Two-Degrees-of-Freedom Dead-Beat Control Considering Transient Responses

Robust Tracking Control of Two-degrees-of-freedom Mobile Robots

A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of the reference trajectory. This allows accurate positioning at low speeds, close to obstacles. The d...

Decoupling Multivariable Control with Two Degrees of Freedom

Dynamical Systems with Two Degrees of Freedom.

Dead-Beat Control for Polynomial Systems

This thesis contributes to a better understanding of state and output dead-beat control problems and stability of zero output constrained dynamics for the class of discrete-time polynomial systems. Dead-beat controllability is one of the fundamental notions in control theory since it establishes the existence of control laws which can achieve a desired operating regime in finite time. The class...

Hadronic Degrees of Freedom

The point of view I take to summarize some of the research activities in Italy in the field of hadronic physics, is determined by the (today accepted) fundamental degrees of freedom of the strong interactions, namely quarks and gluons. The Sec. 2 is devoted to the link of the fundamental theory of strong interactions, Quantum Chromodynamics (QCD), with effective degrees of freedom often used to...