A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties

Table 1

Control and adaptation gains for the MRAC algorithm (45).

Gain	Value
	3.0
	1.0
	1.0
	100
	1.0
	3.0
	1.0
	0.3
	0.1
	0.01
	0.01
	5.0
	0.01
	0.75
	0.05