Abstract: An approach is presented for pole placement in controllers and observers. The first-order perturbation of the system eigensolution is used to analyze and design the feedback gains. The accuracy ...

Abstract: This paper presents a recursive method to accomplish pole placement for control of large-order vibrating systems. The pole placement is based on matrix perturbation theory, where the controls ...

Abstract: A procedure is developed to detect sensor failures in flexible structures by means of observers designed at the modal level. Estimates of the modal coordinates generated by the modal observers ...

Abstract: A feedback control law is developed for dynamical systems described by constrained generalized coordinates. For certain complex dynamical systems, it is more desirable to develop the mathematical ...

Abstract: A method is presented for the pointwise-optimal control of robotic manipulators along a desired trajectory. An approximate expression for the manipulator response is used to minimize a quadratic ...