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We consider the global tracking control problem of robots with elastic joints. Even if joint elasticity introduces beneficial features for modern applications which require physically resilient and safer robots that can interact with the environment or humans, it challenges the achievable control performance. We propose a novel controller which combines the benefits of two approaches: the intrinsic...
We present a formal technique for verifying the stability of transient responses of power systems. The procedure uses reachability analysis to compute the complete set of possible transient responses starting from a set of initial states, subject to a dynamics specified by differential-algebraic equations. The method is constructive and fully automatic, two properties that are often hard to achieve...
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