“…Another approach is to estimate MOI using the inverse controller (adaptive backstop control) proposed in [Krstic et al, 1995, Benaskeur and Desbiens, 1998, Chiu et al, 2011,Ebrahim and Murphy, 2005 with stability estimation by Lyapunov function [Alyshev et al, 2018,Melnikov, 2010. Let e 1 be the tracking error (14) and e 2 be the second error defined as…”