Nonlinear Contour Tracking of a Voice Coil Motors-Driven Dual-Axis Positioning Stage Using Fuzzy Fractional PID Control with Variable Orders

Table 4

Contour tracking performance measures of Case 1.

Controllers	Commands
	Flower contour (mm)			Window contour (mm)
	TM	TA	TS	TM	TA	TS
PID	0.2807	0.1316	0.0336	0.4877	0.1389	0.0555
FFPID	0.2363	0.0791	0.0233	0.2843	0.0756	0.0263
VOFFPID	0.1752	0.0649	0.0210	0.2344	0.0471	0.0249