[Retracted] Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Table 6

Settling time of ERL-SM and RLQR-NF control schemes for convergence analysis.

Control scheme	Lower limb joint	Settling time (sec)
		Nominal system mass	Case I of PUEDs	Case II of PUEDs
ERL-SM	Hip	1.971	1.986	1.993
	Knee	1.962	1.974	1.988
	Ankle	1.927	1.943	1.969
RLQR-NF	Hip	1.951	1.967	1.991
	Knee	1.946	1.959	1.987
	Ankle	1.914	1.933	1.958