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This paper focuses on the synthesis of nonlinear adaptive robust controller with saturated actuator authority for a linear motor drive system, which is subject to parametric uncertainties, unmodeled nonlinearities and input disturbances as well. Global stability is achieved by breaking down the overall uncertainties to state-linearly-dependent uncertainties (such as viscous friction) and bounded nonlinearities...
This paper studies the high-performance robust motion control of machine tools. The newly proposed adaptive robust control (ARC) is applied to make the resulting closed-loop system robust to model uncertainties, instead of the disturbance observer (DOB) design previously tested by many researchers. Compared to DOB, the proposed ARC has a better tracking performance and transient in the presence of...
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