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Fig 1.

Proposed model diagram.

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Fig 1 Expand

Fig 2.

Error ε at different initial values.

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Fig 2 Expand

Fig 3.

State tracking.

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Fig 3 Expand

Fig 4.

State tracking.

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Fig 5.

Tracking error ε.

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Fig 6.

Control input u.

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Fig 7.

State trajectory with disturbance.

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Fig 7 Expand

Fig 8.

State trajectory with disturbance.

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Fig 8 Expand

Fig 9.

Error ε with disturbance.

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Fig 9 Expand

Fig 10.

Control input u with disturbance.

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Fig 10 Expand

Fig 11.

State trajectory with disturbance.

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Fig 11 Expand

Fig 12.

Error ε with disturbance.

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Fig 12 Expand

Fig 13.

Control input u with disturbance.

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Fig 13 Expand

Fig 14.

Adaptive parameter estimation .

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Fig 15.

Parameter variation.

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Fig 16.

State trajectory with parameter variation.

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Fig 16 Expand

Fig 17.

Error ε with parameter variation.

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Fig 17 Expand

Fig 18.

Control input u with parameter variation.

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Fig 18 Expand