595029.fig.005a
(a)
595029.fig.005b
(b)
595029.fig.005c
(c)
Figure 5: Position , velocity , and electric current of the controlled system, using the switched controller (30)-(31) (continuous line) and the classic controller (4) (dotted line), considering and ,   and   and , and , for , , and , respectively, with decay rate , constraint on controller gains and and .