Table 4 Comparison between the NTSMC, FO-NTSMC and AFFO-NTSM controllers.

Reference trajectory tracking

AF-FTSC

0.14

0.02

–

GFTSMC²⁷

0.21

0.34

3.44

NTSMC²⁸

0.43

0.51

2.83

Triangular-wave tracking

AF-FTSC

–

0.20

0.10

GFTSMC²⁷

–

0.67

1.74

NTSMC²⁸

–

1.54

1.52

Sinusoidal-wave tracking

AF-FTSC

–

0.01

0.11

GFTSMC²⁷

–

0.03

0.18

NTSMC²⁸

–

3.62

4.57