160 On the identifiability of deterministic nonlinear model parameters: S. Diop, S. Kribs, pp 225–229
- Book ID
- 103985598
- Publisher
- Elsevier Science
- Year
- 1993
- Tongue
- English
- Weight
- 109 KB
- Volume
- 1
- Category
- Article
- ISSN
- 0967-0661
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✦ Synopsis
This paper reports a case study through simulation of the application of recent results on adaptive control of MIMO nonlinear systems to the adaptive linearization by dynamic feedback of a 2-1ink robot with one elastic joint. The example is an interesting one, since its relative complexity helps highlight several numerical and conceptual issues that were not obvious in the theoretical investigation.
157 Optimal Model
Matching Controllers for Linear and Nonlinear Systems A.J. Krener, pp 209-214 Optimal model matching controllers for linear and nonlinear systems are constructed by generalizing Francis' work on linear regulators and Isidori and Byrnes' work on nonlinear regulators. These are combined with optimal control techniques to obtain solutions.