Table 3.

Parameters of the control structure for case study 1.

Reference Input (Angle)		RMSE,	RMSE,	RMSE,
10	0.0023	0.57	0.43	2.03
20	0.0026	0.60	0.42	2.04
30	0.0027	0.64	0.42	2.05
40	0.0031	0.67	0.42	2.05
50	0.0033	0.70	0.43	2.07
60	0.0034	0.72	0.45	2.09
70	0.0036	0.75	0.45	2.09
80	0.0041	0.77	0.46	2.10
90	0.0049	0.81	0.46	2.11