<p>Determination of TMs and MPs of HO robotic system</p>

Assume desired approximated-model of order ‘r’

Obtain the TMs and MPs of desired approximated-model

<p>Select the (2r-r) terms for matching of TMs and MPs of HO system and its approximated-model</p>

Weighted objective function is framed utilizing TMs and MPs

For ‘r’th order approximated-model define the constraints

Weight determination using ROC based systematic procedure

For ‘r’th order model decide the attribute's importance

Assigning the weights associated with the objectives

Minimization of objective function using JAYA

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