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In this paper, we concern a swing-up control problem for an n-link revolute planar robot with any one of the joint being a passive joint. The goal of this study is to design and analyze a swing-up controller that can bring the robot into any arbitrarily small neighborhood of the upright equilibrium point with all links in the upright position. To achieve this challenging objective while preventing...
One problem with existing methods of designing repetitive control systems is that they cannot simultaneously optimize the parameters of a low-pass filter and a repetitive controller. This paper presents a method of doing that for a repetitive control system containing a class of uncertain plants. First, linear matrix inequalities for calculating the parameter of a low-pass filter are derived under...
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