Table 7.

Initial position (0.0, −0.7, −1) and the ITSE of the suggested controllers for a 10 % increase in the third link's mass.

Controller	ITSE
NN-PIPD	0.06574 × 10-5
NN + PID	323.861 × 10-5
ELNN-PID	1.95897 × 10-5