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Design of optimal feedback controllers for minimum eigenvalue sensitivity

โœ Scribed by Haiming Qiu; V. G. Gourishankar


Publisher
John Wiley and Sons
Year
1984
Tongue
English
Weight
385 KB
Volume
5
Category
Article
ISSN
0143-2087

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This paper presents the design of an optimal non-linear position tracking controller for a two-link #exible joint robot manipulator. The controller is designed based on the concept of exact feedback linearization and LQG/LTR techniques. It is shown that the non-linear robot model is feedback lineari