Fig. 6 shows a comparison between the present method (blue line) and previous study (orange line) [24], which utilized radial basis function networks (RBFNs) for an ANN, under the driving conditions (uS = 0, uE = p/2 rad, and TE = 0.8 s). The results obtained by the previous study are similar to those obtained by the present method for N = 2. There is no significant