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[
1
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T
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ter
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w
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1
3
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.
T
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P
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r
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5
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Fig
u
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5
.
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c
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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1543
T
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P
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o
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3
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1
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Z
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Nicho
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2
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atin
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g
l
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d
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s
tr
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o
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g
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r
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le
[
1
6
]
.
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r
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s
m
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g
h
t
b
e
o
p
ti
m
al
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d
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er
ad
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ate
tu
n
i
n
g
is
r
eq
u
ir
ed
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o
m
e
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s
e
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ain
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er
f
o
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a
n
ce
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o
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th
e
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y
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m
.
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en
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d
ap
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licatio
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,
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h
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P
I
D
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t
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i
s
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ap
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.
3
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2
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ind
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ra
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m
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As
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K
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1
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6
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Gc(
s
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s
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7
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(
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Fig
u
r
e
6
.
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u
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6
ill
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ates
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3
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3
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tr
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
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u
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u
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8
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ate
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6
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4
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d
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2
5
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s
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m
m
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t
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P
I
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c
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ty
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Fi
g
u
r
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9
s
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o
w
s
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lt o
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m
r
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n
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e.
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s
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p
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an
d
T
d
in
E
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e
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s
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s
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e
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n
ct
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e
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h
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E
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(
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.
(
1
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Fig
u
r
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8
.
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h
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w
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k
p
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Fig
u
r
e
9
.
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r
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ly
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g
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I
D
co
n
tr
o
ller
w
h
en
Kp
=1
6
.
4
,
T
i=
0
.
1
5
an
d
T
d
=0
.
2
5
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
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A
n
ten
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P
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o
ller
&
S
ta
te
-
F
ee
d
b
a
ck
…
(
A
ve
en
Utma
n
)
1545
4.
DE
S
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G
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e
clo
s
ed
-
lo
o
p
p
o
les
at
lo
o
k
ed
-
f
o
r
p
lace
.
T
h
e
m
e
n
tio
n
ed
m
et
h
o
d
is
ca
lled
p
o
le
-
p
lace
m
en
t
tech
n
iq
u
e.
T
h
e
s
tate
-
s
p
ac
e
m
et
h
o
d
u
s
in
g
s
tat
e
f
ee
d
b
ac
k
o
f
f
er
s
ad
eq
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ate
n
u
m
b
er
o
f
p
ar
a
m
eter
s
o
f
t
h
e
c
o
n
tr
o
ller
d
esig
n
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an
s
f
er
all
th
e
p
o
les o
f
clo
s
ed
-
lo
o
p
in
d
ep
en
d
en
tl
y
o
f
ea
c
h
o
th
er
[
1
7
].
4
.
1
.
T
o
po
lo
g
y
f
o
r
po
le
pla
ce
m
ent
No
r
m
a
ll
y
t
h
e
s
ta
te
s
p
ac
e
eq
u
at
io
n
o
f
a
p
lan
t is
:
Fig
u
r
e
1
0
d
is
p
lay
s
th
e
State
-
s
p
ac
e
m
ap
g
r
ap
h
o
f
a
p
lan
t.
Fig
u
r
e
10
.
A
p
lan
t Sta
te
-
s
p
ac
e
g
r
ap
h
I
n
th
e
to
p
o
lo
g
y
o
f
s
tate
-
v
ar
iab
le
f
ee
d
b
ac
k
,
t
h
e
s
ta
te
-
v
ar
iab
le
s
ar
e
f
ee
d
b
ac
k
to
s
u
m
m
i
n
g
j
u
n
ctio
n
a
n
d
th
en
to
u
th
r
o
u
g
h
g
ai
n
s
m
ea
n
i
n
g
t
h
at
ea
ch
s
tate
v
ar
iab
le
co
n
n
ec
t
s
to
a
g
ain
I
n
o
r
d
er
to
h
ar
v
est
o
b
lig
ato
r
y
clo
s
ed
-
lo
o
p
p
o
le
v
al
-
u
e
s
,
co
u
l
d
b
e
ad
j
u
s
ted
.
Fig
u
r
e
11
p
r
esen
ts
a
p
lan
t state
-
v
ar
iab
le
f
ee
d
b
ac
k
g
r
ap
h
.
̇
Fig
u
r
e
11
.
A
p
lan
t s
tate
-
v
ar
iab
le
f
ee
d
b
ac
k
g
r
ap
h
4.
2.
Co
ntr
o
ller
des
ig
n pro
ce
du
re
Ma
n
y
s
tep
s
n
ee
d
to
b
e
f
o
llo
wed
in
o
r
d
er
to
ap
p
ly
p
o
le
p
lace
m
en
t
m
eth
o
d
o
lo
g
y
;
t
h
ese
s
te
p
s
w
ill
b
e
p
r
esen
ted
b
elo
w
.
First
o
f
all,
t
h
e
p
lan
t
m
o
d
el
tr
an
s
f
er
f
u
n
c
tio
n
n
ee
d
to
b
e
co
n
-
v
er
ted
to
s
tate
-
s
p
ac
e
r
ep
r
esen
tatio
n
as
ill
u
s
tr
ated
in
[
1
]
.
L
ets t
h
e
p
lan
t
g
iv
e
n
as
:
T
h
e
s
tate
-
s
p
ac
e
r
ep
r
esen
tati
o
n
w
i
ll
b
e
as
E
q
u
atio
n
(
11
)
an
d
th
e
ch
a
r
ac
ter
is
tics
q
u
atio
n
w
il
l
b
e
as
E
q
u
atio
n
(
12
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
8
,
No
.
3
,
J
u
n
e
2
0
1
8
:
1
5
3
9
–
1550
1546
.
0
0
B
;
0
1
0
0
0
0
1
0
A
0
1
2
1
b
a
a
a
a
n
o
(
1
1
)
0
0
1
C
(
1
2
)
No
w
f
o
r
m
t
h
e
clo
s
ed
-
lo
o
p
s
y
s
te
m
b
y
f
ee
d
in
g
b
ac
k
ea
c
h
s
tat
e
v
ar
iab
le
to
u
,
f
o
r
m
i
n
g
E
q
u
ati
o
n
(
13
)
:
(
1
3
)
W
h
er
e,
T
h
e
's ar
e
th
e
f
ee
d
b
ac
k
g
ai
n
s
,
(
1
4
)
Usi
n
g
E
q
u
atio
n
(
11
)
w
ith
E
q
u
atio
n
(
14
)
,
th
e
s
y
s
te
m
m
atr
i
x
A
-
B
K
f
o
r
th
e
clo
s
ed
lo
o
p
w
il
l b
e:
)
(
)
(
)
(
)
(
0
1
0
0
0
0
1
0
BK
-
A
1
3
0
2
2
0
1
1
0
n
o
n
o
k
b
a
k
b
a
k
b
a
k
b
a
(
1
5
)
T
h
e
clo
s
ed
lo
o
p
s
y
s
te
m
c
h
ar
ac
ter
is
tic
eq
u
atio
n
is
:
(
)
(
1
6
)
An
d
,
th
e
d
esire
d
-
c
h
ar
ac
ter
is
tic
eq
u
atio
n
is
:
(
1
7
)
W
h
er
e
’
s
ar
e
th
e
d
esire
d
co
ef
f
i
cien
t
s
s
o
,
f
r
o
m
t
h
e
t
w
o
ab
o
v
e
E
q
u
atio
n
s
(
1
6
)
an
d
(
1
7
)
,
w
e
f
in
d
:
(
1
8
)
(
1
9
)
No
w
clo
s
ed
-
lo
o
p
s
tate
-
s
p
ac
e
m
o
d
el
co
u
ld
b
e
d
eter
m
i
n
ed
ea
s
il
y
a
n
d
th
e
r
esp
o
n
s
e
o
f
it a
s
w
ell.
5.
CO
NT
RO
L
L
AB
I
L
I
T
Y
T
h
e
is
s
u
e
o
f
s
y
s
te
m
co
n
tr
o
lla
b
ilit
y
h
as
b
ee
n
le
n
g
t
h
il
y
i
n
tr
o
d
u
ce
d
an
d
d
is
cu
s
s
ed
v
er
y
ea
r
lier
.
Un
til
n
o
w
,
n
u
m
er
o
u
s
p
r
in
cip
le
s
h
av
e
b
ee
n
es
tab
lis
h
ed
,
co
u
n
ti
n
g
d
if
f
er
e
n
t
k
i
n
d
s
o
f
m
atr
i
x
r
an
k
s
e
tti
n
g
s
a
n
d
co
n
s
id
er
ab
le
g
r
ap
h
ic
m
ater
ials
[
1
8
]
,
[
1
9
]
.
A
cc
o
r
d
in
g
to
[
2
0
]
,
f
o
r
an
n
t
h
-
o
r
d
er
p
lan
t
w
h
o
s
e
s
tate
eq
u
atio
n
i
s
:
̇
C
o
n
s
id
er
ed
as to
tall
y
co
n
tr
o
lla
b
le
w
h
en
t
h
e
m
a
tr
ix
.
(
2
0
)
6.
ST
A
T
E
-
F
E
E
DB
ACK
CO
N
T
RO
L
L
E
R
DE
S
I
G
N
F
O
R
ANTE
N
NA
A
Z
I
M
UT
H
P
O
SI
T
I
O
N
CO
NT
RO
L
SYS
T
E
M
T
h
e
b
lo
ck
d
iag
r
a
m
o
f
th
e
s
y
s
te
m
i
s
s
h
o
w
n
ea
r
lier
i
n
F
i
g
u
r
e
3
.
Dep
en
d
in
g
o
n
[
1
0
]
,
b
etter
v
al
u
e
f
o
r
th
e
p
r
ea
m
p
li
f
ier
is
3
1
.
6
an
d
th
e
f
o
r
w
ar
d
tr
an
s
f
er
f
u
n
ctio
n
i
s
g
o
in
g
to
as
p
r
esen
ted
in
F
ig
u
r
e
1
2
af
ter
r
em
o
v
i
n
g
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
ten
n
a
A
z
imu
th
P
o
s
itio
n
C
o
n
tr
o
l S
ystem
u
s
in
g
P
I
D
C
o
n
tr
o
ller
&
S
ta
te
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F
ee
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a
ck
…
(
A
ve
en
Utma
n
)
1547
th
e
ex
i
s
ti
n
g
f
ee
d
b
ac
k
.
Fig
u
r
e
12
.
A
n
te
n
n
a
co
n
tr
o
l s
y
s
te
m
s
i
m
p
l
if
ied
b
lo
ck
d
iag
r
a
m
w
it
h
k
=3
1
.
6
First o
f
all,
it
is
w
an
ted
to
test
s
y
s
te
m
co
n
tr
o
llab
ilit
y
to
s
ee
wh
eth
er
th
e
s
y
s
te
m
is
co
n
tr
o
llab
le
o
r
n
o
t.
Sin
ce
t
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
t
h
e
s
y
s
te
m
is
:
(
2
1
)
So
,
th
e
s
tate
eq
u
at
io
n
an
d
s
i
g
n
al
f
lo
w
g
r
ap
h
co
u
ld
b
e
o
b
tain
ed
an
d
w
r
itte
n
as s
h
o
w
n
b
elo
w
:
̇
[
]
[
]
(
2
2
)
y
=
[
1
0
0
]
= C
(
2
3
)
T
h
e
s
y
s
te
m
co
n
tr
o
llab
o
lit
y
co
u
ld
b
e
ch
ec
k
ed
as s
h
o
w
n
b
ello
w
:
[
]
B
=
[
]
A
cc
o
r
d
in
g
to
E
q
u
atio
n
(
20
)
;
C
M
=
[
]
T
h
e
d
eter
m
i
n
a
n
t
o
f
C
M
is
-
2
.
8
5
1
9
e+
0
0
8
,
s
o
th
e
s
y
s
te
m
is
co
n
tr
o
llab
le.
T
h
e
r
an
k
o
f
C
M
eq
u
als
t
h
e
n
u
m
b
er
o
f
lin
ea
r
l
y
i
n
d
ep
en
d
e
n
t
r
o
w
s
o
r
co
lu
m
n
s
.
T
h
e
r
a
n
k
ca
n
b
e
f
o
u
n
d
b
y
f
in
d
i
n
g
t
h
e
h
ig
h
e
s
t
-
o
r
d
er
s
q
u
ar
e
s
u
b
m
atr
ix
t
h
at
i
s
n
o
n
-
s
i
n
g
u
la
r
.
T
h
e
d
eter
m
in
a
n
t
o
f
C
M
=
-
2
.
8
5
1
9
e+
0
0
8
.
Sin
ce
th
e
d
eter
m
i
n
an
t
is
n
o
t
ze
r
o
,
th
e
3
x
3
m
atr
ix
i
s
n
o
n
-
s
in
g
u
l
ar
,
an
d
th
e
r
an
k
o
f
C
M
is
3
.
W
e
co
n
clu
d
e
th
at
th
e
s
y
s
te
m
is
co
n
tr
o
llab
le
s
in
ce
th
e
r
an
k
o
f
C
M
eq
u
al
s
t
h
e
s
y
s
te
m
o
r
d
er
.
T
h
u
s
,
t
h
e
p
o
les
o
f
th
e
s
y
s
te
m
ca
n
b
e
p
lace
d
u
s
i
n
g
s
tate
-
v
ar
iab
le
f
ee
d
b
ac
k
d
esig
n
.
A
=[
0
1
0
0
0
1
0
-
171
-
1
0
1
.
7
1
]
B
=
[
0
;
0
; 6
5
8
.
2
2
8
]
Cm
=c
tr
b
(
A
,
B
)
R
an
k
=r
an
k
(
C
m
)
An
s
=3
T
h
u
s
th
e
s
y
s
te
m
is
co
n
tr
o
llab
l
e.
I
n
f
ac
t,
th
e
s
elec
tio
n
o
f
th
e
l
o
ca
to
io
n
s
o
f
clo
s
ed
-
lo
o
p
p
o
le
s
is
co
n
s
id
er
ed
as
a
m
ai
n
d
if
f
ic
u
lt
y
i
n
d
esig
n
in
g
t
h
e
co
n
tr
o
ller
s
b
ase
d
p
o
le
-
p
lace
m
en
t te
c
h
n
iq
u
e
[
2
1
]
.
A
cc
o
r
d
in
g
to
[
2
2
]
,
th
e
eig
e
n
v
al
u
e
s
o
f
th
e
s
tat
e
f
ee
d
b
ac
k
ca
n
b
e
p
lace
d
in
an
y
p
o
s
it
io
n
as
w
ell
as
t
h
e
f
ee
d
b
ac
k
g
ain
co
u
ld
b
e
f
o
u
n
d
d
ir
ec
tl
y
b
y
s
u
b
s
tit
u
tio
n
.
W
o
r
th
m
e
n
tio
n
i
n
g
,
t
h
is
m
e
th
o
d
d
o
es
n
o
t
tell
t
h
e
co
n
tr
o
llab
ilit
y
co
n
d
itio
n
i
n
w
h
at
w
a
y
ar
is
e
to
t
h
e
d
esi
g
n
th
at
’
s
w
h
y
a
f
u
r
th
er
e
f
f
ic
ien
t a
p
p
r
o
ac
h
is
r
ec
o
m
m
en
d
ed
.
A
t
t
h
i
s
ti
m
e,
f
o
r
co
n
tr
o
ller
d
esig
n
s
p
ec
if
ica
tio
n
a
n
d
f
o
r
g
etti
n
g
b
etter
tr
an
s
ien
t
r
esp
o
n
s
e,
it
is
r
eq
u
ir
ed
to
p
r
o
d
u
ce
o
v
er
s
h
o
o
t
ar
o
u
n
d
4
.
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d
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s
ec
o
n
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ettli
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=
0
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7
an
d
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B
ased
o
n
th
at,
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e8
ch
ar
ac
ter
is
tic
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f
o
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th
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:
s
2
+
5
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6
6
s
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6
.
4
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0
(
2
4
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Y
(
s)
=
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O
(
s)
6
5
8
.
2
2
8
s
(
s
+1
.
7
1
)
(
s
+1
0
0
)
U
(
s)
=
E(
s
)
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
8
,
No
.
3
,
J
u
n
e
2
0
1
8
:
1
5
3
9
–
1550
1548
W
h
er
e,
d
o
m
i
n
an
t
p
o
les
lo
ca
tio
n
at
-
2
.
8
3
±
j
2
.
9
.
T
h
e
th
ir
d
p
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le
is
ab
o
u
t
1
0
tim
e
s
d
is
ta
n
t
f
r
o
m
t
h
e
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m
ag
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y
ax
is
,
at
-
4
0
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ev
en
t
u
all
y
,
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e
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s
ed
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lo
o
p
s
y
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te
m
d
esire
d
ch
ar
a
cter
is
tic
eq
u
atio
n
b
e:
(
2
5
)
An
d
th
e
n
,
[
]
I
n
co
n
s
eq
u
e
n
ce
,
th
e
clo
s
ed
lo
o
p
ch
ar
ac
ter
is
tic
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atio
n
i
s
:
(
2
6
)
B
y
co
m
p
ar
i
n
g
E
q
u
atio
n
(
25
)
w
it
h
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at
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(
26
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an
d
m
a
tch
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h
e
co
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icie
n
t
s
o
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o
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f
t
h
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m
,
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h
e
'
s
co
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ld
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e
ev
alu
ated
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o
llo
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s
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=0
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9
9
7
,
=0
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1
0
9
1
an
d
=
-
0
.
0
8
5
2
T
h
e
d
ir
ec
t m
atlab
co
d
in
g
f
o
r
th
e
co
n
tr
o
ller
d
esig
n
an
d
ap
p
l
y
in
g
i
t to
th
e
s
y
s
te
m
i
s
:
n
u
m
=6
5
8
.
2
2
8
d
en
=[
1
1
0
1
.
7
1
1
7
1
0
]
g
=t
f
(
n
u
m
,
d
e
n
)
[
a,
b
,
c,
d
]
=tf
2
s
s
(
n
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m
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d
en
)
a=
[
0
1
0
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0
1
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-
171
-
1
0
1
.
7
1
]
b
=[
0
;0
;6
5
8
.
2
2
8
]
c=
[
1
0
0
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1
0
;0
0
1
]
d
=[
0
;0
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]
p
lan
t=s
s
(
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b
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c,
d
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p
=[
-
40
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2
.
8
3
-
2
.
9
j
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2
.
8
3
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.
9
j
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k
1
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lace
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b
2
,
p
1
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k
1
=0
.
9
9
7
8
0
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1
0
9
1
-
0
.
0
8
5
2
cl_
s
y
s
=
f
ee
d
b
ac
k
(
p
lan
t,
k
1
)
s
tep
(
cl_
s
y
s
)
I
t’
s
n
o
ted
th
at
th
e
v
al
u
e
o
f
s
w
h
ic
h
h
a
s
b
ee
n
ca
lcu
la
ted
ea
r
lier
is
th
e
s
a
m
e
t
h
at
o
b
tain
e
d
in
m
atlab
co
d
e
r
u
n
n
i
n
g
7.
RE
SU
L
T
AND
DE
SCU
SS
I
O
N
Af
ter
th
e
d
esi
g
n
o
f
s
tate
-
f
ee
d
b
ac
k
co
n
tr
o
ller
f
o
r
an
ten
n
a
az
i
m
u
th
p
o
s
itio
n
s
y
s
te
m
,
th
e
o
v
e
r
all
s
y
s
te
m
w
it
h
t
h
e
co
n
tr
o
ller
h
as
b
ee
n
s
i
m
u
lated
.
T
h
e
r
esp
o
n
s
e
i
s
ac
ce
p
ted
an
d
d
esire
d
s
in
ce
it
h
as
ze
r
o
s
tead
y
-
s
tate
er
r
o
r
an
d
s
m
all
v
al
u
e
o
f
s
et
tli
n
g
ti
m
e
an
d
o
v
er
s
h
o
o
t a
s
w
ell,
t
h
e
g
r
ap
h
i
s
p
r
esen
ted
in
F
ig
u
r
e
13.
Fu
r
t
h
er
m
o
r
e,
th
e
s
y
s
te
m
s
tep
r
esp
o
n
s
e
w
ith
P
I
D
co
n
tr
o
lle
r
is
co
m
p
ar
ed
to
s
y
s
te
m
s
tep
r
esp
o
n
s
e
u
s
i
n
g
s
tate
-
f
ee
d
b
ac
k
co
n
t
r
o
lle
r
to
f
in
d
t
h
e
p
er
f
o
r
m
a
n
ce
.
A
s
a
r
esu
lt,
it
h
a
s
b
ee
n
o
b
s
er
v
e
d
th
at,
in
s
p
ite
o
f
s
m
al
l
r
is
e
ti
m
e
an
d
f
a
s
t
r
esp
o
n
s
e
i
n
ca
s
e
o
f
u
s
i
n
g
P
I
D
co
n
t
r
o
ller
b
u
t
s
till
th
e
r
esp
o
n
s
e
is
co
n
s
id
er
ed
as
n
o
t
g
o
o
d
,
d
u
e
to
h
ig
h
o
v
er
s
h
o
o
t
a
n
d
m
u
c
h
s
ett
lin
g
ti
m
e
v
al
u
e.
W
h
ile,
v
er
y
m
in
o
r
o
v
er
s
h
o
o
t,
s
m
al
l
s
ett
lin
g
ti
m
e
v
alu
e
a
s
w
ell
as
ze
r
o
-
s
tead
y
-
s
tate
er
r
o
r
is
g
ain
ed
af
ter
a
p
p
ly
in
g
s
tate
-
f
ee
d
b
ac
k
co
n
tr
o
ller
to
th
e
s
y
s
te
m
.
T
h
e
co
m
p
ar
is
o
n
o
f
b
o
t
h
ca
s
es
is
p
r
esen
ted
i
n
F
i
g
u
r
e
1
4
.
Fig
u
r
e
1
5
p
r
esen
ts
t
h
e
s
y
s
te
m
s
tead
y
e
r
r
o
r
af
ter
ap
p
ly
i
n
g
b
o
th
co
n
tr
o
ller
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.