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40 CONTINUE angle theta angular momentum cancellation technique constant C Ml constant gain technique control C trajectories control torques control vector damping ratio DOUBLE PRECISION dynamic matrix ENDIF feedback control laws final time tf following subroutine formatted manner gain matrix corresponding gain scheduling technique Gravity constant Hamiltonian mechanics ICOL IMPLICIT REAL*8 A-H.O-Z input file OPDATA.GAIN INPUT PARAMETERS INTERNAL PARAMETERS interpolation linear feedback control linear interpolation linear regulator linear system M.NPTS matrix input file MATRIXX plot momenta MOMENTUM THETA FIG N.NPTS NAME TASK nonlinear terms cancellation number of colums number of intervals number of rows One-Link Manipulator Open-Loop Control optimal control theory Optimal feedback gains optimally damped OUTPUT PARAMETERS PARAMETERS AND ARRAYS poleplacement technique regulator problem RETURN END robot arm manipulator row number save the output simulation step DT Step response SUBROUTINE CALLED system and dimension system performance technique using optimal technique using poleplacement two-link manipulator vector CM