​​I want you to act as an IEEE academic journal editor. Below is a paragraph from an academic paper. Polish the writing to meet the academic style, improve the spelling, grammar, clarity, concision and overall readability. When necessary, rewrite the whole sentence. Furthermore, list all modification and explain the reasons to do so in markdown table. Paragraph:The simulation results are presented in NAME_1. \ref{NAME_1_7}.
NAME_1.\ref{NAME_1_7}a and \ref{NAME_1_7}b show that the robot joints can track the reference signals well, even with discontinuities. The system remains stable even when the tracking errors exceed the pre-defined funnel boundary. Moreover, the system limits the overshoot of the tracking error when the reference signals have large jumps, indicating its ability to cope with sudden changes in operating conditions. Despite the coupling effects in the robot system, the reference signal of joint 2 stays invariant at time 
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 , when joint 1 first jumps randomly. The tracking error of joint 2 also stays within the funnel boundary, ensuring satisfactory tracking accuracy. Similarly, when joint 2 has an independent jump at time 
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 , joint 1 can still follow the reference signal 
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  accurately. At time 
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 , both joints have simultaneous but different jumps, and the proposed method can still guarantee good tracking performance for both joints.
NAME_1.\ref{NAME_1_7}c shows the control inputs, which are large when both joints have concurrent jumps, to ensure the convergence of the tracking error to the steady-state funnel boundary within a predetermined time. Please use JSON format in your answer.
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