A Novel Compound Control Method for Hydraulically Driven Shearer Drum Lifting

Table 1

Comparisons of controllers.

Performance	PID	CMAC-PID	CMAC-
Rise time (s)	0.4524	0.2859	0.2264
Settling time (s)	0.5636	0.3918	0.3036
IAE	0.0822	0.0596	0.0416
ITAE	0.1481	0.1039	0.0704