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[
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–
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D
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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e
r
e
q
u
i
r
e
d
t
o
a
c
h
i
ev
e
p
r
e
c
i
s
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p
o
s
it
i
o
n
i
n
g
a
n
d
t
r
a
je
c
t
o
r
y
t
r
a
c
k
i
n
g
i
n
a
s
e
r
v
o
s
y
s
t
e
m
[
5
]
,
[
6
]
.
I
n
a
p
n
e
u
m
a
t
i
c
a
c
t
u
a
t
o
r
,
f
r
i
c
ti
o
n
o
c
c
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r
s
b
e
t
w
e
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n
t
h
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a
l
a
n
d
t
h
e
i
n
t
e
r
n
a
l
c
y
l
i
n
d
e
r
w
a
l
l
[
6
]
,
[
7
]
.
A
c
c
o
r
d
i
n
g
t
o
a
r
e
v
i
ew
b
y
[
8
]
,
f
r
i
c
t
i
o
n
f
o
r
c
e
c
o
m
p
e
n
s
a
ti
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n
h
a
s
b
ee
n
p
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d
o
m
i
n
a
n
t
l
y
a
d
d
r
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s
s
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d
b
y
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e
s
ea
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c
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s
c
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m
p
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d
w
i
t
h
o
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h
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d
i
s
t
u
r
b
an
c
e
s
s
u
c
h
a
s
ai
r
p
r
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s
s
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r
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a
n
d
d
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a
d
z
o
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f
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t
s
,
w
h
i
c
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in
d
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is
a
s
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d
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b
a
n
c
e
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n
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h
is
f
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d
.
A
d
a
p
t
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v
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l
s
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r
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d
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m
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s
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m
s
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n
t
h
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a
r
l
y
2
0
0
0
s
[
9
]
.
A
d
a
p
t
i
v
e
c
o
n
t
r
o
l
l
e
r
s
a
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im
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d
n
o
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l
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v
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s
y
s
t
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m
s
t
o
a
d
a
p
t
t
o
c
h
a
n
g
e
s
[
1
0
]
.
H
o
w
ev
e
r
,
a
d
a
p
t
i
v
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c
o
n
t
r
o
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d
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f
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d
co
m
p
a
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d
w
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P
I
D
b
a
s
e
d
a
n
d
S
MC
b
as
e
d
s
t
r
at
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g
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s
,
as
t
h
e
f
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r
m
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l
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ti
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el
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t
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s
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l
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a
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.
A
d
a
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t
r
o
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n
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c
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m
p
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n
s
at
i
o
n
m
e
t
h
o
d
s
b
y
[
1
1
]
,
w
h
i
l
e
th
e
r
e
s
e
a
r
c
h
b
y
[
1
2
]
d
o
e
s
n
o
t
f
o
c
u
s
o
n
a
d
a
p
t
i
v
it
y
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n
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n
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l
f
r
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ti
o
n
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s
.
A
n
e
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t
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s
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f
a
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a
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t
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l
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d
a
p
t
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v
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b
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c
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t
r
o
l
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r
(
A
R
C
)
.
A
c
o
m
p
r
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n
s
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v
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e
v
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w
o
f
A
R
C
is
p
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s
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n
t
e
d
i
n
[
1
0
]
,
w
h
e
r
e
t
h
e
s
t
r
a
t
e
g
y
i
s
al
s
o
p
r
o
p
o
s
e
d
.
R
o
b
u
s
t
n
e
s
s
c
r
i
te
r
i
a
a
r
e
a
d
d
e
d
t
o
t
h
e
a
l
g
o
r
i
t
h
m
t
o
e
n
s
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s
t
a
b
il
i
t
y
a
n
d
i
m
p
r
o
v
e
d
p
r
e
c
i
s
i
o
n
.
AR
C
wa
s
i
n
it
i
al
ly
p
r
o
p
o
s
e
d
a
s
a
g
e
n
e
r
a
l
c
o
n
t
r
o
l
c
o
n
c
e
p
t
[
1
3
]
,
[
1
4
]
a
n
d
w
a
s
l
at
e
r
a
d
a
p
t
e
d
t
o
t
h
e
p
n
e
u
m
a
t
i
c
f
i
e
l
d
[
1
5
]
,
[
1
6
]
.
T
h
e
s
t
r
a
t
e
g
y
wa
s
f
u
r
t
h
e
r
e
x
te
n
d
e
d
v
i
a
t
h
e
f
r
i
c
t
i
o
n
c
o
m
p
e
n
s
a
t
i
o
n
m
et
h
o
d
[
1
7
]
.
T
h
e
s
li
d
i
n
g
m
o
d
e
c
o
n
t
r
o
l
(
SM
C
)
s
t
r
a
t
e
g
y
h
a
s
a
ls
o
b
e
e
n
p
r
o
v
e
n
to
b
e
r
o
b
u
s
t
.
D
u
e
t
o
t
h
e
f
o
r
m
u
l
a
t
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o
n
o
f
S
MC
,
t
h
e
s
tr
a
t
e
g
y
i
s
a
b
le
t
o
e
f
f
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c
ti
v
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l
y
c
o
m
p
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n
s
a
t
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f
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f
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ti
o
n
b
e
c
a
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s
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s
c
o
r
e
c
h
a
r
a
ct
e
r
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t
i
c
i
s
t
h
a
t
S
MC
n
e
g
l
e
c
ts
d
is
t
u
r
b
a
n
c
e
s
.
H
o
w
e
v
e
r
,
t
h
i
s
f
o
r
m
u
l
a
ti
o
n
r
e
q
u
i
r
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s
p
r
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c
is
i
o
n
d
u
r
i
n
g
t
h
e
m
o
d
e
l
l
i
n
g
s
t
a
g
e
,
a
s
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e
q
u
i
r
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d
b
y
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h
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s
t
r
a
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g
y
’
s
e
q
u
iv
a
l
e
n
t
c
o
n
t
r
o
l
.
S
MC
s
t
r
a
t
e
g
i
e
s
i
n
r
e
c
e
n
t
y
e
a
r
s
w
e
r
e
p
r
es
e
n
t
ed
i
n
s
e
v
e
r
a
l
s
t
u
d
i
es
[
1
8
]
,
[
1
9
]
.
T
h
e
o
n
l
y
S
M
C
s
t
r
at
e
g
i
e
s
t
h
at
h
a
v
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b
e
e
n
f
o
u
n
d
w
i
t
h
f
r
i
c
t
i
o
n
c
o
m
p
e
n
s
a
t
i
o
n
w
e
r
e
r
e
p
o
r
t
e
d
i
n
[
7
]
a
n
d
[
2
0
]
.
W
h
i
l
e
S
MC
o
f
f
e
r
s
b
o
t
h
th
e
o
r
e
t
i
c
a
l
a
n
d
e
x
p
e
r
i
m
e
n
t
al
r
o
b
u
s
t
n
e
s
s
,
i
ts
r
e
l
i
a
n
ce
o
n
p
r
e
c
i
s
e
m
o
d
e
l
l
i
n
g
,
t
u
n
i
n
g
m
e
t
h
o
d
s
,
a
n
d
s
u
s
ce
p
t
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b
il
i
t
y
t
o
c
h
a
t
t
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r
i
n
g
l
i
m
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ts
i
ts
p
r
a
c
t
ic
a
l
d
e
p
l
o
y
m
e
n
t
i
n
i
n
d
u
s
t
r
y
.
I
n
c
o
n
t
r
a
s
t
,
P
I
D
b
a
s
ed
s
t
r
a
t
e
g
i
e
s
—
es
p
e
c
i
al
l
y
w
h
e
n
en
h
a
n
c
e
d
w
i
t
h
n
o
n
l
i
n
e
a
r
o
r
in
t
e
l
l
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g
e
n
t
m
o
d
u
l
e
s
—
o
f
f
e
r
a
m
o
r
e
a
d
a
p
t
a
b
l
e
a
n
d
i
m
p
l
e
m
e
n
t
a
ti
o
n
f
r
i
e
n
d
l
y
s
o
l
u
t
io
n
,
m
a
k
i
n
g
t
h
e
m
p
r
e
f
e
r
a
b
l
e
f
o
r
i
n
d
u
s
t
r
i
a
l
c
o
n
t
r
o
l
w
h
e
r
e
s
im
p
l
i
c
i
t
y
,
t
u
n
e
a
b
i
l
it
y
,
a
n
d
r
e
l
i
a
b
i
l
it
y
a
r
e
c
r
i
t
i
ca
l
[
2
1
]
,
[
2
2
]
.
N
o
n
l
i
n
e
a
r
P
I
D
s
i
n
cl
u
d
e
m
u
l
t
i
r
a
t
e
n
o
n
l
i
n
e
a
r
P
I
D
(
M
N
P
I
D
)
,
s
el
f
r
e
g
u
l
a
t
i
n
g
n
o
n
l
i
n
e
a
r
P
I
D
(
S
N
P
I
D
)
,
a
n
d
t
h
e
d
o
u
b
l
e
n
o
n
l
i
n
e
a
r
P
I
c
o
n
t
r
o
l
l
e
r
[
2
3
]
.
S
t
u
d
i
e
s
i
n
te
g
r
a
t
i
n
g
n
o
n
l
i
n
e
a
r
P
I
D
s
w
i
t
h
f
r
i
c
t
i
o
n
c
o
m
p
e
n
s
a
t
i
o
n
m
o
d
u
l
es
w
e
r
e
p
r
o
p
o
s
e
d
i
n
[
2
4
]
a
n
d
[
2
5
]
.
P
r
e
v
i
o
u
s
r
e
s
ea
r
c
h
p
r
o
p
o
s
e
d
a
n
a
d
v
a
n
c
ed
n
o
n
l
i
n
e
a
r
h
y
p
e
r
b
o
l
i
c
P
I
D
wi
t
h
f
r
i
c
t
i
o
n
c
o
m
p
e
n
s
a
t
i
o
n
(
T
N
P
I
D
+
FS
S
)
[
2
6
]
.
H
o
w
e
v
e
r
,
t
h
e
s
tr
a
t
e
g
y
’
s
r
o
b
u
s
t
n
ess
w
a
s
n
o
t
a
n
a
l
y
s
e
d
o
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v
a
l
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d
a
t
e
d
.
F
o
r
t
h
i
s
r
e
as
o
n
,
t
h
e
c
o
n
t
r
i
b
u
t
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o
n
o
f
t
h
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s
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s
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r
c
h
e
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t
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n
d
s
t
h
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d
e
s
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g
n
a
n
d
a
n
a
l
y
s
is
o
f
t
h
e
T
N
P
I
D
+F
SS
b
y
i
n
t
e
g
r
at
i
n
g
a
n
a
d
v
a
n
c
e
d
,
y
e
t
s
i
m
p
li
f
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ed
a
n
d
p
r
a
c
t
i
c
a
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f
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z
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l
o
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i
c
d
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g
n
,
n
a
m
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l
y
S
i
n
g
l
e
I
n
p
u
t
F
u
z
z
y
L
o
g
i
c
(
S
I
F
L
)
,
t
o
en
h
a
n
c
e
t
h
e
s
t
r
at
e
g
y
’
s
r
o
b
u
s
t
n
ess
.
A
r
e
v
i
e
w
o
f
f
u
z
z
y
l
o
g
i
c
i
n
h
y
d
r
a
u
l
i
c
s
a
n
d
p
n
e
u
m
a
t
i
cs
c
o
n
tr
o
l
[
2
7
]
h
i
g
h
l
i
g
h
t
s
t
h
e
i
n
c
r
e
asi
n
g
u
s
e
o
f
f
u
z
z
y
s
t
r
u
c
t
u
r
es
.
P
r
i
o
r
s
t
u
d
i
es
em
p
l
o
y
i
n
g
t
h
e
S
I
F
L
f
o
r
m
u
l
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ti
o
n
p
r
o
p
o
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tio
n
o
f
th
e
v
ir
g
in
cu
r
v
e
f
r
o
m
th
e
p
l
o
tted
h
y
s
ter
esis
o
f
th
e
f
r
ictio
n
f
o
r
ce
v
er
s
u
s
d
is
p
lace
m
en
t
g
r
ap
h
.
T
h
e
GM
S
m
eth
o
d
was
p
r
ev
io
u
s
ly
a
p
p
lied
t
o
o
th
e
r
ac
t
u
ato
r
s
y
s
tem
s
[
3
2
]
an
d
was
s
u
b
s
eq
u
en
tly
ca
r
r
ied
o
v
er
to
p
n
e
u
m
atic
ac
tu
ato
r
s
[
3
3
]
.
T
h
e
tr
a
n
s
f
er
f
u
n
ctio
n
’
s
b
est
f
it
o
b
tain
ed
b
ef
o
r
e
th
e
in
cl
u
s
io
n
o
f
th
e
f
r
ictio
n
m
o
d
els is
9
4
.
2
7
%.
I
n
clu
d
i
n
g
b
o
th
th
e
s
tatic
an
d
d
y
n
am
ic
f
r
ic
tio
n
m
o
d
els y
ield
s
a
b
est f
it o
f
9
2
.
9
6
%.
T
h
e
d
r
o
p
in
b
est
f
it
is
an
ticip
ated
d
u
e
to
th
e
in
cl
u
s
io
n
o
f
in
ter
n
al
f
r
i
ctio
n
f
o
r
ce
m
o
d
els.
Fo
llo
win
g
th
e
f
lo
wch
ar
t,
t
h
e
latter
m
o
d
el
d
o
es
n
o
t
d
r
o
p
b
el
o
w
9
0
%
o
f
th
e
m
ea
s
u
r
ed
d
ata
;
th
er
ef
o
r
e,
th
e
tr
an
s
f
e
r
f
u
n
cti
o
n
d
o
es
n
o
t
r
e
q
u
ir
e
co
ef
f
icien
t
ad
j
u
s
tm
en
t.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
with
th
e
f
r
ictio
n
m
o
d
els
is
ap
p
lied
in
th
e
m
et
h
o
d
o
lo
g
y
[
3
4
]
.
T
h
e
lo
w
ef
f
ec
t
o
f
th
e
f
r
ictio
n
m
o
d
el
o
n
th
e
o
v
er
all
s
y
s
tem
is
d
u
e
to
t
h
e
co
n
v
er
s
io
n
o
f
th
e
f
r
ict
io
n
f
o
r
ce
to
v
o
ltag
e
in
th
e
m
o
d
ellin
g
s
tr
u
ctu
r
e
,
w
h
er
e
th
e
f
r
ictio
n
f
o
r
ce
is
m
u
l
tip
lied
b
y
th
e
k
f
.
k
f
co
n
s
tan
t,
v
alu
ed
at
−1
/2
0
2
0
.
[
2
6
]
,
r
esu
ltin
g
in
s
m
all
v
o
ltag
e
v
alu
es
in
s
im
u
latio
n
.
Alth
o
u
g
h
t
h
e
f
r
ictio
n
f
o
r
ce
is
r
elativ
ely
lo
w
co
m
p
a
r
ed
with
o
th
er
m
ec
h
a
n
ical
ac
tu
ato
r
s
,
th
e
ef
f
ec
t o
f
th
e
d
is
tu
r
b
an
c
e
is
h
ig
h
ly
s
ig
n
if
ican
t in
p
r
ec
i
s
io
n
co
n
tr
o
l
[
3
5
]
.
2
.
2
.
Desig
n o
f
t
riple
no
nli
ne
a
r
-
hy
perbo
lic
P
I
D
co
ntr
o
ller
wit
h SI
F
L
(
T
-
NP
I
D
+
SI
F
L
)
T
h
e
T
-
NPI
D+
SIFL
is
b
ased
o
n
th
e
T
-
NPI
D
co
n
tr
o
ller
.
T
h
e
d
esig
n
o
f
th
e
T
-
NPI
D
f
o
llo
ws
th
e
s
tr
u
ctu
r
e
p
r
esen
ted
i
n
[
2
6
]
,
w
h
ich
is
d
ev
elo
p
e
d
b
ased
o
n
th
e
Po
p
o
v
s
tab
ilit
y
r
eg
i
o
n
.
A
n
o
n
lin
ea
r
h
y
p
er
b
o
lic
alg
o
r
ith
m
is
ad
ap
ted
f
o
r
ea
ch
PID
g
ain
,
K
P
,
K
I
,
an
d
K
D
.
T
h
e
n
o
n
lin
ea
r
g
ain
s
ar
e
p
r
esen
ted
in
(
2
)
to
(
4
)
,
wh
e
r
e
th
e
m
u
ltip
lied
er
r
o
r
f
o
llo
ws
t
h
e
co
n
d
itio
n
d
ef
in
e
d
in
(
5
)
.
An
asy
m
p
to
tic
tr
ac
k
in
g
b
eh
a
v
io
u
r
an
al
y
s
is
u
s
in
g
L
y
ap
u
n
o
v
’
s
in
d
ir
ec
t
m
eth
o
d
was
also
p
r
esen
ted
in
[
3
6
]
,
c
o
n
s
o
lid
atin
g
th
e
s
tab
ilit
y
o
f
t
h
e
co
n
tr
o
ller
.
T
h
e
p
ar
am
eter
s
o
f
th
e
T
-
NPI
D
wer
e
o
p
tim
is
ed
u
s
in
g
p
ar
ticle
s
war
m
o
p
tim
is
atio
n
(
PS
O)
,
as
s
im
ilar
ly
p
r
esen
ted
in
[
3
7
]
,
a
n
d
th
e
r
esu
ltin
g
p
ar
am
e
ter
s
ar
e
tab
u
lated
in
T
a
b
le
3
.
(
)
=
1
+
×
[
1
−
s
e
c
h
(
×
)
]
(
2
)
(
)
=
1
÷
[
+
×
(
1
−
s
e
c
h
(
×
)
)
]
(
3
)
(
)
=
1
÷
[
+
×
(
1
−
s
e
c
h
(
×
)
)
]
(
4
)
,
,
,
=
{
|
|
≤
∙
(
)
|
|
>
(
5
)
T
ab
le
3
.
PS
O
o
p
tim
ized
T
-
NPI
D
p
ar
am
eter
P
a
r
a
me
t
e
r
V
a
l
u
e
N
o
n
l
i
n
e
a
r
H
y
p
e
r
b
o
l
i
c
F
u
n
c
t
i
o
n
a
t
P
r
o
p
o
r
t
i
o
n
a
l
G
a
i
n
,
P
f
3
.
0
4
2
g
9
.
0
4
5
e
P
0
.
5
N
o
n
l
i
n
e
a
r
H
y
p
e
r
b
o
l
i
c
F
u
n
c
t
i
o
n
a
t
I
n
t
e
g
r
a
l
G
a
i
n
,
I
p
1
q
3
3
.
2
0
0
r
3
4
.
0
0
0
e
I
0
.
5
N
o
n
l
i
n
e
a
r
H
y
p
e
r
b
o
l
i
c
F
u
n
c
t
i
o
n
a
t
D
e
r
i
v
a
t
i
v
e
G
a
i
n
,
D
a
1
b
9
.
8
6
7
c
6
.
3
3
3
e
D
0
.
5
T
h
e
d
esig
n
o
f
t
h
e
T
-
NPI
D+
SIFL
in
teg
r
ates
SIFL
as
a
c
o
n
tr
o
l
m
ec
h
a
n
is
m
to
v
ar
y
o
n
e
o
f
th
e
p
ar
am
eter
s
in
th
e
n
o
n
lin
ea
r
f
u
n
ctio
n
.
T
h
is
in
teg
r
atio
n
i
m
p
r
o
v
es
th
e
co
n
tr
o
ller
'
s
f
lex
ib
ilit
y
an
d
en
a
b
les
m
u
ltip
le
g
ain
v
ar
iatio
n
s
.
T
h
is
co
n
ce
p
t h
as
b
ee
n
p
r
o
v
en
in
p
r
ev
io
u
s
r
esear
ch
[
4
]
.
Fo
r
th
e
K
P
(
e)
two
p
a
r
am
eter
s
ar
e
av
ailab
le
f
o
r
r
ate
v
ar
iatio
n
,
n
am
ely
f
an
d
g
.
T
h
e
ef
f
ec
ts
o
f
v
ar
y
in
g
eith
er
p
ar
a
m
eter
f
o
r
g
in
th
e
f
o
r
m
u
latio
n
ar
e
v
is
u
alis
ed
in
Fig
u
r
e
3
.
Fig
u
r
e
3
(
a)
s
h
o
ws
th
e
v
ar
iab
le
g
,
an
d
Fig
u
r
e
3
(
b
)
s
h
o
ws
th
e
v
ar
iab
le
f
.
Fro
m
v
is
u
al
o
b
s
er
v
atio
n
,
th
e
v
ar
iab
le
f
p
r
o
d
u
ce
s
a
m
o
r
e
ag
g
r
ess
iv
e
r
esp
o
n
s
e
as
th
e
in
cr
ea
s
e
in
n
o
n
lin
ea
r
g
ai
n
is
n
ar
r
o
wer
f
r
o
m
th
e
s
y
s
tem
’
s
ze
r
o
er
r
o
r
e
,
as d
en
o
ted
in
Fig
u
r
e
3
(
b
)
.
W
ith
r
ef
er
e
n
ce
to
p
r
e
v
io
u
s
r
esear
ch
[
4
]
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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b
&
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to
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6
R
o
b
u
s
t a
n
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g
le
-
in
p
u
t fu
z
z
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n
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…
(
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h
a
ir
u
n
N
a
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ma
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in
)
401
p
ar
am
eter
m
u
ltip
licatio
n
o
f
t
h
e
er
r
o
r
is
u
s
ed
f
o
r
r
ate
v
ar
iatio
n
.
T
h
er
ef
o
r
e,
th
is
r
esear
ch
ap
p
lies
th
e
r
ate
v
ar
iatio
n
u
s
in
g
SIFL
to
th
e
p
ar
am
eter
g
f
r
o
m
(
2
)
.
Fig
u
r
e
4
s
h
o
ws
th
e
s
ch
em
atic
d
iag
r
am
o
f
t
h
e
co
n
tr
o
l
s
tr
ateg
y
.
Sin
ce
t
h
is
r
esear
ch
ap
p
lies
th
e
f
r
ictio
n
c
o
m
p
e
n
s
atio
n
m
eth
o
d
,
a
s
tatic
f
r
i
ctio
n
co
m
p
en
s
atio
n
f
ee
d
b
ac
k
m
o
d
u
le
(
F
SS
)
is
ad
a
p
ted
to
all
in
cl
u
d
ed
co
n
tr
o
l
s
tr
ateg
ies.
T
h
e
s
ig
n
if
ican
ce
o
f
th
e
m
o
d
u
le
is
well
ex
p
lain
ed
in
[
2
6
]
.
(
a)
(
b
)
Fig
u
r
e
3
.
No
n
lin
ea
r
h
y
p
er
b
o
li
c
g
ain
with
v
ar
ia
b
le
p
ar
am
ete
r
(
a)
g
a
n
d
(
b
)
f
Fig
u
r
e
4
.
T
-
NPI
D+
SIFL
co
n
tr
o
l stra
teg
y
s
ch
em
atic
d
iag
r
a
m
,
with
F
SS
f
r
ictio
n
co
m
p
en
s
atio
n
m
o
d
u
le
Fu
zz
y
lo
g
ic
is
ab
le
to
b
e
in
iti
ally
d
esig
n
ed
lin
g
u
is
tically
.
T
h
e
lin
g
u
is
tic
ex
p
r
ess
io
n
o
f
th
e
s
y
s
tem
'
s
er
r
o
r
r
an
g
e
is
d
ef
in
e
d
in
(
6
)
a
n
d
(
8
)
,
w
h
ile
th
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
,
α
ar
e
d
ef
in
e
d
in
(
7
)
an
d
(
9
)
.
T
h
e
er
r
o
r
r
an
g
e
is
s
et
f
r
o
m
ze
r
o
(
0
)
to
o
n
e
(
1
)
,
wh
e
r
ea
s
th
e
o
u
tp
u
t
o
f
th
e
f
u
zz
y
lo
g
ic
s
y
s
tem
is
s
e
t
f
r
o
m
ze
r
o
(
0
)
to
n
eg
ativ
e
o
n
e
(
-
1
)
.
|
|
∈
{
|
1
|
,
|
2
|
,
|
3
|
,
…
…
…
…
…
…
.
,
|
|
}
(
6
)
∈
{
1
,
2
,
3
,
…
…
…
…
…
…
.
,
∆
|
|
}
(
7
)
=
{
|
→
[
0
,
1
]
∀
=
0
,
…
…
.
.
,
1
}
(
8
)
=
{
|
→
[
0
,
−
1
]
∀
=
0
,
…
…
…
.
,
−
1
}
(
9
)
T
h
e
co
n
v
e
r
s
io
n
o
f
f
u
zz
y
l
o
g
ic
to
s
in
g
le
-
in
p
u
t
f
u
zz
y
lo
g
ic
is
b
ased
o
n
th
e
a
p
p
r
o
ac
h
p
r
esen
t
ed
in
[
2
9
]
.
I
n
co
n
v
e
n
tio
n
al
d
u
al
-
i
n
p
u
t
f
u
zz
y
lo
g
ic,
th
e
in
p
u
ts
co
n
s
is
t
o
f
th
e
tr
ac
k
in
g
er
r
o
r
,
e
,
an
d
th
e
er
r
o
r
r
ate,
Δ
e
.
T
h
e
m
ain
ad
v
an
ta
g
e
o
f
th
e
s
in
g
l
e
-
in
p
u
t
f
u
z
zy
lo
g
ic
(
SIFL
)
s
ch
em
e
co
m
p
ar
e
d
to
th
e
s
tan
d
ar
d
f
u
zz
y
lo
g
ic
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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
.
2
,
J
u
n
e
20
2
6
:
397
-
4
1
4
402
co
n
tr
o
ller
is
th
e
elim
in
atio
n
o
f
th
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
ass
o
ciate
d
with
Δ
e
.
T
h
e
er
r
o
r
r
ate,
Δ
e
,
is
tr
an
s
f
o
r
m
ed
in
t
o
th
e
s
witch
in
g
f
u
n
ctio
n
s₁
,
as sh
o
wn
in
(
1
0
)
an
d
(
1
1
)
.
T
h
e
in
p
u
t f
o
r
m
u
latio
n
d
escr
ib
ed
in
[
2
9
]
is
g
iv
en
in
(
1
2
)
,
wh
er
e
d₁
r
ep
r
esen
ts
th
e
s
in
g
le
in
p
u
t.
T
h
e
r
elatio
n
s
h
ip
ag
g
r
ess
iv
en
ess
b
etwe
en
e
an
d
Δ
e
is
tu
n
ed
b
y
th
e
s
ig
n
ed
-
d
is
tan
ce
p
ar
am
eter
,
λ
.
C
o
n
s
eq
u
en
tly
,
t
h
e
n
u
m
b
er
o
f
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
(
MFs)
is
ab
le
to
b
e
r
ed
u
ce
d
f
r
o
m
4
9
s
ets (
α²
)
to
o
n
l
y
7
s
ets.
T
h
e
SIFL
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
ar
e
ta
b
u
lat
ed
in
T
ab
le
4
.
1
:
∆
+
(
1
0
)
1
=
[
(
−
+
1
)
2
+
(
∆
−
∆
+
1
)
2
]
1
2
(
1
1
)
∴
1
=
|
̇
1
+
1
|
√
1
+
2
(
1
2
)
T
h
e
d
esig
n
o
f
th
e
asy
m
m
et
r
ical
SIFL
f
o
llo
ws
th
e
ap
p
r
o
ac
h
b
y
[
3
8
]
.
T
h
e
s
y
m
m
et
r
ical
an
d
asy
m
m
etr
ical
d
esig
n
s
ar
e
ab
le
to
b
e
p
er
f
o
r
m
ed
v
ia
th
e
SIFL
m
eth
o
d
.
A
r
u
le
tab
le
b
ased
o
n
th
e
in
p
u
t (
er
r
o
r
)
o
f
th
e
s
y
s
tem
is
cr
ea
te
d
,
as
tab
u
lated
in
T
ab
le
4
.
Fo
r
a
s
y
m
m
etr
ical
SIFL
,
th
e
r
u
le
tab
le
is
th
e
s
am
e.
T
h
e
d
if
f
er
en
ce
is
th
e
MF
v
alu
es
th
at
ar
e
ab
le
t
o
b
e
c
h
an
g
e
d
in
MA
T
L
AB
’
s
Fu
zz
y
L
o
g
ic
C
o
n
tr
o
ller
a
p
p
licatio
n
.
Fig
u
r
e
5
s
h
o
ws
th
e
tr
ian
g
u
lar
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
k
ewe
d
to
war
d
s
a
m
o
r
e
s
ig
n
if
ican
t
er
r
o
r
in
p
u
t,
wh
ich
m
ea
n
s
th
e
SIFL
will
r
esp
o
n
d
m
o
r
e
wh
en
th
e
s
y
s
tem
er
r
o
r
is
m
o
r
e
s
ig
n
if
ican
t.
T
h
e
o
u
tp
u
t
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
is
a
Su
g
en
o
ty
p
e
an
d
is
s
k
ewe
d
t
o
war
d
s
a
m
o
r
e
s
ig
n
if
ican
t
n
eg
ativ
e
o
u
tp
u
t,
d
en
o
tin
g
th
e
s
am
e
co
n
d
itio
n
(
also
s
h
o
wn
in
Fig
u
r
e
5
)
.
T
h
e
lin
g
u
is
tic
ex
p
r
ess
io
n
f
r
o
m
(
6
)
to
(
9
)
an
d
th
e
co
n
d
itio
n
s
tated
in
t
h
e
last
two
s
tatem
en
ts
y
ield
th
e
r
u
le
tab
le
with
th
e
m
em
b
er
s
h
ip
v
alu
es in
T
ab
le
4
[
3
9
]
.
T
ab
le
4
.
R
u
le
tab
le
f
o
r
SIFL
I
n
p
u
t
,
e
LN
B
LS1
LS2
LM
LB
1
LB
2
LB
3
M
F
v
a
l
u
e
1
,
0
.
1
0
,
0
.
5
,
0
.
6
0
.
1
,
0
.
7
,
0
.
8
5
0
.
6
,
0
.
8
5
,
0
.
9
0
.
8
5
,
0
.
9
,
0
.
9
5
0
.
9
,
0
.
9
5
,
1
0
.
9
5
,
1
O
u
t
p
u
t
,
α
Z
S1
S2
M
B1
B2
B3
M
F
v
a
l
u
e
0
-
0
.
3
5
-
0
.
7
0
-
0
.
8
5
-
0
.
9
0
-
0
.
9
5
-
1
T
h
e
co
n
tr
o
l
s
u
r
f
ac
e
i
n
Fig
u
r
e
5
s
h
o
ws
th
e
SIFL
r
elatio
n
b
et
wee
n
th
e
i
n
p
u
t
an
d
o
u
tp
u
t,
an
d
th
e
wh
o
le
f
ig
u
r
e
is
k
n
o
wn
as
th
e
p
iece
wis
e
lin
ea
r
f
u
n
ctio
n
(
PW
L
)
.
Fo
r
a
d
u
al
in
p
u
t
f
u
zz
y
lo
g
ic,
a
th
r
ee
-
d
im
en
s
io
n
al
co
n
tr
o
l
s
u
r
f
ac
e
is
u
s
u
ally
p
r
es
en
ted
,
b
u
t
d
u
e
to
th
e
s
im
p
licity
o
f
th
e
SIFL
,
a
two
-
d
im
e
n
s
io
n
al
co
n
tr
o
l
s
u
r
f
ac
e
is
g
en
er
ated
.
T
h
e
d
esig
n
o
f
t
h
e
SIFL
also
r
e
d
u
ce
s
ca
lcu
la
tio
n
co
m
p
lex
ity
a
n
d
tim
e.
A
s
im
p
le
s
im
u
latio
n
co
m
p
ar
in
g
FL
a
n
d
SIFL
i
n
1
0
s
ec
o
n
d
s
p
r
o
d
u
ce
d
th
e
ca
lc
u
latio
n
tim
e
s
h
o
wn
in
Fig
u
r
e
6
.
FL
m
a
n
ag
ed
to
co
m
p
u
te
th
e
o
u
tp
u
t
with
an
a
v
er
ag
e
o
f
3
.
2
5
9
s
ec
o
n
d
s
,
wh
i
le
th
e
SIFL
p
er
f
o
r
m
ed
with
a
n
av
er
a
g
e
o
f
2
.
0
6
8
s
ec
o
n
d
s
,
a
r
ed
u
ctio
n
o
f
3
6
.
5
%.
T
h
e
s
im
u
latio
n
ag
r
ee
s
with
th
e
s
tu
d
y
b
y
[
4
0
]
.
C
o
n
s
o
li
d
atin
g
th
e
claim
o
f
co
m
p
u
tatio
n
al
s
av
in
g
s
,
th
e
C
co
d
e
(
.
c)
g
en
er
ated
v
ia
Simu
lin
k
C
o
d
er
y
ield
e
d
a
3
4
.
3
8
%
r
ed
u
ctio
n
in
lo
g
ic
lin
es
f
o
r
th
e
SIFL
co
n
tr
o
ller
co
m
p
ar
ed
t
o
class
ical
f
u
zz
y
lo
g
ic
(
2
7
3
v
er
s
u
s
4
1
6
lin
es).
T
h
e
co
r
r
esp
o
n
d
in
g
h
ea
d
er
f
iles
(
.
h
)
also
s
aw
a
7
.
0
4
%
r
ed
u
ctio
n
.
T
h
e
r
e
d
u
ctio
n
in
b
o
th
p
r
o
g
r
a
m
m
in
g
lo
g
ic
lin
es
alig
n
s
with
th
e
r
ed
u
ctio
n
o
f
f
u
zz
y
r
u
les
f
r
o
m
f
o
r
ty
-
n
in
e
t
o
s
ev
en
an
d
co
n
f
ir
m
s
th
e
s
tr
u
ctu
r
al
s
im
p
licity
o
f
th
e
s
in
g
le
-
in
p
u
t
f
u
zz
y
lo
g
ic
d
esig
n
.
A
f
ew
s
am
p
les
o
f
an
asy
m
m
etr
ic
SIFL
MA
T
L
AB
f
ile
ar
e
av
ailab
le
at
GitHu
b
(
h
ttp
s
://g
ith
u
b
.
co
m
/
n
zk
h
aish
-
l
ab
/SIFL
C
_
f
o
r
PUB
L
I
C
)
f
o
r
f
u
zz
y
lo
g
ic
d
esig
n
e
r
s
to
f
u
r
th
er
ex
p
lo
r
e.
T
o
ad
ap
t
th
e
‘
g
’
p
a
r
am
eter
in
th
e
n
o
n
lin
ea
r
K
P
f
u
n
ctio
n
ac
co
r
d
in
g
t
o
th
e
SIFL
o
u
tp
u
t
an
d
s
im
p
lify
th
e
tu
n
in
g
m
eth
o
d
,
a
s
im
p
le
m
ath
em
atica
l
co
n
v
er
s
io
n
is
p
er
f
o
r
m
ed
b
e
f
o
r
e
a
n
d
af
ter
th
e
SI
FL
m
o
d
u
le.
Fo
r
th
e
SIFL
in
p
u
t,
if
th
e
e
r
r
o
r
is
lo
wer
th
an
e
max
,
th
e
e
r
r
o
r
f
r
o
m
th
e
s
y
s
tem
is
r
atio
ed
to
t
h
e
e
max
v
alu
e
(
f
r
o
m
th
e
n
o
n
lin
ea
r
h
y
p
er
b
o
lic
f
u
n
ctio
n
,
0
.
5
)
an
d
m
u
ltip
lied
with
th
e
m
ax
im
u
m
o
f
th
e
SIFL
in
p
u
t,
e
x
,
as
(
6
)
s
h
o
ws.
g
is
ex
tr
ac
ted
f
r
o
m
T
ab
le
3
,
wh
ile
g
min
is
tu
n
e
d
b
y
r
ed
u
cin
g
th
e
g
a
n
d
o
b
s
er
v
in
g
th
e
s
tead
y
-
s
tate
er
r
o
r
p
er
f
o
r
m
an
ce
.
W
h
en
th
e
er
r
o
r
ch
an
g
es,
th
e
v
al
u
e
r
e
d
u
ctio
n
h
alts
an
d
is
r
ec
o
r
d
e
d
as
g
min
.
I
n
th
is
ca
s
e,
g
min
is
4
.
5
.
Usi
n
g
(
1
3
)
an
d
(
1
4
)
a
d
ap
tatio
n
,
th
e
MF
f
u
n
ctio
n
o
f
th
e
SIFL
d
o
es
n
o
t
r
eq
u
ir
e
to
b
e
co
n
s
tan
tly
ch
an
g
e
d
d
u
r
in
g
tu
n
in
g
,
wh
er
e
o
n
ly
g
min
is
s
u
f
f
icien
t to
b
e
ad
j
u
s
ted
.
=
=
{
×
(
)
≤
×
>
(
1
3
)
`
′
=
=
+
[
(
−
)
×
]
(
1
4
)
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
R
o
b
u
s
t a
n
d
co
mp
u
ta
tio
n
a
lly
e
fficien
t sin
g
le
-
in
p
u
t fu
z
z
y
lo
g
i
c‑
en
h
a
n
ce
d
…
(
K
h
a
ir
u
n
N
a
jmi Ka
ma
lu
d
in
)
403
Fig
u
r
e
5
.
SIFL
in
p
u
t
-
o
u
tp
u
t a
n
d
th
e
c
o
n
tr
o
l su
r
f
ac
e
Fig
u
r
e
6
.
Simu
latio
n
tim
e
co
m
p
ar
is
o
n
b
etwe
en
FL
a
n
d
SIFL
Fig
u
r
e
7
s
h
o
ws
th
e
n
o
n
lin
ea
r
f
u
n
ctio
n
s
f
o
r
T
-
NPI
D+
SIFL
.
T
h
e
SIFL
,
b
ased
o
n
its
d
esig
n
,
af
f
ec
ts
th
e
K
P
n
o
n
lin
ea
r
f
u
n
ctio
n
.
T
h
e
n
o
n
lin
ea
r
g
ain
s
f
o
r
K
P
r
an
g
e
f
r
o
m
th
e
m
in
im
u
m
t
o
th
e
m
ax
im
u
m
o
f
th
e
v
ar
iab
le
g
v
alu
e,
co
n
tr
o
lled
b
y
t
h
e
SIFL
m
o
d
u
le;
th
er
ef
o
r
e,
th
e
v
is
u
al
o
f
th
e
K
P
f
u
n
ctio
n
is
s
h
o
wn
i
n
th
e
f
ig
u
r
e
.
g
min
is
th
e
lo
west
b
lu
e
lin
e
,
wh
ile
g
(
t
h
e
m
ax
im
u
m
v
alu
e)
is
th
e
h
ig
h
est
b
lu
e
lin
e,
as
d
en
o
ted
in
F
ig
u
r
e
7
.
A
T
-
NPI
D
with
o
u
t
th
e
SIFL
will
o
n
l
y
h
a
v
e
th
e
g
lin
e.
Sin
ce
K
(
e
max
)
is
n
o
t
b
o
u
n
d
ed
b
y
a
n
y
v
alu
e,
a
n
d
th
e
g
v
al
u
e
o
n
ly
d
ec
r
ea
s
es f
r
o
m
th
e
i
n
itial v
alu
e,
T
-
NPI
D+
SIFL
is
s
tab
le
ac
c
o
r
d
in
g
to
th
e
Po
p
o
v
s
tab
ilit
y
t
h
eo
r
em
.
Fig
u
r
e
7
.
T
-
NPI
D+
SIFL
n
o
n
li
n
ea
r
f
u
n
ctio
n
s
2
.
3
.
Dy
na
m
ic
s
t
if
f
nes
s
o
f
N
H
-
P
I
D,
T
-
NP
I
D,
a
nd
T
-
NP
I
D+S
I
F
L
Acc
o
r
d
in
g
to
[
4
1
]
,
d
y
n
am
ic
s
tiff
n
ess
i
s
an
ess
en
tia
l
m
ea
s
u
r
e
o
f
s
y
s
tem
p
er
f
o
r
m
an
ce
i
n
r
ejec
tin
g
d
is
tu
r
b
an
ce
s
ac
r
o
s
s
d
if
f
er
e
n
t
f
r
eq
u
en
cies.
T
h
e
d
y
n
am
ic
s
tiff
n
ess
o
f
a
n
o
n
lin
ea
r
PID
co
n
tr
o
ller
is
th
e
in
v
er
s
e
o
f
th
e
co
m
p
lian
ce
f
u
n
ctio
n
,
as sh
o
wn
in
(
1
5
)
.
g
min
line
g
line
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
5
,
No
.
2
,
J
u
n
e
20
2
6
:
397
-
4
1
4
404
,
(
)
(
)
=
1
+
−
∙
̂
̂
/
(
1
5
)
,
=
(
1
6
)
T
h
e
p
n
eu
m
atic
s
y
s
tem
is
g
i
v
en
a
b
a
n
d
-
lim
ited
wh
ite
n
o
is
e
s
ig
n
al
as
a
d
is
tu
r
b
an
ce
in
p
u
t
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d
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ea
s
u
r
ed
f
o
r
th
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u
tp
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t
p
o
s
i
tio
n
.
T
h
e
d
y
n
a
m
ic
s
tiff
n
ess
is
ab
le
to
b
e
a
p
p
r
o
x
im
ated
u
s
in
g
th
e
H
1
o
r
H
2
esti
m
ato
r
.
Giv
en
t
h
at
wh
ite
n
o
is
e
ex
is
ts
at
th
e
s
y
s
tem
o
u
tp
u
t
(
p
o
s
itio
n
en
c
o
d
er
)
an
d
th
e
in
p
u
t
s
ig
n
al
is
clea
n
ex
ce
p
t
f
o
r
MA
T
L
AB
-
g
en
e
r
ated
ex
citatio
n
,
th
e
H
1
esti
m
ato
r
is
m
o
s
t
ap
p
r
o
p
r
iate
f
o
r
esti
m
atin
g
th
e
d
y
n
am
ic
s
tiff
n
ess
o
f
th
is
s
y
s
tem
.
T
h
e
H
2
esti
m
ato
r
,
in
co
n
tr
ast,
is
b
est
wh
en
ad
d
itio
n
al
n
o
is
e
is
p
r
im
ar
ily
at
th
e
in
p
u
t
[
2
8
]
.
Fig
u
r
e
8
s
h
o
ws
th
e
f
r
eq
u
en
cy
r
esp
o
n
s
e
f
u
n
ctio
n
o
f
th
e
d
y
n
a
m
ic
s
tiff
n
ess
an
aly
s
is
f
o
r
th
e
th
r
ee
co
n
tr
o
ller
s
.
Fig
u
r
e
8
.
C
o
m
p
a
r
is
o
n
o
f
th
e
c
o
n
tr
o
l stra
teg
ies d
y
n
am
ic
s
tiff
n
ess
T
h
e
s
tiff
n
ess
o
b
tain
ed
in
d
ec
ib
els
(
d
B
)
is
co
n
v
er
ted
to
f
o
r
ce
s
in
New
to
n
.
T
h
e
n
o
v
el
co
n
tr
o
ller
d
em
o
n
s
tr
ated
a
s
lig
h
t
im
p
r
o
v
em
en
t
in
d
y
n
am
ic
s
tiff
n
ess
in
co
m
p
ar
is
o
n
to
o
th
e
r
co
n
tr
o
ller
s
,
wh
er
e
th
e
T
-
NPI
D+
SIFL
h
as
th
e
lo
west
s
t
if
f
n
ess
at
h
ig
h
er
f
r
e
q
u
en
cies
an
d
th
e
h
i
g
h
est
s
tiff
n
ess
at
lo
wer
f
r
eq
u
e
n
cies,
as
tab
u
lated
in
T
ab
le
5
.
T
h
e
r
esu
lts
s
h
o
w
th
at
T
-
NPI
D+
SIFL
h
as
th
e
h
ig
h
est
s
tiff
n
ess
at
lo
w
f
r
eq
u
e
n
cies,
wh
ich
im
p
lies
im
p
r
o
v
ed
d
is
tu
r
b
an
ce
r
ejec
tio
n
ca
p
ac
ity
to
p
o
s
itio
n
d
ev
iatio
n
s
u
n
d
er
s
lo
w
d
y
n
am
ic
ch
an
g
es.
T
h
is
en
h
an
ce
d
lo
w
-
s
p
ee
d
r
ig
id
ity
d
ir
ec
tly
co
n
tr
ib
u
tes
to
b
et
ter
tr
ajec
to
r
y
tr
ac
k
in
g
ac
c
u
r
ac
y
in
p
r
ec
is
io
n
ap
p
licatio
n
s
,
p
ar
ticu
lar
l
y
wh
er
e
s
lo
w
ac
tu
atio
n
is
r
eq
u
ir
e
d
.
T
ab
le
5
.
T
h
e
d
y
n
am
ic
s
tiff
n
es
s
r
esu
lts
f
o
r
ea
ch
co
n
t
r
o
l stra
teg
y
C
o
n
t
r
o
l
st
r
a
t
e
g
y
Lo
w
e
r
f
r
e
q
u
e
n
c
y
d
y
n
a
mi
c
st
i
f
f
n
e
ss
H
i
g
h
e
r
f
r
e
q
u
e
n
c
y
d
y
n
a
mi
c
st
i
f
f
n
e
s
s
S
t
i
f
f
n
e
ss
v
a
l
u
e
(
×
1
0
-
5
N
m)
F
r
e
q
u
e
n
c
y
(
H
z
)
S
t
i
f
f
n
e
ss
v
a
l
u
e
(
×
1
0
-
5
N
m)
F
r
e
q
u
e
n
c
y
(
H
z
)
NH
-
P
I
D
+
F
SS
1
1
,
8
8
2
.
2
8
5
0
.
0
1
0
1
0
.
5
9
4
3
.
8
6
6
T
-
N
P
I
D
+
F
SS
1
0
,
5
0
1
.
1
0
5
0
.
1
3
0
1
7
.
0
6
5
5
.
3
5
4
T
-
N
P
I
D
+
S
I
F
L+
F
SS
1
3
,
2
1
9
.
3
4
7
0
.
0
3
0
6
.
3
9
6
3
.
8
6
6
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
Sim
ula
t
i
o
n
re
s
ults
Fo
r
an
y
p
r
ec
is
e
p
o
s
itio
n
in
g
ac
tu
ato
r
,
eith
er
s
tep
p
o
s
itio
n
in
g
o
r
tr
ajec
to
r
y
tr
ac
k
in
g
an
aly
s
is
(
o
r
b
o
th
)
m
u
s
t
b
e
p
er
f
o
r
m
ed
as
th
e
n
u
m
er
ical
an
aly
s
is
p
r
o
ce
d
u
r
e
[
4
2
]
,
[
4
3
]
.
Fo
r
th
is
r
esear
c
h
,
t
wo
ty
p
es
o
f
d
esire
d
o
u
tp
u
t
wer
e
g
iv
en
to
th
e
co
n
t
r
o
l
s
tr
ateg
y
to
an
aly
s
e
ea
ch
co
n
tr
o
l
s
tr
ateg
y
'
s
p
r
ec
is
e
p
o
s
itio
n
in
g
p
e
r
f
o
r
m
an
ce
:
a
1
0
0
m
m
s
tep
in
p
u
t
an
d
a
m
u
l
tip
le
-
s
tep
s
(
m
u
lti
-
s
tep
)
p
o
s
itio
n
in
g
.
T
h
e
tr
a
n
s
ien
t
r
esp
o
n
s
e
a
n
d
th
e
s
tead
y
-
s
tate
er
r
o
r
a
r
e
ab
le
to
b
e
o
b
tain
ed
f
r
o
m
t
h
e
s
tep
in
p
u
t,
an
d
t
h
e
m
u
lti
-
s
tep
in
p
u
t
will
ex
ten
d
th
e
r
esu
lt
f
r
o
m
th
e
s
in
g
le
-
s
tep
p
er
f
o
r
m
a
n
ce
.
T
ab
l
e
6
p
r
esen
ts
th
e
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
,
an
d
T
a
b
le
7
tab
u
lates
th
e
tr
an
s
ien
t
r
esp
o
n
s
es o
f
ea
ch
c
o
n
tr
o
l stra
t
eg
y
.
T
-
NPI
D
an
d
T
-
NPI
D+
SIFL
ar
e
n
o
t
ex
p
ec
te
d
to
o
u
tp
e
r
f
o
r
m
NH
-
PID
d
r
asti
ca
lly
d
u
e
to
th
e
n
o
n
lin
ea
r
ity
o
f
all
th
e
s
tr
ateg
ies.
T
h
e
n
o
n
lin
ea
r
ity
o
f
th
e
co
n
tr
o
ller
s
,
ev
en
th
e
b
ase
NH
-
PID
,
is
ab
le
to
d
ea
l
with
th
e
s
y
s
tem
’
s
n
o
n
lin
ea
r
it
y
.
Fig
u
r
e
9
s
h
o
ws
th
e
SIFL
i
n
ac
tio
n
,
w
h
er
e
th
e
er
r
o
r
,
e
is
ex
tr
ac
ted
f
r
o
m
th
e
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
R
o
b
u
s
t a
n
d
co
mp
u
ta
tio
n
a
lly
e
fficien
t sin
g
le
-
in
p
u
t fu
z
z
y
lo
g
i
c‑
en
h
a
n
ce
d
…
(
K
h
a
ir
u
n
N
a
jmi Ka
ma
lu
d
in
)
405
s
tep
p
o
s
itio
n
in
g
,
an
d
r
e
f
er
en
ce
to
th
e
er
r
o
r
,
s
tatic
g
(
f
r
o
m
th
e
T
-
NPI
D
alg
o
r
ith
m
)
,
an
d
v
ar
iab
le,
g
is
p
r
esen
ted
.
T
h
e
SIFL
m
o
d
u
le
a
d
ju
s
ts
'
g
'
b
ased
o
n
th
e
er
r
o
r
a
n
d
th
e
SIFL
m
o
d
u
le
p
r
o
ce
s
s
in
g
.
T
h
e
f
ig
u
r
e
s
h
o
ws
th
at
g
f
o
r
th
e
n
o
r
m
al
T
-
NPI
D
is
a
s
tr
aig
h
t
lin
e
(
d
o
tted
b
lu
e
l
in
e)
as
o
p
p
o
s
ed
to
th
e
v
a
r
iab
l
e
lin
e
(
b
r
o
wn
lin
e
)
o
f
th
e
v
ar
iab
le
g
.
I
t
is
o
b
s
er
v
ed
in
th
e
e
x
p
er
im
e
n
tal
r
esu
lts
th
at
wh
en
g
is
in
co
r
r
ec
t,
th
e
s
tead
y
s
tate
er
r
o
r
in
cr
ea
s
es.
I
t m
ea
n
s
th
at
th
e
d
e
s
ir
ed
p
o
s
itio
n
is
n
o
t a
ch
ie
v
ed
.
T
ab
le
6
.
Stead
y
-
s
tate
s
im
u
lati
o
n
r
esu
lts
f
o
r
ea
c
h
co
n
tr
o
l stra
teg
y
S
t
e
a
d
y
-
st
a
t
e
p
a
r
a
me
t
e
r
NH
-
P
I
D
+
F
SS
T
-
N
P
I
D
+
F
SS
T
-
N
P
I
D
+
S
I
F
L+
F
SS
D
e
si
r
e
d
o
u
t
p
u
t
,
D
O
(
mm
)
1
0
0
1
0
0
1
0
0
A
c
t
u
a
l
o
u
t
p
u
t
,
A
O
(
mm
)
9
9
.
5
9
3
9
9
.
9
9
9
9
9
.
9
9
8
S
t
e
a
d
y
-
st
a
t
e
e
r
r
o
r
,
S
S
E
(
mm
)
0
.
4
0
7
0
.
0
0
1
0
.
0
0
2
%
S
t
e
a
d
y
-
s
t
a
t
e
e
r
r
o
r
,
%SS
E
(
%)
0
.
4
0
7
0
.
0
0
1
0
.
0
0
2
T
ab
le
7
.
T
r
a
n
s
ien
t
r
esp
o
n
s
e
s
i
m
u
latio
n
r
esu
lts
f
o
r
ea
c
h
co
n
tr
o
l stra
teg
y
Tr
a
n
s
i
e
n
t
r
e
sp
o
n
se
p
a
r
a
me
t
e
r
NH
-
P
I
D
+
F
SS
T
-
N
P
I
D
+
F
SS
T
-
N
P
I
D
+
S
I
F
L+
F
SS
R
i
se
t
i
me
,
T
R
(
sec
o
n
d
s)
0
.
9
2
9
0
.
9
2
1
0
.
9
3
7
P
e
r
c
e
n
t
o
v
e
r
s
h
o
o
t
,
%OS
(
%)
2
.
6
0
2
.
1
0
2
.
2
0
M
a
x
i
m
u
m
o
v
e
r
s
h
o
o
t
,
C
MAX
(
mm
)
1
0
2
.
6
0
1
0
2
.
1
0
1
0
2
.
2
0
P
e
a
k
t
i
me
,
T
P
(
s
e
c
o
n
d
s)
1
.
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Evaluation Warning : The document was created with Spire.PDF for Python.