I
nte
rna
t
io
na
l J
o
urna
l o
f
Adv
a
nces in Applie
d Science
s
(
I
J
AAS)
Vo
l.
6
,
No
.
3
,
Sep
tem
b
er
2017
,
p
p
.
2
3
5
~
2
4
3
I
SS
N:
2252
-
8814
235
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
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AAS
A F
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GA Ba
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.
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k
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Gen
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T
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ltag
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©
201
7
In
s
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it
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[
1
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Fu
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ST
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[
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8814
IJ
AA
S
Vo
l
.
6
,
No
.
3
,
Sep
tem
b
er
201
7
:
2
35
–
2
4
3
236
I
n
m
an
y
s
e
n
s
i
tiv
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lo
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s
s
u
c
h
as
m
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6
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t
w
o
-
o
b
j
ec
tiv
e
o
p
ti
m
izatio
n
h
a
s
b
ee
n
p
r
o
p
o
s
ed
in
t
h
is
p
ap
er
.
Hen
ce
,
in
t
h
is
m
et
h
o
d
,
v
o
ltag
e
s
ag
w
i
ll
b
e
th
e
f
ir
s
t
o
b
j
ec
tiv
e
an
d
v
o
lta
g
e
T
HD
w
ill
b
e
co
n
s
id
er
ed
as
th
e
s
ec
o
n
d
o
b
j
ec
tiv
e
in
ST
A
T
C
OM
co
n
tr
o
l s
y
s
te
m
.
T
h
e
tu
n
i
n
g
o
f
f
u
zz
y
co
n
tr
o
ll
er
is
a
h
eu
r
i
s
tic
w
o
r
k
.
T
o
elim
in
ate
s
u
c
h
p
r
o
b
lem
s
th
e
e
v
o
lu
tio
n
ar
y
tech
n
iq
u
es
h
a
v
e
b
ee
n
ap
p
lied
in
s
o
l
v
in
g
t
h
e
t
u
n
i
n
g
o
f
F
L
C
p
ar
am
eter
s
.
T
h
e
Gen
etic
A
l
g
o
r
ith
m
,
An
t
C
o
lo
n
y
Op
ti
m
izat
io
n
an
d
G
A
w
h
ic
h
ar
e
th
e
f
o
r
m
s
o
f
p
r
o
b
a
b
ilis
tic
h
e
u
r
is
tic
al
g
o
r
it
h
m
t
h
at
h
a
v
e
b
ee
n
s
u
cc
e
s
s
f
u
ll
y
u
s
ed
in
o
p
ti
m
izat
io
n
o
f
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
.
T
h
e
GA
m
et
h
o
d
is
u
s
u
al
l
y
f
as
ter
b
ec
au
s
e
th
e
G
A
h
as p
ar
allel
s
ea
r
ch
tec
h
n
iq
u
e
s
w
h
ic
h
e
m
u
late
n
at
u
r
al
g
e
n
etic
s
o
p
er
atio
n
s
.
T
h
e
GA
(
G
A
)
h
as
b
ee
n
ap
p
lied
to
o
p
ti
m
izatio
n
o
f
F
L
C
.
I
n
r
ec
en
t
y
e
ar
s
G
A
h
as
g
ai
n
ed
m
u
c
h
p
o
p
u
lar
it
y
in
d
i
f
f
er
en
t
k
i
n
d
s
o
f
ap
p
licatio
n
s
b
ec
a
u
s
e
o
f
its
s
i
m
p
licit
y
,
ea
s
y
i
m
p
le
m
e
n
tatio
n
an
d
r
eliab
le
co
n
v
er
g
e
n
ce
[
1
7
,
2
2
]
.
I
t
h
as
b
e
en
f
o
u
n
d
to
b
e
r
o
b
u
s
t
in
s
o
l
v
i
n
g
co
n
ti
n
u
o
u
s
n
o
n
-
li
n
ea
r
o
p
tim
izatio
n
p
r
o
b
le
m
s
.
B
o
th
v
o
ltag
e
s
a
g
a
n
d
T
HD
ca
n
b
e
m
o
d
if
ied
b
y
t
h
e
af
o
r
esaid
alg
o
r
ith
m
.
On
th
e
o
t
h
er
h
an
d
,
to
in
v
e
s
tig
a
te
th
e
e
f
f
ic
ien
c
y
o
f
t
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
;
p
er
f
o
r
m
an
ce
o
f
ST
A
T
C
OM
co
m
p
e
n
s
ato
r
d
u
r
i
n
g
v
ar
io
u
s
f
a
u
lt
s
i
n
a
t
y
p
ical
n
et
w
o
r
k
h
a
s
b
ee
n
te
s
ted
a
n
d
c
o
m
p
ar
ed
w
i
th
s
o
m
e
co
n
tr
o
ller
s
t
h
at
w
er
e
in
tr
o
d
u
ce
d
b
ef
o
r
e.
ST
A
T
C
OM
o
p
e
r
atio
n
,
m
u
lti
-
o
b
j
ec
tiv
e
o
p
ti
m
izatio
n
w
it
h
f
u
zz
y
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
,
an
d
G
A
alg
o
r
ith
m
h
a
v
e
b
ee
n
i
n
tr
o
d
u
c
ed
an
d
d
is
cu
s
s
ed
i
n
t
h
e
f
o
llo
win
g
s
ec
tio
n
s
.
A
f
ter
th
at,
w
e
h
av
e
in
tr
o
d
u
ce
d
t
h
e
p
r
o
p
o
s
ed
m
e
th
o
d
o
f
t
h
e
p
ap
er
,
an
d
th
e
f
in
a
l
s
ec
tio
n
co
n
t
ain
s
t
h
e
s
i
m
u
lat
io
n
r
esu
lt
s
.
2.
B
ASI
C
CO
NC
E
P
T
S O
F
S
T
AT
CO
M
A
ST
A
T
C
OM
is
a
s
o
lid
s
tate
p
o
w
er
elec
tr
o
n
ic
s
s
w
i
tch
in
g
d
ev
ice
co
n
s
is
ti
n
g
o
f
e
ith
er
M
OSFET
o
r
I
GB
T
,
a
ca
p
ac
ito
r
b
an
k
as a
n
en
er
g
y
s
to
r
a
g
e
d
ev
ice
a
n
d
i
n
j
ec
tio
n
tr
an
s
f
o
r
m
er
s
.
I
t i
s
li
n
k
ed
in
s
h
u
n
t b
et
w
ee
n
a
d
is
tr
ib
u
tio
n
s
y
s
te
m
a
n
d
a
lo
ad
th
at
s
h
o
w
n
in
Fi
g
u
r
e.
1
.
T
h
e
b
asic
id
ea
o
f
th
e
ST
A
T
C
OM
i
s
to
in
j
ec
t
a
co
n
tr
o
lled
v
o
ltag
e
g
en
er
ated
b
y
a
f
o
r
ce
d
co
m
m
u
ted
co
n
v
er
t
er
in
a
p
ar
allel
to
th
e
b
u
s
v
o
lt
ag
e
b
y
m
ea
n
s
o
f
a
n
in
j
ec
tin
g
tr
an
s
f
o
r
m
er
.
A
t
n
o
r
m
al
o
p
er
atin
g
co
n
d
itio
n
,
t
h
e
ST
A
T
C
OM
in
j
ec
ts
o
n
l
y
a
s
m
al
l
v
o
lta
g
e
to
co
m
p
e
n
s
ate
f
o
r
th
e
v
o
ltag
e
d
r
o
p
o
f
th
e
in
j
ec
tio
n
tr
an
s
f
o
r
m
e
r
an
d
d
ev
ice
lo
s
s
es.
Ho
w
e
v
er
,
w
h
e
n
v
o
lta
g
e
s
a
g
o
cc
u
r
s
i
n
t
h
e
d
is
tr
ib
u
tio
n
s
y
s
te
m
,
th
e
ST
A
T
C
OM
co
n
tr
o
l
s
y
s
te
m
ca
lc
u
late
s
a
n
d
s
y
n
t
h
esize
s
t
h
e
v
o
ltag
e
r
eq
u
ir
ed
to
p
r
eser
v
e
o
u
tp
u
t
v
o
ltag
e
to
th
e
lo
ad
b
y
i
n
j
ec
tin
g
a
co
n
tr
o
lled
v
o
ltag
e
w
it
h
a
ce
r
t
ain
m
ag
n
it
u
d
e
an
d
p
h
ase
an
g
le
i
n
to
th
e
d
is
tr
ib
u
ti
o
n
s
y
s
te
m
to
th
e
cr
itical
lo
ad
.
Fig
u
r
e
1
.
P
r
o
p
o
s
ed
S
T
A
T
C
OM
C
o
n
tr
o
l I
m
p
le
m
en
ta
tio
n
3.
G
A
A
L
G
O
R
I
T
H
M
Gen
etic
alg
o
r
it
h
m
s
[
9
]
-
[
1
0
]
,
w
h
ic
h
ar
e
ad
o
p
ted
f
r
o
m
t
h
e
p
r
in
ci
p
le
o
f
b
io
lo
g
ical
ev
o
lu
tio
n
,
ar
e
ef
f
icien
t
s
ea
r
c
h
tech
n
iq
u
es
t
h
at
m
a
n
ip
u
la
te
th
e
co
d
in
g
r
ep
r
esen
ti
n
g
a
p
ar
a
m
eter
s
et
to
r
ea
ch
a
n
ea
r
o
p
ti
m
al
s
o
lu
tio
n
.
He
n
ce
b
y
s
tr
en
g
t
h
en
i
n
g
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
s
w
it
h
g
en
et
ic
al
g
o
r
ith
m
s
th
e
s
ea
r
c
h
in
g
a
n
d
attai
n
m
e
n
t
o
f
o
p
ti
m
al
f
u
zz
y
lo
g
ic
r
u
les
an
d
h
i
g
h
-
p
er
f
o
r
m
a
n
ce
m
e
m
b
e
r
s
h
ip
f
u
n
ctio
n
s
w
ill
b
e
ea
s
ier
an
d
f
aster
.
G
As
is
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
AA
S
I
SS
N:
2252
-
8814
A
F
u
z
z
y
GA
B
a
s
ed
S
TATC
OM
fo
r
P
o
w
er Qu
a
lity I
mp
r
o
ve
men
t
(
S
.
Dee
p
a
)
237
u
s
ed
r
eg
u
lar
l
y
to
s
o
lv
e
d
i
f
f
ic
u
lt
s
ea
r
c
h
,
o
p
ti
m
izat
io
n
a
n
d
m
ac
h
in
e
-
lear
n
in
g
p
r
o
b
le
m
s
t
h
at
h
av
e
p
r
ev
io
u
s
l
y
r
esis
ted
au
to
m
ated
s
o
lu
tio
n
s
.
T
h
ey
ca
n
b
e
u
s
ed
to
s
o
lv
e
d
if
f
ic
u
lt
p
r
o
b
le
m
s
q
u
ic
k
l
y
an
d
r
eliab
l
y
.
T
h
ese
alg
o
r
ith
m
s
ar
e
ea
s
y
to
i
n
ter
f
a
ce
w
it
h
e
x
is
ti
n
g
s
i
m
u
la
tio
n
s
a
n
d
m
o
d
els,
an
d
th
e
y
ar
e
ea
s
y
to
h
y
b
r
id
ize.
G
A
s
in
cl
u
d
es
t
h
r
ee
m
aj
o
r
o
p
er
ato
r
s
:
s
elec
tio
n
,
cr
o
s
s
o
v
er
,
an
d
m
u
tatio
n
,
i
n
ad
d
itio
n
to
f
o
u
r
co
n
tr
o
l
p
ar
am
eter
s
:
p
o
p
u
latio
n
s
ize,
s
elec
tio
n
cr
o
s
s
o
v
er
an
d
m
u
tatio
n
r
ate.
T
h
is
p
ap
er
is
co
n
ce
r
n
ed
p
r
im
ar
il
y
w
it
h
th
e
s
elec
tio
n
an
d
m
u
tatio
n
o
p
er
ato
r
s
.
T
h
er
e
ar
e
th
r
ee
m
ai
n
s
ta
g
es
o
f
a
g
e
n
etic
al
g
o
r
ith
m
;
th
e
s
e
ar
e
k
n
o
w
n
as
r
ep
r
o
d
u
ctio
n
,
cr
o
s
s
o
v
er
an
d
m
u
tatio
n
.
Th
e
s
tep
s
in
v
o
l
v
ed
in
g
en
e
tic
alg
o
r
ith
m
ar
e
d
escr
ib
ed
b
elo
w
.
•
Sta
rt
: G
en
er
ate
r
an
d
o
m
p
o
p
u
latio
n
o
f
n
c
h
r
o
m
o
s
o
m
es (
s
u
i
tab
le
s
o
lu
tio
n
s
f
o
r
th
e
p
r
o
b
le
m
)
.
• F
it
nes
s
:
E
v
al
u
ate
t
h
e
f
itn
e
s
s
f
(
x
)
o
f
ea
c
h
ch
r
o
m
o
s
o
m
e
x
i
n
th
e
p
o
p
u
latio
n
.
•
New
po
pu
la
t
io
n
:
C
r
ea
te
a
n
e
w
p
o
p
u
lat
io
n
b
y
r
ep
ea
tin
g
f
o
llo
w
i
n
g
s
tep
s
u
n
ti
l
t
h
e
n
e
w
p
o
p
u
latio
n
i
s
co
m
p
lete.
–
Select
io
n
:
Select
t
w
o
p
ar
en
t
ch
r
o
m
o
s
o
m
e
s
f
r
o
m
a
p
o
p
u
latio
n
ac
co
r
d
in
g
to
th
eir
f
it
n
ess
(
th
e
b
etter
f
it
n
es
s
,
th
e
b
ig
g
er
ch
a
n
ce
to
b
e
s
elec
ted
)
.
–
Cro
s
s
o
v
er
:
W
ith
a
cr
o
s
s
o
v
e
r
p
r
o
b
ab
ilit
y
,
cr
o
s
s
o
v
er
th
e
p
ar
en
ts
to
f
o
r
m
n
e
w
o
f
f
s
p
r
in
g
(
ch
ild
r
en
)
.
I
f
n
o
cr
o
s
s
o
v
er
w
as p
er
f
o
r
m
ed
,
o
f
f
s
p
r
i
n
g
i
s
th
e
e
x
ac
t c
o
p
y
o
f
p
ar
en
ts
.
–
M
uta
t
io
n
:
W
ith
a
m
u
tati
o
n
p
r
o
b
ab
ilit
y
,
m
u
tate
n
e
w
o
f
f
s
p
r
i
n
g
at
ea
c
h
lo
cu
s
(
p
o
s
itio
n
i
n
ch
r
o
m
o
s
o
m
e)
.
Acc
ept
ing
: P
lace
n
e
w
o
f
f
s
p
r
i
n
g
i
n
t
h
e
n
e
w
p
o
p
u
latio
n
.
•
Re
pla
ce
: U
s
e
n
e
w
g
e
n
er
ated
p
o
p
u
latio
n
f
o
r
a
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W
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v
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ma
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V
V
V
(
4
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I
SS
N
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2
2
5
2
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8814
IJ
AA
S
Vo
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6
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3
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Sep
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201
7
:
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35
–
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4
3
238
w
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V
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VO
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G
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SA
G
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T
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C
T
I
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T
h
e
ess
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tial
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ar
t
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w
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p
er
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o
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m
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ce
o
f
co
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tr
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ller
in
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OM
is
th
e
s
ag
d
etec
t
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n
cir
cu
it
.
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ltag
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s
ag
m
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b
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te
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f
ast
an
d
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r
r
ec
ted
w
ith
a
m
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m
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m
o
f
f
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h
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v
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g
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tio
n
m
et
h
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is
b
ased
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Me
a
n
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Sq
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ar
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o
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ase
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Stru
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atr
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3
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IJ
AA
S
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8814
A
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s
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ased
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ith
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n
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h
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ip
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lin
ea
r
o
u
tp
u
t
f
u
n
ct
io
n
s
.
GA
iter
atio
n
s
ar
e
p
er
f
o
r
m
ed
b
y
t
h
e
MA
T
L
A
B
co
m
m
a
n
d
s
i
n
an
M
-
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le.
T
h
e
MA
T
L
A
B
co
m
m
a
n
d
s
in
M
-
F
i
le
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e
as sh
o
w
n
i
n
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g
u
r
e
3
.
Fig
u
r
e
3
.
MA
T
L
A
B
C
o
m
m
a
n
d
s
in
M
-
File
T
h
e
tu
n
i
n
g
p
r
o
ce
s
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o
f
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L
C
r
u
l
es b
y
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A
is
il
lu
s
tr
ated
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y
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e
f
o
llo
w
i
n
g
s
tep
s
.
1
.
Div
id
e
th
e
in
p
u
t a
n
d
o
u
tp
u
t
s
p
ac
es o
f
th
e
s
y
s
te
m
to
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e
co
n
tr
o
lled
in
to
f
u
zz
y
r
eg
io
n
s
.
2
.
E
n
co
d
e
th
e
in
p
u
t
-
o
u
tp
u
t r
eg
io
n
s
i
n
to
b
it
-
s
tr
in
g
s
.
3
.
Use G
A
as a
lear
n
in
g
p
r
o
ce
d
u
r
e
to
g
en
er
ate
a
s
et
o
f
f
u
zz
y
r
u
les.
4
.
Use th
e
n
e
w
l
y
g
en
er
ated
f
u
zz
y
r
u
les to
d
eter
m
in
e
t
h
e
p
er
f
o
r
m
a
n
ce
an
d
as
s
i
g
n
a
f
it
n
ess
v
alu
e.
5
.
A
s
s
ig
n
a
n
e
g
ati
v
e
v
al
u
e
to
t
h
e
f
i
tn
e
s
s
f
u
n
ctio
n
if
t
h
er
e
an
y
p
r
o
b
lem
p
er
s
is
ts
.
6
.
I
f
s
to
p
p
in
g
cr
iter
io
n
is
n
o
t m
et
g
o
to
Step
3
.
7
.
Dete
r
m
in
e
a
m
ap
p
in
g
f
r
o
m
th
e
i
n
p
u
t
s
p
ac
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h
e
o
u
tp
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s
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ac
e
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ased
o
n
t
h
e
co
m
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i
n
e
d
f
u
zz
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r
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le
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ase
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s
i
n
g
a
d
ef
u
zz
i
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n
g
p
r
o
ce
d
u
r
e.
T
h
is
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ap
er
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r
esen
ts
a
q
u
ick
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o
l
u
tio
n
to
th
e
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r
o
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le
m
s
u
s
i
n
g
th
e
GA
al
g
o
r
ith
m
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6.
RE
SU
L
T
S AN
D
D
I
SCU
SS
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h
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o
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ith
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u
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ar
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m
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th
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I
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u
r
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ased
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ith
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h
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icate
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ter
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n
th
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r
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r
is
u
s
ed
w
h
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s
elec
t
in
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est
i
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s
.
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r
th
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p
u
r
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o
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e,
in
th
e
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f
ile
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g
en
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ated
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ar
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ar
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zz
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ic
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y
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m
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m
(
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cu
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m
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n
d
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”.
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r
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g
s
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m
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latio
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lcu
lated
a
n
d
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tal
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r
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r
is
s
en
t
to
an
ar
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ay
.
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h
is
p
r
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ce
d
u
r
e
is
p
e
r
f
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m
ed
f
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ch
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d
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i
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all
y
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ar
r
a
y
w
i
t
h
5
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r
o
w
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is
f
o
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m
e
d
.
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ter
th
e
p
r
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d
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ctio
n
o
f
in
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tial
p
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p
u
latio
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d
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g
to
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er
r
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ch
ch
r
o
m
o
s
o
m
e
in
th
e
P
o
p
u
latio
n
,
GA
iter
atio
n
s
b
eg
in
.
Fin
a
ll
y
,
ST
A
T
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s
y
s
te
m
is
m
ad
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to
r
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n
a
g
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u
s
i
n
g
n
e
w
p
ar
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m
eter
s
to
o
b
tain
n
e
w
f
it
n
e
s
s
v
al
u
es.
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h
is
c
y
cle
ter
m
i
n
ates
w
h
e
n
p
r
ed
eter
m
in
ed
n
u
m
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er
o
f
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ter
atio
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is
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ea
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h
e
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itte
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ch
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m
o
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e
o
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p
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at
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en
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atio
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itte
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ch
r
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m
o
s
o
m
e
o
f
all
p
o
p
u
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n
s
is
o
b
tain
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.
T
ab
le
2
r
ep
r
esen
ts
th
e
p
ar
a
m
e
ter
ch
o
s
e
n
f
o
r
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m
p
le
m
e
n
tatio
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o
f
GA
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F
L
C
an
d
tab
le
3
r
e
p
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en
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th
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ar
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eter
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o
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2
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IJ
AA
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8814
A
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
AA
S
I
SS
N:
2252
-
8814
A
F
u
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a
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mp
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men
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S
.
Dee
p
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243
f
u
zz
if
ica
tio
n
o
f
a
f
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ed
o
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i
m
u
latio
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r
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f
o
r
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a
n
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f
t
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A
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F
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C
A
l
g
o
r
ith
m
o
v
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t
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etic
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RE
F
E
R
E
NC
E
S
[1
]
P
.
K.Na
n
d
a
n
a
n
d
P
.
C.
S
e
n
(1
9
8
6
)
.
A
Co
m
p
a
ra
ti
v
e
S
tu
d
y
o
f
P
I
a
n
d
I
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Co
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e
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r
DC
M
o
to
r
Driv
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s
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In
ter
n
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t
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a
l
J
o
u
rn
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l
o
f
c
o
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v
o
l.
4
4
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p
p
-
2
8
3
-
2
9
7
[2
]
L
.
L
ju
n
g
(1
9
8
7
)
S
y
ste
m
Id
e
n
ti
f
ic
a
ti
o
n
:
T
h
e
o
ry
f
o
r t
h
e
Us
e
r
.
Ne
w
Yo
rk
:
P
re
n
ti
c
e
-
Ha
ll
.
[3
]
K.Kristi
n
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o
n
a
n
d
G
.
A
.
Du
m
o
n
t
(1
9
9
2
)
S
y
ste
m
id
e
n
ti
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ica
ti
o
n
a
n
d
c
o
n
tro
l
u
si
n
g
g
e
n
e
ti
c
a
l
g
o
rit
h
m
.
IEE
E
T
ra
n
s.
S
y
st.,
M
a
n
,
Cy
b
e
r
,
v
o
l
.
2
2
,
No
.
5
,
p
p
.
1
0
3
3
-
1
0
4
6
.
[4
]
J.
Ke
n
n
e
d
y
,
R.
Eb
e
rh
a
rt
,
“
GA
”
,
P
r
o
c
.
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
f
.
o
n
Ne
u
ra
l
Ne
t
w
o
rk
s
(P
e
rth
,
Au
stra
li
a
),
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E
S
e
rv
ice
Ce
n
ter
,
P
isc
a
taw
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y
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NJ
,
p
p
.
1
9
4
2
-
1
9
4
8
,
1
9
9
5
[5
]
A
.
V
iso
li
(1
9
9
9
)
,
F
u
z
z
y
lo
g
ic
b
a
se
d
S
e
t
-
p
o
i
n
t
w
e
ig
h
t
tu
n
in
g
o
f
P
ID
c
o
n
tro
ll
e
rs.
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
s
y
ste
m
s,
m
a
n
a
n
d
c
y
b
e
rn
e
ti
c
s
-
p
a
rt
A
:
S
y
ste
ms
a
n
d
Hu
ma
n
s
,
v
o
l
.
2
9
,
No
.
6
.
[6
]
A
.
Be
sh
a
ra
ti
,
W
.
L
o
a
n
d
K.M
.
T
sa
n
g
,
(1
9
9
7
)
S
e
lf
–
t
u
n
i
n
g
o
f
P
ID
c
o
n
tr
o
ll
e
r
u
sin
g
Ne
w
to
n
-
Ra
p
h
so
n
se
a
rc
h
m
e
th
o
d
.
IEE
E
T
ra
n
s.
O
n
In
d
u
stri
a
l
E
lec
tro
n
ics
,
v
o
l
.
4
4
,
No
.
5
,
p
p
.
7
1
7
-
7
2
5
[7
]
B.
W
u
a
n
d
X
.
Yu
(2
0
0
0
)
F
u
z
z
y
m
o
d
e
li
n
g
a
n
d
id
e
n
ti
f
ica
ti
o
n
w
it
h
g
e
n
e
ti
c
a
l
g
o
rit
h
m
b
a
se
d
lea
rn
in
g
.
Fu
zz
y
S
e
ts
S
y
st.,
v
o
l.
1
1
3
,
n
o
.
3
,
p
p
.
3
5
1
–
3
6
5
,
A
u
g
[8
]
A
.
V
isio
li
(
2
0
0
1
),
T
u
n
i
n
g
o
f
P
ID
c
o
n
tr
o
ll
e
rs
w
it
h
f
u
z
z
y
lo
g
ic.
IEE
E
p
r
o
c
e
e
d
in
g
-
Co
n
tro
l
th
e
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ry
a
n
d
A
p
p
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9
9
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