ResearchBenchmarksJoint velocity control on Joint Velocity Control Second order reference modelFollow0.19NRMSEiFIR0.186120.212310.23850.26469Mar 31, 2026Evaluation ResultsMethodMethodLinksNRMSEImprovement (%)iFIRController Type=iFIR,...Controller Type=iFIR, Passivity Constraint=True2026.030.1933.8PIDController Type=PIDController Type=PID2026.030.287—