Table 1.

Scheme for regulating RPTM.

Horizontal exercise	Planning points	360	→	260	→	210	→	262 (0.8v)	→	212 (0.8v)
	RPTM	[0.45, −0.45]		[0.4, −0.4]		[0.35, −0.35]		[0.35, −0.35]		[0.3, −0.3]
Vertical exercise	Planning points	268	→	203	→	136	→	170 (0.8v)	→	156 (0.8v)
	RPTM	[−5.37, −3.8]		[−5.3, −3.9]		[−5.2, −4.0]		[−5.2, −4.0]		[−5.1, −4.1]

Note: 0.8v represents that the global speed is 80% of the predefined speed.