Direct synthesis

Wang et al. (2000b), (2001a).

Model: Method 2

^[1]K _c ⁽⁵⁷⁷⁾

2 ? _mT _m1

T _m1 ²

M _s=1.5

Robust

Chien (1988).

Model: Method 1

^[2]K _c ⁽⁵⁷⁸⁾

T _i ⁽⁵⁷⁸⁾

T _d ⁽⁵⁷⁸⁾

N=10;

? [T _m1, ? _m]

(Chien and Fruehauf (1990)),

2 ? _m T _m1 ?T _m3

^[3]T _d ⁽⁵⁷⁹⁾

Direct synthesis

Zhang (1994).

Model: Method 1

T _m1

T _m2

N=T _m2/T _m3

small ? _m; good servo response.

Poulin et al. (1996).

Model: Method 1

T _m1

T _m2

N=T _m2/T _m3;

Minimum

=90 ⁰; =60 ⁰, ? _m=T _m1

Robust

Chien (1988).

Model: Method 1

T _m2

T _m1

T _m1

T _m2

T _m1>T _m2; N=10; ? [T _m1, ? _m] (Chien and Fruehauf (1990)).