Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator

Table 4

Mean square error contrast at the transient phase.

	PID		MRAC		Switch
Input signal
	0.0288	0.1101	0.0527	0.1333	0.0400	0.1040
	0.0277	0.0518	0.0946	0.4813	0.0850	0.0361