8
9
10
=
ϕ
θ
=
)*
−
),
)-
−
).
̇=$
ϕ
̈
=
(
**
+,
θ
̈
=
.
//
+,
(2)
(3)
(4)
(3)
(4)
11
()
1 + ()
<
*
(5)
1
1 + ()
<
-
(6)
-
=
40 + 0.1
0.01 + 20
(7)
()
1 + ()
<
*
(5)
1
1 + ()
<
-
(6)
-
=
40 + 0.1
0.01 + 20
(7)
()
1 + ()
<
*
(5)
1
1 + ()
<
-
(6)
-
=
40 + 0.1
0.01 + 20
(7)
"
1 −
1
&
"
"
+ 2cos ∅ + ≥ 0(8)
"
"
+ 2cos ∅ + + 1 −
1
5
"
≥ 0 9
"
1 −
1
&
"
"
+ 2cos ∅ + ≥ 0(8)
"
"
+ 2cos ∅ + + 1 −
1
5
"
≥ 0 9
)
12
∅ = 𝑎
'((
)
'((
*
(11)
θ = 𝑎
'((
)
'((
,
(12)
∅ = 𝑎
'((
)
'((
*
(11)
θ = 𝑎
'((
)
'((
,
(12)
13
14
15
16
