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[
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[
24
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.
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3
+
6
1
+
6
(
1
+
3
4
2
)
(
7
)
T
h
e
m
o
d
el
(
7
)
ca
n
b
e
r
ew
r
i
tte
n
in
t
h
e
s
ta
te
-
s
p
ac
e
f
o
r
m
as
̇
=
(
+
)
+
[
1
+
(
,
)
]
(
8
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8708
I
n
t J
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&
C
o
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p
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,
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l.
10
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6
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er
2
0
2
0
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5
7
9
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5796
w
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e
=
[
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,
=
[
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=
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I
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h
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m
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ess
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ce
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te
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Ass
u
m
e
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er
e
ex
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t
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a
p
o
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itiv
e
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e
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ite
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a
tr
ix
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R
4
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ati
s
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y
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n
g
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e
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win
g
i
n
eq
u
a
lit
y
(
+
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(
+
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−
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−
1
<
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9
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w
h
er
e
Q
R
4
4
,
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d
R
R
2
2
ar
e
p
o
s
itiv
e
d
ef
i
n
ite
m
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ices.
Ass
u
m
e
t
h
e
co
n
tr
o
ller
K
i
s
g
i
v
e
n
b
y
:
=
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1
(
1
0
)
an
d
th
e
ad
ap
tiv
e
la
w
̇
=
(
,
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,
>
0
(
11
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w
h
er
e
es
is
t
h
e
esti
m
ate
d
v
alu
e
o
f
.
C
o
n
s
id
er
th
e
f
o
llo
w
i
n
g
t
h
eo
r
e
m
:
T
h
eo
r
em
:
Ass
u
m
e
th
at
th
e
L
MI
co
n
d
itio
n
(
9
)
is
f
ea
s
ib
le
f
o
r
s
o
m
e
P
a
n
d
th
e
co
n
tr
o
ller
g
ain
K
i
s
g
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v
e
n
b
y
(
1
0
)
,
th
e
ad
ap
tiv
e
la
w
is
g
iv
en
b
y
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1
1
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.
T
h
en
th
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co
n
tr
o
l
ler
u
1
ca
n
m
ak
e
t
h
e
er
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d
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n
a
m
ics
x
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n
v
er
g
e
to
ze
r
o
.
1
=
−
−
(
,
)
(
12
)
P
r
o
o
f
: L
et
u
s
c
h
o
o
s
e
th
e
L
y
ap
u
n
o
v
f
u
n
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n
a
s
=
+
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−
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(
13
)
w
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er
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e
=
es
.
I
ts
ti
m
e
d
er
iv
ati
v
e
alo
n
g
th
e
er
r
o
r
d
y
n
a
m
i
cs (
1
1
)
is
g
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e
n
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y
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=
2
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2
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−
1
=
2
[
(
+
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+
+
(
,
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]
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2
−
1
(
̇
−
̇
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=
2
[
(
+
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+
(
−
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(
,
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+
(
,
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+
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1
̇
=
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[
(
+
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,
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+
2
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,
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2
[
(
+
)
−
]
−
2
(
,
)
+
2
(
,
)
=
2
[
(
+
)
−
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(
1
4
)
T
h
e
L
MI
co
n
d
itio
n
(
9
)
i
m
p
lies
th
at
̇
<
−
≤
0
(
15
)
T
h
en
,
b
y
i
n
te
g
r
atin
g
b
o
th
s
id
es o
f
(
15
)
,
th
e
f
o
llo
w
i
n
g
eq
u
ati
o
n
is
d
er
iv
ed
∫
(
)
(
)
∞
0
=
−
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̇
(
)
∞
0
=
(
0
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−
(
∞
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<
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(
16
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T
h
is
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m
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s
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2
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C
o
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r
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d
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B
ar
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alat’
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le
m
m
a,
x
co
n
v
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e
s
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ze
r
o
as ti
m
e
g
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es to
in
f
in
i
t
y
,
t
h
at
is
,
→
∞
(
)
=
0
(
17
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
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&
C
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m
p
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g
I
SS
N:
2
0
8
8
-
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LM
I
b
a
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ed
a
n
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w
in
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a
d
a
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r
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k
1
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h
e
eq
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atio
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o
f
A
ca
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e
w
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n
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h
e
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g
f
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m
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=
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4
0
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=
1
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4
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1
8
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[
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0
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=
[
0
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0
0
1
0
0
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]
,
=
[
0
0
0
0
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T
h
e
in
eq
u
alit
y
(
9
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is
r
e
w
r
itte
n
as
+
−
2
−
1
+
+
+
<
0
(
19
)
T
h
e
ab
o
v
e
in
eq
u
alit
y
(
1
9
)
is
s
atis
f
ied
if
t
h
e
f
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llo
w
i
n
g
in
eq
u
alit
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ld
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e
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1
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1
1
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20
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w
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in
g
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eq
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+
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1
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4
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4
≤
+
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1
2
+
+
1
4
2
Ass
u
m
e
th
at
|
k
1
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an
d
|
k
4
|
f
o
r
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k
n
o
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n
p
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s
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iv
e
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s
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t
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e
n
in
eq
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a
lit
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0
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s
atis
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ied
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e
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icca
t
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itiv
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atr
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x
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R
4
4
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+
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1
+
+
+
2
2
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(
21
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R
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r
k
2
:
B
y
u
s
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g
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h
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r
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p
le
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e
n
t
f
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it
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n
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e
s
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o
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t
h
at
th
e
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icca
ti
-
lik
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eq
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alit
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2
1
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s
eq
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iv
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n
t to
th
e
f
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llo
w
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n
g
li
n
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r
m
a
tr
ix
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n
eq
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t
y
(
L
MI
)
>
0
,
[
+
−
2
−
1
+
+
−
−
1
0
0
−
2
]
<
0
(
2
2
)
T
h
u
s
,
b
y
s
o
l
v
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g
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m
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d
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e
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n
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x
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f
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1
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.
3.
CO
NT
RO
L
ST
R
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RIF
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CA
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ON
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s
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m
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latio
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er
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e
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r
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V
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s
T
r
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mass
(
M
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2
5
(
k
g
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a
y
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o
a
d
mass
(
m
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8
(
k
g
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C
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(
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(
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r
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r
a
t
i
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n
(
g
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9
.
8
1
(
m/
s
2
)
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.
10
, N
o
.
6
,
Dec
em
b
er
2
0
2
0
:
5
7
9
3
-
5
8
0
1
5798
B
ased
o
n
th
e
n
o
m
i
n
al
p
ar
a
m
et
er
s
g
i
v
en
i
n
T
ab
le
1
,
th
e
s
y
s
te
m
m
o
d
el
(
4
)
ca
n
b
e
r
e
w
r
itte
n
as
{
̇
1
=
2
̇
2
=
2
.
45
3
+
0
.
25
3
4
2
+
0
.
05
̇
3
=
4
̇
4
=
−
12
.
26
3
−
0
.
25
3
4
2
−
0
.
05
(
23
)
T
h
e
s
tate
-
s
p
ac
e
m
o
d
el
(
11
)
w
i
th
s
y
s
te
m
u
n
ce
r
tai
n
tie
s
b
ec
o
m
es
̇
=
(
+
)
+
[
1
+
(
,
)
]
(
2
4
)
w
h
er
e
=
[
0
1
0
0
0
0
2
.
45
0
0
0
0
1
0
0
−
12
.
26
0
]
,
=
[
0
0
.
05
0
−
0
.
25
]
B
y
s
o
lv
i
n
g
(
2
2
)
w
i
th
=
0
.
5
k
5
,
Q
= 2
I
,
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d
R
=
5
e
-
3
I
,
th
e
co
n
tr
o
ller
g
ain
is
o
b
tai
n
ed
as:
=
[
93
.
98
106
.
71
−
331
.
14
3
.
17
]
(
2
5
)
w
h
ic
h
lead
s
to
th
e
f
o
llo
w
in
g
c
o
n
tr
o
ller
1
=
−
−
(
,
)
(
2
6
)
w
h
er
e
(
,
)
=
1
+
3
4
2
,
̇
=
(
,
)
an
d
=
0
.
05
.
T
h
e
o
v
er
all
co
n
tr
o
ller
:
=
1
+
2
(
2
7
)
w
h
er
e
u
2
is
s
h
o
w
n
i
n
(
5
)
.
I
n
o
r
d
er
to
v
er
if
y
th
e
e
f
f
ec
ti
v
en
es
s
o
f
t
h
e
ad
ap
tatio
n
co
m
p
o
n
en
t,
t
h
e
p
er
f
o
r
m
a
n
ce
s
o
f
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
ar
e
co
m
p
ar
ed
w
it
h
th
e
p
er
f
o
r
m
an
ce
s
o
f
th
e
co
n
v
en
tio
n
al
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
v
ia
s
i
m
u
lat
io
n
an
d
ex
p
er
i
m
e
n
tal
r
es
u
lt
s
.
T
h
e
eq
u
atio
n
s
o
f
th
e
co
n
v
e
n
tio
n
a
l state
f
ee
d
b
ac
k
co
n
tr
o
ller
ar
e
g
iv
en
b
y
:
{
=
1
+
2
1
=
−
2
=
−
3
4
2
(
2
8
)
w
h
er
e
K
is
ca
lc
u
lated
f
r
o
m
n
o
m
i
n
al
m
a
tr
ix
A
an
d
B
:
=
[
1
.
4
1461
.
5
−
1461
.
3
290
.
6
]
(
2
9
)
I
n
th
e
p
ap
er
,
th
e
s
i
m
u
latio
n
s
ar
e
ca
r
r
ied
o
u
t u
n
d
er
th
r
ee
ca
s
e
s
as f
o
llo
w
:
C
ase
1
: T
h
e
s
y
s
te
m
p
ar
a
m
e
ter
s
ar
e
n
o
m
i
n
al,
i.e
.
,
M
=
2
5
k
g
,
m
=
8
k
g
,
an
d
l
=
1
.
2
m
.
C
ase
2
: T
h
e
s
y
s
te
m
p
ar
a
m
e
ter
s
ar
e
o
f
1
5
0
% v
ar
iatio
n
,
i.e
.
,
M
=
3
7
k
g
,
m
=
1
2
k
g
,
an
d
l
=
1
.
8
m
.
C
ase
3
:
T
h
e
s
y
s
te
m
p
ar
a
m
ete
r
s
ar
e
n
o
m
in
al,
i.e
.
,
M
=
2
5
k
g
,
m
=
8
k
g
,
l
=
1
.
2
m
,
a
n
d
th
e
i
n
p
u
t
d
is
t
u
r
b
an
ce
is
1
0
s
in
(
1
0
t)
.
I
n
ea
ch
ca
s
e,
th
e
r
esp
o
n
s
e
s
o
f
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
i
s
co
m
p
ar
ed
w
it
h
t
h
e
r
es
u
lt
s
o
f
t
h
e
s
ta
te
f
ee
d
b
ac
k
co
n
tr
o
ller
.
T
h
e
s
im
u
latio
n
r
esu
l
ts
f
o
r
th
e
ab
o
v
e
th
r
ee
ca
s
es
ar
e
s
h
o
w
n
in
F
ig
u
r
e
2
-
4
.
I
n
ea
ch
f
ig
u
r
e,
f
r
o
m
to
p
to
b
o
tto
m
ar
e
th
e
w
a
v
ef
o
r
m
s
o
f
t
h
e
tr
o
lle
y
p
o
s
itio
n
an
d
p
ay
lo
ad
s
w
i
n
g
a
n
g
le,
r
es
p
ec
tiv
el
y
.
I
t
ca
n
b
e
s
ee
n
f
r
o
m
F
ig
u
r
e
2
t
h
at,
w
h
e
n
th
e
s
y
s
te
m
p
ar
a
m
eter
s
ar
e
n
o
m
i
n
al,
t
h
e
r
e
s
p
o
n
s
es
o
f
t
h
e
p
r
o
p
o
s
ed
s
ch
e
m
e
a
n
d
th
e
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
a
r
e
n
o
t so
m
u
c
h
d
i
f
f
er
e
n
t.
th
e
s
ettlin
g
ti
m
e
o
f
t
h
e
s
y
s
te
m
w
i
th
ad
ap
tiv
e
co
n
tr
o
ller
is
ab
o
u
t
3
s
ec
,
t
h
e
tr
ac
k
i
n
g
er
r
o
r
is
al
m
o
s
t
ze
r
o
,
an
d
th
e
m
a
x
i
m
u
m
p
a
y
lo
ad
s
w
i
n
g
a
n
g
le
is
0
.
1
5
d
eg
(
af
ter
3
s
ec
,
th
e
s
w
i
n
g
an
g
le
i
s
ca
n
ce
lled
)
.
Me
an
w
h
ile,
th
e
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
h
a
s
th
e
s
ettli
n
g
ti
m
e
ab
o
u
t
5
s
ec
w
it
h
no
s
tead
y
s
tate
er
r
o
r
an
d
0
.
1
5
d
eg
o
f
p
a
y
lo
ad
s
w
i
n
g
an
g
le.
I
n
t
h
e
Fi
g
u
r
e
3
,
th
e
s
y
s
te
m
p
ar
a
m
eter
s
ar
e
o
f
1
5
0
% v
ar
ia
tio
n
b
u
t t
h
e
r
es
u
lt
s
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
ar
e
n
ea
r
l
y
u
n
c
h
an
g
ed
,
i.e
.
th
e
tr
an
s
ie
n
t
ti
m
e
is
le
s
s
t
h
an
4
s
ec
,
th
e
m
a
x
i
m
u
m
s
w
i
n
g
a
n
g
le
is
s
m
al
ler
th
a
n
0
.
1
5
d
eg
an
d
it
i
s
k
ep
t
al
m
o
s
t
ze
r
o
at
t
h
e
s
tead
y
s
tate.
Fo
r
th
e
s
tate
f
ee
d
b
ac
k
co
n
tr
o
lle
r
,
th
e
r
esp
o
n
s
e
o
f
th
e
p
o
s
itio
n
i
s
li
ttle
o
s
c
ilatio
n
w
it
h
t
h
e
lo
n
g
g
er
s
ettli
n
g
ti
m
e,
ab
o
u
t
6
s
ec
,
s
w
i
n
g
an
g
le
is
s
till
s
m
all
(
0
.
2
d
eg
)
b
u
t it
is
u
n
d
er
d
a
m
p
ed
o
s
cillati
o
n
s
.
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:
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8
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p
tive
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h
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u
y
V
u
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57
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Fig
u
r
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4
ill
u
s
tr
ates
t
h
e
r
esp
o
n
s
es
o
f
t
h
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p
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o
p
o
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ed
ad
ap
tiv
e
co
n
tr
o
ller
an
d
s
ta
te
f
ee
d
b
ac
k
c
o
n
tr
o
ller
i
n
th
e
p
r
esen
ce
o
f
th
e
in
p
u
t
d
is
t
u
r
b
an
ce
.
I
t
ca
n
b
e
s
ee
n
th
at,
w
it
h
t
h
e
ad
ap
tiv
e
co
n
tr
o
ller
,
th
e
tr
o
lle
y
r
ea
ch
es
th
e
d
esti
n
atio
n
a
f
ter
3
s
ec
a
n
d
th
e
p
a
y
lo
ad
s
w
i
n
g
a
n
g
le
is
r
e
m
o
v
ed
a
f
ter
th
e
tr
an
s
ie
n
t
ti
m
e.
Ho
w
ev
er
,
in
t
h
e
ca
s
e
o
f
t
h
e
s
ta
te
f
ee
d
b
ac
k
co
n
tr
o
ller
,
th
e
s
e
ttli
n
g
t
i
m
e
is
5
s
ec
a
n
d
th
e
s
w
i
n
g
i
n
t
h
e
b
o
th
p
o
s
itio
n
a
n
d
p
ay
lo
ad
an
g
le
i
s
n
o
t c
an
ce
l
led
alth
o
u
g
h
t
h
e
tr
o
lle
y
ar
r
i
v
es it
s
tar
g
et.
(
a)
(
b
)
Fig
u
r
e
2
.
Si
m
u
latio
n
r
esu
l
ts
o
f
th
e
p
r
o
p
o
s
ed
ad
ap
tiv
e
co
n
tr
o
ller
an
d
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ll
er
w
it
h
n
o
m
i
n
al
s
y
s
te
m
p
ar
a
m
eter
s
,
(
a)
tr
o
lley
p
o
s
itio
n
,
(
b
)
p
ay
lo
ad
s
w
in
g
a
n
g
le
(
a)
(
b
)
Fig
u
r
e
3
.
Si
m
u
latio
n
r
esu
l
ts
o
f
th
e
p
r
o
p
o
s
ed
ad
ap
tiv
e
co
n
tr
o
ller
an
d
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ll
er
w
it
h
1
5
0
%
v
ar
iatio
n
o
f
s
y
s
te
m
p
ar
a
m
eter
s
,
(
a)
tr
o
lley
p
o
s
itio
n
,
(
b
)
p
ay
l
o
ad
s
w
i
n
g
a
n
g
le
(
a)
(
b
)
Fig
u
r
e
4
.
Si
m
u
latio
n
r
esu
l
ts
o
f
th
e
p
r
o
p
o
s
ed
ad
ap
tiv
e
co
n
tr
o
ller
an
d
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ll
er
w
it
h
p
r
esen
ce
o
f
th
e
i
n
p
u
t d
is
t
u
r
b
an
ce
,
(
a)
tr
o
lle
y
p
o
s
itio
n
,
(
b
)
p
ay
l
o
ad
s
w
i
n
g
a
n
g
le
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.
10
, N
o
.
6
,
Dec
em
b
er
2
0
2
0
:
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T
h
e
n
u
m
er
ical
an
al
y
s
is
f
o
r
a
b
o
v
e
r
esu
l
ts
is
d
ep
icted
i
n
t
h
e
T
ab
le
2
.
Fro
m
t
h
e
ab
o
v
e
s
i
m
u
latio
n
r
esu
lt
s
,
it
i
s
o
b
v
io
u
s
t
h
at,
t
h
e
p
r
o
p
o
s
ed
a
d
ap
tiv
e
co
n
tr
o
ller
an
d
th
e
co
r
r
esp
o
n
d
in
g
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
k
ee
p
th
e
tr
o
lle
y
s
tab
le
at
t
h
e
d
esti
n
a
tio
n
.
Ho
w
e
v
er
,
as t
h
e
tr
o
lle
y
m
as
s
,
p
a
y
lo
ad
m
ass
,
a
n
d
t
h
e
ca
b
le
le
n
g
t
h
ar
e
ch
an
g
ed
o
r
th
e
in
p
u
t
d
is
t
u
r
b
an
ce
is
s
in
u
s
o
id
al,
t
h
e
s
u
g
g
e
s
ted
co
n
tr
o
ller
g
iv
e
s
t
h
e
p
er
f
o
r
m
a
n
ce
w
it
h
n
o
r
ed
u
n
d
an
t
s
w
i
n
g
a
f
ter
t
h
e
tr
o
l
le
y
co
m
es
to
r
es
t.
Me
an
w
h
i
le,
u
n
d
er
th
e
co
n
tr
o
l
o
f
t
h
e
s
tate
f
ee
d
b
ac
k
s
ch
e
m
e,
th
e
p
a
y
lo
ad
k
ee
p
s
s
w
in
g
i
n
g
e
v
en
th
o
u
g
h
t
h
e
tr
o
lle
y
r
ea
ch
e
s
t
h
e
s
ta
n
d
s
till
co
n
d
itio
n
.
T
ab
le
2
.
P
o
s
itio
n
an
d
an
g
le
r
esp
o
n
s
es o
f
th
e
p
r
o
p
o
s
ed
an
d
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
s
i
n
th
r
ee
ca
s
es
C
a
se
1
C
a
se
2
C
a
se
3
P
o
si
t
i
o
n
A
n
g
l
e
P
o
si
t
i
o
n
A
n
g
l
e
P
o
si
t
i
o
n
A
n
g
l
e
P
r
o
p
o
se
d
T
s
=
3
s
N
o
r
i
p
p
l
e
T
s
=
3
s
N
o
r
i
p
p
l
e
M
a
x
.
-
0
.
1
5
o
T
s
=
3
s
N
o
r
i
p
p
l
e
T
s
=
3
s,
N
o
r
i
p
p
l
e
M
a
x
.
-
0
.
1
5
o
T
s
=
3
s
N
o
r
i
p
p
l
e
T
s
=
3
s
N
o
r
i
p
p
l
e
M
a
x
.
-
0
.
1
5
o
S
t
a
t
e
F
e
e
d
b
a
c
k
T
s
=
5
s
N
o
r
i
p
p
l
e
4s
N
o
r
i
p
p
l
e
M
a
x
.
-
0
.
1
5
o
T
s
=
5
s
L
i
t
t
l
e
r
i
p
p
l
e
T
s
>
1
0
s
R
i
p
p
l
e
M
a
x
.
-
0
.
1
3
o
T
s
=
5
s
R
i
p
p
l
e
T
s
>
1
0
s,
R
i
p
p
l
e
M
a
x
.
-
0
.
1
2
o
T
s i
s t
h
e
se
t
t
l
i
n
g
t
i
me
4.
CO
NCLU
SI
O
N
A
s
i
m
p
le
b
u
t
e
f
f
icien
t
an
t
is
w
a
y
ad
ap
tiv
e
co
n
tr
o
ller
h
as
b
ee
n
p
r
esen
ted
f
o
r
t
h
e
o
v
er
h
ea
d
cr
an
e
s
y
s
te
m
.
T
h
is
s
i
m
p
le
co
n
tr
o
ll
er
n
o
t
o
n
l
y
r
e
m
o
v
es
th
e
o
s
c
illatio
n
o
f
t
h
e
p
a
y
lo
ad
b
u
t
it
is
also
r
o
b
u
s
t
to
th
e
s
y
s
te
m
u
n
ce
r
tai
n
tie
s
.
A
l
s
o
,
th
e
li
n
ea
r
m
atr
i
x
i
n
eq
u
al
it
ies
(
L
MI
)
w
it
h
f
ea
s
ib
le
p
er
f
o
r
m
an
ce
co
n
s
tr
ain
t
s
h
av
e
b
ee
n
u
s
ed
to
d
esi
g
n
t
h
e
co
n
tr
o
ller
g
ai
n
s
.
T
h
e
s
ta
b
ilit
y
o
f
t
h
e
o
v
er
all
s
y
s
te
m
w
a
s
g
u
ar
a
n
teed
b
y
th
e
L
y
ap
u
n
o
v
t
h
eo
r
y
.
Fi
n
all
y
,
th
e
s
i
m
u
latio
n
a
n
d
w
as
e
x
ec
u
ted
b
y
Ma
tlab
/Si
m
u
li
n
k
f
o
r
b
o
th
p
r
o
p
o
s
ed
ad
ap
tiv
e
co
n
tr
o
ller
an
d
th
e
s
tate
f
ee
d
b
ac
k
co
n
tr
o
ller
.
T
h
e
s
i
m
u
latio
n
r
esu
l
ts
i
n
d
icate
th
at
th
e
s
u
g
g
ested
co
n
tr
o
ller
g
iv
e
s
th
e
g
o
o
d
p
er
f
o
r
m
a
n
ce
,
i.e
.
,
f
ast
r
esp
o
n
s
e,
n
o
s
tead
y
s
tate
er
r
o
r
,
n
o
p
ay
lo
ad
s
w
i
n
g
an
g
le
ev
e
n
u
n
d
er
th
e
co
n
d
itio
n
o
f
s
y
s
te
m
u
n
ce
r
tai
n
tie
s
.
RE
F
E
R
E
NC
E
S
[1
]
K.
C.
C.
P
e
n
g
,
e
t
a
l.
,
“
Ha
n
d
-
m
o
t
io
n
c
ra
n
e
c
o
n
tr
o
l
u
sin
g
ra
d
i
o
-
f
re
q
u
e
n
c
y
re
a
l
-
ti
m
e
lo
c
a
ti
o
n
sy
ste
m
s
,
”
IEE
E/
A
S
M
E
T
ra
n
s
a
c
ti
o
n
s
o
n
M
e
c
h
a
tro
n
ics
,
v
o
l.
1
7
,
n
o
.
3
,
p
p
.
4
6
4
-
4
7
1
,
2
0
1
2
.
[2
]
Y.
G
.
S
u
n
g
a
n
d
W
.
E.
S
in
g
h
o
se
,
“
Ro
b
u
st
n
e
ss
a
n
a
l
y
sis
o
f
in
p
u
t
sh
a
p
in
g
c
o
m
m
a
n
d
s
f
o
r
t
w
o
-
m
o
d
e
f
le
x
ib
le
s
y
ste
m
s,”
IET
Co
n
tro
l
T
h
e
o
ry
a
n
d
A
p
p
l
ica
t
i
o
n
s
,
v
o
l
.
3
,
n
o
.
6
,
p
p
.
7
2
2
-
7
3
0
,
2
0
0
9
.
[3
]
N.
Q.
Ho
a
n
g
,
e
t
a
l.
,
“
T
ra
je
c
to
ry
p
lan
n
in
g
f
o
r
o
v
e
rh
e
a
d
c
ra
n
e
b
y
tro
ll
e
y
a
c
c
e
ler
a
ti
o
n
sh
a
p
i
n
g
,
”
J
o
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l
S
c
i
e
n
c
e
a
n
d
T
e
c
h
n
o
l
ogy
,
v
o
l
.
2
8
,
p
p
.
2
8
7
9
-
2
8
8
8
,
2
0
1
4
.
[4
]
S
.
G
a
rrid
o
,
e
t
a
l.
,
“
A
n
ti
-
sw
in
g
in
g
in
p
u
t
sh
a
p
i
n
g
c
o
n
tr
o
l
o
f
a
n
a
u
to
m
a
ti
c
c
o
n
stru
c
ti
o
n
c
ra
n
e
,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
o
n
Au
to
m
a
ti
o
n
S
c
i
e
n
c
e
a
n
d
E
n
g
in
e
e
rin
g
,
v
o
l.
5
,
n
o
.
3
,
p
p
.
5
4
9
-
5
5
7
,
2
0
0
8
.
[5
]
H.
H.
L
e
e
,
“
M
o
ti
o
n
p
lan
n
in
g
f
o
r
th
re
e
-
d
im
e
n
sio
n
a
l
o
v
e
rh
e
a
d
c
ra
n
e
s
w
it
h
h
ig
h
-
sp
e
e
d
lo
a
d
h
o
isti
n
g
,
”
In
t
e
rn
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
n
tro
l
,
v
o
l
.
7
8
,
n
o
.
1
2
,
p
p
.
8
7
5
-
8
8
6
,
2
0
0
5
.
[6
]
N.
S
u
n
,
e
t
a
l.
,
“
A
n
o
v
e
l
k
in
e
m
a
t
ic
c
o
u
p
li
n
g
-
b
a
se
d
traje
c
to
ry
p
l
a
n
n
in
g
m
e
th
o
d
f
o
r
o
v
e
rh
e
a
d
c
ra
n
e
s
,
”
IEE
E/
AS
M
E
T
ra
n
s
a
c
ti
o
n
s
o
n
M
e
c
h
a
tro
n
ics
,
v
o
l.
1
7
,
n
o
.
1
,
p
p
.
1
6
6
-
1
7
3
,
2
0
1
2
.
[7
]
B.
d
’A
n
d
ré
a
-
No
v
e
l,
e
t
a
l.
,
“
F
in
it
e
-
ti
m
e
sta
b
il
iza
ti
o
n
o
f
a
n
o
v
e
rh
e
a
d
c
ra
n
e
w
it
h
a
f
lex
ib
le
c
a
b
le,”
M
a
th
e
ma
ti
c
s
o
f
Co
n
tro
l,
S
ig
n
a
ls,
a
n
d
S
y
ste
ms
,
v
o
l.
3
1
,
p
p
.
1
-
1
9
,
2
0
1
9
.
[8
]
B.
L
u
,
e
t
a
l.
,
“
A
d
a
p
ti
v
e
o
u
tp
u
t
-
f
e
e
d
b
a
c
k
c
o
n
tro
l
f
o
r
d
u
a
l
o
v
e
rh
e
a
d
c
ra
n
e
s
y
ste
m
w
it
h
e
n
h
a
n
c
e
d
a
n
ti
-
sw
in
g
p
e
rf
o
r
m
a
n
c
e
,”
IEE
E
T
ra
n
s
a
c
t
io
n
s
o
n
C
o
n
tr
ol
S
y
s
tem
s
T
e
c
h
n
o
l
o
g
y
,
p
p
.
1
-
1
4
,
2
0
1
9
.
[9
]
M.
R.
G
h
a
z
a
li
,
e
t
a
l.
,
“
A
n
i
m
p
ro
v
e
d
n
e
u
ro
e
n
d
o
c
rin
e
–
p
ro
p
o
rt
io
n
a
l
–
i
n
teg
ra
l
–
d
e
riv
a
ti
v
e
c
o
n
tro
ll
e
r
w
it
h
sig
m
o
id
-
b
a
se
d
se
c
re
ti
o
n
ra
te
f
o
r
n
o
n
li
n
e
a
r
m
u
lt
i
-
in
p
u
t
–
m
u
lt
i
-
o
u
tp
u
t
c
ra
n
e
s
y
ste
m
s,”
J
o
u
rn
a
l
o
f
L
o
w
Fr
e
q
u
e
n
c
y
No
ise
,
Vi
b
ra
ti
o
n
a
n
d
Active
Co
n
tr
o
l
,
2
0
1
9
.
[1
0
]
X
.
M
a
a
n
d
H.
Ba
o
,
“
A
n
A
n
ti
-
S
w
i
n
g
Clo
se
d
-
L
o
o
p
Co
n
t
ro
l
S
trate
g
y
f
o
r
O
v
e
rh
e
a
d
Cra
n
e
s,”
Ap
p
li
e
d
S
c
ien
c
e
s
,
v
o
l.
8
,
n
o
.
9
,
p
p
.
1
4
6
3
,
2
0
1
8
.
[1
1
]
A
.
Ca
k
a
n
a
n
d
U.
On
e
n
,
“
P
o
sit
io
n
re
g
u
latio
n
a
n
d
sw
a
y
c
o
n
tro
l
o
f
a
n
o
n
li
n
e
a
r
g
a
n
try
c
ra
n
e
s
y
ste
m
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
ien
ti
fi
c
&
T
e
c
h
n
o
lo
g
y
Res
e
a
rc
h
,
v
o
l.
5
,
n
o
.
1
1
,
p
p
.
1
2
1
-
1
2
4
,
2
0
1
6
.
[1
2
]
X
.
W
u
a
n
d
X
.
He
,
“
P
a
rti
a
l
f
e
e
d
b
a
c
k
li
n
e
a
riza
ti
o
n
c
o
n
tr
o
l
f
o
r
3
-
D
u
n
d
e
ra
c
tu
a
ted
o
v
e
rh
e
a
d
c
ra
n
e
s
y
ste
m
s,”
IS
A
T
r
a
n
sa
c
ti
o
n
s
,
v
o
l
.
6
5
,
p
p
.
3
6
1
-
3
7
0
,
2
0
1
6
.
[1
3
]
T
.
A
.
L
e
,
e
t
a
l.
,
“
P
a
rti
a
l
f
e
e
d
b
a
c
k
li
n
e
a
riza
ti
o
n
a
n
d
sli
d
in
g
m
o
d
e
tec
h
n
iq
u
e
s
f
o
r
2
D
c
ra
n
e
c
o
n
tro
l,
”
Tr
an
sa
c
ti
o
n
s
o
f
th
e
In
st
it
u
te
o
f
M
e
a
s
u
re
me
n
t
a
n
d
Co
n
tro
l
,
v
o
l.
36
,
n
o
.
1
,
p
p
.
7
8
-
8
7
,
2
0
1
4
.
[1
4
]
B.
Ro
n
g
,
e
t
a
l.
,
“
D
y
n
a
m
ics
a
n
a
l
y
sis
a
n
d
f
u
z
z
y
a
n
ti
-
s
w
in
g
c
o
n
tro
l
d
e
sig
n
o
f
o
v
e
rh
e
a
d
c
ra
n
e
s
y
ste
m
b
a
se
d
o
n
Ricc
a
ti
d
isc
re
te t
im
e
tran
s
f
e
r
m
a
tri
x
m
e
th
o
d
,
”
M
u
l
ti
b
o
d
y
S
y
ste
m Dy
n
a
mic
s
,
v
o
l.
4
3
,
p
p
.
2
7
9
-
2
9
5
,
2
0
1
8
.
[1
5
]
M
.
A
.
S
h
e
h
u
,
e
t
a
l.
,
“
Co
m
p
a
ra
ti
v
e
A
n
a
l
y
sis
o
f
Ne
u
ra
l
-
Ne
t
w
o
rk
a
n
d
F
u
z
z
y
A
u
to
-
T
u
n
in
g
S
li
d
in
g
M
o
d
e
Co
n
tr
o
ls
f
o
r
Ov
e
rh
e
a
d
Cra
n
e
s
u
n
d
e
r
P
a
y
lo
a
d
a
n
d
Ca
b
le
V
a
riatio
n
s
,
”
J
o
u
r
n
a
l
o
f
C
o
n
tr
o
l
S
c
ien
c
e
a
n
d
En
g
in
e
e
r
in
g
,
v
o
l.
2
0
1
9
,
p
p
.
1
-
1
3
,
2
0
1
9
.
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[1
6
]
X
.
S
h
a
o
,
e
t
a
l.
,
“
Tak
a
g
i
-
S
u
g
e
n
o
F
u
z
z
y
M
o
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e
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n
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a
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p
p
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[1
7
]
L
.
Ra
n
jb
a
ri,
e
t
a
l.
,
“
De
sig
n
in
g
p
r
e
c
isio
n
f
u
z
z
y
c
o
n
tro
ll
e
r
f
o
r
l
o
a
d
sw
in
g
o
f
a
n
o
v
e
rh
e
a
d
c
ra
n
e
,
”
Ne
u
ra
l
C
o
mp
u
ti
n
g
a
n
d
Ap
p
li
c
a
ti
o
n
s
,
v
o
l.
2
6
,
p
p
.
1
5
5
5
-
1
5
6
0
,
2
0
1
5
.
[1
8
]
B.
L
u
,
e
t
a
l.
,
“
S
li
d
in
g
m
o
d
e
c
o
n
tro
l
f
o
r
u
n
d
e
ra
c
tu
a
ted
o
v
e
rh
e
a
d
c
ra
n
e
s
su
ff
e
rin
g
f
ro
m
b
o
th
m
a
tch
e
d
a
n
d
u
n
m
a
tch
e
d
d
istu
r
b
a
n
c
e
s,”
M
e
c
h
a
tro
n
ics
,
v
o
l.
47
,
p
p
.
1
1
6
-
1
2
5
,
2
0
1
7
.
[1
9
]
D.
Ch
w
a
,
“
S
li
d
in
g
-
M
o
d
e
-
C
o
n
tr
o
l
-
b
a
se
d
ro
b
u
st f
in
it
e
-
ti
m
e
a
n
ti
s
w
a
y
trac
k
in
g
c
o
n
tro
l
o
f
3
-
D o
v
e
rh
e
a
d
c
ra
n
e
s,”
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
In
d
u
stri
a
l
El
e
c
tr
o
n
ics
,
v
o
l
.
6
4
,
n
o
.
8
,
p
p
.
6
7
7
5
-
6
8
8
4
,
2
0
1
7
.
[2
0
]
Q.
H.
Ng
o
,
e
t
a
l.
,
“
P
a
y
lo
a
d
p
e
n
d
u
latio
n
a
n
d
p
o
siti
o
n
c
o
n
t
ro
l
sy
ste
m
s
f
o
r
a
n
o
ff
sh
o
re
c
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.
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M.
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M.
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H.
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.
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