Fig. 5

The LO displacement in (a), the B-SLIP NES force in (b), its angle \(\theta \left( \tau \right)\) in (c) and the wavelet frequency spectrum of \(\theta \left( \tau \right)\) in (d), at the optimized B-SLIP NES parameters \(\hat{\lambda }_{\theta } = 0.0021\) and \(\hat{k}_{\theta } = 14.1\) at \(\alpha = 1.29\) and LO initial velocity \(\dot{u}\left( 0 \right) = 0.25\), and damping \(\hat{\lambda } = 0.005\).