Fig.1

P ¯ * versus γ* at the same peak frequency

Fig.2

The optimum γ o * corresponding to each peak frequency

Fig.3

P ¯ * versus l 0 * at the same peak frequency

Fig.4

The optimum l 0 o * corresponding to each peak frequency

Fig.5

P ¯ * versus K 1 * at the same peak frequency

Fig.6

The optimum K 1 o * corresponding to each peak frequency

Fig.7

Effect of adding γ* control module on motion response of the device

Fig.8

Effect of adding γ* control module on average power of the device

Fig.9

Effect of adding l 0 * control module on motion response of the device

Fig.10

Effect of adding l 0 * control module on average power of the device

Fig.11

Effect of adding K 1 * control module on motion response of the device

Fig.12

Effect of adding K 1 * control module on average power of the device

Fig.13

Effect of prediction deviation of ω p * on control results with γ* control module added

Tab.1

Effect of prediction deviation of ω p * on average power with γ* control module added %

Fig.14

Effect of prediction deviation of ω p * on control results with l 0 * control module added

Tab.2

Effect of prediction deviation of ω p * on average power with l 0 * control module added %

Fig.15

Effect of prediction deviation of ω p * on control results with K 1 * control module added

Tab.3

Effect of prediction deviation of ω p * on average power with K 1 * control module added %