Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation

Table 1

Performance indexes during the last two seconds.

Indexes	𝑀𝑒	𝜇	𝜎	𝐿𝑢	𝐿𝑐
PID	0.0581	0.0132	0.0106	0.1101	0.0154
ARC	0.0283	0.0125	0.0076	0.1061	0.0138
ARCF	0.0260	0.0122	0.0073	0.1060	0.0141
DCARC	0.0234	0.0091	0.0046	0.1064	0.0117
DCARCF	0.0152	0.0059	0.0034	0.1059	0.0117