r(t) =1 − e−γ2t ,t ≤ Ta 4e−γ1(t−Tb)(sin(2πωat) + 1), otherwiset=500Ta=250,Tb=500/2.2,γ1=0.07,γ2=0.004,ωa = 0.06,
MATLAB: Matlab coding for the below
time varying condition function
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