Fig. 1. Relationship between T₀， V_maxLTD， a_maxLTD and r₁

Fig. 2. Output of LTD with speed and acceleration saturation

Fig. 3. Output of NLTD with speed saturation

Fig. 4. Impact of speed and acceleration saturation on output of VLTD

Fig. 5. Comparison of output between VLTD and NLTD

Fig. 6. Variation of azimuth and elevation angles with ϕs1 of 24°N

Fig. 7. Variation of azimuth and elevation angles with ϕs2 of 46°N

Fig. 8. Control diagram of position section method

Fig. 9. Control diagram of VLTD method

Fig. 10. Position step response with p₀=2

Fig. 11. Position step response with p₀=10

Fig. 12. Position step response with p₀=30

Fig. 13. Position step response with p₀=180

Fig. 14. Position step response with p₀=2

Fig. 15. Position step response with p₀=10

Fig. 16. Position step response with p₀=30

Fig. 17. Position step response with p₀=180