Gday Zaps
The initial 2 i would suggest are refraction and flexure.
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And they use gears, therefore exhibit PE.
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Not necessarily true.
You need to look at the underlying mechanics involved.
If you have a geartrain, and the encoder is on the motor,
( as per most cheaper systems ) then your statement is correct.
However, if the encoder is of good enough resolution, and is on the output axle ( ie RA axis ), then what happens between the motor and final axis is utterly irrelevant, as the motor PID loop just accounts for it.
To all intents and purposes, the drive "system" has no PE.
Andrew