Robust Adaptive PID Controller for a Class of Uncertain Nonlinear Systems: An Application for Speed Tracking 
                        Control of an SI Engine

<div>The validation of the 1st-order model.</div>

Mathematical Problems in Engineering

fig2

Figure 2

Figure 2: Robust Adaptive PID Controller for a Class of Uncertain Nonlinear Systems: An Application for Speed Tracking 
                        Control of an SI Engine 

Figure 2 | Robust Adaptive PID Controller for a Class of Uncertain Nonlinear Systems: An Application for Speed Tracking 
                        Control of an SI Engine 

Mathematical Problems in Engineering

Robust Adaptive PID Controller for a Class of Uncertain Nonlinear Systems: An Application for Speed Tracking Control of an SI Engine

Figure 2