Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems

Table 3

Comparison of the disturbance rejection between PID-FC and LQR-FC controllers with a 500 g loading.

	Maximum tracking error (mm)	Maximum synchronization error (mm)
PID-FC with a fixed 500 g loading	11.55 (L); 12.56 (R)	1.23
PID-FC with a 500 g loading attached at 40 mm	12.07 (L); 13.01 (R)	2.79
LQR-FC with a fixed 500 g loading	4.32 (L); 5.01 (R)	3.87
LQR-FC with a 500 g loading attached at 40 mm	4.02 (L); 9.08 (R)	6.12