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

Table 2

Control and adaptation gains for the DHB algorithm (54).

Gain	Value
	1.0
	1.0
	1.0
	0.01
	0.01
	5.0
	0.03
	0.03
	0.3
	0.03
	0.03
	0.03