T
E
L
K
O
M
NIKA
T
elec
o
mm
un
ica
t
io
n Co
m
pu
t
i
ng
E
lect
ro
nics
a
nd
Co
ntr
o
l
Vo
l.
24
,
No
.
5
,
Octo
b
er
20
26
,
p
p
.
1
7
9
5
~
1
8
0
4
I
SS
N:
1
6
9
3
-
6
9
3
0
,
DOI
: 1
0
.
1
2
9
2
8
/
T
E
L
KOM
NI
K
A
.
v
24
i
5
.
27906
1795
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//telko
mn
ika
.
u
a
d
.
a
c.
i
d
Ada
ptive
f
u
zzy
pr
o
po
rtiona
l
integr
a
l
deriv
a
tiv
e
co
nt
ro
l f
o
r
a
z
i
m
u
th
ro
tatio
n
a
l pos
itioning
sy
ste
m
M
ufid R
idl
o
E
f
endi
1
,
Rina
M
a
rdia
t
i
1
,
M
uh
a
m
m
a
d B
a
g
j
a
Na
s
rullo
h
1
,
Aa
n E
k
o
Set
ia
w
a
n
2
1
D
e
p
a
r
t
me
n
t
o
f
El
e
c
t
r
i
c
a
l
En
g
i
n
e
e
r
i
n
g
,
F
a
c
u
l
t
y
o
f
S
c
i
e
n
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
U
I
N
S
u
n
a
n
G
u
n
u
n
g
D
j
a
t
i
B
a
n
d
u
n
g
,
B
a
n
d
u
n
g
,
I
n
d
o
n
e
si
a
2
D
e
p
a
r
t
me
n
t
o
f
M
a
n
u
f
a
c
t
u
r
i
n
g
A
u
t
o
m
a
t
i
o
n
E
n
g
i
n
e
e
r
i
n
g
a
n
d
M
e
c
h
a
t
r
o
n
i
c
s,
P
o
l
i
t
e
k
n
i
k
M
a
n
u
f
a
k
t
u
r
B
a
n
d
u
n
g
,
B
a
n
d
u
n
g
,
I
n
d
o
n
e
si
a
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Feb
27
,
2
0
2
6
R
ev
i
s
ed
J
u
n
2
,
2026
A
cc
ep
ted
J
u
n
30
,
2026
T
h
is
p
a
p
e
r
p
re
se
n
ts
a
n
a
d
a
p
ti
v
e
f
u
z
z
y
lo
g
ic
-
b
a
se
d
p
ro
p
o
rti
o
n
a
l
–
in
teg
ra
l
–
d
e
riv
a
ti
v
e
(
P
ID
)
c
o
n
tr
o
l
stra
teg
y
f
o
r
a
n
a
z
im
u
th
ro
tatio
n
a
l
p
o
siti
o
n
in
g
s
y
ste
m
c
h
a
ra
c
teriz
e
d
b
y
n
o
n
l
in
e
a
r
a
n
g
u
lar
d
y
n
a
m
ics
.
Co
n
v
e
n
ti
o
n
a
l
f
ix
e
d
-
g
a
in
P
ID
c
o
n
tro
ll
e
rs
o
f
ten
e
x
p
e
rien
c
e
p
e
rf
o
r
m
a
n
c
e
d
e
g
r
a
d
a
ti
o
n
w
h
e
n
o
p
e
ra
ti
n
g
a
c
ro
ss
v
a
ry
in
g
e
rro
r
re
g
io
n
s,
re
su
lt
i
n
g
in
slo
w
e
r
re
sp
o
n
se
s
a
n
d
re
sid
u
a
l
ste
a
d
y
-
st
a
te
e
rro
rs.
T
o
a
d
d
re
ss
th
is
li
m
it
a
ti
o
n
,
a
re
g
io
n
-
b
a
se
d
f
u
z
z
y
g
a
in
sc
h
e
d
u
li
n
g
m
e
c
h
a
n
is
m
i
s
p
ro
p
o
se
d
to
d
y
n
a
m
ica
ll
y
a
d
ju
st
t
h
e
p
ro
p
o
rti
o
n
a
l
(
),
in
teg
ra
l
(
),
a
n
d
d
e
riv
a
ti
v
e
(
)
g
a
in
s
a
c
c
o
rd
in
g
to
th
e
in
sta
n
tan
e
o
u
s
a
n
g
u
lar
e
rro
r
.
T
h
e
p
ro
p
o
se
d
c
o
n
tr
o
ll
e
r
is
im
p
lem
e
n
ted
o
n
a
lab
o
ra
to
ry
-
sc
a
le
e
m
b
e
d
d
e
d
p
latf
o
rm
c
o
n
sistin
g
o
f
a
ste
p
p
e
r
m
o
to
r
a
c
tu
a
to
r,
p
o
ten
ti
o
m
e
ter
-
b
a
se
d
a
n
g
u
lar
f
e
e
d
b
a
c
k
,
a
n
d
a
n
A
rd
u
in
o
Na
n
o
c
o
n
tro
ll
e
r.
Ex
p
e
rime
n
tal
e
v
a
lu
a
ti
o
n
s
w
e
re
c
o
n
d
u
c
ted
a
t
re
f
e
re
n
c
e
a
n
g
les
o
f
4
5
°
,
9
0
°
,
1
3
5
°
,
a
n
d
1
8
0
°
a
n
d
c
o
m
p
a
re
d
with
a
c
o
n
v
e
n
ti
o
n
a
l
P
ID
c
o
n
tr
o
ll
e
r.
Re
su
lt
s
d
e
m
o
n
stra
te
th
a
t
t
h
e
a
d
a
p
ti
v
e
f
u
z
z
y
–
P
ID
c
o
n
tro
ll
e
r
c
o
m
p
lete
ly
e
li
m
in
a
tes
ste
a
d
y
-
sta
te erro
r
a
t
a
ll
tes
ted
se
tp
o
in
ts an
d
re
d
u
c
e
s ri
se
ti
m
e
b
y
u
p
to
5
6
.
7
%
,
d
e
p
e
n
d
in
g
o
n
th
e
o
p
e
ra
ti
n
g
c
o
n
d
i
ti
o
n
.
T
h
e
a
d
a
p
ti
v
e
g
a
in
a
d
ju
stm
e
n
t
e
n
a
b
les
f
a
st
e
r
tran
sie
n
t
re
sp
o
n
se
f
o
r
larg
e
a
n
g
u
lar
d
e
v
iatio
n
s
w
h
il
e
m
a
in
tain
i
n
g
sta
b
le
c
o
n
v
e
rg
e
n
c
e
n
e
a
r
t
h
e
se
t
p
o
i
n
t.
T
h
e
se
f
in
d
in
g
s
d
e
m
o
n
stra
te
th
a
t
t
h
e
p
ro
p
o
se
d
e
m
b
e
d
d
e
d
re
g
io
n
-
b
a
se
d
a
d
a
p
ti
v
e
f
u
z
z
y
–
P
ID
a
p
p
ro
a
c
h
p
r
o
v
id
e
s
a
n
e
ffe
c
ti
v
e
a
n
d
p
ra
c
ti
c
a
l
so
lu
ti
o
n
f
o
r
im
p
ro
v
in
g
p
o
siti
o
n
i
n
g
a
c
c
u
ra
c
y
a
n
d
d
y
n
a
m
ic p
e
r
f
o
r
m
a
n
c
e
in
ro
tatio
n
a
l
p
o
si
ti
o
n
in
g
sy
ste
m
s.
K
ey
w
o
r
d
s
:
A
d
ap
tiv
e
g
ai
n
tu
n
i
n
g
A
zi
m
u
t
h
p
o
s
itio
n
i
n
g
s
y
s
te
m
C
lo
s
e
-
lo
o
p
co
n
tr
o
l
Fu
zz
y
–
P
I
D
co
n
tr
o
l
Gain
s
c
h
ed
u
l
lin
g
I
n
telli
g
en
t c
o
n
tr
o
l
R
o
tatio
n
al
co
n
tr
o
l
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
R
in
a
Ma
r
d
iati
Dep
ar
t
m
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
Fac
u
lt
y
o
f
Scie
n
ce
an
d
T
ec
h
n
o
lo
g
y
UI
N
Su
n
an
G
u
n
u
n
g
Dj
ati
B
an
d
u
n
g
4
0
6
1
4
,
B
an
d
u
n
g
,
I
n
d
o
n
es
ia
E
m
ail: r
_
m
ar
d
iati
@
u
in
s
g
d
.
ac
.
id
1.
I
NT
RO
D
UCT
I
O
N
P
r
ec
is
io
n
r
o
tatio
n
al
p
o
s
itio
n
in
g
s
y
s
te
m
s
ar
e
w
id
el
y
e
m
p
l
o
y
ed
in
i
n
d
u
s
tr
ial
au
to
m
at
io
n
,
r
o
b
o
tic
m
ec
h
a
n
i
s
m
s
,
an
te
n
n
a
s
teer
i
n
g
d
ev
ices,
a
n
d
in
tel
lig
e
n
t
m
ec
h
atr
o
n
ic
p
lat
f
o
r
m
s
[
1
]
–
[
4
]
.
A
cc
u
r
ate
an
g
u
lar
p
o
s
itio
n
in
g
i
s
es
s
en
t
ial
to
en
s
u
r
e
s
tab
le
an
d
r
esp
o
n
s
i
v
e
s
y
s
t
e
m
p
er
f
o
r
m
a
n
ce
.
Ho
w
ev
er
,
n
o
n
lin
ea
r
d
y
n
a
m
ics,
ac
tu
ato
r
li
m
itatio
n
s
,
f
r
ictio
n
ef
f
ec
ts
,
a
n
d
v
ar
y
in
g
lo
ad
ch
ar
ac
ter
is
tics
o
f
ten
d
e
g
r
ad
e
co
n
tr
o
l
ac
cu
r
ac
y
an
d
tr
an
s
ie
n
t
r
esp
o
n
s
e
i
n
p
r
ac
tic
al
r
o
tatio
n
al
s
y
s
te
m
s
[4
]
–
[
7
]
.
A
cc
u
r
ate
az
i
m
u
t
h
an
d
ele
v
a
tio
n
p
o
s
itio
n
i
n
g
is
p
ar
ticu
lar
l
y
cr
itical
in
ap
p
licatio
n
s
s
u
ch
as
lo
ca
lizatio
n
f
r
a
m
e
w
o
r
k
s
,
g
eo
d
etic
alig
n
m
en
t,
s
o
lar
tr
ac
k
in
g
p
latf
o
r
m
s
,
i
n
er
tial
n
a
v
i
g
atio
n
s
y
s
te
m
s
(
I
NS)
,
an
ten
n
a
p
o
in
ti
n
g
m
ec
h
a
n
is
m
s
,
a
n
d
s
p
a
ce
cr
af
t
o
r
ie
n
tatio
n
co
n
tr
o
l.
P
r
ev
io
u
s
s
tu
d
ie
s
h
av
e
d
e
m
o
n
s
tr
ated
t
h
at
co
o
r
d
in
ate
s
y
s
te
m
r
o
tatio
n
a
n
d
az
i
m
u
t
h
–
elev
atio
n
m
ea
s
u
r
e
m
e
n
t
co
n
f
i
g
u
r
atio
n
s
s
ig
n
i
f
ica
n
tl
y
i
n
f
l
u
en
ce
es
ti
m
a
tio
n
an
d
p
o
s
itio
n
i
n
g
ac
c
u
r
ac
y
[
8
]
,
[
9
]
.
I
n
s
o
lar
t
r
ac
k
in
g
s
y
s
te
m
s
,
p
r
ec
is
e
az
im
u
th
co
n
tr
o
l
d
ir
ec
tly
a
f
f
ec
ts
en
er
g
y
h
ar
v
esti
n
g
ef
f
icie
n
c
y
u
n
d
er
co
n
ti
n
u
o
u
s
l
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
7
9
5
-
1804
1796
v
ar
y
i
n
g
en
v
ir
o
n
m
e
n
tal
co
n
d
it
io
n
s
[
1
0
]
,
[
1
1
]
.
T
h
ese
ap
p
licatio
n
s
h
i
g
h
l
ig
h
t
a
co
m
m
o
n
r
e
q
u
ir
e
m
e
n
t:
r
eliab
le
an
d
r
o
b
u
s
t a
zi
m
u
t
h
r
o
tatio
n
al
co
n
tr
o
l c
ap
ab
le
o
f
m
ai
n
tai
n
i
n
g
p
r
ec
is
io
n
u
n
d
er
d
y
n
a
m
ic
r
ef
er
en
ce
v
ar
iatio
n
s
.
T
o
im
p
r
o
v
e
r
o
tatio
n
al
p
o
s
iti
o
n
in
g
p
er
f
o
r
m
a
n
ce
,
v
ar
io
u
s
ad
v
an
ce
d
co
n
tr
o
l
s
tr
ate
g
ies
h
av
e
b
ee
n
in
v
e
s
ti
g
ated
.
T
r
ac
k
in
g
d
i
f
f
er
e
n
tiato
r
-
b
ased
f
u
zz
y
lo
g
ic
-
b
ase
d
p
r
o
p
o
r
tio
n
al
–
in
teg
r
al
–
d
er
iv
ativ
e
(
P
I
D)
co
n
tr
o
l
h
as
b
ee
n
ap
p
lied
to
s
in
g
le
-
a
x
is
I
NS
to
en
h
an
ce
r
o
b
u
s
t
n
ess
ag
ain
s
t
d
is
tu
r
b
an
ce
s
an
d
elim
i
n
ate
s
tead
y
-
s
ta
te
er
r
o
r
[
1
2
]
.
I
n
an
ten
n
a
p
o
in
ti
n
g
s
y
s
te
m
s
,
fu
zz
y
–
P
I
D
co
n
tr
o
ller
s
h
av
e
d
e
m
o
n
s
tr
ated
i
m
p
r
o
v
ed
s
ettlin
g
ti
m
e,
r
ed
u
ce
d
o
v
er
s
h
o
o
t,
an
d
en
h
an
ce
d
p
o
in
tin
g
ac
cu
r
ac
y
co
m
p
a
r
ed
to
co
n
v
en
t
io
n
al
P
I
D
co
n
tr
o
l
[
1
3
]
.
Si
m
ilar
l
y
,
o
p
tim
ized
f
u
zz
y
–
P
I
D
ap
p
r
o
ac
h
es
h
a
v
e
b
ee
n
e
m
p
lo
y
ed
f
o
r
s
p
ac
ec
r
af
t d
o
ck
in
g
m
a
n
e
u
v
er
s
t
o
ad
d
r
ess
n
o
n
l
in
ea
r
o
r
ien
tatio
n
d
y
n
a
m
ic
s
an
d
r
ed
u
ce
tr
ac
k
i
n
g
er
r
o
r
u
n
d
er
u
n
c
er
tain
o
p
er
atin
g
co
n
d
itio
n
s
[
1
4
]
.
Desp
ite
th
ese
ad
v
an
ce
m
en
ts
,
m
o
s
t
e
x
is
t
in
g
i
m
p
le
m
en
tatio
n
s
f
o
cu
s
o
n
ae
r
o
s
p
ac
e
o
r
n
av
ig
at
io
n
ap
p
licatio
n
s
,
w
h
ile
ex
p
er
i
m
e
n
tal
v
a
lid
atio
n
o
n
m
i
cr
o
co
n
tr
o
ller
-
b
ased
az
i
m
u
t
h
r
o
tatio
n
al
p
o
s
itio
n
i
n
g
p
lat
f
o
r
m
s
w
ith
r
eg
io
n
-
b
ased
ad
ap
tiv
e
g
ai
n
s
c
h
ed
u
li
n
g
r
e
m
a
in
s
li
m
i
ted
.
T
h
e
PID
co
n
tr
o
ller
r
em
ai
n
s
o
n
e
o
f
th
e
m
o
s
t
w
id
el
y
u
s
ed
co
n
tr
o
l
s
tr
ateg
ies
d
u
e
to
its
s
i
m
p
l
e
s
tr
u
ct
u
r
e
an
d
ea
s
e
o
f
i
m
p
le
m
en
ta
tio
n
[
1
5
]
,
[
1
6
]
.
A
lth
o
u
g
h
s
ati
s
f
a
cto
r
y
f
o
r
m
a
n
y
lin
ea
r
s
y
s
te
m
s
,
f
ix
ed
-
g
ai
n
P
I
D
co
n
tr
o
ller
s
o
f
ten
ex
p
er
ie
n
ce
p
er
f
o
r
m
an
ce
d
eg
r
a
d
atio
n
u
n
d
er
n
o
n
lin
ea
r
co
n
d
itio
n
s
an
d
w
id
e
er
r
o
r
v
ar
iatio
n
s
.
L
ar
g
e
a
n
g
u
lar
d
ev
iat
io
n
s
g
e
n
er
all
y
r
eq
u
ir
e
ag
g
r
ess
i
v
e
g
ai
n
s
f
o
r
r
ap
id
co
n
v
er
g
en
ce
,
wh
er
ea
s
n
ea
r
-
s
etp
o
i
n
t
o
p
er
atio
n
d
em
a
n
d
s
s
m
o
o
t
h
er
co
n
tr
o
l
ac
tio
n
to
p
r
ev
e
n
t
o
v
er
s
h
o
o
t
an
d
o
s
cillatio
n
s
.
C
o
n
s
eq
u
e
n
tl
y
,
co
n
v
e
n
tio
n
al
tu
n
i
n
g
m
et
h
o
d
s
s
u
c
h
as
Z
ie
g
ler
–
Nich
o
l
s
m
a
y
n
o
t
al
w
a
y
s
p
r
o
v
id
e
o
p
ti
m
al
p
er
f
o
r
m
a
n
ce
u
n
d
er
v
ar
y
i
n
g
o
p
er
atin
g
co
n
d
itio
n
s
[
1
7
]
.
T
o
o
v
er
co
m
e
t
h
ese
l
i
m
itatio
n
s
,
ad
ap
tiv
e
an
d
i
n
telli
g
e
n
t
co
n
tr
o
l
ap
p
r
o
ac
h
es
h
a
v
e
b
ee
n
i
n
cr
ea
s
i
n
g
l
y
ad
o
p
ted
.
Fu
zz
y
lo
g
ic
p
r
o
v
id
es
an
ef
f
ec
ti
v
e
f
r
a
m
e
w
o
r
k
f
o
r
h
an
d
lin
g
n
o
n
lin
ea
r
an
d
u
n
ce
r
ta
in
s
y
s
te
m
s
w
it
h
o
u
t
r
eq
u
ir
in
g
a
n
e
x
ac
t
m
a
th
e
m
atic
al
m
o
d
el.
B
y
co
m
b
i
n
i
n
g
f
u
zz
y
in
f
er
e
n
ce
w
it
h
P
I
D
co
n
tr
o
l,
co
n
tr
o
ller
g
ain
s
ca
n
b
e
ad
j
u
s
ted
ac
co
r
d
in
g
to
o
p
e
r
atin
g
co
n
d
itio
n
s
,
en
ab
li
n
g
im
p
r
o
v
ed
ad
ap
tab
ilit
y
an
d
tr
a
n
s
ie
n
t
p
er
f
o
r
m
a
n
ce
.
P
r
ev
io
u
s
s
tu
d
ie
s
h
av
e
r
ep
o
r
ted
th
e
ef
f
ec
ti
v
en
e
s
s
o
f
f
u
zz
y
-
b
ased
P
I
D
tu
n
in
g
in
v
ar
io
u
s
n
o
n
li
n
ea
r
m
o
tio
n
s
y
s
te
m
s
[
1
8
]
–
[
2
0
]
.
A
lth
o
u
g
h
p
r
ev
io
u
s
s
t
u
d
ies
h
av
e
d
e
m
o
n
s
tr
ated
th
e
ef
f
ec
ti
v
en
e
s
s
o
f
f
u
z
z
y
–
P
I
D
co
n
tr
o
ller
s
in
ae
r
o
s
p
ac
e,
n
av
ig
atio
n
,
an
d
r
o
b
o
tic
ap
p
licatio
n
s
,
s
ev
er
al
lim
itatio
n
s
r
e
m
ai
n
.
Mo
s
t
r
ep
o
r
t
ed
im
p
le
m
en
ta
tio
n
s
f
o
cu
s
o
n
s
i
m
u
latio
n
s
tu
d
ies
o
r
h
ig
h
-
en
d
co
n
tr
o
l
p
latf
o
r
m
s
,
w
h
ile
ex
p
er
i
m
en
tal
v
ali
d
atio
n
o
n
lo
w
-
co
s
t
e
m
b
ed
d
ed
az
im
u
th
r
o
tatio
n
al
p
o
s
itio
n
in
g
s
y
s
te
m
s
is
s
til
l
li
m
ited
.
Fu
r
t
h
er
m
o
r
e,
ex
i
s
ti
n
g
s
tu
d
ie
s
g
en
er
all
y
e
m
p
lo
y
f
ix
ed
f
u
zz
y
r
u
le
s
tr
u
ct
u
r
es
w
it
h
o
u
t
e
x
p
licitl
y
ad
d
r
ess
in
g
r
e
g
io
n
-
b
ased
g
ai
n
ad
ap
tatio
n
ac
r
o
s
s
d
if
f
er
e
n
t
an
g
u
lar
er
r
o
r
co
n
d
itio
n
s
.
A
s
a
r
esu
lt,
t
h
e
co
n
tr
o
ller
m
a
y
n
o
t
p
r
o
v
id
e
o
p
tim
al
r
esp
o
n
s
iv
e
n
es
s
f
o
r
b
o
th
lar
g
e
an
g
u
lar
d
is
p
lace
m
en
t
s
an
d
n
ea
r
-
s
etp
o
in
t o
p
er
atio
n
.
Desp
ite
t
h
ese
ad
v
an
ce
s
,
ex
p
er
i
m
en
tal
v
alid
atio
n
o
f
a
d
ap
tiv
e
f
u
zz
y
–
P
I
D
co
n
tr
o
ller
s
o
n
lo
w
-
co
s
t
e
m
b
ed
d
ed
az
i
m
u
t
h
r
o
tatio
n
a
l
p
o
s
itio
n
i
n
g
p
lat
f
o
r
m
s
r
e
m
a
i
n
s
l
i
m
ited
,
p
ar
ticu
lar
l
y
f
o
r
r
eg
io
n
-
b
ased
g
ai
n
ad
ap
tatio
n
m
ec
h
an
is
m
s
u
n
d
er
m
u
ltip
le
a
n
g
u
lar
s
e
tp
o
in
ts
[2
1
]
–
[
2
5
]
.
T
o
ad
d
r
ess
th
i
s
g
ap
,
t
h
is
s
t
u
d
y
p
r
o
p
o
s
es
a
r
eg
io
n
-
b
ased
a
d
ap
tiv
e
f
u
zz
y
–
P
I
D
co
n
tr
o
ller
im
p
le
m
e
n
ted
o
n
a
m
icr
o
co
n
tr
o
ller
-
b
ased
az
i
m
u
th
p
o
s
itio
n
in
g
s
y
s
te
m
.
T
h
e
p
r
o
p
o
s
ed
ap
p
r
o
a
ch
d
y
n
a
m
icall
y
ad
j
u
s
t
s
P
I
D
g
ain
s
ac
co
r
d
in
g
to
i
n
s
tan
ta
n
e
o
u
s
a
n
g
u
lar
er
r
o
r
,
en
ab
lin
g
f
aster
tr
an
s
ie
n
t r
esp
o
n
s
e
f
o
r
lar
g
e
d
ev
iatio
n
s
w
h
ile
m
ai
n
tai
n
in
g
s
tab
le
co
n
v
er
g
en
c
e
n
ea
r
th
e
s
etp
o
in
t.
T
h
e
m
ai
n
co
n
tr
ib
u
tio
n
s
o
f
t
h
is
s
t
u
d
y
ar
e
th
e
d
ev
e
lo
p
m
en
t
o
f
a
r
eg
io
n
-
b
ased
ad
ap
tiv
e
f
u
zz
y
g
ai
n
s
ch
ed
u
lin
g
m
ec
h
a
n
i
s
m
,
i
m
p
l
e
m
en
tatio
n
o
n
a
lo
w
-
co
s
t
em
b
ed
d
ed
m
icr
o
co
n
t
r
o
ller
p
latf
o
r
m
,
ex
p
er
i
m
en
tal
v
alid
atio
n
u
n
d
er
m
u
ltip
le
a
n
g
u
lar
s
etp
o
in
t
s
,
an
d
a
n
al
y
s
i
s
o
f
ad
ap
tiv
e
g
ain
b
eh
a
v
io
r
o
n
tr
an
s
ie
n
t
r
esp
o
n
s
e
i
m
p
r
o
v
e
m
en
t a
n
d
s
tead
y
-
s
tate
er
r
o
r
elim
i
n
atio
n
.
2.
M
E
T
H
O
D
2
.
1
.
Resea
rc
h
des
ig
n
T
h
is
s
t
u
d
y
d
ev
elo
p
s
a
n
az
i
m
u
th
r
o
tatio
n
al
p
o
s
it
io
n
i
n
g
s
y
s
te
m
u
s
i
n
g
an
ad
ap
ti
v
e
f
u
zz
y
–
P
I
D
co
n
tr
o
l
s
tr
ateg
y
.
T
h
e
s
y
s
te
m
is
d
esi
g
n
ed
to
alig
n
th
e
r
o
tatio
n
al
p
latf
o
r
m
w
it
h
a
d
esire
d
an
g
u
lar
r
ef
er
en
ce
.
T
h
e
o
v
er
all
co
n
tr
o
l
s
tr
u
ctu
r
e
co
n
s
i
s
ts
o
f
er
r
o
r
ca
lcu
latio
n
,
f
u
zz
y
-
b
ased
g
ain
ad
ap
tatio
n
,
an
d
P
I
D
co
n
tr
o
l.
T
h
e
an
g
u
lar
er
r
o
r
(
)
is
d
ef
in
ed
a
s
t
h
e
d
i
f
f
er
en
ce
b
et
w
ee
n
t
h
e
r
e
f
er
en
ce
a
n
g
le
a
n
d
t
h
e
ac
t
u
al
p
lat
f
o
r
m
a
n
g
le,
as
ill
u
s
tr
ated
in
Fi
g
u
r
e
1
:
∆
=
1
−
2
w
h
er
e
1
is
th
e
r
ef
er
e
n
ce
an
g
le
an
d
2
is
th
e
ac
tu
al
p
lat
f
o
r
m
an
g
le
m
ea
s
u
r
ed
f
r
o
m
a
p
r
ed
ef
in
ed
p
o
s
itiv
e
x
-
ax
is
.
T
h
e
ca
lcu
lated
d
elta
er
r
o
r
s
er
v
es a
s
t
h
e
in
p
u
t
f
o
r
th
e
f
u
zz
y
-
b
ased
ad
ap
tiv
e
g
ai
n
tu
n
i
n
g
m
ec
h
a
n
is
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
A
d
a
p
tive
fu
z
z
y
p
r
o
p
o
r
tio
n
a
l in
teg
r
a
l d
eriva
tive
co
n
tr
o
l fo
r
a
z
imu
th
r
o
ta
tio
n
a
l
…
(
Mu
fid
R
id
lo
E
fen
d
i
)
1797
Fig
u
r
e
1
.
T
h
e
illu
s
tr
atio
n
o
f
d
elta
er
r
o
r
an
g
le
2
.
2
.
Sy
s
t
em
ar
chit
ec
t
ure
Fig
u
r
e
2
p
r
esen
ts
th
e
b
lo
ck
d
iag
r
a
m
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
.
T
h
e
d
elta
e
r
r
o
r
is
p
r
o
ce
s
s
ed
t
h
r
o
u
g
h
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
(
FLC)
t
o
g
en
er
ate
ad
ap
tiv
e
P
I
D
g
ain
s
(
,
,
)
.
T
h
ese
g
ain
s
ar
e
ap
p
lied
to
th
e
P
I
D
co
n
tr
o
ller
,
w
h
ic
h
g
e
n
er
ates
t
h
e
co
n
tr
o
l
s
ig
n
al
f
o
r
th
e
s
tep
p
er
m
o
to
r
.
T
h
e
p
o
ten
tio
m
eter
p
r
o
v
id
es
r
ea
l
-
ti
m
e
an
g
u
lar
f
ee
d
b
ac
k
,
f
o
r
m
i
n
g
a
clo
s
ed
-
lo
o
p
co
n
tr
o
l
s
y
s
te
m
.
Fig
u
r
e
3
illu
s
tr
ates
t
h
e
el
ec
tr
ical
s
ch
e
m
atic
(
Fig
u
r
e
3
(
a)
)
an
d
th
r
ee
-
d
i
m
e
n
s
io
n
al
(
3
D)
m
ec
h
a
n
ical
d
esig
n
(
Fig
u
r
e
3
(
b
)
)
o
f
th
e
p
r
o
p
o
s
ed
az
i
m
u
t
h
r
o
tatio
n
al
p
o
s
itio
n
in
g
s
y
s
te
m
.
A
s
tep
p
er
m
o
to
r
is
e
m
p
lo
y
ed
as
t
h
e
r
o
tatio
n
al
ac
tu
a
to
r
,
w
h
ile
a
m
u
lti
tu
r
n
p
o
ten
t
io
m
eter
p
r
o
v
id
es a
n
g
u
lar
f
ee
d
b
ac
k
f
o
r
clo
s
ed
-
lo
o
p
co
n
tr
o
l.
Fig
u
r
e
2
.
B
lo
ck
d
iag
r
a
m
s
y
s
te
m
(
a)
(
b
)
Fig
u
r
e
3
.
Desig
n
p
r
o
p
o
s
ed
s
y
s
te
m
: (
a)
s
ch
e
m
atic
d
es
ig
n
an
d
(
b
)
3
D
d
esig
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
7
9
5
-
1804
1798
2
.
3
.
F
L
C
des
ig
n
T
h
e
FLC
is
d
es
ig
n
ed
to
p
r
o
v
id
e
ad
ap
tiv
e
g
ai
n
t
u
n
i
n
g
f
o
r
th
e
P
I
D
co
n
tr
o
ller
b
ased
o
n
th
e
m
ag
n
it
u
d
e
o
f
th
e
an
g
u
lar
er
r
o
r
.
Un
lik
e
co
n
v
e
n
tio
n
al
f
i
x
ed
-
g
ai
n
P
I
D
co
n
tr
o
l,
th
e
p
r
o
p
o
s
ed
FL
C
d
y
n
a
m
ical
l
y
ad
j
u
s
t
s
co
n
tr
o
ller
p
ar
am
e
ter
s
ac
co
r
d
in
g
to
t
h
e
o
p
er
atin
g
r
eg
io
n
o
f
t
h
e
s
y
s
te
m
.
T
h
is
ap
p
r
o
ac
h
allo
w
s
t
h
e
co
n
tr
o
ller
to
r
esp
o
n
d
ag
g
r
es
s
iv
e
l
y
u
n
d
er
la
r
g
e
er
r
o
r
co
n
d
itio
n
s
w
h
ile
m
a
in
tai
n
i
n
g
s
tab
ilit
y
a
n
d
s
m
o
o
th
r
esp
o
n
s
e
n
ea
r
th
e
s
etp
o
in
t.
T
h
e
in
p
u
t
v
ar
iab
le
o
f
th
e
f
u
zz
y
co
n
tr
o
ller
is
th
e
d
elta
er
r
o
r
(
)
,
d
ef
in
ed
in
(
1
)
.
T
h
e
d
elta
er
r
o
r
is
class
i
f
ied
in
to
f
i
v
e
lin
g
u
is
tic
v
ar
iab
les:
f
ar
n
e
g
ati
v
e
(
FN)
,
c
lo
s
e
n
eg
ati
v
e
(
C
N)
,
ze
r
o
(
Z
)
,
clo
s
e
p
o
s
itiv
e
(
C
P
)
,
an
d
f
ar
p
o
s
iti
v
e
(
FP
)
.
T
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
ar
e
d
ef
i
n
e
d
o
v
er
th
e
r
an
g
e
o
f
−1
8
0
°
to
1
8
0
°,
co
r
r
esp
o
n
d
in
g
to
th
e
f
u
ll
az
i
m
u
t
h
r
o
tatio
n
c
ap
ab
ilit
y
o
f
t
h
e
s
y
s
te
m
.
T
r
ian
g
u
lar
a
n
d
tr
ap
ez
o
id
al
m
e
m
b
e
r
s
h
ip
f
u
n
ctio
n
s
ar
e
e
m
p
lo
y
ed
to
en
s
u
r
e
s
m
o
o
t
h
tr
an
s
it
io
n
s
b
et
w
ee
n
ad
j
ac
en
t r
eg
io
n
s
,
as s
h
o
w
n
i
n
Fi
g
u
r
e
4
.
Fig
u
r
e
4
.
Me
m
b
er
s
h
ip
i
n
p
u
t
f
u
n
ct
io
n
2
.
4
.
F
uzzy
rule
-
ba
s
ed
des
ig
n
T
h
e
f
u
zz
y
r
u
le
b
ase
co
n
s
is
t
s
o
f
f
i
v
e
I
F
–
T
HE
N
r
u
les,
as
p
r
esen
ted
i
n
T
ab
le
1
.
T
h
e
r
u
le
s
tr
u
ct
u
r
e
is
d
esig
n
ed
b
ased
o
n
co
n
tr
o
l in
t
u
itio
n
a
n
d
s
y
s
te
m
b
e
h
av
io
r
an
al
y
s
i
s
.
W
h
e
n
t
h
e
a
n
g
u
lar
er
r
o
r
i
s
lar
g
e
(
FN o
r
FP
)
,
th
e
p
r
o
p
o
r
tio
n
al
g
ain
(
)
is
s
et
to
h
ig
h
i
n
o
r
d
er
to
ac
ce
ler
ate
co
n
v
er
g
e
n
ce
.
T
h
e
d
er
iv
ati
v
e
g
ain
(
)
is
als
o
in
cr
ea
s
ed
to
r
ed
u
ce
o
s
cillato
r
y
b
eh
av
io
r
d
u
r
in
g
r
ap
id
co
r
r
ec
tio
n
.
Me
an
w
h
ile,
t
h
e
i
n
teg
r
al
g
ain
(
)
is
r
ed
u
ce
d
to
p
r
ev
en
t
e
x
ce
s
s
i
v
e
ac
cu
m
u
latio
n
o
f
er
r
o
r
d
u
r
in
g
lar
g
e
tr
an
s
ie
n
ts
.
W
h
en
t
h
e
e
r
r
o
r
ap
p
r
o
ac
h
es
ze
r
o
(
Z
r
eg
io
n
)
,
a
lo
w
er
p
r
o
p
o
r
tio
n
al
g
ain
is
ap
p
lied
to
av
o
id
o
v
er
s
h
o
o
t,
w
h
ile
a
h
i
g
h
er
i
n
te
g
r
al
g
ain
i
s
u
s
ed
to
eli
m
i
n
ate
s
tead
y
-
s
ta
te
er
r
o
r
.
T
h
e
d
er
iv
ativ
e
g
ai
n
is
s
et
to
s
m
al
l
to
m
in
i
m
ize
s
e
n
s
it
iv
i
t
y
to
n
o
is
e.
T
h
is
r
u
le
co
n
f
i
g
u
r
atio
n
al
lo
w
s
ad
ap
tiv
e
g
ai
n
s
c
h
ed
u
li
n
g
b
eh
a
v
io
r
w
it
h
o
u
t
r
eq
u
ir
in
g
a
n
ex
p
lici
t
m
at
h
e
m
a
tical
m
o
d
el
o
f
th
e
p
lan
t.
T
ab
le
1
.
Fu
zz
y
r
u
les
f
o
r
,
,
an
d
v
alu
e
s
R
u
l
e
s
I
n
p
u
t
(
d
e
l
t
a
e
r
r
o
r
)
O
u
t
p
u
t
R1
FN
H
i
g
h
L
e
ss
Big
R2
CN
M
i
d
d
l
e
R
e
g
u
l
a
r
N
o
r
mal
R3
Z
L
o
w
M
u
c
h
S
mal
l
R4
CP
M
i
d
d
l
e
R
e
g
u
l
a
r
N
o
r
mal
R5
FP
H
i
g
h
L
e
ss
Big
2
.
5
.
O
utput
m
e
m
bers
hip
f
u
nct
io
n
T
h
e
o
u
tp
u
t
m
e
m
b
er
s
h
ip
f
u
n
c
tio
n
s
f
o
r
th
e
ad
ap
tiv
e
P
I
D
g
ain
s
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
4
an
d
d
ef
in
ed
w
it
h
i
n
ex
p
er
i
m
en
tall
y
d
eter
m
i
n
ed
n
u
m
er
ical
r
an
g
e
s
.
T
h
e
p
r
o
p
o
r
tio
n
al
g
ain
is
ca
teg
o
r
ized
in
to
th
r
ee
lin
g
u
i
s
tic
v
ar
iab
les:
lo
w
,
m
id
d
le,
an
d
h
i
g
h
.
T
h
e
m
e
m
b
er
s
h
i
p
r
a
n
g
es
ar
e
d
ef
i
n
ed
as
f
o
llo
w
s
:
l
ow
:
[
0
.
1
0
,
0
.
1
0
,
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
A
d
a
p
tive
fu
z
z
y
p
r
o
p
o
r
tio
n
a
l in
teg
r
a
l d
eriva
tive
co
n
tr
o
l fo
r
a
z
imu
th
r
o
ta
tio
n
a
l
…
(
Mu
fid
R
id
lo
E
fen
d
i
)
1799
0
.
2
0
,
0
.
2
8
]
;
m
id
d
le:
[
0
.
2
0
,
0
.
2
8
,
0
.
3
8
,
0
.
4
6
]
;
an
d
h
ig
h
:
[
0
.
3
8
,
0
.
4
6
,
0
.
6
0
,
0
.
6
0
]
.
Sim
ilar
l
y
,
t
h
e
in
te
g
r
al
g
ain
is
d
iv
id
ed
in
to
less
,
r
eg
u
lar
,
a
n
d
m
u
ch
w
it
h
t
h
e
f
o
llo
w
i
n
g
r
a
n
g
e
s
:
l
es
s
:
[
0
.
0
0
1
,
0
.
0
0
1
,
0
.
0
0
2
5
,
0
.
0
0
4
]
;
r
eg
u
lar
:
[
0
.
0
0
2
5
,
0
.
0
0
4
,
0
.
0
0
5
5
,
0
.
0
0
7
]
;
an
d
m
u
c
h
:
[
0
.
0
0
5
5
,
0
.
0
0
7
,
0
.
0
1
0
,
0
.
0
1
0
]
.
T
h
e
d
er
iv
ati
v
e
g
a
in
i
s
ca
teg
o
r
ized
in
to
s
m
all,
n
o
r
m
al
,
an
d
b
ig
w
it
h
m
e
m
b
er
s
h
ip
r
a
n
g
e
s
:
s
m
all
:
[
0
.
0
1
0
,
0
.
0
1
0
,
0
.
0
2
0
,
0
.
0
2
8
]
;
n
o
r
m
al:
[
0
.
0
2
0
,
0
.
0
2
8
,
0
.
0
3
8
,
0
.
0
4
6
]
;
an
d
b
ig
:
[
0
.
0
3
8
,
0
.
0
4
6
,
0
.
0
6
0
,
0
.
0
6
0
]
.
T
h
ese
n
u
m
er
ical
r
an
g
es
w
er
e
d
eter
m
i
n
ed
ex
p
er
i
m
e
n
tall
y
to
e
n
s
u
r
e
s
tab
le
s
y
s
te
m
b
eh
a
v
io
r
an
d
ad
eq
u
ate
tr
an
s
ie
n
t
r
esp
o
n
s
e.
B
y
d
ef
i
n
in
g
o
v
er
lap
p
in
g
m
e
m
b
er
s
h
ip
r
eg
io
n
s
,
s
m
o
o
th
tr
an
s
itio
n
s
b
et
w
ee
n
g
ai
n
le
v
els
ar
e
ac
h
ie
v
ed
,
p
r
ev
en
ti
n
g
ab
r
u
p
t
ch
an
g
es
i
n
co
n
tr
o
ller
o
u
tp
u
t.
2
.
6
.
Def
uzzif
ica
t
io
n
m
ec
ha
n
is
Fig
u
r
e
s
5
(
a)
to
(
c)
p
r
esen
ts
t
h
e
o
u
tp
u
t
m
e
m
b
er
s
h
ip
f
u
n
ct
i
o
n
s
u
s
ed
to
g
en
er
ate
ad
ap
tiv
e
P
I
D
g
ain
s
(
,
,
an
d
)
.
T
h
e
o
v
er
lap
p
in
g
m
e
m
b
er
s
h
ip
r
eg
io
n
s
en
ab
le
s
m
o
o
th
g
ain
tr
an
s
itio
n
s
an
d
p
r
ev
en
t
ab
r
u
p
t
p
ar
am
eter
ch
a
n
g
es
d
u
r
i
n
g
o
p
er
atio
n
.
T
h
e
Ma
m
d
an
i
i
n
f
er
en
ce
m
et
h
o
d
is
a
p
p
lied
d
u
e
t
o
its
in
tu
i
tiv
e
r
u
le
r
ep
r
esen
tatio
n
an
d
s
u
itab
ilit
y
f
o
r
n
o
n
li
n
ea
r
co
n
tr
o
l
s
y
s
te
m
s
.
T
h
e
ce
n
tr
o
id
m
et
h
o
d
is
u
s
ed
f
o
r
d
ef
u
zz
i
f
icatio
n
to
o
b
tain
cr
is
p
o
u
tp
u
t
v
alu
e
s
f
o
r
,
,
.
T
h
e
ce
n
tr
o
id
c
o
m
p
u
tatio
n
is
ex
p
r
ess
ed
as
∗
=
∫
(
)
∫
(
)
,
w
h
er
e
∗
r
ep
r
esen
ts
th
e
d
e
f
u
zz
i
f
ied
o
u
t
p
u
t v
al
u
e.
T
h
e
r
esu
ltin
g
ad
ap
tiv
e
P
I
D
g
ain
s
ar
e
u
p
d
ated
in
r
ea
l
ti
m
e
an
d
ap
p
lied
d
ir
ec
tly
to
th
e
P
I
D
co
n
tr
o
ller
,
f
o
r
m
i
n
g
a
h
y
b
r
id
f
u
zz
y
–
P
I
D
co
n
tr
o
l
s
ch
e
m
e.
T
h
e
p
r
o
p
o
s
ed
f
u
zz
y
in
f
er
e
n
ce
s
tr
u
ct
u
r
e
e
m
p
lo
y
s
a
s
i
n
g
le
-
i
n
p
u
t
v
ar
iab
le
an
d
a
co
m
p
ac
t
r
u
le
b
ase
co
n
s
is
ti
n
g
o
f
f
i
v
e
r
u
les,
r
esu
lti
n
g
i
n
lo
w
co
m
p
u
tatio
n
al
co
m
p
lex
i
t
y
an
d
ef
f
icien
t
m
e
m
o
r
y
u
t
ilizatio
n
.
T
h
is
s
i
m
p
li
f
ied
ar
ch
itect
u
r
e
w
a
s
in
te
n
tio
n
all
y
s
elec
ted
to
f
ac
ilit
ate
r
ea
l
-
ti
m
e
i
m
p
le
m
en
ta
tio
n
o
n
r
eso
u
r
ce
-
co
n
s
tr
ain
ed
e
m
b
ed
d
ed
h
ar
d
w
ar
e
w
h
ile
m
ai
n
tai
n
i
n
g
s
atis
f
ac
to
r
y
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
.
(
a)
(
b
)
(
c)
Fig
u
r
e
5
.
Me
m
b
er
s
h
ip
o
u
tp
u
t
f
u
n
ctio
n
: (
a)
p
r
o
p
o
r
tio
n
al
g
ain
(
)
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
,
(
b
)
in
teg
r
al
g
ai
n
(
)
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
,
an
d
(
c)
d
er
iv
ativ
e
g
ai
n
(
)
m
e
m
b
er
s
h
ip
f
u
n
c
tio
n
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
E
x
peri
m
ent
a
l
r
esu
lt
s
T
h
e
m
ec
h
a
n
ical
co
n
f
i
g
u
r
atio
n
o
f
t
h
e
p
r
o
p
o
s
ed
az
im
u
th
r
o
tatio
n
al
p
o
s
itio
n
in
g
s
y
s
te
m
i
s
s
h
o
w
n
in
Fig
u
r
e
6
.
T
h
e
s
y
s
te
m
i
n
teg
r
ate
s
a
s
tep
p
er
m
o
to
r
-
d
r
iv
e
n
r
o
tatio
n
al
p
latf
o
r
m
,
an
u
ltra
s
o
n
ic
–
s
er
v
o
s
u
b
s
y
s
te
m
f
o
r
r
ef
er
en
ce
d
etec
tio
n
,
an
d
a
p
o
ten
tio
m
eter
f
o
r
an
g
u
lar
f
ee
d
b
ac
k
.
T
h
e
u
ltra
s
o
n
ic
s
en
s
o
r
p
er
f
o
r
m
s
f
u
ll
3
6
0
°
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
7
9
5
-
1804
1800
s
ca
n
n
i
n
g
to
d
eter
m
i
n
e
th
e
r
e
f
er
en
ce
d
ir
ec
tio
n
,
w
h
ich
i
s
t
h
en
p
r
o
ce
s
s
ed
as
th
e
a
n
g
u
la
r
s
etp
o
in
t.
S
y
s
te
m
p
er
f
o
r
m
a
n
ce
w
as
ev
al
u
ated
at
r
ef
er
en
ce
an
g
les
o
f
4
5
°,
9
0
°,
1
3
5
°,
an
d
1
8
0
°.
Fig
u
r
es
7
to
1
0
illu
s
tr
ate
th
e
an
g
u
lar
r
esp
o
n
s
e
s
o
f
t
h
e
co
n
v
en
tio
n
al
P
I
D
an
d
ad
ap
tiv
e
f
u
z
z
y
–
P
I
D
co
n
tr
o
ller
s
.
T
h
e
q
u
an
titativ
e
co
m
p
ar
i
s
o
n
is
s
u
m
m
ar
ized
in
T
ab
le
2
.
Fig
u
r
e
6
.
Me
ch
an
ical
co
n
s
tr
u
c
tio
n
T
ab
le
2
.
R
esu
m
e
o
f
test
i
n
g
r
es
u
lts
S
e
t
p
o
i
n
t
S
t
e
a
d
y
st
a
t
e
e
r
r
o
r
(
%)
R
i
se
t
i
me
(
se
c
o
n
d
)
P
I
D
F
u
z
z
y
-
P
I
D
P
I
D
F
u
z
z
y
-
P
I
D
45
6
.
7
0
.
0
0
.
4
0
6
0
.
2
1
5
90
4
.
4
0
.
0
0
.
6
4
9
0
.
2
8
1
1
3
5
4
.
4
0
.
0
0
.
9
1
4
0
.
5
0
4
1
8
0
2
.
2
0
.
0
1
.
1
4
0
1
.
0
5
2
T
h
e
im
p
r
o
v
e
m
en
t
ac
h
iev
ed
b
y
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
v
ar
i
es
ac
co
r
d
in
g
to
th
e
r
ef
er
en
ce
an
g
le.
Fo
r
s
m
al
l
an
d
m
ed
i
u
m
a
n
g
u
lar
d
is
p
lace
m
en
t
s
(
4
5
°
–
1
3
5
°),
th
e
ad
ap
tiv
e
f
u
zz
y
–
P
I
D
co
n
tr
o
ller
p
r
o
v
id
es
s
u
b
s
ta
n
tia
l
r
ed
u
ctio
n
s
i
n
r
is
e
ti
m
e,
r
an
g
in
g
f
r
o
m
4
4
.
9
%
to
5
6
.
7
%.
T
h
is
b
eh
av
io
r
in
d
icate
s
t
h
at
th
e
ad
ap
tiv
e
g
ain
m
ec
h
a
n
i
s
m
e
f
f
ec
ti
v
el
y
in
cr
ea
s
es
co
n
tr
o
ller
ag
g
r
es
s
iv
e
n
es
s
w
h
en
lar
g
er
tr
ac
k
i
n
g
er
r
o
r
s
ar
e
d
etec
ted
w
h
ile
g
r
ad
u
all
y
r
ed
u
cin
g
t
h
e
g
ai
n
s
a
s
th
e
s
y
s
te
m
ap
p
r
o
ac
h
es
t
h
e
d
esire
d
p
o
s
itio
n
.
C
o
n
s
eq
u
en
t
l
y
,
f
ast
er
co
n
v
er
g
e
n
ce
ca
n
b
e
ac
h
iev
ed
w
it
h
o
u
t
in
tr
o
d
u
cin
g
e
x
ce
s
s
iv
e
o
s
cilla
tio
n
s
.
Fo
r
th
e
4
5
°
s
etp
o
in
t,
th
e
a
d
ap
tiv
e
f
u
zz
y
–
P
I
D
r
ed
u
ce
d
r
is
e
ti
m
e
f
r
o
m
0
.
4
0
6
s
to
0
.
2
1
5
s
(
4
7
.
0
%
i
m
p
r
o
v
e
m
en
t)
w
h
ile
eli
m
i
n
ati
n
g
s
tead
y
-
s
tate
er
r
o
r
.
A
t
9
0
°
,
th
e
r
is
e
ti
m
e
i
m
p
r
o
v
ed
b
y
a
p
p
r
o
x
im
a
tel
y
5
6
.
7
%.
Fo
r
1
3
5
°,
i
m
p
r
o
v
e
m
e
n
t
r
ea
ch
ed
4
4
.
9
%.
A
t
1
8
0
°,
th
e
i
m
p
r
o
v
e
m
en
t
w
a
s
s
m
a
ller
(
7
.
7
%),
alth
o
u
g
h
s
tead
y
-
s
tate
er
r
o
r
w
as
co
m
p
lete
l
y
r
e
m
o
v
ed
in
all
ca
s
es.
T
h
ese
r
esu
lt
s
d
e
m
o
n
s
tr
ate
th
at
t
h
e
ad
ap
tiv
e
f
u
zz
y
–
P
I
D
co
n
tr
o
ller
co
n
s
is
te
n
tl
y
i
m
p
r
o
v
es
tr
a
n
s
ien
t
r
esp
o
n
s
e
an
d
p
o
s
itio
n
in
g
ac
c
u
r
ac
y
co
m
p
ar
e
d
to
th
e
co
n
v
en
tio
n
al
f
i
x
ed
-
g
ai
n
P
I
D
co
n
tr
o
ller
.
T
h
e
d
y
n
a
m
ic
r
esp
o
n
s
e
s
o
f
th
e
co
n
v
en
tio
n
al
P
I
D
co
n
tr
o
ller
an
d
th
e
p
r
o
p
o
s
ed
a
d
ap
tiv
e
f
u
zz
y
–
P
I
D
co
n
tr
o
ller
w
er
e
ev
a
lu
ated
u
n
d
er
f
o
u
r
r
ef
er
en
ce
a
n
g
les,
n
a
m
el
y
4
5
°,
9
0
°,
1
3
5
°,
an
d
1
8
0
°.
Fo
r
ea
ch
test
,
th
e
an
g
u
lar
r
esp
o
n
s
e
w
a
s
r
ec
o
r
d
ed
an
d
an
al
y
ze
d
in
ter
m
s
o
f
r
is
e
tim
e,
s
tead
y
-
s
tate
er
r
o
r
,
an
d
tr
an
s
ien
t
ch
ar
ac
ter
is
tic
s
.
Fi
g
u
r
es
7
(
a)
t
o
1
0
(
a)
p
r
esen
t
th
e
r
esp
o
n
s
es
o
b
tain
ed
u
s
i
n
g
th
e
co
n
v
en
t
io
n
al
P
I
D
co
n
tr
o
l
ler
,
w
h
ile
Fi
g
u
r
es 7
(
b
)
to
1
0
(
b
)
s
h
o
w
t
h
e
r
esp
o
n
s
es a
c
h
ie
v
ed
u
s
i
n
g
t
h
e
p
r
o
p
o
s
ed
ad
ap
tiv
e
f
u
zz
y
–
P
I
D
co
n
tr
o
ller
.
(
a)
(
b
)
Fig
u
r
e
7
.
S
y
s
te
m
r
esp
o
n
s
e
u
s
i
n
g
s
etp
o
in
t
v
alu
e
o
f
4
5
°
: (
a)
PID
an
d
(
b
)
f
u
zz
y
-
P
I
D
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
A
d
a
p
tive
fu
z
z
y
p
r
o
p
o
r
tio
n
a
l in
teg
r
a
l d
eriva
tive
co
n
tr
o
l fo
r
a
z
imu
th
r
o
ta
tio
n
a
l
…
(
Mu
fid
R
id
lo
E
fen
d
i
)
1801
(
a)
(
b
)
Fig
u
r
e
8
.
S
y
s
te
m
r
esp
o
n
s
e
u
s
i
n
g
s
etp
o
in
t
v
alu
e
o
f
9
0
°
: (
a)
PID
an
d
(
b
)
f
u
zz
y
-
P
I
D
(
a)
(
b
)
Fig
u
r
e
9
.
S
y
s
te
m
r
esp
o
n
s
e
u
s
i
n
g
s
etp
o
in
t
v
alu
e
o
f
1
3
5
°
: (
a)
P
I
D
an
d
(
b
)
f
u
zz
y
-
P
I
D
(
a)
(
b
)
Fig
u
r
e
1
0
.
Sy
s
te
m
r
esp
o
n
s
e
u
s
in
g
s
etp
o
in
t
v
al
u
e
o
f
1
8
0
°
: (
a)
P
I
D
an
d
(
b
)
f
u
zz
y
-
P
I
D
Fo
r
th
e
1
8
0
°
s
etp
o
in
t,
th
e
r
is
e
-
ti
m
e
i
m
p
r
o
v
e
m
e
n
t
is
co
m
p
ar
ativ
el
y
s
m
aller
,
r
ea
ch
in
g
ap
p
r
o
x
i
m
ate
l
y
7
.
7
%.
T
h
is
p
h
e
n
o
m
e
n
o
n
i
s
p
r
im
ar
il
y
a
s
s
o
ciate
d
w
it
h
t
h
e
m
ec
h
an
ical
c
h
ar
ac
ter
is
tics
o
f
t
h
e
ex
p
er
i
m
en
tal
p
latf
o
r
m
.
A
t
lar
g
er
an
g
u
lar
d
is
p
lace
m
e
n
ts
,
th
e
s
tep
p
er
m
o
t
o
r
m
u
s
t
s
u
s
ta
in
co
r
r
ec
ti
v
e
ac
tio
n
o
v
er
a
lo
n
g
er
tr
av
el
d
is
ta
n
ce
,
m
a
k
i
n
g
th
e
in
f
lu
e
n
ce
o
f
r
o
tatio
n
al
i
n
er
tia,
f
r
ictio
n
,
a
n
d
av
ailab
le
m
o
to
r
to
r
q
u
e
m
o
r
e
s
ig
n
i
f
ica
n
t.
U
n
d
er
th
ese
co
n
d
itio
n
s
,
t
h
e
m
ec
h
a
n
ical
l
i
m
itati
o
n
s
o
f
t
h
e
ac
t
u
ato
r
b
ec
o
m
e
d
o
m
in
a
n
t
f
ac
to
r
s
t
h
a
t
r
estrict
f
u
r
th
er
ac
ce
ler
atio
n
,
t
h
er
eb
y
r
ed
u
ci
n
g
t
h
e
r
elati
v
e
b
en
ef
it o
f
ad
ap
tiv
e
g
ain
ad
j
u
s
t
m
en
t.
3
.
2
.
Ada
ptiv
e
g
a
in beha
v
io
r
a
nd
co
m
pu
t
a
t
io
na
l v
a
lid
a
t
io
n
T
h
e
p
er
f
o
r
m
a
n
ce
i
m
p
r
o
v
e
m
e
n
t
ac
h
ie
v
ed
b
y
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
i
s
p
r
i
m
ar
il
y
a
ttrib
u
ted
to
r
eg
io
n
-
b
ased
g
ain
ad
ap
tatio
n
.
W
h
e
n
t
h
e
an
g
u
lar
er
r
o
r
is
lar
g
e,
h
i
g
h
er
p
r
o
p
o
r
tio
n
al
an
d
d
er
iv
ati
v
e
g
ai
n
s
ar
e
as
s
i
g
n
ed
to
ac
ce
ler
ate
co
r
r
ec
tiv
e
ac
tio
n
,
w
h
er
ea
s
n
ea
r
th
e
s
etp
o
in
t
t
h
e
p
r
o
p
o
r
tio
n
al
an
d
d
e
r
iv
ativ
e
g
ain
s
ar
e
r
ed
u
ce
d
w
h
il
e
t
h
e
in
te
g
r
al
g
ai
n
is
i
n
c
r
ea
s
ed
to
elim
i
n
ate
r
esid
u
al
s
tead
y
-
s
tate
er
r
o
r
.
T
h
is
ad
ap
ti
v
e
g
ai
n
s
c
h
ed
u
li
n
g
m
ec
h
a
n
i
s
m
en
ab
le
s
f
a
s
ter
co
n
v
er
g
en
ce
w
h
i
le
m
ain
ta
in
i
n
g
s
tab
ilit
y
an
d
r
ed
u
ci
n
g
o
s
cil
latio
n
r
is
k
.
Fo
r
a
r
ep
r
esen
tativ
e
d
elta
er
r
o
r
o
f
4
5
°,
th
e
e
m
b
ed
d
ed
c
o
n
tr
o
ller
g
en
er
ated
g
ain
s
o
f
=
0
.
3116
,
=
0
.
0054
,
an
d
=
0
.
0312
,
w
h
ic
h
clo
s
el
y
m
atc
h
ed
th
e
m
an
u
all
y
ca
lcu
lated
ce
n
tr
o
id
v
alu
e
s
o
f
=
0
.
312
,
=
0
.
0056
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
7
9
5
-
1804
1802
an
d
=
0
.
0312
.
T
h
e
n
eg
lig
ib
le
d
if
f
er
e
n
ce
co
n
f
ir
m
s
th
e
co
r
r
ec
t
im
p
le
m
en
tatio
n
o
f
t
h
e
f
u
zz
y
in
f
er
en
c
e
an
d
d
ef
u
zz
i
f
icatio
n
p
r
o
ce
s
s
es o
n
t
h
e
m
icr
o
co
n
tr
o
ller
p
latf
o
r
m
.
3
.
3
.
Co
m
pa
ri
s
o
n
w
it
h c
o
nv
e
ntio
na
l
P
I
D
a
nd
m
ec
ha
nica
l
li
m
it
a
t
io
ns
I
n
itial
P
I
D
tu
n
in
g
u
s
i
n
g
th
e
Z
ie
g
ler
–
Nich
o
ls
m
et
h
o
d
p
r
o
d
u
ce
d
ag
g
r
ess
i
v
e
g
ain
s
(
=
1
.
25
,
=
0
.
05
,
an
d
=
0
.
038
)
an
d
u
n
s
ati
s
f
ac
to
r
y
tr
a
n
s
ien
t
b
eh
a
v
io
r
.
Alth
o
u
g
h
r
etu
n
in
g
i
m
p
r
o
v
ed
p
er
f
o
r
m
a
n
c
e
(
=
0
.
5
,
=
0
.
008
,
an
d
=
0
.
005
)
,
f
ix
ed
g
ain
s
r
e
m
ain
e
d
u
n
ab
le
to
ac
co
m
m
o
d
ate
v
a
r
y
in
g
o
p
er
atin
g
co
n
d
itio
n
s
.
I
n
co
n
tr
ast,
t
h
e
p
r
o
p
o
s
ed
a
d
ap
tiv
e
f
u
zz
y
–
P
I
D
co
n
tr
o
ller
d
y
n
a
m
ica
ll
y
ad
j
u
s
te
d
g
ain
s
ac
co
r
d
in
g
to
an
g
u
lar
er
r
o
r
,
r
esu
lti
n
g
i
n
i
m
p
r
o
v
ed
tr
an
s
ie
n
t
r
esp
o
n
s
e
a
n
d
ze
r
o
s
tead
y
-
s
tate
er
r
o
r
ac
r
o
s
s
all
test
ed
s
etp
o
in
ts
.
T
h
e
s
m
aller
i
m
p
r
o
v
e
m
en
t
o
b
s
er
v
ed
at
t
h
e
1
8
0
°
s
etp
o
in
t
was
p
r
i
m
ar
il
y
attr
ib
u
ted
to
m
ec
h
an
ica
l
i
n
er
tia
an
d
m
o
to
r
to
r
q
u
e
lim
itatio
n
s
.
Ov
er
all,
th
e
r
esu
lts
d
e
m
o
n
s
tr
ate
th
e
ef
f
ec
ti
v
e
n
es
s
o
f
th
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
in
en
h
a
n
ci
n
g
p
o
s
itio
n
i
n
g
ac
c
u
r
ac
y
a
n
d
tr
an
s
ien
t
p
er
f
o
r
m
a
n
ce
;
h
o
w
ev
er
,
v
alid
atio
n
w
as
li
m
i
t
ed
to
n
o
m
i
n
al
s
tep
-
r
esp
o
n
s
e
test
s
,
an
d
f
u
t
u
r
e
w
o
r
k
w
ill
f
o
cu
s
o
n
d
is
t
u
r
b
an
ce
r
ej
ec
tio
n
,
lo
ad
v
ar
iatio
n
,
an
d
d
y
n
a
m
ic
tr
aj
ec
to
r
y
-
tr
ac
k
in
g
s
ce
n
ar
io
s
.
4.
CO
NCLU
SI
O
N
T
h
is
s
t
u
d
y
p
r
o
p
o
s
ed
a
r
eg
io
n
-
b
ased
ad
ap
tiv
e
f
u
zz
y
–
P
I
D
co
n
tr
o
ller
f
o
r
az
i
m
u
t
h
r
o
tatio
n
al
p
o
s
itio
n
i
n
g
s
y
s
te
m
s
.
E
x
p
er
i
m
e
n
tal
r
es
u
l
ts
d
e
m
o
n
s
tr
ated
co
m
p
lete
e
li
m
i
n
atio
n
o
f
s
tead
y
-
s
tate
e
r
r
o
r
an
d
r
is
e
-
ti
m
e
i
m
p
r
o
v
e
m
en
t
s
o
f
u
p
to
5
6
.
7
%
co
m
p
ar
ed
w
it
h
co
n
v
e
n
tio
n
al
P
I
D
c
o
n
tr
o
l.
T
h
e
ad
a
p
tiv
e
g
ain
s
c
h
ed
u
l
in
g
m
ec
h
a
n
i
s
m
en
ab
led
f
as
ter
tr
an
s
ie
n
t
r
e
s
p
o
n
s
e
w
h
ile
m
a
i
n
tai
n
in
g
s
tab
le
co
n
v
er
g
e
n
ce
n
ea
r
t
h
e
s
e
tp
o
in
t.
A
lt
h
o
u
g
h
v
alid
atio
n
w
as
li
m
i
ted
to
s
tep
-
r
esp
o
n
s
e
test
i
n
g
u
n
d
er
n
o
m
in
al
co
n
d
itio
n
s
,
th
e
r
esu
lt
s
co
n
f
ir
m
th
e
ef
f
ec
tiv
e
n
e
s
s
o
f
t
h
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
f
o
r
e
m
b
ed
d
e
d
r
o
tatio
n
al
p
o
s
itio
n
i
n
g
ap
p
licatio
n
s
.
Fu
tu
r
e
w
o
r
k
w
il
l
f
o
cu
s
o
n
d
is
t
u
r
b
an
ce
r
ej
ec
tio
n
,
r
o
b
u
s
tn
e
s
s
e
v
al
u
atio
n
,
a
n
d
i
m
p
le
m
e
n
tatio
n
in
m
o
r
e
co
m
p
le
x
r
o
tatio
n
a
l
s
y
s
te
m
s
.
F
UNDIN
G
I
NF
O
RM
AT
I
O
N
Au
t
h
o
r
s
s
tate
n
o
f
u
n
d
i
n
g
i
n
v
o
l
v
ed
.
AUTHO
R
CO
NT
RIB
UT
I
O
NS ST
A
T
E
M
E
NT
T
h
is
j
o
u
r
n
al
u
s
e
s
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
n
o
m
y
(
C
R
ed
iT
)
to
r
ec
o
g
n
ize
in
d
i
v
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
ce
au
t
h
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
lla
b
o
r
atio
n
.
Na
m
e
o
f
Aut
ho
r
C
M
So
Va
Fo
I
R
D
O
E
Vi
Su
P
Fu
Mu
f
id
R
id
lo
E
f
e
n
d
i
✓
✓
✓
✓
✓
✓
✓
R
in
a
Ma
r
d
iati
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
Mu
h
a
m
m
ad
B
ag
j
a
Nasr
u
llo
h
✓
✓
✓
✓
✓
A
a
n
E
k
o
Setia
w
an
✓
✓
✓
C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
:
M
e
t
h
o
d
o
l
o
g
y
So
:
So
f
t
w
a
r
e
Va
:
Va
l
i
d
a
t
i
o
n
Fo
:
Fo
r
mal
a
n
a
l
y
si
s
I
:
I
n
v
e
st
i
g
a
t
i
o
n
R
:
R
e
so
u
r
c
e
s
D
:
D
a
t
a
C
u
r
a
t
i
o
n
O
:
W
r
i
t
i
n
g
-
O
r
i
g
i
n
a
l
D
r
a
f
t
E
:
W
r
i
t
i
n
g
-
R
e
v
i
e
w
&
E
d
i
t
i
n
g
Vi
:
Vi
su
a
l
i
z
a
t
i
o
n
Su
:
Su
p
e
r
v
i
si
o
n
P
:
P
r
o
j
e
c
t
a
d
mi
n
i
st
r
a
t
i
o
n
Fu
:
Fu
n
d
i
n
g
a
c
q
u
i
si
t
i
o
n
CO
NF
L
I
C
T
O
F
I
N
T
E
R
E
S
T
ST
A
T
E
M
E
NT
Au
t
h
o
r
s
s
tate
n
o
co
n
f
lic
t o
f
i
n
t
er
est.
DATA AV
AI
L
AB
I
L
I
T
Y
Data
av
ailab
ilit
y
i
s
n
o
t
ap
p
licab
le
to
th
is
p
ap
er
as
n
o
n
e
w
d
ata
w
er
e
cr
ea
ted
o
r
an
al
y
ze
d
in
th
i
s
s
tu
d
y
,
r
eq
u
e
s
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
A
d
a
p
tive
fu
z
z
y
p
r
o
p
o
r
tio
n
a
l in
teg
r
a
l d
eriva
tive
co
n
tr
o
l fo
r
a
z
imu
th
r
o
ta
tio
n
a
l
…
(
Mu
fid
R
id
lo
E
fen
d
i
)
1803
RE
F
E
R
E
NC
E
S
[
1
]
D
.
K
o
mars
k
i
,
“
G
o
n
i
o
me
t
r
i
c
M
o
d
u
l
e
w
i
t
h
C
r
o
ss
-
S
h
a
p
e
d
El
a
st
i
c
G
u
i
d
e
s
S
t
u
d
y
,
”
3
4
t
h
I
n
t
e
rn
a
t
i
o
n
a
l
S
c
i
e
n
t
i
f
i
c
S
y
m
p
o
s
i
u
m
Me
t
r
o
l
o
g
y
a
n
d
M
e
t
r
o
l
o
g
y
Ass
u
ra
n
c
e
2
0
2
4
,
MM
A
2
0
2
4
,
2
0
2
4
,
d
o
i
:
1
0
.
1
1
0
9
/
M
M
A
6
2
6
1
6
.
2
0
2
4
.
1
0
8
1
7
6
6
6
.
[
2
]
H
.
L
u
,
W
.
S
h
a
n
g
,
H
.
X
i
e
,
a
n
d
Y
.
S
h
e
n
,
“
U
l
t
r
a
h
i
g
h
-
P
r
e
c
i
si
o
n
R
o
t
a
t
i
o
n
a
l
P
o
si
t
i
o
n
i
n
g
u
n
d
e
r
a
M
i
c
r
o
sco
p
e
:
N
a
n
o
r
o
b
o
t
i
c
S
y
st
e
m,
M
o
d
e
l
i
n
g
,
C
o
n
t
r
o
l
,
a
n
d
A
p
p
l
i
c
a
t
i
o
n
s,”
I
EEE
T
r
a
n
sa
c
t
i
o
n
s
o
n
R
o
b
o
t
i
c
s
,
v
o
l
.
3
4
,
n
o
.
2
,
p
p
.
4
9
7
–
5
0
7
,
A
p
r
.
2
0
1
8
,
d
o
i
:
1
0
.
1
1
0
9
/
T
R
O
.
2
0
1
7
.
2
7
8
3
9
3
7
.
[
3
]
R
.
D
e
g
e
n
,
“
H
i
g
h
p
r
e
c
i
s
i
o
n
mi
c
r
o
p
o
s
i
t
i
o
n
i
n
g
sy
st
e
ms
u
se
d
i
n
U
H
V
a
p
p
l
i
c
a
t
i
o
n
s
,
”
E
u
r
o
p
e
a
n
S
p
a
c
e
A
g
e
n
c
y
,
(
S
p
e
c
i
a
l
P
u
b
l
i
c
a
t
i
o
n
)
ES
A
S
P
,
n
o
.
S
P
-
6
5
3
,
2
0
0
7
.
[
4
]
M
.
Y
a
n
g
,
L
.
L
i
,
C
.
Z
h
a
n
g
,
Y
.
H
u
a
n
g
,
H
.
W
u
,
a
n
d
B
.
F
e
n
g
,
“
R
e
se
a
r
c
h
o
n
C
o
n
t
i
n
u
o
u
s
Er
r
o
r
C
o
mp
e
n
s
a
t
i
o
n
o
f
a
S
u
b
-
A
r
c
-
S
e
c
o
n
d
M
a
c
r
o
/
M
i
c
r
o
D
u
a
l
-
D
r
i
v
e
R
o
t
a
r
y
S
y
st
e
m,”
M
i
c
r
o
m
a
c
h
i
n
e
s
,
v
o
l
.
1
3
,
n
o
.
1
0
,
p
.
1
6
6
2
,
O
c
t
.
2
0
2
2
,
d
o
i
:
1
0
.
3
3
9
0
/
mi
1
3
1
0
1
6
6
2
.
[
5
]
S
.
M
u
,
G
.
R
.
Z
h
u
,
Z
.
P
.
Ji
a
n
g
,
Y
.
H
.
Z
h
e
n
g
,
a
n
d
K
.
X
i
a
n
g
,
“
P
o
si
t
i
o
n
C
o
mp
e
n
sa
t
i
o
n
A
l
g
o
r
i
t
h
m
f
o
r
T
u
r
n
t
a
b
l
e
S
y
st
e
m
B
a
se
d
o
n
D
u
a
l
En
c
o
d
e
r
s,”
i
n
2
0
2
5
I
EE
E
2
0
t
h
C
o
n
f
e
r
e
n
c
e
o
n
I
n
d
u
s
t
ri
a
l
El
e
c
t
ro
n
i
c
s
a
n
d
Ap
p
l
i
c
a
t
i
o
n
s
,
I
C
I
EA
2
0
2
5
,
I
EEE,
A
u
g
.
2
0
2
5
,
p
p
.
1
–
6
.
d
o
i
:
1
0
.
1
1
0
9
/
I
C
I
E
A
6
5
5
1
2
.
2
0
2
5
.
1
1
1
4
9
2
3
8
.
[
6
]
D
.
K
a
n
g
,
X
.
D
o
n
g
,
H
.
K
i
m,
P
.
P
a
r
k
,
a
n
d
C
.
E
.
O
k
w
u
d
i
r
e
,
“
F
r
i
c
t
i
o
n
i
so
l
a
t
e
d
r
o
t
a
r
y
s
y
st
e
m
f
o
r
h
i
g
h
-
p
r
e
c
i
si
o
n
r
o
l
l
-
to
-
r
o
l
l
man
u
f
a
c
t
u
r
i
n
g
,
”
Pre
c
i
si
o
n
E
n
g
i
n
e
e
ri
n
g
,
v
o
l
.
6
8
,
p
p
.
3
5
8
–
3
6
4
,
M
a
r
.
2
0
2
1
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
p
r
e
c
i
s
i
o
n
e
n
g
.
2
0
2
0
.
1
2
.
0
1
8
.
[
7
]
W
.
O
h
n
i
sh
i
,
H
.
F
u
j
i
mo
t
o
,
K
.
S
a
k
a
t
a
,
K
.
S
u
z
u
k
i
,
a
n
d
K
.
S
a
i
k
i
,
“
P
r
o
p
o
sal
o
f
a
t
t
i
t
u
d
e
c
o
n
t
r
o
l
f
o
r
h
i
g
h
-
p
r
e
c
i
si
o
n
st
a
g
e
b
y
c
o
mp
e
n
sa
t
i
n
g
n
o
n
l
i
n
e
a
r
i
t
y
a
n
d
c
o
u
p
l
i
n
g
o
f
Eu
l
e
r
’
s
e
q
u
a
t
i
o
n
a
n
d
r
o
t
a
t
i
o
n
a
l
k
i
n
e
ma
t
i
c
s,
”
i
n
I
E
C
O
N
Pr
o
c
e
e
d
i
n
g
s
(
I
n
d
u
st
r
i
a
l
El
e
c
t
r
o
n
i
c
s
C
o
n
f
e
r
e
n
c
e
)
,
I
EEE,
N
o
v
.
2
0
1
3
,
p
p
.
6
5
3
3
–
6
5
3
8
.
d
o
i
:
1
0
.
1
1
0
9
/
I
E
C
O
N
.
2
0
1
3
.
6
7
0
0
2
1
2
.
[
8
]
L
.
B
a
d
r
i
a
sl
,
H
.
K
e
n
n
e
d
y
,
a
n
d
A
.
F
i
n
n
,
“
Ef
f
e
c
t
s
o
f
c
o
o
r
d
i
n
a
t
e
sy
st
e
m
r
o
t
a
t
i
o
n
o
n
t
w
o
n
o
v
e
l
c
l
o
se
d
-
f
r
o
m
l
o
c
a
l
i
z
a
t
i
o
n
e
st
i
m
a
t
o
r
s
u
si
n
g
a
z
i
m
u
t
h
/
e
l
e
v
a
t
i
o
n
,
”
Pr
o
c
e
e
d
i
n
g
s
o
f
t
h
e
1
6
t
h
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
I
n
f
o
rm
a
t
i
o
n
F
u
si
o
n
,
FU
S
I
O
N
2
0
1
3
,
p
p
.
1
7
9
7
–
1
8
0
4
,
2
0
1
3
.
[
9
]
D
.
Š
u
g
a
r
,
M
.
B
r
k
i
ć
,
a
n
d
D
.
Š
p
o
l
j
a
r
i
ć
,
“
C
o
mp
a
r
i
so
n
o
f
t
h
e
r
e
f
e
r
e
n
c
e
mar
k
a
z
i
mu
t
h
d
e
t
e
r
mi
n
a
t
i
o
n
me
t
h
o
d
s,
”
An
n
a
l
s o
f
G
e
o
p
h
y
s
i
c
s
,
v
o
l
.
5
5
,
n
o
.
6
,
p
p
.
1
0
7
1
–
1
0
8
3
,
2
0
1
2
,
d
o
i
:
1
0
.
4
4
0
1
/
a
g
-
5
4
0
5
.
[
1
0
]
S
.
R
a
y
a
n
d
A
.
K
.
Tr
i
p
a
t
h
i
,
“
D
e
si
g
n
a
n
d
d
e
v
e
l
o
p
me
n
t
o
f
T
i
l
t
e
d
S
i
n
g
l
e
A
x
i
s
a
n
d
A
z
i
mu
t
h
-
A
l
t
i
t
u
d
e
D
u
a
l
A
x
i
s
S
o
l
a
r
T
r
a
c
k
i
n
g
sy
st
e
ms,”
i
n
1
s
t
I
EEE
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
P
o
w
e
r
El
e
c
t
ro
n
i
c
s,
I
n
t
e
l
l
i
g
e
n
t
C
o
n
t
r
o
l
a
n
d
E
n
e
rg
y
S
y
s
t
e
m
s,
I
C
PEI
C
E
S
2
0
1
6
,
I
EEE,
Ju
l
.
2
0
1
7
,
p
p
.
1
–
6
.
d
o
i
:
1
0
.
1
1
0
9
/
I
C
P
E
I
C
ES.2
0
1
6
.
7
8
5
3
1
9
0
.
[
1
1
]
M
.
H
.
M
.
S
i
d
e
k
,
N
.
A
z
i
s,
W
.
Z
.
W
.
H
a
sa
n
,
M
.
Z
.
A
.
A
b
K
a
d
i
r
,
S
.
S
h
a
f
i
e
,
a
n
d
M
.
A
.
M
.
R
a
d
z
i
,
“
A
u
t
o
mat
e
d
p
o
s
i
t
i
o
n
i
n
g
d
u
a
l
-
a
x
i
s
so
l
a
r
t
r
a
c
k
i
n
g
sy
st
e
m
w
i
t
h
p
r
e
c
i
s
i
o
n
e
l
e
v
a
t
i
o
n
a
n
d
a
z
i
m
u
t
h
a
n
g
l
e
c
o
n
t
r
o
l
,
”
E
n
e
r
g
y
,
v
o
l
.
1
2
4
,
p
p
.
1
6
0
–
1
7
0
,
A
p
r
.
2
0
1
7
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
e
n
e
r
g
y
.
2
0
1
7
.
0
2
.
0
0
1
.
[
1
2
]
J.
S
h
e
n
,
B
.
X
i
n
,
H
.
C
u
i
,
a
n
d
W
.
G
a
o
,
“
C
o
n
t
r
o
l
o
f
S
i
n
g
l
e
-
A
x
i
s
R
o
t
a
t
i
o
n
I
N
S
b
y
T
r
a
c
k
i
n
g
D
i
f
f
e
r
e
n
t
i
a
t
o
r
B
a
se
d
F
u
z
z
y
P
I
D
,
”
I
EEE
T
ra
n
s
a
c
t
i
o
n
s
o
n
Ae
r
o
s
p
a
c
e
a
n
d
E
l
e
c
t
ro
n
i
c
S
y
st
e
m
s
,
v
o
l
.
5
3
,
n
o
.
6
,
p
p
.
2
9
7
6
–
2
9
8
6
,
D
e
c
.
2
0
1
7
,
d
o
i
:
1
0
.
1
1
0
9
/
T
A
E
S
.
2
0
1
7
.
2
7
2
2
5
5
8
.
[
1
3
]
H
.
Y
a
k
u
b
u
,
S
.
H
u
sse
i
n
,
G
.
K
o
y
u
n
l
u
,
E.
Ew
a
n
g
,
a
n
d
S
.
A
b
u
b
a
k
a
r
,
“
F
u
z
z
y
-
P
I
D
C
o
n
t
r
o
l
l
e
r
f
o
r
A
z
i
mu
t
h
P
o
si
t
i
o
n
C
o
n
t
r
o
l
o
f
D
e
e
p
S
p
a
c
e
A
n
t
e
n
n
a
,
”
C
o
v
e
n
a
n
t
J
o
u
r
n
a
l
o
f
I
n
f
o
rm
a
t
i
c
s &
C
o
m
m
u
n
i
c
a
t
i
o
n
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
8
,
n
o
.
1
,
2
0
2
0
,
d
o
i
:
1
0
.
4
7
2
3
1
/
e
w
a
e
8
4
4
3
.
[
1
4
]
A
.
K
o
sari
,
H
.
Ja
h
a
n
s
h
a
h
i
,
a
n
d
S
.
A
.
R
a
z
a
v
i
,
“
A
n
o
p
t
i
m
a
l
f
u
z
z
y
P
I
D
c
o
n
t
r
o
l
a
p
p
r
o
a
c
h
f
o
r
d
o
c
k
i
n
g
ma
n
e
u
v
e
r
o
f
t
w
o
sp
a
c
e
c
r
a
f
t
:
O
r
i
e
n
t
a
t
i
o
n
a
l
mo
t
i
o
n
,
”
En
g
i
n
e
e
r
i
n
g
S
c
i
e
n
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
a
n
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
r
n
a
l
,
v
o
l
.
2
0
,
n
o
.
1
,
p
p
.
2
9
3
–
3
0
9
,
2
0
1
7
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
j
e
st
c
h
.
2
0
1
6
.
0
7
.
0
1
8
.
[
1
5
]
K
.
H
.
A
n
g
,
G
.
C
h
o
n
g
,
a
n
d
Y
.
L
i
,
“
P
I
D
c
o
n
t
r
o
l
sy
st
e
m
a
n
a
l
y
si
s,
d
e
si
g
n
,
a
n
d
t
e
c
h
n
o
l
o
g
y
,
”
I
EEE
T
ra
n
sa
c
t
i
o
n
s
o
n
C
o
n
t
ro
l
S
y
st
e
m
s
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
1
3
,
n
o
.
4
,
p
p
.
5
5
9
–
5
7
6
,
J
u
l
.
2
0
0
5
,
d
o
i
:
1
0
.
1
1
0
9
/
T
C
S
T
.
2
0
0
5
.
8
4
7
3
3
1
.
[
1
6
]
Y
.
L
i
,
K
.
H
.
A
n
g
,
a
n
d
G
.
C
.
Y
.
C
h
o
n
g
,
“
P
I
D
c
o
n
t
r
o
l
s
y
st
e
m a
n
a
l
y
si
s a
n
d
d
e
si
g
n
:
P
r
o
b
l
e
ms,
r
e
me
d
i
e
s,
a
n
d
f
u
t
u
r
e
d
i
r
e
c
t
i
o
n
s,
”
I
EE
E
C
o
n
t
r
o
l
S
y
st
e
m
s
Ma
g
a
zi
n
e
,
v
o
l
.
2
6
,
n
o
.
1
,
p
p
.
3
2
–
4
1
,
F
e
b
.
2
0
0
6
,
d
o
i
:
1
0
.
1
1
0
9
/
M
C
S
.
2
0
0
6
.
1
5
8
0
1
5
2
.
[
1
7
]
Y
.
X
i
a
o
,
S
.
Y
i
n
,
Y
.
Z
h
a
o
,
Y
.
C
h
e
n
,
a
n
d
F
.
W
a
n
,
“
R
e
se
a
r
c
h
o
n
t
h
e
C
o
n
t
r
o
l
S
t
r
a
t
e
g
y
o
f
B
a
t
t
e
r
y
R
o
l
l
e
r
P
r
e
ss
D
e
f
l
e
c
t
i
o
n
D
e
v
i
c
e
b
y
I
n
t
r
o
d
u
c
i
n
g
G
e
n
e
t
i
c
A
l
g
o
r
i
t
h
m
t
o
O
p
t
i
mi
z
e
I
n
t
e
g
r
a
l
S
e
p
a
r
a
t
i
o
n
P
I
D
,
”
I
EEE
A
c
c
e
ss
,
v
o
l
.
1
0
,
p
p
.
1
0
0
8
7
8
–
1
0
0
8
9
4
,
2
0
2
2
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
2
2
.
3
2
0
8
1
2
2
.
[1
8
]
A
.
F
.
R
a
d
i
a
n
sy
a
h
,
O
k
t
o
g
i
u
s,
R
.
M
a
r
d
i
a
t
i
,
R
.
R
i
s
t
i
a
n
a
,
P
.
A
.
Z
u
c
h
r
i
a
d
i
,
a
n
d
N
.
P
.
D
.
A
.
M
a
r
t
i
n
i
,
“
T
o
r
q
u
e
C
o
n
t
r
o
l
o
f
D
C
M
o
t
o
r
U
si
n
g
P
I
D
-
F
u
z
z
y
f
o
r
El
e
c
t
r
i
c
P
o
w
e
r
S
t
e
e
r
i
n
g
S
y
st
e
m,”
i
n
Pro
c
e
e
d
i
n
g
s
o
f
2
0
2
5
1
1
t
h
I
n
t
e
rn
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
Wi
r
e
l
e
ss
a
n
d
T
e
l
e
m
a
t
i
c
s,
I
C
WT
2
0
2
5
,
I
EEE,
Ju
l
.
2
0
2
5
,
p
p
.
1
–
7
.
d
o
i
:
1
0
.
1
1
0
9
/
I
C
W
T
6
6
7
5
2
.
2
0
2
5
.
1
1
1
8
1
6
9
7
.
[1
9
]
M
.
R
a
b
a
h
,
A
.
R
o
h
a
n
,
S
.
A
.
S
.
M
o
h
a
m
e
d
,
a
n
d
S
.
H
.
K
i
m,
“
A
u
t
o
n
o
mo
u
s M
o
v
i
n
g
T
a
r
g
e
t
-
T
r
a
c
k
i
n
g
f
o
r
a
U
A
V
Q
u
a
d
c
o
p
t
e
r
B
a
se
d
o
n
F
u
z
z
y
-
P
I
,
”
I
EEE
Ac
c
e
ss
,
v
o
l
.
7
,
p
p
.
3
8
4
0
7
–
3
8
4
1
9
,
2
0
1
9
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
1
9
.
2
9
0
6
3
4
5
.
[
2
0
]
H
.
M
.
W
u
a
n
d
M
.
Q
.
Z
a
m
a
n
,
“
L
i
D
A
R
B
a
se
d
T
r
a
j
e
c
t
o
r
y
-
T
r
a
c
k
i
n
g
o
f
a
n
A
u
t
o
n
o
mo
u
s
D
i
f
f
e
r
e
n
t
i
a
l
D
r
i
v
e
M
o
b
i
l
e
R
o
b
o
t
U
si
n
g
F
u
z
z
y
S
l
i
d
i
n
g
M
o
d
e
C
o
n
t
r
o
l
l
e
r
,
”
I
EEE
Ac
c
e
ss
,
v
o
l
.
1
0
,
p
p
.
3
3
7
1
3
–
3
3
7
2
2
,
2
0
2
2
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
2
2
.
3
1
6
2
2
4
4
.
[
2
1
]
L
.
Z
h
u
,
D
.
T
o
n
c
i
c
h
,
R
.
N
a
g
a
r
a
j
a
h
,
a
n
d
K
.
R
o
man
s
k
i
,
“
A
P
I
D
-
t
y
p
e
f
u
z
z
y
c
o
n
t
r
o
l
l
e
r
mo
d
e
l
f
o
r
mac
h
i
n
e
c
o
n
t
r
o
l
a
p
p
l
i
c
a
t
i
o
n
s,”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
A
d
v
a
n
c
e
d
Ma
n
u
f
a
c
t
u
ri
n
g
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
1
3
,
n
o
.
1
0
,
p
p
.
6
9
6
–
7
0
7
,
O
c
t
.
1
9
9
7
,
d
o
i
:
1
0
.
1
0
0
7
/
B
F
0
1
1
7
9
0
6
9
.
[
2
2
]
Y
.
F
a
n
g
,
H
.
Z
h
o
u
,
W
.
Z
h
o
u
,
a
n
d
D
.
Z
h
a
o
,
“
F
u
z
z
y
P
I
D
w
i
t
h
A
c
t
i
v
e
D
i
st
u
r
b
a
n
c
e
R
e
j
e
c
t
i
o
n
C
o
n
t
r
o
l
f
o
r
a
Tw
o
-
a
x
i
s
G
i
mb
a
l
,
”
i
n
2
0
2
3
5
t
h
I
n
t
e
rn
a
t
i
o
n
a
l
C
o
n
f
e
r
e
n
c
e
o
n
I
n
t
e
l
l
i
g
e
n
t
C
o
n
t
r
o
l
,
Me
a
s
u
reme
n
t
a
n
d
S
i
g
n
a
l
Pr
o
c
e
ssi
n
g
,
I
C
MS
P
2
0
2
3
,
I
EEE,
M
a
y
2
0
2
3
,
p
p
.
4
2
1
–
4
2
7
.
d
o
i
:
1
0
.
1
1
0
9
/
I
C
M
S
P
5
8
5
3
9
.
2
0
2
3
.
1
0
1
7
0
9
1
8
.
[
2
3
]
J.
S
h
e
n
a
n
d
H
.
C
u
i
,
“
R
o
t
a
r
y
p
o
si
t
i
o
n
sy
st
e
m
b
a
se
d
o
n
i
mp
r
o
v
e
d
n
o
n
l
i
n
e
a
r
t
r
a
c
k
i
n
g
d
i
f
f
e
r
e
n
t
i
a
t
o
r
-
f
u
z
z
y
P
I
D
,
”
i
n
C
h
i
n
e
se
C
o
n
t
r
o
l
C
o
n
f
e
re
n
c
e
,
C
C
C
,
I
EEE,
J
u
l
.
2
0
1
5
,
p
p
.
5
5
2
1
–
5
5
2
6
.
d
o
i
:
1
0
.
1
1
0
9
/
C
h
i
C
C
.
2
0
1
5
.
7
2
6
0
5
0
2
.
[
2
4
]
Z
.
Ji
a
n
w
e
i
,
Q
.
Y
i
n
g
c
h
u
a
n
,
a
n
d
L
.
G
u
a
n
g
mi
n
g
,
“
R
e
se
a
r
c
h
o
n
T
u
r
n
t
a
b
l
e
S
e
r
v
o
S
y
st
e
m
B
a
se
d
o
n
F
u
z
z
y
S
w
i
t
c
h
i
n
g
,
”
J
o
u
rn
a
l
o
f
Ai
r
Fo
rc
e
R
a
d
a
r
Ac
a
d
e
m
y
,
v
o
l
.
6
,
n
o
.
2
5
,
2
0
1
1
,
d
o
i
:
1
0
.
3
9
6
9
/
j
.
i
ss
n
.
1
6
7
3
-
8
6
9
1
.
2
0
1
1
.
0
6
.
0
1
5
.
[
2
5
]
T
.
V
.
H
o
i
,
N
.
X
.
T
r
u
o
n
g
,
a
n
d
B
.
G
.
D
u
o
n
g
,
“
S
a
t
e
l
l
i
t
e
t
r
a
c
k
i
n
g
c
o
n
t
r
o
l
s
y
st
e
m
u
si
n
g
f
u
z
z
y
P
I
D
c
o
n
t
r
o
l
l
e
r
,
”
VN
U
J
o
u
r
n
a
l
o
f
S
c
i
e
n
c
e
:
M
a
t
h
e
m
a
t
i
c
s
–
P
h
y
s
i
c
s
,
v
o
l
.
3
1
,
n
o
.
1
,
p
p
.
3
6
–
4
6
,
M
a
r
.
2
0
1
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
7
9
5
-
1804
1804
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
M
u
fid
Rid
lo
Effe
n
d
i
re
c
e
iv
e
d
h
is
B
a
c
h
e
lo
r
d
e
g
re
e
in
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
f
ro
m
In
stit
u
t
T
e
k
n
o
lo
g
i
Na
sio
n
a
l
(
IT
EN
A
S
)
in
2
0
0
6
.
He
re
c
e
iv
e
d
h
is
M
a
ste
r
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
f
ro
m
In
stit
u
t
T
e
k
n
o
lo
g
i
Ba
n
d
u
n
g
(IT
B)
in
2
0
1
3
.
He
is
n
o
w
a
le
c
tu
re
r
in
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
,
UIN
S
u
n
a
n
G
u
n
u
n
g
Dja
ti
Ba
n
d
u
n
g
.
His
re
se
a
rc
h
is
i
n
th
e
f
ield
s o
f
n
e
tw
o
rk
in
g
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
m
u
f
id
.
rid
lo
@u
in
sg
d
.
a
c
.
id
.
Rin
a
M
a
r
d
i
a
ti
re
c
e
iv
e
d
h
e
r
Ba
c
h
e
lo
r
d
e
g
re
e
in
M
a
t
h
e
m
a
ti
c
s
Ed
u
c
a
ti
o
n
f
ro
m
Un
iv
e
rsitas
P
e
n
d
id
ik
a
n
I
n
d
o
n
e
sia
(UP
I)
in
2
0
0
6
.
S
h
e
re
c
e
iv
e
d
h
e
r
M
a
ste
r
a
n
d
Do
c
t
o
ra
l
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
f
ro
m
I
n
stit
u
t
T
e
k
n
o
lo
g
i
Ba
n
d
u
n
g
(IT
B
)
in
2
0
0
9
a
n
d
2
0
1
9
.
S
h
e
is
n
o
w
a
lec
tu
re
r
i
n
De
p
a
rtm
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
ri
n
g
,
UIN
S
u
n
a
n
G
u
n
u
n
g
Dja
ti
Ba
n
d
u
n
g
.
He
r
re
se
a
rc
h
is
in
th
e
f
ield
s
o
f
m
a
th
e
m
a
ti
c
a
l
m
o
d
e
li
n
g
,
sim
u
latio
n
,
traf
f
ic
m
o
d
e
li
n
g
a
n
d
in
telli
g
e
n
t
sy
ste
m
s,
a
n
d
f
u
z
z
y
b
a
se
d
a
p
p
ro
a
c
h
.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
r_
m
a
rd
iati@u
in
sg
d
.
a
c
.
id
.
M
u
h
a
m
m
a
d
B
a
g
ja
Na
sr
u
ll
o
h
re
c
e
iv
e
d
th
e
Ba
c
h
e
lo
r
’
s
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
f
ro
m
UI
N
S
u
n
a
n
G
u
n
u
n
g
Dja
ti
Ba
n
d
u
n
g
,
I
n
d
o
n
e
sia
,
in
2
0
2
4
.
His
u
n
d
e
rg
ra
d
u
a
te
stu
d
ies
e
m
p
h
a
siz
e
d
c
o
n
tro
l
sy
st
e
m
s,
p
o
w
e
r
e
lec
tro
n
ics
,
a
n
d
e
le
c
tri
c
a
l
s
y
ste
m
d
e
si
g
n
,
w
it
h
p
a
rti
c
u
lar
in
tere
st
in
i
n
telli
g
e
n
t
c
o
n
tro
l
a
p
p
li
c
a
ti
o
n
s.
His
re
se
a
rc
h
a
n
d
tec
h
n
ica
l
in
tere
sts
in
c
lu
d
e
c
o
n
tro
l
sy
ste
m
s
e
n
g
in
e
e
r
in
g
,
p
o
w
e
r
e
lec
tro
n
ics
,
e
lec
tri
c
v
e
h
icle
s,
e
m
b
e
d
d
e
d
sy
ste
m
s,
in
telli
g
e
n
t
c
o
n
tr
o
l
m
e
th
o
d
s
(
in
c
lu
d
in
g
P
ID
a
n
d
f
u
z
z
y
-
b
a
se
d
a
p
p
ro
a
c
h
e
s),
a
n
d
c
o
m
p
u
ter
v
isio
n
f
o
r
a
u
to
m
a
ti
o
n
a
n
d
a
u
to
n
o
m
o
u
s
s
y
ste
m
s.
H
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
b
a
g
ja
m
u
h
a
m
m
a
d
n
0
2
@g
m
a
il
.
c
o
m
.
Aa
n
E
k
o
S
e
tia
w
a
n
re
c
e
iv
e
d
th
e
Ba
c
h
e
lo
r
’
s d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
f
ro
m
UIN
S
u
n
a
n
G
u
n
u
n
g
Dja
ti
Ba
n
d
u
n
g
in
2
0
1
1
,
f
o
ll
o
w
e
d
b
y
a
M
a
ste
r
’
s
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
sp
e
c
ializin
g
i
n
C
o
n
tr
o
l
El
e
c
tr
o
n
ic
a
n
d
I
n
telli
g
e
n
t
S
y
ste
m
s
f
ro
m
T
e
l
k
o
m
Un
iv
e
rsit
y
in
2
0
1
8
.
Cu
rre
n
t
ly
,
h
e
se
rv
e
s
a
s
a
l
e
c
tu
re
r
a
t
Ba
n
d
u
n
g
M
a
n
u
f
a
c
tu
rin
g
P
o
ly
tec
h
n
ic.
His
re
se
a
rc
h
in
tere
sts
f
o
c
u
s
o
n
a
re
a
s
su
c
h
a
s
f
u
z
z
y
lo
g
i
c
,
ro
b
o
ti
c
s,
in
telli
g
e
n
t
sy
ste
m
s,
a
n
d
c
o
m
p
u
ter v
isio
n
.
He
c
a
n
b
e
c
o
n
ta
c
ted
a
t
e
m
a
il
:
a
a
n
e
k
o
@p
o
lm
a
n
-
b
a
n
d
u
n
g
.
a
c
.
id
.
Evaluation Warning : The document was created with Spire.PDF for Python.