541918.fig.003a
(a)
541918.fig.003b
(b)
541918.fig.003c
(c)
541918.fig.003d
(d)
Figure 3: Simulation results for Example  1: (a) tracking errors: (solid line) and (dashed line). (b) Tracking errors: (solid line) and (dashed line). (c) Control inputs: (solid line) and (dashed line). (d) Sliding surface: (solid line) and (dashed line).