Experiment 2

Here, *ω*<sup>∗</sup> is the sinusoidal trajectory (52). In Figure 12, the corresponding experimental results are depicted.

**Figure 12.** Experimental results for a sinusoidal trajectory. The results related to the measured variables correspond to the signals denoted by *ω*, *ia*, *υ*, *i*, whereas the results associated with the reference variables are labeled as *<sup>ω</sup>*∗, *i*∗*a* , *<sup>u</sup>*∗*av*, *<sup>υ</sup>*∗, *i*<sup>∗</sup>.
