= = = ∈

μ+ = −

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978-1-4244-1734-6/08/$25.00 c© 2008 IEEE

+= +

′ =

α+

′ = + −

′

′

′

′ ≥ ′ ′

′ ′

′ ′= +

′ =

′ ′

�

′ ′ ′

′ ′

ε− >

1548 2008 Chinese Control and Decision Conference (CCDC 2008)

ε

=

=

α α α β β β=

α β= =

( )= + + + +

≤ ≤

( ) ( ) ( )π π=

π π π= − + − + − +

≤ ≤ ≤ ≤

( ) ( )= − + −

≤ ≤ =

( ) ( )= + + + − + − + +

( ) ( )+ − − + + − +

− ≤ ≤ =

Table1. Test Result of Optimizing F1

Table2. Test Result of Optimizing F2

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Table3 Test Result of Optimizing F3

Table4 Test Result of Optimizing F4

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