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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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I
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4
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Au
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6
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1
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1842
Op
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g
at
a
h
ig
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b
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wid
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th
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in
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6
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i
o
n
b
e
ca
u
s
e
s
e
n
s
o
r
s
a
r
e
l
i
m
it
e
d
a
n
d
t
h
e
e
n
v
i
r
o
n
m
e
n
t
i
s
h
a
r
s
h
.
T
h
e
h
i
g
h
-
o
r
d
e
r
s
l
i
d
i
n
g
m
o
d
e
(
H
OS
M
)
o
b
s
e
r
v
e
r
h
e
l
p
s
s
o
l
v
e
t
h
is
b
y
e
s
t
im
atin
g
th
ese
m
is
s
in
g
v
alu
es
in
r
ea
l
tim
e,
u
s
in
g
o
n
ly
th
e
m
ea
s
u
r
em
e
n
ts
th
at
ar
e
av
ailab
le,
s
u
ch
as
p
o
s
itio
n
a
n
d
d
ir
ec
tio
n
[
7
]
,
[
8
]
.
T
h
e
m
ain
id
ea
o
f
th
e
HOSM
o
b
s
er
v
er
is
to
r
ed
u
ce
n
o
t
o
n
ly
th
e
esti
m
atio
n
er
r
o
r
,
b
u
t
also
h
o
w
f
ast
th
at
er
r
o
r
ch
an
g
es
o
v
er
tim
e.
B
y
co
n
tr
o
llin
g
b
o
th
,
it
ca
n
elim
in
ate
th
e
e
r
r
o
r
v
e
r
y
q
u
ick
l
y
in
a
f
in
ite
tim
e
r
ath
e
r
th
a
n
s
lo
wly
ap
p
r
o
ac
h
in
g
ze
r
o
.
T
h
is
m
ea
n
s
th
e
esti
m
ated
v
al
u
es
b
ec
o
m
e
ac
cu
r
ate
m
u
c
h
f
a
s
ter
,
wh
ich
is
esp
ec
ially
u
s
ef
u
l
f
o
r
s
y
s
tem
s
lik
e
R
OVs
th
at
o
p
er
ate
in
f
ast
-
ch
an
g
in
g
an
d
u
n
p
r
e
d
ictab
le
en
v
ir
o
n
m
en
ts
.
B
y
ad
d
in
g
th
e
HOSM
o
b
s
er
v
er
to
th
e
L
QG
–
PID
co
n
tr
o
l
s
y
s
tem
,
th
e
co
n
tr
o
ller
g
ets
m
o
r
e
ac
cu
r
ate
an
d
r
eliab
le
esti
m
ates
o
f
th
e
s
y
s
tem
’
s
s
tate,
ev
en
wh
en
s
en
s
o
r
d
ata
is
lim
ited
o
r
n
o
is
y
.
T
h
is
h
elp
s
th
e
s
y
s
tem
s
tay
s
tab
le,
f
o
llo
w
its
d
esire
d
p
ath
m
o
r
e
clo
s
ely
,
an
d
b
etter
h
an
d
le
d
is
tu
r
b
a
n
c
es
in
ch
an
g
in
g
u
n
d
e
r
wate
r
co
n
d
itio
n
s
.
T
h
e
s
y
s
tem
b
en
ef
i
ts
f
r
o
m
b
o
th
f
ast,
p
r
ec
is
e
s
tab
ilizatio
n
at
th
e
in
n
er
lev
el
an
d
ef
f
ec
tiv
e
o
v
er
all
c
o
n
tr
o
l
at
th
e
o
u
ter
lev
el.
T
h
is
t
wo
-
lay
er
d
esig
n
is
esp
ec
ially
u
s
ef
u
l f
o
r
c
o
m
p
lex
s
y
s
tem
s
.
R
esear
ch
er
s
h
av
e
s
tu
d
ied
th
e
g
u
id
an
ce
an
d
co
n
tr
o
l
o
f
R
OVs
f
r
o
m
s
im
p
le
ap
p
r
o
ac
h
es
to
m
o
r
e
ad
v
an
ce
d
o
n
es.
At
th
e
m
o
s
t
b
asic
lev
el,
PID
co
n
tr
o
ller
s
ar
e
wid
ely
u
s
ed
b
ec
au
s
e
th
ey
ar
e
ea
s
y
to
im
p
lem
e
n
t.
Ho
wev
er
,
tu
n
in
g
th
em
is
d
if
f
i
cu
lt
s
in
ce
u
n
d
er
wate
r
v
e
h
icles
b
eh
av
e
in
a
n
o
n
lin
ea
r
way
an
d
ar
e
af
f
ec
te
d
b
y
ch
an
g
in
g
co
n
d
itio
n
s
lik
e
o
ce
an
cu
r
r
en
ts
.
E
v
en
wh
e
n
o
p
tim
i
za
tio
n
m
eth
o
d
s
ar
e
u
s
ed
,
PID
co
n
tr
o
ller
s
ca
n
s
till
s
tr
u
g
g
le
to
ad
a
p
t w
h
en
t
h
e
en
v
ir
o
n
m
en
t c
h
an
g
es in
r
ea
l tim
e.
T
o
im
p
r
o
v
e
p
er
f
o
r
m
an
ce
,
m
o
r
e
ad
v
a
n
ce
d
c
o
n
tr
o
l
m
eth
o
d
s
h
av
e
b
ee
n
d
ev
elo
p
ed
.
I
n
th
i
s
co
n
tex
t,
Gar
cía
-
Vald
o
v
in
o
s
et
a
l
.
[
9
]
u
s
es
a
s
lid
in
g
m
o
d
e
co
n
tr
o
l
m
eth
o
d
th
at
ca
n
h
a
n
d
le
d
is
tu
r
b
an
ce
s
lik
e
o
ce
a
n
cu
r
r
en
ts
an
d
tak
es
th
r
u
s
ter
d
y
n
am
ics
in
to
ac
co
u
n
t.
I
n
an
o
th
er
wo
r
k
,
Yao
et
a
l.
[
5
]
d
ev
elo
p
a
d
etailed
6
-
d
eg
r
ee
-
of
-
f
r
ee
d
o
m
m
o
d
el
o
f
an
u
n
d
er
wate
r
v
eh
icle,
s
im
p
lify
it,
an
d
a
p
p
ly
an
L
QR
co
n
tr
o
ller
to
im
p
r
o
v
e
m
o
tio
n
e
f
f
icien
cy
an
d
r
e
d
u
ce
d
r
ag
.
Similar
ly
,
Petr
o
v
et
a
l.
[
1
0
]
u
s
e
L
QR
to
co
n
tr
o
l
d
ep
th
an
d
p
itch
in
t
h
e
p
r
esen
ce
o
f
wa
v
es,
an
d
c
o
m
b
i
n
e
it with
an
ad
a
p
tiv
e
au
to
p
ilo
t sy
s
tem
.
Ho
wev
er
,
L
QR
h
as
s
o
m
e
lim
itatio
n
s
wh
en
u
s
ed
alo
n
e.
I
t
d
o
es
n
o
t
ex
p
licitly
ac
co
u
n
t
f
o
r
ex
ter
n
al
d
is
tu
r
b
an
ce
s
lik
e
o
ce
an
cu
r
r
en
ts
o
r
wav
es,
wh
ich
m
ak
es
its
p
er
f
o
r
m
an
ce
d
e
g
r
ad
e
w
h
en
en
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
c
h
an
g
e,
as
r
e
p
o
r
te
d
in
[
6
]
,
[
1
1
]
.
I
n
ad
d
itio
n
,
m
o
s
t
R
OVs
ar
e
u
n
d
e
r
ac
tu
ated
,
m
ea
n
in
g
th
ey
h
av
e
f
ewe
r
th
r
u
s
ter
s
th
an
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
,
s
o
t
h
ey
ca
n
n
o
t
d
ir
ec
tly
co
n
tr
o
l
all
m
o
tio
n
s
(
s
u
ch
as
s
u
r
g
e,
s
way
,
h
ea
v
e,
r
o
ll,
p
itch
,
an
d
y
aw)
i
n
d
ep
en
d
en
tly
.
T
h
is
in
cr
ea
s
es
th
e
d
if
f
icu
lty
o
f
co
n
tr
o
ller
d
e
s
ig
n
an
d
ca
n
r
ed
u
ce
o
v
er
all
p
er
f
o
r
m
a
n
ce
.
T
o
ad
d
r
e
s
s
th
ese
is
s
u
es,
s
o
m
e
r
esear
ch
er
s
co
m
b
in
e
L
QR
with
ad
ap
ti
v
e
o
r
r
o
b
u
s
t
co
n
tr
o
l
tech
n
iq
u
es,
b
u
t th
is
co
m
es a
t th
e
co
s
t o
f
h
i
g
h
er
c
o
m
p
u
tatio
n
al
an
d
s
tr
u
ctu
r
al
c
o
m
p
lex
ity
[
1
2
]
.
No
te
th
at
L
QR
n
ee
d
s
f
u
ll
k
n
o
wled
g
e
o
f
all
s
y
s
tem
s
tates,
b
u
t
in
p
r
ac
tice,
s
o
m
e
o
f
th
ese
ca
n
n
o
t
b
e
m
ea
s
u
r
ed
d
ir
ec
tly
.
I
n
ad
d
itio
n
,
s
en
s
o
r
s
ar
e
o
f
ten
n
o
is
y
o
r
u
n
r
eliab
le.
T
o
h
an
d
le
th
is
,
Ullah
et
a
l.
[
1
3
]
co
m
b
in
es
L
QR
with
a
Kalm
a
n
f
ilter
,
cr
ea
tin
g
a
n
L
QG
co
n
tr
o
ller
th
at
esti
m
ates
th
e
m
is
s
in
g
s
tates.
Alth
o
u
g
h
th
is
im
p
r
o
v
es
p
er
f
o
r
m
an
ce
,
it
in
cr
ea
s
es
co
m
p
u
tatio
n
al
co
m
p
lex
ity
an
d
ca
n
in
tr
o
d
u
ce
esti
m
atio
n
er
r
o
r
s
,
wh
ic
h
m
ay
r
ed
u
ce
s
tab
ilit
y
in
f
ast
-
ch
an
g
in
g
u
n
d
er
wate
r
e
n
v
ir
o
n
m
en
ts
.
E
x
p
e
r
im
en
tal
s
tu
d
ie
s
also
s
h
o
w
h
o
w
co
m
p
lex
R
OV
co
n
tr
o
l
ca
n
b
e
.
C
ah
ar
ija
et
a
l.
[
1
4
]
s
h
o
w
th
at
co
n
tr
o
llin
g
u
n
d
er
ac
t
u
ated
m
ar
in
e
v
eh
icles
is
d
if
f
icu
lt
an
d
c
h
allen
g
in
g
b
ec
au
s
e
o
f
n
o
n
lin
ea
r
b
eh
av
io
r
,
e
x
ter
n
al
d
is
tu
r
b
an
ce
s
,
a
n
d
p
r
a
ctica
l
is
s
u
es
in
r
ea
l
ex
p
er
im
en
ts
.
Z
o
h
ed
i
et
a
l
.
[
1
5
]
s
h
o
ws
th
at
R
OV
d
y
n
a
m
ics
ar
e
h
ig
h
ly
n
o
n
lin
ea
r
,
in
v
o
lv
e
m
u
ltip
le
v
ar
iab
les,
an
d
ar
e
af
f
ec
ted
b
y
u
n
ce
r
tai
n
ties
an
d
d
is
tu
r
b
a
n
ce
s
.
T
h
is
m
ea
n
s
th
at
co
n
tr
o
ller
s
m
u
s
t
b
e
ab
le
to
h
an
d
le
n
o
n
lin
ea
r
b
eh
av
i
o
r
an
d
ad
a
p
t to
ch
an
g
in
g
c
o
n
d
itio
n
s
.
Mo
r
e
ad
v
an
ce
d
ap
p
r
o
ac
h
es
i
n
teg
r
ate
m
u
ltip
le
tech
n
iq
u
es.
C
itin
g
in
p
ar
ticu
la
r
,
Far
o
o
q
et
a
l
.
[
1
6
]
co
m
b
in
es
PID
c
o
n
tr
o
l
with
es
tim
atio
n
m
eth
o
d
s
to
co
n
tr
o
l
a
f
u
ll
6
-
DOF
R
OV.
T
h
is
im
p
r
o
v
es
s
tab
ilit
y
,
b
u
t
it
also
m
ak
es
th
e
s
y
s
tem
m
o
r
e
co
m
p
lex
.
Mo
r
e
o
v
er
,
it
is
d
if
f
icu
lt
to
m
o
d
el
all
th
e
f
o
r
ce
s
a
ctin
g
o
n
th
e
v
eh
icle
ac
cu
r
ately
,
s
u
ch
as
h
y
d
r
o
d
y
n
am
ic
ef
f
ec
ts
an
d
th
r
u
s
ter
in
ter
ac
tio
n
s
,
an
d
s
en
s
o
r
n
o
is
e
ca
n
r
ed
u
ce
o
v
e
r
all
ac
cu
r
ac
y
.
Oth
er
s
tu
d
ies,
s
u
ch
as
Du
an
et
a
l
.
[
6
]
e
n
h
an
ce
L
QR
co
n
tr
o
l
b
y
ad
d
i
n
g
an
a
d
d
i
tio
n
al
lo
o
p
to
b
etter
d
ea
l
with
d
is
tu
r
b
an
ce
s
in
u
n
d
er
ac
tu
ated
s
y
s
tem
s
.
T
h
is
im
p
r
o
v
es
p
er
f
o
r
m
an
ce
,
b
u
t
it
also
in
cr
ea
s
es
s
y
s
tem
co
m
p
lex
ity
.
T
h
e
m
ain
ch
allen
g
e
is
ac
h
iev
in
g
a
c
o
m
p
r
o
m
is
e
b
etwe
en
r
o
b
u
s
tn
ess
an
d
s
im
p
licity
.
At
a
m
o
r
e
ad
v
a
n
ce
d
lev
el,
in
tellig
en
t
m
eth
o
d
s
ar
e
u
s
ed
.
Fo
r
ex
am
p
le,
Kim
et
a
l.
[
1
7
]
co
m
b
in
e
a
n
o
n
lin
ea
r
o
b
s
er
v
er
with
n
eu
r
al
n
etwo
r
k
s
to
esti
m
ate
u
n
k
n
o
wn
s
y
s
tem
d
y
n
am
ics.
T
h
is
h
elp
s
d
ea
l
w
ith
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Hiera
r
ch
ica
l in
n
er o
u
ter LQ
R
-
P
I
D
co
n
tr
o
ller
b
a
s
ed
o
n
h
i
g
h
-
o
r
d
er
…
(
S
e
d
in
i A
ich
a
)
1843
u
n
ce
r
tain
ties
an
d
e
n
ab
les
co
n
tr
o
l
b
ased
o
n
ly
o
n
o
u
t
p
u
t
m
e
asu
r
em
en
ts
.
Ho
wev
er
,
t
h
e
m
e
th
o
d
is
d
if
f
ic
u
lt
to
d
esig
n
an
d
a
n
aly
ze
,
esp
ec
ially
wh
en
th
e
s
y
s
tem
is
b
o
th
n
o
n
li
n
ea
r
an
d
u
n
d
er
ac
tu
ated
.
B
u
ild
in
g
o
n
ea
r
lier
c
o
n
tr
o
l
m
eth
o
d
s
,
s
o
m
e
r
esear
ch
er
s
f
o
c
u
s
o
n
esti
m
atin
g
d
is
tu
r
b
an
ce
s
in
s
tead
o
f
ju
s
t
r
ea
ctin
g
to
th
em
.
Fo
r
e
x
a
m
p
le,
Fan
et
a
l.
[
1
8
]
u
s
e
a
n
o
n
lin
ea
r
o
b
s
er
v
e
r
to
esti
m
ate
o
ce
an
cu
r
r
e
n
ts
.
Sin
ce
cu
r
r
en
ts
ca
n
n
o
t
b
e
m
ea
s
u
r
e
d
d
ir
ec
tly
,
th
ey
a
r
e
tr
ea
ted
as
u
n
k
n
o
wn
d
is
tu
r
b
an
ce
s
.
T
h
e
m
a
in
d
if
f
icu
lty
h
er
e
is
th
at
cu
r
r
en
ts
h
av
e
a
s
tr
o
n
g
im
p
ac
t
o
n
th
e
v
eh
icle,
s
o
th
e
o
b
s
er
v
er
m
u
s
t
b
e
ac
cu
r
ate
an
d
r
o
b
u
s
t
ev
en
wh
en
th
e
m
o
d
el
is
n
o
t p
e
r
f
ec
t.
T
ak
in
g
a
s
tep
f
u
r
t
h
er
,
Far
o
o
q
et
a
l.
[
1
6
]
co
m
b
i
n
e
a
n
o
n
lin
ea
r
o
b
s
er
v
e
r
with
a
PID
c
o
n
tr
o
ller
f
o
r
a
f
u
ll
6
-
DOF
R
OV
.
T
h
is
im
p
r
o
v
es
s
tab
ilit
y
an
d
tr
ac
k
in
g
s
in
ce
th
e
co
n
tr
o
ller
h
as
m
o
r
e
ac
cu
r
ate
in
f
o
r
m
atio
n
ab
o
u
t
t
h
e
s
y
s
tem
.
H
o
wev
er
,
t
h
er
e
ar
e
s
till
ch
allen
g
es,
p
ar
ti
cu
lar
ly
n
o
is
y
s
en
s
o
r
s
a
n
d
m
is
s
in
g
m
ea
s
u
r
em
e
n
ts
,
wh
ich
ca
n
r
e
d
u
ce
th
e
o
b
s
er
v
e
r
’
s
ac
cu
r
ac
y
an
d
n
e
g
ativ
ely
af
f
ec
t o
v
er
all
p
er
f
o
r
m
a
n
ce
.
At
a
m
o
r
e
ad
v
an
ce
d
lev
el,
L
u
o
et
a
l.
[
1
9
]
p
r
o
p
o
s
e
c
o
m
b
in
in
g
an
ex
ten
d
ed
s
tate
o
b
s
er
v
er
with
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l.
I
n
th
is
ap
p
r
o
ac
h
,
t
h
e
o
b
s
er
v
er
co
n
tin
u
o
u
s
ly
esti
m
ates
d
is
tu
r
b
an
ce
s
an
d
p
r
o
v
i
d
es
th
is
in
f
o
r
m
atio
n
to
th
e
co
n
t
r
o
ller
,
h
en
ce
im
p
r
o
v
in
g
tr
ajec
to
r
y
tr
ac
k
in
g
.
W
h
ile
th
is
lead
s
to
b
etter
p
er
f
o
r
m
an
ce
,
it
is
m
o
r
e
d
if
f
icu
lt
to
d
esig
n
.
T
h
e
o
b
s
er
v
er
m
u
s
t
r
ea
ct
q
u
ick
ly
to
d
is
tu
r
b
an
ce
s
with
o
u
t
ca
u
s
in
g
in
s
tab
ilit
y
o
r
u
n
wan
ted
o
s
cillatio
n
s
(
ch
atter
i
n
g
)
,
wh
ic
h
r
eq
u
ir
es c
ar
ef
u
l t
u
n
in
g
.
R
ec
en
tly
,
r
esear
ch
er
s
h
av
e
b
eg
u
n
co
m
b
in
in
g
d
if
f
er
en
t
co
n
tr
o
l
m
eth
o
d
s
to
b
en
ef
it
f
r
o
m
ea
ch
o
n
e,
s
u
ch
as
h
y
b
r
id
m
et
h
o
d
s
th
at
c
o
m
b
in
e
PID
a
n
d
L
QR
aim
t
o
k
ee
p
PID
s
im
p
le
wh
ile
b
en
ef
i
tin
g
f
r
o
m
th
e
b
etter
p
er
f
o
r
m
an
ce
o
f
L
QR
.
Ho
wev
er
,
th
ese
co
m
b
in
atio
n
s
h
av
e
m
ad
e
th
e
s
y
s
tem
m
o
r
e
d
i
f
f
icu
lt
to
d
esig
n
an
d
tu
n
e,
esp
ec
ially
in
r
ea
l
-
tim
e
u
n
d
er
w
ater
en
v
ir
o
n
m
en
ts
.
I
n
th
is
wo
r
k
,
a
m
o
r
e
ad
v
an
c
ed
an
d
b
alan
ce
d
ap
p
r
o
ac
h
is
p
r
o
p
o
s
ed
.
A
h
ig
h
-
o
r
d
er
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
(
HOSMO
)
is
u
s
ed
to
esti
m
ate
b
o
th
u
n
m
ea
s
u
r
ed
s
ta
tes
an
d
ex
te
r
n
al
d
is
tu
r
b
an
ce
s
,
p
r
o
v
id
i
n
g
r
eliab
le
in
f
o
r
m
atio
n
ev
e
n
wh
en
s
en
s
o
r
s
ar
e
n
o
is
y
o
r
t
h
e
en
v
ir
o
n
m
en
t
is
u
n
ce
r
tain
.
T
h
e
c
o
n
tr
o
l
s
y
s
tem
is
o
r
g
a
n
ized
in
two
lay
er
s
.
T
h
e
in
n
er
l
o
o
p
u
s
es
an
L
QR
co
n
tr
o
ller
to
r
eg
u
late
v
elo
city
,
wh
ile
th
e
o
u
ter
lo
o
p
u
s
es
a
PID
co
n
tr
o
ller
to
c
o
n
tr
o
l p
o
s
itio
n
.
T
h
e
L
QR
is
co
n
tin
u
o
u
s
ly
u
p
d
ated
b
ec
au
s
e
th
e
s
y
s
tem
is
n
o
n
lin
ea
r
b
u
t is wr
itten
in
an
af
f
in
e
f
o
r
m
,
allo
win
g
it
to
ad
ju
s
t
o
v
er
tim
e
th
e
g
ain
K
as
co
n
d
itio
n
s
ch
an
g
e.
At
th
e
s
am
e
tim
e,
th
e
PID
co
n
tr
o
ller
h
elp
s
th
e
v
eh
icle
f
o
llo
w
th
e
d
esire
d
p
ath
s
m
o
o
th
l
y
b
y
u
s
in
g
th
e
v
elo
city
in
f
o
r
m
atio
n
p
r
o
v
id
e
d
b
y
th
e
L
QR
.
Alth
o
u
g
h
th
e
L
QR
co
n
tr
o
ller
g
iv
es
o
p
tim
al
p
e
r
f
o
r
m
an
ce
,
it
r
eq
u
ir
es
f
u
ll
k
n
o
wl
ed
g
e
o
f
all
s
y
s
tem
s
tates,
wh
ich
is
o
f
ten
n
o
t a
v
ail
ab
le
in
r
ea
l
-
wo
r
l
d
ap
p
licatio
n
s
.
T
o
o
v
er
co
m
e
th
is
c
h
allen
g
e,
ad
d
itio
n
al
esti
m
atio
n
an
d
c
o
n
tr
o
l
s
tr
ateg
ies
s
h
o
u
ld
b
e
in
t
eg
r
ated
t
o
en
s
u
r
e
r
eliab
le
p
er
f
o
r
m
a
n
ce
.
T
o
b
r
i
d
g
e
t
h
is
g
ap
,
th
is
p
a
p
er
p
r
o
p
o
s
es
a
h
ie
r
ar
ch
ical
c
o
n
tr
o
ller
th
at
c
o
m
b
in
es
L
QR
,
a
PID
o
u
ter
lo
o
p
,
an
d
th
e
HOSM
o
b
s
er
v
er
t
o
a
ch
iev
e
im
p
r
o
v
ed
r
o
b
u
s
tn
ess
,
en
h
an
ce
d
tr
ac
k
in
g
p
er
f
o
r
m
an
ce
,
a
n
d
ac
cu
r
ate
s
tate
esti
m
atio
n
in
th
e
p
r
esen
ce
o
f
d
is
tu
r
b
an
ce
s
an
d
in
co
m
p
lete
s
tate
in
f
o
r
m
atio
n
.
2.
DYNA
M
I
C
F
O
RM
UL
A
T
I
O
N
2
.
1
.
RO
V
co
nfig
ura
t
io
n a
nd
pro
pu
ls
io
n
s
y
s
t
em
des
cr
iptio
n
T
h
e
R
OV
d
ev
elo
p
ed
i
n
th
is
s
tu
d
y
is
eq
u
ip
p
ed
with
f
i
v
e
ele
ctr
ic
th
r
u
s
ter
s
th
at
p
r
o
v
id
e
co
n
tr
o
l
o
v
e
r
th
e
m
ain
m
o
tio
n
ax
es
n
ec
ess
a
r
y
f
o
r
s
tab
le
u
n
d
er
wate
r
n
a
v
ig
atio
n
an
d
attitu
d
e
co
n
tr
o
l
as
s
h
o
wn
in
Fig
u
r
e
1.
T
h
e
p
r
o
p
u
ls
io
n
s
y
s
tem
is
s
p
ec
if
ically
d
esig
n
ed
to
m
a
n
ag
e
th
r
ee
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
(3
-
DO
F)
:
h
ea
v
e
(
v
er
tical
m
o
v
em
en
t)
,
y
aw
(
r
o
tatio
n
ab
o
u
t
th
e
v
er
tical
ax
is
)
,
a
n
d
s
u
r
g
e
(
lo
n
g
itu
d
in
al
tr
a
n
s
latio
n
th
r
o
u
g
h
c
o
m
b
in
e
d
y
aw
co
n
tr
o
l)
.
T
h
e
f
i
v
e
-
th
r
u
s
ter
ar
r
a
n
g
em
en
t c
o
n
s
is
ts
o
f
th
e
f
o
llo
w
in
g
:
(a
)
(b)
Fig
u
r
e
1
.
R
OV
L
AHN
p
r
o
to
ty
p
e
(
a)
h
o
r
izo
n
tal
p
lan
e
an
d
(
b
)
v
er
tical
p
lan
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
1
6
,
No
.
4
,
Au
g
u
s
t
20
2
6
:
1
8
4
1
-
1
852
1844
2
.
1
.
1
.
T
hree
v
er
t
ica
l t
hrus
t
er
s
(
hea
v
e
co
ntr
o
l
)
T
h
ese
th
r
u
s
ter
s
ar
e
m
o
u
n
te
d
a
lo
n
g
th
e
ce
n
tr
al
a
n
d
later
al
a
x
es
o
f
th
e
R
OV
to
g
e
n
er
ate
v
er
tical
th
r
u
s
t
alo
n
g
th
e
z
-
a
x
is
.
T
h
e
ce
n
tr
al
v
er
tical
th
r
u
s
ter
is
p
o
s
itio
n
ed
at
th
e
v
eh
icle’
s
ce
n
ter
o
f
g
r
av
ity
t
o
p
r
o
v
id
e
u
n
if
o
r
m
lift,
wh
ile
th
e
two
s
i
d
e
-
m
o
u
n
ted
v
er
tical
th
r
u
s
ter
s
en
h
an
ce
s
tab
ilit
y
an
d
en
ab
le
p
r
ec
is
e
co
n
tr
o
l
o
f
p
itch
o
r
r
o
ll
d
u
r
in
g
ascen
t
an
d
d
escen
t.
B
y
ad
ju
s
tin
g
th
e
th
r
u
s
t
d
is
tr
ib
u
tio
n
am
o
n
g
th
e
th
r
ee
v
er
tical
m
o
to
r
s
,
th
e
s
y
s
tem
ac
h
iev
es
f
in
e
d
ep
th
co
n
tr
o
l
an
d
m
ain
tain
s
p
latf
o
r
m
lev
ellin
g
ag
ain
s
t
ex
ter
n
al
d
is
tu
r
b
an
ce
s
s
u
ch
as
cu
r
r
en
ts
o
r
u
n
ev
en
b
u
o
y
a
n
cy
f
o
r
ce
s
.
2
.
1
.
2
.
T
wo
ho
rizo
nta
l t
hrus
t
er
s
(
y
a
w
a
nd
hea
din
g
co
ntr
o
l
)
T
h
e
two
h
o
r
izo
n
tal
th
r
u
s
ter
s
ar
e
in
s
talled
s
y
m
m
etr
ically
o
n
th
e
r
ea
r
o
r
s
id
e
ar
m
s
o
f
th
e
v
eh
icle,
o
r
ien
ted
alo
n
g
th
e
lo
n
g
itu
d
in
al
(
x
-
ax
is
)
.
W
h
en
o
p
e
r
ated
in
th
e
s
am
e
d
ir
ec
tio
n
,
th
ey
p
r
o
d
u
ce
f
o
r
war
d
o
r
b
ac
k
war
d
s
u
r
g
e
m
o
tio
n
;
wh
e
n
d
r
iv
en
i
n
o
p
p
o
s
ite
d
ir
ec
tio
n
s
,
th
ey
g
en
er
ate
a
r
o
tatio
n
al
m
o
m
en
t
ar
o
u
n
d
t
h
e
v
er
tical
ax
is
(
y
aw)
,
allo
win
g
th
e
R
OV
to
tu
r
n
lef
t
o
r
r
ig
h
t
an
d
m
ain
tai
n
h
ea
d
in
g
s
tab
ilit
y
.
T
h
is
d
if
f
er
en
tial
co
n
tr
o
l m
eth
o
d
p
r
o
v
id
es sm
o
o
th
an
d
e
n
er
g
y
-
ef
f
icien
t
y
aw
r
e
g
u
latio
n
.
2
.
2
.
Dy
na
m
ic
m
o
dellin
g
L
et
th
e
s
y
s
tem
b
e
r
ep
r
esen
te
d
as:
{
̇
=
(
2
)
̇
=
−
1
(
̇
)
(
−
(
̇
)
−
(
)
−
(
)
)
(
1
)
W
ith
=
[
1
2
]
;
1
=
[
]
;
2
=
[
]
;
1
an
d
v
₂
d
en
o
te
th
e
lin
ea
r
an
d
a
n
g
u
lar
v
elo
city
v
ec
to
r
r
esp
ec
tiv
ely
with
co
o
r
d
in
ates
in
th
e
b
o
d
y
-
f
ix
ed
f
r
a
m
e.
is
u
s
ed
to
d
escr
ib
e
th
e
t
o
r
q
u
es
an
d
m
o
m
en
ts
ac
tin
g
o
n
t
h
e
v
eh
icle
in
th
e
b
o
d
y
-
f
ix
e
d
f
r
a
m
e
with
:
=
[
]
=
[
1
2
]
(
2
)
W
h
er
e
th
e
co
n
tr
o
l in
p
u
t
g
r
o
u
p
s
th
e
th
r
u
s
t g
en
e
r
ated
b
y
th
e
f
iv
e
p
r
o
p
eller
s
:
=
[
1
2
3
4
5
]
T
h
e
m
atr
ices
1
an
d
2
ar
e
g
i
v
en
b
y
1
=
[
1
1
0
0
0
0
0
0
0
0
0
0
−
1
−
1
−
1
]
;
2
=
[
0
0
1
−
1
0
−
5
−
5
3
3
−
4
2
−
2
0
0
0
]
=
[
1
2
]
;
1
=
[
]
;
2
=
[
]
1
an
d
2
d
en
o
te
th
e
p
o
s
itio
n
an
d
o
r
ien
tatio
n
v
ec
t
o
r
with
co
o
r
d
in
ates in
t
h
e
ea
r
th
-
f
ix
ed
f
r
am
e
,
an
d
(
2
)
=
[
1
(
2
)
0
3
×
3
0
3
×
3
2
(
2
)
]
,
(
3
)
W
ith
1
(
2
)
an
d
2
(
2
)
is
th
e
tr
an
s
f
o
r
m
atio
n
m
atr
ix
r
elate
d
to
E
u
ler
an
g
le
s
1
(
2
)
=
[
−
+
+
−
−
]
.
(
4
)
2
(
2
)
=
[
1
0
−
0
/
/
]
,
≠
2
±
(
5
)
W
ith
th
e
n
o
tatio
n
(
⋅
)
=
(
⋅
)
,
(
⋅
)
=
(
⋅
)
an
d
(
⋅
)
=
(
⋅
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Hiera
r
ch
ica
l in
n
er o
u
ter LQ
R
-
P
I
D
co
n
tr
o
ller
b
a
s
ed
o
n
h
i
g
h
-
o
r
d
er
…
(
S
e
d
in
i A
ich
a
)
1845
3.
CO
NCEPT
O
F
CO
N
T
RO
L
L
E
R
T
h
is
co
n
tr
o
l
s
tr
u
ctu
r
e
is
a
two
-
lo
o
p
(
n
ested
)
co
n
tr
o
l
s
y
s
tem
en
h
a
n
ce
d
with
a
r
o
b
u
s
t
n
o
n
lin
ea
r
o
b
s
er
v
er
.
T
h
e
in
n
e
r
lo
o
p
(
L
Q
R
)
h
an
d
les
f
ast
s
tate
r
e
g
u
latio
n
an
d
d
y
n
am
ic
s
tab
ilizatio
n
o
f
th
e
p
lan
t.
T
h
e
o
u
ter
lo
o
p
(
PID
)
g
o
v
er
n
s
s
et
-
p
o
in
t
t
r
ac
k
in
g
o
r
s
lo
w
d
y
n
a
m
ics,
p
r
o
d
u
cin
g
a
r
ef
er
e
n
ce
f
o
r
th
e
in
n
er
lo
o
p
.
T
h
e
h
ig
h
-
o
r
d
er
s
lid
in
g
m
o
d
e
o
b
s
er
v
e
r
(
HOSM)
esti
m
ate
s
u
n
m
ea
s
u
r
ed
s
y
s
tem
s
tate
s
an
d
p
o
s
s
ib
ly
ex
ter
n
al
d
is
tu
r
b
an
ce
s
in
f
in
ite
tim
e,
p
r
o
v
id
in
g
r
o
b
u
s
t
in
f
o
r
m
atio
n
to
th
e
in
n
er
co
n
tr
o
ller
as
s
h
o
wn
in
Fig
u
r
e
2
.
T
h
is
co
m
b
in
atio
n
ac
h
iev
es
o
p
tim
al
p
er
f
o
r
m
an
c
e,
r
o
b
u
s
tn
ess
,
an
d
p
r
ec
is
e
tr
ac
k
in
g
ev
en
in
th
e
p
r
esen
ce
o
f
u
n
ce
r
tain
ties
an
d
s
en
s
o
r
n
o
is
e.
Fig
u
r
e
2
.
Ov
e
r
all
clo
s
ed
lo
o
p
R
ep
r
esen
t le
t th
e
s
y
s
tem
in
h
ier
ar
ch
ical
f
o
r
m
:
̇
1
=
13
3
̇
2
=
24
4
̇
3
=
33
3
+
34
4
+
31
1
+
32
2
+
31
3
̇
4
=
43
3
+
44
4
+
41
1
+
42
2
+
41
4
(
6
)
W
ith
:
1
=
1
,
2
=
2
,
3
=
1
,
4
=
2
T
ak
en
:
=
[
33
34
13
44
]
;
=
[
13
0
0
24
]
;
=
[
1
2
]
;
=
[
3
4
]
;
=
[
31
32
41
42
]
=
[
1
2
]
;
=
[
31
41
]
;
=
[
0
]
;
=
[
0
]
T
h
en
T
h
e
o
r
em
1
is
s
tated
as f
o
llo
w:
Th
eo
r
em
1
.
(
C
lo
s
ed
-
lo
o
p
s
tab
ilit
y
o
f
th
e
PID
–
L
QR
–
HOSM
co
n
tr
o
lled
s
y
s
tem
)
C
o
n
s
id
er
th
e
n
o
n
lin
ea
r
s
y
s
tem
:
x
̇
=
Ax
+
Bu
+
Gw
wh
er
e
th
e
s
tate
v
ec
to
r
is
p
ar
ti
tio
n
ed
as
x
=
[
x
p
x
v
]
T
with
x
p
∈
R
6
r
ep
r
esen
tin
g
m
ea
s
u
r
ab
le
p
o
s
itio
n
s
tates
an
d
x
v
∈
R
6
r
ep
r
esen
tin
g
v
elo
city
s
tates.
Ass
u
m
e
th
at
p
o
s
itio
n
s
an
d
v
el
o
cities
s
tates
ar
e
esti
m
ated
an
d
co
n
s
tr
u
cted
v
ia
a
h
ig
h
-
o
r
d
er
s
lid
in
g
m
o
d
e
(
HOSM)
o
b
s
er
v
e
r
,
an
d
t
h
e
c
o
n
tr
o
l
s
tr
u
ctu
r
e
co
n
s
is
ts
o
f
an
in
n
er
-
lo
o
p
L
QR
co
n
t
r
o
ller
=
−
̂
an
d
a
n
o
u
ter
-
lo
o
p
PID
co
n
tr
o
ller
g
en
er
atin
g
r
ef
er
e
n
ce
s
ig
n
als
b
ased
o
n
p
o
s
itio
n
tr
ac
k
in
g
er
r
o
r
.
Ass
u
m
e
th
at:
−
T
h
e
p
air
(
A,
B
)
is
s
tab
ilizab
le,
−
T
h
e
L
QR
g
ain
K
r
en
d
er
s
th
e
m
atr
ix
(
A
v
−
B
v
K
)
Hu
r
witz,
−
T
h
e
HOSM
o
b
s
er
v
er
e
n
s
u
r
es f
in
ite
-
tim
e
co
n
v
er
g
en
ce
o
f
th
e
esti
m
atio
n
er
r
o
r
,
−
T
h
e
d
is
tu
r
b
an
ce
w
is
b
o
u
n
d
ed
,
−
T
h
e
PID
g
ain
s
ar
e
ch
o
s
en
s
u
c
h
th
at
th
e
o
u
ter
-
lo
o
p
er
r
o
r
d
y
n
am
ics ar
e
s
tab
le.
T
h
en
,
t
h
e
o
v
er
all
clo
s
ed
-
lo
o
p
s
y
s
tem
is
g
lo
b
ally
asy
m
p
to
tic
ally
s
tab
le,
an
d
all
tr
ac
k
in
g
an
d
esti
m
atio
n
er
r
o
r
s
co
n
v
er
g
e
to
ze
r
o
.
3
.
1
.
I
nn
er
-
lo
o
p desi
g
n:
L
Q
R
T
h
e
in
n
er
-
lo
o
p
L
QR
co
n
tr
o
ll
er
is
d
esig
n
ed
f
r
o
m
(
6
)
b
ased
o
n
th
e
s
tate
-
s
p
ac
e
r
ep
r
esen
tatio
n
o
f
th
e
p
lan
t:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
1
6
,
No
.
4
,
Au
g
u
s
t
20
2
6
:
1
8
4
1
-
1
852
1846
̇
=
(
us
e
d
wi
th
PID
)
̇
=
+
+
(
us
e
d
wi
th
L
QR
)
(
7
)
T
h
e
L
QR
d
esig
n
s
ee
k
s
to
d
e
ter
m
in
e
an
o
p
tim
al
co
n
tr
o
l
la
w
o
f
th
e
f
o
r
m
:
=
−
th
at
m
in
im
i
ze
s
th
e
q
u
ad
r
atic
co
s
t f
u
n
ctio
n
:
=
∫
(
(
)
(
)
+
(
)
)
∞
0
(
8
)
w
h
er
e
Q≥
0
an
d
R
>0
ar
e
th
e
weig
h
tin
g
m
atr
ices
th
at
d
ef
in
e
th
e
tr
ad
e
-
o
f
f
b
etwe
en
s
tate
p
er
f
o
r
m
a
n
ce
an
d
co
n
tr
o
l e
f
f
o
r
t.
T
h
e
o
p
tim
al
g
ai
n
m
atr
ix
is
o
b
tain
ed
as:
=
−
1
(
9
)
w
h
er
e
P
is
th
e
p
o
s
itiv
e
s
em
i
-
d
ef
in
ite
s
o
lu
tio
n
to
th
e
Alg
eb
r
aic
R
icca
ti
eq
u
atio
n
(
AR
E
)
.
T
h
e
r
esu
ltin
g
L
QR
co
n
tr
o
ller
g
u
ar
an
tees
asy
m
p
t
o
tic
s
tab
ilit
y
an
d
an
o
p
tim
al
tr
an
s
ien
t
r
esp
o
n
s
e
u
n
d
er
th
e
ch
o
s
en
p
er
f
o
r
m
a
n
ce
weig
h
ts
.
As
th
e
in
n
er
lo
o
p
,
it
o
p
er
ates
at
a
h
ig
h
er
b
an
d
wid
t
h
,
p
r
o
v
id
in
g
f
ast
d
am
p
in
g
o
f
i
n
ter
n
al
m
o
d
es
an
d
r
ejec
tin
g
h
ig
h
-
f
r
e
q
u
en
c
y
d
is
tu
r
b
an
ce
s
.
3
.
2
.
O
ute
r
-
lo
o
p desi
g
n
:
P
I
D
co
ntr
o
ller
T
h
e
p
u
r
p
o
s
e
o
f
o
u
ter
l
o
o
p
b
a
s
ed
o
n
a
PID
c
o
n
t
r
o
ller
is
to
g
en
er
ate
a
r
ef
er
e
n
ce
s
ig
n
al
f
o
r
th
e
in
n
er
lo
o
p
b
ased
o
n
esti
m
atin
g
er
r
o
r
,
r
ep
r
esen
te
d
b
y
(
)
=
(
)
−
̂
(
)
,
wh
er
e
(
)
is
th
e
d
esire
d
o
u
tp
u
t,
(
)
=
[
(
)
(
)
(
)
(
)
(
)
(
)
]
.
T
h
e
o
u
ter
PID
co
m
p
en
s
ates
f
o
r
s
lo
w
d
y
n
am
ics
a
n
d
en
s
u
r
es z
er
o
s
tead
y
-
s
tate
er
r
o
r
.
I
t
will b
e
r
ep
r
esen
te
d
as
(
1
0
)
:
=
(
)
+
∫
(
)
+
̇
(
)
(
1
0
)
w
h
er
e
(
)
=
(
)
−
(
)
r
ep
r
esen
ts
th
e
g
lo
b
al
s
y
s
tem
er
r
o
r
,
a
n
d
K
P
,
K
I
an
d
K
D
ar
e
th
e
p
r
o
p
o
r
tio
n
al,
in
teg
r
al
,
an
d
d
er
iv
ativ
e
g
ain
s
,
r
esp
ec
tiv
ely
.
T
h
e
PID
co
n
tr
o
ller
o
p
er
ates
at
a
lo
wer
f
r
eq
u
en
cy
co
m
p
ar
ed
to
th
e
in
n
e
r
lo
o
p
,
e
n
s
u
r
in
g
ac
cu
r
ate
s
et
-
p
o
in
t
tr
ac
k
in
g
an
d
ze
r
o
s
tead
y
-
s
tate
er
r
o
r
.
I
t
ef
f
ec
tiv
el
y
co
m
p
en
s
ates
f
o
r
m
o
d
el
u
n
ce
r
tain
ties
,
d
is
tu
r
b
an
ce
s
,
a
n
d
u
n
m
o
d
elled
s
lo
w
d
y
n
am
ics t
h
at
th
e
L
QR
m
ay
n
o
t f
u
lly
ca
p
tu
r
e.
3
.
3
.
H
O
SM
o
bs
er
v
er
Sin
ce
o
n
ly
y
p
o
s
itio
n
is
m
ea
s
u
r
ed
,
th
e
o
b
s
er
v
er
m
u
s
t e
s
tim
ate
th
e
en
tire
s
tate
s
p
ac
e
̂
=
[
0
1
]
:
̇
0
=
−
1
1
2
|
0
−
|
1
2
(
|
0
−
|
)
+
1
̇
1
=
−
0
(
|
0
−
|
)
(
1
1
)
W
ith
α
0
,
α
1
ar
e
o
b
s
er
v
e
r
g
ain
t
u
n
ed
f
o
r
f
in
ite
tim
e
c
o
n
v
e
r
g
en
ce
.
L
is
an
ad
ap
tatio
n
g
ai
n
.
T
h
e
co
m
p
lete
s
y
s
tem
ca
n
b
e
r
ep
r
esen
ted
as
a
ca
s
c
ad
e
o
f
o
b
s
er
v
er
d
y
n
am
ics
(
f
i
n
ite
-
tim
e
s
tab
le)
,
in
n
er
-
lo
o
p
v
elo
city
d
y
n
am
ics
(
ex
p
o
n
en
tially
s
tab
le)
an
d
o
u
t
er
-
lo
o
p
p
o
s
itio
n
d
y
n
am
ics
(
asy
m
p
to
tically
s
tab
le)
.
b
y
ca
s
ca
d
e
s
tab
ilit
y
th
eo
r
y
,
th
e
o
v
er
all
clo
s
ed
-
l
o
o
p
s
y
s
tem
is
g
lo
b
ally
asy
m
p
to
tically
s
ta
b
le.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
co
n
tr
o
ller
p
er
f
o
r
m
a
n
ce
was
s
tu
d
ied
f
o
r
lab
o
r
ato
r
y
p
r
o
to
ty
p
e
o
f
th
e
R
OV
in
F
ig
u
r
e
1.
T
h
e
R
OV
was
co
n
s
tr
u
cted
in
th
e
n
a
v
al
ae
r
o
-
h
y
d
r
o
d
y
n
a
m
ics
lab
o
r
ato
r
y
with
a
m
ass
o
f
=
1
3
:
5
8
2
0
Kg
.
T
h
e
c
en
ter
o
f
g
r
av
ity
was
ca
lcu
lated
as
=
-
0
.
0
9
7
m
;
=
0
m
;
=
0
m
.
T
h
e
ce
n
t
er
o
f
b
u
o
y
a
n
cy
was
d
eter
m
in
ed
th
r
o
u
g
h
ex
p
e
r
im
en
ts
co
n
d
u
c
ted
in
th
e
to
win
g
tan
k
o
f
th
e
m
ar
itime
en
g
in
ee
r
in
g
d
e
p
ar
tm
en
t,
y
ield
in
g
=
-
0
.
0
8
7
m
;
=
0
m
;
=
-
0
.
0
2
7
m
.
T
h
e
m
o
m
e
n
ts
o
f
in
er
tia,
=
0
.
2
4
2
9
Kg
.
m
2
;
=
0
.
8
7
9
4
Kg
.
m
2
;
=
1
.
0
5
7
0
K
g
.
m
2
,
wer
e
e
v
alu
ated
th
r
o
u
g
h
ex
p
er
im
en
tal
test
s
in
th
e
v
ib
r
atio
n
lab
o
r
ato
r
y
an
d
co
m
p
ar
ed
with
th
o
s
e
o
b
tain
ed
u
s
in
g
So
lid
W
o
r
k
s
.
1
=
0
.
1
6
m
;
2
=
0
.
1
4
m
;
3
=
0
.
1
8
5
m
;
4
=
0
.
3
5
m
;
5
=
0
.
1
2
m;
T
h
e
k
in
em
atic
co
u
p
lin
g
m
atr
ices
A
ij
(
ea
ch
o
f
d
im
en
s
io
n
3
×3
)
a
r
e
g
i
v
en
b
y
:
13
=
1
(
2
)
,
24
=
2
(
2
)
T
h
e
elem
en
ts
o
f
th
e
m
atr
ix
33
,
A
34
,
A
43
an
d
A
44
ar
e
ex
p
r
ess
ed
as:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Hiera
r
ch
ica
l in
n
er o
u
ter LQ
R
-
P
I
D
co
n
tr
o
ller
b
a
s
ed
o
n
h
i
g
h
-
o
r
d
er
…
(
S
e
d
in
i A
ich
a
)
1847
3
3
11
=
−
4
.
947
−
0
.
01
−
1
.
198
3
4
11
=
−
0
.
022
−
0
.
01
+
0
.
0205
3
3
12
=
0
.
872
−
0
.
0149
3
4
12
=
0
.
297
−
0
.
0788
−
0
.
634
+
0
.
00254
3
3
13
=
−
1
.
025
−
0
.
852
+
0
.
046
3
4
13
=
−
0
.
088
−
0
.
0581
+
0
.
389
3
3
21
=
−
1
.
052
−
0
.
0893
−
0
.
573
3
4
21
=
−
0
.
205
−
0
.
205
+
0
.
564
−
0
.
089
3
3
22
=
−
8
.
128
−
0
.
215
−
2
.
417
+
0
.
208
3
4
22
=
−
0
.
254
+
0
.
245
+
0
.
025
3
3
23
=
0
.
688
−
0
.
335
+
1
.
558
3
4
32
=
0
.
042
−
0
.
011
−
3
.
453
+
0
.
1
3
3
33
=
−
9
.
343
+
0
.
00201
+
0
.
0395
3
4
33
=
−
0
.
002
+
0
.
004
−
0
.
01
4
3
11
=
−
3
.
761
−
0
.
32
−
2
.
052
4
3
12
=
−
29
.
058
−
5
.
258
−
44
.
234
+
0
.
744
4
3
13
=
−
1
.
119
−
6
.
126
+
28
.
53
4
3
21
=
1
.
55
+
0
.
17
+
3
.
186
4
3
22
=
−
0
.
273
+
0
.
232
4
3
23
=
−
0
.
047
+
16
.
352
−
0
.
745
4
3
31
=
−
2
.
684
−
1
.
07
3
−
6
.
885
4
3
32
=
−
5
.
052
+
0
.
672
−
3
.
181
+
2
.
497
4
3
33
=
0
.
904
−
0
.
441
+
2
.
052
4
4
11
=
−
0
.
735
+
2
.
015
−
3
.
757
−
0
.
32
4
4
12
=
−
4
.
654
+
5
.
806
+
0
.
089
4
4
13
=
14
.
215
+
3
.
879
+
4
.
356
+
5
.
578
4
4
21
=
0
.
358
+
0
.
017
−
0
.
332
4
4
22
=
0
.
008
+
0
.
198
−
4
.
816
−
0
.
04
4
4
23
=
0
.
027
−
0
.
07
+
0
.
192
4
4
31
=
−
3
.
377
−
0
.
457
−
0
.
270
−
1
.
072
4
4
32
=
−
0
.
335
−
0
.
632
+
0
.
3
4
4
33
=
0
.
95
+
0
.
112
−
8
.
293
+
0
.
401
T
h
e
in
p
u
t
m
atr
ices
31
,
32
,
41
an
d
42
ar
e
d
ef
in
ed
as:
31
=
[
0
.
064
0
0
.
001
0
0
.
069
0
0
.
001
0
0
.
044
]
,
32
=
[
0
−
0
.
020
0
0
.
245
0
0
.
090
0
−
0
.
017
0
]
41
=
[
0
0
.
245
0
−
0
.
020
0
−
0
.
017
0
0
.
090
0
]
,
42
=
[
4
.
483
0
0
.
032
0
0
.
323
0
0
.
323
0
1
.
082
]
T
h
e
m
atr
ices
31
an
d
41
ar
e
wr
itten
as:
31
=
[
−
0
.
075
0
0
0
0
.
913
0
−
0
.
064
0
0
]
,
41
=
[
0
16
.
623
0
1
.
205
0
0
0
1
.
187
0
]
T
h
e
v
ec
to
r
3
an
d
4
ar
e
d
ef
in
ed
a
s
:
3
=
4
=
[
]
T
h
e
in
p
u
t
v
ec
to
r
s
1
an
d
2
ca
n
b
e
wr
itten
as:
1
=
1
;
2
=
2
T
h
e
p
ar
am
eter
s
o
f
t
h
e
co
n
tr
o
l la
ws
an
d
o
b
s
er
v
er
s
ar
e
g
iv
e
n
in
T
ab
le
s
1
an
d
2
.
T
h
e
s
im
u
latio
n
r
esu
lts
ar
e
r
ep
r
esen
ted
i
n
Fig
u
r
es
3
to
8
.
A
co
m
p
a
r
ativ
e
s
tu
d
y
is
ad
d
ed
an
d
p
r
esen
ted
in
t
h
is
wo
r
k
,
co
n
s
id
er
in
g
th
r
ee
co
n
tr
o
l
s
ce
n
ar
io
s
in
T
ab
le
3
.
T
h
e
f
ir
s
t
s
ce
n
ar
io
in
teg
r
ates
a
PID
co
n
tr
o
ller
with
an
L
QR
co
n
tr
o
ller
an
d
a
HOSM
o
b
s
er
v
er
.
T
h
e
s
ec
o
n
d
s
ce
n
ar
io
u
tili
ze
s
an
L
QR
co
n
tr
o
ller
in
c
o
n
ju
n
ctio
n
with
a
HOSM
o
b
s
er
v
er
,
wh
ile
th
e
th
ir
d
s
ce
n
a
r
io
is
b
a
s
ed
s
o
lely
o
n
a
PID
c
o
n
tr
o
ll
er
.
T
h
e
p
e
r
f
o
r
m
an
ce
o
f
ea
ch
co
n
tr
o
l
s
tr
ateg
y
is
s
y
s
tem
atica
lly
ev
alu
ated
u
s
in
g
s
tan
d
ar
d
tim
e
-
d
o
m
ain
s
p
ec
if
icatio
n
s
,
n
am
ely
r
is
e
tim
e,
s
ettlin
g
tim
e,
an
d
o
v
er
s
h
o
o
t
o
f
th
e
o
u
tp
u
t sig
n
al
s
.
T
ab
le
1
.
PID
p
a
r
am
eter
s
(
)
+
∫
(
)
+
̇
(
)
12
0
.
0
0
2
4
20
0
.
0
0
0
9
25
50
0
.
0
1
30
30
0
.
0
0
5
25
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
1
6
,
No
.
4
,
Au
g
u
s
t
20
2
6
:
1
8
4
1
-
1
852
1848
T
ab
le
2
.
HOSM
an
d
L
QR
p
ar
am
eter
s
M
e
t
h
o
d
P
a
r
a
me
t
e
r
s
a
n
d
V
a
l
u
e
s
LQ
R
p
a
r
a
m
e
t
e
r
s
=
6
×
6
=
10
6
×
6
H
O
S
M
p
a
r
a
me
t
e
r
s
0
=
1
.
3
1
=
1
.
5
=
(
(
[
2
,
2
,
1
.
2
,
0
.
2
,
0
.
2
,
2
]
)
T
h
e
tu
n
in
g
o
f
th
e
Q
an
d
R
m
atr
ices
was
ca
r
r
ied
o
u
t
m
eticu
lo
u
s
ly
,
b
ased
o
n
t
o
r
q
u
e
r
esu
lts
th
at
m
u
s
t
r
em
ain
r
ea
lis
tic
with
r
esp
ec
t
to
th
e
ac
tu
ato
r
s
u
s
ed
.
T
h
e
p
a
r
am
eter
s
Kp
,
Ki,
an
d
Kd
ar
e
ch
o
s
en
to
ac
h
iev
e
ac
ce
p
tab
le
s
tab
ilit
y
an
d
a
s
lo
wer
r
esp
o
n
s
e
th
a
n
th
e
L
QR
c
o
n
tr
o
ller
,
i
n
o
r
d
er
t
o
b
etter
co
n
tr
o
l
th
e
b
eh
av
i
o
r
o
f
th
e
s
y
s
tem
o
u
tp
u
ts
.
Ho
wev
er
,
th
e
o
b
s
er
v
er
p
ar
a
m
eter
s
0
,
1
,
an
d
ar
e
s
elec
ted
to
en
s
u
r
e
a
f
ast
r
esp
o
n
s
e
o
f
th
e
esti
m
ated
s
tates
[
7
]
,
en
ab
li
n
g
th
eir
e
f
f
ec
tiv
e
u
s
e
b
y
th
e
L
QR
an
d
PID
co
n
tr
o
ller
s
.
T
h
e
s
im
u
latio
n
r
esu
lts
ar
e
p
r
e
s
en
ted
in
Fig
u
r
es
3
to
8
,
s
h
o
win
g
th
e
r
esp
o
n
s
es
o
f
t
h
e
,
,
,
an
d
ψ
o
u
tp
u
ts
,
alo
n
g
with
th
eir
co
r
r
esp
o
n
d
in
g
tr
ac
k
in
g
an
d
esti
m
atio
n
er
r
o
r
s
.
E
ac
h
o
u
tp
u
t
is
ev
alu
ated
u
n
d
er
th
r
ee
co
n
tr
o
l
c
o
n
f
ig
u
r
atio
n
s
:
a
PID
co
n
tr
o
ller
co
m
b
in
ed
with
an
L
QR
co
n
tr
o
ller
a
n
d
a
HOSM
o
b
s
er
v
er
,
an
L
QR
co
n
tr
o
ller
with
a
HOSM
o
b
s
e
r
v
er
,
an
d
(
3
)
a
s
tan
d
alo
n
e
PI
D
co
n
tr
o
ller
.
T
h
e
c
o
m
p
ar
is
o
n
o
f
th
e
th
r
ee
co
n
tr
o
l
m
eth
o
d
s
s
h
o
ws
th
at
th
e
co
m
b
in
ed
PID
–
L
QR
–
OB
S
ap
p
r
o
ac
h
p
er
f
o
r
m
s
b
etter
th
an
b
o
th
L
QR
with
o
b
s
er
v
er
alo
n
e
an
d
PID
alo
n
e
as sh
o
wn
in
T
ab
le
3
.
Fig
u
r
e
3
.
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u
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u
t
Fig
u
r
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y
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u
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O
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sh
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D
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T
h
e
s
im
u
latio
n
r
esu
lts
also
s
h
o
w
th
at
th
e
PID
–
L
QR
–
OB
S
co
n
tr
o
ller
r
e
d
u
ce
s
th
e
in
teg
r
al
ab
s
o
lu
te
er
r
o
r
(
I
AE
)
b
y
9
6
%
co
m
p
ar
e
d
to
th
e
s
tan
d
ar
d
PID
co
n
tr
o
ller
,
an
d
b
y
8
0
%
c
o
m
p
ar
e
d
to
th
e
L
QR
co
n
tr
o
lle
r
f
o
r
th
e
o
u
tp
u
t,
m
ea
n
in
g
it
tr
ac
k
s
th
e
d
esire
d
tr
ajec
to
r
y
m
u
c
h
m
o
r
e
ac
cu
r
ately
,
th
e
I
AE
is
r
ed
u
ce
d
f
o
r
b
y
9
6
%
(
co
m
p
a
r
ed
to
PID
)
an
d
7
7
%
(
co
m
p
ar
e
d
to
L
QR
)
.
W
e
ca
n
r
ef
er
to
T
a
b
le
3
to
v
er
i
f
y
th
e
p
er
f
o
r
m
an
ce
o
f
th
is
m
eth
o
d
b
y
a
n
aly
zin
g
an
d
ψ.
T
h
e
an
aly
s
is
b
ased
o
n
th
e
I
T
AE
p
r
esen
ted
in
th
e
tab
le
co
n
f
ir
m
s
also
th
e
r
esu
lts
o
b
tain
ed
.
T
h
is
en
h
a
n
ce
d
p
er
f
o
r
m
a
n
ce
ca
n
b
e
attr
ib
u
ted
to
th
e
f
ac
t
th
at
th
e
L
QR
–
o
b
s
er
v
er
co
n
f
ig
u
r
atio
n
p
r
im
a
r
ily
r
eg
u
l
ates
th
e
s
y
s
tem
v
elo
cities,
in
f
lu
en
ce
d
b
y
th
e
p
r
esen
ce
o
f
ze
r
o
s
in
th
e
s
tate
m
atr
ix
,
wh
ich
lim
its
its
ef
f
ec
tiv
en
ess
in
f
u
lly
s
h
a
p
in
g
th
e
o
v
er
all
d
y
n
am
ic
r
esp
o
n
s
e.
On
th
e
o
th
er
h
an
d
,
th
e
PID
co
n
tr
o
ller
alo
n
e
is
h
ig
h
ly
d
ep
en
d
e
n
t
o
n
o
p
tim
al
tu
n
in
g
ar
o
u
n
d
a
s
p
ec
if
ic
o
p
e
r
atin
g
p
o
in
t,
wh
ich
r
estricts
its
r
o
b
u
s
tn
ess
u
n
d
er
v
ar
y
in
g
c
o
n
d
itio
n
s
.
Fig
u
r
e
7
r
ef
lects
th
e
b
eh
a
v
io
r
o
f
th
e
th
r
u
s
ter
s
wh
ich
wer
e
n
o
r
m
ally
ac
ce
p
tab
le
f
o
r
th
e
m
o
t
o
r
u
s
ed
.
All
eig
en
v
alu
es
in
Fig
u
r
e
8
lie
s
tr
ictly
in
th
e
lef
t
h
alf
o
f
t
h
e
co
m
p
lex
p
la
n
e
(
.
.
,
all
h
av
e
n
eg
ativ
e
r
ea
l
p
ar
ts
)
,
wh
ich
co
n
f
ir
m
s
th
e
s
tab
ilit
y
o
f
th
e
clo
s
ed
-
lo
o
p
s
y
s
tem
.
5.
CO
NCLU
SI
O
N
Fin
ally
,
th
is
ar
ch
itectu
r
e
PID
-
L
QR
-
HOSMO
is
p
ar
ticu
lar
ly
ad
v
an
tag
eo
u
s
in
s
y
s
tem
s
with
m
u
lti
-
tim
e
-
s
ca
le
d
y
n
am
ics,
s
u
ch
as
R
OVs,
wh
er
e
f
ast
in
n
er
d
y
n
a
m
ics
m
u
s
t
b
e
tig
h
tly
co
n
tr
o
lle
d
wh
ile
m
ain
tain
in
g
ac
cu
r
ate
o
v
er
all
s
y
s
tem
p
er
f
o
r
m
an
ce
.
I
t
is
r
em
a
r
k
ed
th
at
th
e
o
u
ter
PID
c
o
n
tr
o
ller
h
a
s
en
s
u
r
ed
ac
c
u
r
ate
r
ef
er
en
ce
f
o
llo
win
g
an
d
t
h
e
in
n
er
L
QR
co
n
t
r
o
ller
h
as
g
u
ar
an
teed
f
ast
an
d
s
m
o
o
th
tr
an
s
ien
t
b
eh
a
v
io
r
.
Mo
r
eo
v
er
,
ev
e
n
with
th
e
HO
SM
o
b
s
er
v
er
u
s
ed
f
o
r
u
n
m
ea
s
u
r
ed
,
t
h
is
ar
ch
itectu
r
e
ac
h
iev
e
s
h
ig
h
p
e
r
f
o
r
m
an
ce
an
d
r
o
b
u
s
tn
ess
,
an
d
p
r
ec
is
io
n
tr
ac
k
in
g
ev
e
n
f
o
r
u
n
ce
r
tain
,
n
o
n
lin
ea
r
,
o
r
p
a
r
tially
o
b
s
er
v
ab
le
s
y
s
tem
s
wh
en
co
m
p
ar
ed
with
PID
o
r
L
QR
alo
n
e.
Fu
tu
r
e
wo
r
k
will
in
v
o
lv
e
ex
p
er
im
e
n
tal
v
alid
atio
n
in
a
test
tan
k
an
d
in
v
esti
g
atio
n
o
f
a
d
ap
tiv
e
g
ain
s
ch
ed
u
lin
g
f
o
r
th
e
L
QR
an
d
PID
.
Evaluation Warning : The document was created with Spire.PDF for Python.