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

Table 3

Screw-shape curve simulation error.

Simulation error (mm)		With ESO	Without ESO
Tracking error	Maximum value-x	0.0091	0.0242
	Mean value-x	0.0055	0.0157
	Maximum value-y	0.0105	0.070
	Mean value-y	0.0026	0.017
	Maximum value-z	0.0212	0.0276
	Mean value-z	0.0081	0.0125
Contour error	Maximum value	0.0231	0.0523
	Mean value	0.0089	0.0237