Disturbance Observer-Based Discrete Sliding-Mode Control for a Marine Diesel Engine with Variable Sampling Control Technique

Figure 5

Comparison of control performance between control laws (41) and (42) under different conditions, i.e., (A) continuous control with control law 41, (B) timing control with control law (41), (C) timing control with control law (42) and , and (D) timing control with control law (42) and . (a) Phase trajectories. (b) Convergence trajectories.

(a)

(b)