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[
1
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[
8
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.
T
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[
9
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[
1
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PID
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[
1
5
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[
2
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As
in
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2
2
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–
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2
4
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,
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en
h
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
7
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I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
2
,
J
u
n
e
20
2
5
:
191
-
2
03
192
Ad
ap
tiv
e
p
r
ac
tices
ar
e
n
o
w
a
r
ea
lity
in
PID
co
n
tr
o
ller
s
.
Dev
elo
p
m
en
ts
in
co
n
tr
o
l
th
eo
r
y
h
av
e
f
ac
ilit
ated
th
e
in
co
r
p
o
r
atio
n
o
f
ad
ap
tab
ilit
y
i
n
PID
co
n
tr
o
ll
er
s
an
d
im
p
r
o
v
e
d
th
eir
r
esil
ien
ce
an
d
f
lex
ib
ilit
y
with
in
co
m
p
lex
i
n
d
u
s
tr
ial
s
ettin
g
s
[
2
5
]
,
[
2
6
]
.
T
h
ey
p
r
o
v
i
d
e
f
o
r
ad
a
p
tin
g
th
eir
p
ar
am
ete
r
s
in
r
ea
l
-
tim
e
b
ased
o
n
th
e
av
ailab
le
d
ata
to
e
n
h
an
ce
p
er
f
o
r
m
an
ce
ac
r
o
s
s
v
ar
io
u
s
o
p
er
atin
g
co
n
d
itio
n
s
an
d
d
is
tu
r
b
an
ce
s
.
T
h
e
u
s
e
o
f
s
u
ch
ad
v
an
ce
d
tech
n
iq
u
es
is
y
et
an
o
th
er
p
r
o
o
f
o
f
th
e
co
n
tin
u
ed
ef
f
o
r
ts
b
ein
g
m
ad
e
to
en
h
an
ce
i
n
d
u
s
tr
ial
p
r
o
ce
s
s
es
th
r
o
u
g
h
b
etter
PID
co
n
tr
o
l.
T
h
ese
attem
p
ts
s
till
u
n
d
er
lin
e
h
o
w
s
ig
n
if
ican
t
PID
co
n
tr
o
ller
s
r
em
ain
i
n
co
n
tem
p
o
r
ar
y
in
d
u
s
tr
ial
p
r
o
ce
s
s
es.
D
if
f
er
en
t
r
esear
ch
wo
r
k
s
[
2
7
]
,
[
2
8
]
also
p
r
o
p
o
s
ed
a
n
e
w
d
esig
n
ap
p
r
o
ac
h
f
o
r
PID
co
n
tr
o
ller
s
b
y
i
n
co
r
p
o
r
atin
g
n
o
n
-
lin
ea
r
f
u
n
ctio
n
s
wi
th
m
o
r
e
s
o
p
h
is
ticated
o
p
tim
iz
atio
n
alg
o
r
ith
m
s
to
im
p
r
o
v
e
d
is
tu
r
b
an
ce
r
esp
o
n
s
e
p
er
f
o
r
m
an
ce
.
T
h
ey
p
r
o
p
o
s
ed
a
n
o
n
lin
ea
r
PID
(
N
-
PID
)
co
n
t
r
o
ller
with
v
ar
ia
b
le
g
ain
s
as
well
as
a
f
ilter
with
in
a
p
a
r
allel
lin
ea
r
f
r
am
ewo
r
k
h
av
in
g
o
n
e
s
in
g
le
n
o
n
lin
ea
r
f
u
n
ctio
n
s
im
p
lif
y
in
g
tu
n
in
g
f
o
r
P
a
n
d
D
ac
tio
n
s
.
T
h
e
in
teg
r
al
o
f
tim
e
-
weig
h
ted
ab
s
o
lu
te
er
r
o
r
was
u
s
ed
to
m
in
i
m
ize
th
e
p
ar
am
eter
s
tu
n
in
g
i
n
th
e
r
ea
l
-
co
d
e
d
g
e
n
e
tic
alg
o
r
ith
m
(
R
C
GA)
,
in
clu
d
in
g
p
o
p
u
latio
n
in
itializatio
n
,
f
itn
ess
ev
alu
atio
n
,
r
ep
r
o
d
u
ctio
n
,
c
r
o
s
s
o
v
er
,
an
d
m
u
tatio
n
.
T
h
is
co
n
tr
o
ller
d
em
o
n
s
tr
ated
b
etter
d
is
tu
r
b
a
n
ce
h
an
d
lin
g
an
d
p
er
f
o
r
m
an
ce
s
tab
ilit
y
co
m
p
ar
ed
to
tr
ad
itio
n
al
co
n
tr
o
ller
s
lik
e
R
ao
-
DS,
Sk
-
DS,
an
d
L
u
y
b
en
-
SA
wh
en
test
ed
o
n
p
u
r
e
in
teg
r
atin
g
p
r
o
ce
s
s
with
tim
e
d
elay
(
PIPT
D)
an
d
in
teg
r
atin
g
f
ir
s
t
o
r
d
e
r
p
r
o
c
ess
with
tim
e
d
elay
I
FOPTD
p
r
o
ce
s
s
es.
Mo
r
eo
v
er
,
a
b
asic
n
o
n
lin
ea
r
f
u
n
ctio
n
a
d
ju
s
tin
g
o
n
lin
e
g
ai
n
s
an
d
a
le
ad
-
lag
co
m
p
en
s
ato
r
with
n
o
is
e
s
u
p
p
r
ess
io
n
ca
p
ac
ity
wer
e
in
clu
d
e
d
in
t
h
e
N
-
PID
co
n
tr
o
ller
to
im
p
r
o
v
e
it
s
r
o
b
u
s
tn
ess
u
n
d
e
r
d
y
n
am
ic
s
itu
atio
n
s
.
Ad
v
an
ce
m
en
ts
in
m
ac
h
in
e
lear
n
in
g
tech
n
iq
u
es
h
av
e
also
p
lay
ed
a
m
ajo
r
r
o
le
in
r
ec
en
t
im
p
r
o
v
em
e
n
ts
to
PID
co
n
tr
o
ll
er
s
.
T
h
is
ev
o
lu
tio
n
o
f
PID
co
n
tr
o
ller
s
’
ab
ilit
ies
to
ad
ju
s
t
th
em
s
elv
es
an
d
s
elf
-
r
eg
u
late
led
to
t
h
eir
o
v
e
r
all
ef
f
icien
cy
im
p
r
o
v
i
n
g
ac
r
o
s
s
v
ar
io
u
s
o
p
er
atio
n
al
s
ce
n
ar
io
s
[
2
9
]
–
[
3
7
]
.
B
y
em
p
lo
y
in
g
d
if
f
er
en
t
m
ac
h
in
e
lear
n
in
g
tech
n
i
q
u
es
s
u
ch
a
s
ar
tific
ial
n
eu
r
al
n
etwo
r
k
s
an
d
r
ei
n
f
o
r
ce
m
en
t
lear
n
in
g
alg
o
r
ith
m
s
,
PID
co
n
tr
o
ller
s
ca
n
n
o
w
b
e
s
elf
-
tu
n
e
d
u
s
in
g
r
ea
l
-
tim
e
d
ata
in
p
u
ts
,
m
ak
in
g
th
e
m
m
o
r
e
r
o
b
u
s
t
ag
ain
s
t
d
is
tu
r
b
an
ce
s
an
d
u
n
ce
r
tain
ties
ex
p
er
ien
ce
d
in
in
d
u
s
tr
ies.
W
i
th
th
e
in
teg
r
atio
n
o
f
th
ese
m
ac
h
in
e
lear
n
in
g
p
r
in
cip
les
in
to
co
n
tr
o
l
s
y
s
tem
s
,
th
e
d
esig
n
p
h
ilo
s
o
p
h
y
h
as
s
h
if
ted
f
r
o
m
tr
a
d
itio
n
a
l
way
s
th
at
s
o
u
g
h
t
h
ig
h
ef
f
icien
cy
an
d
ad
a
p
tab
ilit
y
to
war
d
d
y
n
am
ic
i
n
d
u
s
tr
ial
la
n
d
s
ca
p
es.
I
n
o
th
e
r
r
esear
ch
,
it
h
as
b
ee
n
p
o
in
ted
o
u
t
th
at
th
e
r
e
wer
e
p
o
s
s
ib
ilit
ie
s
to
im
p
r
o
v
e
th
e
p
er
f
o
r
m
an
ce
o
f
PID
co
n
tr
o
ller
s
th
r
o
u
g
h
a
d
v
a
n
ce
d
tu
n
in
g
m
eth
o
d
s
,
as
s
h
o
wn
in
[
3
8
]
–
[
4
1
]
.
T
h
e
r
esear
c
h
er
s
h
av
e
in
clu
d
ed
tech
n
iq
u
es
s
u
ch
as
m
o
d
el
p
r
e
d
ictiv
e
co
n
tr
o
l
(
MPC
)
an
d
in
t
ellig
en
t
o
p
tim
izatio
n
alg
o
r
ith
m
s
f
o
r
en
h
an
cin
g
th
e
r
o
b
u
s
tn
ess
an
d
ad
a
p
tab
ilit
y
o
f
PID
co
n
tr
o
ller
s
in
v
ar
io
u
s
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
I
n
th
ese
ap
p
r
o
ac
h
es,
co
m
p
u
tatio
n
al
ad
v
a
n
ce
s
ar
e
e
x
p
lo
ited
al
o
n
g
s
id
e
r
ea
l
-
tim
e
d
ata
an
aly
tics
to
f
in
e
-
tu
n
e
c
o
n
tr
o
ller
p
ar
am
eter
s
co
n
tr
ib
u
tin
g
to
e
f
f
icien
t
an
d
e
f
f
ec
tiv
e
in
d
u
s
tr
ial
au
to
m
atio
n
.
A
r
ec
en
t
s
tu
d
y
in
tr
o
d
u
ce
d
a
n
o
v
el
n
o
n
lin
ea
r
PID
(
NL
PID
)
co
n
tr
o
l
alg
o
r
ith
m
t
h
at
im
p
r
o
v
ed
s
im
u
ltan
e
o
u
s
s
et
-
p
o
in
t
tr
ac
k
in
g
a
n
d
d
is
tu
r
b
an
ce
r
ejec
tio
n
f
o
r
co
n
tr
o
llin
g
n
o
n
lin
ea
r
s
y
s
tem
s
[
4
2
]
.
MA
T
L
AB
/Si
m
u
lin
k
was
u
s
ed
to
c
o
m
p
ar
e
th
e
NL
PID
co
n
tr
o
ller
’
s
p
er
f
o
r
m
an
ce
with
estab
lis
h
ed
co
n
tr
o
ller
s
lik
e
co
n
v
en
tio
n
a
l
PID
,
two
-
d
eg
r
ee
-
of
-
f
r
ee
d
o
m
PID
,
a
n
d
Sm
ith
Pre
d
icto
r
PID
co
n
tr
o
ller
s
f
o
r
a
FOPT
D
s
y
s
tem
with
d
if
f
er
en
t
u
n
ce
r
tain
ties
an
d
d
is
tu
r
b
an
ce
s
.
I
t
is
ev
id
en
t
f
r
o
m
th
e
f
in
d
in
g
s
th
at
th
e
NL
PID
co
n
tr
o
ller
h
as
f
aster
s
ettlin
g
tim
e/R
is
e
tim
e
co
m
p
ar
ed
t
o
co
n
v
en
tio
n
al
PID
,
two
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
PID
,
an
d
Sm
ith
p
r
ed
icto
r
PID
;
b
etter
d
is
tu
r
b
an
ce
r
ejec
tio
n
a
n
d
r
o
b
u
s
t
s
tab
ilit
y
/s
p
ee
d
;
s
h
o
ws r
esil
ien
ce
ag
ain
s
t p
ar
am
etr
ic/ad
d
itiv
e/m
u
ltip
licativ
e
u
n
ce
r
tain
ty
.
I
n
a
d
if
f
e
r
en
t
ap
p
licatio
n
d
i
s
cu
s
s
ed
in
[
4
3
]
,
im
p
r
o
v
e
m
e
n
ts
in
co
n
tr
o
l
m
et
h
o
d
o
lo
g
ies
f
o
r
g
r
id
-
co
n
n
ec
ted
p
h
o
to
v
o
ltaic
(
PV)
s
y
s
tem
s
h
av
e
u
n
d
e
r
s
co
r
ed
t
h
e
ef
f
icac
y
o
f
th
e
N
-
PID
co
n
t
r
o
ller
,
wh
ich
is
b
ased
o
n
Po
p
o
v
'
s
s
tab
ilit
y
cr
iter
io
n
.
T
h
is
n
ew
co
n
ce
p
t
in
tr
o
d
u
ce
s
a
n
o
n
lin
ea
r
g
ain
,
th
u
s
lead
in
g
to
th
e
cr
ea
tio
n
o
f
a
n
o
n
lin
ea
r
r
elatio
n
s
h
ip
with
th
e
er
r
o
r
s
ig
n
al,
wh
ich
e
n
h
an
ce
s
r
ef
er
en
ce
tr
ac
k
i
n
g
ac
cu
r
ac
y
a
s
well
as
s
im
p
lifie
s
th
e
o
f
ten
d
if
f
icu
lt
ca
lib
r
atio
n
p
r
o
ce
s
s
o
f
s
tan
d
ar
d
PID
co
n
tr
o
ller
s
.
T
h
e
N
-
PID
co
n
tr
o
ller
is
v
er
y
g
o
o
d
at
r
eg
u
latin
g
th
e
d
u
ty
cy
cle
o
f
th
e
DC
-
AC
co
n
v
er
ter
to
ex
tr
ac
t
m
ax
im
u
m
p
o
wer
an
d
p
r
ev
en
t
h
a
r
m
o
n
ic
d
is
to
r
tio
n
wh
ile
at
u
n
ity
p
o
wer
f
ac
to
r
,
m
ain
tain
in
g
s
y
s
tem
ef
f
icien
cy
with
in
th
e
9
6
%
to
9
9
%
r
an
g
e.
Simu
latio
n
s
h
av
e
r
ep
ea
ted
ly
s
h
o
wn
th
at
th
e
N
-
PID
co
n
tr
o
ller
o
u
tp
er
f
o
r
m
s
co
n
v
en
tio
n
al
PID
co
n
tr
o
ller
s
in
m
ax
im
u
m
p
o
we
r
p
o
in
t
tr
ac
k
in
g
(
MPPT)
b
y
r
ed
u
cin
g
o
s
cillatio
n
s
,
ac
h
iev
in
g
q
u
ick
er
co
n
v
er
g
e
n
ce
,
an
d
k
ee
p
in
g
to
tal
h
a
r
m
o
n
ic
d
is
to
r
t
io
n
(
T
HD)
b
elo
w
0
.
5
%.
I
n
o
t
h
er
p
r
ev
io
u
s
r
esear
ch
c
o
n
d
u
ct
ed
b
y
Mu
t
h
u
k
u
m
ar
i
et
a
l
.
[
4
4
]
,
a
s
m
ar
t
-
tu
n
ed
PID
co
n
tr
o
ller
b
ased
o
n
th
e
s
in
g
l
e
-
en
d
ed
p
r
im
ar
y
in
d
u
cto
r
co
n
v
er
ter
(
SEPI
C
)
wa
s
p
r
o
p
o
s
ed
f
o
r
d
etec
tin
g
th
e
M
PP
T
in
a
win
d
e
n
er
g
y
co
n
v
er
s
io
n
s
y
s
tem
(
W
E
C
S).
T
h
is
s
tu
d
y
aim
ed
to
m
an
ag
e
v
o
ltag
e
an
d
f
r
eq
u
e
n
cy
v
ar
iatio
n
s
f
r
o
m
a
p
er
m
an
e
n
t
m
a
g
n
et
s
y
n
ch
r
o
n
o
u
s
g
en
e
r
ato
r
(
PMSG)
d
u
e
to
c
h
an
g
es
i
n
win
d
s
p
ee
d
,
u
s
in
g
th
e
s
m
ar
t
SEPI
C
to
m
ain
tain
a
s
tab
le
DC
lin
k
v
o
ltag
e.
A
v
a
r
iab
le
-
s
p
ee
d
1
.
5
MW
W
E
C
S
with
an
AC
-
DC
-
AC
co
n
v
er
ter
was
d
ev
elo
p
e
d
u
s
in
g
MA
T
L
AB
/Si
m
u
lin
k
an
d
test
ed
with
th
e
DSP
p
r
o
ce
s
s
o
r
MSP4
3
0
F5
5
2
9
.
R
esu
lts
f
r
o
m
b
o
th
s
im
u
latio
n
s
an
d
ex
p
e
r
im
en
ts
d
em
o
n
s
tr
ated
th
at
t
h
is
m
eth
o
d
o
u
tp
er
f
o
r
m
s
co
n
v
en
tio
n
al
PID
co
n
tr
o
ller
s
in
ter
m
s
o
f
p
o
wer
q
u
ality
,
co
n
f
ir
m
in
g
th
e
p
er
f
o
r
m
an
ce
i
m
p
r
o
v
e
m
en
t
o
f
th
e
s
m
ar
t tu
n
in
g
a
p
p
r
o
ac
h
.
Ad
d
itio
n
ally
,
th
e
N
-
PID
c
o
n
tr
o
ller
h
as
u
n
d
er
g
o
n
e
ex
ten
s
iv
e
s
tu
d
y
in
its
ap
p
licatio
n
in
h
ig
h
ly
n
o
n
lin
ea
r
s
y
s
tem
s
,
as
ev
id
e
n
ce
d
b
y
r
esear
ch
in
v
esti
g
atio
n
s
in
[
2
4
]
an
d
[
4
5
]
–
[
5
0
]
.
T
h
is
im
p
lies
th
at
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
C
o
mp
a
r
a
tive
in
s
ig
h
ts
in
to
n
o
n
lin
ea
r
P
I
D
-
b
a
s
ed
co
n
tr
o
ller
d
esig
n
a
p
p
r
o
a
ch
es
…
(
S
ye
d
N
a
jib
S
ye
d
S
a
lim
)
193
d
ev
elo
p
in
g
PID
-
b
ased
co
n
tr
o
l
s
tr
ateg
ies
f
u
r
th
er
an
d
i
n
co
r
p
o
r
atin
g
ad
ap
tiv
e
f
u
n
ctio
n
s
f
o
r
p
ar
am
eter
v
ar
iatio
n
s
o
f
th
e
m
ain
co
n
tr
o
ller
m
a
y
r
esu
lt
in
g
r
ea
t
ad
v
an
tag
es.
I
n
th
is
jo
u
r
n
al
p
ap
er
,
s
ev
er
al
ap
p
r
o
ac
h
es
b
ased
o
n
th
is
id
ea
h
av
e
b
ee
n
r
e
v
iewe
d
an
d
co
m
p
ar
e
d
to
d
eter
m
in
e
th
ei
r
ef
f
icien
cy
a
n
d
b
en
ef
its
.
T
o
lo
o
k
in
to
p
o
s
s
ib
le
im
p
r
o
v
em
e
n
ts
o
f
t
h
ese
co
n
tr
o
l
m
eth
o
d
s
,
a
s
im
ilar
p
lan
t,
th
a
t
is
a
p
n
eu
m
atic
ac
t
u
ato
r
,
is
u
s
ed
f
o
r
e
v
alu
atio
n
p
u
r
p
o
s
es,
with
s
tan
d
ar
d
ex
p
er
i
m
en
ts
an
d
an
aly
s
es b
ein
g
p
er
f
o
r
m
ed
o
n
ea
ch
tech
n
iq
u
e.
T
h
is
ar
ticle
is
ar
r
an
g
ed
as
f
o
ll
o
ws:
I
t
b
eg
in
s
with
an
I
n
tr
o
d
u
ctio
n
o
u
tlin
in
g
th
e
r
esear
ch
o
b
jectiv
es.
T
h
e
Me
th
o
d
s
ec
tio
n
d
escr
ib
es th
e
r
ef
in
em
en
t o
f
th
e
PID
co
n
t
r
o
ller
,
f
o
llo
wed
b
y
th
e
d
ev
elo
p
m
en
t o
f
ad
v
an
ce
d
co
n
tr
o
ller
s
:
N
-
PID
,
m
u
lti
-
r
ate
n
o
n
lin
ea
r
PID
(
MN
-
PID
)
,
a
n
d
s
elf
-
r
e
g
u
latio
n
n
o
n
lin
ea
r
PID
(
SN
-
PID
)
.
T
h
e
R
esu
lts
an
d
Dis
cu
s
s
io
n
ev
a
lu
ate
th
e
co
n
tr
o
ller
s
'
p
er
f
o
r
m
an
ce
,
in
clu
d
in
g
a
q
u
an
tit
ativ
e
p
er
f
o
r
m
a
n
ce
co
m
p
ar
is
o
n
an
d
an
a
n
aly
s
is
o
f
th
eir
r
o
b
u
s
tn
ess
u
n
d
er
v
ar
y
in
g
lo
a
d
c
o
n
d
itio
n
s
.
T
h
e
f
in
d
in
g
s
h
ig
h
lig
h
t
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
s
in
im
p
r
o
v
in
g
s
y
s
tem
co
n
tr
o
l.
Fin
ally
,
th
e
c
o
n
clu
s
i
o
n
s
u
m
m
ar
izes
th
e
k
ey
in
s
ig
h
ts
an
d
p
r
o
v
id
es r
ec
o
m
m
en
d
atio
n
s
f
o
r
en
h
an
cin
g
in
d
u
s
tr
ial
co
n
tr
o
l stra
teg
ies.
2.
M
E
T
H
O
D
T
h
is
s
ec
tio
n
p
r
esen
ts
a
m
eth
o
d
f
o
r
en
h
an
cin
g
t
h
e
p
er
f
o
r
m
an
ce
o
f
th
e
PID
co
n
tr
o
ller
,
b
eg
i
n
n
in
g
with
th
e
im
p
r
o
v
em
e
n
t
o
f
th
e
co
n
v
e
n
tio
n
al
PID
co
n
tr
o
ller
as
th
e
b
aselin
e.
Nex
t,
th
e
N
-
PID
co
n
tr
o
ller
is
in
tr
o
d
u
ce
d
to
h
an
d
le
n
o
n
lin
ea
r
ity
,
f
o
llo
w
ed
b
y
th
e
MN
-
PID
co
n
tr
o
ller
,
d
esig
n
ed
to
m
an
ag
e
s
y
s
tem
s
with
v
ar
y
in
g
g
ain
v
alu
es.
Fin
ally
,
t
h
e
SN
-
PID
co
n
tr
o
ller
is
d
e
v
elo
p
e
d
to
ad
ju
s
t
its
p
ar
a
m
eter
s
au
to
m
atica
lly
f
o
r
b
ette
r
ad
ap
tab
ilit
y
.
2
.
1
.
Ref
inem
ent
o
f
P
I
D
c
o
ntr
o
ller
T
h
e
class
ical
PID
co
n
tr
o
ller
is
wid
ely
r
ec
o
g
n
ized
f
o
r
its
s
t
r
aig
h
tf
o
r
wa
r
d
d
esig
n
,
en
a
b
lin
g
ef
f
icien
t
m
an
ag
em
en
t
o
f
p
o
s
itio
n
an
d
m
o
tio
n
co
n
tr
o
l.
Ho
wev
er
,
it
o
f
ten
s
tr
u
g
g
les
to
ac
h
iev
e
o
p
ti
m
al
p
er
f
o
r
m
a
n
ce
in
ch
allen
g
in
g
p
o
s
itio
n
c
o
n
tr
o
l
a
p
p
licatio
n
s
,
p
ar
ticu
la
r
ly
th
o
s
e
in
v
o
lv
i
n
g
s
ig
n
if
ica
n
t
n
o
n
lin
e
ar
ities
.
T
o
ad
d
r
ess
th
ese
lim
itatio
n
s
,
en
h
an
ce
d
v
er
s
io
n
s
o
f
th
e
PID
co
n
tr
o
ller
th
at
in
co
r
p
o
r
ate
n
o
n
lin
ea
r
g
ai
n
ca
n
b
e
in
v
esti
g
ated
.
T
h
is
s
tu
d
y
ex
am
i
n
es
p
r
ev
i
o
u
s
r
esear
ch
o
n
th
e
in
teg
r
atio
n
o
f
n
o
n
lin
ea
r
g
ain
with
PID
-
b
ased
co
n
t
r
o
ller
s
,
s
p
ec
if
ically
ap
p
lied
to
in
d
u
s
tr
ial
p
n
eu
m
atic
ac
tu
ato
r
s
.
T
h
e
an
aly
s
is
in
clu
d
es
a
co
m
p
ar
a
tiv
e
ev
alu
atio
n
o
f
v
ar
io
u
s
PID
-
b
ased
s
tr
ateg
ies,
n
am
ely
N
-
PID
,
MN
-
PID
,
a
n
d
SN
-
PID
co
n
tr
o
ller
s
.
T
h
e
p
e
r
f
o
r
m
a
n
ce
o
f
th
ese
s
tr
ateg
ies
is
as
s
ess
ed
to
d
eter
m
in
e
wh
ich
m
o
d
if
icatio
n
s
o
f
f
er
s
u
b
s
tan
tial
im
p
r
o
v
em
en
ts
i
n
b
o
th
tr
an
s
ien
t
a
n
d
s
tead
y
-
s
tate
p
er
f
o
r
m
a
n
ce
.
Fu
r
th
er
m
o
r
e,
t
h
e
r
o
b
u
s
tn
ess
o
f
th
ese
co
n
tr
o
ller
s
is
ev
alu
ated
b
y
co
m
p
ar
in
g
t
h
eir
p
er
f
o
r
m
an
ce
with
th
at
o
f
t
h
e
s
lid
in
g
m
o
d
e
c
o
n
tr
o
ller
(
SMC
)
,
p
r
o
v
i
d
in
g
a
co
m
p
r
e
h
en
s
iv
e
a
s
s
es
s
m
en
t
o
f
th
eir
ef
f
ec
tiv
en
ess
.
2
.
2
.
N
-
P
I
D
c
o
ntr
o
ller
T
h
e
N
-
PID
co
n
tr
o
ller
in
th
is
s
tu
d
y
is
s
tr
u
ctu
r
ed
s
u
c
h
th
at
it
in
co
r
p
o
r
ates
a
s
ec
to
r
-
b
o
u
n
d
ed
n
o
n
lin
ea
r
g
ain
,
(
)
,
wh
ich
o
p
er
ates
in
ca
s
ca
d
e
with
a
PID
co
n
tr
o
ller
.
T
h
e
au
to
m
atic
g
ain
,
(
)
,
f
u
n
ct
io
n
s
as
a
n
o
n
lin
ea
r
d
e
p
en
d
e
n
cy
o
n
th
e
er
r
o
r
,
(
)
,
co
n
f
in
ed
with
in
th
e
s
ec
t
o
r
0
≤
(
)
≤
as d
ef
in
ed
in
(
1
)
a
n
d
(
2
)
.
T
h
ese
e
q
u
atio
n
s
o
u
tlin
e
t
h
e
p
e
r
m
is
s
ib
le
r
an
g
e
f
o
r
t
h
e
n
o
n
lin
ea
r
g
ain
,
(
)
.
T
h
e
p
a
r
am
et
er
r
ep
r
esen
ts
th
e
v
ar
iatio
n
r
ate
o
f
th
e
n
o
n
lin
ea
r
g
ain
,
wh
ile
d
ef
i
n
es
its
r
an
g
e
o
f
v
ar
iatio
n
.
T
h
e
s
elec
tio
n
o
f
p
a
r
am
eter
s
an
d
d
ep
en
d
s
o
n
th
e
m
a
x
im
u
m
allo
wab
le
v
alu
e
o
f
th
e
n
o
n
lin
ea
r
g
ain
(
)
,
wh
ic
h
is
d
eter
m
in
e
d
b
ased
o
n
th
e
g
ain
r
an
g
e
r
eq
u
ir
e
d
f
o
r
s
tab
ilit
y
.
T
h
e
r
esu
ltin
g
o
u
tp
u
t
f
r
o
m
th
is
n
o
n
lin
ea
r
f
u
n
ctio
n
is
ter
m
ed
th
e
s
ca
led
er
r
o
r
a
n
d
is
r
ep
r
esen
ted
in
(
3
)
,
wh
ile
th
e
co
m
p
lete
eq
u
atio
n
f
o
r
th
e
N
-
PID
co
n
tr
o
ller
is
p
r
o
v
id
ed
in
(
4
)
.
(
)
=
ex
p
(
)
+
ex
p
(
−
)
2
(
1
)
=
{
(
)
|
|
≤
|
|
>
(
)
=
−
1
|
(
)
|
(
2
)
(
)
=
(
)
.
(
)
(
3
)
(
)
.
=
[
(
)
.
(
)
]
+
∫
[
(
)
.
(
)
]
0
+
[
(
)
.
(
)
]
(
4
)
2
.
3
.
MN
-
P
I
D
co
ntr
o
ller
T
h
e
MN
-
PID
co
n
tr
o
ller
is
an
ap
p
r
o
ac
h
d
esig
n
ed
to
en
h
a
n
ce
th
e
NPI
D
co
n
tr
o
ller
.
T
h
is
co
n
tr
o
ller
in
co
r
p
o
r
ates
s
ev
er
al
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ec
to
r
-
b
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n
d
e
d
n
o
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lin
ea
r
g
ain
s
,
(
,
)
,
d
esig
n
ed
to
tu
n
e
th
e
p
a
r
am
eter
α
to
cr
ea
te
m
u
ltip
le
g
ain
s
ec
to
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s
,
k
n
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wn
as
th
e
m
u
lti
-
r
ate
f
u
n
ctio
n
,
as
illu
s
tr
ated
in
Fig
u
r
e
1
.
T
h
ese
b
o
u
n
d
e
d
s
ec
to
r
s
ar
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
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8
6
I
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to
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l
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14
,
No
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2
,
J
u
n
e
20
2
5
:
191
-
2
03
194
au
to
m
atica
lly
ch
o
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h
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n
ce
th
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co
n
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o
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'
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ad
ap
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ilit
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allo
win
g
f
o
r
a
b
r
o
ad
s
p
ec
tr
u
m
o
f
g
ain
t
u
n
in
g
.
T
h
e
im
p
lem
en
tatio
n
h
i
n
g
es
o
n
s
elec
tin
g
,
in
f
lu
en
ce
d
b
y
f
a
cto
r
s
s
u
ch
as
f
r
ictio
n
,
lo
ad
v
a
r
iatio
n
s
,
an
d
th
e
d
is
cr
ep
an
cy
b
etwe
en
t
h
e
r
ef
er
en
ce
an
d
ac
tu
al
v
al
u
es
o
f
th
e
co
n
tr
o
lled
v
a
r
iab
le.
T
h
e
s
elec
t
io
n
o
f
g
en
er
ates
v
ar
io
u
s
r
an
g
es
f
o
r
th
e
n
o
n
lin
e
ar
g
ain
,
(
,
)
.
Fo
r
ea
ch
in
itial
m
o
v
em
en
t,
a
h
i
g
h
er
v
alu
e
o
f
n
o
n
l
in
ea
r
g
ain
,
(
,
)
s
h
o
u
ld
b
e
s
elec
ted
to
p
r
o
v
id
e
s
u
f
f
icien
t f
o
r
ce
f
o
r
f
r
ictio
n
c
o
m
p
en
s
atio
n
.
Fig
u
r
e
1
.
Sy
s
tem
with
MN
-
PI
D
co
n
tr
o
ller
T
h
e
m
u
lti
-
r
ate
n
o
n
lin
ea
r
f
u
n
c
tio
n
'
s
b
eh
av
io
r
is
co
n
tin
g
e
n
t
u
p
o
n
t
h
e
ch
ar
ac
te
r
is
tics
o
f
th
e
n
o
n
lin
ea
r
g
ain
as
α
v
ar
ies,
as
s
h
o
wn
in
Fig
u
r
e
2
.
I
t
is
o
b
s
er
v
ed
th
at
f
o
r
an
y
v
alu
e
o
f
α
,
th
e
n
o
n
lin
ea
r
g
ain
(
)
eq
u
als
o
n
e
wh
en
th
e
er
r
o
r
=
0
.
I
n
th
is
s
itu
atio
n
,
th
e
MN
-
PID
co
n
tr
o
ll
er
ef
f
ec
tiv
ely
o
p
e
r
ates
as
a
c
o
n
v
en
tio
n
al
PID
co
n
tr
o
ller
.
L
et
=
[
,
,
]
an
d
(
)
=
[
(
)
,
∫
(
)
,
(
)
0
]
.
T
h
u
s
,
th
e
MN
-
PID
e
q
u
atio
n
is
(
5
)
.
−
(
,
)
=
(
,
)
.
(
)
(
5
)
Fig
u
r
e
2
.
No
n
lin
ea
r
g
ain
p
r
o
f
i
les as a
f
u
n
ctio
n
o
f
α
As
d
ep
icted
in
Fig
u
r
e
2
,
th
e
v
alu
e
o
f
p
r
o
d
u
ce
d
b
y
th
e
f
u
zz
y
lo
g
ic
tech
n
iq
u
e
m
ay
eith
er
in
cr
ea
s
e
th
e
p
ar
a
m
eter
s
o
r
r
em
ain
u
n
c
h
an
g
e
d
.
T
h
e
n
o
n
li
n
ea
r
g
ain
(
,
)
is
d
ef
in
ed
as
a
m
u
lti
-
r
ate
n
o
n
lin
ea
r
f
u
n
ctio
n
o
f
er
r
o
r
,
wh
er
e
th
e
s
p
ec
if
ic
r
u
le
is
d
et
er
m
in
ed
b
y
th
e
s
elec
tio
n
o
f
with
in
th
e
r
a
n
g
e
1
≤
(
,
)
≤
(
,
)
.
T
h
e
s
u
r
f
ac
e
p
lo
t
o
f
th
e
n
o
n
lin
ea
r
g
ai
n
v
a
r
iatio
n
r
ate
ac
c
o
r
d
in
g
to
t
h
e
f
u
zz
y
lo
g
ic
tu
n
in
g
r
u
les is
s
h
o
wn
in
Fig
u
r
e
3
.
T
h
e
f
in
al
o
u
tp
u
t
o
f
t
h
e
f
u
zz
y
s
y
s
tem
is
p
r
o
v
id
e
d
in
(
6
)
.
(
)
=
∑
(
)
=
1
∑
(
)
=
1
(
6
)
T
h
e
r
u
les g
o
v
er
n
i
n
g
th
e
n
o
n
li
n
ea
r
f
u
n
ctio
n
o
f
th
e
MN
-
PID
co
n
tr
o
ller
ar
e
as:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
C
o
mp
a
r
a
tive
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ig
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to
n
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r
P
I
D
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b
a
s
ed
co
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ller
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(
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ye
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lim
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195
|
(
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|
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>
Fig
u
r
e.
3
.
Su
r
f
ac
e
p
l
o
t o
f
n
o
n
l
in
ea
r
g
ain
v
ar
iatio
n
r
ate
2
.
4
.
SN
-
P
I
D
c
o
ntr
o
ller
T
h
is
tech
n
iq
u
e
e
n
h
an
ce
s
th
e
N
-
PID
co
n
tr
o
ller
b
y
alig
n
i
n
g
its
d
esig
n
o
b
jectiv
e
with
th
at
o
f
th
e
MN
-
PID
co
n
tr
o
ller
b
u
t
with
o
u
t
u
t
ilizin
g
f
u
zz
y
l
o
g
ic
to
d
eter
m
i
n
e
th
e
r
ate
v
ar
iatio
n
,
α
,
o
f
t
h
e
n
o
n
lin
ea
r
g
ai
n
.
I
n
s
tead
,
it
ad
d
r
ess
es
th
e
ch
all
en
g
e
o
f
id
en
tif
y
in
g
s
u
itab
le
r
u
les
f
o
r
th
e
f
u
zz
y
tu
n
in
g
m
ec
h
an
is
m
in
th
e
MN
-
PID
b
y
d
ir
ec
tly
g
en
er
atin
g
th
e
v
alu
e
o
f
α
th
r
o
u
g
h
a
p
r
ed
ef
in
ed
f
u
n
ctio
n
;
s
ee
(
6
)
.
T
h
is
ap
p
r
o
ac
h
r
esu
lts
in
a
m
o
r
e
ad
a
p
tab
le
co
n
t
r
o
ller
.
T
h
e
s
elf
-
r
eg
u
latio
n
n
o
n
lin
ea
r
f
u
n
ctio
n
(
SNF)
s
tan
d
s
o
u
t
f
o
r
its
s
im
p
licity
an
d
m
in
im
al
n
ee
d
f
o
r
ad
d
itio
n
al
c
o
m
p
u
tatio
n
tim
e.
Du
e
t
o
its
r
a
p
id
ex
ec
u
tio
n
tim
e
a
n
d
ef
f
ec
tiv
en
ess
in
ac
h
iev
in
g
p
er
f
o
r
m
an
ce
le
v
els
u
n
attain
a
b
le
b
y
b
o
th
c
o
n
v
e
n
tio
n
al
PID
an
d
n
o
n
lin
ea
r
PID
co
n
tr
o
ller
s
,
th
is
tech
n
iq
u
e
is
well
-
s
u
ited
f
o
r
i
n
d
u
s
tr
ial
ap
p
licatio
n
s
.
Dete
r
m
in
in
g
th
e
o
p
ti
m
al
v
alu
e
o
f
α
f
o
r
s
u
p
er
io
r
p
e
r
f
o
r
m
a
n
ce
in
ter
m
s
o
f
s
p
ee
d
a
n
d
c
h
atter
in
g
a
v
o
i
d
an
ce
is
ch
allen
g
i
n
g
.
T
h
is
m
eth
o
d
e
n
ab
les
th
e
v
al
u
e
o
f
α
to
b
e
g
e
n
er
ated
d
y
n
am
ically
in
r
ea
l
-
tim
e
to
e
n
h
an
ce
th
e
co
n
tr
o
ller
'
s
f
lex
ib
ilit
y
.
Fig
u
r
e
4
illu
s
tr
ates
th
e
b
lo
ck
d
iag
r
a
m
o
f
th
is
m
eth
o
d
.
T
h
e
n
o
n
lin
ea
r
g
ain
(
)
is
au
to
m
atica
lly
ad
ju
s
ted
b
ased
o
n
th
e
v
alu
e
o
f
,
wh
ich
is
d
ir
ec
tly
g
en
er
ated
u
s
in
g
th
e
SNF eq
u
at
io
n
as d
ef
in
e
d
in
(
7
)
.
(
)
(
)
=
|
+
1
|
(
7
)
Fig
u
r
e
4
.
B
lo
ck
d
iag
r
am
o
f
S
N
-
PID
co
n
tr
o
ller
T
o
a
u
t
o
m
at
ic
all
y
g
en
e
r
at
e
α
,
t
h
e
r
el
ati
o
n
s
h
ip
b
e
twe
en
a
n
d
is
d
et
er
m
i
n
e
d
i
n
a
d
v
an
ce
.
A
p
a
r
ti
cle
s
war
m
o
p
tim
iz
ati
o
n
(
PS
O)
tec
h
n
i
q
u
e
is
e
m
p
l
o
y
e
d
t
o
i
d
e
n
ti
f
y
t
h
is
r
e
lat
io
n
s
h
i
p
.
T
h
is
te
c
h
n
iq
u
e
b
e
g
i
n
s
w
it
h
a
s
e
t
o
f
r
a
n
d
o
m
l
y
g
e
n
e
r
at
e
d
s
o
l
u
ti
o
n
s
(
p
a
r
ti
cl
es)
a
n
d
s
ee
k
s
o
p
t
im
al
s
o
l
u
t
io
n
s
b
y
it
er
ati
v
el
y
u
p
d
ati
n
g
g
e
n
e
r
ati
o
n
s
.
E
ac
h
p
ar
tic
le
,
r
e
p
r
es
en
ti
n
g
a
ca
n
d
id
ate
s
o
l
u
ti
o
n
in
t
h
e
i
n
it
i
al
s
t
a
g
es
,
is
ass
ig
n
e
d
a
s
p
ec
if
i
c
f
it
n
ess
v
al
u
e
.
T
h
e
p
a
r
ti
cles
m
o
v
e
wi
th
a
v
el
o
ci
t
y
i
n
f
l
u
e
n
c
e
d
b
y
t
h
e
ir
o
wn
e
x
p
e
r
ie
n
c
es
an
d
t
h
o
s
e
o
f
o
t
h
e
r
s
.
T
h
r
o
u
g
h
o
u
t
t
h
is
p
r
o
ce
s
s
,
th
e
v
el
o
c
it
y
a
n
d
p
o
s
i
tio
n
o
f
ea
c
h
p
a
r
ti
cl
e
ar
e
u
p
d
a
ted
b
as
e
d
o
n
tw
o
k
e
y
v
al
u
es
:
T
h
e
P
e
r
s
o
n
a
l
B
est
(
)
a
n
d
t
h
e
g
l
o
b
al
b
es
t
(
)
s
o
l
u
ti
o
n
s
.
T
h
e
v
el
o
ci
ty
a
n
d
p
o
s
iti
o
n
o
f
ea
c
h
p
ar
tic
le
ca
n
b
e
c
alc
u
l
ate
d
u
s
i
n
g
th
e
c
u
r
r
e
n
t
v
el
o
ci
ty
a
n
d
t
h
e
d
is
tan
ce
f
r
o
m
t
o
,
as
d
eta
ile
d
i
n
(
8
)
a
n
d
(
9
)
,
r
es
p
ec
ti
v
el
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
2
,
J
u
n
e
20
2
5
:
191
-
2
03
196
+
1
=
.
+
1
.
1
(
.
)
.
(
−
)
+
2
.
2
(
.
)
.
(
−
)
(
8
)
+
1
=
+
+
1
(
9
)
T
h
e
v
alu
e
o
f
is
s
et
b
y
(
8
)
as
=
−
−
×
(
1
0
)
wh
er
e
:
in
er
tia
weig
h
t f
u
n
ctio
n
1
&
2
:
lear
n
in
g
f
ac
t
o
r
1
&
2
:
r
an
d
o
m
n
u
m
b
er
s
in
r
a
n
g
e
[
0
,
1
]
:
m
ax
im
u
m
n
u
m
b
e
r
o
f
iter
atio
n
s
:
cu
r
r
en
t iter
atio
n
=
1
,
2
,
3
,
4
,
…
…
,
T
h
e
p
er
f
o
r
m
an
ce
cr
iter
io
n
i
n
t
h
e
tim
e
d
o
m
ai
n
as
d
escr
ib
ed
i
n
(
1
1
)
is
em
p
lo
y
e
d
f
o
r
th
is
o
p
t
im
izatio
n
.
T
h
is
cr
iter
io
n
is
em
p
lo
y
ed
to
c
o
m
p
u
te
th
e
co
s
t f
u
n
ctio
n
f
o
r
e
v
alu
atin
g
th
e
p
ar
a
m
eter
s
o
f
th
e
SNF.
I
t c
o
n
s
id
er
s
v
ar
io
u
s
o
u
tp
u
t
r
esp
o
n
s
e
c
o
n
s
tr
ain
ts
,
s
u
ch
as
o
v
er
s
h
o
o
t,
r
is
e
tim
e,
s
ettlin
g
tim
e,
a
n
d
s
tea
d
y
-
s
tate
er
r
o
r
.
T
h
e
co
s
t f
u
n
ctio
n
is
d
ef
in
ed
as th
e
r
ec
ip
r
o
ca
l
o
f
th
e
p
er
f
o
r
m
an
ce
cr
iter
io
n
W
(
K)
,
as o
u
tlin
e
d
in
(
1
2
)
.
(
)
=
(
+
)
.
(
1
−
−
)
+
(
−
)
.
−
(
11
)
=
1
(
)
(
12
)
H
er
e
,
is
[
,
]
an
d
is
th
e
weig
h
tin
g
f
ac
to
r
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
P
er
f
o
r
m
a
nce
co
m
pa
riso
n o
f
v
a
rio
us
co
ntr
o
l
m
et
ho
ds
Fig
u
r
e
5
s
h
o
ws
th
e
clo
s
ed
-
l
o
o
p
r
esp
o
n
s
es
o
f
t
h
e
s
y
s
tem
u
n
d
e
r
d
if
f
e
r
en
t
c
o
n
tr
o
ller
s
.
Qu
alitativ
e
an
aly
s
is
in
d
icate
s
th
at
th
e
MN
-
PID
an
d
SN
-
PID
co
n
tr
o
lle
r
s
ac
h
iev
e
th
e
b
est
p
er
f
o
r
m
a
n
ce
.
T
h
e
tr
a
n
s
ien
t
r
esp
o
n
s
e
o
f
th
e
s
y
s
tem
co
n
t
r
o
lled
b
y
th
e
SMC
is
s
im
il
ar
to
th
ese
m
eth
o
d
s
.
Ho
wev
er
,
in
s
tead
y
-
s
tate
co
n
d
itio
n
s
,
as
s
h
o
wn
in
th
e
zo
o
m
ed
-
i
n
v
iew,
th
e
SN
-
PID
co
n
tr
o
ller
o
u
tp
e
r
f
o
r
m
s
th
e
o
th
er
s
.
T
h
e
N
-
PID
co
n
tr
o
ller
e
x
h
ib
its
th
e
p
o
o
r
est
p
er
f
o
r
m
an
ce
i
n
ter
m
s
o
f
s
p
ee
d
.
No
n
eth
eless
,
its
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
is
co
m
p
ar
ab
le
to
th
at
o
f
t
h
e
S
N
-
PID
co
n
tr
o
ller
.
T
h
e
c
o
n
v
e
n
tio
n
al
PID
c
o
n
tr
o
ller
p
r
o
v
id
es
a
f
ast
r
esp
o
n
s
e.
Ho
wev
er
,
t
h
is
r
ap
id
r
esp
o
n
s
e
i
s
ac
co
m
p
an
ie
d
b
y
a
s
ig
n
if
ica
n
t
o
v
er
s
h
o
o
t,
wh
er
e
th
e
s
y
s
tem
o
u
tp
u
t
ex
ce
ed
s
th
e
d
esire
d
s
etp
o
in
t
b
ef
o
r
e
s
tab
ilizin
g
.
T
h
is
o
v
e
r
s
h
o
o
t
in
d
icate
s
a
lack
o
f
r
o
b
u
s
tn
ess
in
th
e
s
y
s
tem
,
as
it
m
ay
lead
to
in
s
tab
ilit
y
o
r
u
n
d
esira
b
le
o
s
cillatio
n
s
.
T
h
e
p
r
esen
ce
o
f
o
v
er
s
h
o
o
t
an
d
th
e
s
u
b
s
eq
u
e
n
t
s
ettlin
g
tim
e
n
ee
d
ed
to
s
tab
ilize
th
e
s
y
s
tem
d
im
in
is
h
es th
e
o
v
er
all
p
er
f
o
r
m
a
n
ce
o
f
th
e
co
n
v
en
tio
n
al
PID
co
n
tr
o
ll
er
co
m
p
ar
e
d
to
th
e
ad
v
an
ce
d
m
eth
o
d
s
.
Fig
u
r
e
5
.
Dy
n
am
ic
p
e
r
f
o
r
m
an
ce
co
m
p
ar
is
o
n
o
f
d
if
f
er
e
n
t
co
n
tr
o
l stra
teg
ies
T
im
e(
s
)
Dis
p
lace
m
en
t(
m
m
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
C
o
mp
a
r
a
tive
in
s
ig
h
ts
in
to
n
o
n
lin
ea
r
P
I
D
-
b
a
s
ed
co
n
tr
o
ller
d
esig
n
a
p
p
r
o
a
ch
es
…
(
S
ye
d
N
a
jib
S
ye
d
S
a
lim
)
197
3
.
1
.
1
Q
ua
ntit
a
t
iv
e
perf
o
rma
nce
ev
a
lua
t
io
n
T
h
e
in
teg
r
ate
d
ab
s
o
l
u
te
er
r
o
r
(
I
AE
)
,
as
d
ef
in
ed
in
(
13
)
,
is
em
p
lo
y
ed
to
q
u
an
titativ
ely
ev
alu
ate
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
d
if
f
e
r
en
t
co
n
tr
o
ller
s
.
T
h
e
I
AE
is
a
wid
ely
u
s
ed
p
e
r
f
o
r
m
an
ce
m
et
r
ic
in
co
n
tr
o
l
s
y
s
tem
s
,
r
ep
r
esen
tin
g
th
e
ac
c
u
m
u
lated
ab
s
o
lu
te
er
r
o
r
o
v
er
tim
e.
L
o
w
er
I
AE
v
alu
es
in
d
icate
b
etter
p
er
f
o
r
m
an
ce
as
th
ey
r
ef
lect
s
m
aller
d
e
v
iatio
n
s
f
r
o
m
th
e
d
esire
d
s
etp
o
in
t.
E
ac
h
c
o
n
tr
o
l
m
eth
o
d
is
test
ed
o
n
a
s
y
s
tem
o
p
er
atin
g
f
o
r
4
s
ec
o
n
d
s
with
a
tar
g
et
d
is
tan
ce
o
f
2
5
0
m
m
.
T
h
is
s
etu
p
p
r
o
v
id
es
a
co
n
s
is
ten
t
an
d
co
n
tr
o
l
led
en
v
ir
o
n
m
en
t
f
o
r
ass
es
s
in
g
th
e
ac
cu
r
ac
y
a
n
d
e
f
f
ec
tiv
en
ess
o
f
ea
ch
co
n
tr
o
ller
o
v
er
a
s
ig
n
if
ican
t
d
u
r
atio
n
.
=
∫
|
(
)
−
(
)
|
∞
0
(
1
3
)
Fig
u
r
e
6
p
r
esen
ts
th
e
p
er
f
o
r
m
an
ce
r
esu
lts
b
ased
o
n
th
e
I
AE
m
etr
ic,
f
r
o
m
wh
ich
s
ev
er
al
k
ey
o
b
s
er
v
atio
n
s
ca
n
b
e
m
a
d
e.
T
h
e
SN
-
PID
an
d
MN
-
PID
c
o
n
tr
o
ller
s
ex
h
ib
it
th
e
lo
west
I
AE
v
alu
es,
clea
r
l
y
o
u
tp
er
f
o
r
m
in
g
th
e
o
th
er
tech
n
iq
u
es.
T
h
ese
co
n
tr
o
ller
s
ef
f
ec
tiv
ely
m
in
im
ize
th
e
ab
s
o
lu
te
er
r
o
r
o
v
er
th
e
test
in
g
p
er
io
d
,
d
e
m
o
n
s
tr
atin
g
th
eir
s
u
p
er
io
r
ab
ilit
y
to
m
ain
tain
th
e
s
y
s
tem
at
th
e
d
esire
d
s
etp
o
in
t
with
h
ig
h
p
r
ec
is
io
n
.
T
h
e
N
-
PID
co
n
tr
o
ller
also
s
h
o
ws
g
o
o
d
p
er
f
o
r
m
an
ce
,
with
r
elativ
ely
lo
w
I
AE
co
m
p
ar
ed
to
th
e
co
n
v
en
tio
n
al
PID
an
d
SMC
.
Desp
ite
its
s
lu
g
g
is
h
tr
an
s
ien
t
r
esp
o
n
s
e,
wh
ic
h
in
d
icate
s
a
s
lo
wer
r
ea
ctio
n
to
ch
an
g
es,
th
e
N
-
PID
co
n
tr
o
ller
m
an
ag
es
to
ac
h
iev
e
a
s
tead
y
-
s
tate
p
er
f
o
r
m
a
n
ce
clo
s
e
to
th
e
SN
-
PID
co
n
tr
o
ller
.
T
h
is
s
u
g
g
ests
th
at
th
e
n
o
n
lin
ea
r
f
u
n
ctio
n
in
co
r
p
o
r
ated
in
t
o
th
e
PID
c
o
n
tr
o
ller
p
lay
s
a
cr
u
cial
r
o
le
in
e
n
h
an
cin
g
th
e
o
v
er
all
ac
cu
r
ac
y
o
f
th
e
s
y
s
tem
,
p
a
r
ticu
lar
ly
in
m
ain
tain
in
g
a
s
tab
l
e
an
d
p
r
ec
is
e
o
u
tp
u
t
o
v
er
tim
e.
I
n
co
n
tr
ast,
t
h
e
co
n
v
en
tio
n
al
PID
co
n
tr
o
ller
,
d
esp
ite
d
eliv
er
in
g
a
r
ap
id
in
itial
r
esp
o
n
s
e,
ex
h
i
b
its
a
h
ig
h
er
I
AE
d
u
e
to
o
v
er
s
h
o
o
t a
n
d
th
e
r
esu
ltin
g
o
s
cillatio
n
s
b
ef
o
r
e
r
ea
ch
in
g
s
tead
y
s
tate.
T
h
is
s
ig
n
if
ican
t o
v
er
s
h
o
o
t le
ad
s
to
lar
g
e
r
d
ev
iatio
n
s
f
r
o
m
th
e
s
etp
o
in
t,
th
er
eb
y
in
cr
ea
s
in
g
th
e
to
tal
a
b
s
o
lu
te
er
r
o
r
.
Me
an
wh
ile,
th
e
SMC
o
f
f
er
s
s
o
lid
p
er
f
o
r
m
an
ce
,
th
o
u
g
h
it f
alls
s
h
o
r
t o
f
t
h
e
ac
cu
r
ac
y
ac
h
iev
e
d
b
y
th
e
SN
-
PID
an
d
MN
-
PID
co
n
tr
o
ller
s
.
Fig
u
r
e
6
.
I
AE
Per
f
o
r
m
a
n
ce
in
d
ex
f
o
r
th
e
s
y
s
tem
with
d
if
f
er
en
t c
o
n
tr
o
ller
s
T
h
e
f
in
d
in
g
s
in
d
icate
th
at
th
e
SN
-
PID
an
d
MN
-
PID
c
o
n
tr
o
ller
s
ar
e
d
ev
elo
p
e
d
with
a
s
tr
o
n
g
em
p
h
asis
o
n
ac
h
iev
in
g
b
o
t
h
r
ap
id
r
esp
o
n
s
e
an
d
h
ig
h
ac
c
u
r
ac
y
.
I
n
itially
,
th
e
PID
p
ar
a
m
eter
s
ar
e
s
et
with
m
in
im
al
em
p
h
asis
o
n
p
is
to
n
s
p
ee
d
,
allo
win
g
t
h
e
s
y
s
tem
to
o
p
er
ate
ef
f
ec
tiv
ely
u
n
d
e
r
v
ar
i
o
u
s
co
n
d
itio
n
s
.
On
ce
s
tab
le
p
er
f
o
r
m
a
n
ce
with
o
u
t
o
v
er
s
h
o
o
t
is
ac
h
iev
e
d
,
th
e
r
esp
o
n
s
e
s
p
ee
d
is
en
h
an
ce
d
b
y
in
tr
o
d
u
cin
g
a
n
o
n
lin
ea
r
g
ain
,
wh
ich
im
p
r
o
v
es
tr
an
s
ie
n
t
p
er
f
o
r
m
an
ce
.
W
h
ile
in
cr
ea
s
in
g
th
e
n
o
n
lin
ea
r
g
ain
ty
p
ic
ally
r
ed
u
ce
s
s
y
s
tem
p
er
f
o
r
m
an
ce
d
u
e
to
a
lo
wer
g
ain
m
ar
g
in
,
th
e
SN
-
PID
an
d
MN
-
PID
co
n
tr
o
ller
s
m
ain
tain
th
eir
ef
f
ec
tiv
en
ess
b
ec
au
s
e
th
e
n
o
n
lin
ea
r
g
ain
d
y
n
am
ically
ad
ju
s
ts
b
ased
o
n
t
h
e
er
r
o
r
a
n
d
r
etu
r
n
s
to
its
in
itial
v
alu
e
o
n
ce
th
e
d
esire
d
in
p
u
t
is
ac
h
iev
ed
.
T
h
e
q
u
an
titativ
e
r
elatio
n
s
h
ip
b
etw
ee
n
n
o
n
lin
ea
r
g
ain
f
o
r
th
e
d
a
m
p
ed
f
r
e
q
u
en
c
y
an
d
p
ea
k
tim
e
ca
n
b
e
p
lo
tted
in
Fig
u
r
e
7
.
T
h
e
r
esu
lts
r
eg
ar
d
in
g
th
e
r
elatio
n
s
h
ip
b
etwe
en
th
es
e
th
r
ee
p
a
r
am
eter
s
co
n
f
ir
m
th
at
th
e
p
is
to
n
'
s
v
elo
city
n
o
tab
ly
s
p
ik
es
at
th
e
b
eg
in
n
in
g
,
as
in
d
icate
d
b
y
th
e
s
h
o
r
t
p
ea
k
tim
e
(
)
.
T
h
is
s
p
ik
e
lead
s
to
a
b
r
ief
o
v
er
s
h
o
o
t
in
th
e
s
y
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tem
’
s
r
esp
o
n
s
e,
d
r
iv
en
b
y
th
e
r
is
e
in
th
e
d
am
p
ed
f
r
e
q
u
en
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)
.
Ho
we
v
er
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e
im
p
ac
t
o
f
th
is
o
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er
s
h
o
o
t
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m
in
im
ized
b
y
th
e
r
ed
u
ctio
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th
e
n
o
n
lin
e
ar
am
p
lific
atio
n
f
ac
to
r
o
v
er
tim
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
2
,
J
u
n
e
20
2
5
:
191
-
2
03
198
Fig
u
r
e
7
.
R
elatio
n
s
h
ip
b
etwe
e
n
n
o
n
li
n
ea
r
g
ain
,
(
)
,
d
am
p
in
g
f
r
eq
u
en
cy
(
)
an
d
p
ea
k
tim
e
(
)
3
.
2
.
Ro
bu
s
t
nes
s
p
er
f
o
rm
a
nce
R
o
b
u
s
tn
ess
ca
n
b
e
d
ef
in
ed
as
th
e
ab
ilit
y
o
f
a
co
n
tr
o
l
s
y
s
te
m
to
r
em
ain
in
s
en
s
itiv
e
to
v
a
r
iatio
n
s
in
p
lan
t
p
a
r
am
eter
s
.
T
h
is
ch
ar
ac
ter
is
tic
is
cr
u
cial
f
o
r
e
n
s
u
r
in
g
co
n
s
is
ten
t
p
er
f
o
r
m
an
ce
an
d
r
eliab
ilit
y
in
r
ea
l
-
wo
r
ld
ap
p
licatio
n
s
,
wh
er
e
s
y
s
tem
p
ar
am
eter
s
ca
n
ch
a
n
g
e
d
u
e
to
v
ar
io
u
s
f
ac
t
o
r
s
s
u
ch
as
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
,
d
is
tu
r
b
an
ce
s
,
an
d
lo
ad
v
ar
iatio
n
s
.
T
o
th
o
r
o
u
g
h
ly
ass
ess
th
e
s
y
s
tem
's
r
o
b
u
s
tn
ess
,
a
s
er
ies
o
f
in
v
esti
g
atio
n
s
wer
e
co
n
d
u
cted
,
f
o
cu
s
in
g
p
r
im
ar
ily
o
n
th
e
co
n
tr
o
ller
'
s
ab
ilit
y
to
m
an
ag
e
m
o
tio
n
u
n
d
e
r
v
ar
y
in
g
lo
ad
co
n
d
itio
n
s
.
T
h
is
asp
ec
t
is
cr
itical
b
ec
au
s
e,
in
p
r
ac
tical
s
itu
atio
n
s
,
th
e
s
y
s
tem
m
ay
n
ee
d
to
h
an
d
le
lo
a
d
s
th
at
d
if
f
er
s
ig
n
if
ica
n
tly
f
r
o
m
t
h
e
n
o
m
i
n
al
d
esig
n
s
p
ec
if
icatio
n
s
.
I
n
th
e
f
ir
s
t
s
et
o
f
ex
p
e
r
im
en
ts
,
d
if
f
er
e
n
t
m
ass
es
wer
e
co
n
n
ec
ted
to
th
e
en
d
o
f
th
e
s
tr
o
k
e
t
o
s
im
u
late
v
ar
y
in
g
lo
ad
co
n
d
itio
n
s
.
T
h
e
m
ass
es
u
s
ed
in
t
h
ese
ex
p
e
r
i
m
en
ts
r
an
g
e
d
u
p
t
o
3
6
.
5
k
g
.
B
y
s
u
b
jectin
g
th
e
s
y
s
tem
to
th
ese
v
ar
y
in
g
lo
a
d
s
,
th
e
test
s
aim
ed
to
ev
alu
ate
h
o
w
well
th
e
co
n
tr
o
ller
co
u
ld
m
ain
tain
s
tab
ilit
y
an
d
p
er
f
o
r
m
an
ce
d
esp
ite
th
e
c
h
an
g
es
in
lo
ad
.
Ad
d
itio
n
ally
,
ex
p
er
im
en
ts
wer
e
co
n
d
u
cted
with
d
if
f
e
r
en
t
n
o
m
in
al
lo
ad
s
to
f
u
r
th
er
u
n
d
er
s
tan
d
t
h
e
s
y
s
tem
's
r
o
b
u
s
tn
ess
.
T
h
ese
t
ests
in
v
o
lv
ed
alter
in
g
th
e
b
ase
lin
e
lo
ad
c
o
n
d
itio
n
s
an
d
o
b
s
er
v
in
g
th
e
co
n
tr
o
ller
'
s
p
er
f
o
r
m
an
ce
in
m
ain
tain
in
g
th
e
d
esire
d
m
o
tio
n
an
d
s
tab
ilit
y
.
T
h
e
ab
ilit
y
to
h
an
d
le
d
if
f
er
e
n
t
n
o
m
in
al
lo
a
d
s
with
o
u
t
s
ig
n
i
f
ican
t
d
eg
r
ad
atio
n
in
p
er
f
o
r
m
a
n
ce
is
a
k
e
y
in
d
icato
r
o
f
t
h
e
co
n
tr
o
ller
'
s
r
o
b
u
s
tn
ess
.
Ov
er
all,
th
ese
in
v
esti
g
atio
n
s
p
r
o
v
id
e
v
alu
a
b
le
in
s
ig
h
ts
in
to
th
e
r
o
b
u
s
tn
ess
o
f
th
e
co
n
tr
o
l sy
s
tem
,
h
ig
h
lig
h
tin
g
its
ab
ilit
y
to
ad
ap
t a
n
d
p
er
f
o
r
m
r
eliab
ly
u
n
d
er
v
a
r
y
in
g
o
p
e
r
atio
n
al
co
n
d
itio
n
s
.
3
.
2
.
1
.
P
er
f
o
r
m
a
nce
a
na
l
y
s
is
o
n t
he
v
a
ria
t
io
n
o
f
lo
a
d
T
h
is
s
tu
d
y
i
n
v
esti
g
ates
th
e
r
e
s
u
lts
f
r
o
m
a
s
er
ies
o
f
ex
p
er
im
en
ts
co
n
d
u
cted
with
v
a
r
y
in
g
l
o
ad
s
.
T
h
e
s
y
s
tem
is
test
ed
u
s
in
g
a
s
tep
r
esp
o
n
s
e
with
a
d
is
p
lace
m
en
t
o
f
2
0
0
m
m
.
T
h
e
m
o
v
i
n
g
m
a
s
s
o
f
th
e
h
o
r
izo
n
tal
cy
lin
d
er
is
attac
h
ed
to
lo
ad
s
o
f
3
.
1
,
8
.
4
,
13
.
5
,
18
.
7
,
23
.
9
,
29
.
2
,
an
d
36
.
5
.
T
h
e
co
n
tr
o
ller
s
u
n
d
er
in
v
esti
g
atio
n
ar
e
b
en
ch
m
ar
k
ed
ag
ain
s
t
ea
c
h
m
eth
o
d
,
in
clu
d
in
g
co
n
v
en
tio
n
al
PID
,
No
n
lin
ea
r
PID
,
SN
-
PID
,
MD
-
PID
,
an
d
SMC
,
u
s
in
g
th
e
s
am
e
test
r
ig
.
T
h
e
p
er
f
o
r
m
an
ce
d
etails
o
f
th
e
s
y
s
tem
u
n
d
er
v
ar
io
u
s
co
n
t
r
o
ller
s
ar
e
s
u
m
m
a
r
ized
in
T
ab
le
1
.
T
ab
le
1
.
Per
f
o
r
m
an
ce
r
esu
lts
o
f
co
n
tr
o
l te
ch
n
iq
u
es u
n
d
e
r
v
ar
i
o
u
s
lo
ad
M
a
ss
(
k
g
)
C
o
n
v
e
n
t
i
o
n
a
l
P
I
D
N
-
P
I
D
MN
-
P
I
D
SN
-
P
I
D
S
M
C
Lo
a
d
(
)
%
(
)
%
(
)
%
(
)
%
(
)
%
3
.
1
1
.
6
1
0
.
3
0
.
3
1
.
5
6
-
0
.
0
2
0
.
6
3
-
0
.
0
2
0
.
6
3
-
0
.
0
1
1
.
1
2
-
0
.
1
2
8
.
4
3
.
1
2
24
0
.
3
1
.
5
6
-
0
.
0
2
0
.
7
1
-
0
.
0
2
0
.
7
2
-
0
.
0
1
1
.
1
1
-
0
.
1
3
1
3
.
5
u
n
st
a
b
l
e
1
.
5
5
5
.
6
8
0
.
0
1
0
.
7
7
-
0
.
0
2
0
.
7
8
-
0
.
0
1
1
.
1
1
-
0
.
1
2
1
8
.
7
1
.
5
8
5
.
7
0
.
0
2
0
.
7
9
-
0
.
0
2
0
.
7
8
-
0
.
0
1
1
.
1
3
1
.
4
0
0
.
1
3
2
3
.
9
1
.
8
4
5
.
6
9
0
.
0
5
0
.
8
6
-
0
.
0
2
0
.
8
3
-
0
.
0
2
1
.
4
3
6
.
5
0
0
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1
3
2
9
.
2
1
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8
6
6
.
9
7
0
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0
7
0
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9
3
1
.
2
1
0
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2
0
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3
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1
.
6
2
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1
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1
4
3
6
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5
1
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8
9
8
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8
9
0
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0
9
1
.
6
4
1
0
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2
0
.
0
2
0
.
8
7
-
0
.
0
2
1
.
9
8
1
3
.
9
0
0
.
1
3
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
C
o
mp
a
r
a
tive
in
s
ig
h
ts
in
to
n
o
n
lin
ea
r
P
I
D
-
b
a
s
ed
co
n
tr
o
ller
d
esig
n
a
p
p
r
o
a
ch
es
…
(
S
ye
d
N
a
jib
S
ye
d
S
a
lim
)
199
T
h
e
r
esu
lts
s
u
g
g
est
th
at
th
e
SN
-
PID
co
n
tr
o
ller
s
u
r
p
ass
es
alter
n
ativ
e
tech
n
iq
u
es,
as
d
ep
icted
in
Fig
u
r
e
8
,
wh
er
ein
th
e
s
y
s
tem
em
p
lo
y
in
g
th
is
co
n
tr
o
ller
d
is
p
lay
s
n
o
o
v
er
s
h
o
o
t
ev
en
with
a
m
ass
au
g
m
en
tatio
n
o
f
36
.
5
.
C
o
r
r
esp
o
n
d
in
g
ly
,
th
e
MN
-
PID
co
n
tr
o
ller
er
ad
icate
s
o
v
er
s
h
o
o
t
f
o
r
p
ay
lo
ad
s
b
e
lo
w
24
.
Nev
er
th
eless
,
s
y
s
tem
s
r
eg
u
la
ted
b
y
N
-
PID
an
d
SMC
en
co
u
n
ter
u
n
a
v
o
id
a
b
le
o
v
er
s
h
o
o
t
wh
en
th
e
lo
ad
s
u
r
p
ass
es
13
.
5
an
d
18
.
7
,
r
esp
ec
tiv
ely
.
On
th
e
co
n
tr
ar
y
,
th
e
tr
a
d
itio
n
al
PID
co
n
tr
o
ller
e
x
h
ib
its
th
e
p
o
o
r
est
p
er
f
o
r
m
a
n
ce
,
in
ca
p
a
b
ly
s
u
s
tain
in
g
s
tab
ilit
y
b
ey
o
n
d
a
m
ass
o
f
8
.
4
k
g
.
T
h
e
SN
-
PID
co
n
tr
o
ller
co
n
s
is
ten
tly
ex
h
ib
its
s
u
p
er
i
o
r
ef
f
icac
y
in
co
m
p
ar
is
o
n
to
o
th
er
m
eth
o
d
o
lo
g
ies.
As
illu
s
tr
ated
in
Fig
u
r
e
9
,
th
e
s
ettlin
g
tim
e
f
o
r
th
e
s
y
s
tem
u
tili
zin
g
th
e
SN
-
PID
co
n
tr
o
ller
r
em
ain
s
m
in
im
al,
r
em
ain
in
g
u
n
d
er
0
.
2
s
ec
o
n
d
s
.
T
h
is
em
p
h
asizes
th
at
th
e
SN
-
PID
ap
p
r
o
ac
h
s
ig
n
if
ican
tly
b
o
ls
ter
s
s
y
s
tem
r
o
b
u
s
tn
ess
.
T
h
e
s
tead
y
-
s
tate
er
r
o
r
s
tay
s
with
in
ac
ce
p
tab
le
lim
its
,
s
h
o
win
g
o
n
ly
a
s
lig
h
t
in
cr
ea
s
e
wh
en
th
e
m
ass
r
ea
ch
es
36
.
5
.
C
o
n
v
er
s
ely
,
th
e
s
ettlin
g
tim
e
o
f
th
e
MN
-
P
I
D
co
n
tr
o
ller
d
eter
io
r
ates
o
n
c
e
th
e
m
ass
ex
ce
ed
s
29
d
u
e
to
o
s
cillatio
n
s
th
at
im
p
air
s
y
s
tem
p
er
f
o
r
m
an
ce
.
Fig
u
r
e
8
.
Sy
s
tem
o
v
er
s
h
o
o
t
v
s
d
if
f
er
en
t l
o
ad
s
Fig
u
r
e
9
.
Settli
n
g
tim
e
v
s
d
if
f
e
r
en
t lo
ad
s
T
h
ese
f
in
d
in
g
s
p
o
ten
tially
o
f
f
er
v
ar
io
u
s
p
r
ac
tical
im
p
licatio
n
s
f
o
r
d
iv
er
s
e
en
g
in
ee
r
i
n
g
ap
p
licatio
n
s
.
B
y
s
h
o
win
g
th
at
MN
-
PID
a
n
d
SN
-
PID
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ates
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s
co
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th
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im
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r
o
v
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s
y
s
tem
ac
cu
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ac
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d
s
tab
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.
I
n
p
r
ac
tical
ap
p
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,
s
u
ch
as
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o
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e
in
m
an
u
f
ac
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r
in
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,
r
o
b
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cs,
an
d
o
th
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s
,
in
c
o
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p
o
r
atin
g
t
h
ese
tech
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iq
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es c
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en
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ce
p
er
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o
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m
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ce
,
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ed
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s
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a
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im
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o
d
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ality
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h
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ea
ter
o
p
er
atio
n
al
ef
f
icien
cy
a
n
d
less
d
o
wn
tim
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
2
,
J
u
n
e
20
2
5
:
191
-
2
03
200
Ad
d
itio
n
ally
,
th
eir
a
b
ilit
y
to
r
ap
id
ly
s
tab
ilize
s
y
s
tem
s
u
n
d
er
v
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y
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lo
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th
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eliab
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d
s
af
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f
cr
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o
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esu
ltin
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o
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n
d
ef
f
icien
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g
in
ee
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s
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lu
tio
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.
4.
CO
NCLU
SI
O
N
I
n
th
e
p
er
f
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m
a
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ce
co
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eth
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th
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SN
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PID
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PID
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d
em
o
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s
tr
ate
s
u
p
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io
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m
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ce
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B
o
th
c
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n
tr
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ac
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iev
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th
e
lo
west
in
teg
r
ate
d
a
b
s
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lu
te
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r
(
I
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)
v
alu
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ef
f
ec
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iatio
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f
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m
th
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esire
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th
e
test
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io
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.
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h
e
SN
-
PID
co
n
tr
o
ller
,
in
p
a
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ticu
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est
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tead
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s
tate
p
er
f
o
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m
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ce
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d
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em
ain
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u
s
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n
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er
v
a
r
y
in
g
lo
ad
co
n
d
itio
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s
u
p
to
3
6
.
5
k
g
,
s
h
o
win
g
m
in
im
al
o
v
er
s
h
o
o
t
an
d
co
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s
is
ten
t
s
ettl
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tim
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T
h
e
N
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PID
co
n
tr
o
ller
s
h
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p
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PI
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g
h
it
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as
a
s
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an
s
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r
esp
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s
e.
T
h
e
co
n
v
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tio
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al
PID
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tr
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wh
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r
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in
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r
esp
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s
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f
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er
s
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m
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ig
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if
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t
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s
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t
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d
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er
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i
n
d
icatin
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lo
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b
u
s
tn
ess
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d
less
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ec
tiv
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m
an
a
g
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en
t
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f
s
y
s
t
em
d
y
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T
h
e
SMC
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g
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s
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o
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atc
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ec
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SN
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PID
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d
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PID
co
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tr
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ll
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s
h
o
win
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m
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ate
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im
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er
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r
.
O
v
er
all,
th
e
SN
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PID
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n
tr
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ller
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e
m
o
s
t
ef
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ec
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in
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ain
tain
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g
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y
s
tem
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er
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r
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ely
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ce
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m
p
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r
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ess
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Ma
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✓
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C
:
C
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p
tu
aliza
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M
:
M
eth
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th
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r
esear
ch
p
r
esen
t
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in
th
is
p
ap
e
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.