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Design and Instrumentation of a Benchmark Multivariable Nonlinear Control Laboratory
Abstract:The purpose of this paper is to present the design and instrumentation of a new benchmark multivariable nonlinear control laboratory. The mathematical model of this system may be used to test the applicability and performance of various nonlinear control procedures. The system is a two degree-of-freedom robotic arm with soft and hard (discontinuous) nonlinear terms. Two novel mechanisms are designed to allow the implementation of adjustable Coulomb friction and backlash.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1085195Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1420
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