.          .
   (i:

8










   % 1. .                             --------0


2. 00


tL. 00


6.DD     5.00
  TIME (SECONDS)


LG. 00


12.00


*,00


(a) Design based on nonlinear servomechanism theory


(b) Design based on linear servomechanism theory


Tracking error: reference = 2sin(t), disturbance = 2.0


U. 0D


16.00


Figure 4-3.