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h
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ste
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c
o
m
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rise
s
th
re
e
m
a
in
c
o
m
p
o
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e
n
ts:
h
y
d
ra
u
li
c
,
c
o
n
tr
o
l,
a
n
d
m
e
a
su
re
m
e
n
t
s
y
ste
m
s.
To
a
c
h
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e
o
p
ti
m
a
l
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e
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o
rm
a
n
c
e
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th
e
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se
a
rc
h
b
e
g
in
s
w
it
h
p
re
p
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ri
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se
tp
o
i
n
t
d
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e
n
t/
f
o
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e
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a
ta
a
n
d
d
e
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l
o
p
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g
m
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ti
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a
l
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n
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o
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t
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li
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n
c
lo
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ly
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se
tp
o
in
t
v
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lu
e
s.
T
h
re
e
P
ID
tu
n
i
n
g
m
e
th
o
d
s
—
Zi
e
g
ler
-
Nic
h
o
l
s,
Co
h
e
n
-
Co
o
n
,
a
n
d
a
d
a
p
ti
v
e
c
o
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tro
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re
e
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lu
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ted
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im
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lt
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o
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ll
m
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o
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s
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ti
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c
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rf
o
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m
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e
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l
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ti
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rro
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w
1
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m
e
n
tatio
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rth
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o
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irm
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ffe
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ti
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ss
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o
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m
e
a
n
sq
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a
re
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n
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ica
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g
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ig
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re
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sp
it
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r
o
m
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re
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lt
s,
t
h
e
st
u
d
y
a
c
k
n
o
w
led
g
e
s
li
m
it
a
ti
o
n
s
d
u
e
t
o
re
stricte
d
d
a
t
a
se
ts
a
n
d
te
st
c
o
n
d
i
ti
o
n
s.
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u
tu
r
e
re
se
a
r
c
h
sh
o
u
l
d
a
d
d
re
ss
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ro
a
d
e
r
d
y
n
a
m
ic
lo
a
d
v
a
riatio
n
s,
n
o
n
li
n
e
a
rit
ies
su
c
h
a
s
f
lu
i
d
lea
k
a
g
e
a
n
d
h
y
ste
re
sis,
a
n
d
in
teg
ra
te
in
telli
g
e
n
t
o
p
ti
m
iza
ti
o
n
tec
h
n
iq
u
e
s
li
k
e
m
a
c
h
in
e
lea
rn
in
g
to
e
n
h
a
n
c
e
ro
b
u
stn
e
ss
a
n
d
a
d
a
p
tab
il
i
ty
.
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is
w
o
rk
co
n
tri
b
u
tes
to
im
p
ro
v
in
g
th
e
re
li
a
b
il
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n
d
a
c
c
u
ra
c
y
o
f
HSC
s
y
ste
m
s
in
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c
tu
ra
l
tes
ti
n
g
,
p
a
v
in
g
th
e
w
a
y
f
o
r
s
m
a
rt
e
r,
m
o
re
re
sp
o
n
siv
e
c
o
n
tro
l
stra
teg
ies
in
e
n
g
in
e
e
rin
g
a
p
p
li
c
a
ti
o
n
s.
K
ey
w
o
r
d
s
:
A
d
ap
tiv
e
co
n
tr
o
l
H
y
d
r
au
lic
s
er
v
o
co
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tr
o
l
H
y
d
r
au
lic
s
y
s
te
m
Ma
th
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m
atica
l
m
o
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el
s
P
r
o
p
o
r
tio
n
al,
in
teg
r
al,
d
er
iv
ativ
e
co
n
tr
o
ller
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
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-
SA
li
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e
n
se
.
C
o
r
r
e
s
p
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nd
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A
uth
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r
:
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r
i
W
id
o
d
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R
esear
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ter
f
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T
r
an
s
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atio
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ec
h
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o
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R
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d
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Selata
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1
5
3
1
4
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n
d
o
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esia
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m
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tr
i
w
0
0
5
@
b
r
in
.
g
o
.
id
1.
I
NT
RO
D
UCT
I
O
N
A
h
y
d
r
a
u
lic
s
er
v
o
co
n
tr
o
ller
(
HSC
)
i
s
a
n
elec
tr
o
n
ic
s
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s
te
m
d
esig
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ed
to
r
eg
u
late
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d
p
r
ess
u
r
e
w
it
h
i
n
a
h
y
d
r
au
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c
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lin
d
er
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t
h
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co
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tr
o
llin
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lo
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m
a
g
n
it
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d
e,
p
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io
n
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d
t
h
e
s
a
f
et
y
o
f
h
y
d
r
a
u
lic
s
y
s
te
m
o
p
er
atio
n
s
[
1
]
,
[
2
]
.
T
h
e
HSC
o
p
er
ates
o
n
a
c
o
m
p
u
ter
-
b
ased
p
latf
o
r
m
to
en
s
u
r
e
ac
cu
r
ate
co
m
m
a
n
d
ex
ec
u
tio
n
an
d
f
ee
d
b
ac
k
,
as
w
ell
as
test
s
af
et
y
[
3
]
–
[
5
]
,
as
illu
s
tr
ated
i
n
Fig
u
r
e
1
.
Nu
m
er
o
u
s
s
t
u
d
ies
h
av
e
ad
v
an
ce
d
th
e
d
ev
elo
p
m
en
t
o
f
HS
C
co
m
p
o
n
en
ts
,
i
n
cl
u
d
in
g
s
o
f
t
w
ar
e
f
o
r
H
SC
,
p
r
o
p
o
r
tio
n
al,
in
teg
r
al,
d
er
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ati
v
e
(
P
I
D)
co
n
tr
o
l
m
et
h
o
d
s
,
d
ig
ital
-
to
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a
n
alo
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an
d
an
alo
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to
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d
i
g
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co
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ter
m
o
d
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les,
s
er
v
o
v
a
lv
e
co
n
tr
o
ller
s
,
lo
ad
ce
lls
[
6
]
,
[
7
]
,
lin
ea
r
v
ar
iab
le
d
if
f
er
en
tial tr
an
s
d
u
ce
r
(
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s
en
s
o
r
s
,
a
n
d
s
af
et
y
s
y
s
te
m
s
[
8
]
–
[
1
0
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
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t E
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Dev
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r
mec
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l t
esti
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g
…
(
Djo
ko
W
a
h
yu
K
a
r
mia
d
ji
)
1405
Fig
u
r
e
1
.
H
y
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Su
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[
1
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co
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2
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[
1
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.
P
h
ilip
s
an
d
Sp
e
n
ce
r
[
1
4
]
in
tr
o
d
u
ce
d
a
r
ea
l
-
ti
m
e
h
y
b
r
id
s
i
m
u
latio
n
(
R
T
HS)
f
o
r
lar
g
e
s
tr
u
ct
u
r
al
test
in
g
wi
t
h
a
s
i
n
g
le
-
ac
tu
ato
r
s
er
v
o
-
h
y
d
r
au
lic
s
y
s
te
m
,
ass
e
s
s
i
n
g
s
ev
er
al
co
n
tr
o
l
m
o
d
els
f
o
r
co
m
p
ar
i
s
o
n
w
it
h
t
h
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
.
T
h
e
ch
o
ice
o
f
t
h
e
co
n
tr
o
l
s
y
s
te
m
is
c
r
u
cial
d
u
e
to
th
e
h
i
g
h
-
lo
ad
o
p
er
atio
n
o
f
s
er
v
o
-
h
y
d
r
au
lic
ac
t
u
ato
r
s
[
1
5
]
an
d
t
h
e
i
n
h
er
e
n
t
c
h
alle
n
g
e
s
s
u
c
h
a
s
f
lu
id
co
m
p
r
es
s
ib
ilit
y
,
u
n
ce
r
t
ain
tie
s
f
r
o
m
s
y
s
te
m
lin
ea
r
izatio
n
,
f
lo
w
-
p
r
e
s
s
u
r
e
r
elatio
n
s
h
ip
s
,
an
d
d
ea
d
zo
n
es c
a
u
s
ed
b
y
i
n
ter
n
al
lea
k
a
g
e
an
d
h
y
s
ter
es
is
.
Sev
er
al
s
tu
d
ie
s
h
a
v
e
p
r
o
p
o
s
ed
th
e
d
ev
elo
p
m
e
n
t
o
f
H
SC
co
n
tr
o
ls
b
ased
o
n
ar
ti
f
icial
i
n
telli
g
e
n
ce
m
et
h
o
d
s
,
s
u
c
h
as f
u
zz
y
P
I
D
[
1
6
]
,
g
en
etic
alg
o
r
it
h
m
(
G
A
)
o
p
ti
m
izatio
n
[
1
7
]
,
an
d
Kalm
a
n
g
e
n
etic
o
p
ti
m
izat
io
n
[
1
8
]
,
w
h
ic
h
h
a
v
e
b
ee
n
s
h
o
w
n
to
im
p
r
o
v
e
s
y
s
te
m
p
er
f
o
r
m
a
n
ce
.
Ho
w
e
v
er
,
m
o
s
t
o
f
th
e
s
e
ap
p
r
o
ac
h
es
f
o
cu
s
o
n
alg
o
r
ith
m
o
p
ti
m
iza
tio
n
w
it
h
o
u
t
s
y
s
te
m
atica
ll
y
co
m
p
ar
i
n
g
co
n
v
e
n
tio
n
al
P
I
D
tu
n
i
n
g
m
et
h
o
d
s
w
ith
ad
ap
ti
v
e
co
n
tr
o
l
in
th
e
co
n
te
x
t
o
f
m
ec
h
an
ica
l
tes
tin
g
th
at
d
e
m
a
n
d
s
h
ig
h
p
r
ec
is
io
n
.
I
n
ad
d
itio
n
,
t
h
er
e
is
s
til
l
li
m
ited
r
es
ea
r
ch
th
at
ex
p
er
i
m
e
n
tall
y
t
ests
th
e
p
er
f
o
r
m
a
n
ce
o
f
v
ar
io
u
s
P
I
D
tu
n
in
g
m
et
h
o
d
s
o
n
HSC
s
u
n
d
er
s
tatic
an
d
d
y
n
a
m
ic
lo
ad
s
ce
n
ar
io
s
.
T
h
is
is
th
e
r
esear
ch
g
ap
,
n
a
m
e
l
y
th
e
n
ee
d
f
o
r
a
co
m
p
r
eh
e
n
s
i
v
e
s
t
u
d
y
o
f
t
h
e
ef
f
ec
tiv
e
n
e
s
s
o
f
P
I
D
tu
n
i
n
g
m
et
h
o
d
s
(
Z
ie
g
ler
–
Nich
o
ls
,
C
o
h
en
–
C
o
o
n
,
an
d
ad
ap
tiv
e
c
o
n
tr
o
l)
b
o
th
th
r
o
u
g
h
s
i
m
u
lat
io
n
an
d
r
ea
l
-
w
o
r
ld
i
m
p
le
m
e
n
tatio
n
.
B
ased
o
n
th
ese
g
ap
s
,
p
r
o
lo
n
g
ed
o
p
er
atio
n
o
f
test
in
g
eq
u
i
p
m
e
n
t,
i
n
clu
d
i
n
g
HSC
,
ca
n
c
au
s
e
w
ea
r
,
p
er
f
o
r
m
a
n
ce
d
eg
r
ad
atio
n
,
r
eliab
ilit
y
is
s
u
e
s
,
ex
ter
n
al
lea
k
s
,
an
d
d
ec
r
ea
s
ed
c
o
n
tr
o
l
ac
cu
r
ac
y
d
esp
ite
r
o
u
tin
e
m
ai
n
ten
a
n
ce
[
1
9
]
.
T
h
is
s
tu
d
y
d
ev
elo
p
s
a
Hy
d
r
au
l
ic
Ser
v
o
C
o
n
tr
o
ller
b
y
m
o
d
eli
n
g
ac
t
u
ato
r
s
an
d
s
er
v
o
v
alv
e
s
,
i
m
p
le
m
en
t
in
g
P
I
D
co
n
tr
o
l
w
ith
th
r
ee
tu
n
i
n
g
m
et
h
o
d
s
,
an
d
ev
alu
ati
n
g
it
s
p
er
f
o
r
m
an
ce
th
r
o
u
g
h
s
tatic
an
d
d
y
n
a
m
ic
s
i
m
u
lat
io
n
s
a
n
d
test
i
n
g
.
T
h
e
m
ain
o
b
j
ec
tiv
e
o
f
th
i
s
s
t
u
d
y
i
s
to
id
en
ti
f
y
t
h
e
m
o
s
t
o
p
tim
a
l
an
d
s
tab
le
P
I
D
tu
n
in
g
m
et
h
o
d
to
b
e
ap
p
lied
to
HSC
,
s
o
th
at
th
e
s
y
s
te
m
is
ab
le
to
p
r
o
v
id
e
p
r
ec
is
e
d
is
p
l
ac
e
m
en
t
an
d
f
o
r
ce
co
n
tr
o
l
w
it
h
m
i
n
i
m
al
d
ev
iatio
n
.
2.
M
E
T
H
O
D
2
.
1
.
Require
m
ent
T
h
e
P
I
D
c
o
n
tr
o
l
s
y
s
te
m
w
il
l
b
e
ap
p
lied
to
r
eg
u
late
th
e
h
y
d
r
au
lic
s
er
v
o
co
n
tr
o
l
eq
u
ip
m
e
n
t
,
en
s
u
r
i
n
g
s
tab
l
e
o
p
er
atio
n
,
p
r
ec
is
e
p
o
s
i
tio
n
in
g
,
an
d
i
m
p
r
o
v
ed
d
y
n
a
m
ic
r
esp
o
n
s
e
.
T
h
is
i
m
p
le
m
e
n
tatio
n
is
b
ased
on
s
p
ec
if
ic
p
h
y
s
ical
p
ar
a
m
eter
s
as
s
o
ciate
d
w
it
h
t
h
e
P
I
D
co
n
tr
o
ller
.
T
h
ese
p
ar
am
e
ter
s
ar
e
d
etailed
in
T
ab
le
1
,
w
h
ic
h
s
er
v
es a
s
a
r
ef
er
en
ce
f
o
r
s
y
s
te
m
co
n
f
i
g
u
r
atio
n
.
T
ab
le
1
.
Hy
d
r
au
lic
s
er
v
o
co
n
tr
o
l d
ata
No
D
e
scri
p
t
i
o
n
D
i
me
n
si
o
n
/
v
o
l
u
me
1
A
c
t
u
a
t
o
r
c
a
p
a
c
i
t
y
6
.
3
T
o
n
2
P
i
st
o
n
d
i
a
me
t
e
r
5
0
mm
3
L
e
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h
o
f
p
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s
t
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2
5
0
m
m
4
O
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a
t
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p
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2
8
0
b
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f
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L
i
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mi
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6
O
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f
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w
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se
r
v
o
v
a
l
v
e
6
5
L
i
t
r
e
/
mi
n
u
t
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
1
6
9
3
-
6930
T
E
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KOM
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A
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elec
o
m
m
u
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o
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p
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l
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tr
o
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,
Vo
l.
23
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No
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5
,
Octo
b
e
r
20
25
:
1
4
0
4
-
1
414
1406
2
.
2
.
Dev
el
o
pin
g
m
a
t
he
m
a
t
ic
a
l
m
o
del
A
h
y
d
r
a
u
lic
c
y
li
n
d
er
ac
t
u
ato
r
is
a
m
ec
h
an
ica
l d
ev
ice
d
esi
g
n
ed
to
tr
an
s
f
o
r
m
th
e
e
n
er
g
y
o
f
p
r
ess
u
r
ized
h
y
d
r
au
lic
f
l
u
id
in
to
li
n
ea
r
m
ec
h
an
ica
l
f
o
r
ce
an
d
m
o
v
e
m
e
n
t.
Fu
n
d
a
m
en
tall
y
,
it
f
u
n
ctio
n
s
as
a
cr
u
cial
co
m
p
o
n
e
n
t
w
it
h
i
n
a
h
y
d
r
a
u
lic
s
y
s
te
m
,
r
esp
o
n
s
ib
le
f
o
r
p
e
r
f
o
r
m
in
g
m
e
ch
an
ica
l
w
o
r
k
.
T
h
e
p
r
i
m
ar
y
r
o
le
o
f
a
h
y
d
r
a
u
lic
c
y
li
n
d
er
ac
tu
ato
r
is
to
g
e
n
er
ate
lin
ea
r
(
s
tr
ai
g
h
t
-
li
n
e)
m
o
tio
n
b
y
u
s
i
n
g
t
h
e
p
r
ess
u
r
e
ex
er
ted
b
y
th
e
h
y
d
r
au
l
ic
f
l
u
id
o
n
a
p
is
to
n
w
it
h
in
t
h
e
c
y
li
n
d
er
ch
a
m
b
er
.
Du
e
to
th
eir
ab
ilit
y
t
o
b
e
p
r
ec
is
ely
co
n
t
r
o
lled
,
h
y
d
r
au
lic
c
y
li
n
d
er
s
ar
e
p
ar
ticu
lar
l
y
s
u
ited
f
o
r
ap
p
licatio
n
s
r
eq
u
ir
i
n
g
ac
c
u
r
ate
p
o
s
it
io
n
in
g
.
I
n
es
s
en
ce
,
h
y
d
r
a
u
lic
c
y
li
n
d
er
s
s
er
v
e
to
co
n
v
er
t h
y
d
r
au
lic
e
n
er
g
y
i
n
to
co
n
tr
o
lled
m
ec
h
a
n
ical
m
o
tio
n
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
th
e
a
ctu
ato
r
in
(
1
)
.
∙
2
(
)
+
∙
(
)
+
∙
(
)
=
(
)
(
1
)
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
r
elatin
g
th
e
f
o
r
ce
F(s)
to
th
e
d
is
p
lace
m
en
t
X(
s
)
is
as
(
2
)
,
w
it
h
th
e
m
as
s
o
f
th
e
lo
ad
(
m
)
i
n
k
g
,
t
h
e
d
a
m
p
i
n
g
c
o
ef
f
icie
n
t
(
b
)
in
Ns/
m
,
t
h
e
s
t
if
f
n
e
s
s
o
f
t
h
e
c
y
lin
d
er
(
k
)
i
n
k
/
m
,
t
h
e
d
is
p
lace
m
e
n
t
o
f
th
e
p
is
to
n
o
r
x
(
s
)
in
m
,
an
d
th
e
f
o
r
ce
ex
er
ted
b
y
t
h
e
h
y
d
r
au
lic
f
lu
id
o
n
th
e
p
is
to
n
o
r
F(s)
in
N.
(
)
=
(
)
(
)
=
1
2
+
+
(
2
)
2
.
3
.
Serv
o
v
a
l
v
e
m
o
del
A
s
er
v
o
v
al
v
e
is
an
elec
tr
o
-
h
y
d
r
au
lic
co
m
p
o
n
en
t
t
h
at
is
u
s
ed
to
p
r
ec
is
ely
co
n
tr
o
l
t
h
e
f
lo
w
a
n
d
p
r
ess
u
r
e
o
f
h
y
d
r
au
l
ic
f
l
u
id
in
a
h
y
d
r
au
li
c
s
y
s
te
m
[
2
0
]
,
[
2
1
]
.
T
h
ese
v
al
v
es
r
eg
u
late
th
e
m
o
v
e
m
e
n
t
o
f
a
h
y
d
r
au
lic
ac
tu
ato
r
b
y
co
n
tr
o
lli
n
g
th
e
f
lo
w
r
ate
an
d
d
ir
ec
tio
n
o
f
th
e
f
lu
id
.
T
h
e
p
r
im
ar
y
f
u
n
c
tio
n
o
f
a
s
er
v
o
v
alv
e
is
to
co
n
tr
o
l
th
e
f
lo
w
o
f
h
y
d
r
a
u
lic
f
l
u
id
to
a
n
d
f
r
o
m
th
e
a
c
tu
at
o
r
.
T
h
e
s
e
v
a
lv
e
s
c
an
r
eg
u
l
a
t
e
t
h
e
f
l
o
w
r
a
t
e
w
ith
h
ig
h
p
r
e
c
i
s
i
o
n
,
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l
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co
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tr
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th
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ac
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s
p
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an
d
f
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ce
.
T
h
e
s
er
v
o
v
alv
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co
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tr
o
ls
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e
f
lo
w
r
ate
o
f
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y
d
r
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lic
f
l
u
id
to
th
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ac
tu
ato
r
.
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h
e
f
lo
w
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Q(
s
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th
r
o
u
g
h
th
e
v
al
v
e
ca
n
b
e
m
o
d
eled
as
(
3
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,
w
it
h
C
v
is
th
e
v
al
v
e
f
lo
w
co
ef
f
icie
n
t
an
d
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s
)
is
th
e
co
n
tr
o
l
s
ig
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al
f
r
o
m
th
e
P
I
D
co
n
tr
o
ller
.
(
)
=
∙
(
)
(
3
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T
h
e
f
lo
w
r
ate
Q(
s
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cr
ea
tes
a
p
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ess
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r
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d
if
f
er
en
ce
ac
r
o
s
s
th
e
p
is
to
n
,
r
esu
lti
n
g
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n
a
f
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ce
as
(
4
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,
w
it
h
A
is
th
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p
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to
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ar
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,
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th
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p
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r
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d
if
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ce
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d
C
p
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p
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(
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=
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(
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=
∙
(
)
(
4
)
T
h
e
tr
an
s
f
er
f
u
n
ctio
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f
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th
e
s
er
v
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v
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G
val
v
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(
s
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ca
n
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e
o
b
tain
ed
w
ith
(
5
)
.
(
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=
(
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(
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(
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(
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2
.
4
.
P
I
D
c
o
ntr
o
ller
P
I
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co
n
tr
o
ller
is
a
w
id
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y
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s
ed
co
n
tr
o
l
s
tr
ateg
y
in
h
y
d
r
au
lic
s
er
v
o
co
n
tr
o
l
s
y
s
te
m
s
d
u
e
to
its
ef
f
ec
tiv
e
n
e
s
s
in
ac
h
ie
v
i
n
g
p
r
e
cise
p
o
s
itio
n
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d
f
o
r
ce
co
n
tr
o
l.
PID
co
n
tr
o
ller
ca
lcu
lates
th
e
er
r
o
r
b
et
w
ee
n
t
h
e
d
esire
d
s
et
p
o
in
t
(
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g
.
,
d
esire
d
p
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n
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ce
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d
th
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m
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ce
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le
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g
.
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ac
tu
al
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o
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n
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r
f
o
r
ce
)
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d
ap
p
lies
co
r
r
ec
tio
n
s
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ased
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n
Pro
p
o
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tio
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al
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P),
c
o
r
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tin
g
t
h
e
er
r
o
r
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ased
o
n
its
m
ag
n
it
u
d
e
[
2
2
]
.
T
h
e
lar
g
er
th
e
er
r
o
r
,
th
e
lar
g
er
th
e
co
r
r
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tiv
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n
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r
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r
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tin
g
th
e
er
r
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r
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ased
o
n
t
h
e
ac
cu
m
u
latio
n
o
f
p
r
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io
u
s
er
r
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r
s
.
T
h
is
h
elp
s
e
li
m
i
n
ate
s
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s
tate
er
r
o
r
s
an
d
en
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th
at
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s
y
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te
m
r
ea
ch
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th
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e
s
ir
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s
et
p
o
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t,
d
er
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D)
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r
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r
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ased
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n
th
e
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ch
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o
f
th
e
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r
.
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h
is
h
elp
s
p
r
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f
u
tu
r
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er
r
o
r
s
an
d
ap
p
ly
d
a
m
p
in
g
to
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v
er
s
h
o
o
t
an
d
o
s
cillatio
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s
.
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n
t
h
is
r
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h
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o
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p
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d
f
o
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ap
p
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h
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ctu
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h
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Ser
v
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co
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D
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g
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f
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w
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f
h
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l
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id
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r
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th
er
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o
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s
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m
e
n
t.
T
h
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P
I
D
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o
n
tr
o
ller
is
u
s
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co
n
tr
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l th
e
p
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itio
n
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f
t
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d
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lin
d
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as i
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(
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.
(
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=
(
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(
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(
+
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(
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(
6
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
Dev
elo
p
men
t o
f h
y
d
r
a
u
lic
s
ervo
co
n
tr
o
ller
fo
r
mec
h
a
n
ica
l t
esti
n
g
…
(
Djo
ko
W
a
h
yu
K
a
r
mia
d
ji
)
1407
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
th
e
P
I
D
co
n
tr
o
ller
in
(
7
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.
(
)
=
(
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(
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=
+
+
(
7
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T
h
e
clo
s
e
lo
o
p
tr
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s
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er
f
u
n
ctio
n
in
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8
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.
(
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+
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)
+
(
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8
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an
d
tr
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lo
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iag
r
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m
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ch
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s
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Fi
g
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r
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Fig
u
r
e
2
.
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r
an
s
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er
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to
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u
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h
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n
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g
o
f
it
s
th
r
ee
p
ar
a
m
ete
r
s
:
th
e
p
r
o
p
o
r
tio
n
al
g
ain
(
K
p
)
,
i
n
teg
r
al
t
i
m
e
(
T
i
)
,
an
d
d
er
iv
ativ
e
ti
m
e
(
T
d
)
.
Dif
f
er
en
t
t
u
n
in
g
m
et
h
o
d
s
ex
is
t
to
o
p
tim
ize
t
h
ese
p
ar
am
eter
s
,
ea
ch
w
it
h
its
ad
v
a
n
tag
e
s
an
d
li
m
it
at
io
n
s
.
B
elo
w
ar
e
th
r
ee
tu
n
in
g
m
eth
o
d
s
:
A.
Z
ie
g
ler
-
Nich
o
l
s
me
t
h
o
d
[
2
3
]
T
h
e
clo
s
ed
-
lo
o
p
(
u
lti
m
ate
g
a
i
n
m
et
h
o
d
)
,
in
v
o
l
v
es t
h
e
f
o
llo
w
i
n
g
s
tep
s
:
−
Set
th
e
P
I
D
co
n
tr
o
ller
to
p
r
o
p
o
r
tio
n
al
m
o
d
e:
in
i
t
iall
y
,
o
n
l
y
th
e
p
r
o
p
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r
tio
n
al
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ain
(
K
p
)
i
s
s
et,
w
h
i
le
th
e
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te
g
r
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(
K
i
)
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d
d
er
iv
ativ
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(
K
d
)
g
ain
s
ar
e
s
et
to
ze
r
o
.
−
I
n
cr
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s
e
K
p
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ti
l
th
e
s
y
s
te
m
o
s
cillates
:
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e
p
r
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p
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tio
n
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g
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n
is
g
r
ad
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l
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th
e
o
u
tp
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f
t
h
e
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y
s
te
m
o
s
c
illates
w
i
th
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co
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s
ta
n
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m
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li
tu
d
e.
T
h
e
g
ain
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m
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ai
n
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s
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d
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h
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io
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s
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s
th
e
Ul
ti
m
a
te
P
er
io
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(
T
u
).
C
alcu
late
P
I
D
P
ar
am
eter
s
: u
s
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n
g
th
e
v
al
u
es
o
f
K
u
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d
T
u
,
th
e
P
I
D
p
ar
am
eter
s
ar
e
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lcu
lated
u
s
i
n
g
th
e
(
9
)
-
(
1
1
)
.
K
p
=0
.
6
×K
u
(
9
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=
1
.
2
×
(
1
0
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K
d
=0
.
0
7
5
×K
u
×T
u
(
1
1
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Fix
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v
alu
e
s
f
o
r
K
u
a
n
d
T
u
ar
e
d
ef
in
ed
a
n
d
s
u
b
s
eq
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e
n
tl
y
u
s
ed
to
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m
p
u
te
t
h
e
i
n
itial
P
I
D
g
ain
s
.
T
h
i
s
in
d
icate
s
t
h
e
clo
s
ed
-
lo
o
p
Z
ie
g
ler
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Nich
o
l
s
tu
n
i
n
g
,
w
h
er
e
t
h
e
s
y
s
te
m
is
f
ir
s
t
allo
w
ed
to
r
ea
ch
a
s
tead
y
-
s
tate
o
s
cillato
r
y
b
eh
a
v
io
r
u
n
d
er
th
e
in
f
lu
e
n
ce
o
f
a
p
r
o
p
o
r
tio
n
al
co
n
tr
o
ller
.
B.
C
o
h
en
-
C
o
o
n
m
eth
o
d
T
h
e
C
o
h
en
-
C
o
o
n
m
e
th
o
d
is
a
tu
n
in
g
m
et
h
o
d
th
at
co
n
s
id
er
s
b
o
th
th
e
r
esp
o
n
s
e
s
p
ee
d
an
d
t
h
e
d
a
m
p
i
n
g
o
f
th
e
s
y
s
te
m
.
I
t
is
u
s
ed
m
ai
n
l
y
f
o
r
s
y
s
te
m
s
t
h
at
e
x
h
ib
it
d
ea
d
ti
m
e
[
2
4
]
.
T
h
e
m
eth
o
d
u
tili
ze
s
p
r
ed
ef
in
ed
p
ar
a
m
eter
s
(
m
,
b
,
k
)
to
ca
lcu
late
th
e
P
I
D
v
alu
e
s
u
s
i
n
g
(
12
)
-
(
1
4
)
.
P
r
o
p
o
r
tio
n
al
ga
in
(
K
p
)
: K
p
=
4
.
0
/ (
3
.
0
*
k
)
(
1
2
)
I
n
teg
r
al
g
ain
(
K
i
)
: K
i
=
4
.
0
/ (
2
.
0
*
b
)
(
1
3
)
Der
iv
ati
v
e
ga
i
n
(
K
d
)
: K
d
=
4
.
0
/ (
3
.
0
*
m
)
(
1
4
)
w
h
er
e
:
=
d
ea
d
ti
m
e,
=
g
ai
n
,
an
d
=
ti
m
e
co
n
s
tan
t
T
h
ese
f
o
r
m
u
las
a
i
m
to
ac
h
ie
v
e
a
b
alan
ce
d
r
esp
o
n
s
e
f
o
r
g
i
v
e
n
s
y
s
te
m
p
ar
a
m
eter
s
.
T
h
e
co
n
s
tan
t
s
4
.
0
,
3
.
0
,
an
d
2
.
0
ar
e
d
er
iv
ed
f
r
o
m
th
e
s
p
ec
if
ic
ch
ar
ac
ter
is
tics
o
f
th
e
co
n
tr
o
lled
p
r
o
ce
s
s
,
in
d
icatin
g
a
s
i
m
p
l
i
f
ied
ap
p
r
o
ac
h
to
s
y
s
te
m
d
y
n
a
m
ic
s
.
R
(
s)
X
(
s)
K
L
VD
T
(
+
+
)
∙
∙
∙
(
2
+
+
)
+
(
+
+
)
∙
∙
∙
∙
(
+
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
23
,
No
.
5
,
Octo
b
e
r
20
25
:
1
4
0
4
-
1
414
1408
C.
A
d
ap
tiv
e
c
o
n
tr
o
l
T
h
e
co
n
v
en
tio
n
al
P
I
D
co
n
tr
o
ll
er
is
d
esig
n
ed
to
b
e
s
tab
le
o
v
er
a
s
m
al
l r
an
g
e
o
f
u
n
ce
r
tai
n
tie
s
to
en
s
u
r
e
tig
h
t
n
o
m
i
n
al
P
er
f
o
r
m
an
ce
[
2
5
]
.
A
d
ap
tiv
e
co
n
tr
o
l
m
et
h
o
d
s
ad
j
u
s
t
th
e
P
I
D
co
n
tr
o
ller
p
ar
a
m
eter
s
(
p
r
o
p
o
r
tio
n
al
g
ain
K
p
,
in
te
g
r
al
ti
m
e
T
i
,
an
d
d
er
iv
ativ
e
ti
m
e
T
d
)
in
r
ea
l ti
m
e
to
m
ai
n
tai
n
d
esire
d
p
er
f
o
r
m
a
n
ce
d
esp
ite
ch
a
n
g
e
s
in
s
y
s
te
m
d
y
n
a
m
ic
s
o
r
o
p
e
r
atin
g
co
n
d
itio
n
s
.
A
d
ap
tiv
e
co
n
tr
o
l
co
n
tin
u
o
u
s
l
y
m
o
n
ito
r
s
th
e
s
y
s
te
m
an
d
m
o
d
i
f
ies
th
e
P
I
D
g
ai
n
s
b
a
s
ed
o
n
o
b
s
er
v
ed
d
ata.
I
n
t
h
is
s
t
u
d
y
,
t
h
e
ad
ap
tiv
e
co
n
tr
o
l
m
et
h
o
d
u
s
e
s
a
h
eu
r
i
s
tic
ap
p
r
o
ac
h
,
w
h
er
e
th
e
d
eter
m
i
n
atio
n
o
f
th
e
Kp
,
Ki,
an
d
Kd
v
alu
es
is
b
a
s
ed
o
n
p
r
ev
io
u
s
ex
p
er
ien
ce
b
ec
au
s
e
t
h
e
s
e
v
al
u
e
s
w
o
r
k
w
el
l
f
o
r
v
ar
io
u
s
co
n
d
iti
o
n
s
in
t
h
e
s
y
s
te
m
.
T
h
e
h
eu
r
i
s
tic
ap
p
r
o
ac
h
in
th
is
r
esear
c
h
s
er
v
es
as
a
s
tar
tin
g
p
o
in
t,
alth
o
u
g
h
n
o
t
n
ec
es
s
ar
il
y
o
p
ti
m
al,
it
’
s
a
r
ea
s
o
n
ab
le
s
et
o
f
v
alu
e
s
to
b
eg
in
w
it
h
,
an
d
th
ese
ca
n
later
b
e
r
ef
in
ed
t
h
r
o
u
g
h
o
p
ti
m
izati
o
n
o
r
f
u
r
t
h
er
tu
n
in
g
i
f
n
ee
d
ed
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
co
m
p
u
ter
s
i
m
u
lat
io
n
m
o
d
el
is
d
ev
elo
p
ed
b
y
cr
ea
tin
g
co
d
in
g
.
I
n
t
h
is
s
i
m
u
lat
io
n
,
th
e
d
ata
to
b
e
s
i
m
u
lated
i
n
clu
d
es
d
is
p
lace
m
en
t
d
ata
an
d
f
o
r
ce
d
ata.
T
h
e
PID
co
n
tr
o
ller
s
i
m
u
la
tio
n
m
o
d
el
u
s
es
t
h
r
ee
t
u
n
i
n
g
m
et
h
o
d
s
:
Z
ie
g
ler
-
N
ich
o
ls
,
C
o
h
en
-
C
o
o
n
,
a
n
d
ad
ap
tiv
e
c
o
n
tr
o
l.
T
h
is
s
i
m
u
latio
n
u
tili
ze
s
d
ata
d
iv
id
ed
i
n
to
tr
ain
i
n
g
d
ata
an
d
test
in
g
d
ata.
T
h
e
tr
ain
in
g
d
ata
is
u
s
ed
to
s
im
u
late
th
e
th
r
ee
tu
n
i
n
g
m
e
th
o
d
s
,
w
h
ile
t
h
e
test
i
n
g
d
ata
is
u
s
ed
to
s
i
m
u
late
th
e
s
el
ec
ted
tu
n
i
n
g
m
et
h
o
d
.
3
.
1
.
T
ra
ini
ng
da
t
a
s
et
As s
h
o
w
n
i
n
T
ab
le
2
,
th
e
tr
ai
n
in
g
d
ata
i
s
u
s
ed
to
s
i
m
u
late
t
h
e
th
r
ee
s
elec
ted
m
et
h
o
d
s
.
T
h
e
s
i
m
u
lat
io
n
r
esu
lt
s
,
as
s
ee
n
i
n
T
ab
le
3
,
in
d
icate
th
at
t
h
e
ad
ap
tiv
e
co
n
tr
o
l
m
et
h
o
d
p
r
o
v
id
es
m
o
r
e
s
tab
le
v
alu
es
th
a
n
th
e
o
th
er
m
et
h
o
d
s
,
alth
o
u
g
h
t
h
e
d
if
f
er
en
ce
s
ar
e
q
u
ite
s
m
all.
Fi
g
u
r
es
3
(
a)
an
d
(
b
)
s
h
o
w
th
e
tr
ai
n
in
g
r
esu
lt
s
o
f
th
e
ad
ap
tiv
e
co
n
tr
o
l
m
et
h
o
d
s
u
s
ed
.
I
n
g
en
er
al,
ad
ap
tiv
e
co
n
tr
o
l
m
et
h
o
d
s
,
w
it
h
v
ar
iatio
n
s
i
n
d
is
p
lace
m
en
t
a
n
d
f
o
r
ce
i
n
p
u
t
d
ata,
p
r
o
v
id
e
g
o
o
d
r
esu
lts
.
T
ab
le
2
.
T
r
ain
in
g
d
ataset
No
D
a
t
a
se
t
1
D
i
sp
l
a
c
e
me
n
t
:
(
[
0
,
0
,
5
5
,
5
5
,
1
0
0
,
1
0
0
,
0
,
0
,
-
5
0
,
-
5
0
,
-
1
0
0
,
-
1
0
0
,
0
,
0
]
)
T
i
me
:
(
[
0
,
8
,
1
6
,
2
4
,
3
2
,
4
0
,
4
8
,
5
6
,
6
4
,
7
2
,
8
0
,
8
8
,
9
6
,
1
0
4
]
)
2
F
o
r
c
e
:
[
0
,
0
,
1
3
,
1
3
,
2
0
,
2
0
,
3
0
,
3
0
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4
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,
4
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,
5
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,
5
0
,
4
0
,
4
0
,
3
0
,
3
0
,
2
0
,
2
0
,
1
3
,
1
3
,
0
,
0
]
T
i
me
:
(
[
0
,
1
5
,
3
0
,
4
5
,
6
0
,
7
5
,
9
0
,
1
0
5
,
1
2
0
,
1
3
5
,
1
5
0
,
1
6
5
,
1
8
0
,
1
9
5
,
2
1
0
,
2
2
5
,
2
4
0
,
2
5
5
,
2
7
0
,
2
8
5
,
3
0
0
,
3
1
5
]
)
T
ab
le
3
.
T
r
ain
in
g
r
es
u
lt u
s
i
n
g
v
ar
io
u
s
t
u
n
in
g
m
et
h
o
d
s
T
r
a
i
n
i
n
g
1
T
r
a
i
n
i
n
g
2
N
o
.
T
u
n
i
n
g
M
e
t
h
o
d
K
p
K
i
K
d
R
M
S
D
K
p
K
i
K
d
R
M
S
D
1
Z
i
e
g
l
e
r
–
N
i
c
h
o
l
s
1
0
0
1
0
0
0
1
.
1
2
7
9
3
0
.
9
0
7
6
.
2
1
0
4
7
.
6
0
2
4
1
.
1
5
6
3
2
C
o
h
e
n
–
C
o
o
n
1
4
.
4
2
3
6
1
0
0
50
1
.
3
5
7
1
0
.
0
0
3
9
8
.
9
1
1
8
5
.
0
2
4
2
1
3
A
d
a
p
t
i
v
e
t
u
n
i
n
g
1
4
.
4
2
3
6
1
0
0
50
1
.
3
5
7
1
5
.
4
1
3
2
8
.
5
5
5
2
0
.
8
9
8
9
1
.
0
0
0
2
(
a)
(
b
)
Fig
u
r
e
3
.
T
r
ain
in
g
r
esu
lts
u
s
i
n
g
ad
ap
tiv
e
co
n
tr
o
l
m
et
h
o
d
s
:
(
a
)
d
is
p
lace
m
e
n
t (
b
)
f
o
r
ce
3
.
2
.
T
esting
HSC
p
er
f
o
r
m
a
n
ce
f
o
r
s
tatic
lo
ad
is
d
o
n
e
b
y
s
et
p
o
in
t
co
n
tr
o
l
lo
ad
s
s
u
ch
a
s
T
ab
le
4
,
w
h
ic
h
ar
e
th
e
f
o
r
ce
lo
ad
s
o
f
(
0
,
1
0
,
2
0
,
3
0
,
4
0
,
5
0
,
4
0
,
3
0
,
2
0
,
1
0
,
0
k
N)
.
T
h
e
r
esu
lt
s
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
4
,
w
h
ich
s
h
o
w
s
t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
Dev
elo
p
men
t o
f h
y
d
r
a
u
lic
s
ervo
co
n
tr
o
ller
fo
r
mec
h
a
n
ica
l t
esti
n
g
…
(
Djo
ko
W
a
h
yu
K
a
r
mia
d
ji
)
1409
u
n
ce
r
tai
n
t
y
m
ea
s
u
r
e
m
e
n
t
b
et
wee
n
co
m
m
an
d
a
n
d
f
ee
d
b
ac
k
.
T
h
e
an
al
y
s
is
g
iv
e
s
a
m
a
x
i
m
u
m
d
ev
iatio
n
1
.
4
1
1
k
N
(
2
.
8
1
5
%)
an
d
r
o
o
t m
ea
n
s
q
u
ar
e
d
ev
iatio
n
(
R
M
SD
)
0
.
1
3
0
k
N
(
0
.
2
5
9
%)
f
o
r
f
o
r
ce
lo
ad
s
.
T
h
e
co
n
tr
o
l
o
f
d
y
n
a
m
ic
w
it
h
co
n
s
ta
n
t
p
ea
k
lo
ad
s
is
d
ef
in
ed
as
th
e
v
al
u
es
o
f
s
et
p
o
in
t
f
o
r
ce
,
a
m
a
x
i
m
u
m
o
f
5
0
k
N
an
d
a
m
in
i
m
u
m
o
f
0
k
N.
T
h
e
an
al
y
s
is
r
es
u
lt
s
s
h
o
w
th
at
t
h
e
m
a
x
i
m
u
m
d
ev
ia
tio
n
o
f
0
.
5
0
9
k
N
(
1
.
0
3
3
%)
an
d
R
MS
D
0
.
2
5
6
(
0
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5
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0
%)
f
o
r
f
o
r
ce
lo
ad
s
s
u
ch
a
s
Fi
g
u
r
e
5
(
a)
.
T
h
e
co
n
tr
o
l
o
f
d
y
n
a
m
ic
w
it
h
s
p
ec
tr
u
m
lo
ad
s
i
s
d
ef
in
ed
a
s
t
h
e
v
alu
e
s
o
f
s
et
p
o
in
t f
o
r
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P
I
D
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m
et
h
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d
s
(
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ie
g
ler
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o
l
s
,
C
o
h
en
–
C
o
o
n
,
an
d
ad
ap
tiv
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co
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tr
o
l)
p
r
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M
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alu
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o
f
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th
a
n
2
,
in
d
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th
at
all
th
r
ee
ar
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ca
p
ab
le
o
f
m
ai
n
tai
n
i
n
g
t
h
e
s
tab
ilit
y
o
f
t
h
e
HSC
s
y
s
te
m
.
Ho
w
e
v
er
,
ac
tu
al
i
m
p
le
m
en
tati
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n
test
in
g
r
esu
l
ts
s
h
o
w
t
h
at
t
h
e
ad
ap
tiv
e
c
o
n
tr
o
l
m
et
h
o
d
p
r
o
d
u
ce
s
lo
w
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d
ev
ia
tio
n
an
d
R
MSD
t
h
a
n
th
e
o
th
er
t
w
o
m
et
h
o
d
s
,
esp
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y
u
n
d
er
d
y
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a
m
ic
lo
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v
ar
iatio
n
s
.
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h
is
d
em
o
n
s
tr
ates
t
h
at
w
h
ile
all
t
u
n
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g
m
et
h
o
d
s
ar
e
ef
f
ec
ti
v
e,
ad
ap
tiv
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co
n
tr
o
l
is
m
o
r
e
ad
a
p
tab
le
to
s
y
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te
m
u
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ce
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tain
t
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test
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n
g
s
h
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w
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th
e
m
a
x
i
m
u
m
d
ev
iat
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n
w
a
s
o
n
l
y
2
.
8
1
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it
h
an
R
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o
f
0
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2
5
9
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in
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h
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s
y
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te
m
ca
n
m
ai
n
tai
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v
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n
w
h
en
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h
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lo
ad
ch
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n
g
e
s
g
r
ad
u
all
y
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n
d
y
n
a
m
ic
test
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n
g
,
f
o
r
b
o
th
co
n
s
ta
n
t
an
d
v
ar
iab
le
lo
ad
s
,
th
e
m
ax
i
m
u
m
d
ev
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io
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r
e
m
ai
n
e
d
b
elo
w
1
.
1
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w
it
h
an
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f
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a
n
0
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f
ir
m
i
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g
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at
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HS
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s
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m
i
s
ca
p
ab
le
o
f
co
m
p
en
s
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tin
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f
o
r
r
ap
id
lo
ad
ch
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g
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s
.
T
h
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r
esu
lt
s
s
u
p
p
o
r
t
th
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in
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h
y
p
o
t
h
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s
th
a
t o
p
ti
m
al
P
I
D
tu
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l i
m
p
r
o
v
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t
h
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p
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ec
is
io
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o
f
d
is
p
lace
m
en
t a
n
d
f
o
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ce
co
n
tr
o
l.
Vis
u
a
ll
y
,
th
e
tr
en
d
s
i
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t
h
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s
tati
c
an
d
d
y
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m
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lt
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i
n
d
i
ca
te
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y
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th
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w
it
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s
m
all,
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ted
d
ev
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n
s
.
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h
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id
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ce
d
e
m
o
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s
tr
ates
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tical
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in
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ar
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f
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t
b
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p
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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(
Djo
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K
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1411
4.
CO
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th
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a
m
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ir
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at
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m
w
it
h
P
I
D
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ca
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t o
f h
y
d
r
a
u
lic
s
ervo
co
n
tr
o
ller
fo
r
mec
h
a
n
ica
l t
esti
n
g
…
(
Djo
ko
W
a
h
yu
K
a
r
mia
d
ji
)
1413
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
Djo
k
o
Wa
h
y
u
K
a
r
m
ia
d
ji
re
c
e
iv
e
d
a
Ba
c
h
e
lo
r
’
s
d
e
g
re
e
in
1
9
8
0
a
n
d
a
n
E
n
g
in
e
e
r
(Ir.
)
d
e
g
re
e
in
1
9
8
3
f
ro
m
th
e
De
p
a
rtm
e
n
t
o
f
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
,
F
a
c
u
lt
y
o
f
En
g
in
e
e
rin
g
,
UG
M
,
Yo
g
y
a
k
a
rta,
In
d
o
n
e
sia
.
Re
c
e
iv
e
d
a
M
a
ste
r
o
f
S
c
ie
n
c
e
in
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
(
M
S
M
E)
in
1
9
9
2
a
n
d
a
Do
c
to
r
o
f
P
h
il
o
so
p
h
y
(P
h
.
D
.
)
in
1
9
9
7
f
r
o
m
th
e
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
De
p
a
rtme
n
t,
E
n
g
in
e
e
rin
g
F
a
c
u
l
ty
,
Un
iv
e
rsity
o
f
A
lab
a
m
a
,
T
u
sc
a
lo
o
sa
,
A
lab
a
m
a
,
USA
.
W
o
rk
e
x
p
e
rien
c
e
b
e
g
a
n
in
Ja
n
u
a
ry
1
9
8
4
u
n
ti
l
2
0
2
1
a
s
a
sta
ff
o
f
th
e
T
e
c
h
n
o
lo
g
y
A
p
p
li
c
a
ti
o
n
A
ss
e
s
s
m
e
n
t
Ag
e
n
c
y
(BP
P
T
)
p
lac
e
d
i
n
th
e
T
e
c
h
n
ica
l
Im
p
le
m
e
n
tatio
n
Un
i
t
-
Co
n
stru
c
ti
o
n
T
e
stin
g
Lab
o
ra
to
ry
(UP
T
-
L
UK
)
w
h
ich
wa
s late
r
re
n
a
m
e
d
th
e
Ce
n
ter f
o
r
S
tru
c
t
u
ra
l
S
tr
e
n
g
th
T
e
c
h
n
o
lo
g
y
(B2
T
KS).
A
n
d
f
ro
m
2
0
2
1
u
n
ti
l
n
o
w
a
s
a
p
rin
c
ip
a
l
re
s
e
a
rc
h
e
r
o
f
Re
se
a
rc
h
Ce
n
ter
f
o
r
S
tr
u
c
tu
ra
l
S
tre
n
g
th
T
e
c
h
n
o
lo
g
y
,
Na
ti
o
n
a
l
Re
se
a
rc
h
a
n
d
In
n
o
v
a
ti
o
n
A
g
e
n
c
y
,
In
d
o
n
e
sia
.
T
h
e
f
u
n
c
ti
o
n
a
l
p
o
siti
o
n
o
f
th
e
re
se
a
rc
h
e
r
sta
rt
e
d
f
ro
m
Ju
n
io
r
Re
se
a
rc
h
e
r
w
it
h
a
d
e
c
re
e
d
a
ted
M
a
y
1
,
2
0
0
0
,
th
e
n
J
u
n
i
o
r
Re
se
a
rc
h
Ex
p
e
rt
o
n
A
u
g
u
st
1
,
2
0
0
1
a
n
d
P
ri
n
c
ip
a
l
Re
se
a
rc
h
Ex
p
e
rt
o
n
D
e
c
e
m
b
e
r
1
,
2
0
0
4
.
T
e
a
c
h
in
g
e
x
p
e
rien
c
e
a
s
a
le
c
tu
re
r
in
th
e
De
p
a
rtme
n
t
o
f
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
,
P
a
n
c
a
sila
Un
iv
e
rsit
y
,
S
re
n
g
se
n
g
S
a
wa
h
,
Ja
g
a
k
a
rsa
,
Ja
k
a
rta,
In
d
o
n
e
sia
f
ro
m
1
9
9
7
to
t
h
e
p
re
se
n
t
a
n
d
b
e
c
o
m
in
g
a
P
r
o
f
e
ss
o
r
sin
c
e
M
a
rc
h
1
,
2
0
0
6
.
H
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
d
jo
k
0
0
1
@b
r
in
.
g
o
.
id
.
H
a
r
r
is Zena
l
re
c
e
iv
e
d
th
e
Ba
c
h
e
lo
r
’
s
d
e
g
re
e
in
I
n
stit
u
te
o
f
In
f
o
rm
a
ti
c
M
a
n
a
g
e
m
e
n
t
a
n
d
C
o
m
p
u
ter,
Ja
k
a
rta,
In
d
o
n
e
sia
in
1
9
9
1
,
a
n
d
t
h
e
M
a
ste
r
o
f
M
a
n
a
g
e
m
e
n
t
’
s
d
e
g
re
e
in
In
stit
u
t
e
o
f
Eco
n
o
m
ic
S
c
ien
c
e
Ja
k
a
rta,
In
d
o
n
e
sia
,
in
2
0
0
5
.
He
is
c
u
rre
n
tl
y
a
Re
se
a
rc
h
e
r
a
t
th
e
Re
se
a
rc
h
Ce
n
ter
f
o
r
S
tru
c
t
u
ra
l
S
tren
g
t
h
T
e
c
h
n
o
lo
g
y
,
Na
ti
o
n
a
l
Re
se
a
rc
h
a
n
d
I
n
n
o
v
a
ti
o
n
A
g
e
n
c
y
In
d
o
n
e
sia
.
His
c
u
rre
n
t
re
se
a
rc
h
i
n
tere
sts
in
c
lu
d
e
c
o
m
p
u
ter
-
b
a
se
d
c
o
n
tro
l
a
n
d
in
str
u
m
e
n
tatio
n
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
h
a
rris.
z
e
n
a
l@b
rin
.
g
o
.
id
.
De
d
e
Lia
Za
r
ia
ti
n
e
a
rn
e
d
h
e
r
B
.
En
g
.
f
ro
m
Un
iv
e
rsitas
P
a
n
c
a
sila
(Ja
k
a
rta,
In
d
o
n
e
sia
)
in
1
9
9
8
,
h
e
r
M
a
ste
r’s
f
ro
m
In
stit
u
t
T
e
k
n
o
lo
g
i
Ba
n
d
u
n
g
(In
d
o
n
e
sia
)
in
2
0
0
5
,
a
n
d
h
e
r
Do
c
to
ra
te
f
ro
m
Un
iv
e
rsitas
In
d
o
n
e
sia
in
2
0
1
5
,
a
ll
i
n
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
.
S
h
e
c
u
rre
n
tl
y
h
e
a
d
s
th
e
M
e
c
h
a
tro
n
ic
L
a
b
o
ra
t
o
ry
a
n
d
is
a
P
r
o
f
e
ss
o
r
o
f
M
a
n
u
f
a
c
tu
rin
g
T
e
c
h
n
o
l
o
g
y
,
En
g
in
e
e
rin
g
,
a
n
d
A
u
to
m
a
ti
o
n
a
t
Un
iv
e
rsitas
P
a
n
c
a
sila.
He
r
re
se
a
rc
h
f
o
c
u
se
s
o
n
g
re
e
n
m
a
teria
ls
a
n
d
th
e
m
a
n
u
f
a
c
tu
rin
g
o
f
g
re
e
n
p
o
w
e
r
p
lan
ts
,
a
s
w
e
ll
a
s
b
io
m
a
teria
l
s
a
n
d
o
p
ti
m
iza
ti
o
n
th
r
o
u
g
h
a
u
to
m
a
ti
o
n
.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
d
e
d
e
li
a
z
a
riatin
@u
n
iv
p
a
n
c
a
sila.a
c
.
id
.
Ar
if
K
r
isb
u
d
i
m
a
n
w
a
s
b
o
rn
i
n
S
u
ra
b
a
y
a
,
In
d
o
n
e
sia
o
n
A
u
g
u
st
2
3
,
1
9
8
2
.
T
h
e
las
t
c
h
il
d
o
f
f
o
u
r
sib
li
n
g
s,
a
n
d
in
h
e
c
o
m
p
lete
d
h
is
u
n
d
e
rg
ra
d
u
a
te
d
e
g
re
e
in
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
(d
e
sig
n
)
a
t
In
sti
tu
t
T
e
k
n
o
lo
g
i
S
e
p
u
l
u
h
No
p
e
m
b
e
r
S
u
ra
b
a
y
a
.
S
in
c
e
2
0
0
9
,
h
e
h
a
s
li
v
e
d
w
it
h
h
is
w
i
f
e
a
n
d
tw
o
c
h
il
d
re
n
in
t
h
e
c
it
y
o
f
S
o
u
t
h
T
a
n
g
e
ra
n
g
,
a
n
d
w
o
rk
s
a
t
th
e
Na
ti
o
n
a
l
Re
se
a
rc
h
a
n
d
In
n
o
v
a
ti
o
n
A
g
e
n
c
y
,
In
d
o
n
e
sia
.
H
e
c
o
m
p
lete
d
h
is
M
a
ste
r
’
s d
e
g
re
e
i
n
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
,
i
n
th
e
f
ield
o
f
M
a
n
u
f
a
c
tu
rin
g
S
y
s
tem
s
a
n
d
A
u
to
m
a
ti
o
n
a
t
Un
iv
e
rsitas
In
d
o
n
e
sia
th
ro
u
g
h
a
Ke
m
e
n
ristek
d
ik
ti
sc
h
o
lars
h
ip
f
r
o
m
2
0
1
3
t
o
2
0
1
5
.
He
se
rv
e
d
a
s
He
a
d
o
f
P
ro
g
ra
m
m
e
a
n
d
T
e
c
h
n
o
lo
g
y
I
m
p
le
m
e
n
tatio
n
a
t
t
h
e
Ce
n
tre
o
f
T
e
c
h
n
o
lo
g
y
f
o
r
M
a
c
h
in
e
T
o
o
ls,
P
r
o
d
u
c
ti
o
n
,
a
n
d
A
u
to
m
a
ti
o
n
f
ro
m
2
0
1
6
t
o
2
0
1
8
.
I
n
2
0
2
2
,
h
e
b
e
c
a
m
e
a
re
se
a
rc
h
e
r
wi
th
th
e
f
u
n
c
ti
o
n
a
l
p
o
siti
o
n
o
f
A
s
so
c
iate
Ex
p
e
rt
En
g
in
e
e
r
a
t
th
e
Re
se
a
r
c
h
Ce
n
tre
f
o
r
S
tru
c
tu
ra
l
S
tren
g
th
T
e
c
h
n
o
l
o
g
y
,
a
n
d
c
o
n
d
u
c
ted
re
se
a
rc
h
in
t
h
e
f
ield
o
f
stru
c
tu
ra
l
stre
n
g
th
tec
h
n
o
lo
g
y
fo
r
li
g
h
tw
e
ig
h
t
c
o
n
stru
c
ti
o
n
.
A
p
a
rt
f
ro
m
b
e
in
g
a
re
se
a
rc
h
e
r,
Arif
is
a
l
so
a
lec
tu
re
r,
w
h
ich
f
o
r
h
i
m
is
a
n
o
b
le
tas
k
b
e
c
a
u
se
h
e
c
a
n
g
u
id
e
a
n
d
c
h
a
n
n
e
l
sc
ien
c
e
a
n
d
tec
h
n
o
l
o
g
y
th
a
t
is
b
e
n
e
f
icia
l
f
o
r
th
e
p
ro
g
re
ss
o
f
th
e
n
a
ti
o
n
a
n
d
sta
te
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
a
rif
0
2
7
@b
r
in
.
g
o
.
id
.
And
i
M
u
h
d
ia
r
K
a
d
ir
w
a
s
b
o
rn
Ju
n
e
2
3
1
9
6
6
in
Bu
l
u
k
u
m
b
a
-
S
o
u
t
h
S
u
law
e
si.
H
e
g
ra
d
u
a
ted
w
it
h
a
B
a
c
h
e
lo
r
’
s
d
e
g
re
e
in
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
(
c
o
n
stru
c
ti
o
n
)
i
n
1
9
9
0
a
n
d
a
M
a
ste
r
’
s
d
e
g
re
e
in
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
(c
o
n
str
u
c
ti
o
n
)
i
n
2
0
0
1
a
t
Ha
sa
n
u
d
d
in
U
n
iv
e
rsity
,
M
a
k
a
ss
a
r.
In
2
0
1
4
h
e
c
o
m
p
lete
d
a
D
o
c
to
ra
l/
S
3
p
ro
g
ra
m
m
a
jo
rin
g
in
M
e
tallu
rg
ica
l
a
n
d
M
a
teria
ls
E
n
g
in
e
e
rin
g
a
t
th
e
Un
iv
e
rsit
y
o
f
In
d
o
n
e
sia
.
He
c
u
rre
n
tl
y
w
o
rk
s
f
o
r
th
e
Na
ti
o
n
a
l
Re
se
a
rc
h
a
n
d
In
n
o
v
a
ti
o
n
A
g
e
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