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Formula (9) symbols and meanings.
| Symbol | Unit | Meaning |
|---|---|---|
| KS(t) | / | the objective function |
| e(k) | / | the systematic error |
| u(k) | / | the output of the controller |
| tr | / | the rise time |
| w1, w2, w3 | / | weights |
| n | / | the number of sampling points of the system |
| σ% | / | the overshoot of the control system |
