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d
ec
ad
es,
f
ir
s
t
-
o
r
d
er
SMC
co
n
ce
p
ts
h
av
e
s
u
cc
e
s
s
f
u
ll
y
b
ee
n
ap
p
lied
to
a
v
ar
iety
o
f
r
ea
l
i
n
d
u
s
t
r
ial
s
y
s
te
m
s
,
in
cl
u
d
i
n
g
m
o
b
il
e
r
o
b
o
tics
,
elec
tr
ic
m
o
to
r
s
,
u
n
d
er
w
ater
s
h
ip
s
,
s
p
a
ce
s
h
ip
s
,
a
n
d
a
g
r
ea
t
d
ea
l
m
o
r
e.
T
h
e
f
u
n
d
a
m
en
ta
l
id
ea
b
eh
in
d
SMC
i
s
to
p
u
s
h
th
e
s
y
s
te
m
alo
n
g
a
s
u
b
s
p
ac
e
o
f
its
t
y
p
ical
b
eh
a
v
io
r
.
Usi
n
g
a
d
is
co
n
ti
n
u
o
u
s
co
n
tr
o
l si
g
n
al
m
ak
e
s
it p
o
s
s
ib
le
f
o
r
th
e
s
y
s
te
m
to
al
w
a
y
s
s
lid
e
o
v
er
th
e
li
m
ited
s
u
b
s
p
ac
e
a
s
t
h
e
f
ir
s
t
o
r
d
er
.
Gain
o
n
a
n
i
n
f
in
i
te
s
ca
le
i
s
u
s
ed
b
y
SMC
as t
h
e
co
n
tr
o
l si
g
n
al,
an
d
th
is
h
ig
h
f
r
eq
u
en
c
y
s
w
i
tch
i
n
g
ca
u
s
es o
s
cilla
tio
n
s
k
n
o
w
n
as
ch
atter
in
g
.
T
h
is
a
cti
v
a
tes an
u
n
co
n
tr
o
ll
e
d
d
y
n
a
m
ic
in
th
e
s
y
s
tem
,
w
h
ich
o
c
ca
s
i
o
n
al
ly
ca
n
ev
en
r
esu
l
t
in
co
m
p
l
ete
p
lan
t
d
est
r
u
c
ti
o
n
.
A
s
a
r
esu
lt,
SMC
s
h
o
u
ld
o
n
ly
b
e
u
s
ed
w
ith
ca
u
ti
o
n
in
s
y
s
te
m
s
w
ith
s
m
all
co
n
tr
o
l
a
cti
o
n
.
Sec
o
n
d
o
r
d
e
r
SMC
is
o
n
e
o
f
th
e
n
ew
est an
d
m
o
s
t
ef
f
icien
t
m
eth
o
d
s
f
o
r
m
in
im
izin
g
th
e
ch
att
er
in
g
ef
f
ec
ts
o
f
th
e
f
ir
s
t
o
r
d
e
r
S
MC
.
T
h
e
b
asic
s
ec
o
n
d
o
r
d
er
S
MC
,
in
co
n
t
r
ast
to
th
e
b
asic
S
MC
,
n
e
ce
s
s
i
tat
es
th
e
v
alu
e
o
f
th
e
s
lid
in
g
v
ar
ia
b
l
e'
s
tim
e
d
er
iv
ati
v
e.
T
h
e
f
u
n
d
am
en
tal
s
ec
o
n
d
o
r
d
e
r
SMC
s
y
s
te
m
is
co
m
p
lica
t
ed
b
y
th
e
n
ee
d
f
o
r
th
is
ex
tr
a
in
f
o
r
m
atio
n
,
w
h
ich
h
in
d
e
r
s
th
ei
r
w
id
esp
r
e
a
d
a
p
p
li
ca
ti
o
n
.
T
h
e
s
u
p
e
r
-
tw
is
tin
g
s
lid
in
g
m
o
d
e
(
S
T
S
M)
co
n
t
r
o
ll
er
is
th
e
m
o
s
t
r
e
ce
n
t
t
y
p
e
o
f
s
ec
o
n
d
o
r
d
e
r
SMC
.
T
h
e
S
T
S
M
co
n
t
r
o
l
a
p
p
r
o
a
ch
g
en
er
ates
a
s
u
p
er
io
r
co
n
t
r
o
l
s
ig
n
al
th
an
a
f
ir
s
t
o
r
d
e
r
SMC
b
e
ca
u
s
e
it
k
ee
p
s
th
e
d
is
t
in
ctiv
e
ly
s
tr
o
n
g
p
r
o
p
e
r
ti
es
o
f
s
ec
o
n
d
o
r
d
e
r
s
lid
in
g
m
o
d
e
a
p
p
r
o
a
ch
es.
F
o
r
th
is
r
e
aso
n
,
S
T
SM
c
o
n
tr
o
l
c
h
atte
r
s
l
ess
th
an
f
ir
s
t
o
r
d
er
S
MC
.
F
u
r
t
h
e
r
m
o
r
e
,
a
s
c
o
m
p
a
r
e
d
t
o
th
e
b
a
s
i
c
s
e
c
o
n
d
o
r
d
e
r
S
MC
,
th
e
S
T
S
M
c
o
n
t
r
o
l
t
e
ch
n
i
q
u
e
d
o
es
n
o
t
r
e
q
u
i
r
e
t
h
e
d
e
r
iv
a
t
iv
e
o
f
th
e
s
l
i
d
in
g
v
a
r
i
a
b
l
e
an
d
h
en
c
e
af
f
o
r
d
s
a
s
im
p
l
e
m
eth
o
d
o
l
o
g
y
f
o
r
s
t
r
a
ig
h
tf
o
r
w
a
r
d
im
p
l
em
en
ta
t
i
o
n
.
T
h
e
ef
f
ec
t
iv
en
ess
o
f
S
T
S
M
c
o
n
t
r
o
l
i
s
v
e
r
y
m
u
c
h
i
n
f
lu
en
ce
d
b
y
th
e
c
h
o
i
c
e
o
f
th
e
s
l
i
d
in
g
s
u
r
f
a
c
e
.
T
h
e
d
e
s
i
g
n
o
f
a
p
p
r
o
p
r
i
a
t
e
s
l
i
d
in
g
s
u
r
f
ac
e
c
an
en
s
u
r
e
t
h
a
t
S
T
SM
c
o
n
t
r
o
l
m
in
im
i
ze
s
ch
at
t
e
r
in
g
w
it
h
o
u
t
c
o
m
p
r
o
m
is
in
g
t
r
an
s
i
en
t
r
es
p
o
n
s
iv
en
es
s
,
s
t
e
a
d
y
-
s
t
a
t
e
r
es
p
o
n
s
e
,
o
r
d
u
r
a
b
i
l
i
ty
,
w
h
e
r
ea
s
t
h
e
in
a
p
p
r
o
p
r
i
a
te
d
e
s
ig
n
o
f
s
li
d
in
g
s
u
r
f
a
c
e
m
ay
h
av
e
u
n
f
av
o
r
a
b
le
im
p
a
ct
s
o
n
th
e
r
es
p
o
n
s
e
.
F
in
d
i
n
g
th
e
b
e
s
t
s
l
i
d
in
g
s
u
r
f
a
c
e
a
l
t
e
r
n
at
iv
e
ly
i
s
a
d
if
f
ic
u
l
t
an
d
tim
e
-
c
o
n
s
u
m
in
g
o
p
e
r
a
t
i
o
n
.
Us
in
g
a
v
a
r
y
in
g
s
l
id
i
n
g
s
u
r
f
a
c
e
as
o
p
p
o
s
e
d
t
o
a
c
o
n
s
t
an
t
o
n
e
i
s
an
ef
f
e
c
ti
v
e
s
l
id
i
n
g
s
u
r
f
a
c
e
d
es
ig
n
s
t
r
a
t
eg
y
f
o
r
im
p
r
o
v
in
g
th
e
c
o
n
tr
o
l
l
e
r
p
e
r
f
o
r
m
a
n
c
e
.
I
n
th
i
s
r
es
ea
r
c
h
,
a
t
r
an
s
i
en
t
v
o
l
t
ag
e
s
u
r
g
e
s
u
p
p
r
es
s
o
r
(
T
V
S
S
)
S
T
S
M
c
o
n
t
r
o
l
t
e
ch
n
i
q
u
e
i
s
i
n
t
r
o
d
u
c
e
d
t
o
en
h
a
n
c
e
th
e
d
y
n
am
i
c
p
e
r
f
o
r
m
an
c
e
o
f
th
e
t
r
a
d
it
io
n
a
l
S
T
S
M
c
o
n
t
r
o
l
s
t
r
a
t
eg
y
f
o
r
n
o
n
-
li
n
e
a
r
s
y
s
t
em
s
.
T
h
e
s
li
d
in
g
s
u
r
f
a
c
e
is
ad
ju
s
t
e
d
u
s
i
n
g
a
s
im
p
l
e
m
ec
h
a
n
is
m
th
a
t
d
o
es
n
o
t
c
o
m
p
r
o
m
i
s
e
th
e
s
im
p
l
i
ci
ty
an
d
s
t
a
b
i
li
ty
o
f
th
e
ty
p
i
c
al
S
T
SM
c
o
n
t
r
o
l
t
e
ch
n
i
q
u
e
.
F
o
r
n
o
n
-
li
n
e
a
r
s
y
s
t
em
s
,
th
e
s
u
g
g
es
t
e
d
a
p
p
r
o
a
ch
is
r
e
s
i
l
ie
n
t
,
s
t
a
b
l
e
,
a
n
d
d
em
o
n
s
t
r
a
t
es
ex
c
ell
e
n
t
t
r
an
s
i
en
t
an
d
s
t
e
a
d
y
-
s
t
a
t
e
r
e
s
p
o
n
s
es
.
2.
L
I
T
E
R
AT
U
RE
R
E
VI
E
W
I
n
co
n
t
r
o
l
en
g
in
ee
r
in
g
,
S
MC
is
a
co
n
t
r
o
l
tech
n
i
q
u
e
th
a
t
f
alls
u
n
d
er
n
o
n
lin
ea
r
s
y
s
te
m
co
n
tr
o
ll
er
s
an
d
ca
n
ch
an
g
e
th
e
o
u
tc
o
m
e
o
f
s
u
ch
a
s
y
s
te
m
b
y
th
e
d
ep
l
o
y
m
en
t
o
f
ab
r
u
p
t
co
n
t
r
o
l
te
ch
n
iq
u
es o
w
in
g
to
th
e
co
n
tr
o
l
f
u
n
ctio
n
s
i
d
es
al
o
n
g
a
c
r
o
s
s
-
s
ec
ti
o
n
o
f
th
e
s
y
s
tem
'
s
t
y
p
ical
b
eh
av
i
o
u
r
.
H
o
w
ev
er
,
th
is
c
o
u
ld
r
esu
lt
in
s
o
m
e
er
r
o
r
s
o
r
is
s
u
es
th
es
e
ca
n
b
e
el
im
in
ated
b
y
an
o
b
s
e
r
v
e
r
-
b
ase
d
tech
n
iq
u
e
,
b
u
t
th
is
m
eth
o
d
m
ay
cr
ea
te
ad
d
i
ti
o
n
al
lo
a
d
o
n
th
e
s
y
s
tem
,
to
b
o
o
s
t
p
e
r
f
o
r
m
an
ce
l
o
g
ar
ith
m
ic
q
u
a
n
tize
r
s
y
n
th
esis
ca
n
b
e
u
s
e
d
[
1
]
,
th
e
t
r
an
s
m
itte
d
s
ig
n
al
cr
ea
t
es
a
f
lu
ctu
at
io
n
,
f
o
r
r
ef
l
ec
tin
g
s
u
ch
r
ef
l
ec
t
io
n
m
u
ltip
li
ca
tiv
e
f
ad
in
g
m
o
d
el
c
an
b
e
u
s
e
d
[
2
]
.
T
h
e
SMC
ca
n
b
e
u
s
e
d
t
o
c
o
n
t
r
o
l
a
ch
ao
tic
s
y
s
tem
,
th
is
ca
n
b
e
a
ch
iev
e
d
b
y
co
n
s
i
d
er
in
g
a
u
n
i
q
u
e
s
lid
in
g
-
m
an
if
o
ld
w
h
ich
estab
l
is
h
es
n
ew
la
w
w
h
ich
h
el
p
s
t
o
ac
h
i
ev
e
asy
m
p
to
ti
ca
l
s
t
a
b
ili
ty
[
3
]
.
A
b
d
o
llah
z
a
d
e
h
et
a
l
.
[
4
]
s
h
o
w
ed
th
at
to
o
v
er
co
m
e
ch
atter
i
n
g
i
n
th
e
n
o
n
li
n
ea
r
s
y
s
te
m
w
e
ca
n
u
s
e
f
u
zz
y
-
b
a
s
ed
SMC
an
d
b
as
ed
o
n
th
is
p
r
in
cip
le
th
e
y
cr
ea
ted
m
ag
n
etic
le
v
itati
o
n
s
y
s
te
m
.
T
h
e
SM
C
ar
e
e
f
f
i
cien
t
to
h
a
n
d
le
s
y
s
te
m
w
i
th
la
r
g
e
u
n
ce
r
tai
n
tie
s
i
n
s
u
c
h
a
s
it
u
atio
n
w
e
ca
n
u
s
e
d
ec
en
tr
alize
d
-
f
u
zz
y
-
S
MC
a
n
d
t
h
e
p
ar
a
m
eter
o
f
t
h
ese
tech
n
iq
u
es
ca
n
b
e
b
o
o
s
ted
b
y
j
a
y
a
al
g
o
r
ith
m
[
5
]
,
b
y
i
n
t
eg
r
atin
g
m
a
m
d
a
n
i
t
y
p
e
p
r
o
p
o
r
tio
n
al
in
te
g
r
al
d
er
iv
ati
v
e
(
P
I
D
)
f
u
zz
y
al
g
o
r
ith
m
w
it
h
SMC
t
h
e
s
y
s
te
m
ca
n
h
a
n
d
le
n
o
n
-
af
f
i
n
e
n
o
n
-
li
n
ea
r
s
y
s
t
e
m
[
6
]
.
I
n
s
i
n
g
u
lar
l
y
p
er
tu
r
b
ed
d
escr
ip
to
r
s
y
s
te
m
s
f
o
r
th
e
an
a
l
y
s
is
o
f
s
tab
ilit
y
f
e
w
m
e
th
o
d
s
ar
e
a
v
ailab
le,
h
e
n
c
e
f
o
r
s
i
m
p
li
f
y
i
n
g
p
r
ac
tical
ap
p
licatio
n
ca
lc
u
lat
io
n
an
in
te
g
r
al
SMC
s
tr
ateg
y
i
s
p
r
o
p
o
s
ed
in
[
7
]
,
a
n
ew
t
y
p
e
o
f
co
n
tr
o
l
s
ch
e
m
e
b
ased
o
n
s
ca
lar
s
ig
n
f
u
n
c
tio
n
tech
n
iq
u
e
a
n
d
o
n
p
ar
allel
-
d
is
t
r
ib
u
ted
-
co
m
p
e
n
s
ato
r
is
g
i
v
e
n
in
[
8
]
,
in
[
9
]
an
e
f
f
icie
n
t
s
tab
ilizer
f
o
r
th
e
p
o
w
er
s
y
s
te
m
is
d
esi
g
n
ed
o
n
t
h
e
b
a
s
e
o
f
f
u
zz
y
lo
g
ic,
h
er
e
t
h
e
y
in
te
g
r
ated
d
if
f
er
en
tial
ev
o
l
u
ti
o
n
alg
o
r
it
h
m
w
it
h
SMC
,
t
h
is
h
elp
s
to
h
a
n
d
le
p
o
w
er
s
y
s
te
m
in
d
i
f
f
er
en
t
co
n
d
it
io
n
s
a
n
d
also
co
m
b
i
n
i
n
g
g
e
n
e
tic
alg
o
r
it
h
m
g
i
v
es
ad
d
itio
n
al
b
o
o
s
t
f
o
r
t
h
e
s
y
s
te
m
[
1
0
]
.
I
n
[
1
1
]
–
[
1
7
]
b
as
ed
o
n
SMC
d
esi
g
n
o
f
q
u
a
d
-
r
o
to
r
is
ca
r
r
ied
o
u
t
h
er
e
t
w
o
lo
o
p
ar
ch
itectu
r
e
is
u
s
ed
an
d
it
p
r
o
v
es
f
u
s
s
y
b
ased
SM
C
is
s
u
p
er
io
r
to
P
I
D,
th
e
T
ak
ag
i
-
Su
g
en
o
(
T
-
S
)
f
u
zz
y
d
escr
ip
to
r
is
also
o
n
e
o
f
th
e
p
o
p
u
lar
m
et
h
o
d
s
,
s
i
n
ce
th
e
s
y
s
t
e
m
d
esig
n
is
m
ain
l
y
d
ep
en
d
in
g
u
p
o
n
m
at
h
e
m
atic
s
th
e
p
ap
er
p
r
o
p
o
s
ed
b
y
S
u
n
an
d
Z
h
a
n
g
[
1
3
]
g
iv
e
s
m
at
h
e
m
ati
ca
l
b
ac
k
g
r
o
u
n
d
an
d
an
ex
te
n
d
ed
v
er
s
io
n
is
g
iv
e
n
in
[
1
6
]
.
Sin
ce
co
m
p
ar
ed
to
tr
a
d
itio
n
al
s
y
s
te
m
s
t
h
e
f
u
zz
y
b
as
ed
SMC
ar
e
ef
f
icie
n
t
a
v
ar
iab
le
d
elay
co
n
tr
o
l
f
o
r
ch
e
m
ical
p
r
o
ce
s
s
in
g
is
d
esig
n
ed
in
[
1
8
]
–
[
2
7
]
,
th
is
r
ed
u
ce
s
s
ettlin
g
ti
m
e.
Sin
ce
s
p
h
er
ical
r
o
b
o
t
k
in
e
m
atic
s
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8938
I
n
t J
A
r
ti
f
I
n
tell
,
Vo
l.
14
,
No
.
4
,
A
u
g
u
s
t 2
0
2
5
:
2
6
7
6
-
2688
2678
n
o
n
-
h
o
lo
-
m
o
n
ics
ar
e
co
u
p
le
d
w
it
h
th
e
ir
s
y
s
te
m
d
y
n
a
m
i
cs
th
e
d
esi
g
n
b
ec
o
m
es
co
m
p
lex
,
to
o
v
er
co
m
e
co
m
p
le
x
it
y
an
d
to
u
t
ilize
t
h
e
co
m
p
lete
p
o
ten
tial o
f
s
p
h
er
ical
r
o
b
o
t f
u
zz
y
-
b
ased
SMC
i
s
e
m
p
lo
y
ed
in
[
1
5
]
.
3.
ST
SM
CO
NT
RO
L
U
SI
N
G
F
U
Z
Z
Y
L
O
G
I
C
CO
N
T
RO
L
T
h
e
ST
SM
co
n
tr
o
l
s
ch
e
m
e
i
s
an
ef
f
ic
ien
t
co
n
tr
o
l
m
et
h
o
d
th
at
r
e
m
o
v
e
s
th
e
c
h
atter
i
n
g
ef
f
ec
t
o
f
tr
ad
itio
n
al
SMC
s
c
h
e
m
es
w
it
h
o
u
t
co
m
p
r
o
m
i
s
i
n
g
tr
ac
k
in
g
p
er
f
o
r
m
a
n
ce
.
T
h
e
p
er
f
o
r
m
a
n
c
e
o
f
ST
SM
co
n
tr
o
l,
o
n
th
e
o
th
er
h
an
d
,
is
s
ig
n
i
f
ic
an
tl
y
d
ep
en
d
en
t
o
n
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e.
I
f
t
h
e
s
l
id
in
g
s
u
r
f
a
ce
is
ap
p
r
o
p
r
iatel
y
b
u
ilt,
ST
SM
co
n
tr
o
l
m
a
y
m
i
n
i
m
ize
ch
at
ter
in
g
w
it
h
o
u
t
co
m
p
r
o
m
i
s
in
g
tr
an
s
ien
t
r
esp
o
n
s
i
v
en
es
s
,
s
tead
y
-
s
tate
r
esp
o
n
s
e,
o
r
d
u
r
ab
ilit
y
.
I
f
th
e
s
lid
in
g
s
u
r
f
ac
e
is
n
o
t
ap
p
r
o
p
r
iately
co
n
s
tr
u
cted
,
it
m
a
y
h
av
e
u
n
f
av
o
r
ab
le
i
m
p
ac
ts
o
n
t
h
e
r
esp
o
n
s
e.
De
cid
in
g
th
e
b
est
s
lid
in
g
s
u
r
f
a
ce
alter
n
ati
v
el
y
is
a
ti
m
e
-
co
n
s
u
m
in
g
o
p
er
atio
n
.
I
n
s
tead
o
f
a
s
tead
y
s
lid
in
g
s
u
r
f
ac
e,
u
s
e
o
f
a
T
VSS
i
s
an
e
f
f
ec
tiv
e
s
lid
in
g
s
u
r
f
ac
e
d
e
s
ig
n
s
tr
ateg
y
f
o
r
in
cr
ea
s
in
g
co
n
tr
o
ller
p
er
f
o
r
m
a
n
ce
.
T
h
is
ca
n
b
e
d
o
n
e
b
y
u
s
i
n
g
a
co
n
tr
o
ller
w
h
ich
ca
n
u
p
d
ate
th
e
s
l
id
in
g
s
u
r
f
ac
e
s
lo
p
e
o
n
li
n
e
b
ased
o
n
er
r
o
r
v
ar
iab
les.
C
o
n
s
id
er
th
e
s
y
s
te
m
d
y
n
a
m
i
cs
w
ith
d
i
s
tu
r
b
an
ce
g
i
v
en
b
y
(
1
)
.
̇
(
)
=
(
,
)
+
(
)
(
)
+
(
)
(
1
)
C
o
n
s
id
er
th
e
ti
m
e
-
v
ar
y
in
g
s
lid
in
g
s
u
r
f
ac
e
g
iv
e
n
b
y
(
2
)
:
(
)
=
̇
(
)
+
λ
(
t
)
(
)
(
2
)
Ass
u
m
in
g
λ
(
t
)
>
0
,
th
e
co
n
tr
o
l
o
b
j
ec
ti
v
e
is
to
d
r
iv
e
th
e
s
y
s
te
m
tr
aj
ec
to
r
y
to
r
ea
ch
th
e
ti
m
e
-
v
ar
y
i
n
g
s
lid
in
g
m
an
i
f
o
ld
̇
(
,
)
=
(
,
)
=
0
in
f
i
n
ite
ti
m
e.
T
ak
in
g
th
e
f
ir
s
t
a
n
d
s
ec
o
n
d
d
er
iv
ativ
e
s
o
f
(
)
,
w
e
o
b
tain
(
3
)
an
d
(
4
)
:
̇
(
,
)
=
+
(
(
,
)
+
(
)
(
)
+
(
)
)
(
3
)
̈
(
)
=
̇
+
̇
(
(
,
)
+
(
)
(
)
+
(
)
)
+
̇
̇
(
)
(
4
)
S
u
p
p
o
s
e
th
at
f
o
r
s
o
m
e
p
o
s
iti
v
e
co
n
s
tan
ts
,
Г
,
Г
,
th
e
f
o
llo
w
in
g
co
n
d
itio
n
h
o
ld
s
as in
(
5
)
:
{
|
̇
+
̇
(
(
,
)
+
(
)
(
)
+
(
)
)
|
<
0
≤
Г
≤
|
̇
|
≤
Г
(
5
)
T
h
en
,
th
e
co
n
tr
o
l la
w
is
d
esi
g
n
ed
as s
h
o
w
n
i
n
(
6
)
:
{
=
−
1
|
|
1
2
(
)
+
̇
=
−
2
(
)
(
6
)
W
h
er
e
:
{
2
>
Г
1
2
≥
4
Г
2
Г
(
2
+
)
Г
(
2
−
)
(
7
)
I
f
th
e
co
n
d
itio
n
s
g
i
v
en
i
n
(
7
)
ar
e
s
atis
f
ied
,
th
e
co
n
tr
o
l
g
i
v
en
b
y
(
6
)
d
r
iv
es
th
e
s
lid
i
n
g
v
ar
iab
le
(
)
an
d
its
d
er
iv
ativ
e
(
)
̇
to
ze
r
o
in
f
in
ite
ti
m
e.
Ho
w
e
v
er
,
th
er
e
is
n
o
ex
ac
t
m
ath
e
m
at
ical
m
o
d
el
d
escr
ib
in
g
t
h
e
r
elatio
n
s
h
ip
b
et
w
ee
n
t
h
e
s
lid
i
n
g
s
u
r
f
ac
e
s
lo
p
e
a
n
d
er
r
o
r
v
ar
iab
les,
b
u
t
s
o
m
e
ap
p
r
o
x
i
m
ate
r
u
les
ca
n
b
e
d
er
iv
ed
to
estab
lis
h
it.
B
ec
au
s
e
f
u
z
z
y
lo
g
ic
co
n
tr
o
l
i
s
a
u
s
e
f
u
l
to
o
l
f
o
r
r
eg
u
lati
n
g
th
e
s
y
s
te
m
u
s
i
n
g
ce
r
tai
n
ap
p
r
o
x
im
a
tio
n
r
u
le
s
,
it
m
a
y
b
e
u
s
ed
to
u
p
d
ate
th
e
s
lid
i
n
g
s
u
r
f
ac
e
s
lo
p
e
d
ep
e
n
d
in
g
o
n
er
r
o
r
v
ar
iab
les.
T
h
e
s
af
et
y
f
ac
to
r
(
SF
)
m
o
v
e
m
en
t
m
a
y
b
e
p
er
f
o
r
m
ed
b
y
u
p
d
atin
g
t
h
e
v
al
u
e
o
f
a
SF
s
lo
p
e
o
n
lin
e
d
ep
en
d
in
g
o
n
t
h
e
er
r
o
r
v
alu
es
v
ar
iab
les
(
)
an
d
its
r
ate
o
f
v
ar
iatio
n
o
f
er
r
o
r
(
)
,
an
d
s
y
s
te
m
s
h
o
u
ld
s
atis
f
y
a
co
n
d
itio
n
t
h
at
th
e
SF
s
lo
p
e
s
h
o
u
ld
b
e
p
o
s
iti
v
e
to
e
n
s
u
r
e
s
tab
ili
t
y
.
T
h
er
e
is
n
o
p
r
ec
is
e
m
ath
e
m
at
ical
ex
p
lan
atio
n
o
f
th
e
r
ela
tio
n
s
h
i
p
b
et
w
ee
n
th
e
er
r
o
r
v
ar
iab
les
an
d
th
e
g
r
ad
ien
t
o
f
t
h
e
s
lid
in
g
s
u
r
f
ac
e.
T
h
er
ef
o
r
e,
a
f
u
zz
y
lo
g
ic
i
n
f
er
en
ce
s
y
s
te
m
ca
n
u
p
d
ate
th
e
s
lid
in
g
s
u
r
f
ac
e
s
lo
p
e.
T
h
e
in
p
u
t
to
th
e
s
in
g
le
in
p
u
t
-
s
in
g
le
o
u
tp
u
t
(
SISO
)
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
is
th
e
d
if
f
er
en
c
e
b
et
w
ee
n
th
e
m
a
g
n
i
tu
d
es
o
f
(
)
an
d
̇
(
)
as
g
iv
en
in
(
8
)
.
T
h
e
o
u
tp
u
t
o
f
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
(
)
,
ad
j
u
s
ted
v
i
a
an
o
u
tp
u
t
s
ca
li
n
g
f
ac
to
r
y
ield
s
th
e
s
lid
i
n
g
s
u
r
f
ac
e
s
lo
p
e
(
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
A
r
ti
f
I
n
tell
I
SS
N:
2252
-
8938
A
n
o
ve
l fu
z
z
y
lo
g
ic
b
a
s
ed
s
lid
in
g
mo
d
e
c
o
n
tr
o
l sch
eme
fo
r
n
o
n
-
lin
ea
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s
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l Ka
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2679
(
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(
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−
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̇
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(
8
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h
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asis
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e
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er
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f
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d
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ar
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a
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o
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n
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g
ati
v
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d
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o
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itiv
e
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w
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o
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en
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ilit
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u
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ce
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et
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t
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et
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s
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o
w
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Fig
u
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1
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er
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ip
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e
m
ed
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m
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N
M)
,
n
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at
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m
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(
NS)
,
ze
r
o
(
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E
)
,
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o
s
itiv
e
s
m
all
(
P
S),
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o
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v
e
m
ed
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u
m
(
P
M)
,
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d
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o
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iti
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ig
(
P
B
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ile
t
h
e
m
e
m
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er
s
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ip
f
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n
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m
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er
y
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er
y
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g
(
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)
a
s
s
h
o
w
n
i
n
Fig
u
r
e
2
.
T
h
e
r
u
le
b
ase
o
f
t
h
e
f
u
zz
y
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o
n
tr
o
ller
i
s
g
iv
e
n
i
n
T
ab
le
1
.
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h
e
d
ef
u
zz
if
icatio
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er
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o
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ed
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ce
n
tr
o
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r
o
ac
h
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Fig
u
r
e
1
.
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n
p
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t f
u
n
ctio
n
s
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e
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er
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ip
Fig
u
r
e
2
.
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tp
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t
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e
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ip
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ab
le
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le
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ase
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V
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r
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e
s
(
)
NB
NM
NS
ZE
PS
PM
PB
λ
(
t
)
VVB
VB
B
M
S
VS
VVS
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
'
s
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er
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o
r
m
a
n
ce
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m
p
ar
ed
to
th
e
s
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eg
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r
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n
o
n
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li
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r
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ce
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n
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d
(
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2
2
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(
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W
h
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e
:
(
)
=
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(
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0
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+
150
(
−
0
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(
1
0
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Her
e
in
d
icate
s
o
u
tp
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tan
d
(
)
in
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icate
s
co
n
tr
o
l
in
p
u
t.
T
h
e
r
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g
e
o
f
v
al
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e
o
f
0
is
u
n
ce
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tain
w
i
t
h
k
n
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n
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n
d
s
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h
e
s
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g
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ested
co
n
tr
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s
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er
f
o
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m
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ce
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n
v
esti
g
ated
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o
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th
e
co
n
tr
o
l
ai
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o
f
k
ee
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n
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ta
n
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at
1
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5
7
.
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o
r
n
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d
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eich
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2
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p
r
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ted
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s
tan
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d
ST
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w
it
h
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co
n
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ta
n
t
s
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h
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h
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r
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ce
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(
)
.
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e
(
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ld
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ich
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s
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d
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ttle
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n
d
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icate
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ti
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e
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er
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ati
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o
f
er
r
o
r
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g
l
e
(
)
.
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h
e
s
lid
in
g
s
u
r
f
ac
e
s
lo
p
e
i
s
=
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.
T
h
e
g
ain
s
o
f
co
n
tr
o
ller
ar
e
1
=
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,
2
=
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.
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h
e
co
n
tr
o
l
in
p
u
t
is
b
o
u
n
d
ed
s
u
c
h
th
at
−
10
≤
(
)
≤
10
.
T
h
i
s
s
tu
d
y
's
co
n
tr
o
ller
is
a
ST
SM
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n
tr
o
ller
w
ith
a
s
lid
i
n
g
s
u
r
f
ac
e
f
u
zz
y
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ased
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n
tr
o
l.
As
a
r
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lt,
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e
s
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n
g
s
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r
f
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is
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(
)
,
w
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th
th
e
s
lid
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n
g
s
u
r
f
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e
s
lo
p
e
(
)
is
d
eter
m
in
ed
b
y
th
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
.
T
h
e
v
alu
e
s
o
f
(
)
an
d
̇
(
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h
av
e
s
ca
li
n
g
f
ac
to
r
s
o
f
0
.
6
4
an
d
3
0
r
esp
ec
tiv
el
y
.
T
h
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
'
s
o
u
tp
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t
s
ca
li
n
g
f
a
cto
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is
2
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,
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ic
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i
s
s
et
s
o
th
at
t
h
e
s
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id
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g
s
u
r
f
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e
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o
n
s
ta
n
tl
y
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r
d
ed
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en
h
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n
ci
n
g
th
e
s
y
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te
m
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d
y
n
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ic
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er
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o
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ce
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w
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th
t
h
e
r
eq
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r
e
m
en
t
th
at
th
e
s
lo
p
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o
f
s
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n
g
s
u
r
f
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i
s
al
w
a
y
s
p
o
s
itiv
e,
ass
u
r
i
n
g
s
tab
ilit
y
.
T
h
e
g
ain
s
o
f
t
h
e
co
n
tr
o
ller
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e
1
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d
2
=
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,
w
h
ic
h
ar
e
th
e
s
a
m
e
as t
h
o
s
e
o
f
a
tr
ad
itio
n
al
ST
SM
co
n
tr
o
ller
w
it
h
a
f
ix
ed
s
l
id
in
g
s
u
r
f
ac
e.
4
.
1
.
Ca
s
e
1
:
=
.
Fo
r
0
=
0
.
095
,
th
e
r
esp
o
n
s
es
o
f
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
an
d
th
e
s
tan
d
ar
d
S
T
SM
co
n
tr
o
ller
w
ith
a
co
n
s
ta
n
t
s
lid
i
n
g
s
u
r
f
ac
e
ar
e
s
i
m
u
lated
.
T
h
e
s
i
m
u
latio
n
r
es
u
l
ts
ar
e
d
ep
icted
in
Fi
g
u
r
es
3
to
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.
Fig
u
r
e
3
d
ep
icts
th
e
s
y
s
te
m
o
u
tp
u
t
r
esp
o
n
s
e
f
o
r
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
as
w
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as
t
h
e
s
tan
d
ar
d
ST
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co
n
tr
o
ller
.
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h
e
s
u
g
g
e
s
ted
co
n
tr
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ller
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r
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u
tp
er
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o
r
m
s
th
e
s
ta
n
d
ar
d
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n
tr
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ller
i
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ter
m
s
o
f
r
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n
ti
m
e.
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h
e
s
u
g
g
e
s
ted
co
n
tr
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ller
an
d
th
e
tr
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n
al
ST
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n
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av
e
r
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m
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o
f
0
.
1
8
an
d
0
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2
9
s
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,
r
esp
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tiv
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y
,
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tell
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o
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e
tr
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n
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n
tr
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ller
.
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n
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cu
m
s
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h
e
s
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ad
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r
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r
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er
s
h
o
o
t a
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e
ze
r
o
.
Fig
u
r
e
3
.
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u
t
y
f
o
r
0
=
0
.
095
T
h
e
in
teg
r
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ab
s
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l
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r
(
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A
E
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d
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g
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s
o
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t
e
er
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r
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r
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e
s
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g
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r
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e
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n
s
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ate
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th
e
p
r
o
p
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s
ed
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n
tr
o
ller
is
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h
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r
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e
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u
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4
.
I
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E
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f
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u
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5
.
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T
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6
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