Table 4: Adaptation control algorithm.

Control commandDelta-error
POS_POS_NEG_NEG_
largesmallsmalllarge

ErrorPOS_huge−2−2−2−2
POS_large−1−1−1 0
POS_small−1 0 0 0
NEG_small 0 0 0 1
NEG_large 0 1 1 1
NEG_huge 2 2 2 2