Tuning Rules for a Class of Passivity-Based Controllers for Mechanical Systems
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DOI: 10.1109/lcsys.2020.3044835
Abstract: In this letter, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system.… read more here.
Keywords: passivity based; tuning rules; system; class passivity ... See more keywords