Table 2: Parameters of the three-link planar manipulator controller used in the simulations.

Symbol Case no. 1 Case no. 2, no. 3

𝑤 𝐾 𝑑 diag { 1 6 , 1 6 } diag { 1 0 0 , 1 0 0 }
𝑤 𝐷 𝑑 diag { 6 , 6 } diag { 3 0 , 3 0 }
𝑤 𝑀 𝑑 diag { 0 . 0 2 , 0 . 0 2 } diag { 0 . 0 2 , 0 . 0 2 }
Γ 1 𝑖 90 90
Γ 2 𝑖 2.7e3 2.7e3
Γ 3 𝑖 10 10