State and Information Estimation for Linear and Nonlinear Systems
نویسنده
چکیده
By considering the current components in Figs. 7, it is evident that the dynamic compensations (/xf,) constitute by far the largest share of the input currents. It is therefore desirable to include/x^, for precise trajectory tracking. If the dynamic compensation iersnfxti is neglected, for a controller with comparable gain settings to the computed torque controller, the tracking performance deteriorates significantly as shown in Fig. 8. The large performance improvement of the trajectory tracking controller with the inclusion of the dynamic compensation illustrates the benefits of model based control algorithms.
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تاریخ انتشار 2007