A Time-Delay-Bounded Data Scheduling Algorithm for Delay Reduction in Distributed Networked Control Systems

Table 5

The detailed control parameters for the PID controller being utilized in the experiments.

Controller		Parameter being utilized
Parameters
Inner ring	Motion	3.0	0.1	0
	Force	0.15	1.5	0
Central ring	Motion	3.5	0.15	0
	Force	0.16	1.6	0
Outer ring	Motion	10.5	0.5	0
	Force	0.1	1.75	0.01
Line move	Motion	25	0.5	0
	Force	0.05	1.5	0.01