This article refers to:
Dos Santos, C. H. F., Mariana, C. U., Terra, M. H. & De Pieri, E. R. (2018). Backstepping Sliding Mode Control with Functional Tuning Based on an Instantaneous Power Approach Applied to an Underwater Vehicle. International Journal of Systems Science. doi: https://doi.org/10.1080/00207721.2018.1424966
When the above article was first published online, the legends and the placement of – contained errors. These have now been corrected in the online version as below.
Figure 6. Errors with BSM and SMBIOS.
Figure 7. Errors with BSM and ASM.
Figure 8. Current velocities in X and Y (m/s).
Figure 9. Time history of 
.
Figure 10. Resultant force with BSM and SMBIOS.
Taylor & Francis apologizes for these errors.