Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

Table 2

Algebraic identification: convergence time for the different experiments and payloads.

Errors	Experiment type 1			Experiment type 2			Experiment type 3
	10%	5%	2%	10%	5%	2%	10%	5%	2%
Payload	0.57 s	0.77 s	1.08 s	0.68 s	0.84 s	1.24 s	0.022 s	0.028 s	0.030 s
Payload	0.33 s	0.61 s	1.27 s	0.40 s	0.65 s	0.88 s	0.036 s	0.132 s	0.238 s
Payload	0.29 s	0.39 s	0.58 s	0.58 s	0.73 s	1.16 s	0.048 s	0.050 s	0.196 s