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Potentials of Evolving Linear Models in Tracking Control Design for Nonlinear Variable Structure Systems

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Figure

Fig. 1 shows a diagram representing ELM model as switching LTI models.
Fig. 3. The output signal y(t), the reference signal yr(t) and input signal u(t)  when the sampling period T=0.1 second
Fig. 6. A link driven by a low motor
Fig. 7. Output signal y(t), input signal u(t) and reference signal yr(t)  in (a) and (b) and y(t) and yr(t) in (c) and (d) for Example 2

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