Table 1.

Comparison of estimation and control performance between the time-driven and event-driven implementations. Four cases of study and five runs per case.

	# Control Updates		# Sensor Updates		D (mm rms)		L (mm rms)
	Mean	St. dev.	Mean	St. dev.	Mean	St. dev.	Mean	St. dev.
Periodic (fastest)	6428	–	454	–	7.77	0.46	37.05	1.78
Periodic ($150\mathrm{ms}$)	429	–	429	–	7.69	0.22	38.89	1.09
Periodic ($700\mathrm{ms}$)	92	–	92	–	9.17	0.55	63.97	14.57
Event based	94.17	8.97	83	5.8	10.21	0.98	40.11	7.68