ϕ s y s = ϕ + ( 2 | ϕ | ϕ m a x | θ | θ m a x 2 ) 4 ( u 0.5 ) r e r r o r π θ s y s = θ + ( 2 | ϕ | ϕ m a x | θ | θ m a x 2 ) 4 ( u 0.5 ) r e r r o r π