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I
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T
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Vo
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24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
2
9
3
-
3
0
1
294
m
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io
s
[
8
]
,
[
9
]
.
Am
o
n
g
th
e
s
e
tech
n
iq
u
e
s
,
H∞
co
n
tr
o
l
h
as
p
r
o
v
en
to
b
e
a
p
o
w
er
f
u
l
to
o
l
f
o
r
d
esig
n
i
n
g
co
n
t
r
o
ller
s
th
at
g
u
ar
a
n
tee
s
tab
ilit
y
,
p
r
ec
is
e
tr
a
ck
in
g
,
an
d
ef
f
ec
ti
v
e
d
is
tu
r
b
an
ce
r
e
j
ec
tio
n
[
1
0
]
,
[
1
1
]
.
T
h
is
m
eth
o
d
m
in
i
m
ize
s
th
e
H∞
n
o
r
m
o
f
a
w
eig
h
ted
tr
an
s
f
er
f
u
n
ct
io
n
b
et
w
ee
n
ex
o
g
e
n
o
u
s
in
p
u
t
s
(
r
ef
er
en
ce
s
,
d
is
tu
r
b
an
ce
s
)
an
d
co
n
tr
o
lled
o
u
tp
u
ts
(
er
r
o
r
s
,
co
n
tr
o
l
ef
f
o
r
t)
,
a
l
l
o
w
in
g
p
e
r
f
o
r
m
an
c
e
s
p
e
cif
ic
a
t
i
o
n
s
s
u
ch
as
b
a
n
d
w
i
d
th
,
s
t
ea
d
y
-
s
t
a
t
e
a
c
cu
r
a
cy
,
a
n
d
r
o
b
u
s
t
n
e
s
s
t
o
b
e
ex
p
l
ic
i
t
ly
em
b
e
d
d
e
d
in
th
e
d
es
ig
n
p
h
as
e
th
r
o
u
g
h
c
a
r
ef
u
l
ly
c
h
o
s
en
w
e
ig
h
t
i
n
g
f
u
n
ct
i
o
n
s
[
1
0
]
,
[
1
2
]
.
B
y
p
r
o
p
e
r
ly
s
el
e
c
ti
n
g
t
h
e
s
e
w
e
ig
h
t
in
g
f
u
n
c
t
i
o
n
s
,
i
t
is
p
o
s
s
i
b
l
e
t
o
d
i
r
e
c
tly
in
c
o
r
p
o
r
a
t
e
p
e
r
f
o
r
m
an
c
e
o
b
je
c
t
iv
es
,
c
o
n
t
r
o
l
ef
f
o
r
t
l
im
it
a
t
i
o
n
s
,
an
d
d
i
s
tu
r
b
an
c
e
r
e
je
c
t
i
o
n
r
e
q
u
i
r
em
en
ts
in
to
th
e
s
y
n
th
e
s
is
p
r
o
ce
s
s
[
1
3
]
,
[
14
]
.
R
ec
en
t
w
o
r
k
s
h
av
e
ex
p
lo
r
ed
v
ar
io
u
s
ap
p
licatio
n
s
o
f
H∞
co
n
tr
o
l
to
P
MSM
.
A
h
n
et
a
l.
[
1
5
]
co
m
b
i
n
e
d
H∞
w
ith
a
n
ad
ap
tiv
e
f
u
zz
y
s
li
d
in
g
m
o
d
e
o
b
s
er
v
er
to
esti
m
at
e
an
d
co
m
p
en
s
ate
f
o
r
lo
ad
to
r
q
u
e,
ac
h
iev
i
n
g
h
i
g
h
r
o
b
u
s
tn
es
s
at
th
e
co
s
t o
f
in
cr
ea
s
ed
alg
o
r
ith
m
ic
co
m
p
lex
it
y
.
Dj
o
u
ad
i
et
a
l.
[
1
6
]
p
r
o
p
o
s
ed
a
n
o
n
lin
ea
r
g
eo
m
etr
ic
co
n
tr
o
l
ap
p
r
o
ac
h
to
d
i
r
ec
tly
a
d
d
r
ess
s
y
s
te
m
n
o
n
li
n
ea
r
ities
,
w
h
ile
W
an
g
e
t
a
l
.
[
1
7
]
co
m
b
i
n
ed
H∞
w
i
th
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
f
o
r
s
i
m
u
lta
n
eo
u
s
d
is
tu
r
b
an
ce
r
ej
ec
tio
n
an
d
p
ar
am
eter
u
n
ce
r
tai
n
t
y
co
m
p
e
n
s
at
io
n
i
n
P
MSM
d
r
iv
e
s
.
Oth
er
s
tu
d
ie
s
h
a
v
e
e
m
p
lo
y
ed
T
ak
ag
i
-
S
u
g
en
o
(
T
-
S
)
f
u
zz
y
m
o
d
els
[
1
8
]
,
d
is
tu
r
b
an
ce
o
b
s
er
v
er
s
(
DOB
)
[
1
9
]
,
o
r
lin
ea
r
m
atr
i
x
in
eq
u
ali
t
y
(
L
MI
)
-
b
ased
f
o
r
m
u
la
tio
n
s
[
2
0
]
.
H
o
w
e
v
er
,
th
ese
m
et
h
o
d
s
,
alth
o
u
g
h
ef
f
ec
ti
v
e,
o
f
te
n
r
eq
u
ir
e
co
m
p
lex
o
n
li
n
e
esti
m
a
tio
n
s
o
r
d
etailed
u
n
ce
r
tain
t
y
m
o
d
eli
n
g
,
m
a
k
in
g
th
e
m
d
if
f
ic
u
lt
to
i
m
p
le
m
e
n
t
o
n
e
m
b
ed
d
ed
p
latf
o
r
m
s
[
2
1
]
.
T
h
is
p
ap
er
p
r
o
p
o
s
es
a
b
alan
ce
d
alter
n
ativ
e:
a
m
u
l
tiv
ar
iab
le
H∞
co
n
tr
o
ller
d
esig
n
ed
f
r
o
m
a
d
iag
o
n
al
mu
ltip
le
-
in
p
u
t
m
u
ltip
le
-
o
u
tp
u
t
(
MI
MO
)
m
o
d
el,
d
er
iv
ed
d
ir
ec
tl
y
f
r
o
m
t
h
e
d
ec
o
u
p
li
n
g
p
r
i
n
ci
p
le
o
f
f
ield
-
o
r
ien
ted
co
n
tr
o
l
(
FOC
)
.
Un
lik
e
ap
p
r
o
a
ch
es
b
ased
o
n
lin
ea
r
izatio
n
ar
o
u
n
d
an
o
p
er
atin
g
p
o
in
t
[
2
2
]
o
r
ex
p
licit
m
o
d
elin
g
o
f
p
ar
a
m
etr
ic
u
n
ce
r
tain
ties
[
2
3
]
,
th
is
m
et
h
o
d
lev
er
ag
es
t
h
e
n
atu
r
al
s
tr
u
ct
u
r
e
o
f
th
e
FOC
-
d
ec
o
u
p
led
s
y
s
te
m
to
en
s
u
r
e
r
o
b
u
s
t
n
es
s
an
d
p
er
f
o
r
m
an
ce
w
it
h
o
u
t
ex
ce
s
s
i
v
e
co
m
p
l
ex
it
y
[
2
4
]
.
T
h
e
co
n
tr
o
ller
is
s
y
n
t
h
e
s
ized
u
s
i
n
g
th
e
s
tan
d
ar
d
H∞
co
n
f
ig
u
r
atio
n
,
w
i
th
w
ei
g
h
ti
n
g
f
u
n
ctio
n
s
ca
r
ef
u
ll
y
s
elec
ted
to
ac
h
ie
v
e
ac
c
u
r
ate
s
p
ee
d
tr
ac
k
in
g
,
f
i
n
e
cu
r
r
en
t r
eg
u
latio
n
,
an
d
ef
f
ec
ti
v
e
lo
ad
d
is
tu
r
b
an
ce
r
ej
ec
tio
n
[
2
5
]
,
[
2
6
]
.
T
h
e
r
est o
f
th
is
p
ap
er
is
o
r
g
an
i
ze
d
as f
o
llo
w
s
: Sec
tio
n
2
p
r
esen
ts
t
h
e
d
etailed
m
o
d
elin
g
o
f
t
h
e
P
MSM
u
n
d
er
FOC
,
ex
p
lo
iti
n
g
d
/q
d
ec
o
u
p
lin
g
to
co
n
s
tr
u
ct
a
d
iag
o
n
a
l M
I
MO
m
o
d
el.
Sectio
n
3
d
etails th
e
s
y
n
th
e
s
is
o
f
th
e
m
u
lti
v
ar
iab
le
H∞
co
n
tr
o
ll
er
,
in
clu
d
in
g
t
h
e
ch
o
ice
o
f
w
ei
g
h
t
in
g
f
u
n
ctio
n
s
an
d
th
e
s
tan
d
ar
d
in
ter
co
n
n
ec
tio
n
s
tr
u
ct
u
r
e.
Si
m
u
la
tio
n
r
es
u
lt
s
ar
e
an
al
y
ze
d
i
n
Sectio
n
4
,
f
o
llo
wed
b
y
a
co
n
cl
u
s
io
n
s
u
m
m
ar
izi
n
g
th
e
co
n
tr
ib
u
tio
n
s
an
d
p
o
ten
tial f
u
t
u
r
e
w
o
r
k
.
2.
P
M
S
M
DE
CO
UP
L
E
D
M
O
D
E
L
F
O
R
M
UL
T
I
V
ARIAB
L
E
CO
NT
RO
L
T
h
e
f
o
u
n
d
atio
n
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
y
lie
s
i
n
a
s
i
m
p
li
f
ied
y
e
t
ac
cu
r
ate
d
ia
g
o
n
al
MI
MO
m
o
d
el
o
f
t
h
e
P
MSM
,
d
er
iv
ed
d
ir
ec
tl
y
f
r
o
m
t
h
e
p
r
in
cip
les
o
f
F
OC
.
T
h
is
ap
p
r
o
ac
h
ex
p
lo
its
th
e
n
atu
r
al
d
ec
o
u
p
lin
g
b
et
w
ee
n
f
lu
x
a
n
d
to
r
q
u
e
d
y
n
a
m
ics,
a
v
o
id
in
g
t
h
e
n
ee
d
f
o
r
lin
ea
r
izatio
n
o
r
e
x
p
licit
u
n
ce
r
ta
in
t
y
m
o
d
eli
n
g
.
T
h
e
r
esu
lti
n
g
m
o
d
el
e
n
ab
les
r
o
b
u
s
t
m
u
lti
v
ar
iab
le
H∞
s
y
n
th
e
s
is
w
h
ile
p
r
eser
v
i
n
g
th
e
p
h
y
s
ical
s
tr
u
ct
u
r
e
an
d
p
er
f
o
r
m
a
n
ce
ad
v
a
n
ta
g
es o
f
F
OC
[
1
]
,
[
2
]
.
T
h
e
elec
tr
ical
an
d
m
ec
h
a
n
ical
eq
u
atio
n
s
i
n
t
h
e
(
,
)
f
r
a
m
e
ar
e:
=
−
+
+
1
=
−
−
−
+
1
=
(
+
(
−
)
)
−
+
(
1
)
w
h
e
r
e
a
n
d
d
e
n
o
t
e
th
e
s
t
a
t
o
r
cu
r
r
e
n
ts
,
a
n
d
t
h
e
a
p
p
l
i
e
d
v
o
l
t
ag
es
,
th
e
r
o
t
o
r
a
n
g
u
l
a
r
s
p
e
e
d
,
t
h
e
l
o
a
d
t
o
r
q
u
e
,
t
h
e
s
t
at
o
r
r
e
s
is
ta
n
c
e
,
a
n
d
t
h
e
-
an
d
-
ax
is
in
d
u
c
t
an
c
es
,
t
h
e
f
l
u
x
p
r
o
d
u
c
e
d
b
y
th
e
p
e
r
m
an
en
t
m
ag
n
e
ts
,
t
h
e
m
o
m
en
t
o
f
in
e
r
t
ia
,
t
h
e
v
i
s
c
o
u
s
f
r
i
c
ti
o
n
c
o
ef
f
i
c
i
en
t
,
an
d
t
h
e
n
u
m
b
e
r
o
f
p
o
l
e
p
a
ir
s
[
3
]
,
[
4
]
.
I
n
th
e
co
n
tex
t
o
f
FO
C
,
a
co
m
m
o
n
s
tr
ate
g
y
is
to
s
et
∗
=
0
to
o
p
er
ate
at
n
o
m
i
n
al
f
lu
x
[
1
]
,
[
5
]
.
T
h
is
s
i
m
p
li
f
ie
s
t
h
e
elec
tr
o
m
a
g
n
eti
c
to
r
q
u
e
ex
p
r
ess
io
n
to
=
1
.
5
.
Un
d
er
th
is
co
n
d
itio
n
,
t
h
e
d
y
n
a
m
i
cs
o
f
cu
r
r
en
t a
n
d
s
p
ee
d
ar
e
tr
ea
ted
as d
ec
o
u
p
led
,
allo
w
in
g
f
o
r
in
d
ep
en
d
en
t r
eg
u
latio
n
.
T
h
e
elec
tr
ical
d
y
n
a
m
ics
o
f
th
e
P
MSM
ar
e
s
ig
n
i
f
ica
n
tl
y
f
as
ter
th
an
i
ts
m
ec
h
a
n
ical
d
y
n
a
m
ics.
T
h
i
s
s
ep
ar
atio
n
o
f
ti
m
e
s
ca
les
allo
w
s
f
o
r
a
s
i
m
p
li
f
icatio
n
o
f
th
e
co
n
tr
o
l
-
o
r
ien
ted
m
o
d
el
u
n
d
er
th
e
as
s
u
m
p
tio
n
th
a
t
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
el
ec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
A
d
ec
o
u
p
lin
g
-
b
a
s
ed
mu
ltiva
r
i
a
b
le
H∞
c
o
n
tr
o
ller
fo
r
P
MS
M sp
ee
d
a
n
d
cu
r
r
en
t reg
u
la
tio
n
(
F
a
r
id
Ou
d
ja
ma
)
295
th
e
cu
r
r
en
t
r
eg
u
latio
n
lo
o
p
o
p
er
ates
w
i
th
a
s
u
f
f
ic
ien
t
l
y
h
ig
h
b
an
d
w
id
t
h
.
I
n
th
is
co
n
te
x
t,
th
e
s
tato
r
cu
r
r
en
ts
ca
n
b
e
co
n
s
id
er
ed
q
u
asi
-
s
tatic
v
ar
i
ab
les r
elativ
e
to
t
h
e
s
lo
w
er
s
p
ee
d
d
y
n
a
m
ic
s
[
3
]
,
[
1
1
]
.
Un
d
er
FOC
w
it
h
∗
=
0
,
th
e
cu
r
r
en
t
d
y
n
a
m
ics
alo
n
g
th
e
-
an
d
-
a
x
es
b
ec
o
m
e
d
ec
o
u
p
led
.
T
h
e
d
ir
ec
t
-
ax
is
c
u
r
r
en
t
is
g
o
v
er
n
ed
b
y
t
h
e
v
o
ltag
e
t
h
r
o
u
g
h
t
h
e
f
ir
s
t
-
o
r
d
er
tr
an
s
f
er
f
u
n
ctio
n
:
(
)
=
(
)
(
)
=
1
+
(
2
)
Fo
r
s
p
ee
d
r
eg
u
latio
n
,
t
h
e
d
o
m
i
n
an
t
p
at
h
is
t
h
e
ca
s
ca
d
e
f
r
o
m
th
e
q
u
ad
r
at
u
r
e
-
a
x
is
v
o
lta
g
e
to
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
s
u
b
s
eq
u
en
tl
y
to
th
e
r
o
to
r
s
p
ee
d
.
C
o
m
b
in
i
n
g
th
e
elec
tr
ical
d
y
n
a
m
ics
o
f
w
it
h
th
e
m
ec
h
an
ical
eq
u
atio
n
an
d
u
s
i
n
g
th
e
s
i
m
p
li
f
ied
to
r
q
u
e
e
x
p
r
ess
io
n
,
t
h
e
tr
an
s
f
er
f
u
n
ct
io
n
f
r
o
m
to
is
o
b
tain
ed
as:
(
)
=
(
)
(
)
=
3
2
(
+
)
(
+
)
(
3
)
B
ased
o
n
th
is
d
ec
o
u
p
lin
g
an
d
t
i
m
e
-
s
ca
le
s
ep
ar
atio
n
,
th
e
o
v
er
a
ll
s
y
s
te
m
is
r
ep
r
ese
n
ted
b
y
th
e
f
o
llo
w
in
g
d
iag
o
n
al
MI
MO
tr
an
s
f
er
m
atr
i
x
:
(
)
=
[
(
)
0
0
(
)
]
=
[
1
+
0
0
3
2
(
+
)
(
+
)
]
(
4
)
W
ith
co
n
tr
o
l
in
p
u
ts
=
[
,
]
an
d
r
eg
u
lated
o
u
tp
u
ts
=
[
,
]
.
T
h
is
s
i
m
p
li
f
ie
d
m
o
d
el
ca
p
tu
r
es
th
e
ess
e
n
tial
d
y
n
a
m
ic
s
o
f
th
e
P
MSM
u
n
d
er
FOC
an
d
s
er
v
e
s
as
th
e
f
o
u
n
d
atio
n
f
o
r
th
e
m
u
lt
iv
ar
iab
le
H∞
co
n
tr
o
ller
d
esig
n
[
6
]
,
[
7
]
.
3.
SYNT
H
E
S
I
S O
F
T
H
E
M
UL
T
I
VA
RIAB
L
E
H
∞
CO
NT
R
O
L
L
E
R
T
h
e
H∞
co
n
tr
o
l
f
r
a
m
e
w
o
r
k
p
r
o
v
id
es
a
r
ig
o
r
o
u
s
an
d
s
y
s
te
m
atic
m
et
h
o
d
o
lo
g
y
f
o
r
co
n
tr
o
ller
d
esig
n
,
ex
p
licitl
y
b
al
a
n
ci
n
g
p
er
f
o
r
m
an
ce
an
d
r
o
b
u
s
tn
es
s
ag
ai
n
s
t
u
n
ce
r
tain
ties
a
n
d
d
is
tu
r
b
an
ce
s
.
Un
l
ik
e
h
e
u
r
is
tic
t
u
n
in
g
ap
p
r
o
ac
h
es,
H∞
s
y
n
th
e
s
is
f
o
r
m
u
lates
th
e
co
n
tr
o
l
p
r
o
b
le
m
a
s
an
o
p
ti
m
izat
io
n
ta
s
k
,
m
i
n
i
m
i
zin
g
t
h
e
w
o
r
s
t
-
ca
s
e
g
ain
f
r
o
m
ex
o
g
en
o
u
s
i
n
p
u
t
s
t
o
r
eg
u
lated
o
u
tp
u
ts
.
T
h
is
e
n
s
u
r
es
g
u
ar
an
teed
s
tab
il
it
y
m
ar
g
i
n
s
a
n
d
p
er
f
o
r
m
a
n
ce
lev
els,
e
v
en
i
n
t
h
e
p
r
esen
ce
o
f
m
o
d
elin
g
in
ac
c
u
r
ac
ies o
r
p
ar
a
m
eter
v
ar
iatio
n
s
-
a
cr
itical
r
eq
u
ir
e
m
e
n
t f
o
r
h
i
g
h
-
p
er
f
o
r
m
a
n
ce
P
MSM
d
r
iv
es.
T
h
e
m
u
lt
iv
ar
iab
le
H
∞
co
n
tr
o
ller
is
s
y
n
t
h
es
ized
u
s
i
n
g
t
h
e
s
ta
n
d
a
r
d
co
n
f
i
g
u
r
atio
n
d
ep
icted
in
Fig
u
r
e
1
.
T
h
is
f
r
a
m
e
w
o
r
k
allo
w
s
f
o
r
th
e
s
y
s
te
m
at
ic
in
te
g
r
ati
o
n
o
f
p
er
f
o
r
m
a
n
ce
,
r
o
b
u
s
tn
es
s
,
an
d
co
n
tr
o
l
ef
f
o
r
t
co
n
s
tr
ain
ts
v
ia
f
r
eq
u
e
n
c
y
-
d
ep
e
n
d
en
t
w
ei
g
h
ti
n
g
f
u
n
ct
io
n
s
,
as
estab
lis
h
ed
in
r
o
b
u
s
t c
o
n
tr
o
l t
h
eo
r
y
[
8
]
–
[
1
0
]
.
Fig
u
r
e
1
.
Stan
d
ar
d
H∞ c
o
n
f
ig
u
r
atio
n
f
o
r
th
e
P
MSM
co
n
tr
o
l s
y
s
te
m
T
h
e
s
y
n
t
h
esi
s
is
b
ased
o
n
th
e
s
t
an
d
ar
d
H∞
co
n
f
i
g
u
r
atio
n
,
w
h
e
r
e
th
e
p
lan
t
is
au
g
m
en
ted
w
it
h
w
ei
g
h
ti
n
g
f
u
n
ctio
n
s
to
f
o
r
m
an
in
ter
co
n
n
ec
ted
s
y
s
te
m
.
T
h
is
s
y
s
te
m
i
n
clu
d
e
s
th
e
g
e
n
er
alize
d
p
lan
t
(
)
,
th
e
co
n
tr
o
ller
(
)
.
T
h
e
g
en
er
alize
d
p
lan
t
(
)
is
co
n
s
t
r
u
cted
to
in
clu
d
e
th
e
f
o
llo
w
i
n
g
s
i
g
n
al
s
:
ex
o
g
en
o
u
s
i
n
p
u
t
s
(
r
ef
er
en
ce
s
ig
n
al
s
,
d
is
tu
r
b
an
ce
s
,
an
d
p
er
f
o
r
m
a
n
ce
/r
o
b
u
s
t
n
es
s
w
ei
g
h
tin
g
in
p
u
t
s
)
,
co
n
tr
o
lled
o
u
tp
u
ts
(
w
ei
g
h
ted
tr
ac
k
i
n
g
er
r
o
r
s
a
n
d
co
n
tr
o
l
s
ig
n
als),
c
o
n
tr
o
l
in
p
u
t
s
(
s
tato
r
v
o
ltag
e
s
,
)
,
an
d
m
ea
s
u
r
ed
o
u
tp
u
ts
(
r
eg
u
lated
v
ar
iab
les
,
).
W
eig
h
ti
n
g
f
u
n
ctio
n
s
ar
e
s
elec
ted
as
d
iag
o
n
al
m
atr
ices
to
p
r
eser
v
e
th
e
d
ec
o
u
p
led
s
tr
u
ctu
r
e
o
f
th
e
FOC
-
b
ased
m
o
d
el:
(
)
:
e
n
s
u
r
es h
ig
h
lo
w
-
f
r
eq
u
e
n
c
y
g
ain
f
o
r
p
r
ec
is
e
tr
ac
k
i
n
g
a
n
d
ze
r
o
s
tead
y
-
s
ta
te
er
r
o
r
.
(
)
:
l
i
m
it
s
h
ig
h
-
f
r
eq
u
e
n
c
y
co
n
tr
o
l
ef
f
o
r
t to
p
r
ev
en
t a
ct
u
ato
r
s
at
u
r
atio
n
.
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.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
2
9
3
-
3
0
1
296
(
)
:
s
h
ap
es t
h
e
co
m
p
le
m
en
tar
y
s
e
n
s
it
iv
i
t
y
f
o
r
r
o
b
u
s
tn
e
s
s
ag
a
in
s
t
u
n
m
o
d
eled
d
y
n
a
m
ics.
T
h
e
m
u
lti
v
ar
iab
le
H∞
co
n
tr
o
ller
(
)
is
d
esig
n
ed
to
m
i
n
i
m
ize
th
e
H∞
n
o
r
m
o
f
t
h
e
clo
s
ed
-
lo
o
p
tr
an
s
f
er
f
u
n
c
tio
n
f
r
o
m
w
to
,
en
s
u
r
in
g
t
h
at:
‖
(
,
)
‖
∞
≤
(
5
)
w
h
er
e
(
,
)
d
en
o
tes
th
e
lin
ea
r
f
r
ac
tio
n
al
tr
an
s
f
o
r
m
atio
n
(
L
F
T
)
o
f
th
e
in
ter
co
n
n
ec
tio
n
b
et
w
ee
n
t
h
e
g
en
er
alize
d
p
lan
t
(
)
an
d
th
e
co
n
t
r
o
ller
(
)
,
an
d
>
0
is
a
p
r
escr
ib
ed
p
o
s
itiv
e
co
n
s
ta
n
t
.
T
h
e
H∞
n
o
r
m
i
s
d
ef
i
n
ed
as:
‖
(
,
)
‖
∞
=
_
(
(
(
)
,
(
)
)
)
,
w
h
er
e
_
d
en
o
tes
t
h
e
m
ax
i
m
u
m
s
in
g
u
lar
v
al
u
e
o
f
t
h
e
f
r
eq
u
en
c
y
r
esp
o
n
s
e
m
a
tr
ix
.
T
h
is
n
o
r
m
r
ep
r
esen
ts
t
h
e
w
o
r
s
t
-
ca
s
e
g
ai
n
o
f
th
e
s
y
s
te
m
f
r
o
m
t
h
e
e
x
o
g
e
n
o
u
s
i
n
p
u
t
s
(
r
ef
er
en
ce
s
,
d
is
t
u
r
b
an
c
es)
to
th
e
co
n
tr
o
lled
o
u
tp
u
t
s
(
er
r
o
r
s
,
co
n
tr
o
l
ef
f
o
r
t)
.
T
h
e
co
n
d
itio
n
‖
(
,
)
‖
∞
≤
en
s
u
r
es
t
h
at
t
h
e
en
er
g
y
o
f
t
h
e
o
u
tp
u
t
is
b
o
u
n
d
ed
b
y
ti
m
es
t
h
e
en
er
g
y
o
f
th
e
in
p
u
t
,
i.e
.
,
‖
‖
2
=
‖
‖
2
.
T
h
is
g
u
ar
an
tees
r
o
b
u
s
t
s
tab
ili
t
y
an
d
p
er
f
o
r
m
a
n
ce
,
ev
e
n
in
th
e
p
r
esen
ce
o
f
m
o
d
eli
n
g
i
n
ac
c
u
r
ac
ies
an
d
ex
ter
n
al
d
is
t
u
r
b
an
c
es.
T
h
e
p
ar
am
eter
ac
ts
as
a
d
is
tu
r
b
an
ce
atten
u
atio
n
lev
el,
an
d
m
in
i
m
izin
g
it lea
d
s
to
a
co
n
tr
o
ller
w
ith
e
n
h
an
ce
d
r
o
b
u
s
tn
e
s
s
a
n
d
tr
ac
k
i
n
g
ac
c
u
r
ac
y
.
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
AND
P
E
RF
O
RM
ANCE AN
AL
YS
I
S
T
o
ev
alu
ate
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
p
r
o
p
o
s
ed
m
u
lti
v
ar
iab
le
H∞
co
n
tr
o
ller
,
n
u
m
er
ical
s
i
m
u
la
tio
n
s
w
er
e
co
n
d
u
cted
u
s
i
n
g
a
P
MSM
m
o
d
el
w
it
h
th
e
p
ar
a
m
eter
s
lis
ted
in
T
ab
le
1
.
A
s
in
g
le,
co
m
p
r
eh
en
s
i
v
e
test
s
ce
n
ar
io
is
co
n
s
id
er
ed
to
ass
ess
t
h
e
co
n
tr
o
ller
’
s
tr
ac
k
i
n
g
ac
cu
r
ac
y
,
d
is
tu
r
b
an
ce
r
ej
ec
tio
n
,
an
d
r
o
b
u
s
tn
es
s
u
n
d
er
d
y
n
a
m
i
c
lo
ad
v
ar
iatio
n
s
.
T
ab
le
1
.
P
ar
am
eter
s
o
f
t
h
e
P
MSM
m
o
d
el
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[
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u
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Evaluation Warning : The document was created with Spire.PDF for Python.
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24
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s
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ased
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ar
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ag
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ter
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Fig
u
r
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6
.
Q
-
ax
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cu
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n
t r
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e
Fig
u
r
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.
E
lectr
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m
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etic
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e
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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A
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299
5.
CO
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atic
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DATA AV
AI
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eq
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est.
RE
F
E
R
E
NC
E
S
[
1
]
C
.
S
a
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n
,
A
.
B
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tr
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ltiva
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fo
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d
a
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cu
r
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t reg
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(
F
a
r
id
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d
ja
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)
301
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o
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c
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a
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a
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d
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h
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.
d
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o
b
tai
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d
t
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b
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it
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in
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7
a
n
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b
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c
a
m
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F
u
l
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P
r
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f
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ss
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r
in
2
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.
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it
h
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lo
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a
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sp
a
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d
u
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ti
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d
u
strial
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h
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o
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n
d
a
c
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d
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m
ia,
h
e
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ld
m
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s.
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re
se
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rc
h
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tere
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v
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e
m
a
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f
a
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p
ro
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iza
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m
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rica
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m
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g
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c
a
n
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tac
ted
a
t
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m
a
il
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m
.
b
o
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rd
im
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u
-
m
a
g
h
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z
.
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e
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m
a
d
jid
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o
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m
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i
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re
c
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iv
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d
th
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g
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e
r
d
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g
re
e
in
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e
c
t
ro
tec
h
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ics
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th
e
M
a
g
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re
e
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h
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.
in
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lec
tri
c
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n
g
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ri
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g
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ro
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th
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le
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le
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o
ly
tec
h
n
iq
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e
(E
.
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),
A
lg
iers
,
A
lg
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ria,
in
1
9
9
1
,
1
9
9
4
a
n
d
2
0
0
7
re
sp
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ti
v
e
ly
.
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o
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ra
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u
a
ti
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h
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j
o
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e
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th
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tri
c
a
l
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n
g
in
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g
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p
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rtm
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o
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iv
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y
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f
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c
h
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r.
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w
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s
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a
ss
o
c
iate
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ro
f
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m
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m
b
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r
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f
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ro
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n
tr
o
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L
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b
o
ra
to
ry
(EN
P
)
.
S
in
c
e
2
0
1
2
,
h
e
jo
i
n
e
d
th
e
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e
c
tri
c
a
l
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g
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n
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rin
g
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p
a
rtme
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t
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f
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le
m
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n
.
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is
a
n
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ss
o
c
iate
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m
b
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u
to
m
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ti
q
u
e
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b
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ra
to
ry
o
f
T
le
m
c
e
n
(LAT
).
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
e
lec
tri
c
m
a
c
h
in
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d
riv
e
s,
p
o
w
e
r
e
le
c
tro
n
ics
a
n
d
p
r
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c
e
ss
c
o
n
t
ro
l.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
a
1
0
b
o
u
m
e
d
ien
e
@g
m
a
il
.
c
o
m
.
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