Table 2: The performance indices in 20 seconds.

Controllerrod1rod2
IAE (rad)ITAE (rad · s)ISV (N2)IAE (rad)ITAE (rad · s)ISV (N2)

DAFSMC with CSW 0.8485 1.5820 0.4191 0.3299 704.3263
DAFSMC with FSW 2.3991 12.8742 1.1504 5.3901 253.8947
DAFSMC with VUFSW 0.3923 0.3867 0.2852 0.3180 437.4319