Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="343851.fig.007a" src="https://static-preview.hindawi.com/articles/mpe/volume-2013/343851/figures/343851.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Comparison of tracking error curves</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="343851.fig.007b" src="https://static-preview.hindawi.com/articles/mpe/volume-2013/343851/figures/343851.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Comparison of control value</td></tr></table></td></tr></table>

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Mathematical Problems in Engineering

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Figure 7

Figure 7: Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System 