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T
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Evaluation Warning : The document was created with Spire.PDF for Python.
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m
u
s
t
o
f
f
e
r
h
i
g
h
p
e
r
f
o
r
m
an
c
e
a
n
d
r
o
b
u
s
t
n
es
s
o
v
e
r
a
w
i
d
e
r
a
n
g
e
o
f
o
p
e
r
a
ti
n
g
c
o
n
d
i
t
i
o
n
s
[
1
6
]
.
C
o
n
v
e
n
t
i
o
n
a
l
l
i
n
e
a
r
c
o
n
t
r
o
l
l
e
r
s
,
s
u
c
h
as
p
r
o
p
o
r
t
i
o
n
a
l
-
i
n
t
e
g
r
a
l
(
P
I
)
a
n
d
p
r
o
p
o
r
t
i
o
n
a
l
-
i
n
t
e
g
r
a
l
-
d
e
r
i
v
a
t
i
v
e
(
P
I
D
)
c
o
n
t
r
o
ll
e
r
s
,
w
h
i
l
e
r
el
a
t
i
v
el
y
s
i
m
p
l
e
t
o
d
e
s
ig
n
a
n
d
i
m
p
l
e
m
e
n
t
,
a
r
e
o
f
t
e
n
u
n
a
b
l
e
t
o
e
f
f
e
c
ti
v
e
l
y
h
a
n
d
l
e
t
h
e
c
o
m
p
l
e
x
,
n
o
n
-
l
i
n
e
a
r
d
y
n
a
m
i
c
s
i
n
h
e
r
e
n
t
i
n
e
l
e
ct
r
i
c
m
o
t
o
r
s
y
s
t
e
m
s
[
1
7
]
.
I
n
r
e
s
p
o
n
s
e
t
o
t
h
es
e
c
h
al
l
e
n
g
es
,
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
(
S
MC
)
h
a
s
e
m
e
r
g
e
d
a
s
a
p
r
o
m
is
i
n
g
al
te
r
n
a
t
i
v
e
,
at
t
r
a
c
ti
n
g
p
a
r
t
ic
u
l
a
r
a
t
t
e
n
t
i
o
n
d
u
e
t
o
i
ts
i
n
h
e
r
e
n
t
r
o
b
u
s
t
n
es
s
t
o
p
a
r
a
m
e
t
e
r
v
a
r
i
at
i
o
n
s
a
n
d
e
x
t
e
r
n
a
l
d
i
s
t
u
r
b
a
n
c
es
[
1
8
]
,
a
s
w
e
ll
as
i
ts
g
o
o
d
t
r
a
c
k
i
n
g
p
e
r
f
o
r
m
a
n
c
e
[
1
9
]
.
H
o
w
e
v
e
r
,
SM
C
is
s
u
s
c
e
p
t
i
b
l
e
t
o
t
h
e
p
r
o
b
l
em
o
f
“
c
h
a
t
t
e
r
i
n
g
”
,
a
p
h
e
n
o
m
e
n
o
n
t
h
a
t
c
a
n
d
e
g
r
a
d
e
s
y
s
te
m
p
e
r
f
o
r
m
a
n
c
e
a
n
d
c
a
n
b
e
s
e
n
s
i
ti
v
e
t
o
n
o
i
s
e
.
C
o
n
s
e
q
u
e
n
t
ly
,
i
n
t
e
ll
i
g
e
n
t
a
n
d
a
d
a
p
t
i
v
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c
o
n
t
r
o
l
l
e
r
s
h
a
v
e
b
e
c
o
m
e
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n
c
r
e
a
s
i
n
g
l
y
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m
p
o
r
t
a
n
t
t
o
o
v
e
r
c
o
m
e
t
h
i
s
i
s
s
u
e
[
2
0
]
.
T
h
i
s
p
a
p
e
r
c
o
m
b
i
n
e
s
f
u
z
z
y
l
o
g
i
c
f
o
r
i
t
s
a
d
v
a
n
t
a
g
e
s
,
s
u
c
h
a
s
t
h
e
a
b
i
l
i
t
y
t
o
h
a
n
d
l
e
n
o
n
-
l
i
n
e
a
r
s
y
s
te
m
s
,
f
l
e
x
i
b
i
l
it
y
i
n
r
u
l
e
-
b
a
s
ed
d
e
c
i
s
i
o
n
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m
a
k
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g
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t
h
e
a
b
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li
t
y
to
i
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c
o
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p
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x
p
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k
n
o
w
l
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g
e
,
a
n
d
t
h
e
a
b
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it
y
t
o
h
a
n
d
l
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r
t
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ti
es
[
2
1
]
,
t
o
g
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t
h
e
r
w
i
t
h
t
h
e
S
MC
,
it
f
o
r
m
s
a
h
y
b
r
i
d
i
n
t
e
ll
i
g
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n
t
f
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zz
y
s
l
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d
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n
g
m
o
d
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c
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n
t
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r
(
H
I
FS
C
)
t
o
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g
u
l
a
te
a
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d
c
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t
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s
y
s
te
m
s
p
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d
.
T
h
is
a
p
p
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c
h
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p
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o
v
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s
t
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a
n
d
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a
b
il
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d
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w
h
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l
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H
I
F
SC
t
ec
h
n
i
q
u
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s
p
r
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v
id
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a
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s
i
li
e
n
t
c
o
n
t
r
o
l
s
y
s
t
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m
w
it
h
h
i
g
h
d
i
s
t
u
r
b
a
n
c
e
r
e
j
e
c
t
i
o
n
a
n
d
t
r
a
n
s
i
e
n
t
p
e
r
f
o
r
m
a
n
c
e
[
2
2
]
.
I
t
i
s
m
o
d
e
l
e
d
a
n
d
a
n
a
l
y
z
e
d
o
n
M
A
T
L
AB
s
o
f
t
w
a
r
e
.
T
h
is
ar
ticle
is
s
tr
u
ctu
r
ed
as
f
o
llo
ws:
i)
S
ec
tio
n
1
co
v
er
s
th
e
m
o
d
elin
g
o
f
t
h
e
QE
V,
in
cl
u
d
i
n
g
v
e
h
icle
d
y
n
am
ics,
th
e
B
L
DC
m
o
to
r
i
n
th
e
wh
ee
l,
an
d
t
h
e
PAC
E
J
KA
tire
m
o
d
el
;
ii)
Sectio
n
2
d
esig
n
s
th
e
p
r
o
p
o
s
ed
f
u
zz
y
s
lid
in
g
co
n
tr
o
ller
; iii)
Sectio
n
3
p
r
esen
ts
MA
T
L
AB
/S
im
u
lin
k
s
im
u
latio
n
r
esu
lts
; iv
)
Sectio
n
4
d
escr
ib
es
th
e
co
n
tr
o
ller
'
s
p
er
f
o
r
m
an
ce
;
a
n
d
v
)
Sectio
n
5
p
r
o
v
i
d
es th
e
c
o
n
clu
s
io
n
.
2.
M
E
T
H
O
D
T
h
is
p
ar
t
c
o
n
ce
r
n
s
th
e
m
o
d
eli
n
g
o
f
th
e
s
tu
d
ied
s
y
s
tem
QE
V,
in
clu
d
in
g
th
e
in
-
wh
ee
l
B
L
DC
m
o
to
r
,
wh
ich
o
f
f
er
s
th
e
ad
v
an
tag
e
o
f
r
ed
u
cin
g
v
eh
icle
s
p
ac
e
r
eq
u
i
r
em
en
ts
,
an
d
th
e
d
ir
ec
t
en
er
g
y
tr
an
s
f
er
f
r
o
m
th
e
m
o
to
r
to
th
e
wh
ee
l
th
r
o
u
g
h
a
h
y
b
r
id
d
esig
n
c
o
n
s
is
tin
g
o
f
ac
tiv
e
s
u
s
p
en
s
io
n
an
d
b
r
a
k
in
g
s
y
s
tem
,
an
d
tak
in
g
i
n
to
ac
co
u
n
t th
e
PAC
E
J
KA
tire
m
o
d
el.
2
.
1
.
B
rus
hles
s
D
C
m
o
t
o
r
m
o
delin
g
:
m
a
t
hem
a
t
ica
l a
s
pect
s
An
elec
tr
ic
tr
ac
tio
n
s
y
s
tem
e
m
p
lo
y
in
g
a
b
r
u
s
h
less
DC
m
o
to
r
(
B
L
DC
)
,
s
h
o
wn
in
Fig
u
r
e
1
(
a)
,
T
h
is
m
o
to
r
is
ch
ar
ac
te
r
ized
b
y
its
ab
ilit
y
to
d
eliv
er
p
er
f
o
r
m
an
ce
s
s
im
ilar
to
th
o
s
e
o
f
th
e
b
r
u
s
h
ed
DC
m
o
to
r
.
On
t
h
e
o
th
er
h
a
n
d
,
th
e
B
L
DC
m
o
to
r
is
b
ased
o
n
elec
tr
o
n
ic
co
m
m
u
tatio
n
in
s
tead
o
f
m
ec
h
an
ical
co
m
m
u
tatio
n
[
2
3
]
.
W
h
ich
is
illu
s
tr
ated
in
Fig
u
r
e
1
(
b
)
.
(
a)
(
b
)
Fig
u
r
e
1
.
Sch
em
atic
r
ep
r
esen
t
atio
n
o
f
a
n
in
-
wh
ee
l
m
o
to
r
t
r
a
ctio
n
s
y
s
tem
:
(
a)
d
if
f
e
r
en
t c
o
m
p
o
n
e
n
ts
o
f
elec
tr
ical
tr
ac
tio
n
ch
ain
a
n
d
(
b
)
b
r
id
g
e
d
r
iv
e
r
cir
cu
it c
o
n
n
ec
t
ed
to
B
L
DC
m
o
to
r
T
h
e
f
o
llo
win
g
eq
u
atio
n
s
r
ep
r
e
s
en
t
th
e
v
o
ltag
e
ap
p
lied
o
n
th
e
win
d
in
g
'
s
m
o
to
r
f
o
r
a
b
alan
ce
d
s
y
s
tem
with
s
y
m
m
etr
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win
d
in
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s
an
d
d
th
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b
ac
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-
E
MF
wav
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o
r
m
s
ar
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f
u
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n
s
o
f
r
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r
s
h
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t
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lar
v
el
o
city
.
Kir
ch
h
o
f
f
'
s
v
o
ltag
e
law
is
u
s
ed
to
d
eter
m
i
n
e
th
e
r
esu
lts
f
o
r
t
h
e
th
r
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p
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ase
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tato
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lo
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in
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cu
its
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V
a
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R
a
i
a
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L
a
d
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dt
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M
ab
d
i
b
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+
M
ac
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e
a
(
1
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=
+
+
+
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(
2
)
=
+
+
+
+
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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E
lec
&
Dr
i Sy
s
t
I
SS
N:
2
0
8
8
-
8
6
9
4
C
o
n
tr
o
l o
f q
u
a
r
ter ele
ctri
c
ve
h
icle
b
a
s
ed
o
n
P
A
C
E
JKA
tir
e
mo
d
el
b
y
fu
z
z
y
s
lid
in
g
co
n
tr
o
ll
er
(
R
a
ch
id
a
B
a
z
)
269
W
h
er
e
:
in
ter
p
h
ase
in
d
u
ctan
c
e
(
i
-
j)
,
:
win
d
in
g
r
esis
tan
ce
b
y
p
h
ase
I,
:
s
elf
-
in
d
u
cta
n
ce
b
y
p
h
ase
I,
:
E
MF
b
y
p
h
ase
I
,
an
d
:
v
o
ltag
e
b
y
p
h
ase
i,
wh
er
e
i o
r
j
r
ef
e
r
t
o
p
h
ases
a,
b
,
a
n
d
c.
=
(
4
)
W
h
er
e
k
e
:
is
th
e
b
ac
k
-
em
f
co
n
s
t
an
t.
T
h
e
s
elf
-
in
d
u
ctan
ce
s
ar
e
c
o
n
s
id
er
ed
id
en
tical,
esp
ec
ially
if
th
e
m
o
to
r
is
ass
u
m
ed
to
b
e
s
u
r
f
ac
e
-
m
o
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n
ted
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an
d
all
p
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ase
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esis
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ce
s
ar
e
eq
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al,
in
a
b
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ce
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th
r
ee
-
p
h
ase
s
y
s
tem
.
T
h
er
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o
r
e,
t
h
e
m
atr
ix
eq
u
iv
ale
n
t
o
f
th
e
f
o
llo
win
g
e
x
p
r
ess
io
n
m
ay
b
e
u
s
ed
t
o
m
o
d
el
th
e
B
L
DC
m
o
to
r
m
ath
em
atica
lly
as
(
5
)
.
[
L
M
M
M
L
M
M
M
L
]
d
dt
[
i
a
i
b
i
c
]
=
[
v
a
v
b
v
c
]
−
[
R
0
0
0
R
0
0
0
R
]
[
i
a
i
b
i
c
]
−
[
e
a
e
b
e
c
]
(
5
)
T
h
e
elec
tr
o
m
ec
h
a
n
ical
to
r
q
u
e
is
g
iv
en
b
y
(
6
)
a
n
d
(
7
)
.
=
̇
+
+
(
6
)
=
1
(
+
+
)
(
7
)
2
.
2
.
T
ire
mo
del
T
o
E
v
alu
ate
v
eh
icle
d
esig
n
m
o
r
e
af
f
o
r
d
a
b
ly
th
an
th
r
o
u
g
h
p
h
y
s
ical
test
in
g
.
T
h
e
in
ter
p
lay
o
f
tire
s
an
d
ter
r
ain
is
c
r
u
cially
r
elev
an
t
to
th
e
v
e
h
icle
d
y
n
am
ics
m
o
d
el,
a
s
it
ca
n
s
ig
n
if
ican
tly
af
f
ec
t
h
o
w
a
v
e
h
icle
m
o
v
es
in
a
s
im
u
latio
n
[
2
4
]
.
I
n
th
is
p
a
p
er
,
it
is
s
u
g
g
ested
th
at
th
e
tire
b
e
m
o
d
eled
u
s
in
g
PAC
E
J
KA's
tire
m
o
d
el,
k
n
o
wn
as
th
e
m
ag
ic
f
o
r
m
u
la
.
T
h
e
g
lo
b
al
eq
u
atio
n
o
f
th
e
tire
m
o
d
el
PAC
E
J
KA
is
il
lu
s
tr
ated
as (
8
)
.
(
)
=
(
−
1
(
−
(
−
(
)
)
)
)
(
8
)
W
h
er
e:
B
:
th
e
s
tiff
n
ess
f
ac
to
r
;
D:
th
e
s
h
a
p
e
f
ac
to
r
;
C
:
th
e
p
ea
k
v
alu
e
;
E
:
t
h
e
cu
r
v
atu
r
e
f
a
cto
r
.
T
h
e
a
d
h
esio
n
co
ef
f
icien
t
an
d
th
e
n
o
r
m
al
f
o
r
ce
F
v
o
n
th
e
wh
ee
l
a
r
e
co
m
b
in
ed
to
o
b
tain
th
e
lo
n
g
itu
d
i
n
al
f
o
r
ce
F
x
,
as
d
escr
ib
ed
in
(
9
)
,
also
,
th
e
lo
n
g
itu
d
in
al
s
l
ip
is
d
ef
in
ed
in
(
1
0
)
.
=
(
9
)
=
−
(
,
)
(
1
0
)
W
h
er
e:
: w
h
ee
l r
ad
iu
s
(
m
)
;
: v
eh
icle
v
elo
city
(
m
s
-
1
)
;
: w
h
ee
l r
o
tatio
n
al
v
elo
city
(
r
ad
/s
)
.
2
.
3
.
Vehicle
mo
dellin
g
T
o
d
eter
m
in
e
th
e
v
e
h
icle'
s
ac
ce
ler
atio
n
an
d
d
ec
eler
atio
n
,
b
y
ap
p
ly
i
n
g
New
to
n
'
s
f
ir
s
t
law,
wh
ich
is
f
o
u
n
d
ed
o
n
t
h
e
eq
u
ilib
r
iu
m
o
f
th
e
f
o
r
ce
s
a
ctin
g
o
n
t
h
e
v
e
h
icle.
Fig
u
r
e
2
d
escr
ib
es
th
e
QE
V
lo
n
g
itu
d
in
al
m
o
d
el,
co
n
s
id
er
in
g
t
h
at
th
e
im
p
ac
ts
o
f
later
al
an
d
v
er
tical
f
o
r
ce
s
ar
e
n
eg
lecte
d
,
th
e
m
o
v
e
m
en
t f
o
llo
wed
is
lin
ea
r
.
̇
=
(
1
1
)
W
h
er
e:
:
th
e
m
ass
e
o
f
t
h
e
q
u
ar
ter
v
e
h
icle
(
k
g
)
,
̇
:
th
e
v
elo
ci
ty
o
f
th
e
v
eh
icle
(
m
/s
)
,
:
th
e
t
r
ac
tio
n
f
o
r
ce
g
en
er
ated
b
etwe
en
th
e
tire
a
n
d
th
e
r
o
ad
s
u
r
f
ac
e
ac
tin
g
o
n
th
e
wh
ee
l (
N)
.
Ap
p
ly
in
g
New
to
n
'
s
s
ec
o
n
d
l
aw,
wh
ich
s
p
ec
if
ies
th
at
th
e
p
r
o
d
u
ct
o
f
th
e
in
er
tia
ten
s
o
r
J
an
d
th
e
r
o
tatio
n
al
ac
ce
ler
atio
n
alo
n
g
t
h
e
ax
is
u
n
d
er
co
n
s
id
er
atio
n
,
tak
in
g
in
to
ac
co
u
n
t
r
o
llin
g
r
esis
tan
ce
,
y
ield
s
as
(
1
2
)
.
=
̇
+
+
(
1
2
)
W
h
er
e
:
th
e
elec
tr
o
m
ag
n
etic
t
o
r
q
u
e
p
r
o
d
u
ce
d
b
y
th
e
in
-
wh
e
e
l
m
o
to
r
(
Nm
)
,
:
th
e
m
o
m
e
n
t
o
f
in
er
tia
o
f
t
h
e
d
r
iv
in
g
w
h
ee
l
(
k
g
m
2
)
,
:
th
e
r
o
tatio
n
al
v
elo
city
o
f
th
e
d
r
iv
in
g
wh
ee
l
(
r
a
d
s
-
1)
,
:
is
th
e
tr
ac
tio
n
o
r
b
r
ak
i
n
g
f
o
r
ce
(
N)
,
an
d
:
r
o
llin
g
r
esis
tan
ce
.
T
h
e
f
o
r
c
e
r
es
p
o
n
s
i
b
l
e
f
o
r
m
o
v
em
e
n
t
f
r
o
m
t
h
e
c
en
tr
al
p
o
in
t
t
o
a
d
is
ta
n
c
e
d
rr
,
max
,
w
h
i
c
h
is
r
e
f
e
r
r
e
d
t
o
as
th
e
m
ax
im
al
t
r
ail
o
f
v
e
r
ti
ca
l
l
o
ad
,
p
r
o
d
u
c
es a
c
o
m
p
e
n
s
at
o
r
y
t
o
r
q
u
e
t
h
at
is
k
n
o
w
n
as
r
o
lli
n
g
r
esis
ta
n
c
e
[
2
5
]
,
w
h
i
ch
is
r
e
p
r
ese
n
t
ed
i
n
t
h
e
(
1
3
)
,
W
h
er
e
r
is
t
h
e
r
o
l
li
n
g
r
esis
tan
ce
f
ac
to
r
a
n
d
t
h
e
n
o
r
m
a
l
f
o
r
ce
.
M
rr
=
(
1
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t,
Vo
l.
1
6
,
No
.
1
,
Ma
r
c
h
2
0
2
5
:
267
-
277
270
T
h
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F
i
g
u
r
e
3
.
Fig
u
r
e
2
.
Qu
a
r
ter
v
e
h
icle
lo
n
g
itu
d
in
al
m
o
d
el
Fig
u
r
e
3
.
Sch
em
atic
d
iag
r
am
o
f
th
e
d
r
iv
er
m
o
d
el
2
.
4
.
Desig
n o
f
t
he
co
ntr
o
ller
ba
s
ed
o
n sl
i
din
g
m
o
de
a
nd
f
uzzy
lo
g
ic
T
h
e
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
(
SMC
)
is
a
v
ar
iab
le
s
tr
u
ctu
r
e
c
o
n
tr
o
ller
(
VSC
)
[
2
6
]
.
I
t
u
tili
ze
s
d
if
f
er
en
t
co
n
tin
u
o
u
s
f
u
n
ctio
n
s
to
r
elate
th
e
s
y
s
tem
s
tate
to
a
co
m
m
an
d
.
T
h
e
s
y
s
tem
'
s
s
tate
i
s
r
ep
r
esen
ted
b
y
a
s
witch
in
g
f
u
n
ctio
n
,
wh
ich
d
ete
r
m
in
es th
e
ap
p
r
o
p
r
iate
f
u
n
ctio
n
to
u
s
e.
I
n
th
is
co
n
tex
t,
U
r
ep
r
esen
ts
th
e
co
n
tr
o
l in
p
u
t.
=
−
(
)
(
1
4
)
W
h
er
e
, t
h
e
co
n
s
tan
t f
ac
to
r
is
t
h
e
th
ick
n
ess
o
f
th
e
b
o
u
n
d
a
r
y
l
ay
er
,
an
d
is
th
e
s
lid
in
g
s
u
r
f
ac
e.
I
n
o
r
d
er
to
attain
th
e
s
lid
in
g
s
u
r
f
ac
e
in
a
f
in
ite
tim
e,
a
p
o
s
itiv
e
co
n
s
tan
t
h
as b
ee
n
ch
o
s
en
.
T
h
e
is
s
u
e
in
th
is
co
n
tr
o
l
m
o
d
e
is
ch
atter
if
a
s
ig
n
f
u
n
ctio
n
is
u
s
ed
[
2
7
]
.
T
o
r
em
ed
y
th
is
,
a
s
atu
r
atio
n
f
u
n
ctio
n
is
u
s
ed
to
b
in
d
th
e
s
lid
in
g
s
u
r
f
ac
e
as
s
h
o
wn
in
(
1
5
)
,
wh
ich
is
d
ef
i
n
ed
in
(
1
6
)
[
2
8
]
.
T
h
e
aim
o
f
d
e
v
elo
p
in
g
a
s
lid
in
g
-
m
o
d
e
co
n
tr
o
ller
f
o
r
p
lan
ts
o
f
all
o
r
d
er
s
is
to
r
ed
u
ce
th
e
d
er
iv
ativ
e
an
d
er
r
o
r
o
f
th
ese
v
ar
iab
les
to
ze
r
o
.
I
f
th
e
s
lid
in
g
m
o
d
e
is
ac
tiv
e,
th
e
s
witch
in
g
s
u
r
f
ac
e
r
eg
u
lates th
e
s
y
s
tem
'
s
tr
an
s
ien
t r
esp
o
n
s
iv
en
ess
[
2
9
]
.
T
h
e
s
tr
u
ctu
r
e
o
f
th
e
s
witch
in
g
s
u
r
f
ac
e
in
clu
d
es th
e
co
n
s
tr
u
ctio
n
o
f
th
e
s
witch
in
g
b
eh
av
io
r
.
=
−
(
)
(
1
5
)
s
a
t
(
S
ϕ
)
=
{
S
ϕ
,
|
S
/
ϕ
|
≤
1
(
S
ϕ
)
,
|
S
/
ϕ
|
>
1
(
1
6
)
T
h
e
co
n
tr
o
l la
w
allo
ws a
tr
ajec
to
r
y
to
lean
t
o
war
d
s
th
e
s
lid
in
g
s
u
r
f
ac
e
S=0
a
n
d
m
ai
n
tain
it r
eg
ar
d
less
o
f
th
e
in
itial c
o
n
d
itio
n
,
p
r
o
v
id
ed
th
e
co
n
d
itio
n
b
elo
w
is
m
et
.
̇
≤
−
|
|
(
1
7
)
T
h
e
er
r
o
r
o
f
a
v
ar
ia
b
le
is
in
itiated
at
ze
r
o
,
a
n
d
th
is
is
wh
er
e
t
h
e
lo
ca
lizatio
n
er
r
o
r
in
itially
a
p
p
ea
r
s
.
=
−
(
1
8
)
=
̇
+
1
+
2
∫
(
1
9
)
W
er
e
1
,
2
>
0
as st
r
ictly
r
ea
l c
o
n
s
tan
ts
.
T
h
e
s
lid
in
g
m
o
d
e
is
ch
ar
ac
ter
ized
b
y
n
o
n
-
lin
ea
r
p
r
o
p
e
r
ties
an
d
th
e
p
r
o
b
lem
o
f
c
h
atter
in
g
,
wh
ich
is
m
ain
ly
ca
u
s
ed
b
y
th
e
K
g
ain
.
I
n
o
r
d
er
to
r
ed
u
ce
th
e
ch
atter
in
g
ef
f
ec
t
an
d
im
p
r
o
v
e
s
y
s
tem
p
er
f
o
r
m
a
n
ce
,
a
h
y
b
r
i
d
co
n
tr
o
ller
h
as
b
ee
n
p
r
o
p
o
s
ed
th
at
in
teg
r
ates
t
wo
co
n
tr
o
l
m
o
d
es,
SMC
an
d
f
u
zz
y
,
to
ad
ju
s
t
th
e
K
fuzzy
g
ain
v
alu
e
ac
co
r
d
in
g
to
tim
e.
T
h
e
th
eo
r
y
o
f
f
u
zz
y
s
et,
o
r
ig
in
ally
d
e
v
elo
p
ed
b
y
Z
a
d
eh
i
n
1
9
6
5
,
is
th
e
f
o
u
n
d
atio
n
o
f
f
u
zz
y
lo
g
ic
[
3
0
]
.
T
h
e
b
lack
b
o
x
co
n
tain
s
a
tech
n
iq
u
e
to
in
teg
r
at
e
th
e
in
p
u
t
d
ata
in
to
th
e
o
u
t
p
u
t
th
r
o
u
g
h
ac
cu
r
ate
in
f
o
r
m
atio
n
.
T
h
e
i
n
p
u
t a
n
d
o
u
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p
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[
3
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h
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4
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A
b
b
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l
.
[
3
1
]
O
p
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t
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a
sem
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(
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[
3
2
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[
3
3
]
S
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/
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4.
CO
NCLU
SI
O
N
T
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e
p
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id
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