... integralFig. 7. Controller Performance: Error Integral (detail). 109 Adaptive Gain PID Control for Mechanical Systems2 Will-be-set-by -IN- TECHmodel in the form of singularly perturbed system (Kokotovi´c ... plant114 Advances in PID Control6 Will-be-set-by -IN- TECH(a) PI controller (20) (b) PIF controller (42)Fig. 2. Block diagrams of PI and PIF controllers3.4 Two-time-scale motion analysis In accordance ... Edition,McGraw Hill, ISBN: 0-1 322802 4-8 , Upper Saddle River, New Jersey.Guerra, R.; Acho, L. & Aguilar L.(2005). Chattering Attenuation UsingLinear -in- the-Parameter Neural Nets in Variable Structure...