Fixed-Order Robust <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.5247pt" id="M1" height="16.402pt" version="1.1" viewBox="-0.0657574 -11.8773 27.7437 16.402" width="27.7437pt"><g transform="matrix(.018,0,0,-0.018,0,0)"><path id="g113-73" d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"/></g><g transform="matrix(.013,0,0,-0.013,13.86,4.308)"><path id="g50-30" d="M1000 227C1000 351 905 451 780 451C658 451 590 380 530 279C465 385 388 451 261 451C168 451 38 376 38 210C38 98 121 -12 261 -12C381 -12 448 59 508 160C573 53 652 -12 780 -12C879 -12 1000 64 1000 227ZM485 199C434 109 370 25 271 25C188 25 133 117 133 241C133 355 189 414 249 414C357 414 426 302 485 199ZM903 204C903 70 852 25 790 25C681 25 611 136 552 240C603 330 669 414 768 414C855 414 903 321 903 204Z"/></g></svg> Estimator Design for Side-Slip Angle of Vehicle

<div>Cornering stiffness parameters <svg height="14.5621pt" id="M237" style="vertical-align:-5.564151pt" version="1.1" viewbox="-0.0498162 -8.99795 16.6789 14.5621" width="16.6789pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M645 631C614 643 545 666 457 666C215 666 23 519 23 283C23 90 158 -16 337 -16C412 -16 489 2 522 10C543 39 590 127 606 167L580 181C519 89 459 18 348 18C201 18 122 136 122 287C122 464 244 632 435 632C544 632 602 595 608 472L639 475C643 526 645 581 645 631Z" id="g113-68"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="668" vert-adv-y="668"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,8.982,3.264)"><path d="M397 380C406 395 404 411 396 425S369 451 350 451C302 451 239 372 192 294H189L199 338C214 407 207 451 180 451C152 451 83 405 30 345L48 318C87 354 117 372 125 372S135 362 127 324L55 -5L61 -12C87 -5 117 3 139 5C154 87 168 162 179 207C198 250 240 310 260 332C281 355 297 366 307 366C321 366 333 360 347 346C351 342 360 342 369 348C379 355 389 366 397 380Z" id="g50-115"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="427" vert-adv-y="427"></glyph.data></g><g transform="matrix(.0068,0,0,-0.0068,12.605,5.453)"><path d="M401 382C409 397 408 412 399 428C392 441 374 454 353 454C302 454 241 373 198 302H196L204 340C218 406 209 454 182 454C154 454 85 408 31 347L50 314C93 354 121 372 129 372C139 372 140 360 131 317L59 -5L64 -12C91 -5 123 3 147 4C162 97 174 169 186 211C205 255 248 312 265 334S300 366 307 366C325 366 337 361 353 345C356 342 368 342 374 347C383 354 392 366 401 382Z" id="g176-115"></path><glyph.data ascent="3439" descent="-2858" horiz-adv-x="431" vert-adv-y="431"></glyph.data></g></svg>, <svg height="14.5621pt" id="M238" style="vertical-align:-5.564151pt" version="1.1" viewbox="-0.0498162 -8.99795 15.6182 14.5621" width="15.6182pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g 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334S300 366 307 366C325 366 337 361 353 345C356 342 368 342 374 347C383 354 392 366 401 382Z" id="g176-115"></path><glyph.data ascent="3439" descent="-2858" horiz-adv-x="431" vert-adv-y="431"></glyph.data></g></svg>, <svg height="14.758pt" id="M240" style="vertical-align:-5.760051pt" version="1.1" viewbox="-0.0498162 -8.99795 16.9224 14.758" width="16.9224pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M645 631C614 643 545 666 457 666C215 666 23 519 23 283C23 90 158 -16 337 -16C412 -16 489 2 522 10C543 39 590 127 606 167L580 181C519 89 459 18 348 18C201 18 122 136 122 287C122 464 244 632 435 632C544 632 602 595 608 472L639 475C643 526 645 581 645 631Z" id="g113-68"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="668" vert-adv-y="668"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,8.982,3.264)"><path d="M620 667C620 684 593 710 552 710C515 710 459 687 409 634C360 582 334 506 320 433H247L215 400L220 388H310L259 80C224 -129 199 -161 185 -174C175 -183 160 -192 141 -192C123 -192 90 -181 75 -165C69 -158 64 -156 54 -164C39 -178 24 -195 24 -208C24 -231 61 -257 94 -257C124 -257 162 -243 209 -194C267 -134 303 -66 343 107C369 220 378 279 393 385L503 397L523 433H404C432 619 464 660 500 660C522 660 542 646 566 621C573 614 583 615 593 621C603 628 620 648 620 667Z" id="g50-103"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="644" vert-adv-y="644"></glyph.data></g><g transform="matrix(.0068,0,0,-0.0068,13.904,5.453)"><path d="M240 669C247 699 245 708 234 708C225 708 156 682 74 672L71 638H100C148 638 150 629 142 591L40 111C19 11 38 -12 56 -12C91 -12 176 40 227 102L211 134C180 102 133 70 121 70C117 70 110 75 117 107L240 669Z" id="g176-109"></path><glyph.data ascent="3439" descent="-2858" horiz-adv-x="275" vert-adv-y="275"></glyph.data></g></svg> (blue, green, cyan, and red lines, resp.) and the steer angle input for sine with dwell maneuver.</div>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: Fixed-Order Robust <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.5247pt" id="M1" height="16.402pt" version="1.1" viewBox="-0.0657574 -11.8773 27.7437 16.402" width="27.7437pt"><g transform="matrix(.018,0,0,-0.018,0,0)"><path id="g113-73" d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"/></g><g transform="matrix(.013,0,0,-0.013,13.86,4.308)"><path id="g50-30" d="M1000 227C1000 351 905 451 780 451C658 451 590 380 530 279C465 385 388 451 261 451C168 451 38 376 38 210C38 98 121 -12 261 -12C381 -12 448 59 508 160C573 53 652 -12 780 -12C879 -12 1000 64 1000 227ZM485 199C434 109 370 25 271 25C188 25 133 117 133 241C133 355 189 414 249 414C357 414 426 302 485 199ZM903 204C903 70 852 25 790 25C681 25 611 136 552 240C603 330 669 414 768 414C855 414 903 321 903 204Z"/></g></svg> Estimator Design for Side-Slip Angle of Vehicle 

Mathematical Problems in Engineering

Fixed-Order Robust Estimator Design for Side-Slip Angle of Vehicle

Figure 7