APD-ILC speed trajectories for different iterations.

APD-ILC speed trajectories for different iterations.</p

pone.0279253.t002 - A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds

pone.0279253.t002 - A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds</p

Adaptive nonlinear gain function <i>g</i>(.) versus the sample differenced error Δ<i>e</i>_<i>k</i>.

Adaptive nonlinear gain function g(.) versus the sample differenced error Δek.</p

APD-ILC position tracking.

APD-ILC position tracking.</p

Controller and filter parameters.

Controller and filter parameters.</p

Comparative values of tracking errors corresponding to ILC laws.

Comparative values of tracking errors corresponding to ILC laws.</p

Reference position tracking with the conventional PID controller.

Reference position tracking with the conventional PID controller.</p

Parameters of the PMSM.

Parameters of the PMSM.</p

Friction identifier parameters.

Friction identifier parameters.</p

APD-ILC position tracking error.

APD-ILC position tracking error.</p