Simutation of x(t).
Image1Simutation of s(t).
Image2Simutation of p(t).
Image3control Sf(t).
Image4lambda(t).
Image5delta(t).
osci-deltax(t).
Image6s(t).
Image7p(t).
Image8control Sf(t).
Image9lambda(t)
no-per-lambdadelta(t).
Image10x(t).
Image11s(t).
Image12p(t).
Image13control Sf(t).
Image14lambda(t).
per-1-lambda<gamma(t).
per-1-gammadelta(t).
Image15x(t).
Image16s(t).
Image17p(t).
Image18control Sf(t).
Image19lambda(t).
per-2-lambdagamma(t).
per-2-gammadelta(t).
Image20