. Author manuscript; available in PMC: 2010 Mar 16.

Published in final edited form as: Sens Actuators A Phys. 2009 Mar 16;150(1):116–123. doi: 10.1016/j.sna.2008.12.012

Table 2.

Measured Performance of the Adaptive Rate-Dependent Controller in Tracking Randomly Created Waveforms

	Adaptive Rate-Dependent Controller
rmse ± σ(μm)	0.0943 ± 0.0159
rmse/peak-peak (%)	0.33
max error ± σ (μm)	0.3899 ± 0.0291
max error/peak-peak (%)	1.35

The rmse and max errors are the mean results over a set of 5 different random non-periodic waveform experiments. The error is calculated from time = 10s to 20s. The waveforms are created by passing random numbers through a low-pass filter. The peak-peak is obtained as the difference between the maximum and minimum during this 10s interval of the random non-periodic waveforms.