The Switching Message Estimator for Network-Based Motion Control Systems

<table>Contouring error with (a) Taylor estimator and (b) IME (<svg height="14.7125" id="M64" style="vertical-align:-3.2316pt" version="1.1" viewbox="0 0 53.087502 14.7125" width="53.087502" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.7125)">
<g transform="translate(72,-60.23)">
<text transform="matrix(1,0,0,-1,-71.95,63.5)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑇</tspan>
</text>
<text transform="matrix(1,0,0,-1,-65.07,60.37)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑠</tspan>
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<text transform="matrix(1,0,0,-1,-57.25,63.5)">
<tspan style="font-size: 12.50px; " x="0" y="0">=</tspan>
<tspan style="font-size: 12.50px; " x="12.027886" y="0">0</tspan>
<tspan style="font-size: 12.50px; " x="18.279387" y="0">.</tspan>
<tspan style="font-size: 12.50px; " x="21.405136" y="0">4</tspan>
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</svg> ms and average SDQ = 2.7).</table>

Journal of Control Science and Engineering

fig21

Figure 21

Figure 21: The Switching Message Estimator for Network-Based Motion Control Systems 