Table 2 Specifications of time-domain (STD) of HOURV controller and its LOURV models
From: A novel approximation of underwater robotic vehicle controller exploiting multi-point matching
System and approximants | Specifications of time-domain (STD) | ||||
|---|---|---|---|---|---|
Rise time (s) | Settling time (s) | Peak (%) | Peak time (s) | Undershoot (%) | |
HOURV System (30) | 0.2728 | 5.5463 | 0.5313 | 11.3237 | 0 |
Proposed model (43) | 2.5830 | 5.2662 | 0.5307 | 9.1621 | 0 |
Model \({W}^*_{2(Diff)}(s)\) (44) | 2.0939 | 4.0740 | 0.3544 | 9.4167 | 0 |
Model \({W}^*_{2(Diff-RA)}(s)\) (45) | 2.9095 | 5.4173 | 1.0628 | 10.8675 | 0 |
Model \({W}^*_{2(Diff-DT)}(s)\) (46) | 3.5601 | 6.5148 | 1.0628 | 12.9245 | 0 |
Model \({W}^*_{2(FD)}(s)\) (47) | 0.0216 | 0.0399 | 0.5297 | 0.1021 | 0 |
Model \({W}^*_{2(FD-RA)}(s)\) (48) | 0.0005651 | 6.3791 | 1.0383 | 0.2582 | \(1.057\times 10^{04}\) |
Model \({W}^*_{2(FD-DT)}(s)\) (49) | 0.0005647 | 7.4312 | 0.9122 | 0.2454 | \(9.272\times 10^{03}\) |
Model \({W}^*_{2(FD-Diff)}(s)\) (50) | 0.0001881 | 4.9579 | 0.4637 | 0.1313 | \(1.419\times 10^{04}\) |
