Table 3: Performance evaluation for comprehensive experiment.

PositonVeloctiy
Final errorSettling timeErrorBraking overshoot
𝑉 i n ( 𝑡 ) = [ 1 0 0 , 1 0 0 ] 𝑇 𝑉 i n ( 𝑡 ) = [ 3 0 0 , 3 0 0 ] 𝑇

MMCICS [ ] 0 . 0 2 , 0 . 0 5 𝑇 0.82 s [ ] 6 . 6 2 , 7 . 5 0 𝑇 [ ] 7 . 2 2 , 5 . 6 4 𝑇 [ ] 2 . 4 1 , 3 . 1 3 𝑇
CCS [ ] 0 . 0 5 , 0 . 2 2 𝑇 1.07 s [ ] 1 3 . 8 2 , 1 8 . 2 0 𝑇 [ ] 3 2 . 2 , 5 2 . 0 6 𝑇 [ ] 1 0 . 2 5 , 2 5 . 2 0 𝑇