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This paper presents a novel method of combining real-time walking pattern generation and constrained nonlinear control to achieve robotic walking under Zero-Moment Point (ZMP) and torque constraints. The proposed method leverages the fact that existing solutions to both walking pattern generation and constrained nonlinear control have been independently constructed as Quadratic Programs (QPs) and...
This paper presents an approach of incorporating hardware-in-the-loop simulation and ADALINE for shunt active power filter (APF) design. Even when the three-phase source voltages are unbalanced and/or distorted and supply to a nonlinear load, the described compensation strategy can compensate the harmonic and neutral current, and thus improve the power factor. After verifying the efficiency of compensation...
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