Figure 4

State variables and parameters of the fuzzy logic system. (a) \(x_{1}(t)\) (Solid line) and \(y_{1}(t)\) (dotted line), (b) \(x_{2}(t)\) (solid line) and \(y_{2}(t)\) (dotted line), (c) \(x_{3}(t)\) (solid line) and \(y_{3}(t)\) (dotted line) and (d) \(\Vert \theta _{1}(t)\Vert \) (dotted line), \(\Vert \theta _{2}(t)\Vert \) (chain line) and \(\Vert \theta _{3}(t)\Vert \) (solid line)