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It is well-known that using the standard completion of the squares (CoS) formula for the LQ regulator problem, the H∞ controller derivations and associated H∞ controller existence conditions can be directly obtained. In standard theory for general H∞ output-feedback control and in the associated software, certain preliminary "loop-shifting" transformations are needed which it turns out add...
This paper proposes a new walking pattern generation method for humanoid robots. This paper uses the linear inverted pendulum model (LIPM) which is composed of zero moment point (ZMP) and center of mass (CoM). Based on LIPM, the proposed method consists of feedforward control and feedback control for walking pattern generation of humanoid robots. The linear quadratic regulator(LQR) as a feedback controller...
Self-servo track writing is a process of writing servo bursts on a subsequent track using servo bursts from the previously written track as a reference. A fundamental obstacle in self-servo track writing is radial error propagation due to written-in repeatable runout (RRO) in the seed track and external disturbances. In this paper, we introduce a control scheme for the self-servo track writing process...
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