Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

Table 2

Estimate performance comparison of the observers.

RMSE
Case  1	ILO	0.164	0.088	0.161	0.092	0.048	0.004
	LESO	0.215	0.122	0.219	0.126	0.049	0.006
Case  2	ILO	0.258	0.184	0.187	0.161	0.061	0.012
	LESO	0.317	0.298	0.258	0.214	0.063	0.013