Research Article
Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation
Table 2
Performance indexes during the last two seconds in slow tracking case.
| Indexes | | | | | |
| PID | 0.0247 | 0.0032 | 0.0050 | 0.0392 | 0.0196 | ARC | 0.0111 | 0.0032 | 0.0022 | 0.0389 | 0.0170 | ARCF | 0.0099 | 0.0024 | 0.0021 | 0.0389 | 0.0188 | DCARC | 0.0101 | 0.0016 | 0.0023 | 0.0382 | 0.0172 | DCARCF | 0.0077 | 0.0012 | 0.0014 | 0.0371 | 0.0171 |
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