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

\begin{axis}[%
width=6.01828521434821in,
height=4.74667979002625in,
scale only axis,
xmin=-1,
xmax=1,
xlabel={Time-delay, $\theta$},
ymin=0.8,
ymax=2.6,
ylabel={Cost, $J$},
title={Case 2},
legend style={draw=black,fill=white,legend cell align=left}
]
\addplot [
color=blue,
solid
]
table[row sep=crcr]{
-0.9 1.56735878227057\\
-0.89 1.56728438761486\\
-0.88 1.56729211990611\\
-0.87 1.56729119039936\\
-0.86 1.56741406899608\\
-0.85 1.56746037950627\\
-0.84 1.56743011585931\\
-0.83 1.56736854705668\\
-0.82 1.56730841390899\\
-0.81 1.56738230025029\\
-0.8 1.56732168892021\\
-0.79 1.56721884703881\\
-0.78 1.56727392895203\\
-0.77 1.56723506875326\\
-0.76 1.56714107534037\\
-0.75 1.56716961834264\\
-0.74 1.56738453778825\\
-0.73 1.56720882834205\\
-0.72 1.56725603763222\\
-0.71 1.56718384971286\\
-0.7 1.56717641078076\\
-0.69 1.56719799153583\\
-0.68 1.56717930819906\\
-0.67 1.56737627789828\\
-0.66 1.56731397888944\\
-0.65 1.56716240418522\\
-0.64 1.56714661083738\\
-0.63 1.56715562471061\\
-0.62 1.56717494322925\\
-0.61 1.56729817499737\\
-0.6 1.56747387417576\\
-0.59 1.56749045186742\\
-0.58 1.56741866843717\\
-0.57 1.56721704038145\\
-0.56 1.56713791693019\\
-0.55 1.56712038811178\\
-0.54 1.56714288055378\\
-0.53 1.56735519197914\\
-0.52 1.56750470787776\\
-0.51 1.56744096569946\\
-0.5 1.56740555372332\\
-0.49 1.56747105106143\\
-0.48 1.56719361506879\\
-0.47 1.56720696164126\\
-0.46 1.56717318885988\\
-0.45 1.56723922510398\\
-0.44 1.56727298834975\\
-0.43 1.56756179924321\\
-0.42 1.56746712415071\\
-0.41 1.56738282366198\\
-0.4 1.56732450019192\\
-0.39 1.56736802407058\\
-0.38 1.56748761743024\\
-0.37 1.56740997635926\\
-0.36 1.56738633140787\\
-0.35 1.56742832280305\\
-0.34 1.56757684216969\\
-0.33 1.56759953178463\\
-0.32 1.567491162735\\
-0.31 1.56742565560937\\
-0.3 1.56734633655678\\
-0.29 1.56737352668457\\
-0.28 1.56725660520433\\
-0.27 1.56734014597407\\
-0.26 1.56740787672139\\
-0.25 1.56737737545598\\
-0.24 1.56740405410964\\
-0.23 1.56740441944047\\
-0.22 1.56738430260956\\
-0.21 1.56743795581725\\
-0.2 1.56742993793571\\
-0.19 1.56741446839229\\
-0.18 1.56730134683854\\
-0.17 1.56738860862511\\
-0.16 1.56745244921639\\
-0.15 1.56745844288961\\
-0.14 1.56748682457243\\
-0.13 1.56737672356857\\
-0.12 1.56754768481544\\
-0.11 1.5673848484423\\
-0.1 1.56748266721779\\
-0.09 1.56783133694461\\
-0.08 1.56773625673074\\
-0.07 1.5677107369318\\
-0.0600000000000001 1.56754872574967\\
-0.05 1.56768491030251\\
-0.04 1.56779592551804\\
-0.03 1.56775367503895\\
-0.02 1.56770479638962\\
-0.01 1.56770060418699\\
0 1.56781977523843\\
0.01 1.56773932083934\\
0.02 1.56775370455318\\
0.03 1.56782940851945\\
0.04 1.56765473724139\\
0.05 1.56769118817451\\
0.0600000000000001 1.5675567237553\\
0.07 1.5676241368217\\
0.08 1.56768789979299\\
0.09 1.56760152040515\\
0.1 1.56754214303617\\
0.11 1.56751175781525\\
0.12 1.56749893651094\\
0.13 1.56755632494041\\
0.14 1.56745242761658\\
0.15 1.56741022082652\\
0.16 1.56749426294342\\
0.17 1.56743006887554\\
0.18 1.56735068549334\\
0.19 1.56753991722696\\
0.2 1.56738930940749\\
0.21 1.56745345101326\\
0.22 1.56728932562181\\
0.23 1.56734076544448\\
0.24 1.56733047875939\\
0.25 1.56742910603825\\
0.26 1.5672858668617\\
0.27 1.56725292827196\\
0.28 1.567320075159\\
0.29 1.56727949112145\\
0.3 1.5672926339948\\
0.31 1.567395401849\\
0.32 1.56748490064246\\
0.33 1.56729852772721\\
0.34 1.56735983244065\\
0.35 1.56727411236186\\
0.36 1.56737833839987\\
0.37 1.56726798696051\\
0.38 1.56728730517992\\
0.39 1.56726573214856\\
0.4 1.56727676540102\\
0.41 1.56726029338225\\
0.42 1.56727808808236\\
0.43 1.56724312262687\\
0.44 1.56725823788414\\
0.45 1.56777450275052\\
0.46 1.56861270698615\\
0.47 1.56973741336917\\
0.48 1.57112163958374\\
0.49 1.57253892848074\\
0.5 1.57458240884395\\
0.51 1.57672965983307\\
0.52 1.57907571159539\\
0.53 1.58187807933028\\
0.54 1.58502962834071\\
0.55 1.58810718815983\\
0.56 1.59160355468005\\
0.57 1.59541551985833\\
0.58 1.59931713355605\\
0.59 1.60365627989416\\
0.6 1.60827272214425\\
0.61 1.61306484340669\\
0.62 1.61778087566794\\
0.63 1.62277508885671\\
0.64 1.62812069196444\\
0.65 1.63398572292847\\
0.66 1.63940998897322\\
0.67 1.64547101956654\\
0.68 1.65139554920344\\
0.69 1.65785904878291\\
0.7 1.66399640095573\\
0.71 1.67087132279271\\
0.72 1.67744425085704\\
0.73 1.68441414647712\\
0.74 1.69151987885891\\
0.75 1.69924848812365\\
0.76 1.70666165515173\\
0.77 1.7142243987659\\
0.78 1.72184695377375\\
0.79 1.72960457123447\\
0.8 1.73776516109122\\
0.81 1.7455401840135\\
0.82 1.75382926110788\\
0.83 1.76224108517168\\
0.84 1.77082521015762\\
0.85 1.77951310163437\\
0.86 1.78859666263053\\
0.87 1.79772774158561\\
0.88 1.80691532891873\\
0.89 1.81631588412369\\
0.9 1.82552783729235\\
};
\addlegendentry{PO:PID:Cascade};

\addplot [
color=green!50!black,
solid
]
table[row sep=crcr]{
-0.9 2.08509831917362\\
-0.89 2.08509838785752\\
-0.88 2.08509845088368\\
-0.87 2.08509850833173\\
-0.86 2.08509856028095\\
-0.85 2.08509860681009\\
-0.84 2.08509864799757\\
-0.83 2.08509868392115\\
-0.82 2.08509871465819\\
-0.81 2.08509874028586\\
-0.8 2.08509876088032\\
-0.79 2.08509877651767\\
-0.78 2.08509878727342\\
-0.77 2.08509879322252\\
-0.76 2.08509879443948\\
-0.75 2.08509879099832\\
-0.74 2.08509878297258\\
-0.73 2.08509877043516\\
-0.72 2.08509875345862\\
-0.71 2.08509873211486\\
-0.7 2.08509870647536\\
-0.69 2.08509867661108\\
-0.68 2.08509864259242\\
-0.67 2.08509860448917\\
-0.66 2.08509856237071\\
-0.65 2.08515835229025\\
-0.64 2.08509846636274\\
-0.63 2.08509841260905\\
-0.62 2.08509835511215\\
-0.61 2.08509829393838\\
-0.6 2.08509822915387\\
-0.59 2.0851579968494\\
-0.58 2.0850980890138\\
-0.57 2.08509801378742\\
-0.56 2.0850979352088\\
-0.55 2.08509785334086\\
-0.54 2.08509776824638\\
-0.53 2.08515751604936\\
-0.52 2.0850975886249\\
-0.51 2.0850974942201\\
-0.5 2.08509739683314\\
-0.49 2.08509729652357\\
-0.48 2.08509719335045\\
-0.47 2.08509708737208\\
-0.46 2.08509697864634\\
-0.45 2.08509686723042\\
-0.44 2.08509675318075\\
-0.43 2.08515647266785\\
-0.42 2.08509651740373\\
-0.41 2.08509639578637\\
-0.4 2.08509627175536\\
-0.39 2.08509614536417\\
-0.38 2.08509601666568\\
-0.37 2.08509588571197\\
-0.36 2.08509575255463\\
-0.35 2.08509561724448\\
-0.34 2.08509547983193\\
-0.33 2.08509534036646\\
-0.32 2.08509519889721\\
-0.31 2.08515489163643\\
-0.3 2.08515474630728\\
-0.29 2.08509476294601\\
-0.28 2.08509461393796\\
-0.27 2.08509446316125\\
-0.26 2.08509431066085\\
-0.25 2.08509415648118\\
-0.24 2.08509400066618\\
-0.23 2.0850938432588\\
-0.22 2.08509368430147\\
-0.21 2.08509352383613\\
-0.2 2.08509336190387\\
-0.19 2.08509319854516\\
-0.18 2.08515287000391\\
-0.17 2.08515270391369\\
-0.16 2.08509270030517\\
-0.15 2.08509253163231\\
-0.14 2.08509236172559\\
-0.13 2.08509219062152\\
-0.12 2.08509201835601\\
-0.11 2.08509184496421\\
-0.1 2.08509167048084\\
-0.09 2.08509149493973\\
-0.08 2.08509131837423\\
-0.07 2.08509114081688\\
-0.0600000000000001 2.08515079853045\\
-0.05 2.08515061908668\\
-0.04 2.08509060251074\\
-0.03 2.08509042129958\\
-0.02 2.08509023925008\\
-0.01 2.08509005639117\\
0 2.08508987275093\\
0.01 2.08508968835668\\
0.02 2.08508950323562\\
0.03 2.0850893174138\\
0.04 2.08508913091708\\
0.05 2.08508894377024\\
0.0600000000000001 2.08508875599791\\
0.07 2.08508856762387\\
0.08 2.0850883786713\\
0.09 2.08508818916282\\
0.1 2.0850879991206\\
0.11 2.08508780856595\\
0.12 2.08508761751974\\
0.13 2.0851472622595\\
0.14 2.08514707029151\\
0.15 2.08514687789106\\
0.16 2.08508684881683\\
0.17 2.08508665560595\\
0.18 2.0850864620168\\
0.19 2.08508626806635\\
0.2 2.08508607377104\\
0.21 2.08508587914669\\
0.22 2.08508568420879\\
0.23 2.08508548897219\\
0.24 2.08508529345109\\
0.25 2.08508509765956\\
0.26 2.08508490161085\\
0.27 2.08508470531792\\
0.28 2.08508450879314\\
0.29 2.08508431204859\\
0.3 2.08508411509561\\
0.31 2.08508391794541\\
0.32 2.08508372060851\\
0.33 2.08508352309524\\
0.34 2.08508332541532\\
0.35 2.08508312757801\\
0.36 2.08508292959246\\
0.37 2.08508273146718\\
0.38 2.08514236948431\\
0.39 2.08514217110419\\
0.4 2.08514197260793\\
0.41 2.08508193772748\\
0.42 2.08508173901935\\
0.43 2.08508154021545\\
0.44 2.08508134132169\\
0.45 2.0850811423441\\
0.46 2.08508094328812\\
0.47 2.08508074415896\\
0.48 2.08508054496148\\
0.49 2.08508034570057\\
0.5 2.08508014638042\\
0.51 2.08507994700535\\
0.52 2.08507974757912\\
0.53 2.08507954810565\\
0.54 2.08507934858827\\
0.55 2.08507914903021\\
0.56 2.08507894943467\\
0.57 2.08507874980444\\
0.58 2.08507855014223\\
0.59 2.08507835045066\\
0.6 2.08507815073215\\
0.61 2.08507795098903\\
0.62 2.0850777512234\\
0.63 2.08513738771875\\
0.64 2.08513718791464\\
0.65 2.08579166796053\\
0.66 2.08700618413298\\
0.67 2.08851974623352\\
0.68 2.09034634143076\\
0.69 2.09239418673544\\
0.7 2.09463275587872\\
0.71 2.09703952409185\\
0.72 2.09996368326055\\
0.73 2.10356538449063\\
0.74 2.10759536151471\\
0.75 2.11198189186968\\
0.76 2.11667945393688\\
0.77 2.12165265945725\\
0.78 2.12687622779574\\
0.79 2.13233034368594\\
0.8 2.13800408512922\\
0.81 2.14388560665006\\
0.82 2.14996062884297\\
0.83 2.1562185007513\\
0.84 2.16265023245198\\
0.85 2.1692480418801\\
0.86 2.17600510239699\\
0.87 2.18291537983781\\
0.88 2.18996840332006\\
0.89 2.19716822684452\\
0.9 2.20450678296263\\
};
\addlegendentry{PO:PI:Cascade};

\addplot [
color=red,
solid
]
table[row sep=crcr]{
-0.9 0.940536612465361\\
-0.89 0.940535854208908\\
-0.88 0.940535095952289\\
-0.87 0.940534337695608\\
-0.86 0.940533579438786\\
-0.85 0.940532821181885\\
-0.84 0.940532062924867\\
-0.83 0.940531304667787\\
-0.82 0.94053054641064\\
-0.81 0.94052978815341\\
-0.8 0.940529029896147\\
-0.79 0.940528271638784\\
-0.78 0.940527513381421\\
-0.77 0.940526755123958\\
-0.76 0.940525996866473\\
-0.75 0.940525238608967\\
-0.74 0.940524480351398\\
-0.73 0.94052372209386\\
-0.72 0.940522963836196\\
-0.71 0.94052220557866\\
-0.7 0.940521447320968\\
-0.69 0.940520689063353\\
-0.68 0.940519930805629\\
-0.67 0.940519172547931\\
-0.66 0.940518414290272\\
-0.65 0.940577444093181\\
-0.64 0.940516897774793\\
-0.63 0.940516139517069\\
-0.62 0.940515381259276\\
-0.61 0.940514623001584\\
-0.6 0.940513864743835\\
-0.59 0.940572894644694\\
-0.58 0.940512348228272\\
-0.57 0.940511589970497\\
-0.56 0.94051083171273\\
-0.55 0.940510073454949\\
-0.54 0.940509315197125\\
-0.53 0.940568345195996\\
-0.52 0.940507798681616\\
-0.51 0.940507040423842\\
-0.5 0.940506282166039\\
-0.49 0.940505523908294\\
-0.48 0.940504765650507\\
-0.47 0.940504007392716\\
-0.46 0.940503249134928\\
-0.45 0.94050249087717\\
-0.44 0.940501732619409\\
-0.43 0.940560762781515\\
-0.42 0.940500216103838\\
-0.41 0.940499457846055\\
-0.4 0.940498699588294\\
-0.39 0.940497941330539\\
-0.38 0.940497183072736\\
-0.37 0.940496424814964\\
-0.36 0.94049566655717\\
-0.35 0.940494908299399\\
-0.34 0.940494150041616\\
-0.33 0.940493391783839\\
-0.32 0.940492633526088\\
-0.31 0.940551663884193\\
-0.3 0.940550905642752\\
-0.29 0.940490358752743\\
-0.28 0.940489600494966\\
-0.27 0.9404888422372\\
-0.26 0.940488083979425\\
-0.25 0.940487325721646\\
-0.24 0.940486567463911\\
-0.23 0.940485809206118\\
-0.22 0.940485050948341\\
-0.21 0.94048429269054\\
-0.2 0.940483534432793\\
-0.19 0.940482776174982\\
-0.18 0.94054180674547\\
-0.17 0.940541048503993\\
-0.16 0.94048050140168\\
-0.15 0.940479743143957\\
-0.14 0.940478984886166\\
-0.13 0.940478226628404\\
-0.12 0.940477468370452\\
-0.11 0.940476710112931\\
-0.1 0.940475951852848\\
-0.09 0.940475193595032\\
-0.08 0.940474435337236\\
-0.07 0.940473677079444\\
-0.0600000000000001 0.940532707848074\\
-0.05 0.940531949606583\\
-0.04 0.940471402306116\\
-0.03 0.94047064404832\\
-0.02 0.940504312267105\\
-0.01 0.940686863368062\\
0 0.941037492009583\\
0.01 0.941616250270925\\
0.02 0.942498427357943\\
0.03 0.943748176865494\\
0.04 0.945396248751582\\
0.05 0.947434276478715\\
0.0600000000000001 0.949826579094323\\
0.07 0.952528953392291\\
0.08 0.955503541508215\\
0.09 0.958725074837376\\
0.1 0.962178163029375\\
0.11 0.965848680940598\\
0.12 0.969720448634976\\
0.13 0.973105761098877\\
0.14 0.97734138612264\\
0.15 0.981735809490214\\
0.16 0.986929074154227\\
0.17 0.991602330442348\\
0.18 0.996405096267597\\
0.19 1.00132993501061\\
0.2 1.00637042408977\\
0.21 1.01176431370255\\
0.22 1.01771377217386\\
0.23 1.02406582234597\\
0.24 1.0307797121635\\
0.25 1.03783260849867\\
0.26 1.04520781173806\\
0.27 1.05289153237826\\
0.28 1.06087186263611\\
0.29 1.06914027069824\\
0.3 1.07771151869088\\
0.31 1.08657092638395\\
0.32 1.09570838968302\\
0.33 1.10511708842865\\
0.34 1.1147916545015\\
0.35 1.12472773014627\\
0.36 1.13492166938259\\
0.37 1.1453704531993\\
0.38 1.15489344054839\\
0.39 1.16583662008479\\
0.4 1.17702833655544\\
0.41 1.18966825873177\\
0.42 1.20135997953444\\
0.43 1.21329624557638\\
0.44 1.22547629464249\\
0.45 1.23790485616652\\
0.46 1.25059266177613\\
0.47 1.26353396166004\\
0.48 1.2767276264278\\
0.49 1.29017370555494\\
0.5 1.30387290059003\\
0.51 1.31782621654922\\
0.52 1.33203777955784\\
0.53 1.34652337459838\\
0.54 1.36127939255997\\
0.55 1.37630628959539\\
0.56 1.39160600787002\\
0.57 1.40718114008904\\
0.58 1.42303468832225\\
0.59 1.43916998855039\\
0.6 1.45559065612492\\
0.61 1.47230057259619\\
0.62 1.48930383979626\\
0.63 1.50522788436379\\
0.64 1.52282137707011\\
0.65 1.54072157897447\\
0.66 1.55893341314362\\
0.67 1.57889140212283\\
0.68 1.59777743162983\\
0.69 1.61700013015116\\
0.7 1.63656457815983\\
0.71 1.65647657892053\\
0.72 1.67674400474565\\
0.73 1.69738777531256\\
0.74 1.71840996983077\\
0.75 1.73981584105855\\
0.76 1.76161233554908\\
0.77 1.78380706219275\\
0.78 1.80640813456769\\
0.79 1.82942407310028\\
0.8 1.85286371345495\\
0.81 1.87673629193945\\
0.82 1.90105134067118\\
0.83 1.92581874459373\\
0.84 1.95105945119269\\
0.85 1.97678734395901\\
0.86 2.00300914990807\\
0.87 2.02973540374286\\
0.88 2.05529164707806\\
0.89 2.08306303811459\\
0.9 2.11138767785615\\
};
\addlegendentry{SMITH:PID:Cascade};

\end{axis}
\end{tikzpicture}%