Servo: Servo Data

ServoR Documentation

Servo Data


This data set is from a simulation of a servo system involving a servo amplifier, a motor, a lead screw/nut, and a sliding carriage of some sort. It may have been on of the translational axes of a robot on the 9th floor of the AI lab. In any case, the output value is almost certainly a rise time, or the time required for the system to respond to a step change in a position set point. The variables that describe the data set and their values are the following:

[,1] Motor A,B,C,D,E
[,2] Screw A,B,C,D,E
[,3] Pgain 3,4,5,6
[,4] Vgain 1,2,3,4,5
[,5] Class 0.13 to 7.10


data("Servo", package = "mlbench")


A data frame with 167 observations on 5 variables, 4 nominal and 1 as the target class.


  • Creator: Karl Ulrich (MIT) in 1986

  • Donor: Ross Quinlan

These data have been taken from the UCI Repository Of Machine Learning Databases (Blake & Merz 1998) and were converted to R format by Evgenia Dimitriadou in the late 1990s.

The current version of the UC Irvine Machine Learning Repository Servo data set is available from \Sexpr[results=rd]{tools:::Rd_expr_doi("10.24432/C5Q30F")}.


1. Quinlan, J.R., "Learning with continuous classes", Proc. 5th Australian Joint Conference on AI (eds A. Adams and L. Sterling), Singapore: World Scientific, 1992 2. Quinlan, J.R., "Combining instance-based and model-based learning", Proc. ML'93 (ed P.E. Utgoff), San Mateo: Morgan Kaufmann 1993

Blake, C.L. & Merz, C.J. (1998). UCI Repository of Machine Learning Databases. Irvine, CA: University of California, Irvine, Department of Information and Computer Science. Formerly available from ‘⁠⁠’.


data("Servo", package = "mlbench")

mlbench documentation built on May 29, 2024, 4:49 a.m.

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