Research Article
Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation
Table 1
Performance indexes during the last two seconds.
| Indexes | | | | | |
| 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 |
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