Table 2: Tuned controller gains and control inputs constraints.

Controller Control gains

sat(PDdgc) N/m; Nm/rad
Nm/rad; N/m
Nsec/m; Nmsec/rad
Nmsec/rad; Nsec/m
PDILC ;
;
;
;
sat(PID) N/m; Nm/rad
Nm/rad; N/m
Nsec/m; Nmsec/rad
Nmsec/rad; Nsec/m
N/msec; Nm/radsec
Nm/radsec; N/msec

Controller Additional parameters

Inputs N; Nm
Nm; N