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Automatic Control and Information Sciences

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Figure

Figure 2. The average error produced by a model is encapsulated in the mean squared error (MSE), which measures the
Table 1. Identification Results for the EMA HarmonicDrive System Test set No. Model MSE Fitting (%)
Figure 4. Uncertainty and weighting function frequency responses; simulation
Figure 8. Step responses of nominal and uncertain closed loop EMA with the derived lead compensator; simulation
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