Table 3: The performance indices in 100 seconds.

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

DAFSMC with CSW 1.4397 33.2521 0.4722 6.6922
DAFSMC with FSW 3.9996 97.6183 2.1688 63.2731
DAFSMC with VUFSW 0.5073 7.2268 0.3844 6.1505