Backstepping Sliding Mode Robust Control for a Wire-Driven Parallel Robot Based on a Nonlinear Disturbance Observer

Table 2

Simulation parameter table.

Parameter	Value
	7  10^−5
	0.005
	1.028 kg
	0.0025 pi
	15
	9.82 m/s^2
	5
	2
	5
	7.3361