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Settling time of ERL-SM and RLQR-NF control schemes for convergence analysis.
| Control scheme | Lower limb joint | Settling time (sec) | ||
|---|---|---|---|---|
| Nominal system mass | Case I of PUEDs | Case II of PUEDs | ||
| ERL-SM | Hip | 1.971 | 1.986 | 1.993 |
| Knee | 1.962 | 1.974 | 1.988 | |
| Ankle | 1.927 | 1.943 | 1.969 | |
|
| ||||
| RLQR-NF | Hip | 1.951 | 1.967 | 1.991 |
| Knee | 1.946 | 1.959 | 1.987 | |
| Ankle | 1.914 | 1.933 | 1.958 | |
