Research Article

Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

Figure 15

Variance of parameters of RBFNN PID controller (, , and ) under square excitation of frequency 0.1 Hz and amplitude of 20 mm. (a)–(c) Outer position RBFNN PID parameters , , and , respectively; (d)–(f) inner pressure RBFNN PID parameters , , and , respectively.
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