Contour Tracking Control Based on Extended State Observer for Multiaxis Motion System

Table 2

Saddle-shape curve simulation error.

Simulation error (mm)		With ESO	Without ESO
Tracking error	Maximum value-x	0.0046	0.0383
	Mean value-x	0.0021	0.0206
	Maximum value-y	0.0151	0.0140
	Mean value-y	0.0014	0.0034
	Maximum value-z	0.0035	0.0061
	Mean value-z	0.0022	0.0039
Contour error	Maximum value	0.1057	0.4650
	Mean value	0.0120	0.2004