697543.fig.002
Figure 2: Unfalsified controller implementation. The reference signal is in (8), the disturbance and band-limited measurement noise are described in Section 4, a 30 min. delay and actuator saturation (100 mU/min) have also been added. 𝐺 and 𝑢 have been defined in Figure 1 and the index ( 𝑖 = 1 , , 5 ) indicates the controller to be used.