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We describe an algorithm for calculating the linearization of the dynamics for arbitrary constrained mechanical systems in generalized coordinates without using symbolic equations. Linearizations of dynamics are useful tools for controllability and stability analysis and can be used to generate locally stabilizing controllers for linear and non-linear systems. However, the computational expense for...
A mathematical model of a physical system is never perfect; therefore, robust control laws are necessary for guaranteed stabilization of the nominal model and also “nearby” systems, including hopefully the actual physical system. We consider the computation of a robust control law for large-scale finite dimensional linear systems and a class of linear distributed parameter systems. The controller...
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