Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems

Table 4

Tracking errors in two cases.

Case	Tracking signal	RMS error (SMC)	RMS error (DSSMAC)
1	30°/s, 30°/s^2 sine	0.052	0.028
	60°/s, 60°/s^2 sine	0.060	0.036
2	30°/s, 30°/s^2 sine	0.051	0.049
	60°/s, 60°/s^2 sine	0.075	0.059