ResearchBenchmarksBending-envelope tracking on Robophysical swimming experiments U = 32.6 cm/sBending-envelope tracking on Robophysical swimming experiments U = 32.6 cm/sFollow0.018RMSE (Bending-envelope tracking)PID-LRLES0.017360.021680.0260.03032Jun 9, 2026Evaluation resultsMethodMethodLinksRMSE (Bending-envelope tracking)PID-LRLESEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.018PIDEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.034