... [1, 3] , b ∈ [0.05, 0 .1] , d ∈ [0.3, 1] 03 (1 0.05 )() (1 0.35)sPss−=+ 2.WΔ< 1 1.8()2.80sWss+=and322322(0.0074 0.333 1. 5 51 1) (.000 01 1)()3(0.0049 0.246 1. 157 1) sss ... where η is a strictly positive constant. The control discontinuity can be found from the above inequality: 11 1 11 1 11 1 () (1) ()()sgn()() (1) () ()() ( 1) ( )es es es d eses es es d eses es es ... Aksionov, 20 01; Gillespie, 19 92; Wong, 19 78) are used in obtaining plots and they are as follows: mh = 10 0kg, ms = 3300kg, mu = 10 00kg, ks 11 = ks 21 = 200 kN/m & ks12 =ks22 = 18 kN/m3,...