or in matrix form

One can write Eq. (37) in state space form by defining the state vector X and the output vector Y as defined in section 2.2

Y = N + , where ® =diag[^,^2], and N = [y ,jf . Having defined the necessary matrices, we can utilize the adaptation law given by Eq. (10):

]p = rwTH-ty, where H and W are defined in Eq. (36). 3.4 Suction control

One can write the system's governing dynamics, in matrix form as:

a11u cosf — r sinf u cosf + a12u cosf b11u 2cos| b12u 2cos|

b21u b22u or in vector form as

With the objective of tracking desired trajectories, the sliding surfaces S1 and S2 are chosen as si(y ,t ) = y + Xy =0

s 2(j,t) = jj + Xjj = 0. The terms s1 and s2 are also called combined tracking errors, and can be written as

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