Fig 9. Sine trajectories due to EDL muscle contraction using the PI, MRAC, and ADP-PI controllers from simulations and experiments.

x_μ ± σ from experimental results as well as simulations, including the controllers and open-loop simulations, are shown to assess the controller performance in simulation and validate the outcome through experiments for the (A) PI controller, (B) MRAC controller, and (C) ADP-PI controller.