Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory

Table 2

Peak-peak error and phase lag for Figure 5.

The proposed approach				PDC
Peak-peak error		Phase lag		Peak-peak error		Phase lag
𝜃1	𝜃2	𝜃1	𝜃2	𝜃1	𝜃2	𝜃1	𝜃2
0.7%	0.35%	4.9°	4.5°	1.3%	0.65%	16.2°	10.8°