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This paper is concerned with the application of the variable structure control technique for the control of a single link flexible arm robot. The assumed mode method is used to arrive at a model for the robot. The necessary and sufficient conditions for the existence of a sliding regime on any hyperplane ?? = 0 are arrived at for a system with n degrees of freedom. The selection of the hyperplane...
This paper analyzes a new algorithm presented in [1] for designing a linear functional observer with arbitrary eigenvalues. It proves that the order of the observer in [1] is a reduction (depending on the problem) of a maximum order m=(??l+...+??p - p), where ??i, i=l,...,p are the descending ordered observability indices of the system (A, C) and p is the number of the functionals. Therefore, the...
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