Fig 1

An X-33 vehicle"

Fig 2

Control effectors of an X-33 vehicle"

Fig 3

Attitude tracking profiles with sat[ $ {\boldsymbol{e}}_{\boldsymbol{2}} $ ] "

Fig 4

Attitude tracking error with sat[ ${\boldsymbol{e}}_{\boldsymbol{2}}$ ]: ${\boldsymbol{\gamma}}$ ? ${\boldsymbol{\gamma}}_{\boldsymbol{m}}$ "

Fig 5

Angular velocity tracking profiles with sat[ ${\boldsymbol{e}}_{\boldsymbol{2}}$ ] "

Fig 6

Angular velocity tracking error with sat[ ${\boldsymbol{e}}_{\boldsymbol{2}}$ ]: ${\boldsymbol{\omega}}-{\boldsymbol{\omega}}_{\boldsymbol{d}}$ "

Fig 7

Control input ${\boldsymbol{\delta}}$ with sat[ ${\boldsymbol{e}}_{\boldsymbol{2}}$ ] "

Fig 8

Attitude tracking error with $\dfrac{{\boldsymbol{e}}_2}{\|{\boldsymbol{e}}_2\|}$ : ${\boldsymbol{\gamma }}$ ? ${\boldsymbol{\gamma}}_{\boldsymbol{m}}$ "

Fig 9

Angular velocity tracking error $\dfrac{{\boldsymbol{e}}_{\boldsymbol{2}}}{\|{\boldsymbol{e}}_{\boldsymbol{2}}\|}$ : ${\boldsymbol{\omega}}-{\boldsymbol{\omega}}_{\boldsymbol{d}}$ "

Fig 10

Control input ${\boldsymbol{\delta}}$ with $\dfrac{{\boldsymbol{e}}_{\boldsymbol{2}}}{\|{\boldsymbol{e}}_{\boldsymbol{2}}\|}$ "