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Frequen
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PID
cont
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llers for
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Tem
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a
n
d
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sit
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t
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p
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l
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ra
l
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ti
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P
ID
)
c
o
n
tr
o
ll
e
rs
in
f
lu
i
d
sy
ste
m
s.
Ho
we
v
e
r,
th
e
re
e
x
ist
g
a
p
s in
re
se
a
rc
h
re
lativ
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to
th
e
th
e
rm
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l
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c
ts o
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th
e
p
e
rfo
rm
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n
c
e
o
f
P
ID
b
a
se
d
fl
u
id
sy
ste
m
s.
P
ID
c
o
n
tro
ll
e
rs
a
re
a
lso
u
ti
li
z
e
d
fo
r
fl
u
id
c
o
n
tro
l
to
m
a
in
tain
sta
b
il
i
ty
a
n
d
imp
ro
v
e
p
e
rfo
rm
a
n
c
e
.
Th
is
stu
d
y
a
ims
to
e
x
p
lo
re
th
e
in
fl
u
e
n
c
e
o
f
tem
p
e
ra
tu
re
a
n
d
v
isc
o
sit
y
v
a
riatio
n
s
th
r
o
u
g
h
f
re
q
u
e
n
c
y
re
sp
o
n
se
a
n
a
ly
sis
fo
r
t
h
e
first
ti
m
e
in
th
is
re
g
a
rd
.
Util
izi
n
g
a
c
o
n
tro
ll
e
d
e
x
p
e
rime
n
tal
se
tu
p
,
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a
in
a
n
d
p
h
a
se
v
a
lu
e
s
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m
e
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a
c
ro
ss
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iffere
n
t
tem
p
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ra
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re
p
o
i
n
t
s.
Bo
d
e
a
n
d
Ny
q
u
ist
p
l
o
ts
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g
e
n
e
ra
ted
t
o
o
b
se
rv
e
sy
ste
m
b
e
h
a
v
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r
,
sta
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il
it
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,
a
n
d
re
sp
o
n
se
t
o
c
h
a
n
g
e
s
in
tem
p
e
ra
tu
re
a
n
d
fl
u
id
v
isc
o
sity
.
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h
e
re
su
lt
s
sh
o
w
a
c
lea
r
in
v
e
rse
re
latio
n
s
h
ip
b
e
twe
e
n
tem
p
e
ra
tu
re
a
n
d
g
a
in
,
with
a
n
o
tab
le
p
h
a
se
lag
in
c
re
a
se
a
s
te
m
p
e
ra
tu
re
rise
s.
At
2
5
°C
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th
e
g
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in
wa
s
m
e
a
su
re
d
a
t
1
5
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8
3
d
B
with
a
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h
a
se
o
f
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5
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6
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wh
ic
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a
ll
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g
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n
d
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h
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se
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f
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t
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e
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is
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a
n
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ly
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led
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le
o
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e
ra
ti
o
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with
in
th
is t
e
m
p
e
ra
tu
re
ra
n
g
e
,
b
u
t
th
e
sh
if
t
in
re
sp
o
n
se
in
d
ica
tes
in
c
re
a
se
d
sy
ste
m
v
u
l
n
e
ra
b
il
it
y
a
s
v
isc
o
sity
d
e
c
re
a
se
s
with
risin
g
tem
p
e
ra
tu
re
.
Th
e
d
e
ri
v
e
d
li
n
e
a
r
e
q
u
a
ti
o
n
s
e
ffe
c
ti
v
e
ly
m
o
d
e
l
th
e
g
a
in
-
p
h
a
se
re
latio
n
sh
ip
,
wi
th
a
n
R²
o
f
0
.
9
9
8
5
,
s
u
g
g
e
stin
g
a
h
i
g
h
l
y
a
c
c
u
ra
te
fit
.
Ov
e
ra
ll
,
t
h
e
stu
d
y
c
o
n
c
l
u
d
e
s
th
a
t
tem
p
e
ra
tu
re
-
in
d
u
c
e
d
v
isc
o
sit
y
c
h
a
n
g
e
s
sig
n
ifi
c
a
n
t
ly
im
p
a
c
t
P
ID
-
c
o
n
tro
ll
e
d
flu
i
d
sy
ste
m
s,
e
m
p
h
a
siz
i
n
g
t
h
e
n
e
e
d
fo
r
a
d
a
p
ti
v
e
c
o
n
tr
o
l
stra
teg
ies
i
n
fl
u
c
tu
a
ti
n
g
e
n
v
iro
n
m
e
n
ts.
K
ey
w
o
r
d
s
:
Flu
id
d
y
n
am
ics
PID
co
n
tr
o
l
Stab
ilit
y
an
aly
s
is
T
em
p
er
atu
r
e
v
ar
iatio
n
Vis
co
s
ity
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
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s
p
o
nd
ing
A
uth
o
r
:
Sy
ah
r
u
l H
u
m
aid
i
Dep
ar
tm
en
t o
f
Ph
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s
ics,
Facu
lty
o
f
Ma
th
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m
atics a
n
d
Natu
r
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Scien
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s
,
Un
iv
er
s
itas
Su
m
ater
a
Utar
a
B
io
tek
n
o
lo
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i Str
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t N
o
.
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Me
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2
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5
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d
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I
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D
UCT
I
O
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T
h
e
p
r
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is
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co
n
tr
o
l o
f
f
lu
id
f
l
o
w
an
d
p
r
ess
u
r
e
is
p
a
r
am
o
u
n
t in
a
wid
e
ar
r
ay
o
f
ap
p
licatio
n
s
,
s
p
an
n
i
n
g
f
r
o
m
d
o
m
esti
c
an
d
in
d
u
s
tr
ial
p
r
ac
tice
[
1
]
,
[
2
]
.
R
ec
en
tly
,
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
-
d
e
r
iv
ativ
e
(
PID
)
co
n
tr
o
ller
s
h
av
e
f
o
u
n
d
b
r
o
a
d
ap
p
licatio
n
in
m
ain
tain
in
g
co
n
tr
o
l
o
f
f
lu
id
f
lo
w
an
d
p
r
ess
u
r
e
an
d
,
as
a
co
n
s
eq
u
en
ce
,
th
e
p
er
f
o
r
m
an
ce
o
f
s
u
ch
s
y
s
tem
s
[
3
]
-
[
5
]
.
Ho
we
v
er
,
p
lu
m
b
in
g
s
y
s
tem
s
ca
n
b
e
af
f
ec
te
d
b
y
n
o
n
-
lin
ea
r
p
a
r
am
eter
s
s
u
ch
as
alter
atio
n
in
th
e
f
lu
id
’
s
v
is
co
s
ity
[
6
]
,
[
7
]
an
d
tem
p
er
atu
r
e
[
8
]
,
[
9
]
,
wh
ic
h
class
ic
al
PID
co
n
tr
o
ller
s
ca
n
’
t
h
a
n
d
le
a
p
p
r
o
p
r
iately
.
T
h
ese
n
o
n
-
lin
ea
r
ities
ca
n
lea
d
to
s
ig
n
if
ican
t
v
ar
iatio
n
s
in
s
y
s
tem
p
er
f
o
r
m
an
ce
,
esp
ec
ially
wh
en
th
e
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
f
lu
ctu
ate.
Mo
d
er
n
in
d
u
s
tr
ial
p
r
o
ce
s
s
es
in
cr
ea
s
in
g
ly
d
em
an
d
co
n
tr
o
l
s
y
s
tem
s
ca
p
ab
le
o
f
m
ain
tain
in
g
s
tab
ilit
y
an
d
o
p
t
im
al
p
er
f
o
r
m
a
n
ce
ac
r
o
s
s
d
iv
er
s
e
an
d
d
y
n
am
ic
o
p
er
atin
g
co
n
d
itio
n
s
.
I
n
m
a
n
y
f
l
u
id
c
o
n
tr
o
l
s
y
s
tem
s
,
th
e
n
o
n
-
lin
ea
r
b
eh
a
v
io
r
ar
is
es
f
r
o
m
v
a
r
iatio
n
s
in
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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E
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g
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N:
2252
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8
7
9
2
F
r
eq
u
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esp
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Herr
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to
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1059
p
h
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s
ical
p
r
o
p
e
r
ties
s
u
ch
as
v
is
co
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ity
,
d
en
s
ity
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an
d
p
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ess
u
r
e
,
all
o
f
wh
ich
ca
n
f
lu
ctu
ate
s
ig
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if
ican
tly
d
u
e
t
o
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v
ir
o
n
m
en
tal
f
ac
to
r
s
lik
e
tem
p
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atu
r
e
ch
a
n
g
es
[
1
0
]
.
Fo
r
in
s
tan
ce
,
in
in
d
u
s
tr
ial
ap
p
licatio
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s
wh
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e
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lu
id
s
ar
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u
s
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m
an
u
f
ac
tu
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in
g
p
r
o
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s
es,
ev
en
s
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h
t
d
ev
iatio
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s
in
tem
p
er
atu
r
e
ca
n
alter
th
e
f
lu
i
d
’
s
v
is
co
s
ity
,
lead
in
g
to
er
r
atic
s
y
s
tem
r
esp
o
n
s
es
[
1
1
]
.
T
h
is
u
n
p
r
ed
ictab
ilit
y
ch
allen
g
es
tr
ad
itio
n
al
PID
co
n
tr
o
ller
s
,
wh
ich
ar
e
ty
p
ically
d
esig
n
e
d
f
o
r
lin
ea
r
s
y
s
tem
s
o
p
er
atin
g
with
in
f
ix
e
d
p
ar
a
m
eter
s
[1
2
]
.
As
a
r
esu
lt,
th
e
s
y
s
tem
m
a
y
ex
p
er
ien
ce
o
s
cillatio
n
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er
s
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o
o
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g
,
o
r
e
v
en
in
s
tab
ilit
y
wh
en
f
ac
ed
with
s
u
c
h
co
n
d
itio
n
s
[
1
2
]
,
[
1
3
]
.
T
h
e
in
f
l
u
en
ce
o
f
tem
p
er
at
u
r
e
o
n
f
lu
i
d
d
y
n
am
ics
is
p
ar
t
icu
lar
ly
cr
itical
b
ec
au
s
e
it
a
f
f
ec
ts
th
e
R
ey
n
o
ld
s
n
u
m
b
er
,
wh
ich
in
tu
r
n
ch
an
g
es
th
e
f
lo
w
r
eg
im
e
f
r
o
m
lam
in
ar
to
tu
r
b
u
le
n
t
[
1
4
]
,
[
1
5
]
,
f
u
r
th
e
r
co
m
p
licatin
g
th
e
c
o
n
tr
o
l
p
r
o
ce
s
s
[
1
6
]
.
I
n
p
lu
m
b
in
g
s
y
s
tem
s
,
th
is
s
h
if
t
ca
n
ca
u
s
e
ab
r
u
p
t
p
r
ess
u
r
e
f
lu
ctu
atio
n
s
[
1
7
]
,
m
ak
in
g
it
d
if
f
icu
lt
f
o
r
s
tan
d
ar
d
PID
co
n
t
r
o
ller
s
to
m
ain
tain
s
et
p
o
i
n
ts
r
eliab
ly
[
1
8
]
.
T
h
is
is
s
u
e
b
ec
o
m
es
m
o
r
e
p
r
o
n
o
u
n
ce
d
in
lar
g
e
-
s
ca
le
i
n
d
u
s
tr
ial
s
y
s
tem
s
wh
er
e
m
ain
tain
in
g
p
r
ec
is
e
co
n
tr
o
l
o
v
er
f
lo
w
an
d
p
r
ess
u
r
e
is
ess
en
ti
al
f
o
r
s
af
ety
,
ef
f
icien
cy
,
a
n
d
en
er
g
y
co
n
s
u
m
p
tio
n
[
1
9
]
.
Ad
d
r
ess
in
g
th
ese
ch
allen
g
es
r
e
q
u
ir
es
ad
v
an
ce
d
co
n
tr
o
l
s
tr
ateg
ies
th
at
ca
n
ad
a
p
t
to
o
r
m
itig
ate
t
h
e
ef
f
ec
ts
o
f
s
u
ch
n
o
n
-
lin
ea
r
ities
with
o
u
t
s
ig
n
if
ican
tly
in
cr
ea
s
i
n
g
s
y
s
tem
co
m
p
lex
ity
o
r
c
o
m
p
u
tatio
n
al
lo
ad
.
Giv
en
th
e
i
n
c
r
ea
s
in
g
d
em
an
d
f
o
r
h
ig
h
ly
ef
f
icien
t
a
n
d
ad
ap
tab
le
co
n
tr
o
l
s
y
s
tem
s
in
b
o
th
h
o
u
s
eh
o
ld
a
n
d
in
d
u
s
tr
ial
a
p
p
licatio
n
s
,
ex
p
lo
r
in
g
th
e
in
teg
r
atio
n
o
f
e
n
v
ir
o
n
m
en
tal
f
ac
to
r
s
s
u
ch
as
tem
p
er
at
u
r
e
in
t
o
PID
co
n
tr
o
l
s
tr
ateg
ies
is
cr
u
cial.
Dev
elo
p
in
g
a
r
o
b
u
s
t
PID
c
o
n
tr
o
ller
ca
p
a
b
le
o
f
h
a
n
d
lin
g
n
o
n
-
lin
ea
r
b
e
h
av
i
o
r
en
s
u
r
es
n
o
t
o
n
ly
im
p
r
o
v
e
d
s
y
s
tem
s
tab
ilit
y
b
u
t
also
r
ed
u
ce
s
th
e
lik
elih
o
o
d
o
f
o
p
e
r
atio
n
al
f
ailu
r
es
[
2
0
]
,
e
n
h
an
ce
s
en
e
r
g
y
ef
f
icien
c
y
[
2
0
]
,
a
n
d
m
in
im
izes
m
ain
ten
an
ce
co
s
ts
.
Nu
m
er
o
u
s
s
tu
d
ies
h
av
e
in
v
esti
g
ated
th
e
im
p
lem
e
n
tatio
n
o
f
PID
co
n
tr
o
ller
s
in
v
a
r
io
u
s
f
lu
i
d
s
y
s
tem
s
.
T
r
ad
itio
n
al
ap
p
r
o
ac
h
es
f
o
cu
s
ed
o
n
lin
ea
r
s
y
s
tem
m
o
d
els,
wh
er
e
PID
co
n
tr
o
ller
s
wer
e
tu
n
ed
to
ac
h
iev
e
o
p
tim
al
p
er
f
o
r
m
a
n
ce
with
in
a
n
ar
r
o
w
r
an
g
e
o
f
o
p
e
r
atin
g
c
o
n
d
itio
n
s
[
2
1
]
.
T
h
e
Z
ieg
ler
-
N
ich
o
ls
m
eth
o
d
,
f
o
r
in
s
tan
ce
,
h
as
b
ee
n
a
p
o
p
u
lar
tech
n
iq
u
e
f
o
r
tu
n
in
g
PID
co
n
tr
o
ller
s
,
d
eliv
er
in
g
s
atis
f
ac
to
r
y
r
esu
lts
in
m
an
y
ap
p
licatio
n
s
[
2
2
]
.
Ho
wev
er
,
s
ev
er
al
s
tu
d
ies
h
av
e
h
ig
h
lig
h
ted
lim
itatio
n
s
i
n
h
an
d
li
n
g
n
o
n
-
lin
ea
r
ities
,
p
ar
ticu
lar
ly
u
n
d
e
r
co
n
d
itio
n
s
o
f
v
a
r
iab
le
f
l
u
id
p
r
o
p
er
ties
s
u
ch
as
v
is
co
s
ity
an
d
tem
p
er
atu
r
e.
Fo
r
ex
am
p
le,
a
r
ec
en
t
r
e
v
iew
h
as
e
x
p
lain
ed
th
at
PID
c
o
n
tr
o
ller
s
tu
n
ed
f
o
r
i
d
ea
l
co
n
d
itio
n
s
o
f
ten
e
x
p
er
ien
ce
d
eg
r
ad
ed
p
er
f
o
r
m
an
ce
wh
e
n
ap
p
lied
to
s
y
s
tem
s
with
s
ig
n
if
ican
t
en
v
ir
o
n
m
en
tal
v
ar
iatio
n
s
,
lead
i
n
g
to
in
s
tab
ilit
y
an
d
in
ef
f
icien
cy
[
2
3
]
.
W
h
ile
a
f
ew
r
esear
ch
er
s
h
av
e
ad
d
r
ess
ed
th
ese
lim
itatio
n
s
b
y
in
tr
o
d
u
cin
g
ad
ap
tiv
e
o
r
r
o
b
u
s
t
PID
co
n
tr
o
l
s
tr
ateg
ies,
wh
i
ch
ad
ju
s
t
th
e
c
o
n
tr
o
l
p
ar
a
m
eter
s
d
y
n
am
ically
b
ased
o
n
r
ea
l
-
tim
e
s
y
s
tem
f
ee
d
b
ac
k
[
2
4
]
,
[2
5
],
th
ese
m
eth
o
d
s
r
eq
u
ir
e
c
o
m
p
lex
im
p
l
em
en
tatio
n
s
an
d
h
ig
h
er
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
.
Desp
ite
th
ese
ad
v
an
ce
m
en
ts
,
t
h
er
e
is
s
till
a
g
ap
in
th
e
liter
atu
r
e
r
eg
a
r
d
in
g
PID
co
n
tr
o
ller
s
th
at
ca
n
ef
f
ec
tiv
el
y
h
an
d
le
n
o
n
-
lin
ea
r
b
eh
a
v
io
r
wh
ile
m
ain
tain
in
g
s
im
p
licity
an
d
lo
w
co
m
p
u
tatio
n
al
co
s
t.
T
h
is
r
esear
ch
,
th
e
r
ef
o
r
e,
c
o
n
c
er
n
s
th
e
a
n
aly
s
is
o
f
th
e
p
er
f
o
r
m
an
ce
o
f
a
f
lu
id
co
n
tr
o
l
s
y
s
tem
wh
ich
em
p
lo
y
s
a
PID
co
n
tr
o
ller
u
n
d
er
f
lu
ctu
atin
g
tem
p
er
atu
r
e
co
n
d
itio
n
s
wh
ile
m
o
d
elin
g
th
e
n
o
n
-
lin
ea
r
ity
o
win
g
to
th
e
ch
an
g
e
o
f
a
f
lu
id
’
s
v
is
co
s
ity
.
T
h
e
p
r
im
ar
y
p
r
o
b
lem
th
is
s
tu
d
y
s
ee
k
s
to
s
o
lv
e
is
th
e
d
eg
r
ad
atio
n
o
f
PID
co
n
tr
o
ller
p
e
r
f
o
r
m
an
ce
an
d
s
y
s
tem
s
tab
ilit
y
in
f
lu
id
co
n
tr
o
l
s
y
s
tem
s
s
u
b
jecte
d
to
s
ig
n
if
ican
t
tem
p
er
atu
r
e
a
n
d
v
is
co
s
ity
v
ar
iatio
n
s
,
wh
ich
a
r
e
co
m
m
o
n
in
r
ea
l
-
wo
r
ld
i
n
d
u
s
tr
ial
an
d
d
o
m
esti
c
en
v
ir
o
n
m
en
ts
.
T
h
e
n
o
v
elty
o
f
th
is
s
tu
d
y
is
th
at
it
o
f
f
er
s
a
th
o
r
o
u
g
h
d
escr
ip
tio
n
o
f
h
o
w
th
e
co
n
tr
o
ller
r
esp
o
n
d
s
to
n
o
n
-
lin
ea
r
ities
,
in
clu
d
in
g
tem
p
er
atu
r
e
ch
a
n
g
es
,
wh
ich
h
av
e
n
o
t
r
ec
eiv
ed
ad
e
q
u
ate
atten
tio
n
in
p
r
ev
i
o
u
s
s
tu
d
ies.
T
h
is
s
tu
d
y
is
ex
p
ec
ted
to
ex
p
a
n
d
o
n
th
ese
f
in
d
in
g
s
b
y
in
co
r
p
o
r
ati
n
g
c
h
an
g
i
n
g
r
ea
l
-
wo
r
ld
en
v
ir
o
n
m
en
ts
in
to
th
e
d
esig
n
an
d
d
escr
ib
e
a
m
o
r
e
r
o
b
u
s
t
an
d
s
elf
-
g
o
v
e
r
n
in
g
PID
c
o
n
tr
o
l
ap
p
r
o
ac
h
th
at
ca
n
b
e
s
u
cc
ess
f
u
lly
ap
p
lied
i
n
co
m
p
licated
n
o
n
-
lin
ea
r
s
y
s
tem
s
.
T
h
e
au
th
o
r
s
'
c
o
n
tr
ib
u
tio
n
s
to
th
e
f
ield
in
clu
d
e
th
e
in
co
r
p
o
r
atio
n
o
f
p
r
in
ci
p
les
o
f
o
p
tim
izatio
n
o
f
PID
co
n
tr
o
ller
s
f
o
r
m
o
r
e
co
m
p
lex
an
d
r
ea
lis
tic
ap
p
licatio
n
s
,
wh
ich
in
cr
ea
s
es
th
e
p
er
f
o
r
m
a
n
ce
an
d
d
ep
en
d
a
b
ilit
y
o
f
f
lu
id
co
n
tr
o
l
s
y
s
tem
s
in
ap
p
licatio
n
s
: h
o
u
s
eh
o
ld
an
d
in
d
u
s
tr
ial.
T
h
e
o
b
jectiv
es
o
f
th
is
r
esear
ch
ar
e
to
an
aly
ze
th
e
im
p
ac
t
o
f
tem
p
e
r
atu
r
e
-
i
n
d
u
ce
d
f
lu
i
d
v
is
co
s
ity
ch
an
g
es
o
n
th
e
p
er
f
o
r
m
an
ce
o
f
a
PID
-
co
n
tr
o
lled
p
lu
m
b
in
g
s
y
s
tem
,
d
em
o
n
s
tr
ate
th
e
ef
f
ec
ti
v
en
ess
o
f
th
e
PID
co
n
tr
o
ller
in
m
ain
tain
in
g
s
y
s
tem
s
tab
ilit
y
u
n
d
er
n
o
n
-
lin
ea
r
co
n
d
itio
n
s
,
an
d
p
r
o
p
o
s
e
tu
n
in
g
ad
ju
s
tm
en
ts
o
r
s
tr
ateg
ies
to
en
h
an
ce
th
e
co
n
t
r
o
ller
'
s
r
o
b
u
s
tn
ess
wi
th
o
u
t
in
cr
ea
s
in
g
co
m
p
u
tatio
n
al
co
m
p
le
x
ity
.
T
h
is
p
ap
er
is
s
tr
u
ctu
r
ed
to
f
ir
s
t
p
r
esen
t
th
e
d
etailed
m
eth
o
d
o
lo
g
y
e
m
p
lo
y
ed
f
o
r
th
e
e
x
p
er
im
e
n
tal
s
etu
p
an
d
d
ata
co
llectio
n
.
Su
b
s
eq
u
en
tly
,
th
e
r
esu
lts
o
f
th
e
f
r
eq
u
en
cy
r
esp
o
n
s
e
an
a
ly
s
is
u
n
d
er
v
ar
io
u
s
tem
p
er
at
u
r
e
co
n
d
itio
n
s
ar
e
p
r
esen
ted
a
n
d
d
is
cu
s
s
ed
,
h
ig
h
lig
h
tin
g
t
h
e
o
b
s
er
v
ed
ch
a
n
g
es
in
s
y
s
tem
s
tab
ilit
y
an
d
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
.
Fin
ally
,
co
n
clu
s
io
n
s
ar
e
d
r
awn
r
eg
ar
d
in
g
th
e
PID
co
n
tr
o
ller
’
s
ad
ap
tab
ilit
y
to
n
o
n
lin
ea
r
ities
,
alo
n
g
with
r
ec
o
m
m
en
d
atio
n
s
f
o
r
f
u
tu
r
e
r
e
s
ea
r
ch
in
d
ev
el
o
p
in
g
m
o
r
e
r
esil
ien
t f
lu
id
co
n
t
r
o
l sy
s
tem
s
.
2.
M
E
T
H
O
D
T
h
is
wo
r
k
u
tili
ze
s
a
clo
s
ed
-
lo
o
p
co
n
tr
o
l
s
y
s
tem
with
a
PI
D
co
n
tr
o
ller
to
r
eg
u
late
f
lu
i
d
f
lo
w
a
n
d
p
r
ess
u
r
e
with
in
a
n
o
n
lin
ea
r
p
lu
m
b
in
g
s
y
s
tem
.
T
h
e
ex
p
er
im
en
tal
s
etu
p
em
p
lo
y
s
a
m
u
lti
-
lo
o
p
co
n
tr
o
l
d
em
o
n
s
tr
ato
r
,
wh
ich
in
te
g
r
at
es
d
ig
ital
p
r
ess
u
r
e
s
en
s
o
r
s
a
n
d
f
lo
w
m
eter
s
f
o
r
r
ea
l
-
tim
e
d
ata
ac
q
u
is
itio
n
.
T
h
e
r
o
b
u
s
tn
ess
o
f
th
e
co
n
tr
o
l
s
y
s
tem
i
s
ev
alu
ated
u
n
d
er
v
a
r
y
in
g
f
lu
id
v
is
co
s
ity
an
d
tem
p
er
atu
r
e
co
n
d
itio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
14
,
No
.
4
,
Dec
em
b
er
20
25
:
1
0
5
8
-
1
0
7
0
1060
T
h
e
o
v
er
all
ar
c
h
itectu
r
e
o
f
th
e
clo
s
ed
-
lo
o
p
c
o
n
tr
o
l
s
y
s
tem
i
s
d
ep
icted
in
th
e
b
lo
c
k
d
iag
r
a
m
in
Fig
u
r
e
1
.
T
h
is
d
iag
r
am
p
r
o
v
id
es
a
v
is
u
al
r
ep
r
esen
tatio
n
o
f
h
o
w
th
e
PID
co
n
tr
o
ller
,
v
ar
iab
le
-
s
p
ee
d
p
u
m
p
,
an
d
s
en
s
o
r
s
in
ter
ac
t
to
m
ain
tain
t
h
e
d
esire
d
p
r
ess
u
r
e
s
etp
o
in
t.
T
h
e
p
lu
m
b
in
g
s
etu
p
c
o
n
s
is
ts
o
f
s
tan
d
ar
d
in
d
u
s
tr
ial
-
g
r
a
d
e
p
ip
in
g
with
a
d
iam
eter
o
f
2
0
m
m
,
eq
u
i
p
p
ed
with
a
v
a
r
iab
le
-
s
p
ee
d
p
u
m
p
f
o
r
p
r
ec
is
e
ad
ju
s
tm
en
t
o
f
f
lo
w
r
ates.
T
h
e
wo
r
k
in
g
f
lu
id
is
wate
r
,
wh
o
s
e
d
y
n
am
ic
v
is
co
s
ity
i
s
m
an
ip
u
lated
b
y
h
ea
tin
g
th
e
f
lu
id
to
s
p
ec
if
ic
tem
p
er
atu
r
es
r
an
g
i
n
g
f
r
o
m
2
5
°C
to
8
0
°C
u
s
in
g
an
in
lin
e
h
ea
ter
.
T
h
is
tem
p
er
atu
r
e
r
an
g
e
is
ch
o
s
en
to
s
im
u
late
co
m
m
o
n
o
p
er
atio
n
al
v
ar
iatio
n
s
en
co
u
n
ter
ed
i
n
in
d
u
s
tr
ial
en
v
ir
o
n
m
en
ts
.
T
h
r
o
u
g
h
o
u
t
ea
c
h
test
r
u
n
,
tem
p
er
atu
r
e
s
en
s
o
r
s
,
in
co
n
ju
n
ctio
n
with
f
lo
w
m
eter
s
,
co
n
t
in
u
o
u
s
ly
r
ec
o
r
d
d
ata
f
o
r
f
lo
w
r
ates,
p
r
ess
u
r
e,
an
d
v
is
co
s
ity
.
T
h
e
PID
co
n
tr
o
ller
is
d
esig
n
e
d
to
m
i
n
im
ize
th
e
e
r
r
o
r
b
etwe
en
th
e
s
etp
o
i
n
t
(
d
esire
d
p
r
ess
u
r
e)
an
d
th
e
m
ea
s
u
r
ed
p
r
ess
u
r
e
b
y
a
d
ju
s
tin
g
th
e
p
u
m
p
s
p
ee
d
.
T
h
e
c
o
n
tr
o
ller
’
s
r
esp
o
n
s
e
is
g
o
v
er
n
e
d
b
y
th
e
s
tan
d
ar
d
PID
co
n
tr
o
l
as
in
(
1
)
[
2
6
]
,
wh
e
r
e
(
)
is
th
e
co
n
tr
o
l
s
ig
n
al
to
th
e
p
u
m
p
,
(
)
is
th
e
er
r
o
r
b
etwe
en
th
e
d
esire
d
an
d
ac
tu
al
p
r
ess
u
r
e,
,
,
an
d
ar
e
th
e
p
r
o
p
o
r
tio
n
al,
in
teg
r
al,
an
d
d
er
iv
ativ
e
g
ain
s
,
r
esp
ec
tiv
ely
.
T
h
e
v
alu
es
f
o
r
th
e
PID
g
ai
n
s
wer
e
tu
n
ed
b
ased
o
n
in
itial
test
s
an
d
f
in
alize
d
at
=
5
0
,
=
1
5
,
a
n
d
=
30
.
T
h
ese
v
alu
es
wer
e
o
p
tim
ized
to
ac
h
iev
e
a
s
tab
le
s
y
s
tem
r
esp
o
n
s
e
with
m
in
im
al
o
v
er
s
h
o
o
t
an
d
s
ettlin
g
tim
e
u
n
d
er
in
itial o
p
er
atin
g
c
o
n
d
itio
n
s
.
µ
(
)
=
(
)
+
∫
(
)
+
1
0
(
)
)
(
1
)
=
4
(
1
−
2
)
8
(
2
)
T
h
e
n
o
n
lin
ea
r
b
eh
a
v
io
r
o
f
th
e
s
y
s
tem
,
p
ar
ticu
la
r
ly
co
n
ce
r
n
in
g
f
lu
id
v
is
co
s
ity
ch
an
g
es
with
tem
p
er
atu
r
e,
is
ch
ar
ac
ter
ized
u
s
in
g
th
e
Hag
en
-
Po
is
eu
ille
eq
u
atio
n
as
in
(
2
)
[
2
6
]
,
wh
e
r
e
Q
r
ep
r
esen
ts
th
e
v
o
lu
m
etr
ic
f
lo
w
r
ate,
r
is
t
h
e
r
ad
iu
s
o
f
th
e
p
ip
e,
1
−
2
is
th
e
p
r
ess
u
r
e
d
if
f
er
e
n
ce
b
etwe
en
two
p
o
in
ts
,
η
is
th
e
f
lu
id
’
s
d
y
n
am
ic
v
is
co
s
ity
(
wh
ich
v
ar
ies
with
tem
p
er
atu
r
e)
,
an
d
L
is
th
e
len
g
th
o
f
th
e
p
i
p
e.
T
h
is
eq
u
atio
n
is
cr
u
cial
f
o
r
m
o
d
elin
g
th
e
s
y
s
tem
's
f
lo
w
ch
ar
ac
ter
is
tics
a
s
it
d
ir
ec
tly
r
ev
ea
ls
th
e
r
el
atio
n
s
h
ip
b
etwe
e
n
tem
p
er
atu
r
e
-
in
d
u
ce
d
v
is
co
s
ity
ch
an
g
es
an
d
th
e
r
esu
ltin
g
f
lo
w
r
ate
an
d
p
r
ess
u
r
e
v
ar
iatio
n
s
.
T
o
b
en
c
h
m
ar
k
th
e
ad
ap
tab
ilit
y
an
d
r
o
b
u
s
tn
ess
o
f
th
e
PID
co
n
tr
o
ller
ag
ain
s
t
ch
a
n
g
es
in
v
is
co
s
ity
,
th
e
f
o
llo
win
g
test
tem
p
er
atu
r
es
wer
e
s
elec
ted
:
2
5
°C
,
4
0
°C
,
5
5
°C
,
6
5
°C
,
an
d
8
0
°C
.
At
ea
ch
tem
p
er
atu
r
e
p
o
in
t,
f
lo
w
a
n
d
p
r
ess
u
r
e
d
ata
ar
e
co
llected
to
o
b
s
er
v
e
th
e
co
n
t
r
o
ller
’
s
p
er
f
o
r
m
an
ce
in
m
ain
t
ain
in
g
s
y
s
tem
s
tab
ilit
y
.
T
h
e
ex
p
er
im
en
tal
s
etu
p
r
eq
u
ir
ed
m
ain
tain
in
g
a
s
etp
o
i
n
t
p
r
ess
u
r
e
of
2.
0
b
a
r
wh
ile
v
ar
y
in
g
t
h
e
f
lu
id
tem
p
er
atu
r
e
an
d
co
r
r
esp
o
n
d
i
n
g
v
is
co
s
ity
.
Fo
r
ea
ch
tem
p
e
r
atu
r
e
p
o
in
t,
s
tar
tin
g
f
r
o
m
2
5
°C
u
p
to
8
0
°C
in
s
tep
s
o
f
1
5
°C
,
t
h
e
s
y
s
tem
p
r
ess
u
r
e
was
co
n
tr
o
lled
b
y
t
h
e
PID
c
o
n
tr
o
ller
.
E
ac
h
test
r
u
n
last
ed
f
o
r
3
0
m
in
u
tes,
with
c
o
n
tin
u
o
u
s
d
ata
r
ec
o
r
d
i
n
g
f
r
o
m
b
o
th
p
r
ess
u
r
e
an
d
f
lo
w
r
ate
s
en
s
o
r
s
.
Fig
u
r
e
1
.
E
x
p
er
im
e
n
tal
s
etu
p
b
lo
ck
d
ia
g
r
am
o
f
th
e
f
l
u
id
co
n
tr
o
l sy
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
F
r
eq
u
en
cy
r
esp
o
n
s
e
-
b
a
s
ed
o
p
t
imiz
a
tio
n
o
f P
I
D
co
n
tr
o
ller
s
fo
r
en
h
a
n
ce
d
flu
id
…
(
Herr
i Tr
is
n
a
F
r
ia
n
to
)
1061
T
o
th
o
r
o
u
g
h
ly
ass
ess
s
y
s
tem
s
tab
ilit
y
an
d
th
e
im
p
ac
t
o
f
v
ar
y
in
g
f
l
u
id
p
r
o
p
er
ties
,
f
r
e
q
u
en
c
y
r
esp
o
n
s
e
an
aly
s
is
is
co
n
d
u
cted
u
s
in
g
B
o
d
e
an
d
Ny
q
u
is
t
p
lo
ts
.
T
h
is
m
eth
o
d
is
ch
o
s
en
s
p
ec
if
ically
b
ec
au
s
e
it
p
r
o
v
id
es
a
co
m
p
r
eh
e
n
s
iv
e
u
n
d
er
s
tan
d
in
g
o
f
h
o
w
th
e
s
y
s
tem
r
esp
o
n
d
s
t
o
d
if
f
e
r
en
t
in
p
u
t
f
r
eq
u
e
n
cies,
wh
ich
is
cr
u
cial
f
o
r
an
aly
zin
g
t
h
e
ef
f
ec
ts
o
f
ch
a
n
g
in
g
tem
p
er
atu
r
e
an
d
v
is
co
s
ity
o
n
s
y
s
tem
d
y
n
am
ics.
Var
iatio
n
s
in
tem
p
e
r
atu
r
e
an
d
v
is
co
s
ity
d
ir
ec
tly
in
f
lu
e
n
ce
th
e
f
l
u
id
'
s
in
er
tia
an
d
r
esis
tiv
e
f
o
r
ce
s
,
alter
in
g
th
e
s
y
s
tem
's
n
atu
r
al
f
r
eq
u
e
n
cies
an
d
d
am
p
i
n
g
ch
a
r
ac
ter
is
tics
.
Fre
q
u
en
cy
r
esp
o
n
s
e
an
aly
s
is
allo
w
s
f
o
r
th
e
q
u
a
n
tific
atio
n
o
f
th
ese
ch
an
g
es
th
r
o
u
g
h
g
ai
n
an
d
p
h
ase
m
ar
g
in
s
,
wh
ich
ar
e
d
ir
ec
t
in
d
icato
r
s
o
f
s
y
s
tem
s
tab
ilit
y
an
d
p
er
f
o
r
m
an
ce
.
T
h
e
f
r
eq
u
e
n
cy
r
esp
o
n
s
e
o
f
th
e
s
y
s
tem
is
ev
alu
ated
u
s
in
g
th
e
f
o
llo
win
g
B
o
d
e
p
lo
t
m
ag
n
itu
d
e
in
p
h
ase
(
3
)
an
d
(
4
)
[
2
7
]
.
Her
e,
(
)
r
ep
r
esen
ts
th
e
m
ag
n
itu
d
e
r
esp
o
n
s
e
an
d
ϕ
(
ω
)
r
ep
r
esen
ts
th
e
p
h
ase
s
h
if
t
as
f
u
n
ctio
n
s
o
f
an
g
u
lar
f
r
e
q
u
en
c
y
ω
.
T
h
ese
p
l
o
ts
en
ab
le
th
e
an
aly
s
is
o
f
th
e
s
y
s
tem
's p
er
f
o
r
m
an
ce
an
d
s
tab
ilit
y
m
ar
g
in
s
ac
r
o
s
s
a
r
an
g
e
o
f
f
r
eq
u
en
cies,
h
i
g
h
l
ig
h
tin
g
th
e
PID
co
n
tr
o
ller
'
s
b
eh
av
io
r
u
n
d
er
d
if
f
er
e
n
t
o
p
e
r
atio
n
al
co
n
d
itio
n
s
.
Ny
q
u
is
t p
lo
ts
ar
e
g
en
e
r
ated
u
s
in
g
th
e
r
ea
l a
n
d
im
ag
i
n
ar
y
c
o
m
p
o
n
e
n
ts
d
er
iv
ed
f
r
o
m
(
5
)
an
d
(
6
)
[
2
7
]
.
(
)
=
2
10
|
(
)
(
)
|
(
3
)
(
)
=
|
(
)
(
)
|
(
4
)
=
(
)
c
os
(
)
(
5
)
=
(
)
s
in
(
)
(
6
)
T
h
e
s
p
ec
if
ic
p
ar
am
eter
s
m
ea
s
u
r
ed
in
th
e
ex
p
er
im
en
tal
s
etu
p
in
clu
d
e
f
l
u
id
tem
p
er
at
u
r
e
(
in
°C
)
,
v
o
lu
m
etr
ic
f
l
o
w
r
ate
(
i
n
L
/
m
in
)
,
an
d
p
r
ess
u
r
e
(
in
b
ar
)
.
T
h
e
d
y
n
am
ic
v
is
co
s
ity
o
f
wate
r
is
im
p
licitly
d
eter
m
in
ed
b
y
th
e
m
ea
s
u
r
e
d
t
em
p
er
atu
r
e.
Fo
r
ea
ch
test
co
n
d
itio
n
,
th
e
f
o
llo
win
g
p
er
f
o
r
m
an
ce
m
etr
ics
wer
e
an
aly
ze
d
:
o
v
er
s
h
o
o
t,
s
ettlin
g
tim
e,
an
d
s
tead
y
-
s
tate
er
r
o
r
.
T
h
ese
m
ea
s
u
r
em
en
ts
allo
w
f
o
r
a
d
ir
ec
t
ass
es
s
m
en
t
o
f
th
e
PID
co
n
tr
o
ller
'
s
ab
ilit
y
to
m
ain
tain
th
e
d
esire
d
p
r
ess
u
r
e
s
etp
o
in
t
u
n
d
er
th
e
test
ed
v
ar
iatio
n
s
.
R
eg
ar
d
in
g
th
e
ch
an
g
e
in
p
h
ase
lag
with
i
n
cr
ea
s
in
g
tem
p
er
at
u
r
e,
as
tem
p
er
atu
r
e
in
cr
e
ases
,
th
e
f
lu
id
'
s
v
is
co
s
ity
d
ec
r
ea
s
es.
T
h
is
ty
p
ically
lead
s
to
a
f
ast
er
s
y
s
tem
r
esp
o
n
s
e
b
u
t
ca
n
also
in
tr
o
d
u
ce
m
o
r
e
o
s
cillatio
n
s
an
d
p
o
ten
tially
d
ec
r
ea
s
e
th
e
p
h
ase
m
a
r
g
in
,
i
m
p
ly
in
g
a
r
ed
u
ctio
n
in
s
tab
ili
ty
m
ar
g
in
s
.
T
h
is
p
h
en
o
m
en
o
n
is
d
ir
ec
tly
o
b
s
er
v
e
d
an
d
an
aly
ze
d
th
r
o
u
g
h
th
e
f
r
e
q
u
en
cy
r
esp
o
n
s
e
p
lo
ts
,
wh
er
e
a
lar
g
er
p
h
ase
lag
at
lo
wer
f
r
eq
u
e
n
cies
o
r
a
r
ed
u
ctio
n
i
n
p
h
ase
m
a
r
g
in
in
d
i
ca
tes a
m
o
r
e
o
s
cillato
r
y
o
r
less
s
tab
le
s
y
s
tem
.
T
h
e
d
e
v
elo
p
m
e
n
t
o
f
ad
a
p
tiv
e
co
n
tr
o
l
s
tr
ateg
ies
is
im
p
o
r
tan
t
f
o
r
PID
-
co
n
tr
o
lled
f
lu
i
d
s
y
s
tem
s
o
p
er
atin
g
u
n
d
er
f
l
u
ctu
atin
g
te
m
p
er
atu
r
es
b
ec
au
s
e
co
n
s
tan
t
PID
g
ain
s
,
wh
ile
o
p
tim
al
at
o
n
e
o
p
er
atin
g
p
o
in
t,
m
ay
lead
to
d
eg
r
a
d
ed
p
e
r
f
o
r
m
an
ce
o
r
in
s
tab
ilit
y
wh
en
s
y
s
tem
d
y
n
am
ics
ch
a
n
g
e
s
ig
n
if
ica
n
tly
d
u
e
to
v
is
co
s
ity
v
ar
iatio
n
s
.
Ad
ap
tiv
e
s
tr
ateg
ies
ca
n
a
d
ju
s
t
co
n
tr
o
ller
p
a
r
am
et
er
s
in
r
ea
l
-
tim
e
t
o
co
m
p
en
s
ate
f
o
r
th
ese
ch
a
n
g
es,
en
s
u
r
in
g
co
n
s
is
ten
t
p
er
f
o
r
m
an
ce
an
d
s
tab
ilit
y
ac
r
o
s
s
th
e
en
ti
r
e
o
p
er
atio
n
al
r
an
g
e.
T
h
is
r
ese
ar
ch
,
b
y
an
aly
zin
g
th
e
s
y
s
tem
's
f
r
eq
u
en
cy
r
esp
o
n
s
e
u
n
d
er
v
ar
y
in
g
co
n
d
itio
n
s
,
lay
s
th
e
g
r
o
u
n
d
wo
r
k
f
o
r
u
n
d
er
s
tan
d
in
g
th
e
n
ec
ess
ity
an
d
p
o
ten
tial d
esig
n
r
eq
u
ir
em
e
n
ts
f
o
r
s
u
ch
ad
ap
tiv
e
co
n
tr
o
l m
ec
h
an
is
m
s
.
Data
an
aly
s
is
in
v
o
lv
e
d
p
r
o
ce
s
s
in
g
th
e
co
n
tin
u
o
u
s
s
en
s
o
r
r
ec
o
r
d
in
g
s
to
ex
tr
ac
t
k
ey
p
e
r
f
o
r
m
a
n
ce
m
etr
ics.
No
d
ata
p
o
i
n
ts
wer
e
ex
p
licitly
ex
clu
d
e
d
u
n
less
th
ey
wer
e
clea
r
ly
id
en
tifie
d
as
s
en
s
o
r
m
alf
u
n
ctio
n
s
o
r
tr
an
s
ien
t
n
o
is
e
o
u
ts
id
e
th
e
s
tab
le
m
ea
s
u
r
em
e
n
t
p
e
r
io
d
.
T
h
e
co
llected
d
ata
f
o
r
f
l
o
w,
p
r
ess
u
r
e,
an
d
tem
p
er
atu
r
e
wer
e
u
s
ed
to
ca
lcu
late
s
y
s
te
m
r
esp
o
n
s
e
p
ar
am
eter
s
lik
e
o
v
er
s
h
o
o
t,
s
ettlin
g
tim
e,
an
d
s
tead
y
-
s
tate
er
r
o
r
f
o
r
ea
ch
tem
p
er
atu
r
e
co
n
d
itio
n
.
F
u
r
th
er
m
o
r
e,
th
e
co
llected
in
p
u
t
-
o
u
tp
u
t
d
ata
wer
e
u
s
ed
to
g
e
n
er
ate
th
e
f
r
eq
u
en
c
y
r
esp
o
n
s
e
p
lo
ts
,
en
ab
li
n
g
a
q
u
a
n
titativ
e
ass
es
s
m
en
t
o
f
s
tab
ilit
y
m
ar
g
in
s
(
g
ain
m
a
r
g
in
,
p
h
as
e
m
ar
g
in
)
f
o
r
ea
ch
v
is
co
s
ity
co
n
d
itio
n
.
Sp
ec
ial
at
ten
tio
n
was
g
iv
e
n
to
ass
ess
in
g
th
e
c
o
n
tr
o
ller
'
s
p
er
f
o
r
m
an
ce
an
d
r
o
b
u
s
tn
ess
in
ca
s
es
o
f
s
ig
n
if
ican
t
v
is
co
s
ity
v
ar
iatio
n
s
,
s
u
c
h
as
h
ig
h
te
m
p
er
atu
r
e
an
d
lo
w
v
is
co
s
ity
,
with
a
f
o
cu
s
o
n
m
ain
tain
in
g
s
tab
ilit
y
an
d
m
in
i
m
al
d
ev
iatio
n
s
f
r
o
m
th
e
c
o
n
tr
o
l setp
o
in
t.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
P
I
D
co
ntr
o
ller
perf
o
rma
nce
un
der
ba
s
eli
ne
co
nd
it
io
ns
T
ab
le
1
p
r
esen
ts
th
e
PID
co
n
tr
o
ller
'
s
r
esp
o
n
s
e
u
n
d
e
r
b
aselin
e
co
n
d
itio
n
s
,
s
h
o
w
ca
s
in
g
th
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
er
r
o
r
s
ig
n
al
(
e)
an
d
th
e
co
n
tr
o
l
s
i
g
n
al
μ
(
t)
at
v
a
r
io
u
s
tim
e
in
te
r
v
als.
I
n
itially
,
th
e
er
r
o
r
s
tar
ts
at
2
.
0
b
ar
,
co
r
r
e
s
p
o
n
d
in
g
to
a
h
i
g
h
c
o
n
tr
o
l
s
ig
n
al
o
f
1
0
0
.
0
,
in
d
icatin
g
th
e
p
u
m
p
’
s
m
ax
i
m
al
r
esp
o
n
s
e
to
r
ea
ch
th
e
d
esire
d
s
etp
o
in
t.
As
tim
e
p
r
o
g
r
ess
es,
th
e
er
r
o
r
g
r
ad
u
ally
d
ec
r
ea
s
es.
At
5
s
ec
o
n
d
s
,
th
e
er
r
o
r
is
r
ed
u
ce
d
to
1
.
5
b
a
r
with
a
co
n
tr
o
l
s
ig
n
al
o
f
8
0
.
0
,
in
d
icatin
g
th
at
th
e
co
n
tr
o
ller
is
ad
ju
s
tin
g
th
e
p
u
m
p
in
p
u
t
to
co
m
p
e
n
s
ate
f
o
r
th
e
c
h
an
g
in
g
er
r
o
r
.
B
y
1
0
s
ec
o
n
d
s
,
th
e
er
r
o
r
h
as
d
r
o
p
p
e
d
to
1
.
0
b
ar
,
an
d
th
e
c
o
n
tr
o
l
s
ig
n
al
r
ef
lects
th
is
ad
ju
s
tm
en
t
with
a
r
ed
u
ctio
n
to
6
7
.
5
.
T
h
i
s
tr
en
d
co
n
tin
u
es
u
n
til
th
e
e
r
r
o
r
n
ea
r
s
ze
r
o
at
2
5
s
ec
o
n
d
s
,
wh
er
e
th
e
c
o
n
tr
o
l
s
ig
n
al
s
ettles at
4
0
.
0
,
clo
s
e
to
a
s
t
ea
d
y
-
s
tate
lev
el.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
14
,
No
.
4
,
Dec
em
b
er
20
25
:
1
0
5
8
-
1
0
7
0
1062
T
ab
le
1
.
PID
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
u
n
d
er
b
aselin
e
c
o
n
d
itio
n
s
Ti
me
(
s)
Er
r
o
r
(
e
)
(
ba
r)
C
o
n
t
r
o
l
s
i
g
n
a
l
(
)
(
p
u
m
p
i
n
p
u
t
)
0
2
.
0
1
0
0
.
0
5
1
.
5
8
0
.
0
10
1
.
0
6
7
.
5
15
0
.
5
5
4
.
0
20
0
.
2
4
4
.
5
25
0
.
0
4
0
.
0
T
h
e
d
ata
i
n
T
ab
le
1
r
ev
ea
l
a
s
m
o
o
th
r
e
d
u
ctio
n
in
th
e
er
r
o
r
s
ig
n
al
as
th
e
c
o
n
tr
o
l
s
y
s
tem
s
tab
ilize
s
to
war
d
s
th
e
s
et
p
o
in
t.
T
h
e
g
r
ad
u
al
d
ec
r
ea
s
e
in
b
o
th
er
r
o
r
a
n
d
co
n
tr
o
l
s
ig
n
al
o
v
e
r
tim
e
alig
n
s
with
ex
p
ec
ted
PID
co
n
tr
o
ller
b
e
h
av
io
r
,
wh
e
r
e
th
e
p
r
o
p
o
r
tio
n
al,
in
teg
r
al,
an
d
d
er
i
v
ativ
e
co
m
p
o
n
e
n
ts
co
llectiv
ely
aim
to
m
in
im
ize
th
e
er
r
o
r
with
o
u
t
in
d
u
cin
g
o
v
er
s
h
o
o
t
[
1
3
]
.
T
h
e
ab
s
en
ce
o
f
ab
r
u
p
t
ch
a
n
g
es
in
th
e
co
n
tr
o
l
s
ig
n
al
(
)
s
u
g
g
ests
well
-
tu
n
ed
PID
p
ar
a
m
eter
s
,
as th
e
ad
ju
s
tm
en
ts
ar
e
n
eith
er
to
o
a
g
g
r
ess
iv
e
n
o
r
to
o
s
lo
w
[
2
8
].
I
n
ter
m
s
o
f
co
n
t
r
o
l d
y
n
a
m
ics,
th
e
PID
co
n
tr
o
ller
d
is
p
lay
s
a
b
alan
ce
d
r
esp
o
n
s
e.
T
h
e
e
r
r
o
r
r
e
d
u
ctio
n
is
s
tead
y
,
in
d
icatin
g
a
s
tab
le
r
is
e
tim
e
[
29
]
,
[
3
0
]
.
T
h
is
ch
ar
ac
te
r
is
tic
is
e
s
s
en
tial
in
f
lu
id
co
n
tr
o
l
s
y
s
tem
s
wh
er
e
r
ap
id
o
s
cillatio
n
s
o
r
o
v
er
s
h
o
o
t
co
u
ld
p
o
ten
tially
d
is
r
u
p
t
f
lu
i
d
s
tab
ilit
y
an
d
p
r
ess
u
r
e
in
teg
r
ity
[3
1
]
.
Her
e,
th
e
c
o
n
t
r
o
l
s
i
g
n
a
l'
s
d
ec
l
i
n
e
c
o
r
r
e
s
p
o
n
d
s
p
r
o
p
o
r
t
i
o
n
a
l
l
y
t
o
t
h
e
e
r
r
o
r
s
i
g
n
a
l
,
s
i
g
n
i
f
y
i
n
g
t
h
a
t
t
h
e
c
o
n
t
r
o
l
l
e
r
is
e
f
f
e
ct
i
v
e
ly
a
t
t
e
n
u
a
t
i
n
g
t
h
e
e
r
r
o
r
in
r
e
a
l
-
t
im
e
w
h
i
le
av
o
id
i
n
g
an
y
e
x
c
e
s
s
i
v
e
in
p
u
t
t
h
a
t
m
ig
h
t
l
e
a
d
t
o
i
n
s
t
a
b
i
l
i
t
y
[
2
0
]
.
T
h
e
d
ata
also
s
u
g
g
est
th
at
th
e
co
n
tr
o
ller
av
o
id
s
e
x
ce
s
s
iv
e
o
r
d
elay
e
d
r
esp
o
n
s
es
th
at
m
i
g
h
t
lead
to
p
er
f
o
r
m
an
ce
in
ef
f
icien
cies
o
r
in
cr
ea
s
ed
s
y
s
tem
wea
r
.
T
h
e
lack
o
f
o
v
e
r
s
h
o
o
t
as
th
e
er
r
o
r
ap
p
r
o
ac
h
es
ze
r
o
s
u
p
p
o
r
ts
th
e
co
n
clu
s
io
n
th
at
t
h
e
PID
co
n
tr
o
ller
is
well
-
s
u
ite
d
f
o
r
m
ain
tain
in
g
s
tead
y
-
s
tate
co
n
d
itio
n
s
with
o
u
t
s
ig
n
if
ican
t
o
s
cillatio
n
s
o
r
d
ev
iatio
n
s
[3
2
]
,
[
3
3
]
.
T
h
is
b
aselin
e
p
er
f
o
r
m
an
ce
p
r
o
v
id
es
a
b
en
ch
m
ar
k
f
o
r
ass
es
s
in
g
th
e
PID
c
o
n
tr
o
ller
'
s
r
esp
o
n
s
iv
en
ess
to
d
if
f
er
e
n
t
o
p
er
atio
n
al
s
ce
n
ar
i
o
s
,
s
u
ch
as
ch
an
g
es
in
f
lu
i
d
v
is
co
s
ity
o
r
ex
ter
n
al
d
is
tu
r
b
a
n
ce
s
.
B
y
estab
li
s
h
in
g
th
e
PID
co
n
tr
o
ller
'
s
ab
ilit
y
to
s
tab
iliz
e
th
e
s
y
s
tem
u
n
d
er
b
aselin
e
co
n
d
itio
n
s
,
th
e
r
esu
lts
u
n
d
er
s
co
r
e
its
s
u
itab
ilit
y
f
o
r
f
lu
id
c
o
n
tr
o
l
s
y
s
tem
s
wh
er
e
p
r
ec
is
io
n
an
d
s
tab
ilit
y
ar
e
cr
itical
[
3
4
]
,
[
3
5
].
T
h
is
r
o
b
u
s
t
b
aselin
e
p
er
f
o
r
m
an
ce
is
cr
itical,
a
s
it
s
er
v
es
as
th
e
b
en
ch
m
ar
k
ag
ain
s
t
wh
ich
th
e
p
er
f
o
r
m
a
n
ce
d
e
g
r
ad
atio
n
d
u
e
to
v
ar
y
in
g
tem
p
er
atu
r
e
an
d
v
is
co
s
ity
in
s
u
b
s
eq
u
e
n
t
ex
p
er
im
en
ts
ca
n
b
e
ac
cu
r
atel
y
ass
ess
ed
,
th
u
s
h
ig
h
lig
h
tin
g
th
e
ch
allen
g
es
p
o
s
ed
b
y
r
e
al
-
wo
r
ld
o
p
er
atin
g
co
n
d
itio
n
s
.
3
.
2
.
E
f
f
ec
t
s
o
f
t
e
m
pera
t
ure
a
nd
v
is
co
s
it
y
o
n sy
s
t
em
dy
na
m
ics
T
h
e
o
b
tain
ed
PID
co
n
tr
o
ller
p
er
f
o
r
m
a
n
ce
at
v
ar
io
u
s
tem
p
er
atu
r
es/v
is
co
s
ities
r
an
g
in
g
f
r
o
m
2
5
°C
to
80
°C
is
s
h
o
wn
in
T
ab
le
2
.
Du
r
in
g
th
e
test
s
,
s
et
p
o
in
t
p
r
ess
u
r
e
was
k
ep
t
at
2
.
0
b
ar
.
I
t
is
o
b
v
io
u
s
th
at
wh
en
th
e
tem
p
er
atu
r
e
in
cr
ea
s
es,
th
e
v
is
co
s
ity
o
f
th
e
f
lu
id
d
ec
r
ea
s
es,
wh
ich
ca
u
s
es
r
em
ar
k
ab
le
ch
an
g
es
in
s
y
s
tem
b
eh
av
io
r
.
I
n
d
ee
d
,
s
u
ch
c
h
an
g
es
ar
e
g
o
in
g
to
af
f
ec
t
th
e
p
er
f
o
r
m
an
ce
in
d
ices
s
u
ch
as
o
v
er
s
h
o
o
t,
s
ettlin
g
tim
e,
an
d
s
tead
y
-
s
tate
er
r
o
r
.
At
2
5
°C
,
th
e
s
y
s
tem
o
p
er
ates
r
elativ
ely
s
tab
l
y
,
with
a
m
ea
s
u
r
ed
p
r
ess
u
r
e
o
f
2
.
0
5
b
ar
,
an
o
v
er
s
h
o
o
t
o
f
3
.
1
%,
an
d
a
f
lo
w
r
ate
o
f
1
0
.
2
L
/m
in
.
T
h
e
s
tead
y
-
s
tate
er
r
o
r
is
m
in
im
al
at
2
.
5
%,
in
d
icatin
g
g
o
o
d
c
o
n
tr
o
l
u
n
d
er
b
aselin
e
co
n
d
itio
n
s
.
As
th
e
tem
p
er
atu
r
e
r
is
es
to
4
0
°C
,
th
e
v
is
co
s
ity
d
r
o
p
s
to
0
.
8
m
Pa·
s
,
ca
u
s
in
g
th
e
m
ea
s
u
r
ed
p
r
ess
u
r
e
to
in
cr
ea
s
e
s
lig
h
tly
to
2
.
1
1
b
ar
.
T
h
e
o
v
er
s
h
o
o
t
in
c
r
ea
s
es
to
5
.
2
%,
an
d
th
e
s
ettlin
g
tim
e
ex
ten
d
s
to
2
6
s
ec
o
n
d
s
,
r
ef
lectin
g
th
e
s
y
s
tem
'
s
g
r
o
win
g
d
if
f
icu
lty
in
m
ain
tain
in
g
r
ap
id
s
tab
ilizatio
n
.
T
ab
le
2
.
PID
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
u
n
d
er
v
a
r
y
in
g
tem
p
er
at
u
r
e
an
d
v
is
co
s
ity
co
n
d
iti
o
n
s
Te
mp
e
r
a
t
u
r
e
(
°
C
)
V
i
sco
si
t
y
(
mP
a
s)
S
e
t
p
o
i
n
t
p
r
e
ss
u
r
e
(
b
a
r
)
M
e
a
su
r
e
d
p
r
e
ss
u
r
e
(
b
a
r
)
F
l
o
w
r
a
t
e
(
L/
mi
n
)
O
v
e
r
sh
o
o
t
(
%)
S
e
t
t
l
i
n
g
t
i
m
e
(
s)
S
t
e
a
d
y
-
st
a
t
e
e
r
r
o
r
(
%)
25
0
.
9
2
.
0
2
.
0
5
1
0
.
2
3
.
1
24
2
.
5
40
0
.
8
2
.
0
2
.
1
1
1
1
.
0
5
.
2
26
5
.
1
55
0
.
7
2
.
0
2
.
1
7
1
1
.
5
7
.
4
28
7
.
2
65
0
.
6
2
.
0
2
.
2
2
1
2
.
1
1
0
.
2
32
1
0
.
4
80
0
.
5
2
.
0
2
.
3
1
1
3
.
0
1
5
.
7
38
1
4
.
7
As
th
e
tem
p
er
at
u
r
e
r
ea
ch
es
5
5
°C
,
th
e
v
is
co
s
ity
f
u
r
th
er
d
ec
r
ea
s
es
to
0
.
7
m
Pa·
s
,
r
esu
ltin
g
in
a
m
ea
s
u
r
ed
p
r
ess
u
r
e
o
f
2
.
1
7
b
ar
an
d
a
f
lo
w
r
ate
o
f
1
1
.
5
L
/m
in
.
T
h
e
o
v
er
s
h
o
o
t
escalate
s
to
7
.
4
%,
an
d
th
e
s
ettlin
g
tim
e
ex
ten
d
s
t
o
2
8
s
ec
o
n
d
s
,
s
h
o
win
g
a
clea
r
tr
e
n
d
o
f
r
ed
u
ce
d
co
n
tr
o
l
p
r
ec
is
io
n
.
At
6
5
°C
,
th
e
m
ea
s
u
r
ed
p
r
ess
u
r
e
in
c
r
ea
s
es
to
2
.
2
2
b
a
r
,
an
d
th
e
f
lo
w
r
ate
clim
b
s
to
1
2
.
1
L
/m
i
n
.
T
h
e
o
v
er
s
h
o
o
t
an
d
s
ettlin
g
tim
e
in
cr
ea
s
e
s
ig
n
if
ican
tly
to
1
0
.
2
%
an
d
3
2
s
ec
o
n
d
s
,
r
esp
ec
tiv
ely
,
in
d
icatin
g
th
at
th
e
co
n
tr
o
l
s
y
s
tem
is
s
tr
u
g
g
lin
g
to
m
ain
tain
s
tab
ilit
y
[
3
6
]
.
At
th
e
h
ig
h
est
test
e
d
tem
p
er
atu
r
e
o
f
8
0
°C
,
th
e
v
is
co
s
ity
d
r
o
p
s
to
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J Ap
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wer
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n
g
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2252
-
8
7
9
2
F
r
eq
u
en
cy
r
esp
o
n
s
e
-
b
a
s
ed
o
p
t
imiz
a
tio
n
o
f P
I
D
co
n
tr
o
ller
s
fo
r
en
h
a
n
ce
d
flu
id
…
(
Herr
i Tr
is
n
a
F
r
ia
n
to
)
1063
0
.
5
m
Pa·
s
,
ca
u
s
in
g
th
e
m
ea
s
u
r
ed
p
r
ess
u
r
e
to
r
is
e
to
2
.
3
1
b
ar
an
d
th
e
f
lo
w
r
ate
to
r
ea
c
h
1
3
.
0
L
/m
i
n
.
T
h
e
o
v
er
s
h
o
o
t
p
ea
k
s
at
1
5
.
7
%,
an
d
th
e
s
ettlin
g
tim
e
ex
ten
d
s
to
3
8
s
ec
o
n
d
s
.
Als
o
,
th
e
s
ett
lin
g
tim
e
in
cr
ea
s
es
co
n
s
id
er
ab
ly
,
u
p
to
1
4
.
7
%,
wh
ich
m
ea
n
s
th
at
th
e
PID
co
n
tr
o
ller
is
n
o
t
ab
le
to
co
p
e
with
f
ast
ch
an
g
es
o
f
th
e
f
lu
id
p
r
o
p
er
ties
ef
f
ec
tiv
el
y
[
3
7
]
.
T
h
is
in
a
b
ilit
y
to
ef
f
ec
tiv
e
ly
co
p
e
with
r
ap
id
c
h
an
g
es
i
n
f
lu
id
p
r
o
p
er
ties
,
p
ar
ticu
lar
ly
t
h
e
s
ig
n
if
ican
t
in
cr
ea
s
e
in
s
tead
y
-
s
tate
er
r
o
r
,
d
ir
ec
tly
tr
an
s
lates
to
a
r
e
d
u
ce
d
p
r
ec
is
io
n
i
n
m
ain
tain
in
g
th
e
d
esire
d
s
etp
o
i
n
t.
I
n
p
r
ac
tical
ap
p
licatio
n
s
,
th
is
lack
o
f
p
r
ec
is
io
n
ca
n
lea
d
to
s
u
b
s
tan
tial
en
er
g
y
waste
d
u
e
to
s
u
s
ta
in
ed
d
ev
iatio
n
s
f
r
o
m
o
p
tim
al
o
p
e
r
atin
g
p
o
in
ts
,
co
m
p
r
o
m
is
ed
p
r
o
d
u
ct
q
u
ality
in
p
r
o
ce
s
s
es
r
eq
u
ir
in
g
tig
h
t f
lu
i
d
co
n
t
r
o
l,
a
n
d
in
cr
ea
s
ed
wea
r
o
n
s
y
s
tem
c
o
m
p
o
n
en
ts
f
r
o
m
p
r
o
l
o
n
g
e
d
p
e
r
io
d
s
o
f
in
s
tab
ilit
y
.
Sin
ce
th
e
v
is
co
s
ity
o
f
th
e
f
lu
i
d
d
ec
r
ea
s
es
with
th
e
in
c
r
ea
s
e
in
tem
p
er
atu
r
e
,
a
less
er
d
am
p
in
g
ef
f
ec
t
o
n
th
e
s
y
s
tem
a
n
d
m
o
r
e
r
esp
o
n
s
iv
en
ess
to
co
n
tr
o
l
in
p
u
ts
wo
u
ld
b
e
p
r
o
v
id
e
d
.
On
th
e
o
th
er
h
a
n
d
,
it
also
b
ec
o
m
es
m
o
r
e
s
u
s
ce
p
tib
le
to
o
v
er
s
h
o
o
t,
th
er
ef
o
r
e
lo
n
g
er
s
ettlin
g
tim
es
-
as
d
ep
icted
b
y
th
e
in
cr
ea
s
e
in
th
eir
v
alu
es
s
h
o
wn
in
T
ab
le
2
.
T
h
e
r
is
e
in
o
v
e
r
s
h
o
o
t
an
d
s
ettlin
g
tim
e
with
tem
p
er
atu
r
e
s
u
g
g
ests
th
at
th
e
PID
co
n
tr
o
ller
'
s
p
r
ed
ictiv
e
ca
p
ab
ilit
ies
ar
e
b
ein
g
ch
allen
g
ed
b
y
th
e
n
o
n
-
lin
ea
r
ch
a
n
g
es
in
f
lu
id
p
r
o
p
er
ties
[
3
8
]
.
T
h
e
o
b
s
er
v
ed
r
is
e
in
o
v
er
s
h
o
o
t
an
d
s
ettlin
g
tim
e
n
o
t
o
n
ly
s
i
g
n
if
ies
a
d
im
i
n
is
h
ed
a
b
ilit
y
o
f
th
e
PID
c
o
n
tr
o
ller
to
p
r
ed
ict
an
d
co
u
n
ter
ac
t
s
y
s
tem
d
is
tu
r
b
an
ce
s
b
u
t
also
i
n
d
icate
s
a
co
m
p
r
o
m
is
ed
o
p
e
r
atio
n
al
ef
f
icien
cy
.
A
lo
n
g
er
s
ettlin
g
tim
e
m
ea
n
s
t
h
e
s
y
s
tem
tak
es
m
o
r
e
tim
e
t
o
s
tab
ilize
af
ter
a
d
is
tu
r
b
an
ce
,
r
ed
u
cin
g
t
h
r
o
u
g
h
p
u
t
in
co
n
tin
u
o
u
s
p
r
o
ce
s
s
es,
wh
il
e
in
cr
ea
s
ed
o
v
er
s
h
o
o
t
ca
n
lea
d
to
u
n
d
esira
b
le
tem
p
o
r
ar
y
e
x
cu
r
s
io
n
s
f
r
o
m
th
e
s
etp
o
in
t,
p
o
ten
tially
a
f
f
ec
tin
g
s
af
ety
o
r
m
ater
ial
in
teg
r
ity
.
T
h
is
lead
s
to
lar
g
er
d
ev
iatio
n
s
f
r
o
m
th
e
s
et
p
o
in
t
b
ef
o
r
e
t
h
e
s
y
s
tem
s
tab
ilizes,
clea
r
ly
in
d
icatin
g
a
n
ec
ess
ity
f
o
r
m
o
r
e
s
o
p
h
is
ticated
co
n
tr
o
l
s
tr
ateg
ies
th
at
ca
n
ad
ap
t
to
s
u
ch
r
ea
l
-
tim
e
v
ar
iati
o
n
s
.
Fo
r
in
s
tan
ce
,
with
o
u
t
s
u
c
h
ad
ap
tiv
e
m
ea
s
u
r
es,
in
d
u
s
tr
ial
p
r
o
ce
s
s
es
r
ely
in
g
o
n
p
r
ec
is
e
f
lu
id
d
y
n
am
ics
wo
u
ld
f
ac
e
in
co
n
s
is
ten
t
o
u
tp
u
t,
h
ig
h
er
o
p
er
atio
n
al
co
s
ts
d
u
e
to
en
er
g
y
in
ef
f
icien
c
y
,
an
d
in
cr
ea
s
ed
r
is
k
s
o
f
s
y
s
tem
f
ailu
r
es d
u
e
to
p
r
o
l
o
n
g
e
d
in
s
tab
ilit
y
[
39
]
,
[
4
0
].
Mo
r
eo
v
er
,
th
e
in
cr
ea
s
e
in
s
tead
y
-
s
tate
er
r
o
r
at
h
ig
h
er
tem
p
e
r
atu
r
es
in
d
icate
s
th
at
th
e
PID
co
n
tr
o
ller
s
tr
u
g
g
les
to
m
ain
tain
ac
cu
r
ate
co
n
tr
o
l
as
t
h
e
f
lu
id
b
ec
o
m
es
less
v
is
co
u
s
[4
1
]
.
T
h
is
is
p
a
r
ticu
lar
ly
p
r
o
b
le
m
atic
in
ap
p
licatio
n
s
wh
e
r
e
p
r
ec
is
e
p
r
ess
u
r
e
an
d
f
l
o
w
co
n
tr
o
l
ar
e
cr
itical,
s
u
ch
as
in
in
d
u
s
tr
ial
p
r
o
ce
s
s
es
wh
er
e
m
ain
tain
in
g
co
n
s
is
ten
t
f
lu
id
d
y
n
am
ics
is
ess
en
tial
f
o
r
o
p
er
a
tio
n
al
ef
f
icien
cy
a
n
d
s
af
ety
[
4
2
]
.
T
h
er
ef
o
r
e,
th
e
in
cr
ea
s
in
g
s
tead
y
-
s
tate
er
r
o
r
a
n
d
d
e
g
r
ad
ed
tr
an
s
ien
t
r
esp
o
n
s
e
u
n
d
er
s
co
r
e
th
e
lim
itatio
n
s
o
f
a
f
ix
ed
-
p
ar
am
ete
r
PID
co
n
tr
o
ller
in
d
y
n
am
ic
e
n
v
ir
o
n
m
e
n
ts
,
n
ec
ess
itatin
g
ad
v
an
ce
d
s
o
lu
tio
n
s
to
en
s
u
r
e
o
p
e
r
atio
n
al
co
n
s
is
ten
cy
an
d
r
eliab
ilit
y
in
cr
itical
in
d
u
s
tr
ial
f
lu
id
s
y
s
tem
s
.
T
h
ese
f
in
d
in
g
s
u
n
d
er
s
co
r
e
th
e
lim
itatio
n
s
o
f
co
n
v
en
tio
n
al
PID
co
n
tr
o
ller
s
in
m
a
n
ag
in
g
n
o
n
-
lin
ea
r
s
y
s
tem
d
y
n
am
ics ca
u
s
ed
b
y
e
n
v
ir
o
n
m
en
tal
ch
a
n
g
e
s
.
3
.
3
.
No
n
-
lin
ea
r
beha
v
io
r
a
n
a
ly
s
is
R
esu
lts
o
f
th
e
s
y
s
tem
's
n
o
n
lin
ea
r
b
eh
a
v
io
r
c
o
n
ce
r
n
in
g
te
m
p
er
atu
r
e
an
d
v
is
co
s
ity
ch
a
n
g
es
ar
e
g
iv
en
in
T
ab
le
3
.
I
t
ca
n
b
e
o
b
s
er
v
e
d
th
at
th
e
s
y
s
tem
,
at
2
5
°C
,
o
s
cillates
h
ar
d
ly
with
a
f
r
eq
u
en
cy
o
f
0
.
2
Hz
an
d
p
ea
k
-
to
-
p
ea
k
am
p
litu
d
e
o
f
0
.
0
4
b
a
r
.
T
h
e
s
tab
ilit
y
m
ea
s
u
r
e,
i
n
th
is
ca
s
e,
p
o
s
s
ess
es
a
r
ea
s
o
n
ab
ly
h
i
g
h
v
alu
e
o
f
0
.
9
2
an
d
s
u
g
g
ests
th
is
o
p
er
atin
g
p
o
in
t
to
b
e
s
tab
le
wit
h
m
in
im
al
p
er
tu
r
b
atio
n
s
[
1
3
]
.
W
ith
in
cr
ea
s
in
g
tem
p
er
atu
r
e,
v
is
co
s
ity
d
ec
r
ea
s
es
an
d
th
e
o
s
cillatio
n
f
r
eq
u
en
cy
r
is
es
g
r
ad
u
ally
,
as
d
o
e
s
th
e
p
ea
k
-
to
-
p
ea
k
am
p
litu
d
e.
Fo
r
ex
am
p
le,
at
4
0
°C
,
th
e
f
r
eq
u
en
cy
clim
b
s
to
0
.
4
Hz,
with
a
p
ea
k
-
to
-
p
ea
k
am
p
litu
d
e
o
f
0
.
0
7
b
ar
an
d
s
tab
ilit
y
o
f
0
.
8
5
.
T
h
is
tr
en
d
co
n
tin
u
es,
an
d
th
e
o
s
cillatio
n
f
r
eq
u
e
n
cy
an
d
am
p
litu
d
e
o
f
th
e
s
y
s
tem
n
o
tab
ly
in
cr
ea
s
e
to
a
m
a
x
im
u
m
f
r
eq
u
en
cy
an
d
am
p
litu
d
e
o
f
1
.
1
H
z
an
d
0
.
2
0
b
ar
,
r
esp
ec
tiv
ely
,
at
8
0
°C
,
wh
ile
th
e
s
tab
ilit
y
in
d
icato
r
s
ig
n
if
ican
tly
d
r
o
p
s
to
0
.
5
0
.
T
h
is
s
ig
n
if
ica
n
t d
r
o
p
in
th
e
s
tab
ilit
y
in
d
icat
o
r
to
0
.
5
0
at
8
0
°C
i
s
a
cr
itical
f
in
d
in
g
,
im
p
ly
in
g
t
h
at
th
e
s
y
s
tem
ap
p
r
o
ac
h
es
a
p
o
in
t
wh
er
e
p
er
s
is
ten
t
o
s
cillatio
n
s
ca
n
lead
to
co
m
p
o
n
en
t
f
atig
u
e,
e
n
er
g
y
l
o
s
s
es,
an
d
ev
e
n
ca
tast
r
o
p
h
ic
f
ailu
r
es
in
s
en
s
itiv
e
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
T
h
e
in
cr
ea
s
ed
o
s
cillatio
n
s
r
ep
r
esen
t
wasted
en
er
g
y
as
th
e
co
n
tr
o
ller
co
n
tin
u
o
u
s
ly
o
v
er
co
r
r
ec
ts
,
an
d
th
ey
ca
n
d
ir
ec
tly
im
p
ac
t th
e
q
u
ality
o
f
t
h
e
p
r
o
ce
s
s
ed
f
lu
i
d
o
r
p
r
o
d
u
ct
with
in
th
e
s
y
s
tem
.
T
a
b
l
e
3
.
E
x
p
e
r
i
m
e
n
t
a
l
d
at
a
f
o
r
n
o
n
-
l
i
n
e
a
r
s
y
s
te
m
b
e
h
a
v
i
o
r
u
n
d
e
r
e
x
t
r
e
m
e
t
e
m
p
e
r
a
t
u
r
e
a
n
d
v
is
c
o
s
i
t
y
v
a
r
i
a
ti
o
n
s
Te
mp
e
r
a
t
u
r
e
(
°
C
)
V
i
sco
si
t
y
(
mP
a
s)
O
sci
l
l
a
t
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o
n
f
r
e
q
u
e
n
c
y
(
H
z
)
P
e
a
k
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to
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p
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k
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m
p
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t
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d
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(
b
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S
t
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25
0
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9
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2
0
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0
4
0
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9
2
40
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8
0
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4
0
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0
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5
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0
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0
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1
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1
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5
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As
tem
p
er
atu
r
e
r
is
es
an
d
v
is
co
s
ity
d
ec
r
ea
s
es,
th
e
c
o
n
tr
o
l
s
y
s
tem
b
ec
o
m
es
in
cr
ea
s
in
g
l
y
s
u
s
ce
p
tib
le
to
o
s
cillatio
n
s
[
1
2
]
.
T
h
is
ef
f
ec
t
is
illu
s
tr
ated
b
y
b
o
th
th
e
r
is
in
g
o
s
cillatio
n
f
r
eq
u
en
c
y
an
d
p
ea
k
-
to
-
p
ea
k
am
p
litu
d
e.
T
h
ese
r
esu
lts
r
ef
lect
th
e
ch
allen
g
es
o
f
m
ain
tain
in
g
s
tead
y
co
n
tr
o
l
as
f
lu
id
p
r
o
p
er
ties
f
lu
ctu
at
e
u
n
d
er
ex
tr
em
e
co
n
d
itio
n
s
.
T
h
e
d
ec
r
ea
s
in
g
s
tab
ilit
y
in
d
ica
to
r
co
r
r
o
b
o
r
ates
th
ese
f
in
d
in
g
s
,
as
it
d
im
in
is
h
es
Evaluation Warning : The document was created with Spire.PDF for Python.
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t J Ap
p
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wer
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n
g
,
Vo
l.
14
,
No
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4
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Dec
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b
er
20
25
:
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0
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1
0
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0
1064
s
tead
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f
r
o
m
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9
2
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8
0
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h
ig
h
lig
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g
th
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lo
s
s
o
f
s
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tem
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tab
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n
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er
h
ig
h
tem
p
er
atu
r
e
an
d
lo
w
v
is
co
s
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ce
n
ar
io
s
.
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h
is
co
n
s
is
ten
t
d
ec
lin
e
i
n
th
e
s
tab
ilit
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r
f
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o
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0
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i
r
ec
tly
illu
s
tr
ates
th
e
PID
co
n
tr
o
ller
's
s
tr
u
g
g
le
to
m
ain
tain
ef
f
ec
tiv
e
d
am
p
in
g
an
d
er
r
o
r
r
ed
u
ctio
n
as
f
lu
id
p
r
o
p
er
ties
b
ec
o
m
e
m
o
r
e
v
ar
iab
le.
T
h
e
'
s
o
wh
at'
h
er
e
is
th
at
with
o
u
t
an
ad
ap
tiv
e
m
ec
h
an
is
m
,
t
h
e
s
y
s
tem
r
is
k
s
p
r
o
l
o
n
g
e
d
p
er
io
d
s
o
f
in
s
tab
ilit
y
,
r
en
d
e
r
in
g
th
e
co
n
tr
o
l in
ef
f
ec
tiv
e
f
o
r
p
r
ec
is
e
ap
p
licatio
n
s
.
T
h
is
n
o
n
-
lin
ea
r
b
e
h
av
io
r
s
u
g
g
ests
th
at
th
e
PID
co
n
tr
o
ller
,
w
h
ile
ef
f
ec
tiv
e
u
n
d
e
r
b
aselin
e
c
o
n
d
itio
n
s
,
m
ay
s
tr
u
g
g
le
t
o
m
ain
tain
s
tab
i
lity
as
th
e
f
lu
id
d
y
n
am
ics
b
ec
o
m
e
m
o
r
e
v
ar
iab
le
[
4
3
]
.
T
h
e
in
cr
ea
s
ed
o
s
cillatio
n
am
p
litu
d
e
at
h
ig
h
er
tem
p
er
at
u
r
es
p
o
in
ts
to
th
e
co
n
tr
o
ller
’
s
d
if
f
icu
lty
in
d
am
p
en
i
n
g
f
lu
ct
u
atio
n
s
u
n
d
e
r
n
o
n
-
lin
ea
r
co
n
d
itio
n
s
[
4
4
]
.
T
h
is
p
atter
n
is
cr
itical
i
n
ap
p
licatio
n
s
wh
er
e
s
ig
n
if
ican
t
tem
p
er
atu
r
e
v
a
r
iatio
n
s
ar
e
ex
p
ec
ted
,
as
it
c
o
n
clu
s
iv
ely
s
ig
n
als
th
e
n
ec
ess
ity
f
o
r
ad
a
p
ti
v
e
co
n
tr
o
l
s
tr
ateg
ies
o
r
ad
d
iti
o
n
al
co
m
p
en
s
ato
r
y
m
ec
h
an
is
m
s
to
m
ain
tain
s
tab
il
ity
an
d
p
e
r
f
o
r
m
an
ce
,
r
ath
er
th
an
m
er
ely
s
u
g
g
esti
n
g
a
p
o
ten
ti
al
n
ee
d
[
4
5
]
.
I
n
s
u
m
,
th
e
r
esu
lts
u
n
d
er
s
co
r
e
th
e
im
p
ac
t o
f
n
o
n
-
lin
ea
r
b
eh
a
v
io
r
o
n
PID
co
n
tr
o
l p
e
r
f
o
r
m
an
ce
in
f
lu
id
s
y
s
tem
s
.
T
h
e
PID
co
n
tr
o
ller
'
s
ca
p
ac
ity
t
o
r
esp
o
n
d
to
n
o
n
-
lin
ea
r
d
y
n
am
ics
is
lim
ited
b
y
its
f
ix
ed
p
ar
am
eter
s
,
wh
ich
m
ay
n
o
t
b
e
s
u
f
f
icien
t
t
o
co
u
n
ter
ac
t
ex
tr
em
e
s
h
if
ts
in
f
lu
id
ch
ar
a
cter
is
tics
.
T
h
is
an
aly
s
is
s
u
g
g
ests
th
at
f
o
r
s
y
s
tem
s
o
p
er
atin
g
u
n
d
e
r
b
r
o
ad
tem
p
er
atu
r
e
r
a
n
g
es,
ad
d
itio
n
al
co
n
tr
o
l
tech
n
iq
u
es
—
s
u
ch
as
g
ain
s
ch
ed
u
lin
g
o
r
ad
ap
tiv
e
co
n
tr
o
l
—
m
ay
b
e
n
ec
ess
ar
y
to
s
u
s
tain
p
er
f
o
r
m
an
ce
a
n
d
en
s
u
r
e
s
tab
ilit
y
ac
r
o
s
s
v
ar
y
in
g
o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
er
e
f
o
r
e,
th
e
o
b
s
er
v
e
d
n
o
n
-
lin
ea
r
b
eh
av
io
r
d
e
f
in
itiv
ely
lim
its
th
e
ap
p
licab
ilit
y
o
f
co
n
v
en
tio
n
al,
f
ix
ed
-
p
ar
am
ete
r
PID
co
n
tr
o
ller
s
in
s
ce
n
ar
io
s
with
wid
e
o
p
er
atio
n
al
r
an
g
es.
T
h
e
f
in
d
in
g
s
f
r
o
m
th
is
an
aly
s
is
s
tr
o
n
g
ly
ad
v
o
ca
t
e
f
o
r
th
e
in
teg
r
atio
n
o
f
ad
v
an
c
ed
co
n
tr
o
l
tech
n
iq
u
es,
s
u
ch
as
g
ain
s
ch
ed
u
lin
g
o
r
ad
ap
tiv
e
co
n
tr
o
l,
t
o
en
s
u
r
e
s
u
s
tain
ed
p
er
f
o
r
m
an
ce
a
n
d
s
tab
i
lity
ac
r
o
s
s
v
ar
y
in
g
o
p
er
atin
g
co
n
d
itio
n
s
in
f
lu
id
s
y
s
tem
s
.
3
.
4
.
F
re
qu
ency
re
s
po
ns
e
a
nd
s
t
a
bil
it
y
m
a
rg
ins
Fig
u
r
e
2
(
a
)
s
h
o
ws
th
e
B
o
d
e
d
iag
r
am
,
w
h
ich
illu
s
tr
ates
th
e
f
r
eq
u
en
c
y
r
esp
o
n
s
e
o
f
t
h
e
s
y
s
t
em
u
n
d
er
v
ar
y
in
g
tem
p
er
atu
r
e
co
n
d
itio
n
s
.
T
h
e
g
ain
an
d
p
h
ase
v
alu
es
ar
e
p
r
esen
ted
f
o
r
d
if
f
e
r
en
t
te
m
p
er
atu
r
es,
r
a
n
g
in
g
f
r
o
m
2
5
°C
to
8
0
°C
.
As
tem
p
er
atu
r
e
in
cr
ea
s
es,
b
o
th
g
ain
a
n
d
p
h
ase
s
h
if
t
s
h
o
w
a
co
n
s
is
te
n
t
tr
en
d
,
in
d
icatin
g
th
e
s
y
s
tem
'
s
b
eh
av
io
r
u
n
d
e
r
d
if
f
er
en
t
o
p
e
r
atio
n
al
e
n
v
ir
o
n
m
en
ts
.
T
o
d
escr
ib
e
th
e
r
elatio
n
s
h
ip
b
etwe
en
g
ain
an
d
p
h
ase,
a
lin
ea
r
r
e
g
r
ess
io
n
m
o
d
el
was d
ev
elo
p
ed
,
r
esu
ltin
g
in
(
7
)
.
(
)
=
3
.
14
(
)
−
102
.
214
(
7
)
T
h
e
(
7
)
h
as
an
R
2
v
alu
e
o
f
0
.
9
9
8
5
,
in
d
icatin
g
an
ex
ce
llen
t
f
i
t
to
th
e
ex
p
er
im
en
tal
d
ata.
T
h
is
s
u
g
g
ests
th
at
th
e
r
elatio
n
s
h
ip
b
etwe
en
g
ai
n
an
d
p
h
ase
is
n
ea
r
ly
p
e
r
f
ec
tly
l
in
ea
r
with
in
th
e
test
ed
tem
p
er
atu
r
e
r
an
g
e.
T
h
e
eq
u
atio
n
allo
ws
f
o
r
ac
cu
r
at
e
p
r
ed
ictio
n
o
f
p
h
ase
v
alu
e
s
b
ased
o
n
g
ain
,
m
ak
in
g
it
a
u
s
ef
u
l
to
o
l
f
o
r
u
n
d
er
s
tan
d
i
n
g
th
e
s
y
s
tem
'
s
s
ta
b
ilit
y
m
ar
g
in
s
an
d
b
eh
a
v
io
r
u
n
d
er
d
if
f
e
r
en
t c
o
n
d
itio
n
s
.
Fro
m
th
e
ex
p
e
r
im
en
tal
r
esu
lts
,
th
e
f
o
llo
win
g
tr
e
n
d
is
o
b
s
er
v
e
d
in
th
e
B
o
d
e
d
ia
g
r
am
: w
ith
a
n
in
cr
ea
s
e
in
tem
p
er
atu
r
e,
th
e
g
ai
n
o
f
t
h
e
s
y
s
tem
d
ec
r
ea
s
es
with
p
h
ase
lag
.
T
h
ese
f
r
eq
u
en
cy
r
es
p
o
n
s
e
ch
ar
ac
ter
is
tics
m
ay
v
ar
y
d
u
e
to
th
e
ch
an
g
es
in
v
is
co
s
ity
an
d
d
en
s
ity
with
in
th
e
p
r
o
p
e
r
ties
o
f
th
e
f
lu
i
d
.
W
ith
th
e
r
is
e
in
tem
p
er
atu
r
e
o
f
th
e
wo
r
k
i
n
g
f
lu
id
,
its
v
is
co
s
ity
g
o
es
d
o
wn
,
wh
ich
ca
u
s
es
less
d
am
p
in
g
an
d
th
u
s
a
s
h
if
t
in
d
y
n
am
ic
b
e
h
av
io
r
ac
c
o
r
d
in
g
ly
.
Dir
ec
tly
,
th
is
ca
n
in
f
lu
en
ce
th
e
s
tab
ilit
y
o
f
th
e
s
y
s
tem
b
ec
au
s
e,
as
s
h
o
wn
,
th
e
p
h
ase
lag
h
as
in
cr
ea
s
ed
wh
il
e
th
e
g
ain
is
r
ed
u
ce
d
c
o
n
tin
u
o
u
s
ly
.
T
h
e
lin
ea
r
r
elatio
n
s
h
ip
b
etwe
en
g
ai
n
an
d
p
h
ase
wo
u
ld
r
e
f
lect
th
at
th
e
s
y
s
tem
is
p
r
ed
ictab
le
u
n
d
er
c
o
n
d
itio
n
s
o
f
v
ar
ied
tem
p
er
atu
r
e
,
a
f
ac
t
n
ec
ess
ar
y
f
o
r
d
esig
n
in
g
r
o
b
u
s
t
co
n
tr
o
l
s
tr
at
eg
ies
[
2
2
]
.
T
h
e
h
i
g
h
R
2
v
alu
e
in
d
icate
s
th
at
t
h
e
m
o
d
el
will
r
ep
r
esen
t
th
e
d
ata
q
u
ite
well
an
d
,
th
er
ef
o
r
e
,
ca
n
b
e
r
eliab
le
f
o
r
p
r
ed
ictin
g
th
e
s
y
s
tem
's
r
esp
o
n
s
e
f
o
r
tem
p
er
at
u
r
es
o
u
ts
id
e
o
f
th
is
test
ed
r
an
g
e.
T
h
e
o
b
s
er
v
e
d
tr
en
d
in
th
e
B
o
d
e
d
iag
r
am
,
wh
er
e
t
h
e
g
ain
o
f
th
e
s
y
s
tem
d
ec
r
ea
s
es
with
in
cr
ea
s
in
g
p
h
ase
lag
as
tem
p
er
atu
r
e
r
is
es,
h
o
l
d
s
s
ig
n
if
ican
t
im
p
licatio
n
s
f
o
r
s
y
s
tem
s
tab
ilit
y
.
A
d
ec
r
ea
s
in
g
g
ain
m
ar
g
i
n
(
im
p
licitly
s
u
g
g
ested
b
y
g
ain
r
ed
u
ctio
n
)
an
d
an
in
cr
ea
s
in
g
p
h
ase
lag
d
ir
ec
tly
in
d
icate
a
r
ed
u
ce
d
m
ar
g
i
n
o
f
s
tab
ilit
y
;
th
at
is
,
th
e
s
y
s
tem
b
e
co
m
es
m
o
r
e
o
s
cillato
r
y
a
n
d
clo
s
er
to
in
s
tab
ilit
y
.
T
h
is
is
cr
itical
b
ec
au
s
e
in
r
ea
l
-
wo
r
ld
f
lu
id
co
n
tr
o
l,
a
s
y
s
tem
with
lo
wer
s
tab
ilit
y
m
ar
g
in
s
is
m
o
r
e
s
u
s
ce
p
tib
le
to
d
is
tu
r
b
an
ce
s
an
d
less
ca
p
ab
le
o
f
r
ec
o
v
er
in
g
q
u
ick
ly
f
r
o
m
u
p
s
ets,
p
o
ten
tially
lead
in
g
to
p
er
s
is
ten
t
o
s
cillatio
n
s
o
r
co
m
p
lete
lo
s
s
o
f
co
n
tr
o
l.
T
h
e
lin
ea
r
ity
o
f
th
e
g
ain
-
p
h
ase
r
elatio
n
s
h
ip
f
u
r
th
e
r
u
n
d
er
s
co
r
es
th
at
t
h
ese
ch
an
g
es
ar
e
p
r
ed
ictab
le
an
d
ca
n
t
h
u
s
b
e
ch
a
r
ac
ter
ized
,
b
u
t th
ey
s
till
r
ep
r
esen
t a
clea
r
ch
allen
g
e
to
a
f
ix
ed
-
g
ain
PID
co
n
tr
o
ller
.
I
n
th
e
wo
r
k
[
4
6
]
,
a
PID
Dα
co
n
tr
o
ller
was
d
ev
elo
p
ed
to
im
p
r
o
v
e
p
e
r
f
o
r
m
an
ce
in
in
d
u
s
tr
ial
p
r
o
ce
s
s
es,
in
clu
d
in
g
p
r
ess
u
r
e
an
d
f
lo
w
s
y
s
tem
s
.
T
h
eir
r
esear
ch
p
r
im
a
r
ily
f
o
cu
s
ed
o
n
o
p
tim
izin
g
tim
e
-
d
o
m
ain
m
etr
ics
s
u
ch
as
o
v
er
s
h
o
o
t
an
d
s
ettlin
g
tim
e,
d
em
o
n
s
tr
atin
g
th
at
t
h
eir
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
o
u
tp
er
f
o
r
m
ed
co
n
v
en
tio
n
al
PID
tech
n
iq
u
es
b
y
ac
h
ie
v
in
g
s
ig
n
if
ican
tly
lo
wer
o
v
er
s
h
o
o
t
(
4
.
8
3
%
f
o
r
a
p
r
ess
u
r
e
p
lan
t
)
an
d
f
aster
s
ettlin
g
tim
es
(
8
.
9
5
s
)
.
W
h
ile
th
eir
wo
r
k
h
i
g
h
lig
h
ts
th
e
lim
itatio
n
s
o
f
s
tan
d
ar
d
PID
c
o
n
tr
o
lle
r
s
in
n
o
n
lin
ea
r
a
n
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
F
r
eq
u
en
cy
r
esp
o
n
s
e
-
b
a
s
ed
o
p
t
imiz
a
tio
n
o
f P
I
D
co
n
tr
o
ller
s
fo
r
en
h
a
n
ce
d
flu
id
…
(
Herr
i Tr
is
n
a
F
r
ia
n
to
)
1065
u
n
p
r
e
d
ictab
le
en
v
ir
o
n
m
e
n
ts
,
o
u
r
s
tu
d
y
co
m
p
lem
en
ts
th
is
b
y
a
n
aly
zin
g
th
e
r
o
b
u
s
tn
ess
o
f
a
class
ic
PID
co
n
tr
o
ller
u
n
d
e
r
a
s
p
ec
if
ic,
r
ea
l
-
wo
r
ld
n
o
n
lin
ea
r
d
is
tu
r
b
a
n
ce
—
n
am
ely
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ch
a
n
g
es
in
f
lu
i
d
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is
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s
ity
d
u
e
to
tem
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er
atu
r
e.
Ou
r
u
s
e
o
f
f
r
eq
u
en
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r
esp
o
n
s
e
an
aly
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is
p
r
o
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id
es
a
d
if
f
er
en
t
len
s
,
q
u
an
tify
in
g
s
y
s
tem
s
tab
ilit
y
th
r
o
u
g
h
g
ain
a
n
d
p
h
ase
m
ar
g
in
s
,
wh
ich
d
ir
ec
tly
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elate
t
o
th
e
s
y
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tem
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r
esil
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ain
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t
v
ar
iatio
n
s
in
d
y
n
am
ics.
I
n
p
r
e
v
io
u
s
an
aly
s
is
,
it wa
s
o
b
s
er
v
ed
th
at
th
e
PID
co
n
tr
o
ller
'
s
p
er
f
o
r
m
a
n
ce
was sig
n
if
ican
tly
af
f
ec
ted
b
y
tem
p
er
atu
r
e
an
d
v
is
co
s
ity
v
ar
iatio
n
s
,
lead
in
g
to
ch
an
g
es
in
o
v
er
s
h
o
o
t,
s
ettlin
g
tim
e,
an
d
s
tead
y
-
s
tate
er
r
o
r
.
T
h
ese
f
in
d
i
n
g
s
ar
e
co
n
s
is
ten
t
with
th
e
f
r
eq
u
e
n
cy
r
esp
o
n
s
e
a
n
aly
s
is
,
wh
er
e
i
n
cr
ea
s
ed
tem
p
er
atu
r
e
r
esu
lts
in
a
m
o
r
e
s
ig
n
i
f
ican
t
p
h
ase
lag
a
n
d
r
ed
u
ce
d
g
ain
,
i
n
d
icatin
g
a
less
r
esp
o
n
s
iv
e
s
y
s
tem
[
4
7
]
.
T
h
e
f
r
eq
u
en
cy
r
esp
o
n
s
e
an
aly
s
is
co
m
p
lem
e
n
ts
th
e
ea
r
lier
tr
an
s
ien
t
an
d
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
ev
alu
ati
o
n
s
b
y
p
r
o
v
id
in
g
a
co
m
p
r
eh
e
n
s
iv
e
u
n
d
er
s
tan
d
in
g
o
f
h
o
w
th
e
s
y
s
tem
b
e
h
av
es
a
cr
o
s
s
a
r
a
n
g
e
o
f
f
r
e
q
u
en
cies.
T
h
is
in
f
o
r
m
atio
n
is
cr
u
cial
f
o
r
ass
ess
in
g
th
e
c
o
n
tr
o
ller
'
s
r
o
b
u
s
tn
ess
,
p
ar
ticu
lar
ly
in
m
ai
n
tain
in
g
s
tab
ilit
y
u
n
d
er
ex
tr
em
e
o
p
e
r
atin
g
co
n
d
itio
n
s
.
T
h
e
wo
r
k
[4
8
]
also
in
v
esti
g
a
ted
PID
an
d
FOPID
co
n
tr
o
ller
s
,
b
u
t
with
in
th
e
co
n
tex
t
o
f
a
h
ig
h
ly
co
m
p
lex
n
u
clea
r
-
r
e
n
ewa
b
le
h
y
b
r
i
d
en
er
g
y
s
y
s
tem
.
T
h
eir
ap
p
r
o
ac
h
in
v
o
lv
e
d
u
s
in
g
a
m
etah
e
u
r
is
tic
o
p
tim
izatio
n
alg
o
r
ith
m
(
AB
C
)
to
o
p
tim
ally
tu
n
e
th
e
co
n
t
r
o
l
ler
p
ar
am
eter
s
to
en
s
u
r
e
s
y
s
te
m
s
tab
ilit
y
.
T
h
is
i
s
in
co
n
tr
ast
t
o
o
u
r
s
tu
d
y
,
w
h
ich
u
s
es
a
f
ix
ed
s
et
o
f
p
r
e
-
tu
n
ed
PID
g
ain
s
to
s
p
ec
if
ically
in
v
esti
g
ate
h
o
w
a
non
-
o
p
tim
ized
c
o
n
tr
o
ller
'
s
p
er
f
o
r
m
an
ce
a
n
d
s
tab
ilit
y
m
ar
g
i
n
s
d
eg
r
ad
e
as
t
h
e
s
y
s
tem
'
s
p
h
y
s
ical
p
r
o
p
er
ties
(
v
is
co
s
ity
)
ch
an
g
e.
T
h
eir
wo
r
k
d
em
o
n
s
tr
ates
a
s
o
lu
tio
n
(
o
p
tim
al
tu
n
in
g
)
f
o
r
en
s
u
r
in
g
s
tab
ilit
y
in
co
m
p
le
x
,
m
u
lti
-
in
p
u
t
s
y
s
tem
s
,
wh
ile
o
u
r
r
esear
ch
p
r
o
v
id
es
f
o
u
n
d
atio
n
al
d
ata
o
n
th
e
p
r
o
b
lem
th
at
s
u
ch
s
o
lu
tio
n
s
m
u
s
t
ad
d
r
ess
—
th
e
in
h
er
en
t
in
s
tab
il
ity
th
at
ar
is
es
wh
en
a
s
in
g
le
s
et
o
f
g
ain
s
is
u
s
ed
in
a
s
y
s
t
em
with
s
ig
n
if
ican
t
d
y
n
am
ic
v
ar
iatio
n
s
.
T
h
e
d
ec
is
io
n
to
em
p
lo
y
f
r
eq
u
en
cy
r
esp
o
n
s
e
an
aly
s
is
,
p
ar
ticu
lar
ly
B
o
d
e
an
d
Ny
q
u
is
t
p
lo
ts
,
was
cr
itical
b
ec
au
s
e
it
p
r
ec
is
ely
q
u
an
tifie
s
th
e
s
y
s
tem
'
s
d
y
n
am
ic
ch
ar
ac
te
r
is
tics
u
n
d
er
v
ar
y
in
g
co
n
d
itio
n
s
,
p
r
o
v
id
i
n
g
in
s
ig
h
ts
th
at
tim
e
-
d
o
m
ain
an
al
y
s
is
alo
n
e
ca
n
n
o
t.
T
h
e
p
h
ase
la
g
,
f
o
r
in
s
tan
ce
,
r
ep
r
esen
ts
th
e
tim
e
d
elay
in
th
e
s
y
s
tem
'
s
r
esp
o
n
s
e
to
an
in
p
u
t
s
ig
n
al;
as
tem
p
er
a
tu
r
e
in
cr
ea
s
es
an
d
v
is
co
s
ity
d
e
cr
ea
s
es,
th
is
p
h
ase
lag
ten
d
s
to
i
n
cr
ea
s
e.
T
h
is
im
p
lies
th
at
th
e
co
n
t
r
o
ller
'
s
co
r
r
ec
tiv
e
ac
tio
n
ar
r
iv
es
later
r
ela
tiv
e
to
th
e
s
y
s
tem
'
s
d
y
n
am
ic
s
tate,
ex
ac
er
b
atin
g
th
e
o
v
er
s
h
o
o
t
an
d
s
ettlin
g
tim
e
o
b
s
er
v
ed
in
th
e
tim
e
-
d
o
m
ain
r
esu
lts
.
T
h
e
Ny
q
u
is
t
p
lo
t,
b
y
m
a
p
p
in
g
th
e
e
n
tire
f
r
eq
u
en
cy
r
esp
o
n
s
e,
d
ir
ec
tly
v
is
u
alize
s
th
e
s
y
s
tem
'
s
p
r
o
x
im
ity
to
in
s
tab
ilit
y
b
y
its
tr
ajec
to
r
y
r
elativ
e
to
th
e
c
r
itical
p
o
in
t
(
−1
,
0
)
.
T
h
e
o
b
s
er
v
e
d
lef
twar
d
an
d
d
o
wn
war
d
s
h
if
t
i
n
th
e
Ny
q
u
is
t
p
lo
t
with
in
cr
ea
s
in
g
tem
p
er
atu
r
e
u
n
eq
u
iv
o
ca
lly
co
n
f
i
r
m
s
a
d
eter
io
r
atio
n
in
s
tab
ilit
y
m
ar
g
in
s
,
d
em
o
n
s
tr
atin
g
th
e
s
y
s
tem
'
s
in
cr
ea
s
ed
v
u
ln
e
r
ab
il
ity
to
o
s
cillatio
n
s
an
d
r
ed
u
c
ed
d
am
p
in
g
at
h
ig
h
er
tem
p
e
r
atu
r
es
an
d
lo
wer
v
is
co
s
ities
.
T
h
is
co
m
p
r
eh
en
s
iv
e
f
r
e
q
u
en
c
y
-
d
o
m
ain
p
er
s
p
e
ctiv
e
d
ir
ec
tly
in
f
o
r
m
s
wh
y
t
h
e
PID
c
o
n
tr
o
ller
s
tr
u
g
g
les an
d
wh
at
s
p
ec
if
ic
d
y
n
am
ic
ch
an
g
es o
cc
u
r
d
u
e
to
tem
p
er
atu
r
e
-
i
n
d
u
ce
d
v
is
co
s
ity
v
ar
iatio
n
s
.
Fig
u
r
e
2
(
b
)
p
r
esen
ts
th
e
Ny
q
u
is
t
p
lo
t
th
at
illu
s
tr
ates
th
e
r
ea
l
an
d
im
a
g
in
ar
y
co
m
p
o
n
en
ts
o
f
th
e
s
y
s
tem
'
s
f
r
eq
u
en
cy
r
esp
o
n
s
e
u
n
d
er
v
ar
io
u
s
o
p
e
r
atio
n
al
c
o
n
d
itio
n
s
(
tem
p
er
at
u
r
e)
.
T
h
is
an
aly
s
is
is
cr
u
cial
f
o
r
ev
alu
atin
g
th
e
s
tab
ilit
y
m
ar
g
in
s
o
f
th
e
PID
-
co
n
tr
o
lled
f
lu
i
d
s
y
s
tem
,
p
ar
ticu
lar
ly
u
n
d
er
n
o
n
-
lin
ea
r
b
eh
av
io
r
co
n
d
itio
n
s
s
u
ch
as
v
ar
y
i
n
g
te
m
p
er
atu
r
e
a
n
d
v
is
co
s
ity
[
4
9
]
.
T
h
e
Ny
q
u
is
t
p
lo
t
p
r
o
v
id
es
a
c
o
m
p
r
eh
e
n
s
iv
e
v
iew
o
f
th
e
clo
s
ed
-
lo
o
p
s
y
s
tem
'
s
s
tab
ilit
y
b
y
m
ap
p
in
g
th
e
r
ea
l
an
d
im
ag
in
ar
y
co
m
p
o
n
e
n
ts
o
f
th
e
f
r
e
q
u
en
c
y
r
esp
o
n
s
e
[5
0
]
.
T
h
e
s
y
s
tem
'
s
tr
ajec
to
r
y
in
th
e
Ny
q
u
is
t
d
iag
r
am
in
d
icate
s
its
s
tab
ili
ty
ch
ar
ac
ter
is
tics
[
5
1
]
,
w
i
t
h
t
h
e
s
y
s
t
e
m
r
e
m
ai
n
i
n
g
s
t
a
b
l
e
as
l
o
n
g
a
s
t
h
e
p
l
o
t
d
o
e
s
n
o
t
e
n
c
i
r
c
l
e
t
h
e
c
r
i
t
i
ca
l
p
o
i
n
t
(
−
1
,
0
)
.
T
h
e
d
a
t
a
p
o
i
n
ts
i
n
t
h
e
t
a
b
l
e
d
e
m
o
n
s
t
r
at
e
h
o
w
t
h
e
r
e
al
a
n
d
i
m
a
g
i
n
a
r
y
c
o
m
p
o
n
e
n
t
s
o
f
th
e
r
e
s
p
o
n
s
e
c
h
a
n
g
e
wi
t
h
t
e
m
p
er
a
t
u
r
e
v
a
r
i
a
t
i
o
n
s
.
As
o
b
s
er
v
ed
f
r
o
m
th
e
Ny
q
u
is
t
p
lo
t,
th
e
d
ata
p
o
in
ts
p
r
o
g
r
ess
iv
ely
s
h
if
t
lef
twar
d
a
n
d
d
o
wn
w
ar
d
as
th
e
tem
p
er
atu
r
e
in
cr
ea
s
es
f
r
o
m
2
5
°C
to
8
0
°
C
.
T
h
is
s
h
if
t
in
d
icate
s
a
r
ed
u
ctio
n
in
g
ain
m
ar
g
in
an
d
an
in
cr
ea
s
e
in
p
h
ase
lag
,
as
ev
id
en
t
f
r
o
m
th
e
d
ec
r
ea
s
in
g
r
ea
l
co
m
p
o
n
e
n
t
an
d
in
cr
ea
s
in
g
n
eg
ativ
e
v
alu
e
o
f
th
e
im
ag
in
ar
y
co
m
p
o
n
en
t
[
5
0
]
.
T
h
is
tr
en
d
ali
g
n
s
with
th
e
ea
r
lier
B
o
d
e
p
lo
t a
n
aly
s
is
,
wh
er
e
an
in
cr
ea
s
e
in
tem
p
er
atu
r
e
led
to
a
d
ec
r
ea
s
e
in
g
ain
a
n
d
p
h
ase,
s
u
g
g
esti
n
g
th
at
h
ig
h
er
tem
p
e
r
atu
r
es
ca
u
s
e
th
e
s
y
s
tem
to
b
ec
o
m
e
less
r
esp
o
n
s
iv
e
an
d
m
o
r
e
p
r
o
n
e
to
in
s
tab
ilit
y
.
T
h
e
r
ed
u
ctio
n
in
th
e
Ny
q
u
is
t
p
lo
t'
s
r
ea
l
co
m
p
o
n
en
t
(
f
r
o
m
0
.
8
9
at
2
5
°C
to
0
.
6
9
at
8
0
°C
)
an
d
th
e
m
o
r
e
n
eg
ativ
e
im
a
g
in
ar
y
co
m
p
o
n
en
t
in
d
icate
th
at
th
e
s
y
s
te
m
'
s
d
am
p
in
g
d
ec
r
ea
s
es
with
r
is
in
g
tem
p
er
atu
r
es.
T
h
is
b
eh
av
i
o
r
c
o
r
r
esp
o
n
d
s
w
ith
th
e
i
n
cr
ea
s
e
in
o
v
e
r
s
h
o
o
t
an
d
s
ettlin
g
tim
e
o
b
s
er
v
e
d
i
n
th
e
tim
e
-
d
o
m
ain
an
aly
s
is
o
f
PID
co
n
tr
o
ller
p
e
r
f
o
r
m
a
n
ce
u
n
d
er
v
a
r
y
in
g
tem
p
er
atu
r
e
a
n
d
v
is
co
s
ity
co
n
d
itio
n
s
(
T
ab
le
2
)
.
T
h
e
in
cr
ea
s
ed
o
v
er
s
h
o
o
t
an
d
lo
n
g
er
s
ettlin
g
tim
es
s
ig
n
if
y
th
a
t
th
e
s
y
s
tem
s
tr
u
g
g
les
to
m
a
in
tain
s
tab
ilit
y
an
d
s
wif
tly
r
etu
r
n
to
its
s
et
p
o
in
t
u
n
d
er
h
ig
h
e
r
tem
p
e
r
atu
r
e
co
n
d
i
tio
n
s
[
2
7
]
.
T
h
e
f
r
eq
u
e
n
cy
r
esp
o
n
s
e
d
ata
f
r
o
m
th
e
B
o
d
e
an
d
Ny
q
u
is
t
p
lo
ts
co
m
p
lem
en
t
ea
ch
o
th
er
,
p
r
o
v
id
in
g
a
co
m
p
r
e
h
en
s
iv
e
p
ictu
r
e
o
f
th
e
s
y
s
tem
's
d
y
n
am
ic
b
eh
av
io
r
.
Fu
r
th
er
m
o
r
e
,
th
e
s
tu
d
y
in
[5
2
]
p
r
o
p
o
s
ed
a
d
ec
en
t
r
alize
d
o
p
tim
al
PID
c
o
n
tr
o
ller
f
o
r
h
ig
h
er
-
o
r
d
e
r
in
d
u
s
tr
ial
s
y
s
tem
s
,
wh
ich
,
lik
e
o
u
r
s
tu
d
y
,
r
elies
o
n
f
r
e
q
u
en
cy
d
o
m
ain
s
p
ec
if
icatio
n
s
s
u
ch
as
g
ain
an
d
p
h
ase
m
ar
g
in
s
f
o
r
r
o
b
u
s
t stab
ilit
y
an
aly
s
is
.
A
k
ey
d
is
tin
ctio
n
,
h
o
wev
er
,
is
th
at
th
eir
wo
r
k
ad
d
r
es
s
es th
e
co
m
p
lex
ities
o
f
m
u
lti
-
in
p
u
t
m
u
lti
-
o
u
tp
u
t
(
MI
MO
)
s
y
s
tem
s
,
u
s
in
g
ad
v
an
ce
d
tech
n
iq
u
es
lik
e
'
d
is
k
m
ar
g
in
-
b
ased
an
aly
s
is
'
to
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
14
,
No
.
4
,
Dec
em
b
er
20
25
:
1
0
5
8
-
1
0
7
0
1066
m
an
ag
e
lo
o
p
in
ter
ac
tio
n
s
.
I
n
co
n
tr
ast,
o
u
r
s
tu
d
y
f
o
cu
s
es
o
n
a
s
im
p
ler
s
in
g
le
-
i
n
p
u
t
s
in
g
le
-
o
u
tp
u
t
(
SISO)
s
y
s
tem
,
wh
er
e
we
u
s
e
t
r
ad
itio
n
al
B
o
d
e
an
d
Ny
q
u
is
t
p
lo
ts
to
ch
ar
ac
ter
ize
t
h
e
s
tab
ilit
y
m
ar
g
in
s
.
Ou
r
r
esear
ch
p
r
o
v
id
es
a
f
u
n
d
am
e
n
tal
an
aly
s
is
o
f
h
o
w
th
ese
co
n
v
en
tio
n
al
s
tab
ilit
y
m
ar
g
in
s
,
wh
ich
ar
e
o
f
ten
u
s
ed
in
SISO
s
y
s
tem
s
,
ar
e
d
ir
ec
tly
im
p
ac
te
d
b
y
c
h
an
g
i
n
g
p
h
y
s
ical
p
ar
a
m
eter
s
,
th
er
eb
y
la
y
in
g
t
h
e
g
r
o
u
n
d
wo
r
k
f
o
r
m
o
r
e
ad
v
an
ce
d
r
o
b
u
s
t stab
ilit
y
an
aly
s
es lik
e
th
o
s
e
u
s
ed
in
th
eir
w
o
r
k
.
(
a)
(
b
)
Fig
u
r
e
2
.
Fre
q
u
en
cy
r
esp
o
n
s
e
an
aly
s
is
o
f
th
e
PID
-
co
n
tr
o
lled
f
lu
id
s
y
s
tem
u
n
d
e
r
v
ar
y
in
g
te
m
p
er
atu
r
e
a
n
d
v
is
co
s
ity
co
n
d
itio
ns
:
(
a)
B
o
d
e
p
lo
t illu
s
tr
atin
g
th
e
g
ain
in
d
B
an
d
p
h
ase
in
°
an
d
(
b
)
Ny
q
u
is
t
p
lo
t v
is
u
alizin
g
th
e
r
ea
l a
n
d
im
a
g
in
ar
y
co
m
p
o
n
en
ts
o
f
th
e
s
y
s
tem
'
s
f
r
eq
u
en
c
y
r
esp
o
n
s
e
T
h
e
d
ec
r
ea
s
e
in
g
ain
a
n
d
p
h
as
e
m
ar
g
in
s
o
b
s
er
v
ed
in
th
e
B
o
d
e
p
lo
t
is
m
ir
r
o
r
ed
in
th
e
Ny
q
u
is
t
p
lo
t
as
a
r
ed
u
ctio
n
in
th
e
r
ea
l
co
m
p
o
n
en
t
a
n
d
in
c
r
ea
s
ed
d
e
v
iatio
n
in
th
e
im
ag
in
a
r
y
c
o
m
p
o
n
e
n
t.
T
h
is
co
n
s
is
ten
cy
v
alid
ates
th
e
ex
p
er
im
en
tal
r
e
s
u
lts
an
d
h
ig
h
lig
h
ts
th
e
ch
allen
g
es
p
o
s
ed
b
y
n
o
n
-
lin
ea
r
iti
es
in
m
ain
tain
in
g
s
y
s
tem
s
tab
ilit
y
,
p
ar
ticu
lar
ly
u
n
d
er
ex
tr
em
e
o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
is
co
n
s
is
ten
t
ev
id
en
ce
f
r
o
m
b
o
th
tim
e
-
d
o
m
ain
an
d
f
r
e
q
u
en
c
y
-
d
o
m
ai
n
an
aly
s
es
u
n
eq
u
i
v
o
ca
lly
d
em
o
n
s
tr
ates
th
at
wh
ile
th
e
PID
c
o
n
tr
o
ller
is
ef
f
ec
tiv
e
u
n
d
er
s
tab
le
b
aselin
e
co
n
d
itio
n
s
,
its
f
ix
ed
p
ar
am
eter
s
r
en
d
er
it
in
cr
ea
s
in
g
ly
in
e
f
f
ec
tiv
e
in
m
itig
atin
g
th
e
d
y
n
am
ic
ch
allen
g
es
in
tr
o
d
u
ce
d
b
y
tem
p
er
atu
r
e
-
in
d
u
ce
d
v
is
co
s
ity
v
ar
iatio
n
s
,
th
er
eb
y
co
n
f
ir
m
in
g
th
e
in
h
er
en
t
lim
itatio
n
s
o
f
co
n
v
e
n
tio
n
al
PI
D
co
n
tr
o
l in
s
u
c
h
h
ig
h
ly
n
o
n
li
n
ea
r
f
lu
id
s
y
s
tem
s
.
3
.
5
.
I
m
pli
ca
t
i
o
ns
f
o
r
ind
us
t
r
ia
l a
pp
lica
t
io
n
T
h
e
f
in
d
in
g
s
o
f
th
is
s
tu
d
y
h
o
ld
s
ig
n
if
ican
t
im
p
licatio
n
s
f
o
r
in
d
u
s
tr
ial
f
lu
id
s
y
s
tem
s
,
p
ar
ticu
lar
ly
th
o
s
e
r
eq
u
ir
i
n
g
p
r
ec
is
e
co
n
tr
o
l
o
f
p
r
ess
u
r
e
an
d
f
lo
w
r
at
es
u
n
d
er
v
ar
y
i
n
g
e
n
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
.
I
n
in
d
u
s
tr
ies
s
u
ch
as
ch
em
ical
p
r
o
ce
s
s
in
g
,
wate
r
tr
ea
tm
en
t,
a
n
d
HVAC
s
y
s
tem
s
,
m
ain
tain
in
g
s
tab
ilit
y
in
f
lu
i
d
d
y
n
am
ics
is
cr
u
cial
f
o
r
o
p
er
atio
n
al
ef
f
icien
c
y
[
1
9
]
,
[
5
3
]
an
d
s
af
ety
[
5
4
]
.
I
n
in
d
u
s
tr
ies
s
u
ch
as
ch
em
ical
p
r
o
ce
s
s
in
g
,
wate
r
tr
ea
tm
en
t,
an
d
HVAC
s
y
s
tem
s
,
m
ain
tai
n
in
g
s
tab
ilit
y
an
d
p
r
ec
is
io
n
in
f
lu
id
d
y
n
am
ics
is
p
ar
am
o
u
n
t
f
o
r
o
p
e
r
atio
n
al
ef
f
icien
cy
an
d
s
af
ety
.
W
h
ile
th
e
PID
co
n
tr
o
ller
'
s
p
er
f
o
r
m
a
n
ce
,
as
ev
alu
ated
in
th
is
r
esear
ch
,
d
em
o
n
s
tr
ates
its
ef
f
ec
tiv
en
ess
in
m
an
ag
in
g
f
lu
id
s
y
s
tem
s
u
n
d
er
n
o
m
in
al
co
n
d
itio
n
s
,
th
e
r
esu
lts
also
s
tar
k
ly
h
ig
h
lig
h
t
its
s
ig
n
if
ican
t
lim
itatio
n
s
wh
en
th
e
s
y
s
te
m
o
p
er
ates
u
n
d
e
r
ex
tr
em
e
c
o
n
d
itio
n
s
—
s
u
ch
as
h
ig
h
er
tem
p
e
r
atu
r
es
—
wh
er
e
n
o
n
-
lin
ea
r
ities
co
n
s
id
er
ab
ly
r
ed
u
ce
th
e
co
n
t
r
o
ller
'
s
ef
f
ec
tiv
en
ess
an
d
lead
to
d
eg
r
ad
e
d
p
er
f
o
r
m
a
n
ce
[
3
6
]
.
W
e
will
em
p
h
asize
two
im
p
o
r
tan
t
r
esu
lts
o
f
t
h
is
wo
r
k
:
f
i
r
s
t,
h
o
w
th
e
tem
p
er
at
u
r
e
a
n
d
v
is
co
s
ity
o
f
th
e
f
lu
id
af
f
ec
t
th
e
d
y
n
am
ic
r
e
s
p
o
n
s
e
o
f
th
e
s
y
s
tem
,
an
d
s
ec
o
n
d
,
with
th
e
in
cr
ea
s
ed
tem
p
e
r
atu
r
e,
th
e
v
is
co
s
ity
o
f
th
e
f
lu
id
is
r
ed
u
ce
d
,
wh
ich
r
esu
lts
in
g
r
ea
ter
f
lo
w
r
ates
an
d
m
o
r
e
in
s
tab
ilit
y
in
th
e
r
e
g
u
latio
n
o
f
p
r
ess
u
r
e
with
in
th
e
s
y
s
tem
[
5
5
]
,
[
5
6
]
.
T
h
is
ef
f
ec
t w
as c
lear
ly
o
b
s
er
v
ed
th
r
o
u
g
h
th
e
in
cr
ea
s
ed
o
v
er
s
h
o
o
t,
lo
n
g
er
s
ettlin
g
tim
es,
an
d
h
ig
h
e
r
s
tead
y
-
s
tate
er
r
o
r
s
at
elev
ated
tem
p
er
atu
r
e
s
.
T
h
e
o
b
s
er
v
ed
in
cr
ea
s
e
in
o
v
e
r
s
h
o
o
t,
l
o
n
g
e
r
s
ettlin
g
tim
es,
h
ig
h
er
s
tead
y
-
s
tate
er
r
o
r
s
,
an
d
in
cr
ea
s
ed
o
s
cillatio
n
s
at
elev
ated
tem
p
er
atu
r
es
ar
e
n
o
t
m
er
el
y
th
e
o
r
etica
l
d
eg
r
ad
atio
n
s
;
th
ey
tr
a
n
s
late
d
ir
ec
tly
in
to
tan
g
ib
le
in
d
u
s
tr
ial
ch
allen
g
es.
Fo
r
in
s
tan
ce
,
in
ch
em
ical
r
ea
ctio
n
s
,
tem
p
er
atu
r
e
-
in
d
u
ce
d
f
l
o
w
r
ate
v
ar
iatio
n
s
ca
n
lead
to
o
f
f
-
s
p
ec
p
r
o
d
u
cts
o
r
u
n
s
af
e
ex
o
th
e
r
m
ic
r
ea
ctio
n
s
.
I
n
wate
r
tr
ea
tm
e
n
t,
in
co
n
s
is
ten
t
p
r
ess
u
r
e
ca
n
ca
u
s
e
p
u
m
p
d
a
m
ag
e
o
r
in
e
f
f
icien
t
f
iltra
tio
n
.
T
h
ese
d
y
n
am
ic
in
s
tab
ilit
ies
r
esu
lt
in
in
cr
ea
s
ed
e
n
er
g
y
co
n
s
u
m
p
tio
n
d
u
e
to
co
n
s
tan
t
o
v
er
co
r
r
ec
tio
n
,
h
ig
h
er
m
ain
t
en
an
ce
co
s
ts
f
r
o
m
ac
ce
ler
ate
d
co
m
p
o
n
en
t
wea
r
,
r
ed
u
ce
d
t
h
r
o
u
g
h
p
u
t
in
p
r
o
d
u
c
tio
n
lin
es,
an
d
cr
itically
,
p
o
te
n
tial
s
af
ety
h
az
ar
d
s
d
u
e
t
o
u
n
p
r
ed
ictab
le
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
F
r
eq
u
en
cy
r
esp
o
n
s
e
-
b
a
s
ed
o
p
t
imiz
a
tio
n
o
f P
I
D
co
n
tr
o
ller
s
fo
r
en
h
a
n
ce
d
flu
id
…
(
Herr
i Tr
is
n
a
F
r
ia
n
to
)
1067
b
eh
av
io
r
.
T
h
is
s
tr
o
n
g
ly
u
n
d
er
s
co
r
es
th
at
tem
p
er
atu
r
e
co
n
t
r
o
l a
n
d
c
o
m
p
en
s
atio
n
ar
e
n
o
t
m
er
ely
s
u
p
p
lem
e
n
tar
y
b
u
t
m
u
s
t
b
e
m
eticu
lo
u
s
ly
m
an
ag
ed
in
s
y
s
tem
s
with
s
ig
n
if
ica
n
t
th
er
m
al
v
ar
iatio
n
s
to
p
r
ev
e
n
t
f
lu
ctu
atio
n
s
th
at
co
u
ld
im
p
air
p
r
o
d
u
ct
q
u
ality
o
r
lead
to
cr
itical
s
y
s
tem
f
ailu
r
e
s
.
T
h
e
f
r
eq
u
e
n
cy
r
esp
o
n
s
e
an
aly
s
is
,
in
clu
d
in
g
b
o
th
B
o
d
e
an
d
Ny
q
u
is
t
p
lo
ts
,
f
u
r
th
er
u
n
d
e
r
s
co
r
es
th
e
im
p
o
r
tan
ce
o
f
u
n
d
er
s
tan
d
i
n
g
t
h
e
s
y
s
tem
's
s
tab
ilit
y
m
ar
g
in
s
u
n
d
er
v
a
r
y
in
g
o
p
er
atio
n
al
co
n
d
itio
n
s
.
As
th
e
g
ain
an
d
p
h
ase
m
ar
g
in
s
d
ec
r
ea
s
e
with
r
is
in
g
tem
p
er
atu
r
e,
th
e
s
y
s
t
em
b
ec
o
m
es
m
o
r
e
s
u
s
ce
p
tib
le
to
o
s
cillatio
n
s
an
d
r
ed
u
ce
d
d
am
p
in
g
.
I
n
in
d
u
s
tr
i
al
ap
p
licatio
n
s
,
th
is
r
ed
u
ctio
n
in
s
tab
ilit
y
co
u
ld
lead
to
in
ef
f
icien
t
o
p
er
atio
n
,
ex
ce
s
s
iv
e
wea
r
o
n
co
m
p
o
n
e
n
ts
,
o
r
ev
en
s
af
ety
h
az
ar
d
s
.
T
h
u
s
,
th
e
co
m
p
ellin
g
ev
i
d
en
ce
f
r
o
m
th
is
s
tu
d
y
s
u
g
g
ests
th
at
wh
ile
co
n
v
en
tio
n
al
PID
co
n
tr
o
l
r
em
ain
s
a
v
alu
ab
le
f
o
u
n
d
atio
n
al
to
o
l,
its
in
h
er
en
t
lim
itatio
n
s
in
h
ig
h
ly
n
o
n
lin
ea
r
en
v
ir
o
n
m
e
n
ts
n
ec
ess
itate
th
e
ad
o
p
tio
n
o
f
ad
ap
tiv
e
o
r
m
o
r
e
ad
v
an
ce
d
co
n
tr
o
l
s
tr
ateg
ies.
Sp
ec
if
ically
,
m
o
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
(
MPC
)
o
r
g
ain
-
s
ch
ed
u
lin
g
PID
ap
p
r
o
ac
h
es
e
m
er
g
e
as
cr
u
cial
s
o
lu
tio
n
s
to
m
ain
tain
r
o
b
u
s
t
p
er
f
o
r
m
a
n
ce
u
n
d
er
n
o
n
-
lin
ea
r
a
n
d
ex
tr
em
e
co
n
d
itio
n
s
[
5
7
]
,
[
5
8
]
.
T
h
ese
s
tr
ateg
ies,
b
y
d
y
n
am
ically
ad
ju
s
tin
g
co
n
tr
o
l
ler
p
ar
am
eter
s
o
r
p
r
ed
ictin
g
f
u
tu
r
e
s
y
s
tem
s
tates,
ca
n
ef
f
ec
t
iv
ely
co
u
n
ter
ac
t
th
e
ad
v
er
s
e
ef
f
ec
ts
o
f
tem
p
er
atu
r
e
-
in
d
u
ce
d
v
is
co
s
ity
ch
an
g
es,
t
h
er
eb
y
en
s
u
r
in
g
s
u
s
tain
ed
s
tab
i
lity
an
d
ef
f
icien
c
y
.
Fu
r
th
er
m
o
r
e
,
th
e
in
s
ig
h
ts
g
ain
ed
r
eg
ar
d
in
g
t
h
e
PID
c
o
n
tr
o
ller
'
s
lim
itatio
n
s
u
n
d
er
s
p
ec
if
ic
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
p
r
o
v
id
e
a
cr
itical
g
u
id
e
f
o
r
th
e
d
esig
n
o
f
f
u
tu
r
e
f
lu
id
s
y
s
te
m
s
.
B
y
ex
p
licitly
ac
co
u
n
tin
g
f
o
r
th
e
ef
f
ec
ts
o
f
tem
p
er
atu
r
e
an
d
v
is
co
s
ity
v
ar
iatio
n
s
in
th
e
ea
r
ly
s
tag
es
o
f
s
y
s
tem
d
esig
n
,
en
g
in
ee
r
s
ca
n
p
r
o
ac
tiv
ely
o
p
tim
ize
th
eir
s
y
s
tem
s
f
o
r
lo
n
g
-
ter
m
s
tab
ilit
y
an
d
p
er
f
o
r
m
an
ce
,
in
co
r
p
o
r
atin
g
f
ea
tu
r
es
s
u
ch
as
in
teg
r
ated
tem
p
er
atu
r
e
co
m
p
en
s
atio
n
tech
n
iq
u
es,
r
ea
l
-
tim
e
v
is
co
s
ity
s
e
n
s
o
r
s
f
o
r
f
ee
d
b
ac
k
,
an
d
d
y
n
am
ically
tu
n
ab
le
PID
p
ar
am
eter
s
to
en
s
u
r
e
co
n
s
is
ten
t
co
n
tr
o
l
ac
r
o
s
s
wid
e
o
p
er
a
tio
n
al
r
an
g
es.
T
h
is
p
r
o
ac
tiv
e
a
p
p
r
o
ac
h
,
in
f
o
r
m
ed
b
y
th
e
f
i
n
d
in
g
s
,
will
lead
to
m
o
r
e
r
esil
ien
t,
ef
f
icien
t,
an
d
s
af
er
f
lu
i
d
co
n
tr
o
l
s
y
s
tem
s
in
d
iv
er
s
e
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
4.
CO
NCLU
SI
O
N
T
h
is
r
esear
ch
aim
ed
to
e
x
p
lo
r
e
th
e
ef
f
ec
ts
o
f
tem
p
er
atu
r
e
an
d
v
is
co
s
ity
v
ar
iatio
n
s
o
n
th
e
p
er
f
o
r
m
an
ce
o
f
a
PID
-
co
n
tr
o
l
led
f
lu
id
s
y
s
tem
,
f
o
cu
s
in
g
o
n
s
y
s
tem
d
y
n
am
ics,
s
tab
ilit
y
,
an
d
ef
f
icien
c
y
.
T
h
e
s
tu
d
y
d
em
o
n
s
tr
ated
th
at
in
cr
e
asin
g
tem
p
er
atu
r
e
d
ec
r
ea
s
es
f
lu
id
v
is
co
s
ity
,
lead
in
g
to
h
ig
h
er
f
lo
w
r
ates
an
d
in
tr
o
d
u
cin
g
n
o
n
-
lin
ea
r
b
eh
a
v
io
r
,
r
esu
ltin
g
in
g
r
ea
ter
o
v
er
s
h
o
o
t
(
f
r
o
m
3
.
1
%
to
1
5
.
7
%),
lo
n
g
er
s
ettlin
g
tim
es
(
f
r
o
m
2
4
s
to
3
8
s
)
,
a
n
d
r
e
d
u
ce
d
s
tab
ilit
y
m
ar
g
in
s
.
T
h
e
B
o
d
e
an
d
Ny
q
u
is
t
f
r
eq
u
en
c
y
an
aly
s
es
f
u
r
th
e
r
h
ig
h
lig
h
ted
th
ese
ch
allen
g
es,
i
n
d
icatin
g
th
at
wh
ile
th
e
PID
co
n
tr
o
ller
p
er
f
o
r
m
s
well
u
n
d
er
n
o
r
m
al
co
n
d
itio
n
s
,
it
s
tr
u
g
g
les
with
s
tab
ilit
y
in
ex
tr
em
e
s
ce
n
ar
io
s
.
T
h
ese
f
in
d
in
g
s
ar
e
cr
u
cial
f
o
r
in
d
u
s
t
r
ies
lik
e
ch
em
ical
p
r
o
ce
s
s
in
g
,
wh
e
r
e
p
r
ec
is
e
f
l
u
id
co
n
tr
o
l
is
v
ital,
an
d
s
u
g
g
est
th
at
f
u
tu
r
e
r
esear
ch
s
h
o
u
ld
f
o
c
u
s
o
n
th
e
d
ev
elo
p
m
e
n
t
o
f
a
d
ap
tiv
e
co
n
tr
o
l
s
tr
ateg
ies
to
d
y
n
am
ically
ad
ju
s
t
co
n
tr
o
ller
p
ar
am
eter
s
,
th
er
eb
y
e
n
s
u
r
in
g
r
o
b
u
s
t p
er
f
o
r
m
a
n
ce
an
d
m
ain
t
ain
in
g
s
tab
ilit
y
m
ar
g
in
s
ac
r
o
s
s
th
e
f
u
ll r
a
n
g
e
o
f
o
p
e
r
atio
n
al
c
o
n
d
itio
n
s
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
Sy
ah
r
u
l H
u
m
aid
i
g
r
atef
u
lly
ac
k
n
o
wled
g
es th
e
s
u
p
p
o
r
t
p
r
o
v
id
ed
b
y
L
P USU
th
r
o
u
g
h
t
h
e
T
AL
E
NT
A
-
PT
p
r
o
g
r
a
m
u
n
d
er
C
o
n
tr
ac
t N
o
.
3
3
4
/UN5
.
2
.
3
.
1
/PP
M/KP
-
T
AL
E
NT
A/R
/2
0
2
3
,
d
ated
2
9
A
u
g
u
s
t 2
0
2
3
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
M
E
N
T
T
h
is
jo
u
r
n
al
u
s
es
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
n
o
m
y
(
C
R
ed
iT)
to
r
ec
o
g
n
ize
in
d
iv
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Na
m
e
o
f
Aut
ho
r
C
M
So
Va
Fo
I
R
D
O
E
Vi
Su
P
Fu
Her
r
i T
r
is
n
a
Fria
n
to
✓
✓
✓
✓
✓
✓
Sy
ah
r
u
l H
u
m
aid
i
✓
✓
✓
✓
✓
Ker
is
ta
T
ar
ig
an
✓
✓
✓
✓
✓
Dad
an
R
am
d
an
✓
✓
✓
✓
Do
li B
o
n
ar
d
o
✓
✓
✓
✓
C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
:
M
e
t
h
o
d
o
l
o
g
y
So
:
So
f
t
w
a
r
e
Va
:
Va
l
i
d
a
t
i
o
n
Fo
:
Fo
r
mal
a
n
a
l
y
s
i
s
I
:
I
n
v
e
s
t
i
g
a
t
i
o
n
R
:
R
e
so
u
r
c
e
s
D
:
D
a
t
a
C
u
r
a
t
i
o
n
O
:
W
r
i
t
i
n
g
-
O
r
i
g
i
n
a
l
D
r
a
f
t
E
:
W
r
i
t
i
n
g
-
R
e
v
i
e
w
&
E
d
i
t
i
n
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Vi
:
Vi
su
a
l
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z
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t
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:
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p
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r
v
i
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P
:
P
r
o
j
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c
t
a
d
mi
n
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st
r
a
t
i
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n
Fu
:
Fu
n
d
i
n
g
a
c
q
u
i
si
t
i
o
n
Evaluation Warning : The document was created with Spire.PDF for Python.