Structural stable nonlinear control: some notes and a case study

Abstract

Some remarks are made concerning structural stable nonlinear control. A case study involving a two-link robot with a flexible forearm is presented. A hierarchical control law which exponentially stabilizes the system can be computed by neglecting nonlinear coupling. The block diagram of the controller is reported. The simulated output errors are plotted, and the asymptotic system inversion is illustrated.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>