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Based on state-space model, a kind of method of designing inferential predictive control for dual-rate systems is given. The method has preferable robust stability. State estimator is introduced into dual-rate inferential predictive controller based on state-space model to estimate immeasurable state and solve the problem caused by immeasurable state when designing dual-rate inferential predictive...
A class of dual-rate system with a fast control updating rate and a slow output sampling rate is considered. Lifting technology is applied to derive lifted state space model and a subspace equation for dual-rate systems. From the subspace equation, the dual-rate predictive control law is calculated from a set of input/output (I/O) open-loop experimental data and, thus, this approach is data-driven...
A kind of auxiliary device for ankle rehabilitation based on ball pin vice is designed and developed. The device has two degrees of freedom, but it can achieve approximatively the three-dimensional movement of the bionic ankle. When the device is used for auxiliary ankle rehabilitation, which only leads ankle to rotate not to move, and its structure is very simple. The ball pin pairs are adopted as...
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