Table 4 One of QFT–DTOC performance indicators (%, indicated in two decimal digits)
Experimental condition | Performance index | ||||
|---|---|---|---|---|---|
Maximum force error (N) | Maximum elimination rate of force error (%) | ||||
PID | QFT | QFT–DTOC | QFT | QFT–DTOC | |
① | 424.69 | 307.26 | 209.41 | 27.65 | 50.69 |
② | 807.01 | 639.47 | 368.76 | 20.76 | 54.31 |
③ | 444.11 | 330.28 | 243.19 | 25.63 | 45.24 |
④ | 879.51 | 692.61 | 514.34 | 21.25 | 41.52 |