Table 5 Optimal parameters of generalized backstepping controller

${\mathit{k}}_{\mathbf{1}}$

${\mathit{k}}_{\mathbf{2}}$

${\mathit{k}}_{\mathbf{3}}$

${\mathit{k}}_{\mathbf{4}}$

${\mathit{k}}_{\mathbf{5}}$