I
nte
rna
t
io
na
l J
o
urna
l o
f
Adv
a
nces in Applie
d Science
s
(
I
J
AAS)
Vo
l.
1
4
,
No
.
1
,
Ma
r
ch
2
0
2
5
,
p
p
.
60
~
68
I
SS
N:
2252
-
8
8
1
4
,
DOI
:
1
0
.
1
1
5
9
1
/ijaas
.
v
1
4
.
i
1
.
pp
60
-
68
60
J
o
ur
na
l ho
m
ep
a
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e
:
h
ttp
:
//ij
a
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TR)
sy
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'
s
p
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rfo
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n
c
e
.
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e
n
h
a
n
c
e
it
s
p
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e
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a
fra
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teg
ra
l
-
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a
ti
v
e
(F
OPID)
c
o
n
tro
l
ler
wa
s
e
m
p
lo
y
e
d
,
n
e
c
e
ss
it
a
ti
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th
e
t
u
n
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p
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d
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t
c
o
n
tr
o
l
p
a
ra
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ters
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o
r
th
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u
r
p
o
se
,
a
sin
e
-
c
o
sin
e
a
lg
o
rit
h
m
(S
CA)
w
a
s
in
tro
d
u
c
e
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to
o
p
ti
m
ize
th
e
se
p
a
ra
m
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ters
.
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e
F
OPID
c
o
n
tro
ll
e
r,
tu
n
e
d
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si
n
g
th
e
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CA,
p
r
o
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id
e
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a
p
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we
rfu
l
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m
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ti
o
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th
a
t
a
d
d
re
ss
e
s
th
e
c
o
m
p
lex
it
ies
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f
t
h
e
CS
TR
s
y
ste
m
.
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e
fra
c
ti
o
n
a
l
-
o
r
d
e
r
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a
t
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re
o
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th
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o
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ll
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sti
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h
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ra
c
teristics
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im
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ro
v
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ra
ll
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o
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tr
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l
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n
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e
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CA,
k
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ti
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ters
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sig
n
e
d
f
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r
th
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R
sy
ste
m
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e
stu
d
y
p
re
se
n
ts
ti
m
e
-
d
o
m
a
in
c
h
a
ra
c
teristics
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n
d
fre
q
u
e
n
c
y
re
sp
o
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se
s
o
f
t
h
e
p
ro
p
o
se
d
c
o
n
tro
ll
e
r.
T
h
e
sim
u
latio
n
re
su
lt
s d
e
m
o
n
stra
ted
t
h
a
t
th
e
S
CA
-
F
OPID
c
o
n
tr
o
ll
e
r
si
g
n
ifi
c
a
n
t
ly
o
u
t
p
e
rfo
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s
t
h
e
o
th
e
r
d
e
si
g
n
e
d
c
o
n
tr
o
ll
e
rs,
a
c
h
iev
in
g
a
5
4
.
0
7
%
re
d
u
c
ti
o
n
in
th
e
i
n
teg
ra
l
o
f
ti
m
e
a
b
so
lu
te
e
rr
o
r
(
ITAE
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c
o
m
p
a
re
d
to
g
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n
e
ti
c
a
lg
o
rit
h
m
(
GA
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,
a
n
1
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.
6
4
%
re
d
u
c
ti
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o
m
p
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re
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g
re
y
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lf
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ti
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ize
r
(
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n
d
a
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re
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ti
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l
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l
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o
n
(
DE
)
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Th
e
se
sig
n
ifi
c
a
n
t
re
d
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c
ti
o
n
s
i
n
ITAE
u
n
d
e
rsc
o
re
th
e
e
ffe
c
ti
v
e
n
e
ss
o
f
t
h
is
a
p
p
r
o
a
c
h
,
h
ig
h
li
g
h
ti
n
g
th
e
s
u
p
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ri
o
r
p
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r
m
a
n
c
e
a
n
d
ro
b
u
st
n
e
ss
o
f
th
e
S
CA
-
tu
n
e
d
F
OPID
c
o
n
tr
o
ll
e
r
i
n
o
p
ti
m
izi
n
g
t
h
e
CS
TR
sy
ste
m
.
K
ey
w
o
r
d
s
:
C
STR
FOPID
I
T
AE
I
n
tellig
en
t m
etah
eu
r
is
tic
alg
o
r
ith
m
SC
A
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
:
Ma
n
o
j K
u
m
ar
Kar
Dep
ar
tm
en
t o
f
E
lectr
ical
an
d
E
lectr
o
n
ics E
n
g
in
ee
r
i
n
g
,
T
o
la
n
i M
ar
itime
I
n
s
titu
te
Pu
n
e
T
aleg
ao
n
-
C
h
ak
a
n
R
o
ad
,
I
n
d
u
r
i,
T
aleg
ao
n
,
Pu
n
e
-
4
1
0
5
0
7
I
n
d
ia
E
m
ail:
m
an
o
jk
ar
1
3
2
@
g
m
ail.
c
o
m
1.
I
NT
RO
D
UCT
I
O
N
I
n
ch
em
ical
e
n
g
in
ee
r
in
g
,
a
co
n
tin
u
o
u
s
s
tirr
ed
tan
k
r
ea
cto
r
(
C
STR)
is
a
p
o
p
u
lar
r
ea
ct
o
r
d
esig
n
f
o
r
ca
r
r
y
in
g
o
u
t
co
n
tin
u
o
u
s
ch
em
i
ca
l
p
r
o
ce
s
s
es.
I
t
is
m
ad
e
o
u
t
o
f
a
tan
k
o
r
v
ess
el
th
at
is
u
s
ed
to
co
n
tin
u
ally
f
ee
d
r
ea
ctan
ts
in
an
d
tak
e
p
r
o
d
u
cts
o
u
t.
T
h
e
r
ea
cto
r
h
as
an
ag
itato
r
o
r
s
tirr
er
th
at
m
ak
es
s
u
r
e
th
e
r
ea
ctan
ts
ar
e
well
m
ix
ed
an
d
h
av
e
a
co
n
s
is
ten
t
co
m
p
o
s
itio
n
th
r
o
u
g
h
o
u
t
th
e
r
ea
ctio
n
[
1
]
,
[
2
]
.
As
th
e
tem
p
e
r
atu
r
e
h
as
an
im
p
ac
t
o
n
r
ea
ctio
n
r
ates,
p
r
o
d
u
ct
s
elec
tiv
ity
,
an
d
s
af
ety
in
C
STR
s
,
i
t
is
an
es
s
en
tial
p
ar
am
eter
.
T
o
m
an
ag
e
th
e
jack
et
tem
p
er
atu
r
e
an
d
k
ee
p
it
at
th
e
in
ten
d
ed
s
etp
o
in
t
,
co
n
tr
o
ller
s
s
u
ch
as
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
-
d
er
iv
ativ
e
(
PID
)
co
n
tr
o
ller
s
ca
n
b
e
u
s
ed
.
T
h
e
co
n
tr
o
ller
c
o
n
tin
u
o
u
s
ly
m
o
n
it
o
r
s
th
e
tem
p
e
r
atu
r
e
i
n
s
id
e
th
e
r
ea
cto
r
a
n
d
a
d
ju
s
ts
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
n
tellig
en
t m
eta
h
eu
r
is
tic
a
lg
o
r
ith
m
b
a
s
ed
F
OP
I
D
co
n
tr
o
ller
fo
r
C
S
TR
s
yste
m
(
A
s
h
is
h
S
h
a
r
ma
)
61
th
e
h
ea
tin
g
o
r
co
o
lin
g
p
r
o
v
i
d
ed
b
y
th
e
jack
et
to
k
ee
p
th
e
tem
p
er
atu
r
e
with
in
th
e
d
esire
d
r
an
g
e
[
3
]
.
PID
co
n
tr
o
ller
s
[
1
]
,
a
r
e
co
m
m
o
n
ly
u
s
ed
d
u
e
to
th
eir
s
im
p
licity
,
ef
f
ec
tiv
en
ess
,
an
d
wid
esp
r
ea
d
av
ailab
ilit
y
.
Mo
r
e
ad
v
an
ce
d
c
o
n
tr
o
l
s
tr
ateg
ies,
s
u
ch
as
m
o
d
el
-
b
ased
co
n
t
r
o
l
o
r
ad
ap
tiv
e
co
n
tr
o
l,
ca
n
als
o
b
e
em
p
lo
y
ed
in
co
m
p
lex
C
STR
s
y
s
tem
s
to
ac
h
iev
e
b
etter
co
n
t
r
o
l
p
er
f
o
r
m
a
n
ce
.
I
n
o
r
d
er
to
g
et
d
esire
d
s
y
s
tem
r
esp
o
n
s
es,
PID
co
n
tr
o
ller
p
ar
am
eter
s
m
u
s
t
b
e
ef
f
ec
tiv
ely
tu
n
ed
.
Ho
we
v
er
,
f
in
d
in
g
t
h
e
o
p
tim
al
s
ettin
g
s
ca
n
p
o
s
e
a
co
n
s
id
er
ab
le
ch
alle
n
g
e,
v
ar
y
in
g
ac
r
o
s
s
d
if
f
e
r
en
t
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
I
n
r
ec
en
t
tim
es,
th
e
r
e
h
as
b
ee
n
a
s
h
if
t
to
war
d
s
u
tili
zin
g
m
eta
-
h
e
u
r
is
tic
o
p
tim
izatio
n
alg
o
r
ith
m
s
as a
p
r
ef
er
r
e
d
ch
o
ice
o
v
er
co
n
v
en
t
io
n
al
m
eth
o
d
s
lik
e
Z
ieg
ler
–
Nich
o
ls
[
1
]
,
[
2
]
,
[
4
]
,
C
o
h
en
–
C
o
o
n
[
5
]
,
an
d
tr
ial
-
er
r
o
r
-
tu
n
i
n
g
ap
p
r
o
ac
h
es
[
6
]
.
T
h
is
s
h
if
t is attr
ib
u
ted
to
th
e
lim
itatio
n
s
o
f
th
ese
tr
ad
itio
n
al
m
eth
o
d
s
,
wh
ich
o
f
ten
f
al
l
s
h
o
r
t
of
attain
in
g
th
e
o
p
ti
m
a
l
r
esu
lts
s
o
u
g
h
t
in
d
iv
er
s
e
in
d
u
s
tr
ial
s
ce
n
ar
io
s
.
S
im
ilar
to
o
th
er
in
d
u
s
tr
ial
ap
p
li
ca
tio
n
s
,
ev
o
lu
tio
n
a
r
y
alg
o
r
ith
m
s
h
av
e
b
ee
n
u
s
ed
b
y
r
esear
ch
er
s
to
tu
n
e
PID
c
o
n
tr
o
ller
s
f
o
r
th
e
C
STR
s
y
s
te
m
.
Gen
etic
alg
o
r
ith
m
(
GA)
[
1
]
,
[
7
]
–
[
9
]
p
ar
ticle
s
war
m
o
p
tim
izatio
n
(
PS
O)
[
1
]
,
[
1
0
]
,
ar
tific
ial
b
ee
co
lo
n
y
(
AB
C
)
[
3
]
,
Mo
d
if
ied
AB
C
[
1
1
]
,
f
ir
ef
ly
alg
o
r
ith
m
(
FF
)
[
1
2
]
,
b
io
g
e
o
g
r
ap
h
y
-
b
ased
o
p
tim
izatio
n
(
BB
O
)
alg
o
r
i
th
m
[
1
2
]
,
h
y
b
r
id
B
B
O
-
FF
alg
o
r
ith
m
[
1
2
]
,
an
d
f
u
zz
y
b
ased
PID
co
n
tr
o
ller
[
1
3
]
h
av
e
all
b
ee
n
u
tili
ze
d
to
f
in
e
-
tu
n
e
PID
co
n
tr
o
ller
p
ar
am
et
er
s
s
p
ec
if
ically
f
o
r
th
e
C
STR
s
y
s
tem
.
T
h
e
f
r
ac
tio
n
al
-
o
r
d
er
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
-
d
er
iv
ativ
e
(
FOPID
)
co
n
t
r
o
ller
o
f
f
e
r
s
g
r
ea
ter
d
esig
n
f
lex
ib
ilit
y
in
v
ar
i
o
u
s
en
g
in
ee
r
in
g
ap
p
licatio
n
s
an
d
h
as
b
ee
n
u
s
ed
in
C
STR
s
y
s
tem
s
to
im
p
r
o
v
e
g
en
er
ato
r
v
o
ltag
e
q
u
ality
.
U
n
lik
e
th
e
tr
a
d
itio
n
al
PID
co
n
tr
o
ller
,
th
e
FOPID
co
n
tr
o
ller
r
eq
u
ir
es
tu
n
i
n
g
f
iv
e
in
d
ep
en
d
en
t p
ar
am
eter
s
,
m
ak
i
n
g
it
a
m
o
r
e
c
o
m
p
lex
co
n
tr
o
l
s
y
s
tem
to
d
esig
n
.
T
h
is
ad
d
e
d
c
o
m
p
lex
ity
is
d
u
e
to
th
e
two
a
d
d
itio
n
al
p
ar
am
ete
r
s
in
tr
o
d
u
ce
d
b
y
t
h
e
f
r
ac
tio
n
al
-
o
r
d
er
c
o
m
p
o
n
en
t.
T
h
is
in
c
r
ea
s
ed
tu
n
a
b
ilit
y
allo
ws
f
o
r
m
o
r
e
p
r
ec
is
e
co
n
tr
o
l
b
u
t
a
ls
o
d
em
an
d
s
a
th
o
r
o
u
g
h
u
n
d
e
r
s
tan
d
in
g
o
f
th
e
s
y
s
tem
an
d
c
o
n
tr
o
l
th
e
o
r
y
to
g
et
th
e
in
ten
d
e
d
o
u
tco
m
e
.
T
h
e
p
r
o
ce
s
s
o
f
tu
n
i
n
g
t
h
ese
p
ar
a
m
eter
s
with
in
th
e
C
STR
s
y
s
tem
h
as
s
ee
n
th
e
ap
p
licatio
n
o
f
GA
[
1
4
]
,
[
1
5
]
,
PS
O
[
1
1
]
,
[
1
4
]
,
cu
c
k
o
o
s
ea
r
ch
(
C
S)
[
1
1
]
,
s
tate
o
f
m
atter
s
ea
r
ch
(
SMS)
[
1
1
]
,
a
n
d
h
y
b
r
id
c
o
n
tr
ac
to
r
s
af
ety
m
an
ag
em
en
t
s
y
s
tem
-
e
lite
o
p
p
o
s
itio
n
-
b
ased
lear
n
i
n
g
(
C
SMS
-
E
OB
L
)
[
1
1
]
,
alg
o
r
ith
m
s
.
Acr
o
s
s
th
ese
s
tu
d
ies,
r
esear
ch
er
s
co
llectiv
ely
aim
to
im
p
r
o
v
e
th
e
r
esp
o
n
s
e
o
f
th
e
C
ST
R
s
y
s
te
m
b
y
f
o
cu
s
in
g
o
n
en
h
an
cin
g
it
s
tr
an
s
ien
t
r
esp
o
n
s
e
ch
ar
ac
te
r
is
ti
cs.
T
h
is
in
v
o
lv
es
r
ef
in
in
g
p
ar
am
eter
s
,
f
o
r
ex
am
p
le,
m
in
im
i
z
in
g
s
tead
y
-
s
tate
er
r
o
r
,
p
ea
k
tim
e,
r
is
in
g
ti
m
e,
s
ettlin
g
tim
e,
an
d
p
er
ce
n
t
ag
e
o
v
er
r
u
n
.
Desp
ite
th
is
s
h
ar
ed
o
b
jectiv
e,
th
ey
h
a
v
e
ch
o
s
en
v
ar
io
u
s
alg
o
r
ith
m
s
b
ec
au
s
e
n
o
s
in
g
le
alg
o
r
ith
m
g
u
ar
an
tees f
in
d
in
g
th
e
o
p
tim
al
co
n
tr
o
ller
p
a
r
am
eter
s
f
o
r
th
e
C
STR
s
y
s
tem
.
I
n
ess
en
ce
,
d
if
f
er
e
n
t
alg
o
r
ith
m
s
ca
n
lead
to
th
e
d
is
co
v
er
y
o
f
im
p
r
o
v
ed
co
n
tr
o
ller
p
a
r
a
m
eter
s
,
th
er
eb
y
y
ield
in
g
a
s
u
p
er
io
r
r
esp
o
n
s
e
f
r
o
m
th
e
C
STR
s
y
s
tem
.
I
n
th
e
ex
p
lo
r
atio
n
o
f
m
eth
o
d
s
to
im
p
r
o
v
e
th
e
C
STR
s
y
s
tem
'
s
r
esp
o
n
s
e,
r
esear
ch
er
s
h
av
e
d
iv
e
r
s
if
ied
th
eir
ap
p
r
o
ac
h
b
y
c
o
n
s
id
er
in
g
v
a
r
io
u
s
o
b
jectiv
e
f
u
n
ctio
n
s
with
in
th
e
o
p
tim
i
za
tio
n
alg
o
r
ith
m
s
m
e
n
tio
n
ed
e
ar
lier
.
E
r
r
o
r
-
b
ased
o
b
jectiv
e
f
u
n
ctio
n
s
lik
e
in
teg
r
al
o
f
tim
e
ab
s
o
lu
te
er
r
o
r
(
I
T
AE
)
[
1
]
–
[
4
]
,
in
teg
r
al
o
f
a
b
s
o
lu
te
er
r
o
r
(
I
AE
)
[
2
]
,
in
teg
r
al
o
f
tim
e
-
weig
h
ted
s
q
u
ar
ed
er
r
o
r
(
I
T
SE)
[
2
]
,
in
teg
r
al
o
f
s
q
u
ar
e
d
er
r
o
r
(
I
SE)
[
2
]
,
[
5
]
,
an
d
m
e
an
s
q
u
ar
e
er
r
o
r
(
MSE
)
[
3
]
,
[
6
]
,
[
7
]
h
a
v
e
b
ee
n
p
r
o
m
i
n
en
t
in
C
STR
s
y
s
tem
s
tu
d
ies.
Mo
r
eo
v
er
,
cu
s
to
m
-
d
ef
in
e
d
o
b
jectiv
e
f
u
n
ctio
n
s
,
en
co
m
p
ass
in
g
a
b
le
n
d
o
f
p
er
ce
n
ta
g
e
o
v
er
s
h
o
o
t,
s
e
ttli
n
g
tim
e,
p
ea
k
tim
e,
r
is
e
tim
e,
an
d
s
tead
y
-
s
tate
er
r
o
r
h
av
e
also
f
o
u
n
d
a
p
p
licatio
n
in
o
p
tim
izin
g
th
e
C
STR
s
y
s
tem
[
8
]
.
Am
o
n
g
t
h
ese,
th
e
wi
d
ely
u
tili
ze
d
I
T
AE
o
b
jectiv
e
f
u
n
ctio
n
was
in
tr
o
d
u
ce
d
in
[
4
]
.
T
h
is
p
ar
ticu
lar
o
b
jectiv
e
f
u
n
ctio
n
is
f
r
e
q
u
en
tly
u
s
ed
b
y
r
esear
ch
e
r
s
,
as
it
p
r
o
v
id
es
a
s
tan
d
a
r
d
ized
b
asis
f
o
r
co
m
p
ar
in
g
th
eir
in
n
o
v
ativ
e
ap
p
r
o
ac
h
es
with
estab
lis
h
ed
m
et
h
o
d
o
lo
g
ies
p
r
esen
t in
th
e
e
x
is
tin
g
liter
atu
r
e.
T
h
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
is
a
p
p
lied
to
t
h
e
tem
p
er
atu
r
e
co
n
tr
o
l
o
f
C
STR.
Alth
o
u
g
h
ex
ten
s
iv
e
liter
atu
r
e
ex
is
ts
o
n
v
ar
io
u
s
co
n
tr
o
l
m
et
h
o
d
s
f
o
r
C
STR,
its
h
ig
h
ly
n
o
n
lin
ea
r
n
at
u
r
e
a
n
d
c
o
m
p
lex
d
y
n
am
ic
p
r
o
p
e
r
ties
m
ak
e
it
a
ch
allen
g
in
g
task
.
As
a
r
esu
lt,
tr
ad
itio
n
al
co
n
tr
o
l
m
eth
o
d
s
o
f
ten
s
tr
u
g
g
le
with
th
is
co
m
p
lex
ity
.
I
n
r
ec
en
t
y
ea
r
s
,
o
p
tim
izatio
n
-
b
ased
co
n
tr
o
l
h
as
b
ec
o
m
e
m
o
r
e
f
av
o
r
ed
o
v
er
c
o
n
v
e
n
tio
n
al
o
r
in
tellig
en
t
co
n
tr
o
ller
s
.
T
o
ad
d
r
ess
th
is
ch
allen
g
e,
th
e
s
in
e
c
o
s
in
e
alg
o
r
ith
m
(
SC
A)
is
in
tr
o
d
u
ce
d
as
th
e
s
o
lu
tio
n
.
I
n
th
is
p
ap
er
,
SC
A
is
em
p
lo
y
ed
in
t
h
e
co
n
tr
o
ller
d
esig
n
p
r
o
ce
s
s
d
u
e
to
its
ab
ilit
y
to
a
v
o
id
l
o
c
al
m
in
im
a,
e
x
p
lo
r
e
d
iv
er
s
e
r
eg
i
o
n
s
o
f
th
e
s
ea
r
ch
s
p
ac
e,
an
d
ef
f
ec
tiv
ely
c
o
n
v
er
g
e
to
war
d
s
th
e
g
lo
b
al
s
o
l
u
tio
n
.
T
h
is
m
ak
es
it
s
u
p
er
io
r
to
o
th
er
well
-
k
n
o
wn
o
p
tim
izatio
n
alg
o
r
ith
m
s
.
Pre
v
io
u
s
s
tu
d
ies
h
av
e
o
f
te
n
test
ed
co
n
tr
o
l
s
tr
ateg
ies
und
er
id
ea
l
o
r
m
in
im
ally
d
i
s
tu
r
b
ed
co
n
d
itio
n
s
,
m
o
r
e
w
o
r
k
is
n
ee
d
ed
to
d
e
v
elo
p
d
is
tu
r
b
an
ce
-
r
ejec
tio
n
tech
n
iq
u
es a
n
d
co
n
tr
o
ller
s
th
at
ar
e
r
o
b
u
s
t a
g
ain
s
t a
wid
e
r
an
g
e
o
f
u
n
ce
r
tain
ties
in
C
STR o
p
er
atio
n
s
.
T
h
e
SC
A
-
FOPID
co
n
tr
o
ller
i
s
s
u
g
g
ested
in
t
h
is
s
tu
d
y
to
e
n
h
an
ce
t
h
e
s
y
s
tem
'
s
f
r
eq
u
en
c
y
r
esp
o
n
s
e
an
d
tr
an
s
ien
t
r
esp
o
n
s
e.
T
h
is
p
ap
er
'
s
p
r
im
ar
y
co
n
tr
i
b
u
tio
n
ca
n
b
e
s
u
m
m
e
d
u
p
as
f
o
l
lo
ws:
i)
T
h
e
SC
A
alg
o
r
ith
m
is
u
s
ed
to
tu
n
e
th
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
s
ettin
g
s
;
th
i
s
is
th
e
f
ir
s
t
tim
e
th
is
ap
p
r
o
ac
h
h
as
b
ee
n
a
p
p
lied
to
ch
o
o
s
e
th
e
b
est
p
ar
am
ete
r
in
C
STR
in
v
esti
g
atio
n
s
an
d
ii)
B
y
c
o
m
p
ar
in
g
th
e
s
u
g
g
ested
co
n
tr
o
ller
'
s
p
er
f
o
r
m
an
ce
to
o
th
er
well
-
k
n
o
wn
co
n
tr
o
l
s
tr
ateg
ies
r
ep
o
r
te
d
in
th
e
liter
atu
r
e,
it
s
ee
k
s
to
v
alid
ate
th
e
ef
f
icac
y
o
f
th
e
co
n
tr
o
ller
u
s
in
g
th
e
SC
A
alg
o
r
ith
m
.
T
h
e
p
a
p
er
'
s
f
o
llo
win
g
s
ec
tio
n
s
f
o
llo
w
th
is
s
tr
u
ctu
r
e:
s
ec
tio
n
2
o
u
tlin
es
th
e
m
o
d
el
o
f
th
e
C
STR
s
y
s
tem
u
n
d
er
s
tu
d
y
.
Sectio
n
3
o
u
tlin
es
th
e
s
u
g
g
ested
p
r
o
ce
d
u
r
es
f
o
r
c
o
n
tr
o
ller
d
esig
n
.
Sectio
n
4
an
aly
s
is
o
f
th
e
SC
A
'
s
p
er
f
o
r
m
an
ce
.
Sectio
n
5
p
r
esen
ts
s
im
u
latio
n
r
esu
l
ts
an
d
a
d
is
cu
s
s
io
n
.
L
astl
y
,
s
e
ctio
n
6
p
r
o
v
id
es
th
e
p
ap
er
'
s
co
n
clu
s
io
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8
8
1
4
I
n
t J Ad
v
Ap
p
l Sci
,
Vo
l.
1
4
,
No
.
1
,
Ma
r
c
h
2
0
2
5
:
60
-
68
62
2.
M
O
DE
L
O
F
CST
R
T
h
e
ex
o
th
er
m
ic
C
STR
[
9
]
,
[
1
6
]
is
a
wid
ely
u
s
ed
ch
em
ical
s
y
s
tem
in
v
ar
io
u
s
in
d
u
s
tr
ies.
T
h
e
m
o
d
el
o
f
C
STR
is
tak
en
f
r
o
m
[
1
0
]
,
wh
ich
h
a
s
b
ee
n
v
alid
ate
d
th
r
o
u
g
h
an
ac
tu
al
ex
p
er
im
en
tal
s
etu
p
.
I
t
h
as
b
ee
n
ex
ten
s
iv
ely
d
i
s
cu
s
s
ed
in
th
e
l
iter
atu
r
e.
Fig
u
r
e
1
s
h
o
ws
th
is
r
ea
cto
r
o
p
er
ates
with
a
s
in
g
le
ex
o
th
er
m
ic
an
d
ir
r
ev
er
s
ib
le
r
ea
ctio
n
,
s
p
ec
if
ica
lly
th
e
co
n
v
e
r
s
io
n
o
f
r
ea
cta
n
t A
in
to
p
r
o
d
u
ct
B
(
A→B
)
.
T
h
e
r
ea
cto
r
is
ass
u
m
ed
to
alwa
y
s
m
ain
tain
p
er
f
ec
t
m
ix
in
g
.
R
ea
g
en
t
A
is
co
n
ti
n
u
o
u
s
ly
in
tr
o
d
u
ce
d
in
to
th
e
r
ea
cto
r
at
a
co
n
s
tan
t
v
o
lu
m
etr
ic
f
lo
w
r
ate,
wh
ile
th
e
p
r
o
d
u
ct
s
tr
ea
m
B
is
also
co
n
tin
u
o
u
s
ly
r
em
o
v
ed
at
th
e
s
am
e
v
o
l
u
m
etr
ic
f
l
o
w
r
ate.
T
h
e
d
en
s
ity
o
f
th
e
liq
u
id
r
em
ain
s
co
n
s
tan
t,
an
d
co
n
s
eq
u
en
tly
,
th
e
v
o
lu
m
e
o
f
th
e
r
ea
c
tin
g
liq
u
i
d
r
em
ain
s
co
n
s
tan
t
as
well.
T
o
illu
s
tr
ate
th
e
s
y
s
tem
,
r
ef
er
to
th
e
ac
co
m
p
an
y
in
g
d
iag
r
a
m
d
ep
ictin
g
th
e
r
ea
cto
r
an
d
th
e
co
o
lin
g
jack
et
t
h
at
s
u
r
r
o
u
n
d
s
i
t.
Fig
u
r
e
1
.
C
STR
s
y
s
tem
Fu
n
d
am
en
tal
co
n
ce
p
ts
o
f
m
a
s
s
b
alan
ce
an
d
en
er
g
y
co
n
s
er
v
atio
n
ar
e
u
s
ed
to
m
o
d
el
th
e
n
o
n
lin
ea
r
C
STR
s
y
s
tem
.
A
co
n
ce
n
tr
atio
n
in
th
e
v
ess
el
o
v
er
tim
e
is
g
iv
en
b
y
(
1
)
.
T
h
e
in
itial
ter
m
in
v
o
lv
in
g
V
as
th
e
r
ea
cto
r
v
o
lu
m
e
a
n
d
F
as
th
e
v
o
lu
m
etr
ic
f
lo
w
r
ate
r
ep
r
esen
ts
th
e
d
is
p
ar
ity
in
co
n
ce
n
tr
atio
n
b
etwe
en
th
e
in
p
u
t
an
d
th
e
s
tr
ea
m
.
T
h
e
s
u
b
s
eq
u
e
n
t
ter
m
,
in
d
icatin
g
th
e
r
ea
ctio
n
r
ate
p
er
u
n
it
v
o
lu
m
e,
ad
h
er
es
to
th
e
Ar
r
h
en
iu
s
r
ate
law,
ex
p
r
ess
ed
as
(
2
)
.
He
r
e,
th
e
ac
tiv
atio
n
en
er
g
y
is
d
en
o
ted
b
y
E
,
th
e
B
o
ltzm
an
n
id
ea
l
g
as
co
n
s
tan
t
is
d
en
o
ted
b
y
R
,
T
is
th
e
r
ea
cto
r
'
s
tem
p
er
atu
r
e,
K
0
is
a
n
o
n
th
e
r
m
al
co
n
s
tan
t,
an
d
ac
co
r
d
in
g
to
th
e
r
ate
law,
th
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
r
ea
c
tio
n
r
ate
a
n
d
a
b
s
o
lu
te
tem
p
er
atu
r
e
is
ex
p
o
n
en
tial.
Similar
l
y
,
th
e
tem
p
er
atu
r
e
ch
an
g
e
p
er
u
n
it
o
f
tim
e
ca
n
b
e
ap
p
r
o
x
im
ated
in
(
3
)
b
y
ass
u
m
in
g
c
o
n
s
tan
t
v
o
lu
m
e
in
t
h
e
r
ea
cto
r
an
d
a
p
p
ly
in
g
th
e
en
er
g
y
b
alan
ce
c
o
n
ce
p
t.
=
(
−
)
−
(
)
(
1
)
(
)
=
0
−
⁄
(
2
)
=
(
−
)
−
∆
(
)
−
(
−
)
(
3
)
I
n
th
is
eq
u
atio
n
,
th
e
im
p
ac
t
o
f
ch
an
g
es
in
th
e
in
let
f
ee
d
s
tr
ea
m
tem
p
er
atu
r
e
(
T
f
)
an
d
jac
k
et
co
o
lan
t
tem
p
er
atu
r
e
(
T
j
)
is
d
ep
icted
b
y
th
e
f
ir
s
t
an
d
th
ir
d
te
r
m
s
r
esp
ec
tiv
ely
.
T
h
e
s
ec
o
n
d
ter
m
d
en
o
tes
th
e
ef
f
ec
t
o
n
th
e
r
ea
cto
r
tem
p
er
atu
r
e
in
d
u
ce
d
b
y
th
e
c
h
em
ical
r
ea
ct
io
n
s
o
cc
u
r
r
in
g
with
in
t
h
e
v
ess
el.
Sp
ec
if
ically
,
Δ
H
r
ep
r
esen
ts
th
e
h
ea
t
o
f
t
h
e
r
e
ac
tio
n
p
e
r
m
o
le,
C
p
s
tan
d
s
f
o
r
th
e
h
ea
t
ca
p
ac
ity
co
ef
f
icie
n
t,
ρ
r
ep
r
esen
ts
th
e
d
en
s
ity
co
ef
f
icien
t,
U
d
en
o
te
s
th
e
o
v
er
all
h
ea
t
tr
an
s
f
er
c
o
ef
f
icien
t,
A
s
ig
n
if
ies
th
e
a
r
ea
allo
ca
ted
f
o
r
h
ea
t
ex
ch
an
g
e
,
s
p
ec
if
ically
th
e
in
t
er
f
ac
e
ar
ea
b
etwe
en
th
e
c
o
o
la
n
t
an
d
th
e
v
ess
el.
T
h
e
C
STR
Mo
d
el'
s
p
ar
am
eter
v
alu
es a
r
e
lis
ted
in
T
ab
le
1
[
1
6
]
.
T
ab
le
1
.
Par
am
eter
f
o
r
C
STR s
y
s
tem
P
a
r
a
me
t
e
r
V
a
l
u
e
s
U
n
i
t
F
/
V
1
1
/
h
R
1
.
9
8
5
8
7
5
k
c
a
l
/
(
k
m
o
l
-
K)
ΔH
-
5
9
6
0
k
c
a
l
/
k
m
o
l
E
1
1
8
4
3
k
c
a
l
/
k
m
o
l
K
0
3
4
,
9
3
0
,
8
0
0
1
/
h
ρC
p
5
0
0
k
c
a
l
/
(
m
3
-
K)
UA
1
5
0
k
c
a
l
/
(
K
-
h)
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
n
tellig
en
t m
eta
h
eu
r
is
tic
a
lg
o
r
ith
m
b
a
s
ed
F
OP
I
D
co
n
tr
o
ller
fo
r
C
S
TR
s
yste
m
(
A
s
h
is
h
S
h
a
r
ma
)
63
3.
M
E
T
H
O
DS
I
n
th
is
s
ec
tio
n
,
it
is
ex
p
lain
ed
th
e
r
esu
lts
o
f
t
h
e
r
esear
ch
an
d
at
th
e
s
am
e
tim
e
is
g
iv
en
i
n
t
h
is
s
tu
d
y
,
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
is
u
tili
ze
d
to
r
eg
u
late
th
e
tem
p
er
atu
r
e
o
f
a
C
STR.
Ad
d
itio
n
ally
,
th
e
p
ar
am
eter
s
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
ar
e
f
in
e
-
tu
n
ed
u
s
in
g
th
e
SC
A
m
etah
eu
r
is
tic
alg
o
r
ith
m
.
A
tr
a
d
itio
n
al
PID
co
n
tr
o
ller
r
eq
u
ir
es
th
e
tu
n
in
g
o
f
t
h
r
ee
d
is
tin
ct
p
ar
am
eter
s
,
wh
er
ea
s
th
e
FOPID
co
n
tr
o
ller
in
v
o
lv
es
th
e
ad
ju
s
tm
en
t o
f
f
iv
e
d
if
f
er
en
t
p
ar
am
eter
s
.
Fig
u
r
e
2
illu
s
tr
ates
th
e
s
p
ec
if
ic
p
ar
a
m
eter
s
th
at
n
ee
d
tu
n
in
g
f
o
r
e
ac
h
co
n
tr
o
ller
.
T
h
e
f
itn
ess
f
u
n
ctio
n
is
u
s
ed
to
m
in
im
ize
I
T
AE
f
o
r
t
u
n
in
g
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
[
1
]
,
I
T
AE
is
d
ef
in
ed
as
(
4
)
.
=
∫
|
(
)
|
0
(
4
)
3
.
1
.
F
O
P
I
D
c
o
ntr
o
ller
I
n
a
tr
ad
itio
n
al
PID
co
n
tr
o
ller
,
th
er
e
ar
e
th
r
ee
m
ain
c
o
m
p
o
n
e
n
ts
i.e
.
,
PID
.
A
FOPID
[
1
2
]
–
[
1
5
]
,
[
1
7
]
–
[
1
9
]
co
n
tr
o
ller
ex
ten
d
s
th
is
c
o
n
ce
p
t
b
y
in
tr
o
d
u
ci
n
g
f
r
ac
tio
n
al
ca
lcu
lu
s
in
to
th
e
co
n
tr
o
lle
r
d
esig
n
.
I
n
s
tead
o
f
u
s
in
g
in
teg
er
o
r
d
er
d
if
f
er
en
tia
tio
n
an
d
in
teg
r
atio
n
,
it
em
p
lo
y
s
f
r
ac
tio
n
al
o
r
d
e
r
d
if
f
er
e
n
tiatio
n
an
d
in
teg
r
atio
n
to
f
in
e
-
tu
n
e
th
e
co
n
tr
o
l
ac
ti
o
n
.
T
h
is
allo
ws
f
o
r
m
o
r
e
f
l
ex
ib
ilit
y
in
co
n
tr
o
l
s
y
s
tem
d
esig
n
an
d
ca
n
b
e
p
ar
ticu
lar
ly
u
s
ef
u
l i
n
s
y
s
tem
s
with
co
m
p
lex
d
y
n
am
ics o
r
n
o
n
-
in
teg
er
-
o
r
d
e
r
b
eh
a
v
io
r
.
T
h
e
eq
u
atio
n
d
e
n
o
ted
as
(
5
)
illu
s
tr
ates
th
e
g
en
er
al
tr
an
s
f
er
f
u
n
ctio
n
o
f
an
FOPID
co
n
tr
o
ller
,
wh
ile
th
e
ass
o
ciate
d
b
lo
ck
d
iag
r
a
m
is
d
ep
icted
in
Fig
u
r
e
2.
Fig
u
r
e
2
.
FOPID
c
o
n
tr
o
ller
=
+
−
+
(
5
)
T
h
e
s
y
m
b
o
ls
K
P
,
K
I
,
an
d
K
D
s
tan
d
f
o
r
th
e
p
r
o
p
o
r
tio
n
al,
i
n
teg
r
al,
a
n
d
d
er
iv
ativ
e
g
ai
n
s
,
wh
er
ea
s
λ
an
d
µ
r
esp
ec
tiv
ely
s
ig
n
if
y
t
h
e
o
r
d
e
r
o
f
th
e
in
teg
r
ato
r
an
d
d
if
f
er
e
n
tiato
r
.
4.
O
P
T
I
M
I
Z
AT
I
O
N
AL
G
O
R
I
T
H
M
S
Fig
u
r
e
3
s
h
o
ws
th
e
f
ee
d
b
ac
k
co
n
tr
o
l
lo
o
p
o
f
th
e
C
STR
.
T
h
e
tu
n
in
g
m
eth
o
d
s
lik
e
GA,
d
if
f
er
en
tial
ev
o
lu
tio
n
(
DE
)
,
g
r
ey
wo
lf
o
p
tim
izer
(
GW
O
)
,
an
d
S
C
A
ar
e
u
s
ed
f
o
r
s
elf
-
tu
n
in
g
th
e
s
y
s
tem
to
co
n
tr
o
l
th
e
r
ea
cto
r
'
s
o
u
tp
u
t
tem
p
er
atu
r
e,
v
ia
a
n
FOPID
co
n
tr
o
ller
[
3
]
,
[
1
0
]
.
T
h
e
o
b
jectiv
e
o
f
th
e
s
e
tech
n
iq
u
es
is
t
o
m
in
im
ize
th
e
I
T
AE
.
Fig
u
r
e
3
.
T
h
e
f
ee
d
b
ac
k
c
o
n
tr
o
l lo
o
p
o
f
th
e
C
STR s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8
8
1
4
I
n
t J Ad
v
Ap
p
l Sci
,
Vo
l.
1
4
,
No
.
1
,
Ma
r
c
h
2
0
2
5
:
60
-
68
64
4
.
1
.
Sine
-
co
s
ine a
lg
o
rit
hm
SC
A
[
1
1
]
,
[
2
0
]
–
[
2
5
]
a
n
o
v
el
p
o
p
u
latio
n
-
b
ased
h
e
u
r
is
tic
alg
o
r
ith
m
,
b
eg
in
s
b
y
g
en
er
atin
g
m
u
ltip
le
r
an
d
o
m
s
o
lu
tio
n
s
an
d
s
u
b
s
eq
u
en
tly
d
ir
ec
ts
th
em
to
co
n
v
er
g
e
o
r
d
iv
er
g
e
with
r
esp
ec
t
to
th
e
o
p
tim
al
s
o
lu
tio
n
.
Fu
r
th
er
m
o
r
e
,
to
p
r
io
r
itize
th
e
ex
p
lo
r
atio
n
an
d
e
x
p
lo
itatio
n
o
f
th
e
s
ea
r
ch
s
p
ac
e,
t
h
e
alg
o
r
it
h
m
in
co
r
p
o
r
ates
a
m
ix
o
f
r
an
d
o
m
an
d
ad
ap
tiv
e
v
ar
iab
les.
Sto
ch
asti
c
p
o
p
u
latio
n
-
b
ased
o
p
tim
izatio
n
t
y
p
ically
co
m
p
r
is
es
two
k
ey
p
h
ases
,
ex
p
lo
r
at
i
o
n
a
n
d
e
x
p
lo
itatio
n
,
an
d
in
th
e
ca
s
e
o
f
SC
A,
b
o
th
o
f
th
ese
p
h
ases
ar
e
in
co
r
p
o
r
ated
in
to
th
e
s
u
b
s
eq
u
en
t
p
o
s
itio
n
u
p
d
atin
g
eq
u
atio
n
s
.
W
h
er
e
an
d
ar
e
th
e
p
o
s
itio
n
o
f
c
u
r
r
en
t
s
o
lu
tio
n
an
d
d
esti
n
atio
n
p
o
in
t
in
th
d
im
e
n
s
io
n
at
t
th
iter
atio
n
r
esp
ec
tiv
ely
.
r
1
,
r
2
an
d
r
3
ar
e
th
e
r
an
d
o
m
n
o
,
an
d
|
.
|
in
d
icate
ab
s
o
lu
te
v
alu
e
as in
(
6
)
[
2
4
]
,
[
2
6
]
.
+
1
=
{
+
1
∗
s
in
(
2
)
∗
|
3
−
|
,
4
<
0
.
5
+
1
∗
c
os
(
2
)
∗
|
3
−
|
,
4
≥
0
.
5
(
6
)
T
h
e
r
an
g
e
f
o
r
t
h
e
f
o
llo
win
g
p
o
s
itio
n
,
d
en
o
te
d
b
y
r
1
,
is
s
p
ec
if
ied
in
s
id
e
th
e
in
ter
v
al
[
-
2
,
2
]
in
th
e
(
6
)
ab
o
v
e.
T
h
e
d
eg
r
ee
o
f
m
o
v
em
e
n
t to
war
d
s
o
r
awa
y
f
r
o
m
th
e
d
esti
n
atio
n
is
d
eter
m
in
ed
in
t
h
is
wo
r
k
b
y
r
2
,
wh
ich
is
b
etwe
en
0
an
d
2
π.
Fu
r
th
e
r
m
o
r
e,
r
3
ad
d
s
a
s
to
ch
asti
c
r
an
d
o
m
weig
h
t
to
th
e
d
esti
n
a
tio
n
,
wh
ich
m
ig
h
t
in
cr
ea
s
e
(
r
3
>1
)
o
r
d
ec
r
ea
s
e
(
r
3
<1
)
th
e
d
is
tan
ce
.
Fin
ally
,
r
4
is
lim
ited
to
th
e
in
ter
v
al
[
0
,
1
]
an
d
d
eter
m
in
es
a
n
eq
u
al
tr
an
s
itio
n
b
etwe
en
th
e
s
in
e
an
d
co
s
in
e
f
u
n
ctio
n
s
,
o
r
v
ice
v
er
s
a.
Mo
r
e
r
esear
ch
h
as
to
b
e
d
o
n
e
o
n
th
e
ef
f
ec
ts
o
f
th
e
s
in
e
an
d
co
s
in
e
f
u
n
ctio
n
s
in
(
6
)
.
I
n
(
6
)
,
a
d
is
tin
ct
s
p
ac
e
is
estab
lis
h
ed
b
etwe
en
two
p
o
ten
tial
s
o
lu
tio
n
s
with
in
th
e
s
ea
r
ch
s
p
ac
e.
T
h
ese
s
o
lu
tio
n
s
p
o
s
s
ess
th
e
ca
p
ab
i
lity
to
ex
p
l
o
r
e
b
ey
o
n
d
t
h
e
b
o
u
n
d
ar
ies
o
f
th
eir
d
esig
n
at
ed
d
esti
n
atio
n
s
b
y
ad
ju
s
tin
g
th
e
am
p
litu
d
es
o
f
s
in
e
-
co
s
in
e
f
u
n
ctio
n
s
.
T
h
is
d
y
n
am
ic
ad
ap
tatio
n
m
ak
es
s
u
r
e
t
h
at
th
e
lar
g
e
r
s
ea
r
c
h
s
p
ac
e
is
ef
f
ec
tiv
ely
ex
p
lo
r
ed
.
I
n
ad
d
itio
n
,
b
ec
au
s
e
s
in
e
-
co
s
in
e
f
u
n
ctio
n
s
ar
e
p
er
io
d
ic,
it
is
p
o
s
s
ib
le
to
co
n
s
is
ten
tly
s
h
if
t o
n
e
s
o
lu
tio
n
clo
s
er
to
an
o
th
e
r
,
wh
ich
f
ac
ilit
ates e
x
p
lo
itatio
n
.
T
o
ac
h
iev
e
a
b
alan
c
ed
e
x
p
lo
r
a
tio
n
an
d
ex
p
l
o
itatio
n
p
h
ase
in
s
id
e
an
alg
o
r
ith
m
,
th
e
f
o
llo
win
g
f
o
r
m
u
la
is
u
s
ed
to
d
y
n
am
ically
m
o
d
if
y
th
e
s
in
e
an
d
c
o
s
in
e
f
u
n
ctio
n
m
ag
n
itu
d
es in
(
7
)
.
1
=
−
(
7
)
I
n
th
is
ca
s
e,
s
tan
d
s
f
o
r
a
f
ix
e
d
co
n
s
tan
t,
t
f
o
r
th
e
cu
r
r
en
t
iter
atio
n
co
u
n
t,
a
n
d
T
f
o
r
th
e
m
ax
im
u
m
n
u
m
b
er
o
f
i
ter
atio
n
s
.
5.
RE
SU
L
T
S
AND
D
I
SCU
SS
I
O
N
MA
T
L
AB
/S
im
u
lin
k
is
u
s
ed
f
o
r
b
o
th
th
e
im
p
lem
e
n
tatio
n
o
f
th
e
s
u
g
g
ested
co
n
tr
o
ller
f
o
r
th
e
C
ST
R
s
y
s
tem
an
d
th
eir
a
n
aly
s
es.
Am
o
n
g
th
e
an
aly
s
es
p
er
f
o
r
m
e
d
f
o
r
th
is
s
tu
d
y
ar
e:
i)
a
n
al
y
s
is
p
er
f
o
r
m
ed
in
th
e
tim
e
d
o
m
ain
,
ii)
a
n
aly
s
is
u
s
in
g
th
e
f
r
eq
u
en
c
y
d
o
m
ain
(
b
o
d
e
p
l
o
t)
,
an
d
iii)
p
er
f
o
r
m
an
ce
in
d
ex
co
m
p
ar
is
o
n
.
T
h
e
s
u
p
er
io
r
ity
o
f
th
e
p
r
o
p
o
s
ed
m
e
th
o
d
is
ex
p
lain
e
d
b
ased
o
n
th
e
th
ese
an
aly
s
is
.
5
.
1
.
T
im
e
-
do
m
a
in a
na
ly
s
is
I
n
th
is
s
ec
tio
n
,
a
C
STR
s
y
s
tem
co
n
tr
o
lled
b
y
d
if
f
er
e
n
t
o
p
tim
izatio
n
alg
o
r
ith
m
s
is
an
aly
z
ed
,
co
n
s
id
er
in
g
b
o
th
tr
a
n
s
ien
t a
n
d
s
tead
y
-
s
tate
r
esp
o
n
s
es.
T
h
e
c
o
n
tr
o
ller
p
a
r
am
eter
s
ar
e
p
r
esen
ted
in
T
ab
le
2
.
T
h
e
C
STR
s
y
s
tem
’
s
tr
an
s
ien
t
r
esp
o
n
s
e
ch
ar
ac
ter
is
tics
,
s
u
ch
as
r
is
e
tim
e
(
tr
)
,
p
ea
k
tim
e
(
tp
)
,
a
n
d
p
ea
k
o
v
er
s
h
o
o
t
(
Mp
)
,
ar
e
s
h
o
wn
i
n
T
a
b
le
3
an
d
Fig
u
r
e
4
,
r
esp
ec
tiv
ely
.
A
s
h
o
r
t
s
ettin
g
tim
e,
r
is
e
tim
e
,
an
d
p
ea
k
tim
e
ar
e
o
b
tain
ed
b
y
th
e
p
r
o
p
o
s
ed
SC
A
-
FOPID
wh
ich
is
s
h
o
wn
in
T
ab
le
3
.
A
s
h
o
r
t
s
ettin
g
tim
e
m
ea
n
s
th
at
th
e
s
y
s
tem
r
ea
ch
es
its
f
in
al
s
tead
y
-
s
tate
v
al
u
e
r
elativ
ely
q
u
ick
ly
.
On
t
h
e
o
th
er
h
a
n
d
,
A
s
h
o
r
t
r
is
e
tim
e
s
u
g
g
ests
th
at
th
e
s
y
s
tem
r
ea
cts
q
u
ick
ly
to
in
p
u
t
ch
an
g
es
an
d
q
u
ick
ly
r
ea
ch
es
a
s
izab
le
f
r
ac
tio
n
o
f
its
f
in
al
v
alu
e.
T
h
is
is
o
f
ten
d
esira
b
le
in
co
n
tr
o
l sy
s
tem
s
w
h
en
we
wan
t th
e
s
y
s
tem
to
tr
ac
k
ch
an
g
es in
th
e
r
ef
er
en
ce
s
ig
n
al
o
r
d
is
tu
r
b
an
ce
s
as
q
u
ick
ly
as
p
o
s
s
ib
le,
with
o
u
t
s
ig
n
if
ican
t
d
elay
o
r
s
lu
g
g
i
s
h
n
ess
.
Ho
wev
er
,
a
s
h
o
r
t
p
ea
k
tim
e
is
g
en
er
ally
d
esira
b
le
in
c
o
n
tr
o
l
s
y
s
tem
s
wh
en
we
aim
to
m
in
im
ize
o
v
er
s
h
o
o
t
a
n
d
e
n
s
u
r
e
t
h
at
th
e
s
y
s
tem
q
u
ick
l
y
s
ettles
to
its
f
in
al
s
tead
y
-
s
tate
v
al
u
e
wit
h
o
u
t
s
ig
n
if
ican
t o
s
cillatio
n
s
o
r
ex
ce
s
s
iv
e
o
v
er
s
h
o
o
t.
T
h
e
r
is
e
tim
e,
s
ettlin
g
tim
e,
o
v
er
s
h
o
o
t
,
a
n
d
p
ea
k
tim
e
ar
e
f
o
u
n
d
to
b
e
0
.
4
1
1
5
,
0
.
5
8
7
0
,
0
.
0
8
7
7
,
an
d
0
.
8
6
1
4
r
e
s
p
ec
tiv
e
ly
,
u
s
in
g
th
e
p
r
o
p
o
s
ed
m
eth
o
d
.
T
h
e
r
esu
lts
o
b
tain
e
d
u
s
in
g
th
e
p
r
o
p
o
s
ed
m
eth
o
d
s
h
o
w
th
e
f
astes
t
r
i
s
e
tim
e
an
d
s
ettlin
g
tim
e
am
o
n
g
all
th
e
lis
ted
alg
o
r
ith
m
s
.
I
t
als
o
ex
h
ib
its
a
r
elativ
ely
s
m
all
o
v
er
s
h
o
o
t,
in
d
icatin
g
g
o
o
d
tr
an
s
ien
t
b
eh
av
io
r
with
a
f
ast
r
esp
o
n
s
e.
T
h
e
co
n
ce
n
tr
a
tio
n
-
r
esp
o
n
s
e
o
f
th
e
C
STR
s
y
s
tem
with
o
u
t
a
co
n
tr
o
ller
is
s
h
o
wn
in
Fig
u
r
e
5
.
I
t
h
as b
ee
n
f
o
u
n
d
th
at
th
e
SC
A
-
tu
n
ed
FOPID
co
n
tr
o
ller
s
ettled
d
o
wn
ea
r
lier
co
m
p
a
r
ed
to
o
th
er
co
n
tr
o
ller
s
.
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
n
tellig
en
t m
eta
h
eu
r
is
tic
a
lg
o
r
ith
m
b
a
s
ed
F
OP
I
D
co
n
tr
o
ller
fo
r
C
S
TR
s
yste
m
(
A
s
h
is
h
S
h
a
r
ma
)
65
T
ab
le
2
.
Op
tim
ized
c
o
n
tr
o
ller
p
ar
am
eter
F
O
P
I
D
C
o
n
t
r
o
l
l
e
r
P
a
r
a
me
t
e
r
s
K
p
K
i
K
d
λ
µ
S
C
A
1
7
.
6
4
7
3
1
0
0
7
.
5
4
6
8
1
.
0
0
0
8
0
.
0
0
0
9
DE
2
8
.
5
6
2
0
6
1
0
0
0
1
.
0
0
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0
3
3
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.
9
4
3
6
1
3
G
W
O
3
8
.
4
5
2
5
9
5
.
4
2
7
6
4
.
7
1
2
3
1
.
0
0
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3
0
.
8
5
9
4
GA
5
0
.
8
4
4
2
8
7
9
.
8
0
1
0
6
3
0
.
4
3
4
5
3
0
.
9
9
9
8
7
8
0
.
0
3
8
7
8
2
S
M
S
[
1
]
1
2
.
1
3
2
.
5
1
1
.
0
0
6
0
.
1
0
0
0
C
S
[
1
]
2
1
.
7
50
0
.
2
1
.
0
0
2
0
.
7
8
5
0
C
S
M
S
EO
B
L
[
1
]
1
5
.
8
4
3
.
3
1
.
9
0
.
9
9
9
9
0
.
1
3
8
6
P
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O
[
8
]
0
.
2
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1
0
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.
0
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4
3
0
.
4
9
9
0
.
5
9
6
8
0
.
0
7
0
6
T
ab
le
3
.
Ob
tain
e
d
tr
an
s
ien
t c
h
ar
ac
ter
is
tics
C
o
n
t
r
o
l
l
e
r
R
i
se
t
i
me
(
s)
S
e
t
t
i
n
g
t
i
me
(
s)
O
v
e
r
sh
o
o
t
(
%)
P
e
a
k
t
i
me
(
s)
S
C
A
0
.
4
1
1
5
0
.
5
8
7
0
0
.
0
8
7
7
0
.
8
6
1
4
DE
0
.
4
3
7
7
0
.
6
7
9
8
0
.
0
1
3
3
1
.
0
8
1
4
G
W
O
0
.
7
1
9
6
1
.
0
9
5
7
0
.
0
2
5
7
1
.
7
5
1
9
GA
0
.
8
8
0
4
2
.
5
2
9
6
4
.
5
6
E
-
07
9
.
8
4
2
S
M
S
[
1
]
1
.
2
2
2
.
2
7
.
3
8
1
.
5
3
C
S
[
1
]
1
.
1
3
1
.
8
6
.
1
2
1
.
3
6
C
S
M
S
EO
B
L
[
1
]
2
.
0
4
1
.
4
3
0
1
.
6
8
P
S
O
[
8
]
3
.
6
5
14
7
4
.
7
6
Fig
u
r
e
4
.
C
o
n
tr
o
llin
g
th
e
C
ST
R
s
y
s
tem
'
s
tem
p
er
atu
r
e
u
s
in
g
an
alter
n
ativ
e
o
p
tim
i
z
atio
n
alg
o
r
ith
m
Fig
u
r
e
5
.
C
STR s
y
s
tem
'
s
co
n
ce
n
tr
atio
n
u
s
in
g
an
alter
n
ativ
e
o
p
tim
i
z
atio
n
alg
o
r
ith
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8
8
1
4
I
n
t J Ad
v
Ap
p
l Sci
,
Vo
l.
1
4
,
No
.
1
,
Ma
r
c
h
2
0
2
5
:
60
-
68
66
5
.
2
.
F
re
qu
ency
do
ma
in a
na
l
y
s
is
T
h
e
s
u
g
g
ested
c
o
n
tr
o
ller
'
s
f
r
eq
u
e
n
cy
r
esp
o
n
s
e
p
r
o
p
er
ties
ar
e
s
h
o
wn
in
th
is
s
u
b
s
ec
tio
n
.
A
co
m
p
ar
is
o
n
o
f
th
e
b
o
d
e
p
lo
ts
f
o
r
d
if
f
er
e
n
t
co
n
tr
o
ller
s
f
o
r
th
e
C
STR
s
y
s
tem
i
s
s
h
o
wn
in
T
ab
le
4
an
d
Fig
u
r
e
6
,
wh
er
e
p
h
ase
m
ar
g
i
n
,
d
elay
m
ar
g
in
,
an
d
g
ain
c
r
o
s
s
o
v
er
f
r
e
q
u
e
n
cy
ar
e
tab
u
lated
.
Ad
d
itio
n
ally
,
t
h
e
d
elay
m
ar
g
in
r
e
f
er
s
to
th
e
m
ax
im
u
m
tim
e
d
elay
th
at
th
e
s
y
s
tem
ca
n
o
v
er
co
m
e
with
o
u
t
b
ec
o
m
in
g
u
n
s
tab
le
.
T
h
e
p
h
ase
m
ar
g
in
is
th
e
ex
ten
t
o
f
p
h
ase
s
h
if
t
th
at
ca
n
b
e
in
tr
o
d
u
ce
d
in
t
o
a
s
y
s
te
m
with
o
u
t
in
d
u
cin
g
in
s
tab
ilit
y
.
T
h
e
p
r
o
p
o
s
ed
m
eth
o
d
p
r
o
v
id
es
a
r
ea
s
o
n
ab
le
p
h
ase
m
ar
g
in
an
d
th
e
h
i
g
h
est
d
elay
m
ar
g
in
,
in
d
icatin
g
g
o
o
d
r
o
b
u
s
tn
ess
to
d
elay
s
,
b
u
t
h
as
th
e
lo
west
g
ain
cr
o
s
s
o
v
er
f
r
eq
u
e
n
cy
,
s
u
g
g
esti
n
g
a
s
lo
wer
r
esp
o
n
s
e
tim
e.
T
ab
le
4
.
Ob
tain
e
d
f
r
e
q
u
en
c
y
r
esp
o
n
s
e
C
o
n
t
r
o
l
l
e
r
P
M
(
d
e
g
)
D
e
l
a
y
M
a
r
g
i
n
(
se
c
)
G
a
i
n
C
r
o
sso
v
e
r
F
r
e
q
.
(
r
a
d
/
s)
S
C
A
-
F
O
P
I
D
7
3
.
3
0
.
1
5
5
8
.
2
8
DE
-
F
O
P
I
D
77
0
.
1
4
8
9
.
0
9
G
W
O
-
F
O
P
I
D
1
4
7
0
.
0
8
5
1
3
0
.
2
GA
-
F
O
P
I
D
9
2
.
2
0
.
0
6
2
9
2
5
.
6
Fig
u
r
e
6
.
B
o
d
e
d
iag
r
am
o
f
t
h
e
C
STR
s
y
s
tem
u
tili
zin
g
v
ar
io
u
s
o
p
tim
izatio
n
alg
o
r
ith
m
s
5
.
3
.
P
er
f
o
r
m
a
nce
ind
ex
co
mp
a
riso
n
Per
f
o
r
m
an
ce
in
d
e
x
v
alu
es
o
f
th
e
C
STR
s
y
s
tem
f
o
r
d
if
f
e
r
e
n
t
co
n
t
r
o
ller
s
ar
e
g
i
v
en
in
Fi
g
u
r
e
7
an
d
T
ab
le
5
.
As
s
ee
n
in
Fig
u
r
e
7
,
t
h
e
co
n
tr
o
ller
b
ased
o
n
th
e
SC
A
alg
o
r
ith
m
ex
h
ib
its
th
e
lo
west
I
T
AE
v
alu
es
wh
en
co
m
p
ar
ed
to
o
th
er
co
n
tr
o
ller
s
.
T
h
e
p
r
o
p
o
s
ed
m
eth
o
d
o
u
tp
er
f
o
e
m
s
o
th
er
m
et
h
o
d
s
as sh
o
wn
in
T
a
b
le
5
.
Fig
u
r
e
7
.
C
o
n
v
er
g
e
n
ce
cu
r
v
e
o
f
d
if
f
e
r
en
t o
p
tim
izatio
n
alg
o
r
ith
m
s
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
n
tellig
en
t m
eta
h
eu
r
is
tic
a
lg
o
r
ith
m
b
a
s
ed
F
OP
I
D
co
n
tr
o
ller
fo
r
C
S
TR
s
yste
m
(
A
s
h
is
h
S
h
a
r
ma
)
67
T
ab
le
5
.
Statis
ti
ca
l
a
n
aly
s
is
o
f
p
er
f
o
r
m
an
ce
in
d
ex
f
o
r
d
i
f
f
er
e
n
t o
p
tim
izatio
n
tech
n
iq
u
es
S
C
A
-
F
O
P
I
D
DE
-
F
O
P
I
D
G
W
O
-
F
O
P
I
D
GA
-
F
O
P
I
D
A
v
g
.
0
.
6
7
4
7
3
1
1
.
1
4
0
4
4
4
1
.
3
1
2
8
7
8
3
.
3
8
1
9
5
9
S
t
d
.
0
.
0
0
2
1
3
7
0
.
1
2
5
9
1
8
0
.
5
4
5
5
7
4
1
.
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2
7
8
5
7
B
e
st
0
.
6
7
2
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8
8
1
.
0
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1
3
9
5
0
.
8
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6
6
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1
.
4
6
4
4
2
4
W
o
r
st
0
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6
7
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1
0
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1
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2
4
9
4
9
2
2
.
0
1
1
0
2
3
4
.
3
6
4
4
3
7
6.
CO
NCLU
SI
O
N
I
n
th
is
r
esear
ch
,
an
SC
A
-
FOP
I
D
co
n
tr
o
ller
was
in
tr
o
d
u
ce
d
t
o
im
p
r
o
v
e
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
C
ST
R
s
y
s
tem
.
L
ev
er
ag
in
g
th
e
SC
A,
a
s
tr
aig
h
tf
o
r
war
d
y
et
p
o
wer
f
u
l
o
p
tim
izatio
n
al
g
o
r
it
h
m
,
th
e
co
n
t
r
o
ller
p
ar
am
eter
s
wer
e
m
eticu
lo
u
s
ly
ad
j
u
s
ted
.
T
h
e
FOPID
co
n
t
r
o
ller
'
s
p
er
f
o
r
m
a
n
ce
was
ca
r
ef
u
lly
e
v
alu
ated
in
co
m
p
ar
is
o
n
to
p
r
ev
io
u
s
ly
p
u
b
lis
h
ed
liter
atu
r
e
-
o
p
tim
ize
d
s
ettin
g
s
f
o
r
th
e
id
e
n
tical
C
STR
s
y
s
tem
.
Simu
latio
n
r
esu
lts
d
em
o
n
s
tr
ate
th
at
th
e
p
r
o
p
o
s
ed
m
eth
o
d
o
u
tp
er
f
o
r
m
s
o
th
er
alg
o
r
ith
m
s
in
ter
m
s
o
f
r
is
e
tim
e
an
d
s
ettlin
g
t
im
e,
with
m
in
im
al
o
v
er
s
h
o
o
t,
in
d
icatin
g
its
s
u
p
er
io
r
tr
an
s
ien
t
r
esp
o
n
s
e.
T
h
ese
r
esu
lts
h
ig
h
lig
h
t
th
e
s
u
p
er
io
r
ef
f
icien
cy
o
f
t
h
e
SC
A
-
FOPID
co
n
tr
o
ller
in
h
an
d
lin
g
th
e
c
o
m
p
lex
,
n
o
n
lin
ea
r
d
y
n
am
ics
o
f
C
STR
s
y
s
tem
s
.
B
y
d
em
o
n
s
tr
atin
g
a
s
u
b
s
tan
tial
r
e
d
u
ctio
n
i
n
th
e
I
T
AE
,
o
u
r
f
in
d
i
n
g
s
in
d
icate
th
at
t
h
e
SC
A
-
b
ased
ap
p
r
o
ac
h
o
f
f
e
r
s
a
m
o
r
e
r
o
b
u
s
t
an
d
ac
cu
r
ate
s
o
l
u
tio
n
f
o
r
tem
p
er
atu
r
e
co
n
tr
o
l
in
s
u
ch
s
y
s
tem
s
.
T
h
is
ad
v
a
n
ce
m
en
t
co
n
tr
ib
u
tes
to
th
e
o
n
g
o
in
g
e
f
f
o
r
ts
t
o
o
p
tim
iz
e
co
n
tr
o
l
s
tr
ateg
ies
f
o
r
in
d
u
s
tr
ial
p
r
o
ce
s
s
es,
p
ar
ti
cu
lar
l
y
in
e
n
v
ir
o
n
m
en
ts
wh
er
e
p
r
ec
is
io
n
an
d
s
tab
ilit
y
ar
e
cr
iti
ca
l.
T
im
e
-
d
o
m
ain
an
al
y
s
is
was
co
n
d
u
cted
to
d
e
m
o
n
s
tr
ate
th
e
ad
v
an
tag
es o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
.
Ad
d
itio
n
ally
,
f
r
e
q
u
en
cy
-
d
o
m
ain
an
aly
s
is
s
u
ch
as
b
o
d
e
d
iag
r
a
m
s
with
d
if
f
er
e
n
t
co
n
tr
o
ller
s
w
as
us
ed
t
o
ass
ess
th
e
s
tab
ilit
y
o
f
th
e
C
STR
s
y
s
tem
.
T
h
e
r
esu
lts
u
n
am
b
i
g
u
o
u
s
ly
s
h
o
wed
t
h
at
th
e
s
u
g
g
ested
SC
A
-
FOPID
co
n
tr
o
ller
s
ig
n
if
ican
tly
im
p
r
o
v
es
th
e
C
STR
s
y
s
tem
's
p
er
f
o
r
m
an
ce
in
ter
m
s
o
f
co
n
v
er
g
en
ce
r
ate.
T
h
e
lim
itatio
n
s
o
f
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
ar
e
th
e
im
p
ac
t
o
n
ef
f
icien
cy
,
ac
cu
r
ac
y
,
an
d
s
ca
lab
ilit
y
,
p
ar
ticu
lar
ly
wh
e
n
ap
p
lied
to
lar
g
e,
n
o
is
y
,
o
r
h
eter
o
g
en
e
o
u
s
d
atasets
.
Fo
r
f
u
tu
r
e
s
tu
d
ies,
th
e
r
esu
lt
m
ay
b
e
v
alid
ated
with
ex
p
er
i
m
en
tal
an
aly
s
is
.
RE
F
E
R
E
NC
E
S
[
1
]
N
.
K
h
a
n
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in
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