I
nd
o
ne
s
ia
n J
o
urna
l o
f
E
lect
rica
l En
g
ineering
a
nd
Co
m
pu
t
er
Science
Vo
l.
24
,
No
.
1
,
Octo
b
er
20
21
,
p
p
.
10
8
~
1
1
5
I
SS
N:
2
5
0
2
-
4
7
5
2
,
DOI
: 1
0
.
1
1
5
9
1
/ijeecs.v
2
4
.i
1
.
pp
10
8
-
1
1
5
108
J
o
ur
na
l ho
m
ep
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g
e
:
h
ttp
:
//ij
ee
cs.ia
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m
Active
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ntrol in
huma
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fuzzy lo
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H
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De
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Co
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rsiti
Tek
n
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M
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sia
(UTM
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Jo
h
o
r
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M
a
lay
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Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
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y:
R
ec
eiv
ed
Ap
r
24
,
2
0
2
1
R
ev
is
ed
Au
g
23
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2
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Acc
ep
ted
Au
g
26
,
2
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1
Trem
o
r
is
th
e
v
ib
ra
ti
o
n
i
n
sin
u
so
i
d
a
l
o
rien
tati
o
n
t
h
a
t
is
e
x
p
e
rien
c
e
d
re
g
u
larl
y
b
y
a
p
e
rso
n
with
P
a
rk
i
n
so
n
’s
d
ise
a
se
(P
D),
wh
ich
d
ist
u
rb
s
t
h
e
ir
d
a
il
y
a
c
ti
v
it
ies
.
On
e
so
lu
ti
o
n
th
a
t
m
a
y
b
e
u
se
d
to
c
o
u
n
ter
th
is
trem
o
r
e
ffe
c
t
is
b
y
d
e
v
e
lo
p
in
g
a
n
a
c
ti
v
e
trem
o
r
c
o
n
tr
o
l
s
y
ste
m
in
Lab
VIEW
f
o
r
l
in
e
a
r
v
o
ice
c
o
il
a
c
tu
a
to
r
(LVCA),
wh
e
re
th
e
sy
ste
m
u
se
s
p
ro
p
o
rti
o
n
a
l
(P
)
c
o
n
t
ro
ll
e
r
a
n
d
v
a
rio
u
s
t
y
p
e
s
o
f
f
u
z
z
y
lo
g
ic
c
o
n
tr
o
ll
e
r
(F
LC)
a
s
a
h
y
b
r
id
c
o
n
tro
l
ler
to
re
d
u
c
e
trem
o
r
v
ib
ra
ti
o
n
.
F
r
o
m
th
is
re
se
a
rc
h
,
it
c
a
n
b
e
c
o
n
c
lu
d
e
d
t
h
a
t
th
e
b
e
st
c
o
n
tro
ll
e
r
fo
r
trem
o
r
re
d
u
c
ti
o
n
i
s
th
e
P
+
F
LC
1
st
se
t
o
f
r
u
les
,
c
o
m
p
a
re
d
to
P
+
F
LC
2
nd
se
t
o
f
ru
les
,
a
n
d
P
c
o
n
tro
ll
e
r
o
n
l
y
,
with
t
h
e
h
ig
h
e
st
p
e
rc
e
n
tag
e
o
f
8
8
.
3
9
%
o
f
trem
o
r
re
d
u
c
ti
o
n
with
th
e
a
c
tu
a
l
trem
o
r
v
ib
ra
ti
o
n
o
f
P
D
p
a
ti
e
n
ts as
th
e
re
fe
re
n
c
e
re
su
lt
.
Th
e
P
+
F
LC
2
nd
se
t
o
f
ru
les
h
a
s
th
e
h
ig
h
e
st
p
e
rc
e
n
tag
e
o
f
trem
o
r
re
d
u
c
ti
o
n
wit
h
a
v
a
lu
e
o
f
8
6
.
8
1
%
,
w
h
e
re
a
s
P
c
o
n
tr
o
ll
e
r
o
n
ly
h
a
s
th
e
h
ig
h
e
st
trem
o
r
re
d
u
c
ti
o
n
p
e
rc
e
n
t
a
g
e
o
f
6
7
.
1
0
%
.
T
h
is
p
e
rc
e
n
tag
e
o
f
trem
o
r
re
d
u
c
ti
o
n
is
b
a
se
d
o
n
th
e
p
o
we
r
sp
e
c
tral
d
e
n
si
ty
(
P
S
D)
v
a
lu
e
s,
i
n
wh
ic
h
it
re
p
re
se
n
ts
th
e
in
ten
sity
o
f
th
e
trem
o
r
v
ib
ra
ti
o
n
.
T
h
is
e
x
p
e
rime
n
tal
stu
d
y
c
a
n
b
e
u
se
d
a
s
a
n
in
it
ial
ste
p
f
o
r
re
se
a
rc
h
e
rs
a
n
d
e
n
g
in
e
e
rs
to
d
e
sig
n
a
n
d
d
e
v
e
lo
p
a
n
a
n
ti
-
trem
o
r
d
e
v
ice
i
n
th
e
f
u
t
u
r
e
.
K
ey
w
o
r
d
s
:
Activ
e
tr
em
o
r
co
n
tr
o
l
E
x
p
er
im
en
tal
s
tu
d
y
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
Par
k
in
s
o
n
’
s
d
is
ea
s
e
tr
em
o
r
T
r
em
o
r
test
r
ig
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Aziz
an
As’a
r
r
y
Dep
ar
tm
en
t o
f
Me
ch
an
ical
an
d
Ma
n
u
f
ac
t
u
r
in
g
E
n
g
in
ee
r
in
g
Facu
lty
o
f
E
n
g
in
ee
r
in
g
,
Un
iv
e
r
s
iti Pu
tr
a
Ma
lay
s
ia
(
UPM)
4
3
4
0
0
UPM
Ser
d
an
g
,
Selan
g
o
r
,
Ma
lay
s
ia
E
m
ail: z
izan
@
u
p
m
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
T
r
em
o
r
ca
n
b
e
d
ef
in
ed
as
an
o
s
cillato
r
y
m
o
v
em
en
t
th
at
o
cc
u
r
s
in
v
o
lu
n
tar
y
an
d
in
a
r
h
y
th
m
ical
m
an
n
er
o
n
o
n
e
o
r
m
o
r
e
b
o
d
y
p
ar
ts
at
a
ce
r
tain
f
r
e
q
u
en
c
y
an
d
am
p
litu
d
e
ch
a
r
ac
ter
is
tics
[
1
]
,
[
2
]
.
T
h
ese
ch
ar
ac
ter
is
tics
ca
n
p
r
o
v
id
e
s
ig
n
if
ican
t
in
f
o
r
m
atio
n
in
ter
m
s
o
f
cli
n
ical
asp
ec
t
f
o
r
tr
e
m
o
r
d
ia
g
n
o
s
is
an
d
m
o
n
ito
r
in
g
[
1
]
,
[
3
]
T
r
em
o
r
is
o
n
e
o
f
t
h
e
m
o
s
t
co
m
m
o
n
f
ea
tu
r
es
o
r
s
y
m
p
to
m
s
o
f
Par
k
in
s
o
n
’
s
d
is
ea
s
e
(
PD
)
.
Hen
ce
,
it
is
e
x
tr
em
ely
v
ital
t
o
s
tu
d
y
th
e
tr
em
o
r
am
p
litu
d
e
an
d
tr
em
o
r
f
r
eq
u
en
cy
o
f
p
atien
ts
with
PD
to
d
ev
elo
p
a
n
ew
m
eth
o
d
in
t
h
e
t
r
ea
tm
en
t o
f
tr
e
m
o
r
[
4
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
ctive
tr
emo
r
co
n
tr
o
l in
h
u
ma
n
-
like
h
a
n
d
tr
emo
r
u
s
in
g
fu
z
z
y
lo
g
ic
(
H.
Ja
m
a
lu
d
in
)
109
PD
is
a
d
is
ea
s
e
th
at
ca
n
b
e
cli
n
ically
d
escr
ib
ed
as
a
ce
n
tr
al
n
er
v
o
u
s
s
y
s
tem
d
is
o
r
d
er
with
ex
ten
s
iv
e
tr
em
o
r
s
y
m
p
to
m
s
(
p
ath
o
l
o
g
ic
al
an
d
p
h
y
s
io
lo
g
ical
tr
em
o
r
)
d
u
e
to
th
e
f
ailu
r
e
an
d
d
e
g
en
e
r
atio
n
o
f
th
e
b
asal
g
an
g
lia
[
5
]
,
[
6
]
.
T
h
is
s
tu
d
y
f
o
cu
s
es
o
n
th
e
tr
em
o
r
in
Par
k
in
s
o
n
’
s
.
Sp
ec
if
ically
,
Par
k
i
n
s
o
n
’
s
tr
em
o
r
is
a
tr
em
b
lin
g
m
o
v
em
en
t
th
at
o
cc
u
r
s
in
an
in
v
o
l
u
n
tar
y
m
a
n
n
er
at
a
f
r
eq
u
en
c
y
o
f
4
-
6
Hz,
h
a
v
in
g
a
h
ig
h
a
m
p
litu
d
e
at
r
est o
r
alo
n
g
an
in
ten
d
ed
m
o
v
em
en
t,
p
a
r
ticu
lar
ly
in
th
e
h
a
n
d
s
[
1
]
,
[
7
]
.
T
h
e
PD h
as sev
er
al
d
if
f
er
en
t tr
em
o
r
s
with
d
if
f
er
en
t
f
r
eq
u
e
n
cy
,
am
p
litu
d
e,
d
is
tr
ib
u
tio
n
,
co
n
s
tan
cy
,
th
e
co
n
tex
t
in
wh
ich
th
ey
o
c
cu
r
,
an
d
s
itu
atio
n
s
th
at
ar
e
p
r
o
v
o
ca
tiv
e
[
8
]
.
C
o
m
m
o
n
ly
,
r
esti
n
g
tr
em
o
r
is
th
e
s
y
m
p
to
m
o
f
PD.
Patien
ts
with
an
ea
r
ly
-
s
tag
e
PD
h
av
e
claim
ed
th
at
th
is
s
y
m
p
to
m
is
th
eir
s
ec
o
n
d
m
o
s
t
b
o
th
e
r
s
o
m
e
s
y
m
p
to
m
[
9
]
.
Ho
wev
e
r
,
m
an
y
PD
p
atien
ts
also
h
av
e
p
o
s
tu
r
al
tr
em
o
r
f
r
o
m
v
ar
io
u
s
o
r
ig
i
n
s
[
1
0
]
.
PD
p
atien
ts
u
s
u
ally
ex
p
er
ien
ce
tr
e
m
o
r
in
th
eir
lim
b
s
;
h
o
wev
er
,
it
wo
u
ld
s
o
m
etim
es
o
cc
u
r
in
th
e
lip
s
,
ch
i
n
as
wel
l
as
th
u
m
b
f
o
r
p
ill
-
r
o
lli
n
g
tr
e
m
o
r
[
1
1
]
.
So
m
e
PD
p
atien
ts
will
ex
p
er
ien
ce
tr
em
o
r
at
th
e
in
itial
s
tag
e
o
f
th
e
d
is
ea
s
e
an
d
o
b
s
er
v
ab
le
d
u
r
in
g
walk
in
g
o
r
i
n
a
s
itu
atio
n
wh
er
e
th
e
ar
m
s
ar
e
u
s
u
ally
f
u
lly
r
elax
ed
.
Ho
wev
er
,
s
o
m
e
PD
p
atien
ts
m
ay
en
co
u
n
ter
Par
k
in
s
o
n
’
s
tr
em
o
r
th
at
in
cr
ea
s
es g
r
ad
u
all
y
f
r
o
m
y
ea
r
to
y
ea
r
as th
e
d
is
ea
s
e
p
r
o
g
r
ess
es
[
1
2
]
,
[
1
3
]
.
T
h
er
ef
o
r
e,
it is
ess
en
tial
th
at
th
e
ef
f
ec
t
o
f
th
is
tr
em
o
r
is
r
ed
u
ce
d
,
as
it
ca
n
d
is
r
u
p
t
th
e
d
aily
ac
tiv
ities
o
f
P
D
p
atien
ts
an
d
m
ak
es
th
em
p
r
ef
er
s
tay
in
g
h
o
m
e
[
1
4
]
.
Sev
er
al
ef
f
o
r
ts
h
ad
b
ee
n
m
a
d
e
b
y
o
th
er
r
esear
c
h
er
s
to
war
d
s
tr
em
o
r
s
u
p
p
r
ess
io
n
.
Her
r
n
s
tad
t
an
d
Me
n
o
n
u
s
ed
p
r
o
p
o
r
tio
n
al
-
i
n
teg
r
al
-
d
er
i
v
ativ
e
(
PID
)
co
n
tr
o
ller
to
o
b
tain
9
9
.
8
%
tr
em
o
r
v
ib
r
atio
n
r
ed
u
ct
io
n
[
1
5
]
.
B
esid
es
th
at,
As’a
r
r
y
et
a
l
.
h
a
d
also
m
an
ag
ed
to
ac
h
iev
e
9
8
.
2
5
%
tr
em
o
r
v
ib
r
atio
n
r
ed
u
ctio
n
u
s
in
g
PI+
AFC
AI
L
[
1
6
]
.
Me
an
wh
ile,
Sto
n
e
et
al
.
a
n
d
L
av
u
an
d
Gu
p
ta
o
b
tain
ed
2
0
%
to
6
0
%
tr
em
o
r
s
u
p
p
r
ess
io
n
in
6
-
1
3
Hz
b
an
d
wid
th
an
d
8
3
.
4
%
tr
em
o
r
s
u
p
p
r
ess
io
n
r
esp
ec
tiv
ely
b
y
u
s
in
g
PID
[
1
7
]
,
[
1
8
]
.
L
astl
y
,
As’a
r
r
y
et
a
l
.
s
u
cc
ess
f
u
lly
ac
h
iev
ed
9
6
.
7
7
%
tr
em
o
r
v
ib
r
atio
n
r
e
d
u
ctio
n
u
s
in
g
P
I
D+
f
u
zz
y
l
o
g
ic
v
ia
s
im
u
latio
n
s
tu
d
y
[
1
9
]
.
T
h
is
s
tu
d
y
f
o
cu
s
es
o
n
d
ev
elo
p
in
g
a
co
n
tr
o
l
s
y
s
tem
th
at
co
u
ld
h
el
p
to
m
in
i
m
is
e
th
e
e
f
f
e
ct
o
f
th
e
Par
k
in
s
o
n
’
s
tr
em
o
r
.
T
h
e
lin
e
ar
v
o
ice
co
il
ac
tu
ato
r
(
L
VC
A)
will
also
b
e
u
s
ed
to
ac
c
o
m
m
o
d
ate
th
e
co
n
tr
o
l
s
y
s
tem
an
d
ac
t a
s
th
e
m
ain
ac
t
iv
e
elem
en
t to
d
am
p
en
th
e
t
r
e
m
o
r
v
ib
r
atio
n
,
th
u
s
r
ed
u
cin
g
th
e
tr
em
o
r
v
ib
r
atio
n
.
T
h
e
co
n
tr
o
l
s
y
s
tem
wo
u
ld
b
e
u
s
in
g
th
e
P
C
o
n
tr
o
ller
,
o
n
e
o
f
th
e
m
o
s
t
co
m
m
o
n
an
d
cla
s
s
ic
co
n
tr
o
ller
s
th
at
co
u
ld
h
elp
to
im
p
r
o
v
e
th
e
s
y
s
t
em
r
esp
o
n
s
e
a
n
d
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
(
FLC)
as
th
e
m
ai
n
co
n
tr
o
l
elem
en
ts
th
at
u
s
e
d
if
f
er
en
t
s
et
o
f
r
u
les
o
f
9
m
em
b
er
s
h
ip
f
u
n
cti
o
n
s
f
o
r
th
e
co
n
tr
o
l
s
y
s
tem
.
T
h
e
m
ain
r
ea
s
o
n
f
o
r
u
s
in
g
th
e
FLC
is
d
u
e
to
th
e
co
n
tr
o
ller
b
ein
g
r
elativ
ely
n
ew
in
tr
em
o
r
r
ed
u
ctio
n
ap
p
licatio
n
,
w
h
er
e
it
is
r
ec
o
g
n
is
ed
as
a
p
o
ten
tial
r
o
b
u
s
t
co
n
tr
o
ller
.
Hen
ce
,
th
e
FLC
h
ad
b
ee
n
im
p
le
m
en
ted
to
g
eth
er
with
th
e
P
co
n
tr
o
ller
to
p
r
o
v
id
e
a
h
y
b
r
id
c
o
n
tr
o
ller
f
o
r
t
r
em
o
r
s
u
p
p
r
ess
io
n
.
T
o
th
e
b
est o
f
au
th
o
r
k
n
o
wled
g
e,
th
e
r
e
is
n
o
s
tu
d
y
y
et
u
s
e
PID
+FL
C
with
d
if
f
er
en
t
s
et
o
f
r
u
les
o
f
9
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
ex
p
e
r
i
m
en
tal
ly
in
tr
em
o
r
r
ed
u
ctio
n
a
p
p
licatio
n
.
B
esid
es
th
at,
it
also
p
r
o
v
id
es
a
d
ec
en
t
p
er
f
o
r
m
an
ce
in
h
an
d
lin
g
in
ac
cu
r
ac
ies
an
d
u
n
ce
r
tain
ti
es,
s
u
ch
as
n
o
is
e,
v
ib
r
atio
n
,
a
n
d
o
th
er
ty
p
es o
f
s
y
s
tem
p
ar
am
eter
s
[
2
0
]
.
-
Han
d
tr
e
m
o
r
test
r
ig
T
h
e
h
a
n
d
tr
em
o
r
test
r
i
g
was
d
esig
n
ed
u
s
in
g
alu
m
i
n
iu
m
a
s
th
e
m
ain
m
ater
ial.
T
h
is
is
d
u
e
to
th
e
m
ater
ial’
s
ea
s
e
o
f
f
ab
r
icatio
n
,
h
ig
h
f
u
n
ctio
n
ality
,
an
d
lig
h
t
weig
h
t.
T
h
e
ac
tu
al
tr
em
o
r
d
at
a
was
in
jecte
d
in
to
th
e
s
h
ak
er
to
em
u
late
th
e
ar
ti
f
icial
h
an
d
b
ah
a
v
io
u
r
t
o
m
im
i
c
Par
k
in
s
o
n
’
s
tr
em
o
r
.
T
h
e
co
m
p
leted
tr
em
o
r
test
r
ig
is
s
h
o
wn
i
n
Fig
u
r
e
1
.
I
t
w
as
d
esig
n
ed
to
em
u
late
th
e
Pa
r
k
in
s
o
n
’
s
tr
em
o
r
o
n
two
-
ax
es,
wh
ich
wer
e
th
e
y
-
ax
is
an
d
z
-
a
x
is
.
B
o
th
ax
es
h
a
d
th
eir
o
wn
lin
ea
r
g
u
id
i
n
g
to
m
o
v
e
th
e
test
r
ig
in
b
o
th
h
o
r
izo
n
tal
(
y
-
ax
is
)
an
d
v
er
tical
(
z
-
ax
is
)
d
ir
ec
tio
n
s
.
T
h
e
test
r
ig
was
al
s
o
eq
u
ip
p
ed
w
ith
two
cu
s
to
m
s
p
r
in
g
s
o
n
th
e
z
-
ax
is
(
v
er
tical)
in
o
r
d
er
to
r
ep
licate
th
e
ex
ac
t
m
o
v
em
en
t
o
f
tr
em
o
r
b
eh
av
io
u
r
.
E
v
en
th
o
u
g
h
it
ca
n
b
e
o
p
er
at
ed
o
n
two
ax
es
(
y
-
ax
is
an
d
z
-
a
x
is
)
,
th
e
h
an
d
t
r
e
m
o
r
test
r
ig
was
o
p
er
ated
o
n
o
n
ly
a
s
in
g
le
ax
is
(
z
-
a
x
is
)
.
T
h
is
is
b
ec
au
s
e
th
e
s
ev
er
e
tr
em
o
r
v
ib
r
atio
n
h
a
d
b
ee
n
d
etec
ted
o
n
th
e
z
-
ax
is
b
ased
o
n
th
e
Par
k
in
s
o
n
’
s
tr
em
o
r
d
ata
co
llecte
d
p
r
ev
io
u
s
ly
[
1
9
]
.
T
h
e
h
an
d
m
o
d
el
test
r
ig
co
n
s
is
ts
o
f
s
h
ak
er
an
d
am
p
lifie
r
,
a
cc
eler
o
m
eter
,
L
VC
A
an
d
am
p
li
f
ier
,
an
d
th
e
n
atio
n
al
in
s
tr
u
m
en
t
d
ata
ac
q
u
is
itio
n
(
NI
DAQ)
d
e
v
ice.
T
h
e
s
h
ak
er
u
s
ed
i
n
th
is
e
x
p
er
im
en
t
was
th
e
elec
tr
o
d
y
n
am
ic
s
h
a
k
er
f
r
o
m
T
I
R
Av
ib
(
T
V
5
0
0
1
8
-
M
)
.
T
h
e
m
ain
f
u
n
ctio
n
o
f
th
is
s
h
ak
er
was
to
in
d
u
ce
v
ib
r
atio
n
at
th
e
test
r
ig
.
T
h
e
s
h
ak
er
ca
n
b
e
o
p
er
ated
at
a
f
r
eq
u
e
n
cy
r
an
g
e
o
f
2
Hz
to
2
0
k
Hz,
m
a
k
in
g
it
ex
tr
em
ely
s
u
itab
le
t
o
em
u
late
th
e
tr
em
o
r
v
ib
r
atio
n
b
ec
au
s
e
o
f
th
e
ac
tu
al
f
r
e
q
u
en
c
y
o
f
Par
k
i
n
s
o
n
’
s
tr
em
o
r
th
at
is
u
s
u
ally
at
a
lo
w
f
r
eq
u
en
cy
r
an
g
e
o
f
4
-
6
Hz
[
7
]
.
T
h
e
ac
c
eler
o
m
eter
u
s
ed
in
th
is
s
tu
d
y
was
th
e
DYT
R
AN
s
in
g
le
ax
is
ac
ce
ler
o
m
eter
with
a
s
en
s
itiv
ity
v
alu
e
o
f
9
9
.
4
6
m
V/g
.
T
h
e
L
VC
A
an
d
am
p
lifie
r
wer
e
also
u
s
ed
as
th
e
m
ain
ac
tiv
e
elem
en
ts
to
c
o
u
n
ter
th
e
tr
e
m
o
r
v
ib
r
atio
n
.
-
Desig
n
in
g
ac
tiv
e
co
n
tr
o
l sy
s
tem
u
s
in
g
L
ab
VI
E
W
T
h
e
d
esig
n
i
n
g
o
f
th
e
ac
ti
v
e
c
o
n
tr
o
l
s
y
s
tem
in
v
o
l
v
ed
th
e
c
o
n
tr
o
ller
s
,
th
e
L
VC
A,
th
e
d
is
tu
r
b
an
ce
,
t
h
e
test
r
ig
,
an
d
t
h
e
s
en
s
o
r
f
o
r
th
e
f
ee
d
b
ac
k
.
Fo
r
th
e
co
n
tr
o
ller
el
em
en
t,
two
ty
p
es o
f
co
n
tr
o
ller
s
wer
e
u
s
ed
,
wh
ich
wer
e
th
e
P
co
n
t
r
o
ller
an
d
FL
C
co
n
tr
o
ller
.
T
h
e
co
n
tr
o
ller
s
ar
e
th
e
m
o
s
t
f
u
n
d
a
m
en
tal
ele
m
en
t
in
th
e
co
n
tr
o
l
s
y
s
tem
,
as
th
ey
m
ak
e
u
p
m
o
s
t
o
f
th
e
b
lo
c
k
d
iag
r
a
m
to
en
a
b
le
it
to
wo
r
k
in
th
e
‘
o
n
lin
e’
m
o
d
e.
Oth
er
th
an
th
at
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
2
4
,
No
.
1
,
Octo
b
er
20
21
:
108
-
11
5
110
o
th
er
elem
en
ts
,
s
u
c
h
as
L
V
C
A,
d
is
tu
r
b
an
ce
o
r
tr
em
o
r
d
ata,
test
r
ig
,
an
d
s
en
s
o
r
(
ac
c
eler
o
m
eter
)
a
r
e
th
e
ad
d
itio
n
al
elem
en
ts
th
at
co
m
p
lete
th
e
co
n
tr
o
l sy
s
tem
.
Fig
u
r
e
1
.
Han
d
tr
em
o
r
test
r
ig
As
s
h
o
wn
in
Fig
u
r
e
2
,
th
e
c
o
n
tr
o
l
s
y
s
tem
wo
u
ld
s
tar
t
b
y
in
d
u
cin
g
th
e
tr
em
o
r
v
i
b
r
atio
n
u
s
in
g
t
h
e
s
h
ak
er
.
T
h
en
,
t
h
e
ac
ce
ler
o
m
et
er
wo
u
ld
p
ick
u
p
th
e
s
ig
n
al
a
n
d
tr
a
n
s
f
er
it
th
r
o
u
g
h
t
h
e
co
n
tr
o
ller
s
to
p
r
o
d
u
ce
a
n
ew
o
u
tp
u
t.
Nex
t,
th
e
o
u
tp
u
t
wo
u
ld
b
e
t
r
an
s
f
er
r
e
d
to
th
e
L
VC
A,
wh
ich
is
p
o
s
itio
n
ed
at
t
h
e
u
p
p
er
p
a
r
t
o
f
th
e
p
alm
.
Fin
ally
,
th
e
ac
ce
ler
o
m
eter
wo
u
ld
m
ea
s
u
r
e
a
n
d
r
ec
o
r
d
th
e
s
ig
n
al
i
n
to
th
e
L
a
b
VI
E
W
m
ea
s
u
r
em
en
t
(
L
VM
)
f
ile.
All
o
f
th
e
c
o
m
p
o
n
en
ts
in
th
e
co
n
tr
o
l
s
y
s
te
m
wer
e
p
r
o
d
u
ce
d
u
s
in
g
th
e
NI
L
ab
VI
E
W
2
0
1
6
s
o
f
twar
e.
Fig
u
r
e
2
.
Sch
em
atic
d
iag
r
am
o
f
co
m
p
lete
co
n
tr
o
l sy
s
tem
2.
DE
S
I
G
NING
CO
N
T
RO
L
L
E
R
2
.
1
.
P
co
ntr
o
ller
T
h
e
P
c
o
n
t
r
o
l
l
e
r
r
e
f
e
r
s
t
o
t
h
e
P
a
c
t
i
o
n
o
f
a
c
o
n
t
r
o
l
e
r
r
o
r
.
I
t
i
s
a
p
a
r
t
o
f
t
h
e
P
I
D
c
o
n
t
r
o
l
l
e
r
t
h
at
i
n
t
e
g
r
a
te
w
i
t
h
t
h
e
i
n
t
e
g
r
al
(
I
)
a
c
t
i
o
n
a
n
d
d
e
r
i
v
a
t
i
v
e
(
D
)
a
c
ti
o
n
.
I
n
t
h
i
s
r
es
e
a
r
c
h
,
t
h
e
I
a
n
d
D
a
c
t
i
o
n
s
w
e
r
e
e
x
c
l
u
d
e
d
b
e
c
a
u
s
e
b
o
t
h
a
c
t
i
o
n
s
c
o
u
l
d
c
a
u
s
e
t
h
e
c
u
r
r
e
n
t
c
o
n
t
r
o
l
s
y
s
t
e
m
t
o
a
m
p
l
i
f
y
t
h
e
m
e
as
u
r
e
m
e
n
t
,
m
a
k
i
n
g
t
h
e
c
o
n
t
r
o
l
s
y
s
t
e
m
u
n
a
b
l
e
t
o
r
u
n
p
r
o
p
e
r
l
y
,
t
h
u
s
p
r
o
d
u
c
i
n
g
n
o
s
i
g
n
i
f
i
c
a
n
t
r
es
u
lt
.
T
h
e
v
a
r
i
a
t
i
o
n
s
o
f
P
v
al
u
e
s
w
e
r
e
s
e
t
i
n
t
h
e
r
a
n
g
e
o
f
m
a
x
i
m
u
m
v
o
l
t
a
g
e
t
h
a
t
t
h
e
L
VC
A
c
a
n
e
x
p
e
r
ie
n
c
e
d
[
1
6
]
,
[
2
1
]
,
[
2
2
]
.
2
.
2
.
F
uzzy
lo
g
ic
c
o
ntr
o
ller
T
h
e
FLC
h
as
b
ee
n
id
en
tifie
d
as
an
in
tellig
en
t
co
n
tr
o
ller
th
at
is
ca
p
ab
le
o
f
p
r
o
d
u
cin
g
t
h
e
d
esire
d
r
esu
lts
.
I
n
o
th
er
wo
r
d
s
,
f
u
zz
y
lo
g
ic
is
a
p
o
p
u
lar
tech
n
iq
u
e
u
s
ed
f
o
r
its
f
ea
s
ib
ilit
y
,
r
o
b
u
s
tn
ess
,
an
d
ea
s
y
ad
ap
tatio
n
in
d
if
f
e
r
en
t
a
p
p
lic
atio
n
s
[
2
3
]
.
T
h
e
f
u
zz
y
lo
g
ic
tech
n
iq
u
e
is
m
ad
e
u
p
o
f
s
e
ts
o
f
f
u
zz
y
in
p
u
ts
,
o
u
tp
u
ts
,
an
d
in
f
er
e
n
ce
with
th
e
s
y
s
tem
m
o
d
el
r
ep
r
esen
ted
u
s
in
g
th
e
f
u
zz
y
r
u
les
[
2
4
]
,
[
2
5
]
.
I
n
th
is
s
tu
d
y
,
th
e
FLC
h
ad
o
n
e
in
p
u
t
a
n
d
o
n
e
o
u
tp
u
t
f
o
r
th
e
c
o
n
tr
o
l
s
y
s
tem
.
Sev
er
al
p
ar
am
e
ter
s
wer
e
co
n
s
id
er
ed
i
n
th
e
d
esig
n
in
g
o
f
th
e
FLC,
wh
ich
wer
e
th
e
in
p
u
t
v
ar
ia
b
le,
o
u
tp
u
t
v
ar
iab
le,
r
an
g
e
a
n
d
s
h
ap
e
o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
ctive
tr
emo
r
co
n
tr
o
l in
h
u
ma
n
-
like
h
a
n
d
tr
emo
r
u
s
in
g
fu
z
z
y
lo
g
ic
(
H.
Ja
m
a
lu
d
in
)
111
th
e
m
em
b
er
s
h
i
p
f
u
n
ctio
n
s
,
th
e
to
tal
n
u
m
b
er
o
f
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
,
d
ef
u
zz
if
icatio
n
m
et
h
o
d
,
a
n
d
o
n
e
o
f
th
e
m
o
s
t im
p
o
r
tan
t e
lem
e
n
ts
: th
e
r
u
le
o
f
th
e
FLC.
As
s
h
o
wn
in
Fig
u
r
e
3
,
o
n
e
in
p
u
t
in
th
e
FLC
was
th
e
tr
em
o
r
v
ib
r
ati
o
n
t
h
at
was
co
llected
u
s
in
g
th
e
ac
ce
ler
o
m
eter
.
T
h
e
r
e
wer
e
n
i
n
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
o
f
t
h
e
in
p
u
t
an
d
o
u
t
p
u
t
o
f
t
h
e
FLC,
wh
ich
wer
e
th
e
n
eg
ativ
e
b
ig
(
NB
)
,
n
e
g
ativ
e
m
ed
iu
m
(
NM
)
,
n
eg
ativ
e
s
m
al
l
(
NS)
,
n
eg
ativ
e
ex
tr
a
s
m
all
(
NE
S),
ze
r
o
,
p
o
s
itiv
e
ex
tr
a
s
m
all
(
PES
)
,
p
o
s
itiv
e
s
m
all
(
PS
)
,
p
o
s
itiv
e
m
ed
iu
m
(
PM)
,
an
d
p
o
s
itiv
e
b
ig
(
PB
)
.
T
h
e
r
ea
s
o
n
wh
y
9
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
in
s
tead
o
f
th
e
co
m
m
o
n
7
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
b
ein
g
u
s
ed
is
b
ec
au
s
e
th
is
s
tu
d
y
wan
ts
to
in
cr
ea
s
e
th
e
s
en
s
itiv
ity
o
f
th
e
co
n
tr
o
ller
[
1
9
]
.
(
a)
(
b
)
Fig
u
r
e
3
.
FLC
(
a)
1
s
t set o
f
r
u
l
es
an
d
(
b
)
2
n
d
s
et
o
f
r
u
les
o
f
i
n
p
u
t a
n
d
o
u
t
p
u
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
2
4
,
No
.
1
,
Octo
b
er
20
21
:
108
-
11
5
112
Fo
r
th
e
r
an
g
e
o
f
th
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
,
th
ey
h
a
d
b
ee
n
s
et
ac
co
r
d
in
g
to
t
h
e
in
p
u
t
r
an
g
e
th
at
was
en
ter
ed
th
r
o
u
g
h
th
e
FLC
af
ter
p
ass
in
g
th
r
o
u
g
h
th
e
P
co
n
tr
o
ller
.
I
n
th
is
s
tu
d
y
,
th
e
tr
ian
g
u
lar
s
h
ap
e
h
ad
b
ee
n
ch
o
s
en
d
u
e
to
th
e
s
h
ap
e
was
co
m
m
o
n
l
y
u
s
ed
b
y
o
th
e
r
r
ese
ar
ch
er
s
[
1
9
]
,
[
2
6
]
,
[
2
7
]
.
T
h
er
e
wer
e
two
s
ets
o
f
r
u
les
th
at
wer
e
im
p
lem
e
n
ted
t
o
test
th
e
s
en
s
itiv
ity
o
f
th
e
co
n
tr
o
ller
.
T
h
e
ter
m
u
s
ed
f
o
r
th
e
s
en
s
itiv
ity
test
o
f
FLC
is
th
e
‘
in
v
er
s
e
p
o
lar
ity
’
test
.
‘
I
n
v
er
s
e
p
o
lar
ity
’
m
ea
n
s
th
at
th
e
F
L
C
in
p
u
t
an
d
o
u
tp
u
t
p
r
ed
icted
v
alu
es
wo
u
ld
b
e
an
o
p
p
o
s
ite
o
f
an
o
th
er
.
Fo
r
in
s
tan
ce
,
f
o
r
th
e
1
st
s
et
o
f
r
u
les,
wh
en
a
v
al
u
e
o
f
p
o
s
itiv
e
v
o
ltag
e
is
en
ter
ed
as
th
e
FLC
in
p
u
t,
th
e
FLC
o
u
tp
u
t
wo
u
l
d
p
r
o
d
u
ce
a
n
eg
ativ
e
v
al
u
e
d
u
e
to
th
e
r
u
le
s
th
at
h
ad
b
ee
n
s
et
b
ef
o
r
e
h
an
d
.
Ho
wev
er
,
f
o
r
th
e
2
nd
s
et
o
f
r
u
les,
wh
en
a
v
al
u
e
o
f
p
o
s
itiv
e
v
o
ltag
e
is
en
ter
e
d
as
th
e
FLC
in
p
u
t,
th
e
FLC
o
u
tp
u
t
wo
u
ld
p
r
o
d
u
c
e
a
p
o
s
itiv
e
v
alu
e.
C
o
n
s
eq
u
en
tly
,
th
e
d
if
f
er
en
ce
b
etwe
en
th
e
two
s
ets
o
f
r
u
les
was o
b
s
er
v
ed
,
th
u
s
d
ev
elo
p
i
n
g
th
e
‘
in
v
e
r
s
e
p
o
lar
ity
’
te
r
m
f
o
r
th
e
s
en
s
itiv
ity
test
.
3.
RE
SU
L
T
S
A
ND
D
IS
CU
SS
I
O
N
T
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
s
y
s
tem
was
ap
p
lied
a
n
d
test
ed
in
an
ex
p
er
im
en
tal
e
n
v
ir
o
n
m
en
t.
Fo
r
th
is
r
ea
l
-
tim
e
s
tu
d
y
,
th
e
co
n
tr
o
ller
s
th
at
wer
e
u
s
ed
wer
e
th
e
P
c
o
n
tr
o
l
an
d
t
h
e
co
m
b
in
ati
o
n
o
f
P
co
n
tr
o
l
an
d
FLC
(
P+FLC).
T
h
e
p
er
f
o
r
m
an
ce
s
o
f
th
e
co
n
tr
o
ller
s
wer
e
in
v
es
tig
ated
in
ter
m
s
o
f
th
e
p
er
ce
n
tag
e
r
ed
u
ctio
n
in
tr
em
o
r
v
ib
r
atio
n
.
Fo
r
s
en
s
ib
l
e
co
m
p
a
r
is
o
n
a
n
d
an
aly
s
is
o
f
tr
em
o
r
r
ed
u
ctio
n
,
t
h
e
R
M
S
v
alu
e
o
f
tr
em
o
r
ac
ce
ler
atio
n
an
d
p
o
wer
s
p
ec
t
r
al
d
en
s
ity
(
PS
D)
g
r
ap
h
wer
e
u
s
ed
u
s
in
g
th
e
m
-
f
ile
MA
T
L
AB
R
2
0
1
7
a.
T
h
e
ex
p
er
im
e
n
t
u
s
ed
5
1
2
Hz
as
th
e
r
ate
f
o
r
1
s
ec
o
n
d
o
f
s
am
p
le
s
ize
d
ata
f
o
r
th
e
co
n
tr
o
l
s
y
s
tem
an
d
m
ea
s
u
r
em
en
t
r
esu
lts
in
ter
m
s
o
f
th
e
ac
ce
le
r
atio
n
.
T
h
er
e
wer
e
th
r
ee
d
if
f
er
en
t
v
alu
es
th
at
wer
e
u
s
ed
f
o
r
th
e
P
co
n
tr
o
ller
,
wh
ich
ac
ted
as
th
e
am
p
lific
atio
n
v
alu
es
with
r
ef
er
en
ce
to
t
h
e
ac
ce
ler
atio
n
b
eh
av
i
o
u
r
.
Val
u
es
o
f
0
.
5
,
1
.
5
,
an
d
2
.
5
wer
e
s
et
f
o
r
th
e
P
co
n
tr
o
l
ler
b
ased
o
n
th
e
h
eu
r
is
tic
m
eth
o
d
d
u
e
to
t
h
e
L
VC
A
lim
ita
tio
n
to
av
o
id
f
r
o
m
o
v
er
v
o
ltag
e
th
at
ca
n
d
am
a
g
e
t
h
e
ac
tu
ato
r
.
Ho
we
v
er
,
f
o
r
p
ea
k
-
to
-
p
ea
k
R
MS
v
alu
es
o
f
tr
em
o
r
ac
ce
ler
atio
n
,
t
h
e
d
ata
wer
e
an
aly
s
e
f
r
o
m
1
8
-
1
9
s
ec
o
n
d
s
in
tim
e
d
o
m
ain
as sh
o
wn
in
Fig
u
r
es 4
-
6.
(
a)
(
b
)
Fig
u
r
e
4
.
E
f
f
ec
t o
f
co
n
tr
o
ller
g
ain
P (
0
.
5
)
o
n
ac
ce
ler
atio
n
an
d
p
o
wer
r
esp
o
n
s
e
:
(
a)
tim
e
d
o
m
ain
an
d
(
b
)
f
r
e
q
u
en
cy
d
o
m
ain
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
ctive
tr
emo
r
co
n
tr
o
l in
h
u
ma
n
-
like
h
a
n
d
tr
emo
r
u
s
in
g
fu
z
z
y
lo
g
ic
(
H.
Ja
m
a
lu
d
in
)
113
B
ased
o
n
Fig
u
r
e
4
(
a)
,
th
e
r
es
u
lts
o
b
s
er
v
ed
th
at
th
e
ac
tu
al
tr
em
o
r
ac
ce
ler
atio
n
o
f
PD
p
atien
ts
was
r
ed
u
ce
d
wh
en
P
co
n
tr
o
ller
,
P+FLC
1
st
s
et
o
f
r
u
les,
an
d
P+FLC
2
nd
s
et
o
f
r
u
les
wer
e
u
s
ed
at
a
co
n
tr
o
ller
v
alu
e
o
f
0
.
5
.
T
h
e
r
e
was
a
n
o
th
er
d
ata
th
at
c
o
u
ld
b
e
ex
tr
ac
ted
f
r
o
m
Fig
u
r
e
4
(
b
)
,
wh
ich
was
th
e
in
t
en
s
ity
o
f
th
e
tr
em
o
r
v
ib
r
atio
n
b
ased
o
n
th
e
m
a
x
im
u
m
am
p
litu
d
e
v
alu
e
o
f
ea
c
h
tr
em
o
r
f
r
eq
u
en
cy
.
T
h
e
m
ax
im
u
m
am
p
litu
d
e
o
f
th
e
ac
tu
al
tr
em
o
r
ac
ce
ler
atio
n
f
r
e
q
u
en
cy
was
2
9
8
.
4
(
m
/s
2
)
2
/Hz.
Ho
wev
er
,
wh
en
P
co
n
tr
o
ller
was
u
s
ed
,
th
e
v
alu
e
o
f
th
e
m
ax
im
u
m
am
p
litu
d
e
wa
s
r
ed
u
ce
d
to
1
3
0
.
8
(
m
/s
2
)
2
/Hz.
Hen
ce
,
it sh
o
wed
th
er
e
was 5
6
.
1
7
% r
ed
u
ctio
n
in
tr
em
o
r
v
ib
r
atio
n
.
W
h
en
P+FLC
2
nd
s
et
o
f
r
u
les
an
d
P+F
L
C
1
st
s
et
o
f
r
u
les
wer
e
u
tili
s
ed
,
th
e
m
ax
im
u
m
am
p
litu
d
e
was
at
1
0
1
.
3
(
m
/s
2
)
2
/Hz
an
d
9
3
.
2
8
(
m
/s
2
)
2
/Hz,
r
e
s
p
ec
tiv
ely
.
T
h
u
s
,
it
s
h
o
wed
6
6
.
0
5
%
r
ed
u
ctio
n
o
f
tr
em
o
r
v
i
b
r
atio
n
f
o
r
P+FLC 2
nd
s
et
o
f
r
u
les an
d
6
8
.
7
4
% f
o
r
P+FLC 1
st
s
et
o
f
r
u
les.
Acc
o
r
d
in
g
to
Fig
u
r
e
5
(
a)
,
t
h
e
ac
tu
al
tr
em
o
r
v
i
b
r
atio
n
was
o
b
s
er
v
e
d
to
h
av
e
r
ed
u
ce
d
w
h
en
th
e
P
co
n
tr
o
ller
,
th
e
P+FLC
1
st
s
et
o
f
r
u
les,
an
d
th
e
P+FLC
2
nd
s
et
o
f
r
u
les
wer
e
u
s
ed
at
a
co
n
tr
o
l
ler
v
alu
e
o
f
1
.
5
.
On
th
e
o
th
e
r
h
a
n
d
,
f
o
r
in
ten
s
ity
o
f
th
e
tr
em
o
r
v
ib
r
atio
n
b
a
s
ed
o
n
Fig
u
r
e
5
(
b
)
,
t
h
e
u
s
e
o
f
P
co
n
tr
o
ller
h
ad
m
an
ag
ed
t
o
r
e
d
u
ce
th
e
v
alu
e
o
f
th
e
m
ax
im
u
m
am
p
litu
d
e
to
1
1
2
.
9
(
m
/s
2
)
2
/Hz
o
r
alt
er
n
ately
,
a
6
2
.
1
6
%
r
ed
u
ctio
n
in
tr
em
o
r
v
ib
r
atio
n
.
T
h
e
ap
p
licatio
n
o
f
P+FLC
2
nd
s
et
o
f
r
u
les
an
d
th
e
P+F
L
C
1
st
s
et
o
f
r
u
les
p
r
o
v
id
e
d
a
m
a
x
im
u
m
a
m
p
litu
d
e
at
5
8
.
0
(
m
/s
2
)
2
/Hz
an
d
5
7
.
4
(
m
/s
2
)
2
/Hz,
r
esp
ec
tiv
ely
.
C
o
n
clu
s
iv
ely
,
th
e
r
ea
d
in
g
was
r
ec
o
r
d
e
d
at
8
0
.
5
6
%
r
ed
u
ctio
n
o
f
tr
e
m
o
r
v
ib
r
ati
o
n
f
o
r
th
e
P+FLC
2
nd
s
et
o
f
r
u
les
an
d
8
0
.
7
6
%
f
o
r
th
e
P+FLC 1
st
s
et
o
f
r
u
les.
(
a)
(
b
)
Fig
u
r
e
5
.
E
f
f
ec
t o
f
co
n
tr
o
ller
g
ain
P (
1
.
5
)
o
n
ac
ce
ler
atio
n
an
d
p
o
wer
r
esp
o
n
s
e
:
(
a)
tim
e
d
o
m
ain
an
d
(
b
)
f
r
e
q
u
en
cy
d
o
m
ain
Fro
m
Fig
u
r
e
6
(
a)
,
b
y
u
s
in
g
th
e
P
co
n
tr
o
ller
,
th
e
P+FLC
1
st
s
et
o
f
r
u
les
an
d
th
e
P+
FLC
2
nd
s
et
o
f
r
u
les
at
th
e
co
n
tr
o
ller
v
alu
e
o
f
2
.
5
,
th
e
ac
tu
al
tr
e
m
o
r
v
ib
r
atio
n
o
f
PD
p
atien
ts
ca
n
als
o
b
e
s
ee
n
to
h
av
e
r
ed
u
ce
d
.
I
n
ter
m
s
o
f
th
e
i
n
ten
s
ity
o
f
th
e
tr
em
o
r
v
i
b
r
atio
n
b
ased
o
n
Fig
u
r
e
6
(
b
)
wh
en
u
s
in
g
th
e
P
co
n
tr
o
ller
,
th
e
v
alu
e
o
f
th
e
m
ax
im
u
m
am
p
litu
d
e
m
an
ag
e
d
to
b
e
r
ed
u
ce
d
to
9
8
.
1
7
(
m
/s
2
)
2
/Hz.
I
n
o
th
er
wo
r
d
s
,
6
7
.
1
0
%
r
ed
u
ctio
n
in
tr
em
o
r
v
ib
r
atio
n
was
r
ec
o
r
d
ed
.
W
h
en
u
s
in
g
th
e
P+FLC
2
nd
s
et
o
f
r
u
les
an
d
P+FLC
1
st
s
et
o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
2
4
,
No
.
1
,
Octo
b
er
20
21
:
108
-
11
5
114
r
u
les,
th
e
m
a
x
im
u
m
a
m
p
litu
d
e
was
at
3
9
.
3
7
(
m
/s
2
)
2
/Hz
a
n
d
3
4
.
6
5
(
m
/s
2
)
2
/Hz,
r
esp
ec
tiv
ely
.
C
o
n
s
eq
u
en
tly
,
a
r
ea
d
in
g
o
f
8
6
.
8
1
%
r
ed
u
ctio
n
o
f
tr
em
o
r
v
ib
r
atio
n
f
o
r
th
e
P+F
L
C
2
nd
s
et
o
f
r
u
les
an
d
8
8
.
3
9
%
f
o
r
th
e
P+FLC
1
st
s
et
o
f
r
u
les.
T
h
e
tr
em
o
r
v
ib
r
atio
n
was
b
est
r
ed
u
ce
d
b
y
u
s
in
g
th
e
P+FLC
1
st
s
et
o
f
r
u
les,
f
o
llo
wed
b
y
t
h
e
P+FLC
2
nd
s
et
o
f
r
u
les,
an
d
last
ly
,
b
y
t
h
e
P
co
n
tr
o
ller
o
n
ly
.
E
ac
h
ty
p
e
o
f
co
n
tr
o
ller
s
h
o
wed
a
n
o
p
ti
m
al
p
er
f
o
r
m
an
ce
in
tr
em
o
r
r
ed
u
ctio
n
f
o
r
co
n
tr
o
lle
r
s
th
at
im
p
lem
en
ted
a
v
alu
e
o
f
2
.
5
f
o
r
th
e
P
co
n
tr
o
ller
.
Ho
wev
er
,
th
e
o
p
tim
u
m
co
n
tr
o
ller
th
at
p
r
o
d
u
ce
d
th
e
m
o
s
t
tr
em
o
r
r
e
d
u
ctio
n
was
th
e
P+FLC
1
st
s
et
o
f
r
u
les
wh
en
u
s
ed
at
a
v
alu
e
o
f
P
co
n
tr
o
ller
o
f
2
.
5
.
T
h
e
c
o
n
tr
o
ller
h
ad
a
p
er
ce
n
tag
e
o
f
8
8
.
3
9
%
o
f
tr
em
o
r
r
e
d
u
ctio
n
in
th
e
ac
tu
al
t
r
em
o
r
v
ib
r
atio
n
o
f
PD
p
atien
t
as
th
e
r
ef
er
en
ce
r
esu
lt.
T
h
is
p
er
ce
n
tag
e
o
f
tr
em
o
r
r
ed
u
ctio
n
was
b
ased
o
n
th
e
PS
D
v
alu
es,
wh
ich
r
e
p
r
esen
ted
th
e
in
ten
s
ity
o
f
th
e
tr
em
o
r
v
ib
r
atio
n
.
(
a)
(
b
)
Fig
u
r
e
6
.
E
f
f
ec
t o
f
co
n
tr
o
ller
g
ain
P (
2
.
5
)
o
n
ac
ce
ler
atio
n
an
d
p
o
wer
r
esp
o
n
s
e
:
(
a)
tim
e
d
o
m
ain
an
d
(
b
)
f
r
e
q
u
en
cy
d
o
m
ain
4.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
ai
m
s
to
i
n
v
esti
g
ate
th
e
ca
p
ab
ilit
ies
o
f
u
s
in
g
P
co
n
tr
o
ller
a
n
d
FLC
in
r
e
d
u
cin
g
t
h
e
h
u
m
a
n
h
an
d
t
r
em
o
r
v
ib
r
atio
n
.
B
ased
o
n
th
e
f
i
n
d
in
g
s
,
th
e
c
o
m
b
in
a
tio
n
o
f
th
e
P
c
o
n
tr
o
ller
an
d
t
h
e
FLC
as
a
h
y
b
r
id
co
n
tr
o
ller
ab
le
to
r
ed
u
ce
t
h
e
t
r
em
o
r
v
i
b
r
atio
n
s
u
c
ce
s
s
f
u
lly
with
a
p
er
ce
n
tag
e
u
p
to
8
8
.
3
9
%
an
d
s
h
o
win
g
an
ex
ce
llen
t p
er
f
o
r
m
an
ce
in
s
u
p
p
r
ess
in
g
th
e
tr
em
o
r
v
ib
r
atio
n
o
f
PD p
atien
ts
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
is
wo
r
k
is
f
u
n
d
ed
b
y
Un
i
v
er
s
ity
Pu
tr
a
Ma
la
y
s
ia
th
r
o
u
g
h
Pu
tr
a
Gr
an
t
(
GP
-
I
PS
/2
0
1
7
/9
5
4
0
6
0
0
)
.
Gr
atitu
d
e
also
to
th
e
Min
is
tr
y
o
f
Hig
h
er
E
d
u
ca
tio
n
,
Ma
lay
s
ia
f
o
r
th
e
co
n
tin
u
o
u
s
s
u
p
p
o
r
t
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
ctive
tr
emo
r
co
n
tr
o
l in
h
u
ma
n
-
like
h
a
n
d
tr
emo
r
u
s
in
g
fu
z
z
y
lo
g
ic
(
H.
Ja
m
a
lu
d
in
)
115
RE
F
E
R
E
NC
E
S
[1
]
G
.
De
u
sc
h
l,
P
.
Ba
in
,
a
n
d
M
.
Bri
n
,
“
Co
n
se
n
su
s
S
tate
m
e
n
t
o
f
t
h
e
M
o
v
e
m
e
n
t
Diso
rd
e
r
S
o
c
iet
y
o
n
Trem
o
r,
”
M
o
v
.
Diso
rd
.
,
v
o
l.
1
3
,
n
o
.
S
3
,
p
p
.
2
-
2
3
,
1
9
9
8
,
d
o
i:
1
0
.
1
0
0
2
/md
s.8
7
0
1
3
1
3
0
3
.
[2
]
D.
E.
Va
il
lan
c
o
u
rt
a
n
d
K.
M
.
Ne
we
ll
,
“
Th
e
d
y
n
a
m
ics
o
f
re
stin
g
a
n
d
p
o
st
u
ra
l
trem
o
r
i
n
P
a
rk
in
so
n
’s
d
ise
a
se
,
”
Cli
n
.
Ne
u
ro
p
h
y
si
o
l.
,
v
o
l.
1
1
1
,
n
o
.
1
1
,
p
p
.
2
0
4
6
-
2
0
5
6
,
2
0
0
0
,
d
o
i:
1
0
.
1
0
1
6
/s1
3
8
8
-
2
4
5
7
(0
0
)
0
0
4
6
7
-
3
.
[3
]
J.
De
u
sc
h
l,
G
ü
n
th
e
r
&
Kra
c
k
,
P
&
Lau
k
,
M
&
T
imm
e
r,
“
Cli
n
ica
l
Ne
u
r
o
p
h
y
si
o
lo
g
y
o
f
T
r
e
m
o
r,
”
J
.
Cli
n
.
Ne
u
ro
p
h
y
si
o
l.
,
v
o
l.
1
3
,
p
p
.
1
1
0
-
12
1
,
1
9
9
6
,
d
o
i:
1
0
.
1
0
9
7
/0
0
0
0
4
6
9
1
-
1
9
9
6
0
3
0
0
0
-
0
0
0
0
2
.
[4
]
H.
J.
Lee
e
t
a
l
.
,
“
Trem
o
r
fre
q
u
e
n
c
y
c
h
a
ra
c
teristics
in
P
a
rk
i
n
so
n
’s
d
ise
a
se
u
n
d
e
r
re
stin
g
-
sta
te
a
n
d
stre
ss
-
sta
te
c
o
n
d
i
ti
o
n
s,”
J
.
Ne
u
ro
l.
S
c
i.
,
v
o
l
.
3
6
2
,
p
p
.
2
7
2
-
2
7
7
,
2
0
1
6
,
d
o
i:
1
0
.
1
0
1
6
/j
.
jn
s.
2
0
1
6
.
0
1
.
0
5
8
.
[5
]
M
.
S
a
n
ti
l
lán
,
R.
He
rn
á
n
d
e
z
-
P
é
re
z
,
a
n
d
R.
De
lg
a
d
o
-
Lez
a
m
a
,
“
A
n
u
m
e
ric
stu
d
y
o
f
t
h
e
n
o
ise
-
in
d
u
c
e
d
trem
o
r
in
a
m
a
th
e
m
a
ti
c
a
l
m
o
d
e
l
o
f
th
e
str
e
tch
re
flex
,
”
J
.
T
h
e
o
r.
B
io
l.
,
v
o
l.
2
2
2
,
n
o
.
1
,
p
p
.
9
9
-
1
1
5
,
M
a
y
2
0
0
3
,
d
o
i
:
1
0
.
1
0
1
6
/s
0
0
2
2
-
5
1
9
3
(
0
3
)
0
0
0
1
6
-
x
.
[6
]
J.
H.
M
c
Au
ley
a
n
d
C.
D
.
M
a
rsd
e
n
,
“
P
h
y
sio
l
o
g
ica
l
a
n
d
p
a
t
h
o
l
o
g
i
c
a
l
trem
o
rs
a
n
d
rh
y
th
m
ic
c
e
n
tral
m
o
to
r
c
o
n
tr
o
l,
”
Bra
in
,
v
o
l.
1
2
3
,
n
o
.
8
,
p
p
.
1
5
4
5
-
1
5
6
7
,
Au
g
.
2
0
0
0
,
d
o
i:
1
0
.
1
0
9
3
/b
ra
i
n
/1
2
3
.
8
.
1
5
4
5
.
[7
]
A.
C.
G
u
y
to
n
a
n
d
J.
E
.
Ha
ll
,
"
Ef
fe
c
t
o
f
Estro
g
e
n
o
n
Bo
n
e
,
"
2
0
0
6
.
[8
]
R.
C.
He
lmic
h
,
M
.
Ha
ll
e
tt
,
G
.
De
u
sc
h
l,
I.
To
n
i,
a
n
d
B
.
R
.
Blo
e
m
,
“
Ce
re
b
ra
l
c
a
u
se
s
a
n
d
c
o
n
se
q
u
e
n
c
e
s
o
f
p
a
rk
in
s
o
n
ia
n
re
stin
g
trem
o
r:
a
t
a
le
o
f
two
c
ircu
it
s?
,
”
Br
a
in
,
v
o
l
.
1
3
5
,
n
o
.
P
t
1
1
,
p
p
.
3
2
0
6
-
2
6
,
No
v
.
2
0
1
2
,
d
o
i:
1
0
.
1
0
9
3
/
b
ra
in
/aw
s0
2
3
.
[9
]
M
.
P
o
li
ti
s,
K.
Wu
,
S
.
M
o
l
lo
y
,
P
.
G
.
B
a
in
,
K.
R.
Ch
a
u
d
h
u
ri,
a
n
d
P
.
P
icc
in
i,
“
P
a
rk
i
n
so
n
’s
d
ise
a
se
sy
m
p
to
m
s:
Th
e
p
a
ti
e
n
t’s
p
e
rs
p
e
c
ti
v
e
,
”
M
o
v
.
Diso
rd
.
,
v
o
l.
2
5
,
n
o
.
1
1
,
p
p
.
1
6
4
6
-
1
6
5
1
,
Au
g
.
2
0
1
0
,
d
o
i:
1
0
.
1
0
0
2
/md
s.2
3
1
3
5
.
[1
0
]
M
.
Ha
ll
e
tt
a
n
d
G
.
De
u
sc
h
l,
“
Are
we
m
a
k
in
g
p
r
o
g
re
ss
in
th
e
u
n
d
e
rs
tan
d
i
n
g
o
f
trem
o
r
in
P
a
rk
in
so
n
’s
d
ise
a
se
?
,
”
An
n
.
Ne
u
ro
l.
,
v
o
l.
6
8
,
n
o
.
6
,
p
p
.
7
8
0
-
1
,
De
c
.
2
0
1
0
,
d
o
i
:
1
0
.
1
0
0
2
/an
a
.
2
2
2
5
3
.
[1
1
]
M
.
B.
Ae
rts,
R
.
A.
J.
Esse
li
n
k
,
B
.
P
o
st
,
B.
P
.
C.
v
a
n
d
e
Warre
n
b
u
rg
,
a
n
d
B.
R.
Bl
o
e
m
,
“
Im
p
ro
v
in
g
th
e
d
iag
n
o
stic
a
c
c
u
ra
c
y
in
p
a
rk
i
n
so
n
ism
:
a
t
h
re
e
-
p
ro
n
g
e
d
a
p
p
r
o
a
c
h
,
”
Pr
a
c
t.
Ne
u
ro
l.
,
v
o
l.
1
2
,
n
o
.
2
,
p
p
.
7
7
-
8
7
,
Ap
r.
2
0
1
2
,
d
o
i:
1
0
.
1
1
3
6
/
p
ra
c
tn
e
u
r
o
l
-
2
0
1
1
-
0
0
0
1
3
2
.
[1
2
]
C.
G
.
G
o
e
tz
e
t
a
l.
,
“
M
o
v
e
m
e
n
t
Diso
rd
e
r
S
o
c
iety
Tas
k
F
o
rc
e
re
p
o
rt
o
n
th
e
Ho
e
h
n
a
n
d
Ya
h
r
sta
g
i
n
g
sc
a
le:
S
tatu
s
a
n
d
re
c
o
m
m
e
n
d
a
ti
o
n
s
T
h
e
M
o
v
e
m
e
n
t
Diso
rd
e
r
S
o
c
iety
Tas
k
F
o
rc
e
o
n
ra
ti
n
g
sc
a
les
fo
r
P
a
rk
i
n
so
n
’s
d
ise
a
se
,
”
M
o
v
.
Diso
rd
.
,
v
o
l.
1
9
,
n
o
.
9
,
p
p
.
1
0
2
0
-
1
0
2
8
,
S
e
p
.
2
0
0
4
,
d
o
i:
1
0
.
1
0
0
2
/m
d
s.2
0
2
1
3
.
[1
3
]
A.
J.
Hu
g
h
e
s,
S
.
E.
Da
n
iel,
S
.
B
lan
k
so
n
,
a
n
d
A.
J.
Lee
s,
“
A
c
li
n
i
c
o
p
a
th
o
lo
g
ic
st
u
d
y
o
f
1
0
0
c
a
se
s
o
f
P
a
rk
in
s
o
n
’s
d
ise
a
se
,
”
Arc
h
.
Ne
u
ro
l.
,
v
o
l.
5
0
,
n
o
.
2
,
p
p
.
1
4
0
-
8
,
F
e
b
.
1
9
9
3
,
d
o
i:
1
0
.
1
0
0
1
/arc
h
n
e
u
r.
1
9
9
3
.
0
0
5
4
0
0
2
0
0
1
8
0
1
1
.
[1
4
]
Z.
S
z
a
b
o
,
B.
S
to
r
k
o
v
a
,
J.
Ho
z
m
a
n
,
a
n
d
V.
Zan
c
h
i,
“
O
b
jec
ti
v
e
a
ss
e
ss
m
e
n
t
o
f
p
a
ti
e
n
ts
wit
h
P
a
rk
i
n
so
n
’s
d
ise
a
se
,
”
Ch
a
ll
e
n
g
e
s
Rem
o
te
S
e
n
s.
Pro
c
.
3
Rd
W
se
a
s
In
t.
Co
n
f.
Rem
o
t
e
S
e
n
s.
(Rem
o
te
`0
7
)
,
p
p
.
3
9
-
4
2
,
2
0
0
7
,
d
o
i:
1
0
.
1
1
0
9
/IC
o
BE.
2
0
1
5
.
7
2
3
5
8
9
0
.
[
1
5
]
G
.
H
e
r
r
n
s
t
a
d
t
a
n
d
C
.
M
e
n
o
n
,
“
A
d
m
i
t
t
a
n
c
e
-
B
a
s
e
d
V
o
l
u
n
t
a
r
y
-
D
r
i
v
e
n
M
o
t
i
o
n
w
i
t
h
S
p
e
e
d
-
C
o
n
t
r
o
l
l
e
d
T
r
e
m
o
r
R
e
j
e
c
t
i
o
n
,
”
I
E
E
E
/
A
S
M
E
T
r
a
n
s
.
M
e
c
h
a
t
r
o
n
i
c
s
,
v
o
l
.
2
1
,
n
o
.
4
,
p
p
.
2
1
0
8
-
2
1
1
9
,
2
0
1
6
,
d
o
i
:
1
0
.
1
1
0
9
/
T
M
E
C
H
.
2
0
1
6
.
2
5
5
5
8
1
1
.
[1
6
]
A.
As
’a
rry
,
M
.
Z.
M
d
Zai
n
,
M
.
M
a
il
a
h
,
a
n
d
M
.
Hu
ss
e
in
,
“
Hy
b
r
i
d
lea
rn
in
g
c
o
n
tr
o
l
fo
r
imp
r
o
v
in
g
su
p
p
re
ss
io
n
o
f
h
a
n
d
trem
o
r,
”
Pro
c
.
I
n
st.
M
e
c
h
.
En
g
.
Pa
rt
H
J
.
En
g
.
M
e
d
.
,
v
o
l.
2
2
7
,
n
o
.
1
1
,
p
p
.
1
1
7
1
-
1
1
8
0
,
2
0
1
3
,
d
o
i:
1
0
.
1
1
7
7
/
0
9
5
4
4
1
1
9
1
3
4
9
4
3
2
5
.
[1
7
]
R.
S
to
n
e
,
Nic
h
o
las
&
Ka
ise
r,
Ke
n
n
e
th
&
W
h
it
e
,
“
Au
t
o
tu
n
in
g
o
f
A
P
ID
Co
n
tr
o
ll
e
r
fo
r
a
n
A
c
ti
v
e
Vib
ra
ti
o
n
S
u
p
p
re
ss
io
n
De
v
ice
fo
r
t
h
e
Trea
tme
n
t
o
f
Esse
n
ti
a
l
Trem
o
r,
”
in
A
S
M
E
2
0
0
6
In
ter
n
a
ti
o
n
a
l
M
e
c
h
a
n
ic
a
l
En
g
in
e
e
rin
g
Co
n
g
re
ss
a
n
d
Exp
o
si
ti
o
n
,
2
0
0
6
,
d
o
i:
1
0
.
1
1
1
5
/I
M
ECE
2
0
0
6
-
1
4
1
3
8
.
[1
8
]
Lav
u
,
S
.
S
.
C.
a
n
d
A.
G
u
p
ta,
“
A
c
ti
v
e
Vib
ra
ti
o
n
Co
n
tro
l
o
f
Esse
n
ti
a
l
Trem
o
r,
”
in
1
4
th
Na
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
a
c
h
i
n
e
s a
n
d
M
e
c
h
a
n
isms
(Na
c
o
M
M
0
9
)
,
2
0
0
9
,
p
.
p
.
p
.
4
4
6
-
4
4
9
.
[1
9
]
A.
As
’a
rry
,
H.
Ja
m
a
lu
d
d
in
,
T.
A
.
Z.
Ra
h
m
a
n
,
K.
A.
Re
z
a
li
,
a
n
d
Z.
Zain
,
“
S
u
p
p
re
ss
io
n
o
f
P
a
r
k
in
s
o
n
’s
h
a
n
d
-
li
k
e
trem
o
r
u
si
n
g
fu
z
z
y
-
P
ID
c
o
n
tro
ll
e
r,
”
in
2
0
1
6
IEE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Au
t
o
ma
t
ic
Co
n
tro
l
a
n
d
I
n
telli
g
e
n
t
S
y
ste
ms
(I2
CACIS
)
,
2
0
1
6
,
p
p
.
1
-
5
,
d
o
i:
1
0
.
1
1
0
9
/I
2
CACIS.
2
0
1
6
.
7
9
2
1
0
4
1
.
[
2
0
]
F
.
D
o
c
t
o
r
,
H
.
H
a
g
r
a
s
,
a
n
d
V
.
C
a
l
l
a
g
h
a
n
,
“
A
t
y
p
e
-
2
f
u
z
z
y
e
m
b
e
d
d
e
d
a
g
e
n
t
t
o
r
e
a
l
i
s
e
a
m
b
i
e
n
t
i
n
t
e
l
l
i
g
e
n
c
e
i
n
u
b
i
q
u
i
t
o
u
s
c
o
m
p
u
t
i
n
g
e
n
v
i
r
o
n
m
e
n
t
s
,
”
I
n
f
.
S
c
i
.
(
N
y
)
.
,
v
o
l
.
1
7
1
,
n
o
.
4
,
p
p
.
3
0
9
-
3
3
4
,
2
0
0
5
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
i
n
s
.
2
0
0
4
.
0
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