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tab
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Pas
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[
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8
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4
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o
r
s
em
i
-
s
o
lid
s
tate,
an
d
th
e
m
ag
n
etic
p
ar
ticles
in
th
e
liq
u
id
ar
e
ar
r
an
g
ed
r
e
g
u
lar
ly
.
W
h
en
th
e
m
ag
n
etic
f
ield
d
is
ap
p
ea
r
s
,
th
e
MR
f
lu
id
r
etu
r
n
s
to
th
e
liq
u
id
s
tate,
an
d
th
e
ar
r
an
g
em
e
n
t
o
f
th
e
m
ag
n
etic
p
ar
ticles
b
ec
o
m
es
d
is
o
r
d
e
r
e
d
[
6
]
,
[
7
]
.
MR
d
am
p
er
s
o
f
f
er
s
ev
er
al
ad
v
a
n
tag
es,
in
cl
u
d
in
g
l
o
w
en
er
g
y
co
n
s
u
m
p
tio
n
,
f
ast
r
esp
o
n
s
e,
an
d
r
elativ
ely
lo
w
c
o
s
t,
m
ak
in
g
th
em
wid
ely
u
s
ed
in
v
i
b
r
atio
n
co
n
tr
o
l
an
d
r
ed
u
ctio
n
s
y
s
tem
s
[
8
]
–
[
1
0
]
.
H
o
wev
er
,
th
eir
m
ec
h
an
ical
r
esp
o
n
s
e
ex
h
ib
its
s
tr
o
n
g
n
o
n
lin
ea
r
ity
an
d
p
r
o
n
o
u
n
ce
d
h
y
s
ter
esis
,
m
ak
in
g
ef
f
ec
tiv
e
c
o
n
tr
o
l
o
f
MR
d
am
p
er
s
an
im
p
o
r
ta
n
t
is
s
u
e
in
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
r
esear
ch
an
d
a
co
n
tin
u
in
g
f
o
c
u
s
o
f
s
ch
o
lar
ly
atten
tio
n
[
1
1
]
,
[
1
2
]
.
Owin
g
to
its
s
im
p
le
s
tr
u
ctu
r
e,
ea
s
e
o
f
im
p
lem
en
tatio
n
,
a
n
d
s
tr
o
n
g
r
o
b
u
s
tn
ess
,
th
e
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
-
d
er
iv
ati
v
e
(
PID
)
co
n
t
r
o
ller
h
as
b
ee
n
wid
ely
a
d
o
p
te
d
in
in
d
u
s
tr
ial
co
n
t
r
o
l
s
y
s
tem
s
[
1
3
]
,
b
u
t
it
is
n
o
t
s
u
itab
le
f
o
r
co
n
tr
o
llin
g
n
o
n
lin
ea
r
s
y
s
tem
s
.
R
esear
ch
er
s
p
r
o
p
o
s
e
m
o
d
if
ie
d
PID
co
n
tr
o
ller
,
s
u
ch
as
f
r
ac
t
io
n
al
-
o
r
d
e
r
P
I
D
(
FOP
I
D
)
c
o
n
tr
o
l
le
r
[
1
4
]
,
s
ig
m
o
i
d
P
I
D
c
o
n
tr
o
l
le
r
[
1
5
]
,
a
n
d
g
r
ay
P
I
D
c
o
n
t
r
o
lle
r
[
1
6
]
,
t
o
co
n
t
r
o
l
m
o
r
e
c
o
m
p
l
e
x
s
y
s
t
e
m
s
.
T
u
m
ar
i
et
a
l.
[
1
7
]
u
s
e
d
a
m
eta
-
h
e
u
r
is
ti
c
a
lg
o
r
it
h
m
(
m
ar
in
e
p
r
ed
at
o
r
s
alg
o
r
ith
m
)
to
d
eter
m
in
e
th
e
o
p
tim
al
g
ain
p
ar
am
eter
s
f
o
r
th
e
FOPID
co
n
tr
o
ller
,
wh
ich
r
e
q
u
ir
es
f
iv
e
o
p
tim
al
g
ain
p
ar
am
eter
s
.
Ay
s
al
et
a
l
.
[
1
8
]
co
m
p
ar
ed
s
ev
er
al
co
n
tr
o
ll
er
s
an
d
m
etah
eu
r
is
tic
o
p
tim
iz
atio
n
alg
o
r
ith
m
s
f
o
r
h
alf
-
ca
r
ac
tiv
e
s
u
s
p
en
s
io
n
s
y
s
tem
s
.
T
h
e
o
p
tim
ized
PID
co
n
tr
o
ller
s
h
o
wed
t
h
e
b
est
o
v
er
all
p
er
f
o
r
m
an
ce
.
Sweth
am
ar
ai
an
d
L
a
k
s
h
m
i
[
1
9
]
ap
p
lied
ad
a
p
tiv
e
f
u
zz
y
f
r
ac
tio
n
al
-
o
r
d
e
r
PID
co
n
tr
o
ller
to
s
tu
d
y
th
e
v
ib
r
atio
n
r
ed
u
ctio
n
p
er
f
o
r
m
a
n
ce
c
o
n
tr
o
l
o
f
a
th
r
ee
-
d
eg
r
ee
-
of
-
f
r
ee
d
o
m
q
u
a
r
ter
ac
tiv
e
s
u
s
p
en
s
io
n
an
d
ac
h
iev
es
g
o
o
d
co
n
tr
o
l
r
esu
lts
.
T
h
e
o
p
tim
a
l
co
n
tr
o
l
p
ar
am
eter
s
o
b
tain
ed
b
y
t
h
ese
im
p
r
o
v
ed
PI
D
co
n
tr
o
ller
s
an
d
m
eta
-
h
eu
r
is
tic
alg
o
r
ith
m
s
ca
n
im
p
r
o
v
e
th
e
c
o
n
tr
o
l
ac
cu
r
ac
y
,
b
u
t
th
e
y
in
c
r
ea
s
e
th
e
co
m
p
l
ex
ity
o
f
th
e
co
n
tr
o
l
ca
lcu
latio
n
an
d
t
h
e
s
o
lu
tio
n
ti
m
e,
an
d
o
b
tain
lo
ca
l
o
p
tim
al
s
o
lu
tio
n
s
.
Au
to
m
o
b
ile
s
u
s
p
en
s
io
n
co
n
t
r
o
l
r
eq
u
i
r
es
f
ast
r
ea
l
-
tim
e
r
es
p
o
n
s
e.
Alth
o
u
g
h
s
o
m
e
co
m
p
l
ex
co
n
tr
o
l
m
eth
o
d
s
ca
n
ac
h
ie
v
e
h
ig
h
ac
c
u
r
ac
y
,
th
eir
co
m
p
u
tatio
n
al
b
u
r
d
en
lim
its
r
ea
l
-
tim
e
p
er
f
o
r
m
a
n
ce
.
Fu
zz
y
co
n
tr
o
l
u
s
es
ex
p
er
t
k
n
o
wled
g
e
f
o
r
r
ap
id
in
f
er
e
n
ce
,
wh
ile
PID
c
o
n
tr
o
l
h
as
a
s
im
p
le
an
d
p
r
ac
tical
s
t
r
u
ctu
r
e.
T
h
er
ef
o
r
e,
co
m
b
in
in
g
f
u
zz
y
co
n
tr
o
l
wit
h
PID
co
n
tr
o
l
ca
n
im
p
r
o
v
e
t
h
e
r
ea
l
-
tim
e
v
ib
r
atio
n
r
ed
u
ctio
n
p
e
r
f
o
r
m
an
ce
o
f
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
.
T
h
e
p
r
o
p
o
s
ed
f
u
zz
y
-
PID
s
ch
e
m
e
is
co
m
p
ar
ed
with
p
ass
iv
e
s
u
s
p
en
s
io
n
an
d
co
n
v
en
tio
n
al
PID
co
n
tr
o
l u
n
d
er
s
in
u
s
o
id
al
ex
citatio
n
s
o
f
2
c
m
,
6
cm
,
a
n
d
1
0
c
m
,
as
well
a
s
I
SO
8
6
0
8
r
an
d
o
m
r
o
a
d
i
n
p
u
ts
.
B
o
d
y
a
cc
e
le
r
at
io
n
,
s
u
s
p
e
n
s
i
o
n
t
r
a
v
el,
an
d
ti
r
e
d
e
f
le
cti
o
n
ar
e
a
n
al
y
ze
d
to
e
v
a
lu
a
te
its
p
er
f
o
r
m
a
n
c
e.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
Se
m
i
-
a
ct
iv
e
s
us
pen
s
io
n
m
o
del
T
h
e
2
-
d
e
g
r
ee
-
of
-
f
r
ee
d
o
m
q
u
a
r
ter
-
ca
r
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
s
y
s
tem
with
v
er
tical
v
ib
r
atio
n
in
clu
d
es
s
p
r
u
n
g
m
ass
an
d
d
is
p
lace
m
en
t
(
,
)
,
u
n
s
p
r
u
n
g
m
ass
an
d
d
is
p
lac
em
en
t
(
,
)
,
ac
tu
ato
r
d
am
p
in
g
f
o
r
c
e
(
)
,
d
a
m
p
in
g
co
e
f
f
i
ci
en
t
(
)
,
s
p
r
i
n
g
s
tif
f
n
ess
(
)
,
a
n
d
ti
r
e
s
ti
f
f
n
ess
a
n
d
d
is
p
la
ce
m
e
n
t
(
,
)
,
as
s
h
o
w
n
i
n
Fig
u
r
e
1
.
T
h
e
s
p
r
u
n
g
m
ass
r
ep
r
es
en
ts
t
h
e
v
e
h
ic
le
b
o
d
y
,
wh
e
r
e
as
th
e
u
n
s
p
r
u
n
g
m
ass
m
ai
n
l
y
r
ep
r
es
e
n
ts
t
h
e
wh
e
el
a
n
d
ass
o
c
iat
e
d
s
u
s
p
e
n
s
io
n
c
o
m
p
o
n
e
n
ts
.
T
h
e
i
n
t
e
r
a
cti
o
n
am
o
n
g
t
h
e
s
u
s
p
e
n
s
i
o
n
s
p
r
in
g
,
c
o
n
t
r
o
lla
b
l
e
d
a
m
p
i
n
g
f
o
r
c
e,
a
n
d
ti
r
e
s
ti
f
f
n
e
s
s
d
ete
r
m
i
n
es
t
h
e
v
e
r
tic
al
d
y
n
a
m
ic
r
es
p
o
n
s
e
o
f
t
h
e
s
y
s
t
em
t
o
r
o
a
d
d
is
t
u
r
b
a
n
c
es.
Fig
u
r
e
1
.
Sem
i
-
ac
tiv
e
s
u
s
p
e
n
s
io
n
[
2
0
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
8
1
4
I
n
t J Ad
v
Ap
p
l Sci
,
Vo
l.
1
5
,
No
.
3
,
Sep
tem
b
er
2
0
2
6
:
1
0
3
8
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1
0
4
9
1040
Acc
o
r
d
in
g
to
New
to
n
’
s
s
ec
o
n
d
law,
th
e
q
u
ar
ter
-
ca
r
s
u
s
p
en
s
io
n
m
o
d
el
is
f
o
r
m
u
lated
u
n
d
er
th
e
ass
u
m
p
tio
n
s
th
at
th
e
s
u
s
p
en
s
i
o
n
s
p
r
in
g
an
d
tire
s
tiff
n
ess
r
e
m
ain
lin
ea
r
with
in
th
e
o
p
er
ati
n
g
r
a
n
g
e
.
A
n
d
th
at
th
e
tire
m
ain
tain
s
co
n
tact
wit
h
th
e
r
o
ad
s
u
r
f
ac
e
.
T
ak
in
g
t
h
e
s
tati
c
eq
u
ilib
r
iu
m
p
o
s
itio
n
as
th
e
r
ef
er
en
ce
,
th
e
d
y
n
am
ic
e
q
u
atio
n
s
o
f
th
e
s
p
r
u
n
g
an
d
u
n
s
p
r
u
n
g
m
ass
es c
an
b
e
ex
p
r
ess
ed
as (
1
)
a
n
d
(
2
)
[
2
0
]
.
̈
=
−
(
−
)
−
(
̇
−
̇
)
−
(
1
)
̈
=
(
−
)
+
(
̇
−
̇
)
−
(
−
)
+
(
2
)
2
.
2
.
M
a
g
net
o
rheo
lo
g
ica
l da
m
per
m
o
del
T
h
er
e
ar
e
two
t
y
p
es
o
f
MR
d
am
p
in
g
m
o
d
elin
g
:
p
a
r
am
etr
ic
m
o
d
el
an
d
n
o
n
-
p
a
r
am
etr
ic
m
o
d
el.
T
h
e
p
ar
am
etr
ic
m
o
d
el
is
m
o
r
e
ac
cu
r
ate
in
d
escr
ib
in
g
t
h
e
d
y
n
am
ic
ch
ar
ac
ter
is
tics
o
f
th
e
MR
d
am
p
er
an
d
co
n
v
en
ie
n
t
f
o
r
a
n
aly
zin
g
a
n
d
u
n
d
e
r
s
tan
d
in
g
t
h
e
wo
r
k
in
g
p
r
in
cip
les
o
f
th
e
d
am
p
e
r
.
Sp
en
ce
r
’
s
m
o
d
if
ie
d
B
o
u
c
-
W
en
m
o
d
el,
as
s
h
o
wn
i
n
Fig
u
r
e
2
,
is
a
d
o
p
ted
to
d
escr
ib
e
th
e
h
y
s
ter
etic
b
e
h
av
io
r
o
f
MR
d
am
p
er
[
2
1
]
.
T
h
is
m
o
d
el
p
r
o
v
i
d
es
a
g
o
o
d
f
i
t
to
ex
p
er
im
en
tal
d
ata
an
d
ef
f
ec
tiv
ely
ca
p
tu
r
es
th
e
n
o
n
li
n
ea
r
f
o
r
ce
-
v
elo
city
r
esp
o
n
s
e.
T
h
e
g
o
v
e
r
n
in
g
eq
u
at
io
n
s
ar
e
g
iv
e
n
in
(
3
)
to
(
9
)
.
=
1
×
̇
+
1
×
(
−
0
)
(
3
)
̇
=
−
×
|
̇
−
̇
|
×
×
|
|
−
1
−
(
̇
−
̇
)
×
|
|
+
(
̇
−
̇
)
(
4
)
̇
=
1
0
+
1
(
+
0
×
̇
+
0
(
−
)
)
(
5
)
=
+
×
(
6
)
0
=
0
+
0
×
(
7
)
1
=
1
+
1
×
(
8
)
̇
=
−
(
−
)
(
9
)
W
h
er
e
an
d
̇
d
en
o
te
th
e
r
elativ
e
d
is
p
lace
m
en
t
a
n
d
v
elo
cit
y
o
f
th
e
MR
d
am
p
er
,
r
esp
ec
t
iv
ely
;
1
is
th
e
ac
cu
m
u
lato
r
s
tiff
n
ess
;
0
r
ep
r
esen
ts
th
e
v
is
co
u
s
d
am
p
in
g
c
o
ef
f
icien
t
at
h
ig
h
v
elo
city
;
1
d
en
o
te
s
th
e
d
am
p
in
g
co
ef
f
icien
t
o
f
th
e
lo
w
-
v
el
o
ci
ty
v
is
co
u
s
elem
en
t
;
0
an
d
0
ar
e
th
e
lin
ea
r
s
p
r
in
g
s
tiff
n
e
s
s
an
d
in
itial
d
is
p
lace
m
en
t,
r
esp
ec
tiv
ely
;
an
d
̇
ar
e
th
e
d
is
p
lace
m
en
t
an
d
v
e
lo
city
o
f
th
e
in
ter
n
al
v
is
co
u
s
elem
en
t;
is
h
y
s
ter
etic
r
esto
r
in
g
v
ar
iab
le
;
is
th
e
o
u
t
p
u
t
o
f
th
e
f
ir
s
t
-
o
r
d
er
f
ilter
;
is
th
e
in
p
u
t
v
o
ltag
e
;
is
th
e
tim
e
co
n
s
tan
t
.
an
d
,
,
,
,
,
0
,
1
,
1
,
an
d
ar
e
em
p
ir
ical
c
o
n
s
tan
ts
r
elate
d
to
th
e
MR
f
lu
id
p
r
o
p
er
ties
an
d
d
am
p
e
r
s
tr
u
ctu
r
e.
T
ab
le
1
lis
ts
th
e
MR
d
am
p
er
p
ar
am
eter
s
,
wh
ich
ar
e
th
e
p
ar
am
eter
s
f
itted
an
d
v
er
if
ied
b
y
Gao
et
a
l
.
[
2
2
]
th
r
o
u
g
h
ex
p
er
im
en
ts
to
ac
cu
r
ately
d
escr
ib
e
th
e
m
ec
h
an
ical
p
r
o
p
er
ties
o
f
th
e
MR d
am
p
er
.
Fig
u
r
e
2
.
Sp
e
n
ce
r
’
s
m
o
d
if
ied
B
o
u
c
–
W
en
m
o
d
el
[
2
1
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ad
v
Ap
p
l Sci
I
SS
N:
2252
-
8
8
1
4
I
mp
r
o
vin
g
r
id
e
co
mfo
r
t o
f sem
i
-
a
ctive
s
u
s
p
en
s
io
n
w
ith
ma
g
n
eto
r
h
eo
lo
g
ica
l d
a
mp
er b
y
…
(
Zh
a
n
g
K
u
n
lu
n
)
1041
T
ab
le
1
.
MR d
am
p
e
r
p
ar
a
m
eter
s
P
a
r
a
me
t
e
r
V
a
l
u
e
U
n
i
t
P
a
r
a
me
t
e
r
V
a
l
u
e
U
n
i
t
1
9
2
1
.
1
N
/
m
k
1
1
.
7
5
N
/
m
a
5
8
8
2
.
5
N/
(
m V
)
3
6
3
3
2
.
1
m
-
2
0
a
6
5
1
.
5
N
s/
m
3
6
3
3
2
.
1
m
-
2
0
1
0
4
3
.
7
6
N
s/
m V
Α
1
5
5
.
3
2
-
1
a
2
0
8
9
.
3
N
s/
m
X
0
0
.
2
4
8
m
1
1
4
3
8
4
.
9
N
s/
m V
n
2
-
0
1
9
4
0
.
4
N
/
m
η
60
s
-
1
2
.
3
.
F
uzzy
-
pro
po
rt
io
na
l
-
inte
g
ra
l
-
deriv
a
t
iv
e
co
ntr
o
ller
Fu
zz
y
-
PID
co
n
tr
o
l
is
f
o
r
m
ed
b
y
ad
d
in
g
f
u
zz
y
co
n
t
r
o
l
to
PID
co
n
tr
o
ller
.
T
h
e
f
u
zz
y
co
n
tr
o
l
tak
es
th
e
b
o
d
y
d
is
p
lace
m
en
t
er
r
o
r
an
d
t
h
e
b
o
d
y
d
is
p
lace
m
en
t
e
r
r
o
r
c
h
an
g
e
r
ate
as
in
p
u
t
v
ar
ia
b
les.
Af
ter
f
u
zz
if
icatio
n
,
f
u
zz
y
r
ea
s
o
n
in
g
,
an
d
d
ef
u
zz
if
icatio
n
,
th
e
PID
c
o
n
tr
o
l
g
ain
s
△
,
△
,
an
d
△
ar
e
o
b
tain
ed
to
ac
h
i
ev
e
r
ea
l
-
tim
e
ad
ju
s
tm
en
t
o
f
PID
p
ar
am
eter
s
an
d
in
c
r
ea
s
e
co
n
t
r
o
l
ef
f
icien
cy
an
d
r
o
b
u
s
tn
ess
.
Ma
th
em
atica
l
m
o
d
el
o
f
f
u
zz
y
-
PID
co
n
t
r
o
l
is
as in
(
1
0
)
.
=
(
+
∆
)
(
)
+
(
+
∆
)
∫
(
)
.
+
(
+
∆
)
(
)
(
1
0
)
W
h
er
e
is
th
e
PID
o
u
t
p
u
t
c
o
n
t
r
o
l
v
a
r
iab
le,
a
n
d
,
,
an
d
ar
e
t
h
e
PID
co
n
tr
o
l
p
ar
am
eter
s
.
Fig
u
r
e
3
s
h
o
ws
th
e
s
im
u
latio
n
m
o
d
el
o
f
p
ass
iv
e,
PID
co
n
tr
o
ller
,
a
n
d
f
u
zz
y
PID
c
o
n
tr
o
ller
ap
p
l
ied
to
th
e
v
eh
icle
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
s
y
s
tem
in
MA
T
L
AB
/Si
m
u
lin
k
.
T
h
e
p
ass
iv
e
s
u
s
p
en
s
io
n
h
as
n
o
c
o
n
tr
o
l
a
n
d
o
n
ly
r
elies
o
n
its
o
wn
f
ix
in
g
m
ec
h
a
n
is
m
to
r
ed
u
ce
v
ib
r
atio
n
.
T
h
e
PID
co
n
tr
o
ller
is
a
f
ee
d
b
ac
k
c
o
n
tr
o
ller
.
Af
ter
m
u
ltip
le
s
im
u
latio
n
s
,
th
e
co
n
tr
o
l
p
ar
a
m
eter
s
=
3
,
=
0
.
1
5
,
an
d
=
0
.
1
ar
e
d
eter
m
in
e
d
.
T
h
e
f
u
zz
y
PID
a
d
ju
s
t
s
=
3
,
=
0
.
1
5
,
an
d
=
0
.
1
th
r
o
u
g
h
f
u
zz
y
c
o
n
tr
o
l to
ac
h
iev
e
n
o
n
lin
ea
r
co
n
tr
o
l.
T
h
e
f
u
zz
y
c
o
n
tr
o
ller
is
s
e
t
with
two
in
p
u
ts
an
d
th
r
ee
o
u
tp
u
ts
.
I
ts
in
p
u
t
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
ar
e
d
eter
m
in
ed
f
r
o
m
t
h
e
b
o
d
y
d
is
p
lace
m
en
t e
r
r
o
r
an
d
its
r
ate
o
f
ch
an
g
e
u
n
d
er
t
h
e
1
0
cm
s
in
u
s
o
id
al
r
o
ad
p
r
o
f
ile.
Gain
o
f
er
r
o
r
(
GE
)
a
n
d
g
ai
n
o
f
ch
an
g
e
in
e
r
r
o
r
(
GC
E
)
ar
e
s
et
to
m
ap
th
e
in
p
u
t
v
a
r
iab
les
o
f
o
th
e
r
r
o
a
d
p
r
o
f
iles
to
th
e
m
em
b
er
s
h
ip
r
a
n
g
es
,
an
d
p
ar
a
m
eter
is
ad
d
ed
to
ad
j
u
s
t th
e
co
n
tr
o
l
g
ain
p
a
r
am
eter
o
f
th
e
f
u
zz
y
lo
g
ic
o
u
t
p
u
t.
Fig
u
r
e
3
.
Sem
i
-
ac
tiv
e
s
u
s
p
e
n
s
io
n
co
n
t
r
o
l sy
s
tem
T
h
e
f
u
zz
y
r
u
le
b
ase
ca
n
b
e
c
o
n
s
tr
u
cted
u
s
in
g
d
if
f
er
en
t
lin
g
u
is
tic
s
ets,
s
u
ch
as
s
ev
en
lev
els (
NB
,
NM
,
NS,
Z,
PS,
PM,
an
d
P
B
)
,
f
iv
e
lev
els
(
N
B
,
NS,
Z,
PS,
an
d
PB
)
,
o
r
th
r
ee
lev
els
(
H,
M,
an
d
L)
[
1
]
,
[
2
3
]
.
Alth
o
u
g
h
a
lar
g
er
n
u
m
b
er
o
f
l
in
g
u
is
tic
lev
els
m
ay
im
p
r
o
v
e
co
n
tr
o
l
ac
cu
r
ac
y
,
it
also
in
cr
e
ases
co
m
p
u
tatio
n
al
co
m
p
lex
ity
.
C
o
n
s
id
er
in
g
th
e
r
ea
l
-
tim
e
r
eq
u
ir
e
m
en
t
o
f
v
eh
ic
le
v
ib
r
atio
n
co
n
tr
o
l,
t
h
is
s
tu
d
y
ad
o
p
ts
th
e
th
r
ee
-
lev
el
s
et
(
H,
M,
an
d
L
)
,
r
ep
r
es
en
tin
g
h
ig
h
,
m
e
d
iu
m
,
a
n
d
l
o
w,
r
esp
ec
tiv
ely
.
T
h
e
co
r
r
esp
o
n
d
in
g
f
u
zz
y
r
u
les
ar
e
estab
lis
h
ed
b
ased
o
n
ex
p
er
t k
n
o
wled
g
e,
as sh
o
wn
in
T
ab
le
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
8
1
4
I
n
t J Ad
v
Ap
p
l Sci
,
Vo
l.
1
5
,
No
.
3
,
Sep
tem
b
er
2
0
2
6
:
1
0
3
8
-
1
0
4
9
1042
T
ab
le
2
.
Fu
zz
y
co
n
tr
o
l r
u
le
b
a
s
e
with
th
r
ee
lin
g
u
is
tic
lev
els
e
\
de
H
i
g
h
M
e
d
i
u
m
Lo
w
H
i
g
h
HHH
H
M
H
H
LH
M
e
d
i
u
m
M
H
H
M
M
M
M
M
L
Lo
w
LH
H
LM
L
LLL
Fig
u
r
e
4
s
h
o
ws
th
e
s
tr
u
ctu
r
e
o
f
th
e
f
u
zz
y
co
n
tr
o
ller
.
T
h
e
tr
ian
g
u
lar
m
em
b
er
s
h
ip
f
u
n
ctio
n
(
tr
im
f
)
is
u
s
ed
,
with
Ma
m
d
an
i
in
f
er
en
ce
an
d
ce
n
tr
o
id
d
e
f
u
zz
if
icatio
n
.
T
h
e
f
u
zz
y
co
n
tr
o
ller
o
u
t
p
u
ts
th
e
g
ain
in
cr
em
en
ts
(
△
,
△
,
an
d
△
)
f
o
r
th
e
PID
co
n
tr
o
ll
e
r
.
T
h
e
f
u
zz
y
in
f
e
r
en
ce
p
r
o
ce
s
s
ca
n
b
e
ex
p
r
ess
ed
as
f
o
llo
ws:
i
f
e
=
L
an
d
d
e
=
M
,
t
h
en
△
=
L
,
△
=
M,
an
d
△
=
L
.
T
h
e
co
r
r
esp
o
n
d
in
g
r
u
les ar
e
s
h
o
wn
in
T
ab
le
2
.
I
f
th
e
in
p
u
t
er
r
o
r
an
d
th
e
e
r
r
o
r
c
h
an
g
e
r
ate
ar
e
L
an
d
M,
th
en
,
,
an
d
ar
e
L
,
M,
an
d
L
,
r
esp
ec
tiv
ely
.
Use
“
ce
n
tr
o
id
”
t
o
o
b
tain
th
e
e
x
ac
t
v
alu
es
o
f
th
e
c
o
r
r
esp
o
n
d
in
g
m
em
b
er
s
h
ip
i
n
ter
v
al.
Su
p
er
i
m
p
o
s
e
th
em
o
n
th
e
PID
co
n
tr
o
l p
a
r
am
eter
s
to
ac
h
i
ev
e
co
n
tr
o
l o
f
n
o
n
lin
ea
r
s
y
s
tem
s
.
Fig
u
r
e
4
.
Fu
zz
y
co
n
tr
o
l c
o
n
tr
o
ller
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
im
e
-
d
o
m
ain
an
d
f
r
eq
u
e
n
c
y
-
d
o
m
ai
n
s
im
u
latio
n
s
wer
e
co
n
d
u
cted
to
c
o
m
p
ar
e
th
e
p
ass
iv
e
s
u
s
p
en
s
io
n
,
co
n
v
en
ti
o
n
al
PID
co
n
tr
o
ller
,
an
d
p
r
o
p
o
s
ed
f
u
zz
y
-
PID
co
n
tr
o
ller
.
T
h
e
s
in
u
s
o
id
a
l
r
o
ad
in
p
u
ts
wer
e
s
et
with
am
p
litu
d
es
o
f
2
cm
,
6
cm
,
an
d
1
0
cm
at
a
f
r
eq
u
en
cy
o
f
1
Hz.
T
h
e
r
a
n
d
o
m
r
o
ad
in
p
u
t
was
g
en
er
ate
d
ac
co
r
d
in
g
to
th
e
I
SO
8
6
0
8
c
lass
B
p
r
o
f
ile
u
s
in
g
wh
ite
n
o
is
e
[
2
4
]
,
with
th
e
v
eh
icle
s
p
ee
d
s
et
to
2
0
m
/s
.
Su
s
p
en
s
io
n
p
er
f
o
r
m
an
ce
is
ev
alu
ated
b
y
t
h
e
r
o
o
t
m
ea
n
s
q
u
ar
e
(
R
MS)
an
d
s
tead
y
-
s
tate
p
ea
k
v
alu
es
o
f
th
e
v
eh
icle
b
o
d
y
ac
ce
ler
atio
n
,
s
u
s
p
en
s
io
n
tr
a
v
el
,
an
d
tire
d
e
f
lectio
n
.
T
h
e
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
p
ar
am
eter
s
ettin
g
s
ar
e:
=
2
9
0
k
g
,
=
4
0
k
g
,
=
1
8
,
0
0
0
N/m
,
=
2
1
0
,
0
0
0
N/m
,
an
d
= 1
,
0
0
0
N·
s
/m
.
3
.
1
.
Sin
us
o
ida
l r
o
a
d pro
f
iles
s
im
ula
t
io
n
Fig
u
r
es
5
to
7
s
h
o
w
th
e
tim
e
r
esp
o
n
s
es
an
d
p
ea
k
v
alu
es
o
f
th
e
ev
alu
atio
n
in
d
ices
u
n
d
e
r
s
in
u
s
o
id
al
r
o
ad
i
n
p
u
ts
with
d
if
f
er
e
n
t
am
p
litu
d
es.
Ov
er
all,
t
h
e
f
u
zz
y
-
PI
D
co
n
tr
o
ller
ac
h
iev
es
t
h
e
b
est
p
er
f
o
r
m
an
ce
.
T
h
is
is
b
ec
au
s
e
p
ass
iv
e
s
u
s
p
en
s
io
n
h
as
f
ix
ed
d
am
p
in
g
,
wh
ile
th
e
co
n
v
en
tio
n
al
PID
co
n
tr
o
ller
u
s
es
f
ix
ed
g
ain
s
an
d
h
as
lim
ited
ad
a
p
tab
ilit
y
.
I
n
co
n
tr
ast,
th
e
f
u
zz
y
-
PID
co
n
tr
o
ll
er
ad
ju
s
ts
th
e
PID
g
ain
s
th
r
o
u
g
h
f
u
zz
y
in
f
e
r
en
ce
,
en
ab
lin
g
b
etter
ad
ap
tatio
n
t
o
n
o
n
lin
ea
r
s
u
s
p
en
s
io
n
d
y
n
a
m
ics an
d
d
if
f
er
en
t r
o
ad
e
x
citatio
n
s
.
Fo
r
th
e
2
cm
s
in
u
s
o
id
al
r
o
a
d
p
r
o
f
ile,
th
e
f
u
zz
y
-
PID
co
n
tr
o
ller
p
r
o
d
u
ce
s
th
e
s
m
allest
ev
alu
atio
n
in
d
ices
(
Fig
u
r
e
5
)
.
T
h
e
p
ea
k
b
o
d
y
ac
ce
ler
atio
n
is
r
ed
u
ce
d
to
0
.
9
3
m
/s
2
,
wh
ich
is
0
.
2
5
m
/s
2
an
d
0
.
9
7
m
/s
2
lo
wer
th
an
th
o
s
e
o
f
th
e
PID
co
n
tr
o
ller
an
d
p
ass
iv
e
s
u
s
p
en
s
io
n
,
r
esp
ec
tiv
ely
.
Su
s
p
en
s
io
n
tr
av
el
an
d
tire
d
ef
lectio
n
ar
e
also
s
u
b
s
tan
tial
ly
r
ed
u
ce
d
,
i
n
d
icatin
g
th
at
th
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
ca
n
im
p
r
o
v
e
r
id
e
co
m
f
o
r
t
wh
ile
m
ain
tain
in
g
b
etter
s
u
s
p
en
s
io
n
s
tab
ilit
y
u
n
d
er
s
m
all
-
a
m
p
litu
d
e
ex
citatio
n
.
T
h
is
b
en
e
f
it
is
also
s
u
p
p
o
r
ted
by
Li
et
a
l
.
[
1
2
]
,
wh
o
s
h
o
wed
th
at
s
elf
-
tu
n
in
g
co
n
tr
o
l
r
ed
u
c
ed
b
o
d
y
ac
ce
ler
ati
o
n
,
s
u
s
p
en
s
io
n
d
ef
lectio
n
,
an
d
tire
d
is
p
lace
m
en
t in
an
MR sem
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ad
v
Ap
p
l Sci
I
SS
N:
2252
-
8
8
1
4
I
mp
r
o
vin
g
r
id
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co
mfo
r
t o
f sem
i
-
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u
s
p
en
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io
n
w
ith
ma
g
n
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r
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eo
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ica
l d
a
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(
Zh
a
n
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1043
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u
r
e
5
.
T
im
e
r
esp
o
n
s
e
an
d
p
ea
k
v
alu
es o
f
th
e
ev
alu
atio
n
in
d
ices o
n
2
cm
am
p
litu
d
e
s
in
u
s
o
id
al
r
o
ad
p
r
o
f
ile
Fo
r
th
e
6
cm
s
in
u
s
o
id
al
r
o
ad
p
r
o
f
ile,
th
e
s
u
p
e
r
io
r
ity
o
f
t
h
e
f
u
zz
y
-
PID
co
n
tr
o
ller
r
em
ai
n
s
ev
id
en
t
(
Fig
u
r
e
6
)
.
T
h
e
p
ea
k
b
o
d
y
ac
ce
ler
atio
n
is
r
ed
u
ce
d
to
3
.
0
1
m
/s
2
,
wh
ich
is
0
.
9
8
m
/s
2
an
d
2
.
7
0
m
/s
2
lo
wer
th
a
n
th
o
s
e
o
f
th
e
PID
co
n
tr
o
ller
an
d
p
ass
iv
e
s
u
s
p
en
s
io
n
,
r
esp
ec
tiv
ely
.
T
h
e
ad
ap
ti
v
e
g
ain
ad
ju
s
tm
en
t
p
r
o
v
id
e
d
b
y
f
u
zz
y
lo
g
ic
b
ec
o
m
es
in
cr
ea
s
in
g
ly
b
en
ef
icial
as
r
o
a
d
e
x
citatio
n
b
ec
o
m
es
s
tr
o
n
g
er
.
T
h
e
r
ed
u
ctio
n
s
in
s
u
s
p
en
s
io
n
tr
av
el
an
d
t
ir
e
d
e
f
lectio
n
f
u
r
th
er
in
d
icate
th
at
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
ca
n
s
u
p
p
r
ess
ex
ce
s
s
iv
e
s
u
s
p
en
s
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n
with
o
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t c
a
u
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g
o
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v
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eter
io
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atio
n
in
tire
-
r
o
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c
o
n
tact
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er
f
o
r
m
a
n
ce
.
Fig
u
r
e
6
.
T
im
e
r
esp
o
n
s
e
an
d
p
ea
k
v
alu
es o
f
th
e
ev
alu
atio
n
in
d
ices o
n
6
cm
am
p
litu
d
e
s
in
u
s
o
id
al
r
o
ad
p
r
o
f
ile
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
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4
I
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v
Ap
p
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,
Vo
l.
1
5
,
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3
,
Sep
tem
b
er
2
0
2
6
:
1
0
3
8
-
1
0
4
9
1044
Fo
r
th
e
1
0
cm
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in
u
s
o
id
al
r
o
a
d
p
r
o
f
ile,
th
e
f
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zz
y
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PID
co
n
tr
o
ller
s
till
m
ain
tain
s
s
u
p
e
r
io
r
v
ib
r
atio
n
s
u
p
p
r
ess
io
n
(
Fig
u
r
e
7
)
.
T
h
e
p
ea
k
b
o
d
y
ac
ce
ler
atio
n
is
r
e
d
u
c
ed
to
5
.
2
5
m
/s
2
,
wh
ich
is
1
.
4
7
m
/s
2
a
n
d
2
.
7
0
m
/s
2
lo
wer
th
an
th
o
s
e
o
f
t
h
e
PID
c
o
n
tr
o
ller
an
d
p
ass
iv
e
s
u
s
p
en
s
io
n
,
r
esp
ec
tiv
ely
.
Alth
o
u
g
h
th
e
v
ib
r
atio
n
in
ten
s
it
y
in
cr
ea
s
es with
r
o
ad
am
p
litu
d
e
,
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
s
till
ef
f
ec
tiv
ely
lim
its
th
e
g
r
o
wth
o
f
ev
alu
atio
n
in
d
ices.
T
h
is
s
u
g
g
ests
th
at
th
e
f
u
zz
y
-
P
I
D
co
n
tr
o
ller
h
as st
r
o
n
g
er
r
o
b
u
s
tn
ess
u
n
d
er
lar
g
e
-
a
m
p
litu
d
e
r
o
ad
d
is
tu
r
b
an
ce
s
.
Fig
u
r
e
7
.
T
im
e
r
esp
o
n
s
e
an
d
p
ea
k
v
alu
es o
f
th
e
ev
alu
atio
n
in
d
ices o
n
1
0
cm
am
p
litu
d
e
s
in
u
s
o
id
al
r
o
ad
p
r
o
f
ile
T
ab
le
3
q
u
an
titativ
ely
co
n
f
ir
m
s
th
e
s
u
p
er
io
r
p
er
f
o
r
m
an
c
e
o
f
th
e
p
r
o
p
o
s
ed
f
u
zz
y
-
PI
D
m
eth
o
d
.
C
o
m
p
ar
ed
with
p
ass
iv
e
s
u
s
p
en
s
io
n
,
it
r
ed
u
ce
s
b
o
d
y
a
cc
eler
atio
n
b
y
4
6
.
9
7
%,
4
4
.
5
6
%,
an
d
4
2
.
3
5
%,
s
u
s
p
en
s
io
n
tr
av
el
b
y
6
8
.
3
6
%,
6
3
.
2
4
%,
an
d
6
0
.
7
1
%,
an
d
ti
r
e
d
ef
lectio
n
b
y
4
4
.
0
0
%,
4
1
.
7
6
%,
an
d
3
9
.
7
0
%
u
n
d
er
t
h
e
2
c
m
,
6
c
m
,
an
d
1
0
cm
s
in
u
s
o
id
al
r
o
a
d
p
r
o
f
iles
,
r
esp
ec
tiv
ely
.
I
t
also
ac
h
iev
es
lo
wer
R
MS
v
alu
es
th
an
th
e
PID
co
n
tr
o
ller
f
o
r
a
ll
ev
alu
atio
n
i
n
d
ices,
d
em
o
n
s
tr
atin
g
th
at
f
u
zz
y
g
ain
a
d
ju
s
tm
en
t
en
h
a
n
ce
s
th
e
ad
ap
tab
ilit
y
an
d
s
tab
ilit
y
o
f
th
e
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
s
y
s
tem
.
T
ab
le
3
.
Su
s
p
en
s
io
n
p
er
f
o
r
m
a
n
ce
o
f
s
in
u
s
o
id
al
r
o
ad
p
r
o
f
iles
Ev
a
l
u
a
t
i
o
n
i
n
d
e
x
R
o
a
d
p
r
o
f
i
l
e
s
(
c
m)
P
a
ssi
v
e
P
I
D
F
u
z
z
y
-
P
I
D
R
M
S
F
u
z
z
y
-
P
I
D
w
i
t
h
r
e
sp
e
c
t
t
o
p
a
ss
i
v
e
(
%)
R
M
S
F
u
z
z
y
-
P
I
D
w
i
t
h
r
e
sp
e
c
t
t
o
P
I
D
(
%)
R
M
S
B
o
d
y
a
c
c
e
l
e
r
a
t
i
o
n
(
m·
s
-
2
)
2
1
.
1
9
4
6
.
9
7
0
.
7
6
9
1
7
.
9
1
0
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6
3
2
6
3
.
5
7
4
4
.
5
6
2
.
6
0
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.
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1
.
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8
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5
.
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2
.
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5
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1
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2
3
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4
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S
u
sp
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n
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r
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l
(
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2
1
.
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-
02
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.
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-
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-
02
T
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r
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m)
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-
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.
Ra
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ro
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d pro
f
iles
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im
ula
t
io
n
Fig
u
r
e
8
s
h
o
ws
th
e
tim
e
r
esp
o
n
s
es
o
f
th
e
ev
alu
atio
n
in
d
ices
u
n
d
er
th
e
I
SO
8
6
0
8
r
an
d
o
m
r
o
a
d
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ile.
C
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r
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n
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ad
v
Ap
p
l Sci
I
SS
N:
2252
-
8
8
1
4
I
mp
r
o
vin
g
r
id
e
co
mfo
r
t o
f sem
i
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a
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s
u
s
p
en
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n
w
ith
ma
g
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eto
r
h
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ica
l d
a
mp
er b
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…
(
Zh
a
n
g
K
u
n
lu
n
)
1045
PID
co
n
tr
o
ller
is
s
m
aller
u
n
d
er
r
an
d
o
m
e
x
citatio
n
.
Ho
wev
er
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b
o
th
co
n
t
r
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lled
s
u
s
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en
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etter
th
an
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e
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e
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s
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en
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.
Fig
u
r
e
8
.
T
im
e
r
esp
o
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s
e
o
f
th
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ev
alu
atio
n
in
d
ices o
n
r
a
n
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o
m
r
o
ad
p
r
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f
ile
As
s
h
o
wn
in
T
ab
le
4
,
co
m
p
ar
ed
with
th
e
p
ass
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e
s
u
s
p
en
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io
n
,
th
e
f
u
zz
y
-
PID
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n
tr
o
ller
r
e
d
u
ce
s
th
e
R
MS
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alu
es
o
f
b
o
d
y
ac
ce
ler
a
tio
n
,
s
u
s
p
en
s
io
n
tr
av
el,
an
d
ti
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e
d
ef
lectio
n
b
y
3
0
.
0
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4
.
4
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%,
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d
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5
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9
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%,
r
esp
ec
tiv
ely
,
wh
ile
th
e
r
e
d
u
cti
o
n
s
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o
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ar
e
1
.
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7
%,
6
.
3
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%,
an
d
1
.
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4
%,
r
esp
ec
tiv
ely
.
T
h
ese
r
esu
lts
in
d
icate
th
at
th
e
f
u
zz
y
-
PID
co
n
tr
o
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s
till
ac
h
iev
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th
e
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est
v
ib
r
atio
n
r
ed
u
ctio
n
p
e
r
f
o
r
m
an
ce
u
n
d
er
r
an
d
o
m
r
o
a
d
ex
citatio
n
,
alth
o
u
g
h
its
im
p
r
o
v
em
en
t
o
v
er
th
e
co
n
v
en
tio
n
al
PID
co
n
tr
o
ller
is
r
elativ
ely
lim
ited
.
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h
is
is
m
ain
ly
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ec
au
s
e
p
ass
iv
e
s
u
s
p
en
s
io
n
is
g
en
er
ally
d
esig
n
ed
to
p
r
o
v
id
e
ac
ce
p
tab
le
p
er
f
o
r
m
an
ce
o
n
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an
d
o
m
r
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ad
s
u
r
f
ac
es,
an
d
r
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o
m
e
x
citatio
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n
tain
s
m
o
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co
m
p
lex
f
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e
q
u
en
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y
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m
p
o
n
en
ts
,
wh
ich
m
a
y
wea
k
en
th
e
ad
v
an
tag
e
o
f
f
u
zz
y
g
ain
ad
j
u
s
tm
en
t.
Nev
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ele
s
s
,
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e
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R
M
S
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es
o
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tain
ed
b
y
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ller
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n
f
ir
m
its
ef
f
ec
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ess
an
d
s
tab
ilit
y
u
n
d
er
r
an
d
o
m
r
o
ad
c
o
n
d
itio
n
s
.
Min
an
d
W
ei
[
2
5
]
s
im
ilar
ly
d
em
o
n
s
tr
ated
th
at
r
o
ad
-
d
ep
e
n
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en
t
ad
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er
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ar
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im
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r
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ce
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y
e
n
ab
lin
g
th
e
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o
n
tr
o
ller
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o
r
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n
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t
o
v
ar
iatio
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s
in
r
o
a
d
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citati
o
n
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T
ab
le
4
.
Su
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io
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f
o
r
m
a
n
ce
o
f
r
an
d
o
m
r
o
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d
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iles
Ev
a
l
u
a
t
i
o
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i
n
d
e
x
P
a
ssi
v
e
P
I
D
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u
z
z
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I
D
R
M
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z
z
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ss
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v
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(
%)
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z
z
y
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w
i
t
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t
t
o
P
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D
(
%)
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S
B
o
d
y
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c
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e
l
e
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t
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m·
s
-
2
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0
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1
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3
0
.
0
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0
.
1
0
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1
.
7
7
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1
0
4
S
u
sp
e
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i
o
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r
a
v
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l
(
m)
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.
1
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-
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4
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5
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.
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2
1
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-
03
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i
r
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l
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t
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1
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-
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1
.
1
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-
04
3
.
3
.
F
re
qu
ency
do
ma
in a
na
l
y
s
is
Fre
q
u
en
cy
-
d
o
m
ai
n
an
al
y
s
is
is
co
n
d
u
cted
to
f
u
r
th
e
r
ex
a
m
in
e
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
th
r
ee
s
u
s
p
en
s
io
n
s
y
s
tem
s
.
Acc
o
r
d
in
g
to
I
SO
2
6
3
1
-
5
:2
0
1
8
,
b
o
d
y
ac
ce
ler
atio
n
is
an
im
p
o
r
tan
t
in
d
icato
r
f
o
r
ev
alu
ati
n
g
r
id
e
co
m
f
o
r
t.
T
h
er
ef
o
r
e
,
th
e
p
o
wer
s
p
e
ctr
al
d
en
s
ity
o
f
b
o
d
y
ac
ce
ler
atio
n
w
as
an
aly
ze
d
u
n
d
er
d
if
f
er
en
t
r
o
ad
p
r
o
f
iles
.
Fig
u
r
e
9
s
h
o
ws
th
at
th
e
f
r
eq
u
en
cy
-
d
o
m
ain
r
esu
lts
ar
e
co
n
s
is
ten
t
wit
h
th
e
tim
e
-
d
o
m
ai
n
an
aly
s
is
.
T
h
e
p
ass
iv
e
s
u
s
p
en
s
io
n
ex
h
i
b
its
th
e
h
ig
h
est s
p
ec
tr
a
l r
esp
o
n
s
e,
in
d
icatin
g
th
at
r
o
a
d
ex
citatio
n
is
m
o
r
e
d
ir
ec
tly
tr
an
s
m
itted
to
th
e
v
e
h
icle
b
o
d
y
.
T
h
e
PID
co
n
tr
o
ller
r
ed
u
ce
s
th
e
s
p
ec
tr
al
am
p
lit
u
d
e
to
s
o
m
e
ex
ten
t,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
8
1
4
I
n
t J Ad
v
Ap
p
l Sci
,
Vo
l.
1
5
,
No
.
3
,
Sep
tem
b
er
2
0
2
6
:
1
0
3
8
-
1
0
4
9
1046
wh
er
ea
s
th
e
f
u
zz
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-
PID
co
n
tr
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ller
p
r
o
d
u
ce
s
th
e
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p
ec
tr
al
r
esp
o
n
s
e
u
n
d
er
th
e
s
a
m
e
r
o
ad
c
o
n
d
itio
n
s
.
Fig
u
r
es
9
(
a)
to
9
(
c
)
s
h
o
w
th
e
r
esp
o
n
s
es
u
n
d
e
r
2
,
6
,
an
d
1
0
c
m
s
in
u
s
o
id
al
r
o
ad
ex
citatio
n
s
,
r
esp
ec
tiv
ely
,
wh
ile
Fig
u
r
e
9
(
d
)
p
r
esen
ts
th
e
r
esp
o
n
s
e
u
n
d
er
a
r
a
n
d
o
m
r
o
ad
p
r
o
f
ile.
T
h
is
im
p
r
o
v
em
en
t
is
m
ain
ly
attr
ib
u
ted
to
th
e
ad
ap
tiv
e
ad
j
u
s
tm
en
t
o
f
PID
g
ain
s
b
y
f
u
zz
y
lo
g
ic,
wh
ich
en
ab
le
s
th
e
co
n
tr
o
ller
t
o
p
r
o
v
id
e
m
o
r
e
s
u
itab
le
d
am
p
in
g
co
n
tr
o
l
ac
c
o
r
d
in
g
to
th
e
d
is
p
lace
m
en
t
e
r
r
o
r
an
d
its
ch
an
g
e
r
ate.
Xio
n
g
et
a
l
.
[
2
6
]
lik
ewise
r
ep
o
r
ted
th
a
t
ad
ap
tiv
e
co
n
t
r
o
l
o
f
MR
s
em
i
-
ac
tiv
e
s
u
s
p
en
s
io
n
ca
n
ef
f
ec
tiv
ely
r
e
d
u
ce
v
eh
icle
-
b
o
d
y
v
i
b
r
atio
n
u
n
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er
v
ar
y
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g
r
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a
d
ex
citatio
n
s
,
s
u
p
p
o
r
tin
g
t
h
e
b
en
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f
it
o
f
a
d
ap
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d
am
p
in
g
r
eg
u
latio
n
f
o
r
v
ib
r
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n
s
u
p
p
r
ess
io
n
.
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er
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o
r
e,
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e
p
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ed
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y
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n
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ller
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n
m
o
r
e
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f
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ed
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e
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e
n
er
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an
s
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itted
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n
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m
ass
,
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y
im
p
r
o
v
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m
f
o
r
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n
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r
th
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er
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y
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g
its
v
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r
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cti
o
n
ca
p
a
b
ilit
y
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
9
.
Fre
q
u
en
cy
r
esp
o
n
s
es
o
f
b
o
d
y
ac
ce
le
r
atio
n
o
n
d
if
f
er
en
t r
o
ad
p
r
o
f
iles
f
o
r
f
u
zz
y
-
PI
D,
PID
,
an
d
p
ass
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e
s
u
s
p
en
s
io
n
s
y
s
tem
s
: (
a)
2
cm
am
p
litu
d
e
s
in
u
s
o
id
al
,
(
b
)
6
c
m
am
p
litu
d
e
s
in
u
s
o
id
al
,
(
c)
1
0
cm
am
p
litu
d
e
s
in
u
s
o
id
a
l
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an
d
(
d
)
r
a
n
d
o
m
4.
CO
NCLU
SI
O
N
A
f
u
zz
y
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PID
co
n
tr
o
l
s
tr
ateg
y
is
p
r
o
p
o
s
ed
f
o
r
a
s
em
i
-
ac
tiv
e
s
u
s
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en
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n
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tem
with
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n
M
R
d
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p
er
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m
b
in
in
g
th
e
r
o
b
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s
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ess
o
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n
tr
o
l
with
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e
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s
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en
t
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ab
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y
o
f
f
u
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y
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g
ic,
th
e
p
r
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p
o
s
ed
co
n
tr
o
ller
im
p
r
o
v
es
v
ib
r
atio
n
r
ed
u
ctio
n
p
er
f
o
r
m
an
ce
u
n
d
er
d
if
f
e
r
en
t
r
o
ad
e
x
citatio
n
s
.
MA
T
L
AB
/S
im
u
lin
k
s
im
u
latio
n
s
wer
e
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n
d
u
cted
u
n
d
er
s
in
u
s
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r
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ad
in
p
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ts
an
d
a
n
I
SO
8
6
0
8
r
an
d
o
m
r
o
a
d
p
r
o
f
ile.
C
o
m
p
a
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ed
with
p
ass
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e
s
u
s
p
en
s
io
n
,
th
e
f
u
zz
y
-
PI
D
co
n
tr
o
ller
r
e
d
u
ce
s
th
e
R
MS
v
alu
e
o
f
b
o
d
y
ac
ce
ler
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n
b
y
4
6
.
9
7
%,
4
4
.
5
6
%,
4
2
.
3
5
%,
a
n
d
3
0
.
0
9
%
u
n
d
e
r
th
e
f
o
u
r
r
o
ad
c
o
n
d
i
tio
n
s
,
r
esp
ec
tiv
ely
.
C
o
m
p
ar
ed
with
th
e
c
o
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NC
E
S
[
1
]
K
.
Zh
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g
,
A
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L.
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,
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7
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M
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