6SFYWX *VEGXMSREP 3VHIV (MJJIVIRXMEXSV

(EPM 'LIR  =ERK5YER 'LIR  (MRK]Y <YI

 'SPPIKI SJ -RJSVQEXMSR 7GMIRGI ERH )RKMRIIVMRK 2SVXLIEWXIVR 9RMZIVWMX] 7LIR]ERK  'LMRE
)QEMP GLIRHEPM$MWIRIYIHYGR
 'IRXIV JSV 7IPJ3VKERM^MRK ERH -RXIPPMKIRX 7]WXIQW '73-7  (ITEVXQIRX SJ )PIGXVMGEP ERH 'SQTYXIV )RKMRIIVMRK 9XEL 7XEXI
9RMZIVWMX] 0SKER 98  97%
)QEMP ]UGLIR$IGIYWYIHY
 'SPPIKI SJ -RJSVQEXMSR 7GMIRGI ERH )RKMRIIVMRK 2SVXLIEWXIVR 9RMZIVWMX] 7LIR]ERK  'LMRE
)QEMP \YIHMRK]Y$QEMPRIYIHYGR
%FWXVEGX % VSFYWX JVEGXMSREP SVHIV HMJJIVIRXMEXSV MW TVSTSWIH XS IWXMQEXI XLI JVEGXMSREP SVHIV HIVMZEXMZI SJ XLI KMZIR GSRXEQMREXIH
signal. Least square polynomial fitting technique is used to minimize the noise and Gr
unwald-Letnikov definition is used to
GEPGYPEXI XLI JVEGXMSREP SVHIV HIVMZEXMZI % GSRGMWI QIXLSH MW TVSTSWIH XS WTIIH YT XLI GSQTYXEXMSR XMQI ERH E TEVEQIXIV WIXXMRK
WXVEXIK] MW TVIWIRX JSV YWIV 8LI JVIUYIRG] HSQEMR EREP]WMW HIQSRWXVEXIW XLEX XLI TVSTSWIH HMJJIVIRXMEXSV IWWIRXMEPP] MW E JVEGXMSREP
order low-pass filter. The accuracy and robustness are evaluated by the experiments.
/I] ;SVHW *VEGXMSREP 3VHIV (MJJIVIRXMEXSV 6SFYWX 0IEWX 7UYEVIW

 -RXVSHYGXMSR
8LI HMKMXEP JVEGXMSREP SVHIV HMJJIVIRXMEXSV (*3( LEW
FIIR ER MQTSVXERX XSSP MR WMKREP TVSGIWWMRK FIGEYWI MX GER
KIX QSVI GLEVEGXIVMWXMGW GSQTEVMRK [MXL XLI HMKMXEP MRXI
KIV SVHIV HMJJIVIRXMEXSV?vA &EWIH SR XLI HMJJIVIRX HS
mains, the method of designing DFOD can be classified
MRXS JSYV OMRHW XMQI HSQEMR JVIUYIRG] HSQEMR PETPEGI
HSQEMR ERH >HSQEMR -R XLI XMQI HSQEMR XLI QIXLSHW
EVI +Vunwald-Letnikov definition[6], Taylor Series[7] and
2I[XSR 7IVMIW?A MR XLI JVIUYIRG] HSQEMR XLI MHIEP (*3(
can be designed by fitting M[ T  MR XLI 0ETPEGI HSQEMR XLI
QIXLSHW EVI 'EVPWSRW QIXLSH?A 6S]W QIXLSH?A 'LEV
IJJW QIXLSH?A 1EXWYHEW QIXLSH?A ERH 3YWXEPSYTW
QIXLSH?A MR XLI >HSQEMR XLI QIXLSHW EVI )YPIV
QIXLSH?A 7MQTWSR QIXLSH?A %P%PESYM QIXLSH?A
ERH 8YWXMR QIXLSH?A ,S[IZIV XLI I\MWXMRK (*3(W EVI
RSX WYMXEFPI XS IWXMQEXI XLI JVEGXMSREP SVHIV HIVMZEXMZI SJ
XLI RSMW] WMKREP EGGYVEXIP] -R SVHIV XS VIWSPZI XLMW TVSF
PIQ XLI HMKMXEP JVEGXMSREP SVHIV 7EZMX^O]+SPE] HMJJIVIRXME
XSV (*37+( [EW TVSTSWIH?A FYX XLI TEVEQIXIV WIXXMRK
QIXLSH [EW RSX MRXVSHYGIH -R XLMW TETIV E VSFYWX HMKMXEP
JVEGXMSREP SVHIV HMJJIVIRXMEXSV 6*3( MW TVSTSWIH JSV IWXM
QEXMRK XLI JVEGXMSREP SVHIV HIVMZEXMZI SJ FSXL RSMWIJVII WMK
REP ERH RSMW] WMKREP ERH E VIEWSREFPI QIXLSH MW TVSTSWIH XS
GLSSWI XLI TEVEQIXIVW FEWIH SR XLI I\TIVMQIRXW 1SVISZIV
XLI TVSTSWIH 6*3( MW JSVQYPM^IH F] E QEXVM\ [LMGL MW IEW]
XS FI YWIH MR WSQI ETTPMGEXMSRW
8LI SYXPMRI SJ XLMW TETIV MW EW JSPPS[W -R 7IGXMSR  [I
MRXVSHYGI XLI HIWMKRMRK QIXLSH SJ XLI TVSTSWIH VSFYWX HMKM
XEP JVEGXMSREP SVHIV HMJJIVIRXMEXSV MR HIXEMP ERH E GSRGMWI TE
VEQIXIV WIXXMRK QIXLSH MW WLS[R MR 7IGXMSR  -R 7IGXMSR
 WSQI RYQIVMGEP I\TIVMQIRXW EVI TVIWIRXIH XS EREP]^I XLI
EGGYVEG] VSFYWXRIWW ERH JVIUYIRG] GLEVEGXIVMWXMG ERH XLI
TETIV MW GSRGPYHIH MR 7IGXMSR 

8LI [SVO SJ ( 'LIR [EW WYTTSVXIH F] XLI 2EXMSREP 2EXYVEP 7GMIRGI

*SYRHEXMSR SJ 'LMRE 2S ERH XLI *YRHEQIRXEP 6IWIEVGL *YRHW
JSV XLI 'IRXVEP 9RMZIVWMXMIW 2 ERH 2 

c
978-1-4577-2074-1/12/$26.00 2012
IEEE

 1SHIPMRK
%WWYQI XLI SFWIVZIH WMKREP KX ERH XLI SVMKMREP WMKREP
J X EVI XLI LMKLIVSVHIV HMJJIVIRXMEFPI JYRGXMSRW MR 6 ERH
XLI RSMW] WMKREP QSHIP GER FI HIWGVMFIH F]
KX ! J X  R X 

[LIVI R X MW RSMWI 9WMRK XLI TSP]RSQMEP I\TERWMSR SJ

J X  [I LEZI
KX !


<

FM XM  R X !

M!

-
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FM XM  - X  R X 

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[LIVI FM is the coefficient of the polynomial expansion, and

- X MW XLI IVVSV SJ XLI TSP]RSQMEP I\TERWMSR 'SQFMRMRK
XLI - X ERH R X  [I LEZI X ! - X  R X  [LMGL
MW REQIH XSXEP IVVSV -R SVHIV XS IWXMQEXI FM  IUYEXMSR 
RIIHW XS FI HMWGVIXM^IH 0IX XLI YRMJSVQ WEQTPMRK XMQI XO !
OX O !   / ERH IUYEXMSR  GER FI VI[VMXXIR F] XLI
JSVQYPE
-
<
FM XMO  XO 

KXO !
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&IGEYWI SJ XLI PMRIEV VIPEXMSR FIX[IIR KXO ERH FM  IUYEXMSR

 GER FI VI[VMXXIR F]
 

K !8 F 




where coefficient vector F ! ?F  F      F- A8  SFWIVZIH



WMKREP ZIGXSV K ! ?KX  KX      KX/ A8  IVVSV ZIGXSV



 ! ?X  X      X A8  ERH QEXVM\


X
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8! 
 

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/

For minimizing noise, the coefficient vector F GER FI IWXM

QEXIH F] XLI PIEWX WUYEVIW XIGLRMUYI
 






K 8 F 8 
K 8 F  
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 8
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K
F ! 8 8 8  8 8

Using the optimal coefficient vector F  [I GER KIX XLI ST

XMQEP IWXMQEXMSR SJ SFWIVZIH WMKREP -X MW HIWGVMFIH F]
KX !
F

-
<

FM XM 

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8LI STXMQEP IWXMQEXMSR SJ LMKLIVMRXIKIVSVHIV HIVMZEXMZI SJ

KX GER FI SFXEMRIH F]
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FM XMT 

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2I\X MX MW RIGIWWEV] XS GPIEV MJ XLI QIXLSH JSV MRXIKIVSVHIV

HIVMZEXMZI GER FI KIRIVEPM^IH XS XLI QIXLSH JSV JVEGXMSREP
SVHIV HIVMZEXMZI -R XLMW TETIV +V
unwald-Letnikov definition
MW GLSWIR FIGEYWI SJ MXW IEW]VIEPM^EXMSR

R
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KX VL  T  6 
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V
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JYRGXMSR MW KMZIR F] XLI JSVQYPE
T M
 (X X

M   XMT
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M T  

Q   M " Q 

[LIVI Q MW E RSRRIKEXMZI MRXIKIV ERH ^ MW XLI +EQQE

function defined by the integral
> 
^ !
IX X^ HX



&IGEYWI XLI JVEGXMSREP HMJJIVIRXMEXMSR MW E PMRIEV STIVEXMSR

T
 (X J X  KX

!  (XT J X   (XT KX 



IUYEXMSR  GER FI VI[VMXXIR F]

T
KX
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T

X ,-/

1038

! &8 8 8  8 8 

T  J> ?   K



*VSQ IUYEXMSR   MX MW SFZMSYW XLEX 8 MW XLI OI] XS

affect the computation time. It is difficult to solve equaXMSR  [LIR / MW XSS PEVKI -R SVHIV XS WSPZI XLMW TVSF
PIQ XLI QIXLSH MRGVIEWMRK XLI WEQTPMRK MRXIVZEP SJ SF
WIVZIH WMKREP MW TVSTSWIH 0IX HIRSXI XLI WEQTPMRK MR
XIVZEP ERH [I LEZI XLI VI[VMXXIR SFWIVZIH WMKREP ZIGXSV


K ! ?KX  KX  KX      KX/ A8  VI[VMXXIR IV


VSV ZIGXSV
 ! ?X  X  X      X/ A8  ERH
VI[VMXXIR QEXVM\
 

X
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-
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- 


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X/
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X/
8LI HMQIRWMSR SJ 8 MW VIHYGIH JVSQ / XS /! FIGEYWI SJ
XLMW QIXLSH ERH XLI GSQTYXEXMSR XMQI MW VIHYGIH KVIEXP]

 4EVEQIXIV %REP]WMW
8LI TVSTSWIH VSFYWX JVEGXMSREP SVHIV HMJJIVIRXMEXSV
has five parameters:  X T / ERH - MW XLI
WEQTPMRK MRXIVZEP ERH X MW XLI WEQTPMRK XMQI ;LIR
X !  ERH !  XLI QEXVM\ 8 MW XLI :ERHIVQSRHI
QEXVM\ T MW XLI HMJJIVIRXMEP SVHIV [LMGL MW WIX EW MRMXMEP
T

ZEPYI F] YWIV ;LIR T !  ERH !  X

,-/
MW

the Savitzky-Golay smoothing filter[19]; when T  > 
X T
X ,-/ is the Savitzky-Golay differentiation filter[19];
T

[LIR T    ERH !  X
,-/
GER FI GSRWMHIV EW
a fractional Savitzky-Golay differentiation filter which
KIRIVEPM^IW XLI SVMKMREP 7EZMX^O]+SPE] HMJJIVIRXMEXMSR XS
XLI RSRMRXIKIV SVHIV -R EHHMXMSREP T GER FI I\TERHIH XS
XLI [LSPI 6 WTEGI F] XLI JSVQYPE
T

X ,-/

X ,-/

TQ

Q

!X
,-/
X ,-/  T  Q Q   @ Q  > 

,IVI [I SRP] GSRWMHIV / - ;LIR / ! - X ! 
!  ERH
M
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XLI JVEGXMSREP SVHIV HMJJIVIRXMEXSV X

,-/
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XLI JSVQYPE
T




X ,-/ ! &/ 8

[LMGL GER FI GSRWMHIVIH EW XLI JVEGXMSREP SVHIV HMJJIVIR

XMEXSV TVSTSWIH F] ?A ;LIR / MRGVIEWIW XLI VSFYWXRIWW
SJ XLI HMJJIVIRXMEXSV MRGVIEWIW ERH XLI GSQTYXEXMSR XMQI MR
GVIEWIW ;LIR - MRGVIEWIW XLI EGGYVEG] SJ XLI HMJJIVIRXME
XSV MRGVIEWIW ERH XLI VSFYWXRIWW SJ XLI HMJJIVIRXMEXSV VIHYGIW
,IVI E WXVEXIK] SJ WIXXMRK / ERH - MW MRXVSHYGIH *MVWXP] [I
WIX !  X !  / !  ERH T !  V MW XLI IVVSV
GLERKMRK VEXI ,IVI V MW XLI HMJJIVIRXMEP STIVEXSV ERH MW
XLI IVVSV HIWGVMFIH F] XLI JSVQYPE
W
4/
]M ]M 
M! F


!
/
*MK  WLS[W XLI VIPEXMSR GYVZI FIX[IIR V ERH - JSV XLI
HMJJIVIRX GSRXEQMREXIH WMKREP *MK E WLS[W XLI VIWYPXW
SJ TEVEFSPMG GSRXEQMREXIH WMKREPW ERH 726 MW H& H&

2012 24th Chinese Control and Decision Conference (CCDC)

X !  - !  ERH T !  *MK  WLS[W XLI VIPEXMSR

GYVZI FIX[IIR ERH / JSV XLI TEVEFSPMG GSRXEQMREXIH WMK
REP WMRYWSMHEP GSRXEQMREXIH WMKREP ERH I\TSRIRXMEP HIGE]
contaminated signal. From the figure, we conclude that the


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TSRIRXMEP HIGE] GSRXEQMREXIH WMKREP







EGGYVEG] ERH VSFYWXRIWW SJ XLI TVSTSWIH HMJJIVIRXMEXSV EVI MR

GVIEWMRK [MXL / MRGVIEWMRK -X MW VIEWSREFPI XS WIX ?  EW
XLI WXEFPI VERKI SJ WIXXMRK / JSV - !  ,S[IZIV XLI GSQ
TYXEXMSR XMQI MW EPWS MRGVIEWMRK [MXL / MRGVIEWMRK -R SVHIV
XS VIHYGI GSQTYXEXMSR XMQI [I MRGVIEWI  *MK  WLS[W XLI
WXEFPI VIKMSR / SJ / JSV XLI HMJJIVIRX -W -X MW SFZMSYW XLEX







 



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F ERH *MK G WLS[ XLI VIWYPXW SJ XLI WMRYWSMHEP WMKREP
and exponential decay signal respectively. From the figures,
MX MW IEW] XS SFWIVZI XLEX XLI IVVSV GLERKIW WQSSXLP] EX FI
KMRRMRK ERH XLIR GLERKIW HVEQEXMGEPP] 7S [I GSRGPYHI XLEX
XLI WXEFPI VERKI SJ - MW ? A [LIR / !  *MK  WLS[W
XLI WXEFPI VIKMSR - SJ WIXXMRK - JSV XLI HMJJIVIRX /W -R EH
HMXMSR XLI WXEFPI VIKMSR - MW EPWS WYMXEFPI JSV XLI HMJJIVIRX
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 )\TIVMQIRX ERH %REP]WMW

'SRWMHIV JSYV X]TIW SJ MRTYX WMKREPW TEVEFSPMG WMKREP
J X ! X  WMRYWSMHEP WMKREP J X ! WMRX  I\TSRIRXMEP
HIGE] WMKREP JX ! IX ERH I\TSRIRXMEP HEQTIH SWGMPPEXSV]
WMKREP J X ! IX GSWX  7EQTPMRK JVIUYIRG] MW ,^
ERH WEQTPMRK XMQI VERKIW JVSQ W XS W ;I WIX / ! 
ERH - !  -R SVHIV XS OIIT XLI GSQTYXEXMSR XMQI RSX XSS
PSRK [I WIX ! 
 %GGYVEG] %REP]WMW
8LI TYVTSWI SJ XLMW I\TIVMQIRX MW XS ZEPMHEXI XLI EG
GYVEG] SJ XLI TVSTSWIH EPKSVMXLQ ;I GSQTEVI XLI TVS
TSWIH HMJJIVIRXMEXSV [MXL WIZIVEP TSTYPEV HMJJIVIRXMEXSVW
WYGL EW 3YWXEPSYT QIXLSH?A 8YWXMR QIXLSH?A )YPIV
QIXLSH?A %P%PESYM QIXLSH?A 7MQTWSR QIXLSH?A
ERH E 2I[ --6 QIXLSH?A 8LI KMZIR WMKREPW ERH TE
VEQIXIVW EVI OITX YRGLERKIH 8LI VIPEXMSR GYVZIW FIX[IIR
PSK ERH T JSV XLI HMJJIVIRX HMJJIVIRXMEXSVW ERH MRTYX WMK
nals are shown in Fig. 5. In the figure, the blue solid curve is
XLI VIWYPX SJ XLI TVSTSWIH VSFYWX JVEGXMSREP SVHIV HMJJIVIRXME
XSV ERH XLI SXLIV GYVZIW EVI XLI VIWYPXW SJ XLI SXLIV QIXLSHW

2012 24th Chinese Control and Decision Conference (CCDC)

1039






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XLEX XLI 6*3( MW QSVI EGGYVEXI MR IWXMQEXMRK XLI JVEGXMSREP
SVHIV HIVMZEXMZI
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IRXMEXSV [MPP FI WLS[R F] GSQTEVMRK [MXL XLI SXLIV QIXLSHW
8LI KMZIR WMKREPW ERH TEVEQIXIVW EVI OITX YRGLERKIH 8LI
VIPEXMSR GYVZI FIX[IIR PSK ERH T JSV XLI HMJJIVIRX GSR
XEQMREXIH WMKREPW EVI WLS[R MR *MK  -R *MK E  XLI KMZIR
WMKREP MW XLI TEVEFSPMG WMKREP SJ 726!H& XLI KMZIR WMK
REP MR *MK F MW XLI WMRYWSMHEP WMKREP SJ 726!H& XLI
KMZIR WMKREP MR *MK G MW XLI I\TSRIRXMEP HIGE] WMKREP SJ
726!H& ERH XLI KMZIR WMKREP MR *MK H MW XLI I\TSRIR
XMEP HEQTIH SWGMPPEXSV] WMKREP SJ 726!H& 8LI FPYI WSPMH
GYVZI HIRSXIW XLI VIWYPX SJ XLI 6*3( 'SQTEVIH [MXL SXLIV
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QSVI VSFYWX MR IWXMQEXMRK XLI JVEGXMSREP SVHIV HIVMZEXMZI SJ
XLI GSRXEQMREXIH WMKREPW

FI WIIR EW E JVEGXMSREP SVHIV PS[TEWW HMJJIVIRXMEXSV [LMGL

OIITW XLI PS[ JVIUYIRG] ERH HIGE]W XLI LMKL JVIUYIRG] -R
KIRIVEP XLI RSMWI I\MWXW MR XLI LMKL JVIUYIRG] TSVXMSR SJ
XLI WMKREP 7S XLI TVSTSWIH 6*3( LEW GER FI YWIH XS IW
XMQEXI XLI JVEGXMSREP SVHIV HIVMZEXMZIW SJ XLI RSMW] WMKREPW
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MW KMZIR XS GSQTEVI [MXL XLI VIWYPX SJ XLI 6*3( 8LI FPYI
HSXXIH PMRI MW XLI MHIEP JVIUYIRG] VIWTSRWI GYVZI ERH XLI
VIH WSPMH PMRI MW XLI JVIUYIRG] VIWTSRWI GYVZI SJ XLI 6*3(
From the figure, it can be seen that the proposed RFOD can





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ferentiator(RFOD) which can be consider as the modified

2012 24th Chinese Control and Decision Conference (CCDC)


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Letnikov fractional order derivative definition to estimate the
JVEGXMSREP SVHIV HIVMZEXMZI SJ FSXL RSMWIJVII WMKREP ERH RSMW]
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der low-pass filter. The accuracy and robustness are evalYEXIH F] XLI I\TIVMQIRXW *YXYVI [SVO MRZSPZIW LEVH[EVI
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?A & 1EXLMIY 4 1IPGLMSV % 3YWXEPSYT ERH ' 'I]VEP *VEG
XMSREP HMJJIVIRXMEXMSR JSV IHKI HIXIGXMSR 7MKREP 4VSGIWW 
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IRXMEXSVW YWMRK JVEGXMSREP WEQTPI HIPE] -))) 8VERWEGXMSRW SR
'MVGYMXW ERH 7]WXIQW - 6IKYPEV 4ETIVW   v 
?A 6 7 &EVFSWE . % 8 1EGLEHS ERH 1 * 7MPZE 8MQI HS
QEMR HIWMKR SJ JVEGXMSREP HMJJIVMRXIKVEXSVW YWMRK PIEWXWUYEVIW
7MKREP 4VSGIWWMRK   v 
?A / 7 1MPPIV (IVMZEXMZIW SJ RSRMRXIKIV SVHIV 1EXLIQEX 1EK
  v 

?A '' 8WIRK (IWMKR SJ JVEGXMSREP SVHIV HMKMXEP *-6 HMJJIVIRXME

XSVW -))) 7MKREP 4VSGIWWMRK 0IXXIVW   v 
?A 7 7EQEHM 1 3 %LQEH ERH 1 2 7 7[EQ] )\EGX
JVEGXMSREPSVHIV HMJJIVIRXMEXSVW JSV TSP]RSQMEP WMKREPW -)))
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?A + 'EVPWSR ERH ' ,EPMNEO %TTVS\MQEXMSR SJ JVEGXMSREP GETEG
MXSVW !W !R F] E VIKYPEV RI[XSR TVSGIWW -))) 8VERWEGXMSRW
SR 'MVGYMX 8LISV]    v  
?A 7 ( 6S] 3R XLI VIEPM^EXMSR SJ E GSRWXERXEVKYQIRX MQQMX
XERGI SV JVEGXMSREP STIVEXSV -))) 8VERWEGXMSRW SR 'MVGYMX 8LI
SV]   v 
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XIQ EW VITVIWIRXIH F] WMRKYPEVMX] JYRGXMSR -))) 8VERWEGXMSRW
SR %YXSQEXMG 'SRXVSP   v 
?A / 1EXWYHE ERH , *YNMM , STXMQM^IH [EZIEFWSVFMRK GSR
XVSP %REP]XMGEP ERH I\TIVMQIRXEP VIWYPXW .SYVREP SJ +YMHERGI
'SRXVSP ERH (]REQMGW   v 
?A % 3YWXEPSYT * 0IZVSR & 1EXLMIY ERH * 1 2ERSX
*VIUYIRG]FERH GSQTPI\ RSRMRXIKIV HMJJIVIRXMEXSV GLEVEGXIV
M^EXMSR ERH W]RXLIWMW -))) 8VERWEGXMSRW SR 'MVGYMXW ERH 7]W
XIQW - *YRHEQIRXEP 8LISV] ERH %TTPMGEXMSRW   v

?A 1 %P%PESYM 2SZIP HMKMXEP MRXIKVEXSV ERH HMJJIVIRXMEXSV
)PIGXVSRMGW 0IXXIVW   v 
?A = 5 'LIR ERH & 1 :MREKVI % RI[ --6X]TI HMKMXEP JVEG
XMSREP SVHIV HMJJIVIRXMEXSV 7MKREP 4VSGIWWMRK   v
 
?A = 5 'LIR ERH / 0 1SSVI (MWGVIXM^EXMSR WGLIQIW JSV
JVEGXMSREPSVHIV HMJJIVIRXMEXSVW ERH MRXIKVEXSVW -))) 8VERWEG
XMSRW SR 'MVGYMXW ERH 7]WXIQW - *YRHEQIRXEP 8LISV] ERH %T
TPMGEXMSRW   v 
?A & 1 :MREKVI = 5 'LIR ERH - 4IXVEW 8[S HMVIGX
XYWXMR HMWGVIXM^EXMSR QIXLSHW JSV JVEGXMSREPSVHIV HMJJIVIRXME

2012 24th Chinese Control and Decision Conference (CCDC)

1041

XSVMRXIKVEXSV . *VEROPMR -RWX   v 

?A ( 'LIR = 'LIR ERH ( <YI (MKMXEP JVEGXMSREP SVHIV
7EZMX^O]+SPE] HMJJIVIRXMEXSV -))) 8VERWEGXMSRW SR 'MVGYMXW
ERH 7]WXIQW-- )\TVIWW &VMIJW   v 
?A % 7EZMX^O] ERH 1 . ) +SPE] 7QSSXLMRK ERH HMJJIVIRXME
tion of data by simplified least-squares procedures, %REP]XMGEP
'LIQMWXV]  v 

1042

2012 24th Chinese Control and Decision Conference (CCDC)