ResearchBenchmarksForce Control on Time-Varying Tracking 2 (test)Force Control on Time-Varying Tracking 2 (test)Follow1.39RMSEProposed1.2662.1032.943.777Apr 21, 2026Evaluation resultsMethodMethodLinksRMSESTDITAEIAEProposedController Type=ForceController Type=Force2026.041.391.3924.7774.82ISMCController Type=ForceController Type=Force2026.042.342.3327.35131.6PIController Type=ForceController Type=Force2026.044.494.510.8716.09