Table 1 Tracking error metrics for all...

Table 1

Tracking error metrics for all controllers

Controller	MAE	RMSE	IAE
PID	0.1172	0.1369	46.88
MPC	0.0813	0.0996	32.52
ADRC	0.0641	0.0788	25.64
TB-MPC	0.0558	0.0671	22.31
RMPC	0.0365	0.0492	14.60

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