Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation

Table 2

Performance indexes during the last two seconds in slow tracking case.

Indexes	𝑀𝑒	𝜇	𝜎	𝐿𝑢	𝐿𝑐
PID	0.0247	0.0032	0.0050	0.0392	0.0196
ARC	0.0111	0.0032	0.0022	0.0389	0.0170
ARCF	0.0099	0.0024	0.0021	0.0389	0.0188
DCARC	0.0101	0.0016	0.0023	0.0382	0.0172
DCARCF	0.0077	0.0012	0.0014	0.0371	0.0171