**Acknowledgements**

**Figure 6.** Smoothing trajectory for final state.

82 Nonlinear Systems - Design, Analysis, Estimation and Control

**Figure 7.** Smoothing trajectory for final output and real output.

The authors like to thank the Universiti Tun Hussein Onn Malaysia (UTHM) for financial supporting to this study under Incentive Grant Scheme for Publication (IGSP) VOT. U417.
