Control for Isokinetic Exercise with External Disturbance

Table 2

Statistics of error upper boundary, lower boundary, and median under eight speeds.

Speed (°/s)		30	45	60	75	90	120	150	180
Upper adjacent	FOFPID	0.456	0.340	0.404	0.409	0.449	0.496	0.464	0.518
	PID	0.593	0.630	0.718	0.675	0.879	1.006	1.599	1.792
Median	FOFPID	−2.6e − 03	−4.5e − 03	−1.1e − 02	4.0e − 03	−6.0e − 03	−2.3e − 03	1.0e − 02	−9.8e − 04
	PID	4.9e − 05	−7.2e − 03	−1.6e − 03	−6.2e − 03	−1.5e − 02	1.5e − 02	−1.5e − 03	−1.3e − 02
Lower adjacent	FOFPID	−0.384	−0.393	−0.452	−0.472	−0.450	−0.495	−0.434	−0.471
	PID	−0.689	−0.681	−0.703	−0.749	−0.873	−0.997	−1.058	−1.532