“…(x 4 , x 5 ) = P S −P e 2 +sign(x 5 ) x 4 − P S +P e p P |x 3 − x 4 | tanh(ax5 )+ K x P (x 1 − x des )), u = u P −(K p I |x 3 − x 4 | tanh(ax 5 )+ K x I (x 1 − x env )), u = u I − K p C x 3 − x 4 − F des A tanh(ax 5 )+ K f (H (x 1 − x env ) n − F des ) , u = u F g 6 (x 3 , x 4 , x 5 ) = P s −tanh(a x 5 )(x 3 − x 4 ) g 7 (x 3 , x 4 , x 5 ) = ⎧ ⎪ ⎪ ⎪ ⎪ ⎨ ⎪ ⎪ ⎪ ⎪ ⎩ K p P sign(x 3 − x 4 ) tanh(ax 5 )g 6 , u = u P K p I sign(x 3 − x 4 ) tanh(ax 5 )g 6 , u = u I K p C sign(x 3 − x 4 − F des /A) tanh(ax 5 )g 6 , u = u F g 8 (x 3 , x 4 , x 5 ) = ⎧ ⎪ ⎪ ⎪ ⎪ ⎨ ⎪ ⎪ ⎪ ⎪ ⎩ aK p P |x 3 − x 4 |(1−tanh 2 (ax 5 )), u = u P aK p I |x 3 − x 4 |(1−tanh 2 (ax 5 )), u = u I aK p C |x 3 − x 4 − F des /A|(1−tanh 2 (ax 5 )), u = u F g 9 (x 1 , x 3 , x 4 , x 5 ) = g 8 g 6 + a(x 3 − x 4 )(1−tanh 2 (ax 5 ))g 5 2g 6 x 2 ) = ⎧ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎨ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎩ − n H(1+ px 2 )(x 1 − x env ) n−1 m (x 1 − xenv 0) and (1+ px 2 0) and (x i 2 = 0) − n H(x 1 − x env ) n−1 m (x 1 − x env 0) and (x i 2 x env ) n (x 1 − x env 0) and (1+ px 2 0) and (x i 2 , u = u I nK f H (x 1 − x env ) n−1 , u = u F Copyright q 2009 John Wiley & Sons, Ltd. Int. J.…”