Improving the Tracking Performance under Nonlinear Time-Varying Constraints in Motion Control Applications: From Theoretical Servo Model to Experimental Validation

Table 2

Comparative simulation results among controllers.

Rule no.	Overshoot (%)	Rising time (s)	RMS tracking error (rad)
Without uncertainties
PID controller	10.1	0.14	0.17
PFSMC controller	7.3	0.05	0.08
With uncertainties
PID controller	15.2	0.21	0.30
PFSMC controller	9.5	0.13	0.16