Experimental Study on Inverse Model-Based Force Tracking Control of MR Damper

Table 4

RMSE between and for different control laws.

Control law		RMSE
		Total	Region I	Region II	Region III
0	10	0.111	0.041 (28.5%)	0.103 (71.5%)	—
0	20	0.057	0.031 (39.2%)	0.048 (60.8%)	—
50	10	0.134	—	0.114 (61.2%)	0.071 (37.8%)
50	20	0.066	0.030 (26.8%)	0.047 (42.0%)	0.035 (31.2%)
100	10	0.114	0.067 (33.8%)	0.066 (33.3%)	0.065 (32.9%)
100	20	0.092	0.062 (39.5%)	0.043 (27.4%)	0.052 (33.1%)
−50	10	0.098	0.029 (19.1%)	0.085 (55.9%)	0.038 (25.0%)
−50	20	0.054	0.028 (30.1%)	0.034 (36.6%)	0.031 (33.3%)
−100	10	0.067	0.022 (20.0%)	0.052 (47.3%)	0.036 (32.7%)
−100	20	0.060	0.028 (27.4%)	0.043 (42.2%)	0.031 (30.4%)