Thus the designed control system is
 (32)
By simulation experiments it is found out that offered controller (31) can provide stable oscillation of swinging leg and stable position of stance leg at various values of parameter and various values of initial conditions 0,  , 0,  which can be changed (uncertainly), for example, in the ranges [-0.4, +0.3] and [-0.4,+0.4], [-0.05,+0.05], [-0.8,+0.8], [-0.1,+0.1] respectively.
The Fig. 10 shows different behaviors of dynamics of in the control system (32) at corresponding different values of parameter varied in the ranges [-0.4, +0.3] radians, and at initial conditions .
The Fig. 11 shows different behaviors of dynamics of in the control system (32) at corresponding different values of parameter varied in the ranges [-0.4, +0.3] radians, and at initial conditions.
The Fig. 12 shows different behaviors of dynamics of in the control system (32) at constant value of parameter , equal to 0.3 and different values of initial conditions varied in the ranges ,  ,  ,  .
The Fig. 13 shows different behaviors of dynamics of in the control system (32) at constant value of parameter , equal to 0.3 and different values of initial conditions varied in the ranges, , , .
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