I
AE
S
I
nte
rna
t
io
na
l J
o
urna
l o
f
Art
if
icia
l In
t
ellig
ence
(
I
J
-
AI
)
Vo
l.
7
,
No
.
4
,
Dec
em
b
er
201
8
,
p
p
.
16
5
~
16
9
I
SS
N:
2252
-
8938
,
DOI
: 1
0
.
1
1
5
9
1
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v
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165
J
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s
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r
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co
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d
ex
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p
h
p
/
I
JA
I
O
v
er
v
iew
of Mo
d
el F
re
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tive (
M
FA
)
Co
ntrol Te
chno
lo
g
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Al
S
m
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di
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a
k
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i
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1
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O
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m
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n Ib
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Al
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Ag
ha
2
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K
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lid
Adna
n Al
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3
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De
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El
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E
n
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g
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F
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En
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Un
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2
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M
o
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e
l
-
F
re
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A
d
a
p
ti
v
e
(M
F
A
)
c
o
n
tro
l
is
a
tec
h
n
o
l
o
g
y
th
a
t
h
a
s
m
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a
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a
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p
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o
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a
u
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m
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ti
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c
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l
in
d
u
stry
.
M
F
A
c
o
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tro
l
u
se
rs
h
a
v
e
su
c
c
e
ss
f
u
ll
y
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lv
e
d
m
a
n
y
in
d
u
stry
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w
id
e
c
o
n
tro
l
p
r
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b
lem
s
in
v
a
rio
u
s
a
p
p
li
c
a
ti
o
n
s
a
n
d
a
c
h
iev
e
d
sig
n
if
ica
n
t
e
c
o
n
o
m
ic
b
e
n
e
f
it
s.
No
w
,
th
e
c
h
a
ll
e
n
g
e
is
e
x
ten
d
in
g
th
e
m
a
n
y
a
d
v
a
n
tag
e
s
o
f
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F
A
c
o
n
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l
tec
h
n
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y
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d
iv
e
rse
a
n
d
f
ra
g
m
e
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ted
m
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rk
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ts,
w
h
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o
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ld
b
e
n
e
f
it
f
ro
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it
s
u
n
iq
u
e
c
a
p
a
b
il
it
ies
.
S
in
c
e
sin
g
le
-
lo
o
p
M
F
A
c
o
n
tro
ll
e
rs
c
a
n
d
irec
tl
y
re
p
l
a
c
e
leg
a
c
y
P
ID
c
o
n
tro
l
lers
w
it
h
o
u
t
th
e
n
e
e
d
f
o
r
"
s
y
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m
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re
d
e
si
g
n
(p
lu
g
a
n
d
p
l
a
y
),
th
e
y
a
re
r
e
a
d
il
y
e
m
b
e
d
d
a
b
le
in
v
a
rio
u
s
in
stru
m
e
n
ts,
e
q
u
i
p
m
e
n
t,
a
n
d
sm
a
rt
c
o
n
tro
l
v
a
lv
e
s.
T
h
is
a
ll
e
v
i
a
te
s
c
o
n
c
e
rn
s
re
lativ
e
to
c
o
st
o
f
c
h
a
n
g
e
a
n
d
a
lso
m
a
k
e
s
M
F
A
a
n
a
p
p
e
a
li
n
g
to
o
l
f
o
r
OEM
a
p
p
li
c
a
ti
o
n
s o
n
a
larg
e
sc
a
le
.
K
ey
w
o
r
d
:
Mo
d
el
-
Fre
e
A
d
ap
ti
v
e
(
MF
A
)
co
n
tr
o
l
Neu
r
al
n
et
w
o
r
k
P
I
D
(
P
r
o
p
o
r
tio
n
al,
I
n
teg
r
al,
Der
iv
ati
v
e)
co
n
tr
o
ller
Set p
o
in
t
Co
p
y
rig
h
t
©
2
0
1
8
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
All
rig
h
ts re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
A
l
S
m
ad
i T
ak
iald
d
in
,
Dep
ar
t
m
en
t o
f
C
o
m
m
u
n
icatio
n
s
a
n
d
E
lectr
o
n
ics E
n
g
i
n
ee
r
in
g
,
Facu
lt
y
o
f
E
n
g
i
n
ee
r
i
n
g
,
J
er
ash
Un
i
v
er
s
it
y
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J
o
r
d
an
.
P
.
O
B
o
x
: 3
1
1
-
P
o
s
t Co
d
e
: 2
6
1
5
0
J
er
ash
.
E
m
ail:
ta
k
iald
d
in
a
@
y
ah
o
o
.
co
m
1.
I
NT
RO
D
UCT
I
O
N
Mo
d
el
-
Fre
e
A
d
ap
ti
v
e
(
MF
A
)
co
n
tr
o
l,
as
its
n
a
m
e
s
u
g
g
est
s
,
is
an
ad
ap
tiv
e
co
n
tr
o
l
m
et
h
o
d
th
at
d
o
es
n
o
t
r
eq
u
ir
e
p
r
o
ce
s
s
m
o
d
els.
A
Mo
d
el
-
Fre
e
A
d
ap
tiv
e
co
n
tr
o
l
s
y
s
te
m
i
s
d
ef
i
n
ed
to
h
a
v
e
t
h
e
f
o
llo
w
i
n
g
p
r
o
p
er
ties
:
P
r
ec
is
e
q
u
an
titati
v
e
k
n
o
w
led
g
e
o
f
th
e
p
r
o
ce
s
s
is
n
o
t n
ec
es
s
a
r
y
;
P
r
o
ce
s
s
id
en
tif
icatio
n
m
ec
h
a
n
i
s
m
o
r
id
en
ti
f
ier
is
n
o
t in
cl
u
d
e
d
in
th
e
s
y
s
te
m
;
C
o
n
tr
o
ller
d
esig
n
f
o
r
a
s
p
ec
if
i
c
p
r
o
ce
s
s
is
n
o
t n
ee
d
ed
;
Ma
n
u
a
l tu
n
i
n
g
o
f
co
n
tr
o
ller
p
ar
a
m
eter
s
is
n
o
t r
eq
u
ir
ed
;
an
d
C
lo
s
ed
-
lo
o
p
s
y
s
te
m
s
tab
ilit
y
a
n
al
y
s
i
s
an
d
cr
ite
r
ia
ar
e
av
ailab
le
to
g
u
ar
an
tee
th
e
s
y
s
te
m
s
tab
ilit
y
Var
iatio
n
s
o
f
t
h
e
co
r
e
MF
A
c
o
n
tr
o
l te
ch
n
o
lo
g
y
ad
d
r
ess
s
p
e
cif
ic
co
n
t
r
o
l p
r
o
b
le
m
s
as d
escr
ib
ed
h
er
e.
1.
SISO
(
Si
n
g
le
I
n
p
u
t
S
in
g
le
O
u
tp
u
t)
M
F
A
to
r
ep
lace
P
I
D
(
P
r
o
p
o
tio
n
al,
I
n
teg
r
al,
Der
i
v
at
iv
e)
co
n
tr
o
ller
s
o
th
at
m
a
n
u
al
co
n
tr
o
ller
tu
n
i
n
g
is
eli
m
i
n
ated
,
2.
No
n
li
n
ea
r
MF
A
to
co
n
tr
o
l n
o
n
lin
ea
r
p
r
o
ce
s
s
es,
3.
MF
A
p
H
co
n
tr
o
ller
to
co
n
tr
o
l p
H
p
r
o
ce
s
s
es,
4.
Feed
f
o
r
w
ar
d
MF
A
co
n
tr
o
ller
to
d
ea
l w
ith
m
ea
s
u
r
ab
le
d
is
t
u
r
b
an
ce
s
,
5.
An
ti
-
d
ela
y
M
F
A
to
co
n
tr
o
l p
r
o
ce
s
s
es
w
it
h
lar
g
e
ti
m
e
d
ela
y
s
,
6.
R
o
b
u
s
t M
F
A
to
p
r
o
tect
th
e
p
r
o
ce
s
s
v
ar
iab
le
f
r
o
m
r
u
n
n
i
n
g
o
u
ts
id
e
a
b
o
u
n
d
,
7.
T
im
e
-
v
ar
y
i
n
g
MF
A
co
n
tr
o
ller
to
co
n
tr
o
l
ti
m
e
v
ar
y
in
g
p
r
o
ce
s
s
es,
8.
An
ti
-
d
ela
y
M
F
A
p
H
co
n
tr
o
lle
r
f
o
r
p
H
p
r
o
ce
s
s
es
w
it
h
v
ar
y
in
g
ti
m
e
d
ela
y
s
,
a
n
d
9.
MI
MO
(
Mu
lti I
n
p
u
t M
u
l
ti Ou
t
p
u
t)
MF
A
to
co
n
tr
o
l
m
u
lti
v
ar
i
ab
le
p
r
o
ce
s
s
es.
Gen
er
al
-
p
u
r
p
o
s
e
o
r
ap
p
licatio
n
-
s
p
ec
if
ic
MF
A
co
n
tr
o
ller
s
ca
n
b
e
r
ea
d
ily
e
m
b
ed
d
ed
an
d
ar
e
b
ec
o
m
i
n
g
av
ailab
le
o
n
m
o
r
e
an
d
m
o
r
e
p
latf
o
r
m
s
o
f
f
er
ed
b
y
v
ar
io
u
s
v
e
n
d
o
r
s
s
u
p
p
l
y
i
n
g
b
u
ild
i
n
g
co
n
t
r
o
ller
s
,
s
in
g
le
-
lo
o
p
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8938
IJ
-
AI
Vo
l.
7
,
No
.
4
,
Dec
em
b
er
20
1
8
:
16
4
–
16
9
166
co
n
tr
o
ller
s
,
p
r
o
g
r
a
m
m
ab
le
lo
g
ic
co
n
tr
o
ller
s
(
P
L
C
s
)
,
h
y
b
r
id
c
o
n
tr
o
ller
s
,
p
r
o
ce
s
s
au
to
m
a
tio
n
co
n
tr
o
ller
s
(
P
A
C
)
,
co
n
tr
o
l so
f
t
w
ar
e,
an
d
d
i
s
tr
ib
u
t
ed
co
n
tr
o
l sy
s
te
m
s
(
D
C
S).
[
1
]
2.
CO
NCEPT
A
ND
SI
G
N
I
F
I
C
ANCE
O
F
M
O
DE
L
-
F
RE
E
ADAP
T
I
VE
CO
N
T
RO
L
A
Mo
d
el
-
Fre
e
A
d
ap
ti
v
e
co
n
tr
o
l s
y
s
te
m
h
as t
h
e
f
o
llo
w
i
n
g
p
r
o
p
er
ties
an
d
f
ea
tu
r
e
s
:
1.
No
p
r
ec
is
e
q
u
an
titati
v
e
k
n
o
w
l
ed
g
e
o
f
th
e
p
r
o
ce
s
s
is
a
v
ailab
l
e;
2.
No
p
r
o
ce
s
s
id
en
tif
icatio
n
m
ec
h
an
i
s
m
o
r
id
en
tifie
r
is
in
c
lu
d
e
d
in
th
e
s
y
s
te
m
;
3.
No
co
n
tr
o
ller
d
esig
n
f
o
r
a
s
p
ec
if
ic
p
r
o
ce
s
s
is
n
ee
d
ed
;
4.
No
co
m
p
licated
m
an
u
al
t
u
n
in
g
o
f
co
n
tr
o
ller
p
ar
a
m
eter
s
i
s
r
eq
u
ir
ed
; a
n
d
5.
Stab
ilit
y
a
n
al
y
s
i
s
cr
iter
ia
ar
e
av
ailab
le
to
g
u
ar
an
tee
t
h
e
clo
s
e
d
-
lo
o
p
s
y
s
te
m
s
tab
ili
t
y
.
T
h
e
ess
en
ce
o
f
MF
A
co
n
tr
o
l
is
d
escr
ib
ed
w
it
h
d
is
c
u
s
s
io
n
s
r
elatin
g
to
co
m
b
u
s
tio
n
p
r
o
ce
s
s
co
n
tr
o
l
o
n
th
e
f
o
llo
w
i
n
g
f
i
v
e
i
s
s
u
es:
2
.
1
.
P
r
o
ce
s
s
K
no
w
ledg
e
I
s
s
u
e
Mo
s
t
ad
v
an
ce
d
co
n
tr
o
l
m
et
h
o
d
s
ar
e
b
ased
o
n
a
g
o
o
d
u
n
d
er
s
tan
d
in
g
o
f
th
e
p
r
o
ce
s
s
an
d
its
en
v
ir
o
n
m
en
t.
L
ap
lace
tr
an
s
f
er
f
u
n
ctio
n
s
o
r
d
if
f
er
en
tia
l
eq
u
atio
n
s
ar
e
u
s
ed
t
o
r
ep
r
esen
t
th
e
p
r
o
ce
s
s
d
y
n
a
m
i
cs.
I
n
m
a
n
y
p
r
o
ce
s
s
co
n
tr
o
l
ap
p
licatio
n
s
,
h
o
w
e
v
er
,
th
e
d
y
n
a
m
ic
s
m
a
y
b
e
to
o
c
o
m
p
lex
o
r
th
e
p
h
y
s
ical
p
r
o
ce
s
s
is
n
o
t
w
e
ll
u
n
d
er
s
to
o
d
.
Qu
a
n
titati
v
e
k
n
o
w
led
g
e
o
f
th
e
p
r
o
ce
s
s
is
th
e
n
n
o
t a
v
ai
lab
le.
T
h
is
i
s
ca
lled
a
“
b
lack
b
o
x
”
p
r
o
b
lem
.
I
n
m
a
n
y
ca
s
es,
o
n
e
m
a
y
h
av
e
s
o
m
e
k
n
o
w
led
g
e
o
f
t
h
e
p
r
o
ce
s
s
b
u
t
ar
e
n
o
t
s
u
r
e
if
t
h
e
k
n
o
w
led
g
e
i
s
ac
cu
r
ate
o
r
n
o
t.
I
n
p
r
o
ce
s
s
co
n
t
r
o
l
in
clu
d
i
n
g
co
m
b
u
s
tio
n
co
n
tr
o
l
ap
p
licat
io
n
s
,
it
i
s
o
f
te
n
d
ea
l
w
it
h
r
a
w
m
ater
ial
s
,
w
ild
in
f
lo
w
s
,
c
h
an
g
i
n
g
f
u
el
t
y
p
e
an
d
h
ea
tin
g
v
a
lu
e
s
,
u
n
p
r
ed
ictab
le
d
o
w
n
s
tr
ea
m
d
e
m
an
d
ch
an
g
e
s
,
an
d
f
r
eq
u
en
t
s
w
itc
h
es o
f
p
r
o
d
u
ct
s
ize,
r
ec
ip
e,
b
atch
,
an
d
lo
ad
s
.
T
h
ese
all
l
ea
d
to
a
co
m
m
o
n
p
r
o
b
le
m
: t
h
a
t is,
o
n
e
is
n
o
t s
u
r
e
if
t
h
e
p
r
o
ce
s
s
k
n
o
w
led
g
e
is
ac
cu
r
ate
o
r
n
o
t.
T
h
is
is
ca
lled
a
“g
r
a
y
b
o
x
”
p
r
o
b
lem
.
I
f
q
u
a
n
titati
v
e
k
n
o
w
led
g
e
o
f
th
e
p
r
o
ce
s
s
i
s
a
v
ailab
le,
w
e
h
av
e
a
“w
h
ite
b
o
x
”
to
d
ea
l
w
it
h
.
I
t
i
s
a
r
elativ
el
y
s
i
m
p
le
tas
k
to
d
esi
g
n
a
co
n
tr
o
ller
f
o
r
th
e
p
r
o
ce
s
s
in
t
h
i
s
ca
s
e
b
ec
a
u
s
e
w
e
ca
n
u
s
e
w
ell
-
estab
li
s
h
ed
co
n
tr
o
l
m
et
h
o
d
s
an
d
to
o
ls
.
A
lt
h
o
u
g
h
Mo
d
el
-
Fre
e
A
d
ap
ti
v
e
co
n
tr
o
l
ca
n
ac
tu
all
y
d
ea
l w
it
h
b
lack
,
g
r
a
y
,
an
d
w
h
ite
b
o
x
p
r
o
b
lem
s
,
it
is
m
o
r
e
s
u
itab
le
to
d
ea
l
w
it
h
t
h
e
g
r
a
y
b
o
x
p
r
o
b
le
m
.
Mo
s
t i
n
d
u
s
tr
ial
p
r
o
ce
s
s
es a
r
e
g
r
a
y
b
o
x
es
2
.
2
.
P
r
o
ce
s
s
I
dentif
ica
t
io
n Is
s
ue.
Fo
r
tr
ad
itio
n
al
ad
ap
tiv
e
co
n
tr
o
l
m
et
h
o
d
s
,
i
f
t
h
e
q
u
an
t
itati
v
e
k
n
o
w
led
g
e
o
f
t
h
e
p
r
o
ce
s
s
i
s
n
o
t
av
ailab
le,
an
o
n
-
li
n
e
o
r
o
f
f
-
li
n
e
id
en
tifi
er
is
r
eq
u
ir
ed
to
o
b
tain
t
h
e
p
r
o
ce
s
s
d
y
n
a
m
ics.
T
h
is
co
n
tr
ib
u
tes
to
a
n
u
m
b
er
o
f
f
u
n
d
a
m
en
ta
l p
r
o
b
lem
s
:
1.
T
h
e
h
ea
d
ac
h
e
o
f
o
f
f
-
lin
e
t
r
ai
n
i
n
g
t
h
at
m
i
g
h
t b
e
r
eq
u
ir
ed
,
2.
T
h
e
tr
ad
eo
f
f
b
et
w
ee
n
t
h
e
p
er
s
is
ten
t
ex
ci
tatio
n
o
f
s
i
g
n
als
f
o
r
co
r
r
ec
t
id
en
tif
icatio
n
an
d
t
h
e
s
tead
y
s
y
s
te
m
re
s
p
o
n
s
e
f
o
r
co
n
tr
o
l p
er
f
o
r
m
a
n
ce
,
3.
T
h
e
m
o
d
el
co
n
v
er
g
e
n
ce
an
d
l
o
ca
l
m
in
i
m
u
m
p
r
o
b
lem
s
,
an
d
4.
T
h
e
sy
st
em
st
ab
i
l
i
t
y
i
ss
ue
s.
T
h
e
m
ai
n
r
ea
s
o
n
th
at
id
en
t
if
i
ca
tio
n
-
b
ased
co
n
tr
o
l
m
et
h
o
d
s
ar
e
n
o
t
w
e
ll
s
u
ited
f
o
r
p
r
o
ce
s
s
co
n
tr
o
l
is
th
at
co
n
tr
o
l
an
d
id
en
ti
f
ica
tio
n
ar
e
al
w
a
y
s
in
co
n
f
lic
t.
Go
o
d
co
n
tr
o
l
w
ill
lead
to
a
s
tead
y
s
tate
w
h
er
e
s
etp
o
in
t
(
SP
)
,
co
n
tr
o
ller
o
u
tp
u
t
(
OP
)
,
an
d
p
r
o
ce
s
s
v
a
r
iab
le
(
P
V)
w
il
l
s
h
o
w
s
tr
aig
h
t
li
n
es
o
n
a
tr
en
d
ch
ar
t.
Si
n
ce
an
y
s
tab
le
s
y
s
te
m
ca
n
r
ea
ch
a
s
tea
d
y
s
tate
w
h
er
e
p
r
o
ce
s
s
d
y
n
a
m
i
c
ch
an
g
es
ca
n
n
o
t
b
e
s
ee
n
,
g
o
o
d
id
en
tif
ica
tio
n
m
a
y
r
eq
u
ir
e
in
s
er
tio
n
o
f
test
s
ig
n
al
s
.
T
h
is
r
eq
u
ir
e
m
e
n
t is
n
o
t e
asil
y
ac
ce
p
ted
b
y
p
lan
t o
p
er
ato
r
s
.
MF
A
co
n
tr
o
l
av
o
id
s
th
e
f
u
n
d
a
m
en
tal
p
r
o
b
lem
s
b
y
n
o
t
u
s
i
n
g
an
y
id
en
ti
f
icat
io
n
m
ec
h
a
n
is
m
i
n
th
e
s
y
s
te
m
.
O
n
ce
a
n
MF
A
co
n
tr
o
l
ler
is
lau
n
ch
ed
,
it w
ill
ta
k
e
o
v
e
r
co
n
tr
o
l
im
m
ed
iatel
y
.
T
h
e
MF
A
alg
o
r
it
h
m
s
u
s
ed
to
u
p
d
ate
th
e
w
eig
h
ti
n
g
f
ac
to
r
s
ar
e
b
ased
o
n
a
s
o
le
o
b
j
ec
tiv
e,
w
h
ic
h
is
to
m
i
n
i
m
ize
th
e
er
r
o
r
b
et
w
ee
n
SP
an
d
P
V.
T
h
at
m
ea
n
s
,
w
h
en
t
h
e
p
r
o
ce
s
s
is
in
a
s
tead
y
s
tate
w
h
er
e
er
r
o
r
is
clo
s
e
to
ze
r
o
,
th
er
e
i
s
n
o
n
ee
d
to
u
p
d
ate
th
e
MF
A
w
ei
g
h
ti
n
g
f
ac
to
r
s
.
3.
CO
NT
RO
L
L
E
R
DE
SI
G
N
I
SS
UE
T
h
e
m
ai
n
r
ea
s
o
n
P
I
D
is
s
t
ill
p
o
p
u
lar
is
th
at
it
is
a
g
en
er
al
-
p
u
r
p
o
s
e
co
n
tr
o
ller
th
at
d
o
es
n
o
t
r
eq
u
ir
e
co
n
tr
o
ller
d
esig
n
p
r
o
ce
d
u
r
es.
Desig
n
i
n
g
a
co
n
tr
o
ller
f
o
r
a
s
p
ec
if
ic
ap
p
licatio
n
r
eq
u
ir
es
s
p
e
cial
ex
p
er
tis
e.
Si
n
ce
m
o
s
t
ad
v
a
n
ce
d
co
n
tr
o
ller
s
ar
e
m
o
d
el
-
b
ased
,
t
h
e
y
ca
n
n
o
t
b
e
a
g
en
er
al
-
p
u
r
p
o
s
e
co
n
tr
o
ller
.
T
h
u
s
,
th
e
y
ar
e
n
o
t
w
id
el
y
u
s
ed
in
p
r
o
ce
s
s
co
n
tr
o
l
,
alth
o
u
g
h
t
h
ese
m
et
h
o
d
s
h
a
v
e
b
ee
n
d
ev
elo
p
ed
f
o
r
3
0
to
4
0
y
ea
r
s
.
MF
A
co
n
tr
o
ller
s
ar
e
g
e
n
er
al
-
p
u
r
p
o
s
e
co
n
tr
o
ller
s
to
o
.
A
n
u
m
b
er
o
f
MF
A
co
n
tr
o
ller
s
h
av
e
b
ee
n
d
ev
elo
p
ed
to
co
n
tr
o
l
a
v
ar
ie
t
y
o
f
p
r
o
b
lem
a
tic
i
n
d
u
s
tr
ial
lo
o
p
s
.
E
x
a
m
p
le
s
i
n
clu
d
e
SISO
MF
A
to
r
ep
lace
P
I
D
an
d
r
eq
u
ir
es
n
o
m
a
n
u
al
t
u
n
i
n
g
,
No
n
lin
ea
r
MF
A
to
co
n
tr
o
l
e
x
tr
e
m
e
l
y
n
o
n
li
n
ea
r
p
r
o
ce
s
s
es,
An
ti
-
d
ela
y
M
F
A
to
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
-
AI
I
SS
N:
2252
-
8938
O
ve
r
view o
f Mo
d
el
F
r
ee
A
d
a
p
tive
(
MFA
)
C
o
n
tr
o
l Tec
h
n
o
lo
g
y
(
A
l S
ma
d
i Ta
kia
ld
d
in
)
167
co
n
tr
o
l
p
r
o
ce
s
s
es
w
i
th
lar
g
e
ti
m
e
d
ela
y
s
;
MI
MO
MF
A
to
co
n
tr
o
l
m
u
lti
v
ar
iab
l
e
p
r
o
ce
s
s
es;
Feed
f
o
r
w
ar
d
MF
A
to
d
ea
l
w
ith
lar
g
e
m
ea
s
u
r
ab
le
d
is
tu
r
b
an
ce
s
;
a
n
d
R
o
b
u
s
t
M
F
A
t
o
f
o
r
ce
th
e
p
r
o
ce
s
s
v
ar
iab
le
to
s
ta
y
w
i
th
i
n
d
ef
i
n
ed
b
o
u
n
d
s
.
Fo
r
an
MFA
co
n
tr
o
ller
u
s
er
,
th
er
e
ar
e
n
o
c
o
n
tr
o
ller
d
esig
n
p
r
o
ce
d
u
r
es
r
eq
u
ir
ed
.
On
e
ca
n
s
im
p
l
y
s
e
lect
th
e
ap
p
r
o
p
r
iate
c
o
n
tr
o
ller
as
its
n
a
m
e
s
u
g
g
est
s
,
co
n
f
i
g
u
r
e
th
e
co
n
tr
o
ller
w
ith
ce
r
tai
n
p
ar
a
m
e
ter
s
an
d
lau
n
c
h
t
h
e
MF
A
co
n
tr
o
ller
.
T
h
is
is
o
n
e
o
f
th
e
m
aj
o
r
d
if
f
er
en
ce
s
b
et
wee
n
a
Mo
d
el
-
Fre
e
A
d
ap
tiv
e
c
o
n
tr
o
ller
an
d
o
th
er
m
o
d
el
-
b
ased
ad
v
a
n
ce
d
co
n
tr
o
ller
s
.
4.
CO
NT
RO
L
L
E
R
P
ARAM
E
T
E
R
T
UN
I
N
G
I
S
SUE
An
ad
ap
tiv
e
co
n
tr
o
ller
s
h
o
u
ld
n
o
t
n
ee
d
to
b
e
m
a
n
u
a
ll
y
t
u
n
e
d
.
T
h
is
is
also
tr
u
e
f
o
r
MFA
co
n
tr
o
ller
s
.
MF
A
ca
n
ad
ap
t
to
n
e
w
o
p
er
atin
g
co
n
d
itio
n
s
d
u
e
to
ch
a
n
g
es
i
n
p
r
o
ce
s
s
d
y
n
a
m
ic
s
,
lo
ad
s
,
o
r
d
is
tu
r
b
an
ce
s
,
an
d
th
er
e
is
n
o
m
a
n
u
a
l
tu
n
i
n
g
r
eq
u
ir
ed
.
A
s
a
u
s
er
-
f
r
ie
n
d
l
y
f
e
atu
r
e,
ce
r
tain
p
ar
a
m
eter
s
ar
e
a
v
ailab
le
to
allo
w
t
h
e
u
s
er
to
q
u
ick
l
y
ad
j
u
s
t t
h
e
co
n
t
r
o
l p
er
f
o
r
m
an
ce
.
5.
SYST
E
M
ST
AB
I
L
I
T
Y
I
SS
UE
C
o
n
tr
o
l
s
y
s
te
m
s
tab
ilit
y
a
n
al
y
s
is
i
s
al
w
a
y
s
an
i
m
p
o
r
tan
t
i
s
s
u
e
b
ec
au
s
e
it
d
eter
m
i
n
es
i
f
t
h
e
co
n
tr
o
ller
w
il
l
b
e
u
s
e
f
u
l
in
p
r
ac
tice.
W
h
e
n
th
e
s
y
s
te
m
s
tab
ilit
y
cr
iter
io
n
is
av
ailab
le,
o
n
e
ca
n
u
s
e
t
h
e
c
r
iter
io
n
to
d
ec
id
e
if
th
e
co
n
tr
o
l s
y
s
te
m
ca
n
b
e
s
af
e
l
y
p
u
t i
n
o
p
er
atio
n
.
T
h
e
s
tab
ilit
y
o
f
t
h
e
o
v
er
all
clo
s
ed
-
lo
o
p
co
n
tr
o
l
s
y
s
te
m
i
s
r
elate
d
to
th
e
p
r
o
ce
s
s
,
th
e
co
n
tr
o
ller
,
an
d
th
e
m
o
d
el
i
n
th
e
f
o
llo
w
i
n
g
w
a
y
:
1.
S
tab
ilit
y
o
f
th
e
p
r
o
ce
s
s
i
s
ass
u
m
ed
(
i.e
.
,
th
e
p
r
o
ce
s
s
is
o
p
en
-
l
o
o
p
s
tab
le)
;
2.
S
tab
ilit
y
o
f
th
e
co
n
tr
o
l lo
o
p
m
u
s
t b
e
g
u
ar
an
teed
b
y
t
h
e
co
n
v
er
g
en
ce
o
f
t
h
e
m
o
d
el;
b
u
t
3.
C
o
n
v
er
g
e
n
ce
o
f
t
h
e
m
o
d
el
i
s
d
ep
en
d
en
t
o
n
t
h
e
s
tab
ili
t
y
a
n
d
p
er
s
is
ten
t
e
x
citatio
n
o
f
s
ig
n
als
o
r
ig
i
n
ati
n
g
f
r
o
m
t
h
e
co
n
tr
o
l lo
o
p
.
T
h
is
is
a
c
ir
cu
lar
ar
g
u
m
e
n
t
t
h
at
it
i
s
d
if
f
ic
u
lt
to
r
eso
lv
e.
T
h
u
s
,
t
h
er
e
i
s
n
o
g
e
n
er
al
s
tab
il
it
y
cr
iter
io
n
av
ailab
le
f
o
r
a
m
o
d
el
-
b
ased
ad
ap
tiv
e
co
n
tr
o
l
s
y
s
te
m
.
I
n
o
th
er
w
o
r
d
s
,
ea
c
h
ti
m
e
a
m
o
d
el
-
b
ased
ad
ap
tiv
e
co
n
tr
o
ller
is
u
s
ed
in
a
co
n
tr
o
l
s
y
s
te
m
,
its
s
tab
ili
t
y
h
a
s
to
b
e
an
al
y
ze
d
.
T
h
is
is
ce
r
tain
l
y
a
m
aj
o
r
tech
n
ical
b
ar
r
ier
in
ap
p
l
y
i
n
g
m
o
d
el
-
b
ased
ad
ap
tiv
e
co
n
tr
o
l
m
eth
o
d
s
.
I
n
co
n
t
r
ast,
s
i
n
ce
MF
A
d
o
es
n
o
t
h
av
e
an
id
en
tifie
r
,
a
g
en
er
a
l
s
y
s
te
m
s
tab
ilit
y
cr
iter
io
n
is
d
ev
elo
p
ed
.
T
h
at
is
,
if
th
e
p
r
o
ce
s
s
is
p
ass
i
v
e
(
a
p
r
o
ce
s
s
th
at
d
o
es
n
o
t
g
en
er
ate
en
er
g
y
o
r
h
ea
t
b
y
its
e
l
f
)
,
th
e
clo
s
ed
-
lo
o
p
MF
A
co
n
tr
o
l
s
y
s
te
m
s
tab
il
it
y
is
g
u
ar
a
n
teed
,
an
d
t
h
e
p
r
o
ce
s
s
ca
n
b
e
li
n
ea
r
/n
o
n
li
n
ea
r
,
ti
m
e
i
n
v
ar
ian
t/
ti
m
e
-
v
ar
y
i
n
g
,
etc.
A
co
m
b
u
s
t
io
n
p
r
o
ce
s
s
(
f
o
r
ex
a
m
p
le,
t
h
e
in
ter
n
al
co
m
b
u
s
t
io
n
en
g
i
n
e)
is
a
p
ass
i
v
e
p
r
o
ce
s
s
s
i
n
ce
th
e
h
ea
t i
t g
e
n
er
ates
h
as to
co
m
e
f
r
o
m
b
u
r
n
i
n
g
f
u
el
f
r
o
m
o
u
ts
id
e
o
f
th
e
p
r
o
ce
s
s
.
[
2
]
6.
SI
SO
M
O
DE
L
-
F
RE
E
ADA
P
T
I
V
E
CO
NT
RO
L
L
E
R
A
s
i
n
g
le
-
lo
o
p
MFA
co
n
tr
o
l
s
y
s
te
m
i
n
cl
u
d
es
a
s
in
g
le
-
i
n
p
u
t
-
s
i
n
g
le
-
o
u
tp
u
t
(
SISO)
p
r
o
ce
s
s
,
a
SISO
MF
A
co
n
tr
o
ller
,
an
d
a
f
ee
d
b
ac
k
lo
o
p
as illu
s
tr
ated
i
n
F
i
g
u
r
e
1
.
Fig
u
r
e
1
.
Sin
g
le
-
lo
o
p
MFA
co
n
tr
o
l s
y
s
te
m
T
h
e
co
n
tr
o
l
o
b
j
ec
tiv
e
is
f
o
r
t
h
e
co
n
tr
o
ller
to
p
r
o
d
u
ce
an
o
u
tp
u
t
u
(
t)
s
h
o
w
n
in
ab
o
v
e
F
ig
u
r
e
as
OP
to
f
o
r
ce
th
e
p
r
o
ce
s
s
v
ar
iab
le
y
(
t
)
s
h
o
w
n
i
n
ab
o
v
e
f
i
g
u
r
e
as
P
V
to
tr
ac
k
th
e
g
i
v
e
n
tr
aj
ec
to
r
y
o
f
its
s
etp
o
in
t
r
(
t)
s
h
o
w
n
in
ab
o
v
e
f
i
g
u
r
e
as SP
u
n
d
er
v
ar
iatio
n
s
o
f
s
etp
o
in
t,
d
is
tu
r
b
an
ce
s
,
a
n
d
p
r
o
ce
s
s
d
y
n
a
m
i
cs.
I
n
o
th
er
w
o
r
d
s
,
th
e
ta
s
k
o
f
t
h
e
MF
A
co
n
tr
o
lle
r
is
to
m
in
i
m
ize
th
e
er
r
o
r
e(
t)
in
a
n
o
n
li
n
e
f
as
h
io
n
,
w
h
er
e
e(
t)
is
t
h
e
d
if
f
er
e
n
ce
b
et
w
ee
n
th
e
s
etp
o
in
t
r
(
t)
an
d
th
e
p
r
o
ce
s
s
v
ar
iab
le
y
(
t)
.
T
h
e
m
i
n
i
m
izat
io
n
o
f
e
r
r
o
r
e
(
t)
is
ac
h
iev
ed
b
y
(
i)
th
e
r
eg
u
lato
r
y
co
n
tr
o
l
ca
p
ab
ilit
y
o
f
t
h
e
MF
A
co
n
tr
o
ller
,
an
d
(
ii)
th
e
ad
j
u
s
t
m
en
t
o
f
t
h
e
MF
A
co
n
tr
o
ller
w
e
ig
h
ti
n
g
f
ac
to
r
s
th
at
allo
w
th
e
co
n
tr
o
ller
to
d
ea
l
w
i
th
p
r
o
ce
s
s
d
y
n
a
m
ic
ch
a
n
g
e
s
,
d
is
tu
r
b
an
ce
s
,
an
d
o
th
er
u
n
ce
r
tain
t
ies.
[
4
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8938
IJ
-
AI
Vo
l.
7
,
No
.
4
,
Dec
em
b
er
20
1
8
:
16
4
–
16
9
168
7.
M
F
A
CO
NT
RO
L
L
E
R
A
RC
H
I
T
E
CT
U
RE
Fig
u
r
e
2
illu
s
tr
ate
s
th
e
co
r
e
ar
ch
itect
u
r
e
o
f
a
SISO
MFA
co
n
tr
o
ller
.
Used
as
a
k
ey
co
m
p
o
n
en
t,
a
m
u
ltil
a
y
er
p
er
ce
p
tr
o
n
n
eu
r
al
n
et
w
o
r
k
co
n
s
i
s
ts
o
f
o
n
e
in
p
u
t
lay
er
,
o
n
e
h
id
d
en
la
y
er
w
it
h
N
n
eu
r
o
n
s
,
an
d
o
n
e
o
u
tp
u
t la
y
er
w
ith
o
n
e
n
e
u
r
o
n
.
Fig
u
r
e
2
.
A
r
ch
itectu
r
e
o
f
a
SI
SO M
F
A
co
n
tr
o
ller
.
W
ith
in
th
e
n
e
u
r
al
n
e
t
w
o
r
k
t
h
e
r
e
is
a
g
r
o
u
p
o
f
w
ei
g
h
ti
n
g
f
ac
to
r
s
(
w
ij
an
d
h
i)
th
at
ca
n
b
e
u
p
d
ated
as
n
ee
d
ed
to
v
ar
y
th
e
b
eh
a
v
io
r
o
f
th
e
co
n
tr
o
ller
.
T
h
e
alg
o
r
ith
m
f
o
r
u
p
d
atin
g
t
h
e
w
ei
g
h
ti
n
g
f
ac
to
r
s
is
b
ased
o
n
th
e
g
o
al
o
f
m
i
n
i
m
izi
n
g
t
h
e
er
r
o
r
b
et
w
ee
n
t
h
e
s
etp
o
i
n
t
a
n
d
p
r
o
ce
s
s
v
ar
iab
le.
Si
n
ce
t
h
is
e
f
f
o
r
t
is
t
h
e
s
a
m
e
as
t
h
e
co
n
tr
o
l
o
b
j
ec
tiv
e,
th
e
ad
ap
tatio
n
o
f
th
e
w
ei
g
h
tin
g
f
ac
to
r
s
ca
n
ass
i
s
t
t
h
e
co
n
tr
o
ller
in
m
i
n
i
m
izi
n
g
t
h
e
er
r
o
r
w
h
il
e
p
r
o
ce
s
s
d
y
n
a
m
ic
s
ar
e
c
h
an
g
i
n
g
.
I
n
ad
d
itio
n
,
t
h
e
ar
ti
f
icial
n
e
u
r
al
n
et
w
o
r
k
b
ased
M
F
A
co
n
t
r
o
ller
"
r
em
e
m
b
er
s
"
a
p
o
r
tio
n
o
f
th
e
p
r
o
ce
s
s
d
ata
p
r
o
v
id
in
g
v
a
lu
ab
le
i
n
f
o
r
m
atio
n
f
o
r
th
e
p
r
o
ce
s
s
d
y
n
a
m
ics.
I
n
co
m
p
ar
i
s
o
n
,
a
d
i
g
ital
v
er
s
io
n
o
f
th
e
P
I
D
co
n
tr
o
ller
r
e
m
e
m
b
er
s
o
n
l
y
t
h
e
c
u
r
r
en
t
a
n
d
p
r
ev
io
u
s
t
w
o
s
a
m
p
le
s
.
I
n
t
h
is
r
e
g
ar
d
,
P
I
D
h
as
al
m
o
s
t
n
o
m
e
m
o
r
y
an
d
MF
A
p
o
s
s
ess
es t
h
e
m
e
m
o
r
y
th
a
t is e
s
s
e
n
tial to
a
"
s
m
ar
t"
co
n
tr
o
ller
.
[
3
]
A
co
n
ce
p
t
u
al
f
o
r
m
u
la
o
f
an
SISO
MF
A
co
n
tr
o
ller
is
g
i
v
en
i
n
th
e
E
q
u
atio
n
1
:
U(
t)
=
f
(
e(
t)
,
K
,
t )
(
1
)
W
h
er
e
K
is
t
h
e
MF
A
co
n
tr
o
ll
er
Gain
.
T
h
e
w
e
ig
h
ti
n
g
f
ac
to
r
s
o
f
t
h
e
MF
A
co
n
tr
o
ller
ar
e
u
p
d
ated
at
ev
er
y
ca
lcu
latio
n
c
y
c
le
u
s
i
n
g
a
lear
n
in
g
alg
o
r
ith
m
s
o
as
to
p
r
o
d
u
ce
th
e
co
r
r
ec
t
o
u
tp
u
t
U(
t)
to
m
i
n
i
m
ize
th
e
er
r
o
r
e(
t)
.
T
h
e
ac
tu
al
alg
o
r
ith
m
g
o
v
er
n
i
n
g
th
e
i
n
p
u
t
-
o
u
tp
u
t
o
f
th
e
SISO
MF
A
co
n
tr
o
ller
co
n
s
is
t
s
o
f
th
e
f
o
llo
w
i
n
g
d
if
f
er
e
n
ce
E
q
u
atio
n
s
:
(
)
=
∑
=
1
(
)
(
)
+
1
(
2
)
(
3
)
o
(
n
)
=
∑
h
j
N
j
=
1
(
n
)
q
j
(
n
)
+
1
(
4
)
v
(
t
)
=
K
c
[
o
(
t
)
+
e
(
t
)
]
,
(
5
)
W
h
er
e
n
d
en
o
tes
th
e
n
th
iter
ati
o
n
,
o
(
t)
is
th
e
co
n
tin
u
es
f
u
n
ctio
n
o
f
o
(
n
)
,
v
(
t)
is
th
e
o
u
tp
u
t
o
f
th
e
Mo
d
el
-
F
r
ee
A
d
ap
ti
v
e
co
n
tr
o
ller
,
Kc>
0
,
co
n
tr
o
ller
g
ai
n
,
is
a
p
ar
a
m
e
ter
u
s
ed
to
ad
j
u
s
t
th
e
m
a
g
n
it
u
d
e
o
f
th
e
co
n
tr
o
ller
o
u
tp
u
t
.
T
h
is
p
ar
a
m
eter
i
s
u
s
e
f
u
l
to
f
i
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t
u
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e
t
h
e
co
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tr
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ller
p
er
f
o
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m
an
ce
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k
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p
t
h
e
s
y
s
te
m
w
i
th
in
a
s
tab
le
r
an
g
e.
P
lease
r
ef
er
to
F
ig
u
r
e
2
f
o
r
th
e
ar
ch
itect
u
r
e
o
f
SISO
MF
A
an
d
its
r
elate
d
p
ar
a
m
eter
s
an
d
v
ar
iab
le.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
-
AI
I
SS
N:
2252
-
8938
O
ve
r
view o
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d
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d
a
p
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MFA
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C
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h
n
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y
(
A
l S
ma
d
i Ta
kia
ld
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in
)
169
An
o
n
li
n
e
lear
n
i
n
g
alg
o
r
it
h
m
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s
u
s
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MF
A
co
n
tr
o
ller
as f
o
llo
w
s
:
(
6
)
(
7
)
T
h
ey
ar
e
to
w
ar
d
s
th
e
g
o
al
o
f
m
i
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m
izin
g
e(
t)
,
w
h
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d
if
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b
et
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n
th
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s
et
p
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t
an
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ce
s
s
v
ar
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8.
M
F
A
VE
RSUS O
T
H
E
R
CO
NT
RO
L
M
E
T
H
O
DS C
O
M
P
ARIS
O
N
Sh
o
w
n
i
n
T
ab
le
1
p
r
o
v
id
es
a
co
m
p
ar
is
o
n
o
f
P
I
D,
Mo
d
el
P
r
ed
ictiv
e
C
o
n
tr
o
l
(
MP
C
)
,
R
o
b
u
s
t
co
n
tr
o
l
d
esig
n
m
eth
o
d
,
Mo
d
el
-
b
ased
A
d
ap
tiv
e
co
n
tr
o
l,
a
n
d
Mo
d
el
-
Fre
e
A
d
ap
tiv
e
(
MF
A
)
co
n
tr
o
l.
I
t c
an
b
e
co
n
clu
d
ed
th
at
M
F
A
co
m
b
i
n
es
th
e
m
er
it
s
o
f
all
o
f
th
e
s
e
co
n
tr
o
l
m
et
h
o
d
s
an
d
is
t
h
e
b
est
ca
n
d
id
ate
to
b
e
t
h
e
n
e
x
t
g
e
n
er
atio
n
o
f
m
ai
n
s
t
r
ea
m
p
r
o
ce
s
s
co
n
tr
o
l
ler
.
T
ab
le
1
.
C
o
m
p
ar
is
o
n
o
f
C
o
n
tr
o
l M
eth
o
d
s
C
o
mp
a
r
e
d
I
t
e
m
P
I
D
M
o
d
e
l
P
r
e
d
i
c
t
i
v
e
R
o
b
u
st
C
o
n
t
r
o
l
M
o
d
e
l
-
b
a
se
d
A
d
a
p
t
i
v
e
M
o
d
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l
-
F
r
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e
A
d
a
p
t
i
v
e
G
e
n
e
r
a
l
P
u
r
p
o
se
Y
N
N
N
Y
A
d
a
p
t
i
v
e
C
a
p
a
b
i
l
i
t
y
N
N
N
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Y
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o
p
r
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ss mo
d
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l
Y
N
N
N
Y
N
o
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d
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f
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a
t
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o
n
Y
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N
Y
N
o
c
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n
t
r
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l
l
e
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d
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g
n
Y
N
N
N
Y
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o
c
o
n
t
r
o
l
l
e
r
man
u
a
l
t
u
n
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n
g
N
Y
Y
Y
Y
S
t
a
b
i
l
i
t
y
c
r
i
t
e
r
i
a
a
v
a
i
l
a
b
l
e
Y
Y
/
N
Y
Y
/
N
Y
Ea
sy
t
o
u
se
a
n
d
ma
i
n
t
a
i
n
N
N
N
N
Y
C
a
n
d
i
d
a
t
e
f
o
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e
x
t
g
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n
e
r
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t
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o
n
m
a
i
n
st
r
e
a
m c
o
n
t
r
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l
l
e
r
N
N
N
N
Y
9.
CO
NCLU
SI
O
N.
MF
A
is
n
eith
er
m
o
d
el
-
b
ased
n
o
r
r
u
le
-
b
ased
.
I
t
ca
n
b
e
s
aid
th
at
it
is
a
n
in
f
o
r
m
a
tio
n
-
b
as
ed
co
n
tr
o
l
m
et
h
o
d
.
I
f
th
e
ar
g
u
m
e
n
t
is
m
ad
e
th
at
th
e
p
r
o
ce
s
s
in
f
o
r
m
ati
o
n
u
s
ed
is
eq
u
i
v
ale
n
t
to
a
p
r
o
ce
s
s
m
o
d
el,
th
at
'
s
p
er
f
ec
tl
y
ac
ce
p
tab
le.
T
h
e
k
e
y
to
th
is
ap
p
r
o
ac
h
is
t
h
at
w
e
f
o
cu
s
o
n
d
eli
v
er
in
g
a
s
i
m
p
le,
ad
a
p
tiv
e,
an
d
e
f
f
ec
ti
v
e
s
o
lu
tio
n
.
User
s
ca
n
s
i
m
p
l
y
s
e
lect
th
e
ap
p
r
o
p
r
iate
MF
A
,
co
n
f
ig
u
r
e
it
s
p
ar
a
m
eter
s
,
la
u
n
ch
th
e
co
n
tr
o
ller
,
an
d
r
ea
p
th
e
b
en
ef
it
s
.
W
ith
t
h
e
p
r
o
p
er
ap
p
r
o
ac
h
,
n
o
m
a
n
u
al
tu
n
i
n
g
an
d
m
a
in
te
n
a
n
ce
is
r
eq
u
ir
ed
.
RE
F
E
R
E
NC
E
S
[1
]
A
li
,
Ha
id
e
r,
e
t
a
l.
"
I
m
p
le
m
e
n
tatio
n
&
Co
m
p
a
ra
ti
v
e
A
n
a
l
y
sis
o
f
1
0
,
1
8
&
2
4
L
e
v
e
l
Dio
d
e
Clam
p
e
d
In
v
e
rters
Us
in
g
“
T
ru
st Reg
io
n
Do
g
L
e
g
”
M
e
th
o
d
.
"
Circ
u
it
s a
n
d
S
y
ste
ms
6
.
0
3
(
2
0
1
5
)
:
7
0
.
[2
]
G
e
o
rg
e
S
h
u
-
X
i
n
g
Ch
e
n
g
,
M
F
A
in
Co
n
tr
o
l
w
it
h
Cy
b
o
Co
n
,
F
if
th
Ed
it
i
o
n
,
Cy
b
o
so
f
t,
Ge
n
e
ra
l
Cy
b
e
rn
a
ti
o
n
Gr
o
u
p
,
2
0
0
7
.
[3
]
G
e
o
rg
e
S
h
u
-
X
in
g
Ch
e
n
g
,
“
M
o
d
e
l
F
re
e
A
d
a
p
ti
v
e
(M
F
A
)
Co
n
tro
l,
”
IEE
Co
mp
u
ti
n
g
a
n
d
Co
n
tro
l
En
g
in
e
e
rin
g
,
J
u
n
e
,
Ju
ly
2
0
0
4
.
[4
]
G
e
o
rg
e
Ch
e
n
g
a
n
d
Qia
n
g
W
a
n
g
,
M
o
d
e
l
F
re
e
A
d
a
p
ti
v
e
Co
n
tro
l
o
f
Ev
a
p
o
ra
to
rs,
IEE
E
Dig
it
a
l
L
i
b
ra
ry
,
A
u
g
u
st,
S
e
p
tem
b
e
r
2
0
0
5
.
[5
]
V
a
n
c
e
J.
V
a
n
Do
re
n
,
A
n
Ov
e
rv
iew
o
f
Co
m
m
e
rc
ial
Tec
h
n
iq
u
e
s
f
o
r
A
d
a
p
ti
v
e
Co
n
tr
o
l,
IEE
Co
m
p
u
t
i
n
g
a
n
d
Co
n
tro
l
En
g
i
n
e
e
rin
g
,
Ju
n
e
,
Ju
ly
2
0
0
4
.
[6
]
Ch
e
n
g
,
G
e
o
rg
e
S
h
u
-
X
i
n
g
,
S
tev
e
n
L
.
M
u
lk
e
y
.
"
M
o
d
e
l
-
f
re
e
a
d
a
p
ti
v
e
(M
F
A
)
o
p
ti
m
iza
ti
o
n
"
.
U.S
.
P
a
te
n
t
No
.
7
,
4
1
5
,
4
4
6
.
1
9
A
u
g
.
2
0
0
8
.
[7
]
X
u
,
A
id
o
n
g
,
Ya
n
g
b
o
Zh
e
n
g
,
Ha
ib
in
Yu
.
"
Res
e
a
rc
h
o
n
th
e
a
p
p
li
c
a
ti
o
n
o
f
mo
d
e
l
fre
e
a
d
a
p
ti
v
e
(
M
FA
)
c
o
n
tr
o
l
i
n
g
a
s
tu
rb
i
n
e
.
"
El
e
c
tro
n
ic
M
e
a
su
re
m
e
n
t
&
In
stru
m
e
n
ts,
2
0
0
9
.
ICEM
I'
0
9
.
9
th
I
n
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
.
I
EE
E,
2
0
0
9
.
[8
]
Bu
,
X
u
-
H
u
i,
Zh
o
n
g
-
S
h
e
n
g
Ho
u
,
a
n
d
S
h
a
n
g
-
T
a
i
Jin
.
"
T
h
e
ro
b
u
st
n
e
ss
o
f
m
o
d
e
l
-
f
r
e
e
a
d
a
p
ti
v
e
c
o
n
tro
l
w
it
h
d
istu
r
b
a
n
c
e
su
p
p
re
ss
io
n
.
"
Co
n
tro
l
T
h
e
o
ry
&
Ap
p
li
c
a
ti
o
n
s
2
8
.
3
(
2
0
1
1
):
3
5
8
-
3
6
2
.
[9
]
W
a
n
g
,
Jin
g
,
e
t
a
l.
"
M
o
d
e
l
f
re
e
a
d
a
p
ti
v
e
c
o
n
tr
o
l
a
n
d
p
a
ra
m
e
t
e
r
tu
n
i
n
g
b
a
se
d
o
n
se
c
o
n
d
o
rd
e
r
u
n
iv
e
rsa
l
m
o
d
e
l.
"
J
o
u
rn
a
l
o
f
Ce
n
tr
a
l
S
o
u
th
U
n
ive
rs
it
y
(
S
c
ie
n
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
)
4
3
.
5
(
2
0
1
2
):
1
7
9
5
-
1
8
0
2
.
[1
0
]
A
l
S
m
a
d
i,
T
a
k
iald
d
in
,
F
a
ro
u
q
M
.
A
l
T
a
w
e
e
l,
a
n
d
A
l
-
Kh
a
w
a
ld
e
h
Ig
ried
.
"
Esti
m
a
ti
o
n
a
n
d
D
e
sig
n
T
e
c
h
n
iq
u
e
s
f
o
r
A
d
a
p
ti
v
e
De
lt
a
M
o
d
u
lati
o
n
Us
i
n
g
Ota
s."
[1
1
]
A
l
S
m
a
d
i,
T
a
k
i
a
ld
d
in
A
.
"
De
si
g
n
a
n
d
im
p
lem
e
n
tatio
n
o
f
d
o
u
b
le
b
a
se
in
teg
e
r
e
n
c
o
d
e
r
o
f
term
m
e
tri
c
a
l
to
d
irec
t
b
in
a
ry
.
"
J
o
u
rn
a
l
o
f
S
ig
n
a
l
a
n
d
I
n
f
o
rm
a
ti
o
n
Pr
o
c
e
ss
in
g
4
.
0
4
(
2
0
1
3
):
3
7
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.