The Switching Message Estimator for Network-Based Motion Control Systems

<table>Contouring error (a) Taylor estimator and (b) IME (<svg height="14.9" id="M63" style="vertical-align:-3.2316pt" version="1.1" viewbox="0 0 53.087502 14.9" width="53.087502" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.9)">
<g transform="translate(72,-60.08)">
<text transform="matrix(1,0,0,-1,-71.95,63.35)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑇</tspan>
</text>
<text transform="matrix(1,0,0,-1,-65.07,60.22)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑠</tspan>
</text>
<text transform="matrix(1,0,0,-1,-57.25,63.35)">
<tspan style="font-size: 12.50px; " x="0" y="0">=</tspan>
<tspan style="font-size: 12.50px; " x="12.027886" y="0">0</tspan>
<tspan style="font-size: 12.50px; " x="18.279387" y="0">.</tspan>
<tspan style="font-size: 12.50px; " x="21.405136" y="0">5</tspan>
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</svg> ms and average SDQ = 1.8).</table>

Journal of Control Science and Engineering

fig19

Figure 19

Figure 19: The Switching Message Estimator for Network-Based Motion Control Systems 