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A model predictive control (MPC) is proposed for a multi-joint manipulator with constrained input. With linearization around the equilibrium manifold, the manipulator was transformed into a continuous linear parameter varying system with respect to the equilibrium manifold. The corresponding manipulator system is described as polytopic expression by a convex decomposition. The control law is obtained...
This paper focuses on the state feedback guaranteed cost robust control of discrete-time switched system with sector uncertainty. The purpose is to design a state feedback control law such that the close-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound for all admissible sector uncertainty. Using Lyapunov theory, some (linear matrix...
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