Table 2.

Control gains.

Markov modes	K1	K2	K3	K4	Kint	Gains
θ = 1	[−0.0073	−2.787	0	0	11.027 ]	= [Ka, 1Kint]
θ = 2	[−0.0073	−11.149	0	1.213	74.983 ]	= [Ka, 2Kint]
θ = 3	[−0.0065	−16.724	0	1.516	79.394 ]	= [Ka, 3Kint]