Adaptive Robust Fault-Tolerant Synchronization Control for a Dual Redundant Hydraulic Actuation System with Common-Mode Fault

Table 3

Maximum tracking error for three control schemes under different scenarios.

Maximum tracking error (rad)	Fault-free	S1		S2
		Fault transient	Steady state	Fault transient	Steady state
PID	0.0250	0.0343	0.0555	0.0250	0.0251
NRSC	2.4546e-004	0.0014	0.0018	2.4585e-004	2.4687e-004
FTSC	2.4546e-004	7.8270e-004	2.4635e-004	2.4585e-004	2.4687e-004