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0

5

10

15

−0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

Time

State x

1

Desired

Linear

Nonlinear

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0

5

10

15

−0.4

−0.2

0

0.2

0.4

0.6

0.8

1

1.2

1.4

Time

State x

1

Actual State: Linear SE Gain

Estimated State: Linear SE Gain

Actual State: Nonlinear SE Gain

Estimated State: Nonlinear SE Gain

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0

5

10

15

−0.2

−0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

Time

State x

1

Desired

Actual

Estimated

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0

5

10

15

−0.2

−0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

Time

State x

1

Desired

Fully Linear

Linear SE Gain

Fully Nonlinear

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