Inducing Optimality in Prescribed Performance Control for Uncertain Euler–Lagrange Systems

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

The article is well-organized, and the summations, lemmas, and theories are well-structured. However, the verification is conducted using a simple pendulum, which is acceptable for such a theoretical paper. It is important to note that the Euler-Lagrange equation is not a system by itself; rather, it is a mathematical framework or tool used to model the behaviour of a system. Therefore, if the authors modify certain expressions accordingly, the accuracy of the paper could be enhanced.

Author Response

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Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

This work is good and it can be accepted after some revisions:

1) The steps of tackling prescribed performance should be presented clearly.

2) More comparisons should be presented to illustrate the advantages of the proposed method.

3) The contributions should be arranged in one by one item to improve readability. 

4) I cannot check the analysis on uncertainty and some discussions should presented.

Comments on the Quality of English Language

The English is good. 

Author Response

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Author Response File: Author Response.pdf

Reviewer 3 Report

Comments and Suggestions for Authors

The paper presents a prescribe performance control for uncertain Euler-Lagrange systems.

The paper is well written and structured, the English is fine, the paper is easy to read.

Some minor comments:

-please specify how did the authors chose the values for the simulation (lines 298)

-please add label of horizontal axis on figure 1.

-please elaborate on the results obtained after the simulation comparing them with other research.

Best regards.

Author Response

Please see the attached file.

Author Response File: Author Response.pdf

Reviewer 4 Report

Comments and Suggestions for Authors

I would divide the introduction into 2 chapters as an introduction and then state-of-art, I would add information about a similar experiment so that I could compare it in the discussion chapter.

The methodology is built correctly, the results are relevant. However, it is not known to me how many iterations were performed in the online neural network training.

 

Overall, I can agree that the paper is on a very good level. 

Author Response

Please see the attached file.

Author Response File: Author Response.pdf