The following table summarises the perfomance of submitted controller according to the following criteria:

\(||e_{q}||_{L^2} = ||q - q_{ref}||_{L^2}\) and \(||e_{q}||_{L^\infty} = ||q - q_{ref}||_{L^\infty}\)

where \(e_q\) is an error, \(q \in [\theta, \alpha, \theta', \alpha']\), and \(L^{2}, L^\infty\) norms are computed on the time interval [3, 20] sec