512703.fig.0016a
(a)   Control outputs with load disturbances around t = 0.5 s and 1.0 s
512703.fig.0016b
(b) Control outputs during the time [0 s, 0.02 s]
512703.fig.0016c
(c) Control outputs during the time [0.195 s, 0.22 s]
512703.fig.0016d
(d) Control outputs during the time [0.60 s, 0.66 s]
Figure 16: Results of the control outputs.