System Identification and Embedded Controller Design for Pneumatic Actuator with Stiffness Characteristic

Table 1

Comparison of simulated and experimental performance for position control.

Specifications	Simulation	Experiment
Settling time (𝑇𝑆)	0.79 s	1.12 s
Rise time (𝑇𝑅)	0.57 s	0.80 s
Percent steady state error (%𝑒ss)	0.01%	0.03%

%: percent, s: second.