Explanation of all experiments

Control experiment #1(a): PID, no model

Control experiment #1(b): PID, no model

Control experiment #1(c): PID, no model

Control experiment #2(a): PID with gravity compensation

Control experiment #2(b): PID with gravity compensation

Control experiment #2(c): PID with gravity compensation

Control experiment #3(a): Partitioned control with perfect model

Control experiment #3(b): Partitioned control with perfect model

Control experiment #3(c): Partitioned control with perfect model

Control experiment #4(a): Partitioned control with imperfect model

Control experiment #4(b): Partitioned control with imperfect model

Control experiment #4(c): Partitioned control with imperfect model

Control experiment #5(a): Partitioned control with imperfect model (larger gains)

Control experiment #5(b): Partitioned control with imperfect model (larger gains)

Control experiment #5(c): Partitioned control with imperfect model (larger gains)