Periodic and Chaotic Motions of a Two-Bar Linkage with OPCL Controller

Table 3

The Lyapunov exponents of the simulated chaotic motions of Figure 5.

	First	Second	Third	Fourth	Fifth
𝜃1	0.5496	0.0960	−0.0027	−0.1008	−2.0600
𝜃2	0.1431	−0.0371	−0.0787	−0.1567	−2.4240