Smooth Adaptive Internal Model Control Based on <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.2723999pt" id="M1" height="11.6718pt" version="1.1" viewBox="-0.0657574 -11.3994 12.6536 11.6718" width="12.6536pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-86" d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"/></g></svg> Model for Nonlinear Systems with Dynamic Uncertainties

<div>The virtual equivalent system I.</div>

Mathematical Problems in Engineering

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Figure 4

Figure 4: Smooth Adaptive Internal Model Control Based on <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.2723999pt" id="M1" height="11.6718pt" version="1.1" viewBox="-0.0657574 -11.3994 12.6536 11.6718" width="12.6536pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-86" d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"/></g></svg> Model for Nonlinear Systems with Dynamic Uncertainties 

Mathematical Problems in Engineering

Smooth Adaptive Internal Model Control Based on Model for Nonlinear Systems with Dynamic Uncertainties

Figure 4