Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle

Table 1

PM coefficient sets used for the simulation.

Coefficient	𝐶 (Evaluation)	𝐶1 (0.9×𝐶)	𝐶2 (1.1×𝐶)
𝐹0 (×10^2)	−1.0336	−0.9302	−1.137
𝐹1 (×10^−6)	719.75	647.78	791.73
𝐾0 (×10^4)	1.5010	1.351	1.651
𝐾1 (×10^−2)	−5.703	−5.133	−6.2733
𝐵0	52.08	46.87	57.29
𝐵1 (×10^−6)	−124.5	−112.1	−137.0