I
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l J
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V
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e
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Am
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s
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ste
m
s,
se
m
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c
ti
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(S
A
S
)
is
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s
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ti
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r
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c
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a
g
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t
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rh
e
o
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l
(M
R
)
d
a
m
p
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re
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o
m
m
o
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ly
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d
in
S
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e
n
h
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e
m
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g
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ti
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field
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o
we
v
e
r,
th
e
trad
it
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l
sli
d
in
g
m
o
d
e
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tro
l
(S
M
C)
m
e
th
o
d
o
ften
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a
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se
s
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h
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ri
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g
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a
f
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c
ts
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e
.
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is
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d
y
p
r
o
p
o
se
s
th
e
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p
p
li
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g
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d
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e
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ler
(S
TS
M
C)
t
o
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ro
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e
v
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ra
ti
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c
o
n
tr
o
l
in
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AS
a
n
d
o
v
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rc
o
m
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th
e
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h
a
tt
e
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g
p
ro
b
lem
.
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i
m
u
latio
n
s
a
n
d
e
x
p
e
rime
n
tal
e
v
a
lu
a
ti
o
n
s
w
e
re
c
o
n
d
u
c
ted
o
n
a
q
u
a
rter
-
c
a
r
tes
t
b
e
n
c
h
with
d
iffere
n
t
r
o
a
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c
it
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ti
o
n
s.
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e
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su
lt
s
s
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o
w
t
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t
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e
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it
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o
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l
c
o
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tr
o
ll
e
r
in
v
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b
ra
ti
o
n
s
u
p
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re
ss
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.
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p
e
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ifi
c
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ll
y
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e
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u
p
p
re
ss
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e
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t
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th
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p
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.
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e
re
fo
re
,
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e
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T
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c
o
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o
ll
e
r
d
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m
o
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st
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tes
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p
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rio
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v
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ra
ti
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n
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n
tro
l
in
S
AS
sy
ste
m
s
e
q
u
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ro
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n
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e
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re
se
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o
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v
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b
ra
ti
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n
c
o
n
tro
l.
K
ey
w
o
r
d
s
:
C
h
atter
in
g
p
r
o
b
lem
Ma
g
n
eto
r
h
e
o
lo
g
ical
d
am
p
er
Sem
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
Su
p
er
-
t
wis
tin
g
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
V
ib
r
atio
n
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
e
s
p
o
nd
ing
A
uth
o
r
:
Sit
i A
zf
an
izam
Ah
m
ad
Dep
ar
tm
en
t o
f
Me
ch
an
ical
an
d
Ma
n
u
f
ac
t
u
r
in
g
E
n
g
in
ee
r
in
g
,
Facu
lty
o
f
E
n
g
in
ee
r
in
g
,
Un
iv
er
s
iti Pu
tr
a
Ma
lay
s
ia
4
3
4
0
0
Ser
d
an
g
,
Selan
g
o
r
,
Ma
l
ay
s
ia
E
m
ail:
s
_
az
f
an
izam
@
u
p
m
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
Nu
m
er
o
u
s
s
tu
d
ies
h
av
e
s
h
o
w
n
th
at
p
r
o
l
o
n
g
e
d
ex
p
o
s
u
r
e
to
h
ig
h
-
in
ten
s
ity
v
i
b
r
atio
n
s
n
o
t
o
n
ly
ca
u
s
es
d
is
co
m
f
o
r
t
b
u
t
also
in
cr
ea
s
es
th
e
r
is
k
o
f
p
h
y
s
ical
p
ain
an
d
m
u
s
cu
lo
s
k
eleta
l
d
is
o
r
d
er
s
,
wh
ich
ar
e
s
ig
n
if
ican
t
co
n
tr
ib
u
to
r
s
to
h
ea
lth
p
r
o
b
le
m
s
[
1
]
.
T
o
m
itig
ate
th
ese
ef
f
ec
ts
,
v
eh
icle
s
u
s
p
en
s
io
n
s
y
s
tem
s
ar
e
d
esig
n
ed
as
m
ec
h
an
ical
d
ev
ices
to
r
e
d
u
ce
th
e
tr
an
s
m
is
s
io
n
o
f
v
ib
r
atio
n
s
to
th
e
h
u
m
an
b
o
d
y
,
wh
ich
o
f
ten
o
r
ig
in
ates
f
r
o
m
s
o
u
r
ce
s
s
u
ch
as r
o
ad
i
r
r
eg
u
la
r
ities
ca
u
s
ed
b
y
b
u
m
p
s
o
r
o
b
s
tacle
s
[
2
]
,
[
3
]
.
T
o
ad
d
r
ess
th
e
ch
allen
g
es
ass
o
ciate
d
with
v
ib
r
atio
n
co
n
tr
o
l,
ad
v
an
ce
m
en
ts
in
s
u
s
p
en
s
io
n
tech
n
o
lo
g
y
h
av
e
f
o
c
u
s
ed
o
n
im
p
r
o
v
in
g
e
n
er
g
y
e
f
f
icien
cy
a
n
d
s
y
s
tem
s
im
p
licity
wh
ile
m
ain
tain
in
g
ef
f
ec
tiv
e
v
ib
r
atio
n
m
itig
atio
n
[
4
]
.
As
a
n
e
n
er
g
y
co
n
tr
o
l
co
m
p
o
n
en
t,
ac
t
u
ato
r
s
ca
n
eith
er
ad
d
o
r
d
is
s
ip
ate
en
er
g
y
with
in
th
e
s
y
s
tem
as
r
eq
u
ir
ed
.
Ho
wev
er
,
s
u
ch
s
y
s
tem
s
ar
e
in
h
er
en
tly
co
m
p
lex
an
d
in
v
o
lv
e
s
ig
n
if
ic
an
tly
h
ig
h
er
en
e
r
g
y
co
n
s
u
m
p
tio
n
,
p
a
r
ticu
lar
ly
f
o
r
th
e
f
o
r
ce
ac
tu
ato
r
s
u
tili
ze
d
with
in
th
e
s
y
s
tem
[
5
]
,
[
6
]
.
Sem
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
(
SAS)
u
tili
ze
s
m
u
ltip
le
s
en
s
o
r
s
to
d
eter
m
in
e
th
e
ap
p
r
o
p
r
iate
ty
p
e
an
d
m
a
g
n
itu
d
e
o
f
d
am
p
i
n
g
f
o
r
ce
r
eq
u
i
r
ed
,
with
o
u
t
r
ely
in
g
o
n
a
n
ex
ter
n
al
p
o
wer
s
o
u
r
ce
[
7
]
,
[
8
]
.
SAS
is
r
ec
o
g
n
ized
f
o
r
its
co
s
t
-
ef
f
ec
tiv
en
ess
an
d
p
o
wer
ef
f
icien
cy
,
wh
ile
s
till
d
eliv
er
i
n
g
p
er
f
o
r
m
a
n
ce
co
m
p
ar
ab
le
t
o
th
at
o
f
ac
tiv
e
s
u
s
p
en
s
io
n
s
y
s
tem
s
[
9
]
–
[
1
2
]
.
As
a
r
esu
lt,
it h
as b
ee
n
ex
ten
s
iv
ely
s
tu
d
ied
to
en
h
a
n
ce
v
e
h
icle
s
tab
ilit
y
an
d
h
a
n
d
lin
g
p
er
f
o
r
m
an
ce
[
1
3
]
–
[
1
6
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
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8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
:
1
71
-
1
80
172
Ma
g
n
eto
r
h
e
o
lo
g
ical
(
MR)
d
a
m
p
er
s
ar
e
wid
ely
u
s
ed
in
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
s
y
s
tem
s
d
u
e
to
th
eir
r
ap
id
r
esp
o
n
s
e
an
d
ca
p
ab
ilit
y
to
o
p
er
ate
ef
f
ec
tiv
ely
at
h
ig
h
tem
p
er
atu
r
es
[
1
7
]
,
[
1
8
]
.
T
h
e
m
ag
n
eto
r
h
eo
lo
g
ical
f
lu
id
(
MRF
)
with
in
th
e
d
am
p
er
ca
n
a
d
ju
s
t
th
e
d
am
p
in
g
f
o
r
ce
in
r
esp
o
n
s
e
to
v
ar
iatio
n
s
in
th
e
m
ag
n
etic
f
ield
[
1
9
]
.
B
y
em
p
lo
y
in
g
a
p
p
r
o
p
r
i
ate
co
n
tr
o
l
s
tr
ateg
ies,
s
em
i
-
a
ctiv
e
s
u
s
p
en
s
io
n
s
ca
n
ac
h
iev
e
v
ib
r
atio
n
-
d
am
p
in
g
p
er
f
o
r
m
an
ce
co
m
p
ar
a
b
le
to
ac
tiv
e
s
u
s
p
en
s
io
n
s
[
2
0
]
,
[
2
1
]
.
Sli
d
in
g
m
o
d
e
c
o
n
tr
o
l
(
SMC
)
d
em
o
n
s
tr
ates
s
u
p
er
io
r
r
o
b
u
s
tn
ess
in
h
an
d
lin
g
s
y
s
tem
ch
ar
ac
ter
is
tics
s
u
ch
as
u
n
ce
r
tain
ties
,
d
is
tu
r
b
an
ce
s
,
an
d
f
lu
ctu
atio
n
s
[
2
2
]
.
Ho
wev
er
,
tr
a
d
itio
n
al
SM
C
ten
d
s
to
in
d
u
ce
ch
atter
in
g
p
h
en
o
m
en
a
wh
en
th
e
s
y
s
tem
u
n
d
er
g
o
es
f
r
e
q
u
en
t
an
d
r
ap
id
v
a
r
iatio
n
s
[
2
3
]
.
T
h
is
p
h
en
o
m
en
o
n
is
ch
ar
ac
ter
ized
b
y
h
ig
h
-
f
r
eq
u
e
n
cy
o
s
cillatio
n
s
n
ea
r
th
e
s
li
d
in
g
s
u
r
f
ac
e
ca
u
s
ed
b
y
d
is
co
n
tin
u
o
u
s
s
witch
in
g
co
n
tr
o
l
laws.
Su
ch
ch
atter
in
g
m
ay
lead
to
ad
v
e
r
s
e
ef
f
ec
ts
,
in
clu
d
in
g
in
c
r
ea
s
ed
w
ea
r
o
f
m
ec
h
an
ical
co
m
p
o
n
en
ts
,
ex
citatio
n
o
f
u
n
m
o
d
eled
h
ig
h
-
f
r
eq
u
en
cy
d
y
n
am
ics,
an
d
p
o
te
n
tial
d
eg
r
a
d
atio
n
o
f
c
o
n
tr
o
l
p
er
f
o
r
m
an
ce
[
2
4
]
.
T
h
e
s
u
p
er
-
twis
tin
g
s
lid
in
g
m
o
d
e
co
n
tr
o
l
(
STSMC)
m
eth
o
d
o
v
er
co
m
e
s
th
is
is
s
u
e
with
o
u
t
r
eq
u
ir
in
g
ad
ju
s
tm
en
ts
to
th
e
co
n
tr
o
ller
,
wh
ile
s
till
ac
h
iev
in
g
th
e
d
esire
d
p
er
f
o
r
m
an
ce
o
f
th
e
s
lid
in
g
m
o
d
e
co
n
tr
o
l a
lg
o
r
ith
m
[
2
5
]
.
T
h
is
s
tu
d
y
em
p
lo
y
s
a
s
u
p
er
-
twis
tin
g
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
to
test
an
d
o
p
tim
ize
th
e
s
y
s
tem
's
r
esp
o
n
s
e
u
n
d
e
r
co
m
p
lex
r
o
a
d
ex
citatio
n
s
to
en
h
an
ce
t
h
e
v
ib
r
atio
n
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
o
f
v
eh
icle
s
u
s
p
en
s
io
n
s
y
s
tem
s
.
T
h
e
f
o
cu
s
is
th
e
d
esig
n
o
f
a
STSMC
b
ased
o
n
th
e
m
at
h
em
atica
l
m
o
d
el
o
f
th
e
SAS
f
o
r
a
q
u
ar
ter
-
v
eh
icle.
A
d
d
itio
n
ally
,
th
e
p
er
f
o
r
m
an
ce
o
f
d
if
f
e
r
en
t
co
n
tr
o
ller
s
is
c
o
m
p
ar
e
d
to
ass
ess
th
eir
ef
f
ec
tiv
en
ess
.
T
h
e
c
o
n
ten
t
o
f
t
h
is
p
ap
er
is
o
r
g
an
ize
d
as
f
o
llo
ws:
Sectio
n
2
p
r
esen
ts
th
e
m
e
th
o
d
o
lo
g
y
r
elev
an
t
to
th
is
s
tu
d
y
,
in
clu
d
in
g
th
e
s
ch
em
atic
b
lo
ck
d
iag
r
am
o
f
th
e
STSMC
co
n
tr
o
ller
,
th
e
d
esig
n
o
f
th
e
STSMC
co
n
tr
o
ller
,
a
n
d
th
e
p
ar
am
eter
s
o
f
th
e
e
x
p
er
im
e
n
tal
s
etu
p
al
o
n
g
with
th
e
d
esig
n
o
f
ex
p
e
r
i
m
en
tal
p
r
o
ce
d
u
r
es.
Sectio
n
3
p
r
esen
ts
ex
p
er
im
en
tal
r
esu
lts
,
f
o
llo
wed
b
y
a
co
m
p
r
eh
en
s
iv
e
an
aly
s
is
an
d
d
is
cu
s
s
io
n
in
b
o
th
th
e
tim
e
an
d
f
r
eq
u
en
cy
d
o
m
ai
n
s
.
Sectio
n
4
s
u
m
m
a
r
izes
th
e
k
e
y
f
in
d
in
g
s
o
f
th
is
s
tu
d
y
a
n
d
d
is
cu
s
s
es
th
e
p
o
ten
tial
ap
p
licatio
n
s
an
d
f
u
tu
r
e
e
x
ten
s
io
n
s
o
f
th
e
p
r
o
p
o
s
ed
d
esig
n
m
e
th
o
d
o
lo
g
y
.
2.
M
E
T
H
O
D
2
.
1
.
ST
SM
C
co
ntr
o
ller
s
y
s
t
em
T
h
is
s
tu
d
y
p
r
o
p
o
s
es
th
e
STSMC
co
n
tr
o
ller
an
d
in
teg
r
ates
it
in
to
a
q
u
ar
ter
-
ca
r
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
s
y
s
tem
to
ev
alu
at
e
its
p
er
f
o
r
m
an
ce
in
co
n
tr
o
ll
in
g
th
e
MR
d
am
p
er
f
o
r
v
ib
r
atio
n
s
u
p
p
r
ess
io
n
.
Fig
u
r
e
1
s
h
o
ws
th
e
b
lo
ck
d
i
ag
r
am
o
f
th
e
s
u
p
e
r
-
twis
tin
g
s
lid
in
g
m
o
d
e
co
n
tr
o
l
m
eth
o
d
ap
p
lied
to
th
e
MR
d
am
p
er
.
s
=
c
e
S
upe
r
-
t
w
i
s
t
i
ng
S
M
C
Inve
rs
e
m
ode
l
of M
R
da
m
pe
r
M
odi
fi
e
d M
R B
ouc
-
W
e
n
m
odl
e
Re
fe
re
nc
e
s
ys
t
e
m
V
e
hi
c
l
e
s
ys
t
e
m
Roa
d
E
xc
i
t
a
t
i
on
A
c
t
ua
l
da
m
pi
ng
for
c
e
Inpu
t
c
urre
nt
D
i
s
pl
a
c
e
m
e
nt
Fig
u
r
e
1
.
Sch
em
atic
b
lo
ck
d
iag
r
am
o
f
STSMC co
n
tr
o
ller
2
.
2
.
Desig
n o
f
S
T
SM
C
c
o
ntr
o
ller
T
h
e
co
n
tr
o
l
th
eo
r
y
o
f
STSMC
in
tr
o
d
u
ce
s
h
ig
h
e
r
-
o
r
d
er
ter
m
s
in
to
t
h
e
c
o
n
tr
o
l
s
ig
n
a
l.
As
with
tr
ad
itio
n
al
SMC
co
n
tr
o
ller
s
,
a
s
lid
in
g
s
u
r
f
ac
e
is
f
ir
s
t
d
ef
in
e
d
,
as
s
h
o
wn
in
(
1
)
,
an
d
its
d
er
iv
ativ
e
is
p
r
esen
ted
in
(
2
)
.
=
2
+
1
(
1
)
̇
=
2
̇
+
2
(
2
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
V
ib
r
a
tio
n
c
o
n
tr
o
l
o
f s
emi
-
a
cti
ve
s
u
s
p
en
s
io
n
s
ystem
u
s
in
g
s
u
p
er
-
t
w
is
tin
g
s
lid
in
g
mo
d
e
…
(
Liu
d
in
g
S
u
n
)
173
T
h
e
p
r
im
ar
y
d
if
f
er
en
ce
b
et
wee
n
tr
ad
itio
n
al
SMC
co
n
tr
o
ller
s
an
d
STSMC
co
n
tr
o
ll
er
s
lies
in
r
ep
lacin
g
t
h
e
d
is
co
n
tin
u
o
u
s
c
o
m
p
o
n
en
t
o
f
th
e
co
n
tr
o
l
f
o
r
ce
with
a
co
n
tin
u
o
u
s
s
ec
o
n
d
-
o
r
d
er
d
e
r
iv
ativ
e
ter
m
,
as
p
r
o
p
o
s
ed
b
y
W
an
g
et
a
l
.
[
2
6
]
.
T
h
is
im
p
r
o
v
ed
ap
p
r
o
ac
h
a
ch
iev
es
s
m
o
o
th
er
co
n
tr
o
l
ac
ti
o
n
wh
ile
p
r
eser
v
in
g
th
e
r
o
b
u
s
tn
ess
an
d
f
in
ite
-
tim
e
co
n
v
er
g
e
n
ce
p
r
o
p
e
r
ties
o
f
t
r
ad
itio
n
al
SMC
.
B
u
ild
in
g
u
p
o
n
th
is
f
o
u
n
d
atio
n
,
So
o
s
air
aj
an
d
Kan
d
av
el
[
2
7
]
i
n
co
r
p
o
r
ated
th
e
s
u
p
er
-
twis
tin
g
alg
o
r
ith
m
in
to
th
e
STSMC
f
r
am
ewo
r
k
to
f
u
r
th
er
en
h
an
ce
p
er
f
o
r
m
a
n
ce
.
T
h
e
s
u
p
er
-
twis
tin
g
alg
o
r
ith
m
en
ab
le
s
th
e
s
y
s
tem
to
r
ea
ch
an
d
r
em
ain
o
n
th
e
s
lid
in
g
s
u
r
f
ac
e
with
o
u
t
r
eq
u
ir
in
g
in
f
o
r
m
atio
n
ab
o
u
t
th
e
d
er
i
v
ativ
e
o
f
th
e
s
lid
in
g
v
ar
ia
b
le.
T
h
e
e
q
u
iv
alen
t
co
n
tr
o
l
is
d
ef
in
ed
as sh
o
wn
in
(
3
)
an
d
(
4
)
.
=
−
1
∗
|
(
)
|
1
2
∗
(
(
)
)
+
(
3
)
̇
=
−
2
∗
(
(
)
)
(
4
)
T
h
e
f
o
llo
win
g
eq
u
atio
n
g
o
v
e
r
n
ed
th
e
tr
ac
k
in
g
er
r
o
r
o
f
t
h
e
STSMC
co
n
tr
o
ller
,
=
1
−
1
,
wh
er
e
1
r
ep
r
esen
ted
th
e
ac
tu
al
s
p
r
u
n
g
m
ass
d
is
p
lace
m
en
t
wh
ile
1
r
ep
r
esen
ted
th
e
d
esire
d
s
p
r
u
n
g
m
ass
d
is
p
lace
m
en
t.
T
h
e
id
ea
l
Sk
y
h
o
o
k
c
o
n
tr
o
ller
s
er
v
es
as
th
e
r
ef
er
en
ce
m
o
d
el
f
o
r
th
e
STS
MC
co
n
tr
o
ller
.
T
h
e
f
o
r
ce
r
e
q
u
ir
ed
t
o
s
u
p
p
r
ess
v
ib
r
atio
n
s
is
ca
lcu
lated
u
s
in
g
th
e
t
r
ac
k
in
g
er
r
o
r
,
b
ased
o
n
th
e
f
ir
s
t
-
o
r
d
er
d
if
f
er
e
n
tial
eq
u
atio
n
o
f
th
e
s
lid
in
g
s
u
r
f
ac
e
f
u
n
ctio
n
,
as
s
ee
n
i
n
(
2
)
.
T
h
e
co
n
tr
o
l
f
o
r
ce
,
,
ca
lcu
lated
f
r
o
m
t
h
e
STSMC
co
n
tr
o
ller
,
is
g
o
v
er
n
ed
b
y
th
e
f
o
llo
win
g
eq
u
atio
n
:
=
+
,
wh
er
e
r
ep
r
esen
ts
th
e
eq
u
iv
alen
t
co
n
tr
o
l
f
o
r
ce
u
s
ed
to
g
u
id
e
th
e
s
y
s
tem
to
war
d
th
e
s
lid
in
g
s
u
r
f
ac
e,
an
d
r
ep
r
esen
ts
th
e
s
witch
in
g
co
n
tr
o
l
f
o
r
ce
em
p
lo
y
e
d
to
m
ain
tain
th
e
s
y
s
tem
'
s
s
tate
o
n
th
e
s
lid
in
g
s
u
r
f
ac
e.
Ad
d
itio
n
ally
,
th
e
co
n
tr
o
ller
d
esig
n
en
s
u
r
es
̇
(
)
≤
0
,
in
co
m
p
lian
ce
with
t
h
e
L
y
ap
u
n
o
v
s
tab
ilit
y
th
eo
r
em
[
1
7
]
.
T
h
e
co
n
tr
o
l f
o
r
ce
ca
lcu
lated
is
g
iv
en
b
y
(
5
)
.
=
̇
(
)
+
[
−
−
̇
+
]
−
1
∗
|
(
)
|
1
2
∗
(
(
)
)
−
∫
(
(
)
(
5
)
T
h
e
r
h
eo
l
o
g
ical
ch
ar
ac
ter
is
tics
o
f
th
e
MR d
am
p
er
ca
n
o
n
ly
b
e
ad
ju
s
ted
b
y
m
o
d
if
y
in
g
th
e
in
p
u
t v
o
ltag
e,
wh
ic
h
alter
s
th
e
m
ag
n
etic
f
ield
,
th
e
r
eb
y
af
f
ec
tin
g
th
e
r
h
eo
lo
g
ica
l
ch
ar
ac
ter
is
tics
.
I
n
th
is
co
n
tex
t,
So
o
s
air
aj
an
d
Kan
d
av
el
[
2
7
]
p
r
o
p
o
s
ed
a
v
o
ltag
e
co
n
t
r
o
l
s
tr
ateg
y
s
p
ec
if
ically
d
esig
n
e
d
to
r
eg
u
late
th
e
in
p
u
t
v
o
ltag
e
s
u
p
p
lied
to
th
e
MR
d
am
p
e
r
.
T
h
eir
a
p
p
r
o
ac
h
allo
ws
f
o
r
r
ea
l
-
tim
e
a
d
ap
tatio
n
o
f
th
e
d
am
p
e
r
’
s
p
e
r
f
o
r
m
an
ce
b
ased
o
n
s
y
s
tem
d
em
an
d
s
.
T
h
e
co
n
tr
o
l
tech
n
iq
u
e
th
ey
in
tr
o
d
u
ce
d
is
illu
s
tr
ated
b
elo
w,
with
th
e
co
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ig
also
f
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ed
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s
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ak
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ed
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atic
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e
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citatio
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p
late.
As
illu
s
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ated
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Fig
u
r
e
2
,
T
h
e
ex
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im
en
tal
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ar
a
m
eter
s
ar
e
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n
s
is
ten
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th
o
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e
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ed
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y
Ah
m
e
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et
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l
.
[
8
]
.
T
h
e
test
r
ig
e
n
ab
les
ex
p
e
r
im
en
tal
ev
alu
atio
n
s
b
y
p
r
o
v
id
in
g
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ac
cu
r
ate
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ep
r
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o
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th
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n
ce
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tu
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l
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esig
n
o
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SAS s
y
s
tem
[
2
8
]
.
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h
e
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ir
s
t
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ar
t
o
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th
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ex
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er
i
m
en
t
is
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y
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im
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ac
t
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n
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atter
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ib
r
atio
n
.
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h
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er
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o
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ce
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n
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y
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ic
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lity
o
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e
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e
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ce
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y
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o
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ith
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ap
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it
[
2
9
]
.
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h
er
ef
o
r
e,
th
e
s
im
u
latio
n
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m
p
ar
ed
th
e
ch
atter
in
g
ef
f
ec
ts
o
f
th
e
tr
ad
itio
n
al
SMC
,
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p
o
n
en
tial
SMC
(
E
SM
C
)
,
an
d
STSMC
u
n
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er
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if
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er
en
t r
o
ad
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r
o
f
iles
.
T
ab
le
1
p
r
esen
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e
t
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n
tr
o
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o
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ith
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d
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a
r
am
eter
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s
ed
in
th
is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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2
2
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ch
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eter
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g
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iter
ativ
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im
u
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ex
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s
y
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tem
r
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e
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ile
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er
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d
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s
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d
itio
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ally
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e
r
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es
o
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s
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r
u
n
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m
ass
ac
ce
ler
atio
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(
SMA)
an
d
s
p
r
u
n
g
m
ass
d
is
p
lace
m
en
t
(
SMD)
o
n
th
e
q
u
a
r
ter
-
ca
r
s
u
s
p
en
s
io
n
test
r
ig
wer
e
an
aly
ze
d
to
in
v
esti
g
ate
th
e
im
p
ac
t
o
f
STSMC o
n
p
ass
en
g
er
co
m
f
o
r
t.
S
p
r
u
n
g
m
a
s
s
a
c
c
e
l
e
r
o
m
e
t
e
r
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n
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g
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a
s
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e
l
e
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e
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e
r
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m
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E
l
e
c
t
r
i
c
a
i
r
v
a
l
v
e
a
c
t
u
a
t
o
r
Fig
u
r
e
2
.
Qu
a
r
ter
-
ca
r
test
r
ig
s
etu
p
T
ab
le
1
.
C
o
n
tr
o
l a
lg
o
r
ith
m
s
an
d
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ar
a
m
eter
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u
s
ed
f
o
r
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co
n
tr
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ller
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l
i
d
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n
t
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t
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n
t
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l
f
u
n
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t
i
o
n
P
a
r
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me
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e
r
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C
o
n
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e
n
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n
a
l
,
=
−
⋅
(
)
;
(
>
0
)
=
9
8
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p
o
n
e
n
t
i
a
l
̇
=
−
−
⋅
(
)
;
(
>
0
>
0
)
=
9
8
=
0
.
0
0
5
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u
p
e
r
-
t
w
i
s
t
i
n
g
=
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|
|
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)
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(
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2
=
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0
0
5
T
h
e
s
ec
o
n
d
p
ar
t
o
f
th
e
e
x
p
er
im
en
t
is
to
ev
alu
ate
t
h
e
e
f
f
ec
tiv
en
ess
o
f
STSMC
o
n
s
u
s
p
en
s
io
n
v
ib
r
atio
n
s
.
I
n
th
is
s
ec
tio
n
,
a
1
0
k
g
in
h
er
e
n
t
weig
h
t
was
p
lace
d
o
n
th
e
s
p
r
u
n
g
m
ass
to
s
i
m
u
late
th
e
lo
ad
,
an
d
th
e
p
er
f
o
r
m
a
n
ce
o
f
b
o
th
s
im
u
latio
n
an
d
ex
p
er
im
en
t
was
test
ed
u
n
d
er
a
6
m
m
am
p
litu
d
e
s
in
u
s
o
id
al
r
o
a
d
p
r
o
f
ile.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
STSMC
co
n
tr
o
ller
was
th
en
co
m
p
a
r
ed
with
th
at
o
f
th
e
u
n
co
n
tr
o
lled
p
ass
iv
e
s
y
s
tem
an
d
th
e
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
s
y
s
tem
.
T
h
e
u
n
co
n
tr
o
lled
MR
d
am
p
er
o
p
er
ated
with
a
co
n
s
tan
t
in
p
u
t
v
o
ltag
e
o
f
1
V,
m
ain
tain
i
n
g
co
n
s
is
ten
t
d
am
p
in
g
ch
ar
ac
t
er
is
tics
th
r
o
u
g
h
o
u
t
b
o
th
th
e
ex
p
er
im
en
tal
an
d
s
im
u
latio
n
p
r
o
ce
s
s
es.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
Su
pp
re
s
s
io
n o
f
cha
t
t
er
v
ibra
t
io
n by
ST
SM
C
Fig
u
r
e
3
illu
s
tr
ates
th
e
tim
e
-
d
o
m
ain
r
esp
o
n
s
es
o
f
th
e
SMA
u
n
d
e
r
two
ty
p
es
o
f
r
o
ad
e
x
citatio
n
s
:
s
in
u
s
o
id
al
in
Fig
u
r
e
3
(
a)
a
n
d
r
an
d
o
m
in
Fig
u
r
e
3
(
b
)
,
ea
ch
ev
alu
ated
u
n
d
er
d
if
f
e
r
en
t
s
lid
in
g
m
o
d
e
co
n
tr
o
ller
s
.
T
h
ese
s
u
b
f
ig
u
r
es
ar
e
g
r
o
u
p
ed
to
g
eth
er
to
p
r
o
v
id
e
a
co
m
p
ar
ativ
e
v
iew
o
f
SMA
r
esp
o
n
s
e
p
er
f
o
r
m
an
ce
u
n
d
e
r
d
if
f
er
en
t
ex
citatio
n
co
n
d
itio
n
s
,
th
er
eb
y
f
o
r
m
in
g
a
co
m
p
le
te
an
d
co
m
p
ar
ab
le
ex
p
er
im
e
n
tal
an
aly
s
is
.
T
h
e
STSMC
ex
h
ib
ited
th
e
s
m
alles
t
SMA
am
p
litu
d
e
(
d
ep
icted
b
y
th
e
s
o
lid
b
l
u
e
lin
e)
a
n
d
d
e
m
o
n
s
tr
ated
r
ed
u
ce
d
o
s
cillatio
n
s
an
d
a
s
m
o
o
th
er
r
e
s
p
o
n
s
e
cu
r
v
e.
Ad
d
itio
n
ally
,
T
ab
le
2
i
n
d
icat
es
th
at
th
e
r
o
o
t
m
ea
n
s
q
u
ar
e
(
R
MS)
v
alu
es
o
f
th
e
STSMC
co
n
tr
o
ller
d
ec
r
ea
s
ed
b
y
1
.
4
7
%
an
d
7
.
7
1
%
u
n
d
er
s
in
u
s
o
id
al
a
n
d
r
an
d
o
m
r
o
ad
p
r
o
f
iles
,
r
esp
ec
tiv
el
y
.
T
h
e
r
e
d
u
ctio
n
in
R
MS
u
n
d
er
r
an
d
o
m
d
is
tu
r
b
a
n
ce
s
is
p
ar
ticu
lar
ly
n
o
tab
le
co
m
p
ar
ed
to
th
e
tr
ad
itio
n
al
SMC
,
wh
ich
ca
n
b
e
attr
ib
u
ted
to
th
e
r
o
b
u
s
tn
ess
o
f
th
e
s
u
p
er
-
twis
tin
g
alg
o
r
ith
m
in
h
an
d
lin
g
u
n
ce
r
tain
ti
es.
Mo
r
eo
v
er
,
th
e
p
ea
k
-
to
-
p
ea
k
(
PTP)
v
alu
es
u
n
d
er
s
in
u
s
o
id
al
an
d
r
a
n
d
o
m
p
r
o
f
iles
wer
e
f
u
r
th
er
r
e
d
u
ce
d
b
y
3
.
1
7
%
an
d
6
.
0
0
%,
r
esp
ec
tiv
ely
,
co
m
p
ar
ed
to
th
e
tr
ad
itio
n
al
SMC
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
V
ib
r
a
tio
n
c
o
n
tr
o
l
o
f s
emi
-
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ve
s
u
s
p
en
s
io
n
s
ystem
u
s
in
g
s
u
p
er
-
t
w
is
tin
g
s
lid
in
g
mo
d
e
…
(
Liu
d
in
g
S
u
n
)
175
(
a)
(
b
)
Fig
u
r
e
3
.
T
h
e
tim
e
-
d
o
m
ain
S
MA
r
esp
o
n
s
e
o
f
th
e
SMC
co
n
tr
o
ller
u
n
d
er
(
a
)
s
in
u
s
o
id
al
in
p
u
t a
n
d
(
b
)
r
a
n
d
o
m
in
p
u
t
T
ab
le
2
.
Per
f
o
r
m
an
ce
co
m
p
a
r
is
o
n
b
etwe
en
co
n
v
en
tio
n
al
SMC
an
d
STSMC co
n
tr
o
lled
-
MR d
am
p
er
u
n
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e
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Fig
u
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4
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b
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SMD.
T
h
ese
two
s
u
b
f
ig
u
r
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ar
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jo
in
tly
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two
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tar
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s
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k
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tical
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citatio
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itio
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th
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n
t
r
o
ller
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ec
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ess
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th
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tim
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o
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.
(
a)
(
b
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Fig
u
r
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4
.
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im
e
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o
m
ai
n
r
esp
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f
(
a)
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b
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u
n
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er
s
in
u
s
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i
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citatio
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Fig
u
r
e
5
f
u
r
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r
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u
r
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5
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a
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p
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o
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MA
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Fig
u
r
e
5
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at
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U
n
s
p
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ass
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USMA
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two
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b
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ig
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r
es
r
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lect
th
e
ef
f
ec
tiv
en
ess
o
f
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in
s
u
p
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r
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in
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
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176
ac
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d
if
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t
v
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b
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d
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en
ts
.
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h
e
r
esu
lts
s
h
o
w
th
at
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C
s
ig
n
if
ican
tly
r
ed
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ce
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th
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y
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t
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an
t
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ig
h
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s
,
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th
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ir
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g
its
s
u
p
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io
r
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o
n
tr
o
l
p
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o
r
m
an
ce
a
n
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s
tab
ilit
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in
b
o
th
tim
e
an
d
f
r
eq
u
en
cy
d
o
m
ai
n
s
.
(
a)
(
b)
Fig
u
r
e
5
.
Fre
q
u
en
cy
d
o
m
ai
n
r
esp
o
n
s
es o
f
(
a)
SMA
an
d
(
b
)
USMA
u
n
d
er
s
in
u
s
o
id
al
r
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ad
ex
citatio
n
Fig
u
r
es
6
an
d
7
p
r
esen
t
th
e
tim
e
-
d
o
m
ain
an
d
f
r
eq
u
e
n
cy
-
d
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ain
r
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s
es
o
f
th
e
s
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tem
o
b
tain
e
d
f
r
o
m
th
e
ex
p
er
im
en
t,
aim
in
g
to
co
m
p
r
eh
e
n
s
iv
ely
ev
alu
ate
th
e
p
er
f
o
r
m
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ce
o
f
th
e
STS
MC
co
n
tr
o
l
s
tr
ateg
y
u
n
d
er
r
ea
lis
tic,
n
o
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-
id
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e
x
citatio
n
s
.
Fig
u
r
es
6
(
a)
a
n
d
6
(
b
)
s
h
o
w
th
e
SMA
an
d
th
e
SMD,
r
esp
ec
tiv
ely
.
T
h
ese
s
u
b
f
ig
u
r
es
ar
e
g
r
o
u
p
e
d
u
n
d
e
r
a
s
in
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le
f
ig
u
r
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u
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b
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to
jo
in
tly
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r
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lace
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er
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e
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c
itatio
n
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n
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n
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.
Fig
u
r
es
7
(
a
)
an
d
7
(
b
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p
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e
s
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s
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tiv
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n
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e
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ig
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r
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n
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atic
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s
d
if
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t p
ar
ts
o
f
th
e
v
e
h
icle
b
o
d
y
.
(
a)
(
b
)
Fig
u
r
e
6
.
T
im
e
-
d
o
m
ai
n
r
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n
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es o
f
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a)
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d
(
b
)
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MD
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n
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er
s
in
u
s
o
id
al
r
o
ad
co
n
d
itio
n
s
in
th
e
ex
p
e
r
im
en
t
T
h
e
ex
p
er
im
en
tal
r
esu
lts
d
em
o
n
s
tr
ate
th
at
th
e
STSMC
co
n
tr
o
ller
o
u
tp
er
f
o
r
m
s
b
o
th
t
h
e
u
n
co
n
tr
o
lled
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s
y
s
tem
an
d
th
e
p
ass
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e
s
y
s
tem
ac
r
o
s
s
m
u
ltip
le
p
e
r
f
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r
m
an
ce
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icato
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ce
d
r
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im
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h
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l
u
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s
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p
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ess
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h
ig
h
-
f
r
eq
u
en
cy
en
e
r
g
y
.
T
h
e
r
esu
lts
i
n
b
o
th
th
e
tim
e
an
d
f
r
e
q
u
e
n
c
y
d
o
m
a
i
n
s
a
r
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o
n
s
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s
te
n
t
w
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t
h
e
a
c
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t
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e
r
.
I
n
p
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r
t
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c
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la
r
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h
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SM
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a
c
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s
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m
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n
t
s
in
co
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llin
g
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esp
o
n
s
e,
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ed
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ap
p
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im
ately
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s
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d
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3
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in
ex
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im
en
t.
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h
ese
f
in
d
i
n
g
s
ar
e
b
r
o
ad
l
y
co
n
s
is
ten
t w
ith
th
o
s
e
r
ep
o
r
te
d
b
y
Piwo
war
cz
y
k
et
a
l
.
[
2
3
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
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t
J
R
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b
&
A
u
to
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I
SS
N:
2722
-
2
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V
ib
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f s
emi
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lid
in
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mo
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…
(
Liu
d
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u
n
)
177
(
a)
(
b
)
Fi
g
u
r
e
7
.
Fre
q
u
en
cy
-
d
o
m
ain
r
esp
o
n
s
es o
f
th
e
(
a)
SMA
an
d
(
b
)
SMD
u
n
d
e
r
s
in
u
s
o
id
al
r
o
a
d
co
n
d
itio
n
s
in
th
e
ex
p
e
r
im
en
t
B
o
th
th
e
s
im
u
latio
n
an
d
ex
p
er
im
en
tal
r
esu
lts
in
d
icate
th
at
t
h
e
p
r
o
p
o
s
ed
STSMC
co
n
tr
o
ll
er
ex
h
ib
its
o
u
ts
tan
d
in
g
p
e
r
f
o
r
m
an
ce
in
v
i
b
r
atio
n
s
u
p
p
r
ess
io
n
an
d
s
y
s
tem
s
tab
ilit
y
en
h
an
ce
m
en
t,
lead
in
g
to
a
s
ig
n
if
ican
t
im
p
r
o
v
em
e
n
t
in
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
SAS
s
y
s
tem
.
Mo
r
e
o
v
er
,
a
c
o
m
p
ar
is
o
n
o
f
Fig
u
r
es
5
an
d
7
illu
s
tr
ates
th
at
in
th
e
f
r
eq
u
en
cy
d
o
m
ain
,
th
er
e
is
a
d
is
cr
ep
an
cy
in
th
e
SMA
n
atu
r
al
f
r
eq
u
en
cy
b
etwe
en
th
e
s
im
u
latio
n
an
d
ex
p
er
im
en
t,
as
th
e
b
eh
a
v
io
r
o
f
th
e
p
h
y
s
ical
s
y
s
tem
in
th
e
ac
tu
al
e
n
v
ir
o
n
m
en
t
d
if
f
er
s
f
r
o
m
th
e
id
ea
l
co
n
d
itio
n
s
ass
u
m
ed
in
th
e
s
im
u
latio
n
.
Ho
wev
er
,
th
e
f
r
e
q
u
en
cies
o
b
tain
ed
in
b
o
th
t
h
e
s
im
u
latio
n
an
d
ex
p
er
im
en
t
f
all
with
in
th
e
n
a
tu
r
al
f
r
eq
u
en
c
y
r
an
g
e
(
0
-
2
H
z)
o
f
co
m
m
e
r
cial
p
ass
en
g
er
v
eh
icle
s
u
s
p
en
s
io
n
s
y
s
tem
s
[
3
0
]
.
T
o
q
u
an
titativ
ely
ev
al
u
ate
th
e
v
ib
r
atio
n
s
u
p
p
r
ess
io
n
p
e
r
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
p
o
s
ed
STSM
C
co
n
tr
o
ller
,
b
o
t
h
th
e
R
MS
an
d
PTP
v
alu
es
o
f
th
e
SMA
wer
e
ca
lcu
lated
.
T
a
b
le
3
p
r
esen
ts
th
e
R
MS
an
d
PTP
r
esu
lts
f
o
r
all
th
r
ee
am
p
litu
d
es
o
f
SMA
in
b
o
th
s
im
u
latio
n
an
d
ex
p
er
im
e
n
t.
T
h
e
r
esu
lts
in
d
i
ca
te
th
at
co
m
p
ar
ed
to
th
e
p
ass
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an
d
u
n
co
n
tr
o
ll
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MR
d
am
p
er
s
,
th
e
R
MS
an
d
PTP
v
alu
es
f
o
r
th
e
STSMC
co
n
tr
o
ller
s
h
o
w
a
d
ec
r
ea
s
in
g
tr
en
d
.
Fo
r
e
x
am
p
l
e,
th
e
R
MS
v
alu
e
f
o
r
th
e
u
n
c
o
n
tr
o
lled
MR
d
am
p
er
was
0
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9
7
9
8
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wh
ile
f
o
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th
e
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co
n
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am
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er
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ea
s
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e
p
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esen
tin
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r
ed
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cti
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n
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f
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%.
T
h
is
in
d
icate
s
th
at
th
e
STSMC
c
o
n
tr
o
ller
s
ig
n
if
ican
tly
r
ed
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ce
s
th
e
v
ib
r
atio
n
in
ten
s
ity
o
f
t
h
e
s
y
s
tem
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th
er
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y
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h
an
cin
g
its
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tab
ilit
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d
co
m
f
o
r
t.
T
ab
le
3
.
C
o
m
p
a
r
is
o
n
o
f
th
e
v
e
h
icle’
s
b
o
d
y
ac
ce
ler
atio
n
R
MS
(
m
/s
2
)
d
u
r
in
g
s
im
u
latio
n
an
d
ex
p
er
im
en
t
o
n
s
in
u
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o
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al
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ad
p
r
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ile
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t
a
t
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R
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o
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t
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S
TSM
C
R
e
d
u
c
t
i
o
n
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%)
Un
-
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S
TSM
C
R
M
S
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m/
s
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i
mu
l
a
t
i
o
n
0
.
9
6
7
6
0
.
8
3
1
5
0
.
6
6
8
2
1
4
.
1
3
0
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9
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p
e
r
i
m
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n
t
1
.
1
0
0
7
0
.
9
7
9
8
0
.
8
5
4
9
1
1
.
0
2
2
.
3
P
TP
(
m/
s
2
)
S
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mu
l
a
t
i
o
n
2
.
9
9
1
0
2
.
6
2
0
7
1
.
9
9
8
3
1
2
.
4
3
3
.
2
Ex
p
e
r
i
m
e
n
t
4
.
6
8
3
4
4
.
3
2
1
5
3
.
8
9
5
6
7
.
7
1
6
.
8
4.
CO
NCLU
SI
O
N
I
n
c
o
n
clu
s
io
n
,
th
e
STSMC
s
i
g
n
if
ican
tly
r
ed
u
ce
s
ch
atter
in
g
,
ac
h
iev
i
n
g
a
s
m
o
o
t
h
er
r
esp
o
n
s
e
cu
r
v
e
an
d
d
em
o
n
s
tr
atin
g
co
n
s
id
er
ab
le
s
tab
ilit
y
u
n
d
e
r
v
a
r
y
in
g
lo
a
d
co
n
d
itio
n
s
.
C
o
m
p
ar
ed
to
p
ass
iv
e
s
y
s
tem
s
an
d
u
n
co
n
tr
o
lled
MR
d
am
p
e
r
s
,
th
e
STSMC
-
co
n
tr
o
lled
SAS
s
y
s
t
em
eq
u
ip
p
ed
with
MR
d
am
p
er
s
o
u
tp
er
f
o
r
m
s
b
o
th
with
in
th
e
f
r
eq
u
en
cy
r
an
g
e
o
f
0
to
2
Hz,
with
v
ib
r
atio
n
s
u
p
p
r
ess
io
n
r
ea
ch
in
g
u
p
to
3
8
.
2
%.
T
h
is
s
tu
d
y
p
r
o
p
o
s
es
an
STSMC
s
tr
ateg
y
an
d
,
f
o
r
th
e
f
ir
s
t
tim
e,
ap
p
lies
it
to
th
e
ex
p
er
im
en
tal
v
alid
atio
n
o
f
a
q
u
ar
ter
-
ca
r
s
u
s
p
en
s
io
n
s
y
s
tem
ac
tu
ated
b
y
a
MR
d
am
p
er
.
B
o
th
s
im
u
latio
n
an
d
ex
p
er
im
en
tal
r
esu
lts
d
em
o
n
s
tr
ate
th
e
s
ig
n
if
ican
t
ad
v
an
ta
g
es
o
f
t
h
is
co
n
tr
o
l
a
p
p
r
o
a
ch
in
v
ib
r
atio
n
s
u
p
p
r
ess
io
n
.
T
h
e
in
teg
r
atio
n
o
f
STSMC
with
th
e
MR
d
am
p
er
ef
f
ec
tiv
ely
r
ed
u
ce
s
v
ib
r
atio
n
ex
p
o
s
u
r
e
f
o
r
d
r
iv
er
s
an
d
p
ass
en
g
er
s
,
th
er
eb
y
lo
wer
in
g
p
o
ten
tial
h
ea
lth
r
is
k
s
.
T
h
e
f
in
d
in
g
s
o
f
f
e
r
v
alu
a
b
le
in
s
ig
h
ts
i
n
to
f
u
tu
r
e
r
esear
ch
an
d
p
r
ac
tical
ap
p
licatio
n
s
in
a
u
to
m
o
tiv
e
s
u
s
p
en
s
io
n
co
n
tr
o
l.
Ho
wev
er
,
th
is
s
tu
d
y
is
b
ase
d
o
n
a
q
u
ar
ter
-
ca
r
s
u
s
p
en
s
io
n
m
o
d
el,
wh
ich
,
wh
ile
ef
f
ec
tiv
e
f
o
r
p
r
elim
in
ar
y
v
alid
atio
n
,
lim
its
d
ir
ec
t
ap
p
licab
ilit
y
to
f
u
ll
-
v
eh
icle
d
y
n
am
ics.
Fu
tu
r
e
w
o
r
k
will
ex
ten
d
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l stra
teg
y
to
a
f
u
ll
-
v
eh
icle
s
u
s
p
en
s
io
n
m
o
d
el
to
f
u
r
th
e
r
ex
p
l
o
r
e
p
r
ac
tical
im
p
lem
en
tatio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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RE
F
E
R
E
NC
E
S
[
1
]
M
.
B
o
v
e
n
z
i
,
M
.
S
c
h
u
s
t
,
a
n
d
M
.
M
a
u
r
o
,
“
A
n
o
v
e
r
v
i
e
w
o
f
l
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b
a
c
k
p
a
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p
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p
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s
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b
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mec
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L
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Me
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.
[
2
]
J.
Y
a
n
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e
t
a
l
.
,
“
A
s
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S
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Pr
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.
[
3
]
A
.
A
s’
A
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y
,
F
.
M
.
N
a
s
e
e
r
,
T.
A
.
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R
a
h
ma
n
,
K
.
A
.
M
.
R
e
z
a
l
i
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a
n
d
M
.
Z
.
M
.
Za
i
n
,
“
S
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m
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c
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v
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s
p
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s
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o
n
c
o
n
t
r
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f
o
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f
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m
u
l
a
S
A
E
c
a
r
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si
n
g
ma
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n
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r
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c
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f
l
u
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,
”
i
n
2
0
1
7
I
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y
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p
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si
u
m
o
n
C
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p
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A
p
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t
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n
s
&
I
n
d
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s
t
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a
l
El
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t
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s
(
I
S
C
AI
E)
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A
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Evaluation Warning : The document was created with Spire.PDF for Python.