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Robust Control Of A Flexible Manipulator Arm: A Benchmark Problem
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
ABB Corporate Research, Sweden.
2005 (English)In: Proceedings of the 16th IFAC World Congress, 2005, 966-966 p.Conference paper, Published paper (Refereed)
Abstract [en]

A control engineering benchmark problem with industrial relevance is presented. The process is a simulation model of a nonlinear four-mass system, which should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only the so-called regulator problem.

Place, publisher, year, edition, pages
2005. 966-966 p.
Keyword [en]
Robust control, Benchmark examples, Manipulators, Disturbance rejection, Flexible arms, QFT, Sliding mode
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-37482DOI: 10.3182/20050703-6-CZ-1902.00967Local ID: 36145ISBN: 978-3-902661-75-3 (print)OAI: oai:DiVA.org:liu-37482DiVA: diva2:258331
Conference
16th IFAC World Congress, Prague, Czech Republic, July, 2005
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-04-16

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Moberg, Stig

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