Research Article
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 |
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