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o
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s
m
o
to
r
s
c
h
ao
tic
s
y
s
te
m
[
3
6
]
,
h
o
p
f
ield
n
eu
r
al
n
et
w
o
r
k
[
3
7
]
,
n
u
clea
r
s
p
in
g
en
er
ato
r
s
y
s
te
m
[
3
8
]
,
s
y
n
ch
r
o
n
izatio
n
[
3
9
]
,
co
m
p
a
s
s
-
li
k
e
b
ip
ed
r
o
b
o
t
[
40
]
an
d
co
m
p
lex
it
y
[
41
].
T
h
is
p
ap
er
in
tr
o
d
u
ce
s
a
n
e
w
c
h
ao
tic
s
y
s
te
m
w
ith
li
n
e
of
eq
u
ilib
r
i
a
.
Ou
r
n
ew
ch
ao
tic
s
y
s
te
m
h
as
f
i
v
e
ter
m
s
w
it
h
t
w
o
tr
a
n
s
ce
n
d
en
ta
l
n
o
n
li
n
ea
r
it
ies
a
n
d
t
w
o
q
u
ad
r
atic
n
o
n
li
n
ea
r
it
ies
.
B
asic
p
r
o
p
er
ties
of
th
e
n
e
w
ch
ao
tic
s
y
s
te
m
ar
e
a
n
al
y
ze
d
,
in
clu
d
i
n
g
s
u
c
h
as
eq
u
ilib
r
i
u
m
p
o
in
t
s
,
L
y
ap
u
n
o
v
e
x
p
o
n
en
ts
,
Kap
lan
-
Yo
r
k
e
d
i
m
en
s
io
n
,
b
if
u
r
ca
tio
n
d
iag
r
a
m
an
d
P
o
in
ca
r
́
m
ap
.
Fi
n
all
y
,
p
as
s
i
v
e
co
n
tr
o
l a
n
d
cir
cu
it d
es
i
g
n
.
T
h
e
r
est
of
o
u
r
p
a
p
er
is
o
r
g
a
n
ized
as
f
o
llo
w
s
.
I
n
Sect
io
n
2
,
d
escr
ip
tio
n
of
t
he
n
e
w
c
h
a
o
tic
s
y
s
te
m
w
it
h
li
n
e
of
eq
u
ilib
r
ia
is
p
r
esen
t
ed
.
I
n
ad
d
itio
n
,
th
e
d
y
n
a
m
ics
p
r
o
p
er
ties
o
f
th
e
n
e
w
ch
ao
tic
s
y
s
te
m
ar
e
in
v
e
s
ti
g
ated
.
Stab
ilit
y
a
n
al
y
s
i
s
o
f
th
e
s
y
s
te
m
i
s
p
r
esen
ted
in
Sectio
n
3
.
So
m
e
d
ef
in
i
tio
n
s
an
d
th
eo
r
e
m
s
o
f
p
ass
iv
e
co
n
tr
o
l
ar
e
p
r
esen
ted
in
Sectio
n
4
an
d
co
n
tr
o
l
o
f
th
i
s
ch
ao
tic
s
y
s
te
m
u
s
i
n
g
p
ass
iv
e
co
n
tr
o
l
is
d
escr
ib
ed
in
s
ec
tio
n
5
.
I
n
Sect
io
n
6
,
a
n
e
w
elec
tr
o
n
ic
i
m
p
le
m
en
tatio
n
o
f
t
h
e
n
e
w
c
h
ao
tic
s
y
s
te
m
is
d
escr
ib
ed
an
d
ex
a
m
in
ed
i
n
Mu
ltiS
I
M.
F
i
n
all
y
,
co
n
clu
s
io
n
s
ar
e
d
r
a
w
n
in
Sectio
n
7
.
2.
DYNA
M
I
CAL ANA
L
YS
I
S
O
F
A
NE
W
CH
AO
T
I
C
SYS
T
E
M
WI
T
H
L
I
NE
OF
E
Q
U
I
L
I
B
R
I
A
I
n
th
i
s
p
ar
t,
in
s
p
ir
ed
b
y
th
e
m
et
h
o
d
an
d
s
tr
u
ct
u
r
e
p
r
o
p
o
s
ed
in
[
1
9
]
,
w
e
p
r
ese
n
t
a
n
e
w
c
h
ao
tic
s
y
s
te
m
a
s
:
2
,
|
|
|
|
,
|
|
,
x
y
z
y
x
x
y
y
z
a
x
b
y
(
1
)
w
h
er
e
,,
x
y
z
ar
e
s
tate
v
ar
iab
les
a
an
d
b
ar
e
p
o
s
itiv
e
s
y
s
te
m
p
ar
a
m
eter
s
.
Her
e
th
e
p
ar
a
m
eter
is
a
co
n
tr
o
l
p
ar
am
eter
to
co
n
tr
o
l th
e
a
m
p
li
tu
d
e
an
d
f
r
eq
u
e
n
c
y
o
f
all
v
ar
iab
les.
T
h
e
n
e
w
c
h
ao
tic
s
y
s
te
m
(
1
)
ex
h
ib
its
c
h
ao
tic
b
eh
a
v
io
r
as
s
h
o
w
n
i
n
Fi
g
u
r
e
1
1
.
6
,
0
.
8
,
ab
(
2
)
an
d
w
ith
t
h
e
i
n
itial
co
n
d
it
io
n
s
(0
)
0
.
2
,
(0
)
0
.
2
,
(0
)
0
.
2
.
x
y
z
(
3
)
T
h
e
f
o
u
r
t
h
o
r
d
er
R
u
n
g
e
–
K
u
t
ta
m
e
th
o
d
i
s
u
s
ed
f
o
r
e
m
p
l
o
y
i
n
g
t
h
e
n
u
m
er
ical
s
i
m
u
la
ti
o
n
s
.
Mo
r
eo
v
er
t
h
e
L
y
ap
u
n
o
v
ex
p
o
n
e
n
t
s
o
f
t
h
e
n
e
w
s
y
s
te
m
(
1
)
ar
e
ca
lcu
la
ted
u
s
in
g
W
o
l
f
alg
o
r
it
h
m
[
4
2
]
.
1
2
3
0
.
1
1
0
2
6
,
0
,
-
1
.
6
6
1
0
3
L
E
L
E
L
E
(
4
)
As
s
ee
n
i
n
Fi
g
u
r
e
2
(
a)
.
A
p
o
s
itiv
e
L
y
ap
u
n
o
v
ex
p
o
n
e
n
t
r
ev
e
als
th
e
p
r
esen
ce
of
c
h
ao
tic
s
y
s
te
m
.
Si
m
u
latio
n
i
s
r
u
n
f
o
r
5
0
.
0
0
0
s
ec
o
n
d
s
.
T
h
e
Kap
lan
-
Yo
r
k
e
d
i
m
en
s
io
n
o
f
th
e
n
e
w
ch
ao
tic
s
y
s
te
m
(
1
)
is
ca
lcu
la
ted
as
0
6
6
.
2
|
|
2
D
3
2
1
KY
LE
LE
LE
(
5
)
T
h
er
ef
o
r
e,
s
y
s
te
m
(
1
)
is
r
ea
ll
y
ch
ao
tic
w
ith
f
r
ac
tio
n
a
l d
i
m
e
n
s
io
n
.
a.
Fix
a
=
1
.
6
an
d
v
ar
y
b
:
Fo
r
th
is
ca
s
e
b
=
0.
46
,
th
e
L
y
ap
u
n
o
v
ex
p
o
n
e
n
ts
f
o
r
s
y
s
te
m
(
1
)
ar
e:
LE
1
=
0
.
0
2
3
0
,
LE
2
=
-
0
.
0
1
6
9
,
LE
3
=
-
2
.
4
4
5
8
.
It
is
clea
r
th
at
(
1
)
h
as
ch
ao
tic
attr
ac
to
r
s
f
o
r
b
≥
0.
46
.
Fo
r
b
=
0
.
4
5
,
th
e
L
y
ap
u
n
o
v
ex
p
o
n
e
n
t
s
f
o
r
s
y
s
te
m
(
1
)
ar
e:
LE
1
=
0
.
0
2
2
3
,
LE
2
=
-
0
.
0
2
8
4
,
LE
3
=
-
2
.
4
8
4
7
.
T
h
u
s
,
p
er
io
d
ic
b
eh
av
io
r
ca
n
b
e
s
ee
n
i
n
t
h
e
s
y
s
te
m
f
o
r
b
<
0
.
46
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
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&
C
o
m
p
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n
g
I
SS
N:
2
0
8
8
-
8708
A
n
ew ch
a
o
tic
s
ystem
w
ith
lin
e
o
f e
q
u
ilib
r
ia
:
d
yn
a
mics,
p
a
s
s
ive
co
n
tr
o
l a
n
d
circu
it d
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ce
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g
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a
mb
a
s
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2367
b.
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d
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ar
y
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r
a
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1
,
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e
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y
ap
u
n
o
v
e
x
p
o
n
en
t
s
f
o
r
s
y
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te
m
(
1
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e:
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6
3
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th
at
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as
ch
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r
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d
f
o
r
a
=
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,
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e
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y
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u
n
o
v
e
x
p
o
n
en
t
s
f
o
r
s
y
s
te
m
(
1
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ar
e:
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1
=
0
.
0
0
4
8
,
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2
=
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0
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0
0
7
8
,
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3
=
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0
.
1
0
4
8
.
T
h
u
s
,
p
er
io
d
ic
b
eh
av
io
r
ca
n
b
e
s
ee
n
i
n
th
e
s
y
s
te
m
f
o
r
a
<
0.
09
.
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h
e
b
if
u
r
ca
tio
n
d
iag
r
a
m
a
n
d
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y
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n
o
v
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n
e
n
t
s
p
ec
tr
u
m
o
f
n
e
w
ch
ao
tic
s
y
s
te
m
(
1
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o
r
a=
1
.
6
,
b=
0
.
8
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d
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itia
l
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n
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itio
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s
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,
y
(
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)
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.
2
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e
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r
es
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n
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r
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d
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as
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r
e
2
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e
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ties
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(
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(
c)
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d
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u
r
e
1
.
Nu
m
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ical
s
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u
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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0
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p
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u
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3.
E
Q
UI
L
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B
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AND
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T
Y
T
h
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eq
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iu
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e
w
ch
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y
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m
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ar
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w
in
g
s
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m
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2
|
|
0
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by
x
a
y
y
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x
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S
y
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te
m
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1
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h
as
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i
lib
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m
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z
Ez
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d
f
o
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r
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,
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.
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h
e
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ac
o
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ian
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a
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x
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T
h
e
ch
ar
ac
ter
is
ti
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eq
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atio
n
ca
n
b
e
w
r
itte
n
as
32
22
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I
t is cle
ar
th
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e
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y
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te
m
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at
th
e
li
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e
eq
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il
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r
iu
m
z
E
ar
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1
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3
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y
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m
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h
as
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o
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r
eq
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iu
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o
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ts
at
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1,
2
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±
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at
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48
04
6
.
1
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4
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0
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11
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8
.
5
3
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2
1
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9
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Her
e
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n
e
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ati
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n
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m
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er
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ile
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n
d
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ai
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itiv
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h
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s
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iu
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le
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fo
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ich
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tab
l
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r
th
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ec
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n
d
eq
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ilib
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m
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2
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,
th
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e
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en
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Si
m
ilar
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f
o
r
th
e
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ilib
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m
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3,
4
,
T
h
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4
6
5
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7
5
1
6
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(
10
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w
h
ic
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also
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e
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n
s
tab
le.
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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&
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p
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N:
2
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A
n
ew ch
a
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w
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2369
4.
T
H
E
T
H
E
O
RY
O
F
P
ASS
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V
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CO
NT
RO
L
C
o
n
s
id
er
th
e
f
o
llo
w
i
n
g
d
i
f
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er
en
tial
:
̇
=
(
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+
(
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,
=
(
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,
(
1
1
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w
h
er
e
∈
ℝ
is
s
ta
te
v
ar
iab
le,
Λ
(
)
Υ
(
)
ar
e
th
e
s
m
o
o
t
h
v
ec
to
r
f
ield
s
,
Θ
∈
ℝ
is
th
e
co
n
tr
o
l
f
u
n
ctio
n
,
>
an
d
Δ
(
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is
a
s
m
o
o
t
h
m
ap
p
in
g
.
Def
i
n
itio
n
1
[
2
6
,
4
3
]
I
f
th
e
m
atr
i
x
Υ
Δ
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=
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is
n
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n
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lar
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s
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te
m
(
1
1
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is
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aid
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av
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elativ
e
d
eg
r
ee
[
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1
,
.
.
.
,
1
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at
=
0
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i
n
itio
n
2
[
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6
,
4
3
]
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s
te
m
(
1
1
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is
s
aid
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ass
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r
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(
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lled
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at
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llo
w
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is
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ip
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ld
s
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−
(
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≤
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(
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(
)
.
(
1
2
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T
h
e
p
ar
am
etr
ic
v
er
s
io
n
o
f
t
h
e
n
o
r
m
al
f
o
r
m
o
f
s
y
s
te
m
(
1
1
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ca
n
b
e
w
r
itte
n
as
f
o
llo
w
s
:
̇
=
0
(
)
+
(
,
)
,
̇
=
(
,
)
+
(
,
)
,
(1
3
)
w
h
er
e
a
n
e
w
co
o
r
d
in
ate
o
f
t
h
e
s
y
s
te
m
(
1
3
)
is
(
,
)
,
lo
ca
ll
y
d
ef
i
n
ed
in
t
h
e
n
ei
g
h
b
o
r
h
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o
d
o
f
th
e
o
r
ig
in
,
∈
ℝ
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m
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d
(
,
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is
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o
n
s
in
g
u
lar
f
o
r
all
(
,
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in
th
e
n
ei
g
h
b
o
r
h
o
o
d
o
f
th
e
o
r
ig
in
[
2
6
,
4
3
]
.
R
e
m
ar
k
1
Setti
n
g
=
0
in
s
y
s
te
m
(
1
3
)
,
y
ield
s
th
e
ze
r
o
d
y
n
a
m
ic
s
y
s
te
m
:
̇
=
0
(
)
,
(1
4
)
w
h
er
e
th
e
s
tab
ilit
y
o
f
ze
r
o
d
y
n
a
m
ics i
s
a
n
ec
e
s
s
ar
y
co
n
d
itio
n
f
o
r
p
ass
iv
i
t
y
co
n
tr
o
l d
esi
g
n
.
Def
i
n
itio
n
3
[
2
6
,
4
3
]
Su
p
p
o
s
e
Υ
Δ
(
0
)
is
n
o
n
s
i
n
g
u
lar
,
th
e
n
s
y
s
te
m
(
1
1
)
is
s
aid
to
b
e
m
i
n
i
m
u
m
p
h
a
s
e
if
its
ze
r
o
d
y
n
a
m
ics
is
a
s
y
m
p
t
o
ticall
y
s
tab
le.
I
n
o
t
h
er
w
o
r
d
s
,
th
er
e
ex
is
ts
t
h
e
f
u
n
ctio
n
(
)
(
ca
lled
L
y
ap
u
n
o
v
f
u
n
ctio
n
o
f
₀
(
)
)
w
h
ic
h
i
s
p
o
s
itiv
e
-
d
ef
i
n
ite
a
n
d
d
if
f
er
en
tiab
le
i
n
s
u
c
h
th
a
t:
(
)
0
(
)
≤
0
,
(
1
5
)
∀
in
a
n
eig
h
b
o
r
h
o
o
d
o
f
=
0
.
T
h
eo
r
em
1
[
2
6
,
4
4
]
I
f
th
e
s
y
s
te
m
(
1
1
)
is
a
m
i
n
i
m
u
m
p
h
ase
s
y
s
te
m
,
th
e
s
y
s
te
m
(
1
2
)
w
i
ll
b
e
eq
u
iv
ale
n
t
to
a
p
ass
i
v
e
s
y
s
te
m
a
n
d
as
y
m
p
to
tical
l
y
s
tab
ili
ze
d
at
an
eq
u
ilib
r
iu
m
p
o
in
t
if
w
e
let
t
h
e
lo
ca
l
f
ee
d
b
ac
k
co
n
tr
o
l a
s
f
o
llo
w
s
:
=
−
1
(
,
)
(
−
(
,
)
−
(
(
)
(
,
)
)
−
+
)
,
(1
6
)
w
h
er
e
is
a
p
o
s
itiv
e
r
ea
l
v
alu
e
an
d
is
an
e
x
ter
n
al
s
ig
n
al
v
ec
t
o
r
th
at
is
co
n
n
ec
ted
w
i
th
t
h
e
r
ef
er
en
ce
i
n
p
u
t
.
S
y
s
te
m
(
1
7
)
af
ter
co
n
tr
o
l a
s
s
h
o
w
n
in
F
ig
u
r
e
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
9
,
No
.
4
,
A
u
g
u
s
t 2
0
1
9
:
2
3
6
5
-
2376
2370
Fig
u
r
e
3
.
S
y
s
te
m
(
1
7
)
af
ter
co
n
tr
o
l
5.
T
H
E
CO
N
T
RO
L
O
F
SYS
T
E
M
(
1
)
USI
NG
P
AS
SI
V
E
C
O
NT
RO
L
T
o
c
o
n
tr
o
l s
y
s
te
m
(
1
)
,
w
e
ad
d
th
e
co
n
tr
o
l
f
u
n
ct
io
n
to
t
h
e
f
ir
s
t
eq
u
atio
n
.
So
,
th
e
co
n
tr
o
ll
er
s
y
s
te
m
ca
n
b
e
w
r
itte
n
as
:
̇
1
=
2
3
+
,
̇
2
=
1
|
1
|
−
2
|
2
|
,
̇
3
=
|
1
|
−
2
2
.
(1
7
)
T
h
e
m
ai
n
g
o
al
is
to
d
esig
n
t
h
e
ap
p
r
ec
iate
co
n
tr
o
ller
f
u
n
ctio
n
to
s
tab
ilize
s
y
s
te
m
(
1
7
).
T
h
eo
r
em
2
I
f
w
e
ch
o
o
s
e
t
h
e
co
n
tr
o
ller
as f
o
llo
w
s
=
−
2
3
−
2
|
1
|
−
1
+
,
(1
8
)
w
h
er
e
is
a
p
o
s
itiv
e
r
ea
l
co
n
s
ta
n
t,
th
e
n
th
e
ch
ao
tic
s
y
s
te
m
(
1
7
)
w
ill
b
e
as
y
m
p
to
t
i
ca
ll
y
s
tab
ilized
at
th
e
f
ix
ed
p
o
in
t.
P
r
o
o
f.
C
lear
l
y
,
Υ
Δ
(
0
)
=
1
,
w
h
er
e
Δ
=
1
,
Υ
=
[
1
,
0
,
0
]
,
(
1
9
)
s
o
ac
co
r
d
in
g
to
d
ef
in
itio
n
1
,
s
y
s
te
m
(
1
7
)
h
av
e
r
elativ
e
d
eg
r
ee
[
1
,
1
,
.
.
.
,
1
]
.
L
et
1
=
2
,
2
=
3
,
=
1
,
th
e
(1
7
)
ca
n
b
e
r
ew
r
itte
n
as
:
̇
1
=
|
|
−
1
|
1
|
,
̇
2
=
|
|
−
1
2
,
̇
=
1
2
+
.
(
20
)
C
o
m
p
ar
in
g
(
20
)
b
y
(1
3
)
o
n
e
h
as
0
(
)
=
[
−
1
|
1
|
−
1
2
]
,
(
,
)
=
[
|
|
(
)
]
,
(
,
)
=
1
2
,
(
,
)
=
1
.
(
21
)
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
A
n
ew ch
a
o
tic
s
ystem
w
ith
lin
e
o
f e
q
u
ilib
r
ia
:
d
yn
a
mics,
p
a
s
s
ive
co
n
tr
o
l a
n
d
circu
it d
esig
n
(
A
ce
n
g
S
a
mb
a
s
)
2371
L
et
(
)
=
1
2
1
2
,
(
2
2
)
w
it
h
(
0
)
=
0
,
th
en
w
e
h
av
e
̇
(
)
=
(
)
̇
=
(
)
0
(
)
=
[
1
0
]
[
−
1
|
1
|
−
1
2
]
=
−
1
2
|
1
|
≤
0
.
(
2
3
)
R
eg
ar
d
in
g
to
d
ef
i
n
itio
n
3
,
s
y
s
t
e
m
(
1
7
)
is
m
in
i
m
u
m
p
h
ase
s
y
s
te
m
.
C
o
n
s
eq
u
e
n
tl
y
,
b
ased
o
n
t
h
eo
r
e
m
1
,
o
n
e
ca
n
d
esig
n
th
e
co
n
tr
o
ller
as
=
−
1
2
−
1
|
|
−
+
,
(
2
4
)
N
a
m
el
y
=
−
2
3
−
2
|
1
|
−
1
+
.
(
2
5
)
R
e
m
ar
k
[
2
6
]
t
h
e
attr
ac
to
r
s
o
f
th
e
n
e
w
ch
ao
tic
s
y
s
te
m
(
1
7
)
af
ter
co
n
tr
o
l
ar
e
co
n
v
er
ted
to
n
o
n
-
tr
i
v
ial
eq
u
ilib
r
iu
m
E
1
p
o
in
t
if
β
=
2γ
+
2
|
2
|
.
Fo
r
th
e
n
u
m
er
ical
s
i
m
u
latio
n
,
th
e
f
o
u
r
th
-
o
r
d
er
R
u
n
g
e
-
K
u
tta
m
e
th
o
d
is
u
s
ed
to
s
o
lv
e
th
e
s
y
s
te
m
o
f
d
if
f
er
en
tial
(1
7
)
,
w
i
th
s
tep
s
ize
eq
u
al
0
.
0
0
1
in
n
u
m
er
ical
s
i
m
u
latio
n
s
.
B
y
tak
i
n
g
γ
eq
u
als
to
0
.
2
an
d
th
e
in
itial
co
n
d
itio
n
s
o
f
(1
7
)
ar
e
u
1
(
0
)
=
1
,
u
2
(
0
)
=
3
,
u
3
=
0
.
4
.
A
s
e
x
p
ec
ted
,
o
n
e
ca
n
o
b
s
er
v
e
th
at
th
e
tr
aj
ec
to
r
ies
o
f
th
e
n
e
w
ch
ao
tic
s
y
s
te
m
(
1
7
)
as
y
m
p
to
tica
ll
y
s
tab
ilized
at
eq
u
ilib
r
iu
m
p
o
in
t
E
1
as illu
s
tr
ated
in
F
ig
u
r
e
3
.
6.
CIRCU
I
T
D
E
S
I
G
N
O
F
T
H
E
NE
W
CH
AO
T
I
C
SYS
T
E
M
C
h
ao
s
p
h
e
n
o
m
e
n
o
n
is
w
id
el
y
ap
p
lied
in
t
h
e
f
ield
o
f
e
n
g
i
n
ee
r
in
g
.
Sp
ec
if
ica
ll
y
,
elec
tr
o
n
i
c
cir
cu
it
s
[
4
4
-
50
]
,
s
ec
u
r
e
co
m
m
u
n
icati
o
n
[
51
]
,
r
o
b
o
tic
[
52
]
,
r
an
d
o
m
b
its
g
e
n
er
ato
r
[
53
]
,
an
d
v
o
ice
en
cr
y
p
tio
n
[
5
4
].
I
n
t
h
is
s
ec
tio
n
,
w
e
d
escr
ib
e
a
p
o
s
s
ib
le
cir
cu
it
t
o
i
m
p
le
m
en
t
n
e
w
c
h
ao
tic
s
y
s
te
m
w
i
th
li
n
e
of
eq
u
il
ib
r
ia
(
1
)
as
p
r
esen
ted
in
Fi
g
u
r
e
4
.
T
h
e
cir
cu
it
co
n
s
i
s
ts
o
f
t
w
e
n
t
y
-
o
n
e
r
esis
to
r
s
,
t
h
r
ee
ca
p
ac
ito
r
s
,
th
r
ee
i
n
te
g
r
ato
r
s
(
U1
A
-
U3
A
)
,
th
r
ee
in
v
er
ti
n
g
a
m
p
li
fi
er
s
(
U4
A
–
U6
A
)
,
f
o
u
r
o
p
er
atio
n
al
am
p
li
f
ier
s
(
U7
A
-
U1
0
A
)
f
o
r
ab
s
o
lu
te
n
o
n
li
n
ea
r
it
y
,
w
h
ic
h
ar
e
i
m
p
le
m
en
ted
w
i
th
t
h
e
o
p
er
atio
n
al
a
m
p
li
fi
er
T
L
0
8
2
C
D.
T
h
e
cir
c
u
it
h
a
s
t
w
o
d
io
d
es
(
D1
(
1
N4
1
4
8
)
,
D2
(
1
N4
1
4
8
)
,
w
h
ic
h
p
r
o
v
id
e
t
h
e
s
ig
n
al
|
Y
|
,
t
w
o
d
io
d
es
(
D3
(
1
N4
1
4
8
)
,
D4
(
1
N4
1
4
8
)
w
h
ic
h
p
r
o
d
u
ce
th
e
s
ig
n
al
|
X
|
a
n
d
f
o
u
r
m
u
lt
ip
lier
s
(
AD6
3
3
J
N)
.
In
th
i
s
s
t
u
d
y
,
a
li
n
ea
r
s
ca
li
n
g
is
co
n
s
id
er
ed
as
f
o
llo
w
s
:
2
2
|
|
|
|
2
|
|
2
2
by
x
a
z
y
y
x
x
y
yz
x
(
2
6
)
B
y
ap
p
l
y
i
n
g
Kir
ch
h
o
f
f
’
s
cir
c
u
it
la
w
s
,
th
e
co
r
r
esp
o
n
d
in
g
cir
c
u
ital
eq
u
at
io
n
s
o
f
th
e
d
esi
g
n
e
d
cir
cu
it
ca
n
b
e
w
r
itte
n
as
2
5
3
4
3
3
2
2
2
1
1
1
|
|
1
|
|
1
|
|
1
1
y
R
C
x
R
C
z
y
y
R
C
x
x
R
C
y
yz
R
C
x
(2
7
)
W
e
ch
o
o
s
e
th
e
v
alu
e
s
o
f
th
e
c
ir
cu
ital
ele
m
en
t
s
as:
R
1
=
R
2
=
R
3
=
2
0
k
Ω
,
R
4
=
R
5
=
2
5
k
Ω
,
R
6
=
R
7
=
R
8
=
R
9
=
R
10
=
R
11
=
R
12
=
R
13
=
R
14
=
R
15
=
R
16
=
R
17
=
R
18
=
R
19
=
R
20
=
R
21
=
1
0
k
Ω
,
C
1
=
C
2
=
C
3
=
1
0
n
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
.
4
,
A
u
g
u
s
t 2
0
1
9
:
2
3
6
5
-
2376
2372
In
s
y
s
te
m
(2
7
),
th
e
v
ar
iab
les
x
,
y
an
d
z
co
r
r
esp
o
n
d
to
th
e
v
o
ltag
es
in
t
h
e
o
u
tp
u
t
s
of
th
e
i
n
teg
r
ato
r
s
U1
A
-
U
3A
.
T
h
e
s
u
p
p
lies
o
f
a
ll
ac
ti
v
e
d
ev
ice
s
ar
e
±15
v
o
lt
.
T
he
Mu
lti
SIM
p
r
o
j
ec
tio
n
s
of
c
h
ao
tic
attr
ac
to
r
s
w
it
h
l
in
e
eq
u
ilib
r
ia
ar
e
d
escr
ib
ed
in
Fig
u
r
es
5
(
a
-
c)
.
T
h
e
n
u
m
er
ical
s
i
m
u
latio
n
s
w
i
th
M
AT
L
A
B
s
ee
F
ig
u
r
e
1
ar
e
s
i
m
ilar
w
it
h
t
h
e
cir
cu
ita
l o
n
es
s
ee
Fig
u
r
e
5
.
Fig
u
r
e
4
.
Sch
e
m
atic
o
f
t
h
e
p
r
o
p
o
s
ed
n
e
w
c
h
ao
tic
s
y
s
te
m
b
y
u
s
i
n
g
Mu
l
tiS
I
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
A
n
ew ch
a
o
tic
s
ystem
w
ith
lin
e
o
f e
q
u
ilib
r
ia
:
d
yn
a
mics,
p
a
s
s
ive
co
n
tr
o
l a
n
d
circu
it d
esig
n
(
A
ce
n
g
S
a
mb
a
s
)
2373
(
a)
(
b
)
(
c)
Fig
u
r
es 5
.
T
h
e
p
h
ase
p
o
r
tr
aits
o
f
n
e
w
c
h
ao
tic
s
y
s
te
m
(
1
)
o
b
s
er
v
ed
o
n
th
e
o
s
cillo
s
co
p
e
in
d
i
f
f
er
en
t p
lan
e
s
(
a)
x
-
y
p
la
n
e,
(
b
)
y
-
z
p
lan
e
a
n
d
(
c)
x
-
z
p
lan
e
b
y
Mu
l
tiS
I
M
7.
CO
NCLU
SI
O
N
A
n
e
w
ch
ao
tic
s
y
s
te
m
w
it
h
lin
e
o
f
eq
u
i
lib
r
ia
h
a
s
b
ee
n
i
n
v
e
s
ti
g
ated
.
T
h
e
p
r
o
p
o
s
ed
n
e
w
c
h
ao
tic
s
y
s
te
m
h
a
s
r
ich
d
y
n
a
m
ics
a
s
co
n
f
ir
m
e
d
b
y
ei
g
e
n
v
a
lu
e
s
tr
u
ctu
r
e,
c
h
ao
tic
attr
ac
to
r
s
,
L
y
ap
u
n
o
v
e
x
p
o
n
e
n
ts
,
b
if
u
r
ca
tio
n
d
iag
r
a
m
a
n
d
P
o
in
c
ar
é
m
ap
.
I
n
ad
d
itio
n
,
t
h
e
p
o
s
s
i
b
ilit
y
o
f
p
as
s
i
v
e
co
n
tr
o
l
o
f
a
n
e
w
c
h
ao
tic
s
y
s
te
m
w
it
h
li
n
e
o
f
eq
u
ilib
r
ia
h
as
b
ee
n
an
al
y
ze
d
an
d
co
n
f
ir
m
ed
.
Mo
r
eo
v
er
,
elec
tr
o
n
ic
c
ir
cu
it
h
as
b
ee
n
im
p
le
m
e
n
ted
an
d
test
ed
u
s
in
g
th
e
Mu
ltiS
I
M
s
o
f
t
w
ar
e.
C
o
m
p
ar
i
s
o
n
o
f
t
h
e
o
s
cil
lo
s
co
p
e
o
u
tp
u
t
an
d
n
u
m
e
r
ica
l
s
i
m
u
latio
n
s
u
s
i
n
g
M
A
T
L
A
B
,
s
h
o
w
ed
g
o
o
d
q
u
alitativ
e
ag
r
ee
m
e
n
t
b
et
w
e
en
th
e
ch
ao
tic
s
y
s
te
m
a
n
d
cir
cu
it
d
esi
g
n
.
F
u
r
th
er
an
al
y
s
es
li
k
e
en
g
i
n
ee
r
i
n
g
ap
p
l
icatio
n
o
n
r
o
b
o
tic,
r
an
d
o
m
b
it
s
g
e
n
er
ato
r
an
d
s
ec
u
r
e
co
m
m
u
n
icatio
n
s
y
s
te
m
ar
e
in
ter
esti
n
g
is
s
u
e
s
f
o
r
f
u
t
u
r
e
wo
r
k
.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
e
au
th
o
r
s
th
a
n
k
t
h
e
Go
v
er
n
m
e
n
t
o
f
Ma
la
y
s
ia
f
o
r
f
u
n
d
i
n
g
t
h
i
s
r
esear
ch
u
n
d
er
th
e
F
u
n
d
a
m
en
tal
R
esear
ch
Gr
an
t
Sc
h
e
m
e
(
FR
GS/1
/2
0
1
8
/I
C
T
0
3
/UNI
SZA
/0
2
/2
)
an
d
also
Un
iv
er
s
iti
S
u
l
tan
Z
ain
a
l
A
b
id
in
,
T
er
en
g
g
an
u
,
Ma
la
y
s
ia.
RE
F
E
R
E
NC
E
S
[1
]
G
.
A
.
L
e
o
n
o
v
,
e
t
a
l.
,
“
Hid
d
e
n
Os
c
il
latio
n
s in
Dy
n
a
m
ic
a
l
S
y
ste
m
s
,
”
T
ra
n
s.
S
y
st.
Co
n
tr,
6
,
5
4
-
6
7
,
2
0
1
1
.
[2
]
G
.
A
.
Leo
n
o
v
,
e
t
a
l.
,
“
Hid
d
e
n
A
tt
ra
c
to
r
in
S
m
o
o
th
C
h
u
a
S
y
ste
m
s
,
”
Ph
y
sic
a
D:
No
n
li
n
e
a
r
P
h
e
n
o
me
n
a
,
v
o
l.
2
4
1
,
1
4
8
2
-
1
4
8
6
,
2
0
1
2
.
[3
]
E.
N.
L
o
re
n
z
,
“
De
term
in
isti
c
No
n
p
e
rio
d
ic F
lo
w
,
”
J
o
u
rn
a
l
o
f
t
h
e
a
t
mo
sp
h
e
ric
sc
ien
c
e
s
,
v
o
l.
2
0
,
1
3
0
-
1
4
1
,
1
9
6
3
.
[4
]
O.
E.
Rö
ss
ler,
“
A
n
Eq
u
a
ti
o
n
f
o
r
Co
n
ti
n
u
o
u
s C
h
a
o
s
,
”
P
h
y
sic
s L
e
tt
e
rs
A
,
v
o
l.
5
7
,
3
9
7
-
3
9
8
,
1
9
7
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
0
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u
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2376
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[5
]
J.
L
ü
a
n
d
G
.
Ch
e
n
,
“
A
Ne
w
Ch
a
o
ti
c
A
tt
ra
c
to
r
Co
in
e
d
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
Bi
f
u
rc
a
ti
o
n
a
n
d
c
h
a
o
s
,
v
o
l.
1
2
,
p
p
.
6
5
9
-
6
6
1
,
2
0
0
2
.
[6
]
G
.
Ch
e
n
a
n
d
T
.
Ue
ta,
“
Ye
t
A
n
o
th
e
r
Ch
a
o
ti
c
A
tt
ra
c
to
r
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Bi
f
u
r
c
a
ti
o
n
a
n
d
c
h
a
o
s
,
v
o
l.
9
,
p
p
.
1
4
6
5
-
1
4
6
6
,
1
9
9
9
.
[7
]
A
.
M
.
Ru
c
k
li
d
g
e
,
“
Ch
a
o
s
In
M
o
d
e
ls
o
f
Do
u
b
le
Co
n
v
e
c
ti
o
n
,
”
J
o
u
rn
a
l
o
f
F
lu
i
d
M
e
c
h
a
n
ics
,
v
o
l.
2
3
7
,
p
p
.
2
0
9
-
2
2
9
,
1
9
9
2
.
[8
]
J.
C.
S
p
ro
tt
,
“
A
Ne
w
Clas
s o
f
Ch
a
o
ti
c
Circu
it
,
”
Ph
y
sic
s L
e
tt
e
rs
A
,
v
o
l.
2
6
6
,
1
9
-
2
3
,
2
0
0
0
.
[9
]
S
.
J
a
f
a
ri,
e
t
a
l.
,
“
El
e
m
e
n
tar
y
Qu
a
d
ra
ti
c
Ch
a
o
ti
c
F
l
o
w
s
w
it
h
n
o
Eq
u
il
i
b
ria
,
”
Ph
y
sic
s
L
e
tt
e
rs
A
,
v
o
l.
3
7
7
,
p
p
.
6
9
9
-
7
0
2
,
2
0
1
3
.
[1
0
]
X
.
W
a
n
g
a
n
d
G
.
Ch
e
n
,
“
A
Ch
a
o
ti
c
S
y
ste
m
w
it
h
On
ly
On
e
S
ta
b
le
Eq
u
il
ib
r
iu
m
,
”
Co
mm
u
n
ica
ti
o
n
s
in
No
n
li
n
e
a
r
S
c
ien
c
e
a
n
d
Nu
me
ric
a
l
S
im
u
la
t
io
n
,
v
o
l.
1
7
,
p
p
.
1
2
6
4
-
1
2
7
2
,
2
0
1
2
.
[1
1
]
P
.
Zh
o
u
a
n
d
F
.
Ya
n
g
,
“
H
y
p
e
rc
h
a
o
s,
Ch
a
o
s,
a
n
d
Ho
rse
sh
o
e
in
a
4
D
No
n
li
n
e
a
r
S
y
ste
m
w
it
h
a
n
In
f
i
n
it
e
Nu
m
b
e
r
o
f
Eq
u
il
ib
ri
u
m
P
o
in
ts
,”
N
o
n
l
in
e
a
r D
y
n
a
mic
s
,
v
o
l.
7
6
,
p
p
.
4
7
3
-
4
8
0
,
2
0
1
4
.
[1
2
]
N.
V
.
K
u
z
n
e
tso
v
,
“
Hid
d
e
n
At
tr
a
c
to
rs
i
n
F
u
n
d
a
me
n
ta
l
Pro
b
lem
s
An
d
E
n
g
i
n
e
e
rin
g
M
o
d
e
ls:
A
S
h
o
rt
S
u
rv
e
y
,
”
In
A
ET
A
2
0
1
5
:
Re
c
e
n
t
A
d
v
a
n
c
e
s in
El
e
c
tri
c
a
l
E
n
g
in
e
e
rin
g
a
n
d
Re
l
a
ted
S
c
ien
c
e
,
p
p
.
1
3
-
25
,
2
0
1
5
.
[1
3
]
B.
R.
A
n
d
riev
sk
y
,
e
t
a
l.
,
“
Hid
d
e
n
Os
c
il
la
ti
o
n
s
i
n
Ai
rc
ra
ft
Fl
i
g
h
t
C
o
n
tro
l
S
y
ste
m
W
it
h
In
p
u
t
S
a
tu
ra
ti
on
,
”
5
t
h
IF
A
C
W
o
rk
sh
o
p
o
n
P
e
ri
o
d
ic C
o
n
tr
o
l
S
y
ste
m
s,
p
p
.
7
5
-
79,
2
0
1
3
.
[1
4
]
G
.
A
.
L
e
o
n
o
v
,
e
t
a
l.
,
“
Hid
d
e
n
Os
c
il
latio
n
s
i
n
M
a
t
h
e
m
a
ti
c
a
l
M
o
d
e
l
Of
Drill
in
g
S
y
ste
m
Ac
tu
a
ted
B
y
In
d
u
c
ti
o
n
M
o
to
r
W
it
h
A
W
o
u
n
d
Ro
t
o
r,
”
No
n
li
n
e
a
r Dy
n
a
mic
s
,
v
o
l
.
7
7
,
2
7
7
-
2
8
8
,
2
0
1
4
.
[1
5
]
G
.
A
.
Leo
n
o
v
,
e
t
a
l.
,
“
Hid
d
e
n
A
tt
ra
c
to
r
A
n
d
Ho
m
o
c
li
n
ic Orb
it
In
Lo
re
n
z
-
L
ik
e
S
y
ste
m
De
s
c
rib
in
g
Co
n
v
e
c
ti
v
e
F
lu
id
M
o
ti
o
n
I
n
R
o
tatin
g
Ca
v
it
y
,
”
Co
mm
u
n
ica
ti
o
n
s
in
No
n
li
n
e
a
r
S
c
ien
c
e
a
n
d
Nu
me
ric
a
l
S
imu
la
ti
o
n
,
v
o
l.
2
8
,
p
p
.
1
6
6
-
1
7
4
,
2
0
1
5
.
[1
6
]
Z.
T
.
Zh
u
su
b
a
li
y
e
v
a
n
d
E.
M
o
se
k
il
d
e
,
“
M
u
lt
ista
b
il
it
y
a
n
d
Hid
d
e
n
A
tt
ra
c
to
rs
In
A
M
u
lt
il
e
v
e
l
Dc
/
Dc
Co
n
v
e
rter
,
”
M
a
th
e
ma
ti
c
s a
n
d
Co
mp
u
ter
s in
S
i
mu
la
ti
o
n
,
v
o
l.
1
0
9
,
p
p
.
32
-
4
5
,
2
0
1
5
.
[1
7
]
S
.
Ja
fa
ri
a
n
d
J.
C.
S
p
ro
tt
,
“
S
im
p
le
c
h
a
o
ti
c
f
lo
w
s
w
it
h
a
li
n
e
e
q
u
il
ib
riu
m
,
”
Ch
a
o
s,
S
o
li
t
o
n
s
&
Fra
c
ta
l
s
,
v
o
l.
5
7
,
p
p
.
79
-
8
4
,
2
0
1
3
.
[1
8
]
C.
L
i
a
n
d
J.
C.
S
p
ro
tt
,
“
Ch
a
o
ti
c
F
lo
w
s
w
it
h
A
S
in
g
le
No
n
q
u
a
d
ra
ti
c
T
e
r
m
,
”
Ph
y
sic
s
L
e
tt
e
rs
A
,
v
o
l.
3
7
8
,
p
p
.
1
7
8
-
1
8
3
,
2
0
1
4
.
[1
9
]
C.
L
i,
e
t
a
l.
,
“
Co
n
stru
c
ti
n
g
Ch
a
o
ti
c
S
y
ste
m
s
w
it
h
T
o
tal
Am
p
li
tu
d
e
Co
n
tr
o
l
,
”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Bi
f
u
rc
a
ti
o
n
a
n
d
Ch
a
o
s
,
v
o
l.
2
5
,
1
5
3
0
0
2
5
,
2
0
1
5
.
[2
0
]
C.
L
i,
e
t
a
l.
,
“
Bistab
il
it
y
In
A
H
y
p
e
rc
h
a
o
ti
c
S
y
ste
m
W
it
h
a
L
in
e
Eq
u
il
i
b
riu
m
,
”
J
o
u
rn
a
l
o
f
Exp
e
rime
n
ta
l
a
n
d
T
h
e
o
re
ti
c
a
l
Ph
y
sic
s
,
v
o
l.
1
1
8
,
p
p
.
4
9
4
-
5
0
0
,
2
0
1
4
.
[2
1
]
Q.
L
i,
e
t
a
l.
,
“
Hy
p
e
rc
h
a
o
s
a
n
d
Ho
rse
sh
o
e
In
A
4
d
M
e
m
ris
ti
v
e
S
y
ste
m
W
it
h
A
L
in
e
O
f
Eq
u
il
ib
ria
A
n
d
It
s
Im
p
le
m
e
n
tatio
n
”
.
I
n
tern
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Circu
it
T
h
e
o
ry
a
n
d
A
p
p
li
c
a
ti
o
n
s,
v
o
l.
4
2
,
p
p
.
1
1
7
2
-
1
1
8
8
,
2
0
1
4
.
[2
2
]
J.
P
.
S
i
n
g
h
a
n
d
B.
K.
R
o
y
,
“
T
h
e
S
im
p
les
t
4
-
D
Ch
a
o
ti
c
S
y
ste
m
w
it
h
L
in
e
O
f
Eq
u
il
ib
ria,
C
h
a
o
t
ic
2
-
T
o
ru
s
a
n
d
3
-
T
o
ru
s Be
h
a
v
io
u
r
,
”
No
n
li
n
e
a
r Dy
n
a
mic
s
,
v
o
l.
8
9
,
p
p
.
1
-
1
8
,
2
0
1
7
.
[2
3
]
S
.
V
a
id
y
a
n
a
th
a
n
,
“
A
No
v
e
l
3
-
D
Je
rk
Ch
a
o
ti
c
S
y
ste
m
w
it
h
Th
re
e
Qu
a
d
ra
ti
c
No
n
li
n
e
a
rit
ies
A
n
d
Its
A
d
a
p
ti
v
e
Co
n
tr
o
l
,
”
Arc
h
ive
s o
f
Co
n
tro
l
S
c
i
e
n
c
e
s
,
v
o
l.
2
6
,
p
p
.
19
-
4
7
,
2
0
1
6
.
[2
4
]
S
.
V
a
id
y
a
n
a
th
a
n
a
n
d
S
.
S
a
m
p
a
th
,
“
A
n
ti
-
S
y
n
c
h
ro
n
iza
ti
o
n
Of
F
o
u
r
-
W
in
g
Ch
a
o
t
ic
S
y
ste
m
s
V
ia
S
li
d
i
n
g
M
o
d
e
Co
n
tr
o
l
,
”
I
n
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
Au
t
o
ma
ti
o
n
a
n
d
C
o
mp
u
ti
n
g
,
v
o
l
.
9
,
p
p
.
2
7
4
-
2
7
9
,
2
0
1
2
.
[2
5
]
N.
Big
d
e
li
a
n
d
H.
A
.
Zi
a
z
i,
“
De
sig
n
o
f
F
ra
c
ti
o
n
a
l
Ro
b
u
st
A
d
a
p
ti
v
e
In
telli
g
e
n
t
Co
n
tro
ll
e
r
F
o
r
Un
c
e
rtain
F
ra
c
ti
o
n
a
l
-
Ord
e
r
C
h
a
o
ti
c
S
y
ste
m
s
Ba
se
d
On
Ac
ti
v
e
Co
n
tro
l
T
e
c
h
n
iq
u
e
,
”
No
n
li
n
e
a
r
Dy
n
a
mic
s
,
v
o
l.
8
7
,
p
p
.
1
7
0
3
-
1
7
1
9
,
2
0
1
7
.
[2
6
]
G
.
M
.
M
a
h
m
o
u
d
,
e
t
a
l.
,
“
P
a
ss
iv
e
Co
n
tr
o
l
o
f
n
-
Dim
e
n
sio
n
a
l
C
h
a
o
ti
c
Co
m
p
lex
No
n
l
in
e
a
r
S
y
ste
m
s
,
”
J
o
u
rn
a
l
o
f
Vi
b
ra
ti
o
n
a
n
d
C
o
n
tro
l
,
v
o
l.
1
9
,
p
p
.
1
0
6
1
-
1
0
7
1
,
2
0
1
3
.
[2
7
]
L
.
M
.
P
e
c
o
ra
a
n
d
T
.
L
.
Ca
rro
ll
,
”
S
y
n
c
h
ro
n
iza
ti
o
n
i
n
Ch
a
o
ti
c
S
y
ste
m
s
,
”
Ph
y
sic
a
l
Rev
iew
L
e
tt
e
rs
,
v
o
l.
6
4
,
p
p
.
8
2
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5
,
1
9
9
0
.
[2
8
]
X
.
L
i
a
n
d
S
.
S
o
n
g
,
“
S
tab
il
iza
ti
o
n
o
f
De
la
y
S
y
ste
m
s:
D
e
la
y
-
De
p
e
n
d
e
n
t
Im
p
u
lsiv
e
Co
n
tro
l
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Au
to
m
a
ti
c
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n
tro
l
,
v
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l.
6
2
,
p
p
.
4
0
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1
1
,
2
0
1
7
.
[2
9
]
Y.
L
i,
e
t
a
l.
,
“
A
d
a
p
ti
v
e
F
u
z
z
y
Co
n
tro
l
De
sig
n
f
o
r
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to
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h
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stic
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li
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e
a
r
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h
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d
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s
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it
h
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rb
it
ra
ry
S
w
it
c
h
in
g
s A
n
d
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m
o
d
e
led
Dy
n
a
m
ics
,
”
IEE
E
T
ra
n
sa
c
t
io
n
s
On
C
y
b
e
rn
e
ti
c
s
,
v
o
l.
4
7
,
p
p
.
4
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4
,
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0
1
7
.
[3
0
]
Q.
W
e
i,
e
t
a
l.
,
“
O
ff
-
P
o
l
icy
Irl
Op
ti
m
a
l
T
ra
c
k
in
g
Co
n
tro
l
f
o
r
Co
n
ti
n
u
o
u
s
-
T
im
e
Ch
a
o
ti
c
S
y
ste
m
s
,
”
S
tu
d
ies
in
S
y
ste
ms
,
De
c
isio
n
a
n
d
C
o
n
tro
l
,
v
o
l.
1
0
3
,
p
p
.
2
0
1
-
2
1
4
,
2
0
1
8
.
[3
1
]
T
.
H.
Ch
ien
a
n
d
Y.
C.
Ch
e
n
,
“
A
n
On
-
L
in
e
T
ra
c
k
e
r
f
o
r
a
S
to
c
h
a
sti
c
Ch
a
o
ti
c
S
y
ste
m
Us
in
g
Ob
se
rv
e
r/Ka
lma
n
F
il
ter
Id
e
n
ti
f
ica
ti
o
n
C
o
m
b
in
e
d
w
it
h
Dig
it
a
l
Re
d
e
sig
n
M
e
th
o
d
,
”
Al
g
o
rith
m
s
,
v
o
l.
1
0
,
p
p
.
25
-
3
6
,
2
0
1
7
.
[3
2
]
G
.
M
.
M
a
h
m
o
u
d
,
e
t
a
l.
,
“
Ch
a
o
s
Co
n
tr
o
l
o
f
In
teg
e
r
a
n
d
F
ra
c
ti
o
n
a
l
Ord
e
rs
o
f
Ch
a
o
ti
c
B
u
rk
e
–
S
h
a
w
S
y
ste
m
Us
in
g
T
i
m
e
De
l
a
y
e
d
F
e
e
d
b
a
c
k
Co
n
tro
l
,
”
Ch
a
o
s,
S
o
li
t
o
n
s &
Fra
c
ta
ls
,
v
o
l
.
1
0
4
,
p
p
.
6
8
0
-
6
9
2
,
2
0
1
7
.
[3
3
]
G
.
M
.
M
a
h
m
o
u
d
,
e
t
a
l.
,
“
Co
n
t
ro
ll
in
g
Hy
p
e
rc
h
a
o
ti
c
Co
m
p
lex
S
y
st
e
m
s
w
it
h
Un
k
n
o
w
n
P
a
ra
m
e
ters
Ba
se
d
On
A
d
a
p
ti
v
e
P
a
ss
iv
e
M
e
th
o
d
,
”
C
h
i
n
e
se
Ph
y
sic
s B
,
v
o
l.
2
2
,
0
6
0
5
0
8
,
2
0
1
3
.
[3
4
]
W
.
L
i,
e
t
a
l.
,
“
S
tab
le
Kin
e
m
a
ti
c
T
e
leo
p
e
ra
ti
o
n
Of
W
h
e
e
led
M
o
b
il
e
Ro
b
o
ts
W
it
h
S
li
p
p
a
g
e
Us
in
g
T
i
m
e
-
Do
m
a
in
P
a
ss
iv
it
y
Co
n
tro
l
,
”
M
e
c
h
a
tr
o
n
ics
,
v
o
l.
3
9
,
p
p
.
1
9
6
-
2
0
3
,
2
0
1
6
.
[3
5
]
L
.
X
ie,
“
P
a
ss
iv
it
y
A
n
a
l
y
sis
a
n
d
P
a
ss
if
ica
ti
o
n
F
o
r
Un
c
e
rtain
S
ig
n
a
l
P
r
o
c
e
ss
in
g
S
y
ste
m
s
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
S
ig
n
a
l
Pro
c
e
ss
in
g
,
v
o
l.
4
6
,
p
p
.
2
3
9
4
-
2
4
0
3
,
1
9
9
8
.
[3
6
]
Q.
Do
n
g
-
li
a
n
,
e
t
a
l
.
,
“
P
a
ss
iv
e
Co
n
tr
o
l
f
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
t
o
r
Ch
a
o
ti
c
S
y
ste
m
s
,
”
J
o
u
rn
a
l
o
f
Z
h
e
ji
a
n
g
Un
ive
rs
it
y
-
S
c
ien
c
e
A
,
v
o
l.
6
,
p
p
.
7
2
8
-
7
3
2
,
2
0
0
5
.
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