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2]
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A
P
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c
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[
3
].
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S
YST
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M
ODE
L
L
I
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AN
D
T
HE
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T
I
CA
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UM
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T
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On
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[
4]
,
[
5]
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hi
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F
i
g
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1
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f
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1.
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r
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s
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r
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l
s
y
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t
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m
o
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c
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n
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a
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m
o
vi
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a
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o
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pa
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h
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v
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hi
c
l
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d
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d
(
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a
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c
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[
m
]
.
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h
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o
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de
r
di
f
f
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r
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n
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t
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f
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m
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o
bj
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t
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s
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d
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2
nd
l
a
w
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wt
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(
1
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:
.
(
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+
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.
v
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=
u(
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p(
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1)
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h
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f
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f
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(
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c
l
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t
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t
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da
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f
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=
50
[
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m
(
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]
,
n
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m
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na
l
c
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r
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f
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[
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a
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=
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s
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.
3.
RE
S
UL
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S
AN
D
DI
S
CU
S
S
I
ON
S
YST
E
M
AN
AL
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a
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u
lf
il
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to
b
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c
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s
f
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B
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c
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f
t
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,
t
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qu
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pe
n
l
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p
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s
po
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[
6]
,
[
7]
wi
l
l
t
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p
l
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wh
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n
t
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c
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r
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s
m
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8
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
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52
In
do
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s
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3
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1534
3.
1.
T
h
e
l
in
e
ar
c
on
t
r
o
l
an
d
d
is
t
u
r
b
an
c
e
s
ign
al
's
t
r
ac
k
in
g
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t
i
s
i
m
po
r
t
a
n
t
to
m
o
di
f
y
a
r
r
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ge
m
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t
a
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f
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c
t
o
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s
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f
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h
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c
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n
t
r
o
l
l
e
r
i
s
to
tr
a
c
k
s
i
g
n
a
l
li
ne
a
r
ly
gr
o
w
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n
g
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s
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s
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,
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3)
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F
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2
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8]
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I
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4.
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1
.
Genet
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A
a
ppr
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[
9]
.
T
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[
10
]
,
[
11
]
.
I
n
t
h
e
r
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a
l
m
o
f
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g
i
ne
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d
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l
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to
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bl
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r
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go
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l
s
.
4.
2
.
Re
in
f
or
c
e
m
e
n
t
l
e
a
r
n
in
g
al
go
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it
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m
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h
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o
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c
e
pt
o
f
m
a
c
hi
ne
l
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a
r
ni
ng
wa
s
i
ni
t
i
a
ll
y
pu
t
f
o
r
t
h
i
n
[
12]
,
t
h
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f
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d
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f
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.
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m
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ne
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a
r
ni
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l
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5.
CO
NT
ROL
L
E
R
DE
S
I
GN
5.
1
.
Convent
ion
al
P
I
D
c
on
t
r
o
ll
e
r
T
h
e
P
I
D
c
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l
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s
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d
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a
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n
d
a
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d
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s
qu
i
t
e
e
f
f
i
c
i
e
n
t
[
19]
.
B
e
c
a
us
e
a
ll
e
n
g
i
ne
e
r
s
h
a
ve
a
c
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pt
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s
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I
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a
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d
v
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f
a
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w
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h
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m
t
o
b
u
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t
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c
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n
t
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)
.
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[
20]
,
[
21
]
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F
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(
17
)
.
(
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=
+
+
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+
2
+
(
17)
F
i
gur
e
6.
C
l
o
s
e
d
l
o
o
p
P
I
D
s
t
e
p
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s
p
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c
o
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y
s
t
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m
f
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t
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e
r
e
f
e
r
e
nc
e
s
pe
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d
o
f
10
m
/
s
e
c
5.
2
.
Adap
t
ive
c
r
u
is
e
c
on
t
r
o
ll
e
r
wit
h
c
oll
is
ion
avoid
an
c
e
T
h
e
c
o
n
t
r
o
l
s
y
s
t
e
m
wa
s
de
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l
o
pe
d
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m
a
ke
dr
i
vi
n
g
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gu
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a
r
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s
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c
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d
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t
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ns
m
o
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c
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m
f
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t
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bl
e
f
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t
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dr
i
v
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r
,
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d
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a
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mi
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s
f
o
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w
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a
n
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v
e
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c
l
e
.
W
h
e
n
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t
c
o
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t
o
dr
i
vi
ng,
t
h
i
n
g
s
m
a
y
b
e
b
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n
do
wn
i
n
to
t
h
r
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e
c
a
t
e
g
o
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s
:
s
a
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,
wa
r
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ng,
a
n
d
da
n
ge
r
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us
.
I
t
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a
s
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to
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f
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d
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s
t
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c
t
c
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c
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c
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m
s
t
a
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c
e
s
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f
t
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dr
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v
e
[
22]
,
[
23]
.
T
h
e
e
s
t
a
bl
i
s
h
m
e
n
t
o
f
dr
i
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I
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52
In
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.
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n
o
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ni
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de
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li
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w
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ll
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ve
n
t
ua
l
ly
a
i
d
t
h
e
AC
C
s
y
s
t
e
m
i
n
b
r
i
ng
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bo
u
t
a
pa
r
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di
g
m
s
hi
f
t
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a
ut
o
m
o
t
i
v
e
s
e
c
t
o
r
.
RE
F
E
R
E
NC
E
S
[
1]
X
.
C
he
n,
Y
.
Z
ha
i,
C
.
L
u,
J
.
G
o
ng,
a
nd
G
.
W
a
ng,
“
A
le
a
r
n
in
g
m
o
de
l
f
o
r
p
e
r
s
o
na
li
z
e
d
a
da
pt
i
ve
c
r
ui
s
e
c
o
nt
r
o
l,
”
I
E
E
E
I
nt
e
ll
i
ge
nt
V
e
hi
c
le
s
Sy
m
pos
iu
m
, P
r
oc
e
e
di
ng
s
, pp. 379
–
384, 2017, do
i:
10.1109/I
V
S
.2017.7995748.
[
2]
W
. D
. J
o
ne
s
, “
K
e
e
pi
ng
c
a
r
s
f
r
o
m
c
r
a
s
hi
ng,”
I
E
E
E
Spe
c
tr
um
, vol
. 38, no
. 9, pp. 40
–
45, 2002, d
o
i:
10.1109/6.946636.
[
3]
V
.
M
il
a
né
s
,
J
.
V
il
la
gr
á
,
J
.
G
o
d
oy
,
a
nd
C
.
G
o
nz
á
l
e
z
,
“
C
o
mpa
r
in
g
f
u
z
z
y
a
nd
in
t
e
ll
ig
e
nt
P
I
c
o
nt
r
ol
le
r
s
in
s
to
p
-
a
nd
-
go
ma
noe
u
v
r
e
s
,”
I
E
E
E
T
r
ans
ac
ti
ons
on
C
ont
r
ol
Sy
s
t
e
m
s
T
e
c
hnol
ogy
,
v
o
l.
20,
no
.
3,
pp.
770
–
778,
2012,
do
i:
10.1109/
T
C
S
T
.2011.2135859.
[
4]
J
.
E
.
N
a
r
a
n
j
o,
C
.
G
on
z
à
l
e
z
,
R
.
G
a
r
c
í
a
,
a
n
d
T
.
D
e
P
e
d
r
o,
“
A
C
C
+
s
t
op
&
g
o
m
a
n
e
u
ve
r
s
w
i
t
h
t
h
r
ot
t
l
e
a
n
d
b
r
a
k
e
f
u
z
z
y
c
on
t
r
ol
,
”
I
E
E
E
T
r
a
n
s
a
c
t
i
o
n
s
o
n
I
n
t
e
l
l
i
g
e
n
t
T
r
a
n
s
p
o
r
t
a
t
i
o
n
S
y
s
t
e
m
s
,
vol
.
7
,
n
o.
2
,
p
p
.
2
1
3
–
2
2
4
,
J
u
n
.
2
0
0
6
,
d
oi
:
10.1109/
T
I
T
S
.2006.874723.
[
5]
V
.
M
il
a
né
s
a
nd
S
.
E
.
S
hl
a
dove
r
,
“
H
a
ndl
in
g
c
ut
-
in
v
e
hi
c
l
e
s
in
s
tr
in
gs
of
c
oo
p
e
r
a
ti
ve
a
da
pt
i
ve
c
r
ui
s
e
c
o
nt
r
o
l
ve
hi
c
le
s
,”
J
our
nal
of
I
nt
e
ll
ig
e
nt
T
r
ans
por
ta
ti
on
Sy
s
te
m
s
:
T
e
c
hnol
ogy
,
P
la
nni
ng,
and
O
pe
r
at
io
ns
,
vo
l.
20,
n
o
.
2,
pp.
178
–
191,
2016,
do
i:
10.1080/15472450.2
015.1016023.
[
6]
L
.
N
o
u
ve
li
è
r
e
a
nd
S
.
M
a
mm
a
r
,
“
E
x
pe
r
im
e
n
ta
l
ve
hi
c
l
e
lo
ng
it
ud
in
a
l
c
o
n
tr
o
l
us
in
g
a
s
e
c
o
nd
or
de
r
s
li
di
ng
mo
d
e
te
c
hni
qu
e
,”
C
ont
r
ol
E
ngi
ne
e
r
in
g P
r
ac
ti
c
e
, vo
l.
15, n
o
. 8, pp. 943
–
954, 2007, d
o
i
:
1
0.1016/j
.c
o
n
e
ngpr
a
c
.2006.11.011.
[
7]
S
.
M
oo
n,
I
.
M
oo
n,
a
nd
K
.
Y
i,
“
D
e
s
ig
n,
tu
ni
ng,
a
nd
e
v
a
lu
a
ti
o
n
of
a
f
ul
l
-
r
a
nge
a
da
pt
i
ve
c
r
ui
s
e
c
o
nt
r
o
l
s
y
s
te
m
w
it
h
c
o
ll
is
io
n
a
vo
id
a
nc
e
,”
C
ont
r
ol
E
ngi
ne
e
r
in
g
P
r
ac
ti
c
e
, vo
l.
17, n
o
. 4, pp. 4
42
–
455, 2009, do
i:
10.1016/j
.
c
o
n
e
ngpr
a
c
.2008.09.006.
[
8]
J
.
J
.
M
a
r
ti
ne
z
a
nd
C
.
C
a
nuda
s
-
de
-
W
it
,
“
A
s
a
f
e
l
o
ngi
tu
di
na
l
c
ont
r
ol
f
o
r
a
da
pt
iv
e
c
r
u
is
e
c
o
nt
r
o
l
a
nd
s
to
p
-
a
nd
-
g
o
s
c
e
na
r
i
o
s
,”
I
E
E
E
T
r
ans
ac
ti
ons
on C
ont
r
ol
Sy
s
te
m
s
T
e
c
hnol
ogy
, v
o
l.
15, n
o
. 2, pp
. 246
–
258, 2007, do
i:
10.1109/
T
C
S
T
.2006.886432.
[
9]
V
.
L
.
B
a
g
e
s
hw
a
r
,
W
.
L
.
G
a
r
r
a
r
d,
a
n
d
R
.
R
a
j
a
m
a
n
i,
“
M
od
e
l
p
r
e
d
i
c
t
i
ve
c
on
tr
ol
of
t
r
a
ns
i
t
i
ona
l
m
a
n
e
u
ve
r
s
f
or
a
da
p
ti
ve
c
r
u
i
s
e
c
on
t
r
ol
ve
h
i
c
l
e
s
,”
I
E
E
E
T
r
ans
ac
ti
ons
on
V
e
hi
c
u
la
r
T
e
c
hn
ol
og
y
,
vol
.
5
3,
n
o.
5,
pp
.
15
73
–
1
58
5,
20
04
,
d
oi
:
1
0
.1
10
9/
T
V
T
.
2
00
4.
83
36
25
.
[
10]
T
.
T
a
ka
gi
a
nd
M
.
S
uge
n
o
,
“
F
u
z
z
y
id
e
nt
i
f
i
c
a
ti
o
n
of
s
y
s
t
e
ms
a
nd
it
s
a
ppl
ic
a
ti
o
ns
to
m
o
de
li
ng
a
nd
c
o
nt
r
o
l,
”
I
E
E
E
T
r
ans
ac
ti
ons
on
Sy
s
te
m
s
, M
an and C
y
be
r
n
e
ti
c
s
, v
o
l.
S
M
C
-
15, n
o
. 1, pp. 116
–
13
2, 1985, do
i:
10.1109/
T
S
M
C
.1985.6313399.
[
11]
R
.
B
a
buš
ka
a
nd
H
.
B
.
V
e
r
br
ugg
e
n,
“
A
n
ove
r
v
i
e
w
of
f
uz
z
y
m
o
d
e
li
ng
f
or
c
o
nt
r
o
l,
”
C
ont
r
ol
E
ngi
ne
e
r
in
g
P
r
ac
ti
c
e
,
vo
l.
4,
n
o
.
11,
pp. 1593
–
1606, 1996
, do
i:
10.1016/0967
-
0661(
96)
00175
-
X.
[
12]
T
.
C
.
Y
a
ng,
“
N
e
tw
o
r
k
e
d
c
o
n
tr
o
l
s
y
s
t
e
m:
a
br
i
e
f
s
ur
ve
y
,”
I
E
E
P
r
oc
e
e
di
ngs
:
C
ont
r
ol
T
he
or
y
and
A
ppl
ic
at
io
ns
,
v
ol
.
153,
no
.
4,
pp. 403
–
412, 2006, do
i:
10.1049/i
p
-
c
ta
:2
0050178.
[
13]
X
.
W
a
ng,
L
.
Z
hu,
H
.
W
a
ng,
T
.
T
a
ng,
a
nd
K
.
L
i,
“
R
o
bus
t
di
s
tr
ib
ut
e
d
c
r
ui
s
e
c
o
n
tr
o
l
of
mul
ti
pl
e
hi
gh
-
s
pe
e
d
tr
a
in
s
ba
s
e
d
o
n
di
s
tu
r
ba
nc
e
o
b
s
e
r
ve
r
,”
I
E
E
E
T
r
ans
ac
ti
ons
on
I
nt
e
ll
ig
e
nt
T
r
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267
–
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do
i:
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[
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. 7, pp. 9630
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, 2022, d
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i:
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S
.2022.3168486.
[
15]
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,
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[
16]
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277, 2023, d
o
i:
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016/
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.2023.12
7627.
[
17]
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m
s
, 2024, do
i:
10.1080/15325008.
2024.2318408.
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18]
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s
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l.
34,
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7,
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–
3459, 2023, do
i:
10.1109/
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.2021.3112718.
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20]
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:
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24020403.
[
21]
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i2
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22]
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.
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641
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4,
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i:
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23]
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–
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24]
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2021
-
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ul
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,
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488
–
495,
2021, do
i:
10.1109/
I
V
48863.2021.9575258.
[
25]
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