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The reference and actual trajectories using starting position (0.2, −0.5, −0.8) with disturbance [sin (100t), sin (100t), sin (100t)] and 10 % increasing in mass of the third link.
| Controller | ITSE |
|---|---|
| NN-PIPD | 0.001777 |
| NN + PID | 0.057480 |
| ELNN-PID | 0.034756 |
