Single-Axis Tracking on YM070 servo sinusoidal reference (5 trials)
1.8Position Error (|∆θ|) [rad]2DoF + DoB
Evaluation results
| Method | Links | ||
|---|---|---|---|
| 2DoF + DoBController Type=2-DoF + Disturbance Observer2026.07 | 1.8 | 3.2 | |
| 2DoFController Type=2-DoF2026.07 | 2.6 | 1.3 | |
| PDController Type=Simple PD, Status=Tuned2026.07 | 3.3 | 1.7 | |
| CascadeController Type=PID cascade2026.07 | 4.9 | 3.6 |