Table 4 Design guidelines. Each one of the optimized parameters is either a general guideline for all clusters, or is a trade-off control tuning knob for a specific cluster

kmACgA ^∗

[1 200]

–

[1 171.91]

1

kmBCgB

[1 200]

–

1

[1 200]

kmCCgC

[1 200]

–

[1 171.91]

1

k_pB

[1 100]

1

–

–

k_pC

[1 100]

–

[1 15.68]

1

d_B

[0.01 0.3]

[0.01 0.0792]

–

–

d_C

[0.01 0.3]

–

[0.2784 0.3]

0.3

γ ₁

[50 200]

[78.93 200]

–

–

γ ₃

[1e-4 0.5]

–

[1e-4 0.013]

[1e-4 0.0141]

γ ₄

[5e-4 5]

–

[5e-4 1.4424]

[0.0697 5]

γ ₅

[1 100]

–

[1 9.2546]

[12.125 100]