Table 4: Performance evaluation for Example 2.

MethodReference tracking
ISEIAEITAEITSE

ISE I-PD5.7757.48533.7324.7111.10.034327.90
IAE I-PD4.8527.70647.5039.4213.70.000340.20
ITAE I-PD4.5415.70218.6217.558.590.000219.10
ITSE I-PD4.1845.23910.009.6817.330.000918.50