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The energy based control approach aiming to controlling the total energy and actuated variables of underactuated mechanical systems has generated renewed interests in studying these systems. Successful applications of the approach to the swing-up control for the Pendubot (2-link planar robot with passive first joint), the Acrobot (2-link planar robot with passive second joint), and an n-link revolute...
This paper examines the mechanism of disturbance rejection in control systems employing a technique called equivalent-input-disturbance estimation. Analysis of the mechanism shows that the filter in the control system strongly affects the disturbance rejection performance. A new method of designing such control systems that employs Hinfin control theory and linear matrix inequalities is presented;...
This paper examines the mechanism of disturbance rejection in control systems employing a technique called equivalent-input-disturbance estimation. Analysis of the mechanism shows that the filter in the control system strongly affects the disturbance rejection performance. A new method of designing such control systems that employs Hinfin control theory and linear matrix inequalities is presented;...
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