Table 5 Another QFT–DLOC performance indicators (%, indicated in two decimal digits)
Experimental condition | Performance index | ||||
|---|---|---|---|---|---|
Average value of force error (N) | Average elimination rate of force error (%) | ||||
PID | QFT | QFT–DTO | QFT | QFT–DTO | |
① | 242.47 | 168.25 | 75.46 | 30.61 | 68.88 |
② | 451.64 | 346.38 | 168.78 | 23.34 | 62.63 |
③ | 239.96 | 169.87 | 55.84 | 29.21 | 76.73 |
④ | 443.82 | 331.84 | 111.43 | 25.23 | 74.89 |