I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
pu
t
er
E
ng
ineering
(
I
J
E
CE
)
Vo
l.
15
,
No
.
6
,
Decem
b
er
20
25
,
p
p
.
5
2
6
6
~
5
2
7
5
I
SS
N:
2088
-
8
7
0
8
,
DOI
: 1
0
.
1
1
5
9
1
/ijece.
v
15
i
6
.
pp
5
2
6
6
-
5
2
7
5
5266
J
o
ur
na
l ho
m
ep
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g
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:
h
ttp
:
//ij
ec
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ia
esco
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co
m
Enha
ncing
Seg
wa
y
sco
o
ter
o
ptimiz
a
tion for a
da
ptive
stability
with
p
ro
po
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l deriva
tive con
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stem
Dia
n Ar
t
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I
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Der
a
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ticle
his
to
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y:
R
ec
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J
an
2
5
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2
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u
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e
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lo
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k
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p
tab
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p
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ra
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ters
with
u
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we
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h
t
c
a
teg
o
ries
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–
6
0
k
g
,
6
0
–
7
0
k
g
,
7
0
–
8
0
k
g
).
C
o
n
stru
c
ted
fro
m
li
g
h
twe
i
g
h
t
ste
e
l
a
n
d
p
o
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e
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d
b
y
a
2
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V
li
th
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m
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a
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p
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c
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e
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c
y
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It
m
a
tch
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s
fu
z
z
y
-
P
ID
sta
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it
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wh
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d
u
c
in
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o
m
p
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a
l
o
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–
4
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%
a
n
d
p
o
we
r
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m
p
ti
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to
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s
,
o
u
t
p
e
rfo
rm
in
g
c
o
n
v
e
n
t
io
n
a
l
P
I
D
in
d
y
n
a
m
ic
lo
a
d
a
d
a
p
ta
b
i
li
ty
.
Th
e
in
teg
ra
ti
o
n
o
f
P
D
c
o
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tr
o
l
with
lo
c
a
ll
y
so
u
rc
e
d
m
a
teria
ls
u
n
d
e
rsc
o
re
s
th
e
so
lu
ti
o
n
’s
s
u
sta
in
a
b
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it
y
a
n
d
p
r
a
c
ti
c
a
li
ty
,
p
r
o
v
i
d
in
g
a
sc
a
lab
le,
e
n
e
rg
y
-
e
fficie
n
t
p
a
ra
d
i
g
m
fo
r
p
e
rs
o
n
a
l
tran
sp
o
rtatio
n
wi
th
ro
b
u
st
p
e
r
fo
rm
a
n
c
e
a
c
ro
ss
v
a
ry
in
g
c
o
n
d
it
io
n
s.
K
ey
w
o
r
d
s
:
Ad
ap
tiv
e
s
tab
ilit
y
L
o
ad
v
a
r
iatio
n
P
r
o
p
o
r
tio
n
al
d
er
iv
ativ
e
c
o
n
tr
o
l
Seg
way
s
co
o
ter
Su
s
tain
ab
ilit
y
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
:
I
g
n
atiu
s
Der
ad
jad
Pra
n
o
wo
Me
ch
atr
o
n
ics E
n
g
i
n
ee
r
in
g
T
e
ch
n
o
lo
g
y
,
Facu
lty
o
f
Vo
ca
tio
n
al
Stu
d
ies,
San
ata
Dh
ar
m
a
Un
iv
er
s
ity
Yo
g
y
ak
ar
ta
5
5
2
8
2
,
I
n
d
o
n
esia
E
m
ail: d
r
ad
jad
@
u
s
d
.
ac
.
id
1.
I
NT
RO
D
UCT
I
O
N
T
r
an
s
p
o
r
tatio
n
is
an
im
p
o
r
tan
t
elem
en
t
i
n
m
o
d
er
n
s
o
ciety
,
a
n
d
Seg
way
s
co
o
ter
s
h
av
e
em
e
r
g
ed
as
an
in
n
o
v
ativ
e
s
o
lu
tio
n
th
at
is
ef
f
icien
t
an
d
en
v
i
r
o
n
m
e
n
tally
f
r
ien
d
ly
.
W
ith
two
ax
ially
m
o
u
n
ted
wh
ee
ls
,
th
e
Seg
way
o
f
f
er
s
g
r
ea
t
f
lex
ib
ilit
y
an
d
m
a
n
eu
v
e
r
ab
ilit
y
.
Ho
we
v
er
,
th
ese
s
tr
u
ctu
r
es
also
h
av
e
ch
allen
g
es
in
ter
m
s
o
f
s
tab
ilit
y
b
ec
a
u
s
e
th
e
ax
ially
lo
ca
ted
w
h
ee
ls
ar
e
p
r
o
n
e
to
i
m
b
alan
ce
,
esp
ec
ially
wh
en
th
e
p
latf
o
r
m
is
lo
ad
ed
b
y
th
e
u
s
er
.
T
o
o
v
e
r
co
m
e
t
h
is
,
a
r
eliab
le
an
d
s
o
p
h
is
ticated
co
n
tr
o
l
s
y
s
tem
is
n
ee
d
ed
th
at
ca
n
b
ala
n
ce
th
e
Seg
way
au
to
m
atica
lly
wh
ile
e
n
s
u
r
in
g
p
r
ec
is
e
n
av
ig
atio
n
.
Var
io
u
s
co
n
tr
o
l
ap
p
r
o
ac
h
es
h
av
e
b
ee
n
ap
p
lied
to
th
e
Seg
way
to
im
p
r
o
v
e
its
s
t
ab
ilit
y
an
d
p
er
f
o
r
m
an
ce
:
Gad
ek
a
r
et
a
l.
[
1
]
co
m
p
r
eh
e
n
s
iv
ely
r
ev
iew
ed
r
ec
en
t
ad
v
an
ce
m
en
ts
in
t
wo
-
wh
ee
led
r
o
b
o
ts
,
h
ig
h
lig
h
tin
g
co
n
tr
o
l
s
y
s
tem
i
n
n
o
v
atio
n
s
.
Pin
to
et
a
l.
[
2
]
d
ev
elo
p
ed
a
Seg
way
r
o
b
o
t
f
o
r
in
tellig
en
t
tr
an
s
p
o
r
t
s
y
s
tem
s
,
f
o
cu
s
in
g
o
n
n
av
ig
ati
o
n
an
d
s
tab
ilizatio
n
.
Desh
m
u
k
h
et
a
l.
[
3
]
a
d
d
r
ess
ed
m
ec
h
a
n
ical
d
esig
n
asp
ec
ts
in
th
eir
f
ab
r
icatio
n
o
f
a
h
an
d
le
-
eq
u
ip
p
ed
Seg
way
.
L
i
et
a
l.
[
4
]
p
io
n
ee
r
ed
au
g
m
en
ted
r
ea
lity
(
AR
)
tactile
n
av
ig
atio
n
s
y
s
tem
s
f
o
r
Seg
way
s
,
en
h
an
cin
g
u
s
er
in
te
r
ac
tio
n
.
Am
o
n
g
th
ese,
Mu
d
e
n
g
et
a
l
.
[
5
]
d
em
o
n
s
tr
ated
th
at
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
-
d
er
i
v
ativ
e
(
PID
)
c
o
n
tr
o
l
is
h
ig
h
ly
ef
f
ec
tiv
e
f
o
r
r
ea
l
-
tim
e
er
r
o
r
r
ed
u
ctio
n
an
d
p
o
s
itio
n
co
n
tr
o
l.
T
h
is
wid
esp
r
ea
d
ad
o
p
tio
n
s
tem
s
f
r
o
m
PID
's
s
tr
aig
h
tf
o
r
war
d
im
p
lem
en
tatio
n
an
d
r
eliab
le
p
er
f
o
r
m
an
ce
ac
r
o
s
s
d
y
n
am
ic
c
o
n
d
itio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
E
n
h
a
n
cin
g
s
eg
w
a
y
s
co
o
ter o
p
timiz
a
tio
n
fo
r
a
d
a
p
tive
s
ta
b
ilit
y
w
ith
p
r
o
p
o
r
tio
n
a
l
…
(
Dia
n
A
r
ta
n
to
)
5267
PID
is
o
f
ten
co
m
b
in
ed
with
Kalm
an
f
ilter
in
g
f
o
r
en
h
a
n
ce
d
s
tab
ilit
y
:
Kh
an
et
a
l.
[
6
]
p
r
o
p
o
s
ed
h
y
b
r
i
d
s
tab
ilizatio
n
tech
n
iq
u
es
f
o
r
u
p
war
d
co
n
tr
o
l
o
f
s
elf
-
b
alan
ci
n
g
Seg
way
s
.
T
h
ai
et
a
l.
[
7
]
im
p
lem
en
ted
tim
e
-
v
ar
y
in
g
PID
f
o
r
tr
ajec
to
r
y
tr
ac
k
in
g
in
m
o
b
ile
r
o
b
o
ts
.
Su
ty
asad
i
an
d
Par
n
ich
k
u
n
[
8
]
o
p
tim
ized
lo
w
-
co
s
t
s
co
o
ter
s
u
s
in
g
PD
co
n
tr
o
l
with
v
ib
r
atio
n
r
esis
tan
ce
.
Ku
r
n
ia
wan
et
a
l.
[
9
]
a
p
p
lied
PID
co
n
tr
o
ller
s
in
Seg
way
lin
e
-
tr
ac
in
g
ap
p
licatio
n
s
.
Fu
[
1
0
]
in
teg
r
ated
PID
with
Kalm
an
f
ilter
in
g
f
o
r
elec
tr
ic
v
e
h
icle
(
E
V)
s
tab
ilit
y
an
d
ac
cu
r
ac
y
.
Yu
liawan
et
a
l.
[
1
1
]
im
p
r
o
v
e
d
DC
m
o
to
r
PID
p
er
f
o
r
m
an
ce
u
s
in
g
Kalm
an
f
ilter
s
.
Fo
r
n
o
n
lin
ea
r
s
y
s
tem
s
,
lin
ea
r
q
u
ad
r
atic
r
eg
u
lato
r
(
L
QR
)
a
n
d
H∞
co
n
tr
o
ls
o
f
f
e
r
r
o
b
u
s
t
al
ter
n
ativ
es:
Fah
m
i
et
a
l.
[
1
2
]
d
esig
n
ed
L
QR
-
b
ased
s
tab
ilizer
s
f
o
r
two
-
wh
ee
led
r
o
b
o
ts
.
Do
et
a
l.
[
1
3
]
m
o
d
ele
d
o
p
tim
al
co
n
tr
o
l
f
o
r
s
elf
-
b
ala
n
cin
g
r
o
b
o
ts
u
s
in
g
L
QR
.
Har
to
n
o
et
a
l.
[
1
4
]
co
m
b
i
n
ed
PID
with
L
QR
f
o
r
DC
m
o
to
r
p
o
s
itio
n
co
n
tr
o
l.
Kh
an
et
a
l.
[
6
]
d
em
o
n
s
tr
ated
H∞
co
n
tr
o
l'
s
s
u
p
er
io
r
ity
in
h
a
n
d
lin
g
e
x
ter
n
al
d
is
tu
r
b
an
ce
s
.
T
h
e
s
am
p
le
an
d
h
o
l
d
in
p
u
t
(
SHI
)
t
ec
h
n
iq
u
e
was
ad
v
a
n
ce
d
b
y
W
an
g
a
n
d
Z
h
u
[
1
5
]
,
wh
o
u
s
ed
d
u
al
-
lo
o
p
co
n
tr
o
l
t
o
m
in
im
ize
o
s
cillatio
n
s
wh
ile
c
o
n
v
er
tin
g
n
o
n
-
m
in
im
u
m
p
h
as
e
s
y
s
tem
s
.
Gen
etic
alg
o
r
ith
m
s
f
u
r
th
er
o
p
tim
ize
co
n
tr
o
l
s
y
s
tem
s
:
Ha
et
a
l.
[
1
6
]
ap
p
lied
GA
-
tu
n
ed
PID
f
o
r
m
o
b
ile
r
o
b
o
t
tr
ajec
to
r
y
tr
ac
k
in
g
.
T
awf
ee
q
et
a
l.
[
1
7
]
im
p
lem
en
ted
GA
f
o
r
s
elf
-
b
alan
cin
g
p
latf
o
r
m
s
o
n
m
o
b
ile
ca
r
s
.
Fu
zz
y
co
n
tr
o
l
co
n
tr
ib
u
tes
s
ig
n
if
ican
tly
to
n
o
n
lin
ea
r
s
tab
ilizatio
n
:
Su
m
an
tr
i
et
a
l.
[
1
8
]
d
ev
elo
p
e
d
Fu
zz
y
-
PID
co
n
tr
o
ller
s
f
o
r
en
er
g
y
-
ef
f
icien
t
elec
tr
ic
s
k
ateb
o
ar
d
s
.
Hu
an
g
et
a
l.
[
1
9
]
im
p
lem
en
ted
T
ak
a
g
i
-
Su
g
en
o
an
d
Ma
m
d
an
i
f
u
zz
y
m
o
d
els
o
n
in
v
er
te
d
p
en
d
u
lu
m
s
.
R
ah
m
awa
ty
[
2
0
]
h
y
b
r
id
ize
d
f
u
zz
y
co
n
tr
o
l
f
o
r
two
-
wh
ee
led
r
o
b
o
t
s
tab
ilizati
o
n
.
L
iu
et
a
l.
[
2
1
]
s
h
o
wed
m
o
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
(
MPC
)
ex
ce
ls
in
p
r
o
ac
tiv
e
s
tab
ilizatio
n
b
y
p
r
e
d
ictin
g
d
y
n
am
ics,
alb
eit
with
h
ig
h
er
c
o
m
p
lex
ity
th
an
PID
.
R
ec
en
t
ad
v
an
ce
s
in
clu
d
e
n
eu
r
o
-
f
u
zz
y
h
y
b
r
id
s
[
2
2
]
th
at
ad
ap
tiv
ely
tu
n
e
f
u
zz
y
r
u
les
u
s
i
n
g
n
e
u
r
al
n
etwo
r
k
s
,
th
o
u
g
h
th
e
y
d
em
a
n
d
f
ield
-
p
r
o
g
r
am
m
ab
le
g
ate
a
r
r
ay
s
(
FP
GA)
h
ar
d
war
e.
Similar
ly
,
ad
a
p
tiv
e
s
lid
in
g
m
o
d
e
co
n
tr
o
l
[
2
3
]
ac
h
iev
es
n
ea
r
-
p
er
f
ec
t
d
is
tu
r
b
an
ce
r
ejec
tio
n
b
u
t
i
n
d
u
ce
s
m
o
to
r
c
h
atter
in
g
.
W
h
ile
tr
ac
k
in
g
co
n
tr
o
ller
s
lik
e
MPC
[
2
4
]
o
p
t
im
ize
tr
ajec
to
r
y
f
o
llo
win
g
,
an
d
o
b
s
er
v
er
-
b
ased
m
eth
o
d
s
[
2
5
]
elim
in
ate
s
tead
y
-
s
tate
er
r
o
r
,
b
o
t
h
s
u
f
f
e
r
f
r
o
m
h
ig
h
c
o
m
p
u
tatio
n
al
c
o
s
ts
an
d
s
en
s
itiv
ity
to
m
o
d
el
d
ev
iatio
n
s
.
I
n
co
n
t
r
ast,
th
is
wo
r
k
ad
o
p
ts
PD
co
n
tr
o
l
f
o
r
its
m
in
im
alis
tic
d
esig
n
,
lev
er
ag
in
g
a
lo
o
k
u
p
tab
le
to
h
an
d
le
lo
ad
v
ar
iatio
n
s
.
T
h
is
ap
p
r
o
ac
h
b
alan
ce
s
p
e
r
f
o
r
m
an
c
e,
co
s
t,
an
d
im
p
lem
en
t a
b
ilit
y
—
cr
itical
f
o
r
r
eso
u
r
ce
-
c
o
n
s
tr
a
in
ed
d
ep
l
o
y
m
en
ts
.
T
h
e
d
ev
elo
p
m
en
t
o
f
lo
ca
lly
s
o
u
r
ce
d
Seg
way
s
co
o
ter
s
f
o
cu
s
es
n
o
t
o
n
ly
o
n
im
p
lem
en
tin
g
th
is
ad
v
an
ce
d
co
n
tr
o
l
tech
n
o
lo
g
y
b
u
t
also
o
n
im
p
r
o
v
i
n
g
s
u
s
tain
ab
ilit
y
an
d
en
er
g
y
ef
f
icien
cy
.
T
h
is
r
esear
ch
aim
s
to
cr
ea
te
a
m
o
d
e
o
f
tr
a
n
s
p
o
r
ta
tio
n
th
at
is
n
o
t
o
n
ly
ef
f
icien
t
a
n
d
e
n
v
ir
o
n
m
en
tally
f
r
ien
d
ly
b
u
t
also
ec
o
n
o
m
ical
an
d
ea
s
ily
ac
ce
s
s
ib
le
to
th
e
wid
er
co
m
m
u
n
ity
.
B
y
u
tili
zin
g
lo
ca
l
r
aw
m
ater
ials
,
Seg
way
is
ex
p
ec
ted
to
b
ec
o
m
e
a
r
elev
a
n
t
tr
an
s
p
o
r
t
atio
n
s
o
lu
tio
n
in
I
n
d
o
n
esia,
s
u
p
p
o
r
tin
g
en
er
g
y
s
u
s
tain
ab
ilit
y
an
d
r
ed
u
cin
g
d
ep
en
d
e
n
ce
o
n
f
o
s
s
il
f
u
el
v
eh
i
cles.
T
h
is
wo
r
k
alig
n
s
with
em
er
g
in
g
c
o
n
tr
o
l
tec
h
n
o
lo
g
y
tr
en
d
s
:
L
in
et
a
l.
[
2
6
]
an
aly
ze
d
d
y
n
a
m
ic
m
o
d
elin
g
o
f
r
i
d
er
less
e
-
s
co
o
ter
s
.
N
g
u
y
en
et
a
l.
[
2
7
]
ad
v
an
ce
d
Seg
w
ay
r
o
b
o
tic
m
o
b
ilit
y
p
latf
o
r
m
s
.
Hass
an
et
a
l.
[
2
8
]
im
p
lem
en
ted
s
p
ee
d
s
tab
ilize
r
s
f
o
r
b
r
u
s
h
less
DC
(
B
L
DC
)
m
o
to
r
s
in
s
co
o
ter
s
.
W
ith
an
in
teg
r
ated
ap
p
r
o
ac
h
b
etwe
en
PID
co
n
tr
o
l
tech
n
o
lo
g
y
a
n
d
Seg
way
s
co
o
ter
s
m
ad
e
f
r
o
m
lo
ca
l
m
ater
ials
,
it
i
s
h
o
p
ed
th
at
it
will
b
ec
o
m
e
a
p
io
n
ee
r
in
en
v
ir
o
n
m
en
tally
f
r
ie
n
d
ly
tr
an
s
p
o
r
tatio
n
th
at
s
u
p
p
o
r
ts
s
u
s
tain
ab
le
tech
n
o
lo
g
y
.
W
h
ile
Se
g
w
ay
s
o
f
f
e
r
ef
f
i
ci
en
t
u
r
b
a
n
m
o
b
ili
ty
,
t
h
ei
r
s
tab
ili
za
t
io
n
u
n
d
e
r
v
a
r
i
ab
le
u
s
e
r
l
o
ad
s
(
5
0
–
8
0
k
g
)
r
e
m
ai
n
s
c
h
all
e
n
g
in
g
.
C
o
n
v
e
n
ti
o
n
a
l
PI
D
c
o
n
t
r
o
lle
r
s
e
x
h
i
b
it
i
n
te
g
r
al
wi
n
d
u
p
d
u
r
i
n
g
l
o
a
d
t
r
a
n
s
i
ti
o
n
s
[
8
]
,
w
h
il
e
a
d
v
a
n
c
e
d
m
et
h
o
d
s
(
e.
g
.
,
n
e
u
r
o
-
f
u
zz
y
[
2
2
]
,
MPC
[
2
1
]
,
[
2
4
]
)
im
p
o
s
e
p
r
o
h
ib
iti
v
e
c
o
m
p
u
t
ati
o
n
al
c
o
s
ts
.
T
h
is
w
o
r
k
a
d
d
r
ess
es
t
h
ese
g
ap
s
b
y
p
r
o
p
o
s
i
n
g
a
p
r
o
p
o
r
ti
o
n
al
-
d
e
r
i
v
a
ti
v
e
(
PD
)
co
n
t
r
o
l
s
y
s
te
m
wit
h
w
ei
g
h
t
-
ad
ap
ti
v
e
g
a
in
s
.
Ou
r
aim
is
t
o
ac
h
ie
v
e
r
o
b
u
s
t
s
t
a
b
ili
ty
(
o
s
c
ill
ati
o
n
s
<
5
°
,
r
ec
o
v
e
r
y
f
r
o
m
3
5
°
d
is
tu
r
b
a
n
c
es)
u
s
in
g
lo
w
-
c
o
s
t
h
ar
d
w
a
r
e
,
t
h
e
r
e
b
y
e
n
h
a
n
ci
n
g
ac
c
ess
i
b
il
it
y
o
f
s
u
s
t
ain
a
b
le
p
er
s
o
n
a
l
t
r
a
n
s
p
o
r
t
.
M
o
r
e
ab
o
u
t
h
o
w
t
h
e
p
r
o
p
o
s
e
d
s
y
s
t
em
w
o
r
k
s
an
d
r
e
s
ea
r
c
h
m
e
th
o
d
s
a
n
d
r
es
u
lts
ca
n
b
e
s
ee
n
i
n
t
h
e
f
o
ll
o
w
in
g
s
e
c
tio
n
s
.
T
h
e
p
a
p
e
r
is
o
r
g
an
ize
d
as
f
o
ll
o
ws:
s
e
cti
o
n
2
ill
u
s
t
r
a
tes
t
h
e
h
a
r
d
wa
r
e
a
n
d
s
o
f
t
wa
r
e
o
f
t
h
e
d
e
v
e
lo
p
m
e
n
t
s
y
s
te
m
u
s
e
d
in
t
h
is
s
tu
d
y
.
Se
cti
o
n
3
a
d
d
r
ess
e
d
th
e
r
es
u
lts
a
n
d
d
is
c
u
s
s
i
o
n
,
wh
ile
s
ec
ti
o
n
4
c
o
n
cl
u
d
es
t
h
is
s
t
u
d
y
.
2.
M
E
T
H
O
D
(
P
RO
P
O
SE
D
SY
ST
E
M
)
2
.
1
.
P
re
v
io
us
wo
rk
s
T
h
e
PID
co
n
tr
o
l
m
eth
o
d
o
lo
g
y
is
em
p
lo
y
ed
in
a
m
y
r
i
ad
o
f
im
p
lem
e
n
tatio
n
s
,
r
a
n
g
in
g
f
r
o
m
co
n
v
en
tio
n
al
PID
to
PID
c
h
ar
ac
ter
ized
b
y
v
ar
iab
le
p
ar
am
et
er
s
an
d
o
p
tim
izatio
n
tech
n
iq
u
es
u
tili
zin
g
g
en
etic
alg
o
r
ith
m
s
(
GA)
.
T
h
e
p
r
in
cip
al
m
er
its
o
f
th
e
PID
ap
p
r
o
ac
h
in
clu
d
e
r
ap
id
r
esp
o
n
s
e
tim
e
an
d
s
tr
aig
h
tf
o
r
war
d
im
p
lem
en
tatio
n
,
r
en
d
er
in
g
it
ap
p
r
o
p
r
iate
f
o
r
f
u
n
d
am
e
n
tal
co
n
tr
o
l
s
y
s
tem
s
th
at
n
ec
ess
itate
p
o
s
itio
n
al
s
tab
ilit
y
,
as
s
u
b
s
tan
tiated
in
t
h
e
ar
ticle
[
5
]
.
No
n
eth
eless
,
th
is
tech
n
iq
u
e
ex
h
ib
its
d
im
in
is
h
ed
ef
f
icac
y
u
n
d
er
s
u
b
s
tan
tial
lo
ad
s
o
r
in
n
o
n
-
lin
ea
r
s
ce
n
ar
i
o
s
with
o
u
t
ap
p
r
o
p
r
iate
m
o
d
if
i
ca
tio
n
s
.
T
h
e
i
n
co
r
p
o
r
atio
n
o
f
GA
o
p
tim
izatio
n
,
as
illu
s
tr
ated
in
th
e
in
v
esti
g
atio
n
[
1
6
]
,
en
h
an
ce
s
th
e
ad
ap
tiv
e
r
esp
o
n
s
e
to
f
lu
ctu
atin
g
lo
a
d
s
,
alb
eit
at
th
e
co
s
t
o
f
in
cr
ea
s
ed
co
m
p
lex
it
y
.
T
h
e
in
t
eg
r
atio
n
o
f
PD
co
n
tr
o
l
with
a
Kalm
an
f
ilter
p
r
o
v
es
to
b
e
m
o
r
e
ad
v
an
ta
g
eo
u
s
f
o
r
ec
o
n
o
m
ically
co
n
s
tr
ain
e
d
s
y
s
tem
s
th
at
n
ec
es
s
itate
b
a
s
ic
eq
u
ilib
r
iu
m
with
o
u
t
th
e
r
eq
u
ir
em
en
t
f
o
r
co
m
p
r
eh
e
n
s
iv
e
au
t
o
m
atic
s
tab
ilizatio
n
.
Fo
r
i
n
s
tan
ce
,
[
8
]
d
e
m
o
n
s
tr
ates
th
at
th
e
co
m
b
in
ati
o
n
o
f
PD
c
o
n
tr
o
l
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
6
,
Decem
b
e
r
20
25
:
5
2
6
6
-
5
2
7
5
5268
th
e
Kalm
an
f
ilter
e
n
s
u
r
es
s
tab
ilit
y
an
d
r
esis
tan
ce
to
v
ib
r
atio
n
s
at
a
m
in
im
al
c
o
s
t,
alth
o
u
g
h
th
is
am
alg
am
atio
n
is
n
o
t id
ea
lly
s
u
ited
f
o
r
in
tr
ica
te
ap
p
licatio
n
s
.
L
QR
co
n
tr
o
l,
wh
eth
er
im
p
lem
en
ted
in
d
ep
e
n
d
en
tly
o
r
in
co
n
ju
n
ctio
n
with
o
th
er
m
eth
o
d
o
l
o
g
ies
s
u
ch
as
H∞
an
d
PID
,
f
ac
ilit
ates
o
p
tim
al
co
n
tr
o
l
f
o
r
th
e
m
ain
te
n
an
ce
o
f
eq
u
ilib
r
iu
m
in
a
s
tead
y
-
s
tate
co
n
d
itio
n
.
T
h
is
s
y
n
er
g
is
tic
ap
p
licatio
n
is
ev
id
en
ce
d
in
s
tu
d
ies
s
u
ch
as
[
6
]
,
wh
ich
em
p
l
o
y
s
b
o
th
L
QR
an
d
H∞
to
ac
h
iev
e
d
im
in
is
h
ed
co
n
t
r
o
l
ef
f
o
r
ts
alo
n
g
s
id
e
s
tab
le
p
er
f
o
r
m
an
ce
,
d
e
s
p
ite
th
e
in
cr
ea
s
ed
co
m
p
lex
ity
ass
o
ciate
d
with
its
im
p
lem
en
tatio
n
.
On
a
m
o
r
e
f
u
n
d
am
e
n
tal
lev
el,
W
an
g
an
d
Z
h
u
[
1
5
]
in
teg
r
ates
L
QR
with
a
SHI
m
ec
h
an
is
m
,
wh
ich
is
co
m
p
atib
le
with
b
asi
c
m
icr
o
co
n
t
r
o
ller
ap
p
licatio
n
s
.
Fu
zz
y
lo
g
ic,
en
c
o
m
p
ass
in
g
b
o
th
th
e
T
ak
a
g
i
-
Su
g
en
o
an
d
Ma
m
d
an
i
m
o
d
els,
is
u
tili
ze
d
in
r
esear
ch
en
d
ea
v
o
r
s
n
ec
ess
itatin
g
ad
ap
t
atio
n
to
n
o
n
-
lin
ea
r
c
o
n
d
itio
n
s
wh
ile
m
ain
tain
in
g
co
m
m
en
d
ab
le
s
tab
ilit
y
.
Fo
r
in
s
tan
ce
,
th
e
in
v
esti
g
atio
n
[
1
9
]
illu
s
tr
ates
th
at
f
u
zz
y
c
o
n
tr
o
l
m
eth
o
d
o
lo
g
ies
ca
n
ac
h
iev
e
s
u
b
s
tan
tial
s
tab
ilit
y
,
d
esp
ite
th
e
co
m
p
lex
ity
in
h
er
e
n
t
in
th
eir
im
p
lem
en
tatio
n
,
o
f
t
en
n
ec
ess
itatin
g
th
e
u
s
e
o
f
FP
GA.
T
h
e
f
u
s
io
n
o
f
f
u
zz
y
lo
g
ic
with
PID
co
n
tr
o
l
(
ter
m
ed
f
u
zz
y
-
PID
)
as
p
r
esen
ted
in
[
1
8
]
y
ield
s
d
y
n
a
m
ic
ad
ap
tab
ilit
y
to
lo
a
d
f
lu
ctu
atio
n
s
,
th
er
e
b
y
en
h
an
cin
g
en
er
g
y
ef
f
icien
c
y
s
ig
n
if
ican
t
ly
.
MPC
is
em
p
l
o
y
e
d
f
o
r
a
n
t
ici
p
a
to
r
y
s
ta
b
il
iza
ti
o
n
,
d
el
iv
er
i
n
g
s
m
o
o
t
h
r
es
p
o
n
s
es
a
n
d
r
o
b
u
s
t
s
t
ab
i
lit
y
.
I
n
th
e
r
es
ea
r
c
h
[
2
1
]
,
MPC
h
as
b
ee
n
d
em
o
n
s
t
r
at
e
d
t
o
o
f
f
e
r
s
u
p
er
i
o
r
c
o
n
t
r
o
l
i
n
d
y
n
a
m
ic
e
n
v
ir
o
n
m
en
ts
.
H
o
w
ev
e
r
,
its
co
m
p
le
x
i
ty
s
u
r
p
ass
es
th
at
o
f
tr
ad
iti
o
n
al
P
I
D
c
o
n
tr
o
l
s
y
s
te
m
s
.
T
h
ese
d
iv
er
s
e
co
n
tr
o
l
m
et
h
o
d
o
lo
g
ies
ea
ch
p
o
s
s
ess
d
is
tin
ct
ad
v
an
tag
es
a
n
d
d
is
ad
v
a
n
tag
es,
wh
ich
ar
e
ch
o
s
en
b
ased
o
n
co
n
s
id
er
atio
n
s
o
f
s
tab
ilit
y
r
eq
u
ir
em
en
ts
,
f
in
an
cial
co
n
s
tr
ain
ts
,
an
d
th
e
co
m
p
lex
ity
o
f
th
e
ap
p
licatio
n
s
.
PID
an
d
PD
m
eth
o
d
o
l
o
g
ies
co
n
tin
u
e
to
b
e
f
av
o
r
ed
f
o
r
s
im
p
ler
a
n
d
m
o
r
e
co
s
t
-
ef
f
ec
tiv
e
im
p
lem
en
tatio
n
s
,
wh
er
ea
s
t
h
e
am
alg
am
atio
n
o
f
L
QR
an
d
f
u
zz
y
lo
g
ic
ex
h
ib
its
g
r
ea
ter
e
f
f
icac
y
in
a
d
d
r
ess
in
g
non
-
lin
ea
r
co
n
d
itio
n
s
with
h
eig
h
ten
ed
p
r
ec
is
io
n
.
T
h
e
P
I
D
co
n
t
r
o
l
m
et
h
o
d
h
as
em
er
g
e
d
as
o
n
e
o
f
th
e
m
o
s
t
p
r
e
v
al
en
t
a
p
p
r
o
a
ch
es
d
u
e
t
o
its
c
a
p
ac
it
y
f
o
r
r
e
al
-
ti
m
e
r
esp
o
n
s
i
v
e
n
ess
t
o
p
o
s
i
ti
o
n
al
v
a
r
i
ati
o
n
s
an
d
its
ef
f
e
cti
v
e
n
ess
i
n
m
i
ti
g
ati
n
g
e
r
r
o
r
s
r
esu
lti
n
g
f
r
o
m
ab
r
u
p
t
ch
an
g
es
.
Ne
v
e
r
t
h
e
less
,
i
ts
p
e
r
f
o
r
m
an
ce
li
m
it
ati
o
n
s
u
n
d
er
s
i
g
n
if
ic
an
t
p
a
r
a
m
e
tr
i
c
u
n
c
er
tai
n
ti
es
n
ec
ess
ita
te
c
o
m
p
l
e
m
e
n
ta
r
y
s
tr
ate
g
i
es
f
o
r
p
r
ac
ti
ca
l
d
e
p
l
o
y
m
e
n
ts
.
T
h
e
p
r
o
p
o
s
e
d
a
d
a
p
ti
v
e
PD
s
y
s
te
m
i
n
th
is
s
t
u
d
y
ad
d
r
ess
es t
h
is
g
a
p
th
r
o
u
g
h
d
y
n
a
m
ic
g
ai
n
a
d
j
u
s
t
m
en
t
m
ec
h
an
is
m
s
.
2
.
2
.
H
a
rdwa
re
pro
po
s
ed
Fig
u
r
e
1
illu
s
tr
ates
th
e
p
r
o
t
o
ty
p
e
o
f
th
e
Seg
way
s
co
o
te
r
.
T
h
e
d
esig
n
o
f
th
e
Seg
way
s
co
o
ter
in
co
r
p
o
r
ates
lo
ca
lly
s
o
u
r
ce
d
r
aw
m
ater
ials
.
T
h
e
u
tili
ze
d
d
ir
ec
t
cu
r
r
en
t
m
o
to
r
is
th
e
MY
1
0
1
6
z2
,
ch
a
r
ac
ter
ized
b
y
s
p
ec
if
icatio
n
s
o
f
2
5
0
watts,
2
4
v
o
lts
,
1
2
am
p
s
,
an
d
a
r
o
tat
io
n
al
s
p
ee
d
o
f
3
3
0
r
ev
o
lu
tio
n
s
p
er
m
in
u
te,
with
a
to
r
q
u
e
o
f
0
.
8
0
New
to
n
-
m
eter
s
.
A
2
4
V
1
2
AH
L
ith
iu
m
-
I
o
n
b
a
tter
y
s
er
v
es
as
th
e
d
esig
n
ated
p
o
wer
s
o
u
r
ce
.
T
h
is
p
r
o
to
ty
p
e
ex
h
ib
its
d
im
en
s
io
n
s
m
ea
s
u
r
in
g
7
0
0
×
4
0
0
×
1
2
0
0
m
illi
m
eter
s
.
I
t
h
as
u
n
d
er
g
o
n
e
test
in
g
an
d
is
co
n
f
ir
m
e
d
to
s
u
p
p
o
r
t
a
m
ax
im
u
m
p
ass
en
g
er
weig
h
t
o
f
8
5
k
il
o
g
r
am
s
.
T
h
e
co
n
s
tr
u
ctio
n
o
f
th
is
Seg
way
s
co
o
ter
p
r
o
to
ty
p
e
em
p
lo
y
s
lig
h
tweig
h
t
s
teel
m
ater
ial,
wh
ich
is
s
u
b
s
eq
u
en
tly
c
o
ated
with
a
p
r
o
tecti
v
e
p
ain
t la
y
er
.
Fig
u
r
e
1
.
Pro
t
o
ty
p
e
o
f
Seg
way
s
co
o
ter
2
.
3
.
So
f
t
wa
re
pro
po
s
ed
T
o
ac
co
m
m
o
d
ate
th
e
p
r
o
p
o
s
ed
f
u
n
ctio
n
alities
,
Fig
u
r
e
2
ill
u
s
tr
ates
th
e
s
ch
em
atic
r
e
p
r
esen
tatio
n
o
f
th
e
co
n
tr
o
l
s
y
s
tem
d
ev
is
ed
to
au
g
m
e
n
t
b
o
th
s
tab
ilit
y
an
d
e
f
f
icien
cy
.
I
n
s
u
m
m
ar
y
,
th
e
f
l
o
wch
ar
t
p
r
esen
ted
b
elo
w
is
s
eg
m
en
ted
in
to
f
iv
e
d
is
tin
ct
p
h
ases
.
T
h
e
p
r
o
ce
s
s
co
m
m
e
n
ce
s
with
th
e
in
itializatio
n
p
h
ase,
wh
ic
h
en
co
m
p
ass
es
s
en
s
o
r
co
n
f
ig
u
r
atio
n
an
d
th
e
estab
lis
h
m
en
t
o
f
PID
p
ar
am
eter
s
,
s
u
cc
ee
d
e
d
b
y
th
e
s
elec
tio
n
o
f
weig
h
t
f
o
r
d
y
n
am
ic
ad
ju
s
tm
e
n
ts
to
th
e
PID
co
n
tr
o
l.
Su
b
s
e
q
u
en
tly
,
a
s
af
ety
m
ec
h
a
n
is
m
is
in
co
r
p
o
r
ated
t
o
s
af
eg
u
ar
d
u
s
er
s
if
th
e
tilt
s
u
r
p
ass
es
th
e
d
esig
n
ated
s
af
e
th
r
e
s
h
o
ld
.
Fu
r
th
e
r
m
o
r
e,
a
co
m
p
r
e
h
en
s
iv
e
m
o
n
ito
r
in
g
s
y
s
tem
is
am
alg
am
ated
to
m
an
ag
e
d
iv
er
s
e
lo
a
d
v
ar
iatio
n
s
a
n
d
o
p
er
atio
n
al
co
n
d
itio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
E
n
h
a
n
cin
g
s
eg
w
a
y
s
co
o
ter o
p
timiz
a
tio
n
fo
r
a
d
a
p
tive
s
ta
b
ilit
y
w
ith
p
r
o
p
o
r
tio
n
a
l
…
(
Dia
n
A
r
ta
n
to
)
5269
I
n
ac
co
r
d
an
ce
with
th
e
d
esig
n
o
f
th
e
co
n
tr
o
l
s
y
s
tem
,
th
e
im
p
lem
en
tatio
n
o
f
th
e
s
y
s
tem
is
ex
ec
u
ted
u
tili
zin
g
th
e
h
ar
d
war
e
co
n
f
ig
u
r
atio
n
d
ep
icted
in
Fig
u
r
e
3
.
T
h
e
cir
cu
itr
y
illu
s
tr
ated
in
Fig
u
r
e
3
em
p
lo
y
s
th
e
STM
3
2
m
icr
o
co
n
t
r
o
ller
,
wh
i
ch
is
ac
claim
ed
f
o
r
its
s
u
p
er
io
r
p
r
o
ce
s
s
in
g
s
p
ee
d
an
d
r
em
ar
k
ab
le
en
e
r
g
y
ef
f
icien
cy
.
T
o
f
ac
ilit
ate
au
to
m
atic
weig
h
t
d
etec
tio
n
,
a
weig
h
t
s
en
s
o
r
is
in
teg
r
ated
in
to
t
h
e
cir
cu
itry
,
th
e
r
eb
y
en
h
an
cin
g
th
e
ad
a
p
tab
ilit
y
o
f
th
e
co
n
tr
o
l sy
s
tem
to
f
lu
ctu
atio
n
s
in
lo
ad
weig
h
t.
Fig
u
r
e
2
.
B
alan
ce
s
co
o
ter
co
n
t
r
o
l sy
s
tem
f
lo
wch
ar
t
Fig
u
r
e
3
.
B
alan
ce
s
co
o
ter
co
n
t
r
o
l sy
s
tem
cir
cu
it
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
6
,
Decem
b
e
r
20
25
:
5
2
6
6
-
5
2
7
5
5270
2
.
4
.
Co
ntr
o
l
m
e
t
ho
d
T
h
e
Seg
way
is
m
o
d
elle
d
as
a
n
in
v
e
r
ted
p
en
d
u
lu
m
o
n
two
wh
ee
ls
.
T
h
e
s
y
s
tem
h
as
two
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
:
th
e
lin
ea
r
d
is
p
lace
m
en
t
o
f
th
e
b
ase
x
an
d
t
h
e
an
g
u
lar
d
is
p
lace
m
en
t
o
f
th
e
p
en
d
u
lu
m
(
ch
ass
is
)
θ
.
T
h
e
eq
u
atio
n
s
o
f
m
o
tio
n
ar
e
d
e
r
iv
e
d
u
s
in
g
th
e
E
u
ler
-
L
a
g
r
an
g
e
m
eth
o
d
.
L
et:
-
m
b
e
th
e
m
ass
o
f
th
e
c
h
ass
is
(
in
clu
d
in
g
th
e
u
s
er
)
,
-
M
b
e
th
e
m
ass
o
f
th
e
b
ase
(
in
clu
d
in
g
wh
ee
ls
an
d
m
o
to
r
s
)
,
-
l
b
e
th
e
d
is
tan
ce
f
r
o
m
th
e
w
h
ee
l a
x
le
to
th
e
ce
n
ter
o
f
m
ass
o
f
t
h
e
ch
ass
is
,
-
I
b
e
th
e
m
o
m
en
t o
f
in
er
tia
o
f
th
e
ch
ass
is
ab
o
u
t its
ce
n
ter
o
f
m
ass
,
-
r
b
e
th
e
wh
ee
l r
a
d
iu
s
,
-
τ
b
e
th
e
to
r
q
u
e
ap
p
lied
b
y
th
e
m
o
to
r
s
.
T
h
e
eq
u
atio
n
s
o
f
m
o
tio
n
ar
e:
(
+
)
¨
+
¨
−
˙
2
=
/
(
1
)
¨
+
(
+
2
)
¨
−
=
(
2
)
Fo
r
s
m
all
an
g
les
(
θ
≈
0
)
,
we
c
an
lin
ea
r
ize
b
y
s
ettin
g
s
in
θ
≈
θ
,
co
s
θ
≈
1
,
an
d
θ˙
2
≈
0
.
T
h
e
l
in
ea
r
ized
eq
u
atio
n
s
b
ec
o
m
e:
(
+
)
¨
+
¨
=
/
(
3
)
¨
+
(
+
2
)
¨
−
=
(
4
)
So
lv
in
g
f
o
r
x¨
a
n
d
θ
¨
,
we
g
et
th
e
s
tate
-
s
p
ac
e
r
ep
r
esen
tatio
n
.
T
h
e
s
tate
v
ec
to
r
is
ch
o
s
en
as
x
=
[
θ
,
θ
˙,
x
,
x
˙]
T
.
T
h
e
o
u
tp
u
t is th
e
tilt
an
g
le
θ
.
T
h
e
PD c
o
n
tr
o
l la
w
is
g
iv
en
b
y
:
=
(
−
)
+
(
−
˙
)
(
5
)
Sin
ce
th
e
d
esire
d
tilt
an
g
le
an
d
its
d
er
iv
ativ
e
ar
e
ze
r
o
f
o
r
b
al
an
cin
g
,
th
is
s
im
p
lifie
s
to
:
=
−
−
˙
(
6
)
wh
er
e
Kp
an
d
Kd
ar
e
th
e
p
r
o
p
o
r
tio
n
al
an
d
d
er
i
v
ativ
e
g
ain
s
,
r
esp
ec
tiv
ely
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
ex
p
e
r
im
en
tal
p
r
o
ce
d
u
r
e
in
v
o
lv
es
th
e
m
a
n
ip
u
latio
n
o
f
th
e
p
ass
en
g
er
lo
a
d
th
at
th
e
v
eh
icle
is
r
eq
u
ir
ed
to
s
u
p
p
o
r
t
.
T
h
ese
l
o
a
d
m
o
d
if
icatio
n
s
ar
e
ac
co
m
p
a
n
ied
b
y
co
r
r
esp
o
n
d
i
n
g
a
d
ju
s
tm
en
ts
in
th
e
c
o
n
tr
o
l
co
n
s
tan
t
p
ar
am
eter
s
.
Giv
e
n
th
at
th
e
em
p
lo
y
e
d
co
n
tr
o
ller
is
a
PD
co
n
tr
o
ller
,
th
e
p
ar
am
ete
r
s
b
ein
g
m
o
d
if
ied
in
clu
d
e
b
o
th
th
e
p
r
o
p
o
r
tio
n
al
an
d
d
e
r
iv
ativ
e
co
n
s
tan
ts
.
Fo
u
r
d
is
tin
ct
v
ar
iatio
n
s
o
f
PD
co
n
t
r
o
l
co
n
s
tan
ts
h
a
v
e
b
ee
n
s
y
s
tem
atica
lly
p
r
ep
ar
ed
to
ac
co
m
m
o
d
ate
f
o
u
r
s
p
ec
if
ic
lo
ad
in
g
co
n
d
itio
n
s
.
C
o
m
p
r
eh
en
s
iv
e
d
etails
r
eg
ar
d
in
g
th
e
d
is
tr
ib
u
tio
n
o
f
t
h
e
lo
ad
,
alo
n
g
s
id
e
th
e
r
esp
ec
t
iv
e
v
alu
es
o
f
ea
ch
PD
co
n
s
tan
t,
ar
e
p
r
esen
ted
in
T
ab
le
1
.
T
ab
le
1
.
L
o
o
k
-
u
p
tab
le
o
f
PD
co
n
s
tan
t a
n
d
lo
a
d
v
a
r
iatio
n
Lo
a
d
v
a
r
i
a
t
i
o
n
P
r
o
p
o
r
t
i
o
n
a
l
(
K
p
)
D
e
r
i
v
a
t
i
v
e
(
K
d
)
5
0
t
o
6
0
k
g
8
.
0
1
.
0
6
0
t
o
7
0
k
g
9
.
0
1
.
4
7
0
t
o
8
0
k
g
1
0
.
0
2
.
0
I
n
th
e
in
itial
ex
p
er
im
en
t,
o
p
ti
m
al
s
ettin
g
s
wer
e
id
en
tifie
d
f
o
r
lo
ad
s
r
an
g
in
g
b
etwe
en
5
0
to
6
0
k
g
.
T
h
e
v
eh
icle
d
em
o
n
s
tr
ated
ef
f
ec
tiv
e
o
p
er
atio
n
u
tili
zin
g
a
co
m
b
i
n
atio
n
o
f
Kp
:
8
.
0
a
n
d
K
d
:
1
.
0
.
T
h
ese
p
ar
am
eter
s
m
in
im
ized
s
tead
y
-
s
tate
er
r
o
r
to
u
n
d
er
0
.
5
°
wh
ile
en
s
u
r
i
n
g
s
m
o
o
t
h
ac
ce
ler
atio
n
p
r
o
f
iles
d
u
r
in
g
test
in
g
.
Fig
u
r
e
4
illu
s
tr
ates
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
s
y
s
tem
with
th
e
s
p
ec
if
ied
PD
co
n
s
tan
t
s
ett
in
g
s
.
I
t
is
ev
id
en
t
f
r
o
m
Fig
u
r
e
4
th
at
th
e
s
y
s
tem
o
p
e
r
ates
s
ati
s
f
ac
to
r
ily
with
in
th
e
lo
ad
r
an
g
e
o
f
5
0
to
6
0
k
g
.
Up
o
n
alter
in
g
th
e
test
lo
ad
to
th
e
r
an
g
e
o
f
6
0
to
7
0
k
g
,
wh
ile
th
e
v
eh
icle
r
em
ai
n
s
u
p
r
ig
h
t,
a
p
r
o
n
o
u
n
ce
d
i
n
cr
ea
s
e
in
th
e
f
o
r
war
d
a
n
d
b
ac
k
war
d
o
s
cillatio
n
o
f
th
e
h
an
d
leb
ar
is
o
b
s
er
v
ed
.
Similar
ly
,
an
i
n
cr
ea
s
e
in
lo
a
d
f
r
o
m
7
0
to
8
0
k
g
r
esu
lts
in
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
E
n
h
a
n
cin
g
s
eg
w
a
y
s
co
o
ter o
p
timiz
a
tio
n
fo
r
a
d
a
p
tive
s
ta
b
ilit
y
w
ith
p
r
o
p
o
r
tio
n
a
l
…
(
Dia
n
A
r
ta
n
to
)
5271
an
ev
en
m
o
r
e
p
r
o
n
o
u
n
ce
d
am
p
litu
d
e
o
f
o
s
cillatio
n
,
in
d
icatin
g
th
at
th
e
PD
co
n
tr
o
ller
lac
k
s
ad
eq
u
ate
s
tr
en
g
th
f
o
r
s
tab
ilizatio
n
.
T
h
e
s
y
s
tem
r
em
ain
s
in
a
s
tab
le
co
n
d
itio
n
,
o
r
th
e
v
eh
icle
co
n
tin
u
es
to
s
tan
d
u
p
r
ig
h
t,
with
th
e
h
an
d
leb
ar
m
o
v
e
m
en
t
b
ein
g
p
a
r
tially
s
u
p
p
o
r
ted
b
y
t
h
e
p
ass
en
g
er
.
T
h
is
im
p
lies
th
at
th
e
p
a
s
s
en
g
er
s
co
n
tr
ib
u
te
m
ar
g
in
ally
to
t
h
e
eq
u
ilib
r
iu
m
o
f
th
e
s
y
s
tem
.
Fig
u
r
e
4
.
Sy
s
tem
p
e
r
f
o
r
m
an
ce
with
p
r
o
p
o
r
tio
n
al
c
o
n
s
tan
t 8
.
0
an
d
d
er
iv
ativ
e
c
o
n
s
tan
t 1
.
0
Fig
u
r
e
5
d
elin
ea
tes
a
n
e
x
p
er
i
m
en
t
aim
ed
at
d
eter
m
in
in
g
t
h
e
m
o
s
t
e
f
f
ec
tiv
e
an
d
v
alu
es
to
en
s
u
r
e
s
y
s
tem
s
tab
ilit
y
with
in
th
e
lo
a
d
r
a
n
g
e
o
f
6
0
t
o
7
0
k
g
.
T
h
is
f
ig
u
r
e
also
d
ep
icts
th
e
s
y
s
tem
p
er
f
o
r
m
an
ce
ac
r
o
s
s
th
e
lo
ad
r
a
n
g
es
o
f
5
0
to
6
0
k
g
an
d
7
0
to
8
0
k
g
.
T
h
e
f
ig
u
r
e
in
d
icate
s
th
at
th
e
s
y
s
tem
o
p
er
ates
ef
f
ec
tiv
ely
with
in
th
e
lo
ad
r
a
n
g
e
o
f
6
0
to
7
0
k
g
.
No
tab
l
y
,
th
e
s
y
s
tem
ac
h
iev
es
s
tab
ilit
y
with
o
u
t
ex
h
ib
itin
g
s
ig
n
if
ican
t
o
s
cillatio
n
s
.
Ho
we
v
er
,
a
co
m
p
ar
ativ
e
a
n
aly
s
is
o
f
s
y
s
tem
p
er
f
o
r
m
an
ce
at
id
e
n
tical
co
n
s
tan
t
v
al
u
es
ac
r
o
s
s
d
if
f
er
in
g
lo
ad
r
an
g
es
r
ev
ea
ls
th
at
th
e
s
y
s
tem
e
n
co
u
n
ter
s
m
o
r
e
p
r
o
n
o
u
n
ce
d
o
s
cillatio
n
s
.
T
h
is
p
h
en
o
m
en
o
n
ca
n
b
e
attr
ib
u
ted
to
th
e
ex
ce
s
s
iv
ely
h
ig
h
v
alu
e
o
f
th
e
PD c
o
n
tr
o
ller
co
n
s
tan
ts
.
C
o
n
v
er
s
ely
,
at
l
o
ad
s
b
etwe
en
7
0
k
g
an
d
8
0
k
g
,
th
e
s
y
s
tem
d
is
p
lay
s
o
s
cillatio
n
s
ch
ar
ac
te
r
ized
b
y
a
lar
g
er
a
m
p
litu
d
e.
Ho
wev
er
,
th
ese
o
s
cillatio
n
s
d
o
n
o
t
m
an
if
e
s
t
at
a
h
ig
h
f
r
e
q
u
en
c
y
.
T
h
is
o
b
s
er
v
atio
n
s
u
g
g
ests
th
at
th
e
co
n
tr
o
llin
g
co
n
s
tan
ts
ar
e
n
o
t
o
v
er
ly
lar
g
e,
alb
eit
s
ti
ll
in
s
u
f
f
icien
tly
s
m
all.
T
h
is
i
s
ev
id
en
ce
d
b
y
th
e
g
r
ap
h
ical
r
ep
r
esen
tatio
n
in
d
icatin
g
th
at
th
e
l
o
ad
r
an
g
e
ex
h
i
b
its
a
s
u
b
s
tan
tial
am
p
litu
d
e.
T
h
e
u
n
d
er
ly
i
n
g
ca
u
s
e
o
f
th
is
b
eh
av
io
r
is
th
e
s
y
s
tem
's
in
ad
eq
u
ac
y
in
r
ein
s
tatin
g
th
e
h
an
d
leb
ar
to
an
u
p
r
ig
h
t
p
o
s
itio
n
.
Nev
er
th
eless
,
in
th
is
s
ce
n
ar
io
,
th
e
p
ass
en
g
e
r
s
ass
is
t
th
e
s
y
s
tem
in
ac
h
iev
i
n
g
b
alan
ce
.
T
h
e
r
ef
o
r
e
,
d
esp
ite
th
e
s
lig
h
tly
g
r
ea
ter
er
r
o
r
d
ev
iatio
n
,
t
h
e
s
y
s
tem
is
s
till
ca
p
ab
le
o
f
m
ain
tain
i
n
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ates
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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2
0
8
8
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0
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I
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p
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,
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15
,
No
.
6
,
Decem
b
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r
20
25
:
5
2
6
6
-
5
2
7
5
5272
Up
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th
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ap
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cy
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elativ
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e
5
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ad
r
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Fig
u
r
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6
.
Sy
s
tem
p
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r
f
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r
m
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ce
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r
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tan
t 1
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u
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7
d
elin
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ates
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Fig
u
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7
f
u
r
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'
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I
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
6
,
Decem
b
e
r
20
25
:
5
2
6
6
-
5
2
7
5
5274
I
n
th
e
r
ea
lm
o
f
co
n
tr
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l
s
y
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tem
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p
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n
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o
l’
s
s
tr
aig
h
tf
o
r
war
d
im
p
lem
en
tatio
n
,
co
u
p
led
with
its
in
teg
r
atio
n
with
a
lo
o
k
u
p
tab
le,
allo
ws
f
o
r
p
r
ec
is
e
an
d
en
er
g
y
-
e
f
f
icien
t
o
p
er
atio
n
,
m
ak
in
g
it
p
ar
ticu
l
ar
ly
s
u
itab
le
f
o
r
lo
w
-
co
s
t,
r
e
s
o
u
r
ce
-
co
n
s
tr
ain
e
d
ap
p
licatio
n
s
.
T
h
is
b
alan
ce
b
et
wee
n
p
er
f
o
r
m
an
ce
an
d
s
im
p
licity
u
n
d
er
s
co
r
es
th
e
p
r
ac
ticality
o
f
PD
co
n
tr
o
l
f
o
r
s
ca
lab
le
p
er
s
o
n
al
tr
an
s
p
o
r
tatio
n
s
o
lu
tio
n
s
.
4.
CO
NCLU
SI
O
N
Fro
m
th
e
o
u
tco
m
es
o
f
ex
p
e
r
im
en
tal
in
v
esti
g
atio
n
s
an
d
o
b
s
er
v
atio
n
s
,
it
ca
n
b
e
in
f
e
r
r
e
d
th
at
th
e
d
ev
elo
p
e
d
s
y
s
tem
h
as
d
em
o
n
s
tr
ated
co
m
m
en
d
ab
le
o
p
er
atio
n
al
p
er
f
o
r
m
an
ce
.
T
h
e
r
esear
c
h
in
d
icate
s
th
at
PD
co
n
tr
o
l
ca
n
m
ain
tain
s
tab
ilit
y
with
m
in
im
al
o
s
cillatio
n
s
with
in
d
esig
n
ated
lo
ad
r
an
g
es;
h
o
wev
er
,
it
m
ay
n
o
t
ex
h
ib
it
eq
u
iv
alen
t
ef
f
ec
tiv
en
e
s
s
in
h
ig
h
ly
d
y
n
am
ic
o
r
n
o
n
-
lin
ea
r
en
v
ir
o
n
m
en
ts
.
T
o
ad
d
r
e
s
s
th
is
lim
itatio
n
,
a
lo
o
k
-
u
p
tab
le
co
r
r
elatin
g
PD
co
n
s
tan
ts
with
p
ass
en
g
er
weig
h
ts
was
im
p
lem
en
ted
,
ef
f
ec
ti
v
ely
h
an
d
lin
g
lo
a
d
-
in
d
u
ce
d
n
o
n
lin
ea
r
ities
.
T
h
is
h
y
b
r
id
ap
p
r
o
ac
h
ex
p
an
d
e
d
th
e
o
p
er
atio
n
al
en
v
el
o
p
e
wh
ile
p
r
eser
v
in
g
c
o
n
tr
o
ller
s
im
p
licity
.
T
h
e
am
alg
am
atio
n
o
f
th
ese
s
tr
ateg
ies
en
ab
led
th
e
s
co
o
ter
to
m
ain
tain
o
s
cillatio
n
s
u
n
d
er
5
o
in
eith
er
th
e
f
o
r
war
d
o
r
r
e
v
er
s
e
d
ir
ec
tio
n
,
p
r
o
v
id
e
d
th
e
s
y
s
tem
is
f
r
ee
f
r
o
m
i
n
ter
f
er
e
n
ce
o
r
d
ir
ec
tio
n
al
co
m
m
an
d
s
.
RE
F
E
R
E
NC
E
S
[
1
]
A
.
G
a
d
e
k
a
r
e
t
a
l
.
,
“
R
e
c
e
n
t
d
e
v
e
l
o
p
m
e
n
t
s
i
n
t
h
e
a
p
p
l
i
c
a
t
i
o
n
s
o
f
t
w
o
-
w
h
e
e
l
e
d
r
o
b
o
t
s:
a
r
e
v
i
e
w
,
”
As
i
a
-
P
a
c
i
f
i
c
J
o
u
rn
a
l
o
f
S
c
i
e
n
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
2
9
,
n
o
.
3
,
2
0
2
4
,
d
o
i
:
1
0
.
1
4
4
5
6
/
a
p
s
t
.
2
0
2
4
.
3
6
.
[
2
]
L.
J.
P
i
n
t
o
,
D
.
-
H
.
K
i
m,
J
.
Y
.
Le
e
,
a
n
d
C
.
-
S
.
H
a
n
,
“
D
e
v
e
l
o
p
me
n
t
o
f
a
s
e
g
w
a
y
r
o
b
o
t
f
o
r
a
n
i
n
t
e
l
l
i
g
e
n
t
t
r
a
n
sp
o
r
t
sy
s
t
e
m
,
”
i
n
2
0
1
2
I
EEE/
S
I
C
E
I
n
t
e
r
n
a
t
i
o
n
a
l
S
y
m
p
o
s
i
u
m
o
n
S
y
st
e
m
I
n
t
e
g
r
a
t
i
o
n
(
S
I
I
)
,
D
e
c
.
2
0
1
2
,
p
p
.
7
1
0
–
7
1
5
,
d
o
i
:
1
0
.
1
1
0
9
/
s
i
i
.
2
0
1
2
.
6
4
2
7
3
0
8
.
[
3
]
M
.
V
.
V
a
r
d
h
a
n
,
S
.
K
o
t
a
r
i
,
M
.
S
a
me
e
r
o
d
d
i
n
,
K
.
G
.
D
e
sh
m
u
k
h
,
a
n
d
G
.
R
o
h
i
t
,
“
F
a
b
r
i
c
a
t
i
o
n
o
f
me
c
h
a
n
i
c
a
l
s
e
g
w
a
y
w
i
t
h
h
a
n
d
l
e
,
”
I
O
P
C
o
n
f
e
re
n
c
e
S
e
r
i
e
s:
M
a
t
e
ri
a
l
s
S
c
i
e
n
c
e
a
n
d
E
n
g
i
n
e
e
ri
n
g
,
v
o
l
.
9
9
8
,
n
o
.
1
,
p
.
1
2
0
3
9
,
D
e
c
.
2
0
2
0
,
d
o
i
:
1
0
.
1
0
8
8
/
1
7
5
7
-
8
9
9
x
/
9
9
8
/
1
/
0
1
2
0
3
9
.
[
4
]
M
.
Li
,
L.
M
a
h
n
k
o
p
f
,
a
n
d
L.
K
o
b
b
e
l
t
,
“
T
h
e
d
e
s
i
g
n
o
f
a
se
g
w
a
y
A
R
-
t
a
c
t
i
l
e
n
a
v
i
g
a
t
i
o
n
s
y
st
e
m,”
i
n
P
e
rv
a
si
v
e
C
o
m
p
u
t
i
n
g
,
S
p
r
i
n
g
e
r
B
e
r
l
i
n
H
e
i
d
e
l
b
e
r
g
,
2
0
1
2
,
p
p
.
1
6
1
–
1
7
8
,
d
o
i
:
1
0
.
1
0
0
7
/
9
7
8
-
3
-
6
4
2
-
3
1
2
0
5
-
2
_
1
1
.
[
5
]
V
.
M
u
d
e
n
g
,
B
.
H
a
ss
a
n
a
h
,
Y
.
T.
K
.
P
r
i
y
a
n
t
o
,
a
n
d
O
.
S
a
p
u
t
r
a
,
“
D
e
s
i
g
n
a
n
d
s
i
mu
l
a
t
i
o
n
o
f
t
w
o
-
w
h
e
e
l
e
d
b
a
l
a
n
c
i
n
g
mo
b
i
l
e
r
o
b
o
t
w
i
t
h
P
I
D
c
o
n
t
r
o
l
l
e
r
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
S
u
s
t
a
i
n
a
b
l
e
T
r
a
n
s
p
o
rt
a
t
i
o
n
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
3
,
n
o
.
1
,
p
p
.
1
2
–
1
9
,
A
p
r
.
2
0
2
0
,
d
o
i
:
1
0
.
3
1
4
2
7
/
i
j
s
t
t
.
2
0
2
0
.
3
.
1
.
3
.
[
6
]
S
.
I
.
k
h
a
n
,
M
.
A
.
C
h
o
u
d
h
r
y
,
A
.
A
l
i
,
I
.
U
.
H
.
S
h
a
i
k
h
,
a
n
d
F
.
S
a
l
e
e
m,
“
A
h
y
b
r
i
d
t
e
c
h
n
i
q
u
e
f
o
r
u
p
w
a
r
d
st
a
b
i
l
i
z
a
t
i
o
n
a
n
d
c
o
n
t
r
o
l
o
f
t
w
o
w
h
e
e
l
e
d
se
l
f
-
b
a
l
a
n
c
i
n
g
s
e
g
w
a
y
,
”
Me
h
ra
n
U
n
i
v
e
rsi
t
y
Re
se
a
r
c
h
J
o
u
r
n
a
l
o
f
E
n
g
i
n
e
e
r
i
n
g
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
4
1
,
n
o
.
1
,
p
p
.
1
6
9
–
1
7
9
,
J
a
n
.
2
0
2
2
,
d
o
i
:
1
0
.
2
2
5
8
1
/
m
u
e
t
1
9
8
2
.
2
2
0
1
.
1
7
.
[
7
]
N
.
H
.
T
h
a
i
,
T.
T
.
K
.
Ly
,
a
n
d
L.
Q
.
D
z
u
n
g
,
“
Tr
a
j
e
c
t
o
r
y
t
r
a
c
k
i
n
g
c
o
n
t
r
o
l
f
o
r
m
e
c
a
n
u
m
w
h
e
e
l
m
o
b
i
l
e
r
o
b
o
t
b
y
t
i
m
e
-
v
a
r
y
i
n
g
p
a
r
a
m
e
t
e
r
P
I
D
c
o
n
t
r
o
l
l
e
r
,
”
B
u
l
l
e
t
i
n
o
f
El
e
c
t
r
i
c
a
l
En
g
i
n
e
e
r
i
n
g
a
n
d
I
n
f
o
rm
a
t
i
c
s
(
BE
EI
)
,
v
o
l
.
1
1
,
n
o
.
4
,
p
p
.
1
9
0
2
–
1
9
1
0
,
A
u
g
.
2
0
2
2
,
d
o
i
:
1
0
.
1
1
5
9
1
/
e
e
i
.
v
1
1
i
4
.
3
7
1
2
.
[
8
]
P
.
S
u
t
y
a
s
a
d
i
a
n
d
M
.
P
a
r
n
i
c
h
k
u
n
,
“
D
e
v
e
l
o
p
i
n
g
l
o
w
-
c
o
st
t
w
o
w
h
e
e
l
s
b
a
l
a
n
c
i
n
g
sc
o
o
t
e
r
u
si
n
g
p
r
o
p
o
r
t
i
o
n
a
l
d
e
r
i
v
a
t
i
v
e
c
o
n
t
r
o
l
l
e
r
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
E
l
e
c
t
r
i
c
a
l
a
n
d
C
o
m
p
u
t
e
r
En
g
i
n
e
e
r
i
n
g
(
I
J
E
C
E)
,
v
o
l
.
1
2
,
n
o
.
3
,
p
.
2
4
5
4
,
J
u
n
.
2
0
2
2
,
d
o
i
:
1
0
.
1
1
5
9
1
/
i
j
e
c
e
.
v
1
2
i
3
.
p
p
2
4
5
4
-
2
4
6
4
.
[
9
]
W
.
K
u
r
n
i
a
w
a
n
,
M
.
H
.
H
.
I
c
h
sa
n
,
a
n
d
E.
S
e
t
i
a
w
a
n
,
“
S
e
g
w
a
y
l
i
n
e
t
r
a
c
e
r
u
s
i
n
g
p
r
o
p
o
r
t
i
o
n
a
l
-
i
n
t
e
g
r
a
l
-
d
e
r
i
v
a
t
i
v
e
c
o
n
t
r
o
l
l
e
r
s,”
T
ELKO
MN
I
K
A
(
T
e
l
e
c
o
m
m
u
n
i
c
a
t
i
o
n
C
o
m
p
u
t
i
n
g
El
e
c
t
ro
n
i
c
s
a
n
d
C
o
n
t
r
o
l
)
,
v
o
l
.
1
4
,
n
o
.
2
,
p
p
.
4
8
9
–
4
9
6
,
Ju
n
.
2
0
1
6
,
d
o
i
:
1
0
.
1
2
9
2
8
/
t
e
l
k
o
m
n
i
k
a
.
v
1
4
i
2
.
3
1
5
6
.
[
1
0
]
J.
F
u
,
“
El
e
c
t
r
i
c
v
e
h
i
c
l
e
c
o
n
t
r
o
l
w
i
t
h
i
n
t
e
g
r
a
t
e
d
P
I
D
a
n
d
K
a
l
m
a
n
f
i
l
t
e
r
i
n
g
f
o
r
i
m
p
r
o
v
e
d
s
t
a
b
i
l
i
t
y
a
n
d
a
c
c
u
r
a
c
y
,
”
H
i
g
h
l
i
g
h
t
s
i
n
S
c
i
e
n
c
e
,
E
n
g
i
n
e
e
ri
n
g
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
1
3
4
,
p
p
.
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