Table 2 The maximum absolute errors \(E_{x}\) and \(E_{u}\) at \(\mathcal{N} = 3\) and various values of α, ρ for \(x(t)\) and \(u(t)\), respectively

α = 0.5

0.2

1.1055e − 3

2.6344e − 2

4.6858e − 6

0.5

1.9918e − 3

4.4570e − 2

1.7460e − 5

0.8

2.1700e − 3

4.6071e − 2

2.3426e − 5

1

2.0169e − 3

4.1521e − 2

2.1739e − 5

1.2

1.7212e − 3

3.4446e − 2

1.6844e − 5

1.5

1.1225e − 3

2.1604e − 2

7.6890e − 6

α = 0.9

0.2

1.9345e − 3

4.1959e − 2

1.6842e − 5

0.5

2.4209e − 3

4.8170e − 2

3.5887e − 5

0.8

1.4101e − 3

2.6196e − 2

1.6130e − 5

1

4.9785e − 4

8.8228e − 3

2.3605e − 6

1.2

8.1160e − 4

1.0918e − 2

1.9380e − 6

1.5

2.6130e − 3

4.4556e − 2

3.9022e − 5