% This file was created by matlab2tikz v0.3.3.
% Copyright (c) 2008--2013, Nico Schlmer <nico.schloemer@gmail.com>
% All rights reserved.
% 
% 
% 

% defining custom colors
\definecolor{mycolor1}{rgb}{0,0.75,0.75}

\begin{tikzpicture}

\begin{axis}[%
width=6.01828521434821in,
height=4.74667979002625in,
unbounded coords=jump,
scale only axis,
xmin=-1,
xmax=1,
xlabel={Time-delay, $\theta$},
ymin=0,
ymax=900,
ylabel={Cost, $J$},
legend style={draw=black,fill=white,legend cell align=left}
]
\addplot [
color=blue,
solid,
forget plot
]
table[row sep=crcr]{
-0.9 0.869791424420154\\
-0.89 0.862891624962549\\
-0.88 0.894333641994303\\
-0.87 0.929571155238803\\
-0.86 0.932855217918638\\
-0.85 0.960410560960368\\
-0.84 1.02025811081143\\
-0.83 1.14191374410048\\
-0.82 1.19245457218828\\
-0.81 1.34470866856104\\
-0.8 1.79821646823282\\
-0.79 2.53763349075325\\
-0.78 3.93505608698991\\
-0.77 11.431152282839\\
-0.76 105.417069603186\\
};
\addplot [
color=blue,
solid
]
table[row sep=crcr]{
-0.22 0.926671746776134\\
-0.21 0.934312831343643\\
-0.2 0.901827107456053\\
-0.19 0.914738000625331\\
-0.18 0.919946176775756\\
-0.17 0.900758382993325\\
-0.16 0.90451363772565\\
-0.15 0.850775139923161\\
-0.14 0.880774582179927\\
-0.13 0.863019430260469\\
-0.12 0.897898070461613\\
-0.11 0.923429228560312\\
-0.1 0.906837805205655\\
-0.09 0.891339806621156\\
-0.08 0.903337562972379\\
-0.07 0.885253935161131\\
-0.0600000000000001 0.892972275758573\\
-0.05 0.934167997175713\\
-0.04 0.917710557684012\\
-0.03 0.892920126619712\\
-0.02 0.917640923156323\\
-0.01 0.935173815942374\\
0 0.96769252127334\\
0.01 1.00782957837375\\
0.02 0.975028270391624\\
0.03 1.05811945959471\\
0.04 1.04535898525436\\
0.05 1.0381253963725\\
0.0600000000000001 1.06709978689446\\
0.07 1.07772483730251\\
0.08 1.05722434098793\\
0.09 1.11031173314994\\
0.1 1.08786704981454\\
0.11 1.12601171915147\\
0.12 1.13055166599421\\
0.13 1.12435556349014\\
0.14 1.14841506603707\\
0.15 1.14841779362837\\
0.16 1.15566000498104\\
0.17 1.13190679926106\\
0.18 1.13460285217254\\
0.19 1.22191333482575\\
0.2 1.19742961251819\\
0.21 1.22257820148708\\
0.22 1.24869564436387\\
0.23 1.22488975429502\\
0.24 1.2447809913014\\
0.25 1.23162586341029\\
0.26 1.29780160670126\\
0.27 1.29110774605489\\
0.28 1.28999455190559\\
0.29 1.30756863895676\\
0.3 1.33743135344735\\
0.31 1.3042450541567\\
0.32 1.33276265896882\\
0.33 1.32871353118493\\
0.34 1.33049125883936\\
0.35 1.36316513701718\\
0.36 1.37985285448131\\
0.37 1.35313618525863\\
0.38 1.36002368834806\\
0.39 1.33637934717221\\
0.4 1.36720049402226\\
0.41 1.36684466464569\\
0.42 1.36990375462483\\
0.43 1.41263128978405\\
0.44 1.404327288\\
0.45 1.41201228369019\\
0.46 1.43325138388842\\
0.47 1.44087867142674\\
0.48 1.45515892925484\\
0.49 1.50018739010083\\
0.5 1.55278747458344\\
0.51 1.54116636862459\\
0.52 1.58097904507611\\
0.53 1.6227234201077\\
0.54 1.69328943194382\\
0.55 1.6891636173501\\
0.56 1.73993396147815\\
0.57 1.80729988887299\\
0.58 1.88912598313884\\
0.59 2.03081804373376\\
0.6 2.13205280834132\\
0.61 2.27309707031428\\
0.62 2.44022006245286\\
0.63 2.81317994722328\\
0.64 3.1427365060575\\
0.65 3.91416849681599\\
0.66 5.33237923335229\\
0.67 8.60011583222977\\
0.68 16.2446229367847\\
0.69 34.1350198577573\\
0.7 75.8809229627333\\
0.71 175.328886192336\\
0.72 400.055457171834\\
0.73 886.221483284156\\
};
\addlegendentry{$\text{tau}_\text{c}\text{ = 0.5*theta}$};

\addplot [
color=green!50!black,
solid
]
table[row sep=crcr]{
-0.9 1.0590927474035\\
-0.89 1.05992092940651\\
-0.88 1.06365979493099\\
-0.87 1.07170613799176\\
-0.86 1.07080926662555\\
-0.85 1.06431200514056\\
-0.84 1.06546039200337\\
-0.83 1.0658083742415\\
-0.82 1.0714530861579\\
-0.81 1.07522957467409\\
-0.8 1.07947457126882\\
-0.79 1.07990744207946\\
-0.78 1.08150563547119\\
-0.77 1.07710072351117\\
-0.76 1.07233130968254\\
-0.75 1.07197398610693\\
-0.74 1.0711435762687\\
-0.73 1.07456303744587\\
-0.72 1.07930387420304\\
-0.71 1.0840646058428\\
-0.7 1.07568378438645\\
-0.69 1.07316327720279\\
-0.68 1.07850332179271\\
-0.67 1.06818582094457\\
-0.66 1.07148797211069\\
-0.65 1.07650629668388\\
-0.64 1.07496951397294\\
-0.63 1.07026880254414\\
-0.62 1.0715551805323\\
-0.61 1.08098946474358\\
-0.6 1.07752534724314\\
-0.59 1.07731042534085\\
-0.58 1.07351299917438\\
-0.57 1.08328869195063\\
-0.56 1.08099911615674\\
-0.55 1.07703546078753\\
-0.54 1.0968098428558\\
-0.53 1.10334873240427\\
-0.52 1.1010636099564\\
-0.51 1.09597807911049\\
-0.5 1.09210738002487\\
-0.49 1.0849053617965\\
-0.48 1.07767092084279\\
-0.47 1.08025773911208\\
-0.46 1.08126563244409\\
-0.45 1.08499138169178\\
-0.44 1.08139601701145\\
-0.43 1.09066892938134\\
-0.42 1.08468666272453\\
-0.41 1.10318030252387\\
-0.4 1.11236744364704\\
-0.39 1.10535412976425\\
-0.38 1.10861237773283\\
-0.37 1.09905710204009\\
-0.36 1.09344619013578\\
-0.35 1.10957644198836\\
-0.34 1.08974034504534\\
-0.33 1.0955556826161\\
-0.32 1.10698349250253\\
-0.31 1.09002335376367\\
-0.3 1.11315049221335\\
-0.29 1.10590827682643\\
-0.28 1.10958155509303\\
-0.27 1.11527666621929\\
-0.26 1.11006502470862\\
-0.25 1.10272123940489\\
-0.24 1.10667261067437\\
-0.23 1.11730423397061\\
-0.22 1.10808958809991\\
-0.21 1.10400245462435\\
-0.2 1.10460456895279\\
-0.19 1.11741965482945\\
-0.18 1.11692971105299\\
-0.17 1.12937168893213\\
-0.16 1.12819316714455\\
-0.15 1.13066028961775\\
-0.14 1.11819891945257\\
-0.13 1.12597283143521\\
-0.12 1.13002687265788\\
-0.11 1.1232349537054\\
-0.1 1.12654300997383\\
-0.09 1.12317352787598\\
-0.08 1.12638608563565\\
-0.07 1.13428222555005\\
-0.0600000000000001 1.13469278360718\\
-0.05 1.14845494504424\\
-0.04 1.1555754817264\\
-0.03 1.14496456147361\\
-0.02 1.14143814404219\\
-0.01 1.14949396518946\\
0 1.15331016129303\\
0.01 1.16000104313364\\
0.02 1.16282129839966\\
0.03 1.16400975606991\\
0.04 1.16794714176786\\
0.05 1.1670159556343\\
0.0600000000000001 1.19058144303041\\
0.07 1.17948313535647\\
0.08 1.19172541249817\\
0.09 1.19411773200164\\
0.1 1.20041621043564\\
0.11 1.20505480520159\\
0.12 1.210196181065\\
0.13 1.21816667602648\\
0.14 1.22568320220658\\
0.15 1.23919996074977\\
0.16 1.22618002028826\\
0.17 1.23787516464144\\
0.18 1.26087509065509\\
0.19 1.24709401284887\\
0.2 1.26492367595664\\
0.21 1.25850573435081\\
0.22 1.27875301033371\\
0.23 1.26860866602054\\
0.24 1.28243080459642\\
0.25 1.28055224452853\\
0.26 1.27876828700798\\
0.27 1.28565932965005\\
0.28 1.29282274880818\\
0.29 1.30571933870008\\
0.3 1.30768205403083\\
0.31 1.30766416251772\\
0.32 1.31979188776444\\
0.33 1.33008333863212\\
0.34 1.33209144034335\\
0.35 1.3365117183191\\
0.36 1.34476136841162\\
0.37 1.36314171177725\\
0.38 1.35735313582735\\
0.39 1.36406078004596\\
0.4 1.36513036632228\\
0.41 1.3785502277774\\
0.42 1.38675397690493\\
0.43 1.39414601118057\\
0.44 1.3999082561412\\
0.45 1.40775405259742\\
0.46 1.41576580181097\\
0.47 1.43267085832389\\
0.48 1.43231019628724\\
0.49 1.43870615946316\\
0.5 1.4491847119432\\
0.51 1.45299288137389\\
0.52 1.45996268814467\\
0.53 1.47038340106088\\
0.54 1.4812001128926\\
0.55 1.48931067906193\\
0.56 1.49724347643691\\
0.57 1.5012454485995\\
0.58 1.51415377361187\\
0.59 1.52280142593109\\
0.6 1.53790329742149\\
0.61 1.55210285468044\\
0.62 1.56076879396002\\
0.63 1.56645924125508\\
0.64 1.58298829234813\\
0.65 1.59061136664019\\
0.66 1.60617628433782\\
0.67 1.61438674718478\\
0.68 1.62540571419893\\
0.69 1.64055758028828\\
0.7 1.66002896055129\\
0.71 1.67424714125219\\
0.72 1.68732125740948\\
0.73 1.69670860711229\\
0.74 1.71042757633205\\
0.75 1.73300170310893\\
0.76 1.75451905320277\\
0.77 1.76028473798096\\
0.78 1.77547834039783\\
0.79 1.79204819598195\\
0.8 1.82079526710882\\
0.81 1.83796609949674\\
0.82 1.84232148951652\\
0.83 1.87347317649239\\
0.84 1.88545975472643\\
0.85 1.90723317028057\\
0.86 1.9293531334298\\
0.87 1.93912069032969\\
0.88 1.95553547251603\\
0.89 1.97750294850605\\
0.9 2.01044942065589\\
};
\addlegendentry{$\text{tau}_\text{c}\text{ = theta}$};

\addplot [
color=red,
solid
]
table[row sep=crcr]{
-0.9 1.4415427716175\\
-0.89 1.44197368471712\\
-0.88 1.44447256208277\\
-0.87 1.4431227592695\\
-0.86 1.44395036684977\\
-0.85 1.4444080845985\\
-0.84 1.44470358030611\\
-0.83 1.44415082709138\\
-0.82 1.44506168763221\\
-0.81 1.44596122611228\\
-0.8 1.44874885272177\\
-0.79 1.44780680720417\\
-0.78 1.44904287840522\\
-0.77 1.44735558450509\\
-0.76 1.44581241265058\\
-0.75 1.44582481759699\\
-0.74 1.44583699833772\\
-0.73 1.44879754085276\\
-0.72 1.44907559123904\\
-0.71 1.44897724588955\\
-0.7 1.44767793427364\\
-0.69 1.44621959271421\\
-0.68 1.44858091786016\\
-0.67 1.44820738781491\\
-0.66 1.44676302538441\\
-0.65 1.44729646857906\\
-0.64 1.44867972077922\\
-0.63 1.44945180670927\\
-0.62 1.45353622621726\\
-0.61 1.45065063351159\\
-0.6 1.45450352160783\\
-0.59 1.45097499220164\\
-0.58 1.44863178438035\\
-0.57 1.45043481424756\\
-0.56 1.45101736239461\\
-0.55 1.45137959434275\\
-0.54 1.45020861372082\\
-0.53 1.45367231363872\\
-0.52 1.45842988989717\\
-0.51 1.45970631906051\\
-0.5 1.45931395568758\\
-0.49 1.45623426157835\\
-0.48 1.45258240995587\\
-0.47 1.45246821050894\\
-0.46 1.45404625867564\\
-0.45 1.45471658638733\\
-0.44 1.45540115184319\\
-0.43 1.45680416938912\\
-0.42 1.45493459350555\\
-0.41 1.45687870416693\\
-0.4 1.46254067229109\\
-0.39 1.46514779088818\\
-0.38 1.46723734369798\\
-0.37 1.46497635188416\\
-0.36 1.45823448808634\\
-0.35 1.45865469036367\\
-0.34 1.45880925498901\\
-0.33 1.46157443631783\\
-0.32 1.46102756798111\\
-0.31 1.46365123573785\\
-0.3 1.46329532109596\\
-0.29 1.46610547317598\\
-0.28 1.46666683814835\\
-0.27 1.46504128235007\\
-0.26 1.46304091869523\\
-0.25 1.46918043816903\\
-0.24 1.46657000721624\\
-0.23 1.46491998584714\\
-0.22 1.47184130196344\\
-0.21 1.46532091288485\\
-0.2 1.46732127188047\\
-0.19 1.46970287414517\\
-0.18 1.47114510941498\\
-0.17 1.46977889761633\\
-0.16 1.47294206453778\\
-0.15 1.4712803984231\\
-0.14 1.46970792358071\\
-0.13 1.47882216292857\\
-0.12 1.47648201092225\\
-0.11 1.48047310160908\\
-0.1 1.47862161053801\\
-0.09 1.47395839043051\\
-0.08 1.47717587184642\\
-0.07 1.47563658058759\\
-0.0600000000000001 1.48201277476214\\
-0.05 1.47938099628898\\
-0.04 1.48245336994922\\
-0.03 1.49025143511118\\
-0.02 1.48999118495328\\
-0.01 1.48808503132192\\
0 1.49059522269641\\
0.01 1.48699916559601\\
0.02 1.48601826308761\\
0.03 1.48929328046209\\
0.04 1.49264861555825\\
0.05 1.4907857498003\\
0.0600000000000001 1.49281501065778\\
0.07 1.49638735180587\\
0.08 1.50119650128185\\
0.09 1.50239932561239\\
0.1 1.49773620626238\\
0.11 1.50001254337977\\
0.12 1.50331559600085\\
0.13 1.50483990059033\\
0.14 1.50923865490834\\
0.15 1.51307064465693\\
0.16 1.51847538095366\\
0.17 1.51741839636784\\
0.18 1.52205420789337\\
0.19 1.52830079571594\\
0.2 1.53392306596534\\
0.21 1.53207423822999\\
0.22 1.53634592883152\\
0.23 1.54334264513406\\
0.24 1.54316382661287\\
0.25 1.54280266220237\\
0.26 1.55125291750147\\
0.27 1.55204364754629\\
0.28 1.5585283044666\\
0.29 1.56238649591743\\
0.3 1.56717373186612\\
0.31 1.56887630221396\\
0.32 1.57560199310601\\
0.33 1.57861658954403\\
0.34 1.58107311000105\\
0.35 1.58534125535286\\
0.36 1.58978561545349\\
0.37 1.59012277213701\\
0.38 1.59709640711187\\
0.39 1.60230199470626\\
0.4 1.60746603246496\\
0.41 1.61249733692508\\
0.42 1.61800870947321\\
0.43 1.62482067309362\\
0.44 1.62088144947306\\
0.45 1.63062411578627\\
0.46 1.63210785266394\\
0.47 1.63441785387904\\
0.48 1.63811383597459\\
0.49 1.64370629901347\\
0.5 1.64821255002031\\
0.51 1.65488606712068\\
0.52 1.66159637138579\\
0.53 1.6662437225635\\
0.54 1.67262957261449\\
0.55 1.67844040296471\\
0.56 1.67952965060378\\
0.57 1.68835902397049\\
0.58 1.69448888915157\\
0.59 1.70104147298042\\
0.6 1.70738027167653\\
0.61 1.71239669350377\\
0.62 1.71878674457431\\
0.63 1.72425108724602\\
0.64 1.72642473507494\\
0.65 1.73542580568554\\
0.66 1.73971582928061\\
0.67 1.74998960450001\\
0.68 1.75691835304436\\
0.69 1.76363578951804\\
0.7 1.76855785073242\\
0.71 1.7787874334883\\
0.72 1.78573270398164\\
0.73 1.79427250095069\\
0.74 1.80385764515752\\
0.75 1.81081220011835\\
0.76 1.81674735169058\\
0.77 1.82588648153207\\
0.78 1.83452607949055\\
0.79 1.84130082775426\\
0.8 1.84955335340744\\
0.81 1.86002698304572\\
0.82 1.86857875876839\\
0.83 1.87869866415986\\
0.84 1.88721730387902\\
0.85 1.89543342806342\\
0.86 1.90362379260182\\
0.87 1.91632761173666\\
0.88 1.9245134298229\\
0.89 1.93359561848769\\
0.9 1.94576476459213\\
};
\addlegendentry{$\text{tau}_\text{c}\text{ = 1.5*theta}$};

\addplot [
color=mycolor1,
solid
]
table[row sep=crcr]{
-0.9 1.88344000983341\\
-0.89 1.88283319530842\\
-0.88 1.88312600328847\\
-0.87 1.88336326871377\\
-0.86 1.88311009256467\\
-0.85 1.88313980515016\\
-0.84 1.88328918048948\\
-0.83 1.88339358602434\\
-0.82 1.88348233346859\\
-0.81 1.88368077027256\\
-0.8 1.88384295119369\\
-0.79 1.88368304141515\\
-0.78 1.88372172144298\\
-0.77 1.88403351358745\\
-0.76 1.88433008640122\\
-0.75 1.88442772806328\\
-0.74 1.88425734554284\\
-0.73 1.88405649295075\\
-0.72 1.88432846210074\\
-0.71 1.88474126817508\\
-0.7 1.88446722146532\\
-0.69 1.88400263302971\\
-0.68 1.88447398604889\\
-0.67 1.88477530564833\\
-0.66 1.88476719096471\\
-0.65 1.8854366083001\\
-0.64 1.88433565924437\\
-0.63 1.88516662909568\\
-0.62 1.88538779043995\\
-0.61 1.88503346365847\\
-0.6 1.88431022290124\\
-0.59 1.88516425206652\\
-0.58 1.88552633534815\\
-0.57 1.88566108008208\\
-0.56 1.8855375146411\\
-0.55 1.88510514987668\\
-0.54 1.88503791026402\\
-0.53 1.88718703618381\\
-0.52 1.8851613807996\\
-0.51 1.88693433431607\\
-0.5 1.88428594561291\\
-0.49 1.88496684861745\\
-0.48 1.88570396744521\\
-0.47 1.88594251416526\\
-0.46 1.88579998248186\\
-0.45 1.88542713204599\\
-0.44 1.88458029425367\\
-0.43 1.88593352452961\\
-0.42 1.89012072793946\\
-0.41 1.88941931580966\\
-0.4 1.89073499944788\\
-0.39 1.88710721495505\\
-0.38 1.8844160928501\\
-0.37 1.88457218252975\\
-0.36 1.88468156563818\\
-0.35 1.88507864074496\\
-0.34 1.88573293276762\\
-0.33 1.88592996240138\\
-0.32 1.8937315470279\\
-0.31 1.88847748722248\\
-0.3 1.8912219596426\\
-0.29 1.88631382737545\\
-0.28 1.88566404135164\\
-0.27 1.88527447058137\\
-0.26 1.88688520702638\\
-0.25 1.88894566595776\\
-0.24 1.88701082357735\\
-0.23 1.89010932576763\\
-0.22 1.89018077454417\\
-0.21 1.88993867683667\\
-0.2 1.88655290356553\\
-0.19 1.89021614860194\\
-0.18 1.89410420131652\\
-0.17 1.88981495288605\\
-0.16 1.88812300137948\\
-0.15 1.88841811265106\\
-0.14 1.89059430258291\\
-0.13 1.88666785383458\\
-0.12 1.89165820331763\\
-0.11 1.89096469290641\\
-0.1 1.88869515737234\\
-0.09 1.88884093756332\\
-0.08 1.88810949149525\\
-0.07 1.88983084664368\\
-0.0600000000000001 1.88663075032046\\
-0.05 1.88782898975613\\
-0.04 1.89145855062123\\
-0.03 1.88836757591217\\
-0.02 1.89274863234237\\
-0.01 1.88679680054544\\
0 1.89249770434095\\
0.01 1.89664757930874\\
0.02 1.89278455418189\\
0.03 1.8896127620973\\
0.04 1.88530927928875\\
0.05 1.88462071476424\\
0.0600000000000001 1.88796982844779\\
0.07 1.88768876935274\\
0.08 1.88673808936376\\
0.09 1.8854076848384\\
0.1 1.88517565294464\\
0.11 1.88703569537331\\
0.12 1.88920980526008\\
0.13 1.88648922569863\\
0.14 1.8861288519454\\
0.15 1.88943737459432\\
0.16 1.88882310073038\\
0.17 1.88695532329771\\
0.18 1.88965366197949\\
0.19 1.88758271027336\\
0.2 1.88850376357037\\
0.21 1.88466462160332\\
0.22 1.8855104372407\\
0.23 1.88652717256394\\
0.24 1.88860336653748\\
0.25 1.88890691143831\\
0.26 1.89212893913605\\
0.27 1.89373742562325\\
0.28 1.89482664055388\\
0.29 1.89357238464857\\
0.3 1.89516617961891\\
0.31 1.89777002189224\\
0.32 1.89917997370593\\
0.33 1.90153412820603\\
0.34 1.90318305151208\\
0.35 1.90681024237441\\
0.36 1.90931078209815\\
0.37 1.9109951830808\\
0.38 1.91627904692149\\
0.39 1.91888886076995\\
0.4 1.92070554371086\\
0.41 1.92249236110912\\
0.42 1.92605417130876\\
0.43 1.93100286171603\\
0.44 1.9329959216991\\
0.45 1.93684211375527\\
0.46 1.93875995937015\\
0.47 1.94247377958454\\
0.48 1.94612460174541\\
0.49 1.94948690074706\\
0.5 1.95418676015259\\
0.51 1.95782394233765\\
0.52 1.96131630719185\\
0.53 1.96564746984273\\
0.54 1.97020141206718\\
0.55 1.9739487380803\\
0.56 1.97959419301634\\
0.57 1.98200308827872\\
0.58 1.98659778059255\\
0.59 1.99176647971742\\
0.6 1.99509835063214\\
0.61 1.99914692275326\\
0.62 2.00367290416551\\
0.63 2.00953067465796\\
0.64 2.01357362930909\\
0.65 2.01877406864247\\
0.66 2.02353859258913\\
0.67 2.02830070973951\\
0.68 2.03288991720231\\
0.69 2.0372799913492\\
0.7 2.04282656019569\\
0.71 2.04778555112553\\
0.72 2.05324422039338\\
0.73 2.05939726078494\\
0.74 2.06508076209773\\
0.75 2.06994707179166\\
0.76 2.07501603776513\\
0.77 2.08078749578799\\
0.78 2.08612988598663\\
0.79 2.09250914080458\\
0.8 2.09732500118218\\
0.81 2.10337049488787\\
0.82 2.10894195989155\\
0.83 2.1163414098872\\
0.84 2.12217364673484\\
0.85 2.12800323955092\\
0.86 2.13421488995524\\
0.87 2.14090453404557\\
0.88 2.14675307287538\\
0.89 2.15238630420914\\
0.9 2.15844422924008\\
};
\addlegendentry{$\text{tau}_\text{c}\text{ = 2*theta}$};

\end{axis}
\end{tikzpicture}%