URL: https://www.researchgate.net/publication/353706956/figure/fig1/AS:1055486212317184@1628658931217/The-control-framework-of-the-proposed-PTHC-algorithm.png
URL2: https://www.researchgate.net/figure/The-control-framework-of-the-proposed-PTHC-algorithm_fig1_353706956
