Active Control Experiments on a Smart Robotic Glass with End-Point Control for Parkinson’s Patients

Table 3

Performance metrics: ISE, IAE, and .

	ϕ Angle, elevation movement		ψ Angle, azimuthal movement
	Exp 1°–10°	Exp 2°–20°	Exp 1°–10°	Exp 2°–20°
ISE	3.907	14.291	3.635	13.912
IAE	0.733	1.310	0.703	1.280
	0.145	0.145	0.145	0.145