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45

0 20 40 60 80 100 120 140 160 180 200-20

-10

0

10

20

30

40

50

60

70

time (s)

Con

trol

Tor

que

(N-m

)

T2

T1

Iljxuh 7= Frqwuro Wrutxh/ A� E|� dqg Frqwuro Wrutxh/ A2 E|�

Iljxuh 8= Gulyhu Wrutxh � � E|�

46

0 20 40 60 80 100 120 140 160 180 200-14

-12

-10

-8

-6

-4

-2

0

2

4

6x 10

time (s)

Trac

king

Err

or (

rad

)

e1

e2

Iljxuh 9= Wudfnlqj Huuruv/ e� E|� dqg e2 E|�

Iljxuh := Wdujhw V|vwhp Uhvsrqvh w_� E|�/ Vwdqgdug Vwhhulqj V|vwhp Uhvsrqvh w@ E|�

47

0 20 40 60 80 100 120 140 160 180 200-10

0

10

20

30

40

50

60

70

time (s)

Co

ntro

l Tor

que

s (N

-m)

T2

T1

Iljxuh ;= Frqwuro Wrutxh/ A� E|� dqg Frqwuro Wrutxh/ A2 E|�

0 20 40 60 80 100 120 140 160 180 200-2.5

-2

-1.5

-1

-0.5

0

0.5

1

1.5

2

2.5x 10

time (s)

Trac

king

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ors

(ra

d)

e1

e2

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48

0 20 40 60 80 100 120 140 160 180 200-10

0

10

20

30

40

50

60

70

time (s)

Co

ntro

l Tor

que

s (N

)

T1

T2

Iljxuh 43= Frqwuro Wrutxhv A� E|�/ A2 E|�

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