Research Article
Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems
Table 3
Two experimental conditions.
| Name | System constitution | Inertia ratio | Load torque |
| Case 1 | Single motor drives two reducers | 2.68 : 1 | 4 N·m |
| Case 2 | Single motor drives four reducers | 5.36 : 1 | 8 N·m |
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