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it
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State
f
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©
2
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1
9
In
stit
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te o
f
A
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d
E
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a
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S
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.
Al
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e
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.
C
o
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p
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nd
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A
uth
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:
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ath
Sab
ab
h
a,
E
lectr
ical
an
d
C
o
m
p
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ter
E
n
g
i
n
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r
in
g
,
Oak
la
n
d
Un
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v
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s
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y
,
R
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c
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este
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,
MI
4
8
3
0
9
USA
.
E
m
ail:
m
s
ab
ab
h
a
@
o
ak
la
n
d
.
ed
u
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
class
ical
co
n
tr
o
l
th
eo
r
y
ex
p
lain
s
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o
w
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ee
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b
ac
k
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o
ller
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if
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ca
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o
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p
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ce
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c
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s
o
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s
h
o
o
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r
is
e
ti
m
e,
s
tead
y
s
tate
er
r
o
r
an
d
s
ett
in
g
ti
m
e.
I
t
also
ar
g
u
es
h
o
w
r
o
o
t
lo
cu
s
,
N
y
q
u
i
s
t
p
lo
t
an
d
B
o
d
e
ar
e
a
p
p
r
o
ac
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ed
b
y
f
r
eq
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e
n
c
y
d
o
m
ai
n
an
d
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o
w
s
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m
p
le
co
n
tr
o
ller
s
w
o
r
k
s
u
ch
a
s
P
r
o
p
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r
tio
n
al
-
I
n
te
g
r
al
-
Der
i
v
ati
v
e
(
P
I
D)
c
o
n
tr
o
l.
[
1
]
-
[
3
]
.
I
t
is
ea
s
y
w
o
r
k
i
n
g
in
ti
m
e
d
o
m
ai
n
in
M
u
lti
-
I
n
p
u
t
Mu
lti
-
O
u
tp
u
t
s
y
s
te
m
s
(
MI
MO
)
th
r
o
u
g
h
th
e
r
ep
r
esen
ta
tio
n
o
f
th
e
s
tate
s
p
ac
e.
I
t
is
p
o
s
s
ib
le
b
ec
au
s
e,
w
it
h
p
an
d
q
i
n
p
u
ts
a
n
d
o
u
tp
u
ts
,
t
h
e
t
r
an
s
f
er
f
u
n
ctio
n
s
q
×
p
ar
e
es
s
en
tial
in
en
co
d
in
g
o
f
a
n
y
eq
u
i
v
alen
t
i
n
f
o
r
m
atio
n
.
T
h
e
p
o
le
p
lace
m
e
n
t,
co
m
m
o
n
l
y
k
n
o
w
n
a
s
t
h
e
s
tate
f
ee
d
b
ac
k
co
n
tr
o
l
[
4
]
-
[
6
]
,
ac
h
iev
e
s
tab
ilit
y
i
n
clo
s
ed
-
lo
o
p
b
y
i
n
v
o
lv
i
n
g
th
e
s
y
s
te
m
p
o
le
r
elo
ca
tio
n
to
th
e
lef
t h
al
f
s
-
p
la
n
e
[
7
]
,
[
8
]
.
W
h
er
ea
s
co
m
p
ar
ed
to
P
I
D
p
ar
a
m
eter
tu
r
n
i
n
g
p
r
o
ce
d
u
r
e
f
o
r
p
o
le
p
lace
m
e
n
t
is
s
ee
m
t
o
b
e
v
er
y
s
tr
aig
h
t
f
o
r
w
ar
d
,
it
is
n
o
t
cle
ar
as
to
h
o
w
t
h
e
clo
s
ed
-
lo
o
p
p
o
les
lo
ca
tio
n
s
ar
e
r
elate
d
to
th
e
co
n
tr
o
ller
p
er
f
o
r
m
a
n
ce
,
s
p
ec
i
f
icall
y
i
n
tr
an
s
it
s
tate
[
9
]
,
[
1
0
]
.
W
ith
o
u
t
co
u
n
ter
p
ar
ts
th
a
t
ar
e
s
o
p
h
is
ticated
in
tu
r
n
in
g
m
et
h
o
d
s
th
at
ar
e
f
r
eq
u
e
n
c
y
d
o
m
a
in
b
ased
,
i
n
t
h
e
ti
m
e
d
o
m
ai
n
,
p
o
le
p
lace
m
en
t
m
a
in
l
y
is
tr
ial
a
n
d
er
r
o
r
.
I
n
th
is
s
ta
te,
s
e
v
er
al
iter
atio
n
s
o
f
v
ar
io
u
s
p
o
le
lo
ca
tio
n
ar
e
at
te
m
p
ted
b
y
co
n
tr
o
l
e
n
g
i
n
ee
r
s
u
n
til
th
e
d
esira
b
le
r
esp
o
n
s
e
is
attai
n
ed
[
11]
-
[
1
3
]
.
T
h
e
av
ailab
ilit
y
o
f
o
p
ti
m
izat
i
o
n
tech
n
iq
u
e
s
s
p
ec
i
f
icall
y
th
e
tr
ad
itio
n
al
o
n
es
i
s
a
ch
alle
n
g
e.
I
n
s
tead
,
th
e
o
b
j
ec
tiv
es
o
f
o
p
ti
m
izatio
n
ex
is
t
o
n
l
y
as
a
j
o
in
t
o
f
tr
an
s
i
en
t
p
ar
a
m
eter
s
o
f
p
er
f
o
r
m
a
n
c
e
(
co
n
s
tan
t
s
)
w
h
er
e
in
th
is
ca
s
e
t
h
er
e
ar
e
in
co
m
p
atib
le
g
r
ad
ien
ts
.
T
h
is
iter
ati
v
e
s
ea
r
ch
is
h
i
g
h
l
y
d
i
m
e
n
s
io
n
al
d
esp
ite
b
ein
g
a
p
o
ten
tial
s
ea
r
c
h
p
r
o
b
le
m
.
B
es
id
es,
f
ea
s
ib
ilit
y
is
ac
h
ie
v
ed
o
n
l
y
f
o
r
p
r
o
b
le
m
s
o
f
lo
w
er
o
r
d
er
.
Fo
r
in
s
ta
n
ce
,
i
n
lin
ea
r
s
y
s
te
m
at
n
-
s
tate,
r
o
u
ti
n
e
f
o
r
o
p
ti
m
izatio
n
w
ill
s
ea
r
ch
in
a
2
n
-
d
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m
en
s
io
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al
h
y
p
er
s
p
ac
e.
I
m
p
o
r
t
an
ce
o
f
d
o
in
g
s
o
is
to
ac
co
u
n
t
f
o
r
th
e
i
m
a
g
in
ar
y
an
d
r
ea
l
p
ar
ts
i
n
ea
ch
p
o
le.
Fu
r
th
er
m
o
r
e,
th
e
s
ea
r
ch
s
p
ac
e
is
d
o
u
b
le
b
y
o
b
s
er
v
er
's
d
esi
g
n
m
o
r
e
ef
f
icien
tl
y
.
Su
c
h
ta
s
k
s
w
it
h
h
i
g
h
d
i
m
e
n
s
io
n
s
ca
n
n
o
t
b
e
h
an
d
le
b
y
m
o
s
t
o
p
tim
izatio
n
r
o
u
ti
n
e
s
th
at
ar
e
t
r
ad
itio
n
al
[1
4]
-
[
1
6
]
.
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
R
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b
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p
la
ce
men
t u
s
in
g
fir
efly
a
lg
o
r
ith
m
(
Mo
a
th
S
a
b
a
b
h
a
)
1059
Fo
r
co
n
tr
o
l
d
esig
n
,
t
h
e
ex
i
s
ti
n
g
li
ter
atu
r
e
s
p
ec
i
f
icall
y
o
n
t
h
e
p
r
ev
io
u
s
w
o
r
k
co
n
s
id
er
u
t
ilizatio
n
o
f
ev
o
lu
tio
n
ar
y
al
g
o
r
ith
m
s
.
Sc
h
o
lar
s
ar
g
u
e
th
at
th
e
tec
h
n
iq
u
e
s
d
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r
eq
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ex
ac
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g
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ad
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t
in
f
o
r
m
atio
n
to
f
o
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o
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tim
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to
b
e
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.
I
n
c
o
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tr
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l
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in
ee
r
i
n
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to
o
b
tain
t
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e
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it
h
m
o
v
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w
,
s
ee
[
3
]
,
[
4
]
.
P
ar
ticu
lar
l
y
,
p
o
le
p
lace
m
en
t
in
[
11
]
-
[
13
]
ca
m
e
i
n
to
b
ein
g
a
p
r
o
b
le
m
o
f
m
u
l
ti
-
o
b
j
ec
tiv
e
o
p
ti
m
iza
tio
n
.
Ho
w
e
v
er
,
th
e
p
r
o
b
lem
i
s
s
o
l
v
e
d
b
y
g
e
n
etic
al
g
o
r
ith
m
s
(
G
As)
.
T
h
is
w
o
r
k
ca
n
b
e
co
m
p
ar
ed
m
o
r
e
w
it
h
[
6
]
an
d
[
15
]
,
w
h
er
e
G
A
s
w
as
u
ti
lized
i
n
MI
MO
s
y
s
te
m
s
t
h
at
ar
e
n
o
n
li
n
ea
r
a
n
d
f
o
r
r
o
b
u
s
t
p
o
le
p
lace
m
en
t.
Scie
n
ti
s
ts
r
ec
en
tl
y
u
tili
ze
d
P
ar
ticles
S
w
ar
m
Op
ti
m
izatio
n
(
P
SO)
in
tu
n
i
n
g
P
I
D
an
d
P
I
co
n
tr
o
lle
r
s
[
15
]
-
[
1
7
]
.
T
h
e
w
o
r
k
clea
r
l
y
d
em
o
n
s
tr
ated
th
at
th
e
P
SO
is
b
o
th
a
r
eliab
le
an
d
f
aster
to
o
l
w
h
en
i
t
co
m
es
to
co
n
tr
o
l
o
p
ti
m
izatio
n
.
T
h
er
ef
o
r
e,
it
h
as
b
etter
p
er
f
o
r
m
a
n
ce
an
d
p
r
o
v
id
es
b
etter
r
esu
lt
s
co
m
p
ar
ed
to
GA
ev
o
l
u
t
io
n
ar
y
al
g
o
r
ith
m
.
T
h
e
P
I
D
c
o
n
tr
o
ller
g
o
al
is
d
eter
m
i
n
atio
n
o
f
th
e
p
ar
a
m
ete
r
s
n
ee
d
ed
to
m
ee
t
t
h
e
clo
s
ed
lo
o
p
s
y
s
te
m
s
p
ec
if
icatio
n
s
o
f
p
er
f
o
r
m
a
n
ce
as
w
e
ll
as
i
m
p
r
o
v
i
n
g
t
h
e
r
o
b
u
s
t
p
er
f
o
r
m
an
ce
o
f
th
e
co
n
tr
o
l
lo
o
p
o
v
er
v
ar
io
u
s
co
n
d
itio
n
s
o
f
o
p
er
atio
n
.
I
n
p
r
ac
tical
p
er
s
p
ec
tiv
e,
it
is
v
er
y
h
ar
d
to
ac
h
iev
e
s
i
m
u
lta
n
eo
u
s
l
y
all
t
h
e
q
u
aliti
e
s
d
esire
d
.
Fo
r
in
s
tan
ce
,
i
f
ad
j
u
s
tm
en
t
is
d
o
n
e
to
th
e
P
I
D
co
n
tr
o
ller
w
ith
t
h
e
g
o
al
o
f
p
r
o
v
id
in
g
tr
an
s
ie
n
t
r
esp
o
n
s
e
to
s
et
p
o
in
t
c
h
an
g
e,
th
e
r
es
u
ltan
t
o
f
th
i
s
i
s
s
l
u
g
g
i
s
h
r
esp
o
n
s
e
e
s
p
ec
iall
y
w
h
en
p
u
t
u
n
d
er
co
n
d
itio
n
s
w
it
h
d
is
tu
r
b
an
ce
.
O
n
t
h
e
o
th
er
h
a
n
d
,
it
th
e
s
y
s
te
m
is
ad
j
u
s
ted
a
n
d
m
ad
e
r
o
b
u
s
t
to
d
is
tu
r
b
an
c
e
w
h
ic
h
is
d
o
n
e
b
y
ch
o
o
s
in
g
th
e
P
I
D
co
n
tr
o
ller
’
s
co
n
s
er
v
ati
v
e
v
al
u
es
an
d
m
a
y
r
esu
lt
to
s
lo
w
r
esp
o
n
s
e
o
f
cl
o
s
ed
lo
o
p
to
a
s
et
ch
an
g
e
p
o
in
t.
T
h
u
s
,
d
i
f
f
er
e
n
t
m
eth
o
d
s
o
f
P
I
D
co
n
tr
o
ller
s
tu
n
i
n
g
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
.
C
o
n
v
e
n
tio
n
al
t
u
n
i
n
g
m
et
h
o
d
o
f
P
I
D
co
n
tr
o
l p
r
o
p
o
s
ed
in
[
12
]
is
o
n
e
o
f
th
e
w
ell
-
k
n
o
w
n
tec
h
n
iq
u
e.
I
n
p
r
ac
tice,
th
e
m
et
h
o
d
h
as
ef
f
ec
ti
v
el
y
p
er
f
o
r
m
ed
w
ell.
Ho
w
e
v
er
,
it
h
as
s
o
m
eti
m
es
p
r
o
v
id
ed
in
ad
eq
u
ate
t
u
n
i
n
g
in
ad
d
itio
n
to
its
ten
d
en
c
y
to
p
r
o
d
u
cin
g
b
ig
g
er
o
v
er
s
h
o
o
ts
.
T
h
u
s
,
f
o
r
ef
f
ec
ti
v
e
ap
p
licatio
n
o
f
th
is
m
et
h
o
d
,
r
etu
n
i
n
g
is
n
e
ed
ed
an
d
s
h
o
u
ld
b
e
ap
p
lied
p
r
io
r
to
c
o
n
tr
o
l
in
d
u
s
tr
ial
p
r
o
ce
s
s
.
A
d
d
itio
n
all
y
,
i
n
o
r
d
er
to
en
s
u
r
e
th
at
th
e
m
et
h
o
d
is
en
h
an
ce
d
esp
ec
iall
y
e
n
h
a
n
cin
g
t
h
e
p
ar
am
e
ter
tu
n
in
g
m
eth
o
d
s
o
f
t
r
ad
itio
n
al
P
I
D,
s
ev
er
al
s
u
g
g
e
s
tio
n
s
h
av
e
b
ee
n
m
ad
e
i
n
t
h
e
ap
p
r
o
ac
h
es
th
at
ca
n
ap
p
r
o
p
r
iately
b
e
e
m
p
lo
y
ed
to
i
m
p
r
o
v
e
th
e
tu
n
i
n
g
o
f
P
I
D.
T
h
ey
i
n
cl
u
d
e
Gen
er
ic
alg
o
r
ith
m
,
[
1
8
]
an
d
p
ar
ticle
s
w
ar
m
o
p
ti
m
izat
io
n
[
1
9
]
.
I
n
th
e
r
ec
en
t
ti
m
e
s
,
h
o
w
e
v
er
,
th
e
ad
v
a
n
ce
m
en
t
o
f
co
m
p
u
tat
io
n
al
m
e
th
o
d
s
h
as
led
to
th
e
p
r
o
p
o
s
al
o
f
o
p
ti
m
izatio
n
alg
o
r
ith
m
in
o
r
d
er
to
tu
n
e
t
h
e
p
ar
a
m
e
ter
s
o
f
co
n
tr
o
l
in
id
e
n
ti
f
y
i
n
g
t
h
e
o
p
ti
m
al
P
er
f
o
r
m
a.
A
s
id
e
th
e
s
e
ef
f
o
r
ts
,
liter
at
u
r
e
ex
is
t
s
o
n
P
I
D
co
n
tr
o
ller
s
,
th
e
ir
en
h
a
n
ce
m
en
t
an
d
r
ev
o
l
u
tio
n
o
f
t
h
e
P
I
D
co
n
tr
o
ller
s
.
T
h
e
ex
is
te
n
ce
o
f
th
i
s
liter
atu
r
e
h
as
b
ee
n
attr
ib
u
ted
t
o
th
e
f
ac
t
t
h
at
to
d
a
y
,
m
o
r
e
th
an
5
0
%
o
f
t
h
e
i
n
d
u
s
tr
ial
co
n
t
r
o
ller
s
ar
e
u
tili
zi
n
g
m
o
d
i
f
ied
P
I
D
co
n
tr
o
l
o
r
t
h
e
P
I
D
co
n
tr
o
l
Sch
e
m
e
s
[
20
]
.
T
h
e
w
id
esp
r
ea
d
u
s
e
a
n
d
ac
c
ep
tan
ce
o
f
th
e
P
DI
co
n
tr
o
ll
er
s
h
a
s
m
ai
n
l
y
b
ee
n
as
a
r
es
u
lt
o
f
r
o
b
u
s
t
p
er
f
o
r
m
a
n
c
e
an
d
t
h
eir
s
i
m
p
l
icit
y
i
n
w
id
e
r
an
g
e
o
f
co
n
d
itio
n
s
o
f
o
p
er
atio
n
s
.
T
h
u
s
,
i
n
en
h
a
n
ci
n
g
th
e
r
o
b
u
s
t
n
es
s
o
f
P
I
D
co
n
tr
o
ller
s
,
s
ev
er
al
liter
atu
r
e
e
x
i
s
ts
.
T
h
ese
p
r
e
v
io
u
s
w
o
r
k
s
p
ec
if
icall
y
u
s
e
s
t
h
e
ev
o
l
u
tio
n
ar
y
a
lg
o
r
it
h
m
w
h
ich
f
all
s
u
n
d
er
th
e
co
n
tr
o
l
d
esi
g
n
f
ield
.
I
n
co
n
tr
o
l
en
g
in
ee
r
i
n
g
[
2
1
]
-
[
2
5
]
p
r
o
v
id
ed
ev
o
lu
tio
n
a
r
y
a
lg
o
r
it
h
m
o
v
er
v
ie
w
.
F
u
r
th
er
m
o
r
e,
[
2
6
]
-
[
28
]
u
s
ed
g
e
n
er
ic
alg
o
r
ith
m
i
n
t
h
e
o
p
tim
izatio
n
o
f
tan
k
er
a
u
to
p
il
o
t
co
n
tr
o
l
s
y
s
te
m
s
.
Ag
ai
n
,
[
19
]
u
tili
ze
d
P
SO
in
tu
n
i
n
g
o
f
th
e
l
in
ier
g
ia
n
t
s
o
f
P
I
D
co
n
tr
o
ller
f
o
r
A
u
to
m
a
tic
Vo
ltag
e
R
e
g
u
lato
r
(
A
V
R
)
s
y
s
t
e
m
s
.
I
n
a
n
o
th
er
s
t
u
d
y
,
[
29
]
u
ti
lized
P
SO
to
tu
n
e
th
e
p
ar
a
m
eter
s
o
f
p
r
o
p
o
r
tio
n
al
in
te
g
r
al
(
P
I
)
co
n
tr
o
ller
f
o
r
d
o
u
b
le
f
ed
i
n
d
u
ctio
n
g
en
er
ato
r
s
w
h
ic
h
is
m
ai
n
l
y
d
r
o
v
e
b
y
w
i
n
d
t
u
r
b
in
es.
I
n
ad
d
itio
n
,
to
s
w
in
g
u
p
a
n
ac
r
o
b
at
w
it
h
t
h
e
ass
u
m
p
t
io
n
th
a
t
th
er
e
is
li
m
ited
to
r
q
u
e,
[
30
]
ca
m
e
u
p
w
it
h
th
e
G
A
-
b
ased
m
e
th
o
d
o
f
co
n
tr
o
l
w
h
ic
h
p
r
o
v
ed
to
b
e
an
ef
f
ec
tiv
e
co
n
t
r
o
l
m
eth
o
d
.
I
n
a
m
o
r
e
r
ec
en
t
s
tu
d
y
co
n
d
u
c
ted
b
y
[
31
]
,
th
e
ev
o
lu
tio
n
a
r
y
t
u
n
i
n
g
tech
n
iq
u
es
w
er
e
e
m
p
lo
y
ed
s
p
ec
if
icall
y
f
o
r
a
ty
p
e
2
-
f
u
zz
y
l
o
g
ic
co
n
tr
o
ller
.
Af
ter
th
i
s
s
t
u
d
y
,
[
32
]
co
n
d
u
cted
a
s
tu
d
y
w
h
er
e
a
h
y
b
r
id
o
p
ti
m
iz
atio
n
alg
o
r
it
h
m
w
as
u
s
ed
,
th
is
in
v
o
lv
ed
a
co
m
b
i
n
atio
n
o
f
p
atter
n
s
ea
r
c
h
b
ased
an
d
P
SO
m
et
h
o
d
s
w
h
ic
h
w
er
e
u
s
e
d
in
t
u
n
in
g
o
f
P
I
co
n
tr
o
ller
.
Fu
r
t
h
er
,
class
ic
ex
a
m
p
le
o
f
in
h
er
en
t
u
n
s
tab
le
s
y
s
te
m
i
s
in
v
er
ted
p
en
d
u
lu
m
,
an
d
is
a
n
ex
ce
llen
t
test
f
o
r
test
i
n
g
a
n
d
lear
n
i
n
g
a
n
u
m
b
er
o
f
co
n
tr
o
l
tech
n
iq
u
e
s
.
F
o
r
in
s
tan
ce
,
i
n
s
tab
ilizat
io
n
o
f
in
v
er
ted
p
en
d
u
lu
m
s
y
s
te
m
,
[
33
]
u
s
e
d
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
u
s
i
n
g
G
A
.
T
h
e
in
v
er
ted
p
en
d
u
l
u
m
li
n
ea
r
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
s
ar
e
m
ai
n
l
y
d
esi
g
n
ed
u
s
in
g
t
h
e
m
u
lti
-
o
b
j
ec
tiv
e
u
n
i
f
o
r
m
d
iv
er
s
it
y
G
A
a
n
d
p
er
io
d
ic
m
u
lti
-
o
b
j
ec
t
P
SO.
I
n
th
is
ca
s
e,
an
in
v
er
ted
p
en
d
u
l
u
m
s
y
s
te
m
co
n
tr
o
l
m
ec
h
a
n
i
s
m
i
s
f
a
ce
-
f
o
r
w
ar
d
n
e
u
r
al
n
et
w
o
r
k
n
o
v
el
f
u
s
ed
co
n
tr
o
lle
r
an
d
en
co
d
in
g
o
f
its
p
ar
a
m
eter
s
ar
e
d
o
n
e
in
to
r
ea
l c
h
r
o
m
o
s
o
m
es v
al
u
es
f
o
r
GA
[
34
]
.
I
n
t
h
e
li
g
h
t
o
f
th
e
p
r
ev
io
u
s
li
ter
atu
r
e,
th
e
p
r
i
m
ar
y
r
o
le
o
f
t
h
is
p
ap
er
is
to
o
p
ti
m
ize
p
o
le
lo
ca
tio
n
s
u
s
i
n
g
Fire
f
l
y
al
g
o
r
ith
m
i
n
s
a
tis
f
y
i
n
g
s
tead
y
-
s
tate
a
n
d
tr
an
s
ien
t
p
er
f
o
r
m
a
n
ce
.
A
s
Xin
-
S
h
e
Ya
n
g
p
r
o
p
o
s
ed
,
w
h
e
n
d
o
in
g
o
p
ti
m
izatio
n
u
s
i
n
g
m
at
h
e
m
a
tics
,
o
p
ti
m
izatio
n
o
f
f
ir
ef
l
y
ca
n
b
e
m
et
h
o
lis
ti
ca
ll
y
,
an
d
f
la
s
h
i
n
g
b
eh
av
io
r
s
o
f
f
ir
e
f
lies
in
s
p
ir
es
it.
W
h
e
n
co
m
p
ar
ed
to
o
th
er
te
ch
n
iq
u
es
o
f
co
m
p
u
ter
izat
io
n
i
n
telli
g
e
n
ce
s
u
c
h
a
s
g
en
et
ic
alg
o
r
ith
m
,
n
e
u
r
al
n
et
w
o
r
k
s
as
w
e
ll
as
P
SO,
th
er
e
is
ex
ce
p
tio
n
al
p
er
f
o
r
m
a
n
ce
o
f
f
ir
ef
l
y
al
g
o
r
ith
m
i
n
o
p
tim
izatio
n
p
r
o
b
le
m
o
f
h
ig
h
d
i
m
en
s
io
n
.
T
h
e
f
o
llo
w
in
g
p
ap
er
s
ec
tio
n
h
as
b
ee
n
s
tr
u
ct
u
r
ed
as
f
o
llo
ws.
I
n
S
ec
tio
n
2
,
b
r
ief
o
v
er
v
ie
w
is
g
i
v
e
n
r
elatin
g
to
ti
m
e
-
d
i
m
e
n
s
io
n
co
n
tr
o
l
d
esig
n
.
I
t
al
s
o
d
is
cu
s
s
e
s
w
a
y
s
in
w
h
ic
h
p
o
le
lo
ca
tio
n
h
an
d
tu
n
i
n
g
w
o
r
k
s
to
attain
th
e
tr
an
s
ien
t
a
n
d
s
tead
y
s
tate
p
er
f
o
r
m
an
ce
.
I
n
S
ec
tio
n
3
,
f
ir
e
f
l
y
al
g
o
r
ith
m
i
s
p
r
ese
n
t
ed
.
T
h
e
p
r
o
b
lem
o
f
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
.
2
,
A
p
r
il
2019
:
1
0
5
8
-
1066
1060
p
o
le
p
l
ac
em
e
n
t
is
a
ls
o
f
o
r
m
u
l
ated
in
t
h
i
s
s
ec
tio
n
u
s
in
g
Fire
f
l
y
f
r
a
m
e
w
o
r
k
a
n
d
o
f
f
er
s
d
etail
s
o
n
d
e
s
ig
n
i
s
s
u
es
.
Fire
f
l
y
o
p
ti
m
ized
s
tates
f
ee
d
b
ac
k
co
n
tr
o
l
is
p
r
ese
n
ted
f
o
r
h
elico
p
ter
s
tab
ilizatio
n
ca
s
e
u
n
d
er
t
h
e
R
HM
i
n
S
ec
tio
n
4
an
d
Sectio
n
5
,
r
esp
ec
tiv
el
y
.
T
h
e
p
ap
er
en
d
s
w
it
h
a
co
n
clu
s
io
n
i
n
Sectio
n
6
.
2.
SYST
E
M
M
O
DE
L
O
F
T
H
E
ST
A
T
E
F
E
E
DB
ACK
CO
N
T
RO
L
T
h
e
s
i
m
p
le
lin
ea
r
ti
m
e
-
i
n
v
ar
ia
n
t (
L
T
I
)
m
o
d
el
is
e
x
p
r
ess
ed
as
:
̂
(
)
(
)
(
)
(
1
)
w
h
er
e
s
tate
v
ec
to
r
is
r
ep
r
esen
ted
b
y
(
)
an
d
in
p
u
t
v
ec
to
r
is
d
en
o
ted
b
y
(
)
.
T
h
en
,
th
e
o
u
tp
u
t
v
ec
to
r
(
)
is
g
iv
e
n
b
y
(
)
(
)
(
)
(
2
)
I
f
th
e
s
y
s
te
m
is
co
n
tr
o
llab
le,
th
en
th
e
la
w
o
f
f
u
ll
s
ta
te
f
e
ed
b
ac
k
th
at
r
ep
r
esen
ts
s
tab
le
s
y
s
te
m
o
f
clo
s
ed
lo
o
p
is
g
iv
en
b
y
(
)
(
)
(
3
)
T
o
th
at
en
d
,
th
e
co
n
tr
o
llab
ili
t
y
m
atr
ix
o
f
th
e
li
n
ea
r
s
y
s
te
m
,
ca
n
b
e
ex
p
r
ess
ed
as
[
]
(
4
)
w
h
er
e
is
as
s
u
m
ed
to
b
e
f
u
ll r
a
n
k
s
o
th
at
t
h
e
s
y
s
te
m
is
co
n
tr
o
llab
le.
Ho
w
e
v
er
,
o
n
e
ca
n
in
d
ir
ec
tl
y
ac
ce
s
s
th
e
i
n
ter
n
al
s
tate
(
)
o
f
th
e
s
y
s
te
m
b
y
u
s
i
n
g
t
h
e
s
ep
ar
atio
n
p
r
in
cip
le
tech
n
iq
u
e
s
to
d
esi
g
n
an
o
b
s
er
v
er
to
o
b
tain
f
r
o
m
t
h
e
o
u
tp
u
t
v
ec
to
r
(
)
th
e
i
n
p
u
t
s
t
ate
v
ec
to
r
(
)
.
Usi
n
g
t
h
e
L
u
e
n
b
er
g
er
o
b
s
er
v
e
r
,
th
e
o
u
tp
u
t
f
ee
d
b
ac
k
m
o
d
el
i
s
g
i
v
en
b
y
:
̿
(
)
̅
(
)
(
)
(
̅
(
)
(
)
)
(
5
)
̅
(
)
̅
(
)
(
6
)
w
h
er
e
it
is
a
s
s
u
m
ed
th
at
t
h
er
e
i
s
o
b
s
er
v
ab
l
e
s
y
s
te
m
,
t
h
at
i
s
o
b
s
er
v
ab
ilit
y
m
a
tr
ix
[
]
co
n
tain
s
a
r
an
k
th
a
t
is
f
u
ll.
T
h
e
o
u
tp
u
t
f
ee
d
b
ac
k
tech
n
iq
u
es
h
a
v
e
b
ee
n
p
r
o
v
ed
to
w
o
r
k
w
el
l
in
li
n
ea
r
s
y
s
te
m
s
t
h
eo
r
y
in
t
h
e
l
iter
at
u
r
e
[
1
2
-
2
5
]
.
Fo
r
m
o
r
e
d
etailed
d
er
iv
atio
n
an
d
d
esi
g
n
s
r
ef
er
to
[
2
]
.
A
ls
o
,
th
e
s
tate
f
ee
d
b
ac
k
m
et
h
o
d
h
as
b
ee
n
u
s
ed
a
n
d
ex
p
lo
ited
to
s
o
lv
e
th
e
r
eg
u
lati
o
n
p
r
o
b
lem
an
d
to
tr
ac
k
th
e
r
e
f
er
en
ce
o
u
tp
u
t a
s
i
n
[
2
0
]
.
T
h
e
ch
allen
g
e
i
n
s
y
s
te
m
o
f
s
tate
f
ee
d
b
ac
k
c
o
n
tr
o
l
i
s
to
ch
o
o
s
e
ap
p
r
o
p
r
iate
p
ar
am
ete
r
s
f
o
r
th
e
f
ee
d
b
ac
k
g
ai
n
s
an
d
.
T
h
ese
p
ar
am
eter
s
r
el
y
o
n
th
e
clo
s
ed
lo
o
p
p
o
les.
T
h
e
ad
v
an
tag
e
o
f
u
s
i
n
g
th
e
s
tat
e
f
ee
d
b
ac
k
m
eth
o
d
o
v
er
t
h
e
f
r
eq
u
en
c
y
-
d
o
m
ain
m
et
h
o
d
is
t
h
e
p
o
le
p
lace
m
en
t
p
r
o
ce
s
s
.
I
n
th
e
s
tate
f
ee
d
b
ac
k
m
et
h
o
d
,
th
e
clo
s
ed
-
lo
o
p
s
y
s
t
e
m
w
i
ll
g
iv
e
an
er
r
o
r
o
f
ze
r
o
-
s
tead
y
s
tate
w
h
e
n
t
h
e
p
o
le
s
ar
e
lo
ca
ted
in
th
e
s
-
p
la
n
e
lef
t
s
id
e.
Ho
w
e
v
er
,
th
e
lack
o
f
g
r
ap
h
ical
to
o
ls
w
il
l
m
ak
e
it
d
if
fi
c
u
lt
to
tu
n
e
t
h
e
r
is
e
ti
m
e,
s
ett
lin
g
ti
m
e,
an
d
o
v
er
s
h
o
o
t
in
t
h
e
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
f
o
r
a
d
esire
d
p
er
f
o
r
m
a
n
ce
.
T
o
tack
le
th
is
p
r
o
b
lem
in
[
1
1
-
1
4
]
,
au
th
o
r
s
e
m
p
lo
y
t
h
e
li
n
ea
r
q
u
a
d
r
atic
r
eg
u
lato
r
L
Q
R
to
r
el
y
o
n
o
p
ti
m
al
co
n
tr
o
l.
Ho
w
ev
er
,
th
is
m
et
h
o
d
is
s
ti
ll
r
eq
u
ir
in
g
m
a
n
u
a
l tu
n
i
n
g
b
e
f
o
r
e
a
d
esira
b
le
r
esp
o
n
s
e
ca
n
b
e
ac
h
iev
ed
.
3.
T
H
E
F
I
R
E
F
L
Y
AL
G
O
RI
T
H
M
I
n
[
2
2
]
,
th
e
clar
if
icatio
n
o
n
h
o
w
th
e
Fire
f
l
y
al
g
o
r
ith
m
f
o
ll
o
w
i
n
g
t
h
e
b
eh
a
v
io
r
o
f
f
ir
e
f
l
y
is
g
i
v
en
.
Fire
f
l
y
i
s
an
in
s
ec
t
th
a
t
f
o
r
th
e
m
o
s
t
p
ar
t
d
eliv
er
s
ca
d
en
ce
d
as
w
el
l
as
s
h
o
r
t
f
la
s
h
e
s
th
at
cr
ea
ted
b
y
a
b
io
lu
m
i
n
esce
n
ce
p
r
o
ce
d
u
r
e.
T
h
e
g
li
m
m
er
i
n
g
li
g
h
t
ca
p
ac
it
y
is
p
u
l
lin
g
ac
co
m
p
lice
s
(
co
r
r
esp
o
n
d
en
ce
)
o
r
dr
a
w
in
g
i
n
p
o
ten
tial
p
r
e
y
an
d
as
a
d
ef
en
s
i
v
e
ca
u
tio
n
in
g
t
o
w
ar
d
th
e
p
r
ed
ato
r
.
A
lo
n
g
t
h
ese
lin
e
s
,
th
i
s
lig
h
t
p
o
w
er
is
th
e
o
t
h
er
f
ir
e
f
lies
’
f
a
cto
r
in
ad
v
an
ci
n
g
clo
s
e
to
th
e
o
th
er
f
ir
ef
l
y
.
A
t
t
h
e
s
ep
ar
atio
n
,
th
e
lig
h
t
p
o
w
er
is
ch
a
n
g
ed
f
r
o
m
th
e
e
y
e
s
o
f
o
n
lo
o
k
er
.
I
t
is
p
r
o
tecte
d
to
s
tate
th
a
t
th
e
li
g
h
t
p
o
w
er
i
s
d
i
m
i
n
i
s
h
ed
as
th
e
d
i
s
tan
ce
in
cr
e
m
en
t.
T
h
e
lig
h
t
p
o
w
er
li
k
e
w
i
s
e
t
h
e
i
m
p
a
ct
o
f
th
e
a
ir
r
etain
s
b
y
t
h
e
en
v
ir
o
n
m
en
t,
i
n
th
i
s
w
a
y
th
e
f
o
r
ce
tu
r
n
s
o
u
t
to
b
e
le
s
s
en
g
ag
in
g
as
th
e
s
ep
ar
atio
n
in
cr
e
m
e
n
t.
Fire
f
l
y
alg
o
r
ith
m
o
r
ig
i
n
all
y
p
r
ese
n
ted
b
ased
o
n
th
r
ee
id
ea
lize
r
u
le
s
,
1
)
th
er
e
is
an
attr
ac
tio
n
o
f
f
ir
ef
lies
to
w
ar
d
s
o
n
e
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
R
o
b
u
s
t p
o
le
p
la
ce
men
t u
s
in
g
fir
efly
a
lg
o
r
ith
m
(
Mo
a
th
S
a
b
a
b
h
a
)
1061
an
o
th
er
w
it
h
o
u
t
co
n
s
id
er
in
g
t
h
e
g
e
n
d
er
.
2
)
T
h
er
e
is
co
r
r
elativ
e
en
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g
in
g
q
u
ali
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o
f
t
h
e
f
ir
ef
lies
w
i
th
f
ir
e
f
lies
’
s
p
len
d
o
r
.
C
o
n
s
eq
u
e
n
tl
y
,
f
ir
ef
l
y
t
h
at
is
les
s
ap
p
ea
lin
g
ten
d
s
to
p
u
s
h
ah
ea
d
to
w
ar
d
s
th
e
f
ir
ef
l
y
t
h
at
i
s
m
o
r
e
allu
r
i
n
g
.
3
)
Fire
f
lie
s
s
h
i
n
e
r
eli
es u
p
o
n
t
h
e
co
s
t f
u
n
ctio
n
[
2
2
]
.
3
.
1
.
F
ire
f
ly
a
lg
o
rit
h
m
s
t
ruct
ure
I
n
f
ir
ef
l
y
alg
o
r
it
h
m
,
t
h
er
e
ex
i
s
t
t
w
o
e
s
s
e
n
tial
f
ac
to
r
s
,
t
h
ese
ar
e
th
e
li
g
h
t
i
n
t
e
n
s
it
y
ap
p
ea
l
an
d
f
o
r
ce
.
Fire
f
l
y
i
s
p
u
lled
i
n
to
w
ar
d
th
e
o
th
er
f
ir
e
f
l
y
co
n
tai
n
i
n
g
b
la
ze
th
at
i
s
b
r
ig
h
ter
t
h
an
its
b
r
az
e.
T
h
e
en
g
a
g
in
g
q
u
alit
y
i
s
d
ep
en
d
in
g
o
n
t
h
e
li
g
h
t p
o
w
er
.
T
h
e
lig
h
t
i
n
te
n
s
it
y
ac
co
r
d
in
g
l
y
attr
ac
ti
v
en
e
s
s
i
s
i
n
v
er
s
e
l
y
r
e
lativ
e
w
i
th
t
h
e
p
ar
ticu
lar
d
is
ta
n
ce
f
r
o
m
th
e
li
g
h
t
s
o
u
r
ce
.
I
n
t
h
is
m
a
n
n
er
,
th
e
lig
h
t
an
d
e
n
g
a
g
i
n
g
q
u
a
lit
y
i
s
d
i
m
i
n
is
h
i
n
g
as
t
h
e
d
is
ta
n
ce
in
cr
e
m
e
n
t.
On
e
ca
n
ex
p
r
ess
i
t a
s
f
o
llo
w
s
:
(
)
(
7
)
w
h
er
e,
I
=
Stan
d
s
f
o
r
lig
h
t i
n
ten
s
it
y
,
=
Stan
d
s
f
o
r
lig
h
t i
n
ten
s
it
y
,
at
o
r
ig
i
n
al
o
r
in
itial
lig
h
t in
ten
s
it
y
=
Stan
d
s
f
o
r
th
e
co
ef
f
icie
n
t o
f
t
h
e
lig
h
t
ab
s
o
r
p
tio
n
r
=
R
ep
r
esen
t
s
th
e
d
is
tan
ce
b
et
w
e
en
i
an
d
j
f
ir
ef
l
y
C
o
n
s
id
er
in
g
t
h
at
attr
ac
ti
v
e
n
es
s
is
p
r
o
p
o
r
tio
n
al
to
th
e
s
ee
n
b
y
an
o
th
er
f
ir
e
f
lie
s
’
l
ig
h
t i
n
te
n
s
it
y
,
th
e
n
th
e
attr
ac
ti
v
en
e
s
s
(
)
is
g
iv
e
n
a
s
(
8
)
w
h
er
e
r
ep
r
esen
ts
t
h
e
attr
ac
ti
v
en
es
s
at
ze
r
o
d
is
tan
ce
(
)
.
T
h
e
d
i
s
tan
ce
b
et
w
ee
n
t
w
o
f
ir
e
f
lies
c
an
b
e
d
ef
in
ed
b
ased
o
n
th
e
C
ar
tesi
a
n
d
is
tan
ce
as
f
o
llo
w
s
:
|
|
√
∑
(
)
(
9
)
Fire
f
l
y
i
is
attr
ac
ted
to
w
ar
d
th
e
m
o
r
e
attr
ac
tiv
e
f
ir
ef
l
y
j
,
th
e
u
p
d
ated
m
o
v
e
m
en
t i
s
ex
p
r
es
s
e
d
as f
o
llo
w
s
:
(
)
(
1
0
)
W
h
er
e
attr
ac
tio
n
is
d
o
n
e
b
y
,
li
m
ita
tio
n
is
w
h
e
n
th
er
e
is
te
n
d
en
c
y
o
f
to
o
lar
g
e
v
alu
e
o
r
ten
d
s
to
b
e
ze
r
o
.
T
h
er
e
is
co
n
s
ta
n
t b
r
i
g
h
tn
e
s
s
a
n
d
attr
ac
ti
v
en
e
s
s
i
f
ze
r
o
is
b
ei
n
g
ap
p
r
o
ac
h
ed
(
γ
→0
)
,
b
y
.
T
h
is
m
ea
n
s
i
n
s
h
o
r
t
th
at
it
i
s
p
o
s
s
ib
le
to
s
ee
in
an
y
p
o
s
itio
n
t
h
e
f
ir
e
f
l
y
,
ea
s
y
in
co
m
p
leti
n
g
t
h
e
g
lo
b
al
s
ea
r
ch
.
I
f
th
e
is
v
er
y
lar
g
e
o
r
is
n
ea
r
i
n
g
i
n
f
i
n
it
y
(
)
,
th
en
t
h
e
b
r
ig
h
t
n
es
s
an
d
attr
ac
tiv
e
n
ess
o
n
th
e
o
t
h
er
h
a
n
d
d
ec
r
ea
s
es.
T
h
er
e
is
th
u
s
a
r
an
d
o
m
m
o
v
e
m
en
t
o
f
f
ir
ef
l
y
.
T
h
e
t
w
o
as
y
m
p
to
tic
b
eh
a
v
io
r
as
u
s
ed
to
co
n
d
u
ct
th
e
f
ir
e
f
l
y
alg
o
r
ith
m
i
m
p
le
m
e
n
tatio
n
.
As
f
o
r
r
an
d
o
m
ized
p
ar
am
e
ter
is
,
th
e
s
ec
o
n
d
th
e
ter
m
is
u
s
ed
f
o
r
r
an
d
o
m
izatio
n
.
I
t
is
p
o
s
s
ib
le
to
r
e
p
lace
th
e
b
y
r
an
-
1
/2
r
an
as
r
an
d
o
m
n
u
m
b
er
an
d
is
g
en
er
ated
f
r
o
m
1
to
0
.
P
lease
r
ef
er
to
Alg
o
rit
h
m
1
.
A
l
g
o
r
i
t
h
m
1
:
Fi
r
e
f
l
y
a
l
g
o
r
i
t
h
m
In
p
u
t
:
C
o
s
t
F
u
n
c
t
i
o
n
(
)
,
In
i
t
i
a
l
p
o
p
u
l
a
t
i
o
n
o
f
F
i
refl
i
e
s
,
D
e
f
i
n
e
t
h
e
l
i
g
h
t
a
b
so
r
p
t
i
o
n
c
o
e
f
f
i
c
i
e
n
t
,
M
a
x
n
u
m
b
e
r
o
f
I
t
e
r
a
t
i
o
n
,
i
n
i
t
i
a
l
i
ze
t
h
e
Li
g
h
t
In
t
e
n
si
t
y
a
t
b
y
(
)
W
h
i
l
e
Lo
o
p
:
t
i
l
l
F
o
r
l
o
o
p
:
f
o
r e
a
c
h
a
l
l
f
i
refl
i
e
s
In
n
e
r
l
o
o
p
:
f
o
r
e
a
c
h
a
l
l
f
i
refl
i
e
s
If
(
)
,
m
o
v
e
f
i
r
e
f
l
y
t
o
w
a
r
d
s
;
e
n
d
i
f
.
V
a
ryi
n
g
a
t
t
ra
c
t
i
v
e
n
e
ss
w
i
t
h
d
i
s
t
a
n
c
e
d
u
e
t
o
E
v
a
l
u
a
t
e
n
e
w
s
o
l
u
t
i
o
n
s
a
n
d
u
p
d
a
t
e
t
h
e
l
i
g
h
t
i
n
t
e
n
s
i
t
y
E
n
d
F
o
r
E
n
d
F
o
r
R
a
n
k
t
h
e
f
i
refl
i
e
s
a
n
d
f
i
n
d
t
h
e
c
u
rre
n
t
g
l
o
b
a
l
b
e
st
v
a
l
u
e
s
E
n
d
W
h
i
l
e
O
u
t
p
u
t
:
t
h
e
b
e
st
f
i
ref
l
i
e
s
s
o
l
u
t
i
o
n
s
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
.
2
,
A
p
r
il
2019
:
1
0
5
8
-
1066
1062
4.
O
B
J
E
CT
I
V
E
F
UNC
T
I
O
N
I
n
o
r
d
er
to
a
d
d
r
ess
th
e
p
r
o
b
lem
o
f
o
p
ti
m
al
p
o
le
p
lace
m
e
n
t
b
ased
o
n
Fire
f
l
y
alg
o
r
it
h
m
,
we
p
lace
th
e
p
o
le
lo
ca
tio
n
s
as
f
ir
ef
l
y
’
s
p
o
s
i
tio
n
s
.
Ho
w
ev
er
,
o
n
e
ca
n
r
ep
r
esen
t
t
h
e
d
i
m
e
n
s
io
n
s
o
f
t
h
e
f
ir
ef
l
y
’
s
s
ea
r
ch
s
p
ac
e
b
y
a
s
s
u
m
in
g
t
h
e
p
o
les to
b
e
co
m
p
lex
co
n
j
u
g
ate
s
as f
o
llo
w
s
[
1
5
]
:
(
1
1
)
w
h
er
e
ea
ch
p
air
o
f
p
o
les ca
n
b
e
r
ep
r
esen
ted
b
y
a
s
et
v
al
u
es o
f
a
an
d
b
f
r
o
m
(
1
1
)
.
I
n
th
e
Fire
f
l
y
al
g
o
r
ith
m
,
t
h
e
o
b
j
ec
tiv
e
f
u
n
ctio
n
i
s
o
p
ti
m
ized
w
ith
o
u
t
u
s
i
n
g
a
n
y
g
r
ad
ien
t
m
et
h
o
d
s
.
Ho
w
e
v
er
,
w
e
u
s
e
th
e
o
b
j
ec
tiv
e
f
u
n
ctio
n
t
h
at
ev
al
u
ates
t
h
e
p
o
le
lo
ca
tio
n
s
in
ter
m
s
o
f
s
tead
y
s
tate
er
r
o
r
,
s
ettlin
g
ti
m
e,
Ov
er
s
h
o
o
t
r
is
e
ti
m
e
an
d
m
a
x
i
m
u
m
i
n
p
u
t
li
m
it.
So
,
th
e
d
esire
d
o
b
j
ec
tiv
e
f
u
n
ctio
n
i
s
ex
p
r
ess
ed
as
th
e
s
u
m
o
f
all
in
d
iv
id
u
al
v
a
lu
e
s
in
cl
u
d
in
g
s
tea
d
y
s
tate
er
r
o
r
,
s
ettlin
g
ti
m
e,
Ov
er
s
h
o
o
t
r
is
e
ti
m
e
an
d
m
a
x
i
m
u
m
i
n
p
u
t li
m
i
t.
5.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
AND
ANA
L
YS
I
S
I
n
th
is
s
ec
tio
n
,
T
h
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
y
i
s
v
alid
ated
b
y
s
i
m
u
latio
n
.
Si
m
u
latio
n
is
ex
ec
u
ted
i
n
th
e
Ma
tlab
/Si
m
u
li
n
k
e
n
v
ir
o
n
m
en
t.
I
n
th
i
s
p
ap
er
,
w
e
ch
o
s
e
a
h
elico
p
ter
s
tab
ilizatio
n
d
esig
n
as
a
p
r
o
o
f
o
f
co
n
ce
p
t
p
r
o
b
lem
in
d
e
m
o
n
s
t
r
atin
g
th
e
Fire
f
l
y
-
b
ased
s
tate
f
ee
d
b
ac
k
d
es
ig
n
.
T
h
e
R
a
tio
n
alize
d
Helico
p
ter
Mo
d
el
(
R
HM
)
[
1
7
]
,
[
2
6
]
-
[
2
8
]
is
a
w
el
l
-
s
t
u
d
ied
n
o
n
li
n
e
ar
d
y
n
a
m
ica
l
m
o
d
el
o
f
s
i
n
g
l
e
r
o
to
r
h
elico
p
ter
s
.
Mo
d
eled
af
ter
th
e
W
es
tlan
d
L
y
n
x
h
elico
p
ter
s
,
t
h
e
R
HM
ac
c
o
u
n
t
s
f
o
r
a
f
o
u
r
-
b
lad
e
s
e
m
i
-
r
i
g
id
m
ain
r
o
to
r
an
d
r
ig
id
b
o
d
y
.
T
h
e
eq
u
atio
n
s
g
o
v
er
n
i
n
g
th
e
h
el
ico
p
ter
m
o
ti
o
n
s
ar
e
co
m
p
le
x
.
A
d
d
itio
n
al
l
y
,
t
h
e
o
p
en
lo
o
p
d
y
n
a
m
ics
ar
e
u
n
s
tab
le
t
h
r
o
u
g
h
o
u
t
t
h
e
f
li
g
h
t
e
n
v
e
lo
p
e,
ex
h
ib
it
in
g
a
h
i
g
h
l
y
cr
o
s
s
-
co
u
p
led
an
d
n
o
n
lin
ea
r
r
esp
o
n
s
e.
T
h
e
s
tate
v
ec
to
r
(
)
o
f
th
e
d
y
n
a
m
ical
m
o
d
el
co
n
tai
n
s
eig
h
t
s
tates
[
1
9
]
,
i.e
.
p
itch
attitu
d
e
(
)
,
r
o
ll
attitu
d
e
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ased
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ased
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RE
F
E
R
E
NC
E
S
[1
]
W
.
Br
o
g
a
n
,
M
o
d
e
rn
C
o
n
tr
o
l
T
h
e
o
ry
,
3
rd
e
d
.
U
p
p
e
r
S
a
d
d
le R
iv
e
r,
NJ
:
P
re
n
ti
c
e
Ha
ll
,
1
9
9
1
.
[2
]
Bo
u
a
b
d
a
ll
a
h
,
S
.
,
“
De
sig
n
a
n
d
C
o
n
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o
f
Qu
a
d
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w
it
h
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p
p
l
ica
ti
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to
A
u
to
n
o
m
o
u
s
F
ly
in
g
,
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h
.
D.
d
isse
rtatio
n
,
Éco
le
P
o
ly
tec
h
n
iq
u
e
F
e
d
e
ra
le De
L
a
u
sa
n
n
e
,
2
0
0
7
.
[3
]
S
.
M
o
h
a
m
m
a
d
M
ir
z
a
e
i;
Mo
h
a
m
m
ad
H.
Mo
attar
,
“
Op
ti
m
i
z
e
d
P
ID
C
o
n
tr
o
ll
e
r
w
it
h
Ba
c
teria
l
F
o
ra
g
in
g
A
l
g
o
rit
h
m
,
”
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
Co
mp
u
ter
En
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
V
o
l.
5
,
No
.
6
,
De
c
e
m
b
e
r
2
0
1
5
,
p
p
.
1
3
7
2
-
1
3
8
0
.
[4
]
N.
R.
Ra
ju
a
n
d
P
.
L
.
Re
d
d
y
,
“
Op
ti
m
a
l
T
u
n
in
g
o
f
F
ra
c
ti
o
n
a
l
Ord
e
r
P
ID
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n
tro
ll
e
r
f
o
r
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u
to
m
a
ti
c
V
o
lt
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g
e
Re
g
u
lato
r
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y
st
e
m
th
ro
u
g
h
G
e
n
e
ti
c
A
lg
o
ri
th
m
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
En
g
i
n
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
,
v
o
l/
issu
e
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(2
)
,
p
p
.
9
2
2
-
9
2
7
,
2
0
1
6
.
[5
]
Z.
A
lb
a
tain
e
h
,
F
.
S
a
lem
,
"
Ro
b
u
st
b
l
in
d
m
u
lt
iu
se
r
d
e
tec
ti
o
n
a
l
g
o
rit
h
m
u
sin
g
f
o
u
rth
-
o
rd
e
r
c
u
m
u
lan
t
m
a
tri
c
e
s"
Circ
u
it
s,
S
y
ste
ms
,
a
n
d
S
i
g
n
a
l
Pr
o
c
e
ss
in
g
3
4
(8
),
2
5
7
7
-
2
5
9
5
,
2
0
1
5
.
[6
]
A
lb
a
tain
e
h
,
Z.
T
e
lec
o
m
m
u
n
S
y
st (
2
0
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8
)
6
8
:
5
7
3
.
h
tt
p
s://
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o
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o
rg
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0
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]
Z.
A
lb
a
tain
e
h
,
"
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n
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De
c
o
d
in
g
o
f
M
a
ss
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e
M
IM
O
Up
li
n
k
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y
ste
m
s
B
a
se
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o
n
th
e
Hig
h
e
r
Or
d
e
r
Cu
m
u
lan
ts"
W
irele
ss
P
e
rso
n
a
l
Co
m
m
u
n
ica
ti
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n
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h
t
tp
s://
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o
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rg
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2
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7
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[8
]
A
lb
a
tain
e
h
,
Z.
&
S
a
lem
,
F
.
M
.
C
ircu
it
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h
tt
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s:/
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[9
]
N.
R
a
m
e
s
h
R
aj
u
.
a
n
d
P.
L
in
g
a
R
ed
d
y
,
“
Ro
b
u
stn
e
ss
S
tu
d
y
o
f
F
ra
c
ti
o
n
a
l
Or
d
e
r
P
ID
Co
n
tr
o
ll
e
r
Op
ti
m
ize
d
b
y
P
a
rti
c
le
S
w
a
r
m
Op
ti
m
i
z
a
ti
o
n
i
n
A
V
R
S
y
ste
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
i
n
e
e
rin
g
(
IJ
ECE
)
,
V
o
l.
6
,
No
.
5
,
Oc
t
o
b
e
r
2
0
1
6
,
p
p
.
2
0
3
3
-
2
0
4
0
.
[1
0
]
P
.
F
lem
in
g
a
n
d
R.
P
u
rsh
o
u
se
,
“
Ev
o
lu
ti
o
n
a
ry
a
l
g
o
rit
h
m
s
in
c
o
n
tro
l
sy
ste
m
s
e
n
g
in
e
e
rin
g
:
a
su
rv
e
y
,
”
Co
n
tro
l
En
g
i
n
e
e
rin
g
Pra
c
ti
c
e
,
v
o
l.
1
0
,
n
o
.
1
1
,
p
p
.
1
2
2
3
–
1
2
4
1
,
2
0
0
2
.
[1
1
]
C.
F
o
n
se
c
a
a
n
d
P
.
F
lem
in
g
,
“
M
u
lt
i
o
b
jec
ti
v
e
o
p
t
im
a
l
c
o
n
tro
ll
e
r
d
e
sig
n
w
it
h
g
e
n
e
ti
c
a
lg
o
rit
h
m
s,”
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Co
n
tro
l
,
v
o
l.
1
,
p
p
.
7
4
5
–
7
4
9
,
M
a
rc
h
1
9
9
4
.
[1
2
]
G
.
S
a
n
c
h
e
z
,
M
.
Vill
a
sa
n
a
,
a
n
d
M
.
S
tref
e
z
z
a
,
“
M
u
lt
i
-
o
b
jec
ti
v
e
p
o
le
p
lac
e
m
e
n
t
w
it
h
e
v
o
lu
ti
o
n
a
ry
a
lg
o
rit
h
m
s,”
L
e
c
tu
re
No
tes
in
C
o
mp
u
ter
S
c
ien
c
e
,
v
o
l.
4
4
0
3
,
p
.
4
1
7
,
2
0
0
7
.
[1
3
]
J.
Ou
y
a
n
g
a
n
d
W
.
Qu
,
“
Ro
b
u
st
p
o
le
p
lac
e
m
e
n
t
u
sin
g
g
e
n
e
ti
c
a
lg
o
r
it
h
m
s,”
in
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
a
c
h
in
e
L
e
a
rn
in
g
a
n
d
Cy
b
e
rn
e
ti
c
s,
v
o
l
.
2
,
2
0
0
2
.
[1
4
]
Bo
u
a
b
d
a
ll
a
h
,
S
.
;
S
ieg
wa
rt,
R.
,
"
F
u
ll
c
o
n
tro
l
o
f
a
q
u
a
d
ro
t
o
r,
"
In
t
e
ll
ig
e
n
t
Ro
b
o
ts
a
n
d
S
y
ste
m
s,
2
0
0
7
.
IROS
2
0
0
7
.
IEE
E/
RS
J I
n
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
,
v
o
l
.
,
n
o
.
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p
p
.
1
5
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t.
2
9
2
0
0
7
-
N
o
v
.
2
2
0
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7
.
[1
5
]
J.
W
a
n
g
,
B.
T
.
Bra
c
k
e
tt
a
n
d
R.
G
.
Ha
rley
,
“
P
a
rti
c
le
S
w
a
r
m
-
As
sist
e
d
S
tate
F
e
e
d
b
a
c
k
Co
n
tr
o
l:
F
ro
m
P
o
le
S
e
lec
ti
o
n
to
S
tate
Esti
m
a
ti
o
n
”
,
2
0
0
9
Ame
ric
a
n
Co
n
tro
l
Co
n
fer
e
n
c
e
,
Ju
n
e
1
0
-
1
2
,
2
0
0
9
0
0
.
5
1
1
.
5
2
2
.
5
3
3
.
5
4
4
.
5
5
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0
1
2
3
t
u
(
t
)
u
1
u
2
u
3
u
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.
9
,
No
.
2
,
A
p
r
il
2019
:
1
0
5
8
-
1066
1066
[1
6
]
W
.
Qia
o
,
G
.
V
e
n
a
y
a
g
a
m
o
o
rth
y
,
a
n
d
R
.
Ha
rley
,
“
De
sig
n
o
f
o
p
ti
m
a
l
P
I
c
o
n
tr
o
ll
e
rs
f
o
r
d
o
u
b
l
y
fe
d
in
d
u
c
ti
o
n
g
e
n
e
ra
to
rs
d
riv
e
n
b
y
w
in
d
tu
rb
i
n
e
s
u
sin
g
p
a
rti
c
le
sw
a
r
m
o
p
ti
m
i
z
a
ti
o
n
,
”
2
0
0
6
In
ter
n
a
ti
o
n
a
l
J
o
in
t
Co
n
fer
e
n
c
e
o
n
Ne
u
ra
l
Ne
two
rk
s
,
p
p
.
1
9
8
2
–
1
9
8
7
,
0
-
0
2
0
0
6
.
[1
7
]
D.
M
a
n
d
a
l,
S
.
P
.
G
h
o
sh
a
l,
a
n
d
A
.
K.
Bh
a
tt
a
c
h
a
rjee
,
“
A
No
v
e
l
P
a
rti
c
le
S
wa
r
m
Op
ti
m
iza
ti
o
n
Ba
se
d
O
p
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p
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5
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re
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u
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o
rp
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ra
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n
,
1
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7
5
.
[2
1
]
J.
Ke
n
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h
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telli
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e
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ra
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c
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0
0
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.
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2
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s
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.
[2
3
]
J.
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tch
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m
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s f
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.
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M
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strial
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ti
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1
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9
8
.
[2
5
]
J.
Ka
u
tsk
y
,
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.
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7
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2
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,
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.
,
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,
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u
,
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,
(2
0
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),
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d
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m
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J
o
u
rn
a
l
o
f
Ap
p
li
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d
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ti
c
s
,
pp.
1
-
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3
]
P
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e
c
k
i,
J.S
.
;
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o
h
d
y
,
M
.
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,
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4
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g
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,
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ra
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ti
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In
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it
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M
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su
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1
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2
3
3
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.
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.
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ro
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w
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s.
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