Figure 4

State trajectories of the sliding surface: (a) \(S_{11} ( t )\), \(S_{12} ( t )\), \(S_{13} ( t )\) and (b) \(S_{21} ( t )\), \(S_{22} ( t )\), \(S_{23} ( t )\)
State trajectories of the sliding surface: (a) \(S_{11} ( t )\), \(S_{12} ( t )\), \(S_{13} ( t )\) and (b) \(S_{21} ( t )\), \(S_{22} ( t )\), \(S_{23} ( t )\)