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Equipment may have modeling errors or disturbances that are not included in the kinematic model given by Eq. (1), for example, the friction and the delay of motors.

The model given by Perry and Green is employed to fit the experimental data.

A nominal plant is regarded as the model given by the curve data.

To explain the temperature behaviour of the current in the junction, we fitted all data to the model given by equation (1) using the parameters listed in Table 1 (solid lines in Figs 2b, 3b and 4e h).

In the model given by Eqs.

The dynamic model given by Eqs.

Hence, the model given by Eqs.

We have solved the stochastic model given by Eqs.

Consider the bilinear state space model given by (1).

For the constraints of the SOS model, given by Eqs.

Step 2. Solving the model given by Eqs.