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Mechatronic systems a challenge for control
PassivityBased Control Methods
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AACC active suspension actuator adaptive control algorithm American Control Conference anti-windup applied approach assume asymptotically asymptotically stable bounded closed-loop system compensation consider constraints continuous-time Control Conference Albuquerque control law control system controller design defined denote discrete-time disturbance dynamical system Engineering equation error estimation experimental exponentially feedback control feedback linearization feedforward Figure filter finite fuzzy gain given hybrid IEEE IEEE Trans inverse Lemma linear matrix inequalities linear systems loop Lyapunov Lyapunov function matrix measurement mechanical mechatronic method Mexico June 1997 minimize model predictive control noise nonlinear systems norm obtained operator optimal control output paper parameters passive performance PID controller plant poles position quadratic reference Riccati equation robot robust sensors shown signal simulation solution stability step response structure Theorem time-varying time-varying system tion tracking trajectory transfer function uncertainty Univ variables vector vehicle velocity zero