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A two-step adaptive controller for a two-body system

By: Tao, G.;

2000 / IEEE


This item was taken from the IEEE Periodical ' A two-step adaptive controller for a two-body system ' A reduced-order adaptive control scheme using a direct state-feedback control law and an indirect feedforward compensation design is presented for a two-body system with joint flexibility and damping. A detailed stability analysis is given for such a two-step adaptive control design, which ensures closed-loop signal boundedness and asymptotic output tracking.