Comparison table of the tree control laws.
|Control laws||Max error (10−3 m)||tr5% (s)||Gain||Time needed for a precision of 1 μm (s)||End effector precision (m)|
|MBC||1.1||0.58||0.0143||Kp = 122500
Kd = 700
|Rigid||1.4||0.6||0.3846||Kp = 169
Kd = 26
|Feedforward||1.2||0.58||0,103||Kp = 4441
Kd = 184
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