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I
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ted
b
y
[
2
0
]
,
[
2
1
]
u
s
in
g
Par
eto
-
b
ased
m
eth
o
d
,
an
d
r
ad
ial
b
asis
f
u
n
ctio
n
n
eu
r
al
n
etwo
r
k
m
etam
o
d
el
r
esp
ec
tiv
ely
.
Fu
zz
y
p
r
ed
ictiv
e
co
n
tr
o
l
[
8
]
a
n
d
in
te
r
n
al
m
o
d
el
co
n
tr
o
l
(IM
C
)
,
a
r
e
d
is
c
u
s
s
ed
in
[
2
2
]
.
W
h
ile
th
er
e
ar
e
s
till
s
o
m
e
ad
d
itio
n
s
,
it
is
ac
k
n
o
wled
g
ed
t
h
at
af
ter
th
e
f
ir
s
t
attem
p
ts
d
o
n
e
i
n
th
e
late
eig
h
ties
,
s
ig
n
if
ican
t
p
r
o
g
r
ess
in
co
lu
m
n
f
lo
tatio
n
d
y
n
am
i
c
s
im
u
latio
n
h
as
b
ee
n
m
ad
e.
Acc
o
r
d
in
g
to
th
e
liter
atu
r
e
m
an
y
g
o
o
d
o
p
tim
izatio
n
tech
n
i
q
u
es
ca
n
b
e
u
s
ed
f
o
r
m
u
lti
-
o
b
jectiv
e
s
y
s
tem
s
[
2
0
]
,
[
2
1
]
,
b
u
t
th
e
c
o
s
t
ass
o
ciate
d
with
m
u
ltiv
ar
iab
le
s
y
s
tem
s
is
s
till
a
m
ajo
r
p
r
o
b
l
em
th
at
p
r
e
v
en
ts
th
e
g
en
er
al
u
s
e
o
f
o
p
tim
izatio
n
tech
n
iq
u
es.
T
h
en
a
g
ain
,
m
an
y
co
n
tr
o
ller
d
esig
n
m
eth
o
d
s
ar
e
a
p
p
lied
an
d
p
u
b
lis
h
ed
s
u
ch
as
ANN,
MP
C
,
d
if
f
er
en
t
o
p
tim
izatio
n
m
eth
o
d
s
,
an
d
f
u
zz
y
lo
g
ic
c
o
n
tr
o
l
wh
i
ch
s
ee
m
s
to
b
e
th
e
s
u
cc
ess
f
u
l te
ch
n
iq
u
es [
8
]
,
[
1
9
]
,
[
2
0
]
,
[
2
3
]
.
H
o
wev
er
,
wh
en
it
co
m
es
to
in
d
u
s
tr
ial
ap
p
licatio
n
,
m
an
y
in
d
u
s
tr
ies
s
till
u
s
e
p
r
o
p
o
r
tio
n
al
in
teg
r
al
(
PI)
o
r
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
er
iv
ativ
e
(
PID
)
co
n
tr
o
ller
s
[
2
4
]
as
o
n
e
o
f
t
h
e
f
ir
s
t
d
ev
elo
p
e
d
co
n
tr
o
l
s
tr
ateg
ies
with
s
im
p
le
s
tr
u
ctu
r
e
an
d
well
-
k
n
o
wn
tu
n
i
n
g
r
u
les.
T
h
is
m
a
k
es
th
em
ea
s
y
to
m
ain
tain
d
o
m
in
an
ce
in
p
r
ac
tical
en
g
in
ee
r
in
g
ap
p
licatio
n
s
f
o
r
s
ev
er
al
d
ec
ad
es
[
2
4
]
,
[
2
5
]
.
Ne
v
er
th
eless
th
at
m
o
r
e
ad
v
an
ce
d
co
n
tr
o
l
alg
o
r
ith
m
s
h
av
e
b
ee
n
d
e
v
elo
p
ed
,
th
e
PI
o
r
PID
co
n
t
r
o
ller
s
ar
e
alwa
y
s
p
r
ef
er
r
ed
u
n
less
th
ey
d
o
n
o
t
g
iv
e
s
atis
f
ac
to
r
y
p
er
f
o
r
m
an
ce
[
2
4
]
.
Og
u
n
n
ai
k
e
et
a
l.
[
2
3
]
e
m
p
h
asis
es
im
p
o
r
tan
t
asp
ec
ts
o
f
th
e
in
d
u
s
tr
ial
co
n
tr
o
l
s
y
s
tem
s
im
p
lem
en
tatio
n
,
wh
ich
m
ea
n
s
h
o
w
th
e
ac
t
u
al
m
ea
s
u
r
em
e
n
t
s
f
r
o
m
th
e
p
r
o
ce
s
s
to
th
e
c
o
n
t
r
o
ller
an
d
b
ac
k
ar
e
p
er
f
o
r
m
ed
an
d
h
o
w
th
e
n
ec
es
s
ar
y
co
m
p
u
tatio
n
s
d
o
n
e
b
y
t
h
e
co
n
tr
o
ller
ar
e
ca
r
r
ied
o
u
t.
I
n
th
is
r
elatio
n
,
it
is
im
p
o
r
tan
t
f
o
r
t
h
e
c
o
lu
m
n
f
lo
ta
tio
n
p
r
o
ce
s
s
to
m
ea
s
u
r
e
t
h
e
co
n
tr
o
lled
v
ar
ia
b
les
ac
cu
r
ately
a
n
d
to
id
e
n
tify
h
o
w
th
e
in
ter
ac
tio
n
s
am
o
n
g
th
e
co
n
tr
o
lled
an
d
m
an
i
p
u
lated
v
ar
i
ab
les
in
f
lu
en
ce
th
e
d
y
n
am
ic
p
er
f
o
r
m
an
ce
o
f
th
e
wh
o
le
s
y
s
tem
[
2
]
,
[
1
8
]
.
T
h
e
in
ter
ac
tio
n
s
b
etwe
en
th
e
m
an
ip
u
lated
an
d
th
e
co
n
tr
o
lled
v
ar
iab
les
in
th
e
ex
is
tin
g
f
lo
tatio
n
p
r
o
ce
s
s
es
d
eter
io
r
at
e
th
e
p
e
r
f
o
r
m
an
ce
o
f
t
h
e
u
s
e
d
PI
o
r
PID
c
o
n
tr
o
ller
s
as
t
h
eir
p
ar
a
m
eter
s
ar
e
d
eter
m
in
ed
with
o
u
t
tak
in
g
in
t
o
ac
co
u
n
t
th
e
ex
is
ten
ce
o
f
th
e
s
e
in
ter
ac
tio
n
s
.
At
th
e
s
am
e
ti
m
e,
it
will
b
e
v
er
y
ex
p
en
s
iv
e
to
r
em
o
v
e
all
ex
is
tin
g
c
o
n
tr
o
ller
s
a
n
d
s
u
b
s
titu
te
th
em
with
m
o
r
e
co
m
p
le
x
o
n
es.
T
h
is
p
r
o
b
lem
ca
n
b
e
s
o
lv
ed
if
i
n
s
o
m
e
way
t
h
e
in
f
lu
en
ce
o
f
th
e
in
ter
ac
tio
n
s
is
tak
en
in
to
ac
c
o
u
n
t
d
u
r
in
g
th
e
p
r
o
ce
s
s
o
f
th
e
d
esig
n
o
f
th
e
PI
co
n
tr
o
ller
s
’
p
ar
am
eter
s
.
T
h
u
s
,
th
e
p
a
p
er
p
r
o
p
o
s
es
an
im
p
r
o
v
e
d
m
eth
o
d
f
o
r
t
h
e
d
esig
n
o
f
d
ec
e
n
tr
alis
ed
PI
co
n
tr
o
ller
s
th
at
ca
n
h
an
d
le
all
th
e
p
o
s
s
ib
le
er
r
o
r
s
,
s
et
-
p
o
in
t
tr
ac
k
in
g
,
a
n
d
d
is
tu
r
b
an
ce
r
ejec
tio
n
b
y
th
e
in
tr
o
d
u
ctio
n
o
f
a
n
ad
d
itio
n
al
s
tep
o
f
d
ec
o
u
p
lin
g
th
e
m
o
d
el
o
f
th
e
p
r
o
ce
s
s
in
to
in
d
ep
en
d
en
t
s
u
b
-
m
o
d
els
b
e
f
o
r
e
th
e
s
tep
o
f
th
e
d
esig
n
o
f
th
e
co
n
tr
o
ller
p
ar
a
m
eter
s
.
T
h
e
in
f
lu
en
ce
o
f
th
e
in
ter
co
n
n
ec
tio
n
s
is
in
co
r
p
o
r
ated
in
to
th
e
s
u
b
-
m
o
d
els.
I
n
th
is
way
,
th
e
d
esig
n
o
f
th
e
co
n
tr
o
ller
p
a
r
am
eter
s
is
b
ased
also
o
n
th
e
v
al
u
es
o
f
th
e
in
ter
co
n
n
ec
tio
n
s
.
T
h
is
p
ap
e
r
s
tar
ts
with
th
e
p
r
o
ce
s
s
m
o
d
elin
g
(
s
ec
tio
n
2
.
1
)
a
n
d
th
e
d
ec
o
u
p
lin
g
o
f
t
h
e
co
lu
m
n
f
lo
tatio
n
p
r
o
ce
s
s
(
s
ec
tio
n
2
.
2
)
.
Sectio
n
2
.
3
p
r
esen
ts
th
e
d
esig
n
o
f
f
u
lly
d
ec
en
t
r
alis
ed
PI
co
n
tr
o
ller
s
f
o
r
ea
ch
ap
p
ar
en
t
lo
o
p
o
f
th
e
d
ec
o
u
p
l
ed
s
y
s
tem
u
s
in
g
th
e
Po
le
Placem
en
t
tech
n
iq
u
e.
Simu
latio
n
r
esu
lts
an
d
th
eir
an
aly
s
is
ar
e
s
h
o
wn
in
s
ec
tio
n
3
.
Sectio
n
4
p
r
esen
ts
th
e
co
n
cl
u
s
io
n
o
f
th
e
p
ap
e
r
.
2.
F
L
O
T
A
T
I
O
N
P
RO
C
E
SS
M
O
DE
L
L
I
NG
AN
D
DE
C
E
N
T
RALI
SE
D
CO
NT
RO
L
L
E
R
S DES
I
G
N
T
h
e
s
tan
d
ar
d
f
lo
tatio
n
co
l
u
m
n
d
esig
n
is
m
ad
e
u
p
o
f
two
p
r
in
cip
al
zo
n
es:
th
e
co
llectio
n
zo
n
e
an
d
th
e
clea
n
in
g
zo
n
e
as
s
h
o
wn
in
Fig
u
r
e
1
,
[
1
0
]
,
[
1
2
]
.
Fig
u
r
e
1
i
s
an
illu
s
tr
atio
n
o
f
th
e
f
lo
tatio
n
co
lu
m
n
p
r
o
ce
s
s
,
with
th
e
f
o
cu
s
o
n
th
e
two
z
o
n
es
(
co
llectio
n
an
d
clea
n
in
g
)
.
T
h
e
p
r
o
ce
s
s
v
ar
iab
les
ar
e:
U
w
is
a
p
n
eu
m
atic
v
alv
e
u
s
ed
to
co
n
tr
o
l
th
e
a
m
o
u
n
t
o
f
th
e
wash
wate
r
f
lo
wr
ate
Q
w
m
ea
s
u
r
ed
u
s
in
g
an
elec
tr
o
m
ag
n
etic
f
lo
w
m
eter
;
U
g
is
a
p
n
e
u
m
atic
v
al
v
e
u
s
ed
to
co
n
tr
o
l
th
e
am
o
u
n
t
o
f
air
f
lo
w
r
ate
Q
g
m
ea
s
u
r
ed
b
y
a
m
ass
f
lo
w
m
eter
;
U
T
is
a
v
ar
iab
le
s
p
ee
d
p
er
is
taltic
p
u
m
p
u
s
ed
to
c
o
n
tr
o
l t
h
e
n
o
n
-
f
lo
at
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f
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ac
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Fo
r
co
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tr
o
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d
esig
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m
o
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o
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n
p
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s
s
o
p
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p
r
esen
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d
b
y
(
1
)
.
T
h
is
is
a
m
ath
em
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m
o
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el
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f
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c
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lu
m
n
f
lo
tatio
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p
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s
as
d
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b
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[
1
0
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.
=
g
W
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z
Q
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*
22
21
12
11
(
1
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2.
2.
F
l
o
t
a
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s
s
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ed
co
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t
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po
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t
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iqu
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Po
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Placem
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tech
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d
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th
e
s
-
p
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[
2
8
]
.
On
ce
th
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clo
s
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lo
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tem
tr
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th
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d
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m
in
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d
[
2
8
]
.
T
h
is
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an
g
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en
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r
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t
r
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g
a
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s
[
2
5
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,
[
2
8
]
,
[
2
9
]
.
T
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[
2
3
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2.
2
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.
P
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o
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.
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(
1
9
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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3
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(
2
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I
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2
0
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ased
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o
f
th
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n
tr
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ller
a
r
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lcu
lated
as g
iv
en
in
(
3
4
)
:
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I
n
t J E
lec
&
C
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m
p
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N:
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