It solved the contradiction of the convergence rate, tracking capabilities and the steady-state error, but when the error close to zero, step size  changes too much, that lead to greater step in steady state

TH1.2\AtarodiAbbasali_SUT_AdvDSP_TH1.2.docx
.....\AtarodiAbbasali_SUT_AdvDSP_TH1.2.pdf

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