg
o
r
ith
m
is
a
p
o
p
u
latio
n
-
b
ased
s
ea
r
ch
al
g
o
r
ith
m
,
w
h
ic
h
is
in
ac
co
r
d
an
ce
to
th
e
s
i
m
u
latio
n
o
f
t
h
e
s
o
cial
b
eh
a
v
io
u
r
o
f
b
ir
d
s
w
it
h
in
a
f
lo
ck
.
I
t
is
a
co
m
p
u
tat
io
n
al
m
et
h
o
d
w
h
ic
h
o
p
ti
m
ize
s
a
p
r
o
b
lem
t
h
r
o
u
g
h
t
h
e
e
f
f
o
r
t
o
f
i
ter
ativ
e
l
y
i
m
p
r
o
v
i
n
g
a
ca
n
d
id
ate
s
o
lu
tio
n
w
it
h
r
eg
ar
d
to
th
e
g
iv
e
n
q
u
ali
t
y
m
ea
s
u
r
e
[
2
1
]
.
I
n
d
iv
id
u
als
i
n
a
p
ar
ticle
s
w
ar
m
e
m
u
late
t
h
e
s
u
cc
ess
o
f
n
ei
g
h
b
o
u
r
in
g
in
d
i
v
i
d
u
a
ls
an
d
th
eir
o
w
n
s
u
cc
ess
e
s
.
Fu
r
t
h
er
m
o
r
e,
th
i
s
al
g
o
r
ith
m
m
ai
n
tai
n
s
a
s
w
ar
m
o
f
p
a
r
ticles
th
r
o
u
g
h
t
h
e
r
ep
r
esen
tatio
n
o
f
p
o
ten
t
ial
s
o
l
u
tio
n
d
o
n
e
b
y
ea
c
h
o
f
t
h
e
p
ar
ticles.
T
h
e
i
m
p
o
r
tan
t
p
ar
a
m
et
er
s
o
f
P
SO
f
o
r
th
is
ap
p
licatio
n
ar
e
n
u
m
b
er
o
f
p
ar
ticle
(
)
,
n
u
m
b
er
o
f
d
i
m
e
n
s
io
n
s
w
h
ich
r
ep
r
esen
t
n
u
m
b
er
o
f
co
n
tr
o
l
v
ar
iab
les
(
)
,
f
itn
e
s
s
,
o
f
g
lo
b
al
b
est
p
o
s
itio
n
,
(
̂
(
)
)
,
f
it
n
ess
,
t
h
e
o
f
p
er
s
o
n
al
b
est
p
o
s
itio
n
(
)
,
f
itn
e
s
s
f
o
r
ea
ch
p
ar
ticle,
(
(
)
)
,
p
ar
ticle’
s
p
o
s
itio
n
(
)
,
s
o
cial
co
ef
f
icie
n
t
(
2
)
,
co
g
n
iti
v
e
co
ef
f
icie
n
t
(
1
)
,
in
er
tia
w
ei
g
h
t
(
)
,
lo
w
er
b
o
u
n
d
v
al
u
e
(
m
i
n
)
,
u
p
p
er
b
o
u
n
d
v
al
u
e
(
)
an
d
n
u
m
b
er
o
f
it
er
atio
n
(
)
.
2
.
3
.
2
.
G
ra
v
it
a
t
io
na
l
s
ea
rc
h a
lg
o
rit
h
m
Gr
av
itatio
n
al
Sear
ch
A
l
g
o
r
ith
m
(
GS
A
)
i
s
an
o
p
ti
m
izatio
n
te
ch
n
iq
u
e
w
h
er
e
its
d
e
v
elo
p
m
e
n
t
is
b
a
s
ed
o
n
th
e
co
n
ce
p
t
o
f
Ne
w
to
n
t
h
e
o
r
y
a
n
d
m
etap
h
o
r
o
f
g
r
av
i
tati
o
n
al
k
i
n
e
m
atics.
T
h
er
e
ar
e
f
o
u
r
s
p
ec
if
ica
tio
n
s
f
o
r
ea
ch
ag
e
n
t
i
n
t
h
i
s
al
g
o
r
ith
m
:
p
o
s
itio
n
,
in
er
tia
l
m
a
s
s
,
a
n
d
ac
tiv
e
a
n
d
p
ass
i
v
e
g
r
av
ita
tio
n
al
m
as
s
.
T
h
e
p
o
s
itio
n
o
f
th
e
m
a
s
s
co
r
r
esp
o
n
d
s
to
a
s
o
lu
tio
n
o
f
th
e
p
r
o
b
le
m
.
I
ts
g
r
av
itatio
n
al
an
d
in
er
tial
m
a
s
s
e
s
ar
e
d
e
ter
m
in
ed
b
y
a
f
it
n
es
s
f
u
n
ctio
n
.
A
p
ar
tic
u
lar
s
o
lu
tio
n
is
r
ep
r
esen
ted
b
y
ea
c
h
m
a
s
s
,
a
n
d
th
e
al
g
o
r
ith
m
i
s
n
av
i
g
ated
t
h
r
o
u
g
h
p
r
o
p
er
ad
j
u
s
t
m
e
n
t
o
f
th
e
g
r
av
itatio
n
al
a
n
d
in
er
tial
m
a
s
s
e
s
[
1
7
]
.
T
h
e
p
o
s
itio
n
o
f
th
e
a
g
e
n
t
co
r
r
esp
o
n
d
s
to
a
s
o
lu
tio
n
o
f
t
h
e
p
r
o
b
le
m
,
a
n
d
its
m
as
s
i
s
d
eter
m
i
n
ed
b
y
u
s
i
n
g
a
f
itn
e
s
s
f
u
n
c
tio
n
A
p
ar
t
f
r
o
m
th
a
t,
th
e
o
th
er
m
ai
n
p
ar
am
eter
s
f
o
r
GSA
ar
e
n
u
m
b
er
o
f
iter
atio
n
(
)
,
n
u
m
b
er
o
f
d
im
en
s
io
n
w
h
ich
r
ep
r
esen
ts
n
u
m
b
er
o
f
co
n
tr
o
l
p
ar
am
e
ter
s
(
)
,
an
d
th
e
b
est
an
d
w
o
r
s
t
f
it
n
es
s
i
n
p
o
p
u
l
atio
n
w
h
ich
is
d
ep
en
d
en
t
o
n
GS
A
’
s
o
b
j
ec
tiv
e
f
u
n
ctio
n
(
r
ep
r
esen
ted
b
y
an
d
r
esp
ec
tiv
el
y
)
O
n
t
h
e
o
th
e
r
h
an
d
,
f
o
r
ce
(
(
)
)
,
ac
ce
ler
atio
n
(
(
)
)
,
v
elo
cit
y
(
(
)
)
,
p
o
s
itio
n
(
(
)
)
,
m
ass
(
(
)
)
,
g
r
av
i
tatio
n
al
co
n
s
tan
t
(
(
)
)
,
an
d
E
u
clid
ea
n
d
is
tan
ce
b
et
w
ee
n
t
w
o
m
as
s
es
an
d
,
alo
n
g
(
(
)
)
.
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
Si
m
u
latio
n
e
x
p
er
i
m
e
n
t
h
as
b
ee
n
d
o
n
e
u
s
in
g
M
A
T
L
A
B
/
Si
m
u
li
n
k
2
0
1
5
s
o
f
t
w
ar
e.
Fo
r
t
h
e
a
s
s
es
s
m
en
t
o
f
t
h
e
co
n
tr
o
ller
’
s
r
esp
o
n
s
e,
a
s
q
u
ar
e
-
s
h
ap
ed
w
av
e
s
i
g
n
al
is
c
h
o
s
e
n
a
s
a
r
ef
er
en
ce
tr
a
j
ec
to
r
y
f
o
r
elec
tr
o
-
h
y
d
r
au
lic
ac
tu
ato
r
s
y
s
te
m
,
as
illu
s
tr
ated
in
[
2
2
]
.
T
h
e
d
esig
n
ed
co
n
tr
o
ller
ass
is
t
s
th
e
s
y
s
t
e
m
in
tr
ac
k
in
g
th
is
s
ig
n
al
s
o
th
at
s
m
a
ller
tr
ac
k
in
g
er
r
o
r
ca
n
b
e
o
b
tain
ed
.
T
h
e
ex
ter
n
al
f
o
r
ce
,
w
it
h
a
co
n
s
ta
n
t
v
al
u
e
o
f
1
,
2
,
,
+
MSM
C
P
SO/GS
A
Ob
j
ec
tiv
e
f
u
n
ctio
n
N
o
n
li
n
ea
r
s
y
s
te
m
-
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
Op
timiz
a
tio
n
o
f Mo
d
ified
S
lid
i
n
g
Mo
d
e
C
o
n
tr
o
ller
f
o
r
a
n
E
le
ctro
-
h
yd
r
a
u
lic
.
.
.
(
S
iti Ma
r
h
a
i
n
is
Oth
ma
n
)
2153
=
10500
,
is
ad
d
ed
as
a
p
er
tu
r
b
atio
n
to
th
e
s
y
s
te
m
ac
t
u
ato
r
.
T
h
e
i
m
p
le
m
en
tatio
n
o
f
o
p
ti
m
iz
atio
n
alg
o
r
ith
m
s
is
co
n
d
u
cted
u
s
i
n
g
p
ar
am
eter
s
,
n
u
m
b
er
o
f
p
ar
ticl
es,
an
d
t
h
e
u
s
e
o
f
,
w
h
ic
h
r
ep
r
esen
t
s
t
h
e
p
ar
ti
cles
at
5
,
1
0
,
1
5
,
2
0
,
an
d
2
5
.
T
h
e
in
itial
v
al
u
e
o
f
t
h
e
n
u
m
b
er
o
f
i
ter
atio
n
(
)
is
s
et
at
1
0
,
f
o
llo
w
e
d
b
y
it
s
in
cr
ea
s
e
to
2
0
,
3
0
,
4
0
,
an
d
5
0
iter
atio
n
s
.
I
n
ca
s
e
o
f
t
h
e
p
r
ese
n
tatio
n
o
f
r
esu
lt
s
i
n
t
h
is
s
ec
tio
n
,
th
e
o
u
tp
u
t
p
lo
t
is
y
ie
ld
ed
b
y
5
p
ar
ticles
w
it
h
i
n
1
0
iter
atio
n
s
,
1
5
p
ar
ticles
w
it
h
i
n
3
0
iter
at
io
n
s
,
a
n
d
2
5
p
ar
ticles
w
i
th
i
n
5
0
iter
atio
n
s
.
T
h
es
e
p
ar
ticles
ar
e
ch
o
s
en
f
o
r
P
SO
an
d
GS
A
i
n
o
r
d
er
to
o
b
s
er
v
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
d
esi
g
n
ed
co
n
tr
o
l
ler
s
,
ea
ch
w
it
h
s
m
al
l,
m
ed
i
u
m
,
a
n
d
b
ig
g
er
n
u
m
b
er
o
f
p
ar
ticle
s
an
d
iter
atio
n
s
.
T
h
e
co
n
v
en
tio
n
al
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
(
C
SMC
)
is
g
e
n
er
all
y
ap
p
lied
to
p
r
ac
tical
s
y
s
te
m
s
d
u
e
to
its
s
i
m
p
le
d
esig
n
p
r
o
ce
d
u
r
e.
I
n
th
is
s
tu
d
y
,
t
h
e
d
esi
g
n
ed
C
S
MC
w
a
s
s
i
m
ilar
as
th
e
o
n
e
u
s
ed
in
[
2
3
]
.
Fu
r
th
er
m
o
r
e
,
it
w
as
i
n
teg
r
ated
w
it
h
P
SO
a
n
d
GS
A
i
n
o
r
d
er
to
allo
w
t
h
e
a
d
j
u
s
t
m
e
n
t
o
f
t
h
e
co
n
tr
o
ller
o
n
th
ese
p
ar
a
m
eter
s
to
b
e
co
n
d
u
cted
au
to
m
atica
ll
y
.
I
t
w
a
s
also
w
it
h
th
e
p
u
r
p
o
s
e
f
o
r
th
e
co
n
tr
o
ller
to
b
e
ad
ap
t
ed
to
th
e
d
y
n
a
m
ic
ch
an
g
i
n
g
o
f
th
e
s
y
s
te
m
.
T
h
e
i
n
clu
s
io
n
o
f
C
SM
C
i
n
t
h
i
s
s
tu
d
y
i
s
to
ill
u
s
tr
ate
t
h
e
d
if
f
er
e
n
ce
b
et
w
ee
n
t
w
o
t
y
p
es
o
f
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
i
n
th
e
s
a
m
e
m
i
s
m
atc
h
ed
s
y
s
te
m
,
w
h
e
n
r
es
u
lt
is
co
n
ce
r
n
ed
.
As
f
o
r
t
h
e
n
u
m
b
er
o
f
p
ar
ticles
an
d
iter
atio
n
s
,
t
h
ese
v
alu
e
s
w
er
e
ch
o
s
e
n
in
o
r
d
er
to
p
r
o
v
e
th
at
th
e
s
m
all
n
u
m
b
er
o
f
th
ese
p
ar
a
m
eter
s
w
il
l
r
es
u
lt
i
n
g
o
o
d
tr
ac
k
i
n
g
p
er
f
o
r
m
a
n
ce
.
T
h
e
e
x
p
lan
atio
n
r
eg
ar
d
i
n
g
th
e
ac
q
u
ir
e
m
en
t
o
f
f
r
o
m
ea
c
h
co
m
b
i
n
atio
n
o
f
C
SMC
a
n
d
MSM
C
w
it
h
P
SO a
n
d
GS
A
r
esp
ec
tiv
el
y
is
d
is
p
la
y
ed
in
T
ab
le
2
.
T
ab
le
2
.
SS
E
o
b
tain
ed
f
r
o
m
c
o
m
b
i
n
atio
n
o
f
MSM
C
w
it
h
P
SO a
n
d
GS
A
C
S
M
C
M
S
M
C
5
,
10
2
3
2
.
1
0
5
0
3
7
0
.
9
7
0
5
3
2
.
4
5
1
1
1
6
0
9
15
,
30
2
3
2
.
1
0
3
1
3
0
8
.
0
0
4
1
3
2
.
5
0
1
4
7
4
6
.
6
4
8
4
25
,
50
2
3
2
.
1
0
3
0
2
3
4
.
5
3
7
4
3
2
.
7
0
3
5
8
8
1
.
2
9
7
1
A
cc
o
r
d
in
g
to
Fig
u
r
e
2
,
th
e
co
m
b
i
n
atio
n
o
f
C
SM
C
an
d
M
SMC
w
it
h
P
SO
an
d
GS
A
en
ab
les
th
e
s
y
s
te
m
o
u
tp
u
t
to
tr
ac
k
t
h
e
r
e
f
er
en
ce
in
p
u
t
w
i
th
d
if
f
er
en
t
ac
cu
r
ac
y
.
At
t
h
e
b
eg
i
n
n
i
n
g
,
t
h
e
lo
w
e
s
t
n
u
m
b
er
o
f
p
ar
ticles
an
d
iter
atio
n
ar
e
u
s
ed
w
h
ic
h
ar
e
5
an
d
1
0
.
I
n
itiall
y
,
th
e
lo
w
est
n
u
m
b
er
o
f
p
ar
ticles
an
d
iter
atio
n
u
s
ed
ar
e
5
an
d
1
0
.
A
s
s
h
o
w
n
i
n
T
ab
le
2
,
w
ith
t
h
i
s
co
m
b
i
n
atio
n
,
MSM
C
-
P
SO
ex
h
ib
it
s
th
e
b
es
t
s
y
s
te
m
o
u
tp
u
t
i
n
co
m
p
ar
is
o
n
to
th
e
s
y
s
te
m
o
u
t
p
u
t
o
f
C
S
MC
-
P
SO,
C
S
MC
-
GS
A
,
an
d
MSM
C
-
GS
A
,
w
it
h
SS
E
a
m
o
u
n
ti
n
g
to
3
2
.
4
5
1
1
,
2
3
2
.
1
0
5
0
,
3
7
0
.
9
7
0
5
,
an
d
1
6
0
9
r
esp
ec
tiv
el
y
.
E
v
en
th
o
u
g
h
MSM
C
-
P
SO
p
r
o
d
u
ce
s
o
s
cillatio
n
at
ea
c
h
co
r
n
er
o
f
th
e
o
u
tp
u
t
r
esp
o
n
s
e
,
th
e
v
a
lu
e
s
o
f
S
SE
ar
e
th
e
l
o
w
est.
B
esid
e
s
,
th
e
y
ar
e
ca
p
ab
le
o
f
tr
ac
k
i
n
g
th
e
r
ef
er
en
ce
in
p
u
t
w
h
ich
i
s
ac
cu
r
atel
y
p
r
o
v
id
ed
w
it
h
s
m
all
er
r
o
r
,
in
co
m
p
ar
is
o
n
to
th
e
ca
p
ab
ilit
y
o
f
o
t
h
er
s
.
T
h
is
in
d
icate
s
t
h
at
P
SO
i
s
ab
le
to
co
m
p
r
e
h
en
d
t
h
e
o
p
ti
m
u
m
co
m
b
in
at
io
n
o
f
t
h
e
p
ar
a
m
eter
,
e
v
en
w
i
th
th
e
lo
w
e
s
t
SS
E
v
al
u
e.
On
t
h
e
co
n
tr
ar
y
,
i
t is ap
p
ar
en
t th
at
MS
MC
-
GS
A
d
is
p
la
y
s
t
h
e
m
o
s
t n
e
g
ati
v
e
p
er
f
o
r
m
a
n
ce
.
Fig
u
r
e
2
.
P
o
s
itio
n
o
u
tp
u
t f
o
r
C
SMC
-
P
SO,
C
SM
C
-
GS
A
,
M
S
MC
-
P
SO a
n
d
MSM
C
-
G
S
A
w
i
th
5
p
ar
ticles
w
it
h
i
n
1
0
iter
atio
n
s
f
o
r
ex
ter
n
al
d
is
tu
r
b
an
ce
,
1
0
5
0
0
N
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.
8
,
No
.
4
,
A
u
g
u
s
t 2
0
1
8
:
2
1
4
8
–
2
1
5
6
21
54
Fig
u
r
e
3
s
h
o
w
s
th
e
p
o
s
itio
n
o
u
tp
u
t
f
o
r
C
SM
C
-
P
SO,
C
SM
C
-
GS
A
,
M
SMC
-
P
SO,
an
d
M
S
MC
-
GS
A
,
w
it
h
1
5
p
ar
ticles
w
it
h
i
n
3
0
it
er
atio
n
s
i
n
th
e
p
r
esen
ce
o
f
e
x
ter
n
al
d
is
t
u
r
b
an
ce
,
w
h
ic
h
a
m
o
u
n
ts
to
1
0
5
0
0
N.
MSM
C
-
P
SO
h
a
s
th
e
te
n
d
en
c
y
to
tr
ac
k
th
e
p
r
o
v
id
ed
r
ef
er
en
ce
in
p
u
t,
w
ith
S
SE
v
al
u
e
a
m
o
u
n
ti
n
g
to
3
2
.
5
0
1
4
.
Ho
w
e
v
er
,
th
e
o
s
c
illatio
n
o
f
t
h
e
o
u
tp
u
t
r
esp
o
n
s
e
s
t
ill
o
cc
u
r
s
at
ea
ch
co
r
n
er
o
f
th
e
p
o
s
it
io
n
o
u
tp
u
t
r
esp
o
n
s
e
s
.
I
n
co
m
p
ar
is
o
n
to
th
e
p
r
e
v
io
u
s
M
SMC
-
P
SO
o
u
tp
u
t
r
esp
o
n
s
e,
n
o
s
ig
n
if
ican
t
c
h
a
n
g
e
o
cc
u
r
s
i
n
th
is
s
it
u
atio
n
w
h
e
n
th
e
v
al
u
es
o
f
an
d
ar
e
5
an
d
1
0
r
esp
ec
tiv
el
y
.
C
h
atter
in
g
o
cc
u
r
s
in
t
h
e
o
u
tp
u
t
r
esp
o
n
s
e
p
r
o
d
u
ce
d
b
y
C
S
MC
-
P
SO
an
d
C
SMC
-
GS
A
.
T
h
is
p
r
o
v
es
th
e
ex
is
ten
ce
o
f
c
h
atte
r
in
g
w
h
en
co
n
v
e
n
tio
n
al
s
lid
in
g
m
o
d
e
d
ea
ls
w
it
h
an
y
s
y
s
te
m
w
it
h
m
is
m
atc
h
ed
n
o
n
l
in
ea
r
itie
s
.
Mo
r
eo
v
er
,
th
e
a
m
o
u
n
t
o
f
i
m
p
r
o
v
e
m
en
t
s
h
o
w
n
b
y
t
h
e
S
S
E
p
r
o
d
u
ce
d
b
y
C
SMC
-
P
SO
an
d
MSM
C
-
P
SO
is
n
o
t
s
i
g
n
i
f
ica
n
t,
d
esp
ite
th
e
in
cr
ea
s
e
o
f
t
h
e
n
u
m
b
er
o
f
p
ar
t
icle
s
an
d
iter
atio
n
s
f
r
o
m
5
a
n
d
1
0
t
o
1
5
an
d
3
0
r
esp
ec
tiv
el
y
.
T
h
e
o
u
tp
u
t
r
esp
o
n
s
e
f
o
r
C
SM
C
an
d
MSM
C
w
h
en
t
h
e
n
u
m
b
er
o
f
p
ar
ticles
an
d
iter
atio
n
s
is
in
cr
ea
s
ed
to
2
5
an
d
5
0
r
esp
ec
tiv
el
y
is
i
llu
s
tr
ated
in
Fi
g
u
r
e
4
.
As
s
ee
n
i
n
T
ab
le
2
,
th
e
d
ec
r
ea
s
e
o
f
th
e
SS
E
v
al
u
e
f
o
r
MSM
C
-
GS
A
o
cc
u
r
s
,
w
h
ic
h
i
s
f
r
o
m
1
6
0
9
,
w
h
ic
h
is
s
i
g
n
if
ica
n
t,
to
7
4
6
.
T
h
is
is
f
o
llo
w
ed
b
y
its
in
cr
ea
s
e
to
8
8
1
.
Desp
it
e
th
i
s
in
cr
ea
s
e,
th
e
s
e
v
alu
es
ar
e
s
ti
ll
u
n
ab
le
to
m
atc
h
th
e
p
er
f
o
r
m
an
ce
o
u
tp
u
ts
wh
ich
i
s
d
is
p
la
y
ed
b
y
MSM
C
-
P
SO.
B
esid
es,
th
e
S
SE
v
al
u
e
f
o
r
MSM
C
-
P
SO
s
t
ill
a
m
o
u
n
t
s
to
ap
p
r
o
x
i
m
atel
y
3
2
,
w
h
ile
t
h
e
SS
E
v
alu
e
s
f
o
r
C
SM
C
-
P
SO
a
n
d
C
SM
C
-
GS
A
ar
e
m
ain
tain
ed
ar
o
u
n
d
2
3
2
an
d
2
3
4
r
esp
ec
tiv
el
y
.
P
r
o
v
id
ed
th
e
e
m
p
h
a
s
is
p
lace
d
o
n
th
e
o
p
tim
u
m
co
m
b
i
n
atio
n
w
h
ic
h
r
esu
lt
s
to
th
e
p
r
o
d
u
ctio
n
o
f
th
e
lo
w
est
SS
E
v
al
u
es
f
o
r
C
SM
C
-
P
SO,
C
SM
C
-
GS
A
,
MSM
C
-
P
SO,
an
d
M
SMC
-
G
S
A
,
th
e
o
p
ti
m
u
m
co
m
b
in
a
tio
n
o
f
t
h
e
n
u
m
b
er
o
f
p
ar
ticles
(
)
an
d
iter
atio
n
s
(
)
is
f
o
r
th
e
b
est
p
er
f
o
r
m
a
n
ce
o
u
tp
u
t
w
h
ic
h
r
esu
lts
i
n
th
e
lo
w
e
s
t
S
SE,
as
s
h
o
w
n
i
n
T
ab
le
3
.
B
ased
o
n
T
a
b
le
3
,
th
e
co
m
b
in
atio
n
o
f
MSM
C
a
n
d
P
SO
lead
s
to
s
m
aller
S
SE,
i
n
co
m
p
ar
is
o
n
to
it
s
co
m
b
i
n
atio
n
w
it
h
G
S
A
.
T
h
e
e
f
f
icien
c
y
o
f
MS
MC c
a
n
b
e
s
ee
n
t
h
r
o
u
g
h
th
e
p
r
o
d
u
ctio
n
o
f
S
SE,
w
h
e
n
C
SM
C
i
s
u
s
ed
as
a
co
m
p
ar
i
s
o
n
to
o
l
in
o
r
d
er
to
m
ea
s
u
r
e
th
e
ac
c
u
r
ac
y
o
f
MS
MC
i
n
ter
m
s
o
f
its
m
an
a
g
e
m
e
n
t
o
f
t
h
e
m
is
m
atc
h
ed
s
y
s
te
m
.
Fig
u
r
e
3
.
P
o
s
itio
n
o
u
tp
u
t f
o
r
C
SMC
-
P
SO,
C
SM
C
-
GS
A
,
MSM
C
-
P
SO a
n
d
MSM
C
-
GS
A
w
it
h
1
5
p
ar
ticles
w
i
th
i
n
3
0
iter
atio
n
s
f
o
r
ex
ter
n
al
d
is
tu
r
b
an
ce
,
1
0
5
0
0
N
Fig
u
r
e
4
.
P
o
s
itio
n
o
u
tp
u
t f
o
r
C
SMC
-
P
SO,
C
SM
C
-
GS
A
,
MSM
C
-
P
SO a
n
d
MSM
C
-
GS
A
w
it
h
2
5
p
ar
ticles
w
i
th
i
n
5
0
iter
atio
n
s
f
o
r
ex
ter
n
al
d
is
t
u
r
b
an
ce
,
1
0
5
0
0
N
T
ab
le
3
.
Op
tim
u
m
co
m
b
in
atio
n
n
u
m
b
er
o
f
p
ar
ticles,
an
d
iter
atio
n
s
,
w
h
ich
p
r
o
d
u
ce
d
th
e
lo
w
e
s
t SSE
C
S
M
C
M
S
M
C
N
u
mb
e
r
o
f
p
a
r
t
i
c
l
e
s
,
25
25
25
10
N
u
m
b
e
r
o
f
i
t
e
r
a
t
i
o
n
,
10
50
20
30
2
3
2
.
1
0
3
0
2
3
4
.
5
3
7
4
3
2
.
1
7
6
2
7
4
3
.
2
6
9
3
4.
CO
NCLU
SI
O
N
B
ased
o
n
th
e
r
es
u
lts
an
d
a
n
a
l
y
s
i
s
d
is
c
u
s
s
ed
,
t
h
e
i
n
teg
r
at
io
n
o
f
MSM
C
a
n
d
P
SO
p
r
o
d
u
ce
s
b
etter
tr
ac
k
in
g
p
er
f
o
r
m
a
n
ce
w
it
h
s
m
all
tr
ac
k
in
g
er
r
o
r
,
in
co
m
p
ar
is
o
n
to
th
e
co
m
b
i
n
atio
n
o
f
th
e
c
o
n
tr
o
ller
s
i
m
ilar
to
GS
A
’
s
co
n
tr
o
ller
an
d
t
h
e
i
n
cr
ea
s
in
g
n
u
m
b
er
o
f
iter
ati
o
n
s
a
n
d
ag
en
t
s
u
s
ed
.
W
it
h
t
h
e
p
r
ese
n
ce
o
f
lar
g
e
e
x
ter
n
al
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
Op
timiz
a
tio
n
o
f Mo
d
ified
S
lid
i
n
g
Mo
d
e
C
o
n
tr
o
ller
f
o
r
a
n
E
le
ctro
-
h
yd
r
a
u
lic
.
.
.
(
S
iti Ma
r
h
a
i
n
is
Oth
ma
n
)
2155
d
is
tu
r
b
an
ce
,
th
e
i
n
te
g
r
atio
n
o
f
MSM
C
an
d
P
SO
r
esu
lt
s
in
g
o
o
d
p
er
f
o
r
m
a
n
ce
.
B
esid
es,
th
i
s
in
te
g
r
atio
n
r
es
u
lt
s
h
av
e
h
i
g
h
ac
cu
r
ac
y
i
n
tr
ac
k
in
g
t
h
e
r
ef
er
e
n
ce
s
i
g
n
al
p
r
o
v
id
ed
to
th
e
s
y
s
te
m
.
L
as
t
b
u
t
n
o
t
le
ast,
f
o
r
t
h
e
n
ex
t
p
h
ase
o
f
th
is
s
t
u
d
y
,
f
u
t
u
r
e
wo
r
k
w
h
ich
i
n
v
esti
g
ate
s
in
to
t
h
e
tech
n
iq
u
e
s
r
eq
u
ir
ed
f
o
r
im
p
r
o
v
e
m
e
n
t
o
f
t
h
e
p
er
f
o
r
m
a
n
ce
o
u
tp
u
t o
f
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
l stra
teg
y
w
ill b
e
p
u
t in
to
co
n
s
id
er
atio
n
.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
e
au
th
o
r
s
w
o
u
ld
l
ik
e
to
ac
k
n
o
w
led
g
e
Un
i
v
er
s
it
i
T
ek
n
o
lo
g
i
Ma
la
y
s
ia
(
UT
M)
,
Un
iv
er
s
it
i
Ma
la
y
s
ia
P
er
lis
(
UNI
MA
P
)
an
d
Min
is
tr
y
o
f
Hi
g
h
er
E
d
u
ca
t
io
n
(
MO
H
E
)
o
f
Ma
la
y
s
ia
f
o
r
th
eir
s
u
p
p
o
r
t.
RE
F
E
R
E
NC
E
S
[1
]
C.
Ka
d
d
issi
a
n
d
J.
Ke
n
n
,
“
Id
e
n
ti
f
ica
ti
o
n
a
n
d
Re
a
l
-
T
i
m
e
Co
n
tr
o
l
o
f
a
n
El
e
c
tro
h
y
d
ra
u
li
c
S
e
rv
o
S
y
ste
m
Ba
se
d
o
n
No
n
li
n
e
a
r
Ba
c
k
ste
p
p
in
g
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
e
c
h
a
tro
n
ics
,
v
o
l
/i
ss
u
e
:
12
(
1
)
,
p
p
.
1
2
-
2
2
,
2
0
0
7
.
[2
]
A
.
A
.
A
.
E
m
h
e
m
e
d
,
e
t
a
l.
,
“
M
o
d
if
ied
p
re
d
ictiv
e
c
o
n
tro
l
f
o
r
a
c
las
s
o
f
e
lec
tro
-
h
y
d
ra
u
li
c
a
c
tu
a
to
r,
”
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
C
o
mp
u
t
e
r E
n
g
i
n
e
e
rin
g
,
v
o
l
.
6
,
n
o
.
2
,
p
p
.
6
3
0
-
6
3
8
,
2
0
1
6
.
[3
]
H.
M
.
Kim
,
e
t
a
l.
,
“
Ro
b
u
st
P
o
si
ti
o
n
Co
n
tro
l
o
f
El
e
c
tro
-
Hy
d
ra
u
li
c
Ac
tu
a
to
r
S
y
ste
m
s
Us
in
g
th
e
A
d
a
p
ti
v
e
Ba
c
k
-
S
tep
p
i
n
g
Co
n
tro
l
S
c
h
e
m
e
,
”
J
o
u
rn
a
l
o
f
S
y
ste
ms
a
n
d
C
o
n
tr
o
l
E
n
g
in
e
e
rin
g
,
v
o
l
.
2
2
4
,
n
o
.
6
,
p
p
.
7
3
7
-
7
4
6
,
2
0
1
0
.
[4
]
K.
K.
A
h
n
,
e
t
a
l
.
,
“
A
d
a
p
ti
v
e
Ba
c
k
ste
p
p
in
g
Co
n
tro
l
o
f
a
n
El
e
c
tro
h
y
d
ra
u
li
c
A
c
tu
a
to
r,
”
IEE
E/
AS
M
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
e
c
h
a
tro
n
ics
,
p
p
.
1
-
9
,
2
0
1
3
.
[5
]
S
.
M
.
M
a
h
d
i,
“
Co
n
tr
o
ll
i
n
g
a
No
n
li
n
e
a
r
S
e
rv
o
Hy
d
ra
u
li
c
S
y
st
e
m
Us
in
g
P
ID
C
o
n
tr
o
ll
e
r
w
it
h
G
e
n
e
ti
c
A
lg
o
rit
h
m
T
o
o
l,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
E
lec
tro
n
ics
Co
mm
u
n
ica
ti
o
n
a
n
d
C
o
mp
u
ter
E
n
g
i
n
e
e
rin
g
,
v
o
l
.
12
,
n
o
.
1
,
p
p
.
4
2
-
5
2
,
2
0
1
2
.
[6
]
J.
Ya
o
,
e
t
a
l.
,
“
Ex
ten
d
e
d
-
S
tate
-
Ob
se
rv
e
r
-
Ba
s
e
d
Ou
tp
u
t
F
e
e
d
b
a
c
k
No
n
li
n
e
a
r
Ro
b
u
st
Co
n
tro
l
o
f
H
y
d
ra
u
li
c
S
y
ste
m
s
w
it
h
Ba
c
k
st
e
p
p
in
g
,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
In
d
u
stri
a
l
E
lec
tro
n
ics
,
v
o
l
.
61
,
n
o
.
1
1
,
p
p
.
6
2
8
5
-
6
2
9
3
,
2
0
1
4
.
[7
]
H.
Zh
a
n
g
,
e
t
a
l.
,
“
Ro
b
u
st
H
∞
sli
d
in
g
m
o
d
e
c
o
n
tro
l
w
it
h
p
o
le
p
lac
e
m
e
n
t
f
o
r
a
f
lu
id
p
o
w
e
r
e
lec
tro
h
y
d
ra
u
li
c
a
c
tu
a
to
r
(EHA
)
s
y
ste
m
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ad
v
a
n
c
e
d
M
a
n
u
f
a
c
tu
ri
n
g
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
73
,
n
o
.
5
-
8
,
p
p
.
1
0
9
5
-
1
1
0
4
,
2
0
1
4
.
[8
]
S
.
W
a
n
g
,
e
t
a
l.
,
“
S
li
d
i
n
g
M
o
d
e
Co
n
tr
o
ll
e
r
a
n
d
F
il
ter
A
p
p
li
e
d
to
a
n
El
e
c
tro
h
y
d
ra
u
li
c
A
c
tu
a
to
r
S
y
s
tem
,
”
J
o
u
rn
a
l
o
f
Dy
n
a
mic
S
y
ste
ms
,
M
e
a
su
re
me
n
t,
a
n
d
Co
n
tro
l
,
v
o
l
.
1
3
3
,
n
o
.
2
,
p
p
.
2
4
5
0
4
,
2
0
1
1
.
[9
]
Z.
Ha
s,
e
t
a
l.
,
“
Ro
b
u
st
P
o
siti
o
n
T
ra
c
k
in
g
Co
n
tro
l
o
f
a
n
El
e
c
tro
-
H
y
d
ra
u
li
c
A
c
tu
a
to
r
in
th
e
P
re
se
n
c
e
o
f
F
rictio
n
a
n
d
In
tern
a
l
L
e
a
k
a
g
e
,
”
Ara
b
ia
n
J
o
u
r
n
a
l
f
o
r S
c
ien
c
e
a
n
d
En
g
in
e
e
rin
g
,
v
o
l
.
39
,
n
o
.
4
,
p
p
.
2
9
6
5
-
2
9
7
8
,
2
0
1
3
.
[1
0
]
D.
M
.
W
o
n
o
h
a
d
i
d
jo
j
o
,
“
P
o
siti
o
n
c
o
n
tro
l
o
f
e
lec
tro
-
h
y
d
ra
u
li
c
a
c
tu
a
to
r
sy
ste
m
u
sin
g
f
u
z
z
y
lo
g
ic
c
o
n
tr
o
ll
e
r
o
p
ti
m
ize
d
b
y
p
a
rti
c
le s
w
a
r
m
o
p
ti
m
iz
a
ti
o
n
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
A
u
t
o
ma
ti
o
n
a
n
d
Co
m
p
u
t
in
g
,
v
o
l.
1
0
,
2
0
1
4
.
[1
1
]
N.
Bo
u
a
rro
u
d
j
,
e
t
a
l.
,
“
S
li
d
i
n
g
-
M
o
d
e
Co
n
tro
ll
e
r
Ba
se
d
o
n
F
ra
c
ti
o
n
a
l
Ord
e
r
Ca
lcu
l
u
s
f
o
r
a
Cla
ss
o
f
No
n
li
n
e
a
r
S
y
st
e
m
s,”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
,
v
o
l
.
6
,
n
o
.
5
,
p
p
.
2
2
3
9
-
2
2
5
0
,
2
0
1
6
.
[1
2
]
H.
H.
Ch
o
i,
“
L
M
I
-
Ba
se
d
S
li
d
i
n
g
S
u
rf
a
c
e
D
e
sig
n
f
o
r
In
teg
ra
l
S
li
d
in
g
M
o
d
e
o
f
M
ism
a
t
c
h
e
d
Un
c
e
rtain
S
y
ste
m
s,”
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
.
52
,
n
o
.
4
,
p
p
.
7
3
6
-
7
4
2
,
2
0
0
7
.
[1
3
]
I.
Urs
u
,
e
t
a
l.
,
“
Ba
c
k
ste
p
p
in
g
d
e
sig
n
f
o
r
c
o
n
tro
ll
in
g
e
lec
tro
h
y
d
ra
u
li
c
se
rv
o
s,”
J
o
u
rn
a
l
o
f
th
e
Fra
n
k
li
n
In
sti
tu
te
,
v
o
l
.
3
4
3
,
n
o
.
1
,
p
p
.
9
4
-
1
1
0
,
2
0
0
6
.
[1
4
]
C.
L
i,
e
t
a
l
.
,
“
P
r
o
jec
ti
v
e
s
y
n
c
h
ro
n
iza
ti
o
n
o
f
u
n
c
e
rtain
sc
a
le
-
f
re
e
n
e
tw
o
rk
b
a
se
d
o
n
m
o
d
if
ied
slid
i
n
g
m
o
d
e
c
o
n
tr
o
l
tec
h
n
iq
u
e
,
”
Ph
y
sic
a
A
,
v
o
l
.
4
7
3
,
p
p
.
5
1
1
-
5
2
1
,
2
0
1
7
.
[1
5
]
M
.
M
.
G
h
a
n
b
a
rian
,
e
t
a
l.
,
“
De
s
ig
n
a
n
d
im
p
le
m
e
n
tatio
n
o
f
a
n
e
w
m
o
d
if
ied
slid
in
g
m
o
d
e
c
o
n
tro
ll
e
r
f
o
r
g
rid
-
c
o
n
n
e
c
ted
i
n
v
e
rter t
o
c
o
n
tr
o
ll
i
n
g
th
e
v
o
lt
a
g
e
a
n
d
f
re
q
u
e
n
c
y
,
”
IS
A
T
ra
n
sa
c
ti
o
n
s
,
v
o
l.
6
1
,
p
p
.
1
7
9
-
1
8
7
,
2
0
1
6
.
[1
6
]
M
.
S
o
ley
m
a
n
i,
e
t
a
l.
,
“
M
o
d
if
ied
slid
in
g
m
o
d
e
c
o
n
tro
l
o
f
a
se
ism
i
c
a
c
ti
v
e
m
a
s
s
d
a
m
p
e
r
s
y
st
e
m
c
o
n
sid
e
rin
g
m
o
d
e
l
u
n
c
e
rtain
ti
e
s a
n
d
i
n
p
u
t
ti
m
e
d
e
lay
,
”
J
o
u
rn
a
l
o
f
Vi
b
ra
t
io
n
a
n
d
C
o
n
tro
l
,
2
0
1
6
.
[1
7
]
E.
Ra
sh
e
d
i,
e
t
a
l
.
,
“
G
S
A
:
A
G
r
a
v
it
a
ti
o
n
a
l
S
e
a
rc
h
A
lg
o
rit
h
m
,
”
In
fo
rm
a
ti
o
n
S
c
ien
c
e
s
,
v
o
l
.
179
,
n
o
.
1
3
,
p
p
.
2
2
3
2
-
2
2
4
8
,
2
0
0
9
.
[1
8
]
P
.
K.
Ho
ta
a
n
d
N.
C.
S
a
h
u
,
“
No
n
-
c
o
n
v
e
x
e
c
o
n
o
m
ic
d
isp
a
tch
w
it
h
p
ro
h
ib
it
e
d
o
p
e
ra
ti
n
g
z
o
n
e
s
th
ro
u
g
h
g
ra
v
it
a
ti
o
n
a
l
se
a
rc
h
a
lg
o
rit
h
m
,
”
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
C
o
mp
u
ter
En
g
in
e
e
rin
g
,
v
o
l
.
5
,
n
o
.
6
,
p
p
.
1
2
3
4
-
1
2
4
4
,
2
0
1
5
.
[1
9
]
J.
Y.
Hu
n
g
,
e
t
a
l.
,
“
V
a
riab
le
str
u
c
tu
re
c
o
n
tro
l:
a
s
u
rv
e
y
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
El
e
c
t
ro
n
ics
,
v
o
l
.
40
,
n
o
.
1
,
p
p
.
2
-
2
2
,
1
9
9
3
.
[2
0
]
I.
M
.
M
.
Ha
ss
a
n
,
e
t
a
l.
,
“
V
a
riab
le
stru
c
tu
re
c
o
n
tro
l
o
f
a
m
a
g
n
e
ti
c
su
sp
e
n
sio
n
sy
ste
m
,
”
Pro
c
e
e
d
in
g
s
o
f
th
e
2
0
0
1
IEE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Co
n
tro
l
Ap
p
li
c
a
t
io
n
s (
CCA
’0
1
)
(
Ca
t.
No
.
0
1
CH3
7
2
0
4
)
,
p
p
.
3
3
3
-
3
3
8
,
2
0
0
1
.
[2
1
]
C.
S
.
Ch
o
n
g
,
“
P
o
siti
o
n
trac
k
in
g
o
p
ti
m
iza
ti
o
n
f
o
r
a
n
e
lec
tro
-
h
y
d
ra
u
li
c
a
c
tu
a
to
r
sy
st
e
m
,
”
J
o
u
rn
a
l
o
f
T
e
lec
o
mm
u
n
ica
ti
o
n
,
El
e
c
tro
n
ic a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
,
v
o
l
.
8
,
n
o
.
7
,
p
p
.
1
-
6
,
2
0
1
6
.
[2
2
]
S. M
.
Ro
z
a
li
,
e
t
a
l.
, “
P
e
rf
o
rm
a
n
c
e
Co
m
p
a
riso
n
o
f
P
a
rti
c
le S
wa
r
m
O
p
ti
m
iza
ti
o
n
a
n
d
G
ra
v
it
a
ti
o
n
a
l
S
e
a
rc
h
A
l
g
o
rit
h
m
to
t
h
e
De
sig
n
e
d
o
f
Co
n
tr
o
ll
e
r
f
o
r
No
n
li
n
e
a
r
S
y
ste
m
,
”
J
o
u
rn
a
l
o
f
Ap
p
li
e
d
M
a
t
h
e
ma
ti
c
s
,
p
p
.
1
-
9
,
2
0
1
4
.
[2
3
]
S
.
M
.
Ro
z
a
li
,
“
Op
ti
m
ize
d
Ba
c
k
-
ste
p
p
in
g
Co
n
tro
ll
e
r
f
o
r
P
o
siti
o
n
T
ra
c
k
in
g
o
f
El
e
c
tro
-
h
y
d
ra
u
li
c
Ac
tu
a
to
rs,”
Ph
d
T
h
e
sis
,
p
p
.
6
7
-
6
9
,
2
0
1
4
.
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.
8
,
No
.
4
,
A
u
g
u
s
t 2
0
1
8
:
2
1
4
8
–
2
1
5
6
2156
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
S
iti
M
a
r
h
a
in
is
O
th
m
a
n
re
c
e
iv
e
d
B.
E
n
g
.
(M
e
c
h
a
tr
o
n
ic)
f
ro
m
U
n
iv
e
rsiti
T
e
k
n
o
lo
g
i
M
a
lay
si
a
in
2
0
0
6
a
n
d
M
.
En
g
.
(El
e
c
tri
c
a
l
–
M
e
c
h
a
tro
n
ics
a
n
d
A
u
to
m
a
ti
c
Co
n
tro
l)
f
ro
m
Un
iv
e
rsiti
T
e
k
n
o
lo
g
i
M
a
la
y
sia
in
2
0
0
9
.
S
h
e
is
c
u
rre
n
tl
y
p
u
rsu
in
g
P
h
D
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
a
t
Un
iv
e
rsiti
T
e
k
n
o
lo
g
i
M
a
lay
sia
.
He
r
m
a
in
re
se
a
rc
h
in
tere
st i
s in
t
h
e
f
ield
o
f
n
o
n
li
n
e
a
r
c
o
n
tro
l
sy
ste
m
th
e
o
r
y
.
M
.
F.
Ra
h
m
a
t
c
o
m
p
lete
d
B.
En
g
.
(El
e
c
tri
c
a
l)
f
ro
m
Un
iv
e
rsiti
Tek
n
o
lo
g
i
M
a
lay
si
a
in
1
9
8
9
.
He
o
b
tai
n
e
d
th
e
M
a
ste
r
d
e
g
re
e
(Co
n
tro
l
S
y
ste
m
En
g
in
e
e
rin
g
)
f
ro
m
T
h
e
Un
iv
e
rsit
y
o
f
S
h
e
ff
ield
,
UK
in
1
9
9
3
a
n
d
re
c
e
iv
e
d
a
P
h
D
d
e
g
re
e
in
El
e
c
tro
n
ic
In
stru
m
e
n
tatio
n
En
g
in
e
e
rin
g
f
ro
m
S
h
e
ff
ield
Ha
ll
a
m
Un
iv
e
rsit
y
,
UK
in
1
9
9
6
.
He
is cu
r
re
n
tl
y
a
P
ro
f
e
ss
o
r
in
th
e
De
p
a
rtme
n
t
o
f
Co
n
tr
o
l
a
n
d
M
e
c
h
a
tro
n
ics
En
g
in
e
e
rin
g
,
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
Un
iv
e
rsiti
Tek
n
o
lo
g
i
M
a
la
y
sia
,
S
k
u
d
a
i,
Jo
h
o
r.
He
h
a
s
a
lso
n
o
w
b
e
e
n
a
p
p
o
i
n
ted
a
s
a
De
a
n
o
f
UT
M
S
p
a
c
e
,
S
k
u
d
a
i,
J
o
h
o
r.
His
f
ield
o
f
sp
e
c
ializa
ti
o
n
in
c
lu
d
e
s
s
y
ste
m
id
e
n
ti
f
ica
ti
o
n
,
sig
n
a
l
p
ro
c
e
ss
in
g
,
p
ro
c
e
ss
to
m
o
g
r
a
p
h
y
,
p
ro
c
e
ss
c
o
n
tro
l
a
n
d
in
stru
m
e
n
tatio
n
,
se
n
so
rs,
a
n
d
a
c
tu
a
to
rs.
S
a
h
a
z
a
ti
M
d
.
Ro
z
a
li
re
c
e
iv
e
d
B.
En
g
(Ho
n
s.)
(El
e
c
tro
n
ic
En
g
i
n
e
e
rin
g
)
f
ro
m
th
e
Un
iv
e
rsiti
S
a
in
s
M
a
la
y
sia
,
M
a
la
y
si
a
n
in
2
0
0
4
,
M
a
ste
r
o
f
En
g
in
e
e
rin
g
(El
e
c
tri
c
a
l
-
M
e
c
h
a
tro
n
ics
a
n
d
A
u
to
m
a
ti
c
Co
n
tr
o
l)
f
ro
m
Un
iv
e
rsiti
T
e
k
n
o
lo
g
i
M
a
la
y
sia
in
2
0
0
7
a
n
d
P
h
D
in
El
e
c
tri
c
a
l
in
2014.
S
h
e
is
c
u
rre
n
tl
y
a
S
e
n
io
r
L
e
c
tu
re
r
a
t
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
T
e
c
h
n
o
lo
g
y
,
F
a
c
u
lt
y
of
En
g
in
e
e
rin
g
T
e
c
h
n
o
lo
g
y
,
Un
iv
e
rsiti
T
e
k
n
ik
a
l
M
a
la
y
sia
M
e
lak
a
.
He
r
f
ield
o
f
sp
e
c
ializa
ti
o
n
a
re
c
o
n
tro
l
sy
ste
m
a
n
d
sy
ste
m
id
e
n
ti
fica
ti
o
n
.
Zu
lfa
t
m
a
n
c
o
m
p
lete
d
B.
En
g
.
(E
lec
tri
c
a
l)
f
ro
m
Un
iv
e
rsit
y
o
f
M
u
h
a
m
m
a
d
i
y
a
h
M
a
lan
g
in
2
0
0
3
.
He
re
c
e
iv
e
d
th
e
M
a
ste
r
d
e
g
r
e
e
a
n
d
a
P
h
D
d
e
g
re
e
in
Co
n
tro
l
S
y
ste
m
En
g
in
e
e
rin
g
f
ro
m
Un
iv
e
rsiti
T
e
k
n
o
lo
g
i
i
n
2
0
0
9
a
n
d
2
0
1
5
.
H
e
is
c
u
rre
n
tl
y
a
S
e
n
io
r
L
e
c
tu
re
r
in
th
e
De
p
a
rtm
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
F
a
c
u
lt
y
o
f
En
g
in
e
e
ri
n
g
,
Un
iv
e
rsit
y
o
f
M
u
h
a
m
m
a
d
i
y
a
h
M
a
lan
g
,
In
d
o
n
e
sia
.
His a
re
a
o
f
re
se
a
rc
h
in
c
lu
d
e
s c
o
n
tro
l
sy
ste
m
s
f
o
r
re
n
e
w
a
b
le en
e
rg
y
g
e
n
e
r
a
ti
o
n
a
n
d
e
a
rly
w
a
rn
in
g
s
y
ste
m
s.
A
m
a
r
F
a
iz
Z
a
i
n
a
l
A
b
id
i
n
re
c
e
i
v
e
d
h
is
Ba
c
h
e
lo
r
o
f
En
g
in
e
e
rin
g
in
El
e
c
tri
c
a
l
&
El
e
c
tro
n
ics
f
ro
m
Un
iv
e
rsit
y
o
f
No
tt
in
g
h
a
m
in
2
0
0
8
.
W
h
il
e
w
o
rk
in
g
a
s
T
u
to
r
in
Un
iv
e
rsiti
Tek
n
o
lo
g
i
M
a
la
y
sia
(UT
M
),
h
e
c
o
m
p
lete
d
h
is
m
a
ste
r
d
e
g
re
e
s:
M
a
ste
r
o
f
En
g
in
e
e
rin
g
in
El
e
c
tri
c
a
l
(M
e
c
h
a
tro
n
ics
&
A
u
to
m
a
ti
c
Co
n
tro
l)
f
ro
m
U
T
M
a
n
d
M
a
ste
r
o
f
S
c
ien
c
e
in
C
o
m
p
u
ter
Visio
n
f
ro
m
Un
iv
e
rsit
y
o
f
Bu
rg
u
n
d
y
.
Cu
rre
n
t
ly
,
h
e
se
rv
e
s
Un
iv
e
rsiti
T
e
k
n
ik
a
l
M
a
la
y
sia
M
e
lak
a
a
s
a
L
e
c
tu
re
r
a
n
d
h
is
m
a
in
re
se
a
rc
h
in
tere
st
is i
n
C
o
m
p
u
tatio
n
a
l
In
telli
g
e
n
c
e
Evaluation Warning : The document was created with Spire.PDF for Python.