Table 1 Parameters for the 5-link network
Link | \(\boldsymbol{A_{a}}\) | \(\boldsymbol{B_{a}}\) | \(\boldsymbol{C_{a}}\) | \(\boldsymbol{\tau_{a}}\) |
|---|---|---|---|---|
1-2 | 1 | 10 | 2 | 5 |
1-3 | 2 | 5 | 3 | 3 |
2-3 | 4 | 10 | 4 | 2 |
2-4 | 5 | 15 | 2 | 3 |
3-4 | 1 | 7 | 1 | 4 |
|  | \(q_{14}=15\) | \(\alpha_{14}= 2\) | \(\varphi_{14}=4\) | θ = 1.0 |