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Fast response and energy efficiency considerations suggest a light weight robot arm. However, if heavy loads are carried, the arm must be considered elastic in designing a controller. An adaptive controller is desired if the arm carries loads of varying mass. The paper discusses a pattern matching algorithm for identifying the mass of the load.
Based on a very simple model, a descrete-time integrating regulator can be designed for a linear time-invariant system. The linear system is not restricted to be scalar with a monotone step respose, as required in previously published literature. The number of tuning parameters in the controller depends on the number of steps in the staircase model which can be properly chosen so that the closed-loop...
A method of determining a cascade compensator in a nonlinear feedback system to provide BIBO stability is discussed. The procedure is based on the Popov locus.
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