System Identification and Embedded Controller Design for Pneumatic Actuator with Stiffness Characteristic

Table 3

Comparison of deflection results.

Stiffness parameters, 𝑘𝑠	Theory	Real-time: NI devices	Real-time: embedded system
0.5 N/mm	58.86 mm	58.23 mm	57.50 mm
1 N/mm	29.43 mm	29.01 mm	28.17 mm
2 N/mm	14.72 mm	16.80 mm	15.94 mm

N: newton, mm: millimeter.