Abstract: Using the dynamic inversion principal, a globally linearizing feedback control law is developed for an electrohydraulic servo system. The proposed control law is implemented on a rotational joint ...

Abstract: System performance can be significantly improved when both the design of the plant and of the controller are considered concurrently. Control theory can be applied to a broad variety of systems, ...

Abstract: The complexity of the man-machine interface and the issues of controlling a robot and ensuring that the robot does indeed complete the task are significant obstacles to the use of robots in ...