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

<div>Schematic diagram of the experiment.</div>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: Robust Adaptive PID Controller for a Class of Uncertain Nonlinear Systems: An Application for Speed Tracking 
                        Control of an SI Engine 

Figure 4 | 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 4