5.3 PD+Nonlinear Compensation Controller Testing

In this section, we evaluate the performance of the PD+nonlinear compensation controller. Subsection 5.3.1 examines the effects of noise and unmodeled dynamics on controller performance and describes the methods used for reducing their impact on system operation. Subsection 5.3.2 evaluates the performance of the PD+nonlinear compensation controller when tracking single axis sinusoidal trajectories.