161325.fig.003a
(a)
161325.fig.003b
(b)
161325.fig.003c
(c)
161325.fig.003d
(d)
Figure 3: Experimental results of AF_DSC and AF_DSMC systems for the sine-wave command: (a) tracking errors in link1; (b) tracking errors in link2; (c) ; (d) .