![](bg8.png)
approach. Finally, some performance indexes have
been introduced to validate the response of the de-
signed controllers.
ACKNOWLEDGEMENTS
This work was supported in part by the Spanish
Ministry of Economy and Competitiveness under
the Project CICYT RTI2018-094665-B-I00 and the
Project CICYT DPI2017-84259-C2-2-R. Also, the
Project GID2016-6 supported by UNED.
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