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Peng et al. Intell Robot 2022;2(3):298­312 I http://dx.doi.org/10.20517/ir.2022.27 Page 310

Figure 6. Disturbance of case 3.

-3
10
6

4

2

0

-2

-4

-6

-8
0 100 200 300 400 500 600 700

Figure 7. State responses of case 3.

performance have been designed in different areas. Finally, an example has verified the effectiveness of main
results.