Abstract
A robustness analysis and synthesis for incomplete nonlinear decoupling for a class of nonlinear systems is discussed. Rigid and elastic-joint robot models belong to this class. For the elastic case, a transformation facilitates the robustness analysis under a weak assumption. Charts with H 1- and H ∞- norms of closed-loop disturbance transfer functions of the nonlinear-decoupled system are presented for a robust pole assignment.
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Grimm, W.M., Frank, P.M. Robust pole assignment for incomplete nonlinear decoupling applied to robots. J Intell Robot Syst 3, 259–289 (1990). https://doi.org/10.1007/BF00126073
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DOI: https://doi.org/10.1007/BF00126073