Experiment 3

In this experiment, the desired angular velocity is defined as in (53). The corresponding experimental results are shown in Figure 13.

**Figure 13.** Experimental results for a sinusoidal trajectory with exponential amplitude. The results of the measured variables correspond to *ω*, *ia*, *υ*, *i*, and the results of the reference variables are *<sup>ω</sup>*∗, *i*∗*a* , *<sup>u</sup>*∗*av*, *<sup>υ</sup>*∗, *i*<sup>∗</sup>.

Experiment 4

Lastly, Figure 14 presents the experimental result associated with Equation (54).

**Figure 14.** Experimental results for a sinusoidal trajectory with time-varying frequency. The results associated with the measured variables are denoted as *ω*, *ia*, *υ*, *i*, whereas the results related to the reference variables are labeled as *<sup>ω</sup>*∗, *i*∗*a* , *<sup>u</sup>*∗*av*, *<sup>υ</sup>*∗, *i*<sup>∗</sup>.
